Add asset kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e

.gitattributes

@@ -4311,5 +4311,5 @@ dataset/kitchen_supplies/tableware/ab607e999d3151638dcab9473db45e54/mesh/wooden_
 dataset/kitchen_supplies/tableware/ab607e999d3151638dcab9473db45e54/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a85f83aaa12b59fd9d756c722c0a7ff1/mesh/tray_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a85f83aaa12b59fd9d756c722c0a7ff1/tray_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/abe26afde9e25c30943a77b1d1b5852a/mesh/spoon_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/abe26afde9e25c30943a77b1d1b5852a/spoon_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/tray_057.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_057_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_057_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd80a55f9209b88b986c1b4d5d043a0882bdd1b8a6a057d8b832d8945b4b28ab
+size 11451724

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mesh/tray_057.mtl

@@ -0,0 +1,6 @@
+newmtl tray_057_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/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_0.obj

@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v 0.12143065 -0.01501660 0.02584634
+v 0.12143065 -0.05052189 0.02583840
+v 0.12731445 -0.04460677 0.02579938
+v 0.12731445 -0.03276197 0.02579942
+v 0.12731445 -0.01501660 0.02579557
+v 0.12143065 -0.00317181 0.02584248
+v 0.11520716 -0.14567258 0.02468989
+v 0.12143065 -0.08601265 0.02582655
+v 0.12731445 -0.11560282 0.02577959
+v 0.13171881 -0.03276197 0.02470593
+v 0.13168108 -0.12153247 0.02470560
+v 0.13171881 -0.02684685 0.02470595
+v 0.13173014 0.00280145 0.02470216
+v 0.12735219 0.00280145 0.02578002
+v 0.12731445 0.00280145 0.02578783
+v 0.12148348 0.00280145 0.02583860
+v 0.12143065 0.00280145 0.02583860
+v 0.11473163 -0.14567258 0.02458835
+v 0.12097020 -0.14567258 0.02565450
+v 0.12143065 -0.11560282 0.02579912
+v 0.12143065 -0.10968769 0.02581085
+v 0.12143065 -0.09194231 0.02582263
+v 0.12731445 -0.12153247 0.02577565
+v 0.13401723 0.00274333 0.02098821
+v 0.13175278 0.00280145 0.02466701
+v 0.13173014 0.00274332 0.02470216
+v 0.13167730 -0.12744760 0.02470168
+v 0.11660736 0.00280145 0.02476073
+v 0.11412024 -0.14567258 0.02439309
+v 0.11656584 0.00280145 0.02474902
+v 0.12143065 -0.14567258 0.02568965
+v 0.12143065 -0.12153247 0.02578346
+v 0.12731445 -0.12744760 0.02576392
+v 0.13402478 0.00280146 0.02094135
+v 0.13401723 0.00280146 0.02098821
+v 0.13387382 -0.12744759 0.02098773
+v 0.12731445 -0.13336272 0.02574047
+v 0.13164333 -0.13336272 0.02468603
+v 0.11243698 -0.14567258 0.02373699
+v 0.09613669 0.00280153 0.00212168
+v 0.12685401 -0.14567258 0.02549438
+v 0.12731445 -0.13927785 0.02567796
+v 0.13469279 0.00280148 0.01556374
+v 0.13381343 -0.13336271 0.02098771
+v 0.13444370 -0.13336269 0.01556324
+v 0.13449654 -0.12744757 0.01556326
+v 0.13151124 -0.13927785 0.02462743
+v 0.09613669 -0.14567250 0.00248823
+v 0.09613669 -0.03521805 0.00226213
+v 0.09613669 -0.04107505 0.00227773
+v 0.09613669 -0.05052181 0.00229722
+v 0.09613669 0.00280159 -0.01404629
+v 0.12734841 -0.14567258 0.02542409
+v 0.12731445 -0.14520752 0.02547487
+v 0.13411159 0.00274337 0.01013927
+v 0.13411159 0.00280150 0.01013927
+v 0.13354925 -0.13927784 0.02098769
+v 0.13419839 -0.13927782 0.01556322
+v 0.13377569 -0.13336267 0.01013877
+v 0.13383231 -0.12744755 0.01013879
+v 0.13354925 -0.13927780 0.01013875
+v 0.13116025 -0.14520752 0.02442824
+v 0.09613669 -0.14567244 -0.01391406
+v 0.09790297 0.00280159 -0.01403457
+v 0.09790297 -0.00317167 -0.01403850
+v 0.09613669 -0.00908680 -0.01405023
+v 0.13090738 -0.14567258 0.02445557
+v 0.13287368 0.00274339 0.00471871
+v 0.13287368 0.00280152 0.00471871
+v 0.13284349 -0.14520751 0.02098767
+v 0.13350395 -0.14520749 0.01556320
+v 0.13290765 -0.14520747 0.01013873
+v 0.13239060 -0.13336265 0.00471821
+v 0.13246985 -0.12744753 0.00471823
+v 0.13250004 -0.12153240 0.00471825
+v 0.13280575 -0.02093165 0.00471862
+v 0.13214906 -0.13927778 0.00471819
+v 0.13111119 -0.14567258 0.02439309
+v 0.09790297 -0.14567244 -0.01388672
+v 0.09613669 -0.14520738 -0.01392967
+v 0.10378678 0.00280159 -0.01392913
+v 0.09790297 -0.03276183 -0.01403861
+v 0.09613669 -0.04460663 -0.01404646
+v 0.13093757 -0.12744751 0.00051612
+v 0.13095267 -0.12153238 0.00051223
+v 0.13116779 0.00274341 0.00017293
+v 0.13116779 0.00280154 0.00017293
+v 0.13261704 -0.14567257 0.02131180
+v 0.13272649 -0.14567257 0.02100719
+v 0.13339451 -0.14567255 0.01556319
+v 0.13279443 -0.14567253 0.01010357
+v 0.13128479 -0.14567251 0.00424171
+v 0.13088851 -0.13336263 0.00062545
+v 0.13052620 -0.14397209 0.00146114
+v 0.13076020 -0.13927776 0.00095738
+v 0.09790297 -0.14520738 -0.01390233
+v 0.10378678 -0.14520738 -0.01369926
+v 0.10378678 -0.14567244 -0.01367583
+v 0.09613669 -0.13927771 -0.01399213
+v 0.09790297 -0.13927771 -0.01397261
+v 0.10967058 0.00280159 -0.01356593
+v 0.10378678 -0.00908680 -0.01392917
+v 0.09790297 -0.11560268 -0.01402329
+v 0.09613669 -0.11560268 -0.01403500
+v 0.12966194 -0.12744750 -0.00219807
+v 0.12975629 0.00274342 -0.00254126
+v 0.12975629 0.00280155 -0.00254126
+v 0.12916753 -0.14567249 -0.00047590
+v 0.12960532 -0.13336262 -0.00208484
+v 0.12916375 -0.14564342 -0.00049151
+v 0.12937511 -0.13927775 -0.00175681
+v 0.10378678 -0.13927771 -0.01383202
+v 0.10967058 -0.13927771 -0.01341024
+v 0.10967058 -0.14520738 -0.01316423
+v 0.10967058 -0.14567244 -0.01312128
+v 0.09613669 -0.13336258 -0.01401164
+v 0.09790297 -0.13336258 -0.01399993
+v 0.10378678 -0.13336258 -0.01387886
+v 0.11555061 0.00280159 -0.01256618
+v 0.11555061 -0.12744746 -0.01258228
+v 0.10967058 -0.00317167 -0.01356595
+v 0.10378678 -0.10968755 -0.01391001
+v 0.10378678 -0.12153233 -0.01390225
+v 0.09790297 -0.12153233 -0.01401550
+v 0.09613669 -0.11974472 -0.01403112
+v 0.12705026 -0.13336261 -0.00613464
+v 0.12706913 -0.12744749 -0.00613462
+v 0.12475939 -0.13336260 -0.00914563
+v 0.12681627 0.00280156 -0.00606384
+v 0.12591426 -0.14567247 -0.00524818
+v 0.12597464 -0.14520741 -0.00532628
+v 0.12614448 -0.13923415 -0.00651738
+v 0.10967058 -0.13336258 -0.01350785
+v 0.11555061 -0.13336258 -0.01254324
+v 0.11555061 -0.13927771 -0.01235190
+v 0.11555061 -0.14520739 -0.01187938
+v 0.11555061 -0.14567245 -0.01180519
+v 0.09613669 -0.13158950 -0.01401553
+v 0.10378678 -0.12744746 -0.01389446
+v 0.10967058 -0.12744746 -0.01353127
+v 0.12128345 0.00280158 -0.01036358
+v 0.12143065 -0.12744747 -0.01064915
+v 0.12143065 -0.13336259 -0.01065308
+v 0.10967058 -0.12153233 -0.01353906
+v 0.09613669 -0.12567438 -0.01402333
+v 0.12458201 -0.13722851 -0.00901286
+v 0.12133251 0.00280158 -0.01034406
+v 0.12427253 0.00280157 -0.00877803
+v 0.12350261 -0.14567246 -0.00774758
+v 0.12336298 -0.14520740 -0.00803656
+v 0.12402344 -0.14118161 -0.00857939
+v 0.12180805 -0.13923413 -0.01004777
+v 0.12041918 -0.14520739 -0.00991892
+v 0.12033238 -0.14567245 -0.00987207
+v 0.12327240 -0.14567246 -0.00795847
+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 9
+f 2 9 3
+f 3 10 12
+f 3 12 4
+f 3 9 11
+f 3 11 10
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 18 29
+f 7 29 39
+f 7 39 48
+f 7 48 63
+f 7 63 79
+f 7 79 98
+f 7 98 115
+f 7 115 137
+f 7 137 154
+f 7 154 155
+f 7 155 149
+f 7 149 130
+f 7 130 108
+f 7 108 92
+f 7 92 91
+f 7 91 90
+f 7 90 89
+f 7 89 88
+f 7 88 78
+f 7 78 67
+f 7 67 53
+f 7 53 41
+f 7 41 31
+f 7 31 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 7 17 18
+f 8 22 23
+f 8 23 9
+f 9 23 11
+f 10 24 25
+f 10 25 26
+f 10 26 13
+f 10 13 12
+f 10 11 24
+f 11 23 27
+f 11 27 24
+f 13 26 25
+f 13 25 35
+f 13 35 34
+f 13 34 43
+f 13 43 56
+f 13 56 69
+f 13 69 87
+f 13 87 107
+f 13 107 129
+f 13 129 148
+f 13 148 147
+f 13 147 141
+f 13 141 119
+f 13 119 101
+f 13 101 81
+f 13 81 64
+f 13 64 52
+f 13 52 40
+f 13 40 30
+f 13 30 28
+f 13 28 17
+f 13 17 16
+f 13 16 15
+f 13 15 14
+f 17 28 18
+f 18 28 30
+f 18 30 29
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 23
+f 20 23 21
+f 21 23 22
+f 23 33 27
+f 24 34 35
+f 24 35 25
+f 24 27 36
+f 24 36 34
+f 27 33 37
+f 27 37 38
+f 27 38 36
+f 29 30 39
+f 30 40 39
+f 31 41 42
+f 31 42 37
+f 31 37 33
+f 31 33 32
+f 34 36 43
+f 36 38 44
+f 36 44 45
+f 36 45 46
+f 36 46 43
+f 37 42 38
+f 38 42 47
+f 38 47 44
+f 39 40 49
+f 39 49 50
+f 39 50 51
+f 39 51 48
+f 40 52 66
+f 40 66 83
+f 40 83 104
+f 40 104 125
+f 40 125 145
+f 40 145 138
+f 40 138 116
+f 40 116 99
+f 40 99 80
+f 40 80 63
+f 40 63 48
+f 40 48 51
+f 40 51 50
+f 40 50 49
+f 41 53 54
+f 41 54 42
+f 42 54 47
+f 43 55 56
+f 43 46 55
+f 44 47 57
+f 44 57 58
+f 44 58 45
+f 45 59 60
+f 45 60 46
+f 45 58 61
+f 45 61 59
+f 46 60 55
+f 47 54 62
+f 47 62 57
+f 52 64 65
+f 52 65 66
+f 53 67 54
+f 54 67 62
+f 55 68 69
+f 55 69 56
+f 55 60 68
+f 57 62 70
+f 57 70 71
+f 57 71 58
+f 58 71 72
+f 58 72 61
+f 59 73 74
+f 59 74 60
+f 59 61 73
+f 60 74 75
+f 60 75 76
+f 60 76 68
+f 61 77 73
+f 61 72 77
+f 62 67 78
+f 62 78 70
+f 63 80 96
+f 63 96 79
+f 64 81 65
+f 65 81 102
+f 65 102 82
+f 65 82 66
+f 66 82 83
+f 68 76 84
+f 68 84 85
+f 68 85 86
+f 68 86 87
+f 68 87 69
+f 70 78 88
+f 70 88 89
+f 70 89 90
+f 70 90 71
+f 71 90 91
+f 71 91 72
+f 72 91 92
+f 72 92 77
+f 73 93 84
+f 73 84 74
+f 73 77 93
+f 74 84 75
+f 75 84 76
+f 77 94 95
+f 77 95 93
+f 77 92 94
+f 79 96 97
+f 79 97 98
+f 80 99 100
+f 80 100 96
+f 81 101 121
+f 81 121 102
+f 82 102 103
+f 82 103 104
+f 82 104 83
+f 84 105 86
+f 84 86 85
+f 84 93 105
+f 86 106 107
+f 86 107 87
+f 86 105 106
+f 92 108 94
+f 93 109 105
+f 93 95 109
+f 94 110 111
+f 94 111 95
+f 94 108 110
+f 95 111 109
+f 96 100 112
+f 96 112 97
+f 97 112 113
+f 97 113 114
+f 97 114 98
+f 98 114 115
+f 99 116 117
+f 99 117 100
+f 100 117 118
+f 100 118 112
+f 101 119 120
+f 101 120 121
+f 102 121 122
+f 102 122 103
+f 103 122 123
+f 103 123 124
+f 103 124 145
+f 103 145 125
+f 103 125 104
+f 105 109 126
+f 105 126 127
+f 105 127 106
+f 106 127 107
+f 107 127 128
+f 107 128 129
+f 108 130 131
+f 108 131 110
+f 109 111 126
+f 110 131 111
+f 111 131 132
+f 111 132 126
+f 112 118 133
+f 112 133 113
+f 113 133 134
+f 113 134 135
+f 113 135 114
+f 114 135 136
+f 114 136 115
+f 115 136 137
+f 116 138 117
+f 117 138 145
+f 117 145 124
+f 117 124 123
+f 117 123 139
+f 117 139 118
+f 118 139 140
+f 118 140 133
+f 119 141 142
+f 119 142 143
+f 119 143 120
+f 120 143 134
+f 120 134 133
+f 120 133 140
+f 120 140 144
+f 120 144 121
+f 121 144 122
+f 122 144 123
+f 123 144 140
+f 123 140 139
+f 126 128 127
+f 126 132 146
+f 126 146 128
+f 128 146 143
+f 128 143 142
+f 128 142 147
+f 128 147 148
+f 128 148 129
+f 130 149 150
+f 130 150 151
+f 130 151 131
+f 131 151 146
+f 131 146 132
+f 134 143 135
+f 135 143 152
+f 135 152 136
+f 136 152 153
+f 136 153 137
+f 137 153 154
+f 141 147 142
+f 143 146 152
+f 146 151 153
+f 146 153 152
+f 149 155 150
+f 150 155 154
+f 150 154 151
+f 151 154 153
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_1.obj

@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
+v 0.08942856 0.14642404 -0.01396816
+v 0.08942856 0.14740271 -0.01395259
+v 0.09039971 0.14642404 -0.01396038
+v 0.08942856 0.14642398 0.00194587
+v 0.08942856 0.15071028 -0.01388636
+v 0.09628303 0.14642404 -0.01387858
+v 0.08942856 0.16398355 0.02459402
+v 0.11243719 0.14642390 0.02403311
+v 0.08942856 0.15332117 -0.01376172
+v 0.09202121 0.15071028 -0.01384742
+v 0.09790451 0.15071028 -0.01369552
+v 0.09790451 0.14642404 -0.01383574
+v 0.08942856 0.16846220 0.02582089
+v 0.11530297 0.14642390 0.02481986
+v 0.08942856 0.15662874 -0.01355138
+v 0.09202121 0.15662874 -0.01347738
+v 0.09790451 0.15662874 -0.01317359
+v 0.10378782 0.15071028 -0.01337225
+v 0.10378782 0.14642404 -0.01360595
+v 0.10216633 0.14642404 -0.01369163
+v 0.08942856 0.17438066 0.02567681
+v 0.12143341 0.14642390 0.02567281
+v 0.12143341 0.15071014 0.02568450
+v 0.12143341 0.15662860 0.02560274
+v 0.11555010 0.16254706 0.02558718
+v 0.08942856 0.15923963 -0.01314243
+v 0.09790451 0.16254719 -0.01185714
+v 0.10378782 0.15662874 -0.01261274
+v 0.08942856 0.16254720 -0.01253872
+v 0.09202121 0.16254720 -0.01239851
+v 0.10967112 0.15071028 -0.01264393
+v 0.10804964 0.14642404 -0.01323984
+v 0.10340196 0.17459299 0.02452006
+v 0.08942856 0.17643421 0.02507312
+v 0.10967112 0.16846220 0.02540804
+v 0.10967112 0.17286787 0.02450057
+v 0.12745979 0.14642390 0.02527165
+v 0.12647563 0.15662860 0.02462516
+v 0.12165019 0.16272621 0.02478876
+v 0.11556311 0.16860486 0.02471088
+v 0.09790451 0.16718509 -0.00988248
+v 0.10378782 0.16254719 -0.01091850
+v 0.09202121 0.16779883 -0.01022521
+v 0.10967112 0.15662873 -0.01149884
+v 0.08942856 0.16502206 -0.01152997
+v 0.08942856 0.16796138 -0.01031479
+v 0.10967112 0.14642404 -0.01303731
+v 0.11555010 0.15071027 -0.01105876
+v 0.11555010 0.14642403 -0.01170920
+v 0.11392861 0.14642403 -0.01214541
+v 0.10118650 0.17742282 0.02378006
+v 0.09790451 0.17768492 0.02400206
+v 0.08942856 0.17817592 0.02445386
+v 0.09202121 0.17805316 0.02432143
+v 0.11361646 0.17201195 0.02411889
+v 0.13107562 0.14642390 0.02431743
+v 0.12789334 0.15128075 0.02477314
+v 0.12523133 0.16087172 0.02423958
+v 0.13077214 0.14968834 0.02411102
+v 0.13023886 0.15363620 0.02367481
+v 0.11983360 0.16673046 0.02430971
+v 0.09790451 0.17014431 -0.00774814
+v 0.10378782 0.16622300 -0.00930216
+v 0.09202121 0.17075805 -0.00828560
+v 0.10688339 0.16559266 -0.00890489
+v 0.10917255 0.16234483 -0.00963323
+v 0.08942856 0.16926517 -0.00950078
+v 0.08942856 0.17092060 -0.00841803
+v 0.11329563 0.16023819 -0.00917755
+v 0.11537668 0.15625717 -0.00969557
+v 0.11871937 0.15403774 -0.00898672
+v 0.11946508 0.15071026 -0.00941517
+v 0.11915292 0.14642403 -0.01026813
+v 0.10510582 0.17670626 0.02239742
+v 0.10706548 0.17747593 0.01878307
+v 0.10340196 0.17786740 0.02074993
+v 0.09790451 0.17888919 0.02098752
+v 0.09202121 0.17955933 0.02098752
+v 0.08942856 0.17901525 0.02259217
+v 0.11753577 0.17067501 0.02202350
+v 0.11556311 0.17255935 0.02052401
+v 0.10928526 0.17570769 0.02074993
+v 0.13278382 0.14642391 0.02111982
+v 0.12375291 0.16481294 0.02250254
+v 0.13156986 0.15128076 0.02151711
+v 0.13079381 0.15484379 0.02006048
+v 0.12934141 0.15674141 0.02151713
+v 0.12593802 0.16272622 0.02081220
+v 0.09790451 0.17277841 -0.00503737
+v 0.10378782 0.17201206 -0.00412209
+v 0.10378782 0.16918223 -0.00683676
+v 0.09202121 0.17318315 -0.00557094
+v 0.10687472 0.17149120 -0.00350283
+v 0.10883870 0.16801777 -0.00574233
+v 0.11395029 0.16649834 -0.00436749
+v 0.11080270 0.16417940 -0.00798574
+v 0.08942856 0.17325282 -0.00570336
+v 0.11558479 0.16258366 -0.00622530
+v 0.11721927 0.15798227 -0.00807923
+v 0.12116028 0.15617421 -0.00594880
+v 0.12472841 0.15436283 -0.00381447
+v 0.12240890 0.15071026 -0.00728083
+v 0.12317196 0.14642402 -0.00792738
+v 0.12236121 0.14642402 -0.00851159
+v 0.12022813 0.14642403 -0.00981634
+v 0.11853728 0.17145794 0.01840526
+v 0.11009601 0.17625509 0.01556599
+v 0.10715652 0.17751243 0.01556599
+v 0.10378782 0.17845794 0.01556600
+v 0.09790451 0.17965555 0.01556600
+v 0.09202121 0.18024607 0.01556600
+v 0.08942856 0.17971856 0.02098752
+v 0.12114726 0.16819682 0.02045390
+v 0.13305695 0.14642392 0.01949570
+v 0.12456366 0.16571864 0.01888819
+v 0.13371595 0.14642393 0.01556588
+v 0.13270144 0.15071017 0.01556589
+v 0.13103226 0.15538124 0.01556591
+v 0.12963623 0.15834047 0.01556592
+v 0.09753600 0.17590682 -0.00023509
+v 0.09202121 0.17614236 -0.00108026
+v 0.10378782 0.17416512 -0.00070637
+v 0.10916820 0.17229735 -0.00041038
+v 0.11299648 0.17166369 0.00159543
+v 0.11079403 0.17044287 -0.00201892
+v 0.11543305 0.16839595 -0.00059734
+v 0.11787394 0.16492914 -0.00279010
+v 0.08942856 0.17621203 -0.00115815
+v 0.11967752 0.16098462 -0.00446487
+v 0.12360117 0.15830737 -0.00242013
+v 0.12579495 0.15645287 -0.00064802
+v 0.12848298 0.15047468 -0.00037151
+v 0.12543944 0.15071025 -0.00457007
+v 0.12605508 0.14642401 -0.00521272
+v 0.11853728 0.17145795 0.01683177
+v 0.11613106 0.17294420 0.01523882
+v 0.12462436 0.16578499 0.01556595
+v 0.10922023 0.17612241 0.01034700
+v 0.10696143 0.17743283 0.01229438
+v 0.11515123 0.17302053 0.01014056
+v 0.10390488 0.17794374 0.01034700
+v 0.09790451 0.17912808 0.01014058
+v 0.09202121 0.17970533 0.01014058
+v 0.08942856 0.18031243 0.01556600
+v 0.08942856 0.18010008 0.01795739
+v 0.12694386 0.16254709 0.01556594
+v 0.13318269 0.14642395 0.01014046
+v 0.13217685 0.15071019 0.01014047
+v 0.13077214 0.15482392 0.01014049
+v 0.12937176 0.15778315 0.01014050
+v 0.12610277 0.16297839 0.01023400
+v 0.09532921 0.17739638 0.00188756
+v 0.09925286 0.17709116 0.00278725
+v 0.09202121 0.17750917 0.00163440
+v 0.10390488 0.17656366 0.00464505
+v 0.10967112 0.17446036 0.00471904
+v 0.11398064 0.17228406 0.00471903
+v 0.11692447 0.17029687 0.00471903
+v 0.11940004 0.16634903 0.00082424
+v 0.12149844 0.16262678 -0.00079599
+v 0.08942856 0.17754234 0.00155261
+v 0.12488448 0.16031778 0.00119812
+v 0.12980097 0.15228936 0.00325064
+v 0.13043830 0.14834483 0.00166155
+v 0.12901625 0.14642399 -0.00134911
+v 0.12818816 0.14642400 -0.00252143
+v 0.11847659 0.17141153 0.01321353
+v 0.12086979 0.16927171 0.01523880
+v 0.12451597 0.16566226 0.01210739
+v 0.10594692 0.17712432 0.00867614
+v 0.11809072 0.17113286 0.01014055
+v 0.10202326 0.17764850 0.00639770
+v 0.09753600 0.17791389 0.00464505
+v 0.09202121 0.17847455 0.00471906
+v 0.08942856 0.17853096 0.00471906
+v 0.08942856 0.17907171 0.00710656
+v 0.08942856 0.17975842 0.01014058
+v 0.08942856 0.18000723 0.01253197
+v 0.13186468 0.14642397 0.00477737
+v 0.13094989 0.15047466 0.00492148
+v 0.13044697 0.15410071 0.00686110
+v 0.12866073 0.15629692 0.00492150
+v 0.12566488 0.16141586 0.00471899
+v 0.12414745 0.16523763 0.00848915
+v 0.08942856 0.17799353 0.00299367
+v 0.12047092 0.16733764 0.00471901
+v 0.12341474 0.16437177 0.00471900
+v 0.13063340 0.14642399 0.00128765
+v 0.13140945 0.14642398 0.00331683
+v 0.12188431 0.16773572 0.01023402
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 20
+f 1 20 19
+f 1 19 32
+f 1 32 47
+f 1 47 50
+f 1 50 49
+f 1 49 73
+f 1 73 105
+f 1 105 104
+f 1 104 103
+f 1 103 134
+f 1 134 166
+f 1 166 165
+f 1 165 188
+f 1 188 189
+f 1 189 179
+f 1 179 147
+f 1 147 116
+f 1 116 114
+f 1 114 83
+f 1 83 56
+f 1 56 37
+f 1 37 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 7
+f 1 7 13
+f 1 13 21
+f 1 21 34
+f 1 34 53
+f 1 53 79
+f 1 79 112
+f 1 112 145
+f 1 145 144
+f 1 144 178
+f 1 178 177
+f 1 177 176
+f 1 176 175
+f 1 175 185
+f 1 185 161
+f 1 161 128
+f 1 128 97
+f 1 97 68
+f 1 68 67
+f 1 67 46
+f 1 46 45
+f 1 45 29
+f 1 29 26
+f 1 26 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 8 7
+f 5 9 10
+f 5 10 6
+f 6 11 12
+f 6 10 11
+f 7 8 14
+f 7 14 13
+f 9 15 11
+f 9 11 10
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 14 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 21
+f 15 26 16
+f 16 26 17
+f 17 27 28
+f 17 28 18
+f 17 26 29
+f 17 29 30
+f 17 30 27
+f 18 28 31
+f 18 31 32
+f 18 32 19
+f 21 33 34
+f 21 25 35
+f 21 35 36
+f 21 36 33
+f 22 37 23
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 35
+f 27 41 42
+f 27 42 28
+f 27 30 43
+f 27 43 41
+f 28 42 44
+f 28 44 31
+f 29 45 30
+f 30 45 46
+f 30 46 43
+f 31 47 32
+f 31 44 48
+f 31 48 49
+f 31 49 50
+f 31 50 47
+f 33 51 52
+f 33 52 34
+f 33 36 51
+f 34 52 54
+f 34 54 53
+f 35 40 36
+f 36 40 55
+f 36 55 51
+f 37 56 57
+f 37 57 38
+f 38 58 39
+f 38 57 59
+f 38 59 60
+f 38 60 58
+f 39 61 40
+f 39 58 61
+f 40 61 55
+f 41 62 63
+f 41 63 42
+f 41 43 64
+f 41 64 62
+f 42 63 65
+f 42 65 66
+f 42 66 44
+f 43 46 67
+f 43 67 68
+f 43 68 64
+f 44 66 69
+f 44 69 70
+f 44 70 48
+f 48 70 71
+f 48 71 72
+f 48 72 73
+f 48 73 49
+f 51 55 74
+f 51 74 75
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 52
+f 52 78 54
+f 53 54 78
+f 53 78 79
+f 55 61 80
+f 55 80 81
+f 55 81 82
+f 55 82 74
+f 56 83 59
+f 56 59 57
+f 58 84 61
+f 58 60 84
+f 59 83 60
+f 60 83 85
+f 60 85 86
+f 60 86 87
+f 60 87 88
+f 60 88 84
+f 61 84 80
+f 62 89 90
+f 62 90 91
+f 62 91 63
+f 62 64 89
+f 63 91 65
+f 64 92 89
+f 64 68 92
+f 65 93 94
+f 65 94 95
+f 65 95 96
+f 65 96 69
+f 65 69 66
+f 65 91 93
+f 68 97 92
+f 69 98 99
+f 69 99 71
+f 69 71 70
+f 69 96 98
+f 71 99 100
+f 71 100 101
+f 71 101 102
+f 71 102 72
+f 72 102 103
+f 72 103 104
+f 72 104 105
+f 72 105 73
+f 74 82 75
+f 75 82 81
+f 75 81 106
+f 75 106 107
+f 75 107 108
+f 75 108 109
+f 75 109 110
+f 75 110 77
+f 75 77 76
+f 77 110 78
+f 78 110 111
+f 78 111 112
+f 78 112 79
+f 80 106 81
+f 80 84 113
+f 80 113 106
+f 83 114 85
+f 84 88 115
+f 84 115 113
+f 85 114 116
+f 85 116 117
+f 85 117 86
+f 86 117 118
+f 86 118 119
+f 86 119 115
+f 86 115 88
+f 86 88 87
+f 89 120 90
+f 89 92 121
+f 89 121 120
+f 90 120 122
+f 90 122 93
+f 90 93 91
+f 92 97 121
+f 93 123 124
+f 93 124 125
+f 93 125 95
+f 93 95 94
+f 93 122 123
+f 95 126 127
+f 95 127 98
+f 95 98 96
+f 95 125 126
+f 97 128 121
+f 98 127 129
+f 98 129 99
+f 99 129 100
+f 100 129 101
+f 101 130 131
+f 101 131 132
+f 101 132 133
+f 101 133 102
+f 101 129 130
+f 102 133 103
+f 103 133 134
+f 106 135 136
+f 106 136 107
+f 106 113 115
+f 106 115 137
+f 106 137 135
+f 107 138 139
+f 107 139 108
+f 107 136 140
+f 107 140 138
+f 108 139 109
+f 109 141 110
+f 109 139 141
+f 110 141 142
+f 110 142 111
+f 111 143 144
+f 111 144 145
+f 111 145 112
+f 111 142 143
+f 115 119 146
+f 115 146 137
+f 116 147 148
+f 116 148 117
+f 117 148 149
+f 117 149 118
+f 118 149 119
+f 119 149 150
+f 119 150 151
+f 119 151 146
+f 120 121 152
+f 120 152 153
+f 120 153 122
+f 121 154 152
+f 121 128 154
+f 122 153 155
+f 122 155 156
+f 122 156 123
+f 123 156 124
+f 124 157 158
+f 124 158 159
+f 124 159 126
+f 124 126 125
+f 124 156 157
+f 126 159 127
+f 127 159 160
+f 127 160 129
+f 128 161 154
+f 129 160 130
+f 130 162 131
+f 130 160 162
+f 131 162 163
+f 131 163 132
+f 132 163 164
+f 132 164 165
+f 132 165 166
+f 132 166 133
+f 133 166 134
+f 135 167 136
+f 135 137 168
+f 135 168 167
+f 136 167 140
+f 137 169 167
+f 137 167 168
+f 137 146 169
+f 138 140 157
+f 138 157 156
+f 138 156 170
+f 138 170 139
+f 139 170 141
+f 140 167 171
+f 140 171 157
+f 141 170 172
+f 141 172 142
+f 142 172 173
+f 142 173 174
+f 142 174 143
+f 143 174 175
+f 143 175 176
+f 143 176 177
+f 143 177 178
+f 143 178 144
+f 146 151 169
+f 147 179 180
+f 147 180 148
+f 148 180 181
+f 148 181 149
+f 149 181 150
+f 150 181 182
+f 150 182 183
+f 150 183 151
+f 151 183 184
+f 151 184 169
+f 152 173 153
+f 152 154 174
+f 152 174 173
+f 153 172 155
+f 153 173 172
+f 154 161 185
+f 154 185 174
+f 155 170 156
+f 155 172 170
+f 157 171 158
+f 158 171 186
+f 158 186 159
+f 159 186 187
+f 159 187 162
+f 159 162 160
+f 162 187 183
+f 162 183 182
+f 162 182 163
+f 163 181 180
+f 163 180 164
+f 163 182 181
+f 164 188 165
+f 164 180 189
+f 164 189 188
+f 167 169 190
+f 167 190 171
+f 169 184 190
+f 171 190 184
+f 171 184 186
+f 174 185 175
+f 179 189 180
+f 183 187 184
+f 184 187 186
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_10.obj

