Add asset kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366

.gitattributes

@@ -4442,3 +4442,6 @@ dataset/kitchen_supplies/tableware/f17ebe59e39f55e2be5bfe1e33792033/mesh/metal_b
 dataset/kitchen_supplies/tableware/f19a8e93a83553e5b98a8632bfe4745b/f19a8e93a83553e5b98a8632bfe4745b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f19a8e93a83553e5b98a8632bfe4745b/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f19a8e93a83553e5b98a8632bfe4745b/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/f35b2a5b4d3150e0805eddbac15ad366.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/f35b2a5b4d3150e0805eddbac15ad366.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_tray">
+   <link name="metal_tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_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/metal_tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.267297</scale>
+         <version>v0.1.7</version>
+         <category>metal tray</category>
+         <description>rectangular dark metal tray with slightly raised edges</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260119211309</generate_time>
+         <gs_model>mesh/metal_tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object has visible dents and irregularities in geometry.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.579255104064941</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/f35b2a5b4d3150e0805eddbac15ad366/f35b2a5b4d3150e0805eddbac15ad366.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d5222e05fdc601ae8273c63fcaa2e14cf1100ed468bf24074a0ac2c9f3795e5
+size 485735

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/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/f35b2a5b4d3150e0805eddbac15ad366/mesh/metal_tray.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ff867c2258557b54e8502ae8ecc00d18643eb13bc444cc5d0b0e25c5d533bf
+size 1873356

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mesh/metal_tray_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46ece0d6a8cd3671349bca35b8ca36b4c53ef2976d16621ebc4bb99fb8a987f
+size 1538569

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/f35b2a5b4d3150e0805eddbac15ad366.xml

@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="metal_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/metal_tray.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/metal_tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/metal_tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/metal_tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/metal_tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/metal_tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/metal_tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/metal_tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/metal_tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/metal_tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/metal_tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/metal_tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/metal_tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/metal_tray_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/metal_tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/metal_tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/metal_tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/metal_tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/metal_tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/metal_tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/metal_tray_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/metal_tray_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/metal_tray_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/metal_tray_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="metal_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" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_0.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.11199828 -0.07524774 -0.02305903
+v -0.11199828 -0.07823316 -0.02305448
+v -0.11299817 -0.07823316 -0.02255713
+v -0.11299817 -0.07380167 -0.02256167
+v -0.11199828 -0.00051088 -0.02264353
+v -0.11199828 -0.07957816 -0.02299060
+v -0.11570686 -0.07823316 -0.02066810
+v -0.11572436 -0.07380167 -0.02068177
+v -0.11211424 -0.07993579 -0.02290390
+v -0.11299817 -0.07993579 -0.02243393
+v -0.11466758 -0.07993579 -0.02127040
+v -0.11299817 -0.00051088 -0.02209142
+v -0.11199828 -0.00051091 -0.01387826
+v -0.11199828 -0.07993579 -0.02296322
+v -0.11562809 -0.07993579 -0.02058597
+v -0.11743315 -0.07823317 -0.01808095
+v -0.11750316 -0.07380168 -0.01808093
+v -0.11700431 -0.00051089 -0.01808066
+v -0.11610725 -0.00051089 -0.01926244
+v -0.11533709 -0.00051089 -0.02027540
+v -0.11425624 -0.00051088 -0.02111497
+v -0.11199828 -0.02914462 -0.01400613
+v -0.12236479 -0.00051103 0.01891965
+v -0.12227509 -0.02062382 0.01891957
+v -0.12213068 -0.07993594 0.01891936
+v -0.11199828 -0.07993582 -0.01432115
+v -0.11728000 -0.07993580 -0.01808095
+v -0.11914632 -0.07823318 -0.01499189
+v -0.11920102 -0.07380169 -0.01509681
+v -0.11919883 -0.06937018 -0.01510136
+v -0.11908943 -0.00051090 -0.01500529
+v -0.12347190 -0.00051104 0.02183076
+v -0.12340627 -0.02062383 0.02185806
+v -0.12283521 -0.07993595 0.02068975
+v -0.11907193 -0.07993582 -0.01480937
+v -0.13384936 -0.07380181 0.01517326
+v -0.13405502 -0.06937029 0.01492689
+v -0.13406597 -0.06493102 0.01491321
+v -0.13407035 -0.05163652 0.01489957
+v -0.13407035 -0.04720502 0.01490415
+v -0.12014621 -0.00051091 -0.01295200
+v -0.12626373 -0.00051105 0.02355096
+v -0.12626373 -0.00289784 0.02355551
+v -0.12332968 -0.07993595 0.02186241
+v -0.11964955 -0.07993582 -0.01354546
+v -0.13340958 -0.07694272 0.01589419
+v -0.13343147 -0.07993594 0.01933914
+v -0.13418412 -0.07380182 0.01891938
+v -0.12000180 -0.07993582 -0.01275608
+v -0.13434822 -0.06937031 0.01891940
+v -0.13407035 -0.04277352 0.01492242
+v -0.12138460 -0.00051092 -0.00985837
+v -0.13068558 -0.00051105 0.02345514
+v -0.12626373 -0.00732934 0.02354637
+v -0.12449367 -0.07993595 0.02245102
+v -0.13343147 -0.07993594 0.01987756
+v -0.13328706 -0.07993595 0.02150651
+v -0.13329143 -0.02062383 0.02168010
+v -0.13328050 -0.00051104 0.02173494
+v -0.13432853 -0.04277354 0.01891949
+v -0.13328050 -0.00051103 0.02028851
+v -0.13068558 -0.00289784 0.02344601
+v -0.12626373 -0.07993596 0.02332709
+v -0.13188458 -0.00051104 0.02266120
+v -0.13328486 -0.01619233 0.02169838
+v -0.13068558 -0.07993595 0.02297119
+v -0.13068558 -0.01176084 0.02340035
+v -0.13068558 -0.00732934 0.02342773
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 26
+f 1 26 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 7
+f 4 8 12
+f 4 12 5
+f 5 12 21
+f 5 21 20
+f 5 20 19
+f 5 19 18
+f 5 18 31
+f 5 31 41
+f 5 41 52
+f 5 52 61
+f 5 61 59
+f 5 59 64
+f 5 64 53
+f 5 53 42
+f 5 42 32
+f 5 32 23
+f 5 23 13
+f 6 14 9
+f 7 11 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 12
+f 9 14 26
+f 9 26 25
+f 9 25 34
+f 9 34 44
+f 9 44 55
+f 9 55 63
+f 9 63 66
+f 9 66 57
+f 9 57 56
+f 9 56 47
+f 9 47 49
+f 9 49 45
+f 9 45 35
+f 9 35 27
+f 9 27 15
+f 9 15 11
+f 9 11 10
+f 13 23 24
+f 13 24 25
+f 13 25 22
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 22 25 26
+f 23 32 24
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 27 35 28
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 32 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 35 45 36
+f 36 46 47
+f 36 47 48
+f 36 48 37
+f 36 45 49
+f 36 49 46
+f 37 48 50
+f 37 50 38
+f 38 50 39
+f 39 50 40
+f 40 50 51
+f 40 51 41
+f 41 51 52
+f 42 53 43
+f 43 53 54
+f 43 54 44
+f 44 54 55
+f 46 49 47
+f 47 56 48
+f 48 56 57
+f 48 57 50
+f 50 57 58
+f 50 58 59
+f 50 59 60
+f 50 60 51
+f 51 60 61
+f 51 61 52
+f 53 62 63
+f 53 63 54
+f 53 64 65
+f 53 65 57
+f 53 57 62
+f 54 63 55
+f 57 66 67
+f 57 67 68
+f 57 68 62
+f 57 65 58
+f 58 65 59
+f 59 65 64
+f 59 61 60
+f 62 68 63
+f 63 68 67
+f 63 67 66
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_1.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.11200037 -0.11183149 0.02154809
+v -0.11200037 -0.10954588 0.02291584
+v -0.11205072 -0.11182837 0.02154348
+v -0.11200037 -0.11183148 0.02012969
+v -0.11200037 -0.10482479 0.02376782
+v -0.11299908 -0.10482479 0.02392439
+v -0.11742198 -0.10482479 0.02402571
+v -0.11742198 -0.10861228 0.02238625
+v -0.11331380 -0.10965829 0.02263493
+v -0.12054192 -0.10772864 0.02176454
+v -0.11205072 -0.11182836 0.02013890
+v -0.11200037 -0.09804276 -0.00985933
+v -0.12626356 -0.07993597 0.02332582
+v -0.11200037 -0.10097172 0.02190734
+v -0.12333035 -0.07993596 0.02186136
+v -0.12449482 -0.07993596 0.02245083
+v -0.12626356 -0.08709880 0.02380473
+v -0.12626356 -0.09153264 0.02408102
+v -0.12184276 -0.10039096 0.02405336
+v -0.12194767 -0.10496841 0.02263494
+v -0.12498788 -0.10358518 0.02184746
+v -0.12054192 -0.10772863 0.01985339
+v -0.11331380 -0.11064184 0.01882642
+v -0.11200037 -0.09660956 -0.01287573
+v -0.13068644 -0.07993596 0.02297122
+v -0.12213231 -0.07993595 0.01891864
+v -0.12283309 -0.07993596 0.02069164
+v -0.11200037 -0.07993583 -0.01431710
+v -0.13068644 -0.08266808 0.02305410
+v -0.12626356 -0.09596023 0.02392443
+v -0.12638315 -0.10042529 0.02256588
+v -0.12900583 -0.09897024 0.02164485
+v -0.12498788 -0.10358517 0.01974288
+v -0.11200037 -0.09495779 -0.01576319
+v -0.13328605 -0.07993596 0.02150676
+v -0.11200037 -0.07993580 -0.02296566
+v -0.13328605 -0.08266808 0.02152517
+v -0.13068644 -0.08709879 0.02289290
+v -0.13096970 -0.09124537 0.02231262
+v -0.12978005 -0.09596022 0.02226656
+v -0.13295034 -0.08957800 0.02106462
+v -0.12900583 -0.09897023 0.02001461
+v -0.11530075 -0.09385559 -0.01210204
+v -0.11455801 -0.09285953 -0.01484214
+v -0.11200037 -0.09380561 -0.01738881
+v -0.13343292 -0.07993595 0.01987652
+v -0.11200037 -0.08266792 -0.02276765
+v -0.11299908 -0.07993580 -0.02243607
+v -0.13310981 -0.08709879 0.02129950
+v -0.13295034 -0.08957800 0.02084818
+v -0.11835984 -0.08674895 -0.01362635
+v -0.11556511 -0.08990571 -0.01660132
+v -0.11311658 -0.09167611 -0.01822236
+v -0.11200037 -0.09242237 -0.01890393
+v -0.13343292 -0.07993595 0.01933771
+v -0.11200037 -0.08370456 -0.02256503
+v -0.11299908 -0.08266792 -0.02223805
+v -0.11466711 -0.07993580 -0.02127095
+v -0.13310981 -0.08709879 0.02048898
+v -0.11987051 -0.08266795 -0.01246121
+v -0.11968168 -0.08503787 -0.01202833
+v -0.11602671 -0.08677391 -0.01801510
+v -0.11462514 -0.08803225 -0.01934140
+v -0.11200037 -0.09075812 -0.02029008
+v -0.12000269 -0.07993583 -0.01275593
+v -0.11200037 -0.08691129 -0.02187887
+v -0.11308930 -0.08677390 -0.02131243
+v -0.11528606 -0.08507843 -0.02022559
+v -0.11550007 -0.08266792 -0.02045123
+v -0.11562806 -0.07993580 -0.02058477
+v -0.11895362 -0.08266795 -0.01451973
+v -0.11200037 -0.08964341 -0.02098086
+v -0.11965021 -0.07993583 -0.01354342
+v -0.11703172 -0.08266793 -0.01808416
+v -0.11727930 -0.07993581 -0.01808415
+v -0.11907321 -0.07993583 -0.01480985
+f 1 2 3
+f 1 3 11
+f 1 11 4
+f 1 4 12
+f 1 12 24
+f 1 24 34
+f 1 34 45
+f 1 45 54
+f 1 54 64
+f 1 64 72
+f 1 72 66
+f 1 66 56
+f 1 56 47
+f 1 47 36
+f 1 36 28
+f 1 28 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 10
+f 3 10 22
+f 3 22 11
+f 4 11 12
+f 5 13 6
+f 5 14 15
+f 5 15 16
+f 5 16 13
+f 6 17 18
+f 6 18 7
+f 6 13 17
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 10
+f 10 20 21
+f 10 21 33
+f 10 33 22
+f 11 22 23
+f 11 23 12
+f 12 23 22
+f 12 22 24
+f 13 25 17
+f 13 16 15
+f 13 15 27
+f 13 27 26
+f 13 26 28
+f 13 28 36
+f 13 36 48
+f 13 48 58
+f 13 58 70
+f 13 70 75
+f 13 75 76
+f 13 76 73
+f 13 73 65
+f 13 65 55
+f 13 55 46
+f 13 46 35
+f 13 35 25
+f 14 26 27
+f 14 27 15
+f 14 28 26
+f 17 25 18
+f 18 25 29
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 21 32 42
+f 21 42 33
+f 21 31 32
+f 22 33 34
+f 22 34 24
+f 25 35 29
+f 29 37 38
+f 29 38 30
+f 29 35 37
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 32
+f 32 40 41
+f 32 41 50
+f 32 50 42
+f 33 42 43
+f 33 43 34
+f 34 43 44
+f 34 44 45
+f 35 46 37
+f 36 47 57
+f 36 57 48
+f 37 46 49
+f 37 49 38
+f 38 49 39
+f 39 49 41
+f 39 41 40
+f 41 49 59
+f 41 59 50
+f 42 50 51
+f 42 51 52
+f 42 52 44
+f 42 44 43
+f 44 52 53
+f 44 53 45
+f 45 53 54
+f 46 55 59
+f 46 59 49
+f 47 56 57
+f 48 57 58
+f 50 59 60
+f 50 60 61
+f 50 61 51
+f 51 61 62
+f 51 62 52
+f 52 62 63
+f 52 63 53
+f 53 63 64
+f 53 64 54
+f 55 65 60
+f 55 60 59
+f 56 66 67
+f 56 67 57
+f 57 67 68
+f 57 68 69
+f 57 69 70
+f 57 70 58
+f 60 65 71
+f 60 71 61
+f 61 71 68
+f 61 68 62
+f 62 68 63
+f 63 68 72
+f 63 72 64
+f 65 73 71
+f 66 72 67
+f 67 72 68
+f 68 71 74
+f 68 74 69
+f 69 74 75
+f 69 75 70
+f 71 73 76
+f 71 76 74
+f 74 76 75
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_10.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.11199827 -0.00051087 -0.02264652
+v -0.11199827 -0.00051090 -0.01388156
+v -0.10950138 -0.00051086 -0.02401332
+v -0.11199827 -0.07525019 -0.02305827
+v -0.11199827 -0.08451862 -0.01271782
+v 0.00086978 -0.00051088 -0.01907923
+v -0.10993226 -0.07822726 -0.02408159
+v -0.10729175 -0.00051086 -0.02439736
+v -0.10772263 -0.07822726 -0.02447040
+v -0.11199827 -0.07822727 -0.02305470
+v -0.11199827 -0.08451859 -0.02238921
+v 0.00086978 -0.08451860 -0.01948505
+v 0.00086978 -0.00051086 -0.02452259
+v -0.10970025 -0.08265997 -0.02398380
+v -0.11199827 -0.07957600 -0.02299030
+v -0.10749062 -0.08265997 -0.02446087
+v -0.10414302 -0.00051086 -0.02460250
+v -0.10414302 -0.07822726 -0.02474352
+v -0.10414302 -0.08265997 -0.02473280
+v -0.11199827 -0.08369620 -0.02256453
+v -0.11120280 -0.08451859 -0.02282096
+v 0.00086978 -0.08451858 -0.02488905
+v 0.00086978 -0.03723906 -0.02478154
+v -0.08883027 -0.00051086 -0.02468241
+v -0.10921413 -0.08451858 -0.02387051
+v -0.11199827 -0.08265998 -0.02277085
+v -0.10719232 -0.08451858 -0.02441556
+v -0.09972376 -0.00051086 -0.02467048
+v -0.09972376 -0.07822726 -0.02482820
+v -0.09972376 -0.08265997 -0.02483060
+v -0.10228693 -0.08451858 -0.02473877
+v -0.10424246 -0.08451858 -0.02464336
+v -0.09344840 -0.08451858 -0.02483538
