Add asset kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454

.gitattributes

@@ -4207,3 +4207,5 @@ dataset/kitchen_supplies/tableware/3d03497f6a2257f59f79b513b60869ff/tray_071.usd
 dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/4d81c851297e5740a98f97b7458c4e6a.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/4d81c851297e5740a98f97b7458c4e6a/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/tray_060.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_060_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_060_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8098d6d276881223c4065f24d5e466c110e6d5ebac51314fba4a6ff89f331329
+size 17235304

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mesh/tray_060.mtl

@@ -0,0 +1,6 @@
+newmtl tray_060_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/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_1.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.11352616 -0.16017164 0.02396747
+v -0.10969619 -0.16176738 0.02194548
+v -0.11128325 -0.16284875 0.02583230
+v -0.11128325 -0.16284876 0.02827546
+v -0.11352616 -0.16005476 0.03009631
+v -0.11352616 -0.15694506 0.01893450
+v -0.11326082 -0.15703274 0.01877106
+v -0.11085270 -0.15608580 0.01489681
+v -0.10737318 -0.16063340 0.01802512
+v -0.10536558 -0.16322867 0.01979985
+v -0.10737318 -0.16440943 0.02397584
+v -0.10214640 -0.16773536 0.02410783
+v -0.09115214 -0.17534584 0.02671649
+v -0.09115214 -0.17534584 0.02734718
+v -0.09892723 -0.16960585 0.02994122
+v -0.10217144 -0.16758925 0.02994122
+v -0.10728307 -0.16429255 0.03010887
+v -0.10955100 -0.16159791 0.03216440
+v -0.11351614 -0.16006060 0.03010888
+v -0.11352616 -0.15975665 0.03042737
+v -0.11352616 -0.15667618 0.01854477
+v -0.11352616 -0.15509212 0.01629439
+v -0.11345607 -0.15254359 0.01283292
+v -0.11318572 -0.15274817 0.01283292
+v -0.10693762 -0.15717300 0.01283290
+v -0.10679243 -0.15727237 0.01283290
+v -0.10329288 -0.16185504 0.01591302
+v -0.10038912 -0.16537387 0.01851750
+v -0.09748536 -0.16876995 0.02112408
+v -0.09890219 -0.16959414 0.02410783
+v -0.09365038 -0.17280317 0.02450802
+v -0.08911950 -0.17436382 0.02283175
+v -0.08724207 -0.17612910 0.02450800
+v -0.08056340 -0.17940826 0.02464209
+v -0.07799508 -0.18173467 0.02694276
+v -0.07799508 -0.18173467 0.02710829
+v -0.08723205 -0.17612327 0.02955146
+v -0.09751539 -0.16878752 0.03290611
+v -0.10522039 -0.16302998 0.03330425
+v -0.11352616 -0.15698018 0.03338179
+v -0.11352616 -0.15248514 0.01283292
+v -0.10132033 -0.16082043 0.01283289
+v -0.10027397 -0.16148094 0.01283289
+v -0.09896728 -0.16318774 0.01402722
+v -0.09526747 -0.16751321 0.01723515
+v -0.09352021 -0.16955320 0.01881921
+v -0.08479890 -0.17539844 0.02091871
+v -0.08724207 -0.17279145 0.01869768
+v -0.07468078 -0.18100400 0.02263896
+v -0.07468078 -0.18243024 0.02555146
+v -0.06238483 -0.18652774 0.02413709
+v -0.06238483 -0.18630565 0.02993697
+v -0.07468078 -0.18243025 0.02851425
+v -0.07134144 -0.18164702 0.03281387
+v -0.08478388 -0.17538094 0.03298362
+v -0.09414603 -0.16958832 0.03332099
+v -0.10006370 -0.16530377 0.03356825
+v -0.10728307 -0.15925397 0.03387420
+v -0.11352616 -0.15249691 0.03420947
+v -0.11352616 -0.12682463 0.01283301
+v -0.09414603 -0.16509913 0.01283287
+v -0.09366039 -0.16538554 0.01283287
+v -0.09094187 -0.16874070 0.01533259
+v -0.08053837 -0.17609400 0.01869766
+v -0.07795002 -0.17522305 0.01534514
+v -0.07468078 -0.17847885 0.01827858
+v -0.07134144 -0.18166451 0.02125603
+v -0.06878313 -0.18384479 0.02356298
+v -0.06238483 -0.18625886 0.02361955
+v -0.06238483 -0.18312585 0.03362895
+v -0.06701583 -0.18238352 0.03329580
+v -0.06878313 -0.18373959 0.03049853
+v -0.08116919 -0.17611744 0.03337753
+v -0.08723205 -0.17196733 0.03368138
+v -0.09414603 -0.16547330 0.03418846
+v -0.08116919 -0.17196150 0.03423035
+v -0.10063944 -0.15898510 0.03422202
+v -0.11352616 -0.14634188 0.03365004
+v -0.06238483 -0.15854664 0.01283290
+v -0.11352616 -0.14173584 0.02993294
+v -0.06238483 -0.17079828 0.02974216
+v -0.08766261 -0.16864718 0.01283286
+v -0.08766261 -0.16958240 0.01413196
+v -0.08099897 -0.17196726 0.01283285
+v -0.08067855 -0.17212508 0.01283285
+v -0.07468078 -0.17491324 0.01283284
+v -0.07468078 -0.17593032 0.01428908
+v -0.06878313 -0.18072927 0.01806276
+v -0.06701583 -0.18255882 0.01986264
+v -0.06238483 -0.18330700 0.01828695
+v -0.06238483 -0.17851399 0.03423661
+v -0.06878313 -0.17906927 0.03387202
+v -0.07468078 -0.17757289 0.03379869
+v -0.11352616 -0.14572813 0.03319535
+v -0.06238483 -0.17408330 0.03348860
+v -0.06238483 -0.17979401 0.01283282
+v -0.11196914 -0.14407977 0.03129070
+v -0.08193018 -0.17150549 0.01283285
+v -0.07024502 -0.17677203 0.01283283
+v -0.06832753 -0.17754359 0.01283283
+v -0.06392182 -0.18133131 0.01597371
+v -0.06238483 -0.18279262 0.01743834
+v -0.06238483 -0.18034346 0.01364790
+v -0.06752650 -0.17785924 0.01283283
+v -0.06238483 -0.18054220 0.01394334
+v -0.06238483 -0.18160603 0.01553578
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 20
+f 1 20 40
+f 1 40 59
+f 1 59 78
+f 1 78 94
+f 1 94 80
+f 1 80 60
+f 1 60 41
+f 1 41 22
+f 1 22 21
+f 1 21 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 19 20
+f 6 21 7
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 9
+f 9 27 10
+f 10 27 28
+f 10 28 29
+f 10 29 12
+f 10 12 11
+f 12 29 30
+f 12 30 13
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 36
+f 13 36 14
+f 14 36 37
+f 14 37 38
+f 14 38 15
+f 15 38 16
+f 16 38 17
+f 17 38 18
+f 18 38 39
+f 18 39 40
+f 18 40 20
+f 18 20 19
+f 22 41 23
+f 23 41 60
+f 23 60 79
+f 23 79 96
+f 23 96 104
+f 23 104 100
+f 23 100 99
+f 23 99 86
+f 23 86 85
+f 23 85 84
+f 23 84 98
+f 23 98 82
+f 23 82 62
+f 23 62 61
+f 23 61 43
+f 23 43 42
+f 23 42 26
+f 23 26 25
+f 23 25 24
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 45 29
+f 28 44 45
+f 29 46 32
+f 29 32 31
+f 29 31 30
+f 29 45 46
+f 32 47 34
+f 32 34 33
+f 32 46 48
+f 32 48 47
+f 34 49 35
+f 34 47 49
+f 35 50 51
+f 35 51 36
+f 35 49 50
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 38
+f 38 55 56
+f 38 56 39
+f 39 56 57
+f 39 57 58
+f 39 58 40
+f 40 58 59
+f 43 61 44
+f 44 61 62
+f 44 62 63
+f 44 63 45
+f 45 63 46
+f 46 63 48
+f 47 48 64
+f 47 64 49
+f 48 65 64
+f 48 63 65
+f 49 64 66
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 50 68 51
+f 51 68 69
+f 51 69 90
+f 51 90 102
+f 51 102 106
+f 51 106 105
+f 51 105 103
+f 51 103 96
+f 51 96 79
+f 51 79 81
+f 51 81 95
+f 51 95 91
+f 51 91 70
+f 51 70 52
+f 52 70 71
+f 52 71 54
+f 52 54 72
+f 52 72 53
+f 53 72 54
+f 54 71 73
+f 54 73 55
+f 55 73 56
+f 56 73 74
+f 56 74 57
+f 57 74 75
+f 57 75 58
+f 58 75 59
+f 59 75 76
+f 59 76 77
+f 59 77 78
+f 60 80 81
+f 60 81 79
+f 62 82 63
+f 63 82 83
+f 63 83 65
+f 64 65 66
+f 65 84 85
+f 65 85 86
+f 65 86 87
+f 65 87 66
+f 65 83 84
+f 66 88 89
+f 66 89 67
+f 66 87 88
+f 67 89 68
+f 68 89 69
+f 69 89 90
+f 70 91 92
+f 70 92 93
+f 70 93 71
+f 71 93 73
+f 73 93 74
+f 74 93 76
+f 74 76 75
+f 76 93 91
+f 76 91 77
+f 77 91 78
+f 78 91 95
+f 78 95 94
+f 80 94 97
+f 80 97 95
+f 80 95 81
+f 82 98 83
+f 83 98 84
+f 86 99 87
+f 87 99 100
+f 87 100 88
+f 88 100 101
+f 88 101 89
+f 89 102 90
+f 89 101 102
+f 91 93 92
+f 94 95 97
+f 96 103 104
+f 100 104 101
+f 101 103 105
+f 101 105 106
+f 101 106 102
+f 101 104 103
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_10.obj

@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
+v 0.16186876 -0.11228288 0.02648282
+v 0.16186876 -0.11228287 0.02488810
+v 0.16182263 -0.11228289 0.02919781
+v 0.14929358 -0.12980301 0.02706379
+v 0.15694203 -0.11834402 0.02410849
+v 0.16038336 -0.11352474 0.02386814
+v 0.16089080 -0.11228287 0.02316798
+v 0.14929358 -0.12980301 0.02698646
+v 0.16074318 -0.11228289 0.03089077
+v 0.15595484 -0.11705279 0.03297872
+v 0.15691435 -0.11830875 0.02993977
+v 0.15434949 -0.12155452 0.02993975
+v 0.15075131 -0.12630323 0.02938169
+v 0.14795580 -0.12831420 0.03095132
+v 0.14546475 -0.13242081 0.02917056
+v 0.14296448 -0.13645686 0.02738982
+v 0.15443253 -0.12158273 0.02410847
+v 0.15599174 -0.11709509 0.02091069
+v 0.15723726 -0.11324953 0.01869105
+v 0.15782773 -0.11228285 0.01856774
+v 0.14814033 -0.12844118 0.02310103
+v 0.15081590 -0.12638083 0.02466859
+v 0.14296448 -0.13645686 0.02668129
+v 0.14555701 -0.13251252 0.02489011
+v 0.15864886 -0.11228290 0.03307488
+v 0.15714501 -0.11355300 0.03343646
+v 0.15222749 -0.11955062 0.03353676
+v 0.14986560 -0.12398886 0.03318143
+v 0.14160825 -0.13504566 0.03127734
+v 0.13905261 -0.13901821 0.02934193
+v 0.13649698 -0.14295546 0.02740860
+v 0.14998555 -0.12411582 0.02032126
+v 0.15458014 -0.11521111 0.01702318
+v 0.15680363 -0.11228284 0.01709216
+v 0.15228284 -0.11971286 0.01867222
+v 0.15025311 -0.11801234 0.01411380
+v 0.14178354 -0.13521497 0.02279585
+v 0.14381328 -0.13088961 0.01993458
+v 0.13649698 -0.14295546 0.02665827
+v 0.13913564 -0.13910992 0.02472498
+v 0.15759708 -0.11228290 0.03353052
+v 0.15252273 -0.11355301 0.03424949
+v 0.14588916 -0.12630324 0.03371021
+v 0.15391587 -0.11228291 0.03417844
+v 0.14362876 -0.13072033 0.03327755
+v 0.13728120 -0.13725421 0.03331515
+v 0.13505771 -0.14157955 0.03129613
+v 0.13295416 -0.14466303 0.02958644
+v 0.12867324 -0.14824044 0.02993966
+v 0.12542566 -0.15099935 0.02993965
+v 0.12146765 -0.15424512 0.02993963
+v 0.11129127 -0.16287463 0.02832189
+v 0.14614749 -0.12665600 0.01818520
+v 0.14849092 -0.12233769 0.01643375
+v 0.15417420 -0.11228283 0.01355786
+v 0.14515106 -0.12297273 0.01292453
+v 0.14814955 -0.11938827 0.01292454
+v 0.14977335 -0.11741258 0.01292455
+v 0.15188612 -0.11464661 0.01292456
+v 0.15314087 -0.11299549 0.01292456
+v 0.13522378 -0.14176297 0.02277284
+v 0.13745650 -0.13743761 0.01981542
+v 0.13985529 -0.13335217 0.01793019
+v 0.14225407 -0.12919616 0.01604707
+v 0.12149534 -0.15431567 0.02410835
+v 0.12549024 -0.15106988 0.02410837
+v 0.12873783 -0.14835332 0.02410838
+v 0.13305565 -0.14476179 0.02447206
+v 0.11129127 -0.16287462 0.02577828
+v 0.15249505 -0.11228291 0.03417008
+v 0.06762411 -0.17345165 0.03381663
+v 0.08112190 -0.17196284 0.03422629
+v 0.14602754 -0.12004455 0.03427664
+v 0.13948623 -0.13294298 0.03378543
+v 0.13295416 -0.13945569 0.03377914
+v 0.13073066 -0.14358347 0.03326914
+v 0.12397716 -0.14979277 0.03316253
+v 0.11698377 -0.15586096 0.03293678
+v 0.11822007 -0.15680646 0.02993962
+v 0.10953831 -0.16160457 0.03220942
+v 0.10725946 -0.16432114 0.03013606
+v 0.09748901 -0.16879467 0.03290956
+v 0.10216665 -0.16760925 0.02993958
+v 0.09891906 -0.16962728 0.02993958
+v 0.09113223 -0.17534970 0.02736669
+v 0.14416387 -0.12487080 0.01367903
+v 0.15367598 -0.11228283 0.01292457
+v 0.14385018 -0.12451095 0.01292452
+v 0.13089673 -0.14374570 0.01998051
+v 0.13583270 -0.13580766 0.01592581
+v 0.13336011 -0.13981550 0.01795316
+v 0.13792703 -0.13148230 0.01345956
+v 0.13769637 -0.13124240 0.01292450
+v 0.13860054 -0.13026867 0.01292450
+v 0.14083324 -0.12786256 0.01292451
+v 0.11825697 -0.15683466 0.02410834
+v 0.11702990 -0.15589620 0.02098788
+v 0.12406942 -0.14988446 0.02039641
+v 0.11350553 -0.16024979 0.02394530
+v 0.09113223 -0.17534970 0.02670414
+v 0.10217588 -0.16777151 0.02410830
+v 0.10736095 -0.16445518 0.02394529
+v 0.10970437 -0.16180210 0.02189286
+v 0.14772514 -0.11228290 0.03368100
+v 0.06762411 -0.17312002 0.03375184
+v 0.06762411 -0.17898359 0.03392111
+v 0.06762411 -0.17974563 0.03382915
+v 0.07463595 -0.17760059 0.03379572
+v 0.08720191 -0.17197694 0.03368287
+v 0.09411226 -0.16547129 0.03418451
+v 0.12006528 -0.14600370 0.03427445
+v 0.11357934 -0.15248819 0.03419710
+v 0.12631136 -0.14585551 0.03369759
+v 0.11951172 -0.15217066 0.03349484
+v 0.11357934 -0.15698287 0.03337568
+v 0.10521126 -0.16303695 0.03330042
+v 0.08720191 -0.17613999 0.02956333
+v 0.09411226 -0.16960612 0.03332339
+v 0.08475699 -0.17539206 0.03298687
+v 0.07802193 -0.18176364 0.02719318
+v 0.12831342 -0.11228283 0.01292457
+v 0.12662505 -0.14608831 0.01824365
+v 0.12485364 -0.14409849 0.01372285
+v 0.12918067 -0.14219336 0.01609300
+v 0.13681067 -0.13213851 0.01292449
+v 0.13149643 -0.13786802 0.01348043
+v 0.13124732 -0.13763517 0.01292447
+v 0.13217917 -0.13673199 0.01292448
+v 0.13449492 -0.13447405 0.01292449
+v 0.11515700 -0.15449909 0.01710036
+v 0.11798019 -0.15017373 0.01417220
+v 0.11966857 -0.15219178 0.01874734
+v 0.11322874 -0.15708866 0.01873896
+v 0.11083918 -0.15609374 0.01488071
+v 0.12230723 -0.14841679 0.01650889
+v 0.07802193 -0.18176364 0.02686295
+v 0.08055911 -0.17944925 0.02459524
+v 0.08722036 -0.17615409 0.02449911
+v 0.08912094 -0.17437595 0.02281871
+v 0.09362328 -0.17284480 0.02449913
+v 0.09893751 -0.16963431 0.02410830
+v 0.10537733 -0.16325563 0.01977770
+v 0.09750746 -0.16880169 0.02107561
+v 0.10736095 -0.16066607 0.01801161
+v 0.14706087 -0.11228290 0.03349708
+v 0.06762411 -0.17013531 0.03169105
+v 0.06762411 -0.18121328 0.03349682
+v 0.08112190 -0.17614000 0.03337979
+v 0.06762411 -0.18228580 0.03322720
+v 0.10003542 -0.16530898 0.03356376
+v 0.10725946 -0.15925491 0.03384804
+v 0.07133300 -0.18166487 0.03283009
+v 0.07463595 -0.18246925 0.02858935
+v 0.06762411 -0.18421208 0.03040978
+v 0.06762411 -0.18425442 0.02950269
+v 0.06762411 -0.18436024 0.02364215
+v 0.14411774 -0.11228289 0.03123563
+v 0.06762411 -0.15655944 0.01292440
+v 0.12283312 -0.14514278 0.01292445
+v 0.12446613 -0.14376686 0.01292445
+v 0.12579470 -0.14258850 0.01292446
+v 0.12783366 -0.14075393 0.01292446
+v 0.13022323 -0.13857361 0.01292447
+v 0.11440969 -0.15189540 0.01292442
+v 0.11734359 -0.14967275 0.01292443
+v 0.11941946 -0.14797931 0.01292444
+v 0.10327378 -0.16186559 0.01588810
+v 0.10709339 -0.15713097 0.01292440
+v 0.10975051 -0.15532463 0.01292441
+v 0.11303500 -0.15292559 0.01292442
+v 0.07463595 -0.18246923 0.02546052
+v 0.07463595 -0.18104390 0.02254697
+v 0.08479389 -0.17542024 0.02088749
+v 0.09348488 -0.16958490 0.01879117
+v 0.08722036 -0.17281656 0.01867830
+v 0.10038600 -0.16538656 0.01848185
+v 0.09523784 -0.16751747 0.01718809
+v 0.06762411 -0.16987424 0.03137754
+v 0.06875892 -0.18376755 0.03050801
+v 0.06762411 -0.18301959 0.02109855
+v 0.06877737 -0.18388044 0.02353974
+v 0.06762411 -0.17791804 0.01292433
+v 0.10135475 -0.16087067 0.01292439
+v 0.10676124 -0.15734972 0.01292440
+v 0.09894673 -0.16319211 0.01401121
+v 0.07136068 -0.18168600 0.02121560
+v 0.07463595 -0.17856017 0.01827906
+v 0.08053143 -0.17613995 0.01867828
+v 0.09091080 -0.16874522 0.01532793
+v 0.08229362 -0.17419953 0.01699996
+v 0.06762411 -0.18195412 0.01921331
+v 0.06762411 -0.18090982 0.01754336
+v 0.06777173 -0.17786866 0.01292433
+v 0.09828246 -0.16279697 0.01292438
+v 0.09454588 -0.16494201 0.01292437
+v 0.06877737 -0.18076870 0.01804080
+v 0.07463595 -0.17597058 0.01422435
+v 0.07796657 -0.17525087 0.01529656
+v 0.08761708 -0.16959899 0.01409897
+v 0.08660221 -0.16929557 0.01292436
+v 0.08761708 -0.16875932 0.01292436
+v 0.08900099 -0.16802549 0.01292436
+v 0.09352179 -0.16552766 0.01292437
+v 0.09380779 -0.16536537 0.01292437
+v 0.06832529 -0.17765698 0.01292433
+v 0.06906338 -0.17736062 0.01292433
+v 0.07062260 -0.17673264 0.01292433
+v 0.07335352 -0.17562484 0.01292433
+v 0.07463595 -0.17506741 0.01292434
+v 0.08054988 -0.17232967 0.01292435
+v 0.08252427 -0.17134183 0.01292435
+v 0.07598296 -0.17447471 0.01292434
+f 1 2 7
+f 1 7 20
+f 1 20 34
+f 1 34 55
+f 1 55 87
+f 1 87 121
+f 1 121 157
+f 1 157 145
+f 1 145 104
+f 1 104 70
+f 1 70 44
+f 1 44 41
+f 1 41 25
+f 1 25 9
+f 1 9 3
+f 1 3 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 5
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 23
+f 4 23 8
+f 5 17 18
+f 5 18 6
+f 5 8 17
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 8 21 22
+f 8 22 17
+f 8 23 24
+f 8 24 21
+f 9 25 10
+f 10 12 11
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 14
+f 10 14 12
+f 12 14 13
+f 14 28 29
+f 14 29 15
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 39
+f 16 39 23
+f 17 22 21
+f 17 21 32
+f 17 32 18
+f 18 33 34
+f 18 34 19
+f 18 32 35
+f 18 35 36
+f 18 36 33
+f 19 34 20
+f 21 24 37
+f 21 37 38
+f 21 38 32
+f 23 37 24
+f 23 39 40
+f 23 40 37
+f 25 41 26
+f 26 41 27
+f 27 42 43
+f 27 43 28
+f 27 41 44
+f 27 44 42
+f 28 43 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 69
+f 31 69 39
+f 32 38 53
+f 32 53 54
+f 32 54 36
+f 32 36 35
+f 33 55 34
+f 33 36 55
+f 36 54 56
+f 36 56 57
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 55
+f 37 40 61
+f 37 61 62
+f 37 62 38
+f 38 62 63
+f 38 63 64
+f 38 64 53
+f 39 65 66
+f 39 66 67
+f 39 67 68
+f 39 68 61
+f 39 61 40
+f 39 69 65
+f 42 44 70
+f 42 70 71
+f 42 71 72
+f 42 72 73
+f 42 73 74
+f 42 74 43
+f 43 74 45
+f 45 74 46
+f 46 74 75
+f 46 75 76
+f 46 76 47
+f 47 76 77
+f 47 77 49
+f 47 49 48
+f 49 77 50
+f 50 77 78
+f 50 78 51
+f 51 78 79
+f 51 79 52
+f 52 79 78
+f 52 78 80
+f 52 80 81
+f 52 81 82
+f 52 82 83
+f 52 83 84
+f 52 84 85
+f 52 85 100
+f 52 100 69
+f 53 64 86
+f 53 86 54
+f 54 86 56
+f 55 60 87
+f 56 86 88
+f 56 88 95
+f 56 95 94
+f 56 94 93
+f 56 93 125
+f 56 125 129
+f 56 129 128
+f 56 128 127
+f 56 127 163
+f 56 163 162
+f 56 162 161
+f 56 161 160
+f 56 160 159
+f 56 159 166
+f 56 166 165
+f 56 165 164
+f 56 164 170
+f 56 170 169
+f 56 169 168
+f 56 168 184
+f 56 184 183
+f 56 183 194
+f 56 194 195
+f 56 195 204
+f 56 204 203
+f 56 203 202
+f 56 202 201
+f 56 201 200
+f 56 200 211
+f 56 211 210
+f 56 210 212
+f 56 212 209
+f 56 209 208
+f 56 208 207
+f 56 207 206
+f 56 206 205
+f 56 205 193
+f 56 193 182
+f 56 182 158
+f 56 158 121
+f 56 121 87
+f 56 87 60
+f 56 60 59
+f 56 59 58
+f 56 58 57
+f 61 68 67
+f 61 67 89
+f 61 89 62
+f 62 90 63
+f 62 89 91
+f 62 91 90
+f 63 90 92
+f 63 92 64
+f 64 92 93
+f 64 93 94
+f 64 94 95
+f 64 95 86
+f 65 96 97
+f 65 97 98
+f 65 98 66
+f 65 69 96
+f 66 98 67
+f 67 98 89
+f 69 99 96
+f 69 100 101
+f 69 101 102
+f 69 102 103
+f 69 103 99
+f 70 104 71
+f 71 105 146
+f 71 146 178
+f 71 178 158
+f 71 158 182
+f 71 182 192
+f 71 192 191
+f 71 191 180
+f 71 180 156
+f 71 156 155
+f 71 155 154
+f 71 154 149
+f 71 149 147
+f 71 147 107
+f 71 107 106
+f 71 106 72
+f 71 104 105
+f 72 106 107
+f 72 107 108
+f 72 108 109
+f 72 109 110
+f 72 110 111
+f 72 111 73
+f 73 111 74
+f 74 111 75
+f 75 111 112
+f 75 112 113
+f 75 113 76
+f 76 113 77
+f 77 114 78
+f 77 113 114
+f 78 115 116
+f 78 116 82
+f 78 82 80
+f 78 114 115
+f 80 82 81
+f 82 117 85
+f 82 85 84
+f 82 84 83
+f 82 116 118
+f 82 118 119
+f 82 119 117
+f 85 117 120
+f 85 120 136
+f 85 136 100
+f 86 95 88
+f 89 98 122
+f 89 122 123
+f 89 123 124
+f 89 124 91
+f 90 125 93
+f 90 93 92
+f 90 91 126
+f 90 126 127
+f 90 127 128
+f 90 128 129
+f 90 129 125
+f 91 124 126
+f 96 99 97
+f 97 130 131
+f 97 131 132
+f 97 132 98
+f 97 99 103
+f 97 103 133
+f 97 133 134
+f 97 134 130
+f 98 132 131
+f 98 131 135
+f 98 135 122
+f 100 136 137
+f 100 137 138
+f 100 138 139
+f 100 139 140
+f 100 140 141
+f 100 141 101
+f 101 142 103
+f 101 103 102
+f 101 141 143
+f 101 143 142
+f 103 142 144
+f 103 144 134
+f 103 134 133
+f 104 145 105
+f 105 145 146
+f 107 147 108
+f 108 148 109
+f 108 147 149
+f 108 149 148
+f 109 118 150
+f 109 150 110
+f 109 148 118
+f 110 150 151
+f 110 151 112
+f 110 112 111
+f 112 114 113
+f 112 151 114
+f 114 151 115
+f 115 151 116
+f 116 151 150
+f 116 150 118
+f 117 119 120
+f 118 148 119
+f 119 148 152
+f 119 152 120
+f 120 152 153
+f 120 153 154
+f 120 154 155
+f 120 155 156
+f 120 156 136
+f 121 158 157
+f 122 135 123
+f 123 135 131
+f 123 131 159
+f 123 159 160
+f 123 160 161
+f 123 161 124
+f 124 162 163
+f 124 163 127
+f 124 127 126
+f 124 161 162
+f 130 134 131
+f 131 164 165
+f 131 165 166
+f 131 166 159
+f 131 134 164
+f 134 144 167
+f 134 167 168
+f 134 168 169
+f 134 169 170
+f 134 170 164
+f 136 171 172
+f 136 172 137
+f 136 156 171
+f 137 172 173
+f 137 173 139
+f 137 139 138
+f 139 174 143
+f 139 143 140
+f 139 173 175
+f 139 175 174
+f 140 143 141
+f 142 143 176
+f 142 176 167
+f 142 167 144
+f 143 174 177
+f 143 177 176
+f 145 157 146
+f 146 157 178
+f 148 149 152
+f 149 154 152
+f 152 154 179
+f 152 179 153
+f 153 179 154
+f 156 180 181
+f 156 181 171
+f 157 158 178
+f 167 183 184
+f 167 184 168
+f 167 176 185
+f 167 185 183
+f 171 181 172
+f 172 181 186
+f 172 186 187
+f 172 187 188
+f 172 188 173
+f 173 188 175
+f 174 175 189
+f 174 189 177
+f 175 188 190
+f 175 190 189
+f 176 177 185
+f 177 189 185
+f 180 191 186
+f 180 186 181
+f 182 193 192
+f 183 185 194
+f 185 189 195
+f 185 195 194
+f 186 191 196
+f 186 196 187
+f 187 196 197
+f 187 197 198
+f 187 198 188
+f 188 198 190
+f 189 190 199
+f 189 199 200
+f 189 200 201
+f 189 201 202
+f 189 202 203
+f 189 203 204
+f 189 204 195
+f 190 198 199
+f 191 192 196
+f 192 193 205
+f 192 205 197
+f 192 197 196
+f 197 205 206
+f 197 206 207
+f 197 207 208
+f 197 208 209
+f 197 209 198
+f 198 210 211
+f 198 211 199
+f 198 209 212
+f 198 212 210
+f 199 211 200
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_11.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.00000169 0.19075335 0.01283917
+v 0.00000169 0.19053042 0.01244727
+v -0.00326941 0.19075335 0.01283917
+v 0.00000169 0.17095651 0.01283910
+v 0.00000169 0.18850171 0.00922329
+v -0.00326941 0.19053042 0.01244727
+v -0.00374694 0.19073664 0.01283917
+v 0.00000169 0.14596527 0.00149737
+v -0.06096732 0.15939164 0.01283906
+v -0.06096732 0.13382075 0.00150065
+v 0.00000169 0.18727555 0.00775119
+v -0.00326941 0.18850171 0.00922329
+v -0.00976386 0.18838467 0.00937982
+v -0.00976386 0.19029634 0.01244727
+v -0.00976386 0.19052484 0.01283917
+v 0.00000169 0.18151264 0.00149750
+v -0.05520111 0.13640683 0.00149733
+v -0.06096732 0.18049824 0.01283913
+v -0.06096732 0.14597084 0.00149737
+v 0.00000169 0.18607170 0.00630905
+v -0.00326941 0.18607170 0.00630794
+v -0.00976386 0.18594908 0.00646447
+v -0.01319016 0.18828991 0.00950861
+v -0.01571511 0.18962754 0.01203539
+v -0.01580465 0.19009012 0.01283917
+v 0.00000169 0.18282797 0.00267097
+v -0.00326941 0.18151264 0.00149750
+v -0.00326941 0.18282797 0.00266875
+v -0.05760669 0.18164079 0.01283914
+v -0.06096732 0.18035890 0.01263485
+v -0.06096732 0.17047167 0.00149746
+v -0.00976386 0.18269978 0.00278865
+v -0.01625234 0.18245455 0.00302511
+v -0.01571511 0.18609956 0.00718498
+v -0.01751780 0.18807812 0.00981724
+v -0.02220956 0.18946589 0.01283917
+v -0.02063967 0.18962194 0.01283917
+v -0.01662242 0.19001209 0.01283917
+v -0.00976386 0.18125626 0.00149750
+v -0.05520111 0.18240993 0.01283914
+v -0.05520111 0.18098313 0.01068426
+v -0.06096732 0.18018613 0.01238839
+v -0.06096732 0.17088410 0.00185161
+v -0.05872292 0.17125752 0.00149746
+v -0.01625234 0.18074908 0.00149749
+v -0.01901606 0.18043140 0.00149749
+v -0.02274678 0.18209786 0.00337704
+v -0.02274678 0.18485112 0.00661657
+v -0.02274678 0.18777715 0.01026686
+v -0.02274678 0.18940459 0.01283917
+v -0.05441319 0.18264958 0.01283914
+v -0.05128534 0.18159622 0.00979390
+v -0.06096732 0.17673061 0.00777002
+v -0.06096732 0.17414455 0.00489574
+v -0.05712915 0.17484123 0.00415525
+v -0.05280151 0.17556021 0.00343918
+v -0.05430574 0.17279021 0.00149746
+v -0.02274678 0.17999667 0.00149749
+v -0.02646557 0.18185819 0.00362017
+v -0.02887711 0.18365284 0.00622355
+v -0.02734304 0.18876364 0.01283916
+v -0.02923526 0.18730898 0.01098404
+v -0.05218669 0.18327938 0.01283914
+v -0.04895737 0.18367510 0.01202093
+v -0.04895737 0.17976256 0.00689742
+v -0.05505785 0.17741059 0.00630569
+v -0.04695770 0.18218144 0.00902677
+v -0.06096732 0.17636277 0.00735037
+v -0.04221819 0.18025303 0.00539868
+v -0.04870666 0.17615099 0.00288299
+v -0.04870666 0.17454027 0.00149747
+v -0.05050935 0.17399408 0.00149747
+v -0.02397046 0.17982389 0.00149749
+v -0.02808918 0.17919966 0.00149749
+v -0.03572374 0.17777844 0.00149748
+v -0.03078724 0.18147920 0.00401873
+v -0.03572374 0.18347447 0.00747251
+v -0.02923526 0.18849054 0.01283916
+v -0.03236310 0.18793320 0.01283916
+v -0.03572374 0.18671820 0.01190993
+v -0.04891559 0.18419342 0.01283915
+v -0.04293449 0.18570940 0.01283915
+v -0.04161530 0.18603265 0.01283915
+v -0.04221819 0.18276665 0.00831292
+v -0.04221819 0.17700373 0.00211252
+v -0.03572374 0.18098873 0.00455716
+v -0.04221819 0.17629590 0.00149748
+v -0.04626528 0.17520351 0.00149747
+v -0.03602220 0.17771156 0.00149748
+v -0.03572374 0.18731455 0.01283916
+v -0.04062442 0.18625559 0.01283915
+v -0.03661315 0.18714177 0.01283916
+v -0.04109599 0.17655786 0.00149748
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 25
+f 1 25 38
+f 1 38 37
+f 1 37 36
+f 1 36 50
+f 1 50 61
+f 1 61 78
+f 1 78 79
+f 1 79 90
+f 1 90 92
+f 1 92 91
+f 1 91 83
+f 1 83 82
+f 1 82 81
+f 1 81 63
+f 1 63 51
+f 1 51 40
+f 1 40 29
+f 1 29 18
+f 1 18 9
+f 1 9 4
+f 1 4 8
+f 1 8 16
+f 1 16 26
+f 1 26 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 6
+f 3 6 7
+f 4 9 10
+f 4 10 8
+f 5 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 10 17
+f 8 17 19
+f 8 19 31
+f 8 31 44
+f 8 44 57
+f 8 57 72
+f 8 72 71
+f 8 71 88
+f 8 88 87
+f 8 87 93
+f 8 93 89
+f 8 89 75
+f 8 75 74
+f 8 74 73
+f 8 73 58
+f 8 58 46
+f 8 46 45
+f 8 45 39
+f 8 39 27
+f 8 27 16
+f 9 18 30
+f 9 30 42
+f 9 42 53
+f 9 53 68
+f 9 68 54
+f 9 54 43
+f 9 43 31
+f 9 31 19
+f 9 19 10
+f 10 19 17
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 22 23
+f 13 23 14
+f 13 21 22
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 16 27 28
+f 16 28 26
+f 18 29 30
+f 20 26 28
+f 20 28 21
+f 21 28 32
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 27 39 28
+f 28 39 32
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 31 43 44
+f 32 39 45
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 35
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 42
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 44 56 57
+f 46 58 47
+f 47 58 59
+f 47 59 48
+f 48 59 60
+f 48 60 49
+f 49 61 50
+f 49 60 62
+f 49 62 61
+f 51 63 64
+f 51 64 52
+f 52 65 66
+f 52 66 53
+f 52 64 67
+f 52 67 65
+f 53 66 55
+f 53 55 68
+f 54 68 55
+f 55 66 56
+f 56 66 65
+f 56 65 69
+f 56 69 70
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 58 73 59
+f 59 73 74
+f 59 74 75
+f 59 75 76
+f 59 76 60
+f 60 76 77
+f 60 77 62
+f 61 62 78
+f 62 79 78
+f 62 77 80
+f 62 80 79
+f 63 81 64
+f 64 81 82
+f 64 82 67
+f 65 67 69
+f 67 82 83
+f 67 83 84
+f 67 84 69
+f 69 85 70
+f 69 84 86
+f 69 86 85
+f 70 85 87
+f 70 87 88
+f 70 88 71
+f 75 89 85
+f 75 85 86
+f 75 86 76
+f 76 86 77
+f 77 86 84
+f 77 84 80
+f 79 80 90
+f 80 84 83
+f 80 83 91
+f 80 91 92
+f 80 92 90
+f 85 89 93
+f 85 93 87
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_12.obj