@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.08613280 0.17895427 0.00625731
+v 0.08848258 0.17890013 0.00625731
+v 0.08613280 0.17860715 0.00471558
+v 0.08024970 0.17877275 0.00625731
+v 0.08942423 0.17887784 0.00625731
+v 0.08942423 0.17853072 0.00471558
+v 0.08942423 0.17754350 0.00155057
+v 0.08613280 0.17758490 0.00144911
+v 0.08024970 0.17750210 0.00161622
+v 0.08024970 0.17842561 0.00471558
+v 0.00116911 0.17193868 -0.00496447
+v 0.07857375 0.17867401 0.00625731
+v 0.08942423 0.15480883 0.00625722
+v 0.08942423 0.17621237 -0.00116286
+v 0.08613280 0.17629835 -0.00126233
+v 0.08024970 0.17628561 -0.00109522
+v 0.07630172 0.17740339 0.00184698
+v 0.00116911 0.17093874 -0.00767789
+v 0.00116911 0.17228580 -0.00308257
+v 0.06848350 0.17806258 0.00625730
+v 0.00116911 0.17271889 -0.00070932
+v 0.08942423 0.14642385 0.00194235
+v 0.05671731 0.15581515 0.00625722
+v 0.00116911 0.14642386 0.00062145
+v 0.08942423 0.17325392 -0.00570647
+v 0.08613280 0.17333990 -0.00587357
+v 0.08024970 0.17332716 -0.00601283
+v 0.07436661 0.17322844 -0.00605858
+v 0.00116911 0.16797710 -0.01079119
+v 0.05671731 0.17126675 -0.00863476
+v 0.06183154 0.17764858 0.00625730
+v 0.00116911 0.17220298 0.00290130
+v 0.04495975 0.17642890 0.00625730
+v 0.05232010 0.17699893 0.00625730
+v 0.08942423 0.14642391 -0.01396622
+v 0.05083421 0.15600940 0.00625722
+v 0.04495975 0.15624188 0.00625722
+v 0.04042432 0.15651575 0.00625722
+v 0.03907665 0.15669091 0.00625723
+v 0.03539648 0.15730235 0.00625723
+v 0.00116911 0.16254734 0.00544560
+v 0.00116911 0.14642391 -0.01406170
+v 0.08942423 0.17091963 -0.00841792
+v 0.08613280 0.17112345 -0.00858701
+v 0.08024970 0.17128905 -0.00872428
+v 0.07436661 0.17134955 -0.00877202
+v 0.06848350 0.17134955 -0.00876605
+v 0.06260040 0.17131452 -0.00871433
+v 0.00116911 0.16254741 -0.01329775
+v 0.05671731 0.16830511 -0.01074543
+v 0.05083421 0.16824779 -0.01076135
+v 0.00116911 0.16846110 0.00469167
+v 0.03915440 0.17567734 0.00625730
+v 0.08942423 0.14740475 -0.01395428
+v 0.08450868 0.14642391 -0.01400203
+v 0.03419567 0.15767494 0.00625723
+v 0.00116911 0.16584019 0.00502587
+v 0.02871860 0.16254734 0.00625725
+v 0.02913326 0.16545804 0.00625726
+v 0.03001443 0.16846110 0.00625727
+v 0.03349591 0.17330802 0.00625729
+v 0.00116911 0.14741431 -0.01405972
+v 0.01554426 0.15071035 -0.01405573
+v 0.02569498 0.14642391 -0.01406568
+v 0.08942423 0.16926684 -0.00950211
+v 0.08942423 0.16796117 -0.01031574
+v 0.08613280 0.16816180 -0.01043112
+v 0.08024970 0.16833059 -0.01055446
+v 0.07436661 0.16838790 -0.01064000
+v 0.06848350 0.16839109 -0.01069570
+v 0.06260040 0.16835606 -0.01072554
+v 0.00377806 0.16254741 -0.01329974
+v 0.00116911 0.15663047 -0.01395225
+v 0.08942423 0.15071035 -0.01388664
+v 0.08024970 0.15071035 -0.01397416
+v 0.08613280 0.15071035 -0.01393239
+v 0.07862559 0.14642391 -0.01402192
+v 0.07436661 0.15071035 -0.01400002
+v 0.00116911 0.14832191 -0.01405773
+v 0.00116911 0.15071035 -0.01405175
+v 0.00966116 0.15663047 -0.01395424
+v 0.02142736 0.15071035 -0.01405573
+v 0.04921873 0.14642391 -0.01406170
+v 0.08942423 0.16502181 -0.01153122
+v 0.08942423 0.16254741 -0.01254181
+v 0.08613280 0.16254741 -0.01272084
+v 0.08024970 0.16254741 -0.01291580
+v 0.07436661 0.16254741 -0.01304709
+v 0.06848350 0.16254741 -0.01313263
+v 0.06260040 0.16254741 -0.01318435
+v 0.05671731 0.16254741 -0.01321817
+v 0.05083421 0.16254741 -0.01324403
+v 0.04495975 0.16254741 -0.01326194
+v 0.03907665 0.16254741 -0.01327387
+v 0.03319355 0.16254741 -0.01328382
+v 0.02142736 0.16254741 -0.01329974
+v 0.01554426 0.16254741 -0.01330371
+v 0.08942423 0.15332169 -0.01376130
+v 0.08024970 0.15663047 -0.01374934
+v 0.06260040 0.15663047 -0.01388859
+v 0.06848350 0.15663047 -0.01385875
+v 0.07436661 0.15663047 -0.01381499
+v 0.07274249 0.14642391 -0.01403584
+v 0.06848350 0.15071035 -0.01401992
+v 0.01554426 0.15663047 -0.01395424
+v 0.04495975 0.15071035 -0.01404976
+v 0.05083421 0.15071035 -0.01404777
+v 0.05510183 0.14642391 -0.01405773
+v 0.08942423 0.15923863 -0.01314260
+v 0.08942423 0.15663047 -0.01355240
+v 0.08613280 0.15663047 -0.01364988
+v 0.05671731 0.15663047 -0.01390849
+v 0.05083421 0.15663047 -0.01392639
+v 0.04495975 0.15663047 -0.01393435
+v 0.02142736 0.15663047 -0.01395225
+v 0.06685939 0.14642391 -0.01404579
+v 0.06260040 0.15071035 -0.01403185
+v 0.06098493 0.14642391 -0.01405176
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 12
+f 1 12 20
+f 1 20 31
+f 1 31 34
+f 1 34 33
+f 1 33 53
+f 1 53 61
+f 1 61 60
+f 1 60 59
+f 1 59 58
+f 1 58 56
+f 1 56 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 23
+f 1 23 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 22
+f 5 22 35
+f 5 35 54
+f 5 54 74
+f 5 74 98
+f 5 98 110
+f 5 110 109
+f 5 109 85
+f 5 85 84
+f 5 84 66
+f 5 66 65
+f 5 65 43
+f 5 43 25
+f 5 25 14
+f 5 14 7
+f 5 7 6
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 17 10
+f 9 16 18
+f 9 18 11
+f 9 11 17
+f 10 17 11
+f 11 18 29
+f 11 29 49
+f 11 49 73
+f 11 73 80
+f 11 80 79
+f 11 79 62
+f 11 62 42
+f 11 42 24
+f 11 24 41
+f 11 41 57
+f 11 57 52
+f 11 52 32
+f 11 32 21
+f 11 21 19
+f 11 19 12
+f 12 19 21
+f 12 21 20
+f 13 23 24
+f 13 24 22
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 18
+f 15 18 16
+f 18 28 30
+f 18 30 29
+f 20 21 31
+f 21 32 33
+f 21 33 34
+f 21 34 31
+f 22 24 42
+f 22 42 64
+f 22 64 83
+f 22 83 108
+f 22 108 118
+f 22 118 116
+f 22 116 103
+f 22 103 77
+f 22 77 55
+f 22 55 35
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 28 48 30
+f 29 30 48
+f 29 48 47
+f 29 47 50
+f 29 50 51
+f 29 51 49
+f 32 52 53
+f 32 53 33
+f 35 55 54
+f 40 56 41
+f 41 56 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 57
+f 42 62 63
+f 42 63 64
+f 43 65 44
+f 44 65 66
+f 44 66 67
+f 44 67 45
+f 45 68 69
+f 45 69 46
+f 45 67 68
+f 46 69 70
+f 46 70 71
+f 46 71 47
+f 47 71 50
+f 49 72 73
+f 49 51 50
+f 49 50 72
+f 50 71 72
+f 52 57 61
+f 52 61 53
+f 54 55 75
+f 54 75 76
+f 54 76 74
+f 55 77 104
+f 55 104 78
+f 55 78 75
+f 62 79 63
+f 63 79 80
+f 63 80 73
+f 63 73 81
+f 63 81 105
+f 63 105 82
+f 63 82 64
+f 64 82 83
+f 66 84 67
+f 67 84 85
+f 67 85 86
+f 67 86 87
+f 67 87 68
+f 68 87 88
+f 68 88 69
+f 69 88 89
+f 69 89 70
+f 70 89 90
+f 70 90 91
+f 70 91 92
+f 70 92 93
+f 70 93 71
+f 71 93 94
+f 71 94 95
+f 71 95 96
+f 71 96 97
+f 71 97 72
+f 72 97 73
+f 73 97 81
+f 74 76 99
+f 74 99 98
+f 75 78 100
+f 75 100 101
+f 75 101 76
+f 76 101 102
+f 76 102 99
+f 77 103 104
+f 78 104 112
+f 78 112 100
+f 81 97 105
+f 82 105 106
+f 82 106 83
+f 83 106 107
+f 83 107 108
+f 85 109 86
+f 86 109 87
+f 87 109 110
+f 87 110 111
+f 87 111 88
+f 88 111 99
+f 88 99 89
+f 89 99 102
+f 89 102 90
+f 90 102 101
+f 90 101 91
+f 91 101 100
+f 91 100 92
+f 92 100 112
+f 92 112 93
+f 93 112 113
+f 93 113 94
+f 94 113 95
+f 95 113 114
+f 95 114 96
+f 96 114 115
+f 96 115 97
+f 97 115 105
+f 98 99 111
+f 98 111 110
+f 103 116 117
+f 103 117 104
+f 104 117 113
+f 104 113 112
+f 105 115 106
+f 106 115 107
+f 107 117 116
+f 107 116 118
+f 107 118 108
+f 107 115 114
+f 107 114 117
+f 113 117 114
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_11.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.00198108 -0.15112665 -0.01409911
+v 0.00198108 -0.14567386 -0.01409706
+v 0.00198108 -0.15704332 -0.01401168
+v -0.00211536 -0.15704332 -0.01401168
+v -0.00799343 -0.15112665 -0.01409708
+v -0.01929442 -0.14567386 -0.01409502
+v -0.00211536 -0.14567386 -0.01409706
+v 0.00198108 -0.14567391 0.00033423
+v 0.00198108 -0.15924323 -0.01379204
+v -0.00484633 -0.16020942 -0.01369443
+v -0.01388451 -0.15704332 -0.01400355
+v -0.05505703 -0.15112665 -0.01407064
+v -0.01388451 -0.15112665 -0.01409504
+v -0.05505703 -0.14567386 -0.01408282
+v -0.03730577 -0.15760546 0.00667737
+v -0.03397660 -0.15835537 0.00667737
+v -0.03267614 -0.15869687 0.00667737
+v 0.00198108 -0.16020949 0.00432638
+v -0.10353812 -0.14567393 0.00667741
+v 0.00198108 -0.16020942 -0.01369443
+v -0.01073740 -0.16020942 -0.01368833
+v -0.01976258 -0.15704332 -0.01399948
+v -0.06094810 -0.15112665 -0.01406251
+v -0.07223608 -0.14567386 -0.01406858
+v -0.06634501 -0.14567386 -0.01407469
+v -0.06094810 -0.14567386 -0.01407876
+v -0.03193488 -0.15940123 0.00667736
+v -0.03138868 -0.16020949 0.00667736
+v -0.13087376 -0.14567393 0.00667741
+v -0.01661547 -0.16020942 -0.01368223
+v -0.04917896 -0.15704332 -0.01395270
+v -0.05505703 -0.15704332 -0.01394254
+v -0.06681317 -0.15112665 -0.01405030
+v -0.07811416 -0.14567386 -0.01405842
+v -0.12507371 -0.16020949 0.00667736
+v -0.13040559 -0.14567393 0.00474131
+v -0.12919617 -0.15082506 0.00506059
+v -0.13002846 -0.14903781 0.00667740
+v -0.02249355 -0.16020942 -0.01367206
+v -0.04603185 -0.16020942 -0.01362122
+v -0.05190992 -0.16020942 -0.01360495
+v -0.06094810 -0.15704332 -0.01392423
+v -0.07269125 -0.15112665 -0.01403403
+v -0.08399223 -0.14567386 -0.01404418
+v -0.12556788 -0.15939412 0.00667736
+v -0.12506071 -0.16020949 0.00661025
+v -0.13027555 -0.14567393 0.00430609
+v -0.12874100 -0.14865075 0.00169275
+v -0.12805177 -0.15259663 0.00348241
+v -0.12879303 -0.15359271 0.00667739
+v -0.12954729 -0.15092039 0.00667740
+v -0.05780100 -0.16020942 -0.01358258
+v -0.06681317 -0.15704332 -0.01389373
+v -0.07858232 -0.15112665 -0.01401370
+v -0.08988331 -0.14567386 -0.01400758
+v -0.12698540 -0.15700355 0.00667737
+v -0.12675131 -0.15659089 0.00506056
+v -0.12452751 -0.16020949 0.00480227
+v -0.12906612 -0.14567391 0.00107247
+v -0.12749257 -0.14567390 -0.00162221
+v -0.12671229 -0.15082504 -0.00035317
+v -0.12394232 -0.15676163 -0.00050980
+v -0.12312303 -0.16020947 0.00128393
+v -0.12333110 -0.16020948 0.00170084
+v -0.12828585 -0.15478800 0.00667738
+v -0.06367907 -0.16020942 -0.01354800
+v -0.07269125 -0.15704332 -0.01385305
+v -0.08446040 -0.15112665 -0.01397709
+v -0.09033846 -0.15112665 -0.01389981
+v -0.09033846 -0.14567386 -0.01400147
+v -0.12725848 -0.14567390 -0.00195370
+v -0.12370823 -0.15112668 -0.00449791
+v -0.12299298 -0.15460156 -0.00373731
+v -0.12175754 -0.15854744 -0.00218356
+v -0.12092525 -0.16020946 -0.00154091
+v -0.06954413 -0.16020942 -0.01349919
+v -0.07858232 -0.15704332 -0.01379407
+v -0.09622954 -0.15112665 -0.01374118
+v -0.09622954 -0.14567386 -0.01391199
+v -0.09576138 -0.14567386 -0.01392419
+v -0.08446040 -0.15704332 -0.01370052
+v -0.12455353 -0.14567389 -0.00537646
+v -0.12167951 -0.14567388 -0.00808944
+v -0.12063915 -0.15112667 -0.00720886
+v -0.11694585 -0.15429418 -0.00893143
+v -0.11935169 -0.15642010 -0.00584628
+v -0.11814227 -0.16020945 -0.00464640
+v -0.11927367 -0.16020946 -0.00354616
+v -0.07543521 -0.16020942 -0.01342191
+v -0.09033846 -0.15704332 -0.01353172
+v -0.09622954 -0.15704332 -0.01321650
+v -0.10210762 -0.15112665 -0.01340154
+v -0.10165246 -0.14567386 -0.01372692
+v -0.08131329 -0.16020942 -0.01330802
+v -0.12144543 -0.14567388 -0.00825824
+v -0.11770012 -0.15112667 -0.00935851
+v -0.11387677 -0.15112666 -0.01097532
+v -0.11361668 -0.15657803 -0.00961274
+v -0.11166599 -0.16020944 -0.00916330
+v -0.11204312 -0.16020944 -0.00895789
+v -0.11541131 -0.15823863 -0.00795729
+v -0.11468305 -0.16020944 -0.00716008
+v -0.08719136 -0.16020942 -0.01312499
+v -0.09308243 -0.16020942 -0.01279756
+v -0.09622954 -0.16020942 -0.01248233
+v -0.10210762 -0.15704332 -0.01260841
+v -0.10798569 -0.15112665 -0.01262670
+v -0.10753052 -0.14567386 -0.01320832
+v -0.10210762 -0.14567386 -0.01370048
+v -0.11874048 -0.14567387 -0.00989539
+v -0.11844138 -0.14567387 -0.01002351
+v -0.11387677 -0.14567387 -0.01184573
+v -0.10798569 -0.15704333 -0.01141869
+v -0.10798569 -0.16020943 -0.01030828
+v -0.09896051 -0.16020943 -0.01219965
+v -0.10238072 -0.16020943 -0.01154886
+v -0.10539778 -0.16020943 -0.01094077
+v -0.10798569 -0.14567386 -0.01314731
+v -0.11340860 -0.14567387 -0.01197588
+f 1 2 8
+f 1 8 18
+f 1 18 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 14
+f 2 14 26
+f 2 26 25
+f 2 25 24
+f 2 24 34
+f 2 34 44
+f 2 44 55
+f 2 55 70
+f 2 70 80
+f 2 80 79
+f 2 79 93
+f 2 93 109
+f 2 109 108
+f 2 108 118
+f 2 118 119
+f 2 119 112
+f 2 112 111
+f 2 111 110
+f 2 110 95
+f 2 95 83
+f 2 83 82
+f 2 82 71
+f 2 71 60
+f 2 60 59
+f 2 59 47
+f 2 47 36
+f 2 36 29
+f 2 29 19
+f 2 19 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 19 15
+f 9 20 10
+f 10 20 18
+f 10 18 28
+f 10 28 35
+f 10 35 46
+f 10 46 58
+f 10 58 64
+f 10 64 63
+f 10 63 75
+f 10 75 88
+f 10 88 87
+f 10 87 102
+f 10 102 100
+f 10 100 99
+f 10 99 114
+f 10 114 117
+f 10 117 116
+f 10 116 115
+f 10 115 105
+f 10 105 104
+f 10 104 103
+f 10 103 94
+f 10 94 89
+f 10 89 76
+f 10 76 66
+f 10 66 52
+f 10 52 41
+f 10 41 40
+f 10 40 39
+f 10 39 30
+f 10 30 21
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 14
+f 12 14 13
+f 12 22 23
+f 15 19 29
+f 15 29 38
+f 15 38 51
+f 15 51 50
+f 15 50 65
+f 15 65 56
+f 15 56 45
+f 15 45 35
+f 15 35 28
+f 15 28 27
+f 15 27 17
+f 15 17 16
+f 17 27 18
+f 18 27 28
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 29 36 37
+f 29 37 38
+f 30 39 32
+f 30 32 31
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 32 39 40
+f 33 43 44
+f 33 44 34
+f 35 45 46
+f 36 47 48
+f 36 48 37
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 41 52 42
+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 43 54 44
+f 44 54 55
+f 45 56 57
+f 45 57 58
+f 45 58 46
+f 47 59 48
+f 48 59 60
+f 48 60 61
+f 48 61 49
+f 49 61 62
+f 49 62 63
+f 49 63 64
+f 49 64 57
+f 49 57 65
+f 49 65 50
+f 52 66 53
+f 53 67 68
+f 53 68 54
+f 53 66 67
+f 54 68 55
+f 55 68 69
+f 55 69 70
+f 56 65 57
+f 57 64 58
+f 60 71 72
+f 60 72 61
+f 61 72 73
+f 61 73 62
+f 62 73 74
+f 62 74 63
+f 63 74 75
+f 66 76 67
+f 67 76 77
+f 67 77 68
+f 68 77 69
+f 69 78 79
+f 69 79 80
+f 69 80 70
+f 69 77 81
+f 69 81 78
+f 71 82 72
+f 72 83 84
+f 72 84 73
+f 72 82 83
+f 73 84 85
+f 73 85 86
+f 73 86 87
+f 73 87 88
+f 73 88 74
+f 74 88 75
+f 76 89 77
+f 77 89 81
+f 78 81 90
+f 78 90 91
+f 78 91 92
+f 78 92 93
+f 78 93 79
+f 81 89 94
+f 81 94 90
+f 83 95 96
+f 83 96 84
+f 84 96 85
+f 85 97 98
+f 85 98 99
+f 85 99 100
+f 85 100 101
+f 85 101 86
+f 85 96 97
+f 86 101 87
+f 87 101 102
+f 90 94 103
+f 90 103 91
+f 91 103 104
+f 91 104 105
+f 91 105 106
+f 91 106 92
+f 92 106 107
+f 92 107 108
+f 92 108 109
+f 92 109 93
+f 95 110 96
+f 96 110 111
+f 96 111 97
+f 97 111 112
+f 97 112 107
+f 97 107 113
+f 97 113 98
+f 98 113 99
+f 99 113 114
+f 100 102 101
+f 105 115 106
+f 106 115 116
+f 106 116 117
+f 106 117 113
+f 106 113 107
+f 107 118 108
+f 107 112 119
+f 107 119 118
+f 113 117 114
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_12.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01012840 -0.14567386 -0.01410151
+v 0.01554896 -0.15112665 -0.01410153
+v 0.00198108 -0.15112665 -0.01409862
+v 0.00198108 -0.14567386 -0.01409860
+v 0.02189217 -0.14567386 -0.01410151
+v 0.02143084 -0.15112665 -0.01409862
+v 0.01554896 -0.15704332 -0.01401440
+v 0.00198108 -0.15704332 -0.01401150
+v 0.00198108 -0.14567391 0.00033641
+v 0.05718347 -0.14567386 -0.01408408
+v 0.06260403 -0.14567386 -0.01408118
+v 0.05672215 -0.15112665 -0.01407829
+v 0.02143084 -0.15704332 -0.01400859
+v 0.01554896 -0.16020942 -0.01369486
+v 0.00198108 -0.16020942 -0.01369486
+v 0.00198108 -0.16020949 0.00432785
+v 0.04495014 -0.16020952 0.01305452
+v 0.08613157 -0.16020953 0.01557317
+v 0.08613157 -0.14567392 0.00166981
+v 0.06848591 -0.14567386 -0.01407246
+v 0.06260403 -0.15112665 -0.01406667
+v 0.04495014 -0.15704332 -0.01397954
+v 0.03319461 -0.16020942 -0.01366871
+v 0.08613980 -0.16020953 0.01554121
+v 0.08613980 -0.16020810 0.01557026
+v 0.08613980 -0.14567392 0.00166981
+v 0.07436779 -0.14567386 -0.01406084
+v 0.06848591 -0.15112665 -0.01405215
+v 0.05083202 -0.15704332 -0.01396792
+v 0.03907649 -0.16020942 -0.01365709
+v 0.08613980 -0.16020942 -0.01317196
+v 0.08613980 -0.14567392 0.00155942
+v 0.08024968 -0.14567386 -0.01404632
+v 0.05672215 -0.15704332 -0.01395049
+v 0.08613980 -0.14567671 -0.01402889
+v 0.07436779 -0.15112665 -0.01403181
+v 0.04495014 -0.16020942 -0.01364257
+v 0.08613980 -0.15704759 -0.01367742
+v 0.08024968 -0.16020942 -0.01333464
+v 0.08613157 -0.14567386 -0.01402889
+v 0.05083202 -0.16020942 -0.01362223
+v 0.06260403 -0.15704332 -0.01392435
+v 0.08613980 -0.15112950 -0.01396209
+v 0.08024968 -0.15112665 -0.01400567
+v 0.07436779 -0.16020942 -0.01343922
+v 0.08024968 -0.15704332 -0.01378200
+v 0.05672215 -0.16020942 -0.01359318
+v 0.06848591 -0.15704332 -0.01389239
+v 0.07436779 -0.15704332 -0.01384882
+v 0.06848591 -0.16020942 -0.01350894
+v 0.06260403 -0.16020942 -0.01355832
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 26
+f 1 26 32
+f 1 32 40
+f 1 40 33
+f 1 33 27
+f 1 27 20
+f 1 20 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 10
+f 2 10 6
+f 3 8 15
+f 3 15 16
+f 3 16 9
+f 3 9 4
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 7 12 13
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 11 20 12
+f 12 20 27
+f 12 27 21
+f 12 21 29
+f 12 29 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 30
+f 14 30 37
+f 14 37 41
+f 14 41 47
+f 14 47 51
+f 14 51 50
+f 14 50 45
+f 14 45 39
+f 14 39 31
+f 14 31 24
+f 14 24 18
+f 14 18 17
+f 14 17 16
+f 14 16 15
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 21 28 29
+f 21 27 33
+f 21 33 28
+f 22 29 30
+f 22 30 23
+f 24 31 38
+f 24 38 43
+f 24 43 35
+f 24 35 32
+f 24 32 26
+f 24 26 25
+f 28 34 29
+f 28 33 35
+f 28 35 36
+f 28 36 34
+f 29 34 37
+f 29 37 30
+f 31 39 38
+f 32 35 40
+f 33 40 35
+f 34 41 37
+f 34 36 44
+f 34 44 42
+f 34 42 41
+f 35 43 44
+f 35 44 36
+f 38 39 45
+f 38 45 46
+f 38 46 43
+f 41 42 47
+f 42 48 47
+f 42 44 48
+f 43 46 49
+f 43 49 48
+f 43 48 44
+f 45 50 46
+f 46 50 49
+f 47 48 51
+f 48 49 51
+f 49 50 51
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_13.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.12617525 -0.16020953 0.01760393
+v -0.12463626 -0.16265993 0.01760392
+v -0.12435081 -0.16228295 0.02099077
+v -0.12559193 -0.16020955 0.02116437
+v -0.09000921 -0.16020953 0.01760393
+v -0.12242708 -0.16561964 0.01760391
+v -0.12209199 -0.16524268 0.02099076
+v -0.12346962 -0.16109186 0.02421914
+v -0.12373026 -0.16020956 0.02430782
+v -0.09199499 -0.16020954 0.01923981
+v -0.04329369 -0.16120613 0.01760393
+v -0.11948565 -0.16836882 0.01760390
+v -0.11915055 -0.16805201 0.02099075
+v -0.11798390 -0.16698925 0.02430592
+v -0.11987040 -0.16302490 0.02479273
+v -0.11982075 -0.16020956 0.02518897
+v -0.09865976 -0.16020956 0.02382668
+v 0.00060450 -0.16245142 0.02641540
+v -0.03741081 -0.16166934 0.01760393
+v -0.11612223 -0.17132653 0.01760389
+v -0.11572508 -0.17100973 0.02099074
+v -0.11171628 -0.17231515 0.02407759
+v -0.11376412 -0.16893032 0.02470214
+v -0.04757553 -0.17277639 0.03488534
+v -0.11387581 -0.16020956 0.02559653
+v -0.04329369 -0.16888223 0.03562876
+v -0.03741081 -0.16888223 0.03639670
+v -0.04329369 -0.16554953 0.03487781
+v -0.03741081 -0.16512844 0.03526839
+v -0.10211006 -0.16020956 0.02435500
+v 0.00060450 -0.16304298 0.03184003
+v 0.00060450 -0.16276826 0.02932866
+v 0.00060450 -0.16323946 0.02435310
+v -0.03221054 -0.16390517 0.01760392
+v 0.00060450 -0.16415585 0.02196060
+v 0.00060450 -0.16888217 0.01979262
+v -0.11318079 -0.17324555 0.01760388
+v -0.11278364 -0.17299090 0.02099073
+v -0.10799294 -0.17538916 0.02099073
+v -0.09941684 -0.17782953 0.02377568
+v -0.10799294 -0.17314131 0.02451344
+v -0.04329369 -0.17389932 0.03530421
+v -0.10784400 -0.16020956 0.02508142
+v -0.03152793 -0.16493193 0.03545141
+v -0.02564505 -0.16483768 0.03552122
+v -0.01976217 -0.16478553 0.03555141
+v -0.01387930 -0.16476348 0.03556085
+v -0.00799642 -0.16475145 0.03556462
+v -0.00211354 -0.16474744 0.03556651
+v -0.00211354 -0.16304098 0.03184003
+v -0.03152793 -0.17479967 0.03608913
+v -0.03152793 -0.16888223 0.03673444
+v 0.00060450 -0.16474744 0.03556651
+v -0.03043575 -0.16630343 0.01760391
+v 0.00060450 -0.17479961 0.02038695
+v -0.02900847 -0.17454895 0.01760388
+v -0.02888436 -0.17131049 0.01760389
+v -0.02888436 -0.17093151 0.01760389
+v -0.02962903 -0.16832471 0.01760390
+v -0.10799294 -0.17593857 0.01760387
+v -0.10434407 -0.17749062 0.01760387
+v -0.10367387 -0.17719788 0.02099072
+v -0.10073242 -0.17821253 0.02099072
+v -0.09622719 -0.17918708 0.02099071
+v -0.09034430 -0.17995508 0.02099071
+v -0.09622719 -0.17812231 0.02404361
+v -0.03969446 -0.17759497 0.03444946
+v -0.03759697 -0.17529296 0.03553440
+v -0.02564505 -0.16888224 0.03683822
+v -0.01976217 -0.16888224 0.03687218
+v -0.01387930 -0.16888224 0.03687784
+v -0.03577254 -0.17792382 0.03468532
+v -0.03152793 -0.17807221 0.03480419
+v -0.02564505 -0.17479967 0.03618158
+v 0.00060450 -0.16888224 0.03687784
+v 0.00060450 -0.17650808 0.02139073
+v -0.03327790 -0.17824460 0.01760387
+v -0.10140263 -0.17840099 0.01760386
+v -0.09622719 -0.17955801 0.01760386
+v -0.09401801 -0.17984677 0.01760386
+v -0.09034430 -0.17851534 0.02438700
+v -0.09034430 -0.18030998 0.01760386
+v -0.08813512 -0.18044233 0.01760386
+v -0.08446143 -0.18030598 0.02099071
+v -0.04329369 -0.17930944 0.03137581
+v -0.04917657 -0.17908683 0.03071731
+v -0.01976217 -0.17479967 0.03619290
+v -0.03759697 -0.17912896 0.03232111
+v -0.03152793 -0.17963027 0.03183997
+v -0.02564505 -0.17814841 0.03486457
+v -0.01976217 -0.17815844 0.03487400
+v -0.01387930 -0.17479967 0.03619102
+v 0.00060450 -0.17479967 0.03618536
+v 0.00060450 -0.17848925 0.02255489
+v -0.03496582 -0.17859150 0.01760386
+v -0.08446143 -0.18061077 0.01760386
+v -0.07857855 -0.18045840 0.02099071
+v -0.04917657 -0.18048248 0.02641534
+v 0.00060450 -0.17815844 0.03487400
+v -0.04329369 -0.18060078 0.02641534
+v -0.02564505 -0.17967239 0.03183997
+v 0.00060450 -0.17995910 0.02641534
+v -0.04108451 -0.17931740 0.01760386
+v -0.03732393 -0.17892837 0.01760386
+v -0.08225225 -0.18066692 0.01760386
+v -0.07269567 -0.18056668 0.02099071
+v 0.00060450 -0.17962826 0.03183997
+v 0.00060450 -0.17980671 0.02892671
+v -0.06681279 -0.18065691 0.02099071
+v -0.07636936 -0.18069499 0.01760386
+v -0.06094232 -0.18062281 0.02099071
+v -0.07048648 -0.18061678 0.01760386
+v -0.05285026 -0.17997311 0.01760386
+v -0.04696738 -0.17967432 0.01760386
+v -0.06460361 -0.18045636 0.01760386
+v -0.05873314 -0.18023178 0.01760386
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 25
+f 1 25 43
+f 1 43 30
+f 1 30 17
+f 1 17 10
+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 34
+f 1 34 54
+f 1 54 59
+f 1 59 58
+f 1 58 57
+f 1 57 56
+f 1 56 77
+f 1 77 95
+f 1 95 104
+f 1 104 103
+f 1 103 114
+f 1 114 113
+f 1 113 116
+f 1 116 115
+f 1 115 112
+f 1 112 110
+f 1 110 105
+f 1 105 96
+f 1 96 83
+f 1 83 82
+f 1 82 80
+f 1 80 79
+f 1 79 78
+f 1 78 61
+f 1 61 60
+f 1 60 37
+f 1 37 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 17 11
+f 11 18 19
+f 11 17 18
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 25
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 31
+f 18 31 53
+f 18 53 75
+f 18 75 93
+f 18 93 99
+f 18 99 107
+f 18 107 108
+f 18 108 102
+f 18 102 94
+f 18 94 76
+f 18 76 55
+f 18 55 36
+f 18 36 35
+f 18 35 33
+f 18 33 19
+f 19 33 35
+f 19 35 36
+f 19 36 34
+f 20 37 38
+f 20 38 21
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 41 42
+f 23 42 24
+f 24 42 27
+f 24 27 26
+f 25 29 44
+f 25 44 45
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 50
+f 25 50 31
+f 25 31 43
+f 27 42 51
+f 27 51 52
+f 27 52 29
+f 27 29 28
+f 29 52 44
+f 30 43 31
+f 31 50 53
+f 34 36 54
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 59
+f 36 59 54
+f 37 60 38
+f 38 60 39
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 40 62 63
+f 40 63 64
+f 40 64 65
+f 40 65 66
+f 40 66 67
+f 40 67 41
+f 41 67 42
+f 42 67 68
+f 42 68 51
+f 44 52 69
+f 44 69 45
+f 45 69 46
+f 46 69 70
+f 46 70 47
+f 47 70 48
+f 48 70 71
+f 48 71 49
+f 49 53 50
+f 49 71 75
+f 49 75 53
+f 51 68 72
+f 51 72 73
+f 51 73 74
+f 51 74 69
+f 51 69 52
+f 55 76 77
+f 55 77 56
+f 61 78 63
+f 61 63 62
+f 63 79 64
+f 63 78 79
+f 64 79 80
+f 64 80 65
+f 65 81 66
+f 65 80 82
+f 65 82 83
+f 65 83 84
+f 65 84 85
+f 65 85 81
+f 66 81 85
+f 66 85 86
+f 66 86 72
+f 66 72 67
+f 67 72 68
+f 69 74 70
+f 70 87 71
+f 70 74 87
+f 71 87 75
+f 72 86 85
+f 72 85 88
+f 72 88 73
+f 73 88 89
+f 73 89 90
+f 73 90 74
+f 74 90 91
+f 74 91 87
+f 75 87 92
+f 75 92 93
+f 76 94 77
+f 77 94 95
+f 83 96 84
+f 84 96 97
+f 84 97 98
+f 84 98 85
+f 85 98 89
+f 85 89 88
+f 87 91 99
+f 87 99 92
+f 89 98 100
+f 89 100 101
+f 89 101 90
+f 90 101 91
+f 91 101 99
+f 92 99 93
+f 94 102 103
+f 94 103 104
+f 94 104 95
+f 96 105 97
+f 97 105 106
+f 97 106 100
+f 97 100 98
+f 99 101 107
+f 100 102 108
+f 100 108 107
+f 100 107 101
+f 100 106 109
+f 100 109 110
+f 100 110 111
+f 100 111 112
+f 100 112 102
+f 102 113 114
+f 102 114 103
+f 102 112 115
+f 102 115 116
+f 102 116 113
+f 105 110 109
+f 105 109 106
+f 110 112 111
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_14.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.08613980 -0.14567671 -0.01402923
+v 0.08613980 -0.15112950 -0.01395922
+v 0.08613980 -0.14567392 0.00156344
+v 0.08660238 -0.14567386 -0.01402144
+v 0.09202377 -0.14567386 -0.01398254
+v 0.08613980 -0.15704759 -0.01367524
+v 0.09202377 -0.15112665 -0.01387752
+v 0.08613980 -0.14567392 0.00167237
+v 0.09790310 -0.14567386 -0.01388917
+v 0.08613980 -0.16020942 -0.01316950
+v 0.09790310 -0.15112665 -0.01371412
+v 0.09202377 -0.15704332 -0.01350017
+v 0.08613980 -0.16020810 0.01557267
+v 0.11243262 -0.14567400 0.02373475
+v 0.10378707 -0.14567386 -0.01367520
+v 0.08613980 -0.16020953 0.01554155
+v 0.09202377 -0.16020942 -0.01290495
+v 0.10378707 -0.15112665 -0.01337955
+v 0.09790310 -0.15704332 -0.01317727
+v 0.09937409 -0.16020956 0.02334177
+v 0.11411639 -0.14567400 0.02439612
+v 0.10033163 -0.16020956 0.02382807
+v 0.10967104 -0.14567386 -0.01311888
+v 0.09790310 -0.16020942 -0.01243811
+v 0.10967104 -0.15112665 -0.01260536
+v 0.10378707 -0.15704332 -0.01258204
+v 0.11472698 -0.14567400 0.02458675
+v 0.10187663 -0.16020956 0.02416654
+v 0.11555037 -0.14567387 -0.01180782
+v 0.10405074 -0.16020943 -0.01152387
+v 0.11555037 -0.15112666 -0.01093250
+v 0.10967104 -0.15704333 -0.01139936
+v 0.11520344 -0.14567400 0.02468790
+v 0.10621096 -0.16020956 0.02478122
+v 0.12097176 -0.14567400 0.02565271
+v 0.12032878 -0.14567387 -0.00987040
+v 0.10967104 -0.16020943 -0.01027894
+v 0.11928799 -0.15112667 -0.00932966
+v 0.11858950 -0.15424296 -0.00890951
+v 0.11527283 -0.15654672 -0.00958644
+v 0.11283968 -0.16020944 -0.00929857
+v 0.11240486 -0.16020956 0.02547760
+v 0.12142971 -0.14567400 0.02569162
+v 0.12327077 -0.14567388 -0.00796022
+v 0.11704912 -0.15818883 -0.00790969
+v 0.11327912 -0.16020944 -0.00914295
+v 0.12222997 -0.15112667 -0.00704211
+v 0.12455672 -0.15444076 -0.00363414
+v 0.12098102 -0.15631480 -0.00576997
+v 0.11974131 -0.16020945 -0.00457564
+v 0.11870514 -0.16020945 -0.00541596
+v 0.11555037 -0.16020956 0.02556707
+v 0.12142971 -0.15112679 0.02571494
+v 0.12685110 -0.14567400 0.02549321
+v 0.12350206 -0.14567388 -0.00774625
+v 0.12516733 -0.15112668 -0.00432662
+v 0.11629975 -0.16020944 -0.00709272
+v 0.12453360 -0.16020947 0.00125994
+v 0.12337253 -0.15838521 -0.00205466
+v 0.12757735 -0.15112670 -0.00070856
+v 0.12541711 -0.15666487 -0.00042848
+v 0.12247051 -0.16020946 -0.00136996
+v 0.11828420 -0.16020956 0.02559431
+v 0.12142971 -0.15704346 0.02559432
+v 0.12734606 -0.14567400 0.02542318
+v 0.12591207 -0.14567389 -0.00524473
+v 0.12915935 -0.14567391 -0.00049457
+v 0.12467237 -0.16020948 0.00147391
+v 0.13021866 -0.14793074 0.00211199
+v 0.12982546 -0.15169732 0.00424001
+v 0.12772537 -0.15704339 0.00471851
+v 0.12145284 -0.16020956 0.02513135
+v 0.12364545 -0.16020956 0.02466840
+v 0.12615724 -0.15704346 0.02459449
+v 0.12774387 -0.15142277 0.02478125
+v 0.13090789 -0.14567400 0.02445448
+v 0.12916861 -0.14567391 -0.00047512
+v 0.12591207 -0.16020949 0.00471850
+v 0.13127795 -0.14567393 0.00422447
+v 0.13083388 -0.15010646 0.00573004
+v 0.13024641 -0.15404949 0.00748847
+v 0.12526447 -0.16020956 0.02425212
+v 0.13069510 -0.14964691 0.02408488
+v 0.13111143 -0.14567400 0.02439223
+v 0.12924724 -0.15682712 0.00963595
+v 0.12729980 -0.16020951 0.00994328
+v 0.13279520 -0.14567395 0.01010284
+v 0.13130570 -0.15169734 0.00963597
+v 0.13054245 -0.15471118 0.01110653
+v 0.12577330 -0.16020956 0.02362577
+v 0.12999200 -0.15359136 0.02320175
+v 0.13129183 -0.15142276 0.02122932
+v 0.13272581 -0.14567399 0.02100759
+v 0.13261480 -0.14567399 0.02131104
+v 0.12927500 -0.15805943 0.01556490
+v 0.12791965 -0.16020953 0.01556489
+v 0.13284608 -0.14567395 0.01056191
+v 0.13210134 -0.15112676 0.01556492
+v 0.13072286 -0.15509967 0.01556491
+v 0.12698525 -0.16020955 0.02107757
+v 0.12894657 -0.15688835 0.02122930
+v 0.13059334 -0.15481224 0.01958368
+v 0.13339655 -0.14567397 0.01556494
+v 0.12746170 -0.16020954 0.01845545
+f 1 2 6
+f 1 6 10
+f 1 10 16
+f 1 16 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 14
+f 3 14 21
+f 3 21 27
+f 3 27 33
+f 3 33 35
+f 3 35 43
+f 3 43 54
+f 3 54 65
+f 3 65 76
+f 3 76 84
+f 3 84 94
+f 3 94 93
+f 3 93 103
+f 3 103 97
+f 3 97 87
+f 3 87 79
+f 3 79 77
+f 3 77 67
+f 3 67 66
+f 3 66 55
+f 3 55 44
+f 3 44 36
+f 3 36 29
+f 3 29 23
+f 3 23 15
+f 3 15 9
+f 3 9 5
+f 3 5 4
+f 5 9 7
+f 6 7 11
+f 6 11 12
+f 6 12 10
+f 7 9 11
+f 8 13 14
+f 9 15 11
+f 10 12 17
+f 10 17 24
+f 10 24 30
+f 10 30 37
+f 10 37 41
+f 10 41 46
+f 10 46 57
+f 10 57 51
+f 10 51 50
+f 10 50 62
+f 10 62 58
+f 10 58 68
+f 10 68 78
+f 10 78 86
+f 10 86 96
+f 10 96 104
+f 10 104 100
+f 10 100 90
+f 10 90 82
+f 10 82 73
+f 10 73 72
+f 10 72 63
+f 10 63 52
+f 10 52 42
+f 10 42 34
+f 10 34 28
+f 10 28 22
+f 10 22 20
+f 10 20 16
+f 11 15 18
+f 11 18 19
+f 11 19 12
+f 12 19 17
+f 13 16 20
+f 13 20 14
+f 14 20 22
+f 14 22 21
+f 15 23 18
+f 17 19 24
+f 18 23 25
+f 18 25 26
+f 18 26 19
+f 19 26 24
+f 21 22 27
+f 22 28 27
+f 23 29 25
+f 24 26 30
+f 25 29 31
+f 25 31 32
+f 25 32 26
+f 26 32 30
+f 27 28 33
+f 28 34 35
+f 28 35 33
+f 29 36 31
+f 30 32 37
+f 31 36 38
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 32 41 37
+f 34 42 35
+f 35 42 43
+f 36 44 38
+f 38 44 39
+f 39 45 46
+f 39 46 40
+f 39 44 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 45
+f 40 46 41
+f 42 52 53
+f 42 53 43
+f 43 53 54
+f 44 55 56
+f 44 56 47
+f 45 51 57
+f 45 57 46
+f 47 56 48
+f 48 58 59
+f 48 59 50
+f 48 50 49
+f 48 56 60
+f 48 60 61
+f 48 61 58
+f 50 59 62
+f 52 63 53
+f 53 63 64
+f 53 64 54
+f 54 64 65
+f 55 66 56
+f 56 66 67
+f 56 67 60
+f 58 61 68
+f 58 62 59
+f 60 67 69
+f 60 69 70
+f 60 70 61
+f 61 70 71
+f 61 71 68
+f 63 72 64
+f 64 72 73
+f 64 73 74
+f 64 74 65
+f 65 74 75
+f 65 75 76
+f 67 77 69
+f 68 71 78
+f 69 79 80
+f 69 80 70
+f 69 77 79
+f 70 80 81
+f 70 81 71
+f 71 81 78
+f 73 82 74
+f 74 82 83
+f 74 83 75
+f 75 83 76
+f 76 83 84
+f 78 81 85
+f 78 85 86
+f 79 87 80
+f 80 87 88
+f 80 88 81
+f 81 88 89
+f 81 89 85
+f 82 90 91
+f 82 91 83
+f 83 91 92
+f 83 92 93
+f 83 93 94
+f 83 94 84
+f 85 89 95
+f 85 95 86
+f 86 95 96
+f 87 97 98
+f 87 98 88
+f 88 98 89
+f 89 99 95
+f 89 98 99
+f 90 100 101
+f 90 101 91
+f 91 102 92
+f 91 101 102
+f 92 98 93
+f 92 102 98
+f 93 98 103
+f 95 99 102
+f 95 102 104
+f 95 104 96
+f 97 103 98
+f 98 102 99
+f 100 104 102
+f 100 102 101
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_15.obj