+v -0.09530450 -0.08265997 -0.02485803
+v 0.00086978 -0.08265997 -0.02490097
+v 0.00086978 -0.03834929 -0.02478870
+v -0.09088523 -0.00051086 -0.02468479
+v -0.09767984 -0.00051086 -0.02467644
+v -0.09530450 -0.07822726 -0.02485325
+v -0.09786766 -0.08451858 -0.02481868
+v -0.09972376 -0.08451858 -0.02479483
+v -0.09530450 -0.08451858 -0.02483419
+v 0.00086978 -0.04720649 -0.02482331
+v 0.00086978 -0.04277378 -0.02481257
+v -0.09326058 -0.00051086 -0.02468360
+v -0.09530450 -0.00051086 -0.02468241
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 37
+f 1 37 45
+f 1 45 46
+f 1 46 38
+f 1 38 28
+f 1 28 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 26
+f 1 26 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 9
+f 3 9 7
+f 4 7 10
+f 5 11 21
+f 5 21 25
+f 5 25 27
+f 5 27 32
+f 5 32 31
+f 5 31 41
+f 5 41 40
+f 5 40 42
+f 5 42 33
+f 5 33 22
+f 5 22 12
+f 5 12 6
+f 6 12 22
+f 6 22 35
+f 6 35 43
+f 6 43 44
+f 6 44 36
+f 6 36 23
+f 6 23 13
+f 7 14 15
+f 7 15 10
+f 7 9 16
+f 7 16 14
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 16
+f 11 20 21
+f 13 23 24
+f 14 25 21
+f 14 21 26
+f 14 26 15
+f 14 16 27
+f 14 27 25
+f 16 19 27
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 27
+f 20 26 21
+f 22 33 34
+f 22 34 35
+f 23 36 24
+f 24 36 37
+f 28 38 39
+f 28 39 29
+f 29 39 34
+f 29 34 30
+f 30 34 40
+f 30 40 41
+f 30 41 31
+f 33 42 34
+f 34 42 40
+f 34 39 35
+f 35 39 37
+f 35 37 43
+f 36 44 37
+f 37 39 45
+f 37 44 43
+f 38 46 39
+f 39 46 45
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_11.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.08974599 0.10102385 -0.01670226
+v -0.08645528 0.10101391 -0.01670226
+v -0.08645528 0.10013930 -0.01822941
+v -0.09088391 0.10101391 -0.01670226
+v -0.08528662 0.10100397 -0.01670226
+v -0.08203690 0.10012937 -0.01816298
+v 0.00064101 0.09789314 -0.01991055
+v 0.00064101 0.09734652 -0.02070070
+v -0.07318991 0.09785339 -0.02111805
+v -0.07761853 0.09788322 -0.02114150
+v -0.08203690 0.09791303 -0.02115791
+v -0.08645528 0.09792297 -0.02115869
+v -0.09088391 0.10009955 -0.01822863
+v -0.09288294 0.10095428 -0.01670226
+v 0.00064101 0.09990077 -0.01670226
+v 0.00064101 0.09965230 -0.01715478
+v 0.00064101 0.09913548 -0.01808406
+v 0.00064101 0.09543827 -0.02199418
+v 0.00064101 0.09460341 -0.02255300
+v -0.08203690 0.09460342 -0.02319700
+v -0.07761853 0.09460342 -0.02316339
+v -0.08645528 0.09460342 -0.02319778
+v -0.09088391 0.09788322 -0.02112430
+v -0.09530228 0.09776395 -0.02102739
+v -0.09521002 0.10018900 -0.01771984
+v -0.09423613 0.10088471 -0.01670226
+v 0.00064101 0.08962406 -0.01670230
+v 0.00064101 0.09151246 -0.02354949
+v -0.08203690 0.09224793 -0.02423491
+v -0.08645528 0.09224793 -0.02423335
+v -0.09088391 0.09460341 -0.02313525
+v -0.09530228 0.09460341 -0.02296878
+v -0.09973091 0.09460341 -0.02252173
+v -0.09973091 0.09746578 -0.02075385
+v -0.09973091 0.09940383 -0.01808405
+v -0.09597887 0.10072568 -0.01670226
+v -0.02455705 -0.00051088 -0.01902463
+v -0.02217871 -0.00051088 -0.01902853
+v 0.00064101 -0.00051088 -0.01907934
+v -0.00681180 0.08941533 -0.01670230
+v -0.10407751 -0.00051088 -0.01892615
+v 0.00064101 0.09017071 -0.02398014
+v -0.05992454 0.08924640 -0.02438576
+v -0.08203690 0.09003157 -0.02441624
+v -0.08645528 0.09003157 -0.02443031
+v -0.09088391 0.08985267 -0.02443422
+v -0.09530228 0.08947500 -0.02442875
+v -0.09088391 0.09206902 -0.02420678
+v -0.09530228 0.09169135 -0.02413644
+v -0.09973091 0.09104533 -0.02396294
+v -0.10264231 0.09709803 -0.02041074
+v -0.10403651 0.08991231 -0.02364016
+v -0.10407751 0.09482206 -0.02142521
+v -0.10407751 0.09811179 -0.01824662
+v -0.09973091 0.10018899 -0.01670226
+v 0.00064101 -0.00051086 -0.02452286
+v -0.01129168 0.08931595 -0.01670230
+v -0.10407751 0.08933583 -0.01670230
+v -0.10407751 -0.00051086 -0.02460415
+v -0.01133268 0.08931595 -0.01670230
+v 0.00064101 0.08573801 -0.02413647
+v -0.05550616 0.08573801 -0.02449520
+v -0.05550616 0.08907745 -0.02437169
+v -0.05992454 0.08573801 -0.02451787
+v -0.08645528 0.08573801 -0.02460540
+v -0.09088391 0.08573801 -0.02461869
+v -0.09530228 0.08573801 -0.02461947
+v -0.09973091 0.08573801 -0.02455772
+v -0.09973091 0.08882897 -0.02438420
+v -0.10248854 0.08826246 -0.02431231
+v -0.10407751 0.09489163 -0.02138066
+v -0.10407751 0.09677999 -0.02007780
+v -0.10407751 0.09806210 -0.01831774
+v -0.10407751 0.08743755 -0.02420914
+v -0.10407751 0.08981292 -0.02365501
+v -0.10407751 0.08992225 -0.02362296
+v -0.10407751 0.09229760 -0.02255848
+v -0.10407751 0.09894664 -0.01670227
+v -0.08883362 -0.00051086 -0.02468308
+v -0.09088391 0.00154646 -0.02468620
+v 0.00064101 0.04143086 -0.02447270
+v -0.10407751 0.00147689 -0.02460492
+v -0.09973091 0.00154646 -0.02467213
+v -0.09973091 -0.00051086 -0.02467058
+v 0.00064101 0.08023192 -0.02427795
+v 0.00064101 0.07787643 -0.02431468
+v 0.00064101 0.07687261 -0.02433032
+v 0.00064101 0.07378164 -0.02435612
+v 0.00064101 0.07243990 -0.02436706
+v 0.00064101 0.06934894 -0.02438193
+v 0.00064101 0.06801714 -0.02438819
+v 0.00064101 0.06358444 -0.02440462
+v 0.00064101 0.04277259 -0.02446956
+v -0.09530228 0.08130531 -0.02462964
+v -0.09973091 0.08130531 -0.02460385
+v -0.10407751 0.08130531 -0.02445848
+v -0.10407751 0.08377013 -0.02440063
+v -0.10403651 0.08544979 -0.02436234
+v -0.10407751 0.08541997 -0.02436077
+v -0.09088391 -0.00051086 -0.02468465
+v -0.09326224 -0.00051086 -0.02468386
+v -0.09530228 0.00154646 -0.02468307
+v -0.09530228 0.00597917 -0.02468150
+v -0.10407751 0.00154646 -0.02460492
+v -0.09768061 -0.00051086 -0.02467605
+v -0.09973091 0.00597917 -0.02466900
+v -0.09530228 -0.00051086 -0.02468230
+v -0.09973091 0.07687261 -0.02461012
+v -0.10407751 0.00597917 -0.02459787
+v -0.10407751 0.07687261 -0.02448194
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 26
+f 1 26 36
+f 1 36 55
+f 1 55 78
+f 1 78 58
+f 1 58 60
+f 1 60 57
+f 1 57 40
+f 1 40 27
+f 1 27 15
+f 1 15 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 16
+f 7 16 15
+f 7 15 27
+f 7 27 39
+f 7 39 56
+f 7 56 81
+f 7 81 93
+f 7 93 92
+f 7 92 91
+f 7 91 90
+f 7 90 89
+f 7 89 88
+f 7 88 87
+f 7 87 86
+f 7 86 85
+f 7 85 61
+f 7 61 42
+f 7 42 28
+f 7 28 19
+f 7 19 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 19 11
+f 11 20 12
+f 11 19 21
+f 11 21 20
+f 12 20 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 19 28 29
+f 19 29 21
+f 20 21 29
+f 20 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 27 37 38
+f 27 38 39
+f 27 40 41
+f 27 41 37
+f 28 42 29
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 29 42 43
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 33 51 34
+f 33 50 52
+f 33 52 53
+f 33 53 51
+f 34 51 35
+f 35 51 54
+f 35 54 55
+f 35 55 36
+f 37 41 59
+f 37 59 84
+f 37 84 105
+f 37 105 107
+f 37 107 101
+f 37 101 100
+f 37 100 79
+f 37 79 56
+f 37 56 39
+f 37 39 38
+f 40 57 41
+f 41 58 78
+f 41 78 54
+f 41 54 73
+f 41 73 72
+f 41 72 71
+f 41 71 53
+f 41 53 77
+f 41 77 76
+f 41 76 75
+f 41 75 74
+f 41 74 99
+f 41 99 97
+f 41 97 96
+f 41 96 110
+f 41 110 109
+f 41 109 104
+f 41 104 82
+f 41 82 59
+f 41 57 60
+f 41 60 58
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 43 63 64
+f 43 64 65
+f 43 65 66
+f 43 66 45
+f 43 45 44
+f 45 66 67
+f 45 67 46
+f 46 67 47
+f 47 49 48
+f 47 67 68
+f 47 68 69
+f 47 69 49
+f 49 69 70
+f 49 70 50
+f 50 70 52
+f 51 53 71
+f 51 71 72
+f 51 72 73
+f 51 73 54
+f 52 70 74
+f 52 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 53
+f 54 78 55
+f 56 79 80
+f 56 80 66
+f 56 66 81
+f 59 82 83
+f 59 83 84
+f 61 85 62
+f 62 64 63
+f 62 85 86
+f 62 86 87
+f 62 87 64
+f 64 87 88
+f 64 88 89
+f 64 89 90
+f 64 90 91
+f 64 91 65
+f 65 91 92
+f 65 92 93
+f 65 93 66
+f 66 80 94
+f 66 94 67
+f 66 93 81
+f 67 95 68
+f 67 94 95
+f 68 95 96
+f 68 96 97
+f 68 97 98
+f 68 98 70
+f 68 70 69
+f 70 98 99
+f 70 99 74
+f 79 100 80
+f 80 100 101
+f 80 101 102
+f 80 102 103
+f 80 103 94
+f 82 104 83
+f 83 105 84
+f 83 104 106
+f 83 106 94
+f 83 94 103
+f 83 103 102
+f 83 102 107
+f 83 107 105
+f 94 106 108
+f 94 108 95
+f 95 108 104
+f 95 104 109
+f 95 109 110
+f 95 110 96
+f 97 99 98
+f 101 107 102
+f 104 108 106
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_12.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00127409 0.09529500 -0.01044118
+v 0.00198509 0.09529500 -0.01044254
+v 0.00065074 0.09529500 -0.01044118
+v 0.00065074 0.08551386 -0.01776366
+v 0.00567645 0.09529500 -0.01045346
+v 0.00065074 0.09529504 -0.02208940
+v 0.00065074 0.08551388 -0.02414043
+v 0.02409430 0.08551386 -0.01785781
+v 0.10014220 0.09529500 -0.01094744
+v 0.00065074 0.09460849 -0.02255200
+v 0.00087476 0.09529504 -0.02209076
+v 0.01967246 0.08551388 -0.02432056
+v 0.00065074 0.08574561 -0.02413633
+v 0.01672132 0.08805900 -0.02426050
+v 0.01967246 0.08574561 -0.02431919
+v 0.10014220 0.08551386 -0.01831086
+v 0.10014220 0.09529504 -0.02213170
+v 0.01967246 0.09039920 -0.02402988
+v 0.00065074 0.09151760 -0.02354953
+v 0.09042195 0.09529504 -0.02259157
+v 0.09042195 0.09460849 -0.02298867
+v 0.01990621 0.08551388 -0.02432192
+v 0.00065074 0.09017801 -0.02397939
+v 0.01967246 0.08818348 -0.02427415
+v 0.02409430 0.08574561 -0.02433557
+v 0.02409430 0.08551388 -0.02433830
+v 0.10014220 0.08551388 -0.02436149
+v 0.10014220 0.09521748 -0.02217946
+v 0.09926563 0.09529504 -0.02232274
+v 0.02409430 0.08822753 -0.02428097
+v 0.01082877 0.09017801 -0.02402442
+v 0.09484379 0.09460849 -0.02300914
+v 0.09484379 0.09094978 -0.02409811
+v 0.09390877 0.09529504 -0.02260794
+v 0.09926563 0.08861053 -0.02431781
+v 0.09926563 0.08574561 -0.02438060
+v 0.09484379 0.08551388 -0.02437787
+v 0.09945068 0.08551388 -0.02437650
+v 0.10014220 0.08574561 -0.02436149
+v 0.10014220 0.09466211 -0.02251379
+v 0.09926563 0.09460849 -0.02273758
+v 0.09833061 0.09529504 -0.02239507
+v 0.09484379 0.08873406 -0.02431098
+v 0.09484379 0.09529504 -0.02261067
+v 0.09926563 0.09082626 -0.02402988
+v 0.10014220 0.09000279 -0.02411448
+v 0.10014220 0.08849755 -0.02430962
+v 0.09926563 0.08551388 -0.02437923
+v 0.10014220 0.09365096 -0.02294228
+v 0.10014220 0.09063955 -0.02397120
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 29
+f 1 29 42
+f 1 42 44
+f 1 44 34
+f 1 34 20
+f 1 20 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 10
+f 3 10 19
+f 3 19 23
+f 3 23 13
+f 3 13 7
+f 3 7 4
+f 4 7 12
+f 4 12 22
+f 4 22 26
+f 4 26 37
+f 4 37 48
+f 4 48 38
+f 4 38 27
+f 4 27 16
+f 4 16 8
+f 4 8 5
+f 5 8 9
+f 6 11 10
+f 7 13 14
+f 7 14 15
+f 7 15 12
+f 8 16 9
+f 9 16 27
+f 9 27 39
+f 9 39 47
+f 9 47 46
+f 9 46 50
+f 9 50 49
+f 9 49 40
+f 9 40 28
+f 9 28 17
+f 10 18 19
+f 10 11 20
+f 10 20 21
+f 10 21 18
+f 12 15 22
+f 13 23 14
+f 14 24 15
+f 14 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 22
+f 17 28 29
+f 18 30 24
+f 18 24 31
+f 18 31 23
+f 18 23 19
+f 18 21 32
+f 18 32 33
+f 18 33 30
+f 20 34 21
+f 21 34 32
+f 23 31 24
+f 24 30 25
+f 25 30 35
+f 25 35 36
+f 25 36 26
+f 26 36 37
+f 27 38 36
+f 27 36 39
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 30 33 43
+f 30 43 35
+f 32 44 41
+f 32 41 45
+f 32 45 33
+f 32 34 44
+f 33 45 35
+f 33 35 43
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 36 47 39
+f 36 38 48
+f 36 48 37
+f 40 49 41
+f 41 44 42
+f 41 49 45
+f 45 49 50
+f 45 50 46
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_13.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.11636453 -0.00051095 -0.00277623
+v 0.12164620 -0.00051103 0.01891856
+v 0.12293397 -0.00051095 -0.00277623
+v 0.11115939 -0.09154816 -0.00277657
+v 0.12285067 -0.00051104 0.02222685
+v 0.11772885 -0.09154823 0.01538990
+v 0.13303130 -0.00051103 0.01995770
+v 0.13288945 -0.05607258 0.01230175
+v 0.13300878 -0.06050146 0.01220366
+v 0.12293623 -0.00289916 -0.00277624
+v 0.11936783 -0.09154816 -0.00277657
+v 0.12443788 -0.00051105 0.02327395
+v 0.11918772 -0.09154824 0.01891822
+v 0.11949166 -0.09154824 0.01961010
+v 0.12138279 -0.09154825 0.02228749
+v 0.13303130 -0.00051104 0.02220830
+v 0.13415698 -0.06050149 0.01891834
+v 0.13414796 -0.06050147 0.01480683
+v 0.13401064 -0.06493035 0.01480681
+v 0.13285795 -0.06493035 0.01237330
+v 0.12260753 -0.07796743 -0.00277652
+v 0.12275612 -0.07491088 -0.00277651
+v 0.12280340 -0.07379697 -0.00277650
+v 0.12285293 -0.07035723 -0.00277649
+v 0.12286643 -0.06936809 -0.00277648
+v 0.12288219 -0.06493029 -0.00277647
+v 0.11972354 -0.09087983 -0.00277656
+v 0.13259904 -0.09001552 0.02056177
+v 0.13096681 -0.09154824 0.01907992
+v 0.12579995 -0.00051105 0.02416200
+v 0.12165296 -0.09154825 0.02243063
+v 0.13022161 -0.00051105 0.02414344
+v 0.13311460 -0.07822595 0.02197208
+v 0.13306732 -0.08266374 0.02192701
+v 0.13406467 -0.06493037 0.01891832
+v 0.13332623 -0.06939488 0.01457352
+v 0.13263281 -0.06794235 0.01258271
+v 0.13382828 -0.06936817 0.01891831
+v 0.13284894 -0.08709262 0.02003956
+v 0.12211673 -0.08266365 -0.00277653
+v 0.12076592 -0.08816189 -0.00277655
+v 0.13259904 -0.09001552 0.02127486
+v 0.12112164 -0.08716383 -0.00277655
+v 0.13053680 -0.09154825 0.02252872
+v 0.12578194 -0.09154826 0.02429685
+v 0.12579995 -0.09152153 0.02429950
+v 0.12579995 -0.09154826 0.02429950
+v 0.13022161 -0.07822596 0.02373492
+v 0.13022161 -0.08266375 0.02368984
+v 0.13022161 -0.08709264 0.02340618
+v 0.13284894 -0.08709263 0.02164864
+v 0.13050753 -0.09154825 0.02254197
+f 1 2 5
+f 1 5 12
+f 1 12 30
+f 1 30 32
+f 1 32 16
+f 1 16 7
+f 1 7 3
+f 1 3 10
+f 1 10 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 40
+f 1 40 43
+f 1 43 41
+f 1 41 27
+f 1 27 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 29
+f 4 29 44
+f 4 44 52
+f 4 52 47
+f 4 47 45
+f 4 45 31
+f 4 31 15
+f 4 15 14
+f 4 14 13
+f 4 13 6
+f 5 6 13
+f 5 13 14
+f 5 14 15
+f 5 15 12
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 10
+f 11 27 28
+f 11 28 29
+f 12 15 30
+f 15 31 30
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 19
+f 19 36 37
+f 19 37 20
+f 19 35 38
+f 19 38 39
+f 19 39 36
+f 20 37 40
+f 20 40 21
+f 27 41 28
+f 28 42 29
+f 28 41 43
+f 28 43 40
+f 28 40 37
+f 28 37 36
+f 28 36 39
+f 28 39 51
+f 28 51 42
+f 29 42 44
+f 30 31 45
+f 30 45 46
