Add asset kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff

.gitattributes

@@ -4309,3 +4309,5 @@ dataset/kitchen_supplies/tableware/ac5f7e5a5ae654a5ae388a178f98ab09/mesh/fork_01
 dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_023_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 plate_023_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0a42b9cc1453e45833f16274ec1d0c3f90b4ee9d593ff2823b00c0cc0357c74
+size 10888956

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mesh/plate_023.mtl

@@ -0,0 +1,6 @@
+newmtl plate_023_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/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_0.obj

@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.05597466 0.02747889 0.00411200
+v -0.05597466 0.00027428 0.00093661
+v -0.05597466 0.02747897 -0.01751675
+v -0.07810384 0.02747883 0.02267423
+v -0.05597466 0.00027433 -0.01349650
+v -0.08296279 0.00027420 0.02305483
+v -0.06153065 0.00027434 -0.01741645
+v -0.06387891 0.00027435 -0.01824897
+v -0.05794734 0.02747898 -0.01811918
+v -0.07922384 0.02747882 0.02353604
+v -0.08464109 0.00027419 0.02397521
+v -0.06561473 0.00027435 -0.01792684
+v -0.06387891 0.00744033 -0.01825730
+v -0.06091144 0.02227026 -0.01820287
+v -0.06091144 0.02523678 -0.01800205
+v -0.06100618 0.02747897 -0.01760042
+v -0.07973139 0.02747882 0.02376613
+v -0.08167361 0.02747882 0.02442712
+v -0.08464109 0.01633707 0.02445637
+v -0.08586936 0.00027419 0.02409653
+v -0.06684639 0.00027434 -0.01768838
+v -0.06684639 0.00150462 -0.01768837
+v -0.06387891 0.01040685 -0.01824474
+v -0.06387891 0.01337337 -0.01818616
+v -0.06387891 0.01633723 -0.01803555
+v -0.06350332 0.02227025 -0.01748749
+v -0.06293825 0.02523677 -0.01720718
+v -0.06203819 0.02747897 -0.01714024
+v -0.08239772 0.02747882 0.02436856
+v -0.08464109 0.01930359 0.02448148
+v -0.08760857 0.00027419 0.02426805
+v -0.06773290 0.00027434 -0.01719891
+v -0.06836227 0.00150462 -0.01685167
+v -0.06834197 0.00319559 -0.01683493
+v -0.06710016 0.00429805 -0.01747918
+v -0.06665013 0.00744032 -0.01759631
+v -0.06643696 0.01040684 -0.01752100
+v -0.06413945 0.01949280 -0.01757117
+v -0.06617303 0.01337336 -0.01740385
+v -0.06585835 0.01633722 -0.01721140
+v -0.06557751 0.01863001 -0.01700221
+v -0.06530005 0.02060592 -0.01675956
+v -0.06256605 0.02712480 -0.01696035
+v -0.06280967 0.02747897 -0.01645414
+v -0.08464109 0.02523662 0.02404223
+v -0.08464109 0.02227010 0.02436435
+v -0.08472230 0.02747882 0.02365736
+v -0.08760857 0.00744017 0.02415513
+v -0.08760857 0.00447099 0.02423460
+v -0.08760857 0.00150447 0.02426806
+v -0.08840373 0.00027419 0.02388735
+v -0.06835888 0.00027434 -0.01685168
+v -0.08896880 0.00150451 0.01455395
+v -0.08896880 0.00027423 0.01455394
+v -0.06826076 0.00517150 -0.01675125
+v -0.08892143 0.00447103 0.01462926
+v -0.06813218 0.00744032 -0.01660900
+v -0.06792239 0.01040684 -0.01634125
+v -0.06765846 0.01337336 -0.01594380
+v -0.06746560 0.01632390 -0.01524096
+v -0.06636252 0.01949280 -0.01565094
+v -0.08598779 0.02321016 0.01456658
+v -0.08570356 0.02523665 0.01503513
+v -0.06599370 0.02227024 -0.01496483
+v -0.06498875 0.02227025 -0.01638304
+v -0.06453195 0.02534063 -0.01537481
+v -0.06356761 0.02747897 -0.01547102
+v -0.08671189 0.02227010 0.02345235
+v -0.08703334 0.01930359 0.02365733
+v -0.08731757 0.01633707 0.02376191
+v -0.08760857 0.01040669 0.02401290
+v -0.08500314 0.02747882 0.02349839
+v -0.08938838 0.00744017 0.02321802
+v -0.08947634 0.00447099 0.02330586
+v -0.08952372 0.00150447 0.02334769
+v -0.08952372 0.00027419 0.02334768
+v -0.08974028 0.00150450 0.01597216
+v -0.08969628 0.00447102 0.01604747
+v -0.08974028 0.00027422 0.01597215
+v -0.06907622 0.00744032 -0.01519079
+v -0.08881992 0.00744021 0.01479243
+v -0.08959816 0.00744020 0.01621064
+v -0.06889012 0.01040683 -0.01492304
+v -0.06863973 0.01337335 -0.01452559
+v -0.06844009 0.01532795 -0.01418672
+v -0.08623141 0.02123160 0.01423189
+v -0.08682017 0.02224084 0.01562081
+v -0.08652241 0.02523665 0.01645334
+v -0.08625171 0.02712202 0.01694701
+v -0.08592350 0.02747885 0.01658723
+v -0.08539564 0.02747885 0.01571287
+v -0.06561811 0.02441924 -0.01440841
+v -0.08382563 0.02747886 0.01345378
+v -0.08633631 0.02523663 0.02310513
+v -0.08914813 0.01230006 0.02294611
+v -0.08925303 0.01040670 0.02306742
+v -0.08526707 0.02747882 0.02331431
+v -0.09004480 0.00744018 0.02145258
+v -0.09023091 0.00447100 0.02145257
+v -0.09032226 0.00150448 0.02145256
+v -0.08985870 0.00027420 0.02256536
+v -0.09053882 0.00150449 0.01862032
+v -0.09044747 0.00447101 0.01862033
+v -0.09053882 0.00027421 0.01862031
+v -0.08867103 0.01040672 0.01505182
+v -0.08945605 0.01040672 0.01647003
+v -0.09025797 0.00744019 0.01862034
+v -0.08847140 0.01337324 0.01542834
+v -0.08673896 0.01633711 0.01359598
+v -0.08644458 0.01930363 0.01396832
+v -0.08756458 0.01930362 0.01578396
+v -0.08913122 0.01509084 0.01711012
+v -0.08786573 0.02227012 0.01862039
+v -0.08709086 0.02523664 0.01862040
+v -0.08643105 0.02747884 0.01862041
+v -0.08636338 0.02747884 0.01822298
+v -0.08613328 0.02674919 0.02288341
+v -0.08898910 0.01427330 0.02255286
+v -0.08938161 0.01332263 0.02154464
+v -0.08976734 0.01040670 0.02145259
+v -0.08602162 0.02747883 0.02237302
+v -0.09032565 0.00027420 0.02145255
+v -0.08926318 0.01337324 0.01684237
+v -0.08997374 0.01040671 0.01862035
+v -0.08831236 0.01618265 0.01601404
+v -0.08958801 0.01337323 0.01862036
+v -0.08922934 0.01565271 0.01862037
+v -0.08896542 0.01713597 0.01862037
+v -0.08853569 0.01930361 0.01862038
+v -0.08923272 0.01567933 0.02066192
+v -0.08766609 0.02227011 0.02145263
+v -0.08690476 0.02523663 0.02145264
+v -0.08630923 0.02730840 0.02145265
+v -0.08636338 0.02747884 0.01973741
+v -0.08625510 0.02747883 0.02145265
+v -0.08832252 0.01930360 0.02145262
+v -0.08884022 0.01653680 0.02154465
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 16
+f 1 16 28
+f 1 28 44
+f 1 44 67
+f 1 67 93
+f 1 93 91
+f 1 91 90
+f 1 90 116
+f 1 116 115
+f 1 115 134
+f 1 134 135
+f 1 135 121
+f 1 121 97
+f 1 97 72
+f 1 72 47
+f 1 47 29
+f 1 29 18
+f 1 18 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 20
+f 2 20 31
+f 2 31 51
+f 2 51 76
+f 2 76 101
+f 2 101 122
+f 2 122 104
+f 2 104 79
+f 2 79 54
+f 2 54 52
+f 2 52 32
+f 2 32 21
+f 2 21 12
+f 2 12 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 6 10 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 12 21 22
+f 12 22 13
+f 13 23 14
+f 13 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 24
+f 22 24 23
+f 24 36 37
+f 24 37 25
+f 25 38 26
+f 25 37 39
+f 25 39 40
+f 25 40 38
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 26 38 40
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 29 45 46
+f 29 46 30
+f 29 47 45
+f 30 46 48
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 31 50 51
+f 32 52 33
+f 33 53 34
+f 33 52 54
+f 33 54 53
+f 34 55 36
+f 34 36 35
+f 34 53 56
+f 34 56 55
+f 36 55 37
+f 37 55 57
+f 37 57 39
+f 39 57 58
+f 39 58 40
+f 40 58 41
+f 41 58 59
+f 41 59 42
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 43
+f 43 65 66
+f 43 66 44
+f 44 66 67
+f 45 47 68
+f 45 68 69
+f 45 69 46
+f 46 69 70
+f 46 70 71
+f 46 71 48
+f 47 72 68
+f 48 71 73
+f 48 73 74
+f 48 74 49
+f 49 74 75
+f 49 75 50
+f 50 75 51
+f 51 75 76
+f 53 54 79
+f 53 79 77
+f 53 77 78
+f 53 78 56
+f 55 80 57
+f 55 56 81
+f 55 81 80
+f 56 78 82
+f 56 82 81
+f 57 80 83
+f 57 83 58
+f 58 83 84
+f 58 84 59
+f 59 84 85
+f 59 85 60
+f 60 85 62
+f 60 62 61
+f 62 86 87
+f 62 87 88
+f 62 88 63
+f 62 85 86
+f 63 88 89
+f 63 89 90
+f 63 90 91
+f 63 91 64
+f 64 92 65
+f 64 91 92
+f 65 92 66
+f 66 92 67
+f 67 92 93
+f 68 72 94
+f 68 94 95
+f 68 95 69
+f 69 95 96
+f 69 96 70
+f 70 96 73
+f 70 73 71
+f 72 97 94
+f 73 96 98
+f 73 98 99
+f 73 99 74
+f 74 99 100
+f 74 100 75
+f 75 100 101
+f 75 101 76
+f 77 79 104
+f 77 104 102
+f 77 102 78
+f 78 102 103
+f 78 103 82
+f 80 81 105
+f 80 105 83
+f 81 82 106
+f 81 106 105
+f 82 103 107
+f 82 107 106
+f 83 105 108
+f 83 108 84
+f 84 108 109
+f 84 109 110
+f 84 110 86
+f 84 86 85
+f 86 110 111
+f 86 111 87
+f 87 111 88
+f 88 112 89
+f 88 111 112
+f 89 112 113
+f 89 113 114
+f 89 114 115
+f 89 115 116
+f 89 116 90
+f 91 93 92
+f 94 97 117
+f 94 117 118
+f 94 118 95
+f 95 118 119
+f 95 119 120
+f 95 120 98
+f 95 98 96
+f 97 121 117
+f 98 120 107
+f 98 107 103
+f 98 103 99
+f 99 103 102
+f 99 102 100
+f 100 122 101
+f 100 102 122
+f 102 104 122
+f 105 106 123
+f 105 123 108
+f 106 107 123
+f 107 124 123
+f 107 120 124
+f 108 123 112
+f 108 112 125
+f 108 125 110
+f 108 110 109
+f 110 125 111
+f 111 125 112
+f 112 123 124
+f 112 124 126
+f 112 126 127
+f 112 127 128
+f 112 128 129
+f 112 129 113
+f 113 129 130
+f 113 130 131
+f 113 131 132
+f 113 132 114
+f 114 132 133
+f 114 133 134
+f 114 134 115
+f 117 121 135
+f 117 135 133
+f 117 133 132
+f 117 132 131
+f 117 131 136
+f 117 136 118
+f 118 136 137
+f 118 137 130
+f 118 130 119
+f 119 130 120
+f 120 130 124
+f 124 130 126
+f 126 130 127
+f 127 130 128
+f 128 130 129
+f 130 137 136
+f 130 136 131
+f 133 135 134
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_1.obj

@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
+v -0.05794542 0.02748329 -0.01811998
+v -0.06100442 0.02748328 -0.01759805
+v -0.05794542 0.02820773 -0.01817426
+v -0.05597466 0.03117450 -0.01795295
+v -0.05597466 0.02831984 -0.01764815
+v -0.05597466 0.02748328 -0.01751454
+v -0.05794542 0.03117450 -0.01801976
+v -0.06203900 0.02748328 -0.01713875
+v -0.06103424 0.02815167 -0.01748114
+v -0.05597466 0.03411109 -0.01791952
+v -0.05597466 0.02748320 0.00410999
+v -0.06009507 0.03117449 -0.01724730
+v -0.05801101 0.03405933 -0.01744770
+v -0.05597466 0.03708216 -0.01746022
+v -0.06280822 0.02748328 -0.01645816
+v -0.06210161 0.02910466 -0.01651243
+v -0.05962400 0.03301579 -0.01696754
+v -0.05597466 0.06181226 0.02318764
+v -0.07810622 0.02748314 0.02267393
+v -0.05706290 0.03659919 -0.01718883
+v -0.05645170 0.03857416 -0.01681303
+v -0.05597466 0.03809983 -0.01714289
+v -0.06356850 0.02748328 -0.01546858
+v -0.06326439 0.02815167 -0.01550198
+v -0.08019624 0.03859993 0.01436070
+v -0.06281418 0.03053628 -0.01462096
+v -0.06169911 0.03138579 -0.01550196
+v -0.05904261 0.03499076 -0.01641220
+v -0.05597466 0.06275232 0.02363440
+v -0.07922427 0.02748313 0.02353824
+v -0.05651431 0.04162717 -0.01406559
+v -0.05597466 0.03985056 -0.01626186
+v -0.05979394 0.03622403 -0.01452490
+v -0.07396493 0.05001854 0.01474488
+v -0.07127862 0.05339927 0.01438163
+v -0.08382470 0.02748317 0.01345459
+v -0.08375613 0.02820761 0.01364248
+v -0.08339537 0.03033351 0.01408091
+v -0.08302865 0.03231279 0.01454857
+v -0.08265894 0.03414114 0.01514149
+v -0.08200600 0.03687505 0.01600999
+v -0.08061662 0.03978145 0.01594319
+v -0.07970429 0.04057489 0.01510393
+v -0.07719090 0.04446016 0.01441082
+v -0.06031570 0.03405933 -0.01544350
+v -0.05597466 0.06375705 0.02391833
+v -0.07973411 0.02748313 0.02376789
+v -0.05597466 0.04196352 -0.01439545
+v -0.05597466 0.04028178 -0.01588190
+v -0.07461788 0.04804356 0.01398077
+v -0.07672877 0.04600390 0.01510395
+v -0.07560475 0.04875506 0.01597245
+v -0.07461192 0.05096720 0.01663218
+v -0.07295421 0.05218323 0.01550899
+v -0.07194051 0.05427894 0.01627310
+v -0.07075388 0.05511982 0.01550900
+v -0.06852671 0.05662477 0.01416870
+v -0.08539594 0.02748316 0.01571349
+v -0.08530352 0.02815155 0.01591391
+v -0.08404533 0.03126493 0.01560912
+v -0.08352656 0.03414114 0.01655696
+v -0.08320455 0.03573233 0.01710812
+v -0.08030059 0.04176505 0.01699540
+v -0.07875022 0.04311475 0.01570520
+v -0.07765303 0.04600390 0.01652360
+v -0.07722668 0.04749160 0.01720001
+v -0.05597466 0.06577083 0.02444862
+v -0.08167505 0.02748313 0.02442761
+v -0.06570026 0.05972090 0.01405179
+v -0.06476705 0.06170018 0.01506643
+v -0.06279033 0.06270492 0.01401840
+v -0.05977903 0.06559838 0.01406852
+v -0.05666636 0.06841854 0.01419796
+v -0.05597466 0.06868589 0.01392656
+v -0.07385760 0.05285592 0.01861968
+v -0.07119514 0.05625390 0.01785560
+v -0.06902461 0.05771574 0.01599753
+v -0.06839850 0.05943198 0.01708733
+v -0.06767699 0.05859973 0.01519586
+v -0.08592367 0.02748316 0.01659033
+v -0.08592367 0.02907434 0.01861960
+v -0.08519320 0.03117436 0.01861960
+v -0.08406918 0.03414113 0.01861962
+v -0.08331785 0.03599105 0.01861962
+v -0.08265596 0.03747443 0.01861963
+v -0.08143355 0.04007036 0.01861964
+v -0.08044966 0.04205395 0.01861964
+v -0.07966255 0.04353302 0.01861965
+v -0.07827616 0.04600389 0.01861966
+v -0.07732208 0.04764683 0.01861967
+v -0.07637099 0.04913021 0.01861967
+v -0.07488621 0.05137253 0.01861968
+v -0.05597466 0.06683593 0.02427327
+v -0.06387857 0.06083340 0.02416885
+v -0.06981173 0.05193310 0.02448198
+v -0.08167505 0.02820757 0.02447354
+v -0.08239955 0.02748313 0.02436915
+v -0.06175874 0.06468419 0.01509150
+v -0.06660067 0.06056608 0.01607688
+v -0.06552435 0.06248499 0.01695790
+v -0.06365794 0.06358459 0.01602260
+v -0.05864309 0.06757765 0.01524600
+v -0.05777249 0.06887993 0.01602680
+v -0.05597466 0.07007008 0.01569278
+v -0.07133527 0.05643933 0.02019383
+v -0.07133527 0.05643933 0.01974706
+v -0.07218201 0.05511981 0.01872825
+v -0.07022019 0.05760361 0.01872826
+v -0.06854161 0.05959583 0.01861971
+v -0.06720591 0.06107922 0.01861971
+v -0.06572113 0.06269196 0.01861972
+v -0.08636493 0.02748315 0.01822292
+v -0.08640070 0.02759096 0.01861959
+v -0.08636493 0.02748315 0.01973860
+v -0.08627250 0.02748314 0.02118330
+v -0.08625461 0.02748314 0.02145470
+v -0.08581633 0.02879404 0.02145471
+v -0.08499046 0.03117435 0.02145471
+v -0.08332381 0.03600398 0.02073656
+v -0.08042581 0.04200651 0.02096205
+v -0.07735190 0.04769425 0.02053619
+v -0.05597466 0.06899632 0.02379727
+v -0.05815412 0.06698686 0.02385990
+v -0.07277532 0.04897064 0.02436505
+v -0.06119226 0.06408046 0.02389747
+v -0.06039024 0.06614168 0.02341312
+v -0.06387857 0.06304554 0.02329620
+v -0.06603419 0.06083340 0.02329201
+v -0.06708367 0.05809949 0.02388073
+v -0.06995186 0.05500767 0.02380557
+v -0.07574190 0.04303710 0.02447360
+v -0.07870848 0.03710357 0.02447775
+v -0.08167505 0.03117434 0.02440674
+v -0.08472213 0.02748313 0.02365515
+v -0.06254883 0.06542588 0.01698296
+v -0.06061683 0.06650392 0.01611447
+v -0.06423039 0.06417535 0.01861973
+v -0.05947492 0.06828916 0.01713746
+v -0.05597466 0.07094546 0.01741305
+v -0.07479081 0.05123453 0.02145479
+v -0.07375027 0.05271792 0.02145479
+v -0.07209852 0.05500768 0.02126691
+v -0.07103413 0.05606847 0.02208530
+v -0.06978787 0.05784077 0.02140888
+v -0.06854161 0.05959582 0.02073247
+v -0.06560187 0.06256690 0.02145483
+v -0.06270983 0.06557679 0.02092456
+v -0.08643350 0.02748315 0.01861959
+v -0.08602206 0.02748314 0.02237330
+v -0.08307635 0.03545633 0.02262803
+v -0.08378296 0.03433517 0.02159252
+v -0.08262913 0.03703889 0.02159253
+v -0.08103702 0.04035926 0.02172616
+v -0.08018431 0.04154079 0.02284935
+v -0.07968640 0.04301124 0.02172617
+v -0.07798695 0.04616775 0.02147148
+v -0.07708059 0.04726735 0.02242765
+v -0.07637695 0.04879817 0.02147149
+v -0.05597466 0.06947497 0.02360521
+v -0.05730440 0.06894027 0.02336302
+v -0.07278427 0.05183392 0.02363436
+v -0.07595060 0.04616774 0.02383059
+v -0.06236994 0.06525769 0.02281186
+v -0.06536634 0.06232111 0.02287448
+v -0.06905741 0.05726293 0.02337968
+v -0.07180038 0.05408918 0.02328781
+v -0.07829106 0.04303710 0.02363016
+v -0.07900066 0.04035925 0.02386397
+v -0.08121590 0.03710357 0.02364267
+v -0.08192252 0.03433516 0.02380967
+v -0.08388731 0.03117434 0.02352155
+v -0.08473703 0.02792728 0.02357999
+v -0.08500239 0.02748313 0.02350066
+v -0.06274561 0.06561130 0.01861973
+v -0.05628176 0.07107481 0.01811870
+v -0.06110579 0.06709468 0.01861974
+v -0.05962102 0.06841852 0.01861974
+v -0.05765324 0.07007870 0.01888698
+v -0.05597466 0.07133785 0.01832747
+v -0.07448073 0.05078176 0.02309574
+v -0.06823154 0.05924222 0.02262394
+v -0.06727747 0.06068680 0.02158844
+v -0.06377124 0.06428314 0.02170119
+v -0.06100442 0.06684888 0.02172626
+v -0.05963890 0.06843144 0.02064064
+v -0.08526774 0.02748313 0.02331277
+v -0.08347289 0.03347704 0.02320005
+v -0.08064942 0.03956581 0.02329194
+v -0.07766496 0.04528805 0.02327108
+v -0.05597466 0.07096268 0.02201855
+v -0.05928113 0.06812097 0.02253211
+v -0.07505616 0.04897064 0.02346734
+v -0.05646660 0.07122142 0.02001017
+v -0.05597466 0.07153190 0.01958427
+v -0.05646660 0.07122142 0.02005192
+v -0.05787387 0.06967335 0.02129202
+v -0.05597466 0.07103167 0.02185988
+v -0.05609094 0.07091525 0.02194339
+v -0.05597466 0.07153190 0.01960933
+v -0.05597466 0.07147152 0.02044441
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 19
+f 1 19 30
+f 1 30 47
+f 1 47 68
+f 1 68 97
+f 1 97 134
+f 1 134 173
+f 1 173 186
+f 1 186 149
+f 1 149 116
+f 1 116 115
+f 1 115 114
+f 1 114 148
+f 1 148 112
+f 1 112 80
+f 1 80 58
+f 1 58 36
+f 1 36 23
+f 1 23 15
+f 1 15 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 7
+f 3 7 10
+f 3 10 4
+f 4 10 14
+f 4 14 22
+f 4 22 32
+f 4 32 49
+f 4 49 48
+f 4 48 74
+f 4 74 104
+f 4 104 139
+f 4 139 179
+f 4 179 194
+f 4 194 199
+f 4 199 200
+f 4 200 197
+f 4 197 190
+f 4 190 159
+f 4 159 122
+f 4 122 93
+f 4 93 67
+f 4 67 46
+f 4 46 29
+f 4 29 18
+f 4 18 11
+f 4 11 6
+f 4 6 5
+f 7 9 12
+f 7 12 13
+f 7 13 14
+f 7 14 10
+f 8 12 9
+f 8 15 16
+f 8 16 17
+f 8 17 12
+f 11 18 19
+f 12 17 13
+f 13 17 20
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 21
+f 17 21 20
+f 18 29 30
+f 18 30 19
+f 21 31 32
+f 21 32 22
+f 21 28 33
+f 21 33 34
+f 21 34 35
+f 21 35 31
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 25
+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 27
+f 27 44 45
+f 27 45 28
+f 28 45 33
+f 29 46 47
+f 29 47 30
+f 31 48 49
+f 31 49 32
+f 31 35 48
+f 33 45 44
+f 33 44 50
+f 33 50 34
+f 34 50 44
+f 34 44 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 48
+f 36 58 37
+f 37 58 38
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 61
+f 39 61 40
+f 40 61 62
+f 40 62 41
+f 41 62 42
+f 42 62 63
+f 42 63 43
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 44 65 66
+f 44 66 51
+f 46 67 47
+f 47 67 68
+f 48 57 69
+f 48 69 70
+f 48 70 71
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 51 66 52
+f 52 66 53
+f 53 55 54
+f 53 66 75
+f 53 75 76
+f 53 76 55
+f 55 77 56
+f 55 76 78
+f 55 78 77
+f 56 77 57
+f 57 77 79
+f 57 79 69
+f 58 80 59
+f 59 80 60
+f 60 80 61
+f 61 80 62
+f 62 81 82
+f 62 82 83
+f 62 83 84
+f 62 84 85
+f 62 85 86
+f 62 86 63
+f 62 80 81
+f 63 86 87
+f 63 87 88
+f 63 88 66
+f 63 66 65
+f 63 65 64
+f 66 88 89
+f 66 89 90
+f 66 90 91
+f 66 91 92
+f 66 92 75
+f 67 93 94
+f 67 94 95
+f 67 95 96
+f 67 96 68
+f 68 96 97
+f 69 79 70
+f 70 98 71
+f 70 79 99
+f 70 99 100
+f 70 100 101
+f 70 101 98
+f 71 98 72
+f 72 98 102
+f 72 102 73
+f 73 102 103
+f 73 103 104
+f 73 104 74
+f 75 92 105
+f 75 105 106
+f 75 106 107
+f 75 107 76
+f 76 107 106
+f 76 106 108
+f 76 108 109
+f 76 109 78
+f 77 78 79
+f 78 109 110
+f 78 110 111
+f 78 111 100
+f 78 100 99
+f 78 99 79
+f 80 112 81
+f 81 113 114
+f 81 114 115
+f 81 115 116
+f 81 116 117
+f 81 117 118
+f 81 118 82
+f 81 112 113
+f 82 118 119
+f 82 119 83
+f 83 119 84
+f 84 119 85
+f 85 119 86
+f 86 119 120
+f 86 120 87
+f 87 120 88
+f 88 120 121
+f 88 121 89
+f 89 121 90
+f 90 121 91
+f 91 121 92
+f 92 121 105
+f 93 122 123
+f 93 123 94
+f 94 124 95
+f 94 123 125
+f 94 125 126
+f 94 126 127
+f 94 127 128
+f 94 128 129
+f 94 129 130
+f 94 130 124
+f 95 131 132
+f 95 132 96
+f 95 124 131
+f 96 132 133
+f 96 133 97
+f 97 133 134
+f 98 101 135
+f 98 135 136
+f 98 136 102
+f 100 135 101
+f 100 111 137
+f 100 137 135
+f 102 136 138
+f 102 138 103
+f 103 138 104
+f 104 138 139
+f 105 121 140
+f 105 140 141
+f 105 141 142
+f 105 142 143
+f 105 143 144
+f 105 144 145
+f 105 145 109
+f 105 109 106
+f 106 109 108
+f 109 145 110
+f 110 145 111
+f 111 145 146
+f 111 146 147
+f 111 147 137
+f 112 148 113
+f 113 148 114
+f 116 149 117
+f 117 149 118
+f 118 149 150
+f 118 150 151
+f 118 151 119
+f 119 151 150
+f 119 150 152
+f 119 152 153
+f 119 153 120
+f 120 153 154
+f 120 154 155
+f 120 155 156
+f 120 156 121
+f 121 156 157
+f 121 157 158
+f 121 158 140
+f 122 159 123
+f 123 159 160
+f 123 160 126
+f 123 126 125
+f 124 130 161
+f 124 161 162
+f 124 162 131
+f 126 160 163
+f 126 163 127
+f 127 163 164
+f 127 164 128
+f 128 164 165
+f 128 165 129
+f 129 165 130
+f 130 165 166
+f 130 166 161
+f 131 162 167
+f 131 167 168
+f 131 168 132
+f 132 168 169
+f 132 169 133
+f 133 169 170
+f 133 170 171
+f 133 171 134
+f 134 171 172
+f 134 172 173
+f 135 138 136
+f 135 137 174
+f 135 174 138
+f 137 147 174
+f 138 175 139
+f 138 174 176
+f 138 176 177
+f 138 177 178
+f 138 178 175
+f 139 175 179
+f 140 158 157
+f 140 157 180
+f 140 180 141
+f 141 180 143
+f 141 143 142
+f 143 180 166
+f 143 166 181
+f 143 181 144
+f 144 181 145
+f 145 181 182
+f 145 182 146
+f 146 182 164
+f 146 164 183
+f 146 183 147
+f 147 183 163
+f 147 163 184
+f 147 184 185
+f 147 185 174
+f 149 186 187
+f 149 187 150
+f 150 187 154
+f 150 154 152
+f 152 154 153
+f 154 157 156
+f 154 156 155
+f 154 187 188
+f 154 188 189
+f 154 189 157
+f 157 189 180
+f 159 190 160
+f 160 191 163
+f 160 190 191
+f 161 166 180
+f 161 180 192
+f 161 192 162
+f 162 192 167
+f 163 191 184
+f 163 183 164
+f 164 181 165
+f 164 182 181
+f 165 181 166
+f 167 169 168
+f 167 192 189
+f 167 189 188
+f 167 188 169
+f 169 188 187
+f 169 187 171
+f 169 171 170
+f 171 187 186
+f 171 186 173
+f 171 173 172
+f 174 185 176
+f 175 178 193
+f 175 193 194
+f 175 194 179
+f 176 185 177
+f 177 185 193
+f 177 193 178
+f 180 189 192
+f 184 191 185
+f 185 195 193
+f 185 191 196
+f 185 196 195
+f 190 197 198
+f 190 198 191
+f 191 198 196
+f 193 195 199
+f 193 199 194
+f 195 196 198
+f 195 198 197
+f 195 197 200
+f 195 200 199
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_10.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v 0.08379728 0.03473575 0.01862024
+v 0.08404405 0.03413525 0.01862024
+v 0.08370793 0.03473575 0.01805308
+v 0.08357179 0.03473574 0.02152661
+v 0.08494178 0.03116982 0.02145597
+v 0.08516727 0.03116983 0.01862022
+v 0.08329949 0.03473576 0.01659217
+v 0.08611606 0.02731717 0.01682606
+v 0.08344840 0.03473574 0.02201211
+v 0.08367390 0.03439163 0.02168550
+v 0.08597991 0.02689544 0.02293894
+v 0.08569485 0.02903094 0.02145597
+v 0.08581398 0.02934808 0.01862022
+v 0.08341862 0.03413526 0.01638252
+v 0.08257620 0.03413527 0.01496575
+v 0.08244431 0.03473576 0.01517319
+v 0.08629475 0.02786368 0.01862021
+v 0.08708612 0.02523563 0.01862020
+v 0.08786472 0.02227022 0.01862019
+v 0.08881776 0.01738859 0.01789412
+v 0.08898369 0.01541166 0.01700036
+v 0.08642239 0.02523564 0.01628538
+v 0.08560550 0.02523565 0.01486861
+v 0.08522259 0.02826516 0.01584182
+v 0.08395896 0.03138238 0.01554392
+v 0.08331651 0.03357520 0.02323026
+v 0.08209968 0.03473573 0.02350613
+v 0.08375473 0.03116981 0.02355686
+v 0.08621392 0.02523561 0.02318168
+v 0.08883478 0.01453450 0.02271600
+v 0.08764348 0.02227021 0.02145594
+v 0.08687764 0.02523562 0.02145595
+v 0.08619265 0.02754655 0.02145596
+v 0.08290806 0.03251593 0.01443610
+v 0.08214648 0.03473577 0.01473403
+v 0.08891561 0.01795199 0.02015391
+v 0.08891561 0.01795199 0.01978537
+v 0.08857950 0.01908552 0.01875258
+v 0.08907729 0.01637651 0.01875257
+v 0.08951552 0.01337398 0.01862016
+v 0.08986865 0.01040520 0.01862015
+v 0.08912835 0.01337399 0.01669802
+v 0.08836251 0.01337399 0.01527903
+v 0.08823062 0.01637652 0.01594550
+v 0.08756689 0.01930144 0.01578442
+v 0.08674149 0.02240180 0.01556154
+v 0.08585652 0.02347800 0.01446697
+v 0.08366113 0.02820107 0.01352467
+v 0.08326119 0.03053899 0.01399914
+v 0.08166571 0.03473573 0.02379301
+v 0.08443973 0.02523561 0.02410413
+v 0.08659258 0.02227020 0.02350387
+v 0.08147425 0.03116981 0.02441311
+v 0.08897518 0.01255418 0.02297862
+v 0.08965167 0.01040519 0.02145590
+v 0.08925173 0.01347518 0.02164570
+v 0.08905177 0.01633939 0.02071664
+v 0.08866884 0.01633939 0.02213562
+v 0.08838804 0.01908551 0.02124187
+v 0.08095518 0.03402731 0.01286485
+v 0.08084030 0.03473577 0.01308775
+v 0.07412649 0.02820111 0.00191681
+v 0.07305006 0.03092024 0.00191682
+v 0.07285009 0.03140605 0.00191683
+v 0.09012393 0.00743978 0.01862014
+v 0.08930704 0.01040521 0.01635374
+v 0.08854971 0.01040522 0.01493476
+v 0.08688189 0.01337400 0.01317815
+v 0.08663938 0.01633942 0.01348049
+v 0.08634581 0.01930145 0.01384462
+v 0.08609904 0.02150105 0.01414918
+v 0.08397172 0.02521541 0.01278096
+v 0.07688775 0.01930149 0.00191678
+v 0.07614318 0.02210497 0.00191679
+v 0.07609213 0.02228715 0.00191679
+v 0.07536458 0.02465206 0.00191680
+v 0.07521142 0.02513111 0.00191680
+v 0.07473915 0.02647381 0.00191681
+v 0.07850877 0.03473573 0.02431382
+v 0.08443973 0.02227020 0.02438218
+v 0.08690742 0.01930141 0.02367599
+v 0.08147425 0.02820103 0.02443958
+v 0.08443973 0.01930141 0.02446162
+v 0.08909005 0.01040519 0.02310881
+v 0.08989418 0.00743977 0.02145589
+v 0.07164178 0.03413531 0.00191684
+v 0.07167581 0.03473581 0.00230966
+v 0.09028560 0.00447100 0.01862013
+v 0.08943893 0.00743979 0.01611098
+v 0.08869011 0.00743980 0.01469200
+v 0.08687764 0.01044907 0.01270367
+v 0.07855131 0.01040526 0.00191675
+v 0.07814712 0.01318512 0.00191676
+v 0.07755998 0.01633946 0.00191677
+v 0.07615169 0.03473573 0.02341785
+v 0.07850877 0.03413523 0.02428072
+v 0.08443973 0.00027757 0.02394074
+v 0.08443973 0.01633938 0.02441526
+v 0.08740947 0.00743976 0.02414821
+v 0.08740947 0.01040518 0.02403126
+v 0.08718823 0.01633938 0.02376205
+v 0.08740947 0.00027757 0.02423645
+v 0.08740947 0.00150556 0.02423646
+v 0.08740947 0.00447098 0.02420999
+v 0.08920492 0.00743976 0.02323459
+v 0.09004734 0.00447099 0.02145588
+v 0.07133970 0.03473581 0.00191684
+v 0.09036219 0.00150558 0.01862012
+v 0.08952402 0.00447101 0.01596091
+v 0.08877947 0.00447102 0.01454193
+v 0.08736693 0.00743980 0.01295082
+v 0.07887892 0.00743984 0.00191674
+v 0.08278042 0.00027758 0.02304256
+v 0.08375048 0.00027757 0.02356779
+v 0.04690104 0.03473581 0.00191684
+v 0.08617562 0.00027757 0.02411508
+v 0.08928151 0.00447098 0.02330519
+v 0.08931555 0.00027757 0.02333607
+v 0.08931555 0.00150556 0.02333608
+v 0.09011967 0.00150557 0.02145587
+v 0.09036219 0.00027759 0.01862011
+v 0.08989418 0.00027760 0.01702237
+v 0.08956232 0.00150559 0.01589028
+v 0.08882627 0.00150560 0.01447351
+v 0.07910867 0.00408984 0.00191673
+v 0.07909165 0.00447106 0.00191673
+v 0.05789929 0.00027765 0.00191671
+v 0.08978781 0.00027758 0.02223487
+v 0.09011967 0.00027758 0.02145586
+v 0.08956232 0.00027760 0.01589027
+v 0.08882627 0.00027761 0.01447129
+v 0.07918951 0.00166758 0.00191672
+v 0.07918951 0.00027765 0.00191671
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 35
+f 1 35 61
+f 1 61 87
+f 1 87 107
+f 1 107 115
+f 1 115 95
+f 1 95 79
+f 1 79 50
+f 1 50 27
+f 1 27 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 4 10 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 10 9
+f 5 9 11
+f 6 13 8
+f 7 14 15
+f 7 15 16
+f 7 8 14
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 14
+f 8 13 17
+f 9 26 11
+f 9 27 26
+f 11 26 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 12
+f 12 33 13
+f 13 33 17
+f 14 25 34
+f 14 34 15
+f 15 34 35
+f 15 35 16
+f 17 33 18
+f 18 33 32
+f 18 32 36
+f 18 36 19
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 37 39
+f 20 39 40
+f 20 40 21
+f 20 38 37
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 22
+f 22 45 46
+f 22 46 47
+f 22 47 23
+f 23 47 48
+f 23 48 49
+f 23 49 34
+f 23 34 24
+f 24 34 25
+f 26 27 50
+f 26 50 28
+f 28 51 52
+f 28 52 29
+f 28 50 53
+f 28 53 51
+f 29 52 30
+f 30 54 55
+f 30 55 56
+f 30 56 57
+f 30 57 36
+f 30 36 58
+f 30 58 31
+f 30 52 54
+f 31 58 59
+f 31 59 36
+f 31 36 32
+f 34 60 61
+f 34 61 35
+f 34 49 62
+f 34 62 63
+f 34 63 64
+f 34 64 60
+f 36 57 41
+f 36 41 40
+f 36 40 37
+f 36 59 58
+f 37 40 39
+f 41 57 55
+f 41 55 65
+f 41 65 66
+f 41 66 42
+f 42 66 67
+f 42 67 43
+f 43 67 68
+f 43 68 69
+f 43 69 70
+f 43 70 44
+f 44 70 45
+f 45 70 71
+f 45 71 47
+f 45 47 46
+f 47 72 48
+f 47 71 73
+f 47 73 74
+f 47 74 75
+f 47 75 72
+f 48 72 75
+f 48 75 76
+f 48 76 77
+f 48 77 49
+f 49 77 78
+f 49 78 62
+f 50 79 53
+f 51 53 80
+f 51 80 81
+f 51 81 52
+f 52 81 54
+f 53 79 82
+f 53 82 83
+f 53 83 80
+f 54 84 85
+f 54 85 55
+f 54 81 84
+f 55 85 65
+f 55 57 56
+f 60 64 61
+f 61 64 86
+f 61 86 87
+f 62 78 77
+f 62 77 76
+f 62 76 75
+f 62 75 74
+f 62 74 73
+f 62 73 94
+f 62 94 93
+f 62 93 92
+f 62 92 112
+f 62 112 126
+f 62 126 125
+f 62 125 132
+f 62 132 133
+f 62 133 127
+f 62 127 115
+f 62 115 107
+f 62 107 86
+f 62 86 64
+f 62 64 63
+f 65 85 88
+f 65 88 89
+f 65 89 66
+f 66 90 67
+f 66 89 90
+f 67 91 68
+f 67 90 91
+f 68 91 92
+f 68 92 93
+f 68 93 69
+f 69 93 94
+f 69 94 70
+f 70 94 71
+f 71 94 73
+f 79 95 96
+f 79 96 97
+f 79 97 98
+f 79 98 82
+f 80 83 99
+f 80 99 100
+f 80 100 101
+f 80 101 81
+f 81 101 84
+f 82 98 83
+f 83 98 102
+f 83 102 103
+f 83 103 104
+f 83 104 99
+f 84 105 85
+f 84 101 100
+f 84 100 105
+f 85 106 88
+f 85 105 106
+f 86 107 87
+f 88 106 108
+f 88 108 109
+f 88 109 89
+f 89 109 110
+f 89 110 90
+f 90 110 111
+f 90 111 91
+f 91 111 112
+f 91 112 92
+f 95 113 114
+f 95 114 97
+f 95 97 96
+f 95 115 113
+f 97 114 113
+f 97 113 127
+f 97 127 133
+f 97 133 131
+f 97 131 130
+f 97 130 122
+f 97 122 121
+f 97 121 129
+f 97 129 128
+f 97 128 118
+f 97 118 102
+f 97 102 116
+f 97 116 98
+f 98 116 102
+f 99 104 117
+f 99 117 105
+f 99 105 100
+f 102 118 119
+f 102 119 103
+f 103 119 104
+f 104 119 117
+f 105 117 106
+f 106 120 108
+f 106 117 120
+f 108 121 122
+f 108 122 123
+f 108 123 109
+f 108 120 129
+f 108 129 121
+f 109 123 124
+f 109 124 110
+f 110 124 125
+f 110 125 126
+f 110 126 111
+f 111 126 112
+f 113 115 127
+f 117 119 120
+f 118 128 119
+f 119 128 120
+f 120 128 129
+f 122 130 123
+f 123 130 131
+f 123 131 124
+f 124 131 132
+f 124 132 125
+f 131 133 132
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_11.obj

