Add asset kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368

.gitattributes

@@ -4225,6 +4225,5 @@ dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/69abd964d45d
 dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6dd5651b3d3c578992053d847c5fcc44/6dd5651b3d3c578992053d847c5fcc44.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/6dca185a8ead568bac0a8c5d16aed163.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl tray_019_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_019_geometry_Looks_material_0.png

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d07bb95228df19bce6b6ec82b075b7398c7ad8e51a189992839ebfcbf9b2d9
+size 14388652

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mesh/tray_019.mtl

@@ -0,0 +1,6 @@
+newmtl tray_019_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/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_0.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.06766691 0.14015538 -0.01488539
+v 0.06524697 0.14015538 -0.01487709
+v 0.06112868 0.14220161 -0.01372733
+v 0.06766691 0.14222385 -0.01373148
+v 0.07178520 0.14015538 -0.01488124
+v 0.05865595 0.14015538 -0.01485219
+v 0.05459046 0.14217491 -0.01371903
+v 0.03621654 0.17986551 0.01322344
+v 0.07421394 0.14221051 -0.01368583
+v 0.07421394 0.14015538 -0.01486049
+v 0.05459046 0.14015538 -0.01483559
+v 0.05205613 0.14015538 -0.01482313
+v 0.03621654 0.14208594 -0.01367752
+v 0.03621654 0.18262347 0.01566408
+v 0.07421394 0.17826857 0.01353058
+v 0.08075217 0.17801501 0.01369661
+v 0.08075217 0.14197029 -0.01327906
+v 0.07803304 0.14015538 -0.01474842
+v 0.03621654 0.14015538 -0.01474427
+v 0.03621654 0.18272132 0.01575124
+v 0.07421394 0.18154252 0.01644856
+v 0.08075217 0.18129342 0.01676402
+v 0.08592643 0.17753014 0.01399547
+v 0.09028232 0.17695630 0.01436073
+v 0.08264412 0.14015538 -0.01426279
+v 0.08075217 0.14015538 -0.01450768
+v 0.03621654 0.14015531 0.00517089
+v 0.03621654 0.18478090 0.01759002
+v 0.07421394 0.18403802 0.01938728
+v 0.08075217 0.18386899 0.01969859
+v 0.08410488 0.18361543 0.02013440
+v 0.09381983 0.17878899 0.01795526
+v 0.09381983 0.17617339 0.01502069
+v 0.08642802 0.14015538 -0.01266061
+v 0.09891489 0.17159607 0.01368414
+v 0.10327957 0.17023488 0.01446033
+v 0.03621654 0.15186328 0.01361351
+v 0.11464009 0.14015523 0.02659276
+v 0.03621654 0.18513232 0.01846582
+v 0.03621654 0.18559492 0.02159547
+v 0.08075217 0.18386898 0.02073212
+v 0.08410488 0.18361543 0.02023402
+v 0.09841331 0.17777033 0.01911746
+v 0.10084204 0.17404708 0.01678889
+v 0.08833757 0.14015537 -0.01132823
+v 0.11020500 0.16395829 0.01429427
+v 0.11638244 0.15686764 0.01454329
+v 0.11768481 0.15249494 0.01370898
+v 0.10576111 0.17213429 0.01837446
+v 0.10752986 0.16901158 0.01675151
+v 0.03621654 0.15249049 0.01404518
+v 0.11998154 0.14015523 0.02698293
+v 0.03621654 0.17026151 0.02615706
+v 0.03621654 0.18559492 0.02196488
+v 0.07421394 0.18403801 0.02104342
+v 0.08075217 0.18185832 0.02366667
+v 0.08668321 0.18137346 0.02256257
+v 0.09370543 0.17865552 0.02326404
+v 0.09841331 0.17777032 0.02140865
+v 0.09078391 0.14015537 -0.00958492
+v 0.11173615 0.16555077 0.01724544
+v 0.11515046 0.16120476 0.01679714
+v 0.11813359 0.15939428 0.01845743
+v 0.12008713 0.15422978 0.01702126
+v 0.12214628 0.14753504 0.01544396
+v 0.12298226 0.14341145 0.01454324
+v 0.10547952 0.17191187 0.02311873
+v 0.10874424 0.16919393 0.02311872
+v 0.11208815 0.16591552 0.02311871
+v 0.12378305 0.14015523 0.02643504
+v 0.11998154 0.14097817 0.02694974
+v 0.11344331 0.15409183 0.02723204
+v 0.10690508 0.16064868 0.02738148
+v 0.10690508 0.15409183 0.02728184
+v 0.03621654 0.17375790 0.02656799
+v 0.03621654 0.18299265 0.02401118
+v 0.08075217 0.17857990 0.02699553
+v 0.07421394 0.18190281 0.02397797
+v 0.08728160 0.17797936 0.02670912
+v 0.09144389 0.17740108 0.02633141
+v 0.09579977 0.17627567 0.02532278
+v 0.10049885 0.17510576 0.02326402
+v 0.12347505 0.14015528 0.01416551
+v 0.11536166 0.16229013 0.02311870
+v 0.11786080 0.15901172 0.02311868
+v 0.12364225 0.15159635 0.02090633
+v 0.12364225 0.15159636 0.01950338
+v 0.12445182 0.14753503 0.01837852
+v 0.12527900 0.14112944 0.01679707
+v 0.10396596 0.17073748 0.02623177
+v 0.11067139 0.16444311 0.02636042
+v 0.12611498 0.14015525 0.02311861
+v 0.12371264 0.14097817 0.02638939
+v 0.11999914 0.14694782 0.02668411
+v 0.11763200 0.15409183 0.02655132
+v 0.11309133 0.16009264 0.02661775
+v 0.08075217 0.17375790 0.02751851
+v 0.10644750 0.16685854 0.02669663
+v 0.10036686 0.16720107 0.02739395
+v 0.03621654 0.17920265 0.02672574
+v 0.07421394 0.17862437 0.02697063
+v 0.08728160 0.17375790 0.02733172
+v 0.09370543 0.17395808 0.02687930
+v 0.10036686 0.17174281 0.02669250
+v 0.12451343 0.14015527 0.01551034
+v 0.11683123 0.15753484 0.02614041
+v 0.12218148 0.14874496 0.02482045
+v 0.12329905 0.14437224 0.02609055
+v 0.12424063 0.14694784 0.02296506
+v 0.12594778 0.14097819 0.02311862
+v 0.12553419 0.14015527 0.01686347
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 26
+f 1 26 25
+f 1 25 34
+f 1 34 45
+f 1 45 60
+f 1 60 83
+f 1 83 105
+f 1 105 111
+f 1 111 92
+f 1 92 70
+f 1 70 52
+f 1 52 38
+f 1 38 27
+f 1 27 19
+f 1 19 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 9 5
+f 4 8 9
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 8 13 19
+f 8 19 27
+f 8 27 37
+f 8 37 51
+f 8 51 53
+f 8 53 75
+f 8 75 100
+f 8 100 76
+f 8 76 54
+f 8 54 40
+f 8 40 39
+f 8 39 28
+f 8 28 20
+f 8 20 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 12 19 13
+f 14 20 15
+f 15 21 16
+f 15 20 21
+f 16 22 23
+f 16 23 17
+f 16 21 22
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 20 28 21
+f 21 29 30
+f 21 30 22
+f 21 28 29
+f 22 30 31
+f 22 31 24
+f 22 24 23
+f 24 32 33
+f 24 33 25
+f 24 31 32
+f 25 33 35
+f 25 35 36
+f 25 36 34
+f 27 38 37
+f 28 39 29
+f 29 39 40
+f 29 40 30
+f 30 41 42
+f 30 42 31
+f 30 40 54
+f 30 54 41
+f 31 42 59
+f 31 59 43
+f 31 43 32
+f 32 43 33
+f 33 43 44
+f 33 44 36
+f 33 36 35
+f 34 36 46
+f 34 46 47
+f 34 47 48
+f 34 48 45
+f 36 44 49
+f 36 49 50
+f 36 50 46
+f 37 38 51
+f 38 52 53
+f 38 53 51
+f 41 54 55
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 58
+f 42 58 59
+f 43 59 49
+f 43 49 44
+f 45 48 60
+f 46 50 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 48
+f 48 65 66
+f 48 66 60
+f 49 59 67
+f 49 67 68
+f 49 68 69
+f 49 69 63
+f 49 63 61
+f 49 61 50
+f 52 70 71
+f 52 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 75
+f 52 75 53
+f 54 76 77
+f 54 77 78
+f 54 78 56
+f 54 56 55
+f 56 78 77
+f 56 77 79
+f 56 79 80
+f 56 80 57
+f 57 80 58
+f 58 80 81
+f 58 81 59
+f 59 82 67
+f 59 81 82
+f 60 66 83
+f 61 63 62
+f 63 69 84
+f 63 84 85
+f 63 85 86
+f 63 86 87
+f 63 87 64
+f 64 87 65
+f 65 87 88
+f 65 88 66
+f 66 88 89
+f 66 89 83
+f 67 90 68
+f 67 82 90
+f 68 90 91
+f 68 91 69
+f 69 91 84
+f 70 92 93
+f 70 93 94
+f 70 94 71
+f 71 94 72
+f 72 94 95
+f 72 95 96
+f 72 96 73
+f 73 97 74
+f 73 96 98
+f 73 98 99
+f 73 99 97
+f 74 97 75
+f 75 97 100
+f 76 100 77
+f 77 100 101
+f 77 101 97
+f 77 97 102
+f 77 102 79
+f 79 102 103
+f 79 103 104
+f 79 104 80
+f 80 104 90
+f 80 90 81
+f 81 90 82
+f 83 89 105
+f 84 106 85
+f 84 91 106
+f 85 106 86
+f 86 107 108
+f 86 108 109
+f 86 109 110
+f 86 110 87
+f 86 106 107
+f 87 110 88
+f 88 110 92
+f 88 92 111
+f 88 111 89
+f 89 111 105
+f 90 98 91
+f 90 104 98
+f 91 96 106
+f 91 98 96
+f 92 110 108
+f 92 108 93
+f 93 108 95
+f 93 95 94
+f 95 106 96
+f 95 108 106
+f 97 99 102
+f 97 101 100
+f 98 104 99
+f 99 104 103
+f 99 103 102
+f 106 108 107
+f 108 110 109
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_1.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.11998944 0.12785912 0.02727823
+v 0.11344896 0.12785912 0.02652776
+v 0.11011218 0.12440012 0.02609951
+v 0.11998944 0.12130449 0.02717221
+v 0.12449663 0.12130449 0.02679062
+v 0.12456548 0.12785912 0.02684575
+v 0.11998944 0.13441374 0.02723585
+v 0.11464232 0.14015078 0.02659140
+v 0.11011677 0.12785912 0.02609528
+v 0.10243343 0.14015080 0.02119819
+v 0.10701406 0.06886054 0.02267343
+v 0.10701864 0.06876970 0.02267343
+v 0.11398597 0.08909740 0.02560755
+v 0.11617531 0.09508600 0.02613756
+v 0.11998944 0.11474987 0.02698986
+v 0.12412486 0.11474987 0.02659979
+v 0.12776457 0.12130450 0.02330538
+v 0.12821438 0.12829239 0.02266941
+v 0.12431304 0.13441374 0.02675673
+v 0.11998944 0.14015078 0.02698571
+v 0.11152125 0.14015079 0.02543389
+v 0.11015807 0.13117136 0.02606562
+v 0.10692684 0.14015079 0.02360648
+v 0.08302313 0.14015085 0.00684175
+v 0.08302313 0.14014387 0.00686295
+v 0.08302313 0.07114564 0.00459009
+v 0.08302313 0.06886060 0.00450104
+v 0.08302313 0.06876976 0.00449680
+v 0.11344896 0.06876969 0.02446269
+v 0.11652872 0.09165496 0.02606548
+v 0.11674445 0.09165496 0.02606548
+v 0.12366130 0.10985836 0.02632841
+v 0.12763607 0.11537181 0.02253792
+v 0.12980704 0.11797131 0.02019748
+v 0.12988966 0.12130452 0.02036710
+v 0.12990802 0.12639868 0.02041375
+v 0.12725971 0.13441376 0.02311886
+v 0.12378981 0.14015078 0.02643452
+v 0.08302313 0.14015093 -0.01410356
+v 0.08302313 0.06876984 -0.01603299
+v 0.11824531 0.06876970 0.02196960
+v 0.12534116 0.10788080 0.02360637
+v 0.12980704 0.11797131 0.02016357
+v 0.11975995 0.06876972 0.01724631
+v 0.12988966 0.12130452 0.01998551
+v 0.12990802 0.12639868 0.01994312
+v 0.12611225 0.14015080 0.02311888
+v 0.08643794 0.14015093 -0.01265774
+v 0.08467546 0.13820831 -0.01530770
+v 0.08302313 0.13978756 -0.01445548
+v 0.08302313 0.11475003 -0.01603707
+v 0.08674546 0.06876984 -0.01565140
+v 0.12789768 0.11537182 0.01782311
+v 0.12789310 0.12130453 0.01705147
+v 0.11823155 0.06876973 0.01250605
+v 0.12329869 0.09810481 0.01426998
+v 0.12818225 0.12829241 0.01768748
+v 0.12706693 0.13441378 0.01724655
+v 0.12553852 0.14015082 0.01686497
+v 0.08834731 0.14015092 -0.01132640
+v 0.08302313 0.13841097 -0.01538826
+v 0.08302313 0.13902588 -0.01497275
+v 0.09142707 0.13886516 -0.01011802
+v 0.08892103 0.13441389 -0.01408662
+v 0.08564850 0.13441390 -0.01553668
+v 0.08302313 0.13441390 -0.01583772
+v 0.08302313 0.12130465 -0.01603279
+v 0.08669038 0.12130465 -0.01565120
+v 0.08671334 0.11475003 -0.01565123
+v 0.08672251 0.10818841 -0.01565125
+v 0.08674546 0.06886068 -0.01565140
+v 0.09001340 0.06876983 -0.01486701
+v 0.12406519 0.10818830 0.01365522
+v 0.12356950 0.10164067 0.01403679
+v 0.12445074 0.11474992 0.01341357
+v 0.12462056 0.12130454 0.01332456
+v 0.12452876 0.12785917 0.01340514
+v 0.11564290 0.06876974 0.00961441
+v 0.12412027 0.13441379 0.01370195
+v 0.12364752 0.13903277 0.01403693
+v 0.12451958 0.14015082 0.01550819
+v 0.09078908 0.14015092 -0.00958802
+v 0.12347770 0.14015083 0.01416413
+v 0.08975637 0.12785927 -0.01474383
+v 0.08648384 0.12785928 -0.01564270
+v 0.08302313 0.13181441 -0.01591829
+v 0.08302313 0.12535063 -0.01602431
+v 0.08996292 0.12130464 -0.01484561
+v 0.08998128 0.11475002 -0.01485412
+v 0.08999504 0.10818840 -0.01485838
+v 0.09001340 0.06886067 -0.01486701
+v 0.09333643 0.06876982 -0.01192873
+v 0.11560159 0.06876974 0.00957201
+v 0.08302313 0.12785928 -0.01601158
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 18 19
+f 6 19 7
+f 6 17 18
+f 7 19 20
+f 7 20 8
+f 8 20 38
+f 8 38 47
+f 8 47 59
+f 8 59 81
+f 8 81 83
+f 8 83 82
+f 8 82 60
+f 8 60 48
+f 8 48 39
+f 8 39 24
+f 8 24 10
+f 8 10 23
+f 8 23 21
+f 8 21 22
+f 8 22 9
+f 9 22 10
+f 10 24 25
+f 10 25 11
+f 10 22 23
+f 11 26 12
+f 11 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 40
+f 12 40 52
+f 12 52 72
+f 12 72 92
+f 12 92 93
+f 12 93 78
+f 12 78 55
+f 12 55 44
+f 12 44 41
+f 12 41 29
+f 12 29 13
+f 13 29 30
+f 13 30 14
+f 14 30 15
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 36 37
+f 18 37 19
+f 19 37 38
+f 19 38 20
+f 21 23 22
+f 24 39 50
+f 24 50 62
+f 24 62 61
+f 24 61 66
+f 24 66 86
+f 24 86 94
+f 24 94 87
+f 24 87 67
+f 24 67 51
+f 24 51 40
+f 24 40 28
+f 24 28 27
+f 24 27 26
+f 24 26 25
+f 29 31 30
+f 29 41 32
+f 29 32 31
+f 32 41 42
+f 32 42 33
+f 33 42 34
+f 34 43 45
+f 34 45 35
+f 34 42 41
+f 34 41 44
+f 34 44 43
+f 35 45 46
+f 35 46 36
+f 36 46 47
