Add asset kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c

.gitattributes

@@ -4452,3 +4452,5 @@ dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/chopsticks_0
 dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/mesh/chopsticks_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/mesh/chopsticks_002.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e06fce747ae153fe8328add42605b2b4/mjcf/mesh/chopsticks_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_069_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd tray_069_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7199457f426090cd02f692a787652695c8493b4ab66f7685ea98e025118fa25
+size 16746764

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mesh/tray_069.mtl

@@ -0,0 +1,6 @@
+newmtl tray_069_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_0.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.05443766 -0.14884418 -0.01350679
+v 0.06724714 -0.15115229 -0.01336485
+v 0.04803945 -0.15115229 -0.01336485
+v 0.00690809 -0.14884418 -0.01349868
+v 0.07134722 -0.14884418 -0.01350274
+v 0.08642872 -0.15115229 -0.01336080
+v 0.06083587 -0.15469682 -0.01290251
+v 0.08642872 -0.15469534 -0.01290251
+v 0.05443766 -0.15469682 -0.01290251
+v 0.04803945 -0.15469534 -0.01290251
+v 0.00690809 -0.15318727 -0.01309312
+v 0.00690809 -0.15115229 -0.01335674
+v 0.00690809 -0.15017264 -0.01341757
+v 0.00690809 -0.14884424 0.00288228
+v 0.08642872 -0.14884418 -0.01349868
+v 0.09283999 -0.14884418 -0.01349057
+v 0.09283999 -0.15115229 -0.01334457
+v 0.03156079 -0.16400649 0.00434228
+v 0.09283999 -0.15467308 -0.01288629
+v 0.08003051 -0.16400649 0.00441934
+v 0.07363230 -0.16400649 0.00438690
+v 0.06724714 -0.16400649 0.00437067
+v 0.00690809 -0.15468941 -0.01289440
+v 0.00690809 -0.15439412 0.01088010
+v 0.13124232 -0.14884433 0.02774371
+v 0.10563641 -0.14884418 -0.01338106
+v 0.10563641 -0.15010288 -0.01324723
+v 0.00690809 -0.16400649 0.00452073
+v 0.00690809 -0.16347362 0.00348653
+v 0.00690809 -0.16275373 0.00209137
+v 0.09765824 -0.15455581 -0.01279706
+v 0.09287916 -0.16400649 0.00479652
+v 0.08642872 -0.16400649 0.00450451
+v 0.00690809 -0.15760766 0.01358118
+v 0.03865105 -0.16400657 0.02740298
+v 0.13124232 -0.15115244 0.02785320
+v 0.13354045 -0.14884433 0.02735030
+v 0.04140620 -0.16400657 0.02761793
+v 0.04803945 -0.16400657 0.02782882
+v 0.11062440 -0.14884418 -0.01308905
+v 0.10192807 -0.15413724 -0.01252128
+v 0.11059829 -0.14891245 -0.01308094
+v 0.00690809 -0.16400652 0.01342704
+v 0.09630025 -0.16400649 0.00531159
+v 0.09917292 -0.16400649 0.00579422
+v 0.00690809 -0.16395458 0.01358116
+v 0.03472072 -0.16400657 0.02619438
+v 0.03564781 -0.16400657 0.02651072
+v 0.12484411 -0.15758247 0.02792618
+v 0.13160793 -0.15788230 0.02566716
+v 0.13765359 -0.14884432 0.02521701
+v 0.11843284 -0.16400657 0.02782882
+v 0.11375823 -0.14884419 -0.01134916
+v 0.10563641 -0.15331791 -0.01119505
+v 0.12487022 -0.16400653 0.01540622
+v 0.12475271 -0.16400653 0.01536161
+v 0.10611955 -0.16400650 0.00829659
+v 0.12510526 -0.16400656 0.02576448
+v 0.12549698 -0.16400656 0.02563875
+v 0.12601929 -0.16400656 0.02538324
+v 0.12971458 -0.16247773 0.02432876
+v 0.13553826 -0.15593933 0.02407733
+v 0.13765359 -0.15055425 0.02470599
+v 0.13876348 -0.14884432 0.02437748
+v 0.13690931 -0.14884429 0.01547522
+v 0.13625643 -0.15115240 0.01564961
+v 0.13512043 -0.15537675 0.01629445
+v 0.12923146 -0.16195225 0.01611193
+v 0.12900948 -0.16400654 0.01977015
+v 0.12844800 -0.16400655 0.02242664
+v 0.13018465 -0.16292300 0.01977015
+v 0.13338376 -0.15951650 0.01977016
+v 0.13576024 -0.15630297 0.01977018
+v 0.14030428 -0.14884431 0.02194406
+v 0.13982115 -0.14884432 0.02341222
+v 0.13975586 -0.14884430 0.01942141
+v 0.13910298 -0.15055423 0.02022444
+v 0.14030428 -0.14884431 0.02174938
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 25
+f 1 25 37
+f 1 37 51
+f 1 51 64
+f 1 64 75
+f 1 75 74
+f 1 74 78
+f 1 78 76
+f 1 76 65
+f 1 65 53
+f 1 53 40
+f 1 40 26
+f 1 26 16
+f 1 16 15
+f 1 15 5
+f 1 5 6
+f 1 6 2
+f 2 7 9
+f 2 9 3
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 11
+f 4 11 23
+f 4 23 30
+f 4 30 29
+f 4 29 28
+f 4 28 43
+f 4 43 46
+f 4 46 34
+f 4 34 24
+f 4 24 14
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 7 18 9
+f 7 8 18
+f 8 17 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 18
+f 9 18 10
+f 10 18 23
+f 10 23 11
+f 14 24 25
+f 16 26 17
+f 17 26 27
+f 17 27 19
+f 18 22 21
+f 18 21 20
+f 18 20 33
+f 18 33 32
+f 18 32 44
+f 18 44 45
+f 18 45 57
+f 18 57 56
+f 18 56 55
+f 18 55 69
+f 18 69 70
+f 18 70 60
+f 18 60 59
+f 18 59 58
+f 18 58 52
+f 18 52 39
+f 18 39 38
+f 18 38 35
+f 18 35 48
+f 18 48 47
+f 18 47 43
+f 18 43 28
+f 18 28 29
+f 18 29 30
+f 18 30 23
+f 19 27 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 24 34 35
+f 24 35 25
+f 25 36 37
+f 25 35 38
+f 25 38 39
+f 25 39 36
+f 26 40 27
+f 27 41 31
+f 27 40 42
+f 27 42 41
+f 31 44 32
+f 31 41 45
+f 31 45 44
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 36 49 50
+f 36 50 37
+f 36 39 49
+f 37 50 51
+f 39 52 49
+f 40 53 42
+f 41 42 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 45
+f 43 47 46
+f 49 52 58
+f 49 58 50
+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 51 63 64
+f 53 65 66
+f 53 66 67
+f 53 67 68
+f 53 68 55
+f 53 55 54
+f 55 68 69
+f 60 70 61
+f 61 69 71
+f 61 71 72
+f 61 72 62
+f 61 70 69
+f 62 73 74
+f 62 74 75
+f 62 75 63
+f 62 72 73
+f 63 75 64
+f 65 76 66
+f 66 76 67
+f 67 76 77
+f 67 77 73
+f 67 73 72
+f 67 72 68
+f 68 72 71
+f 68 71 69
+f 73 77 78
+f 73 78 74
+f 76 78 77
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_1.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.05034020 0.14877761 -0.01345699
+v 0.04164245 0.15108386 -0.01328521
+v 0.05444168 0.15108386 -0.01328521
+v 0.06084780 0.14877761 -0.01345270
+v 0.02243710 0.14877761 -0.01345270
+v 0.00661711 0.14986778 -0.01337110
+v 0.04164245 0.15450897 -0.01281279
+v 0.00661711 0.15108386 -0.01328091
+v 0.03523633 0.15450739 -0.01281279
+v 0.06084780 0.15108386 -0.01328091
+v 0.09513098 0.14877761 -0.01343552
+v 0.04803555 0.15450897 -0.01281279
+v 0.05444168 0.15450739 -0.01281279
+v 0.07363401 0.15450419 -0.01280850
+v 0.00661711 0.14877761 -0.01344840
+v 0.06724091 0.16505997 0.00666715
+v 0.00661711 0.15450579 -0.01280850
+v 0.08643324 0.15108386 -0.01326374
+v 0.09283936 0.15108386 -0.01323797
+v 0.10563858 0.14877761 -0.01335822
+v 0.08643324 0.15449782 -0.01279991
+v 0.00661711 0.14877755 0.00307688
+v 0.03523633 0.16505997 0.00669721
+v 0.07363401 0.16505997 0.00668433
+v 0.00661711 0.16245410 0.00212355
+v 0.09283936 0.15446595 -0.01277844
+v 0.10563858 0.14979765 -0.01325085
+v 0.10704481 0.14877761 -0.01327232
+v 0.08002711 0.16505997 0.00673586
+v 0.00661711 0.15418056 0.01113340
+v 0.13123703 0.14877746 0.02775743
+v 0.00661711 0.16505996 0.00717820
+v 0.09283936 0.16505996 0.00716531
+v 0.09686272 0.15439263 -0.01271831
+v 0.08099064 0.16505997 0.00674875
+v 0.08643324 0.16505996 0.00685181
+v 0.11031297 0.14877761 -0.01307048
+v 0.03534049 0.16505988 0.02920045
+v 0.00661711 0.15751322 0.01376595
+v 0.13736973 0.14877747 0.02533533
+v 0.13123703 0.15108371 0.02785191
+v 0.04761890 0.16505988 0.03041580
+v 0.04627778 0.16505988 0.03040291
+v 0.04208515 0.16505988 0.03011089
+v 0.00661711 0.16505996 0.00932975
+v 0.09878976 0.16505996 0.00805428
+v 0.10113347 0.15383001 -0.01233610
+v 0.11822948 0.16505994 0.01376168
+v 0.11036506 0.14877761 -0.01306189
+v 0.00661711 0.16444155 0.01133098
+v 0.00661711 0.16374983 0.01356413
+v 0.13960926 0.14877749 0.01977394
+v 0.13678380 0.15108372 0.02512919
+v 0.12484393 0.15751317 0.02791636
+v 0.13156255 0.15775385 0.02562739
+v 0.11843781 0.16394422 0.02780902
+v 0.11843781 0.16505989 0.02723786
+v 0.12398458 0.16505993 0.01575863
+v 0.10623753 0.15325782 -0.01010297
+v 0.11039110 0.14877761 -0.01304471
+v 0.13859366 0.14877749 0.01800031
+v 0.13503905 0.15518464 0.01634694
+v 0.13850251 0.15108374 0.01977394
+v 0.13546872 0.15577274 0.02403841
+v 0.12505226 0.16424865 0.02559305
+v 0.12963551 0.16230898 0.02429181
+v 0.12462259 0.16505990 0.02524950
+v 0.12703139 0.16505992 0.01900957
+v 0.12912770 0.16179579 0.01615800
+v 0.11342488 0.14877760 -0.01103059
+v 0.13682286 0.14877750 0.01552237
+v 0.13615881 0.15108375 0.01569845
+v 0.13325522 0.15928234 0.01977398
+v 0.13566403 0.15606761 0.01977396
+v 0.13005216 0.16271383 0.01977399
+v 0.12744804 0.16505992 0.01977400
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 28
+f 1 28 37
+f 1 37 49
+f 1 49 60
+f 1 60 70
+f 1 70 71
+f 1 71 61
+f 1 61 52
+f 1 52 40
+f 1 40 31
+f 1 31 22
+f 1 22 15
+f 1 15 5
+f 1 5 6
+f 1 6 2
+f 2 7 12
+f 2 12 3
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 3 11 4
+f 3 12 13
+f 3 13 14
+f 3 14 10
+f 5 15 6
+f 6 15 22
+f 6 22 30
+f 6 30 39
+f 6 39 51
+f 6 51 50
+f 6 50 45
+f 6 45 32
+f 6 32 25
+f 6 25 17
+f 6 17 8
+f 7 16 12
+f 7 9 17
+f 7 17 16
+f 8 17 9
+f 10 14 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 12 16 13
+f 13 16 14
+f 14 21 18
+f 14 16 21
+f 16 17 23
+f 16 23 32
+f 16 32 45
+f 16 45 38
+f 16 38 44
+f 16 44 43
+f 16 43 42
+f 16 42 57
+f 16 57 67
+f 16 67 76
+f 16 76 68
+f 16 68 58
+f 16 58 48
+f 16 48 46
+f 16 46 33
+f 16 33 36
+f 16 36 35
+f 16 35 29
+f 16 29 24
+f 16 24 21
+f 17 25 23
+f 18 21 19
+f 19 26 27
+f 19 27 20
+f 19 21 26
+f 20 27 28
+f 21 24 29
+f 21 29 26
+f 22 31 30
+f 23 25 32
+f 26 33 34
+f 26 34 27
+f 26 29 35
+f 26 35 36
+f 26 36 33
+f 27 34 37
+f 27 37 28
+f 30 38 39
+f 30 31 38
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 38
+f 33 46 34
+f 34 47 37
+f 34 46 48
+f 34 48 47
+f 37 47 49
+f 38 45 50
+f 38 50 51
+f 38 51 39
+f 40 52 53
+f 40 53 41
+f 41 54 42
+f 41 53 55
+f 41 55 54
+f 42 54 56
+f 42 56 57
+f 47 48 58
+f 47 58 59
+f 47 59 49
+f 49 59 58
+f 49 58 60
+f 52 61 62
+f 52 62 63
+f 52 63 64
+f 52 64 53
+f 53 64 55
+f 54 55 65
+f 54 65 56
+f 55 64 66
+f 55 66 65
+f 56 65 57
+f 57 65 67
+f 58 68 69
+f 58 69 70
+f 58 70 60
+f 61 71 72
+f 61 72 62
+f 62 69 73
+f 62 73 74
+f 62 74 63
+f 62 72 70
+f 62 70 69
+f 63 74 64
+f 64 74 73
+f 64 73 66
+f 65 66 67
+f 66 73 75
+f 66 75 76
+f 66 76 67
+f 68 76 69
+f 69 76 75
+f 69 75 73
+f 70 72 71
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_10.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.03155682 -0.16400650 0.00433927
+v 0.02461641 -0.16400650 0.00441543
+v 0.06723992 -0.16400650 0.00437043
+v 0.07138329 -0.17332788 0.01489644
+v 0.06723992 -0.17332788 0.01489644
+v 0.02240383 -0.16400650 0.00451581
+v 0.06500646 -0.17332788 0.01492759
+v 0.06084222 -0.17332789 0.01499682
+v 0.07364806 -0.16400650 0.00438427
+v 0.07778099 -0.17332788 0.01490337
+v 0.02240383 -0.16581056 0.00798410
+v 0.02240383 -0.16400653 0.01352231
+v 0.05876531 -0.17332789 0.01514566
+v 0.05444452 -0.17332789 0.01556795
+v 0.05289989 -0.17332789 0.01582409
+v 0.05046813 -0.17332789 0.01629138
+v 0.08003532 -0.16400650 0.00441889
+v 0.09064945 -0.17332788 0.01495529
+v 0.08419956 -0.17332788 0.01492067
+v 0.02240383 -0.17332793 0.02786277
+v 0.03775623 -0.17332790 0.01982199
+v 0.03524098 -0.17332791 0.02068387
+v 0.03194298 -0.17332791 0.02244571
+v 0.02240383 -0.17184148 0.03791117
+v 0.03471914 -0.16400658 0.02619443
+v 0.08643302 -0.16400650 0.00450542
+v 0.09284116 -0.17332789 0.01499336
+v 0.02240383 -0.17332798 0.03970069
+v 0.02240383 -0.17193821 0.03813615
+v 0.03564801 -0.16400658 0.02650941
+v 0.09288290 -0.16400650 0.00479618
+v 0.09722457 -0.17332789 0.01509720
+v 0.04163868 -0.16781453 0.03376098
+v 0.02240383 -0.17215356 0.03854114
+v 0.02592100 -0.17332798 0.03953800
+v 0.11844240 -0.16400658 0.02783166
+v 0.03524098 -0.16603330 0.03042768
+v 0.03865378 -0.16400658 0.02740245
+v 0.09630614 -0.16400650 0.00531192
+v 0.10890325 -0.17332789 0.01626369
+v 0.10435284 -0.17332789 0.01563718
+v 0.09920754 -0.17332789 0.01522181
+v 0.04803638 -0.16574403 0.03094343
+v 0.04163868 -0.16596577 0.03081190
+v 0.03770404 -0.17332797 0.03871073
+v 0.11844240 -0.16401389 0.02783166
+v 0.12511145 -0.16400657 0.02576521
+v 0.04803638 -0.16400658 0.02782820
+v 0.04140907 -0.16400658 0.02761705
+v 0.09916580 -0.16400650 0.00579305
+v 0.10985298 -0.17332789 0.01643676
+v 0.10822486 -0.17332792 0.02474407
+v 0.11250390 -0.17103112 0.02551596
+v 0.10563656 -0.17044347 0.02717050
+v 0.11844240 -0.16954646 0.02510407
+v 0.12512189 -0.16437889 0.02564060
+v 0.12549761 -0.16400657 0.02564060
+v 0.10611664 -0.16400651 0.00829909
+v 0.12255445 -0.16782451 0.01634678
+v 0.11844240 -0.16886660 0.01570989
+v 0.11389199 -0.17317459 0.01977699
+v 0.11341190 -0.17332790 0.01977699
+v 0.11117844 -0.17332792 0.02410025
+v 0.12318066 -0.16826894 0.02402066
+v 0.12602988 -0.16400657 0.02538100
+v 0.12487140 -0.16400654 0.01540877
+v 0.12900434 -0.16400655 0.01977703
+v 0.12667696 -0.16614001 0.01977702
+v 0.12348332 -0.16845598 0.01977701
+v 0.11844240 -0.17118532 0.01977700
+v 0.11341190 -0.17332790 0.02034812
+v 0.12845119 -0.16400656 0.02242844
+f 1 2 6
+f 1 6 12
+f 1 12 25
+f 1 25 30
+f 1 30 38
+f 1 38 49
+f 1 49 48
+f 1 48 36
+f 1 36 47
+f 1 47 57
+f 1 57 65
+f 1 65 72
+f 1 72 67
+f 1 67 66
+f 1 66 58
+f 1 58 50
+f 1 50 39
+f 1 39 31
+f 1 31 26
+f 1 26 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 19
+f 4 19 18
+f 4 18 27
+f 4 27 32
+f 4 32 42
+f 4 42 41
+f 4 41 40
+f 4 40 51
+f 4 51 62
+f 4 62 71
+f 4 71 63
+f 4 63 52
+f 4 52 45
+f 4 45 35
+f 4 35 28
+f 4 28 20
+f 4 20 23
+f 4 23 22
+f 4 22 21
+f 4 21 16
+f 4 16 15
+f 4 15 14
+f 4 14 13
+f 4 13 8
+f 4 8 7
+f 4 7 5
+f 6 11 20
+f 6 20 28
+f 6 28 34
+f 6 34 29
+f 6 29 24
+f 6 24 12
+f 6 8 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 11
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 16 21
+f 11 21 22
+f 11 22 23
+f 11 23 20
+f 12 24 25
+f 17 26 18
+f 18 26 27
+f 24 29 25
+f 25 29 30
+f 26 31 32
+f 26 32 27
+f 28 33 34
+f 28 35 36
+f 28 36 33
+f 29 34 37
+f 29 37 30
+f 30 37 38
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 33 43 44
+f 33 44 37
+f 33 37 34
+f 33 36 43
+f 35 45 36
+f 36 46 47
+f 36 48 43
+f 36 45 46
+f 37 44 49
+f 37 49 38
+f 39 50 40
+f 40 50 51
+f 43 48 49
+f 43 49 44
+f 45 52 53
+f 45 53 54
+f 45 54 46
+f 46 54 55
+f 46 55 56
+f 46 56 47
+f 47 56 57
+f 50 58 59
+f 50 59 60
+f 50 60 51
+f 51 60 59
+f 51 59 61
+f 51 61 62
+f 52 63 53
+f 53 63 55
+f 53 55 54
+f 55 64 56
+f 55 63 64
+f 56 65 57
+f 56 64 65
+f 58 66 59
+f 59 66 67
+f 59 67 68
+f 59 68 69
+f 59 69 70
+f 59 70 61
+f 61 70 71
+f 61 71 62
+f 63 71 64
+f 64 69 68
+f 64 68 72
+f 64 72 65
+f 64 71 70
+f 64 70 69
+f 67 72 68
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_11.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.08868674 -0.14884418 -0.01350618
+v -0.07998564 -0.15115229 -0.01336456
+v -0.08638926 -0.15115229 -0.01336456
+v -0.09296885 -0.15097566 -0.01336455
+v -0.09296885 -0.14884418 -0.01349404
+v 0.00690808 -0.14884418 -0.01349809
+v 0.00322234 -0.15115229 -0.01336051
+v -0.07998564 -0.15469534 -0.01290326
+v -0.08638926 -0.15469534 -0.01290326
+v -0.09278311 -0.15115229 -0.01335242
+v -0.09296885 -0.15109142 -0.01335241
+v -0.09296885 -0.14884424 0.00177775
+v 0.00690808 -0.14884424 0.00288247
+v 0.00690808 -0.15017264 -0.01341715
+v 0.00690808 -0.15115229 -0.01335647
+v 0.00690808 -0.15318727 -0.01309344
+v 0.00690808 -0.15468941 -0.01289517
+v -0.03518962 -0.16400649 0.00437156
+v -0.03881671 -0.16400649 0.00437156
+v -0.06078455 -0.16400649 0.00438370
+v -0.06717839 -0.16400649 0.00439179
+v -0.07358202 -0.16400649 0.00442012
+v -0.07712112 -0.16400649 0.00444035
+v -0.07998564 -0.16400649 0.00446058
+v -0.09278311 -0.15467010 -0.01288302
+v -0.09296885 -0.15466565 -0.01288302
+v -0.09296885 -0.15116713 -0.01334433
+v -0.09296885 -0.14885018 0.00307670
+v -0.09278311 -0.14884424 0.00305242
+v -0.03834743 -0.16078412 0.02274304
+v -0.04425245 -0.16400657 0.02783363
+v 0.00690808 -0.15439412 0.01088254
+v -0.09296885 -0.16062678 0.02298583
+v 0.00690808 -0.16275373 0.00208929
+v -0.02878600 -0.16400649 0.00438370
+v -0.08345630 -0.16400649 0.00450510
+v -0.08638926 -0.16400649 0.00455365
+v -0.08937110 -0.16400649 0.00466291
