Add asset kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2

.gitattributes

@@ -4212,5 +4212,5 @@ dataset/kitchen_supplies/tableware/57bf72d87cce5c8684c8e217df6cb481/spoon_016.us
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/5ec47cd32a0e549e875cf3c36ba307e7.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/mesh/tray_051.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/5e20f92041125bd68fcccc423a564ed9/tray_051.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_042_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_042_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c13130af6f1ef2d639d591e089ad5d10d85e4af21c27bce1aceba9abb12fd238
+size 20070504

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.mtl

@@ -0,0 +1,6 @@
+newmtl tray_042_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/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_0.obj

@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
+v -0.00002439 -0.15875414 -0.01094377
+v -0.00002439 -0.16136537 -0.01087174
+v -0.00002439 -0.15875417 -0.00231907
+v 0.01315530 -0.15875414 -0.01094377
+v 0.00945644 -0.16136537 -0.01087174
+v 0.03465408 -0.16769885 -0.00967213
+v 0.00315369 -0.16769885 -0.00966935
+v -0.00002439 -0.16769885 -0.00966658
+v -0.00002439 -0.16970476 0.00970505
+v 0.12283913 -0.15875424 0.01698330
+v 0.04095682 -0.15875414 -0.01094099
+v 0.04095682 -0.16136537 -0.01086897
+v 0.04095682 -0.16769885 -0.00966935
+v 0.03465408 -0.17202652 -0.00788237
+v 0.00315369 -0.17201987 -0.00787682
+v -0.00002439 -0.16984439 -0.00877724
+v -0.00002439 -0.17214968 0.01229827
+v 0.12542965 -0.15875424 0.01730469
+v -0.00002439 -0.17374302 0.01365582
+v -0.00002439 -0.17531643 0.01499400
+v 0.05354897 -0.15875414 -0.01093545
+v 0.04724622 -0.16136537 -0.01086620
+v 0.05985171 -0.16136537 -0.01085512
+v 0.06615446 -0.16136537 -0.01084681
+v 0.04724622 -0.16769885 -0.00966104
+v 0.04724622 -0.17200988 -0.00787682
+v 0.04095682 -0.17201987 -0.00787959
+v 0.04095682 -0.17518662 -0.00562438
+v 0.03465408 -0.17518994 -0.00562715
+v 0.02835133 -0.17518994 -0.00562715
+v 0.00315369 -0.17518662 -0.00562438
+v -0.00002439 -0.17518329 -0.00562438
+v -0.00002439 -0.17358994 -0.00675753
+v -0.00002439 -0.17201654 -0.00787405
+v 0.09764149 -0.18036258 0.01735448
+v 0.11023364 -0.17403243 0.01731571
+v 0.12283913 -0.16769895 0.01679487
+v 0.12914188 -0.15875424 0.01682261
+v -0.00002439 -0.17785447 0.01597199
+v -0.00002439 -0.18036258 0.01693613
+v -0.00002439 -0.18669275 0.01703029
+v 0.06615446 -0.15875414 -0.01092714
+v 0.07244386 -0.16136537 -0.01083849
+v 0.05354897 -0.16769885 -0.00964996
+v 0.05985171 -0.17198993 -0.00785743
+v 0.06615446 -0.17514337 -0.00560222
+v 0.04095682 -0.18536546 0.00190314
+v 0.06615446 -0.18534550 0.00192531
+v 0.03465408 -0.18536546 0.00190314
+v -0.00002439 -0.18536213 0.00190868
+v 0.00945644 -0.18669275 0.01703306
+v 0.05354897 -0.18669275 0.01702198
+v 0.06615446 -0.18669275 0.01701367
+v 0.07244386 -0.18669275 0.01699982
+v 0.07873325 -0.18669275 0.01693610
+v 0.08503599 -0.18669275 0.01670337
+v 0.10393089 -0.18036258 0.01699985
+v 0.11653638 -0.17403243 0.01660091
+v 0.12231835 -0.17361995 0.01472248
+v 0.12871457 -0.16710684 0.01465048
+v 0.12914188 -0.16136547 0.01648183
+v 0.13179918 -0.15875424 0.01605240
+v -0.00002439 -0.18898797 0.01605229
+v 0.07244386 -0.15875414 -0.01091883
+v 0.07873325 -0.15875414 -0.01089944
+v 0.07873325 -0.16136537 -0.01080802
+v 0.06615446 -0.16769885 -0.00962226
+v 0.06615446 -0.17197662 -0.00784635
+v 0.07244386 -0.17511010 -0.00558282
+v 0.07244386 -0.18532221 0.00194193
+v 0.05985171 -0.18851891 0.00427472
+v 0.04724622 -0.18852888 0.00426917
+v 0.04095682 -0.18853221 0.00426917
+v 0.06615446 -0.18851225 0.00428026
+v 0.03465408 -0.18853221 0.00426917
+v -0.00002439 -0.18852888 0.00426917
+v -0.00002439 -0.19124660 0.01508813
+v 0.00945644 -0.19124660 0.01508813
+v 0.02204858 -0.19124660 0.01508536
+v 0.04095682 -0.19124327 0.01508259
+v 0.05985171 -0.19122997 0.01507428
+v 0.06615446 -0.19122664 0.01506874
+v 0.05354897 -0.19123661 0.01507705
+v 0.07244386 -0.19120336 0.01505489
+v 0.07873325 -0.19110688 0.01498562
+v 0.08503599 -0.19083079 0.01475013
+v 0.09133875 -0.18669275 0.01612987
+v 0.10393089 -0.18514264 0.01506045
+v 0.11034046 -0.18068858 0.01554531
+v 0.11653638 -0.17851309 0.01466151
+v 0.11987471 -0.17735218 0.01380542
+v 0.12633768 -0.17123491 0.01397999
+v 0.13233331 -0.16459873 0.01368911
+v 0.13341492 -0.16136546 0.01453691
+v 0.13433630 -0.15875423 0.01489986
+v 0.08503599 -0.15875414 -0.01083571
+v 0.07244386 -0.16769885 -0.00959178
+v 0.08503599 -0.16136537 -0.01071382
+v 0.07244386 -0.17194335 -0.00782418
+v 0.07873325 -0.17182028 -0.00774384
+v 0.07873325 -0.17498703 -0.00549971
+v 0.07873325 -0.18522907 0.00201396
+v 0.07244386 -0.18848897 0.00429688
+v 0.06615446 -0.19133639 0.00687625
+v 0.05985171 -0.19133970 0.00686793
+v 0.04724622 -0.19134635 0.00686239
+v -0.00002439 -0.19134968 0.00686239
+v -0.00002439 -0.18992930 0.00555470
+v 0.07244386 -0.19131641 0.00689287
+v -0.00002439 -0.19199835 0.01304623
+v 0.01575918 -0.19273347 0.01103482
+v 0.03465408 -0.19273017 0.01103482
+v 0.04095682 -0.19272684 0.01103482
+v 0.05354897 -0.19272018 0.01103482
+v 0.06615446 -0.19270023 0.01103482
+v 0.07244386 -0.19266030 0.01103482
+v 0.07873325 -0.19247402 0.01103482
+v 0.08503599 -0.19194511 0.01103482
+v 0.09133875 -0.19029856 0.01417108
+v 0.09714742 -0.18696884 0.01520174
+v 0.10829741 -0.18416799 0.01432071
+v 0.09471713 -0.18992933 0.01372503
+v 0.12010171 -0.17753179 0.01103488
+v 0.12325309 -0.17470434 0.01103489
+v 0.12664481 -0.17154093 0.01103490
+v 0.11226334 -0.18287068 0.01103486
+v 0.11653638 -0.18004323 0.01103487
+v 0.12979619 -0.16794176 0.01103491
+v 0.13246684 -0.16477501 0.01103492
+v 0.13475025 -0.16136545 0.01103494
+v 0.13639271 -0.15875422 0.01103495
+v 0.13579180 -0.15875423 0.01260308
+v 0.09133875 -0.15875414 -0.01066117
+v 0.07873325 -0.16769886 -0.00948650
+v 0.09133875 -0.16136537 -0.01045893
+v 0.08503599 -0.16769886 -0.00918728
+v 0.08503599 -0.17147433 -0.00751942
+v 0.08503599 -0.17464108 -0.00526144
+v 0.08503599 -0.18495298 0.00222452
+v 0.07873325 -0.18839582 0.00437446
+v 0.07873325 -0.19122994 0.00696767
+v -0.00002439 -0.19273347 0.01103482
+v 0.08503599 -0.19097379 0.00720871
+v 0.09133875 -0.19046154 0.00774342
+v 0.09511772 -0.19004574 0.00821165
+v 0.09133875 -0.19090063 0.01103483
+v 0.10393089 -0.18692557 0.01103484
+v 0.10911196 -0.18457713 0.01103485
+v 0.09513107 -0.19005239 0.01103483
+v 0.09828244 -0.18904450 0.01103484
+v 0.12004830 -0.17748854 0.00814520
+v 0.12649793 -0.17139456 0.00797899
+v 0.13248020 -0.16479164 0.00823390
+v 0.10856448 -0.18428772 0.00765479
+v 0.13362857 -0.16136544 0.00726977
+v 0.13440306 -0.15875420 0.00661593
+v 0.09764149 -0.15875414 -0.01025113
+v 0.09764149 -0.16136537 -0.00986603
+v 0.09124527 -0.16810136 -0.00838382
+v 0.08908204 -0.17110843 -0.00728116
+v 0.09133875 -0.18440080 0.00263179
+v 0.08503599 -0.18811973 0.00461549
+v 0.09133875 -0.18756755 0.00515021
+v 0.09555838 -0.18387522 0.00300859
+v 0.09744119 -0.18662285 0.00585392
+v 0.10393089 -0.18531225 0.00673497
+v 0.11715063 -0.17438500 0.00428862
+v 0.11966105 -0.17084901 0.00326353
+v 0.12242517 -0.17371639 0.00695665
+v 0.11653638 -0.17872263 0.00713395
+v 0.11266393 -0.17673010 0.00353502
+v 0.12341332 -0.16832094 0.00405037
+v 0.12589703 -0.16442239 0.00330512
+v 0.12880803 -0.16721992 0.00703426
+v 0.12940894 -0.16193424 0.00442165
+v 0.10393089 -0.18229187 0.00414175
+v 0.11062087 -0.18058209 0.00559352
+v 0.13094457 -0.15875419 0.00388695
+v 0.13240007 -0.15875420 0.00497577
+v 0.10403771 -0.15875415 -0.00927590
+v 0.10410448 -0.16167473 -0.00848076
+v 0.09764149 -0.16643150 -0.00811507
+v 0.09327497 -0.17048307 -0.00687943
+v 0.09450347 -0.17719910 -0.00193403
+v 0.09976466 -0.18318001 0.00349344
+v 0.11851267 -0.16329806 -0.00132446
+v 0.12169075 -0.16662447 0.00213317
+v 0.11546812 -0.17251221 0.00226890
+v 0.11431973 -0.16536374 -0.00241052
+v 0.10847100 -0.17800411 0.00271771
+v 0.10741609 -0.17108517 -0.00206977
+v 0.10632112 -0.16398992 -0.00682676
+v 0.11162237 -0.16958829 -0.00118872
+v 0.12748607 -0.16020117 0.00234375
+v 0.12040883 -0.15907683 -0.00236062
+v 0.10393089 -0.17912512 0.00195026
+v 0.12784661 -0.15875419 0.00196419
+v 0.10931225 -0.15875415 -0.00802361
+v 0.10889831 -0.15976870 -0.00782969
+v 0.10212820 -0.16533379 -0.00757205
+v 0.09764149 -0.16959825 -0.00630869
+v 0.09701389 -0.17419536 -0.00336085
+v 0.09869640 -0.17641074 -0.00140763
+v 0.11395920 -0.15875416 -0.00607315
+v 0.11254375 -0.15875416 -0.00678241
+v 0.11068765 -0.16167474 -0.00611195
+v 0.10393089 -0.17519329 -0.00064572
+v 0.10393089 -0.17202654 -0.00270145
+v 0.10410448 -0.16754585 -0.00548584
+v 0.12644452 -0.15875418 0.00109978
+v 0.12008835 -0.15875417 -0.00268755
+f 1 2 8
+f 1 8 16
+f 1 16 34
+f 1 34 33
+f 1 33 32
+f 1 32 50
+f 1 50 76
+f 1 76 108
+f 1 108 107
+f 1 107 142
+f 1 142 110
+f 1 110 77
+f 1 77 63
+f 1 63 41
+f 1 41 40
+f 1 40 39
+f 1 39 20
+f 1 20 19
+f 1 19 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 18
+f 1 18 38
+f 1 38 62
+f 1 62 95
+f 1 95 132
+f 1 132 131
+f 1 131 156
+f 1 156 179
+f 1 179 178
+f 1 178 197
+f 1 197 210
+f 1 210 211
+f 1 211 204
+f 1 204 205
+f 1 205 198
+f 1 198 180
+f 1 180 157
+f 1 157 133
+f 1 133 96
+f 1 96 65
+f 1 65 64
+f 1 64 42
+f 1 42 21
+f 1 21 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 15 16
+f 7 16 8
+f 7 14 15
+f 9 17 10
+f 10 17 19
+f 10 19 20
+f 10 20 18
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 43
+f 13 43 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 16
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 20 39
+f 18 39 40
+f 18 40 41
+f 18 41 35
+f 21 42 22
+f 22 42 23
+f 23 42 24
+f 24 42 64
+f 24 64 43
+f 25 44 26
+f 25 43 44
+f 26 28 27
+f 26 44 45
+f 26 45 46
+f 26 46 28
+f 28 47 29
+f 28 46 48
+f 28 48 47
+f 29 47 49
+f 29 49 30
+f 30 49 31
+f 31 50 32
+f 31 49 50
+f 35 41 51
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 36 57 58
+f 36 58 37
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 37 61 38
+f 38 61 62
+f 41 63 51
+f 43 64 65
+f 43 65 66
+f 43 66 97
+f 43 97 67
+f 43 67 44
+f 44 67 45
+f 45 67 68
+f 45 68 46
+f 46 68 69
+f 46 69 70
+f 46 70 48
+f 47 71 72
+f 47 72 73
+f 47 73 75
+f 47 75 49
+f 47 48 71
+f 48 70 103
+f 48 103 74
+f 48 74 71
+f 49 75 76
+f 49 76 50
+f 51 63 77
+f 51 77 78
+f 51 78 79
+f 51 79 80
+f 51 80 52
+f 52 80 53
+f 53 81 82
+f 53 82 54
+f 53 80 83
+f 53 83 81
+f 54 82 84
+f 54 84 55
+f 55 84 85
+f 55 85 56
+f 56 85 86
+f 56 86 87
+f 56 87 57
+f 57 88 89
+f 57 89 58
+f 57 87 88
+f 58 90 59
+f 58 89 90
+f 59 90 91
+f 59 91 92
+f 59 92 60
+f 60 92 93
+f 60 93 94
+f 60 94 61
+f 61 94 95
+f 61 95 62
+f 65 96 66
+f 66 96 98
+f 66 98 97
+f 67 97 68
+f 68 97 99
+f 68 99 69
+f 69 99 100
+f 69 100 101
+f 69 101 102
+f 69 102 70
+f 70 102 103
+f 71 74 104
+f 71 104 105
+f 71 105 72
+f 72 106 73
+f 72 105 106
+f 73 106 107
+f 73 107 108
+f 73 108 75
+f 74 103 109
+f 74 109 104
+f 75 108 76
+f 77 110 78
+f 78 110 79
+f 79 110 111
+f 79 111 112
+f 79 112 80
+f 80 112 113
+f 80 113 114
+f 80 114 83
+f 81 83 82
+f 82 115 84
+f 82 83 114
+f 82 114 115
+f 84 115 116
+f 84 116 85
+f 85 116 117
+f 85 117 86
+f 86 117 118
+f 86 118 119
+f 86 119 120
+f 86 120 87
+f 87 120 88
+f 88 121 89
+f 88 120 119
+f 88 119 122
+f 88 122 121
+f 89 121 90
+f 90 121 91
+f 91 123 124
+f 91 124 125
+f 91 125 92
+f 91 121 126
+f 91 126 127
+f 91 127 123
+f 92 125 93
+f 93 128 129
+f 93 129 130
+f 93 130 131
+f 93 131 132
+f 93 132 94
+f 93 125 128
+f 94 132 95
+f 96 133 98
+f 97 98 134
+f 97 134 99
+f 98 133 135
+f 98 135 134
+f 99 134 100
+f 100 134 136
+f 100 136 137
+f 100 137 101
+f 101 137 138
+f 101 138 139
+f 101 139 102
+f 102 139 140
+f 102 140 103
+f 103 140 141
+f 103 141 109
+f 104 109 115
+f 104 115 114
+f 104 114 105
+f 105 114 106
+f 106 114 113
+f 106 113 112
+f 106 112 111
+f 106 111 107
+f 107 111 142
+f 109 116 115
+f 109 141 116
+f 110 142 111
+f 116 141 117
+f 117 141 143
+f 117 143 118
+f 118 143 144
+f 118 144 145
+f 118 145 146
+f 118 146 122
+f 118 122 119
+f 121 147 148
+f 121 148 126
+f 121 122 147
+f 122 146 149
+f 122 149 150
+f 122 150 147
+f 123 127 151
+f 123 151 124
+f 124 151 125
+f 125 151 152
+f 125 152 153
+f 125 153 128
+f 126 151 127
+f 126 148 154
+f 126 154 151
+f 128 153 129
+f 129 153 130
+f 130 153 131
+f 131 153 155
+f 131 155 156
+f 133 157 135
+f 134 135 136
+f 135 157 158
+f 135 158 136
+f 136 158 159
+f 136 159 160
+f 136 160 137
+f 137 160 138
+f 138 160 161
+f 138 161 139
+f 139 161 162
+f 139 162 140
+f 140 162 143
+f 140 143 141
+f 143 162 144
+f 144 163 145
+f 144 162 163
+f 145 163 164
+f 145 164 165
+f 145 165 166
+f 145 166 154
+f 145 154 147
+f 145 147 150
+f 145 150 149
+f 145 149 146
+f 147 154 148
+f 151 167 168
+f 151 168 169
+f 151 169 152
+f 151 154 170
+f 151 170 171
+f 151 171 167
+f 152 172 173
+f 152 173 174
+f 152 174 153
+f 152 169 168
+f 152 168 172
+f 153 174 173
+f 153 173 175
+f 153 175 155
+f 154 166 176
+f 154 176 177
+f 154 177 170
+f 155 175 178
+f 155 178 179
+f 155 179 156
+f 157 180 158
+f 158 180 181
+f 158 181 182
+f 158 182 159
+f 159 183 160
+f 159 182 183
+f 160 183 184
+f 160 184 164
+f 160 164 161
+f 161 163 162
+f 161 164 163
+f 164 185 165
+f 164 184 185
+f 165 185 166
+f 166 185 176
+f 167 171 168
+f 168 186 187
+f 168 187 173
+f 168 173 172
+f 168 171 188
+f 168 188 189
+f 168 189 186
+f 170 177 171
+f 171 177 190
+f 171 190 191
+f 171 191 192
+f 171 192 193
+f 171 193 188
+f 173 194 178
+f 173 178 175
+f 173 187 186
+f 173 186 195
+f 173 195 194
+f 176 196 190
+f 176 190 177
+f 176 185 196
+f 178 194 197
+f 180 198 181
+f 181 198 199
+f 181 199 200
+f 181 200 182
+f 182 200 201
+f 182 201 183
+f 183 201 202
+f 183 202 203
+f 183 203 185
+f 183 185 184
+f 185 203 196
+f 186 189 204
+f 186 204 195
+f 188 193 189
+f 189 205 204
+f 189 193 192
+f 189 192 206
+f 189 206 205
+f 190 196 207
+f 190 207 208
+f 190 208 191
+f 191 208 209
+f 191 209 192
+f 192 199 205
+f 192 205 206
+f 192 209 200
+f 192 200 199
+f 194 210 197
+f 194 195 210
+f 195 204 211
+f 195 211 210
+f 196 203 201
+f 196 201 207
+f 198 205 199
+f 200 208 201
+f 200 209 208
+f 201 208 207
+f 201 203 202
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_1.obj

@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
+v 0.04356007 0.15899234 -0.01093382
+v 0.04095542 0.16161439 -0.01085349
+v 0.04724665 0.16161439 -0.01085349
+v 0.04986465 0.15899234 -0.01093105
+v -0.00002438 0.15899234 -0.01091997
+v 0.00315462 0.16161439 -0.01084242
+v 0.03465083 0.16794658 -0.00961274
+v 0.02205502 0.16794658 -0.00960997
+v 0.04095542 0.16794658 -0.00961274
+v 0.05985582 0.16161439 -0.01084242
+v 0.06246047 0.15899234 -0.01092274
+v -0.00002438 0.15899231 -0.00232352
+v -0.00002438 0.16161439 -0.01083965
+v -0.00002438 0.16480211 -0.01021649
+v -0.00002438 0.16794658 -0.00960166
+v 0.04095542 0.17221572 -0.00783749
+v 0.02205502 0.17221239 -0.00783749
+v 0.05355123 0.16794658 -0.00960166
+v 0.05985582 0.16794658 -0.00959335
+v 0.06614705 0.16161439 -0.01083411
+v 0.06875170 0.15899234 -0.01091443
+v -0.00002438 0.16997626 0.00967111
+v 0.12283489 0.15899224 0.01696864
+v -0.00002438 0.17219909 -0.00783196
+v 0.04095542 0.17538014 -0.00560529
+v 0.04724665 0.17220906 -0.00783473
+v 0.02205502 0.17537681 -0.00559975
+v 0.02835961 0.17537681 -0.00560252
+v -0.00002438 0.17379627 -0.00670477
+v 0.05985582 0.17219576 -0.00782365
+v 0.06614705 0.16794658 -0.00957673
+v 0.07243827 0.16161439 -0.01081749
+v 0.07504293 0.15899234 -0.01090335
+v -0.00002438 0.17243526 0.01226612
+v 0.12913948 0.15899224 0.01684955
+v 0.12283489 0.16161429 0.01729822
+v -0.00002438 0.18061086 0.01692718
+v -0.00002438 0.17808530 0.01594677
+v -0.00002438 0.17559968 0.01498023
+v 0.05985582 0.17536018 -0.00559144
+v 0.03465083 0.18562875 0.00190280
+v 0.04095542 0.18563208 0.00190280
