Add asset kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74

.gitattributes

@@ -4225,8 +4225,6 @@ 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/6d34ad0c38805d90a8a188414ad2e413/6d34ad0c38805d90a8a188414ad2e413.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/mesh/empty_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6bd05d9276515f619d4d77f2faa7ca35/mesh/plate_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6bd05d9276515f619d4d77f2faa7ca35/plate_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/6e7e6684b40a5267b7375338d0cc6a74.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mesh/tray.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mesh/tray_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/6e7e6684b40a5267b7375338d0cc6a74.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tray">
+   <link name="tray">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tray.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tray_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.235746</scale>
+         <version>v0.1.7</version>
+         <category>tray</category>
+         <description>rectangular black tray with shallow depth and flat base</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120014928</generate_time>
+         <gs_model>mesh/tray_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.588720321655273</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/6e7e6684b40a5267b7375338d0cc6a74.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0edbfcd75f2c52fc71591648757bb45250271201f6763e4236db54b376a4f8
+size 546048

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mesh/tray.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18fd35999f2fa32d78fafdd61eb0f9baa43ee461abe3c8506ebe672ebfd1edc3
+size 1179880

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mesh/tray_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1b42545e4c82b5e06dcd9cc2a7c84e7a8913ae2136c7d2326ba175c115c6a24
+size 2319209

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/6e7e6684b40a5267b7375338d0cc6a74.xml

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tray">
+  <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.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tray_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tray_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tray_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tray_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tray_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tray_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tray_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tray_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tray_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tray_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tray_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tray_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tray_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tray_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tray_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tray_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tray_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tray_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tray_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tray_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tray_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tray_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tray">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_0.obj

@@ -0,0 +1,784 @@
+# https://github.com/mikedh/trimesh
+v -0.09587092 0.00003219 -0.01752347
+v -0.09577712 0.00003220 -0.01805467
+v -0.09587092 -0.00978378 -0.01752351
+v -0.08448242 0.00003219 -0.01752347
+v -0.09543940 0.00003220 -0.01987034
+v -0.09543940 -0.00978377 -0.01987038
+v -0.09577712 -0.06315813 -0.01752370
+v -0.00007236 -0.09627646 -0.01752382
+v 0.09578250 0.00003219 -0.01752782
+v -0.09410730 0.00003221 -0.02269762
+v -0.09412606 -0.00978376 -0.02270855
+v -0.09406977 -0.06065123 -0.02268768
+v -0.09532683 -0.06065124 -0.01987056
+v -0.09575835 -0.06707183 -0.01752372
+v -0.09530807 -0.06457551 -0.01987058
+v -0.00007236 -0.10798582 -0.01752387
+v 0.09580126 -0.00337379 -0.01752783
+v 0.09529469 0.00003220 -0.01986962
+v -0.09127424 0.00003222 -0.02423825
+v -0.09127424 -0.00195636 -0.02424117
+v -0.09127424 -0.00978375 -0.02425136
+v -0.09127424 -0.03719020 -0.02425073
+v -0.09127424 -0.04110390 -0.02424929
+v -0.09405102 -0.06457550 -0.02268407
+v -0.09127424 -0.06457549 -0.02421237
+v -0.09127424 -0.06848919 -0.02419859
+v -0.09568331 -0.07240292 -0.01752374
+v -0.09527054 -0.06848921 -0.01987059
+v -0.09403226 -0.06848920 -0.02267175
+v -0.06410693 -0.10801755 -0.01752387
+v 0.06253631 -0.10802813 -0.01752822
+v 0.06392469 -0.10801755 -0.01752822
+v 0.06642002 -0.10782715 -0.01752822
+v 0.06782717 -0.10771079 -0.01752822
+v 0.07030376 -0.10712903 -0.01752821
+v 0.07174842 -0.10677997 -0.01752821
+v 0.07413120 -0.10594435 -0.01752821
+v 0.07503177 -0.10539431 -0.01752821
+v 0.07596986 -0.10478081 -0.01752820
+v 0.07874664 -0.10277108 -0.01752820
+v 0.08069788 -0.10117386 -0.01752819
+v 0.08321199 -0.09901605 -0.01752818
+v 0.08491932 -0.09752461 -0.01752818
+v 0.08690810 -0.09557835 -0.01752817
+v 0.08852162 -0.09395998 -0.01752817
+v 0.08887809 -0.09358976 -0.01752816
+v 0.09017267 -0.09183389 -0.01752816
+v 0.09157982 -0.08973953 -0.01752815
+v 0.09231153 -0.08849138 -0.01752815
+v 0.09328715 -0.08661915 -0.01752814
+v 0.09373744 -0.08539215 -0.01752813
+v 0.09413145 -0.08416516 -0.01752813
+v 0.09501326 -0.08023031 -0.01752811
+v 0.09540726 -0.07631661 -0.01752810
+v 0.09555736 -0.07240292 -0.01752809
+v 0.09563240 -0.06848922 -0.01752807
+v 0.09566993 -0.06598234 -0.01752806
+v 0.09568869 -0.06206865 -0.01752805
+v 0.09520087 -0.06456494 -0.01986986
+v 0.09529469 -0.00587008 -0.01986964
+v 0.09461925 0.00003221 -0.02124407
+v -0.08739052 0.00003222 -0.02478325
+v -0.08739052 -0.03719020 -0.02483273
+v -0.08739052 -0.04110390 -0.02482476
+v -0.08739052 -0.07631658 -0.02474797
+v -0.08739052 -0.08023028 -0.02473201
+v -0.09127424 -0.07240289 -0.02417467
+v -0.09560825 -0.07490980 -0.01752375
+v -0.09519550 -0.07240291 -0.01987061
+v -0.09399473 -0.07240290 -0.02264927
+v -0.06799065 -0.10768964 -0.01752387
+v -0.06410693 -0.10760501 -0.01987074
+v -0.06022320 -0.10764732 -0.01987074
+v -0.04082334 -0.10767906 -0.01987074
+v -0.02142347 -0.10768963 -0.01987074
+v -0.00007236 -0.10768963 -0.01987074
+v 0.01349254 -0.10768963 -0.01987002
+v 0.02125999 -0.10767906 -0.01987002
+v 0.04065986 -0.10764732 -0.01987002
+v 0.06004096 -0.10761559 -0.01987002
+v 0.06392469 -0.10759444 -0.01987002
+v 0.06782717 -0.10725595 -0.01987001
+v 0.07182347 -0.10628282 -0.01989468
+v 0.07392481 -0.10583856 -0.01868931
+v 0.07536948 -0.10459041 -0.01989467
+v 0.07842768 -0.10249606 -0.01987000
+v 0.08036017 -0.10090942 -0.01986999
+v 0.08270542 -0.09895258 -0.01986998
+v 0.08463789 -0.09726016 -0.01986998
+v 0.08664543 -0.09530332 -0.01986997
+v 0.08859666 -0.09324069 -0.01986996
+v 0.09006010 -0.09128384 -0.01986996
+v 0.09210516 -0.08783556 -0.01983075
+v 0.09317458 -0.08638643 -0.01858257
+v 0.09358735 -0.08420746 -0.01983074
+v 0.09448792 -0.08023030 -0.01986991
+v 0.09488192 -0.07631660 -0.01986990
+v 0.09505078 -0.07240291 -0.01986989
+v 0.09514459 -0.06848921 -0.01986987
+v 0.09383125 -0.07240290 -0.02261371
+v 0.09386878 -0.06848920 -0.02265288
+v 0.09388754 -0.06456493 -0.02267246
+v 0.09390631 -0.06065123 -0.02267099
+v 0.09392506 -0.00978376 -0.02264904
+v 0.09392506 0.00003221 -0.02264610
+v -0.07962307 -0.02936281 -0.02484649
+v -0.08350679 -0.02936281 -0.02483996
+v 0.08334332 0.00003222 -0.02480502
+v -0.08350679 -0.03327651 -0.02484433
+v -0.08350679 -0.03719020 -0.02484725
+v -0.06799065 -0.09979875 -0.02476983
+v -0.08350679 -0.08805767 -0.02472406
+v -0.08739052 -0.08414398 -0.02465221
+v -0.09127424 -0.07631658 -0.02410791
+v -0.09506417 -0.07631660 -0.01987062
+v -0.09555197 -0.07631661 -0.01752375
+v -0.09393844 -0.07631659 -0.02258615
+v -0.07189313 -0.10673766 -0.01752386
+v -0.06799065 -0.10724538 -0.01987073
+v -0.06799065 -0.10625107 -0.02242733
+v -0.06410693 -0.10645205 -0.02265157
+v -0.06022320 -0.10649436 -0.02270091
+v -0.04470706 -0.10652609 -0.02273067
+v -0.01753974 -0.10653667 -0.02271615
+v 0.01349254 -0.10653667 -0.02270019
+v 0.02514372 -0.10652609 -0.02269656
+v 0.03677613 -0.10651552 -0.02268930
+v 0.04454358 -0.10650493 -0.02268495
+v 0.04840855 -0.10649436 -0.02268205
+v 0.05229227 -0.10648378 -0.02267552
+v 0.05617600 -0.10647321 -0.02266463
+v 0.06004096 -0.10646262 -0.02265229
+v 0.06392469 -0.10643090 -0.02260803
+v 0.06782717 -0.10624050 -0.02240628
+v 0.07062270 -0.10595490 -0.02206303
+v 0.07321186 -0.10550007 -0.02113343
+v 0.07793987 -0.10209410 -0.02206738
+v 0.08210502 -0.09844483 -0.02229595
+v 0.08602627 -0.09470038 -0.02237722
+v 0.08960981 -0.09065976 -0.02221247
+v 0.09283687 -0.08555080 -0.02102740
+v 0.09326840 -0.08293815 -0.02200997
+v 0.09353107 -0.08023029 -0.02232346
+v 0.09373744 -0.07631659 -0.02253607
+v 0.09109201 -0.07631658 -0.02403534
+v 0.09109201 -0.07240289 -0.02412677
+v 0.09109201 -0.06848919 -0.02417610
+v 0.09109201 -0.06456492 -0.02419713
+v 0.09109201 -0.03327651 -0.02420572
+v 0.09109201 -0.00978375 -0.02419983
+v 0.09109201 0.00003222 -0.02419689
+v -0.07962307 -0.03327651 -0.02485158
+v 0.00572509 -0.09979875 -0.02493674
+v 0.08720828 0.00003222 -0.02480357
+v -0.07962307 -0.03719020 -0.02485305
+v -0.00590733 -0.09979875 -0.02493238
+v -0.03693961 -0.09979875 -0.02487505
+v -0.04082334 -0.09979875 -0.02486417
+v -0.04470706 -0.10371245 -0.02430758
+v -0.06022320 -0.10371245 -0.02425097
+v -0.06410693 -0.10371245 -0.02420017
+v -0.07185562 -0.09979875 -0.02468057
+v -0.07573934 -0.09588506 -0.02471756
+v -0.08350679 -0.09197136 -0.02443308
+v -0.08739052 -0.08805767 -0.02422842
+v -0.09127424 -0.08023028 -0.02386264
+v -0.09371330 -0.08023029 -0.02235176
+v -0.09467016 -0.08023030 -0.01987063
+v -0.09517674 -0.08023031 -0.01752376
+v -0.07307514 -0.10635687 -0.01752386
+v -0.07196819 -0.10626167 -0.01984098
+v -0.07072991 -0.10594433 -0.02206449
+v -0.06799065 -0.10371245 -0.02396578
+v -0.07196819 -0.10398748 -0.02308116
+v -0.04859079 -0.10650493 -0.02273067
+v -0.04082334 -0.10371245 -0.02431411
+v -0.00590733 -0.10371245 -0.02433370
+v -0.00005360 -0.10371245 -0.02433515
+v 0.00184136 -0.10371245 -0.02433515
+v 0.00572509 -0.10371245 -0.02433370
+v 0.00960881 -0.10371245 -0.02433152
+v 0.04065986 -0.10371245 -0.02425895
+v 0.05617600 -0.10371245 -0.02421033
+v 0.06004096 -0.10371245 -0.02419727
+v 0.06392469 -0.10371245 -0.02415155
+v 0.06782717 -0.10371245 -0.02394110
+v 0.07182347 -0.10400863 -0.02306520
+v 0.07557586 -0.10285568 -0.02264575
+v 0.07932826 -0.09976704 -0.02286853
+v 0.08338084 -0.09595911 -0.02306517
+v 0.08728333 -0.09197137 -0.02301218
+v 0.09032277 -0.08805768 -0.02276688
+v 0.09137344 -0.08420745 -0.02302594
+v 0.09109201 -0.08023028 -0.02381112
+v 0.08720828 -0.08414398 -0.02464132
+v 0.08720828 -0.08023028 -0.02470516
+v 0.08720828 -0.06848919 -0.02476173
+v 0.08720828 -0.04110390 -0.02481315
+v 0.08720828 -0.03719020 -0.02481895
+v 0.00184136 -0.09979875 -0.02493601
+v -0.00007236 -0.09979875 -0.02493529
+v 0.00960881 -0.09979875 -0.02493311
+v 0.07945959 -0.02936281 -0.02482980
+v 0.08334332 -0.03327651 -0.02482763
+v 0.08334332 -0.02936281 -0.02482545
+v -0.07573934 -0.09979875 -0.02416678
+v -0.07962307 -0.09588506 -0.02437576
+v -0.08350679 -0.09590623 -0.02302308
+v -0.08740929 -0.09190791 -0.02294832
+v -0.09042996 -0.08805768 -0.02271899
+v -0.09153691 -0.08418630 -0.02303538
+v -0.09343186 -0.08290641 -0.02201069
+v -0.09425740 -0.08415458 -0.01752378
+v -0.09459511 -0.08273719 -0.01752377
+v -0.09373206 -0.08418631 -0.01978357
+v -0.07423839 -0.10591262 -0.01752386
+v -0.07405076 -0.10581740 -0.01859933
+v -0.07331905 -0.10547891 -0.02104417
+v -0.07573934 -0.10283452 -0.02266172
+v 0.06782717 -0.09979875 -0.02476693
+v 0.07169214 -0.09979875 -0.02466098
+v 0.07557586 -0.09979875 -0.02414501
+v 0.08334332 -0.09197136 -0.02446429
+v 0.07945959 -0.09588506 -0.02439100
+v 0.08720828 -0.08805767 -0.02427268
+v 0.08334332 -0.08805767 -0.02472043
+v 0.08334332 -0.06848919 -0.02477987
+v 0.08334332 -0.03719020 -0.02482910
+v -0.07949174 -0.09975645 -0.02285619
+v -0.08221221 -0.09841311 -0.02227273
+v -0.08611471 -0.09462634 -0.02233150
+v -0.08971701 -0.09055398 -0.02214715
+v -0.09300035 -0.08550849 -0.02094830
+v -0.09333806 -0.08633355 -0.01850347
+v -0.09343186 -0.08654511 -0.01752379
+v -0.07607706 -0.10472793 -0.01752385
+v -0.07551420 -0.10454810 -0.01984097
+v -0.07808459 -0.10207294 -0.02206447
+v 0.07945959 -0.09197136 -0.02471827