@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.19684662 -0.00320843 0.02994115
+v -0.19683057 -0.00320841 0.02410926
+v -0.19665409 -0.00970103 0.02994112
+v -0.19501763 -0.00970104 0.03306377
+v -0.19510185 -0.00320844 0.03312977
+v -0.19510185 0.00007078 0.03312758
+v -0.19596419 0.00007078 0.03154866
+v -0.19683858 0.00007079 0.02994116
+v -0.19683057 0.00007081 0.02410927
+v -0.19508983 -0.00320840 0.02065674
+v -0.19497751 -0.00970100 0.02084583
+v -0.19660996 -0.00970101 0.02410923
+v -0.19508983 0.00007082 0.02065456
+v -0.19585190 -0.02267962 0.02470073
+v -0.19585190 -0.02267964 0.02949906
+v -0.19596821 -0.01651628 0.03047986
+v -0.19488927 -0.01456719 0.03296040
+v -0.19110293 -0.02267965 0.03389497
+v -0.19152007 -0.00970105 0.03406214
+v -0.19152007 -0.00320845 0.03410835
+v -0.19329693 0.00007078 0.03362017
+v -0.19351352 -0.00320839 0.01774080
+v -0.19340121 -0.00970099 0.01792989
+v -0.19485317 -0.01394818 0.02105473
+v -0.19594815 -0.01614093 0.02362542
+v -0.19430768 0.00007083 0.01920978
+v -0.19467668 -0.01827438 0.02136038
+v -0.19446009 -0.02267961 0.02178699
+v -0.19405900 -0.02917220 0.02264899
+v -0.19541069 -0.02917221 0.02556273
+v -0.19434779 -0.02267965 0.03241501
+v -0.19468070 -0.01889339 0.03278446
+v -0.19541069 -0.02917223 0.02861062
+v -0.18997185 -0.03565826 0.03377617
+v -0.19052937 -0.02917224 0.03386635
+v -0.18503037 -0.04214428 0.03429733
+v -0.19152007 0.00007077 0.03410396
+v -0.19042910 -0.00320837 0.01244768
+v -0.19350549 0.00007083 0.01773861
+v -0.18983146 -0.00998410 0.01189569
+v -0.18991570 -0.01619356 0.01273791
+v -0.19342929 -0.01614091 0.01877870
+v -0.19251880 -0.02267960 0.01827950
+v -0.19166447 -0.02917219 0.01827947
+v -0.19502965 -0.03382767 0.02639616
+v -0.19012427 -0.03625084 0.01771429
+v -0.19369802 -0.03585577 0.02431585
+v -0.19377423 -0.02917224 0.03152656
+v -0.18834341 -0.05213339 0.03290969
+v -0.18872846 -0.04863687 0.03318018
+v -0.18939026 -0.04214427 0.03356944
+v -0.19502965 -0.03382767 0.02771120
+v -0.18503037 -0.04863688 0.03413017
+v -0.17853665 -0.06719938 0.03417628
+v -0.17853665 -0.06162207 0.03427306
+v -0.18896911 0.00007078 0.03396762
+v -0.19004003 -0.00320836 0.01183195
+v -0.19000795 -0.00418291 0.01183194
+v -0.18979536 -0.00993142 0.01183192
+v -0.19042108 0.00007085 0.01244769
+v -0.18977932 -0.01016848 0.01183192
+v -0.18934614 -0.01619355 0.01183190
+v -0.18957877 -0.02267958 0.01325466
+v -0.18912554 -0.02917217 0.01397592
+v -0.18867230 -0.03448609 0.01471698
+v -0.19229819 -0.04214424 0.02410912
+v -0.18865626 -0.05951491 0.02615637
+v -0.18825918 -0.03881231 0.01539428
+v -0.18961087 -0.04214422 0.01898752
+v -0.19344533 -0.03585579 0.02976950
+v -0.19207760 -0.04214426 0.02994101
+v -0.19065371 -0.04863686 0.02994098
+v -0.18915362 -0.05462901 0.02991676
+v -0.18865626 -0.05951491 0.02795959
+v -0.18752116 -0.05645959 0.03184752
+v -0.18250749 -0.06719937 0.03329886
+v -0.18338588 -0.06162206 0.03370350
+v -0.17333445 -0.06719937 0.03373427
+v -0.18646228 0.00007078 0.03383348
+v -0.19003201 -0.00057444 0.01183196
+v -0.19002801 0.00007086 0.01183196
+v -0.18868032 -0.02267957 0.01183188
+v -0.18776182 -0.02917216 0.01183185
+v -0.18713612 -0.03262917 0.01183184
+v -0.18699573 -0.03625082 0.01264328
+v -0.18877658 -0.04863682 0.02038169
+v -0.19070184 -0.04863684 0.02410909
+v -0.18913356 -0.05454998 0.02417064
+v -0.18772572 -0.05632786 0.02227065
+v -0.18698771 -0.06165496 0.02417061
+v -0.18495014 -0.06719934 0.02411781
+v -0.18560393 -0.04214420 0.01244754
+v -0.18788215 -0.04214421 0.01607158
+v -0.18708798 -0.04863681 0.01746575
+v -0.18481378 -0.06719936 0.02993651
+v -0.17008559 -0.06719936 0.03118117
+v -0.18321742 0.00007079 0.03097471
+v -0.17006955 0.00007086 0.01183196
+v -0.18619755 -0.03735705 0.01183182
+v -0.18517877 -0.04214419 0.01183181
+v -0.18830731 -0.05200165 0.02114256
+v -0.18626573 -0.05454996 0.01883134
+v -0.18356237 -0.06174054 0.01800447
+v -0.18263984 -0.06719932 0.01979667
+v -0.18312116 -0.06719933 0.02067630
+v -0.18498624 -0.04300021 0.01183180
+v -0.18367065 -0.04888701 0.01202089
+v -0.18292863 -0.05512940 0.01358220
+v -0.15587481 -0.06719929 0.01183171
+v -0.18222270 -0.05965973 0.01467071
+v -0.18147667 -0.06398594 0.01587797
+v -0.18086701 -0.06719931 0.01689393
+v -0.18357439 -0.04876190 0.01183178
+v -0.18349417 -0.04908455 0.01183178
+v -0.18176947 -0.05512939 0.01183176
+v -0.17753793 -0.06719929 0.01183171
+v -0.18046591 -0.05908684 0.01183174
+v -0.18010492 -0.06174052 0.01261459
+v -0.17779864 -0.06719929 0.01220555
+v -0.17838824 -0.06719930 0.01307857
+v -0.17920647 -0.06268872 0.01183173
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 9 13
+f 2 13 10
+f 3 12 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 19 20
+f 5 20 6
+f 6 20 21
+f 6 21 37
+f 6 37 56
+f 6 56 79
+f 6 79 97
+f 6 97 98
+f 6 98 81
+f 6 81 60
+f 6 60 39
+f 6 39 26
+f 6 26 13
+f 6 13 9
+f 6 9 8
+f 6 8 7
+f 10 22 23
+f 10 23 11
+f 10 13 22
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 14
+f 13 26 22
+f 14 25 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 33
+f 14 33 15
+f 15 31 32
+f 15 32 16
+f 15 33 31
+f 16 32 17
+f 17 32 34
+f 17 34 35
+f 17 35 18
+f 18 35 19
+f 19 35 36
+f 19 36 20
+f 20 37 21
+f 20 36 37
+f 22 38 23
+f 22 26 39
+f 22 39 38
+f 23 38 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 27
+f 24 27 25
+f 27 43 28
+f 27 42 43
+f 28 44 29
+f 28 43 44
+f 29 45 30
+f 29 44 46
+f 29 46 47
+f 29 47 45
+f 30 45 52
+f 30 52 33
+f 31 33 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 32 50 51
+f 32 51 34
+f 33 52 48
+f 34 51 53
+f 34 53 35
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 38 57 58
+f 38 58 59
+f 38 59 40
+f 38 39 60
+f 38 60 57
+f 40 59 61
+f 40 61 41
+f 41 61 62
+f 41 62 63
+f 41 63 43
+f 41 43 42
+f 43 63 44
+f 44 63 64
+f 44 64 65
+f 44 65 46
+f 45 47 66
+f 45 66 67
+f 45 67 74
+f 45 74 52
+f 46 68 69
+f 46 69 47
+f 46 65 68
+f 47 69 66
+f 48 52 70
+f 48 70 49
+f 49 70 71
+f 49 71 72
+f 49 72 73
+f 49 73 74
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 50
+f 50 77 51
+f 51 77 53
+f 52 74 72
+f 52 72 71
+f 52 71 70
+f 53 77 54
+f 54 78 55
+f 54 77 76
+f 54 76 95
+f 54 95 91
+f 54 91 105
+f 54 105 104
+f 54 104 112
+f 54 112 120
+f 54 120 119
+f 54 119 116
+f 54 116 109
+f 54 109 96
+f 54 96 78
+f 55 78 79
+f 55 79 56
+f 57 60 80
+f 57 80 81
+f 57 81 98
+f 57 98 109
+f 57 109 116
+f 57 116 121
+f 57 121 117
+f 57 117 115
+f 57 115 114
+f 57 114 113
+f 57 113 106
+f 57 106 100
+f 57 100 99
+f 57 99 84
+f 57 84 83
+f 57 83 82
+f 57 82 62
+f 57 62 61
+f 57 61 59
+f 57 59 58
+f 60 81 80
+f 62 82 63
+f 63 82 64
+f 64 83 65
+f 64 82 83
+f 65 83 84
+f 65 84 85
+f 65 85 68
+f 66 69 86
+f 66 86 87
+f 66 87 67
+f 67 87 88
+f 67 88 89
+f 67 89 90
+f 67 90 91
+f 67 91 74
+f 68 85 92
+f 68 92 93
+f 68 93 69
+f 69 93 94
+f 69 94 86
+f 72 74 73
+f 74 91 95
+f 74 95 75
+f 75 95 76
+f 78 96 79
+f 79 96 97
+f 84 99 85
+f 85 99 100
+f 85 100 92
+f 86 101 87
+f 86 94 101
+f 87 101 89
+f 87 89 88
+f 89 101 102
+f 89 102 103
+f 89 103 90
+f 90 103 104
+f 90 104 105
+f 90 105 91
+f 92 100 106
+f 92 106 107
+f 92 107 93
+f 93 107 94
+f 94 107 108
+f 94 108 102
+f 94 102 101
+f 96 109 97
+f 97 109 98
+f 102 108 110
+f 102 110 103
+f 103 110 111
+f 103 111 104
+f 104 111 112
+f 106 113 107
+f 107 113 114
+f 107 114 108
+f 108 114 115
+f 108 115 110
+f 110 117 118
+f 110 118 111
+f 110 115 117
+f 111 118 119
+f 111 119 120
+f 111 120 112
+f 116 119 118
+f 116 118 121
+f 117 121 118
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_13.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.00000766 0.19689257 0.02410918
+v 0.00000766 0.19688522 0.02699854
+v 0.00000766 0.19513452 0.02056514
+v -0.00327435 0.19513088 0.02057144
+v -0.00327435 0.19688523 0.02410918
+v -0.00327435 0.19687056 0.02994246
+v 0.00000766 0.19687423 0.02994246
+v 0.00000766 0.19354499 0.01765059
+v -0.00327435 0.19354499 0.01765688
+v -0.00976106 0.19502465 0.02075399
+v -0.00976106 0.19668379 0.02410918
+v -0.00976106 0.19668010 0.02994246
+v -0.00976106 0.19502461 0.03307313
+v -0.00327435 0.19511252 0.03314238
+v 0.00000766 0.19600617 0.03152668
+v 0.00000766 0.19075779 0.01283917
+v -0.00327435 0.19075779 0.01283917
+v -0.00976106 0.19342778 0.01783734
+v -0.01448191 0.19488547 0.02098900
+v -0.01649154 0.19600256 0.02358670
+v -0.02274637 0.19589634 0.02458759
+v -0.02274637 0.19589632 0.02958156
+v -0.01680071 0.19600618 0.03051320
+v -0.01933356 0.19473526 0.03283812
+v -0.01500513 0.19489641 0.03297032
+v -0.02274637 0.19117158 0.03388516
+v -0.00976106 0.19151585 0.03404043
+v -0.00327435 0.19151585 0.03409499
+v 0.00000766 0.19511617 0.03314448
+v 0.00000766 0.17096157 0.01283910
+v -0.00976106 0.19052338 0.01283917
+v -0.01018320 0.19049408 0.01283917
+v -0.01649154 0.19348272 0.01873961
+v -0.01881035 0.19470601 0.02129535
+v -0.02274637 0.19451555 0.02167304
+v -0.02923903 0.19412732 0.02250606
+v -0.02923903 0.19546049 0.02541852
+v -0.02923903 0.19546047 0.02872755
+v -0.02274637 0.19441662 0.03249819
+v -0.05226656 0.18835506 0.03292622
+v -0.04870511 0.18875062 0.03319900
+v -0.04221245 0.18940988 0.03357461
+v -0.03572574 0.19000323 0.03378234
+v -0.02923903 0.19057825 0.03387047
+v -0.04221245 0.18502577 0.03427542
+v 0.00000766 0.19151585 0.03409499
+v 0.00000766 0.18126801 0.02802037
+v -0.06073317 0.15947941 0.01283906
+v -0.01580779 0.19009119 0.01283917
+v -0.01662234 0.19001428 0.01283917
+v -0.02274637 0.19262201 0.01828008
+v -0.02923903 0.19178328 0.01828007
+v -0.03572574 0.19068085 0.01828007
+v -0.03604086 0.19376838 0.02425185
+v -0.03409068 0.19506491 0.02629142
+v -0.02923903 0.19382329 0.03164208
+v -0.03409068 0.19506491 0.02780849
+v -0.05473994 0.18917183 0.02993194
+v -0.05962133 0.18866275 0.02798052
+v -0.05659499 0.18752000 0.03186868
+v -0.06073317 0.18416141 0.03334797
+v -0.06073317 0.18363767 0.03369208
+v -0.03604086 0.19349001 0.02982915
+v -0.04870511 0.19071011 0.02994244
+v -0.04870511 0.18502577 0.03413064
+v -0.06073317 0.17945866 0.03416209
+v -0.06073317 0.17849175 0.03416419
+v 0.00000766 0.18903630 0.03395439
+v 0.00000766 0.18326776 0.03093491
+v -0.06073317 0.17225440 0.03059285
+v -0.06073317 0.18057949 0.01283913
+v -0.02063566 0.18962605 0.01283917
+v -0.02274637 0.18962238 0.01318539
+v -0.02923903 0.18917189 0.01390090
+v -0.03572574 0.18860053 0.01482835
+v -0.03900774 0.18827821 0.01535083
+v -0.04158816 0.18938429 0.01822132
+v -0.04221245 0.19238758 0.02410917
+v -0.05962133 0.18866275 0.02612772
+v -0.06073317 0.18779471 0.02598503
+v -0.06073317 0.18767017 0.02899820
+v -0.06073317 0.18690836 0.03031383
+v -0.06073317 0.17498300 0.03345705
+v 0.00000766 0.18651646 0.03380961
+v 0.00000766 0.18490858 0.03238905
+v -0.06073317 0.17455083 0.03331856
+v -0.06073317 0.18114719 0.01366797
+v -0.05761170 0.18164164 0.01283914
+v -0.02221126 0.18946490 0.01283917
+v -0.02274637 0.18940263 0.01283917
+v -0.02734236 0.18876534 0.01283916
+v -0.02923903 0.18849432 0.01283916
+v -0.03236644 0.18793394 0.01283916
+v -0.03572574 0.18731863 0.01283916
+v -0.03661164 0.18713916 0.01283916
+v -0.04062496 0.18625648 0.01283915
+v -0.04158816 0.18616491 0.01302380
+v -0.04333618 0.18777643 0.01623841
+v -0.04870511 0.18880562 0.02033010
+v -0.04870511 0.19076507 0.02410916
+v -0.05466860 0.18915354 0.02415531
+v -0.05647608 0.18773980 0.02224376
+v -0.06073317 0.18779472 0.02509955
+v -0.06073317 0.18287957 0.01634960
+v -0.05968673 0.18220568 0.01469614
+v -0.05519777 0.18291621 0.01360082
+v -0.05519777 0.18241077 0.01283914
+v -0.04161194 0.18603306 0.01283915
+v -0.04293782 0.18571076 0.01283915
+v -0.04891915 0.18419446 0.01283915
+v -0.04870511 0.18709520 0.01741346
+v -0.05214764 0.18832581 0.02111067
+v -0.06073317 0.18713912 0.02378601
+v -0.05466860 0.18626379 0.01881092
+v -0.06073317 0.18396003 0.01813736
+v -0.05218926 0.18328247 0.01283914
+v -0.05441294 0.18265250 0.01283914
+f 1 2 7
+f 1 7 15
+f 1 15 29
+f 1 29 46
+f 1 46 68
+f 1 68 84
+f 1 84 85
+f 1 85 69
+f 1 69 47
+f 1 47 30
+f 1 30 16
+f 1 16 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 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 16 30 48
+f 16 48 71
+f 16 71 88
+f 16 88 107
+f 16 107 117
+f 16 117 116
+f 16 116 110
+f 16 110 109
+f 16 109 108
+f 16 108 96
+f 16 96 95
+f 16 95 94
+f 16 94 93
+f 16 93 92
+f 16 92 91
+f 16 91 90
+f 16 90 89
+f 16 89 72
+f 16 72 50
+f 16 50 49
+f 16 49 32
+f 16 32 31
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 22 38 24
+f 22 24 23
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 25 44 26
+f 26 44 27
+f 27 44 45
+f 27 45 28
+f 28 46 29
+f 28 45 46
+f 30 47 48
+f 32 49 33
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 35
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 57
+f 37 57 38
+f 38 56 39
+f 38 57 56
+f 39 56 40
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 41
+f 40 56 63
+f 40 63 57
+f 40 57 64
+f 40 64 58
+f 41 62 42
+f 42 62 65
+f 42 65 43
+f 43 65 44
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 47 69 48
+f 48 69 70
+f 48 70 86
+f 48 86 83
+f 48 83 67
+f 48 67 66
+f 48 66 62
+f 48 62 61
+f 48 61 82
+f 48 82 81
+f 48 81 80
+f 48 80 103
+f 48 103 113
+f 48 113 115
+f 48 115 104
+f 48 104 87
+f 48 87 71
+f 50 72 51
+f 51 73 52
+f 51 72 73
+f 52 73 74
+f 52 74 53
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 54
+f 53 74 75
+f 54 78 55
+f 55 78 79
+f 55 79 59
+f 55 59 57
+f 56 57 63
+f 57 59 64
+f 58 64 59
+f 59 79 103
+f 59 103 80
+f 59 80 81
+f 59 81 60
+f 60 81 82
+f 60 82 61
+f 62 66 65
+f 67 83 84
+f 67 84 68
+f 69 85 86
+f 69 86 70
+f 71 87 88
+f 72 89 73
+f 73 90 91
+f 73 91 74
+f 73 89 90
+f 74 91 92
+f 74 92 93
+f 74 93 75
+f 75 94 76
+f 75 93 94
+f 76 95 96
+f 76 96 97
+f 76 97 98
+f 76 98 77
+f 76 94 95
+f 77 98 99
+f 77 99 78
+f 78 99 100
+f 78 100 79
+f 79 101 102
+f 79 102 103
+f 79 100 101
+f 83 86 84
+f 84 86 85
+f 87 104 105
+f 87 105 88
+f 88 105 106
+f 88 106 107
+f 96 108 97
+f 97 108 109
+f 97 109 98
+f 98 109 110
+f 98 110 111
+f 98 111 99
+f 99 111 112
+f 99 112 100
+f 100 112 102
+f 100 102 101
+f 102 113 103
+f 102 112 114
+f 102 114 115
+f 102 115 113
+f 104 115 114
+f 104 114 105
+f 105 114 106
+f 106 114 111
+f 106 111 116
+f 106 116 117
+f 106 117 107
+f 110 116 111
+f 111 114 112
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_14.obj

@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v -0.18495257 -0.06720844 0.02412010
+v -0.18481275 -0.06720846 0.02993762
+v -0.18312090 -0.06720843 0.02067579
+v -0.18248470 -0.06811851 0.02009816
+v -0.18461000 -0.06811853 0.02411031
+v -0.18191842 -0.07815687 0.02670475
+v -0.18191842 -0.07815687 0.02736659
+v -0.18250568 -0.06720847 0.03329772
+v -0.18449115 -0.06811855 0.02994154
+v -0.18182754 -0.07148590 0.03289434
+v -0.18236585 -0.06811856 0.03323115
+v -0.18263850 -0.06720842 0.01979661
+v -0.18086276 -0.06720841 0.01689274
+v -0.18068798 -0.06811850 0.01718254
+v -0.17936666 -0.07399771 0.01884103
+v -0.18180656 -0.07142216 0.02116140
+v -0.18096762 -0.07574510 0.02281793
+v -0.18249169 -0.07399773 0.02449995
+v -0.17965329 -0.08063231 0.02449992
+v -0.17552853 -0.09127130 0.02651085
+v -0.18250568 -0.07403416 0.02956360
+v -0.17552853 -0.09127130 0.02757998
+v -0.17638144 -0.08728511 0.02969083
+v -0.17555649 -0.08490978 0.03304507
+v -0.17856267 -0.07403417 0.03365016
+v -0.17853472 -0.06811857 0.03415929
+v -0.17853472 -0.06720848 0.03417691
+v -0.17633251 -0.08109648 0.03344257
+v -0.17917789 -0.06720840 0.01429630
+v -0.17877940 -0.06821860 0.01429630
+v -0.17638843 -0.07423432 0.01429628
+v -0.17624162 -0.07458925 0.01429628
+v -0.17538870 -0.07805671 0.01521852
+v -0.17632552 -0.08056858 0.01861778
+v -0.17557047 -0.08490064 0.02078931
+v -0.17452879 -0.08923268 0.02262599
+v -0.17638843 -0.08727599 0.02438437
+v -0.17306765 -0.09369214 0.02438435
+v -0.16983774 -0.09907989 0.02411020
+v -0.16795013 -0.10232892 0.02411018
+v -0.16300741 -0.11132064 0.02569425
+v -0.16982377 -0.09906171 0.02994143
+v -0.16894288 -0.09757827 0.03295691
+v -0.17431906 -0.08924182 0.03146878
+v -0.16300741 -0.11132065 0.02839643
+v -0.16980279 -0.09408351 0.03337595
+v -0.17210986 -0.08728512 0.03373431
+v -0.17204694 -0.08109649 0.03428064
+v -0.17315854 -0.06811856 0.03378529
+v -0.17332632 -0.06720847 0.03373438
+v -0.12011681 -0.14599523 0.03429411
+v -0.11353116 -0.15248419 0.03420989
+v -0.15843520 -0.06720840 0.01429630
+v -0.17600392 -0.07516261 0.01429627
+v -0.17434702 -0.08237966 0.01690052
+v -0.17425614 -0.07906691 0.01429626
+v -0.17038305 -0.08693012 0.01429623
+v -0.17006845 -0.08756718 0.01429623
+v -0.17303969 -0.08727597 0.01861776
+v -0.16891491 -0.09104374 0.01519107
+v -0.16980279 -0.09355561 0.01873131
+v -0.16895686 -0.09759643 0.02097723
+v -0.16339892 -0.10543232 0.01966136
+v -0.16193078 -0.10975528 0.02180743
+v -0.16464334 -0.10737994 0.02389478
+v -0.16040670 -0.11351397 0.02389475
+v -0.15696707 -0.11830106 0.02411013
+v -0.15445725 -0.12154098 0.02411011
+v -0.14303375 -0.13645742 0.02666734
+v -0.16779633 -0.10231074 0.02994141
+v -0.16452449 -0.10728896 0.03018029
+v -0.16175600 -0.10960970 0.03228524
+v -0.15599530 -0.11702696 0.03297446
+v -0.16319616 -0.10528676 0.03334067
+v -0.14303375 -0.13645742 0.02741142
+v -0.15435938 -0.12152280 0.02994134
+v -0.15695309 -0.11828287 0.02994136
+v -0.16543333 -0.10007192 0.03362265
+v -0.16555218 -0.09408352 0.03422577
+v -0.15256965 -0.11355041 0.03425898
+v -0.14608886 -0.12003938 0.03429617
+v -0.17008243 -0.06720846 0.03118102
+v -0.11393665 -0.14614083 0.03368318
+v -0.11353116 -0.14633194 0.03364989
+v -0.13953817 -0.13293539 0.03378701
+v -0.13299447 -0.13944255 0.03377133
+v -0.11362904 -0.15249329 0.03421381
+v -0.11353116 -0.15698004 0.03338159
+v -0.11353116 -0.12844856 0.01429608
+v -0.11353116 -0.14172687 0.02993343
+v -0.16953712 -0.08862288 0.01429622
+v -0.16771244 -0.09202663 0.01429621
+v -0.16390926 -0.09857931 0.01429619
+v -0.16768448 -0.09537578 0.01708845
+v -0.16553820 -0.10048142 0.01837491
+v -0.16086113 -0.10737992 0.01794214
+v -0.16202864 -0.10337551 0.01577258
+v -0.15622601 -0.11087466 0.01480329
+v -0.15725371 -0.11325002 0.01871165
+v -0.15600929 -0.11705421 0.02094192
+v -0.15001089 -0.12408923 0.02033096
+v -0.15121336 -0.12550899 0.02411010
+v -0.14846585 -0.12874893 0.02411009
+v -0.14485843 -0.13302636 0.02447623
+v -0.14181729 -0.13519237 0.02278051
+v -0.13917464 -0.13909668 0.02474056
+v -0.13653199 -0.14292819 0.02670060
+v -0.15111549 -0.12540891 0.02994133
+v -0.14833301 -0.12865794 0.02994132
+v -0.14988505 -0.12396187 0.03317024
+v -0.15225504 -0.11952972 0.03352859
+v -0.15716282 -0.11355040 0.03342875
+v -0.15937901 -0.10728897 0.03389677
+v -0.13653199 -0.14292819 0.02736831
+v -0.13909774 -0.13900570 0.02933427
+v -0.14166348 -0.13503769 0.03129825
+v -0.14475356 -0.13293538 0.02958884
+v -0.14593506 -0.12628260 0.03370872
+v -0.11353116 -0.14572219 0.03319561
+v -0.14366993 -0.13071475 0.03327596
+v -0.13733597 -0.13723102 0.03331118
+v -0.13075732 -0.14354706 0.03326024
+v -0.12633891 -0.14583140 0.03368514
+v -0.11953654 -0.15214745 0.03347365
+v -0.11362904 -0.15694363 0.03337376
+v -0.11353116 -0.15975581 0.03042681
+v -0.11353116 -0.15358532 0.01429599
+v -0.16355272 -0.09917997 0.01429619
+v -0.16307032 -0.09998995 0.01429618
+v -0.16156025 -0.10239259 0.01429617
+v -0.15982644 -0.10501366 0.01429616
+v -0.15651963 -0.10989176 0.01429615
+v -0.15540105 -0.11144802 0.01429614
+v -0.15057018 -0.11783687 0.01429612
+v -0.15462504 -0.11519761 0.01705509
+v -0.15038142 -0.11808260 0.01429612
+v -0.15231797 -0.11969348 0.01869205
+v -0.14619374 -0.12662839 0.01819662
+v -0.14384471 -0.13086032 0.01995107
+v -0.14854275 -0.12234183 0.01644218
+v -0.13748977 -0.13739478 0.01984727
+v -0.13524562 -0.14172684 0.02281573
+v -0.13309235 -0.14472105 0.02449773
+v -0.12875784 -0.14832502 0.02411002
+v -0.12550697 -0.15101890 0.02411001
+v -0.12148707 -0.15426793 0.02410999
+v -0.11823620 -0.15677069 0.02410998
+v -0.13508482 -0.14155394 0.03125515
+v -0.11820123 -0.15674340 0.02994121
+v -0.12145212 -0.15420424 0.02994122
+v -0.12543706 -0.15095521 0.02994124
+v -0.12868794 -0.14819763 0.02994125
+v -0.13299447 -0.14462097 0.02956334
+v -0.12399689 -0.14975390 0.03315057
+v -0.11698479 -0.15581512 0.03290970
+v -0.11353116 -0.16005614 0.03009589
+v -0.11353116 -0.15508699 0.01629324
+v -0.11805442 -0.15019978 0.01429600
+v -0.15015771 -0.11835562 0.01429612
+v -0.14448790 -0.12509031 0.01429609
+v -0.14229268 -0.12917664 0.01606229
+v -0.13989473 -0.13331757 0.01795575
+v -0.14755700 -0.12146814 0.01429610
+v -0.14518002 -0.12428942 0.01429609
+v -0.13586084 -0.13577481 0.01596043
+v -0.13338598 -0.13978833 0.01798314
+v -0.13091811 -0.14371993 0.02000389
+v -0.12408777 -0.14984487 0.02043073
+v -0.11702673 -0.15585148 0.02104360
+v -0.11353116 -0.16017444 0.02396898
+v -0.11353116 -0.15667055 0.01854505
+v -0.11518807 -0.15447722 0.01715677
+v -0.11821522 -0.15007236 0.01429600
+v -0.11968336 -0.15216559 0.01879375
+v -0.14371887 -0.12596401 0.01429609
+v -0.13929349 -0.13075109 0.01429607
+v -0.13830774 -0.13177950 0.01429607
+v -0.13729402 -0.13283520 0.01429606
+v -0.14148871 -0.12841215 0.01429608
+v -0.13511279 -0.13502852 0.01429605
+v -0.13291058 -0.13718544 0.01429605
+v -0.13185492 -0.13818655 0.01429604
+v -0.12921228 -0.14217276 0.01611706
+v -0.12510848 -0.14432058 0.01429602
+v -0.12665352 -0.14605887 0.01827291
+v -0.12233999 -0.14839780 0.01654194
+v -0.11353116 -0.15694358 0.01893471
+v -0.12437441 -0.14494854 0.01429602
+v -0.13083422 -0.13914214 0.01429604
+v -0.12843626 -0.14134457 0.01429603
+v -0.12591246 -0.14361980 0.01429602
+f 1 2 8
+f 1 8 27
+f 1 27 50
+f 1 50 82
+f 1 82 53
+f 1 53 29
+f 1 29 13
+f 1 13 12
+f 1 12 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 10
+f 2 10 11
+f 2 11 8
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 17
+f 6 17 19
+f 6 19 20
+f 6 20 22
+f 6 22 7
+f 7 10 21
+f 7 21 9
+f 7 22 23
+f 7 23 24
+f 7 24 10
+f 8 11 25
+f 8 25 26
+f 8 26 27
+f 9 21 10
+f 10 28 11
+f 10 24 28
+f 11 28 25
+f 13 29 30
+f 13 30 31
+f 13 31 14
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 17
+f 15 17 16
+f 17 34 35
+f 17 35 19
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 20 37 36
+f 20 36 38
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 45
+f 20 45 22
+f 22 42 43
+f 22 43 44
+f 22 44 23
+f 22 45 42
+f 23 44 24
+f 24 44 43
+f 24 43 46
+f 24 46 28
+f 25 28 47
+f 25 47 48
+f 25 48 26
+f 26 48 27
+f 27 49 50
+f 27 48 51
+f 27 51 52
+f 27 52 49
+f 28 46 47
+f 29 53 89
+f 29 89 127
+f 29 127 158
+f 29 158 173
+f 29 173 188
+f 29 188 184
+f 29 184 191
+f 29 191 190
+f 29 190 189
+f 29 189 182
+f 29 182 181
+f 29 181 180
+f 29 180 178
+f 29 178 177
+f 29 177 176
+f 29 176 179
+f 29 179 175
+f 29 175 160
+f 29 160 164
+f 29 164 163
+f 29 163 159
+f 29 159 136
+f 29 136 134
+f 29 134 133
+f 29 133 132
+f 29 132 131
+f 29 131 130
+f 29 130 129
+f 29 129 128
+f 29 128 93
+f 29 93 92
+f 29 92 91
+f 29 91 58
+f 29 58 57
+f 29 57 56
+f 29 56 54
+f 29 54 32
+f 29 32 31
+f 29 31 30
+f 32 54 33
+f 33 55 34
+f 33 54 56
+f 33 56 57
+f 33 57 58
+f 33 58 55
+f 34 55 59
+f 34 59 35
+f 35 59 36
+f 36 59 60
+f 36 60 61
+f 36 61 62
+f 36 62 38
+f 38 62 39
+f 39 62 40
+f 40 62 63
+f 40 63 64
+f 40 64 65
+f 40 65 41
+f 41 66 67
+f 41 67 68
+f 41 68 69
+f 41 69 75
+f 41 75 45
+f 41 65 64
+f 41 64 66
+f 42 70 43
+f 42 45 70
+f 43 70 71
+f 43 71 72
+f 43 72 73
+f 43 73 74
+f 43 74 46
+f 45 75 76
+f 45 76 77
+f 45 77 73
+f 45 73 72
+f 45 72 71
+f 45 71 70
+f 46 74 78
+f 46 78 47
+f 47 78 79
+f 47 79 48
+f 48 79 80
+f 48 80 81
+f 48 81 51
+f 49 52 50
+f 50 52 83
+f 50 83 84
+f 50 84 82
+f 51 81 85
+f 51 85 86
+f 51 86 87
+f 51 87 52
+f 52 87 88
+f 52 88 126
+f 52 126 156
+f 52 156 170
+f 52 170 187
+f 52 187 171
+f 52 171 157
+f 52 157 127
+f 52 127 89
+f 52 89 90
+f 52 90 119
+f 52 119 84
+f 52 84 83
+f 53 82 90
+f 53 90 89
+f 55 58 59
+f 58 91 60
+f 58 60 59
+f 60 91 92
+f 60 92 93
+f 60 93 94
+f 60 94 61
+f 61 94 62
+f 62 94 95
+f 62 95 63
+f 63 96 64
+f 63 95 97
+f 63 97 96
+f 64 96 98
+f 64 98 99
+f 64 99 100
+f 64 100 66
+f 66 100 67
+f 67 100 68
+f 68 100 101
+f 68 101 102
+f 68 102 69
+f 69 102 103
+f 69 103 104
+f 69 104 105
+f 69 105 106
+f 69 106 107
+f 69 107 114
+f 69 114 75
+f 73 77 76
+f 73 76 108
+f 73 108 109
+f 73 109 110
+f 73 110 111
+f 73 111 112
+f 73 112 74
+f 74 113 78
+f 74 112 113
+f 75 114 115
+f 75 115 116
+f 75 116 117
+f 75 117 109
+f 75 109 108
+f 75 108 76
+f 78 113 79
+f 79 113 80
+f 80 111 118
+f 80 118 85
+f 80 85 81
+f 80 113 111
+f 82 84 119
+f 82 119 90
+f 85 118 120
+f 85 120 121
+f 85 121 86
+f 86 121 122
+f 86 122 123
+f 86 123 87
+f 87 124 88
+f 87 123 124
+f 88 125 126
+f 88 124 125
+f 93 128 95
+f 93 95 94
+f 95 128 129
+f 95 129 97
+f 96 97 98
+f 97 129 130
+f 97 130 131
+f 97 131 132
+f 97 132 98
+f 98 132 133
+f 98 133 134
+f 98 134 135
+f 98 135 99
+f 99 135 100
+f 100 136 137
+f 100 137 101
+f 100 135 136
+f 101 138 139
+f 101 139 103
+f 101 103 102
+f 101 137 136
+f 101 136 140
+f 101 140 138
+f 103 139 105
+f 103 105 104
+f 105 141 142
+f 105 142 106
+f 105 139 141
+f 106 142 107
+f 107 142 143
+f 107 143 144
+f 107 144 145
+f 107 145 146
+f 107 146 147
+f 107 147 114
+f 109 117 116
+f 109 116 110
+f 110 120 118
+f 110 118 111
+f 110 116 120
+f 111 113 112
+f 114 148 115
+f 114 147 149
+f 114 149 150
+f 114 150 151
+f 114 151 152
+f 114 152 153
+f 114 153 148
+f 115 148 116
+f 116 148 121
+f 116 121 120
+f 121 148 122
+f 122 148 154
+f 122 154 123
+f 123 154 124
+f 124 154 125
+f 125 154 155
+f 125 155 126
+f 126 155 156
+f 127 157 158
+f 134 136 135
+f 136 159 140
+f 138 160 161
+f 138 161 139
+f 138 140 160
+f 139 161 162
+f 139 162 141
+f 140 159 163
+f 140 163 164
+f 140 164 160
+f 141 162 165
+f 141 165 166
+f 141 166 167
+f 141 167 142
+f 142 167 144
+f 142 144 143
+f 144 167 168
+f 144 168 145
+f 145 168 146
+f 146 168 169
+f 146 169 147
+f 147 169 170
+f 147 170 149
+f 148 153 152
+f 148 152 154
+f 149 170 156
+f 149 156 155
+f 149 155 150
+f 150 155 151
+f 151 155 154
+f 151 154 152
+f 157 171 172
+f 157 172 158
+f 158 172 169
+f 158 169 174
+f 158 174 173
+f 160 175 161
+f 161 176 177
+f 161 177 178
+f 161 178 165
+f 161 165 162
+f 161 175 179
+f 161 179 176
+f 165 178 180
+f 165 180 181
+f 165 181 182
+f 165 182 166
+f 166 182 183
+f 166 183 167
+f 167 183 184
+f 167 184 185
+f 167 185 168
+f 168 185 186
+f 168 186 173
+f 168 173 174
+f 168 174 169
+f 169 171 187
+f 169 187 170
+f 169 172 171
+f 173 186 188
+f 182 189 183
+f 183 190 191
+f 183 191 184
+f 183 189 190
+f 184 188 185
+f 185 188 186
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_15.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.19004010 -0.00320836 0.01183195
+v -0.18843996 -0.00320835 0.00931523
+v -0.18836405 -0.00800866 0.00941544
+v -0.19001091 -0.00418291 0.01183194
+v -0.19002842 0.00007086 0.01183196
+v -0.18843412 0.00007087 0.00931727
+v -0.18723109 0.00007087 0.00787365
+v -0.18599887 -0.00320834 0.00640067
+v -0.18633758 -0.00998409 0.00712852
+v -0.18824141 -0.01233487 0.00958144
+v -0.18978899 -0.01004995 0.01183192
+v -0.18979483 -0.00993142 0.01183192
+v -0.17006167 0.00007086 0.01183196
+v -0.18599887 0.00007088 0.00640270
+v -0.18275770 -0.00320833 0.00273797
+v -0.18263506 -0.00970093 0.00285335
+v -0.18239562 -0.01619352 0.00308820
+v -0.18544408 -0.01619353 0.00661524
+v -0.18807789 -0.01619355 0.00982035
+v -0.18934516 -0.01619355 0.01183190
+v -0.14607702 0.00007089 0.00148975
+v -0.15587645 -0.06719929 0.01183171
+v -0.13063621 -0.06564525 0.00148951
+v -0.18439288 0.00007088 0.00458857
+v -0.18275187 0.00007089 0.00274102
+v -0.18135027 0.00007089 0.00148975
+v -0.18135611 -0.00320833 0.00148974
+v -0.18124515 -0.00609905 0.00148973
+v -0.18110499 -0.00970093 0.00148971
+v -0.18084804 -0.01299990 0.00148970
+v -0.18059692 -0.01619352 0.00148969
+v -0.18204523 -0.02267954 0.00343541
+v -0.18474912 -0.02267955 0.00661522
+v -0.18773334 -0.02267957 0.01033764
+v -0.18867940 -0.02267957 0.01183188
+v -0.18909403 -0.01864309 0.01183189
+v -0.17753679 -0.06719929 0.01183171
+v -0.13038509 -0.06719926 0.00148950
+v -0.17984941 -0.02267954 0.00148967
+v -0.18182331 -0.02618264 0.00365811
+v -0.18359865 -0.02867828 0.00623657
+v -0.18727198 -0.02917216 0.01105841
+v -0.18776253 -0.02917216 0.01183185
+v -0.17653232 -0.06719929 0.01039518
+v -0.17920702 -0.06268872 0.01183173
+v -0.16804105 -0.06719926 0.00148950
+v -0.17910774 -0.02778933 0.00148965
+v -0.17774119 -0.03545402 0.00148962
+v -0.17772367 -0.03565815 0.00150683
+v -0.18146123 -0.03050885 0.00404077
+v -0.18344097 -0.03565817 0.00749895
+v -0.18275187 -0.04214418 0.00832704
+v -0.18713765 -0.03262917 0.01183184
+v -0.17564465 -0.06719928 0.00913075
+v -0.18046261 -0.05908684 0.01183174
+v -0.18099988 -0.05512939 0.01066451
+v -0.17583153 -0.06624449 0.00889690
+v -0.16813449 -0.06719926 0.00156543
+v -0.17023686 -0.06162195 0.00148952
+v -0.17769447 -0.03570424 0.00148962
+v -0.17698199 -0.04214416 0.00214054
+v -0.18096484 -0.03565816 0.00458439
+v -0.18498855 -0.04300021 0.01183180
+v -0.18517544 -0.04214419 0.01183181
+v -0.18619742 -0.03735705 0.01183182
+v -0.18022900 -0.04214417 0.00541146
+v -0.18218538 -0.04689181 0.00903060
+v -0.17455842 -0.06719928 0.00793009
+v -0.18177075 -0.05512939 0.01183176
+v -0.18160140 -0.05121802 0.00978985
+v -0.17667249 -0.06162197 0.00794125
+v -0.17402698 -0.06162196 0.00502668
+v -0.17325027 -0.06719927 0.00652394
+v -0.16971711 -0.06719926 0.00287238
+v -0.17077998 -0.06162195 0.00194204
+v -0.17125886 -0.05865221 0.00148953
+v -0.17622864 -0.04214416 0.00148960
+v -0.17612353 -0.04863676 0.00291598
+v -0.18357530 -0.04876190 0.01183178
+v -0.17553953 -0.05267323 0.00346163
+v -0.17974429 -0.04888700 0.00689756
+v -0.18349353 -0.04908455 0.01183178
+v -0.17740831 -0.05495158 0.00630734
+v -0.17483874 -0.05699944 0.00415811
+v -0.17017263 -0.06719926 0.00330668
+v -0.17275388 -0.05420748 0.00148955
+v -0.17446498 -0.04863676 0.00148957
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 20
+f 1 20 36
+f 1 36 35
+f 1 35 43
+f 1 43 53
+f 1 53 65
+f 1 65 64
+f 1 64 63
+f 1 63 79
+f 1 79 82
+f 1 82 69
+f 1 69 55
+f 1 55 45
+f 1 45 37
+f 1 37 22
+f 1 22 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 8 9
+f 5 13 21
+f 5 21 26
+f 5 26 25
+f 5 25 24
+f 5 24 14
+f 5 14 7
+f 5 7 6
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 13 22 23
+f 13 23 21
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 21 23 38
+f 21 38 46
+f 21 46 59
+f 21 59 76
+f 21 76 86
+f 21 86 87
+f 21 87 77
+f 21 77 60
+f 21 60 48
+f 21 48 47
+f 21 47 39
+f 21 39 31
+f 21 31 30
+f 21 30 29
+f 21 29 28
+f 21 28 27
+f 21 27 26
+f 22 37 44
+f 22 44 54
+f 22 54 68
+f 22 68 73
+f 22 73 85
+f 22 85 74
+f 22 74 58
+f 22 58 46
+f 22 46 38
+f 22 38 23
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 33 41 34
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 37 45 44
+f 39 47 40
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 41 51 42
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 44 45 54
+f 45 55 56
+f 45 56 57
+f 45 57 54
+f 46 58 59
+f 48 60 49
+f 49 60 61
+f 49 61 62
+f 49 62 50
+f 50 62 51
+f 51 62 52
+f 52 63 64
+f 52 64 65
+f 52 65 53
+f 52 62 66
+f 52 66 67
+f 52 67 63
+f 54 57 68
+f 55 69 56
+f 56 69 70
+f 56 70 71
+f 56 71 57
+f 57 71 72
+f 57 72 73
+f 57 73 68
+f 58 74 59
+f 59 75 76
+f 59 74 75
+f 60 77 61
+f 61 66 62
+f 61 77 78
+f 61 78 66
+f 63 67 79
+f 66 78 80
+f 66 80 81
+f 66 81 67
+f 67 81 70
+f 67 70 79
+f 69 82 70
+f 70 83 71
+f 70 82 79
+f 70 81 83
+f 71 84 72
+f 71 83 84
+f 72 84 85
+f 72 85 73
+f 74 85 84
+f 74 84 75
+f 75 84 80
+f 75 80 76
+f 76 80 86
+f 77 87 78
+f 78 87 80
+f 80 83 81
+f 80 87 86
+f 80 84 83
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_16.obj

