Add asset kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309

.gitattributes

@@ -4107,3 +4107,5 @@ dataset/kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631/fork_004.usd
 dataset/kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631/mesh/fork_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/mesh/tray_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/tray_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mesh/tray_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/tray_002.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_002_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_002_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mesh/tray_002.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f811cdb23487ef04d2eba33365118db59b34166b55dcd35ab0d935925c8503
+size 22318564

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mesh/tray_002.mtl

@@ -0,0 +1,6 @@
+newmtl tray_002_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/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_0.obj

@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
+v -0.13850948 0.10699934 0.03023652
+v -0.12542174 0.16540630 0.02979295
+v -0.12566930 0.16516264 0.02980109
+v -0.13850948 0.11991291 0.03022843
+v -0.14400276 0.11345614 0.02824966
+v -0.14400481 0.10699935 0.02824963
+v -0.14400481 0.02944829 0.02825342
+v -0.14400481 0.02299151 0.02825339
+v -0.13850948 0.02299150 0.03023214
+v -0.12542174 0.17186308 0.02932475
+v -0.13850948 0.00074952 0.03022392
+v -0.13294663 0.00074953 0.02825331
+v -0.13055495 0.00074954 0.02346929
+v -0.12542174 0.00074962 0.00247660
+v -0.13208939 0.15870585 0.02993949
+v -0.13850948 0.13284389 0.03018777
+v -0.13850948 0.12638711 0.03022031
+v -0.14400072 0.11991292 0.02824561
+v -0.14630442 0.10699936 0.02346968
+v -0.14400685 0.01653472 0.02824930
+v -0.14400481 0.01006053 0.02824928
+v -0.12542174 0.17395153 0.02847381
+v -0.12566930 0.17161942 0.02932882
+v -0.14400276 0.00074953 0.02824517
+v -0.12542174 0.00074967 -0.01135838
+v -0.13252312 0.16549332 0.02845342
+v -0.13750697 0.15870586 0.02802589
+v -0.13850948 0.14577488 0.02969923
+v -0.13850948 0.13930069 0.03006971
+v -0.14386160 0.13284390 0.02820901
+v -0.14397617 0.12638712 0.02824156
+v -0.14629010 0.11991293 0.02346973
+v -0.14629828 0.11345615 0.02346971
+v -0.14631465 0.10699938 0.01785914
+v -0.14630442 0.08115481 0.02346959
+v -0.14630237 0.00360375 0.02346930
+v -0.14501549 0.00074953 0.02614427
+v -0.13030330 0.17161943 0.02735007
+v -0.12542174 0.17708421 0.02718315
+v -0.12542174 0.04883620 -0.01135412
+v -0.13208939 0.00074967 -0.01135430
+v -0.13208939 0.00360388 -0.01135429
+v -0.13208939 0.11991306 -0.01134572
+v -0.12566930 0.04883620 -0.01135412
+v -0.13626920 0.16356151 0.02728896
+v -0.14232102 0.15076975 0.02705277
+v -0.14299004 0.14577489 0.02772048
+v -0.14356289 0.13930070 0.02809096
+v -0.14600572 0.13284391 0.02346978
+v -0.14623690 0.12638713 0.02346975
+v -0.14629624 0.11991295 0.01785919
+v -0.14630647 0.11345617 0.01785917
+v -0.14631465 0.10052519 0.01785912
+v -0.14630033 0.11991302 0.00103166
+v -0.14630647 0.11345624 0.00103164
+v -0.14631056 0.10699945 0.00103161
+v -0.14631669 0.08762909 0.00103154
+v -0.14631875 0.08115490 0.00103152
+v -0.14632283 0.00074963 0.00103122
+v -0.14631260 0.00074956 0.01785875
+v -0.14630647 0.00074955 0.02100196
+v -0.14630033 0.00074954 0.02346929
+v -0.12542174 0.17727566 0.02709765
+v -0.12898369 0.17497835 0.02640549
+v -0.12542174 0.11991306 -0.01134572
+v -0.13850948 0.00074967 -0.01132580
+v -0.13850948 0.04237941 -0.01132564
+v -0.13850948 0.11991306 -0.01131722
+v -0.13208939 0.13930084 -0.01134158
+v -0.12566930 0.15223181 -0.01134153
+v -0.13973702 0.15870587 0.02346987
+v -0.13477159 0.16758178 0.02346991
+v -0.13675204 0.16434468 0.02346989
+v -0.14149447 0.15489445 0.02346986
+v -0.14262177 0.15165736 0.02346985
+v -0.14426259 0.14577490 0.02346983
+v -0.14541035 0.13930071 0.02346980
+v -0.14600980 0.13284393 0.01785924
+v -0.14625327 0.12638722 0.00103168
+v -0.14627987 0.11991304 -0.00457888
+v -0.14628397 0.11345626 -0.00457890
+v -0.14629624 0.08762911 -0.00457900
+v -0.14631260 0.00074964 -0.00143612
+v -0.12542174 0.17852874 0.02373460
+v -0.12902664 0.17501317 0.02346993
+v -0.13170884 0.17161944 0.02346992
+v -0.12572044 0.17825027 0.02346994
+v -0.12542174 0.15223181 -0.01134153
+v -0.14158040 0.00074967 -0.01021428
+v -0.14399458 0.02944842 -0.00934287
+v -0.14399458 0.04883619 -0.00934280
+v -0.14398640 0.11991305 -0.00933440
+v -0.13850948 0.12638726 -0.01131313
+v -0.13208939 0.14577503 -0.01133748
+v -0.12542174 0.15870600 -0.01133744
+v -0.13975544 0.15870589 0.01785933
+v -0.14151698 0.15489447 0.01785932
+v -0.13477159 0.16758187 0.00103184
+v -0.13676431 0.16436218 0.00103182
+v -0.13978203 0.15870596 0.00103180
+v -0.14262995 0.15169226 0.00103178
+v -0.14152925 0.15492934 0.00103179
+v -0.14427691 0.14577499 0.00103176
+v -0.14542262 0.13930080 0.00103173
+v -0.14602003 0.13284400 0.00103171
+v -0.14623077 0.12638724 -0.00457886
+v -0.14600776 0.13284402 -0.00457883
+v -0.14396184 0.12638725 -0.00933438
+v -0.14528555 0.00074965 -0.00667614
+v -0.14629828 0.00360386 -0.00457931
+v -0.14399458 0.09406850 -0.00933449
+v -0.14629828 0.00074965 -0.00457932
+v -0.12542174 0.17854622 0.00103188
+v -0.12902256 0.17501326 0.00103186
+v -0.13170476 0.17161953 0.00103185
+v -0.14399663 0.00074966 -0.00933891
+v -0.14399663 0.01653485 -0.00933885
+v -0.13850948 0.13284404 -0.01128460
+v -0.13208939 0.15223181 -0.01132524
+v -0.12542174 0.16516279 -0.01130076
+v -0.13168429 0.17161955 -0.00457869
+v -0.13475931 0.16756448 -0.00457870
+v -0.13675612 0.16434479 -0.00457872
+v -0.13975340 0.15870598 -0.00457874
+v -0.14150675 0.15492936 -0.00457875
+v -0.14262381 0.15169228 -0.00457876
+v -0.14425851 0.14577501 -0.00457878
+v -0.14540831 0.13930082 -0.00457881
+v -0.14385341 0.13284403 -0.00930177
+v -0.14355266 0.13930083 -0.00917147
+v -0.12542174 0.17852885 -0.00457866
+v -0.12901437 0.17501328 -0.00457868
+v -0.13850948 0.13930084 -0.01115022
+v -0.13208939 0.15870600 -0.01107686
+v -0.12566930 0.16516279 -0.01129669
+v -0.12542174 0.17161957 -0.01041723
+v -0.12896118 0.17494369 -0.00748573
+v -0.13626101 0.16352683 -0.00836929
+v -0.14231488 0.15076988 -0.00814134
+v -0.14297571 0.14577502 -0.00879279
+v -0.13850948 0.14577503 -0.01076747
+v -0.12542174 0.17724098 -0.00816566
+v -0.13750493 0.15870599 -0.00910218
+v -0.13250880 0.16547605 -0.00952966
+v -0.12566930 0.17161957 -0.01038058
+v -0.12542174 0.17391687 -0.00954184
+v -0.13026648 0.17161956 -0.00841405
+v -0.13905369 0.15264949 -0.00941164
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 3
+f 2 9 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 25
+f 2 25 40
+f 2 40 65
+f 2 65 88
+f 2 88 95
+f 2 95 120
+f 2 120 136
+f 2 136 146
+f 2 146 142
+f 2 142 131
+f 2 131 113
+f 2 113 84
+f 2 84 63
+f 2 63 39
+f 2 39 22
+f 2 22 10
+f 3 10 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 5
+f 5 18 19
+f 5 19 6
+f 6 19 7
+f 7 20 8
+f 7 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 11
+f 10 22 23
+f 10 23 15
+f 11 21 24
+f 11 24 37
+f 11 37 62
+f 11 62 61
+f 11 61 60
+f 11 60 59
+f 11 59 83
+f 11 83 112
+f 11 112 109
+f 11 109 116
+f 11 116 89
+f 11 89 66
+f 11 66 41
+f 11 41 25
+f 11 25 14
+f 11 14 13
+f 11 13 12
+f 15 23 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 30 31
+f 16 31 17
+f 16 29 30
+f 17 31 18
+f 18 32 33
+f 18 33 19
+f 18 31 32
+f 19 33 34
+f 19 34 53
+f 19 53 35
+f 19 35 20
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 21 37 24
+f 22 38 23
+f 22 39 38
+f 23 38 26
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 40
+f 26 45 27
+f 26 38 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 28 48 29
+f 29 48 30
+f 30 49 50
+f 30 50 31
+f 30 48 49
+f 31 50 32
+f 32 51 52
+f 32 52 34
+f 32 34 33
+f 32 50 51
+f 34 52 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 53
+f 35 60 36
+f 35 53 60
+f 36 60 61
+f 36 61 62
+f 36 62 37
+f 38 39 63
+f 38 63 64
+f 38 64 45
+f 40 44 43
+f 40 43 65
+f 41 66 67
+f 41 67 42
+f 42 67 43
+f 43 68 69
+f 43 69 70
+f 43 70 88
+f 43 88 65
+f 43 67 68
+f 45 71 46
+f 45 64 72
+f 45 72 73
+f 45 73 71
+f 46 74 75
+f 46 75 76
+f 46 76 77
+f 46 77 47
+f 46 71 74
+f 47 77 48
+f 48 77 49
+f 49 78 79
+f 49 79 50
+f 49 77 78
+f 50 79 51
+f 51 54 52
+f 51 79 54
+f 53 59 60
+f 54 80 55
+f 54 79 80
+f 55 80 81
+f 55 81 56
+f 56 81 82
+f 56 82 57
+f 57 82 58
+f 58 82 59
+f 59 82 83
+f 63 84 64
+f 64 85 86
+f 64 86 72
+f 64 84 87
+f 64 87 85
+f 66 89 90
+f 66 90 91
+f 66 91 67
+f 67 91 68
+f 68 92 93
+f 68 93 94
+f 68 94 69
+f 68 91 92
+f 69 94 70
+f 70 94 95
+f 70 95 88
+f 71 73 96
+f 71 96 97
+f 71 97 74
+f 72 98 99
+f 72 99 73
+f 72 86 98
+f 73 99 100
+f 73 100 96
+f 74 97 75
+f 75 101 76
+f 75 97 102
+f 75 102 101
+f 76 101 103
+f 76 103 77
+f 77 103 104
+f 77 104 105
+f 77 105 78
+f 78 105 79
+f 79 106 80
+f 79 105 107
+f 79 107 106
+f 80 92 81
+f 80 106 108
+f 80 108 92
+f 81 92 82
+f 82 91 109
+f 82 109 110
+f 82 110 83
+f 82 92 111
+f 82 111 91
+f 83 110 112
+f 84 113 87
+f 85 114 115
+f 85 115 86
+f 85 87 113
+f 85 113 114
+f 86 115 98
+f 89 116 90
+f 90 116 117
+f 90 117 91
+f 91 117 109
+f 91 111 92
+f 92 108 93
+f 93 108 118
+f 93 118 119
+f 93 119 94
+f 94 119 95
+f 95 119 120
+f 96 100 102
+f 96 102 97
+f 98 115 121
+f 98 121 122
+f 98 122 123
+f 98 123 99
+f 99 123 100
+f 100 123 124
+f 100 124 125
+f 100 125 102
+f 101 126 103
+f 101 102 126
+f 102 125 126
+f 103 127 128
+f 103 128 104
+f 103 126 127
+f 104 128 107
+f 104 107 105
+f 106 107 129
+f 106 129 108
+f 107 128 130
+f 107 130 129
+f 108 129 118
+f 109 117 116
+f 109 112 110
+f 113 131 132
+f 113 132 114
+f 114 132 115
+f 115 132 121
+f 118 129 133
+f 118 133 119
+f 119 133 134
+f 119 134 135
+f 119 135 120
+f 120 135 136
+f 121 132 137
+f 121 137 122
+f 122 138 123
+f 122 137 138
+f 123 138 124
+f 124 138 139
+f 124 139 125
+f 125 139 126
+f 126 139 127
+f 127 139 128
+f 128 139 140
+f 128 140 130
+f 129 130 133
+f 130 140 141
+f 130 141 133
+f 131 142 137
+f 131 137 132
+f 133 141 134
+f 134 143 144
+f 134 144 145
+f 134 145 135
+f 134 141 143
+f 135 145 136
+f 136 145 146
+f 137 142 147
+f 137 147 138
+f 138 143 139
+f 138 147 144
+f 138 144 143
+f 139 143 140
+f 140 143 148
+f 140 148 141
+f 141 148 143
+f 142 146 147
+f 144 147 145
+f 145 147 146
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_1.obj

@@ -0,0 +1,1054 @@
+# https://github.com/mikedh/trimesh
+v -0.00085609 -0.00935630 -0.01137249
+v -0.00084177 -0.04165976 -0.01137854
+v -0.00084177 -0.11271965 -0.01137583
+v -0.00084177 -0.15429683 -0.01137303
+v -0.00084177 -0.15792904 -0.01137155
+v -0.00084177 -0.16078844 -0.01137008
+v -0.00084177 -0.18018597 -0.01135829
+v -0.00084177 -0.18381818 -0.01135534
+v -0.00084177 -0.19027114 -0.01112844
+v -0.00084177 -0.19243501 -0.01026231
+v -0.00084177 -0.19521713 -0.00914405
+v -0.00084177 -0.19699461 -0.00457902
+v -0.00085609 -0.00935635 0.00367374
+v -0.00085609 0.04234470 -0.01137378
+v 0.07338879 -0.03516816 -0.01137259
+v 0.07338879 -0.15147608 -0.01136708
+v 0.00276666 -0.15147608 -0.01137302
+v 0.07980377 -0.15792904 -0.01136562
+v 0.00276666 -0.15792904 -0.01137155
+v 0.07338879 -0.18381818 -0.01135237
+v 0.00276666 -0.18381818 -0.01135534
+v 0.00276666 -0.19027114 -0.01112844
+v 0.02846956 -0.19521713 -0.00914553
+v 0.00276666 -0.19521713 -0.00914553
+v 0.04772884 -0.19699461 -0.00457902
+v 0.02204025 -0.19703328 0.00102865
+v -0.00084177 -0.19699463 0.00102865
+v -0.00084177 -0.19622182 0.00305607
+v -0.00084177 -0.19595135 0.00373089
+v -0.00085609 0.03589168 0.00372581
+v -0.00085609 0.15219965 -0.01136596
+v 0.02204025 0.15219965 -0.01136448
+v 0.11190733 -0.03516816 -0.01135924
+v 0.10549235 -0.11271965 -0.01136249
+v 0.10549235 -0.15792904 -0.01136117
+v 0.09907737 -0.15147608 -0.01136264
+v 0.09264806 0.15219965 -0.01135558
+v 0.09907737 0.15219965 -0.01135410
+v 0.10549235 0.04234470 -0.01135895
+v 0.07980377 -0.18381818 -0.01135089
+v 0.06697380 -0.19027114 -0.01111658
+v 0.02846956 -0.19027114 -0.01112547
+v 0.03488455 -0.19521713 -0.00914405
+v 0.06697380 -0.19695597 -0.00457902
+v 0.06057313 -0.19699464 0.00373089
+v 0.06697380 -0.19521713 -0.00913367
+v 0.03797749 -0.19699464 0.00373089
+v 0.12304765 -0.00931771 0.00377311
+v -0.00085609 0.17990484 0.00377380
+v -0.00085609 0.15869125 -0.01136446
+v 0.02204025 0.15869125 -0.01136298
+v 0.06057313 0.15869125 -0.01135853
+v 0.11833664 -0.03516816 -0.01135627
+v 0.11833664 -0.11271965 -0.01135655
+v 0.11190733 -0.11917262 -0.01135955
+v 0.11190733 -0.15147608 -0.01135819
+v 0.11190733 -0.15792904 -0.01135524
+v 0.11833664 -0.16442064 -0.01134339
+v 0.11190733 -0.17087360 -0.01134342
+v 0.10549235 -0.17732657 -0.01134196
+v 0.08621875 -0.18381818 -0.01134792
+v 0.09907737 0.15869125 -0.01135111
+v 0.11192166 0.15219965 -0.01134817
+v 0.11833664 0.11344323 -0.01134979
+v 0.11192166 0.04234470 -0.01135598
+v 0.09263374 -0.18381818 -0.01134347
+v 0.07338879 -0.19027114 -0.01110916
+v 0.07338879 -0.19691732 -0.00457902
+v 0.07008106 -0.19695600 0.00373089
+v 0.14541418 -0.00935635 0.00377311
+v 0.07338879 -0.19517849 -0.00912625
+v 0.12624082 -0.00935635 0.00377311
+v -0.00085609 0.19667481 0.00377386
+v -0.00085609 0.16232346 -0.01136296
+v -0.00085609 0.16514422 -0.01136147
+v 0.07338879 0.18454176 -0.01134211
+v 0.12473731 -0.11271965 -0.01135210
+v 0.13118093 0.11989619 -0.01134087
+v 0.13118093 -0.00282605 -0.01134577
+v 0.11833664 -0.15147608 -0.01135077
+v 0.13116662 -0.11917262 -0.01134620
+v 0.13116662 -0.12562558 -0.01134474