+v 0.06614705 0.18562542 0.00191387
+v -0.00002438 0.17536684 -0.00559144
+v -0.00002438 0.18561876 0.00191111
+v 0.06614705 0.17534687 -0.00558590
+v 0.06614705 0.17217912 -0.00781257
+v 0.07243827 0.16794658 -0.00953519
+v 0.07874286 0.16161439 -0.01078703
+v 0.08134751 0.15899234 -0.01087566
+v 0.13436213 0.15899225 0.01492754
+v 0.12913948 0.16161429 0.01651999
+v 0.12283489 0.16794648 0.01681082
+v 0.11023908 0.17427867 0.01731765
+v 0.09764326 0.18061086 0.01735921
+v -0.00002438 0.18694305 0.01703245
+v -0.00002438 0.18375199 0.01697981
+v -0.00002438 0.18878651 0.00426794
+v 0.04095542 0.18879649 0.00426517
+v 0.04724665 0.18879649 0.00426517
+v 0.06614705 0.18878984 0.00426517
+v 0.07243827 0.18560878 0.00192772
+v 0.07243827 0.17887398 -0.00297704
+v 0.07243827 0.17531026 -0.00556929
+v 0.07243827 0.17214252 -0.00778487
+v 0.07874286 0.16794657 -0.00943826
+v 0.08503409 0.16161439 -0.01069563
+v 0.08763874 0.15899234 -0.01079811
+v 0.13643249 0.15899226 0.01103642
+v 0.13344048 0.16161430 0.01457305
+v 0.12873876 0.16738082 0.01469493
+v 0.12232732 0.17388271 0.01474481
+v 0.11653030 0.17427867 0.01661144
+v 0.10393450 0.18061086 0.01702965
+v 0.08503409 0.18694305 0.01674442
+v 0.07874286 0.18694305 0.01696875
+v 0.07243827 0.18694305 0.01703522
+v 0.06614705 0.18694305 0.01704352
+v 0.04724665 0.18694305 0.01704076
+v 0.00945920 0.19150503 0.01508829
+v -0.00002438 0.19150503 0.01508552
+v -0.00002438 0.19158824 0.00686018
+v 0.06614705 0.19158824 0.00686018
+v 0.07243827 0.19157493 0.00687125
+v 0.07243827 0.18877320 0.00427902
+v 0.07874286 0.18551561 0.00199419
+v 0.07874286 0.18194856 -0.00060082
+v 0.07874286 0.17878082 -0.00290503
+v 0.07874286 0.17520046 -0.00550005
+v 0.07874286 0.17203271 -0.00771287
+v 0.08503409 0.16794657 -0.00916131
+v 0.09133867 0.16161439 -0.01044084
+v 0.09394332 0.15899234 -0.01058763
+v 0.13480292 0.16161431 0.01103643
+v 0.13237191 0.16489187 0.01373115
+v 0.13591157 0.15899227 0.00934704
+v 0.13250548 0.16506824 0.00820882
+v 0.12637454 0.17151022 0.01401089
+v 0.11989631 0.17761614 0.01382536
+v 0.11653030 0.17878741 0.01467836
+v 0.11035928 0.18094693 0.01556736
+v 0.10393450 0.18543903 0.01508827
+v 0.09133867 0.18694305 0.01619330
+v 0.08503409 0.19112903 0.01478918
+v 0.07874286 0.19139521 0.01501628
+v 0.07243827 0.19148838 0.01508275
+v 0.06614705 0.19150503 0.01509105
+v 0.04095542 0.19150503 0.01509105
+v -0.00002438 0.19298243 0.01103655
+v 0.06614705 0.19298243 0.01103655
+v 0.07243827 0.19295582 0.01103655
+v 0.07874286 0.19149507 0.00694603
+v 0.07874286 0.18868336 0.00435379
+v 0.08503409 0.18524608 0.00219636
+v 0.08503409 0.17848800 -0.00268901
+v 0.08503409 0.17488435 -0.00528126
+v 0.08503409 0.17171660 -0.00751070
+v 0.08909467 0.17135723 -0.00727806
+v 0.09125853 0.16835917 -0.00837478
+v 0.09764326 0.16161439 -0.00985094
+v 0.10024791 0.15899234 -0.01003651
+v 0.13251884 0.16508155 0.01103645
+v 0.12982069 0.16824598 0.01103646
+v 0.12666839 0.17181302 0.01103647
+v 0.13442892 0.15899228 0.00658865
+v 0.13364085 0.16161432 0.00723671
+v 0.13099612 0.15899229 0.00385518
+v 0.12941998 0.16221328 0.00438140
+v 0.12593375 0.16472554 0.00328193
+v 0.12881889 0.16748732 0.00699580
+v 0.12650812 0.17165332 0.00796513
+v 0.12324896 0.17498079 0.01103648
+v 0.12009667 0.17776588 0.01103649
+v 0.11653030 0.18025816 0.01103650
+v 0.11225600 0.18309983 0.01103651
+v 0.10834236 0.18444745 0.01434881
+v 0.09721583 0.18723587 0.01523783
+v 0.09483826 0.19021729 0.01377832
+v 0.09133867 0.19060661 0.01423529
+v 0.08503409 0.19226702 0.01103655
+v 0.07874286 0.19277946 0.01103655
+v 0.08503409 0.19124551 0.00718144
+v 0.08503409 0.18841384 0.00458643
+v 0.09133867 0.18469705 0.00260070
+v 0.09133867 0.17788572 -0.00224868
+v 0.09458446 0.17747977 -0.00195511
+v 0.09330218 0.17074166 -0.00688756
+v 0.09764326 0.16668545 -0.00810339
+v 0.10412149 0.16194712 -0.00848559
+v 0.10404135 0.15899233 -0.00928875
+v 0.12001653 0.17769934 0.00817009
+v 0.12962033 0.15899229 0.00296618
+v 0.12752325 0.16050296 0.00231536
+v 0.12439767 0.16794652 0.00421525
+v 0.12047068 0.15939493 -0.00239552
+v 0.11857395 0.16361750 -0.00135695
+v 0.12124539 0.16794653 0.00237909
+v 0.11970932 0.17114090 0.00324040
+v 0.12196668 0.17350674 0.00633946
+v 0.10852935 0.18455395 0.00763838
+v 0.10910372 0.18486339 0.01103652
+v 0.10393450 0.18725918 0.01103653
+v 0.09530575 0.19035373 0.01103654
+v 0.09133867 0.19124883 0.01103654
+v 0.09845805 0.18933886 0.01103654
+v 0.09522562 0.19032713 0.00817568
+v 0.09133867 0.19074972 0.00769656
+v 0.09133867 0.18786147 0.00510432
+v 0.09562632 0.18415467 0.00299120
+v 0.09982048 0.18344592 0.00348139
+v 0.09879198 0.17669116 -0.00142614
+v 0.09706890 0.17446175 -0.00339248
+v 0.09764326 0.16985321 -0.00633091
+v 0.10214462 0.16558073 -0.00756057
+v 0.10897014 0.16005713 -0.00784584
+v 0.10941093 0.15899233 -0.00804802
+v 0.10728714 0.15899233 -0.00856592
+v 0.11653030 0.17555646 0.00455591
+v 0.11653030 0.17891387 0.00714816
+v 0.12104502 0.15899231 -0.00222382
+v 0.12065767 0.15899231 -0.00245092
+v 0.11267008 0.15899233 -0.00684053
+v 0.11437980 0.16567388 -0.00243981
+v 0.11653030 0.17238871 0.00247880
+v 0.11269679 0.17700393 0.00353122
+v 0.11061308 0.18082053 0.00558341
+v 0.10393450 0.18257079 0.00411837
+v 0.10393450 0.18559878 0.00671337
+v 0.09752304 0.18689983 0.00582715
+v 0.10393450 0.17940303 0.00192770
+v 0.10393450 0.17550657 -0.00066732
+v 0.10393450 0.17234215 -0.00274443
+v 0.10412149 0.16779349 -0.00553330
+v 0.10635214 0.16427969 -0.00684605
+v 0.11140115 0.15899233 -0.00736673
+v 0.11073329 0.16194711 -0.00616477
+v 0.11170837 0.16989644 -0.00122400
+v 0.10751421 0.17139049 -0.00210745
+v 0.10850264 0.17827502 0.00270591
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 33
+f 1 33 50
+f 1 50 68
+f 1 68 93
+f 1 93 121
+f 1 121 150
+f 1 150 177
+f 1 177 176
+f 1 176 195
+f 1 195 182
+f 1 182 181
+f 1 181 180
+f 1 180 152
+f 1 152 127
+f 1 127 125
+f 1 125 96
+f 1 96 69
+f 1 69 51
+f 1 51 35
+f 1 35 23
+f 1 23 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 9
+f 2 9 3
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 22
+f 5 22 34
+f 5 34 39
+f 5 39 38
+f 5 38 37
+f 5 37 57
+f 5 57 56
+f 5 56 81
+f 5 81 109
+f 5 109 82
+f 5 82 58
+f 5 58 45
+f 5 45 44
+f 5 44 29
+f 5 29 24
+f 5 24 15
+f 5 15 14
+f 5 14 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 7 16 9
+f 7 8 17
+f 7 17 16
+f 8 15 17
+f 9 16 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 12 23 22
+f 15 24 17
+f 16 25 26
+f 16 26 18
+f 16 17 25
+f 17 27 28
+f 17 28 25
+f 17 24 29
+f 17 29 27
+f 18 26 19
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 19 26 30
+f 20 32 33
+f 20 33 21
+f 22 23 34
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 34
+f 25 40 26
+f 25 28 41
+f 25 41 42
+f 25 42 43
+f 25 43 40
+f 26 40 30
+f 27 29 44
+f 27 44 45
+f 27 45 41
+f 27 41 28
+f 30 40 46
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 32 50 33
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 40 43 46
+f 41 45 58
+f 41 58 42
+f 42 58 59
+f 42 59 60
+f 42 60 61
+f 42 61 43
+f 43 61 85
+f 43 85 62
+f 43 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 47 64 65
+f 47 65 48
+f 48 65 66
+f 48 66 67
+f 48 67 49
+f 49 67 68
+f 49 68 50
+f 51 69 70
+f 51 70 52
+f 52 70 71
+f 52 71 53
+f 53 71 72
+f 53 72 73
+f 53 73 54
+f 54 74 55
+f 54 73 74
+f 55 74 75
+f 55 75 76
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 56
+f 56 79 80
+f 56 80 81
+f 58 82 59
+f 59 82 83
+f 59 83 60
+f 60 83 61
+f 61 83 84
+f 61 84 85
+f 62 85 86
+f 62 86 63
+f 63 86 87
+f 63 87 88
+f 63 88 64
+f 64 88 89
+f 64 89 65
+f 65 89 90
+f 65 90 66
+f 66 90 91
+f 66 91 92
+f 66 92 67
+f 67 92 93
+f 67 93 68
+f 69 94 95
+f 69 95 70
+f 69 96 97
+f 69 97 94
+f 70 95 71
+f 71 98 72
+f 71 95 98
+f 72 99 100
+f 72 100 73
+f 72 98 99
+f 73 100 101
+f 73 101 74
+f 74 101 102
+f 74 102 103
+f 74 103 75
+f 75 103 104
+f 75 104 105
+f 75 105 76
+f 76 105 106
+f 76 106 77
+f 77 106 107
+f 77 107 78
+f 78 107 108
+f 78 108 80
+f 78 80 79
+f 80 109 81
+f 80 108 109
+f 82 109 110
+f 82 110 83
+f 83 110 84
+f 84 110 111
+f 84 111 112
+f 84 112 85
+f 85 112 113
+f 85 113 86
+f 86 113 114
+f 86 114 87
+f 87 114 88
+f 88 114 89
+f 89 114 115
+f 89 115 116
+f 89 116 117
+f 89 117 90
+f 90 117 91
+f 91 117 118
+f 91 118 119
+f 91 119 120
+f 91 120 92
+f 92 120 121
+f 92 121 93
+f 94 97 122
+f 94 122 95
+f 95 122 123
+f 95 123 124
+f 95 124 98
+f 96 125 126
+f 96 126 97
+f 97 127 128
+f 97 128 129
+f 97 129 130
+f 97 130 131
+f 97 131 124
+f 97 124 123
+f 97 123 122
+f 97 126 127
+f 98 124 99
+f 99 124 132
+f 99 132 133
+f 99 133 134
+f 99 134 135
+f 99 135 136
+f 99 136 100
+f 100 136 101
+f 101 136 102
+f 102 137 103
+f 102 136 138
+f 102 138 139
+f 102 139 137
+f 103 139 104
+f 103 137 139
+f 104 140 141
+f 104 141 105
+f 104 139 140
+f 105 141 111
+f 105 111 106
+f 106 111 110
+f 106 110 107
+f 107 110 109
+f 107 109 108
+f 111 141 112
+f 112 141 142
+f 112 142 113
+f 113 142 143
+f 113 143 114
+f 114 143 144
+f 114 144 115
+f 115 144 116
+f 116 144 118
+f 116 118 117
+f 118 144 145
+f 118 145 146
+f 118 146 147
+f 118 147 119
+f 119 147 148
+f 119 148 120
+f 120 148 149
+f 120 149 121
+f 121 149 150
+f 124 131 151
+f 124 151 132
+f 125 127 126
+f 127 152 153
+f 127 153 129
+f 127 129 128
+f 129 154 131
+f 129 131 130
+f 129 153 155
+f 129 155 156
+f 129 156 157
+f 129 157 158
+f 129 158 154
+f 131 154 158
+f 131 158 159
+f 131 159 151
+f 132 151 133
+f 133 151 134
+f 134 151 135
+f 135 151 160
+f 135 160 161
+f 135 161 136
+f 136 161 162
+f 136 162 138
+f 138 163 164
+f 138 164 140
+f 138 140 139
+f 138 162 165
+f 138 165 163
+f 140 164 166
+f 140 166 167
+f 140 167 142
+f 140 142 141
+f 142 167 143
+f 143 167 168
+f 143 168 144
+f 144 146 145
+f 144 168 169
+f 144 169 146
+f 146 169 170
+f 146 170 171
+f 146 171 172
+f 146 172 147
+f 147 172 173
+f 147 173 148
+f 148 173 174
+f 148 174 149
+f 149 175 176
+f 149 176 177
+f 149 177 150
+f 149 174 175
+f 151 159 158
+f 151 158 178
+f 151 178 179
+f 151 179 160
+f 152 180 153
+f 153 180 155
+f 155 180 181
+f 155 181 182
+f 155 182 156
+f 156 158 157
+f 156 182 183
+f 156 183 158
+f 158 183 184
+f 158 184 185
+f 158 185 178
+f 160 162 161
+f 160 179 186
+f 160 186 187
+f 160 187 188
+f 160 188 166
+f 160 166 162
+f 162 166 165
+f 163 166 164
+f 163 165 166
+f 166 168 167
+f 166 188 189
+f 166 189 169
+f 166 169 168
+f 169 189 170
+f 170 189 188
+f 170 188 187
+f 170 187 190
+f 170 190 171
+f 171 190 173
+f 171 173 172
+f 173 190 191
+f 173 191 192
+f 173 192 174
+f 174 192 193
+f 174 193 194
+f 174 194 175
+f 175 195 176
+f 175 194 195
+f 178 185 179
+f 179 185 186
+f 182 195 194
+f 182 194 196
+f 182 196 183
+f 183 196 194
+f 183 194 197
+f 183 197 184
+f 184 197 185
+f 185 197 198
+f 185 198 199
+f 185 199 186
+f 186 199 187
+f 187 199 190
+f 190 199 191
+f 191 199 192
+f 192 199 198
+f 192 198 193
+f 193 198 194
+f 194 198 197
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_10.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.11060480 -0.12971476 -0.00117626
+v -0.09592674 -0.15363724 -0.00117634
+v -0.13403727 -0.12971476 -0.00117626
+v -0.12575870 -0.12971481 0.01384079
+v -0.11830557 -0.15363729 0.01440403
+v -0.12638020 -0.15363724 -0.00117634
+v -0.13378478 -0.13207773 -0.00117627
+v -0.13579980 -0.12971476 0.00012846
+v -0.12914296 -0.12971482 0.01561252
+v -0.12279687 -0.15363730 0.01616850
+v -0.12782227 -0.15363724 -0.00027503
+v -0.12692887 -0.15281055 -0.00117634
+v -0.13345947 -0.13457185 -0.00117627
+v -0.13893643 -0.13603321 0.00300501
+v -0.13930544 -0.12971477 0.00272701
+v -0.13544049 -0.12971482 0.01736245
+v -0.12914296 -0.14869824 0.01714432
+v -0.12914296 -0.15363730 0.01729150
+v -0.13277970 -0.15363725 0.00293045
+v -0.13294964 -0.15304476 0.00281960
+v -0.12824956 -0.15023915 -0.00117633
+v -0.13294478 -0.13723928 -0.00117628
+v -0.13864510 -0.13939617 0.00321761
+v -0.14257317 -0.13624399 0.00621231
+v -0.14509801 -0.13427212 0.00818213
+v -0.14245663 -0.12971478 0.00536553
+v -0.14174289 -0.12971482 0.01593598
+v -0.13544049 -0.13603326 0.01738787
+v -0.13544049 -0.14236340 0.01736786
+v -0.13544049 -0.14869824 0.01689537
+v -0.13565413 -0.15363730 0.01577780
+v -0.13366339 -0.15363725 0.00361189
+v -0.13591147 -0.15363726 0.00536908
+v -0.13709620 -0.14869820 0.00434421
+v -0.13394986 -0.14869819 0.00212545
+v -0.13007521 -0.14869818 -0.00046946
+v -0.12901186 -0.14869818 -0.00117633
+v -0.13155612 -0.14234227 -0.00117630
+v -0.13574153 -0.14184814 0.00166211
+v -0.13804301 -0.14361627 0.00364099
+v -0.14066011 -0.14184815 0.00556174
+v -0.14512714 -0.13448525 0.01103507
+v -0.14553014 -0.12971480 0.01103508
+v -0.14527766 -0.12971479 0.00795862
+v -0.14012115 -0.14869821 0.00693731
+v -0.13921318 -0.15313142 0.00778046
+v -0.14352970 -0.14236338 0.01103504
+v -0.14462703 -0.13765382 0.01103505
+v -0.14514170 -0.12971481 0.01397526
+v -0.14223329 -0.13585293 0.01528905
+v -0.14098543 -0.14236340 0.01547983
+v -0.13996092 -0.14869823 0.01493828
+v -0.13788278 -0.15363729 0.01466207
+v -0.13831007 -0.15363727 0.00726802
+v -0.13117739 -0.14331415 -0.00117631
+v -0.14500089 -0.13362110 0.01378626
+v -0.13901411 -0.15363727 0.00823475
+v -0.13943654 -0.15357171 0.01103500
+v -0.14148555 -0.14869822 0.01103501
+v -0.13909666 -0.15287384 0.01421141
+v -0.13940255 -0.15363728 0.01103500
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 37
+f 1 37 55
+f 1 55 38
+f 1 38 22
+f 1 22 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 26
+f 1 26 44
+f 1 44 43
+f 1 43 49
+f 1 49 27
+f 1 27 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 10
+f 2 10 18
+f 2 18 31
+f 2 31 53
+f 2 53 61
+f 2 61 57
+f 2 57 54
+f 2 54 33
+f 2 33 32
+f 2 32 19
+f 2 19 11
+f 2 11 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 16 27 28
+f 16 28 18
+f 16 18 17
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 22 38 23
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 23 38 39
+f 24 41 25
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 25 41 45
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 42
+f 27 49 50
+f 27 50 51
+f 27 51 29
+f 27 29 28
+f 29 51 30
+f 30 51 52
+f 30 52 31
+f 31 52 53
+f 33 54 46
+f 33 46 34
+f 34 46 45
+f 34 45 40
+f 34 40 35
+f 35 38 55
+f 35 55 36
+f 35 40 38
+f 36 55 37
+f 38 40 39
+f 40 45 41
+f 42 48 56
+f 42 56 43
+f 43 56 49
+f 46 54 57
+f 46 57 58
+f 46 58 59
+f 46 59 47
+f 47 59 60
+f 47 60 56
+f 47 56 48
+f 49 56 50
+f 50 56 51
+f 51 56 52
+f 52 56 60
+f 52 60 53
+f 53 60 61
+f 57 61 58
+f 58 61 60
+f 58 60 59
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_11.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.14572188 -0.11702454 0.01103527
+v -0.14537469 -0.11702453 0.00783949
+v -0.14536781 -0.12336406 0.00784854
+v -0.14570813 -0.12336407 0.01103525
+v -0.14523031 -0.12336408 0.01409856
+v -0.14523718 -0.11702455 0.01410584
+v -0.14523718 -0.06637535 0.01410603
+v -0.14523718 -0.02838286 0.01410436
+v -0.14571843 -0.03471121 0.01103557
+v -0.14537469 -0.03471120 0.00783979
+v -0.14537469 -0.04103955 0.00783796
+v -0.14262812 -0.08536039 0.00524995
+v -0.14262124 -0.11702452 0.00524621
+v -0.14262468 -0.04103954 0.00524467
+v -0.14259375 -0.12336405 0.00525526
+v -0.14528188 -0.12971478 0.00795740
+v -0.14552938 -0.12971479 0.01103522
+v -0.14514094 -0.12971480 0.01397513
+v -0.14174124 -0.12336409 0.01605850
+v -0.14514094 -0.12969244 0.01397694
+v -0.14174468 -0.12971481 0.01593688
+v -0.14174124 -0.11702456 0.01606215
+v -0.14174124 -0.02204333 0.01605887
+v -0.14523375 -0.01549135 0.01410258
+v -0.14571500 -0.02204331 0.01103562
+v -0.14537126 -0.01549133 0.00784168
+v -0.14262812 -0.01549132 0.00524839
+v -0.13947937 -0.08536038 0.00258771
+v -0.13947248 -0.11069616 0.00259487
+v -0.13946905 -0.11702451 0.00259666
+v -0.13958592 -0.01549131 0.00267870
+v -0.13944155 -0.12336404 0.00262023
+v -0.13930749 -0.12969240 0.00272546
+v -0.14245969 -0.12969241 0.00536411
+v -0.14245969 -0.12971477 0.00536593