+f 30 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 35 51 38
+f 38 51 39
+f 42 51 44
+f 44 51 50
+f 44 50 52
+f 45 47 46
+f 47 52 50
+f 47 50 49
+f 47 49 48
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_14.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00086978 -0.10925640 0.02463678
+v -0.00244467 -0.10925640 0.02462476
+v -0.01129425 -0.11248354 0.02296291
+v -0.00687498 -0.11247271 0.02298395
+v -0.00244467 -0.11245970 0.02300198
+v 0.00086978 -0.11245103 0.02301400
+v 0.00086978 -0.10569114 0.02259631
+v -0.11199827 -0.10097504 0.02190816
+v -0.11199827 -0.10482422 0.02377131
+v -0.01129425 -0.10925640 0.02457968
+v -0.09972376 -0.11244670 0.02228075
+v -0.09530450 -0.11247053 0.02229878
+v -0.04667047 -0.11258540 0.02256624
+v -0.02456309 -0.11257240 0.02271950
+v -0.02013278 -0.11255506 0.02276458
+v 0.00086978 -0.11245102 0.01966630
+v 0.00086978 -0.10379255 0.01891805
+v -0.11199827 -0.09959010 0.01891806
+v -0.11199827 -0.10954681 0.02291785
+v -0.10857334 -0.10925640 0.02364809
+v -0.10414302 -0.10925640 0.02383441
+v -0.09972376 -0.10925640 0.02387047
+v -0.10414302 -0.11236867 0.02221464
+v -0.09972376 -0.11244669 0.01920050
+v -0.09530450 -0.11247052 0.01921252
+v -0.09088523 -0.11249004 0.02230780
+v -0.08645492 -0.11250955 0.02232583
+v -0.04667047 -0.11258539 0.01954910
+v -0.06876680 -0.11254856 0.02240697
+v -0.02456309 -0.11257239 0.01963024
+v -0.02013278 -0.11255505 0.01963024
+v 0.00086978 -0.10427794 -0.00606352
+v 0.00086978 -0.10292561 0.01577470
+v -0.11199827 -0.09044390 -0.00606347
+v -0.11199827 -0.11183334 0.02155051
+v -0.10857334 -0.11215628 0.02199226
+v -0.10414302 -0.11236866 0.01924558
+v -0.09088523 -0.10449684 -0.00606352
+v -0.06876680 -0.11254855 0.01908030
+v -0.08645492 -0.11250954 0.01921853
+v -0.09088523 -0.11249003 0.01922154
+v 0.00086978 -0.09773478 -0.00606350
+v -0.08645492 -0.10450551 -0.00606352
+v 0.00086978 -0.10250297 0.01423607
+v -0.11199827 -0.09949682 -0.00606351
+v 0.00086978 -0.10236426 0.01371919
+v 0.00086978 -0.10164036 0.01069605
+v -0.11199827 -0.11183333 0.02012909
+v -0.10857334 -0.11215627 0.01951003
+v -0.09972376 -0.10411322 -0.00606352
+v -0.09532659 -0.10439931 -0.00606352
+v -0.08679741 -0.10450551 -0.00606352
+v -0.10866173 -0.10148643 -0.00606351
+v -0.10849600 -0.10157745 -0.00606351
+v -0.10803197 -0.10178768 -0.00606351
+v -0.10448552 -0.10316393 -0.00606352
+v -0.10410988 -0.10328097 -0.00606352
+v -0.10006625 -0.10405904 -0.00606352
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 32
+f 1 32 42
+f 1 42 47
+f 1 47 46
+f 1 46 44
+f 1 44 33
+f 1 33 17
+f 1 17 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 3
+f 2 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 6 5
+f 4 15 6
+f 6 15 31
+f 6 31 16
+f 7 17 8
+f 8 18 34
+f 8 34 45
+f 8 45 48
+f 8 48 35
+f 8 35 19
+f 8 19 9
+f 8 17 18
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 11
+f 11 22 21
+f 11 21 23
+f 11 23 37
+f 11 37 24
+f 11 24 25
+f 11 25 12
+f 12 25 41
+f 12 41 26
+f 12 26 27
+f 12 27 13
+f 13 28 30
+f 13 30 14
+f 13 27 29
+f 13 29 39
+f 13 39 28
+f 14 30 31
+f 14 31 15
+f 16 31 32
+f 17 33 34
+f 17 34 18
+f 19 35 36
+f 19 36 20
+f 20 36 23
+f 20 23 21
+f 23 36 49
+f 23 49 37
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 26 41 40
+f 26 40 27
+f 27 40 39
+f 27 39 29
+f 28 39 30
+f 30 32 31
+f 30 39 32
+f 32 39 43
+f 32 43 52
+f 32 52 38
+f 32 38 51
+f 32 51 50
+f 32 50 58
+f 32 58 57
+f 32 57 56
+f 32 56 55
+f 32 55 54
+f 32 54 53
+f 32 53 45
+f 32 45 34
+f 32 34 42
+f 33 44 34
+f 34 44 46
+f 34 46 47
+f 34 47 42
+f 35 48 49
+f 35 49 36
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 38 52 39
+f 39 52 43
+f 45 53 48
+f 48 53 54
+f 48 54 55
+f 48 55 56
+f 48 56 57
+f 48 57 58
+f 48 58 49
+f 49 58 50
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_15.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.10014220 0.08574569 -0.02436283
+v 0.10016136 0.08571662 -0.02435797
+v 0.10014220 0.08571662 -0.02435797
+v 0.10014220 0.08849780 -0.02430943
+v 0.10199685 0.08825869 -0.02429003
+v 0.10274062 0.08574569 -0.02430945
+v 0.10274062 0.08571662 -0.02430945
+v 0.10014220 0.08571660 -0.01830187
+v 0.10014220 0.09000278 -0.02411047
+v 0.10014220 0.09063947 -0.02396974
+v 0.10355782 0.08991276 -0.02374167
+v 0.10494961 0.08574569 -0.02415416
+v 0.10495280 0.08571662 -0.02415416
+v 0.10014220 0.09529596 -0.01094522
+v 0.12249375 0.08571645 0.02267386
+v 0.10014220 0.09365036 -0.02294097
+v 0.10811304 0.08574569 -0.02339715
+v 0.10014220 0.09466212 -0.02251393
+v 0.10383554 0.09488998 -0.02156766
+v 0.10736927 0.09360067 -0.02095624
+v 0.10855037 0.09061507 -0.02182002
+v 0.10811304 0.08571662 -0.02340200
+v 0.10014220 0.09529600 -0.02213057
+v 0.11689150 0.09529585 0.01904412
+v 0.12517836 0.08571644 0.02473138
+v 0.12043799 0.09529583 0.02369295
+v 0.11883872 0.09529584 0.02227113
+v 0.11821944 0.09529584 0.02140251
+v 0.10844183 0.08571662 -0.02323701
+v 0.11125732 0.08943172 -0.02085920
+v 0.11252780 0.08571661 -0.02116493
+v 0.10014220 0.09521817 -0.02217910
+v 0.10359932 0.09529600 -0.02138811
+v 0.10421860 0.09529600 -0.02115519
+v 0.10624562 0.09529599 -0.02033024
+v 0.11031883 0.09238542 -0.02013129
+v 0.12519432 0.08571644 0.02473623
+v 0.12350885 0.09199143 0.02512447
+v 0.12240117 0.09529583 0.02510022
+v 0.11420369 0.08656146 -0.01944223
+v 0.11436649 0.08571660 -0.01965091
+v 0.10833330 0.09529599 -0.01877739
+v 0.10873552 0.09512251 -0.01862696
+v 0.10889193 0.09529599 -0.01829698
+v 0.11071785 0.09529598 -0.01648694
+v 0.11144886 0.09368972 -0.01738955
+v 0.11439841 0.09178247 -0.01543878
+v 0.11282787 0.09060663 -0.01841832
+v 0.12739053 0.08571644 0.02515841
+v 0.12283531 0.09529583 0.02521183
+v 0.11518368 0.08882877 -0.01670048
+v 0.11556994 0.08571660 -0.01793307
+v 0.11518688 0.08571660 -0.01849113
+v 0.11199472 0.09529597 -0.01461868
+v 0.11268103 0.09480555 -0.01421591
+v 0.11515815 0.09296676 -0.01269704
+v 0.11594981 0.09025498 -0.01403153
+v 0.12832903 0.08571644 0.02515841
+v 0.12577529 0.09529583 0.02519242
+v 0.11801514 0.08571658 -0.01377921
+v 0.11235543 0.09529597 -0.01398298
+v 0.11321412 0.09529597 -0.01245440
+v 0.11427392 0.09529596 -0.01052790
+v 0.12942713 0.09529585 0.01957306
+v 0.11884510 0.08701058 -0.01109083
+v 0.12832903 0.08574551 0.02515841
+v 0.12834498 0.08571644 0.02515356
+v 0.12817261 0.09017701 0.02513417
+v 0.12806408 0.09293755 0.02510506
+v 0.12696597 0.09529583 0.02509052
+v 0.11811409 0.08571658 -0.01358510
+v 0.12942713 0.09529585 0.01987392
+v 0.13254268 0.08851732 0.02077164
+v 0.11905897 0.08571657 -0.01161008
+v 0.13054120 0.08571644 0.02381908
+v 0.13275017 0.08574552 0.02176156
+v 0.12835456 0.09529583 0.02432865
+v 0.12917814 0.09529583 0.02317857
+v 0.13254268 0.08851732 0.02128602
+v 0.13275337 0.08571645 0.02042223
+v 0.13275017 0.08574552 0.02042223
+v 0.13275337 0.08571645 0.02176156
+v 0.12928349 0.09449223 0.02340179
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 23
+f 1 23 32
+f 1 32 18
+f 1 18 16
+f 1 16 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 22
+f 2 22 29
+f 2 29 31
+f 2 31 41
+f 2 41 53
+f 2 53 52
+f 2 52 60
+f 2 60 71
+f 2 71 74
+f 2 74 80
+f 2 80 82
+f 2 82 75
+f 2 75 67
+f 2 67 58
+f 2 58 49
+f 2 49 37
+f 2 37 25
+f 2 25 15
+f 2 15 8
+f 2 8 3
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 8 15 14
+f 10 16 11
+f 11 17 12
+f 11 16 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 17
+f 12 17 22
+f 12 22 13
+f 14 15 24
+f 14 24 28
+f 14 28 27
+f 14 27 26
+f 14 26 39
+f 14 39 50
+f 14 50 59
+f 14 59 70
+f 14 70 77
+f 14 77 78
+f 14 78 72
+f 14 72 64
+f 14 64 63
+f 14 63 62
+f 14 62 61
+f 14 61 54
+f 14 54 45
+f 14 45 44
+f 14 44 42
+f 14 42 35
+f 14 35 34
+f 14 34 33
+f 14 33 23
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 24
+f 17 29 22
+f 17 21 30
+f 17 30 31
+f 17 31 29
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 30
+f 23 33 32
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 30 36 40
+f 30 40 41
+f 30 41 31
+f 35 42 36
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 46
+f 36 46 47
+f 36 47 48
+f 36 48 40
+f 37 49 38
+f 38 49 50
+f 38 50 39
+f 40 48 51
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 42 44 43
+f 45 54 47
+f 45 47 46
+f 47 51 48
+f 47 54 55
+f 47 55 56
+f 47 56 57
+f 47 57 51
+f 49 58 50
+f 50 58 59
+f 51 57 60
+f 51 60 52
+f 54 61 55
+f 55 61 62
+f 55 62 56
+f 56 62 63
+f 56 63 64
+f 56 64 57
+f 57 65 60
+f 57 64 65
+f 58 66 59
+f 58 67 66
+f 59 66 68
+f 59 68 69
+f 59 69 70
+f 60 65 71
+f 64 72 79
+f 64 79 73
+f 64 73 65
+f 65 74 71
+f 65 73 74
+f 66 67 68
+f 67 75 68
+f 68 75 69
+f 69 75 76
+f 69 76 77
+f 69 77 70
+f 72 78 79
+f 73 79 82
+f 73 82 80
+f 73 80 81
+f 73 81 74
+f 74 81 80
+f 75 82 76
+f 76 82 79
+f 76 79 77
+f 77 79 83
+f 77 83 78
+f 78 83 79
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_16.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00065074 0.08551388 -0.02414097
+v 0.00065074 0.08022575 -0.02427859
+v 0.00065074 0.08551386 -0.01776452
+v 0.01967246 0.08551388 -0.02432157
+v 0.00065074 0.07787641 -0.02431497
+v 0.02409430 0.08551386 -0.01785911
+v 0.00065074 0.02370673 -0.01855989
+v 0.01525062 0.02370673 -0.01851425
+v 0.10014220 -0.00050247 -0.01856660
+v 0.10014220 -0.00009828 -0.01856395
+v 0.10014220 0.00241948 -0.01855071
+v 0.10014220 0.01041062 -0.01851231
+v 0.01967246 0.08131201 -0.02436193
+v 0.00065074 0.07687435 -0.02433020
+v 0.02409430 0.08551388 -0.02433810
+v 0.10014220 0.01483985 -0.01849709
+v 0.10014220 0.08551386 -0.01831160
+v 0.00065074 0.02235944 -0.01858570
+v 0.10014220 -0.00050245 -0.02435562
+v 0.00065074 0.01926908 -0.01864591
+v 0.00065074 -0.00050247 -0.01907928
+v 0.00065074 0.07244513 -0.02436725
+v 0.02409430 0.08131201 -0.02437516
+v 0.09484379 0.08551388 -0.02437846
+v 0.10014220 0.08551388 -0.02436258
+v 0.09926563 -0.00050245 -0.02437149
+v 0.10014220 0.00051645 -0.02435628
+v 0.00065074 -0.00050245 -0.02452298
+v 0.00065074 0.06935477 -0.02438183
+v 0.00065074 0.04276255 -0.02446924
+v 0.00065074 0.06357824 -0.02440434
+v 0.00065074 0.06492554 -0.02439970
+v 0.00065074 0.06801590 -0.02438778
+v 0.09926563 0.08551388 -0.02437978
+v 0.09945068 0.08551388 -0.02437647
+v 0.09688913 -0.00050245 -0.02438406
+v 0.09926563 0.00154376 -0.02437280
+v 0.00065074 0.04143209 -0.02447255
+v 0.00198509 0.04143209 -0.02447255
+v 0.00403043 -0.00050245 -0.02451967
+v 0.09484379 0.00597299 -0.02439727
+v 0.09042195 0.03700286 -0.02440774
+v 0.09042195 0.04143209 -0.02440640
+v 0.00640693 -0.00050245 -0.02451703
+v 0.09484379 -0.00050245 -0.02439464
+v 0.09484379 0.00154376 -0.02439596
+f 1 2 5
+f 1 5 14
+f 1 14 22
+f 1 22 29
+f 1 29 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 38
+f 1 38 28
+f 1 28 21
+f 1 21 20
+f 1 20 18
+f 1 18 7
+f 1 7 3
+f 1 3 6
+f 1 6 17
+f 1 17 25
+f 1 25 35
+f 1 35 34
+f 1 34 24
+f 1 24 15
+f 1 15 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 6
+f 4 13 14
+f 4 14 5
+f 4 15 13
+f 6 12 16
+f 6 16 17
+f 7 18 9
+f 7 9 8
+f 9 19 27
+f 9 27 25
+f 9 25 17
+f 9 17 16
+f 9 16 12
+f 9 12 11
+f 9 11 10
+f 9 18 20
+f 9 20 21
+f 9 21 28
+f 9 28 40
+f 9 40 44
+f 9 44 45
+f 9 45 36
+f 9 36 26
+f 9 26 19
+f 13 22 14
+f 13 15 23
+f 13 23 22
+f 15 24 23
+f 19 26 27
+f 22 23 29
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 29
+f 23 24 34
+f 23 34 30
+f 25 27 35
+f 26 36 37
+f 26 37 27
+f 27 37 35
+f 28 38 39
+f 28 39 34
+f 28 34 40
+f 30 34 38
+f 34 35 37
+f 34 37 41
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 40
+f 34 39 38
+f 36 45 46
+f 36 46 37
+f 37 46 41
+f 41 46 44
+f 41 44 42
+f 42 44 43
+f 44 46 45
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_17.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.09979571 -0.08244560 -0.02460586
+v 0.10368974 -0.07822696 -0.02451612
+v 0.10368974 -0.08244560 -0.02451613
+v 0.09979571 -0.08244562 -0.01904237
+v 0.09979571 -0.00051087 -0.02436200
+v 0.10101443 -0.00051087 -0.02433850
+v 0.10298976 -0.00051087 -0.02430004
+v 0.10649870 -0.07822696 -0.02434519
+v 0.10591879 -0.01793884 -0.02425310
+v 0.10635825 -0.08244560 -0.02433880
+v 0.11530162 -0.08244568 -0.00278132
+v 0.09979571 -0.00236356 -0.01858913
+v 0.09979571 -0.00051089 -0.01858058
+v 0.10520069 -0.00051087 -0.02420176
+v 0.10868018 -0.07379979 -0.02397342
+v 0.10870963 -0.07822696 -0.02394353
+v 0.10646925 -0.08244560 -0.02431957
+v 0.10768119 -0.01635885 -0.02398817
+v 0.10811385 -0.01176326 -0.02390696
+v 0.10811385 -0.00051087 -0.02385137
+v 0.12078590 -0.08244568 -0.00277918
+v 0.11537638 -0.08154741 -0.00277918
+v 0.11636178 -0.00051095 -0.00277888
+v 0.11253344 -0.06936460 -0.02239665
+v 0.11253344 -0.07379980 -0.02239240
+v 0.11253344 -0.00051088 -0.02222762
+v 0.11253344 -0.01176327 -0.02227039
+v 0.11253344 -0.07822697 -0.02227064
+v 0.10856918 -0.08244560 -0.02379825
+v 0.12213828 -0.08244568 -0.00277918
+v 0.12293339 -0.00051095 -0.00277888
+v 0.11523141 -0.05606705 -0.02061262
+v 0.11523367 -0.06050224 -0.02061904
+v 0.11523367 -0.06493743 -0.02062546
+v 0.11523367 -0.06936460 -0.02062975
+v 0.11521328 -0.07379980 -0.02061481
+v 0.11514079 -0.00051088 -0.02052054
+v 0.11522914 -0.05163988 -0.02060405
+v 0.11511361 -0.07822697 -0.02052296
+v 0.11493692 -0.08141903 -0.02034351
+v 0.11286644 -0.08244561 -0.02159764
+v 0.12133183 -0.08244567 -0.00575108
+v 0.12179396 -0.07822703 -0.00575107
+v 0.12260492 -0.07797039 -0.00277917
+v 0.12226060 -0.00051094 -0.00575078
+v 0.12293793 -0.00289295 -0.00277889
+v 0.11710480 -0.00051089 -0.01808277
+v 0.11706402 -0.06936461 -0.01808302
+v 0.11710253 -0.05163989 -0.01808296
+v 0.11710027 -0.05606706 -0.01808298
+v 0.11709347 -0.06050225 -0.01808299
+v 0.11708215 -0.06493744 -0.01808301
+v 0.11700286 -0.07379981 -0.01808304
+v 0.11620094 -0.00051089 -0.01920871
+v 0.11678766 -0.07822698 -0.01808306
+v 0.11602425 -0.08244562 -0.01838004
+v 0.11569126 -0.08244562 -0.01891204
+v 0.11342823 -0.08244561 -0.02122589
+v 0.11994321 -0.08244565 -0.01010531
+v 0.12052313 -0.07822701 -0.00986173
+v 0.12197518 -0.07379986 -0.00575105
+v 0.12275670 -0.07490666 -0.00277916
+v 0.12226060 -0.00289294 -0.00575079