+v 0.11833664 -0.15792904 -0.01134782
+v 0.11833664 -0.17087360 -0.01133007
+v 0.12473731 -0.15792904 -0.01133892
+v 0.09907737 -0.18381818 -0.01132716
+v 0.11192166 0.15869125 -0.01134518
+v 0.11833664 0.15219965 -0.01134223
+v 0.13118093 0.12634916 -0.01133937
+v 0.07980377 -0.19027114 -0.01103945
+v 0.07980377 -0.19664685 -0.00457902
+v 0.07980377 -0.19668551 0.00102865
+v 0.07338879 -0.19691735 0.00373089
+v 0.07980377 -0.19506260 -0.00905655
+v 0.14542851 -0.00931770 0.00102934
+v 0.14541418 0.11989614 0.00377358
+v 0.07646740 -0.19680146 0.00373089
+v 0.07980377 -0.19664688 0.00373089
+v 0.08621875 -0.19606729 0.00373089
+v 0.08932601 -0.19552629 0.00373089
+v 0.09263374 -0.19494670 0.00373089
+v 0.09707269 -0.19390341 0.00373090
+v 0.10029450 -0.19282147 0.00373090
+v 0.10280035 -0.19181682 0.00373091
+v 0.10549235 -0.19069624 0.00373091
+v 0.11063294 -0.18814596 0.00373092
+v 0.11229395 -0.18717995 0.00373092
+v 0.11385475 -0.18625258 0.00373093
+v 0.11600262 -0.18470696 0.00373093
+v 0.11860870 -0.18277493 0.00373094
+v 0.12151551 -0.18057242 0.00373095
+v 0.12805936 -0.17423539 0.00373097
+v 0.13073705 -0.17087365 0.00373098
+v 0.13385861 -0.16685505 0.00373100
+v 0.13586330 -0.16360924 0.00373101
+v 0.13743842 -0.16067256 0.00373102
+v 0.13889896 -0.15792909 0.00373103
+v 0.13980107 -0.15603571 0.00373104
+v 0.14063159 -0.15421960 0.00373104
+v 0.14173416 -0.15101244 0.00373106
+v 0.14339518 -0.14502316 0.00373108
+v 0.14455503 -0.13857020 0.00373110
+v 0.14514212 -0.13207860 0.00373112
+v 0.14535690 -0.12562563 0.00373115
+v 0.14538554 -0.11917267 0.00373117
+v 0.14539987 -0.08999908 0.00373128
+v 0.04131385 0.19767945 0.00377387
+v -0.00085609 0.19767946 0.00103010
+v -0.00085609 0.18454176 -0.01134656
+v 0.00276666 0.18454176 -0.01134656
+v 0.06698811 0.19099472 -0.01111666
+v 0.07980377 0.18454176 -0.01133915
+v 0.13759593 0.11989619 -0.01130973
+v 0.13759593 0.00358827 -0.01131164
+v 0.13759593 -0.03516816 -0.01131178
+v 0.13759593 -0.11917262 -0.01130764
+v 0.13759593 -0.12562558 -0.01130618
+v 0.13116662 -0.13207855 -0.01134180
+v 0.12473731 -0.17087360 -0.01036901
+v 0.11190733 -0.17732657 -0.01128412
+v 0.13116662 -0.15147608 -0.01132704
+v 0.12473731 -0.16442064 -0.01130928
+v 0.13116662 -0.14502311 -0.01133442
+v 0.10549235 -0.18381818 -0.01096083
+v 0.08621875 -0.19027114 -0.01081550
+v 0.11833664 0.15869125 -0.01133925
+v 0.11192166 0.17159718 -0.01133475
+v 0.12475163 0.15219965 -0.01133333
+v 0.13118093 0.15219965 -0.01132295
+v 0.08621875 -0.19602861 -0.00457902
+v 0.08621875 -0.19475343 -0.00883408
+v 0.08621875 -0.19606728 0.00102865
+v 0.14539987 -0.09981376 0.00102900
+v 0.14537123 -0.11917264 -0.00457874
+v 0.14538554 -0.00935632 -0.00457833
+v 0.14539987 0.10053728 -0.00457793
+v 0.14541418 0.11989615 0.00102981
+v 0.14537123 0.12634911 0.00377360
+v 0.09263374 -0.19494667 -0.00457902
+v 0.09705836 -0.19390340 0.00102866
+v 0.10029450 -0.19282146 0.00102866
+v 0.10020859 -0.19282144 -0.00457901
+v 0.10549235 -0.19069623 0.00102867
+v 0.11063294 -0.18814595 0.00102868
+v 0.11061861 -0.18814593 -0.00457899
+v 0.11385475 -0.18625257 0.00102869
+v 0.11896668 -0.18250442 -0.00414293
+v 0.12152981 -0.18057240 -0.00198498
+v 0.12152981 -0.18057240 -0.00152670
+v 0.12412159 -0.17806078 0.00061790
+v 0.12805936 -0.17423536 -0.00457894
+v 0.13075135 -0.17087364 0.00102874
+v 0.13385861 -0.16685502 -0.00457891
+v 0.13589194 -0.16364788 0.00102877
+v 0.13891329 -0.15792908 0.00102879
+v 0.13889896 -0.15792906 -0.00457888
+v 0.14063159 -0.15421959 0.00102880
+v 0.14173416 -0.15101241 -0.00457885
+v 0.14342382 -0.14502315 0.00102884
+v 0.14515645 -0.13207859 0.00102888
+v 0.14455503 -0.13857019 0.00102886
+v 0.14535690 -0.12562562 0.00102891
+v 0.14538554 -0.11917266 0.00102893
+v 0.06698811 0.19767945 0.00377387
+v 0.02846956 0.19771811 0.00103010
+v -0.00085609 0.19764088 -0.00457757
+v -0.00085609 0.18817397 -0.01121901
+v -0.00085609 0.19099472 -0.01111963
+v 0.06057313 0.19594067 -0.00913816
+v 0.06698811 0.19594067 -0.00913519
+v 0.07338879 0.19099472 -0.01110331
+v 0.09907737 0.18454176 -0.01131690
+v 0.09264806 0.18454176 -0.01132728
+v 0.08623308 0.18454176 -0.01133321
+v 0.13759593 0.12634916 -0.01130377
+v 0.14308016 0.11989618 -0.00932976
+v 0.14308016 0.11344322 -0.00933127
+v 0.13763887 -0.00935630 -0.01129833
+v 0.14308016 0.00358826 -0.00933316
+v 0.14306585 -0.07396324 -0.00933196
+v 0.14306585 -0.11917263 -0.00932768
+v 0.14306585 -0.12562559 -0.00932621
+v 0.13759593 -0.13207855 -0.01127951
+v 0.13116662 -0.15792904 -0.01109421
+v 0.13159620 -0.16472976 -0.00954586
+v 0.12934808 -0.17087361 -0.00840388
+v 0.12473731 -0.17574232 -0.00842170
+v 0.11896668 -0.17798346 -0.00970460
+v 0.13759593 -0.13857015 -0.01115791
+v 0.11203621 -0.18412731 -0.00942135
+v 0.10549235 -0.18884145 -0.00898384
+v 0.09263374 -0.19027114 -0.01026675
+v 0.12475163 0.15869125 -0.01132738
+v 0.10549235 0.17808879 -0.01132583
+v 0.11833664 0.17159718 -0.01131843
+v 0.12475163 0.16514422 -0.01128879
+v 0.13118093 0.15869125 -0.01107674
+v 0.13759593 0.13929372 -0.01115393
+v 0.13759593 0.13284076 -0.01127408
+v 0.09263374 -0.19421248 -0.00828680
+v 0.09658583 -0.19371014 -0.00772915
+v 0.14534260 -0.12562560 -0.00457876
+v 0.14308016 -0.00935631 -0.00933172
+v 0.14308016 0.01004122 -0.00933313
+v 0.14538554 0.11989617 -0.00457786
+v 0.14535690 0.12634914 -0.00457784
+v 0.14537123 0.12634912 0.00102983
+v 0.14527099 0.12967218 0.00377362
+v 0.09700109 -0.19386473 -0.00457901
+v 0.10549235 -0.19065757 -0.00457900
+v 0.10997425 -0.18775951 -0.00821559
+v 0.11382611 -0.18621391 -0.00457898
+v 0.12151551 -0.18057239 -0.00572096
+v 0.12412159 -0.17806076 -0.00414291
+v 0.12801639 -0.17419670 -0.00746360
+v 0.13075135 -0.17087362 -0.00457893
+v 0.13536212 -0.16279776 -0.00839199
+v 0.13589194 -0.16364786 -0.00457890
+v 0.14141913 -0.15008503 -0.00816502
+v 0.14060295 -0.15421957 -0.00457887
+v 0.14339518 -0.14502313 -0.00457883
+v 0.14454072 -0.13857017 -0.00457881
+v 0.14514212 -0.13207857 -0.00457879
+v 0.07338879 0.19760221 0.00377387
+v 0.07338879 0.19760224 -0.00457757
+v 0.06698811 0.19764088 -0.00457757
+v -0.00085609 0.19690671 -0.00656940
+v -0.00085609 0.19594067 -0.00913668
+v 0.07338879 0.19590207 -0.00912185
+v 0.07980377 0.19099472 -0.01102619
+v 0.10549235 0.18454176 -0.01094464
+v 0.11192166 0.17808879 -0.01127244
+v 0.08623308 0.19099472 -0.01080372
+v 0.14306585 0.12634915 -0.00932529
+v 0.14296561 -0.13207856 -0.00929955
+v 0.13759593 -0.14502311 -0.01079457
+v 0.13662221 -0.15792905 -0.00912166
+v 0.11724839 -0.18219529 -0.00863084
+v 0.14265058 -0.13857016 -0.00918240
+v 0.09886258 -0.19061891 -0.00916331
+v 0.12475163 0.17159718 -0.01034699
+v 0.13659357 0.15869124 -0.00910716
+v 0.13759593 0.14574669 -0.01078015
+v 0.13159620 0.16545333 -0.00952537
+v 0.14267922 0.13929371 -0.00917990
+v 0.14296561 0.13284075 -0.00929857
+v 0.14514212 0.13284074 -0.00457781
+v 0.14517075 0.13284072 0.00102986
+v 0.14515645 0.13284071 0.00377363
+v 0.14210646 -0.14502312 -0.00882202
+v 0.07666787 0.19748627 0.00377387
+v 0.07980377 0.19737037 -0.00457758
+v 0.07980377 0.19578613 -0.00904621
+v 0.11202189 0.18485087 -0.00940368
+v 0.11896668 0.17870704 -0.00969736
+v 0.09264806 0.19099472 -0.01026683
+v 0.10549235 0.18956501 -0.00897652
+v 0.08623308 0.19547702 -0.00882819
+v 0.12475163 0.17646588 -0.00841150
+v 0.12933377 0.17159717 -0.00838779
+v 0.13536212 0.16348267 -0.00837448
+v 0.14141913 0.15076995 -0.00815058
+v 0.14209214 0.14574668 -0.00881057
+v 0.14455503 0.13929370 -0.00457779
+v 0.14456936 0.13929368 0.00102988
+v 0.14485574 0.13612515 0.00377364
+v 0.07980377 0.19737034 0.00377386
+v 0.08309718 0.19706122 0.00377386
+v 0.08623308 0.19675213 -0.00457758
+v 0.10995993 0.18848307 -0.00820383
+v 0.11724839 0.18291884 -0.00862209
+v 0.09264806 0.19493602 -0.00829723
+v 0.09889121 0.19134247 -0.00916636
+v 0.09662878 0.19447237 -0.00774256
+v 0.12803072 0.17488162 -0.00745342
+v 0.13884169 0.15869123 -0.00457772
+v 0.13384431 0.16753991 -0.00457768
+v 0.13584898 0.16433275 -0.00457770
+v 0.14171984 0.15165866 -0.00457774
+v 0.14338086 0.14574667 -0.00457776
+v 0.14058862 0.15490447 -0.00457773
+v 0.14455503 0.13929367 0.00377365
+v 0.14339518 0.14574665 0.00102991
+v 0.08623308 0.19675210 0.00377386
+v 0.09264806 0.19567019 -0.00457758
+v 0.11382611 0.18693745 -0.00457761
+v 0.12152981 0.18129593 -0.00663768
+v 0.10549235 0.19138111 -0.00457760
+v 0.11060429 0.18886948 -0.00457761
+v 0.09702972 0.19458825 -0.00457759
+v 0.10023722 0.19350633 -0.00457759
+v 0.12807368 0.17495889 -0.00457766
+v 0.13073705 0.17159716 -0.00457767
+v 0.13888465 0.15869121 0.00102995
+v 0.13226919 0.16962647 0.00377376
+v 0.13384431 0.16753988 0.00377376
+v 0.13586330 0.16433273 0.00102997
+v 0.14171984 0.15169729 0.00102993
+v 0.14061727 0.15490445 0.00102994
+v 0.14338086 0.14574664 0.00377368
+v 0.14253603 0.14879923 0.00377369
+v 0.09264806 0.19567016 0.00377386
+v 0.09705836 0.19462687 0.00103008
+v 0.11220804 0.18794206 0.00377383
+v 0.11385475 0.18693742 0.00377383
+v 0.11833664 0.18376890 0.00103005
+v 0.11896668 0.18322796 -0.00469034
+v 0.12158710 0.18133457 -0.00289874
+v 0.10812707 0.19014458 0.00377384
+v 0.10028018 0.19354496 0.00103008
+v 0.10549235 0.19141972 0.00103007
+v 0.11063294 0.18886946 0.00103006
+v 0.12479459 0.17820467 0.00103002
+v 0.12808800 0.17495887 0.00103001
+v 0.13075135 0.17159714 0.00103000
+v 0.13887032 0.15869120 0.00377372
+v 0.14061727 0.15490444 0.00377371
+v 0.13073705 0.17159713 0.00377377
+v 0.13586330 0.16429407 0.00377374
+v 0.13733818 0.16155060 0.00377373
+v 0.14171984 0.15165863 0.00377370
+v 0.09491049 0.19512921 0.00377386
+v 0.09863347 0.19408590 0.00377385
+v 0.10026586 0.19354495 0.00377385
+v 0.09705836 0.19458822 0.00377385
+v 0.11063294 0.18886945 0.00377383
+v 0.11833664 0.18376889 0.00377382
+v 0.11999767 0.18253240 0.00377381
+v 0.12158710 0.18133455 0.00377381
+v 0.10549235 0.19141971 0.00377384
+v 0.12646993 0.17654312 0.00377379
+v 0.12807368 0.17495886 0.00377378
+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 27
+f 1 27 13
+f 1 13 30
+f 1 30 49
+f 1 49 73
+f 1 73 128
+f 1 128 186
+f 1 186 247
+f 1 247 248
+f 1 248 188
+f 1 188 187
+f 1 187 129
+f 1 129 75
+f 1 75 74
+f 1 74 50
+f 1 50 31
+f 1 31 14
+f 1 14 2
+f 2 15 3
+f 2 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 16
+f 4 16 18
+f 4 18 19
+f 4 19 5
+f 5 19 6
+f 6 19 20
+f 6 20 7
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 9
+f 9 22 10
+f 10 23 24
+f 10 24 11
+f 10 22 23
+f 11 24 12
+f 12 25 26
+f 12 26 27
+f 12 24 23
+f 12 23 25
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 14 31 32
+f 14 32 15
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 16
+f 15 32 37
+f 15 37 38
+f 15 38 39
+f 15 39 33
+f 16 36 35
+f 16 35 18
+f 18 35 20
+f 18 20 19
+f 20 40 41
+f 20 41 42
+f 20 42 22
+f 20 22 21
+f 20 35 40
+f 22 42 23
+f 23 42 41
+f 23 41 43
+f 23 43 25
+f 25 44 45
+f 25 45 26
+f 25 43 46
+f 25 46 44
+f 26 45 47
+f 26 47 27
+f 27 47 28
+f 28 47 29
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 37
+f 33 53 34
+f 33 39 65
+f 33 65 53
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 54
+f 35 54 56
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 60
+f 35 60 61
+f 35 61 40
+f 37 52 62
+f 37 62 38
+f 38 62 87
+f 38 87 63
+f 38 63 64
+f 38 64 39
+f 39 64 65
+f 40 61 41
+f 41 61 66
+f 41 66 67
+f 41 67 46
+f 41 46 43
+f 44 68 69
+f 44 69 45
+f 44 46 68
+f 45 69 70
+f 45 70 72
+f 45 72 47
+f 46 71 68
+f 46 67 71
+f 47 72 48
+f 48 72 70
+f 48 70 96
+f 48 96 158
+f 48 158 228
+f 48 228 269
+f 48 269 286
+f 48 286 302
+f 48 302 320
+f 48 320 321
+f 48 321 341
+f 48 341 337
+f 48 337 336
+f 48 336 340
+f 48 340 339
+f 48 339 316
+f 48 316 315
+f 48 315 338
+f 48 338 352
+f 48 352 351
+f 48 351 349
+f 48 349 348
+f 48 348 347
+f 48 347 325
+f 48 325 324
+f 48 324 346
+f 48 346 329
+f 48 329 350
+f 48 350 344
+f 48 344 343
+f 48 343 345
+f 48 345 342
+f 48 342 322
+f 48 322 304
+f 48 304 288
+f 48 288 287
+f 48 287 271
+f 48 271 244
+f 48 244 184
+f 48 184 127
+f 48 127 73
+f 48 73 49
+f 50 74 51
+f 51 74 75
+f 51 75 76
+f 51 76 52
+f 52 76 62
+f 53 77 54
+f 53 65 64
+f 53 64 78
+f 53 78 79
+f 53 79 77
+f 54 77 56
+f 56 80 83
+f 56 83 57
+f 56 77 81
+f 56 81 82
+f 56 82 80
+f 57 83 58
+f 58 84 59
+f 58 83 85
+f 58 85 84
+f 59 84 60
+f 60 86 66
+f 60 66 61
+f 60 84 86
+f 62 76 87
+f 63 87 146
+f 63 146 88
+f 63 88 89
+f 63 89 78
+f 63 78 64
+f 66 86 67
+f 67 86 90
+f 67 90 71
+f 68 91 92
+f 68 92 93
+f 68 93 69
+f 68 71 94
+f 68 94 91
+f 69 93 70
+f 70 95 96
+f 70 93 97
+f 70 97 98
+f 70 98 99
+f 70 99 100
+f 70 100 101
+f 70 101 102
+f 70 102 103
+f 70 103 104
+f 70 104 105
+f 70 105 106
+f 70 106 107
+f 70 107 108
+f 70 108 109
+f 70 109 110
+f 70 110 111
+f 70 111 112
+f 70 112 113
+f 70 113 114
+f 70 114 115
+f 70 115 116
+f 70 116 117
+f 70 117 118
+f 70 118 119
+f 70 119 120
+f 70 120 121
+f 70 121 122
+f 70 122 123
+f 70 123 124
+f 70 124 125
+f 70 125 126
+f 70 126 95
+f 71 90 94
+f 73 127 128
+f 75 129 130
+f 75 130 76
+f 76 130 131
+f 76 131 132
+f 76 132 87
+f 77 79 81
+f 78 89 133
+f 78 133 79
+f 79 133 134
+f 79 134 135
+f 79 135 81
+f 80 82 138
+f 80 138 83
+f 81 135 136
+f 81 136 137
+f 81 137 82
+f 82 137 138
+f 83 138 85
+f 84 139 140
+f 84 140 86
+f 84 85 141
+f 84 141 142
+f 84 142 139
+f 85 143 141
+f 85 138 143
+f 86 144 145
+f 86 145 90
+f 86 140 144
+f 87 132 147
+f 87 147 146
+f 88 146 89
+f 89 146 148
+f 89 148 149
+f 89 149 133
+f 90 145 94
+f 91 150 152
+f 91 152 92
+f 91 94 151
+f 91 151 150
+f 92 152 99
+f 92 99 98
+f 92 98 97
+f 92 97 93
+f 94 145 151