+v -0.14174124 -0.12969245 0.01593869
+v -0.13544372 -0.12971481 0.01736328
+v -0.13544372 -0.02204333 0.01736186
+v -0.13544372 -0.01549136 0.01736007
+v -0.14152812 -0.01549136 0.01610063
+v -0.14174124 -0.01549136 0.01605526
+v -0.14571156 -0.01549134 0.01103564
+v -0.13603154 -0.08536037 -0.00000558
+v -0.13947592 -0.01549131 0.00258796
+v -0.13615529 -0.01549130 0.00008360
+v -0.13448122 -0.01571492 -0.00117584
+v -0.13444342 -0.11702450 -0.00117621
+v -0.13437467 -0.12336403 -0.00117623
+v -0.13930749 -0.12971476 0.00272728
+v -0.13404122 -0.12969239 -0.00117626
+v -0.12914278 -0.12971481 0.01561385
+v -0.13522717 -0.01549136 0.01729655
+v -0.13447091 -0.08536037 -0.00117609
+v -0.13448122 -0.01549130 -0.00117584
+v -0.13403779 -0.12971475 -0.00117626
+v -0.12576027 -0.12971480 0.01384084
+v -0.12914278 -0.01549136 0.01549994
+v -0.11103399 -0.01549130 -0.00117584
+v -0.11060774 -0.12971475 -0.00117626
+v -0.11060774 -0.12969239 -0.00117626
+v -0.12589433 -0.01549135 0.01372148
+v -0.11088617 -0.03471117 -0.00117591
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 3
+f 2 11 14
+f 2 14 12
+f 3 13 15
+f 3 15 16
+f 3 16 4
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 19 6
+f 5 18 20
+f 5 20 21
+f 5 21 19
+f 6 19 22
+f 6 22 7
+f 7 22 23
+f 7 23 8
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 25 26
+f 9 26 10
+f 10 26 11
+f 11 26 27
+f 11 27 14
+f 12 28 13
+f 12 14 28
+f 13 29 30
+f 13 30 15
+f 13 28 29
+f 14 27 31
+f 14 31 28
+f 15 30 32
+f 15 32 33
+f 15 33 34
+f 15 34 16
+f 16 34 35
+f 16 35 49
+f 16 49 55
+f 16 55 59
+f 16 59 56
+f 16 56 51
+f 16 51 37
+f 16 37 21
+f 16 21 18
+f 16 18 17
+f 18 21 20
+f 19 21 36
+f 19 36 37
+f 19 37 22
+f 21 37 36
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 41 40
+f 24 40 39
+f 24 39 52
+f 24 52 57
+f 24 57 61
+f 24 61 58
+f 24 58 54
+f 24 54 45
+f 24 45 44
+f 24 44 31
+f 24 31 27
+f 24 27 26
+f 24 26 42
+f 24 42 25
+f 25 42 26
+f 28 43 29
+f 28 31 44
+f 28 44 45
+f 28 45 46
+f 28 46 43
+f 29 47 30
+f 29 43 47
+f 30 47 32
+f 32 47 48
+f 32 48 33
+f 33 49 35
+f 33 35 34
+f 33 48 50
+f 33 50 49
+f 37 51 38
+f 38 51 39
+f 39 51 52
+f 43 53 47
+f 43 46 53
+f 45 54 46
+f 46 54 58
+f 46 58 62
+f 46 62 60
+f 46 60 59
+f 46 59 55
+f 46 55 50
+f 46 50 48
+f 46 48 47
+f 46 47 53
+f 49 50 55
+f 51 56 57
+f 51 57 52
+f 56 59 60
+f 56 60 61
+f 56 61 57
+f 58 61 62
+f 60 62 61
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_12.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.11212165 -0.12969441 -0.00010457
+v 0.11250976 0.00011459 -0.00010751
+v 0.13539203 -0.12969441 -0.00010457
+v 0.12572865 -0.12969446 0.01386698
+v 0.11213152 0.12992359 -0.00010703
+v 0.13582290 0.00011459 -0.00010751
+v 0.13542821 -0.12903369 -0.00010456
+v 0.13573739 -0.12969441 0.00014691
+v 0.12913945 -0.12969447 0.01565128
+v 0.12574510 0.12992354 0.01385597
+v 0.13533941 0.12992359 -0.00010703
+v 0.13582619 0.00329120 -0.00010750
+v 0.13581632 -0.10435777 -0.00010447
+v 0.13580975 -0.11068558 -0.00010450
+v 0.13579330 -0.11701339 -0.00010452
+v 0.13572424 -0.12296000 -0.00010454
+v 0.13571766 -0.12334120 -0.00010454
+v 0.13591500 -0.12334120 0.00003917
+v 0.13928632 -0.12969442 0.00274038
+v 0.13543808 -0.12969447 0.01736885
+v 0.13543808 0.02860237 0.01736431
+v 0.12913616 0.12992353 0.01562829
+v 0.13570779 0.12992359 0.00015985
+v 0.13568476 0.12359579 -0.00010706
+v 0.13583606 0.04761127 -0.00010734
+v 0.13596762 -0.10435777 0.00000673
+v 0.13596433 -0.11068558 0.00000841
+v 0.13595446 -0.11701339 0.00001352
+v 0.13942776 -0.12334121 0.00263264
+v 0.14257872 -0.12334122 0.00527914
+v 0.14243400 -0.12969443 0.00539202
+v 0.14173670 -0.12969447 0.01589762
+v 0.14173670 -0.12334126 0.01604478
+v 0.14173670 -0.11701345 0.01606190
+v 0.14173670 -0.04738215 0.01606558
+v 0.14173670 0.09825908 0.01605585
+v 0.13543808 0.06029224 0.01735929
+v 0.13543808 0.12992353 0.01734757
+v 0.13543808 0.09193127 0.01735428
+v 0.13927317 0.12992358 0.00275503
+v 0.13577027 0.11726798 -0.00010708
+v 0.13941789 0.12359578 0.00264209
+v 0.13583606 0.04789081 -0.00010733
+v 0.13947381 0.04761126 0.00259391
+v 0.13946723 -0.10435778 0.00260020
+v 0.13946723 -0.11068559 0.00260188
+v 0.13946065 -0.11701340 0.00260699
+v 0.14261161 -0.11701341 0.00526034
+v 0.14534156 -0.12334123 0.00787261
+v 0.14524618 -0.12969444 0.00798549
+v 0.14511132 -0.12969446 0.01393883
+v 0.14521987 -0.12334125 0.01408770
+v 0.14523302 -0.11701344 0.01410483
+v 0.14524289 -0.04738214 0.01411535
+v 0.14523960 0.08560348 0.01410899
+v 0.14523960 0.10458690 0.01410735
+v 0.14173670 0.10458689 0.01605245
+v 0.14173670 0.12992353 0.01584384
+v 0.14173670 0.11091470 0.01604564
+v 0.14173670 0.11726792 0.01603710
+v 0.14173670 0.12359573 0.01599949
+v 0.14242413 0.12992357 0.00542035
+v 0.14256885 0.12359577 0.00529030
+v 0.13945407 0.11726797 0.00261470
+v 0.13946065 0.11091475 0.00260783
+v 0.13578014 0.11124513 -0.00010710
+v 0.14260503 0.11726796 0.00526120
+v 0.13947381 0.05396448 0.00259565
+v 0.14261161 0.10458693 0.00525260
+v 0.14262477 0.05396447 0.00525413
+v 0.14536458 -0.06003773 0.00784718
+v 0.14535472 -0.11701342 0.00785381
+v 0.14567375 -0.12334124 0.01103404
+v 0.14570007 -0.11701343 0.01103406
+v 0.14547312 -0.12969445 0.01103059
+v 0.14572309 -0.04738213 0.01103432
+v 0.14571980 0.09825910 0.01103485
+v 0.14571652 0.10458691 0.01103487
+v 0.14570994 0.11091472 0.01103490
+v 0.14523302 0.11091471 0.01410053
+v 0.14508173 0.12992354 0.01389532
+v 0.14519684 0.12359574 0.01405267
+v 0.14522644 0.11726793 0.01409200
+v 0.14522973 0.12992356 0.00801553
+v 0.14533498 0.12359576 0.00788548
+v 0.14261161 0.11091474 0.00525434
+v 0.14535800 0.11726795 0.00785467
+v 0.14536787 0.10458692 0.00784607
+v 0.14536787 0.09193130 0.00784603
+v 0.14536458 0.11091473 0.00784952
+v 0.14569678 0.11726794 0.01103492
+v 0.14542050 0.12992355 0.01103497
+v 0.14564415 0.12359575 0.01103494
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 19
+f 1 19 31
+f 1 31 50
+f 1 50 75
+f 1 75 51
+f 1 51 32
+f 1 32 20
+f 1 20 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 24
+f 2 24 41
+f 2 41 66
+f 2 66 43
+f 2 43 25
+f 2 25 12
+f 2 12 6
+f 3 7 8
+f 3 6 7
+f 4 9 10
+f 4 10 5
+f 5 10 22
+f 5 22 38
+f 5 38 58
+f 5 58 81
+f 5 81 92
+f 5 92 84
+f 5 84 62
+f 5 62 40
+f 5 40 23
+f 5 23 11
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 11 23 24
+f 12 25 13
+f 13 26 27
+f 13 27 14
+f 13 25 26
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 18
+f 16 18 17
+f 18 29 19
+f 18 28 29
+f 19 29 30
+f 19 30 31
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 36 37
+f 21 37 22
+f 21 35 36
+f 22 37 39
+f 22 39 38
+f 23 40 24
+f 24 40 42
+f 24 42 41
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 28
+f 28 47 29
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 34
+f 34 53 54
+f 34 54 35
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 57
+f 36 57 38
+f 36 38 39
+f 36 39 37
+f 38 57 59
+f 38 59 60
+f 38 60 61
+f 38 61 58
+f 40 62 63
+f 40 63 42
+f 41 64 65
+f 41 65 66
+f 41 42 64
+f 42 63 67
+f 42 67 64
+f 43 68 44
+f 43 66 65
+f 43 65 68
+f 44 68 69
+f 44 69 70
+f 44 70 45
+f 45 48 46
+f 45 70 48
+f 46 48 47
+f 48 71 72
+f 48 72 49
+f 48 70 71
+f 49 73 50
+f 49 72 74
+f 49 74 73
+f 50 73 75
+f 51 75 73
+f 51 73 52
+f 52 73 74
+f 52 74 53
+f 53 74 76
+f 53 76 54
+f 54 76 77
+f 54 77 56
+f 54 56 55
+f 56 78 79
+f 56 79 80
+f 56 80 60
+f 56 60 59
+f 56 59 57
+f 56 77 78
+f 58 61 82
+f 58 82 81
+f 60 80 83
+f 60 83 61
+f 61 83 82
+f 62 84 63
+f 63 85 67
+f 63 84 85
+f 64 67 86
+f 64 86 65
+f 65 86 68
+f 67 87 86
+f 67 85 87
+f 68 86 69
+f 69 86 88
+f 69 88 70
+f 70 88 89
+f 70 89 71
+f 71 76 72
+f 71 89 76
+f 72 76 74
+f 76 89 88
+f 76 88 77
+f 77 88 78
+f 78 88 90
+f 78 90 79
+f 79 90 87
+f 79 87 91
+f 79 91 83
+f 79 83 80
+f 81 82 93
+f 81 93 92
+f 82 83 91
+f 82 91 93
+f 84 92 93
+f 84 93 85
+f 85 93 91
+f 85 91 87
+f 86 90 88
+f 86 87 90
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_13.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.14547309 -0.12969731 0.01103180
+v 0.14547876 -0.12970015 0.01103522
+v 0.14525187 -0.12969730 0.00798392
+v 0.14511572 -0.12969732 0.01393919
+v 0.14497391 -0.13342935 0.01375243
+v 0.14509304 -0.13427416 0.01103521
+v 0.14507601 -0.13418312 0.00820321
+v 0.14243832 -0.12969729 0.00539005
+v 0.14511005 -0.12970016 0.01394262
+v 0.14174061 -0.12969733 0.01589915
+v 0.14343667 -0.14236686 0.01103518
+v 0.14458252 -0.13744297 0.01103520
+v 0.14220575 -0.13573911 0.01526694
+v 0.14092378 -0.14236688 0.01546395
+v 0.13990840 -0.14869595 0.01489854
+v 0.13905753 -0.15279208 0.01417554
+v 0.13918234 -0.15307082 0.00780052
+v 0.14007291 -0.14869593 0.00696104
+v 0.14062314 -0.14182922 0.00556819
+v 0.14254611 -0.13618850 0.00622439
+v 0.13891573 -0.13603489 0.00301889
+v 0.13929011 -0.12970012 0.00274136
+v 0.13928444 -0.12969728 0.00273965
+v 0.14174061 -0.12970017 0.01589915
+v 0.13543852 -0.12969733 0.01736912
+v 0.13543852 -0.13603494 0.01739480
+v 0.14139459 -0.14869594 0.01103515
+v 0.13543852 -0.14236688 0.01735366
+v 0.13543852 -0.14869596 0.01685165
+v 0.13568243 -0.15495393 0.01542963
+v 0.13433806 -0.15875421 0.01490023
+v 0.13579020 -0.15875421 0.01260446
+v 0.13639149 -0.15875420 0.01103512
+v 0.13771883 -0.15663218 0.01103512
+v 0.13938654 -0.15346622 0.01103514
+v 0.13441179 -0.15875418 0.00661836
+v 0.13550091 -0.15514447 0.00571548
+v 0.13706651 -0.14869592 0.00436717
+v 0.13801948 -0.14357859 0.00365276
+v 0.13863211 -0.13935731 0.00322447
+v 0.13465004 -0.13552855 -0.00010780
+v 0.13539313 -0.12970011 -0.00010778
+v 0.13539313 -0.12969727 -0.00010778
+v 0.12914208 -0.12969733 0.01565244
+v 0.11913588 -0.15875422 0.01631023
+v 0.12283999 -0.15875422 0.01698183
+v 0.12543797 -0.15875422 0.01730563
+v 0.12914208 -0.15503073 0.01731421
+v 0.12914208 -0.15875422 0.01682421
+v 0.13180247 -0.15875422 0.01605324
+v 0.13240942 -0.15875418 0.00497877
+v 0.13168902 -0.15721529 0.00363044
+v 0.13292562 -0.15299400 0.00283722
+v 0.13391262 -0.14869591 0.00215707
+v 0.13218252 -0.14449737 -0.00010783
+v 0.13302772 -0.14215631 -0.00010782
+v 0.13572781 -0.14182921 0.00170138
+v 0.13374812 -0.13961900 -0.00010781
+v 0.13456495 -0.13594386 -0.00010780
+v 0.11211905 -0.12969727 -0.00010778
+v 0.12572159 -0.12969732 0.01386895
+v 0.11379242 -0.15875421 0.01446163
+v 0.13094592 -0.15875417 0.00388914
+v 0.12645334 -0.15875416 0.00109825
+v 0.12544931 -0.15735465 -0.00010788
+v 0.12567054 -0.15702753 -0.00010788
+v 0.12678235 -0.15537487 -0.00010787
+v 0.12791116 -0.15369374 -0.00010786
+v 0.13029927 -0.14912827 -0.00010785
+v 0.13050348 -0.14869590 -0.00010785
+v 0.08753462 -0.15875416 -0.00010788
+v 0.12438289 -0.15875416 -0.00010788
+f 1 2 3
+f 1 3 8
+f 1 8 23
+f 1 23 43
+f 1 43 60
+f 1 60 61
+f 1 61 44
+f 1 44 25
+f 1 25 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 5
+f 4 10 9
+f 5 11 12
+f 5 12 6
+f 5 9 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 11
+f 6 12 7
+f 7 12 11
+f 7 11 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 9 10 24
+f 9 24 13
+f 10 25 26
+f 10 26 24
+f 11 16 27
+f 11 27 17
+f 13 24 14
+f 14 24 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 27
+f 17 34 33
+f 17 33 36
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 17 27 35
+f 17 35 34
+f 18 38 39
+f 18 39 19
+f 19 39 40
+f 19 40 20
+f 20 40 21
+f 21 40 41
+f 21 41 42
+f 21 42 22
+f 22 42 43
+f 22 43 23
+f 24 26 28
+f 25 44 45
+f 25 45 46
+f 25 46 47
+f 25 47 26
+f 26 47 48
+f 26 48 28
+f 28 48 29
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 30 50 31
+f 31 50 49
+f 31 49 47
+f 31 47 46
+f 31 46 45
+f 31 45 62
+f 31 62 71
+f 31 71 72
+f 31 72 64
+f 31 64 63
+f 31 63 51
+f 31 51 36
+f 31 36 33
+f 31 33 32
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 40 57 56
+f 40 56 58
+f 40 58 59
+f 40 59 41
+f 41 59 58
+f 41 58 56
+f 41 56 55
+f 41 55 70
+f 41 70 69
+f 41 69 68
+f 41 68 67
+f 41 67 66
+f 41 66 65
+f 41 65 72
+f 41 72 71
+f 41 71 60
+f 41 60 43
+f 41 43 42
+f 44 61 62
+f 44 62 45
+f 47 49 48
+f 51 63 52
+f 52 63 64
+f 52 64 65
+f 52 65 66
+f 52 66 67
+f 52 67 68
+f 52 68 53
+f 53 68 69
+f 53 69 70
+f 53 70 54
+f 54 70 55
+f 60 71 61
+f 61 71 62
+f 64 72 65
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_14.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.13643191 0.15898941 0.01103655
+v 0.13906671 0.15305958 0.01418567
+v 0.13772689 0.15689519 0.01103655
+v 0.13918444 0.15331852 0.00779669
+v 0.13591615 0.15898942 0.00934903
+v 0.13436330 0.15898940 0.01492847
+v 0.13568632 0.15521354 0.01544020
+v 0.13989639 0.14894511 0.01489935
+v 0.14495860 0.13354292 0.01372692
+v 0.14336650 0.14261408 0.01103649
+v 0.14136517 0.14894512 0.01103652
+v 0.13939747 0.15372825 0.01103653
+v 0.13706538 0.14894514 0.00437371
+v 0.13550692 0.15540706 0.00570527
+v 0.13443057 0.15898943 0.00659183
+v 0.14505950 0.13428559 0.00822792
+v 0.14005897 0.14894513 0.00696661
+v 0.12913853 0.15898939 0.01685047
+v 0.13543964 0.14894510 0.01684873
+v 0.14088866 0.14261406 0.01545384
+v 0.14508193 0.12994917 0.01389635
+v 0.14542389 0.12992356 0.01103645
+v 0.14506511 0.13431403 0.01103646
+v 0.14454376 0.13747813 0.01103647
+v 0.14218924 0.13590460 0.01524502
+v 0.13801280 0.14377220 0.00366342
+v 0.13391483 0.14894515 0.00215563
+v 0.13293378 0.15327586 0.00282996
+v 0.13172288 0.15749560 0.00361384
+v 0.13099411 0.15898944 0.00385858
+v 0.14251439 0.13635136 0.00623918
+v 0.14058593 0.14204218 0.00557514
+v 0.14522768 0.12994919 0.00801397
+v 0.14242469 0.12994920 0.00542107
+v 0.13889293 0.13628309 0.00303528
+v 0.12913853 0.15527898 0.01731770
+v 0.12283742 0.15898939 0.01696856
+v 0.13543964 0.14261406 0.01733818
+v 0.14174077 0.12994916 0.01584402
+v 0.14508193 0.12992355 0.01389635
+v 0.14522768 0.12992357 0.00801397
+v 0.13861823 0.13954962 0.00323724
+v 0.13572555 0.14204219 0.00172088
+v 0.13298423 0.14239504 -0.00010699
+v 0.13051760 0.14894516 -0.00010696
+v 0.12795007 0.15399576 -0.00010694
+v 0.12963186 0.15898944 0.00296690
+v 0.12687932 0.15563756 -0.00010694
+v 0.14242469 0.12992358 0.00541936
+v 0.13927413 0.12994921 0.00275458
+v 0.13528829 0.13039595 -0.00010703
+v 0.13460436 0.13566280 -0.00010701
+v 0.13543964 0.12992354 0.01734841
+v 0.13543964 0.13628304 0.01737753
+v 0.11669887 0.15898939 0.01535634
+v 0.14174077 0.12992354 0.01584402
+v 0.13451466 0.13612090 -0.00010701
+v 0.12788839 0.15898944 0.00191947
+v 0.12520313 0.15798503 -0.00010693
+v 0.13927413 0.12992359 0.00275458
+v 0.13533875 0.12994922 -0.00010703
+v 0.12913853 0.12992354 0.01562837
+v 0.11298771 0.15898940 0.01375268
+v 0.12448557 0.15898945 -0.00010693
+v 0.13533875 0.12992360 -0.00010703
+v 0.12573571 0.12992355 0.01385698
+v 0.08815324 0.15898945 -0.00010693
+v 0.11213561 0.12992360 -0.00010703
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 30
+f 1 30 47
+f 1 47 58
+f 1 58 64
+f 1 64 67
+f 1 67 63
+f 1 63 55
+f 1 55 37
+f 1 37 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 12 11
+f 4 11 10
+f 4 10 16
+f 4 16 17
+f 4 17 13
+f 6 18 7
+f 7 19 8
+f 7 18 19
+f 8 20 9
+f 8 19 20
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 9 20 25
+f 9 25 21
+f 10 24 16
+f 13 17 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 16 31 32
+f 16 32 17
+f 16 24 23
+f 16 23 22
+f 16 22 33
+f 16 33 34
+f 16 34 35
+f 16 35 31
+f 17 32 26
+f 18 36 19
+f 18 37 36
+f 19 38 20
+f 19 36 38
+f 20 39 25
+f 20 38 39
+f 21 40 22
+f 21 25 39
+f 21 39 56
+f 21 56 40
+f 22 40 56
+f 22 56 53
+f 22 53 62
+f 22 62 66
+f 22 66 68
+f 22 68 65
+f 22 65 60
+f 22 60 49
+f 22 49 41
+f 22 41 33
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 26 32 42
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 29
+f 29 47 30
+f 29 46 48
+f 29 48 47
+f 31 35 42
+f 31 42 32
+f 33 41 49
+f 33 49 34
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 42
+f 36 37 53
+f 36 53 54
+f 36 54 38
+f 37 55 53
+f 38 54 39
+f 39 54 56
+f 42 52 57
+f 42 57 44
+f 42 44 43
+f 44 57 52
+f 44 52 51
+f 44 51 61
+f 44 61 65