@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
+v 0.00966317 -0.16020942 -0.01369687
+v 0.00378559 -0.16296332 -0.01342123
+v 0.00061691 -0.16296332 -0.01342123
+v 0.00061691 -0.16020942 -0.01369427
+v 0.01555317 -0.16020942 -0.01369427
+v 0.01555317 -0.16296332 -0.01341602
+v 0.05084350 -0.16884837 -0.01081553
+v 0.04496592 -0.16881263 -0.01083373
+v 0.00061691 -0.16864983 -0.01088054
+v 0.03907592 -0.16877094 -0.01084933
+v 0.00061691 -0.16020949 0.00432732
+v 0.02143075 -0.16020942 -0.01368647
+v 0.03319834 -0.16020942 -0.01366827
+v 0.03319834 -0.16296332 -0.01338742
+v 0.06261109 -0.16888213 -0.01078432
+v 0.06847624 -0.17186040 -0.00886775
+v 0.06261109 -0.17185842 -0.00886775
+v 0.00061691 -0.17001983 -0.00969210
+v 0.05862228 -0.17184850 -0.00885735
+v 0.05469561 -0.17183062 -0.00883394
+v 0.00061691 -0.16067012 0.00449635
+v 0.03436640 -0.16338037 0.01287001
+v 0.03907592 -0.16078135 0.01287002
+v 0.04455586 -0.16020952 0.01287002
+v 0.03907592 -0.16020942 -0.01365786
+v 0.04496592 -0.16020942 -0.01364486
+v 0.03907592 -0.16296332 -0.01337182
+v 0.04496592 -0.16296332 -0.01335101
+v 0.05084350 -0.16296332 -0.01331981
+v 0.05673351 -0.16296332 -0.01328340
+v 0.06847624 -0.16888213 -0.01074531
+v 0.07226622 -0.17185047 -0.00885735
+v 0.08024382 -0.17375261 -0.00603579
+v 0.07427926 -0.17333763 -0.00666512
+v 0.00061691 -0.17160625 -0.00831384
+v 0.06847624 -0.17362553 -0.00613462
+v 0.00061691 -0.16296339 0.00532851
+v 0.03245277 -0.16909467 0.01286999
+v 0.12756268 -0.16020952 0.01287002
+v 0.05084350 -0.16020942 -0.01362146
+v 0.05673351 -0.16020942 -0.01359285
+v 0.06261109 -0.16020942 -0.01355904
+v 0.06261109 -0.16296332 -0.01323919
+v 0.06847624 -0.16296332 -0.01317678
+v 0.07436624 -0.16296332 -0.01308316
+v 0.08024382 -0.16877492 -0.01057108
+v 0.07427926 -0.16946190 -0.01030583
+v 0.07619289 -0.17182069 -0.00882874
+v 0.08613383 -0.17370495 -0.00583816
+v 0.08613383 -0.17666338 -0.00113643
+v 0.08024382 -0.17671103 -0.00110522
+v 0.00061691 -0.17205499 -0.00705779
+v 0.08024382 -0.17792617 0.00160452
+v 0.07564614 -0.17784278 0.00179435
+v 0.00061691 -0.16888219 0.00487340
+v 0.03401846 -0.17439400 0.01286997
+v 0.12619580 -0.16254646 0.01287001
+v 0.12605912 -0.16236379 0.01013946
+v 0.12728931 -0.16020951 0.00994184
+v 0.06847624 -0.16020942 -0.01350963
+v 0.07436624 -0.16020942 -0.01343942
+v 0.08024382 -0.16020942 -0.01333280
+v 0.08024382 -0.16296332 -0.01294273
+v 0.08613383 -0.16296332 -0.01273209
+v 0.08613383 -0.16854856 -0.01043065
+v 0.08024382 -0.17173333 -0.00874812
+v 0.08613383 -0.17150500 -0.00855309
+v 0.09201141 -0.17349051 -0.00548189
+v 0.09219779 -0.17667530 -0.00031727
+v 0.09035873 -0.17786860 0.00175535
+v 0.08613383 -0.17794404 0.00157331
+v 0.00061691 -0.17257322 -0.00560150
+v 0.08613383 -0.17893284 0.00471212
+v 0.08024382 -0.17887525 0.00471212
+v 0.00061691 -0.17282143 0.00307123
+v 0.03722442 -0.17734645 0.01286996
+v 0.03655340 -0.17686794 0.01286996
+v 0.12400880 -0.16550487 0.01287000
+v 0.12528869 -0.16129556 0.00471219
+v 0.12384726 -0.16532219 0.01013945
+v 0.12591000 -0.16020949 0.00471219
+v 0.08613383 -0.16020942 -0.01317157
+v 0.09201141 -0.16020942 -0.01290371
+v 0.09201141 -0.16296332 -0.01238622
+v 0.09201141 -0.16813558 -0.01020440
+v 0.09201141 -0.17109201 -0.00819422
+v 0.09790141 -0.17301797 -0.00486556
+v 0.09790141 -0.17561504 -0.00070995
+v 0.09428539 -0.17769784 0.00218443
+v 0.09219779 -0.17851389 0.00428044
+v 0.00061691 -0.17355606 -0.00070994
+v 0.07395618 -0.17846227 0.00420242
+v 0.06847624 -0.17841064 0.00508140
+v 0.07436624 -0.17988591 0.01013940
+v 0.06847624 -0.17957418 0.01013940
+v 0.09201141 -0.17993355 0.01013940
+v 0.08613383 -0.18019565 0.01013940
+v 0.08024382 -0.18013012 0.01013940
+v 0.04023155 -0.17815853 0.01286996
+v 0.12106379 -0.16830642 0.01286999
+v 0.12091468 -0.16816346 0.01013944
+v 0.12463010 -0.16037824 0.00156037
+v 0.12294014 -0.16425396 0.00471218
+v 0.11999515 -0.16732356 0.00471217
+v 0.12466739 -0.16020948 0.00146935
+v 0.09790141 -0.16020942 -0.01244082
+v 0.09790141 -0.16296333 -0.01179590
+v 0.09790141 -0.16746249 -0.00982733
+v 0.09790141 -0.17041893 -0.00757789
+v 0.10256122 -0.17241835 -0.00412701
+v 0.10422633 -0.17368710 -0.00117023
+v 0.09790141 -0.17739605 0.00311542
+v 0.09790141 -0.17824983 0.00582776
+v 0.06261109 -0.17924061 0.01013940
+v 0.05673351 -0.17889711 0.01013940
+v 0.05084350 -0.17902420 0.01286995
+v 0.04521445 -0.17866483 0.01286995
+v 0.04209547 -0.17835706 0.01286995
+v 0.07436624 -0.18023735 0.01286995
+v 0.06847624 -0.17996334 0.01286995
+v 0.06261109 -0.17966950 0.01286995
+v 0.05673351 -0.17935777 0.01286995
+v 0.09201141 -0.18021750 0.01286995
+v 0.08613383 -0.18049348 0.01286995
+v 0.09790141 -0.17918700 0.01013940
+v 0.08024382 -0.18044780 0.01286995
+v 0.11769630 -0.17126285 0.01286998
+v 0.11748506 -0.17111989 0.01013943
+v 0.11908804 -0.16647573 0.00118847
+v 0.12122533 -0.16272312 -0.00043164
+v 0.12453070 -0.16020947 0.00125351
+v 0.11634185 -0.17028396 0.00471215
+v 0.10403994 -0.16020943 -0.01152284
+v 0.10431332 -0.16352919 -0.01041243
+v 0.10272277 -0.16667624 -0.00934362
+v 0.10663701 -0.16588005 -0.00882092
+v 0.10459912 -0.16921373 -0.00647266
+v 0.10647547 -0.17174725 -0.00328704
+v 0.10351805 -0.17663759 0.00495138
+v 0.10965657 -0.17255933 0.00073596
+v 0.10138073 -0.17791428 0.00691997
+v 0.09790141 -0.17945903 0.01286995
+v 0.10242453 -0.17821609 0.01013941
+v 0.11475131 -0.17320269 0.01286997
+v 0.11455249 -0.17307163 0.01013942
+v 0.11339685 -0.17234293 0.00471215
+v 0.11261399 -0.17184854 0.00198681
+v 0.11508681 -0.16856449 -0.00022102
+v 0.11757204 -0.16506601 -0.00242625
+v 0.12246796 -0.16020946 -0.00137042
+v 0.11944839 -0.16112080 -0.00429600
+v 0.10965657 -0.16020943 -0.01027979
+v 0.10965657 -0.16181968 -0.00971288
+v 0.10965657 -0.16477809 -0.00805117
+v 0.11364538 -0.16670802 -0.00419460
+v 0.10965657 -0.16792315 -0.00533884
+v 0.11312347 -0.16049535 -0.00910956
+v 0.10965657 -0.17087958 -0.00197378
+v 0.10965657 -0.17421924 0.00471214
+v 0.10536954 -0.17735438 0.01013941
+v 0.10288431 -0.17834912 0.01286995
+v 0.10965657 -0.17589305 0.01286996
+v 0.10965657 -0.17562698 0.01013941
+v 0.11973420 -0.16020945 -0.00457426
+v 0.11534776 -0.16278068 -0.00605396
+v 0.11870282 -0.16020945 -0.00541942
+v 0.11283768 -0.16020944 -0.00929940
+v 0.11327259 -0.16020944 -0.00914596
+v 0.11629215 -0.16020944 -0.00709416
+v 0.10581689 -0.17748742 0.01286996
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 24
+f 1 24 39
+f 1 39 59
+f 1 59 81
+f 1 81 105
+f 1 105 131
+f 1 131 150
+f 1 150 164
+f 1 164 166
+f 1 166 169
+f 1 169 168
+f 1 168 167
+f 1 167 152
+f 1 152 133
+f 1 133 106
+f 1 106 83
+f 1 83 82
+f 1 82 62
+f 1 62 61
+f 1 61 60
+f 1 60 42
+f 1 42 41
+f 1 41 40
+f 1 40 26
+f 1 26 25
+f 1 25 13
+f 1 13 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 18
+f 3 18 35
+f 3 35 52
+f 3 52 72
+f 3 72 91
+f 3 91 75
+f 3 75 55
+f 3 55 37
+f 3 37 21
+f 3 21 11
+f 3 11 4
+f 3 8 10
+f 3 10 9
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 8 9 10
+f 9 17 19
+f 9 19 20
+f 9 20 18
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 17 34 19
+f 18 20 35
+f 19 34 36
+f 19 36 20
+f 20 36 35
+f 21 37 22
+f 22 37 38
+f 22 38 56
+f 22 56 77
+f 22 77 76
+f 22 76 99
+f 22 99 118
+f 22 118 117
+f 22 117 116
+f 22 116 122
+f 22 122 121
+f 22 121 120
+f 22 120 119
+f 22 119 126
+f 22 126 124
+f 22 124 123
+f 22 123 142
+f 22 142 161
+f 22 161 170
+f 22 170 162
+f 22 162 144
+f 22 144 127
+f 22 127 100
+f 22 100 78
+f 22 78 57
+f 22 57 39
+f 22 39 24
+f 22 24 23
+f 26 28 27
+f 26 40 28
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 31
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 31 43 44
+f 32 48 33
+f 33 49 50
+f 33 50 51
+f 33 51 36
+f 33 36 34
+f 33 48 49
+f 35 36 51
+f 35 51 53
+f 35 53 54
+f 35 54 52
+f 37 55 56
+f 37 56 38
+f 39 57 58
+f 39 58 59
+f 42 60 43
+f 43 60 44
+f 44 60 61
+f 44 61 45
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 48
+f 46 48 47
+f 48 66 49
+f 49 67 68
+f 49 68 50
+f 49 66 67
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 51
+f 51 71 53
+f 52 54 72
+f 53 71 73
+f 53 73 74
+f 53 74 54
+f 54 74 72
+f 55 75 76
+f 55 76 77
+f 55 77 56
+f 57 78 58
+f 58 79 59
+f 58 78 80
+f 58 80 79
+f 59 79 81
+f 62 82 63
+f 63 82 64
+f 64 82 83
+f 64 83 84
+f 64 84 65
+f 65 84 85
+f 65 85 67
+f 65 67 66
+f 67 85 86
+f 67 86 68
+f 68 86 87
+f 68 87 88
+f 68 88 69
+f 69 88 89
+f 69 89 70
+f 70 89 90
+f 70 90 73
+f 70 73 71
+f 72 74 92
+f 72 92 93
+f 72 93 94
+f 72 94 95
+f 72 95 91
+f 73 90 96
+f 73 96 97
+f 73 97 74
+f 74 98 94
+f 74 94 92
+f 74 97 98
+f 75 91 99
+f 75 99 76
+f 78 100 101
+f 78 101 80
+f 79 102 81
+f 79 80 103
+f 79 103 102
+f 80 101 104
+f 80 104 103
+f 81 102 105
+f 83 106 84
+f 84 106 107
+f 84 107 85
+f 85 107 108
+f 85 108 86
+f 86 108 109
+f 86 109 87
+f 87 109 110
+f 87 110 88
+f 88 110 111
+f 88 111 112
+f 88 112 89
+f 89 112 113
+f 89 113 90
+f 90 113 96
+f 91 95 114
+f 91 114 115
+f 91 115 116
+f 91 116 117
+f 91 117 118
+f 91 118 99
+f 92 94 93
+f 94 119 120
+f 94 120 121
+f 94 121 95
+f 94 98 119
+f 95 121 122
+f 95 122 116
+f 95 116 114
+f 96 123 124
+f 96 124 97
+f 96 113 125
+f 96 125 123
+f 97 124 126
+f 97 126 98
+f 98 126 119
+f 100 127 101
+f 101 127 128
+f 101 128 104
+f 102 103 129
+f 102 129 130
+f 102 130 131
+f 102 131 105
+f 103 104 129
+f 104 128 132
+f 104 132 129
+f 106 133 107
+f 107 133 134
+f 107 134 135
+f 107 135 108
+f 108 135 109
+f 109 135 136
+f 109 136 137
+f 109 137 110
+f 110 137 138
+f 110 138 111
+f 111 139 112
+f 111 138 140
+f 111 140 139
+f 112 139 141
+f 112 141 113
+f 113 141 125
+f 114 116 115
+f 123 125 142
+f 125 141 143
+f 125 143 142
+f 127 144 145
+f 127 145 128
+f 128 145 146
+f 128 146 132
+f 129 132 147
+f 129 147 148
+f 129 148 149
+f 129 149 130
+f 130 150 131
+f 130 149 151
+f 130 151 150
+f 132 146 147
+f 133 152 134
+f 134 152 153
+f 134 153 136
+f 134 136 135
+f 136 154 155
+f 136 155 156
+f 136 156 138
+f 136 138 137
+f 136 153 157
+f 136 157 154
+f 138 156 155
+f 138 155 158
+f 138 158 147
+f 138 147 140
+f 139 140 159
+f 139 159 160
+f 139 160 141
+f 140 147 159
+f 141 160 143
+f 142 143 161
+f 143 160 161
+f 144 162 145
+f 145 162 163
+f 145 163 146
+f 146 163 159
+f 146 159 147
+f 147 158 155
+f 147 155 148
+f 148 155 149
+f 149 155 151
+f 150 151 164
+f 151 155 165
+f 151 165 166
+f 151 166 164
+f 152 167 153
+f 153 167 157
+f 154 157 155
+f 155 157 165
+f 157 168 169
+f 157 169 166
+f 157 166 165
+f 157 167 168
+f 159 163 160
+f 160 163 170
+f 160 170 161
+f 162 170 163
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_16.obj