+f 36 47 37
+f 37 47 38
+f 39 48 49
+f 39 49 50
+f 40 51 52
+f 43 53 54
+f 43 54 45
+f 43 44 55
+f 43 55 56
+f 43 56 53
+f 45 54 46
+f 46 54 57
+f 46 57 58
+f 46 58 59
+f 46 59 47
+f 48 60 49
+f 49 61 62
+f 49 62 50
+f 49 60 63
+f 49 63 64
+f 49 64 65
+f 49 65 66
+f 49 66 61
+f 51 67 68
+f 51 68 69
+f 51 69 70
+f 51 70 71
+f 51 71 52
+f 52 71 91
+f 52 91 72
+f 53 73 54
+f 53 56 74
+f 53 74 73
+f 54 73 75
+f 54 75 76
+f 54 76 77
+f 54 77 57
+f 55 78 73
+f 55 73 74
+f 55 74 56
+f 57 77 79
+f 57 79 58
+f 58 79 80
+f 58 80 81
+f 58 81 59
+f 60 82 63
+f 63 82 83
+f 63 83 64
+f 64 83 80
+f 64 80 84
+f 64 84 65
+f 65 84 85
+f 65 85 86
+f 65 86 66
+f 67 87 68
+f 68 87 85
+f 68 85 88
+f 68 88 89
+f 68 89 90
+f 68 90 69
+f 69 90 70
+f 70 90 91
+f 70 91 71
+f 72 91 76
+f 72 76 75
+f 72 75 92
+f 73 78 93
+f 73 93 92
+f 73 92 75
+f 76 91 90
+f 76 90 89
+f 76 89 88
+f 76 88 77
+f 77 84 79
+f 77 88 84
+f 79 84 80
+f 80 83 81
+f 84 88 85
+f 85 87 94
+f 85 94 86
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_10.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00521371 -0.14120533 -0.01401963
+v 0.00521371 -0.14120540 0.00605048
+v 0.00521371 -0.13863621 -0.01543212
+v 0.06766107 -0.14120533 -0.01430506
+v 0.08041850 -0.14120540 0.00667744
+v 0.00521371 -0.12486586 0.00656772
+v 0.00521371 -0.13438176 -0.01591268
+v 0.00880611 -0.13438176 -0.01592733
+v 0.06766107 -0.13438176 -0.01615908
+v 0.07420541 -0.13438176 -0.01618104
+v 0.06766107 -0.13892395 -0.01555653
+v 0.07420541 -0.13892395 -0.01556629
+v 0.07420541 -0.14120533 -0.01429774
+v 0.00521371 -0.08193091 0.00770715
+v 0.00521371 -0.08552767 0.00762663
+v 0.00521371 -0.08848728 0.00755343
+v 0.08041850 -0.14120533 -0.01384155
+v 0.08041850 0.01639405 0.00563146
+v 0.07420541 0.01639405 0.00627794
+v 0.06112408 0.04917587 0.00726607
+v 0.05457973 -0.00327506 0.00759522
+v 0.01247212 -0.02637650 0.00850020
+v 0.00521371 -0.02777409 0.00851240
+v 0.00521371 -0.13078501 -0.01596391
+v 0.00880611 -0.12782540 -0.01602001
+v 0.07420541 -0.12782540 -0.01627372
+v 0.08041850 -0.13438176 -0.01610785
+v 0.08041850 -0.12782540 -0.01626884
+v 0.08041850 -0.13867732 -0.01550042
+v 0.08041850 0.06851614 0.00449726
+v 0.07420541 0.06228861 0.00578044
+v 0.07420541 0.06876277 0.00563409
+v 0.06112408 0.05573224 0.00710996
+v 0.05457973 0.05573224 0.00727097
+v 0.01212613 0.02623886 0.00844673
+v 0.05457973 0.00328130 0.00758304
+v 0.00521371 0.00108215 0.00863447
+v 0.01247212 -0.02575991 0.00850021
+v 0.00521371 -0.00109646 0.00863447
+v 0.00521371 -0.12782540 -0.01600537
+v 0.01534310 -0.05570536 -0.01606121
+v 0.08041850 -0.12126903 -0.01627370
+v 0.07420541 -0.05570536 -0.01628564
+v 0.08041850 -0.06848925 -0.01628569
+v 0.08041850 0.06876277 0.00448994
+v 0.07410971 0.06876277 0.00564141
+v 0.06766107 0.06876277 0.00594391
+v 0.04804275 0.06876276 0.00681726
+v 0.02842443 0.06876276 0.00731005
+v 0.02188744 0.06876276 0.00742227
+v 0.00521371 0.06876276 0.00763939
+v 0.00521371 0.02773923 0.00849796
+v 0.00521371 -0.04914899 -0.01601728
+v 0.00880611 -0.04914899 -0.01603435
+v 0.01534310 -0.04914899 -0.01606119
+v 0.08041850 -0.04259262 -0.01628805
+v 0.02188744 -0.04259262 -0.01608556
+v 0.07420541 0.06876285 -0.01626324
+v 0.08041850 0.06876285 -0.01626812
+v 0.00521371 0.06876285 -0.01599489
+v 0.00880611 0.06876285 -0.01600953
+f 1 2 6
+f 1 6 16
+f 1 16 15
+f 1 15 14
+f 1 14 23
+f 1 23 39
+f 1 39 37
+f 1 37 52
+f 1 52 51
+f 1 51 60
+f 1 60 53
+f 1 53 40
+f 1 40 24
+f 1 24 7
+f 1 7 3
+f 1 3 4
+f 1 4 13
+f 1 13 17
+f 1 17 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 17 29
+f 5 29 27
+f 5 27 28
+f 5 28 42
+f 5 42 44
+f 5 44 56
+f 5 56 59
+f 5 59 45
+f 5 45 30
+f 5 30 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 23
+f 5 23 14
+f 7 24 8
+f 8 24 25
+f 8 25 9
+f 9 25 26
+f 9 26 10
+f 10 27 12
+f 10 12 11
+f 10 26 28
+f 10 28 27
+f 12 27 29
+f 12 29 13
+f 13 29 17
+f 18 30 31
+f 18 31 19
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 35
+f 21 35 37
+f 21 37 38
+f 21 38 22
+f 22 38 37
+f 22 37 39
+f 22 39 23
+f 24 40 25
+f 25 40 41
+f 25 41 26
+f 26 42 28
+f 26 41 43
+f 26 43 44
+f 26 44 42
+f 30 45 32
+f 30 32 31
+f 32 45 59
+f 32 59 58
+f 32 58 61
+f 32 61 60
+f 32 60 51
+f 32 51 50
+f 32 50 49
+f 32 49 48
+f 32 48 47
+f 32 47 46
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 37
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 43
+f 43 56 44
+f 43 55 57
+f 43 57 58
+f 43 58 59
+f 43 59 56
+f 53 60 54
+f 54 60 55
+f 55 60 61
+f 55 61 57
+f 57 61 58
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_11.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.08041850 -0.14119760 -0.01383818
+v 0.08074780 -0.14119760 -0.01382538
+v 0.08041850 -0.14119767 0.00667577
+v 0.08041850 -0.14108936 -0.01391496
+v 0.08445249 -0.14119760 -0.01248168
+v 0.08074780 -0.13866922 -0.01549328
+v 0.08465588 -0.13815891 -0.01529279
+v 0.10214300 -0.14119773 0.02147363
+v 0.10714555 -0.06221507 0.02274084
+v 0.08041850 -0.06221501 0.00429151
+v 0.08041850 -0.13867695 -0.01549754
+v 0.08672373 -0.14119761 -0.01162426
+v 0.08041850 -0.13845273 -0.01553167
+v 0.08074780 -0.13438568 -0.01610326
+v 0.08564865 -0.13438568 -0.01552738
+v 0.08891749 -0.13438569 -0.01410263
+v 0.09142603 -0.13885481 -0.01013124
+v 0.08698040 -0.14069503 -0.01189727
+v 0.10664191 -0.14119774 0.02380272
+v 0.11011899 -0.13123117 0.02608494
+v 0.11007540 -0.12782908 0.02611907
+v 0.11009962 -0.12431874 0.02610628
+v 0.10719882 -0.06221507 0.02276217
+v 0.08041850 -0.06221493 -0.01628216
+v 0.08744530 -0.14119761 -0.01118062
+v 0.08041850 -0.13438568 -0.01610753
+v 0.08074780 -0.12782892 -0.01626534
+v 0.08651550 -0.12782892 -0.01564681
+v 0.08978919 -0.12782893 -0.01475527
+v 0.12364959 -0.13905594 0.01403845
+v 0.12057929 -0.14119770 0.01251557
+v 0.10690825 -0.14119774 0.02391363
+v 0.11120861 -0.14119774 0.02553462
+v 0.11444840 -0.14119775 0.02659679
+v 0.11466632 -0.14119775 0.02665224
+v 0.11344594 -0.12782908 0.02657977
+v 0.11998848 -0.12127232 0.02720259
+v 0.11640002 -0.09505301 0.02611066
+v 0.11409487 -0.08914574 0.02562012
+v 0.11344594 -0.06221508 0.02466896
+v 0.08074780 -0.06221493 -0.01628216
+v 0.08041850 -0.08849610 -0.01628226
+v 0.08041850 -0.12782892 -0.01626534
+v 0.08074780 -0.12127216 -0.01627385
+v 0.08672373 -0.12127216 -0.01565532
+v 0.08999258 -0.12127217 -0.01485762
+v 0.12454550 -0.12782903 0.01339436
+v 0.12412902 -0.13438579 0.01369721
+v 0.12708792 -0.13438580 0.01724631
+v 0.12531549 -0.14112040 0.01678131
+v 0.12523801 -0.14119771 0.01670453
+v 0.11969307 -0.14119775 0.02697217
+v 0.11998848 -0.13438584 0.02724521
+v 0.11998848 -0.12782908 0.02728788
+v 0.12450675 -0.12127232 0.02679735
+v 0.11998848 -0.11471556 0.02699786
+v 0.11670510 -0.09176690 0.02605095
+v 0.11349438 -0.06221508 0.02464763
+v 0.11671963 -0.09176690 0.02605095
+v 0.12414355 -0.11471556 0.02661821
+v 0.12366896 -0.10983665 0.02633243
+v 0.08677216 -0.06221493 -0.01565936
+v 0.08074780 -0.08849610 -0.01628226
+v 0.08041850 -0.12127216 -0.01627385
+v 0.08672373 -0.10815864 -0.01565953
+v 0.09001680 -0.06221494 -0.01488300
+v 0.09003132 -0.07538259 -0.01487452
+v 0.12464235 -0.12127227 0.01330480
+v 0.12819691 -0.12818473 0.01771130
+v 0.12530581 -0.14119771 0.01679838
+v 0.12989187 -0.12623625 0.01998068
+v 0.11998848 -0.14119775 0.02696364
+v 0.11998848 -0.14094259 0.02697644
+v 0.12430335 -0.13438584 0.02674612
+v 0.12455034 -0.12782908 0.02682718
+v 0.12817754 -0.12065374 0.02264679
+v 0.11844849 -0.06221507 0.02210952
+v 0.12711214 -0.11471554 0.02311604
+v 0.08677216 -0.06227679 -0.01565936
+v 0.08676732 -0.06883355 -0.01565938
+v 0.08676248 -0.07538258 -0.01565941
+v 0.09004585 -0.06221494 -0.01487447
+v 0.09004585 -0.06227680 -0.01487447
+v 0.12445348 -0.11471551 0.01340295
+v 0.12828409 -0.12065373 0.01771133
+v 0.12592083 -0.14119773 0.02310741
+v 0.12599832 -0.14094257 0.02311594
+v 0.12989187 -0.12243209 0.01998069
+v 0.12989187 -0.12623625 0.02037739
+v 0.12355273 -0.14119775 0.02640056
+v 0.12371739 -0.14094259 0.02638776
+v 0.12726227 -0.13438582 0.02311597
+v 0.12819691 -0.12818474 0.02264676
+v 0.12989187 -0.12243209 0.02037740
+v 0.11846786 -0.06221507 0.02206259
+v 0.09331470 -0.06221495 -0.01196523
+v 0.12405638 -0.10815875 0.01365891
+v 0.12742207 -0.11471552 0.01724638
+v 0.11569298 -0.06221502 0.00946586
+v 0.12579008 -0.14119774 0.02334202
+v 0.11836616 -0.06221504 0.01240069
+v 0.12009986 -0.06221505 0.01724657
+v 0.12368348 -0.14119775 0.02636217
+f 1 2 5
+f 1 5 12
+f 1 12 25
+f 1 25 31
+f 1 31 51
+f 1 51 70
+f 1 70 86
+f 1 86 100
+f 1 100 103
+f 1 103 90
+f 1 90 72
+f 1 72 52
+f 1 52 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 19
+f 1 19 8
+f 1 8 3
+f 1 3 10
+f 1 10 24
+f 1 24 42
+f 1 42 64
+f 1 64 43
+f 1 43 26
+f 1 26 13
+f 1 13 11
+f 1 11 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 4 11 6
+f 5 7 12
+f 6 11 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 12
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 23 40
+f 9 40 58
+f 9 58 77
+f 9 77 95
+f 9 95 102
+f 9 102 101
+f 9 101 99
+f 9 99 96
+f 9 96 82
+f 9 82 66
+f 9 66 62
+f 9 62 41
+f 9 41 24
+f 9 24 10
+f 9 22 23
+f 12 18 25
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 30 31
+f 16 31 17
+f 16 29 30
+f 17 31 25
+f 17 25 18
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 36 22
+f 21 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 24 41 63
+f 24 63 42
+f 26 43 27
+f 27 43 64
+f 27 64 44
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 39
+f 39 57 40
+f 40 57 59
+f 40 59 60
+f 40 60 61
+f 40 61 58
+f 41 62 79
+f 41 79 63
+f 42 63 44
+f 42 44 64
+f 44 65 45
+f 44 63 65
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 68 47
+f 46 67 68
+f 47 68 69
+f 47 69 48
+f 48 69 49
+f 49 70 50
+f 49 69 71
+f 49 71 70
+f 50 70 51
+f 52 72 73
+f 52 73 53
+f 53 73 74
+f 53 74 75
+f 53 75 54
+f 54 75 55
+f 55 75 76
+f 55 76 60
+f 55 60 56
+f 56 60 59
+f 56 59 57
+f 58 61 77
+f 60 76 78
+f 60 78 61
+f 61 78 77
+f 62 66 79
+f 63 79 80
+f 63 80 81
+f 63 81 65
+f 65 81 66
+f 66 81 80
+f 66 80 79
+f 66 82 83
+f 66 83 67
+f 67 83 68
+f 68 84 85
+f 68 85 69
+f 68 83 82
+f 68 82 84
+f 69 85 71
+f 70 71 87
+f 70 87 86
+f 71 85 88
+f 71 88 94
+f 71 94 89
+f 71 89 87
+f 72 90 74
+f 72 74 73
+f 74 90 91
+f 74 91 92
+f 74 92 93
+f 74 93 75
+f 75 93 76
+f 76 93 94
+f 76 94 78
+f 77 78 94
+f 77 94 95
+f 82 96 84
+f 84 97 98
+f 84 98 85
+f 84 96 99
+f 84 99 97
+f 85 98 88
+f 86 87 100
+f 87 92 91
+f 87 91 100
+f 87 89 92
+f 88 98 101
+f 88 101 102
+f 88 102 94
+f 89 94 93
+f 89 93 92
+f 90 103 91
+f 91 103 100
+f 94 102 95
+f 97 99 101
+f 97 101 98
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_12.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.08930778 -0.12706799 -0.01391497
+v -0.08702246 -0.12706798 -0.01508972
+v -0.08930778 -0.12706806 0.00626781
+v -0.08930778 -0.12262033 -0.01406606
+v -0.08664312 -0.12706798 -0.01526277
+v -0.08672639 -0.12125920 -0.01527981
+v -0.00428840 -0.12706807 0.00690393
+v -0.05005953 -0.10814638 0.00735002
+v -0.05005953 -0.10158994 0.00750359
+v -0.05660091 -0.08192057 0.00768158
+v -0.05418605 -0.00025251 0.00846667
+v -0.05418605 0.00022677 0.00846667
+v -0.08930778 0.04261366 0.00602228
+v -0.08930778 -0.12125921 -0.01407825
+v -0.08321052 -0.12706798 -0.01553574
+v -0.08276641 -0.12125920 -0.01558934
+v -0.08930778 -0.11614057 -0.01411722
+v -0.08930778 -0.11470275 -0.01412209
+v -0.08930778 -0.10962246 -0.01413669
+v -0.08675415 -0.11470274 -0.01528465
+v -0.00353897 -0.12706807 0.00690881
+v -0.04351815 -0.10158994 0.00754990
+v -0.00143869 -0.03359072 0.00854942
+v -0.00253046 -0.00159447 0.00888099
+v -0.00253046 0.00154956 0.00888101
+v -0.00143869 0.03366083 0.00855697
+v -0.05660091 0.05572655 0.00761628
+v -0.08930778 0.06874360 0.00555442
+v -0.08276641 -0.12706798 -0.01556986
+v -0.07622503 -0.12125920 -0.01568195
+v -0.07696522 -0.12706798 -0.01566735
+v -0.08677265 -0.10158985 -0.01528948
+v -0.08276641 -0.06225113 -0.01561105
+v -0.08930778 -0.10814630 -0.01413913
+v -0.08930778 -0.10158986 -0.01414641
