Add asset kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f

.gitattributes

@@ -4145,3 +4145,6 @@ dataset/kitchen_supplies/tableware/20ab13747ddd5616ae708a7fcb7b361a/coaster_008.
 dataset/kitchen_supplies/tableware/20ab13747ddd5616ae708a7fcb7b361a/mesh/coaster_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/20ab13747ddd5616ae708a7fcb7b361a/mesh/coaster_008.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/20ab13747ddd5616ae708a7fcb7b361a/mjcf/mesh/coaster_008.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/2f803c464abb5a658b303ca92aa44b2f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/2f803c464abb5a658b303ca92aa44b2f.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray">
+   <link name="tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tray.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.337523</scale>
+         <version>v0.1.7</version>
+         <category>tray</category>
+         <description>rectangular black tray with shallow depth and flat base</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120013339</generate_time>
+         <gs_model>mesh/tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.690250396728516</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/2f803c464abb5a658b303ca92aa44b2f.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9752b92a5cd64363db993522a48c7755f9b93abf3c0f8f51bd2d31d26772fdec
+size 392372

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdfc28ffbd206a09931e745c867e87aa3c2d321d6754e054109d17515d98d6b3
+size 1009444

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:844856e615f6353f8f5e4bbee63cad64074d5547c519d573a6899c74af3f2f29
+size 1661545

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/2f803c464abb5a658b303ca92aa44b2f.xml

@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/tray.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_0.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.15409310 0.10941406 0.01846232
+v 0.15409310 0.10706561 0.01838338
+v 0.15993777 0.10706562 0.01753769
+v 0.15409310 0.11500478 0.01754148
+v 0.14848735 0.11500477 0.01845482
+v -0.02396730 0.12059550 0.01820302
+v -0.02396730 0.11500478 0.01740241
+v -0.02396730 0.11223397 0.01592150
+v -0.02396730 0.11142077 0.01548550
+v -0.02396730 0.11033945 0.01210273
+v -0.02396730 0.10706570 -0.00644238
+v 0.16377907 0.10706562 0.01595530
+v 0.16015832 0.10983645 0.01684987
+v 0.15409310 0.11887448 0.01559828
+v 0.14845059 0.12087241 0.01651915
+v 0.14288160 0.12059550 0.01781964
+v 0.15819171 0.11500478 0.01559826
+v 0.13727586 0.12059550 0.01824060
+v 0.13167013 0.12059550 0.01834208
+v 0.09244831 0.12059550 0.01831202
+v -0.02396730 0.12476138 0.01628613
+v 0.12606439 0.12496994 0.01638762
+v -0.02396730 0.10706575 -0.01991332
+v 0.16377907 0.10706563 0.01354602
+v 0.16350338 0.10825386 0.01578994
+v 0.15694192 0.11783696 0.01463231
+v 0.14655751 0.12374839 0.01523371
+v 0.14288160 0.12421633 0.01587268
+v 0.13727586 0.12467025 0.01627110
+v 0.13167013 0.12489808 0.01638010
+v -0.02396730 0.12476139 0.01321157
+v 0.12045865 0.12496643 0.01638010
+v 0.12606439 0.12496995 0.01303492
+v -0.02396730 0.10979451 -0.01866544
+v -0.01962974 0.10979801 -0.01867296
+v -0.01975840 0.10706575 -0.01991708
+v 0.16350338 0.10825387 0.01367383
+v 0.14541797 0.10706573 -0.01472641
+v 0.15694192 0.11783696 0.01451579
+v 0.14655751 0.12374840 0.01408732
+v 0.14288160 0.12421634 0.01360247
+v 0.13727586 0.12467026 0.01323037
+v 0.13167013 0.12489809 0.01307626
+v -0.02396730 0.11462809 -0.01246368
+v 0.12045865 0.12496644 0.01303492
+v 0.12045865 0.11298770 -0.01608324
+v 0.11487129 0.11304378 -0.01615090
+v 0.10926554 0.11307182 -0.01617345
+v 0.05883225 0.11465964 -0.01246368
+v 0.03642767 0.11467366 -0.01246368
+v -0.02396730 0.11311037 -0.01621103
+v 0.00839896 0.10977348 -0.01868423
+v -0.01402400 0.10979100 -0.01867672
+v 0.11477939 0.10706575 -0.01993587
+v -0.01402400 0.11312089 -0.01622231
+v -0.00281252 0.11312264 -0.01622607
+v 0.00279322 0.11312439 -0.01622607
+v 0.03642767 0.11313491 -0.01622231
+v 0.10926554 0.10981554 -0.01863161
+v 0.14470118 0.10706574 -0.01543303
+v 0.14288160 0.10764058 -0.01603816
+v 0.13472112 0.11229543 -0.01506466
+v 0.13167013 0.11256883 -0.01547811
+v 0.12606439 0.11287729 -0.01592915
+v -0.01402400 0.11463686 -0.01246368
+v -0.02396730 0.11428459 -0.01331313
+v 0.02521618 0.11466665 -0.01246368
+v 0.12606439 0.10967708 -0.01838730
+v 0.12045865 0.10977348 -0.01854141
+v 0.11487129 0.10981729 -0.01860906
+v 0.10365980 0.11307532 -0.01618097
+v 0.07002536 0.11311037 -0.01619976
+v 0.05883225 0.11312089 -0.01620728
+v 0.04201503 0.11313316 -0.01622231
+v -0.00841826 0.11312264 -0.01622231
+v -0.01962974 0.11311563 -0.01621479
+v 0.12045865 0.10706575 -0.01990204
+v 0.14289999 0.10706574 -0.01642155
+v 0.13712883 0.10706575 -0.01860155
+v 0.13687152 0.10961047 -0.01679364
+v 0.13391243 0.10706575 -0.01951114
+v 0.13216637 0.10893925 -0.01831213
+v 0.13016301 0.10706575 -0.01972539
+v 0.12571518 0.10706575 -0.01983063
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 23
+f 2 23 36
+f 2 36 54
+f 2 54 77
+f 2 77 84
+f 2 84 83
+f 2 83 81
+f 2 81 79
+f 2 79 78
+f 2 78 60
+f 2 60 38
+f 2 38 24
+f 2 24 12
+f 2 12 3
+f 3 12 13
+f 3 13 4
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 4 13 17
+f 4 17 14
+f 5 16 18
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 6 21 31
+f 6 31 44
+f 6 44 66
+f 6 66 51
+f 6 51 34
+f 6 34 23
+f 6 23 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 6 20 22
+f 6 22 21
+f 12 24 37
+f 12 37 25
+f 12 25 13
+f 13 25 17
+f 14 17 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 18
+f 17 25 26
+f 18 29 30
+f 18 30 19
+f 19 30 22
+f 19 22 20
+f 21 22 32
+f 21 32 45
+f 21 45 31
+f 22 30 43
+f 22 43 33
+f 22 33 45
+f 22 45 32
+f 23 34 35
+f 23 35 36
+f 24 38 37
+f 25 37 39
+f 25 39 26
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 31 45 44
+f 33 43 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 67
+f 33 67 45
+f 34 51 35
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 35 51 55
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 52
+f 37 38 39
+f 38 60 40
+f 38 40 39
+f 40 60 61
+f 40 61 62
+f 40 62 41
+f 41 62 63
+f 41 63 42
+f 42 63 64
+f 42 64 43
+f 43 64 46
+f 44 65 55
+f 44 55 66
+f 44 45 65
+f 45 67 65
+f 46 64 68
+f 46 68 69
+f 46 69 47
+f 47 70 48
+f 47 69 70
+f 48 70 59
+f 48 59 71
+f 48 71 72
+f 48 72 49
+f 49 73 74
+f 49 74 50
+f 49 72 73
+f 50 74 58
+f 50 58 57
+f 50 57 75
+f 50 75 55
+f 50 55 67
+f 51 66 76
+f 51 76 55
+f 52 59 54
+f 52 54 53
+f 54 59 70
+f 54 70 77
+f 55 65 67
+f 55 75 57
+f 55 57 56
+f 55 76 66
+f 58 74 59
+f 59 74 71
+f 60 78 61
+f 61 78 79
+f 61 79 80
+f 61 80 62
+f 62 80 81
+f 62 81 63
+f 63 81 82
+f 63 82 64
+f 64 82 68
+f 68 82 81
+f 68 81 83
+f 68 83 69
+f 69 83 84
+f 69 84 70
+f 70 84 77
+f 71 74 73
+f 71 73 72
+f 79 81 80
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_1.obj

@@ -0,0 +1,733 @@
+# https://github.com/mikedh/trimesh
+v -0.07568809 0.11590887 -0.00691937
+v -0.06447041 0.11590887 -0.00691937
+v -0.07568809 0.11580706 -0.00755250
+v -0.10930131 0.11582968 -0.00691937
+v -0.06447041 0.11580706 -0.00755250
+v -0.04206161 0.11588624 -0.00691937
+v -0.03084393 0.11577313 -0.00755250
+v -0.07568809 0.11466460 -0.01246713
+v -0.08129029 0.11465329 -0.01246713
+v -0.10930131 0.11572788 -0.00755250
+v -0.11490351 0.11578443 -0.00691937
+v -0.02396729 0.11461935 -0.01246713
+v -0.03157407 0.11587493 -0.00691937
+v -0.02396729 0.11586362 -0.00691937
+v -0.02396729 0.11576181 -0.00755250
+v -0.07568809 0.11311490 -0.01622275
+v -0.10930131 0.11308097 -0.01620444
+v -0.02396729 0.11428000 -0.01331741
+v -0.02396729 0.11310361 -0.01621098
+v -0.10930131 0.11458542 -0.01246713
+v -0.11490351 0.11455148 -0.01246713
+v -0.11490351 0.11568263 -0.00755251
+v -0.12050571 0.11571656 -0.00691937
+v -0.02396729 0.10646361 -0.00691941
+v -0.10369910 0.10992503 -0.01866112
+v -0.10930131 0.10992503 -0.01866112
+v -0.11490351 0.10991371 -0.01864542
+v -0.11490351 0.11306966 -0.01618744
+v -0.02396729 0.10978929 -0.01866766
+v -0.08129029 0.10986847 -0.01867812
+v -0.08689249 0.10989110 -0.01866766
+v -0.12050571 0.11302442 -0.01613642
+v -0.12050571 0.11447230 -0.01246713
+v -0.12050571 0.11561476 -0.00755251
+v -0.12122257 0.11569394 -0.00691938
+v -0.02396729 0.00037141 -0.00989186
+v -0.14892825 0.00037140 -0.00691980
+v -0.10369910 0.10713104 -0.01999018
+v -0.10930131 0.10713104 -0.01999149
+v -0.11490351 0.10711974 -0.01999018
+v -0.12050571 0.10709710 -0.01998626
+v -0.12610791 0.10702923 -0.01997710
+v -0.12050571 0.10989110 -0.01859440
+v -0.07568809 0.10985716 -0.01867943
+v -0.02396729 0.10699530 -0.01994570
+v -0.12610791 0.10982323 -0.01841257
+v -0.12610791 0.11288868 -0.01595460
+v -0.12610791 0.11422344 -0.01246713
+v -0.12610791 0.11539984 -0.00755251
+v -0.12610791 0.11551296 -0.00691938
+v -0.02396729 0.00037144 -0.02019333
+v -0.15953526 0.00037140 -0.00691980
+v -0.09808362 0.10711974 -0.01998757
+v -0.09808362 0.10381672 -0.02016417
+v -0.10369910 0.10381672 -0.02016679
+v -0.11490351 0.10381672 -0.02016679
+v -0.12050571 0.10381672 -0.02016548
+v -0.12610791 0.10381672 -0.02015894
+v -0.13171011 0.10381672 -0.02010007
+v -0.13171011 0.10682563 -0.01991562
+v -0.02396729 0.10381672 -0.02006083
+v -0.13464396 0.10664464 -0.01985414
+v -0.13171011 0.10961961 -0.01788278
+v -0.13171011 0.11252671 -0.01542612
+v -0.13171011 0.11352212 -0.01246713
+v -0.13171011 0.11472113 -0.00755251
+v -0.13171011 0.11485688 -0.00691938
+v -0.12683805 0.11544509 -0.00691938
+v -0.02396729 0.00317673 -0.02020640
+v -0.02524173 0.00037144 -0.02019725
+v -0.15958837 0.02482724 -0.00691971
+v -0.15934941 0.00037140 -0.00755293
+v -0.09808362 0.09822876 -0.02019951
+v -0.13732558 0.09822876 -0.02023221
+v -0.13683440 0.10370360 -0.02000981
+v -0.02396729 0.09262947 -0.02008965
+v -0.08689249 0.09262947 -0.02019691
+v -0.09248142 0.09822876 -0.02019166
+v -0.14137457 0.10176931 -0.01998497
+v -0.14510495 0.10042322 -0.01974166
+v -0.13838761 0.10550216 -0.01952187
+v -0.13651579 0.10909926 -0.01726273
+v -0.13465724 0.11225522 -0.01500359
+v -0.13567944 0.11260588 -0.01246714
+v -0.13244025 0.11467589 -0.00691938
+v -0.02396729 0.00877601 -0.02022600
+v -0.02802955 0.00037144 -0.02020510
+v -0.03084393 0.00037144 -0.02021295
+v -0.03084393 0.00317673 -0.02022341
+v -0.15956181 0.06467828 -0.00691956
+v -0.15940251 0.03113916 -0.00755282
+v -0.15940251 0.02555119 -0.00755284
+v -0.15786257 0.03113918 -0.01246744
+v -0.15784929 0.02555121 -0.01246746
+v -0.15856616 0.00037141 -0.00996904
+v -0.09248142 0.09262947 -0.02020607
+v -0.09808362 0.09262947 -0.02021261
+v -0.10369910 0.09262947 -0.02021784
+v -0.12610791 0.03672717 -0.02027823
+v -0.12610791 0.03113920 -0.02028217
+v -0.13171011 0.03672717 -0.02027430
+v -0.14292779 0.09262947 -0.02023092
+v -0.14311365 0.09842105 -0.02009486
+v -0.04206161 0.01995195 -0.02027305
+v -0.05326601 0.01995195 -0.02027567
+v -0.02396729 0.08704151 -0.02010275
+v -0.03084393 0.02555123 -0.02025341
+v -0.14631301 0.09669037 -0.01999021
+v -0.14977787 0.09262947 -0.01937018
+v -0.14880878 0.09883958 -0.01789329
+v -0.15130454 0.10097747 -0.01483881
+v -0.14714935 0.10381671 -0.01612992
+v -0.14578199 0.10665595 -0.01498923
+v -0.14311365 0.10370360 -0.01864805
+v -0.14292779 0.10754956 -0.01596377
+v -0.13848054 0.11156520 -0.01246714
+v -0.13966205 0.11200634 -0.00927532
+v -0.13760438 0.11312619 -0.00760353
+v -0.13756454 0.11329586 -0.00691938
+v -0.02396729 0.01436398 -0.02024037
+v -0.03084393 0.00877601 -0.02024301
+v -0.03645940 0.00037144 -0.02022472
+v -0.03645940 0.00317673 -0.02023518
+v -0.15954854 0.07026625 -0.00691954
+v -0.15937596 0.07026625 -0.00755267
+v -0.15786257 0.07026627 -0.01246729
+v -0.15699967 0.07026628 -0.01502075
+v -0.15698639 0.03113919 -0.01501305
+v -0.15776964 0.00037142 -0.01241915
+v -0.15734483 0.00037142 -0.01365402
+v -0.03645940 0.02555123 -0.02026126
+v -0.03645940 0.01995195 -0.02026913
+v -0.12050571 0.02555123 -0.02028350
+v -0.12610791 0.02555123 -0.02028219
+v -0.13171011 0.02555123 -0.02027696
+v -0.13732558 0.04232645 -0.02026250
+v -0.13732558 0.03672717 -0.02026384
+v -0.14292779 0.05350238 -0.02023237
+v -0.14852999 0.05907904 -0.02008061
+v -0.14852999 0.06467832 -0.02007928
+v -0.14852999 0.07585426 -0.02006878
+v -0.14852999 0.08145354 -0.02003867
+v -0.14697678 0.09262947 -0.02003863
+v -0.04766381 0.01436398 -0.02027177
+v -0.05326601 0.01436398 -0.02027307
+v -0.02396729 0.02555123 -0.02024033
+v -0.02524173 0.02555123 -0.02024295
+v -0.03084393 0.01995195 -0.02025997
+v -0.15133110 0.08430408 -0.01983983
+v -0.15054784 0.08803693 -0.01972863
+v -0.15318963 0.09262946 -0.01691222
+v -0.15227363 0.09725594 -0.01604622
+v -0.14988408 0.10507228 -0.00691941
+v -0.14979115 0.10497047 -0.00755254
+v -0.14947254 0.10356785 -0.01290801
+v -0.15591109 0.09242584 -0.01235079
+v -0.15299051 0.09876038 -0.01290803
+v -0.15463665 0.09822872 -0.00755257
+v -0.15172935 0.10153173 -0.01156327
+v -0.14292779 0.10920106 -0.01246715
+v -0.14622008 0.10704053 -0.01246716
+v -0.14259590 0.11071681 -0.00760354
+v -0.14027272 0.11230044 -0.00691939
+v -0.02396729 0.01995195 -0.02024558
+v -0.03084393 0.01436398 -0.02025607