@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v 0.03245537 -0.16909391 0.01287234
+v 0.00061691 -0.16888245 0.01979117
+v 0.03436193 -0.16337978 0.01287236
+v 0.03402548 -0.17439515 0.01287232
+v 0.00061691 -0.17479800 0.02038809
+v 0.00061691 -0.16415728 0.02196038
+v 0.03908474 -0.16078154 0.01287237
+v 0.03655511 -0.17686650 0.01287231
+v 0.00061691 -0.17650802 0.02139159
+v 0.03722802 -0.17734788 0.01287231
+v 0.00061691 -0.16245131 0.02641391
+v 0.04283557 -0.16038878 0.01287237
+v 0.00061691 -0.17848993 0.02255490
+v 0.04023117 -0.17815959 0.01287231
+v 0.00061691 -0.16276754 0.02932809
+v 0.10186443 -0.16020956 0.02416952
+v 0.04496644 -0.16020952 0.01305568
+v 0.04455522 -0.16020952 0.01287237
+v 0.00061691 -0.17996028 0.02641385
+v 0.04210036 -0.17835698 0.01287230
+v 0.04521567 -0.17866513 0.01287230
+v 0.00061691 -0.16304349 0.03184040
+v 0.10620094 -0.16020956 0.02478291
+v 0.12755949 -0.16020952 0.01287237
+v 0.04496644 -0.18058668 0.02641385
+v 0.00061691 -0.17980722 0.02892615
+v 0.05084814 -0.17902365 0.01287230
+v 0.05672985 -0.17935801 0.01287230
+v 0.06261155 -0.17966819 0.01287230
+v 0.06848079 -0.17996224 0.01287230
+v 0.07436249 -0.18023617 0.01287230
+v 0.08024419 -0.18044766 0.01287230
+v 0.08024419 -0.18076187 0.01556557
+v 0.00061691 -0.16395792 0.03384037
+v 0.00378207 -0.16304349 0.03184040
+v 0.11827588 -0.16020956 0.02559606
+v 0.11554687 -0.16020956 0.02556786
+v 0.11239418 -0.16020956 0.02548091
+v 0.12792087 -0.16020953 0.01556564
+v 0.12618877 -0.16254593 0.01287236
+v 0.05084814 -0.18045374 0.02641385
+v 0.03320304 -0.17965213 0.03184034
+v 0.02730888 -0.17967630 0.03184034
+v 0.00061691 -0.17962796 0.03184034
+v 0.08612590 -0.18078604 0.01556557
+v 0.07436249 -0.18057457 0.02099206
+v 0.08024419 -0.18046580 0.02099206
+v 0.08612590 -0.18049196 0.01287230
+v 0.00061691 -0.16474747 0.03556537
+v 0.00378207 -0.16474747 0.03556537
+v 0.04496644 -0.16888251 0.03564291
+v 0.04926557 -0.17276980 0.03488381
+v 0.12145349 -0.16020956 0.02513309
+v 0.00966377 -0.16475150 0.03556537
+v 0.01554547 -0.16476358 0.03556067
+v 0.02142717 -0.16479178 0.03554657
+v 0.02730888 -0.16483609 0.03552071
+v 0.03320304 -0.16492673 0.03545726
+v 0.03908474 -0.16512009 0.03527865
+v 0.04496644 -0.16553903 0.03488618
+v 0.03908474 -0.16888251 0.03641611
+v 0.12745980 -0.16020954 0.01845632
+v 0.12587722 -0.16209479 0.02099212
+v 0.12632583 -0.16272519 0.01556563
+v 0.12415757 -0.16568398 0.01556562
+v 0.12400805 -0.16550470 0.01287235
+v 0.04496644 -0.17930368 0.03138911
+v 0.08612590 -0.18030467 0.02099206
+v 0.03320304 -0.17808916 0.03481563
+v 0.02730888 -0.17815160 0.03486733
+v 0.03935889 -0.17914458 0.03233387
+v 0.02142717 -0.17815967 0.03487438
+v 0.01554547 -0.17816168 0.03487674
+v 0.00378207 -0.17815967 0.03487438
+v 0.00061691 -0.17815766 0.03487204
+v 0.09200759 -0.18021805 0.01287230
+v 0.09200759 -0.18049802 0.01556557
+v 0.00061691 -0.16696907 0.03627041
+v 0.01554547 -0.16888252 0.03687674
+v 0.04496644 -0.17392391 0.03530917
+v 0.11535995 -0.16887441 0.02464657
+v 0.12146595 -0.16294678 0.02473355
+v 0.12364667 -0.16020956 0.02467011
+v 0.02142717 -0.16888252 0.03686499
+v 0.02730888 -0.16888252 0.03683444
+v 0.03320304 -0.16888251 0.03674043
+v 0.03320304 -0.17479806 0.03610117
+v 0.12698628 -0.16020955 0.02107908
+v 0.12576508 -0.16020956 0.02362899
+v 0.12504232 -0.16096285 0.02417187
+v 0.12359682 -0.16505357 0.02099211
+v 0.12065598 -0.16792573 0.02099210
+v 0.12121672 -0.16844939 0.01556561
+v 0.12106719 -0.16830638 0.01287234
+v 0.03758939 -0.17794213 0.03469577
+v 0.09200759 -0.17992803 0.02099206
+v 0.09200759 -0.17850202 0.02437392
+v 0.09790176 -0.17807905 0.02400260
+v 0.02730888 -0.17479806 0.03618107
+v 0.02142717 -0.17479806 0.03619283
+v 0.01554547 -0.17479806 0.03619283
+v 0.00966377 -0.17815967 0.03487674
+v 0.00061691 -0.17479806 0.03618577
+v 0.00061691 -0.17660273 0.03548072
+v 0.09790176 -0.17945871 0.01287230
+v 0.09790176 -0.17972659 0.01556557
+v 0.00061691 -0.16888252 0.03687674
+v 0.03935889 -0.17531569 0.03554889
+v 0.04151468 -0.17763195 0.03447251
+v 0.10966517 -0.17306786 0.02447029
+v 0.11327892 -0.17225214 0.02403083
+v 0.11953446 -0.16689451 0.02426116
+v 0.12525416 -0.16020956 0.02425413
+v 0.11724159 -0.17088251 0.02099209
+v 0.11788958 -0.17140616 0.01556560
+v 0.11769020 -0.17126314 0.01287233
+v 0.09790176 -0.17911230 0.02099206
+v 0.10094230 -0.17778902 0.02373469
+v 0.10287380 -0.17834891 0.01287230
+v 0.10332240 -0.17847983 0.01556557
+v 0.10222580 -0.17816163 0.02099207
+v 0.11430074 -0.17290672 0.02099208
+v 0.10966517 -0.17525521 0.02099208
+v 0.11494873 -0.17333370 0.01556559
+v 0.11474935 -0.17320277 0.01287232
+v 0.10516666 -0.17714650 0.02099207
+v 0.10434422 -0.17791991 0.01287231
+v 0.10626325 -0.17761980 0.01556558
+v 0.10966517 -0.17615351 0.01556558
+v 0.10966517 -0.17589166 0.01287231
+v 0.10581465 -0.17748887 0.01287231
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 18
+f 1 18 24
+f 1 24 40
+f 1 40 66
+f 1 66 94
+f 1 94 116
+f 1 116 125
+f 1 125 130
+f 1 130 131
+f 1 131 127
+f 1 127 119
+f 1 119 105
+f 1 105 76
+f 1 76 48
+f 1 48 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 21
+f 1 21 20
+f 1 20 14
+f 1 14 10
+f 1 10 8
+f 1 8 4
+f 1 4 2
+f 2 5 9
+f 2 9 13
+f 2 13 19
+f 2 19 26
+f 2 26 44
+f 2 44 75
+f 2 75 104
+f 2 104 103
+f 2 103 107
+f 2 107 78
+f 2 78 49
+f 2 49 34
+f 2 34 22
+f 2 22 15
+f 2 15 11
+f 2 11 6
+f 2 6 3
+f 2 4 5
+f 3 6 7
+f 4 8 5
+f 5 8 10
+f 5 10 9
+f 6 11 7
+f 7 11 12
+f 9 10 13
+f 10 14 13
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 14 20
+f 13 20 21
+f 13 21 19
+f 15 22 16
+f 16 23 38
+f 16 38 37
+f 16 37 36
+f 16 36 53
+f 16 53 83
+f 16 83 113
+f 16 113 89
+f 16 89 88
+f 16 88 62
+f 16 62 39
+f 16 39 24
+f 16 24 18
+f 16 18 17
+f 16 22 23
+f 19 25 26
+f 19 21 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 25
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 24 39 40
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 25 33 45
+f 25 45 46
+f 25 46 47
+f 25 47 41
+f 32 48 33
+f 33 48 45
+f 34 49 50
+f 34 50 35
+f 35 50 36
+f 36 51 52
+f 36 52 53
+f 36 50 54
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 61
+f 36 61 51
+f 39 62 63
+f 39 63 64
+f 39 64 40
+f 40 64 65
+f 40 65 66
+f 41 67 42
+f 41 47 68
+f 41 68 67
+f 42 69 70
+f 42 70 43
+f 42 67 71
+f 42 71 69
+f 43 70 72
+f 43 72 73
+f 43 73 74
+f 43 74 75
+f 43 75 44
+f 45 48 76
+f 45 76 77
+f 45 77 68
+f 45 68 47
+f 45 47 46
+f 49 78 50
+f 50 78 79
+f 50 79 54
+f 51 61 52
+f 52 61 80
+f 52 80 81
+f 52 81 82
+f 52 82 53
+f 53 82 83
+f 54 79 55
+f 55 79 84
+f 55 84 56
+f 56 84 85
+f 56 85 57
+f 57 85 58
+f 58 85 86
+f 58 86 59
+f 59 86 61
+f 59 61 60
+f 61 86 87
+f 61 87 80
+f 62 88 63
+f 63 88 89
+f 63 89 90
+f 63 90 91
+f 63 91 65
+f 63 65 64
+f 65 91 92
+f 65 92 93
+f 65 93 94
+f 65 94 66
+f 67 95 71
+f 67 68 96
+f 67 96 97
+f 67 97 98
+f 67 98 95
+f 68 77 96
+f 69 99 70
+f 69 71 95
+f 69 95 87
+f 69 87 99
+f 70 99 100
+f 70 100 72
+f 72 100 73
+f 73 100 101
+f 73 101 102
+f 73 102 74
+f 74 102 101
+f 74 101 103
+f 74 103 104
+f 74 104 75
+f 76 105 77
+f 77 105 106
+f 77 106 96
+f 78 107 79
+f 79 107 101
+f 79 101 100
+f 79 100 99
+f 79 99 84
+f 80 87 108
+f 80 108 109
+f 80 109 110
+f 80 110 81
+f 81 110 111
+f 81 111 112
+f 81 112 82
+f 82 112 90
+f 82 90 83
+f 83 90 113
+f 84 99 85
+f 85 99 87
+f 85 87 86
+f 87 95 108
+f 89 113 90
+f 90 112 91
+f 91 112 92
+f 92 112 114
+f 92 114 115
+f 92 115 93
+f 93 115 94
+f 94 115 116
+f 95 98 109
+f 95 109 108
+f 96 106 117
+f 96 117 118
+f 96 118 98
+f 96 98 97
+f 98 118 109
+f 101 107 103
+f 105 119 106
+f 106 119 120
+f 106 120 121
+f 106 121 117
+f 109 118 110
+f 110 118 111
+f 111 122 114
+f 111 114 112
+f 111 118 123
+f 111 123 122
+f 114 122 115
+f 115 122 124
+f 115 124 125
+f 115 125 116
+f 117 121 118
+f 118 121 126
+f 118 126 123
+f 119 127 120
+f 120 127 128
+f 120 128 121
+f 121 128 126
+f 122 123 129
+f 122 129 124
+f 123 126 128
+f 123 128 129
+f 124 129 125
+f 125 129 130
+f 127 131 128
+f 128 131 130
+f 128 130 129
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_17.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.08744302 0.15792210 0.01154204
+v -0.08744302 0.16030026 0.01843172
+v -0.08744302 0.17987978 0.01154212
+v -0.04713560 0.15897712 0.01154204
+v 0.00116911 0.16218167 0.03184137
+v -0.00210961 0.16218167 0.03184137
+v -0.00799048 0.16218827 0.03184137
+v -0.01388003 0.16221245 0.03184137
+v -0.01976091 0.16225421 0.03184137
+v -0.02564178 0.16232235 0.03184137
+v -0.03152266 0.16242785 0.03184137
+v -0.03741221 0.16262786 0.03184137
+v -0.08744302 0.16119263 0.02084432
+v -0.08744302 0.18029518 0.01556852
+v -0.08445921 0.18037430 0.01556852
+v -0.08445921 0.17995452 0.01154212
+v -0.04239100 0.15911559 0.01154204
+v 0.00116911 0.16212894 0.02943686
+v 0.00116911 0.16389828 0.03652084
+v -0.00210961 0.16389828 0.03651815
+v -0.00799048 0.16390048 0.03651275
+v -0.01388003 0.16391367 0.03649386
+v -0.01976091 0.16394004 0.03644798
+v -0.02564178 0.16398400 0.03635623
+v -0.03152266 0.16406532 0.03617541
+v -0.03741221 0.16424996 0.03584618
+v -0.08744302 0.16246965 0.02274419
+v -0.04328441 0.16465218 0.03533343
+v -0.08744302 0.17970830 0.02099282
+v -0.08445921 0.17989513 0.02099282
+v -0.07857834 0.18006657 0.02099282
+v -0.07857834 0.18024023 0.01556852
+v -0.00799048 0.17997861 0.03184143
+v -0.00210961 0.18001817 0.03184143
+v 0.00116911 0.18001599 0.03184143
+v -0.07857834 0.17980066 0.01154212
+v -0.03741221 0.15974201 0.01154205
+v 0.00116911 0.16206300 0.02641437
+v 0.00116911 0.16846564 0.03910888
+v -0.00799048 0.16846564 0.03911158
+v -0.01388003 0.16846564 0.03910348
+v -0.01976091 0.16846564 0.03907380
+v -0.02564178 0.16846564 0.03896585
+v -0.03152266 0.16846564 0.03868249
+v -0.03741221 0.16846564 0.03806989
+v -0.08744302 0.16400382 0.02460087
+v -0.04743919 0.16511815 0.03487197
+v -0.08744302 0.17817192 0.02446059
+v -0.04328441 0.17779602 0.03509870
+v -0.03741221 0.17813450 0.03559525
+v -0.03152266 0.17835430 0.03592720
+v -0.02564178 0.17852575 0.03610531
+v -0.01976091 0.17971266 0.03184143
+v -0.01388003 0.17987530 0.03184143
+v -0.01976091 0.17866641 0.03619706
+v -0.01388003 0.17875874 0.03623215
+v -0.00799048 0.17881148 0.03624294
+v -0.00210961 0.17883127 0.03624294
+v 0.00116911 0.17883127 0.03624294
+v 0.00116911 0.17906207 0.02641443
+v -0.07269746 0.17947975 0.01154212
+v -0.03258954 0.16262135 0.01154206
+v 0.00116911 0.16378183 0.02209651
+v 0.00116911 0.17438037 0.03883094
+v -0.00799048 0.17438037 0.03884173
+v -0.01388003 0.17438037 0.03884443
+v -0.01976091 0.17438037 0.03882284
+v -0.02564178 0.17438037 0.03871489
+v -0.03152266 0.17438037 0.03843154
+v -0.03741221 0.17438037 0.03781894
+v -0.04328441 0.17438037 0.03679884
+v -0.04328441 0.16846564 0.03703361
+v -0.08744302 0.16621717 0.02528364
+v -0.05135977 0.16615999 0.03428636
+v -0.04930407 0.16826564 0.03550887
+v -0.08744302 0.17438042 0.02568577
+v -0.04901783 0.17450566 0.03542523
+v -0.04696213 0.17750588 0.03472899
+v 0.00116911 0.17787521 0.02287917
+v -0.04313695 0.17759609 0.01154211
+v -0.04328441 0.17760708 0.01154211
+v -0.03117571 0.16846574 0.01154208
+v 0.00116911 0.16846571 0.02007254
+v -0.05324200 0.17261761 0.03491517
+v -0.05324200 0.17010313 0.03491516
+v -0.08744302 0.16846569 0.02582608
+v -0.08744302 0.17138678 0.02576942
+v 0.00116911 0.17593000 0.02175113
+v -0.03703923 0.17657624 0.01154211
+v -0.03894748 0.17706858 0.01154211
+v -0.03289313 0.17377383 0.01154210
+v 0.00116911 0.17108569 0.02041798
+v 0.00116911 0.17438043 0.02085517
+v -0.03407277 0.17472555 0.01154210
+f 1 2 13
+f 1 13 27
+f 1 27 46
+f 1 46 73
+f 1 73 86
+f 1 86 87
+f 1 87 76
+f 1 76 48
+f 1 48 29
+f 1 29 14
+f 1 14 3
+f 1 3 16
+f 1 16 36
+f 1 36 61
+f 1 61 81
+f 1 81 80
+f 1 80 90
+f 1 90 89
+f 1 89 94
+f 1 94 91
+f 1 91 82
+f 1 82 62
+f 1 62 37
+f 1 37 17
+f 1 17 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 3 14 15
+f 3 15 16
+f 4 17 5
+f 5 18 38
+f 5 38 63
+f 5 63 83
+f 5 83 92
+f 5 92 93
+f 5 93 88
+f 5 88 79
+f 5 79 60
+f 5 60 35
+f 5 35 59
+f 5 59 64
+f 5 64 39
+f 5 39 19
+f 5 19 6
+f 5 17 18
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 7 22 8
+f 8 22 9
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 13
+f 13 26 28
+f 13 28 27
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 15 32 16
+f 15 31 33
+f 15 33 34
+f 15 34 35
+f 15 35 32
+f 16 32 35
+f 16 35 36
+f 17 37 38
+f 17 38 18
+f 19 39 40
+f 19 40 20
+f 20 40 21
+f 21 40 41
+f 21 41 22
+f 22 41 42
+f 22 42 23
+f 23 42 43
+f 23 43 24
+f 24 43 25
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 28
+f 27 28 46
+f 28 45 47
+f 28 47 46
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 31
+f 31 53 54
+f 31 54 33
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 34
+f 34 57 58
+f 34 58 59
+f 34 59 35
+f 35 60 36
+f 36 60 61
+f 37 62 63
+f 37 63 38
+f 39 64 65
+f 39 65 66
+f 39 66 40
+f 40 66 41
+f 41 66 67
+f 41 67 42
+f 42 67 68
+f 42 68 43
+f 43 68 69
+f 43 69 44
+f 44 69 70
+f 44 70 45
+f 45 70 71
+f 45 71 72
+f 45 72 47
+f 46 47 74
+f 46 74 75
+f 46 75 73
+f 47 72 74
+f 48 76 77
+f 48 77 78
+f 48 78 49
+f 49 70 50
+f 49 78 70
+f 50 70 69
+f 50 69 51
+f 51 69 52
+f 52 69 68
+f 52 68 55
+f 52 55 53
+f 53 55 54
+f 55 68 67
+f 55 67 56
+f 56 67 57
+f 57 67 66
+f 57 66 58
+f 58 66 59
+f 59 66 65
+f 59 65 64
+f 60 79 80
+f 60 80 81
+f 60 81 61
+f 62 82 83
+f 62 83 63
+f 70 78 71
+f 71 78 77
+f 71 77 84
+f 71 84 72
+f 72 85 75
+f 72 75 74
+f 72 84 85
+f 73 75 86
+f 75 85 86
+f 76 87 84
+f 76 84 77
+f 79 88 89
+f 79 89 90
+f 79 90 80
+f 82 91 83
+f 83 91 92
+f 84 87 86
+f 84 86 85
+f 88 93 89
+f 89 93 94
+f 91 94 93
+f 91 93 92
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_18.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00061691 -0.16020942 -0.01369614
+v 0.00061691 -0.16296385 -0.01342076
+v -0.00210762 -0.16296385 -0.01342076
+v -0.00484500 -0.16020942 -0.01369423
+v 0.00061691 -0.16020949 0.00432843
+v 0.00061691 -0.16864853 -0.01088109
+v -0.00799067 -0.16296385 -0.01341503
+v -0.00210762 -0.16864853 -0.01088109
+v -0.01975418 -0.16866452 -0.01086579
+v -0.01072804 -0.16020942 -0.01368849
+v 0.00061691 -0.16296392 0.00533053
+v -0.02561668 -0.16020949 0.00473577
+v -0.02561668 -0.16296392 0.00584114
+v 0.00061691 -0.17001775 -0.00969348
+v -0.02561668 -0.17164006 -0.00842555
+v -0.02561668 -0.16869249 -0.01084666
+v -0.01975418 -0.16296385 -0.01339590
+v -0.01975418 -0.16020942 -0.01367702
+v -0.01387114 -0.16020942 -0.01368467
+v -0.02561668 -0.16885904 0.00548159
+v 0.00061691 -0.16888034 0.00487344
+v -0.02561668 -0.16020942 -0.01353933
+v 0.00061691 -0.17160675 -0.00831272
+v -0.02561668 -0.17266298 -0.00571182
+v -0.02561668 -0.16296385 -0.01338252
+v -0.02561668 -0.16022007 -0.01366363
+v -0.02249156 -0.16020942 -0.01367128
+v -0.02561668 -0.16888034 0.00547968
+v 0.00061691 -0.17282151 0.00307193
+v 0.00061691 -0.17205561 -0.00705817
+v -0.02561668 -0.17266698 -0.00569461
+v 0.00061691 -0.17257375 -0.00560090
+v -0.02561668 -0.17299200 0.00336452
+v 0.00061691 -0.17321575 0.00104093
+v -0.02561668 -0.17381645 -0.00071085
+v 0.00061691 -0.17302927 -0.00333852
+v 0.00061691 -0.17355540 -0.00071085
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 27
+f 1 27 22
+f 1 22 12
+f 1 12 5
+f 1 5 11
+f 1 11 21
+f 1 21 29
+f 1 29 34
+f 1 34 37
+f 1 37 36
+f 1 36 32
+f 1 32 30
+f 1 30 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 8
+f 2 8 3
+f 3 7 10
+f 3 10 4
+f 3 8 9
+f 3 9 7
+f 5 12 13
+f 5 13 11
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 7 9 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 10
+f 8 16 9
+f 11 13 20
+f 11 20 21
+f 12 22 26
+f 12 26 25
+f 12 25 16
+f 12 16 15
+f 12 15 24
+f 12 24 31
+f 12 31 35
+f 12 35 33
+f 12 33 28
+f 12 28 20
+f 12 20 13
+f 14 23 15
+f 15 23 24
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 20 28 21
+f 21 28 29
+f 22 27 26
+f 23 30 24
+f 24 30 32
+f 24 32 31
+f 28 33 29
+f 29 33 35
+f 29 35 34
+f 31 32 35
+f 32 36 35
+f 34 35 37
+f 35 36 37
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_19.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.13087227 -0.14567393 0.00667741
+v -0.12999731 -0.14918580 0.00667740
+v -0.13160820 -0.14567395 0.00972025
+v -0.10354452 -0.14567393 0.00667741
+v -0.12955575 -0.15092039 0.00667740
+v -0.13032849 -0.15112674 0.01014135
+v -0.13170632 -0.14567395 0.01014137
+v -0.09046940 -0.15520066 0.00667738
+v -0.10969367 -0.14567399 0.02106988
+v -0.12879937 -0.15359271 0.00667739
+v -0.12869717 -0.15431700 0.00710036
+v -0.13085183 -0.15112676 0.01556554
+v -0.13223783 -0.14567397 0.01556556
+v -0.12898336 -0.15492889 0.01014134
+v -0.09046940 -0.16020954 0.01770463
+v -0.09046940 -0.16020949 0.00667736
+v -0.11012297 -0.14567399 0.02180590
+v -0.12829240 -0.15478800 0.00667738
+v -0.12698816 -0.15700355 0.00667737
+v -0.12748287 -0.15788865 0.01014133
+v -0.12924503 -0.15547675 0.01556553
+v -0.12904469 -0.15504703 0.01991458
+v -0.12982969 -0.15160347 0.02142949
+v -0.13142013 -0.14567399 0.02102144
+v -0.13148963 -0.14567399 0.02056305
+v -0.12776498 -0.15843508 0.01556552
+v -0.09200259 -0.16020954 0.01923817
+v -0.11061768 -0.14711119 0.02393943
+v -0.12507882 -0.16020949 0.00667736
+v -0.11278869 -0.14567400 0.02442577
+v -0.12510743 -0.16016537 0.00667736
+v -0.12600282 -0.16020951 0.01014132
+v -0.12635852 -0.16020952 0.01320093
+v -0.12558988 -0.16020955 0.02116300
+v -0.12749104 -0.15702922 0.02142947
+v -0.12848048 -0.15389160 0.02353133
+v -0.12910193 -0.14994715 0.02412576
+v -0.12956802 -0.14567400 0.02443881
+v -0.12659157 -0.16020953 0.01556551
+v -0.09867099 -0.16020956 0.02382572
+v -0.11358595 -0.14567400 0.02464937
+v -0.12373369 -0.16020956 0.02430646
+v -0.12467405 -0.15704346 0.02462883
+v -0.12617046 -0.15160348 0.02480400
+v -0.12568391 -0.14567400 0.02545806
+v -0.10211763 -0.16020956 0.02435305
+v -0.11976373 -0.14567400 0.02567980
+v -0.11982096 -0.16020956 0.02518782
+v -0.11976373 -0.15704346 0.02563504
+v -0.11976373 -0.15112679 0.02571332
+v -0.10785792 -0.16020956 0.02507975
+v -0.11388032 -0.16020956 0.02559403
+v -0.11388032 -0.15704346 0.02554932
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 25
+f 1 25 24
+f 1 24 38
+f 1 38 45
+f 1 45 47
+f 1 47 41
+f 1 41 30
+f 1 30 17
+f 1 17 9
+f 1 9 4
+f 1 4 8
+f 1 8 16
+f 1 16 29
+f 1 29 31
+f 1 31 19
+f 1 19 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 6 12 13
+f 6 13 7
+f 6 11 14
+f 6 14 12
+f 8 15 16
+f 8 9 15
+f 9 17 15
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 14
+f 12 14 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 14 20 26
+f 14 26 21
+f 15 27 40
+f 15 40 46
+f 15 46 51
+f 15 51 52
+f 15 52 48
+f 15 48 42
+f 15 42 34
+f 15 34 39
+f 15 39 33
+f 15 33 32
+f 15 32 29
+f 15 29 16
+f 15 17 28
+f 15 28 27
+f 17 30 28
+f 19 31 20
+f 20 32 33
+f 20 33 26
+f 20 31 32
+f 21 26 22
+f 22 26 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 26 33 39
+f 26 39 34
+f 27 28 40
+f 28 30 40
+f 29 32 31
+f 30 41 40
+f 34 36 35
+f 34 42 36
+f 36 42 43
+f 36 43 37
+f 37 43 44
+f 37 44 38
+f 38 44 45
+f 40 41 47
+f 40 47 46
+f 42 48 43
+f 43 48 49
+f 43 49 45
+f 43 45 44
+f 45 49 50
+f 45 50 47
+f 46 47 51
+f 47 50 52
+f 47 52 53
+f 47 53 51
+f 48 52 49
+f 49 52 50
+f 51 53 52
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_2.obj

@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v -0.08744302 0.14642404 -0.01396295
+v -0.08744302 0.15071147 -0.01388893
+v -0.08744302 0.14642398 0.00257143
+v -0.09035087 0.14642404 -0.01394737
+v -0.08744302 0.15663033 -0.01354614
+v -0.09035087 0.15071147 -0.01385388
+v -0.08744302 0.16246946 0.02274382
+v -0.11064920 0.14642390 0.02387721
+v -0.09623621 0.14642404 -0.01384999
+v -0.08744302 0.16254917 -0.01252173
+v -0.09623621 0.15071147 -0.01370976
+v -0.09035087 0.15663033 -0.01346824
+v -0.08744302 0.16400138 0.02459785
+v -0.11101921 0.14642390 0.02404859
+v -0.10211719 0.14642404 -0.01361239
+v -0.08744302 0.16796068 -0.01030544
+v -0.09623621 0.15663033 -0.01316832
+v -0.09035087 0.16254917 -0.01236593
+v -0.10211719 0.15071147 -0.01337868
+v -0.08744302 0.16621308 0.02527949
+v -0.11365718 0.14642390 0.02479254
+v -0.11243396 0.14642390 0.02452379
+v -0.10800254 0.14642404 -0.01302035
+v -0.08744302 0.17091844 -0.00842024
+v -0.09035087 0.16778162 -0.01020417
+v -0.09623621 0.16254916 -0.01181673
+v -0.10211719 0.15663033 -0.01259186
+v -0.10800254 0.15071147 -0.01261526
+v -0.08744302 0.16846125 0.02582870
+v -0.11814083 0.14642390 0.02555597
+v -0.11387918 0.14642403 -0.01164541
+v -0.08744302 0.17214862 -0.00704919
+v -0.09035087 0.17073938 -0.00827222
+v -0.09623621 0.16714497 -0.00985363
+v -0.10211719 0.16254916 -0.01084687
+v -0.10800254 0.15663032 -0.01143893
+v -0.11387918 0.15071146 -0.01097545
+v -0.11976017 0.15071133 0.02568841
+v -0.11976017 0.14642390 0.02567282
+v -0.08744302 0.17138585 0.02576639
+v -0.11387918 0.16254903 0.02557940
+v -0.11976017 0.15663019 0.02561833
+v -0.11844555 0.14642403 -0.00976800
+v -0.08744302 0.17325613 -0.00570929
+v -0.09035087 0.17316991 -0.00555738
+v -0.09623621 0.17010273 -0.00771135
+v -0.09623621 0.17272890 -0.00499651
+v -0.10211719 0.16614689 -0.00925379
+v -0.10744099 0.16230379 -0.00957709
+v -0.10510776 0.16553013 -0.00886429
+v -0.11365718 0.15618267 -0.00963165
+v -0.11155029 0.16016503 -0.00914475
+v -0.11768375 0.15071145 -0.00935512
+v -0.11696985 0.15391460 -0.00893833
+v -0.12402618 0.14642390 0.02551702
+v -0.08744302 0.17438009 0.02568460
+v -0.10800254 0.16846125 0.02539246
+v -0.11387048 0.16858725 0.02469525
+v -0.11996476 0.16271814 0.02479650
+v -0.12481843 0.15663019 0.02463289
+v -0.12578917 0.14642390 0.02527942
+v -0.12138386 0.14642402 -0.00780881
+v -0.09035087 0.17613097 -0.00102746
+v -0.08744302 0.17475489 -0.00341512
+v -0.10211719 0.16910796 -0.00676097
+v -0.10211719 0.17194302 -0.00405002
+v -0.09573125 0.17583586 -0.00019393
+v -0.10902551 0.16410762 -0.00791781
+v -0.11217713 0.16642209 -0.00430322
+v -0.10706663 0.16795072 -0.00568204
+v -0.10510340 0.17144233 -0.00344629
+v -0.11547241 0.15786050 -0.00801910
+v -0.11382694 0.16250272 -0.00616115
+v -0.12062643 0.15071145 -0.00716222
+v -0.12298579 0.15422296 -0.00373069
+v -0.11941193 0.15604007 -0.00587684
+v -0.08744302 0.17817016 0.02445768
+v -0.09035087 0.17803089 0.02430578
+v -0.09623621 0.17766944 0.02399028
+v -0.10171672 0.17458569 0.02451999
+v -0.10800254 0.17284153 0.02449272
+v -0.11190289 0.17198603 0.02410711
+v -0.11813648 0.16669720 0.02430184
+v -0.12357346 0.16086125 0.02425119
+v -0.12857513 0.15364921 0.02368638
+v -0.12909749 0.14970331 0.02411093
+v -0.12622883 0.15129162 0.02477309
+v -0.12873184 0.14642390 0.02451600
+v -0.12221531 0.14642402 -0.00706096
+v -0.09035087 0.17748384 0.00168737
+v -0.08744302 0.17621719 -0.00115210
+v -0.09343283 0.17736116 0.00195613
+v -0.10211719 0.17401212 -0.00070808
+v -0.09735494 0.17703288 0.00292988
+v -0.11609925 0.16483709 -0.00269068
+v -0.11366153 0.16832207 -0.00048998
+v -0.10902551 0.17036798 -0.00190776
+v -0.11121946 0.17159484 0.00171072
+v -0.10744099 0.17219502 -0.00034196
+v -0.11792753 0.16089783 -0.00440451
+v -0.12363440 0.15071144 -0.00444739
+v -0.12665978 0.15028368 -0.00025635
+v -0.12399135 0.15636832 -0.00058351
+v -0.12184964 0.15816886 -0.00230510
+v -0.08744302 0.17970872 0.02099112
+v -0.09035087 0.17952636 0.02099112
+v -0.09948795 0.17741745 0.02377605
+v -0.11312175 0.17277191 0.02099109
+v -0.11606442 0.17083212 0.02099109
+v -0.10341006 0.17669127 0.02228426
+v -0.10756288 0.17566335 0.02067951
+v -0.12205859 0.16480052 0.02239717
+v -0.12767404 0.15671640 0.02152076
+v -0.12910620 0.15480316 0.02006791
+v -0.12986799 0.15129163 0.02152074
+v -0.13107379 0.14642391 0.02112343
+v -0.13068637 0.14642391 0.02202708
+v -0.12423947 0.16271815 0.02074957
+v -0.12941092 0.14642390 0.02432514
+v -0.12421771 0.14642401 -0.00509787
+v -0.09035087 0.17843218 0.00471771
+v -0.08744302 0.17801770 0.00309737
+v -0.08744302 0.17753690 0.00156273
+v -0.08744302 0.17690026 0.00022284
+v -0.09573125 0.17786185 0.00472939
+v -0.10214331 0.17646917 0.00472939
+v -0.10800254 0.17429064 0.00471769
+v -0.10020185 0.17761647 0.00654057
+v -0.11975147 0.16252922 -0.00069254
+v -0.11764894 0.16627618 0.00092391
+v -0.11511110 0.17019553 0.00471768
+v -0.11216843 0.17218837 0.00471768
+v -0.12716909 0.14642399 -0.00106652
+v -0.12803099 0.14642399 0.00023442
+v -0.12866654 0.14802887 0.00185475
+v -0.12805711 0.15197477 0.00343225
+v -0.12314251 0.16021474 0.00130949
+v -0.08744302 0.18029566 0.01556535
+v -0.09035087 0.18021608 0.01556535
+v -0.09623621 0.17958937 0.01556535
+v -0.09623621 0.17884328 0.02099112
+v -0.10171672 0.17782530 0.02067951
+v -0.10530799 0.17744069 0.01866578
+v -0.11380517 0.17322952 0.01556533
+v -0.11674785 0.17136931 0.01556532
+v -0.12285520 0.16567592 0.01877870
+v -0.11996476 0.16749965 0.02074959
+v -0.12931515 0.15528397 0.01556526
+v -0.13092578 0.15071136 0.01556524
+v -0.12791782 0.15824174 0.01556527
+v -0.13191393 0.14642393 0.01556523
+v -0.09623621 0.17905222 0.01013958
+v -0.09035087 0.17966897 0.01013958
+v -0.08744302 0.17914509 0.00745981
+v -0.08744302 0.17851838 0.00471771
+v -0.10412396 0.17707597 0.00897886
+v -0.10747582 0.17603145 0.01052908
+v -0.10214331 0.17787177 0.01052908
+v -0.12162764 0.16422362 0.00471765
+v -0.11868496 0.16723775 0.00471766
+v -0.11630384 0.17105100 0.01013955
+v -0.11336552 0.17294437 0.01013956
+v -0.12880584 0.14642398 0.00158210
+v -0.12992023 0.14642397 0.00481107
+v -0.12914102 0.15028366 0.00503310
+v -0.12871878 0.15396428 0.00704684
+v -0.12686003 0.15621577 0.00503312
+v -0.12388253 0.16126586 0.00471764
+v -0.08744302 0.17973861 0.01013958
+v -0.10211719 0.17834593 0.01556535
+v -0.10532540 0.17744732 0.01556534
+v -0.10826808 0.17619060 0.01556534
+v -0.12280296 0.16561294 0.01237138
+v -0.11976017 0.16862044 0.01556531
+v -0.12289002 0.16571241 0.01556530
+v -0.12516667 0.16254906 0.01556529
+v -0.12902784 0.15465397 0.01013949
+v -0.13034248 0.15071138 0.01013947
+v -0.12433960 0.16292378 0.01039270
+v -0.12761745 0.15761505 0.01013950
+v -0.13131321 0.14642395 0.01013946
+v -0.10516434 0.17738102 0.01259344
+v -0.12239813 0.16514211 0.00875680
+v -0.12016936 0.16763896 0.01039272
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 24
+f 1 24 32
+f 1 32 44
+f 1 44 64
+f 1 64 91
+f 1 91 124
+f 1 124 123
+f 1 123 122
+f 1 122 155
+f 1 155 154
+f 1 154 169
+f 1 169 138
+f 1 138 105
+f 1 105 77
+f 1 77 56
+f 1 56 40
+f 1 40 29
+f 1 29 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 21
+f 1 21 30
+f 1 30 39
+f 1 39 55
+f 1 55 61
+f 1 61 88
+f 1 88 119
+f 1 119 117
+f 1 117 116
+f 1 116 151
+f 1 151 181
+f 1 181 164
+f 1 164 163
+f 1 163 134
+f 1 134 133
+f 1 133 120
+f 1 120 89
+f 1 89 62
+f 1 62 43
+f 1 43 31
+f 1 31 23
+f 1 23 15
+f 1 15 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 12
+f 5 12 10
+f 6 9 11
+f 7 13 8
+f 8 13 14
+f 9 15 11
+f 10 12 17
+f 10 17 18
+f 10 18 16
+f 11 17 12
+f 11 15 19
+f 11 19 17
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 23 19
+f 16 18 25
+f 16 25 24
+f 17 26 18
+f 17 19 27
+f 17 27 26
+f 18 26 25
+f 19 23 28
+f 19 28 27
+f 20 29 30
+f 20 30 21
+f 23 31 28
+f 24 25 33
+f 24 33 32
+f 25 26 34
+f 25 34 33
+f 26 27 35
+f 26 35 34
+f 27 28 36
+f 27 36 35
+f 28 31 37
+f 28 37 36
+f 29 38 39
+f 29 39 30
+f 29 40 41
+f 29 41 42
+f 29 42 38
+f 31 43 37
+f 32 33 45
+f 32 45 44
+f 33 34 46
+f 33 46 47
+f 33 47 45
+f 34 35 48
+f 34 48 46
+f 35 36 49
+f 35 49 50
+f 35 50 48
+f 36 37 51
+f 36 51 52
+f 36 52 49
+f 37 43 53
+f 37 53 54
+f 37 54 51
+f 38 42 55
+f 38 55 39
+f 40 56 41
+f 41 57 58
+f 41 58 59
+f 41 59 42
+f 41 56 57
+f 42 59 60
+f 42 60 61
+f 42 61 55
+f 43 62 53
+f 44 45 63
+f 44 63 64
+f 45 47 63
+f 46 48 50
+f 46 50 65
+f 46 65 66
+f 46 66 47
+f 47 66 67
+f 47 67 63
+f 49 52 50
+f 50 52 68
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 65
+f 51 54 52
+f 52 54 72
+f 52 72 73
+f 52 73 68
+f 53 62 74
+f 53 74 54
+f 54 74 75
+f 54 75 76
+f 54 76 72
+f 56 77 78
+f 56 78 79
+f 56 79 80
+f 56 80 81
+f 56 81 57
+f 57 81 58
+f 58 82 83
+f 58 83 59
+f 58 81 82
+f 59 84 60
+f 59 83 84
+f 60 84 85
+f 60 85 86
+f 60 86 87
+f 60 87 61
+f 61 87 88
+f 62 89 74
+f 63 90 91
+f 63 91 64
+f 63 67 92
+f 63 92 90
+f 65 71 66
+f 66 93 67
+f 66 71 93
+f 67 93 94
+f 67 94 92
+f 68 73 69
+f 69 73 95
+f 69 95 96
+f 69 96 97
+f 69 97 71
+f 69 71 70
+f 71 97 98
+f 71 98 99
+f 71 99 93
+f 72 76 100
+f 72 100 73
+f 73 100 95
+f 74 89 101
+f 74 101 75
+f 75 101 102
+f 75 102 103
+f 75 103 104
+f 75 104 100
+f 75 100 76
+f 77 105 106
+f 77 106 78
+f 78 106 79
+f 79 107 80
+f 79 106 107
+f 80 107 81
+f 81 107 82
+f 82 108 109
+f 82 109 83
+f 82 107 110
+f 82 110 111
+f 82 111 108
+f 83 109 112
+f 83 112 84
+f 84 112 85
+f 85 113 114
+f 85 114 115
+f 85 115 116
+f 85 116 117
+f 85 117 86
+f 85 112 118
+f 85 118 113
+f 86 117 119
+f 86 119 87
+f 87 119 88
+f 89 120 101
+f 90 92 121
+f 90 121 122
+f 90 122 123
+f 90 123 124
+f 90 124 91
+f 92 94 125
+f 92 125 121
+f 93 126 94
+f 93 99 127
+f 93 127 126
+f 94 126 128
+f 94 128 125
+f 95 100 129
+f 95 129 130
+f 95 130 96
+f 96 98 97
+f 96 130 98
+f 98 130 131
+f 98 131 132
+f 98 132 127
+f 98 127 99
+f 100 104 129
+f 101 120 133
+f 101 133 102
+f 102 133 134
+f 102 134 135
+f 102 135 136
+f 102 136 103
+f 103 137 104
+f 103 136 137
+f 104 137 129
+f 105 138 139
+f 105 139 106
+f 106 139 140
+f 106 140 141
+f 106 141 107
+f 107 142 143
+f 107 143 110
+f 107 141 142
+f 108 111 143
+f 108 143 144
+f 108 144 145
+f 108 145 109
+f 109 145 146
+f 109 146 147
+f 109 147 112
+f 110 143 111
+f 112 147 146
+f 112 146 118
+f 113 118 114
+f 114 148 149
+f 114 149 115
+f 114 118 146
+f 114 146 150
+f 114 150 148
+f 115 149 116
+f 116 149 151
+f 121 125 152
+f 121 152 153
+f 121 153 154
+f 121 154 155
+f 121 155 122
+f 125 128 152
+f 126 156 128
+f 126 127 156
+f 127 132 157
+f 127 157 156
+f 128 156 158
+f 128 158 152
+f 129 137 130
+f 130 137 159
+f 130 159 160
+f 130 160 131
+f 131 160 161
+f 131 161 132
+f 132 162 157
+f 132 161 162
+f 134 163 135
+f 135 163 164
+f 135 164 165
+f 135 165 136
+f 136 165 166
+f 136 166 167
+f 136 167 137
+f 137 167 168
+f 137 168 159
+f 138 169 153
+f 138 153 139
+f 139 153 152
+f 139 152 140
+f 140 152 158
+f 140 158 170
+f 140 170 143
+f 140 143 141
+f 141 143 142
+f 143 171 172
+f 143 172 144
+f 143 170 171
+f 144 162 145
+f 144 172 162
+f 145 162 161
+f 145 161 173
+f 145 173 174
+f 145 174 146
+f 146 174 175
+f 146 175 176
+f 146 176 150
+f 148 150 177
+f 148 177 149
+f 149 178 151
+f 149 177 178
+f 150 176 179
+f 150 179 180
+f 150 180 177
+f 151 178 181
+f 153 169 154
+f 156 157 182
+f 156 182 158
+f 157 162 172
+f 157 172 182
+f 158 182 170
+f 159 168 183
+f 159 183 160
+f 160 183 161
+f 161 183 184
+f 161 184 173
+f 164 181 165
+f 165 181 178
+f 165 178 166
+f 166 180 167
+f 166 178 177
+f 166 177 180
+f 167 180 168
+f 168 179 183
+f 168 180 179
+f 170 182 171
+f 171 182 172
+f 173 183 179
+f 173 179 176
+f 173 176 175
+f 173 175 174
+f 173 184 183
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_20.obj