+v 0.12119818 -0.00051092 -0.00986144
+v 0.12288582 -0.06050231 -0.00277910
+v 0.11807434 -0.00051090 -0.01672394
+v 0.11882415 -0.05606707 -0.01523286
+v 0.11881509 -0.06050226 -0.01520510
+v 0.11880151 -0.06493745 -0.01516880
+v 0.11878338 -0.06936462 -0.01512394
+v 0.11891930 -0.00051090 -0.01553390
+v 0.11874260 -0.07379982 -0.01503636
+v 0.11862934 -0.07822700 -0.01479496
+v 0.11616924 -0.08244562 -0.01811939
+v 0.11973934 -0.08244565 -0.01074199
+v 0.11934291 -0.08145113 -0.01234652
+v 0.11950374 -0.07822700 -0.01273962
+v 0.12070435 -0.07379984 -0.00986171
+v 0.12077231 -0.06936464 -0.00986169
+v 0.12203861 -0.06936466 -0.00575103
+v 0.12285411 -0.07035918 -0.00277914
+v 0.12280201 -0.07379987 -0.00277915
+v 0.12288129 -0.06493750 -0.00277912
+v 0.12118912 -0.00289292 -0.00986145
+v 0.11985939 -0.00051091 -0.01347857
+v 0.12286770 -0.06936467 -0.00277913
+v 0.11935650 -0.00051091 -0.01458101
+v 0.11967817 -0.05606708 -0.01317967
+v 0.11966458 -0.06050227 -0.01314977
+v 0.11982315 -0.01176330 -0.01341879
+v 0.11964872 -0.06493746 -0.01311560
+v 0.11963060 -0.06936463 -0.01307075
+v 0.11959662 -0.07379983 -0.01298317
+v 0.11868144 -0.08244564 -0.01341264
+v 0.11844585 -0.08244564 -0.01389763
+v 0.12080856 -0.06493747 -0.00986168
+v 0.12084026 -0.06050228 -0.00986166
+v 0.12206352 -0.06493749 -0.00575102
+f 1 2 3
+f 1 3 10
+f 1 10 17
+f 1 17 29
+f 1 29 41
+f 1 41 58
+f 1 58 57
+f 1 57 56
+f 1 56 74
+f 1 74 95
+f 1 95 94
+f 1 94 75
+f 1 75 59
+f 1 59 42
+f 1 42 30
+f 1 30 21
+f 1 21 11
+f 1 11 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 8
+f 3 8 10
+f 4 11 12
+f 5 13 23
+f 5 23 31
+f 5 31 45
+f 5 45 64
+f 5 64 85
+f 5 85 87
+f 5 87 71
+f 5 71 66
+f 5 66 47
+f 5 47 54
+f 5 54 37
+f 5 37 26
+f 5 26 20
+f 5 20 14
+f 5 14 7
+f 5 7 6
+f 7 14 9
+f 8 15 16
+f 8 16 17
+f 8 17 10
+f 8 9 18
+f 8 18 19
+f 8 19 15
+f 9 14 20
+f 9 20 19
+f 9 19 18
+f 11 21 22
+f 11 22 23
+f 11 23 13
+f 11 13 12
+f 15 24 25
+f 15 25 16
+f 15 19 26
+f 15 26 27
+f 15 27 24
+f 16 25 28
+f 16 28 29
+f 16 29 17
+f 19 20 26
+f 21 30 44
+f 21 44 62
+f 21 62 82
+f 21 82 81
+f 21 81 86
+f 21 86 83
+f 21 83 65
+f 21 65 46
+f 21 46 31
+f 21 31 23
+f 21 23 22
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 24 27 32
+f 25 35 36
+f 25 36 28
+f 26 37 27
+f 27 37 38
+f 27 38 32
+f 28 36 39
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 30 42 43
+f 30 43 44
+f 31 46 45
+f 32 38 47
+f 32 47 33
+f 33 47 34
+f 34 47 35
+f 35 48 36
+f 35 47 49
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 48
+f 36 48 53
+f 36 53 39
+f 37 54 38
+f 38 54 47
+f 39 53 55
+f 39 55 40
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 42 59 60
+f 42 60 43
+f 43 60 78
+f 43 78 61
+f 43 61 82
+f 43 82 62
+f 43 62 44
+f 45 63 64
+f 45 46 63
+f 46 65 63
+f 47 66 49
+f 48 67 68
+f 48 68 69
+f 48 69 70
+f 48 70 53
+f 48 52 71
+f 48 71 67
+f 49 66 71
+f 49 71 50
+f 50 71 51
+f 51 71 52
+f 53 70 72
+f 53 72 55
+f 55 73 56
+f 55 72 73
+f 56 73 74
+f 59 75 60
+f 60 75 76
+f 60 76 77
+f 60 77 78
+f 61 78 79
+f 61 79 80
+f 61 80 81
+f 61 81 82
+f 63 65 83
+f 63 83 64
+f 64 84 85
+f 64 83 86
+f 64 86 84
+f 67 71 87
+f 67 87 85
+f 67 85 68
+f 68 88 89
+f 68 89 69
+f 68 85 90
+f 68 90 88
+f 69 91 92
+f 69 92 70
+f 69 89 91
+f 70 92 93
+f 70 93 72
+f 72 93 77
+f 72 77 73
+f 73 77 76
+f 73 76 94
+f 73 94 95
+f 73 95 74
+f 75 94 76
+f 77 93 78
+f 78 93 79
+f 79 93 92
+f 79 92 96
+f 79 96 80
+f 80 96 97
+f 80 97 84
+f 80 84 98
+f 80 98 86
+f 80 86 81
+f 84 90 85
+f 84 86 98
+f 84 97 89
+f 84 89 88
+f 84 88 90
+f 89 97 91
+f 91 97 96
+f 91 96 92
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_18.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.11957247 0.05471487 -0.01485333
+v 0.11909128 0.05028364 -0.01589590
+v 0.11909889 0.05471488 -0.01591264
+v 0.11957057 0.05914609 -0.01485331
+v 0.11927006 0.00441830 -0.01485351
+v 0.11746892 0.04585243 -0.01808435
+v 0.11750125 0.05028365 -0.01808434
+v 0.11894674 0.00597979 -0.01559167
+v 0.11712277 0.00154014 -0.01808451
+v 0.11750887 0.05471489 -0.01808432
+v 0.11750316 0.05914611 -0.01808430
+v 0.11909509 0.05914610 -0.01590703
+v 0.11951351 0.06358576 -0.01485330
+v 0.11923203 -0.00050247 -0.01485353
+v 0.11620223 -0.00050245 -0.01920992
+v 0.11514284 -0.00050244 -0.02052149
+v 0.11535015 0.04585244 -0.02065909
+v 0.11536537 0.05028366 -0.02066746
+v 0.11892772 0.00154013 -0.01555352
+v 0.11807565 -0.00050246 -0.01672454
+v 0.11710565 -0.00050245 -0.01808452
+v 0.11536537 0.05471490 -0.02066650
+v 0.11536347 0.05914612 -0.02066742
+v 0.11535586 0.06358579 -0.02067113
+v 0.11534445 0.06801702 -0.02067762
+v 0.11746322 0.06358578 -0.01808429
+v 0.11739665 0.06801701 -0.01808427
+v 0.11906275 0.06358577 -0.01584652
+v 0.11942032 0.06801699 -0.01485328
+v 0.11129711 -0.00050247 -0.01485353
+v 0.11891821 -0.00050246 -0.01553398
+v 0.11253338 -0.00050244 -0.02222868
+v 0.11253338 0.06801702 -0.02231779
+v 0.11253338 0.07244825 -0.02230101
+v 0.11530641 0.07244825 -0.02065619
+v 0.11729204 0.07244824 -0.01808425
+v 0.11900760 0.06801700 -0.01574317
+v 0.11929099 0.07244822 -0.01485326
+v 0.10014410 -0.00050245 -0.01856670
+v 0.10924491 0.08571658 -0.01485322
+v 0.10811325 -0.00050243 -0.02385302
+v 0.10811325 0.07687949 -0.02370566
+v 0.10811325 0.08131072 -0.02369075
+v 0.11253338 0.07687948 -0.02218185
+v 0.11519800 0.07687948 -0.02056496
+v 0.11708283 0.07687947 -0.01808424
+v 0.11894103 0.07244823 -0.01560352
+v 0.11884023 0.07687946 -0.01536615
+v 0.11913883 0.07563026 -0.01485325
+v 0.10014410 -0.00009731 -0.01856391
+v 0.10014410 -0.00050243 -0.02435474
+v 0.11737763 0.08571658 -0.01485322
+v 0.10014410 0.08571660 -0.01830668
+v 0.10014410 0.01484226 -0.01849683
+v 0.10014410 0.01041103 -0.01851267
+v 0.10014410 0.00241794 -0.01855086
+v 0.10519947 -0.00050243 -0.02420115
+v 0.10515953 0.08131072 -0.02419062
+v 0.10495222 0.08571662 -0.02415523
+v 0.10497124 0.08571662 -0.02415151
+v 0.10811325 0.08571662 -0.02340217
+v 0.11253338 0.08131071 -0.02189420
+v 0.11495075 0.08131070 -0.02033781
+v 0.11660163 0.08131070 -0.01808422
+v 0.11860819 0.08131068 -0.01486347
+v 0.11907797 0.07687945 -0.01485325
+v 0.10101519 -0.00050243 -0.02433892
+v 0.10014410 0.00051886 -0.02435568
+v 0.11744800 0.08554778 -0.01485322
+v 0.11556888 0.08571660 -0.01793341
+v 0.10014410 0.08571662 -0.02436188
+v 0.10298941 -0.00050243 -0.02429982
+v 0.10294757 0.08131072 -0.02430325
+v 0.10274026 0.08571662 -0.02430975
+v 0.10814178 0.08571662 -0.02339007
+v 0.10844039 0.08571662 -0.02324113
+v 0.11264940 0.08534523 -0.02119605
+v 0.11477006 0.08359806 -0.02016560
+v 0.11561452 0.08534522 -0.01807862
+v 0.11861200 0.08131068 -0.01485323
+v 0.10016122 0.08571662 -0.02436188
+v 0.10014410 0.08468690 -0.02436188
+v 0.11518469 0.08571660 -0.01849471
+v 0.11252386 0.08571661 -0.02116626
+v 0.11436495 0.08571660 -0.01965083
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 29
+f 1 29 38
+f 1 38 49
+f 1 49 66
+f 1 66 80
+f 1 80 69
+f 1 69 52
+f 1 52 40
+f 1 40 30
+f 1 30 14
+f 1 14 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 7 10
+f 4 12 13
+f 5 14 8
+f 6 9 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 10
+f 8 14 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 15
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 10 18 22
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 14 30 39
+f 14 39 51
+f 14 51 67
+f 14 67 72
+f 14 72 57
+f 14 57 41
+f 14 41 32
+f 14 32 16
+f 14 16 15
+f 14 15 21
+f 14 21 20
+f 14 20 31
+f 14 31 19
+f 16 32 17
+f 17 32 18
+f 18 33 25
+f 18 25 23
+f 18 23 22
+f 18 32 33
+f 19 31 20
+f 23 25 24
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 30 40 39
+f 32 41 33
+f 33 42 43
+f 33 43 34
+f 33 41 42
+f 34 43 44
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 36 45 46
+f 36 46 47
+f 36 47 37
+f 37 47 38
+f 38 47 48
+f 38 48 49
+f 39 40 50
+f 39 50 56
+f 39 56 55
+f 39 55 54
+f 39 54 53
+f 39 53 71
+f 39 71 82
+f 39 82 68
+f 39 68 51
+f 40 52 70
+f 40 70 83
+f 40 83 85
+f 40 85 84
+f 40 84 76
+f 40 76 75
+f 40 75 61
+f 40 61 60
+f 40 60 59
+f 40 59 74
+f 40 74 81
+f 40 81 71
+f 40 71 53
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 50
+f 41 57 58
+f 41 58 42
+f 42 58 43
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 44
+f 44 62 45
+f 45 62 63
+f 45 63 46
+f 46 48 47
+f 46 63 64
+f 46 64 48
+f 48 64 65
+f 48 65 66
+f 48 66 49
+f 51 68 67
+f 52 69 70
+f 57 72 73
+f 57 73 58
+f 58 73 74
+f 58 74 59
+f 61 75 62
+f 62 75 76
+f 62 76 77
+f 62 77 78
+f 62 78 63
+f 63 78 64
+f 64 78 65
+f 65 78 79
+f 65 79 69
+f 65 69 80
+f 65 80 66
+f 67 68 81
+f 67 81 72
+f 68 82 81
+f 69 79 70
+f 70 79 83
+f 71 81 82
+f 72 81 74
+f 72 74 73
+f 76 84 77
+f 77 84 78
+f 78 84 85
+f 78 85 83
+f 78 83 79
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_19.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.09979789 -0.08244560 -0.02460495
+v 0.10369082 -0.08244560 -0.02451734
+v 0.09979789 -0.08266657 -0.02460495
+v 0.09979789 -0.08244562 -0.01904328
+v 0.10369082 -0.08266657 -0.02451734
+v 0.10635901 -0.08244560 -0.02434000
+v 0.09979789 -0.08708060 -0.02456651
+v 0.09979789 -0.09154811 -0.01703701
+v 0.11115518 -0.09154816 -0.00278136
+v 0.11530180 -0.08244568 -0.00278132
+v 0.10635244 -0.08266657 -0.02433787
+v 0.10611406 -0.08539482 -0.02430155
+v 0.10364707 -0.08696209 -0.02439771
+v 0.10646835 -0.08244560 -0.02431864
+v 0.09979789 -0.08757065 -0.02454087
+v 0.10214458 -0.08967520 -0.02432721
+v 0.09979789 -0.09154808 -0.02406655
+v 0.11936532 -0.09154816 -0.00278136
+v 0.12213849 -0.08244568 -0.00278132
+v 0.10857010 -0.08244560 -0.02379730
+v 0.10856354 -0.08266657 -0.02379089
+v 0.10779808 -0.08696209 -0.02347468
+v 0.10509271 -0.08834849 -0.02413918
+v 0.09979789 -0.09016881 -0.02438704
+v 0.10364707 -0.09130306 -0.02354308
+v 0.10274821 -0.09154808 -0.02362641
+v 0.11972180 -0.09088526 -0.00278135
+v 0.11830461 -0.09154815 -0.00589444
+v 0.11951185 -0.09002454 -0.00475774
+v 0.12211442 -0.08266665 -0.00278132
+v 0.12133146 -0.08244567 -0.00575125
+v 0.11286544 -0.08244561 -0.02159656
+v 0.11289387 -0.08280735 -0.02153887
+v 0.11185065 -0.08709754 -0.02130813
+v 0.11102176 -0.09029980 -0.02070988
+v 0.10825517 -0.09154809 -0.02165215
+v 0.10814582 -0.09154809 -0.02169916
+v 0.10666300 -0.09154809 -0.02227391
+v 0.10389640 -0.09154808 -0.02332941
+v 0.10364927 -0.09154808 -0.02341488
+v 0.12076502 -0.08816859 -0.00278134
+v 0.11814057 -0.09154815 -0.00631963
+v 0.11829367 -0.09151252 -0.00597777
+v 0.11905039 -0.08902215 -0.00749905
+v 0.12111932 -0.08716800 -0.00278134
+v 0.12130741 -0.08266664 -0.00575125
+v 0.11994488 -0.08244565 -0.01010572
+v 0.11342751 -0.08244561 -0.02122692
+v 0.11460851 -0.08437910 -0.01998982
+v 0.10852855 -0.09154809 -0.02151541
+v 0.11406175 -0.08709755 -0.01925910
+v 0.11495625 -0.08968146 -0.01637251
+v 0.11250239 -0.09146791 -0.01803696
+v 0.11238211 -0.09154810 -0.01810961
+v 0.11676274 -0.09154813 -0.00986218
+v 0.11612850 -0.09154813 -0.01141338
+v 0.11554019 -0.09066960 -0.01397093
+v 0.11714110 -0.08709757 -0.01397092
+v 0.11865453 -0.08736577 -0.01012710
+v 0.11956215 -0.08606848 -0.00893486
+v 0.12008923 -0.08736579 -0.00597775
+v 0.11989239 -0.08282611 -0.01012708
+v 0.11973930 -0.08244565 -0.01074244
+v 0.11569109 -0.08244562 -0.01891294
+v 0.11595792 -0.08280736 -0.01840442
+v 0.11548114 -0.08709756 -0.01720365
+v 0.11259425 -0.09154810 -0.01780834
+v 0.11246302 -0.09154810 -0.01800705
+v 0.11499124 -0.09154812 -0.01397094
+v 0.11842927 -0.08282610 -0.01381706
+v 0.11905476 -0.08440942 -0.01167616
+v 0.11868296 -0.08244564 -0.01341323
+v 0.11602352 -0.08244562 -0.01838092
+v 0.11617006 -0.08244562 -0.01812025
+v 0.11844458 -0.08244564 -0.01389825
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 24
+f 1 24 17
+f 1 17 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 31
+f 1 31 47
+f 1 47 63
+f 1 63 72
+f 1 72 75
+f 1 75 74
+f 1 74 73
+f 1 73 64
+f 1 64 48
+f 1 48 32
+f 1 32 20
+f 1 20 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 5 6 11
+f 5 11 12
+f 5 12 13
+f 5 13 7
+f 6 14 11
+f 7 13 16
+f 7 16 15
+f 8 17 26
+f 8 26 40
+f 8 40 39
+f 8 39 38
+f 8 38 37
+f 8 37 36
+f 8 36 50
+f 8 50 54
+f 8 54 68
+f 8 68 67
+f 8 67 69
+f 8 69 56
+f 8 56 55
+f 8 55 42
+f 8 42 28
+f 8 28 18
+f 8 18 9
+f 9 18 27
+f 9 27 41
+f 9 41 45
+f 9 45 30
+f 9 30 19
+f 9 19 10
+f 11 14 12
+f 12 14 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 16
+f 12 16 13
+f 15 16 24
+f 16 23 25
+f 16 25 26
+f 16 26 17
+f 16 17 24
+f 18 28 29
+f 18 29 27
+f 19 30 46
+f 19 46 31
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 27 29 41
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 41
+f 30 45 46
+f 31 46 47
+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 35
+f 35 50 36
+f 35 49 51
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 50
+f 41 44 45
+f 42 55 43
+f 43 55 44
+f 44 55 56
+f 44 56 57
+f 44 57 52
+f 44 52 58
+f 44 58 59
+f 44 59 60
+f 44 60 61
+f 44 61 45
+f 45 61 60
+f 45 60 46
+f 46 60 62
+f 46 62 47
+f 47 62 63
+f 48 64 49
+f 49 64 65
+f 49 65 66
+f 49 66 51
+f 51 66 52
+f 52 67 68
+f 52 68 53
+f 52 66 58
+f 52 57 69
+f 52 69 67
+f 53 68 54
+f 56 69 57
+f 58 70 71
+f 58 71 59
+f 58 66 70
+f 59 71 60
+f 60 71 62
+f 62 71 63
+f 63 71 72
+f 64 73 65
+f 65 73 74
+f 65 74 70
+f 65 70 66
+f 70 75 72
+f 70 72 71
+f 70 74 75
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_2.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.09944012 -0.09154809 -0.02412028
+v 0.10274843 -0.09154809 -0.02362606
+v 0.09944012 -0.09245045 -0.02393494
+v 0.09944012 -0.09154812 -0.01711563
+v 0.10364957 -0.09154809 -0.02341221
+v 0.10368969 -0.09541064 -0.02139256
+v 0.09944012 -0.09261226 -0.02385416
+v 0.09944012 -0.10376440 0.01891027
+v 0.11948747 -0.09154825 0.01960887
+v 0.10389646 -0.09154809 -0.02332667
+v 0.10689925 -0.09449582 -0.02074152
+v 0.10145844 -0.09817167 -0.02012850
+v 0.09969627 -0.09640220 -0.02176323
+v 0.09944012 -0.09407057 -0.02307007
+v 0.09944012 -0.10552765 0.02252664
+v 0.12137926 -0.09154826 0.02228908
+v 0.10666470 -0.09154810 -0.02227170
+v 0.10826947 -0.09167878 -0.02159690