+v -0.04206161 0.00317673 -0.02024434
+v -0.03645940 0.00877601 -0.02025217
+v -0.03923396 0.00037144 -0.02022996
+v -0.04206161 0.00037144 -0.02023519
+v -0.15950871 0.07514158 -0.00691952
+v -0.15932286 0.07585422 -0.00755265
+v -0.15782274 0.07585424 -0.01246727
+v -0.15697311 0.07585425 -0.01499195
+v -0.15425167 0.07585425 -0.01744861
+v -0.15425167 0.07026628 -0.01747741
+v -0.15697311 0.02555122 -0.01499083
+v -0.15692002 0.00037142 -0.01487450
+v -0.15422511 0.03113919 -0.01746971
+v -0.03645940 0.01436398 -0.02026392
+v -0.12610791 0.01995195 -0.02027829
+v -0.13171011 0.01995195 -0.02027436
+v -0.13732558 0.01995195 -0.02026390
+v -0.14292779 0.03672717 -0.02023244
+v -0.14292779 0.01436398 -0.02022991
+v -0.14292779 0.00317673 -0.02022733
+v -0.14852999 0.05350238 -0.02007801
+v -0.15145057 0.05907904 -0.01989355
+v -0.15145057 0.06467832 -0.01989484
+v -0.15145057 0.07585426 -0.01989480
+v -0.15139747 0.08145354 -0.01986862
+v -0.04766381 0.00877601 -0.02026132
+v -0.05326601 0.00877601 -0.02026394
+v -0.13171011 0.00317673 -0.02025480
+v -0.13171011 0.00877601 -0.02026263
+v -0.02396729 0.02428432 -0.02024164
+v -0.15472958 0.08128385 -0.01690441
+v -0.15690674 0.08304846 -0.01482710
+v -0.15336222 0.08652117 -0.01780699
+v -0.15665451 0.08704149 -0.01409192
+v -0.15230019 0.10227829 -0.00691942
+v -0.14744141 0.10744773 -0.00691941
+v -0.15654830 0.09433750 -0.00755258
+v -0.15711915 0.09042367 -0.01063585
+v -0.15661469 0.09455242 -0.00691945
+v -0.15515440 0.09752739 -0.00691944
+v -0.15479595 0.09820609 -0.00691944
+v -0.15272500 0.10159960 -0.00691943
+v -0.14170646 0.11144075 -0.00691939
+v -0.14697678 0.10769659 -0.00755253
+v -0.14278176 0.11077336 -0.00691939
+v -0.04766381 0.00037144 -0.02024173
+v -0.04206161 0.00877601 -0.02025740
+v -0.15949543 0.07585422 -0.00691952
+v -0.15917683 0.08145350 -0.00755263
+v -0.15757051 0.08128384 -0.01290155
+v -0.15937596 0.08072955 -0.00691950
+v -0.15694657 0.07931561 -0.01495008
+v -0.15381358 0.00037143 -0.01764641
+v -0.15552611 0.00037143 -0.01611853
+v -0.15142402 0.03113920 -0.01988058
+v -0.15133110 0.00037144 -0.01983883
+v -0.15255242 0.00037144 -0.01876355
+v -0.13171011 0.01436398 -0.02026915
+v -0.13732558 0.00317673 -0.02025088
+v -0.13732558 0.01436398 -0.02026130
+v -0.14292779 0.00037144 -0.02022342
+v -0.14852999 0.03113920 -0.02006502
+v -0.05326601 0.00317673 -0.02025219
+v -0.13171011 0.00037144 -0.02024958
+v -0.13732558 0.00037144 -0.02024696
+v -0.15745104 0.08704148 -0.01163657
+v -0.14706970 0.10777576 -0.00691940
+v -0.15751741 0.09154351 -0.00755259
+v -0.15759706 0.09175843 -0.00691946
+v -0.15676072 0.09416782 -0.00691945
+v -0.15859271 0.08704147 -0.00755261
+v -0.15875202 0.08704147 -0.00691948
+v -0.15782274 0.09096661 -0.00691947
+v -0.05043836 0.00037144 -0.02024304
+v -0.15934941 0.08145350 -0.00691950
+v -0.15884494 0.08631752 -0.00691948
+v -0.14852999 0.00317673 -0.02002457
+v -0.14880878 0.00037144 -0.02000104
+v -0.14570234 0.00037144 -0.02012269
+v -0.05326601 0.00037144 -0.02024435
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 23
+f 1 23 35
+f 1 35 50
+f 1 50 68
+f 1 68 67
+f 1 67 85
+f 1 85 119
+f 1 119 163
+f 1 163 208
+f 1 208 210
+f 1 210 232
+f 1 232 201
+f 1 201 153
+f 1 153 200
+f 1 200 207
+f 1 207 206
+f 1 206 205
+f 1 205 204
+f 1 204 235
+f 1 235 234
+f 1 234 238
+f 1 238 237
+f 1 237 241
+f 1 241 240
+f 1 240 216
+f 1 216 213
+f 1 213 170
+f 1 170 124
+f 1 124 90
+f 1 90 71
+f 1 71 52
+f 1 52 37
+f 1 37 24
+f 1 24 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 3 8 9
+f 3 9 10
+f 4 10 22
+f 4 22 11
+f 5 7 12
+f 5 12 8
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 12
+f 8 16 17
+f 8 17 9
+f 8 12 18
+f 8 18 19
+f 8 19 16
+f 9 17 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 11 22 34
+f 11 34 23
+f 12 15 14
+f 12 14 24
+f 12 24 36
+f 12 36 51
+f 12 51 69
+f 12 69 86
+f 12 86 120
+f 12 120 164
+f 12 164 195
+f 12 195 146
+f 12 146 106
+f 12 106 76
+f 12 76 61
+f 12 61 45
+f 12 45 29
+f 12 29 19
+f 12 19 18
+f 16 19 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 20
+f 19 29 30
+f 19 30 31
+f 19 31 25
+f 20 28 21
+f 21 28 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 23 34 35
+f 24 37 36
+f 25 38 39
+f 25 39 26
+f 25 31 30
+f 25 30 38
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 28 43 32
+f 29 44 30
+f 29 45 38
+f 29 38 44
+f 30 44 38
+f 32 43 46
+f 32 46 47
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 35
+f 36 37 52
+f 36 52 72
+f 36 72 95
+f 36 95 129
+f 36 129 130
+f 36 130 177
+f 36 177 219
+f 36 219 218
+f 36 218 222
+f 36 222 221
+f 36 221 243
+f 36 243 244
+f 36 244 226
+f 36 226 230
+f 36 230 229
+f 36 229 245
+f 36 245 239
+f 36 239 211
+f 36 211 169
+f 36 169 168
+f 36 168 122
+f 36 122 88
+f 36 88 87
+f 36 87 70
+f 36 70 51
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 38 45 53
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 40 57 41
+f 41 57 58
+f 41 58 42
+f 42 58 59
+f 42 59 60
+f 42 60 43
+f 43 60 46
+f 45 61 54
+f 45 54 53
+f 46 60 62
+f 46 62 63
+f 46 63 47
+f 47 63 64
+f 47 64 48
+f 48 64 65
+f 48 65 66
+f 48 66 49
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 51 70 69
+f 52 71 72
+f 54 73 74
+f 54 74 55
+f 54 61 73
+f 55 74 56
+f 56 74 57
+f 57 74 58
+f 58 74 59
+f 59 74 75
+f 59 75 60
+f 60 75 62
+f 61 76 77
+f 61 77 78
+f 61 78 73
+f 62 75 79
+f 62 79 80
+f 62 80 81
+f 62 81 82
+f 62 82 83
+f 62 83 64
+f 62 64 63
+f 64 83 65
+f 65 83 66
+f 66 83 84
+f 66 84 85
+f 66 85 67
+f 69 70 87
+f 69 87 88
+f 69 88 89
+f 69 89 121
+f 69 121 86
+f 71 90 91
+f 71 91 92
+f 71 92 72
+f 72 92 93
+f 72 93 94
+f 72 94 95
+f 73 78 96
+f 73 96 97
+f 73 97 98
+f 73 98 74
+f 74 99 100
+f 74 100 101
+f 74 101 102
+f 74 102 103
+f 74 103 75
+f 74 98 104
+f 74 104 105
+f 74 105 99
+f 75 103 79
+f 76 106 77
+f 77 106 107
+f 77 107 96
+f 77 96 78
+f 79 103 108
+f 79 108 80
+f 80 108 109
+f 80 109 110
+f 80 110 111
+f 80 111 112
+f 80 112 113
+f 80 113 114
+f 80 114 81
+f 81 114 115
+f 81 115 82
+f 82 115 83
+f 83 115 113
+f 83 113 116
+f 83 116 84
+f 84 116 117
+f 84 117 118
+f 84 118 119
+f 84 119 85
+f 86 121 120
+f 88 122 123
+f 88 123 89
+f 89 123 121
+f 90 124 125
+f 90 125 91
+f 91 125 126
+f 91 126 93
+f 91 93 92
+f 93 126 127
+f 93 127 128
+f 93 128 94
+f 94 129 95
+f 94 128 130
+f 94 130 129
+f 96 107 131
+f 96 131 97
+f 97 131 98
+f 98 131 132
+f 98 132 104
+f 99 105 100
+f 100 133 134
+f 100 134 135
+f 100 135 101
+f 100 105 133
+f 101 135 136
+f 101 136 102
+f 102 136 137
+f 102 137 138
+f 102 138 139
+f 102 139 140
+f 102 140 141
+f 102 141 142
+f 102 142 143
+f 102 143 108
+f 102 108 103
+f 104 132 179
+f 104 179 144
+f 104 144 145
+f 104 145 105
+f 105 145 133
+f 106 146 147
+f 106 147 107
+f 107 147 148
+f 107 148 132
+f 107 132 131
+f 108 143 149
+f 108 149 150
+f 108 150 109
+f 109 150 151
+f 109 151 152
+f 109 152 110
+f 110 152 111
+f 111 153 154
+f 111 154 155
+f 111 155 113
+f 111 113 112
+f 111 152 156
+f 111 156 157
+f 111 157 158
+f 111 158 159
+f 111 159 153
+f 113 160 116
+f 113 115 114
+f 113 155 161
+f 113 161 162
+f 113 162 160
+f 116 160 117
+f 117 163 119
+f 117 119 118
+f 117 160 163
+f 120 121 165
+f 120 165 164
+f 121 123 166
+f 121 166 167
+f 121 167 165
+f 122 168 123
+f 123 168 169
+f 123 169 166
+f 124 170 125
+f 125 170 171
+f 125 171 172
+f 125 172 126
+f 126 172 173
+f 126 173 127
+f 127 173 174
+f 127 174 175
+f 127 175 128
+f 128 176 177
+f 128 177 130
+f 128 175 178
+f 128 178 176
+f 132 148 165
+f 132 165 179
+f 133 180 134
+f 133 145 180
+f 134 180 181
+f 134 181 135
+f 135 181 182
+f 135 182 137
+f 135 137 136
+f 137 182 183
+f 137 183 138
+f 138 183 139
+f 139 183 184
+f 139 184 185
+f 139 185 186
+f 139 186 187
+f 139 187 188
+f 139 188 189
+f 139 189 140
+f 140 189 141
+f 141 189 190
+f 141 190 142
+f 142 190 143
+f 143 190 149
+f 144 191 192
+f 144 192 145
+f 144 179 212
+f 144 212 191
+f 145 192 193
+f 145 193 194
+f 145 194 180
+f 146 195 147
+f 147 195 148
+f 148 195 164
+f 148 164 165
+f 149 190 196
+f 149 196 197
+f 149 197 198
+f 149 198 151
+f 149 151 150
+f 151 198 197
+f 151 197 199
+f 151 199 152
+f 152 199 156
+f 153 159 200
+f 153 201 161
+f 153 161 154
+f 154 161 155
+f 156 202 157
+f 156 199 203
+f 156 203 202
+f 157 202 204
+f 157 204 205
+f 157 205 158
+f 158 205 206
+f 158 206 159
+f 159 206 207
+f 159 207 200
+f 160 162 208
+f 160 208 163
+f 161 201 209
+f 161 209 210
+f 161 210 162
+f 162 210 208
+f 165 167 179
+f 166 169 211
+f 166 211 212
+f 166 212 167
+f 167 212 179
+f 170 213 171
+f 171 214 215
+f 171 215 172
+f 171 213 216
+f 171 216 214
+f 172 215 217
+f 172 217 173
+f 173 217 174
+f 174 217 196
+f 174 196 190
+f 174 190 189
+f 174 189 175
+f 175 189 188
+f 175 188 187
+f 175 187 178
+f 176 178 218
+f 176 218 219
+f 176 219 177
+f 178 187 220
+f 178 220 221
+f 178 221 222
+f 178 222 218
+f 180 194 223
+f 180 223 181
+f 181 223 224
+f 181 224 225
+f 181 225 182
+f 182 225 185
+f 182 185 184
+f 182 184 183
+f 185 226 227
+f 185 227 186
+f 185 225 224
+f 185 224 230
+f 185 230 226
+f 186 227 220
+f 186 220 187
+f 191 211 228
+f 191 228 192
+f 191 212 211
+f 192 228 229
+f 192 229 193
+f 193 229 230
+f 193 230 194
+f 194 230 224
+f 194 224 223
+f 196 217 197
+f 197 231 199
+f 197 217 215
+f 197 215 214
+f 197 214 231
+f 199 231 203
+f 201 232 209
+f 202 203 233
+f 202 233 234
+f 202 234 235
+f 202 235 204
+f 203 231 236
+f 203 236 237
+f 203 237 238
+f 203 238 233
+f 209 232 210
+f 211 239 228
+f 214 216 240
+f 214 240 241
+f 214 241 236
+f 214 236 231
+f 220 227 242
+f 220 242 221
+f 221 242 243
+f 226 244 242
+f 226 242 227
+f 228 239 245
+f 228 245 229
+f 233 238 234
+f 236 241 237
+f 242 244 243
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_10.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.14408966 0.09622216 -0.00691945
+v -0.14408966 0.10985375 -0.00691940
+v -0.12612336 0.10619554 -0.00691941
+v -0.12612336 0.11032914 0.01209896
+v -0.12612336 0.11142267 0.01554288
+v -0.14408966 0.10345741 0.01194780
+v -0.14279178 0.11077670 -0.00691939
+v -0.14408966 0.12378454 0.01407864
+v -0.12612336 0.10627666 -0.00691941
+v -0.12612336 0.11500258 0.01749775
+v -0.14408966 0.10603324 0.01565435
+v -0.14408966 0.10526972 0.01483673
+v -0.14171021 0.11144513 -0.00691939
+v -0.14408966 0.12378453 0.01528029
+v -0.14292895 0.12394675 0.01389282
+v -0.13172288 0.11485723 -0.00691938
+v -0.13244392 0.11467544 -0.00691938
+v -0.13757036 0.11329661 -0.00691938
+v -0.13884715 0.11282955 -0.00691939
+v -0.14027516 0.11230096 -0.00691939
+v -0.12683913 0.11544736 -0.00691938
+v -0.12612336 0.11552007 -0.00691443
+v -0.12612336 0.12059337 0.01837981
+v -0.14408966 0.11384469 0.01832280
+v -0.14408966 0.10775327 0.01654879
+v -0.14408966 0.12323356 0.01571388
+v -0.14292895 0.12394674 0.01554293
+v -0.13732416 0.12450051 0.01335022
+v -0.12612336 0.12479418 0.01314210
+v -0.13172288 0.12473825 0.01317926
+v -0.13172288 0.12059337 0.01838724
+v -0.14408966 0.11500257 0.01839218
+v -0.12612336 0.12479417 0.01642497
+v -0.14408966 0.12062415 0.01725744
+v -0.14292895 0.12059338 0.01752502
+v -0.13732416 0.12450050 0.01625649
+v -0.13172288 0.12473824 0.01641754
+v -0.13732416 0.12059337 0.01823115
+v -0.14408966 0.11943829 0.01773067
+f 1 2 7
+f 1 7 13
+f 1 13 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 21
+f 1 21 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 11
+f 1 11 25
+f 1 25 24
+f 1 24 32
+f 1 32 39
+f 1 39 34
+f 1 34 26
+f 1 26 14
+f 1 14 8
+f 1 8 2
+f 2 8 7
+f 3 9 22
+f 3 22 29
+f 3 29 33
+f 3 33 23
+f 3 23 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 8 13
+f 8 14 27
+f 8 27 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 13
+f 9 21 22
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 14 26 27
+f 15 27 36
+f 15 36 28
+f 15 28 16
+f 16 28 21
+f 21 28 22
+f 22 28 30
+f 22 30 29
+f 23 31 32
+f 23 32 24
+f 23 33 31
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 28 36 37
+f 28 37 30
+f 29 30 37
+f 29 37 33
+f 31 33 37
+f 31 37 38
+f 31 38 32
+f 32 38 39
+f 34 39 35
+f 35 39 38
+f 35 38 36
+f 36 38 37
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_11.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.14303990 -0.08063622 -0.00968102
+v 0.15844840 -0.08063622 -0.00968102
+v 0.13948773 -0.08628783 -0.00968104
+v 0.13724592 -0.10877206 0.01626826
+v 0.15600136 -0.08063632 0.01582273
+v 0.15801898 -0.08402719 -0.00968103
+v 0.16950274 -0.08063631 0.01318894
+v 0.16941748 -0.08628792 0.01329176
+v 0.16898808 -0.09188048 0.01366024
+v 0.13724592 -0.09142911 -0.00968106
+v 0.13724592 -0.10910525 0.01647965
+v 0.15970508 -0.08063633 0.01796804
+v 0.13724592 -0.11396396 0.01906486
+v 0.15770324 -0.08628783 -0.00968104
+v 0.16950274 -0.08063632 0.01653974
+v 0.16941748 -0.08628793 0.01652829
+v 0.15719488 -0.08867922 -0.00968105
+v 0.16898808 -0.09188049 0.01609978
+v 0.16844183 -0.09562995 0.01417442
+v 0.13724592 -0.10979262 -0.00968112
+v 0.15976507 -0.08063633 0.01797661
+v 0.13724592 -0.11398504 0.01907343
+v 0.13724592 -0.11676024 0.01949905
+v 0.16535697 -0.08063633 0.01866505
+v 0.16530961 -0.08628794 0.01875073
+v 0.16530961 -0.09188050 0.01835079
+v 0.15700859 -0.08937935 -0.00968105
+v 0.16844183 -0.09562996 0.01530278
+v 0.16405609 -0.10306141 0.01663964
+v 0.15587821 -0.09222202 -0.00968106