+v -0.08930778 -0.08999145 -0.01415856
+v 0.00225297 -0.12706807 0.00685275
+v -0.00428840 -0.08192057 0.00792774
+v 0.00008794 -0.03359072 0.00854942
+v 0.00225297 -0.00186286 0.00886881
+v 0.00225297 0.00181795 0.00886883
+v -0.00000459 0.03366083 0.00855697
+v 0.00216045 0.06874359 0.00772113
+v -0.00428840 0.06874359 0.00770894
+v -0.03044465 0.06874359 0.00760414
+v -0.05005953 0.06874359 0.00737260
+v -0.05015205 0.06874359 0.00737016
+v -0.08930778 0.06874367 -0.01414579
+v -0.06968365 -0.12125920 -0.01571364
+v -0.07042384 -0.12706798 -0.01570634
+v -0.07622503 -0.12706798 -0.01567710
+v -0.07622503 -0.06225113 -0.01569148
+v -0.06968365 -0.06225113 -0.01572804
+v -0.08930778 -0.07689772 -0.01416826
+v -0.08930778 -0.06880760 -0.01417310
+v -0.08680041 -0.06225113 -0.01529665
+v -0.08276641 -0.04258178 -0.01561098
+v 0.00300241 -0.12706806 0.00679182
+v 0.00521371 -0.08552471 0.00762551
+v 0.00521371 -0.08192057 0.00770839
+v 0.00225297 -0.08192057 0.00782050
+v 0.00521371 -0.02776276 0.00851288
+v 0.00521371 -0.00109603 0.00863241
+v 0.00521371 0.00107029 0.00863241
+v 0.00521371 0.02773702 0.00849846
+v 0.00521371 0.06874359 0.00763826
+v 0.00225297 0.06874359 0.00772113
+v -0.08675415 0.06874368 -0.01527667
+v -0.08930778 0.06740171 -0.01414823
+v -0.06314228 -0.12125920 -0.01574045
+v -0.04426759 -0.12706798 -0.01581358
+v -0.06314228 -0.05569468 -0.01575726
+v -0.07622503 -0.04258178 -0.01569141
+v -0.06968365 -0.04913823 -0.01572799
+v -0.08930778 -0.06378482 -0.01417552
+v -0.08930778 -0.05724754 -0.01417793
+v -0.08930778 -0.05069108 -0.01418035
+v -0.08930778 -0.03102173 -0.01418271
+v -0.08680041 -0.03602533 -0.01529655
+v -0.08679116 0.04261374 -0.01529382
+v -0.08276641 0.02950084 -0.01560096
+v 0.00521371 -0.12706806 0.00648716
+v 0.00521371 -0.12486341 0.00656760
+v 0.00521371 -0.08847703 0.00755239
+v 0.00521371 0.06874368 -0.01599566
+v -0.08669863 0.06874368 -0.01528154
+v -0.08679116 0.04917019 -0.01529136
+v -0.08930778 0.06082609 -0.01415801
+v -0.03119409 -0.12706798 -0.01586476
+v 0.00521371 -0.04913823 -0.01601802
+v 0.00225297 -0.12706798 -0.01599394
+v -0.06968365 0.06874368 -0.01570562
+v -0.06314228 0.06874368 -0.01573243
+v -0.07622503 0.06874368 -0.01566907
+v -0.08930778 -0.01639433 -0.01418266
+v -0.08930778 0.04261373 -0.01417513
+v -0.08276641 0.03605729 -0.01559851
+v 0.00521371 -0.12706798 -0.01600369
+v -0.08276641 0.06874368 -0.01558132
+v -0.08930778 0.04765568 -0.01417267
+v -0.08930778 0.05425047 -0.01416534
+v -0.08276641 0.05572664 -0.01558869
+v 0.00487138 -0.12706798 -0.01600369
+f 1 2 5
+f 1 5 15
+f 1 15 29
+f 1 29 31
+f 1 31 51
+f 1 51 50
+f 1 50 71
+f 1 71 89
+f 1 89 91
+f 1 91 103
+f 1 103 98
+f 1 98 82
+f 1 82 58
+f 1 58 37
+f 1 37 21
+f 1 21 7
+f 1 7 3
+f 1 3 13
+f 1 13 28
+f 1 28 48
+f 1 48 69
+f 1 69 88
+f 1 88 101
+f 1 101 100
+f 1 100 96
+f 1 96 95
+f 1 95 78
+f 1 78 77
+f 1 77 76
+f 1 76 75
+f 1 75 55
+f 1 55 54
+f 1 54 36
+f 1 36 35
+f 1 35 34
+f 1 34 19
+f 1 19 18
+f 1 18 17
+f 1 17 14
+f 1 14 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 6
+f 5 6 15
+f 6 16 15
+f 6 14 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 16
+f 7 21 8
+f 8 22 9
+f 8 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 15 16 29
+f 16 30 31
+f 16 31 29
+f 16 20 32
+f 16 32 33
+f 16 33 30
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 32
+f 21 37 38
+f 21 38 22
+f 22 38 23
+f 23 38 39
+f 23 39 24
+f 24 40 41
+f 24 41 25
+f 24 39 40
+f 25 41 42
+f 25 42 26
+f 26 42 67
+f 26 67 43
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 46
+f 28 46 45
+f 28 45 44
+f 28 44 43
+f 28 43 67
+f 28 67 66
+f 28 66 85
+f 28 85 93
+f 28 93 92
+f 28 92 94
+f 28 94 99
+f 28 99 86
+f 28 86 68
+f 28 68 48
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 30 33 52
+f 30 52 53
+f 30 53 49
+f 32 36 54
+f 32 54 55
+f 32 55 56
+f 32 56 33
+f 33 56 79
+f 33 79 57
+f 33 57 73
+f 33 73 52
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 37 61 38
+f 38 61 39
+f 39 61 62
+f 39 62 40
+f 40 62 63
+f 40 63 64
+f 40 64 41
+f 41 64 65
+f 41 65 42
+f 42 65 66
+f 42 66 67
+f 48 68 69
+f 49 70 71
+f 49 71 50
+f 49 53 72
+f 49 72 70
+f 52 73 74
+f 52 74 53
+f 53 74 72
+f 55 75 56
+f 56 75 76
+f 56 76 77
+f 56 77 78
+f 56 78 95
+f 56 95 79
+f 57 79 80
+f 57 80 81
+f 57 81 73
+f 58 82 83
+f 58 83 84
+f 58 84 59
+f 59 84 83
+f 59 83 82
+f 59 82 98
+f 59 98 90
+f 59 90 85
+f 59 85 66
+f 59 66 65
+f 59 65 64
+f 59 64 63
+f 59 63 62
+f 59 62 60
+f 60 62 61
+f 68 86 87
+f 68 87 69
+f 69 87 88
+f 70 72 71
+f 71 72 89
+f 72 90 91
+f 72 91 89
+f 72 74 92
+f 72 92 93
+f 72 93 85
+f 72 85 90
+f 73 81 94
+f 73 94 92
+f 73 92 74
+f 79 95 80
+f 80 95 96
+f 80 96 87
+f 80 87 97
+f 80 97 81
+f 81 97 94
+f 86 99 87
+f 87 96 100
+f 87 100 101
+f 87 101 88
+f 87 99 102
+f 87 102 97
+f 90 98 103
+f 90 103 91
+f 94 97 102
+f 94 102 99
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_13.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.12201071 -0.12708182 0.02802726
+v -0.12665214 -0.12708182 0.02707719
+v -0.11541729 -0.12708182 0.02762658
+v -0.12201071 -0.12127547 0.02798184
+v -0.12667975 -0.12127547 0.02706894
+v -0.12947565 -0.12708180 0.02311577
+v -0.12959001 -0.12127545 0.02311579
+v -0.11488492 -0.12708182 0.02752331
+v -0.11163159 -0.08849735 0.02635031
+v -0.12201071 -0.11471655 0.02767620
+v -0.12635245 -0.11471655 0.02684591
+v -0.11191158 -0.08194392 0.02617685
+v -0.11217973 -0.07848318 0.02605706
+v -0.11223099 -0.07848318 0.02605706
+v -0.12767350 -0.12708178 0.01676265
+v -0.12833204 -0.12127543 0.01724597
+v -0.12897483 -0.11471653 0.02311582
+v -0.12727521 -0.10816308 0.01756822
+v -0.11117810 -0.12708182 0.02671368
+v -0.10521956 -0.07096842 0.02096798
+v -0.10651695 -0.07096842 0.02198002
+v -0.10912750 -0.07096843 0.02396279
+v -0.11901371 -0.09057928 0.02622226
+v -0.12580431 -0.10962981 0.02645764
+v -0.11070883 -0.07096843 0.02425195
+v -0.11527927 -0.07096843 0.02494179
+v -0.12538236 -0.12564803 0.01423875
+v -0.12683354 -0.12708178 0.01585801
+v -0.12742900 -0.11468355 0.01669247
+v -0.12536658 -0.11684788 0.01424704
+v -0.12542180 -0.12127542 0.01420985
+v -0.12719239 -0.10773464 0.02361567
+v -0.12007844 -0.07096842 0.02202546
+v -0.12570967 -0.09690197 0.02093070
+v -0.12570967 -0.09690196 0.01931557
+v -0.12640765 -0.10160417 0.01834070
+v -0.12493675 -0.10816307 0.01463537
+v -0.12064629 -0.07096840 0.01724616
+v -0.11930552 -0.07096839 0.01366891
+v -0.08930779 -0.12708174 0.00627048
+v -0.08931173 -0.07096836 0.00556020
+v -0.11698678 -0.07096843 0.02393801
+v -0.09418976 -0.12127533 -0.01081851
+v -0.09399259 -0.12708168 -0.01066156
+v -0.12531138 -0.12708177 0.01428418
+v -0.12520096 -0.11247526 0.01437099
+v -0.09428835 -0.07096830 -0.01089267
+v -0.09428835 -0.07538486 -0.01089269
+v -0.09428441 -0.08194378 -0.01088858
+v -0.09427652 -0.09505613 -0.01088037
+v -0.09427258 -0.10160406 -0.01087626
+v -0.09426075 -0.10816298 -0.01086802
+v -0.09424497 -0.11471641 -0.01085565
+v -0.12027166 -0.07096842 0.02044750
+v -0.11645048 -0.07096838 0.01073606
+v -0.08930779 -0.12708167 -0.01391248
+v -0.08930779 -0.07538492 0.00556018
+v -0.08930779 -0.07096830 -0.01175600
+v -0.09000183 -0.12127532 -0.01375549
+v -0.09040012 -0.12708167 -0.01326394
+v -0.11318136 -0.07096837 0.00753471
+v -0.09291209 -0.07096830 -0.01185101
+v -0.09006887 -0.07538485 -0.01382967
+v -0.09006493 -0.08194377 -0.01382556
+v -0.09004521 -0.10816297 -0.01380501
+v -0.09005309 -0.09505612 -0.01381735
+v -0.09002943 -0.11471640 -0.01379263
+v -0.08992296 -0.12708167 -0.01359854
+v -0.08930779 -0.12262665 -0.01406529
+v -0.08930779 -0.07096829 -0.01417250
+v -0.08930779 -0.12127532 -0.01407769
+v -0.09006887 -0.07096829 -0.01382965
+v -0.08982438 -0.07096829 -0.01394118
+v -0.08930779 -0.07690098 -0.01416839
+v -0.08930779 -0.08194377 -0.01416428
+v -0.08930779 -0.09654478 -0.01415194
+v -0.08930779 -0.10816297 -0.01413960
+v -0.08930779 -0.10962966 -0.01413547
+v -0.08930779 -0.11615013 -0.01411484
+f 1 2 6
+f 1 6 15
+f 1 15 28
+f 1 28 45
+f 1 45 44
+f 1 44 60
+f 1 60 68
+f 1 68 56
+f 1 56 40
+f 1 40 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 13
+f 4 13 14
+f 4 14 10
+f 5 11 7
+f 6 7 16
+f 6 16 15
+f 7 11 17
+f 7 17 18
+f 7 18 16
+f 8 19 9
+f 9 20 21
+f 9 21 22
+f 9 22 12
+f 9 19 20
+f 10 14 23
+f 10 23 11
+f 11 23 24
+f 11 24 17
+f 12 22 13
+f 13 22 25
+f 13 25 26
+f 13 26 14
+f 14 26 23
+f 15 27 28
+f 15 16 27
+f 16 29 30
+f 16 30 31
+f 16 31 27
+f 16 18 29
+f 17 24 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 37 29
+f 18 36 38
+f 18 38 39
+f 18 39 37
+f 19 40 20
+f 20 41 58
+f 20 58 70
+f 20 70 73
+f 20 73 72
+f 20 72 62
+f 20 62 47
+f 20 47 61
+f 20 61 55
+f 20 55 39
+f 20 39 38
+f 20 38 54
+f 20 54 33
+f 20 33 42
+f 20 42 26
+f 20 26 25
+f 20 25 22
+f 20 22 21
+f 20 40 41
+f 23 26 24
+f 24 26 42
+f 24 42 33
+f 24 33 32
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 27 31 43
+f 29 46 30
+f 29 37 46
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 43
+f 33 54 34
+f 34 54 38
+f 34 38 35
+f 35 38 36
+f 37 39 55
+f 37 55 46
+f 40 56 69
+f 40 69 71
+f 40 71 79
+f 40 79 78
+f 40 78 77
+f 40 77 76
+f 40 76 75
+f 40 75 74
+f 40 74 70
+f 40 70 58
+f 40 58 57
+f 40 57 41
+f 41 57 58
+f 43 59 60
+f 43 60 44
+f 43 53 59
+f 46 55 61
+f 46 61 47
+f 47 62 48
+f 48 62 63
+f 48 63 64
+f 48 64 49
+f 49 64 50
+f 50 64 51
+f 51 65 52
+f 51 64 66
+f 51 66 65
+f 52 65 67
+f 52 67 53
+f 53 67 59
+f 56 68 69
+f 59 71 69
+f 59 69 68
+f 59 68 60
+f 59 67 71
+f 62 72 63
+f 63 72 73
+f 63 73 70
+f 63 70 74
+f 63 74 75
+f 63 75 76
+f 63 76 64
+f 64 76 66
+f 65 77 78
+f 65 78 67
+f 65 66 77
+f 66 76 77
+f 67 79 71
+f 67 78 79
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_14.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.12589759 -0.00325028 0.03221018
+v -0.12258805 -0.00260743 0.03215114
+v -0.12259706 0.00263112 0.03215116
+v -0.12589308 0.00328765 0.03220566
+v -0.12917105 -0.00325027 0.03015751
+v -0.12533848 -0.00666970 0.03195585
+v -0.12515812 -0.00666970 0.03195585
+v -0.11873744 0.00000500 0.03192408
+v -0.11873744 0.00001868 0.03192408
+v -0.11204622 -0.06010836 0.02610647
+v -0.12516714 0.00669339 0.03195135
+v -0.11214090 0.05961234 0.02607512
+v -0.12533397 0.00669339 0.03195135
+v -0.12916655 0.00328766 0.03013483
+v -0.13296304 -0.00325026 0.02721930
+v -0.13249863 -0.00799642 0.02666070
+v -0.12553236 -0.03345057 0.02625644
+v -0.12007658 -0.07096842 0.02202835
+v -0.11698798 -0.07096843 0.02394024
+v -0.11527911 -0.07096843 0.02494386
+v -0.11156827 0.04917627 0.02642022
+v -0.11177117 -0.05570415 0.02625181
+v -0.11158179 -0.04915255 0.02641078
+v -0.11183429 0.05574155 0.02622951
+v -0.11071608 -0.07096843 0.02425359
+v -0.10912444 -0.07096843 0.02396294
+v -0.10893958 0.06876271 0.02389533
+v -0.10901623 0.06876271 0.02391350
+v -0.11545946 0.06876271 0.02485355
+v -0.11237536 0.05961234 0.02607512
+v -0.12551883 0.03344694 0.02624305
+v -0.11553611 0.06876271 0.02480813
+v -0.13294501 0.00328767 0.02719661
+v -0.13247609 0.00800646 0.02663351
+v -0.13537081 -0.00325024 0.02311851
+v -0.13534376 0.00328769 0.02311853
+v -0.12027047 -0.07096842 0.02044798
+v -0.10517914 0.06876272 0.02103886
+v -0.10523776 0.06876272 0.02108427
+v -0.10651829 -0.07096842 0.02197840
+v -0.10519718 -0.06882102 0.02101111
+v -0.12003601 0.06876272 0.02200162
+v -0.13422103 0.00328771 0.01764628
+v -0.13422554 -0.00325022 0.01764172
+v -0.13334180 -0.00981552 0.01831380
+v -0.13188091 -0.02003274 0.02006216
+v -0.13188091 -0.02003274 0.02031194
+v -0.13185386 0.01990607 0.02025758
+v -0.13185386 0.01990607 0.02011226
+v -0.13332375 0.00983930 0.01832750
+v -0.12064471 -0.07096840 0.01724637
+v -0.08931229 0.04262474 0.00602526
+v -0.08931229 0.06876278 0.00555760
+v -0.08931229 -0.03603557 0.00604768
+v -0.10521972 -0.07096842 0.02097023
+v -0.08931229 -0.07096836 0.00555709
+v -0.08931229 -0.04258718 0.00604311
+v -0.12004502 0.06876272 0.02192896
+v -0.11927850 0.06876275 0.01369559
+v -0.11645142 0.06876276 0.01076192