@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
+v -0.18497382 0.06728870 0.02411764
+v -0.18463146 0.06819883 0.02410926
+v -0.18248649 0.06819885 0.02007313
+v -0.18264020 0.06728872 0.01977361
+v -0.18488999 0.06728868 0.02912145
+v -0.18193452 0.07827397 0.02741236
+v -0.18193452 0.07827397 0.02666462
+v -0.18251443 0.07408737 0.02447583
+v -0.18098429 0.07584394 0.02277718
+v -0.18181573 0.07152082 0.02115181
+v -0.17939128 0.07408739 0.01883528
+v -0.18071180 0.06819886 0.01715546
+v -0.18088647 0.06728873 0.01686432
+v -0.18226290 0.06728872 0.01912850
+v -0.18486204 0.06728868 0.02993831
+v -0.18454065 0.06819881 0.02994041
+v -0.18252840 0.07413286 0.02959064
+v -0.18184369 0.07160269 0.03290416
+v -0.17556942 0.08502711 0.03305502
+v -0.17640086 0.08738436 0.02971427
+v -0.17554147 0.09138894 0.02761977
+v -0.17554147 0.09138894 0.02647407
+v -0.17968472 0.08073133 0.02447586
+v -0.17559039 0.08503625 0.02075390
+v -0.17635895 0.08066764 0.01859863
+v -0.17540174 0.07817389 0.01519503
+v -0.17614235 0.07468811 0.01408910
+v -0.17828035 0.06728874 0.01289940
+v -0.17687598 0.07090196 0.01289941
+v -0.17788210 0.06836270 0.01289940
+v -0.18301050 0.06728867 0.03278058
+v -0.18238866 0.06819880 0.03325184
+v -0.17635895 0.08117726 0.03345506
+v -0.16984712 0.09416482 0.03339647
+v -0.16896678 0.09770523 0.03297757
+v -0.17435370 0.08935933 0.03150928
+v -0.16986110 0.09922515 0.02994052
+v -0.16305584 0.11145732 0.02848488
+v -0.16305584 0.11145733 0.02563633
+v -0.16800957 0.10249255 0.02410939
+v -0.16987507 0.09924337 0.02410937
+v -0.17311003 0.09379170 0.02436279
+v -0.17455632 0.08936847 0.02258872
+v -0.17641484 0.08738438 0.02436277
+v -0.17308208 0.08738440 0.01859865
+v -0.17436767 0.08249701 0.01686647
+v -0.16983316 0.08766656 0.01386294
+v -0.17132136 0.08330704 0.01289946
+v -0.17260696 0.08067676 0.01289945
+v -0.17467509 0.07618072 0.01289943
+v -0.17532488 0.07468811 0.01289942
+v -0.17581396 0.07354134 0.01289942
+v -0.15704708 0.06728874 0.01289940
+v -0.18253539 0.06728867 0.03331677
+v -0.17858079 0.07413285 0.03365611
+v -0.17213185 0.08738435 0.03374203
+v -0.16545235 0.10018077 0.03363735
+v -0.16322352 0.10544134 0.03335043
+v -0.15602699 0.11715471 0.03299649
+v -0.16181915 0.10977356 0.03237229
+v -0.16459296 0.10742543 0.03023378
+v -0.16784887 0.10247432 0.02994054
+v -0.16037285 0.11363252 0.03023381
+v -0.15700515 0.11842890 0.02994060
+v -0.14941037 0.12994206 0.02720101
+v -0.16195189 0.10988281 0.02175099
+v -0.16471872 0.10748915 0.02386016
+v -0.14941037 0.12994206 0.02685960
+v -0.15701913 0.11844712 0.02410945
+v -0.16046368 0.11363254 0.02386019
+v -0.16344011 0.10555060 0.01962085
+v -0.16898774 0.09773257 0.02093618
+v -0.16984712 0.09365520 0.01870759
+v -0.16893184 0.09115235 0.01516575
+v -0.16831000 0.08928660 0.01289948
+v -0.16956765 0.08687475 0.01289947
+v -0.17012660 0.06728868 0.03114476
+v -0.11360235 0.12710250 0.01289962
+v -0.11360235 0.14359399 0.03187184
+v -0.17922358 0.06728866 0.03410850
+v -0.17853886 0.06819879 0.03417134
+v -0.16555715 0.09416481 0.03423637
+v -0.17204801 0.08117725 0.03427402
+v -0.15942263 0.10742542 0.03389710
+v -0.15723572 0.11363251 0.03344890
+v -0.15228897 0.11963937 0.03355993
+v -0.14994136 0.12411720 0.03319760
+v -0.14806188 0.12844033 0.03108843
+v -0.15087063 0.12641074 0.02946307
+v -0.15443396 0.12167807 0.02994061
+v -0.14558152 0.13256323 0.02931648
+v -0.14310815 0.13662241 0.02754662
+v -0.15604794 0.11717295 0.02089855
+v -0.15730559 0.11334132 0.01868463
+v -0.15625056 0.11098410 0.01477834
+v -0.16090386 0.10748917 0.01791800
+v -0.14310815 0.13662241 0.02653916
+v -0.14567235 0.13264515 0.02475462
+v -0.14824354 0.12854958 0.02297426
+v -0.15093351 0.12647447 0.02459331
+v -0.15451780 0.12168719 0.02410946
+v -0.16204971 0.10349372 0.01573341
+v -0.16557811 0.10061769 0.01833479
+v -0.16770913 0.09548457 0.01704874
+v -0.16590649 0.09362791 0.01289949
+v -0.16338422 0.09917061 0.01385670
+v -0.17058774 0.06728867 0.03170609
+v -0.11360235 0.15257704 0.01289971
+v -0.11360235 0.14644270 0.03362077
+v -0.17853886 0.06728866 0.03418600
+v -0.15256845 0.11363250 0.03427204
+v -0.12012116 0.14607864 0.03427216
+v -0.14608458 0.12011262 0.03429720
+v -0.14597280 0.12641073 0.03373379
+v -0.14372999 0.13085217 0.03329187
+v -0.14170377 0.13517529 0.03143405
+v -0.13916054 0.13915257 0.02947568
+v -0.13661031 0.14308434 0.02751523
+v -0.15465056 0.11530721 0.01701111
+v -0.15005316 0.12422647 0.02028488
+v -0.15235185 0.11981234 0.01864904
+v -0.15551693 0.10995565 0.01289955
+v -0.15734751 0.10729807 0.01289954
+v -0.15031866 0.11811951 0.01408088
+v -0.15195360 0.11475204 0.01289957
+v -0.15319727 0.11310469 0.01289957
+v -0.14188544 0.13534825 0.02265173
+v -0.13661031 0.14308434 0.02656432
+v -0.13925137 0.13924361 0.02460802
+v -0.14391165 0.13101604 0.01987856
+v -0.16114840 0.10158245 0.01289952
+v -0.16201478 0.10021725 0.01289952
+v -0.15762000 0.10688851 0.01289954
+v -0.16303487 0.09859722 0.01289951
+v -0.17337553 0.06728867 0.03372521
+v -0.11474122 0.15173063 0.01289971
+v -0.11805303 0.15023801 0.01417316
+v -0.11519537 0.15457022 0.01714321
+v -0.11360235 0.15669992 0.01848790
+v -0.11360235 0.14660652 0.03366266
+v -0.17395544 0.06728867 0.03384459
+v -0.11363029 0.15256786 0.03423030
+v -0.13956577 0.13304558 0.03379666
+v -0.13302601 0.13954392 0.03377992
+v -0.13737887 0.13735960 0.03331912
+v -0.13513607 0.14168272 0.03140265
+v -0.13250897 0.14554167 0.02923693
+v -0.12988189 0.14934603 0.02706912
+v -0.14857891 0.12244262 0.01639744
+v -0.14624528 0.12676573 0.01813801
+v -0.14825053 0.11948471 0.01289959
+v -0.14985053 0.11751883 0.01289958
+v -0.13531074 0.14186479 0.02267898
+v -0.13756052 0.13754168 0.01977806
+v -0.12988189 0.14934603 0.02698534
+v -0.13259282 0.14562361 0.02483215
+v -0.13995006 0.13346429 0.01788459
+v -0.14234658 0.12931410 0.01599113
+v -0.11739625 0.14972834 0.01289970
+v -0.11951329 0.14803550 0.01289969
+v -0.12237793 0.14852695 0.01648551
+v -0.11971591 0.15226758 0.01875808
+v -0.11704691 0.15594450 0.02103064
+v -0.11360235 0.15702757 0.01896127
+v -0.11360235 0.15256786 0.03422820
+v -0.11360235 0.15260427 0.03422820
+v -0.12637446 0.14593302 0.03369617
+v -0.13080417 0.14366680 0.03327097
+v -0.12404781 0.14987389 0.03316836
+v -0.12837272 0.14799903 0.03095654
+v -0.12637446 0.15074763 0.02938357
+v -0.12153950 0.15433354 0.02994073
+v -0.11829058 0.15688190 0.02994074
+v -0.11360235 0.16017657 0.03014601
+v -0.11360235 0.16025851 0.02401954
+v -0.14424702 0.12498190 0.01363269
+v -0.14521121 0.12313433 0.01289960
+v -0.14696493 0.12103194 0.01289959
+v -0.12846354 0.14817199 0.02310000
+v -0.13097884 0.14383978 0.01993517
+v -0.13591162 0.13591256 0.01589062
+v -0.13344522 0.13992621 0.01791184
+v -0.11360235 0.16024941 0.02395461
+v -0.11828359 0.15687282 0.02410959
+v -0.12152552 0.15440637 0.02410958
+v -0.12642336 0.15080226 0.02466880
+v -0.13802166 0.13158035 0.01344420
+v -0.13778411 0.13134370 0.01289963
+v -0.14092822 0.12797623 0.01289962
+v -0.14394658 0.12463605 0.01289961
+v -0.12292990 0.14523229 0.01289968
+v -0.12670284 0.14617882 0.01821139
+v -0.12413864 0.14996495 0.02037504
+v -0.12494912 0.14419475 0.01368303
+v -0.11958316 0.15224933 0.03350559
+v -0.11360235 0.15710943 0.03340507
+v -0.11706088 0.15595356 0.03294636
+v -0.11360235 0.16014927 0.03019000
+v -0.12927403 0.14231076 0.01604773
+v -0.13158670 0.13797856 0.01346099
+v -0.13226443 0.13682270 0.01289965
+v -0.13457711 0.13456557 0.01289964
+v -0.12457183 0.14387621 0.01289968
+v -0.11363029 0.15710033 0.03340298
+v -0.11360235 0.15713674 0.03339460
+v -0.12792556 0.14087278 0.01289967
+v -0.13030111 0.13868846 0.01289966
+v -0.13132819 0.13773282 0.01289966
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 13
+f 1 13 28
+f 1 28 53
+f 1 53 77
+f 1 77 107
+f 1 107 135
+f 1 135 141
+f 1 141 110
+f 1 110 80
+f 1 80 54
+f 1 54 31
+f 1 31 15
+f 1 15 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 23
+f 7 23 9
+f 7 9 8
+f 9 11 10
+f 9 23 24
+f 9 24 25
+f 9 25 11
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 13
+f 13 27 29
+f 13 29 30
+f 13 30 28
+f 15 31 18
+f 15 18 16
+f 16 18 17
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 19 33 34
+f 20 36 21
+f 21 36 35
+f 21 35 37
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 23
+f 23 44 43
+f 23 43 24
+f 24 43 45
+f 24 45 25
+f 25 46 26
+f 25 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 50
+f 26 50 51
+f 26 51 27
+f 27 51 52
+f 27 52 29
+f 28 30 29
+f 28 29 52
+f 28 52 51
+f 28 51 50
+f 28 50 49
+f 28 49 48
+f 28 48 76
+f 28 76 75
+f 28 75 105
+f 28 105 134
+f 28 134 132
+f 28 132 131
+f 28 131 133
+f 28 133 123
+f 28 123 122
+f 28 122 126
+f 28 126 125
+f 28 125 152
+f 28 152 151
+f 28 151 178
+f 28 178 177
+f 28 177 190
+f 28 190 189
+f 28 189 188
+f 28 188 202
+f 28 202 201
+f 28 201 208
+f 28 208 207
+f 28 207 206
+f 28 206 203
+f 28 203 191
+f 28 191 160
+f 28 160 159
+f 28 159 136
+f 28 136 108
+f 28 108 78
+f 28 78 53
+f 31 54 32
+f 32 54 55
+f 32 55 33
+f 33 55 56
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 35
+f 35 58 59
+f 35 59 60
+f 35 60 61
+f 35 61 62
+f 35 62 37
+f 37 62 38
+f 38 62 61
+f 38 61 60
+f 38 60 63
+f 38 63 64
+f 38 64 65
+f 38 65 68
+f 38 68 39
+f 39 66 67
+f 39 67 40
+f 39 68 69
+f 39 69 70
+f 39 70 66
+f 40 67 71
+f 40 71 72
+f 40 72 41
+f 41 72 42
+f 42 72 43
+f 43 72 73
+f 43 73 74
+f 43 74 45
+f 45 74 47
+f 45 47 46
+f 47 75 76
+f 47 76 48
+f 47 74 75
+f 53 78 79
+f 53 79 77
+f 54 80 55
+f 55 80 81
+f 55 81 56
+f 56 82 57
+f 56 81 83
+f 56 83 82
+f 57 84 58
+f 57 82 84
+f 58 84 85
+f 58 85 59
+f 59 63 60
+f 59 85 86
+f 59 86 87
+f 59 87 88
+f 59 88 89
+f 59 89 90
+f 59 90 64
+f 59 64 63
+f 64 90 65
+f 65 90 89
+f 65 89 88
+f 65 88 91
+f 65 91 92
+f 65 92 97
+f 65 97 68
+f 66 70 93
+f 66 93 94
+f 66 94 95
+f 66 95 96
+f 66 96 71
+f 66 71 67
+f 68 97 98
+f 68 98 99
+f 68 99 100
+f 68 100 101
+f 68 101 69
+f 69 101 93
+f 69 93 70
+f 71 96 102
+f 71 102 103
+f 71 103 72
+f 72 104 73
+f 72 103 104
+f 73 104 74
+f 74 105 75
+f 74 104 106
+f 74 106 105
+f 77 79 107
+f 78 108 139
+f 78 139 164
+f 78 164 183
+f 78 183 175
+f 78 175 174
+f 78 174 198
+f 78 198 205
+f 78 205 196
+f 78 196 166
+f 78 166 165
+f 78 165 140
+f 78 140 109
+f 78 109 79
+f 79 109 107
+f 80 110 81
+f 81 110 83
+f 82 83 111
+f 82 111 84
+f 83 110 112
+f 83 112 113
+f 83 113 111
+f 84 111 86
+f 84 86 85
+f 86 111 114
+f 86 114 87
+f 87 114 115
+f 87 115 116
+f 87 116 88
+f 88 116 91
+f 91 116 92
+f 92 116 117
+f 92 117 118
+f 92 118 128
+f 92 128 97
+f 93 119 94
+f 93 101 120
+f 93 120 121
+f 93 121 119
+f 94 119 95
+f 95 122 123
+f 95 123 102
+f 95 102 96
+f 95 119 124
+f 95 124 125
+f 95 125 126
+f 95 126 122
+f 97 127 98
+f 97 128 129
+f 97 129 127
+f 98 127 99
+f 99 127 130
+f 99 130 120
+f 99 120 101
+f 99 101 100
+f 102 131 132
+f 102 132 106
+f 102 106 103
+f 102 123 133
+f 102 133 131
+f 103 106 104
+f 105 106 134
+f 106 132 134
+f 107 109 135
+f 108 136 137
+f 108 137 138
+f 108 138 139
+f 109 140 135
+f 110 141 142
+f 110 142 112
+f 111 113 143
+f 111 143 114
+f 112 142 144
+f 112 144 143
+f 112 143 113
+f 114 143 115
+f 115 143 145
+f 115 145 116
+f 116 145 146
+f 116 146 117
+f 117 146 118
+f 118 146 147
+f 118 147 148
+f 118 148 155
+f 118 155 128
+f 119 121 124
+f 120 149 124
+f 120 124 121
+f 120 130 150
+f 120 150 149
+f 124 149 151
+f 124 151 152
+f 124 152 125
+f 127 129 153
+f 127 153 154
+f 127 154 130
+f 128 153 129
+f 128 155 156
+f 128 156 153
+f 130 157 158
+f 130 158 150
+f 130 154 157
+f 135 140 141
+f 136 159 137
+f 137 159 160
+f 137 160 161
+f 137 161 162
+f 137 162 138
+f 138 162 163
+f 138 163 139
+f 139 163 164
+f 140 165 141
+f 141 165 142
+f 142 165 166
+f 142 166 167
+f 142 167 144
+f 143 144 145
+f 144 167 168
+f 144 168 145
+f 145 168 146
+f 146 168 169
+f 146 169 170
+f 146 170 147
+f 147 170 148
+f 148 170 171
+f 148 171 172
+f 148 172 173
+f 148 173 174
+f 148 174 175
+f 148 175 155
+f 149 150 176
+f 149 176 177
+f 149 177 178
+f 149 178 151
+f 150 158 176
+f 153 156 179
+f 153 179 180
+f 153 180 154
+f 154 181 157
+f 154 180 182
+f 154 182 181
+f 155 179 156
+f 155 175 183
+f 155 183 184
+f 155 184 185
+f 155 185 186
+f 155 186 179
+f 157 187 158
+f 157 181 187
+f 158 187 188
+f 158 188 189
+f 158 189 190
+f 158 190 176
+f 160 191 161
+f 161 192 193
+f 161 193 162
+f 161 191 194
+f 161 194 192
+f 162 193 163
+f 163 193 185
+f 163 185 184
+f 163 184 183
+f 163 183 164
+f 166 195 167
+f 166 196 195
+f 167 195 169
+f 167 169 168
+f 169 195 197
+f 169 197 170
+f 170 197 171
+f 171 197 172
+f 172 197 173
+f 173 197 174
+f 174 197 198
+f 176 190 177
+f 179 186 193
+f 179 193 180
+f 180 199 182
+f 180 193 192
+f 180 192 199
+f 181 182 200
+f 181 200 201
+f 181 201 202
+f 181 202 188
+f 181 188 187
+f 182 199 200
+f 185 193 186
+f 191 203 194
+f 192 194 199
+f 194 203 199
+f 195 196 204
+f 195 204 197
+f 196 205 204
+f 197 204 205
+f 197 205 198
+f 199 203 206
+f 199 206 207
+f 199 207 200
+f 200 207 208
+f 200 208 201
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_17.obj

@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.06226137 -0.13218076 0.00148926
+v -0.06226137 -0.16982721 0.00148913
+v -0.06226137 -0.15859404 0.01283080
+v -0.00022409 -0.17077243 0.01283075
+v -0.00022409 -0.14494915 0.00148922
+v -0.06226137 -0.17053752 0.00207752
+v -0.06169049 -0.17005635 0.00148913
+v -0.06226137 -0.17984034 0.01283072
+v -0.00022409 -0.19068975 0.01283068
+v -0.00022409 -0.18139840 0.00148908
+v -0.06226137 -0.17349907 0.00491736
+v -0.06169049 -0.17064636 0.00198093
+v -0.05705060 -0.17473639 0.00418797
+v -0.05854460 -0.17116763 0.00148912
+v -0.06226137 -0.17969713 0.01261424
+v -0.06154474 -0.18010958 0.01283072
+v -0.00022409 -0.19046635 0.01244545
+v -0.00327281 -0.19068975 0.01283068
+v -0.00022409 -0.18273310 0.00267809
+v -0.00146302 -0.18139840 0.00148908
+v -0.06226137 -0.17380839 0.00524486
+v -0.06169049 -0.17389433 0.00509277
+v -0.05272044 -0.17545814 0.00345858
+v -0.06169049 -0.17650644 0.00800699
+v -0.05501002 -0.17727403 0.00632506
+v -0.05425087 -0.17265127 0.00148912
+v -0.06226137 -0.17941644 0.01220902
+v -0.06172694 -0.17992054 0.01265310
+v -0.05519829 -0.18084852 0.01075246
+v -0.05519829 -0.18224050 0.01283071
+v -0.00022409 -0.18938369 0.01074243
+v -0.00327281 -0.19046635 0.01244545
+v -0.00928524 -0.19047781 0.01283068
+v -0.00022409 -0.18597533 0.00631615
+v -0.00327281 -0.18597533 0.00631837
+v -0.00327281 -0.18273310 0.00268142
+v -0.00327281 -0.18139268 0.00148908
+v -0.06226137 -0.17640333 0.00812800
+v -0.04870609 -0.17438694 0.00148911
+v -0.04870609 -0.17604243 0.00290903
+v -0.04221389 -0.18014963 0.00542691
+v -0.04888829 -0.17963410 0.00691234
+v -0.05117179 -0.18147863 0.00984210
+v -0.05193094 -0.18319141 0.01283071
+v -0.00022409 -0.18841560 0.00923148
+v -0.00327281 -0.18841560 0.00923259
+v -0.00976502 -0.19023722 0.01244545
+v -0.00976502 -0.18830103 0.00938247
+v -0.00976502 -0.19046063 0.01283068
+v -0.00022409 -0.18712673 0.00768611
+v -0.00976502 -0.18585504 0.00646824
+v -0.00976502 -0.18261280 0.00279688
+v -0.00976502 -0.18114635 0.00148908
+v -0.00603610 -0.18128957 0.00148908
+v -0.04221389 -0.17617418 0.00148910
+v -0.04221389 -0.17690740 0.00211969
+v -0.03572168 -0.18090005 0.00457096
+v -0.04221389 -0.18265865 0.00834113
+v -0.04684770 -0.18208009 0.00905276
+v -0.04888829 -0.18355228 0.01205026
+v -0.04886399 -0.18404492 0.01283070
+v -0.01573493 -0.18956700 0.01203246
+v -0.01322064 -0.18820939 0.00950237
+v -0.01491505 -0.19008828 0.01283068
+v -0.01573493 -0.18601544 0.00718098
+v -0.01625722 -0.18237222 0.00303002
+v -0.01625722 -0.18064226 0.00148909
+v -0.03589781 -0.17763490 0.00148910
+v -0.03572168 -0.17767500 0.00148910
+v -0.03073562 -0.18139840 0.00402474
+v -0.03572168 -0.18337469 0.00748518
+v -0.03572168 -0.18662265 0.01192256
+v -0.04183128 -0.18585507 0.01283070
+v -0.04305198 -0.18554573 0.01283070
+v -0.04785584 -0.18431415 0.01283070
+v -0.01581388 -0.19001955 0.01283068
+v -0.02055702 -0.18954983 0.01283068
+v -0.01755080 -0.18799744 0.00981322
+v -0.02274942 -0.18474948 0.00661479
+v -0.02274942 -0.18201133 0.00338749
+v -0.02274942 -0.17986895 0.00148909
+v -0.03569132 -0.17768073 0.00148910
+v -0.02641154 -0.18176501 0.00362951
+v -0.02884080 -0.18355226 0.00622734
+v -0.02923555 -0.18721267 0.01099889
+v -0.03572168 -0.18720694 0.01283069
+v -0.04051947 -0.18615294 0.01283070
+v -0.02274942 -0.18930923 0.01283068
+v -0.02274942 -0.18768811 0.01027727
+v -0.02800878 -0.17908416 0.00148909
+v -0.02923555 -0.18838698 0.01283069
+v -0.03276406 -0.18774540 0.01283069
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 38
+f 1 38 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 20
+f 1 20 37
+f 1 37 54
+f 1 54 53
+f 1 53 67
+f 1 67 81
+f 1 81 90
+f 1 90 82
+f 1 82 69
+f 1 69 68
+f 1 68 55
+f 1 55 39
+f 1 39 26
+f 1 26 14
+f 1 14 7
+f 1 7 2
+f 2 7 6
+f 3 8 16
+f 3 16 30
+f 3 30 44
+f 3 44 61
+f 3 61 75
+f 3 75 74
+f 3 74 73
+f 3 73 87
+f 3 87 86
+f 3 86 92
+f 3 92 91
+f 3 91 88
+f 3 88 77
+f 3 77 76
+f 3 76 64
+f 3 64 49
+f 3 49 33
+f 3 33 18
+f 3 18 9
+f 3 9 4
+f 4 9 17
+f 4 17 31
+f 4 31 45
+f 4 45 50
+f 4 50 34
+f 4 34 19
+f 4 19 10
+f 4 10 5
+f 6 7 12
+f 6 12 13
+f 6 13 11
+f 7 14 12
+f 8 15 16
+f 9 18 32
+f 9 32 17
+f 10 19 20
+f 11 13 22
+f 11 22 21
+f 12 14 23
+f 12 23 13
+f 13 24 22
+f 13 23 25
+f 13 25 24
+f 14 26 23
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 17 32 31
+f 18 33 32
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 21 22 38
+f 22 24 38
+f 23 26 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 25
+f 24 25 43
+f 24 43 29
+f 24 29 38
+f 25 42 43
+f 27 38 29
+f 27 29 28
+f 29 43 30
+f 30 43 44
+f 31 32 46
+f 31 46 45
+f 32 33 47
+f 32 47 48
+f 32 48 46
+f 33 49 47
+f 34 50 35
+f 35 50 46
+f 35 46 48
+f 35 48 51
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 39 55 40
+f 40 55 56
+f 40 56 41
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 42
+f 42 59 43
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 45 46 50
+f 47 49 62
+f 47 62 63
+f 47 63 48
+f 48 63 51
+f 49 64 62
+f 51 63 65
+f 51 65 66
+f 51 66 52
+f 52 66 53
+f 53 66 67
+f 55 68 56
+f 56 68 69
+f 56 69 57
+f 57 69 70
+f 57 70 71
+f 57 71 58
+f 58 71 72
+f 58 72 73
+f 58 73 59
+f 59 73 60
+f 60 73 74
+f 60 74 75
+f 60 75 61
+f 62 64 76
+f 62 76 77
+f 62 77 78
+f 62 78 63
+f 63 78 65
+f 65 78 79
+f 65 79 80
+f 65 80 66
+f 66 80 67
+f 67 80 81
+f 69 82 70
+f 70 82 83
+f 70 83 84
+f 70 84 71
+f 71 84 85
+f 71 85 72
+f 72 86 87
+f 72 87 73
+f 72 85 86
+f 77 88 78
+f 78 88 89
+f 78 89 79
+f 79 89 84
+f 79 84 83
+f 79 83 80
+f 80 83 81
+f 81 83 90
+f 82 90 83
+f 84 89 85
+f 85 89 91
+f 85 91 92
+f 85 92 86
+f 88 91 89
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_18.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.06773988 0.17656487 0.01080062
+v 0.06971385 0.17582588 0.01080062
+v 0.06773988 0.17551166 0.00928464
+v 0.06773988 0.15431355 0.01080054
+v 0.07055871 0.17494723 0.00999664
+v 0.07310907 0.17438862 0.01080061
+v 0.06773988 0.17380674 0.00738535
+v 0.07404079 0.17043181 0.00661506
+v 0.06829259 0.17306775 0.00682266
+v 0.06773988 0.13010712 0.00149885
+v 0.12086331 0.11711939 0.01080040
+v 0.07963896 0.16965208 0.00855986
+v 0.07551732 0.17327140 0.01080061
+v 0.08397379 0.16859885 0.00979540
+v 0.06773988 0.17314922 0.00667152
+v 0.07581736 0.16783661 0.00467297
+v 0.07149042 0.16884327 0.00365868
+v 0.06773988 0.16779006 0.00149899
+v 0.07005338 0.12852439 0.00149884
+v 0.14839621 0.11711939 0.01080040
+v 0.07781502 0.12330487 0.00149882
+v 0.08764538 0.11711942 0.00149880
+v 0.08153397 0.16687649 0.00661504
+v 0.08287627 0.16983245 0.01080059
+v 0.08710845 0.16403688 0.00666420
+v 0.08668998 0.16787150 0.01080059
+v 0.09660719 0.16186643 0.01008946
+v 0.09228025 0.16310586 0.00864179
+v 0.06773988 0.16980338 0.00317339
+v 0.08459757 0.16242507 0.00359129
+v 0.06833207 0.16755149 0.00149899
+v 0.06814258 0.16952408 0.00304956
+v 0.08112339 0.16329790 0.00284468
+v 0.07404079 0.16562545 0.00196698
+v 0.07288010 0.16556144 0.00149898
+v 0.06773988 0.16959972 0.00298128
+v 0.14822250 0.11711939 0.01057004
+v 0.14791456 0.11771874 0.01080040
+v 0.13782364 0.11711942 0.00149880
+v 0.08892450 0.16123219 0.00475489
+v 0.09583339 0.16282072 0.01080057
+v 0.09806003 0.16148821 0.01080056
+v 0.10436093 0.15616396 0.00914890
+v 0.10060250 0.15737428 0.00791246
+v 0.09466480 0.15938762 0.00625447
+v 0.09704936 0.15562864 0.00386805
+v 0.09272242 0.15690298 0.00280005
+v 0.08710845 0.15906177 0.00200246
+v 0.08594776 0.15904431 0.00149895
+v 0.08131288 0.16151151 0.00149896
+v 0.07412764 0.16500864 0.00149898
+v 0.14713287 0.11711940 0.00939824
+v 0.14258485 0.12313028 0.00975699
+v 0.14444827 0.12192577 0.01080042
+v 0.13563648 0.11965645 0.00149881
+v 0.13794997 0.11878944 0.00251857
+v 0.13847899 0.11711942 0.00192856
+v 0.10249751 0.15864278 0.01080055
+v 0.10546636 0.15670510 0.01080055
+v 0.10825360 0.15480815 0.01080054
+v 0.11168831 0.15032764 0.00850152
+v 0.10665863 0.15226532 0.00688086
+v 0.10060250 0.15446486 0.00499706
+v 0.09800475 0.15191621 0.00149893
+v 0.09526489 0.15363859 0.00149893
+v 0.10462940 0.14987378 0.00325162
+v 0.10060250 0.15122377 0.00221822
+v 0.09377257 0.15455797 0.00149894
+v 0.08718741 0.15837514 0.00149895
+v 0.14507994 0.11711940 0.00740153
+v 0.14438510 0.11880688 0.00801248
+v 0.14127413 0.12555092 0.01080043
+v 0.14026346 0.12095987 0.00594566
+v 0.13607075 0.12311867 0.00387885
+v 0.13825791 0.12551020 0.00776575
+v 0.13627605 0.12983361 0.00955398
+v 0.13418364 0.12127409 0.00149882
+v 0.13877904 0.11711942 0.00214161
+v 0.14079249 0.11711942 0.00357564
+v 0.10890106 0.15433682 0.01080054
+v 0.11601524 0.14870417 0.01026697
+v 0.11871563 0.14438077 0.00803988
+v 0.11392284 0.14635337 0.00632635
+v 0.10894844 0.14832014 0.00461462
+v 0.10060250 0.15025202 0.00149892
+v 0.10611382 0.14644066 0.00149891
+v 0.11183043 0.14399674 0.00280455
+v 0.14190580 0.11711941 0.00446155
+v 0.13870798 0.12835562 0.01080044
+v 0.13400993 0.12761081 0.00578635
+v 0.13174382 0.12539385 0.00238565
+v 0.12965931 0.12971726 0.00380604
+v 0.13194121 0.13200405 0.00769294
+v 0.12978564 0.13632745 0.00955127
+v 0.13243076 0.13481455 0.01080047
+v 0.13475215 0.13248118 0.01080046
+v 0.13251762 0.12308376 0.00149882
+v 0.11541516 0.14957117 0.01080052
+v 0.11742071 0.14800009 0.01080051
+v 0.12187398 0.14438658 0.01080050
+v 0.12304257 0.14260600 0.00979075
+v 0.11615737 0.14230344 0.00415298
+v 0.12087910 0.14029012 0.00596668
+v 0.10775616 0.14523034 0.00149890
+v 0.11294375 0.14126188 0.00149889
+v 0.11871563 0.13797422 0.00251864
+v 0.11582573 0.13891106 0.00149888
+v 0.12958825 0.12616193 0.00149883
+v 0.12785116 0.12791340 0.00149884
+v 0.12610616 0.12963579 0.00149885
+v 0.12533236 0.13177713 0.00238658
+v 0.12304257 0.13610636 0.00389256
+v 0.12755900 0.13405230 0.00579275
+v 0.12545870 0.13828260 0.00777946
+v 0.12830121 0.13873064 0.01080048
+v 0.12541923 0.14132586 0.01080049
+v 0.12121073 0.13422687 0.00149886
+v 0.11959207 0.13568159 0.00149887
+v 0.12302677 0.13256850 0.00149886
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 29
+f 1 29 36
+f 1 36 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 20
+f 1 20 38
+f 1 38 54
+f 1 54 72
+f 1 72 89
+f 1 89 96
+f 1 96 95
+f 1 95 115
+f 1 115 116
+f 1 116 100
+f 1 100 99
+f 1 99 98
+f 1 98 80
+f 1 80 60
+f 1 60 59
+f 1 59 58
+f 1 58 42
+f 1 42 41
+f 1 41 26
+f 1 26 24
+f 1 24 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 8
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 5 6 12
+f 5 12 8
+f 6 13 14
+f 6 14 12
+f 7 9 15
+f 8 16 17
+f 8 17 9
+f 8 12 16
+f 9 17 15
+f 10 18 31
+f 10 31 35
+f 10 35 51
+f 10 51 50
+f 10 50 49
+f 10 49 69
+f 10 69 68
+f 10 68 65
+f 10 65 64
+f 10 64 85
+f 10 85 86
+f 10 86 104
+f 10 104 105
+f 10 105 107
+f 10 107 118
+f 10 118 117
+f 10 117 119
+f 10 119 110
+f 10 110 109
+f 10 109 108
+f 10 108 97
+f 10 97 77
+f 10 77 55
+f 10 55 39
+f 10 39 22
+f 10 22 21
+f 10 21 19
+f 10 19 11
+f 11 19 21
+f 11 21 22
+f 11 22 39
+f 11 39 57
+f 11 57 78
+f 11 78 79
+f 11 79 88
+f 11 88 70
+f 11 70 52
+f 11 52 37
+f 11 37 20
+f 12 14 23
+f 12 23 16
+f 13 24 14
+f 14 25 23
+f 14 24 26
+f 14 26 27
+f 14 27 28
+f 14 28 25
+f 15 17 29
+f 16 23 30
+f 16 30 17
+f 17 31 32
+f 17 32 29
+f 17 30 33
+f 17 33 34
+f 17 34 35
+f 17 35 31
+f 18 36 32
+f 18 32 31
+f 20 37 38
+f 23 25 30
+f 25 28 40
+f 25 40 30
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 40
+f 29 32 36
+f 30 40 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 33
+f 33 50 51
+f 33 51 34
+f 34 51 35
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 39 55 56
+f 39 56 57
+f 40 45 46
+f 42 58 43
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 43 58 59
+f 44 63 46
+f 44 46 45
+f 46 64 65
+f 46 65 47
+f 46 63 66
+f 46 66 67
+f 46 67 64
+f 47 65 68
+f 47 68 69
+f 47 69 48
+f 48 69 49
+f 52 70 71
+f 52 71 53
+f 53 72 54
+f 53 71 73
+f 53 73 74
+f 53 74 75
+f 53 75 76
+f 53 76 72
+f 55 77 56
+f 56 78 57
+f 56 77 74
+f 56 74 79
+f 56 79 78
+f 60 80 81
+f 60 81 61
+f 61 81 82
+f 61 82 83
+f 61 83 84
+f 61 84 62
+f 62 66 63
+f 62 84 66
+f 64 67 85
+f 66 86 85
+f 66 85 67
+f 66 84 87
+f 66 87 86
+f 70 88 71
+f 71 88 73
+f 72 76 89
+f 73 88 74
+f 74 90 76
+f 74 76 75
+f 74 88 79
+f 74 77 91
+f 74 91 92
+f 74 92 90
+f 76 90 92
+f 76 92 93
+f 76 93 94
+f 76 94 95
+f 76 95 96
+f 76 96 89
+f 77 97 91
+f 80 98 81
+f 81 98 99
+f 81 99 100
+f 81 100 101
+f 81 101 82
+f 82 102 83
+f 82 101 103
+f 82 103 102
+f 83 102 84
+f 84 102 87
+f 86 87 104
+f 87 105 104
+f 87 102 106
+f 87 106 107
+f 87 107 105
+f 91 108 109
+f 91 109 92
+f 91 97 108
+f 92 94 93
+f 92 109 110
+f 92 110 111
+f 92 111 112
+f 92 112 113
+f 92 113 94
+f 94 113 112
+f 94 112 114
+f 94 114 101
+f 94 101 115
+f 94 115 95
+f 100 116 101
+f 101 116 115
+f 101 114 103
+f 102 103 112
+f 102 112 106
+f 103 114 112
+f 106 112 117
+f 106 117 118
+f 106 118 107
+f 110 119 111
+f 111 119 112
+f 112 119 117
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_19.obj