+v 0.16311516 -0.10675181 0.01398299
+v 0.14285992 -0.10727470 -0.00968111
+v 0.14576165 -0.12266067 0.01452568
+v 0.14289465 -0.12312039 0.01409434
+v 0.13729013 -0.12371929 0.01359729
+v 0.13724592 -0.12372351 0.01359729
+v 0.16530961 -0.08063633 0.01868505
+v 0.13724592 -0.11678554 0.01950191
+v 0.16530961 -0.08069960 0.01868791
+v 0.15970508 -0.09747307 0.01909063
+v 0.15970508 -0.10306142 0.01895635
+v 0.16311516 -0.10675182 0.01581979
+v 0.15979034 -0.10862866 0.01717952
+v 0.15444471 -0.09513640 -0.00968107
+v 0.15797794 -0.11259321 0.01381729
+v 0.15141669 -0.10040420 -0.00968109
+v 0.15179875 -0.09980952 -0.00968109
+v 0.15319436 -0.09751513 -0.00968108
+v 0.14560061 -0.10579432 -0.00968111
+v 0.15242708 -0.11794115 0.01385440
+v 0.14576165 -0.12266067 0.01467708
+v 0.14289465 -0.12312040 0.01577402
+v 0.13724592 -0.12369820 0.01403435
+v 0.13724592 -0.11927394 0.01949904
+v 0.14082650 -0.11734227 0.01948191
+v 0.14082650 -0.11682772 0.01948191
+v 0.15410056 -0.10864975 0.01923913
+v 0.15797794 -0.11259322 0.01612542
+v 0.15421738 -0.11437306 0.01738803
+v 0.14569849 -0.10570575 -0.00968111
+v 0.15242708 -0.11794116 0.01614254
+v 0.13724592 -0.12348733 0.01733087
+v 0.14797820 -0.11981800 0.01654531
+v 0.13851838 -0.12107065 0.01933622
+v 0.13724592 -0.11979692 0.01946476
+v 0.14849918 -0.11424232 0.01932767
+v 0.13724592 -0.12299387 0.01782792
+f 1 2 6
+f 1 6 14
+f 1 14 17
+f 1 17 27
+f 1 27 30
+f 1 30 44
+f 1 44 48
+f 1 48 47
+f 1 47 46
+f 1 46 60
+f 1 60 49
+f 1 49 32
+f 1 32 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 37
+f 1 37 24
+f 1 24 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 4
+f 4 11 5
+f 4 10 20
+f 4 20 36
+f 4 36 53
+f 4 53 62
+f 4 62 67
+f 4 67 65
+f 4 65 54
+f 4 54 38
+f 4 38 23
+f 4 23 22
+f 4 22 13
+f 4 13 11
+f 5 11 13
+f 5 13 12
+f 6 9 14
+f 7 15 16
+f 7 16 8
+f 8 16 18
+f 8 18 9
+f 9 17 14
+f 9 18 28
+f 9 28 19
+f 9 19 17
+f 12 13 22
+f 12 22 23
+f 12 23 21
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 18
+f 17 19 27
+f 18 26 29
+f 18 29 28
+f 19 30 27
+f 19 28 42
+f 19 42 31
+f 19 31 30
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 21 23 37
+f 23 38 37
+f 24 37 39
+f 24 39 25
+f 25 40 41
+f 25 41 26
+f 25 39 40
+f 26 41 29
+f 28 29 42
+f 29 41 43
+f 29 43 42
+f 30 31 44
+f 31 42 58
+f 31 58 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 44
+f 32 49 33
+f 33 50 61
+f 33 61 51
+f 33 51 52
+f 33 52 34
+f 33 49 50
+f 34 52 35
+f 35 52 36
+f 36 52 53
+f 37 38 39
+f 38 40 39
+f 38 54 55
+f 38 55 56
+f 38 56 40
+f 40 56 57
+f 40 57 41
+f 41 57 43
+f 42 43 58
+f 43 57 59
+f 43 59 58
+f 45 58 61
+f 45 61 50
+f 45 50 46
+f 46 50 60
+f 49 60 50
+f 51 61 52
+f 52 62 53
+f 52 61 63
+f 52 63 64
+f 52 64 62
+f 54 65 64
+f 54 64 55
+f 55 64 66
+f 55 66 57
+f 55 57 56
+f 57 66 59
+f 58 59 61
+f 59 64 61
+f 59 66 64
+f 61 64 63
+f 62 64 67
+f 64 65 67
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_12.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.14408966 0.10984998 -0.00691940
+v -0.14708326 0.10778181 -0.00691940
+v -0.15311547 0.11896213 0.01360185
+v -0.14604125 0.12351209 0.01438931
+v -0.14408966 0.12378239 0.01407782
+v -0.14408966 0.09622466 -0.00691945
+v -0.15861291 0.11399033 0.01353953
+v -0.14744560 0.10745009 -0.00691941
+v -0.15311547 0.11896212 0.01588946
+v -0.14604125 0.12351209 0.01483786
+v -0.14408966 0.12378238 0.01527894
+v -0.14895490 0.08194816 -0.00691950
+v -0.14408966 0.10345293 0.01194713
+v -0.15861291 0.11399032 0.01593180
+v -0.14988697 0.10507476 -0.00691941
+v -0.15230584 0.10228172 -0.00691942
+v -0.16356061 0.10822814 0.01366411
+v -0.15464725 0.11551381 0.01696596
+v -0.14816027 0.12073542 0.01632056
+v -0.14408966 0.12323359 0.01571503
+v -0.15446984 0.08194809 0.01210404
+v -0.15930508 0.08194816 -0.00691950
+v -0.14408966 0.10526717 0.01483531
+v -0.16356061 0.10822813 0.01584705
+v -0.16018468 0.10981713 0.01693853
+v -0.15273064 0.10161418 -0.00691943
+v -0.15480718 0.09821091 -0.00691944
+v -0.16817096 0.10108169 0.01452629
+v -0.15413999 0.10941168 0.01853836
+v -0.14853509 0.11500187 0.01852093
+v -0.14408966 0.11943716 0.01773101
+v -0.14408966 0.12062484 0.01725754
+v -0.15600662 0.08194807 0.01570242
+v -0.16958531 0.08705092 0.01295382
+v -0.16933792 0.09264111 0.01323294
+v -0.15884281 0.08633022 -0.00691948
+v -0.16961780 0.08194808 0.01281674
+v -0.14408966 0.10602890 0.01565516
+v -0.16817096 0.10108169 0.01461351
+v -0.16865574 0.09823130 0.01536108
+v -0.16539476 0.10329318 0.01612115
+v -0.16534728 0.09823130 0.01726742
+v -0.15974238 0.10381738 0.01844863
+v -0.15515951 0.09753927 -0.00691944
+v -0.15662633 0.09456603 -0.00691945
+v -0.15676377 0.09417696 -0.00691945
+v -0.15760338 0.09176888 -0.00691946
+v -0.16865574 0.09823131 0.01396310
+v -0.16534728 0.08194806 0.01847098
+v -0.14408966 0.11500187 0.01839135
+v -0.15938755 0.08194807 0.01755892
+v -0.14408966 0.10775306 0.01654729
+v -0.14408966 0.11384698 0.01832407
+v -0.16958531 0.08705091 0.01641763
+v -0.16933792 0.09264110 0.01624072
+v -0.15875784 0.08705100 -0.00691948
+v -0.16961780 0.08194807 0.01643505
+v -0.16534728 0.09264109 0.01819939
+v -0.16534728 0.08705090 0.01842863
+v -0.15782578 0.09097437 -0.00691947
+v -0.16485251 0.08194806 0.01842363
+v -0.15974238 0.08194806 0.01773834
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 32
+f 1 32 31
+f 1 31 50
+f 1 50 53
+f 1 53 52
+f 1 52 38
+f 1 38 23
+f 1 23 13
+f 1 13 6
+f 1 6 12
+f 1 12 22
+f 1 22 36
+f 1 36 56
+f 1 56 60
+f 1 60 47
+f 1 47 46
+f 1 46 45
+f 1 45 44
+f 1 44 27
+f 1 27 26
+f 1 26 16
+f 1 16 15
+f 1 15 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 14
+f 3 14 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 6 13 12
+f 7 8 15
+f 7 15 16
+f 7 16 17
+f 7 17 24
+f 7 24 14
+f 9 14 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 12 21 33
+f 12 33 51
+f 12 51 62
+f 12 62 61
+f 12 61 49
+f 12 49 57
+f 12 57 37
+f 12 37 22
+f 12 13 21
+f 13 23 21
+f 14 24 25
+f 14 25 18
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 39
+f 17 39 24
+f 18 25 29
+f 18 29 30
+f 18 30 19
+f 19 31 32
+f 19 32 20
+f 19 30 31
+f 21 23 33
+f 22 34 35
+f 22 35 36
+f 22 37 34
+f 23 38 33
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 29
+f 27 44 28
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 40
+f 28 40 39
+f 29 43 49
+f 29 49 30
+f 30 50 31
+f 30 49 50
+f 33 38 52
+f 33 52 53
+f 33 53 51
+f 34 37 57
+f 34 57 54
+f 34 54 55
+f 34 55 35
+f 35 55 40
+f 35 40 48
+f 35 48 56
+f 35 56 36
+f 40 55 41
+f 41 55 42
+f 42 55 58
+f 42 58 43
+f 43 58 59
+f 43 59 49
+f 47 60 48
+f 48 60 56
+f 49 59 54
+f 49 54 57
+f 49 61 53
+f 49 53 50
+f 51 53 62
+f 53 61 62
+f 54 59 58
+f 54 58 55
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_13.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.00034954 -0.11983514 0.01990516
+v -0.00034954 -0.12160452 0.01978594
+v -0.00034954 -0.11619765 0.01969008
+v -0.00842711 -0.11617033 0.01969786
+v -0.01402969 -0.11615772 0.01970045
+v -0.00282452 -0.11983514 0.01990516
+v -0.00034954 -0.12300404 0.01969006
+v -0.00842711 -0.11983514 0.01990257
+v -0.00034954 -0.11496413 0.01918477
+v -0.00034954 -0.11340280 0.01854471
+v -0.00282452 -0.11339651 0.01854730
+v -0.00842711 -0.11337549 0.01854989
+v -0.01402969 -0.11336078 0.01855248
+v -0.05326006 -0.11620186 0.01968231
+v -0.00034954 -0.12382988 0.01701577
+v -0.01402969 -0.11983514 0.01989738
+v -0.00842711 -0.12298722 0.01968229
+v -0.00282452 -0.12299983 0.01968747
+v -0.09809301 -0.12402320 0.01701576
+v -0.09249043 -0.12402740 0.01701576
+v -0.07006780 -0.12398117 0.01701576
+v -0.00034954 -0.11211465 0.01746152
+v -0.00034954 -0.11048397 0.01608809
+v -0.05326006 -0.11340700 0.01851879
+v -0.12614285 -0.11032216 0.01611401
+v -0.05326006 -0.11983514 0.01983260
+v -0.12614285 -0.11478131 0.01873906
+v -0.09809301 -0.11671459 0.01955015
+v -0.00034954 -0.12362393 0.01529250
+v -0.07567038 -0.12389291 0.01352777
+v -0.07006780 -0.12387399 0.01354591
+v -0.05326006 -0.12289266 0.01962269
+v -0.12614285 -0.12393074 0.01701576
+v -0.12614285 -0.12393074 0.01700021
+v -0.12614285 -0.12392022 0.01352518
+v -0.12050333 -0.12393283 0.01350963
+v -0.11490076 -0.12393703 0.01349926
+v -0.10929817 -0.12393914 0.01349149
+v -0.09249043 -0.12392022 0.01349667
+v -0.08687553 -0.12391181 0.01350445
+v -0.00034954 -0.10897306 0.01210257
+v -0.12614285 -0.10854017 0.01210257
+v -0.12050333 -0.11424336 0.01847733
+v -0.12614285 -0.11765601 0.01947241
+v -0.12614285 -0.11977631 0.01948017
+v -0.12614285 -0.12264049 0.01948016
+v -0.00034954 -0.12345581 0.01393203
+v -0.00034954 -0.11435254 -0.00656310
+v -0.12614285 -0.11256426 -0.00656309
+v -0.12496077 -0.11266723 -0.00656309
+v -0.12050333 -0.11305388 -0.00656310
+v -0.11938281 -0.11311272 -0.00656310
+v -0.11490076 -0.11334597 -0.00656310
+v -0.10929817 -0.11354561 -0.00656310
+v -0.10817766 -0.11357502 -0.00656310
+v -0.10369560 -0.11368220 -0.00656310
+v -0.10256276 -0.11370321 -0.00656310
+v -0.09809301 -0.11377256 -0.00656310
+v -0.09249043 -0.11384821 -0.00656310
+v -0.08687553 -0.11392386 -0.00656310
+v -0.08127296 -0.11399110 -0.00656310
+v -0.07567038 -0.11403523 -0.00656310
+v -0.05887495 -0.11416342 -0.00656310
+v -0.05326006 -0.11420334 -0.00656310
+v -0.04205490 -0.11426638 -0.00656310
+v -0.03645232 -0.11428320 -0.00656310
+v -0.01964458 -0.11432312 -0.00656310
+v -0.01402969 -0.11433363 -0.00656310
+v -0.00282452 -0.11435254 -0.00656310
+v -0.00034954 -0.10316897 -0.00656306
+v -0.12614285 -0.10255956 -0.00656306
+f 1 2 7
+f 1 7 15
+f 1 15 29
+f 1 29 47
+f 1 47 48
+f 1 48 70
+f 1 70 41
+f 1 41 23
+f 1 23 22
+f 1 22 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 8 6
+f 5 13 14
+f 5 14 8
+f 7 8 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 15
+f 8 14 16
+f 10 22 12
+f 10 12 11
+f 12 22 23
+f 12 23 13
+f 13 24 14
+f 13 23 25
+f 13 25 24
+f 14 26 16
+f 14 24 27
+f 14 27 28
+f 14 28 26
+f 15 21 30
+f 15 30 31
+f 15 31 29
+f 16 26 32
+f 16 32 17
+f 17 32 19
+f 17 19 18
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 19 32 33
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 30
+f 20 30 21
+f 23 41 42
+f 23 42 25
+f 24 25 43
+f 24 43 27
+f 25 42 71
+f 25 71 49
+f 25 49 35
+f 25 35 34
+f 25 34 33
+f 25 33 46
+f 25 46 45
+f 25 45 44
+f 25 44 27
+f 25 27 43
+f 26 28 44
+f 26 44 45
+f 26 45 46
+f 26 46 32
+f 27 44 28
+f 29 31 47
+f 30 40 48
+f 30 48 31
+f 31 48 47
+f 32 46 33
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 60
+f 35 60 61
+f 35 61 62
+f 35 62 63
+f 35 63 64
+f 35 64 65
+f 35 65 36
+f 36 65 66
+f 36 66 67
+f 36 67 68
+f 36 68 69
+f 36 69 37
+f 37 69 38
+f 38 69 48
+f 38 48 39
+f 39 48 40
+f 41 70 71
+f 41 71 42
+f 48 69 68
+f 48 68 67
+f 48 67 66
+f 48 66 65
+f 48 65 64
+f 48 64 63
+f 48 63 62
+f 48 62 61
+f 48 61 60
+f 48 60 59
+f 48 59 58
+f 48 58 57
+f 48 57 56
+f 48 56 55
+f 48 55 54
+f 48 54 53
+f 48 53 52
+f 48 52 51
+f 48 51 50
+f 48 50 49
+f 48 49 71
+f 48 71 70
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_14.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.14344600 0.00036010 -0.00968072
+v 0.15587784 0.00036000 0.01585540
+v 0.15897540 0.00036010 -0.00968072
+v 0.14303802 -0.08063622 -0.00968102
+v 0.15970561 0.00035999 0.01789640
+v 0.15593241 -0.05273635 0.01583855
+v 0.15970561 -0.08063633 0.01796830
+v 0.15897540 -0.00242276 -0.00968073
+v 0.16956221 0.00036001 0.01305353
+v 0.16958041 -0.02478881 0.01296181
+v 0.16958302 -0.03037832 0.01295068
+v 0.15845048 -0.08063622 -0.00968102
+v 0.15600517 -0.08063632 0.01582455
+v 0.15594020 -0.05832586 0.01583575
+v 0.16248875 0.00035999 0.01820463
+v 0.15976539 -0.08063633 0.01797663
+v 0.16531086 -0.08063633 0.01868751
+v 0.15896501 -0.02478872 -0.00968081
+v 0.16956221 0.00036000 0.01647464
+v 0.16956482 -0.00242285 0.01305352
+v 0.16957522 -0.01360186 0.01303127
+v 0.16957780 -0.01919137 0.01299793
+v 0.16958302 -0.03037833 0.01649674
+v 0.16958302 -0.03596782 0.01295621
+v 0.15896241 -0.03037823 -0.00968083
+v 0.15846088 -0.08053315 -0.00968102
+v 0.16950244 -0.08063631 0.01318652
+v 0.16531086 0.00035999 0.01851564
+v 0.16950244 -0.08063632 0.01654099
+v 0.16954403 -0.07510232 0.01654656
+v 0.16958041 -0.05273635 0.01654943
+v 0.16958302 -0.04714685 0.01654945
+v 0.16742095 0.00036000 0.01750486
+v 0.16956482 -0.00242286 0.01647741
+v 0.16957522 -0.01360187 0.01648292
+v 0.16957780 -0.01919138 0.01648568
+v 0.15895721 -0.03596773 -0.00968085
+v 0.16958302 -0.04154940 0.01297285
+v 0.15865578 -0.07510222 -0.00968100
+v 0.15874672 -0.06951271 -0.00968098
+v 0.16954403 -0.07510231 0.01311712
+v 0.16955963 -0.06951281 0.01653547
+v 0.16957780 -0.05832586 0.01654108
+v 0.16958302 -0.04714684 0.01299783
+v 0.16957780 -0.05832585 0.01304221
+v 0.16957001 -0.06391536 0.01306163
+v 0.15893643 -0.04154931 -0.00968087
+v 0.15878830 -0.06634135 -0.00968096
+v 0.15881949 -0.06391527 -0.00968095
+v 0.15884807 -0.06074392 -0.00968094
+v 0.15886626 -0.05832576 -0.00968093
+v 0.16955963 -0.06951280 0.01308937
+v 0.16957001 -0.06391537 0.01653550
+f 1 2 5
+f 1 5 15
+f 1 15 28
+f 1 28 33
+f 1 33 19
+f 1 19 9
+f 1 9 3
+f 1 3 8
+f 1 8 18
+f 1 18 25
+f 1 25 37
+f 1 37 47
+f 1 47 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 40
+f 1 40 39
+f 1 39 26
+f 1 26 12