@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
+v -0.02564633 -0.16020942 -0.01366511
+v -0.02562656 -0.16020942 -0.01353962
+v -0.02562656 -0.16021949 -0.01366205
+v -0.02562656 -0.16296394 -0.01338047
+v -0.02564633 -0.16296394 -0.01338047
+v -0.04602755 -0.16020942 -0.01361920
+v -0.02562656 -0.16020949 0.00473636
+v -0.02562656 -0.16869465 -0.01084615
+v -0.02564633 -0.16868256 -0.01085533
+v -0.03740852 -0.16876719 -0.01084003
+v -0.04328962 -0.16881556 -0.01082779
+v -0.04917072 -0.16885989 -0.01081554
+v -0.06094280 -0.16888205 -0.01080330
+v -0.03152743 -0.16296394 -0.01336516
+v -0.05190865 -0.16020942 -0.01360389
+v -0.03043028 -0.16630494 0.01760085
+v -0.02962966 -0.16832399 0.01760084
+v -0.02888834 -0.17093141 0.01760083
+v -0.02562656 -0.16294588 0.00583212
+v -0.03594566 -0.16020951 0.01053044
+v -0.03740852 -0.16166840 0.01760087
+v -0.03221932 -0.16390506 0.01760086
+v -0.02562656 -0.17164061 -0.00842507
+v -0.03740852 -0.17172323 -0.00864545
+v -0.04328962 -0.17177159 -0.00874033
+v -0.04917072 -0.17181793 -0.00881380
+v -0.05224471 -0.17183808 -0.00884440
+v -0.05616874 -0.17185622 -0.00886583
+v -0.06094280 -0.17187033 -0.00887807
+v -0.06682390 -0.17187033 -0.00887807
+v -0.07093573 -0.17185823 -0.00886583
+v -0.06682390 -0.16888205 -0.01076657
+v -0.05506170 -0.16296394 -0.01328558
+v -0.04917072 -0.16296394 -0.01331313
+v -0.04328962 -0.16296394 -0.01333149
+v -0.05778975 -0.16020942 -0.01358247
+v -0.02888834 -0.17131024 0.01760083
+v -0.02562656 -0.16296401 0.00583824
+v -0.03740852 -0.16020951 0.01115178
+v -0.04328962 -0.16120696 0.01760087
+v -0.02562656 -0.17266223 -0.00571321
+v -0.07414809 -0.17783279 0.00181937
+v -0.07857622 -0.17791540 0.00163266
+v -0.07239859 -0.17685550 -0.00027727
+v -0.07857622 -0.17670437 -0.00108226
+v -0.06682390 -0.17362339 -0.00613561
+v -0.07282361 -0.17333122 -0.00666819
+v -0.07857622 -0.17374631 -0.00604991
+v -0.07485976 -0.17182397 -0.00883216
+v -0.07282361 -0.16946439 -0.01031970
+v -0.07857622 -0.16878935 -0.01058292
+v -0.07270500 -0.16296394 -0.01309887
+v -0.06682390 -0.16296394 -0.01319070
+v -0.06094280 -0.16296394 -0.01324579
+v -0.06368073 -0.16020942 -0.01354880
+v -0.02900696 -0.17455038 0.01760082
+v -0.02562656 -0.16888211 0.00548011
+v -0.04328962 -0.16020952 0.01305559
+v -0.09001224 -0.16020953 0.01760087
+v -0.02562656 -0.17381484 -0.00070883
+v -0.04229132 -0.17761519 0.00809093
+v -0.04387279 -0.17701873 0.00525358
+v -0.04917072 -0.17713561 0.00433840
+v -0.05506170 -0.17731291 0.00363748
+v -0.06094280 -0.17748217 0.00299165
+v -0.06682390 -0.17764338 0.00240092
+v -0.07022407 -0.17773405 0.00208260
+v -0.07857622 -0.17885845 0.00471181
+v -0.07239859 -0.17845342 0.00421902
+v -0.08445731 -0.17892493 0.00471181
+v -0.08445731 -0.17793959 0.00158981
+v -0.08445731 -0.17666407 -0.00112205
+v -0.08445731 -0.17370601 -0.00586320
+v -0.07857622 -0.17174741 -0.00876176
+v -0.07857622 -0.16296394 -0.01296420
+v -0.08445731 -0.16857979 -0.01045131
+v -0.08445731 -0.16296394 -0.01276831
+v -0.08131413 -0.16020942 -0.01330700
+v -0.07544293 -0.16020942 -0.01342024
+v -0.06956182 -0.16020942 -0.01349676
+v -0.03327693 -0.17824591 0.01760081
+v -0.02562656 -0.17299273 0.00336508
+v -0.12616863 -0.16020953 0.01760087
+v -0.03496713 -0.17859049 0.01760080
+v -0.03732945 -0.17892901 0.01760080
+v -0.03914815 -0.17800007 0.01170878
+v -0.04108545 -0.17931791 0.01760080
+v -0.04387279 -0.17812903 0.00999474
+v -0.04621534 -0.17775826 0.00742062
+v -0.04917072 -0.17785698 0.00705026
+v -0.05506170 -0.17804638 0.00634934
+v -0.06094280 -0.17822773 0.00570351
+v -0.06682390 -0.17840104 0.00511583
+v -0.07857622 -0.18012792 0.01013859
+v -0.08445731 -0.18019844 0.01013859
+v -0.07270500 -0.17988208 0.01013859
+v -0.09034830 -0.17995463 0.01013859
+v -0.09057563 -0.17851992 0.00426187
+v -0.08875694 -0.17786704 0.00176122
+v -0.09057563 -0.17668825 -0.00031094
+v -0.09034830 -0.17349846 -0.00550815
+v -0.08445731 -0.17153785 -0.00857506
+v -0.08719524 -0.16020942 -0.01312335
+v -0.09034830 -0.16817074 -0.01022787
+v -0.09034830 -0.16296394 -0.01243162
+v -0.09308622 -0.16020942 -0.01279584
+v -0.12659365 -0.16020953 0.01556238
+v -0.12464647 -0.16265979 0.01760086
+v -0.04696655 -0.17967457 0.01760080
+v -0.04917072 -0.17949724 0.01556231
+v -0.04328962 -0.17913656 0.01556231
+v -0.04917072 -0.17851590 0.01013859
+v -0.05506170 -0.17888264 0.01013859
+v -0.06094280 -0.17922922 0.01013859
+v -0.06682390 -0.17956370 0.01013859
+v -0.07857622 -0.18077074 0.01556231
+v -0.06682390 -0.18035564 0.01556231
+v -0.07270500 -0.18059140 0.01556231
+v -0.08445731 -0.18079491 0.01556231
+v -0.05506170 -0.17981562 0.01556231
+v -0.06094280 -0.18009771 0.01556231
+v -0.09034830 -0.18052289 0.01556231
+v -0.09622940 -0.17923124 0.01013859
+v -0.09622940 -0.17827006 0.00575861
+v -0.09268097 -0.17770786 0.00215300
+v -0.09622940 -0.17565656 -0.00070884
+v -0.09622940 -0.17303501 -0.00489293
+v -0.09034830 -0.17112880 -0.00822000
+v -0.09622940 -0.16749975 -0.00985139
+v -0.09622940 -0.16296395 -0.01184395
+v -0.09622940 -0.16020942 -0.01248058
+v -0.12635643 -0.16020952 0.01319945
+v -0.12453774 -0.16250662 0.01013865
+v -0.12482438 -0.16288547 0.01556237
+v -0.12263009 -0.16584552 0.01556236
+v -0.12243241 -0.16561983 0.01760085
+v -0.05284764 -0.17997279 0.01760080
+v -0.06460984 -0.18045438 0.01760080
+v -0.07049094 -0.18061557 0.01760080
+v -0.07637204 -0.18069416 0.01760080
+v -0.05872874 -0.18023273 0.01760080
+v -0.08225313 -0.18066796 0.01760080
+v -0.08445731 -0.18061155 0.01760080
+v -0.08813424 -0.18044229 0.01760080
+v -0.09034830 -0.18030928 0.01760080
+v -0.09622940 -0.17978338 0.01556231
+v -0.10089473 -0.17824388 0.01013860
+v -0.09979759 -0.17793155 0.00685743
+v -0.09622940 -0.17741971 0.00304369
+v -0.10257505 -0.17372215 -0.00118325
+v -0.10093427 -0.17243051 -0.00414609
+v -0.09622940 -0.17045982 -0.00760478
+v -0.10109241 -0.16670383 -0.00935860
+v -0.10267389 -0.16354427 -0.01043292
+v -0.10238725 -0.16020943 -0.01155010
+v -0.09896731 -0.16020943 -0.01219899
+v -0.12600060 -0.16020951 0.01013866
+v -0.12506161 -0.16020949 0.00660957
+v -0.12375688 -0.16145880 0.00471188
+v -0.12230391 -0.16546466 0.01013864
+v -0.11935842 -0.16824740 0.01013863
+v -0.11969448 -0.16855974 0.01556235
+v -0.11948691 -0.16836832 0.01760084
+v -0.09401533 -0.17984785 0.01760080
+v -0.09622940 -0.17955970 0.01760080
+v -0.10140871 -0.17840108 0.01760080
+v -0.10180408 -0.17851391 0.01556231
+v -0.10384023 -0.17740362 0.01013860
+v -0.10190292 -0.17668626 0.00491383
+v -0.10799159 -0.17259375 0.00068690
+v -0.10484841 -0.17176355 -0.00331049
+v -0.10297041 -0.16923470 -0.00649065
+v -0.10501645 -0.16590185 -0.00883520
+v -0.10799159 -0.16186779 -0.00972587
+v -0.10799159 -0.16020943 -0.01030742
+v -0.10540193 -0.16020943 -0.01093794
+v -0.12452785 -0.16020949 0.00480064
+v -0.12333187 -0.16020948 0.00170312
+v -0.12305511 -0.16049763 0.00143683
+v -0.12138467 -0.16441885 0.00471187
+v -0.11843918 -0.16739704 0.00471186
+v -0.11592860 -0.17120544 0.01013862
+v -0.11636351 -0.17151577 0.01556234
+v -0.11612628 -0.17132635 0.01760083
+v -0.10434432 -0.17749029 0.01760081
+v -0.10474957 -0.17766761 0.01556232
+v -0.10799159 -0.17572713 0.01013860
+v -0.10799159 -0.17430048 0.00471183
+v -0.11098651 -0.17187238 0.00194488
+v -0.10799159 -0.17091724 -0.00202496
+v -0.11203422 -0.16674213 -0.00424402
+v -0.10799159 -0.16795919 -0.00538570
+v -0.10799159 -0.16482583 -0.00809755
+v -0.11149060 -0.16053587 -0.00912289
+v -0.11166851 -0.16020944 -0.00916269
+v -0.12312430 -0.16020947 0.00128685
+v -0.12092011 -0.16020946 -0.00153826
+v -0.11961541 -0.16281286 -0.00053127
+v -0.11748042 -0.16652855 0.00111543
+v -0.11473262 -0.17035508 0.00471184
+v -0.11179701 -0.17238017 0.00471184
+v -0.11298311 -0.17312172 0.01013861
+v -0.11342790 -0.17339980 0.01556233
+v -0.11318079 -0.17324667 0.01760082
+v -0.10799159 -0.17593873 0.01760081
+v -0.10799159 -0.17626919 0.01556232
+v -0.11347732 -0.16860804 -0.00027724
+v -0.11595826 -0.16512811 -0.00250242
+v -0.11783625 -0.16118068 -0.00433888
+v -0.11372443 -0.16283098 -0.00609884
+v -0.11469308 -0.16020944 -0.00716093
+v -0.11204411 -0.16020944 -0.00895761
+v -0.11927934 -0.16020946 -0.00354307
+v -0.11814266 -0.16020945 -0.00464802
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 36
+f 1 36 55
+f 1 55 80
+f 1 80 79
+f 1 79 78
+f 1 78 103
+f 1 103 106
+f 1 106 131
+f 1 131 156
+f 1 156 155
+f 1 155 176
+f 1 176 175
+f 1 175 195
+f 1 195 212
+f 1 212 211
+f 1 211 214
+f 1 214 213
+f 1 213 197
+f 1 197 196
+f 1 196 178
+f 1 178 177
+f 1 177 158
+f 1 158 157
+f 1 157 132
+f 1 132 107
+f 1 107 83
+f 1 83 59
+f 1 59 58
+f 1 58 39
+f 1 39 20
+f 1 20 7
+f 1 7 2
+f 2 7 19
+f 2 19 38
+f 2 38 57
+f 2 57 82
+f 2 82 60
+f 2 60 41
+f 2 41 23
+f 2 23 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 20 21
+f 7 21 22
+f 7 22 16
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 9
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 10 29 11
+f 11 29 12
+f 12 29 13
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 14
+f 14 35 15
+f 15 35 34
+f 15 34 36
+f 16 22 21
+f 16 21 40
+f 16 40 59
+f 16 59 83
+f 16 83 108
+f 16 108 136
+f 16 136 163
+f 16 163 184
+f 16 184 204
+f 16 204 205
+f 16 205 185
+f 16 185 166
+f 16 166 165
+f 16 165 164
+f 16 164 145
+f 16 145 144
+f 16 144 143
+f 16 143 142
+f 16 142 140
+f 16 140 139
+f 16 139 138
+f 16 138 141
+f 16 141 137
+f 16 137 109
+f 16 109 87
+f 16 87 85
+f 16 85 84
+f 16 84 81
+f 16 81 56
+f 16 56 37
+f 16 37 18
+f 16 18 17
+f 18 37 38
+f 18 38 19
+f 20 39 21
+f 21 39 40
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 24 45 25
+f 25 45 46
+f 25 46 26
+f 26 46 27
+f 27 46 28
+f 28 46 47
+f 28 47 29
+f 29 47 48
+f 29 48 30
+f 30 48 31
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 36 34
+f 33 54 55
+f 33 55 36
+f 37 56 57
+f 37 57 38
+f 39 58 40
+f 40 58 59
+f 41 60 61
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 67
+f 41 67 42
+f 42 68 43
+f 42 67 69
+f 42 69 68
+f 43 68 70
+f 43 70 71
+f 43 71 45
+f 43 45 44
+f 45 71 72
+f 45 72 48
+f 45 48 46
+f 46 48 47
+f 48 72 73
+f 48 73 49
+f 49 73 74
+f 49 74 51
+f 49 51 50
+f 51 75 52
+f 51 74 76
+f 51 76 77
+f 51 77 75
+f 52 75 78
+f 52 78 79
+f 52 79 53
+f 53 80 54
+f 53 79 80
+f 54 80 55
+f 56 81 60
+f 56 60 82
+f 56 82 57
+f 60 81 84
+f 60 84 85
+f 60 85 86
+f 60 86 61
+f 61 86 87
+f 61 87 88
+f 61 88 89
+f 61 89 62
+f 62 89 63
+f 63 89 90
+f 63 90 91
+f 63 91 64
+f 64 91 92
+f 64 92 65
+f 65 92 93
+f 65 93 66
+f 66 93 69
+f 66 69 67
+f 68 94 95
+f 68 95 70
+f 68 69 96
+f 68 96 94
+f 69 93 96
+f 70 95 97
+f 70 97 98
+f 70 98 99
+f 70 99 71
+f 71 99 72
+f 72 99 100
+f 72 100 101
+f 72 101 73
+f 73 102 74
+f 73 101 102
+f 74 102 76
+f 75 77 103
+f 75 103 78
+f 76 102 104
+f 76 104 105
+f 76 105 77
+f 77 105 106
+f 77 106 103
+f 83 107 108
+f 85 87 86
+f 87 109 110
+f 87 110 111
+f 87 111 88
+f 88 112 89
+f 88 111 112
+f 89 112 113
+f 89 113 90
+f 90 113 114
+f 90 114 91
+f 91 114 115
+f 91 115 92
+f 92 115 96
+f 92 96 93
+f 94 116 95
+f 94 96 117
+f 94 117 118
+f 94 118 116
+f 95 116 119
+f 95 119 97
+f 96 115 110
+f 96 110 120
+f 96 120 121
+f 96 121 117
+f 97 122 123
+f 97 123 124
+f 97 124 98
+f 97 119 122
+f 98 124 125
+f 98 125 99
+f 99 125 100
+f 100 125 126
+f 100 126 101
+f 101 126 127
+f 101 127 128
+f 101 128 102
+f 102 128 104
+f 104 128 129
+f 104 129 130
+f 104 130 105
+f 105 130 106
+f 106 130 131
+f 107 132 133
+f 107 133 134
+f 107 134 108
+f 108 134 135
+f 108 135 136
+f 109 137 120
+f 109 120 110
+f 110 115 114
+f 110 114 113
+f 110 113 111
+f 111 113 112
+f 116 118 138
+f 116 138 139
+f 116 139 140
+f 116 140 119
+f 117 121 141
+f 117 141 118
+f 118 141 138
+f 119 140 142
+f 119 142 143
+f 119 143 144
+f 119 144 122
+f 120 137 121
+f 121 137 141
+f 122 144 145
+f 122 145 146
+f 122 146 123
+f 123 146 147
+f 123 147 148
+f 123 148 124
+f 124 149 125
+f 124 148 149
+f 125 149 126
+f 126 149 150
+f 126 150 151
+f 126 151 127
+f 127 151 152
+f 127 152 128
+f 128 152 129
+f 129 152 153
+f 129 153 130
+f 130 153 154
+f 130 154 155
+f 130 155 156
+f 130 156 131
+f 132 157 133
+f 133 157 158
+f 133 158 159
+f 133 159 160
+f 133 160 135
+f 133 135 134
+f 135 160 161
+f 135 161 162
+f 135 162 163
+f 135 163 136
+f 145 164 146
+f 146 164 165
+f 146 165 166
+f 146 166 167
+f 146 167 147
+f 147 167 168
+f 147 168 148
+f 148 168 169
+f 148 169 149
+f 149 169 150
+f 150 169 170
+f 150 170 171
+f 150 171 151
+f 151 171 172
+f 151 172 152
+f 152 172 173
+f 152 173 153
+f 153 173 154
+f 154 173 174
+f 154 174 175
+f 154 175 176
+f 154 176 155
+f 158 177 159
+f 159 177 178
+f 159 178 179
+f 159 179 180
+f 159 180 160
+f 160 180 181
+f 160 181 161
+f 161 181 182
+f 161 182 183
+f 161 183 162
+f 162 183 163
+f 163 183 184
+f 166 185 186
+f 166 186 167
+f 167 186 168
+f 168 186 187
+f 168 187 188
+f 168 188 169
+f 169 188 170
+f 170 188 189
+f 170 189 171
+f 171 189 190
+f 171 190 191
+f 171 191 192
+f 171 192 173
+f 171 173 172
+f 173 192 191
+f 173 191 193
+f 173 193 194
+f 173 194 174
+f 174 194 175
+f 175 194 195
+f 178 196 179
+f 179 196 197
+f 179 197 198
+f 179 198 199
+f 179 199 180
+f 180 199 181
+f 181 199 200
+f 181 200 182
+f 182 200 201
+f 182 201 202
+f 182 202 183
+f 183 202 203
+f 183 203 204
+f 183 204 184
+f 185 205 186
+f 186 205 206
+f 186 206 187
+f 187 206 202
+f 187 202 201
+f 187 201 188
+f 188 201 189
+f 189 201 200
+f 189 200 199
+f 189 199 207
+f 189 207 191
+f 189 191 190
+f 191 207 208
+f 191 208 209
+f 191 209 210
+f 191 210 193
+f 193 210 194
+f 194 210 211
+f 194 211 212
+f 194 212 195
+f 197 213 209
+f 197 209 198
+f 198 209 208
+f 198 208 199
+f 199 208 207
+f 202 206 203
+f 203 206 204
+f 204 206 205
+f 209 213 214
+f 209 214 211
+f 209 211 210
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_21.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.08613210 0.18039201 0.01556510
+v 0.08264388 0.18020416 0.01878377
+v 0.08942423 0.18031186 0.01556510
+v 0.08942423 0.18000882 0.01253403
+v 0.08613210 0.17982600 0.01014178
+v 0.08024906 0.18024423 0.01556510
+v 0.07676083 0.18012652 0.01878377
+v 0.08746916 0.18007894 0.01878377
+v 0.08942423 0.18010146 0.01795856
+v 0.08942423 0.17975837 0.01014178
+v 0.08613210 0.17895192 0.00625731
+v 0.08024906 0.17877161 0.00625731
+v 0.08024906 0.17964067 0.01014178
+v 0.07436602 0.17994118 0.01556510
+v 0.07087780 0.17987607 0.01878377
+v 0.08852691 0.18005138 0.01878377
+v 0.08942423 0.17999629 0.01878377
+v 0.08942423 0.17887930 0.00625731
+v 0.07857923 0.17867393 0.00625731
+v 0.07436602 0.17929252 0.01014178
+v 0.06848298 0.17959305 0.01556510
+v 0.04146854 0.17835079 0.01878377
+v 0.08942423 0.17921737 0.01878377
+v 0.08942423 0.15480800 0.00625722
+v 0.06848298 0.17806281 0.00625730
+v 0.06259995 0.17924242 0.01556510
+v 0.06183336 0.17764956 0.00625730
+v 0.05346043 0.17736402 0.00734122
+v 0.04495677 0.17758943 0.01156290
+v 0.04495677 0.17819051 0.01556509
+v 0.03935897 0.17773718 0.01566073
+v 0.03919258 0.17816044 0.01878376
+v 0.08941234 0.16050081 0.01878370
+v 0.08942423 0.16049830 0.01877757
+v 0.04495677 0.16083641 0.01878370
+v 0.05672285 0.15581483 0.00625722
+v 0.05458950 0.17715366 0.00625730
+v 0.05233137 0.17699837 0.00625730
+v 0.04495677 0.17642984 0.00625730
+v 0.04953841 0.17722628 0.00802542
+v 0.04495677 0.17705597 0.00885063
+v 0.04151014 0.17744166 0.01234519
+v 0.03600147 0.17786491 0.01878376
+v 0.03907373 0.16123213 0.01878370
+v 0.04042267 0.15651610 0.00625722
+v 0.04495677 0.15624060 0.00625722
+v 0.05083981 0.15600768 0.00625722
+v 0.03915692 0.17567597 0.00625730
+v 0.03564493 0.17754934 0.01753185
+v 0.03489024 0.17769209 0.01878376
+v 0.03354129 0.16338105 0.01878371
+v 0.03419497 0.15767571 0.00625723
+v 0.03539534 0.15730253 0.00625723
+v 0.03907373 0.15669143 0.00625723
+v 0.03349375 0.17330916 0.00625729
+v 0.03171102 0.17440610 0.01878375
+v 0.03035019 0.16846279 0.01878373
+v 0.02872196 0.16254708 0.00625725
+v 0.03001741 0.16846284 0.00625727
+v 0.02913199 0.16545987 0.00625726
+v 0.03152680 0.17377246 0.01878375
+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 3
+f 2 7 15
+f 2 15 22
+f 2 22 32
+f 2 32 43
+f 2 43 50
+f 2 50 56
+f 2 56 61
+f 2 61 57
+f 2 57 51
+f 2 51 44
+f 2 44 35
+f 2 35 33
+f 2 33 23
+f 2 23 17
+f 2 17 16
+f 2 16 8
+f 3 9 17
+f 3 17 23
+f 3 23 34
+f 3 34 24
+f 3 24 18
+f 3 18 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 9 16 17
+f 10 18 11
+f 11 18 24
+f 11 24 36
+f 11 36 47
+f 11 47 46
+f 11 46 45
+f 11 45 54
+f 11 54 53
+f 11 53 52
+f 11 52 58
+f 11 58 60
+f 11 60 59
+f 11 59 55
+f 11 55 48
+f 11 48 39
+f 11 39 38
+f 11 38 37
+f 11 37 27
+f 11 27 25
+f 11 25 19
+f 11 19 12
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 19 25 20
+f 20 26 21
+f 20 25 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 26
+f 21 26 22
+f 22 30 31
+f 22 31 32
+f 22 26 30
+f 23 33 34
+f 24 34 33
+f 24 33 35
+f 24 35 36
+f 27 37 28
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 42 31
+f 31 42 43
+f 31 43 32
+f 35 44 45
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 39 41 40
+f 39 48 41
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 48 55 50
+f 48 50 49
+f 50 55 56
+f 51 57 58
+f 51 58 52
+f 55 59 56
+f 56 59 60
+f 56 60 61
+f 57 60 58
+f 57 61 60
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_22.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.09046940 -0.16020900 0.00667736
+v -0.09046940 -0.16020905 0.01770538
+v -0.09046940 -0.15520106 0.00667738
+v -0.03138275 -0.16020900 0.00667736
+v -0.04328685 -0.16020903 0.01305604
+v -0.05068497 -0.15679046 0.00667737
+v -0.05509261 -0.15660171 0.00667737
+v -0.03193805 -0.15940204 0.00667736
+v -0.03208266 -0.16020901 0.00749993
+v -0.03740421 -0.16020902 0.01115399
+v -0.03730010 -0.15760575 0.00667737
+v -0.03983362 -0.15734297 0.00667737
+v -0.03248756 -0.15887698 0.00667737
+v -0.03345353 -0.16020901 0.00863015
+v -0.03365020 -0.15963885 0.00829983
+v -0.03594079 -0.16020902 0.01053112
+v -0.03396834 -0.15835584 0.00667737
+v -0.03267844 -0.15869804 0.00667737
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 12
+f 1 12 11
+f 1 11 17
+f 1 17 18
+f 1 18 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 8 13 9
+f 9 13 15
+f 9 15 14
+f 10 16 17
+f 10 17 11
+f 13 18 15
+f 14 15 16
+f 15 18 16
+f 16 18 17
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_23.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.03035135 0.16846503 0.01878373
+v 0.03152624 0.17377346 0.01878375
+v 0.03353911 0.16338228 0.01878371
+v 0.00116911 0.16846503 0.02007111
+v 0.03170766 0.17440615 0.01878375
+v 0.03907665 0.16123152 0.01878370
+v 0.00116911 0.16378156 0.02209667
+v 0.00116911 0.17108645 0.02041734
+v 0.03489542 0.17769306 0.01878376
+v 0.00116911 0.16206286 0.02641844
+v 0.00116911 0.16282480 0.02450229
+v 0.04495975 0.16083608 0.01878370
+v 0.00116911 0.17438107 0.02085311
+v 0.03600120 0.17786474 0.01878376
+v 0.00116911 0.17593000 0.02175050
+v 0.00116911 0.17787436 0.02287869
+v 0.00116911 0.16218051 0.03184054
+v 0.08941559 0.16050045 0.01878370
+v 0.03919760 0.17816180 0.01878376
+v 0.00116911 0.17840095 0.02444664
+v 0.07087649 0.17987469 0.01878377
+v 0.04146963 0.17835083 0.01878377
+v 0.00377806 0.16218051 0.03184054
+v 0.00116911 0.16389724 0.03652047
+v 0.08942423 0.17921885 0.01878377
+v 0.08942423 0.16115049 0.02081127
+v 0.03907665 0.16264345 0.03184054
+v 0.03319355 0.16244283 0.03184054
+v 0.02731045 0.16232517 0.03184054
+v 0.02142736 0.16225188 0.03184054
+v 0.01554426 0.16221137 0.03184054
+v 0.00966116 0.16218628 0.03184054
+v 0.00116911 0.17906065 0.02641850
+v 0.07675958 0.18012544 0.01878377
+v 0.00377806 0.16389724 0.03652047
+v 0.00116911 0.16846496 0.03910718
+v 0.00966116 0.16846496 0.03911116
+v 0.08942423 0.17999813 0.01878377
+v 0.08942423 0.16398602 0.02459780
+v 0.04495975 0.16464761 0.03534054
+v 0.03907665 0.16425796 0.03584395
+v 0.03319355 0.16407664 0.03616430
+v 0.02731045 0.16398790 0.03634139
+v 0.02142736 0.16394162 0.03643889
+v 0.01554426 0.16391461 0.03649261
+v 0.00966116 0.16390110 0.03651450
+v 0.00116911 0.17948499 0.02882213
+v 0.08264268 0.18020646 0.01878377
+v 0.00116911 0.18001738 0.03184060
+v 0.00116911 0.17175765 0.03895398
+v 0.01554426 0.17438101 0.03883659
+v 0.00966116 0.17438101 0.03883460
+v 0.01554426 0.16846496 0.03910121
+v 0.08942423 0.17971844 0.02099241
+v 0.08852578 0.18005214 0.01878377
+v 0.08613280 0.17991904 0.02099241
+v 0.08942423 0.16846501 0.02582153
+v 0.05098971 0.16824507 0.03552362
+v 0.05305441 0.16612709 0.03429791
+v 0.04914098 0.16511248 0.03487693
+v 0.03907665 0.16846496 0.03805460
+v 0.03319355 0.16846496 0.03865351
+v 0.02731045 0.16846496 0.03894203
+v 0.02142736 0.16846496 0.03905744
+v 0.08024970 0.18007722 0.02099241
+v 0.00377806 0.18001546 0.03184060
+v 0.00966116 0.17997687 0.03184060
+v 0.00116911 0.17883108 0.03624395
+v 0.00116911 0.17438101 0.03883062
+v 0.00966116 0.17880985 0.03623798
+v 0.00377806 0.17882913 0.03624196
+v 0.02142736 0.17438101 0.03881670
+v 0.08942423 0.17901824 0.02259616
+v 0.03907665 0.17814244 0.03560324
+v 0.04495975 0.17780681 0.03511176
+v 0.02142736 0.17973960 0.03184060
+v 0.02731045 0.17953707 0.03184060
+v 0.02731045 0.17854752 0.03611462
+v 0.03319355 0.17837005 0.03593554
+v 0.05495497 0.17007177 0.03492669
+v 0.08942423 0.17438106 0.02568226
+v 0.05495497 0.17267198 0.03492670
+v 0.04495975 0.16846496 0.03703982
+v 0.03907665 0.17438101 0.03781386
+v 0.03319355 0.17438101 0.03842471
+v 0.04495975 0.17438101 0.03681101
+v 0.02731045 0.17438101 0.03871522
+v 0.01554426 0.17988622 0.03184060
+v 0.01554426 0.17875971 0.03623002
+v 0.02142736 0.17867676 0.03619819
+v 0.08942423 0.17817528 0.02445857
+v 0.04870040 0.17751553 0.03473968
+v 0.08942423 0.17643537 0.02507539
+v 0.05073054 0.17453919 0.03544206
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 19
+f 1 19 22
+f 1 22 21
+f 1 21 34
+f 1 34 48
+f 1 48 55
+f 1 55 38
+f 1 38 25
+f 1 25 18
+f 1 18 12
+f 1 12 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 11
+f 4 11 10
+f 4 10 17
+f 4 17 24
+f 4 24 36
+f 4 36 50
+f 4 50 69
+f 4 69 68
+f 4 68 49
+f 4 49 47
+f 4 47 33
+f 4 33 20
+f 4 20 16
+f 4 16 15
+f 4 15 13
+f 4 13 8
+f 4 8 9
+f 4 9 5
+f 4 6 7
+f 6 10 11
+f 6 11 7
+f 6 12 10
+f 8 13 9
+f 9 13 15
+f 9 15 16
+f 9 16 14
+f 10 12 17
+f 12 18 17
+f 14 16 19
+f 16 20 21
+f 16 21 22
+f 16 22 19
+f 17 23 35
+f 17 35 24
+f 17 18 23
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 23
+f 20 33 21
+f 21 33 34
+f 23 32 35
+f 24 35 37
+f 24 37 36
+f 25 38 54
+f 25 54 73
+f 25 73 91
+f 25 91 93
+f 25 93 81
+f 25 81 57
+f 25 57 39
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 27
+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 45
+f 30 45 31
+f 31 45 32
+f 32 45 46
+f 32 46 35
+f 33 47 34
+f 34 47 49
+f 34 49 48
+f 35 46 37
+f 36 37 50
+f 37 51 52
+f 37 52 50
+f 37 46 53
+f 37 53 51
+f 38 55 56
+f 38 56 54
+f 39 57 58
+f 39 58 59
+f 39 59 60
+f 39 60 40
+f 40 60 61
+f 40 61 41
+f 41 61 62
+f 41 62 42
+f 42 62 63
+f 42 63 43
+f 43 63 44
+f 44 63 64
+f 44 64 45
+f 45 64 53
+f 45 53 46
+f 48 65 55
+f 48 49 66
+f 48 66 67
+f 48 67 65
+f 49 68 66
+f 50 52 69
+f 51 70 71
+f 51 71 68
+f 51 68 52
+f 51 53 72
+f 51 72 70
+f 52 68 69
+f 53 64 72
+f 54 56 74
+f 54 74 75
+f 54 75 73
+f 55 65 56
+f 56 65 76
+f 56 76 77
+f 56 77 78
+f 56 78 79
+f 56 79 74
+f 57 80 58
+f 57 81 82
+f 57 82 80
+f 58 83 59
+f 58 80 83
+f 59 83 60
+f 60 83 61
+f 61 84 85
+f 61 85 62
+f 61 83 86
+f 61 86 84
+f 62 85 87
+f 62 87 63
+f 63 87 64
+f 64 87 72
+f 65 67 88
+f 65 88 76
+f 66 68 71
+f 66 71 70
+f 66 70 67
+f 67 70 89
+f 67 89 88
+f 70 72 89
+f 72 90 89
+f 72 87 90
+f 73 75 91
+f 74 79 85
+f 74 85 84
+f 74 84 75
+f 75 92 91
+f 75 84 92
+f 76 88 90
+f 76 90 78
+f 76 78 77
+f 78 90 87
+f 78 87 79
+f 79 87 85
+f 80 82 83
+f 81 93 82
+f 82 94 86
+f 82 86 83
+f 82 93 94
+f 84 86 92
+f 86 94 92
+f 88 89 90
+f 91 92 94
+f 91 94 93
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_3.obj