@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v -0.17917565 -0.06720775 0.01429434
+v -0.15843161 -0.06720775 0.01429434
+v -0.17839164 -0.06720775 0.01307602
+v -0.17894430 -0.06779968 0.01429434
+v -0.13038088 -0.06720771 0.00148950
+v -0.11353758 -0.12844665 0.01429412
+v -0.17780042 -0.06720774 0.01220365
+v -0.17733773 -0.06829858 0.01212093
+v -0.17638664 -0.07423475 0.01429432
+v -0.17877722 -0.06822248 0.01429434
+v -0.11530482 -0.08926962 0.00148942
+v -0.16803890 -0.06720771 0.00148950
+v -0.11353758 -0.15358657 0.01429403
+v -0.11353758 -0.09255903 0.00148941
+v -0.17564119 -0.06720773 0.00913029
+v -0.17497285 -0.07058172 0.00996129
+v -0.17612316 -0.07460682 0.01411759
+v -0.17624526 -0.07458991 0.01429432
+v -0.16971616 -0.06720771 0.00287201
+v -0.16759548 -0.06833237 0.00148950
+v -0.16954265 -0.06812097 0.00302493
+v -0.11790746 -0.15030560 0.01429404
+v -0.11801029 -0.15015340 0.01418499
+v -0.11353758 -0.15232660 0.01262323
+v -0.11353758 -0.14062335 0.00148923
+v -0.17456158 -0.06720773 0.00792952
+v -0.17048731 -0.07404869 0.00658459
+v -0.16969688 -0.07973964 0.00850730
+v -0.16866225 -0.08406070 0.00971306
+v -0.17409888 -0.07460681 0.01120216
+v -0.17600749 -0.07515647 0.01429431
+v -0.17017243 -0.06720771 0.00330695
+v -0.16559692 -0.07300013 0.00148948
+v -0.16886789 -0.07152031 0.00363658
+v -0.11804884 -0.15019568 0.01429404
+v -0.12052938 -0.14633970 0.01201034
+v -0.11605669 -0.14859747 0.01029691
+v -0.11820950 -0.15006883 0.01429404
+v -0.12437230 -0.14494445 0.01429406
+v -0.12488640 -0.14407347 0.01372501
+v -0.11353758 -0.15225050 0.01252797
+v -0.11353758 -0.14321937 0.00335179
+v -0.11870431 -0.13784131 0.00254712
+v -0.11573537 -0.13880530 0.00148924
+v -0.17325061 -0.06720772 0.00652445
+v -0.16789110 -0.07584138 0.00462049
+v -0.16699141 -0.08158306 0.00658456
+v -0.16416384 -0.08716406 0.00661839
+v -0.16318063 -0.09238147 0.00856366
+v -0.16194035 -0.09671099 0.00999629
+v -0.16773043 -0.08758689 0.01099655
+v -0.16980612 -0.08758690 0.01391198
+v -0.17425954 -0.07906317 0.01429430
+v -0.16566118 -0.07404868 0.00190937
+v -0.16510851 -0.07412479 0.00148948
+v -0.16339912 -0.08110105 0.00275916
+v -0.12304849 -0.14247527 0.00983694
+v -0.11353758 -0.14956145 0.00925157
+v -0.11872361 -0.14427641 0.00807840
+v -0.12510490 -0.14431871 0.01429406
+v -0.12591462 -0.14361684 0.01429406
+v -0.12843371 -0.14135062 0.01429407
+v -0.11353758 -0.14641578 0.00620329
+v -0.11617236 -0.14217083 0.00419158
+v -0.12302920 -0.13595560 0.00394343
+v -0.12116559 -0.13405299 0.00148926
+v -0.11961685 -0.13545670 0.00148925
+v -0.16250587 -0.08472025 0.00352247
+v -0.16129772 -0.08904131 0.00467684
+v -0.15945981 -0.09474916 0.00618844
+v -0.16335413 -0.09904488 0.01388436
+v -0.16542983 -0.09387821 0.01259337
+v -0.15748051 -0.10057540 0.00782036
+v -0.15624025 -0.10443137 0.00907877
+v -0.16087359 -0.10095594 0.01214211
+v -0.16953622 -0.08861854 0.01429426
+v -0.16771115 -0.09201788 0.01429425
+v -0.17038449 -0.08692732 0.01429427
+v -0.16168973 -0.08130399 0.00148945
+v -0.12732196 -0.14015830 0.01167571
+v -0.12975753 -0.13616703 0.00962639
+v -0.12543264 -0.13815420 0.00783150
+v -0.12087641 -0.14015828 0.00601155
+v -0.11353758 -0.14699925 0.00674977
+v -0.11394887 -0.14624665 0.00634743
+v -0.13083714 -0.13914358 0.01429408
+v -0.12754046 -0.13390079 0.00584612
+v -0.12964186 -0.12956281 0.00386072
+v -0.12531697 -0.13162609 0.00242056
+v -0.12290711 -0.13246324 0.00148926
+v -0.15908708 -0.08621697 0.00148943
+v -0.15910636 -0.08716405 0.00190055
+v -0.15697283 -0.09279580 0.00274533
+v -0.15568758 -0.09711685 0.00381321
+v -0.16390680 -0.09857980 0.01429423
+v -0.16156121 -0.10239348 0.01429421
+v -0.16306496 -0.09998351 0.01429422
+v -0.16355336 -0.09918018 0.01429423
+v -0.15454370 -0.10057539 0.00490367
+v -0.15231378 -0.10671452 0.00682638
+v -0.15038589 -0.11171205 0.00846081
+v -0.15471078 -0.10876090 0.01091374
+v -0.15744838 -0.10678218 0.01269234
+v -0.15983253 -0.10501486 0.01429420
+v -0.13153118 -0.13784135 0.01351446
+v -0.13290641 -0.13718177 0.01429409
+v -0.13511062 -0.13502548 0.01429409
+v -0.13389606 -0.13380779 0.01156793
+v -0.13626093 -0.12968122 0.00962140
+v -0.13192961 -0.13184597 0.00774880
+v -0.13400530 -0.12745726 0.00583485
+v -0.13607457 -0.12297553 0.00392092
+v -0.13174325 -0.12523330 0.00239801
+v -0.12782321 -0.12773630 0.00148928
+v -0.12613311 -0.12940215 0.00148927
+v -0.15854728 -0.08721479 0.00148943
+v -0.15470436 -0.09381053 0.00148941
+v -0.15374042 -0.09537490 0.00148940
+v -0.15129843 -0.10057538 0.00215620
+v -0.14992321 -0.10465967 0.00321156
+v -0.14834877 -0.10898919 0.00457399
+v -0.14638232 -0.11392753 0.00630243
+v -0.14441588 -0.11867986 0.00802961
+v -0.14873434 -0.11604158 0.01021807
+v -0.15250014 -0.11345403 0.01250931
+v -0.15540482 -0.11144148 0.01429418
+v -0.15652300 -0.10989403 0.01429419
+v -0.13728913 -0.13283535 0.01429410
+v -0.14028378 -0.12726278 0.01165068
+v -0.14260367 -0.12300938 0.00979189
+v -0.13827236 -0.12535171 0.00780773
+v -0.13796389 -0.13144855 0.01350947
+v -0.14029020 -0.12082770 0.00597527
+v -0.14230806 -0.11614303 0.00414279
+v -0.13798317 -0.11865448 0.00251711
+v -0.13419166 -0.12113210 0.00148931
+v -0.13255939 -0.12289943 0.00148930
+v -0.12953260 -0.12603662 0.00148929
+v -0.15194105 -0.09819078 0.00148939
+v -0.15039875 -0.10057538 0.00148938
+v -0.14651085 -0.10611412 0.00148936
+v -0.14525129 -0.10782224 0.00148935
+v -0.14403031 -0.11182197 0.00278787
+v -0.14647229 -0.12051484 0.01194902
+v -0.15029593 -0.11801186 0.01410615
+v -0.15057226 -0.11783428 0.01429416
+v -0.13830449 -0.13177835 0.01429411
+v -0.14148549 -0.12841283 0.01429412
+v -0.14372184 -0.12596902 0.01429413
+v -0.14421667 -0.12485281 0.01367996
+v -0.13929413 -0.13074671 0.01429411
+v -0.13565043 -0.11954236 0.00148931
+v -0.14127986 -0.11292972 0.00148934
+v -0.13891499 -0.11577941 0.00148932
+v -0.14518061 -0.12429472 0.01429413
+v -0.14755190 -0.12147039 0.01429414
+v -0.15037947 -0.11807950 0.01429416
+v -0.15015455 -0.11835855 0.01429416
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 32
+f 1 32 45
+f 1 45 26
+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 18
+f 1 18 31
+f 1 31 53
+f 1 53 78
+f 1 78 76
+f 1 76 77
+f 1 77 95
+f 1 95 98
+f 1 98 97
+f 1 97 96
+f 1 96 104
+f 1 104 127
+f 1 127 126
+f 1 126 146
+f 1 146 157
+f 1 157 158
+f 1 158 156
+f 1 156 155
+f 1 155 149
+f 1 149 148
+f 1 148 151
+f 1 151 147
+f 1 147 128
+f 1 128 107
+f 1 107 106
+f 1 106 86
+f 1 86 62
+f 1 62 61
+f 1 61 60
+f 1 60 39
+f 1 39 38
+f 1 38 35
+f 1 35 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 14
+f 5 14 25
+f 5 25 44
+f 5 44 67
+f 5 67 66
+f 5 66 90
+f 5 90 115
+f 5 115 114
+f 5 114 138
+f 5 138 137
+f 5 137 136
+f 5 136 152
+f 5 152 154
+f 5 154 153
+f 5 153 142
+f 5 142 141
+f 5 141 140
+f 5 140 139
+f 5 139 118
+f 5 118 117
+f 5 117 116
+f 5 116 91
+f 5 91 79
+f 5 79 55
+f 5 55 33
+f 5 33 20
+f 5 20 12
+f 5 6 11
+f 6 13 24
+f 6 24 41
+f 6 41 58
+f 6 58 84
+f 6 84 63
+f 6 63 42
+f 6 42 25
+f 6 25 14
+f 6 14 11
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 16
+f 12 20 21
+f 12 21 19
+f 13 22 23
+f 13 23 24
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 19 21 32
+f 20 33 34
+f 20 34 21
+f 21 34 32
+f 22 35 23
+f 23 36 37
+f 23 37 24
+f 23 35 38
+f 23 38 39
+f 23 39 40
+f 23 40 36
+f 24 37 41
+f 25 42 43
+f 25 43 44
+f 26 45 34
+f 26 34 27
+f 27 34 46
+f 27 46 28
+f 28 47 29
+f 28 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 53
+f 29 53 30
+f 30 53 31
+f 32 34 45
+f 33 54 34
+f 33 55 54
+f 34 54 56
+f 34 56 46
+f 36 40 57
+f 36 57 37
+f 37 58 41
+f 37 57 59
+f 37 59 58
+f 39 60 40
+f 40 60 61
+f 40 61 62
+f 40 62 57
+f 42 63 64
+f 42 64 43
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 44
+f 46 56 68
+f 46 68 47
+f 47 68 48
+f 48 68 69
+f 48 69 49
+f 49 70 50
+f 49 69 70
+f 50 71 72
+f 50 72 51
+f 50 70 73
+f 50 73 74
+f 50 74 75
+f 50 75 71
+f 51 76 52
+f 51 72 77
+f 51 77 76
+f 52 76 78
+f 52 78 53
+f 54 55 56
+f 55 79 56
+f 56 79 68
+f 57 62 80
+f 57 80 81
+f 57 81 82
+f 57 82 83
+f 57 83 59
+f 58 59 84
+f 59 83 64
+f 59 64 85
+f 59 85 84
+f 62 86 80
+f 63 84 85
+f 63 85 64
+f 64 83 65
+f 65 81 87
+f 65 87 88
+f 65 88 89
+f 65 89 90
+f 65 90 66
+f 65 83 82
+f 65 82 81
+f 68 79 91
+f 68 91 92
+f 68 92 93
+f 68 93 94
+f 68 94 69
+f 69 94 70
+f 70 94 73
+f 71 95 77
+f 71 77 72
+f 71 75 96
+f 71 96 97
+f 71 97 98
+f 71 98 95
+f 73 99 74
+f 73 94 99
+f 74 99 100
+f 74 100 101
+f 74 101 102
+f 74 102 103
+f 74 103 75
+f 75 103 104
+f 75 104 96
+f 80 86 105
+f 80 105 81
+f 81 105 106
+f 81 106 107
+f 81 107 108
+f 81 108 109
+f 81 109 110
+f 81 110 88
+f 81 88 87
+f 86 106 105
+f 88 109 111
+f 88 111 112
+f 88 112 113
+f 88 113 114
+f 88 114 115
+f 88 115 89
+f 88 110 109
+f 89 115 90
+f 91 116 92
+f 92 116 93
+f 93 117 118
+f 93 118 94
+f 93 116 117
+f 94 118 119
+f 94 119 120
+f 94 120 99
+f 99 120 100
+f 100 121 101
+f 100 120 121
+f 101 121 122
+f 101 122 123
+f 101 123 124
+f 101 124 102
+f 102 124 125
+f 102 125 126
+f 102 126 127
+f 102 127 103
+f 103 127 104
+f 107 128 108
+f 108 128 109
+f 109 129 130
+f 109 130 131
+f 109 131 112
+f 109 112 111
+f 109 128 132
+f 109 132 129
+f 112 130 133
+f 112 133 134
+f 112 134 135
+f 112 135 136
+f 112 136 137
+f 112 137 113
+f 112 131 130
+f 113 138 114
+f 113 137 138
+f 118 139 119
+f 119 140 120
+f 119 139 140
+f 120 140 141
+f 120 141 142
+f 120 142 143
+f 120 143 121
+f 121 143 134
+f 121 134 122
+f 122 134 123
+f 123 133 130
+f 123 130 124
+f 123 134 133
+f 124 130 144
+f 124 144 145
+f 124 145 125
+f 125 145 126
+f 126 145 146
+f 128 147 132
+f 129 132 148
+f 129 148 130
+f 130 148 149
+f 130 149 150
+f 130 150 144
+f 132 147 151
+f 132 151 148
+f 134 143 135
+f 135 152 136
+f 135 143 153
+f 135 153 154
+f 135 154 152
+f 142 153 143
+f 144 150 155
+f 144 155 156
+f 144 156 145
+f 145 157 146
+f 145 156 158
+f 145 158 157
+f 149 155 150
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_2.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.18795594 -0.06032851 0.02648086
+v 0.18795594 -0.06032850 0.02540039
+v 0.18785657 -0.06032852 0.02869204
+v 0.18184709 -0.07810532 0.02730161
+v 0.18184709 -0.07810532 0.02676138
+v 0.18451862 -0.06811857 0.02410841
+v 0.18693293 -0.06165058 0.02417963
+v 0.18712000 -0.06032850 0.02370851
+v 0.18687447 -0.06032852 0.03038602
+v 0.18176526 -0.07143395 0.03287985
+v 0.18439002 -0.06811859 0.02993999
+v 0.18241414 -0.07400181 0.02952328
+v 0.17633452 -0.08726831 0.02970121
+v 0.17549272 -0.09129046 0.02759889
+v 0.18091177 -0.07569506 0.02287716
+v 0.17549272 -0.09129046 0.02648074
+v 0.17960231 -0.08059691 0.02453553
+v 0.18174188 -0.07136781 0.02119157
+v 0.18241414 -0.06811855 0.02012368
+v 0.18350730 -0.06174717 0.01800884
+v 0.18403926 -0.06032848 0.01817008
+v 0.18434325 -0.06032853 0.03321910
+v 0.18228553 -0.06811860 0.03321070
+v 0.17626437 -0.08110034 0.03343260
+v 0.17550442 -0.08489876 0.03304103
+v 0.17427681 -0.08922093 0.03148732
+v 0.16890453 -0.09759067 0.03296560
+v 0.16979893 -0.09908562 0.02993988
+v 0.16298860 -0.11134022 0.02844267
+v 0.17553365 -0.08493432 0.02076855
+v 0.17628191 -0.08058672 0.01860554
+v 0.17932172 -0.07396110 0.01885893
+v 0.16298860 -0.11134021 0.02565148
+v 0.16792828 -0.10236536 0.02410828
+v 0.16982232 -0.09912120 0.02410830
+v 0.17306089 -0.09370069 0.02436588
+v 0.17450479 -0.08925648 0.02259443
+v 0.17635206 -0.08728863 0.02436590
+v 0.18064871 -0.06811854 0.01720894
+v 0.18142621 -0.06398960 0.01588350
+v 0.18260120 -0.06032847 0.01574532
+v 0.18364760 -0.06032853 0.03368605
+v 0.18330854 -0.06162518 0.03368394
+v 0.17850331 -0.07400182 0.03363156
+v 0.17206710 -0.08726832 0.03373201
+v 0.16976386 -0.09407701 0.03338439
+v 0.16316397 -0.10531972 0.03334666
+v 0.16174344 -0.10964697 0.03232901
+v 0.16450850 -0.10731298 0.03020787
+v 0.16187790 -0.11227584 0.02648276
+v 0.16182528 -0.11227585 0.02919858
+v 0.17301996 -0.08728861 0.01860552
+v 0.17431188 -0.08240710 0.01688014
+v 0.17535243 -0.07807985 0.01520083
+v 0.17609484 -0.07460685 0.01408269
+v 0.16187790 -0.11227583 0.02488719
+v 0.16190713 -0.10978422 0.02176516
+v 0.16463126 -0.10739432 0.02386747
+v 0.16893961 -0.09763639 0.02093811
+v 0.16337442 -0.10545696 0.01966078
+v 0.16979309 -0.09355829 0.01870810
+v 0.17780181 -0.06829650 0.01286405
+v 0.18016935 -0.06191495 0.01286407
+v 0.18032134 -0.06149290 0.01286407
+v 0.18149635 -0.06032846 0.01401574
+v 0.17972508 -0.06032854 0.03413834
+v 0.17849161 -0.06811861 0.03413412
+v 0.17199695 -0.08110035 0.03425342
+v 0.16550812 -0.09407702 0.03423452
+v 0.16539706 -0.10007718 0.03362727
+v 0.15935251 -0.10731299 0.03389736
+v 0.15760463 -0.11227586 0.03353091
+v 0.15864517 -0.11227586 0.03307443
+v 0.16074381 -0.11227585 0.03089047
+v 0.16888115 -0.09105143 0.01517985
+v 0.16976970 -0.08758352 0.01389628
+v 0.17461586 -0.07606622 0.01286402
+v 0.17525305 -0.07460685 0.01286403
+v 0.17135391 -0.08294101 0.01286400
+v 0.17249384 -0.08062738 0.01286400
+v 0.17683726 -0.07074234 0.01286404
+v 0.17575579 -0.07344241 0.01286403
+v 0.16089580 -0.11227583 0.02316808
+v 0.15783845 -0.11227581 0.01856773
+v 0.15680960 -0.11227580 0.01709152
+v 0.15618994 -0.11087744 0.01479239
+v 0.16082565 -0.10739430 0.01794167
+v 0.16551397 -0.10050426 0.01835629
+v 0.16764769 -0.09537868 0.01704970
+v 0.16197727 -0.10336706 0.01577238
+v 0.18071301 -0.06032846 0.01286408
+v 0.17842732 -0.06032854 0.03414671
+v 0.17849161 -0.06162519 0.03424093
+v 0.15901346 -0.10056535 0.03419263
+v 0.15250710 -0.11227587 0.03416955
+v 0.15392762 -0.11227587 0.03417793
+v 0.16332180 -0.09903980 0.01388577
+v 0.16495862 -0.09497696 0.01286395
+v 0.16577119 -0.09357861 0.01286396
+v 0.16822642 -0.08913950 0.01286397
+v 0.16903898 -0.08758352 0.01286398
+v 0.16948911 -0.08671909 0.01286398
+v 0.15417899 -0.11227579 0.01355907
+v 0.15431344 -0.11135542 0.01286389
+v 0.15544168 -0.10982486 0.01286390
+v 0.15730064 -0.10711970 0.01286391
+v 0.15751694 -0.10679936 0.01286391
+v 0.16185451 -0.10015847 0.01286393
+v 0.16104779 -0.10142969 0.01286393
+v 0.15963311 -0.06032846 0.01286408
+v 0.17511276 -0.06032853 0.03348713
+v 0.14773694 -0.11227586 0.03368167
+v 0.16294767 -0.09842452 0.01286394
+v 0.15362949 -0.11227579 0.01286389
+v 0.12823540 -0.11227579 0.01286389
+v 0.17245877 -0.06032852 0.03083412
+v 0.17453402 -0.06032853 0.03330286
+v 0.14706467 -0.11227586 0.03349531
+v 0.14412424 -0.11227585 0.03123597
+f 1 2 8
+f 1 8 21
+f 1 21 41
+f 1 41 65
+f 1 65 91
+f 1 91 110
+f 1 110 116
+f 1 116 117
+f 1 117 111
+f 1 111 92
+f 1 92 66
+f 1 66 42
+f 1 42 22
+f 1 22 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 10
+f 4 10 13
+f 4 13 14
+f 4 14 16
+f 4 16 5
+f 5 15 6
+f 5 16 17
+f 5 17 15
+f 6 15 18
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 9 22 10
+f 10 12 11
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 13
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 33
+f 14 33 16
+f 15 17 30
+f 15 30 31
+f 15 31 32
+f 15 32 18
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 38
+f 16 38 17
+f 17 38 37
+f 17 37 30
+f 18 32 19
+f 19 32 39
+f 19 39 40
+f 19 40 20
+f 20 41 21
+f 20 40 41
+f 22 42 43
+f 22 43 23
+f 23 43 44
+f 23 44 24
+f 24 44 45
+f 24 45 46
+f 24 46 25
+f 25 46 27
+f 25 27 26
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 28
+f 28 49 29
+f 29 50 56
+f 29 56 33
+f 29 49 48
+f 29 48 51
+f 29 51 50
+f 30 37 52
+f 30 52 53
+f 30 53 31
+f 31 53 54
+f 31 54 32
+f 32 54 55
+f 32 55 39
+f 33 56 57
+f 33 57 58
+f 33 58 34
+f 34 59 35
+f 34 58 57
+f 34 57 60
+f 34 60 59
+f 35 59 36
+f 36 59 37
+f 37 59 61
+f 37 61 52
+f 39 55 62
+f 39 62 40
+f 40 63 64
+f 40 64 65
+f 40 65 41
+f 40 62 63
+f 42 66 67
+f 42 67 43
+f 43 67 44
+f 44 67 45
+f 45 68 69
+f 45 69 70
+f 45 70 46
+f 45 67 68
+f 46 70 47
+f 47 70 71
+f 47 71 72
+f 47 72 73
+f 47 73 48
+f 48 73 74
+f 48 74 51
+f 50 51 74
+f 50 74 73
+f 50 73 72
+f 50 72 96
+f 50 96 95
+f 50 95 112
+f 50 112 118
+f 50 118 119
+f 50 119 115
+f 50 115 114
+f 50 114 103
+f 50 103 85
+f 50 85 84
+f 50 84 83
+f 50 83 56
+f 52 61 75
+f 52 75 76
+f 52 76 53
+f 53 76 54
+f 54 77 78
+f 54 78 55
+f 54 76 79
+f 54 79 80
+f 54 80 77
+f 55 81 62
+f 55 78 82
+f 55 82 81
+f 56 83 57
+f 57 83 84
+f 57 84 85
+f 57 85 86
+f 57 86 87
+f 57 87 60
+f 59 60 88
+f 59 88 89
+f 59 89 61
+f 60 87 90
+f 60 90 88
+f 61 89 75
+f 62 81 82
+f 62 82 78
+f 62 78 77
+f 62 77 80
+f 62 80 79
+f 62 79 102
+f 62 102 101
+f 62 101 100
+f 62 100 99
+f 62 99 98
+f 62 98 113
+f 62 113 108
+f 62 108 109
+f 62 109 107
+f 62 107 106
+f 62 106 105
+f 62 105 104
+f 62 104 114
+f 62 114 115
+f 62 115 110
+f 62 110 91
+f 62 91 64
+f 62 64 63
+f 64 91 65
+f 66 92 93
+f 66 93 67
+f 67 93 68
+f 68 93 94
+f 68 94 95
+f 68 95 69
+f 69 95 96
+f 69 96 71
+f 69 71 70
+f 71 96 72
+f 75 89 97
+f 75 97 98
+f 75 98 99
+f 75 99 100
+f 75 100 101
+f 75 101 102
+f 75 102 76
+f 76 102 79
+f 85 103 86
+f 86 103 104
+f 86 104 105
+f 86 105 106
+f 86 106 107
+f 86 107 90
+f 86 90 87
+f 88 90 97
+f 88 97 89
+f 90 108 97
+f 90 107 109
+f 90 109 108
+f 92 111 112
+f 92 112 93
+f 93 112 95
+f 93 95 94
+f 97 108 113
+f 97 113 98
+f 103 114 104
+f 110 115 116
+f 111 117 118
+f 111 118 112
+f 115 119 117
+f 115 117 116
+f 117 119 118
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_20.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.11359537 0.09274740 0.00149717
+v -0.11359537 0.12703211 0.01283894
+v -0.11359537 0.14059657 0.00149735
+v -0.06100934 0.13379288 0.00149732
+v -0.06097329 0.13382725 0.00150065
+v -0.06097329 0.15938399 0.01283906
+v -0.11359537 0.15252876 0.01283903
+v -0.11359537 0.14593987 0.00576159
+v -0.11183889 0.14397265 0.00282070
+v -0.11297210 0.14119790 0.00149735
+v -0.06097329 0.14596564 0.00149737
+v -0.06097329 0.18049948 0.01283913
+v -0.11316784 0.15285520 0.01283903
+v -0.11359537 0.15244285 0.01272024
+v -0.11359537 0.14646389 0.00622564
+v -0.10898012 0.14830226 0.00462365
+v -0.10773359 0.14522686 0.00149736
+v -0.11064387 0.14304486 0.00149736
+v -0.10465333 0.14985715 0.00326146
+v -0.06097329 0.17046580 0.00149746
+v -0.06097329 0.18019021 0.01238839
+v -0.06157595 0.18029330 0.01283913
+v -0.11359537 0.15224527 0.01245934
+v -0.10973731 0.15537222 0.01283904
+v -0.11359537 0.14695354 0.00668526
+v -0.11171527 0.15032102 0.00851041
+v -0.10668279 0.15225388 0.00689288
+v -0.10614709 0.14639517 0.00149737
+v -0.10286079 0.14871461 0.00149738
+v -0.10064073 0.15443588 0.00502779
+v -0.09705053 0.15560420 0.00389540
+v -0.10064073 0.15118868 0.00222234
+v -0.06106601 0.17044002 0.00149746
+v -0.06097329 0.17088673 0.00185161
+v -0.06097329 0.17672825 0.00777002
+v -0.06169442 0.17664236 0.00794876
+v -0.06626331 0.17580908 0.00891018
+v -0.06179229 0.18006995 0.01262819
+v -0.06193651 0.18016445 0.01283913
+v -0.10871741 0.15465063 0.01099391
+v -0.10679612 0.15738240 0.01283905
+v -0.10439062 0.15615398 0.00916100
+v -0.10064073 0.15021795 0.00149738
+v -0.10064073 0.15735665 0.00794203
+v -0.09468624 0.15937542 0.00626899
+v -0.08894293 0.16122238 0.00475470
+v -0.09272373 0.15690137 0.00279411
+v -0.09528375 0.15361980 0.00149739
+v -0.09802921 0.15189310 0.00149739
+v -0.09986294 0.15072478 0.00149738
+v -0.06169442 0.17076646 0.00196596
+v -0.06169442 0.17020807 0.00149746
+v -0.06097329 0.17414252 0.00489574
+v -0.06097329 0.17635887 0.00735037
+v -0.06169442 0.17401366 0.00503341
+v -0.06832885 0.17730381 0.01214525
+v -0.06832885 0.17303433 0.00682746
+v -0.07059011 0.17494142 0.01000037
+v -0.06831339 0.17775910 0.01283912
+v -0.10678581 0.15731368 0.01274135
+v -0.10136186 0.16093888 0.01283906
+v -0.10095494 0.16073271 0.01220514
+v -0.09664360 0.16185807 0.01010023
+v -0.09231680 0.16311229 0.00864146
+v -0.08713495 0.16402290 0.00666534
+v -0.08462129 0.16241648 0.00360345
+v -0.08713495 0.15905759 0.00200588
+v -0.08721736 0.15837035 0.00149741
+v -0.09110118 0.15616259 0.00149740
+v -0.09378483 0.15455616 0.00149740
+v -0.06818462 0.16948648 0.00307835
+v -0.06564005 0.16861884 0.00149745
+v -0.07146577 0.16880782 0.00368784
+v -0.07335617 0.17570597 0.01283912
+v -0.07047679 0.17688287 0.01283912
+v -0.07404639 0.17039706 0.00663650
+v -0.07964547 0.16963249 0.00859263
+v -0.08397227 0.16857585 0.00981606
+v -0.07467996 0.17403082 0.01128041
+v -0.07467996 0.17512182 0.01283911
+v -0.10025957 0.16163471 0.01283906
+v -0.09830221 0.16286315 0.01283907
+v -0.09382603 0.16536298 0.01269031
+v -0.08765520 0.16761371 0.01114051
+v -0.08155648 0.16683200 0.00663648
+v -0.07579257 0.16780272 0.00470588
+v -0.08117015 0.16326694 0.00286740
+v -0.08303995 0.16059529 0.00149742
+v -0.08674863 0.15862807 0.00149741
+v -0.06837005 0.16749347 0.00149745
+v -0.06983292 0.16685777 0.00149744
+v -0.07278956 0.16554343 0.00149744
+v -0.07404639 0.16560356 0.00200591
+v -0.08660440 0.16939194 0.01283909
+v -0.08069112 0.17232131 0.01283910
+v -0.07598315 0.17453765 0.01283911
+v -0.09366120 0.16556057 0.01283908
+v -0.08903050 0.16812054 0.01283909
+v -0.08765520 0.16884214 0.01283909
+v -0.07414426 0.16493350 0.00149744
+v -0.07904796 0.16259688 0.00149743
+v -0.08135559 0.16145434 0.00149742
+v -0.07365492 0.16515686 0.00149744
+f 1 2 7
+f 1 7 14
+f 1 14 23
+f 1 23 25
+f 1 25 15
+f 1 15 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 17
+f 1 17 28
+f 1 28 29
+f 1 29 43
+f 1 43 50
+f 1 50 49
+f 1 49 48
+f 1 48 70
+f 1 70 69
+f 1 69 68
+f 1 68 89
+f 1 89 88
+f 1 88 102
+f 1 102 101
+f 1 101 100
+f 1 100 103
+f 1 103 92
+f 1 92 91
+f 1 91 90
+f 1 90 72
+f 1 72 52
+f 1 52 33
+f 1 33 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 39
+f 2 39 59
+f 2 59 75
+f 2 75 74
+f 2 74 80
+f 2 80 96
+f 2 96 95
+f 2 95 94
+f 2 94 99
+f 2 99 98
+f 2 98 97
+f 2 97 82
+f 2 82 81
+f 2 81 61
+f 2 61 41
+f 2 41 24
+f 2 24 13
+f 2 13 7
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 11 20
+f 5 20 34
+f 5 34 53
+f 5 53 54
+f 5 54 35
+f 5 35 21
+f 5 21 12
+f 5 12 6
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 17 18
+f 9 18 10
+f 9 16 19
+f 9 19 17
+f 12 21 22
+f 13 23 14
+f 13 24 23
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 19
+f 17 19 28
+f 19 29 28
+f 19 27 30
+f 19 30 31
+f 19 31 32
+f 19 32 29
+f 20 33 34
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 23 24 40
+f 23 40 26
+f 23 26 25
+f 24 41 40
+f 26 40 42
+f 26 42 27
+f 27 42 30
+f 29 32 43
+f 30 42 44
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 49 50
+f 32 50 43
+f 32 48 49
+f 33 51 34
+f 33 52 51
+f 34 51 53
+f 35 54 36
+f 36 54 55
+f 36 55 37
+f 37 56 39
+f 37 39 38
+f 37 55 57
+f 37 57 58
+f 37 58 56
+f 39 56 59
+f 40 41 60
+f 40 60 42
+f 41 42 60
+f 41 61 62
+f 41 62 42
+f 42 62 63
+f 42 63 44
+f 44 63 64
+f 44 64 45
+f 45 64 46
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 47 67 68
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 47 66 67
+f 51 52 71
+f 51 71 53
+f 52 72 71
+f 53 71 55
+f 53 55 54
+f 55 71 73
+f 55 73 57
+f 56 58 74
+f 56 74 75
+f 56 75 59
+f 57 73 76
+f 57 76 58
+f 58 76 77
+f 58 77 78
+f 58 78 79
+f 58 79 80
+f 58 80 74
+f 61 81 62
+f 62 81 82
+f 62 82 63
+f 63 82 83
+f 63 83 84
+f 63 84 64
+f 64 84 78
+f 64 78 65
+f 65 78 77
+f 65 77 85
+f 65 85 66
+f 66 85 86
+f 66 86 73
+f 66 73 87
+f 66 87 88
+f 66 88 89
+f 66 89 67
+f 67 89 68
+f 71 72 90
+f 71 90 73
+f 73 90 91
+f 73 91 92
+f 73 92 93
+f 73 93 87
+f 73 86 76
+f 76 86 77
+f 77 86 85
+f 78 84 94
+f 78 94 95
+f 78 95 79
+f 79 95 96
+f 79 96 80
+f 82 97 83
+f 83 97 98
+f 83 98 84
+f 84 98 99
+f 84 99 94
+f 87 100 101
+f 87 101 102
+f 87 102 88
+f 87 93 100
+f 92 103 93
+f 93 103 100
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_21.obj

@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.06762411 -0.15540490 0.01188516
+v 0.06762411 -0.16988172 0.03137646
+v 0.06762411 -0.17722339 0.01188508
+v -0.00021802 -0.16980056 0.01188511
+v -0.00021802 -0.18314227 0.03099487
+v 0.06762411 -0.17013712 0.03169002
+v 0.06762411 -0.17745852 0.01220522
+v 0.06172046 -0.17997199 0.01263060
+v 0.06170718 -0.17942470 0.01188507
+v -0.00021802 -0.19011098 0.01188503
+v -0.00021802 -0.18638545 0.03382132
+v 0.06762411 -0.17312490 0.03375338
+v 0.06762411 -0.18091253 0.01754236
+v 0.06393184 -0.18135847 0.01593726
+v 0.05960206 -0.18212466 0.01469836
+v 0.05647425 -0.18125710 0.01188506
+v 0.05918369 -0.18032468 0.01188507
+v -0.00021802 -0.19046775 0.01244637
+v 0.00209297 -0.19011504 0.01188503
+v 0.00322854 -0.19047585 0.01244637
+v -0.00021802 -0.18906108 0.03396164
+v 0.06164077 -0.17845589 0.03424454
+v 0.06762411 -0.17345733 0.03381697
+v 0.06762411 -0.18195846 0.01921323
+v 0.06702644 -0.18257872 0.01982500
+v 0.06172046 -0.18344627 0.01804011
+v 0.05457499 -0.18616244 0.01882949
+v 0.05515274 -0.18282600 0.01361733
+v 0.05515274 -0.18167871 0.01188506
+v -0.00021802 -0.19348797 0.01763441
+v 0.00322854 -0.19011504 0.01188503
+v 0.00971658 -0.18989207 0.01188503
+v 0.00971658 -0.19024882 0.01244637
+v 0.00971658 -0.19337852 0.01782079
+v 0.00322854 -0.19349202 0.01763222
+v -0.00021802 -0.19143672 0.03408443
+v 0.06762411 -0.17898289 0.03392001
+v 0.04217003 -0.18494630 0.03428618
+v 0.04865806 -0.18494630 0.03411295
+v 0.06762411 -0.18302466 0.02109899
+v 0.06762411 -0.18435844 0.02364038
+v 0.06164077 -0.18685974 0.02418417
+v 0.05635472 -0.18763405 0.02229183
+v 0.05203157 -0.18822592 0.02113844
+v 0.04865806 -0.18700160 0.01744147
+v 0.04889713 -0.18358813 0.01203197
+v 0.04904987 -0.18345030 0.01188506
+v 0.05335973 -0.18222194 0.01188506
+v -0.00021802 -0.19506092 0.02055076
+v 0.01557374 -0.18949883 0.01188503
+v 0.01570655 -0.18957180 0.01202098
+v 0.01647024 -0.19342311 0.01873298
+v 0.01447801 -0.19480957 0.02098053
+v 0.00971658 -0.19495147 0.02073714
+v 0.00322854 -0.19506092 0.02054856
+v -0.00021802 -0.19332991 0.03357351
+v 0.00322854 -0.19143672 0.03408662
+v 0.06762411 -0.17974504 0.03383011
+v 0.00971658 -0.19143672 0.03404934
+v 0.02919396 -0.19048403 0.03386734
+v 0.03567535 -0.18991241 0.03377963
+v 0.04217003 -0.18932054 0.03356913
+v 0.06164077 -0.18324362 0.03367222
+v 0.06762411 -0.18425710 0.02950379
+v 0.05948252 -0.18855837 0.02791623
+v 0.05948252 -0.18855837 0.02617738
+v 0.05457499 -0.18903673 0.02418417
+v 0.04865806 -0.19063399 0.02410742
+v 0.04865806 -0.18870428 0.02035782
+v 0.04334544 -0.18769483 0.01624642
+v 0.04879752 -0.18351516 0.01188506
+v 0.04157900 -0.18609350 0.01300774
+v -0.00021802 -0.19588793 0.02222382
+v 0.01581945 -0.18947856 0.01188503
+v 0.02269929 -0.18956371 0.01315025
+v 0.02269929 -0.19255961 0.01827908
+v 0.01880779 -0.19463120 0.02128753
+v 0.01647024 -0.19592443 0.02358114
+v 0.00971658 -0.19661766 0.02410740
+v 0.00322854 -0.19681632 0.02410740
+v -0.00021802 -0.19500827 0.03311960
+v 0.00322854 -0.19500827 0.03311960
+v 0.06762411 -0.18121259 0.03349680
+v 0.00971658 -0.19493529 0.03306258
+v 0.01672923 -0.19206508 0.03373577
+v 0.02269929 -0.19108402 0.03388927
+v 0.01491630 -0.19481367 0.03296610
+v 0.01923944 -0.19465151 0.03283016
+v 0.04865806 -0.18863541 0.03317006
+v 0.06699323 -0.18238824 0.03329507
+v 0.05209798 -0.18824623 0.03289816
+v 0.06762411 -0.18421657 0.03040940
+v 0.05642777 -0.18739490 0.03180398
+v 0.05461484 -0.18904890 0.02989190
+v 0.04865806 -0.19056509 0.02994013
+v 0.03398860 -0.19498392 0.02779341
+v 0.04217003 -0.19227585 0.02410741
+v 0.03398860 -0.19498392 0.02630015
+v 0.04157900 -0.18930833 0.01822646
+v 0.03902230 -0.18821373 0.01532546
+v 0.04171845 -0.18528675 0.01188505
+v 0.03574176 -0.18665700 0.01188504
+v -0.00021802 -0.19681632 0.02410740
+v 0.02075354 -0.18897993 0.01188504
+v 0.02269929 -0.18876506 0.01188504
+v 0.02919396 -0.18910966 0.01386509
+v 0.02919396 -0.19171233 0.01827909
+v 0.02269929 -0.19443661 0.02167126
+v 0.02269929 -0.19581902 0.02458542
+v 0.02269929 -0.19581904 0.02957611
+v 0.00971658 -0.19660148 0.02994011
+v 0.00322854 -0.19676768 0.02994011
+v -0.00021802 -0.19676362 0.02994011
+v 0.06762411 -0.18228688 0.03322709
+v 0.01672923 -0.19592851 0.03050803
+v 0.02919396 -0.19538122 0.02871217
+v 0.02269929 -0.19432720 0.03249029
+v 0.02919396 -0.19372720 0.03162854
+v 0.03596091 -0.19339072 0.02981733
+v 0.04217003 -0.19202857 0.02994012
+v 0.03596091 -0.19367448 0.02425871
+v 0.03567535 -0.19061776 0.01827909
+v 0.02919396 -0.19538120 0.02543182
+v 0.02919396 -0.19403527 0.02251766
+v 0.03567535 -0.18854211 0.01479043
+v 0.03077446 -0.18756914 0.01188504
+v -0.00021802 -0.19679200 0.02685053
+v 0.02565443 -0.18835155 0.01188504
+v 0.02919396 -0.18784886 0.01188504
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 37
+f 1 37 58
+f 1 58 83
+f 1 83 114
+f 1 114 92
+f 1 92 64
+f 1 64 41
+f 1 41 40
+f 1 40 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 16
+f 1 16 29
+f 1 29 48
+f 1 48 47
+f 1 47 71
+f 1 71 101
+f 1 101 102
+f 1 102 126
+f 1 126 129
+f 1 129 128
+f 1 128 105
+f 1 105 104
+f 1 104 74
+f 1 74 50
+f 1 50 32
+f 1 32 31
+f 1 31 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 18
+f 4 18 30
+f 4 30 49
+f 4 49 73
+f 4 73 103
+f 4 103 127
+f 4 127 113
+f 4 113 81
+f 4 81 56
+f 4 56 36
+f 4 36 21
+f 4 21 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 19 20
+f 10 20 18
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 18 20 30
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 30
+f 21 36 22
+f 22 37 23
+f 22 36 38
+f 22 38 39
+f 22 39 37
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 30 35 49
+f 32 50 33
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 35 54 55
+f 35 55 49
+f 36 56 57
+f 36 57 38
+f 37 39 58
+f 38 57 59
+f 38 59 60
+f 38 60 61
+f 38 61 39
+f 39 61 62
+f 39 62 63
+f 39 63 58
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 66 43
+f 43 67 68
+f 43 68 44
+f 43 66 67
+f 44 68 69
+f 44 69 45
+f 45 69 70
+f 45 70 46
+f 46 71 47
+f 46 70 72
+f 46 72 71
+f 49 55 73
+f 50 74 51
+f 51 74 75
+f 51 75 52
+f 52 75 76
+f 52 76 77
+f 52 77 53
+f 53 77 78
+f 53 78 79
+f 53 79 54
+f 54 79 55
+f 55 79 80
+f 55 80 73
+f 56 81 57
+f 57 81 82
+f 57 82 59
+f 58 63 83
+f 59 82 84
+f 59 84 85
+f 59 85 86
+f 59 86 60
+f 60 86 87
+f 60 87 88
+f 60 88 61
+f 61 88 62
+f 62 89 63
+f 62 88 89
+f 63 90 83
+f 63 89 91
+f 63 91 90
+f 64 92 65
+f 65 92 93
+f 65 93 91
+f 65 91 94
+f 65 94 95
+f 65 95 96
+f 65 96 98
+f 65 98 66
+f 66 97 68
+f 66 68 67
+f 66 98 97
+f 68 97 69
+f 69 97 99
+f 69 99 70
+f 70 99 100
+f 70 100 72
+f 71 72 101
+f 72 100 102
+f 72 102 101
+f 73 80 103
+f 74 104 75
+f 75 104 105
+f 75 105 106
+f 75 106 107
+f 75 107 76
+f 76 108 77
+f 76 107 108
+f 77 108 109
+f 77 109 78
+f 78 109 79
+f 79 109 110
+f 79 110 111
+f 79 111 80
+f 80 111 112
+f 80 112 103
+f 81 113 112
+f 81 112 82
+f 82 112 84
+f 83 90 114
+f 84 111 87
+f 84 87 86
+f 84 86 85
+f 84 112 111
+f 87 111 88
+f 88 111 115
+f 88 115 110
+f 88 110 116
+f 88 116 117
+f 88 117 89
+f 89 117 91
+f 90 91 114
+f 91 117 118
+f 91 118 119
+f 91 119 96
+f 91 96 120
+f 91 120 95
+f 91 95 94
+f 91 93 92
+f 91 92 114
+f 95 120 96
+f 96 119 118
+f 96 118 116
+f 96 116 123
+f 96 123 98
+f 97 121 122
+f 97 122 99
+f 97 98 121
+f 98 123 124
+f 98 124 121
+f 99 122 100
+f 100 122 125
+f 100 125 102
+f 102 125 126
+f 103 112 127
+f 105 128 106
+f 106 129 126
+f 106 126 125
+f 106 125 122
+f 106 122 107
+f 106 128 129
+f 107 122 124
+f 107 124 108
+f 108 124 109
+f 109 124 123
+f 109 123 116
+f 109 116 110
+f 110 115 111
+f 112 113 127
+f 116 118 117
+f 121 124 122
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_22.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.06762411 -0.13042756 0.00152320
+v 0.06762411 -0.15540815 0.01188516
+v 0.06762411 -0.14300841 0.00152214
+v 0.06172710 -0.13294022 0.00152218
+v 0.06164077 -0.13295775 0.00152218
+v -0.00021802 -0.14563794 0.00152214
+v -0.00021802 -0.16979462 0.01188511
+v 0.06762411 -0.17722159 0.01188508
+v 0.06762411 -0.16780198 0.00152205
+v -0.00021802 -0.18143465 0.00152200
+v -0.00021802 -0.19011214 0.01188503
+v 0.06170718 -0.17942455 0.01188507
+v 0.06762411 -0.17674242 0.01117500
+v 0.06762411 -0.16926868 0.00272309
+v 0.06567836 -0.16859668 0.00152205
+v -0.00021802 -0.18273189 0.00267739
+v 0.00065856 -0.18144050 0.00152200
+v -0.00021802 -0.18841754 0.00923138
+v 0.00322854 -0.19011799 0.01188503
+v 0.06616978 -0.17571398 0.00892000
+v 0.05918369 -0.18032444 0.01188507
+v 0.06762411 -0.17380903 0.00746537
+v 0.06762411 -0.16954916 0.00295336
+v 0.06164077 -0.17020946 0.00152204
+v 0.00322854 -0.18273189 0.00267435
+v 0.00322854 -0.18598083 0.00631500
+v -0.00021802 -0.18425702 0.00438867
+v 0.00322854 -0.18144050 0.00152200
+v -0.00021802 -0.18712615 0.00768646
+v 0.00322854 -0.18841754 0.00923037
+v 0.00971658 -0.18989008 0.01188503
+v 0.00971658 -0.18830651 0.00937847
+v 0.05515274 -0.18089124 0.01069924
+v 0.06164077 -0.17654959 0.00794415
+v 0.06164077 -0.17396095 0.00502879
+v 0.05647425 -0.18125937 0.01188506
+v 0.06762411 -0.17307274 0.00665994
+v 0.05712504 -0.17478487 0.00413815
+v 0.06164077 -0.17071200 0.00194098
+v 0.06107630 -0.17041399 0.00152204
+v 0.00971658 -0.18118923 0.00152200
+v 0.00971658 -0.18260917 0.00279303
+v -0.00021802 -0.18597499 0.00631703
+v 0.00971658 -0.18585228 0.00646412
+v 0.01320962 -0.18821302 0.00950121
+v 0.01557374 -0.18949858 0.01188503
+v 0.05515274 -0.18167426 0.01188506
+v 0.05335973 -0.18222355 0.01188506
+v 0.05121476 -0.18150480 0.00981062
+v 0.05503984 -0.17732674 0.00629475
+v 0.05280191 -0.17549190 0.00342402
+v 0.05897782 -0.17115026 0.00152204
+v 0.01621125 -0.18068669 0.00152201
+v 0.01621125 -0.18236959 0.00302634
+v 0.01570655 -0.18602174 0.00717927
+v 0.01753276 -0.18801436 0.00979234
+v 0.01581945 -0.18947521 0.01188503
+v 0.04904987 -0.18345065 0.01188506
+v 0.04689162 -0.18210666 0.00901432
+v 0.04889713 -0.17968749 0.00688714
+v 0.04217003 -0.18019001 0.00537671
+v 0.04865806 -0.17608793 0.00286203
+v 0.05053740 -0.17396094 0.00152203
+v 0.05426287 -0.17277472 0.00152204
+v 0.01902030 -0.18037700 0.00152201
+v 0.02269929 -0.18202484 0.00336819
+v 0.02269929 -0.18480046 0.00661425
+v 0.02269929 -0.18771634 0.01023157
+v 0.02269929 -0.18876230 0.01188504
+v 0.02075354 -0.18897852 0.01188504
+v 0.04879752 -0.18351493 0.01188506
+v 0.04171845 -0.18528548 0.01188505
+v 0.04217003 -0.18269685 0.00829207
+v 0.03567535 -0.18093797 0.00452969
+v 0.04217003 -0.17694691 0.00207790
+v 0.04865806 -0.17452774 0.00152203
+v 0.04630723 -0.17518221 0.00152203
+v 0.02269929 -0.17995627 0.00152201
+v 0.02647125 -0.18178525 0.00361266
+v 0.02886192 -0.18359672 0.00621154
+v 0.02919396 -0.18725472 0.01094875
+v 0.02565443 -0.18835327 0.01188504
+v 0.03567535 -0.18667038 0.01188504
+v 0.03567535 -0.18341559 0.00744505
+v 0.03567535 -0.17777668 0.00152202
+v 0.03080103 -0.18141712 0.00399813
+v 0.03649881 -0.17759553 0.00152202
+v 0.04115399 -0.17654372 0.00152202
+v 0.04217003 -0.17630413 0.00152202
+v 0.02398095 -0.17978097 0.00152201
+v 0.02805175 -0.17916740 0.00152201
+v 0.03077446 -0.18756441 0.01188504
+v 0.02919396 -0.18785074 0.01188504
+f 1 2 8
+f 1 8 13
+f 1 13 22
+f 1 22 37
+f 1 37 23
+f 1 23 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 19
+f 2 19 31
+f 2 31 46
+f 2 46 57
+f 2 57 70
+f 2 70 69
+f 2 69 82
+f 2 82 93
+f 2 93 92
+f 2 92 83
+f 2 83 72
+f 2 72 71
+f 2 71 58
+f 2 58 48
+f 2 48 47
+f 2 47 36
+f 2 36 21
+f 2 21 12
+f 2 12 8
+f 3 9 15
+f 3 15 24
+f 3 24 40
+f 3 40 52
+f 3 52 64
+f 3 64 63
+f 3 63 76
+f 3 76 77
+f 3 77 89
+f 3 89 88
+f 3 88 87
+f 3 87 85
+f 3 85 91
+f 3 91 90
+f 3 90 78
+f 3 78 65
+f 3 65 53
+f 3 53 41
+f 3 41 28
+f 3 28 17
+f 3 17 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 16
+f 6 16 27
+f 6 27 43
+f 6 43 29
+f 6 29 18
+f 6 18 11
+f 6 11 7
+f 8 12 13
+f 9 14 15
+f 10 17 16
+f 11 18 19
+f 12 20 13
+f 12 21 20
+f 13 20 22
+f 14 23 15
+f 15 23 24
+f 16 17 25
+f 16 25 26
+f 16 26 27
+f 17 28 25
+f 18 29 26
+f 18 26 30
+f 18 30 19
+f 19 30 32
+f 19 32 31
+f 20 21 33
+f 20 33 34
+f 20 34 35
+f 20 35 22
+f 21 36 33
+f 22 35 37
+f 23 37 35
+f 23 35 38
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 25 28 41
+f 25 41 42
+f 25 42 26
+f 26 29 43
+f 26 43 27
+f 26 42 44
+f 26 44 32
+f 26 32 30
+f 31 32 45
+f 31 45 46
+f 32 44 45
+f 33 36 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 38 35
+f 34 49 50
+f 34 50 38
+f 38 50 51
+f 38 51 39
+f 39 51 52
+f 39 52 40
+f 41 53 54
+f 41 54 42
+f 42 54 44
+f 44 54 55
+f 44 55 45
+f 45 55 56
+f 45 56 46
+f 46 56 57
+f 48 58 49
+f 49 58 59
+f 49 59 60
+f 49 60 50
+f 50 60 51
+f 51 60 61
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 51 64 52
+f 53 65 54
+f 54 65 66
+f 54 66 55
+f 55 66 67
+f 55 67 56
+f 56 67 68
+f 56 68 69
+f 56 69 70
+f 56 70 57
+f 58 71 59
+f 59 71 72
+f 59 72 73
+f 59 73 61
+f 59 61 60
+f 61 73 74
+f 61 74 75
+f 61 75 62
+f 62 76 63
+f 62 75 77
+f 62 77 76
+f 65 78 66
+f 66 78 79
+f 66 79 67
+f 67 79 80
+f 67 80 68
+f 68 80 81
+f 68 81 82
+f 68 82 69
+f 72 83 73
+f 73 83 84
+f 73 84 74
+f 74 85 75
+f 74 84 86
+f 74 86 85
+f 75 85 87
+f 75 87 88
+f 75 88 89
+f 75 89 77
+f 78 90 79
+f 79 91 85
+f 79 85 86
+f 79 86 80
+f 79 90 91
+f 80 86 84
+f 80 84 81
+f 81 92 93
+f 81 93 82
+f 81 84 83
+f 81 83 92
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_23.obj