+v -0.09276355 -0.16400649 0.00482478
+v -0.09296885 -0.16400649 0.00485715
+v -0.04797731 -0.16400657 0.02781339
+v -0.04127061 -0.16400657 0.02760702
+v 0.00690808 -0.15760766 0.01358159
+v -0.09296885 -0.16400656 0.02581843
+v 0.00690808 -0.16400649 0.00451724
+v -0.03563934 -0.16400657 0.02655895
+v 0.00690808 -0.16395458 0.01358157
+v 0.00690808 -0.16400652 0.01342780
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 29
+f 1 29 13
+f 1 13 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 27
+f 4 27 26
+f 4 26 40
+f 4 40 44
+f 4 44 33
+f 4 33 28
+f 4 28 12
+f 4 12 5
+f 6 13 32
+f 6 32 43
+f 6 43 47
+f 6 47 48
+f 6 48 45
+f 6 45 34
+f 6 34 17
+f 6 17 16
+f 6 16 15
+f 6 15 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+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 25
+f 9 25 26
+f 9 26 10
+f 10 26 27
+f 10 27 11
+f 12 28 29
+f 13 30 31
+f 13 31 32
+f 13 29 28
+f 13 28 33
+f 13 33 30
+f 17 34 18
+f 18 35 45
+f 18 45 48
+f 18 48 46
+f 18 46 42
+f 18 42 31
+f 18 31 41
+f 18 41 44
+f 18 44 40
+f 18 40 39
+f 18 39 38
+f 18 38 37
+f 18 37 36
+f 18 36 24
+f 18 24 23
+f 18 23 22
+f 18 22 21
+f 18 21 20
+f 18 20 19
+f 18 34 35
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 30 33 31
+f 31 42 32
+f 31 33 41
+f 32 42 43
+f 33 44 41
+f 34 45 35
+f 42 46 43
+f 43 46 47
+f 46 48 47
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_12.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.09509143 -0.14884418 -0.01351034
+v -0.09296885 -0.14884418 -0.01349411
+v -0.09296885 -0.15097566 -0.01336430
+v -0.10559773 -0.14884418 -0.01339270
+v -0.09296885 -0.14884424 0.00177887
+v -0.09296885 -0.15109142 -0.01335213
+v -0.10559773 -0.15012069 -0.01325883
+v -0.10734491 -0.14884418 -0.01329128
+v -0.09296885 -0.14885018 0.00307292
+v -0.12487239 -0.14884432 0.02535565
+v -0.09296885 -0.15116713 -0.01334403
+v -0.10189943 -0.15415505 -0.01252867
+v -0.11054732 -0.14891691 -0.01308440
+v -0.11058439 -0.14884418 -0.01309251
+v -0.09296885 -0.15466565 -0.01288159
+v -0.09763574 -0.15455285 -0.01279234
+v -0.09296885 -0.16062678 0.02298252
+v -0.13119841 -0.14884433 0.02770846
+v -0.09296885 -0.16400656 0.02581805
+v -0.10559773 -0.15333572 -0.01120216
+v -0.11371264 -0.14884419 -0.01134007
+v -0.11077903 -0.14884418 -0.01304789
+v -0.09913268 -0.16400649 0.00581105
+v -0.10559773 -0.16400650 0.00817603
+v -0.12485386 -0.16400653 0.01540484
+v -0.09296885 -0.16400649 0.00485776
+v -0.13762177 -0.14884432 0.02527452
+v -0.13119841 -0.15115244 0.02783420
+v -0.12479361 -0.15758247 0.02793154
+v -0.11199790 -0.16400657 0.02763133
+v -0.12919634 -0.16197452 0.01610663
+v -0.13507745 -0.15539011 0.01628920
+v -0.13860890 -0.14884429 0.01721817
+v -0.12794967 -0.16400654 0.01788746
+v -0.13986019 -0.14884432 0.02341661
+v -0.13763103 -0.15058541 0.02474716
+v -0.13157844 -0.15790011 0.02568015
+v -0.12505777 -0.16400656 0.02576937
+v -0.11839343 -0.16400657 0.02782605
+v -0.13017420 -0.16293932 0.01977376
+v -0.13337198 -0.15954916 0.01977377
+v -0.13574944 -0.15633562 0.01977379
+v -0.13909551 -0.15058539 0.02013890
+v -0.13975824 -0.14884430 0.01928297
+v -0.12899705 -0.16400654 0.01977376
+v -0.14031438 -0.14884431 0.02166417
+v -0.13551773 -0.15597050 0.02408592
+v -0.12969685 -0.16247625 0.02432523
+v -0.12597540 -0.16400656 0.02538805
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 22
+f 1 22 21
+f 1 21 33
+f 1 33 44
+f 1 44 46
+f 1 46 35
+f 1 35 27
+f 1 27 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 17
+f 2 17 19
+f 2 19 26
+f 2 26 15
+f 2 15 11
+f 2 11 6
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 5 10 9
+f 6 11 7
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 7 11 15
+f 7 15 16
+f 7 16 12
+f 9 10 17
+f 10 18 19
+f 10 19 17
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 12 16 23
+f 12 23 24
+f 12 24 25
+f 12 25 20
+f 13 22 14
+f 15 26 16
+f 16 26 23
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 30 39
+f 19 39 38
+f 19 38 49
+f 19 49 45
+f 19 45 34
+f 19 34 25
+f 19 25 24
+f 19 24 23
+f 19 23 26
+f 20 25 21
+f 21 25 31
+f 21 31 32
+f 21 32 33
+f 25 34 31
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 31 34 40
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 34 45 40
+f 35 46 47
+f 35 47 36
+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 40 45 48
+f 40 48 41
+f 41 47 42
+f 41 48 47
+f 42 47 46
+f 42 46 43
+f 43 46 44
+f 45 49 48
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_13.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.13759586 0.00318653 0.02788133
+v -0.14286055 0.02890751 0.02518271
+v -0.14285613 -0.00006540 0.02518260
+v -0.14025032 -0.00006541 0.02651763
+v -0.13759586 -0.00006541 0.02787723
+v -0.13459632 -0.00006541 0.02666096
+v -0.13153484 -0.00006540 0.02541602
+v -0.13153041 0.00961973 0.02541606
+v -0.13153484 0.12030353 0.02540827
+v -0.13759586 0.08677083 0.02787345
+v -0.14286497 0.09320403 0.02518294
+v -0.14286497 0.08033765 0.02518290
+v -0.14431608 0.10605864 0.01977326
+v -0.14428954 -0.00006538 0.01977287
+v -0.14430280 0.03534071 0.01977300
+v -0.09911941 -0.00006530 -0.00202169
+v -0.09911941 0.04819538 -0.00201741
+v -0.09911941 0.10605872 -0.00201720
+v -0.09911941 0.11256260 -0.00202128
+v -0.09911941 0.11899579 -0.00202534
+v -0.09913711 0.12030363 -0.00202534
+v -0.13629518 0.12030352 0.02733710
+v -0.13759586 0.09963720 0.02786941
+v -0.14286497 0.10605862 0.02517889
+v -0.14286497 0.11249181 0.02517482
+v -0.14431166 0.11892501 0.01977331
+v -0.14225002 0.11249184 0.01558800
+v -0.14224117 0.03534072 0.01558772
+v -0.14325429 -0.00006537 0.01766385
+v -0.14223675 0.00961976 0.01559173
+v -0.09911941 -0.00006526 -0.01395095
+v -0.09911941 0.12030364 -0.00448654
+v -0.13759586 0.12030352 0.02785719
+v -0.14173683 0.12030353 0.02574408
+v -0.14286055 0.11892499 0.02517075
+v -0.14285613 0.12030353 0.02517075
+v -0.14399312 0.12030354 0.02092405
+v -0.14429839 0.12030355 0.01977331
+v -0.14224117 0.12030356 0.01559213
+v -0.14224560 0.11892502 0.01558803
+v -0.12496504 0.11249194 -0.00969974
+v -0.12496504 0.10605875 -0.00969976
+v -0.12494734 -0.00006527 -0.00970015
+v -0.14223232 -0.00006537 0.01559169
+v -0.09919462 -0.00006526 -0.01395095
+v -0.09911941 0.00318668 -0.01395503
+v -0.09911941 0.12030367 -0.01393822
+v -0.12491638 0.12030366 -0.00969971
+v -0.12494734 0.11892512 -0.00969971
+v -0.12252735 0.11249195 -0.01322569
+v -0.12252735 0.10605876 -0.01322980
+v -0.12251851 0.11892513 -0.01322156
+v -0.12252293 -0.00006526 -0.01322200
+v -0.10236670 -0.00006526 -0.01394685
+v -0.09911941 0.11892513 -0.01394232
+v -0.10559631 0.02890765 -0.01393855
+v -0.10559631 0.12030367 -0.01393003
+v -0.09919462 0.11892513 -0.01394232
+v -0.10056167 0.12030367 -0.01393822
+v -0.12250524 0.12030367 -0.01321747
+v -0.11839966 0.11249195 -0.01378673
+v -0.11839966 0.02890765 -0.01379112
+v -0.11839966 0.02247446 -0.01379115
+v -0.12044361 -0.00006526 -0.01350867
+v -0.11926679 0.12030367 -0.01365565
+v -0.11839966 0.11892513 -0.01377851
+v -0.10559631 -0.00006526 -0.01393866
+v -0.11839966 0.12030367 -0.01377032
+v -0.11839966 -0.00006526 -0.01378714
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 2 13 3
+f 3 14 29
+f 3 29 44
+f 3 44 43
+f 3 43 53
+f 3 53 64
+f 3 64 69
+f 3 69 67
+f 3 67 54
+f 3 54 45
+f 3 45 31
+f 3 31 16
+f 3 16 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 3 13 15
+f 3 15 14
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 32
+f 9 32 47
+f 9 47 59
+f 9 59 57
+f 9 57 68
+f 9 68 65
+f 9 65 60
+f 9 60 48
+f 9 48 39
+f 9 39 38
+f 9 38 37
+f 9 37 36
+f 9 36 34
+f 9 34 33
+f 9 33 22
+f 9 22 10
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 13
+f 11 13 12
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 15
+f 14 15 29
+f 15 28 30
+f 15 30 29
+f 16 31 46
+f 16 46 55
+f 16 55 47
+f 16 47 32
+f 16 32 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 20 32 21
+f 22 33 23
+f 23 33 24
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 43 30
+f 28 42 43
+f 29 30 44
+f 30 43 44
+f 31 45 46
+f 34 36 35
+f 39 48 49
+f 39 49 40
+f 40 49 41
+f 41 50 51
+f 41 51 42
+f 41 49 52
+f 41 52 50
+f 42 51 53
+f 42 53 43
+f 45 54 46
+f 46 54 56
+f 46 56 57
+f 46 57 58
+f 46 58 55
+f 47 55 58
+f 47 58 59
+f 48 60 49
+f 49 60 52
+f 50 61 51
+f 50 52 61
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 51 64 53
+f 52 60 65
+f 52 65 66
+f 52 66 61
+f 54 67 56
+f 56 67 63
+f 56 63 62
+f 56 62 61
+f 56 61 57
+f 57 61 66
+f 57 66 68
+f 57 59 58
+f 63 67 69
+f 63 69 64
+f 65 68 66
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_14.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.05413719 -0.17615243 0.01999668
+v -0.00317183 -0.18973384 0.02533639
+v -0.00317183 -0.19356544 0.02793488
+v -0.00803127 -0.19329962 0.02824152
+v -0.01230330 -0.19280217 0.02885744
+v -0.02200082 -0.19142942 0.03195292
+v -0.03240322 -0.18667125 0.02848738
+v -0.02877199 -0.18917945 0.03156435
+v -0.03368483 -0.18730354 0.03156435
+v -0.03688885 -0.18590800 0.03156436
+v -0.04157741 -0.18358019 0.03156437
+v -0.05447895 -0.17615246 0.02605810
+v 0.04838094 -0.17615244 0.02081086
+v 0.00321486 -0.18973384 0.02530995
+v -0.00317183 -0.19522303 0.03156432
+v 0.00321486 -0.19354836 0.02792959
+v -0.00993232 -0.19416923 0.03112023
+v -0.01597725 -0.19351800 0.03296800
+v -0.01961916 -0.19306040 0.03417605
+v -0.03383435 -0.18741367 0.03643092
+v -0.04606304 -0.18097518 0.03156438
+v -0.05412651 -0.17615246 0.02685113
+v -0.04534748 -0.18061632 0.03523876
+v 0.05462879 -0.17615246 0.02608189
+v 0.04809258 -0.17883720 0.02562721
+v 0.04600996 -0.18077389 0.02756485
+v 0.03254237 -0.18670353 0.02847152
+v 0.01280558 -0.19294647 0.02862482
+v 0.00854422 -0.19327683 0.02823359
+v -0.00317183 -0.19554772 0.03745655
+v -0.00956920 -0.19483191 0.03745655
+v 0.00321486 -0.19519833 0.03156432
+v -0.01961916 -0.19306040 0.03500080
+v -0.02938075 -0.18861177 0.03801963
+v -0.03192261 -0.18646624 0.04035909
+v -0.03564996 -0.18545992 0.03801964
+v -0.02200082 -0.19166487 0.03716315
+v -0.05114677 -0.17615247 0.03125510
+v -0.04131041 -0.18194923 0.03730592
+v -0.03900351 -0.18066191 0.04067368
+v -0.04668249 -0.17687588 0.03608732
+v 0.05129660 -0.17615247 0.03125246
+v 0.04543324 -0.18068658 0.03527048
+v 0.03848050 -0.18655166 0.03458580
+v 0.03848050 -0.18655166 0.03438754
+v 0.03681441 -0.18588330 0.03045940
+v 0.03489199 -0.18722190 0.03208246
+v 0.02882571 -0.18920414 0.03156435
+v 0.01979035 -0.19312115 0.03399365
+v 0.01602028 -0.19243761 0.02970863
+v 0.01602028 -0.19359773 0.03265607
+v 0.01025304 -0.19417873 0.03098013
+v -0.00317183 -0.19388826 0.04158033
+v -0.00956920 -0.19356929 0.04118910
+v 0.00321486 -0.19551734 0.03745655
+v -0.01363831 -0.19319523 0.04071592
+v -0.01584909 -0.19355028 0.03716314
+v 0.00962291 -0.19484711 0.03745655
+v -0.01791034 -0.19250030 0.03893160
+v -0.02765058 -0.18739850 0.04113625
+v -0.02237462 -0.18330681 0.04413129
+v -0.04668249 -0.17615249 0.03605824
+v -0.03900351 -0.17869296 0.04067368
+v -0.01550732 -0.18305050 0.04570150
+v -0.01306159 -0.18073598 0.04634122
+v 0.04676825 -0.17687588 0.03611639
+v 0.04677893 -0.17615249 0.03608467
+v 0.03907859 -0.18070369 0.04068161
+v 0.03644060 -0.18499094 0.03851661
+v 0.03216857 -0.18658966 0.04046217
+v 0.03466771 -0.18715356 0.03691467
+v 0.02882571 -0.18919657 0.03745658
+v 0.01979035 -0.19312116 0.03522021
+v -0.00317183 -0.19023518 0.04452778
+v 0.00321486 -0.19386738 0.04155125
+v 0.00321486 -0.19026176 0.04449870
+v -0.00960124 -0.18923835 0.04450399
+v 0.00962291 -0.19355600 0.04117588
+v -0.01584909 -0.19010797 0.04252141
+v -0.02237462 -0.18844849 0.04197158
+v 0.01595620 -0.19362433 0.03729267
+v 0.01376679 -0.19320853 0.04073707
+v -0.01175861 -0.18502326 0.04619317
+v -0.04131041 -0.17668033 0.03917486
+v -0.04134245 -0.17615250 0.03895809
+v -0.03652573 -0.17615251 0.04016615
+v -0.01306159 -0.17998030 0.04634122
+v -0.00960124 -0.18305050 0.04653947
+v -0.00317183 -0.18330682 0.04699943
+v 0.03907859 -0.17868347 0.04068161
+v 0.04194085 -0.17615250 0.03885500
+v 0.01299782 -0.18056510 0.04633064
+v 0.01548628 -0.18294797 0.04566449
+v 0.01186573 -0.18485237 0.04618788
+v 0.02882571 -0.18724851 0.04099086
+v 0.01803882 -0.19252878 0.03914836
+v 0.00760438 -0.18680044 0.04642842
+v 0.02211861 -0.19165158 0.03729268
+v -0.00317183 -0.18701879 0.04652358
+v -0.00748658 -0.18676436 0.04640992
+v 0.00321486 -0.18704727 0.04653945
+v 0.00968699 -0.18926114 0.04449077
+v 0.02242834 -0.18848647 0.04195836
+v 0.01595620 -0.19012505 0.04252405
+v -0.03518004 -0.17615251 0.04042256
+v -0.00956920 -0.17948095 0.04651833
+v -0.00956920 -0.17626645 0.04494549
+v -0.01550732 -0.17745313 0.04457805
+v -0.00317183 -0.17875564 0.04677739
+v 0.00321486 -0.18330682 0.04698885
+v 0.03968735 -0.17615250 0.03938105
+v 0.03522307 -0.17615251 0.04040934
+v 0.01299782 -0.18001449 0.04633064
+v 0.00968699 -0.18294797 0.04652096
+v -0.00956920 -0.17615252 0.04486090
+v -0.00416507 -0.17615253 0.04553762
+v -0.00855459 -0.17615253 0.04501158
+v -0.00317183 -0.17615253 0.04562750
+v 0.00321486 -0.17882399 0.04675095
+v 0.00962291 -0.17957588 0.04648132
+v 0.00999672 -0.17615252 0.04471022
+v 0.00962291 -0.17636137 0.04491112
+v 0.01548628 -0.17747211 0.04457277
+v 0.00783934 -0.17615253 0.04501686
+v 0.00321486 -0.17615253 0.04554027
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 22
+f 1 22 38
+f 1 38 62
+f 1 62 85
+f 1 85 86
+f 1 86 105
+f 1 105 115
+f 1 115 117
+f 1 117 116
+f 1 116 118
+f 1 118 125
+f 1 125 124
+f 1 124 121
+f 1 121 112
+f 1 112 111
+f 1 111 91
+f 1 91 67
+f 1 67 42
+f 1 42 24
+f 1 24 13
+f 1 13 14
+f 1 14 2
+f 2 14 3
+f 3 15 4
+f 3 14 16
+f 3 16 15
+f 4 15 17
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 8
+f 6 8 7
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 11
+f 11 21 12
+f 11 20 21
+f 12 21 23
+f 12 23 22
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 14 29 16
+f 15 30 31
+f 15 31 18
+f 15 18 17
+f 15 16 32
+f 15 32 30
+f 16 29 32
+f 18 31 19
+f 19 31 33
+f 19 33 20
+f 20 34 35
+f 20 35 36
+f 20 36 23
+f 20 23 21
+f 20 33 37
+f 20 37 34
+f 22 23 38
+f 23 39 40
+f 23 40 41
+f 23 41 38
+f 23 36 35
+f 23 35 39
+f 24 26 25
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 26
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 28
+f 28 50 49
+f 28 49 51
+f 28 51 52
+f 28 52 29
+f 29 52 32
+f 30 53 54
+f 30 54 31
+f 30 32 55
+f 30 55 53
+f 31 54 56
+f 31 56 57
+f 31 57 33
+f 32 52 51
+f 32 51 58
+f 32 58 55
+f 33 57 59
+f 33 59 37
+f 34 37 59
+f 34 59 35
+f 35 59 56
+f 35 56 60
+f 35 60 61
+f 35 61 40
+f 35 40 39
+f 38 41 62
+f 40 63 41
+f 40 61 64
+f 40 64 65
+f 40 65 87
+f 40 87 63
+f 41 63 62
+f 42 66 43
+f 42 67 66
+f 43 66 68
+f 43 68 69
+f 43 69 44
+f 44 69 70
+f 44 70 71
+f 44 71 72
+f 44 72 73
+f 44 73 49
+f 44 49 45
+f 45 47 46
+f 45 49 47
+f 47 49 48
+f 49 73 58
+f 49 58 51
+f 53 74 54
+f 53 55 75
+f 53 75 76
+f 53 76 74
+f 54 74 77
+f 54 77 56
+f 55 58 78
+f 55 78 75
+f 56 79 80
+f 56 80 60
+f 56 59 57
+f 56 77 79
+f 58 73 81
+f 58 81 82
+f 58 82 78
+f 60 80 83
+f 60 83 61
+f 61 83 64
+f 62 63 84
+f 62 84 85
+f 63 86 85
+f 63 85 84
+f 63 87 86
+f 64 83 65
+f 65 83 88
+f 65 88 89
+f 65 89 87
+f 66 67 90
+f 66 90 68
+f 67 91 90
+f 68 92 93
+f 68 93 94
+f 68 94 70
+f 68 70 69
+f 68 90 113
+f 68 113 92
+f 70 95 82
+f 70 82 96
+f 70 96 72
+f 70 72 71
+f 70 94 97
+f 70 97 95
+f 72 96 98
+f 72 98 73
+f 73 98 96
+f 73 96 81
+f 74 99 100
+f 74 100 77
+f 74 76 101
+f 74 101 99
+f 75 78 76
+f 76 78 102
+f 76 102 97
+f 76 97 101
+f 77 100 80
+f 77 80 79
+f 78 82 102
+f 80 100 83
+f 81 96 82
+f 82 95 103
+f 82 103 104
+f 82 104 102
+f 83 100 88
+f 86 87 105
+f 87 89 106
+f 87 106 107
+f 87 107 108
+f 87 108 105
+f 88 100 89
+f 89 109 106
+f 89 100 99
+f 89 99 101
+f 89 101 110
+f 89 110 109
+f 90 91 111
+f 90 111 112
+f 90 112 113
+f 92 113 110
+f 92 110 114
+f 92 114 94
+f 92 94 93
+f 94 114 97
+f 95 97 103
+f 97 110 101
+f 97 102 104
+f 97 104 103
+f 97 114 110
+f 105 108 107
+f 105 107 115
+f 106 109 116
+f 106 116 117
+f 106 117 107
+f 107 117 115
+f 109 118 116
+f 109 110 119
+f 109 119 118
+f 110 113 120
+f 110 120 119
+f 112 121 122