+v -0.11640633 0.06876276 0.01071651
+v -0.11318246 0.06876277 0.00752852
+v -0.09429013 0.06876284 -0.01089095
+v -0.13098364 0.00328772 0.01470806
+v -0.13098364 -0.00325021 0.01470804
+v -0.09429013 -0.07096830 -0.01089146
+v -0.11318246 -0.07096837 0.00753709
+v -0.11645142 -0.07096838 0.01073416
+v -0.11930556 -0.07096839 0.01367238
+v -0.12057707 0.06876274 0.01724688
+v -0.08931229 0.06876285 -0.01414706
+v -0.08931229 -0.07096829 -0.01417028
+v -0.09002920 0.06876285 -0.01382463
+v -0.09005175 0.05574170 -0.01383376
+v -0.09006528 0.04917642 -0.01383378
+v -0.09429463 0.06229330 -0.01089552
+v -0.09429914 0.04917641 -0.01090011
+v -0.09431267 -0.01636702 -0.01090943
+v -0.09431267 -0.02948391 -0.01090494
+v -0.09430816 -0.03603551 -0.01090496
+v -0.09429013 -0.06882090 -0.01089600
+v -0.09291040 -0.07096830 -0.01185422
+v -0.08998411 0.06876285 -0.01384734
+v -0.08931229 0.05425084 -0.01416528
+v -0.08931229 -0.06380118 -0.01417479
+v -0.09006978 -0.07096829 -0.01382968
+v -0.09007430 -0.06882089 -0.01382967
+v -0.08931229 0.04917642 -0.01416984
+v -0.08931229 0.04262481 -0.01417440
+v -0.09007430 0.03607320 -0.01383383
+v -0.09007430 -0.01636701 -0.01384311
+v -0.09007430 -0.02291861 -0.01384313
+v -0.09007880 -0.04258711 -0.01383866
+v -0.09007880 -0.05570400 -0.01383416
+v -0.08931229 -0.05068429 -0.01417929
+v -0.09006978 0.02295631 -0.01383842
+v -0.08931229 -0.02445051 -0.01418373
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 8
+f 3 11 4
+f 3 9 12
+f 3 12 11
+f 4 13 14
+f 4 14 5
+f 4 11 13
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 10
+f 8 21 9
+f 8 10 22
+f 8 22 23
+f 8 23 21
+f 9 21 24
+f 9 24 12
+f 10 20 25
+f 10 25 26
+f 10 26 22
+f 11 12 30
+f 11 30 13
+f 12 24 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 13 31 14
+f 13 30 29
+f 13 29 32
+f 13 32 31
+f 14 33 15
+f 14 31 34
+f 14 34 33
+f 15 35 16
+f 15 33 36
+f 15 36 35
+f 16 35 18
+f 16 18 17
+f 18 37 51
+f 18 51 69
+f 18 69 68
+f 18 68 67
+f 18 67 66
+f 18 66 82
+f 18 82 86
+f 18 86 72
+f 18 72 56
+f 18 56 55
+f 18 55 40
+f 18 40 26
+f 18 26 25
+f 18 25 20
+f 18 20 19
+f 18 35 37
+f 21 38 39
+f 21 39 27
+f 21 27 24
+f 21 23 38
+f 22 26 23
+f 23 26 40
+f 23 40 41
+f 23 41 38
+f 27 39 38
+f 27 38 53
+f 27 53 71
+f 27 71 83
+f 27 83 73
+f 27 73 63
+f 27 63 62
+f 27 62 61
+f 27 61 60
+f 27 60 59
+f 27 59 70
+f 27 70 58
+f 27 58 42
+f 27 42 32
+f 27 32 29
+f 27 29 28
+f 31 32 42
+f 31 42 34
+f 33 34 36
+f 34 42 36
+f 35 36 43
+f 35 43 44
+f 35 44 45
+f 35 45 46
+f 35 46 47
+f 35 47 37
+f 36 42 48
+f 36 48 49
+f 36 49 50
+f 36 50 43
+f 37 47 51
+f 38 52 53
+f 38 41 54
+f 38 54 52
+f 40 55 41
+f 41 55 56
+f 41 56 57
+f 41 57 54
+f 42 58 48
+f 43 50 59
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 44 65 66
+f 44 66 67
+f 44 67 68
+f 44 68 69
+f 44 69 45
+f 45 69 51
+f 45 51 46
+f 46 51 47
+f 48 58 70
+f 48 70 49
+f 49 70 50
+f 50 70 59
+f 52 54 57
+f 52 57 56
+f 52 56 72
+f 52 72 85
+f 52 85 95
+f 52 95 97
+f 52 97 89
+f 52 89 88
+f 52 88 84
+f 52 84 71
+f 52 71 53
+f 63 73 74
+f 63 74 75
+f 63 75 76
+f 63 76 64
+f 64 76 77
+f 64 77 78
+f 64 78 65
+f 65 78 79
+f 65 79 80
+f 65 80 81
+f 65 81 66
+f 66 81 82
+f 71 84 74
+f 71 74 83
+f 72 86 87
+f 72 87 85
+f 73 83 74
+f 74 84 75
+f 75 77 76
+f 75 84 88
+f 75 88 89
+f 75 89 90
+f 75 90 77
+f 77 90 78
+f 78 91 92
+f 78 92 93
+f 78 93 94
+f 78 94 79
+f 78 90 91
+f 79 94 80
+f 80 94 87
+f 80 87 81
+f 81 87 82
+f 82 87 86
+f 85 87 94
+f 85 94 93
+f 85 93 95
+f 89 96 90
+f 89 97 91
+f 89 91 96
+f 90 96 91
+f 91 97 92
+f 92 97 93
+f 93 97 95
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_15.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.11998528 0.00328661 0.03080010
+v 0.12652782 0.00328661 0.02895639
+v 0.11344784 0.06876271 0.02446260
+v 0.10701767 0.06876272 0.02267420
+v 0.11312609 0.00303021 0.02796079
+v 0.11998528 -0.00325202 0.03079547
+v 0.12652782 -0.00325202 0.02894255
+v 0.13026641 0.00328662 0.02645817
+v 0.13007743 0.00722262 0.02626921
+v 0.12382602 0.02826164 0.02639834
+v 0.11824366 0.06876272 0.02196898
+v 0.12305481 0.03263354 0.02601118
+v 0.08041850 0.06876278 0.00449525
+v 0.10996973 0.00065835 0.02623692
+v 0.10996973 -0.00063656 0.02623692
+v 0.11312098 -0.00299559 0.02795155
+v 0.10714535 -0.06221507 0.02274286
+v 0.10719642 -0.06221507 0.02276130
+v 0.11344784 -0.04915064 0.02567901
+v 0.11344784 -0.05570209 0.02519963
+v 0.11344784 -0.06221508 0.02466953
+v 0.12322845 -0.03273996 0.02604782
+v 0.13003147 -0.00709826 0.02623228
+v 0.13023065 -0.00325201 0.02643510
+v 0.13259537 0.00328664 0.02311645
+v 0.13254429 -0.00325199 0.02311643
+v 0.13116020 0.00958168 0.02311648
+v 0.11976055 0.06876274 0.01724448
+v 0.12990379 0.02053069 0.02039244
+v 0.08041850 0.06876286 -0.01626490
+v 0.08041850 0.01640243 0.00563354
+v 0.08041850 -0.01636766 0.00566108
+v 0.08041850 -0.01670100 0.00565647
+v 0.08041850 -0.04291963 0.00505717
+v 0.08041850 -0.06221501 0.00429196
+v 0.11349381 -0.06221508 0.02464649
+v 0.11844796 -0.06221507 0.02210678
+v 0.12990889 -0.02057295 0.02040150
+v 0.13112444 -0.00949574 0.02310719
+v 0.12499050 -0.03603490 0.02251711
+v 0.12407628 -0.04259917 0.02131406
+v 0.12349404 -0.04680441 0.02053508
+v 0.13254940 -0.00325197 0.01724422
+v 0.13253918 0.00328666 0.01724424
+v 0.12990379 0.02053069 0.01985316
+v 0.11823345 0.06876275 0.01250615
+v 0.08075047 0.06876286 -0.01626490
+v 0.08041850 -0.01603424 -0.01628365
+v 0.08041850 -0.06221493 -0.01628382
+v 0.11846839 -0.06221507 0.02206530
+v 0.12990889 -0.02057295 0.01982534
+v 0.12010275 -0.06221505 0.01724400
+v 0.11836624 -0.06221504 0.01240427
+v 0.12999572 -0.00739309 0.01419287
+v 0.13023576 -0.00325196 0.01406383
+v 0.13021533 0.00328667 0.01407767
+v 0.12996507 0.00726114 0.01421136
+v 0.11560316 0.06876276 0.00957005
+v 0.08083730 0.06876286 -0.01626029
+v 0.08075047 -0.01636758 -0.01628365
+v 0.08075047 -0.04259903 -0.01628836
+v 0.08075047 -0.06221493 -0.01628382
+v 0.11834581 -0.06221504 0.01237661
+v 0.11569508 -0.06221502 0.00946817
+v 0.09334014 -0.06221495 -0.01194189
+v 0.09331460 -0.06221495 -0.01196493
+v 0.09004588 -0.06221494 -0.01487799
+v 0.09005099 -0.05570195 -0.01487796
+v 0.09006120 -0.02291904 -0.01488245
+v 0.09006120 -0.01636759 -0.01488243
+v 0.09001524 0.06876285 -0.01486829
+v 0.09333503 0.06876284 -0.01193219
+v 0.08674142 0.06876286 -0.01564726
+v 0.08674653 0.06228832 -0.01565189
+v 0.08676185 0.03606969 -0.01565659
+v 0.08678739 -0.00981612 -0.01566137
+v 0.08679249 -0.01636758 -0.01566139
+v 0.08678739 -0.03603476 -0.01566146
+v 0.08678227 -0.04915049 -0.01566151
+v 0.08677206 -0.06221493 -0.01565695
+v 0.09005610 -0.02948332 -0.01488248
+v 0.09005610 -0.00981613 -0.01488241
+v 0.08679249 0.06876286 -0.01563804
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 11 28
+f 3 28 46
+f 3 46 58
+f 3 58 72
+f 3 72 71
+f 3 71 83
+f 3 83 73
+f 3 73 59
+f 3 59 47
+f 3 47 30
+f 3 30 13
+f 3 13 4
+f 3 10 12
+f 3 12 11
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 25 9
+f 8 24 26
+f 8 26 25
+f 9 25 27
+f 9 27 11
+f 9 11 10
+f 10 11 12
+f 11 27 25
+f 11 25 29
+f 11 29 28
+f 13 30 48
+f 13 48 49
+f 13 49 35
+f 13 35 34
+f 13 34 33
+f 13 33 32
+f 13 32 31
+f 13 31 14
+f 14 32 15
+f 14 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 17
+f 15 17 16
+f 17 34 35
+f 17 35 49
+f 17 49 62
+f 17 62 80
+f 17 80 67
+f 17 67 66
+f 17 66 65
+f 17 65 64
+f 17 64 63
+f 17 63 53
+f 17 53 52
+f 17 52 50
+f 17 50 37
+f 17 37 36
+f 17 36 21
+f 17 21 18
+f 18 21 20
+f 18 20 19
+f 21 36 22
+f 22 36 37
+f 22 37 23
+f 23 38 39
+f 23 39 26
+f 23 26 24
+f 23 37 40
+f 23 40 41
+f 23 41 42
+f 23 42 38
+f 25 26 43
+f 25 43 44
+f 25 44 45
+f 25 45 29
+f 26 39 38
+f 26 38 43
+f 28 29 45
+f 28 45 44
+f 28 44 46
+f 30 47 48
+f 37 50 42
+f 37 42 41
+f 37 41 40
+f 38 51 43
+f 38 42 52
+f 38 52 51
+f 42 50 52
+f 43 51 53
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 44 55 56
+f 44 56 57
+f 44 57 46
+f 46 57 58
+f 47 59 60
+f 47 60 48
+f 48 60 61
+f 48 61 49
+f 49 61 62
+f 51 52 53
+f 53 63 54
+f 54 63 64
+f 54 64 65
+f 54 65 66
+f 54 66 67
+f 54 67 55
+f 55 67 68
+f 55 68 69
+f 55 69 70
+f 55 70 71
+f 55 71 56
+f 56 71 57
+f 57 71 72
+f 57 72 58
+f 59 73 74
+f 59 74 75
+f 59 75 61
+f 59 61 60
+f 61 75 76
+f 61 76 77
+f 61 77 78
+f 61 78 79
+f 61 79 62
+f 62 79 80
+f 67 80 79
+f 67 79 81
+f 67 81 68
+f 68 81 69
+f 69 81 79
+f 69 79 78
+f 69 78 77
+f 69 77 70
+f 70 77 76
+f 70 76 82
+f 70 82 71
+f 71 75 74
+f 71 74 83
+f 71 82 75
+f 73 83 74
+f 75 82 76
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_2.obj

@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.12201115 0.12786082 0.02807923
+v -0.12669016 0.12786082 0.02711265
+v -0.12669852 0.12130509 0.02709568
+v -0.12201115 0.12130509 0.02804106
+v -0.11546722 0.12786082 0.02772312
+v -0.12186061 0.13455178 0.02780793
+v -0.12201115 0.13441654 0.02782065
+v -0.12952098 0.12786084 0.02311916
+v -0.12958370 0.12130511 0.02311914
+v -0.12631383 0.13441654 0.02687527
+v -0.12630964 0.11474937 0.02682857
+v -0.12201115 0.11474937 0.02770188
+v -0.11225588 0.07831937 0.02606111
+v -0.11216807 0.07831937 0.02606111
+v -0.11194645 0.08197075 0.02616287
+v -0.11111435 0.12786082 0.02675655
+v -0.11147813 0.13287742 0.02649373
+v -0.11504489 0.13455178 0.02709572
+v -0.11169139 0.08852646 0.02631975
+v -0.12201951 0.13455178 0.02780793
+v -0.12623856 0.13455178 0.02688375
+v -0.12871815 0.13441656 0.02311918
+v -0.12768533 0.13441658 0.01756136
+v -0.12832510 0.12130513 0.01724761
+v -0.12725047 0.10819369 0.01759095
+v -0.12888959 0.11474939 0.02311911
+v -0.12629711 0.13455178 0.02686679
+v -0.12576606 0.10971344 0.02643004
+v -0.11546303 0.06876270 0.02485285
+v -0.11901307 0.09048417 0.02621801
+v -0.10901110 0.06876270 0.02391171
+v -0.10893582 0.06876270 0.02389475
+v -0.08686627 0.13455186 0.00659410
+v -0.10461641 0.13455180 0.02108852
+v -0.10892746 0.06885930 0.02389051
+v -0.10517673 0.06885931 0.02104165
+v -0.10945851 0.13455179 0.02461568
+v -0.11455985 0.13455178 0.02699397
+v -0.12863870 0.13455179 0.02320821
+v -0.12868052 0.13455180 0.02312342
+v -0.12766861 0.13455182 0.01757408
+v -0.12480851 0.13441659 0.01462348
+v -0.12519738 0.13030799 0.01436487
+v -0.12761843 0.12801541 0.01669227
+v -0.12485451 0.13455183 0.01469555
+v -0.12540646 0.12593537 0.01422071
+v -0.12544409 0.12130514 0.01419526
+v -0.12537300 0.11690032 0.01424188
+v -0.12739682 0.11473009 0.01670070
+v -0.11927649 0.06876274 0.01369482
+v -0.12057691 0.06876273 0.01724741
+v -0.12639745 0.10164438 0.01835825
+v -0.12571170 0.09688537 0.01931634
+v -0.12571170 0.09688536 0.02094002
+v -0.12003752 0.06876271 0.02199975
+v -0.12715011 0.10779439 0.02360662
+v -0.11553830 0.06876270 0.02481045
+v -0.10523527 0.06876271 0.02108404
+v -0.08686627 0.13455193 -0.01386511
+v -0.08686627 0.06876277 0.00518639
+v -0.10517673 0.06876271 0.02103741
+v -0.12479179 0.13455183 0.01463620
+v -0.09394542 0.12786096 -0.01062625
+v -0.09416704 0.12130523 -0.01081280
+v -0.09423394 0.11474951 -0.01085099
+v -0.09426321 0.10819379 -0.01086796
+v -0.09427576 0.10164449 -0.01088071
+v -0.09427993 0.09508233 -0.01088497
+v -0.09428830 0.06885943 -0.01088931
+v -0.09428830 0.06876283 -0.01088931
+v -0.12518902 0.11253412 0.01438175
+v -0.12491723 0.10819370 0.01465730
+v -0.11923886 0.06876274 0.01365242
+v -0.12004588 0.06876271 0.02192768
+v -0.08686627 0.13277453 -0.01475114
+v -0.08873119 0.13455193 -0.01319529
+v -0.08686627 0.06876285 -0.01520924
+v -0.09316768 0.13455192 -0.00980803
+v -0.09318858 0.13441668 -0.00983347
+v -0.08988526 0.12786097 -0.01356414
+v -0.08884826 0.13448109 -0.01314018
+v -0.08998980 0.12130524 -0.01375069
+v -0.09000234 0.11474952 -0.01378463
+v -0.09001070 0.10819380 -0.01380585
+v -0.09001907 0.10164450 -0.01381436
+v -0.09002325 0.09508234 -0.01381862
+v -0.09422976 0.06876283 -0.01093171
+v -0.11318416 0.06876276 0.00752653
+v -0.11640803 0.06876275 0.01071454
+v -0.11645403 0.06876275 0.01076117
+v -0.08686627 0.12786098 -0.01511575
+v -0.08892771 0.13455193 -0.01305963
+v -0.08998143 0.06876284 -0.01384840