+f 44 65 68
+f 44 68 67
+f 44 67 64
+f 44 64 59
+f 44 59 48
+f 44 48 46
+f 44 46 45
+f 47 48 58
+f 48 59 58
+f 49 60 50
+f 50 60 65
+f 50 65 61
+f 50 61 51
+f 53 56 54
+f 53 55 62
+f 55 63 62
+f 58 59 64
+f 62 63 66
+f 63 67 66
+f 66 67 68
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_2.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.00002439 -0.15363957 -0.00276078
+v -0.00002439 -0.17531273 0.01499210
+v -0.00002439 -0.15363954 -0.01105173
+v -0.01575647 -0.15363957 -0.00258484
+v -0.00002439 -0.17785394 0.01597073
+v -0.02066738 -0.15363957 -0.00255461
+v -0.07978564 -0.17510988 0.01507457
+v -0.00002439 -0.15503261 -0.01104899
+v -0.00945583 -0.15503261 -0.01104899
+v -0.02205711 -0.15503261 -0.01104624
+v -0.02343903 -0.15363954 -0.01104623
+v -0.00002439 -0.18036071 0.01693562
+v -0.02205711 -0.15363957 -0.00255186
+v -0.07978564 -0.17194483 0.01249878
+v -0.07978564 -0.18036071 0.01701534
+v -0.00002439 -0.16136653 -0.01087307
+v -0.01575647 -0.16136653 -0.01087307
+v -0.02835775 -0.16136653 -0.01087032
+v -0.05984533 -0.15503261 -0.01103524
+v -0.06122725 -0.15363954 -0.01103523
+v -0.00002439 -0.18669463 0.01703180
+v -0.05354469 -0.15363957 -0.00259859
+v -0.07978564 -0.15363957 -0.00273879
+v -0.07978564 -0.18669463 0.01688886
+v -0.07874724 -0.18669463 0.01692459
+v -0.07244660 -0.18669463 0.01699057
+v -0.06614597 -0.18669463 0.01700431
+v -0.05984533 -0.18669463 0.01700981
+v -0.02835775 -0.18669463 0.01702356
+v -0.02205711 -0.18669463 0.01702631
+v -0.00002439 -0.16770044 -0.00966630
+v -0.00315519 -0.16770044 -0.00966630
+v -0.01575647 -0.16770044 -0.00966080
+v -0.03465058 -0.16136653 -0.01086757
+v -0.06614597 -0.15503261 -0.01103249
+v -0.07382853 -0.15363954 -0.01102974
+v -0.00315519 -0.19124893 0.01508826
+v -0.00002439 -0.19124893 0.01508826
+v -0.07978564 -0.15363954 -0.01102424
+v -0.07978564 -0.19106139 0.01494531
+v -0.07874724 -0.19110351 0.01498380
+v -0.07244660 -0.19119917 0.01504977
+v -0.06614597 -0.19122214 0.01506627
+v -0.05984533 -0.19122979 0.01507451
+v -0.05354469 -0.19123362 0.01507726
+v -0.04094341 -0.19124127 0.01508001
+v -0.00002439 -0.16984365 -0.00877837
+v -0.00002439 -0.17201747 -0.00787672
+v -0.02835775 -0.16770044 -0.00965255
+v -0.05354469 -0.16136653 -0.01085383
+v -0.07874724 -0.15503261 -0.01102150
+v -0.07874724 -0.15363954 -0.01102699
+v -0.00945583 -0.19124893 0.01508551
+v -0.00315519 -0.19273766 0.01103349
+v -0.00002439 -0.19273384 0.01103349
+v -0.07978564 -0.15398781 -0.01102425
+v -0.07978564 -0.19238557 0.01103349
+v -0.07874724 -0.19246976 0.01103349
+v -0.07244660 -0.19264580 0.01103349
+v -0.06614597 -0.19268025 0.01103349
+v -0.05984533 -0.19269556 0.01103349
+v -0.04724405 -0.19271087 0.01103349
+v -0.02835775 -0.19272235 0.01103349
+v -0.00002439 -0.17518252 -0.00562531
+v -0.00315519 -0.17517869 -0.00562531
+v -0.00315519 -0.17201747 -0.00787397
+v -0.03465058 -0.17199068 -0.00786022
+v -0.03465058 -0.16770044 -0.00964705
+v -0.06614597 -0.16136653 -0.01084009
+v -0.07244660 -0.16136653 -0.01083184
+v -0.07978564 -0.15503261 -0.01101875
+v -0.07978564 -0.15480298 -0.01102150
+v -0.00945583 -0.19134839 0.00686054
+v -0.00315519 -0.19134839 0.00686054
+v -0.00002439 -0.19134839 0.00686329
+v -0.00002439 -0.19203728 0.00893327
+v -0.04724405 -0.19133308 0.00687703
+v -0.07978564 -0.19222482 0.01040122
+v -0.07874724 -0.19122593 0.00696775
+v -0.07978564 -0.19118766 0.00700623
+v -0.07244660 -0.19131014 0.00690177
+v -0.06614597 -0.19131777 0.00689353
+v -0.05354469 -0.19132928 0.00688253
+v -0.00002439 -0.18536274 0.00190963
+v -0.00945583 -0.18536657 0.00190963
+v -0.04724405 -0.18533978 0.00192887
+v -0.00945583 -0.17517487 -0.00561981
+v -0.03465058 -0.17515190 -0.00560331
+v -0.04094341 -0.17514425 -0.00560056
+v -0.04094341 -0.17198302 -0.00785472
+v -0.04094341 -0.16770044 -0.00963881
+v -0.04724405 -0.17513276 -0.00559781
+v -0.06614597 -0.17510980 -0.00558132
+v -0.05984533 -0.16770044 -0.00960857
+v -0.06614597 -0.16770044 -0.00959757
+v -0.07874724 -0.16136653 -0.01080435
+v -0.07978564 -0.16032172 -0.01083734
+v -0.00945583 -0.18853161 0.00426550
+v -0.00002439 -0.18992853 0.00555477
+v -0.04724405 -0.18850483 0.00428475
+v -0.01575647 -0.18852780 0.00426825
+v -0.07874724 -0.18839767 0.00437546
+v -0.07978564 -0.18835557 0.00441395
+v -0.07244660 -0.18847421 0.00430674
+v -0.06614597 -0.18848952 0.00429849
+v -0.00002439 -0.18693569 0.00308069
+v -0.06614597 -0.18532064 0.00193987
+v -0.06614597 -0.17194857 -0.00782723
+v -0.07244660 -0.18530916 0.00195087
+v -0.07244660 -0.17507919 -0.00556483
+v -0.07244660 -0.16770044 -0.00957008
+v -0.07978564 -0.16665564 -0.00967453
+v -0.07978564 -0.16136653 -0.01078785
+v -0.00315519 -0.18853161 0.00426825
+v -0.00002439 -0.18852780 0.00426825
+v -0.07874724 -0.18522879 0.00201409
+v -0.07978564 -0.18783124 0.00401809
+v -0.07978564 -0.18518669 0.00204708
+v -0.07244660 -0.17191796 -0.00780524
+v -0.07874724 -0.17495672 -0.00549060
+v -0.07874724 -0.16770045 -0.00946837
+v -0.07978564 -0.16770045 -0.00942164
+v -0.07978564 -0.17490696 -0.00545487
+v -0.07874724 -0.17179549 -0.00772552
+v -0.07978564 -0.17174191 -0.00769253
+v -0.07978564 -0.17112192 -0.00796743
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 38
+f 1 38 55
+f 1 55 76
+f 1 76 75
+f 1 75 99
+f 1 99 115
+f 1 115 106
+f 1 106 84
+f 1 84 64
+f 1 64 48
+f 1 48 47
+f 1 47 31
+f 1 31 16
+f 1 16 8
+f 1 8 3
+f 1 3 11
+f 1 11 20
+f 1 20 36
+f 1 36 52
+f 1 52 39
+f 1 39 23
+f 1 23 22
+f 1 22 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 5 7 12
+f 6 13 14
+f 6 14 7
+f 7 14 23
+f 7 23 39
+f 7 39 56
+f 7 56 72
+f 7 72 71
+f 7 71 97
+f 7 97 113
+f 7 113 112
+f 7 112 122
+f 7 122 126
+f 7 126 125
+f 7 125 123
+f 7 123 118
+f 7 118 117
+f 7 117 103
+f 7 103 80
+f 7 80 78
+f 7 78 57
+f 7 57 40
+f 7 40 24
+f 7 24 15
+f 7 15 12
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 12 15 21
+f 13 22 14
+f 14 22 23
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 21
+f 16 31 32
+f 16 32 17
+f 17 32 18
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 19 36 20
+f 21 30 37
+f 21 37 38
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 30
+f 30 46 37
+f 31 47 32
+f 32 47 48
+f 32 48 33
+f 33 49 34
+f 33 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 37 53 54
+f 37 54 38
+f 37 46 53
+f 38 54 55
+f 39 52 56
+f 40 57 58
+f 40 58 41
+f 41 58 59
+f 41 59 42
+f 42 59 60
+f 42 60 43
+f 43 60 61
+f 43 61 44
+f 44 61 62
+f 44 62 45
+f 45 62 46
+f 46 62 63
+f 46 63 54
+f 46 54 53
+f 48 64 65
+f 48 65 66
+f 48 66 67
+f 48 67 49
+f 49 67 68
+f 49 68 50
+f 50 69 51
+f 50 68 69
+f 51 70 71
+f 51 71 72
+f 51 72 52
+f 51 69 70
+f 52 72 56
+f 54 73 74
+f 54 74 75
+f 54 75 76
+f 54 76 55
+f 54 63 77
+f 54 77 73
+f 57 78 58
+f 58 79 59
+f 58 78 80
+f 58 80 79
+f 59 81 60
+f 59 79 81
+f 60 81 61
+f 61 81 82
+f 61 82 62
+f 62 82 83
+f 62 83 77
+f 62 77 63
+f 64 84 85
+f 64 85 65
+f 65 85 86
+f 65 86 87
+f 65 87 88
+f 65 88 89
+f 65 89 67
+f 65 67 66
+f 67 90 91
+f 67 91 68
+f 67 89 92
+f 67 92 93
+f 67 93 90
+f 68 91 70
+f 68 70 69
+f 70 94 95
+f 70 95 111
+f 70 111 96
+f 70 96 97
+f 70 97 71
+f 70 91 94
+f 73 98 74
+f 73 77 98
+f 74 98 99
+f 74 99 75
+f 77 83 100
+f 77 100 101
+f 77 101 98
+f 79 102 81
+f 79 80 102
+f 80 103 102
+f 81 104 105
+f 81 105 82
+f 81 102 104
+f 82 105 83
+f 83 105 100
+f 84 106 98
+f 84 98 85
+f 85 98 101
+f 85 101 86
+f 86 100 105
+f 86 105 107
+f 86 107 88
+f 86 88 87
+f 86 101 100
+f 88 107 89
+f 89 107 93
+f 89 93 92
+f 90 93 108
+f 90 108 94
+f 90 94 91
+f 93 107 109
+f 93 109 110
+f 93 110 108
+f 94 108 95
+f 95 108 111
+f 96 111 112
+f 96 112 113
+f 96 113 97
+f 98 106 114
+f 98 114 99
+f 99 114 115
+f 102 116 104
+f 102 103 117
+f 102 117 118
+f 102 118 116
+f 104 109 105
+f 104 116 109
+f 105 109 107
+f 106 115 114
+f 108 110 119
+f 108 119 111
+f 109 116 110
+f 110 116 120
+f 110 120 119
+f 111 119 121
+f 111 121 112
+f 112 121 122
+f 116 118 120
+f 118 123 120
+f 119 120 124
+f 119 124 121
+f 120 123 125
+f 120 125 124
+f 121 124 126
+f 121 126 122
+f 124 125 126
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_3.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v -0.00315883 0.19298637 0.01103657
+v -0.04095489 0.19150274 0.01508710
+v -0.00002440 0.19150274 0.01508710
+v -0.00002440 0.19298144 0.01103657
+v -0.00002440 0.19158684 0.00686178
+v -0.00315883 0.19158684 0.00685902
+v -0.01575752 0.19158684 0.00686454
+v -0.05983985 0.19158188 0.00687558
+v -0.04724117 0.19297648 0.01103657
+v -0.04724117 0.19150274 0.01508434
+v -0.00945382 0.18694309 0.01703090
+v -0.00002440 0.18920808 0.01606729
+v -0.06614355 0.19149778 0.01508434
+v -0.06614355 0.18694309 0.01702538
+v -0.00002440 0.19019718 0.00557510
+v -0.00315883 0.18878777 0.00426633
+v -0.04724117 0.19158188 0.00687006
+v -0.05354487 0.19158188 0.00687282
+v -0.05983985 0.19297154 0.01103657
+v -0.04724117 0.18877787 0.00427462
+v -0.06614355 0.19157694 0.00687558
+v -0.00002440 0.18694309 0.01703090
+v -0.08897269 0.18060806 0.01716341
+v -0.06614355 0.19296658 0.01103657
+v -0.07244725 0.19148295 0.01507329
+v -0.07244725 0.18694309 0.01701986
+v -0.00002440 0.18878282 0.00426909
+v -0.00002440 0.18721514 0.00309563
+v -0.04095489 0.18561284 0.00191663
+v -0.06614355 0.18560294 0.00192215
+v -0.06614355 0.18876798 0.00428290
+v -0.07244725 0.18875809 0.00429394
+v -0.07244725 0.19156211 0.00688663
+v -0.00002440 0.18375332 0.01697842
+v -0.07874223 0.18694309 0.01695635
+v -0.08897269 0.18299668 0.01703916
+v -0.08897269 0.17657757 0.01584635
+v -0.00002440 0.18060806 0.01692595
+v -0.07244725 0.19293691 0.01103657
+v -0.07874223 0.19138900 0.01500702
+v -0.00002440 0.18561779 0.00191110
+v -0.00945382 0.17536603 -0.00559085
+v -0.04724117 0.17535614 -0.00558809
+v -0.06614355 0.17888219 -0.00297883
+v -0.07244725 0.18559305 0.00193043
+v -0.07874223 0.18868390 0.00435745
+v -0.07874223 0.19148298 0.00695013
+v -0.08504593 0.18694309 0.01674099
+v -0.08897269 0.18694309 0.01641242
+v -0.08897269 0.17442138 0.01507047
+v -0.00002440 0.17559838 0.01497936
+v -0.07874223 0.19276383 0.01103657
+v -0.08504593 0.19113184 0.01478890
+v -0.00002440 0.17536109 -0.00559085
+v -0.00002440 0.17219605 -0.00783287
+v -0.01575752 0.17219605 -0.00783287
+v -0.04724117 0.17218615 -0.00782459
+v -0.05354487 0.17534625 -0.00558256
+v -0.03465119 0.17219110 -0.00782735
+v -0.06614355 0.17532152 -0.00557428
+v -0.07244725 0.17886735 -0.00296778
+v -0.07874223 0.18551392 0.00199118
+v -0.08504593 0.18526171 0.00218445
+v -0.08504593 0.18842674 0.00457834
+v -0.08504593 0.19124560 0.00717102
+v -0.08897269 0.18852067 0.01567796
+v -0.08897269 0.14246438 -0.00255652
+v -0.08519395 0.14246438 -0.00250406
+v -0.02850422 0.14246438 -0.00221414
+v -0.02205251 0.14246438 -0.00223623
+v -0.01575752 0.14246438 -0.00226660
+v -0.00960184 0.14246438 -0.00231078
+v -0.00945382 0.14246438 -0.00231354
+v -0.00002440 0.14246438 -0.00253719
+v -0.08504593 0.19226929 0.01103657
+v -0.08897269 0.19081533 0.01445480
+v -0.00002440 0.16794302 -0.00960275
+v -0.00945382 0.16794302 -0.00960551
+v -0.02835620 0.17219110 -0.00783011
+v -0.04724117 0.16794302 -0.00958894
+v -0.05354487 0.17217627 -0.00781907
+v -0.01575752 0.16794302 -0.00960275
+v -0.04095489 0.16794302 -0.00959170
+v -0.06614355 0.17215649 -0.00780250
+v -0.07244725 0.17529680 -0.00556048
+v -0.07874223 0.18193842 -0.00060151
+v -0.08504593 0.18164665 -0.00040823
+v -0.08897269 0.18356050 0.00145827
+v -0.08897269 0.18492048 0.00243571
+v -0.07874223 0.17877339 -0.00289323
+v -0.07874223 0.17518305 -0.00548869
+v -0.08897269 0.18809047 0.00489862
+v -0.08897269 0.18987575 0.00651664
+v -0.08897269 0.19093899 0.00749407
+v -0.08897269 0.14246441 -0.01103310
+v -0.00002440 0.14246441 -0.01104138
+v -0.08897269 0.19164617 0.01103656
+v -0.08897269 0.19124064 0.01304112
+v -0.00002440 0.16480271 -0.01021848
+v -0.00945382 0.16161294 -0.01084251
+v -0.02205251 0.16161294 -0.01084251
+v -0.06614355 0.16161294 -0.01081490
+v -0.07244725 0.16161294 -0.01080662
+v -0.05354487 0.16794302 -0.00957790
+v -0.04095489 0.16161294 -0.01083423
+v -0.06614355 0.16794302 -0.00955581
+v -0.02835620 0.16161294 -0.01083975
+v -0.07244725 0.16794302 -0.00952820
+v -0.07244725 0.17213177 -0.00778041
+v -0.08504593 0.17486654 -0.00527056
+v -0.08897269 0.17136523 -0.00728617
+v -0.07874223 0.17201802 -0.00770586
+v -0.08504593 0.17170151 -0.00750430
+v -0.08897269 0.14261772 -0.01103310
+v -0.08504593 0.14246441 -0.01103586
+v -0.00002440 0.14894782 -0.01104411
+v -0.00315883 0.14246441 -0.01104138
+v -0.00002440 0.16161294 -0.01083975
+v -0.00002440 0.15847262 -0.01093640
+v -0.00002440 0.15528285 -0.01103305
+v -0.02835620 0.15528285 -0.01103305
+v -0.07874223 0.15528285 -0.01101924
+v -0.08504593 0.15528285 -0.01100544
+v -0.07874223 0.16161294 -0.01078453
+v -0.08504593 0.16161294 -0.01070170
+v -0.07874223 0.16794301 -0.00943156
+v -0.08897269 0.17125148 -0.00733587
+v -0.08504593 0.16794301 -0.00915821
+v -0.08897269 0.14656413 -0.01103032
+v -0.08504593 0.14894782 -0.01103307
+v -0.08504593 0.14261772 -0.01103586
+v -0.00002440 0.15213758 -0.01103858
+v -0.08897269 0.14894782 -0.01102755
+v -0.08897269 0.15528285 -0.01097230
+v -0.08897269 0.16161294 -0.01054707
+v -0.08897269 0.16820018 -0.00866673
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 12
+f 2 12 3
+f 2 10 13
+f 2 13 14
+f 2 14 11
+f 3 12 22
+f 3 22 34
+f 3 34 38
+f 3 38 51
+f 3 51 74
+f 3 74 96
+f 3 96 116
+f 3 116 132
+f 3 132 120
+f 3 120 119
+f 3 119 118
+f 3 118 99
+f 3 99 77
+f 3 77 55
+f 3 55 54
+f 3 54 41
+f 3 41 28
+f 3 28 27
+f 3 27 15
+f 3 15 5
+f 3 5 4
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 8
+f 8 19 9
+f 8 18 20
+f 8 20 21
+f 8 21 24
+f 8 24 19
+f 9 19 13
+f 9 13 10
+f 11 22 12
+f 11 14 23
+f 11 23 22
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 13 19 24
+f 14 26 23
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 20
+f 16 20 17
+f 17 20 18
+f 20 30 31
+f 20 31 21
+f 20 29 30
+f 21 31 32
+f 21 32 33
+f 21 33 24
+f 22 23 34
+f 23 26 35
+f 23 35 36
+f 23 36 49
+f 23 49 66
+f 23 66 76
+f 23 76 98
+f 23 98 97
+f 23 97 94
+f 23 94 93
+f 23 93 92
+f 23 92 89
+f 23 89 88
+f 23 88 111
+f 23 111 127
+f 23 127 136
+f 23 136 135
+f 23 135 134
+f 23 134 133
+f 23 133 129
+f 23 129 114
+f 23 114 95
+f 23 95 67
+f 23 67 50
+f 23 50 37
+f 23 37 38
+f 23 38 34
+f 24 33 39
+f 24 39 25
+f 25 39 40
+f 25 40 35
+f 25 35 26
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 32
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 33 47 39
+f 35 40 48
+f 35 48 36
+f 36 48 49
+f 37 50 38
+f 38 50 51
+f 39 47 52
+f 39 52 40
+f 40 52 53
+f 40 53 48
+f 41 54 42
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 43 57 81
+f 43 81 58
+f 43 58 44
+f 43 56 59
+f 43 59 57
+f 44 60 45
+f 44 58 60
+f 45 61 62
+f 45 62 46
+f 45 60 61
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 65 52
+f 48 53 66
+f 48 66 49
+f 50 67 68
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 73
+f 51 73 74
+f 52 65 75
+f 52 75 53
+f 53 75 76
+f 53 76 66
+f 55 77 78
+f 55 78 56
+f 56 78 79
+f 56 79 59
+f 57 80 81
+f 57 59 79
+f 57 79 78
+f 57 78 82
+f 57 82 83
+f 57 83 80
+f 58 81 60
+f 60 84 85
+f 60 85 61
+f 60 81 84
+f 61 85 62
+f 62 86 63
+f 62 85 86
+f 63 87 88
+f 63 88 89
+f 63 89 64
+f 63 86 90
+f 63 90 91
+f 63 91 87
+f 64 89 92
+f 64 92 93
+f 64 93 94
+f 64 94 65
+f 65 94 75
+f 67 95 115
+f 67 115 117
+f 67 117 96
+f 67 96 74
+f 67 74 73
+f 67 73 72
+f 67 72 71
+f 67 71 70
+f 67 70 69
+f 67 69 68
+f 75 94 97
+f 75 97 98
+f 75 98 76
+f 77 99 78
+f 78 100 101
+f 78 101 107
+f 78 107 82
+f 78 99 100
+f 80 102 103
+f 80 103 104
+f 80 104 81
+f 80 83 105
+f 80 105 102
+f 81 104 106
+f 81 106 84
+f 82 107 105
+f 82 105 83
+f 84 106 108
+f 84 108 109
+f 84 109 85
+f 85 109 91
+f 85 91 90
+f 85 90 86
+f 87 110 88
+f 87 91 110
+f 88 110 111
+f 91 112 113
+f 91 113 110
+f 91 109 112
+f 95 114 131
+f 95 131 115
+f 96 117 116
+f 99 118 100
+f 100 118 119
+f 100 119 120