+f 95 153 154
+f 95 154 155
+f 95 155 156
+f 95 156 157
+f 95 157 96
+f 95 126 153
+f 96 157 227
+f 96 227 158
+f 99 152 100
+f 100 152 159
+f 100 159 101
+f 101 159 102
+f 102 159 160
+f 102 160 161
+f 102 161 103
+f 103 161 104
+f 104 161 162
+f 104 162 163
+f 104 163 105
+f 105 163 164
+f 105 164 106
+f 106 164 107
+f 107 164 165
+f 107 165 166
+f 107 166 108
+f 108 166 109
+f 109 166 167
+f 109 167 110
+f 110 167 168
+f 110 168 169
+f 110 169 111
+f 111 169 170
+f 111 170 112
+f 112 170 234
+f 112 234 171
+f 112 171 236
+f 112 236 172
+f 112 172 113
+f 113 172 114
+f 114 172 236
+f 114 236 173
+f 114 173 238
+f 114 238 174
+f 114 174 115
+f 115 174 116
+f 116 174 117
+f 117 175 118
+f 117 174 175
+f 118 175 176
+f 118 176 177
+f 118 177 119
+f 119 177 178
+f 119 178 120
+f 120 178 179
+f 120 179 121
+f 121 179 122
+f 122 180 123
+f 122 179 181
+f 122 181 180
+f 123 180 124
+f 124 180 182
+f 124 182 183
+f 124 183 125
+f 125 153 126
+f 125 183 153
+f 127 184 185
+f 127 185 128
+f 128 185 186
+f 129 187 130
+f 130 187 131
+f 131 188 189
+f 131 189 190
+f 131 190 191
+f 131 191 192
+f 131 192 193
+f 131 193 194
+f 131 194 132
+f 131 187 188
+f 132 194 147
+f 133 149 195
+f 133 195 196
+f 133 196 197
+f 133 197 198
+f 133 198 134
+f 134 198 135
+f 135 198 136
+f 136 198 199
+f 136 199 200
+f 136 200 201
+f 136 201 202
+f 136 202 137
+f 137 202 203
+f 137 203 141
+f 137 141 143
+f 137 143 138
+f 139 142 204
+f 139 204 205
+f 139 205 206
+f 139 206 207
+f 139 207 208
+f 139 208 144
+f 139 144 140
+f 141 204 142
+f 141 203 209
+f 141 209 204
+f 144 208 210
+f 144 210 211
+f 144 211 212
+f 144 212 145
+f 145 212 151
+f 146 213 149
+f 146 149 148
+f 146 147 213
+f 147 194 193
+f 147 193 214
+f 147 214 215
+f 147 215 213
+f 149 213 215
+f 149 215 216
+f 149 216 217
+f 149 217 218
+f 149 218 219
+f 149 219 195
+f 150 151 220
+f 150 220 221
+f 150 221 159
+f 150 159 152
+f 151 212 220
+f 153 183 154
+f 154 183 182
+f 154 182 222
+f 154 222 202
+f 154 202 223
+f 154 223 155
+f 155 223 156
+f 156 199 224
+f 156 224 197
+f 156 197 196
+f 156 196 225
+f 156 225 157
+f 156 223 199
+f 157 225 226
+f 157 226 227
+f 158 227 228
+f 159 221 229
+f 159 229 160
+f 160 229 162
+f 160 162 161
+f 162 229 221
+f 162 221 230
+f 162 230 163
+f 163 230 165
+f 163 165 164
+f 165 230 231
+f 165 231 232
+f 165 232 166
+f 166 232 167
+f 167 233 168
+f 167 232 233
+f 168 233 234
+f 168 234 170
+f 168 170 169
+f 171 234 233
+f 171 233 235
+f 171 235 236
+f 173 237 238
+f 173 236 235
+f 173 235 237
+f 174 238 175
+f 175 238 176
+f 176 239 240
+f 176 240 177
+f 176 238 237
+f 176 237 239
+f 177 240 178
+f 178 240 239
+f 178 239 241
+f 178 241 179
+f 179 241 242
+f 179 242 181
+f 180 181 242
+f 180 242 243
+f 180 243 222
+f 180 222 182
+f 184 244 245
+f 184 245 246
+f 184 246 185
+f 185 246 186
+f 186 246 247
+f 188 248 189
+f 189 248 247
+f 189 247 246
+f 189 246 190
+f 190 249 191
+f 190 246 245
+f 190 245 249
+f 191 249 250
+f 191 250 192
+f 192 251 252
+f 192 252 215
+f 192 215 214
+f 192 214 193
+f 192 250 253
+f 192 253 251
+f 195 219 254
+f 195 254 196
+f 196 254 225
+f 197 224 198
+f 198 224 199
+f 199 223 201
+f 199 201 200
+f 201 223 202
+f 202 222 255
+f 202 255 203
+f 203 255 209
+f 204 209 256
+f 204 256 257
+f 204 257 205
+f 205 237 206
+f 205 257 237
+f 206 237 235
+f 206 235 207
+f 207 235 258
+f 207 258 208
+f 208 258 210
+f 209 255 259
+f 209 259 256
+f 210 231 211
+f 210 258 231
+f 211 260 212
+f 211 231 221
+f 211 221 220
+f 211 220 260
+f 212 260 220
+f 215 252 261
+f 215 261 216
+f 216 261 217
+f 217 262 263
+f 217 263 218
+f 217 261 264
+f 217 264 262
+f 218 265 266
+f 218 266 219
+f 218 263 265
+f 219 266 254
+f 221 231 230
+f 222 243 255
+f 225 254 226
+f 226 254 266
+f 226 266 267
+f 226 267 268
+f 226 268 227
+f 227 268 228
+f 228 268 269
+f 231 258 233
+f 231 233 232
+f 233 258 235
+f 237 257 239
+f 239 270 242
+f 239 242 241
+f 239 257 270
+f 242 270 259
+f 242 259 243
+f 243 259 255
+f 244 271 245
+f 245 271 272
+f 245 272 273
+f 245 273 249
+f 249 273 250
+f 250 273 253
+f 251 274 275
+f 251 275 261
+f 251 261 252
+f 251 253 276
+f 251 276 277
+f 251 277 274
+f 253 273 278
+f 253 278 276
+f 256 270 257
+f 256 259 270
+f 261 275 279
+f 261 279 280
+f 261 280 264
+f 262 264 281
+f 262 281 282
+f 262 282 283
+f 262 283 263
+f 263 283 265
+f 264 280 281
+f 265 267 266
+f 265 283 284
+f 265 284 267
+f 267 284 268
+f 268 284 285
+f 268 285 286
+f 268 286 269
+f 271 287 272
+f 272 287 288
+f 272 288 289
+f 272 289 278
+f 272 278 273
+f 274 277 290
+f 274 290 291
+f 274 291 275
+f 275 291 279
+f 276 278 292
+f 276 292 293
+f 276 293 277
+f 277 293 292
+f 277 292 294
+f 277 294 290
+f 278 289 292
+f 279 295 280
+f 279 291 295
+f 280 295 281
+f 281 296 282
+f 281 295 297
+f 281 297 298
+f 281 298 296
+f 282 299 300
+f 282 300 284
+f 282 284 283
+f 282 296 301
+f 282 301 299
+f 284 300 303
+f 284 303 285
+f 285 302 286
+f 285 303 320
+f 285 320 302
+f 288 304 289
+f 289 304 322
+f 289 322 305
+f 289 305 294
+f 289 294 292
+f 290 306 307
+f 290 307 291
+f 290 294 308
+f 290 308 309
+f 290 309 306
+f 291 307 295
+f 294 305 310
+f 294 310 311
+f 294 311 308
+f 295 307 312
+f 295 312 313
+f 295 313 297
+f 296 314 301
+f 296 298 314
+f 297 315 316
+f 297 316 317
+f 297 317 298
+f 297 313 315
+f 298 317 314
+f 299 318 303
+f 299 303 300
+f 299 301 319
+f 299 319 318
+f 301 314 319
+f 303 318 321
+f 303 321 320
+f 305 323 310
+f 305 322 323
+f 306 309 324
+f 306 324 325
+f 306 325 326
+f 306 326 327
+f 306 327 307
+f 307 327 328
+f 307 328 312
+f 308 329 309
+f 308 311 330
+f 308 330 331
+f 308 331 329
+f 309 329 332
+f 309 332 324
+f 310 323 330
+f 310 330 311
+f 312 328 333
+f 312 333 334
+f 312 334 335
+f 312 335 313
+f 313 335 315
+f 314 336 337
+f 314 337 319
+f 314 317 336
+f 315 335 338
+f 316 339 317
+f 317 339 340
+f 317 340 336
+f 318 341 321
+f 318 319 337
+f 318 337 341
+f 322 342 323
+f 323 343 344
+f 323 344 330
+f 323 342 345
+f 323 345 343
+f 324 332 346
+f 325 347 326
+f 326 347 348
+f 326 348 328
+f 326 328 327
+f 328 348 349
+f 328 349 333
+f 329 346 332
+f 329 331 350
+f 330 344 350
+f 330 350 331
+f 333 351 334
+f 333 349 351
+f 334 351 352
+f 334 352 338
+f 334 338 335
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_10.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.08993442 0.17869663 0.00512589
+v -0.08993442 0.18109476 0.02610158
+v -0.08993442 0.19634004 0.00512595
+v -0.04219519 0.17917776 0.00512589
+v -0.08993442 0.18116562 0.02650656
+v -0.00085608 0.18179968 0.02347169
+v -0.08993442 0.19634192 0.00578708
+v -0.08713546 0.19681932 0.00512595
+v -0.03576893 0.17969247 0.00512589
+v -0.08993442 0.18261835 0.02756534
+v -0.00085608 0.18482261 0.02825576
+v -0.00085608 0.18253824 0.00512590
+v -0.08993442 0.19634379 0.00664338
+v -0.08713546 0.19683607 0.01225446
+v -0.08713546 0.19682305 0.00664338
+v -0.08071791 0.19741981 0.00512596
+v -0.08993442 0.18425196 0.02840458
+v -0.00085608 0.18753224 0.02903644
+v -0.00085608 0.19619274 0.00512595
+v -0.08993442 0.19636611 0.01786066
+v -0.08713546 0.19684724 0.01786066
+v -0.08071791 0.19742353 0.00664339
+v -0.07898273 0.19748321 0.00512596
+v -0.08993442 0.18820918 0.02943410
+v -0.00085608 0.19102139 0.03004157
+v -0.00085608 0.19774608 0.02347175
+v -0.04046001 0.19771818 0.00512596
+v -0.08993442 0.19636983 0.02030270
+v -0.08713546 0.19685281 0.02347174
+v -0.08071791 0.19745330 0.02347175
+v -0.08071791 0.19744401 0.01786067
+v -0.08993442 0.19637356 0.02347174
+v -0.07429165 0.19765665 0.00664339
+v -0.07429165 0.19765106 0.00512596
+v -0.05503029 0.19102139 0.03003181
+v -0.06787410 0.19102139 0.03002205
+v -0.07429165 0.19102139 0.03001229
+v -0.08071791 0.19102139 0.02995374
+v -0.08713546 0.19102139 0.02975614
+v -0.08993442 0.19102139 0.02952681
+v -0.00366376 0.19102139 0.03004401
+v -0.02293384 0.19102139 0.03004889
+v -0.02935138 0.19102139 0.03004645
+v -0.00085608 0.19319581 0.02917796
+v -0.00085608 0.19676144 0.02605772
+v -0.00366376 0.19774795 0.02347175
+v -0.04219519 0.19772378 0.00664339
+v -0.06144783 0.19770512 0.00512596
+v -0.08713546 0.19555300 0.02778008
+v -0.08993442 0.19604907 0.02511848
+v -0.08071791 0.19585139 0.02798013
+v -0.07429165 0.19767336 0.02347175
+v -0.06787410 0.19770140 0.00664339
+v -0.06787410 0.19769768 0.00512596
+v -0.07255647 0.19766410 0.00512596
+v -0.06787410 0.19598006 0.02805087
+v -0.03576893 0.19599869 0.02806551
+v -0.07429165 0.19596141 0.02804112
+v -0.08993442 0.19357999 0.02841193
+v -0.00366376 0.19599869 0.02806551
+v -0.00085608 0.19599684 0.02806307
+v -0.04219519 0.19773308 0.01225447
+v -0.02293384 0.19774608 0.02347175
+v -0.06144783 0.19770887 0.00664339
+v -0.08993442 0.19531431 0.02755076
+v -0.06787410 0.19770880 0.02347175
+v -0.06144783 0.19771256 0.01225447
+v -0.05503029 0.19772002 0.01225447
+v -0.05503029 0.19772183 0.02347175
+v -0.04860402 0.19599310 0.02805819
+v -0.04219519 0.19773304 0.02347175
+v -0.04219519 0.19599684 0.02806063
+v -0.02935138 0.19774236 0.02347175
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 24
+f 1 24 40
+f 1 40 59
+f 1 59 65
+f 1 65 50
+f 1 50 32
+f 1 32 28
+f 1 28 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 23
+f 1 23 34
+f 1 34 55
+f 1 55 54
+f 1 54 48
+f 1 48 27
+f 1 27 19
+f 1 19 12
+f 1 12 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 6
+f 5 6 11
+f 5 11 10
+f 6 9 12
+f 6 12 19
+f 6 19 26
+f 6 26 45
+f 6 45 61
+f 6 61 44
+f 6 44 25
+f 6 25 18
+f 6 18 11
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 22
+f 8 22 16
+f 10 11 17
+f 11 18 17
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 16 22 23
+f 17 18 25
+f 17 25 24
+f 19 27 26
+f 20 28 21
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 21 28 32
+f 21 32 29
+f 22 31 33
+f 22 33 23
+f 23 33 34
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 25 41
+f 24 41 42
+f 24 42 43
+f 24 43 35
+f 25 44 41
+f 26 27 46
+f 26 46 45
+f 27 47 46
+f 27 48 47
+f 29 49 30
+f 29 32 50
+f 29 50 49
+f 30 33 31
+f 30 49 51
+f 30 51 52
+f 30 52 33
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 35 56 36
+f 35 43 57
+f 35 57 56
+f 36 56 37
+f 37 56 58
+f 37 58 38
+f 38 51 39
+f 38 58 51
+f 39 51 49
+f 39 49 59
+f 39 59 40
+f 41 44 60
+f 41 60 42
+f 42 60 57
+f 42 57 43
+f 44 61 60
+f 45 46 60
+f 45 60 61
+f 46 47 62
+f 46 62 63
+f 46 63 57
+f 46 57 60
+f 47 48 64
+f 47 64 62
+f 48 54 53
+f 48 53 64
+f 49 50 65
+f 49 65 59
+f 51 58 52
+f 52 58 66
+f 52 66 53
+f 53 66 67
+f 53 67 68
+f 53 68 64
+f 56 69 66
+f 56 66 58
+f 56 57 70
+f 56 70 71
+f 56 71 69
+f 57 63 72
+f 57 72 70
+f 62 64 68
+f 62 68 66
+f 62 66 69
+f 62 69 71
+f 62 71 73
+f 62 73 63
+f 63 73 72
+f 66 68 67
+f 70 72 71
+f 71 72 73
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_11.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.00085608 -0.19600273 0.00373419
+v -0.00085608 -0.19702657 0.02346927
+v -0.00085608 -0.17926413 0.00373425
+v 0.03795871 -0.19702058 0.00373419
+v -0.00085608 -0.19626071 0.02547627
+v 0.02203185 -0.19704035 0.02346927
+v -0.00085608 -0.18112668 0.02346932
+v 0.03487059 -0.17743711 0.00373426
+v 0.05079746 -0.19702649 0.00373419
+v 0.05412443 -0.19703436 0.00664035
+v -0.00085608 -0.19527239 0.02806038
+v 0.03487059 -0.19527831 0.02806296
+v 0.02203185 -0.19527831 0.02806296
+v 0.05412443 -0.19703834 0.01225171
+v 0.05412443 -0.19703640 0.01786049
+v 0.04770080 -0.19702657 0.02346927
+v 0.04129423 -0.19527634 0.02806296
+v 0.04129423 -0.17715360 0.00373426
+v -0.00085608 -0.18281394 0.02616679
+v 0.08629380 -0.18070143 0.02468538
+v 0.05412443 -0.17697641 0.00373426
+v 0.05220503 -0.17700003 0.00373426
+v 0.05412443 -0.19702453 0.00373419
+v 0.06054807 -0.19701468 0.00373419
+v 0.06054807 -0.19702255 0.00664035
+v -0.00085608 -0.19029335 0.03004422
+v 0.01560822 -0.19527634 0.02806296
+v 0.04770080 -0.19029335 0.03004937
+v 0.02203185 -0.19029335 0.03004937
+v 0.06054807 -0.19702260 0.01786049
+v 0.05412443 -0.19702066 0.02346927
+v 0.04770080 -0.19527239 0.02806038
+v 0.05412443 -0.19029335 0.03004679
+v -0.00085608 -0.18412317 0.02825880
+v 0.08629380 -0.18329825 0.02797284
+v 0.08629380 -0.17692719 0.00373426
+v 0.06697171 -0.19699499 0.00373419
+v 0.06697171 -0.19699696 0.00664035
+v 0.01560822 -0.18411924 0.02826138
+v 0.06054807 -0.18411727 0.02826138
+v 0.05412443 -0.18412515 0.02826396
+v 0.06697171 -0.19699308 0.01786049
+v 0.06697171 -0.19698522 0.02346927
+v 0.06054807 -0.19700688 0.02346927
+v 0.06697171 -0.19524877 0.02804492
+v 0.06054807 -0.19525861 0.02805265
+v 0.05412443 -0.19526649 0.02805781
+v 0.06054807 -0.19029335 0.03003906
+v 0.07981045 -0.18413105 0.02825623
+v 0.07338681 -0.19029335 0.03000815
+v 0.07981045 -0.19029335 0.02993601
+v 0.08629380 -0.19023626 0.02971444
+v 0.08629380 -0.19607951 0.00373419
+v 0.07338681 -0.19693986 0.00373419
+v 0.07338681 -0.19693401 0.01786049
+v 0.07338681 -0.19692025 0.02346927
+v 0.07338681 -0.19521726 0.02802689
+v 0.06697171 -0.19029335 0.03002876
+v 0.07981045 -0.19509127 0.02795475
+v 0.08623408 -0.19029335 0.02971959
+v 0.08629380 -0.19029335 0.02971444
+v 0.08623408 -0.19608934 0.00373419
+v 0.08629380 -0.19607951 0.00375737
+v 0.07981045 -0.19669967 0.00373419
+v 0.07981045 -0.19668399 0.01786049
+v 0.07981045 -0.19666825 0.02346927
+v 0.08623408 -0.19478414 0.02774091
+v 0.08629380 -0.19474279 0.02775379
+v 0.08629380 -0.19605792 0.01790944
+v 0.08623408 -0.19606776 0.01786049
+v 0.08290710 -0.19640631 0.00373419
+v 0.08623408 -0.19605398 0.02346927
+v 0.08629380 -0.19477822 0.02773576
+v 0.08629380 -0.19604414 0.02346927
+v 0.08629380 -0.19603628 0.02350276
+f 1 2 5
+f 1 5 11
+f 1 11 26