+v -0.08686627 0.06876930 -0.01523043
+v -0.08686627 0.12130525 -0.01520055
+v -0.08686627 0.10164451 -0.01522183
+v -0.08686627 0.11474953 -0.01520907
+v -0.09002743 0.06885944 -0.01382720
+v -0.09002743 0.06876284 -0.01382720
+v -0.08686627 0.08875846 -0.01522611
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 8
+f 3 9 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 5 15 19
+f 5 19 16
+f 6 20 7
+f 6 18 38
+f 6 38 37
+f 6 37 34
+f 6 34 33
+f 6 33 59
+f 6 59 76
+f 6 76 92
+f 6 92 78
+f 6 78 62
+f 6 62 45
+f 6 45 41
+f 6 41 40
+f 6 40 39
+f 6 39 27
+f 6 27 21
+f 6 21 20
+f 7 20 21
+f 7 21 10
+f 8 10 22
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 9 24 25
+f 9 25 26
+f 9 26 11
+f 10 21 27
+f 10 27 22
+f 11 26 28
+f 11 28 29
+f 11 29 30
+f 11 30 12
+f 12 30 13
+f 13 30 29
+f 13 29 14
+f 14 29 31
+f 14 31 32
+f 14 32 15
+f 15 32 19
+f 16 33 34
+f 16 34 17
+f 16 19 32
+f 16 32 35
+f 16 35 36
+f 16 36 33
+f 17 34 37
+f 17 37 38
+f 17 38 18
+f 22 27 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 23 41 45
+f 23 45 42
+f 24 44 46
+f 24 46 47
+f 24 47 48
+f 24 48 49
+f 24 49 25
+f 25 49 50
+f 25 50 51
+f 25 51 52
+f 25 52 26
+f 26 52 53
+f 26 53 54
+f 26 54 55
+f 26 55 56
+f 26 56 28
+f 28 56 55
+f 28 55 57
+f 28 57 29
+f 29 57 55
+f 29 55 74
+f 29 74 51
+f 29 51 50
+f 29 50 73
+f 29 73 90
+f 29 90 89
+f 29 89 88
+f 29 88 70
+f 29 70 87
+f 29 87 99
+f 29 99 93
+f 29 93 77
+f 29 77 60
+f 29 60 61
+f 29 61 58
+f 29 58 32
+f 29 32 31
+f 32 58 35
+f 33 36 60
+f 33 60 77
+f 33 77 94
+f 33 94 100
+f 33 100 96
+f 33 96 97
+f 33 97 95
+f 33 95 91
+f 33 91 75
+f 33 75 59
+f 35 58 36
+f 36 58 61
+f 36 61 60
+f 42 45 62
+f 42 62 63
+f 42 63 43
+f 43 63 46
+f 43 46 44
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 48 71 49
+f 48 70 71
+f 49 71 72
+f 49 72 50
+f 50 72 73
+f 51 74 54
+f 51 54 53
+f 51 53 52
+f 54 74 55
+f 59 75 76
+f 62 78 79
+f 62 79 63
+f 63 80 64
+f 63 79 81
+f 63 81 80
+f 64 80 82
+f 64 82 65
+f 65 83 66
+f 65 82 83
+f 66 83 84
+f 66 84 67
+f 67 85 86
+f 67 86 68
+f 67 84 85
+f 68 86 87
+f 68 87 69
+f 69 87 70
+f 70 88 71
+f 71 88 89
+f 71 89 90
+f 71 90 73
+f 71 73 72
+f 75 81 76
+f 75 91 80
+f 75 80 81
+f 76 81 92
+f 77 93 94
+f 78 92 79
+f 79 92 81
+f 80 91 82
+f 82 91 95
+f 82 95 83
+f 83 95 84
+f 84 95 85
+f 85 96 86
+f 85 95 97
+f 85 97 96
+f 86 96 93
+f 86 93 98
+f 86 98 87
+f 87 98 99
+f 93 99 98
+f 93 96 100
+f 93 100 94
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_3.obj

@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.06766543 -0.14120952 -0.01430538
+v 0.07420634 -0.14120952 -0.01429720
+v 0.06766543 -0.14220709 -0.01375316
+v 0.05921736 -0.14120952 -0.01426039
+v 0.08074725 -0.14120952 -0.01382679
+v 0.07420634 -0.14221966 -0.01373271
+v 0.07420634 -0.17825809 0.01351012
+v 0.05184252 -0.14213164 -0.01370817
+v 0.05459086 -0.14214422 -0.01371634
+v 0.05184252 -0.14175022 -0.01392087
+v 0.05184252 -0.14120952 -0.01421948
+v 0.08074725 -0.14195141 -0.01333592
+v 0.08445280 -0.14120952 -0.01248100
+v 0.08074725 -0.17802337 0.01367374
+v 0.07420634 -0.18153585 0.01642665
+v 0.06766543 -0.17814493 0.01353875
+v 0.05184252 -0.17769644 0.01377600
+v 0.05184252 -0.14120959 0.00532509
+v 0.09893418 -0.17160203 0.01366149
+v 0.09382182 -0.17618332 0.01499907
+v 0.09034107 -0.17694197 0.01434867
+v 0.08599014 -0.17753716 0.01397644
+v 0.08672254 -0.14120953 -0.01162608
+v 0.08074725 -0.18130531 0.01673344
+v 0.07420634 -0.18402558 0.01936364
+v 0.08074725 -0.18384954 0.01966634
+v 0.05184252 -0.17908382 0.01577217
+v 0.06915200 -0.18384954 0.01966634
+v 0.05184252 -0.15155000 0.01373518
+v 0.11121107 -0.14120966 0.02553641
+v 0.10329962 -0.17021464 0.01445505
+v 0.10084859 -0.17404147 0.01677846
+v 0.09840482 -0.17773418 0.01910187
+v 0.09382182 -0.17878624 0.01793606
+v 0.08728816 -0.18027839 0.01721204
+v 0.08744770 -0.14120953 -0.01118021
+v 0.11025387 -0.16396934 0.01427100
+v 0.08422800 -0.18361482 0.02007540
+v 0.07420634 -0.18402559 0.02108984
+v 0.08074725 -0.18384955 0.02076669
+v 0.05184252 -0.18005206 0.01724476
+v 0.06915200 -0.18384955 0.02072988
+v 0.05184252 -0.15436668 0.01596042
+v 0.11444527 -0.14120967 0.02659586
+v 0.05184252 -0.16011740 0.02030046
+v 0.05184252 -0.16356699 0.02290203
+v 0.10754903 -0.16903685 0.01674576
+v 0.10580140 -0.17210922 0.01836560
+v 0.09840482 -0.17773419 0.02144984
+v 0.12058010 -0.14120962 0.01251625
+v 0.12300937 -0.14343529 0.01451651
+v 0.11769398 -0.15249727 0.01370655
+v 0.11640320 -0.15686898 0.01452873
+v 0.11518493 -0.16117364 0.01679078
+v 0.11176945 -0.16557888 0.01724481
+v 0.08422800 -0.18361482 0.02029220
+v 0.07420634 -0.18190053 0.02402686
+v 0.08074725 -0.18183765 0.02369961
+v 0.05184252 -0.17927666 0.02338465
+v 0.05184252 -0.17726476 0.02629303
+v 0.05184252 -0.17761264 0.02581853
+v 0.11466282 -0.14120967 0.02665313
+v 0.05184252 -0.16619925 0.02460777
+v 0.05184252 -0.16757405 0.02546677
+v 0.11812182 -0.15935455 0.01844336
+v 0.11207401 -0.16589326 0.02311473
+v 0.10876730 -0.16917100 0.02311472
+v 0.10549684 -0.17188289 0.02311471
+v 0.09591752 -0.17629234 0.02536448
+v 0.09377106 -0.17866890 0.02329057
+v 0.10049326 -0.17510195 0.02329059
+v 0.12523560 -0.14120963 0.01670495
+v 0.12530811 -0.14120963 0.01679903
+v 0.12448869 -0.14750524 0.01836160
+v 0.12217544 -0.14750523 0.01542460
+v 0.12009424 -0.15421159 0.01701578
+v 0.08676605 -0.18140174 0.02259517
+v 0.07420634 -0.17862281 0.02695978
+v 0.08074725 -0.17855993 0.02698023
+v 0.09155208 -0.17740308 0.02635439
+v 0.08728816 -0.17798988 0.02672663
+v 0.05184252 -0.17364333 0.02668573
+v 0.11969541 -0.14120967 0.02697219
+v 0.05184252 -0.16947700 0.02656304
+v 0.11783900 -0.15895217 0.02311476
+v 0.11534447 -0.16222991 0.02311474
+v 0.12364751 -0.15155002 0.01950693
+v 0.12364751 -0.15155003 0.02090180
+v 0.11065271 -0.16438854 0.02633808
+v 0.10395226 -0.17069672 0.02622351
+v 0.12591724 -0.14120965 0.02311073
+v 0.07420634 -0.17372716 0.02732386
+v 0.08074725 -0.17372716 0.02748339
+v 0.08728816 -0.17372716 0.02729931
+v 0.10036273 -0.17174040 0.02667347
+v 0.09377106 -0.17395349 0.02685345
+v 0.05184252 -0.17128771 0.02665302
+v 0.10690364 -0.15406074 0.02725439
+v 0.11344455 -0.15406074 0.02722984
+v 0.11998547 -0.14120967 0.02696401
+v 0.11680929 -0.15746841 0.02612130
+v 0.12426389 -0.14691844 0.02296345
+v 0.12329943 -0.14434490 0.02608862
+v 0.12221169 -0.14871660 0.02481645
+v 0.10643954 -0.16681122 0.02666531
+v 0.11308198 -0.16004198 0.02661624
+v 0.12578672 -0.14120966 0.02334389
+v 0.10036273 -0.16716750 0.02732798
+v 0.10690364 -0.16061621 0.02735254
+v 0.11763597 -0.15406074 0.02654263
+v 0.12001447 -0.14691846 0.02669811
+v 0.12355323 -0.14120967 0.02639952
+v 0.12368376 -0.14120967 0.02636270
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 30
+f 1 30 44
+f 1 44 62
+f 1 62 83
+f 1 83 100
+f 1 100 112
+f 1 112 113
+f 1 113 107
+f 1 107 91
+f 1 91 73
+f 1 73 72
+f 1 72 50
+f 1 50 36
+f 1 36 23
+f 1 23 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 6
+f 5 13 12
+f 6 12 14
+f 6 14 7
+f 7 15 16
+f 7 16 8
+f 7 14 15
+f 8 10 9
+f 8 16 17
+f 8 17 27
+f 8 27 41
+f 8 41 59
+f 8 59 61
+f 8 61 60
+f 8 60 82
+f 8 82 97
+f 8 97 84
+f 8 84 64
+f 8 64 63
+f 8 63 46
+f 8 46 45
+f 8 45 43
+f 8 43 29
+f 8 29 18
+f 8 18 11
+f 8 11 10
+f 12 13 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 14
+f 13 23 19
+f 14 22 24
+f 14 24 15
+f 15 25 17
+f 15 17 16
+f 15 24 26
+f 15 26 25
+f 17 25 28
+f 17 28 27
+f 18 29 30
+f 19 23 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 24
+f 21 24 22
+f 23 36 37
+f 23 37 31
+f 24 35 38
+f 24 38 26
+f 25 39 42
+f 25 42 28
+f 25 26 40
+f 25 40 39
+f 26 38 56
+f 26 56 40
+f 27 28 41
+f 28 42 41
+f 29 43 30
+f 30 43 45
+f 30 45 46
+f 30 46 44
+f 31 37 47
+f 31 47 48
+f 31 48 32
+f 32 48 33
+f 33 49 56
+f 33 56 38
+f 33 38 34
+f 33 48 49
+f 34 38 35
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 47
+f 39 57 42
+f 39 40 58
+f 39 58 57
+f 40 56 58
+f 41 42 59
+f 42 57 60
+f 42 60 61
+f 42 61 59
+f 44 46 63
+f 44 63 64
+f 44 64 62
+f 47 55 48
+f 48 55 65
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 49 69 70
+f 49 70 56
+f 49 68 71
+f 49 71 69
+f 50 72 51
+f 51 72 73
+f 51 73 74
+f 51 74 75
+f 51 75 52
+f 52 75 53
+f 53 75 76
+f 53 76 65
+f 53 65 54
+f 54 65 55
+f 56 70 77
+f 56 77 58
+f 57 78 60
+f 57 58 79
+f 57 79 78
+f 58 77 80
+f 58 80 81
+f 58 81 79
+f 60 78 82
+f 62 64 84
+f 62 84 83
+f 65 85 86
+f 65 86 66
+f 65 76 87
+f 65 87 88
+f 65 88 85
+f 66 86 89
+f 66 89 67
+f 67 89 90
+f 67 90 68
+f 68 90 71
+f 69 80 70
+f 69 71 90
+f 69 90 80
+f 70 80 77
+f 73 91 74
+f 74 91 87
+f 74 87 75
+f 75 87 76
+f 78 92 82
+f 78 79 93
+f 78 93 92
+f 79 81 94
+f 79 94 93
+f 80 90 95
+f 80 95 81
+f 81 95 96
+f 81 96 94
+f 82 92 97
+f 83 98 99
+f 83 99 100
+f 83 84 97
+f 83 97 98
+f 85 101 86
+f 85 88 101
+f 86 101 89
+f 87 91 88
+f 88 91 102
+f 88 102 103
+f 88 103 104
+f 88 104 101
+f 89 105 90
+f 89 101 106
+f 89 106 105
+f 90 105 95
+f 91 107 103
+f 91 103 102
+f 92 93 98
+f 92 98 97
+f 93 94 108
+f 93 108 109
+f 93 109 98
+f 94 96 108
+f 95 105 108
+f 95 108 96
+f 98 109 99
+f 99 109 106
+f 99 106 110
+f 99 110 111
+f 99 111 100
+f 100 111 112
+f 101 104 103
+f 101 103 110
+f 101 110 106
+f 103 107 113
+f 103 113 110
+f 105 106 109
+f 105 109 108
+f 110 113 112
+f 110 112 111
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_4.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.07186364 -0.12708723 0.00589133
+v -0.07186364 -0.16562174 0.02522420
+v -0.07186364 -0.12708715 -0.01569993
+v -0.11117675 -0.12708731 0.02671116
+v -0.07186364 -0.16889809 0.02663775
+v -0.07186364 -0.12783556 -0.01569562
+v -0.07622863 -0.12708715 -0.01567838
+v -0.11488192 -0.12708731 0.02752137
+v -0.07186364 -0.17372667 0.02764618
+v -0.07186364 -0.13220956 -0.01562238
+v -0.07622863 -0.12783556 -0.01567407
+v -0.08277048 -0.12708715 -0.01557064
+v -0.11541767 -0.12708731 0.02762911
+v -0.07622863 -0.17372667 0.02790476
+v -0.07186364 -0.17851091 0.02706005
+v -0.11546843 -0.12783572 0.02769376
+v -0.07186364 -0.13439379 -0.01557928
+v -0.07622863 -0.13439379 -0.01554911
+v -0.08277048 -0.12783556 -0.01556633
+v -0.08322164 -0.12708715 -0.01553617
+v -0.12201028 -0.12708731 0.02802560
+v -0.08277048 -0.17372667 0.02800388
+v -0.07622863 -0.17868831 0.02719796
+v -0.10892658 -0.15406308 0.02832718
+v -0.07186364 -0.17960301 0.02581888
+v -0.07622863 -0.18197019 0.02347012
+v -0.07186364 -0.13822450 -0.01525608
+v -0.07622863 -0.13815797 -0.01523453
+v -0.08071769 -0.13794731 -0.01515696
+v -0.08284379 -0.13452129 -0.01531209
+v -0.08639669 -0.13242022 -0.01517849
+v -0.08664483 -0.12783556 -0.01526035
+v -0.08665611 -0.12708715 -0.01526035
+v -0.12665161 -0.12708731 0.02707748
+v -0.12201028 -0.12783572 0.02802991
+v -0.08931233 -0.17372667 0.02779271
+v -0.08277048 -0.17850537 0.02713763
+v -0.09585417 -0.16716845 0.02814182
+v -0.11546843 -0.14750485 0.02800829
+v -0.10892658 -0.16061022 0.02794791
+v -0.07186364 -0.18199235 0.02295727
+v -0.08240955 -0.18194245 0.02264267
+v -0.07999583 -0.18364437 0.02037149
+v -0.07622863 -0.18371644 0.02053095
+v -0.07186364 -0.18368873 0.02045769
+v -0.07186364 -0.14041428 -0.01403647
+v -0.07622863 -0.14143987 -0.01329521
+v -0.08542670 -0.17687545 0.01438543
+v -0.08328931 -0.14105735 -0.01239880
+v -0.08507704 -0.13678868 -0.01491561
+v -0.08886680 -0.13452130 -0.01317451
+v -0.08991575 -0.12783557 -0.01357959
+v -0.08702832 -0.12708715 -0.01508797
+v -0.12947137 -0.12708729 0.02311693
+v -0.12664597 -0.12783572 0.02708179
+v -0.12201028 -0.13439395 0.02780579
+v -0.08931233 -0.17785120 0.02671529
+v -0.10299945 -0.16778934 0.02742210
+v -0.09551580 -0.17383200 0.02714196
+v -0.12084854 -0.14750485 0.02720670
+v -0.11593651 -0.15447886 0.02736613
+v -0.11376529 -0.16061022 0.02681016
+v -0.10892658 -0.16565501 0.02681445
+v -0.08931233 -0.18016292 0.02311674
+v -0.09957061 -0.17725247 0.02071197
+v -0.07999583 -0.18364437 0.02003965
+v -0.07622863 -0.18371643 0.01991467
+v -0.07186364 -0.18368872 0.01996208