@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.15841299 0.06345634 0.01284024
+v 0.17079712 0.06345628 0.02994171
+v 0.17960428 0.06345634 0.01284024
+v 0.17100753 0.00007085 0.01284001
+v 0.18121616 0.00007080 0.02805041
+v 0.18317373 0.00007079 0.03096572
+v 0.17403969 0.06345627 0.03350556
+v 0.18106587 0.06345633 0.01502095
+v 0.18014909 0.06195485 0.01284024
+v 0.19062449 0.00007085 0.01284001
+v 0.18481567 0.00007078 0.03241813
+v 0.17849211 0.06170038 0.03425066
+v 0.17849211 0.06345626 0.03422337
+v 0.18642005 0.00007078 0.03383695
+v 0.18152802 0.06345633 0.01571987
+v 0.18216677 0.05972122 0.01469142
+v 0.18027683 0.06159498 0.01284024
+v 0.19062825 0.00280085 0.01284002
+v 0.19191701 0.00007084 0.01505220
+v 0.18498475 0.04222436 0.03428207
+v 0.18897126 0.00007078 0.03397338
+v 0.19147364 0.00007077 0.03410561
+v 0.18498475 0.04872050 0.03412468
+v 0.18333154 0.06170039 0.03370076
+v 0.18305725 0.06345627 0.03357273
+v 0.18197890 0.06345633 0.01644817
+v 0.18350813 0.06181213 0.01800972
+v 0.18286563 0.05521052 0.01359790
+v 0.18236966 0.05521052 0.01284021
+v 0.18620964 0.05462727 0.01883244
+v 0.19062825 0.00329101 0.01284002
+v 0.19347253 0.00329099 0.01771776
+v 0.19346878 0.00007083 0.01771145
+v 0.19147364 0.00329093 0.03410771
+v 0.19147364 0.00978086 0.03405317
+v 0.19047795 0.02925069 0.03387064
+v 0.19328091 0.00007078 0.03361028
+v 0.18991436 0.03573443 0.03377202
+v 0.18932821 0.04222437 0.03355796
+v 0.18867068 0.04872051 0.03317599
+v 0.18829120 0.05220125 0.03290945
+v 0.18610820 0.06345628 0.02992492
+v 0.18746834 0.05652581 0.03184954
+v 0.18323385 0.06345632 0.01854493
+v 0.18694232 0.06174385 0.02416356
+v 0.18768626 0.05640797 0.02225778
+v 0.18575125 0.06345631 0.02308475
+v 0.18702122 0.04872057 0.01747866
+v 0.18321882 0.05220753 0.01284020
+v 0.18826114 0.05207720 0.02114537
+v 0.19035772 0.01007256 0.01284005
+v 0.19335982 0.00978092 0.01791508
+v 0.19505436 0.00329098 0.02063307
+v 0.19505812 0.00007082 0.02062676
+v 0.19425782 0.00007083 0.01915546
+v 0.19505062 0.00329094 0.03312545
+v 0.19496043 0.00978087 0.03305622
+v 0.19106034 0.02276075 0.03389580
+v 0.19482894 0.01463282 0.03294919
+v 0.19504686 0.00007078 0.03312334
+v 0.19463730 0.01895738 0.03278969
+v 0.19430291 0.02276075 0.03241191
+v 0.19372428 0.02925069 0.03151993
+v 0.19339364 0.03596401 0.02977160
+v 0.19202597 0.04222438 0.02994164
+v 0.19060195 0.04872052 0.02994166
+v 0.18910653 0.05470169 0.02992069
+v 0.18861433 0.05961569 0.02796248
+v 0.18631485 0.06345630 0.02414887
+v 0.18861433 0.05961569 0.02614487
+v 0.18908775 0.05462725 0.02416353
+v 0.19066206 0.04872054 0.02410894
+v 0.18410929 0.04891913 0.01284019
+v 0.18872705 0.04872056 0.02039397
+v 0.18956493 0.04222442 0.01900870
+v 0.18781778 0.04222443 0.01609339
+v 0.18993314 0.01627088 0.01284007
+v 0.19338236 0.01626466 0.01877143
+v 0.19481389 0.01409306 0.02104238
+v 0.19493789 0.00978091 0.02083039
+v 0.19678649 0.00329097 0.02410877
+v 0.19679401 0.00007081 0.02410876
+v 0.19678273 0.00007079 0.02994148
+v 0.19678273 0.00329095 0.02994149
+v 0.19658359 0.00978088 0.02994152
+v 0.19591480 0.01658725 0.03048304
+v 0.19579832 0.02276076 0.02949450
+v 0.19535871 0.02925070 0.02860462
+v 0.19498297 0.03394754 0.02771261
+v 0.19498297 0.03394754 0.02639243
+v 0.19226268 0.04222440 0.02410892
+v 0.18444370 0.04759756 0.01284018
+v 0.19366041 0.03596403 0.02431248
+v 0.19007592 0.03629909 0.01772417
+v 0.18820102 0.03884296 0.01541125
+v 0.18586772 0.04177771 0.01284016
+v 0.18575876 0.04222444 0.01284017
+v 0.18979788 0.01757384 0.01284007
+v 0.18951609 0.02276082 0.01327035
+v 0.19245806 0.02276080 0.01828032
+v 0.19463355 0.01842383 0.02135723
+v 0.19656105 0.00978090 0.02410880
+v 0.19590351 0.01626464 0.02362189
+v 0.19579832 0.02276078 0.02470072
+v 0.19535871 0.02925072 0.02556338
+v 0.19401734 0.02925073 0.02264807
+v 0.19160891 0.02925074 0.01828035
+v 0.18862184 0.03451220 0.01472281
+v 0.18701371 0.03647904 0.01284014
+v 0.18924556 0.02276082 0.01284009
+v 0.18906521 0.02925076 0.01399449
+v 0.19441938 0.02276079 0.02178751
+v 0.18833252 0.02925076 0.01284012
+v 0.18708133 0.03613159 0.01284014
+f 1 2 7
+f 1 7 13
+f 1 13 25
+f 1 25 42
+f 1 42 69
+f 1 69 47
+f 1 47 44
+f 1 44 26
+f 1 26 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 29
+f 1 29 49
+f 1 49 73
+f 1 73 92
+f 1 92 97
+f 1 97 96
+f 1 96 109
+f 1 109 114
+f 1 114 113
+f 1 113 110
+f 1 110 98
+f 1 98 77
+f 1 77 51
+f 1 51 31
+f 1 31 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 19
+f 4 19 33
+f 4 33 55
+f 4 55 54
+f 4 54 82
+f 4 82 83
+f 4 83 60
+f 4 60 37
+f 4 37 22
+f 4 22 21
+f 4 21 14
+f 4 14 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 12 13
+f 7 11 14
+f 7 14 12
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 18 19
+f 12 20 13
+f 12 14 21
+f 12 21 22
+f 12 22 20
+f 13 20 23
+f 13 23 24
+f 13 24 25
+f 15 26 27
+f 15 27 16
+f 16 28 29
+f 16 29 17
+f 16 27 30
+f 16 30 28
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 20 22 34
+f 20 34 35
+f 20 35 36
+f 20 36 23
+f 22 37 34
+f 23 36 38
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 41 43
+f 25 43 42
+f 26 44 27
+f 27 45 46
+f 27 46 30
+f 27 44 47
+f 27 47 45
+f 28 30 48
+f 28 48 49
+f 28 49 29
+f 30 50 48
+f 30 46 50
+f 31 51 52
+f 31 52 32
+f 32 53 54
+f 32 54 55
+f 32 55 33
+f 32 52 53
+f 34 37 56
+f 34 56 35
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 36 58 59
+f 36 59 38
+f 37 60 56
+f 38 59 61
+f 38 61 39
+f 39 61 40
+f 40 61 41
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 67
+f 41 67 68
+f 41 68 43
+f 42 43 68
+f 42 68 69
+f 45 70 46
+f 45 47 69
+f 45 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 50
+f 48 73 49
+f 48 50 74
+f 48 74 75
+f 48 75 76
+f 48 76 73
+f 50 72 74
+f 51 77 52
+f 52 77 78
+f 52 78 79
+f 52 79 80
+f 52 80 53
+f 53 81 82
+f 53 82 54
+f 53 80 81
+f 56 60 83
+f 56 83 84
+f 56 84 57
+f 57 84 85
+f 57 85 59
+f 57 59 58
+f 59 85 86
+f 59 86 61
+f 61 86 87
+f 61 87 88
+f 61 88 62
+f 62 88 63
+f 63 88 89
+f 63 89 64
+f 64 89 65
+f 65 89 66
+f 66 89 68
+f 66 68 67
+f 68 70 69
+f 68 89 90
+f 68 90 70
+f 70 90 91
+f 70 91 72
+f 70 72 71
+f 72 91 74
+f 73 76 92
+f 74 91 75
+f 75 91 93
+f 75 93 94
+f 75 94 95
+f 75 95 76
+f 76 95 96
+f 76 96 97
+f 76 97 92
+f 77 98 99
+f 77 99 100
+f 77 100 78
+f 78 101 79
+f 78 100 101
+f 79 102 80
+f 79 101 103
+f 79 103 102
+f 80 102 81
+f 81 84 82
+f 81 102 85
+f 81 85 84
+f 82 84 83
+f 85 102 104
+f 85 104 87
+f 85 87 86
+f 87 104 105
+f 87 105 88
+f 88 105 90
+f 88 90 89
+f 90 105 106
+f 90 106 93
+f 90 93 91
+f 93 106 94
+f 94 106 107
+f 94 107 108
+f 94 108 95
+f 95 109 96
+f 95 108 109
+f 98 110 99
+f 99 110 111
+f 99 111 107
+f 99 107 100
+f 100 112 101
+f 100 107 112
+f 101 112 104
+f 101 104 103
+f 102 103 104
+f 104 112 106
+f 104 106 105
+f 106 112 107
+f 107 111 108
+f 108 111 113
+f 108 113 114
+f 108 114 109
+f 110 113 111
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_24.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.15793381 0.11711934 0.02403785
+v 0.15608185 0.11711935 0.02095195
+v 0.15790935 0.11711932 0.03002701
+v 0.16301903 0.11146727 0.02850713
+v 0.16301903 0.11146728 0.02561856
+v 0.16042753 0.11363146 0.02384890
+v 0.15602684 0.11711935 0.02086168
+v 0.16191886 0.10988619 0.02173284
+v 0.15602074 0.11711931 0.03301425
+v 0.16035418 0.11363144 0.03024742
+v 0.16180274 0.10979685 0.03239494
+v 0.16457761 0.10743309 0.03024739
+v 0.16783534 0.10252167 0.02994089
+v 0.16985842 0.09927541 0.02994087
+v 0.17551819 0.09143293 0.02768206
+v 0.17551819 0.09143293 0.02641621
+v 0.16797591 0.10252695 0.02410917
+v 0.16469374 0.10748563 0.02384887
+v 0.15726148 0.11333731 0.01868474
+v 0.15620409 0.11097881 0.01477383
+v 0.15460274 0.11530189 0.01701164
+v 0.15180953 0.11711937 0.01512232
+v 0.16086149 0.10748565 0.01792269
+v 0.16339798 0.10555786 0.01962728
+v 0.15721869 0.11362617 0.03346348
+v 0.16320240 0.10546851 0.03336268
+v 0.16894773 0.09775209 0.03299528
+v 0.15237184 0.11711931 0.03386444
+v 0.17433245 0.08942107 0.03156986
+v 0.17639221 0.08741975 0.02975190
+v 0.18188695 0.07826406 0.02740071
+v 0.18188695 0.07826406 0.02667856
+v 0.17964994 0.08072765 0.02448486
+v 0.17640443 0.08740927 0.02432743
+v 0.17453414 0.08940536 0.02253048
+v 0.17311003 0.09381773 0.02432745
+v 0.16986454 0.09928595 0.02410915
+v 0.16895996 0.09775737 0.02090779
+v 0.15753652 0.10688160 0.01284040
+v 0.15732871 0.10718625 0.01284040
+v 0.15306250 0.11315873 0.01284043
+v 0.15075825 0.11711938 0.01373472
+v 0.16199833 0.10348825 0.01573946
+v 0.16553720 0.10062543 0.01832362
+v 0.15938847 0.10743308 0.03390429
+v 0.16542719 0.10020516 0.03365656
+v 0.16984009 0.09415388 0.03341722
+v 0.17554874 0.08509273 0.03307710
+v 0.15253076 0.11362616 0.03427379
+v 0.14614976 0.11711931 0.03395471
+v 0.18177693 0.07155615 0.03289022
+v 0.18246760 0.07410379 0.02958391
+v 0.18444790 0.06819434 0.02994076
+v 0.18610426 0.06345628 0.02992605
+v 0.18631819 0.06345630 0.02414891
+v 0.18457625 0.06819436 0.02410904
+v 0.18246148 0.07409330 0.02448483
+v 0.18093347 0.07585828 0.02279284
+v 0.17556098 0.08507702 0.02072091
+v 0.17307336 0.08740929 0.01857758
+v 0.16890495 0.09118084 0.01513902
+v 0.16984009 0.09366542 0.01868886
+v 0.16767643 0.09550918 0.01701997
+v 0.15767099 0.10668199 0.01284040
+v 0.15199289 0.11457175 0.01284043
+v 0.14999425 0.11711938 0.01284044
+v 0.16334909 0.09915992 0.01385431
+v 0.16188831 0.10026826 0.01284038
+v 0.16108151 0.10153419 0.01284038
+v 0.16550665 0.09415387 0.03425902
+v 0.17210155 0.08741974 0.03375937
+v 0.17634332 0.08117936 0.03347175
+v 0.17848864 0.06345626 0.03422322
+v 0.17199765 0.08117935 0.03428626
+v 0.14210359 0.11711931 0.03310032
+v 0.14625978 0.11403589 0.03361672
+v 0.17403295 0.06345627 0.03350527
+v 0.18231479 0.06819433 0.03323029
+v 0.18305435 0.06345627 0.03357455
+v 0.18574976 0.06345631 0.02308459
+v 0.18244315 0.06819438 0.02008687
+v 0.18177082 0.07152993 0.02114071
+v 0.17935655 0.07409332 0.01882944
+v 0.17632498 0.08068565 0.01857756
+v 0.17434467 0.08252415 0.01683309
+v 0.16981565 0.08766669 0.01383747
+v 0.16910664 0.08766669 0.01284033
+v 0.16581224 0.09368645 0.01284035
+v 0.12388355 0.11711938 0.01284044
+v 0.16496267 0.09514149 0.01284036
+v 0.17848864 0.06819432 0.03414556
+v 0.17853143 0.07410378 0.03365016
+v 0.13905367 0.11711932 0.02978350
+v 0.17079356 0.06345628 0.02994284
+v 0.18323160 0.06345632 0.01854391
+v 0.18142854 0.06405515 0.01588416
+v 0.18065842 0.06819439 0.01717101
+v 0.17611106 0.07468692 0.01405155
+v 0.17536539 0.07819581 0.01517467
+v 0.17136810 0.08312824 0.01284032
+v 0.15840444 0.06345634 0.01284024
+v 0.18197863 0.06345633 0.01644885
+v 0.18152633 0.06345633 0.01572041
+v 0.18106183 0.06345633 0.01501926
+v 0.17960104 0.06345634 0.01284024
+v 0.17811581 0.06755356 0.01284026
+v 0.17779798 0.06838351 0.01284026
+v 0.17685061 0.07081032 0.01284027
+v 0.17528593 0.07468692 0.01284028
+v 0.17252939 0.08074870 0.01284031
+f 1 2 7
+f 1 7 22
+f 1 22 42
+f 1 42 66
+f 1 66 89
+f 1 89 93
+f 1 93 75
+f 1 75 50
+f 1 50 28
+f 1 28 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 8 6
+f 5 16 17
+f 5 17 18
+f 5 18 8
+f 7 8 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 8 23 20
+f 8 20 19
+f 8 18 24
+f 8 24 23
+f 9 25 26
+f 9 26 27
+f 9 27 11
+f 9 11 10
+f 9 28 25
+f 11 27 13
+f 11 13 12
+f 13 27 14
+f 14 27 15
+f 15 27 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 17
+f 17 38 24
+f 17 24 18
+f 17 37 38
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 22
+f 20 22 21
+f 20 23 43
+f 20 43 39
+f 23 24 43
+f 24 38 44
+f 24 44 43
+f 25 28 45
+f 25 45 46
+f 25 46 26
+f 26 46 47
+f 26 47 27
+f 27 47 48
+f 27 48 29
+f 28 49 45
+f 28 50 49
+f 29 48 30
+f 30 48 31
+f 31 51 52
+f 31 52 53
+f 31 53 54
+f 31 54 55
+f 31 55 32
+f 31 48 51
+f 32 55 56
+f 32 56 57
+f 32 57 58
+f 32 58 33
+f 33 58 59
+f 33 59 35
+f 33 35 34
+f 35 59 60
+f 35 60 61
+f 35 61 62
+f 35 62 38
+f 35 38 36
+f 36 38 37
+f 38 63 44
+f 38 62 63
+f 39 64 69
+f 39 69 68
+f 39 68 90
+f 39 90 88
+f 39 88 87
+f 39 87 100
+f 39 100 110
+f 39 110 109
+f 39 109 108
+f 39 108 107
+f 39 107 106
+f 39 106 105
+f 39 105 101
+f 39 101 89
+f 39 89 66
+f 39 66 65
+f 39 65 41
+f 39 41 40
+f 39 43 64
+f 41 65 42
+f 42 65 66
+f 43 67 68
+f 43 68 69
+f 43 69 64
+f 43 44 67
+f 44 63 67
+f 45 70 46
+f 45 49 70
+f 46 70 71
+f 46 71 47
+f 47 71 72
+f 47 72 48
+f 48 72 51
+f 49 50 73
+f 49 73 74
+f 49 74 70
+f 50 75 76
+f 50 76 77
+f 50 77 73
+f 51 78 54
+f 51 54 53
+f 51 53 52
+f 51 72 78
+f 54 78 79
+f 54 79 73
+f 54 73 77
+f 54 77 94
+f 54 94 101
+f 54 101 105
+f 54 105 104
+f 54 104 103
+f 54 103 102
+f 54 102 95
+f 54 95 80
+f 54 80 55
+f 55 80 81
+f 55 81 56
+f 56 81 82
+f 56 82 58
+f 56 58 57
+f 58 82 83
+f 58 83 84
+f 58 84 59
+f 59 84 85
+f 59 85 60
+f 60 85 86
+f 60 86 61
+f 61 86 87
+f 61 87 88
+f 61 88 67
+f 61 67 63
+f 61 63 62
+f 67 88 90
+f 67 90 68
+f 70 74 71
+f 71 74 91
+f 71 91 92
+f 71 92 72
+f 72 92 79
+f 72 79 78
+f 73 79 91
+f 73 91 74
+f 75 93 77
+f 75 77 76
+f 77 93 94
+f 79 92 91
+f 80 95 81
+f 81 95 96
+f 81 96 97
+f 81 97 83
+f 81 83 82
+f 83 97 98
+f 83 98 99
+f 83 99 84
+f 84 99 85
+f 85 99 86
+f 86 99 100
+f 86 100 87
+f 89 101 94
+f 89 94 93
+f 95 102 96
+f 96 103 104
+f 96 104 105
+f 96 105 106
+f 96 106 107
+f 96 107 97
+f 96 102 103
+f 97 107 108
+f 97 108 98
+f 98 108 109
+f 98 109 99
+f 99 109 110
+f 99 110 100
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_25.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.13041821 0.06529117 0.00149861
+v 0.15765937 0.06529113 0.01284025
+v 0.16885760 0.06529117 0.00149861
+v 0.14580694 0.00007089 0.00149837
+v 0.17100295 0.00007085 0.01284001
+v 0.17893600 0.06529113 0.01284025
+v 0.17010708 0.06529117 0.00250999
+v 0.17027211 0.06169690 0.00149860
+v 0.18127584 0.00007089 0.00149837
+v 0.19062341 0.00007085 0.01284001
+v 0.17860595 0.06529113 0.01234511
+v 0.18014423 0.06195861 0.01284024
+v 0.18005583 0.06181177 0.01262597
+v 0.17155696 0.06529117 0.00387663
+v 0.17483391 0.05721524 0.00412417
+v 0.17079077 0.06169690 0.00192713
+v 0.17122101 0.05892619 0.00149859
+v 0.18126406 0.00328850 0.00149838
+v 0.18270214 0.00007089 0.00275732
+v 0.19039355 0.00007085 0.01244589
+v 0.19062931 0.00280326 0.01284002
+v 0.17681423 0.06529114 0.00977725
+v 0.18027389 0.06159472 0.01284024
+v 0.18094578 0.05521059 0.01067979
+v 0.17354906 0.06529116 0.00595711
+v 0.17403235 0.06169689 0.00498347
+v 0.17662563 0.06169688 0.00789770
+v 0.17738003 0.05511485 0.00628680
+v 0.17553528 0.05288680 0.00342251
+v 0.17277697 0.05433600 0.00149857
+v 0.18115207 0.00621881 0.00149839
+v 0.18269625 0.00328850 0.00276288
+v 0.18593784 0.00328849 0.00638874
+v 0.18594373 0.00007088 0.00638873
+v 0.18840145 0.00007087 0.00930407
+v 0.19039945 0.00328846 0.01244590
+v 0.19062341 0.00328846 0.01284002
+v 0.17598320 0.06529115 0.00864375
+v 0.18236619 0.05521058 0.01284021
+v 0.18155285 0.05127159 0.00979274
+v 0.17971988 0.04895416 0.00691181
+v 0.18016781 0.04222530 0.00545079
+v 0.17610697 0.04871796 0.00288184
+v 0.17448028 0.04871796 0.00149855
+v 0.18101061 0.00978116 0.00149841
+v 0.18257247 0.00978116 0.00287726
+v 0.18627968 0.01012588 0.00712260
+v 0.18832483 0.00819149 0.00940291
+v 0.18840145 0.00328848 0.00930297
+v 0.18979239 0.01012587 0.01188973
+v 0.19035819 0.01006840 0.01284005
+v 0.18321490 0.05220366 0.01284020
+v 0.18359800 0.04895415 0.01202087
+v 0.18211866 0.04694954 0.00905223
+v 0.18088685 0.03573902 0.00462367
+v 0.17692032 0.04222531 0.00214466
+v 0.18267857 0.04222529 0.00836502
+v 0.17617180 0.04222531 0.00149853
+v 0.18075718 0.01310729 0.00149842
+v 0.18233673 0.01626743 0.00310487
+v 0.18538971 0.01626742 0.00661527
+v 0.18819517 0.01251992 0.00957501
+v 0.18986901 0.01626739 0.01273238
+v 0.18993384 0.01626739 0.01284007
+v 0.18411076 0.04891583 0.01284019
+v 0.18444671 0.04760070 0.01284018
+v 0.18586712 0.04177838 0.01284016
+v 0.18550759 0.04222527 0.01244605
+v 0.18336814 0.03573901 0.00753790
+v 0.18139961 0.03045297 0.00406301
+v 0.17764526 0.03573903 0.00152737
+v 0.18692210 0.03630079 0.01264475
+v 0.18720500 0.02925272 0.01107715
+v 0.17760990 0.03573903 0.00149850
+v 0.18051554 0.01626743 0.00149843
+v 0.18008529 0.01995107 0.00149844
+v 0.18197720 0.02276009 0.00346015
+v 0.18467067 0.02276008 0.00661529
+v 0.18803603 0.01626740 0.00981593
+v 0.18979828 0.01756975 0.01284007
+v 0.18701050 0.03647955 0.01284014
+v 0.18352727 0.02867179 0.00625007
+v 0.18175323 0.02612453 0.00368109
+v 0.17888296 0.02868457 0.00149848
+v 0.18708124 0.03613481 0.01284014
+v 0.18833072 0.02925271 0.01284012
+v 0.18767651 0.02276006 0.01035217
+v 0.17971398 0.02309845 0.00149845
+v 0.18924426 0.02276005 0.01284009
+f 1 2 6
+f 1 6 11
+f 1 11 22
+f 1 22 38
+f 1 38 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 30
+f 1 30 44
+f 1 44 58
+f 1 58 74
+f 1 74 84
+f 1 84 88
+f 1 88 76
+f 1 76 75
+f 1 75 59
+f 1 59 45
+f 1 45 31
+f 1 31 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 21
+f 2 21 37
+f 2 37 51
+f 2 51 64
+f 2 64 80
+f 2 80 89
+f 2 89 86
+f 2 86 85
+f 2 85 81
+f 2 81 67
+f 2 67 66
+f 2 66 65
+f 2 65 52
+f 2 52 39
+f 2 39 23
+f 2 23 12
+f 2 12 6
+f 3 7 8
+f 4 9 19
+f 4 19 34
+f 4 34 35
+f 4 35 20
+f 4 20 10
+f 4 10 5
+f 6 12 13
+f 6 13 11
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 18 19
+f 10 20 21
+f 11 13 22
+f 12 23 13
+f 13 23 24
+f 13 24 22
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 22 24 38
+f 23 39 24
+f 24 27 38
+f 24 39 40
+f 24 40 27
+f 25 38 26
+f 26 38 27
+f 27 40 28
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 31 45 46
+f 31 46 32
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 35
+f 35 49 36
+f 36 49 48
+f 36 48 50
+f 36 50 51
+f 36 51 37
+f 39 52 40
+f 40 53 54
+f 40 54 41
+f 40 52 53
+f 41 54 42
+f 42 55 56
+f 42 56 43
+f 42 54 57
+f 42 57 55
+f 43 56 58
+f 43 58 44
+f 45 59 60
+f 45 60 46
+f 46 60 47
+f 47 60 61
+f 47 61 62
+f 47 62 48
+f 48 62 50
+f 50 62 63
+f 50 63 64
+f 50 64 51
+f 52 65 53
+f 53 65 66
+f 53 66 67
+f 53 67 68
+f 53 68 54
+f 54 68 57
+f 55 69 70
+f 55 70 71
+f 55 71 56
+f 55 57 69
+f 56 71 58
+f 57 68 72
+f 57 72 73
+f 57 73 69
+f 58 71 74
+f 59 75 60
+f 60 75 76
+f 60 76 77
+f 60 77 61
+f 61 77 78
+f 61 78 79
+f 61 79 62
+f 62 79 63
+f 63 79 80
+f 63 80 64
+f 67 81 72
+f 67 72 68
+f 69 73 82
+f 69 82 70
+f 70 82 83
+f 70 83 84
+f 70 84 71
+f 71 84 74
+f 72 81 85
+f 72 85 73
+f 73 85 86
+f 73 86 87
+f 73 87 82
+f 76 88 77
+f 77 88 83
+f 77 83 78
+f 78 87 79
+f 78 83 82
+f 78 82 87
+f 79 87 89
+f 79 89 80
+f 83 88 84
+f 86 89 87
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_26.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.17795656 -0.06786222 0.01286405
+v 0.17780117 -0.06829696 0.01286405
+v 0.17749857 -0.06786221 0.01213910
+v 0.16632665 -0.06786222 0.01286405
+v 0.17683610 -0.07074023 0.01286404
+v 0.17730228 -0.06832739 0.01210246
+v 0.17695878 -0.06786221 0.01136197
+v 0.15656146 -0.06786222 0.01285073
+v 0.15647150 -0.06811437 0.01286405
+v 0.17575653 -0.07344000 0.01286403
+v 0.17494686 -0.07063154 0.00992982
+v 0.17370371 -0.06786220 0.00727650
+v 0.13041463 -0.06786218 0.00152242
+v 0.09441263 -0.11227141 0.00152226
+v 0.12823913 -0.11227145 0.01286389
+v 0.17461972 -0.07607021 0.01286402
+v 0.17408810 -0.07460510 0.01116545
+v 0.16862483 -0.08407821 0.00970219
+v 0.16966351 -0.07975248 0.00850099
+v 0.17046501 -0.07404861 0.00658039
+v 0.17307397 -0.06832737 0.00680356
+v 0.17313939 -0.06786219 0.00667700
+v 0.16778244 -0.06786218 0.00152242
+v 0.14184825 -0.11227141 0.00152226
+v 0.15362537 -0.11227145 0.01286389
+v 0.17249329 -0.08062634 0.01286400
+v 0.16822408 -0.08914735 0.01286397
+v 0.16769248 -0.08758660 0.01097889
+v 0.16189388 -0.09670321 0.00999634
+v 0.16314520 -0.09237748 0.00855534
+v 0.16412663 -0.08716053 0.00661365
+v 0.16694823 -0.08158709 0.00658036
+v 0.17135647 -0.08293919 0.01286400
+v 0.16949177 -0.08672581 0.01286398
+v 0.16783969 -0.07584411 0.00461425
+v 0.16882112 -0.07151404 0.00363731
+v 0.16950811 -0.06811433 0.00302227
+v 0.16955719 -0.06786218 0.00298009
+v 0.16760251 -0.06831866 0.00152242
+v 0.14309957 -0.11069328 0.00152226
+v 0.14399103 -0.11184101 0.00278009
+v 0.14291146 -0.11227141 0.00227052
+v 0.15302015 -0.11227144 0.01210341
+v 0.15468040 -0.10875434 0.01090221
+v 0.15544101 -0.10982383 0.01286390
+v 0.16577051 -0.09357740 0.01286396
+v 0.16294891 -0.09842480 0.01286394
+v 0.16105149 -0.10142889 0.01286393
+v 0.16081431 -0.10094632 0.01214231
+v 0.15618525 -0.10442862 0.00908152
+v 0.15742840 -0.10056374 0.00780482
+v 0.15941579 -0.09476857 0.00617398
+v 0.16127231 -0.08904297 0.00466860
+v 0.16245820 -0.08471290 0.00352624
+v 0.16334967 -0.08109582 0.00277132
+v 0.16560695 -0.07404860 0.00191984
+v 0.16555787 -0.07305739 0.00152240
+v 0.16692369 -0.06991852 0.00152241
+v 0.14516056 -0.10795004 0.00152227
+v 0.14447357 -0.11227141 0.00350393
+v 0.14655091 -0.10608497 0.00152228
+v 0.14988776 -0.10467206 0.00320421
+v 0.14831749 -0.10900213 0.00456417
+v 0.14700074 -0.11227142 0.00570876
+v 0.15102458 -0.11227144 0.00974982
+v 0.15739568 -0.10677626 0.01268628
+v 0.15034576 -0.11171496 0.00845091
+v 0.15728936 -0.10712406 0.01286391
+v 0.15751017 -0.10679800 0.01286391
+v 0.15228408 -0.10671538 0.00682340
+v 0.15452501 -0.10056373 0.00488948
+v 0.15567001 -0.09715531 0.00379152
+v 0.15694586 -0.09282960 0.00272687
+v 0.15907228 -0.08716052 0.00189648
+v 0.15874514 -0.08687359 0.00152235
+v 0.16070799 -0.08316521 0.00152236
+v 0.16166488 -0.08129146 0.00152237
+v 0.16271991 -0.07915251 0.00152238
+v 0.16508352 -0.07411816 0.00152240
+v 0.16525527 -0.07374428 0.00152240
+v 0.14879184 -0.10293308 0.00152229
+v 0.15042755 -0.10056372 0.00152230
+v 0.15127812 -0.10056372 0.00215066
+v 0.14933981 -0.11227143 0.00790803
+v 0.15374804 -0.09542502 0.00152232
+v 0.15086919 -0.09990290 0.00152230
+v 0.15475400 -0.09379908 0.00152233
+v 0.15625886 -0.09127756 0.00152233
+v 0.15855703 -0.08721269 0.00152235
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 22
+f 1 22 38
+f 1 38 23
+f 1 23 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 25
+f 1 25 45
+f 1 45 68
+f 1 68 69
+f 1 69 48
+f 1 48 47
+f 1 47 46
+f 1 46 27
+f 1 27 34
+f 1 34 33
+f 1 33 26
+f 1 26 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 13 23 39
+f 13 39 58
+f 13 58 57
+f 13 57 80
+f 13 80 79
+f 13 79 78
+f 13 78 77
+f 13 77 76
+f 13 76 75
+f 13 75 89
+f 13 89 88
+f 13 88 87
+f 13 87 85
+f 13 85 86
+f 13 86 82
+f 13 82 81
+f 13 81 61
+f 13 61 59
+f 13 59 40
+f 13 40 24
+f 13 24 14
+f 14 24 42
+f 14 42 60
+f 14 60 64
+f 14 64 84
+f 14 84 65
+f 14 65 43
+f 14 43 25
+f 14 25 15
+f 16 26 18
+f 16 18 17
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 18 26 33
+f 18 33 34
+f 18 34 27
+f 19 32 35
+f 19 35 20
+f 20 35 36
+f 20 36 21
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 23 38 39
+f 24 40 41
+f 24 41 42
+f 25 43 44
+f 25 44 45
+f 27 46 28
+f 28 46 29
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 30
+f 29 46 47
+f 30 52 53
+f 30 53 31
+f 31 53 54
+f 31 54 32
+f 32 54 35
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 39
+f 36 39 37
+f 37 39 38
+f 40 59 41
+f 41 60 42
+f 41 59 61
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 60
+f 43 65 44
+f 44 50 66
+f 44 66 45
+f 44 65 67
+f 44 67 50
+f 45 66 68
+f 48 69 66
+f 48 66 50
+f 48 50 49
+f 50 67 70
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 52
+f 52 72 53
+f 53 72 73
+f 53 73 54
+f 54 73 74
+f 54 74 75
+f 54 75 76
+f 54 76 55
+f 55 76 77
+f 55 77 78
+f 55 78 56
+f 56 78 79
+f 56 79 80
+f 56 80 57
+f 61 81 62
+f 62 81 82
+f 62 82 83
+f 62 83 72
+f 62 72 71
+f 62 71 63
+f 63 71 70
+f 63 70 67
+f 63 67 84
+f 63 84 64
+f 65 84 67
+f 66 69 68
+f 72 85 73
+f 72 83 86
+f 72 86 85
+f 73 85 87
+f 73 87 88
+f 73 88 89
+f 73 89 74
+f 74 89 75
+f 82 86 83
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_27.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v -0.17828035 0.06727965 0.01289828
+v -0.17782442 0.06727966 0.01219512
+v -0.15704797 0.06727965 0.01289828
+v -0.17823602 0.06741325 0.01289828
+v -0.17735582 0.06839018 0.01211141
+v -0.17498753 0.07068638 0.00994391
+v -0.17652629 0.06727966 0.01035352
+v -0.13039510 0.06727969 0.00149820
+v -0.11359538 0.12709762 0.01289850
+v -0.17788141 0.06836512 0.01289828
+v -0.17687457 0.07090346 0.01289829
+v -0.17581073 0.07354200 0.01289830
+v -0.17532313 0.07468592 0.01289830
+v -0.17412632 0.07468593 0.01117166
+v -0.16869317 0.08420470 0.00967274
+v -0.16971267 0.07987951 0.00848740
+v -0.17051689 0.07415991 0.00657323
+v -0.17313214 0.06839019 0.00681094
+v -0.17460124 0.06727967 0.00793934
+v -0.16812959 0.06727969 0.00149820
+v -0.11359538 0.09274658 0.00149829
+v -0.11359538 0.15258121 0.01289859
+v -0.17467724 0.07618054 0.01289831
+v -0.16956703 0.08687663 0.01289835
+v -0.16830689 0.08928137 0.01289836
+v -0.16776863 0.08766987 0.01094625
+v -0.16196187 0.09682125 0.00996745
+v -0.16320301 0.09249607 0.00855219
+v -0.16420353 0.08725240 0.00661234
+v -0.16251912 0.08481427 0.00351509
+v -0.16702776 0.08169978 0.00657326
+v -0.17261289 0.08068108 0.01289833
+v -0.16790795 0.07597182 0.00460105
+v -0.16888947 0.07163829 0.00361884
+v -0.17328412 0.06727968 0.00651182
+v -0.16926308 0.06727969 0.00243239
+v -0.16767366 0.06842361 0.00149820
+v -0.11359538 0.14059094 0.00149847
+v -0.11359538 0.15238081 0.01263072
+v -0.11437425 0.15200508 0.01289859
+v -0.16590694 0.09362327 0.01289837
+v -0.16545733 0.09399066 0.01256578
+v -0.16492542 0.09532663 0.01289838
+v -0.16303204 0.09859140 0.01289839
+v -0.16090437 0.10106295 0.01212493
+v -0.15623742 0.10451978 0.00907904
+v -0.15749756 0.10065382 0.00781558
+v -0.15947326 0.09485907 0.00618043
+v -0.16130965 0.08913946 0.00466584
+v -0.15569918 0.09721373 0.00380757
+v -0.15698465 0.09288853 0.00272937
+v -0.15911232 0.08725241 0.00188221
+v -0.15878303 0.08696017 0.00149827
+v -0.16076506 0.08326121 0.00149826
+v -0.16174025 0.08138250 0.00149825
+v -0.16341831 0.08118211 0.00274496
+v -0.16566631 0.07415992 0.00187993
+v -0.16533068 0.07386769 0.00149822
+v -0.16698977 0.07005183 0.00149821
+v -0.16957336 0.06819817 0.00299492
+v -0.16975067 0.06727969 0.00284201
+v -0.11420328 0.14019015 0.00149846
+v -0.11617264 0.14226088 0.00418051
+v -0.11359538 0.14594315 0.00576208
+v -0.11359538 0.15223886 0.01245884
+v -0.11605232 0.14869021 0.01028350
+v -0.11474153 0.15172953 0.01289859
+v -0.16115133 0.10158063 0.01289840
+v -0.15747857 0.10686605 0.01267854
+v -0.15455302 0.10065383 0.00490026
+v -0.15473033 0.10884497 0.01088829
+v -0.15039900 0.11182586 0.00844176
+v -0.15232404 0.10679928 0.00681778
+v -0.15193776 0.09833260 0.00149831
+v -0.15376782 0.09548531 0.00149830
+v -0.14992408 0.10475359 0.00321046
+v -0.15130453 0.10065384 0.00215125
+v -0.15475566 0.09389050 0.00149829
+v -0.15630076 0.09131041 0.00149829
+v -0.15859307 0.08730251 0.00149827
+v -0.16279775 0.07923661 0.00149824
+v -0.16516605 0.07421837 0.00149822
+v -0.11581169 0.13888758 0.00149846
+v -0.11874991 0.13793571 0.00253310
+v -0.12092191 0.14026528 0.00598640
+v -0.11876257 0.14435668 0.00806686
+v -0.11394366 0.14632724 0.00634581
+v -0.11359538 0.14646919 0.00622527
+v -0.12308123 0.13609039 0.00390481
+v -0.11359538 0.14695347 0.00668511
+v -0.12056729 0.14644411 0.01198223
+v -0.11739478 0.14973392 0.01289858
+v -0.12308757 0.14259486 0.00979350
+v -0.15761788 0.10689110 0.01289842
+v -0.15734559 0.10730024 0.01289842
+v -0.15551554 0.10994713 0.01289843
+v -0.14836632 0.10907878 0.00455541
+v -0.15252667 0.11356259 0.01248325
+v -0.14876525 0.11615104 0.01019074
+v -0.14444660 0.11881463 0.00800762
+v -0.14640328 0.11403856 0.00628207
+v -0.15088026 0.09996916 0.00149832
+v -0.14882857 0.10298344 0.00149833
+v -0.14404132 0.11192607 0.00277967
+v -0.14525080 0.10795991 0.00149835
+v -0.14654260 0.10619811 0.00149834
+v -0.15042433 0.10065384 0.00149832
+v -0.11786972 0.13718421 0.00149845
+v -0.11964911 0.13563115 0.00149845
+v -0.12124486 0.13420335 0.00149844
+v -0.12306858 0.13255007 0.00149844
+v -0.12537988 0.13175685 0.00238128
+v -0.12970488 0.12970280 0.00381550
+v -0.12759621 0.13402798 0.00580333
+v -0.12981253 0.13629911 0.00957248
+v -0.12548753 0.13826967 0.00779116
+v -0.11951613 0.14803057 0.01289857
+v -0.12292926 0.14523339 0.01289856
+v -0.12738091 0.14029032 0.01162729
+v -0.12587380 0.14271175 0.01289855
+v -0.12457567 0.14387236 0.01289856
+v -0.15319790 0.11309500 0.01289845
+v -0.14233158 0.11625126 0.00412015
+v -0.15195042 0.11474826 0.01289845
+v -0.14984808 0.11752040 0.01289846
+v -0.14824600 0.11948260 0.01289847
+v -0.14650461 0.12062653 0.01191070
+v -0.14264187 0.12313982 0.00974432
+v -0.14032423 0.12095219 0.00595060
+v -0.13800659 0.11876456 0.00251406
+v -0.14133107 0.11301155 0.00149837
+v -0.14313579 0.11075711 0.00149836
+v -0.12466432 0.13108887 0.00149843
+v -0.12615242 0.12963600 0.00149843
+v -0.12791282 0.12790759 0.00149842
+v -0.12966055 0.12614579 0.00149841
+v -0.13178189 0.12536926 0.00237568
+v -0.13610688 0.12309810 0.00389137
+v -0.13405520 0.12759864 0.00579772
+v -0.13632852 0.12982801 0.00955349
+v -0.13199719 0.13197392 0.00770184
+v -0.13395389 0.13394447 0.01150671
+v -0.13458079 0.13457070 0.01289852
+v -0.13133228 0.13773527 0.01289854
+v -0.13030012 0.13868714 0.01289854
+v -0.12792549 0.14086644 0.01289855
+v -0.14521280 0.12313146 0.01289848
+v -0.13831687 0.12550283 0.00777883
+v -0.14394634 0.12463443 0.01289849
+v -0.14093214 0.12797435 0.01289850
+v -0.14033056 0.12740657 0.01159264
+v -0.13570795 0.11964963 0.00149839
+v -0.13725304 0.11789618 0.00149838
+v -0.13892478 0.11591727 0.00149838
+v -0.13111066 0.12466786 0.00149841
+v -0.13256709 0.12309810 0.00149840
+v -0.13778496 0.13133932 0.01289851
+f 1 2 7
+f 1 7 19
+f 1 19 35
+f 1 35 61
+f 1 61 36
+f 1 36 20
+f 1 20 8
+f 1 8 3
+f 1 3 9
+f 1 9 22
+f 1 22 40
+f 1 40 67
+f 1 67 92
+f 1 92 117
+f 1 117 118
+f 1 118 121
+f 1 121 120
+f 1 120 146
+f 1 146 145
+f 1 145 144
+f 1 144 143
+f 1 143 157
+f 1 157 150
+f 1 150 149
+f 1 149 147
+f 1 147 126
+f 1 126 125
+f 1 125 124
+f 1 124 122
+f 1 122 96
+f 1 96 95
+f 1 95 94
+f 1 94 68
+f 1 68 44
+f 1 44 43
+f 1 43 41
+f 1 41 25
+f 1 25 24
+f 1 24 32
+f 1 32 23
+f 1 23 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 8 20 37
+f 8 37 59
+f 8 59 58
+f 8 58 82
+f 8 82 81
+f 8 81 55
+f 8 55 54
+f 8 54 53
+f 8 53 80
+f 8 80 79
+f 8 79 78
+f 8 78 75
+f 8 75 74
+f 8 74 102
+f 8 102 107
+f 8 107 103
+f 8 103 106
+f 8 106 105
+f 8 105 132
+f 8 132 131
+f 8 131 154
+f 8 154 153
+f 8 153 152
+f 8 152 156
+f 8 156 155
+f 8 155 136
+f 8 136 135
+f 8 135 134
+f 8 134 133
+f 8 133 111
+f 8 111 110
+f 8 110 109
+f 8 109 108
+f 8 108 83
+f 8 83 62
+f 8 62 38
+f 8 38 21
+f 8 21 9
+f 9 21 38
+f 9 38 64
+f 9 64 88
+f 9 88 90
+f 9 90 65
+f 9 65 39
+f 9 39 22
+f 13 23 14
+f 14 23 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 15 23 32
+f 15 32 24
+f 16 33 17
+f 16 31 33
+f 17 34 18
+f 17 33 34
+f 18 34 35
+f 18 35 19
+f 20 36 37
+f 22 39 40
+f 25 41 26
+f 26 41 42
+f 26 42 27
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 27 42 43
+f 28 49 29
+f 28 48 49
+f 29 49 30
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 30 54 55
+f 30 55 56
+f 30 56 33
+f 30 33 31
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 37
+f 34 37 60
+f 34 60 35
+f 35 60 61
+f 36 61 60
+f 36 60 37
+f 38 62 63
+f 38 63 64
+f 39 65 66
+f 39 66 67
+f 39 67 40
+f 41 43 42
+f 44 68 45
+f 45 68 69
+f 45 69 46
+f 46 70 47
+f 46 69 71
+f 46 71 72
+f 46 72 73
+f 46 73 70
+f 47 70 50
+f 47 50 48
+f 48 50 49
+f 50 74 75
+f 50 75 51
+f 50 70 76
+f 50 76 77
+f 50 77 74
+f 51 78 79
+f 51 79 80
+f 51 80 52
+f 51 75 78
+f 52 80 53
+f 55 81 56
+f 56 81 57
+f 57 82 58
+f 57 81 82
+f 62 83 84
+f 62 84 63
+f 63 85 86
+f 63 86 87
+f 63 87 88
+f 63 88 64
+f 63 84 89
+f 63 89 85
+f 65 90 66
+f 66 91 92
+f 66 92 67
+f 66 90 86
+f 66 86 93
+f 66 93 91
+f 68 94 69
+f 69 94 95
+f 69 95 96
+f 69 96 71
+f 70 73 97
+f 70 97 76
+f 71 96 98
+f 71 98 99
+f 71 99 72
+f 72 97 73
+f 72 99 100
+f 72 100 101
+f 72 101 97
+f 74 77 102
+f 76 103 77
+f 76 97 104
+f 76 104 105
+f 76 105 106
+f 76 106 103
+f 77 103 107
+f 77 107 102
+f 83 108 84
+f 84 108 109
+f 84 109 89
+f 85 93 86
+f 85 89 93
+f 86 90 87
+f 87 90 88
+f 89 109 110
+f 89 110 111
+f 89 111 112
+f 89 112 113
+f 89 113 114
+f 89 114 115
+f 89 115 116
+f 89 116 93
+f 91 117 92
+f 91 93 118
+f 91 118 117
+f 93 119 120
+f 93 120 121
+f 93 121 118
+f 93 116 115
+f 93 115 119
+f 96 122 98
+f 97 101 123
+f 97 123 104
+f 98 122 124
+f 98 124 125
+f 98 125 99
+f 99 125 126
+f 99 126 127
+f 99 127 128
+f 99 128 100
+f 100 123 101
+f 100 128 129
+f 100 129 123
+f 104 123 130
+f 104 130 131
+f 104 131 132
+f 104 132 105
+f 111 133 112
+f 112 133 134
+f 112 134 135
+f 112 135 113
+f 113 135 136
+f 113 136 137
+f 113 137 138
+f 113 138 139
+f 113 139 140
+f 113 140 141
+f 113 141 115
+f 113 115 114
+f 115 141 140
+f 115 140 142
+f 115 142 143
+f 115 143 144
+f 115 144 145
+f 115 145 119
+f 119 145 146
+f 119 146 120
+f 123 129 138
+f 123 138 130
+f 126 147 127
+f 127 147 128
+f 128 148 138
+f 128 138 129
+f 128 147 149
+f 128 149 150
+f 128 150 151
+f 128 151 140
+f 128 140 148
+f 130 152 153
+f 130 153 154
+f 130 154 131
+f 130 138 152
+f 136 155 137
+f 137 155 156
+f 137 156 138
+f 138 148 140
+f 138 140 139
+f 138 156 152
+f 140 151 150
+f 140 150 157
+f 140 157 143
+f 140 143 142
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_28.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.19683779 0.00007079 0.02994098
+v -0.19682960 0.00007081 0.02411010
+v -0.19510243 0.00007078 0.03312808
+v -0.19683371 0.00328782 0.02994099
+v -0.19682960 0.00328784 0.02411011
+v -0.19509015 0.00328785 0.02065250
+v -0.19509015 0.00007082 0.02065476
+v -0.19152124 0.00007077 0.03410330
+v -0.19509835 0.00328781 0.03312581
+v -0.19500832 0.00978106 0.03305537
+v -0.19662906 0.00978107 0.02994102
+v -0.19660450 0.00978109 0.02411014
+v -0.19497965 0.00978110 0.02083893
+v -0.19349397 0.00328786 0.01773592
+v -0.19430844 0.00007083 0.01920898
+v -0.19152124 0.00328780 0.03409876
+v -0.18646253 0.00007078 0.03383278
+v -0.17853886 0.06170077 0.03426265
+v -0.18503005 0.04222759 0.03431260
+v -0.19152124 0.00978105 0.03404196
+v -0.19109149 0.02276099 0.03389424
+v -0.19053487 0.02925424 0.03387381
+v -0.19487734 0.01454410 0.03295081
+v -0.19595375 0.01653090 0.03047298
+v -0.19583915 0.02276100 0.02948641
+v -0.19583915 0.02276102 0.02471259
+v -0.19593738 0.01622171 0.02362823
+v -0.19485277 0.01402441 0.02105263
+v -0.19338346 0.00978111 0.01792463
+v -0.19040800 0.00328788 0.01244835
+v -0.19042028 0.00007085 0.01244834
+v -0.19197553 0.00007084 0.01511713
+v -0.19350215 0.00007083 0.01773818
+v -0.18321693 0.00007079 0.03097304
+v -0.17059063 0.06727958 0.03170527
+v -0.17337783 0.06727958 0.03372392
+v -0.17395901 0.06727958 0.03384440
+v -0.17853886 0.06727957 0.03418539
+v -0.18503005 0.04871426 0.03415122
+v -0.18997416 0.03573434 0.03378290
+v -0.19466452 0.01886635 0.03277124
+v -0.19433709 0.02276099 0.03240071
+v -0.19539713 0.02925425 0.02859760
+v -0.19539713 0.02925427 0.02557418
+v -0.19406286 0.02925428 0.02266215
+v -0.19445578 0.02276103 0.02179828
+v -0.19467679 0.01835325 0.02136636
+v -0.19342031 0.01622173 0.01877712
+v -0.18990867 0.01626781 0.01273255
+v -0.18981454 0.01009692 0.01189143
+v -0.18934387 0.00946536 0.01108896
+v -0.18955260 0.00328789 0.01108894
+v -0.18955668 0.00047217 0.01108893
+v -0.18955668 0.00007086 0.01108893
+v -0.16931367 0.00007086 0.01108893
+v -0.15502979 0.06727966 0.01108918
+v -0.17013223 0.06727959 0.03114378
+v -0.17922235 0.06727957 0.03410809
+v -0.18939298 0.04222760 0.03357607
+v -0.18340929 0.06170078 0.03371708
+v -0.18873813 0.04871427 0.03319418
+v -0.19378047 0.02925424 0.03151418
+v -0.18835340 0.05225365 0.03292140
+v -0.19502060 0.03384625 0.02769968
+v -0.19502060 0.03384625 0.02640165
+v -0.19166449 0.02925429 0.01827933
+v -0.19369452 0.03589884 0.02431937
+v -0.19012968 0.03631990 0.01771785
+v -0.19250351 0.02276104 0.01827930
+v -0.18888138 0.01626782 0.01108899
+v -0.18904508 0.01429418 0.01108898
+v -0.18927429 0.01091927 0.01108897
+v -0.18956897 0.02276106 0.01326224
+v -0.17702453 0.06727966 0.01108918
+v -0.18253343 0.06727958 0.03331701
+v -0.18301638 0.06727958 0.03278052
+v -0.18752666 0.05658249 0.03185754
+v -0.18866037 0.05962848 0.02797029
+v -0.18915969 0.05473386 0.02992527
+v -0.19065356 0.04871428 0.02994116
+v -0.19205739 0.04222761 0.02994114
+v -0.18866037 0.05962848 0.02614260
+v -0.19069449 0.04871430 0.02411028
+v -0.19227022 0.04222763 0.02411026
+v -0.18867673 0.03455023 0.01470580
+v -0.18912694 0.02925431 0.01397379
+v -0.18960581 0.04222765 0.01899318
+v -0.18825518 0.03887906 0.01539915
+v -0.18863172 0.01866907 0.01108900
+v -0.18820197 0.02276107 0.01108901
+v -0.17782672 0.06727966 0.01219625
+v -0.17900544 0.06179954 0.01108916
+v -0.18012278 0.06184558 0.01260997
+v -0.18486224 0.06727959 0.02993896
+v -0.18489090 0.06727959 0.02912059
+v -0.18497274 0.06727961 0.02411717
+v -0.18700278 0.06175343 0.02416261
+v -0.18773949 0.05644437 0.02225534
+v -0.18913922 0.05464836 0.02416258
+v -0.18831657 0.05211554 0.02112779
+v -0.18877906 0.04871432 0.02037306
+v -0.18726882 0.02939906 0.01108904
+v -0.18699868 0.03631992 0.01263714
+v -0.18729337 0.02925432 0.01108904
+v -0.18801780 0.02408998 0.01108902
+v -0.18787864 0.04222766 0.01607660
+v -0.18709282 0.04871433 0.01745875
+v -0.18560713 0.04222767 0.01244850
+v -0.18088812 0.06727964 0.01686551
+v -0.18149386 0.06410867 0.01585390
+v -0.18081036 0.05672072 0.01108914
+v -0.18115006 0.05572075 0.01108913
+v -0.18223057 0.05977984 0.01466270
+v -0.18263985 0.06727963 0.01977299
+v -0.18357301 0.06184556 0.01799074
+v -0.18628245 0.05464838 0.01882272
+v -0.18593047 0.03614888 0.01108906
+v -0.18467397 0.04222768 0.01108909
+v -0.18367533 0.04900381 0.01200523
+v -0.18293862 0.05520759 0.01355561
+v -0.18322103 0.04839857 0.01108911
+v -0.18226331 0.06727963 0.01912966
+v -0.18130968 0.05520760 0.01108913
+v -0.18283221 0.04996432 0.01108911
+v -0.18207914 0.05270109 0.01108912
+f 1 2 7
+f 1 7 15
+f 1 15 33
+f 1 33 32
+f 1 32 31
+f 1 31 54
+f 1 54 55
+f 1 55 34
+f 1 34 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 8 17 18
+f 8 18 19
+f 8 19 16
+f 9 16 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 15
+f 16 19 20
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 18
+f 18 37 38
+f 18 38 19
+f 19 38 39
+f 19 39 22
+f 19 22 20
+f 20 22 21
+f 22 40 23
+f 22 39 40
+f 23 40 41
+f 23 41 24
+f 24 41 25
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 27 47 28
+f 28 47 48
+f 28 48 29
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 52
+f 30 52 31
+f 31 52 53
+f 31 53 54
+f 34 55 56
+f 34 56 57
+f 34 57 35
+f 35 57 56
+f 35 56 74
+f 35 74 91
+f 35 91 109
+f 35 109 122
+f 35 122 114
+f 35 114 96
+f 35 96 95
+f 35 95 94
+f 35 94 76
+f 35 76 75
+f 35 75 58
+f 35 58 38
+f 35 38 37
+f 35 37 36
+f 38 58 39
+f 39 59 40
+f 39 58 60
+f 39 60 59
+f 40 59 41
+f 41 59 61
+f 41 61 42
+f 42 62 43
+f 42 61 63
+f 42 63 62
+f 43 62 64
+f 43 64 65
+f 43 65 44
+f 44 65 45
+f 45 66 46
+f 45 65 67
+f 45 67 68
+f 45 68 66
+f 46 66 69
+f 46 69 47
+f 47 69 48
+f 48 69 49
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 49 69 73
+f 49 73 70
+f 50 72 51
+f 51 72 71
+f 51 71 70
+f 51 70 89
+f 51 89 90
+f 51 90 105
+f 51 105 104
+f 51 104 102
+f 51 102 117
+f 51 117 118
+f 51 118 121
+f 51 121 124
+f 51 124 125
+f 51 125 123
+f 51 123 112
+f 51 112 111
+f 51 111 92
+f 51 92 74
+f 51 74 56
+f 51 56 55
+f 51 55 54
+f 51 54 53
+f 51 53 52
+f 58 75 60
+f 59 60 61
+f 60 75 63
+f 60 63 61
+f 62 63 64
+f 63 75 76
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 63 79 80
+f 63 80 81
+f 63 81 64
+f 64 81 80
+f 64 80 78
+f 64 78 82
+f 64 82 65
+f 65 82 83
+f 65 83 84
+f 65 84 67
+f 66 68 85
+f 66 85 86
+f 66 86 73
+f 66 73 69
+f 67 84 87
+f 67 87 68
+f 68 87 88
+f 68 88 85
+f 70 73 89
+f 73 86 90
+f 73 90 89
+f 74 92 93
+f 74 93 91
+f 76 94 77
+f 77 94 78
+f 78 80 79
+f 78 94 95
+f 78 95 96
+f 78 96 82
+f 82 96 97
+f 82 97 98
+f 82 98 99
+f 82 99 83
+f 83 99 98
+f 83 98 100
+f 83 100 101
+f 83 101 84
+f 84 101 87
+f 85 102 86
+f 85 88 103
+f 85 103 102
+f 86 104 105
+f 86 105 90
+f 86 102 104
+f 87 106 88
+f 87 101 107
+f 87 107 106
+f 88 106 108
+f 88 108 103
+f 91 93 110
+f 91 110 109
+f 92 111 93
+f 93 111 112
+f 93 112 113
+f 93 113 110
+f 96 114 97
+f 97 114 115
+f 97 115 98
+f 98 115 116
+f 98 116 100
+f 100 116 107
+f 100 107 101
+f 102 103 117
+f 103 108 118
+f 103 118 117
+f 106 107 119
+f 106 119 108
+f 107 116 120
+f 107 120 119
+f 108 119 121
+f 108 121 118
+f 109 110 122
+f 110 113 115
+f 110 115 122
+f 112 123 120
+f 112 120 113
+f 113 120 116
+f 113 116 115
+f 114 122 115
+f 119 124 121
+f 119 120 125
+f 119 125 124
+f 120 123 125
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_29.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.15963645 -0.06032255 0.01286617
+v 0.18071307 -0.06032255 0.01286617
+v 0.17246285 -0.06032261 0.03083353
+v 0.18317577 0.00006488 0.03096583
+v 0.18220452 0.00006488 0.02952131
+v 0.17103325 0.00006494 0.01286639
+v 0.18162248 -0.05760883 0.01286618
+v 0.18217542 -0.05965447 0.01467549
+v 0.18149881 -0.06032255 0.01401508
+v 0.17453996 -0.06032262 0.03330116
+v 0.18481271 0.00006487 0.03241873
+v 0.19063662 0.00006494 0.01286639
+v 0.18240094 -0.05513161 0.01286619
+v 0.18287748 -0.05513161 0.01358740
+v 0.18621686 -0.05455815 0.01882876
+v 0.18260466 -0.06032256 0.01574473
+v 0.17511471 -0.06032262 0.03348775
+v 0.18642056 0.00006487 0.03383809
+v 0.19191708 0.00006493 0.01505099
+v 0.19063662 -0.00019519 0.01286639
+v 0.18262285 -0.05438076 0.01286619
+v 0.18321942 -0.05224645 0.01286620
+v 0.18414703 -0.04884691 0.01286621
+v 0.18703533 -0.04864000 0.01745764
+v 0.18768284 -0.05633773 0.02228385
+v 0.18404154 -0.06032257 0.01817042
+v 0.18874140 -0.04864001 0.02037183
+v 0.18826486 -0.05200998 0.02113915
+v 0.17842862 -0.06032263 0.03414816
+v 0.18897057 0.00006487 0.03397437
+v 0.18498368 -0.04214844 0.03428241
+v 0.19346672 0.00006492 0.01771150
+v 0.19346309 -0.00321045 0.01770520
+v 0.19063298 -0.00321043 0.01286638
+v 0.18582035 -0.04214836 0.01286624
+v 0.18783199 -0.04214837 0.01606137
+v 0.18959625 -0.04214838 0.01897766
+v 0.19067300 -0.04864003 0.02410996
+v 0.18907243 -0.05455817 0.02417913
+v 0.18859953 -0.05949489 0.02617082
+v 0.18711900 -0.06032259 0.02370739
+v 0.19231358 -0.04214840 0.02410999
+v 0.17972727 -0.06032263 0.03413977
+v 0.19147328 0.00006486 0.03410435
+v 0.18498368 -0.04864007 0.03411465
+v 0.19049838 -0.02917109 0.03386943
+v 0.19147328 -0.00970214 0.03405190
+v 0.19147328 -0.00321051 0.03410225
+v 0.19425973 0.00006492 0.01915602
+v 0.19506364 -0.00321046 0.02062149
+v 0.19335395 -0.00970208 0.01788547
+v 0.19061843 -0.00370706 0.01286638
+v 0.18706080 -0.03647262 0.01286626
+v 0.18821394 -0.03881979 0.01539049
+v 0.19012007 -0.03625389 0.01771347
+v 0.19370680 -0.03594056 0.02427354
+v 0.18859953 -0.05949489 0.02792982
+v 0.18795565 -0.06032259 0.02540139
+v 0.19500544 -0.03396589 0.02632816
+v 0.18365231 -0.06032262 0.03368482
+v 0.19328120 0.00006487 0.03360957
+v 0.18933798 -0.04214843 0.03355910
+v 0.18993091 -0.03565680 0.03377297
+v 0.19483813 -0.01455607 0.03295540
+v 0.19106586 -0.02267947 0.03389881
+v 0.19496180 -0.00970213 0.03305814
+v 0.19504547 -0.00321050 0.03312316
+v 0.19504911 0.00006487 0.03312527
+v 0.19506002 0.00006491 0.02062779
+v 0.19679882 -0.00321047 0.02411013
+v 0.19495453 -0.00970209 0.02080176
+v 0.19482719 -0.01422494 0.02101979
+v 0.19340488 -0.01631195 0.01875761
+v 0.18996365 -0.01619368 0.01286633
+v 0.19037107 -0.01000949 0.01286635
+v 0.18714082 -0.03605877 0.01286626
+v 0.18863227 -0.03449203 0.01470283
+v 0.19167335 -0.02917104 0.01827955
+v 0.19405602 -0.02917105 0.02256488
+v 0.18745366 -0.05643829 0.03181682
+v 0.18687527 -0.06032261 0.03038487
+v 0.18785744 -0.06032261 0.02869086
+v 0.18795565 -0.06032260 0.02647901
+v 0.19500544 -0.03396589 0.02776220
+v 0.19060024 -0.04864005 0.02994044
+v 0.18909061 -0.05461731 0.02990059
+v 0.18829033 -0.05211054 0.03290704
+v 0.19539468 -0.02917106 0.02547907
+v 0.18434346 -0.06032262 0.03321729
+v 0.18867228 -0.04864006 0.03317331
+v 0.19463441 -0.01888382 0.03278766
+v 0.19592578 -0.01650709 0.03048147
+v 0.19659510 -0.00970212 0.02994058
+v 0.19678064 -0.00321049 0.02994061
+v 0.19678064 0.00006488 0.02994062
+v 0.19679155 0.00006490 0.02411014
+v 0.19658784 -0.00970210 0.02411010
+v 0.19592213 -0.01631197 0.02360062
+v 0.19465260 -0.01855269 0.02132167
+v 0.19251365 -0.02267942 0.01827958
+v 0.18979268 -0.01791414 0.01286632
+v 0.18793020 -0.03181379 0.01286627
+v 0.18909061 -0.02917102 0.01396068
+v 0.18954168 -0.02267940 0.01324788
+v 0.19444889 -0.02267943 0.02172420
+v 0.19582393 -0.02267944 0.02463839
+v 0.19341580 -0.03594058 0.02980002
+v 0.19205167 -0.04214842 0.02994047
+v 0.19539468 -0.02917108 0.02866372
+v 0.19374318 -0.02917109 0.03158001
+v 0.19431066 -0.02267947 0.03243333
+v 0.19582393 -0.02267946 0.02951704
+v 0.18937434 -0.02195810 0.01286631
+v 0.18839218 -0.02917102 0.01286628
+v 0.18866864 -0.02721407 0.01286629
+v 0.18929795 -0.02267940 0.01286631
+f 1 2 9
+f 1 9 16
+f 1 16 26
+f 1 26 41
+f 1 41 58
+f 1 58 83
+f 1 83 82
+f 1 82 81
+f 1 81 89
+f 1 89 60
+f 1 60 43
+f 1 43 29
+f 1 29 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 20
+f 1 20 34
+f 1 34 52
+f 1 52 75
+f 1 75 74
+f 1 74 101
+f 1 101 113
+f 1 113 116
+f 1 116 115
+f 1 115 114
+f 1 114 102
+f 1 102 76
+f 1 76 53
+f 1 53 35
+f 1 35 23
+f 1 23 22
+f 1 22 21
+f 1 21 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 11 18
+f 4 18 30
+f 4 30 44
+f 4 44 61
+f 4 61 68
+f 4 68 95
+f 4 95 96
+f 4 96 69
+f 4 69 49
+f 4 49 32
+f 4 32 19
+f 4 19 12
+f 4 12 6
+f 4 6 5
+f 4 10 11
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 25 26
+f 15 26 16
+f 15 24 27
+f 15 27 28
+f 15 28 25
+f 17 29 18
+f 18 29 31
+f 18 31 30
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 27
+f 25 28 38
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 27 37 42
+f 27 42 38
+f 27 38 28
+f 29 43 31
+f 30 31 44
+f 31 43 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 44
+f 32 49 33
+f 33 50 71
+f 33 71 51
+f 33 51 52
+f 33 52 34
+f 33 49 50
+f 35 53 54
+f 35 54 36
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 42
+f 38 42 40
+f 38 40 39
+f 40 57 83
+f 40 83 58
+f 40 58 41
+f 40 42 59
+f 40 59 84
+f 40 84 57
+f 42 56 59
+f 43 60 45
+f 44 48 61
+f 45 62 63
+f 45 63 46
+f 45 60 62
+f 46 64 65
+f 46 65 47
+f 46 63 64
+f 47 65 66
+f 47 66 67
+f 47 67 48
+f 48 67 68
+f 48 68 61
+f 49 69 50
+f 50 70 71
+f 50 69 70
+f 51 71 72
+f 51 72 73
+f 51 73 74
+f 51 74 75
+f 51 75 52
+f 53 76 77
+f 53 77 54
+f 54 77 55
+f 55 77 78
+f 55 78 79
+f 55 79 56
+f 56 79 59
+f 57 80 81
+f 57 81 82
+f 57 82 83
+f 57 84 85
+f 57 85 86
+f 57 86 87
+f 57 87 80
+f 59 79 88
+f 59 88 109
+f 59 109 84
+f 60 89 87
+f 60 87 90
+f 60 90 62
+f 62 90 91
+f 62 91 63
+f 63 91 64
+f 64 91 92
+f 64 92 93
+f 64 93 66
+f 64 66 65
+f 66 93 94
+f 66 94 67
+f 67 94 68
+f 68 94 95
+f 69 96 70
+f 70 94 93
+f 70 93 97
+f 70 97 71
+f 70 96 95
+f 70 95 94
+f 71 97 72
+f 72 98 99
+f 72 99 73
+f 72 97 98
+f 73 99 100
+f 73 100 74
+f 74 100 101
+f 76 102 77
+f 77 102 103
+f 77 103 78
+f 78 103 104
+f 78 104 100
+f 78 100 105
+f 78 105 79
+f 79 105 106
+f 79 106 88
+f 80 89 81
+f 80 87 89
+f 84 107 87
+f 84 87 108
+f 84 108 85
+f 84 109 110
+f 84 110 107
+f 85 108 87
+f 85 87 86
+f 87 107 110
+f 87 110 111
+f 87 111 90
+f 88 106 112
+f 88 112 109
+f 90 111 91
+f 91 111 112
+f 91 112 92
+f 92 112 93
+f 93 112 106
+f 93 106 97
+f 97 106 98
+f 98 106 99
+f 99 106 105
+f 99 105 100
+f 100 104 101
+f 101 104 113
+f 102 114 103
+f 103 114 115
+f 103 115 104
+f 104 116 113
+f 104 115 116
+f 109 111 110
+f 109 112 111
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_3.obj