+f 1 26 34
+f 1 34 19
+f 1 19 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 22
+f 1 22 21
+f 1 21 36
+f 1 36 53
+f 1 53 62
+f 1 62 71
+f 1 71 64
+f 1 64 54
+f 1 54 37
+f 1 37 24
+f 1 24 23
+f 1 23 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 6 11
+f 6 12 13
+f 6 13 11
+f 6 10 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 12
+f 7 18 8
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 18
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 14
+f 11 13 27
+f 11 27 26
+f 12 17 28
+f 12 28 29
+f 12 29 13
+f 13 29 27
+f 14 25 30
+f 14 30 15
+f 15 30 44
+f 15 44 31
+f 15 31 16
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 28
+f 19 34 20
+f 20 35 52
+f 20 52 61
+f 20 61 68
+f 20 68 73
+f 20 73 75
+f 20 75 74
+f 20 74 69
+f 20 69 63
+f 20 63 53
+f 20 53 36
+f 20 36 21
+f 20 34 35
+f 24 37 25
+f 25 37 38
+f 25 38 30
+f 26 27 29
+f 26 29 39
+f 26 39 34
+f 28 33 40
+f 28 40 41
+f 28 41 29
+f 29 41 39
+f 30 38 42
+f 30 42 43
+f 30 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 32
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 33 49 40
+f 34 39 35
+f 35 40 49
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 39 40
+f 37 54 38
+f 38 54 42
+f 39 41 40
+f 42 54 55
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 45
+f 43 45 44
+f 45 57 50
+f 45 50 58
+f 45 58 46
+f 46 58 48
+f 46 48 47
+f 48 58 49
+f 49 58 50
+f 50 57 51
+f 51 57 59
+f 51 59 60
+f 51 60 52
+f 52 60 61
+f 53 63 62
+f 54 64 55
+f 55 64 65
+f 55 65 56
+f 56 65 66
+f 56 66 59
+f 56 59 57
+f 59 66 67
+f 59 67 60
+f 60 67 61
+f 61 67 68
+f 62 63 69
+f 62 69 70
+f 62 70 65
+f 62 65 71
+f 64 71 65
+f 65 70 72
+f 65 72 66
+f 66 72 67
+f 67 72 73
+f 67 73 68
+f 69 74 72
+f 69 72 70
+f 72 74 75
+f 72 75 73
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_12.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00085608 0.17994449 0.00377380
+v -0.00085608 0.18179996 0.02347141
+v -0.00085608 0.19669339 0.00377386
+v 0.03692271 0.17788713 0.00377379
+v -0.00085608 0.18312058 0.02556285
+v 0.04129283 0.17778915 0.00377379
+v 0.08533153 0.18154327 0.02347141
+v 0.08533153 0.18369272 0.02725813
+v 0.08533153 0.18415906 0.02800673
+v -0.00085608 0.19774744 0.02347147
+v 0.04129283 0.19771618 0.00377387
+v -0.00085608 0.18482133 0.02825627
+v 0.08533153 0.17773429 0.00377379
+v 0.08533153 0.19102084 0.02977663
+v 0.07981404 0.19102084 0.02995671
+v 0.07339383 0.19102084 0.03002359
+v 0.07981404 0.18486443 0.02825627
+v 0.05412480 0.18482524 0.02825884
+v 0.04770459 0.18481937 0.02825884
+v 0.02202379 0.18481741 0.02826141
+v -0.00085608 0.19599770 0.02806337
+v 0.03487263 0.19600554 0.02807109
+v 0.01560359 0.19775137 0.02347147
+v 0.04129283 0.19773965 0.01225282
+v 0.04129283 0.19772988 0.00664220
+v 0.04456620 0.19771422 0.00377387
+v 0.03487263 0.19102084 0.03005446
+v -0.00085608 0.19102084 0.03004160
+v 0.08533153 0.19687952 0.00377386
+v 0.08533153 0.19558231 0.02779840
+v 0.07981404 0.19584878 0.02797848
+v 0.07339383 0.19597419 0.02804793
+v 0.06696520 0.19599770 0.02806337
+v 0.06696520 0.19102084 0.03003645
+v 0.06054500 0.19102084 0.03004417
+v 0.04129283 0.19102084 0.03005189
+v -0.00085608 0.19319576 0.02917725
+v 0.04770459 0.19600554 0.02806851
+v 0.04770459 0.19774941 0.02347147
+v 0.06054500 0.19774354 0.02347147
+v 0.06382681 0.19770051 0.00377387
+v 0.08309584 0.19709702 0.00377386
+v 0.08533153 0.19690884 0.02347146
+v 0.07981404 0.19743983 0.02347147
+v 0.07339383 0.19768083 0.02347147
+v 0.06696520 0.19773374 0.02347147
+v 0.06054500 0.19600359 0.02806337
+v 0.05412480 0.19600554 0.02806594
+v 0.06696520 0.19769658 0.00377387
+v 0.07981404 0.19741051 0.00377387
+v 0.07339383 0.19766520 0.01225282
+v 0.07339383 0.19765543 0.00664220
+v 0.07024700 0.19767307 0.00377387
+v 0.07339383 0.19764957 0.00377387
+f 1 2 5
+f 1 5 12
+f 1 12 28
+f 1 28 37
+f 1 37 21
+f 1 21 10
+f 1 10 3
+f 1 3 11
+f 1 11 26
+f 1 26 41
+f 1 41 49
+f 1 49 53
+f 1 53 54
+f 1 54 50
+f 1 50 42
+f 1 42 29
+f 1 29 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 5 9 12
+f 6 13 7
+f 7 13 29
+f 7 29 43
+f 7 43 30
+f 7 30 14
+f 7 14 9
+f 7 9 8
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 12
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 12 20 27
+f 12 27 28
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 27
+f 18 27 19
+f 19 27 20
+f 21 37 27
+f 21 27 22
+f 22 27 38
+f 22 38 39
+f 22 39 23
+f 23 39 24
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 26
+f 27 37 28
+f 27 36 48
+f 27 48 38
+f 29 42 43
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 33
+f 33 46 40
+f 33 40 47
+f 33 47 48
+f 33 48 35
+f 33 35 34
+f 35 48 36
+f 38 48 39
+f 39 48 47
+f 39 47 40
+f 40 49 41
+f 40 46 49
+f 42 50 44
+f 42 44 43
+f 44 50 51
+f 44 51 45
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 46 53 49
+f 50 54 52
+f 50 52 51
+f 52 54 53
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_13.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.12542174 0.15027599 0.00512820
+v -0.12542174 0.15335342 0.02347162
+v -0.12542174 0.17852861 0.00512831
+v -0.08993442 0.17869557 0.00512831
+v -0.08993442 0.18109162 0.02610261
+v -0.12542174 0.15472522 0.02551571
+v -0.08993442 0.18116381 0.02650754
+v -0.12542174 0.17854207 0.02347172
+v -0.12336878 0.18052313 0.00512831
+v -0.08993442 0.19633935 0.00512837
+v -0.12542174 0.15873680 0.02826056
+v -0.08993442 0.18261684 0.02756474
+v -0.12542174 0.17854207 0.02373359
+v -0.12250730 0.18136688 0.02347173
+v -0.12250036 0.18136245 0.00512832
+v -0.09182758 0.19601447 0.00512837
+v -0.08993442 0.19634388 0.00664385
+v -0.12542174 0.16541977 0.02979547
+v -0.08993442 0.18425035 0.02840615
+v -0.08993442 0.18820778 0.02943184
+v -0.12248994 0.18135785 0.02631841
+v -0.12542174 0.17727406 0.02709917
+v -0.11924550 0.18384424 0.02347174
+v -0.11924550 0.18381272 0.00512833
+v -0.09356096 0.19571663 0.00512837
+v -0.09356096 0.19572116 0.00664385
+v -0.08993442 0.19637090 0.02030260
+v -0.12542174 0.17188164 0.02932751
+v -0.09998383 0.18455719 0.02987071
+v -0.10640671 0.18455719 0.02989496
+v -0.08993442 0.19101906 0.02952641
+v -0.11924550 0.18258976 0.02725680
+v -0.11095725 0.18855976 0.02715740
+v -0.11482696 0.18703004 0.02347175
+v -0.12504658 0.17751773 0.02717191
+v -0.12542174 0.17709808 0.02718403
+v -0.11477832 0.18700304 0.00512834
+v -0.09799687 0.19463816 0.00512836
+v -0.09356096 0.19575266 0.02347178
+v -0.08993442 0.19637088 0.02347178
+v -0.11924550 0.17809532 0.02923782
+v -0.12542174 0.17396189 0.02847643
+v -0.09356096 0.19101906 0.02923059
+v -0.10640671 0.18965179 0.02792364
+v -0.11298937 0.18490466 0.02835765
+v -0.08993442 0.19357764 0.02841103
+v -0.09763908 0.19452526 0.02667974
+v -0.10640671 0.19151997 0.02347176
+v -0.11161378 0.18893431 0.02347175
+v -0.11156862 0.18892084 0.00512834
+v -0.09805940 0.19465614 0.02347178
+v -0.09886529 0.19435839 0.00512836
+v -0.08993442 0.19604597 0.02511820
+v -0.09986225 0.19140263 0.02809580
+v -0.08993442 0.19531495 0.02755267
+v -0.09356096 0.19500359 0.02725442
+v -0.10126911 0.19360021 0.02347177
+v -0.10124131 0.19360926 0.01786084
+v -0.10640671 0.19151547 0.01786083
+v -0.10640671 0.19150199 0.00512835
+v -0.10121005 0.19360028 0.00512836
+v -0.10499985 0.19207055 0.00512836
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 28
+f 1 28 42
+f 1 42 36
+f 1 36 22
+f 1 22 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 24
+f 1 24 37
+f 1 37 50
+f 1 50 60
+f 1 60 62
+f 1 62 61
+f 1 61 52
+f 1 52 38
+f 1 38 25
+f 1 25 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 17
+f 4 17 27
+f 4 27 40
+f 4 40 53
+f 4 53 55
+f 4 55 46
+f 4 46 31
+f 4 31 20
+f 4 20 19
+f 4 19 12
+f 4 12 7
+f 4 7 5
+f 6 7 12
+f 6 12 11
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 10 16 17
+f 11 12 19
+f 11 19 20
+f 11 20 18
+f 13 21 14
+f 13 22 21
+f 14 23 15
+f 14 21 23
+f 15 23 24
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 18 20 29
+f 18 29 30
+f 18 30 28
+f 20 31 29
+f 21 32 33
+f 21 33 34
+f 21 34 23
+f 21 22 35
+f 21 35 32
+f 22 36 35
+f 23 34 24
+f 24 34 37
+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 28 41 35
+f 28 35 42
+f 28 30 41
+f 29 31 30
+f 30 31 43
+f 30 43 44
+f 30 44 45
+f 30 45 41
+f 31 46 43
+f 32 45 33
+f 32 35 41
+f 32 41 45
+f 33 44 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 33 45 44
+f 34 49 50
+f 34 50 37
+f 35 36 42
+f 38 51 39
+f 38 52 51
+f 39 51 47
+f 39 47 40
+f 40 47 53
+f 43 54 44
+f 43 46 55
+f 43 55 56
+f 43 56 54
+f 44 54 56
+f 44 56 47
+f 47 56 53
+f 47 51 57
+f 47 57 48
+f 48 57 58
+f 48 58 59
+f 48 59 49
+f 49 59 60
+f 49 60 50
+f 51 52 61
+f 51 61 58
+f 51 58 57
+f 53 56 55
+f 58 61 62
+f 58 62 60
+f 58 60 59
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_14.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.13760746 0.04238401 0.03022377
+v 0.13760746 0.01006191 0.03022365
+v 0.14309582 0.02299355 0.02824023
+v 0.13760746 0.10700038 0.03022141
+v 0.13199855 0.13283580 0.02826135
+v 0.13760746 -0.00935641 0.03022099
+v 0.14309582 -0.00932856 0.02823753
+v 0.14309800 -0.00285579 0.02823755
+v 0.13202047 0.02299355 0.02826353
+v 0.14309362 0.04238402 0.02824031
+v 0.14309800 0.01653469 0.02823762
+v 0.14309582 0.07467829 0.02823783
+v 0.14309362 0.11345924 0.02823539
+v 0.13760746 0.11991809 0.03021887
+v 0.13760746 0.12639087 0.03021630
+v 0.13760746 0.13283579 0.03018526
+v 0.12956123 0.13283581 0.02347101
+v 0.13202704 -0.00935640 0.02826083
+v 0.14306293 -0.00935640 0.02824789
+v 0.14309582 -0.00935640 0.02823494
+v 0.14539724 -0.00935639 0.02347049
+v 0.14539943 -0.00285578 0.02347051
+v 0.14539943 0.00360308 0.02347053
+v 0.14539724 0.08113715 0.02347082
+v 0.14309582 0.09406877 0.02823532
+v 0.14539066 0.11345925 0.02347094
+v 0.14308924 0.11991810 0.02823541
+v 0.14307170 0.12639088 0.02823284
+v 0.14296211 0.13283580 0.02820180
+v 0.12863846 0.13283589 0.00377622
+v 0.12347449 0.04884297 0.00377591
+v 0.12314353 0.04238411 0.00377589
+v 0.12311285 0.03717806 0.00377587
+v 0.12303612 -0.00285570 0.00377572
+v 0.12962041 -0.00935639 0.02347049
+v 0.14542135 -0.00935637 0.01789556
+v 0.14542355 -0.00285576 0.01785933
+v 0.14541916 0.08113717 0.01785964
+v 0.14541477 0.10700042 0.01785973
+v 0.14541258 0.11345927 0.01785976
+v 0.14538409 0.11991811 0.02347096
+v 0.14534245 0.12639089 0.02347098
+v 0.14512326 0.13283581 0.02347101
+v 0.14516710 0.13283589 0.00377622
+v 0.12305585 -0.00932847 0.00377570
+v 0.12305804 -0.00935631 0.00377570
+v 0.14542355 -0.00935631 0.00377570
+v 0.14542573 -0.00934239 0.00377570
+v 0.14542355 0.10700048 0.00377612
+v 0.14542135 0.11345933 0.00377615
+v 0.14541916 0.11675836 0.00377616
+v 0.14540600 0.11991813 0.01785978
+v 0.14536217 0.12639091 0.01785980
+v 0.14514299 0.13283583 0.01785983
+v 0.14536874 0.12639093 0.01225380
+v 0.14527011 0.12968999 0.00377621
+v 0.14541477 0.11991819 0.00377617
+v 0.14539724 0.12323113 0.00377618
+v 0.14537751 0.12639097 0.00377619
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 6
+f 3 10 4
+f 3 8 11
+f 3 11 12
+f 3 12 10
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 10 12
+f 5 14 15
+f 5 15 16
+f 5 16 29
+f 5 29 43
+f 5 43 54
+f 5 54 44
+f 5 44 30
+f 5 30 17
+f 5 17 9
+f 6 18 35
+f 6 35 46
+f 6 46 47
+f 6 47 36
+f 6 36 21
+f 6 21 20
+f 6 20 19
+f 6 19 7
+f 6 9 18
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 11
+f 9 17 18
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 13
+f 13 25 24
+f 13 24 26
+f 13 26 27
+f 13 27 14
+f 14 27 15
+f 15 28 16
+f 15 27 28
+f 16 28 29
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 21 36 22
+f 22 36 37
+f 22 37 23
+f 23 37 24
+f 24 38 39
+f 24 39 26
+f 24 37 38
+f 26 39 40
+f 26 40 52
+f 26 52 41
+f 26 41 27
+f 27 41 28
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 30 44 56
+f 30 56 59
+f 30 59 58
+f 30 58 57
+f 30 57 51
+f 30 51 50
+f 30 50 49
+f 30 49 48
+f 30 48 47
+f 30 47 46
+f 30 46 45
+f 30 45 34
+f 30 34 33
+f 30 33 32
+f 30 32 31
+f 34 45 35
+f 35 45 46
+f 36 47 48
+f 36 48 37
+f 37 48 49
+f 37 49 38
+f 38 49 39
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 41 52 42
+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 44 54 53
+f 44 53 55
+f 44 55 56
+f 51 57 52
+f 52 57 58
+f 52 58 59
+f 52 59 55
+f 52 55 53
+f 55 59 56
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_15.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.11457102 -0.16408738 0.00377157
+v -0.13650596 -0.16408738 0.00377157
+v -0.11752643 -0.16408746 0.02346984
+v -0.08471779 -0.17698463 0.00377152
+v -0.13580133 -0.16522713 0.00377156
+v -0.13646540 -0.16408746 0.02346984
+v -0.11974172 -0.16408747 0.02776095
+v -0.08471779 -0.18089966 0.02346978
+v -0.08471779 -0.19634155 0.00377145
+v -0.13477225 -0.16688151 0.00377156
+v -0.13475198 -0.16685002 0.02346983
+v -0.12894760 -0.17421899 0.02636630
+v -0.13379895 -0.16408747 0.02804703
+v -0.12565255 -0.16408748 0.02970984
+v -0.08471779 -0.18361172 0.02807506
+v -0.08471779 -0.18245617 0.02623090
+v -0.08471779 -0.19632899 0.01997552
+v -0.08714093 -0.19611423 0.00377145
+v -0.13167997 -0.17090697 0.00377154
+v -0.13164449 -0.17090705 0.02346981
+v -0.12502395 -0.17677003 0.02712235
+v -0.13026056 -0.17090706 0.02731393
+v -0.12898309 -0.17425687 0.02346980
+v -0.12245887 -0.18060289 0.02628199
+v -0.13250626 -0.16475680 0.02844548
+v -0.13246571 -0.16408748 0.02859108
+v -0.12566269 -0.16444424 0.02979413
+v -0.08471779 -0.19029241 0.02982212
+v -0.08471779 -0.19631953 0.02346972
+v -0.08714093 -0.19608905 0.02346972
+v -0.08714093 -0.19610167 0.01786062
+v -0.09356376 -0.19499972 0.00377145
+v -0.12899323 -0.17426941 0.00377153
+v -0.12566269 -0.17090707 0.02928580