+v 0.10984647 -0.09325534 -0.01969604
+v 0.10813369 -0.09597281 -0.01810408
+v 0.10642090 -0.09849944 -0.01651213
+v 0.10368969 -0.09762818 -0.01946796
+v 0.09944012 -0.09841438 -0.02038512
+v 0.10368969 -0.09908027 -0.01741503
+v 0.09969627 -0.09961338 -0.01848903
+v 0.09944012 -0.09685856 -0.02149237
+v 0.09944012 -0.09637731 -0.02181550
+v 0.09944012 -0.09623832 -0.02189154
+v 0.09944012 -0.10561063 0.02267870
+v 0.12165084 -0.09154826 0.02242689
+v 0.10814603 -0.09154810 -0.02169669
+v 0.10825713 -0.09154810 -0.02164917
+v 0.10852870 -0.09154810 -0.02151611
+v 0.11238634 -0.09154811 -0.01810883
+v 0.11103771 -0.09449377 -0.01695407
+v 0.10368969 -0.10086427 -0.01396975
+v 0.10936813 -0.09744772 -0.01468731
+v 0.12040406 -0.10796091 0.01967059
+v 0.11516075 -0.11166788 0.02051646
+v 0.09944012 -0.09937897 -0.01892147
+v 0.09963763 -0.10204253 -0.01392698
+v 0.09944012 -0.10198444 -0.01409805
+v 0.09944012 -0.09966732 -0.01846527
+v 0.09944012 -0.10910393 0.02436095
+v 0.12578005 -0.09154827 0.02429448
+v 0.11246658 -0.09154811 -0.01800428
+v 0.11415468 -0.09288612 -0.01396972
+v 0.11471944 -0.09370967 -0.01185977
+v 0.12439748 -0.10357355 0.01891978
+v 0.10135659 -0.10257151 -0.01184555
+v 0.12464436 -0.10386605 0.02198015
+v 0.12040406 -0.10796092 0.02194211
+v 0.11516075 -0.11166788 0.02131957
+v 0.11253448 -0.11206823 0.01982740
+v 0.09944012 -0.10274782 -0.01228750
+v 0.09944012 -0.10216699 -0.01370364
+v 0.09944012 -0.10204875 -0.01397450
+v 0.09944012 -0.10925536 0.02442748
+v 0.12579856 -0.09154827 0.02429923
+v 0.11259620 -0.09154811 -0.01780469
+v 0.11499410 -0.09154813 -0.01396972
+v 0.12859149 -0.09907003 0.01987022
+v 0.12859149 -0.09907004 0.02171405
+v 0.12598991 -0.10048478 0.02273100
+v 0.12167553 -0.10513559 0.02286879
+v 0.11675936 -0.10936529 0.02248385
+v 0.11253448 -0.11206824 0.02191359
+v 0.10811208 -0.11251423 0.01923814
+v 0.09944012 -0.10328925 -0.01059574
+v 0.10368969 -0.11270092 0.01912409
+v 0.10368969 -0.10925536 0.02439421
+v 0.09944012 -0.11260551 0.02278798
+v 0.13050797 -0.09154826 0.02254094
+v 0.11695379 -0.10482444 0.02429443
+v 0.12137617 -0.10039559 0.02424693
+v 0.12579856 -0.09596260 0.02413290
+v 0.13096780 -0.09154825 0.01907664
+v 0.12922106 -0.09585886 0.01866794
+v 0.12940623 -0.09596259 0.02237461
+v 0.11253448 -0.10925536 0.02372891
+v 0.10811208 -0.11251424 0.02246009
+v 0.09944012 -0.11273826 0.01927140
+v 0.10368969 -0.11270093 0.02263591
+v 0.09944012 -0.11273827 0.02272145
+v 0.10811208 -0.10925536 0.02426591
+v 0.13053574 -0.09154826 0.02252669
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 28
+f 1 28 27
+f 1 27 26
+f 1 26 23
+f 1 23 40
+f 1 40 43
+f 1 43 42
+f 1 42 57
+f 1 57 56
+f 1 56 55
+f 1 55 69
+f 1 69 82
+f 1 82 84
+f 1 84 72
+f 1 72 58
+f 1 58 44
+f 1 44 29
+f 1 29 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 30
+f 1 30 45
+f 1 45 59
+f 1 59 73
+f 1 73 86
+f 1 86 77
+f 1 77 61
+f 1 61 60
+f 1 60 46
+f 1 46 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 6 10 11
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 23 13
+f 12 22 21
+f 12 21 24
+f 12 24 25
+f 12 25 23
+f 13 23 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 15 29 16
+f 16 29 30
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 21 36 24
+f 21 35 37
+f 21 37 38
+f 21 38 39
+f 21 39 36
+f 23 25 40
+f 24 36 41
+f 24 41 25
+f 25 41 42
+f 25 42 43
+f 25 43 40
+f 29 44 45
+f 29 45 30
+f 34 46 35
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 38
+f 35 38 37
+f 36 50 41
+f 36 39 50
+f 38 49 51
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 39 53 67
+f 39 67 54
+f 39 54 50
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 41 50 55
+f 44 58 45
+f 45 58 59
+f 46 60 47
+f 47 61 62
+f 47 62 48
+f 47 60 61
+f 48 62 49
+f 49 62 51
+f 50 54 55
+f 51 63 64
+f 51 64 65
+f 51 65 52
+f 51 62 63
+f 52 65 66
+f 52 66 53
+f 53 66 67
+f 54 67 81
+f 54 81 68
+f 54 68 55
+f 55 68 70
+f 55 70 69
+f 58 71 59
+f 58 72 71
+f 59 71 74
+f 59 74 75
+f 59 75 76
+f 59 76 73
+f 61 77 78
+f 61 78 62
+f 62 78 77
+f 62 77 63
+f 63 79 64
+f 63 77 79
+f 64 76 65
+f 64 79 76
+f 65 76 75
+f 65 75 74
+f 65 74 80
+f 65 80 66
+f 66 80 67
+f 67 80 81
+f 68 81 83
+f 68 83 70
+f 69 70 82
+f 70 83 84
+f 70 84 82
+f 71 72 84
+f 71 84 83
+f 71 83 85
+f 71 85 74
+f 73 79 86
+f 73 76 79
+f 74 85 80
+f 77 86 79
+f 80 85 81
+f 81 85 83
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_20.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.00086978 -0.10427846 -0.00606352
+v 0.00086978 -0.10319884 -0.00969023
+v 0.00086978 -0.09773241 -0.00606350
+v -0.08645748 -0.10450728 -0.00606352
+v -0.08645748 -0.10341593 -0.00986161
+v 0.00086978 -0.10302673 -0.01020622
+v -0.08645748 -0.10269229 -0.01215042
+v 0.00086978 -0.08452683 -0.01948484
+v 0.00011639 -0.08452683 -0.01948116
+v -0.02014037 -0.08452683 -0.01940007
+v -0.02455711 -0.08452683 -0.01938902
+v -0.02898328 -0.08452683 -0.01938533
+v -0.02898328 -0.09771872 -0.00606350
+v -0.09088364 -0.10449751 -0.00606352
+v -0.09088364 -0.10341006 -0.00986161
+v 0.00086978 -0.10250844 -0.01174684
+v -0.09088364 -0.10268838 -0.01213752
+v -0.08645748 -0.10193538 -0.01420702
+v -0.08204073 -0.10193538 -0.01417937
+v 0.00086978 -0.08452681 -0.02488989
+v -0.09530038 -0.08452683 -0.01937612
+v -0.03340002 -0.09772458 -0.00606350
+v -0.09533806 -0.08452683 -0.01937612
+v -0.09532864 -0.10439776 -0.00606352
+v -0.09533806 -0.10439776 -0.00606905
+v -0.09533806 -0.10437429 -0.00615014
+v -0.09533806 -0.10318710 -0.01023387
+v -0.09533806 -0.10305215 -0.01068168
+v -0.09436806 -0.10265708 -0.01205091
+v 0.00086978 -0.10229525 -0.01230522
+v -0.09088364 -0.10192365 -0.01419412
+v -0.08645748 -0.10018493 -0.01808435
+v -0.08204073 -0.10019080 -0.01808435
+v -0.07761457 -0.10017515 -0.01808435
+v 0.00086978 -0.10165766 -0.01397298
+v 0.00086978 -0.08598778 -0.02488069
+v -0.03782618 -0.08709868 -0.02485673
+v -0.09533806 -0.08452681 -0.02483460
+v -0.09533806 -0.09785367 -0.00606350
+v -0.09533806 -0.09835239 -0.00606350
+v -0.09533806 -0.10216421 -0.01326718
+v -0.09533806 -0.10200579 -0.01367628
+v -0.09530038 -0.10002455 -0.01808435
+v -0.09088364 -0.10014972 -0.01808435
+v -0.08645748 -0.09864375 -0.02066800
+v -0.08204073 -0.09864766 -0.02067537
+v -0.07761457 -0.09863984 -0.02066800
+v 0.00086978 -0.09972532 -0.01808435
+v 0.00086978 -0.08709868 -0.02486963
+v -0.04224293 -0.08709868 -0.02485304
+v -0.06434549 -0.09115304 -0.02451950
+v -0.09533806 -0.08709868 -0.02480144
+v -0.09533806 -0.10020059 -0.01768998
+v -0.09530038 -0.09854400 -0.02055743
+v -0.09533806 -0.10002064 -0.01808619
+v -0.09533806 -0.10001086 -0.01810278
+v -0.09088364 -0.09861832 -0.02063851
+v -0.08645748 -0.09596040 -0.02263061
+v -0.08204073 -0.09596040 -0.02264167
+v -0.09088364 -0.09596040 -0.02258823
+v -0.07761457 -0.09596040 -0.02264904
+v -0.07319782 -0.09596040 -0.02264167
+v -0.06877165 -0.09596040 -0.02262140
+v 0.00086978 -0.09596040 -0.02229706
+v -0.07319782 -0.09862420 -0.02065141
+v 0.00086978 -0.09938305 -0.01865747
+v 0.00086978 -0.09000108 -0.02462270
+v -0.06877165 -0.09340416 -0.02418596
+v -0.06877165 -0.09118825 -0.02451213
+v -0.09088364 -0.09099071 -0.02450476
+v 0.00086978 -0.09096333 -0.02453977
+v -0.09533806 -0.09075210 -0.02450107
+v -0.09530038 -0.09596040 -0.02244817
+v -0.09533806 -0.09853031 -0.02056480
+v -0.09533806 -0.09596236 -0.02244448
+v -0.09088364 -0.09320663 -0.02414541
+v -0.08645748 -0.09324965 -0.02415831
+v -0.07319782 -0.09338852 -0.02418411
+v -0.09533806 -0.09593888 -0.02245923
+v 0.00086978 -0.09317925 -0.02412146
+v 0.00086978 -0.09775973 -0.02085228
+v 0.00086978 -0.09836017 -0.02036946
+v -0.09533806 -0.09077362 -0.02449923
+v -0.09533806 -0.09298954 -0.02408644
+v -0.09533806 -0.09297584 -0.02409013
+f 1 2 6
+f 1 6 16
+f 1 16 30
+f 1 30 35
+f 1 35 48
+f 1 48 66
+f 1 66 82
+f 1 82 81
+f 1 81 64
+f 1 64 80
+f 1 80 71
+f 1 71 67
+f 1 67 49
+f 1 49 36
+f 1 36 20
+f 1 20 8
+f 1 8 3
+f 1 3 13
+f 1 13 22
+f 1 22 39
+f 1 39 40
+f 1 40 24
+f 1 24 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 4 15 5
+f 5 15 7
+f 6 7 16
+f 7 15 17
+f 7 17 18
+f 7 18 19
+f 7 19 16
+f 8 20 38
+f 8 38 23
+f 8 23 21
+f 8 21 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 12 21 13
+f 13 21 23
+f 13 23 22
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 17
+f 16 19 30
+f 17 29 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 30
+f 20 36 37
+f 20 37 38
+f 22 23 39
+f 23 38 52
+f 23 52 72
+f 23 72 83
+f 23 83 85
+f 23 85 84
+f 23 84 79
+f 23 79 75
+f 23 75 74
+f 23 74 56
+f 23 56 55
+f 23 55 53
+f 23 53 42
+f 23 42 41
+f 23 41 28
+f 23 28 27
+f 23 27 26
+f 23 26 25
+f 23 25 40
+f 23 40 39
+f 24 40 25
+f 28 41 29
+f 29 41 31
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 45 46
+f 32 46 33
+f 32 44 45
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 35
+f 36 49 37
+f 37 50 38
+f 37 49 51
+f 37 51 50
+f 38 50 52
+f 42 53 43
+f 43 54 44
+f 43 53 55
+f 43 55 56
+f 43 56 54
+f 44 57 45
+f 44 54 57
+f 45 58 59
+f 45 59 46
+f 45 57 60
+f 45 60 58
+f 46 59 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 48
+f 48 65 66
+f 49 67 51
+f 50 51 52
+f 51 68 69
+f 51 69 70
+f 51 70 52
+f 51 67 71
+f 51 71 68
+f 52 70 72
+f 54 73 60
+f 54 60 57
+f 54 56 74
+f 54 74 75
+f 54 75 73
+f 58 60 76
+f 58 76 77
+f 58 77 78
+f 58 78 68
+f 58 68 59
+f 59 68 61
+f 60 73 79
+f 60 79 76
+f 61 68 62
+f 62 68 80
+f 62 80 63
+f 63 80 64
+f 64 81 65
+f 65 81 82
+f 65 82 66
+f 68 78 69
+f 68 71 80
+f 69 78 70
+f 70 77 76
+f 70 76 83
+f 70 83 72
+f 70 78 77
+f 73 75 79
+f 76 79 84
+f 76 84 85
+f 76 85 83
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_21.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.09533968 -0.10439786 -0.00606904
+v -0.09533968 -0.09835254 -0.00606350
+v -0.09568867 -0.10437258 -0.00606352
+v -0.09973142 -0.10411388 -0.00606352
+v -0.09732599 -0.10259281 -0.01189377
+v -0.09563486 -0.10317244 -0.01025843
+v -0.09533968 -0.10318800 -0.01023455
+v -0.09533968 -0.09785460 -0.00606350
+v -0.10007226 -0.10405942 -0.00606352
+v -0.10281689 -0.10286513 -0.00859921
+v -0.09973142 -0.10311604 -0.00941137
+v -0.09973142 -0.10147632 -0.01397376
+v -0.09563486 -0.10201121 -0.01364302
+v -0.09533968 -0.10216293 -0.01326819
+v -0.09533968 -0.10305184 -0.01068105
+v -0.09973142 -0.10241775 -0.01146748
+v -0.11199826 -0.09044577 -0.00606347
+v -0.09533968 -0.08452877 -0.01937582
+v -0.10411174 -0.10328138 -0.00606352
+v -0.10576373 -0.10238664 -0.00724684
+v -0.10423404 -0.10194704 -0.00992768
+v -0.10415251 -0.10046292 -0.01397376
+v -0.10415251 -0.09890685 -0.01726831
+v -0.09994505 -0.09932114 -0.01842406
+v -0.09533968 -0.10001942 -0.01808598
+v -0.09533968 -0.10020033 -0.01768909
+v -0.09533968 -0.10200538 -0.01367609
+v -0.11199826 -0.09949430 -0.00606351
+v -0.11199826 -0.08452879 -0.01271688
+v -0.09533968 -0.08452875 -0.02483306
+v -0.10449171 -0.10316273 -0.00606352
+v -0.10803380 -0.10178756 -0.00606351
+v -0.10857523 -0.10018284 -0.00986153
+v -0.10839584 -0.09883489 -0.01359707
+v -0.10680255 -0.09841085 -0.01642859
+v -0.10415251 -0.09759002 -0.01932442
+v -0.10156117 -0.09807628 -0.02002081
+v -0.09861432 -0.09838556 -0.02037912
+v -0.09533968 -0.10000970 -0.01810436
+v -0.10907751 -0.10123710 -0.00606351
+v -0.11199826 -0.09909944 -0.00725601
+v -0.11199826 -0.08452876 -0.02238924
+v -0.09533968 -0.08709821 -0.02480183
+v -0.09787557 -0.08452875 -0.02481836
+v -0.10849695 -0.10157749 -0.00606351
+v -0.11081920 -0.09820080 -0.01197460
+v -0.10974940 -0.09750056 -0.01471608
+v -0.10863230 -0.09602033 -0.01813374
+v -0.10751521 -0.09453816 -0.02082193
+v -0.10415251 -0.09537261 -0.02144299
+v -0.09994505 -0.09634321 -0.02165798
+v -0.09533968 -0.09853143 -0.02056470
+v -0.09533968 -0.09596392 -0.02244441
+v -0.10866166 -0.10148413 -0.00606351
+v -0.11136063 -0.09861316 -0.00986152
+v -0.11199826 -0.09804325 -0.00986152
+v -0.11120407 -0.08452876 -0.02282104
+v -0.10848390 -0.08735107 -0.02369936
+v -0.11199826 -0.08690954 -0.02188028
+v -0.09533968 -0.09075302 -0.02450050
+v -0.09973142 -0.08709821 -0.02474671
+v -0.09973142 -0.08452875 -0.02479447
+v -0.11199826 -0.09660972 -0.01287861
+v -0.11160850 -0.09454597 -0.01709741
+v -0.11046369 -0.09344698 -0.01983888
+v -0.10882310 -0.09179365 -0.02179026
+v -0.10439549 -0.09138322 -0.02362037
+v -0.09973142 -0.09255417 -0.02391252
+v -0.09533968 -0.09593863 -0.02245911
+v -0.11060068 -0.08452875 -0.02314076
+v -0.11167537 -0.09049239 -0.02088622
+v -0.10922102 -0.08452875 -0.02387023
+v -0.10694769 -0.08604202 -0.02437922
+v -0.10603118 -0.08899660 -0.02420099
+v -0.11199826 -0.08964433 -0.02098361
+v -0.09533968 -0.09077442 -0.02449866
+v -0.10229829 -0.08452875 -0.02473935
+v -0.09973142 -0.09033872 -0.02446007
+v -0.10308433 -0.08980771 -0.02437004
+v -0.10439549 -0.08735107 -0.02450784
+v -0.11199826 -0.09495443 -0.01576526
+v -0.11199826 -0.09380489 -0.01738772
+v -0.11199826 -0.09242193 -0.01890362
+v -0.09533968 -0.09298987 -0.02408524
+v -0.11199826 -0.09075693 -0.02028905
+v -0.10719394 -0.08452875 -0.02441595
+v -0.10424872 -0.08452875 -0.02464380
+v -0.09533968 -0.09297430 -0.02408892
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 14
+f 1 14 27
+f 1 27 26
+f 1 26 25
+f 1 25 39
+f 1 39 52
+f 1 52 53
+f 1 53 69
+f 1 69 84
+f 1 84 88
+f 1 88 76
+f 1 76 60
+f 1 60 43
+f 1 43 30
+f 1 30 18
+f 1 18 8
+f 1 8 2
+f 2 8 17
+f 2 17 28
+f 2 28 40
+f 2 40 54
+f 2 54 45
+f 2 45 32
+f 2 32 31
+f 2 31 19
+f 2 19 9
+f 2 9 4
+f 2 4 3
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 11 16
+f 5 16 12
+f 6 15 7
+f 8 18 17
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 12
+f 10 12 16
+f 10 16 11
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 14
+f 17 18 29
+f 17 29 42
+f 17 42 59
+f 17 59 75
+f 17 75 85
+f 17 85 83
+f 17 83 82
+f 17 82 81
+f 17 81 63
+f 17 63 56
+f 17 56 41
+f 17 41 28
+f 18 30 44
+f 18 44 62
+f 18 62 77
+f 18 77 87
+f 18 87 86
+f 18 86 72
+f 18 72 70
+f 18 70 57
+f 18 57 42
+f 18 42 29
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 22
+f 20 22 21
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 28 41 40