+v -0.07186364 -0.14150085 -0.01339002
+v -0.07622863 -0.17755179 0.01395878
+v -0.08106734 -0.17729678 0.01412255
+v -0.08931233 -0.17931472 0.01773832
+v -0.08931233 -0.17623793 0.01479916
+v -0.08270845 -0.18026823 0.01721254
+v -0.09585417 -0.17483537 0.01594984
+v -0.09941271 -0.17063322 0.01420445
+v -0.10376642 -0.16909208 0.01511379
+v -0.10656926 -0.16471807 0.01388987
+v -0.11092861 -0.16256157 0.01496728
+v -0.11290245 -0.15819310 0.01392868
+v -0.11757761 -0.15406304 0.01507936
+v -0.11867169 -0.15064255 0.01435106
+v -0.12389952 -0.14094658 0.01533368
+v -0.09322051 -0.13439381 -0.00986471
+v -0.09397057 -0.12783558 -0.01064473
+v -0.09040075 -0.12708716 -0.01326499
+v -0.08992703 -0.12708716 -0.01359683
+v -0.12767236 -0.12708727 0.01676453
+v -0.12946009 -0.12783570 0.02311693
+v -0.12627940 -0.13439395 0.02685767
+v -0.09311336 -0.17725802 0.02626709
+v -0.10122864 -0.17171985 0.02684460
+v -0.12575493 -0.13915047 0.02645685
+v -0.11971499 -0.15257182 0.02673262
+v -0.11241745 -0.16411940 0.02620250
+v -0.10558799 -0.17038935 0.02599560
+v -0.09551580 -0.17803968 0.02284955
+v -0.09747271 -0.17609383 0.02462512
+v -0.10257648 -0.17382646 0.02335379
+v -0.10707118 -0.17155906 0.02208246
+v -0.09957061 -0.17725246 0.01982850
+v -0.07622863 -0.18082815 0.01697982
+v -0.09585417 -0.17810619 0.01888469
+v -0.07186364 -0.18118849 0.01745387
+v -0.07186364 -0.14409532 -0.01142915
+v -0.07186364 -0.17760169 0.01391568
+v -0.10166288 -0.17328314 0.01747114
+v -0.10707118 -0.17155905 0.01902693
+v -0.10899990 -0.16723493 0.01699711
+v -0.11361303 -0.16538334 0.01888042
+v -0.11543460 -0.16055475 0.01708763
+v -0.11957964 -0.15854238 0.01921229
+v -0.12089930 -0.15406305 0.01801422
+v -0.12238813 -0.14837517 0.01677738
+v -0.12603126 -0.14611335 0.01920371
+v -0.12688283 -0.14094659 0.01827285
+v -0.12477928 -0.13439390 0.01465279
+v -0.09399313 -0.12708717 -0.01066197
+v -0.12516841 -0.13002544 0.01438129
+v -0.12530940 -0.12708726 0.01428649
+v -0.12764980 -0.13439391 0.01758765
+v -0.12683207 -0.12708727 0.01585520
+v -0.12758777 -0.12784122 0.01669989
+v -0.12865363 -0.13439393 0.02311691
+v -0.12684899 -0.14117946 0.02347027
+v -0.12493719 -0.14352445 0.02566386
+v -0.11843482 -0.15693472 0.02570260
+v -0.10911833 -0.16882046 0.02366841
+v -0.11691779 -0.16068228 0.02349175
+v -0.11342129 -0.16518378 0.02311679
+v -0.11957964 -0.15854239 0.02178514
+v -0.12603126 -0.14611336 0.02175071
+v -0.12426609 -0.14798161 0.02347025
+v -0.12105156 -0.15447885 0.02349177
+f 1 2 5
+f 1 5 9
+f 1 9 15
+f 1 15 25
+f 1 25 41
+f 1 41 45
+f 1 45 68
+f 1 68 104
+f 1 104 106
+f 1 106 105
+f 1 105 69
+f 1 69 46
+f 1 46 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 20
+f 1 20 33
+f 1 33 53
+f 1 53 87
+f 1 87 86
+f 1 86 118
+f 1 118 120
+f 1 120 122
+f 1 122 88
+f 1 88 54
+f 1 54 34
+f 1 34 21
+f 1 21 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 11
+f 3 11 7
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 7 11 19
+f 7 19 12
+f 8 13 9
+f 9 14 15
+f 9 13 16
+f 9 16 14
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 19 20
+f 13 21 16
+f 14 22 23
+f 14 23 15
+f 14 16 21
+f 14 21 24
+f 14 24 22
+f 15 23 26
+f 15 26 25
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 21 34 35
+f 21 35 24
+f 22 36 37
+f 22 37 23
+f 22 24 38
+f 22 38 36
+f 23 37 26
+f 24 35 39
+f 24 39 40
+f 24 40 38
+f 25 26 41
+f 26 37 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 41
+f 27 46 28
+f 28 47 29
+f 28 46 47
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 29 47 48
+f 30 50 31
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 52 53
+f 32 53 33
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 39
+f 36 57 37
+f 36 38 40
+f 36 40 58
+f 36 58 59
+f 36 59 57
+f 37 57 42
+f 39 56 60
+f 39 60 40
+f 40 60 61
+f 40 61 62
+f 40 62 63
+f 40 63 58
+f 42 57 64
+f 42 64 43
+f 43 64 65
+f 43 65 101
+f 43 101 66
+f 43 66 67
+f 43 67 44
+f 44 67 68
+f 44 68 45
+f 46 69 47
+f 47 70 71
+f 47 71 48
+f 47 69 70
+f 48 72 73
+f 48 73 49
+f 48 71 74
+f 48 74 72
+f 49 73 50
+f 50 73 75
+f 50 75 76
+f 50 76 77
+f 50 77 78
+f 50 78 79
+f 50 79 80
+f 50 80 81
+f 50 81 82
+f 50 82 51
+f 51 82 83
+f 51 83 84
+f 51 84 85
+f 51 85 52
+f 52 86 87
+f 52 87 53
+f 52 85 86
+f 54 88 89
+f 54 89 55
+f 55 89 90
+f 55 90 56
+f 56 90 60
+f 57 59 91
+f 57 91 64
+f 58 63 92
+f 58 92 59
+f 59 92 91
+f 60 90 93
+f 60 93 94
+f 60 94 61
+f 61 94 62
+f 62 95 63
+f 62 94 95
+f 63 95 96
+f 63 96 92
+f 64 91 97
+f 64 97 65
+f 65 97 98
+f 65 98 99
+f 65 99 100
+f 65 100 108
+f 65 108 101
+f 66 72 74
+f 66 74 71
+f 66 71 102
+f 66 102 67
+f 66 101 103
+f 66 103 72
+f 67 102 68
+f 68 102 104
+f 69 105 70
+f 70 102 71
+f 70 105 106
+f 70 106 102
+f 72 103 73
+f 73 103 75
+f 75 103 101
+f 75 101 107
+f 75 107 76
+f 76 107 77
+f 77 107 108
+f 77 108 109
+f 77 109 79
+f 77 79 78
+f 79 109 110
+f 79 110 111
+f 79 111 80
+f 80 111 81
+f 81 111 112
+f 81 112 113
+f 81 113 82
+f 82 113 114
+f 82 114 83
+f 83 114 115
+f 83 115 116
+f 83 116 117
+f 83 117 84
+f 84 117 85
+f 85 118 86
+f 85 117 119
+f 85 119 120
+f 85 120 118
+f 88 121 89
+f 88 122 123
+f 88 123 121
+f 89 121 124
+f 89 124 90
+f 90 124 93
+f 91 92 96
+f 91 96 98
+f 91 98 97
+f 93 124 125
+f 93 125 126
+f 93 126 94
+f 94 126 127
+f 94 127 95
+f 95 128 96
+f 95 127 129
+f 95 129 130
+f 95 130 128
+f 96 100 99
+f 96 99 98
+f 96 128 100
+f 100 128 130
+f 100 130 110
+f 100 110 108
+f 101 108 107
+f 102 106 104
+f 108 110 109
+f 110 130 131
+f 110 131 112
+f 110 112 111
+f 112 131 132
+f 112 132 115
+f 112 115 113
+f 113 115 114
+f 115 132 124
+f 115 124 116
+f 116 124 121
+f 116 121 117
+f 117 121 119
+f 119 121 123
+f 119 123 122
+f 119 122 120
+f 124 132 125
+f 125 132 126
+f 126 132 133
+f 126 133 127
+f 127 133 134
+f 127 134 131
+f 127 131 129
+f 129 131 130
+f 131 134 132
+f 132 134 133
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_5.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.08686627 0.13455193 -0.01386461
+v -0.08873284 0.13455193 -0.01319671
+v -0.08686627 0.13564647 -0.01405958
+v -0.08686627 0.13455186 0.00659984
+v -0.08892932 0.13455193 -0.01305981
+v -0.08686627 0.13783103 -0.01304319
+v -0.11867576 0.15068499 0.01434512
+v -0.11758283 0.15409072 0.01505867
+v -0.08686627 0.15944127 0.02505238
+v -0.10461507 0.13455180 0.02109049
+v -0.09316595 0.13455192 -0.00981155
+v -0.12392345 0.14097885 0.01530339
+v -0.11290003 0.15822918 0.01393860
+v -0.11095159 0.16260281 0.01495084
+v -0.10659626 0.16476023 0.01389299
+v -0.10378412 0.16912934 0.01511680
+v -0.09942469 0.17067166 0.01420000
+v -0.09585119 0.17487341 0.01595482
+v -0.08931001 0.17627552 0.01480570
+v -0.08686627 0.17667353 0.01454019
+v -0.12241299 0.14845067 0.01676368
+v -0.12094757 0.15409071 0.01799580
+v -0.11960904 0.15860455 0.01918642
+v -0.11544200 0.16060369 0.01707071
+v -0.08686627 0.16180674 0.02656243
+v -0.10945751 0.13455179 0.02461669
+v -0.12479124 0.13455183 0.01463960
+v -0.12692388 0.14097884 0.01823636
+v -0.12606427 0.14621636 0.01918223
+v -0.12485264 0.13455183 0.01469768
+v -0.11362046 0.16541603 0.01886702
+v -0.10900725 0.16727043 0.01699191
+v -0.10706700 0.17156717 0.01902883
+v -0.10166785 0.17330397 0.01747316
+v -0.09955158 0.17728410 0.01983366
+v -0.09585119 0.17812536 0.01888780
+v -0.08931001 0.17932393 0.01773868
+v -0.08686627 0.17780425 0.01562710
+v -0.11960904 0.15860454 0.02177922
+v -0.08686627 0.16337166 0.02691921
+v -0.11455784 0.13455178 0.02699377
+v -0.12766887 0.13455182 0.01757257
+v -0.12868402 0.13455180 0.02312324
+v -0.12606427 0.14621635 0.02178333
+v -0.11344444 0.16522607 0.02311921
+v -0.10706700 0.17156716 0.02209041
+v -0.09955158 0.17728409 0.02070069
+v -0.08931001 0.18011994 0.02311926
+v -0.08686627 0.18075768 0.02293258
+v -0.08686627 0.17967673 0.01756030
+v -0.12111131 0.15449775 0.02348839
+v -0.11841787 0.15695368 0.02569124
+v -0.11692790 0.16073030 0.02348841
+v -0.08686627 0.16719802 0.02760372
+v -0.11504495 0.13455178 0.02709749
+v -0.12863899 0.13455179 0.02321036
+v -0.12689522 0.14125020 0.02349249
+v -0.12495497 0.14361567 0.02569949
+v -0.12432049 0.14805263 0.02349251
+v -0.11243338 0.16416768 0.02621397
+v -0.10911777 0.16886699 0.02367512
+v -0.10560566 0.17042737 0.02600243
+v -0.09547460 0.17803942 0.02284130
+v -0.09740258 0.17612622 0.02461685
+v -0.09304315 0.17725242 0.02623891
+v -0.08931001 0.17783134 0.02668280
+v -0.08686627 0.17926059 0.02526403
+v -0.11974822 0.15258456 0.02673664
+v -0.08686627 0.16964943 0.02790657
+v -0.12186039 0.13455178 0.02780687
+v -0.12629759 0.13455178 0.02686517
+v -0.12578183 0.13924202 0.02647108
+v -0.11377191 0.16064435 0.02682793
+v -0.10892947 0.16570547 0.02685284
+v -0.10124624 0.17175257 0.02686531
+v -0.09547460 0.17386476 0.02715571
+v -0.08931001 0.17375621 0.02781117
+v -0.08686627 0.17808463 0.02685288
+v -0.12089027 0.14753700 0.02720954
+v -0.11592912 0.15449774 0.02737551
+v -0.08686627 0.17375621 0.02789829
+v -0.09585119 0.16719802 0.02817621
+v -0.10892947 0.15409068 0.02832137
+v -0.12202003 0.13455178 0.02780687
+v -0.12624028 0.13455178 0.02688176
+v -0.10892947 0.16064435 0.02798536
+v -0.10301048 0.16782670 0.02745024
+v -0.08686627 0.17553372 0.02755812
+v -0.11547065 0.14753700 0.02801850
+f 1 2 3
+f 1 3 6
+f 1 6 20
+f 1 20 38
+f 1 38 50
+f 1 50 49
+f 1 49 67
+f 1 67 78
+f 1 78 88
+f 1 88 81
+f 1 81 69
+f 1 69 54
+f 1 54 40
+f 1 40 25
+f 1 25 9
+f 1 9 4
+f 1 4 10
+f 1 10 26
+f 1 26 41
+f 1 41 55
+f 1 55 70
+f 1 70 84
+f 1 84 85
+f 1 85 71
+f 1 71 56
+f 1 56 43
+f 1 43 42
+f 1 42 30
+f 1 30 27
+f 1 27 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 6
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 6 8 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 7 12 21
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 24
+f 8 24 13
+f 9 25 26
+f 9 26 10
+f 11 27 12
+f 12 28 29
+f 12 29 21
+f 12 27 30
+f 12 30 28
+f 13 24 14
+f 14 24 31
+f 14 31 32
+f 14 32 16
+f 14 16 15
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 17 34 18
+f 18 34 35
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 21 29 22
+f 22 29 23
+f 23 31 24
+f 23 29 44
+f 23 44 39
+f 23 39 31
+f 25 40 41
+f 25 41 26
+f 28 30 42
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 31 39 45
+f 31 45 46
+f 31 46 33
+f 31 33 32
+f 33 46 47
+f 33 47 35
+f 33 35 34
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 36 49 37
+f 37 49 50
+f 37 50 38
+f 39 44 51
+f 39 51 52
+f 39 52 53
+f 39 53 45
+f 40 54 55
+f 40 55 41
+f 43 56 57
+f 43 57 44
+f 44 57 58
+f 44 58 59
+f 44 59 51
+f 45 53 60
+f 45 60 61
+f 45 61 46
+f 46 61 62
+f 46 62 47
+f 47 63 48
+f 47 62 64
+f 47 64 63
+f 48 63 65
+f 48 65 66
+f 48 66 67
+f 48 67 49
+f 51 59 52
+f 52 58 68
+f 52 68 60
+f 52 60 53
+f 52 59 58
+f 54 69 55
+f 55 69 70
+f 56 71 72
+f 56 72 57
+f 57 72 58
+f 58 72 68
+f 60 68 73
+f 60 73 74
+f 60 74 62
+f 60 62 61
+f 62 74 75
+f 62 75 65
+f 62 65 64
+f 63 64 65
+f 65 75 76
+f 65 76 66
+f 66 76 77
+f 66 77 78
+f 66 78 67
+f 68 72 79
+f 68 79 80
+f 68 80 73
+f 69 81 82
+f 69 82 83
+f 69 83 70
+f 70 83 84
+f 71 85 79
+f 71 79 72
+f 73 80 86
+f 73 86 74
+f 74 86 87
+f 74 87 75
+f 75 87 76
+f 76 87 77
+f 77 86 82
+f 77 82 81
+f 77 81 88
+f 77 88 78
+f 77 87 86
+f 79 85 84
+f 79 84 89
+f 79 89 86
+f 79 86 80
+f 82 86 83
+f 83 86 89
+f 83 89 84
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_6.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v 0.08302312 0.14014387 0.00684349
+v 0.08302312 0.14014395 -0.01410314
+v 0.08298986 0.14014387 0.00686007
+v 0.08302312 0.14013688 0.00686244
+v 0.08302312 0.13978061 -0.01445616
+v 0.08264064 0.14014395 -0.01426188
+v 0.04149867 0.14014388 0.00537691
+v -0.08686627 0.13401607 0.00648097
+v 0.06112176 0.08197505 0.00726500
+v 0.07419273 0.06877616 0.00563253
+v 0.08302312 0.07115181 0.00458533
+v -0.05004803 0.10819120 0.00736698
+v -0.00428300 0.08197505 0.00793077
+v 0.08302312 0.13840413 -0.01538965
+v 0.08074485 0.14014395 -0.01450828
+v 0.03621041 0.14014388 0.00516842
+v -0.08686627 0.13401614 -0.01409605
+v -0.08686627 0.06876917 0.00518238