+v 0.07557586 -0.09588506 -0.02471538
+v -0.08277508 -0.09891027 -0.01987070
+v -0.08470756 -0.09715438 -0.01987070
+v -0.08669632 -0.09519754 -0.01987069
+v -0.08862881 -0.09309260 -0.01987068
+v -0.09014852 -0.09113576 -0.01987067
+v -0.09219358 -0.08780383 -0.01978358
+v -0.09300035 -0.08738073 -0.01752379
+v -0.07718401 -0.10397692 -0.01752385
+v -0.07855363 -0.10246432 -0.01987072
+v -0.08050488 -0.10086711 -0.01987071
+v -0.08163060 -0.10041229 -0.01752384
+v -0.08303774 -0.09916413 -0.01752383
+v -0.08375069 -0.09852948 -0.01752383
+v -0.08498899 -0.09740826 -0.01752383
+v -0.08570194 -0.09671014 -0.01752383
+v -0.08697776 -0.09545141 -0.01752382
+v -0.08891024 -0.09343110 -0.01752381
+v -0.09042996 -0.09147425 -0.01752381
+v -0.09239997 -0.08842792 -0.01752379
+v -0.07887259 -0.10272877 -0.01752385
+v -0.08080506 -0.10112098 -0.01752384
+v -0.07956678 -0.10215758 -0.01752385
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 27
+f 1 27 68
+f 1 68 116
+f 1 116 169
+f 1 169 214
+f 1 214 213
+f 1 213 235
+f 1 235 247
+f 1 247 259
+f 1 259 258
+f 1 258 257
+f 1 257 256
+f 1 256 255
+f 1 255 254
+f 1 254 253
+f 1 253 252
+f 1 252 251
+f 1 251 261
+f 1 261 262
+f 1 262 260
+f 1 260 248
+f 1 248 236
+f 1 236 216
+f 1 216 170
+f 1 170 118
+f 1 118 71
+f 1 71 30
+f 1 30 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 61
+f 1 61 105
+f 1 105 151
+f 1 151 154
+f 1 154 108
+f 1 108 62
+f 1 62 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 15
+f 7 15 14
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 24 15
+f 12 15 13
+f 12 23 25
+f 12 25 26
+f 12 26 24
+f 14 15 28
+f 14 28 27
+f 15 24 29
+f 15 29 28
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 38
+f 16 38 39
+f 16 39 40
+f 16 40 41
+f 16 41 42
+f 16 42 43
+f 16 43 44
+f 16 44 45
+f 16 45 46
+f 16 46 47
+f 16 47 48
+f 16 48 49
+f 16 49 50
+f 16 50 51
+f 16 51 52
+f 16 52 53
+f 16 53 54
+f 16 54 55
+f 16 55 56
+f 16 56 57
+f 16 57 58
+f 16 58 17
+f 17 58 59
+f 17 59 60
+f 17 60 18
+f 18 60 61
+f 19 62 20
+f 20 62 63
+f 20 63 21
+f 21 63 22
+f 22 63 23
+f 23 63 25
+f 24 26 29
+f 25 63 64
+f 25 64 65
+f 25 65 26
+f 26 65 66
+f 26 66 67
+f 26 67 29
+f 27 28 69
+f 27 69 68
+f 28 29 70
+f 28 70 69
+f 29 67 70
+f 30 71 72
+f 30 72 73
+f 30 73 74
+f 30 74 75
+f 30 75 31
+f 31 75 76
+f 31 76 77
+f 31 77 78
+f 31 78 79
+f 31 79 80
+f 31 80 81
+f 31 81 32
+f 32 81 33
+f 33 81 34
+f 34 81 82
+f 34 82 35
+f 35 82 36
+f 36 82 83
+f 36 83 84
+f 36 84 37
+f 37 84 38
+f 38 84 39
+f 39 84 85
+f 39 85 86
+f 39 86 40
+f 40 86 41
+f 41 86 87
+f 41 87 88
+f 41 88 42
+f 42 88 43
+f 43 88 89
+f 43 89 90
+f 43 90 44
+f 44 90 45
+f 45 90 46
+f 46 90 91
+f 46 91 92
+f 46 92 47
+f 47 92 48
+f 48 92 93
+f 48 93 49
+f 49 93 94
+f 49 94 50
+f 50 94 51
+f 51 94 95
+f 51 95 52
+f 52 95 96
+f 52 96 53
+f 53 96 97
+f 53 97 54
+f 54 97 98
+f 54 98 55
+f 55 98 99
+f 55 99 56
+f 56 99 57
+f 57 99 59
+f 57 59 58
+f 59 99 100
+f 59 100 101
+f 59 101 102
+f 59 102 103
+f 59 103 60
+f 60 103 61
+f 61 103 104
+f 61 104 105
+f 62 106 107
+f 62 107 63
+f 62 108 106
+f 63 107 109
+f 63 109 110
+f 63 110 64
+f 64 110 111
+f 64 111 65
+f 65 111 112
+f 65 112 66
+f 66 113 114
+f 66 114 67
+f 66 112 113
+f 67 114 70
+f 68 69 115
+f 68 115 116
+f 69 70 117
+f 69 117 115
+f 70 114 117
+f 71 118 119
+f 71 119 72
+f 72 119 120
+f 72 120 121
+f 72 121 122
+f 72 122 73
+f 73 122 123
+f 73 123 74
+f 74 123 75
+f 75 123 124
+f 75 124 76
+f 76 124 77
+f 77 125 126
+f 77 126 127
+f 77 127 78
+f 77 124 125
+f 78 127 128
+f 78 128 79
+f 79 128 80
+f 80 128 129
+f 80 129 130
+f 80 130 131
+f 80 131 132
+f 80 132 81
+f 81 132 133
+f 81 133 134
+f 81 134 82
+f 82 134 135
+f 82 135 83
+f 83 135 136
+f 83 136 84
+f 84 136 85
+f 85 137 86
+f 85 136 137
+f 86 137 87
+f 87 137 88
+f 88 137 138
+f 88 138 89
+f 89 139 90
+f 89 138 139
+f 90 139 91
+f 91 140 92
+f 91 139 140
+f 92 140 93
+f 93 141 94
+f 93 140 141
+f 94 141 95
+f 95 141 142
+f 95 142 96
+f 96 142 143
+f 96 143 97
+f 97 143 144
+f 97 144 98
+f 98 144 100
+f 98 100 99
+f 100 144 145
+f 100 145 146
+f 100 146 101
+f 101 146 147
+f 101 147 102
+f 102 147 148
+f 102 148 103
+f 103 148 149
+f 103 149 104
+f 104 149 150
+f 104 150 151
+f 104 151 105
+f 106 152 107
+f 106 108 153
+f 106 153 152
+f 107 152 109
+f 108 154 153
+f 109 152 110
+f 110 152 155
+f 110 155 156
+f 110 156 157
+f 110 157 158
+f 110 158 111
+f 111 158 159
+f 111 159 160
+f 111 160 161
+f 111 161 162
+f 111 162 163
+f 111 163 112
+f 112 163 164
+f 112 164 113
+f 113 165 166
+f 113 166 114
+f 113 164 165
+f 114 166 117
+f 115 117 167
+f 115 167 168
+f 115 168 169
+f 115 169 116
+f 117 166 167
+f 118 170 171
+f 118 171 119
+f 119 171 172
+f 119 172 120
+f 120 173 121
+f 120 172 174
+f 120 174 173
+f 121 161 122
+f 121 173 161
+f 122 160 159
+f 122 159 175
+f 122 175 123
+f 122 161 160
+f 123 175 159
+f 123 159 176
+f 123 176 177
+f 123 177 178
+f 123 178 179
+f 123 179 124
+f 124 179 180
+f 124 180 125
+f 125 180 181
+f 125 181 126
+f 126 181 127
+f 127 181 128
+f 128 181 129
+f 129 181 182
+f 129 182 183
+f 129 183 130
+f 130 183 184
+f 130 184 131
+f 131 184 132
+f 132 184 185
+f 132 185 133
+f 133 185 186
+f 133 186 134
+f 134 186 187
+f 134 187 135
+f 135 187 188
+f 135 188 136
+f 136 188 137
+f 137 188 189
+f 137 189 138
+f 138 189 190
+f 138 190 139
+f 139 190 191
+f 139 191 140
+f 140 191 192
+f 140 192 142
+f 140 142 141
+f 142 192 193
+f 142 193 143
+f 143 193 194
+f 143 194 144
+f 144 194 145
+f 145 194 195
+f 145 195 146
+f 146 195 196
+f 146 196 147
+f 147 196 148
+f 148 196 197
+f 148 197 198
+f 148 198 199
+f 148 199 149
+f 149 199 150
+f 150 199 151
+f 151 199 154
+f 152 153 200
+f 152 200 201
+f 152 201 156
+f 152 156 155
+f 153 202 181
+f 153 181 180
+f 153 180 179
+f 153 179 178
+f 153 178 200
+f 153 154 203
+f 153 203 202
+f 154 199 204
+f 154 204 205
+f 154 205 203
+f 156 201 177
+f 156 177 176
+f 156 176 159
+f 156 159 157
+f 157 159 158
+f 161 173 162
+f 162 173 206
+f 162 206 207
+f 162 207 164
+f 162 164 163
+f 164 208 209
+f 164 209 165
+f 164 207 208
+f 165 209 210
+f 165 210 211
+f 165 211 166
+f 166 211 167
+f 167 212 168
+f 167 211 212
+f 168 213 214
+f 168 214 169
+f 168 212 215
+f 168 215 213
+f 170 216 217
+f 170 217 171
+f 171 217 218
+f 171 218 172
+f 172 218 219
+f 172 219 174
+f 173 174 206
+f 174 219 206
+f 177 201 200
+f 177 200 178
+f 181 202 182
+f 182 202 220
+f 182 220 183
+f 183 220 184
+f 184 220 185
+f 185 220 221
+f 185 221 186
+f 186 221 222
+f 186 222 187
+f 187 222 188
+f 188 222 189
+f 189 222 190
+f 190 223 191
+f 190 222 224
+f 190 224 223
+f 191 225 192
+f 191 223 225
+f 192 225 193
+f 193 225 194
+f 194 225 195
+f 195 225 223
+f 195 223 226
+f 195 226 196
+f 196 226 197
+f 197 226 220
+f 197 220 227
+f 197 227 198
+f 198 227 202
+f 198 202 199
+f 199 202 228
+f 199 228 204
+f 202 203 204
+f 202 204 228
+f 202 227 220
+f 203 205 204
+f 206 219 229
+f 206 229 208
+f 206 208 207
+f 208 229 230
+f 208 230 231
+f 208 231 209
+f 209 231 232
+f 209 232 210
+f 210 232 212
+f 210 212 211
+f 212 233 215
+f 212 232 233
+f 213 215 234
+f 213 234 235
+f 215 233 234
+f 216 236 217
+f 217 236 237
+f 217 237 218
+f 218 237 238
+f 218 238 219
+f 219 238 229
+f 220 239 240
+f 220 240 221
+f 220 226 239
+f 221 240 223
+f 221 223 224
+f 221 224 222
+f 223 240 239
+f 223 239 226
+f 229 238 230
+f 230 241 242
+f 230 242 231
+f 230 238 241
+f 231 242 243
+f 231 243 244
+f 231 244 232
+f 232 244 245
+f 232 245 246
+f 232 246 233
+f 233 246 234
+f 234 246 247
+f 234 247 235
+f 236 248 237
+f 237 248 249
+f 237 249 238
+f 238 249 250
+f 238 250 241
+f 241 250 251
+f 241 251 252
+f 241 252 253
+f 241 253 254
+f 241 254 242
+f 242 254 255
+f 242 255 243
+f 243 255 256
+f 243 256 257
+f 243 257 244
+f 244 257 258
+f 244 258 245
+f 245 258 259
+f 245 259 246
+f 246 259 247
+f 248 260 249
+f 249 260 250
+f 250 261 251
+f 250 260 262
+f 250 262 261
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_1.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.08364360 -0.08028021 -0.01752314
+v 0.08381119 -0.08028021 -0.01752753
+v 0.07103274 -0.09445833 -0.01752759
+v 0.08910619 -0.08028022 -0.01345141
+v 0.09502786 -0.08028021 -0.01752753
+v 0.07936630 -0.09445834 -0.01345147
+v 0.08805691 -0.09445833 -0.01752759
+v 0.09584640 -0.08028022 -0.01345141
+v 0.09532661 -0.08028021 -0.01621631
+v 0.09445463 -0.08415643 -0.01620316
+v 0.09414374 -0.08417864 -0.01752755
+v 0.08895560 -0.09445834 -0.01345147
+v 0.08853540 -0.09397813 -0.01752759
+v 0.08921063 -0.09398647 -0.01456637
+v 0.08866899 -0.09445834 -0.01485886
+v 0.09498899 -0.08415644 -0.01345143
+v 0.09375025 -0.08540687 -0.01752755
+v 0.08931994 -0.09410305 -0.01345147
+v 0.08888759 -0.09360342 -0.01752758
+v 0.08895074 -0.09368114 -0.01701003
+v 0.09025992 -0.09221975 -0.01595419
+v 0.09087443 -0.09204767 -0.01345146
+v 0.09024778 -0.09288592 -0.01345146
+v 0.09473882 -0.08484758 -0.01345143
+v 0.09330576 -0.08663372 -0.01752756
+v 0.09018706 -0.09184781 -0.01752758
+v 0.09212289 -0.09028512 -0.01345145
+v 0.09372354 -0.08744700 -0.01345144
+v 0.09345150 -0.08692655 -0.01620317
+v 0.09244108 -0.08888201 -0.01620318
+v 0.09232206 -0.08850591 -0.01752757
+v 0.09158853 -0.08975357 -0.01752757
+v 0.09271311 -0.08940384 -0.01345145
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 11
+f 2 11 17
+f 2 17 25
+f 2 25 31
+f 2 31 32
+f 2 32 26
+f 2 26 19
+f 2 19 13
+f 2 13 7
+f 2 7 3
+f 3 6 4
+f 3 7 15
+f 3 15 12
+f 3 12 6
+f 4 6 12
+f 4 12 18
+f 4 18 23
+f 4 23 22
+f 4 22 27
+f 4 27 33
+f 4 33 28
+f 4 28 24
+f 4 24 16
+f 4 16 8
+f 5 9 10
+f 5 10 11
+f 7 13 14
+f 7 14 15
+f 8 16 9
+f 9 16 10
+f 10 17 11
+f 10 16 17
+f 12 15 18
+f 13 19 20
+f 13 20 14
+f 14 18 15
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 18
+f 16 24 17
+f 17 24 25
+f 19 26 20
+f 20 26 21
+f 21 26 27
+f 21 27 22
+f 24 28 29
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 26 32 33
+f 26 33 27
+f 28 33 29
+f 29 33 30
+f 30 33 32
+f 30 32 31
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_10.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02143186 -0.11547426 0.02519226
+v -0.02143186 -0.11840187 0.02376213
+v -0.01755188 -0.11840404 0.02376213
+v -0.00203195 -0.11547426 0.02515044
+v -0.00591193 -0.11155921 0.02433503
+v -0.06793848 -0.11155921 0.02421795
+v -0.03695178 -0.11547426 0.02514208
+v -0.03695178 -0.11842140 0.02374540
+v -0.01755188 -0.11840403 0.02114024
+v -0.00006538 -0.11837798 0.02372449
+v -0.05635169 -0.11845395 0.02358649
+v -0.04859173 -0.11844527 0.02359903
+v -0.00006538 -0.11547426 0.02514208
+v -0.00203195 -0.11155921 0.02432667
+v -0.00006538 -0.11022453 0.02360744
+v -0.00006538 -0.10892023 0.02290074
+v -0.06793848 -0.10885730 0.02289656
+v -0.06793848 -0.11547426 0.02479500
+v -0.06411165 -0.11843876 0.02354049
+v -0.06023167 -0.11845829 0.02356976
+v -0.00006538 -0.10800210 -0.01751896
+v -0.00006538 -0.11837797 0.02128660
+v -0.04859173 -0.11844526 0.02096878
+v -0.00006538 -0.11155921 0.02431830
+v -0.00006538 -0.10826917 0.02166716
+v -0.06793848 -0.10731428 0.02045867
+v -0.06793848 -0.11838016 0.02347778
+v -0.06411165 -0.11843875 0.02098133
+v -0.06023167 -0.11845828 0.02096878
+v -0.00006538 -0.09629385 -0.01751891
+v -0.05247171 -0.11844960 0.02096460
+v -0.05635169 -0.11845394 0.02096460
+v -0.06411165 -0.10803682 -0.01751896
+v -0.00006538 -0.10763330 0.02045866
+v -0.06793848 -0.10614235 0.01669938
+v -0.06793848 -0.11838015 0.02103152
+v -0.00591193 -0.09628951 -0.01751891
+v -0.06793848 -0.10770911 -0.01751896
+v -0.06793848 -0.09654993 -0.01751891
+v -0.00629063 -0.09628951 -0.01751891
+v -0.00979191 -0.09629602 -0.01751891
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 3
+f 3 9 22
+f 3 22 10
+f 3 10 4
+f 3 8 11
+f 3 11 12
+f 3 12 23
+f 3 23 9
+f 4 10 13
+f 4 13 24
+f 4 24 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 26
+f 6 26 35
+f 6 35 39
+f 6 39 38
+f 6 38 36
+f 6 36 27
+f 6 27 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 11
+f 9 21 22
+f 9 23 21
+f 10 22 21
+f 10 21 30
+f 10 30 34
+f 10 34 25
+f 10 25 16
+f 10 16 15
+f 10 15 24
+f 10 24 13
+f 11 20 29
+f 11 29 32
+f 11 32 31
+f 11 31 23
+f 11 23 12
+f 14 24 15
+f 16 25 26
+f 16 26 17
+f 18 27 19
+f 19 27 36
+f 19 36 28
+f 19 28 29
+f 19 29 20
+f 21 23 31
+f 21 31 32
+f 21 32 29
+f 21 29 33
+f 21 33 38
+f 21 38 39
+f 21 39 41
+f 21 41 40
+f 21 40 37
+f 21 37 30
+f 25 34 26
+f 26 34 35
+f 28 36 33
+f 28 33 29
+f 30 37 35
+f 30 35 34
+f 33 36 38
+f 35 37 40
+f 35 40 41
+f 35 41 39
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_11.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.06710237 0.10844397 -0.01299483
+v 0.06782996 0.10839979 -0.01299483
+v 0.06710237 0.10183652 -0.01299486
+v 0.06710237 0.11837294 0.02110003
+v 0.06782996 0.11835914 0.02111116
+v 0.07170927 0.10754107 -0.01299483
+v 0.07170927 0.11812720 0.02131896
+v 0.07559202 0.11773788 0.02182363