+f 112 122 123
+f 112 123 113
+f 113 123 122
+f 113 122 124
+f 113 124 125
+f 113 125 120
+f 118 119 125
+f 119 120 125
+f 121 124 122
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_15.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.09931357 -0.14884276 0.00360023
+v 0.11683974 -0.13185254 0.00360030
+v 0.12384060 -0.14884276 0.00360023
+v 0.12156236 -0.14884283 0.02266227
+v 0.13071026 -0.13185262 0.02503533
+v 0.12806908 -0.13185261 0.02264813
+v 0.13081521 -0.13185254 0.00360030
+v 0.12628499 -0.14509413 0.00360025
+v 0.13691089 -0.14884281 0.01547937
+v 0.12485508 -0.14884284 0.02540944
+v 0.12646427 -0.14884285 0.02629280
+v 0.13124374 -0.13829215 0.02641836
+v 0.13078023 -0.13185262 0.02506375
+v 0.14211889 -0.13185259 0.01571153
+v 0.14212326 -0.13186090 0.01571626
+v 0.14170347 -0.13829211 0.01604542
+v 0.13078023 -0.13215023 0.00360029
+v 0.12663044 -0.14445883 0.00360025
+v 0.14122247 -0.14273425 0.01646222
+v 0.14045723 -0.14702172 0.01856284
+v 0.13976196 -0.14884282 0.01942014
+v 0.13124374 -0.14884285 0.02774217
+v 0.13124374 -0.14472169 0.02754089
+v 0.13764552 -0.13185263 0.02779434
+v 0.14397733 -0.13185260 0.01976834
+v 0.14398170 -0.13186091 0.01977308
+v 0.14312464 -0.13829212 0.01977305
+v 0.13037356 -0.13392476 0.00360029
+v 0.12731260 -0.14309675 0.00360025
+v 0.14153731 -0.14481480 0.02022536
+v 0.12815217 -0.14133054 0.00360026
+v 0.12923225 -0.13825714 0.00360027
+v 0.14088139 -0.14800962 0.02249414
+v 0.14030418 -0.14884283 0.02175050
+v 0.13354384 -0.14884285 0.02735141
+v 0.13764552 -0.13829215 0.02750538
+v 0.14270485 -0.13186093 0.02504243
+v 0.14270922 -0.13185262 0.02503770
+v 0.14226757 -0.13829214 0.02465875
+v 0.14142799 -0.14472168 0.02358828
+v 0.14088139 -0.14800962 0.02278070
+v 0.14030418 -0.14884283 0.02194469
+v 0.13765864 -0.14884284 0.02521998
+v 0.13764552 -0.14472169 0.02645386
+v 0.13876496 -0.14884284 0.02437925
+v 0.13982755 -0.14884284 0.02341064
+f 1 2 7
+f 1 7 17
+f 1 17 28
+f 1 28 32
+f 1 32 31
+f 1 31 29
+f 1 29 18
+f 1 18 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 34
+f 1 34 42
+f 1 42 46
+f 1 46 45
+f 1 45 43
+f 1 43 35
+f 1 35 22
+f 1 22 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 13
+f 2 13 24
+f 2 24 38
+f 2 38 25
+f 2 25 14
+f 2 14 7
+f 3 8 9
+f 4 10 5
+f 5 11 12
+f 5 12 13
+f 5 10 11
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 14 25 26
+f 14 26 15
+f 15 26 16
+f 16 26 27
+f 16 27 19
+f 16 19 17
+f 17 19 28
+f 18 29 19
+f 19 27 30
+f 19 30 20
+f 19 29 31
+f 19 31 32
+f 19 32 28
+f 20 30 33
+f 20 33 34
+f 20 34 21
+f 22 35 36
+f 22 36 24
+f 22 24 23
+f 24 36 37
+f 24 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 33
+f 27 33 30
+f 33 41 42
+f 33 42 34
+f 35 43 44
+f 35 44 36
+f 36 44 39
+f 36 39 37
+f 37 39 38
+f 39 44 40
+f 40 44 43
+f 40 43 45
+f 40 45 46
+f 40 46 41
+f 41 46 42
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_16.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.13759807 -0.00006541 0.02788064
+v -0.13153640 -0.00006540 0.02541974
+v -0.14285660 -0.00006540 0.02518225
+v -0.14286082 -0.06113521 0.02518203
+v -0.13759807 -0.09327587 0.02787211
+v -0.13149836 -0.12542941 0.02542747
+v -0.10112658 -0.00006530 -0.00202272
+v -0.13069521 -0.13182658 0.02501389
+v -0.14428958 -0.00006538 0.01977320
+v -0.14429804 -0.04827635 0.01977302
+v -0.14430649 -0.11255765 0.01977279
+v -0.14430649 -0.11899352 0.01977276
+v -0.14286082 -0.11899354 0.02516543
+v -0.14285660 -0.11255767 0.02516956
+v -0.13759807 -0.11255768 0.02786795
+v -0.13759807 -0.12542942 0.02786380
+v -0.13756426 -0.13182659 0.02781874
+v -0.10112658 -0.00006526 -0.01394639
+v -0.10112658 -0.01612273 -0.00201868
+v -0.10112658 -0.13182648 -0.00203139
+v -0.10112658 -0.12736394 -0.00202319
+v -0.10112658 -0.11450510 -0.00201904
+v -0.14325394 -0.00006537 0.01766444
+v -0.14224789 -0.10613467 0.01558396
+v -0.14224789 -0.11255764 0.01558394
+v -0.14224789 -0.11899351 0.01558801
+v -0.14221830 -0.12542938 0.01560846
+v -0.14425154 -0.12542939 0.01977274
+v -0.14283123 -0.12542941 0.02515723
+v -0.13759807 -0.13182659 0.02783102
+v -0.10236513 -0.00006526 -0.01394639
+v -0.10112658 -0.01612269 -0.01395054
+v -0.10112658 -0.13182644 -0.01392639
+v -0.14223521 -0.00006537 0.01559254
+v -0.12495479 -0.01612270 -0.00970028
+v -0.12251998 -0.11255753 -0.01322204
+v -0.12495479 -0.04184038 -0.00970037
+v -0.12251575 -0.11899340 -0.01322207
+v -0.12246079 -0.12542927 -0.01319752
+v -0.14207035 -0.13182655 0.01572309
+v -0.14395564 -0.13182656 0.01977272
+v -0.14268328 -0.13182658 0.02507531
+v -0.10559463 -0.00006526 -0.01393820
+v -0.10559463 -0.02254566 -0.01393828
+v -0.10112658 -0.12542927 -0.01393456
+v -0.10559463 -0.09969869 -0.01393038
+v -0.10115195 -0.13182644 -0.01392639
+v -0.10112658 -0.12991761 -0.01393049
+v -0.12494633 -0.00006527 -0.00970022
+v -0.12495057 -0.00325096 -0.00970023
+v -0.12252421 -0.00006526 -0.01322163
+v -0.12252843 -0.03540450 -0.01322176
+v -0.11839855 -0.11899340 -0.01378304
+v -0.12252843 -0.04827623 -0.01322181
+v -0.11839855 -0.00968682 -0.01379083
+v -0.11839855 -0.12542927 -0.01374621
+v -0.12218181 -0.13182644 -0.01304604
+v -0.11839855 -0.00325095 -0.01379080
+v -0.11839855 -0.00006526 -0.01378670
+v -0.10559463 -0.12542927 -0.01392637
+v -0.10562846 -0.13182644 -0.01391411
+v -0.12044024 -0.00006526 -0.01350826
+v -0.11203252 -0.13182644 -0.01377080
+v -0.11839855 -0.13182644 -0.01354150
+f 1 2 7
+f 1 7 18
+f 1 18 31
+f 1 31 43
+f 1 43 59
+f 1 59 62
+f 1 62 51
+f 1 51 49
+f 1 49 34
+f 1 34 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 7 8 19
+f 7 19 22
+f 7 22 21
+f 7 21 20
+f 7 20 33
+f 7 33 48
+f 7 48 45
+f 7 45 32
+f 7 32 18
+f 8 17 30
+f 8 30 42
+f 8 42 41
+f 8 41 40
+f 8 40 57
+f 8 57 64
+f 8 64 63
+f 8 63 61
+f 8 61 47
+f 8 47 33
+f 8 33 20
+f 8 20 21
+f 8 21 22
+f 8 22 19
+f 9 23 10
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 16
+f 13 16 15
+f 13 15 14
+f 16 29 30
+f 16 30 17
+f 18 32 31
+f 23 34 24
+f 24 34 35
+f 24 35 37
+f 24 37 25
+f 25 36 26
+f 25 37 36
+f 26 36 38
+f 26 38 27
+f 27 39 40
+f 27 40 28
+f 27 38 39
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 29 42 30
+f 31 32 43
+f 32 44 43
+f 32 45 46
+f 32 46 44
+f 33 47 48
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 54
+f 35 54 37
+f 36 53 38
+f 36 37 54
+f 36 54 55
+f 36 55 53
+f 38 53 39
+f 39 56 57
+f 39 57 40
+f 39 53 56
+f 43 58 59
+f 43 44 55
+f 43 55 58
+f 44 46 53
+f 44 53 55
+f 45 48 60
+f 45 60 46
+f 46 60 53
+f 47 61 48
+f 48 61 60
+f 49 51 50
+f 51 62 58
+f 51 58 52
+f 52 58 55
+f 52 55 54
+f 53 60 61
+f 53 61 56
+f 56 61 63
+f 56 63 64
+f 56 64 57
+f 58 62 59
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_17.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.10113077 -0.14884110 0.00409496
+v -0.10113077 -0.14884103 -0.01341798
+v -0.10113077 -0.13182815 -0.00202878
+v -0.13069617 -0.13182825 0.02501326
+v -0.12091511 -0.14884116 0.02188179
+v -0.10200280 -0.14884103 -0.01342207
+v -0.10559577 -0.14472023 -0.01382267
+v -0.10113077 -0.14769174 -0.01352426
+v -0.10113077 -0.13182811 -0.01392891
+v -0.13759700 -0.13182826 0.02783397
+v -0.13119507 -0.14472038 0.02748235
+v -0.12487280 -0.14884117 0.02535658
+v -0.10559577 -0.14884103 -0.01339345
+v -0.10113077 -0.13829249 -0.01389215
+v -0.10113077 -0.14472023 -0.01379814
+v -0.11240855 -0.14513997 -0.01338526
+v -0.11199769 -0.13829249 -0.01378177
+v -0.10562931 -0.13182811 -0.01391664
+v -0.10113077 -0.13634868 -0.01391666
+v -0.14265732 -0.13182825 0.02509093
+v -0.13759700 -0.13829264 0.02756413
+v -0.13119507 -0.14884118 0.02770717
+v -0.10734403 -0.14884103 -0.01329125
+v -0.11058483 -0.14884103 -0.01309094
+v -0.11639979 -0.14327611 -0.01309910
+v -0.11847927 -0.13805596 -0.01320945
+v -0.11839962 -0.13182811 -0.01354055
+v -0.11203123 -0.13182811 -0.01376948
+v -0.11839962 -0.13186142 -0.01354055
+v -0.14268248 -0.13182825 0.02507458
+v -0.14268248 -0.13186156 0.02507458
+v -0.14225484 -0.13829263 0.02471071
+v -0.13759700 -0.14472038 0.02653394
+v -0.13762215 -0.14884117 0.02527482
+v -0.11078187 -0.14884103 -0.01304597
+v -0.11481504 -0.14756181 -0.01235509
+v -0.12183745 -0.13575404 -0.01282108
+v -0.12218123 -0.13182811 -0.01304590
+v -0.14394861 -0.13182823 0.01980107
+v -0.14395280 -0.13186154 0.01977246
+v -0.14313107 -0.13829261 0.01977243
+v -0.14141635 -0.14472037 0.02364782
+v -0.13986094 -0.14884117 0.02341478
+v -0.11371241 -0.14884104 -0.01134128
+v -0.12066775 -0.14004142 -0.01143935
+v -0.13860738 -0.14884114 0.01721739
+v -0.12218123 -0.13186142 -0.01304181
+v -0.14119415 -0.14279151 0.01644480
+v -0.14167209 -0.13829260 0.01603601
+v -0.14207037 -0.13182822 0.01572126
+v -0.14207037 -0.13186153 0.01572126
+v -0.14395280 -0.13182823 0.01977246
+v -0.14153373 -0.14484859 0.02013624
+v -0.14085455 -0.14806331 0.02234374
+v -0.14085455 -0.14806331 0.02282204
+v -0.14031372 -0.14884116 0.02166104
+v -0.13975613 -0.14884115 0.01928183
+v -0.14042273 -0.14707724 0.01841518
+f 1 2 8
+f 1 8 15
+f 1 15 14
+f 1 14 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 22
+f 1 22 34
+f 1 34 43
+f 1 43 56
+f 1 56 57
+f 1 57 46
+f 1 46 44
+f 1 44 35
+f 1 35 24
+f 1 24 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 18
+f 3 18 28
+f 3 28 27
+f 3 27 38
+f 3 38 50
+f 3 50 52
+f 3 52 39
+f 3 39 30
+f 3 30 20
+f 3 20 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 7
+f 7 14 15
+f 7 15 8
+f 7 13 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 14
+f 9 19 18
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 13 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 27 28
+f 17 28 18
+f 17 26 29
+f 17 29 27
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 29
+f 27 29 38
+f 30 39 31
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 32 42 33
+f 33 42 34
+f 34 42 43
+f 35 44 36
+f 36 45 37
+f 36 44 46
+f 36 46 45
+f 37 47 38
+f 37 45 48
+f 37 48 49
+f 37 49 47
+f 38 47 51
+f 38 51 50
+f 39 52 40
+f 40 52 50
+f 40 50 51
+f 40 51 49
+f 40 49 41
+f 41 49 48
+f 41 48 53
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 42 55 43
+f 43 55 56
+f 45 46 48
+f 46 57 58
+f 46 58 48
+f 47 49 51
+f 48 58 53
+f 53 58 54
+f 54 56 55
+f 54 58 56
+f 56 58 57
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_18.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.09911941 0.14877755 0.00391164
+v -0.09913711 0.12030363 -0.00202594
+v -0.09911941 0.12536239 -0.00202183
+v -0.09911941 0.14877761 -0.01337291
+v -0.12137373 0.14877748 0.02279206
+v -0.09911941 0.12030364 -0.00448932
+v -0.13153236 0.12030353 0.02541082
+v -0.09911941 0.14728368 -0.01352432
+v -0.09919459 0.14465256 -0.01379441
+v -0.10559846 0.14465256 -0.01381487
+v -0.10559846 0.14877761 -0.01336882
+v -0.12473931 0.14877747 0.02544776
+v -0.09911941 0.12030367 -0.01393771
+v -0.12634027 0.14877746 0.02631935
+v -0.13629546 0.12030352 0.02733815
+v -0.09911941 0.14465256 -0.01379031
+v -0.09911941 0.14457732 -0.01379441
+v -0.09911941 0.13821974 -0.01390900
+v -0.11199791 0.13821974 -0.01376169
+v -0.11227653 0.14493965 -0.01336475
+v -0.11033060 0.14876089 -0.01307829
+v -0.09919459 0.13821974 -0.01390900
+v -0.10559846 0.13179247 -0.01390903
+v -0.11026427 0.14877761 -0.01307829
+v -0.10056116 0.12030367 -0.01393771
+v -0.09911941 0.12536243 -0.01393360
+v -0.13119624 0.14877746 0.02778428
+v -0.13119624 0.14465241 0.02758785
+v -0.13759568 0.12030352 0.02785783
+v -0.09911941 0.13179247 -0.01392540
+v -0.11839735 0.12536243 -0.01373310
+v -0.11839735 0.13179247 -0.01350802
+v -0.11841504 0.13789363 -0.01318472
+v -0.11839735 0.12030367 -0.01376994
+v -0.11629221 0.14298862 -0.01308649
+v -0.11459837 0.14727531 -0.01212896
+v -0.11035271 0.14877761 -0.01304555
+v -0.09919459 0.13179247 -0.01392540
+v -0.10559846 0.12536243 -0.01392542
+v -0.10559846 0.12030367 -0.01392953
+v -0.09919459 0.12536243 -0.01393360
+v -0.13759568 0.13179232 0.02782104
+v -0.13759568 0.12536228 0.02785785
+v -0.13349154 0.14877746 0.02737508
+v -0.13759568 0.13821959 0.02752236
+v -0.14173520 0.12030353 0.02574636
+v -0.12245726 0.12536243 -0.01319704
+v -0.12214769 0.13179247 -0.01302107
+v -0.12179387 0.13553288 -0.01279599
+v -0.11926418 0.12030367 -0.01365537
+v -0.11336006 0.14877760 -0.01098319
+v -0.12055998 0.13981958 -0.01124921
+v -0.13681731 0.14877750 0.01550832
+v -0.14267278 0.13179233 0.02505895
+v -0.14283200 0.12536229 0.02515714
+v -0.14285411 0.12030353 0.02516939
+v -0.13759568 0.14877747 0.02520224
+v -0.13759568 0.14465241 0.02645027
+v -0.14221283 0.13821960 0.02466206
+v -0.12250590 0.12030367 -0.01321753
+v -0.14221726 0.12536232 0.01561053
+v -0.14205805 0.13179236 0.01572922
+v -0.14163790 0.13821963 0.01606070
+v -0.14116469 0.14261781 0.01646991
+v -0.14038190 0.14690450 0.01866733
+v -0.13965659 0.14877749 0.01952256
+v -0.14393321 0.13179235 0.01977210
+v -0.14425164 0.12536231 0.01977208
+v -0.14430029 0.12030355 0.01977206
+v -0.14399513 0.12030354 0.02092191
+v -0.13868805 0.14877747 0.02436338
+v -0.14135486 0.14465242 0.02356133
+v -0.14305313 0.13821962 0.01977213
+v -0.12491621 0.12030366 -0.00969842
+v -0.14223938 0.12030356 0.01559415
+v -0.14146542 0.14471656 0.02028774
+v -0.14081530 0.14790509 0.02259973
+v -0.14020057 0.14877748 0.02181407
+v -0.13972293 0.14877747 0.02341404
+v -0.14081530 0.14790509 0.02275522
+v -0.14020057 0.14877748 0.02191637
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 26
+f 1 26 30
+f 1 30 18
+f 1 18 17
+f 1 17 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 24
+f 1 24 37
+f 1 37 51
+f 1 51 53
+f 1 53 66
+f 1 66 78
+f 1 78 81
+f 1 81 79
+f 1 79 71
+f 1 71 57
+f 1 57 44
+f 1 44 27
+f 1 27 14
+f 1 14 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 15
+f 2 15 29
+f 2 29 46
+f 2 46 56
+f 2 56 70
+f 2 70 69
+f 2 69 75
+f 2 75 74
+f 2 74 60
+f 2 60 50
+f 2 50 34
+f 2 34 40
+f 2 40 25
+f 2 25 13
+f 2 13 6
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 7
+f 7 12 14
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 18 22
+f 10 22 23
+f 10 23 19
+f 11 21 24
+f 13 25 41
+f 13 41 26
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 18 30 38
+f 18 38 22
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 19 23 34
+f 19 34 31
+f 20 33 35
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 24
+f 22 38 23
+f 23 38 39
+f 23 39 34
+f 25 40 39
+f 25 39 41
+f 26 41 38
+f 26 38 30
+f 27 42 43
+f 27 43 29
+f 27 29 28
+f 27 44 45
+f 27 45 42
+f 29 43 46
+f 31 34 47
+f 31 47 48
+f 31 48 32
+f 32 48 33
+f 33 48 49
+f 33 49 35
+f 34 50 47
+f 34 39 40
+f 35 49 36
+f 36 51 37
+f 36 49 52
+f 36 52 53
+f 36 53 51
+f 38 41 39
+f 42 45 54
+f 42 54 55
+f 42 55 43
+f 43 55 56
+f 43 56 46
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 45 59 54
+f 47 50 60
+f 47 60 61
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 48 63 49
+f 49 63 64
+f 49 64 52
+f 52 64 53
+f 53 64 65
+f 53 65 66
+f 54 59 67
+f 54 67 68
+f 54 68 55
+f 55 68 69
+f 55 69 70
+f 55 70 56
+f 57 71 58
+f 58 71 72
+f 58 72 59
+f 59 72 73
+f 59 73 67
+f 60 74 61
+f 61 75 69
+f 61 69 68
+f 61 68 62
+f 61 74 75
+f 62 68 67
+f 62 67 63
+f 63 67 73
+f 63 73 64
+f 64 73 76
+f 64 76 65
+f 65 76 77
+f 65 77 78
+f 65 78 66
+f 71 79 72
+f 72 79 80
+f 72 80 73
+f 73 80 77
+f 73 77 76
+f 77 80 81
+f 77 81 78
+f 79 81 80
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_19.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.13764628 -0.00006541 0.02786246
+v 0.13156520 0.00961973 0.02540698
+v 0.13457609 -0.00006541 0.02662242
+v 0.14290582 -0.00006540 0.02517366
+v 0.14290582 0.11249181 0.02517407
+v 0.13764628 0.11892498 0.02785471
+v 0.13154403 0.12030353 0.02540329
+v 0.13155250 0.09963721 0.02540731
+v 0.10111744 0.04364738 -0.00202517
+v 0.10111744 0.02247442 -0.00202934
+v 0.10111744 -0.00006530 -0.00203760
+v 0.13156944 -0.00006540 0.02540694
+v 0.14362996 -0.00006539 0.02249715
+v 0.14437104 0.02890753 0.01977163
+v 0.14437104 0.11249183 0.01977193
+v 0.14289735 0.11892499 0.02517001
+v 0.13764628 0.12030352 0.02785062
+v 0.10111744 0.12030363 -0.00203716
+v 0.10111744 0.11437709 -0.00203309
+v 0.10111744 0.10794390 -0.00202902