+f 1 12 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 12 27
+f 4 27 29
+f 4 29 17
+f 4 17 16
+f 4 16 7
+f 4 7 13
+f 4 13 14
+f 4 14 6
+f 5 7 16
+f 5 16 17
+f 5 17 15
+f 6 14 7
+f 7 14 13
+f 8 11 18
+f 9 19 34
+f 9 34 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 11
+f 11 22 36
+f 11 36 23
+f 11 23 32
+f 11 32 44
+f 11 44 38
+f 11 38 24
+f 11 24 25
+f 11 25 18
+f 12 26 27
+f 15 17 28
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 19
+f 17 19 33
+f 17 33 28
+f 19 32 34
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 22
+f 23 36 35
+f 23 35 32
+f 24 37 25
+f 24 38 37
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 30
+f 27 30 29
+f 30 41 52
+f 30 52 42
+f 30 42 43
+f 30 43 31
+f 31 43 45
+f 31 45 44
+f 31 44 32
+f 32 35 34
+f 37 38 44
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 40 48 41
+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 42 52 46
+f 42 46 53
+f 42 53 43
+f 43 53 46
+f 43 46 45
+f 46 52 51
+f 46 51 47
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_15.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.14528162 -0.09101559 -0.00656560
+v -0.14528162 -0.10113258 0.01313612
+v -0.12614285 -0.11031837 0.01611416
+v -0.12614285 -0.10853661 0.01210345
+v -0.14390841 -0.09184363 -0.00656561
+v -0.14528162 -0.10615231 -0.00656566
+v -0.14528162 -0.10383258 0.01618048
+v -0.12614285 -0.11478077 0.01874037
+v -0.12614285 -0.10255983 -0.00656565
+v -0.14470648 -0.10658727 -0.00656566
+v -0.14528162 -0.12320616 0.01402334
+v -0.14528162 -0.10865263 0.01830694
+v -0.12827667 -0.11702647 0.01947723
+v -0.12614285 -0.11765475 0.01947214
+v -0.12614285 -0.11256076 -0.00656568
+v -0.14314780 -0.10746686 -0.00656566
+v -0.13619932 -0.11047938 -0.00656568
+v -0.13337984 -0.11131710 -0.00656568
+v -0.13082825 -0.11186482 -0.00656568
+v -0.14292861 -0.12350257 0.01377857
+v -0.14528162 -0.12320617 0.01606823
+v -0.13736083 -0.11007986 -0.00656567
+v -0.14528162 -0.11424272 0.01928857
+v -0.14292861 -0.11424272 0.01929877
+v -0.13172187 -0.11702647 0.01947723
+v -0.13172187 -0.11983279 0.01948233
+v -0.12614285 -0.11977480 0.01947978
+v -0.12614285 -0.12391821 0.01352614
+v -0.13172187 -0.12389888 0.01354144
+v -0.13732524 -0.12382477 0.01357204
+v -0.12649131 -0.11253177 -0.00656568
+v -0.13061843 -0.11190027 -0.00656568
+v -0.14292861 -0.12350258 0.01665722
+v -0.14528162 -0.11991979 0.01827120
+v -0.14292861 -0.11983279 0.01907692
+v -0.13802965 -0.11983279 0.01945683
+v -0.13503406 -0.11703292 0.01947469
+v -0.13522889 -0.11983279 0.01947722
+v -0.13495538 -0.12263267 0.01947721
+v -0.13172187 -0.12263912 0.01947977
+v -0.12614285 -0.12263912 0.01947977
+v -0.12614285 -0.12392788 0.01700142
+v -0.13172187 -0.12390855 0.01701672
+v -0.13702362 -0.12358958 0.01749863
+v -0.12614285 -0.12392788 0.01701672
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 31
+f 1 31 32
+f 1 32 19
+f 1 19 18
+f 1 18 17
+f 1 17 22
+f 1 22 16
+f 1 16 10
+f 1 10 6
+f 1 6 11
+f 1 11 21
+f 1 21 34
+f 1 34 23
+f 1 23 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 8 14
+f 3 14 27
+f 3 27 41
+f 3 41 45
+f 3 45 42
+f 3 42 28
+f 3 28 15
+f 3 15 9
+f 3 9 4
+f 3 7 8
+f 4 9 5
+f 6 10 11
+f 7 12 8
+f 8 13 14
+f 8 12 13
+f 10 16 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 33
+f 11 33 21
+f 11 16 22
+f 11 22 17
+f 12 23 24
+f 12 24 13
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 13 24 25
+f 15 28 29
+f 15 29 30
+f 15 30 20
+f 15 20 31
+f 19 32 20
+f 20 30 33
+f 20 32 31
+f 21 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 37 25
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 28 42 43
+f 28 43 29
+f 29 43 30
+f 30 43 33
+f 33 43 44
+f 33 44 39
+f 33 39 35
+f 33 35 34
+f 35 39 36
+f 36 38 37
+f 36 39 38
+f 39 44 43
+f 39 43 45
+f 39 45 40
+f 40 45 41
+f 42 45 43
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_16.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.13199019 0.10706575 -0.01908902
+v 0.13199019 0.10465335 -0.01995518
+v 0.13199019 0.10706570 -0.00472873
+v 0.13391606 0.10706575 -0.01951021
+v 0.13438400 0.10655818 -0.01983324
+v 0.13729175 0.10284846 -0.01998051
+v 0.13218495 0.10434567 -0.01996626
+v 0.13199019 0.10442602 -0.01996468
+v 0.13199019 0.08704733 -0.01013627
+v 0.13319657 0.10706569 -0.00393700
+v 0.13714298 0.10706575 -0.01860448
+v 0.13729175 0.10564300 -0.01961472
+v 0.14495736 0.10029497 -0.01974775
+v 0.14121922 0.10164912 -0.01994252
+v 0.13729175 0.09822944 -0.02010245
+v 0.13199019 0.10432803 -0.01996784
+v 0.14301255 0.09835094 -0.02001378
+v 0.13199019 0.08704736 -0.02011200
+v 0.14994514 0.08704730 -0.00393707
+v 0.14877934 0.10706569 -0.00393700
+v 0.14291247 0.10706574 -0.01642091
+v 0.14301255 0.10363627 -0.01871059
+v 0.14717805 0.10382046 -0.01619290
+v 0.15128675 0.10100631 -0.01488498
+v 0.14873065 0.09878599 -0.01791255
+v 0.14954752 0.09264036 -0.01938992
+v 0.14617185 0.09656957 -0.01994412
+v 0.14289624 0.09264036 -0.02011356
+v 0.13199019 0.09822944 -0.02008979
+v 0.14289624 0.08704736 -0.02011041
+v 0.15962047 0.08704730 -0.00393707
+v 0.15035628 0.10559198 -0.00393700
+v 0.14777042 0.10706571 -0.00755360
+v 0.14471392 0.10706574 -0.01543442
+v 0.14581480 0.10671691 -0.01506706
+v 0.15173035 0.10158834 -0.01161041
+v 0.15469490 0.09822940 -0.00755363
+v 0.15302328 0.09877617 -0.01293419
+v 0.15596889 0.09250315 -0.01244650
+v 0.15227944 0.09727897 -0.01607733
+v 0.14952318 0.10359900 -0.01293417
+v 0.14983424 0.10502565 -0.00755360
+v 0.15323697 0.09264035 -0.01693241
+v 0.15061865 0.08704736 -0.01975730
+v 0.15035628 0.08807229 -0.01972405
+v 0.14674527 0.09264036 -0.01998530
+v 0.14803009 0.08704736 -0.01996315
+v 0.15871704 0.08704732 -0.00755525
+v 0.15712928 0.09054737 -0.01079814
+v 0.15755124 0.09170357 -0.00755365
+v 0.15799214 0.09285782 -0.00393705
+v 0.15098922 0.10485317 -0.00393700
+v 0.14634766 0.10706573 -0.01247496
+v 0.14543611 0.10706573 -0.01472662
+v 0.14620971 0.10706573 -0.01288349
+v 0.15222534 0.10222915 -0.00755361
+v 0.15561725 0.09810003 -0.00393703
+v 0.15632593 0.09678899 -0.00393703
+v 0.15686420 0.09534666 -0.00494728
+v 0.15657208 0.09449812 -0.00755364
+v 0.15663970 0.08817809 -0.01407272
+v 0.15672896 0.08704734 -0.01434508
+v 0.15388343 0.08704735 -0.01729504
+v 0.14834656 0.08704736 -0.01995207
+v 0.15718067 0.08704734 -0.01290097
+v 0.15751878 0.09418062 -0.00393704
+v 0.15265542 0.10279549 -0.00393701
+f 1 2 8
+f 1 8 16
+f 1 16 29
+f 1 29 18
+f 1 18 9
+f 1 9 3
+f 1 3 10
+f 1 10 20
+f 1 20 33
+f 1 33 53
+f 1 53 55
+f 1 55 54
+f 1 54 34
+f 1 34 21
+f 1 21 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 16
+f 6 16 7
+f 6 14 17
+f 6 17 15
+f 7 16 8
+f 9 18 30
+f 9 30 47
+f 9 47 64
+f 9 64 44
+f 9 44 63
+f 9 63 62
+f 9 62 65
+f 9 65 48
+f 9 48 31
+f 9 31 19
+f 9 19 10
+f 10 19 31
+f 10 31 51
+f 10 51 66
+f 10 66 58
+f 10 58 57
+f 10 57 67
+f 10 67 52
+f 10 52 32
+f 10 32 20
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 17
+f 15 28 18
+f 15 18 29
+f 15 29 16
+f 15 17 28
+f 17 27 28
+f 18 28 30
+f 20 32 33
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 35 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 24 35 41
+f 24 41 42
+f 24 42 36
+f 25 40 26
+f 26 40 43
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 46 28
+f 27 45 44
+f 27 44 46
+f 28 46 47
+f 28 47 30
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 32 52 36
+f 32 36 42
+f 32 42 53
+f 32 53 33
+f 34 54 35
+f 35 54 55
+f 35 55 53
+f 35 53 41
+f 36 52 56
+f 36 56 57
+f 36 57 37
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 38 59 60
+f 38 60 39
+f 39 60 49
+f 39 49 61
+f 39 61 40
+f 40 61 43
+f 41 53 42
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 44 64 46
+f 46 64 47
+f 48 65 61
+f 48 61 49
+f 49 60 50
+f 50 60 51
+f 51 60 66
+f 52 67 56
+f 56 67 57
+f 58 66 59
+f 59 66 60
+f 61 65 62
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_17.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.15410215 0.10706561 0.01838482
+v 0.15410215 0.10382033 0.01827556
+v 0.15970500 0.09264022 0.01825586
+v 0.15970500 0.09822930 0.01837605
+v 0.15970500 0.10382033 0.01834548
+v 0.15995030 0.10706562 0.01753923
+v 0.14839620 0.10706562 0.01749990
+v 0.15970500 0.08704722 0.01791717
+v 0.16530786 0.08704722 0.01829080
+v 0.16531141 0.08704722 0.01829080
+v 0.16531141 0.09264022 0.01798711
+v 0.16456839 0.10382034 0.01640085
+v 0.16379693 0.10706562 0.01595512
+v 0.14352570 0.10706562 0.01593764
+v 0.15546375 0.08704723 0.01595505
+v 0.16951355 0.08704723 0.01632868
+v 0.16918647 0.09264023 0.01606650
+v 0.16864966 0.09708680 0.01541758
+v 0.16379693 0.10706563 0.01354945
+v 0.14047186 0.10706563 0.01337465
+v 0.15348001 0.08704725 0.01210292
+v 0.13896805 0.10706564 0.01086191
+v 0.16951355 0.08704724 0.01312330
+v 0.16918647 0.09264024 0.01340956
+v 0.16864966 0.09708681 0.01394272
+v 0.15632410 0.09678899 -0.00393703
+v 0.15561662 0.09810003 -0.00393703
+v 0.15265522 0.10279549 -0.00393701
+v 0.15099142 0.10485317 -0.00393700
+v 0.15035862 0.10559198 -0.00393700
+v 0.14923876 0.10663847 -0.00393700
+v 0.14878015 0.10706569 -0.00393700
+v 0.13319455 0.10706569 -0.00393700
+v 0.14994978 0.08704730 -0.00393707
+v 0.15961968 0.08704730 -0.00393707
+v 0.15799143 0.09285782 -0.00393705
+v 0.15751861 0.09418062 -0.00393704
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 19
+f 1 19 32
+f 1 32 33
+f 1 33 22
+f 1 22 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 8
+f 8 15 21
+f 8 21 34
+f 8 34 35
+f 8 35 23
+f 8 23 16
+f 8 16 10
+f 8 10 9
+f 8 14 15
+f 10 16 11
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 12 18 13
+f 13 18 25
+f 13 25 19
+f 14 20 15
+f 15 20 22
+f 15 22 21
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 21 22 33
+f 21 33 34
+f 23 35 24
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 37 36
+f 26 36 35
+f 26 35 34
+f 26 34 33
+f 26 33 32
+f 26 32 31
+f 26 31 30
+f 26 30 29
+f 26 29 28
+f 26 28 27
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_18.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.14949446 0.08704536 -0.00464236
+v 0.15348312 0.08704530 0.01210473
+v 0.15944447 0.08704536 -0.00464236
+v 0.15146125 0.00036856 -0.00464268
+v 0.15442127 0.00036850 0.01210441
+v 0.15546565 0.08704528 0.01595461
+v 0.15587867 0.00036848 0.01585674
+v 0.16951248 0.08704529 0.01312335
+v 0.16006598 0.08145358 -0.00464238
+v 0.16029019 0.00036856 -0.00464268
+v 0.15970605 0.08704527 0.01791698
+v 0.15970605 0.00036847 0.01789624
+v 0.16951248 0.08704528 0.01632894
+v 0.16957346 0.08145351 0.01305754
+v 0.16018988 0.07586180 -0.00464240
+v 0.16029216 0.00089465 -0.00464268
+v 0.16956361 0.00036849 0.01305270
+v 0.16531141 0.05349460 0.01850444
+v 0.16531141 0.05908638 0.01847270
+v 0.16531141 0.08145349 0.01833893
+v 0.16530945 0.08704527 0.01829131
+v 0.16531141 0.03672775 0.01853159
+v 0.16531141 0.04231953 0.01852482
+v 0.16531141 0.00036847 0.01851785
+v 0.16957346 0.08145350 0.01637429
+v 0.16958133 0.07586173 0.01304845
+v 0.16025872 0.06467825 -0.00464244
+v 0.16025085 0.06798750 -0.00464243
+v 0.16024102 0.07027002 -0.00464242
+v 0.16021348 0.07357927 -0.00464241
+v 0.16029412 0.00317718 -0.00464267
+v 0.16957542 0.02554422 0.01300742
+v 0.16956361 0.00036848 0.01647608
+v 0.16957738 0.05349461 0.01647855
+v 0.16957935 0.05908639 0.01646042
+v 0.16742179 0.00036848 0.01750604
+v 0.16957542 0.02554421 0.01648297
+v 0.16957738 0.03672776 0.01648528
+v 0.16957738 0.04231954 0.01648531
+v 0.16957738 0.04790283 0.01648306
+v 0.16958133 0.07586172 0.01637881
+v 0.16958722 0.07026995 0.01303935
+v 0.16026658 0.05680394 -0.00464247
+v 0.16957738 0.03672777 0.01300292
+v 0.16957542 0.03113600 0.01300063
+v 0.16027445 0.04562038 -0.00464251
+v 0.16958526 0.06467817 0.01641506
+v 0.16958722 0.07026994 0.01638559
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 43
+f 1 43 46
+f 1 46 31
+f 1 31 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 17
+f 4 17 33
+f 4 33 36
+f 4 36 24
+f 4 24 12
+f 4 12 7
+f 4 7 5
+f 6 7 12
+f 6 12 11
+f 8 13 25
+f 8 25 14
+f 8 14 15
+f 8 15 9
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 12 22
+f 11 22 23
+f 11 23 18
+f 12 24 22
+f 13 21 25
+f 14 25 41
+f 14 41 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 16 31 32
+f 16 32 17
+f 17 32 37
+f 17 37 33
+f 18 34 35
+f 18 35 25
+f 18 25 19
+f 18 23 34
+f 19 25 20
+f 20 25 21
+f 22 24 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 34
+f 22 34 23
+f 25 35 41
+f 26 41 48
+f 26 48 42
+f 26 42 27
+f 27 42 43
+f 31 44 45
+f 31 45 32
+f 31 46 42
+f 31 42 44
+f 32 45 44
+f 32 44 42
+f 32 42 48
+f 32 48 37
+f 33 37 36
+f 34 40 47
+f 34 47 35
+f 35 47 48
+f 35 48 41
+f 37 48 47
+f 37 47 38
+f 38 47 39
+f 39 47 40
+f 42 46 43
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_19.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.16029137 0.00036856 -0.00464495
+v 0.15145801 0.00036856 -0.00464495
+v 0.16017776 0.00036856 -0.00511381
+v 0.16029137 0.00648642 -0.00464493
+v 0.13198751 0.00036858 -0.00990742
+v 0.14949351 0.08704536 -0.00464463
+v 0.15958204 0.00036857 -0.00755400
+v 0.15958204 0.00317719 -0.00755399
+v 0.16027752 0.04003709 -0.00464480
+v 0.13198751 0.00051283 -0.00990742
+v 0.13198751 0.00036861 -0.02013706
+v 0.15944349 0.08704536 -0.00464463
+v 0.13198751 0.08704538 -0.01013697
+v 0.13198751 0.00876898 -0.00992262