+v 0.07764374 0.11749490 0.02221327
+v 0.08434029 0.09016789 -0.01299490
+v 0.06710237 0.10227278 -0.00977759
+v 0.06710237 0.11837293 0.02343783
+v 0.06782996 0.11835913 0.02342670
+v 0.07203685 0.10741681 -0.01299484
+v 0.07170927 0.11812719 0.02322631
+v 0.07559202 0.11773788 0.02274020
+v 0.07764374 0.11749490 0.02236541
+v 0.08578511 0.11383913 0.02182734
+v 0.07477823 0.10633168 -0.01299484
+v 0.09231270 0.09016789 -0.01299490
+v 0.09063683 0.09016778 0.01679169
+v 0.06710237 0.10543421 0.01309579
+v 0.06710237 0.11549857 0.02476258
+v 0.06782996 0.11549857 0.02475516
+v 0.07170927 0.11549857 0.02458446
+v 0.07559202 0.11549857 0.02414659
+v 0.07915064 0.11564491 0.02346009
+v 0.08335408 0.11443553 0.02331908
+v 0.08578511 0.11383913 0.02274390
+v 0.09018166 0.11041806 0.02143027
+v 0.07705064 0.10494834 -0.01299484
+v 0.07671615 0.10519409 -0.01299484
+v 0.09096097 0.09204271 -0.01299489
+v 0.09769545 0.10284145 0.02138942
+v 0.10100235 0.09824966 0.02190520
+v 0.10147131 0.09592753 0.02130404
+v 0.10211268 0.09201220 0.02077710
+v 0.10217131 0.09016776 0.02051362
+v 0.09109890 0.09016777 0.01817582
+v 0.06710237 0.10616866 0.01669898
+v 0.06710237 0.10607478 0.01624997
+v 0.06710237 0.11158602 0.02419482
+v 0.09887131 0.09016775 0.02470683
+v 0.09887131 0.09201219 0.02478105
+v 0.07947133 0.11158602 0.02491100
+v 0.08335408 0.11158602 0.02470319
+v 0.08714029 0.11166885 0.02361964
+v 0.09018166 0.11041806 0.02310755
+v 0.09411959 0.10677333 0.02135974
+v 0.08391615 0.09924104 -0.01299487
+v 0.08211271 0.10084527 -0.01299486
+v 0.08068856 0.10207950 -0.01299486
+v 0.07957822 0.10299621 -0.01299485
+v 0.08932649 0.09413566 -0.01299488
+v 0.09769545 0.10284145 0.02308897
+v 0.10100235 0.09824966 0.02259912
+v 0.10147131 0.09592753 0.02311120
+v 0.10211268 0.09201219 0.02356020
+v 0.10232993 0.09016775 0.02359730
+v 0.09178855 0.09016777 0.02021676
+v 0.06710237 0.10741945 0.02045802
+v 0.06710237 0.10894360 0.02287005
+v 0.09496097 0.09016775 0.02345629
+v 0.09887131 0.09592752 0.02443596
+v 0.09499200 0.09984283 0.02484417
+v 0.09111270 0.10375814 0.02489242
+v 0.08722994 0.10767070 0.02491470
+v 0.09132994 0.10791644 0.02385341
+v 0.09411959 0.10677332 0.02315948
+v 0.08728166 0.09610713 -0.01299488
+v 0.08666098 0.09670354 -0.01299487
+v 0.09524718 0.10399284 0.02383484
+v 0.09894373 0.09966888 0.02349343
+v 0.09287476 0.09016776 0.02216493
+v 0.09299545 0.09016776 0.02233191
+f 1 2 6
+f 1 6 14
+f 1 14 19
+f 1 19 32
+f 1 32 31
+f 1 31 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 71
+f 1 71 70
+f 1 70 54
+f 1 54 33
+f 1 33 20
+f 1 20 10
+f 1 10 3
+f 1 3 11
+f 1 11 22
+f 1 22 41
+f 1 41 40
+f 1 40 61
+f 1 61 62
+f 1 62 42
+f 1 42 23
+f 1 23 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 4 12 13
+f 4 13 5
+f 5 13 15
+f 5 15 7
+f 6 9 14
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 29
+f 9 29 18
+f 9 18 19
+f 9 19 14
+f 10 20 38
+f 10 38 59
+f 10 59 43
+f 10 43 63
+f 10 63 75
+f 10 75 74
+f 10 74 60
+f 10 60 39
+f 10 39 21
+f 10 21 22
+f 10 22 11
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 18 29 48
+f 18 48 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 24 45 25
+f 25 45 46
+f 25 46 26
+f 26 46 27
+f 27 46 28
+f 28 46 47
+f 28 47 29
+f 29 47 48
+f 30 48 69
+f 30 69 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 31
+f 33 54 34
+f 34 49 69
+f 34 69 55
+f 34 55 56
+f 34 56 35
+f 34 54 49
+f 35 56 57
+f 35 57 36
+f 36 57 58
+f 36 58 37
+f 37 58 59
+f 37 59 38
+f 39 60 40
+f 40 60 61
+f 42 62 63
+f 42 63 43
+f 43 59 44
+f 44 59 58
+f 44 58 64
+f 44 64 65
+f 44 65 66
+f 44 66 45
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 47
+f 47 68 48
+f 48 68 69
+f 49 54 70
+f 49 70 71
+f 49 71 50
+f 55 69 72
+f 55 72 73
+f 55 73 56
+f 56 73 57
+f 57 73 64
+f 57 64 58
+f 60 74 61
+f 61 74 75
+f 61 75 62
+f 62 75 63
+f 64 72 65
+f 64 73 72
+f 65 72 66
+f 66 72 67
+f 67 72 68
+f 68 72 69
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_12.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01737856 -0.11547312 0.02517258
+v 0.01737856 -0.11838732 0.02370965
+v 0.02514098 -0.11839818 0.02368875
+v 0.02126308 -0.11547312 0.02516422
+v 0.02126308 -0.11155928 0.02433246
+v 0.01737856 -0.11155928 0.02433664
+v -0.00006538 -0.11155928 0.02431574
+v -0.00006538 -0.11349555 0.02472535
+v -0.00006538 -0.11547312 0.02513915
+v 0.00186033 -0.11837862 0.02372637
+v 0.02902550 -0.11840037 0.02367621
+v 0.04454373 -0.11844600 0.02359261
+v 0.04065921 -0.11841993 0.02363023
+v 0.03678131 -0.11840471 0.02365113
+v 0.06006196 -0.11845035 0.02353827
+v 0.03678131 -0.11547312 0.02506391
+v 0.06753982 -0.11185048 0.02425722
+v 0.06753982 -0.11155928 0.02420289
+v 0.05229953 -0.11155928 0.02425722
+v 0.06753982 -0.10913838 0.02297404
+v 0.06753982 -0.10894932 0.02287372
+v 0.00573823 -0.10891889 0.02289880
+v -0.00006538 -0.10891889 0.02289880
+v -0.00006538 -0.11022496 0.02360518
+v -0.00006538 -0.11837862 0.02372219
+v 0.04842163 -0.11846121 0.02355499
+v 0.05618405 -0.11845686 0.02354245
+v 0.06006196 -0.11845034 0.02100532
+v 0.06394648 -0.11843296 0.02351319
+v 0.05618405 -0.11547312 0.02491762
+v 0.06394648 -0.11547312 0.02485074
+v 0.06753982 -0.11547312 0.02479222
+v 0.06753982 -0.10756067 0.02063336
+v -0.00006538 -0.10763238 0.02045781
+v 0.06753982 -0.10745853 0.02045782
+v -0.00006538 -0.11837861 0.02128538
+v 0.04842163 -0.11846120 0.02099696
+v 0.05618405 -0.11845685 0.02099278
+v 0.06254355 -0.10803862 -0.01752804
+v 0.06394648 -0.11843295 0.02101368
+v 0.06753982 -0.11838081 0.02346304
+v 0.06753982 -0.11569479 0.02469191
+v -0.00006538 -0.09628187 -0.01752799
+v 0.06753982 -0.10632630 0.01700532
+v -0.00006538 -0.10800168 -0.01752804
+v 0.05229953 -0.11845903 0.02099278
+v 0.06394648 -0.10802558 -0.01752804
+v 0.06753982 -0.11838080 0.02104295
+v 0.00573823 -0.09626666 -0.01752799
+v 0.06753982 -0.09640356 -0.01752799
+v 0.00962275 -0.09626231 -0.01752799
+v 0.00926541 -0.09626231 -0.01752799
+v 0.06642145 -0.10784304 -0.01752804
+v 0.06753982 -0.10774742 -0.01752804
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 3
+f 3 11 4
+f 3 10 12
+f 3 12 13
+f 3 13 11
+f 4 11 14
+f 4 14 13
+f 4 13 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 24 23
+f 7 23 34
+f 7 34 43
+f 7 43 45
+f 7 45 36
+f 7 36 25
+f 7 25 9
+f 7 9 8
+f 9 25 10
+f 10 25 26
+f 10 26 12
+f 11 13 14
+f 12 26 27
+f 12 27 15
+f 12 15 13
+f 15 27 38
+f 15 38 28
+f 15 28 40
+f 15 40 29
+f 15 29 30
+f 15 30 16
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 42
+f 17 42 41
+f 17 41 48
+f 17 48 54
+f 17 54 50
+f 17 50 44
+f 17 44 35
+f 17 35 33
+f 17 33 21
+f 17 21 20
+f 17 20 18
+f 18 20 19
+f 21 33 22
+f 22 33 23
+f 23 33 35
+f 23 35 34
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 27
+f 28 38 39
+f 28 39 40
+f 29 31 30
+f 29 40 48
+f 29 48 41
+f 29 41 42
+f 29 42 32
+f 29 32 31
+f 34 35 44
+f 34 44 43
+f 36 45 37
+f 37 39 46
+f 37 46 38
+f 37 45 39
+f 38 46 39
+f 39 47 40
+f 39 45 43
+f 39 43 49
+f 39 49 52
+f 39 52 51
+f 39 51 50
+f 39 50 54
+f 39 54 53
+f 39 53 47
+f 40 47 48
+f 43 44 49
+f 44 50 51
+f 44 51 52
+f 44 52 49
+f 47 53 48
+f 48 53 54
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_13.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01367299 0.11550097 0.02525111
+v -0.01367299 0.11836600 0.02375329
+v -0.01755316 0.11837684 0.02375030
+v -0.01755316 0.11550097 0.02524812
+v -0.01367299 0.11158538 0.02434822
+v -0.00979282 0.11158538 0.02434224
+v -0.00021951 0.11550097 0.02523018
+v -0.00021951 0.11682579 0.02454257
+v -0.00021951 0.11834430 0.02375329
+v -0.04470764 0.11844037 0.02361877
+v -0.04082747 0.11842643 0.02367557
+v -0.03694730 0.11841248 0.02370546
+v -0.03694730 0.11550097 0.02515245
+v -0.06856397 0.11158538 0.02425554
+v -0.06411516 0.11845278 0.02355897
+v -0.06856397 0.11116082 0.02406121
+v -0.06856397 0.10890475 0.02291615
+v -0.00021951 0.11020632 0.02353502
+v -0.00021951 0.11158538 0.02432131
+v -0.00021951 0.11340759 0.02474586
+v -0.00021951 0.11834431 0.02140939
+v -0.04859449 0.11844967 0.02357990
+v -0.05247466 0.11845743 0.02357392
+v -0.05635483 0.11846207 0.02356794
+v -0.06023500 0.11846207 0.02356495
+v -0.06411516 0.11550097 0.02489833
+v -0.06856397 0.11492920 0.02478771
+v -0.06411516 0.11845279 0.02107754
+v -0.06799533 0.11840319 0.02351711
+v -0.06799533 0.11550097 0.02485349
+v -0.06856397 0.10859949 0.02252152
+v -0.00021951 0.10900392 0.02284440
+v -0.00021951 0.10937589 -0.00528847
+v -0.04859449 0.11844968 0.02110445
+v -0.05247466 0.11845744 0.02110146
+v -0.05635483 0.11846208 0.02108950
+v -0.06023500 0.11846208 0.02107754
+v -0.06856397 0.11550097 0.02482957
+v -0.06411516 0.10956494 -0.00528847
+v -0.06799533 0.11840320 0.02112537
+v -0.06856397 0.11837219 0.02349020
+v -0.06856397 0.11798017 0.02368453
+v -0.06856397 0.10727157 0.02044667
+v -0.00021951 0.10768839 0.02045864
+v -0.00021951 0.10336692 -0.00528849
+v -0.06494471 0.10954169 -0.00528847
+v -0.06856397 0.11837220 0.02115227
+v -0.06856397 0.10704071 0.01988461
+v -0.00021951 0.10716622 0.01849740
+v -0.06856397 0.10603974 0.01708627
+v -0.06856397 0.10593902 0.01676039
+v -0.00021951 0.10474749 0.00579723
+v -0.06856397 0.10263401 -0.00528849
+v -0.06793512 0.10932941 -0.00528847
+v -0.06856397 0.10920545 -0.00528847
+v -0.00021951 0.10671532 0.01679328
+v -0.06856397 0.10522006 0.01325051
+v -0.00021951 0.10560589 0.01186330
+v -0.00021951 0.10523247 0.00946259
+v -0.06856397 0.10512089 0.01261072
+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 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 13 14
+f 4 14 5
+f 4 12 15
+f 4 15 13
+f 5 14 16
+f 5 16 17
+f 5 17 6
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 6 17 18
+f 7 20 19
+f 7 19 18
+f 7 18 32
+f 7 32 44
+f 7 44 49
+f 7 49 56
+f 7 56 58
+f 7 58 59
+f 7 59 52
+f 7 52 45
+f 7 45 33
+f 7 33 21
+f 7 21 9
+f 7 9 8
+f 9 21 34
+f 9 34 22
+f 9 22 10
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 15
+f 13 15 26
+f 13 26 27
+f 13 27 14
+f 14 27 38
+f 14 38 42
+f 14 42 41
+f 14 41 47
+f 14 47 55
+f 14 55 53
+f 14 53 60
+f 14 60 57
+f 14 57 51
+f 14 51 50
+f 14 50 48
+f 14 48 43
+f 14 43 31
+f 14 31 17
+f 14 17 16
+f 15 25 37
+f 15 37 28
+f 15 28 40
+f 15 40 29
+f 15 29 30
+f 15 30 26
+f 17 31 32
+f 17 32 18
+f 21 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 25
+f 26 30 27
+f 27 30 38
+f 28 37 39
+f 28 39 40
+f 29 40 47
+f 29 47 41
+f 29 41 42
+f 29 42 38
+f 29 38 30
+f 31 43 32
+f 32 43 44
+f 33 45 53
+f 33 53 55
+f 33 55 54
+f 33 54 46
+f 33 46 39
+f 33 39 34
+f 34 39 35
+f 35 39 36
+f 36 39 37
+f 39 46 40
+f 40 46 47
+f 43 48 44
+f 44 48 50
+f 44 50 51
+f 44 51 49
+f 45 52 53
+f 46 54 47
+f 47 54 55
+f 49 51 56
+f 51 57 58
+f 51 58 56
+f 52 59 53
+f 53 59 60
+f 57 60 59
+f 57 59 58
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_14.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.06856398 0.11837079 0.02115353
+v -0.06856398 0.11837078 0.02348949
+v -0.06856398 0.11124096 0.01312730
+v -0.07187987 0.11819378 0.02131127
+v -0.07187987 0.11819377 0.02332711
+v -0.06856398 0.11797903 0.02368666
+v -0.06856398 0.10519931 0.01312728
+v -0.07187987 0.11082310 0.01312730
+v -0.07576230 0.11776140 0.02183901
+v -0.07576230 0.11776140 0.02277270
+v -0.08352383 0.11441845 0.02333986
+v -0.07929481 0.11562562 0.02343728
+v -0.07576230 0.11550084 0.02416103
+v -0.07187987 0.11550084 0.02467601
+v -0.06856398 0.11550084 0.02482911
+v -0.09068882 0.08872839 0.01312722
+v -0.06856398 0.10521961 0.01325138
+v -0.09139199 0.08872838 0.01679353
+v -0.07494915 0.11004250 0.01312729
+v -0.07777183 0.11748281 0.02224728
+v -0.07777183 0.11748281 0.02234239
+v -0.08352383 0.11158624 0.02472936
+v -0.08595326 0.11384680 0.02277384
+v -0.08730628 0.11164718 0.02361937
+v -0.07964140 0.11158624 0.02497525
+v -0.06856398 0.11492918 0.02478852
+v -0.09904354 0.08872835 0.02473507
+v -0.09738727 0.08872839 0.01312722
+v -0.06856398 0.10593636 0.01676343
+v -0.09157861 0.08872838 0.01734098
+v -0.07688870 0.10929092 0.01312729
+v -0.08352383 0.11441846 0.02129967
+v -0.08595326 0.11384680 0.02186220
+v -0.09146198 0.10787477 0.02383162
+v -0.08739959 0.10766874 0.02493580
+v -0.09028891 0.11038199 0.02309396
+v -0.09128202 0.10375414 0.02491838
+v -0.09904354 0.09201324 0.02479540
+v -0.06856398 0.11158624 0.02425729
+v -0.10209950 0.08872835 0.02383386
+v -0.09841702 0.08872835 0.02459589
+v -0.10260605 0.08872836 0.02065005
+v -0.10220615 0.09201325 0.02088552
+v -0.10152297 0.09592785 0.02154201
+v -0.09697070 0.08975564 0.01312722
+v -0.06856398 0.10603793 0.01708819
+v -0.09261171 0.08872837 0.02026846
+v -0.07964140 0.10778776 0.01312729
+v -0.09028891 0.11038199 0.02150959
+v -0.08217747 0.10616562 0.01312728
+v -0.09417468 0.10670533 0.02313917
+v -0.09534774 0.10391084 0.02378984
+v -0.09516112 0.09984244 0.02484066
+v -0.09904354 0.09592784 0.02430479