+f 30 43 44
+f 32 45 33
+f 33 46 34
+f 33 45 46
+f 34 46 35
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 35 46 47
+f 36 49 37
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 38 52 39
+f 38 51 53
+f 38 53 52
+f 40 41 55
+f 40 55 54
+f 41 56 55
+f 42 57 58
+f 42 58 59
+f 43 60 61
+f 43 61 44
+f 44 61 62
+f 45 54 46
+f 46 54 55
+f 46 55 56
+f 46 56 63
+f 46 63 64
+f 46 64 47
+f 47 64 48
+f 48 64 65
+f 48 65 49
+f 49 65 66
+f 49 66 67
+f 49 67 50
+f 50 67 68
+f 50 68 51
+f 51 68 53
+f 53 68 69
+f 57 70 58
+f 58 66 71
+f 58 71 59
+f 58 70 72
+f 58 72 73
+f 58 73 74
+f 58 74 66
+f 59 71 75
+f 60 76 61
+f 61 77 62
+f 61 76 78
+f 61 78 79
+f 61 79 80
+f 61 80 77
+f 63 81 64
+f 64 81 82
+f 64 82 65
+f 65 71 66
+f 65 82 83
+f 65 83 71
+f 66 74 67
+f 67 74 79
+f 67 79 68
+f 68 79 78
+f 68 78 84
+f 68 84 69
+f 71 83 85
+f 71 85 75
+f 72 86 73
+f 73 86 87
+f 73 87 80
+f 73 80 74
+f 74 80 79
+f 76 88 78
+f 77 80 87
+f 78 88 84
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_22.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.10924326 0.08571658 -0.01485322
+v 0.12096678 0.08571646 0.01892115
+v 0.11737839 0.08571658 -0.01485322
+v 0.11130023 -0.00050247 -0.01485353
+v 0.12164451 -0.00050259 0.01892084
+v 0.12249583 0.08571645 0.02267517
+v 0.12285015 -0.00050260 0.02222627
+v 0.11801569 0.08571658 -0.01377895
+v 0.11806087 0.08561530 -0.01377502
+v 0.11744973 0.08554778 -0.01485322
+v 0.11923322 -0.00050247 -0.01485353
+v 0.12456469 0.05471473 0.02469373
+v 0.12517821 0.08571644 0.02472926
+v 0.12443628 -0.00050261 0.02327299
+v 0.12458609 0.05028349 0.02463469
+v 0.11811794 0.08571658 -0.01358614
+v 0.11933310 0.08405382 -0.01227577
+v 0.11861494 0.08131068 -0.01485323
+v 0.11935925 -0.00050247 -0.01458201
+v 0.11923798 0.00006304 -0.01485353
+v 0.12679525 0.05028349 0.02534693
+v 0.12677622 0.05471473 0.02532334
+v 0.12519486 0.08571644 0.02473319
+v 0.12579887 -0.00050261 0.02416230
+v 0.12530424 0.02370456 0.02443785
+v 0.12751579 0.02370456 0.02517763
+v 0.11905963 0.08571657 -0.01161075
+v 0.13275213 0.08571645 0.02042040
+v 0.11956852 0.08131068 -0.01280307
+v 0.11907865 0.07687945 -0.01485325
+v 0.11986102 -0.00050247 -0.01347627
+v 0.11927127 0.00441830 -0.01485351
+v 0.12866436 0.05028349 0.02534693
+v 0.12728987 0.07687931 0.02522111
+v 0.12738975 0.08571644 0.02516211
+v 0.13022195 -0.00050261 0.02414263
+v 0.12813882 0.01643735 0.02510677
+v 0.12789389 0.01643735 0.02510677
+v 0.12769175 0.01927333 0.02514220
+v 0.12853357 0.02370456 0.02517763
+v 0.13275213 0.08571645 0.02176225
+v 0.13296616 0.08131056 0.02008985
+v 0.13301608 0.06358565 0.01515525
+v 0.13284726 0.06801688 0.01585570
+v 0.11978967 0.07687945 -0.01330678
+v 0.13218142 0.06358566 0.01310116
+v 0.11990382 0.07244822 -0.01354683
+v 0.11914048 0.07563026 -0.01485325
+v 0.11986577 0.00154012 -0.01349593
+v 0.13213623 0.05914599 0.01317198
+v 0.13300182 0.05914598 0.01522607
+v 0.13303037 -0.00050259 0.01995576
+v 0.11928078 0.00597978 -0.01485351
+v 0.13094010 0.07687931 0.02441443
+v 0.12872856 0.07687931 0.02522111
+v 0.13074511 0.02370456 0.02432767
+v 0.12832906 0.08571644 0.02516211
+v 0.13303037 -0.00050260 0.02220659
+v 0.13056675 0.01927333 0.02434339
+v 0.12835522 0.01927333 0.02514220
+v 0.13273787 0.08571645 0.02177799
+v 0.13296616 0.08131055 0.02219902
+v 0.13353687 0.06358564 0.01892107
+v 0.13339182 0.06801687 0.01892109
+v 0.11954712 0.05028363 -0.01485335
+v 0.11957328 0.05471487 -0.01485333
+v 0.11957328 0.05914609 -0.01485331
+v 0.11951620 0.06358576 -0.01485330
+v 0.11996327 0.06801699 -0.01368457
+v 0.11929267 0.07244822 -0.01485326
+v 0.11942108 0.06801699 -0.01485328
+v 0.13304937 0.07687932 0.02235641
+v 0.13072846 0.08131054 0.02425705
+v 0.13303511 0.01041088 0.02226566
+v 0.13302798 0.01484211 0.02228141
+v 0.13303274 0.00153999 0.02221841
+v 0.13303511 0.00597965 0.02224203
+v 0.12834332 0.08571644 0.02515424
+v 0.13054060 0.08571644 0.02382027
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 35
+f 1 35 57
+f 1 57 78
+f 1 78 79
+f 1 79 61
+f 1 61 41
+f 1 41 28
+f 1 28 27
+f 1 27 16
+f 1 16 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 30
+f 1 30 48
+f 1 48 70
+f 1 70 71
+f 1 71 68
+f 1 68 67
+f 1 67 66
+f 1 66 65
+f 1 65 53
+f 1 53 32
+f 1 32 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 4 11 19
+f 4 19 31
+f 4 31 52
+f 4 52 58
+f 4 58 36
+f 4 36 24
+f 4 24 14
+f 4 14 7
+f 4 7 5
+f 6 12 13
+f 6 7 12
+f 7 14 15
+f 7 15 12
+f 8 16 9
+f 9 17 18
+f 9 18 10
+f 9 16 17
+f 11 20 19
+f 12 15 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 21
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 19 20 32
+f 19 32 31
+f 21 33 55
+f 21 55 34
+f 21 34 22
+f 21 26 40
+f 21 40 33
+f 22 34 35
+f 22 35 23
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 26
+f 24 26 25
+f 26 39 60
+f 26 60 40
+f 28 41 62
+f 28 62 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 45 30
+f 29 44 46
+f 29 46 45
+f 30 45 47
+f 30 47 48
+f 31 32 49
+f 31 49 46
+f 31 46 50
+f 31 50 51
+f 31 51 52
+f 32 53 49
+f 33 54 55
+f 33 40 56
+f 33 56 54
+f 34 55 57
+f 34 57 35
+f 36 58 56
+f 36 56 59
+f 36 59 40
+f 36 40 60
+f 36 60 37
+f 37 60 39
+f 37 39 38
+f 40 59 56
+f 41 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 43 46 44
+f 43 64 63
+f 43 63 51
+f 43 51 46
+f 45 46 47
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 46 51 50
+f 46 49 65
+f 47 70 48
+f 47 69 71
+f 47 71 70
+f 49 53 65
+f 51 63 52
+f 52 63 58
+f 54 72 62
+f 54 62 73
+f 54 73 57
+f 54 57 55
+f 54 56 74
+f 54 74 75
+f 54 75 72
+f 56 58 76
+f 56 76 77
+f 56 77 74
+f 57 73 78
+f 58 63 76
+f 61 79 62
+f 62 72 63
+f 62 79 73
+f 63 72 74
+f 63 74 77
+f 63 77 76
+f 68 71 69
+f 72 75 74
+f 73 79 78
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_3.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.09507316 0.09529600 -0.02259671
+v 0.09507316 0.09771369 -0.02119086
+v 0.09834179 0.09529600 -0.02239521
+v 0.09507316 0.09529597 -0.01256376
+v 0.09507316 0.09787099 -0.02109246
+v 0.09926991 0.09764762 -0.02090033
+v 0.09926991 0.09529600 -0.02232023
+v 0.11821921 0.09529584 0.02140112
+v 0.09507316 0.10276442 0.01891752
+v 0.09507316 0.09997249 -0.01840731
+v 0.09507316 0.10009676 -0.01824330
+v 0.09906478 0.10004486 -0.01772782
+v 0.10246120 0.09723864 -0.02052544
+v 0.10359782 0.09529600 -0.02138769
+v 0.11883796 0.09529584 0.02227274
+v 0.12043864 0.09529583 0.02369263
+v 0.09507316 0.10441291 0.02278355
+v 0.09507316 0.10135357 -0.01620953
+v 0.09745401 0.10130953 -0.01612518
+v 0.10040317 0.10109403 -0.01565657
+v 0.10540700 0.09655595 -0.01986471
+v 0.10421993 0.09529600 -0.02115339
+v 0.10383658 0.09834130 -0.01832766
+v 0.12240252 0.09529583 0.02509846
+v 0.09507316 0.10459223 0.02288196
+v 0.09507316 0.10211489 -0.01415700
+v 0.09906478 0.10184119 -0.01416170
+v 0.09926991 0.10323800 -0.00985985
+v 0.10275040 0.10164142 -0.01291520
+v 0.10401144 0.10070706 -0.01416170
+v 0.10833262 0.09529599 -0.01877753
+v 0.10624433 0.09529599 -0.02032863
+v 0.10715229 0.09762558 -0.01712333
+v 0.11010144 0.09664560 -0.01573157
+v 0.10889084 0.09529599 -0.01829955
+v 0.12283631 0.09529583 0.02521092
+v 0.09507316 0.10790337 0.02466739
+v 0.09507316 0.10217309 -0.01397893
+v 0.11253274 0.11099747 0.01986882
+v 0.09507316 0.10351642 -0.00985985
+v 0.10811404 0.11126016 0.01960640
+v 0.10569956 0.10118210 -0.01171087
+v 0.11594260 0.11058063 0.02034681
+v 0.10842342 0.09847026 -0.01420388
+v 0.11199469 0.09529597 -0.01462096
+v 0.11071683 0.09529598 -0.01649071
+v 0.12399311 0.10604253 0.02053423
+v 0.12577539 0.09529583 0.02519218
+v 0.12146429 0.09910090 0.02526717
+v 0.11253274 0.10503895 0.02524845
+v 0.10894129 0.10549040 0.02517347
+v 0.10894129 0.10665913 0.02517347
+v 0.10369197 0.10790337 0.02490638
+v 0.10772732 0.10804336 0.02500010
+v 0.11253274 0.10912401 0.02472362
+v 0.09507316 0.11136554 0.02286325
+v 0.11253274 0.11099746 0.02267111
+v 0.09507316 0.11136555 0.01897378
+v 0.09926991 0.11136241 0.01907219
+v 0.10369197 0.11134982 0.01932993
+v 0.10811404 0.11126015 0.02292885
+v 0.11594260 0.11058062 0.02195414
+v 0.11321202 0.09529597 -0.01245129
+v 0.12810243 0.10140377 0.02082944
+v 0.12399311 0.10604253 0.02167296
+v 0.12696581 0.09529583 0.02508908
+v 0.12766191 0.09589356 0.02501879
+v 0.12458160 0.09904112 0.02521562
+v 0.11699852 0.10351315 0.02527656
+v 0.12107758 0.10318911 0.02522970
+v 0.11253274 0.10690767 0.02524845
+v 0.11695480 0.10628004 0.02522502
+v 0.11940627 0.10582072 0.02513599
+v 0.11723391 0.10874335 0.02320532
+v 0.10369197 0.11134981 0.02293354
+v 0.09926991 0.11136240 0.02289605
+v 0.12107758 0.10678970 0.02303661
+v 0.11427130 0.09529596 -0.01052999
+v 0.12810243 0.10140377 0.02121370
+v 0.12867747 0.09904114 0.02019212
+v 0.12235544 0.10447582 0.02441432
+v 0.12536512 0.10294059 0.02281635
+v 0.12835464 0.09529583 0.02432994
+v 0.12679095 0.09904112 0.02418936
+v 0.12378798 0.10152331 0.02514065
+v 0.12867747 0.09904113 0.02213216
+v 0.12942737 0.09529585 0.01957354
+v 0.12917853 0.09529583 0.02317716
+v 0.12942737 0.09529585 0.01987345
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 22
+f 1 22 32
+f 1 32 31
+f 1 31 35
+f 1 35 46
+f 1 46 45
+f 1 45 63
+f 1 63 78
+f 1 78 87
+f 1 87 89
+f 1 89 88
+f 1 88 83
+f 1 83 66
+f 1 66 48
+f 1 48 36
+f 1 36 24
+f 1 24 16
+f 1 16 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 25
+f 1 25 37
+f 1 37 56
+f 1 56 58
+f 1 58 40
+f 1 40 38
+f 1 38 26
+f 1 26 18
+f 1 18 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 13 21 22
+f 13 22 14
+f 13 20 23
+f 13 23 21
+f 16 24 17
+f 17 24 25
+f 18 26 19
+f 19 27 20
+f 19 26 28
+f 19 28 27
+f 20 27 29
+f 20 29 30
+f 20 30 23
+f 21 31 32
+f 21 32 22
+f 21 23 33
+f 21 33 34
+f 21 34 35
+f 21 35 31
+f 23 30 33
+f 24 36 37
+f 24 37 25
+f 26 38 28
+f 27 28 39
+f 27 39 29
+f 28 38 40
+f 28 40 41
+f 28 41 39
+f 29 42 30
+f 29 39 43
+f 29 43 42
+f 30 42 33
+f 33 42 44
+f 33 44 34
+f 34 45 46
+f 34 46 35
+f 34 44 47
+f 34 47 45
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 39 41 61
+f 39 61 57
+f 39 57 62
+f 39 62 43
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 60 75
+f 41 75 61
+f 42 43 44
+f 43 62 65
+f 43 65 47
+f 43 47 44
+f 45 47 64
+f 45 64 63
+f 47 65 79
+f 47 79 64
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 49 69 50
+f 49 68 70
+f 49 70 69
+f 50 69 71
+f 50 71 52
+f 50 52 51
+f 52 71 53
+f 53 71 54
+f 54 71 55
+f 55 71 72
+f 55 72 73
+f 55 73 74
+f 55 74 62
+f 55 62 57
+f 55 57 61
+f 55 61 75
+f 55 75 76
+f 55 76 56
+f 56 76 59
+f 56 59 58
+f 59 76 75
+f 59 75 60
+f 62 74 73
+f 62 73 77
+f 62 77 65
+f 63 64 78
+f 64 79 86
+f 64 86 80
+f 64 80 78
+f 65 77 81
+f 65 81 82
+f 65 82 79
+f 66 83 67
+f 67 84 85
+f 67 85 68
+f 67 83 86
+f 67 86 84
+f 68 85 70
+f 69 70 72
+f 69 72 71
+f 70 85 73
+f 70 73 72
+f 73 85 81
+f 73 81 77
+f 78 80 87
+f 79 82 84
+f 79 84 86
+f 80 86 89
+f 80 89 87
+f 81 84 82
+f 81 85 84
+f 83 88 86
+f 86 88 89
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_4.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.13065525 0.08134758 0.02420038
+v -0.13068123 0.08134758 0.02420038
+v -0.12626630 0.08134758 0.02392817
+v -0.12834102 0.08721147 0.02510455
+v -0.13354371 0.08134759 0.02223653
+v -0.12855455 0.08721147 0.02510455
+v -0.12861803 0.09017836 0.02512887
+v -0.12856898 0.09460977 0.02511917
+v -0.12849107 0.09686040 0.02509487
+v -0.12624032 0.08134758 0.02391359
+v -0.10408776 0.10374918 0.02283452
+v -0.10408776 0.10380741 0.02285882
+v -0.10408776 0.10790397 0.02447270
+v -0.10415413 0.10790397 0.02447756
+v -0.12361156 0.09559096 0.02519694
+v -0.13338790 0.08574697 0.02201780
+v -0.13356680 0.08134759 0.02221709
+v -0.12615376 0.09431278 0.02517750
+v -0.12597196 0.09861899 0.02519209
+v -0.12430410 0.10153929 0.02514349
+v -0.12725316 0.09981565 0.02418101
+v -0.12866421 0.10151310 0.02143940
+v -0.12918361 0.09861900 0.02289769
+v -0.13314262 0.08922046 0.02154630
+v -0.12345863 0.08134759 0.02194974
+v -0.10408776 0.10156552 0.01967485
+v -0.10408776 0.10795056 0.02444839
+v -0.12183982 0.10182462 0.02514835
+v -0.11951982 0.10173437 0.02510460
+v -0.11951982 0.10114623 0.02510460
+v -0.12201873 0.09941676 0.02520182
+v -0.10408776 0.11108924 0.02261580
+v -0.10857772 0.10790397 0.02447756
+v -0.13338790 0.08574698 0.02004909
+v -0.13356680 0.08134760 0.01972339
+v -0.11299842 0.10790397 0.02426368
+v -0.12183982 0.10404033 0.02450671
+v -0.12183982 0.10688203 0.02245051
+v -0.12441375 0.10599109 0.02162414
+v -0.12583346 0.10300382 0.02290257
+v -0.12866421 0.10151310 0.02069566
+v -0.13314262 0.08922046 0.02051090
+v -0.10408776 0.08134774 -0.01845989
+v -0.10857772 0.11102809 0.02256719
+v -0.10408776 0.11108925 0.01966517
+v -0.11913892 0.08134772 -0.01357943
+v -0.11299842 0.11082138 0.02230470
+v -0.11758360 0.10823299 0.02299981
+v -0.11621872 0.11047490 0.02171165
+v -0.12441375 0.10599109 0.02056930
+v -0.12935097 0.09903828 0.02002483
+v -0.11044757 0.09656940 -0.01558698
+v -0.11307633 0.09469725 -0.01408006
+v -0.11483365 0.09176241 -0.01531963
+v -0.11562429 0.08880717 -0.01668559
+v -0.11795006 0.08574710 -0.01396830
+v -0.11955445 0.08325188 -0.01177112
+v -0.11897445 0.08159229 -0.01385165
+v -0.10408776 0.08134776 -0.02445838
+v -0.10857772 0.11102810 0.01968947
+v -0.10408776 0.10125118 -0.01188286
+v -0.11898310 0.08134772 -0.01390512
+v -0.11299842 0.11082139 0.01991308
+v -0.11621872 0.11047491 0.02040890
+v -0.10881433 0.09822607 -0.01411894
+v -0.10749851 0.09747781 -0.01698694
+v -0.10910866 0.09503211 -0.01853275
+v -0.11071882 0.09231852 -0.02008343
+v -0.11188459 0.09361707 -0.01734182
+v -0.11326100 0.09056285 -0.01838208
+v -0.11463454 0.08649830 -0.01942721
+v -0.11597056 0.08531039 -0.01806614
+v -0.11680450 0.08134774 -0.01810990
+v -0.11706997 0.08134773 -0.01759949
+v -0.10418299 0.08134776 -0.02445352
+v -0.10408776 0.08542395 -0.02436115
+v -0.10408776 0.10048836 -0.01386130
+v -0.10414836 0.10044760 -0.01391963
+v -0.10561712 0.10102408 -0.01120232
+v -0.10413682 0.09809798 -0.01824594
+v -0.10559980 0.09644421 -0.01972370
+v -0.10777264 0.09349190 -0.02089522