+f 100 120 121
+f 100 121 101
+f 101 121 122
+f 101 122 107
+f 102 122 103
+f 102 105 122
+f 103 122 123
+f 103 123 124
+f 103 124 106
+f 103 106 104
+f 105 107 122
+f 106 124 108
+f 108 124 125
+f 108 125 126
+f 108 126 109
+f 109 126 112
+f 110 113 111
+f 111 113 128
+f 111 128 127
+f 112 126 128
+f 112 128 113
+f 114 129 130
+f 114 130 131
+f 115 131 116
+f 115 116 117
+f 116 121 132
+f 116 131 130
+f 116 130 121
+f 120 132 121
+f 121 130 122
+f 122 130 133
+f 122 133 123
+f 123 133 134
+f 123 134 124
+f 124 134 125
+f 125 134 135
+f 125 135 126
+f 126 135 128
+f 127 128 136
+f 128 135 136
+f 129 133 130
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_4.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v -0.14571924 0.04762290 0.01103397
+v -0.14523688 0.04762289 0.01410462
+v -0.14523688 0.06660973 0.01410469
+v -0.14522871 0.10461434 0.01409091
+v -0.14571516 0.06030141 0.01103402
+v -0.14536361 0.11727741 0.00784943
+v -0.14536770 0.09827510 0.00784658
+v -0.14537587 0.04129911 0.00783523
+v -0.14537178 -0.01549134 0.00784059
+v -0.14571107 -0.01549135 0.01103374
+v -0.14569472 -0.01549135 0.01113953
+v -0.14523279 -0.01549136 0.01410161
+v -0.14511425 -0.01549136 0.01416842
+v -0.14174180 0.01595752 0.01605882
+v -0.14174180 0.06660972 0.01605900
+v -0.14174180 0.11727738 0.01603970
+v -0.14522462 0.11727739 0.01409096
+v -0.14569881 0.11093814 0.01103421
+v -0.14569472 0.11727740 0.01103423
+v -0.14534725 0.12360120 0.00786894
+v -0.14261250 0.11727742 0.00525761
+v -0.14262068 0.11093816 0.00525202
+v -0.14536361 0.11093815 0.00784663
+v -0.14263294 0.06660976 0.00524629
+v -0.14263294 0.04762292 0.00524065
+v -0.14263294 0.04129912 0.00524063
+v -0.14262886 -0.00936854 0.00524602
+v -0.14262477 -0.01549133 0.00524599
+v -0.14174180 -0.01549137 0.01605592
+v -0.13544246 0.13627967 0.01738718
+v -0.14174180 0.12360117 0.01602580
+v -0.14521235 0.12360118 0.01407428
+v -0.14567019 0.12360119 0.01103425
+v -0.14525732 0.12994044 0.00798311
+v -0.14258798 0.12360121 0.00527433
+v -0.13946488 0.11727743 0.00260176
+v -0.13946897 0.11093817 0.00259617
+v -0.13947306 0.10461438 0.00259336
+v -0.13948533 0.06660977 0.00258487
+v -0.13947715 -0.01549132 0.00258735
+v -0.13544246 -0.01549137 0.01735879
+v -0.13544246 0.01595752 0.01736726
+v -0.12929030 0.14244886 0.01662998
+v -0.13544246 0.14244886 0.01736493
+v -0.14174180 0.12994041 0.01590334
+v -0.14511834 0.12994042 0.01394625
+v -0.14548214 0.12994043 0.01103428
+v -0.14508155 0.13443978 0.00820305
+v -0.14245716 0.12994045 0.00539129
+v -0.13930545 0.12994046 0.00272709
+v -0.13944036 0.12360122 0.00262127
+v -0.13599841 0.11727744 0.00000715
+v -0.13601477 0.10461439 0.00000154
+v -0.13602702 0.06660978 -0.00000974
+v -0.12943338 0.02229686 -0.00496526
+v -0.13288758 -0.00936851 -0.00237633
+v -0.13603929 -0.00936852 -0.00000723
+v -0.13615375 -0.01549131 0.00008461
+v -0.13522581 -0.01549137 0.01729754
+v -0.12914314 0.14244886 0.01659657
+v -0.13559780 0.14244886 0.01731761
+v -0.14098146 0.14244886 0.01546909
+v -0.14222007 0.13601683 0.01527698
+v -0.14498752 0.13374399 0.01376531
+v -0.14510607 0.13457892 0.01103429
+v -0.14460736 0.13774855 0.01103431
+v -0.14351591 0.14244888 0.01103432
+v -0.14345869 0.14244888 0.01092018
+v -0.14062173 0.14244890 0.00563353
+v -0.14065035 0.14209329 0.00556115
+v -0.14257162 0.13644980 0.00622370
+v -0.13893756 0.13627972 0.00300550
+v -0.12608137 0.12763674 -0.00717808
+v -0.13281400 0.12360124 -0.00231461
+v -0.13596162 0.12360123 0.00002666
+v -0.13243793 0.13386774 -0.00203339
+v -0.13579402 0.12994047 0.00013248
+v -0.13284670 0.11727745 -0.00234247
+v -0.13286306 0.10461440 -0.00235365
+v -0.13286714 0.09827514 -0.00235646
+v -0.12942929 0.02863611 -0.00496523
+v -0.12628167 0.02863612 -0.00731764
+v -0.12628167 0.02229687 -0.00732045
+v -0.12628167 0.01595761 -0.00732047
+v -0.12942929 -0.00936850 -0.00496816
+v -0.13288758 -0.01549130 -0.00237358
+v -0.12914314 -0.01549137 0.01549913
+v -0.12458931 0.14244887 0.01475084
+v -0.14106322 0.14244886 0.01533825
+v -0.14012302 0.14244890 0.00516862
+v -0.13865141 0.13965036 0.00321430
+v -0.13264640 0.12994048 -0.00218930
+v -0.12856676 0.12981681 -0.00519036
+v -0.12585245 0.13185775 -0.00702217
+v -0.12339158 0.12981682 -0.00838907
+v -0.12284790 0.12360126 -0.00883175
+v -0.12616720 0.12360126 -0.00723656
+v -0.12931892 0.12360125 -0.00490643
+v -0.12621217 0.11727747 -0.00726999
+v -0.12935980 0.11727746 -0.00493429
+v -0.12961324 0.13609421 -0.00375384
+v -0.12937206 0.11093820 -0.00494266
+v -0.12284790 0.02863612 -0.00895736
+v -0.12622853 0.10461442 -0.00728118
+v -0.12284790 0.09827516 -0.00890422
+v -0.12284790 0.02229687 -0.00896018
+v -0.12284790 0.01595761 -0.00896020
+v -0.12284790 -0.01549128 -0.00895753
+v -0.12627758 -0.00936849 -0.00731778
+v -0.12627758 -0.01549128 -0.00731503
+v -0.12942520 -0.01549129 -0.00496819
+v -0.12588924 -0.01549136 0.01372021
+v -0.12449937 0.14244887 0.01470908
+v -0.13621098 0.14244891 0.00206177
+v -0.13202914 0.13808875 -0.00174106
+v -0.13574497 0.14209330 0.00165810
+v -0.13266684 0.14244892 -0.00043540
+v -0.13140779 0.14244892 -0.00132068
+v -0.12539461 0.13627975 -0.00672427
+v -0.12224699 0.13627976 -0.00846144
+v -0.11654857 0.13627977 -0.01030995
+v -0.11654857 0.12994051 -0.01055774
+v -0.11654857 0.12360127 -0.01062180
+v -0.12284790 0.11727747 -0.00887909
+v -0.12284790 0.11093821 -0.00889025
+v -0.11654857 0.10461443 -0.01065806
+v -0.12284790 0.10461442 -0.00889863
+v -0.11654857 0.09193591 -0.01066367
+v -0.11654857 0.02229688 -0.01069177
+v -0.11654857 -0.00936848 -0.01069466
+v -0.11676522 -0.01549127 -0.01063345
+v -0.10395809 -0.01549130 -0.00273827
+v -0.10395809 0.14244893 -0.00248714
+v -0.10395809 0.02860518 -0.00254880
+v -0.10395809 0.03494444 -0.00252372
+v -0.12817024 0.14244893 -0.00357008
+v -0.12442988 0.14244894 -0.00610344
+v -0.12127818 0.14244895 -0.00799650
+v -0.11654857 0.14244896 -0.00971974
+v -0.11024924 0.14244896 -0.01076650
+v -0.11024924 0.13627977 -0.01091685
+v -0.11654857 0.11727748 -0.01064409
+v -0.11024924 0.12994051 -0.01096698
+v -0.11024924 0.10461443 -0.01099492
+v -0.11654857 0.11093822 -0.01065246
+v -0.11024924 0.11727748 -0.01098651
+v -0.11024924 0.09827517 -0.01099772
+v -0.11024924 0.06030149 -0.01100900
+v -0.11024924 0.02229688 -0.01102027
+v -0.11024924 0.01595762 -0.01102029
+v -0.11046181 -0.01549127 -0.01100371
+v -0.11654857 -0.01549127 -0.01069191
+v -0.10395809 -0.01549130 -0.00319205
+v -0.10395809 0.14244896 -0.01099756
+v -0.11024924 0.12360127 -0.01098092
+v -0.10395809 0.13627977 -0.01102542
+v -0.10395809 0.01595762 -0.01105370
+v -0.10395809 0.06660982 -0.01104517
+v -0.11024924 -0.00936848 -0.01101481
+v -0.11024924 -0.01549127 -0.01101206
+v -0.10416247 -0.01549127 -0.01103990
+v -0.10395809 -0.01547581 -0.01103990
+v -0.10395809 -0.00936848 -0.01104265
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 3
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 5
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 8
+f 8 24 25
+f 8 25 26
+f 8 26 9
+f 8 23 24
+f 9 27 28
+f 9 28 40
+f 9 40 58
+f 9 58 86
+f 9 86 111
+f 9 111 110
+f 9 110 108
+f 9 108 131
+f 9 131 152
+f 9 152 151
+f 9 151 160
+f 9 160 161
+f 9 161 153
+f 9 153 132
+f 9 132 112
+f 9 112 87
+f 9 87 59
+f 9 59 41
+f 9 41 29
+f 9 29 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 9 26 27
+f 13 29 14
+f 14 29 30
+f 14 30 15
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 19
+f 17 19 18
+f 19 32 33
+f 19 33 20
+f 20 34 35
+f 20 35 21
+f 20 33 34
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 24
+f 22 24 23
+f 24 39 25
+f 25 39 26
+f 26 40 27
+f 26 39 40
+f 27 40 28
+f 29 41 42
+f 29 42 30
+f 30 43 44
+f 30 44 31
+f 30 42 43
+f 31 45 32
+f 31 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 36
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 37 53 38
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 40 57 58
+f 41 59 60
+f 41 60 43
+f 41 43 42
+f 43 60 88
+f 43 88 113
+f 43 113 133
+f 43 133 154
+f 43 154 140
+f 43 140 139
+f 43 139 138
+f 43 138 137
+f 43 137 136
+f 43 136 118
+f 43 118 117
+f 43 117 114
+f 43 114 90
+f 43 90 69
+f 43 69 68
+f 43 68 67
+f 43 67 89
+f 43 89 62
+f 43 62 61
+f 43 61 44
+f 44 61 45
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 47
+f 47 64 65
+f 47 65 48
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 69
+f 48 69 70
+f 48 70 71
+f 48 71 72
+f 48 72 49
+f 49 72 50
+f 50 73 74
+f 50 74 75
+f 50 75 51
+f 50 72 76
+f 50 76 77
+f 50 77 73
+f 51 75 52
+f 52 75 78
+f 52 78 79
+f 52 79 53
+f 53 79 80
+f 53 80 54
+f 54 80 81
+f 54 81 55
+f 55 81 82
+f 55 82 83
+f 55 83 84
+f 55 84 85
+f 55 85 56
+f 56 85 86
+f 56 86 57
+f 57 86 58
+f 59 87 60
+f 60 87 88
+f 62 89 64
+f 62 64 63
+f 64 89 67
+f 64 67 66
+f 64 66 65
+f 69 90 70
+f 70 91 71
+f 70 90 91
+f 71 91 72
+f 72 91 76
+f 73 77 92
+f 73 92 93
+f 73 93 94
+f 73 94 95
+f 73 95 96
+f 73 96 97
+f 73 97 98
+f 73 98 74
+f 74 98 99
+f 74 99 100
+f 74 100 78
+f 74 78 75
+f 76 91 101
+f 76 101 94
+f 76 94 92
+f 76 92 77
+f 78 100 102
+f 78 102 79
+f 79 102 82
+f 79 82 80
+f 80 82 81
+f 82 103 106
+f 82 106 83
+f 82 102 104
+f 82 104 105
+f 82 105 103
+f 83 106 107
+f 83 107 84
+f 84 107 108
+f 84 108 109
+f 84 109 85
+f 85 109 110
+f 85 110 111
+f 85 111 86
+f 87 112 113
+f 87 113 88
+f 90 114 91
+f 91 115 101
+f 91 114 116
+f 91 116 117
+f 91 117 118
+f 91 118 115
+f 92 94 93
+f 94 101 119
+f 94 119 120
+f 94 120 95
+f 95 120 121
+f 95 121 96
+f 96 121 122
+f 96 122 123
+f 96 123 124
+f 96 124 99
+f 96 99 97
+f 97 99 98
+f 99 102 100
+f 99 124 125
+f 99 125 104
+f 99 104 102
+f 101 115 119
+f 103 105 126
+f 103 126 128
+f 103 128 106
+f 104 125 127
+f 104 127 105
+f 105 127 126
+f 106 128 129
+f 106 129 130
+f 106 130 107
+f 107 130 108
+f 108 130 131
+f 108 110 109
+f 112 132 113
+f 113 132 134
+f 113 134 135
+f 113 135 133
+f 114 117 116
+f 115 118 119
+f 118 136 119
+f 119 136 137
+f 119 137 138
+f 119 138 120
+f 120 138 139
+f 120 139 121
+f 121 139 140
+f 121 140 122
+f 122 140 141
+f 122 141 123
+f 123 142 124
+f 123 141 143
+f 123 143 142
+f 124 142 125
+f 125 142 127
+f 126 144 147
+f 126 147 128
+f 126 127 145
+f 126 145 155
+f 126 155 146
+f 126 146 144
+f 127 142 145
+f 128 147 129
+f 129 148 149
+f 129 149 130
+f 129 147 148
+f 130 150 151
+f 130 151 152
+f 130 152 131
+f 130 149 150
+f 132 153 162
+f 132 162 163
+f 132 163 157
+f 132 157 158
+f 132 158 156
+f 132 156 154
+f 132 154 133
+f 132 133 135
+f 132 135 134
+f 140 154 141
+f 141 154 143
+f 142 143 155
+f 142 155 145
+f 143 154 156
+f 143 156 155
+f 144 146 156
+f 144 156 147
+f 146 155 156
+f 147 156 148
+f 148 156 149
+f 149 157 150
+f 149 156 158
+f 149 158 157
+f 150 157 159
+f 150 159 151
+f 151 159 160
+f 153 161 162
+f 157 163 161
+f 157 161 159
+f 159 161 160
+f 161 163 162
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_5.obj

@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v -0.07978564 -0.15363957 -0.00273646
+v -0.07978564 -0.17194424 0.01249707
+v -0.07978564 -0.15363954 -0.01102676
+v -0.11830255 -0.15363963 0.01440516
+v -0.07978564 -0.17510753 0.01507441
+v -0.07978564 -0.15480396 -0.01102121
+v -0.08643272 -0.15363954 -0.01101010
+v -0.12279619 -0.15363964 0.01616876
+v -0.07978564 -0.18036072 0.01701574
+v -0.07978564 -0.15503154 -0.01101844
+v -0.08504962 -0.15503154 -0.01100455
+v -0.09273549 -0.15363954 -0.01096566
+v -0.12913981 -0.15363964 0.01729079
+v -0.09764931 -0.18036072 0.01734624
+v -0.07978564 -0.18669490 0.01688795
+v -0.12913981 -0.15503164 0.01733244
+v -0.07978564 -0.16032265 -0.01083515
+v -0.09135238 -0.15503154 -0.01095456
+v -0.09903242 -0.15363954 -0.01082124
+v -0.13565266 -0.15363964 0.01577716
+v -0.08504962 -0.18669490 0.01670465
+v -0.11024318 -0.17402656 0.01732404
+v -0.10395208 -0.18036072 0.01702962
+v -0.07978564 -0.19106053 0.01494660
+v -0.12913981 -0.16136581 0.01654367
+v -0.12284287 -0.16769997 0.01686303
+v -0.07978564 -0.16136571 -0.01078794
+v -0.09764931 -0.15503154 -0.01081014
+v -0.08504962 -0.16136571 -0.01071573
+v -0.10395208 -0.15363954 -0.01044908
+v -0.13788197 -0.15363963 0.01466345
+v -0.13571102 -0.15500508 0.01546886
+v -0.09135238 -0.18669490 0.01615474
+v -0.08504962 -0.19084055 0.01476051
+v -0.11654010 -0.17402656 0.01664082
+v -0.11037740 -0.18070588 0.01557431
+v -0.10395208 -0.18517773 0.01509381
+v -0.07978564 -0.19238804 0.01103334
+v -0.13348755 -0.16136580 0.01459399
+v -0.12876631 -0.16713862 0.01472172
+v -0.12234682 -0.17365484 0.01478279
+v -0.07978564 -0.16665683 -0.00967425
+v -0.09135238 -0.16136571 -0.01047688
+v -0.10395208 -0.15503154 -0.01032966
+v -0.10533519 -0.15363954 -0.01032410
+v -0.13939931 -0.15363962 0.01103349
+v -0.13778860 -0.15674222 0.01103347
+v -0.13238456 -0.16465425 0.01373578
+v -0.09719995 -0.18697937 0.01522156
+v -0.09135238 -0.19032472 0.01420228
+v -0.08504962 -0.19196323 0.01103334
+v -0.11654010 -0.17855530 0.01469112
+v -0.10836986 -0.18419536 0.01435505
+v -0.09479557 -0.18994921 0.01375235
+v -0.07978564 -0.19222495 0.01040289
+v -0.08504962 -0.19098086 0.00719787
+v -0.12641444 -0.17129944 0.01404404
+v -0.11991909 -0.17737569 0.01383294
+v -0.07978564 -0.16769988 -0.00942153
+v -0.09764931 -0.16136571 -0.00989086
+v -0.08504962 -0.16769988 -0.00919101
+v -0.10413883 -0.16169570 -0.00850498
+v -0.11074506 -0.15553979 -0.00868826
+v -0.11060500 -0.15363955 -0.00913818
+v -0.13901415 -0.15363961 0.00823395
+v -0.13252463 -0.16484008 0.00819780
+v -0.13488232 -0.16136579 0.01103346
+v -0.12987512 -0.16801856 0.01103343
+v -0.12672375 -0.17161804 0.01103342
+v -0.13253630 -0.16485527 0.01103344
+v -0.09135238 -0.19095433 0.01103335
+v -0.09519240 -0.19006678 0.00818660
+v -0.09135238 -0.19048779 0.00771168
+v -0.11232076 -0.18290196 0.01103338
+v -0.10917521 -0.18460498 0.01103337
+v -0.10395208 -0.18697556 0.01103336
+v -0.09839048 -0.18906545 0.01103336
+v -0.09523909 -0.19008194 0.01103335
+v -0.07978564 -0.19118569 0.00700624
+v -0.08504962 -0.18813996 0.00460387
+v -0.07978564 -0.18835616 0.00441223
+v -0.07978564 -0.19071915 0.00657853
+v -0.12330392 -0.17478132 0.01103341
+v -0.12015837 -0.17756532 0.01103340
+v -0.11654010 -0.18010658 0.01103339
+v -0.07978564 -0.17112110 -0.00796900
+v -0.09128819 -0.16811331 -0.00840225
+v -0.09764931 -0.16645202 -0.00813284
+v -0.08504962 -0.17147763 -0.00752185
+v -0.08914058 -0.17112488 -0.00729133
+v -0.10898846 -0.15980303 -0.00785231
+v -0.10216630 -0.16534449 -0.00758015
+v -0.11318447 -0.15798622 -0.00702188
+v -0.11490605 -0.15376471 -0.00784395
+v -0.11244914 -0.15363955 -0.00861882
+v -0.13831384 -0.15363961 0.00726745
+v -0.12943743 -0.16196883 0.00437067
+v -0.12595341 -0.16448354 0.00327640
+v -0.12884801 -0.16724859 0.00697856
+v -0.12654867 -0.17143597 0.00795060
+v -0.13368597 -0.16136578 0.00722576
+v -0.12008833 -0.17750842 0.00812833
+v -0.10859745 -0.18429395 0.00764782
+v -0.10395208 -0.18532561 0.00672853
+v -0.09749758 -0.18663797 0.00583977
+v -0.09560091 -0.18389568 0.00299581
+v -0.09135238 -0.18759757 0.00511767
+v -0.08504962 -0.18497287 0.00220983
+v -0.09135238 -0.18443048 0.00260976
+v -0.07978564 -0.18783273 0.00401785
+v -0.07978564 -0.17174313 -0.00769405
+v -0.09334242 -0.17049906 -0.00688862
+v -0.09764931 -0.16961531 -0.00632204
+v -0.08504962 -0.17464093 -0.00527223
+v -0.07978564 -0.17438301 -0.00582492
+v -0.07978564 -0.17490643 -0.00545276
+v -0.09459714 -0.17722771 -0.00195612
+v -0.10636814 -0.16402454 -0.00683860
+v -0.10395208 -0.17205038 -0.00271431
+v -0.10413883 -0.16755197 -0.00550273
+v -0.11074506 -0.16169571 -0.00615259
+v -0.11436332 -0.16538623 -0.00242823
+v -0.11969149 -0.17086321 0.00325415
+v -0.11856516 -0.16336840 -0.00135339
+v -0.12048518 -0.15914688 -0.00240042
+v -0.11682023 -0.15553980 -0.00610258
+v -0.11508697 -0.15363955 -0.00779674
+v -0.11495275 -0.15363955 -0.00785784
+v -0.11775981 -0.15363956 -0.00638308
+v -0.13590944 -0.15363960 0.00536776