@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v -0.13075600 0.00280153 0.00319022
+v -0.12957113 0.00280154 0.00010693
+v -0.09928320 0.00280153 0.00319022
+v -0.13061891 0.12111581 0.00319065
+v -0.12955154 0.00867789 0.00007987
+v -0.12955154 0.00280154 0.00006801
+v -0.12946341 0.12111582 0.00023259
+v -0.03071675 0.00280154 0.00065184
+v -0.03154910 0.14642068 0.00102128
+v -0.09460243 0.14642067 0.00319075
+v -0.13060912 0.12500995 0.00319067
+v -0.12945361 0.12703434 0.00024446
+v -0.12815122 0.00280155 -0.00262098
+v -0.12806309 0.12111583 -0.00248010
+v -0.03071675 0.00280159 -0.01408431
+v -0.03071675 0.14642068 0.00098574
+v -0.12929693 0.14642067 0.00319075
+v -0.13059933 0.12703433 0.00319068
+v -0.13054058 0.13295286 0.00319070
+v -0.12941444 0.13295287 0.00032063
+v -0.12805331 0.12703435 -0.00246822
+v -0.12813163 0.00280155 -0.00264468
+v -0.12511557 0.12703436 -0.00612349
+v -0.04329020 0.00280159 -0.01408600
+v -0.04329020 0.02643352 -0.01409607
+v -0.03071675 0.02643352 -0.01409268
+v -0.03071675 0.14642073 -0.01405501
+v -0.12880732 0.14642067 0.00157972
+v -0.12947319 0.14566152 0.00319075
+v -0.13039368 0.13680483 0.00319071
+v -0.12928715 0.13887140 0.00061003
+v -0.12800434 0.13295288 -0.00239205
+v -0.12506661 0.13295289 -0.00606932
+v -0.12522329 0.00280156 -0.00604611
+v -0.12268706 0.12703437 -0.00883448
+v -0.04333917 0.00280159 -0.01408600
+v -0.06093612 0.02643352 -0.01409438
+v -0.04329020 0.03235204 -0.01409605
+v -0.06099488 0.00280159 -0.01408431
+v -0.03071675 0.03235204 -0.01409266
+v -0.05506068 0.14642073 -0.01404486
+v -0.03071675 0.14478997 -0.01406010
+v -0.03152952 0.14478997 -0.01406010
+v -0.05506068 0.14478997 -0.01405333
+v -0.12802392 0.14642068 0.00023269
+v -0.12737762 0.14478993 -0.00140881
+v -0.12894440 0.14478992 0.00130387
+v -0.12966904 0.14478991 0.00319074
+v -0.13030555 0.13887139 0.00319072
+v -0.12781828 0.13887141 -0.00210265
+v -0.12488057 0.13887142 -0.00584761
+v -0.12260872 0.13295290 -0.00878200
+v -0.12261851 0.00280157 -0.00878756
+v -0.11967100 0.13295291 -0.01033718
+v -0.11973954 0.12703438 -0.01036428
+v -0.11970038 0.00280158 -0.01031566
+v -0.07859184 0.02643352 -0.01408422
+v -0.06093612 0.03235204 -0.01409436
+v -0.07275556 0.00280159 -0.01407923
+v -0.06093612 0.10336029 -0.01409240
+v -0.04329020 0.10336029 -0.01409240
+v -0.03071675 0.10336029 -0.01408732
+v -0.06093612 0.14642073 -0.01404147
+v -0.06682136 0.14478997 -0.01404656
+v -0.03071675 0.13887145 -0.01407366
+v -0.03740496 0.13887145 -0.01407366
+v -0.05506068 0.13887145 -0.01406858
+v -0.06682136 0.13887145 -0.01406520
+v -0.12716218 0.14642068 -0.00106696
+v -0.12421468 0.14642070 -0.00509960
+v -0.12443990 0.14478994 -0.00534499
+v -0.12231495 0.13887143 -0.00856029
+v -0.11936743 0.13887144 -0.01021532
+v -0.11387389 0.13887145 -0.01235940
+v -0.11387389 0.13295292 -0.01254896
+v -0.11387389 0.12703439 -0.01259128
+v -0.11387389 0.00280159 -0.01254267
+v -0.11392285 0.00280159 -0.01252405
+v -0.11967100 0.00280158 -0.01032920
+v -0.08445749 0.02643352 -0.01408084
+v -0.07859184 0.03235204 -0.01408420
+v -0.07864080 0.00280159 -0.01407585
+v -0.08451625 0.00280159 -0.01407246
+v -0.06682136 0.10336029 -0.01408902
+v -0.06682136 0.10927881 -0.01408730
+v -0.06093612 0.12111587 -0.01408388
+v -0.04329020 0.13295292 -0.01407875
+v -0.03071675 0.13295292 -0.01407875
+v -0.06682136 0.14642073 -0.01403640
+v -0.07270660 0.14478997 -0.01404148
+v -0.05506068 0.13295292 -0.01407537
+v -0.07270660 0.13887145 -0.01406012
+v -0.06682136 0.13295292 -0.01407198
+v -0.07270660 0.13295292 -0.01406860
+v -0.12220723 0.14642071 -0.00706262
+v -0.12166865 0.14478995 -0.00805598
+v -0.11873092 0.14478996 -0.00992423
+v -0.11387389 0.14478996 -0.01189909
+v -0.10799845 0.14478997 -0.01317674
+v -0.10799845 0.13887145 -0.01343737
+v -0.10799845 0.13295292 -0.01354231
+v -0.10799845 0.12703439 -0.01356941
+v -0.10799845 0.12111587 -0.01357113
+v -0.10799845 0.00280159 -0.01356310
+v -0.10804741 0.00280159 -0.01355463
+v -0.09039169 0.00280159 -0.01406570
+v -0.09034273 0.02643352 -0.01407237
+v -0.08445749 0.09744176 -0.01407550
+v -0.07859184 0.09744176 -0.01408227
+v -0.07859184 0.10336029 -0.01408056
+v -0.07270660 0.12111587 -0.01407711
+v -0.07270660 0.14642073 -0.01402793
+v -0.07859184 0.14478997 -0.01402964
+v -0.07859184 0.13887145 -0.01405335
+v -0.08445749 0.13887145 -0.01404320
+v -0.07859184 0.13295292 -0.01406352
+v -0.07859184 0.12703439 -0.01406862
+v -0.12138467 0.14642071 -0.00781060
+v -0.11843715 0.14642072 -0.00976853
+v -0.11387389 0.14642072 -0.01164524
+v -0.10799845 0.14642073 -0.01302274
+v -0.10211321 0.14642073 -0.01361333
+v -0.10211321 0.14478997 -0.01370303
+v -0.10211321 0.13887145 -0.01383843
+v -0.10211321 0.13295292 -0.01389768
+v -0.10211321 0.12703439 -0.01391463
+v -0.10211321 0.12111587 -0.01392142
+v -0.10211321 0.02643352 -0.01393361
+v -0.10211321 0.00280159 -0.01393370
+v -0.09627693 0.00280159 -0.01403693
+v -0.09622797 0.02643352 -0.01404191
+v -0.09034273 0.09744176 -0.01406365
+v -0.08445749 0.10336029 -0.01407379
+v -0.08445749 0.12111587 -0.01406696
+v -0.07859184 0.12111587 -0.01407203
+v -0.07859184 0.14642073 -0.01401101
+v -0.08445749 0.14478997 -0.01401272
+v -0.08445749 0.13295292 -0.01405676
+v -0.09034273 0.13887145 -0.01402458
+v -0.09034273 0.13295292 -0.01404322
+v -0.08445749 0.12703439 -0.01406354
+v -0.09622797 0.14642073 -0.01385025
+v -0.09622797 0.14478997 -0.01390272
+v -0.09622797 0.13887145 -0.01397551
+v -0.09622797 0.13295292 -0.01400599
+v -0.09622797 0.12703439 -0.01401785
+v -0.09622797 0.12111587 -0.01402296
+v -0.09622797 0.10336029 -0.01402979
+v -0.09622797 0.09744176 -0.01403150
+v -0.09034273 0.10336029 -0.01406194
+v -0.09034273 0.12111587 -0.01405511
+v -0.08445749 0.14642073 -0.01398901
+v -0.09034273 0.14478997 -0.01398056
+v -0.09034273 0.12703439 -0.01405001
+v -0.09034273 0.14642073 -0.01394671
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 34
+f 1 34 53
+f 1 53 56
+f 1 56 79
+f 1 79 78
+f 1 78 77
+f 1 77 105
+f 1 105 104
+f 1 104 129
+f 1 129 130
+f 1 130 106
+f 1 106 83
+f 1 83 82
+f 1 82 59
+f 1 59 39
+f 1 39 36
+f 1 36 24
+f 1 24 15
+f 1 15 8
+f 1 8 3
+f 1 3 10
+f 1 10 17
+f 1 17 29
+f 1 29 48
+f 1 48 49
+f 1 49 30
+f 1 30 19
+f 1 19 18
+f 1 18 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 7
+f 5 13 6
+f 5 7 14
+f 5 14 13
+f 7 12 21
+f 7 21 14
+f 8 15 26
+f 8 26 40
+f 8 40 62
+f 8 62 88
+f 8 88 65
+f 8 65 42
+f 8 42 27
+f 8 27 16
+f 8 16 9
+f 9 16 27
+f 9 27 41
+f 9 41 63
+f 9 63 89
+f 9 89 112
+f 9 112 136
+f 9 136 152
+f 9 152 155
+f 9 155 142
+f 9 142 122
+f 9 122 121
+f 9 121 120
+f 9 120 119
+f 9 119 118
+f 9 118 95
+f 9 95 70
+f 9 70 69
+f 9 69 45
+f 9 45 28
+f 9 28 17
+f 9 17 10
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 13 14 23
+f 13 23 22
+f 14 21 23
+f 15 24 25
+f 15 25 26
+f 17 28 29
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 23
+f 22 23 34
+f 23 33 35
+f 23 35 34
+f 24 36 25
+f 25 37 58
+f 25 58 38
+f 25 38 40
+f 25 40 26
+f 25 36 39
+f 25 39 37
+f 27 42 43
+f 27 43 44
+f 27 44 41
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 30 49 31
+f 31 49 47
+f 31 47 50
+f 31 50 32
+f 32 50 51
+f 32 51 33
+f 33 51 52
+f 33 52 35
+f 34 35 53
+f 35 52 54
+f 35 54 55
+f 35 55 56
+f 35 56 53
+f 37 57 81
+f 37 81 58
+f 37 39 59
+f 37 59 82
+f 37 82 57
+f 38 58 60
+f 38 60 61
+f 38 61 40
+f 40 61 62
+f 41 44 64
+f 41 64 63
+f 42 65 66
+f 42 66 43
+f 43 66 67
+f 43 67 44
+f 44 67 68
+f 44 68 64
+f 45 69 46
+f 46 69 70
+f 46 70 71
+f 46 71 50
+f 46 50 47
+f 47 49 48
+f 50 71 51
+f 51 71 72
+f 51 72 52
+f 52 72 73
+f 52 73 54
+f 54 73 74
+f 54 74 75
+f 54 75 55
+f 55 75 76
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 56
+f 57 80 81
+f 57 82 83
+f 57 83 80
+f 58 81 84
+f 58 84 60
+f 60 84 85
+f 60 85 86
+f 60 86 87
+f 60 87 88
+f 60 88 61
+f 61 88 62
+f 63 64 90
+f 63 90 89
+f 64 68 92
+f 64 92 90
+f 65 88 87
+f 65 87 66
+f 66 87 91
+f 66 91 67
+f 67 91 93
+f 67 93 68
+f 68 93 94
+f 68 94 116
+f 68 116 92
+f 70 95 96
+f 70 96 71
+f 71 96 72
+f 72 96 97
+f 72 97 73
+f 73 97 98
+f 73 98 74
+f 74 98 99
+f 74 99 100
+f 74 100 75
+f 75 100 101
+f 75 101 76
+f 76 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 105
+f 76 105 77
+f 80 83 106
+f 80 106 107
+f 80 107 108
+f 80 108 109
+f 80 109 81
+f 81 109 84
+f 84 109 110
+f 84 110 85
+f 85 110 111
+f 85 111 86
+f 86 111 94
+f 86 94 93
+f 86 93 91
+f 86 91 87
+f 89 90 112
+f 90 113 112
+f 90 92 114
+f 90 114 115
+f 90 115 113
+f 92 116 114
+f 94 111 117
+f 94 117 116
+f 95 118 96
+f 96 118 119
+f 96 119 97
+f 97 119 120
+f 97 120 98
+f 98 120 121
+f 98 121 99
+f 99 121 122
+f 99 122 123
+f 99 123 100
+f 100 123 124
+f 100 124 101
+f 101 124 125
+f 101 125 102
+f 102 125 126
+f 102 126 127
+f 102 127 103
+f 103 127 128
+f 103 128 129
+f 103 129 104
+f 106 130 107
+f 107 130 131
+f 107 131 132
+f 107 132 108
+f 108 132 150
+f 108 150 133
+f 108 133 110
+f 108 110 109
+f 110 133 134
+f 110 134 135
+f 110 135 111
+f 111 135 117
+f 112 113 136
+f 113 137 136
+f 113 115 137
+f 114 116 138
+f 114 138 115
+f 115 139 137
+f 115 138 140
+f 115 140 139
+f 116 117 141
+f 116 141 138
+f 117 135 134
+f 117 134 141
+f 122 142 123
+f 123 142 143
+f 123 143 124
+f 124 143 144
+f 124 144 125
+f 125 144 145
+f 125 145 126
+f 126 145 146
+f 126 146 127
+f 127 146 147
+f 127 147 148
+f 127 148 149
+f 127 149 131
+f 127 131 128
+f 128 131 129
+f 129 131 130
+f 131 149 132
+f 132 149 148
+f 132 148 150
+f 133 150 151
+f 133 151 134
+f 134 151 141
+f 136 137 152
+f 137 153 152
+f 137 139 153
+f 138 141 154
+f 138 154 140
+f 139 144 153
+f 139 140 145
+f 139 145 144
+f 140 154 146
+f 140 146 145
+f 141 151 154
+f 142 155 143
+f 143 155 153
+f 143 153 144
+f 146 154 151
+f 146 151 147
+f 147 151 150
+f 147 150 148
+f 152 153 155
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_4.obj

@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.09444890 0.14642067 0.00264520
+v 0.11218298 0.14642059 0.02377907
+v 0.13115266 0.14642067 0.00264520
+v 0.09990307 0.00280153 0.00264467
+v 0.11371847 0.00280146 0.02098946
+v 0.11374246 0.00280146 0.02102126
+v 0.11656552 0.00280145 0.02475063
+v 0.11243890 0.14642059 0.02403118
+v 0.13140858 0.14642067 0.00331521
+v 0.13126863 0.14577399 0.00264520
+v 0.13209635 0.00280153 0.00264467
+v 0.11660551 0.00280145 0.02476199
+v 0.11530594 0.14642059 0.02481930
+v 0.13186443 0.14642066 0.00477562
+v 0.13223230 0.14478990 0.00471656
+v 0.13144057 0.14478991 0.00264519
+v 0.13287609 0.00280152 0.00471604
+v 0.13258819 0.11519728 0.00264508
+v 0.13340791 0.11519727 0.00471645
+v 0.12143190 0.00280145 0.02584083
+v 0.12143190 0.07968605 0.02581158
+v 0.12143190 0.08560457 0.02580252
+v 0.12143190 0.14642059 0.02567329
+v 0.12143190 0.02643338 0.02584773
+v 0.12143190 0.05010748 0.02583873
+v 0.12143190 0.07378158 0.02581838
+v 0.13281611 0.14642065 0.00864354
+v 0.13356786 0.14478988 0.01014255
+v 0.13300405 0.13887138 0.00471654
+v 0.13178846 0.14213290 0.00264518
+v 0.13411168 0.00280150 0.01014203
+v 0.13465550 0.10927872 0.01014242
+v 0.13261218 0.12111581 0.00264510
+v 0.13343191 0.12111580 0.00471647
+v 0.13468348 0.11519725 0.01014244
+v 0.12731394 0.00280145 0.02578859
+v 0.12731394 0.02051485 0.02579774
+v 0.12731394 0.07968605 0.02574799
+v 0.12731394 0.05602601 0.02577743
+v 0.12731394 0.08560457 0.02573665
+v 0.12731394 0.12703425 0.02563688
+v 0.12731394 0.13295278 0.02561873
+v 0.12731394 0.13887131 0.02557332
+v 0.12731394 0.14478983 0.02543934
+v 0.12745789 0.14642059 0.02527128
+v 0.12731394 0.09744162 0.02570945
+v 0.12731394 0.12111573 0.02565275
+v 0.12731394 0.03235190 0.02579778
+v 0.12731394 0.03827043 0.02579553
+v 0.12731394 0.05010748 0.02578422
+v 0.13318398 0.14642064 0.01014256
+v 0.13409969 0.14478986 0.01556399
+v 0.13485943 0.13887134 0.01556397
+v 0.13430362 0.13887136 0.01014253
+v 0.13218432 0.13887139 0.00264517
+v 0.13333594 0.13295285 0.00471652
+v 0.13468749 0.00280148 0.01551805
+v 0.13522731 0.10336018 0.01556384
+v 0.13261218 0.12354789 0.00264511
+v 0.13343191 0.12703432 0.00471650
+v 0.13470348 0.12111578 0.01014246
+v 0.13528329 0.11519723 0.01556388
+v 0.12735393 0.00280145 0.02577950
+v 0.13174846 0.02051485 0.02470528
+v 0.13175647 0.03235190 0.02470532
+v 0.13173647 0.00867780 0.02470296
+v 0.13177646 0.09152311 0.02465784
+v 0.13177246 0.09744162 0.02465105
+v 0.13175246 0.11519720 0.02462840
+v 0.13174047 0.12111573 0.02461933
+v 0.13171647 0.12703425 0.02461028
+v 0.13166450 0.13295278 0.02459667
+v 0.13152854 0.13887131 0.02455354
+v 0.13122864 0.14478983 0.02441728
+v 0.13107669 0.14642059 0.02431736
+v 0.13176047 0.03827043 0.02470307
+v 0.13177246 0.08560457 0.02466463
+v 0.13371581 0.14642062 0.01556400
+v 0.13319199 0.14478984 0.02098998
+v 0.13387976 0.13887132 0.02098996
+v 0.13518732 0.13295281 0.01556395
+v 0.13461551 0.13295283 0.01014251
+v 0.13251621 0.13295286 0.00264515
+v 0.13469149 0.00280148 0.01556347
+v 0.13401971 0.00280146 0.02098946
+v 0.13260818 0.12703433 0.00264513
+v 0.13470348 0.12703430 0.01014249
+v 0.13529528 0.12111576 0.01556390
+v 0.13431561 0.09744163 0.02098981
+v 0.13429962 0.09152312 0.02098979
+v 0.13173247 0.00280145 0.02470067
+v 0.13433161 0.10927868 0.02098985
+v 0.13433561 0.11519721 0.02098987
+v 0.13433161 0.12111574 0.02098989
+v 0.13176047 0.10927867 0.02463519
+v 0.13429562 0.12703426 0.02098992
+v 0.13419165 0.13295279 0.02098994
+v 0.13278412 0.14642060 0.02112172
+v 0.13528329 0.12703428 0.01556393
+v 0.13175246 0.00280145 0.02466887
+f 1 2 8
+f 1 8 13
+f 1 13 23
+f 1 23 45
+f 1 45 75
+f 1 75 98
+f 1 98 78
+f 1 78 51
+f 1 51 27
+f 1 27 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 16
+f 1 16 30
+f 1 30 55
+f 1 55 83
+f 1 83 86
+f 1 86 59
+f 1 59 33
+f 1 33 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 4 11 17
+f 4 17 31
+f 4 31 57
+f 4 57 84
+f 4 84 85
+f 4 85 100
+f 4 100 91
+f 4 91 63
+f 4 63 36
+f 4 36 20
+f 4 20 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 11 18 19
+f 11 19 17
+f 12 20 13
+f 13 21 22
+f 13 22 23
+f 13 20 24
+f 13 24 25
+f 13 25 26
+f 13 26 21
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 17 19 32
+f 17 32 31
+f 18 33 34
+f 18 34 19
+f 19 34 35
+f 19 35 32
+f 20 36 37
+f 20 37 24
+f 21 38 22
+f 21 26 39
+f 21 39 38
+f 22 38 40
+f 22 40 23
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 40 46
+f 23 46 47
+f 23 47 41
+f 24 37 48
+f 24 48 49
+f 24 49 25
+f 25 49 26
+f 26 49 50
+f 26 50 39
+f 27 51 28
+f 28 51 78
+f 28 78 52
+f 28 52 53
+f 28 53 54
+f 28 54 29
+f 29 55 30
+f 29 54 56
+f 29 56 83
+f 29 83 55
+f 31 32 58
+f 31 58 57
+f 32 35 62
+f 32 62 58
+f 33 59 60
+f 33 60 34
+f 34 60 87
+f 34 87 61
+f 34 61 35
+f 35 61 62
+f 36 63 37
+f 37 64 65
+f 37 65 48
+f 37 63 66
+f 37 66 64
+f 38 67 68
+f 38 68 69
+f 38 69 40
+f 38 39 67
+f 39 50 67
+f 40 69 70
+f 40 70 46
+f 41 71 42
+f 41 47 71
+f 42 71 72
+f 42 72 43
+f 43 72 73
+f 43 73 44
+f 44 74 45
+f 44 73 74
+f 45 74 75
+f 46 70 47
+f 47 70 71
+f 48 65 76
+f 48 76 49
+f 49 76 77
+f 49 77 50
+f 50 77 67
+f 52 78 79
+f 52 79 53
+f 53 80 81
+f 53 81 54
+f 53 79 80
+f 54 81 82
+f 54 82 56
+f 56 82 60
+f 56 60 83
+f 57 58 84
+f 58 62 85
+f 58 85 84
+f 59 86 60
+f 60 86 83
+f 60 82 87
+f 61 88 62
+f 61 87 88
+f 62 88 89
+f 62 89 90
+f 62 90 85
+f 63 91 66
+f 64 66 91
+f 64 91 92
+f 64 92 93
+f 64 93 65
+f 65 93 76
+f 67 77 76
+f 67 76 93
+f 67 93 94
+f 67 94 68
+f 68 95 69
+f 68 94 95
+f 69 95 94
+f 69 94 70
+f 70 94 71
+f 71 96 72
+f 71 94 96
+f 72 97 73
+f 72 96 97
+f 73 97 80
+f 73 80 74
+f 74 79 75
+f 74 80 79
+f 75 79 98
+f 78 98 79
+f 80 97 81
+f 81 97 96
+f 81 96 99
+f 81 99 82
+f 82 99 87
+f 85 90 100
+f 87 99 88
+f 88 94 93
+f 88 93 92
+f 88 92 89
+f 88 99 94
+f 89 92 91
+f 89 91 100
+f 89 100 90
+f 94 99 96
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_5.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.13323868 0.12703428 0.01556498
+v -0.13247859 0.12111574 0.02099022
+v -0.13246346 0.12703426 0.02099025
+v -0.13320086 0.13295281 0.01556500
+v -0.13258825 0.12703430 0.01014194
+v -0.13258825 0.12111578 0.01014191
+v -0.13258448 0.00280150 0.01014148
+v -0.13315548 0.00280148 0.01556452
+v -0.13249372 0.00280146 0.02098979
+v -0.13012647 0.08560457 0.02472522
+v -0.13012269 0.09152311 0.02471860
+v -0.13011513 0.09744162 0.02471197
+v -0.13009244 0.11519720 0.02468541
+v -0.13013782 0.05010748 0.02473397
+v -0.13013403 0.06194453 0.02473180
+v -0.13006219 0.12703425 0.02466106
+v -0.13001303 0.13295278 0.02463890
+v -0.13239540 0.13295279 0.02099027
+v -0.13008110 0.12111573 0.02467656
+v -0.13296263 0.13887134 0.01556502
+v -0.13232733 0.13887136 0.01014198
+v -0.13254287 0.13295283 0.01014196
+v -0.13120422 0.12703432 0.00471667
+v -0.13121934 0.12111580 0.00471664
+v -0.13134035 0.00280152 0.00471621
+v -0.13135169 0.00280152 0.00476279
+v -0.13013782 0.00280145 0.02472936
+v -0.13013782 0.04418896 0.02473395
+v -0.12564535 0.08560457 0.02580318
+v -0.13012647 0.07968605 0.02472742
+v -0.12564535 0.06194453 0.02582084
+v -0.12564535 0.07378158 0.02581201
+v -0.12564535 0.09152311 0.02579434
+v -0.12564535 0.05010748 0.02582523
+v -0.13013403 0.05602601 0.02473400
+v -0.12564535 0.12703425 0.02569909
+v -0.12564535 0.13295278 0.02566584
+v -0.12564535 0.13887131 0.02560598
+v -0.12988824 0.13887131 0.02458791
+v -0.13214203 0.13887132 0.02099029
+v -0.12564535 0.10336015 0.02576776
+v -0.12564535 0.12111573 0.02571902
+v -0.13147648 0.14478984 0.02099031
+v -0.13228573 0.14478986 0.01556504
+v -0.13168069 0.14478988 0.01014200
+v -0.13090925 0.13887138 0.00471671
+v -0.13114371 0.13295285 0.00471669
+v -0.13056892 0.13092847 0.00319069
+v -0.13060673 0.12703433 0.00319068
+v -0.13062185 0.12111581 0.00319065
+v -0.13075421 0.00280153 0.00319022
+v -0.12564535 0.00280145 0.02581841
+v -0.12564535 0.00867780 0.02582064
+v -0.12564535 0.02051485 0.02582513
+v -0.13013403 0.01459632 0.02473162
+v -0.11976129 0.07968605 0.02582312
+v -0.11976129 0.09152311 0.02580986
+v -0.11976129 0.05602601 0.02584300
+v -0.11976129 0.04418896 0.02584739
+v -0.11976129 0.03235190 0.02584957
+v -0.11976129 0.14642059 0.02567255
+v -0.12402685 0.14642059 0.02551728
+v -0.12564535 0.14478983 0.02545295
+v -0.12957059 0.14478983 0.02443267
+v -0.11976129 0.10336015 0.02578329
+v -0.11976129 0.11519720 0.02575449
+v -0.11976129 0.12111573 0.02573899
+v -0.13068615 0.14642060 0.02202613
+v -0.13107186 0.14642060 0.02112340
+v -0.13191136 0.14642062 0.01556505
+v -0.13131388 0.14642064 0.01014201
+v -0.12991849 0.14642066 0.00480990
+v -0.13024749 0.14478990 0.00471673
+v -0.13030799 0.13887139 0.00319072
+v -0.13039118 0.13680483 0.00319071
+v -0.13054623 0.13295286 0.00319070
+v -0.12966891 0.14478991 0.00319074
+v -0.09929183 0.00280153 0.00319022
+v -0.11976129 0.00280145 0.02584059
+v -0.11976129 0.00867780 0.02584282
+v -0.11976129 0.02051485 0.02584731
+v -0.11814279 0.14642059 0.02555499
+v -0.11366167 0.14642059 0.02479421
+v -0.12579283 0.14642059 0.02528218
+v -0.12873109 0.14642059 0.02451918
+v -0.12941176 0.14642059 0.02432621
+v -0.12930210 0.14642067 0.00319075
+v -0.11219064 0.00280146 0.02098979
+v -0.09460650 0.14642067 0.00319075
+v -0.11971969 0.00280145 0.02583171
+v -0.11243645 0.14642059 0.02452583
+v -0.11495873 0.00280145 0.02475154
+v -0.11065535 0.14642059 0.02388039
+v -0.11102215 0.14642059 0.02405118
+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 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 2 9 14
+f 2 14 15
+f 2 15 10
+f 3 16 17
+f 3 17 18
+f 3 18 4
+f 3 13 19
+f 3 19 16
+f 4 18 20
+f 4 20 21
+f 4 21 22
+f 4 22 5
+f 5 22 23
+f 5 23 24
+f 5 24 25
+f 5 25 26
+f 5 26 6
+f 6 26 7
+f 7 26 25
+f 7 25 51
+f 7 51 78
+f 7 78 88
+f 7 88 92
+f 7 92 90
+f 7 90 79
+f 7 79 52
+f 7 52 27
+f 7 27 9
+f 7 9 8
+f 9 27 28
+f 9 28 14
+f 10 29 11
+f 10 15 35
+f 10 35 30
+f 10 30 34
+f 10 34 31
+f 10 31 32
+f 10 32 29
+f 11 29 12
+f 12 29 33
+f 12 33 13
+f 13 33 19
+f 14 28 54
+f 14 54 34
+f 14 34 35
+f 14 35 15
+f 16 36 37
+f 16 37 17
+f 16 19 36
+f 17 37 38
+f 17 38 39
+f 17 39 18
+f 18 39 40
+f 18 40 20
+f 19 33 41
+f 19 41 42
+f 19 42 36
+f 20 40 43
+f 20 43 44
+f 20 44 45
+f 20 45 21
+f 21 46 47
+f 21 47 22
+f 21 45 46
+f 22 47 23
+f 23 47 48
+f 23 48 49
+f 23 49 50
+f 23 50 24
+f 24 50 51
+f 24 51 25
+f 27 52 53
+f 27 53 54
+f 27 54 55
+f 27 55 28
+f 28 55 54
+f 29 56 57
+f 29 57 33
+f 29 32 58
+f 29 58 56
+f 30 35 34
+f 31 34 59
+f 31 59 58
+f 31 58 32
+f 33 57 65
+f 33 65 41
+f 34 54 60
+f 34 60 59
+f 36 61 37
+f 36 42 61
+f 37 61 38
+f 38 61 62
+f 38 62 63
+f 38 63 39
+f 39 63 64
+f 39 64 40
+f 40 64 43
+f 41 65 66
+f 41 66 67
+f 41 67 61
+f 41 61 42
+f 43 64 68
+f 43 68 69
+f 43 69 70
+f 43 70 44
+f 44 70 71
+f 44 71 45
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 46 74 75
+f 46 75 76
+f 46 76 47
+f 46 73 77
+f 46 77 74
+f 47 76 48
+f 48 76 75
+f 48 75 74
+f 48 74 77
+f 48 77 87
+f 48 87 89
+f 48 89 78
+f 48 78 51
+f 48 51 50
+f 48 50 49
+f 52 79 80
+f 52 80 53
+f 53 80 81
+f 53 81 54
+f 54 81 60
+f 56 82 57
+f 56 58 82
+f 57 82 65
+f 58 59 82
+f 59 60 82
+f 60 81 83
+f 60 83 82
+f 61 82 83
+f 61 83 91
+f 61 91 94
+f 61 94 93
+f 61 93 89
+f 61 89 87
+f 61 87 72
+f 61 72 71
+f 61 71 70
+f 61 70 69
+f 61 69 68
+f 61 68 86
+f 61 86 85
+f 61 85 84
+f 61 84 62
+f 61 67 82
+f 62 84 63
+f 63 84 85
+f 63 85 64
+f 64 85 86
+f 64 86 68
+f 65 82 66
+f 66 82 67
+f 72 87 77
+f 72 77 73
+f 78 89 88
+f 79 90 83
+f 79 83 80
+f 80 83 81
+f 83 90 91
+f 88 89 92
+f 89 93 92
+f 90 92 91
+f 91 92 94
+f 92 93 94
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_6.obj