@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v 0.06774082 0.18472070 0.02411231
+v 0.06774082 0.18273536 0.02040389
+v 0.06774082 0.18460156 0.02994047
+v 0.07811579 0.18188825 0.02729422
+v 0.07811579 0.18188825 0.02676774
+v 0.06813815 0.18457511 0.02411001
+v 0.06774082 0.18252359 0.02001764
+v 0.06813815 0.18245080 0.02015099
+v 0.06774082 0.18240442 0.03324194
+v 0.06813815 0.18233824 0.03321435
+v 0.07145815 0.18180882 0.03287868
+v 0.06813815 0.18445597 0.02994047
+v 0.07402761 0.18246400 0.02951973
+v 0.08485290 0.17551524 0.03302350
+v 0.08725460 0.17629616 0.02962547
+v 0.09121033 0.17547556 0.02746892
+v 0.07572293 0.18094192 0.02287998
+v 0.09121033 0.17547556 0.02660677
+v 0.08061462 0.17958525 0.02453762
+v 0.07139634 0.18178239 0.02119247
+v 0.06774082 0.18071694 0.01710700
+v 0.06813815 0.18063752 0.01723575
+v 0.07398346 0.17930071 0.01886119
+v 0.06774082 0.17853297 0.03414087
+v 0.06813815 0.17853297 0.03413397
+v 0.07402761 0.17853960 0.03363507
+v 0.08112674 0.17627629 0.03341895
+v 0.09410650 0.16975109 0.03336374
+v 0.09757660 0.16892386 0.03294761
+v 0.08917949 0.17427109 0.03135667
+v 0.09903351 0.16977757 0.02994041
+v 0.11127157 0.16295458 0.02833794
+v 0.08486174 0.17552851 0.02084988
+v 0.08053515 0.17625649 0.01865657
+v 0.10225637 0.16789151 0.02410995
+v 0.09900703 0.16976436 0.02410995
+v 0.09366501 0.17298726 0.02444104
+v 0.08918832 0.17448951 0.02271903
+v 0.08726343 0.17630941 0.02444105
+v 0.11127157 0.16295459 0.02578596
+v 0.06774082 0.17781833 0.01263068
+v 0.07463686 0.17605797 0.01419865
+v 0.06829709 0.17728229 0.01214558
+v 0.07798335 0.17533662 0.01528841
+v 0.06813815 0.17316591 0.03377989
+v 0.14603436 0.12012381 0.03428319
+v 0.08112674 0.17204086 0.03426269
+v 0.06774082 0.17323870 0.03375460
+v 0.08725460 0.17208058 0.03371551
+v 0.10008425 0.16540978 0.03360513
+v 0.10525849 0.16315310 0.03332694
+v 0.11704623 0.15598597 0.03296825
+v 0.10958509 0.16172364 0.03222567
+v 0.10728934 0.16445020 0.03014501
+v 0.10228286 0.16773928 0.02994041
+v 0.11827358 0.15691247 0.02994037
+v 0.12982291 0.14934828 0.02706190
+v 0.08726343 0.17293433 0.01865656
+v 0.08230993 0.17428438 0.01696214
+v 0.10735998 0.16456934 0.02394899
+v 0.10538211 0.16335168 0.01976007
+v 0.09754128 0.16890405 0.02104988
+v 0.09350608 0.16970482 0.01877609
+v 0.11825591 0.15690588 0.02410991
+v 0.11348784 0.16032069 0.02394898
+v 0.10970870 0.16187589 0.02190051
+v 0.12982291 0.14934828 0.02699063
+v 0.06774082 0.17752054 0.01218466
+v 0.07463686 0.17405278 0.01128341
+v 0.07310932 0.17438367 0.01080061
+v 0.06970986 0.17581975 0.01080062
+v 0.08761662 0.16969822 0.01406068
+v 0.08097664 0.17196814 0.01254330
+v 0.08287504 0.16983059 0.01080059
+v 0.14614031 0.11711933 0.03395441
+v 0.15236530 0.11711933 0.03386245
+v 0.14591958 0.12641741 0.03373603
+v 0.13950917 0.13305510 0.03380504
+v 0.12006601 0.14608565 0.03428789
+v 0.09410650 0.16554875 0.03422818
+v 0.06774082 0.16999595 0.03134285
+v 0.14209628 0.11711933 0.03309916
+v 0.10728934 0.15936107 0.03387870
+v 0.11357614 0.15712424 0.03342118
+v 0.11955389 0.15226673 0.03353152
+v 0.12402175 0.14990415 0.03318204
+v 0.12834834 0.14803132 0.03095193
+v 0.12633515 0.15076449 0.02938167
+v 0.12151409 0.15435137 0.02994036
+v 0.13246301 0.14554962 0.02922301
+v 0.13654236 0.14307456 0.02749180
+v 0.09093661 0.16883789 0.01530448
+v 0.10329829 0.16195533 0.01587232
+v 0.10041978 0.16548924 0.01846110
+v 0.11083891 0.15617795 0.01487220
+v 0.09526320 0.16762020 0.01716214
+v 0.11703741 0.15597276 0.02099235
+v 0.12150527 0.15441756 0.02410990
+v 0.11323177 0.15717061 0.01874156
+v 0.12841897 0.14817694 0.02310287
+v 0.12637930 0.15081745 0.02467315
+v 0.13654236 0.14307456 0.02658827
+v 0.13253365 0.14562244 0.02484557
+v 0.06774082 0.17656094 0.01080062
+v 0.07551984 0.17327187 0.01080061
+v 0.08668949 0.16787171 0.01080059
+v 0.15602083 0.11711933 0.03301409
+v 0.15225052 0.11966057 0.03356588
+v 0.14367681 0.13085798 0.03329923
+v 0.14990180 0.12412101 0.03319805
+v 0.13732821 0.13737656 0.03332454
+v 0.13298397 0.13956046 0.03379356
+v 0.11357614 0.15257114 0.03423963
+v 0.06774082 0.15431172 0.01080054
+v 0.12086069 0.11711941 0.01080040
+v 0.12633515 0.14595330 0.03371772
+v 0.13077652 0.14370323 0.03328548
+v 0.13510311 0.14170464 0.03138184
+v 0.13909417 0.13915015 0.02944600
+v 0.14303224 0.13660229 0.02751017
+v 0.09897170 0.16329213 0.01398019
+v 0.09377097 0.16536353 0.01269732
+v 0.08761662 0.16762685 0.01114315
+v 0.10675073 0.15732945 0.01273637
+v 0.10092308 0.16074428 0.01220069
+v 0.11515666 0.15458304 0.01710461
+v 0.11800868 0.15026159 0.01415717
+v 0.11342603 0.15245871 0.01257082
+v 0.10869327 0.15465585 0.01098446
+v 0.12409239 0.14999024 0.02036008
+v 0.11968634 0.15228663 0.01873235
+v 0.13525322 0.14187013 0.02270052
+v 0.13092663 0.14384888 0.01993933
+v 0.14303224 0.13660229 0.02656755
+v 0.13919129 0.13923621 0.02463403
+v 0.09583714 0.16282228 0.01080057
+v 0.15791040 0.11711934 0.03002529
+v 0.15599434 0.11718551 0.03300719
+v 0.14165479 0.13517943 0.03139791
+v 0.14800341 0.12844248 0.03103003
+v 0.14839191 0.11711941 0.01080040
+v 0.14551340 0.13255216 0.02926895
+v 0.14933670 0.12991826 0.02714230
+v 0.09806223 0.16149210 0.01080056
+v 0.10826062 0.15480806 0.01080054
+v 0.10546158 0.15670077 0.01080055
+v 0.10250361 0.15864642 0.01080055
+v 0.11742591 0.14800492 0.01080051
+v 0.11541273 0.14957996 0.01080052
+v 0.12233526 0.14853432 0.01647234
+v 0.12052516 0.14645633 0.01197534
+v 0.10891402 0.15433819 0.01080054
+v 0.12665303 0.14619160 0.01820584
+v 0.14183139 0.13535154 0.02267980
+v 0.13750481 0.13754868 0.01976688
+v 0.13339896 0.13993110 0.01790923
+v 0.12921365 0.14231354 0.01605158
+v 0.14933670 0.12991826 0.02691469
+v 0.14560170 0.13263821 0.02479724
+v 0.15793689 0.11711936 0.02403619
+v 0.15697444 0.11845613 0.02994023
+v 0.15439615 0.12170550 0.02994024
+v 0.15081126 0.12641742 0.02942756
+v 0.14791510 0.11772162 0.01080040
+v 0.15026382 0.11811869 0.01408578
+v 0.15074945 0.11711940 0.01373632
+v 0.12187612 0.14439157 0.01080050
+v 0.12488707 0.14420626 0.01367894
+v 0.14817999 0.12855501 0.02302693
+v 0.14385341 0.13102347 0.01988870
+v 0.13989767 0.13347208 0.01788392
+v 0.13587130 0.13592732 0.01587913
+v 0.13154471 0.13798548 0.01343982
+v 0.12830418 0.13873330 0.01080048
+v 0.12733292 0.14029512 0.01161666
+v 0.15697444 0.11845615 0.02410977
+v 0.15446679 0.12170552 0.02410978
+v 0.15086424 0.12647699 0.02462708
+v 0.15608264 0.11711937 0.02095083
+v 0.15600317 0.11718555 0.02089795
+v 0.14444500 0.12192396 0.01080042
+v 0.14644936 0.12062686 0.01192236
+v 0.14999892 0.12422694 0.02029332
+v 0.15229467 0.11981284 0.01865176
+v 0.15180020 0.11711939 0.01512266
+v 0.14850669 0.12244675 0.01640557
+v 0.12541686 0.14132751 0.01080049
+v 0.14617564 0.12676819 0.01814599
+v 0.14229054 0.12930946 0.01600095
+v 0.13796396 0.13159925 0.01344439
+v 0.13475875 0.13248605 0.01080046
+v 0.13391109 0.13396845 0.01149708
+v 0.13242769 0.13480892 0.01080047
+v 0.15602083 0.11711937 0.02086116
+v 0.14418011 0.12498140 0.01364669
+v 0.14127512 0.12555054 0.01080043
+v 0.14026853 0.12741016 0.01160052
+v 0.13870566 0.12835651 0.01080044
+f 1 2 7
+f 1 7 21
+f 1 21 41
+f 1 41 68
+f 1 68 104
+f 1 104 114
+f 1 114 81
+f 1 81 48
+f 1 48 24
+f 1 24 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 11
+f 4 11 14
+f 4 14 15
+f 4 15 16
+f 4 16 18
+f 4 18 5
+f 5 17 6
+f 5 18 19
+f 5 19 17
+f 6 17 20
+f 6 20 8
+f 7 8 21
+f 8 22 21
+f 8 20 23
+f 8 23 22
+f 9 24 25
+f 9 25 26
+f 9 26 10
+f 10 26 27
+f 10 27 11
+f 11 13 12
+f 11 27 14
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 14 27 28
+f 15 30 29
+f 15 29 16
+f 16 29 31
+f 16 31 32
+f 16 32 40
+f 16 40 18
+f 17 19 33
+f 17 33 34
+f 17 34 23
+f 17 23 20
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 18 40 35
+f 19 39 38
+f 19 38 33
+f 21 22 23
+f 21 23 42
+f 21 42 43
+f 21 43 41
+f 23 34 44
+f 23 44 42
+f 24 45 46
+f 24 46 47
+f 24 47 25
+f 24 48 45
+f 25 47 26
+f 26 47 49
+f 26 49 27
+f 27 49 28
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 29 51 52
+f 29 52 53
+f 29 53 54
+f 29 54 55
+f 29 55 31
+f 31 55 32
+f 32 53 52
+f 32 52 56
+f 32 56 57
+f 32 57 67
+f 32 67 40
+f 32 55 54
+f 32 54 53
+f 33 38 58
+f 33 58 34
+f 34 58 59
+f 34 59 44
+f 35 60 61
+f 35 61 62
+f 35 62 36
+f 35 40 60
+f 36 62 37
+f 37 62 38
+f 38 62 63
+f 38 63 58
+f 40 64 65
+f 40 65 66
+f 40 66 60
+f 40 67 64
+f 41 43 68
+f 42 69 70
+f 42 70 71
+f 42 71 43
+f 42 44 69
+f 43 71 68
+f 44 59 58
+f 44 58 72
+f 44 72 73
+f 44 73 74
+f 44 74 69
+f 45 48 75
+f 45 75 46
+f 46 75 76
+f 46 76 77
+f 46 77 78
+f 46 78 79
+f 46 79 47
+f 47 80 49
+f 47 79 80
+f 48 81 82
+f 48 82 75
+f 49 80 50
+f 50 83 51
+f 50 80 83
+f 51 83 84
+f 51 84 52
+f 52 85 86
+f 52 86 87
+f 52 87 88
+f 52 88 89
+f 52 89 56
+f 52 84 85
+f 56 89 57
+f 57 89 88
+f 57 88 87
+f 57 87 90
+f 57 90 91
+f 57 91 102
+f 57 102 67
+f 58 63 92
+f 58 92 72
+f 60 66 61
+f 61 93 94
+f 61 94 62
+f 61 66 95
+f 61 95 93
+f 62 96 63
+f 62 94 96
+f 63 96 92
+f 64 97 65
+f 64 67 98
+f 64 98 97
+f 65 97 66
+f 66 97 99
+f 66 99 95
+f 67 100 101
+f 67 101 98
+f 67 102 103
+f 67 103 100
+f 68 71 104
+f 69 105 70
+f 69 74 105
+f 70 105 74
+f 70 74 106
+f 70 106 136
+f 70 136 144
+f 70 144 147
+f 70 147 146
+f 70 146 145
+f 70 145 152
+f 70 152 149
+f 70 149 148
+f 70 148 167
+f 70 167 187
+f 70 187 174
+f 70 174 193
+f 70 193 191
+f 70 191 198
+f 70 198 196
+f 70 196 181
+f 70 181 164
+f 70 164 141
+f 70 141 115
+f 70 115 114
+f 70 114 104
+f 70 104 71
+f 72 92 106
+f 72 106 74
+f 72 74 73
+f 75 82 115
+f 75 115 141
+f 75 141 166
+f 75 166 185
+f 75 185 194
+f 75 194 179
+f 75 179 160
+f 75 160 137
+f 75 137 107
+f 75 107 76
+f 76 107 108
+f 76 108 77
+f 77 109 78
+f 77 108 110
+f 77 110 109
+f 78 111 112
+f 78 112 79
+f 78 109 111
+f 79 112 113
+f 79 113 80
+f 80 113 83
+f 81 114 82
+f 82 114 115
+f 83 113 85
+f 83 85 84
+f 85 113 116
+f 85 116 86
+f 86 116 117
+f 86 117 118
+f 86 118 87
+f 87 118 90
+f 90 118 91
+f 91 118 119
+f 91 119 120
+f 91 120 134
+f 91 134 102
+f 92 96 121
+f 92 121 122
+f 92 122 123
+f 92 123 106
+f 93 124 125
+f 93 125 121
+f 93 121 94
+f 93 95 124
+f 94 121 96
+f 95 99 97
+f 95 97 126
+f 95 126 127
+f 95 127 128
+f 95 128 129
+f 95 129 124
+f 97 98 130
+f 97 130 131
+f 97 131 127
+f 97 127 126
+f 98 101 130
+f 100 130 101
+f 100 103 132
+f 100 132 133
+f 100 133 130
+f 102 134 135
+f 102 135 132
+f 102 132 103
+f 106 123 136
+f 107 137 138
+f 107 138 108
+f 108 138 110
+f 109 110 139
+f 109 139 111
+f 110 138 140
+f 110 140 139
+f 111 139 118
+f 111 118 117
+f 111 117 112
+f 112 117 116
+f 112 116 113
+f 118 139 119
+f 119 139 120
+f 120 142 143
+f 120 143 158
+f 120 158 134
+f 120 139 142
+f 121 144 136
+f 121 136 122
+f 121 125 144
+f 122 136 123
+f 124 129 145
+f 124 145 146
+f 124 146 147
+f 124 147 125
+f 125 147 144
+f 127 148 149
+f 127 149 128
+f 127 131 150
+f 127 150 151
+f 127 151 148
+f 128 149 129
+f 129 149 152
+f 129 152 145
+f 130 150 131
+f 130 133 153
+f 130 153 150
+f 132 135 154
+f 132 154 155
+f 132 155 133
+f 133 155 156
+f 133 156 157
+f 133 157 153
+f 134 158 159
+f 134 159 154
+f 134 154 135
+f 137 160 143
+f 137 143 161
+f 137 161 138
+f 138 161 162
+f 138 162 140
+f 139 140 142
+f 140 162 163
+f 140 163 143
+f 140 143 142
+f 141 164 165
+f 141 165 166
+f 143 163 162
+f 143 162 161
+f 143 160 158
+f 148 151 167
+f 150 153 168
+f 150 168 151
+f 151 168 167
+f 153 157 168
+f 154 159 169
+f 154 169 170
+f 154 170 155
+f 155 170 171
+f 155 171 172
+f 155 172 156
+f 156 172 173
+f 156 173 157
+f 157 174 175
+f 157 175 168
+f 157 173 174
+f 158 169 159
+f 158 160 176
+f 158 176 177
+f 158 177 178
+f 158 178 169
+f 160 179 180
+f 160 180 176
+f 164 181 182
+f 164 182 165
+f 165 183 184
+f 165 184 180
+f 165 180 185
+f 165 185 166
+f 165 182 186
+f 165 186 183
+f 167 168 187
+f 168 175 187
+f 169 178 177
+f 169 177 183
+f 169 183 170
+f 170 183 188
+f 170 188 189
+f 170 189 171
+f 171 190 172
+f 171 189 190
+f 172 191 192
+f 172 192 193
+f 172 193 173
+f 172 190 191
+f 173 193 174
+f 174 187 175
+f 176 180 177
+f 177 180 183
+f 179 194 180
+f 180 194 185
+f 180 184 183
+f 181 195 182
+f 181 196 195
+f 182 195 186
+f 183 186 188
+f 186 195 188
+f 188 195 189
+f 189 195 196
+f 189 196 197
+f 189 197 198
+f 189 198 190
+f 190 198 191
+f 191 193 192
+f 196 198 197
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_30.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v 0.15367672 -0.11227579 0.01292345
+v 0.15314605 -0.11299549 0.01292344
+v 0.15301970 -0.11227578 0.01210310
+v 0.12831411 -0.11227579 0.01292345
+v 0.15246376 -0.11346458 0.01250713
+v 0.15189097 -0.11464696 0.01292344
+v 0.14869012 -0.11604780 0.01022465
+v 0.15102337 -0.11227578 0.00975031
+v 0.09441868 -0.11227575 0.00152337
+v 0.06762411 -0.13042260 0.00152330
+v 0.06762411 -0.15656336 0.01292328
+v 0.14977672 -0.11741011 0.01292343
+v 0.14933872 -0.11227577 0.00790871
+v 0.14815102 -0.11938930 0.01292342
+v 0.14642424 -0.12051383 0.01195016
+v 0.14254952 -0.12301995 0.00978822
+v 0.14436053 -0.11869528 0.00801918
+v 0.14184196 -0.11227575 0.00152337
+v 0.06762411 -0.16780229 0.00152316
+v 0.06762411 -0.17792318 0.01292321
+v 0.14634001 -0.11394650 0.00629256
+v 0.14700545 -0.11227576 0.00570883
+v 0.14514390 -0.12296855 0.01292341
+v 0.14384671 -0.12451077 0.01292340
+v 0.14272640 -0.12576384 0.01292340
+v 0.14024153 -0.12730605 0.01162311
+v 0.13625730 -0.12974148 0.00956943
+v 0.13822836 -0.12541039 0.00777696
+v 0.14024995 -0.12086081 0.00595547
+v 0.14227997 -0.11616988 0.00413285
+v 0.14291172 -0.11227575 0.00227117
+v 0.14133656 -0.11291834 0.00152337
+v 0.06762411 -0.16926740 0.00272299
+v 0.06832324 -0.16751313 0.00152316
+v 0.06813793 -0.16944733 0.00303997
+v 0.06833167 -0.17765330 0.01292321
+v 0.06762411 -0.17745408 0.01220331
+v 0.06826428 -0.17719062 0.01215755
+v 0.14447003 -0.11227575 0.00350449
+v 0.14083115 -0.12785869 0.01292339
+v 0.13769768 -0.13124516 0.01292338
+v 0.13681324 -0.13213837 0.01292337
+v 0.13449682 -0.13447098 0.01292337
+v 0.13388192 -0.13384765 0.01152375
+v 0.12974608 -0.13621240 0.00959062
+v 0.13192771 -0.13188773 0.00771890
+v 0.12962814 -0.12960651 0.00383256
+v 0.13399142 -0.12751166 0.00580588
+v 0.13605514 -0.12302635 0.00389063
+v 0.13795039 -0.11870168 0.00249437
+v 0.13883483 -0.11596424 0.00152335
+v 0.06762411 -0.16950517 0.00292055
+v 0.06988156 -0.16685126 0.00152317
+v 0.06762411 -0.17307157 0.00665954
+v 0.06762411 -0.16954373 0.00295403
+v 0.07149883 -0.16876619 0.00365384
+v 0.07062281 -0.17673439 0.01292321
+v 0.06762411 -0.17674080 0.01117425
+v 0.07050488 -0.17484515 0.01002130
+v 0.07336039 -0.17562270 0.01292321
+v 0.13125384 -0.13763255 0.01292335
+v 0.12783398 -0.14075556 0.01292334
+v 0.12729489 -0.14017721 0.01165544
+v 0.12299899 -0.14249054 0.00983280
+v 0.12541649 -0.13815945 0.00780816
+v 0.12299899 -0.13598746 0.00392183
+v 0.12752232 -0.13393760 0.00582036
+v 0.12529856 -0.13166281 0.00240615
+v 0.12607351 -0.12954867 0.00152330
+v 0.12783398 -0.12781367 0.00152331
+v 0.12961973 -0.12604010 0.00152332
+v 0.13172555 -0.12528185 0.00238720
+v 0.13420201 -0.12121423 0.00152333
+v 0.13573506 -0.11953706 0.00152334
+v 0.13723440 -0.11787275 0.00152335
+v 0.07370575 -0.16516123 0.00152317
+v 0.06762411 -0.17381056 0.00746538
+v 0.06826428 -0.17297520 0.00683254
+v 0.07405110 -0.16554678 0.00196181
+v 0.08112668 -0.16321417 0.00284579
+v 0.07582000 -0.16776375 0.00467286
+v 0.07405110 -0.17033413 0.00661602
+v 0.07960206 -0.16956301 0.00856032
+v 0.07463231 -0.17395194 0.01130708
+v 0.07463231 -0.17507007 0.01292322
+v 0.12579554 -0.14258694 0.01292334
+v 0.12447308 -0.14376932 0.01292333
+v 0.12048885 -0.14634610 0.01200140
+v 0.11599922 -0.14860804 0.01028257
+v 0.11866942 -0.14428337 0.00807936
+v 0.12083421 -0.14017076 0.00600116
+v 0.11610030 -0.14217566 0.00419191
+v 0.11867783 -0.13785099 0.00254452
+v 0.12117113 -0.13411109 0.00152329
+v 0.12299057 -0.13244677 0.00152329
+v 0.12458258 -0.13098808 0.00152330
+v 0.13106011 -0.12458143 0.00152332
+v 0.13249208 -0.12305847 0.00152333
+v 0.07412691 -0.16496846 0.00152317
+v 0.07907982 -0.16257158 0.00152318
+v 0.08130357 -0.16145989 0.00152319
+v 0.08458025 -0.16234024 0.00359805
+v 0.08150573 -0.16678057 0.00661604
+v 0.08393165 -0.16848990 0.00982600
+v 0.08094979 -0.17188281 0.01256049
+v 0.07598846 -0.17447888 0.01292322
+v 0.12283053 -0.14513804 0.01292333
+v 0.11941909 -0.14797831 0.01292332
+v 0.11734695 -0.14966833 0.01292331
+v 0.11439879 -0.15189813 0.01292330
+v 0.11341326 -0.15237366 0.01258065
+v 0.10867093 -0.15457131 0.01099017
+v 0.11166963 -0.15024665 0.00851128
+v 0.11388496 -0.14624327 0.00635271
+v 0.10893206 -0.14821604 0.00462495
+v 0.11177071 -0.14389138 0.00283470
+v 0.11289101 -0.14112821 0.00152326
+v 0.11576337 -0.13878275 0.00152327
+v 0.11779339 -0.13709915 0.00152328
+v 0.11955386 -0.13555692 0.00152328
+v 0.08301351 -0.16055383 0.00152319
+v 0.08709039 -0.15897947 0.00201318
+v 0.09270032 -0.15681394 0.00280228
+v 0.09702991 -0.15553517 0.00387935
+v 0.08890983 -0.16113860 0.00477781
+v 0.08709039 -0.16392103 0.00667855
+v 0.09223704 -0.16300213 0.00866414
+v 0.09656663 -0.16176836 0.01012180
+v 0.08761264 -0.16750673 0.01118209
+v 0.08900249 -0.16802724 0.01292324
+v 0.08660184 -0.16929958 0.01292324
+v 0.08055390 -0.17232619 0.01292323
+v 0.08252495 -0.17134302 0.01292323
+v 0.11302579 -0.15292629 0.01292330
+v 0.10974912 -0.15532958 0.01292329
+v 0.10674200 -0.15723166 0.01273912
+v 0.10434135 -0.15606854 0.00916865
+v 0.10663249 -0.15217442 0.00689735
+v 0.10060140 -0.15435924 0.00502114
+v 0.10460247 -0.14977111 0.00326550
+v 0.10771068 -0.14511872 0.00152325
+v 0.11058303 -0.14295961 0.00152325
+v 0.08597009 -0.15896019 0.00152320
+v 0.08671977 -0.15855536 0.00152320
+v 0.08717463 -0.15830475 0.00152320
+v 0.09109989 -0.15607495 0.00152321
+v 0.09373639 -0.15450702 0.00152321
+v 0.09526944 -0.15356241 0.00152322
+v 0.09806597 -0.15179528 0.00152322
+v 0.10060140 -0.15111413 0.00222749
+v 0.10060140 -0.15726377 0.00793644
+v 0.09463769 -0.15928794 0.00627229
+v 0.10090464 -0.16063097 0.01221788
+v 0.09827656 -0.16279652 0.01292326
+v 0.09373639 -0.16526409 0.01272347
+v 0.09351738 -0.16552755 0.01292325
+v 0.10709577 -0.15712885 0.01292328
+v 0.10135949 -0.16086874 0.01292327
+v 0.10284200 -0.14863371 0.00152323
+v 0.10606813 -0.14632680 0.00152324
+v 0.09984330 -0.15067074 0.00152323
+v 0.10060140 -0.15016308 0.00152323
+v 0.10012969 -0.16163985 0.01292327
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 22
+f 1 22 39
+f 1 39 31
+f 1 31 18
+f 1 18 9
+f 1 9 4
+f 1 4 11
+f 1 11 20
+f 1 20 36
+f 1 36 57
+f 1 57 60
+f 1 60 85
+f 1 85 106
+f 1 106 132
+f 1 132 133
+f 1 133 131
+f 1 131 130
+f 1 130 156
+f 1 156 154
+f 1 154 163
+f 1 163 158
+f 1 158 157
+f 1 157 135
+f 1 135 134
+f 1 134 110
+f 1 110 109
+f 1 109 108
+f 1 108 107
+f 1 107 87
+f 1 87 86
+f 1 86 62
+f 1 62 61
+f 1 61 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 25
+f 1 25 24
+f 1 24 23
+f 1 23 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 6 7
+f 6 12 7
+f 7 13 8
+f 7 12 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 13
+f 9 18 32
+f 9 32 51
+f 9 51 75
+f 9 75 74
+f 9 74 73
+f 9 73 98
+f 9 98 97
+f 9 97 71
+f 9 71 70
+f 9 70 69
+f 9 69 96
+f 9 96 95
+f 9 95 94
+f 9 94 120
+f 9 120 119
+f 9 119 118
+f 9 118 117
+f 9 117 142
+f 9 142 141
+f 9 141 160
+f 9 160 159
+f 9 159 162
+f 9 162 161
+f 9 161 149
+f 9 149 148
+f 9 148 147
+f 9 147 146
+f 9 146 145
+f 9 145 144
+f 9 144 143
+f 9 143 121
+f 9 121 101
+f 9 101 100
+f 9 100 99
+f 9 99 76
+f 9 76 53
+f 9 53 34
+f 9 34 19
+f 9 19 10
+f 10 19 33
+f 10 33 52
+f 10 52 55
+f 10 55 54
+f 10 54 77
+f 10 77 58
+f 10 58 37
+f 10 37 20
+f 10 20 11
+f 13 17 21
+f 13 21 22
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 21
+f 18 31 32
+f 19 34 35
+f 19 35 33
+f 20 37 38
+f 20 38 36
+f 21 30 22
+f 22 30 39
+f 25 40 26
+f 26 40 27
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 28
+f 27 40 41
+f 28 49 29
+f 29 49 30
+f 30 31 39
+f 30 49 50
+f 30 50 31
+f 31 50 32
+f 32 50 51
+f 33 35 52
+f 34 53 35
+f 35 54 55
+f 35 55 52
+f 35 53 56
+f 35 56 54
+f 36 38 57
+f 37 58 38
+f 38 59 60
+f 38 60 57
+f 38 58 59
+f 43 61 45
+f 43 45 44
+f 45 61 62
+f 45 62 63
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 47
+f 45 47 46
+f 47 67 66
+f 47 66 68
+f 47 68 69
+f 47 69 70
+f 47 70 71
+f 47 71 72
+f 47 72 49
+f 47 49 48
+f 49 73 50
+f 49 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 51
+f 53 76 56
+f 54 56 78
+f 54 78 77
+f 56 76 79
+f 56 79 80
+f 56 80 81
+f 56 81 82
+f 56 82 78
+f 58 77 59
+f 59 82 83
+f 59 83 84
+f 59 84 60
+f 59 77 82
+f 60 84 85
+f 62 86 63
+f 63 86 64
+f 64 86 87
+f 64 87 88
+f 64 88 89
+f 64 89 90
+f 64 90 91
+f 64 91 65
+f 65 91 66
+f 66 91 92
+f 66 92 93
+f 66 93 94
+f 66 94 68
+f 68 94 95
+f 68 95 96
+f 68 96 69
+f 71 97 72
+f 72 97 98
+f 72 98 73
+f 76 99 79
+f 77 78 82
+f 79 99 100
+f 79 100 80
+f 80 100 101
+f 80 101 102
+f 80 102 81
+f 81 102 103
+f 81 103 83
+f 81 83 82
+f 83 103 104
+f 83 104 84
+f 84 104 105
+f 84 105 106
+f 84 106 85
+f 87 107 88
+f 88 108 89
+f 88 107 108
+f 89 108 109
+f 89 109 110
+f 89 110 111
+f 89 111 112
+f 89 112 113
+f 89 113 90
+f 90 113 114
+f 90 114 92
+f 90 92 91
+f 92 114 115
+f 92 115 116
+f 92 116 93
+f 93 116 117
+f 93 117 118
+f 93 118 119
+f 93 119 120
+f 93 120 94
+f 101 121 102
+f 102 121 122
+f 102 122 123
+f 102 123 124
+f 102 124 125
+f 102 125 126
+f 102 126 103
+f 103 126 104
+f 104 126 127
+f 104 127 128
+f 104 128 129
+f 104 129 130
+f 104 130 131
+f 104 131 105
+f 105 132 106
+f 105 131 133
+f 105 133 132
+f 110 134 111
+f 111 134 135
+f 111 135 112
+f 112 135 136
+f 112 136 137
+f 112 137 113
+f 113 137 138
+f 113 138 115
+f 113 115 114
+f 115 138 139
+f 115 139 140
+f 115 140 116
+f 116 140 141
+f 116 141 142
+f 116 142 117
+f 121 143 122
+f 122 143 144
+f 122 144 145
+f 122 145 123
+f 123 145 146
+f 123 146 147
+f 123 147 148
+f 123 148 124
+f 124 148 149
+f 124 149 150
+f 124 150 140
+f 124 140 139
+f 124 139 151
+f 124 151 152
+f 124 152 125
+f 125 127 126
+f 125 152 127
+f 127 152 151
+f 127 151 128
+f 128 151 137
+f 128 137 153
+f 128 153 154
+f 128 154 155
+f 128 155 129
+f 129 155 130
+f 130 155 156
+f 135 157 136
+f 136 157 158
+f 136 158 153
+f 136 153 137
+f 137 151 139
+f 137 139 138
+f 140 150 159
+f 140 159 160
+f 140 160 141
+f 149 161 150
+f 150 161 162
+f 150 162 159
+f 153 158 163
+f 153 163 154
+f 154 156 155
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_31.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.13041147 -0.06786217 0.00152242
+v 0.16778303 -0.06786217 0.00152242
+v 0.15656390 -0.06786221 0.01285073
+v 0.17103145 0.00007085 0.01286430
+v 0.14613476 0.00007089 0.00152267
+v 0.16866146 -0.06567443 0.00152243
+v 0.16942198 -0.06786217 0.00286685
+v 0.16632685 -0.06786221 0.01286405
+v 0.15849173 -0.06322074 0.01286407
+v 0.19063399 0.00007085 0.01286430
+v 0.18130141 0.00007089 0.00152267
+v 0.17027094 -0.06161813 0.00152244
+v 0.17077206 -0.06161813 0.00193986
+v 0.16955758 -0.06786217 0.00298009
+v 0.17796456 -0.06786221 0.01286405
+v 0.19039227 0.00007085 0.01244576
+v 0.19063399 -0.00320744 0.01286429
+v 0.18269865 0.00007089 0.00275719
+v 0.18130731 -0.00046108 0.00152267
+v 0.17047138 -0.06105291 0.00152245
+v 0.17482816 -0.05712961 0.00412473
+v 0.17119653 -0.05895826 0.00152245
+v 0.17281778 -0.05425029 0.00152247
+v 0.17552972 -0.05280066 0.00342200
+v 0.17402048 -0.06161814 0.00498288
+v 0.17314205 -0.06786218 0.00667700
+v 0.17749881 -0.06786220 0.01213910
+v 0.18016948 -0.06191075 0.01286407
+v 0.18839959 0.00007087 0.00930394
+v 0.19038638 -0.00320744 0.01244575
+v 0.18839959 -0.00320742 0.00930393
+v 0.19061630 -0.00370616 0.01286429
+v 0.18594707 0.00007088 0.00638860
+v 0.18270455 -0.00320740 0.00275163
+v 0.18131910 -0.00320740 0.00152266
+v 0.18131320 -0.00182426 0.00152266
+v 0.17663218 -0.06161815 0.00789711
+v 0.17738681 -0.05502831 0.00628737
+v 0.17398510 -0.05051982 0.00152248
+v 0.17454517 -0.04863797 0.00152249
+v 0.17611926 -0.04863797 0.00286914
+v 0.18019306 -0.04214790 0.00541371
+v 0.17972732 -0.04888402 0.00689799
+v 0.17579501 -0.06629952 0.00887184
+v 0.17370211 -0.06786219 0.00727650
+v 0.17695643 -0.06786220 0.01136197
+v 0.18006926 -0.06173786 0.01261650
+v 0.18032276 -0.06149182 0.01286407
+v 0.18595297 -0.00320741 0.00638970
+v 0.18978504 -0.01006989 0.01188619
+v 0.18832296 -0.00815477 0.00940494
+v 0.19036870 -0.01001005 0.01286426
+v 0.18259843 -0.00969748 0.00285263
+v 0.18119529 -0.00683812 0.00152264
+v 0.18154903 -0.05121142 0.00979445
+v 0.18095358 -0.05512808 0.01066927
+v 0.17518779 -0.04625738 0.00152250
+v 0.17695053 -0.04214789 0.00211535
+v 0.18091820 -0.03565781 0.00458997
+v 0.18270455 -0.04214791 0.00832905
+v 0.18213268 -0.04688912 0.00902956
+v 0.18161977 -0.05760842 0.01286409
+v 0.18630669 -0.01006988 0.00712350
+v 0.18996191 -0.01619425 0.01286424
+v 0.18987936 -0.01618760 0.01272547
+v 0.18819915 -0.01248372 0.00956922
+v 0.18235671 -0.01618756 0.00308352
+v 0.18059395 -0.01618756 0.00152261
+v 0.18109507 -0.00969748 0.00152263
+v 0.18321746 -0.05224878 0.01286411
+v 0.18262200 -0.05438333 0.01286410
+v 0.18361834 -0.04888403 0.01202149
+v 0.18239797 -0.05512809 0.01286410
+v 0.17626076 -0.04214789 0.00152252
+v 0.17650838 -0.04105734 0.00152252
+v 0.17769927 -0.03565780 0.00152254
+v 0.18340021 -0.03565782 0.00750531
+v 0.18141343 -0.03053755 0.00404378
+v 0.18723228 -0.02917440 0.01104349
+v 0.18695520 -0.03625631 0.01263325
+v 0.18555797 -0.04214793 0.01244561
+v 0.18541648 -0.01618757 0.00661502
+v 0.18979093 -0.01791651 0.01286423
+v 0.18803997 -0.01618759 0.00980901
+v 0.18200298 -0.02268429 0.00343099
+v 0.17985113 -0.02268429 0.00152259
+v 0.18414305 -0.04884414 0.01286412
+v 0.18581737 -0.04214793 0.01286415
+v 0.17911418 -0.02781119 0.00152257
+v 0.18178485 -0.02620862 0.00365301
+v 0.18356528 -0.02869560 0.00623861
+v 0.18769213 -0.02268432 0.01032967
+v 0.18867079 -0.02721276 0.01286420
+v 0.18839370 -0.02917441 0.01286419
+v 0.18792796 -0.03182098 0.01286418
+v 0.18713796 -0.03605682 0.01286417
+v 0.18705543 -0.03646910 0.01286417
+v 0.18471491 -0.02268430 0.00661500
+v 0.18937236 -0.02195951 0.01286422
+v 0.17969785 -0.02381473 0.00152258
+v 0.18929571 -0.02268433 0.01286422
+f 1 2 7
+f 1 7 14
+f 1 14 26
+f 1 26 45
+f 1 45 46
+f 1 46 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 36
+f 1 36 35
+f 1 35 54
+f 1 54 69
+f 1 69 68
+f 1 68 86
+f 1 86 100
+f 1 100 89
+f 1 89 76
+f 1 76 75
+f 1 75 74
+f 1 74 57
+f 1 57 40
+f 1 40 39
+f 1 39 23
+f 1 23 22
+f 1 22 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 10 16
+f 4 16 29
+f 4 29 33
+f 4 33 18
+f 4 18 11
+f 4 11 5
+f 4 9 8
+f 4 8 15
+f 4 15 28
+f 4 28 48
+f 4 48 62
+f 4 62 73
+f 4 73 71
+f 4 71 70
+f 4 70 87
+f 4 87 88
+f 4 88 97
+f 4 97 96
+f 4 96 95
+f 4 95 94
+f 4 94 93
+f 4 93 101
+f 4 101 99
+f 4 99 83
+f 4 83 64
+f 4 64 52
+f 4 52 32
+f 4 32 17
+f 4 17 10
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 10 17 16
+f 11 18 19
+f 12 20 13
+f 13 21 14
+f 13 20 22
+f 13 22 23
+f 13 23 24
+f 13 24 21
+f 14 21 25
+f 14 25 26
+f 15 27 28
+f 16 17 30
+f 16 30 31
+f 16 31 29
+f 17 32 30
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 19
+f 21 37 25
+f 21 24 38
+f 21 38 37
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 38
+f 25 37 44
+f 25 44 45
+f 25 45 26
+f 27 46 44
+f 27 44 47
+f 27 47 28
+f 28 47 48
+f 29 31 49
+f 29 49 33
+f 30 32 50
+f 30 50 51
+f 30 51 31
+f 31 51 49
+f 32 52 50
+f 33 49 34
+f 34 49 53
+f 34 53 35
+f 35 53 54
+f 37 38 55
+f 37 55 56
+f 37 56 44
+f 38 43 55
+f 40 57 41
+f 41 57 58
+f 41 58 42
+f 42 58 59
+f 42 59 60
+f 42 60 61
+f 42 61 43
+f 43 61 55
+f 44 56 47
+f 44 46 45
+f 47 56 48
+f 48 56 62
+f 49 51 63
+f 49 63 53
+f 50 52 64
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 51 66 63
+f 53 63 67
+f 53 67 68
+f 53 68 69
+f 53 69 54
+f 55 70 71
+f 55 71 56
+f 55 61 72
+f 55 72 70
+f 56 71 73
+f 56 73 62
+f 57 74 58
+f 58 74 75
+f 58 75 76
+f 58 76 59
+f 59 77 60
+f 59 76 78
+f 59 78 77
+f 60 77 79
+f 60 79 80
+f 60 80 81
+f 60 81 61
+f 61 81 72
+f 63 66 82
+f 63 82 67
+f 64 83 65
+f 65 84 66
+f 65 83 84
+f 66 84 82
+f 67 82 85
+f 67 85 86
+f 67 86 68
+f 70 72 87
+f 72 81 88
+f 72 88 87
+f 76 89 90
+f 76 90 78
+f 77 78 91
+f 77 91 79
+f 78 90 91
+f 79 91 92
+f 79 92 93
+f 79 93 94
+f 79 94 95
+f 79 95 80
+f 80 95 96
+f 80 96 97
+f 80 97 81
+f 81 97 88
+f 82 84 98
+f 82 98 85
+f 83 99 84
+f 84 99 92
+f 84 92 98
+f 85 98 90
+f 85 90 86
+f 86 90 100
+f 89 100 90
+f 90 98 91
+f 91 98 92
+f 92 99 101
+f 92 101 93
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_32.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.06238483 -0.15855131 0.01283291
+v -0.06238483 -0.17979526 0.01283283
+v -0.06238483 -0.17080102 0.02974132
+v -0.00022410 -0.18314056 0.03099376
+v -0.00022410 -0.17077847 0.01283286
+v -0.06238483 -0.18034593 0.01364820
+v -0.06154507 -0.18010992 0.01283283
+v -0.06238483 -0.17408632 0.03349035
+v -0.00022410 -0.18638841 0.03382234
+v -0.00022410 -0.19069257 0.01283279
+v -0.05958562 -0.18210284 0.01473675
+v -0.06238483 -0.18160462 0.01553531
+v -0.05519816 -0.18224144 0.01283282
+v -0.06238483 -0.17851418 0.03423635
+v -0.06169111 -0.17845425 0.03427418
+v -0.00022410 -0.19143812 0.03408500
+v -0.00022410 -0.19188757 0.01488383
+v -0.00327281 -0.19068883 0.01283279
+v -0.06172762 -0.18341398 0.01806339
+v -0.06238483 -0.18279212 0.01743715
+v -0.05519816 -0.18279961 0.01366920
+v -0.05458964 -0.18613363 0.01884302
+v -0.05193038 -0.18319294 0.01283282
+v -0.06238483 -0.18312932 0.03362901
+v -0.06169111 -0.18323796 0.03367735
+v -0.04870521 -0.18494619 0.03412915
+v -0.04221225 -0.18494619 0.03429937
+v -0.00327281 -0.19143812 0.03408500
+v -0.00022410 -0.19332987 0.03357433
+v -0.00022410 -0.19348714 0.01763465
+v -0.00327281 -0.19348340 0.01763465
+v -0.00928503 -0.19047905 0.01283279
+v -0.05634827 -0.18762083 0.02232306
+v -0.06166068 -0.18683416 0.02420178
+v -0.06238483 -0.18330909 0.01828614
+v -0.04870521 -0.18698023 0.01748336
+v -0.05202166 -0.18821271 0.02116304
+v -0.04886342 -0.18404705 0.01283281
+v -0.06238483 -0.18630598 0.02993881
+v -0.05651257 -0.18739611 0.03177549
+v -0.05218596 -0.18825770 0.03290819
+v -0.04870521 -0.18864355 0.03318138
+v -0.04221225 -0.18931409 0.03357014
+v -0.03572539 -0.18991721 0.03378449
+v -0.02923852 -0.19050534 0.03387906
+v -0.00976576 -0.19143812 0.03404298
+v -0.00327281 -0.19500810 0.03311831
+v -0.00022410 -0.19500810 0.03312041
+v -0.00022410 -0.19506053 0.02054938
+v -0.00327281 -0.19506053 0.02055148
+v -0.00976576 -0.19337103 0.01783429
+v -0.00976576 -0.19046032 0.01283279
+v -0.05948217 -0.18854612 0.02620869
+v -0.04870521 -0.19059146 0.02410930
+v -0.05458964 -0.18901063 0.02420178
+v -0.06238483 -0.18653073 0.02413873
+v -0.06238483 -0.18625726 0.02361968
+v -0.04329543 -0.18767699 0.01627711
+v -0.04156722 -0.18927657 0.01824408
+v -0.04870521 -0.18868095 0.02039811
+v -0.04785327 -0.18431676 0.01283281
+v -0.05948217 -0.18854612 0.02788776
+v -0.05468700 -0.18903687 0.02987576
+v -0.04870521 -0.19055403 0.02994089
+v -0.03400935 -0.19497812 0.02778896
+v -0.02923852 -0.19374943 0.03163257
+v -0.02274557 -0.19432258 0.03248367
+v -0.01912486 -0.19462601 0.03281150
+v -0.01479825 -0.19480207 0.03295649
+v -0.02274557 -0.19107848 0.03389797
+v -0.00976576 -0.19492570 0.03305526
+v -0.00327281 -0.19676125 0.02994087
+v -0.00022410 -0.19676501 0.02994087
+v -0.00022410 -0.19681369 0.02410928
+v -0.00327281 -0.19681369 0.02410928
+v -0.00976576 -0.19494439 0.02075112
+v -0.01437229 -0.19479829 0.02099700
+v -0.01642301 -0.19341223 0.01874212
+v -0.01491387 -0.19008946 0.01283279
+v -0.04221225 -0.19224348 0.02410929
+v -0.03400935 -0.19497812 0.02631163
+v -0.04305202 -0.18554548 0.01283281
+v -0.04156722 -0.18605119 0.01303034
+v -0.03896883 -0.18819396 0.01536297
+v -0.03572539 -0.19057646 0.01827981
+v -0.02923852 -0.19537521 0.02871782
+v -0.02274557 -0.19580975 0.02956891
+v -0.01667859 -0.19590342 0.03049777
+v -0.00976576 -0.19657021 0.02994087
+v -0.00022410 -0.19679121 0.02684960
+v -0.00976576 -0.19658892 0.02410928
+v -0.01642301 -0.19590340 0.02359442
+v -0.01869889 -0.19461848 0.02131223
+v -0.01581449 -0.19002202 0.01283279
+v -0.02274557 -0.19252442 0.01827980
+v -0.03599314 -0.19366324 0.02426480
+v -0.02923852 -0.19403035 0.02253529
+v -0.02923852 -0.19537519 0.02544792
+v -0.04182889 -0.18585265 0.01283281
+v -0.04159156 -0.18590884 0.01283281
+v -0.04052056 -0.18615233 0.01283281
+v -0.03572539 -0.18721247 0.01283280
+v -0.03572539 -0.18851236 0.01483970
+v -0.02923852 -0.18908551 0.01391716
+v -0.02923852 -0.19167781 0.01827981
+v -0.02274557 -0.19580973 0.02461153
+v -0.02274557 -0.19441994 0.02169890
+v -0.02055489 -0.18955002 0.01283279
+v -0.02274557 -0.18953879 0.01319424
+v -0.02923852 -0.18838874 0.01283280
+v -0.02274557 -0.18931027 0.01283279
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 35
+f 1 35 57
+f 1 57 56
+f 1 56 39
+f 1 39 24
+f 1 24 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 32
+f 1 32 52
+f 1 52 79
+f 1 79 94
+f 1 94 108
+f 1 108 111
+f 1 111 110
+f 1 110 102
+f 1 102 101
+f 1 101 100
+f 1 100 99
+f 1 99 82
+f 1 82 61
+f 1 61 38
+f 1 38 23
+f 1 23 13
+f 1 13 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 16
+f 4 16 29
+f 4 29 48
+f 4 48 73
+f 4 73 90
+f 4 90 74
+f 4 74 49
+f 4 49 30
+f 4 30 17
+f 4 17 10
+f 4 10 5
+f 4 8 9
+f 6 7 11
+f 6 11 12
+f 7 13 11
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 11 13 21
+f 11 21 22
+f 11 22 19
+f 13 23 21
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 28 29
+f 16 27 28
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 19 22 33
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 21 23 36
+f 21 36 22
+f 22 36 37
+f 22 37 33
+f 23 38 36
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 28
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 30 49 50
+f 30 50 31
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 33 53 34
+f 33 37 54
+f 33 54 55
+f 33 55 53
+f 34 53 56
+f 34 56 57
+f 34 57 35
+f 36 58 59
+f 36 59 60
+f 36 60 37
+f 36 38 58
+f 37 60 54
+f 38 61 58
+f 39 56 62
+f 39 62 40
+f 40 62 41
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 67
+f 41 67 42
+f 42 67 68
+f 42 68 43
+f 43 68 44
+f 44 68 45
+f 45 68 69
+f 45 69 70
+f 45 70 46
+f 46 70 71
+f 46 71 47
+f 47 72 73
+f 47 73 48
+f 47 71 72
+f 49 74 75
+f 49 75 50
+f 50 75 76
+f 50 76 51
+f 51 76 77
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 53 62 56
+f 53 55 54
+f 53 54 80
+f 53 80 81
+f 53 81 65
+f 53 65 62
+f 54 60 80
+f 58 61 82
+f 58 82 83
+f 58 83 84
+f 58 84 59
+f 59 84 85
+f 59 85 80
+f 59 80 60
+f 62 65 64
+f 62 64 63
+f 65 81 98
+f 65 98 86
+f 65 86 66
+f 66 86 67
+f 67 86 87
+f 67 87 68
+f 68 88 69
+f 68 87 88
+f 69 88 89
+f 69 89 71
+f 69 71 70
+f 71 89 72
+f 72 75 73
+f 72 89 75
+f 73 75 90
+f 74 90 75
+f 75 89 91
+f 75 91 76
+f 76 91 77
+f 77 91 92
+f 77 92 93
+f 77 93 78
+f 78 94 79
+f 78 93 95
+f 78 95 94
+f 80 85 96
+f 80 96 81
+f 81 97 98
+f 81 96 97
+f 82 99 83
+f 83 99 100
+f 83 100 101
+f 83 101 84
+f 84 102 103
+f 84 103 85
+f 84 101 102
+f 85 103 104
+f 85 104 105
