Add asset kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17

.gitattributes

@@ -4225,7 +4225,6 @@ dataset/kitchen_supplies/tableware/638200e216b559b1915f51c5b763e2cf/mesh/tray_03
 dataset/kitchen_supplies/tableware/638200e216b559b1915f51c5b763e2cf/tray_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/mesh/tray_061.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/tray_061.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/mesh/spoon_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/spoon_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/680fd401dbcf5e29b6c6693fd12646ea/fork_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/680fd401dbcf5e29b6c6693fd12646ea/mesh/fork_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/67fec24a267c5278b557aa3723a70c17.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/67fec24a267c5278b557aa3723a70c17.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="green_napkin">
+   <link name="green_napkin">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/green_napkin.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/green_napkin_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>0.129363</scale>
+         <version>v0.1.7</version>
+         <category>green napkin</category>
+         <description>folded green napkin with elongated rectangular shape</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <generate_time>20260119141325</generate_time>
+         <gs_model>mesh/green_napkin_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object has internal overlapping geometry and structural inconsistencies.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.883378505706787</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/67fec24a267c5278b557aa3723a70c17/67fec24a267c5278b557aa3723a70c17.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e951e7e11699aa4cdcbba69c210afd2138ab8a1685bdb4e86d96f518e70d5b4f
+size 1197579

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3c95af5227f54fd9b93afd74f789e816d1fa2ebdd47bc5f52608033aa8d08a
+size 2389852

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mesh/green_napkin_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4df8223d20c55c2859eebab33f81e7800df6ca8bee9943ba7a4335b17d8c780
+size 4032361

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/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/67fec24a267c5278b557aa3723a70c17/mjcf/67fec24a267c5278b557aa3723a70c17.xml