+v -0.10897881 0.09057451 -0.02174590
+v -0.11168548 0.08936329 -0.02082231
+v -0.11521454 0.08354307 -0.02014179
+v -0.11537613 0.08134774 -0.02030221
+v -0.10659821 0.08134776 -0.02429311
+v -0.10645970 0.08378183 -0.02426879
+v -0.10408776 0.08744167 -0.02420559
+v -0.10408776 0.10045633 -0.01393421
+v -0.10408776 0.10043595 -0.01397310
+v -0.10408776 0.09811254 -0.01824594
+v -0.10408776 0.09806595 -0.01831400
+v -0.10408776 0.09678195 -0.02007369
+v -0.10413682 0.09482539 -0.02141048
+v -0.10408776 0.09230106 -0.02255768
+v -0.10408776 0.08992524 -0.02362226
+v -0.10544399 0.08673707 -0.02411809
+v -0.10819105 0.08545307 -0.02354936
+v -0.11309653 0.08531040 -0.02116260
+v -0.11300131 0.08134775 -0.02189663
+v -0.10880568 0.08134776 -0.02379242
+v -0.10408776 0.08981751 -0.02365142
+v -0.10408776 0.09489818 -0.02137645
+v -0.10408776 0.09482248 -0.02142506
+f 1 2 5
+f 1 5 17
+f 1 17 35
+f 1 35 46
+f 1 46 62
+f 1 62 74
+f 1 74 73
+f 1 73 86
+f 1 86 101
+f 1 101 102
+f 1 102 87
+f 1 87 75
+f 1 75 59
+f 1 59 43
+f 1 43 25
+f 1 25 10
+f 1 10 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 6
+f 5 9 16
+f 5 16 17
+f 6 15 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 16
+f 10 25 11
+f 11 25 26
+f 11 26 43
+f 11 43 59
+f 11 59 76
+f 11 76 89
+f 11 89 103
+f 11 103 97
+f 11 97 96
+f 11 96 105
+f 11 105 104
+f 11 104 94
+f 11 94 93
+f 11 93 92
+f 11 92 91
+f 11 91 90
+f 11 90 77
+f 11 77 61
+f 11 61 45
+f 11 45 32
+f 11 32 27
+f 11 27 13
+f 11 13 12
+f 13 27 14
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 14 27 32
+f 14 32 33
+f 14 33 28
+f 15 31 19
+f 15 19 18
+f 16 24 42
+f 16 42 34
+f 16 34 35
+f 16 35 17
+f 19 31 20
+f 20 31 28
+f 20 28 33
+f 20 33 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 21 40 22
+f 22 39 50
+f 22 50 41
+f 22 41 42
+f 22 42 24
+f 22 24 23
+f 22 40 39
+f 25 43 26
+f 28 31 29
+f 29 31 30
+f 32 44 33
+f 32 45 60
+f 32 60 44
+f 33 44 36
+f 34 42 46
+f 34 46 35
+f 36 44 47
+f 36 47 48
+f 36 48 37
+f 37 48 38
+f 38 48 49
+f 38 49 39
+f 39 49 64
+f 39 64 50
+f 41 51 42
+f 41 50 52
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 51
+f 42 51 55
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 46
+f 44 60 63
+f 44 63 47
+f 45 61 60
+f 46 58 62
+f 47 63 64
+f 47 64 49
+f 47 49 48
+f 50 64 65
+f 50 65 52
+f 52 65 66
+f 52 66 67
+f 52 67 68
+f 52 68 69
+f 52 69 53
+f 53 69 54
+f 54 69 68
+f 54 68 70
+f 54 70 55
+f 55 70 71
+f 55 71 72
+f 55 72 56
+f 56 72 58
+f 56 58 57
+f 58 72 73
+f 58 73 74
+f 58 74 62
+f 59 75 76
+f 60 61 63
+f 61 77 64
+f 61 64 63
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 65 79 78
+f 65 78 66
+f 66 78 80
+f 66 80 81
+f 66 81 67
+f 67 81 68
+f 68 82 83
+f 68 83 84
+f 68 84 71
+f 68 71 70
+f 68 81 82
+f 71 84 85
+f 71 85 72
+f 72 85 73
+f 73 85 86
+f 75 87 88
+f 75 88 76
+f 76 88 89
+f 77 90 78
+f 78 90 91
+f 78 91 92
+f 78 92 80
+f 80 92 93
+f 80 93 94
+f 80 94 81
+f 81 94 95
+f 81 95 82
+f 82 95 96
+f 82 96 97
+f 82 97 83
+f 83 97 98
+f 83 98 99
+f 83 99 84
+f 84 100 85
+f 84 99 100
+f 85 100 101
+f 85 101 86
+f 87 102 88
+f 88 102 99
+f 88 99 98
+f 88 98 89
+f 89 98 103
+f 94 104 95
+f 95 104 105
+f 95 105 96
+f 97 103 98
+f 99 101 100
+f 99 102 101
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_5.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.09507316 0.10790328 0.02467163
+v 0.09507316 0.10459249 0.02288047
+v 0.09507316 0.11136514 0.02286199
+v 0.09484207 0.11136514 0.02286199
+v 0.00065025 0.10790328 0.02442633
+v 0.00065025 0.10404017 0.02284808
+v 0.03736564 0.10413616 0.02279716
+v 0.09507316 0.10441311 0.02278328
+v 0.09507316 0.11136515 0.01897425
+v 0.09041440 0.11137144 0.02282959
+v 0.05946699 0.11119362 0.02274628
+v 0.00065025 0.10996781 0.02312116
+v 0.00065025 0.10342333 0.02165861
+v 0.01082740 0.10405276 0.02282031
+v 0.01524582 0.10406535 0.02281568
+v 0.03293798 0.10411727 0.02279716
+v 0.01524582 0.10205434 0.01891867
+v 0.06388541 0.10425261 0.02277865
+v 0.09507316 0.10276401 0.01891868
+v 0.06830383 0.10426991 0.02276940
+v 0.01967348 0.10207636 0.01891867
+v 0.02409190 0.10210469 0.01891868
+v 0.02851956 0.10213773 0.01891868
+v 0.03293798 0.10217235 0.01891868
+v 0.09507316 0.10351629 -0.00985983
+v 0.09484207 0.10353203 -0.00985983
+v 0.09041440 0.10359654 -0.00985983
+v 0.09484207 0.11136515 0.01896962
+v 0.09041440 0.11137145 0.01893723
+v 0.06830383 0.11128490 0.01891871
+v 0.05946699 0.11124398 0.01891871
+v 0.02409190 0.11101423 0.02252876
+v 0.05503933 0.11117160 0.02272314
+v 0.00065025 0.11086475 0.02255190
+v 0.00065025 0.10201027 0.01891867
+v 0.00198132 0.10201342 0.01891867
+v 0.01082740 0.10204017 0.01891867
+v 0.01005094 0.09529596 -0.01049856
+v 0.05770147 0.09529596 -0.01125760
+v 0.09507316 0.09529597 -0.01256277
+v 0.09507316 0.10211425 -0.01415949
+v 0.09484207 0.10219136 -0.01396973
+v 0.09041440 0.10221496 -0.01396973
+v 0.08599599 0.10356350 -0.00985983
+v 0.05503933 0.11121095 0.01891871
+v 0.02409190 0.11101424 0.01918252
+v 0.00065025 0.11086476 0.01946485
+v 0.00198132 0.09529596 -0.01043840
+v 0.00567874 0.09529596 -0.01045228
+v 0.00640898 0.09529596 -0.01045691
+v 0.00065025 0.09529596 -0.01043840
+v 0.09507316 0.09529600 -0.02259221
+v 0.09507316 0.10135265 -0.01620981
+v 0.09484207 0.10135737 -0.01621907
+v 0.09041440 0.10135422 -0.01620981
+v 0.00065025 0.10166735 -0.01295152
+v 0.00065025 0.10273737 -0.00985983
+v 0.00065025 0.10399463 -0.00574531
+v 0.00065025 0.09529600 -0.02208773
+v 0.09484207 0.09529600 -0.02261072
+v 0.09507316 0.09771458 -0.02118983
+v 0.09507316 0.10009538 -0.01824162
+v 0.09484207 0.10009852 -0.01827402
+v 0.09041440 0.10009695 -0.01826939
+v 0.00065025 0.09914494 -0.01807964
+v 0.00065025 0.09965634 -0.01715398
+v 0.00065025 0.10083180 -0.01500647
+v 0.00065025 0.10108513 -0.01438628
+v 0.09041440 0.09529600 -0.02259221
+v 0.00065025 0.09735423 -0.02069924
+v 0.09041440 0.09788137 -0.02109727
+v 0.09484207 0.09788295 -0.02110652
+v 0.09507316 0.09787036 -0.02109264
+v 0.09507316 0.09997264 -0.01840824
+v 0.00065025 0.09789552 -0.01990780
+f 1 2 8
+f 1 8 19
+f 1 19 40
+f 1 40 52
+f 1 52 61
+f 1 61 73
+f 1 73 74
+f 1 74 62
+f 1 62 53
+f 1 53 41
+f 1 41 25
+f 1 25 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 29
+f 3 29 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 12 34
+f 5 34 47
+f 5 47 58
+f 5 58 57
+f 5 57 56
+f 5 56 68
+f 5 68 67
+f 5 67 66
+f 5 66 65
+f 5 65 75
+f 5 75 70
+f 5 70 59
+f 5 59 51
+f 5 51 35
+f 5 35 13
+f 5 13 6
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 19
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 11
+f 11 33 34
+f 11 34 12
+f 13 35 36
+f 13 36 14
+f 14 37 17
+f 14 17 15
+f 14 36 37
+f 15 17 16
+f 17 21 18
+f 17 37 38
+f 17 38 39
+f 17 39 21
+f 18 21 20
+f 19 24 40
+f 21 39 22
+f 22 39 23
+f 23 39 24
+f 24 39 40
+f 25 41 26
+f 26 41 42
+f 26 42 27
+f 27 29 28
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 31
+f 27 31 30
+f 27 30 29
+f 31 45 46
+f 31 46 47
+f 31 47 34
+f 31 34 32
+f 32 34 33
+f 35 48 49
+f 35 49 50
+f 35 50 36
+f 35 51 48
+f 36 50 38
+f 36 38 37
+f 38 50 49
+f 38 49 48
+f 38 48 51
+f 38 51 59
+f 38 59 69
+f 38 69 60
+f 38 60 52
+f 38 52 40
+f 38 40 39
+f 41 53 54
+f 41 54 42
+f 42 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 44 57 58
+f 44 58 45
+f 45 58 46
+f 46 58 47
+f 52 60 61
+f 53 62 63
+f 53 63 54
+f 54 63 64
+f 54 64 55
+f 55 64 65
+f 55 65 66
+f 55 66 67
+f 55 67 68
+f 55 68 56
+f 59 70 71
+f 59 71 69
+f 60 72 61
+f 60 69 71
+f 60 71 72
+f 61 72 73
+f 62 74 63
+f 63 74 72
+f 63 72 64
+f 64 72 71
+f 64 71 70
+f 64 70 75
+f 64 75 65
+f 72 74 73
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_6.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.10408776 0.00154033 -0.02460537
+v -0.10408776 -0.00050286 -0.02460060
+v -0.10415618 -0.00050286 -0.02460060
+v -0.10584279 -0.00050286 -0.02449072
+v -0.10729441 0.00154033 -0.02439516
+v -0.10415618 0.00597926 -0.02459581
+v -0.10408776 0.07687388 -0.02448088
+v -0.10408776 -0.00050288 -0.01892477
+v -0.10730036 -0.00050286 -0.02439517
+v -0.10950753 0.00154033 -0.02401294
+v -0.10726466 0.00597926 -0.02439037
+v -0.10670543 0.07687388 -0.02430889
+v -0.10659835 0.08133684 -0.02429453
+v -0.10418295 0.08133684 -0.02445220
+v -0.10408776 0.08133684 -0.02445697
+v -0.12347040 -0.00050303 0.02182845
+v -0.10408776 0.02370289 -0.01875747
+v -0.10951348 -0.00050286 -0.02401295
+v -0.10947481 0.00597926 -0.02400816
+v -0.11299973 0.07244296 -0.02221629
+v -0.10891557 0.07687388 -0.02386457
+v -0.10881146 0.08131280 -0.02379288
+v -0.10878172 0.08133684 -0.02379766
+v -0.10408776 0.08133682 -0.01846104
+v -0.12626358 -0.00050304 0.02355317
+v -0.10408776 0.08131278 -0.01846104
+v -0.12345850 0.08133667 0.02194819
+v -0.12626655 0.08133666 0.02393091
+v -0.11139046 -0.00050287 -0.02298098
+v -0.11562335 0.07244296 -0.02054412
+v -0.11299973 0.07687387 -0.02217806
+v -0.11299973 -0.00050287 -0.02209234
+v -0.11299973 0.08131279 -0.02190572
+v -0.10880552 0.08133684 -0.02378810
+v -0.13065709 0.08133666 0.02420323
+v -0.13068387 -0.00050304 0.02345762
+v -0.11561145 0.06801204 -0.02053459
+v -0.11735755 0.05028838 -0.01808373
+v -0.11737243 0.05471929 -0.01808371
+v -0.11740812 0.06801203 -0.01808366
+v -0.11739622 0.07244295 -0.01808364
+v -0.11558170 0.07687387 -0.02050589
+v -0.11425502 -0.00050287 -0.02111771
+v -0.11555196 0.05028839 -0.02046777
+v -0.11537646 0.08133682 -0.02030521
+v -0.11302948 0.08133683 -0.02187705
+v -0.11299973 0.08133683 -0.02189616
+v -0.13068387 0.08133666 0.02419845
+v -0.13068387 0.08131262 0.02419845
+v -0.13188561 -0.00050303 0.02265976
+v -0.11732781 0.04585746 -0.01808374
+v -0.11908878 -0.00050289 -0.01500711
+v -0.11921967 0.04585745 -0.01517416
+v -0.11922859 0.05028837 -0.01519326
+v -0.11922859 0.05471928 -0.01519324
+v -0.11922859 0.05915019 -0.01518366
+v -0.11922264 0.06358110 -0.01516932
+v -0.11921669 0.06801202 -0.01514541
+v -0.11919290 0.07244294 -0.01508806
+v -0.11727129 0.07687386 -0.01808363
+v -0.11533779 -0.00050288 -0.02027684
+v -0.11700357 -0.00050288 -0.01808391
+v -0.11680427 0.08133682 -0.01811228
+v -0.13356628 0.08133667 0.02222051
+v -0.13362280 0.07687371 0.02220616
+v -0.13328070 -0.00050303 0.02173289
+v -0.12014180 -0.00050290 -0.01295273
+v -0.13295945 0.06358099 0.01268906
+v -0.13294160 0.06650556 0.01270818
+v -0.11910961 0.07687384 -0.01487784
+v -0.11682509 0.08131278 -0.01808361
+v -0.11707199 0.08133681 -0.01760107
+v -0.13356628 0.08133668 0.01972659
+v -0.13431290 0.07244281 0.01891914
+v -0.13447651 0.06358097 0.01891910
+v -0.13328070 -0.00050302 0.02029005
+v -0.12138222 -0.00050291 -0.00985682
+v -0.13293565 0.06088078 0.01270816
+v -0.13386077 0.06358099 0.01480556
+v -0.13366741 0.06799589 0.01444725
+v -0.13281071 0.06946217 0.01283720
+v -0.13369121 0.07244282 0.01520692
+v -0.11984434 0.08029518 -0.01240779
+v -0.11898467 0.08133680 -0.01390796
+v -0.11914233 0.08133680 -0.01357830
+v -0.13333425 0.07559173 0.01594268
+v -0.13357222 0.05930232 0.01449500
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 24
+f 1 24 26
+f 1 26 17
+f 1 17 8
+f 1 8 2
+f 2 8 16
+f 2 16 25
+f 2 25 36
+f 2 36 50
+f 2 50 66
+f 2 66 76
+f 2 76 77
+f 2 77 67
+f 2 67 52
+f 2 52 62
+f 2 62 61
+f 2 61 43
+f 2 43 32
+f 2 32 29
+f 2 29 18
+f 2 18 9
+f 2 9 4
+f 2 4 3
+f 5 9 18
+f 5 18 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 17 16
+f 10 19 11
+f 10 18 20
+f 10 20 19
+f 11 19 12
+f 12 21 13
+f 12 19 21
+f 13 22 23
+f 13 23 34
+f 13 34 47
+f 13 47 46
+f 13 46 45
+f 13 45 63
+f 13 63 72
+f 13 72 84
+f 13 84 85
+f 13 85 73
+f 13 73 64
+f 13 64 48
+f 13 48 35
+f 13 35 28
+f 13 28 27
+f 13 27 24
+f 13 24 15
+f 13 15 14
+f 13 21 22
+f 16 17 26
+f 16 26 27
+f 16 27 28
+f 16 28 25
+f 18 29 20
+f 19 20 21
+f 20 30 31
+f 20 31 21
+f 20 29 32
+f 20 32 30
+f 21 31 22
+f 22 33 34
+f 22 34 23
+f 22 31 33
+f 24 27 26
+f 25 35 36
+f 25 28 35
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 30 32 37
+f 31 42 33
+f 32 43 44
+f 32 44 37
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 33 42 45
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 37 44 38
+f 38 44 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 40
+f 40 54 55
+f 40 55 56
+f 40 56 41
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 42
+f 42 60 45
+f 43 61 44
+f 44 61 62
+f 44 62 51
+f 45 60 63
+f 48 64 65
+f 48 65 49
+f 49 65 50
+f 50 65 66
+f 51 62 52
+f 52 67 53
+f 53 67 54
+f 54 67 68
+f 54 68 55
+f 55 68 56
+f 56 68 57
+f 57 68 58
+f 58 68 69
+f 58 69 59
+f 59 70 60
+f 59 69 70
+f 60 70 71
+f 60 71 63
+f 63 71 72
+f 64 73 74
+f 64 74 75
+f 64 75 65
+f 65 75 66
+f 66 75 76
+f 67 77 78
+f 67 78 68
+f 68 78 79
+f 68 79 69
+f 69 79 80
+f 69 80 81
+f 69 81 70
+f 70 81 82
+f 70 82 83
+f 70 83 84
+f 70 84 72
+f 70 72 71
+f 73 85 86
+f 73 86 82
+f 73 82 74
+f 74 82 79
+f 74 79 75
+f 75 79 76
+f 76 79 87
+f 76 87 78
+f 76 78 77
+f 78 87 79
+f 79 82 80
+f 80 82 81
+f 82 86 85
+f 82 85 83
+f 83 85 84
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_7.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.10407751 0.10790367 0.02447722
+v -0.09530228 0.11111931 0.02261903
+v -0.09973091 0.11110863 0.02262306
+v -0.10407751 0.11108729 0.02261500
+v -0.10407751 0.10380834 0.02286085
+v -0.00687330 0.10790367 0.02444498
+v -0.09088391 0.11112999 0.02260694
+v -0.00244468 0.10790367 0.02444094
+v -0.09973091 0.11110864 0.01964833
+v -0.10407751 0.11108730 0.01966445
+v -0.10407751 0.10374856 0.02283666
+v -0.05550616 0.11106380 0.02257469
+v -0.08645528 0.11113212 0.02258679
+v -0.09088391 0.11113000 0.01961205
+v -0.00244468 0.10403681 0.02285682
+v 0.00064101 0.10403894 0.02284876
+v 0.00064101 0.10790367 0.02442482
+v 0.00064101 0.10996844 0.02312287
+v -0.00244468 0.11086522 0.02256260
+v -0.09530228 0.11111932 0.01962818
+v -0.08645528 0.10323409 -0.00985717
+v -0.09973091 0.10171383 -0.01325917
+v -0.10266282 0.10146401 -0.01251347
+v -0.10407751 0.10125047 -0.01188064
+v -0.09088391 0.10320633 -0.00985717
+v -0.09530228 0.10307395 -0.00985717
+v -0.09521002 0.10180564 -0.01427493
+v -0.10407751 0.10156638 0.01967248