+v -0.13553595 -0.15520227 0.00568992
+v -0.13173094 -0.15726940 0.00360414
+v -0.12175156 -0.16664170 0.00210436
+v -0.12344980 -0.16832955 0.00401237
+v -0.12752910 -0.16026202 0.00230435
+v -0.12244604 -0.17373827 0.00692298
+v -0.11717039 -0.17439064 0.00427064
+v -0.11268841 -0.17674224 0.00352908
+v -0.11654010 -0.17874492 0.00711737
+v -0.11064001 -0.18059206 0.00558985
+v -0.10395208 -0.18229507 0.00413452
+v -0.09980276 -0.18318261 0.00349296
+v -0.07978564 -0.18518905 0.00204597
+v -0.09879314 -0.17642741 -0.00141732
+v -0.09707739 -0.17420096 -0.00338365
+v -0.10395208 -0.17913178 0.00194045
+v -0.10395208 -0.17521368 -0.00065077
+v -0.10745362 -0.17110215 -0.00208108
+v -0.11164963 -0.16960775 -0.00119788
+v -0.10849241 -0.17800907 0.00271811
+v -0.11548965 -0.17252451 0.00225987
+v -0.12468702 -0.15627186 -0.00115340
+v -0.12268530 -0.15450815 -0.00309197
+v -0.12389333 -0.15363957 -0.00270869
+v -0.13366263 -0.15363959 0.00360972
+v -0.13278141 -0.15363959 0.00292927
+v -0.12782089 -0.15363958 -0.00027298
+v -0.12556824 -0.15363957 -0.00168385
+f 1 2 5
+f 1 5 9
+f 1 9 15
+f 1 15 24
+f 1 24 38
+f 1 38 55
+f 1 55 79
+f 1 79 82
+f 1 82 81
+f 1 81 110
+f 1 110 143
+f 1 143 116
+f 1 116 115
+f 1 115 111
+f 1 111 86
+f 1 86 59
+f 1 59 42
+f 1 42 27
+f 1 27 17
+f 1 17 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 30
+f 1 30 45
+f 1 45 64
+f 1 64 95
+f 1 95 128
+f 1 128 127
+f 1 127 129
+f 1 129 154
+f 1 154 158
+f 1 158 157
+f 1 157 156
+f 1 156 155
+f 1 155 130
+f 1 130 96
+f 1 96 65
+f 1 65 46
+f 1 46 31
+f 1 31 20
+f 1 20 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 8 13 9
+f 9 14 15
+f 9 13 16
+f 9 16 14
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 12 18 28
+f 12 28 19
+f 13 20 16
+f 14 21 15
+f 14 16 22
+f 14 22 23
+f 14 23 21
+f 15 21 24
+f 16 20 25
+f 16 25 26
+f 16 26 22
+f 17 27 18
+f 18 27 29
+f 18 29 28
+f 19 28 30
+f 20 31 32
+f 20 32 25
+f 21 23 33
+f 21 33 34
+f 21 34 24
+f 22 26 35
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 33
+f 24 34 38
+f 25 32 39
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 35
+f 27 42 29
+f 28 29 43
+f 28 43 44
+f 28 44 30
+f 29 42 43
+f 30 44 45
+f 31 46 47
+f 31 47 48
+f 31 48 39
+f 31 39 32
+f 33 49 50
+f 33 50 34
+f 33 37 49
+f 34 51 38
+f 34 50 51
+f 35 52 36
+f 35 41 52
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 50
+f 37 50 49
+f 38 51 56
+f 38 56 55
+f 39 48 40
+f 40 48 57
+f 40 57 41
+f 41 58 52
+f 41 57 58
+f 42 59 43
+f 43 60 44
+f 43 59 61
+f 43 61 60
+f 44 62 63
+f 44 63 64
+f 44 64 45
+f 44 60 62
+f 46 65 47
+f 47 65 66
+f 47 66 67
+f 47 67 48
+f 48 68 69
+f 48 69 57
+f 48 67 70
+f 48 70 68
+f 50 54 51
+f 51 54 71
+f 51 71 72
+f 51 72 73
+f 51 73 56
+f 52 58 53
+f 53 74 75
+f 53 75 76
+f 53 76 54
+f 53 58 74
+f 54 77 78
+f 54 78 71
+f 54 76 77
+f 55 56 79
+f 56 80 81
+f 56 81 82
+f 56 82 79
+f 56 73 80
+f 57 69 58
+f 58 69 83
+f 58 83 84
+f 58 84 85
+f 58 85 74
+f 59 86 61
+f 60 61 87
+f 60 87 88
+f 60 88 62
+f 61 86 89
+f 61 89 90
+f 61 90 87
+f 62 91 63
+f 62 88 92
+f 62 92 91
+f 63 93 94
+f 63 94 95
+f 63 95 64
+f 63 91 93
+f 65 96 66
+f 66 97 98
+f 66 98 99
+f 66 99 100
+f 66 100 69
+f 66 69 68
+f 66 68 70
+f 66 70 67
+f 66 96 101
+f 66 101 97
+f 69 100 102
+f 69 102 83
+f 71 78 72
+f 72 78 77
+f 72 77 76
+f 72 76 103
+f 72 103 104
+f 72 104 105
+f 72 105 106
+f 72 106 107
+f 72 107 73
+f 73 107 80
+f 74 85 102
+f 74 102 103
+f 74 103 75
+f 75 103 76
+f 80 108 81
+f 80 107 109
+f 80 109 108
+f 81 108 110
+f 83 102 84
+f 84 102 85
+f 86 111 89
+f 87 90 112
+f 87 112 88
+f 88 112 113
+f 88 113 92
+f 89 114 90
+f 89 111 115
+f 89 115 116
+f 89 116 114
+f 90 109 117
+f 90 117 112
+f 90 114 109
+f 91 92 118
+f 91 118 93
+f 92 113 119
+f 92 119 120
+f 92 120 118
+f 93 118 121
+f 93 121 122
+f 93 122 123
+f 93 123 124
+f 93 124 98
+f 93 98 125
+f 93 125 126
+f 93 126 94
+f 94 127 128
+f 94 128 95
+f 94 126 129
+f 94 129 127
+f 96 130 131
+f 96 131 101
+f 97 101 132
+f 97 132 98
+f 98 124 133
+f 98 133 123
+f 98 123 134
+f 98 134 100
+f 98 100 99
+f 98 132 135
+f 98 135 125
+f 100 134 123
+f 100 123 136
+f 100 136 102
+f 101 131 132
+f 102 136 123
+f 102 123 137
+f 102 137 138
+f 102 138 139
+f 102 139 103
+f 103 139 140
+f 103 140 141
+f 103 141 104
+f 104 141 142
+f 104 142 105
+f 105 142 106
+f 106 142 117
+f 106 117 109
+f 106 109 107
+f 108 109 114
+f 108 114 116
+f 108 116 143
+f 108 143 110
+f 112 117 144
+f 112 144 145
+f 112 145 113
+f 113 144 146
+f 113 146 147
+f 113 147 119
+f 113 145 144
+f 117 142 144
+f 118 120 148
+f 118 148 138
+f 118 138 149
+f 118 149 122
+f 118 122 121
+f 119 147 150
+f 119 150 148
+f 119 148 120
+f 122 149 151
+f 122 151 123
+f 123 133 124
+f 123 151 138
+f 123 138 137
+f 125 135 152
+f 125 152 129
+f 125 129 126
+f 129 152 153
+f 129 153 154
+f 130 155 131
+f 131 155 156
+f 131 156 132
+f 132 157 158
+f 132 158 152
+f 132 152 135
+f 132 156 157
+f 138 140 139
+f 138 151 149
+f 138 148 150
+f 138 150 140
+f 140 150 141
+f 141 150 146
+f 141 146 142
+f 142 146 144
+f 146 150 147
+f 152 158 154
+f 152 154 153
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_6.obj

@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v -0.08897269 0.19164834 0.01103672
+v -0.08897269 0.19124393 0.01304114
+v -0.08897269 0.19094064 0.00749214
+v -0.09134867 0.19075287 0.00768674
+v -0.09523032 0.19032439 0.00817325
+v -0.09134867 0.19126801 0.01103672
+v -0.09490462 0.19023289 0.01379732
+v -0.09134867 0.19062287 0.01425603
+v -0.08897269 0.19081545 0.01445619
+v -0.08897269 0.18987667 0.00651634
+v -0.08897269 0.18809051 0.00489833
+v -0.09134867 0.18788350 0.00509293
+v -0.09566280 0.18416196 0.00298286
+v -0.09754756 0.18690617 0.00582687
+v -0.10394935 0.18560628 0.00669980
+v -0.10862121 0.18456636 0.00762556
+v -0.10394935 0.18729131 0.01103671
+v -0.09850329 0.18934705 0.01103672
+v -0.09535312 0.19036290 0.01103672
+v -0.10838628 0.18446043 0.01436721
+v -0.10394935 0.18546180 0.01511227
+v -0.09134867 0.18693983 0.01621596
+v -0.09726458 0.18724314 0.01525962
+v -0.08897269 0.18851896 0.01567663
+v -0.08897269 0.18492265 0.00243519
+v -0.09134867 0.18471562 0.00258809
+v -0.09458960 0.17747477 -0.00195178
+v -0.09985946 0.18344943 0.00347770
+v -0.10394935 0.18257320 0.00410599
+v -0.11066615 0.18084964 0.00557385
+v -0.11654469 0.17900571 0.00710567
+v -0.12008997 0.17776360 0.00812038
+v -0.11235336 0.18316053 0.01103669
+v -0.10920319 0.18488409 0.01103670
+v -0.11992978 0.17763359 0.01384453
+v -0.11654469 0.17881311 0.01470636
+v -0.11038851 0.18096034 0.01559042
+v -0.10394935 0.18060888 0.01705273
+v -0.08897269 0.18693983 0.01641335
+v -0.08897269 0.17136531 -0.00728674
+v -0.08910083 0.17135568 -0.00727840
+v -0.09329750 0.17073461 -0.00688363
+v -0.10394935 0.17940533 0.00194309
+v -0.09707237 0.17444170 -0.00337796
+v -0.09878627 0.17666114 -0.00140689
+v -0.10851976 0.17827395 0.00271316
+v -0.11271643 0.17700776 0.00352216
+v -0.11654469 0.17555379 0.00451185
+v -0.11972155 0.17113418 0.00324135
+v -0.12200676 0.17352211 0.00630221
+v -0.12655049 0.17168300 0.00793966
+v -0.12673736 0.17187557 0.01103665
+v -0.12331489 0.17503863 0.01103666
+v -0.12017006 0.17782617 0.01103667
+v -0.11654469 0.18037299 0.01103668
+v -0.12642768 0.17155299 0.01405579
+v -0.12235381 0.17390723 0.01479530
+v -0.11654469 0.17427794 0.01665238
+v -0.09764901 0.18060888 0.01736410
+v -0.11024969 0.17427794 0.01733072
+v -0.08897269 0.18299683 0.01703884
+v -0.08897269 0.16820223 -0.00866566
+v -0.09125790 0.16835149 -0.00837932
+v -0.09764901 0.16667125 -0.00809854
+v -0.09764901 0.16982949 -0.00631373
+v -0.10394935 0.17546234 -0.00065072
+v -0.10394935 0.17229446 -0.00271910
+v -0.10748394 0.17136047 -0.00208803
+v -0.11168596 0.16988244 -0.00121788
+v -0.11654469 0.17238592 0.00248518
+v -0.11860031 0.16364779 -0.00137080
+v -0.12126461 0.16794222 0.00236840
+v -0.12595783 0.16474064 0.00327469
+v -0.12441477 0.16794221 0.00418934
+v -0.11440364 0.16566502 -0.00243555
+v -0.12884637 0.16749447 0.00696941
+v -0.13253046 0.16508725 0.00819818
+v -0.12988752 0.16827439 0.01103664
+v -0.13239699 0.16491873 0.01375275
+v -0.12877162 0.16739333 0.01473967
+v -0.12284502 0.16794217 0.01686643
+v -0.09134867 0.18060888 0.01721675
+v -0.13544037 0.14246431 0.01736674
+v -0.12914003 0.15528027 0.01732787
+v -0.08897269 0.18060888 0.01716115
+v -0.08897269 0.16161613 -0.01054779
+v -0.09134867 0.16161613 -0.01045327
+v -0.09764901 0.16161613 -0.00984444
+v -0.10410953 0.16192425 -0.00846553
+v -0.10211797 0.16556394 -0.00755087
+v -0.10410953 0.16777856 -0.00549917
+v -0.10631464 0.16424479 -0.00682806
+v -0.12050642 0.15942555 -0.00240777
+v -0.11315426 0.15819789 -0.00700600
+v -0.12755960 0.16051839 0.00228775
+v -0.13175627 0.15755754 0.00358881
+v -0.12944971 0.16222269 0.00435891
+v -0.11073022 0.16192424 -0.00614140
+v -0.13368909 0.16161606 0.00721402
+v -0.13920989 0.15337861 0.00778112
+v -0.13779499 0.15699904 0.01103660
+v -0.13490110 0.16161605 0.01103661
+v -0.13254648 0.16511132 0.01103663
+v -0.13909777 0.15314268 0.01421419
+v -0.13350222 0.16161604 0.01460343
+v -0.12914003 0.16161603 0.01655503
+v -0.13544037 0.14261838 0.01736396
+v -0.13559521 0.14246431 0.01731670
+v -0.12928953 0.14246431 0.01663002
+v -0.13544037 0.14894932 0.01689138
+v -0.08897269 0.17657440 0.01584617
+v -0.12914003 0.14246431 0.01659666
+v -0.08897269 0.15528037 -0.01097038
+v -0.09134867 0.15528037 -0.01095092
+v -0.09764901 0.15528037 -0.01078690
+v -0.10394935 0.15528037 -0.01028927
+v -0.11073022 0.15576662 -0.00865737
+v -0.10895224 0.16002255 -0.00783445
+v -0.11681165 0.15576661 -0.00609971
+v -0.11909686 0.15116884 -0.00678640
+v -0.12270087 0.15479409 -0.00311393
+v -0.12470843 0.15658022 -0.00116787
+v -0.11490020 0.15397566 -0.00782057
+v -0.13296295 0.15333530 0.00280481
+v -0.13554182 0.15546808 0.00568497
+v -0.12614470 0.15235800 -0.00202693
+v -0.14010689 0.14894935 0.00693598
+v -0.14348131 0.14261840 0.01103654
+v -0.14146307 0.14894934 0.01103657
+v -0.13943414 0.15383115 0.01103659
+v -0.13711156 0.14894936 0.00434218
+v -0.13994672 0.14894933 0.01493421
+v -0.13571801 0.15526583 0.01547078
+v -0.14095049 0.14261838 0.01547351
+v -0.14098253 0.14246431 0.01547073
+v -0.08897269 0.17441755 0.01507053
+v -0.12458563 0.14246432 0.01475070
+v -0.08897269 0.14894942 -0.01102878
+v -0.09134867 0.14894942 -0.01102600
+v -0.09764901 0.14894942 -0.01099542
+v -0.10394935 0.14894942 -0.01085642
+v -0.11024969 0.14894942 -0.01026983
+v -0.11681165 0.14901682 -0.00841275
+v -0.12033023 0.14695143 -0.00748700
+v -0.13396139 0.14894937 0.00210423
+v -0.12697762 0.14894939 -0.00259130
+v -0.13012779 0.14894938 -0.00048957
+v -0.12259408 0.14901681 -0.00537414
+v -0.13804593 0.14387980 0.00363880
+v -0.14012291 0.14246435 0.00517061
+v -0.14061946 0.14246435 0.00563210
+v -0.14345996 0.14246433 0.01091977
+v -0.14351334 0.14246433 0.01103654
+v -0.14106262 0.14246431 0.01533729
+v -0.08897269 0.14246438 -0.00255797
+v -0.12449487 0.14246432 0.01470900
+v -0.08897269 0.14261848 -0.01103437
+v -0.09764901 0.14261848 -0.01102881
+v -0.10394935 0.14261848 -0.01099823
+v -0.11024969 0.14261848 -0.01076193
+v -0.11654469 0.14246441 -0.00971940
+v -0.11654469 0.14261848 -0.00970550
+v -0.12125393 0.14261847 -0.00798465
+v -0.12439876 0.14261846 -0.00608864
+v -0.12823769 0.14261845 -0.00349485
+v -0.13138786 0.14261844 -0.00130416
+v -0.13140922 0.14246437 -0.00132084
+v -0.13620923 0.14246436 0.00205972
+v -0.08897269 0.14246441 -0.01103159
+v -0.09134867 0.14246441 -0.01103159
+v -0.09764901 0.14246441 -0.01102881
+v -0.10394935 0.14246441 -0.01099823
+v -0.11024969 0.14246441 -0.01076471
+v -0.12127529 0.14246440 -0.00799577
+v -0.12442545 0.14246439 -0.00610254
+v -0.12816828 0.14246438 -0.00356991
+v -0.12826973 0.14246438 -0.00350041
+f 1 2 9
+f 1 9 24
+f 1 24 39
+f 1 39 61
+f 1 61 85
+f 1 85 111
+f 1 111 136
+f 1 136 155
+f 1 155 169
+f 1 169 157
+f 1 157 138
+f 1 138 113
+f 1 113 86
+f 1 86 62
+f 1 62 40
+f 1 40 25
+f 1 25 11
+f 1 11 10
+f 1 10 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 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 12 13
+f 6 19 7
+f 7 19 18
+f 7 18 17
+f 7 17 20
+f 7 20 21
+f 7 21 8
+f 8 22 9
+f 8 21 23
+f 8 23 22
+f 9 22 24
+f 11 25 26
+f 11 26 12
+f 12 26 13
+f 13 27 28
+f 13 28 14
+f 13 26 27
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 16 29 30
+f 17 34 20
+f 20 34 33
+f 20 33 35
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 21 38 22
+f 21 22 23
+f 21 37 38
+f 22 39 24
+f 22 38 39
+f 25 40 41
+f 25 41 26
+f 26 41 27
+f 27 41 42
+f 27 42 28
+f 28 43 29
+f 28 42 44
+f 28 44 45
+f 28 45 43
+f 29 43 46
+f 29 46 30
+f 30 46 47
+f 30 47 31
+f 31 48 32
+f 31 47 48
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 33
+f 32 48 49
+f 33 55 35
+f 35 55 54
+f 35 54 53
+f 35 53 52
+f 35 52 56
+f 35 56 57
+f 35 57 36
+f 36 57 58
+f 36 58 37
+f 37 58 38
+f 38 59 39
+f 38 58 60
+f 38 60 59
+f 39 59 61
+f 40 62 63
+f 40 63 41
+f 41 63 42
+f 42 64 65
+f 42 65 44
+f 42 63 64
+f 43 45 65
+f 43 65 66
+f 43 66 46
+f 44 65 45
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 47 69 70
+f 47 70 49
+f 47 49 48
+f 47 68 69
+f 49 71 72
+f 49 72 73
+f 49 73 74
+f 49 74 51
+f 49 51 50
+f 49 70 75
+f 49 75 71
+f 51 74 73
+f 51 73 76
+f 51 76 77
+f 51 77 52
+f 52 77 78
+f 52 78 79
+f 52 79 56
+f 56 79 80
+f 56 80 57
+f 57 80 81
+f 57 81 58
+f 58 81 60
+f 59 82 61
+f 59 60 83
+f 59 83 82
+f 60 81 84
+f 60 84 83
+f 61 82 85
+f 62 86 87
+f 62 87 88
+f 62 88 63
+f 63 88 64
+f 64 88 89
+f 64 89 90
+f 64 90 65
+f 65 90 67
+f 65 67 66
+f 67 90 91
+f 67 91 68
+f 68 91 92
+f 68 92 69
+f 69 75 70
+f 69 92 75
+f 71 93 73
+f 71 73 72
+f 71 75 94
+f 71 94 93
+f 73 95 96
+f 73 96 97
+f 73 97 77
+f 73 77 76
+f 73 93 95
+f 75 98 94
+f 75 92 98
+f 77 96 99
+f 77 99 100
+f 77 100 101
+f 77 101 102
+f 77 102 103
+f 77 103 78
+f 77 97 96
+f 78 103 79
+f 79 103 102
+f 79 102 101
+f 79 101 104
+f 79 104 105
+f 79 105 80
+f 80 106 81
+f 80 105 106
+f 81 106 84
+f 82 83 85
+f 83 84 107
+f 83 107 108
+f 83 108 135
+f 83 135 154
+f 83 154 153
+f 83 153 152
+f 83 152 151
+f 83 151 150
+f 83 150 168
+f 83 168 167
+f 83 167 177
+f 83 177 176
+f 83 176 175
+f 83 175 174
+f 83 174 161
+f 83 161 173
+f 83 173 172
+f 83 172 171
+f 83 171 170
+f 83 170 169
+f 83 169 155
+f 83 155 156
+f 83 156 137
+f 83 137 112
+f 83 112 109
+f 83 109 85
+f 84 106 110
+f 84 110 107
+f 85 109 112
+f 85 112 111
+f 86 113 114
+f 86 114 115
+f 86 115 87
+f 87 115 116
+f 87 116 88
+f 88 116 89
+f 89 116 117
+f 89 117 118
+f 89 118 90
+f 90 118 92
+f 90 92 91
+f 92 118 94
+f 92 94 98
+f 93 94 119
+f 93 119 120
+f 93 120 121
+f 93 121 122
+f 93 122 95
+f 94 123 119
+f 94 118 117
+f 94 117 123
+f 95 122 96
+f 96 124 125
+f 96 125 99
+f 96 122 126
+f 96 126 124
+f 99 125 100
+f 100 127 128
+f 100 128 129
+f 100 129 130
+f 100 130 101
+f 100 125 131
+f 100 131 127
+f 101 130 104
+f 104 130 129
+f 104 129 128
+f 104 128 132
+f 104 132 133
+f 104 133 105
+f 105 133 106
+f 106 133 110
+f 107 110 134
+f 107 134 135
+f 107 135 108
+f 110 133 132
+f 110 132 134
+f 111 112 136
+f 112 137 136
+f 113 138 139
+f 113 139 140
+f 113 140 114
+f 114 140 141
+f 114 141 115
+f 115 141 116
+f 116 141 142
+f 116 142 117
+f 117 142 143
+f 117 143 123
+f 119 123 120
+f 120 144 126
+f 120 126 122
+f 120 122 121
+f 120 123 144
+f 123 143 144
+f 124 145 131
+f 124 131 125
+f 124 126 146
+f 124 146 147
+f 124 147 145
+f 126 148 146
+f 126 144 148
+f 127 131 149
+f 127 149 150
+f 127 150 151
+f 127 151 152
+f 127 152 128
+f 128 152 153
+f 128 153 132
+f 131 145 149
+f 132 153 154
+f 132 154 134
+f 134 154 135
+f 136 137 156
+f 136 156 155
+f 138 157 158
+f 138 158 139
+f 139 158 159
+f 139 159 140
+f 140 159 141
+f 141 159 160
+f 141 160 142
+f 142 160 161
+f 142 161 162
+f 142 162 143
+f 143 162 163
+f 143 163 144
+f 144 163 164
+f 144 164 146
+f 144 146 148
+f 145 147 165
+f 145 165 149
+f 146 164 147
+f 147 164 165
+f 149 165 166
+f 149 166 167
+f 149 167 168
+f 149 168 150