@@ -0,0 +1,154 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="green_napkin">
+  <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/green_napkin.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/green_napkin_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/green_napkin_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/green_napkin_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/green_napkin_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/green_napkin_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/green_napkin_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/green_napkin_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/green_napkin_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/green_napkin_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/green_napkin_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/green_napkin_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/green_napkin_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/green_napkin_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/green_napkin_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/green_napkin_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/green_napkin_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/green_napkin_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/green_napkin_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/green_napkin_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/green_napkin_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/green_napkin_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/green_napkin_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/green_napkin_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/green_napkin_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/green_napkin_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/green_napkin_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/green_napkin_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/green_napkin_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/green_napkin_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/green_napkin_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/green_napkin_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/green_napkin_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/green_napkin_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/green_napkin_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/green_napkin_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/green_napkin_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/green_napkin_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/green_napkin_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/green_napkin_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/green_napkin_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/green_napkin_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/green_napkin_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/green_napkin_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/green_napkin_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/green_napkin_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/green_napkin_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/green_napkin_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/green_napkin_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/green_napkin_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/green_napkin_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/green_napkin_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/green_napkin_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/green_napkin_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/green_napkin_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/green_napkin_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/green_napkin_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/green_napkin_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/green_napkin_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/green_napkin_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/green_napkin_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/green_napkin_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/green_napkin_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/green_napkin_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/green_napkin_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/green_napkin_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/green_napkin_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/green_napkin_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/green_napkin_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/green_napkin_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/green_napkin_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="green_napkin">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_0.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.03786778 0.06432217 0.00063604
+v 0.03786778 0.06017155 0.00063602
+v 0.03786778 0.06414077 -0.00037972
+v 0.00280267 0.06416226 0.00063604
+v 0.03711440 0.06009040 0.00063602
+v 0.03786778 0.03994119 -0.00827437
+v 0.03786778 0.06397131 -0.00073112
+v 0.00280267 0.06401427 -0.00000157
+v 0.00161775 0.06415510 0.00063604
+v 0.00051693 0.05776806 0.00063601
+v 0.03628056 0.03994119 -0.00828251
+v 0.03786778 0.03994120 -0.01095165
+v 0.00050596 0.05776806 0.00063601
+v 0.03786778 0.06364672 -0.00138502
+v 0.00280267 0.06333881 -0.00119536
+v 0.00050596 0.06323141 -0.00119536
+v 0.00050596 0.06328153 -0.00110345
+v 0.00050596 0.06395460 0.00014386
+v 0.00050596 0.06410736 0.00063604
+v 0.03497129 0.03994119 -0.00828949
+v 0.02424842 0.03994120 -0.01111222
+v 0.02639153 0.04165491 -0.01091558
+v 0.02853464 0.04165491 -0.01088650
+v 0.03786778 0.04165491 -0.01075851
+v 0.00050596 0.03994119 -0.00852336
+v 0.03402774 0.03994119 -0.00829531
+v 0.03786778 0.06257983 -0.00294532
+v 0.00494579 0.06233876 -0.00263814
+v 0.00280267 0.06231967 -0.00261371