+v -0.05550616 0.11106381 0.01958787
+v 0.00064101 0.11086308 0.02255051
+v -0.08645528 0.11113213 0.01959996
+v 0.00064101 0.10200836 0.01891872
+v -0.10407751 0.10153222 0.01960798
+v -0.08645528 0.10205759 -0.01396859
+v -0.09088391 0.10205333 -0.01396859
+v 0.00064101 0.11086309 0.01946695
+v 0.00064101 0.10399421 -0.00574575
+v -0.09973091 0.10098146 -0.01531488
+v -0.09661446 0.10118004 -0.01585098
+v -0.10407751 0.10045619 -0.01393635
+v -0.10407751 0.10048821 -0.01386379
+v -0.09367229 0.10129533 -0.01610492
+v -0.01129168 0.08931893 -0.01670152
+v -0.00687330 0.08942355 -0.01670152
+v 0.00064101 0.08963066 -0.01670152
+v -0.10407751 0.08934455 -0.01670152
+v -0.08645528 0.10132737 -0.01616941
+v -0.09088391 0.10132737 -0.01616941
+v 0.00064101 0.10273445 -0.00985717
+v -0.09973091 0.10019783 -0.01670148
+v -0.10407751 0.09895515 -0.01670149
+v -0.09423613 0.10088965 -0.01670148
+v -0.09597887 0.10073164 -0.01670148
+v -0.09088391 0.10101349 -0.01670148
+v -0.09288294 0.10096011 -0.01670148
+v 0.00064101 0.09990531 -0.01670148
+v -0.08528662 0.10100922 -0.01670148
+v -0.08645528 0.10102203 -0.01670148
+v 0.00064101 0.10198926 -0.01201365
+v 0.00064101 0.10166472 -0.01295283
+v 0.00064101 0.10108394 -0.01438376
+v 0.00064101 0.10082986 -0.01500854
+v -0.08974599 0.10102203 -0.01670148
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 24
+f 1 24 41
+f 1 41 40
+f 1 40 51
+f 1 51 46
+f 1 46 33
+f 1 33 28
+f 1 28 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 3 7 14
+f 3 14 9
+f 5 11 6
+f 6 11 8
+f 7 12 13
+f 7 13 31
+f 7 31 14
+f 7 8 12
+f 8 11 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 12
+f 9 14 20
+f 9 20 21
+f 9 21 10
+f 10 22 23
+f 10 23 24
+f 10 21 25
+f 10 25 26
+f 10 26 27
+f 10 27 22
+f 11 28 16
+f 11 16 15
+f 12 29 31
+f 12 31 13
+f 12 19 30
+f 12 30 36
+f 12 36 29
+f 14 31 21
+f 14 21 20
+f 16 32 45
+f 16 45 56
+f 16 56 62
+f 16 62 61
+f 16 61 60
+f 16 60 59
+f 16 59 49
+f 16 49 37
+f 16 37 36
+f 16 36 30
+f 16 30 18
+f 16 18 17
+f 16 28 33
+f 16 33 32
+f 18 30 19
+f 21 34 35
+f 21 35 25
+f 21 31 29
+f 21 29 36
+f 21 36 37
+f 21 37 34
+f 22 38 23
+f 22 27 39
+f 22 39 38
+f 23 38 40
+f 23 40 41
+f 23 41 24
+f 25 35 26
+f 26 35 27
+f 27 35 42
+f 27 42 39
+f 32 43 44
+f 32 44 45
+f 32 33 43
+f 33 46 43
+f 34 47 48
+f 34 48 35
+f 34 37 49
+f 34 49 47
+f 35 48 42
+f 38 50 51
+f 38 51 40
+f 38 39 50
+f 39 42 52
+f 39 52 53
+f 39 53 50
+f 42 48 54
+f 42 54 55
+f 42 55 52
+f 43 46 51
+f 43 51 50
+f 43 50 53
+f 43 53 52
+f 43 52 55
+f 43 55 54
+f 43 54 63
+f 43 63 58
+f 43 58 57
+f 43 57 56
+f 43 56 45
+f 43 45 44
+f 47 57 58
+f 47 58 63
+f 47 63 48
+f 47 49 59
+f 47 59 60
+f 47 60 61
+f 47 61 62
+f 47 62 56
+f 47 56 57
+f 48 63 54
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_8.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00086978 -0.00051087 -0.02452218
+v 0.00086978 -0.00051089 -0.01907999
+v 0.00198338 -0.00051087 -0.02452218
+v 0.00640870 -0.02505242 -0.02470627
+v 0.00198338 -0.03834799 -0.02479177
+v 0.00086978 -0.03834799 -0.02478946
+v 0.00086978 -0.09154811 -0.01765762
+v 0.09979571 -0.09154811 -0.01703865
+v 0.09979571 -0.00051089 -0.01858189
+v 0.00402658 -0.00051087 -0.02451987
+v 0.01082435 -0.02062354 -0.02467007
+v 0.00640870 -0.03834799 -0.02479331
+v 0.01082435 -0.02505242 -0.02470088
+v 0.00640870 -0.04278578 -0.02481719
+v 0.00198338 -0.04278578 -0.02481489
+v 0.00086978 -0.04278578 -0.02481258
+v 0.00086978 -0.09154808 -0.02442936
+v 0.09979571 -0.09154808 -0.02406676
+v 0.09979571 -0.00051087 -0.02436204
+v 0.00640870 -0.00051087 -0.02451679
+v 0.09483779 -0.00051087 -0.02439438
+v 0.00198338 -0.04720576 -0.02482490
+v 0.01082435 -0.04278578 -0.02480642
+v 0.01082435 -0.08266357 -0.02489586
+v 0.00640870 -0.08266357 -0.02490356
+v 0.00086978 -0.04720576 -0.02482336
+v 0.00086978 -0.09095994 -0.02454098
+v 0.00198338 -0.09096885 -0.02454560
+v 0.00198338 -0.09154808 -0.02443552
+v 0.09979571 -0.09016685 -0.02438701
+v 0.09926312 -0.09154808 -0.02414528
+v 0.09926312 -0.08266357 -0.02461871
+v 0.09926312 -0.02505242 -0.02444682
+v 0.09926312 -0.00051087 -0.02437128
+v 0.09979571 -0.08266357 -0.02460639
+v 0.09689067 -0.00051087 -0.02438437
+v 0.09483779 -0.02505242 -0.02449147
+v 0.00198338 -0.08266357 -0.02490125
+v 0.00086978 -0.08266357 -0.02490048
+v 0.09483779 -0.02949022 -0.02450304
+v 0.09042215 -0.04278578 -0.02455082
+v 0.00640870 -0.08709246 -0.02487971
+v 0.09483779 -0.08709246 -0.02463875
+v 0.00086978 -0.08999752 -0.02462336
+v 0.00198338 -0.08709246 -0.02487510
+v 0.00640870 -0.09097776 -0.02454945
+v 0.00640870 -0.09154808 -0.02444168
+v 0.09979571 -0.08756476 -0.02454097
+v 0.09926312 -0.09027377 -0.02440087
+v 0.09926312 -0.08709246 -0.02458947
+v 0.09483779 -0.09154808 -0.02438471
+v 0.09979571 -0.08707464 -0.02456638
+v 0.00086978 -0.08597856 -0.02488049
+v 0.08599682 -0.09152135 -0.02446170
+v 0.08602587 -0.09154808 -0.02446016
+v 0.09483779 -0.09107579 -0.02443936
+v 0.08620017 -0.09154808 -0.02445939
+v 0.00086978 -0.08709246 -0.02486971
+v 0.08580315 -0.09154808 -0.02446016
+v 0.09252345 -0.09154808 -0.02442474
+f 1 2 9
+f 1 9 19
+f 1 19 34
+f 1 34 36
+f 1 36 21
+f 1 21 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 26
+f 1 26 39
+f 1 39 53
+f 1 53 58
+f 1 58 44
+f 1 44 27
+f 1 27 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 12 5
+f 4 11 13
+f 4 13 12
+f 5 12 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 7 17 29
+f 7 29 47
+f 7 47 59
+f 7 59 55
+f 7 55 57
+f 7 57 60
+f 7 60 51
+f 7 51 31
+f 7 31 18
+f 7 18 8
+f 8 18 30
+f 8 30 48
+f 8 48 52
+f 8 52 35
+f 8 35 19
+f 8 19 9
+f 10 20 11
+f 11 20 21
+f 11 21 13
+f 12 13 21
+f 12 21 14
+f 14 22 15
+f 14 21 23
+f 14 23 24
+f 14 24 25
+f 14 25 22
+f 15 22 26
+f 15 26 16
+f 17 27 28
+f 17 28 29
+f 18 31 30
+f 19 32 33
+f 19 33 34
+f 19 35 32
+f 21 36 37
+f 21 37 23
+f 22 25 38
+f 22 38 39
+f 22 39 26
+f 23 37 40
+f 23 40 41
+f 23 41 32
+f 23 32 24
+f 24 42 25
+f 24 32 43
+f 24 43 42
+f 25 42 38
+f 27 44 28
+f 28 44 45
+f 28 45 42
+f 28 42 46
+f 28 46 47
+f 28 47 29
+f 30 31 49
+f 30 49 50
+f 30 50 48
+f 31 51 49
+f 32 41 40
+f 32 40 37
+f 32 37 33
+f 32 35 50
+f 32 50 43
+f 33 37 34
+f 34 37 36
+f 35 52 50
+f 38 42 39
+f 39 42 45
+f 39 45 53
+f 42 43 54
+f 42 54 55
+f 42 55 46
+f 43 50 56
+f 43 56 57
+f 43 57 54
+f 44 58 45
+f 45 58 53
+f 46 55 59
+f 46 59 47
+f 48 50 52
+f 49 51 56
+f 49 56 50
+f 51 60 56
+f 54 57 55
+f 56 60 57
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mjcf/mesh/metal_tray_collision_9.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.03736088 -0.11150136 0.02510668
+v 0.02409402 -0.11260294 0.02303005
+v 0.03736088 -0.11260294 0.02303005
+v 0.09483773 -0.11272948 0.02277290
+v 0.04177995 -0.11149306 0.02509697
+v 0.03736088 -0.11130427 0.02510668
+v 0.01524623 -0.11148062 0.02509212
+v 0.01967495 -0.11258842 0.02303005
+v 0.02409402 -0.11259670 0.01964340
+v 0.09926645 -0.11274192 0.01927466
+v 0.09926645 -0.11274193 0.02272438
+v 0.01189816 -0.11147439 0.02508727
+v 0.04403773 -0.11147439 0.02508727
+v 0.04177995 -0.11135406 0.02509697
+v 0.04177995 -0.10913844 0.02478646
+v 0.03736088 -0.10908865 0.02478646
+v 0.02409402 -0.10921934 0.02478646
+v 0.01524623 -0.11143498 0.02509212
+v 0.01967495 -0.11258011 0.01964340
+v 0.00086978 -0.11245150 0.02301065
+v 0.00086978 -0.11245149 0.01966281
+v 0.08157087 -0.10421539 -0.00985630
+v 0.08599958 -0.10422161 -0.00985630
+v 0.09944013 -0.11273985 0.01926981
+v 0.09944013 -0.11273986 0.02271953
+v 0.09944013 -0.11260502 0.02278746
+v 0.01189816 -0.11145987 0.02508727
+v 0.00086978 -0.10925669 0.02463605
+v 0.00086978 -0.11005954 0.02422849
+v 0.04403773 -0.11146401 0.02508727
+v 0.09944013 -0.10925669 0.02442742
+v 0.09944013 -0.10910317 0.02435949
+v 0.09944013 -0.10560961 0.02267588
+v 0.04177995 -0.10562828 0.02273411
+v 0.02409402 -0.10563865 0.02273411
+v 0.01967495 -0.10920483 0.02476705
+v 0.07715180 -0.10419672 -0.00985630
+v 0.00086978 -0.10319885 -0.00968649
+v 0.07273274 -0.10414900 -0.00985630
+v 0.08157087 -0.10312208 -0.01334969
+v 0.08599958 -0.10312415 -0.01335940
+v 0.09041866 -0.10310964 -0.01332543
+v 0.09041866 -0.10419464 -0.00985630
+v 0.09483773 -0.10403697 -0.00985630
+v 0.09483773 -0.10302872 -0.01306343
+v 0.09839807 -0.10284201 -0.01252972
+v 0.09944013 -0.10329013 -0.01059380
+v 0.00086978 -0.10569051 0.02259825
+v 0.09944013 -0.10552663 0.02252547
+v 0.05503715 -0.10372383 0.01892050
+v 0.02409402 -0.10376117 0.01892050
+v 0.00086978 -0.10379228 0.01892050
+v 0.01967495 -0.10565109 0.02270985
+v 0.05061809 -0.10372797 0.01892050
+v 0.07715180 -0.10310756 -0.01331088
+v 0.00086978 -0.10251009 -0.01174370
+v 0.07273274 -0.10308267 -0.01322839
+v 0.07715180 -0.10232337 -0.01536810
+v 0.08157087 -0.10233374 -0.01540206
+v 0.08599958 -0.10233789 -0.01541661
+v 0.09041866 -0.10232337 -0.01538265
+v 0.09483773 -0.10222171 -0.01512065
+v 0.09944013 -0.10204953 -0.01397558
+v 0.09944013 -0.10216779 -0.01370388
+v 0.09944013 -0.10274658 -0.01228712
+v 0.09944013 -0.10376324 0.01891079
+v 0.09944013 -0.09154811 -0.01711475
+v 0.00086978 -0.09154811 -0.01765332
+v 0.00086978 -0.10165951 -0.01397073
+v 0.07273274 -0.10229018 -0.01528561
+v 0.07715180 -0.10083590 -0.01808031
+v 0.08157087 -0.10087117 -0.01808031
+v 0.00086978 -0.09972601 -0.01808031
+v 0.08599958 -0.10088568 -0.01808031
+v 0.09041866 -0.10086079 -0.01808031
+v 0.09483773 -0.10063674 -0.01808031
+v 0.09944013 -0.09966585 -0.01846847
+v 0.09944013 -0.10198522 -0.01409688
+v 0.09944013 -0.09154808 -0.02411609
+v 0.00086978 -0.09154808 -0.02442661
+v 0.07273274 -0.09887336 -0.02087502
+v 0.07715180 -0.09890447 -0.02089928
+v 0.08157087 -0.09892730 -0.02091869
+v 0.00086978 -0.09938578 -0.01865284
+v 0.00086978 -0.09836303 -0.02037042
+v 0.08599958 -0.09893975 -0.02092354
+v 0.09041866 -0.09892937 -0.02090413
+v 0.09483773 -0.09880697 -0.02078768
+v 0.09850421 -0.09852483 -0.02050142
+v 0.09944013 -0.09937748 -0.01892455
+v 0.09944013 -0.09245051 -0.02393657
+v 0.09926645 -0.09154808 -0.02414520
+v 0.00086978 -0.09317868 -0.02412094
+v 0.00197937 -0.09154808 -0.02443146
+v 0.00086978 -0.09596275 -0.02229662
+v 0.07273274 -0.09596275 -0.02291767
+v 0.07715180 -0.09596275 -0.02294678
+v 0.08599958 -0.09598142 -0.02298075
+v 0.09054409 -0.09552916 -0.02321364
+v 0.09483773 -0.09596275 -0.02277211
+v 0.09944013 -0.09685896 -0.02149121
+v 0.09944013 -0.09841282 -0.02038497
+v 0.09944013 -0.09261233 -0.02385408
+v 0.09926645 -0.09249823 -0.02395112
+v 0.09483773 -0.09330108 -0.02417431
+v 0.09483773 -0.09154808 -0.02438294
+v 0.00312756 -0.09154808 -0.02443631
+v 0.06830402 -0.09363717 -0.02423253
+v 0.08293133 -0.09375541 -0.02425194
+v 0.08150333 -0.09552501 -0.02322819
+v 0.08599958 -0.09376579 -0.02425679
+v 0.08915469 -0.09376371 -0.02425679
+v 0.09209752 -0.09370148 -0.02424224
+v 0.09944013 -0.09407076 -0.02307293
+v 0.09944013 -0.09623867 -0.02189391
+v 0.09944013 -0.09637766 -0.02181628
+v 0.09253171 -0.09154808 -0.02442176
+v 0.00640809 -0.09154808 -0.02444117
+v 0.08599958 -0.09154808 -0.02446057
+v 0.09054409 -0.09194640 -0.02441206
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 6
+f 1 6 18
+f 1 18 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 4
+f 2 4 3
+f 2 7 12
+f 2 12 8
+f 4 11 5
+f 5 13 30
+f 5 30 14
+f 5 11 13
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 7 18 27
+f 7 27 12
+f 8 19 9
+f 8 12 20
+f 8 20 21
+f 8 21 19
+f 9 19 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 13
+f 12 27 28
+f 12 28 29
+f 12 29 20
+f 13 26 31
+f 13 31 30
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 16 33 34
+f 17 36 27
+f 17 27 18
+f 19 21 37
+f 19 37 22
+f 20 29 28
+f 20 28 48
+f 20 48 52
+f 20 52 68
+f 20 68 80
+f 20 80 93
+f 20 93 95
+f 20 95 85
+f 20 85 84
+f 20 84 73
+f 20 73 69
+f 20 69 56
+f 20 56 38
+f 20 38 21
+f 21 38 39
+f 21 39 37
+f 22 40 23
+f 22 37 40
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 24
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 65
+f 24 65 64
+f 24 64 63
+f 24 63 78
+f 24 78 77
+f 24 77 90
+f 24 90 102
+f 24 102 101
+f 24 101 116
+f 24 116 115
+f 24 115 114
+f 24 114 103
+f 24 103 91
+f 24 91 79
+f 24 79 67
+f 24 67 66
+f 24 66 49
+f 24 49 33
+f 24 33 32
+f 24 32 31
+f 24 31 26
+f 24 26 25
+f 27 36 28
+f 28 36 48
+f 33 49 34
+f 34 49 50
+f 34 50 35
+f 35 51 52
+f 35 52 48
+f 35 48 53
+f 35 53 36
+f 35 50 54
+f 35 54 51
+f 36 53 48
+f 37 39 55
+f 37 55 40
+f 38 56 57
+f 38 57 39
+f 39 57 55
+f 40 55 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 60 61
+f 41 61 42
+f 42 61 45
+f 42 45 44
+f 42 44 43
+f 45 62 46
+f 45 61 62
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 46 62 63
+f 49 66 50
+f 50 66 67
+f 50 67 54
+f 51 54 67
+f 51 67 52
+f 52 67 68
+f 55 57 58
+f 56 69 57
+f 57 70 58
+f 57 69 70
+f 58 71 72
+f 58 72 59
+f 58 70 73
+f 58 73 71
+f 59 74 60
+f 59 72 74
+f 60 74 75
+f 60 75 61
+f 61 75 76
+f 61 76 62
+f 62 76 77
+f 62 77 78
+f 62 78 63
+f 67 79 92
+f 67 92 106
+f 67 106 117
+f 67 117 119
+f 67 119 118
+f 67 118 107
+f 67 107 94
+f 67 94 80
+f 67 80 68
+f 69 73 70
+f 71 81 82
+f 71 82 83
+f 71 83 72
+f 71 73 84
+f 71 84 85
+f 71 85 81
+f 72 83 86
+f 72 86 74
+f 74 86 87
+f 74 87 75
+f 75 87 88
+f 75 88 76
+f 76 88 89
+f 76 89 90
+f 76 90 77
+f 79 91 92
+f 80 94 93
+f 81 85 95
+f 81 95 82
+f 82 96 83
+f 82 95 96
+f 83 96 97
+f 83 97 98
+f 83 98 86
+f 86 98 87
+f 87 99 100
+f 87 100 88
+f 87 98 99
+f 88 100 89
+f 89 101 102
+f 89 102 90
+f 89 100 101
+f 91 103 104
+f 91 104 92
+f 92 104 105
+f 92 105 106
+f 93 94 107
+f 93 107 108
+f 93 108 109
+f 93 109 110
+f 93 110 97
+f 93 97 96
+f 93 96 95
+f 97 110 98
+f 98 111 112
+f 98 112 99
+f 98 110 111
+f 99 113 100
+f 99 112 113
+f 100 105 104
+f 100 104 114
+f 100 114 115
+f 100 115 116
+f 100 116 101
+f 100 113 105
+f 103 114 104
+f 105 113 106
+f 106 113 117
+f 107 118 111
+f 107 111 109
+f 107 109 108
+f 109 111 110
+f 111 119 112
+f 111 118 119
+f 112 120 113
+f 112 119 120
+f 113 120 117
+f 117 120 119
+

dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6596c552e47627181a08687c7b71bba4bdc159d0dbd30bd4387994355e8cc9
+size 224714