+v -0.11924493 -0.18181842 0.02722194
+v -0.11924493 -0.17736991 0.02919128
+v -0.12569310 -0.17749925 0.00377152
+v -0.12567789 -0.17748671 0.02346979
+v -0.11924493 -0.18304025 0.02346977
+v -0.11474844 -0.18626062 0.02346976
+v -0.11089576 -0.18779504 0.02712231
+v -0.12246901 -0.18060919 0.02346978
+v -0.11282210 -0.17736991 0.02984516
+v -0.09998658 -0.18382958 0.02985790
+v -0.08714093 -0.19029241 0.02974039
+v -0.08471779 -0.19491774 0.02784002
+v -0.10640434 -0.18382958 0.02986301
+v -0.08714093 -0.19480092 0.02775828
+v -0.09356376 -0.19423577 0.02720913
+v -0.09753811 -0.19376535 0.02663698
+v -0.09356376 -0.19496823 0.02346972
+v -0.09356376 -0.19498716 0.01786062
+v -0.09796393 -0.19390423 0.01786063
+v -0.09796393 -0.19390737 0.01225152
+v -0.09797406 -0.19390733 0.00377146
+v -0.11294884 -0.18415477 0.02832536
+v -0.12405065 -0.17909997 0.00377151
+v -0.12247409 -0.18061549 0.01786068
+v -0.11924493 -0.18304971 0.01786067
+v -0.11705499 -0.18464088 0.00377149
+v -0.11476364 -0.18627949 0.00377149
+v -0.11153449 -0.18816126 0.02346975
+v -0.10640434 -0.19070283 0.02346974
+v -0.10640434 -0.18887165 0.02789624
+v -0.09356376 -0.19029241 0.02918612
+v -0.09979902 -0.19065548 0.02806992
+v -0.10115253 -0.19283396 0.02346973
+v -0.09793858 -0.19389477 0.02346973
+v -0.10117280 -0.19285288 0.01786063
+v -0.10118802 -0.19285913 0.00377146
+v -0.09954555 -0.19339586 0.00377146
+v -0.12248422 -0.18062174 0.00377151
+v -0.11924493 -0.18307175 0.00377150
+v -0.11155477 -0.18817066 0.00377148
+v -0.10640434 -0.19072491 0.01786064
+v -0.10385447 -0.19177305 0.00377147
+v -0.10904546 -0.18942092 0.00377147
+v -0.10640434 -0.19073432 0.00377147
+f 1 2 6
+f 1 6 13
+f 1 13 26
+f 1 26 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 32
+f 1 32 55
+f 1 55 71
+f 1 71 70
+f 1 70 76
+f 1 76 78
+f 1 78 77
+f 1 77 74
+f 1 74 61
+f 1 61 60
+f 1 60 73
+f 1 73 72
+f 1 72 57
+f 1 57 37
+f 1 37 33
+f 1 33 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 16
+f 4 16 15
+f 4 15 28
+f 4 28 46
+f 4 46 29
+f 4 29 17
+f 4 17 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 21 22
+f 12 22 13
+f 12 20 23
+f 12 23 24
+f 12 24 21
+f 13 25 26
+f 13 22 25
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 52
+f 18 52 32
+f 19 33 23
+f 19 23 20
+f 21 34 22
+f 21 24 35
+f 21 35 36
+f 21 36 34
+f 22 34 25
+f 23 33 37
+f 23 37 38
+f 23 38 24
+f 24 39 40
+f 24 40 41
+f 24 41 35
+f 24 38 42
+f 24 42 39
+f 25 34 26
+f 26 34 27
+f 27 34 43
+f 27 43 44
+f 27 44 28
+f 28 45 46
+f 28 44 47
+f 28 47 45
+f 29 46 48
+f 29 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 31
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 34 36 47
+f 34 47 43
+f 35 56 36
+f 35 41 56
+f 36 56 47
+f 37 57 38
+f 38 57 58
+f 38 58 42
+f 39 42 58
+f 39 58 59
+f 39 59 40
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 41
+f 41 62 63
+f 41 63 50
+f 41 50 64
+f 41 64 56
+f 43 47 44
+f 45 48 46
+f 45 47 65
+f 45 65 48
+f 47 64 65
+f 47 56 64
+f 48 65 49
+f 49 65 66
+f 49 66 64
+f 49 64 50
+f 50 67 68
+f 50 68 51
+f 50 63 67
+f 51 68 52
+f 52 68 53
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 53 71 54
+f 54 71 55
+f 57 72 58
+f 58 72 73
+f 58 73 59
+f 59 73 60
+f 61 74 62
+f 62 75 63
+f 62 74 75
+f 63 75 69
+f 63 69 67
+f 64 66 65
+f 67 69 68
+f 69 75 70
+f 70 75 76
+f 74 77 75
+f 75 77 78
+f 75 78 76
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_16.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.12863832 0.13283589 0.00377363
+v 0.12569740 0.13900434 0.00377365
+v 0.14516804 0.13283589 0.00377363
+v 0.12956069 0.13283581 0.02347274
+v 0.11652699 0.16303082 0.00377374
+v 0.14485965 0.13616100 0.00377364
+v 0.14514281 0.13285652 0.01786215
+v 0.14514281 0.13283583 0.01786215
+v 0.13199697 0.13283580 0.02826113
+v 0.11973145 0.16303073 0.02743646
+v 0.11817267 0.16303074 0.02347285
+v 0.13656956 0.16303082 0.00377374
+v 0.14456528 0.13932059 0.00377365
+v 0.14453724 0.13932053 0.01786217
+v 0.14512318 0.13285650 0.02347274
+v 0.14512318 0.13283581 0.02347274
+v 0.13760687 0.13283579 0.03018735
+v 0.12468532 0.16303072 0.02931096
+v 0.13733773 0.16159438 0.00377373
+v 0.13655554 0.16303076 0.01786226
+v 0.14396532 0.14262205 0.00377366
+v 0.14335134 0.14578157 0.02347279
+v 0.14451762 0.13932051 0.02347276
+v 0.14266167 0.13932050 0.02808275
+v 0.14296165 0.13285649 0.02820166
+v 0.14296165 0.13283580 0.02820166
+v 0.13760687 0.13932049 0.03006585
+v 0.13118395 0.15870660 0.02994698
+v 0.13145588 0.16303072 0.02899036
+v 0.13887968 0.15870670 0.00377372
+v 0.13886566 0.15870664 0.01786224
+v 0.13653872 0.16303074 0.02347285
+v 0.14339059 0.14578165 0.00377368
+v 0.14171126 0.15164261 0.02347281
+v 0.14141689 0.15075000 0.02704858
+v 0.14208694 0.14578156 0.02771305
+v 0.13760687 0.14578155 0.02969356
+v 0.13658919 0.15870661 0.02802335
+v 0.13548740 0.16303073 0.02736148
+v 0.14062069 0.15492051 0.00377371
+v 0.13882361 0.15870662 0.02347283
+v 0.14061508 0.15489977 0.01786223
+v 0.14172808 0.15168998 0.00377370
+v 0.14058144 0.15487314 0.02347282
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 30
+f 1 30 40
+f 1 40 43
+f 1 43 33
+f 1 33 21
+f 1 21 13
+f 1 13 6
+f 1 6 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 18
+f 5 18 29
+f 5 29 39
+f 5 39 32
+f 5 32 20
+f 5 20 12
+f 6 13 7
+f 7 14 23
+f 7 23 15
+f 7 15 16
+f 7 16 8
+f 7 13 14
+f 9 17 18
+f 9 18 10
+f 12 20 19
+f 13 21 14
+f 14 22 23
+f 14 21 22
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 27 28
+f 17 28 18
+f 17 26 25
+f 17 25 27
+f 18 28 29
+f 19 20 31
+f 19 31 30
+f 20 32 31
+f 21 33 22
+f 22 34 35
+f 22 35 23
+f 22 33 34
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 27
+f 24 27 25
+f 27 37 28
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 30 31 40
+f 31 32 41
+f 31 41 42
+f 31 42 40
+f 32 39 41
+f 33 43 34
+f 34 42 44
+f 34 44 35
+f 34 43 42
+f 35 39 38
+f 35 38 36
+f 35 44 41
+f 35 41 39
+f 36 38 37
+f 40 42 43
+f 41 44 42
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_2.obj

@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
+v -0.14632902 -0.06751684 0.00102917
+v -0.14631478 -0.09020779 0.00376929
+v -0.14631478 0.00074962 0.00376962
+v -0.14631478 0.00074963 0.00102942
+v -0.14630053 -0.04811721 -0.00458015
+v -0.14630053 -0.09981076 -0.00458034
+v -0.14631478 -0.11919102 0.00102898
+v -0.14630053 -0.11919103 0.00376918
+v -0.12983943 0.00074962 0.00376962
+v -0.14628630 0.00074965 -0.00457997
+v -0.14399370 0.00074966 -0.00934122
+v -0.14399370 -0.00933736 -0.00934273
+v -0.14399370 -0.10625792 -0.00934605
+v -0.14399370 -0.11919099 -0.00934610
+v -0.14628630 -0.11919100 -0.00458041
+v -0.14624358 -0.12565753 -0.00458043
+v -0.14625782 -0.12565755 0.00102896
+v -0.14628630 -0.12250174 0.00376917
+v -0.01008341 -0.00287087 0.00373847
+v -0.01008341 0.00074962 0.00369993
+v -0.00085608 -0.17932592 0.00376896
+v -0.14157296 0.00074967 -0.01021606
+v -0.13849718 -0.02873695 -0.01133123
+v -0.13849718 -0.03518412 -0.01133125
+v -0.13849718 -0.11919098 -0.01132859
+v -0.13849718 -0.12565751 -0.01132417
+v -0.14396523 -0.12565752 -0.00934168
+v -0.14386555 -0.13212406 -0.00930908
+v -0.14604423 -0.13212407 -0.00458046
+v -0.14625782 -0.12565756 0.00376916
+v -0.00367554 -0.00287087 0.00369695
+v -0.00367554 0.00074962 0.00367175
+v -0.00649501 0.00074962 0.00368955
+v -0.00085608 -0.19597626 0.00376890
+v -0.00085608 -0.00933740 0.00367469
+v -0.13849718 0.00074967 -0.01132667
+v -0.13207507 -0.03518412 -0.01136091
+v -0.13567772 0.00074967 -0.01134002
+v -0.13207507 -0.12565751 -0.01135086
+v -0.13207507 -0.13857122 -0.01134942
+v -0.13207507 -0.14503775 -0.01134500
+v -0.13207507 -0.15150428 -0.01133613
+v -0.13849718 -0.13212405 -0.01129306
+v -0.13849718 -0.13857122 -0.01117297
+v -0.14358075 -0.13857123 -0.00919048
+v -0.14604423 -0.13212409 0.00102893
+v -0.14544616 -0.13857124 -0.00458048
+v -0.14546040 -0.13857126 0.00102891
+v -0.14614391 -0.12896827 0.00376915
+v -0.00085608 -0.00287087 0.00366581
+v -0.00085608 0.00074962 0.00364210
+v -0.04219398 -0.19702175 0.00376890
+v -0.00085608 -0.19624734 0.00305716
+v -0.13207507 -0.00287082 -0.01135634
+v -0.11924508 -0.03518412 -0.01136832
+v -0.11924508 -0.04165066 -0.01136834
+v -0.13207507 0.00074967 -0.01135484
+v -0.12566719 -0.14503775 -0.01135241
+v -0.12566719 -0.15150428 -0.01134947
+v -0.11924508 -0.16443736 -0.01134803
+v -0.12566719 -0.15797082 -0.01134208
+v -0.11924508 -0.17090388 -0.01133175
+v -0.12566719 -0.16443736 -0.01131541
+v -0.13207507 -0.15797082 -0.01109445
+v -0.13849718 -0.14503775 -0.01080971
+v -0.14301117 -0.14503776 -0.00883167
+v -0.14602999 -0.13212410 0.00376913
+v -0.14573095 -0.13543481 0.00376912
+v -0.14232766 -0.15012966 -0.00817184
+v -0.14430698 -0.14503777 -0.00458050
+v -0.14544616 -0.13857127 0.00376911
+v -0.14432122 -0.14503779 0.00102889
+v -0.00085608 0.00074967 -0.01137116
+v -0.06474969 -0.19702175 0.00376890
+v -0.02292764 -0.19704111 0.00102870
+v -0.01008341 -0.19702174 0.00102870
+v -0.00085608 -0.19700240 0.00102870
+v -0.11924508 0.00074967 -0.01136226
+v -0.08071241 0.00074967 -0.01137116
+v -0.08071241 -0.03518412 -0.01137573
+v -0.07429030 -0.11919098 -0.01137308
+v -0.08071241 -0.11919098 -0.01137160
+v -0.11282297 -0.15150428 -0.01135689
+v -0.11924508 -0.15797082 -0.01135246
+v -0.11282297 -0.16443736 -0.01135100
+v -0.08071241 -0.18381759 -0.01134663
+v -0.11282297 -0.17090388 -0.01134361
+v -0.12566719 -0.17090388 -0.01039018
+v -0.09355663 -0.18381759 -0.01133773
+v -0.09997875 -0.18381759 -0.01132439
+v -0.11282297 -0.17735106 -0.01128432
+v -0.13251649 -0.16474712 -0.00954645
+v -0.13754312 -0.15797083 -0.00912086
+v -0.13906677 -0.15196896 -0.00943223
+v -0.14265517 -0.15103965 -0.00458052
+v -0.13627579 -0.16281105 -0.00838838
+v -0.13980722 -0.15797084 -0.00458055
+v -0.14153023 -0.15427291 -0.00458054
+v -0.14430698 -0.14503780 0.00376909
+v -0.14346684 -0.14809682 0.00376908
+v -0.00243669 0.00074967 -0.01137264
+v -0.00085608 -0.00287082 -0.01137265
+v -0.06788242 -0.19700240 0.00102870
+v -0.06788242 -0.19698301 -0.00458069
+v -0.06146031 -0.19700238 -0.00458069
+v -0.06146031 -0.19702174 0.00102870
+v -0.07117180 -0.19698304 0.00376890
+v -0.04219398 -0.19702172 -0.00458069
+v -0.00085608 -0.19700238 -0.00458069
+v -0.00367554 0.00074967 -0.01137264
+v -0.00367554 -0.00287082 -0.01137413
+v -0.00367554 -0.04165066 -0.01137872
+v -0.01008341 -0.15150428 -0.01137468
+v -0.07429030 -0.15150428 -0.01136875
+v -0.08713452 -0.15797082 -0.01136432
+v -0.11282297 -0.15797082 -0.01135542
+v -0.08071241 -0.16443736 -0.01136286
+v -0.07429030 -0.18381759 -0.01134811
+v -0.04219398 -0.19028413 -0.01113016
+v -0.06788242 -0.19028413 -0.01111978
+v -0.13026661 -0.17090389 -0.00842251
+v -0.11924508 -0.17735106 -0.01030420
+v -0.12502641 -0.17677024 -0.00823867
+v -0.07429030 -0.19028413 -0.01111237
+v -0.08071241 -0.19028413 -0.01104268
+v -0.08713452 -0.19028413 -0.01081729
+v -0.10640086 -0.18381759 -0.01095814
+v -0.14265517 -0.15100095 0.00376907
+v -0.14211407 -0.15258855 0.00376906
+v -0.12894233 -0.17421460 -0.00748244
+v -0.13476637 -0.16687684 -0.00458058
+v -0.13677417 -0.16364357 -0.00458057
+v -0.13825510 -0.16087500 0.00376903
+v -0.13980722 -0.15797087 0.00376904
+v -0.14064738 -0.15615094 0.00376905
+v -0.14153023 -0.15423421 0.00376905
+v -0.00085608 -0.01216404 -0.01137416
+v -0.07429030 -0.19692493 -0.00458069
+v -0.07429030 -0.19522116 -0.00913286
+v -0.06788242 -0.19524052 -0.00914028
+v -0.06146031 -0.19525989 -0.00914176
+v -0.07429030 -0.19694430 0.00376890
+v -0.07429030 -0.19694429 0.00102870
+v -0.04219398 -0.19525989 -0.00915065
+v -0.00085608 -0.19525989 -0.00914472
+v -0.00085608 -0.03518412 -0.01137722
+v -0.00085608 -0.04447735 -0.01137725
+v -0.00085608 -0.11272444 -0.01137601
+v -0.00367554 -0.15150428 -0.01137468
+v -0.01008341 -0.15797082 -0.01137322
+v -0.07429030 -0.15797082 -0.01136729
+v -0.07429030 -0.16443736 -0.01136434
+v -0.00367554 -0.18381759 -0.01135552
+v -0.00085608 -0.18381759 -0.01135552
+v -0.00085608 -0.19028413 -0.01112868
+v -0.11293689 -0.18414673 -0.00942048
+v -0.11924508 -0.18182343 -0.00833804
+v -0.12246326 -0.18060369 -0.00740683
+v -0.08071241 -0.19510499 -0.00906317
+v -0.09355663 -0.19028413 -0.01026273
+v -0.08713452 -0.19479522 -0.00884223
+v -0.10640086 -0.18887079 -0.00898455
+v -0.12899929 -0.17425334 -0.00458061
+v -0.13167636 -0.17090390 -0.00458060
+v -0.13169060 -0.17090392 0.00102879
+v -0.13476637 -0.16687687 0.00376901
+v -0.13677417 -0.16364360 0.00376902
+v -0.08071241 -0.19669259 -0.00458069
+v -0.07757967 -0.19682816 0.00376890
+v -0.08071241 -0.19671198 0.00102870
+v -0.00085608 -0.15433097 -0.01137321
+v -0.00367554 -0.15797082 -0.01137322
+v -0.00085608 -0.18017774 -0.01135847
+v -0.11088637 -0.18778658 -0.00821647
+v -0.11475957 -0.18627645 -0.00458065
+v -0.11924508 -0.18306253 -0.00458064
+v -0.12247750 -0.18062307 -0.00458063
+v -0.12569568 -0.17748660 -0.00458062
+v -0.09355663 -0.19421438 -0.00829211
+v -0.09977939 -0.19065200 -0.00916102
+v -0.08713452 -0.19609240 -0.00458069
+v -0.09750104 -0.19374973 -0.00772865
+v -0.12899929 -0.17425336 0.00102878
+v -0.13029510 -0.17262705 0.00376899
+v -0.13167636 -0.17090393 0.00376899
+v -0.08071241 -0.19671199 0.00376890
+v -0.08713452 -0.19611179 0.00102870
+v -0.00085608 -0.15797082 -0.01137174
+v -0.00085608 -0.16079750 -0.01137026
+v -0.10640086 -0.19071008 -0.00458067
+v -0.11154139 -0.18815444 -0.00458066
+v -0.11312200 -0.18724452 0.00376893
+v -0.11477381 -0.18627647 0.00102874
+v -0.11924508 -0.18308192 0.00102875
+v -0.12247750 -0.18062310 0.00376896