+f 157 169 170
+f 157 170 171
+f 157 171 158
+f 158 171 172
+f 158 172 159
+f 159 172 173
+f 159 173 160
+f 160 173 161
+f 161 174 162
+f 162 174 163
+f 163 174 175
+f 163 175 164
+f 164 175 165
+f 165 175 176
+f 165 176 177
+f 165 177 167
+f 165 167 166
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_7.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.10395809 -0.01549130 -0.00319415
+v -0.10395809 -0.01549130 -0.00274092
+v -0.10395809 -0.01547581 -0.01104048
+v -0.10393774 -0.01549127 -0.01104155
+v -0.09764027 -0.01549130 -0.00249662
+v -0.09764027 0.03495990 -0.00221678
+v -0.10395809 0.02860518 -0.00255110
+v -0.10395809 -0.00936848 -0.01104367
+v -0.10395809 -0.00302922 -0.01104686
+v -0.08525898 -0.01549127 -0.01105763
+v -0.09742662 -0.01549130 -0.00249019
+v -0.10395809 0.03494444 -0.00252536
+v -0.00315786 -0.00302926 -0.00013828
+v -0.00315786 0.00329453 -0.00012540
+v -0.08419074 0.05396220 -0.00188134
+v -0.08733439 0.05396220 -0.00195956
+v -0.09134279 0.05396220 -0.00206028
+v -0.10395809 0.14244893 -0.00249068
+v -0.10395809 0.00963383 -0.01105217
+v -0.07873768 -0.00936848 -0.01106510
+v -0.07896150 -0.01549127 -0.01106191
+v -0.02835792 -0.01549130 -0.00137158
+v -0.00924169 -0.01549131 -0.00123551
+v -0.00315786 -0.01549131 -0.00120336
+v -0.00003457 -0.00302926 -0.00013828
+v -0.08398727 0.06030146 -0.00188454
+v -0.00003457 0.00329453 -0.00012647
+v -0.02835792 0.14244893 -0.00221746
+v -0.02850035 0.14244893 -0.00221746
+v -0.04095286 0.13627974 -0.00214891
+v -0.10395809 0.14244896 -0.01099812
+v -0.10395809 0.01595762 -0.01105322
+v -0.07244021 -0.00936848 -0.01106617
+v -0.07873768 0.02229688 -0.01106713
+v -0.07244021 0.02229688 -0.01107034
+v -0.07265386 -0.01549127 -0.01106298
+v -0.00294422 -0.01549131 -0.00120336
+v -0.00003457 -0.01549131 -0.00120765
+v -0.00003457 0.13941846 -0.00247998
+v -0.00945533 0.14244893 -0.00231389
+v -0.01575281 0.14244893 -0.00226782
+v -0.02206045 0.14244893 -0.00223782
+v -0.10393774 0.13627977 -0.01102599
+v -0.10395809 0.13627977 -0.01102492
+v -0.09764027 0.14244896 -0.01102919
+v -0.10395809 0.06030149 -0.01104556
+v -0.01575281 -0.00302922 -0.01105008
+v -0.01575281 -0.00936848 -0.01104903
+v -0.07244021 -0.01549127 -0.01106298
+v -0.10395809 0.06660982 -0.01104447
+v -0.08504533 0.14244896 -0.01103776
+v -0.00003457 -0.00302922 -0.01104472
+v -0.00315786 -0.00302922 -0.01104579
+v -0.05984527 0.09827517 -0.01105185
+v -0.00003457 0.14244896 -0.01104312
+v -0.02835792 0.07927286 -0.01105620
+v -0.02835792 0.07294907 -0.01105622
+v -0.00003457 -0.01549127 -0.01103513
+v -0.00003457 0.14244893 -0.00253890
+v -0.00003457 -0.00936848 -0.01104260
+v -0.01575281 -0.01549127 -0.01104477
+f 1 2 7
+f 1 7 12
+f 1 12 18
+f 1 18 31
+f 1 31 44
+f 1 44 50
+f 1 50 46
+f 1 46 32
+f 1 32 19
+f 1 19 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 21
+f 1 21 36
+f 1 36 49
+f 1 49 61
+f 1 61 58
+f 1 58 38
+f 1 38 37
+f 1 37 24
+f 1 24 23
+f 1 23 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 12
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 11 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 37
+f 13 37 25
+f 13 25 14
+f 14 26 15
+f 14 25 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 18
+f 14 18 26
+f 15 26 16
+f 16 26 18
+f 16 18 17
+f 18 30 29
+f 18 29 28
+f 18 28 42
+f 18 42 41
+f 18 41 40
+f 18 40 59
+f 18 59 55
+f 18 55 51
+f 18 51 45
+f 18 45 31
+f 19 32 20
+f 20 33 21
+f 20 32 34
+f 20 34 35
+f 20 35 33
+f 21 33 36
+f 25 37 38
+f 25 38 58
+f 25 58 60
+f 25 60 52
+f 25 52 55
+f 25 55 59
+f 25 59 39
+f 25 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 31 43 44
+f 31 45 43
+f 32 46 34
+f 33 47 48
+f 33 48 49
+f 33 49 36
+f 33 35 47
+f 34 46 50
+f 34 50 51
+f 34 51 35
+f 35 52 53
+f 35 53 47
+f 35 51 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 52
+f 39 59 40
+f 43 45 50
+f 43 50 44
+f 45 51 50
+f 47 53 48
+f 48 60 61
+f 48 61 49
+f 48 53 52
+f 48 52 60
+f 51 55 54
+f 52 57 56
+f 52 56 55
+f 58 61 60
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_8.obj

@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.13448229 -0.01550482 -0.00117681
+v -0.11102850 -0.01550482 -0.00117681
+v -0.13299504 -0.01550481 -0.00229388
+v -0.13446912 -0.08536328 -0.00117706
+v -0.00294624 -0.01550482 -0.00120295
+v -0.09591909 -0.15363958 -0.00117731
+v -0.12953356 -0.01550480 -0.00488036
+v -0.12941512 -0.04104925 -0.00496563
+v -0.12941512 -0.04737789 -0.00496468
+v -0.13287658 -0.08536327 -0.00236866
+v -0.13287658 -0.09169191 -0.00236579
+v -0.13444281 -0.11703353 -0.00117718
+v -0.00003755 -0.01550482 -0.00120779
+v -0.12637481 -0.15363958 -0.00117731
+v -0.00003755 -0.15363957 -0.00276192
+v -0.00946118 -0.14236161 -0.00231079
+v -0.00003755 -0.12021137 -0.00216648
+v -0.12626951 -0.01550479 -0.00731680
+v -0.12626951 -0.01572116 -0.00731680
+v -0.12626951 -0.02837844 -0.00731297
+v -0.12938879 -0.08536326 -0.00496289
+v -0.12938879 -0.09169190 -0.00495905
+v -0.12937562 -0.11703351 -0.00495236
+v -0.13286343 -0.11703352 -0.00235813
+v -0.13282394 -0.12336217 -0.00233202
+v -0.13440331 -0.12022490 -0.00117719
+v -0.00003755 -0.01550478 -0.01103487
+v -0.12557195 -0.15363957 -0.00168551
+v -0.12692760 -0.15280116 -0.00117731
+v -0.00003755 -0.15363954 -0.01105085
+v -0.00003755 -0.13921081 -0.00245985
+v -0.00003755 -0.13601945 -0.00239692
+v -0.00003755 -0.12336217 -0.00220908
+v -0.12295282 -0.01550479 -0.00890141
+v -0.12283436 -0.02204980 -0.00895467
+v -0.12623003 -0.11703350 -0.00728523
+v -0.12624320 -0.09169189 -0.00729191
+v -0.12934931 -0.12336216 -0.00492624
+v -0.13436384 -0.12336218 -0.00117720
+v -0.12609842 -0.12758123 -0.00719621
+v -0.13403480 -0.12969081 -0.00117723
+v -0.00003755 -0.12649941 -0.01105366
+v -0.00946118 -0.01550478 -0.01104067
+v -0.12609842 -0.15204389 -0.00200591
+v -0.11909650 -0.15092149 -0.00678296
+v -0.12388728 -0.15363957 -0.00270965
+v -0.12824374 -0.15023185 -0.00117730
+v -0.00315683 -0.15363954 -0.01105085
+v -0.00003755 -0.15184101 -0.01105279
+v -0.12283436 -0.01550479 -0.00895755
+v -0.12283436 -0.01572116 -0.00895755
+v -0.11654317 -0.11703349 -0.01066159
+v -0.12283436 -0.08536325 -0.00892102
+v -0.12283436 -0.11703350 -0.00890081
+v -0.12283436 -0.12336215 -0.00886405
+v -0.12619054 -0.12336215 -0.00726105
+v -0.12340031 -0.12969078 -0.00840621
+v -0.12586150 -0.13181385 -0.00703650
+v -0.12857279 -0.12969079 -0.00521086
+v -0.13265284 -0.12969080 -0.00220234
+v -0.13378474 -0.13207081 -0.00117724
+v -0.00003755 -0.14549884 -0.01105470
+v -0.02836110 -0.07904812 -0.01106220
+v -0.01575238 -0.01550478 -0.01104455
+v -0.12692760 -0.14869025 -0.00256444
+v -0.12033368 -0.14670238 -0.00749829
+v -0.11495063 -0.15363955 -0.00785938
+v -0.11508225 -0.15363955 -0.00779839
+v -0.11775402 -0.15363956 -0.00638319
+v -0.12267643 -0.15363957 -0.00343564
+v -0.12900711 -0.14869026 -0.00117730
+v -0.02974306 -0.15363954 -0.01104505
+v -0.07243897 -0.14869022 -0.01104213
+v -0.06616094 -0.12336214 -0.01106526
+v -0.00315683 -0.14869022 -0.01105472
+v -0.00003755 -0.14869022 -0.01105472
+v -0.11654317 -0.01550478 -0.01069413
+v -0.11654317 -0.01572115 -0.01069413
+v -0.11654317 -0.08536324 -0.01067405
+v -0.11023880 -0.12336214 -0.01100428
+v -0.11023880 -0.12969077 -0.01099076
+v -0.11654317 -0.12336214 -0.01064612
+v -0.11654317 -0.12969077 -0.01058033
+v -0.11654317 -0.13601942 -0.01034029
+v -0.12225526 -0.13601943 -0.00847593
+v -0.12961254 -0.13587070 -0.00376954
+v -0.13244226 -0.13363945 -0.00204360
+v -0.12541402 -0.13601944 -0.00673838
+v -0.13345569 -0.13455900 -0.00117724
+v -0.07243897 -0.01550478 -0.01106294
+v -0.06616094 -0.01550478 -0.01106100
+v -0.12441374 -0.14236160 -0.00608113
+v -0.11681956 -0.14877136 -0.00843919
+v -0.12126814 -0.14236159 -0.00800454
+v -0.11244994 -0.15363955 -0.00862022
+v -0.13116559 -0.14330821 -0.00117728
+v -0.12821742 -0.14236161 -0.00348691
+v -0.06123854 -0.15363954 -0.01103633
+v -0.07874333 -0.14869022 -0.01104020
+v -0.07874333 -0.12336214 -0.01106236
+v -0.07874333 -0.11703349 -0.01106428
+v -0.07266272 -0.01550478 -0.01106294
+v -0.11023880 -0.01550478 -0.01101454
+v -0.11023880 -0.01572115 -0.01101454
+v -0.11023880 -0.07270596 -0.01101088
+v -0.11023880 -0.11703349 -0.01100523
+v -0.10393445 -0.12969077 -0.01103722
+v -0.10393445 -0.13601942 -0.01103337
+v -0.10393445 -0.10436269 -0.01104293
+v -0.10393445 -0.14236158 -0.01100338
+v -0.11023880 -0.13601942 -0.01094044
+v -0.11023880 -0.14236158 -0.01078365
+v -0.11023880 -0.14869022 -0.01030549
+v -0.11654317 -0.14236158 -0.00974015
+v -0.13202110 -0.13787206 -0.00174838
+v -0.13294239 -0.13723650 -0.00117725
+v -0.13136301 -0.14236162 -0.00130117
+v -0.11060732 -0.15363955 -0.00913810
+v -0.13154728 -0.14233458 -0.00117727
+v -0.06752973 -0.15363954 -0.01103440
+v -0.08503453 -0.14869022 -0.01103729
+v -0.08503453 -0.12336214 -0.01105752
+v -0.08503453 -0.11703349 -0.01106137
+v -0.07895392 -0.01550478 -0.01106197
+v -0.10393445 -0.01550478 -0.01104067
+v -0.10393445 -0.07270596 -0.01104766
+v -0.09133889 -0.14869022 -0.01102858
+v -0.09764324 -0.14869022 -0.01100244
+v -0.10393445 -0.14869022 -0.01087176
+v -0.10532957 -0.15363954 -0.01032583
+v -0.07382093 -0.15363954 -0.01103149
+v -0.08012529 -0.15363954 -0.01102569
+v -0.08503453 -0.01550478 -0.01105810
+v -0.08642965 -0.15363954 -0.01101117
+v -0.09272085 -0.15363954 -0.01096567
+v -0.09902521 -0.15363954 -0.01082337
+v -0.10393445 -0.15363954 -0.01044973
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 43
+f 1 43 64
+f 1 64 91
+f 1 91 90
+f 1 90 102
+f 1 102 124
+f 1 124 133
+f 1 133 125
+f 1 125 103
+f 1 103 77
+f 1 77 50
+f 1 50 34
+f 1 34 18
+f 1 18 7
+f 1 7 3
+f 1 3 4
+f 1 4 12
+f 1 12 26
+f 1 26 39
+f 1 39 41
+f 1 41 61
+f 1 61 89
+f 1 89 116
+f 1 116 119
+f 1 119 96
+f 1 96 71
+f 1 71 47
+f 1 47 29
+f 1 29 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 5 6 13
+f 6 14 28
+f 6 28 46
+f 6 46 70
+f 6 70 69
+f 6 69 68
+f 6 68 67
+f 6 67 95
+f 6 95 118
+f 6 118 130
+f 6 130 137
+f 6 137 136
+f 6 136 135
+f 6 135 134
+f 6 134 132
+f 6 132 131
+f 6 131 120
+f 6 120 98
+f 6 98 72
+f 6 72 48
+f 6 48 30
+f 6 30 15
+f 6 15 16
+f 6 16 17
+f 6 17 13
+f 7 18 19
+f 7 19 8
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 11
+f 9 11 10
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 13 17 33
+f 13 33 32
+f 13 32 31
+f 13 31 15
+f 13 15 30
+f 13 30 49
+f 13 49 76
+f 13 76 62
+f 13 62 42
+f 13 42 27
+f 14 29 28
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 18 34 19
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 22
+f 20 22 21
+f 22 37 36
+f 22 36 23
+f 23 36 38
+f 23 38 24
+f 24 38 25
+f 25 39 26
+f 25 38 40
+f 25 40 41
+f 25 41 39
+f 27 42 43
+f 28 29 44
+f 28 44 45
+f 28 45 46
+f 29 47 44
+f 30 48 49
+f 34 50 51
+f 34 51 35
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 38
+f 38 56 40
+f 40 56 55
+f 40 55 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 60 61
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 44 47 65
+f 44 65 66
+f 44 66 45
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 46
+f 47 71 65
+f 48 72 73
+f 48 73 74
+f 48 74 49
+f 49 74 75
+f 49 75 76
+f 50 77 78
+f 50 78 51
+f 51 78 79
+f 51 79 52
+f 52 54 53
+f 52 79 80
+f 52 80 81
+f 52 81 82
+f 52 82 54
+f 54 82 55
+f 55 82 83
+f 55 83 84
+f 55 84 57
+f 57 84 85
+f 57 85 58
+f 58 86 87
+f 58 87 59
+f 58 85 88
+f 58 88 86
+f 59 87 60
+f 60 87 61
+f 61 87 89
+f 62 76 63
+f 63 90 91
+f 63 91 64
+f 63 76 74
+f 63 74 90
+f 65 71 92
+f 65 92 66
+f 66 93 67
+f 66 92 94
+f 66 94 93
+f 67 93 95
+f 71 96 97
+f 71 97 92
+f 72 98 73
+f 73 98 99
+f 73 99 100
+f 73 100 74
+f 74 76 75
+f 74 100 101
+f 74 101 102
+f 74 102 90
+f 77 103 104
+f 77 104 78
+f 78 104 105
+f 78 105 106
+f 78 106 80
+f 78 80 79
+f 80 107 108
+f 80 108 81
+f 80 106 109
+f 80 109 107
+f 81 108 110
+f 81 110 111
+f 81 111 82
+f 82 111 83
+f 83 111 112
+f 83 112 84
+f 84 112 113
+f 84 113 114
+f 84 114 85
+f 85 114 94
+f 85 94 88
+f 86 88 115
+f 86 115 116
+f 86 116 87
+f 87 116 89
+f 88 94 92
+f 88 92 97
+f 88 97 117
+f 88 117 115
+f 93 94 114
+f 93 114 113
+f 93 113 118
+f 93 118 95
+f 96 119 117
+f 96 117 97
+f 98 120 99
+f 99 120 131
+f 99 131 121
+f 99 121 100
+f 100 121 108
+f 100 108 122
+f 100 122 123
+f 100 123 101
+f 101 123 124
+f 101 124 102
+f 103 125 126
+f 103 126 104
+f 104 126 105
+f 105 126 106
+f 106 126 109
+f 107 109 123
+f 107 123 122
+f 107 122 108
+f 108 121 127
+f 108 127 128
+f 108 128 110
+f 109 126 123
+f 110 128 129
+f 110 129 111
+f 111 129 112
+f 112 129 113
+f 113 129 130
+f 113 130 118
+f 115 117 119
+f 115 119 116
+f 121 131 132
+f 121 132 127
+f 123 126 133
+f 123 133 124
+f 125 133 126
+f 127 132 134
+f 127 134 128
+f 128 134 135
+f 128 135 129
+f 129 135 136
+f 129 136 137
+f 129 137 130
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/mesh/tray_042_collision_9.obj

@@ -0,0 +1,778 @@
+# https://github.com/mikedh/trimesh
+v -0.00002439 -0.15875413 -0.01094529
+v -0.00002439 -0.15875416 -0.00232218
+v -0.00002439 -0.15502197 -0.01104944
+v 0.00315405 -0.15875413 -0.01094636
+v 0.08752236 -0.15875417 -0.00010788
+v -0.00002439 -0.00302994 -0.00013845
+v 0.00315405 -0.15502197 -0.01105051
+v -0.00002439 -0.15181854 -0.01105265
+v 0.04096286 -0.15875413 -0.01094206
+v 0.04725325 -0.15502197 -0.01104622
+v 0.12437364 -0.15875417 -0.00010788
+v 0.11249771 0.00011129 -0.00010730
+v 0.08814741 0.15897676 -0.00010779
+v -0.00002439 0.00328363 -0.00012769
+v -0.00002439 0.00011129 -0.00013307
+v -0.00002439 -0.14867731 -0.01105479
+v 0.04725325 -0.12336084 -0.01107080
+v 0.04725325 -0.14867731 -0.01105372
+v 0.04725325 -0.15875413 -0.01093992
+v 0.06615101 -0.15502197 -0.01103763
+v 0.05986062 -0.14867731 -0.01105049
+v 0.08503546 -0.14867731 -0.01104190
+v 0.12055685 -0.15875416 -0.00240809
+v 0.12543756 -0.15735461 -0.00010788
+v 0.13582401 0.00011129 -0.00010730
+v 0.12448004 0.15897676 -0.00010779
+v -0.00002439 0.15897677 -0.00232639
+v 0.04725325 -0.11701617 -0.01107293
+v -0.00002439 0.14893107 -0.01104402
+v 0.04725325 0.07295059 -0.01106900
+v 0.08503546 -0.12336084 -0.01106006
+v 0.05986062 -0.14233263 -0.01105691
+v 0.07242809 -0.15502197 -0.01103441
+v 0.07873178 -0.15502197 -0.01103011
+v 0.06615101 -0.15875413 -0.01092703
+v 0.09762953 -0.14233263 -0.01103973
+v 0.09132585 -0.14867731 -0.01103546
+v 0.09132585 -0.12967441 -0.01105472
+v 0.12459973 -0.15617276 -0.00111515
+v 0.12007810 -0.15875416 -0.00268944
+v 0.11902749 -0.15079221 -0.00674324
+v 0.12678075 -0.15536412 -0.00010787
+v 0.13583731 0.04760298 -0.00010820
+v 0.13577081 0.11726991 -0.00010794
+v 0.13567772 0.12358347 -0.00010792
+v 0.13533195 0.12992813 -0.00010789
+v 0.13529205 0.13036355 -0.00010789
+v 0.13460051 0.13561968 -0.00010787
+v 0.13450742 0.13608619 -0.00010787
+v 0.13297804 0.14236865 -0.00010785
+v 0.13051775 0.14893103 -0.00010782
+v 0.12795106 0.15396945 -0.00010780
+v 0.12686054 0.15561781 -0.00010780
+v 0.13581070 -0.11067155 -0.00010771
+v 0.12400128 0.15897676 -0.00041492
+v 0.12466622 0.15645755 -0.00114730
+v -0.00002439 0.15897680 -0.01092158
+v 0.06616430 0.02863123 -0.01107668
+v 0.06616430 0.02228656 -0.01107671
+v 0.07242809 0.02228656 -0.01107778
+v -0.00002439 0.15210340 -0.01103972
+v 0.00315405 0.14893107 -0.01104510
+v 0.04725325 0.09826705 -0.01106462
+v 0.09132585 -0.12336084 -0.01105576
+v 0.10393321 -0.00302990 -0.01106069
+v 0.08503546 -0.15502197 -0.01100971
+v 0.07873178 -0.15875413 -0.01090018
+v 0.07242809 -0.15875413 -0.01091844
+v 0.09762953 -0.13601907 -0.01104507
+v 0.10393321 -0.13601907 -0.01103648
+v 0.09762953 -0.14867731 -0.01100539
+v 0.10393321 -0.12967441 -0.01104183
+v 0.12604930 -0.15194297 -0.00197530
+v 0.11394730 -0.15875415 -0.00607533
+v 0.11308287 -0.15788330 -0.00698166
+v 0.11676667 -0.15545741 -0.00603129
+v 0.12025098 -0.14656242 -0.00745305
+v 0.12255170 -0.14867733 -0.00529030
+v 0.11482502 -0.15365352 -0.00781281
+v 0.12789786 -0.15368466 -0.00010786
+v 0.12929424 -0.09801330 -0.00491641