+v -0.10220615 0.09201324 0.02354159
+v -0.06856398 0.11115967 0.02406128
+v -0.10260605 0.08872835 0.02363205
+v -0.09508780 0.08872835 0.02321798
+v -0.06856398 0.10890204 0.02291765
+v -0.10152297 0.09592785 0.02298371
+v -0.10107641 0.09806942 0.02211962
+v -0.09586096 0.09167087 0.01312723
+v -0.09778051 0.10271239 0.02149680
+v -0.06856398 0.10703906 0.01988461
+v -0.09346485 0.08872836 0.02183775
+v -0.06856398 0.10726830 0.02044830
+v -0.08411702 0.10456089 0.01312727
+v -0.08631317 0.10260505 0.01312727
+v -0.09417468 0.10670533 0.02143766
+v -0.09778051 0.10271239 0.02304869
+v -0.09906021 0.09956096 0.02338272
+v -0.09490117 0.08872836 0.02312403
+v -0.06856398 0.10859735 0.02252329
+v -0.09475788 0.08872836 0.02301269
+v -0.10107641 0.09806942 0.02245830
+v -0.09384809 0.09477585 0.01312724
+v -0.09218514 0.09673170 0.01312725
+v -0.08825272 0.10074786 0.01312726
+v -0.09024559 0.09879201 0.01312725
+f 1 2 6
+f 1 6 15
+f 1 15 26
+f 1 26 39
+f 1 39 56
+f 1 56 59
+f 1 59 73
+f 1 73 66
+f 1 66 64
+f 1 64 46
+f 1 46 29
+f 1 29 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 16
+f 3 16 28
+f 3 28 45
+f 3 45 62
+f 3 62 76
+f 3 76 77
+f 3 77 79
+f 3 79 78
+f 3 78 68
+f 3 68 67
+f 3 67 50
+f 3 50 48
+f 3 48 31
+f 3 31 19
+f 3 19 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 7 17 18
+f 7 18 16
+f 8 19 9
+f 9 20 21
+f 9 21 10
+f 9 19 20
+f 10 21 11
+f 11 22 13
+f 11 13 12
+f 11 21 23
+f 11 23 24
+f 11 24 22
+f 13 22 14
+f 14 22 25
+f 14 25 15
+f 15 25 27
+f 15 27 26
+f 16 18 30
+f 16 30 47
+f 16 47 65
+f 16 65 74
+f 16 74 72
+f 16 72 58
+f 16 58 41
+f 16 41 27
+f 16 27 40
+f 16 40 57
+f 16 57 42
+f 16 42 28
+f 17 29 18
+f 18 29 30
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 23
+f 20 23 21
+f 22 24 34
+f 22 34 35
+f 22 35 25
+f 23 33 49
+f 23 49 36
+f 23 36 24
+f 24 36 34
+f 25 35 37
+f 25 37 38
+f 25 38 27
+f 26 27 39
+f 27 38 40
+f 27 41 39
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 29 46 47
+f 29 47 30
+f 31 48 33
+f 31 33 32
+f 33 48 50
+f 33 50 49
+f 34 37 35
+f 34 36 51
+f 34 51 52
+f 34 52 37
+f 36 49 69
+f 36 69 51
+f 37 52 53
+f 37 53 38
+f 38 54 55
+f 38 55 40
+f 38 53 54
+f 39 41 56
+f 40 55 57
+f 41 58 59
+f 41 59 56
+f 42 57 55
+f 42 55 43
+f 43 55 60
+f 43 60 44
+f 44 60 75
+f 44 75 61
+f 44 61 45
+f 45 61 63
+f 45 63 62
+f 46 64 47
+f 47 64 66
+f 47 66 65
+f 49 50 67
+f 49 67 68
+f 49 68 69
+f 51 69 63
+f 51 63 70
+f 51 70 52
+f 52 70 71
+f 52 71 54
+f 52 54 53
+f 54 71 60
+f 54 60 55
+f 58 72 59
+f 59 72 74
+f 59 74 65
+f 59 65 73
+f 60 71 75
+f 61 75 70
+f 61 70 63
+f 62 63 76
+f 63 69 77
+f 63 77 76
+f 65 66 73
+f 68 78 69
+f 69 78 79
+f 69 79 77
+f 70 75 71
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_15.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.06753983 -0.09640426 -0.01752384
+v 0.07103596 -0.09445833 -0.01752384
+v 0.06753983 -0.10774736 -0.01752389
+v 0.06753983 -0.10632609 0.01700659
+v 0.08888800 -0.09445846 0.02019597
+v 0.08805496 -0.09445833 -0.01752384
+v 0.06783089 -0.10772161 -0.01752389
+v 0.07171177 -0.11816096 0.02122163
+v 0.06783089 -0.11837640 0.02104722
+v 0.06753983 -0.11838108 0.02104306
+v 0.06753983 -0.10745948 0.02045756
+v 0.08978797 -0.09445847 0.02132553
+v 0.08692080 -0.09559404 -0.01752384
+v 0.10171498 -0.09445847 0.02113866
+v 0.10147744 -0.09590094 0.02133799
+v 0.10100237 -0.09822155 0.02192768
+v 0.09768355 -0.10278080 0.02140441
+v 0.09409374 -0.10677336 0.02134626
+v 0.07030997 -0.10714789 -0.01752388
+v 0.07784757 -0.11753574 0.02207296
+v 0.07559265 -0.11779098 0.02166598
+v 0.07171177 -0.11816097 0.02326896
+v 0.06783089 -0.11837641 0.02345584
+v 0.06753983 -0.11838109 0.02345999
+v 0.06753983 -0.10756017 0.02063197
+v 0.06753983 -0.10894879 0.02287448
+v 0.09157451 -0.09445847 0.02304479
+v 0.08494021 -0.09754466 -0.01752385
+v 0.10171498 -0.09445848 0.02331472
+v 0.10147744 -0.09590095 0.02314446
+v 0.10100237 -0.09822155 0.02261289
+v 0.09768355 -0.10278080 0.02309459
+v 0.09409374 -0.10677337 0.02315688
+v 0.09022624 -0.11044981 0.02140022
+v 0.07175526 -0.10679899 -0.01752388
+v 0.08588367 -0.11386632 0.02174490
+v 0.07784757 -0.11753574 0.02247993
+v 0.07414401 -0.10596067 -0.01752388
+v 0.07559265 -0.11779098 0.02284953
+v 0.07927614 -0.11566005 0.02350153
+v 0.07559265 -0.11547272 0.02421581
+v 0.07171177 -0.11547272 0.02461448
+v 0.06783089 -0.11547272 0.02478889
+v 0.06753983 -0.11569284 0.02469338
+v 0.06753983 -0.11155977 0.02420336
+v 0.09499369 -0.09445848 0.02439860
+v 0.09251462 -0.09445848 0.02353067
+v 0.08449525 -0.09793572 -0.01752385
+v 0.10007229 -0.09445848 0.02417850
+v 0.09887123 -0.09590095 0.02451488
+v 0.09893479 -0.09964296 0.02351819
+v 0.09523124 -0.10394463 0.02382964
+v 0.09135705 -0.10790441 0.02383377
+v 0.09022624 -0.11044981 0.02311117
+v 0.07876761 -0.10278535 -0.01752387
+v 0.08070805 -0.10118597 -0.01752386
+v 0.08322058 -0.09903163 -0.01752385
+v 0.08588367 -0.11386632 0.02279971
+v 0.07505066 -0.10540803 -0.01752388
+v 0.07598074 -0.10479451 -0.01752387
+v 0.08335441 -0.11450326 0.02335618
+v 0.08335441 -0.11155977 0.02470169
+v 0.07947353 -0.11155977 0.02488026
+v 0.06753983 -0.11547272 0.02479305
+v 0.06753983 -0.11185014 0.02425735
+v 0.09642226 -0.09445848 0.02473913
+v 0.09887123 -0.09445848 0.02466023
+v 0.09499369 -0.09981624 0.02489276
+v 0.08719849 -0.11167686 0.02363443
+v 0.08723194 -0.10764448 0.02487197
+f 1 2 6
+f 1 6 13
+f 1 13 28
+f 1 28 48
+f 1 48 57
+f 1 57 56
+f 1 56 55
+f 1 55 60
+f 1 60 59
+f 1 59 38
+f 1 38 35
+f 1 35 19
+f 1 19 7
+f 1 7 3
+f 1 3 10
+f 1 10 24
+f 1 24 44
+f 1 44 64
+f 1 64 65
+f 1 65 45
+f 1 45 26
+f 1 26 25
+f 1 25 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 27
+f 2 27 47
+f 2 47 46
+f 2 46 66
+f 2 66 67
+f 2 67 49
+f 2 49 29
+f 2 29 14
+f 2 14 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 13
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 39
+f 8 39 22
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 10
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 13 18 28
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 18
+f 18 33 54
+f 18 54 34
+f 18 34 28
+f 19 35 20
+f 20 36 58
+f 20 58 37
+f 20 37 39
+f 20 39 21
+f 20 35 38
+f 20 38 36
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 23 42 43
+f 23 43 24
+f 24 43 44
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 28 34 48
+f 29 49 30
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 51 32
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 54
+f 34 54 58
+f 34 58 36
+f 34 36 55
+f 34 55 56
+f 34 56 57
+f 34 57 48
+f 36 38 59
+f 36 59 60
+f 36 60 55
+f 37 58 61
+f 37 61 39
+f 39 61 40
+f 40 61 41
+f 41 62 42
+f 41 61 62
+f 42 62 63
+f 42 63 43
+f 43 63 64
+f 43 64 44
+f 45 65 66
+f 45 66 46
+f 49 67 50
+f 50 67 68
+f 50 68 52
+f 50 52 51
+f 52 68 53
+f 53 69 54
+f 53 68 70
+f 53 70 62
+f 53 62 69
+f 54 69 58
+f 58 69 61
+f 61 69 62
+f 62 70 63
+f 63 70 68
+f 63 68 64
+f 64 66 65
+f 64 68 66
+f 66 68 67
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_16.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.08366166 0.00003219 -0.01752764
+v 0.09534659 0.00003205 0.02045722
+v 0.09579818 0.00003219 -0.01752764
+v 0.08365748 -0.00554943 -0.01752766
+v 0.09492636 -0.08028035 0.02045283
+v 0.09590899 0.00003205 0.02160245
+v 0.09580027 -0.00194889 -0.01752765
+v 0.10487810 0.00003205 0.02190920
+v 0.10499727 -0.07241105 0.02163899
+v 0.10500353 -0.07632605 0.02163489
+v 0.08365120 -0.08021732 -0.01752793
+v 0.08364702 -0.08028021 -0.01751975
+v 0.09629577 -0.08028035 0.02286600
+v 0.09647975 0.00003205 0.02276404
+v 0.09580027 -0.00586389 -0.01752766
+v 0.10487810 0.00003205 0.02263724
+v 0.10499727 -0.07241105 0.02286193
+v 0.10500353 -0.07632605 0.02287010
+v 0.10497636 -0.08028035 0.02169214
+v 0.09565810 -0.06849593 -0.01752789
+v 0.09569574 -0.06458093 -0.01752788
+v 0.09570619 -0.06066594 -0.01752786
+v 0.08381428 -0.08028021 -0.01752793
+v 0.09884433 -0.08028036 0.02423210
+v 0.09887360 -0.00194904 0.02409331
+v 0.09887360 0.00003204 0.02408923
+v 0.10382647 0.00003204 0.02329166
+v 0.10275394 -0.06458108 0.02424033
+v 0.10275394 -0.06849608 0.02425259
+v 0.10275394 -0.07241106 0.02425666
+v 0.10275394 -0.07632606 0.02424847
+v 0.10275394 -0.08024105 0.02420756
+v 0.10497636 -0.08024104 0.02282919
+v 0.10497636 -0.08028035 0.02282101
+v 0.09502671 -0.08028021 -0.01752793
+v 0.09503716 -0.08024090 -0.01752793
+v 0.09541767 -0.07632591 -0.01752792
+v 0.09557657 -0.07241091 -0.01752791
+v 0.09887360 -0.08028036 0.02424437
+v 0.09887360 -0.08024105 0.02424437
+v 0.10083259 0.00003204 0.02402379
+v 0.10275394 0.00003204 0.02395835
+v 0.10271631 -0.08028036 0.02420756
+v 0.10275394 -0.08028036 0.02420347
+v 0.10495545 -0.08028035 0.02284146
+f 1 2 6
+f 1 6 14
+f 1 14 26
+f 1 26 41
+f 1 41 42
+f 1 42 27
+f 1 27 16
+f 1 16 8
+f 1 8 3
+f 1 3 7
+f 1 7 15
+f 1 15 22
+f 1 22 21
+f 1 21 20
+f 1 20 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 23
+f 1 23 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 4 11 12
+f 4 12 5
+f 5 12 23
+f 5 23 35
+f 5 35 19
+f 5 19 34
+f 5 34 45
+f 5 45 44
+f 5 44 43
+f 5 43 39
+f 5 39 24
+f 5 24 13
+f 5 13 14
+f 5 14 6
+f 7 10 15
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 34
+f 10 34 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 15
+f 11 23 12
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 24 39 40
+f 24 40 25
+f 25 40 29
+f 25 29 26
+f 26 29 28
+f 26 28 41
+f 27 42 28
+f 28 42 41
+f 29 40 30
+f 30 40 39
+f 30 39 31
+f 31 39 43
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 33 45 34
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_17.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00021951 0.10336615 -0.00529148
+v -0.00021951 0.10037831 -0.01559700
+v -0.00021951 0.10937519 -0.00529146
+v -0.06856397 0.10263464 -0.00529148
+v -0.00021951 0.10822898 -0.01559697
+v -0.06856397 0.09984656 -0.01559700
+v -0.06411516 0.10956449 -0.00529146
+v -0.06856397 0.10920492 -0.00529146
+v -0.06411516 0.10829841 -0.01559697
+v -0.06411516 0.10870173 -0.01253609
+v -0.06856397 0.10784371 -0.01559697
+v -0.06494471 0.10954071 -0.00529146
+v -0.06796188 0.10932287 -0.00529146
+v -0.06799533 0.10840304 -0.01253609
+v -0.06856397 0.10835166 -0.01200139
+v -0.06475740 0.10824895 -0.01559697
+v -0.06793512 0.10932763 -0.00529146
+v -0.06799533 0.10797214 -0.01559697
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 18
+f 2 18 16
+f 2 16 9
+f 2 9 5
+f 3 5 7
+f 4 8 15
+f 4 15 11
+f 4 11 6
+f 5 9 10
+f 5 10 7
+f 7 10 12
+f 8 13 14
+f 8 14 15
+f 9 16 14
+f 9 14 10
+f 10 14 17
+f 10 17 12
+f 11 15 18
+f 13 17 14
+f 14 18 15
+f 14 16 18
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_18.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.06856398 0.10519854 0.01312612
+v -0.06856398 0.10511921 0.01261134
+v -0.06856398 0.11124098 0.01312614
+v -0.09069023 0.08872838 0.01312606
+v -0.06856398 0.10144581 -0.01265343
+v -0.08995100 0.08872840 0.00951501
+v -0.08793644 0.08872843 -0.00078822
+v -0.06856398 0.11056449 0.00632797
+v -0.07187925 0.11082229 0.01312614
+v -0.09738567 0.08872838 0.01312606
+v -0.06856398 0.10825732 -0.01265340
+v -0.08573567 0.08872848 -0.01265347
+v -0.06856398 0.11013919 0.00212643
+v -0.07020045 0.10969186 -0.00022795
+v -0.07391920 0.10966759 0.00731211
+v -0.07494623 0.11004219 0.01312613
+v -0.09720791 0.08916911 0.01312606
+v -0.09737720 0.08872838 0.01306550
+v -0.07175792 0.10753452 -0.01265341
+v -0.06856398 0.10827495 -0.01253479
+v -0.09324088 0.08872848 -0.01265347
+v -0.06856398 0.10978882 -0.00113639
+v -0.06918753 0.10952439 -0.00267317
+v -0.06856398 0.10834987 -0.01199982
+v -0.07187925 0.10752350 -0.01253480
+v -0.07187925 0.10804795 -0.00886823
+v -0.07187925 0.10856580 -0.00520166
+v -0.07164788 0.10913875 -0.00148462
+v -0.07269749 0.10932824 0.00212643
+v -0.07485876 0.10634895 -0.01265341
+v -0.07493776 0.10631810 -0.01265341
+v -0.07688742 0.10929074 0.01312613
+v -0.09697091 0.08975529 0.01312606
+v -0.09385032 0.08872846 -0.00916859
+v -0.07187925 0.10750588 -0.01265341
+v -0.09326345 0.08872848 -0.01253486
+v -0.09287972 0.08945789 -0.01253486
+v -0.09286844 0.08943586 -0.01265347
+v -0.06856398 0.10967423 -0.00208268
+v -0.06856398 0.10956406 -0.00296336
+v -0.07681689 0.10523170 -0.01265341
+v -0.07742069 0.10554019 -0.00886824
+v -0.07495751 0.10632692 -0.01253480
+v -0.07964121 0.10778784 0.01312613
+v -0.09585924 0.09167027 0.01312607
+v -0.09332834 0.09021814 -0.00766209
+v -0.09311391 0.08986776 -0.01010479
+v -0.09280637 0.08952841 -0.01265347
+v -0.07687896 0.10519423 -0.01265341
+v -0.07689589 0.10520525 -0.01253480
+v -0.07768309 0.10570106 -0.00697060
+v -0.07976536 0.10295091 -0.01265342
+v -0.08217493 0.10616595 0.01312612
+v -0.09384750 0.09477523 0.01312608
+v -0.09245932 0.09295507 -0.00153768
+v -0.09210945 0.09249010 -0.00520172
+v -0.09197684 0.09171883 -0.00887838