+v -0.06313564 0.08197505 0.00742375
+v -0.05660015 0.08197505 0.00772464
+v 0.04803415 0.06877615 0.00681716
+v 0.06765724 0.06877616 0.00594291
+v 0.07410958 0.06877616 0.00563964
+v 0.00225249 0.06876916 0.00771985
+v 0.02187558 0.06885999 0.00742606
+v 0.02841106 0.06876916 0.00730997
+v 0.08302312 0.06877616 0.00449292
+v 0.03494655 0.06876916 0.00697117
+v -0.05004803 0.10163717 0.00747594
+v -0.04351255 0.09509011 0.00761807
+v -0.00428300 0.07542102 0.00785730
+v 0.08302312 0.13440744 -0.01583983
+v 0.08074485 0.13440744 -0.01610045
+v 0.08074485 0.13867664 -0.01550100
+v 0.07801757 0.14014395 -0.01474521
+v 0.03621041 0.14014395 -0.01474284
+v -0.08686627 0.13277240 -0.01475234
+v -0.08357359 0.13401615 -0.01527357
+v -0.06313564 0.06876917 0.00667501
+v -0.06313564 0.07542102 0.00708492
+v -0.08686627 0.06876925 -0.01522880
+v -0.05660015 0.07542102 0.00741188
+v -0.05014781 0.06876916 0.00736920
+v -0.05004803 0.06876916 0.00737157
+v -0.03042495 0.06876916 0.00760139
+v -0.03042495 0.06885999 0.00760376
+v 0.03486340 0.06876916 0.00697591
+v 0.00215271 0.06876916 0.00771985
+v 0.02187558 0.06876916 0.00742133
+v 0.08302312 0.06877624 -0.01603198
+v 0.03621041 0.06876923 -0.01193790
+v -0.00428300 0.06885999 0.00771038
+v 0.08302312 0.13180818 -0.01591802
+v 0.08074485 0.12785339 -0.01625447
+v 0.07419273 0.13440744 -0.01616205
+v 0.07419273 0.13892119 -0.01555786
+v 0.07419273 0.14014395 -0.01486130
+v 0.03621041 0.13879542 -0.01548915
+v -0.07620661 0.13401615 -0.01555078
+v -0.08280862 0.13401615 -0.01531859
+v 0.03883791 0.14014395 -0.01475705
+v -0.08633412 0.13233921 -0.01516459
+v -0.08686627 0.12786038 -0.01511722
+v -0.08274210 0.12786038 -0.01554132
+v -0.05668330 0.06876916 0.00706120
+v -0.05660015 0.06876916 0.00706594
+v -0.08686627 0.06908367 -0.01522880
+v -0.08673324 0.06876925 -0.01527855
+v -0.00428300 0.06876916 0.00770801
+v 0.08302312 0.10818430 -0.01603419
+v 0.03621041 0.06876925 -0.01610779
+v 0.08074485 0.06877624 -0.01626890
+v 0.08074485 0.11474532 -0.01627347
+v 0.08302312 0.12785339 -0.01601043
+v 0.08074485 0.12129936 -0.01626870
+v 0.07419273 0.12785339 -0.01625684
+v 0.08302312 0.12534497 -0.01602229
+v 0.08302312 0.12129936 -0.01603178
+v 0.06765724 0.13440744 -0.01614546
+v 0.05456964 0.13888625 -0.01552943
+v 0.06112176 0.13891420 -0.01554128
+v 0.06765724 0.13893517 -0.01555313
+v 0.06765724 0.14014395 -0.01488263
+v 0.07176479 0.14014395 -0.01488026
+v 0.04149867 0.14014395 -0.01477127
+v 0.04149867 0.13882337 -0.01550100
+v 0.06112176 0.13440744 -0.01612177
+v 0.03621041 0.13794997 -0.01559340
+v -0.06273652 0.13401615 -0.01564081
+v -0.06927201 0.13401615 -0.01560527
+v -0.06967112 0.13401615 -0.01560290
+v -0.07620661 0.12786038 -0.01564793
+v -0.08660020 0.12786038 -0.01524516
+v -0.08686627 0.12129936 -0.01520017
+v -0.08274210 0.12129936 -0.01556977
+v -0.08669997 0.12129936 -0.01526888
+v -0.08686627 0.08875976 -0.01522635
+v -0.08673324 0.09509020 -0.01527608
+v -0.08673324 0.06886008 -0.01527855
+v -0.08274210 0.06876925 -0.01558182
+v 0.08302312 0.11474532 -0.01603417
+v 0.00878797 0.06876925 -0.01600828
+v 0.07419273 0.06877624 -0.01626416
+v 0.07419273 0.10164424 -0.01626641
+v 0.07419273 0.10818430 -0.01626638
+v 0.07419273 0.11474532 -0.01626399
+v 0.07419273 0.12129936 -0.01626159
+v 0.02187558 0.12786038 -0.01605782
+v 0.04803415 0.14014395 -0.01480444
+v 0.05204192 0.14014395 -0.01482339
+v 0.05864392 0.14014395 -0.01485182
+v 0.06522930 0.14014395 -0.01487789
+v 0.03621041 0.13440744 -0.01602226
+v 0.01532346 0.13401615 -0.01595118
+v -0.00428300 0.13401615 -0.01587536
+v -0.04311344 0.13401615 -0.01572373
+v -0.05004803 0.13401615 -0.01569530
+v -0.05004803 0.12786038 -0.01577351
+v -0.05660015 0.12786038 -0.01574508
+v -0.06967112 0.12786038 -0.01568111
+v -0.07620661 0.10819129 -0.01566933
+v -0.08686627 0.11474532 -0.01520967
+v -0.08274210 0.10819129 -0.01557930
+v -0.08673324 0.10819129 -0.01527366
+v -0.08686627 0.09532078 -0.01522396
+v -0.08274210 0.10163726 -0.01558170
+v -0.07620661 0.10163726 -0.01567173
+v -0.07620661 0.06876925 -0.01566711
+v -0.06313564 0.06876925 -0.01573108
+v -0.06313564 0.07542111 -0.01573342
+v -0.06313564 0.08852918 -0.01573337
+v -0.06967112 0.09509020 -0.01570492
+v -0.06967112 0.10163726 -0.01570253
+v -0.08686627 0.10844982 -0.01521443
+v -0.06967112 0.07542111 -0.01570499
+v -0.06967112 0.06876925 -0.01570265
+f 1 2 6
+f 1 6 15
+f 1 15 35
+f 1 35 57
+f 1 57 84
+f 1 84 83
+f 1 83 112
+f 1 112 111
+f 1 111 110
+f 1 110 109
+f 1 109 85
+f 1 85 61
+f 1 61 36
+f 1 36 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 27
+f 1 27 50
+f 1 50 70
+f 1 70 101
+f 1 101 78
+f 1 78 77
+f 1 77 74
+f 1 74 53
+f 1 53 32
+f 1 32 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 5 14 6
+f 6 14 15
+f 7 16 8
+f 8 17 37
+f 8 37 63
+f 8 63 94
+f 8 94 122
+f 8 122 134
+f 8 134 125
+f 8 125 97
+f 8 97 67
+f 8 67 41
+f 8 41 18
+f 8 18 19
+f 8 19 20
+f 8 20 12
+f 8 16 36
+f 8 36 17
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 9 13 24
+f 9 24 25
+f 9 25 26
+f 9 26 21
+f 10 27 11
+f 10 23 28
+f 10 28 27
+f 12 20 29
+f 12 29 30
+f 12 30 13
+f 13 30 20
+f 13 20 31
+f 13 31 24
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 17 36 38
+f 17 38 37
+f 18 39 40
+f 18 40 19
+f 18 41 68
+f 18 68 100
+f 18 100 128
+f 18 128 136
+f 18 136 129
+f 18 129 102
+f 18 102 71
+f 18 71 51
+f 18 51 28
+f 18 28 47
+f 18 47 26
+f 18 26 49
+f 18 49 24
+f 18 24 48
+f 18 48 69
+f 18 69 45
+f 18 45 44
+f 18 44 43
+f 18 43 66
+f 18 66 65
+f 18 65 39
+f 19 40 42
+f 19 42 20
+f 20 42 43
+f 20 43 44
+f 20 44 45
+f 20 45 46
+f 20 46 31
+f 20 30 29
+f 21 26 22
+f 22 26 23
+f 23 26 47
+f 23 47 28
+f 24 31 48
+f 24 49 25
+f 25 49 26
+f 27 28 51
+f 27 51 71
+f 27 71 50
+f 31 46 52
+f 31 52 48
+f 32 53 33
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 33 53 54
+f 34 56 57
+f 34 57 35
+f 36 58 59
+f 36 59 60
+f 36 60 38
+f 36 61 58
+f 37 38 62
+f 37 62 63
+f 38 60 64
+f 38 64 62
+f 39 65 40
+f 40 65 66
+f 40 66 42
+f 41 67 99
+f 41 99 68
+f 42 66 43
+f 45 69 52
+f 45 52 46
+f 48 52 69
+f 50 71 72
+f 50 72 73
+f 50 73 70
+f 53 74 54
+f 54 75 76
+f 54 76 55
+f 54 74 77
+f 54 77 78
+f 54 78 75
+f 55 76 79
+f 55 79 80
+f 55 80 81
+f 55 81 82
+f 55 82 56
+f 56 82 83
+f 56 83 84
+f 56 84 57
+f 58 61 85
+f 58 85 86
+f 58 86 79
+f 58 79 87
+f 58 87 88
+f 58 88 89
+f 58 89 90
+f 58 90 91
+f 58 91 59
+f 59 91 92
+f 59 92 64
+f 59 64 60
+f 62 93 63
+f 62 64 93
+f 63 93 94
+f 64 92 95
+f 64 95 96
+f 64 96 93
+f 67 97 98
+f 67 98 99
+f 68 99 126
+f 68 126 100
+f 70 73 101
+f 71 102 103
+f 71 103 72
+f 72 103 73
+f 73 103 104
+f 73 104 105
+f 73 105 106
+f 73 106 107
+f 73 107 76
+f 73 76 75
+f 73 75 78
+f 73 78 101
+f 76 87 79
+f 76 107 108
+f 76 108 87
+f 79 86 80
+f 80 86 109
+f 80 109 110
+f 80 110 111
+f 80 111 81
+f 81 112 82
+f 81 111 112
+f 82 112 83
+f 85 109 86
+f 87 113 88
+f 87 108 114
+f 87 114 115
+f 87 115 116
+f 87 116 113
+f 88 113 89
+f 89 117 118
+f 89 118 119
+f 89 119 120
+f 89 120 92
+f 89 92 90
+f 89 113 117
+f 90 92 91
+f 92 121 95
+f 92 120 121
+f 93 96 94
+f 94 96 122
+f 95 123 96
+f 95 121 123
+f 96 124 122
+f 96 123 124
+f 97 125 124
+f 97 124 98
+f 98 124 126
+f 98 126 99
+f 100 126 127
+f 100 127 128
+f 102 129 103
+f 103 129 130
+f 103 130 104
+f 104 130 131
+f 104 131 105
+f 105 131 108
+f 105 108 106
+f 106 108 107
+f 108 131 118
+f 108 118 116
+f 108 116 115
+f 108 115 114
+f 113 116 117
+f 116 118 117
+f 118 131 132
+f 118 132 133
+f 118 133 119
+f 119 133 121
+f 119 121 120
+f 121 127 126
+f 121 126 123
+f 121 133 132
+f 121 132 127
+f 122 124 134
+f 123 126 124
+f 124 125 134
+f 127 132 135
+f 127 135 128
+f 128 135 136
+f 129 136 135
+f 129 135 130
+f 130 135 132
+f 130 132 131
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_7.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00521371 -0.18678958 0.03016249
+v 0.02842313 -0.18028232 0.02859408
+v 0.05184251 -0.16948316 0.02656080
+v 0.04804046 -0.16941098 0.02660425
+v 0.00521371 -0.18366366 0.02937612
+v 0.00521371 -0.19003210 0.02940650
+v 0.02188250 -0.18683954 0.02838116
+v 0.02861483 -0.18702276 0.02761649
+v 0.05184251 -0.17726744 0.02629140
+v 0.05184251 -0.17364181 0.02668243
+v 0.05184251 -0.17128765 0.02665203
+v 0.05184251 -0.16757873 0.02546593
+v 0.05184251 -0.16620176 0.02460569
+v 0.04804046 -0.16613514 0.02455355
+v 0.01802111 -0.15072756 0.01435658
+v 0.00521371 -0.16274269 0.02085622
+v 0.00521371 -0.16513017 0.02206404
+v 0.03153141 -0.17037708 0.02609591
+v 0.00521371 -0.18028231 0.02821175
+v 0.00521371 -0.19325796 0.02854624
+v 0.02656547 -0.19082606 0.02675189
+v 0.05184251 -0.17761167 0.02581782
+v 0.05184251 -0.16356998 0.02290257
+v 0.01887920 -0.15072756 0.01435658
+v 0.00521371 -0.14120540 0.00605387
+v 0.01366221 -0.15099407 0.01414369
+v 0.00521371 -0.15735143 0.01751950
+v 0.00521371 -0.15946685 0.01884897
+v 0.00521371 -0.16126579 0.01997860
+v 0.00521371 -0.16717340 0.02298511
+v 0.00521371 -0.17008279 0.02423204
+v 0.00521371 -0.17856666 0.02758611
+v 0.00521371 -0.19681142 0.02621312
+v 0.00591661 -0.19678919 0.02617837
+v 0.02188250 -0.19374654 0.02311536
+v 0.02861483 -0.19176438 0.02301978
+v 0.05184251 -0.17927735 0.02338478
+v 0.05184251 -0.16011646 0.02030010
+v 0.05184251 -0.15436430 0.01595976
+v 0.05184251 -0.15154929 0.01373528
+v 0.05184251 -0.14120540 0.00532831
+v 0.04149983 -0.14120540 0.00565416
+v 0.00521371 -0.14120533 -0.01401869
+v 0.00521371 -0.15163258 0.01368749
+v 0.00521371 -0.15343151 0.01494745
+v 0.00521371 -0.19710567 0.02559183
+v 0.00521371 -0.19792739 0.02292851
+v 0.00837676 -0.19735551 0.02273301
+v 0.01257591 -0.19678363 0.02051721
+v 0.01257591 -0.19678362 0.01995674
+v 0.02842313 -0.19164222 0.01862728
+v 0.03203349 -0.19045403 0.01973084
+v 0.03203349 -0.19045404 0.02099949
+v 0.05184251 -0.18005463 0.01724570
+v 0.05184251 -0.14120533 -0.01422289
+v 0.00521371 -0.19495691 0.01548169
+v 0.00521371 -0.19786630 0.01841870
+v 0.00880124 -0.19743879 0.01898352
+v 0.02188250 -0.19278043 0.01753675
+v 0.05184251 -0.17769491 0.01377864
+v 0.05184251 -0.17908299 0.01577285
+v 0.05184251 -0.14213255 -0.01371021
+v 0.02188250 -0.18942130 0.01459974
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 19
+f 1 19 32
+f 1 32 31
+f 1 31 30
+f 1 30 17
+f 1 17 16
+f 1 16 29
+f 1 29 28
+f 1 28 27
+f 1 27 45
+f 1 45 44
+f 1 44 25
+f 1 25 43
+f 1 43 56
+f 1 56 57
+f 1 57 47
+f 1 47 46
+f 1 46 33
+f 1 33 20
+f 1 20 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 12 4
+f 3 11 10
+f 3 10 9
+f 3 9 22
+f 3 22 37
+f 3 37 54
+f 3 54 61
+f 3 61 60
+f 3 60 62
+f 3 62 55
+f 3 55 41
+f 3 41 40
+f 3 40 39
+f 3 39 38
+f 3 38 23
+f 3 23 13
+f 3 13 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 6 20 8
+f 6 8 7
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 13 23 14
+f 14 23 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 15 23 24
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 42 41
+f 25 41 55
+f 25 55 43
+f 25 44 26
+f 26 44 45
+f 26 45 27
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 43 55 56
+f 47 57 58
+f 47 58 49
+f 47 49 48
+f 49 58 50
+f 50 58 51
+f 51 58 59
+f 51 59 60
+f 51 60 61
+f 51 61 54
+f 51 54 52
+f 52 54 53
+f 55 62 56
+f 56 62 63
+f 56 63 59
+f 56 59 57
+f 57 59 58
+f 59 63 60
+f 60 63 62
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_8.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.00521371 -0.12708723 0.00648943
+v 0.00521371 -0.17008224 0.02423564
+v 0.00521371 -0.12708715 -0.01600183
+v 0.00300309 -0.12708723 0.00679541
+v 0.00521371 -0.17856386 0.02758716
+v 0.00225616 -0.18028256 0.02871220
+v 0.00521371 -0.12783471 -0.01600654
+v 0.00487420 -0.12708715 -0.01600183
+v 0.00225616 -0.12708724 0.00685660
+v 0.00521371 -0.18028255 0.02821323
+v -0.00044487 -0.18887596 0.03208256
+v 0.00193928 -0.18675206 0.03099048
+v -0.05005926 -0.16909016 0.02678697
+v 0.00225616 -0.12708715 -0.01599241
+v 0.00521371 -0.13079698 -0.01596418
+v 0.00225616 -0.13439503 -0.01590300
+v -0.03045041 -0.13439503 -0.01577590