+v 0.13198751 0.00348267 -0.00991198
+v 0.15887825 0.00036858 -0.01002768
+v 0.15818277 0.03672787 -0.01246622
+v 0.15956541 0.03672785 -0.00755387
+v 0.16027474 0.04562038 -0.00464478
+v 0.14289619 0.00036861 -0.02013706
+v 0.13198751 0.01965558 -0.02018418
+v 0.15871755 0.08704537 -0.00755520
+v 0.16006693 0.08145358 -0.00464465
+v 0.13198751 0.08704541 -0.02011086
+v 0.15818277 0.00036859 -0.01246635
+v 0.15955987 0.04231963 -0.00755384
+v 0.15716589 0.03672788 -0.01532048
+v 0.15712987 0.07027006 -0.01527924
+v 0.15811905 0.06467828 -0.01246611
+v 0.15951554 0.06467826 -0.00755376
+v 0.16026643 0.05680394 -0.00464474
+v 0.14289619 0.00317723 -0.02014161
+v 0.14571688 0.00036861 -0.02008682
+v 0.13198751 0.02524736 -0.02019481
+v 0.15693314 0.08444890 -0.01496865
+v 0.15739309 0.08660415 -0.01244625
+v 0.15718251 0.08704539 -0.01290140
+v 0.15931604 0.08145359 -0.00755370
+v 0.16018885 0.07586180 -0.00464467
+v 0.14291282 0.08704541 -0.02010934
+v 0.13198751 0.08673994 -0.02011238
+v 0.15716035 0.00036860 -0.01530386
+v 0.15716589 0.03113611 -0.01531897
+v 0.16025812 0.06467825 -0.00464471
+v 0.16026089 0.06239571 -0.00464472
+v 0.15420389 0.03672789 -0.01777894
+v 0.15425931 0.07027007 -0.01773618
+v 0.15424268 0.07586184 -0.01768288
+v 0.15709384 0.07586184 -0.01522595
+v 0.15810520 0.07027005 -0.01246609
+v 0.15949337 0.07027003 -0.00755374
+v 0.16024149 0.07027002 -0.00464469
+v 0.16024981 0.06798750 -0.00464470
+v 0.14289619 0.00876901 -0.02014768
+v 0.14849601 0.00036861 -0.02003354
+v 0.14849601 0.00317723 -0.02003658
+v 0.13198751 0.03083913 -0.02019632
+v 0.13729084 0.02554434 -0.02017807
+v 0.14289619 0.01436078 -0.02015223
+v 0.15131116 0.08433861 -0.01984143
+v 0.15397392 0.08625626 -0.01734642
+v 0.15388525 0.08704540 -0.01729619
+v 0.15672810 0.08704539 -0.01434451
+v 0.15788353 0.08145361 -0.01246605
+v 0.15700518 0.08145362 -0.01508588
+v 0.15417064 0.08145362 -0.01754282
+v 0.15943519 0.07586181 -0.00755372
+v 0.15803592 0.07586183 -0.01246607
+v 0.16021378 0.07357927 -0.00464468
+v 0.13198751 0.07586185 -0.02013678
+v 0.13198751 0.08114816 -0.02012610
+v 0.14803051 0.08704541 -0.01996320
+v 0.14849601 0.08145363 -0.02000737
+v 0.14849601 0.07586185 -0.02004087
+v 0.14289619 0.08145363 -0.02011849
+v 0.13198751 0.06996460 -0.02014745
+v 0.15421221 0.00036861 -0.01776080
+v 0.15145801 0.07027007 -0.01990389
+v 0.15144139 0.07586185 -0.01989778
+v 0.15136935 0.08145363 -0.01986732
+v 0.14996454 0.00036861 -0.01996048
+v 0.14289619 0.01995256 -0.02015526
+v 0.14849601 0.07027007 -0.02004698
+v 0.14289619 0.07586185 -0.02012612
+v 0.14289619 0.05349474 -0.02014751
+v 0.14289619 0.04790296 -0.02015210
+v 0.14834639 0.08704541 -0.01995254
+v 0.15061845 0.08704541 -0.01975617
+v 0.15140813 0.00036861 -0.01988588
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 33
+f 1 33 55
+f 1 55 81
+f 1 81 89
+f 1 89 77
+f 1 77 42
+f 1 42 25
+f 1 25 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 31
+f 1 31 45
+f 1 45 44
+f 1 44 53
+f 1 53 52
+f 1 52 69
+f 1 69 39
+f 1 39 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 15
+f 5 15 14
+f 5 14 13
+f 5 13 24
+f 5 24 41
+f 5 41 71
+f 5 71 70
+f 5 70 76
+f 5 76 57
+f 5 57 34
+f 5 34 21
+f 5 21 11
+f 5 6 10
+f 6 12 22
+f 6 22 37
+f 6 37 63
+f 6 63 62
+f 6 62 88
+f 6 88 87
+f 6 87 72
+f 6 72 40
+f 6 40 24
+f 6 24 13
+f 6 13 14
+f 6 14 15
+f 6 15 10
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 11 21 20
+f 12 23 22
+f 16 25 17
+f 17 26 18
+f 17 25 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 26
+f 18 26 45
+f 18 45 31
+f 18 31 19
+f 20 32 33
+f 20 21 34
+f 20 34 32
+f 22 35 36
+f 22 36 37
+f 22 23 38
+f 22 38 35
+f 23 39 38
+f 24 40 41
+f 25 42 43
+f 25 43 27
+f 26 30 44
+f 26 44 45
+f 27 43 46
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 29
+f 29 50 30
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 44
+f 32 54 33
+f 32 34 54
+f 33 54 56
+f 33 56 55
+f 34 57 58
+f 34 58 59
+f 34 59 54
+f 35 60 61
+f 35 61 62
+f 35 62 63
+f 35 63 37
+f 35 37 36
+f 35 38 64
+f 35 64 65
+f 35 65 66
+f 35 66 60
+f 38 39 67
+f 38 67 68
+f 38 68 64
+f 39 69 67
+f 40 70 71
+f 40 71 41
+f 40 72 73
+f 40 73 74
+f 40 74 75
+f 40 75 76
+f 40 76 70
+f 42 77 43
+f 43 77 46
+f 46 77 78
+f 46 78 47
+f 47 78 79
+f 47 79 48
+f 48 79 80
+f 48 80 60
+f 48 60 66
+f 48 66 49
+f 49 66 65
+f 49 65 68
+f 49 68 50
+f 50 68 67
+f 50 67 51
+f 51 67 69
+f 51 69 52
+f 54 59 56
+f 55 56 81
+f 56 59 82
+f 56 82 83
+f 56 83 78
+f 56 78 81
+f 57 76 84
+f 57 84 85
+f 57 85 86
+f 57 86 58
+f 58 82 59
+f 58 86 82
+f 60 87 88
+f 60 88 62
+f 60 62 61
+f 60 80 73
+f 60 73 87
+f 64 68 65
+f 72 87 73
+f 73 80 79
+f 73 79 74
+f 74 84 75
+f 74 79 78
+f 74 78 83
+f 74 83 84
+f 75 84 76
+f 77 89 78
+f 78 89 81
+f 82 86 83
+f 83 86 85
+f 83 85 84
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_2.obj

@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
+v -0.00033395 0.00036013 -0.02014363
+v -0.00033395 -0.09187868 -0.01990456
+v -0.00033395 0.00036010 -0.00986773
+v 0.05323776 0.00036013 -0.02017651
+v -0.00033395 -0.09434240 -0.01989635
+v 0.05606060 0.00036013 -0.02017754
+v 0.05883667 -0.00801204 -0.02015188
+v 0.14288265 -0.00801204 -0.02011694
+v -0.00033395 -0.01919355 -0.00977019
+v 0.02521204 0.00036010 -0.00982560
+v -0.00033395 -0.09746385 -0.01988403
+v 0.14288265 -0.01360836 -0.02009539
+v 0.05883667 0.00036013 -0.02017651
+v 0.14288265 -0.00242688 -0.02013131
+v 0.14849714 -0.00801204 -0.02001933
+v -0.00033395 -0.02232615 -0.00975581
+v 0.02798810 0.00036010 -0.00982149
+v -0.00033395 -0.09877931 -0.01987273
+v 0.09804460 -0.09187868 -0.01980798
+v 0.13168483 -0.09746385 -0.01974635
+v 0.14849714 -0.01360836 -0.01999777
+v 0.14597062 -0.05710798 -0.01984690
+v 0.14288265 -0.08628237 -0.01975453
+v 0.13728374 -0.09187868 -0.01975147
+v 0.14288265 0.00036013 -0.02013643
+v 0.14570549 0.00036013 -0.02008712
+v 0.14849714 -0.00242688 -0.02003267
+v 0.15136679 -0.01360836 -0.01987037
+v 0.15133559 -0.01791150 -0.01985600
+v -0.00033395 -0.02478986 -0.00974452
+v 0.14344409 0.00036010 -0.00968175
+v -0.00033395 -0.10051841 -0.01985322
+v 0.14288265 -0.09187868 -0.01972475
+v 0.13728374 -0.09746385 -0.01970525
+v 0.12047142 -0.10306017 -0.01946689
+v 0.10365911 -0.10306017 -0.01953574
+v 0.09804460 -0.10306017 -0.01955115
+v 0.14933933 -0.04715279 -0.01978726
+v 0.14902740 -0.05274910 -0.01976776
+v 0.14809166 -0.05871329 -0.01976368
+v 0.14849714 0.00036013 -0.02003471
+v 0.15139797 -0.00242688 -0.01988677
+v 0.15138238 -0.00801204 -0.01987959
+v 0.15418963 -0.00801204 -0.01775681
+v 0.15417403 -0.01360836 -0.01774450
+v 0.15409605 -0.04715280 -0.01762234
+v 0.15409605 -0.05274911 -0.01758640
+v 0.15409605 -0.05832312 -0.01754738
+v 0.14849714 -0.08068606 -0.01958703
+v 0.14849714 -0.07510090 -0.01963736
+v 0.15409605 -0.06391943 -0.01749397
+v 0.15409605 -0.06950460 -0.01742310
+v 0.15409605 -0.07510091 -0.01731524
+v -0.00033395 -0.02791131 -0.00973425
+v 0.15897755 0.00036010 -0.00968175
+v -0.00033395 -0.03037503 -0.00972707
+v -0.00033395 -0.03350762 -0.00972092
+v -0.00033395 -0.03597134 -0.00971682
+v 0.01399863 -0.03597134 -0.00971065
+v -0.00033395 -0.09394110 -0.00968210
+v -0.00033395 -0.10331656 -0.01967548
+v 0.14849714 -0.08628237 -0.01940621
+v 0.14288265 -0.09746385 -0.01926138
+v 0.13168483 -0.10306017 -0.01922852
+v 0.12607032 -0.10306017 -0.01942066
+v 0.09804460 -0.10864533 -0.01740680
+v 0.09244570 -0.10864533 -0.01742632
+v 0.04202435 -0.10864533 -0.01754243
+v 0.14996315 0.00036013 -0.01996074
+v 0.15139797 0.00036013 -0.01988573
+v 0.15420522 -0.00242688 -0.01776295
+v 0.15712164 -0.03597132 -0.01524470
+v 0.15710605 -0.04715280 -0.01521597
+v 0.15709046 -0.05274911 -0.01519852
+v 0.15707485 -0.05832312 -0.01518107
+v 0.15705926 -0.06391943 -0.01515130
+v 0.15702806 -0.06950460 -0.01510406
+v 0.15364377 -0.08628238 -0.01699470
+v 0.15696569 -0.07510091 -0.01501983
+v 0.15459512 -0.08029589 -0.01673574
+v 0.15896195 -0.03037503 -0.00968186
+v 0.15818215 -0.00242690 -0.01246728
+v 0.15818215 0.00036011 -0.01246727
+v -0.00033395 -0.03909279 -0.00971477
+v -0.00033395 -0.05274913 -0.00970660
+v -0.00033395 -0.11351704 -0.00968217
+v -0.00033395 -0.10569109 -0.01875074
+v 0.14849714 -0.09187868 -0.01885447
+v 0.14869989 -0.09755305 -0.01695775
+v 0.14696875 -0.10144370 -0.01596623
+v 0.14282025 -0.10320509 -0.01681289
+v 0.13728374 -0.10306017 -0.01858120
+v 0.13168483 -0.10790956 -0.01681908
+v 0.12607032 -0.10842237 -0.01702869
+v 0.11485692 -0.10864533 -0.01721980
+v 0.10925801 -0.10864533 -0.01729070
+v 0.10365911 -0.10864533 -0.01735748
+v 0.09804460 -0.11164415 -0.01519155
+v 0.09244570 -0.11165530 -0.01521210
+v 0.08684680 -0.11166645 -0.01522546
+v 0.08123229 -0.11167759 -0.01523265
+v 0.04202435 -0.11171104 -0.01527580
+v 0.00278522 -0.10864533 -0.01757634
+v 0.15420522 0.00036013 -0.01776088
+v 0.15715283 -0.00242689 -0.01530623
+v 0.15715283 -0.00801205 -0.01529906
+v 0.15713724 -0.02478984 -0.01526213
+v 0.15815097 -0.03037502 -0.01246738
+v 0.15813537 -0.03597133 -0.01246740
+v 0.15811978 -0.04155649 -0.01246742
+v 0.15804179 -0.05832313 -0.01246748
+v 0.15799501 -0.06391944 -0.01246750
+v 0.15793262 -0.06950461 -0.01246753
+v 0.15691889 -0.07817777 -0.01494894
+v 0.15679413 -0.08190122 -0.01463660
+v 0.15281719 -0.09187869 -0.01646145
+v 0.15782346 -0.07510092 -0.01246755
+v 0.15894635 -0.03839046 -0.00968189
+v 0.15816656 -0.01919354 -0.01246734
+v 0.15766749 0.00036011 -0.01389753
+v -0.00033395 -0.11334982 -0.01030175
+v 0.00278522 -0.11352819 -0.00968217
+v -0.00033395 -0.10864533 -0.01757737
+v 0.15195941 -0.09575821 -0.01568468
+v 0.15069615 -0.09948166 -0.01342320
+v 0.14869989 -0.10207917 -0.01205767
+v 0.14483212 -0.10528979 -0.01246766
+v 0.14091756 -0.10630425 -0.01547512
+v 0.13728374 -0.10706232 -0.01620463
+v 0.12607032 -0.11122054 -0.01422468
+v 0.12276400 -0.11142121 -0.01487303
+v 0.12072095 -0.10919159 -0.01668756
+v 0.11485692 -0.11152152 -0.01504154
+v 0.10925801 -0.11156611 -0.01509702
+v 0.10365911 -0.11161071 -0.01515045
+v 0.09804460 -0.11254715 -0.01246768
+v 0.09244570 -0.11258060 -0.01246768
+v 0.08684680 -0.11260289 -0.01246768
+v 0.08123229 -0.11262519 -0.01246768
+v 0.04202435 -0.11271437 -0.01246768
+v 0.00278522 -0.11274782 -0.01246768
+v 0.00278522 -0.11171104 -0.01528505
+v -0.00033395 -0.11000539 -0.01656632
+v 0.15715283 0.00036012 -0.01530416
+v 0.15886838 -0.05516825 -0.00968195
+v 0.15885278 -0.05832314 -0.00968196
+v 0.15882158 -0.06391945 -0.00968198
+v 0.15879040 -0.06633857 -0.00968199
+v 0.15874361 -0.06950462 -0.00968201
+v 0.15865003 -0.07510093 -0.00968203
+v 0.15752713 -0.08029590 -0.01278608
+v 0.15727760 -0.08628240 -0.01112775
+v 0.15645103 -0.08628239 -0.01358550
+v 0.15846288 -0.08053002 -0.00968205
+v 0.15801061 -0.08401935 -0.00968206
+v -0.00033395 -0.11274782 -0.01246768
+v 0.04202435 -0.11345016 -0.00968217
+v 0.15242730 -0.09755307 -0.01205766
+v 0.15546848 -0.09138820 -0.01206072
+v 0.15133559 -0.10031777 -0.01014655
+v 0.14558072 -0.10578030 -0.00976126
+v 0.14202487 -0.10692855 -0.01246766
+v 0.13728374 -0.10902438 -0.01246767
+v 0.13166923 -0.11071887 -0.01242966
+v 0.12979774 -0.11165532 -0.01076719
+v 0.12607032 -0.11194517 -0.01176693
+v 0.12056500 -0.11289275 -0.00968216
+v 0.12072095 -0.11205664 -0.01292799
+v 0.11902101 -0.11148809 -0.01498194
+v 0.10365911 -0.11249141 -0.01246768
+v 0.09804460 -0.11327179 -0.00968217
+v 0.08684680 -0.11332753 -0.00968217
+v -0.00033395 -0.11171104 -0.01528300
+v 0.15769869 -0.08628240 -0.00968207
+v 0.15718403 -0.08866808 -0.00968208
+v 0.15693449 -0.08919204 -0.01015062
+v 0.15443916 -0.09513394 -0.00968210
+v 0.15319149 -0.09750847 -0.00968211
+v 0.15587397 -0.09221316 -0.00968209
+v 0.15178787 -0.09980496 -0.00968212
+v 0.15141357 -0.10039581 -0.00968212
+v 0.14843476 -0.10316052 -0.00968213
+v 0.14559631 -0.10579146 -0.00968214
+v 0.14285145 -0.10727414 -0.00968214
+v 0.13712778 -0.10983820 -0.00968215
+v 0.13319763 -0.11113137 -0.00968216
+v 0.13219950 -0.11137663 -0.00968216
+v 0.13042156 -0.11176680 -0.00968216
+v 0.12607032 -0.11244683 -0.00968216
+v 0.11485692 -0.11304883 -0.00968217
+v 0.11485692 -0.11232419 -0.01246768
+v 0.10925801 -0.11241338 -0.01246768
+v 0.10365911 -0.11321605 -0.00968217
+v 0.15699688 -0.08937040 -0.00968208
+v 0.10925801 -0.11313801 -0.00968217
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 32
+f 1 32 61
+f 1 61 87
+f 1 87 123
+f 1 123 143
+f 1 143 173
+f 1 173 156
+f 1 156 121
+f 1 121 86
+f 1 86 60
+f 1 60 85
+f 1 85 84
+f 1 84 58
+f 1 58 57
+f 1 57 56
+f 1 56 54
+f 1 54 30
+f 1 30 16
+f 1 16 9
+f 1 9 3
+f 1 3 10
+f 1 10 17
+f 1 17 31
+f 1 31 55
+f 1 55 83
+f 1 83 120
+f 1 120 144
+f 1 144 104
+f 1 104 70
+f 1 70 69
+f 1 69 41
+f 1 41 26
+f 1 26 25
+f 1 25 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 5 8 12
+f 5 12 11
+f 6 13 7
+f 7 13 8
+f 8 14 15
+f 8 15 21
+f 8 21 12
+f 8 13 14
+f 9 16 17
+f 9 17 10
+f 11 12 19
+f 11 19 20
+f 11 20 18
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 20
+f 12 20 19
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 21
+f 16 30 17
+f 17 30 31
+f 18 20 32
+f 20 24 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 32
+f 21 29 38
+f 21 38 39
+f 21 39 22
+f 22 39 40
+f 22 40 33
+f 22 33 23
+f 23 33 24