@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00000133 0.03503682 -0.00042751
+v 0.00000133 0.02820069 -0.00038823
+v 0.00000133 0.03503686 -0.01162717
+v -0.04683527 0.03503681 0.00192091
+v 0.00000133 0.02523689 -0.00037252
+v 0.00000133 0.00027432 -0.01096700
+v -0.05497743 0.03413516 -0.01815556
+v -0.05505415 0.03503689 -0.01801014
+v -0.05597466 0.03503681 0.00192091
+v -0.05597466 0.01621958 0.00192084
+v 0.00000133 0.00027428 -0.00033920
+v 0.00000133 0.00150608 -0.00033526
+v 0.00000133 0.00447328 -0.00032739
+v 0.00000133 0.00744048 -0.00032541
+v 0.00000133 0.01040428 -0.00032737
+v 0.00000133 0.01198997 -0.00032934
+v 0.00000133 0.01337148 -0.00033129
+v 0.00000133 0.01495717 -0.00033522
+v 0.00000133 0.01633869 -0.00033914
+v 0.00000133 0.02226969 -0.00036074
+v 0.00000133 0.02385197 -0.00036662
+v -0.05597466 0.00027433 -0.01349621
+v -0.05597466 0.02831644 -0.01764857
+v -0.05497743 0.03116796 -0.01792172
+v -0.05597466 0.03116796 -0.01795317
+v -0.05597466 0.03410794 -0.01792170
+v -0.05597466 0.03503689 -0.01774680
+v -0.05597466 0.00027428 0.00093228
+f 1 2 5
+f 1 5 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 3
+f 1 3 8
+f 1 8 27
+f 1 27 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+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 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 5
+f 6 11 28
+f 6 28 22
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 24 25
+f 7 25 26
+f 7 26 8
+f 8 26 27
+f 9 27 26
+f 9 26 25
+f 9 25 23
+f 9 23 22
+f 9 22 28
+f 9 28 10
+f 10 28 11
+f 23 25 24
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_12.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.04753926 0.00027429 -0.00136335
+v -0.05686276 -0.02668434 0.00455552
+v -0.04753926 -0.02668432 0.00024675
+v -0.04753926 0.00027433 -0.01254959
+v -0.06281990 0.00027426 0.00455562
+v -0.07669129 -0.02668434 0.00455552
+v -0.04753926 -0.02668427 -0.01324394
+v -0.05519608 -0.02668426 -0.01746761
+v -0.05630830 -0.02668425 -0.01788640
+v -0.06387932 0.00027435 -0.01825133
+v -0.08125239 0.00027426 0.00455562
+v -0.07687282 -0.02616448 0.00455552
+v -0.06587273 -0.02222723 -0.01482276
+v -0.06552950 -0.02414568 -0.01428305
+v -0.06372090 -0.02668426 -0.01536697
+v -0.05794528 -0.02668425 -0.01827831
+v -0.05794528 -0.02519329 -0.01820887
+v -0.06387932 -0.00739681 -0.01831630
+v -0.06561200 0.00027435 -0.01792661
+v -0.08124908 -0.00146475 0.00455561
+v -0.06928860 0.00027434 -0.01540270
+v -0.07720615 -0.02519338 0.00455553
+v -0.06626217 -0.01935614 -0.01561104
+v -0.06524236 -0.02040641 -0.01669496
+v -0.06490573 -0.02222722 -0.01624035
+v -0.06440738 -0.02515900 -0.01529977
+v -0.06278360 -0.02668426 -0.01668827
+v -0.05942384 -0.02668425 -0.01819768
+v -0.06091230 -0.02222721 -0.01831188
+v -0.06091230 -0.01926113 -0.01831187
+v -0.06387932 -0.01036289 -0.01832304
+v -0.06684304 0.00027434 -0.01768698
+v -0.08117318 -0.00338056 0.00455561
+v -0.06928200 -0.00146467 -0.01540271
+v -0.06835790 0.00027434 -0.01685165
+v -0.06835460 -0.00146467 -0.01684718
+v -0.07794543 -0.02276827 0.00455554
+v -0.06839420 -0.01508911 -0.01411282
+v -0.06739419 -0.01616312 -0.01519673
+v -0.07816655 -0.02203466 0.00455554
+v -0.06554270 -0.01842990 -0.01698161
+v -0.06285621 -0.02519330 -0.01717423
+v -0.06256248 -0.02668426 -0.01695925
+v -0.06095520 -0.02668425 -0.01774755
+v -0.06091230 -0.02519329 -0.01804539
+v -0.06387932 -0.01629241 -0.01807671
+v -0.06387932 -0.01332633 -0.01825810
+v -0.06684304 -0.00146467 -0.01768699
+v -0.06773083 0.00027434 -0.01719877
+v -0.08113028 -0.00443082 0.00455560
+v -0.06833150 -0.00303215 -0.01682703
+v -0.06901467 -0.00418269 -0.01564459
+v -0.06857902 -0.01332635 -0.01443753
+v -0.06762522 -0.01332634 -0.01585513
+v -0.07823917 -0.02176022 0.00455554
+v -0.07894544 -0.01902900 0.00455555
+v -0.07955601 -0.01629250 0.00455556
+v -0.06790245 -0.01036290 -0.01629406
+v -0.06581332 -0.01629242 -0.01719211
+v -0.06342387 -0.02222722 -0.01749670
+v -0.06187270 -0.02668426 -0.01733548
+v -0.06410374 -0.01935614 -0.01759075
+v -0.06614336 -0.01332634 -0.01740485
+v -0.06641729 -0.01036290 -0.01753697
+v -0.06663841 -0.00739682 -0.01761087
+v -0.06709717 -0.00418269 -0.01748321
+v -0.08112697 -0.00449680 0.00455560
+v -0.06825559 -0.00500866 -0.01674866
+v -0.06904438 -0.00739682 -0.01517430
+v -0.08089925 -0.00739690 0.00455559
+v -0.06884635 -0.01036291 -0.01487646
+v -0.08011706 -0.01332642 0.00455557
+v -0.06812358 -0.00739682 -0.01659190
+v -0.08056262 -0.01036298 0.00455558
+v -0.08084975 -0.00785079 0.00455559
+v -0.08040090 -0.01143964 0.00455558
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 19
+f 1 19 32
+f 1 32 49
+f 1 49 35
+f 1 35 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 33
+f 2 33 50
+f 2 50 67
+f 2 67 70
+f 2 70 75
+f 2 75 74
+f 2 74 76
+f 2 76 72
+f 2 72 57
+f 2 57 56
+f 2 56 55
+f 2 55 40
+f 2 40 37
+f 2 37 22
+f 2 22 12
+f 2 12 6
+f 2 6 15
+f 2 15 27
+f 2 27 43
+f 2 43 61
+f 2 61 44
+f 2 44 28
+f 2 28 16
+f 2 16 9
+f 2 9 8
+f 2 8 7
+f 2 7 3
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 9 16 17
+f 9 17 10
+f 10 18 19
+f 10 17 16
+f 10 16 18
+f 11 21 20
+f 12 22 13
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 13 22 23
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 16 28 29
+f 16 29 30
+f 16 30 18
+f 18 31 32
+f 18 32 19
+f 18 30 31
+f 20 21 34
+f 20 34 33
+f 21 35 36
+f 21 36 34
+f 22 37 23
+f 23 38 39
+f 23 39 24
+f 23 37 40
+f 23 40 38
+f 24 39 41
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 27
+f 25 27 26
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 31
+f 29 31 30
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 33 34 50
+f 34 36 51
+f 34 51 52
+f 34 52 50
+f 35 49 48
+f 35 48 36
+f 36 48 51
+f 38 53 54
+f 38 54 39
+f 38 40 55
+f 38 55 56
+f 38 56 57
+f 38 57 53
+f 39 54 41
+f 41 54 58
+f 41 58 59
+f 41 59 60
+f 41 60 42
+f 42 60 61
+f 42 61 43
+f 44 61 60
+f 44 60 45
+f 45 60 46
+f 46 60 62
+f 46 62 59
+f 46 59 63
+f 46 63 64
+f 46 64 47
+f 47 64 65
+f 47 65 48
+f 48 65 66
+f 48 66 51
+f 50 52 67
+f 51 68 52
+f 51 66 65
+f 51 65 68
+f 52 68 69
+f 52 69 70
+f 52 70 67
+f 53 71 58
+f 53 58 54
+f 53 57 72
+f 53 72 71
+f 58 73 63
+f 58 63 59
+f 58 71 73
+f 59 62 60
+f 63 73 64
+f 64 73 68
+f 64 68 65
+f 68 73 69
+f 69 73 71
+f 69 71 74
+f 69 74 75
+f 69 75 70
+f 71 72 76
+f 71 76 74
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_13.obj

@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v -0.03460425 0.04717380 0.00192095
+v -0.03460425 0.07135473 0.00192104
+v 0.00000133 0.05820095 0.00192099
+v 0.00000133 0.08296219 0.02299472
+v -0.03460425 0.07597648 0.02327251
+v -0.03389290 0.07169364 0.00192104
+v -0.03460425 0.08081016 0.01316124
+v 0.00000133 0.07922158 0.00192107
+v 0.00000133 0.08381792 0.02347759
+v -0.03460425 0.07625184 0.02346212
+v -0.03151156 0.07275696 0.00192105
+v -0.03460425 0.08242843 0.01526904
+v -0.03421131 0.08255128 0.01519408
+v -0.03232115 0.08293256 0.01457893
+v -0.03396065 0.08089489 0.01293634
+v -0.03116944 0.07290946 0.00192105
+v -0.00033402 0.07922158 0.00192107
+v 0.00000133 0.08884647 0.01462306
+v 0.00000133 0.08456774 0.02389870
+v -0.03460425 0.07822173 0.02424484
+v -0.03460425 0.08269108 0.01568575
+v -0.03460425 0.08334347 0.01674628
+v -0.03421131 0.08341973 0.01661178
+v -0.03129816 0.08392809 0.01562844
+v -0.02817837 0.08517780 0.01594593
+v -0.03034630 0.08329265 0.01411373
+v -0.02827999 0.07406598 0.00192105
+v -0.02898796 0.07379909 0.00192105
+v -0.00158397 0.07921735 0.00192107
+v -0.00158397 0.08884223 0.01462747
+v -0.00158397 0.08965136 0.01604517
+v 0.00000133 0.08922349 0.01528450
+v 0.00000133 0.08615213 0.02408612
+v -0.03460425 0.07863265 0.02434847
+v -0.03421131 0.07863265 0.02433524
+v -0.03460425 0.08376710 0.01862037
+v -0.03421131 0.08392384 0.01862037
+v -0.03124396 0.08505071 0.01862037
+v -0.02712489 0.08615216 0.01699984
+v -0.02531264 0.08557602 0.01511692
+v -0.02827999 0.08363579 0.01369481
+v -0.02546846 0.07506575 0.00192106
+v -0.02752460 0.07434134 0.00192105
+v -0.00217676 0.07919616 0.00192107
+v -0.00455132 0.08879564 0.01470684
+v 0.00000133 0.08965136 0.01604076
+v -0.00455132 0.08960052 0.01612675
+v -0.00158397 0.09044354 0.01862039
+v 0.00000133 0.09044778 0.01862039
+v 0.00000133 0.08753317 0.02424487
+v -0.01641735 0.08456774 0.02442566
+v -0.02827999 0.08159808 0.02443667
+v -0.03124396 0.08159808 0.02435730
+v -0.03460425 0.08153030 0.02383035
+v -0.03460425 0.08377133 0.01904811
+v -0.03124396 0.08483041 0.02145577
+v -0.02748057 0.08626652 0.02090016
+v -0.02903877 0.08581748 0.01862038
+v -0.02755509 0.08628771 0.01862038
+v -0.02531264 0.08694434 0.01862038
+v -0.02234529 0.08773230 0.01862038
+v -0.01511998 0.08904980 0.01713214
+v -0.02531264 0.08641481 0.01653463
+v -0.02315148 0.08587681 0.01462305
+v -0.02509923 0.08391539 0.01285037
+v -0.02215220 0.07609518 0.00192106
+v -0.02226399 0.07606129 0.00192106
+v -0.02511956 0.07518013 0.00192106
+v -0.00455132 0.07910297 0.00192107
+v -0.00455132 0.08746543 0.01295180
+v -0.00775918 0.08702485 0.01267399
+v -0.00751868 0.08869396 0.01486779
+v -0.00751868 0.08950309 0.01628549
+v -0.00455132 0.09034611 0.01862039
+v -0.00158397 0.09023596 0.02145579
+v 0.00000133 0.09024019 0.02145579
+v -0.00158397 0.08753317 0.02424267
+v -0.01937793 0.08456774 0.02444550
+v 0.00000133 0.08855412 0.02376203
+v -0.03434342 0.08181837 0.02377082
+v -0.03460425 0.08175059 0.02375538
+v -0.02234529 0.08456774 0.02431982
+v -0.02827999 0.08427120 0.02372011
+v -0.03124396 0.08375860 0.02348199
+v -0.03460425 0.08358493 0.02136317
+v -0.03434342 0.08365271 0.02150427
+v -0.03460425 0.08348749 0.02174019
+v -0.03460425 0.08312317 0.02276543
+v -0.02671502 0.08602081 0.02279190
+v -0.02839178 0.08575393 0.02168948
+v -0.02555992 0.08662661 0.02168949
+v -0.02234529 0.08752894 0.02145578
+v -0.01571277 0.08915569 0.02064000
+v -0.01937793 0.08841858 0.01862038
+v -0.01565858 0.08914722 0.01862039
+v -0.01345000 0.08949461 0.01862039
+v -0.01048264 0.08987164 0.01862039
+v -0.01345000 0.08917265 0.01688961
+v -0.01345000 0.08835081 0.01547190
+v -0.01623105 0.08819830 0.01602531
+v -0.01937793 0.08742306 0.01578499
+v -0.02223350 0.08670288 0.01565490
+v -0.01713887 0.08887610 0.01862039
+v -0.02117325 0.08612675 0.01427028
+v -0.02001815 0.07667979 0.00192106
+v -0.00751868 0.07887421 0.00192107
+v -0.01048264 0.08706298 0.01307747
+v -0.01048264 0.08854568 0.01511694
+v -0.01048264 0.08936329 0.01653464
+v -0.00751868 0.09015547 0.01862039
+v -0.00751868 0.08995636 0.02145579
+v -0.00455132 0.09013852 0.02145579
+v -0.00455132 0.08939292 0.02329240
+v -0.00158397 0.08944375 0.02333870
+v 0.00000133 0.08944375 0.02333870
+v -0.00455132 0.08753317 0.02420298
+v -0.00751868 0.08753317 0.02412581
+v -0.03344238 0.08336039 0.02316230
+v -0.01048264 0.08753317 0.02398250
+v -0.01641735 0.08722392 0.02374438
+v -0.01937793 0.08693161 0.02363414
+v -0.02234529 0.08660542 0.02342468
+v -0.02473678 0.08630464 0.02315128
+v -0.01429685 0.08890575 0.02252953
+v -0.01937793 0.08819828 0.02145578
+v -0.01336531 0.08929972 0.02153296
+v -0.01048264 0.08968099 0.02145579
+v -0.01658672 0.08874900 0.02153296
+v -0.01345000 0.08686811 0.01332662
+v -0.01641735 0.08662240 0.01364411
+v -0.01937793 0.08632586 0.01402113
+v -0.01641735 0.07752282 0.00192106
+v -0.01817541 0.07712037 0.00192106
+v -0.01937793 0.07684077 0.00192106
+v -0.00799630 0.07882337 0.00192107
+v -0.01060798 0.07851835 0.00192107
+v -0.01232200 0.08906673 0.02293522
+v -0.01048264 0.08916840 0.02305648
+v -0.00751868 0.08930396 0.02320421
+v -0.01129901 0.07842092 0.00192107
+v -0.01345000 0.07808625 0.00192107
+v -0.01355162 0.07806930 0.00192107
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 28
+f 1 28 27
+f 1 27 43
+f 1 43 42
+f 1 42 68
+f 1 68 67
+f 1 67 66
+f 1 66 105
+f 1 105 134
+f 1 134 133
+f 1 133 132
+f 1 132 142
+f 1 142 141
+f 1 141 140
+f 1 140 136
+f 1 136 135
+f 1 135 106
+f 1 106 69
+f 1 69 44
+f 1 44 29
+f 1 29 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 20
+f 1 20 34
+f 1 34 54
+f 1 54 81
+f 1 81 88
+f 1 88 87
+f 1 87 85
+f 1 85 55
+f 1 55 36
+f 1 36 22
+f 1 22 21
+f 1 21 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 18
+f 3 18 32
+f 3 32 46
+f 3 46 49
+f 3 49 76
+f 3 76 115
+f 3 115 79
+f 3 79 50
+f 3 50 33
+f 3 33 19
+f 3 19 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 7 11
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 11
+f 8 17 18
+f 9 19 10
+f 10 19 20
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 16
+f 14 16 15
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 34
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 24
+f 24 39 25
+f 25 40 26
+f 25 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 29 44 30
+f 30 45 31
+f 30 44 45
+f 31 46 32
+f 31 45 47
+f 31 47 48
+f 31 48 49
+f 31 49 46
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 36 55 37
+f 37 55 38
+f 38 55 56
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 39 59 60
+f 39 60 61
+f 39 61 62
+f 39 62 63
+f 39 63 40
+f 39 58 59
+f 40 64 41
+f 40 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 67
+f 41 67 68
+f 41 68 42
+f 44 69 70
+f 44 70 45
+f 45 70 71
+f 45 71 72
+f 45 72 73
+f 45 73 47
+f 47 73 74
+f 47 74 48
+f 48 74 112
+f 48 112 75
+f 48 75 76
+f 48 76 49
+f 50 77 78
+f 50 78 51
+f 50 79 77
+f 51 78 52
+f 52 78 53
+f 53 80 81
+f 53 81 54
+f 53 78 82
+f 53 82 83
+f 53 83 84
+f 53 84 80
+f 55 85 56
+f 56 85 86
+f 56 86 87
+f 56 87 88
+f 56 88 89
+f 56 89 90
+f 56 90 57
+f 57 91 92
+f 57 92 61
+f 57 61 60
+f 57 60 59
+f 57 59 58
+f 57 90 89
+f 57 89 91
+f 61 92 93
+f 61 93 94
+f 61 94 62
+f 62 95 96
+f 62 96 97
+f 62 97 98
+f 62 98 99
+f 62 99 100
+f 62 100 101
+f 62 101 102
+f 62 102 63
+f 62 94 103
+f 62 103 95
+f 63 102 64
+f 64 102 104
+f 64 104 105
+f 64 105 66
+f 64 66 65
+f 69 106 71
+f 69 71 70
+f 71 107 72
+f 71 106 107
+f 72 108 109
+f 72 109 73
+f 72 107 108
+f 73 110 74
+f 73 109 110
+f 74 110 111
+f 74 111 112
+f 75 112 113
+f 75 113 114
+f 75 114 76
+f 76 114 115
+f 77 79 114
+f 77 114 116
+f 77 116 78
+f 78 116 117
+f 78 117 82
+f 79 115 114
+f 80 84 81
+f 81 84 118
+f 81 118 88
+f 82 117 119
+f 82 119 120
+f 82 120 121
+f 82 121 122
+f 82 122 83
+f 83 122 84
+f 84 122 123
+f 84 123 118
+f 85 87 86
+f 88 118 89
+f 89 123 124
+f 89 124 125
+f 89 125 92
+f 89 92 91
+f 89 118 123
+f 92 125 93
+f 93 124 126
+f 93 126 127
+f 93 127 97
+f 93 97 96
+f 93 96 95
+f 93 95 103
+f 93 103 94
+f 93 125 128
+f 93 128 124
+f 97 127 110
+f 97 110 98
+f 98 109 108
+f 98 108 99
+f 98 110 109
+f 99 108 129
+f 99 129 130
+f 99 130 131
+f 99 131 100
+f 100 131 104
+f 100 104 101
+f 101 104 102
+f 104 131 132
+f 104 132 133
+f 104 133 134
+f 104 134 105
+f 106 135 107
+f 107 129 108
+f 107 135 136
+f 107 136 129
+f 110 127 111
+f 111 127 137
+f 111 137 138
+f 111 138 139
+f 111 139 112
+f 112 139 113
+f 113 139 117
+f 113 117 116
+f 113 116 114
+f 117 139 119
+f 119 139 120
+f 120 139 138
+f 120 138 137
+f 120 137 121
+f 121 137 122
+f 122 137 123
+f 123 137 124
+f 124 137 126
+f 124 128 125
+f 126 137 127
+f 129 136 140
+f 129 140 141
+f 129 141 130
+f 130 141 142
+f 130 142 132
+f 130 132 131
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_14.obj