@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
+v -0.11976308 -0.01501660 0.02584524
+v -0.11976308 -0.04460677 0.02583733
+v -0.11359005 -0.14567258 0.02464997
+v -0.11976308 0.00280145 0.02584140
+v -0.12564654 0.00280145 0.02581798
+v -0.12564654 -0.05052189 0.02581778
+v -0.12564654 -0.09194231 0.02581372
+v -0.11976308 -0.08009752 0.02582549
+v -0.11976308 -0.09194231 0.02581763
+v -0.11976308 -0.09785744 0.02581370
+v -0.11976308 -0.10377257 0.02580587
+v -0.11976308 -0.11560282 0.02578631
+v -0.11976308 -0.12153247 0.02576676
+v -0.11976308 -0.14567258 0.02567686
+v -0.11279460 -0.14567258 0.02442351
+v -0.11496103 0.00280145 0.02474813
+v -0.13014068 0.00280145 0.02472861
+v -0.13021033 -0.09194231 0.02472826
+v -0.13022132 -0.10968769 0.02472039
+v -0.13022500 -0.11560282 0.02471647
+v -0.12564654 -0.09785744 0.02580980
+v -0.12564654 -0.10968769 0.02579804
+v -0.12564654 -0.11560282 0.02579021
+v -0.12564654 -0.12153247 0.02577847
+v -0.12564654 -0.12744760 0.02575893
+v -0.12564654 -0.13927785 0.02567689
+v -0.12564654 -0.14520752 0.02550898
+v -0.12568319 -0.14567258 0.02545821
+v -0.12564654 -0.13336272 0.02572767
+v -0.11012597 -0.14567257 0.02180356
+v -0.09620364 0.00280153 0.00279290
+v -0.13247207 0.00280146 0.02101930
+v -0.13279831 -0.10968768 0.02098765
+v -0.13281297 -0.11560281 0.02098763
+v -0.13021766 -0.09785744 0.02472434
+v -0.13022132 -0.10377257 0.02472041
+v -0.13281664 -0.12153246 0.02098760
+v -0.13021766 -0.12153247 0.02470863
+v -0.13019933 -0.12744760 0.02470080
+v -0.13014434 -0.13336272 0.02468516
+v -0.12999039 -0.13927785 0.02464219
+v -0.12962015 -0.14520752 0.02447037
+v -0.12956883 -0.14567258 0.02443912
+v -0.09624030 -0.14567250 0.00313595
+v -0.09620364 -0.14565797 0.00313205
+v -0.09620364 0.00280159 -0.01394586
+v -0.13249039 0.00280146 0.02098806
+v -0.13364875 -0.12153244 0.01556419
+v -0.13363776 -0.12744757 0.01556417
+v -0.13278731 -0.12744759 0.02098758
+v -0.13268100 -0.13336271 0.02098756
+v -0.13234010 -0.13927784 0.02098754
+v -0.13154464 -0.14520751 0.02098752
+v -0.13142001 -0.14567257 0.02101875
+v -0.09620364 -0.14567250 0.00175765
+v -0.09620364 0.00278706 -0.01403567
+v -0.09623297 0.00280159 -0.01403567
+v -0.13315388 0.00280148 0.01556465
+v -0.13363042 -0.11560279 0.01556422
+v -0.13307690 -0.12153242 0.01013688
+v -0.13307324 -0.12744755 0.01013686
+v -0.13298160 -0.13336267 0.01013684
+v -0.13353512 -0.13336269 0.01556415
+v -0.13317954 -0.13927782 0.01556413
+v -0.13235477 -0.14520749 0.01556411
+v -0.13223746 -0.14567255 0.01556410
+v -0.13148966 -0.14567257 0.02056192
+v -0.09620364 -0.14567244 -0.01391127
+v -0.09620364 -0.00317167 -0.01403959
+v -0.09628429 0.00280159 -0.01403567
+v -0.13258937 0.00280150 0.01018420
+v -0.13305858 -0.11560277 0.01013691
+v -0.13182690 -0.12153240 0.00471738
+v -0.13182690 -0.12744753 0.00471736
+v -0.13171693 -0.13336265 0.00471734
+v -0.13263702 -0.13927780 0.01013682
+v -0.13182690 -0.14520747 0.01013680
+v -0.13170960 -0.14567253 0.01013679
+v -0.09623297 -0.14567244 -0.01391127
+v -0.09620364 -0.14523644 -0.01392688
+v -0.09623297 -0.00317167 -0.01403959
+v -0.09620364 -0.03869150 -0.01404362
+v -0.10216774 0.00280159 -0.01393024
+v -0.13258204 0.00280150 0.01013734
+v -0.13180491 -0.11560275 0.00471741
+v -0.13135036 0.00280152 0.00476470
+v -0.12955783 0.00280154 0.00007144
+v -0.12979977 -0.12153238 -0.00038195
+v -0.12979977 -0.12744751 -0.00038587
+v -0.12973745 -0.13336263 -0.00025704
+v -0.12954317 -0.13927776 0.00013729
+v -0.13134669 -0.13927778 0.00471732
+v -0.13051458 -0.14520745 0.00471730
+v -0.13040460 -0.14567251 0.00474462
+v -0.10165454 -0.14567244 -0.01372776
+v -0.09623297 -0.14520738 -0.01392688
+v -0.09620364 -0.13932131 -0.01399324
+v -0.10211642 -0.00317167 -0.01393417
+v -0.10211642 -0.03869150 -0.01393430
+v -0.09620364 -0.11564628 -0.01403219
+v -0.09623297 -0.11560268 -0.01403219
+v -0.10211642 -0.11560268 -0.01393067
+v -0.10799986 0.00280159 -0.01356322
+v -0.13133936 0.00280152 0.00471784
+v -0.12813921 0.00280155 -0.00264222
+v -0.12839214 -0.12153237 -0.00309560
+v -0.12839581 -0.12744750 -0.00309562
+v -0.12831883 -0.13336262 -0.00296679
+v -0.12808422 -0.13927775 -0.00257636
+v -0.12911428 -0.14520743 0.00098066
+v -0.12906663 -0.14567249 0.00107436
+v -0.13027631 -0.14567251 0.00430731
+v -0.10211642 -0.14567244 -0.01370042
+v -0.10211642 -0.14520738 -0.01372384
+v -0.10211642 -0.13927771 -0.01385658
+v -0.09623297 -0.13927771 -0.01399324
+v -0.09620364 -0.13339165 -0.01401664
+v -0.09623297 -0.13336258 -0.01401664
+v -0.10799986 -0.11560268 -0.01357536
+v -0.10799986 -0.12153233 -0.01357539
+v -0.09620364 -0.12747652 -0.01402443
+v -0.09623297 -0.12153233 -0.01402832
+v -0.10211642 -0.12153233 -0.01392680
+v -0.10805118 0.00280159 -0.01355541
+v -0.12519565 0.00280156 -0.00607431
+v -0.12560621 -0.12744749 -0.00613336
+v -0.12547424 -0.13336261 -0.00613338
+v -0.12466779 -0.13878360 -0.00654337
+v -0.12463113 -0.14520741 -0.00545012
+v -0.12757102 -0.14520742 -0.00173300
+v -0.12750137 -0.14567248 -0.00161978
+v -0.10753798 -0.14567244 -0.01320845
+v -0.10799986 -0.14520738 -0.01319283
+v -0.10799986 -0.13927771 -0.01344269
+v -0.10799986 -0.13336258 -0.01354419
+v -0.10211642 -0.13336258 -0.01390732
+v -0.10211642 -0.12744746 -0.01392291
+v -0.09623297 -0.12744746 -0.01402443
+v -0.11388331 -0.12744746 -0.01261880
+v -0.10799986 -0.12744746 -0.01357151
+v -0.11388331 -0.00317167 -0.01254415
+v -0.11388331 0.00280159 -0.01254023
+v -0.12261866 0.00280157 -0.00878796
+v -0.12285694 -0.12744748 -0.00896025
+v -0.12279828 -0.13336260 -0.00891731
+v -0.12272497 -0.13648731 -0.00886266
+v -0.12238406 -0.14042587 -0.00862450
+v -0.12177189 -0.14520740 -0.00816378
+v -0.12455782 -0.14567247 -0.00537595
+v -0.12726677 -0.14567248 -0.00195166
+v -0.10799986 -0.14567244 -0.01314598
+v -0.11342143 -0.14567245 -0.01197462
+v -0.11388331 -0.14520739 -0.01191994
+v -0.11388331 -0.13927771 -0.01238066
+v -0.11388331 -0.13336258 -0.01257196
+v -0.11976308 -0.12744747 -0.01051035
+v -0.11393463 0.00280159 -0.01252461
+v -0.11970077 0.00280158 -0.01031464
+v -0.11976308 -0.13336259 -0.01043228
+v -0.12015898 -0.13878358 -0.00996765
+v -0.11882833 -0.14520739 -0.00994034
+v -0.11874036 -0.14567245 -0.00989350
+v -0.12144930 -0.14567246 -0.00825750
+v -0.12168025 -0.14567246 -0.00808960
+v -0.11388331 -0.14567245 -0.01184577
+v -0.11843977 -0.14567245 -0.01002235
+v -0.11967511 0.00280158 -0.01032635
+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 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 28
+f 3 28 43
+f 3 43 54
+f 3 54 67
+f 3 67 66
+f 3 66 78
+f 3 78 94
+f 3 94 112
+f 3 112 111
+f 3 111 131
+f 3 131 150
+f 3 150 149
+f 3 149 164
+f 3 164 163
+f 3 163 162
+f 3 162 166
+f 3 166 165
+f 3 165 152
+f 3 152 151
+f 3 151 132
+f 3 132 113
+f 3 113 95
+f 3 95 79
+f 3 79 68
+f 3 68 55
+f 3 55 44
+f 3 44 30
+f 3 30 15
+f 3 15 16
+f 3 16 4
+f 4 16 31
+f 4 31 46
+f 4 46 57
+f 4 57 70
+f 4 70 83
+f 4 83 103
+f 4 103 124
+f 4 124 142
+f 4 142 157
+f 4 157 167
+f 4 167 158
+f 4 158 143
+f 4 143 125
+f 4 125 105
+f 4 105 87
+f 4 87 104
+f 4 104 86
+f 4 86 84
+f 4 84 71
+f 4 71 58
+f 4 58 47
+f 4 47 32
+f 4 32 17
+f 4 17 5
+f 5 17 18
+f 5 18 6
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 10
+f 7 10 9
+f 7 9 8
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 26 27
+f 14 27 28
+f 14 25 29
+f 14 29 26
+f 15 30 16
+f 16 30 31
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 19
+f 19 35 36
+f 19 36 20
+f 20 23 22
+f 20 22 21
+f 20 36 37
+f 20 37 38
+f 20 38 23
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 29
+f 26 41 27
+f 26 29 40
+f 26 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 30 44 45
+f 30 45 31
+f 31 45 55
+f 31 55 68
+f 31 68 80
+f 31 80 97
+f 31 97 117
+f 31 117 121
+f 31 121 100
+f 31 100 82
+f 31 82 69
+f 31 69 56
+f 31 56 46
+f 32 47 33
+f 33 48 34
+f 33 47 48
+f 34 48 37
+f 34 37 35
+f 35 37 36
+f 37 48 49
+f 37 49 50
+f 37 50 39
+f 37 39 38
+f 39 50 40
+f 40 50 51
+f 40 51 41
+f 41 52 42
+f 41 51 52
+f 42 53 43
+f 42 52 53
+f 43 53 54
+f 44 55 45
+f 46 56 57
+f 47 58 59
+f 47 59 48
+f 48 60 61
+f 48 61 49
+f 48 59 72
+f 48 72 60
+f 49 61 62
+f 49 62 63
+f 49 63 50
+f 50 63 51
+f 51 63 52
+f 52 64 53
+f 52 63 64
+f 53 65 66
+f 53 66 67
+f 53 67 54
+f 53 64 65
+f 56 69 57
+f 57 69 81
+f 57 81 70
+f 58 71 59
+f 59 71 72
+f 60 73 74
+f 60 74 61
+f 60 72 73
+f 61 74 62
+f 62 74 75
+f 62 75 76
+f 62 76 63
+f 63 76 64
+f 64 76 77
+f 64 77 65
+f 65 77 78
+f 65 78 66
+f 68 79 80
+f 69 82 81
+f 70 81 98
+f 70 98 83
+f 71 84 72
+f 72 85 73
+f 72 84 86
+f 72 86 85
+f 73 85 87
+f 73 87 88
+f 73 88 89
+f 73 89 74
+f 74 89 75
+f 75 89 90
+f 75 90 91
+f 75 91 92
+f 75 92 76
+f 76 92 77
+f 77 93 94
+f 77 94 78
+f 77 92 93
+f 79 95 96
+f 79 96 80
+f 80 96 97
+f 81 82 98
+f 82 99 98
+f 82 100 101
+f 82 101 102
+f 82 102 99
+f 83 98 103
+f 85 86 104
+f 85 104 87
+f 87 105 106
+f 87 106 88
+f 88 106 107
+f 88 107 89
+f 89 107 90
+f 90 107 108
+f 90 108 91
+f 91 109 110
+f 91 110 92
+f 91 108 109
+f 92 110 93
+f 93 110 111
+f 93 111 112
+f 93 112 94
+f 95 113 114
+f 95 114 96
+f 96 114 115
+f 96 115 116
+f 96 116 97
+f 97 116 118
+f 97 118 117
+f 98 99 120
+f 98 120 119
+f 98 119 103
+f 99 102 120
+f 100 121 138
+f 100 138 122
+f 100 122 101
+f 101 122 123
+f 101 123 102
+f 102 123 120
+f 103 119 124
+f 105 125 106
+f 106 126 107
+f 106 125 126
+f 107 126 127
+f 107 127 108
+f 108 127 128
+f 108 128 109
+f 109 129 130
+f 109 130 110
+f 109 128 129
+f 110 130 111
+f 111 130 131
+f 113 132 133
+f 113 133 114
+f 114 133 134
+f 114 134 115
+f 115 134 135
+f 115 135 136
+f 115 136 116
+f 116 136 118
+f 117 118 138
+f 117 138 121
+f 118 136 137
+f 118 137 138
+f 119 120 139
+f 119 139 124
+f 120 123 137
+f 120 137 140
+f 120 140 139
+f 122 138 137
+f 122 137 123
+f 124 141 142
+f 124 139 141
+f 125 143 126
+f 126 144 145
+f 126 145 127
+f 126 143 144
+f 127 145 146
+f 127 146 128
+f 128 146 147
+f 128 147 129
+f 129 148 149
+f 129 149 150
+f 129 150 130
+f 129 147 148
+f 130 150 131
+f 132 151 133
+f 133 151 152
+f 133 152 153
+f 133 153 154
+f 133 154 134
+f 134 154 155
+f 134 155 135
+f 135 155 139
+f 135 139 140
+f 135 140 136
+f 136 140 137
+f 139 155 156
+f 139 156 157
+f 139 157 141
+f 141 157 142
+f 143 158 144
+f 144 156 145
+f 144 158 156
+f 145 156 159
+f 145 159 146
+f 146 159 160
+f 146 160 147
+f 147 160 161
+f 147 161 148
+f 148 161 162
+f 148 162 163
+f 148 163 164
+f 148 164 149
+f 152 165 153
+f 153 165 166
+f 153 166 161
+f 153 161 160
+f 153 160 154
+f 154 160 159
+f 154 159 155
+f 155 159 156
+f 156 158 167
+f 156 167 157
+f 161 166 162
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_7.obj