+v -0.12569568 -0.17748663 0.00376897
+v -0.09355663 -0.19496948 -0.00458069
+v -0.09792823 -0.19388525 -0.00458068
+v -0.10113217 -0.19282042 -0.00458068
+v -0.12898506 -0.17425337 0.00376898
+v -0.12737595 -0.17584095 0.00376897
+v -0.08713452 -0.19611180 0.00376890
+v -0.09355663 -0.19498885 0.00102870
+v -0.10118912 -0.19285915 0.00102871
+v -0.10640086 -0.19072946 0.00102872
+v -0.11155564 -0.18815446 0.00102873
+v -0.11155564 -0.18815447 0.00376893
+v -0.11475957 -0.18627648 0.00376894
+v -0.11924508 -0.18306256 0.00376895
+v -0.09797094 -0.19390464 0.00102871
+v -0.09355663 -0.19498886 0.00376890
+v -0.09797094 -0.19390465 0.00376891
+v -0.10117488 -0.19285916 0.00376891
+v -0.10640086 -0.19072947 0.00376892
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 18
+f 2 18 30
+f 2 30 49
+f 2 49 67
+f 2 67 68
+f 2 68 71
+f 2 71 99
+f 2 99 100
+f 2 100 128
+f 2 128 129
+f 2 129 136
+f 2 136 135
+f 2 135 134
+f 2 134 133
+f 2 133 167
+f 2 167 166
+f 2 166 185
+f 2 185 184
+f 2 184 200
+f 2 200 201
+f 2 201 196
+f 2 196 195
+f 2 195 209
+f 2 209 208
+f 2 208 192
+f 2 192 207
+f 2 207 214
+f 2 214 213
+f 2 213 212
+f 2 212 211
+f 2 211 202
+f 2 202 186
+f 2 186 169
+f 2 169 142
+f 2 142 107
+f 2 107 74
+f 2 74 52
+f 2 52 34
+f 2 34 21
+f 2 21 9
+f 2 9 3
+f 3 9 20
+f 3 20 33
+f 3 33 32
+f 3 32 51
+f 3 51 73
+f 3 73 101
+f 3 101 110
+f 3 110 79
+f 3 79 78
+f 3 78 57
+f 3 57 38
+f 3 38 36
+f 3 36 22
+f 3 22 11
+f 3 11 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 9 21 19
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 30 18
+f 17 29 46
+f 17 46 30
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 19 21 31
+f 21 34 53
+f 21 53 77
+f 21 77 109
+f 21 109 145
+f 21 145 155
+f 21 155 154
+f 21 154 173
+f 21 173 189
+f 21 189 188
+f 21 188 171
+f 21 171 148
+f 21 148 147
+f 21 147 146
+f 21 146 137
+f 21 137 102
+f 21 102 73
+f 21 73 51
+f 21 51 50
+f 21 50 35
+f 21 35 31
+f 22 36 23
+f 23 37 24
+f 23 36 38
+f 23 38 37
+f 24 37 25
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 25 37 39
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 47
+f 29 47 48
+f 29 48 46
+f 30 46 49
+f 31 35 50
+f 31 50 51
+f 31 51 32
+f 34 52 53
+f 37 38 54
+f 37 54 55
+f 37 55 56
+f 37 56 39
+f 38 57 54
+f 39 56 40
+f 40 56 58
+f 40 58 59
+f 40 59 41
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 44
+f 42 44 43
+f 44 65 45
+f 44 64 65
+f 45 65 66
+f 45 66 47
+f 46 67 49
+f 46 48 68
+f 46 68 67
+f 47 66 69
+f 47 69 70
+f 47 70 72
+f 47 72 48
+f 48 71 68
+f 48 72 99
+f 48 99 71
+f 52 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 53
+f 54 57 78
+f 54 78 55
+f 55 78 79
+f 55 79 80
+f 55 80 56
+f 56 80 81
+f 56 81 82
+f 56 82 83
+f 56 83 58
+f 58 83 116
+f 58 116 84
+f 58 84 59
+f 59 84 60
+f 60 85 86
+f 60 86 87
+f 60 87 62
+f 60 62 61
+f 60 84 116
+f 60 116 85
+f 62 88 63
+f 62 87 89
+f 62 89 90
+f 62 90 91
+f 62 91 88
+f 63 88 64
+f 64 88 92
+f 64 92 93
+f 64 93 65
+f 65 93 94
+f 65 94 66
+f 66 94 93
+f 66 93 69
+f 69 95 70
+f 69 93 96
+f 69 96 97
+f 69 97 98
+f 69 98 95
+f 70 95 72
+f 72 95 100
+f 72 100 99
+f 73 102 101
+f 74 103 104
+f 74 104 105
+f 74 105 106
+f 74 106 75
+f 74 107 103
+f 75 106 108
+f 75 108 109
+f 75 109 76
+f 76 109 77
+f 79 110 111
+f 79 111 80
+f 80 111 112
+f 80 112 113
+f 80 113 81
+f 81 113 114
+f 81 114 82
+f 82 114 115
+f 82 115 83
+f 83 115 116
+f 85 116 117
+f 85 117 86
+f 86 118 119
+f 86 119 120
+f 86 120 89
+f 86 89 87
+f 86 117 152
+f 86 152 118
+f 88 121 92
+f 88 91 122
+f 88 122 123
+f 88 123 121
+f 89 120 124
+f 89 124 90
+f 90 124 125
+f 90 125 126
+f 90 126 127
+f 90 127 91
+f 91 127 122
+f 92 121 96
+f 92 96 93
+f 95 128 100
+f 95 98 129
+f 95 129 128
+f 96 121 130
+f 96 130 131
+f 96 131 132
+f 96 132 97
+f 97 132 133
+f 97 133 134
+f 97 134 98
+f 98 134 135
+f 98 135 136
+f 98 136 129
+f 101 102 111
+f 101 111 110
+f 102 137 111
+f 103 107 104
+f 104 107 138
+f 104 138 139
+f 104 139 140
+f 104 140 141
+f 104 141 105
+f 105 108 106
+f 105 141 108
+f 107 142 143
+f 107 143 138
+f 108 141 144
+f 108 144 145
+f 108 145 109
+f 111 137 146
+f 111 146 112
+f 112 146 147
+f 112 147 148
+f 112 148 149
+f 112 149 113
+f 113 149 172
+f 113 172 150
+f 113 150 151
+f 113 151 114
+f 114 151 115
+f 115 151 152
+f 115 152 117
+f 115 117 116
+f 118 153 119
+f 118 152 153
+f 119 144 120
+f 119 153 154
+f 119 154 155
+f 119 155 144
+f 120 144 141
+f 120 141 124
+f 121 123 130
+f 122 127 156
+f 122 156 157
+f 122 157 123
+f 123 157 158
+f 123 158 130
+f 124 141 140
+f 124 140 139
+f 124 139 125
+f 125 139 159
+f 125 159 126
+f 126 160 127
+f 126 159 161
+f 126 161 160
+f 127 160 162
+f 127 162 156
+f 130 163 164
+f 130 164 131
+f 130 158 163
+f 131 164 165
+f 131 165 166
+f 131 166 167
+f 131 167 132
+f 132 167 133
+f 138 143 170
+f 138 170 168
+f 138 168 159
+f 138 159 139
+f 142 169 143
+f 143 169 170
+f 144 155 145
+f 148 171 149
+f 149 171 172
+f 150 172 173
+f 150 173 152
+f 150 152 151
+f 152 173 153
+f 153 173 154
+f 156 162 174
+f 156 174 157
+f 157 174 158
+f 158 174 175
+f 158 175 176
+f 158 176 177
+f 158 177 178
+f 158 178 163
+f 159 168 161
+f 160 161 179
+f 160 179 180
+f 160 180 162
+f 161 168 181
+f 161 181 179
+f 162 180 179
+f 162 179 182
+f 162 182 174
+f 163 183 165
+f 163 165 164
+f 163 178 196
+f 163 196 183
+f 165 183 184
+f 165 184 185
+f 165 185 166
+f 168 170 187
+f 168 187 181
+f 169 186 170
+f 170 186 202
+f 170 202 187
+f 171 188 172
+f 172 188 189
+f 172 189 173
+f 174 182 190
+f 174 190 191
+f 174 191 175
+f 175 191 192
+f 175 192 193
+f 175 193 194
+f 175 194 176
+f 176 194 177
+f 177 195 196
+f 177 196 178
+f 177 194 195
+f 179 181 182
+f 181 187 203
+f 181 203 197
+f 181 197 182
+f 182 197 198
+f 182 198 199
+f 182 199 190
+f 183 200 184
+f 183 196 201
+f 183 201 200
+f 187 202 211
+f 187 211 203
+f 190 199 204
+f 190 204 205
+f 190 205 191
+f 191 206 192
+f 191 205 206
+f 192 206 207
+f 192 208 193
+f 193 208 194
+f 194 209 195
+f 194 208 209
+f 197 203 210
+f 197 210 198
+f 198 210 204
+f 198 204 199
+f 203 211 212
+f 203 212 210
+f 204 210 212
+f 204 212 213
+f 204 213 214
+f 204 214 205
+f 205 214 207
+f 205 207 206
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_3.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.08533153 0.19690884 0.02347236
+v 0.08533153 0.19687908 0.00377386
+v 0.08533153 0.19558235 0.02779617
+v 0.08623936 0.19553594 0.02776808
+v 0.08623936 0.19681930 0.02347236
+v 0.08623936 0.19679285 0.00377386
+v 0.08533153 0.17773477 0.00377379
+v 0.08533153 0.19101929 0.02977801
+v 0.08623936 0.19101929 0.02974736
+v 0.09265937 0.19101929 0.02921614
+v 0.09265937 0.19498875 0.02723431
+v 0.08951958 0.19623241 0.00377386
+v 0.09669694 0.19451456 0.02666477
+v 0.09265937 0.19571501 0.02347236
+v 0.11652373 0.16303082 0.00377374
+v 0.11816886 0.16303074 0.02347224
+v 0.08533153 0.18154167 0.02347231
+v 0.08533153 0.18415812 0.02800811
+v 0.12468416 0.16303072 0.02931054
+v 0.12476441 0.16517298 0.02981878
+v 0.09908439 0.18455605 0.02986482
+v 0.10550439 0.18455605 0.02986227
+v 0.10550439 0.18961655 0.02789576
+v 0.09893392 0.19139071 0.02808986
+v 0.09265937 0.19569188 0.00377386
+v 0.11000843 0.18853215 0.02712191
+v 0.10550439 0.19146699 0.02347234
+v 0.10030319 0.19357940 0.02347235
+v 0.09709318 0.19464058 0.02347235
+v 0.09706811 0.19463403 0.00377385
+v 0.09491640 0.19515135 0.00377386
+v 0.13656619 0.16303082 0.00377374
+v 0.11972872 0.16303073 0.02743850
+v 0.08857664 0.18121999 0.02644254
+v 0.08533153 0.18369054 0.02725724
+v 0.13145526 0.16303072 0.02899130
+v 0.12476441 0.17163289 0.02930035
+v 0.11833939 0.17809613 0.02921865
+v 0.11205480 0.18489099 0.02832991
+v 0.11065545 0.18890690 0.02347233
+v 0.11833939 0.18256304 0.02724192
+v 0.12157447 0.18134600 0.02630207
+v 0.11386545 0.18700009 0.02347233
+v 0.10550439 0.19148028 0.01786135
+v 0.10028813 0.19358605 0.01786136
+v 0.09863800 0.19412333 0.00377385
+v 0.10028312 0.19358611 0.00377385
+v 0.13586399 0.16435067 0.00377374
+v 0.13656619 0.16303081 0.00527545
+v 0.13548783 0.16303073 0.02736188
+v 0.13160573 0.16548139 0.02844987
+v 0.12936375 0.17163290 0.02732361
+v 0.12413244 0.17750254 0.02714230
+v 0.11066046 0.18891355 0.01786134
+v 0.12158450 0.18135263 0.02347231
+v 0.11833939 0.18379666 0.02347232
+v 0.12804965 0.17495240 0.02637611
+v 0.12808476 0.17499221 0.02347228
+v 0.12479451 0.17822216 0.02347229
+v 0.11833939 0.18379011 0.00377382
+v 0.11614756 0.18535866 0.00377382
+v 0.11386545 0.18699679 0.01786134
+v 0.11386043 0.18699353 0.00664190
+v 0.10550439 0.19147370 0.00664191
+v 0.10550439 0.19147039 0.00377384
+v 0.13655615 0.16303076 0.01786125
+v 0.13385274 0.16758062 0.00377376
+v 0.13384772 0.16757059 0.02347226
+v 0.13584895 0.16434064 0.02347224
+v 0.13653609 0.16303074 0.02347224
+v 0.13535742 0.16353479 0.02728527
+v 0.11066046 0.18891026 0.01225289
+v 0.12158450 0.18135603 0.00377381
+v 0.12000458 0.18254655 0.00377381
+v 0.13074806 0.17163291 0.02347227
+v 0.13074806 0.17163299 0.00377377
+v 0.12938380 0.17335077 0.00377378
+v 0.12807974 0.17498566 0.00377378
+v 0.12647474 0.17656747 0.00377379
+v 0.12479451 0.17821892 0.00377379
+v 0.12315439 0.17982396 0.00377380
+v 0.11385541 0.18699023 0.00377383
+v 0.11386545 0.18699350 0.01225289
+v 0.11065043 0.18890366 0.00377383
+v 0.10813259 0.19016049 0.00377384
+v 0.13226779 0.16964992 0.00377376
+f 1 2 7
+f 1 7 17
+f 1 17 35
+f 1 35 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 25
+f 2 25 31
+f 2 31 30
+f 2 30 46
+f 2 46 47
+f 2 47 65
+f 2 65 85
+f 2 85 84
+f 2 84 82
+f 2 82 61
+f 2 61 60
+f 2 60 74
+f 2 74 73
+f 2 73 81
+f 2 81 80
+f 2 80 79
+f 2 79 78
+f 2 78 77
+f 2 77 76
+f 2 76 86
+f 2 86 67
+f 2 67 48
+f 2 48 32
+f 2 32 15
+f 2 15 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 12 6
+f 5 11 13
+f 5 13 14
+f 5 14 12
+f 7 15 16
+f 7 16 17
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 23
+f 11 23 13
+f 12 14 25
+f 13 23 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 25
+f 15 32 49
+f 15 49 66
+f 15 66 70
+f 15 70 50
+f 15 50 36
+f 15 36 19
+f 15 19 33
+f 15 33 16
+f 16 33 17
+f 17 34 35
+f 17 33 34
+f 18 35 34
+f 18 34 33
+f 18 33 19
+f 19 36 20
+f 20 36 37
+f 20 37 22
+f 20 22 21
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 26
+f 26 40 27
+f 26 39 41
+f 26 41 42
+f 26 42 43
+f 26 43 40
+f 27 40 44
+f 27 44 28
+f 28 45 29
+f 28 44 45
+f 29 46 30
+f 29 45 47
+f 29 47 46
+f 32 48 49
+f 36 50 51
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 41
+f 38 41 39
+f 40 54 44
+f 40 43 54
+f 41 53 42
+f 42 55 56
+f 42 56 43
+f 42 53 57
+f 42 57 58
+f 42 58 59
+f 42 59 55
+f 43 56 60
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 54
+f 44 54 64
+f 44 64 47
+f 44 47 45
+f 47 64 65
+f 48 66 49
+f 48 67 68
+f 48 68 69
+f 48 69 66
+f 50 70 71
+f 50 71 51
+f 51 71 52
+f 52 57 53
+f 52 71 57
+f 54 72 64
+f 54 63 72
+f 55 73 74
+f 55 74 56
+f 55 59 73
+f 56 74 60
+f 57 71 68
+f 57 68 75
+f 57 75 58
+f 58 75 76
+f 58 76 77
+f 58 77 78
+f 58 78 79
+f 58 79 80
+f 58 80 59
+f 59 80 81
+f 59 81 73
+f 61 82 63
+f 61 63 83
+f 61 83 62
+f 62 83 63
+f 63 82 84
+f 63 84 72
+f 64 72 85
+f 64 85 65
+f 66 69 70
+f 67 86 75
+f 67 75 68
+f 68 71 69
+f 69 71 70
+f 72 84 85
+f 75 86 76
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_4.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.13760551 -0.05457491 0.03022698
+v 0.14309909 -0.05457490 0.02823779
+v 0.14306215 -0.00937032 0.02824834
+v 0.13760551 -0.00937033 0.03021937
+v 0.13118864 -0.15620977 0.02984537
+v 0.13760551 -0.11919807 0.03021896
+v 0.14308985 -0.11919806 0.02823496
+v 0.14540039 -0.06104296 0.02347098
+v 0.14540039 -0.05457489 0.02347100
+v 0.14309678 -0.00937032 0.02823537
+v 0.13757319 -0.00937033 0.03020900
+v 0.12632983 -0.15620977 0.02864460
+v 0.13322219 -0.15620977 0.02945895
+v 0.13760551 -0.14504158 0.02968721
+v 0.13760551 -0.13858788 0.03006328
+v 0.13760551 -0.13211982 0.03018520
+v 0.13760551 -0.12565175 0.03021635
+v 0.14306446 -0.12565174 0.02823235
+v 0.14537962 -0.11919805 0.02347076
+v 0.14539577 -0.08043278 0.02347090
+v 0.14539808 -0.07396471 0.02347093
+v 0.14542116 -0.07396469 0.01786126
+v 0.14542116 -0.00937029 0.01789522
+v 0.14539577 -0.00937031 0.02347117
+v 0.13202653 -0.00937032 0.02825871
+v 0.12506031 -0.15620976 0.02811034
+v 0.13704922 -0.15620976 0.02810256
+v 0.14208809 -0.14504157 0.02771358
+v 0.14266514 -0.13858787 0.02808187
+v 0.14295828 -0.13211981 0.02820119
+v 0.14532883 -0.12565173 0.02347074
+v 0.14535191 -0.12565171 0.01786107
+v 0.14539808 -0.11919803 0.01786109
+v 0.14541885 -0.08043276 0.01786123
+v 0.14540731 -0.11919797 0.00373189
+v 0.14541885 -0.08043270 0.00373203
+v 0.14542116 -0.06104288 0.00373211
+v 0.14542577 -0.00937023 0.00373230
+v 0.12961905 -0.00937031 0.02347117
+v 0.12258589 -0.15620975 0.02353806
+v 0.13844802 -0.15620976 0.02590590
+v 0.14142100 -0.15002916 0.02704963
+v 0.14452095 -0.13858786 0.02347069
+v 0.14511186 -0.13211980 0.02347071
+v 0.14536114 -0.12565165 0.00373187
+v 0.14513032 -0.13211978 0.01786104
+v 0.14514879 -0.13211972 0.00373184
+v 0.12299907 -0.00937023 0.00373230
+v 0.12256281 -0.15620975 0.02347063
+v 0.13964368 -0.15620975 0.02347063
+v 0.14172569 -0.15092031 0.02347065
+v 0.14336683 -0.14504156 0.02347067
+v 0.14058543 -0.15415434 0.02347063
+v 0.14341762 -0.14504148 0.00373180
+v 0.14453480 -0.13858784 0.01786102
+v 0.14456943 -0.13858778 0.00373182
+v 0.14486949 -0.13523876 0.00373183
+v 0.12184495 -0.15620967 0.00373176
+v 0.14061774 -0.15418307 0.01786096
+v 0.13966445 -0.15620974 0.02084864
+v 0.14174416 -0.15100648 0.00664165
+v 0.14261666 -0.14791618 0.00373179
+v 0.14063621 -0.15424051 0.00664163