+v 0.10111744 0.09963731 -0.00202496
+v 0.10111744 -0.00006526 -0.01394279
+v 0.14436257 -0.00006538 0.01977152
+v 0.14436681 0.00961975 0.01977156
+v 0.14231296 0.02890754 0.01556859
+v 0.14231296 0.11249184 0.01557299
+v 0.14230025 0.11892502 0.01557711
+v 0.14434987 0.11892501 0.01977196
+v 0.14231296 0.04819531 0.01556866
+v 0.14288888 0.12030353 0.02516592
+v 0.10111744 0.12030367 -0.01393826
+v 0.10111744 0.02890765 -0.01394677
+v 0.10564438 0.00318668 -0.01393459
+v 0.10564438 -0.00006526 -0.01393051
+v 0.14334623 -0.00006537 0.01769251
+v 0.14230449 -0.00006537 0.01557258
+v 0.12493784 -0.00006527 -0.00969883
+v 0.12253250 -0.00006526 -0.01319795
+v 0.12254097 0.11249195 -0.01320572
+v 0.12253250 0.11892513 -0.01320160
+v 0.14229178 0.12030356 0.01558529
+v 0.14390522 0.12030355 0.01888388
+v 0.14433293 0.12030355 0.01977196
+v 0.10428079 0.12030367 -0.01393416
+v 0.10564438 0.11892513 -0.01393416
+v 0.11204729 0.02890765 -0.01384446
+v 0.11844598 -0.00006526 -0.01375044
+v 0.11527840 -0.00006526 -0.01379546
+v 0.10887548 -0.00006526 -0.01388549
+v 0.11844598 0.11249195 -0.01375821
+v 0.12051253 -0.00006526 -0.01347215
+v 0.11844598 0.11892513 -0.01375409
+v 0.11844598 0.12030367 -0.01374591
+v 0.12251557 0.12030367 -0.01319341
+v 0.10564438 0.12030367 -0.01393007
+v 0.11708240 0.12030367 -0.01376637
+f 1 2 3
+f 1 3 12
+f 1 12 11
+f 1 11 22
+f 1 22 34
+f 1 34 49
+f 1 49 48
+f 1 48 47
+f 1 47 51
+f 1 51 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 23
+f 1 23 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 8 7
+f 2 7 9
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 30
+f 7 30 43
+f 7 43 42
+f 7 42 41
+f 7 41 54
+f 7 54 53
+f 7 53 56
+f 7 56 55
+f 7 55 44
+f 7 44 31
+f 7 31 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 9
+f 9 21 20
+f 9 20 19
+f 9 19 18
+f 9 18 31
+f 9 31 32
+f 9 32 22
+f 9 22 11
+f 9 11 10
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 29
+f 14 29 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 15 29 26
+f 16 28 30
+f 16 30 17
+f 22 32 33
+f 22 33 34
+f 23 35 24
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 29
+f 26 39 40
+f 26 40 27
+f 26 29 39
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 30
+f 31 44 45
+f 31 45 32
+f 32 45 33
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 33 45 50
+f 33 50 46
+f 38 51 39
+f 39 50 52
+f 39 52 40
+f 39 51 50
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 44 55 45
+f 45 55 52
+f 45 52 50
+f 46 50 47
+f 47 50 51
+f 52 55 56
+f 52 56 53
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_2.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.02238047 0.14877761 -0.01345967
+v -0.02878954 0.15108386 -0.01328790
+v -0.00959105 0.15108386 -0.01328790
+v -0.00729183 0.14877761 -0.01345538
+v -0.08638503 0.14877761 -0.01344679
+v -0.02238047 0.15451217 -0.01281550
+v -0.08638503 0.15108386 -0.01327501
+v -0.08638503 0.15450101 -0.01280691
+v -0.01598576 0.15451217 -0.01281550
+v -0.00959105 0.15451057 -0.01281550
+v 0.00660409 0.15270000 -0.01306028
+v 0.00660409 0.15108386 -0.01327931
+v 0.00660409 0.14877761 -0.01345108
+v -0.09277974 0.14877761 -0.01342532
+v -0.03414960 0.16505997 0.00669381
+v -0.07997595 0.15450260 -0.01280691
+v -0.06620936 0.16505997 0.00670240
+v -0.10558353 0.14877761 -0.01336949
+v -0.09277974 0.15108386 -0.01324066
+v -0.08638503 0.16505996 0.00684841
+v -0.07997595 0.16505997 0.00676252
+v -0.07358124 0.16505997 0.00673246
+v -0.07261845 0.16505997 0.00672817
+v -0.09277974 0.15446276 -0.01277685
+v 0.00660409 0.15450579 -0.01281120
+v 0.00660409 0.14877755 0.00307790
+v 0.00660409 0.16505996 0.00717907
+v 0.00660409 0.16388055 0.00489017
+v 0.00660409 0.16245410 0.00212460
+v -0.11025382 0.14877761 -0.01307747
+v -0.10558353 0.14977853 -0.01326213
+v -0.09277974 0.16505996 0.00714901
+v -0.09673153 0.15438466 -0.01271243
+v 0.00660409 0.15418056 0.01113414
+v -0.13119110 0.14877746 0.02778335
+v 0.00660409 0.16505996 0.00933055
+v -0.11034004 0.14877761 -0.01304312
+v -0.10099946 0.15380770 -0.01230877
+v -0.09818291 0.16505996 0.00796924
+v -0.11963751 0.16505994 0.01420894
+v -0.11817177 0.16505994 0.01377521
+v -0.09875771 0.16505996 0.00806371
+v 0.00660409 0.15751322 0.01376659
+v -0.03652068 0.16505988 0.02955268
+v -0.13119110 0.15108371 0.02789070
+v -0.13349033 0.14877746 0.02737538
+v -0.04199569 0.16505988 0.03013242
+v -0.04760005 0.16505988 0.03041155
+v 0.00660409 0.16444155 0.01133171
+v -0.03258326 0.16505989 0.02824290
+v -0.10614397 0.15322435 -0.01008430
+v -0.11335777 0.14877760 -0.01098183
+v -0.12391981 0.16505993 0.01576350
+v -0.03528485 0.16505988 0.02924349
+v 0.00660409 0.16374983 0.01356478
+v -0.12479640 0.15751317 0.02792938
+v -0.13152162 0.15777616 0.02565337
+v -0.13758581 0.15046532 0.02469141
+v -0.13758581 0.14877747 0.02520244
+v -0.11741014 0.16505989 0.02742697
+v -0.11838732 0.16394422 0.02780487
+v -0.13680982 0.14877750 0.01550578
+v -0.13614880 0.15108375 0.01568614
+v -0.13501356 0.15520696 0.01633461
+v -0.12909307 0.16179579 0.01615426
+v -0.12739740 0.16505992 0.01977443
+v -0.12498320 0.16425343 0.02558039
+v -0.12961039 0.16231694 0.02429638
+v -0.13545903 0.15580940 0.02406875
+v -0.13971258 0.14877747 0.02341598
+v -0.13867795 0.14877747 0.02436504
+v -0.11838732 0.16505989 0.02722943
+v -0.12393419 0.16505990 0.02549451
+v -0.13965510 0.14877749 0.01952100
+v -0.13899409 0.15046534 0.02028969
+v -0.13566022 0.15611223 0.01977439
+v -0.13323166 0.15932696 0.01977441
+v -0.13002712 0.16272020 0.01977442
+v -0.12718184 0.16505991 0.02086949
+v -0.12456647 0.16505990 0.02523685
+v -0.14020117 0.14877748 0.02191725
+v -0.14020117 0.14877748 0.02181419
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 26
+f 1 26 35
+f 1 35 46
+f 1 46 59
+f 1 59 71
+f 1 71 70
+f 1 70 81
+f 1 81 82
+f 1 82 74
+f 1 74 62
+f 1 62 52
+f 1 52 37
+f 1 37 30
+f 1 30 18
+f 1 18 14
+f 1 14 5
+f 1 5 2
+f 2 6 9
+f 2 9 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 5 14 7
+f 6 15 9
+f 6 8 16
+f 6 16 17
+f 6 17 15
+f 7 14 18
+f 7 18 19
+f 7 19 8
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 17
+f 8 17 16
+f 8 19 24
+f 8 24 20
+f 9 15 10
+f 10 25 11
+f 10 15 25
+f 11 25 29
+f 11 29 28
+f 11 28 27
+f 11 27 36
+f 11 36 49
+f 11 49 55
+f 11 55 43
+f 11 43 34
+f 11 34 26
+f 11 26 13
+f 11 13 12
+f 15 27 28
+f 15 28 29
+f 15 29 25
+f 15 17 23
+f 15 23 22
+f 15 22 21
+f 15 21 20
+f 15 20 32
+f 15 32 39
+f 15 39 42
+f 15 42 41
+f 15 41 40
+f 15 40 53
+f 15 53 66
+f 15 66 79
+f 15 79 80
+f 15 80 73
+f 15 73 72
+f 15 72 60
+f 15 60 48
+f 15 48 47
+f 15 47 44
+f 15 44 54
+f 15 54 50
+f 15 50 36
+f 15 36 27
+f 18 30 31
+f 18 31 19
+f 19 31 24
+f 20 24 32
+f 24 33 32
+f 24 31 33
+f 26 34 35
+f 30 37 38
+f 30 38 33
+f 30 33 31
+f 32 33 39
+f 33 38 40
+f 33 40 41
+f 33 41 42
+f 33 42 39
+f 34 43 44
+f 34 44 35
+f 35 45 46
+f 35 44 47
+f 35 47 48
+f 35 48 45
+f 36 50 49
+f 37 51 38
+f 37 52 53
+f 37 53 51
+f 38 51 53
+f 38 53 40
+f 43 54 44
+f 43 55 50
+f 43 50 54
+f 45 56 57
+f 45 57 58
+f 45 58 46
+f 45 48 56
+f 46 58 59
+f 48 60 61
+f 48 61 56
+f 49 50 55
+f 52 62 63
+f 52 63 64
+f 52 64 65
+f 52 65 53
+f 53 65 66
+f 56 61 67
+f 56 67 57
+f 57 67 68
+f 57 68 69
+f 57 69 58
+f 58 70 71
+f 58 71 59
+f 58 69 70
+f 60 72 61
+f 61 72 73
+f 61 73 67
+f 62 74 63
+f 63 74 64
+f 64 74 75
+f 64 75 76
+f 64 76 77
+f 64 77 65
+f 65 77 78
+f 65 78 66
+f 66 78 68
+f 66 68 79
+f 67 73 80
+f 67 80 68
+f 68 78 77
+f 68 77 69
+f 68 80 79
+f 69 76 81
+f 69 81 70
+f 69 77 76
+f 74 82 75
+f 75 82 76
+f 76 82 81
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_20.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.06723807 0.16505997 0.00666705
+v 0.03523495 0.16505997 0.00669628
+v 0.06723807 0.17018646 0.01260944
+v 0.07364075 0.17018646 0.01262113
+v 0.07364075 0.16505997 0.00668459
+v 0.02857534 0.16505996 0.00685120
+v 0.06084567 0.17018646 0.01267375
+v 0.08003315 0.17018646 0.01264452
+v 0.07463764 0.16505997 0.00669044
+v 0.02246042 0.16505996 0.00712888
+v 0.05444299 0.17018646 0.01308588
+v 0.08003315 0.16505997 0.00673428
+v 0.08643583 0.17018646 0.01270882
+v 0.02246042 0.16505996 0.00935909
+v 0.02246042 0.16550457 0.00797946
+v 0.03041496 0.16743353 0.01051075
+v 0.04638569 0.17018646 0.01424337
+v 0.08098893 0.16505997 0.00674597
+v 0.09283851 0.17018646 0.01285205
+v 0.08643583 0.16505996 0.00685412
+v 0.02246042 0.16506448 0.00943217
+v 0.03066161 0.16505991 0.02293037
+v 0.02367313 0.17018639 0.03162326
+v 0.03499858 0.17018645 0.01652035
+v 0.09283851 0.16505996 0.00716688
+v 0.08730939 0.16505996 0.00689504
+v 0.09879927 0.17018646 0.01322618
+v 0.03079521 0.16635757 0.03009161
+v 0.03226485 0.16505990 0.02554057
+v 0.02880144 0.17018638 0.03543771
+v 0.10350622 0.17018646 0.01386046
+v 0.10563359 0.17018646 0.01416445
+v 0.09879927 0.16505996 0.00805546
+v 0.03533772 0.16505988 0.02920011
+v 0.03523495 0.16580608 0.03064405
+v 0.03523495 0.16786953 0.03359040
+v 0.04467968 0.16711479 0.03456373
+v 0.03523495 0.17018638 0.03608661
+v 0.11166630 0.17018645 0.01519625
+v 0.11314621 0.17018645 0.01552947
+v 0.11843895 0.16864740 0.01579253
+v 0.11823341 0.16505994 0.01376691
+v 0.04207955 0.16505988 0.03011207
+v 0.04628291 0.16505988 0.03040437
+v 0.04761895 0.16505988 0.03041314
+v 0.04499827 0.16711479 0.03456373
+v 0.04218232 0.17009505 0.03647243
+v 0.04154514 0.17018638 0.03652798
+v 0.11667128 0.17018645 0.01721309
+v 0.12241622 0.16765531 0.01641804
+v 0.12398863 0.16505993 0.01576036
+v 0.11843895 0.16505989 0.02723881
+v 0.04217205 0.17018638 0.03651044
+v 0.11924057 0.17018644 0.01909840
+v 0.11964138 0.17018644 0.01977652
+v 0.12327950 0.16823991 0.01977651
+v 0.12647570 0.16593057 0.01977650
+v 0.12704095 0.16505992 0.01901361
+v 0.12462581 0.16505990 0.02525120
+v 0.11843895 0.16934037 0.02505245
+v 0.11513998 0.17018642 0.02526291
+v 0.10563359 0.17018641 0.02704299
+v 0.12305340 0.16810490 0.02397095
+v 0.11843895 0.17018643 0.02205058
+v 0.12745203 0.16505992 0.01977650
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 12
+f 1 12 18
+f 1 18 20
+f 1 20 26
+f 1 26 25
+f 1 25 33
+f 1 33 42
+f 1 42 51
+f 1 51 58
+f 1 58 65
+f 1 65 59
+f 1 59 52
+f 1 52 45
+f 1 45 44
+f 1 44 43
+f 1 43 34
+f 1 34 29
+f 1 29 22
+f 1 22 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 17
+f 3 17 24
+f 3 24 23
+f 3 23 30
+f 3 30 38
+f 3 38 48
+f 3 48 53
+f 3 53 62
+f 3 62 61
+f 3 61 64
+f 3 64 55
+f 3 55 54
+f 3 54 49
+f 3 49 40
+f 3 40 39
+f 3 39 32
+f 3 32 31
+f 3 31 27
+f 3 27 19
+f 3 19 13
+f 3 13 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 7
+f 7 10 11
+f 8 12 9
+f 8 13 12
+f 10 14 21
+f 10 21 15
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 12 13 18
+f 13 19 20
+f 13 20 18
+f 14 22 21
+f 15 21 23
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 19 25 26
+f 19 26 20
+f 19 27 25
+f 21 22 28
+f 21 28 23
+f 22 29 28
+f 23 28 30
+f 25 27 31
+f 25 31 32
+f 25 32 33
+f 28 29 34
+f 28 34 35
+f 28 35 30
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 32 39 33
+f 33 39 40
+f 33 40 41
+f 33 41 42
+f 34 43 37
+f 34 37 35
+f 35 37 36
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 37 48 38
+f 37 43 44
+f 40 49 41
+f 41 49 50
+f 41 50 42
+f 42 50 51
+f 45 52 46
+f 46 52 47
+f 47 53 48
+f 47 52 53
+f 49 54 50
+f 50 55 56
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 50 54 55
+f 52 59 60
+f 52 60 61
+f 52 61 62
+f 52 62 53
+f 55 63 56
+f 55 64 63
+f 56 63 57
+f 57 65 58
+f 57 63 65
+f 59 65 63
+f 59 63 60
+f 60 64 61
+f 60 63 64
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_21.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00321516 -0.17332851 0.02657289
+v -0.05356099 -0.17614964 0.02767904
+v -0.05709135 -0.17332851 0.02767905
+v 0.00321516 -0.17226449 0.02720899
+v 0.05704191 -0.17332851 0.02767905
+v 0.05420422 -0.17570516 0.02767904
+v 0.05403664 -0.17577024 0.02767904
+v 0.05304233 -0.17614964 0.02767904
+v -0.05113667 -0.17614965 0.03125494
+v -0.05295770 -0.17508757 0.03037450
+v -0.04667903 -0.17614967 0.03606198
+v -0.05365037 -0.17332852 0.03043792
+v -0.00316405 -0.16950196 0.03745730
+v -0.02239108 -0.17090828 0.03156648
+v -0.00316405 -0.17000045 0.03156649
+v 0.00321516 -0.16985792 0.03156649
+v 0.05606994 -0.17332852 0.02894936
+v 0.05304233 -0.17512402 0.03040435
+v 0.05128832 -0.17614965 0.03125307
+v 0.02238633 -0.17094147 0.03156648
+v 0.02238633 -0.17093887 0.03159819
+v 0.00321516 -0.16965751 0.03745730
+v -0.04132764 -0.17614968 0.03895888
+v -0.04671255 -0.17332854 0.03595566
+v -0.00956562 -0.17223134 0.04199758
+v -0.00316405 -0.17190792 0.04240982
+v -0.04146171 -0.17332855 0.03780237
+v 0.04678600 -0.17332854 0.03596685
+v 0.04676366 -0.17614967 0.03608809
+v 0.00321516 -0.17206280 0.04234640
+v 0.00961672 -0.17234458 0.04196214
+v 0.03768081 -0.17332855 0.03871080
+v 0.04494262 -0.17332855 0.03701892
+v -0.03652368 -0.17614969 0.04016577
+v -0.00956562 -0.17332857 0.04279967
+v -0.00317523 -0.17553928 0.04535708
+v -0.00317523 -0.17332857 0.04356447
+v -0.03517186 -0.17475962 0.03988784
+v -0.00316405 -0.17332857 0.04356447
+v 0.00321516 -0.17560826 0.04529365
+v 0.04221665 -0.17614968 0.03869027
+v 0.01601829 -0.17275197 0.04143984
+v 0.01500163 -0.17332856 0.04199570
+v 0.00998540 -0.17614970 0.04470793
+v 0.03522297 -0.17476679 0.03987479
+v 0.03968060 -0.17614968 0.03938045
+v 0.04192618 -0.17614968 0.03885256
+v -0.03517186 -0.17614969 0.04042133
+v -0.00956562 -0.17614970 0.04486089
+v -0.00856014 -0.17614971 0.04501012
+v -0.00415836 -0.17614971 0.04553802
+v -0.00317523 -0.17614971 0.04562942
+v 0.00321516 -0.17614971 0.04553802
+v 0.00784038 -0.17614971 0.04501758
+v 0.01005243 -0.17614970 0.04469674
+v 0.03522297 -0.17614969 0.04040827
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 19
+f 2 19 29
+f 2 29 41
+f 2 41 47
+f 2 47 46
+f 2 46 56
+f 2 56 55
+f 2 55 44
+f 2 44 54
+f 2 54 53
+f 2 53 52
+f 2 52 51
+f 2 51 50
+f 2 50 49
+f 2 49 48
+f 2 48 34
+f 2 34 23
+f 2 23 11
+f 2 11 9
+f 3 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 16
+f 3 16 4
+f 4 16 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 16 20
+f 5 20 21
+f 5 21 22
+f 5 22 17
+f 6 19 7
+f 7 19 8
+f 9 11 10
+f 11 23 24
+f 11 24 12
+f 12 24 13
+f 13 25 26
+f 13 26 22
+f 13 22 16
+f 13 16 15
+f 13 15 14
+f 13 24 27
+f 13 27 25
+f 16 22 21
+f 16 21 20
+f 17 28 29
+f 17 29 18
+f 17 22 28
+f 18 29 19
+f 22 26 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 28
+f 23 34 27
+f 23 27 24
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 25 27 38
+f 25 38 35
+f 26 39 40
+f 26 40 30
+f 26 37 39
+f 27 34 38
+f 28 33 41
+f 28 41 29
+f 30 40 31
+f 31 40 42
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 41
+f 34 48 38
+f 35 49 50
+f 35 50 36
+f 35 38 49
+f 36 39 37
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 40
+f 36 40 39
+f 38 48 49
+f 40 53 54
+f 40 54 43
+f 40 43 42
+f 43 54 44
+f 44 55 45
+f 45 56 46
+f 45 55 56
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_22.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.10329482 0.16505996 0.00944490
+v -0.10558595 0.16505995 0.01010132
+v -0.11838751 0.16863937 0.01580032
+v -0.11308606 0.17018645 0.01553889
+v -0.11160659 0.17018645 0.01520221
+v -0.09872282 0.16626682 0.00944490
+v -0.02244773 0.16505996 0.00944490
+v -0.11818202 0.16505994 0.01377839
+v -0.12235331 0.16764026 0.01642852
+v -0.11838751 0.17018644 0.01866675
+v -0.11096959 0.17018645 0.01508748
+v -0.10531882 0.17018646 0.01412637
+v -0.09940092 0.17018646 0.01327246
+v -0.09877419 0.17018646 0.01322167
+v -0.09278439 0.17018646 0.01282105
+v -0.09278439 0.16653479 0.00944490
+v -0.02944441 0.16667279 0.00944490
+v -0.03037935 0.16743202 0.01051324
+v -0.03284514 0.17018645 0.01735015
+v -0.02671149 0.17018640 0.02865973
+v -0.03074922 0.16620652 0.02865971
+v -0.03216705 0.16534190 0.02865971
+v -0.03257802 0.16505989 0.02824592
+v -0.11964095 0.16505994 0.01421287
+v -0.12392526 0.16505993 0.01576833
+v -0.12739791 0.16505992 0.01977455
+v -0.12640132 0.16593659 0.01977455
+v -0.12320607 0.16820679 0.01977456
+v -0.11950738 0.17018644 0.01977457
+v -0.09197273 0.17018646 0.01278908