@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v 0.04141736 0.00027432 -0.01210490
+v 0.06367755 0.00027435 -0.01825417
+v 0.04141736 0.00027428 -0.00072518
+v 0.04141736 0.04896694 -0.01800107
+v 0.06367755 0.00743936 -0.01826995
+v 0.06664311 0.00027434 -0.01768311
+v 0.04141736 0.05046215 -0.01806034
+v 0.04291493 0.04896694 -0.01809394
+v 0.05789803 0.00027427 0.00191474
+v 0.04141736 0.04113064 0.00191489
+v 0.06367755 0.01040796 -0.01826401
+v 0.06664311 0.00150762 -0.01768310
+v 0.05478087 0.03413488 -0.01817895
+v 0.06727172 0.00027434 -0.01733929
+v 0.04588419 0.04898330 -0.01745965
+v 0.04141736 0.05191916 -0.01769873
+v 0.04588049 0.04599834 -0.01811371
+v 0.07918943 0.00027427 0.00191474
+v 0.04141736 0.05602273 0.00191495
+v 0.06071199 0.02227142 -0.01821260
+v 0.06367755 0.01337109 -0.01820472
+v 0.06646932 0.00743935 -0.01759812
+v 0.06690565 0.00431796 -0.01747957
+v 0.06813699 0.00322111 -0.01683343
+v 0.06815917 0.00150762 -0.01685319
+v 0.04884974 0.04303520 -0.01811767
+v 0.05181531 0.04006661 -0.01806828
+v 0.05774643 0.03116629 -0.01805054
+v 0.06815917 0.00027434 -0.01685320
+v 0.04789944 0.04800650 -0.01710594
+v 0.04887193 0.04601470 -0.01746558
+v 0.04282248 0.05190278 -0.01738455
+v 0.04489320 0.05089324 -0.01707629
+v 0.04141736 0.05310332 -0.01734304
+v 0.06908730 0.00027434 -0.01540282
+v 0.06909100 0.00150762 -0.01540281
+v 0.07918943 0.00166580 0.00191475
+v 0.05622667 0.05602273 0.00191495
+v 0.04141736 0.05602279 -0.01469323
+v 0.06071199 0.02524001 -0.01801894
+v 0.06367755 0.01633969 -0.01804663
+v 0.06625485 0.01040795 -0.01752697
+v 0.06807043 0.00519654 -0.01676623
+v 0.06883215 0.00431796 -0.01565375
+v 0.05478087 0.03710347 -0.01787464
+v 0.05178942 0.04295334 -0.01740434
+v 0.05783148 0.03408576 -0.01747155
+v 0.05992808 0.03116628 -0.01727002
+v 0.06083771 0.02815948 -0.01749332
+v 0.06854374 0.00027434 -0.01625250
+v 0.04687147 0.04998738 -0.01640842
+v 0.04987771 0.04700787 -0.01642226
+v 0.05078734 0.04503245 -0.01708619
+v 0.04177603 0.05368175 -0.01699329
+v 0.04375061 0.05286867 -0.01628787
+v 0.04141736 0.05381272 -0.01705257
+v 0.07910809 0.00409416 0.00191476
+v 0.05743582 0.05480036 0.00191494
+v 0.05076516 0.04794646 -0.01453123
+v 0.04782178 0.05087686 -0.01451739
+v 0.04476008 0.05371994 -0.01439882
+v 0.04180931 0.05602279 -0.01437312
+v 0.04141736 0.05520971 -0.01565160
+v 0.06330778 0.02227141 -0.01749334
+v 0.06566322 0.01633968 -0.01721277
+v 0.06598492 0.01337108 -0.01740840
+v 0.06393639 0.01949926 -0.01757239
+v 0.06795210 0.00743935 -0.01663383
+v 0.06888023 0.00743935 -0.01521507
+v 0.07908959 0.00447614 0.00191476
+v 0.05464775 0.03978830 -0.01723244
+v 0.05675174 0.03710346 -0.01711784
+v 0.05357172 0.04191106 -0.01700322
+v 0.05945107 0.03306530 -0.01698942
+v 0.06237226 0.02714994 -0.01696770
+v 0.06274943 0.02524000 -0.01721866
+v 0.04884974 0.04896693 -0.01546983
+v 0.04581393 0.05187550 -0.01540263
+v 0.05176354 0.04594922 -0.01541451
+v 0.05276192 0.04388648 -0.01629779
+v 0.04141736 0.05410194 -0.01683916
+v 0.04264499 0.05469129 -0.01519514
+v 0.05754675 0.05468577 0.00191494
+v 0.05360870 0.04488510 -0.01440676
+v 0.05764659 0.05457663 0.00191494
+v 0.06510117 0.02061795 -0.01676420
+v 0.06537849 0.01863706 -0.01700330
+v 0.06773764 0.01040795 -0.01635916
+v 0.06869164 0.01040794 -0.01494238
+v 0.07887883 0.00743928 0.00191477
+v 0.07892320 0.00682264 0.00191477
+v 0.07854973 0.01040788 0.00191478
+v 0.05628584 0.03861505 -0.01683725
+v 0.06191374 0.02912537 -0.01653100
+v 0.05887423 0.03504073 -0.01645589
+v 0.06433944 0.02533823 -0.01537309
+v 0.06479056 0.02227141 -0.01638678
+v 0.05457750 0.04277872 -0.01520704
+v 0.05554999 0.04059047 -0.01600732
+v 0.06032003 0.05158620 0.00191493
+v 0.06041987 0.05146615 0.00191493
+v 0.06245731 0.04896686 0.00191492
+v 0.05635239 0.04167094 -0.01411828
+v 0.06615871 0.01949926 -0.01565370
+v 0.06726803 0.01633422 -0.01524666
+v 0.06746770 0.01337108 -0.01595605
+v 0.06578894 0.02227140 -0.01497000
+v 0.06844020 0.01337107 -0.01453729
+v 0.07814668 0.01318548 0.00191479
+v 0.05679242 0.03978830 -0.01519914
+v 0.05830478 0.03719623 -0.01546789
+v 0.06153658 0.03141184 -0.01551336
+v 0.06262740 0.03058237 -0.01463998
+v 0.06307852 0.02815948 -0.01551338
+v 0.05962856 0.03626854 -0.01456685
+v 0.06016843 0.03408576 -0.01546790
+v 0.06541547 0.02442145 -0.01440881
+v 0.06329299 0.04787000 0.00191492
+v 0.06424700 0.04660944 0.00191491
+v 0.06484233 0.04577998 0.00191491
+v 0.06630662 0.04364085 0.00191490
+v 0.06671337 0.04304058 0.00191490
+v 0.06800017 0.01731647 -0.01369156
+v 0.06824052 0.01534104 -0.01419741
+v 0.07521440 0.02513625 0.00191483
+v 0.07609076 0.02229317 0.00191482
+v 0.07755874 0.01633961 0.00191480
+v 0.06214670 0.03255780 -0.01388712
+v 0.07163871 0.03413480 0.00191487
+v 0.07211942 0.03305432 0.00191486
+v 0.07284787 0.03140631 0.00191486
+v 0.06503091 0.02639687 -0.01369745
+v 0.06692044 0.04271316 0.00191490
+v 0.06854374 0.04006653 0.00191489
+v 0.06919083 0.03890420 0.00191488
+v 0.07304754 0.03091519 0.00191485
+v 0.07412358 0.02820307 0.00191484
+v 0.07473740 0.02647866 0.00191484
+v 0.07614252 0.02210763 0.00191482
+v 0.07688576 0.01930820 0.00191481
+v 0.06997844 0.03748538 0.00191488
+v 0.07028535 0.03689057 0.00191488
+f 1 2 6
+f 1 6 14
+f 1 14 29
+f 1 29 50
+f 1 50 35
+f 1 35 18
+f 1 18 9
+f 1 9 3
+f 1 3 10
+f 1 10 19
+f 1 19 39
+f 1 39 63
+f 1 63 81
+f 1 81 56
+f 1 56 34
+f 1 34 16
+f 1 16 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 5 11 12
+f 5 12 6
+f 5 8 13
+f 5 13 11
+f 6 12 14
+f 7 15 8
+f 7 16 15
+f 8 15 17
+f 8 17 13
+f 9 18 37
+f 9 37 57
+f 9 57 70
+f 9 70 91
+f 9 91 90
+f 9 90 92
+f 9 92 109
+f 9 109 127
+f 9 127 140
+f 9 140 139
+f 9 139 126
+f 9 126 125
+f 9 125 138
+f 9 138 137
+f 9 137 136
+f 9 136 131
+f 9 131 130
+f 9 130 129
+f 9 129 142
+f 9 142 141
+f 9 141 135
+f 9 135 134
+f 9 134 133
+f 9 133 122
+f 9 122 121
+f 9 121 120
+f 9 120 119
+f 9 119 118
+f 9 118 102
+f 9 102 101
+f 9 101 100
+f 9 100 85
+f 9 85 83
+f 9 83 58
+f 9 58 38
+f 9 38 19
+f 9 19 10
+f 11 20 21
+f 11 21 12
+f 11 13 20
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 14
+f 13 17 26
+f 13 26 27
+f 13 27 28
+f 13 28 20
+f 14 25 29
+f 15 30 31
+f 15 31 17
+f 15 16 32
+f 15 32 33
+f 15 33 30
+f 16 34 32
+f 17 31 26
+f 18 35 36
+f 18 36 37
+f 19 38 62
+f 19 62 39
+f 20 40 41
+f 20 41 21
+f 20 28 40
+f 21 41 42
+f 21 42 22
+f 22 43 24
+f 22 24 23
+f 22 42 43
+f 24 43 44
+f 24 44 36
+f 24 36 25
+f 25 36 29
+f 26 31 27
+f 27 45 28
+f 27 31 46
+f 27 46 45
+f 28 45 47
+f 28 47 48
+f 28 48 49
+f 28 49 40
+f 29 36 50
+f 30 33 51
+f 30 51 52
+f 30 52 53
+f 30 53 31
+f 31 53 46
+f 32 34 54
+f 32 54 33
+f 33 55 51
+f 33 54 55
+f 34 56 54
+f 35 50 36
+f 36 44 57
+f 36 57 37
+f 38 58 59
+f 38 59 60
+f 38 60 61
+f 38 61 62
+f 39 62 63
+f 40 64 41
+f 40 49 64
+f 41 65 66
+f 41 66 42
+f 41 64 67
+f 41 67 65
+f 42 66 68
+f 42 68 43
+f 43 68 69
+f 43 69 44
+f 44 69 70
+f 44 70 57
+f 45 46 71
+f 45 71 72
+f 45 72 47
+f 46 53 73
+f 46 73 71
+f 47 74 48
+f 47 72 74
+f 48 74 75
+f 48 75 76
+f 48 76 49
+f 49 76 64
+f 51 77 52
+f 51 55 78
+f 51 78 60
+f 51 60 77
+f 52 79 80
+f 52 80 53
+f 52 77 59
+f 52 59 79
+f 53 80 73
+f 54 56 81
+f 54 81 55
+f 55 81 63
+f 55 63 82
+f 55 82 61
+f 55 61 78
+f 58 83 59
+f 59 84 79
+f 59 77 60
+f 59 83 85
+f 59 85 84
+f 60 78 61
+f 61 82 62
+f 62 82 63
+f 64 76 86
+f 64 86 87
+f 64 87 65
+f 64 65 67
+f 65 88 66
+f 65 87 88
+f 66 88 68
+f 68 88 89
+f 68 89 69
+f 69 90 91
+f 69 91 70
+f 69 89 92
+f 69 92 90
+f 71 73 93
+f 71 93 72
+f 72 93 74
+f 73 80 93
+f 74 94 75
+f 74 93 95
+f 74 95 94
+f 75 94 96
+f 75 96 97
+f 75 97 86
+f 75 86 76
+f 79 84 80
+f 80 84 98
+f 80 98 99
+f 80 99 93
+f 84 85 100
+f 84 100 101
+f 84 101 102
+f 84 102 103
+f 84 103 98
+f 86 104 105
+f 86 105 106
+f 86 106 87
+f 86 97 107
+f 86 107 104
+f 87 106 88
+f 88 106 108
+f 88 108 89
+f 89 108 109
+f 89 109 92
+f 93 99 103
+f 93 103 110
+f 93 110 111
+f 93 111 95
+f 94 112 113
+f 94 113 114
+f 94 114 96
+f 94 95 112
+f 95 111 115
+f 95 115 116
+f 95 116 112
+f 96 114 117
+f 96 117 97
+f 97 117 107
+f 98 103 99
+f 102 118 103
+f 103 115 110
+f 103 118 119
+f 103 119 120
+f 103 120 121
+f 103 121 122
+f 103 122 115
+f 104 107 123
+f 104 123 124
+f 104 124 105
+f 105 124 106
+f 106 124 108
+f 107 117 125
+f 107 125 126
+f 107 126 123
+f 108 124 127
+f 108 127 109
+f 110 115 111
+f 112 116 113
+f 113 116 128
+f 113 128 129
+f 113 129 130
+f 113 130 131
+f 113 131 132
+f 113 132 117
+f 113 117 114
+f 115 122 133
+f 115 133 134
+f 115 134 135
+f 115 135 128
+f 115 128 116
+f 117 132 131
+f 117 131 136
+f 117 136 137
+f 117 137 138
+f 117 138 125
+f 123 126 139
+f 123 139 124
+f 124 139 140
+f 124 140 127
+f 128 135 141
+f 128 141 142
+f 128 142 129
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_15.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.00006878 -0.07776528 0.00023481
+v -0.00006878 -0.06998037 -0.01263321
+v 0.00134776 -0.06998801 -0.01263321
+v 0.00138492 -0.07777291 0.00023481
+v -0.00006878 -0.05402108 0.00023490
+v -0.00006878 -0.04654940 -0.01263312
+v 0.00138492 -0.06998801 -0.01263321
+v 0.00435270 -0.07766596 0.00023481
+v 0.04737388 -0.02666331 0.00023500
+v -0.00006878 0.00027428 -0.00033802
+v -0.00006878 0.00027432 -0.01096776
+v 0.04737388 0.00027433 -0.01248054
+v 0.04737388 -0.01377508 -0.01263300
+v 0.00435270 -0.06986577 -0.01263321
+v 0.00502614 -0.07762012 0.00023481
+v 0.04737388 0.00027429 -0.00137341
+v 0.03994283 0.00027428 -0.00054207
+v 0.03697969 0.00027428 -0.00048035
+v 0.03401191 0.00027428 -0.00045516
+v 0.03104413 0.00027428 -0.00043375
+v 0.02808100 0.00027428 -0.00041485
+v 0.02685023 0.00027428 -0.00040729
+v 0.02511322 0.00027428 -0.00039722
+v 0.02215008 0.00027428 -0.00038462
+v 0.01918695 0.00027428 -0.00037455
+v 0.01795618 0.00027428 -0.00037077
+v 0.01621917 0.00027428 -0.00036573
+v 0.00732048 0.00027428 -0.00034683
+v 0.00608971 0.00027428 -0.00034431
+v 0.00435270 0.00027428 -0.00034180
+v 0.00138492 0.00027428 -0.00033802
+v 0.04737388 -0.06176774 0.00023487
+v 0.04737388 -0.05163744 -0.01263314
+v 0.00723688 -0.06962894 -0.01263321
+v 0.00732048 -0.07744441 0.00023482
+v 0.04612454 -0.06270742 0.00023487
+v 0.04151728 -0.05640462 -0.01263316
+v 0.04291061 -0.05535034 -0.01263315
+v 0.04490770 -0.05379948 -0.01263315
+v 0.04638927 -0.05251601 -0.01263314
+v 0.04650074 -0.05241670 -0.01263314
+v 0.00732048 -0.06962130 -0.01263321
+v 0.00784994 -0.07739093 0.00023482
+v 0.04546039 -0.06318872 0.00023487
+v 0.04456866 -0.06381518 0.00023487
+v 0.04352367 -0.06454095 0.00023486
+v 0.04008216 -0.05739778 -0.01263316
+v 0.01020001 -0.06926223 -0.01263320
+v 0.01024646 -0.07713882 0.00023482
+v 0.00932686 -0.07723813 0.00023482
+v 0.04275270 -0.06506045 0.00023486
+v 0.04002642 -0.05743598 -0.01263316
+v 0.01319566 -0.06876565 -0.01263320
+v 0.01325139 -0.07668808 0.00023482
+v 0.01116605 -0.07700131 0.00023482
+v 0.04188419 -0.06561815 0.00023486
+v 0.03782033 -0.05889516 -0.01263317
+v 0.01618666 -0.07613802 0.00023482
+v 0.01532744 -0.07630609 0.00023482
+v 0.01531351 -0.06831491 -0.01263320
+v 0.04101104 -0.06616820 0.00023486
+v 0.03632947 -0.05981956 -0.01263317
+v 0.01795618 -0.07573311 0.00023482
+v 0.01621917 -0.06810864 -0.01263320
+v 0.03983600 -0.06687870 0.00023485
+v 0.03346852 -0.06144682 -0.01263318
+v 0.03893499 -0.06739820 0.00023485
+v 0.03800146 -0.06793297 0.00023485
+v 0.01918695 -0.07543517 0.00023482
+v 0.01672541 -0.06797877 -0.01263320
+v 0.03222381 -0.06211912 -0.01263318
+v 0.03701220 -0.06848304 0.00023485
+v 0.02014834 -0.07518306 0.00023482
+v 0.01814196 -0.06758914 -0.01263320
+v 0.03115095 -0.06265389 -0.01263318
+v 0.03634341 -0.06883446 0.00023485
+v 0.03540524 -0.06932340 0.00023485
+v 0.03394689 -0.07005682 0.00023484
+v 0.02211293 -0.07462535 0.00023483
+v 0.01901975 -0.06733703 -0.01263320
+v 0.03085836 -0.06279905 -0.01263318
+v 0.03206590 -0.07093538 0.00023484
+v 0.02366881 -0.07416698 0.00023483
+v 0.02215008 -0.06638207 -0.01263319
+v 0.02789522 -0.06415891 -0.01263319
+v 0.03102091 -0.07140141 0.00023484
+v 0.02491351 -0.07376207 0.00023483
+v 0.02464878 -0.06550350 -0.01263319
+v 0.02548477 -0.07356344 0.00023483
+v 0.02715212 -0.06448742 -0.01263319
+v 0.03034283 -0.07169171 0.00023484
+v 0.02596315 -0.06499164 -0.01263319
+v 0.02808100 -0.07261611 0.00023483
+v 0.02685952 -0.07306686 0.00023483
+v 0.02920030 -0.07216537 0.00023483
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 35
+f 1 35 43
+f 1 43 50
+f 1 50 49
+f 1 49 55
+f 1 55 54
+f 1 54 59
+f 1 59 58
+f 1 58 63
+f 1 63 69
+f 1 69 73
+f 1 73 79
+f 1 79 83
+f 1 83 87
+f 1 87 89
+f 1 89 94
+f 1 94 93
+f 1 93 95
+f 1 95 91
+f 1 91 86
+f 1 86 82
+f 1 82 78
+f 1 78 77
+f 1 77 76
+f 1 76 72
+f 1 72 68
+f 1 68 67
+f 1 67 65
+f 1 65 61
+f 1 61 56
+f 1 56 51
+f 1 51 46
+f 1 46 45
+f 1 45 44
+f 1 44 36
+f 1 36 32
+f 1 32 9
+f 1 9 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 33
+f 2 33 41
+f 2 41 40
+f 2 40 39
+f 2 39 38
+f 2 38 37
+f 2 37 47
+f 2 47 52
+f 2 52 57
+f 2 57 62
+f 2 62 66
+f 2 66 71
+f 2 71 75
+f 2 75 81
+f 2 81 85
+f 2 85 90
+f 2 90 92
+f 2 92 88
+f 2 88 84
+f 2 84 80
+f 2 80 74
+f 2 74 70
+f 2 70 64
+f 2 64 60
+f 2 60 53
+f 2 53 48
+f 2 48 42
+f 2 42 34
+f 2 34 14
+f 2 14 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 31
+f 9 31 10
+f 9 32 33
+f 9 33 13
+f 9 13 12
+f 9 12 16
+f 10 31 30
+f 10 30 29
+f 10 29 28
+f 10 28 27
+f 10 27 26
+f 10 26 25
+f 10 25 24
+f 10 24 23
+f 10 23 22
+f 10 22 21
+f 10 21 20
+f 10 20 19
+f 10 19 18
+f 10 18 17
+f 10 17 16
+f 10 16 12
+f 10 12 11
+f 14 34 35
+f 14 35 15
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 33
+f 34 42 35
+f 35 42 43
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 46 51 52
+f 46 52 47
+f 48 53 54
+f 48 54 55
+f 48 55 49
+f 51 56 57
+f 51 57 52
+f 53 58 59
+f 53 59 54
+f 53 60 58
+f 56 61 57
+f 57 61 62
+f 58 60 64
+f 58 64 63
+f 61 65 62
+f 62 65 67
+f 62 67 68
+f 62 68 66
+f 63 64 69
+f 64 70 69
+f 66 68 72
+f 66 72 71
+f 69 70 73
+f 70 74 73
+f 71 72 76
+f 71 76 77
+f 71 77 78
+f 71 78 75
+f 73 74 79
+f 74 80 79
+f 75 78 81
+f 78 82 81
+f 79 80 83
+f 80 84 83
+f 81 82 85
+f 82 86 85
+f 83 84 87
+f 84 88 89
+f 84 89 87
+f 85 86 90
+f 86 91 90
+f 88 92 93
+f 88 93 94
+f 88 94 89
+f 90 91 92
+f 91 95 92
+f 92 95 93
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_16.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.04753596 -0.06172673 0.00023674
+v -0.04753596 -0.05131424 -0.01326197
+v -0.04707602 -0.05172676 -0.01326197
+v -0.04567296 -0.05294906 -0.01326197
+v -0.04488780 -0.05361369 -0.01326198
+v -0.04721075 -0.06197883 0.00023674
+v -0.04753596 -0.02663917 0.00023687
+v -0.04753596 -0.02697525 -0.01326188
+v -0.04376349 -0.05448458 -0.01326198
+v -0.04688089 -0.06222329 0.00023674
+v -0.04193765 -0.05586730 -0.01326199
+v -0.00007343 0.00027428 -0.00033781
+v -0.00578324 0.00027428 -0.00033781
+v -0.00874733 0.00027428 -0.00033913
+v -0.01171606 0.00027428 -0.00034309
+v -0.01468014 0.00027428 -0.00034838
+v -0.01764887 0.00027428 -0.00035499
+v -0.01938180 0.00027428 -0.00036027
+v -0.02235053 0.00027428 -0.00037216
+v -0.02358169 0.00027428 -0.00037745
+v -0.02530997 0.00027428 -0.00038670
+v -0.02654113 0.00027428 -0.00039331
+v -0.03124279 0.00027428 -0.00042370
+v -0.03421152 0.00027428 -0.00044352
+v -0.03544268 0.00027428 -0.00045277
+v -0.03717560 0.00027428 -0.00046598
+v -0.04014433 0.00027428 -0.00052676
+v -0.04753596 0.00027429 -0.00136316
+v -0.00007343 -0.05402626 0.00023677
+v -0.04753596 0.00027433 -0.01255090
+v -0.00007343 -0.05303309 -0.01326197
+v -0.04562185 -0.06315529 0.00023674
+v -0.04097595 -0.05656248 -0.01326199
+v -0.00007343 0.00027432 -0.01096794
+v -0.00007343 -0.07776938 0.00023668
+v -0.00007343 -0.06967162 -0.01326204
+v -0.04449290 -0.06394979 0.00023674
+v -0.03846252 -0.05823550 -0.01326199
+v -0.04368916 -0.06450746 0.00023673
+v -0.00158334 -0.07776174 0.00023668
+v -0.00158334 -0.06966397 -0.01326204
+v -0.03710591 -0.05912930 -0.01326200
+v -0.04204915 -0.06559224 0.00023673
+v -0.00389700 -0.07767007 0.00023668
+v -0.00246142 -0.06962577 -0.01326204
+v -0.03626036 -0.05965642 -0.01326200
+v -0.04014433 -0.06675343 0.00023672
+v -0.00455208 -0.07763951 0.00023668
+v -0.00455208 -0.06953410 -0.01326204
+v -0.03491769 -0.06042035 -0.01326200
+v -0.03860654 -0.06763959 0.00023672
+v -0.00751616 -0.07741033 0.00023669
+v -0.00551378 -0.06945771 -0.01326204
+v -0.03219984 -0.06191003 -0.01326201
+v -0.03818841 -0.06787642 0.00023672
+v -0.00917939 -0.07723463 0.00023669
+v -0.00751616 -0.06928965 -0.01326203
+v -0.03068528 -0.06265105 -0.01326201
+v -0.03413254 -0.06998488 0.00023671
+v -0.03550772 -0.06928970 0.00023672
+v -0.03648801 -0.06879314 0.00023672
+v -0.00939311 -0.07721171 0.00023669
+v -0.00865905 -0.06915978 -0.01326203
+v -0.02902669 -0.06341498 -0.01326201
+v -0.03217661 -0.07089396 0.00023671
+v -0.01044308 -0.07707420 0.00023669
+v -0.01048489 -0.06892296 -0.01326203
+v -0.02560266 -0.06490466 -0.01326202
+v -0.03045763 -0.07163498 0.00023671
+v -0.01122824 -0.07696725 0.00023669
+v -0.01130257 -0.06880837 -0.01326203
+v -0.02438543 -0.06537830 -0.01326202
+v -0.02827870 -0.07252114 0.00023670
+v -0.02978862 -0.07191000 0.00023671
+v -0.01139084 -0.07694433 0.00023669
+v -0.01292399 -0.06853335 -0.01326203
+v -0.01344898 -0.07662348 0.00023669
+v -0.02307529 -0.06584429 -0.01326202
+v -0.02533320 -0.07359066 0.00023670
+v -0.01388569 -0.06835000 -0.01326203
+v -0.01636196 -0.07607345 0.00023669
+v -0.02235053 -0.06606584 -0.01326202
+v -0.02373036 -0.07412541 0.00023670
+v -0.01598100 -0.06788401 -0.01326203
+v -0.01938180 -0.07536298 0.00023669
+v -0.02056650 -0.06660823 -0.01326202
+v -0.02188594 -0.07467544 0.00023670
+v -0.01641771 -0.06777705 -0.01326203
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 32
+f 1 32 37
+f 1 37 39
+f 1 39 43
+f 1 43 47
+f 1 47 51
+f 1 51 55
+f 1 55 61
+f 1 61 60
+f 1 60 59
+f 1 59 65
+f 1 65 69
+f 1 69 74
+f 1 74 73
+f 1 73 79
+f 1 79 83
+f 1 83 87
+f 1 87 85
+f 1 85 81
+f 1 81 77
+f 1 77 75
+f 1 75 70
+f 1 70 66
+f 1 66 62
+f 1 62 56
+f 1 56 52
+f 1 52 48
+f 1 48 44
+f 1 44 40
+f 1 40 35
+f 1 35 29
+f 1 29 7
+f 1 7 28
+f 1 28 30
+f 1 30 8
+f 1 8 2
+f 2 8 31
+f 2 31 36
+f 2 36 41
+f 2 41 45
+f 2 45 49
+f 2 49 53
+f 2 53 57
+f 2 57 63
+f 2 63 67
+f 2 67 71
+f 2 71 76
+f 2 76 80
+f 2 80 84
+f 2 84 88
+f 2 88 86
+f 2 86 82
+f 2 82 78
+f 2 78 72
+f 2 72 68
+f 2 68 64
+f 2 64 58
+f 2 58 54
+f 2 54 50
+f 2 50 46
+f 2 46 42
+f 2 42 38
+f 2 38 33
+f 2 33 11
+f 2 11 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 6
+f 6 9 11
+f 6 11 10
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 28
+f 7 29 12
+f 8 30 31
+f 10 11 32
+f 11 33 32
+f 12 34 30
+f 12 30 28
+f 12 28 27
+f 12 27 26
+f 12 26 25
+f 12 25 24
+f 12 24 23
+f 12 23 22
+f 12 22 21
+f 12 21 20
+f 12 20 19
+f 12 19 18
+f 12 18 17
+f 12 17 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 12 29 35
+f 12 35 36
+f 12 36 31
+f 12 31 34
+f 30 34 31
+f 32 33 37
+f 33 38 39
+f 33 39 37
+f 35 40 41
+f 35 41 36
+f 38 42 43
+f 38 43 39
+f 40 44 41
+f 41 44 45
+f 42 46 43
+f 43 46 47
+f 44 48 49
+f 44 49 45
+f 46 50 51
+f 46 51 47
+f 48 52 49
+f 49 52 53
+f 50 54 55
+f 50 55 51
+f 52 56 57
+f 52 57 53
+f 54 58 59
+f 54 59 60
+f 54 60 61
+f 54 61 55
+f 56 62 57
+f 57 62 63
+f 58 64 65
+f 58 65 59
+f 62 66 67
+f 62 67 63
+f 64 68 65
+f 65 68 69
+f 66 70 67
+f 67 70 71
+f 68 72 73
+f 68 73 74
+f 68 74 69
+f 70 75 71
+f 71 75 77
+f 71 77 76
+f 72 78 79
+f 72 79 73
+f 76 77 81
+f 76 81 80
+f 78 82 83
+f 78 83 79
+f 80 81 84
+f 81 85 84
+f 82 86 83
+f 83 86 87
+f 84 85 88
+f 85 87 88
+f 86 88 87
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_17.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00000133 0.00027432 -0.01096720
+v 0.04141735 0.00027432 -0.01210673
+v 0.00000133 0.00027428 -0.00033881
+v 0.00000133 0.05602279 -0.01327547
+v 0.02706201 0.05602280 -0.01755311
+v 0.02992822 0.05602281 -0.01796302
+v 0.03697818 0.05193553 -0.01805326
+v 0.04141735 0.04896694 -0.01800032
+v 0.04141735 0.00027428 -0.00072519
+v 0.00138781 0.00027428 -0.00033881
+v 0.04141735 0.04113064 0.00191686
+v 0.01609990 0.05602273 0.00191692
+v 0.00000133 0.05602274 0.00093038
+v 0.03289172 0.05602281 -0.01806305
+v 0.03401063 0.05489867 -0.01811994
+v 0.04141735 0.05046215 -0.01806111
+v 0.03994574 0.00027428 -0.00054278
+v 0.00312294 0.00027428 -0.00034077
+v 0.04141735 0.05602273 0.00191692
+v 0.00609049 0.00027428 -0.00034469
+v 0.00731886 0.00027428 -0.00034665
+v 0.01028642 0.00027428 -0.00035253
+v 0.01202154 0.00027428 -0.00035646
+v 0.01795260 0.00027428 -0.00037019
+v 0.01918502 0.00027428 -0.00037411
+v 0.02091610 0.00027428 -0.00037999
+v 0.02388365 0.00027428 -0.00039176
+v 0.02511202 0.00027428 -0.00039764
+v 0.02685120 0.00027428 -0.00040745
+v 0.02807958 0.00027428 -0.00041530
+v 0.03104713 0.00027428 -0.00043491
+v 0.03278226 0.00027428 -0.00044668
+v 0.03574981 0.00027428 -0.00047021
+v 0.03697818 0.00027428 -0.00048002
+v 0.03626873 0.05602280 -0.01756291
+v 0.03727413 0.05519879 -0.01762177
+v 0.03994574 0.05193553 -0.01802973
+v 0.04141735 0.05191916 -0.01769827
+v 0.04141735 0.05602279 -0.01469350
+v 0.03690927 0.05602280 -0.01741778
+v 0.03994574 0.05435842 -0.01730011
+v 0.04141735 0.05310332 -0.01734326
+v 0.04141735 0.05520971 -0.01565064
+v 0.03994574 0.05602280 -0.01598013
+v 0.03872953 0.05602280 -0.01690783
+v 0.04141735 0.05381272 -0.01705298
+v 0.04141735 0.05410194 -0.01683920
+v 0.03994574 0.05583726 -0.01619784
+v 0.03945114 0.05602280 -0.01640574
+f 1 2 9
+f 1 9 17
+f 1 17 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 18
+f 1 18 10
+f 1 10 3
+f 1 3 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 16
+f 2 16 38
+f 2 38 42
+f 2 42 46
+f 2 46 47
+f 2 47 43
+f 2 43 39
+f 2 39 19
+f 2 19 11
+f 2 11 9
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 13 12
+f 4 12 19
+f 4 19 39
+f 4 39 44
+f 4 44 49
+f 4 49 45
+f 4 45 40
+f 4 40 35
+f 4 35 14
+f 4 14 6
+f 4 6 5
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 9 11 17
+f 10 18 11
+f 11 19 12
+f 11 18 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 34
+f 11 34 17
+f 14 35 36
+f 14 36 37
+f 14 37 15
+f 15 37 16
+f 16 37 38
+f 35 40 36
+f 36 41 37
+f 36 40 41
+f 37 41 42
+f 37 42 38
+f 39 43 44
+f 40 45 41
+f 41 46 42
+f 41 45 46
+f 43 47 48
+f 43 48 44
+f 44 48 49
+f 45 49 47
+f 45 47 46
+f 47 49 48
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_18.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02671607 -0.06467755 -0.01263319
+v 0.02671607 -0.06459781 -0.01279311
+v 0.02715491 -0.06448819 -0.01263319
+v 0.02671607 -0.04014493 -0.01263310
+v 0.02671607 -0.06326727 -0.01512751
+v 0.02808315 -0.06286364 -0.01489525
+v 0.02992142 -0.06245002 -0.01428156
+v 0.02789912 -0.06415928 -0.01263319
+v 0.04737388 -0.01376850 -0.01263300
+v 0.02671607 -0.05483558 -0.01770205
+v 0.02671607 -0.06231547 -0.01657358
+v 0.02808315 -0.06187694 -0.01631251
+v 0.03372132 -0.05977899 -0.01523769
+v 0.03569307 -0.05942519 -0.01418096
+v 0.03189721 -0.06195170 -0.01332655
+v 0.03115503 -0.06265932 -0.01263318
+v 0.03086381 -0.06279886 -0.01263318
+v 0.03253828 -0.05931056 -0.01682504
+v 0.04737388 -0.04004026 -0.01789074
+v 0.02671607 -0.05782554 -0.01838865
+v 0.02808315 -0.05486049 -0.01799703
+v 0.04737388 -0.05163634 -0.01263314
+v 0.02671607 -0.06220085 -0.01673803
+v 0.03451609 -0.05872752 -0.01607064
+v 0.03691656 -0.05778070 -0.01538573
+v 0.03918761 -0.05683389 -0.01469971
+v 0.04116542 -0.05614121 -0.01362377
+v 0.03782053 -0.05889696 -0.01263317
+v 0.03633414 -0.05981886 -0.01263317
+v 0.03347258 -0.06144839 -0.01263318
+v 0.03222482 -0.06212113 -0.01263318
+v 0.03104986 -0.05967434 -0.01709120
+v 0.03372132 -0.05777073 -0.01732966
+v 0.03616022 -0.05674916 -0.01711492
+v 0.03813601 -0.05611628 -0.01658939
+v 0.04737388 -0.04299035 -0.01823546
+v 0.04587940 -0.04299035 -0.01825580
+v 0.03104986 -0.05486049 -0.01838186
+v 0.03698127 -0.05189046 -0.01840558
+v 0.02808315 -0.05782554 -0.01837791
+v 0.02671607 -0.06073578 -0.01760092
+v 0.04639104 -0.05251838 -0.01263314
+v 0.04737388 -0.05066959 -0.01429960
+v 0.02808315 -0.06039193 -0.01750428
+v 0.04008349 -0.05553823 -0.01554847
+v 0.04267405 -0.05391866 -0.01516082
+v 0.04444761 -0.05342035 -0.01405323
+v 0.04286010 -0.05539372 -0.01263315
+v 0.04151932 -0.05640034 -0.01263316
+v 0.04002888 -0.05743686 -0.01263316
+v 0.03104986 -0.05782554 -0.01796709
+v 0.03708037 -0.05501997 -0.01763593
+v 0.03994597 -0.05400338 -0.01720420
+v 0.04152741 -0.05345024 -0.01687927
+v 0.04737388 -0.04590556 -0.01780543
+v 0.04587940 -0.04596038 -0.01824168
+v 0.03994597 -0.04892542 -0.01835584
+v 0.04291269 -0.04892542 -0.01820666
+v 0.03401456 -0.05486049 -0.01832761
+v 0.04490870 -0.05380406 -0.01263315
+v 0.04555584 -0.05161141 -0.01508452
+v 0.04666405 -0.04975266 -0.01611524
+v 0.04737388 -0.05041544 -0.01459458
+v 0.04350522 -0.05263797 -0.01594290
+v 0.03994597 -0.05189046 -0.01805635
+v 0.04267405 -0.05174596 -0.01728048
+v 0.04468624 -0.05066459 -0.01699623
+v 0.04737388 -0.04795868 -0.01709455
+v 0.04575604 -0.04883075 -0.01739123
+v 0.04737388 -0.04936894 -0.01577449
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 50
+f 1 50 49
+f 1 49 48
+f 1 48 60
+f 1 60 42
+f 1 42 22
+f 1 22 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 41
+f 1 41 23
+f 1 23 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 12 18
+f 7 18 13
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 9 22 43
+f 9 43 63
+f 9 63 70
+f 9 70 68
+f 9 68 55
+f 9 55 36
+f 9 36 19
+f 10 21 20
+f 11 23 12
+f 12 23 18
+f 13 18 14
+f 14 18 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 16
+f 18 23 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 24
+f 19 36 37
+f 19 37 20
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 37 38
+f 22 42 43
+f 23 41 44
+f 23 44 32
+f 24 35 25
+f 25 35 26
+f 26 35 45
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 27 48 49
+f 27 49 50
+f 27 50 28
+f 27 47 48
+f 32 44 33
+f 33 44 51
+f 33 51 52
+f 33 52 34
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 35 54 45
+f 36 55 56
+f 36 56 39
+f 36 39 57
+f 36 57 37
+f 37 57 38
+f 38 57 39
+f 39 56 58
+f 39 58 59
+f 39 59 40
+f 40 59 51
+f 40 51 41
+f 41 51 44
+f 42 60 47
+f 42 47 43
+f 43 47 61
+f 43 61 62
+f 43 62 63
+f 45 54 46
+f 46 54 47
+f 47 54 64
+f 47 64 61
+f 47 60 48
+f 51 59 52
+f 52 59 65
+f 52 65 53
+f 53 65 66
+f 53 66 54
+f 54 66 67
+f 54 67 64
+f 55 68 69
+f 55 69 56
+f 56 69 58
+f 58 69 65
+f 58 65 59
+f 61 64 62
+f 62 70 63
+f 62 64 67
+f 62 67 68
+f 62 68 70
+f 65 69 66
+f 66 69 67
+f 67 69 68
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_19.obj

@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.05054291 0.05602269 0.01446258
+v 0.05054291 0.03474126 0.00348873
+v 0.05054291 0.05602273 0.00191692
+v 0.01609865 0.05602273 0.00191692
+v 0.05054291 0.03474126 0.00191684
+v 0.04689822 0.03474126 0.00191684
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 5 6
+f 3 6 4
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_2.obj