+v 0.14401545 -0.14169246 0.00373181
+v 0.13973600 -0.15620967 0.00373176
+v 0.13968522 -0.15620973 0.01786096
+v 0.13969676 -0.15620972 0.01522341
+v 0.14174647 -0.15102084 0.00373178
+v 0.14064083 -0.15424050 0.00373176
+v 0.14117403 -0.15268816 0.00373177
+v 0.13972677 -0.15620968 0.00664163
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 8
+f 3 10 24
+f 3 24 23
+f 3 23 38
+f 3 38 48
+f 3 48 39
+f 3 39 25
+f 3 25 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 26
+f 5 26 40
+f 5 40 49
+f 5 49 58
+f 5 58 65
+f 5 65 71
+f 5 71 67
+f 5 67 66
+f 5 66 60
+f 5 60 50
+f 5 50 41
+f 5 41 27
+f 5 27 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 10
+f 11 25 12
+f 12 25 26
+f 13 27 14
+f 14 28 29
+f 14 29 15
+f 14 27 28
+f 15 29 30
+f 15 30 16
+f 16 30 18
+f 16 18 17
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 22
+f 20 22 21
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 25 39 40
+f 25 40 26
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 30
+f 30 44 31
+f 31 44 32
+f 32 45 35
+f 32 35 33
+f 32 44 46
+f 32 46 47
+f 32 47 45
+f 33 35 34
+f 35 45 47
+f 35 47 57
+f 35 57 56
+f 35 56 64
+f 35 64 54
+f 35 54 62
+f 35 62 68
+f 35 68 70
+f 35 70 69
+f 35 69 65
+f 35 65 58
+f 35 58 48
+f 35 48 38
+f 35 38 37
+f 35 37 36
+f 39 48 49
+f 39 49 40
+f 41 50 42
+f 42 51 52
+f 42 52 43
+f 42 50 53
+f 42 53 51
+f 43 52 54
+f 43 54 55
+f 43 55 46
+f 43 46 44
+f 46 55 56
+f 46 56 57
+f 46 57 47
+f 48 58 49
+f 50 59 53
+f 50 60 59
+f 51 61 62
+f 51 62 52
+f 51 53 59
+f 51 59 63
+f 51 63 61
+f 52 62 54
+f 54 64 55
+f 55 64 56
+f 59 60 66
+f 59 66 67
+f 59 67 63
+f 61 68 62
+f 61 63 68
+f 63 69 70
+f 63 70 68
+f 63 67 71
+f 63 71 65
+f 63 65 69
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_5.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.12540955 0.00074967 -0.01135837
+v -0.12283679 0.00074967 -0.01135999
+v -0.12540955 0.00074962 0.00247138
+v -0.12540955 0.04237722 -0.01135660
+v -0.11923980 0.04237722 -0.01136306
+v -0.11923980 0.00074967 -0.01136160
+v -0.09997455 0.00074962 0.00316270
+v -0.12540955 0.15027329 0.00512416
+v -0.12540955 0.11344675 -0.01134826
+v -0.08070930 0.04237722 -0.01137113
+v -0.08070930 0.00074967 -0.01137129
+v -0.11923980 0.11344675 -0.01135472
+v -0.08070930 0.11344675 -0.01136441
+v -0.09637756 0.00074962 0.00322085
+v -0.00086827 0.18253030 0.00512428
+v -0.12540955 0.17851986 0.00512427
+v -0.09354874 0.00074962 0.00326446
+v -0.07429568 0.00074962 0.00350190
+v -0.02935157 0.00074962 0.00370543
+v -0.01008633 0.00074962 0.00369896
+v -0.12540955 0.15224001 -0.01134328
+v -0.00367271 0.04237722 -0.01137598
+v -0.01008633 0.15224001 -0.01137073
+v -0.00367271 0.00074967 -0.01137291
+v -0.11923980 0.15224001 -0.01134812
+v -0.08713512 0.15224001 -0.01135781
+v -0.08070930 0.15224001 -0.01135943
+v -0.00086827 0.19618121 0.00512433
+v -0.00648934 0.00074962 0.00368927
+v -0.00367271 0.00074962 0.00367151
+v -0.00086827 0.00074962 0.00364082
+v -0.12328794 0.18060221 0.00512427
+v -0.12540955 0.17853916 0.00155134
+v -0.12540955 0.15869912 -0.01133680
+v -0.11923980 0.15869912 -0.01134326
+v -0.00086827 0.04237722 -0.01137437
+v -0.00086827 0.03591810 -0.01137440
+v -0.00242900 0.00074967 -0.01137291
+v -0.00367271 0.15224001 -0.01136912
+v -0.07429568 0.15869912 -0.01135779
+v -0.01008633 0.15869912 -0.01136748
+v -0.00367271 0.15869912 -0.01136748
+v -0.11281399 0.15869912 -0.01134649
+v -0.08070930 0.15869912 -0.01135618
+v -0.00086827 0.19674036 0.00363992
+v -0.04045957 0.19770441 0.00512434
+v -0.00086827 0.00074967 -0.01137129
+v -0.12249537 0.18135417 0.00512428
+v -0.12250757 0.18135419 0.00102963
+v -0.12540955 0.17853917 0.00102962
+v -0.12540955 0.16515823 -0.01130123
+v -0.11923980 0.17161735 -0.01132221
+v -0.11281399 0.17161735 -0.01133513
+v -0.00086827 0.15869912 -0.01136587
+v -0.07429568 0.18455486 -0.01133831
+v -0.03577738 0.18455486 -0.01134639
+v -0.01651214 0.18455486 -0.01134962
+v -0.00367271 0.16515823 -0.01136422
+v -0.08070930 0.18455486 -0.01133670
+v -0.00086827 0.19770443 0.00102969
+v -0.02293795 0.19772370 0.00102969
+v -0.06145625 0.19770441 0.00512434
+v -0.11923980 0.18380285 0.00512429
+v -0.11923980 0.18380287 0.00102964
+v -0.12249537 0.18135421 -0.00457851
+v -0.12540955 0.17851990 -0.00457852
+v -0.12540955 0.17161735 -0.01041605
+v -0.11281399 0.17809575 -0.01127696
+v -0.09997455 0.18455486 -0.01131408
+v -0.10640037 0.17809575 -0.01132865
+v -0.09354874 0.18455486 -0.01133023
+v -0.08713512 0.18455486 -0.01133347
+v -0.00086827 0.18455486 -0.01134800
+v -0.03577738 0.19101398 -0.01111377
+v -0.01651214 0.19101398 -0.01111862
+v -0.01008633 0.19101398 -0.01112023
+v -0.00086827 0.19101398 -0.01112023
+v -0.00086827 0.18817967 -0.01122039
+v -0.06786987 0.19101398 -0.01110408
+v -0.00086827 0.19766589 -0.00457845
+v -0.01008633 0.19768517 -0.00457845
+v -0.02935157 0.19768517 -0.00457845
+v -0.06786987 0.19766589 -0.00457845
+v -0.06786987 0.19768515 0.00102969
+v -0.06786987 0.19768513 0.00512434
+v -0.11803268 0.18467049 0.00512429
+v -0.11477709 0.18700351 0.00102965
+v -0.11923980 0.18378361 -0.00457850
+v -0.12247099 0.18133494 -0.00741004
+v -0.12540955 0.17724738 -0.00816761
+v -0.12540955 0.17391179 -0.00954381
+v -0.11923980 0.17809575 -0.01029974
+v -0.10640037 0.18455486 -0.01095065
+v -0.08713512 0.19101398 -0.01081818
+v -0.08070930 0.19101398 -0.01102978
+v -0.07429568 0.19101398 -0.01109762
+v -0.01008633 0.19596917 -0.00913830
+v -0.00086827 0.19594989 -0.00913830
+v -0.06786987 0.19594989 -0.00912700
+v -0.00086827 0.19693320 -0.00657006
+v -0.07429568 0.19762732 -0.00457845
+v -0.07429568 0.19593059 -0.00911892
+v -0.07429568 0.19764658 0.00512434
+v -0.11477709 0.18700349 0.00512430
+v -0.11475270 0.18698424 -0.00457849
+v -0.11155808 0.18891231 0.00102965
+v -0.11154589 0.18889305 -0.00457849
+v -0.11088746 0.18850745 -0.00821441
+v -0.11923980 0.18254964 -0.00833557
+v -0.12503156 0.17749802 -0.00824191
+v -0.11294810 0.18486335 -0.00941455
+v -0.10640037 0.18958718 -0.00897841
+v -0.09354874 0.19101398 -0.01027869
+v -0.08713512 0.19550642 -0.00884110
+v -0.08070930 0.19581493 -0.00905270
+v -0.08070930 0.19739595 -0.00457845
+v -0.08070930 0.19741519 0.00512434
+v -0.11155808 0.18891229 0.00512430
+v -0.10640037 0.19149596 0.00102966
+v -0.10640037 0.19143814 -0.00457848
+v -0.09754811 0.19448452 -0.00774436
+v -0.09354874 0.19496655 -0.00830645
+v -0.09980384 0.19138030 -0.00916578
+v -0.08713512 0.19679824 -0.00457846
+v -0.08713512 0.19681747 0.00512433
+v -0.10640037 0.19149594 0.00512431
+v -0.10120607 0.19359757 0.00512432
+v -0.10119387 0.19359759 0.00102967
+v -0.10116949 0.19355904 -0.00457847
+v -0.09796267 0.19461950 -0.00457847
+v -0.09354874 0.19567994 -0.00457846
+v -0.09354874 0.19571845 0.00512433
+v -0.09798706 0.19463873 0.00512432
+v -0.09798706 0.19463875 0.00102967
+f 1 2 6
+f 1 6 11
+f 1 11 24
+f 1 24 38
+f 1 38 47
+f 1 47 31
+f 1 31 30
+f 1 30 29
+f 1 29 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 33
+f 1 33 50
+f 1 50 66
+f 1 66 90
+f 1 90 91
+f 1 91 67
+f 1 67 51
+f 1 51 34
+f 1 34 21
+f 1 21 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 12
+f 4 12 5
+f 5 10 11
+f 5 11 6
+f 5 12 13
+f 5 13 10
+f 7 14 8
+f 8 15 28
+f 8 28 46
+f 8 46 62
+f 8 62 85
+f 8 85 103
+f 8 103 117
+f 8 117 125
+f 8 125 132
+f 8 132 133
+f 8 133 127
+f 8 127 126
+f 8 126 118
+f 8 118 104
+f 8 104 86
+f 8 86 63
+f 8 63 48
+f 8 48 32
+f 8 32 16
+f 8 14 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 15
+f 9 21 12
+f 10 22 11
+f 10 13 23
+f 10 23 22
+f 11 22 24
+f 12 21 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 23
+f 15 20 29
+f 15 29 30
+f 15 30 31
+f 15 31 47
+f 15 47 37
+f 15 37 36
+f 15 36 54
+f 15 54 73
+f 15 73 78
+f 15 78 77
+f 15 77 98
+f 15 98 100
+f 15 100 80
+f 15 80 60
+f 15 60 45
+f 15 45 28
+f 16 32 33
+f 21 34 35
+f 21 35 25
+f 22 36 37
+f 22 37 38
+f 22 38 24
+f 22 23 39
+f 22 39 36
+f 23 27 40
+f 23 40 41
+f 23 41 58
+f 23 58 42
+f 23 42 39
+f 25 35 43
+f 25 43 44
+f 25 44 26
+f 26 44 40
+f 26 40 27
+f 28 45 46
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 43
+f 36 39 54
+f 37 47 38
+f 39 42 54
+f 40 44 59
+f 40 59 55
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 41 57 58
+f 42 58 54
+f 43 53 59
+f 43 59 44
+f 45 60 46
+f 46 60 61
+f 46 61 62
+f 48 63 49
+f 49 63 64
+f 49 64 65
+f 49 65 50
+f 50 65 66
+f 51 67 52
+f 52 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 53
+f 53 70 71
+f 53 71 72
+f 53 72 59
+f 54 58 73
+f 55 59 74
+f 55 74 75
+f 55 75 76
+f 55 76 56
+f 56 76 57
+f 57 76 77
+f 57 77 78
+f 57 78 73
+f 57 73 58
+f 59 72 79
+f 59 79 74
+f 60 80 81
+f 60 81 61
+f 61 81 82
+f 61 82 83
+f 61 83 84
+f 61 84 62
+f 62 84 85
+f 63 86 64
+f 64 86 87
+f 64 87 88
+f 64 88 65
+f 65 88 89
+f 65 89 66
+f 66 89 90
+f 67 91 92
+f 67 92 68
+f 68 92 93
+f 68 93 69
+f 69 93 94
+f 69 94 95
+f 69 95 96
+f 69 96 71
+f 69 71 70
+f 71 96 79
+f 71 79 72
+f 74 79 97
+f 74 97 75
+f 75 97 76
+f 76 97 77
+f 77 97 98
+f 79 96 99
+f 79 99 97
+f 80 100 81
+f 81 100 97
+f 81 97 82
+f 82 97 99
+f 82 99 83
+f 83 101 84
+f 83 99 102
+f 83 102 101
+f 84 101 103
+f 84 103 85
+f 86 104 87
+f 87 105 88
+f 87 104 118
+f 87 118 106
+f 87 106 107
+f 87 107 105
+f 88 105 89
+f 89 105 108
+f 89 108 109
+f 89 109 110
+f 89 110 90
+f 90 110 91
+f 91 110 92
+f 92 110 109
+f 92 109 111
+f 92 111 93
+f 93 111 112
+f 93 112 113
+f 93 113 94
+f 94 113 114
+f 94 114 115
+f 94 115 95
+f 95 115 102
+f 95 102 96
+f 96 102 99
+f 97 100 98
+f 101 116 117
+f 101 117 103
+f 101 102 115
+f 101 115 116
+f 105 107 108
+f 106 118 126
+f 106 126 119
+f 106 119 107
+f 107 119 120
+f 107 120 108
+f 108 120 121
+f 108 121 112
+f 108 112 111
+f 108 111 109
+f 112 121 122
+f 112 122 123
+f 112 123 113
+f 113 123 122
+f 113 122 114
+f 114 122 124
+f 114 124 116
+f 114 116 115
+f 116 124 125
+f 116 125 117
+f 119 126 127
+f 119 127 128
+f 119 128 129
+f 119 129 120
+f 120 129 121
+f 121 129 130
+f 121 130 131
+f 121 131 124
+f 121 124 122
+f 124 131 132
+f 124 132 125
+f 127 133 134
+f 127 134 128
+f 128 134 130
+f 128 130 129
+f 130 134 131
+f 131 134 132
+f 132 134 133
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_6.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.13850921 -0.11920142 0.03023681
+v -0.14400600 -0.11920141 0.02825485
+v -0.13850921 -0.12565642 0.03022902
+v -0.13289988 -0.13218948 0.02825998
+v -0.13850921 -0.06104142 0.03023444
+v -0.14400763 -0.06749640 0.02825504
+v -0.14630585 -0.08041939 0.02346978
+v -0.14630259 -0.11920140 0.02346964
+v -0.14398317 -0.12565641 0.02824706
+v -0.14400927 -0.06104141 0.02825248
+v -0.14630748 -0.05457339 0.02346988
+v -0.13850921 -0.13212442 0.03019790
+v -0.13850921 -0.13218949 0.03019531
+v -0.13045976 -0.13218947 0.02346959
+v -0.13294717 0.00073652 0.02825270
+v -0.13294228 -0.02872740 0.02825777
+v -0.13850921 -0.04165041 0.03023192
+v -0.14400274 0.00073652 0.02824752
+v -0.14400927 -0.05457340 0.02825250
+v -0.14631726 -0.08041937 0.01786069
+v -0.14631237 -0.11273337 0.01786058
+v -0.14630911 -0.11920138 0.01786055
+v -0.14625528 -0.12565640 0.02346962
+v -0.14387062 -0.13212441 0.02821335
+v -0.14630748 -0.04811840 0.02346990
+v -0.14386736 -0.13218948 0.02821335
+v -0.12966051 -0.13218939 0.00376913
+v -0.13055436 0.00073653 0.02347008
+v -0.13160804 0.00073653 0.02557640
+v -0.13850921 0.00073651 0.03022430
+v -0.13294717 -0.00933639 0.02825526
+v -0.14501566 0.00073652 0.02614379
+v -0.14630096 0.00073653 0.02347008
+v -0.14632216 -0.08041931 0.00376932
+v -0.14631726 -0.04811838 0.01786081
+v -0.14631237 -0.11920132 0.00376918
+v -0.14626017 -0.12565638 0.01786053
+v -0.14603020 -0.13212440 0.02346959
+v -0.14630748 0.00073654 0.02100104
+v -0.14602367 -0.13218947 0.02346959
+v -0.12984647 0.00073661 0.00376962
+v -0.14603509 -0.13218939 0.00376913
+v -0.14632216 -0.05789190 0.00376941
+v -0.14631237 0.00073655 0.01786099
+v -0.14631890 0.00073660 0.00417119
+v -0.14626181 -0.12565632 0.00376916
+v -0.14615090 -0.12896189 0.00376915
+v -0.14604161 -0.13212432 0.00376913
+v -0.14603509 -0.13212438 0.01786050
+v -0.14602857 -0.13218945 0.01786050
+v -0.14631890 0.00073661 0.00376962
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 3 9 12
+f 3 12 4
+f 4 12 13
+f 4 13 26
+f 4 26 40
+f 4 40 50
+f 4 50 42
+f 4 42 27
+f 4 27 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 10
+f 7 20 8
+f 7 11 20
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 8 20 21
+f 9 23 24
+f 9 24 12
+f 10 19 25
+f 10 25 11
+f 11 25 35
+f 11 35 20
+f 12 24 26
+f 12 26 13
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 30 31
+f 15 31 16
+f 15 29 28
+f 15 28 41
+f 15 41 51
+f 15 51 45
+f 15 45 44
+f 15 44 39
+f 15 39 33
+f 15 33 32
+f 15 32 18
+f 15 18 30
+f 16 31 30
+f 16 30 17
+f 17 30 18
+f 18 32 19
+f 19 32 33
+f 19 33 25
+f 20 34 21
+f 20 35 43
+f 20 43 34
+f 21 36 22
+f 21 34 36
+f 22 36 37
+f 22 37 23
+f 23 37 49
+f 23 49 38
+f 23 38 24
+f 24 38 26
+f 25 33 39
+f 25 39 35
+f 26 38 40
+f 27 41 28
+f 27 42 48
+f 27 48 47
+f 27 47 46
+f 27 46 36
+f 27 36 34
+f 27 34 43
+f 27 43 51
+f 27 51 41
+f 35 39 44
+f 35 44 45
+f 35 45 43
+f 36 46 37
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 38 49 50
+f 38 50 40
+f 42 50 49
+f 42 49 48
+f 43 45 51
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_7.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.14603518 -0.13220551 0.00377171
+v -0.14573956 -0.13543584 0.00377170
+v -0.14602903 -0.13220557 0.01786023
+v -0.12966200 -0.13220551 0.00377171
+v -0.14545009 -0.13859126 0.00377169
+v -0.14543469 -0.13859132 0.01786021
+v -0.14602286 -0.13220559 0.02347131