+f 85 105 97
+f 85 97 96
+f 86 98 106
+f 86 106 87
+f 87 106 91
+f 87 91 89
+f 87 89 88
+f 91 106 92
+f 92 106 93
+f 93 106 107
+f 93 107 95
+f 94 95 108
+f 95 109 108
+f 95 107 105
+f 95 105 109
+f 97 105 107
+f 97 107 106
+f 97 106 98
+f 102 110 103
+f 103 110 104
+f 104 110 111
+f 104 111 109
+f 104 109 105
+f 108 109 111
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_4.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.00322284 0.19022684 0.01196074
+v 0.00322284 0.18850244 0.00922345
+v 0.00000766 0.18850244 0.00922345
+v 0.00000766 0.19022095 0.01196074
+v 0.00425700 0.19019153 0.01196074
+v 0.00971950 0.18838474 0.00937808
+v 0.00322284 0.18607180 0.00630900
+v 0.00000766 0.18607180 0.00630900
+v 0.00000766 0.17005183 0.01196066
+v 0.00971950 0.18999731 0.01196074
+v 0.01316670 0.18829056 0.00950609
+v 0.00971950 0.18594820 0.00646364
+v 0.00971950 0.18270539 0.00278934
+v 0.00322284 0.18282309 0.00267158
+v 0.00000766 0.18282897 0.00267055
+v 0.00000766 0.18443567 0.00447289
+v 0.00000766 0.14599841 0.00149891
+v 0.06552446 0.13049638 0.00149885
+v 0.06773199 0.15561506 0.01196061
+v 0.01028961 0.18996788 0.01196074
+v 0.01561289 0.18960299 0.01196074
+v 0.01749560 0.18808457 0.00980409
+v 0.01568582 0.18610711 0.00718354
+v 0.01620953 0.18246409 0.00302180
+v 0.00971950 0.18125758 0.00149904
+v 0.00594746 0.18140472 0.00149904
+v 0.00322284 0.18151065 0.00149904
+v 0.00000766 0.18151065 0.00149904
+v 0.06773199 0.13010794 0.00149885
+v 0.06773199 0.17736733 0.01196069
+v 0.01573885 0.18959122 0.01196074
+v 0.02269955 0.18887321 0.01196073
+v 0.02269955 0.18779030 0.01024648
+v 0.02269955 0.18487119 0.00661622
+v 0.02269955 0.18210508 0.00337203
+v 0.02006111 0.18031004 0.00149903
+v 0.01620953 0.18075145 0.00149903
+v 0.01283524 0.18101628 0.00149903
+v 0.06773199 0.16778600 0.00149899
+v 0.06773199 0.17550757 0.00928485
+v 0.06622715 0.17580772 0.00890493
+v 0.06466265 0.17851498 0.01196070
+v 0.02918958 0.18797274 0.01196073
+v 0.02918958 0.18733124 0.01095204
+v 0.02886475 0.18367645 0.00620966
+v 0.02647822 0.18186378 0.00361473
+v 0.02269955 0.18000400 0.00149903
+v 0.06773199 0.16783897 0.00153996
+v 0.06163972 0.17023430 0.00149900
+v 0.06773199 0.17380670 0.00738524
+v 0.06163972 0.17403035 0.00502583
+v 0.06163972 0.17664933 0.00794028
+v 0.05514969 0.18098683 0.01067245
+v 0.05949847 0.18038064 0.01196070
+v 0.06253467 0.17930950 0.01196070
+v 0.06773199 0.17314755 0.00667250
+v 0.03535477 0.18687218 0.01196073
+v 0.03567961 0.18674860 0.01186140
+v 0.03567961 0.18350577 0.00743340
+v 0.03080712 0.18150477 0.00399567
+v 0.02808250 0.17922125 0.00149903
+v 0.06773199 0.16959869 0.00298181
+v 0.05870960 0.17125247 0.00149900
+v 0.06163972 0.17078164 0.00195573
+v 0.06773199 0.16980468 0.00317331
+v 0.05708543 0.17484842 0.00414925
+v 0.05501710 0.17741444 0.00630283
+v 0.05125832 0.18159302 0.00978768
+v 0.05514969 0.18184609 0.01196071
+v 0.03567961 0.18681333 0.01196073
+v 0.03619006 0.18670151 0.01196073
+v 0.04172548 0.18544793 0.01196072
+v 0.04216964 0.18279364 0.00827926
+v 0.03567961 0.18102216 0.00451793
+v 0.03559343 0.17783819 0.00149902
+v 0.02901722 0.17905058 0.00149903
+v 0.03612377 0.17772637 0.00149902
+v 0.03567961 0.17782054 0.00149902
+v 0.05424148 0.17278267 0.00149900
+v 0.05276316 0.17556056 0.00343958
+v 0.04892483 0.17976857 0.00688552
+v 0.04693606 0.18219922 0.00901043
+v 0.04898450 0.18364701 0.01196071
+v 0.04299166 0.18515954 0.01196072
+v 0.04216964 0.18026883 0.00536481
+v 0.04216964 0.17702013 0.00210526
+v 0.04216964 0.17631977 0.00149902
+v 0.04865966 0.17452474 0.00149901
+v 0.04865966 0.17615497 0.00288661
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 30
+f 1 30 42
+f 1 42 55
+f 1 55 54
+f 1 54 69
+f 1 69 83
+f 1 83 84
+f 1 84 72
+f 1 72 71
+f 1 71 70
+f 1 70 57
+f 1 57 43
+f 1 43 32
+f 1 32 31
+f 1 31 21
+f 1 21 20
+f 1 20 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 16
+f 3 16 15
+f 3 15 28
+f 3 28 17
+f 3 17 9
+f 3 9 4
+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 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 9 18 19
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 13 24 25
+f 14 27 15
+f 15 27 28
+f 17 28 27
+f 17 27 26
+f 17 26 25
+f 17 25 38
+f 17 38 37
+f 17 37 36
+f 17 36 47
+f 17 47 61
+f 17 61 76
+f 17 76 75
+f 17 75 78
+f 17 78 77
+f 17 77 87
+f 17 87 88
+f 17 88 79
+f 17 79 63
+f 17 63 49
+f 17 49 39
+f 17 39 29
+f 17 29 18
+f 18 29 19
+f 19 29 39
+f 19 39 48
+f 19 48 62
+f 19 62 65
+f 19 65 56
+f 19 56 50
+f 19 50 40
+f 19 40 30
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 24 35 36
+f 30 40 41
+f 30 41 42
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 35
+f 35 46 47
+f 35 47 36
+f 39 49 48
+f 40 50 41
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 41 50 56
+f 41 56 51
+f 43 57 44
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 45 60 46
+f 45 59 60
+f 46 60 61
+f 46 61 47
+f 48 49 62
+f 49 63 64
+f 49 64 62
+f 51 56 65
+f 51 65 66
+f 51 66 52
+f 52 66 67
+f 52 67 68
+f 52 68 53
+f 53 68 69
+f 53 69 54
+f 57 70 58
+f 58 70 71
+f 58 71 72
+f 58 72 73
+f 58 73 59
+f 59 74 60
+f 59 73 74
+f 60 75 76
+f 60 76 61
+f 60 74 77
+f 60 77 78
+f 60 78 75
+f 62 64 65
+f 63 79 80
+f 63 80 64
+f 64 80 66
+f 64 66 65
+f 66 80 67
+f 67 80 81
+f 67 81 68
+f 68 81 82
+f 68 82 83
+f 68 83 69
+f 72 84 73
+f 73 85 74
+f 73 84 82
+f 73 82 85
+f 74 85 86
+f 74 86 77
+f 77 86 87
+f 79 88 80
+f 80 88 89
+f 80 89 85
+f 80 85 81
+f 81 85 82
+f 82 84 83
+f 85 89 86
+f 86 89 87
+f 87 89 88
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_5.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.18955801 0.00007086 0.01108799
+v -0.18843448 0.00007087 0.00931717
+v -0.16930575 0.00007086 0.01108799
+v -0.18955220 0.00328789 0.01108800
+v -0.18843448 0.00328790 0.00931906
+v -0.18722989 0.00007087 0.00787310
+v -0.14613467 0.00007089 0.00149683
+v -0.13039965 0.06727969 0.00149708
+v -0.15503014 0.06727966 0.01108824
+v -0.18934373 0.00946536 0.01108802
+v -0.18835920 0.00814303 0.00942049
+v -0.18599634 0.00328791 0.00640369
+v -0.18600213 0.00007088 0.00640180
+v -0.18135749 0.00007089 0.00149683
+v -0.16813011 0.06727969 0.00149708
+v -0.17702558 0.06727966 0.01108824
+v -0.18927422 0.01091927 0.01108803
+v -0.18824337 0.01247186 0.00957355
+v -0.18633803 0.01009693 0.00713139
+v -0.18263159 0.00978117 0.00285926
+v -0.18275320 0.00328792 0.00274280
+v -0.18275320 0.00007089 0.00274091
+v -0.18135749 0.00191953 0.00149684
+v -0.16925942 0.06727969 0.00243226
+v -0.16873820 0.06576000 0.00149707
+v -0.17652753 0.06727966 0.01035400
+v -0.17900042 0.06179954 0.01108822
+v -0.18904258 0.01429418 0.01108804
+v -0.18888042 0.01626782 0.01108805
+v -0.18808121 0.01626782 0.00981487
+v -0.18545195 0.01626784 0.00661406
+v -0.18239993 0.01626785 0.00308838
+v -0.18110267 0.00978117 0.00149687
+v -0.18121850 0.00686677 0.00149686
+v -0.18135169 0.00328792 0.00149684
+v -0.16968219 0.06727969 0.00278342
+v -0.17031344 0.06170089 0.00149706
+v -0.17460481 0.06727967 0.00793908
+v -0.17583257 0.06635206 0.00888457
+v -0.18080731 0.05672072 0.01108820
+v -0.18863138 0.01866907 0.01108806
+v -0.18820284 0.02276107 0.01108807
+v -0.18773373 0.02276107 0.01034444
+v -0.18475699 0.02276109 0.00661408
+v -0.18205245 0.02276110 0.00343017
+v -0.18030926 0.01891251 0.00149690
+v -0.18060462 0.01626785 0.00149689
+v -0.18085943 0.01298504 0.00149688
+v -0.16975168 0.06727969 0.00284257
+v -0.17080570 0.06170089 0.00191207
+v -0.17051613 0.06114169 0.00149705
+v -0.17405463 0.06170088 0.00500866
+v -0.17328439 0.06727968 0.00651096
+v -0.17667810 0.06170087 0.00792309
+v -0.18101000 0.05520760 0.01063845
+v -0.18114900 0.05572075 0.01108819
+v -0.18801751 0.02408998 0.01108808
+v -0.18729359 0.02925432 0.01108810
+v -0.18727043 0.02925432 0.01105618
+v -0.18360453 0.02878725 0.00623102
+v -0.18183238 0.02631364 0.00365177
+v -0.17986912 0.02276110 0.00149691
+v -0.17485383 0.05713520 0.00414670
+v -0.17124584 0.05897727 0.00149705
+v -0.17556037 0.05281296 0.00344155
+v -0.17743097 0.05506947 0.00629965
+v -0.18161810 0.05135244 0.00976523
+v -0.18131116 0.05520760 0.01108819
+v -0.18593264 0.03614888 0.01108812
+v -0.18275899 0.04222769 0.00831362
+v -0.18344816 0.03573443 0.00748733
+v -0.18147332 0.03063590 0.00403111
+v -0.17912783 0.02791228 0.00149693
+v -0.17971855 0.02387291 0.00149692
+v -0.17772633 0.03572129 0.00149696
+v -0.17280949 0.05432608 0.00149703
+v -0.17398514 0.05051039 0.00149702
+v -0.17452373 0.04871438 0.00149701
+v -0.17615109 0.04871438 0.00289508
+v -0.18024555 0.04222770 0.00539824
+v -0.17977067 0.04900382 0.00689116
+v -0.18207561 0.05270109 0.01108818
+v -0.18219144 0.04703019 0.00901970
+v -0.18322229 0.04839857 0.01108817
+v -0.18283428 0.04996432 0.01108817
+v -0.18467012 0.04222768 0.01108815
+v -0.18098105 0.03573444 0.00457289
+v -0.17699662 0.04222771 0.00213171
+v -0.17652753 0.04106326 0.00149698
+v -0.17518394 0.04625392 0.00149700
+v -0.17626113 0.04222771 0.00149699
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 27
+f 1 27 40
+f 1 40 56
+f 1 56 68
+f 1 68 82
+f 1 82 85
+f 1 85 84
+f 1 84 86
+f 1 86 69
+f 1 69 58
+f 1 58 57
+f 1 57 42
+f 1 42 41
+f 1 41 29
+f 1 29 28
+f 1 28 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 23
+f 7 23 35
+f 7 35 34
+f 7 34 33
+f 7 33 48
+f 7 48 47
+f 7 47 46
+f 7 46 62
+f 7 62 74
+f 7 74 73
+f 7 73 75
+f 7 75 89
+f 7 89 91
+f 7 91 90
+f 7 90 78
+f 7 78 77
+f 7 77 76
+f 7 76 64
+f 7 64 51
+f 7 51 37
+f 7 37 25
+f 7 25 15
+f 7 15 8
+f 8 15 24
+f 8 24 36
+f 8 36 49
+f 8 49 53
+f 8 53 38
+f 8 38 26
+f 8 26 16
+f 8 16 9
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 14 22 23
+f 15 25 24
+f 16 26 27
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 23
+f 21 23 22
+f 24 25 36
+f 25 37 36
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 36 37 50
+f 36 50 49
+f 37 51 50
+f 38 52 39
+f 38 53 52
+f 39 52 54
+f 39 54 55
+f 39 55 40
+f 40 55 56
+f 42 57 43
+f 43 57 58
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 45
+f 45 61 62
+f 45 62 46
+f 49 50 63
+f 49 63 52
+f 49 52 53
+f 50 51 64
+f 50 64 65
+f 50 65 63
+f 52 63 54
+f 54 63 66
+f 54 66 67
+f 54 67 55
+f 55 67 68
+f 55 68 56
+f 58 69 70
+f 58 70 71
+f 58 71 59
+f 59 71 60
+f 60 71 72
+f 60 72 61
+f 61 73 74
+f 61 74 62
+f 61 72 75
+f 61 75 73
+f 63 65 66
+f 64 76 65
+f 65 76 77
+f 65 77 78
+f 65 78 79
+f 65 79 80
+f 65 80 81
+f 65 81 66
+f 66 81 67
+f 67 82 68
+f 67 81 83
+f 67 83 84
+f 67 84 85
+f 67 85 82
+f 69 86 70
+f 70 86 83
+f 70 83 80
+f 70 80 87
+f 70 87 71
+f 71 87 72
+f 72 87 75
+f 75 87 88
+f 75 88 89
+f 78 90 79
+f 79 90 91
+f 79 91 88
+f 79 88 80
+f 80 88 87
+f 80 83 81
+f 83 86 84
+f 88 91 89
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_6.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.11353116 -0.15247748 0.01283082
+v -0.11353116 -0.15246039 0.01279974
+v -0.11345589 -0.15253728 0.01283082
+v -0.11353116 -0.12681977 0.01283091
+v -0.11353116 -0.15229805 0.01258992
+v -0.11345087 -0.15236640 0.01259547
+v -0.11318488 -0.15274233 0.01283082
+v -0.11263284 -0.09309647 0.00148941
+v -0.11353116 -0.09255819 0.00148941
+v -0.06226137 -0.15858645 0.01283080
+v -0.11353116 -0.14956394 0.00925160
+v -0.10871333 -0.15457075 0.01100678
+v -0.10693675 -0.15717669 0.01283080
+v -0.06226137 -0.13217684 0.00148926
+v -0.11353116 -0.14062687 0.00148923
+v -0.06226137 -0.17984399 0.01283072
+v -0.11353116 -0.14699218 0.00674926
+v -0.11172447 -0.15024746 0.00850223
+v -0.10438731 -0.15607449 0.00916277
+v -0.10678118 -0.15721940 0.01274865
+v -0.10669084 -0.15733902 0.01283080
+v -0.06226137 -0.16982181 0.00148913
+v -0.11296908 -0.14109679 0.00148923
+v -0.11183489 -0.14389923 0.00281256
+v -0.11353116 -0.14322426 0.00335211
+v -0.06752586 -0.17786177 0.01283073
+v -0.06226137 -0.17969873 0.01261424
+v -0.11353116 -0.14641118 0.00620305
+v -0.10897931 -0.14823107 0.00461549
+v -0.10668081 -0.15217841 0.00689023
+v -0.10063843 -0.15435712 0.00502623
+v -0.09705517 -0.15552765 0.00389162
+v -0.10063843 -0.15725356 0.00794045
+v -0.09658342 -0.16174773 0.01013749
+v -0.10093454 -0.16061991 0.01222686
+v -0.10132097 -0.16082499 0.01283079
+v -0.06226137 -0.17053950 0.00207752
+v -0.06835894 -0.16737821 0.00148914
+v -0.10771463 -0.14514666 0.00148922
+v -0.10465330 -0.14977753 0.00325883
+v -0.07024091 -0.17676813 0.01283073
+v -0.06826861 -0.17714407 0.01218128
+v -0.06226137 -0.17940823 0.01220902
+v -0.06616081 -0.17569157 0.00895508
+v -0.10063843 -0.15111039 0.00222302
+v -0.09527859 -0.15353690 0.00148919
+v -0.09379811 -0.15446819 0.00148918
+v -0.09272916 -0.15681780 0.00279142
+v -0.08893009 -0.16114108 0.00478308
+v -0.09465629 -0.15928703 0.00628071
+v -0.09225741 -0.16299514 0.00866982
+v -0.08766039 -0.16748078 0.01121434
+v -0.09376299 -0.16525079 0.01273419
+v -0.09414942 -0.16509700 0.01283077
+v -0.10027208 -0.16148288 0.01283079
+v -0.06226137 -0.17349574 0.00491736
+v -0.06818831 -0.16938606 0.00308558
+v -0.07146042 -0.16872816 0.00368729
+v -0.07275020 -0.16545581 0.00148914
+v -0.10613879 -0.14630010 0.00148921
+v -0.10063843 -0.15012782 0.00148920
+v -0.07467733 -0.17491408 0.01283074
+v -0.07048682 -0.17482008 0.01006084
+v -0.06226137 -0.17640072 0.00812800
+v -0.06226137 -0.17380333 0.00524486
+v -0.07404499 -0.17026610 0.00664814
+v -0.09800368 -0.15181955 0.00148919
+v -0.08721374 -0.15826174 0.00148917
+v -0.08712842 -0.15897944 0.00201207
+v -0.08460910 -0.16232869 0.00360738
+v -0.08712842 -0.16389226 0.00668148
+v -0.08390650 -0.16846333 0.00986213
+v -0.08766039 -0.16864277 0.01283076
+v -0.09365759 -0.16537895 0.01283077
+v -0.09379310 -0.16530205 0.01283077
+v -0.07578644 -0.16771999 0.00472532
+v -0.08117137 -0.16317455 0.00287244
+v -0.07404499 -0.16552416 0.00200982
+v -0.07414536 -0.16483209 0.00148914
+v -0.08067955 -0.17212872 0.01283075
+v -0.07467733 -0.17388879 0.01137196
+v -0.07958048 -0.16951424 0.00861207
+v -0.08592397 -0.15895380 0.00148917
+v -0.08151264 -0.16672888 0.00664816
+v -0.08135204 -0.16134612 0.00148916
+v -0.08093048 -0.17184678 0.01260206
+v -0.08193419 -0.17150502 0.01283075
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 36
+f 1 36 55
+f 1 55 54
+f 1 54 75
+f 1 75 74
+f 1 74 73
+f 1 73 87
+f 1 87 80
+f 1 80 62
+f 1 62 41
+f 1 41 26
+f 1 26 16
+f 1 16 10
+f 1 10 4
+f 1 4 9
+f 1 9 15
+f 1 15 25
+f 1 25 28
+f 1 28 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 4 10 8
+f 5 11 6
+f 6 12 7
+f 6 11 12
+f 7 12 13
+f 8 14 22
+f 8 22 38
+f 8 38 59
+f 8 59 79
+f 8 79 85
+f 8 85 83
+f 8 83 68
+f 8 68 47
+f 8 47 46
+f 8 46 67
+f 8 67 61
+f 8 61 60
+f 8 60 39
+f 8 39 23
+f 8 23 15
+f 8 15 9
+f 8 10 14
+f 10 16 27
+f 10 27 43
+f 10 43 64
+f 10 64 65
+f 10 65 56
+f 10 56 37
+f 10 37 22
+f 10 22 14
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 15 23 24
+f 15 24 25
+f 16 26 27
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 21
+f 22 37 38
+f 23 39 24
+f 24 39 40
+f 24 40 29
+f 24 29 25
+f 25 29 28
+f 26 41 42
+f 26 42 27
+f 27 42 44
+f 27 44 43
+f 29 40 30
+f 30 40 31
+f 31 40 32
+f 32 40 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 36
+f 37 56 57
+f 37 57 38
+f 38 57 58
+f 38 58 59
+f 39 60 40
+f 40 60 61
+f 40 61 45
+f 41 62 63
+f 41 63 42
+f 42 63 44
+f 43 44 64
+f 44 65 64
+f 44 63 66
+f 44 66 58
+f 44 58 65
+f 45 67 46
+f 45 61 67
+f 47 68 48
+f 48 68 69
+f 48 69 70
+f 48 70 49
+f 49 70 71
+f 49 71 51
+f 49 51 50
+f 51 71 72
+f 51 72 52
+f 52 72 73
+f 52 73 74
+f 52 74 53
+f 53 74 75
+f 53 75 54
+f 56 65 58
+f 56 58 57
+f 58 76 70
+f 58 70 77
+f 58 77 78
+f 58 78 59
+f 58 66 76
+f 59 78 79
+f 62 80 81
+f 62 81 63
+f 63 81 82
+f 63 82 66
+f 66 82 76
+f 68 83 69
+f 69 83 70
+f 70 76 84
+f 70 84 71
+f 70 83 85
+f 70 85 77
+f 71 84 72
+f 72 82 81
+f 72 81 86
+f 72 86 87
+f 72 87 73
+f 72 84 82
+f 76 82 84
+f 77 85 79
+f 77 79 78
+f 80 87 86
+f 80 86 81
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_7.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.14998622 0.11711938 0.01284044
+v 0.15198800 0.11457261 0.01284043
+v 0.14870829 0.11614533 0.01019598
+v 0.14821678 0.11711939 0.01057011
+v 0.12388251 0.11711938 0.01284044
+v 0.15305146 0.11316225 0.01284043
+v 0.15247058 0.11356303 0.01248406
+v 0.15468685 0.10884493 0.01088538
+v 0.15035262 0.11181786 0.00843965
+v 0.14712652 0.11711940 0.00939776
+v 0.08764474 0.11711942 0.00149880
+v 0.15765379 0.06529113 0.01284025
+v 0.15733208 0.10718598 0.01284040
+v 0.15742143 0.10686636 0.01267609
+v 0.15619713 0.10452254 0.00907243
+v 0.15228291 0.10680043 0.00681321
+v 0.14832401 0.10907832 0.00455289
+v 0.14634903 0.11403488 0.00628368
+v 0.14508004 0.11711940 0.00740165
+v 0.13782355 0.11711942 0.00149880
+v 0.13042407 0.06529117 0.00149861
+v 0.17893176 0.06529113 0.01284025
+v 0.15767166 0.10668372 0.01284040
+v 0.16085308 0.10105243 0.01212431
+v 0.16190759 0.09681627 0.00996499
+v 0.15744825 0.10064659 0.00780903
+v 0.15450812 0.10064660 0.00489369
+v 0.14398978 0.11191934 0.00279326
+v 0.14227396 0.11624682 0.00412550
+v 0.14987898 0.10475085 0.00321177
+v 0.14190757 0.11711941 0.00446188
+v 0.13847592 0.11711942 0.00192845
+v 0.13886913 0.11590185 0.00149880
+v 0.16886023 0.06529117 0.00149861
+v 0.17868153 0.06529113 0.01245390
+v 0.17811852 0.06755380 0.01284026
+v 0.16107649 0.10153438 0.01284038
+v 0.16188973 0.10027114 0.01284038
+v 0.16496390 0.09514209 0.01284036
+v 0.16581287 0.09368607 0.01284035
+v 0.16773423 0.08766921 0.01091971
+v 0.16864577 0.08421941 0.00966408
+v 0.16316765 0.09248881 0.00854949
+v 0.15942323 0.09484788 0.00617815
+v 0.15565199 0.09720694 0.00380681
+v 0.14124626 0.11301010 0.00149879
+v 0.13877976 0.11711942 0.00214160
+v 0.14079049 0.11711942 0.00357596
+v 0.14647415 0.10618151 0.00149876
+v 0.14518728 0.10791149 0.00149877
+v 0.15126414 0.10064661 0.00215597
+v 0.15037048 0.10064661 0.00149874
+v 0.16764487 0.06839599 0.00149862
+v 0.16955729 0.06819813 0.00298183
+v 0.17010243 0.06529117 0.00250999
+v 0.17681378 0.06529114 0.00977725
+v 0.17496392 0.07072458 0.00991382
+v 0.17730530 0.06841625 0.01209310
+v 0.17779681 0.06838073 0.01284026
+v 0.16910152 0.08766920 0.01284033
+v 0.16969134 0.07989194 0.00847395
+v 0.16697462 0.08170310 0.00656555
+v 0.16415961 0.08723801 0.00661109
+v 0.17136247 0.08312865 0.01284032
+v 0.17253316 0.08074423 0.01284031
+v 0.17411494 0.07468678 0.01113393
+v 0.16125522 0.08911511 0.00466273
+v 0.15692993 0.09287946 0.00274101
+v 0.15467792 0.09388904 0.00149871
+v 0.15370383 0.09546175 0.00149872
+v 0.15188971 0.09829769 0.00149873
+v 0.16886023 0.07168345 0.00360132
+v 0.16556265 0.07320035 0.00149864
+v 0.17155909 0.06529117 0.00387663
+v 0.17598269 0.06529115 0.00864375
+v 0.17578608 0.06639712 0.00887356
+v 0.17528563 0.07468677 0.01284028
+v 0.17684953 0.07081081 0.01284027
+v 0.17312298 0.06841627 0.00680419
+v 0.17050457 0.07418456 0.00656552
+v 0.16785934 0.07601092 0.00458718
+v 0.16245273 0.08478764 0.00352699
+v 0.15906577 0.08723802 0.00190391
+v 0.15851170 0.08729382 0.00149869
+v 0.16510689 0.07424037 0.00149864
+v 0.16561627 0.07418457 0.00188943
+v 0.16336426 0.08117549 0.00276317
+v 0.17354300 0.06529116 0.00595711
+v 0.16164844 0.08137335 0.00149867
+v 0.15904789 0.08630454 0.00149869
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 31
+f 1 31 48
+f 1 48 47
+f 1 47 32
+f 1 32 20
+f 1 20 11
+f 1 11 5
+f 1 5 12
+f 1 12 22
+f 1 22 36
+f 1 36 59
+f 1 59 78
+f 1 78 77
+f 1 77 65
+f 1 65 64
+f 1 64 60
+f 1 60 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 6 8 7
+f 6 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 33
+f 11 33 46
+f 11 46 50
+f 11 50 49
+f 11 49 52
+f 11 52 71
+f 11 71 70
+f 11 70 69
+f 11 69 84
+f 11 84 90
+f 11 90 89
+f 11 89 85
+f 11 85 73
+f 11 73 53
+f 11 53 34
+f 11 34 21
+f 11 21 12
+f 12 21 34
+f 12 34 55
+f 12 55 74
+f 12 74 88
+f 12 88 75
+f 12 75 56
+f 12 56 35
+f 12 35 22
+f 13 23 14
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 17
+f 17 28 29
+f 17 29 18
+f 17 27 30
+f 17 30 28
+f 18 29 19
+f 19 29 31
+f 20 32 33
+f 22 35 36
+f 23 37 24
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 27
+f 27 45 30
+f 28 46 33
+f 28 33 47
+f 28 47 48
+f 28 48 29
+f 28 30 49
+f 28 49 50
+f 28 50 46
+f 29 48 31
+f 30 45 51
+f 30 51 52
+f 30 52 49
+f 32 47 33
+f 34 53 54
+f 34 54 55
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 36 58 59
+f 40 60 41
+f 41 60 42
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 42 60 64
+f 42 64 65
+f 42 65 66
+f 42 66 61
+f 43 63 67
+f 43 67 44
+f 44 67 45
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 51
+f 51 70 71
+f 51 71 52
+f 53 72 54
+f 53 73 72
+f 54 72 74
+f 54 74 55
+f 56 75 76
+f 56 76 57
+f 57 77 78
+f 57 78 58
+f 57 76 79
+f 57 79 80
+f 57 80 61
+f 57 61 66
+f 57 66 77
+f 58 78 59
+f 61 80 81
+f 61 81 62
+f 62 81 82
+f 62 82 63
+f 63 82 67
+f 65 77 66
+f 67 82 68
+f 68 82 83
+f 68 83 84
+f 68 84 69
+f 72 73 85
+f 72 85 86
+f 72 86 87
+f 72 87 81
+f 72 81 80
+f 72 80 79
+f 72 79 88
+f 72 88 74
+f 75 88 76
+f 76 88 79
+f 81 87 82
+f 82 89 90
+f 82 90 83
+f 82 87 89
+f 83 90 84
+f 85 89 87
+f 85 87 86
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_8.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.11359537 0.12703242 0.01283894
+v -0.11359537 0.14359874 0.03187160
+v -0.11359537 0.15253930 0.01283903
+v -0.06073317 0.15947517 0.01283906
+v -0.06073317 0.17225235 0.03059379
+v -0.06073317 0.17454844 0.03331723
+v -0.11359537 0.14645398 0.03362090
+v -0.11359537 0.15262257 0.01295006
+v -0.11086326 0.15617379 0.01488371
+v -0.11316589 0.15286646 0.01283903
+v -0.06073317 0.18058021 0.01283913
+v -0.06073317 0.17497671 0.03345759
+v -0.11359537 0.14661459 0.03366280
+v -0.11359537 0.15670318 0.01848912
+v -0.10973523 0.15537671 0.01283904
+v -0.11326420 0.15714337 0.01876356
+v -0.10972487 0.16186047 0.02190809
+v -0.10739120 0.16074217 0.01800729
+v -0.10332925 0.16195566 0.01588092
+v -0.10697207 0.15727425 0.01283905
+v -0.06157660 0.18029468 0.01283913
+v -0.06073317 0.18114531 0.01366874
+v -0.06073317 0.17849223 0.03416570
+v -0.11359537 0.15257491 0.03422845
+v -0.06169562 0.17853387 0.03423693
+v -0.11359537 0.15703630 0.01896049
+v -0.11132379 0.16296091 0.02579423
+v -0.10739120 0.16455510 0.02395486
+v -0.10539903 0.16333568 0.01976706
+v -0.11359537 0.16025438 0.02395485
+v -0.10043156 0.16547117 0.01848077
+v -0.09899824 0.16328216 0.01398919
+v -0.10026081 0.16164041 0.01283906
+v -0.10136297 0.16094444 0.01283906
+v -0.06193365 0.18016382 0.01283913
+v -0.06401895 0.18145462 0.01590195
+v -0.06073317 0.18287630 0.01634817
+v -0.06073317 0.17945587 0.03416152
+v -0.11359537 0.15261060 0.03422845
+v -0.08117226 0.17204413 0.03424109
+v -0.06818956 0.17853387 0.03413009
+v -0.10224263 0.16786837 0.02410991
+v -0.11132379 0.16296090 0.02834378
+v -0.09121069 0.17545261 0.02664482
+v -0.09753904 0.16887961 0.02108061
+v -0.11359537 0.16025438 0.02401980
+v -0.09532955 0.16760667 0.01719239
+v -0.09441368 0.16512619 0.01283908
+v -0.09830487 0.16285983 0.01283907
+v -0.09099854 0.16885584 0.01528180
+v -0.06831374 0.17776065 0.01283912
+v -0.06818956 0.18065753 0.01721966
+v -0.06818956 0.18246584 0.02013375
+v -0.06178876 0.18356035 0.01801994
+v -0.06073317 0.18395889 0.01813727
+v -0.06073317 0.18363764 0.03369226
+v -0.10732910 0.15936208 0.03388491
+v -0.11359537 0.15711952 0.03340516
+v -0.09414978 0.16555439 0.03421384
+v -0.08727811 0.17207983 0.03370478
+v -0.06169562 0.18338185 0.03369016
+v -0.07405221 0.17853388 0.03362102
+v -0.09899824 0.16973023 0.02410991
+v -0.10732910 0.16444205 0.03014963
+v -0.10227367 0.16773154 0.02994225
+v -0.09902928 0.16974806 0.02994225
+v -0.09121069 0.17545261 0.02742833
+v -0.11359537 0.16017703 0.03014752
+v -0.11359537 0.16015323 0.03019152
+v -0.10962656 0.16172361 0.03223200
+v -0.08921852 0.17448304 0.02276078
+v -0.09368408 0.17295428 0.02446398
+v -0.07812450 0.18187098 0.02680616
+v -0.08063928 0.17957488 0.02456246
+v -0.08729363 0.17628540 0.02446399
+v -0.09355989 0.16969456 0.01879503
+v -0.09366338 0.16556042 0.01283908
+v -0.08765584 0.16971837 0.01405835
+v -0.08660025 0.16939121 0.01283909
+v -0.08902707 0.16812420 0.01283909
+v -0.08729363 0.17294835 0.01865678
+v -0.08236238 0.17429865 0.01696406
+v -0.07047666 0.17688623 0.01283912
+v -0.07467832 0.17607130 0.01419874
+v -0.07403668 0.17930723 0.01885791
+v -0.07144946 0.18178771 0.02118751
+v -0.06818956 0.18458346 0.02410997
+v -0.06175254 0.18699853 0.02415397
+v -0.06073317 0.18714129 0.02378526
+v -0.06073317 0.18416110 0.03334660
+v -0.10010557 0.16541164 0.03359792
+v -0.10530073 0.16315123 0.03332557
+v -0.11359537 0.15714332 0.03339468
+v -0.09414978 0.16973020 0.03335073
+v -0.08117226 0.17625563 0.03340313
+v -0.06818956 0.18233493 0.03320832
+v -0.09758561 0.16890336 0.03293383
+v -0.08727811 0.17626754 0.02959871
+v -0.07812450 0.18187098 0.02725238
+v -0.08489269 0.17552401 0.02085229
+v -0.06073317 0.18779562 0.02509880
+v -0.07577530 0.18094304 0.02292002
+v -0.08069103 0.17232379 0.01283910
+v -0.07803654 0.17533963 0.01528391
+v -0.08058754 0.17625568 0.01865679
+v -0.07335366 0.17570249 0.01283912
+v -0.07467832 0.17511954 0.01283911
+v -0.07598746 0.17454255 0.01283911
+v -0.06073317 0.18690929 0.03031312
+v -0.07147016 0.18179362 0.03286894
+v -0.08486681 0.17549423 0.03300927
+v -0.08918748 0.17426290 0.03131655
+v -0.07405221 0.18244200 0.02949398
+v -0.06073317 0.18766473 0.02899959
+v -0.06073317 0.18779561 0.02598496
+v -0.06818956 0.18445258 0.02994231
+f 1 2 7
+f 1 7 13
+f 1 13 24
+f 1 24 39
+f 1 39 58
+f 1 58 93
+f 1 93 69
+f 1 69 68
+f 1 68 46
+f 1 46 30
+f 1 30 26
+f 1 26 14
+f 1 14 8
+f 1 8 3
+f 1 3 10
+f 1 10 15
+f 1 15 20
+f 1 20 34
+f 1 34 33
+f 1 33 49
+f 1 49 48
+f 1 48 77
+f 1 77 80
+f 1 80 79
+f 1 79 103
+f 1 103 108
+f 1 108 107
+f 1 107 106
+f 1 106 83
+f 1 83 51
+f 1 51 35
+f 1 35 21
+f 1 21 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 22
+f 4 22 37
+f 4 37 55
+f 4 55 89
+f 4 89 101
+f 4 101 115
+f 4 115 114
+f 4 114 109
+f 4 109 90
+f 4 90 56
+f 4 56 38
+f 4 38 23
+f 4 23 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 15 10
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 15
+f 11 21 22
+f 12 23 13
+f 13 23 25
+f 13 25 24
+f 14 26 16
+f 16 26 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 17 26 30
+f 17 30 27
+f 18 29 19
+f 19 29 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 23 38 25
+f 24 25 40
+f 24 40 39
+f 25 38 41
+f 25 41 40
+f 27 42 28
+f 27 30 46
+f 27 46 43
+f 27 43 67
+f 27 67 44
+f 27 44 42
+f 28 42 29
+f 29 42 45
+f 29 45 31
+f 31 47 32
+f 31 45 47
+f 32 48 49
+f 32 49 33
+f 32 47 50
+f 32 50 48
+f 35 51 36
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 36 51 52
+f 37 54 55
+f 38 56 41
+f 39 57 58
+f 39 40 59
+f 39 59 57
+f 40 60 59
+f 40 41 60
+f 41 56 61
+f 41 61 62
+f 41 62 60
+f 42 63 45
+f 42 44 63
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 46 68
+f 43 68 69
+f 43 69 70
+f 43 70 64
+f 44 71 72
+f 44 72 63
+f 44 67 99
+f 44 99 73
+f 44 73 74
+f 44 74 75
+f 44 75 71
+f 45 63 72
+f 45 72 71
+f 45 71 76
+f 45 76 47
+f 47 76 50
+f 48 50 77
+f 50 78 79
+f 50 79 80
+f 50 80 77
+f 50 76 81
+f 50 81 82
+f 50 82 78
+f 51 83 84
+f 51 84 52
+f 52 84 85
+f 52 85 53
+f 53 85 86
+f 53 86 87
+f 53 87 88
+f 53 88 54
+f 54 88 89
+f 54 89 55
+f 56 90 61
+f 57 59 91
+f 57 91 92
+f 57 92 58
+f 58 92 93
+f 59 60 91
+f 60 94 91
+f 60 62 95
+f 60 95 94
+f 61 90 96
+f 61 96 62
+f 62 96 95
+f 64 97 65
+f 64 70 97
+f 65 97 66
+f 66 97 67
+f 67 98 99
+f 67 97 98
+f 69 93 70
+f 70 93 92
+f 70 92 97
+f 71 81 76
+f 71 75 74
+f 71 74 100
+f 71 100 81
+f 73 99 115
+f 73 115 101
+f 73 101 87
+f 73 87 102
+f 73 102 74
+f 74 102 100
+f 78 103 79
+f 78 82 104
+f 78 104 103
+f 81 100 105
+f 81 105 82
+f 82 105 104
+f 83 106 84
+f 84 106 107
+f 84 107 108
+f 84 108 104
+f 84 104 85
+f 85 104 105
+f 85 105 102
+f 85 102 86
+f 86 102 87
+f 87 101 88
+f 88 101 89
+f 90 109 110
+f 90 110 96
+f 91 94 92
+f 92 94 97
+f 94 95 111
+f 94 111 97
+f 95 96 110
+f 95 110 111
+f 97 111 112
+f 97 112 98
+f 98 112 111
+f 98 111 99
+f 99 110 113
+f 99 113 114
+f 99 114 115
+f 99 111 110
+f 100 102 105
+f 103 104 108
+f 109 114 110
+f 110 114 116
+f 110 116 113
+f 113 116 114
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/mesh/tray_060_collision_9.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.00322284 0.19690447 0.02411010
+v 0.00322284 0.19513819 0.02056054
+v 0.00000766 0.19513415 0.02056709
+v 0.00000766 0.19689236 0.02411010
+v 0.00000766 0.19688828 0.02699781
+v 0.00000766 0.19687616 0.02994231
+v 0.00322284 0.19688020 0.02994231
+v 0.00971950 0.19669428 0.02994231
+v 0.00971950 0.19671046 0.02411010
+v 0.00971950 0.19504118 0.02073091
+v 0.00322284 0.19354572 0.01764442
+v 0.00000766 0.19354572 0.01765097
+v 0.00000766 0.19600715 0.03152596
+v 0.00322284 0.19511795 0.03314456
+v 0.00971950 0.19502499 0.03307247
+v 0.01507592 0.19489564 0.03296763
+v 0.01940482 0.19475418 0.03285186
+v 0.01682604 0.19601524 0.03052116
+v 0.02269955 0.19592229 0.02962339
+v 0.01655425 0.19601932 0.02356838
+v 0.01461851 0.19489568 0.02097338
+v 0.02269955 0.19592231 0.02454260
+v 0.00971950 0.19343254 0.01781480
+v 0.00322284 0.19053051 0.01244785
+v 0.00000766 0.19053051 0.01244785
+v 0.00000766 0.19511391 0.03314237
+v 0.00322284 0.19151664 0.03409691
+v 0.00971950 0.19151664 0.03404449
+v 0.00000766 0.19151664 0.03409691
+v 0.02269955 0.19120542 0.03388066
+v 0.02918958 0.19061128 0.03386537
+v 0.03567961 0.19003329 0.03378674
+v 0.04216964 0.18943105 0.03358359
+v 0.04865966 0.18875606 0.03320351
+v 0.02269955 0.19445103 0.03253948
+v 0.02918958 0.19548981 0.02879334
+v 0.01894740 0.19472189 0.02126608
+v 0.01655425 0.19349721 0.01873004
+v 0.02269955 0.19453595 0.02163086
+v 0.02918958 0.19548983 0.02537047
+v 0.02918958 0.19414390 0.02245654
+v 0.00971950 0.19030417 0.01244785
+v 0.00971950 0.19000103 0.01196292
+v 0.00425700 0.19019101 0.01196292
+v 0.00322284 0.19022334 0.01196292
+v 0.00000766 0.19022334 0.01196292
+v 0.04216964 0.18502542 0.03427382
+v 0.00000766 0.18651284 0.03381075
+v 0.06163972 0.17853420 0.03422575
+v 0.04865966 0.18502542 0.03412747
+v 0.06163972 0.18338040 0.03368404
+v 0.05223282 0.18835996 0.03292828
+v 0.02918958 0.19385689 0.03170943
+v 0.03415488 0.19508158 0.02785625
+v 0.02269955 0.19264843 0.01828007
+v 0.01568582 0.18963727 0.01202846
+v 0.02918958 0.19181176 0.01828006
+v 0.03415488 0.19508158 0.02625513
+v 0.03606410 0.19380032 0.02423023
+v 0.03567961 0.19073258 0.01828006
+v 0.01028961 0.18996870 0.01196292
+v 0.00000766 0.17005448 0.01196284
+v 0.06773199 0.17853420 0.03414056
+v 0.00000766 0.18326724 0.03093613
+v 0.06773199 0.17000186 0.03134237
+v 0.06773199 0.17324747 0.03375610
+v 0.06773199 0.18240227 0.03324280
+v 0.05656172 0.18752330 0.03187324
+v 0.05955814 0.18865908 0.02798728
+v 0.05469890 0.18917239 0.02993572
+v 0.04865966 0.19072446 0.02994229
+v 0.04216964 0.19218761 0.02994230
+v 0.03606410 0.19352546 0.02985711
+v 0.02269955 0.18962917 0.01316432
+v 0.01573885 0.18959281 0.01196292
+v 0.02918958 0.18918862 0.01386985
+v 0.05955814 0.18865908 0.02613714
+v 0.04216964 0.19243418 0.02411009
+v 0.04159952 0.18941493 0.01820579
+v 0.03905389 0.18830344 0.01531370
+v 0.03567961 0.18862679 0.01477854
+v 0.06773199 0.15561293 0.01196279
+v 0.06773199 0.18460509 0.02994227
+v 0.06773199 0.18472636 0.02411224
+v 0.02269955 0.18887336 0.01196291
+v 0.02918958 0.18797202 0.01196291
+v 0.06169275 0.18698576 0.02416031
+v 0.05642913 0.18773352 0.02225337
+v 0.05461935 0.18915624 0.02416031
+v 0.04865966 0.19078510 0.02411008
+v 0.04865966 0.18882079 0.02030712
+v 0.04338279 0.18779416 0.01621147
+v 0.04159952 0.18620168 0.01300047
+v 0.03567961 0.18681605 0.01196291
+v 0.06773199 0.17736619 0.01196287
+v 0.06773199 0.18273779 0.02040540
+v 0.06173252 0.18355425 0.01802883
+v 0.06773199 0.18252357 0.02001658
+v 0.05461935 0.18627037 0.01881083
+v 0.05210024 0.18832766 0.02110659
+v 0.04865966 0.18711109 0.01739102
+v 0.04892483 0.18369979 0.01201969
+v 0.04172548 0.18544990 0.01196290
+v 0.03619006 0.18670288 0.01196291
+v 0.04898450 0.18364724 0.01196289
+v 0.04299166 0.18515889 0.01196290
+v 0.06773199 0.17752383 0.01218568
+v 0.06253467 0.17931032 0.01196288
+v 0.06395995 0.18144441 0.01591875
+v 0.05963106 0.18221641 0.01468459
+v 0.06773199 0.18071687 0.01710702
+v 0.05514969 0.18292778 0.01359023
+v 0.05514969 0.18184457 0.01196289
+v 0.06173252 0.18007019 0.01262474
+v 0.06773199 0.17782291 0.01263129
+v 0.05949847 0.18038142 0.01196288
+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 12
+f 2 12 3
+f 2 10 11
+f 3 12 25
+f 3 25 46
+f 3 46 62
+f 3 62 64
+f 3 64 48
+f 3 48 29
+f 3 29 26
+f 3 26 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 6 13 7
+f 7 14 15
+f 7 15 8
+f 7 13 14
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 8 15 16
+f 9 20 21
+f 9 21 10
+f 9 19 22
+f 9 22 20
+f 10 21 23
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 13 26 14
+f 14 27 28
+f 14 28 15
+f 14 26 29
+f 14 29 27
+f 15 28 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 19
+f 17 19 18
+f 19 36 40
+f 19 40 22
+f 20 37 21
+f 20 22 37
+f 21 37 38
+f 21 38 23
+f 22 39 37
+f 22 40 41
+f 22 41 39
+f 23 42 24
+f 23 38 42
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 25
+f 27 29 47
+f 27 47 28
+f 28 31 30
+f 28 47 31
+f 29 48 49
+f 29 49 47
+f 31 47 50
+f 31 50 32
+f 32 50 33
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 34 52 35
+f 35 53 36
+f 35 52 53
+f 36 54 58
+f 36 58 40
+f 36 53 54
+f 37 39 55
+f 37 55 38
+f 38 55 56
+f 38 56 42
+f 39 41 57
+f 39 57 55
+f 40 58 41
+f 41 58 59
+f 41 59 60
+f 41 60 57
+f 42 56 61
+f 42 61 43
+f 43 61 75
+f 43 75 85
+f 43 85 86
+f 43 86 94
+f 43 94 104
+f 43 104 103
+f 43 103 106
+f 43 106 105
+f 43 105 113
+f 43 113 116
+f 43 116 108
+f 43 108 95
+f 43 95 82
+f 43 82 62
+f 43 62 46
+f 43 46 45
+f 43 45 44
+f 47 49 63
+f 47 63 50
+f 48 64 65
+f 48 65 66
+f 48 66 49
+f 49 66 63
+f 50 63 51
+f 51 63 67
+f 51 67 52
+f 52 68 69
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 54
+f 52 54 73
+f 52 73 53
+f 52 67 68
+f 53 73 54
+f 54 72 71
+f 54 71 69
+f 54 69 77
+f 54 77 58
+f 55 57 74
+f 55 74 56
+f 56 75 61
+f 56 74 75
+f 57 76 74
+f 57 60 76
+f 58 77 78
+f 58 78 59
+f 59 78 60
+f 60 78 79
+f 60 79 80
+f 60 80 81
+f 60 81 76
+f 62 82 64
+f 63 66 65
+f 63 65 82
+f 63 82 95
+f 63 95 107
+f 63 107 115
+f 63 115 111
+f 63 111 98
+f 63 98 96
+f 63 96 84
+f 63 84 83
+f 63 83 67
+f 64 82 65
+f 67 83 68
+f 68 83 69
+f 69 71 70
+f 69 83 84
+f 69 84 77
+f 74 85 75
+f 74 76 85
+f 76 86 85
+f 76 81 86
+f 77 84 87
+f 77 87 88
+f 77 88 89
+f 77 89 90
+f 77 90 78
+f 78 90 91
+f 78 91 79
+f 79 91 92
+f 79 92 80
+f 80 92 93
+f 80 93 94
+f 80 94 81
+f 81 94 86
+f 84 96 87
+f 87 97 88
+f 87 96 98
+f 87 98 97
+f 88 99 100
+f 88 100 90
+f 88 90 89
+f 88 97 99
+f 90 100 91
+f 91 101 92
+f 91 100 101
+f 92 101 102
+f 92 102 93
+f 93 103 104
+f 93 104 94
+f 93 102 105
+f 93 105 106
+f 93 106 103
+f 95 108 107
+f 97 98 109
+f 97 109 110
+f 97 110 99
+f 98 111 109
+f 99 110 112
+f 99 112 101
+f 99 101 100
+f 101 112 102
+f 102 112 105
+f 105 112 113
+f 107 108 114
+f 107 114 115
+f 108 116 114
+f 109 114 110
+f 109 111 115
+f 109 115 114
+f 110 114 116
+f 110 116 113
+f 110 113 112
+