+v -0.09076359 0.09235351 -0.01265346
+v -0.09082003 0.09227638 -0.01265346
+v -0.08055538 0.10228981 -0.01265342
+v -0.08411330 0.10456168 0.01312611
+v -0.09218563 0.09673208 0.01312609
+v -0.08943184 0.09406795 -0.01265345
+v -0.08136798 0.10160888 -0.01265343
+v -0.08631408 0.10260263 0.01312611
+v -0.09024443 0.09879030 0.01312609
+v -0.08746525 0.09600056 -0.01265345
+v -0.08388194 0.09936115 -0.01265344
+v -0.08549019 0.09791334 -0.01265344
+v -0.08825245 0.10074494 0.01312610
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 24
+f 1 24 40
+f 1 40 39
+f 1 39 22
+f 1 22 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 32
+f 1 32 44
+f 1 44 53
+f 1 53 61
+f 1 61 65
+f 1 65 70
+f 1 70 66
+f 1 66 62
+f 1 62 54
+f 1 54 45
+f 1 45 33
+f 1 33 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 18
+f 4 18 34
+f 4 34 36
+f 4 36 21
+f 4 21 12
+f 4 12 7
+f 4 7 6
+f 5 7 12
+f 5 12 21
+f 5 21 38
+f 5 38 48
+f 5 48 59
+f 5 59 58
+f 5 58 63
+f 5 63 67
+f 5 67 69
+f 5 69 68
+f 5 68 64
+f 5 64 60
+f 5 60 52
+f 5 52 49
+f 5 49 41
+f 5 41 31
+f 5 31 30
+f 5 30 35
+f 5 35 19
+f 5 19 11
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 11 19 20
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 20
+f 14 20 19
+f 14 19 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 27
+f 15 27 26
+f 15 26 25
+f 15 25 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 17 33 18
+f 18 33 34
+f 19 35 25
+f 21 36 37
+f 21 37 38
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 25 35 30
+f 27 29 28
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 36
+f 36 47 37
+f 37 47 48
+f 37 48 38
+f 41 49 50
+f 41 50 42
+f 42 51 43
+f 42 50 52
+f 42 52 53
+f 42 53 51
+f 43 51 44
+f 44 51 53
+f 45 54 46
+f 46 54 55
+f 46 55 56
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 49 52 50
+f 52 60 61
+f 52 61 53
+f 54 62 63
+f 54 63 55
+f 55 63 56
+f 56 63 58
+f 56 58 57
+f 60 64 61
+f 61 64 65
+f 62 66 63
+f 63 66 67
+f 64 68 65
+f 65 68 69
+f 65 69 70
+f 66 70 67
+f 67 70 69
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_19.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.07936491 -0.09445834 -0.01344772
+v 0.08910722 -0.08028022 -0.01344766
+v 0.08895931 -0.09445834 -0.01344772
+v 0.08456699 -0.09445841 0.00600962
+v 0.09492603 -0.08028035 0.02045438
+v 0.09397336 -0.08028033 0.01681974
+v 0.09396584 -0.08028033 0.01678970
+v 0.09584611 -0.08028022 -0.01344766
+v 0.08911976 -0.09430151 -0.01344772
+v 0.10171757 -0.09445847 0.02113769
+v 0.08651997 -0.09445844 0.01312496
+v 0.08718684 -0.09445845 0.01552427
+v 0.08757042 -0.09445845 0.01678964
+v 0.08889162 -0.09445846 0.02019524
+v 0.09629487 -0.08028035 0.02286496
+v 0.09498871 -0.08415644 -0.01344768
+v 0.10497671 -0.08028035 0.02169346
+v 0.10483631 -0.08415657 0.02197880
+v 0.10471597 -0.08622445 0.02224163
+v 0.08932032 -0.09410305 -0.01344772
+v 0.10171757 -0.09445848 0.02331172
+v 0.09025043 -0.09288592 -0.01344771
+v 0.09087718 -0.09204767 -0.01344771
+v 0.09212568 -0.09028512 -0.01344770
+v 0.09271233 -0.08940384 -0.01344770
+v 0.09372266 -0.08744700 -0.01344769
+v 0.09473801 -0.08484758 -0.01344768
+v 0.08979164 -0.09445847 0.02132543
+v 0.09157664 -0.09445847 0.02304513
+v 0.09887209 -0.08028036 0.02424672
+v 0.10497671 -0.08028035 0.02281990
+v 0.10483631 -0.08415657 0.02257206
+v 0.10471597 -0.08622445 0.02233550
+v 0.10212872 -0.09198536 0.02360085
+v 0.10007296 -0.09445848 0.02417907
+v 0.09251427 -0.09445848 0.02352949
+v 0.09499372 -0.09445848 0.02439685
+v 0.09642273 -0.09445848 0.02474229
+v 0.09887209 -0.08807027 0.02473481
+v 0.10271537 -0.08028036 0.02420917
+v 0.10495414 -0.08028035 0.02283867
+v 0.10275297 -0.08415658 0.02396134
+v 0.09887209 -0.09198536 0.02490376
+v 0.09887209 -0.09445848 0.02465969
+v 0.10275297 -0.08028036 0.02420542
+f 1 2 8
+f 1 8 16
+f 1 16 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 20
+f 1 20 9
+f 1 9 3
+f 1 3 10
+f 1 10 21
+f 1 21 35
+f 1 35 44
+f 1 44 38
+f 1 38 37
+f 1 37 36
+f 1 36 29
+f 1 29 28
+f 1 28 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 5
+f 2 5 15
+f 2 15 30
+f 2 30 40
+f 2 40 45
+f 2 45 41
+f 2 41 31
+f 2 31 17
+f 2 17 8
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 8 17 18
+f 8 18 19
+f 8 19 16
+f 9 20 10
+f 10 19 33
+f 10 33 21
+f 10 20 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 16
+f 10 16 19
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 21 34 35
+f 21 33 34
+f 29 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 31 41 32
+f 32 41 42
+f 32 42 34
+f 32 34 33
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 38 44 43
+f 38 43 39
+f 39 43 40
+f 40 43 45
+f 41 45 42
+f 42 45 43
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_2.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.08433999 0.09016788 -0.01299490
+v 0.09064045 0.09016777 0.01679276
+v 0.09231533 0.09016788 -0.01299490
+v 0.08949968 0.00004100 -0.01299523
+v 0.09445176 0.00004089 0.01679243
+v 0.09109998 0.09016776 0.01817678
+v 0.09534664 0.00004087 0.02045730
+v 0.10217113 0.09016775 0.02051299
+v 0.09277083 0.08954145 -0.01299490
+v 0.09653982 0.00004100 -0.01299523
+v 0.09178929 0.09016776 0.02021773
+v 0.09647935 0.00004087 0.02276399
+v 0.09378262 0.08758275 -0.01299491
+v 0.09289983 0.08929441 -0.01299490
+v 0.10232834 0.09016774 0.02359473
+v 0.10481748 0.08352404 0.02201140
+v 0.09510680 0.08417707 -0.01299492
+v 0.10488198 0.00589051 0.02189669
+v 0.10487795 0.00004087 0.02191144
+v 0.09654587 0.00931397 -0.01299520
+v 0.10492833 0.07635094 0.02176040
+v 0.10491422 0.04894673 0.02181566
+v 0.09287564 0.09016775 0.02216273
+v 0.09887377 0.00004086 0.02408895
+v 0.09496168 0.09016774 0.02345448
+v 0.09299657 0.09016775 0.02233251
+v 0.09887377 0.09016774 0.02470932
+v 0.10256818 0.08809434 0.02363901
+v 0.10481748 0.08352404 0.02252071
+v 0.10490616 0.08025953 0.02181208
+v 0.09629192 0.07635107 -0.01299495
+v 0.09599563 0.07977440 -0.01299494
+v 0.09595331 0.08025966 -0.01299494
+v 0.09521362 0.08369181 -0.01299492
+v 0.10487795 0.00004087 0.02263481
+v 0.09654587 0.01323138 -0.01299518
+v 0.10492833 0.07635094 0.02271998
+v 0.09652974 0.04894686 -0.01299505
+v 0.09652572 0.05237018 -0.01299504
+v 0.09649951 0.06411358 -0.01299499
+v 0.09648944 0.06803099 -0.01299498
+v 0.09648541 0.06851626 -0.01299498
+v 0.10491422 0.04894673 0.02269405
+v 0.10083284 0.00004086 0.02402621
+v 0.10275361 0.07635093 0.02404125
+v 0.10275361 0.08025952 0.02400805
+v 0.10275361 0.00004086 0.02395978
+v 0.10490616 0.08025953 0.02268308
+v 0.09643703 0.07194840 -0.01299497
+v 0.09642696 0.07243366 -0.01299496
+v 0.10487795 0.00197311 0.02263852
+v 0.10382586 0.00004086 0.02329176
+v 0.10488802 0.01371651 0.02265332
+v 0.10489004 0.01763392 0.02266071
+f 1 2 6
+f 1 6 11
+f 1 11 23
+f 1 23 26
+f 1 26 25
+f 1 25 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 13
+f 1 13 17
+f 1 17 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 50
+f 1 50 49
+f 1 49 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 36
+f 1 36 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 19
+f 4 19 35
+f 4 35 52
+f 4 52 47
+f 4 47 44
+f 4 44 24
+f 4 24 12
+f 4 12 7
+f 4 7 5
+f 6 7 11
+f 7 12 11
+f 8 13 14
+f 8 14 9
+f 8 15 16
+f 8 16 17
+f 8 17 13
+f 10 18 19
+f 10 20 21
+f 10 21 22
+f 10 22 18
+f 11 12 23
+f 12 24 25
+f 12 25 26
+f 12 26 23
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 48
+f 16 48 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 18 22 19
+f 19 22 43
+f 19 43 35
+f 20 36 21
+f 21 30 48
+f 21 48 37
+f 21 37 43
+f 21 43 22
+f 21 36 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 30
+f 24 27 25
+f 24 44 27
+f 27 45 46
+f 27 46 28
+f 27 44 47
+f 27 47 45
+f 28 46 48
+f 28 48 29
+f 30 42 49
+f 30 49 50
+f 30 50 31
+f 35 51 52
+f 35 43 53
+f 35 53 54
+f 35 54 51
+f 37 48 46
+f 37 46 45
+f 37 45 47
+f 37 47 43
+f 43 47 54
+f 43 54 53
+f 47 52 54
+f 51 54 52
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_20.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.06856398 0.10825924 -0.01265340
+v -0.06856398 0.10783292 -0.01566856
+v -0.07177431 0.10753085 -0.01265341
+v -0.06856398 0.10144565 -0.01265343
+v -0.06856398 0.10775263 -0.01620280
+v -0.07188059 0.10750600 -0.01265341
+v -0.06856398 0.08873041 -0.01800535
+v -0.08573403 0.08873039 -0.01265347
+v -0.06856398 0.10714087 -0.01933380
+v -0.07188059 0.10696880 -0.01620281
+v -0.07440489 0.10603776 -0.01620281
+v -0.07493873 0.10631878 -0.01265341
+v -0.06856398 0.08873043 -0.02472829
+v -0.09323928 0.08873039 -0.01265347
+v -0.06856398 0.10703380 -0.01985386
+v -0.07191441 0.10623660 -0.01976876
+v -0.07402322 0.10582938 -0.01848161
+v -0.07634461 0.10483525 -0.01620281
+v -0.07681807 0.10523289 -0.01265341
+v -0.06856398 0.09592829 -0.02472236
+v -0.07188059 0.08873043 -0.02471648
+v -0.09286729 0.08943584 -0.01265347
+v -0.09255567 0.08873040 -0.01607167
+v -0.06856398 0.10616587 -0.02228987
+v -0.07064381 0.10594983 -0.02202038
+v -0.07323091 0.10547763 -0.02092471
+v -0.07549432 0.10452555 -0.01976877
+v -0.07850899 0.10244744 -0.01986806
+v -0.07900660 0.10287759 -0.01620282
+v -0.07687846 0.10519465 -0.01265341
+v -0.06856398 0.09984171 -0.02471880
+v -0.07964190 0.08873043 -0.02467511
+v -0.07964190 0.09201296 -0.02467391
+v -0.07188059 0.09592829 -0.02470818
+v -0.09280689 0.08952952 -0.01265347
+v -0.09250495 0.08877437 -0.01620287
+v -0.09252910 0.08873040 -0.01620287
+v -0.06856398 0.10379144 -0.02376141
+v -0.07191441 0.10400556 -0.02302741
+v -0.07576004 0.10280687 -0.02259718
+v -0.07805485 0.10207274 -0.02201922
+v -0.08044871 0.10085493 -0.01986807
+v -0.08094632 0.10124874 -0.01620283
+v -0.08130625 0.10155653 -0.01316876
+v -0.08055499 0.10229066 -0.01265342
+v -0.07976509 0.10295214 -0.01265342
+v -0.07576004 0.09592829 -0.02467863
+v -0.07188059 0.09984171 -0.02462424
+v -0.08352135 0.08873043 -0.02463728
+v -0.09082127 0.09227674 -0.01265346
+v -0.09056280 0.09169749 -0.01620286
+v -0.09012800 0.09115264 -0.01986811
+v -0.09248804 0.08873040 -0.01637425
+v -0.07576004 0.09984171 -0.02408527
+v -0.07946556 0.09977287 -0.02280758
+v -0.08219518 0.09842315 -0.02224498
+v -0.08274352 0.09889726 -0.01986808
+v -0.08317833 0.09929108 -0.01620284
+v -0.08136422 0.10160815 -0.01265343
+v -0.08511805 0.09757239 -0.01620284
+v -0.08352135 0.09201296 -0.02440797
+v -0.07964190 0.09592829 -0.02433468
+v -0.08740321 0.08873043 -0.02397421
+v -0.09076330 0.09235321 -0.01265346
+v -0.08928979 0.09391132 -0.01411671
+v -0.08907238 0.09365515 -0.01620286
+v -0.08864241 0.09311030 -0.01986810
+v -0.08970768 0.09057529 -0.02211736
+v -0.09160876 0.08873041 -0.01977946
+v -0.08350202 0.09594357 -0.02300262
+v -0.08612778 0.09464930 -0.02233009
+v -0.08468325 0.09717093 -0.01986808
+v -0.08388127 0.09935989 -0.01265344
+v -0.08670027 0.09521326 -0.01986809
+v -0.08713025 0.09561472 -0.01620285
+v -0.08746602 0.09599898 -0.01265345
+v -0.08536203 0.09779606 -0.01389803
+v -0.08741287 0.09193456 -0.02292581
+v -0.09022945 0.08873042 -0.02254050
+v -0.08943231 0.09406808 -0.01265345
+v -0.09135513 0.08873042 -0.02052291
+v -0.08549006 0.09791268 -0.01265344
+v -0.08769791 0.09577148 -0.01265345
+v -0.08727277 0.09618634 -0.01265345
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 19
+f 1 19 30
+f 1 30 46
+f 1 46 45
+f 1 45 59
+f 1 59 73
+f 1 73 82
+f 1 82 84
+f 1 84 76
+f 1 76 83
+f 1 83 80
+f 1 80 64
+f 1 64 50
+f 1 50 35
+f 1 35 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 7
+f 1 7 13
+f 1 13 20
+f 1 20 31
+f 1 31 38
+f 1 38 24
+f 1 24 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 8 7
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 8 14
+f 7 14 23
+f 7 23 37
+f 7 37 53
+f 7 53 69
+f 7 69 81
+f 7 81 79
+f 7 79 63
+f 7 63 49
+f 7 49 32
+f 7 32 21
+f 7 21 13
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 21 20
+f 14 22 23
+f 15 24 25
+f 15 25 16
+f 16 26 17
+f 16 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 20 21 31
+f 21 32 33
+f 21 33 34
+f 21 34 31
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 27
+f 27 41 28
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 31 34 33
+f 31 33 47
+f 31 47 48
+f 31 48 38
+f 32 49 33
+f 33 49 47
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 36 53 37
+f 36 52 53
+f 38 48 54
+f 38 54 39
+f 39 54 40
+f 40 54 55
+f 40 55 41
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 43
+f 43 57 58
+f 43 58 44
+f 44 59 45
+f 44 58 60
+f 44 60 59
+f 47 49 61
+f 47 61 48
+f 48 61 62
+f 48 62 54
+f 49 63 61
+f 50 64 51
+f 51 64 65
+f 51 65 66
+f 51 66 67
+f 51 67 52
+f 52 68 69
+f 52 69 53
+f 52 67 68
+f 54 62 70
+f 54 70 55
+f 55 70 56
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 57 72 60
+f 57 60 58
+f 59 60 73
+f 60 74 75
+f 60 75 76
+f 60 76 77
+f 60 77 73
+f 60 72 74
+f 61 63 78
+f 61 78 70
+f 61 70 62
+f 63 79 78
+f 64 80 65
+f 65 80 75
+f 65 75 74
+f 65 74 66
+f 66 74 67
+f 67 74 71
+f 67 71 68