@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
+v 0.07149836 0.05602267 0.01907217
+v 0.07118249 0.05650164 0.01938446
+v 0.07118249 0.05650164 0.02035466
+v 0.07143778 0.05602266 0.02068361
+v 0.07132096 0.05602267 0.01776469
+v 0.07104836 0.05633208 0.01749403
+v 0.07010942 0.05764404 0.01851004
+v 0.06841327 0.05968489 0.01861831
+v 0.06838731 0.05965215 0.02086267
+v 0.06807577 0.05930111 0.02275310
+v 0.07087096 0.05611488 0.02224509
+v 0.07096182 0.05602266 0.02217014
+v 0.07113490 0.05602268 0.01724836
+v 0.07081038 0.05602268 0.01671538
+v 0.06824885 0.05949450 0.01700270
+v 0.06707193 0.06116644 0.01861831
+v 0.06558780 0.06276698 0.01861832
+v 0.06545367 0.06262715 0.02145396
+v 0.06714549 0.06072017 0.02166631
+v 0.06519405 0.06235642 0.02290301
+v 0.06889356 0.05732272 0.02339017
+v 0.06939116 0.05602265 0.02362335
+v 0.07078009 0.05602266 0.02237417
+v 0.07023923 0.05602268 0.01581180
+v 0.06892817 0.05776603 0.01594921
+v 0.06754789 0.05868530 0.01511227
+v 0.06646184 0.06063690 0.01599919
+v 0.06537578 0.06254387 0.01688196
+v 0.06411233 0.06424853 0.01861833
+v 0.06397386 0.06411167 0.02145397
+v 0.06222147 0.06531357 0.02289469
+v 0.06339406 0.06352856 0.02324445
+v 0.06589068 0.06083619 0.02331523
+v 0.06691183 0.05813489 0.02387735
+v 0.06673443 0.05602265 0.02423128
+v 0.06977192 0.05602268 0.01519138
+v 0.06839596 0.05670991 0.01410459
+v 0.06556617 0.05980093 0.01397968
+v 0.06463588 0.06177929 0.01499153
+v 0.06352387 0.06365354 0.01594091
+v 0.06240752 0.06549208 0.01689029
+v 0.06262819 0.06570033 0.01861833
+v 0.06248973 0.06556644 0.02145397
+v 0.05912773 0.06816659 0.02266152
+v 0.05715033 0.06898172 0.02337355
+v 0.06071137 0.06598293 0.02329859
+v 0.06057724 0.06723839 0.02161221
+v 0.06071137 0.06380523 0.02416052
+v 0.06367531 0.06083619 0.02417716
+v 0.06367531 0.05787012 0.02437286
+v 0.06366665 0.05602265 0.02388151
+v 0.06867289 0.05602269 0.01384226
+v 0.04181144 0.05602279 -0.01437257
+v 0.06265849 0.06278485 0.01394638
+v 0.06163733 0.06476321 0.01499987
+v 0.06049070 0.06657201 0.01602003
+v 0.05934407 0.06835403 0.01704021
+v 0.06100128 0.06718484 0.01861834
+v 0.05949984 0.06848789 0.02077109
+v 0.05396140 0.07170979 0.02327363
+v 0.05773013 0.06972251 0.02144566
+v 0.05593879 0.07096010 0.02212022
+v 0.05487870 0.06987720 0.02378163
+v 0.05798109 0.06701525 0.02385657
+v 0.04884699 0.07270047 0.02430213
+v 0.05181093 0.06973737 0.02442704
+v 0.02808216 0.08160165 0.02441459
+v 0.02730332 0.08160165 0.02435629
+v 0.02730332 0.07925735 0.02348186
+v 0.06174118 0.05602265 0.02315282
+v 0.03995087 0.05602280 -0.01597985
+v 0.04153452 0.05646309 -0.01410192
+v 0.05331236 0.07123086 0.01435031
+v 0.05654889 0.06849089 0.01412961
+v 0.05965994 0.06567654 0.01399636
+v 0.05852629 0.06765491 0.01514978
+v 0.05762196 0.06900555 0.01597007
+v 0.05546284 0.07060015 0.01578271
+v 0.05397870 0.07173065 0.01578271
+v 0.05086766 0.07455392 0.01661550
+v 0.05616379 0.07114456 0.01773559
+v 0.05951715 0.06850575 0.01861834
+v 0.05632822 0.07127249 0.02022979
+v 0.05062968 0.07438729 0.02306961
+v 0.05169410 0.07270047 0.02359843
+v 0.05487870 0.07202515 0.02128743
+v 0.05257679 0.07366735 0.02145400
+v 0.04291480 0.07566653 0.02442289
+v 0.04603450 0.07586883 0.02380247
+v 0.03698261 0.07863558 0.02442290
+v 0.03105042 0.08160165 0.02436878
+v 0.02730332 0.08464804 0.02365260
+v 0.02730332 0.05602272 0.00410698
+v 0.03945760 0.05602280 -0.01640457
+v 0.03846674 0.05638872 -0.01682097
+v 0.03995087 0.05701346 -0.01478064
+v 0.04991141 0.07390538 0.01472508
+v 0.05183689 0.07324195 0.01571609
+v 0.04864796 0.07554162 0.01595345
+v 0.04738450 0.07716299 0.01718181
+v 0.05275419 0.07380421 0.01861836
+v 0.05501716 0.07213226 0.01865582
+v 0.05632822 0.07127249 0.01962602
+v 0.05748782 0.07018959 0.01865582
+v 0.05127439 0.07483058 0.01861836
+v 0.04758353 0.07728792 0.02052962
+v 0.05109266 0.07470860 0.02145400
+v 0.04712055 0.07699042 0.02242004
+v 0.04514316 0.07758243 0.02325699
+v 0.04884699 0.07495849 0.02344021
+v 0.04291480 0.07820421 0.02360677
+v 0.04023212 0.07892118 0.02383995
+v 0.03698261 0.08114350 0.02362760
+v 0.03421339 0.08184857 0.02378583
+v 0.03105042 0.08381504 0.02351102
+v 0.02781389 0.08466589 0.02356932
+v 0.02730332 0.08527577 0.02326951
+v 0.02730332 0.05602280 -0.01757047
+v 0.03873068 0.05602280 -0.01690424
+v 0.03487108 0.05896804 -0.01642955
+v 0.03612588 0.05974153 -0.01453912
+v 0.03648934 0.05698967 -0.01717907
+v 0.03289368 0.05954817 -0.01696253
+v 0.04793834 0.07455393 0.01396724
+v 0.04435999 0.07713027 0.01439197
+v 0.04588306 0.07666914 0.01507902
+v 0.04588306 0.07760031 0.01649893
+v 0.04168596 0.08025103 0.01695697
+v 0.04346432 0.07960842 0.01861838
+v 0.04588306 0.07823695 0.01861838
+v 0.04754459 0.07726115 0.01861837
+v 0.04902872 0.07631510 0.01861837
+v 0.04191096 0.08037298 0.02094186
+v 0.04603450 0.07791862 0.02146651
+v 0.04868257 0.07628832 0.02146650
+v 0.04140904 0.08010226 0.02283228
+v 0.03942731 0.08057825 0.02328616
+v 0.03335666 0.08339854 0.02319456
+v 0.02730332 0.08622778 0.02145405
+v 0.02730332 0.05656425 -0.01771205
+v 0.02992975 0.05602281 -0.01796189
+v 0.03691338 0.05602280 -0.01741641
+v 0.02894754 0.06201444 -0.01651698
+v 0.03128840 0.06163066 -0.01550514
+v 0.03393646 0.06026812 -0.01545102
+v 0.03627299 0.05602280 -0.01756215
+v 0.03393646 0.05793572 -0.01742890
+v 0.03105042 0.06001227 -0.01722902
+v 0.02730332 0.06239523 -0.01686675
+v 0.03852732 0.08014692 0.01432952
+v 0.04050471 0.07964413 0.01506654
+v 0.04302297 0.07869213 0.01567447
+v 0.03243935 0.06227325 -0.01388121
+v 0.03046196 0.06275520 -0.01462655
+v 0.03968693 0.08058721 0.01592016
+v 0.03565857 0.08315165 0.01706941
+v 0.03995087 0.08142317 0.01861839
+v 0.04198451 0.08040869 0.01861839
+v 0.03591819 0.08326766 0.02075866
+v 0.04023212 0.08098583 0.02171636
+v 0.04290615 0.07960841 0.02171635
+v 0.03693934 0.08256556 0.02160393
+v 0.03533406 0.08300585 0.02264908
+v 0.02871389 0.08575772 0.02145405
+v 0.02901677 0.08587376 0.01861841
+v 0.02753264 0.08634678 0.01861841
+v 0.02730332 0.08627240 0.02079198
+v 0.02730332 0.05787028 -0.01805349
+v 0.02808216 0.05787028 -0.01811179
+v 0.03289801 0.05602281 -0.01806182
+v 0.02730332 0.06270463 -0.01647950
+v 0.02730332 0.06350788 -0.01546767
+v 0.02800860 0.06319253 -0.01550514
+v 0.03105042 0.05787028 -0.01797021
+v 0.02800860 0.06094939 -0.01743722
+v 0.02730332 0.06140754 -0.01737475
+v 0.02730332 0.06198469 -0.01709993
+v 0.03224464 0.08297911 0.01451275
+v 0.03401868 0.08261913 0.01508737
+v 0.03677924 0.08197950 0.01598678
+v 0.02730332 0.08615044 0.01714437
+v 0.03105042 0.08516571 0.01861840
+v 0.03401868 0.08404711 0.01861840
+v 0.03593117 0.08327361 0.01861840
+v 0.03741530 0.08261614 0.01861839
+v 0.03401868 0.08348187 0.01650312
+v 0.02730332 0.08595410 0.01666969
+v 0.03105042 0.08494258 0.02145404
+v 0.03421339 0.08372878 0.02160394
+v 0.02730332 0.08627241 0.01781060
+v 0.02730332 0.08641223 0.01861841
+v 0.02730332 0.05865271 -0.01806181
+v 0.02730332 0.06400470 -0.01476812
+v 0.02730332 0.06092261 -0.01755797
+v 0.03026724 0.08333313 0.01406305
+v 0.02805620 0.08524902 0.01590351
+v 0.03117157 0.08399655 0.01559122
+v 0.02730332 0.08534720 0.01567866
+v 0.02730332 0.08420779 0.01398810
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 23
+f 1 23 22
+f 1 22 35
+f 1 35 51
+f 1 51 70
+f 1 70 93
+f 1 93 118
+f 1 118 141
+f 1 141 170
+f 1 170 146
+f 1 146 142
+f 1 142 119
+f 1 119 94
+f 1 94 71
+f 1 71 53
+f 1 53 52
+f 1 52 36
+f 1 36 24
+f 1 24 14
+f 1 14 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 6 8 7
+f 8 16 9
+f 8 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 17
+f 15 17 16
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 20
+f 18 20 19
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 20 30 31
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 24 36 37
+f 24 37 25
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 31 43 47
+f 31 47 44
+f 32 46 48
+f 32 48 49
+f 32 49 33
+f 33 49 34
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 36 52 37
+f 37 52 53
+f 37 53 38
+f 38 54 39
+f 38 53 54
+f 39 54 55
+f 39 55 40
+f 40 55 41
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 58
+f 42 58 59
+f 42 59 43
+f 43 59 47
+f 44 60 45
+f 44 47 59
+f 44 59 61
+f 44 61 62
+f 44 62 60
+f 45 60 63
+f 45 63 64
+f 45 64 48
+f 45 48 46
+f 48 64 63
+f 48 63 65
+f 48 65 66
+f 48 66 49
+f 49 66 50
+f 50 66 67
+f 50 67 68
+f 50 68 51
+f 51 68 69
+f 51 69 70
+f 53 71 72
+f 53 72 73
+f 53 73 74
+f 53 74 75
+f 53 75 55
+f 53 55 54
+f 55 75 76
+f 55 76 56
+f 56 76 57
+f 57 76 77
+f 57 77 78
+f 57 78 79
+f 57 79 80
+f 57 80 81
+f 57 81 82
+f 57 82 58
+f 58 82 59
+f 59 82 83
+f 59 83 61
+f 60 62 84
+f 60 84 85
+f 60 85 63
+f 61 83 62
+f 62 83 86
+f 62 86 87
+f 62 87 84
+f 63 85 65
+f 65 88 66
+f 65 85 89
+f 65 89 88
+f 66 88 90
+f 66 90 67
+f 67 90 91
+f 67 91 92
+f 67 92 68
+f 68 92 117
+f 68 117 139
+f 68 139 167
+f 68 167 191
+f 68 191 190
+f 68 190 181
+f 68 181 187
+f 68 187 198
+f 68 198 199
+f 68 199 193
+f 68 193 172
+f 68 172 171
+f 68 171 149
+f 68 149 177
+f 68 177 176
+f 68 176 194
+f 68 194 192
+f 68 192 168
+f 68 168 140
+f 68 140 118
+f 68 118 93
+f 68 93 69
+f 69 93 70
+f 71 94 72
+f 72 94 95
+f 72 95 96
+f 72 96 97
+f 72 97 73
+f 73 97 98
+f 73 98 79
+f 73 79 78
+f 73 78 74
+f 74 78 77
+f 74 77 76
+f 74 76 75
+f 79 98 80
+f 80 98 97
+f 80 97 99
+f 80 99 100
+f 80 100 101
+f 80 101 81
+f 81 101 102
+f 81 102 103
+f 81 103 104
+f 81 104 82
+f 82 104 103
+f 82 103 83
+f 83 103 101
+f 83 101 105
+f 83 105 106
+f 83 106 107
+f 83 107 87
+f 83 87 86
+f 84 108 109
+f 84 109 110
+f 84 110 85
+f 84 87 107
+f 84 107 108
+f 85 110 89
+f 88 89 111
+f 88 111 112
+f 88 112 90
+f 89 110 111
+f 90 112 113
+f 90 113 91
+f 91 113 114
+f 91 114 115
+f 91 115 92
+f 92 115 116
+f 92 116 117
+f 94 119 95
+f 95 120 121
+f 95 121 97
+f 95 97 96
+f 95 119 122
+f 95 122 123
+f 95 123 120
+f 97 124 125
+f 97 125 126
+f 97 126 99
+f 97 121 124
+f 99 126 100
+f 100 126 125
+f 100 125 127
+f 100 127 128
+f 100 128 129
+f 100 129 130
+f 100 130 131
+f 100 131 132
+f 100 132 105
+f 100 105 101
+f 101 103 102
+f 105 132 106
+f 106 133 134
+f 106 134 108
+f 106 108 135
+f 106 135 107
+f 106 132 131
+f 106 131 130
+f 106 130 129
+f 106 129 133
+f 107 135 108
+f 108 136 109
+f 108 134 136
+f 109 137 111
+f 109 111 110
+f 109 136 137
+f 111 113 112
+f 111 137 113
+f 113 137 138
+f 113 138 115
+f 113 115 114
+f 115 138 117
+f 115 117 116
+f 117 138 139
+f 118 140 141
+f 119 142 122
+f 120 143 144
+f 120 144 145
+f 120 145 121
+f 120 123 143
+f 121 145 125
+f 121 125 124
+f 122 142 146
+f 122 146 147
+f 122 147 123
+f 123 147 148
+f 123 148 149
+f 123 149 143
+f 125 150 151
+f 125 151 152
+f 125 152 127
+f 125 145 153
+f 125 153 154
+f 125 154 150
+f 127 152 128
+f 128 152 151
+f 128 151 155
+f 128 155 156
+f 128 156 157
+f 128 157 158
+f 128 158 129
+f 129 158 133
+f 133 159 160
+f 133 160 136
+f 133 136 161
+f 133 161 134
+f 133 158 157
+f 133 157 159
+f 134 161 136
+f 136 160 162
+f 136 162 163
+f 136 163 138
+f 136 138 137
+f 138 163 139
+f 139 163 164
+f 139 164 165
+f 139 165 166
+f 139 166 167
+f 140 168 141
+f 141 168 169
+f 141 169 170
+f 143 149 171
+f 143 171 172
+f 143 172 173
+f 143 173 154
+f 143 154 144
+f 144 154 145
+f 145 154 153
+f 146 170 174
+f 146 174 147
+f 147 174 148
+f 148 174 175
+f 148 175 176
+f 148 176 177
+f 148 177 149
+f 150 178 179
+f 150 179 180
+f 150 180 155
+f 150 155 151
+f 150 154 173
+f 150 173 178
+f 155 180 156
+f 156 181 182
+f 156 182 183
+f 156 183 184
+f 156 184 185
+f 156 185 157
+f 156 180 179
+f 156 179 186
+f 156 186 187
+f 156 187 181
+f 157 185 159
+f 159 188 189
+f 159 189 163
+f 159 163 162
+f 159 162 160
+f 159 185 184
+f 159 184 183
+f 159 183 182
+f 159 182 188
+f 163 189 188
+f 163 188 164
+f 164 188 182
+f 164 182 165
+f 165 182 181
+f 165 181 190
+f 165 190 166
+f 166 191 167
+f 166 190 191
+f 168 192 169
+f 169 192 174
+f 169 174 170
+f 172 193 178
+f 172 178 173
+f 174 192 194
+f 174 194 175
+f 175 194 176
+f 178 195 196
+f 178 196 197
+f 178 197 186
+f 178 186 179
+f 178 193 195
+f 186 197 187
+f 187 197 196
+f 187 196 198
+f 193 199 195
+f 195 199 198
+f 195 198 196
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_20.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.00007342 -0.06998229 -0.01263321
+v -0.00007342 -0.06942148 -0.01377050
+v 0.00138447 -0.06880809 -0.01502188
+v 0.00130843 -0.06998521 -0.01263321
+v -0.00007342 -0.04655401 -0.01263312
+v -0.00007342 -0.06880517 -0.01501788
+v 0.00138447 -0.06998521 -0.01263321
+v -0.00007342 -0.06835828 -0.01571373
+v 0.00138447 -0.06789678 -0.01643866
+v 0.00435270 -0.06874969 -0.01493176
+v 0.02671405 -0.04014855 -0.01263310
+v -0.00007342 -0.06082828 -0.01766319
+v 0.00435270 -0.06986838 -0.01263321
+v -0.00007342 -0.06789386 -0.01643466
+v -0.00007342 -0.06716364 -0.01701757
+v -0.00007342 -0.06641006 -0.01761816
+v 0.00138447 -0.06641298 -0.01761816
+v 0.00435270 -0.06635164 -0.01759192
+v 0.00435270 -0.06783252 -0.01634854
+v 0.00731830 -0.06862409 -0.01472814
+v 0.02671405 -0.05484049 -0.01770196
+v 0.02671405 -0.06467507 -0.01263319
+v -0.00007342 -0.06231791 -0.01806816
+v 0.00731830 -0.06962303 -0.01263321
+v -0.00007342 -0.06511026 -0.01803053
+v 0.00138447 -0.06375790 -0.01845943
+v 0.00435270 -0.06375790 -0.01845316
+v 0.00731830 -0.06375790 -0.01842635
+v 0.00731830 -0.06621728 -0.01753203
+v 0.01028391 -0.06375790 -0.01835448
+v 0.01028391 -0.06602158 -0.01742708
+v 0.00731830 -0.06770108 -0.01614549
+v 0.01028391 -0.06843423 -0.01439847
+v 0.02671405 -0.05782562 -0.01838868
+v 0.02511457 -0.05782562 -0.01840180
+v -0.00007342 -0.06375790 -0.01845886
+v 0.02596150 -0.06499344 -0.01263319
+v 0.02671405 -0.06459913 -0.01279289
+v 0.01028391 -0.06925207 -0.01263320
+v 0.01918073 -0.06079322 -0.01845714
+v 0.01324952 -0.06375790 -0.01820391
+v 0.01324952 -0.06576747 -0.01726168
+v 0.01621512 -0.06375790 -0.01792899
+v 0.01028391 -0.06750538 -0.01581582
+v 0.01216921 -0.06828527 -0.01412983
+v 0.02671405 -0.06073773 -0.01760102
+v 0.02214634 -0.06079322 -0.01830485
+v 0.02509621 -0.06533227 -0.01263319
+v 0.02563899 -0.06486493 -0.01318302
+v 0.02671405 -0.06326720 -0.01512737
+v 0.01319708 -0.06876721 -0.01263320
+v 0.01621512 -0.06546078 -0.01701642
+v 0.02214634 -0.06305690 -0.01738943
+v 0.01895523 -0.06388059 -0.01748012
+v 0.01781461 -0.06527384 -0.01685387
+v 0.01319445 -0.06737395 -0.01520724
+v 0.01414366 -0.06809541 -0.01373115
+v 0.01621512 -0.06659115 -0.01540515
+v 0.02671405 -0.06220401 -0.01673808
+v 0.02653313 -0.06224782 -0.01679340
+v 0.02455605 -0.06262169 -0.01710140
+v 0.02537153 -0.06107070 -0.01769628
+v 0.02464783 -0.06550460 -0.01263319
+v 0.02366192 -0.06525341 -0.01400947
+v 0.02671405 -0.06231792 -0.01657381
+v 0.01530787 -0.06831740 -0.01263320
+v 0.01979168 -0.06494962 -0.01646032
+v 0.01895523 -0.06584633 -0.01547131
+v 0.01621512 -0.06785590 -0.01319729
+v 0.02214634 -0.06454070 -0.01585802
+v 0.02214634 -0.06638378 -0.01263319
+v 0.02214634 -0.06550752 -0.01444124
+v 0.01621512 -0.06810709 -0.01263320
+v 0.01672381 -0.06798149 -0.01263320
+v 0.01813975 -0.06759302 -0.01263320
+v 0.01901554 -0.06733891 -0.01263320
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 24
+f 1 24 39
+f 1 39 51
+f 1 51 66
+f 1 66 73
+f 1 73 74
+f 1 74 75
+f 1 75 76
+f 1 76 71
+f 1 71 63
+f 1 63 48
+f 1 48 37
+f 1 37 22
+f 1 22 11
+f 1 11 5
+f 1 5 12
+f 1 12 23
+f 1 23 36
+f 1 36 25
+f 1 25 16
+f 1 16 15
+f 1 15 14
+f 1 14 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 5 11 12
+f 7 10 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 13
+f 11 21 12
+f 11 22 38
+f 11 38 50
+f 11 50 65
+f 11 65 59
+f 11 59 46
+f 11 46 34
+f 11 34 21
+f 12 21 23
+f 13 20 24
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 29 19
+f 18 28 30
+f 18 30 29
+f 19 29 31
+f 19 31 32
+f 19 32 20
+f 20 33 24
+f 20 32 33
+f 21 34 35
+f 21 35 36
+f 21 36 23
+f 22 37 38
+f 24 33 39
+f 25 36 26
+f 26 36 40
+f 26 40 27
+f 27 40 28
+f 28 40 30
+f 29 30 41
+f 29 41 31
+f 30 40 41
+f 31 42 32
+f 31 41 43
+f 31 43 42
+f 32 42 44
+f 32 44 33
+f 33 45 39
+f 33 44 45
+f 34 46 47
+f 34 47 40
+f 34 40 35
+f 35 40 36
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 39 45 51
+f 40 47 41
+f 41 47 43
+f 42 52 44
+f 42 43 52
+f 43 53 54
+f 43 54 52
+f 43 47 53
+f 44 52 55
+f 44 55 56
+f 44 56 45
+f 45 57 51
+f 45 56 58
+f 45 58 57
+f 46 59 60
+f 46 60 61
+f 46 61 53
+f 46 53 62
+f 46 62 47
+f 47 62 53
+f 48 63 64
+f 48 64 49
+f 49 64 50
+f 50 64 65
+f 51 57 66
+f 52 54 55
+f 53 61 55
+f 53 55 54
+f 55 67 68
+f 55 68 58
+f 55 58 56
+f 55 61 60
+f 55 60 67
+f 57 69 66
+f 57 58 68
+f 57 68 69
+f 59 65 60
+f 60 70 67
+f 60 65 64
+f 60 64 70
+f 63 71 64
+f 64 71 72
+f 64 72 70
+f 66 69 73
+f 67 72 68
+f 67 70 72
+f 68 72 69
+f 69 74 73
+f 69 72 75
+f 69 75 74
+f 71 76 72
+f 72 76 75
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_21.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.04607366 0.04600279 -0.01809029
+v -0.04904341 0.04303575 -0.01808050
+v -0.04904341 0.04598543 -0.01743794
+v -0.04606270 0.04769701 -0.01771415
+v -0.04299432 0.04769701 -0.01789242
+v -0.05200769 0.03710415 -0.01805505
+v -0.05505415 0.03503813 -0.01801001
+v -0.05200769 0.04007119 -0.01802174
+v -0.04818865 0.04769700 -0.01713820
+v -0.05195837 0.04292420 -0.01736938
+v -0.05093375 0.04498403 -0.01706377
+v 0.00000133 0.04769699 -0.01230925
+v 0.00000133 0.03503810 -0.01162561
+v -0.05597466 0.03503813 -0.01774554
+v -0.05526784 0.03739291 -0.01763387
+v -0.05440760 0.04007118 -0.01729495
+v -0.05002968 0.04696206 -0.01637224
+v -0.04964613 0.04769700 -0.01601569
+v -0.05372817 0.04186083 -0.01698151
+v -0.05291176 0.04383885 -0.01624295
+v 0.00000133 0.04769694 -0.00123696
+v 0.00000133 0.03503806 -0.00042794
+v -0.05597466 0.03707935 -0.01745952
+v -0.05597466 0.03503805 0.00191895
+v -0.05597466 0.03809811 -0.01714412
+v -0.05191454 0.04590116 -0.01536335
+v -0.05072554 0.04769699 -0.01488926
+v -0.05597466 0.03984810 -0.01626255
+v -0.05473635 0.04273086 -0.01515375
+v -0.05376104 0.04483901 -0.01435251
+v 0.00000133 0.04303568 -0.00066887
+v -0.03386590 0.04769693 0.00191900
+v 0.00000133 0.03710408 -0.00043968
+v -0.04683527 0.03503805 0.00191895
+v -0.05597466 0.04769693 0.00191900
+v -0.05101594 0.04769699 -0.01456994
+v -0.05597466 0.04027939 -0.01588447
+v -0.05597466 0.04195996 -0.01439562
+v -0.05597466 0.04769697 -0.00689848
+v 0.00000133 0.04007112 -0.00046122
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 11
+f 3 11 9
+f 4 9 18
+f 4 18 27
+f 4 27 36
+f 4 36 39
+f 4 39 35
+f 4 35 32
+f 4 32 21
+f 4 21 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 14 15
+f 7 15 8
+f 7 13 22
+f 7 22 34
+f 7 34 24
+f 7 24 14
+f 8 15 16
+f 8 16 10
+f 9 11 17
+f 9 17 18
+f 10 16 19
+f 10 19 11
+f 11 19 20
+f 11 20 17
+f 12 21 31
+f 12 31 40
+f 12 40 33
+f 12 33 22
+f 12 22 13
+f 14 23 15
+f 14 24 35
+f 14 35 39
+f 14 39 38
+f 14 38 37
+f 14 37 28
+f 14 28 25
+f 14 25 23
+f 15 23 16
+f 16 23 25
+f 16 25 19
+f 17 20 26
+f 17 26 27
+f 17 27 18
+f 19 25 28
+f 19 28 20
+f 20 29 30
+f 20 30 26
+f 20 28 29
+f 21 32 31
+f 22 33 32
+f 22 32 34
+f 24 34 32
+f 24 32 35
+f 26 30 36
+f 26 36 27
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 36
+f 31 32 40
+f 32 33 40
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_22.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.02808305 -0.08155977 0.02419956
+v 0.02700014 -0.08155977 0.02413153
+v 0.02700014 -0.08279490 0.02397906
+v 0.03104857 -0.08155977 0.02412215
+v 0.03698160 -0.07859127 0.02418550
+v 0.04291264 -0.07562575 0.02418551
+v 0.04587816 -0.07266024 0.02416909
+v 0.02700014 -0.08000839 0.02367176
+v 0.04737189 -0.07116853 0.02405181
+v 0.02700014 -0.08438208 0.02360841
+v 0.02808305 -0.08414042 0.02359433
+v 0.03104857 -0.08363324 0.02336679
+v 0.03406993 -0.08173877 0.02362718
+v 0.03698160 -0.08093922 0.02348409
+v 0.04010268 -0.07880309 0.02367880
+v 0.04593400 -0.07576299 0.02364832
+v 0.04737189 -0.07422951 0.02385945
+v 0.04737189 -0.07266024 0.02412218
+v 0.04291264 -0.07799160 0.02346768
+v 0.02700014 -0.07930132 0.02338323
+v 0.04737189 -0.06974842 0.02359204
+v 0.04737189 -0.06883848 0.02324721
+v 0.02700014 -0.08526516 0.02302665
+v 0.03311865 -0.08326627 0.02309233
+v 0.03921721 -0.08043204 0.02318383
+v 0.04737189 -0.07527669 0.02348176
+v 0.04498073 -0.07743669 0.02315804
+v 0.02700014 -0.07835856 0.02267480
+v 0.04737189 -0.06819406 0.02288596
+v 0.04737189 -0.06816720 0.02286719
+v 0.02700014 -0.08582903 0.02233228
+v 0.03509699 -0.08284859 0.02242144
+v 0.04119356 -0.07993380 0.02256923
+v 0.04737189 -0.07639248 0.02248010
+v 0.04695907 -0.07684596 0.02224552
+v 0.02700014 -0.05594408 0.00428844
+v 0.04737189 -0.05594411 0.01274039
+v 0.02700014 -0.08629444 0.02093418
+v 0.02732322 -0.08624372 0.02080281
+v 0.02822065 -0.08565002 0.02163089
+v 0.03104857 -0.08471622 0.02145496
+v 0.03406993 -0.08359147 0.02146669
+v 0.03583488 -0.08319169 0.02053071
+v 0.03688588 -0.08236827 0.02146670
+v 0.04010268 -0.08082882 0.02155584
+v 0.04181777 -0.08027987 0.02067851
+v 0.04284883 -0.07940275 0.02155585
+v 0.04593400 -0.07776784 0.02136349
+v 0.04737189 -0.07666695 0.02202971
+v 0.04737189 -0.07726364 0.02045333
+v 0.02700014 -0.05594406 0.00023489
+v 0.04737189 -0.05594406 0.00023489
+v 0.02700014 -0.08635113 0.02048613
+v 0.02700014 -0.08642272 0.01861887
+v 0.02745285 -0.08628548 0.01861887
+v 0.02893661 -0.08580217 0.01861887
+v 0.03104857 -0.08505631 0.01861888
+v 0.03582491 -0.08318571 0.01861888
+v 0.03730468 -0.08251444 0.01861889
+v 0.03994712 -0.08125544 0.01861889
+v 0.03401608 -0.08392560 0.01861888
+v 0.04185567 -0.08029777 0.01861890
+v 0.04333743 -0.07951014 0.01861890
+v 0.04737189 -0.07728750 0.02013664
+v 0.02700014 -0.07301816 0.00023483
+v 0.04737189 -0.06177068 0.00023487
+v 0.02700014 -0.08614525 0.01689470
+v 0.02701610 -0.08614525 0.01689939
+v 0.03559556 -0.08308427 0.01710349
+v 0.04160837 -0.08016947 0.01700498
+v 0.04733799 -0.07709356 0.01731464
+v 0.04616135 -0.07790507 0.01840308
+v 0.04737189 -0.07728750 0.01911622
+v 0.02808305 -0.07261838 0.00023483
+v 0.03040242 -0.08334381 0.01400702
+v 0.02808305 -0.08374359 0.01353786
+v 0.02700014 -0.08385398 0.01326809
+v 0.04717446 -0.06192283 0.00023487
+v 0.04737189 -0.07415191 0.01311565
+v 0.02700014 -0.08613929 0.01688297
+v 0.02700014 -0.08542028 0.01554352
+v 0.02803518 -0.08527111 0.01588601
+v 0.03125398 -0.08396736 0.01555291
+v 0.03401608 -0.08340349 0.01648654
+v 0.03401608 -0.08264570 0.01506968
+v 0.03674428 -0.08195653 0.01600800
+v 0.03972177 -0.08051554 0.01594936
+v 0.04056137 -0.07963544 0.01511426
+v 0.04272318 -0.07897013 0.01594937
+v 0.04514027 -0.07753809 0.01578517
+v 0.04737189 -0.07707566 0.01734279
+v 0.04737189 -0.07711445 0.01766182
+v 0.04662403 -0.07666097 0.01578517
+v 0.04737189 -0.07618064 0.01575702
+v 0.02920384 -0.07216490 0.00023483
+v 0.03237876 -0.08298282 0.01445508
+v 0.04612745 -0.06271344 0.00023487
+v 0.04737189 -0.07476052 0.01375137
+v 0.04546335 -0.06319675 0.00023487
+v 0.03858502 -0.08013366 0.01429792
+v 0.04442432 -0.07712637 0.01434719
+v 0.03034657 -0.07169352 0.00023484
+v 0.03385654 -0.08100183 0.01288104
+v 0.03698160 -0.08050658 0.01387567
+v 0.03102663 -0.07140413 0.00023484
+v 0.04101208 -0.06617122 0.00023486
+v 0.04188757 -0.06562227 0.00023486
+v 0.04275310 -0.06506437 0.00023486
+v 0.04352489 -0.06454824 0.00023486
+v 0.04291264 -0.07753212 0.01390149
+v 0.03206765 -0.07094170 0.00023484
+v 0.03394828 -0.07006159 0.00023484
+v 0.03540810 -0.06932767 0.00023485
+v 0.03634742 -0.06884137 0.00023485
+v 0.03701750 -0.06848933 0.00023485
+v 0.03800268 -0.06793740 0.00023485
+v 0.03983943 -0.06688127 0.00023485
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 20
+f 2 20 28
+f 2 28 36
+f 2 36 51
+f 2 51 65
+f 2 65 77
+f 2 77 81
+f 2 81 80
+f 2 80 67
+f 2 67 54
+f 2 54 53
+f 2 53 38
+f 2 38 31
+f 2 31 23
+f 2 23 10
+f 2 10 3
+f 2 7 9
+f 2 9 8
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 6 15 19
+f 6 19 16
+f 7 18 9
+f 8 9 21
+f 8 21 22
+f 8 22 20
+f 9 18 17
+f 9 17 26
+f 9 26 34
+f 9 34 49
+f 9 49 50
+f 9 50 64
+f 9 64 73
+f 9 73 92
+f 9 92 91
+f 9 91 94
+f 9 94 98
+f 9 98 79
+f 9 79 66
+f 9 66 52
+f 9 52 37
+f 9 37 30
+f 9 30 29
+f 9 29 22
+f 9 22 21
+f 10 23 11
+f 11 23 12
+f 12 23 24
+f 12 24 14
+f 12 14 13
+f 14 24 25
+f 14 25 19
+f 14 19 15
+f 16 26 17
+f 16 19 26
+f 19 25 27
+f 19 27 26
+f 20 22 29
+f 20 29 30
+f 20 30 28
+f 23 31 24
+f 24 32 25
+f 24 31 32
+f 25 32 33
+f 25 33 27
+f 26 27 34
+f 27 33 35
+f 27 35 34
+f 28 30 36
+f 30 37 36
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 33 46 47
+f 33 47 48
+f 33 48 35
+f 33 45 46
+f 34 35 49
+f 35 50 49
+f 35 48 50
+f 36 37 52
+f 36 52 51
+f 38 53 39
+f 39 41 40
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 43
+f 39 43 41
+f 41 43 42
+f 43 58 59
+f 43 59 60
+f 43 60 46
+f 43 46 45
+f 43 45 44
+f 43 57 61
+f 43 61 58
+f 46 62 63
+f 46 63 64
+f 46 64 50
+f 46 50 48
+f 46 48 47
+f 46 60 62
+f 51 52 66
+f 51 66 78
+f 51 78 97
+f 51 97 99
+f 51 99 109
+f 51 109 108
+f 51 108 107
+f 51 107 106
+f 51 106 117
+f 51 117 116
+f 51 116 115
+f 51 115 114
+f 51 114 113
+f 51 113 112
+f 51 112 111
+f 51 111 105
+f 51 105 102
+f 51 102 95
+f 51 95 74
+f 51 74 65
+f 54 67 68
+f 54 68 55
+f 55 68 56
+f 56 68 57
+f 57 68 69
+f 57 69 61
+f 58 69 59
+f 58 61 69
+f 59 69 60
+f 60 69 70
+f 60 70 62
+f 62 70 63
+f 63 70 71
+f 63 71 72
+f 63 72 73
+f 63 73 64
+f 65 74 75
+f 65 75 76
+f 65 76 77
+f 66 79 78
+f 67 80 68
+f 68 80 81
+f 68 81 82
+f 68 82 83
+f 68 83 84
+f 68 84 69
+f 69 85 86
+f 69 86 87
+f 69 87 70
+f 69 84 85
+f 70 88 89
+f 70 89 90
+f 70 90 71
+f 70 87 88
+f 71 91 92
+f 71 92 73
+f 71 73 72
+f 71 90 93
+f 71 93 94
+f 71 94 91
+f 74 95 96
+f 74 96 75
+f 75 96 81
+f 75 81 76
+f 76 81 77
+f 78 79 97
+f 79 98 99
+f 79 99 97
+f 81 96 82
+f 82 96 83
+f 83 96 84
+f 84 96 85
+f 85 96 100
+f 85 100 86
+f 86 100 87
+f 87 100 88
+f 88 100 101
+f 88 101 89
+f 89 101 90
+f 90 101 93
+f 93 101 94
+f 94 101 98
+f 95 102 96
+f 96 103 104
+f 96 104 100
+f 96 102 105
+f 96 105 103
+f 98 101 106
+f 98 106 107
+f 98 107 108
+f 98 108 109
+f 98 109 99
+f 100 110 101
+f 100 104 111
+f 100 111 112
+f 100 112 113
+f 100 113 114
+f 100 114 110
+f 101 110 115
+f 101 115 116
+f 101 116 117
+f 101 117 106
+f 103 105 104
+f 104 105 111
+f 110 114 115
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_23.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.05497685 0.06676770 0.02446163
+v -0.05201059 0.06973576 0.02444841
+v -0.05597466 0.06683720 0.02427188
+v -0.05597466 0.06577017 0.02444839
+v -0.03718142 0.07863176 0.02443740
+v -0.05597466 0.06899579 0.02379971
+v -0.04311392 0.07566779 0.02442857
+v -0.04904434 0.07269973 0.02430941
+v -0.05597466 0.06375876 0.02391884
+v -0.03460425 0.07822294 0.02424545
+v -0.03460425 0.07863176 0.02434915
+v -0.03460425 0.08153032 0.02383065
+v -0.03718142 0.08108061 0.02361001
+v -0.04038823 0.07889749 0.02383285
+v -0.05505006 0.06985023 0.02377325
+v -0.05597466 0.06947820 0.02360556
+v -0.04311392 0.07814525 0.02359014
+v -0.04619941 0.07585176 0.02379533
+v -0.05187044 0.07267929 0.02357909
+v -0.05597466 0.06275714 0.02363421
+v -0.03460425 0.07625240 0.02345996
+v -0.03460425 0.08175108 0.02375564
+v -0.03460425 0.08312474 0.02276497
+v -0.03955986 0.08054505 0.02326802
+v -0.05411082 0.07167767 0.02325695
+v -0.05597466 0.07096224 0.02201916
+v -0.04528946 0.07754429 0.02323490
+v -0.04904434 0.07491555 0.02342245
+v -0.05078685 0.07435956 0.02304956
+v -0.05597466 0.06181276 0.02319073
+v -0.03460425 0.07597440 0.02327241
+v -0.03460425 0.08348450 0.02174120
+v -0.03542426 0.08295303 0.02248254
+v -0.04153876 0.08006265 0.02272303
+v -0.05597466 0.07103174 0.02186030
+v -0.04726835 0.07696376 0.02229498
+v -0.05121360 0.07465391 0.02145653
+v -0.05269672 0.07361141 0.02145653
+v -0.05597466 0.04200941 0.00947565
+v -0.04073130 0.04200943 0.00192093
+v -0.03460425 0.04717287 0.00192095
+v -0.03460425 0.08358671 0.02136390
+v -0.03601835 0.08322286 0.02059387
+v -0.03707683 0.08249106 0.02150511
+v -0.04038823 0.08091300 0.02164852
+v -0.04202198 0.08032430 0.02083215
+v -0.04305117 0.07953526 0.02164851
+v -0.04619941 0.07784274 0.02139257
+v -0.05505006 0.07194750 0.02118072
+v -0.05597466 0.07147327 0.02044599
+v -0.04771183 0.07724587 0.02040630
+v -0.04883725 0.07622788 0.02139256
+v -0.05597466 0.04200943 0.00192093
+v -0.03460425 0.07135478 0.00192104
+v -0.03460425 0.08377478 0.01904718
+v -0.03598697 0.08320651 0.01861914
+v -0.03747009 0.08255239 0.01861913
+v -0.04014767 0.08128913 0.01861913
+v -0.04204499 0.08033657 0.01861913
+v -0.04352811 0.07953936 0.01861912
+v -0.05597466 0.07153051 0.01961197
+v -0.04771183 0.07724587 0.01933619
+v -0.05136212 0.07475613 0.01861910
+v -0.05597466 0.05631417 0.00192099
+v -0.03520670 0.07106860 0.00192104
+v -0.03862271 0.08009947 0.01439165
+v -0.03664590 0.08054509 0.01387095
+v -0.03460425 0.08081083 0.01316270
+v -0.03460425 0.08376660 0.01861914
+v -0.03576314 0.08311249 0.01714526
+v -0.04179396 0.08020576 0.01704154
+v -0.04750473 0.07711505 0.01744531
+v -0.04633957 0.07792860 0.01848232
+v -0.05597466 0.07153051 0.01958550
+v -0.05284524 0.07372181 0.01861910
+v -0.04883725 0.07640369 0.01848231
+v -0.05098558 0.07449858 0.01669291
+v -0.05465470 0.05758152 0.00192099
+v -0.05597466 0.06810050 0.01334799
+v -0.03690111 0.07021007 0.00192104
+v -0.04247382 0.07761791 0.01384888
+v -0.04445271 0.07707009 0.01447108
+v -0.04014767 0.07971108 0.01497414
+v -0.04014767 0.08061049 0.01639066
+v -0.03460425 0.08242567 0.01526981
+v -0.03721070 0.07005063 0.00192104
+v -0.03460425 0.08334143 0.01674590
+v -0.03460425 0.08269140 0.01568682
+v -0.04312229 0.07864405 0.01575521
+v -0.04552583 0.07768741 0.01636197
+v -0.05516511 0.07203746 0.01888607
+v -0.05597466 0.07133837 0.01833005
+v -0.04904434 0.07513635 0.01576182
+v -0.05003379 0.07384856 0.01480202
+v -0.05220095 0.07283876 0.01556323
+v -0.05430118 0.07182897 0.01632443
+v -0.05310881 0.05901240 0.00192100
+v -0.05597466 0.06868512 0.01392827
+v -0.05178885 0.06016937 0.00192100
+v -0.05196457 0.06001810 0.00192100
+v -0.03737387 0.06996478 0.00192104
+v -0.03760397 0.06984213 0.00192104
+v -0.03977114 0.06865654 0.00192103
+v -0.04805489 0.07450268 0.01402537
+v -0.04633957 0.07667761 0.01556324
+v -0.04014767 0.06843987 0.00192103
+v -0.04095304 0.06797381 0.00192103
+v -0.05597466 0.07094591 0.01741440
+v -0.05143951 0.07187394 0.01368557
+v -0.05341632 0.07115850 0.01443355
+v -0.05516511 0.07060249 0.01554116
+v -0.05597466 0.07007102 0.01569340
+v -0.04837913 0.06294937 0.00192101
+v -0.04936439 0.06218487 0.00192101
+v -0.04971791 0.06190687 0.00192101
+v -0.04275622 0.06685772 0.00192103
+v -0.04297168 0.06672281 0.00192103
+v -0.04487527 0.06547590 0.00192102
+v -0.04658431 0.06428213 0.00192102
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 6 16
+f 3 16 26
+f 3 26 35
+f 3 35 50
+f 3 50 61
+f 3 61 74
+f 3 74 92
+f 3 92 108
+f 3 108 112
+f 3 112 98
+f 3 98 79
+f 3 79 64
+f 3 64 53
+f 3 53 39
+f 3 39 30
+f 3 30 20
+f 3 20 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 14
+f 5 14 7
+f 6 8 15
+f 6 15 16
+f 7 14 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 15
+f 9 20 10
+f 10 21 31
+f 10 31 41
+f 10 41 54
+f 10 54 68
+f 10 68 85
+f 10 85 88
+f 10 88 87
+f 10 87 69
+f 10 69 55
+f 10 55 42
+f 10 42 32
+f 10 32 23
+f 10 23 22
+f 10 22 12
+f 10 12 11
+f 10 20 21
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 17
+f 13 17 14
+f 15 19 25
+f 15 25 16
+f 16 25 26
+f 17 24 27
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 19 28 29
+f 19 29 25
+f 20 30 21
+f 21 30 31
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 24 34 27
+f 25 29 26
+f 26 29 35
+f 27 34 36
+f 27 36 29
+f 27 29 28
+f 29 36 37
+f 29 37 38
+f 29 38 35
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 32 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 36
+f 35 38 49
+f 35 49 50
+f 36 48 51
+f 36 51 52
+f 36 52 37
+f 37 50 38
+f 37 52 51
+f 37 51 50
+f 38 50 49
+f 39 53 40
+f 40 53 64
+f 40 64 78
+f 40 78 97
+f 40 97 100
+f 40 100 99
+f 40 99 115
+f 40 115 114
+f 40 114 113
+f 40 113 119
+f 40 119 118
+f 40 118 117
+f 40 117 116
+f 40 116 107
+f 40 107 106
+f 40 106 103
+f 40 103 102
+f 40 102 101
+f 40 101 86
+f 40 86 80
+f 40 80 65
+f 40 65 54
+f 40 54 41
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 46
+f 43 46 45
+f 43 45 44
+f 46 59 60
+f 46 60 51
+f 46 51 48
+f 46 48 47
+f 46 58 59
+f 50 51 61
+f 51 60 62
+f 51 62 63
+f 51 63 61
+f 54 65 66
+f 54 66 67
+f 54 67 68
+f 55 69 56
+f 56 70 57
+f 56 69 70
+f 57 70 58
+f 58 71 59
+f 58 70 71
+f 59 71 60
+f 60 72 73
+f 60 73 62
+f 60 71 72
+f 61 63 75
+f 61 75 74
+f 62 72 76
+f 62 76 63
+f 62 73 72
+f 63 77 75
+f 63 76 72
+f 63 72 77
+f 64 79 78
+f 65 80 66
+f 66 81 82
+f 66 82 83
+f 66 83 71
+f 66 71 84
+f 66 84 70
+f 66 70 85
+f 66 85 67
+f 66 80 86
+f 66 86 81
+f 67 85 68
+f 69 87 70
+f 70 88 85
+f 70 84 71
+f 70 87 88
+f 71 83 89
+f 71 89 90
+f 71 90 72
+f 72 90 77
+f 74 75 91
+f 74 91 92
+f 75 77 92
+f 75 92 91
+f 77 90 93
+f 77 93 94
+f 77 94 95
+f 77 95 96
+f 77 96 92
+f 78 79 97
+f 79 98 99
+f 79 99 100
+f 79 100 97
+f 81 86 101
+f 81 101 102
+f 81 102 103
+f 81 103 82
+f 82 104 94
+f 82 94 105
+f 82 105 90
+f 82 90 89
+f 82 89 83
+f 82 103 106
+f 82 106 107
+f 82 107 104
+f 90 105 93
+f 92 96 108
+f 93 105 94
+f 94 104 109
+f 94 109 110
+f 94 110 95
+f 95 110 96
+f 96 110 111
+f 96 111 112
+f 96 112 108
+f 98 112 110
+f 98 110 113
+f 98 113 114
+f 98 114 115
+f 98 115 99
+f 104 107 116
+f 104 116 117
+f 104 117 118
+f 104 118 109
+f 109 118 119
+f 109 119 110
+f 110 112 111
+f 110 119 113
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_24.obj