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/mjcf/tray_060.xml

@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_060">
+  <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_060.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_060_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_060_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_060_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_060_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_060_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_060_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_060_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_060_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_060_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_060_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_060_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_060_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_060_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_060_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_060_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_060_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_060_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_060_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_060_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_060_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_060_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_060_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_060_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_060_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_060_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_060_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_060_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_060_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_060_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/tray_060_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tray_060_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/tray_060_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/tray_060_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_060">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/tray_060.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_060">
+   <link name="tray_060">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_060.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_060_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>4bbacf8c13385beabdd946a8efe93454</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>painted round tray</name>
+         <color>beige</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>shallow round tray with colorful floral mandala pattern</description>
+         <min_height>0.0498</min_height>
+         <max_height>0.0498</max_height>
+         <real_height>0.0498</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200810</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.195867 -0.195841 -0.014211</min>
+            <max>0.195820 0.195921 0.035552</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/4bbacf8c13385beabdd946a8efe93454/tray_060.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84763775901c7b3b8f9364c0753a0b6ac4156210757df2f1e5bb76ffd68dc28b
+size 4630721

dataset/kitchen_supplies/tableware/4bbacf8c13385beabdd946a8efe93454/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40d345f915ad25ec4941eb845cc04d28f700c746db6e0323c8151af3d699c4fa
+size 486290