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 29 49 50
+f 29 50 38
+f 29 48 51
+f 29 51 52
+f 29 52 53
+f 29 53 49
+f 30 54 31
+f 31 54 56
+f 31 56 57
+f 31 57 58
+f 31 58 59
+f 31 59 60
+f 31 60 86
+f 31 86 122
+f 31 122 157
+f 31 157 172
+f 31 172 171
+f 31 171 193
+f 31 193 195
+f 31 195 190
+f 31 190 167
+f 31 167 189
+f 31 189 188
+f 31 188 187
+f 31 187 186
+f 31 186 185
+f 31 185 184
+f 31 184 183
+f 31 183 182
+f 31 182 181
+f 31 181 180
+f 31 180 178
+f 31 178 177
+f 31 177 179
+f 31 179 194
+f 31 194 175
+f 31 175 174
+f 31 174 155
+f 31 155 154
+f 31 154 150
+f 31 150 149
+f 31 149 148
+f 31 148 147
+f 31 147 146
+f 31 146 145
+f 31 145 118
+f 31 118 81
+f 31 81 55
+f 32 37 61
+f 33 40 50
+f 33 50 49
+f 33 49 62
+f 33 62 63
+f 33 63 34
+f 34 64 65
+f 34 65 35
+f 34 63 64
+f 35 65 66
+f 35 66 36
+f 36 66 67
+f 36 67 37
+f 37 67 68
+f 37 68 61
+f 38 50 39
+f 39 50 40
+f 41 69 42
+f 42 69 70
+f 42 70 71
+f 42 71 44
+f 42 44 43
+f 44 71 72
+f 44 72 73
+f 44 73 45
+f 45 73 74
+f 45 74 75
+f 45 75 46
+f 46 75 47
+f 47 75 48
+f 48 75 76
+f 48 76 51
+f 49 53 62
+f 51 76 52
+f 52 76 77
+f 52 77 53
+f 53 78 62
+f 53 77 79
+f 53 79 80
+f 53 80 78
+f 55 81 82
+f 55 82 83
+f 58 84 59
+f 59 84 85
+f 59 85 60
+f 61 68 87
+f 62 88 63
+f 62 78 88
+f 63 88 89
+f 63 89 90
+f 63 90 91
+f 63 91 92
+f 63 92 64
+f 64 92 93
+f 64 93 94
+f 64 94 65
+f 65 94 95
+f 65 95 96
+f 65 96 97
+f 65 97 66
+f 66 97 98
+f 66 98 99
+f 66 99 100
+f 66 100 67
+f 67 100 101
+f 67 101 68
+f 68 102 103
+f 68 103 87
+f 68 101 102
+f 70 104 71
+f 71 104 144
+f 71 144 105
+f 71 105 106
+f 71 106 72
+f 72 106 107
+f 72 107 108
+f 72 108 73
+f 73 108 109
+f 73 109 110
+f 73 110 74
+f 74 110 75
+f 75 110 111
+f 75 111 76
+f 76 111 112
+f 76 112 77
+f 77 112 113
+f 77 113 79
+f 78 80 114
+f 78 114 115
+f 78 115 116
+f 78 116 88
+f 79 113 117
+f 79 117 114
+f 79 114 80
+f 81 118 108
+f 81 108 119
+f 81 119 82
+f 82 119 120
+f 82 120 83
+f 86 121 122
+f 87 103 123
+f 88 116 89
+f 89 116 124
+f 89 124 90
+f 90 124 125
+f 90 125 126
+f 90 126 127
+f 90 127 128
+f 90 128 91
+f 91 128 129
+f 91 129 92
+f 92 129 93
+f 93 129 130
+f 93 130 131
+f 93 131 94
+f 94 131 132
+f 94 132 95
+f 95 133 134
+f 95 134 135
+f 95 135 96
+f 95 132 133
+f 96 135 97
+f 97 135 98
+f 98 136 137
+f 98 137 138
+f 98 138 139
+f 98 139 99
+f 98 135 136
+f 99 139 100
+f 100 139 101
+f 101 139 140
+f 101 140 102
+f 102 140 141
+f 102 141 142
+f 102 142 143
+f 102 143 103
+f 103 143 123
+f 105 144 120
+f 105 120 106
+f 106 120 119
+f 106 119 108
+f 106 108 107
+f 108 118 109
+f 109 118 110
+f 110 118 145
+f 110 145 111
+f 111 145 146
+f 111 146 147
+f 111 147 112
+f 112 147 113
+f 113 147 148
+f 113 148 149
+f 113 149 150
+f 113 150 117
+f 114 117 151
+f 114 151 115
+f 115 152 153
+f 115 153 116
+f 115 151 154
+f 115 154 155
+f 115 155 152
+f 116 153 124
+f 117 150 154
+f 117 154 151
+f 121 156 122
+f 122 156 141
+f 122 141 140
+f 122 140 157
+f 124 158 125
+f 124 153 159
+f 124 159 158
+f 125 158 160
+f 125 160 126
+f 126 160 161
+f 126 161 127
+f 127 161 162
+f 127 162 128
+f 128 163 129
+f 128 162 163
+f 129 163 164
+f 129 164 130
+f 130 164 165
+f 130 165 166
+f 130 166 131
+f 131 167 168
+f 131 168 169
+f 131 169 132
+f 131 166 167
+f 132 169 133
+f 133 169 170
+f 133 170 134
+f 134 170 135
+f 135 170 136
+f 136 171 137
+f 136 170 193
+f 136 193 171
+f 137 172 138
+f 137 171 172
+f 138 172 139
+f 139 172 157
+f 139 157 140
+f 141 156 142
+f 142 156 173
+f 142 173 143
+f 152 174 175
+f 152 175 176
+f 152 176 153
+f 152 155 174
+f 153 176 159
+f 158 159 177
+f 158 177 178
+f 158 178 160
+f 159 176 179
+f 159 179 177
+f 160 178 180
+f 160 180 181
+f 160 181 182
+f 160 182 161
+f 161 182 183
+f 161 183 184
+f 161 184 162
+f 162 184 185
+f 162 185 163
+f 163 185 186
+f 163 186 164
+f 164 186 187
+f 164 187 165
+f 165 187 188
+f 165 188 189
+f 165 189 166
+f 166 189 167
+f 167 190 168
+f 168 190 191
+f 168 191 169
+f 169 191 192
+f 169 192 170
+f 170 192 195
+f 170 195 193
+f 175 194 176
+f 176 194 179
+f 190 195 192
+f 190 192 191
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_3.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.14528399 0.00036013 -0.02013870
+v -0.14881654 0.00036013 -0.02000153
+v -0.14528399 0.00036010 -0.01009458
+v -0.14528399 -0.01116369 -0.02010825
+v -0.14832618 -0.00801469 -0.02000537
+v -0.14905220 -0.00198662 -0.01998249
+v -0.15133979 0.00016519 -0.01983768
+v -0.15133979 0.00036013 -0.01983768
+v -0.15447719 0.00036002 0.01210080
+v -0.14528399 -0.02983277 -0.00918401
+v -0.14528399 -0.01360041 -0.02010065
+v -0.14687888 -0.05832363 -0.01991029
+v -0.14812146 -0.01360041 -0.01999777
+v -0.15126361 -0.00356112 -0.01983007
+v -0.15412013 -0.00801470 -0.01736478
+v -0.15356549 -0.00198662 -0.01786773
+v -0.15382019 0.00036012 -0.01764672
+v -0.15392493 -0.07510329 -0.01721262
+v -0.15397492 -0.06951007 -0.01723546
+v -0.15400110 -0.06391686 -0.01724686
+v -0.15402014 -0.05832364 -0.01725446
+v -0.15598876 0.00036000 0.01572064
+v -0.14528399 -0.07623545 -0.00910035
+v -0.14528399 -0.05832363 -0.01995220
+v -0.14621950 -0.07623541 -0.01986844
+v -0.14946878 -0.06391685 -0.01970455
+v -0.14968063 -0.05832363 -0.01971215
+v -0.15692188 -0.00801471 -0.01486899
+v -0.15553409 0.00036012 -0.01611876
+v -0.15291563 -0.07623541 -0.01769654
+v -0.15389874 -0.07623542 -0.01719738
+v -0.15672669 -0.07510330 -0.01439676
+v -0.15677667 -0.06951008 -0.01452248
+v -0.15680286 -0.06391687 -0.01458723
+v -0.15682190 -0.05832365 -0.01462531
+v -0.15691236 -0.01360043 -0.01484234
+v -0.15599114 -0.00242161 0.01572063
+v -0.15599352 -0.00801482 0.01571680
+v -0.15787643 0.00036000 0.01673801
+v -0.15974268 -0.07623555 0.01789989
+v -0.15608159 -0.07623554 0.01573179
+v -0.14528399 -0.07623541 -0.01987987
+v -0.14902125 -0.07623541 -0.01965506
+v -0.14904506 -0.07510328 -0.01967030
+v -0.14921645 -0.06951006 -0.01969315
+v -0.16956192 -0.07510340 0.01310645
+v -0.16956907 -0.06951018 0.01308742
+v -0.16958098 -0.05832375 0.01305318
+v -0.16958573 -0.05273803 0.01303796
+v -0.16959050 -0.04714482 0.01302274
+v -0.16959764 -0.03596589 0.01299610
+v -0.16960002 -0.03038017 0.01298469
+v -0.15692426 -0.00242150 -0.01487279
+v -0.15692426 0.00036011 -0.01487278
+v -0.15670050 -0.07623543 -0.01433579
+v -0.16955717 -0.07623553 0.01311407
+v -0.15974268 0.00035999 0.01774014
+v -0.16534620 -0.06951020 0.01878010
+v -0.16534620 -0.07510342 0.01878771
+v -0.16534620 -0.07623555 0.01877628
+v -0.16956192 -0.07510341 0.01661580
+v -0.16956907 -0.06951019 0.01661582
+v -0.16958098 -0.05832376 0.01657395
+v -0.16958573 -0.05273804 0.01656636
+v -0.16959050 -0.04714483 0.01654732
+v -0.16959764 -0.03596590 0.01649021
+v -0.16960002 -0.03038018 0.01649404
+v -0.16957146 0.00036001 0.01303815
+v -0.16955717 -0.07623554 0.01660818
+v -0.16534620 0.00035999 0.01848697
+v -0.16957146 0.00036000 0.01647129
+v -0.16959286 -0.02478697 0.01649406
+f 1 2 8
+f 1 8 17
+f 1 17 29
+f 1 29 54
+f 1 54 68
+f 1 68 71
+f 1 71 70
+f 1 70 57
+f 1 57 39
+f 1 39 22
+f 1 22 9
+f 1 9 3
+f 1 3 10
+f 1 10 23
+f 1 23 42
+f 1 42 24
+f 1 24 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 12
+f 6 12 14
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 14 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 15
+f 9 22 10
+f 10 22 23
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 14
+f 14 26 27
+f 14 27 18
+f 15 28 17
+f 15 17 16
+f 15 21 28
+f 17 28 29
+f 18 27 26
+f 18 26 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 28
+f 20 28 21
+f 22 37 38
+f 22 38 23
+f 22 39 40
+f 22 40 37
+f 23 41 40
+f 23 40 60
+f 23 60 69
+f 23 69 56
+f 23 56 55
+f 23 55 31
+f 23 31 30
+f 23 30 43
+f 23 43 25
+f 23 25 42
+f 23 38 41
+f 24 42 25
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 44
+f 26 44 30
+f 28 36 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 53
+f 28 53 29
+f 29 53 54
+f 30 44 43
+f 31 55 32
+f 32 55 56
+f 32 56 33
+f 33 56 34
+f 34 56 46
+f 34 46 35
+f 35 46 36
+f 37 40 41
+f 37 41 38
+f 39 57 40
+f 40 58 59
+f 40 59 60
+f 40 57 58
+f 46 56 69
+f 46 69 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 48
+f 48 63 64
+f 48 64 49
+f 49 64 65
+f 49 65 50
+f 50 65 66
+f 50 66 51
+f 51 66 67
+f 51 67 52
+f 52 67 71
+f 52 71 68
+f 52 68 54
+f 52 54 53
+f 57 70 58
+f 58 70 71
+f 58 71 62
+f 58 62 59
+f 59 62 61
+f 59 61 69
+f 59 69 60
+f 62 71 64
+f 62 64 63
+f 64 71 65
+f 65 71 72
+f 65 72 67
+f 65 67 66
+f 67 72 71
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_4.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.14528163 -0.08629075 -0.01988516
+v -0.14528163 -0.09005633 -0.01986600
+v -0.14587573 -0.08970230 -0.01986600
+v -0.14601118 -0.08629075 -0.01987366
+v -0.14622031 -0.07624001 -0.01986979
+v -0.14528163 -0.07624001 -0.01988129
+v -0.14528163 -0.09100348 -0.01983149
+v -0.14528163 -0.09293454 -0.01951706
+v -0.14805964 -0.09169314 -0.01886516
+v -0.14881297 -0.08629075 -0.01935215
+v -0.14893179 -0.08069985 -0.01959754
+v -0.14902209 -0.07624001 -0.01965505
+v -0.14528163 -0.07624005 -0.00909814
+v -0.14528163 -0.09441042 -0.01909525
+v -0.15252255 -0.09188165 -0.01621155
+v -0.15339231 -0.08629076 -0.01689794
+v -0.14528163 -0.09718748 -0.01814426
+v -0.14856107 -0.09731623 -0.01672926
+v -0.15379630 -0.08069986 -0.01713951
+v -0.15291466 -0.07624002 -0.01769552
+v -0.15608003 -0.07624014 0.01573149
+v -0.14528163 -0.10383140 0.01618005
+v -0.15626301 -0.08656204 -0.01254173
+v -0.15175734 -0.09535298 -0.01544846
+v -0.16845876 -0.09561516 0.01419371
+v -0.15659809 -0.08069987 -0.01409860
+v -0.14528163 -0.10184964 -0.01610038
+v -0.14670985 -0.10119675 -0.01582811
+v -0.15670028 -0.07624003 -0.01433633
+v -0.15389849 -0.07624002 -0.01719701
+v -0.15974208 -0.07624015 0.01790193
+v -0.14528163 -0.10864988 0.01830828
+v -0.16897919 -0.09188176 0.01369904
+v -0.15809285 -0.11290280 0.01377567
+v -0.16314748 -0.10677857 0.01398660
+v -0.16845876 -0.09561517 0.01524825
+v -0.16943072 -0.08629087 0.01328875
+v -0.14528163 -0.12320643 0.01402105
+v -0.14661717 -0.12303631 0.01415910
+v -0.15281009 -0.11830519 0.01377948
+v -0.16953765 -0.08069997 0.01315072
+v -0.16955667 -0.07624013 0.01311623
+v -0.16534566 -0.07624015 0.01877624
+v -0.14528163 -0.11424078 0.01928994
+v -0.16897919 -0.09188177 0.01600369
+v -0.15809285 -0.11290281 0.01603430
+v -0.16314748 -0.10677858 0.01567769
+v -0.16409329 -0.10305898 0.01650983
+v -0.16943072 -0.08629088 0.01648305
+v -0.14528163 -0.12320644 0.01606877
+v -0.14661717 -0.12303632 0.01573516
+v -0.15281009 -0.11830520 0.01614165
+v -0.16953765 -0.08069998 0.01657510
+v -0.16955667 -0.07624014 0.01660964
+v -0.16534566 -0.08069999 0.01874554
+v -0.15974208 -0.09747269 0.01904458
+v -0.14853493 -0.11424078 0.01927461
+v -0.14528163 -0.11991903 0.01826989
+v -0.16534566 -0.09188178 0.01822398
+v -0.15446407 -0.11455801 0.01731124
+v -0.15987279 -0.10864527 0.01702366
+v -0.15974208 -0.10305899 0.01880681
+v -0.16534566 -0.08629089 0.01869183
+v -0.14850641 -0.12003397 0.01716934
+v -0.15414088 -0.10864988 0.01911357
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 22
+f 1 22 32
+f 1 32 44
+f 1 44 58
+f 1 58 50
+f 1 50 38
+f 1 38 27
+f 1 27 17
+f 1 17 14
+f 1 14 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 20
+f 5 20 30
+f 5 30 29
+f 5 29 42
+f 5 42 54
+f 5 54 43
+f 5 43 31
+f 5 31 21
+f 5 21 13
+f 5 13 6
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 17
+f 9 17 18
+f 9 18 15
+f 10 16 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 13 21 22
+f 15 23 16
+f 15 18 24
+f 15 24 25
+f 15 25 23
+f 16 23 26
+f 16 26 19
+f 17 27 28
+f 17 28 18
+f 18 28 24
+f 19 26 29
+f 19 29 30
+f 19 30 20
+f 21 31 32
+f 21 32 22
+f 23 25 33
+f 23 33 26
+f 24 28 34
+f 24 34 35
+f 24 35 25
+f 25 35 47
+f 25 47 36
+f 25 36 45
+f 25 45 33
+f 26 33 37
+f 26 37 29
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 28 40 34
+f 29 37 41
+f 29 41 42
+f 31 43 44
+f 31 44 32
+f 33 45 49
+f 33 49 37
+f 34 40 52
+f 34 52 46
+f 34 46 47
+f 34 47 35
+f 36 47 48
+f 36 48 45
+f 37 49 53
+f 37 53 41
+f 38 50 51
+f 38 51 39
+f 39 51 52
+f 39 52 40
+f 41 53 54
+f 41 54 42
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 44 56 57
+f 44 57 58
+f 45 48 59
+f 45 59 49
+f 46 52 60
+f 46 60 61
+f 46 61 47
+f 47 61 48
+f 48 61 62
+f 48 62 59
+f 49 59 63
+f 49 63 53
+f 50 58 64
+f 50 64 51
+f 51 64 52
+f 52 64 60
+f 53 63 54
+f 54 63 55
+f 55 63 56
+f 56 62 65
+f 56 65 57
+f 56 63 62
+f 57 65 60
+f 57 60 58
+f 58 60 64
+f 59 62 63
+f 60 65 62
+f 60 62 61
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_5.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.00839160 -0.11983572 0.01991592
+v 0.01399455 -0.11619128 0.01968995
+v -0.00034954 -0.11619767 0.01968995
+v -0.00034954 -0.11983572 0.01990723
+v 0.00278865 -0.12301064 0.01969573
+v 0.00839160 -0.12302023 0.01969863
+v 0.01399455 -0.11983572 0.01990723
+v 0.05322864 -0.11614976 0.01967257
+v 0.01959749 -0.11616253 0.01968416
+v -0.00034954 -0.11340284 0.01854270
+v 0.02521391 -0.11613698 0.01967836
+v 0.13724592 -0.11396501 0.01906708
+v 0.03081685 -0.11334535 0.01868466
+v 0.02521391 -0.11334215 0.01866148
+v -0.00034954 -0.12300425 0.01968993
+v 0.00839160 -0.12385706 0.01701588
+v 0.09805223 -0.12405829 0.01701587
+v 0.01399455 -0.12300745 0.01968993
+v 0.10365517 -0.12405190 0.01701587