@@ -0,0 +1,10 @@
+# https://github.com/mikedh/trimesh
+v -0.05597317 0.01621752 0.00192084
+v -0.05597317 0.04200688 0.00947367
+v -0.05597317 0.04200690 0.00192093
+v -0.04073069 0.04200690 0.00192093
+f 1 2 3
+f 1 3 4
+f 1 4 2
+f 2 4 3
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_25.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.04753596 -0.06949996 0.00840438
+v -0.04753596 -0.06172947 0.00023674
+v -0.04721079 -0.06197846 0.00023674
+v -0.04562282 -0.06316114 0.00023674
+v -0.04449368 -0.06394960 0.00023674
+v -0.04368972 -0.06450983 0.00023673
+v -0.04726465 -0.06968670 0.00840438
+v -0.04753596 -0.05042654 0.00840445
+v -0.04753596 -0.02663271 0.00023687
+v -0.04205188 -0.06559395 0.00023673
+v -0.04645670 -0.07023136 0.00840438
+v -0.04753198 -0.04909342 0.00840446
+v -0.04753596 -0.04908305 0.00839967
+v -0.02715768 -0.04707556 0.00023680
+v -0.02715768 -0.06259058 0.00840441
+v -0.04014472 -0.06675589 0.00023672
+v -0.04496848 -0.07119619 0.00840438
+v -0.02715768 -0.07292869 0.00023670
+v -0.02715768 -0.07962543 0.00840435
+v -0.03819167 -0.06788152 0.00023672
+v -0.04311119 -0.07231144 0.00840437
+v -0.04455952 -0.07144518 0.00840438
+v -0.02827484 -0.07923120 0.00840435
+v -0.02828082 -0.07252409 0.00023670
+v -0.03649398 -0.06879448 0.00023672
+v -0.04092474 -0.07355119 0.00840437
+v -0.03124730 -0.07812113 0.00840435
+v -0.03046329 -0.07164226 0.00023671
+v -0.03413397 -0.06998753 0.00023671
+v -0.03718024 -0.07549640 0.00840436
+v -0.03914525 -0.07450045 0.00840437
+v -0.03933477 -0.07440189 0.00840437
+v -0.03311456 -0.07735861 0.00840436
+v -0.03218093 -0.07089530 0.00023671
+v -0.03327814 -0.07729117 0.00840436
+v -0.03498182 -0.07654422 0.00840436
+v -0.03612492 -0.07599956 0.00840436
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 17
+f 1 17 22
+f 1 22 21
+f 1 21 26
+f 1 26 32
+f 1 32 31
+f 1 31 30
+f 1 30 37
+f 1 37 36
+f 1 36 35
+f 1 35 33
+f 1 33 27
+f 1 27 23
+f 1 23 19
+f 1 19 15
+f 1 15 12
+f 1 12 8
+f 1 8 13
+f 1 13 9
+f 1 9 2
+f 2 9 14
+f 2 14 18
+f 2 18 24
+f 2 24 28
+f 2 28 34
+f 2 34 29
+f 2 29 25
+f 2 25 20
+f 2 20 16
+f 2 16 10
+f 2 10 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 9 13 12
+f 9 12 15
+f 9 15 14
+f 10 16 17
+f 10 17 11
+f 14 15 19
+f 14 19 18
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 19 23
+f 18 23 24
+f 20 25 26
+f 20 26 21
+f 23 27 24
+f 24 27 28
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 27 33 28
+f 28 33 35
+f 28 35 34
+f 29 34 36
+f 29 36 37
+f 29 37 30
+f 34 35 36
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_26.obj

@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.02700014 -0.05594406 0.00023489
+v 0.04737189 -0.05594406 0.00023489
+v 0.02700014 -0.05594408 0.00428851
+v 0.02700014 -0.04707548 0.00023493
+v 0.04737189 -0.05594411 0.01274221
+v 0.04737189 -0.02666398 0.00023500
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 5 6
+f 3 6 4
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_27.obj

@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.04753596 -0.07724656 0.01938392
+v -0.04753596 -0.07722466 0.02035043
+v -0.04753596 -0.07703114 0.01762720
+v -0.04748010 -0.07706034 0.01758699
+v -0.04632703 -0.07786362 0.01856741
+v -0.04349023 -0.07948110 0.01861999
+v -0.04753596 -0.07708957 0.02071539
+v -0.04198006 -0.08025882 0.02061332
+v -0.04609961 -0.07771758 0.02130456
+v -0.04753596 -0.07699462 0.01752359
+v -0.04550312 -0.07764819 0.01626788
+v -0.04178256 -0.08015656 0.01703027
+v -0.04200799 -0.08027341 0.01861999
+v -0.04710106 -0.07681208 0.02214892
+v -0.04753596 -0.07661857 0.02193551
+v -0.04014472 -0.08119351 0.01861998
+v -0.03596532 -0.08316152 0.02042773
+v -0.04027040 -0.08078094 0.02151796
+v -0.04134368 -0.07990830 0.02250304
+v -0.04302541 -0.07935697 0.02151797
+v -0.04753596 -0.07601610 0.01560448
+v -0.04318301 -0.07863036 0.01570499
+v -0.04632703 -0.07670983 0.01550860
+v -0.04458345 -0.07710050 0.01437817
+v -0.04071926 -0.07961618 0.01514209
+v -0.03989535 -0.08048517 0.01596632
+v -0.03573192 -0.08305561 0.01716788
+v -0.04512408 -0.07740723 0.02313708
+v -0.04753596 -0.07524573 0.02346337
+v -0.03740567 -0.08247874 0.01861998
+v -0.03421975 -0.08354490 0.02140506
+v -0.03521124 -0.08280735 0.02231746
+v -0.03704459 -0.08231079 0.02140507
+v -0.03592343 -0.08314325 0.01861997
+v -0.03421377 -0.08384063 0.01861997
+v -0.03124730 -0.08498711 0.01861997
+v -0.02747886 -0.08622853 0.02076947
+v -0.03124730 -0.08465486 0.02145609
+v -0.03936470 -0.08040487 0.02316799
+v -0.04753596 -0.07526029 0.01449106
+v -0.04753596 -0.07465054 0.01370704
+v -0.04586221 -0.07500836 0.01299568
+v -0.04487272 -0.07135349 0.00850645
+v -0.04455952 -0.07144477 0.00840438
+v -0.04311119 -0.07231010 0.00840437
+v -0.04092474 -0.07355517 0.00840437
+v -0.04260448 -0.07764087 0.01379516
+v -0.03874228 -0.08011274 0.01432404
+v -0.03690494 -0.08191644 0.01604983
+v -0.03421377 -0.08336231 0.01656632
+v -0.02715768 -0.08612627 0.01693900
+v -0.03421377 -0.08260287 0.01515136
+v -0.04609961 -0.07574594 0.02363502
+v -0.04311119 -0.07794761 0.02344944
+v -0.04753596 -0.07265703 0.02411906
+v -0.03323426 -0.08324184 0.02307055
+v -0.02905885 -0.08577212 0.01861996
+v -0.02757661 -0.08626138 0.01861996
+v -0.02715768 -0.08638917 0.01861996
+v -0.02715768 -0.08628330 0.02090401
+v -0.02715768 -0.08611899 0.02142052
+v -0.02839254 -0.08562243 0.02161073
+v -0.02715768 -0.08581229 0.02231125
+v -0.03718024 -0.08088683 0.02346644
+v -0.04753596 -0.06950233 0.00840438
+v -0.04645670 -0.07023257 0.00840438
+v -0.04496848 -0.07119283 0.00840438
+v -0.03923104 -0.07445701 0.00840437
+v -0.03984747 -0.07844414 0.01311474
+v -0.03718024 -0.08047056 0.01392041
+v -0.03250810 -0.08295702 0.01450032
+v -0.03718024 -0.07549760 0.00840436
+v -0.03612492 -0.07600146 0.00840436
+v -0.03498182 -0.07654185 0.00840436
+v -0.03141088 -0.08392095 0.01558125
+v -0.02819903 -0.08523173 0.01591064
+v -0.02715768 -0.08538873 0.01557043
+v -0.04311119 -0.07562545 0.02417472
+v -0.04027040 -0.07878739 0.02367058
+v -0.04607766 -0.07265703 0.02418401
+v -0.04753596 -0.06973972 0.02361494
+v -0.03124730 -0.08359967 0.02334427
+v -0.02715768 -0.08437373 0.02360561
+v -0.02828082 -0.08411814 0.02358860
+v -0.03718024 -0.07859023 0.02418245
+v -0.03421975 -0.08171565 0.02361026
+v -0.03124730 -0.08155865 0.02410202
+v -0.04753596 -0.05042481 0.00840445
+v -0.03487409 -0.07972205 0.01192555
+v -0.03401627 -0.08095251 0.01290287
+v -0.03141088 -0.08211359 0.01303896
+v -0.03053112 -0.08331849 0.01404257
+v -0.03289512 -0.08014559 0.01145389
+v -0.03327814 -0.07729399 0.00840436
+v -0.02715768 -0.08445401 0.01411371
+v -0.02828082 -0.08155865 0.02420254
+v -0.02715768 -0.08155865 0.02413604
+v -0.04753596 -0.06816239 0.02290669
+v -0.02715768 -0.07927300 0.02339377
+v -0.04753596 -0.05003413 0.00889313
+v -0.04753198 -0.04909212 0.00840446
+v -0.03124730 -0.07812281 0.00840435
+v -0.02827484 -0.07923278 0.00840435
+v -0.02828082 -0.08370917 0.01358947
+v -0.02734719 -0.07955773 0.00840435
+v -0.02715768 -0.08382236 0.01330338
+v -0.02715768 -0.07779061 0.02219375
+v -0.02715768 -0.06259791 0.00840441
+v -0.02715768 -0.07962346 0.00840435
+f 1 2 7
+f 1 7 15
+f 1 15 29
+f 1 29 55
+f 1 55 81
+f 1 81 98
+f 1 98 100
+f 1 100 88
+f 1 88 65
+f 1 65 41
+f 1 41 40
+f 1 40 21
+f 1 21 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 4 6 5
+f 6 12 13
+f 6 13 8
+f 7 9 14
+f 7 14 15
+f 8 13 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 19
+f 9 19 14
+f 10 21 11
+f 11 22 12
+f 11 21 23
+f 11 23 24
+f 11 24 22
+f 12 22 25
+f 12 25 26
+f 12 26 27
+f 12 27 16
+f 12 16 13
+f 14 28 29
+f 14 29 15
+f 14 19 28
+f 16 27 30
+f 16 30 17
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 17 30 34
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 38
+f 17 38 31
+f 18 33 32
+f 18 32 19
+f 19 32 39
+f 19 39 28
+f 21 40 24
+f 21 24 23
+f 22 24 25
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 48
+f 24 48 25
+f 25 48 26
+f 26 48 49
+f 26 49 27
+f 27 50 51
+f 27 51 36
+f 27 36 35
+f 27 35 34
+f 27 34 30
+f 27 49 52
+f 27 52 50
+f 28 53 29
+f 28 39 54
+f 28 54 53
+f 29 53 55
+f 31 38 32
+f 32 38 56
+f 32 56 39
+f 36 51 57
+f 36 57 37
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 38
+f 38 62 63
+f 38 63 56
+f 39 64 54
+f 39 56 64
+f 41 43 42
+f 41 65 66
+f 41 66 43
+f 43 66 67
+f 43 67 44
+f 44 67 66
+f 44 66 65
+f 44 65 88
+f 44 88 101
+f 44 101 108
+f 44 108 109
+f 44 109 105
+f 44 105 103
+f 44 103 102
+f 44 102 94
+f 44 94 74
+f 44 74 73
+f 44 73 72
+f 44 72 68
+f 44 68 46
+f 44 46 45
+f 46 68 47
+f 47 69 48
+f 47 68 69
+f 48 70 71
+f 48 71 52
+f 48 52 49
+f 48 69 68
+f 48 68 72
+f 48 72 73
+f 48 73 74
+f 48 74 70
+f 50 52 71
+f 50 71 75
+f 50 75 51
+f 51 75 76
+f 51 76 77
+f 51 77 95
+f 51 95 106
+f 51 106 109
+f 51 109 108
+f 51 108 107
+f 51 107 99
+f 51 99 97
+f 51 97 83
+f 51 83 63
+f 51 63 61
+f 51 61 60
+f 51 60 59
+f 51 59 58
+f 51 58 57
+f 53 78 55
+f 53 54 79
+f 53 79 78
+f 54 64 79
+f 55 78 80
+f 55 80 81
+f 56 63 82
+f 56 82 64
+f 61 63 62
+f 63 83 84
+f 63 84 82
+f 64 85 79
+f 64 82 86
+f 64 86 87
+f 64 87 85
+f 70 89 90
+f 70 90 71
+f 70 74 89
+f 71 91 92
+f 71 92 77
+f 71 77 76
+f 71 76 75
+f 71 90 93
+f 71 93 91
+f 74 94 89
+f 77 92 95
+f 78 79 85
+f 78 85 80
+f 80 85 96
+f 80 96 97
+f 80 97 81
+f 81 97 99
+f 81 99 98
+f 82 84 86
+f 83 97 96
+f 83 96 87
+f 83 87 84
+f 84 87 86
+f 85 87 96
+f 88 100 101
+f 89 94 90
+f 90 94 93
+f 91 93 102
+f 91 102 103
+f 91 103 92
+f 92 104 95
+f 92 103 105
+f 92 105 104
+f 93 94 102
+f 95 104 106
+f 98 101 100
+f 98 99 101
+f 99 107 101
+f 101 107 108
+f 104 105 109
+f 104 109 106
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_28.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.02828955 -0.04628951 -0.01326195
+v -0.02828955 -0.05293251 -0.01711748
+v -0.02828955 -0.06372111 -0.01326201
+v -0.00007342 -0.05303324 -0.01326197
+v -0.02828955 -0.05485306 -0.01798993
+v -0.00007342 -0.06082766 -0.01766336
+v -0.02597227 -0.06474892 -0.01326202
+v -0.02828955 -0.06285583 -0.01488428
+v -0.00007342 -0.06967051 -0.01326204
+v -0.02828955 -0.05486222 -0.01799248
+v -0.00007342 -0.06376000 -0.01845899
+v -0.02560493 -0.06490687 -0.01326202
+v -0.02385661 -0.06525253 -0.01400626
+v -0.02828955 -0.06186920 -0.01630715
+v -0.02673733 -0.06224920 -0.01679500
+v -0.00158421 -0.06966594 -0.01326204
+v -0.00007342 -0.06942100 -0.01377023
+v -0.02531216 -0.05782891 -0.01840302
+v -0.02828955 -0.05781975 -0.01837707
+v -0.00007342 -0.06641081 -0.01761810
+v -0.00158421 -0.06640852 -0.01761760
+v -0.00158421 -0.06376000 -0.01845747
+v -0.01937948 -0.06079331 -0.01845593
+v -0.02438691 -0.06538300 -0.01326202
+v -0.02234582 -0.06454747 -0.01585848
+v -0.02234582 -0.06550433 -0.01444070
+v -0.02307498 -0.06584769 -0.01326202
+v -0.02828955 -0.06039044 -0.01750108
+v -0.02475977 -0.06262690 -0.01710481
+v -0.01801232 -0.06527312 -0.01685300
+v -0.01998988 -0.06495493 -0.01646282
+v -0.00246251 -0.06963160 -0.01326204
+v -0.00158421 -0.06880293 -0.01501352
+v -0.00007342 -0.06880522 -0.01501759
+v -0.02828955 -0.05782891 -0.01837606
+v -0.02827850 -0.05782891 -0.01837707
+v -0.00007342 -0.06716393 -0.01701784
+v -0.00007342 -0.06789415 -0.01643485
+v -0.00158421 -0.06789187 -0.01643078
+v -0.00455055 -0.06633985 -0.01759114
+v -0.00751689 -0.06376000 -0.01842389
+v -0.00455055 -0.06376000 -0.01844933
+v -0.02234582 -0.06079331 -0.01830993
+v -0.01048323 -0.06376000 -0.01835471
+v -0.02056436 -0.06661226 -0.01326202
+v -0.01915300 -0.06583853 -0.01547287
+v -0.01654572 -0.06774308 -0.01326203
+v -0.02827850 -0.06039273 -0.01750210
+v -0.02557455 -0.06107259 -0.01769846
+v -0.02234582 -0.06306412 -0.01739477
+v -0.01915300 -0.06388363 -0.01748380
+v -0.01641315 -0.06545854 -0.01701630
+v -0.01048323 -0.06749814 -0.01578727
+v -0.01335290 -0.06736308 -0.01519513
+v -0.01641315 -0.06657105 -0.01540521
+v -0.00455055 -0.06953775 -0.01326204
+v -0.00455055 -0.06873427 -0.01491127
+v -0.00455055 -0.06782319 -0.01632853
+v -0.00751689 -0.06620708 -0.01753264
+v -0.01344957 -0.06376000 -0.01820515
+v -0.01641315 -0.06376000 -0.01793044
+v -0.01427539 -0.06808187 -0.01369596
+v -0.01597676 -0.06788959 -0.01326203
+v -0.01344957 -0.06576528 -0.01726302
+v -0.00751689 -0.06769042 -0.01611894
+v -0.01048323 -0.06841608 -0.01436949
+v -0.01230059 -0.06827416 -0.01411005
+v -0.00551447 -0.06946221 -0.01326204
+v -0.00751689 -0.06860608 -0.01470168
+v -0.01048323 -0.06601479 -0.01742836
+v -0.01388596 -0.06834970 -0.01326203
+v -0.00865758 -0.06916004 -0.01326203
+v -0.01048323 -0.06892885 -0.01326203
+v -0.01130077 -0.06880981 -0.01326203
+v -0.01292480 -0.06853283 -0.01326203
+v -0.00751689 -0.06929281 -0.01326203
+f 1 2 5
+f 1 5 10
+f 1 10 19
+f 1 19 35
+f 1 35 28
+f 1 28 14
+f 1 14 8
+f 1 8 3
+f 1 3 7
+f 1 7 12
+f 1 12 24
+f 1 24 27
+f 1 27 45
+f 1 45 47
+f 1 47 63
+f 1 63 71
+f 1 71 75
+f 1 75 74
+f 1 74 73
+f 1 73 72
+f 1 72 76
+f 1 76 68
+f 1 68 56
+f 1 56 32
+f 1 32 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 8 7
+f 4 9 17
+f 4 17 34
+f 4 34 38
+f 4 38 37
+f 4 37 20
+f 4 20 11
+f 4 11 6
+f 5 6 10
+f 6 11 10
+f 7 8 13
+f 7 13 12
+f 8 14 15
+f 8 15 13
+f 9 16 17
+f 10 18 19
+f 10 11 18
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 18
+f 12 13 24
+f 13 25 26
+f 13 26 27
+f 13 27 24
+f 13 15 25
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 25
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 18 23 19
+f 19 23 36
+f 19 36 35
+f 20 37 21
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 22
+f 22 42 23
+f 23 43 36
+f 23 42 41
+f 23 41 44
+f 23 44 43
+f 25 31 26
+f 26 45 27
+f 26 31 46
+f 26 46 47
+f 26 47 45
+f 28 35 48
+f 28 48 49
+f 28 49 50
+f 28 50 29
+f 29 50 30
+f 30 46 31
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 30 54 55
+f 30 55 46
+f 32 56 57
+f 32 57 33
+f 33 57 58
+f 33 58 39
+f 33 39 38
+f 33 38 34
+f 35 36 43
+f 35 43 48
+f 39 58 40
+f 40 58 59
+f 40 59 44
+f 40 44 41
+f 43 44 60
+f 43 60 61
+f 43 61 50
+f 43 50 49
+f 43 49 48
+f 44 59 60
+f 46 55 62
+f 46 62 63
+f 46 63 47
+f 50 61 51
+f 51 61 64
+f 51 64 52
+f 52 64 53
+f 53 65 66
+f 53 66 67
+f 53 67 54
+f 53 64 65
+f 54 67 55
+f 55 67 62
+f 56 68 69
+f 56 69 57
+f 57 69 58
+f 58 69 65
+f 58 65 70
+f 58 70 59
+f 59 70 60
+f 60 70 61
+f 61 70 64
+f 62 71 63
+f 62 67 71
+f 64 70 65
+f 65 69 66
+f 66 72 73
+f 66 73 67
+f 66 69 72
+f 67 74 75
+f 67 75 71
+f 67 73 74
+f 68 76 69
+f 69 76 72
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_29.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.05054291 0.03474126 0.00191684
+v 0.05054291 0.03474126 0.00348886
+v 0.05054291 0.05602273 0.00191692
+v 0.07134207 0.03474126 0.00191684
+v 0.05054291 0.05602269 0.01446215
+v 0.07615039 0.03474118 0.02341791
+v 0.05622695 0.05602273 0.00191692
+v 0.07028730 0.03689337 0.00191685
+v 0.08007648 0.03876210 0.01426806
+v 0.08045411 0.03710375 0.01383151
+v 0.08083826 0.03474122 0.01308849
+v 0.06174496 0.05602265 0.02315341
+v 0.07851060 0.03474118 0.02431305
+v 0.05684224 0.05602273 0.00247694
+v 0.05743799 0.05480188 0.00191691
+v 0.06997803 0.03748921 0.00191685
+v 0.07748838 0.04303714 0.01385799
+v 0.07705866 0.04457674 0.01432981
+v 0.07958490 0.04074127 0.01497360
+v 0.08054852 0.03987877 0.01586433
+v 0.08194511 0.03695999 0.01593708
+v 0.08244320 0.03474121 0.01517201
+v 0.08214695 0.03474122 0.01473546
+v 0.06367220 0.05602265 0.02388099
+v 0.08166840 0.03474118 0.02379272
+v 0.07851060 0.03710371 0.02444094
+v 0.06664769 0.05490180 0.02441895
+v 0.06276392 0.05602271 0.00816088
+v 0.05754541 0.05468730 0.00191691
+v 0.06655979 0.05602270 0.01180979
+v 0.06867259 0.05602269 0.01384481
+v 0.06919021 0.03891006 0.00191685
+v 0.07448034 0.04812677 0.01391974
+v 0.07382599 0.05010388 0.01466717
+v 0.07645640 0.04655383 0.01520953
+v 0.07746559 0.04573924 0.01600546
+v 0.07896636 0.04294963 0.01586434
+v 0.06854237 0.04007048 0.00191686
+v 0.06829821 0.04183092 0.00282964
+v 0.06692440 0.04271426 0.00191687
+v 0.08017414 0.04190378 0.01686310
+v 0.08306825 0.03587664 0.01698435
+v 0.08329939 0.03474121 0.01659189
+v 0.06673884 0.05602265 0.02423155
+v 0.08210137 0.03474118 0.02350610
+v 0.08292501 0.03555370 0.02278293
+v 0.08108242 0.03710371 0.02365163
+v 0.07851060 0.04007040 0.02413228
+v 0.06961016 0.05193511 0.02443658
+v 0.07554162 0.04303710 0.02443435
+v 0.05764634 0.05457896 0.00191691
+v 0.06977294 0.05602268 0.01519414
+v 0.07114023 0.05348099 0.01431883
+v 0.06246116 0.04896849 0.00191689
+v 0.06037116 0.05153310 0.00191690
+v 0.06032558 0.05158518 0.00191690
+v 0.05943358 0.05364354 0.00282308
+v 0.06671605 0.04304343 0.00191687
+v 0.06631238 0.04364344 0.00191687
+v 0.07318140 0.05199139 0.01568138
+v 0.07446406 0.05104137 0.01655888
+v 0.07546023 0.04883927 0.01588421
+v 0.06569058 0.04526845 0.00244162
+v 0.07169366 0.05193515 0.01374558
+v 0.07708145 0.04757467 0.01709903
+v 0.08035319 0.04224128 0.01862033
+v 0.08142750 0.04007042 0.01862032
+v 0.07955886 0.04372463 0.01862033
+v 0.08255063 0.03767248 0.01862031
+v 0.08320498 0.03618913 0.01862030
+v 0.08380073 0.03474120 0.01862030
+v 0.08370632 0.03474120 0.01805367
+v 0.06977294 0.05503514 0.02380161
+v 0.06939530 0.05602265 0.02362303
+v 0.08344914 0.03474119 0.02201126
+v 0.08039551 0.04007040 0.02323273
+v 0.08317893 0.03612246 0.02089122
+v 0.08251482 0.03710788 0.02168496
+v 0.08119635 0.04007041 0.02145567
+v 0.08002764 0.04162459 0.02291524
+v 0.07849758 0.04278293 0.02351054
+v 0.07577275 0.04619963 0.02382583
+v 0.07257589 0.04896841 0.02435279
+v 0.07024172 0.05602268 0.01581368
+v 0.07052169 0.05564976 0.01578501
+v 0.07165460 0.05416641 0.01578501
+v 0.06484416 0.04577887 0.00191688
+v 0.06424842 0.04661430 0.00191688
+v 0.06329782 0.04787056 0.00191689
+v 0.07113697 0.05602268 0.01724900
+v 0.07132254 0.05602267 0.01776492
+v 0.07720516 0.04776842 0.01862035
+v 0.07825667 0.04600173 0.01862034
+v 0.07373158 0.05295805 0.01862036
+v 0.07476031 0.05147470 0.01862036
+v 0.07624480 0.04925176 0.01862035
+v 0.08024250 0.04203085 0.02145567
+v 0.07720841 0.04777466 0.02068402
+v 0.08357285 0.03474119 0.02152620
+v 0.07259542 0.05185802 0.02364286
+v 0.07162204 0.05413513 0.02329451
+v 0.07077887 0.05602266 0.02237733
+v 0.07750140 0.04534545 0.02328787
+v 0.07943515 0.04351420 0.02145568
+v 0.07691542 0.04732048 0.02257572
+v 0.07490680 0.04896841 0.02348410
+v 0.07080817 0.05602268 0.01671765
+v 0.07150159 0.05602267 0.01907236
+v 0.07207129 0.05516641 0.01851233
+v 0.07143973 0.05602266 0.02068405
+v 0.07787579 0.04619964 0.02155931
+v 0.07464636 0.05130803 0.02145571
+v 0.07624480 0.04884550 0.02155932
+v 0.07431105 0.05081844 0.02311591
+v 0.07096443 0.05602266 0.02217228
+v 0.07196712 0.05503515 0.02136312
+v 0.07359810 0.05279137 0.02145571
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 29
+f 1 29 51
+f 1 51 56
+f 1 56 55
+f 1 55 54
+f 1 54 89
+f 1 89 88
+f 1 88 87
+f 1 87 59
+f 1 59 58
+f 1 58 40
+f 1 40 38
+f 1 38 32
+f 1 32 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 23
+f 1 23 22
+f 1 22 43
+f 1 43 72
+f 1 72 71
+f 1 71 99
+f 1 99 75
+f 1 75 45
+f 1 45 25
+f 1 25 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 5 12
+f 3 12 24
+f 3 24 44
+f 3 44 74
+f 3 74 102
+f 3 102 115
+f 3 115 110
+f 3 110 108
+f 3 108 91
+f 3 91 90
+f 3 90 107
+f 3 107 84
+f 3 84 52
+f 3 52 31
+f 3 31 30
+f 3 30 28
+f 3 28 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 6 13 12
+f 7 14 15
+f 8 16 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 9 16 17
+f 10 23 11
+f 12 13 24
+f 13 25 26
+f 13 26 27
+f 13 27 24
+f 14 28 15
+f 15 28 30
+f 15 30 31
+f 15 31 29
+f 16 32 18
+f 16 18 17
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 18 32 38
+f 18 38 39
+f 18 39 40
+f 18 40 33
+f 19 37 41
+f 19 41 20
+f 20 41 42
+f 20 42 21
+f 21 42 22
+f 22 42 43
+f 24 27 44
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 26
+f 26 49 27
+f 26 48 50
+f 26 50 49
+f 27 49 44
+f 29 31 51
+f 31 52 53
+f 31 53 54
+f 31 54 55
+f 31 55 56
+f 31 56 57
+f 31 57 51
+f 33 40 58
+f 33 58 59
+f 33 59 34
+f 34 60 61
+f 34 61 62
+f 34 62 35
+f 34 59 63
+f 34 63 64
+f 34 64 53
+f 34 53 60
+f 35 62 65
+f 35 65 36
+f 36 65 41
+f 36 41 37
+f 38 40 39
+f 41 66 67
+f 41 67 42
+f 41 65 68
+f 41 68 66
+f 42 69 70
+f 42 70 71
+f 42 71 72
+f 42 72 43
+f 42 67 69
+f 44 49 73
+f 44 73 74
+f 45 75 46
+f 46 76 47
+f 46 75 77
+f 46 77 78
+f 46 78 79
+f 46 79 80
+f 46 80 76
+f 47 76 81
+f 47 81 48
+f 48 81 82
+f 48 82 83
+f 48 83 50
+f 49 50 83
+f 49 83 73
+f 51 57 56
+f 52 84 85
+f 52 85 53
+f 53 85 86
+f 53 86 60
+f 53 64 87
+f 53 87 88
+f 53 88 89
+f 53 89 54
+f 59 87 63
+f 60 86 61
+f 61 65 62
+f 61 86 90
+f 61 90 91
+f 61 91 65
+f 63 87 64
+f 65 92 93
+f 65 93 68
+f 65 91 94
+f 65 94 95
+f 65 95 96
+f 65 96 92
+f 66 68 97
+f 66 97 67
+f 67 97 77
+f 67 77 69
+f 68 93 98
+f 68 98 97
+f 69 77 70
+f 70 77 71
+f 71 77 99
+f 73 83 100
+f 73 100 101
+f 73 101 74
+f 74 101 102
+f 75 99 77
+f 76 80 103
+f 76 103 81
+f 77 97 79
+f 77 79 78
+f 79 97 80
+f 80 97 104
+f 80 104 105
+f 80 105 103
+f 81 103 82
+f 82 106 83
+f 82 103 106
+f 83 106 100
+f 84 107 85
+f 85 107 90
+f 85 90 86
+f 91 108 109
+f 91 109 94
+f 92 96 98
+f 92 98 93
+f 94 98 95
+f 94 109 108
+f 94 108 110
+f 94 110 98
+f 95 98 96
+f 97 98 104
+f 98 111 104
+f 98 110 112
+f 98 112 113
+f 98 113 105
+f 98 105 111
+f 100 106 114
+f 100 114 101
+f 101 115 102
+f 101 114 115
+f 103 105 114
+f 103 114 106
+f 104 111 105
+f 105 113 112
+f 105 112 114
+f 110 115 116
+f 110 116 117
+f 110 117 112
+f 112 117 114
+f 114 117 115
+f 115 117 116
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_3.obj