+f 68 79 81
+f 68 81 69
+f 68 71 78
+f 68 78 79
+f 70 78 71
+f 71 74 72
+f 73 77 82
+f 75 83 76
+f 75 80 83
+f 76 84 77
+f 77 84 82
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_21.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.06411516 0.10829893 -0.01559798
+v -0.06411516 0.10821847 -0.01620288
+v -0.06475740 0.10824912 -0.01559798
+v -0.00021951 0.10822804 -0.01559798
+v -0.00021951 0.10816483 -0.01620288
+v -0.00021951 0.10794454 -0.01790911
+v -0.00021951 0.10768975 -0.01986908
+v -0.06023500 0.10762462 -0.01986908
+v -0.06411516 0.10755566 -0.01986908
+v -0.06799533 0.10788706 -0.01620288
+v -0.00202580 0.10768975 -0.01986908
+v -0.06799533 0.10797135 -0.01559798
+v -0.00021951 0.10037574 -0.01559801
+v -0.00021951 0.10716104 -0.02119105
+v -0.05635483 0.10650588 -0.02268860
+v -0.06023500 0.10649247 -0.02266745
+v -0.06411516 0.10643117 -0.02259667
+v -0.06799533 0.10622428 -0.02236316
+v -0.06799533 0.10716869 -0.01986909
+v -0.06856397 0.10713996 -0.01933497
+v -0.06856397 0.10775296 -0.01620288
+v -0.06856397 0.10783342 -0.01566876
+v -0.06855060 0.10784683 -0.01559798
+v -0.00021951 0.08873041 -0.01779887
+v -0.06856397 0.09984509 -0.01559801
+v -0.00021951 0.10655186 -0.02270791
+v -0.05635483 0.10375500 -0.02422477
+v -0.06023500 0.10375500 -0.02420087
+v -0.01755316 0.10653079 -0.02270791
+v -0.02143332 0.10652696 -0.02270699
+v -0.00021951 0.10375500 -0.02436726
+v -0.00202580 0.10375500 -0.02436542
+v -0.00591266 0.10375500 -0.02435807
+v -0.06411516 0.10375500 -0.02412365
+v -0.06799533 0.10375500 -0.02388555
+v -0.06856397 0.10379139 -0.02376144
+v -0.06856397 0.10616490 -0.02228962
+v -0.06856397 0.10703460 -0.01985530
+v -0.06856397 0.10784300 -0.01559798
+v -0.00202580 0.08873041 -0.01779979
+v -0.00021951 0.08873043 -0.02492257
+v -0.06856397 0.08873041 -0.01800479
+v -0.00979282 0.08873041 -0.01781266
+v -0.00916397 0.08873041 -0.01781082
+v -0.00591266 0.08873041 -0.01780346
+v -0.06799533 0.09984129 -0.02473592
+v -0.00591266 0.09984129 -0.02498137
+v -0.00979282 0.09984129 -0.02496666
+v -0.00021951 0.10193512 -0.02465686
+v -0.00202580 0.09984129 -0.02498780
+v -0.06856397 0.09984129 -0.02471937
+v -0.00021951 0.09984129 -0.02498964
+v -0.00202580 0.08873043 -0.02491798
+v -0.06856397 0.08873043 -0.02472768
+v -0.06799533 0.08873043 -0.02473044
+v -0.06856397 0.08920743 -0.02472768
+v -0.00591266 0.08873043 -0.02490695
+f 1 2 3
+f 1 3 12
+f 1 12 23
+f 1 23 39
+f 1 39 25
+f 1 25 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 11
+f 2 11 8
+f 3 10 12
+f 4 13 24
+f 4 24 41
+f 4 41 52
+f 4 52 49
+f 4 49 31
+f 4 31 26
+f 4 26 14
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 7 14 11
+f 8 15 16
+f 8 16 9
+f 8 11 15
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 12
+f 11 14 15
+f 13 25 24
+f 14 26 15
+f 15 27 28
+f 15 28 16
+f 15 26 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 27
+f 16 28 34
+f 16 34 17
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 19 37 38
+f 19 38 20
+f 20 38 37
+f 20 37 36
+f 20 36 51
+f 20 51 56
+f 20 56 54
+f 20 54 42
+f 20 42 25
+f 20 25 39
+f 20 39 22
+f 20 22 21
+f 22 39 23
+f 24 40 45
+f 24 45 44
+f 24 44 43
+f 24 43 42
+f 24 42 54
+f 24 54 55
+f 24 55 57
+f 24 57 53
+f 24 53 41
+f 24 25 40
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 40
+f 26 31 29
+f 27 46 28
+f 27 33 47
+f 27 47 48
+f 27 48 46
+f 28 46 34
+f 29 31 30
+f 31 49 32
+f 32 49 50
+f 32 50 47
+f 32 47 33
+f 34 46 51
+f 34 51 35
+f 35 51 36
+f 41 53 47
+f 41 47 50
+f 41 50 52
+f 46 55 54
+f 46 54 56
+f 46 56 51
+f 46 48 55
+f 47 53 57
+f 47 57 55
+f 47 55 48
+f 49 52 50
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_3.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.09587649 0.00003219 -0.01752274
+v -0.08449939 0.00003219 -0.01752274
+v -0.09587860 -0.00123448 -0.01752274
+v -0.10507526 -0.04891859 0.02185371
+v -0.10501827 0.00003205 0.02199717
+v -0.09546700 0.00003205 0.02045797
+v -0.09442005 -0.08345370 0.02025298
+v -0.08353688 -0.08345357 -0.01752305
+v -0.09587860 -0.00194545 -0.01752275
+v -0.10510059 -0.07240509 0.02179631
+v -0.10507526 -0.04891859 0.02267244
+v -0.10501827 0.00003205 0.02257847
+v -0.09663637 0.00003205 0.02277496
+v -0.09473878 -0.08345371 0.02080152
+v -0.09443271 -0.08345357 -0.01752305
+v -0.09587649 -0.00585987 -0.01752276
+v -0.09578362 -0.06066169 -0.01752296
+v -0.10509425 -0.07631950 0.02180040
+v -0.10510059 -0.07240509 0.02271738
+v -0.09587016 -0.00977429 -0.01752278
+v -0.10292438 -0.06849068 0.02406420
+v -0.10292438 0.00003204 0.02386796
+v -0.09782685 0.00003204 0.02341357
+v -0.09622688 -0.08345371 0.02295477
+v -0.10495495 -0.08297156 0.02209102
+v -0.09459947 -0.08274260 -0.01752304
+v -0.10437659 -0.08345371 0.02155884
+v -0.09577728 -0.06317052 -0.01752297
+v -0.10509425 -0.07631950 0.02270509
+v -0.09577095 -0.06457611 -0.01752298
+v -0.09575828 -0.06708493 -0.01752299
+v -0.09574773 -0.06849053 -0.01752299
+v -0.09571396 -0.07099935 -0.01752300
+v -0.09568863 -0.07240495 -0.01752301
+v -0.10504360 -0.08023392 0.02189863
+v -0.10292438 -0.07240510 0.02407237
+v -0.09904266 -0.08345372 0.02429748
+v -0.09904266 0.00003204 0.02406445
+v -0.10495495 -0.08297156 0.02245945
+v -0.09555987 -0.07631936 -0.01752302
+v -0.09531924 -0.07882818 -0.01752303
+v -0.09517571 -0.08023378 -0.01752303
+v -0.10430694 -0.08345371 0.02284424
+v -0.10292438 -0.07631951 0.02405599
+v -0.10504360 -0.08023392 0.02261911
+v -0.10292438 -0.08023393 0.02396592
+v -0.09561053 -0.07491377 -0.01752302
+v -0.10319878 -0.08345372 0.02356063
+f 1 2 8
+f 1 8 15
+f 1 15 26
+f 1 26 42
+f 1 42 41
+f 1 41 40
+f 1 40 47
+f 1 47 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 28
+f 1 28 17
+f 1 17 20
+f 1 20 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 22
+f 1 22 38
+f 1 38 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 19
+f 4 19 11
+f 4 11 12
+f 4 12 5
+f 6 13 7
+f 7 14 24
+f 7 24 37
+f 7 37 48
+f 7 48 43
+f 7 43 27
+f 7 27 15
+f 7 15 8
+f 7 13 14
+f 9 16 10
+f 10 17 18
+f 10 18 29
+f 10 29 19
+f 10 16 20
+f 10 20 17
+f 11 19 21
+f 11 21 12
+f 12 21 22
+f 13 23 24
+f 13 24 14
+f 15 25 26
+f 15 27 25
+f 17 28 18
+f 18 28 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 45
+f 18 45 29
+f 19 29 36
+f 19 36 21
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 23 38 24
+f 24 38 37
+f 25 39 45
+f 25 45 35
+f 25 35 40
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 25 27 39
+f 27 43 39
+f 29 44 36
+f 29 45 46
+f 29 46 44
+f 34 47 35
+f 35 47 40
+f 36 44 37
+f 37 44 46
+f 37 46 48
+f 39 43 45
+f 43 48 45
+f 45 48 46
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_4.obj

@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
+v 0.09654642 0.01322963 -0.01299635
+v 0.09653963 0.00004263 -0.01299640
+v 0.09634274 0.00004263 -0.01435309
+v 0.09607117 0.00004264 -0.01620397
+v 0.09607117 0.00197729 -0.01620396
+v 0.09652831 0.04895267 -0.01299622
+v 0.08949699 0.00004263 -0.01299640
+v 0.09531305 0.00004265 -0.01986843
+v 0.09606212 0.00981001 -0.01620393
+v 0.09652379 0.05286380 -0.01299621
+v 0.07342700 0.00004265 -0.01780775
+v 0.07342700 0.09922220 -0.01299604
+v 0.09531079 0.00197730 -0.01986842
+v 0.09463187 0.00004266 -0.02124377
+v 0.09393711 0.00588844 -0.02264822
+v 0.09393485 0.00981003 -0.02265053
+v 0.09390316 0.04895270 -0.02267021
+v 0.09529721 0.00981002 -0.01986839
+v 0.09596933 0.05286381 -0.01620378
+v 0.09649889 0.06460765 -0.01299616
+v 0.07342700 0.00004267 -0.02479051
+v 0.07342700 0.10685623 -0.01299601
+v 0.09393711 0.00004266 -0.02264591
+v 0.09111281 0.04895271 -0.02423786
+v 0.09111281 0.06851882 -0.02422147
+v 0.09389638 0.05286383 -0.02266554
+v 0.09386695 0.06851881 -0.02264799
+v 0.09520216 0.04895269 -0.01986825
+v 0.09595123 0.06068607 -0.01620375
+v 0.09593992 0.06460766 -0.01620373
+v 0.09648758 0.06802728 -0.01299615
+v 0.07342700 0.00024137 -0.02479167
+v 0.07363294 0.00004267 -0.02479167
+v 0.07477578 0.10632289 -0.01299601
+v 0.07342700 0.10659478 -0.01495878
+v 0.09251138 0.00004267 -0.02342916
+v 0.09111281 0.00004267 -0.02419725
+v 0.08723166 0.04895271 -0.02485327
+v 0.08723166 0.07635154 -0.02487531
+v 0.08723166 0.08026267 -0.02486831
+v 0.09111281 0.07242995 -0.02421213
+v 0.09383754 0.07242994 -0.02263632
+v 0.09512974 0.06851880 -0.01986818
+v 0.09515237 0.06460767 -0.01986819
+v 0.09517953 0.05677496 -0.01986822
+v 0.09591503 0.06851879 -0.01620372
+v 0.09648532 0.06851878 -0.01299615
+v 0.07751182 0.00004267 -0.02479867
+v 0.07342700 0.05286384 -0.02488822
+v 0.07431186 0.10607191 -0.01620358
+v 0.07342700 0.10657388 -0.01511379
+v 0.07671749 0.10519347 -0.01299601
+v 0.08723166 0.00004267 -0.02480333
+v 0.08335278 0.05677498 -0.02488704
+v 0.08335278 0.06068610 -0.02488819
+v 0.08335278 0.07242995 -0.02489164
+v 0.08335278 0.07635154 -0.02489280
+v 0.08335278 0.08026267 -0.02489279
+v 0.08335278 0.08417380 -0.02488927
+v 0.08335278 0.08809539 -0.02487294
+v 0.08723166 0.08417380 -0.02479836
+v 0.09111281 0.07635154 -0.02417016
+v 0.09377190 0.07635153 -0.02259085
+v 0.09505732 0.07242993 -0.01986816
+v 0.09584487 0.07242992 -0.01620370
+v 0.09643553 0.07193841 -0.01299614
+v 0.07947163 0.00004267 -0.02480216
+v 0.07342700 0.05677498 -0.02489520
+v 0.07390450 0.10585232 -0.01856147
+v 0.07342700 0.10640655 -0.01620358
+v 0.07625129 0.10487975 -0.01620358
+v 0.07704790 0.10494249 -0.01299601
+v 0.07890587 0.10292419 -0.01620359
+v 0.08527185 0.00004267 -0.02480450
+v 0.07947163 0.05286384 -0.02488939
+v 0.07947163 0.05677498 -0.02489520
+v 0.08335278 0.05286384 -0.02488240
+v 0.07947163 0.06068610 -0.02489635
+v 0.07947163 0.06460769 -0.02489750
+v 0.07342700 0.08244830 -0.02489977
+v 0.07342700 0.09419215 -0.02489273
+v 0.07947163 0.07635154 -0.02489746
+v 0.07559049 0.07635154 -0.02490096
+v 0.07947163 0.09200652 -0.02486942
+v 0.08335278 0.09200652 -0.02456755
+v 0.07342700 0.09591765 -0.02488224
+v 0.08723166 0.08809539 -0.02438691
+v 0.09111281 0.08026267 -0.02396735
+v 0.09358859 0.08026266 -0.02239736
+v 0.09492380 0.07635152 -0.01986815
+v 0.09571361 0.07635151 -0.01620369
+v 0.09642648 0.07242991 -0.01299613
+v 0.08139297 0.00004267 -0.02480333
+v 0.07559049 0.05286384 -0.02489055
+v 0.07559049 0.05677498 -0.02489636
+v 0.07342700 0.05896061 -0.02489752
+v 0.07342700 0.10594643 -0.01884236
+v 0.07342700 0.10611376 -0.01805096
+v 0.07535513 0.10457649 -0.01981676
+v 0.07342700 0.10537128 -0.02084010
+v 0.07839215 0.10248498 -0.01986805
+v 0.07957573 0.10298693 -0.01299602
+v 0.08068916 0.10207711 -0.01299603
+v 0.08118477 0.10159607 -0.01335501
+v 0.08084531 0.10130327 -0.01620360
+v 0.08033386 0.10089543 -0.01986806
+v 0.08335278 0.00004267 -0.02480450
+v 0.07559049 0.06068610 -0.02489985
+v 0.07559049 0.06460769 -0.02490100
+v 0.07342700 0.07852671 -0.02490095
+v 0.07342700 0.06851882 -0.02490215
+v 0.07559049 0.09591765 -0.02486009
+v 0.08727692 0.09198560 -0.02303719
+v 0.07342700 0.09810328 -0.02482162
+v 0.07947163 0.09591765 -0.02448479
+v 0.08335504 0.09595947 -0.02307914
+v 0.09035695 0.08809538 -0.02280527
+v 0.09140475 0.08429928 -0.02311765
+v 0.09331477 0.08307575 -0.02205933
+v 0.09457529 0.08026265 -0.01986814
+v 0.09537641 0.08026264 -0.01620368
+v 0.09629069 0.07635150 -0.01299612
+v 0.07342700 0.06068610 -0.02489868
+v 0.07791465 0.10209806 -0.02205111
+v 0.07342700 0.10516213 -0.02121074
+v 0.08211262 0.10084312 -0.01299603
+v 0.08501386 0.09763266 -0.01620361
+v 0.08307669 0.09934770 -0.01620361
+v 0.08263539 0.09893987 -0.01986807
+v 0.07342700 0.06460769 -0.02490100
+v 0.08961693 0.09066794 -0.02221200
+v 0.08601187 0.09468364 -0.02237049
+v 0.07342700 0.09983924 -0.02454188
+v 0.07559049 0.09983924 -0.02422718
+v 0.07931322 0.09978694 -0.02287399
+v 0.08206510 0.09843791 -0.02228074
+v 0.09289384 0.08567968 -0.02114555
+v 0.09365649 0.08429927 -0.01990192
+v 0.09451872 0.08417377 -0.01620366
+v 0.09521347 0.08369272 -0.01299609
+v 0.09595350 0.08026263 -0.01299611
+v 0.07559049 0.10284055 -0.02266068
+v 0.07342700 0.10350984 -0.02291477
+v 0.08356551 0.09954638 -0.01299603
+v 0.08523791 0.09783134 -0.01412078
+v 0.08665911 0.09670192 -0.01299604
+v 0.08746928 0.09534245 -0.01587610
+v 0.08661385 0.09526926 -0.01986808
+v 0.08457483 0.09722482 -0.01986807
+v 0.08855555 0.09324049 -0.01986809
+v 0.09007859 0.09128493 -0.01986809
+v 0.09213119 0.08790714 -0.01990191
+v 0.07342700 0.10220265 -0.02359195
+v 0.09322198 0.08647444 -0.01870257
+v 0.09510485 0.08417376 -0.01299609
+v 0.08391402 0.09923266 -0.01299604
+v 0.08932726 0.09412936 -0.01299605
+v 0.08918468 0.09398296 -0.01443665
+v 0.08892217 0.09367970 -0.01688080
+v 0.09024832 0.09222610 -0.01587611
+v 0.09276711 0.08953849 -0.01299607
+v 0.09244802 0.08895288 -0.01620364
+v 0.09348450 0.08699731 -0.01620365
+v 0.09378096 0.08758293 -0.01299608
+v 0.09096118 0.09203785 -0.01299606
+v 0.09289836 0.08929797 -0.01299607