+v 0.12930754 -0.00302992 -0.00491713
+v 0.13281846 0.04128943 -0.00233219
+v 0.12929424 0.04128944 -0.00492556
+v 0.12615570 0.04760301 -0.00723112
+v 0.13279186 0.11726992 -0.00230077
+v 0.12918786 0.12358349 -0.00486083
+v 0.12599611 0.12681803 -0.00712129
+v 0.13235300 0.13350479 -0.00198929
+v 0.12956023 0.13586850 -0.00364732
+v 0.13194073 0.13773457 -0.00170255
+v 0.12523808 0.13624172 -0.00662514
+v 0.12812394 0.14258638 -0.00340998
+v 0.13126248 0.14258637 -0.00124507
+v 0.12425396 0.14258639 -0.00600120
+v 0.12686054 0.14893104 -0.00252508
+v 0.12607591 0.15222778 -0.00198814
+v 0.13578412 -0.11701621 -0.00010773
+v 0.13280516 -0.11701620 -0.00231666
+v 0.13280516 -0.11067154 -0.00232201
+v 0.12104892 0.15897677 -0.00222545
+v 0.11905408 0.15104594 -0.00675932
+v -0.00002439 0.15844806 -0.01093768
+v 0.00315405 0.15897680 -0.01092265
+v 0.07873178 0.14893107 -0.01104080
+v 0.08502216 0.09826705 -0.01105281
+v 0.09764283 0.09826705 -0.01104851
+v 0.10391992 0.09826705 -0.01104636
+v 0.10391992 0.06660592 -0.01105293
+v 0.10391992 0.00328367 -0.01106067
+v 0.10393321 0.00011133 -0.01106068
+v -0.00002439 0.15524463 -0.01103434
+v 0.00315405 0.15524463 -0.01103541
+v 0.04725325 0.15524463 -0.01104293
+v 0.04725325 0.14893107 -0.01104617
+v 0.05984732 0.14893107 -0.01104510
+v 0.05984732 0.14258641 -0.01104728
+v 0.11023690 -0.00302990 -0.01100807
+v 0.09132585 -0.15502197 -0.01095279
+v 0.08503546 -0.15875413 -0.01083575
+v 0.10393321 -0.14233263 -0.01099892
+v 0.11023690 -0.12336084 -0.01098704
+v 0.11023690 -0.12967441 -0.01096774
+v 0.10393321 -0.14867731 -0.01085076
+v 0.11023690 -0.00937456 -0.01100702
+v 0.12684724 -0.14867734 -0.00252082
+v 0.13029167 -0.14911276 -0.00010785
+v 0.11253761 -0.15875415 -0.00678407
+v 0.10931928 -0.15875414 -0.00802331
+v 0.11676667 -0.14867732 -0.00837873
+v 0.12114201 -0.14233264 -0.00793734
+v 0.12429386 -0.14233265 -0.00603016
+v 0.11068907 -0.15545740 -0.00864721
+v 0.12928095 -0.11701619 -0.00491004
+v 0.12612910 -0.11701618 -0.00722099
+v 0.12614240 -0.09801329 -0.00722521
+v 0.12615570 -0.00937457 -0.00723562
+v 0.12615570 0.00011132 -0.00723774
+v 0.12615570 0.00959722 -0.00723877
+v 0.12615570 0.02228655 -0.00723980
+v 0.12615570 0.02863122 -0.00723870
+v 0.12615570 0.04128945 -0.00723437
+v 0.12283097 0.02863122 -0.00883124
+v 0.12283097 0.06026124 -0.00880965
+v 0.12283097 0.10461170 -0.00877835
+v 0.12610250 0.10461170 -0.00720514
+v 0.12926765 0.10461169 -0.00489634
+v 0.12924105 0.11726993 -0.00489522
+v 0.12603601 0.12358350 -0.00715567
+v 0.12608920 0.11726994 -0.00719328
+v 0.12329643 0.12930614 -0.00830254
+v 0.12571684 0.13101671 -0.00695483
+v 0.12283097 0.12358350 -0.00870418
+v 0.12207293 0.13624173 -0.00839271
+v 0.12111541 0.14258640 -0.00792878
+v 0.12023768 0.14681618 -0.00744875
+v 0.13571761 -0.12336088 -0.00010775
+v 0.13276526 -0.12336087 -0.00228769
+v 0.12063665 0.15897677 -0.00245418
+v 0.11677997 0.15574224 -0.00608384
+v 0.11316267 0.15819925 -0.00701809
+v 0.11483833 0.15396948 -0.00781276
+v 0.04355615 0.15897680 -0.01093339
+v 0.05355693 0.15524463 -0.01104078
+v 0.06616430 0.15524463 -0.01103541
+v 0.07242809 0.15524463 -0.01103112
+v 0.07873178 0.15524463 -0.01102575
+v 0.08502216 0.14893107 -0.01103543
+v 0.10391992 0.12992817 -0.01103013
+v 0.11023690 0.10461171 -0.01098513
+v 0.11023690 0.06660592 -0.01099601
+v 0.11023690 0.02228656 -0.01100691
+v 0.11023690 0.00959723 -0.01100802
+v 0.04725325 0.15897680 -0.01093231
+v 0.11652728 -0.04103569 -0.01062484
+v 0.11652728 0.02228656 -0.01062998
+v 0.09762953 -0.15502197 -0.01079708
+v 0.09132585 -0.15875413 -0.01066286
+v 0.11023690 -0.13601907 -0.01090655
+v 0.11652728 -0.10435795 -0.01060897
+v 0.11652728 -0.11701617 -0.01060472
+v 0.11652728 -0.12336084 -0.01058863
+v 0.11023690 -0.14233263 -0.01074012
+v 0.11023690 -0.14867731 -0.01024402
+v 0.10393321 -0.15502197 -0.01028915
+v 0.12999909 -0.14867735 -0.00043752
+v 0.13049114 -0.14867735 -0.00010785
+v 0.10402630 -0.15875414 -0.00927436
+v 0.11652728 -0.14233263 -0.00963941
+v 0.12213943 -0.13601908 -0.00840552
+v 0.12529127 -0.13601909 -0.00667124
+v 0.12815054 -0.14233266 -0.00343894
+v 0.12924105 -0.12336086 -0.00487999
+v 0.12608920 -0.12336085 -0.00719309
+v 0.12283097 -0.12336085 -0.00875985
+v 0.12283097 -0.11701618 -0.00880600
+v 0.12283097 -0.11067152 -0.00880813
+v 0.12283097 -0.00302991 -0.00882921
+v 0.12283097 0.02228655 -0.00883234
+v 0.11652728 0.02863123 -0.01062888
+v 0.11652728 0.10461171 -0.01059640
+v 0.11652728 0.11092527 -0.01059314
+v 0.11652728 0.11726995 -0.01058775
+v 0.12283097 0.11092526 -0.00877187
+v 0.12283097 0.11726994 -0.00876112
+v 0.11652728 0.13624174 -0.01021935
+v 0.11652728 0.12992817 -0.01047495
+v 0.11652728 0.12358351 -0.01056411
+v 0.11652728 0.14258641 -0.00962548
+v 0.11677997 0.14893106 -0.00837548
+v 0.13542504 -0.12902132 -0.00010777
+v 0.12602271 -0.12693751 -0.00715015
+v 0.11267060 0.15897679 -0.00684090
+v 0.11074226 0.15574225 -0.00865466
+v 0.10941237 0.15897679 -0.00804792
+v 0.11138061 0.15897679 -0.00736709
+v 0.04987314 0.15897680 -0.01093124
+v 0.05984732 0.15897680 -0.01092480
+v 0.06246721 0.15897680 -0.01092265
+v 0.08502216 0.15524463 -0.01100427
+v 0.09133915 0.14893107 -0.01102577
+v 0.06873099 0.15897680 -0.01091620
+v 0.07504798 0.15897680 -0.01090547
+v 0.09764283 0.14258641 -0.01102795
+v 0.10391992 0.13624174 -0.01102475
+v 0.11023690 0.12358351 -0.01097432
+v 0.11023690 0.11726995 -0.01097864
+v 0.11971903 0.00011133 -0.00972050
+v 0.09762953 -0.15875413 -0.01025050
+v 0.11652728 -0.12967441 -0.01049846
+v 0.11652728 -0.13601907 -0.01023968
+v 0.13218011 -0.14447867 -0.00010783
+v 0.12333633 -0.12930120 -0.00833355
+v 0.12577003 -0.13116728 -0.00698479
+v 0.13198063 -0.13763637 -0.00171645
+v 0.13301793 -0.14214607 -0.00010782
+v 0.13130238 -0.14233267 -0.00125900
+v 0.12957352 -0.13570808 -0.00369772
+v 0.11023690 0.12992817 -0.01095389
+v 0.11023690 0.14258641 -0.01072834
+v 0.11023690 0.14893107 -0.01023541
+v 0.11023690 0.13624174 -0.01089481
+v 0.13538514 -0.12967445 -0.00010778
+v 0.12853621 -0.12930121 -0.00514418
+v 0.10391992 0.15524463 -0.01029875
+v 0.10728454 0.15897679 -0.00856660
+v 0.09133915 0.15524463 -0.01094414
+v 0.09764283 0.14893107 -0.01100000
+v 0.08132506 0.15897680 -0.01087755
+v 0.10391992 0.14258641 -0.01098714
+v 0.13239290 -0.13340659 -0.00201282
+v 0.13373608 -0.13959576 -0.00010781
+v 0.13464041 -0.13552150 -0.00010780
+v 0.13456061 -0.13592581 -0.00010780
+v 0.10391992 0.14893107 -0.01084214
+v 0.09764283 0.15524463 -0.01079272
+v 0.09393244 0.15897680 -0.01058760
+v 0.10024942 0.15897680 -0.01003671
+v 0.10402630 0.15897679 -0.00928823
+v 0.08764205 0.15897680 -0.01079915
+f 1 2 6
+f 1 6 15
+f 1 15 14
+f 1 14 27
+f 1 27 57
+f 1 57 103
+f 1 103 112
+f 1 112 61
+f 1 61 29
+f 1 29 16
+f 1 16 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 19
+f 1 19 35
+f 1 35 68
+f 1 68 67
+f 1 67 120
+f 1 120 178
+f 1 178 229
+f 1 229 188
+f 1 188 129
+f 1 129 128
+f 1 128 74
+f 1 74 40
+f 1 40 23
+f 1 23 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 8 7
+f 4 7 10
+f 4 10 9
+f 5 11 24
+f 5 24 42
+f 5 42 80
+f 5 80 127
+f 5 127 187
+f 5 187 232
+f 5 232 236
+f 5 236 252
+f 5 252 254
+f 5 254 253
+f 5 253 243
+f 5 243 211
+f 5 211 157
+f 5 157 98
+f 5 98 54
+f 5 54 25
+f 5 25 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 8 16
+f 7 16 17
+f 7 17 18
+f 7 18 10
+f 9 10 19
+f 10 20 19
+f 10 18 21
+f 10 21 22
+f 10 22 20
+f 11 23 24
+f 12 25 26
+f 12 26 13
+f 13 26 55
+f 13 55 101
+f 13 101 159
+f 13 159 213
+f 13 213 216
+f 13 216 215
+f 13 215 246
+f 13 246 259
+f 13 259 258
+f 13 258 257
+f 13 257 260
+f 13 260 249
+f 13 249 223
+f 13 223 222
+f 13 222 219
+f 13 219 218
+f 13 218 217
+f 13 217 174
+f 13 174 163
+f 13 163 104
+f 13 104 57
+f 13 57 27
+f 13 27 14
+f 16 28 17
+f 16 29 30
+f 16 30 28
+f 17 28 31
+f 17 31 32
+f 17 32 18
+f 18 32 21
+f 19 20 33
+f 19 33 34
+f 19 34 35
+f 20 22 33
+f 21 32 22
+f 22 36 37
+f 22 37 34
+f 22 34 33
+f 22 32 38
+f 22 38 36
+f 23 39 24
+f 23 40 41
+f 23 41 39
+f 24 39 42
+f 25 43 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 51
+f 25 51 52
+f 25 52 53
+f 25 53 26
+f 25 54 43
+f 26 53 56
+f 26 56 55
+f 28 30 58
+f 28 58 59
+f 28 59 60
+f 28 60 31
+f 29 61 62
+f 29 62 30
+f 30 62 63
+f 30 63 58
+f 31 64 38
+f 31 38 32
+f 31 60 65
+f 31 65 64
+f 34 66 67
+f 34 67 68
+f 34 68 35
+f 34 37 66
+f 36 69 70
+f 36 70 71
+f 36 71 37
+f 36 38 69
+f 37 71 66
+f 38 64 72
+f 38 72 69
+f 39 41 73
+f 39 73 42
+f 40 74 75
+f 40 75 76
+f 40 76 41
+f 41 77 78
+f 41 78 73
+f 41 76 79
+f 41 79 77
+f 42 73 80
+f 43 54 81
+f 43 81 82
+f 43 82 83
+f 43 83 84
+f 43 84 85
+f 43 85 86
+f 43 86 44
+f 44 86 45
+f 45 86 87
+f 45 87 88
+f 45 88 46
+f 46 88 47
+f 47 89 48
+f 47 88 89
+f 48 89 90
+f 48 90 91
+f 48 91 49
+f 49 91 50
+f 50 91 92
+f 50 92 93
+f 50 93 94
+f 50 94 51
+f 51 94 93
+f 51 93 95
+f 51 95 96
+f 51 96 97
+f 51 97 52
+f 52 97 56
+f 52 56 53
+f 54 98 99
+f 54 99 100
+f 54 100 81
+f 55 56 101
+f 56 97 102
+f 56 102 101
+f 57 104 103
+f 58 60 59
+f 58 63 60
+f 60 63 105
+f 60 105 106
+f 60 106 107
+f 60 107 108
+f 60 108 109
+f 60 109 110
+f 60 110 111
+f 60 111 65
+f 61 112 113
+f 61 113 114
+f 61 114 62
+f 62 114 115
+f 62 115 63
+f 63 115 116
+f 63 116 117
+f 63 117 105
+f 64 65 72
+f 65 111 173
+f 65 173 118
+f 65 118 72
+f 66 119 67
+f 66 71 119
+f 67 119 120
+f 69 72 70
+f 70 121 71
+f 70 72 122
+f 70 122 123
+f 70 123 121
+f 71 121 124
+f 71 124 119
+f 72 118 125
+f 72 125 122
+f 73 78 126
+f 73 126 127
+f 73 127 80
+f 74 128 75
+f 75 79 76
+f 75 128 129
+f 75 129 79
+f 77 126 78
+f 77 79 130
+f 77 130 131
+f 77 131 132
+f 77 132 126
+f 79 129 133
+f 79 133 130
+f 81 100 99
+f 81 99 134
+f 81 134 135
+f 81 135 136
+f 81 136 137
+f 81 137 138
+f 81 138 82
+f 82 138 139
+f 82 139 140
+f 82 140 83
+f 83 140 141
+f 83 141 84
+f 84 141 142
+f 84 142 85
+f 85 142 143
+f 85 143 144
+f 85 144 145
+f 85 145 146
+f 85 146 147
+f 85 147 86
+f 86 147 148
+f 86 148 87
+f 87 149 88
+f 87 148 150
+f 87 150 149
+f 88 151 152
+f 88 152 89
+f 88 149 153
+f 88 153 151
+f 89 152 90
+f 90 152 92
+f 90 92 91
+f 92 154 155
+f 92 155 95
+f 92 95 93
+f 92 152 154
+f 95 155 156
+f 95 156 96
+f 96 156 97
+f 97 156 102
+f 98 157 99
+f 99 157 158
+f 99 158 134
+f 101 102 160
+f 101 160 161
+f 101 161 159
+f 102 156 162
+f 102 162 161
+f 102 161 160
+f 103 104 113
+f 103 113 112
+f 104 163 113
+f 105 117 116
+f 105 116 114
+f 105 114 164
+f 105 164 165
+f 105 165 166
+f 105 166 167
+f 105 167 168
+f 105 168 169
+f 105 169 108
+f 105 108 107
+f 105 107 106
+f 108 169 170
+f 108 170 171
+f 108 171 172
+f 108 172 109
+f 109 172 110
+f 110 172 173
+f 110 173 111
+f 113 163 114
+f 114 163 174
+f 114 174 164
+f 114 116 115
+f 118 175 125
+f 118 173 176
+f 118 176 175
+f 119 177 120
+f 119 124 177
+f 120 177 178
+f 121 123 179
+f 121 179 124
+f 122 180 181
+f 122 181 182
+f 122 182 123
+f 122 125 175
+f 122 175 180
+f 123 182 179
+f 124 179 183
+f 124 183 184
+f 124 184 185
+f 124 185 177
+f 126 132 186
+f 126 186 127
+f 127 186 187
+f 129 188 133
+f 130 184 189
+f 130 189 131
+f 130 133 184
+f 131 189 190
+f 131 190 191
+f 131 191 132
+f 132 191 192
+f 132 192 187
+f 132 187 186
+f 133 185 184
+f 133 188 185
+f 134 158 193
+f 134 193 194
+f 134 194 135
+f 135 194 195
+f 135 195 196
+f 135 196 136
+f 136 196 197
+f 136 197 198
+f 136 198 138
+f 136 138 137
+f 138 198 199
+f 138 199 139
+f 139 199 140
+f 140 199 143
+f 140 143 141
+f 141 143 142
+f 143 199 176
+f 143 176 200
+f 143 200 201
+f 143 201 202
+f 143 202 144
+f 144 202 145
+f 145 202 203
+f 145 203 204
+f 145 204 146
+f 146 204 150
+f 146 150 148
+f 146 148 147
+f 149 150 153
+f 150 204 205
+f 150 205 153
+f 151 153 206
+f 151 206 154
+f 151 154 152
+f 153 207 206
+f 153 205 208
+f 153 208 207
+f 154 206 209
+f 154 209 155
+f 155 209 210
+f 155 210 156
+f 156 210 162
+f 157 211 212
+f 157 212 158
+f 158 212 193
+f 159 161 213
+f 161 162 214
+f 161 214 215
+f 161 215 216
+f 161 216 213
+f 162 210 214
+f 164 174 217
+f 164 217 165
+f 165 217 218
+f 165 218 166
+f 166 218 219
+f 166 219 167
+f 167 220 221
+f 167 221 168
+f 167 219 222
+f 167 222 223
+f 167 223 220
+f 168 221 224
+f 168 224 169
+f 169 225 226
+f 169 226 227
+f 169 227 170
+f 169 224 225
+f 170 201 200
+f 170 200 171
+f 170 227 201
+f 171 200 172
+f 172 200 176
+f 172 176 173
+f 175 228 197
+f 175 197 180
+f 175 176 228
+f 176 199 228
+f 177 185 229
+f 177 229 178
+f 179 182 230
+f 179 230 183
+f 180 197 196
+f 180 196 181
+f 181 196 182
+f 182 196 195
+f 182 195 230
+f 183 230 231
+f 183 231 184
+f 184 231 189
+f 185 188 229
+f 187 192 232
+f 189 231 190
+f 190 231 233
+f 190 233 234
+f 190 234 191
+f 191 235 236
+f 191 236 237
+f 191 237 192
+f 191 234 238
+f 191 238 235
+f 192 237 232
+f 193 212 194
+f 194 212 195
+f 195 212 233
+f 195 233 231
+f 195 231 230
+f 197 228 198
+f 198 228 199
+f 201 227 202
+f 202 227 226
+f 202 226 203
+f 203 226 239
+f 203 239 208
+f 203 208 205
+f 203 205 204
+f 206 240 241
+f 206 241 209
+f 206 207 240
+f 207 208 242
+f 207 242 240
+f 208 239 242
+f 209 241 210
+f 210 241 214
+f 211 243 212
+f 212 243 244
+f 212 244 234
+f 212 234 233
+f 214 245 246
+f 214 246 215
+f 214 241 245
+f 220 247 248
+f 220 248 221
+f 220 223 249
+f 220 249 247
+f 221 248 224
+f 224 248 225
+f 225 239 226
+f 225 248 250
+f 225 250 239
+f 232 237 236
+f 234 244 251
+f 234 251 238
+f 235 252 236
+f 235 238 251
+f 235 251 253
+f 235 253 254
+f 235 254 252
+f 239 250 242
+f 240 255 241
+f 240 242 255
+f 241 255 245
+f 242 250 255
+f 243 253 251
+f 243 251 244
+f 245 256 257
+f 245 257 258
+f 245 258 259
+f 245 259 246
+f 245 255 256
+f 247 256 248
+f 247 249 260
+f 247 260 256
+f 248 255 250
+f 248 256 255
+f 256 260 257
+

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mjcf/tray_042.xml

@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_042">
+  <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_042.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_042_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_042_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_042_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_042_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_042_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_042_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_042_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_042_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_042_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_042_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_042_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_042_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_042_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_042_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_042_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_042">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_042">
+   <link name="tray_042">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_042.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_042_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>5b2c4f2c243b51b89bfc2a55cb35dac2</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>floral tray</name>
+         <color>white</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>shallow rectangular tray with rounded corners and colorful floral pattern</description>
+         <min_height>0.0283</min_height>
+         <max_height>0.0283</max_height>
+         <real_height>0.0283</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609200125</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.144999 -0.191777 -0.010151</min>
+            <max>0.144996 0.192028 0.018181</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98d479e9610b41cf3f677875c39ed1908ea1754d41b4feb836680125ef84c360
+size 4962472

dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09861014e804402b0235d1ccdafa3fdd4438d2563e4b5fa44699d606d738a1d9
+size 637343