+v -0.08638360 0.16675057 0.00944490
+v -0.03518764 0.16673852 0.00944490
+v -0.06606139 0.17018646 0.01264613
+v -0.06079076 0.17018646 0.01272325
+v -0.05976335 0.17018646 0.01276463
+v -0.03771508 0.17018645 0.01561788
+v -0.03495134 0.17018645 0.01655079
+v -0.05361942 0.17018646 0.01316901
+v -0.04763988 0.17018646 0.01396837
+v -0.05821196 0.17018640 0.02865973
+v -0.03369790 0.16505988 0.02865971
+v -0.12718216 0.16505991 0.02087109
+v -0.12298004 0.16807529 0.02394818
+v -0.11940464 0.17018643 0.02069619
+v -0.08638360 0.17018646 0.01267999
+v -0.08533565 0.17018646 0.01266870
+v -0.07998283 0.16681129 0.00944490
+v -0.06493123 0.16684391 0.00944490
+v -0.06719154 0.17018646 0.01263673
+v -0.05961951 0.16867946 0.02865972
+v -0.09938037 0.17018641 0.02739015
+v -0.11087712 0.16505989 0.02763652
+v -0.05449272 0.16505988 0.02865971
+v -0.12456226 0.16505990 0.02523655
+v -0.12393554 0.16505990 0.02549423
+v -0.11838751 0.16930474 0.02503907
+v -0.11718543 0.17018642 0.02376762
+v -0.07998283 0.17018646 0.01264425
+v -0.07359232 0.16683487 0.00944490
+v -0.06719154 0.16684692 0.00944490
+v -0.07246217 0.17018646 0.01263297
+v -0.05938321 0.16659794 0.02865971
+v -0.10578115 0.17018641 0.02706664
+v -0.11741146 0.16505989 0.02742963
+v -0.05669139 0.16538406 0.02865971
+v -0.11838751 0.16505989 0.02723214
+v -0.11499705 0.17018642 0.02527043
+v -0.07887322 0.17018646 0.01264049
+v -0.07134229 0.16683990 0.00944490
+v -0.10582225 0.17018641 0.02705912
+v -0.11288058 0.17018642 0.02569738
+v -0.11300386 0.17018642 0.02567293
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 31
+f 1 31 47
+f 1 47 59
+f 1 59 69
+f 1 69 60
+f 1 60 48
+f 1 48 32
+f 1 32 17
+f 1 17 7
+f 1 7 23
+f 1 23 41
+f 1 41 53
+f 1 53 52
+f 1 52 64
+f 1 64 66
+f 1 66 55
+f 1 55 54
+f 1 54 42
+f 1 42 26
+f 1 26 25
+f 1 25 24
+f 1 24 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 29
+f 4 29 44
+f 4 44 57
+f 4 57 67
+f 4 67 72
+f 4 72 71
+f 4 71 70
+f 4 70 63
+f 4 63 51
+f 4 51 40
+f 4 40 20
+f 4 20 19
+f 4 19 37
+f 4 37 36
+f 4 36 39
+f 4 39 38
+f 4 38 35
+f 4 35 34
+f 4 34 33
+f 4 33 49
+f 4 49 61
+f 4 61 68
+f 4 68 58
+f 4 58 46
+f 4 46 45
+f 4 45 30
+f 4 30 15
+f 4 15 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 8 24 9
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 9 24 25
+f 15 30 16
+f 16 30 31
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 36 37
+f 18 37 19
+f 18 35 38
+f 18 38 39
+f 18 39 36
+f 20 40 50
+f 20 50 62
+f 20 62 65
+f 20 65 53
+f 20 53 41
+f 20 41 22
+f 20 22 21
+f 22 41 23
+f 26 42 27
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 29
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 32 48 49
+f 32 49 33
+f 40 51 52
+f 40 52 50
+f 42 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 46 58 47
+f 47 58 59
+f 48 60 49
+f 49 60 61
+f 50 52 62
+f 51 63 64
+f 51 64 52
+f 52 53 65
+f 52 65 62
+f 55 66 56
+f 56 66 67
+f 56 67 57
+f 58 68 59
+f 59 68 69
+f 60 69 68
+f 60 68 61
+f 63 70 64
+f 64 71 72
+f 64 72 67
+f 64 67 66
+f 64 70 71
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_23.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.05961233 0.16867946 0.02865972
+v -0.05820419 0.17018640 0.02865973
+v -0.05937649 0.16659794 0.02865971
+v -0.05923775 0.16677408 0.02883216
+v -0.04633558 0.17018638 0.03554837
+v -0.04981778 0.17018639 0.03369288
+v -0.02669792 0.17018640 0.02865973
+v -0.05704577 0.16554765 0.02865971
+v -0.04501762 0.16708870 0.03459240
+v -0.04193080 0.17018638 0.03655117
+v 0.00321987 0.17018640 0.03035554
+v -0.03074198 0.16620652 0.02865971
+v -0.05667813 0.16538406 0.02865971
+v -0.04759805 0.16505988 0.03041194
+v -0.04453205 0.16708870 0.03459240
+v -0.00318266 0.17018636 0.03953508
+v -0.04897845 0.16505988 0.03034488
+v 0.00957384 0.17018639 0.03156592
+v -0.03369006 0.16505988 0.02865971
+v -0.03216399 0.16534190 0.02865971
+v -0.03119286 0.16593103 0.02865971
+v -0.05448614 0.16505988 0.02865971
+v -0.04197936 0.16505988 0.03013410
+v -0.00318266 0.16908539 0.03746028
+v -0.00060916 0.17018637 0.03944247
+v 0.00962240 0.17018639 0.03170006
+v 0.00962240 0.16996357 0.03746028
+v 0.00321987 0.16926505 0.03746028
+v -0.03527162 0.16505988 0.02924627
+v -0.03651328 0.16505988 0.02955711
+v 0.00321987 0.17018637 0.03923488
+v 0.01123864 0.17018637 0.03746029
+v 0.01014958 0.17018637 0.03779136
+v 0.00962240 0.17018637 0.03791166
+v 0.00523150 0.17018637 0.03888465
+f 1 2 7
+f 1 7 12
+f 1 12 21
+f 1 21 20
+f 1 20 19
+f 1 19 22
+f 1 22 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 10
+f 2 10 16
+f 2 16 25
+f 2 25 31
+f 2 31 35
+f 2 35 34
+f 2 34 33
+f 2 33 32
+f 2 32 26
+f 2 26 18
+f 2 18 11
+f 2 11 7
+f 3 8 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 7 11 12
+f 8 13 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 9 13 17
+f 9 17 14
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 17
+f 14 23 24
+f 14 24 15
+f 14 17 22
+f 14 22 19
+f 14 19 29
+f 14 29 30
+f 14 30 23
+f 15 24 16
+f 16 24 25
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 23 30 28
+f 23 28 24
+f 24 28 25
+f 25 28 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 28 35 31
+f 28 30 29
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_24.obj

@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.01864423 -0.16400652 0.00450294
+v 0.02239340 -0.16400652 0.00451534
+v 0.02239340 -0.16579291 0.00795174
+v -0.02282677 -0.16609583 0.00856286
+v -0.00317353 -0.16400652 0.00451622
+v 0.02239340 -0.16400655 0.01351998
+v 0.02239340 -0.16580948 0.00798451
+v -0.02282677 -0.16462648 0.01308423
+v -0.02282677 -0.16567285 0.00774627
+v -0.00957411 -0.16400652 0.00452065
+v -0.01649701 -0.16400655 0.01355098
+v 0.02239340 -0.16401656 0.01348987
+v -0.02282677 -0.16400655 0.01312674
+v -0.02282677 -0.16400652 0.00453482
+v -0.02257004 -0.16400652 0.00453217
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 14
+f 1 14 13
+f 1 13 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 4 9 5
+f 4 7 8
+f 5 9 10
+f 6 11 8
+f 6 8 12
+f 7 12 8
+f 8 11 13
+f 9 14 15
+f 9 15 10
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_25.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.03414334 0.16505997 0.00669274
+v -0.03518974 0.16673828 0.00944463
+v 0.02246043 0.16505996 0.00712678
+v -0.06619994 0.16505997 0.00670190
+v -0.06718478 0.16684673 0.00944463
+v -0.06491964 0.16684376 0.00944463
+v -0.02945304 0.16667251 0.00944463
+v 0.02246043 0.16550425 0.00797951
+v 0.02246043 0.16505996 0.00935653
+v -0.07358625 0.16505997 0.00672911
+v -0.07358625 0.16683466 0.00944463
+v -0.07133343 0.16683974 0.00944463
+v -0.02244835 0.16505996 0.00944463
+v 0.02242349 0.16505996 0.00943547
+v 0.02246043 0.16506435 0.00942954
+v 0.02242349 0.16550653 0.00798543
+v -0.07998772 0.16505997 0.00676144
+v -0.07998772 0.16681122 0.00944463
+v -0.10330384 0.16505996 0.00944463
+v -0.08638919 0.16505996 0.00684793
+v -0.08638919 0.16675036 0.00944463
+v -0.09872434 0.16626654 0.00944463
+v -0.09876126 0.16505996 0.00806114
+v -0.09279066 0.16505996 0.00714726
+v -0.09279066 0.16653433 0.00944463
+v -0.09818267 0.16505996 0.00796765
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 13
+f 1 13 19
+f 1 19 23
+f 1 23 26
+f 1 26 24
+f 1 24 20
+f 1 20 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 5
+f 2 5 12
+f 2 12 11
+f 2 11 18
+f 2 18 21
+f 2 21 25
+f 2 25 22
+f 2 22 19
+f 2 19 13
+f 2 13 7
+f 3 8 15
+f 3 15 9
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 9 15 14
+f 10 17 11
+f 11 17 18
+f 17 20 18
+f 18 20 21
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 25 24
+f 22 24 26
+f 22 26 23
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_26.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06717441 -0.17332878 0.01492169
+v -0.06078337 -0.17332879 0.01499662
+v -0.06717441 -0.17458610 0.01595189
+v -0.07357835 -0.17457974 0.01595938
+v -0.07357835 -0.17332878 0.01493543
+v -0.06078337 -0.17454300 0.01599560
+v -0.05437942 -0.17332879 0.01560599
+v -0.08638624 -0.17606960 0.01977423
+v -0.05413411 -0.17615025 0.01999775
+v -0.06078337 -0.17610413 0.01977423
+v -0.07998230 -0.17457117 0.01597062
+v -0.08638624 -0.17456234 0.01598311
+v -0.07998230 -0.17332878 0.01495666
+v -0.05437942 -0.17417813 0.01634649
+v 0.00962131 -0.17615027 0.02543595
+v -0.04695549 -0.17615026 0.02059839
+v 0.01314607 -0.17332883 0.02767867
+v 0.01859459 -0.17422790 0.02767867
+v 0.01859459 -0.17615028 0.02664971
+v -0.09279019 -0.17604198 0.01977423
+v -0.09279019 -0.17454853 0.01600059
+v -0.05446980 -0.17615028 0.02605532
+v -0.05413411 -0.17615028 0.02684826
+v -0.05356602 -0.17615028 0.02767866
+v -0.08638624 -0.17332879 0.01498538
+v -0.05709077 -0.17332883 0.02767867
+v 0.01859459 -0.17615028 0.02767866
+v -0.09918123 -0.17586825 0.01977423
+v -0.09918123 -0.17446954 0.01606677
+v -0.09279019 -0.17332879 0.01504032
+v -0.09918123 -0.17332882 0.02572317
+v -0.10558517 -0.17332882 0.02524366
+v -0.09918123 -0.17505816 0.02465426
+v -0.10558517 -0.17472643 0.02430337
+v -0.10558517 -0.17523160 0.01977424
+v -0.10558517 -0.17416488 0.01633650
+v -0.09915541 -0.17332879 0.01524886
+v -0.11111115 -0.17332882 0.02411856
+v -0.11060763 -0.17420220 0.02358660
+v -0.10943272 -0.17383978 0.01664119
+v -0.11063345 -0.17420163 0.01977424
+v -0.10558517 -0.17332879 0.01582952
+v -0.11330606 -0.17332880 0.01977424
+v -0.11271215 -0.17332880 0.01898255
+v -0.10980713 -0.17332879 0.01643390
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 25
+f 1 25 30
+f 1 30 37
+f 1 37 42
+f 1 42 45
+f 1 45 44
+f 1 44 43
+f 1 43 38
+f 1 38 32
+f 1 32 31
+f 1 31 26
+f 1 26 17
+f 1 17 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 8
+f 4 8 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 6 7 14
+f 6 14 15
+f 6 15 16
+f 6 16 9
+f 7 17 18
+f 7 18 19
+f 7 19 15
+f 7 15 14
+f 8 20 21
+f 8 21 12
+f 8 12 11
+f 8 10 9
+f 8 9 22
+f 8 22 23
+f 8 23 24
+f 8 24 20
+f 9 16 15
+f 9 15 19
+f 9 19 27
+f 9 27 24
+f 9 24 23
+f 9 23 22
+f 12 21 13
+f 13 21 25
+f 17 26 24
+f 17 24 27
+f 17 27 18
+f 18 27 19
+f 20 28 29
+f 20 29 21
+f 20 24 28
+f 21 29 30
+f 21 30 25
+f 24 26 31
+f 24 31 32
+f 24 32 33
+f 24 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 29 37 30
+f 29 36 37
+f 32 38 34
+f 32 34 33
+f 34 38 39
+f 34 39 35
+f 35 40 36
+f 35 39 41
+f 35 41 40
+f 36 40 42
+f 36 42 37
+f 38 43 39
+f 39 43 41
+f 40 41 43
+f 40 43 44
+f 40 44 45
+f 40 45 42
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_27.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.06723139 -0.17332878 0.01489456
+v 0.06723139 -0.17460294 0.01593697
+v 0.06500375 -0.17332878 0.01492585
+v 0.07137109 -0.17332878 0.01489707
+v 0.07363586 -0.17460239 0.01593822
+v 0.06083621 -0.17612955 0.01977494
+v 0.05444103 -0.17608922 0.01977494
+v 0.06083621 -0.17454715 0.01599578
+v 0.06083621 -0.17332879 0.01499468
+v 0.07778484 -0.17332878 0.01490332
+v 0.08003104 -0.17459936 0.01594197
+v 0.07363586 -0.17612236 0.01977494
+v 0.06723139 -0.17612679 0.01977494
+v 0.04838927 -0.17615026 0.02081109
+v 0.04163210 -0.17615026 0.02170332
+v 0.05444103 -0.17420851 0.01632489
+v 0.05444103 -0.17332879 0.01556531
+v 0.05876636 -0.17332879 0.01514609
+v 0.08419858 -0.17332878 0.01491834
+v 0.08643551 -0.17459355 0.01594948
+v 0.08003104 -0.17611712 0.01977494
+v 0.08643551 -0.17610910 0.01977494
+v 0.05463594 -0.17615028 0.02607940
+v 0.01859459 -0.17615028 0.02664878
+v 0.05290024 -0.17332879 0.01582309
+v 0.05087681 -0.17383674 0.01667278
+v 0.05046840 -0.17332879 0.01628986
+v 0.09064946 -0.17332878 0.01495213
+v 0.09283997 -0.17457836 0.01596700
+v 0.09283997 -0.17607789 0.01977494
+v 0.05306731 -0.17615028 0.02767866
+v 0.01859459 -0.17615028 0.02767866
+v 0.01859459 -0.17422790 0.02767867
+v 0.03523691 -0.17332881 0.02068220
+v 0.03775229 -0.17332880 0.01982250
+v 0.09283997 -0.17332879 0.01499217
+v 0.09723028 -0.17332879 0.01509604
+v 0.09923516 -0.17448693 0.01604709
+v 0.09923516 -0.17588676 0.01977494
+v 0.09923516 -0.17505899 0.02465409
+v 0.10163915 -0.17332882 0.02559763
+v 0.09923516 -0.17332882 0.02572277
+v 0.05422755 -0.17570559 0.02767866
+v 0.02311484 -0.17332883 0.02767867
+v 0.03194186 -0.17332881 0.02244665
+v 0.09920731 -0.17332879 0.01522118
+v 0.10563963 -0.17416681 0.01633365
+v 0.10563963 -0.17522717 0.01977495
+v 0.10563963 -0.17472009 0.02427867
+v 0.10563963 -0.17332882 0.02521971
+v 0.05705851 -0.17332883 0.02767867
+v 0.10435872 -0.17332879 0.01563538
+v 0.10947301 -0.17383730 0.01664650
+v 0.11069822 -0.17419582 0.01977495
+v 0.11067965 -0.17419694 0.02356413
+v 0.10822925 -0.17332882 0.02474669
+v 0.10889755 -0.17332879 0.01626107
+v 0.10985358 -0.17332879 0.01643502
+v 0.11341780 -0.17332880 0.01977495
+v 0.11340851 -0.17332880 0.02034558
+v 0.11118087 -0.17332882 0.02409973
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 25
+f 1 25 27
+f 1 27 35
+f 1 35 34
+f 1 34 45
+f 1 45 44
+f 1 44 51
+f 1 51 42
+f 1 42 41
+f 1 41 50
+f 1 50 56
+f 1 56 61
+f 1 61 60
+f 1 60 59
+f 1 59 58
+f 1 58 57
+f 1 57 52
+f 1 52 46
+f 1 46 37
+f 1 37 36
+f 1 36 28
+f 1 28 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 10 20 11
+f 11 21 12
+f 11 20 22
+f 11 22 21
+f 12 21 14
+f 12 14 13
+f 14 21 23
+f 14 23 31
+f 14 31 32
+f 14 32 24
+f 14 24 15
+f 15 24 16
+f 16 25 17
+f 16 24 26
+f 16 26 27
+f 16 27 25
+f 19 28 29
+f 19 29 20
+f 20 29 22
+f 21 22 23
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 27
+f 24 27 26
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 51
+f 31 51 44
+f 31 44 33
+f 31 33 32
+f 33 44 45
+f 33 45 34
+f 37 46 38
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 40 49 41
+f 41 49 50
+f 42 51 43
+f 46 52 47
+f 47 52 53
+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 48 55 49
+f 49 55 56
+f 49 56 50
+f 52 57 53
+f 53 57 58
+f 53 58 59
+f 53 59 54
+f 54 59 55
+f 55 59 60
+f 55 60 61
+f 55 61 56
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_28.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.03518376 -0.16400650 0.00436882
+v -0.06079153 -0.16400650 0.00438363
+v -0.02878182 -0.16400650 0.00438363
+v -0.06719347 -0.16863724 0.01100951
+v -0.06719347 -0.16400650 0.00439251
+v -0.02283716 -0.16400650 0.00453462
+v -0.06079153 -0.16863724 0.01106280
+v -0.07185982 -0.16863724 0.01102431
+v -0.07359542 -0.16863724 0.01103024
+v -0.07076858 -0.16400650 0.00440731
+v -0.02283716 -0.16400653 0.01312935
+v -0.02283716 -0.16567323 0.00774690
+v -0.02878182 -0.16750631 0.01050620
+v -0.03518376 -0.16762507 0.01031376
+v -0.05438959 -0.16863724 0.01141512
+v -0.07359542 -0.16400650 0.00441915
+v -0.07998696 -0.16863724 0.01106576
+v -0.02832453 -0.16863732 0.03179023
+v -0.02283716 -0.16462663 0.01308494
+v -0.03563065 -0.16400658 0.02655880
+v -0.03079801 -0.16646020 0.02999905
+v -0.02283716 -0.16609614 0.00856404
+v -0.02537299 -0.16723252 0.01092366
+v -0.03293892 -0.16863725 0.01366520
+v -0.03518376 -0.16863725 0.01274148
+v -0.07711856 -0.16400650 0.00443988
+v -0.07998696 -0.16400650 0.00446060
+v -0.08638890 -0.16863724 0.01113682
+v -0.02871946 -0.16863732 0.03208037
+v -0.02906242 -0.16863729 0.02412810
+v -0.02283716 -0.16607892 0.00861733
+v -0.04126353 -0.16400658 0.02760687
+v -0.03518376 -0.16598834 0.03047275
+v -0.03518376 -0.16806800 0.03342154
+v -0.02988345 -0.16863726 0.01576430
+v -0.08345814 -0.16400650 0.00450501
+v -0.09279084 -0.16863724 0.01134110
+v -0.08638890 -0.16400650 0.00455238
+v -0.03518376 -0.16863733 0.03404327
+v -0.04425664 -0.16400658 0.02783187
+v -0.04798765 -0.16575580 0.03098791
+v -0.04158570 -0.16778017 0.03380050
+v -0.09275967 -0.16400650 0.00482476
+v -0.08937163 -0.16400650 0.00466192
+v -0.09794566 -0.16863724 0.01174671
+v -0.04158570 -0.16863733 0.03461468
+v -0.11838823 -0.16400658 0.02782595
+v -0.09998264 -0.16863724 0.01206054
+v -0.09913043 -0.16400650 0.00580769
+v -0.11838823 -0.16401384 0.02782891
+v -0.10558434 -0.16863730 0.02706801
+v -0.12504998 -0.16400657 0.02576831
+v -0.10558434 -0.16863725 0.01297537
+v -0.11183038 -0.16863725 0.01413594
+v -0.11837783 -0.16863726 0.01561034
+v -0.11923003 -0.16863726 0.01585608
+v -0.12251416 -0.16781410 0.01635050