@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
+v -0.08167263 -0.02816434 0.02437824
+v -0.08167263 -0.02668441 0.02430291
+v -0.08461993 -0.02668441 0.02370867
+v -0.08167263 -0.03112916 0.02426524
+v -0.07870622 -0.03706375 0.02431961
+v -0.06684440 -0.05485761 0.02426096
+v -0.05497875 -0.06672678 0.02423162
+v -0.05201234 -0.06969160 0.02419813
+v -0.04753978 -0.07265641 0.02411861
+v -0.07933697 -0.02668441 0.02345758
+v -0.04904593 -0.06969160 0.02396797
+v -0.04753978 -0.06973614 0.02361226
+v -0.08603815 -0.02668440 0.02262480
+v -0.08429882 -0.02816434 0.02367937
+v -0.08378659 -0.03112916 0.02342828
+v -0.08186759 -0.03417812 0.02370445
+v -0.08108776 -0.03706375 0.02354124
+v -0.07893176 -0.04020180 0.02374628
+v -0.07573981 -0.04299833 0.02427356
+v -0.06980698 -0.05189774 0.02425679
+v -0.06408441 -0.06099018 0.02374621
+v -0.06111035 -0.06395994 0.02374202
+v -0.05497492 -0.06974604 0.02361226
+v -0.04904593 -0.07265641 0.02405165
+v -0.05807513 -0.06687032 0.02370433
+v -0.04753978 -0.07524506 0.02346158
+v -0.04753978 -0.02668432 0.00024860
+v -0.04753978 -0.06816215 0.02290503
+v -0.08611843 -0.02668440 0.02235279
+v -0.08578967 -0.02826827 0.02164974
+v -0.08484164 -0.03112915 0.02145304
+v -0.08298382 -0.03522248 0.02241135
+v -0.08340431 -0.03324264 0.02312278
+v -0.08056787 -0.03933067 0.02321482
+v -0.07812135 -0.04299833 0.02349937
+v -0.07587360 -0.04600770 0.02368349
+v -0.07277340 -0.04892797 0.02411452
+v -0.06986815 -0.05486256 0.02363743
+v -0.06699731 -0.05796101 0.02371693
+v -0.06610661 -0.06013389 0.02332773
+v -0.06323195 -0.06310861 0.02334446
+v -0.06025407 -0.06597938 0.02331934
+v -0.05398103 -0.07153285 0.02316030
+v -0.05179062 -0.07257722 0.02341138
+v -0.05717298 -0.06879572 0.02327330
+v -0.04904593 -0.07472535 0.02328165
+v -0.04753978 -0.07662104 0.02193413
+v -0.04753978 -0.02668427 -0.01324324
+v -0.08645865 -0.02668440 0.02110990
+v -0.08633632 -0.02735260 0.02083370
+v -0.08328963 -0.03588078 0.02051981
+v -0.08369866 -0.03417811 0.02146139
+v -0.08250216 -0.03694990 0.02146138
+v -0.08006710 -0.04130555 0.02257453
+v -0.07755559 -0.04505242 0.02316876
+v -0.07487206 -0.04892797 0.02331522
+v -0.07270459 -0.05168985 0.02344494
+v -0.07166864 -0.05387758 0.02317710
+v -0.06891630 -0.05706018 0.02328171
+v -0.06520828 -0.06211373 0.02257027
+v -0.06223040 -0.06508844 0.02256189
+v -0.05607204 -0.07085969 0.02145289
+v -0.05065146 -0.07422543 0.02295105
+v -0.05915313 -0.06795922 0.02234427
+v -0.04881656 -0.07605184 0.02130222
+v -0.04753978 -0.07709126 0.02071216
+v -0.05519664 -0.02668426 -0.01746572
+v -0.04753978 -0.03850393 -0.01752434
+v -0.08658862 -0.02668439 0.01861994
+v -0.08636308 -0.02743178 0.01861994
+v -0.08588524 -0.02891666 0.01861993
+v -0.08510541 -0.03112914 0.01861993
+v -0.08327052 -0.03584117 0.01861991
+v -0.08260537 -0.03732606 0.01861990
+v -0.08131712 -0.04002854 0.01861989
+v -0.08038056 -0.04186981 0.02068300
+v -0.08093867 -0.04020179 0.02155762
+v -0.08397389 -0.03409891 0.01861991
+v -0.07951663 -0.04291418 0.02155761
+v -0.07784994 -0.04600769 0.02130233
+v -0.07695160 -0.04702731 0.02214766
+v -0.07435982 -0.05056628 0.02297205
+v -0.07097673 -0.05595641 0.02145294
+v -0.06808295 -0.05904002 0.02234430
+v -0.06560966 -0.06253444 0.02067873
+v -0.06392768 -0.06381144 0.02162032
+v -0.06684822 -0.06079713 0.02151152
+v -0.06264708 -0.06548442 0.02067035
+v -0.05960421 -0.06836014 0.02045273
+v -0.05458884 -0.07199316 0.02145289
+v -0.05807513 -0.06923622 0.02141943
+v -0.05257427 -0.07347804 0.02145288
+v -0.05109106 -0.07452241 0.02145288
+v -0.04767740 -0.07717539 0.02025602
+v -0.04753978 -0.07722488 0.02034808
+v -0.05630905 -0.02668425 -0.01788420
+v -0.04753978 -0.04153804 -0.01829018
+v -0.08637455 -0.02668438 0.01727243
+v -0.08622929 -0.02701105 0.01697949
+v -0.08317877 -0.03562833 0.01715522
+v -0.08025823 -0.04164211 0.01706313
+v -0.08038438 -0.04187970 0.01861989
+v -0.07958544 -0.04335963 0.01861988
+v -0.07728800 -0.04755196 0.02025613
+v -0.07618706 -0.04869533 0.02130232
+v -0.07465034 -0.05098700 0.02145296
+v -0.07359910 -0.05246693 0.02145296
+v -0.07211589 -0.05447152 0.02145295
+v -0.06847286 -0.05948053 0.02045276
+v -0.06934826 -0.05796100 0.02141947
+v -0.06563260 -0.06255423 0.01861981
+v -0.06415704 -0.06403912 0.01861980
+v -0.06267384 -0.06550420 0.01861980
+v -0.06106448 -0.06698909 0.01861979
+v -0.05958128 -0.06834033 0.01861979
+v -0.05794516 -0.06970642 0.01861978
+v -0.05631287 -0.07105767 0.01861978
+v -0.05482966 -0.07217628 0.01861977
+v -0.05281893 -0.07366117 0.01861977
+v -0.04767740 -0.07717539 0.01947346
+v -0.04753978 -0.07724468 0.01938139
+v -0.05133572 -0.07469564 0.01861977
+v -0.05794516 -0.02668425 -0.01827757
+v -0.05201234 -0.03706359 -0.01836549
+v -0.05794516 -0.02816418 -0.01834871
+v -0.04753978 -0.04450780 -0.01825252
+v -0.08627898 -0.02668438 0.01688742
+v -0.08548768 -0.02668438 0.01551480
+v -0.08528508 -0.02806532 0.01593328
+v -0.08400830 -0.03123307 0.01560686
+v -0.08348459 -0.03409890 0.01659027
+v -0.08199374 -0.03679644 0.01603786
+v -0.08057552 -0.03974641 0.01598345
+v -0.08267036 -0.03409890 0.01517580
+v -0.07872533 -0.04303790 0.01573235
+v -0.07774673 -0.04537907 0.01629311
+v -0.07716950 -0.04735396 0.01762388
+v -0.07970394 -0.04054824 0.01517160
+v -0.07796462 -0.04620566 0.01859057
+v -0.07728800 -0.04755196 0.01951542
+v -0.07479942 -0.05120477 0.01861985
+v -0.07376348 -0.05267976 0.01861985
+v -0.07228027 -0.05468930 0.01861984
+v -0.07115640 -0.05616923 0.01861983
+v -0.06979552 -0.05782735 0.01861983
+v -0.06844611 -0.05944588 0.01861982
+v -0.06711199 -0.06093076 0.01861982
+v -0.06833907 -0.05932212 0.01717605
+v -0.06547205 -0.06239088 0.01701284
+v -0.06251328 -0.06535076 0.01701283
+v -0.05945513 -0.06823143 0.01715510
+v -0.05098021 -0.07444814 0.01663616
+v -0.04881656 -0.07633395 0.01856535
+v -0.04753978 -0.07702689 0.01762377
+v -0.05942454 -0.02668425 -0.01819806
+v -0.05497875 -0.03409877 -0.01833619
+v -0.05794516 -0.03112900 -0.01808090
+v -0.04753978 -0.04591349 -0.01783824
+v -0.04896565 -0.04586896 -0.01741975
+v -0.04904593 -0.04299817 -0.01823578
+v -0.08472696 -0.02668437 0.01435561
+v -0.08339284 -0.03030749 0.01408777
+v -0.08303733 -0.03228733 0.01454391
+v -0.08020089 -0.03856839 0.01435138
+v -0.07719625 -0.04442873 0.01440577
+v -0.07679487 -0.04620565 0.01552310
+v -0.07521227 -0.04896754 0.01574489
+v -0.07455860 -0.05084839 0.01666135
+v -0.07643936 -0.04869532 0.01859056
+v -0.07188653 -0.05416463 0.01626797
+v -0.06895453 -0.05767885 0.01605035
+v -0.06768921 -0.05856978 0.01528452
+v -0.06658445 -0.06050013 0.01615078
+v -0.06479543 -0.06167319 0.01512130
+v -0.06365244 -0.06353425 0.01606707
+v -0.06180609 -0.06467761 0.01512129
+v -0.06063252 -0.06646937 0.01613820
+v -0.05781901 -0.06886993 0.01604194
+v -0.05560949 -0.07050330 0.01578247
+v -0.05412629 -0.07164666 0.01578247
+v -0.05872117 -0.06758798 0.01526775
+v -0.05198558 -0.07317609 0.01572806
+v -0.05013539 -0.07387893 0.01474881
+v -0.04910709 -0.07511634 0.01572805
+v -0.04753978 -0.07601717 0.01560250
+v -0.04753978 -0.07699224 0.01752333
+v -0.06095362 -0.02668425 -0.01774610
+v -0.05201234 -0.04002840 -0.01811441
+v -0.05999413 -0.03112901 -0.01721464
+v -0.06099185 -0.02802560 -0.01747827
+v -0.05520047 -0.03725168 -0.01768755
+v -0.05795663 -0.03393544 -0.01743644
+v -0.04753978 -0.04727960 -0.01741138
+v -0.05082730 -0.04481469 -0.01702219
+v -0.05189766 -0.04280515 -0.01733186
+v -0.04753978 -0.04800224 -0.01711427
+v -0.04792205 -0.04779436 -0.01704313
+v -0.06372125 -0.02668426 -0.01536494
+v -0.06278469 -0.02668426 -0.01668734
+v -0.06250946 -0.02694164 -0.01692169
+v -0.06203162 -0.02892148 -0.01638605
+v -0.07461594 -0.04800730 0.01398727
+v -0.07396990 -0.04998219 0.01477401
+v -0.05955834 -0.03284158 -0.01692590
+v -0.05895435 -0.03482142 -0.01623960
+v -0.07292631 -0.05210559 0.01551890
+v -0.07128255 -0.05336278 0.01437643
+v -0.07072061 -0.05503576 0.01550633
+v -0.06853020 -0.05658993 0.01416300
+v -0.06571288 -0.05969829 0.01404163
+v -0.06281910 -0.06269775 0.01399559
+v -0.05982975 -0.06560812 0.01403324
+v -0.05674101 -0.06843930 0.01414203
+v -0.05352612 -0.07119624 0.01434289
+v -0.04815524 -0.07452238 0.01396625
+v -0.04753978 -0.07525987 0.01448934
+v -0.04753978 -0.05069484 -0.01431883
+v -0.06187489 -0.02668426 -0.01733599
+v -0.05424479 -0.04002841 -0.01726071
+v -0.06256298 -0.02668426 -0.01695936
+v -0.05697420 -0.03639045 -0.01717281
+v -0.04989839 -0.04678959 -0.01614339
+v -0.05280746 -0.04366638 -0.01600109
+v -0.05363316 -0.04168654 -0.01692174
+v -0.04753978 -0.04851700 -0.01670835
+v -0.05633581 -0.03837029 -0.01669575
+v -0.04753978 -0.04940793 -0.01580024
+v -0.04753978 -0.07465107 0.01370679
+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 27
+f 2 27 48
+f 2 48 67
+f 2 67 96
+f 2 96 123
+f 2 123 155
+f 2 155 187
+f 2 187 218
+f 2 218 220
+f 2 220 199
+f 2 199 198
+f 2 198 161
+f 2 161 128
+f 2 128 127
+f 2 127 98
+f 2 98 69
+f 2 69 49
+f 2 49 29
+f 2 29 13
+f 2 13 3
+f 2 9 11
+f 2 11 12
+f 2 12 10
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 8
+f 8 23 24
+f 8 24 9
+f 8 22 25
+f 8 25 23
+f 9 24 26
+f 9 26 47
+f 9 47 66
+f 9 66 95
+f 9 95 121
+f 9 121 154
+f 9 154 186
+f 9 186 185
+f 9 185 216
+f 9 216 228
+f 9 228 217
+f 9 217 227
+f 9 227 225
+f 9 225 196
+f 9 196 193
+f 9 193 158
+f 9 158 126
+f 9 126 97
+f 9 97 68
+f 9 68 48
+f 9 48 27
+f 9 27 28
+f 9 28 12
+f 9 12 11
+f 10 12 28
+f 10 28 27
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 15
+f 13 15 14
+f 15 33 17
+f 15 17 16
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 22 42 25
+f 22 41 42
+f 23 43 44
+f 23 44 24
+f 23 25 45
+f 23 45 43
+f 24 44 26
+f 25 42 45
+f 26 46 47
+f 26 44 46
+f 29 49 50
+f 29 50 30
+f 30 50 31
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 52 51
+f 32 51 53
+f 32 53 54
+f 32 54 34
+f 32 34 33
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 36
+f 36 56 57
+f 36 57 37
+f 37 57 38
+f 38 57 58
+f 38 58 59
+f 38 59 39
+f 39 59 40
+f 40 60 41
+f 40 59 60
+f 41 60 61
+f 41 61 42
+f 42 61 45
+f 43 62 63
+f 43 63 46
+f 43 46 44
+f 43 45 64
+f 43 64 62
+f 45 61 64
+f 46 63 47
+f 47 63 65
+f 47 65 66
+f 48 68 67
+f 49 69 50
+f 50 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 73 74
+f 51 74 75
+f 51 75 76
+f 51 76 77
+f 51 77 53
+f 51 72 78
+f 51 78 73
+f 53 77 54
+f 54 77 76
+f 54 76 79
+f 54 79 80
+f 54 80 81
+f 54 81 55
+f 55 81 82
+f 55 82 56
+f 56 82 57
+f 57 82 58
+f 58 82 83
+f 58 83 84
+f 58 84 59
+f 59 84 60
+f 60 85 86
+f 60 86 61
+f 60 84 87
+f 60 87 85
+f 61 86 88
+f 61 88 89
+f 61 89 64
+f 62 90 63
+f 62 64 91
+f 62 91 89
+f 62 89 90
+f 63 92 93
+f 63 93 65
+f 63 90 92
+f 64 89 91
+f 65 94 66
+f 65 93 94
+f 66 94 95
+f 67 68 97
+f 67 97 96
+f 69 98 70
+f 70 98 99
+f 70 99 71
+f 71 99 72
+f 72 99 100
+f 72 100 78
+f 73 78 100
+f 73 100 74
+f 74 100 75
+f 75 101 102
+f 75 102 76
+f 75 100 101
+f 76 102 103
+f 76 103 104
+f 76 104 80
+f 76 80 79
+f 80 104 81
+f 81 104 105
+f 81 105 82
+f 82 106 107
+f 82 107 108
+f 82 108 83
+f 82 105 106
+f 83 109 110
+f 83 110 84
+f 83 108 109
+f 84 110 109
+f 84 109 87
+f 85 87 109
+f 85 109 111
+f 85 111 112
+f 85 112 88
+f 85 88 86
+f 88 112 113
+f 88 113 89
+f 89 113 114
+f 89 114 115
+f 89 115 116
+f 89 116 117
+f 89 117 118
+f 89 118 90
+f 90 118 119
+f 90 119 92
+f 92 119 94
+f 92 94 93
+f 94 120 121
+f 94 121 95
+f 94 119 122
+f 94 122 120
+f 96 97 123
+f 97 124 125
+f 97 125 123
+f 97 126 124
+f 98 127 99
+f 99 127 128
+f 99 128 129
+f 99 129 130
+f 99 130 131
+f 99 131 100
+f 100 132 133
+f 100 133 101
+f 100 131 134
+f 100 134 132
+f 101 135 136
+f 101 136 137
+f 101 137 103
+f 101 103 102
+f 101 133 138
+f 101 138 135
+f 103 137 139
+f 103 139 140
+f 103 140 104
+f 104 140 141
+f 104 141 142
+f 104 142 107
+f 104 107 106
+f 104 106 105
+f 107 142 143
+f 107 143 108
+f 108 143 109
+f 109 143 144
+f 109 144 145
+f 109 145 146
+f 109 146 147
+f 109 147 111
+f 111 147 148
+f 111 148 149
+f 111 149 112
+f 112 150 113
+f 112 149 150
+f 113 150 151
+f 113 151 114
+f 114 151 115
+f 115 151 116
+f 116 151 117
+f 117 151 118
+f 118 151 152
+f 118 152 119
+f 119 152 122
+f 120 122 153
+f 120 153 154
+f 120 154 121
+f 122 152 154
+f 122 154 153
+f 123 125 155
+f 124 156 125
+f 124 126 156
+f 125 157 155
+f 125 156 157
+f 126 158 159
+f 126 159 160
+f 126 160 156
+f 128 161 162
+f 128 162 163
+f 128 163 129
+f 129 163 130
+f 130 163 131
+f 131 163 134
+f 132 134 164
+f 132 164 133
+f 133 164 138
+f 134 163 164
+f 135 138 165
+f 135 165 136
+f 136 165 166
+f 136 166 167
+f 136 167 168
+f 136 168 137
+f 137 169 140
+f 137 140 139
+f 137 168 141
+f 137 141 169
+f 138 164 165
+f 140 169 141
+f 141 168 142
+f 142 168 143
+f 143 168 148
+f 143 148 144
+f 144 148 145
+f 145 148 146
+f 146 148 147
+f 148 168 170
+f 148 170 171
+f 148 171 172
+f 148 172 173
+f 148 173 149
+f 149 173 174
+f 149 174 175
+f 149 175 150
+f 150 175 176
+f 150 176 177
+f 150 177 151
+f 151 178 179
+f 151 179 180
+f 151 180 152
+f 151 177 181
+f 151 181 178
+f 152 180 182
+f 152 182 183
+f 152 183 184
+f 152 184 185
+f 152 185 186
+f 152 186 154
+f 155 157 187
+f 156 160 188
+f 156 188 157
+f 157 189 190
+f 157 190 187
+f 157 188 191
+f 157 191 192
+f 157 192 189
+f 158 193 159
+f 159 194 195
+f 159 195 188
+f 159 188 160
+f 159 193 196
+f 159 196 197
+f 159 197 194
+f 161 198 162
+f 162 198 199
+f 162 199 163
+f 163 199 200
+f 163 200 164
+f 164 200 201
+f 164 201 165
+f 165 202 203
+f 165 203 166
+f 165 201 204
+f 165 204 205
+f 165 205 202
+f 166 203 167
+f 167 203 168
+f 168 203 206
+f 168 206 170
+f 170 206 207
+f 170 207 208
+f 170 208 171
+f 171 209 172
+f 171 208 209
+f 172 209 210
+f 172 210 174
+f 172 174 173
+f 174 211 176
+f 174 176 175
+f 174 210 211
+f 176 212 181
+f 176 181 177
+f 176 211 212
+f 178 181 213
+f 178 213 179
+f 179 214 180
+f 179 213 214
+f 180 214 182
+f 181 212 213
+f 182 214 183
+f 183 215 216
+f 183 216 185
+f 183 185 184
+f 183 214 217
+f 183 217 215
+f 187 190 218
+f 188 195 219
+f 188 219 191
+f 189 200 190
+f 189 192 204
+f 189 204 200
+f 190 200 220
+f 190 220 218
+f 191 219 221
+f 191 221 192
+f 192 221 204
+f 194 197 222
+f 194 222 223
+f 194 223 224
+f 194 224 195
+f 195 224 219
+f 196 225 197
+f 197 225 222
+f 199 220 200
+f 200 204 201
+f 202 205 226
+f 202 226 203
+f 203 207 206
+f 203 226 207
+f 204 221 226
+f 204 226 205
+f 207 209 208
+f 207 226 224
+f 207 224 209
+f 209 224 223
+f 209 223 210
+f 210 223 222
+f 210 222 211
+f 211 222 227
+f 211 227 212
+f 212 227 213
+f 213 227 214
+f 214 227 217
+f 215 228 216
+f 215 217 228
+f 219 224 221
+f 221 224 226
+f 222 225 227
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_30.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.04753596 -0.05131784 -0.01326197
+v -0.04753596 -0.05094368 -0.01392432
+v -0.04707628 -0.05172439 -0.01326197
+v -0.04753596 -0.02696844 -0.01326188
+v -0.04463657 -0.05340812 -0.01403994
+v -0.04567274 -0.05295121 -0.01326197
+v -0.04753596 -0.05068824 -0.01432062
+v -0.02828955 -0.04628463 -0.01326195
+v -0.02828955 -0.05292962 -0.01711746
+v -0.02828955 -0.05485079 -0.01798984
+v -0.02828955 -0.05485799 -0.01799287
+v -0.04753596 -0.03849914 -0.01752532
+v -0.04370025 -0.05263820 -0.01592956
+v -0.04172398 -0.05344769 -0.01687817
+v -0.04287131 -0.05390460 -0.01515312
+v -0.03937093 -0.05682956 -0.01469978
+v -0.04134908 -0.05612801 -0.01360074
+v -0.04376619 -0.05448384 -0.01326198
+v -0.04488902 -0.05361679 -0.01326198
+v -0.04574998 -0.05160925 -0.01508042
+v -0.04753596 -0.04940385 -0.01580082
+v -0.04686339 -0.04977081 -0.01612038
+v -0.02828955 -0.06372280 -0.01326201
+v -0.02828955 -0.05781532 -0.01837707
+v -0.03124735 -0.05485799 -0.01837403
+v -0.04753596 -0.04153921 -0.01829320
+v -0.04488713 -0.05066305 -0.01699630
+v -0.04287131 -0.05174596 -0.01728557
+v -0.04014524 -0.05400534 -0.01720733
+v -0.03636792 -0.05675400 -0.01712303
+v -0.03834418 -0.05612080 -0.01658941
+v -0.04027334 -0.05553077 -0.01554892
+v -0.03711773 -0.05777935 -0.01538435
+v -0.03588751 -0.05942352 -0.01417829
+v -0.03710831 -0.05913210 -0.01326200
+v -0.03846475 -0.05823267 -0.01326199
+v -0.04097794 -0.05656333 -0.01326199
+v -0.04193687 -0.05586537 -0.01326199
+v -0.04753596 -0.04851161 -0.01670853
+v -0.02902994 -0.06342059 -0.01326201
+v -0.02828955 -0.06285575 -0.01488407
+v -0.02828955 -0.05782611 -0.01837606
+v -0.03421457 -0.05485799 -0.01833263
+v -0.03717990 -0.05189346 -0.01841945
+v -0.04753596 -0.04450373 -0.01825484
+v -0.04753596 -0.04799713 -0.01711543
+v -0.04595533 -0.04883900 -0.01740319
+v -0.04014524 -0.05189346 -0.01807010
+v -0.03728728 -0.05502349 -0.01764857
+v -0.03392821 -0.05777575 -0.01733860
+v -0.03274886 -0.05931917 -0.01683124
+v -0.03472700 -0.05873275 -0.01606843
+v -0.03392821 -0.05977968 -0.01523644
+v -0.03010756 -0.06244201 -0.01426968
+v -0.03208382 -0.06194912 -0.01331350
+v -0.03492105 -0.06042369 -0.01326200
+v -0.03626242 -0.05965737 -0.01326200
+v -0.03068782 -0.06265427 -0.01326201
+v -0.02828955 -0.06186637 -0.01630723
+v -0.02828955 -0.06038770 -0.01750117
+v -0.03124735 -0.05782611 -0.01797168
+v -0.04311057 -0.04892534 -0.01822155
+v -0.04607779 -0.04596081 -0.01827051
+v -0.04753596 -0.04591044 -0.01784139
+v -0.04753596 -0.04727759 -0.01741278
+v -0.03124735 -0.05967895 -0.01709376
+v -0.03202919 -0.06199949 -0.01326201
+v -0.03220251 -0.06190955 -0.01326201
+f 1 2 3
+f 1 3 6
+f 1 6 19
+f 1 19 18
+f 1 18 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 57
+f 1 57 56
+f 1 56 68
+f 1 68 67
+f 1 67 58
+f 1 58 40
+f 1 40 23
+f 1 23 8
+f 1 8 4
+f 1 4 12
+f 1 12 26
+f 1 26 45
+f 1 45 64
+f 1 64 65
+f 1 65 46
+f 1 46 39
+f 1 39 21
+f 1 21 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 7 20
+f 5 20 13
+f 7 21 22
+f 7 22 20
+f 8 23 41
+f 8 41 59
+f 8 59 60
+f 8 60 42
+f 8 42 24
+f 8 24 11
+f 8 11 10
+f 8 10 9
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 13 20 22
+f 13 22 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 15 32 16
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 17
+f 16 32 31
+f 16 31 33
+f 17 37 38
+f 17 38 18
+f 21 39 22
+f 22 39 27
+f 23 40 41
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 25 44 26
+f 26 44 45
+f 27 39 46
+f 27 46 47
+f 27 47 28
+f 28 48 29
+f 28 47 48
+f 29 49 30
+f 29 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 51 52
+f 31 52 33
+f 33 52 34
+f 34 52 51
+f 34 51 53
+f 34 53 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 35
+f 40 58 54
+f 40 54 41
+f 41 54 59
+f 42 60 61
+f 42 61 43
+f 43 61 49
+f 43 49 48
+f 43 48 62
+f 43 62 44
+f 44 62 63
+f 44 63 45
+f 45 63 64
+f 46 65 47
+f 47 65 63
+f 47 63 62
+f 47 62 48
+f 49 61 50
+f 50 61 60
+f 50 60 66
+f 50 66 51
+f 51 66 59
+f 51 59 54
+f 51 54 53
+f 54 58 55
+f 55 58 67
+f 55 67 68
+f 55 68 56
+f 59 66 60
+f 63 65 64
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_31.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.00000133 0.07922078 0.00192107
+v 0.00000133 0.06916694 -0.01534279
+v -0.00033290 0.07922078 0.00192107
+v 0.00000133 0.05819953 0.00192099
+v 0.00000133 0.06863925 -0.01610097
+v -0.00158765 0.06916694 -0.01534279
+v -0.00158765 0.07921769 0.00192107
+v 0.00000133 0.04769818 -0.00123715
+v -0.03386590 0.04769817 0.00192096
+v 0.00000133 0.06817945 -0.01676119
+v -0.00158765 0.06817945 -0.01676119
+v -0.00455193 0.06910214 -0.01526638
+v -0.00217941 0.07919609 0.00192107
+v 0.00000133 0.04769823 -0.01231013
+v -0.05597466 0.04769817 0.00192096
+v 0.00000133 0.06738945 -0.01718240
+v -0.00158765 0.06669821 -0.01754877
+v -0.00455193 0.06661797 -0.01753506
+v -0.00751620 0.06646677 -0.01750371
+v -0.00455193 0.06810230 -0.01668479
+v 0.00000133 0.06669821 -0.01755073
+v -0.00751620 0.06897562 -0.01510377
+v -0.00509437 0.07906339 0.00192107
+v -0.00455193 0.07910351 0.00192107
+v 0.00000133 0.06161262 -0.01730389
+v -0.04299432 0.04769825 -0.01789168
+v -0.05597466 0.05631404 0.00192099
+v -0.05597466 0.04769821 -0.00689707
+v -0.01048595 0.06380055 -0.01807579
+v -0.01345022 0.06380055 -0.01802681
+v -0.01048595 0.06625384 -0.01743318
+v -0.00751620 0.06795109 -0.01652218
+v 0.00000133 0.06380055 -0.01803268
+v -0.00751620 0.06380055 -0.01807383
+v -0.01048595 0.06878119 -0.01483733
+v -0.01060649 0.07852027 0.00192107
+v -0.00799837 0.07882269 0.00192107
+v -0.00751620 0.07887515 0.00192107
+v -0.04606270 0.04769825 -0.01771340
+v -0.04310939 0.04897273 -0.01806996
+v -0.05465416 0.05757927 0.00192099
+v -0.04797496 0.05084586 -0.01447495
+v -0.05091732 0.04790190 -0.01448084
+v -0.05101594 0.04769823 -0.01457096
+v -0.02234852 0.06083807 -0.01807384
+v -0.02827707 0.05787251 -0.01808952
+v -0.01641998 0.06380055 -0.01787400
+v -0.01345022 0.06599153 -0.01731368
+v -0.01048595 0.06773816 -0.01625574
+v -0.03421109 0.05490386 -0.01809345
+v -0.01345022 0.06852815 -0.01444747
+v -0.01345022 0.07808825 0.00192107
+v -0.01130236 0.07842153 0.00192107
+v -0.04818865 0.04769824 -0.01713742
+v -0.04604627 0.04896655 -0.01743128
+v -0.04014511 0.05193830 -0.01799158
+v -0.05310901 0.05901113 0.00192100
+v -0.04491206 0.05368799 -0.01434760
+v -0.04596407 0.05183645 -0.01535656
+v -0.04702157 0.04995096 -0.01636552
+v -0.04899958 0.04892643 -0.01542318
+v -0.05072554 0.04769823 -0.01488834
+v -0.04964613 0.04769824 -0.01601680
+v -0.03124134 0.05787251 -0.01792300
+v -0.02531827 0.06083807 -0.01787597
+v -0.02234852 0.06331605 -0.01741360
+v -0.01942260 0.06400729 -0.01747628
+v -0.01641998 0.06567986 -0.01712168
+v -0.01845825 0.06543298 -0.01694340
+v -0.01345022 0.06747586 -0.01586391
+v -0.01529673 0.06833990 -0.01413988
+v -0.01641998 0.07752353 0.00192106
+v -0.01355433 0.07806973 0.00192107
+v -0.04805166 0.04797289 -0.01708844
+v -0.04504356 0.05085204 -0.01705512
+v -0.04298336 0.05187965 -0.01735095
+v -0.04014511 0.05428667 -0.01727257
+v -0.03742741 0.05516924 -0.01759583
+v -0.05178851 0.06017143 0.00192100
+v -0.04971736 0.06190572 0.00192101
+v -0.04936121 0.06218345 0.00192101
+v -0.04167931 0.05642828 -0.01404784
+v -0.04278611 0.05465389 -0.01514300
+v -0.04389292 0.05282703 -0.01623817
+v -0.03124134 0.05993697 -0.01718831
+v -0.02814556 0.06092138 -0.01740578
+v -0.03407411 0.05790336 -0.01738815
+v -0.02531827 0.06277293 -0.01713541
+v -0.02043626 0.06513365 -0.01668284
+v -0.01633779 0.06728453 -0.01521348
+v -0.01942260 0.06619829 -0.01560336
+v -0.02234852 0.06585883 -0.01485889
+v -0.01727474 0.06809303 -0.01361876
+v -0.02215675 0.07609475 0.00192106
+v -0.02002532 0.07668107 0.00192106
+v -0.01938425 0.07684154 0.00192106
+v -0.01817881 0.07711927 0.00192106
+v -0.04191491 0.05363863 -0.01696891
+v -0.03858353 0.05633263 -0.01677691
+v -0.03660552 0.05693747 -0.01715502
+v -0.04837494 0.06295184 0.00192101
+v -0.04658323 0.06428187 0.00192102
+v -0.04486822 0.06547612 0.00192102
+v -0.03625485 0.05969626 -0.01447884
+v -0.04014511 0.05695289 -0.01470807
+v -0.04014511 0.05577099 -0.01612453
+v -0.02707711 0.06243656 -0.01691402
+v -0.03299470 0.05949878 -0.01692971
+v -0.02234852 0.06479420 -0.01627730
+v -0.02441967 0.06550704 -0.01434560
+v -0.02512650 0.07518132 0.00192106
+v -0.03497270 0.05891554 -0.01636940
+v -0.04290118 0.06676603 0.00192103
+v -0.03976705 0.06865769 0.00192103
+v -0.03253992 0.06222362 -0.01378138
+v -0.03056191 0.06271737 -0.01457287
+v -0.03407411 0.06018076 -0.01541726
+v -0.04275324 0.06685861 0.00192103
+v -0.04095057 0.06797571 0.00192103
+v -0.02904964 0.06196750 -0.01646343
+v -0.02814556 0.06312781 -0.01547211
+v -0.02537306 0.06436526 -0.01533496
+v -0.03142763 0.06154474 -0.01547211
+v -0.02639768 0.06512747 -0.01363248
+v -0.03129065 0.07285762 0.00192105
+v -0.03117011 0.07290700 0.00192105
+v -0.02898937 0.07379883 0.00192105
+v -0.02753189 0.07434195 0.00192105
+v -0.02547169 0.07506405 0.00192106
+v -0.03760274 0.06984268 0.00192104
+v -0.03720824 0.07005253 0.00192104
+v -0.03520283 0.07106779 0.00192104
+v -0.03421109 0.07154302 0.00192104
+v -0.03389329 0.07169423 0.00192104
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 24
+f 1 24 23
+f 1 23 38
+f 1 38 37
+f 1 37 36
+f 1 36 53
+f 1 53 52
+f 1 52 73
+f 1 73 72
+f 1 72 97
+f 1 97 96
+f 1 96 95
+f 1 95 94
+f 1 94 111
+f 1 111 129
+f 1 129 128
+f 1 128 127
+f 1 127 126
+f 1 126 125
+f 1 125 134
+f 1 134 133
+f 1 133 132
+f 1 132 131
+f 1 131 130
+f 1 130 114
+f 1 114 119
+f 1 119 118
+f 1 118 113
+f 1 113 103
+f 1 103 102
+f 1 102 101
+f 1 101 81
+f 1 81 80
+f 1 80 79
+f 1 79 57
+f 1 57 41
+f 1 41 27
+f 1 27 15
+f 1 15 9
+f 1 9 4
+f 1 4 8
+f 1 8 14
+f 1 14 25
+f 1 25 33
+f 1 33 21
+f 1 21 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 6 7
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 9 15
+f 8 15 28
+f 8 28 44
+f 8 44 62
+f 8 62 63
+f 8 63 54
+f 8 54 39
+f 8 39 26
+f 8 26 14
+f 10 16 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 11 16 21
+f 11 21 17
+f 12 20 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 14 26 25
+f 15 27 28
+f 17 21 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 22
+f 21 33 34
+f 21 34 29
+f 22 32 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 25 26 33
+f 26 39 40
+f 26 40 33
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 29 45 30
+f 29 34 46
+f 29 46 45
+f 30 47 31
+f 30 45 47
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 35
+f 33 40 34
+f 34 40 50
+f 34 50 46
+f 35 49 51
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 39 54 55
+f 39 55 40
+f 40 55 56
+f 40 56 50
+f 41 57 42
+f 42 58 59
+f 42 59 60
+f 42 60 61
+f 42 61 43
+f 42 57 58
+f 43 62 44
+f 43 61 63
+f 43 63 62
+f 45 46 64
+f 45 64 65
+f 45 65 47
+f 46 50 64
+f 47 65 66
+f 47 66 67
+f 47 67 48
+f 48 67 68
+f 48 68 49
+f 49 68 69
+f 49 69 70
+f 49 70 51
+f 50 56 64
+f 51 70 71
+f 51 71 72
+f 51 72 73
+f 51 73 52
+f 54 63 74
+f 54 74 55
+f 55 74 75
+f 55 75 76
+f 55 76 56
+f 56 76 77
+f 56 77 78
+f 56 78 64
+f 57 79 58
+f 58 80 81
+f 58 81 82
+f 58 82 83
+f 58 83 84
+f 58 84 59
+f 58 79 80
+f 59 84 60
+f 60 74 63
+f 60 63 61
+f 60 84 75
+f 60 75 74
+f 64 85 86
+f 64 86 65
+f 64 78 87
+f 64 87 85
+f 65 86 66
+f 66 69 68
+f 66 68 67
+f 66 86 88
+f 66 88 69
+f 69 88 89
+f 69 89 90
+f 69 90 70
+f 70 90 71
+f 71 90 91
+f 71 91 92
+f 71 92 93
+f 71 93 94
+f 71 94 95
+f 71 95 96
+f 71 96 97
+f 71 97 72
+f 75 84 98
+f 75 98 76
+f 76 98 77
+f 77 99 100
+f 77 100 78
+f 77 98 99
+f 78 100 87
+f 81 101 82
+f 82 101 102
+f 82 102 103
+f 82 103 104
+f 82 104 105
+f 82 105 99
+f 82 99 106
+f 82 106 83
+f 83 106 84
+f 84 106 98
+f 85 107 86
+f 85 87 108
+f 85 108 107
+f 86 107 88
+f 87 100 108
+f 88 107 89
+f 89 109 92
+f 89 92 91
+f 89 91 90
+f 89 107 109
+f 92 109 110
+f 92 110 111
+f 92 111 94
+f 92 94 93
+f 98 106 99
+f 99 105 104
+f 99 104 112
+f 99 112 108
+f 99 108 100
+f 103 113 104
+f 104 114 115
+f 104 115 116
+f 104 116 117
+f 104 117 112
+f 104 113 118
+f 104 118 119
+f 104 119 114
+f 107 108 120
+f 107 120 121
+f 107 121 122
+f 107 122 109
+f 108 112 123
+f 108 123 120
+f 109 122 110
+f 110 122 121
+f 110 121 116
+f 110 116 124
+f 110 124 125
+f 110 125 126
+f 110 126 127
+f 110 127 128
+f 110 128 129
+f 110 129 111
+f 112 117 123
+f 114 130 115
+f 115 130 131
+f 115 131 116
+f 116 125 124
+f 116 121 120
+f 116 120 123
+f 116 123 117
+f 116 131 132
+f 116 132 133
+f 116 133 134
+f 116 134 125
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_4.obj