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 20
+f 1 20 31
+f 1 31 47
+f 1 47 66
+f 1 66 92
+f 1 92 122
+f 1 122 141
+f 1 141 140
+f 1 140 155
+f 1 155 164
+f 1 164 166
+f 1 166 161
+f 1 161 165
+f 1 165 157
+f 1 157 146
+f 1 146 156
+f 1 156 144
+f 1 144 126
+f 1 126 103
+f 1 103 102
+f 1 102 72
+f 1 72 52
+f 1 52 34
+f 1 34 22
+f 1 22 12
+f 1 12 7
+f 1 7 2
+f 2 7 11
+f 2 11 21
+f 2 21 33
+f 2 33 48
+f 2 48 67
+f 2 67 93
+f 2 93 107
+f 2 107 74
+f 2 74 53
+f 2 53 37
+f 2 37 36
+f 2 36 23
+f 2 23 14
+f 2 14 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 5 9 6
+f 6 9 10
+f 7 12 11
+f 8 13 9
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 13
+f 9 13 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 12 22
+f 11 22 35
+f 11 35 51
+f 11 51 70
+f 11 70 98
+f 11 98 97
+f 11 97 100
+f 11 100 125
+f 11 125 143
+f 11 143 153
+f 11 153 133
+f 11 133 114
+f 11 114 86
+f 11 86 81
+f 11 81 80
+f 11 80 110
+f 11 110 111
+f 11 111 130
+f 11 130 123
+f 11 123 96
+f 11 96 68
+f 11 68 49
+f 11 49 32
+f 11 32 21
+f 13 17 18
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 21 32 33
+f 22 34 35
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 27
+f 25 27 26
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 30
+f 28 30 29
+f 30 45 44
+f 30 44 43
+f 30 43 46
+f 30 46 47
+f 30 47 31
+f 32 48 33
+f 32 49 48
+f 34 50 51
+f 34 51 35
+f 34 52 50
+f 37 53 38
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 58
+f 39 58 59
+f 39 59 40
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 41
+f 41 62 42
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 43 64 65
+f 43 65 46
+f 46 65 66
+f 46 66 47
+f 48 49 67
+f 49 68 67
+f 50 69 70
+f 50 70 51
+f 50 52 71
+f 50 71 69
+f 52 72 73
+f 52 73 71
+f 53 74 75
+f 53 75 76
+f 53 76 77
+f 53 77 54
+f 54 77 76
+f 54 76 78
+f 54 78 55
+f 55 78 56
+f 56 78 79
+f 56 79 57
+f 57 79 82
+f 57 82 58
+f 58 80 81
+f 58 81 59
+f 58 82 83
+f 58 83 80
+f 59 81 60
+f 60 84 85
+f 60 85 61
+f 60 81 86
+f 60 86 84
+f 61 85 87
+f 61 87 88
+f 61 88 62
+f 62 88 63
+f 63 88 89
+f 63 89 90
+f 63 90 64
+f 64 90 91
+f 64 91 65
+f 65 91 92
+f 65 92 66
+f 67 68 94
+f 67 94 93
+f 68 95 94
+f 68 96 95
+f 69 97 98
+f 69 98 70
+f 69 71 99
+f 69 99 100
+f 69 100 97
+f 71 73 101
+f 71 101 99
+f 72 102 73
+f 73 102 103
+f 73 103 104
+f 73 104 105
+f 73 105 106
+f 73 106 101
+f 74 107 94
+f 74 94 75
+f 75 94 95
+f 75 95 76
+f 76 95 108
+f 76 108 78
+f 78 108 109
+f 78 109 79
+f 79 109 83
+f 79 83 82
+f 80 83 110
+f 83 109 111
+f 83 111 110
+f 84 86 112
+f 84 112 85
+f 85 113 87
+f 85 112 114
+f 85 114 115
+f 85 115 116
+f 85 116 113
+f 86 114 112
+f 87 113 117
+f 87 117 118
+f 87 118 88
+f 88 118 89
+f 89 118 119
+f 89 119 120
+f 89 120 90
+f 90 120 121
+f 90 121 91
+f 91 121 141
+f 91 141 122
+f 91 122 92
+f 93 94 107
+f 95 96 108
+f 96 123 108
+f 99 101 124
+f 99 124 100
+f 100 124 125
+f 101 106 124
+f 103 126 104
+f 104 126 127
+f 104 127 128
+f 104 128 105
+f 105 128 129
+f 105 129 106
+f 106 129 124
+f 108 123 130
+f 108 130 111
+f 108 111 109
+f 113 131 117
+f 113 116 132
+f 113 132 131
+f 114 133 115
+f 115 133 134
+f 115 134 116
+f 116 134 135
+f 116 135 136
+f 116 136 132
+f 117 131 137
+f 117 137 119
+f 117 119 118
+f 119 137 138
+f 119 138 120
+f 120 138 139
+f 120 139 121
+f 121 139 140
+f 121 140 141
+f 124 142 125
+f 124 129 136
+f 124 136 135
+f 124 135 142
+f 125 142 143
+f 126 144 127
+f 127 145 146
+f 127 146 147
+f 127 147 148
+f 127 148 149
+f 127 149 128
+f 127 144 145
+f 128 149 129
+f 129 149 136
+f 131 132 150
+f 131 150 151
+f 131 151 152
+f 131 152 137
+f 132 136 149
+f 132 149 148
+f 132 148 150
+f 133 153 134
+f 134 153 143
+f 134 143 142
+f 134 142 135
+f 137 154 138
+f 137 152 154
+f 138 154 139
+f 139 154 155
+f 139 155 140
+f 144 156 145
+f 145 156 146
+f 146 157 158
+f 146 158 147
+f 147 158 148
+f 148 158 159
+f 148 159 150
+f 150 159 151
+f 151 159 160
+f 151 160 161
+f 151 161 162
+f 151 162 152
+f 152 162 154
+f 154 163 155
+f 154 162 163
+f 155 163 164
+f 157 165 158
+f 158 165 160
+f 158 160 159
+f 160 165 161
+f 161 166 162
+f 162 166 163
+f 163 166 164
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_5.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.09283373 0.08872848 -0.01469345
+v -0.08427049 0.08872848 -0.01469345
+v -0.09371111 0.08709624 -0.01469346
+v -0.10260771 0.08872835 0.02064850
+v -0.09139391 0.08872837 0.01679280
+v -0.09456805 0.00004075 0.01679247
+v -0.08979048 0.00004086 -0.01469378
+v -0.09424491 0.08572447 -0.01469347
+v -0.10260771 0.08872834 0.02363193
+v -0.10500263 0.08334545 0.02200704
+v -0.09158206 0.08872837 0.01733700
+v -0.09546589 0.00004073 0.02045905
+v -0.09502004 0.00004074 0.01864120
+v -0.09629419 0.00004086 -0.01469378
+v -0.09481143 0.08417906 -0.01469347
+v -0.10209846 0.08872834 0.02383263
+v -0.10500263 0.08334545 0.02255124
+v -0.10268543 0.08809454 0.02364736
+v -0.09570313 0.08026344 -0.01469349
+v -0.09608354 0.07634781 -0.01469350
+v -0.10510285 0.08026331 0.02180247
+v -0.09261284 0.08872836 0.02026640
+v -0.09663574 0.00004073 0.02277864
+v -0.09629419 0.00197697 -0.01469377
+v -0.10501900 0.00004073 0.02199901
+v -0.10506809 0.01763066 0.02191030
+v -0.10514375 0.04894698 0.02174832
+v -0.10516012 0.06851643 0.02170980
+v -0.09904294 0.08872834 0.02473577
+v -0.10292472 0.08026330 0.02406803
+v -0.10510285 0.08026331 0.02272490
+v -0.09622057 0.07243218 -0.01469351
+v -0.10514171 0.07634768 0.02172526
+v -0.09346773 0.08872835 0.02183724
+v -0.09782809 0.00004072 0.02341547
+v -0.09476030 0.08872835 0.02301055
+v -0.09490142 0.08872835 0.02312247
+v -0.09627170 0.05677836 -0.01469357
+v -0.10501900 0.00004073 0.02258181
+v -0.10506809 0.01763066 0.02266678
+v -0.10514375 0.04894698 0.02278268
+v -0.10516012 0.06851643 0.02281749
+v -0.10515603 0.07243205 0.02170982
+v -0.09626556 0.06460094 -0.01469354
+v -0.09841711 0.08872834 0.02459297
+v -0.10292472 0.07634767 0.02412205
+v -0.10292472 0.07243204 0.02414134
+v -0.10292472 0.06851642 0.02414904
+v -0.10292472 0.04894697 0.02411423
+v -0.10292472 0.02154627 0.02400220
+v -0.10292472 0.01763065 0.02398289
+v -0.10292472 0.00004072 0.02386704
+v -0.10096542 0.00004072 0.02396739
+v -0.09904294 0.00004072 0.02406388
+v -0.10514171 0.07634768 0.02278278
+v -0.09625738 0.06851656 -0.01469353
+v -0.09508958 0.08872834 0.02321510
+v -0.10515603 0.07243205 0.02280979
+f 1 2 7
+f 1 7 14
+f 1 14 24
+f 1 24 38
+f 1 38 44
+f 1 44 56
+f 1 56 32
+f 1 32 20
+f 1 20 19
+f 1 19 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 29
+f 1 29 45
+f 1 45 57
+f 1 57 37
+f 1 37 36
+f 1 36 34
+f 1 34 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 10
+f 4 10 17
+f 4 17 9
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 6 12 23
+f 6 23 35
+f 6 35 54
+f 6 54 53
+f 6 53 52
+f 6 52 39
+f 6 39 25
+f 6 25 14
+f 6 14 7
+f 8 15 10
+f 9 17 18
+f 9 18 16
+f 10 15 19
+f 10 19 20
+f 10 20 21
+f 10 21 31
+f 10 31 17
+f 11 22 12
+f 12 22 23
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 24
+f 16 18 30
+f 16 30 29
+f 17 31 18
+f 18 31 30
+f 20 32 21
+f 21 32 33
+f 21 33 55
+f 21 55 31
+f 22 34 23
+f 23 34 36
+f 23 36 37
+f 23 37 35
+f 24 28 38
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 28
+f 28 42 58
+f 28 58 43
+f 28 43 44
+f 28 44 38
+f 29 30 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 53
+f 29 53 54
+f 29 54 45
+f 30 31 55
+f 30 55 46
+f 32 56 33
+f 33 56 43
+f 33 43 58
+f 33 58 55
+f 35 37 54
+f 37 57 54
+f 39 52 51
+f 39 51 40
+f 40 51 41
+f 41 49 42
+f 41 51 50
+f 41 50 49
+f 42 48 47
+f 42 47 58
+f 42 49 48
+f 43 56 44
+f 45 54 57
+f 46 55 58
+f 46 58 47
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_6.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.07342700 0.00004283 -0.01780817
+v 0.00962069 0.00004282 -0.01768127
+v 0.07342700 0.00004285 -0.02479140
+v 0.07342700 0.09922181 -0.01299487
+v 0.00574228 0.00004282 -0.01768127
+v -0.00021951 0.00004285 -0.02477377
+v 0.00962069 0.09983853 -0.02499901
+v 0.07342700 0.05504424 -0.02489225
+v 0.07342700 0.10686651 -0.01299484
+v -0.00021951 0.10207129 -0.01299486
+v -0.00021951 0.00004282 -0.01768479
+v -0.00021951 0.09983853 -0.02498961
+v -0.00021951 0.10193311 -0.02465707
+v -0.00021951 0.10375125 -0.02436801
+v 0.00574228 0.10375125 -0.02437271
+v 0.00962069 0.10375125 -0.02437388
+v 0.05618322 0.10375125 -0.02430690
+v 0.06006162 0.10375125 -0.02430103
+v 0.06394724 0.09983853 -0.02491558
+v 0.07342700 0.07853120 -0.02490156
+v 0.07342700 0.06678240 -0.02490160
+v 0.07342700 0.06286968 -0.02490044
+v 0.07342700 0.06069004 -0.02489928
+v 0.07342700 0.05895696 -0.02489810
+v 0.07342700 0.10656881 -0.01511460
+v 0.07170406 0.10753634 -0.01299483
+v -0.00021951 0.10849326 -0.01299483
+v -0.00021951 0.10525042 -0.02347967
+v 0.00574228 0.10654756 -0.02271237
+v 0.00962069 0.10654756 -0.02271237
+v 0.05618322 0.10650503 -0.02269710
+v 0.06006162 0.10650503 -0.02269005
+v 0.06394724 0.10375125 -0.02424580
+v 0.06782565 0.09983853 -0.02490383
+v 0.07170406 0.09592581 -0.02490032
+v 0.07342700 0.09419272 -0.02489328
+v 0.07342700 0.10640931 -0.01620386
+v 0.07170406 0.10705789 -0.01620386
+v 0.06782565 0.10796165 -0.01620385
+v 0.06782565 0.10839757 -0.01299483
+v 0.06394724 0.10865274 -0.01299483
+v -0.00021951 0.10836567 -0.01424272
+v -0.00021951 0.10654756 -0.02270767
+v 0.00185666 0.10654756 -0.02271002
+v -0.00021951 0.10768521 -0.01986878
+v 0.00574228 0.10768521 -0.01986878
+v 0.06006162 0.10763205 -0.01986878
+v 0.06394724 0.10645187 -0.02263600
+v 0.06394724 0.10760016 -0.01986878
+v 0.06782565 0.10375125 -0.02401197
+v 0.07170406 0.09983853 -0.02479220
+v 0.07342700 0.09810545 -0.02482159
+v 0.07342700 0.09592581 -0.02488270
+v 0.07342700 0.10611162 -0.01804984
+v 0.06782565 0.10724929 -0.01986879
+v 0.07342700 0.10595213 -0.01884299
+v 0.07177615 0.10629238 -0.01981709
+v 0.06394724 0.10823809 -0.01620385
+v -0.00021951 0.10816366 -0.01620385
+v 0.06782565 0.10626049 -0.02241626
+v 0.07177615 0.10401705 -0.02310837
+v 0.07342700 0.10220955 -0.02359248
+v 0.07342700 0.09983853 -0.02454192
+v 0.07052901 0.10597341 -0.02206140
+v 0.07342700 0.10536737 -0.02084054
+v 0.07311701 0.10549495 -0.02100505
+v 0.07342700 0.10350669 -0.02291449
+v 0.07342700 0.10516535 -0.02121185
+f 1 2 5
+f 1 5 11
+f 1 11 6
+f 1 6 3
+f 1 3 8
+f 1 8 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 36
+f 1 36 53
+f 1 53 52
+f 1 52 63
+f 1 63 62
+f 1 62 67
+f 1 67 68
+f 1 68 65
+f 1 65 56
+f 1 56 54
+f 1 54 37
+f 1 37 25
+f 1 25 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 26
+f 4 26 40
+f 4 40 41
+f 4 41 27
+f 4 27 10
+f 4 10 11
+f 4 11 5
+f 6 11 10
+f 6 10 27
+f 6 27 42
+f 6 42 59
+f 6 59 45
+f 6 45 43
+f 6 43 28
+f 6 28 14
+f 6 14 13
+f 6 13 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 9 25 26
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 27 41 42
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 30 47 32
+f 30 32 31
+f 32 48 33
+f 32 47 49
+f 32 49 48
+f 33 48 50
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 36
+f 37 54 38
+f 38 55 39
+f 38 54 56
+f 38 56 57
+f 38 57 55
+f 39 55 49
+f 39 49 58
+f 39 58 40
+f 40 58 41
+f 41 58 59
+f 41 59 42
+f 43 45 44
+f 45 59 58
+f 45 58 46
+f 46 58 47
+f 47 58 49
+f 48 60 50
+f 48 49 60
+f 49 55 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 51 63 52
+f 55 57 64
+f 55 64 60
+f 56 65 66
+f 56 66 57
+f 57 66 64
+f 60 64 61
+f 61 64 67
+f 61 67 62
+f 64 66 68
+f 64 68 67
+f 65 68 66
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_7.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.09282562 0.08872848 -0.01469345
+v -0.09255288 0.08872849 -0.01607230
+v -0.09355916 0.08680975 -0.01620349
+v -0.09370023 0.08709624 -0.01469346
+v -0.08426752 0.08872848 -0.01469345
+v -0.09252467 0.08872849 -0.01620348
+v -0.09332405 0.08634093 -0.01844348
+v -0.09480996 0.08417906 -0.01469347
+v -0.09423629 0.08572447 -0.01469347
+v -0.08978796 0.00004086 -0.01469378
+v -0.00021951 0.00004087 -0.01768479
+v -0.00021951 0.02546205 -0.01764364
+v -0.00021951 0.02937767 -0.01763761
+v -0.00021951 0.03720893 -0.01762757
+v -0.00021951 0.03903217 -0.01762958
+v -0.00021951 0.04112455 -0.01763257
+v -0.00021951 0.06460096 -0.01770658
+v -0.00021951 0.06642420 -0.01771259
+v -0.00021951 0.06851658 -0.01772059
+v -0.00021951 0.08872850 -0.01779861
+v -0.09248705 0.08872849 -0.01637470
+v -0.09372845 0.08418777 -0.01974724
+v -0.09452782 0.08417907 -0.01620350
+v -0.09215790 0.08782556 -0.01974723
+v -0.09298548 0.08550745 -0.02088677
+v -0.09544006 0.08026345 -0.01620352
+v -0.09570339 0.08026344 -0.01469349
+v -0.09629587 0.00004086 -0.01469378
+v -0.00021951 0.00004090 -0.02477328
+v -0.00021951 0.08872852 -0.02492215
+v -0.09160303 0.08872850 -0.01978026
+v -0.09343690 0.08289414 -0.02200728
+v -0.09465008 0.08026346 -0.01986842
+v -0.09134910 0.08872851 -0.02052226
+v -0.09022997 0.08872851 -0.02254096