+v -0.10558434 -0.16400651 0.00817916
+v -0.12507076 -0.16437781 0.02564396
+v -0.11838823 -0.16863729 0.02554032
+v -0.12597494 -0.16400657 0.02538639
+v -0.12149566 -0.16863726 0.01719724
+v -0.12305457 -0.16863727 0.01977300
+v -0.12342871 -0.16843465 0.01977300
+v -0.12662968 -0.16615510 0.01977301
+v -0.12794957 -0.16400655 0.01789301
+v -0.12485252 -0.16400654 0.01540904
+v -0.12470703 -0.16407635 0.01538535
+v -0.12311693 -0.16825065 0.02402744
+v -0.12169312 -0.16863729 0.02435311
+v -0.12899924 -0.16400655 0.01977302
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 26
+f 1 26 27
+f 1 27 36
+f 1 36 38
+f 1 38 44
+f 1 44 43
+f 1 43 49
+f 1 49 58
+f 1 58 67
+f 1 67 66
+f 1 66 71
+f 1 71 61
+f 1 61 52
+f 1 52 47
+f 1 47 40
+f 1 40 32
+f 1 32 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 7
+f 3 7 4
+f 4 8 5
+f 4 7 15
+f 4 15 25
+f 4 25 24
+f 4 24 35
+f 4 35 30
+f 4 30 18
+f 4 18 29
+f 4 29 39
+f 4 39 46
+f 4 46 51
+f 4 51 60
+f 4 60 70
+f 4 70 63
+f 4 63 62
+f 4 62 56
+f 4 56 55
+f 4 55 54
+f 4 54 53
+f 4 53 48
+f 4 48 45
+f 4 45 37
+f 4 37 28
+f 4 28 17
+f 4 17 9
+f 4 9 8
+f 5 8 9
+f 5 9 10
+f 6 11 19
+f 6 19 31
+f 6 31 22
+f 6 22 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 9 16 10
+f 9 17 16
+f 11 18 19
+f 11 20 21
+f 11 21 18
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 16 17 26
+f 17 27 26
+f 17 28 27
+f 18 30 23
+f 18 23 22
+f 18 22 31
+f 18 31 19
+f 18 21 29
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 29
+f 23 30 35
+f 23 35 24
+f 27 28 36
+f 28 37 38
+f 28 38 36
+f 29 34 39
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 34 42 39
+f 37 43 44
+f 37 44 38
+f 37 45 43
+f 39 42 46
+f 40 47 41
+f 41 47 42
+f 42 47 46
+f 43 45 48
+f 43 48 49
+f 46 50 51
+f 46 47 50
+f 47 52 50
+f 48 53 49
+f 49 53 54
+f 49 54 55
+f 49 55 56
+f 49 56 57
+f 49 57 58
+f 50 52 59
+f 50 59 60
+f 50 60 51
+f 52 61 59
+f 56 62 57
+f 57 62 63
+f 57 63 64
+f 57 64 65
+f 57 65 66
+f 57 66 67
+f 57 67 68
+f 57 68 58
+f 58 68 67
+f 59 61 69
+f 59 69 70
+f 59 70 60
+f 61 71 69
+f 63 69 64
+f 63 70 69
+f 64 69 65
+f 65 71 66
+f 65 69 71
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_29.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.06723671 0.17018719 0.01260914
+v 0.06723671 0.17441079 0.01603679
+v 0.07362947 0.17440791 0.01603986
+v 0.08003177 0.17440430 0.01604447
+v 0.07362947 0.17018719 0.01261990
+v 0.06084395 0.17018719 0.01267367
+v 0.06084395 0.17436239 0.01608595
+v 0.04357109 0.17756531 0.02291819
+v 0.08643406 0.17439996 0.01605215
+v 0.08003177 0.17018719 0.01264448
+v 0.05444165 0.17018719 0.01308695
+v 0.05444165 0.17404167 0.01640091
+v 0.03390096 0.17756530 0.02440846
+v 0.05038305 0.17756530 0.02352198
+v 0.09283636 0.17573992 0.01977631
+v 0.09283636 0.17438118 0.01607212
+v 0.08643406 0.17018719 0.01270747
+v 0.04845856 0.17018719 0.01394424
+v 0.04639115 0.17018719 0.01424384
+v 0.05097374 0.17371083 0.01672047
+v 0.02231586 0.17756529 0.02640574
+v 0.05055454 0.17756530 0.02584189
+v 0.09923865 0.17556367 0.01977630
+v 0.09923865 0.17429161 0.01615355
+v 0.09283636 0.17055558 0.01312536
+v 0.09283636 0.17018719 0.01285035
+v 0.03499659 0.17018718 0.01651920
+v 0.02231586 0.17691878 0.02646258
+v 0.02231586 0.17756529 0.02830469
+v 0.04955419 0.17756529 0.02830469
+v 0.10564094 0.17452851 0.02414112
+v 0.10564094 0.17492511 0.01977630
+v 0.10564094 0.17398678 0.01643624
+v 0.09880039 0.17018719 0.01322522
+v 0.02976615 0.17018715 0.02370786
+v 0.02231586 0.17250590 0.02830160
+v 0.02231586 0.17264676 0.02805117
+v 0.02231586 0.17271105 0.02801583
+v 0.02231586 0.17680537 0.02648563
+v 0.02231586 0.17342329 0.02830468
+v 0.05013535 0.17733269 0.02830469
+v 0.09923865 0.17037567 0.02740743
+v 0.10564094 0.17037567 0.02704485
+v 0.11232905 0.17090950 0.02544549
+v 0.11038550 0.17404309 0.02345898
+v 0.11029022 0.17401277 0.01977630
+v 0.10922318 0.17370144 0.01671279
+v 0.10350684 0.17018719 0.01385974
+v 0.02762252 0.17018714 0.02830467
+v 0.02243018 0.17249434 0.02830467
+v 0.05284108 0.17624916 0.02830469
+v 0.06033900 0.17034100 0.02830467
+v 0.06033900 0.17018714 0.02830467
+v 0.09923865 0.17018714 0.02737670
+v 0.10564094 0.17018714 0.02704331
+v 0.11513958 0.17018715 0.02526420
+v 0.11844552 0.17018716 0.02205165
+v 0.11844552 0.17082862 0.01977629
+v 0.11349137 0.17296319 0.01977630
+v 0.11924581 0.17018717 0.01909568
+v 0.11667347 0.17018718 0.01721210
+v 0.11313887 0.17018718 0.01552978
+v 0.11166214 0.17018718 0.01519485
+v 0.10564094 0.17018719 0.01416241
+v 0.11964596 0.17018717 0.01977629
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 26
+f 1 26 34
+f 1 34 48
+f 1 48 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 60
+f 1 60 65
+f 1 65 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 49
+f 1 49 35
+f 1 35 27
+f 1 27 19
+f 1 19 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 4
+f 4 9 5
+f 4 8 9
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 8
+f 8 12 13
+f 8 13 21
+f 8 21 29
+f 8 29 30
+f 8 30 22
+f 8 22 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 19 27 20
+f 20 27 21
+f 21 28 39
+f 21 39 38
+f 21 38 37
+f 21 37 36
+f 21 36 40
+f 21 40 29
+f 21 27 28
+f 22 30 23
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 23 30 31
+f 24 33 34
+f 24 34 26
+f 24 26 25
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 29 40 50
+f 29 50 49
+f 29 49 53
+f 29 53 52
+f 29 52 51
+f 29 51 41
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 33
+f 33 47 34
+f 34 47 48
+f 35 49 36
+f 36 49 50
+f 36 50 40
+f 41 51 42
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 42 51 52
+f 43 55 56
+f 43 56 44
+f 44 56 45
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 46 59 47
+f 47 59 58
+f 47 58 60
+f 47 60 61
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 57 65 58
+f 58 65 60
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_3.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.00057428 0.17999525 0.02271668
+v -0.00057428 0.18013650 0.02271668
+v 0.00013086 0.17999525 0.02271668
+v 0.04355573 0.17756677 0.02292299
+v -0.04157817 0.17756676 0.02340039
+v 0.00013086 0.18013650 0.02271668
+v -0.00288949 0.18266163 0.02299738
+v 0.05037209 0.17756676 0.02352514
+v 0.06033806 0.17018961 0.02830635
+v -0.05972378 0.17018961 0.02830635
+v 0.00263411 0.18266163 0.02313412
+v 0.00322172 0.18966456 0.02548758
+v -0.04810072 0.17756676 0.02391858
+v -0.00315980 0.18966456 0.02547079
+v 0.03224999 0.18653231 0.02855111
+v 0.03368377 0.18717163 0.03156907
+v 0.03688041 0.18583100 0.03156906
+v 0.04584744 0.18062465 0.02771143
+v 0.04595321 0.18081792 0.03156904
+v 0.05282832 0.17625090 0.02830637
+v 0.06032631 0.17034324 0.02830635
+v 0.01000282 0.19025185 0.02663191
+v 0.00812245 0.19316850 0.02830883
+v 0.01238854 0.19278688 0.02877664
+v 0.03896057 0.18053539 0.04064451
+v 0.03896057 0.17850092 0.04064451
+v 0.04008879 0.17756670 0.03994159
+v 0.04131104 0.17653584 0.03916191
+v 0.04643505 0.17037790 0.03560655
+v 0.04635279 0.17018958 0.03554658
+v -0.04981656 0.17018959 0.03369454
+v -0.04961677 0.17037791 0.03386727
+v -0.04001511 0.17756670 0.03991040
+v -0.03887514 0.17851579 0.04063252
+v -0.03887514 0.18051556 0.04063252
+v -0.04522140 0.18046355 0.03508120
+v -0.05718528 0.17255862 0.02830635
+v -0.05036892 0.17756676 0.02584738
+v 0.00322172 0.19337419 0.02806174
+v -0.04577376 0.18060235 0.02772822
+v -0.03224682 0.18654966 0.02853912
+v -0.01219734 0.19277201 0.02882702
+v -0.00793124 0.19311151 0.02835441
+v -0.00987038 0.19024194 0.02661992
+v -0.00315980 0.19333206 0.02809532
+v 0.01600826 0.19223428 0.02993537
+v 0.01963973 0.19300740 0.03414563
+v 0.02881831 0.18890130 0.03156907
+v 0.03400109 0.18732773 0.03642228
+v 0.04162835 0.18341243 0.03156905
+v 0.04529508 0.18048338 0.03511479
+v 0.01000282 0.19411014 0.03107250
+v 0.00322172 0.19497746 0.03156910
+v 0.01600826 0.19352036 0.03288135
+v 0.04131104 0.18184381 0.03723073
+v 0.03194442 0.18638605 0.04035185
+v 0.01238854 0.18558563 0.04622464
+v 0.01339924 0.18130109 0.04639976
+v 0.01339924 0.17977709 0.04639975
+v 0.03809090 0.17756670 0.04049577
+v 0.03522333 0.17452861 0.04000396
+v 0.04215720 0.17018958 0.03651338
+v -0.04632612 0.17018958 0.03554898
+v -0.04640838 0.17037790 0.03560655
+v -0.03517315 0.17452365 0.04001835
+v -0.01299650 0.17993073 0.04633498
+v -0.01299650 0.18048581 0.04633498
+v -0.01546449 0.18286969 0.04562968
+v -0.02236311 0.18323645 0.04399355
+v -0.03517315 0.18196275 0.04109314
+v -0.03191776 0.18640340 0.04036625
+v -0.04123736 0.18180664 0.03721153
+v -0.04586778 0.18078818 0.03156904
+v -0.05382411 0.17533899 0.02830636
+v -0.03570201 0.18537007 0.03802241
+v -0.03391565 0.18732773 0.03643667
+v -0.04157817 0.18337030 0.03156905
+v -0.03683023 0.18582109 0.03156906
+v -0.03363360 0.18718401 0.03156907
+v -0.02876813 0.18890130 0.03156907
+v -0.01944853 0.19296032 0.03426559
+v -0.01596984 0.19220701 0.03006251
+v -0.01596984 0.19340639 0.03300850
+v -0.00987038 0.19397634 0.03110129
+v -0.00315980 0.19488825 0.03156910
+v 0.01963973 0.19300740 0.03503087
+v 0.00961499 0.19493036 0.03745868
+v 0.03577569 0.18538494 0.03801521
+v 0.01799441 0.19236559 0.03896046
+v 0.02940592 0.18841805 0.03801522
+v 0.00322172 0.19550279 0.03745868
+v 0.02766658 0.18724593 0.04105238
+v 0.01372831 0.19317342 0.04080050
+v 0.00812245 0.18705510 0.04657251
+v 0.01000282 0.18336034 0.04671643
+v 0.00322172 0.18323644 0.04722262
+v 0.00961499 0.17922449 0.04661806
+v 0.01117805 0.17756668 0.04554569
+v 0.00961499 0.17600798 0.04494114
+v 0.00322172 0.17537856 0.04534176
+v 0.00961499 0.17219926 0.04199513
+v 0.00322172 0.17182754 0.04239336
+v 0.00322172 0.17018957 0.03923146
+v -0.04193075 0.17018958 0.03655177
+v -0.00957657 0.17624340 0.04498432
+v -0.00317155 0.17550246 0.04538495
+v -0.00956482 0.17946238 0.04649091
+v -0.00315980 0.18323644 0.04702590
+v -0.00952956 0.18286969 0.04652211
+v -0.01163323 0.18477034 0.04615747
+v -0.02763991 0.18724841 0.04107877
+v -0.01327855 0.19302474 0.04059898
+v -0.02936750 0.18841063 0.03802242
+v -0.00736713 0.18669579 0.04641417
+v -0.02189302 0.19139171 0.03705563
+v -0.01944853 0.19296032 0.03482935
+v -0.00956482 0.19458096 0.03745867
+v -0.00315980 0.19533923 0.03745868
+v 0.01592599 0.19356744 0.03718039
+v 0.00961499 0.19360954 0.04138586
+v 0.00322172 0.19389701 0.04173851
+v 0.01592599 0.18999903 0.04254217
+v 0.01000282 0.18938695 0.04468209
+v 0.00322172 0.19050951 0.04468449
+v 0.00322172 0.18729547 0.04668286
+v -0.00315980 0.17871649 0.04675960
+v 0.00322172 0.17859506 0.04683877
+v -0.00315980 0.18702537 0.04656531
+v 0.00686495 0.17756668 0.04606867
+v 0.00961499 0.17756668 0.04575440
+v 0.00322172 0.17756668 0.04636135
+v 0.00109455 0.17756668 0.04635656
+v -0.00317155 0.17172841 0.04243655
+v -0.00059779 0.17018957 0.03944018
+v -0.00317155 0.17018956 0.03953374
+v -0.00957657 0.17208279 0.04203591
+v -0.00317155 0.17756668 0.04627019
+v -0.02236311 0.18821981 0.04188004
+v -0.01564077 0.19338655 0.03705564
+v -0.01754465 0.19229619 0.03875414
+v -0.01564077 0.18995691 0.04239104
+v -0.00952956 0.18917136 0.04437021
+v -0.00956482 0.19338654 0.04104760
+v -0.00315980 0.19023940 0.04449737
+v -0.00315980 0.19378301 0.04155139
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 4 6 7
+f 4 7 11
+f 4 11 12
+f 4 12 8
+f 5 10 13
+f 5 13 14
+f 5 14 7
+f 7 14 12
+f 7 12 11
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 8 12 22
+f 8 22 23
+f 8 23 24
+f 8 24 15
+f 9 21 25
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 62
+f 9 62 103
+f 9 103 134
+f 9 134 135
+f 9 135 104
+f 9 104 63
+f 9 63 31
+f 9 31 10
+f 10 31 32
+f 10 32 33
+f 10 33 34
+f 10 34 35
+f 10 35 36
+f 10 36 37
+f 10 37 38
+f 10 38 13
+f 12 39 23
+f 12 23 22
+f 12 14 39
+f 13 38 40
+f 13 40 41
+f 13 41 42
+f 13 42 43
+f 13 43 44
+f 13 44 14
+f 14 45 39
+f 14 44 43
+f 14 43 45
+f 15 46 47
+f 15 47 48
+f 15 48 16
+f 15 24 46
+f 16 49 17
+f 16 48 47
+f 16 47 49
+f 17 49 50
+f 17 50 18
+f 18 50 19
+f 19 50 49
+f 19 49 51
+f 19 51 20
+f 20 51 21
+f 21 51 25
+f 23 52 24
+f 23 39 53
+f 23 53 52
+f 24 52 54
+f 24 54 46
+f 25 51 55
+f 25 55 56
+f 25 56 57
+f 25 57 58
+f 25 58 59
+f 25 59 26
+f 26 59 60
+f 26 60 29
+f 26 29 27
+f 27 29 28
+f 29 60 61
+f 29 61 30
+f 30 61 62
+f 31 63 64
+f 31 64 32
+f 32 64 33
+f 33 64 34
+f 34 64 65
+f 34 65 66
+f 34 66 67
+f 34 67 35
+f 35 67 68
+f 35 68 69
+f 35 69 70
+f 35 70 71
+f 35 71 72
+f 35 72 36
+f 36 73 74
+f 36 74 37
+f 36 72 71
+f 36 71 75
+f 36 75 76
+f 36 76 73
+f 37 74 38
+f 38 74 73
+f 38 73 40
+f 39 45 53
+f 40 73 77
+f 40 77 78
+f 40 78 79
+f 40 79 41
+f 41 79 80
+f 41 80 81
+f 41 81 82
+f 41 82 42
+f 42 82 81
+f 42 81 83
+f 42 83 84
+f 42 84 43
+f 43 85 45
+f 43 84 85
+f 45 85 53
+f 46 54 47
+f 47 86 49
+f 47 54 87
+f 47 87 86
+f 49 88 51
+f 49 86 89
+f 49 89 90
+f 49 90 56
+f 49 56 88
+f 51 88 55
+f 52 53 87
+f 52 87 54
+f 53 91 87
+f 53 85 91
+f 55 88 56
+f 56 92 57
+f 56 90 93
+f 56 93 92
+f 57 94 95
+f 57 95 58
+f 57 92 94
+f 58 95 59
+f 59 95 96
+f 59 96 97
+f 59 97 98
+f 59 98 62
+f 59 62 61
+f 59 61 60
+f 62 98 99
+f 62 99 100
+f 62 100 101
+f 62 101 102
+f 62 102 103
+f 63 104 65
+f 63 65 64
+f 65 104 105
+f 65 105 66
+f 66 105 106
+f 66 106 107
+f 66 107 108
+f 66 108 67
+f 67 108 109
+f 67 109 110
+f 67 110 68
+f 68 110 69
+f 69 110 71
+f 69 71 70
+f 71 111 112
+f 71 112 113
+f 71 113 76
+f 71 76 75
+f 71 110 114
+f 71 114 111
+f 73 76 77
+f 76 79 78
+f 76 78 77
+f 76 113 115
+f 76 115 116
+f 76 116 81
+f 76 81 79
+f 79 81 80
+f 81 116 117
+f 81 117 83
+f 83 117 85
+f 83 85 84
+f 85 117 118
+f 85 118 91
+f 86 87 119
+f 86 119 89
+f 87 91 120
+f 87 120 93
+f 87 93 119
+f 89 119 93
+f 89 93 90
+f 91 121 120
+f 91 118 121
+f 92 93 122
+f 92 122 123
+f 92 123 94
+f 93 120 123
+f 93 123 122
+f 94 123 124
+f 94 124 125
+f 94 125 96
+f 94 96 95
+f 96 108 126
+f 96 126 127
+f 96 127 97
+f 96 125 128
+f 96 128 108
+f 97 129 130
+f 97 130 98
+f 97 127 131
+f 97 131 129
+f 98 130 99
+f 99 130 129
+f 99 129 100
+f 100 102 101
+f 100 129 131
+f 100 131 132
+f 100 132 106
+f 100 106 133
+f 100 133 102
+f 102 134 103
+f 102 133 135
+f 102 135 134
+f 104 135 133
+f 104 133 136
+f 104 136 106
+f 104 106 105
+f 106 137 107
+f 106 136 133
+f 106 132 137
+f 107 137 126
+f 107 126 108
+f 108 128 114
+f 108 114 109
+f 109 114 110
+f 111 114 138
+f 111 138 112
+f 112 139 116
+f 112 116 140
+f 112 140 113
+f 112 138 141
+f 112 141 142
+f 112 142 143
+f 112 143 117
+f 112 117 139
+f 113 140 115
+f 114 142 138
+f 114 128 144
+f 114 144 142
+f 115 140 116
+f 116 139 117
+f 117 143 118
+f 118 143 145
+f 118 145 121
+f 120 121 124
+f 120 124 123
+f 121 145 124
+f 124 145 144
+f 124 144 128
+f 124 128 125
+f 126 137 127
+f 127 137 132
+f 127 132 131
+f 138 142 141
+f 142 144 143
+f 143 144 145
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_30.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.06718733 -0.16863725 0.01100944
+v -0.06718733 -0.17332834 0.01492432
+v -0.06942403 -0.17332834 0.01492720
+v -0.07358213 -0.17332834 0.01493587
+v -0.07185780 -0.16863725 0.01102387
+v -0.06079254 -0.16863725 0.01106141
+v -0.06079254 -0.17332835 0.01499649
+v -0.07358213 -0.16863725 0.01102965
+v -0.07998678 -0.17332834 0.01495896
+v -0.05438789 -0.16863725 0.01141363
+v -0.03518380 -0.16863726 0.01274169
+v -0.05438789 -0.17332835 0.01560567
+v -0.08638157 -0.17332835 0.01498495
+v -0.07998678 -0.16863725 0.01106718
+v -0.03294710 -0.16863726 0.01366557
+v -0.03038524 -0.17332837 0.02266750
+v -0.03518380 -0.17332837 0.02072160
+v -0.05052540 -0.17332835 0.01635343
+v -0.09278622 -0.17332835 0.01503980
+v -0.08638157 -0.16863725 0.01113647
+v -0.02988272 -0.16863727 0.01576448
+v -0.02240406 -0.17332150 0.02786138
+v -0.02240406 -0.17332839 0.02789025
+v -0.09278622 -0.16863725 0.01134145
+v -0.09916130 -0.17332835 0.01525056
+v -0.02906490 -0.16863730 0.02413128
+v -0.02240406 -0.17090824 0.03156264
+v -0.02240406 -0.17276536 0.02807503
+v -0.02240406 -0.17332844 0.04050396
+v -0.09794935 -0.16863725 0.01174565
+v -0.10558566 -0.17332835 0.01583086
+v -0.02832590 -0.16863733 0.03178785
+v -0.02240406 -0.17185933 0.03792002