@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v 0.02729899 0.05602280 -0.01756836
+v 0.02706385 0.05602280 -0.01755171
+v 0.00000133 0.06380393 -0.01803038
+v 0.02729899 0.05787289 -0.01805121
+v 0.02729899 0.05602272 0.00410577
+v 0.00000133 0.06161011 -0.01730194
+v 0.00000133 0.06263457 -0.01764327
+v 0.00000133 0.05602279 -0.01327683
+v 0.00731740 0.06380393 -0.01807616
+v 0.02214728 0.06083841 -0.01810531
+v 0.00000133 0.06515527 -0.01780559
+v 0.02729899 0.05865471 -0.01805952
+v 0.00000133 0.05602274 0.00093394
+v 0.02729899 0.07925819 0.02348227
+v 0.01028338 0.06380393 -0.01808033
+v 0.00000133 0.06670205 -0.01754751
+v 0.00138545 0.06670205 -0.01755167
+v 0.01325202 0.06380393 -0.01803870
+v 0.01621533 0.06380393 -0.01790550
+v 0.02511325 0.06083841 -0.01792216
+v 0.02729899 0.06092265 -0.01755586
+v 0.00000133 0.08296174 0.02299111
+v 0.02729899 0.08160028 0.02435641
+v 0.00000133 0.08456581 0.02389854
+v 0.00000133 0.08381768 0.02347813
+v 0.00435143 0.06662454 -0.01753919
+v 0.00000133 0.06739288 -0.01718121
+v 0.00000133 0.06818481 -0.01676079
+v 0.00138545 0.06818481 -0.01676079
+v 0.00731740 0.06647964 -0.01751006
+v 0.01028338 0.06628081 -0.01744346
+v 0.01325202 0.06603144 -0.01733107
+v 0.01929085 0.06403645 -0.01749757
+v 0.02214728 0.06337595 -0.01743098
+v 0.02729899 0.06140792 -0.01737270
+v 0.02511325 0.08456581 0.02402342
+v 0.02214728 0.08456581 0.02431896
+v 0.01918130 0.08456581 0.02441886
+v 0.01621533 0.08456581 0.02438556
+v 0.02729899 0.08464668 0.02365296
+v 0.00000133 0.08614967 0.02408587
+v 0.00000133 0.06916883 -0.01534138
+v 0.00138545 0.06917220 -0.01534138
+v 0.00435143 0.06911154 -0.01527062
+v 0.00435143 0.06810730 -0.01668587
+v 0.00731740 0.06796240 -0.01652770
+v 0.01621533 0.06572140 -0.01714792
+v 0.01028338 0.06776357 -0.01627795
+v 0.01837701 0.06546529 -0.01696477
+v 0.02511325 0.06282665 -0.01716874
+v 0.02696498 0.06247281 -0.01693980
+v 0.02729899 0.06198417 -0.01709798
+v 0.02214728 0.08664504 0.02345317
+v 0.01918130 0.08697192 0.02365297
+v 0.00731740 0.08753470 0.02414414
+v 0.01621533 0.08726511 0.02374870
+v 0.01028338 0.08753470 0.02400262
+v 0.00435143 0.08753470 0.02421490
+v 0.00138545 0.08753470 0.02424404
+v 0.00000133 0.08753470 0.02424404
+v 0.02729899 0.08527686 0.02327001
+v 0.02511325 0.08627099 0.02311184
+v 0.00000133 0.08884901 0.01462036
+v 0.00138545 0.08884901 0.01461619
+v 0.00435143 0.08880856 0.01468279
+v 0.00731740 0.06898685 -0.01511245
+v 0.00731740 0.08871758 0.01483264
+v 0.01028338 0.06880150 -0.01486270
+v 0.01325202 0.06751420 -0.01591165
+v 0.01325202 0.06855549 -0.01449223
+v 0.02035433 0.06518222 -0.01672334
+v 0.02214728 0.06485871 -0.01634872
+v 0.02522281 0.06443073 -0.01536637
+v 0.02729899 0.06239530 -0.01686904
+v 0.01423534 0.08892985 0.02262068
+v 0.01226069 0.08908486 0.02295368
+v 0.01028338 0.08919271 0.02308272
+v 0.00731740 0.08932412 0.02322424
+v 0.00435143 0.08940500 0.02330333
+v 0.00138545 0.08944543 0.02334079
+v 0.00000133 0.08944543 0.02334079
+v 0.02729899 0.08622718 0.02145517
+v 0.02663899 0.08606206 0.02288707
+v 0.00000133 0.08922305 0.01528219
+v 0.00138545 0.08965103 0.01603561
+v 0.00435143 0.08961060 0.01610221
+v 0.00731740 0.08952635 0.01624789
+v 0.01028338 0.08857603 0.01506574
+v 0.01028338 0.08939155 0.01648516
+v 0.01325202 0.08838731 0.01540706
+v 0.01619662 0.06733896 -0.01523316
+v 0.01519460 0.06836341 -0.01417588
+v 0.01621533 0.08666193 0.01358805
+v 0.01918130 0.08636875 0.01396267
+v 0.02109983 0.08615644 0.01423324
+v 0.01929085 0.06625722 -0.01562861
+v 0.02214728 0.06591348 -0.01492931
+v 0.02430897 0.06554279 -0.01439651
+v 0.02729899 0.06350738 -0.01546628
+v 0.01918130 0.08827946 0.02145517
+v 0.01647451 0.08879505 0.02158422
+v 0.01565687 0.08918260 0.02072674
+v 0.01324935 0.08933761 0.02158422
+v 0.01028338 0.08972515 0.02145518
+v 0.00731740 0.08999137 0.02145518
+v 0.00435143 0.09015987 0.02145518
+v 0.00138545 0.09024075 0.02145518
+v 0.00000133 0.08987006 0.02233346
+v 0.02729899 0.08627099 0.02079333
+v 0.02722684 0.08625077 0.02145517
+v 0.02511325 0.08685398 0.02145517
+v 0.02214728 0.08761222 0.02145517
+v 0.00000133 0.08965103 0.01603977
+v 0.00000133 0.09002172 0.01723857
+v 0.00138545 0.09044969 0.01862052
+v 0.00435143 0.09036544 0.01862052
+v 0.00731740 0.09019021 0.01862052
+v 0.01325202 0.08920620 0.01682648
+v 0.01028338 0.08992399 0.01862052
+v 0.01504497 0.08907141 0.01708456
+v 0.01610577 0.08824578 0.01599813
+v 0.02307715 0.08591381 0.01457040
+v 0.01918130 0.08750777 0.01578168
+v 0.02511325 0.08563073 0.01501993
+v 0.02729899 0.08420863 0.01398764
+v 0.02729899 0.06400274 -0.01476697
+v 0.02214728 0.08782116 0.01862051
+v 0.01918130 0.08849514 0.01862052
+v 0.01714520 0.08891638 0.01862052
+v 0.01566221 0.08918261 0.01862052
+v 0.01325202 0.08956003 0.01862052
+v 0.00000133 0.09023738 0.02145518
+v 0.02729899 0.08639569 0.01889107
+v 0.02511325 0.08704945 0.01862051
+v 0.00000133 0.09044632 0.01862052
+v 0.02704247 0.08619013 0.01692637
+v 0.02511325 0.08646646 0.01643936
+v 0.02211254 0.08675628 0.01562351
+v 0.02729899 0.08595424 0.01666829
+v 0.02729899 0.08534765 0.01567761
+v 0.02729899 0.08641254 0.01862051
+v 0.02729899 0.08627100 0.01780882
+v 0.02729899 0.08614970 0.01714698
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 35
+f 1 35 52
+f 1 52 74
+f 1 74 99
+f 1 99 126
+f 1 126 125
+f 1 125 140
+f 1 140 139
+f 1 139 143
+f 1 143 142
+f 1 142 141
+f 1 141 133
+f 1 133 109
+f 1 109 82
+f 1 82 61
+f 1 61 40
+f 1 40 23
+f 1 23 14
+f 1 14 5
+f 1 5 13
+f 1 13 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 3 7 6
+f 3 6 8
+f 3 8 13
+f 3 13 22
+f 3 22 25
+f 3 25 24
+f 3 24 41
+f 3 41 60
+f 3 60 81
+f 3 81 108
+f 3 108 132
+f 3 132 135
+f 3 135 114
+f 3 114 113
+f 3 113 84
+f 3 84 63
+f 3 63 42
+f 3 42 28
+f 3 28 27
+f 3 27 16
+f 3 16 11
+f 3 11 9
+f 4 10 12
+f 5 14 13
+f 9 15 10
+f 9 11 16
+f 9 16 17
+f 9 17 15
+f 10 15 18
+f 10 18 19
+f 10 19 20
+f 10 20 12
+f 12 20 21
+f 13 14 22
+f 14 23 24
+f 14 24 25
+f 14 25 22
+f 15 17 26
+f 15 26 18
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 26
+f 18 26 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 21
+f 21 34 35
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 23 40 36
+f 24 39 41
+f 26 29 30
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 30 45 31
+f 31 45 46
+f 31 46 32
+f 32 47 33
+f 32 46 48
+f 32 48 47
+f 33 47 34
+f 34 47 49
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 36 40 53
+f 36 53 54
+f 36 54 37
+f 37 55 38
+f 37 54 56
+f 37 56 57
+f 37 57 55
+f 38 55 58
+f 38 58 59
+f 38 59 60
+f 38 60 39
+f 39 60 41
+f 40 61 62
+f 40 62 53
+f 42 63 43
+f 43 63 64
+f 43 64 65
+f 43 65 44
+f 44 66 45
+f 44 65 67
+f 44 67 66
+f 45 66 46
+f 46 66 68
+f 46 68 48
+f 47 48 49
+f 48 69 49
+f 48 68 70
+f 48 70 69
+f 49 69 71
+f 49 71 50
+f 50 71 51
+f 51 71 72
+f 51 72 73
+f 51 73 74
+f 51 74 52
+f 53 62 75
+f 53 75 76
+f 53 76 54
+f 54 76 77
+f 54 77 56
+f 55 57 78
+f 55 78 79
+f 55 79 58
+f 56 77 78
+f 56 78 57
+f 58 79 80
+f 58 80 59
+f 59 80 81
+f 59 81 60
+f 61 82 83
+f 61 83 62
+f 62 83 75
+f 63 84 64
+f 64 84 85
+f 64 85 86
+f 64 86 65
+f 65 86 87
+f 65 87 67
+f 66 67 88
+f 66 88 68
+f 67 87 89
+f 67 89 88
+f 68 88 90
+f 68 90 70
+f 69 91 71
+f 69 70 92
+f 69 92 91
+f 70 90 93
+f 70 93 94
+f 70 94 95
+f 70 95 92
+f 71 91 96
+f 71 96 97
+f 71 97 72
+f 72 97 98
+f 72 98 73
+f 73 99 74
+f 73 98 99
+f 75 83 100
+f 75 100 101
+f 75 101 102
+f 75 102 103
+f 75 103 76
+f 76 103 104
+f 76 104 105
+f 76 105 77
+f 77 105 78
+f 78 105 106
+f 78 106 79
+f 79 106 107
+f 79 107 80
+f 80 107 81
+f 81 107 108
+f 82 109 110
+f 82 110 83
+f 83 110 111
+f 83 111 112
+f 83 112 100
+f 84 113 85
+f 85 113 114
+f 85 114 115
+f 85 115 86
+f 86 115 116
+f 86 116 87
+f 87 116 117
+f 87 117 89
+f 88 89 118
+f 88 118 90
+f 89 117 119
+f 89 119 118
+f 90 118 120
+f 90 120 121
+f 90 121 94
+f 90 94 93
+f 91 92 96
+f 92 95 122
+f 92 122 96
+f 94 121 123
+f 94 123 95
+f 95 123 122
+f 96 122 97
+f 97 122 124
+f 97 124 125
+f 97 125 98
+f 98 126 99
+f 98 125 126
+f 100 112 102
+f 100 102 101
+f 102 104 103
+f 102 112 127
+f 102 127 128
+f 102 128 129
+f 102 129 130
+f 102 130 131
+f 102 131 119
+f 102 119 104
+f 104 119 117
+f 104 117 105
+f 105 117 116
+f 105 116 106
+f 106 116 115
+f 106 115 107
+f 107 115 135
+f 107 135 132
+f 107 132 108
+f 109 133 110
+f 110 133 134
+f 110 134 111
+f 111 134 127
+f 111 127 112
+f 114 135 115
+f 118 119 120
+f 119 131 120
+f 120 136 137
+f 120 137 123
+f 120 123 121
+f 120 131 130
+f 120 130 129
+f 120 129 128
+f 120 128 127
+f 120 127 136
+f 122 123 138
+f 122 138 137
+f 122 137 124
+f 123 137 138
+f 124 137 136
+f 124 136 139
+f 124 139 140
+f 124 140 125
+f 127 134 136
+f 133 141 134
+f 134 141 142
+f 134 142 136
+f 136 142 143
+f 136 143 139
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_5.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.09036102 0.00027421 0.01861984
+v 0.09036102 -0.00146283 0.01861983
+v 0.08989390 0.00027422 0.01702180
+v 0.09026002 0.00027421 0.01979537
+v 0.09027685 -0.00443084 0.01861982
+v 0.08951937 -0.00443083 0.01595502
+v 0.08955724 -0.00146282 0.01588810
+v 0.08956145 0.00027422 0.01588811
+v 0.09011694 -0.00146284 0.02145615
+v 0.09003698 -0.00443085 0.02145614
+v 0.09011694 0.00027420 0.02145616
+v 0.09010852 -0.00739620 0.01861981
+v 0.08943100 -0.00739619 0.01610143
+v 0.08878714 -0.00443082 0.01453686
+v 0.08882501 -0.00146281 0.01446994
+v 0.08882501 0.00027423 0.01446995
+v 0.08931738 -0.00146285 0.02333448
+v 0.08927529 -0.00443086 0.02329682
+v 0.08919533 -0.00739622 0.02321733
+v 0.08986865 -0.00739621 0.02145613
+v 0.08931738 0.00027419 0.02333449
+v 0.08984340 -0.01036421 0.01861980
+v 0.08930054 -0.01036420 0.01634405
+v 0.08961195 -0.01036422 0.02145612
+v 0.08869876 -0.00739618 0.01468327
+v 0.06814153 -0.00312595 -0.01682998
+v 0.06816257 -0.00146270 -0.01685090
+v 0.06816257 0.00027434 -0.01685089
+v 0.08740684 -0.00146285 0.02423390
+v 0.08740684 -0.00443086 0.02420461
+v 0.08740684 -0.00739622 0.02412930
+v 0.08740684 -0.01036423 0.02399542
+v 0.08713751 -0.01629497 0.02373185
+v 0.08906488 -0.01036422 0.02307927
+v 0.08895547 -0.01234377 0.02295376
+v 0.08740684 0.00027419 0.02423391
+v 0.08948991 -0.01332694 0.01861979
+v 0.08897651 -0.01531439 0.01700919
+v 0.08911959 -0.01332693 0.01669963
+v 0.08903122 -0.01629496 0.02060270
+v 0.08890076 -0.01783167 0.02008395
+v 0.08856410 -0.01036419 0.01492589
+v 0.08922479 -0.01332959 0.02159835
+v 0.06793533 -0.00739607 -0.01659992
+v 0.06806157 -0.00510286 -0.01675051
+v 0.06645403 -0.00739607 -0.01760811
+v 0.06690431 -0.00424092 -0.01748260
+v 0.06664761 -0.00146270 -0.01768339
+v 0.06664761 0.00027434 -0.01768338
+v 0.08444003 -0.01926033 0.02441373
+v 0.08444003 -0.02222570 0.02428822
+v 0.08684293 -0.01926033 0.02362726
+v 0.08651048 -0.02222570 0.02342644
+v 0.08880397 -0.01432068 0.02263582
+v 0.08617803 0.00027419 0.02411678
+v 0.08444003 -0.01629497 0.02439700
+v 0.08880397 -0.01729395 0.01803411
+v 0.08890076 -0.01783167 0.01992080
+v 0.08905647 -0.01630022 0.01883313
+v 0.08616120 -0.02665395 0.01672468
+v 0.08637582 -0.02519368 0.01632727
+v 0.08754571 -0.01926030 0.01578345
+v 0.08823165 -0.01630021 0.01595080
+v 0.08837473 -0.01332693 0.01528147
+v 0.08861880 -0.01629496 0.02202085
+v 0.08832002 -0.01899674 0.02120091
+v 0.08751204 -0.02222569 0.02145608
+v 0.08635057 -0.02665397 0.02129291
+v 0.08648102 -0.02665396 0.02010484
+v 0.08698601 -0.02519369 0.01861975
+v 0.08778137 -0.02222568 0.01861976
+v 0.06771229 -0.01036408 -0.01629873
+v 0.06562500 -0.01629482 -0.01719817
+v 0.06595325 -0.01332681 -0.01740315
+v 0.06623099 -0.01036408 -0.01753282
+v 0.06368080 -0.01332680 -0.01826073
+v 0.06368080 -0.01036407 -0.01831929
+v 0.06368080 -0.00739606 -0.01831510
+v 0.06368080 0.00027435 -0.01825232
+v 0.08147322 -0.02665398 0.02427146
+v 0.08331222 -0.02665398 0.02401210
+v 0.08448632 -0.02665398 0.02371508
+v 0.08619486 -0.02468762 0.02315452
+v 0.08592133 -0.02665397 0.02286167
+v 0.08444003 0.00027419 0.02394108
+v 0.08854306 -0.01899673 0.01883312
+v 0.08595499 -0.02665395 0.01635236
+v 0.08559729 -0.02519367 0.01490911
+v 0.08654836 -0.02665396 0.01861974
+v 0.08584979 -0.02343026 0.01447822
+v 0.08671248 -0.02235483 0.01556591
+v 0.08610228 -0.02145071 0.01414775
+v 0.08635057 -0.01926029 0.01383819
+v 0.08664514 -0.01629493 0.01347425
+v 0.08657360 -0.02548364 0.02173217
+v 0.08592553 -0.02665397 0.02284912
+v 0.06743455 -0.01332681 -0.01585112
+v 0.06535568 -0.01844569 -0.01698483
+v 0.06323894 -0.02222555 -0.01749939
+v 0.06391225 -0.01936562 -0.01759142
+v 0.06368080 -0.01629481 -0.01808086
+v 0.06071400 -0.02222554 -0.01831515
+v 0.06071400 -0.01926017 -0.01832350
+v 0.05774719 -0.02665382 -0.01826915
+v 0.05774719 -0.02519355 -0.01820221
+v 0.05501604 -0.02665383 -0.01746176
+v 0.06131157 0.00027434 -0.01742401
+v 0.08022759 -0.02665398 0.02387405
+v 0.08590870 -0.02665397 0.02287004
+v 0.08374987 0.00027419 0.02356876
+v 0.07918815 -0.02665398 0.02343061
+v 0.08539951 -0.02665395 0.01537764
+v 0.06472023 -0.02222555 -0.01624857
+v 0.06505268 -0.02042524 -0.01670037
+v 0.06720309 -0.01615775 -0.01519434
+v 0.06267504 -0.02519356 -0.01718147
+v 0.06075608 -0.02665382 -0.01775878
+v 0.06071400 -0.02519355 -0.01804742
+v 0.04737389 -0.02665384 -0.01328677
+v 0.04737389 0.00027433 -0.01247928
+v 0.08278198 0.00027420 0.02304166
+v 0.04737389 0.00027429 -0.00137245
+v 0.04737389 -0.02665389 0.00023386
+v 0.06354614 -0.02665383 -0.01537008
+v 0.06422367 -0.02515665 -0.01530314
+v 0.06238466 -0.02665383 -0.01697231
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 49
+f 1 49 79
+f 1 79 107
+f 1 107 120
+f 1 120 122
+f 1 122 121
+f 1 121 110
+f 1 110 85
+f 1 85 55
+f 1 55 36
+f 1 36 21
+f 1 21 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 4 9
+f 2 9 10
+f 2 10 5
+f 4 11 9
+f 5 12 13
+f 5 13 6
+f 5 10 20
+f 5 20 12
+f 6 13 25
+f 6 25 14
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 8 15 16
+f 9 11 21
+f 9 21 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 12 22 23
+f 12 23 13
+f 12 20 24
+f 12 24 22
+f 13 23 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 17 21 36
+f 17 36 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 24
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 22 24 40
+f 22 40 41
+f 22 41 37
+f 23 39 42
+f 23 42 25
+f 24 35 43
+f 24 43 40
+f 25 42 44
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 27
+f 27 48 49
+f 27 49 28
+f 29 36 50
+f 29 50 30
+f 30 50 31
+f 31 50 51
+f 31 51 32
+f 32 51 33
+f 33 51 52
+f 33 52 35
+f 33 35 34
+f 35 52 53
+f 35 53 54
+f 35 54 43
+f 36 55 56
+f 36 56 50
+f 37 57 38
+f 37 41 58
+f 37 58 59
+f 37 59 57
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 64
+f 38 64 39
+f 38 57 60
+f 39 64 42
+f 40 43 54
+f 40 54 41
+f 41 54 65
+f 41 65 66
+f 41 66 67
+f 41 67 68
+f 41 68 69
+f 41 69 70
+f 41 70 71
+f 41 71 58
+f 42 64 72
+f 42 72 44
+f 44 72 73
+f 44 73 74
+f 44 74 75
+f 44 75 45
+f 45 75 46
+f 46 75 76
+f 46 76 48
+f 46 48 47
+f 48 76 77
+f 48 77 49
+f 49 77 78
+f 49 78 79
+f 50 56 80
+f 50 80 51
+f 51 80 81
+f 51 81 82
+f 51 82 53
+f 51 53 52
+f 53 83 54
+f 53 82 83
+f 54 83 84
+f 54 84 65
+f 55 85 56
+f 56 85 80
+f 57 59 58
+f 57 58 86
+f 57 86 71
+f 57 71 60
+f 58 71 86
+f 60 87 88
+f 60 88 61
+f 60 71 70
+f 60 70 89
+f 60 89 69
+f 60 69 68
+f 60 68 96
+f 60 96 84
+f 60 84 109
+f 60 109 82
+f 60 82 81
+f 60 81 80
+f 60 80 108
+f 60 108 111
+f 60 111 123
+f 60 123 119
+f 60 119 106
+f 60 106 104
+f 60 104 117
+f 60 117 126
+f 60 126 124
+f 60 124 112
+f 60 112 87
+f 61 88 90
+f 61 90 91
+f 61 91 62
+f 62 91 90
+f 62 90 92
+f 62 92 93
+f 62 93 63
+f 63 93 64
+f 64 93 94
+f 64 94 72
+f 65 84 67
+f 65 67 66
+f 67 95 68
+f 67 84 96
+f 67 96 95
+f 68 95 96
+f 69 89 70
+f 72 97 98
+f 72 98 73
+f 72 94 93
+f 72 93 97
+f 73 98 99
+f 73 99 100
+f 73 100 101
+f 73 101 74
+f 74 101 75
+f 75 101 76
+f 76 102 77
+f 76 101 102
+f 77 103 78
+f 77 102 103
+f 78 103 79
+f 79 103 104
+f 79 104 105
+f 79 105 106
+f 79 106 107
+f 80 85 108
+f 82 109 83
+f 83 109 84
+f 85 110 111
+f 85 111 108
+f 87 112 88
+f 88 112 113
+f 88 113 114
+f 88 114 90
+f 90 114 115
+f 90 115 92
+f 92 115 97
+f 92 97 93
+f 97 115 98
+f 98 116 99
+f 98 115 114
+f 98 114 116
+f 99 116 117
+f 99 117 118
+f 99 118 101
+f 99 101 100
+f 101 118 102
+f 102 118 104
+f 102 104 103
+f 104 106 105
+f 104 118 117
+f 106 119 120
+f 106 120 107
+f 110 121 111
+f 111 121 122
+f 111 122 123
+f 112 124 125
+f 112 125 113
+f 113 125 126
+f 113 126 114
+f 114 126 116
+f 116 126 117
+f 119 123 122
+f 119 122 120
+f 124 126 125
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_6.obj

@@ -0,0 +1,694 @@
+# https://github.com/mikedh/trimesh
+v 0.08147565 -0.02816569 0.02436167
+v 0.07850760 -0.03706247 0.02431982
+v 0.08147565 -0.03112964 0.02427386
+v 0.08331246 -0.02665399 0.02401463
+v 0.08147565 -0.02665399 0.02427387
+v 0.04737388 -0.07116266 0.02405210
+v 0.04737388 -0.07265950 0.02412317
+v 0.05181444 -0.06969060 0.02420262
+v 0.05478247 -0.06672666 0.02421936
+v 0.06961116 -0.05189705 0.02426123
+v 0.07554340 -0.04299531 0.02428635
+v 0.07876070 -0.04025441 0.02375534
+v 0.08093496 -0.03706247 0.02355883
+v 0.08363457 -0.03112964 0.02345015
+v 0.08416375 -0.02816569 0.02368013
+v 0.08448587 -0.02665399 0.02371776
+v 0.08168655 -0.03422244 0.02371355
+v 0.08022937 -0.02665399 0.02387664
+v 0.04737388 -0.06974512 0.02359216
+v 0.07919018 -0.02665399 0.02342925
+v 0.04737388 -0.07422573 0.02385975
+v 0.04885023 -0.07265950 0.02407299
+v 0.05789623 -0.06689022 0.02371343
+v 0.06093330 -0.06398081 0.02374689
+v 0.06390517 -0.06101191 0.02375109
+v 0.06682336 -0.05798849 0.02373019
+v 0.07257536 -0.04892815 0.02414835
+v 0.07799760 -0.04299531 0.02352954
+v 0.07570446 -0.04605838 0.02370932
+v 0.08323576 -0.03331542 0.02314908
+v 0.08040577 -0.03941677 0.02323687
+v 0.08592003 -0.02666885 0.02286060
+v 0.08592003 -0.02665398 0.02286478
+v 0.04737388 -0.06883314 0.02324512
+v 0.04737388 -0.02665390 0.00023578
+v 0.04737388 -0.07527649 0.02348343
+v 0.05162654 -0.07260002 0.02344580
+v 0.05480548 -0.06975999 0.02362979
+v 0.05700275 -0.06882323 0.02328276
+v 0.06009350 -0.06600798 0.02332876
+v 0.06306537 -0.06314317 0.02334968
+v 0.06594905 -0.06017427 0.02333714
+v 0.06876370 -0.05710624 0.02329952
+v 0.06969552 -0.05490064 0.02365912
+v 0.07252935 -0.05172853 0.02348352
+v 0.07473812 -0.04892815 0.02334973
+v 0.07740706 -0.04513153 0.02319921
+v 0.07991877 -0.04139438 0.02271420
+v 0.08281778 -0.03529302 0.02251770
+v 0.08634952 -0.02665398 0.02129262
+v 0.08592770 -0.02665398 0.02284805
+v 0.08476579 -0.03112963 0.02145568
+v 0.08567078 -0.02836394 0.02173166
+v 0.08618846 -0.02750648 0.02097067
+v 0.04737388 -0.02665385 -0.01328642
+v 0.04737388 -0.07639167 0.02247992
+v 0.04885023 -0.07477589 0.02331200
+v 0.05383147 -0.07157404 0.02318658
+v 0.05051065 -0.07426041 0.02298587
+v 0.05898144 -0.06798558 0.02241305
+v 0.06207219 -0.06512077 0.02263885
+v 0.06504407 -0.06215187 0.02264304
+v 0.06792390 -0.05908385 0.02244235
+v 0.07151316 -0.05393909 0.02320336
+v 0.07420127 -0.05062324 0.02300685
+v 0.07680118 -0.04711409 0.02231278
+v 0.07940875 -0.04297547 0.02164379
+v 0.08023321 -0.04196932 0.02082427
+v 0.08081608 -0.04025440 0.02164380
+v 0.07774451 -0.04605837 0.02140127
+v 0.08236529 -0.03699803 0.02152255
+v 0.08312839 -0.03596214 0.02062359
+v 0.08356938 -0.03422243 0.02152256
+v 0.08647989 -0.02665397 0.02010515
+v 0.08505723 -0.03112962 0.01862079
+v 0.08576281 -0.02915696 0.01862079
+v 0.08624215 -0.02767499 0.01862080
+v 0.08654892 -0.02665397 0.01862080
+v 0.05501255 -0.02665384 -0.01746351
+v 0.04737388 -0.03769179 -0.01723358
+v 0.04737388 -0.07666427 0.02202835
+v 0.05581017 -0.07080083 0.02196565
+v 0.04865083 -0.07611412 0.02136353
+v 0.05097465 -0.07457762 0.02145552
+v 0.05245866 -0.07353678 0.02145552
+v 0.05763164 -0.06959146 0.02124229
+v 0.05943777 -0.06838705 0.02052312
+v 0.06248634 -0.06551728 0.02074892
+v 0.06376712 -0.06384201 0.02169390
+v 0.06543903 -0.06256325 0.02075311
+v 0.06668530 -0.06083346 0.02159774
+v 0.06831121 -0.05952001 0.02055242
+v 0.06952680 -0.05772083 0.02126325
+v 0.07074239 -0.05591669 0.02197406
+v 0.07346501 -0.05255624 0.02145560
+v 0.07451571 -0.05107923 0.02145560
+v 0.07606875 -0.04874475 0.02140126
+v 0.07714246 -0.04763451 0.02042285
+v 0.07947394 -0.04352563 0.01862074
+v 0.08027155 -0.04204366 0.01862075
+v 0.08126857 -0.04003135 0.01862075
+v 0.08247266 -0.03745897 0.01862076
+v 0.08313222 -0.03597700 0.01862077
+v 0.08390683 -0.03409851 0.01862077
+v 0.08608492 -0.02717934 0.01686885
+v 0.08302102 -0.03572421 0.01706534
+v 0.08616161 -0.02665396 0.01672668
+v 0.05774668 -0.02665383 -0.01827049
+v 0.04737388 -0.04004608 -0.01789005
+v 0.04737388 -0.07726400 0.02045201
+v 0.04752727 -0.07720947 0.02035584
+v 0.05480548 -0.07188628 0.02119211
+v 0.05627800 -0.07118742 0.02007572
+v 0.05942627 -0.06837713 0.01862065
+v 0.06091028 -0.06703889 0.01862065
+v 0.06252852 -0.06555692 0.01862066
+v 0.05627800 -0.07118742 0.01993774
+v 0.06401254 -0.06408982 0.01862066
+v 0.06548122 -0.06260785 0.01862067
+v 0.06830737 -0.05951504 0.01862068
+v 0.07110669 -0.05635781 0.01992524
+v 0.07110669 -0.05635781 0.02008413
+v 0.06696140 -0.06099702 0.01862068
+v 0.07181226 -0.05490063 0.02120054
+v 0.07466910 -0.05129730 0.01862071
+v 0.07714246 -0.04763450 0.01910157
+v 0.08012200 -0.04176113 0.01693988
+v 0.07786721 -0.04625662 0.01834058
+v 0.07702359 -0.04744615 0.01721164
+v 0.08540235 -0.02665396 0.01538032
+v 0.08595454 -0.02665396 0.01635037
+v 0.08335464 -0.03409850 0.01645905
+v 0.08391066 -0.03132786 0.01555173
+v 0.08519911 -0.02816566 0.01586534
+v 0.08048246 -0.03982317 0.01591129
+v 0.08190129 -0.03685427 0.01598656
+v 0.08256086 -0.03409850 0.01504161
+v 0.06075690 -0.02665383 -0.01775619
+v 0.05774668 -0.02816553 -0.01834157
+v 0.04885023 -0.04003121 -0.01830399
+v 0.04737388 -0.04299515 -0.01823292
+v 0.04737388 -0.07728382 0.02013842
+v 0.04752727 -0.07720947 0.01920599
+v 0.05121623 -0.07474613 0.01862063
+v 0.05270024 -0.07372015 0.01862063
+v 0.05928438 -0.06825816 0.01711539
+v 0.05745908 -0.07005736 0.01884224
+v 0.05612461 -0.07106351 0.01804780
+v 0.06235212 -0.06538840 0.01695233
+v 0.05499338 -0.07203001 0.01884224
+v 0.06531249 -0.06242941 0.01695234
+v 0.06818083 -0.05937130 0.01710288
+v 0.07098014 -0.05619920 0.01803531
+v 0.06998313 -0.05753744 0.01883393
+v 0.07194648 -0.05506914 0.01883394
+v 0.07362990 -0.05277431 0.01862071
+v 0.07632568 -0.04874474 0.01834057
+v 0.07748375 -0.04525045 0.01578165
+v 0.07891408 -0.04285154 0.01591128
+v 0.07956597 -0.04067568 0.01504995
+v 0.07440450 -0.05091069 0.01659279
+v 0.07510242 -0.04901238 0.01570220
+v 0.07659027 -0.04673242 0.01578165
+v 0.06354854 -0.02665384 -0.01536869
+v 0.08289831 -0.03245296 0.01445624
+v 0.08325494 -0.03047535 0.01401303
+v 0.08365374 -0.02816565 0.01354474
+v 0.08006448 -0.03869805 0.01428061
+v 0.06238664 -0.02665384 -0.01697430
+v 0.06079524 -0.02804164 -0.01748023
+v 0.05774668 -0.03112948 -0.01807398
+v 0.05478247 -0.03409837 -0.01833324
+v 0.05181444 -0.03706231 -0.01835416
+v 0.04885023 -0.04299515 -0.01821201
+v 0.04737388 -0.04590953 -0.01780226
+v 0.04737388 -0.07728382 0.01911401
+v 0.04737388 -0.07711529 0.01766311
+v 0.04737388 -0.07707564 0.01734115
+v 0.04865083 -0.07639662 0.01840319
+v 0.05083659 -0.07448343 0.01658853
+v 0.05398487 -0.07169792 0.01578156
+v 0.05546888 -0.07054307 0.01578156
+v 0.05763547 -0.06891737 0.01601572
+v 0.05854812 -0.06761383 0.01522546
+v 0.06046546 -0.06650359 0.01608681
+v 0.06164654 -0.06472424 0.01506240
+v 0.06349869 -0.06357435 0.01600738
+v 0.06464526 -0.06172560 0.01506241
+v 0.06642455 -0.06054597 0.01608265
+v 0.06753277 -0.05862784 0.01521295
+v 0.06884039 -0.05771585 0.01600740
+v 0.07046246 -0.05553999 0.01578162
+v 0.07160903 -0.05405801 0.01578162
+v 0.07704659 -0.04451689 0.01433912
+v 0.07314290 -0.05190197 0.01570219
+v 0.07382163 -0.05005817 0.01470287
+v 0.06232145 -0.02696609 -0.01692830
+v 0.06183828 -0.02894370 -0.01639729
+v 0.05979823 -0.03112949 -0.01721264
+v 0.05776202 -0.03393482 -0.01743008
+v 0.05500488 -0.03725563 -0.01767679
+v 0.05181444 -0.04003121 -0.01810329
+v 0.04875820 -0.04585997 -0.01740086
+v 0.04737388 -0.04796150 -0.01709145
+v 0.04737388 -0.07617853 0.01575645
+v 0.04893460 -0.07517733 0.01569791
+v 0.04998146 -0.07390848 0.01469860
+v 0.05182211 -0.07322946 0.01569792
+v 0.05336365 -0.07122209 0.01431394
+v 0.05656943 -0.06846633 0.01411743
+v 0.05967168 -0.06563621 0.01400036
+v 0.06266656 -0.06274661 0.01395020
+v 0.06556174 -0.05974798 0.01399620
+v 0.06838406 -0.05665021 0.01411328
+v 0.07114120 -0.05343846 0.01431818
+v 0.07446970 -0.04808056 0.01393770
+v 0.05876287 -0.03481706 -0.01625933
+v 0.05935724 -0.03283945 -0.01692414
+v 0.05613995 -0.03837578 -0.01670256
+v 0.05678417 -0.03639816 -0.01717085
+v 0.05405005 -0.04003122 -0.01725867
+v 0.05169173 -0.04280682 -0.01732558
+v 0.05061802 -0.04479930 -0.01701199
+v 0.04770750 -0.04778306 -0.01703292
+v 0.04737388 -0.04937408 -0.01577435
+v 0.04737388 -0.07476098 0.01374946
+v 0.04800277 -0.07454785 0.01393761
+v 0.04737388 -0.05067267 -0.01429838
+v 0.04737388 -0.05041989 -0.01459107
+v 0.04968619 -0.04677691 -0.01612975
+v 0.05259671 -0.04366428 -0.01600849
+v 0.05343651 -0.04168666 -0.01692417
+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 13
+f 2 13 3
+f 2 10 11
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 3 13 17
+f 3 17 14
+f 4 16 33
+f 4 33 51
+f 4 51 50
+f 4 50 74
+f 4 74 78
+f 4 78 107
+f 4 107 131
+f 4 131 130
+f 4 130 164
+f 4 164 169
+f 4 169 138
+f 4 138 108
+f 4 108 79
+f 4 79 55
+f 4 55 35
+f 4 35 20
+f 4 20 18
+f 4 18 5
+f 5 18 6
+f 6 19 34
+f 6 34 35
+f 6 35 55
+f 6 55 80
+f 6 80 109
+f 6 109 141
+f 6 141 175
+f 6 175 204
+f 6 204 225
+f 6 225 229
+f 6 229 228
+f 6 228 226
+f 6 226 205
+f 6 205 178
+f 6 178 177
+f 6 177 176
+f 6 176 142
+f 6 142 110
+f 6 110 81
+f 6 81 56
+f 6 56 36
+f 6 36 21
+f 6 21 7
+f 6 18 20
+f 6 20 19
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 9 24 10
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 11 28 12
+f 11 27 29
+f 11 29 28
+f 12 28 13
+f 13 30 14
+f 13 14 17
+f 13 28 31
+f 13 31 30
+f 14 32 33
+f 14 33 15
+f 14 30 32
+f 15 33 16
+f 19 20 34
+f 20 35 34
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 23
+f 23 39 40
+f 23 40 24
+f 23 38 39
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 45
+f 27 45 29
+f 28 29 46
+f 28 46 47
+f 28 47 31
+f 29 45 46
+f 30 31 48
+f 30 48 49
+f 30 49 32
+f 31 47 48
+f 32 50 51
+f 32 51 33
+f 32 49 52
+f 32 52 53
+f 32 53 54
+f 32 54 50
+f 36 56 57
+f 36 57 37
+f 37 58 38
+f 37 57 59
+f 37 59 58
+f 38 58 39
+f 39 60 61
+f 39 61 40
+f 39 58 60
+f 40 61 41
+f 41 62 42
+f 41 61 62
+f 42 62 43
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 44 64 45
+f 45 64 65
+f 45 65 46
+f 46 65 47
+f 47 65 66
+f 47 66 48
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 48 66 70
+f 48 70 67
+f 49 71 72
+f 49 72 73
+f 49 73 52
+f 49 69 71
+f 50 54 74
+f 52 54 53
+f 52 73 72
+f 52 72 54
+f 54 72 75
+f 54 75 76
+f 54 76 77
+f 54 77 78
+f 54 78 74
+f 55 79 80
+f 56 81 59
+f 56 59 57
+f 58 59 82
+f 58 82 60
+f 59 81 83
+f 59 83 84
+f 59 84 85
+f 59 85 82
+f 60 82 86
+f 60 86 87
+f 60 87 61
+f 61 87 88
+f 61 88 89
+f 61 89 62
+f 62 89 90
+f 62 90 91
+f 62 91 63
+f 63 92 93
+f 63 93 94
+f 63 94 64
+f 63 91 92
+f 64 94 65
+f 65 94 95
+f 65 95 96
+f 65 96 66
+f 66 97 98
+f 66 98 70
+f 66 96 97
+f 67 70 68
+f 68 70 98
+f 68 98 99
+f 68 99 100
+f 68 100 101
+f 68 101 72
+f 68 72 69
+f 69 72 71
+f 72 101 102
+f 72 102 103
+f 72 103 104
+f 72 104 75
+f 75 105 76
+f 75 104 106
+f 75 106 105
+f 76 105 77
+f 77 105 78
+f 78 105 107
+f 79 108 109
+f 79 109 80
+f 81 110 111
+f 81 111 83
+f 82 85 112
+f 82 112 113
+f 82 113 86
+f 83 111 84
+f 84 111 113
+f 84 113 85
+f 85 113 112
+f 86 113 87
+f 87 114 115
+f 87 115 116
+f 87 116 88
+f 87 113 117
+f 87 117 114
+f 88 116 118
+f 88 118 90
+f 88 90 89
+f 90 118 119
+f 90 119 92
+f 90 92 91
+f 92 120 121
+f 92 121 122
+f 92 122 93
+f 92 119 123
+f 92 123 120
+f 93 122 94
+f 94 124 95
+f 94 122 124
+f 95 124 122
+f 95 122 96
+f 96 122 98
+f 96 98 97
+f 98 122 125
+f 98 125 126
+f 98 126 99
+f 99 127 100
+f 99 126 128
+f 99 128 129
+f 99 129 127
+f 100 127 101
+f 101 127 106
+f 101 106 102
+f 102 106 103
+f 103 106 104
+f 105 130 131
+f 105 131 107
+f 105 106 132
+f 105 132 133
+f 105 133 134
+f 105 134 130
+f 106 127 135
+f 106 135 136
+f 106 136 137
+f 106 137 132
+f 108 138 139
+f 108 139 140
+f 108 140 109
+f 109 140 141
+f 110 142 111
+f 111 142 176
+f 111 176 143
+f 111 143 144
+f 111 144 113
+f 113 144 145
+f 113 145 117
+f 114 146 115
+f 114 117 147
+f 114 147 148
+f 114 148 146
+f 115 146 116
+f 116 149 118
+f 116 146 149
+f 117 145 150
+f 117 150 148
+f 117 148 147
+f 118 149 151
+f 118 151 119
+f 119 151 152
+f 119 152 123
+f 120 152 153
+f 120 153 154
+f 120 154 121
+f 120 123 152
+f 121 154 153
+f 121 153 155
+f 121 155 156
+f 121 156 122
+f 122 156 125
+f 125 156 129
+f 125 129 157
+f 125 157 126
+f 126 129 128
+f 126 157 129
+f 127 129 158
+f 127 158 159
+f 127 159 160
+f 127 160 135
+f 129 156 161
+f 129 161 162
+f 129 162 163
+f 129 163 158
+f 130 134 165
+f 130 165 166
+f 130 166 167
+f 130 167 164
+f 132 137 165
+f 132 165 133
+f 133 165 134
+f 135 160 168
+f 135 168 136
+f 136 168 137
+f 137 168 165
+f 138 169 170
+f 138 170 171
+f 138 171 139
+f 139 171 172
+f 139 172 173
+f 139 173 140
+f 140 173 141
+f 141 173 174
+f 141 174 175
+f 143 176 177
+f 143 177 178
+f 143 178 179
+f 143 179 144
+f 144 179 178
+f 144 178 145
+f 145 178 180
+f 145 180 148
+f 145 148 150
+f 146 148 180
+f 146 180 181
+f 146 181 182
+f 146 182 183
+f 146 183 184
+f 146 184 185
+f 146 185 149
+f 149 185 186
+f 149 186 187
+f 149 187 151
+f 151 187 188
+f 151 188 189
+f 151 189 152
+f 152 189 190
+f 152 190 191
+f 152 191 192
+f 152 192 193
+f 152 193 161
+f 152 161 153
+f 153 161 156
+f 153 156 155
+f 158 163 194
+f 158 194 159
+f 159 194 160
+f 160 194 168
+f 161 193 195
+f 161 195 196
+f 161 196 162
+f 162 196 163
+f 163 196 194
+f 164 167 166
+f 164 166 165
+f 164 165 197
+f 164 197 169
+f 165 168 197
+f 168 198 197
+f 168 194 198
+f 169 197 170
+f 170 199 171
+f 170 197 199
+f 171 199 200
+f 171 200 201
+f 171 201 202
+f 171 202 172
+f 172 202 174
+f 172 174 173
+f 174 202 203
+f 174 203 175
+f 175 203 204
+f 178 205 206
+f 178 206 180
+f 180 206 207
+f 180 207 208
+f 180 208 181
+f 181 208 209
+f 181 209 182
+f 182 209 210
+f 182 210 184
+f 182 184 183
+f 184 210 211
+f 184 211 186
+f 184 186 185
+f 186 211 212
+f 186 212 188
+f 186 188 187
+f 188 213 190
+f 188 190 189
+f 188 212 213
+f 190 214 191
+f 190 213 214
+f 191 214 192
+f 192 215 193
+f 192 214 215
+f 193 215 195
+f 194 196 216
+f 194 216 217
+f 194 217 218
+f 194 218 198
+f 195 215 196
+f 196 215 219
+f 196 219 217
+f 196 217 216
+f 197 198 218
+f 197 218 199
+f 199 218 200
+f 200 218 220
+f 200 220 201
+f 201 220 221
+f 201 221 202
+f 202 221 222
+f 202 222 203
+f 203 222 223
+f 203 223 224
+f 203 224 204
+f 204 224 225
+f 205 226 227
+f 205 227 207
+f 205 207 206
+f 207 209 208
+f 207 227 228
+f 207 228 229
+f 207 229 209
+f 209 229 225
+f 209 225 210
+f 210 225 211
+f 211 225 212
+f 212 225 230
+f 212 230 213
+f 213 230 231
+f 213 231 214
+f 214 231 232
+f 214 232 215
+f 215 232 219
+f 217 219 218
+f 218 219 220
+f 219 232 220
+f 220 232 221
+f 221 232 222
+f 222 232 223
+f 223 230 224
+f 223 232 231
+f 223 231 230
+f 224 230 225
+f 226 228 227
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_7.obj