+v -0.11457601 -0.16408738 0.00377160
+v -0.13045648 -0.13220559 0.02347131
+v -0.14431687 -0.14505501 0.00377167
+v -0.14542854 -0.13859134 0.02347129
+v -0.14386728 -0.13220560 0.02821319
+v -0.14356858 -0.13859135 0.02809417
+v -0.11753224 -0.16408746 0.02347120
+v -0.13650443 -0.16408738 0.00377160
+v -0.13289537 -0.13220560 0.02825975
+v -0.14428916 -0.14505509 0.02347127
+v -0.14266015 -0.15101316 0.00377165
+v -0.14265092 -0.15102256 0.01225167
+v -0.14264784 -0.15101634 0.01786017
+v -0.14233681 -0.15007380 0.02706711
+v -0.14300197 -0.14505510 0.02773456
+v -0.13856763 -0.13220561 0.03017409
+v -0.13850912 -0.13859136 0.03007836
+v -0.13850912 -0.14505511 0.02971099
+v -0.11974633 -0.16408747 0.02776036
+v -0.13646748 -0.16408746 0.02347120
+v -0.13677850 -0.16364418 0.00377160
+v -0.13850912 -0.13220561 0.03019479
+v -0.14264476 -0.15098827 0.02347125
+v -0.14211510 -0.15259243 0.00377164
+v -0.14154233 -0.15425600 0.01225165
+v -0.14154233 -0.15424666 0.01786015
+v -0.14150846 -0.15421859 0.02347123
+v -0.13976244 -0.15797637 0.02347122
+v -0.13627040 -0.16280781 0.02728954
+v -0.13751447 -0.15797638 0.02802166
+v -0.13208857 -0.15797639 0.02992824
+v -0.12565571 -0.16408748 0.02971092
+v -0.13380072 -0.16408747 0.02804751
+v -0.13676002 -0.16361304 0.02347120
+v -0.13979323 -0.15797635 0.01786014
+v -0.13825661 -0.16088202 0.00377161
+v -0.14153925 -0.15424660 0.00377163
+v -0.14065547 -0.15615671 0.00377163
+v -0.13980863 -0.15797629 0.00377162
+v -0.13246734 -0.16408748 0.02859077
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 23
+f 1 23 29
+f 1 29 16
+f 1 16 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 28
+f 1 28 43
+f 1 43 46
+f 1 46 45
+f 1 45 44
+f 1 44 31
+f 1 31 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 11
+f 3 11 7
+f 4 9 8
+f 5 10 6
+f 6 10 11
+f 7 11 13
+f 7 13 12
+f 8 14 26
+f 8 26 39
+f 8 39 47
+f 8 47 40
+f 8 40 27
+f 8 27 15
+f 8 9 14
+f 9 16 14
+f 10 17 11
+f 10 18 19
+f 10 19 20
+f 10 20 17
+f 11 17 21
+f 11 21 22
+f 11 22 13
+f 12 13 24
+f 12 24 23
+f 13 22 25
+f 13 25 24
+f 14 16 26
+f 15 27 28
+f 16 29 26
+f 17 20 30
+f 17 30 21
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 20
+f 20 33 30
+f 21 30 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 25
+f 23 24 29
+f 24 25 38
+f 24 38 29
+f 25 37 38
+f 26 29 39
+f 27 40 36
+f 27 36 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 29 38 39
+f 30 33 34
+f 31 44 32
+f 32 45 46
+f 32 46 33
+f 32 44 45
+f 33 46 42
+f 33 42 35
+f 33 35 34
+f 35 42 41
+f 35 41 36
+f 36 40 37
+f 37 40 47
+f 37 47 38
+f 38 47 39
+f 42 46 43
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_8.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.13973695 -0.15620967 0.00373176
+v 0.13971601 -0.15620970 0.00959481
+v 0.13892087 -0.15798156 0.00373175
+v 0.12184060 -0.15620967 0.00373176
+v 0.13969509 -0.15620972 0.01522189
+v 0.13886855 -0.15798162 0.01786102
+v 0.13584484 -0.16360173 0.02347014
+v 0.13588669 -0.16364847 0.00373173
+v 0.12255729 -0.15620975 0.02347017
+v 0.08629380 -0.17692592 0.00373168
+v 0.13968463 -0.15620973 0.01786103
+v 0.13966370 -0.15620974 0.02084898
+v 0.13882669 -0.15798164 0.02347016
+v 0.13535834 -0.16280165 0.02727881
+v 0.13383602 -0.16683327 0.02347013
+v 0.13386217 -0.16688002 0.00373172
+v 0.12258345 -0.15620975 0.02353685
+v 0.08629380 -0.18069615 0.02468577
+v 0.08629380 -0.19608104 0.00373161
+v 0.13964278 -0.15620975 0.02347017
+v 0.13844481 -0.15620976 0.02590669
+v 0.13659292 -0.15798165 0.02801491
+v 0.13160225 -0.16475306 0.02844063
+v 0.12934754 -0.17090784 0.02730443
+v 0.12803971 -0.17420964 0.02635802
+v 0.13071292 -0.17090783 0.02347011
+v 0.13236079 -0.16882754 0.00373171
+v 0.12505786 -0.15620976 0.02810982
+v 0.08629380 -0.18329543 0.02797122
+v 0.08848572 -0.18047759 0.02646315
+v 0.08629380 -0.19605768 0.01790961
+v 0.08933319 -0.19556196 0.00373161
+v 0.13704805 -0.15620976 0.02810213
+v 0.13118374 -0.15798166 0.02993336
+v 0.12476492 -0.17090785 0.02927673
+v 0.12476492 -0.17579028 0.02731979
+v 0.11724228 -0.18222216 0.02752752
+v 0.12150057 -0.18055173 0.02347008
+v 0.12476492 -0.17741385 0.02347009
+v 0.12806065 -0.17423304 0.02347010
+v 0.13074954 -0.17090775 0.00373170
+v 0.12632384 -0.15620977 0.02864586
+v 0.08629380 -0.19023469 0.02971523
+v 0.13118374 -0.15620977 0.02984616
+v 0.08629380 -0.19604208 0.02347002
+v 0.09266031 -0.19498824 0.00664262
+v 0.09266031 -0.19496488 0.01786088
+v 0.09266031 -0.19499214 0.00373161
+v 0.13321872 -0.15620977 0.02945889
+v 0.09908437 -0.18383014 0.02985118
+v 0.10550319 -0.18383014 0.02985118
+v 0.11896338 -0.17799540 0.02860217
+v 0.11828854 -0.18303004 0.02347007
+v 0.11205804 -0.18415797 0.02832259
+v 0.11000736 -0.18779931 0.02711970
+v 0.12153196 -0.18057897 0.00373167
+v 0.12445104 -0.17775723 0.00373168
+v 0.12615644 -0.17610633 0.00373168
+v 0.12807111 -0.17424857 0.00373169
+v 0.12946787 -0.17250791 0.00373170
+v 0.08629380 -0.19029323 0.02971523
+v 0.08629380 -0.19603429 0.02350336
+v 0.09266031 -0.19494149 0.02347002
+v 0.09661519 -0.19375894 0.02662468
+v 0.09266031 -0.19422339 0.02719150
+v 0.09709124 -0.19391497 0.00664263
+v 0.09708077 -0.19390719 0.01225176
+v 0.09705985 -0.19389942 0.01786089
+v 0.09701800 -0.19388772 0.02347003
+v 0.09709124 -0.19391496 0.00373162
+v 0.09266031 -0.19029323 0.02916637
+v 0.10550319 -0.18887259 0.02789170
+v 0.11862858 -0.18280359 0.00373166
+v 0.12042815 -0.18142590 0.00373166
+v 0.11385762 -0.18626158 0.02347006
+v 0.10550319 -0.19071082 0.02347004
+v 0.11065082 -0.18817007 0.02347005
+v 0.08629380 -0.19474247 0.02775317
+v 0.08629380 -0.19477758 0.02773522
+v 0.10023003 -0.19283396 0.02347003
+v 0.09888558 -0.19065228 0.02806096
+v 0.10030327 -0.19286121 0.00664263
+v 0.10028757 -0.19285733 0.01225176
+v 0.10026665 -0.19285346 0.01786089
+v 0.10030327 -0.19286120 0.00373162
+v 0.11386284 -0.18626930 0.00373165
+v 0.10550319 -0.19073421 0.01786090
+v 0.11065604 -0.18816999 0.00373164
+v 0.11231960 -0.18718648 0.00373164
+v 0.10550319 -0.19073807 0.00664264
+v 0.10550319 -0.19073806 0.00373163
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 27
+f 1 27 41
+f 1 41 60
+f 1 60 59
+f 1 59 58
+f 1 58 57
+f 1 57 56
+f 1 56 74
+f 1 74 73
+f 1 73 86
+f 1 86 89
+f 1 89 88
+f 1 88 91
+f 1 91 85
+f 1 85 70
+f 1 70 48
+f 1 48 32
+f 1 32 19
+f 1 19 10
+f 1 10 4
+f 1 4 9
+f 1 9 17
+f 1 17 28
+f 1 28 42
+f 1 42 44
+f 1 44 49
+f 1 49 33
+f 1 33 21
+f 1 21 20
+f 1 20 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 10 9
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 10 18
+f 9 18 17
+f 10 19 31
+f 10 31 45
+f 10 45 62
+f 10 62 79
+f 10 79 78
+f 10 78 61
+f 10 61 43
+f 10 43 29
+f 10 29 18
+f 12 20 13
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 17 18 28
+f 18 29 30
+f 18 30 28
+f 19 32 31
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 41 27
+f 26 40 41
+f 28 30 29
+f 28 29 42
+f 29 43 44
+f 29 44 42
+f 31 32 46
+f 31 46 47
+f 31 47 45
+f 32 48 46
+f 33 49 34
+f 34 49 44
+f 34 44 43
+f 34 43 50
+f 34 50 51
+f 34 51 35
+f 35 52 36
+f 35 51 52
+f 36 52 37
+f 37 53 38
+f 37 52 54
+f 37 54 55
+f 37 55 53
+f 38 53 56
+f 38 56 39
+f 39 56 40
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 43 61 50
+f 45 47 63
+f 45 63 64
+f 45 64 65
+f 45 65 62
+f 46 48 66
+f 46 66 67
+f 46 67 47
+f 47 67 68
+f 47 68 69
+f 47 69 63
+f 48 70 66
+f 50 61 51
+f 51 61 71
+f 51 71 72
+f 51 72 54
+f 51 54 52
+f 53 73 74
+f 53 74 56
+f 53 55 75
+f 53 75 73
+f 54 72 55
+f 55 76 77
+f 55 77 75
+f 55 72 64
+f 55 64 76
+f 61 78 71
+f 62 65 79
+f 63 69 64
+f 64 69 80
+f 64 80 76
+f 64 72 65
+f 65 72 81
+f 65 81 71
+f 65 71 78
+f 65 78 79
+f 66 82 83
+f 66 83 84
+f 66 84 67
+f 66 70 85
+f 66 85 82
+f 67 84 68
+f 68 84 69
+f 69 84 80
+f 71 81 72
+f 73 75 86
+f 75 77 86
+f 76 80 84
+f 76 84 87
+f 76 87 77
+f 77 88 89
+f 77 89 86
+f 77 87 90
+f 77 90 88
+f 82 85 91
+f 82 91 90
+f 82 90 87
+f 82 87 83
+f 83 87 84
+f 88 90 91
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/mesh/tray_002_collision_9.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.08471779 -0.19634072 0.00377147
+v -0.08471779 -0.17698451 0.00377154
+v -0.08400362 -0.19640747 0.00377147
+v -0.08071187 -0.19670995 0.01786077
+v -0.08471779 -0.19633095 0.01786077
+v -0.08471779 -0.18090217 0.02346979
+v -0.00085608 -0.18112603 0.02346978
+v -0.04219590 -0.17721622 0.00377154
+v -0.08071187 -0.19671185 0.00377147
+v -0.07429254 -0.19695541 0.01786077
+v -0.08071187 -0.19670211 0.02346973
+v -0.08471779 -0.19632899 0.01997570
+v -0.08471779 -0.18245940 0.02623052
+v -0.00085608 -0.18412265 0.02825796
+v -0.00085608 -0.17934488 0.00377153
+v -0.03786983 -0.17724568 0.00377154
+v -0.07757609 -0.19682968 0.00377147
+v -0.07429254 -0.19695539 0.01225181
+v -0.06787321 -0.19702218 0.01786077
+v -0.07429254 -0.19694364 0.02346973
+v -0.08071187 -0.19510955 0.02797233
+v -0.08471779 -0.19491711 0.02783854
+v -0.08471779 -0.19631919 0.02346973
+v -0.08471779 -0.18361602 0.02807530
+v -0.00085608 -0.18759645 0.02926397
+v -0.01009105 -0.18412265 0.02826054
+v -0.02934904 -0.19029261 0.03005384
+v -0.00085608 -0.19598724 0.00377147
+v -0.07429254 -0.19695142 0.00377147
+v -0.06787321 -0.19702216 0.01225181
+v -0.06145388 -0.19704181 0.01786077
+v -0.06787321 -0.19700845 0.02346973
+v -0.07429254 -0.19522935 0.02803665
+v -0.08071187 -0.19029261 0.02995350
+v -0.08471779 -0.19029261 0.02981970
+v -0.07429254 -0.19029261 0.03002297
+v -0.08071187 -0.18412462 0.02825796
+v -0.04860702 -0.18412855 0.02826568
+v -0.04219590 -0.18412658 0.02826568
+v -0.03577657 -0.18412462 0.02826568
+v -0.02934904 -0.18412265 0.02826568
+v -0.00085608 -0.19029261 0.03004355
+v -0.04219590 -0.19029261 0.03005127
+v -0.04219590 -0.19528041 0.02806238
+v -0.03577657 -0.19528041 0.02806238
+v -0.02934904 -0.19527844 0.02806238
+v -0.01651038 -0.19527452 0.02806238
+v -0.00085608 -0.19527255 0.02805981
+v -0.00085608 -0.19309678 0.02892689
+v -0.00085608 -0.19702810 0.02346973
+v -0.04219590 -0.19703978 0.00377147
+v -0.07115676 -0.19698285 0.00377147
+v -0.06787321 -0.19701624 0.00664027
+v -0.06145388 -0.19703389 0.00377147
+v -0.06145388 -0.19704179 0.01225181
+v -0.05502634 -0.19704377 0.01786077
+v -0.05502634 -0.19703593 0.02346973
+v -0.06145388 -0.19702810 0.02346973
+v -0.06787321 -0.19526076 0.02805466
+v -0.06787321 -0.19029261 0.03004098
+v -0.06145388 -0.19029261 0.03004612
+v -0.05502634 -0.19029261 0.03004869
+v -0.05502634 -0.19527844 0.02805981
+v -0.04860702 -0.19528041 0.02805981
+v -0.02934904 -0.19703986 0.02346973
+v -0.02292971 -0.19703790 0.02346973
+v -0.04219590 -0.19704372 0.00664027
+v -0.05502634 -0.19703978 0.00377147
+v -0.06787321 -0.19701230 0.00377147
+v -0.05502634 -0.19704375 0.01225181
+v -0.04219590 -0.19704375 0.01225181
+v -0.06145388 -0.19527255 0.02805981
+f 1 2 8
+f 1 8 16
+f 1 16 15
+f 1 15 28
+f 1 28 51
+f 1 51 68
+f 1 68 54
+f 1 54 69
+f 1 69 52
+f 1 52 29
+f 1 29 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 23
+f 1 23 22
+f 1 22 35
+f 1 35 24
+f 1 24 13
+f 1 13 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 10
+f 6 13 7
+f 7 14 25
+f 7 25 42
+f 7 42 49
+f 7 49 48
+f 7 48 50
+f 7 50 28
+f 7 28 15
+f 7 15 16
+f 7 16 8
+f 7 13 14
+f 9 17 18
+f 9 18 10
+f 10 19 20
+f 10 20 11
+f 10 18 30
+f 10 30 19
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 11 20 21
+f 13 24 14
+f 14 24 26
+f 14 26 27
+f 14 27 25
+f 17 29 18
+f 18 29 30
+f 19 30 55
+f 19 55 31
+f 19 31 58
+f 19 58 32
+f 19 32 20
+f 20 33 21
+f 20 32 33
+f 21 34 35
+f 21 35 22
+f 21 33 34
+f 24 35 34
+f 24 34 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 26
+f 25 27 42
+f 26 41 27
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 42
+f 27 41 40
+f 27 40 39
+f 27 39 38
+f 27 38 43
+f 28 50 51
+f 29 52 30
+f 30 52 53
+f 30 53 54
+f 30 54 55
+f 31 55 70
+f 31 70 56
+f 31 56 57
+f 31 57 58
+f 32 58 59
+f 32 59 33
+f 33 36 34
+f 33 59 36
+f 36 59 60
+f 36 60 37
+f 37 60 61
+f 37 61 62
+f 37 62 38
+f 38 62 43
+f 43 62 44
+f 44 62 63
+f 44 63 64
+f 44 64 57
+f 44 57 65
+f 44 65 45
+f 45 65 48
+f 45 48 46
+f 46 48 47
+f 48 65 66
+f 48 66 50
+f 50 66 67
+f 50 67 51
+f 51 67 68
+f 52 69 53
+f 53 69 54
+f 54 68 55
+f 55 68 70
+f 56 70 67
+f 56 67 71
+f 56 71 65
+f 56 65 57
+f 57 64 63
+f 57 63 72
+f 57 72 58
+f 58 72 59
+f 59 72 60
+f 60 72 61
+f 61 72 62
+f 62 72 63
+f 65 71 67
+f 65 67 66
+f 67 70 68
+

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/mjcf/tray_002.xml

@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_002">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/tray_002.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_002">
+   <link name="tray_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <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>1a50568c5df955c5b6bc392a08ee8309</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>brown serving tray</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>shallow rectangular brown tray with rounded corners and side handles</description>
+         <min_height>0.0414</min_height>
+         <max_height>0.0414</max_height>
+         <real_height>0.0414</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609194658</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.145613 -0.196047 -0.009681</min>
+            <max>0.144693 0.196784 0.031728</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/tray_002.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486ffca958fec5b06af9dd868f19926b8ac2571a4a750a5cf70fc418eb611257
+size 5866830

dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2d3aa0b46866dff4c98f8870522730d41cb8b5dd20060c702354587c6d4e835
+size 1086769