+v -0.03697663 -0.12783471 -0.01584178
+v -0.04426488 -0.12708715 -0.01581354
+v -0.03697663 -0.12708715 -0.01584178
+v -0.00353822 -0.12708724 0.00691309
+v 0.00521371 -0.18366402 0.02937591
+v -0.00159921 -0.18887596 0.03208256
+v -0.00044487 -0.19045491 0.03208255
+v 0.00521371 -0.18679397 0.03016200
+v -0.07186364 -0.16561787 0.02522417
+v -0.07186364 -0.16890153 0.02663634
+v 0.00521371 -0.13439503 -0.01591241
+v -0.05660057 -0.13835638 -0.01530990
+v -0.06968320 -0.13825857 -0.01526754
+v -0.04351795 -0.13439503 -0.01572412
+v -0.06314189 -0.12783471 -0.01573351
+v -0.06968320 -0.12708715 -0.01570998
+v -0.00428515 -0.12708724 0.00690838
+v -0.00159921 -0.19045491 0.03208255
+v -0.07186364 -0.17072501 0.02701761
+v -0.07186364 -0.17372222 0.02764367
+v 0.00225616 -0.19691041 0.02637263
+v 0.00521371 -0.19681261 0.02621258
+v 0.00521371 -0.19325648 0.02854269
+v 0.00521371 -0.19002873 0.02940412
+v -0.07186364 -0.12708723 0.00589161
+v -0.04351795 -0.12708723 0.00633880
+v 0.00521371 -0.13864283 -0.01543229
+v -0.03697663 -0.13846118 -0.01535227
+v -0.00428515 -0.19533842 0.01498107
+v -0.07186364 -0.13822364 -0.01525812
+v -0.06968320 -0.13439503 -0.01559703
+v -0.05005926 -0.13439503 -0.01569588
+v -0.07186364 -0.12783471 -0.01569586
+v -0.07043013 -0.12708715 -0.01570527
+v -0.00766521 -0.19668686 0.02607137
+v -0.00428515 -0.19684056 0.02629261
+v -0.07186364 -0.17850797 0.02705995
+v -0.03045041 -0.19092997 0.02679160
+v 0.00225616 -0.19846141 0.02311520
+v -0.00428515 -0.19842647 0.02311520
+v 0.00521371 -0.19710605 0.02559123
+v -0.07186364 -0.12708715 -0.01569586
+v 0.00521371 -0.19495416 0.01548004
+v 0.00225616 -0.19530348 0.01501402
+v -0.00428515 -0.19825879 0.01791368
+v -0.03045041 -0.19219450 0.01818672
+v -0.07186364 -0.17759967 0.01391260
+v -0.07186364 -0.14150730 -0.01338935
+v -0.07186364 -0.14041042 -0.01403424
+v -0.07186364 -0.13439503 -0.01558290
+v -0.07186364 -0.13220826 -0.01562527
+v -0.01202608 -0.19626765 0.02487572
+v -0.01023797 -0.19737849 0.02299752
+v -0.03045041 -0.19300494 0.02311522
+v -0.07186364 -0.17959785 0.02581723
+v -0.07186364 -0.18199421 0.02295992
+v -0.07186364 -0.18368495 0.02046037
+v 0.00225616 -0.19821686 0.01795134
+v 0.00521371 -0.19786755 0.01841736
+v 0.00521371 -0.19792345 0.02293162
+v -0.01505908 -0.19686849 0.02095929
+v -0.01082647 -0.19754615 0.01881748
+v -0.07186364 -0.18368494 0.01996611
+v -0.07186364 -0.18360110 0.01987667
+v -0.07186364 -0.18119075 0.01745714
+v -0.01505908 -0.19686848 0.01978247
+f 1 2 5
+f 1 5 10
+f 1 10 22
+f 1 22 25
+f 1 25 41
+f 1 41 40
+f 1 40 39
+f 1 39 58
+f 1 58 77
+f 1 77 76
+f 1 76 60
+f 1 60 44
+f 1 44 28
+f 1 28 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 19
+f 1 19 33
+f 1 33 51
+f 1 51 59
+f 1 59 42
+f 1 42 43
+f 1 43 34
+f 1 34 21
+f 1 21 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 6
+f 5 6 10
+f 6 11 12
+f 6 12 10
+f 6 9 13
+f 6 13 11
+f 7 14 8
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 14
+f 9 21 13
+f 10 12 22
+f 11 23 35
+f 11 35 24
+f 11 24 25
+f 11 25 12
+f 11 13 23
+f 12 25 22
+f 13 26 27
+f 13 27 23
+f 13 21 26
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 21 34 26
+f 23 27 36
+f 23 36 37
+f 23 37 35
+f 24 35 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 26 42 59
+f 26 59 50
+f 26 50 68
+f 26 68 67
+f 26 67 47
+f 26 47 66
+f 26 66 65
+f 26 65 64
+f 26 64 82
+f 26 82 81
+f 26 81 80
+f 26 80 74
+f 26 74 73
+f 26 73 72
+f 26 72 54
+f 26 54 37
+f 26 37 36
+f 26 36 27
+f 26 34 43
+f 26 43 42
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 30
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 30 46 47
+f 31 49 50
+f 31 50 32
+f 32 50 33
+f 33 50 51
+f 35 52 53
+f 35 53 38
+f 35 37 54
+f 35 54 55
+f 35 55 52
+f 38 56 39
+f 38 53 57
+f 38 57 56
+f 39 56 58
+f 44 60 61
+f 44 61 46
+f 44 46 45
+f 46 61 62
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 47 67 48
+f 48 67 68
+f 48 68 49
+f 49 68 50
+f 50 59 51
+f 52 69 70
+f 52 70 57
+f 52 57 53
+f 52 55 71
+f 52 71 69
+f 54 72 55
+f 55 72 73
+f 55 73 74
+f 55 74 71
+f 56 75 76
+f 56 76 77
+f 56 77 58
+f 56 57 62
+f 56 62 75
+f 57 70 78
+f 57 78 79
+f 57 79 62
+f 60 76 75
+f 60 75 61
+f 61 75 62
+f 62 79 63
+f 63 80 81
+f 63 81 82
+f 63 82 64
+f 63 79 80
+f 69 71 70
+f 70 71 78
+f 71 74 78
+f 74 80 83
+f 74 83 78
+f 78 83 79
+f 79 83 80
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/mesh/tray_019_collision_9.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.00428898 0.19852666 0.02311681
+v -0.00428898 0.19830563 0.01790325
+v -0.01083107 0.19765520 0.01871331
+v -0.01531294 0.19699844 0.02123766
+v -0.01050577 0.19752257 0.02316391
+v -0.00812026 0.19679635 0.02615922
+v -0.00428898 0.19692897 0.02635702
+v 0.00225310 0.19694791 0.02638057
+v 0.00225310 0.19850141 0.02311681
+v -0.00428898 0.19540080 0.01496915
+v -0.08542050 0.17691077 0.01438508
+v 0.00225310 0.19825513 0.01792680
+v 0.00225310 0.19537554 0.01498798
+v -0.01531294 0.19699845 0.01963639
+v -0.08686627 0.17780116 0.01562842
+v -0.08686627 0.17967669 0.01755938
+v -0.07975792 0.18362981 0.02010730
+v -0.07975792 0.18362981 0.02028156
+v -0.01246960 0.19634169 0.02515136
+v -0.00161432 0.19048142 0.03208391
+v -0.08686627 0.18075651 0.02293307
+v -0.08686627 0.17925988 0.02525962
+v -0.08686627 0.17808530 0.02685146
+v 0.00590366 0.19682793 0.02619219
+v -0.00044566 0.19048142 0.03208391
+v 0.00837351 0.19738996 0.02273533
+v 0.01265056 0.19682162 0.02052180
+v 0.00879519 0.19747208 0.01895821
+v 0.03621654 0.13880676 -0.01548822
+v -0.01083107 0.13861731 -0.01540345
+v -0.04351741 0.13846575 -0.01533751
+v -0.05005950 0.13843418 -0.01532338
+v -0.06314367 0.13835840 -0.01529513
+v -0.06968577 0.13831420 -0.01527629
+v -0.07621580 0.13820685 -0.01524332
+v -0.08067358 0.13798582 -0.01516326
+v -0.08327596 0.14109274 -0.01237986
+v -0.08686627 0.17667081 0.01454050
+v 0.02187936 0.19284326 0.01755472
+v 0.02187936 0.18940165 0.01462061
+v 0.03621654 0.14208418 -0.01367500
+v 0.03621654 0.14145901 -0.01402352
+v -0.00161432 0.18873220 0.03208390
+v -0.08686627 0.17553407 0.02755790
+v -0.08686627 0.17375327 0.02789699
+v -0.08686627 0.16964858 0.02790639
+v 0.02655401 0.19090455 0.02676203
+v 0.02187936 0.19385995 0.02311679
+v -0.00044566 0.18873220 0.03208390
+v 0.02842145 0.18031444 0.02860817
+v 0.02860218 0.18703983 0.02761446
+v 0.01265056 0.19682163 0.01994251
+v 0.02860218 0.19192127 0.02314033
+v 0.02842145 0.19179498 0.01851547
+v 0.03621654 0.13796057 -0.01559183
+v 0.03621654 0.13442421 -0.01602043
+v -0.03697532 0.13849102 -0.01535164
+v -0.04351741 0.13442421 -0.01571901
+v -0.06314367 0.13442421 -0.01563424
+v -0.06968577 0.13442421 -0.01559656
+v 0.01533728 0.13442421 -0.01594508
+v -0.00428898 0.13442421 -0.01586972
+v -0.07621580 0.13442421 -0.01554476
+v -0.08281813 0.13448737 -0.01530457
+v -0.08503497 0.13671652 -0.01489953
+v -0.08587833 0.14420597 -0.00911137
+v -0.08686627 0.13782794 -0.01303922
+v 0.02842145 0.18800605 0.01558137
+v 0.03621654 0.17986615 0.01322181
+v -0.08686627 0.16719840 0.02760026
+v -0.08686627 0.16337788 0.02692206
+v 0.03251779 0.18497485 0.02678556
+v 0.03091540 0.18934478 0.02511366
+v -0.08686627 0.16181179 0.02655941
+v 0.03621654 0.17026113 0.02615913
+v 0.03621654 0.17375327 0.02656888
+v 0.03621654 0.17920303 0.02672431
+v 0.03216839 0.19064565 0.02119996
+v 0.03216839 0.19064566 0.01957514
+v 0.03621654 0.13402637 -0.01602985
+v -0.04351741 0.13402637 -0.01572372
+v 0.00265069 0.13402637 -0.01590269
+v -0.01083107 0.13402637 -0.01585088
+v -0.06314367 0.13402637 -0.01563895
+v -0.06927613 0.13402637 -0.01560598
+v -0.07581821 0.13402637 -0.01555418
+v 0.02227695 0.13402637 -0.01597804
+v -0.07621580 0.13402637 -0.01554947
+v -0.08281813 0.13402637 -0.01531870
+v -0.08357715 0.13402637 -0.01527160
+v -0.08391450 0.13402637 -0.01515386
+v -0.08686627 0.13402636 -0.01409419
+v -0.08686627 0.13564930 -0.01405651
+v 0.03621654 0.18272047 0.01575089
+v 0.03621654 0.18299198 0.02401158
+v 0.03621654 0.18559374 0.02196290
+v -0.08686627 0.15945003 0.02505233
+v 0.00225310 0.13402629 0.00593114
+v 0.03621654 0.13402629 0.00464541
+v 0.03621654 0.18559374 0.02159555
+v 0.03621654 0.18513276 0.01846365
+v 0.03621654 0.18477913 0.01758766
+v -0.08686627 0.13402629 0.00648688
+v -0.00428898 0.13402629 0.00601591
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 12
+f 2 12 13
+f 2 13 10
+f 3 14 4
+f 3 11 15
+f 3 15 16
+f 3 16 17
+f 3 17 14
+f 4 14 17
+f 4 17 18
+f 4 18 5
+f 5 18 19
+f 5 19 6
+f 6 20 7
+f 6 19 21
+f 6 21 22
+f 6 22 23
+f 6 23 20
+f 7 20 8
+f 8 24 9
+f 8 20 25
+f 8 25 24
+f 9 24 26
+f 9 26 27
+f 9 27 28
+f 9 28 12
+f 10 13 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 34
+f 10 34 35
+f 10 35 36
+f 10 36 11
+f 11 36 37
+f 11 37 38
+f 11 38 15
+f 12 28 39
+f 12 39 13
+f 13 39 40
+f 13 40 41
+f 13 41 42
+f 13 42 29
+f 15 38 67
+f 15 67 93
+f 15 93 92
+f 15 92 103
+f 15 103 97
+f 15 97 74
+f 15 74 71
+f 15 71 70
+f 15 70 46
+f 15 46 45
+f 15 45 44
+f 15 44 23
+f 15 23 22
+f 15 22 21
+f 15 21 16
+f 16 21 17
+f 17 21 18
+f 18 21 19
+f 20 43 49
+f 20 49 25
+f 20 23 44
+f 20 44 45
+f 20 45 46
+f 20 46 43
+f 24 25 47
+f 24 47 48
+f 24 48 26
+f 25 49 50
+f 25 50 51
+f 25 51 47
+f 26 48 27
+f 27 52 28
+f 27 48 53
+f 27 53 52
+f 28 52 54
+f 28 54 39
+f 29 42 41
+f 29 41 69
+f 29 69 94
+f 29 94 102
+f 29 102 101
+f 29 101 100
+f 29 100 96
+f 29 96 95
+f 29 95 77
+f 29 77 76
+f 29 76 75
+f 29 75 99
+f 29 99 80
+f 29 80 56
+f 29 56 55
+f 29 55 30
+f 30 55 56
+f 30 56 57
+f 30 57 31
+f 31 57 56
+f 31 56 32
+f 32 56 33
+f 33 56 34
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 34 56 61
+f 34 61 62
+f 34 62 58
+f 35 60 63
+f 35 63 36
+f 36 63 64
+f 36 64 65
+f 36 65 37
+f 37 65 38
+f 38 65 66
+f 38 66 67
+f 39 54 40
+f 40 54 68
+f 40 68 41
+f 41 68 69
+f 43 46 70
+f 43 70 71
+f 43 71 49
+f 47 51 72
+f 47 72 73
+f 47 73 53
+f 47 53 48
+f 49 71 74
+f 49 74 75
+f 49 75 50
+f 50 75 76
+f 50 76 77
+f 50 77 51
+f 51 77 72
+f 52 53 54
+f 53 73 78
+f 53 78 79
+f 53 79 54
+f 54 79 69
+f 54 69 68
+f 56 80 61
+f 58 81 84
+f 58 84 59
+f 58 62 82
+f 58 82 83
+f 58 83 81
+f 59 84 85
+f 59 85 60
+f 60 86 63
+f 60 85 86
+f 61 80 87
+f 61 87 82
+f 61 82 62
+f 63 86 88
+f 63 88 89
+f 63 89 64
+f 64 89 90
+f 64 90 65
+f 65 90 91
+f 65 91 92
+f 65 92 93
+f 65 93 67
+f 65 67 66
+f 69 79 94
+f 72 77 95
+f 72 95 96
+f 72 96 73
+f 73 96 78
+f 74 97 98
+f 74 98 99
+f 74 99 75
+f 78 96 100
+f 78 100 79
+f 79 100 101
+f 79 101 102
+f 79 102 94
+f 80 99 98
+f 80 98 104
+f 80 104 103
+f 80 103 92
+f 80 92 91
+f 80 91 90
+f 80 90 89
+f 80 89 88
+f 80 88 86
+f 80 86 85
+f 80 85 84
+f 80 84 81
+f 80 81 83
+f 80 83 82
+f 80 82 87
+f 97 103 104
+f 97 104 98
+

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/mjcf/tray_019.xml

@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_019_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_019_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray_019">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray_019">
+   <link name="tray_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/tray_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>6b4c4c4158e8578ca4a8cec4569bd368</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>tray</category>
+         <name>ornate tray</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>rectangular ornate serving tray with raised rim and scalloped edges</description>
+         <min_height>0.0483</min_height>
+         <max_height>0.0483</max_height>
+         <real_height>0.0483</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609195253</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.134334 -0.197491 -0.014664</min>
+            <max>0.132299 0.197522 0.033593</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/tray_019.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:304459744ad20f19741a68c71229dd7c8527d813eb8b8ba2a58e71b1451d64f3
+size 5001083

dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f75ed61e72c3fd6fc2651092bdb8e89b0f1d993c886ce707103e2ba05bfda2f
+size 382823