+v 0.05322864 -0.12290843 0.01962909
+v 0.09805223 -0.12278386 0.01955667
+v 0.05322864 -0.11983572 0.01982900
+v 0.04762570 -0.11614017 0.01967257
+v 0.09805223 -0.11646597 0.01959145
+v 0.13724592 -0.11398736 0.01907287
+v -0.00034954 -0.11211243 0.01745918
+v 0.13724592 -0.10877141 0.01626847
+v 0.13724592 -0.10910679 0.01647996
+v -0.00034954 -0.12346420 0.01819791
+v 0.00278865 -0.12384110 0.01701588
+v 0.07564043 -0.12386344 0.01352774
+v 0.10365517 -0.12392093 0.01349876
+v 0.10925811 -0.12393052 0.01349586
+v 0.11486107 -0.12393052 0.01349296
+v 0.12046402 -0.12393052 0.01349296
+v 0.12608042 -0.12393052 0.01349586
+v 0.12608042 -0.12396885 0.01701587
+v 0.10365517 -0.12276470 0.01954508
+v 0.13168337 -0.12265929 0.01949003
+v 0.13476770 -0.12264651 0.01948424
+v 0.09805223 -0.11983572 0.01967546
+v 0.13724592 -0.11675982 0.01950164
+v -0.00034954 -0.11048344 0.01608594
+v 0.13724592 -0.09143064 -0.00968106
+v -0.00034954 -0.12382832 0.01701588
+v 0.07002402 -0.12384428 0.01354512
+v -0.00034954 -0.11352411 -0.00968114
+v 0.00142832 -0.11352730 -0.00968114
+v 0.00278865 -0.11352730 -0.00968114
+v 0.08124338 -0.11334524 -0.00968114
+v 0.08684632 -0.11332608 -0.00968114
+v 0.09244928 -0.11330052 -0.00968114
+v 0.09562787 -0.11328455 -0.00968114
+v 0.09805223 -0.11327178 -0.00968114
+v 0.13168337 -0.12390178 0.01350745
+v 0.04202275 -0.11345065 -0.00968114
+v 0.13168337 -0.12393372 0.01701587
+v 0.13689573 -0.12351210 0.01742438
+v 0.13724592 -0.12348975 0.01733167
+v 0.13724592 -0.12299467 0.01782997
+v 0.13724592 -0.11980059 0.01946397
+v 0.13724592 -0.11927356 0.01949873
+v 0.13689573 -0.11945883 0.01950163
+v 0.13168337 -0.11983572 0.01953060
+v 0.13724592 -0.11706646 0.01950164
+v 0.02521391 -0.09333751 -0.00968106
+v -0.00034954 -0.09395396 -0.00968107
+v 0.13724592 -0.10979342 -0.00968112
+v -0.00034954 -0.12362389 0.01529209
+v -0.00034954 -0.12345460 0.01393044
+v 0.10123081 -0.11324303 -0.00968114
+v 0.11486107 -0.11304820 -0.00968114
+v 0.11803966 -0.11296514 -0.00968113
+v 0.12057176 -0.11289487 -0.00968113
+v 0.13724592 -0.12372291 0.01359727
+v 0.10365517 -0.11321748 -0.00968114
+v 0.10683377 -0.11317276 -0.00968114
+v 0.10925811 -0.11313762 -0.00968114
+v 0.13724592 -0.12369735 0.01403473
+v 0.13712470 -0.10984452 -0.00968112
+v 0.12608042 -0.11245409 -0.00968113
+v 0.13041732 -0.11177056 -0.00968113
+v 0.13219519 -0.11137769 -0.00968113
+v 0.13320533 -0.11113174 -0.00968113
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 26
+f 3 26 43
+f 3 43 67
+f 3 67 47
+f 3 47 70
+f 3 70 69
+f 3 69 45
+f 3 45 29
+f 3 29 15
+f 3 15 4
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 10
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 18 7
+f 6 17 19
+f 6 19 18
+f 7 18 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 23 11
+f 8 11 9
+f 8 22 24
+f 8 24 25
+f 8 25 12
+f 8 12 23
+f 10 14 27
+f 10 27 26
+f 11 23 12
+f 12 25 42
+f 12 42 65
+f 12 65 62
+f 12 62 61
+f 12 61 60
+f 12 60 59
+f 12 59 79
+f 12 79 75
+f 12 75 68
+f 12 68 44
+f 12 44 27
+f 12 27 28
+f 12 28 13
+f 13 28 14
+f 14 28 27
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 19
+f 18 19 20
+f 19 21 20
+f 19 36 37
+f 19 37 21
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 22 41 42
+f 22 42 24
+f 24 42 25
+f 26 27 43
+f 27 44 43
+f 29 45 30
+f 30 45 46
+f 30 46 31
+f 31 46 47
+f 31 47 32
+f 32 47 33
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 34 49 35
+f 35 49 36
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 36 49 56
+f 36 56 50
+f 37 55 57
+f 37 57 40
+f 37 40 39
+f 37 39 38
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 63
+f 40 63 64
+f 40 64 41
+f 41 64 42
+f 42 64 65
+f 43 66 67
+f 43 44 66
+f 44 68 80
+f 44 80 84
+f 44 84 83
+f 44 83 82
+f 44 82 81
+f 44 81 74
+f 44 74 73
+f 44 73 72
+f 44 72 78
+f 44 78 77
+f 44 77 76
+f 44 76 71
+f 44 71 54
+f 44 54 53
+f 44 53 52
+f 44 52 51
+f 44 51 50
+f 44 50 56
+f 44 56 49
+f 44 49 48
+f 44 48 47
+f 44 47 67
+f 44 67 66
+f 45 69 46
+f 46 69 70
+f 46 70 47
+f 54 71 55
+f 55 72 73
+f 55 73 74
+f 55 74 75
+f 55 75 57
+f 55 71 76
+f 55 76 77
+f 55 77 78
+f 55 78 72
+f 57 75 79
+f 57 79 58
+f 58 79 59
+f 62 65 63
+f 63 65 64
+f 68 75 80
+f 74 81 75
+f 75 81 82
+f 75 82 83
+f 75 83 84
+f 75 84 80
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_6.obj

@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
+v -0.14528162 0.00036013 -0.02013810
+v -0.14528162 -0.00801653 -0.02011804
+v -0.14528162 0.00036010 -0.01009780
+v -0.14292661 0.00036013 -0.02022250
+v -0.14292661 -0.00242461 -0.02021849
+v -0.14528162 -0.01117181 -0.02010867
+v -0.14292661 -0.00801653 -0.02020377
+v -0.14528162 -0.09100839 -0.00656694
+v -0.04205866 0.00036010 -0.00991025
+v -0.14010344 0.00036013 -0.02023589
+v -0.13732283 -0.00242461 -0.02024260
+v -0.13732283 -0.00801653 -0.02023190
+v -0.14528162 -0.08628103 -0.01988390
+v -0.13732283 -0.01360845 -0.02021719
+v -0.14292661 -0.01360845 -0.02018638
+v -0.14528162 -0.10614476 -0.00656700
+v -0.00034954 -0.10315791 -0.00656699
+v -0.00034954 0.00036010 -0.00986873
+v -0.03645488 0.00036010 -0.00990356
+v -0.13732283 0.00036013 -0.02024661
+v -0.13171906 0.00036013 -0.02025063
+v -0.13171906 -0.00801653 -0.02023458
+v -0.14528162 -0.09004266 -0.01986649
+v -0.14292661 -0.08628103 -0.01991337
+v -0.09808222 -0.09746488 -0.01998039
+v -0.13171906 -0.09746488 -0.01990805
+v -0.13732283 -0.05274070 -0.02006461
+v -0.05326621 -0.09746488 -0.02001120
+v -0.14528162 -0.10550471 -0.00904258
+v -0.14469996 -0.10658268 -0.00656700
+v -0.00034954 -0.11435299 -0.00656703
+v -0.00034954 0.00036013 -0.02014346
+v -0.05326621 0.00036013 -0.02024393
+v -0.04766243 -0.09187295 -0.02002458
+v -0.14528162 -0.09099711 -0.01983434
+v -0.14255776 -0.09168206 -0.01987454
+v -0.13502457 -0.10036190 -0.01986251
+v -0.09808222 -0.10102440 -0.01990672
+v -0.13171906 -0.10045172 -0.01987457
+v -0.04766243 -0.09746488 -0.02000986
+v -0.05326621 -0.10122651 -0.01992146
+v -0.14528162 -0.10548225 -0.00910688
+v -0.14523906 -0.10552718 -0.00905866
+v -0.14319616 -0.10717780 -0.00747391
+v -0.14313941 -0.10745853 -0.00656700
+v -0.00730106 -0.11434176 -0.00656703
+v -0.01964355 -0.11408349 -0.00755298
+v -0.00283223 -0.11410594 -0.00755298
+v -0.00034954 -0.11410594 -0.00755298
+v -0.00034954 -0.09187295 -0.01990401
+v -0.00283223 -0.09187295 -0.01991339
+v -0.02524733 -0.09187295 -0.01998573
+v -0.03085111 -0.09187295 -0.02000314
+v -0.03645488 0.00036013 -0.02022518
+v -0.05044304 0.00036013 -0.02024259
+v -0.04205866 -0.09187295 -0.02002190
+v -0.14417505 -0.09342252 -0.01977675
+v -0.14528162 -0.09292845 -0.01951821
+v -0.10368600 -0.10368562 -0.01961202
+v -0.12051151 -0.10334876 -0.01951289
+v -0.12611528 -0.10331506 -0.01941644
+v -0.13171906 -0.10324769 -0.01914048
+v -0.13705330 -0.10256273 -0.01865019
+v -0.13875570 -0.09866635 -0.01976471
+v -0.09247845 -0.10380914 -0.01964149
+v -0.09808222 -0.10382035 -0.01963077
+v -0.05326621 -0.10402248 -0.01966694
+v -0.04766243 -0.10121529 -0.01992012
+v -0.03645488 -0.09187295 -0.02001386
+v -0.03085111 -0.09746488 -0.01997771
+v -0.01964355 -0.10096825 -0.01988395
+v -0.02524733 -0.10103562 -0.01989199
+v -0.01964355 -0.10376421 -0.01969240
+v -0.14528162 -0.10410109 -0.01246793
+v -0.14430273 -0.10490956 -0.01246794
+v -0.14149375 -0.10661635 -0.01246794
+v -0.13732283 -0.10983901 -0.00755296
+v -0.13735121 -0.11007483 -0.00656701
+v -0.01403978 -0.11433053 -0.00656703
+v -0.00283223 -0.11274724 -0.01246796
+v -0.00034954 -0.11335360 -0.01030184
+v -0.02524733 -0.11430808 -0.00656703
+v -0.04205866 -0.11402735 -0.00755298
+v -0.00034954 -0.09434328 -0.01989599
+v -0.02524733 -0.09746488 -0.01996297
+v -0.00283223 -0.09746488 -0.01989198
+v -0.04205866 0.00036013 -0.02023589
+v -0.04766243 0.00036013 -0.02024125
+v -0.04483926 0.00036013 -0.02023857
+v -0.14255776 -0.09707187 -0.01931863
+v -0.14528162 -0.09439942 -0.01909490
+v -0.11490774 -0.10835679 -0.01709627
+v -0.12051151 -0.10819958 -0.01705608
+v -0.12611528 -0.10796378 -0.01695963
+v -0.13171906 -0.10753709 -0.01668367
+v -0.13732283 -0.10673984 -0.01595090
+v -0.14262869 -0.10305682 -0.01660596
+v -0.04766243 -0.10864874 -0.01748074
+v -0.05326621 -0.10864874 -0.01746198
+v -0.05886998 -0.10864874 -0.01742849
+v -0.08127090 -0.10864874 -0.01728783
+v -0.08687467 -0.10864874 -0.01724898
+v -0.10368600 -0.10852522 -0.01715387
+v -0.10928977 -0.10845785 -0.01712574
+v -0.02524733 -0.10383159 -0.01968570
+v -0.04766243 -0.10401124 -0.01966694
+v -0.00034954 -0.10864874 -0.01757719
+v -0.00283223 -0.10864874 -0.01757719
+v -0.00843601 -0.10864874 -0.01757049
+v -0.01403978 -0.10864874 -0.01756245
+v -0.01964355 -0.10864874 -0.01755173
+v -0.03085111 -0.10864874 -0.01752762
+v -0.03645488 -0.10864874 -0.01751289
+v -0.01403978 -0.10364069 -0.01969240
+v -0.00034954 -0.10051910 -0.01985314
+v -0.00034954 -0.10174304 -0.01977544
+v -0.00034954 -0.10331506 -0.01967498
+v -0.14528162 -0.10340491 -0.01383164
+v -0.14057161 -0.10609981 -0.01525699
+v -0.13732283 -0.10841294 -0.01246795
+v -0.13618789 -0.11047906 -0.00656702
+v -0.00283223 -0.11171419 -0.01528112
+v -0.00034954 -0.11217458 -0.01404065
+v -0.00034954 -0.11274724 -0.01246796
+v -0.04205866 -0.11264619 -0.01246796
+v -0.03645488 -0.11166928 -0.01522218
+v -0.04205866 -0.11426316 -0.00656703
+v -0.04654167 -0.11424071 -0.00656703
+v -0.05326621 -0.11395997 -0.00755298
+v -0.00034954 -0.09746488 -0.01988394
+v -0.00034954 -0.09877864 -0.01987322
+v -0.14528162 -0.10184411 -0.01610226
+v -0.14528162 -0.09717293 -0.01814380
+v -0.09037880 -0.11145594 -0.01494086
+v -0.09412411 -0.11142225 -0.01486183
+v -0.09808222 -0.11137734 -0.01475466
+v -0.10368600 -0.11132119 -0.01459123
+v -0.10928977 -0.11125382 -0.01440100
+v -0.11490774 -0.11115276 -0.01411165
+v -0.12051151 -0.11099556 -0.01363207
+v -0.13171906 -0.11002988 -0.01246795
+v -0.12662602 -0.11089450 -0.01232596
+v -0.04205866 -0.11165804 -0.01521146
+v -0.04766243 -0.11164682 -0.01519539
+v -0.05326621 -0.11162436 -0.01517529
+v -0.08127090 -0.11151207 -0.01501722
+v -0.08687467 -0.11147839 -0.01498105
+v -0.09808222 -0.10858136 -0.01717397
+v -0.00034954 -0.10569557 -0.01875067
+v -0.00034954 -0.11171419 -0.01528246
+v -0.13337891 -0.11131000 -0.00656702
+v -0.05326621 -0.11257881 -0.01246796
+v -0.05214545 -0.11420701 -0.00656703
+v -0.05886998 -0.11416210 -0.00656703
+v -0.07566712 -0.11379154 -0.00755298
+v -0.08687467 -0.11228686 -0.01246796
+v -0.09235076 -0.11206230 -0.01292209
+v -0.10368600 -0.11212968 -0.01213574
+v -0.10928977 -0.11206231 -0.01194552
+v -0.11490774 -0.11196125 -0.01165482
+v -0.12051151 -0.11180403 -0.01117659
+v -0.12509384 -0.11162438 -0.01059386
+v -0.12882496 -0.11143350 -0.00997631
+v -0.13225815 -0.11118647 -0.00802451
+v -0.05886998 -0.11253390 -0.01246796
+v -0.08127090 -0.11234301 -0.01246796
+v -0.13082530 -0.11186020 -0.00656702
+v -0.07454636 -0.11403858 -0.00656703
+v -0.08127090 -0.11374662 -0.00755298
+v -0.09247845 -0.11360065 -0.00755298
+v -0.09808222 -0.11352204 -0.00755298
+v -0.10368600 -0.11343222 -0.00755298
+v -0.10928977 -0.11329747 -0.00755298
+v -0.11490774 -0.11309536 -0.00755298
+v -0.12051151 -0.11280341 -0.00755297
+v -0.12662602 -0.11215214 -0.00802451
+v -0.12648414 -0.11252270 -0.00656702
+v -0.13061249 -0.11189389 -0.00656702
+v -0.08015014 -0.11399367 -0.00656703
+v -0.08127090 -0.11398243 -0.00656703
+v -0.09247845 -0.11384770 -0.00656703
+v -0.09808222 -0.11376909 -0.00656703
+v -0.10256525 -0.11370172 -0.00656703
+v -0.10368600 -0.11367927 -0.00656703
+v -0.10928977 -0.11354452 -0.00656703
+v -0.11490774 -0.11334240 -0.00656703
+v -0.12051151 -0.11305046 -0.00656703
+v -0.12496616 -0.11265744 -0.00656702
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 35
+f 1 35 58
+f 1 58 91
+f 1 91 133
+f 1 133 132
+f 1 132 118
+f 1 118 74
+f 1 74 42
+f 1 42 29
+f 1 29 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 18
+f 1 18 32
+f 1 32 54
+f 1 54 87
+f 1 87 89
+f 1 89 88
+f 1 88 55
+f 1 55 33
+f 1 33 21
+f 1 21 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 14
+f 5 14 7
+f 6 7 13
+f 7 14 15
+f 7 15 13
+f 8 16 30
+f 8 30 45
+f 8 45 78
+f 8 78 121
+f 8 121 151
+f 8 151 167
+f 8 167 178
+f 8 178 177
+f 8 177 188
+f 8 188 187
+f 8 187 186
+f 8 186 185
+f 8 185 184
+f 8 184 183
+f 8 183 182
+f 8 182 181
+f 8 181 180
+f 8 180 179
+f 8 179 168
+f 8 168 154
+f 8 154 153
+f 8 153 128
+f 8 128 127
+f 8 127 82
+f 8 82 79
+f 8 79 46
+f 8 46 31
+f 8 31 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 14
+f 13 15 24
+f 13 24 23
+f 14 25 26
+f 14 26 27
+f 14 27 24
+f 14 24 15
+f 14 22 28
+f 14 28 25
+f 16 29 30
+f 17 31 49
+f 17 49 81
+f 17 81 124
+f 17 124 123
+f 17 123 150
+f 17 150 107
+f 17 107 149
+f 17 149 117
+f 17 117 116
+f 17 116 115
+f 17 115 131
+f 17 131 130
+f 17 130 84
+f 17 84 50
+f 17 50 32
+f 17 32 18
+f 21 33 22
+f 22 33 34
+f 22 34 28
+f 23 24 36
+f 23 36 37
+f 23 37 35
+f 24 27 26
+f 24 26 37
+f 24 37 36
+f 25 38 39
+f 25 39 26
+f 25 28 38
+f 26 39 37
+f 28 34 40
+f 28 40 41
+f 28 41 38
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 33 55 34
+f 34 55 56
+f 34 56 40
+f 35 57 58
+f 35 37 57
+f 37 39 59
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 57
+f 38 65 66
+f 38 66 39
+f 38 41 67
+f 38 67 65
+f 39 66 59