+v -0.09583505 0.07634782 -0.01620353
+v -0.09506388 0.07634783 -0.01986843
+v -0.09607957 0.07634781 -0.01469350
+v -0.09626766 0.06068531 -0.01469356
+v -0.09611719 0.00197698 -0.01620380
+v -0.09611719 0.00004087 -0.01620381
+v -0.00203458 0.00004090 -0.02477729
+v -0.00203458 0.08872852 -0.02491815
+v -0.00590924 0.00004090 -0.02478329
+v -0.00979329 0.00004090 -0.02478630
+v -0.08739922 0.00004090 -0.02478329
+v -0.08739922 0.00197701 -0.02478228
+v -0.09152779 0.08418778 -0.02301662
+v -0.09371904 0.08026347 -0.02234474
+v -0.09040865 0.08809471 -0.02268516
+v -0.08739922 0.08872852 -0.02397388
+v -0.09521435 0.07243220 -0.01986844
+v -0.09597612 0.07243219 -0.01620354
+v -0.09393534 0.07634784 -0.02257706
+v -0.09613599 0.07473294 -0.01469351
+v -0.09625826 0.06851656 -0.01469353
+v -0.09605136 0.06068532 -0.01620359
+v -0.09577863 0.00004088 -0.01805428
+v -0.08739922 0.00589263 -0.02477827
+v -0.08739922 0.07243222 -0.02470692
+v -0.08739922 0.07634785 -0.02470191
+v -0.06799774 0.08872852 -0.02472989
+v -0.09127387 0.00004090 -0.02423856
+v -0.09127387 0.00980826 -0.02423151
+v -0.09127387 0.04112458 -0.02420337
+v -0.09127387 0.08026348 -0.02383674
+v -0.08739922 0.08809472 -0.02418017
+v -0.08351516 0.08872852 -0.02463777
+v -0.09528019 0.06851658 -0.01986846
+v -0.09401058 0.07243221 -0.02264116
+v -0.09602314 0.06851657 -0.01620356
+v -0.09621123 0.07243218 -0.01469351
+v -0.09127387 0.07634785 -0.02407707
+v -0.09604195 0.06460095 -0.01620357
+v -0.09536483 0.05286276 -0.01986852
+v -0.09543066 0.00980824 -0.01986867
+v -0.09544006 0.00197699 -0.01986870
+v -0.09544006 0.00004088 -0.01986871
+v -0.09127387 0.05677840 -0.02418128
+v -0.09127387 0.06851660 -0.02416021
+v -0.08739922 0.08026348 -0.02469188
+v -0.08351516 0.08809472 -0.02468184
+v -0.06861843 0.08872852 -0.02472789
+v -0.09271275 0.00004090 -0.02346052
+v -0.09410462 0.01763082 -0.02270946
+v -0.09410462 0.02154644 -0.02270844
+v -0.09408582 0.05286277 -0.02269331
+v -0.08739922 0.08417910 -0.02461175
+v -0.07964050 0.08872852 -0.02467482
+v -0.09533661 0.06068533 -0.01986849
+v -0.09403879 0.06851659 -0.02265920
+v -0.09127387 0.07243222 -0.02414217
+v -0.09535542 0.05677838 -0.01986850
+v -0.09408582 0.05677839 -0.02268728
+v -0.09477234 0.00004089 -0.02129562
+v -0.09405760 0.06460097 -0.02266822
+v -0.07187239 0.08872852 -0.02471688
+v -0.09411403 0.00004089 -0.02269750
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 27
+f 1 27 38
+f 1 38 55
+f 1 55 72
+f 1 72 56
+f 1 56 39
+f 1 39 28
+f 1 28 10
+f 1 10 5
+f 1 5 20
+f 1 20 30
+f 1 30 43
+f 1 43 62
+f 1 62 83
+f 1 83 97
+f 1 97 89
+f 1 89 68
+f 1 68 51
+f 1 51 35
+f 1 35 34
+f 1 34 31
+f 1 31 21
+f 1 21 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 6 21 7
+f 7 22 23
+f 7 23 8
+f 7 21 24
+f 7 24 25
+f 7 25 22
+f 8 23 26
+f 8 26 27
+f 10 28 41
+f 10 41 58
+f 10 58 78
+f 10 78 95
+f 10 95 98
+f 10 98 84
+f 10 84 63
+f 10 63 46
+f 10 46 45
+f 10 45 44
+f 10 44 42
+f 10 42 29
+f 10 29 11
+f 11 29 30
+f 11 30 20
+f 11 20 19
+f 11 19 18
+f 11 18 17
+f 11 17 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 21 31 24
+f 22 25 32
+f 22 32 33
+f 22 33 23
+f 23 33 26
+f 24 31 34
+f 24 34 25
+f 25 34 35
+f 25 35 32
+f 26 36 27
+f 26 33 37
+f 26 37 36
+f 27 36 38
+f 28 39 40
+f 28 40 41
+f 29 42 30
+f 30 42 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 43
+f 32 48 49
+f 32 49 33
+f 32 35 50
+f 32 50 48
+f 33 49 37
+f 35 51 50
+f 36 37 52
+f 36 52 53
+f 36 53 38
+f 37 49 54
+f 37 54 52
+f 38 53 55
+f 39 56 57
+f 39 57 40
+f 40 57 58
+f 40 58 41
+f 43 47 59
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 46 63 47
+f 47 63 64
+f 47 64 65
+f 47 65 59
+f 48 66 49
+f 48 50 67
+f 48 67 66
+f 49 66 54
+f 50 51 67
+f 51 68 67
+f 52 69 53
+f 52 54 70
+f 52 70 69
+f 53 69 71
+f 53 71 56
+f 53 56 72
+f 53 72 55
+f 54 66 73
+f 54 73 70
+f 56 71 74
+f 56 74 57
+f 57 74 93
+f 57 93 75
+f 57 75 76
+f 57 76 77
+f 57 77 58
+f 58 77 78
+f 59 65 60
+f 60 65 61
+f 61 65 79
+f 61 79 80
+f 61 80 81
+f 61 81 62
+f 62 81 82
+f 62 82 83
+f 63 84 85
+f 63 85 86
+f 63 86 64
+f 64 86 87
+f 64 87 65
+f 65 87 79
+f 66 67 88
+f 66 88 73
+f 67 68 88
+f 68 82 88
+f 68 89 82
+f 69 90 71
+f 69 70 91
+f 69 91 90
+f 70 73 92
+f 70 92 91
+f 71 90 93
+f 71 93 74
+f 73 88 81
+f 73 81 92
+f 75 93 94
+f 75 94 76
+f 76 94 77
+f 77 94 86
+f 77 86 95
+f 77 95 78
+f 79 87 94
+f 79 94 80
+f 80 94 96
+f 80 96 92
+f 80 92 81
+f 81 88 82
+f 82 89 97
+f 82 97 83
+f 84 98 85
+f 85 98 86
+f 86 98 95
+f 86 94 87
+f 90 91 96
+f 90 96 93
+f 91 92 96
+f 93 96 94
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_8.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.10437505 -0.08345371 0.02155605
+v -0.10154288 -0.09590165 0.02146058
+v -0.10111484 -0.09812731 0.02203319
+v -0.10111484 -0.09812731 0.02250622
+v -0.10430728 -0.08345371 0.02284652
+v -0.09443035 -0.08345357 -0.01752305
+v -0.09425913 -0.08417152 -0.01752305
+v -0.09784036 -0.10280426 0.02142735
+v -0.09344586 -0.08656128 -0.01752306
+v -0.09299999 -0.08739548 -0.01752306
+v -0.09241858 -0.08844164 -0.01752306
+v -0.09044604 -0.09148781 -0.01752308
+v -0.09784036 -0.10280426 0.02304562
+v -0.09909594 -0.09958716 0.02339833
+v -0.10154288 -0.09590165 0.02300416
+v -0.10218137 -0.09198711 0.02350625
+v -0.10263081 -0.08807256 0.02362245
+v -0.10319795 -0.08345372 0.02356022
+v -0.08354040 -0.08345357 -0.01752305
+v -0.09429480 -0.10681796 0.02135680
+v -0.08946870 -0.09274252 -0.01752308
+v -0.08891939 -0.09344680 -0.01752308
+v -0.09429480 -0.10681797 0.02314105
+v -0.09541840 -0.10395642 0.02378007
+v -0.09904243 -0.09590166 0.02426558
+v -0.09904243 -0.09198711 0.02463073
+v -0.09904243 -0.08807256 0.02453532
+v -0.09904243 -0.08345372 0.02429466
+v -0.08300892 -0.08364160 -0.01752305
+v -0.09441965 -0.08345370 0.02025314
+v -0.09044248 -0.11048295 0.02141902
+v -0.08697896 -0.09546732 -0.01752309
+v -0.08571268 -0.09671862 -0.01752310
+v -0.08499572 -0.09742631 -0.01752310
+v -0.09044248 -0.11048295 0.02311198
+v -0.09155537 -0.10793251 0.02382154
+v -0.09128071 -0.10372736 0.02481742
+v -0.09516157 -0.09981622 0.02473444
+v -0.07964170 -0.11155989 0.02486718
+v -0.06793848 -0.11547444 0.02479663
+v -0.06793848 -0.11155989 0.02421572
+v -0.06793848 -0.10885559 0.02289622
+v -0.09622453 -0.08345371 0.02295441
+v -0.08059408 -0.08510486 -0.01752305
+v -0.09473711 -0.08345371 0.02080086
+v -0.06793848 -0.10731027 0.02045638
+v -0.06793848 -0.10613760 0.01669702
+v -0.08609792 -0.11387784 0.02174682
+v -0.08305529 -0.09917675 -0.01752310
+v -0.08164277 -0.10042804 -0.01752311
+v -0.08082594 -0.10112890 -0.01752311
+v -0.07958463 -0.10216480 -0.01752312
+v -0.07888551 -0.10273916 -0.01752312
+v -0.08609792 -0.11387784 0.02280492
+v -0.08739272 -0.11169664 0.02362651
+v -0.08352256 -0.11155989 0.02467216
+v -0.08739986 -0.10764192 0.02486304
+v -0.07187998 -0.11547444 0.02461406
+v -0.06799913 -0.11837703 0.02347711
+v -0.06793848 -0.11838044 0.02347711
+v -0.06793848 -0.09655109 -0.01752309
+v -0.07803657 -0.11753941 0.02207461
+v -0.07719476 -0.10399388 -0.01752312
+v -0.07609257 -0.10474602 -0.01752312
+v -0.07425201 -0.10592551 -0.01752313
+v -0.07803657 -0.11753941 0.02248955
+v -0.08352256 -0.11451717 0.02334434
+v -0.07576084 -0.11547444 0.02421156
+v -0.07187998 -0.11818215 0.02329454
+v -0.06793848 -0.11838043 0.02103311
+v -0.06793848 -0.10770672 -0.01752314
+v -0.07576084 -0.11781291 0.02166797
+v -0.07308562 -0.10636312 -0.01752313
+v -0.07191565 -0.10674945 -0.01752313
+v -0.06799913 -0.10770330 -0.01752314
+v -0.07576084 -0.11781291 0.02287545
+v -0.07945622 -0.11566590 0.02348542
+v -0.07187998 -0.11818214 0.02121983
+v -0.06799913 -0.11837702 0.02103311
+v -0.06793848 -0.10771356 -0.01750240
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 28
+f 1 28 43
+f 1 43 45
+f 1 45 30
+f 1 30 19
+f 1 19 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 13
+f 3 13 4
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 8
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 6 19 29
+f 6 29 44
+f 6 44 61
+f 6 61 71
+f 6 71 75
+f 6 75 74
+f 6 74 73
+f 6 73 65
+f 6 65 64
+f 6 64 63
+f 6 63 53
+f 6 53 52
+f 6 52 51
+f 6 51 50
+f 6 50 49
+f 6 49 34
+f 6 34 33
+f 6 33 32
+f 6 32 22
+f 6 22 21
+f 6 21 12
+f 6 12 11
+f 6 11 10
+f 6 10 9
+f 6 9 7
+f 8 20 23
+f 8 23 13
+f 8 12 21
+f 8 21 22
+f 8 22 20
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 19 30 29
+f 20 31 35
+f 20 35 23
+f 20 22 32
+f 20 32 33
+f 20 33 34
+f 20 34 31
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 26
+f 26 38 37
+f 26 37 39
+f 26 39 27
+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 29 30 44
+f 30 45 46
+f 30 46 47
+f 30 47 44
+f 31 48 54
+f 31 54 35
+f 31 34 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 48
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 37 57 39
+f 39 57 56
+f 39 56 58
+f 39 58 40
+f 40 58 59
+f 40 59 60
+f 40 60 70
+f 40 70 80
+f 40 80 71
+f 40 71 61
+f 40 61 47
+f 40 47 46
+f 40 46 42
+f 40 42 41
+f 42 46 43
+f 43 46 45
+f 44 47 61
+f 48 62 66
+f 48 66 54
+f 48 53 63
+f 48 63 64
+f 48 64 65
+f 48 65 62
+f 54 66 67
+f 54 67 55
+f 55 67 56
+f 56 68 58
+f 56 67 68
+f 58 68 69
+f 58 69 59
+f 59 69 60
+f 60 69 78
+f 60 78 70
+f 62 72 76
+f 62 76 66
+f 62 65 73
+f 62 73 74
+f 62 74 75
+f 62 75 72
+f 66 76 67
+f 67 76 77
+f 67 77 68
+f 68 77 76
+f 68 76 69
+f 69 76 72
+f 69 72 78
+f 70 78 79
+f 70 79 80
+f 71 80 75
+f 72 75 78
+f 75 80 78
+f 78 80 79
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/mjcf/mesh/tray_collision_9.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00573771 0.11550109 0.02524420
+v 0.00185629 0.11834796 0.02375447
+v -0.00021292 0.11834307 0.02375447
+v -0.00021292 0.11682604 0.02454426
+v -0.00021292 0.11550109 0.02523297
+v 0.01350055 0.11158483 0.02436083
+v 0.01350055 0.11550109 0.02524046
+v 0.01738197 0.11839678 0.02373202
+v -0.00021292 0.11834308 0.02140758
+v -0.00021292 0.11158483 0.02432340
+v 0.00961913 0.11158483 0.02435334
+v 0.02902623 0.11158483 0.02433463
+v -0.00021292 0.10900493 0.02284488
+v 0.06710237 0.10894633 0.02286734
+v 0.01738197 0.11550109 0.02523297
+v 0.03677589 0.11843096 0.02367962
+v 0.02126339 0.11840655 0.02372079
+v 0.01738197 0.11839679 0.02126160
+v -0.00021292 0.10850373 -0.01299483
+v -0.00021292 0.11020454 0.02353360
+v 0.03677589 0.11158483 0.02430842
+v -0.00021292 0.10830013 0.02156850
+v 0.06710237 0.10742280 0.02045681
+v 0.06710237 0.11158483 0.02419239
+v 0.02902623 0.11550109 0.02518057
+v 0.03677589 0.11550109 0.02513939
+v 0.06006441 0.11845863 0.02351119
+v 0.04065731 0.11844072 0.02364594
+v 0.04453873 0.11845701 0.02358230
+v 0.02514481 0.11841306 0.02370956
+v 0.02126339 0.11840656 0.02122791
+v -0.00021292 0.10208080 -0.01299486
+v 0.04842016 0.11846353 0.02105200
+v 0.06394583 0.10865348 -0.01299483
+v -0.00021292 0.10768811 0.02045682
+v 0.06710237 0.10617111 0.01669878
+v 0.06710237 0.11550109 0.02476509
+v 0.06394583 0.11550109 0.02480626
+v 0.06394583 0.11844072 0.02349247
+v 0.06006441 0.11845864 0.02104077
+v 0.04842016 0.11846352 0.02353739
+v 0.04453873 0.11845702 0.02110815
+v 0.06710237 0.10183502 -0.01299486
+v 0.06710237 0.10227123 -0.00977583
+v 0.06710237 0.10543703 0.01309797
+v -0.00021292 0.10523195 0.00945972
+v 0.06394583 0.11844073 0.02104826
+v 0.06710237 0.11837563 0.02110065
+v 0.06710237 0.10844676 -0.01299483
+v -0.00021292 0.10716726 0.01849919
+v 0.06710237 0.10607508 0.01624962
+v -0.00021292 0.10671477 0.01679236
+v -0.00021292 0.10560632 0.01186276
+v 0.06710237 0.11837562 0.02344006
+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 8 3
+f 3 9 19
+f 3 19 32
+f 3 32 46
+f 3 46 53
+f 3 53 52
+f 3 52 50
+f 3 50 35
+f 3 35 22
+f 3 22 13
+f 3 13 20
+f 3 20 10
+f 3 10 5
+f 3 5 4
+f 3 8 18
+f 3 18 9
+f 5 10 11
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 7 12 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 31
+f 8 31 18
+f 9 18 19
+f 10 20 11
+f 11 20 13
+f 12 14 21
+f 12 21 15
+f 13 22 23
+f 13 23 14
+f 14 23 36
+f 14 36 51
+f 14 51 45
+f 14 45 44
+f 14 44 43
+f 14 43 49
+f 14 49 48
+f 14 48 54
+f 14 54 37
+f 14 37 24
+f 14 24 21
+f 15 21 24
+f 15 24 25
+f 15 25 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 16 25 26
+f 17 30 29
+f 17 29 42
+f 17 42 31
+f 18 31 19
+f 19 31 33
+f 19 33 34
+f 19 34 49
+f 19 49 43
+f 19 43 32
+f 22 35 23
+f 23 35 36
+f 24 37 38
+f 24 38 26
+f 24 26 25
+f 26 38 39
+f 26 39 27
+f 27 39 47
+f 27 47 40
+f 27 40 33
+f 27 33 41
+f 27 41 29
+f 27 29 28
+f 29 41 33
+f 29 33 42
+f 31 42 33
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 33 40 34
+f 34 40 47
+f 34 47 48
+f 34 48 49
+f 35 50 36
+f 36 50 52
+f 36 52 53
+f 36 53 51
+f 37 54 39
+f 37 39 38
+f 39 54 48
+f 39 48 47
+f 45 51 53
+f 45 53 46
+

dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f94682845c0dcffbf4110c60467346f87de10da6c3a80dfda965e795cb1ba88
+size 239209