+v -0.04148006 -0.17332843 0.03780164
+v -0.02240406 -0.17213946 0.03849167
+v -0.03518380 -0.16863734 0.03404267
+v -0.04158845 -0.16863734 0.03461431
+v -0.04158845 -0.17099551 0.03684891
+v -0.11839496 -0.16863730 0.02554306
+v -0.10981273 -0.17332835 0.01643427
+v -0.09997913 -0.16863725 0.01206034
+v -0.02872003 -0.16863733 0.03207944
+v -0.10558566 -0.17044439 0.02718581
+v -0.11243371 -0.17102623 0.02552573
+v -0.10558566 -0.17332838 0.02524567
+v -0.10558566 -0.16863731 0.02706745
+v -0.12168596 -0.16863730 0.02435647
+v -0.11839496 -0.16952775 0.02510423
+v -0.10558566 -0.16863726 0.01297555
+v -0.11271945 -0.17332836 0.01898357
+v -0.12148890 -0.16863727 0.01719648
+v -0.11923249 -0.16863727 0.01585398
+v -0.11839496 -0.16884806 0.01572695
+v -0.11183265 -0.16863726 0.01413616
+v -0.11110351 -0.17332838 0.02411971
+v -0.12305557 -0.16863728 0.01977465
+v -0.11839496 -0.17114653 0.01977464
+v -0.11383288 -0.17315568 0.01977463
+v -0.11330080 -0.17332836 0.01977463
+v -0.11838510 -0.16863727 0.01561147
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 14
+f 1 14 20
+f 1 20 24
+f 1 24 30
+f 1 30 41
+f 1 41 49
+f 1 49 54
+f 1 54 60
+f 1 60 52
+f 1 52 51
+f 1 51 56
+f 1 56 47
+f 1 47 39
+f 1 39 46
+f 1 46 37
+f 1 37 36
+f 1 36 42
+f 1 42 32
+f 1 32 26
+f 1 26 21
+f 1 21 15
+f 1 15 11
+f 1 11 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 12
+f 2 12 18
+f 2 18 17
+f 2 17 16
+f 2 16 23
+f 2 23 29
+f 2 29 34
+f 2 34 45
+f 2 45 55
+f 2 55 59
+f 2 59 50
+f 2 50 40
+f 2 40 31
+f 2 31 25
+f 2 25 19
+f 2 19 13
+f 2 13 9
+f 2 9 4
+f 2 4 3
+f 4 8 5
+f 4 9 8
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 9 13
+f 8 13 14
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 19 24 20
+f 19 25 24
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 22 28 27
+f 22 27 33
+f 22 33 35
+f 22 35 29
+f 22 29 23
+f 24 25 30
+f 25 31 30
+f 26 32 27
+f 27 32 33
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 34
+f 30 31 40
+f 30 40 41
+f 32 42 33
+f 33 42 36
+f 33 36 35
+f 34 39 43
+f 34 43 44
+f 34 44 45
+f 37 46 38
+f 38 46 39
+f 39 47 48
+f 39 48 43
+f 40 49 41
+f 40 50 51
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 49
+f 43 48 44
+f 44 48 55
+f 44 55 45
+f 47 56 57
+f 47 57 58
+f 47 58 55
+f 47 55 48
+f 50 59 58
+f 50 58 57
+f 50 57 51
+f 51 57 56
+f 52 60 53
+f 53 60 54
+f 55 58 59
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_31.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.07244971 0.17018719 0.01263218
+v -0.06717416 0.17018719 0.01263678
+v -0.07887756 0.17018719 0.01263985
+v -0.08638827 0.17440935 0.01603945
+v -0.07998820 0.17440935 0.01603945
+v -0.07358812 0.17440430 0.01604405
+v -0.06717416 0.17439490 0.01605326
+v -0.06604963 0.17018719 0.01264752
+v -0.07998820 0.17018719 0.01264445
+v -0.08533316 0.17018719 0.01266899
+v -0.09278835 0.17438913 0.01606246
+v -0.04158773 0.17756530 0.02339706
+v -0.06077408 0.17433350 0.01611769
+v -0.06077408 0.17018719 0.01272269
+v -0.00278466 0.17756530 0.02378366
+v 0.00250478 0.17756530 0.02387724
+v -0.08638827 0.17018719 0.01267973
+v -0.09196925 0.17018719 0.01278866
+v -0.09918843 0.17428727 0.01614991
+v -0.09278835 0.17574498 0.01977656
+v -0.04811276 0.17756530 0.02391559
+v -0.05361044 0.17018719 0.01316912
+v -0.05974674 0.17018719 0.01276564
+v 0.02166336 0.17756529 0.02629193
+v -0.09278835 0.17018719 0.01282087
+v -0.10558851 0.17397305 0.01644292
+v -0.09918843 0.17554416 0.01977655
+v -0.09877194 0.17018719 0.01322128
+v -0.05037569 0.17756530 0.02584397
+v -0.04764073 0.17018719 0.01396839
+v 0.02231586 0.17756529 0.02640699
+v -0.03771437 0.17018718 0.01561756
+v -0.09939668 0.17018719 0.01327190
+v -0.10915645 0.17369205 0.01672213
+v -0.10558851 0.17489910 0.01977655
+v -0.10558851 0.17451623 0.02413956
+v -0.04908457 0.17756529 0.02830469
+v 0.02231586 0.17691878 0.02646375
+v 0.02231586 0.17756529 0.02830469
+v 0.02231586 0.17680537 0.02648677
+v 0.02231586 0.17271105 0.02801472
+v 0.02231586 0.17264676 0.02805154
+v 0.02231586 0.17250590 0.02830160
+v -0.03495164 0.17018718 0.01655030
+v -0.10531085 0.17018719 0.01412640
+v -0.11019767 0.17400627 0.01977655
+v -0.11096123 0.17018718 0.01508829
+v -0.11159986 0.17018718 0.01520181
+v -0.11308534 0.17018718 0.01553778
+v -0.11838866 0.17018717 0.01866737
+v -0.11838866 0.17078527 0.01977654
+v -0.11339077 0.17295307 0.01977655
+v -0.11029486 0.17404309 0.02346302
+v -0.11225236 0.17089939 0.02545582
+v -0.10558851 0.17037567 0.02704670
+v -0.09918843 0.17037567 0.02740261
+v -0.05383257 0.17533681 0.02830468
+v 0.02231586 0.17342329 0.02830468
+v 0.00961289 0.17195908 0.02830467
+v 0.00321281 0.17135230 0.02830467
+v -0.03284142 0.17018718 0.01734957
+v -0.11951319 0.17018717 0.01977654
+v -0.11940212 0.17018716 0.02069547
+v -0.11718083 0.17018715 0.02376830
+v -0.11500120 0.17018715 0.02527019
+v -0.11300204 0.17018715 0.02567213
+v -0.11287710 0.17018715 0.02569668
+v -0.10581063 0.17018714 0.02705897
+v -0.10576899 0.17018714 0.02706664
+v -0.09941055 0.17018714 0.02738880
+v -0.09936891 0.17018714 0.02739034
+v -0.05971897 0.17018714 0.02830467
+v -0.05719226 0.17255647 0.02830467
+v -0.02710773 0.17018714 0.02830467
+f 1 2 8
+f 1 8 14
+f 1 14 23
+f 1 23 22
+f 1 22 30
+f 1 30 32
+f 1 32 44
+f 1 44 61
+f 1 61 74
+f 1 74 72
+f 1 72 71
+f 1 71 70
+f 1 70 69
+f 1 69 68
+f 1 68 67
+f 1 67 66
+f 1 66 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 45
+f 1 45 33
+f 1 33 28
+f 1 28 25
+f 1 25 18
+f 1 18 17
+f 1 17 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 15
+f 7 15 16
+f 7 16 13
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 29
+f 12 29 37
+f 12 37 39
+f 12 39 31
+f 12 31 24
+f 12 24 16
+f 12 16 15
+f 13 22 23
+f 13 23 14
+f 13 16 22
+f 16 24 22
+f 18 25 19
+f 19 26 27
+f 19 27 20
+f 19 25 28
+f 19 28 26
+f 20 27 21
+f 21 27 29
+f 22 24 30
+f 24 31 32
+f 24 32 30
+f 26 28 33
+f 26 33 34
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 29
+f 31 38 32
+f 31 39 58
+f 31 58 43
+f 31 43 42
+f 31 42 41
+f 31 41 40
+f 31 40 38
+f 32 38 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 33 45 34
+f 34 46 35
+f 34 45 47
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 46
+f 35 46 53
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 37 56 57
+f 37 57 73
+f 37 73 72
+f 37 72 74
+f 37 74 60
+f 37 60 59
+f 37 59 58
+f 37 58 39
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 46 52 53
+f 50 62 51
+f 51 62 63
+f 51 63 53
+f 51 53 52
+f 53 63 64
+f 53 64 65
+f 53 65 54
+f 54 65 66
+f 54 66 55
+f 55 66 67
+f 55 67 68
+f 55 68 69
+f 55 69 56
+f 56 69 70
+f 56 70 71
+f 56 71 72
+f 56 72 73
+f 56 73 57
+f 60 74 61
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_4.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.06165750 -0.00006526 -0.01396813
+v 0.09283968 -0.00006526 -0.01395184
+v 0.06165750 -0.00006530 -0.00201043
+v 0.06165750 0.00318376 -0.01396993
+v 0.09606875 -0.00006526 -0.01395003
+v 0.09283968 0.00318376 -0.01395364
+v 0.06400592 -0.00006530 -0.00200862
+v 0.10111321 0.14877754 0.00452567
+v 0.06165750 0.14877755 0.00310632
+v 0.06165750 0.02891365 -0.01396802
+v 0.09283968 0.03533883 -0.01395352
+v 0.09923988 -0.00006526 -0.01394641
+v 0.09923988 0.02891365 -0.01394992
+v 0.06723885 -0.00006530 -0.00200681
+v 0.10111321 0.14877761 -0.01337739
+v 0.07363905 -0.00006530 -0.00201043
+v 0.07681019 -0.00006530 -0.00201224
+v 0.08320653 -0.00006530 -0.00201767
+v 0.08643947 -0.00006530 -0.00202129
+v 0.10111321 -0.00006530 -0.00204301
+v 0.06165750 0.14877761 -0.01345162
+v 0.06165750 0.11892454 -0.01395140
+v 0.08643947 0.11892454 -0.01394778
+v 0.09923988 0.11892454 -0.01394416
+v 0.10111321 -0.00006526 -0.01394279
+v 0.10111321 0.02703417 -0.01394631
+v 0.10111321 0.02891365 -0.01394630
+v 0.09513401 0.14877761 -0.01343713
+v 0.10111321 0.14752462 -0.01350413
+v 0.10111321 0.14463985 -0.01379561
+v 0.06165750 0.14463985 -0.01375759
+v 0.06165750 0.13178948 -0.01394412
+v 0.09283968 0.12534972 -0.01394051
+v 0.09923988 0.13178948 -0.01393144
+v 0.10111321 0.12347024 -0.01393690
+v 0.10111321 0.11892454 -0.01394053
+v 0.10111321 0.13821466 -0.01389339
+v 0.09923988 0.13821466 -0.01391874
+v 0.09283968 0.13821466 -0.01392779
+v 0.06723885 0.13821466 -0.01393684
+v 0.06165750 0.13821466 -0.01393684
+v 0.06165750 0.14382394 -0.01378113
+v 0.06165750 0.13739876 -0.01393866
+v 0.10111321 0.13178948 -0.01392601
+v 0.10111321 0.12990999 -0.01392963
+v 0.10111321 0.13633519 -0.01391694
+f 1 2 5
+f 1 5 12
+f 1 12 25
+f 1 25 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 21
+f 1 21 31
+f 1 31 42
+f 1 42 41
+f 1 41 43
+f 1 43 32
+f 1 32 22
+f 1 22 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 5 6 13
+f 5 13 12
+f 6 11 13
+f 7 14 8
+f 8 15 28
+f 8 28 21
+f 8 21 9
+f 8 14 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 25
+f 8 25 26
+f 8 26 27
+f 8 27 36
+f 8 36 35
+f 8 35 45
+f 8 45 44
+f 8 44 46
+f 8 46 37
+f 8 37 30
+f 8 30 29
+f 8 29 15
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 13
+f 12 13 26
+f 12 26 25
+f 13 27 26
+f 13 24 36
+f 13 36 27
+f 15 29 28
+f 21 30 31
+f 21 28 30
+f 22 32 23
+f 23 32 24
+f 24 32 33
+f 24 33 39
+f 24 39 34
+f 24 34 35
+f 24 35 36
+f 28 29 30
+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 32 43 40
+f 32 40 33
+f 33 40 39
+f 34 39 38
+f 34 38 44
+f 34 44 45
+f 34 45 35
+f 37 46 38
+f 38 46 44
+f 40 43 41
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_5.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.06165870 -0.14884270 -0.01350570
+v 0.06165870 -0.14884276 0.00289679
+v 0.06165870 -0.14524560 -0.01372067
+v 0.10564120 -0.14472132 -0.01381870
+v 0.08644646 -0.14884270 -0.01350054
+v 0.09930701 -0.14884276 0.00360023
+v 0.11771253 -0.00007988 0.00360078
+v 0.06165870 -0.00007986 -0.00200947
+v 0.06165870 -0.14472132 -0.01375162
+v 0.11245577 -0.14512910 -0.01338529
+v 0.10564120 -0.14884270 -0.01338187
+v 0.09284242 -0.14884270 -0.01349194
+v 0.06165870 -0.13828440 -0.01393563
+v 0.06723801 -0.13828440 -0.01393563
+v 0.09284242 -0.13828440 -0.01393219
+v 0.09923838 -0.13828440 -0.01392187
+v 0.10564120 -0.13184746 -0.01392356
+v 0.11204402 -0.13828440 -0.01377568
+v 0.12384086 -0.14884276 0.00360023
+v 0.13176717 -0.00007988 0.00360078
+v 0.06165870 -0.00007982 -0.01396952
+v 0.11850860 -0.13800769 -0.01318920
+v 0.11642237 -0.14327957 -0.01309635
+v 0.11063032 -0.14884270 -0.01308949
+v 0.11052052 -0.14884270 -0.01309637
+v 0.06165870 -0.13267758 -0.01394421
+v 0.09284242 -0.13184746 -0.01394248
+v 0.09923838 -0.13184746 -0.01394076
+v 0.10564120 -0.12542511 -0.01393558
+v 0.11843998 -0.11898819 -0.01374810
+v 0.11843998 -0.12542511 -0.01371372
+v 0.11843998 -0.13184746 -0.01350563
+v 0.12237912 -0.14884275 0.00111328
+v 0.12172030 -0.14802722 -0.00098668
+v 0.12193304 -0.14198346 -0.00749469
+v 0.12628395 -0.14508546 0.00360025
+v 0.13173972 -0.10612896 0.00360039
+v 0.12491142 -0.11256583 -0.00969947
+v 0.12493201 -0.02255081 -0.00969914
+v 0.12493201 -0.00007983 -0.00969906
+v 0.09284242 -0.00007982 -0.01395232
+v 0.09284242 -0.03541009 -0.01395417
+v 0.09284242 -0.04184702 -0.01395419
+v 0.09284242 -0.12542511 -0.01394934
+v 0.08644646 -0.11898819 -0.01395104
+v 0.06723801 -0.11898819 -0.01395276
+v 0.06165870 -0.11981829 -0.01395276
+v 0.12219383 -0.13184746 -0.01302063
+v 0.12185756 -0.13567759 -0.01280566
+v 0.11486455 -0.14756115 -0.01236541
+v 0.11376654 -0.14884271 -0.01135069
+v 0.07364082 -0.13184746 -0.01394420
+v 0.06165870 -0.12625520 -0.01395106
+v 0.09923838 -0.12542511 -0.01394590
+v 0.11843998 -0.10612890 -0.01375148
+v 0.11843998 -0.11256582 -0.01374978
+v 0.09923838 -0.04184702 -0.01394903
+v 0.10564120 -0.04184702 -0.01393699
+v 0.12251637 -0.11256582 -0.01319770
+v 0.12250950 -0.11898819 -0.01319429
+v 0.12246146 -0.12542511 -0.01317540
+v 0.11625766 -0.14884272 -0.00816719
+v 0.11841939 -0.14476503 -0.00993005
+v 0.12731334 -0.14309030 0.00360025
+v 0.12662708 -0.14444469 0.00360025
+v 0.12069091 -0.13997373 -0.01142461
+v 0.12260558 -0.13800770 -0.00955510
+v 0.12815058 -0.14132817 0.00360026
+v 0.13172600 -0.11256588 0.00360037
+v 0.12489770 -0.11898820 -0.00969950
+v 0.12252323 -0.10612890 -0.01319768
+v 0.12374478 -0.00007983 -0.01143270
+v 0.09607471 -0.00007982 -0.01394888
+v 0.09923838 -0.00969152 -0.01394720
+v 0.09923838 -0.03541009 -0.01394901
+v 0.06723801 -0.12542511 -0.01395106
+v 0.12414281 -0.13184747 -0.00969954
+v 0.12476731 -0.12542512 -0.00969952
+v 0.13077896 -0.13213880 0.00360029
+v 0.13037406 -0.13391550 0.00360029
+v 0.12923487 -0.13825533 0.00360027
+v 0.11614100 -0.14878447 -0.00843549
+v 0.11604492 -0.14884272 -0.00846473
+v 0.11843998 -0.00969152 -0.01375286
+v 0.12253010 -0.01611388 -0.01319907
+v 0.10564120 -0.01611388 -0.01393690
+v 0.13168483 -0.11898825 0.00360034
+v 0.12253010 -0.00007982 -0.01319901
+v 0.09923838 -0.00007982 -0.01394544
+v 0.10247067 -0.00007982 -0.01394028
+v 0.13130738 -0.12726014 0.00360031
+v 0.13162306 -0.12104165 0.00360034
+v 0.13148581 -0.12542517 0.00360032
+v 0.11843998 -0.00007982 -0.01375282
+v 0.10564120 -0.00007982 -0.01393340
+f 1 2 8
+f 1 8 21
+f 1 21 47
+f 1 47 53
+f 1 53 26
+f 1 26 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 25
+f 1 25 24
+f 1 24 51
+f 1 51 83
+f 1 83 62
+f 1 62 33
+f 1 33 19
+f 1 19 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 9 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 10
+f 6 19 36
+f 6 36 65
+f 6 65 64
+f 6 64 68
+f 6 68 81
+f 6 81 80
+f 6 80 79
+f 6 79 91
+f 6 91 93
+f 6 93 92
+f 6 92 87
+f 6 87 69
+f 6 69 37
+f 6 37 20
+f 6 20 7
+f 7 20 40
+f 7 40 72
+f 7 72 88
+f 7 88 94
+f 7 94 95
+f 7 95 90
+f 7 90 89
+f 7 89 73
+f 7 73 41
+f 7 41 21
+f 7 21 8
+f 10 18 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 22
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 46
+f 21 46 47
+f 22 32 48
+f 22 48 49
+f 22 49 23
+f 23 50 24
+f 23 49 50
+f 24 50 51
+f 26 52 27
+f 26 53 52
+f 27 52 44
+f 27 44 28
+f 28 44 54
+f 28 54 29
+f 29 55 56
+f 29 56 30
+f 29 54 57
+f 29 57 58
+f 29 58 55
+f 30 56 59
+f 30 59 60
+f 30 60 61
+f 30 61 31
+f 31 61 48
+f 31 48 32
+f 33 62 50
+f 33 50 34
+f 34 50 63
+f 34 63 35
+f 35 64 65
+f 35 65 36
+f 35 63 66
+f 35 66 67
+f 35 67 68
+f 35 68 64
+f 37 69 38
+f 38 69 70
+f 38 70 60
+f 38 60 59
+f 38 59 71
+f 38 71 39
+f 39 72 40
+f 39 71 72
+f 41 73 74
+f 41 74 75
+f 41 75 42
+f 42 75 57
+f 42 57 43
+f 43 57 54
+f 43 54 44
+f 44 52 53
+f 44 53 76
+f 44 76 46
+f 44 46 45
+f 46 76 53
+f 46 53 47
+f 48 77 49
+f 48 61 78
+f 48 78 77
+f 49 79 80
+f 49 80 81
+f 49 81 68
+f 49 68 67
+f 49 67 66
+f 49 66 50
+f 49 77 79
+f 50 66 63
+f 50 62 82
+f 50 82 83
+f 50 83 51
+f 55 71 59
+f 55 59 56
+f 55 58 84
+f 55 84 85
+f 55 85 71
+f 57 75 86
+f 57 86 58
+f 58 86 94
+f 58 94 84
+f 60 70 61
+f 61 70 78
+f 62 83 82
+f 69 87 70
+f 70 87 78
+f 71 85 72
+f 72 85 88
+f 73 89 74
+f 74 89 90
+f 74 90 86
+f 74 86 75
+f 77 78 93
+f 77 93 91
+f 77 91 79
+f 78 87 92
+f 78 92 93
+f 84 94 88
+f 84 88 85
+f 86 90 95
+f 86 95 94
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_6.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.06165365 0.14877755 0.00310666
+v 0.02242036 -0.00006531 0.00080130
+v 0.02882547 -0.00006531 0.00071198
+v 0.06165365 -0.00006530 -0.00200966
+v 0.06165365 0.14877761 -0.01345085
+v -0.09911941 0.14877755 0.00391054
+v -0.02236822 -0.00006531 0.00079779
+v 0.06165365 -0.00006526 -0.01396805
+v 0.06165365 0.14823853 -0.01349114
+v 0.06083530 0.14877761 -0.01345260
+v -0.09911941 0.14877761 -0.01337554
+v -0.09911941 -0.00006530 -0.00202718
+v -0.02877333 -0.00006531 0.00072774
+v -0.02561012 -0.00006531 0.00077678
+v 0.06083530 -0.00006526 -0.01396980
+v 0.06165365 0.00236786 -0.01396979
+v 0.06165365 0.14463985 -0.01375911
+v 0.05443019 0.14877761 -0.01345610
+v -0.09911941 0.14727694 -0.01352792
+v -0.09277725 0.14877761 -0.01342457
+v -0.09911941 -0.00006526 -0.01395404
+v 0.05443019 -0.00006526 -0.01397155
+v 0.06165365 0.00318376 -0.01396979
+v 0.06165365 0.14382394 -0.01378187
+v 0.05443019 0.14463985 -0.01376086
+v -0.09911941 0.14463985 -0.01379413
+v -0.02007056 0.14877761 -0.01345960
+v -0.08638788 0.14877761 -0.01344734