@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.00007342 -0.09042596 0.01861846
+v 0.00138414 -0.09042172 0.01861846
+v 0.00138414 -0.09010773 0.02145447
+v -0.00007342 -0.09026472 0.02006109
+v -0.00007342 -0.08962822 0.01581293
+v 0.00138414 -0.08962822 0.01581293
+v 0.00435227 -0.09033685 0.01861846
+v 0.00435227 -0.09002711 0.02145447
+v 0.00435227 -0.08958580 0.01589503
+v 0.00435227 -0.08927607 0.02318564
+v 0.00138414 -0.08931426 0.02321848
+v -0.00007342 -0.08970462 0.02235290
+v -0.00007342 -0.09010773 0.02145447
+v -0.00007342 -0.08895779 0.01439610
+v 0.00138414 -0.08895779 0.01439375
+v 0.00731775 -0.09016713 0.01861846
+v 0.00731775 -0.08986586 0.02145447
+v 0.00731775 -0.08950093 0.01606158
+v 0.00731775 -0.08919544 0.02311058
+v 0.00435227 -0.08891111 0.01447820
+v 0.00731775 -0.08748967 0.02388938
+v 0.00435227 -0.08748967 0.02395271
+v 0.00138414 -0.08748967 0.02397852
+v -0.00007342 -0.08931426 0.02321848
+v -0.00007342 -0.07776411 0.00023481
+v 0.00030024 -0.07776836 0.00023481
+v 0.00138414 -0.07777260 0.00023481
+v 0.00435227 -0.07766652 0.00023481
+v 0.01028322 -0.08936514 0.01632665
+v 0.01028322 -0.08990405 0.01861846
+v 0.01028322 -0.08960279 0.02145447
+v 0.01183619 -0.08898328 0.02288304
+v 0.01028322 -0.08906814 0.02297687
+v 0.00731775 -0.08881776 0.01464475
+v 0.01621418 -0.08709929 0.02361962
+v 0.01028322 -0.08748967 0.02376036
+v 0.00731775 -0.08749812 0.01294878
+v 0.00502805 -0.07761984 0.00023481
+v 0.02214778 -0.08452366 0.02408409
+v 0.01918231 -0.08452366 0.02419903
+v -0.00007342 -0.08748967 0.02397852
+v -0.00007342 -0.05402752 0.00023490
+v 0.01028322 -0.08867773 0.01490982
+v 0.01325135 -0.08918268 0.01672074
+v 0.01325135 -0.08953064 0.01861846
+v 0.01565765 -0.08913603 0.02058889
+v 0.01512498 -0.08904266 0.01703742
+v 0.01299429 -0.08925909 0.02150374
+v 0.01381052 -0.08880082 0.02247957
+v 0.02438978 -0.08621245 0.02308244
+v 0.02214778 -0.08649676 0.02332171
+v 0.01918231 -0.08682349 0.02352579
+v 0.01034948 -0.08699742 0.01269778
+v 0.00731775 -0.07745011 0.00023482
+v 0.02700014 -0.08438363 0.02361024
+v 0.02700014 -0.08279666 0.02398088
+v 0.02700014 -0.08155765 0.02413101
+v 0.01621418 -0.08452366 0.02416150
+v -0.00007342 -0.08452366 0.02364543
+v 0.02700014 -0.04707712 0.00023493
+v -0.00007342 -0.08303003 0.02288542
+v 0.01325135 -0.08699742 0.01316458
+v 0.01621418 -0.08675131 0.01346719
+v 0.01325135 -0.08848256 0.01530390
+v 0.01572126 -0.08914876 0.01861846
+v 0.01720532 -0.08888568 0.01861846
+v 0.01918231 -0.08848257 0.01861846
+v 0.02214778 -0.08778668 0.01861847
+v 0.02214778 -0.08745571 0.02145448
+v 0.01918231 -0.08813039 0.02145448
+v 0.01647389 -0.08865655 0.02150374
+v 0.01615588 -0.08831707 0.01597011
+v 0.01918231 -0.08762118 0.01578479
+v 0.02511326 -0.08642459 0.01633839
+v 0.02700014 -0.08614454 0.01689434
+v 0.02636941 -0.08591967 0.02269304
+v 0.02700014 -0.08526621 0.02302615
+v 0.00932388 -0.07724220 0.00023482
+v 0.01024347 -0.07714460 0.00023482
+v 0.02700014 -0.08000887 0.02367125
+v 0.02700014 -0.07930025 0.02338273
+v 0.02700014 -0.07301595 0.00023483
+v 0.01325135 -0.07669058 0.00023482
+v 0.01918231 -0.08645428 0.01382843
+v 0.01532639 -0.07630869 0.00023482
+v 0.01618238 -0.07614320 0.00023482
+v 0.02511326 -0.08698471 0.01861847
+v 0.02700014 -0.08634824 0.02048569
+v 0.02700014 -0.08629307 0.02093373
+v 0.02527227 -0.08658161 0.02163042
+v 0.02142165 -0.08619545 0.01413807
+v 0.02339864 -0.08594934 0.01446413
+v 0.02230414 -0.08677678 0.01555960
+v 0.02511326 -0.08569475 0.01492157
+v 0.02700014 -0.08614029 0.01688261
+v 0.02700014 -0.08642036 0.01861847
+v 0.02700014 -0.08582632 0.02233180
+v 0.02700014 -0.08385319 0.01326781
+v 0.02686234 -0.07306687 0.00023483
+v 0.01795265 -0.07573586 0.00023482
+v 0.01918231 -0.07543883 0.00023482
+v 0.02014695 -0.07518423 0.00023482
+v 0.02210803 -0.07462837 0.00023483
+v 0.02367160 -0.07416586 0.00023483
+v 0.02700014 -0.08541895 0.01554319
+v 0.02491450 -0.07376700 0.00023483
+v 0.02548693 -0.07356756 0.00023483
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 12
+f 1 12 24
+f 1 24 41
+f 1 41 59
+f 1 59 61
+f 1 61 42
+f 1 42 25
+f 1 25 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 5 14 15
+f 5 15 6
+f 6 15 9
+f 7 16 17
+f 7 17 8
+f 7 9 18
+f 7 18 16
+f 8 17 19
+f 8 19 10
+f 9 15 20
+f 9 20 18
+f 10 19 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 41
+f 11 41 24
+f 11 24 12
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 20
+f 16 18 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 19
+f 18 20 34
+f 18 34 29
+f 19 33 35
+f 19 35 36
+f 19 36 21
+f 20 37 34
+f 20 28 38
+f 20 38 37
+f 21 36 35
+f 21 35 39
+f 21 39 40
+f 21 40 22
+f 22 40 23
+f 23 40 41
+f 25 42 60
+f 25 60 82
+f 25 82 99
+f 25 99 107
+f 25 107 106
+f 25 106 104
+f 25 104 103
+f 25 103 102
+f 25 102 101
+f 25 101 100
+f 25 100 86
+f 25 86 85
+f 25 85 83
+f 25 83 79
+f 25 79 78
+f 25 78 54
+f 25 54 38
+f 25 38 28
+f 25 28 27
+f 25 27 26
+f 29 34 43
+f 29 43 44
+f 29 44 30
+f 30 45 46
+f 30 46 31
+f 30 44 47
+f 30 47 45
+f 31 46 48
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 33 52 35
+f 34 37 53
+f 34 53 43
+f 35 52 39
+f 37 38 54
+f 37 54 53
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 39 52 55
+f 40 58 41
+f 40 57 58
+f 41 58 59
+f 42 61 60
+f 43 53 62
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 44 64 47
+f 45 47 65
+f 45 65 46
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 70
+f 46 70 71
+f 46 71 49
+f 46 49 48
+f 47 66 65
+f 47 64 72
+f 47 72 73
+f 47 73 74
+f 47 74 75
+f 47 75 68
+f 47 68 67
+f 47 67 66
+f 49 71 70
+f 49 70 50
+f 50 76 77
+f 50 77 55
+f 50 55 51
+f 50 70 69
+f 50 69 76
+f 51 55 52
+f 53 54 78
+f 53 78 79
+f 53 79 62
+f 55 77 97
+f 55 97 89
+f 55 89 88
+f 55 88 96
+f 55 96 75
+f 55 75 95
+f 55 95 105
+f 55 105 98
+f 55 98 82
+f 55 82 60
+f 55 60 81
+f 55 81 80
+f 55 80 57
+f 55 57 56
+f 57 80 59
+f 57 59 58
+f 59 80 81
+f 59 81 61
+f 60 61 81
+f 62 79 83
+f 62 83 63
+f 63 84 64
+f 63 83 85
+f 63 85 86
+f 63 86 84
+f 64 84 73
+f 64 73 72
+f 68 87 88
+f 68 88 69
+f 68 75 87
+f 69 88 89
+f 69 89 90
+f 69 90 76
+f 73 84 91
+f 73 91 92
+f 73 92 93
+f 73 93 74
+f 74 93 92
+f 74 92 94
+f 74 94 95
+f 74 95 75
+f 75 96 87
+f 76 90 89
+f 76 89 97
+f 76 97 77
+f 82 98 99
+f 84 86 91
+f 86 100 91
+f 87 96 88
+f 91 100 101
+f 91 101 92
+f 92 98 94
+f 92 101 102
+f 92 102 103
+f 92 103 104
+f 92 104 98
+f 94 105 95
+f 94 98 105
+f 98 104 106
+f 98 106 107
+f 98 107 99
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_8.obj

@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.02715303 -0.08638732 0.01862050
+v -0.02531326 -0.08694322 0.01862050
+v -0.02715303 -0.08628124 0.02090500
+v -0.02715303 -0.08612420 0.01693645
+v -0.02234683 -0.08774102 0.01862050
+v -0.02715303 -0.08611998 0.02141866
+v -0.02234683 -0.08742700 0.02145384
+v -0.02545376 -0.08656556 0.02161098
+v -0.02715303 -0.08539007 0.01556905
+v -0.02531326 -0.08567013 0.01496860
+v -0.02531326 -0.08639579 0.01638761
+v -0.01523429 -0.08903105 0.01707013
+v -0.01938040 -0.08842848 0.01862050
+v -0.01577774 -0.08912443 0.02056724
+v -0.02653801 -0.08590780 0.02265941
+v -0.02715303 -0.08581020 0.02230994
+v -0.01938040 -0.08808900 0.02145384
+v -0.02456039 -0.08620909 0.02308160
+v -0.02715303 -0.08445223 0.01411250
+v -0.02352916 -0.08592899 0.01449246
+v -0.02246347 -0.08673952 0.01557607
+v -0.01938040 -0.08755853 0.01578482
+v -0.01345019 -0.08916260 0.01676756
+v -0.01048376 -0.08987128 0.01862049
+v -0.01345019 -0.08949786 0.01862049
+v -0.01579365 -0.08912866 0.01862049
+v -0.01727819 -0.08886132 0.01862049
+v -0.01629998 -0.08828418 0.01598888
+v -0.01345019 -0.08845817 0.01535091
+v -0.01048376 -0.08957849 0.02145383
+v -0.01316654 -0.08924325 0.02148901
+v -0.01396448 -0.08879767 0.02245769
+v -0.01662605 -0.08863642 0.02148901
+v -0.02715303 -0.08437164 0.02360465
+v -0.01198951 -0.08897590 0.02287753
+v -0.02234683 -0.08648494 0.02331615
+v -0.02715303 -0.08382418 0.01330097
+v -0.02155154 -0.08617512 0.01416175
+v -0.02378100 -0.07410636 0.00023905
+v -0.02372533 -0.07412333 0.00023905
+v -0.02188291 -0.07467924 0.00023905
+v -0.01938040 -0.07536670 0.00023904
+v -0.01048376 -0.08934931 0.01635945
+v -0.01048376 -0.08865761 0.01494278
+v -0.00751733 -0.09014712 0.01862049
+v -0.01938040 -0.08642125 0.01386153
+v -0.01641397 -0.08672254 0.01349798
+v -0.00751733 -0.08984583 0.02145383
+v -0.02234683 -0.08452441 0.02408078
+v -0.02715303 -0.08155816 0.02413708
+v -0.01048376 -0.08905653 0.02296431
+v -0.01641397 -0.08708753 0.02361402
+v -0.01938040 -0.08680321 0.02351551
+v -0.02715303 -0.07292665 0.00023905
+v -0.02533182 -0.07359289 0.00023905
+v -0.01636095 -0.07607538 0.00023904
+v -0.00751733 -0.08881037 0.01465664
+v -0.00751733 -0.08948936 0.01607565
+v -0.01345019 -0.08697291 0.01319541
+v -0.00455090 -0.09033383 0.01862049
+v -0.01345019 -0.07662704 0.00023904
+v -0.00455090 -0.09001982 0.02145383
+v -0.00751733 -0.08918384 0.02310035
+v -0.01048376 -0.08749066 0.02375475
+v -0.00751733 -0.08749066 0.02388141
+v -0.01938040 -0.08452441 0.02419806
+v -0.02715303 -0.07927512 0.02339358
+v -0.01641397 -0.08452441 0.02416756
+v -0.00007607 -0.08452441 0.02364452
+v -0.02715303 -0.04707483 0.00023915
+v -0.00455090 -0.08890798 0.01448307
+v -0.01046786 -0.08697291 0.01270990
+v -0.00751733 -0.08747365 0.01294914
+v -0.00455090 -0.08958271 0.01590208
+v -0.01139039 -0.07694531 0.00023904
+v -0.00939156 -0.07721689 0.00023904
+v -0.00158447 -0.09042719 0.01862049
+v -0.00158447 -0.09010893 0.02145383
+v -0.00455090 -0.08926871 0.02318010
+v -0.00455090 -0.08749066 0.02394708
+v -0.00158447 -0.08749066 0.02397757
+v -0.00007607 -0.08749066 0.02397757
+v -0.00007607 -0.08302642 0.02288460
+v -0.00007607 -0.05403004 0.00023912
+v -0.00158447 -0.08895466 0.01439863
+v -0.00158447 -0.08962939 0.01581530
+v -0.00455090 -0.07764550 0.00023903
+v -0.00158447 -0.07776432 0.00023903
+v -0.00751733 -0.07741210 0.00023904
+v -0.00709053 -0.07744605 0.00023904
+v -0.00007607 -0.09042295 0.01862049
+v -0.00007607 -0.09026594 0.02006296
+v -0.00007607 -0.08962939 0.01581295
+v -0.00007607 -0.09010893 0.02145383
+v -0.00007607 -0.08970580 0.02235214
+v -0.00158447 -0.08931115 0.02321763
+v -0.00007607 -0.08838606 0.02360464
+v -0.00007607 -0.07776856 0.00023903
+v -0.00007607 -0.08895890 0.01439629
+v -0.00007607 -0.08931115 0.02321763
+f 1 2 3
+f 1 3 6
+f 1 6 16
+f 1 16 34
+f 1 34 50
+f 1 50 67
+f 1 67 70
+f 1 70 54
+f 1 54 37
+f 1 37 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 6
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 6 15 16
+f 6 8 15
+f 7 14 17
+f 7 17 18
+f 7 18 15
+f 7 15 8
+f 9 19 10
+f 10 20 11
+f 10 19 20
+f 11 21 22
+f 11 22 12
+f 11 20 21
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 12 22 28
+f 12 28 29
+f 12 29 23
+f 13 27 14
+f 14 27 26
+f 14 26 25
+f 14 25 24
+f 14 24 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 17
+f 15 18 34
+f 15 34 16
+f 17 33 32
+f 17 32 18
+f 18 32 35
+f 18 35 36
+f 18 36 34
+f 19 37 20
+f 20 38 22
+f 20 22 21
+f 20 37 39
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 38
+f 22 38 28
+f 23 43 24
+f 23 29 44
+f 23 44 43
+f 24 45 30
+f 24 43 45
+f 28 38 46
+f 28 46 29
+f 29 46 47
+f 29 47 44
+f 30 45 48
+f 30 48 35
+f 30 35 31
+f 31 35 32
+f 34 36 49
+f 34 49 50
+f 35 48 51
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 53 49
+f 37 54 55
+f 37 55 39
+f 38 56 46
+f 38 42 56
+f 39 55 54
+f 39 54 70
+f 39 70 84
+f 39 84 98
+f 39 98 88
+f 39 88 87
+f 39 87 90
+f 39 90 89
+f 39 89 76
+f 39 76 75
+f 39 75 61
+f 39 61 56
+f 39 56 42
+f 39 42 41
+f 39 41 40
+f 43 44 57
+f 43 57 58
+f 43 58 45
+f 44 47 59
+f 44 59 57
+f 45 60 48
+f 45 58 60
+f 46 56 47
+f 47 56 61
+f 47 61 59
+f 48 60 62
+f 48 62 63
+f 48 63 51
+f 49 53 52
+f 49 52 64
+f 49 64 65
+f 49 65 66
+f 49 66 50
+f 50 66 68
+f 50 68 69
+f 50 69 67
+f 51 63 52
+f 52 63 64
+f 57 71 58
+f 57 59 72
+f 57 72 73
+f 57 73 71
+f 58 74 60
+f 58 71 74
+f 59 61 75
+f 59 75 76
+f 59 76 72
+f 60 77 62
+f 60 74 77
+f 62 77 78
+f 62 78 79
+f 62 79 63
+f 63 79 65
+f 63 65 64
+f 65 79 80
+f 65 80 66
+f 66 80 81
+f 66 81 82
+f 66 82 68
+f 67 69 83
+f 67 83 70
+f 68 82 69
+f 69 82 97
+f 69 97 100
+f 69 100 95
+f 69 95 94
+f 69 94 92
+f 69 92 91
+f 69 91 93
+f 69 93 99
+f 69 99 98
+f 69 98 84
+f 69 84 83
+f 70 83 84
+f 71 85 86
+f 71 86 74
+f 71 73 87
+f 71 87 88
+f 71 88 85
+f 72 76 73
+f 73 76 89
+f 73 89 90
+f 73 90 87
+f 74 86 77
+f 77 91 92
+f 77 92 78
+f 77 86 93
+f 77 93 91
+f 78 94 95
+f 78 95 96
+f 78 96 79
+f 78 92 94
+f 79 96 80
+f 80 96 81
+f 81 96 97
+f 81 97 82
+f 85 99 86
+f 85 88 99
+f 86 99 93
+f 88 98 99
+f 95 100 96
+f 96 100 97
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/mesh/plate_023_collision_9.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.06281850 0.00027426 0.00455757
+v -0.05686123 -0.02668434 0.00455747
+v -0.08125079 0.00027426 0.00455757
+v -0.08296182 0.00027420 0.02305740
+v -0.07785181 -0.02668440 0.02221348
+v -0.07669134 -0.02668434 0.00455747
+v -0.08124749 -0.00146475 0.00455756
+v -0.08896855 0.00027423 0.01455506
+v -0.08463988 0.00027419 0.02397704
+v -0.07933536 -0.02668441 0.02345782
+v -0.07687267 -0.02616448 0.00455747
+v -0.08389151 -0.02668437 0.01326979
+v -0.08113211 -0.00443082 0.00455755
+v -0.08763335 -0.00443085 0.01295101
+v -0.08896525 -0.00146478 0.01455699
+v -0.08973999 0.00027422 0.01597244
+v -0.08760698 0.00027419 0.02426868
+v -0.08463988 -0.01332649 0.02433862
+v -0.08167278 -0.02668441 0.02430552
+v -0.08167278 -0.02519345 0.02422971
+v -0.07720564 -0.02519338 0.00455748
+v -0.08472560 -0.02668437 0.01435858
+v -0.08599156 -0.02318524 0.01457247
+v -0.08404646 -0.02502188 0.01283428
+v -0.08090133 -0.00739690 0.00455754
+v -0.08743555 -0.00739693 0.01295100
+v -0.08892239 -0.00443085 0.01463086
+v -0.08973670 -0.00146479 0.01597632
+v -0.09053781 -0.00146480 0.01862054
+v -0.09020813 0.00027422 0.01752397
+v -0.08952571 0.00027419 0.02335098
+v -0.08760698 -0.00146482 0.02426867
+v -0.08463988 -0.01629257 0.02441639
+v -0.08463988 -0.01926129 0.02441638
+v -0.08463988 -0.02222737 0.02427055
+v -0.08462010 -0.02668441 0.02371057
+v -0.07816830 -0.02203466 0.00455749
+v -0.08548715 -0.02668438 0.01551543
+v -0.08570474 -0.02519342 0.01506242
+v -0.08649596 -0.02519342 0.01647980
+v -0.08680916 -0.02220887 0.01562433
+v -0.08756412 -0.01926126 0.01578377
+v -0.08623552 -0.02120873 0.01422834
+v -0.08056506 -0.01036298 0.00455753
+v -0.08699048 -0.01014663 0.01274295
+v -0.08882679 -0.00739693 0.01478834
+v -0.08959824 -0.00739694 0.01620572
+v -0.08969054 -0.00443086 0.01604824
+v -0.09053781 0.00027421 0.01862055
+v -0.09044550 -0.00443087 0.01862053
+v -0.09032682 -0.00146481 0.02145530
+v -0.08985868 0.00027420 0.02256549
+v -0.08952571 -0.00146482 0.02335097
+v -0.08760698 -0.00443089 0.02422978
+v -0.08760698 -0.00739697 0.02414033
+v -0.08760698 -0.01036305 0.02397894
+v -0.08728719 -0.01629257 0.02373006
+v -0.08699378 -0.01926129 0.02361728
+v -0.08665751 -0.02222737 0.02339562
+v -0.08635750 -0.02454164 0.02312535
+v -0.08606409 -0.02652079 0.02272482
+v -0.08604101 -0.02668440 0.02262567
+v -0.07890678 -0.01917942 0.00455750
+v -0.08627837 -0.02668438 0.01689004
+v -0.08912680 -0.01501270 0.01712339
+v -0.08831579 -0.01611838 0.01602098
+v -0.08645311 -0.01926125 0.01396198
+v -0.07955624 -0.01629250 0.00455751
+v -0.07913756 -0.01816346 0.00455750
+v -0.07894304 -0.01902900 0.00455750
+v -0.08011670 -0.01332642 0.00455752
+v -0.08699707 -0.01332645 0.01328150
+v -0.08867843 -0.01036302 0.01505081
+v -0.08945317 -0.01036302 0.01646819
+v -0.09025429 -0.00739695 0.01862052
+v -0.09032682 0.00027420 0.02145531
+v -0.09023451 -0.00443088 0.02145529
+v -0.08947955 -0.00443089 0.02330819
+v -0.08938394 -0.00739697 0.02321291
+v -0.08924218 -0.01036304 0.02305347
+v -0.08913338 -0.01216275 0.02292903
+v -0.08896855 -0.01413925 0.02251295
+v -0.08826633 -0.01926128 0.02145524
+v -0.08759049 -0.02222736 0.02145523
+v -0.08669377 -0.02539663 0.02164965
+v -0.08612013 -0.02668440 0.02235347
+v -0.08637399 -0.02668438 0.01727306
+v -0.08782786 -0.02222735 0.01862047
+v -0.08848062 -0.01332646 0.01543577
+v -0.08850700 -0.01926127 0.01862048
+v -0.08895536 -0.01703671 0.01862049
+v -0.08922240 -0.01555367 0.01862049
+v -0.08957515 -0.01332647 0.01862050
+v -0.08996417 -0.01036303 0.01862051
+v -0.08925536 -0.01332646 0.01685315
+v -0.08674652 -0.01629253 0.01359452
+v -0.09004329 -0.00739696 0.02145528
+v -0.08975318 -0.01036304 0.02145527
+v -0.08937075 -0.01322093 0.02152331
+v -0.08922899 -0.01560118 0.02062115
+v -0.08881360 -0.01647201 0.02152330
+v -0.08645970 -0.02668440 0.02111302
+v -0.08658828 -0.02668439 0.01862045
+v -0.08703004 -0.02519343 0.01862046
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 37
+f 1 37 63
+f 1 63 70
+f 1 70 69
+f 1 69 68
+f 1 68 71
+f 1 71 44
+f 1 44 25
+f 1 25 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 30
+f 1 30 49
+f 1 49 76
+f 1 76 52
+f 1 52 31
+f 1 31 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 10
+f 2 10 19
+f 2 19 36
+f 2 36 62
+f 2 62 86
+f 2 86 102
+f 2 102 103
+f 2 103 87
+f 2 87 64
+f 2 64 38
+f 2 38 22
+f 2 22 12
+f 2 12 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 12 11
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 19
+f 11 12 21
+f 12 22 23
+f 12 23 24
+f 12 24 21
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 17 31 53
+f 17 53 32
+f 17 32 34
+f 17 34 33
+f 17 33 18
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 21 24 37
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 37
+f 23 37 24
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 48 29
+f 29 49 30
+f 29 48 50
+f 29 50 77
+f 29 77 51
+f 29 51 76
+f 29 76 49
+f 31 52 53
+f 32 53 54
+f 32 54 34
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 36
+f 36 59 60
+f 36 60 61
+f 36 61 62
+f 37 43 63
+f 38 64 39
+f 39 64 40
+f 40 64 65
+f 40 65 42
+f 40 42 41
+f 42 65 66
+f 42 66 67
+f 42 67 43
+f 43 67 68
+f 43 68 69
+f 43 69 70
+f 43 70 63
+f 44 71 72
+f 44 72 45
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 46 74 47
+f 47 74 75
+f 47 75 50
+f 47 50 48
+f 50 75 97
+f 50 97 77
+f 51 77 78
+f 51 78 53
+f 51 53 52
+f 51 52 76
+f 53 78 54
+f 54 78 55
+f 55 78 79
+f 55 79 56
+f 56 79 57
+f 57 79 80
+f 57 80 58
+f 58 80 81
+f 58 81 59
+f 59 81 60
+f 60 81 82
+f 60 82 83
+f 60 83 84
+f 60 84 61
+f 61 84 85
+f 61 85 86
+f 61 86 62
+f 64 87 88
+f 64 88 65
+f 65 89 66
+f 65 88 90
+f 65 90 91
+f 65 91 92
+f 65 92 93
+f 65 93 94
+f 65 94 95
+f 65 95 89
+f 66 89 67
+f 67 89 96
+f 67 96 68
+f 68 96 71
+f 71 96 72
+f 72 96 89
+f 72 89 73
+f 73 89 95
+f 73 95 74
+f 74 95 75
+f 75 94 98
+f 75 98 97
+f 75 95 94
+f 77 97 79
+f 77 79 78
+f 79 97 80
+f 80 97 81
+f 81 97 98
+f 81 98 99
+f 81 99 82
+f 82 99 100
+f 82 100 101
+f 82 101 83
+f 83 101 100
+f 83 100 84
+f 84 100 88
+f 84 88 102
+f 84 102 85
+f 85 102 86
+f 87 103 104
+f 87 104 88
+f 88 104 102
+f 88 100 90
+f 90 100 91
+f 91 100 92
+f 92 100 93
+f 93 100 94
+f 94 100 98
+f 98 100 99
+f 102 104 103
+

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/mjcf/plate_023.xml

@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="plate_023">
+  <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/plate_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/plate_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/plate_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/plate_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/plate_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/plate_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/plate_023_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/plate_023_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/plate_023_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/plate_023_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/plate_023_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/plate_023_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/plate_023_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/plate_023_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/plate_023_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/plate_023_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/plate_023_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/plate_023_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/plate_023_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/plate_023_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/plate_023_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/plate_023_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/plate_023_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/plate_023_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/plate_023_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/plate_023_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/plate_023_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/plate_023_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/plate_023_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/plate_023_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/plate_023_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/plate_023_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/plate_023_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="plate_023">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_023">
+   <link name="plate_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_023.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/plate_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>ac350efae16a5dfe8880ac4ddb4b42ff</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>gray plate</name>
+         <color>gray</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>shallow round gray plate with slightly flared sides</description>
+         <min_height>0.0427</min_height>
+         <max_height>0.0427</max_height>
+         <real_height>0.0427</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611153854</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.090101 -0.089967 -0.018162</min>
+            <max>0.089900 0.090010 0.024565</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe4c742b0100516101faa3b26d4e2f1e13e8a4ec03f35ee463770e5102251eb
+size 4840458

dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91cfe497e5acaaa478c855e9451ed2137ea6fb0e0b4205a4a90faf73675b2c63
+size 93092