+f 40 68 41
+f 40 56 69
+f 40 69 53
+f 40 53 70
+f 40 70 71
+f 40 71 72
+f 40 72 68
+f 41 68 73
+f 41 73 67
+f 42 74 75
+f 42 75 43
+f 43 75 76
+f 43 76 44
+f 44 76 45
+f 45 76 77
+f 45 77 78
+f 46 79 47
+f 47 80 81
+f 47 81 48
+f 47 79 82
+f 47 82 83
+f 47 83 80
+f 48 81 49
+f 50 84 51
+f 51 84 52
+f 52 85 53
+f 52 84 86
+f 52 86 85
+f 53 85 70
+f 53 69 87
+f 53 87 54
+f 55 88 56
+f 56 88 89
+f 56 89 87
+f 56 87 69
+f 57 64 90
+f 57 90 58
+f 58 90 91
+f 59 66 92
+f 59 92 60
+f 60 92 61
+f 61 92 93
+f 61 93 94
+f 61 94 62
+f 62 95 63
+f 62 94 95
+f 63 95 96
+f 63 96 97
+f 63 97 90
+f 63 90 64
+f 65 67 66
+f 66 67 98
+f 66 98 99
+f 66 99 100
+f 66 100 101
+f 66 101 102
+f 66 102 103
+f 66 103 104
+f 66 104 92
+f 67 73 105
+f 67 105 106
+f 67 106 107
+f 67 107 108
+f 67 108 109
+f 67 109 110
+f 67 110 111
+f 67 111 112
+f 67 112 113
+f 67 113 98
+f 68 72 114
+f 68 114 73
+f 70 85 115
+f 70 115 71
+f 71 114 72
+f 71 115 116
+f 71 116 117
+f 71 117 114
+f 73 114 107
+f 73 107 105
+f 74 118 75
+f 75 119 76
+f 75 118 119
+f 76 119 120
+f 76 120 77
+f 77 120 121
+f 77 121 78
+f 80 122 123
+f 80 123 124
+f 80 124 81
+f 80 83 125
+f 80 125 126
+f 80 126 122
+f 82 127 83
+f 83 127 128
+f 83 128 153
+f 83 153 129
+f 83 129 152
+f 83 152 125
+f 84 130 86
+f 85 86 131
+f 85 131 115
+f 86 130 131
+f 90 97 132
+f 90 132 133
+f 90 133 91
+f 92 104 134
+f 92 134 135
+f 92 135 93
+f 93 135 136
+f 93 136 137
+f 93 137 138
+f 93 138 94
+f 94 138 139
+f 94 139 140
+f 94 140 95
+f 95 141 96
+f 95 140 142
+f 95 142 141
+f 96 141 120
+f 96 120 119
+f 96 119 97
+f 97 119 132
+f 98 113 126
+f 98 126 99
+f 99 126 143
+f 99 143 144
+f 99 144 100
+f 100 144 101
+f 101 144 145
+f 101 145 102
+f 102 145 146
+f 102 146 147
+f 102 147 148
+f 102 148 103
+f 103 148 147
+f 103 147 104
+f 104 147 134
+f 105 107 106
+f 107 114 149
+f 107 150 108
+f 108 150 122
+f 108 122 109
+f 109 122 110
+f 110 122 111
+f 111 122 112
+f 112 122 113
+f 113 122 126
+f 114 117 149
+f 118 132 119
+f 120 151 121
+f 120 141 151
+f 122 150 123
+f 125 152 146
+f 125 146 145
+f 125 145 144
+f 125 144 143
+f 125 143 126
+f 129 153 154
+f 129 154 155
+f 129 155 152
+f 134 147 156
+f 134 156 157
+f 134 157 135
+f 135 157 158
+f 135 158 137
+f 135 137 136
+f 137 158 159
+f 137 159 138
+f 138 159 139
+f 139 159 160
+f 139 160 161
+f 139 161 140
+f 140 161 162
+f 140 162 142
+f 141 142 163
+f 141 163 164
+f 141 164 151
+f 142 162 163
+f 146 152 165
+f 146 165 147
+f 147 165 166
+f 147 166 156
+f 151 164 167
+f 152 155 169
+f 152 169 165
+f 154 168 155
+f 155 168 179
+f 155 179 169
+f 156 166 169
+f 156 169 170
+f 156 170 171
+f 156 171 158
+f 156 158 157
+f 158 172 159
+f 158 171 172
+f 159 173 160
+f 159 172 173
+f 160 174 161
+f 160 173 174
+f 161 175 162
+f 161 174 175
+f 162 175 176
+f 162 176 163
+f 163 176 177
+f 163 177 178
+f 163 178 167
+f 163 167 164
+f 165 169 166
+f 169 179 180
+f 169 180 181
+f 169 181 170
+f 170 181 182
+f 170 182 171
+f 171 182 183
+f 171 183 172
+f 172 183 184
+f 172 184 185
+f 172 185 173
+f 173 185 186
+f 173 186 174
+f 174 186 187
+f 174 187 175
+f 175 187 176
+f 176 187 188
+f 176 188 177
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_7.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.02396729 0.10705531 -0.01991480
+v -0.02396729 0.10699264 -0.01994670
+v -0.02396729 0.10705526 -0.00644600
+v -0.01975395 0.10705531 -0.01991632
+v -0.02396729 0.10381737 -0.02006064
+v 0.11485934 0.10701353 -0.01995582
+v 0.11485934 0.10381737 -0.02007886
+v -0.02396729 0.00037054 -0.00989144
+v 0.13198750 0.10705526 -0.00472804
+v 0.11478301 0.10705531 -0.01993455
+v -0.02396729 0.09263082 -0.02008954
+v 0.10365428 0.09822933 -0.02009559
+v 0.09805176 0.09263082 -0.02010928
+v 0.11485934 0.10705531 -0.01993455
+v 0.12029394 0.10705531 -0.01990417
+v 0.12046186 0.10697174 -0.01994518
+v 0.12046186 0.10381737 -0.02006975
+v 0.13198750 0.09822933 -0.02008952
+v -0.02396729 0.00037057 -0.02019317
+v 0.02799728 0.00037054 -0.00982157
+v 0.05881881 0.00037054 -0.00981397
+v 0.06442134 0.00037054 -0.00982005
+v 0.10365428 0.00037054 -0.00987018
+v 0.13198750 0.00037054 -0.00990663
+v 0.13198750 0.10705531 -0.01908848
+v 0.03082144 0.00037054 -0.00981853
+v 0.03920233 0.00037054 -0.00981245
+v 0.04762902 0.00037054 -0.00980942
+v 0.05323155 0.00037054 -0.00980942
+v 0.05599465 0.00037054 -0.00981094
+v -0.02396729 0.09136698 -0.02009258
+v 0.12046186 0.07585623 -0.02014884
+v 0.10365428 0.08145473 -0.02013667
+v 0.12571328 0.10705531 -0.01983278
+v 0.12607966 0.10687774 -0.01992088
+v 0.12607966 0.10381737 -0.02004545
+v 0.13198750 0.10432917 -0.01996798
+v 0.13198750 0.08115182 -0.02012603
+v 0.13168218 0.08145473 -0.02012603
+v 0.12607966 0.07585623 -0.02014580
+v -0.02396729 0.00318026 -0.02020531
+v 0.05881881 0.00037057 -0.02017646
+v 0.13198750 0.00037057 -0.02013697
+v 0.13064411 0.10675240 -0.01988442
+v 0.13085783 0.10705531 -0.01966265
+v 0.13198750 0.10465297 -0.01995583
+v -0.02396729 0.02554290 -0.02024017
+v 0.12046186 0.07026819 -0.02015949
+v 0.13015560 0.10705531 -0.01972645
+v 0.13198750 0.10442318 -0.01996494
+v 0.13198750 0.07585623 -0.02013669
+v 0.12607966 0.07026819 -0.02015645
+v -0.02396729 0.00876831 -0.02022504
+v -0.02396729 0.01309252 -0.02023717
+v 0.05881881 0.00876831 -0.02019921
+v 0.12607966 0.01995485 -0.02019006
+v 0.13168218 0.01995485 -0.02018550
+v 0.13198750 0.01965195 -0.02018398
+v -0.02396729 0.02427906 -0.02024169
+v 0.12046186 0.06468014 -0.02016710
+v 0.13198750 0.06996528 -0.02014734
+v 0.13168218 0.07026819 -0.02014734
+v 0.13198750 0.06437723 -0.02015495
+v 0.13198750 0.03114140 -0.02019610
+v 0.12607966 0.03114140 -0.02020369
+v -0.02396729 0.01436680 -0.02024021
+v 0.05881881 0.01436680 -0.02021287
+v 0.12607966 0.02554290 -0.02020371
+v 0.13168218 0.02554290 -0.02019612
+v 0.13198750 0.02524000 -0.02019460
+v -0.02396729 0.01995485 -0.02024626
+v 0.13198750 0.03083849 -0.02019610
+f 1 2 5
+f 1 5 11
+f 1 11 31
+f 1 31 47
+f 1 47 59
+f 1 59 71
+f 1 71 66
+f 1 66 54
+f 1 54 53
+f 1 53 41
+f 1 41 19
+f 1 19 8
+f 1 8 3
+f 1 3 9
+f 1 9 25
+f 1 25 45
+f 1 45 49
+f 1 49 34
+f 1 34 15
+f 1 15 14
+f 1 14 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 6
+f 5 7 12
+f 5 12 13
+f 5 13 11
+f 6 10 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 12
+f 8 19 42
+f 8 42 43
+f 8 43 24
+f 8 24 23
+f 8 23 22
+f 8 22 21
+f 8 21 30
+f 8 30 29
+f 8 29 28
+f 8 28 27
+f 8 27 26
+f 8 26 20
+f 8 20 9
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 43
+f 9 43 58
+f 9 58 70
+f 9 70 72
+f 9 72 64
+f 9 64 63
+f 9 63 61
+f 9 61 51
+f 9 51 38
+f 9 38 18
+f 9 18 37
+f 9 37 50
+f 9 50 46
+f 9 46 25
+f 9 20 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 21
+f 11 13 31
+f 12 18 32
+f 12 32 33
+f 12 33 13
+f 13 33 31
+f 15 34 35
+f 15 35 16
+f 16 35 36
+f 16 36 17
+f 17 36 18
+f 18 36 37
+f 18 38 39
+f 18 39 40
+f 18 40 32
+f 19 41 42
+f 25 44 45
+f 25 46 44
+f 31 33 47
+f 32 48 47
+f 32 47 33
+f 32 40 52
+f 32 52 48
+f 34 49 44
+f 34 44 35
+f 35 44 36
+f 36 44 46
+f 36 46 50
+f 36 50 37
+f 38 51 39
+f 39 51 40
+f 40 51 52
+f 41 53 42
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 44 49 45
+f 47 48 60
+f 47 60 59
+f 48 52 60
+f 51 61 62
+f 51 62 52
+f 52 62 61
+f 52 61 63
+f 52 63 64
+f 52 64 65
+f 52 65 60
+f 54 66 67
+f 54 67 55
+f 55 67 68
+f 55 68 56
+f 56 68 57
+f 57 68 69
+f 57 69 70
+f 57 70 58
+f 59 60 65
+f 59 65 71
+f 64 72 68
+f 64 68 65
+f 65 68 71
+f 66 71 68
+f 66 68 67
+f 68 72 69
+f 69 72 70
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_8.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.15930554 0.08194815 -0.00691700
+v -0.14895326 0.08194815 -0.00691700
+v -0.15935616 0.08145300 -0.00691700
+v -0.16961732 0.08194807 0.01281616
+v -0.15446961 0.08194808 0.01210319
+v -0.14893706 0.00036009 -0.00691730
+v -0.15937844 0.08073423 -0.00691700
+v -0.16961732 0.08194806 0.01643608
+v -0.15950399 0.07586259 -0.00691702
+v -0.16961934 0.08145292 0.01280366
+v -0.15600463 0.08194806 0.01570309
+v -0.15598235 0.01435999 0.01571785
+v -0.15446354 0.01436001 0.01210294
+v -0.15446759 0.00876960 0.01210292
+v -0.15447771 0.00036002 0.01210289
+v -0.15953640 0.00036009 -0.00691730
+v -0.16534639 0.08145290 0.01847494
+v -0.16534639 0.08194805 0.01846994
+v -0.16961934 0.08145291 0.01643608
+v -0.16961124 0.05908328 0.01653356
+v -0.16534639 0.05349286 0.01863495
+v -0.15951210 0.07514382 -0.00691702
+v -0.16962339 0.07027210 0.01294621
+v -0.15955664 0.07027218 -0.00691704
+v -0.15955867 0.06954542 -0.00691704
+v -0.15956475 0.06467378 -0.00691706
+v -0.15958703 0.02554889 -0.00691721
+v -0.15958703 0.02482214 -0.00691721
+v -0.15957892 0.01923172 -0.00691723
+v -0.16960718 0.02554881 0.01297356
+v -0.15938856 0.08194806 0.01755933
+v -0.15598439 0.00876958 0.01572033
+v -0.15598844 0.00317917 0.01572281
+v -0.15599046 0.00036000 0.01572280
+v -0.15522902 0.00036001 0.01390159
+v -0.16957276 0.00036001 0.01303851
+v -0.15956677 0.01364131 -0.00691725
+v -0.16485227 0.08194805 0.01842240
+v -0.16962339 0.07027209 0.01643854
+v -0.16960515 0.05349287 0.01655106
+v -0.16961934 0.06467369 0.01647354
+v -0.16960718 0.02554880 0.01641586
+v -0.15974295 0.08194805 0.01773695
+v -0.16957276 0.00036000 0.01647080
+v -0.16534639 0.00035999 0.01848715
+v -0.16256391 0.00035999 0.01811690
+v -0.15974295 0.00035999 0.01773915
+v -0.15787987 0.00036000 0.01674098
+v -0.16960515 0.04790246 0.01652602
+f 1 2 6
+f 1 6 16
+f 1 16 37
+f 1 37 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 22
+f 1 22 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 38
+f 1 38 43
+f 1 43 31
+f 1 31 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 19
+f 4 19 8
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 35
+f 6 35 34
+f 6 34 48
+f 6 48 47
+f 6 47 46
+f 6 46 45
+f 6 45 44
+f 6 44 36
+f 6 36 16
+f 8 17 18
+f 8 19 20
+f 8 20 21
+f 8 21 17
+f 9 22 10
+f 10 23 39
+f 10 39 19
+f 10 22 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 23
+f 11 31 12
+f 12 32 13
+f 12 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 14
+f 14 34 35
+f 14 35 15
+f 16 36 30
+f 16 30 37
+f 17 38 18
+f 17 21 38
+f 19 39 20
+f 20 40 21
+f 20 39 41
+f 20 41 42
+f 20 42 40
+f 21 43 38
+f 21 40 44
+f 21 44 45
+f 21 45 46
+f 21 46 47
+f 21 47 43
+f 23 30 42
+f 23 42 39
+f 29 37 30
+f 30 36 44
+f 30 44 42
+f 31 43 47
+f 31 47 48
+f 31 48 33
+f 31 33 32
+f 33 48 34
+f 39 42 41
+f 40 49 44
+f 40 42 49
+f 42 44 49
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mjcf/mesh/tray_collision_9.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.12611336 0.12059380 0.01838100
+v -0.12611336 0.12479379 0.01642455
+v -0.12611336 0.11500477 0.01749686
+v -0.02397730 0.11500477 0.01740275
+v -0.09809444 0.12059380 0.01835376
+v -0.09248466 0.12484125 0.01642455
+v -0.09809444 0.12483942 0.01642703
+v -0.12611336 0.12479380 0.01314066
+v -0.12611336 0.11142539 0.01554286
+v -0.05326617 0.11141627 0.01550075
+v -0.02524724 0.11142174 0.01548837
+v -0.02397730 0.11223400 0.01592424
+v -0.02397730 0.12059380 0.01820269
+v -0.09248466 0.12059380 0.01834633
+v -0.09248466 0.12484126 0.01312827
+v -0.08688487 0.12483395 0.01641712
+v -0.02397730 0.12476094 0.01628587
+v -0.09809444 0.12483943 0.01312827
+v -0.10369422 0.11584998 -0.00691937
+v -0.10441419 0.11584815 -0.00691937
+v -0.10929401 0.11583355 -0.00691937
+v -0.11490380 0.11579157 -0.00691937
+v -0.12050357 0.11572221 -0.00691937
+v -0.12123356 0.11570030 -0.00691938
+v -0.12611336 0.11551960 -0.00691938
+v -0.07567530 0.11590839 -0.00691937
+v -0.12611336 0.11032841 0.01209798
+v -0.05326617 0.11031016 0.01210294
+v -0.02397730 0.11141992 0.01548589
+v -0.02524724 0.12476094 0.01629330
+v -0.03084703 0.12476276 0.01631063
+v -0.03644681 0.12477006 0.01632302
+v -0.02397730 0.12476095 0.01321248
+v -0.08688487 0.12483396 0.01313323
+v -0.02596721 0.11586823 -0.00691937
+v -0.06447573 0.11591934 -0.00691937
+v -0.07007552 0.11591752 -0.00691937
+v -0.12611336 0.10619421 -0.00691941
+v -0.02397730 0.11033937 0.01210294
+v -0.02397730 0.11586457 -0.00691937
+v -0.04765638 0.10635666 -0.00691941
+v -0.03084703 0.10643515 -0.00691941
+v -0.02397730 0.10646983 -0.00691941
+v -0.04205660 0.10637857 -0.00691941
+f 1 2 8
+f 1 8 25
+f 1 25 38
+f 1 38 27
+f 1 27 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 18
+f 2 18 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 29
+f 4 29 39
+f 4 39 43
+f 4 43 40
+f 4 40 33
+f 4 33 17
+f 4 17 13
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 15 18
+f 6 18 7
+f 6 14 16
+f 6 16 17
+f 6 17 33
+f 6 33 15
+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 18 26
+f 8 26 19
+f 9 27 28
+f 9 28 10
+f 10 28 29
+f 10 29 11
+f 11 29 12
+f 13 17 30
+f 13 30 31
+f 13 31 32
+f 13 32 16
+f 13 16 14
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 18
+f 16 32 30
+f 16 30 17
+f 18 36 37
+f 18 37 26
+f 19 26 37
+f 19 37 36
+f 19 36 35
+f 19 35 40
+f 19 40 43
+f 19 43 42
+f 19 42 44
+f 19 44 41
+f 19 41 38
+f 19 38 25
+f 19 25 24
+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 27 38 28
+f 28 39 29
+f 28 38 39
+f 30 32 31
+f 33 40 35
+f 33 35 34
+f 38 41 39
+f 39 42 43
+f 39 41 44
+f 39 44 42
+

dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:995e810bf0bfe41c578a58ad79f1b7bdbc74f3896a4adf01c59eada9a19e6526
+size 186141