+v -0.09911941 0.00318376 -0.01395403
+v -0.09595620 -0.00006526 -0.01395754
+v 0.01601525 0.02247389 -0.01398023
+v 0.05443019 0.02247389 -0.01397147
+v -0.02877333 -0.00006526 -0.01398206
+v 0.06083530 0.02891365 -0.01396969
+v 0.06165365 0.02891365 -0.01396794
+v 0.06165365 0.13821466 -0.01393777
+v -0.09911941 0.14456700 -0.01379589
+v -0.02236822 0.14877761 -0.01345960
+v -0.09911941 0.02891365 -0.01395218
+v -0.09277725 0.02891365 -0.01396093
+v -0.09277725 -0.00006526 -0.01396104
+v 0.01601525 0.02891365 -0.01398020
+v -0.09277725 0.11892454 -0.01395185
+v -0.02236822 0.02247389 -0.01398023
+v 0.06165365 0.11892454 -0.01395185
+v 0.06165365 0.13178948 -0.01394305
+v -0.00958947 0.11892454 -0.01395535
+v 0.05443019 0.13821466 -0.01393777
+v -0.08638788 0.13821466 -0.01393426
+v -0.09277725 0.13821466 -0.01392901
+v -0.09911941 0.13821466 -0.01390975
+v -0.09911941 0.11892454 -0.01394134
+v -0.01597884 0.11249934 -0.01395713
+v -0.00958947 0.11249934 -0.01395713
+v -0.09911941 0.12534972 -0.01393607
+v -0.09277725 0.13178948 -0.01393780
+v -0.08638788 0.13178948 -0.01394130
+v -0.01597884 0.11892454 -0.01395535
+v 0.06165365 0.12453382 -0.01394833
+v -0.01597884 0.13178948 -0.01394305
+v -0.09911941 0.13178948 -0.01392729
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 23
+f 1 23 35
+f 1 35 45
+f 1 45 59
+f 1 59 46
+f 1 46 36
+f 1 36 24
+f 1 24 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 27
+f 1 27 38
+f 1 38 28
+f 1 28 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 14
+f 2 14 13
+f 2 13 12
+f 2 12 21
+f 2 21 30
+f 2 30 41
+f 2 41 33
+f 2 33 22
+f 2 22 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 5 9 10
+f 6 11 19
+f 6 19 26
+f 6 26 37
+f 6 37 51
+f 6 51 61
+f 6 61 55
+f 6 55 52
+f 6 52 39
+f 6 39 29
+f 6 29 21
+f 6 21 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 11 20 19
+f 15 22 16
+f 16 22 32
+f 16 32 23
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 19 20 26
+f 20 28 26
+f 21 29 30
+f 22 31 42
+f 22 42 32
+f 22 33 31
+f 23 32 34
+f 23 34 35
+f 24 36 25
+f 25 36 26
+f 26 28 38
+f 26 38 27
+f 26 36 37
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 31 33 42
+f 32 42 34
+f 33 41 40
+f 33 40 43
+f 33 43 44
+f 33 44 42
+f 34 45 35
+f 34 42 45
+f 36 46 47
+f 36 47 58
+f 36 58 48
+f 36 48 37
+f 37 49 50
+f 37 50 51
+f 37 48 49
+f 39 52 43
+f 39 43 40
+f 42 53 54
+f 42 54 47
+f 42 47 45
+f 42 44 53
+f 43 52 55
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 53
+f 43 53 44
+f 45 47 59
+f 46 59 47
+f 47 54 53
+f 47 53 58
+f 48 58 60
+f 48 60 57
+f 48 57 49
+f 49 57 56
+f 49 56 50
+f 50 56 61
+f 50 61 51
+f 55 61 56
+f 57 60 58
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_7.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.06165870 -0.00007986 -0.00201021
+v 0.06165870 -0.14884276 0.00289705
+v 0.06165870 -0.00007982 -0.01396911
+v 0.02881801 -0.00007987 0.00071183
+v 0.06165870 -0.14884270 -0.01350419
+v 0.02242834 -0.00007987 0.00080209
+v -0.10112658 -0.14884277 0.00409347
+v 0.06165870 -0.00048759 -0.01396911
+v 0.05442451 -0.00007982 -0.01397265
+v 0.06083012 -0.14884270 -0.01350596
+v 0.06165870 -0.14472132 -0.01375195
+v -0.02237904 -0.00007987 0.00079855
+v -0.02559778 -0.00007987 0.00077731
+v -0.02876871 -0.00007987 0.00072776
+v -0.10112658 -0.00007986 -0.00202791
+v -0.10112658 -0.14884270 -0.01341747
+v 0.06165870 -0.11981829 -0.01395362
+v 0.05442451 -0.01611388 -0.01397094
+v 0.00961713 -0.02897317 -0.01398515
+v 0.00321152 -0.02897317 -0.01398692
+v -0.02876871 -0.00007982 -0.01398150
+v -0.09508746 -0.14884270 -0.01350950
+v -0.10112658 -0.14472132 -0.01380151
+v 0.06165870 -0.13828440 -0.01393599
+v -0.10112658 -0.00007982 -0.01394964
+v -0.10112658 -0.14769221 -0.01352542
+v 0.06165870 -0.12625520 -0.01395010
+v 0.06083012 -0.12542511 -0.01395187
+v 0.00321152 -0.03541009 -0.01398517
+v -0.09277698 -0.11898819 -0.01394831
+v -0.02237904 -0.01611388 -0.01398156
+v -0.02876871 -0.00325459 -0.01398151
+v -0.09277698 -0.00007982 -0.01396026
+v -0.10112658 -0.13828440 -0.01389529
+v -0.09918259 -0.13828440 -0.01391829
+v -0.09277698 -0.13828440 -0.01393069
+v -0.02237904 -0.13828440 -0.01393599
+v 0.05442451 -0.13828440 -0.01393776
+v 0.06165870 -0.13184746 -0.01394481
+v -0.09918259 -0.00007982 -0.01395318
+v -0.10112658 -0.01611388 -0.01394970
+v 0.05442451 -0.13184746 -0.01394658
+v -0.02237904 -0.12542511 -0.01395187
+v -0.08638731 -0.12542511 -0.01394656
+v -0.09277698 -0.12542511 -0.01394479
+v -0.09918259 -0.12542511 -0.01393771
+v -0.09918259 -0.11898819 -0.01393946
+v -0.09918259 -0.01611388 -0.01395324
+v -0.09277698 -0.03541009 -0.01395862
+v -0.09277698 -0.00969152 -0.01396030
+v -0.10112658 -0.13634750 -0.01391652
+v -0.09918259 -0.13184746 -0.01393242
+v -0.10112658 -0.13184746 -0.01392711
+v -0.09277698 -0.13184746 -0.01393950
+v -0.08638731 -0.13184746 -0.01394127
+v -0.02876871 -0.13184746 -0.01394658
+v -0.10112658 -0.11898819 -0.01393592
+v -0.10112658 -0.12991057 -0.01393066
+v -0.10112658 -0.12542511 -0.01393417
+f 1 2 5
+f 1 5 11
+f 1 11 24
+f 1 24 39
+f 1 39 27
+f 1 27 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 33
+f 1 33 40
+f 1 40 25
+f 1 25 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 16
+f 2 16 22
+f 2 22 10
+f 2 10 5
+f 3 8 9
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 25
+f 7 25 41
+f 7 41 57
+f 7 57 59
+f 7 59 58
+f 7 58 53
+f 7 53 51
+f 7 51 34
+f 7 34 23
+f 7 23 26
+f 7 26 16
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 16 26 22
+f 17 27 28
+f 17 28 29
+f 17 29 20
+f 17 20 19
+f 17 19 18
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 50
+f 21 50 33
+f 22 26 23
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 38 42
+f 24 42 39
+f 25 40 48
+f 25 48 41
+f 27 39 28
+f 28 39 42
+f 28 42 56
+f 28 56 43
+f 28 43 29
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 32
+f 30 32 31
+f 32 49 50
+f 33 50 48
+f 33 48 40
+f 34 51 35
+f 35 52 36
+f 35 51 53
+f 35 53 52
+f 36 52 54
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 56 38
+f 38 56 42
+f 41 48 47
+f 41 47 57
+f 43 56 44
+f 44 55 54
+f 44 54 45
+f 44 56 55
+f 45 54 52
+f 45 52 46
+f 46 52 58
+f 46 58 59
+f 46 59 57
+f 46 57 47
+f 48 50 49
+f 52 53 58
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_8.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.11684136 -0.13185254 0.00360030
+v 0.13081432 -0.13185254 0.00360030
+v 0.12806987 -0.13185261 0.02264698
+v 0.12836912 -0.00007829 0.02206561
+v 0.11771483 -0.00007822 0.00360078
+v 0.13131038 -0.12726011 0.00360031
+v 0.14211834 -0.13185259 0.01571465
+v 0.13070919 -0.13185262 0.02503613
+v 0.13156918 -0.00007830 0.02540946
+v 0.12995433 -0.00007830 0.02372329
+v 0.13176599 -0.00007822 0.00360078
+v 0.13149101 -0.12542830 0.00360032
+v 0.14228010 -0.12542835 0.01560068
+v 0.14430203 -0.12542836 0.01977337
+v 0.14397852 -0.13185260 0.01976860
+v 0.13764850 -0.13185263 0.02779338
+v 0.13151796 -0.12542838 0.02541138
+v 0.13764850 -0.00325172 0.02786272
+v 0.13457783 -0.00007831 0.02662304
+v 0.14230435 -0.00007827 0.01557501
+v 0.14232052 -0.11256697 0.01556510
+v 0.13176599 -0.00325163 0.00360077
+v 0.13162850 -0.12104227 0.00360034
+v 0.13168781 -0.11899116 0.00360034
+v 0.14231513 -0.11899121 0.01556982
+v 0.14437213 -0.11899122 0.01977339
+v 0.14287050 -0.12542838 0.02514777
+v 0.14270874 -0.13185262 0.02503613
+v 0.13764850 -0.12542839 0.02783853
+v 0.13764850 -0.11256701 0.02784333
+v 0.13764850 -0.03541163 0.02786023
+v 0.14291633 -0.05469724 0.02517177
+v 0.14291633 -0.04827300 0.02517179
+v 0.14025276 -0.00007831 0.02653042
+v 0.13764850 -0.00007831 0.02786036
+v 0.14334498 -0.00007827 0.01769342
+v 0.14438021 -0.11256698 0.01977342
+v 0.13173903 -0.10612978 0.00360039
+v 0.14436404 -0.00007828 0.01977383
+v 0.14436943 -0.03541160 0.01977370
+v 0.13172825 -0.11256692 0.00360037
+v 0.14290555 -0.11899124 0.02516204
+v 0.14290824 -0.11256700 0.02516444
+v 0.14291094 -0.09970562 0.02516685
+v 0.14291363 -0.08040710 0.02516930
+v 0.14291363 -0.08684424 0.02516690
+v 0.14363075 -0.00007829 0.02250021
+v 0.14290824 -0.00007830 0.02517197
+f 1 2 7
+f 1 7 15
+f 1 15 28
+f 1 28 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 38
+f 1 38 41
+f 1 41 24
+f 1 24 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 19
+f 4 19 35
+f 4 35 34
+f 4 34 48
+f 4 48 47
+f 4 47 39
+f 4 39 36
+f 4 36 20
+f 4 20 11
+f 4 11 5
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 8 17 9
+f 9 18 19
+f 9 17 18
+f 11 20 21
+f 11 21 22
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 27 28
+f 14 28 15
+f 14 26 27
+f 16 28 27
+f 16 27 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 20 36 21
+f 21 37 25
+f 21 25 38
+f 21 38 22
+f 21 36 39
+f 21 39 40
+f 21 40 37
+f 24 41 25
+f 25 41 38
+f 25 37 26
+f 26 42 27
+f 26 37 42
+f 27 42 29
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 37
+f 32 37 33
+f 33 47 48
+f 33 48 34
+f 33 37 47
+f 37 46 44
+f 37 44 43
+f 37 43 42
+f 37 40 47
+f 39 47 40
+f 44 46 45
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/mesh/tray_069_collision_9.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.14433022 0.12030355 0.01977359
+v 0.14390292 0.12030355 0.01888584
+v 0.14426676 0.12536231 0.01977361
+v 0.14285792 0.12536229 0.02515329
+v 0.14288754 0.12030353 0.02516963
+v 0.14229100 0.12030356 0.01558440
+v 0.14225716 0.12536232 0.01560896
+v 0.14208370 0.13179236 0.01573989
+v 0.14391985 0.13179235 0.01977363
+v 0.14268023 0.13179233 0.02503876
+v 0.13764565 0.13179232 0.02778382
+v 0.13764565 0.12536228 0.02784517
+v 0.13764565 0.12030352 0.02785333
+v 0.12251230 0.12030367 -0.01319585
+v 0.12245306 0.12536243 -0.01316719
+v 0.14165216 0.13821963 0.01608357
+v 0.12215268 0.13179247 -0.01299535
+v 0.14301869 0.13821962 0.01977366
+v 0.14221485 0.13821960 0.02461332
+v 0.13764565 0.13821959 0.02746475
+v 0.13124454 0.14877746 0.02775935
+v 0.13124454 0.14465241 0.02759160
+v 0.12479690 0.14877747 0.02544384
+v 0.13154493 0.12030353 0.02540282
+v 0.11844655 0.12030367 -0.01374405
+v 0.11844655 0.12536243 -0.01370312
+v 0.14118678 0.14252584 0.01649268
+v 0.12183115 0.13552731 -0.01278260
+v 0.11844655 0.13179247 -0.01347809
+v 0.11848463 0.13789085 -0.01317533
+v 0.14162677 0.14378284 0.01977368
+v 0.14154640 0.14347623 0.02376650
+v 0.13826334 0.14523217 0.02564837
+v 0.13737488 0.14877747 0.02533338
+v 0.12064231 0.14877748 0.02195011
+v 0.10111322 0.14877754 0.00452651
+v 0.10111322 0.12030363 -0.00203558
+v 0.11708002 0.12030367 -0.01376859
+v 0.10564434 0.13179247 -0.01391174
+v 0.11204544 0.13821974 -0.01375625
+v 0.13682489 0.14877750 0.01552314
+v 0.13859757 0.14877749 0.01799820
+v 0.13962141 0.14877749 0.01977370
+v 0.14048025 0.14699926 0.01977369
+v 0.12064231 0.13981400 -0.01133028
+v 0.11637350 0.14299698 -0.01308530
+v 0.11464735 0.14728367 -0.01216072
+v 0.11232890 0.14494523 -0.01335940
+v 0.10111322 0.14877761 -0.01337575
+v 0.10111322 0.12030367 -0.01394041
+v 0.10564434 0.12030367 -0.01393223
+v 0.10564434 0.12536243 -0.01392403
+v 0.10111322 0.12991390 -0.01392810
+v 0.10111322 0.13634117 -0.01391581
+v 0.10564434 0.14465256 -0.01380532
+v 0.11343736 0.14877760 -0.01103160
+v 0.11038276 0.14876368 -0.01306892
+v 0.11039969 0.14877761 -0.01304437
+v 0.11032353 0.14877761 -0.01307301
+v 0.10167168 0.14877761 -0.01337984
+v 0.10111322 0.14753174 -0.01350258
+v 0.10111322 0.13821974 -0.01389125
+v 0.10111322 0.14465256 -0.01379305
+v 0.10564434 0.14877761 -0.01335938
+v 0.10704894 0.14877761 -0.01327347
+v 0.11037007 0.14877761 -0.01306074
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 24
+f 1 24 37
+f 1 37 50
+f 1 50 51
+f 1 51 38
+f 1 38 25
+f 1 25 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 16
+f 9 16 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 14 25 15
+f 15 25 26
+f 15 26 17
+f 16 27 18
+f 16 17 28
+f 16 28 27
+f 17 26 29
+f 17 29 30
+f 17 30 28
+f 18 27 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 23 22
+f 21 34 43
+f 21 43 42
+f 21 42 41
+f 21 41 56
+f 21 56 58
+f 21 58 66
+f 21 66 59
+f 21 59 65
+f 21 65 64
+f 21 64 60
+f 21 60 49
+f 21 49 36
+f 21 36 35
+f 21 35 23
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 40 29
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 31
+f 27 28 45
+f 27 45 41
+f 28 30 46
+f 28 46 47
+f 28 47 45
+f 29 40 30
+f 30 40 48
+f 30 48 46
+f 31 44 32
+f 32 34 33
+f 32 44 43
+f 32 43 34
+f 36 49 61
+f 36 61 63
+f 36 63 62
+f 36 62 54
+f 36 54 53
+f 36 53 50
+f 36 50 37
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 40 55 48
+f 41 45 47
+f 41 47 56
+f 46 57 47
+f 46 48 57
+f 47 57 58
+f 47 58 56
+f 48 55 59
+f 48 59 57
+f 49 60 61
+f 50 53 51
+f 51 53 52
+f 54 62 55
+f 55 62 63
+f 55 63 60
+f 55 60 64
+f 55 64 65
+f 55 65 59
+f 57 66 58
+f 57 59 66
+f 60 63 61
+

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/mjcf/tray_069.xml

@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_069">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/tray_069.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_069_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_069_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_069_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_069_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_069_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_069_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_069_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_069_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_069_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_069_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_069_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_069_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_069_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_069_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_069_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_069_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_069_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_069_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_069_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_069_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_069_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_069_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_069_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_069_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tray_069_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tray_069_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tray_069_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tray_069_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/tray_069_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/tray_069_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tray_069_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/tray_069_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_069">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_069">
+   <link name="tray_069">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_069.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_069_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>f25bf4c29ceb560f83c315ce24abfa0c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral serving tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular tray with side handles and colorful floral painted interior</description>
+         <min_height>0.0609</min_height>
+         <max_height>0.0609</max_height>
+         <real_height>0.0609</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609201150</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.143605 -0.194587 -0.011941</min>
+            <max>0.143655 0.194518 0.048964</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/tray_069.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597324885bee78828119d9716cda89329198acb8246a9436f34f7959b2aaf5d6
+size 4529254

dataset/kitchen_supplies/tableware/f25bf4c29ceb560f83c315ce24abfa0c/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12486d90ed7e65834c85227676993181563d193ecd89cd3ff73d2577c896c8f4
+size 588717