@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
+v 0.13114210 0.14642067 0.00264520
+v 0.13142988 0.14478991 0.00264519
+v 0.13063050 0.14642068 0.00128612
+v 0.09443449 0.14642067 0.00264520
+v 0.13178162 0.14213290 0.00264518
+v 0.13079038 0.14478992 0.00096970
+v 0.12922359 0.14478993 -0.00174353
+v 0.12901575 0.14642068 -0.00135006
+v 0.09990226 0.00280153 0.00264467
+v -0.03071675 0.14642068 0.00098611
+v 0.13218131 0.13887139 0.00264517
+v 0.13120606 0.13887140 0.00017785
+v 0.12971921 0.13887141 -0.00253539
+v 0.12628186 0.14478994 -0.00546172
+v 0.12605804 0.14642070 -0.00521580
+v 0.12818439 0.14642069 -0.00252224
+v 0.13208538 0.00280153 0.00264467
+v -0.03071675 0.00280154 0.00065278
+v -0.03071675 0.14642073 -0.01405388
+v 0.13235717 0.13565205 0.00264516
+v 0.13138192 0.13295287 -0.00019924
+v 0.12994304 0.13295288 -0.00291083
+v 0.12629785 0.13829503 -0.00653884
+v 0.12404359 0.13988363 -0.00861598
+v 0.12345206 0.14478995 -0.00817167
+v 0.12316428 0.14642071 -0.00792739
+v 0.13115809 0.00280154 0.00016915
+v 0.13210137 0.00544448 0.00264468
+v -0.03071675 0.00280159 -0.01408393
+v -0.03071675 0.14619579 -0.01405552
+v -0.02563268 0.14642073 -0.01405880
+v 0.13250106 0.13295286 0.00264515
+v 0.13002297 0.12703435 -0.00302561
+v 0.13256500 0.12952265 0.00264514
+v 0.13142988 0.12703434 -0.00031402
+v 0.12708125 0.13295289 -0.00613392
+v 0.12436335 0.13593325 -0.00884878
+v 0.12182132 0.13829505 -0.00998161
+v 0.12051032 0.14478996 -0.00997011
+v 0.12022256 0.14642072 -0.00981764
+v 0.12234891 0.14642071 -0.00851430
+v 0.12975118 0.00280155 -0.00254244
+v 0.13142988 0.12111582 -0.00031405
+v 0.13261297 0.12111581 0.00264510
+v -0.03071675 0.02561814 -0.01409204
+v -0.02563268 0.00280159 -0.01409048
+v -0.03071675 0.14478997 -0.01406045
+v -0.01974923 0.14642073 -0.01406208
+v -0.02563268 0.14478997 -0.01406373
+v 0.13002297 0.12111583 -0.00302564
+v 0.12724113 0.12703436 -0.00613394
+v 0.13259698 0.12703433 0.00264513
+v 0.12444328 0.13295290 -0.00890781
+v 0.12142162 0.13295291 -0.01045870
+v 0.11553818 0.13887145 -0.01241450
+v 0.11553818 0.14478996 -0.01195872
+v 0.11915139 0.14642072 -0.01027012
+v 0.12679346 0.00280156 -0.00608850
+v -0.03071675 0.03153666 -0.01409365
+v -0.01974923 0.02643352 -0.01409859
+v -0.01979719 0.00280159 -0.01409212
+v -0.03071675 0.13887145 -0.01407359
+v -0.01974923 0.14478997 -0.01406537
+v 0.02570363 0.14642073 -0.01406536
+v -0.02563268 0.13887145 -0.01407523
+v 0.12722514 0.12111584 -0.00613397
+v 0.12452323 0.12111585 -0.00896688
+v 0.12452323 0.12703437 -0.00896849
+v 0.12142162 0.12703438 -0.01055872
+v 0.11553818 0.13295292 -0.01261453
+v 0.10965471 0.13887145 -0.01343750
+v 0.10965471 0.14478997 -0.01318829
+v 0.11392343 0.14642072 -0.01214725
+v 0.11553818 0.14642072 -0.01171280
+v 0.12426742 0.00280157 -0.00877714
+v -0.03071675 0.03235204 -0.01409365
+v -0.01974923 0.03235204 -0.01409857
+v 0.00966803 0.02643352 -0.01410351
+v 0.01550351 0.00280159 -0.01409540
+v -0.03071675 0.13295292 -0.01407853
+v 0.02731838 0.14478997 -0.01406865
+v 0.05085218 0.14642073 -0.01406044
+v 0.05085218 0.14478997 -0.01406537
+v -0.01974923 0.13295292 -0.01408181
+v -0.02563268 0.13295292 -0.01408017
+v 0.02731838 0.13887145 -0.01407851
+v 0.01555148 0.13295292 -0.01408508
+v 0.12132571 0.00280158 -0.01034606
+v 0.12142162 0.12111586 -0.01055711
+v 0.11553818 0.12111587 -0.01268179
+v 0.11553818 0.12703439 -0.01267685
+v 0.10965471 0.13295292 -0.01354080
+v 0.10377127 0.13887145 -0.01382604
+v 0.10377127 0.14478997 -0.01369322
+v 0.10803996 0.14642073 -0.01324074
+v 0.10965471 0.14642073 -0.01303909
+v -0.03071675 0.10927881 -0.01408681
+v -0.02563268 0.10336029 -0.01409011
+v -0.01386578 0.10336029 -0.01409339
+v 0.00966803 0.09744176 -0.01409997
+v 0.01555148 0.09744176 -0.01409997
+v 0.06260310 0.03235204 -0.01410021
+v 0.06260310 0.02643352 -0.01410023
+v 0.05671965 0.00280159 -0.01409540
+v -0.01974923 0.12703439 -0.01408510
+v 0.05085218 0.13887145 -0.01407687
+v 0.05508891 0.14642073 -0.01405716
+v 0.06260310 0.14478997 -0.01405717
+v 0.06260310 0.13887145 -0.01407031
+v 0.02143493 0.13295292 -0.01408508
+v 0.01555148 0.12703439 -0.01408838
+v 0.12127774 0.00280158 -0.01036573
+v 0.11553818 0.00280159 -0.01256583
+v 0.11549021 0.00280159 -0.01257402
+v 0.10965471 0.00280159 -0.01356587
+v 0.10965471 0.12111587 -0.01358511
+v 0.10965471 0.12703439 -0.01357689
+v 0.10377127 0.13295292 -0.01388180
+v 0.09788782 0.13887145 -0.01396211
+v 0.09788782 0.14478997 -0.01388831
+v 0.10215652 0.14642073 -0.01369485
+v 0.10377127 0.14642073 -0.01360632
+v -0.02563268 0.10927881 -0.01408845
+v 0.00966803 0.10336029 -0.01409831
+v 0.01555148 0.10336029 -0.01409831
+v 0.05085218 0.10336029 -0.01409339
+v 0.06260310 0.10336029 -0.01409175
+v 0.05671965 0.09744176 -0.01409341
+v 0.06848655 0.03235204 -0.01409857
+v 0.07437000 0.02643352 -0.01409695
+v 0.06260310 0.00280159 -0.01409376
+v 0.05085218 0.13295292 -0.01408181
+v 0.06260310 0.13295292 -0.01407853
+v 0.06097236 0.14642073 -0.01405225
+v 0.06848655 0.14478997 -0.01405062
+v 0.08025345 0.13887145 -0.01405064
+v 0.08612092 0.13295292 -0.01405721
+v 0.02143493 0.12703439 -0.01408838
+v 0.10960676 0.00280159 -0.01356915
+v 0.10377127 0.00280159 -0.01392982
+v 0.10377127 0.02643352 -0.01392809
+v 0.10377127 0.10336029 -0.01391797
+v 0.10377127 0.11519734 -0.01391466
+v 0.10377127 0.12111587 -0.01391136
+v 0.10377127 0.12703439 -0.01390477
+v 0.09788782 0.13295292 -0.01399492
+v 0.09200436 0.13887145 -0.01401785
+v 0.09200436 0.14478997 -0.01397192
+v 0.09627307 0.14642073 -0.01387847
+v 0.09788782 0.14642073 -0.01383584
+v 0.05671965 0.12703439 -0.01408347
+v 0.07437000 0.10336029 -0.01408847
+v 0.08025345 0.03235204 -0.01409365
+v 0.08025345 0.02643352 -0.01409367
+v 0.08025345 0.00280159 -0.01408556
+v 0.06260310 0.12703439 -0.01408183
+v 0.06848655 0.12703439 -0.01407855
+v 0.08025345 0.12703439 -0.01407035
+v 0.06685581 0.14642073 -0.01404569
+v 0.07437000 0.14478997 -0.01404078
+v 0.08612092 0.13887145 -0.01404080
+v 0.09200436 0.13295292 -0.01403918
+v 0.09200436 0.12703439 -0.01404904
+v 0.08612092 0.12703439 -0.01406379
+v 0.09783986 0.00280159 -0.01403802
+v 0.09788782 0.02643352 -0.01403957
+v 0.09788782 0.09744176 -0.01402620
+v 0.09788782 0.10927881 -0.01402288
+v 0.09788782 0.11519734 -0.01401958
+v 0.09788782 0.12111587 -0.01401464
+v 0.09788782 0.12703439 -0.01400805
+v 0.08612092 0.14478997 -0.01401127
+v 0.08450616 0.14642073 -0.01400142
+v 0.09038961 0.14642073 -0.01396044
+v 0.07437000 0.11519734 -0.01408188
+v 0.08025345 0.10336029 -0.01408356
+v 0.08025345 0.09744176 -0.01408521
+v 0.08612092 0.02643352 -0.01408875
+v 0.08612092 0.00280159 -0.01408065
+v 0.08612092 0.12111587 -0.01406874
+v 0.07273926 0.14642073 -0.01403585
+v 0.08025345 0.14478997 -0.01402931
+v 0.09200436 0.12111587 -0.01405398
+v 0.09200436 0.00280159 -0.01406917
+v 0.09200436 0.02643352 -0.01407564
+v 0.09200436 0.09744176 -0.01406554
+v 0.09200436 0.10336029 -0.01406388
+v 0.07862272 0.14642073 -0.01402110
+v 0.08612092 0.10336029 -0.01407700
+v 0.08612092 0.09744176 -0.01407866
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 15
+f 1 15 26
+f 1 26 41
+f 1 41 40
+f 1 40 57
+f 1 57 74
+f 1 74 73
+f 1 73 96
+f 1 96 95
+f 1 95 122
+f 1 122 121
+f 1 121 150
+f 1 150 149
+f 1 149 174
+f 1 174 173
+f 1 173 188
+f 1 188 181
+f 1 181 159
+f 1 159 134
+f 1 134 107
+f 1 107 82
+f 1 82 64
+f 1 64 48
+f 1 48 31
+f 1 31 19
+f 1 19 10
+f 1 10 4
+f 1 4 9
+f 1 9 17
+f 1 17 28
+f 1 28 44
+f 1 44 52
+f 1 52 34
+f 1 34 32
+f 1 32 20
+f 1 20 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 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 10 18
+f 9 18 29
+f 9 29 46
+f 9 46 61
+f 9 61 79
+f 9 79 104
+f 9 104 131
+f 9 131 155
+f 9 155 179
+f 9 179 184
+f 9 184 165
+f 9 165 140
+f 9 140 139
+f 9 139 115
+f 9 115 114
+f 9 114 113
+f 9 113 112
+f 9 112 88
+f 9 88 75
+f 9 75 58
+f 9 58 42
+f 9 42 27
+f 9 27 17
+f 10 19 30
+f 10 30 47
+f 10 47 62
+f 10 62 80
+f 10 80 97
+f 10 97 76
+f 10 76 59
+f 10 59 45
+f 10 45 29
+f 10 29 18
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 17 27 28
+f 19 31 30
+f 20 32 21
+f 21 33 22
+f 21 32 34
+f 21 34 35
+f 21 35 33
+f 22 33 36
+f 22 36 23
+f 23 36 37
+f 23 37 24
+f 24 38 39
+f 24 39 25
+f 24 37 38
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 27 42 50
+f 27 50 43
+f 27 43 44
+f 27 44 28
+f 29 45 46
+f 30 31 47
+f 31 48 49
+f 31 49 47
+f 33 35 43
+f 33 43 50
+f 33 50 51
+f 33 51 36
+f 34 52 35
+f 35 52 44
+f 35 44 43
+f 36 51 53
+f 36 53 37
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 57
+f 39 57 40
+f 42 58 50
+f 45 59 46
+f 46 60 61
+f 46 59 60
+f 47 49 62
+f 48 63 49
+f 48 64 63
+f 49 65 62
+f 49 63 65
+f 50 58 66
+f 50 66 51
+f 51 66 67
+f 51 67 68
+f 51 68 53
+f 53 68 54
+f 54 69 70
+f 54 70 55
+f 54 68 69
+f 55 70 71
+f 55 71 72
+f 55 72 56
+f 56 72 73
+f 56 73 74
+f 56 74 57
+f 58 75 66
+f 59 76 77
+f 59 77 60
+f 60 77 78
+f 60 78 61
+f 61 78 79
+f 62 65 85
+f 62 85 80
+f 63 64 81
+f 63 81 65
+f 64 82 83
+f 64 83 81
+f 65 84 85
+f 65 81 86
+f 65 86 87
+f 65 87 84
+f 66 75 67
+f 67 75 88
+f 67 88 89
+f 67 89 69
+f 67 69 68
+f 69 89 90
+f 69 90 91
+f 69 91 70
+f 70 91 92
+f 70 92 71
+f 71 92 93
+f 71 93 94
+f 71 94 72
+f 72 94 95
+f 72 95 96
+f 72 96 73
+f 76 97 98
+f 76 98 77
+f 77 98 99
+f 77 99 100
+f 77 100 78
+f 78 100 101
+f 78 101 102
+f 78 102 103
+f 78 103 104
+f 78 104 79
+f 80 85 105
+f 80 105 97
+f 81 83 106
+f 81 106 86
+f 82 107 108
+f 82 108 83
+f 83 108 109
+f 83 109 106
+f 84 105 85
+f 84 87 111
+f 84 111 105
+f 86 110 87
+f 86 106 110
+f 87 110 138
+f 87 138 111
+f 88 112 89
+f 89 112 113
+f 89 113 90
+f 90 113 114
+f 90 114 115
+f 90 115 116
+f 90 116 91
+f 91 116 117
+f 91 117 92
+f 92 117 118
+f 92 118 93
+f 93 118 119
+f 93 119 120
+f 93 120 94
+f 94 120 121
+f 94 121 122
+f 94 122 95
+f 97 105 123
+f 97 123 98
+f 98 123 105
+f 98 105 99
+f 99 105 124
+f 99 124 100
+f 100 124 125
+f 100 125 101
+f 101 125 126
+f 101 126 127
+f 101 127 128
+f 101 128 102
+f 102 128 127
+f 102 127 152
+f 102 152 129
+f 102 129 130
+f 102 130 103
+f 103 130 131
+f 103 131 104
+f 105 111 124
+f 106 132 110
+f 106 109 133
+f 106 133 132
+f 107 134 108
+f 108 135 136
+f 108 136 109
+f 108 134 159
+f 108 159 135
+f 109 136 137
+f 109 137 133
+f 110 132 138
+f 111 138 125
+f 111 125 124
+f 115 139 116
+f 116 139 140
+f 116 140 141
+f 116 141 142
+f 116 142 143
+f 116 143 144
+f 116 144 145
+f 116 145 117
+f 117 145 118
+f 118 145 146
+f 118 146 119
+f 119 146 147
+f 119 147 148
+f 119 148 120
+f 120 148 149
+f 120 149 150
+f 120 150 121
+f 125 138 126
+f 126 151 127
+f 126 138 151
+f 127 151 156
+f 127 156 152
+f 129 152 130
+f 130 152 153
+f 130 153 154
+f 130 154 155
+f 130 155 131
+f 132 133 156
+f 132 156 151
+f 132 151 138
+f 133 157 175
+f 133 175 152
+f 133 152 156
+f 133 137 158
+f 133 158 157
+f 135 159 181
+f 135 181 160
+f 135 160 136
+f 136 160 161
+f 136 161 137
+f 137 161 162
+f 137 162 163
+f 137 163 164
+f 137 164 158
+f 140 165 166
+f 140 166 141
+f 141 166 142
+f 142 166 167
+f 142 167 168
+f 142 168 143
+f 143 168 169
+f 143 169 144
+f 144 169 170
+f 144 170 171
+f 144 171 145
+f 145 171 146
+f 146 171 162
+f 146 162 147
+f 147 162 161
+f 147 161 172
+f 147 172 148
+f 148 172 173
+f 148 173 174
+f 148 174 149
+f 152 175 158
+f 152 158 176
+f 152 176 177
+f 152 177 153
+f 153 177 178
+f 153 178 154
+f 154 178 179
+f 154 179 155
+f 157 158 175
+f 158 164 180
+f 158 180 176
+f 160 182 161
+f 160 181 182
+f 161 182 172
+f 162 171 163
+f 163 183 180
+f 163 180 164
+f 163 171 170
+f 163 170 169
+f 163 169 183
+f 165 184 185
+f 165 185 166
+f 166 185 186
+f 166 186 167
+f 167 186 187
+f 167 187 168
+f 168 187 183
+f 168 183 169
+f 172 182 188
+f 172 188 173
+f 176 180 189
+f 176 189 190
+f 176 190 177
+f 177 190 178
+f 178 190 186
+f 178 186 185
+f 178 185 184
+f 178 184 179
+f 180 183 187
+f 180 187 189
+f 181 188 182
+f 186 190 189
+f 186 189 187
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_8.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.09613670 0.00280153 0.00211719
+v 0.09613670 -0.03521805 0.00225878
+v 0.09613670 0.00280159 -0.01404650
+v -0.09618115 0.00280153 0.00279040
+v 0.09613670 -0.03869156 0.00226889
+v 0.09613670 -0.00139858 -0.01404821
+v 0.09201358 0.00274346 -0.01407012
+v 0.09195711 0.00280159 -0.01407012
+v -0.09619998 0.00280153 0.00279040
+v -0.09619998 -0.14565797 0.00312898
+v 0.09613670 -0.04107505 0.00227563
+v 0.09613670 -0.00908680 -0.01404991
+v 0.09201358 -0.00908680 -0.01407354
+v 0.08612073 0.00280159 -0.01408193
+v -0.09619998 0.00280159 -0.01394527
+v -0.09619998 -0.14567250 0.00175389
+v -0.09077782 -0.14567250 0.00253845
+v 0.09613670 -0.14567250 0.00248614
+v 0.09613670 -0.04691751 0.00228742
+v 0.09613670 -0.03869150 -0.01404834
+v 0.09201358 -0.03276183 -0.01407531
+v 0.08612073 -0.00908680 -0.01408535
+v 0.08024671 -0.01501646 -0.01409044
+v 0.08024671 0.00280159 -0.01408531
+v -0.09619998 0.00278706 -0.01403807
+v -0.09038243 0.00280159 -0.01406506
+v -0.09619998 -0.14567244 -0.01391207
+v 0.09613670 -0.14567244 -0.01391545
+v 0.09613670 -0.10968755 -0.01403848
+v 0.09201358 -0.10968755 -0.01406547
+v 0.08612073 -0.10968755 -0.01408066
+v 0.08612073 -0.03869150 -0.01408715
+v 0.08612073 -0.03276183 -0.01408713
+v 0.08024671 -0.03869150 -0.01409389
+v 0.05671295 -0.01501646 -0.01410056
+v 0.06258697 -0.00908680 -0.01409716
+v 0.06258697 0.00280159 -0.01409374
+v -0.09619998 -0.00317167 -0.01404146
+v -0.08450842 0.00280159 -0.01407181
+v -0.09034480 -0.00908680 -0.01407185
+v -0.09619998 -0.14520738 -0.01392725
+v -0.09576696 -0.14567244 -0.01392388
+v 0.09613670 -0.14552711 -0.01392050
+v 0.09201358 -0.14567244 -0.01398462
+v 0.09613670 -0.11382959 -0.01403681
+v 0.09201358 -0.11560268 -0.01406212
+v 0.08612073 -0.11560268 -0.01407899
+v 0.08024671 -0.10968755 -0.01408572
+v 0.06847983 -0.10968755 -0.01409247
+v 0.06258697 -0.10968755 -0.01409584
+v 0.05083892 -0.03869150 -0.01410233
+v 0.05083892 -0.01501646 -0.01410225
+v 0.05671295 0.00280159 -0.01409543
+v -0.09619998 -0.03276183 -0.01404326
+v -0.07863439 0.00280159 -0.01407687
+v -0.08445194 -0.00908680 -0.01407860
+v -0.08445194 -0.03869150 -0.01408040
+v -0.09034480 -0.03869150 -0.01407027
+v -0.09619998 -0.03872056 -0.01404328
+v -0.09619998 -0.13932131 -0.01399303
+v -0.09034480 -0.14520738 -0.01400992
+v -0.08987412 -0.14567244 -0.01400825
+v 0.09613670 -0.14520738 -0.01393062
+v 0.08612073 -0.14567244 -0.01402849
+v 0.09201358 -0.14520738 -0.01399305
+v 0.09613670 -0.11560268 -0.01403512
+v 0.09201358 -0.12153233 -0.01405708
+v 0.08612073 -0.13336258 -0.01406725
+v 0.06847983 -0.13927771 -0.01408077
+v 0.05671295 -0.14520738 -0.01408754
+v 0.06847983 -0.11560268 -0.01409080
+v 0.02188299 -0.14567244 -0.01410273
+v 0.01553829 -0.14520738 -0.01410441
+v 0.02141231 -0.03869150 -0.01410570
+v 0.02141231 -0.03276183 -0.01410568
+v 0.01553829 -0.00908680 -0.01410222
+v 0.05083892 -0.00908680 -0.01410053
+v 0.05083892 -0.00317167 -0.01409883
+v 0.01548181 0.00280159 -0.01409543
+v -0.07274154 0.00280159 -0.01408025
+v -0.07857791 -0.00908680 -0.01408197
+v -0.07857791 -0.01501646 -0.01408369
+v -0.07857791 -0.03869150 -0.01408546
+v -0.08445194 -0.11560268 -0.01407561
+v -0.09034480 -0.10968755 -0.01406547
+v -0.09619998 -0.10971662 -0.01403510
+v -0.09619998 -0.13339165 -0.01401832
+v -0.09034480 -0.13927771 -0.01404365
+v -0.08445194 -0.14520738 -0.01404704
+v -0.08400009 -0.14567244 -0.01404368
+v 0.09613670 -0.13927771 -0.01399303
+v 0.08612073 -0.14520738 -0.01403354
+v 0.08024671 -0.14567244 -0.01404705
+v 0.09201358 -0.13927771 -0.01403184
+v 0.09613670 -0.12153233 -0.01402840
+v 0.09201358 -0.13336258 -0.01404532
+v 0.08612073 -0.13927771 -0.01405883
+v 0.08024671 -0.13927771 -0.01406727
+v 0.06258697 -0.14520738 -0.01408247
+v 0.05718362 -0.14567244 -0.01408586
+v 0.01553829 -0.14567244 -0.01410273
+v 0.01553829 -0.03869150 -0.01410570
+v -0.01339882 -0.14567244 -0.01409598
+v -0.01974352 -0.14567244 -0.01409429
+v -0.05504415 -0.13927771 -0.01408920
+v -0.04327728 -0.10968755 -0.01409922
+v -0.04915130 -0.04460663 -0.01409898
+v -0.04327728 -0.03869150 -0.01409896
+v 0.00964544 -0.00317167 -0.01409883
+v -0.01974352 -0.00908680 -0.01409716
+v -0.01974352 -0.00317167 -0.01409545
+v -0.01980000 0.00280159 -0.01409206
+v -0.06686751 0.00280159 -0.01408193
+v -0.06681103 -0.01501646 -0.01408707
+v -0.06091818 -0.11560268 -0.01409249
+v -0.07268506 -0.10968755 -0.01408572
+v -0.07857791 -0.11560268 -0.01408068
+v -0.07857791 -0.13927771 -0.01407233
+v -0.08445194 -0.13336258 -0.01406894
+v -0.09034480 -0.11560268 -0.01406380
+v -0.09619998 -0.11564628 -0.01403343
+v -0.09619998 -0.12744746 -0.01402505
+v -0.09034480 -0.13336258 -0.01405544
+v -0.08445194 -0.13927771 -0.01406389
+v -0.07857791 -0.14520738 -0.01406054
+v -0.07810723 -0.14567244 -0.01405886
+v 0.09613670 -0.13336258 -0.01401326
+v 0.08024671 -0.14520738 -0.01405041
+v 0.07435386 -0.14567244 -0.01406055
+v 0.09613670 -0.12567438 -0.01402335
+v 0.06847983 -0.14520738 -0.01407404
+v 0.06258697 -0.14567244 -0.01408080
+v -0.05457348 -0.14567244 -0.01408417
+v -0.06681103 -0.13927771 -0.01408245
+v -0.04915130 -0.10968755 -0.01409753
+v -0.06091818 -0.01501646 -0.01408875
+v -0.06097466 0.00280159 -0.01408362
+v -0.06681103 -0.14520738 -0.01407572
+v -0.07268506 -0.14520738 -0.01406898
+v -0.09034480 -0.12744746 -0.01405879
+v -0.07268506 -0.14567244 -0.01406730
+v 0.06847983 -0.14567244 -0.01407236
+v -0.06091818 -0.14567244 -0.01407911
+v -0.06091818 -0.14520738 -0.01408079
+v -0.06681103 -0.14567244 -0.01407405
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 18
+f 1 18 28
+f 1 28 43
+f 1 43 63
+f 1 63 91
+f 1 91 127
+f 1 127 130
+f 1 130 95
+f 1 95 66
+f 1 66 45
+f 1 45 29
+f 1 29 20
+f 1 20 12
+f 1 12 6
+f 1 6 3
+f 1 3 8
+f 1 8 14
+f 1 14 24
+f 1 24 37
+f 1 37 53
+f 1 53 79
+f 1 79 112
+f 1 112 137
+f 1 137 113
+f 1 113 80
+f 1 80 55
+f 1 55 39
+f 1 39 26
+f 1 26 15
+f 1 15 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 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 9 15 25
+f 9 25 38
+f 9 38 54
+f 9 54 59
+f 9 59 86
+f 9 86 121
+f 9 121 122
+f 9 122 87
+f 9 87 60
+f 9 60 41
+f 9 41 27
+f 9 27 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 13
+f 13 21 33
+f 13 33 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 15 26 25
+f 16 27 42
+f 16 42 62
+f 16 62 90
+f 16 90 126
+f 16 126 141
+f 16 141 145
+f 16 145 143
+f 16 143 133
+f 16 133 104
+f 16 104 103
+f 16 103 101
+f 16 101 72
+f 16 72 100
+f 16 100 132
+f 16 132 142
+f 16 142 129
+f 16 129 93
+f 16 93 64
+f 16 64 44
+f 16 44 28
+f 16 28 18
+f 16 18 17
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 25 26 38
+f 26 39 40
+f 26 40 38
+f 27 41 42
+f 28 44 43
+f 29 45 30
+f 30 46 47
+f 30 47 31
+f 30 45 46
+f 31 47 48
+f 31 48 34
+f 31 34 32
+f 32 34 33
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 35 37 36
+f 35 52 53
+f 35 53 37
+f 38 40 54
+f 39 55 56
+f 39 56 40
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 54
+f 41 60 61
+f 41 61 62
+f 41 62 42
+f 43 44 63
+f 44 64 65
+f 44 65 63
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 47
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 48 71 49
+f 48 70 71
+f 49 71 50
+f 50 71 70
+f 50 70 72
+f 50 72 73
+f 50 73 51
+f 51 73 74
+f 51 74 75
+f 51 75 52
+f 52 75 76
+f 52 76 77
+f 52 77 53
+f 53 77 78
+f 53 78 76
+f 53 76 79
+f 55 80 81
+f 55 81 56
+f 56 81 82
+f 56 82 83
+f 56 83 57
+f 57 83 117
+f 57 117 84
+f 57 84 58
+f 58 84 85
+f 58 85 59
+f 59 85 86
+f 60 87 88
+f 60 88 61
+f 61 88 89
+f 61 89 62
+f 62 89 90
+f 63 65 91
+f 64 92 65
+f 64 93 92
+f 65 92 94
+f 65 94 91
+f 66 95 96
+f 66 96 67
+f 67 96 68
+f 68 96 97
+f 68 97 98
+f 68 98 99
+f 68 99 69
+f 69 99 70
+f 70 99 100
+f 70 100 72
+f 72 101 73
+f 73 102 74
+f 73 101 103
+f 73 103 104
+f 73 104 105
+f 73 105 106
+f 73 106 102
+f 74 102 75
+f 75 102 107
+f 75 107 108
+f 75 108 76
+f 76 109 79
+f 76 78 77
+f 76 108 110
+f 76 110 111
+f 76 111 109
+f 79 109 112
+f 80 113 82
+f 80 82 81
+f 82 113 114
+f 82 114 107
+f 82 107 83
+f 83 115 116
+f 83 116 117
+f 83 107 115
+f 84 117 118
+f 84 118 119
+f 84 119 120
+f 84 120 85
+f 85 120 121
+f 85 121 86
+f 87 122 123
+f 87 123 88
+f 88 123 124
+f 88 124 89
+f 89 124 125
+f 89 125 126
+f 89 126 90
+f 91 94 127
+f 92 97 94
+f 92 93 128
+f 92 128 97
+f 93 129 128
+f 94 97 96
+f 94 96 127
+f 95 130 96
+f 96 130 127
+f 97 128 131
+f 97 131 98
+f 98 131 99
+f 99 131 142
+f 99 142 132
+f 99 132 100
+f 102 106 107
+f 104 133 105
+f 105 133 134
+f 105 134 115
+f 105 115 135
+f 105 135 106
+f 106 135 107
+f 107 135 115
+f 107 114 136
+f 107 136 108
+f 108 136 110
+f 109 111 112
+f 110 136 137
+f 110 137 111
+f 111 137 112
+f 113 137 136
+f 113 136 114
+f 115 134 117
+f 115 117 116
+f 117 134 118
+f 118 134 138
+f 118 138 139
+f 118 139 125
+f 118 125 124
+f 118 124 119
+f 119 124 123
+f 119 123 140
+f 119 140 120
+f 120 140 121
+f 121 140 123
+f 121 123 122
+f 125 139 141
+f 125 141 126
+f 128 129 142
+f 128 142 131
+f 133 143 144
+f 133 144 134
+f 134 144 138
+f 138 144 143
+f 138 143 145
+f 138 145 141
+f 138 141 139
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/mesh/tray_057_collision_9.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.08445921 0.17995653 0.01154212
+v -0.07857834 0.17979895 0.01154212
+v -0.08445921 0.17980879 0.01013858
+v -0.08744302 0.17973985 0.01013858
+v -0.08744302 0.17987773 0.01154212
+v -0.07857834 0.17964467 0.01013858
+v -0.07269746 0.17947725 0.01154212
+v -0.08445921 0.17860736 0.00471491
+v -0.07857834 0.17845307 0.00471491
+v -0.08744302 0.17914570 0.00745932
+v -0.08744302 0.15792316 0.01154204
+v -0.07269746 0.17931639 0.01013858
+v 0.00116911 0.17193699 -0.00496453
+v -0.04332778 0.17760941 0.01154211
+v -0.08445921 0.17758973 0.00143162
+v -0.08744302 0.17801649 0.00309331
+v -0.08744302 0.17851872 0.00471491
+v -0.07857834 0.17752079 0.00156947
+v -0.07441488 0.17741903 0.00180757
+v -0.08744302 0.14642395 0.00256938
+v -0.04713560 0.15897689 0.01154204
+v 0.00116911 0.17271825 -0.00071130
+v 0.00116911 0.17228494 -0.00307978
+v 0.00116911 0.17138222 -0.00647584
+v -0.04313695 0.17759628 0.01154211
+v -0.08445921 0.17630621 -0.00127771
+v -0.08744302 0.17753722 0.00155944
+v -0.07857834 0.17630950 -0.00114237
+v 0.00116911 0.17093578 -0.00767887
+v 0.00116911 0.14642396 0.00061946
+v -0.08744302 0.14642401 -0.01396230
+v -0.04239100 0.15911806 0.01154204
+v -0.03894748 0.17706776 0.01154211
+v 0.00116911 0.17220285 0.00290030
+v -0.08445921 0.17334526 -0.00585927
+v -0.08744302 0.17621758 -0.00115490
+v -0.08744302 0.17690039 0.00021856
+v -0.07269746 0.17325334 -0.00605477
+v -0.07857834 0.17334854 -0.00600213
+v 0.00116911 0.16797809 -0.01079173
+v -0.05504616 0.17127389 -0.00864631
+v 0.00116911 0.14642401 -0.01406255
+v 0.00116911 0.16254848 0.00544669
+v -0.03258954 0.16262067 0.01154206
+v -0.03741221 0.15974177 0.01154205
+v -0.08744302 0.15071120 -0.01389211
+v -0.08445921 0.15071120 -0.01392720
+v -0.08445921 0.14642401 -0.01398736
+v -0.03703923 0.17657536 0.01154211
+v 0.00116911 0.17054510 0.00369480
+v -0.08445921 0.17110320 -0.00857363
+v -0.08744302 0.17325663 -0.00570889
+v -0.08744302 0.17475352 -0.00341561
+v -0.07857834 0.17127718 -0.00871398
+v -0.06092703 0.17131985 -0.00871899
+v -0.06681659 0.17134612 -0.00876160
+v -0.07269746 0.17134283 -0.00876661
+v 0.00116911 0.16254855 -0.01329806
+v -0.05504616 0.16831292 -0.01072907
+v -0.00210961 0.15071120 -0.01405252
+v 0.00116911 0.15071120 -0.01405252
+v -0.02138292 0.14642401 -0.01406004
+v 0.00116911 0.16584100 0.00502564
+v -0.03289313 0.17377523 0.01154210
+v -0.03117571 0.16846385 0.01154208
+v -0.08744302 0.15662987 -0.01354621
+v -0.08445921 0.15662987 -0.01362892
+v -0.07857834 0.15662987 -0.01372165
+v -0.07269746 0.15662987 -0.01378431
+v -0.06681659 0.15662987 -0.01383193
+v -0.07857834 0.15071120 -0.01396480
+v -0.07857834 0.14642401 -0.01401243
+v -0.03407277 0.17472721 0.01154210
+v 0.00116911 0.16846387 0.00468980
+v -0.08445921 0.16814551 -0.01040826
+v -0.08744302 0.16796168 -0.01030550
+v -0.08744302 0.17091937 -0.00842074
+v -0.08744302 0.17215037 -0.00704728
+v -0.07857834 0.16831620 -0.01053107
+v -0.07269746 0.16838514 -0.01061378
+v -0.06092703 0.16835888 -0.01070651
+v -0.06681659 0.16838843 -0.01067142
+v 0.00116911 0.15662987 -0.01395223
+v -0.00799048 0.15662987 -0.01394722
+v -0.01976091 0.15662987 -0.01393970
+v -0.00210961 0.16254855 -0.01329556
+v -0.01976091 0.15071120 -0.01405001
+v -0.02726380 0.14642401 -0.01405754
+v -0.08744302 0.16254855 -0.01252361
+v -0.08445921 0.16254855 -0.01268402
+v -0.07857834 0.16254855 -0.01287199
+v -0.07269746 0.16254855 -0.01299731
+v -0.06681659 0.16254855 -0.01308753
+v -0.06092703 0.16254855 -0.01314518
+v -0.05504616 0.16254855 -0.01318027
+v -0.06092703 0.15662987 -0.01385950
+v -0.07269746 0.15071120 -0.01398986
+v -0.06681659 0.15071120 -0.01400740
+v -0.07269746 0.14642401 -0.01402746
+v -0.01388003 0.16254855 -0.01327551
+v -0.01976091 0.16254855 -0.01326548
+v -0.03741221 0.16254855 -0.01323290
+v -0.04328441 0.16254855 -0.01322037
+v -0.04916529 0.16254855 -0.01320533
+v -0.05504616 0.15071120 -0.01402495
+v -0.06092703 0.15071120 -0.01401743
+v -0.04916529 0.15662987 -0.01389208
+v -0.06092703 0.14642401 -0.01404250
+v -0.05504616 0.15662987 -0.01387955
+v -0.06681659 0.14642401 -0.01403498
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 32
+f 1 32 45
+f 1 45 44
+f 1 44 65
+f 1 65 64
+f 1 64 73
+f 1 73 49
+f 1 49 33
+f 1 33 25
+f 1 25 14
+f 1 14 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 8 4
+f 3 6 9
+f 3 9 8
+f 4 10 17
+f 4 17 16
+f 4 16 27
+f 4 27 37
+f 4 37 36
+f 4 36 53
+f 4 53 52
+f 4 52 78
+f 4 78 77
+f 4 77 76
+f 4 76 89
+f 4 89 66
+f 4 66 46
+f 4 46 31
+f 4 31 20
+f 4 20 11
+f 4 11 5
+f 4 8 10
+f 6 7 12
+f 6 12 13
+f 6 13 9
+f 7 14 12
+f 8 15 16
+f 8 16 17
+f 8 17 10
+f 8 9 18
+f 8 18 15
+f 9 19 18
+f 9 13 19
+f 11 20 21
+f 12 14 22
+f 12 22 23
+f 12 23 13
+f 13 23 22
+f 13 22 34
+f 13 34 50
+f 13 50 74
+f 13 74 63
+f 13 63 43
+f 13 43 30
+f 13 30 42
+f 13 42 61
+f 13 61 83
+f 13 83 58
+f 13 58 40
+f 13 40 29
+f 13 29 24
+f 13 24 18
+f 13 18 19
+f 14 25 22
+f 15 26 27
+f 15 27 16
+f 15 18 28
+f 15 28 26
+f 18 24 29
+f 18 29 28
+f 20 30 21
+f 20 31 48
+f 20 48 72
+f 20 72 99
+f 20 99 110
+f 20 110 108
+f 20 108 88
+f 20 88 62
+f 20 62 42
+f 20 42 30
+f 21 30 32
+f 22 25 33
+f 22 33 34
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 26 28 38
+f 26 38 39
+f 26 39 35
+f 28 29 38
+f 29 40 41
+f 29 41 38
+f 30 43 44
+f 30 44 45
+f 30 45 32
+f 31 46 47
+f 31 47 48
+f 33 49 34
+f 34 49 50
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 35 39 54
+f 35 54 51
+f 38 41 55
+f 38 55 39
+f 39 55 56
+f 39 56 57
+f 39 57 54
+f 40 58 59
+f 40 59 56
+f 40 56 55
+f 40 55 41
+f 42 60 61
+f 42 62 60
+f 43 63 64
+f 43 64 65
+f 43 65 44
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 47 68 69
+f 47 69 70
+f 47 70 71
+f 47 71 48
+f 48 71 97
+f 48 97 72
+f 49 73 74
+f 49 74 50
+f 51 54 75
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 52
+f 54 79 75
+f 54 57 80
+f 54 80 79
+f 56 59 81
+f 56 81 57
+f 57 81 82
+f 57 82 80
+f 58 83 84
+f 58 84 85
+f 58 85 86
+f 58 86 81
+f 58 81 59
+f 60 83 61
+f 60 62 87
+f 60 87 83
+f 62 88 87
+f 63 74 64
+f 64 74 73
+f 66 89 90
+f 66 90 91
+f 66 91 67
+f 67 91 92
+f 67 92 68
+f 68 92 93
+f 68 93 69
+f 69 93 94
+f 69 94 70
+f 70 94 95
+f 70 95 96
+f 70 96 71
+f 71 96 97
+f 72 97 98
+f 72 98 99
+f 75 90 89
+f 75 89 76
+f 75 79 90
+f 79 91 90
+f 79 80 92
+f 79 92 91
+f 80 82 93
+f 80 93 92
+f 81 86 100
+f 81 100 101
+f 81 101 102
+f 81 102 103
+f 81 103 104
+f 81 104 82
+f 82 104 95
+f 82 95 94
+f 82 94 93
+f 83 87 84
+f 84 87 85
+f 85 87 105
+f 85 105 106
+f 85 106 107
+f 85 107 86
+f 86 107 100
+f 87 88 108
+f 87 108 105
+f 95 104 96
+f 96 104 109
+f 96 109 97
+f 97 109 98
+f 98 109 107
+f 98 107 106
+f 98 106 99
+f 99 106 105
+f 99 105 110
+f 100 107 101
+f 101 107 102
+f 102 107 109
+f 102 109 103
+f 103 109 104
+f 105 108 110
+

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/mjcf/tray_057.xml

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_057">
+  <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_057.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_057_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_057_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_057_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_057_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_057_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_057_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_057_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_057_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_057_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_057_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_057_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_057_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_057_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_057_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_057_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_057_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_057_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_057_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_057_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_057_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_057_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_057_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tray_057_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tray_057_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_057">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/tray_057.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_057">
+   <link name="tray_057">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_057.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_057_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>aae74f42552b5364b0afc6e325e1bf3e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>wooden serving tray</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular wooden tray with rounded corners and side handles</description>
+         <min_height>0.0530</min_height>
+         <max_height>0.0530</max_height>
+         <real_height>0.0530</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200707</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.132953 -0.179906 -0.012285</min>
+            <max>0.134653 0.179484 0.040667</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/aae74f42552b5364b0afc6e325e1bf3e/tray_057.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7bccdaffd43b272b7c02e4eb3f5d72aa7a7b17b3e634817c33cbf25b3402cfd
+size 4303246

dataset/kitchen_supplies/tableware/aae74f42552b5364b0afc6e325e1bf3e/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f3d829fddc613fceacc44c2e67f0f3c987ade770cc83966dc2906e588612ca8
+size 286550