+v 0.00050596 0.06226954 -0.00256717
+v 0.02210165 0.03994120 -0.01112735
+v 0.02424842 0.04165491 -0.01093886
+v 0.02424842 0.04378870 -0.01069450
+v 0.02639153 0.04378870 -0.01067007
+v 0.03786778 0.04304163 -0.01057117
+v 0.00050596 0.03994120 -0.01125068
+v 0.03786778 0.06224329 -0.00329670
+v 0.00494579 0.06125039 -0.00364344
+v 0.03786778 0.06161079 -0.00395061
+v 0.00280267 0.06122652 -0.00361901
+v 0.00050596 0.06120027 -0.00357363
+v 0.00050596 0.06127664 -0.00350265
+v 0.02210165 0.04165491 -0.01095165
+v 0.02210165 0.04378870 -0.01070730
+v 0.02424842 0.04576973 -0.01040361
+v 0.02639153 0.04568619 -0.01038965
+v 0.03786778 0.04378870 -0.01046878
+v 0.00050596 0.04165491 -0.01105172
+v 0.00065591 0.04165491 -0.01105172
+v 0.00050596 0.06013338 -0.00446024
+v 0.00050596 0.06020976 -0.00439858
+v 0.03786778 0.06054391 -0.00468364
+v 0.00494579 0.06018351 -0.00448817
+v 0.02210165 0.04581030 -0.01040943
+v 0.00065591 0.04378870 -0.01078177
+v 0.02210165 0.04687720 -0.01022326
+v 0.02424842 0.04683662 -0.01021512
+v 0.02639153 0.04675309 -0.01019883
+v 0.03786778 0.04500357 -0.01027446
+v 0.03786778 0.04458827 -0.01034195
+v 0.00050596 0.04180289 -0.01103310
+v 0.00050596 0.05882304 -0.00526657
+v 0.03786778 0.05872518 -0.00564006
+v 0.00050596 0.05335731 -0.00821731
+v 0.00050596 0.05458889 -0.00756922
+v 0.00050596 0.05633362 -0.00665002
+v 0.00709255 0.05744348 -0.00610898
+v 0.00280267 0.05741722 -0.00609269
+v 0.00050596 0.05740051 -0.00608338
+v 0.00050596 0.05872518 -0.00532475
+v 0.00280267 0.04592248 -0.01045597
+v 0.00923567 0.04701086 -0.01025119
+v 0.01216507 0.04698460 -0.01024537
+v 0.00050596 0.04378870 -0.01078177
+v 0.00050596 0.04393668 -0.01075966
+v 0.00050596 0.04592248 -0.01046179
+v 0.02210165 0.04805627 -0.00996146
+v 0.02424842 0.04805627 -0.00994982
+v 0.00923567 0.04807775 -0.01001964
+v 0.02639153 0.04805627 -0.00992888
+v 0.02853464 0.04805627 -0.00988699
+v 0.02853464 0.04662658 -0.01017672
+v 0.03786778 0.04569574 -0.01013949
+v 0.03786778 0.05754133 -0.00617530
+v 0.02639153 0.05331435 -0.00819636
+v 0.02424842 0.05332628 -0.00820218
+v 0.01995854 0.05334537 -0.00821149
+v 0.01781543 0.05335254 -0.00821614
+v 0.01352555 0.05336925 -0.00822429
+v 0.01138243 0.05337163 -0.00822545
+v 0.00050596 0.05236440 -0.00864200
+v 0.00280267 0.04706575 -0.01026282
+v 0.00050596 0.04707291 -0.01026399
+v 0.00065591 0.04707530 -0.01026399
+v 0.02639153 0.05019243 -0.00937969
+v 0.00709255 0.04809685 -0.01002313
+v 0.01138243 0.05019243 -0.00944369
+v 0.02853464 0.05019243 -0.00934479
+v 0.03786778 0.04805627 -0.00962403
+v 0.03786778 0.04735217 -0.00978228
+v 0.03786778 0.04607047 -0.01006386
+v 0.03786778 0.05289666 -0.00803697
+v 0.03068141 0.05213289 -0.00859779
+v 0.02853464 0.05220927 -0.00862921
+v 0.02853464 0.05327854 -0.00818007
+v 0.02639153 0.05224746 -0.00864433
+v 0.02424842 0.05225939 -0.00864782
+v 0.01352555 0.05230235 -0.00866644
+v 0.01138243 0.05230474 -0.00867109
+v 0.00923567 0.05230235 -0.00867342
+v 0.00050596 0.05229042 -0.00867342
+v 0.00050596 0.04714929 -0.01024770
+v 0.00280267 0.04813265 -0.01002429
+v 0.00494579 0.04811594 -0.01002429
+v 0.00923567 0.05019243 -0.00945183
+v 0.03068141 0.05019243 -0.00927847
+v 0.03786778 0.04944537 -0.00924123
+v 0.03786778 0.05182977 -0.00846398
+v 0.00709255 0.05019243 -0.00945532
+v 0.00280267 0.05019243 -0.00945765
+v 0.00050596 0.05019243 -0.00945765
+v 0.00050596 0.04813981 -0.01002429
+v 0.00065591 0.04814219 -0.01002429
+v 0.03786778 0.05127126 -0.00865713
+v 0.03786778 0.05019243 -0.00902947
+v 0.00050596 0.04828540 -0.00998473
+f 1 2 6
+f 1 6 12
+f 1 12 24
+f 1 24 35
+f 1 35 47
+f 1 47 60
+f 1 60 59
+f 1 59 83
+f 1 83 101
+f 1 101 100
+f 1 100 99
+f 1 99 117
+f 1 117 125
+f 1 125 124
+f 1 124 118
+f 1 118 102
+f 1 102 84
+f 1 84 63
+f 1 63 52
+f 1 52 39
+f 1 39 37
+f 1 37 27
+f 1 27 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 13
+f 1 13 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 6
+f 6 11 20
+f 6 20 26
+f 6 26 25
+f 6 25 36
+f 6 36 31
+f 6 31 21
+f 6 21 12
+f 6 10 13
+f 6 13 11
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 8 14 15
+f 11 13 20
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 13 19 18
+f 13 18 17
+f 13 17 16
+f 13 16 30
+f 13 30 42
+f 13 42 41
+f 13 41 51
+f 13 51 50
+f 13 50 62
+f 13 62 70
+f 13 70 69
+f 13 69 66
+f 13 66 65
+f 13 65 64
+f 13 64 91
+f 13 91 111
+f 13 111 121
+f 13 121 126
+f 13 126 122
+f 13 122 112
+f 13 112 93
+f 13 93 76
+f 13 76 75
+f 13 75 74
+f 13 74 61
+f 13 61 48
+f 13 48 36
+f 13 36 25
+f 13 25 26
+f 13 26 20
+f 14 27 15
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 15 27 28
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 24
+f 24 34 35
+f 27 37 28
+f 28 38 29
+f 28 37 39
+f 28 39 38
+f 29 38 40
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 31 36 43
+f 31 43 32
+f 32 43 44
+f 32 44 33
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 36 48 49
+f 36 49 44
+f 36 44 43
+f 38 50 51
+f 38 51 40
+f 38 39 50
+f 39 52 53
+f 39 53 50
+f 40 51 41
+f 44 54 45
+f 44 49 55
+f 44 55 54
+f 45 54 56
+f 45 56 57
+f 45 57 46
+f 46 57 58
+f 46 58 59
+f 46 59 60
+f 46 60 47
+f 48 61 49
+f 49 61 55
+f 50 53 62
+f 52 63 64
+f 52 64 65
+f 52 65 66
+f 52 66 67
+f 52 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 62
+f 52 62 53
+f 54 55 71
+f 54 71 72
+f 54 72 73
+f 54 73 56
+f 55 61 74
+f 55 74 75
+f 55 75 76
+f 55 76 71
+f 56 77 78
+f 56 78 57
+f 56 73 79
+f 56 79 77
+f 57 78 80
+f 57 80 58
+f 58 80 81
+f 58 81 82
+f 58 82 59
+f 59 82 83
+f 63 84 85
+f 63 85 86
+f 63 86 87
+f 63 87 88
+f 63 88 89
+f 63 89 90
+f 63 90 64
+f 64 90 91
+f 66 69 68
+f 66 68 67
+f 71 76 92
+f 71 92 72
+f 72 79 73
+f 72 92 79
+f 76 93 94
+f 76 94 92
+f 77 95 78
+f 77 79 95
+f 78 95 80
+f 79 92 96
+f 79 96 97
+f 79 97 95
+f 80 95 98
+f 80 98 81
+f 81 98 99
+f 81 99 100
+f 81 100 101
+f 81 101 82
+f 82 101 83
+f 84 102 103
+f 84 103 104
+f 84 104 105
+f 84 105 85
+f 85 105 104
+f 85 104 106
+f 85 106 86
+f 86 106 87
+f 87 106 107
+f 87 107 88
+f 88 107 89
+f 89 107 108
+f 89 108 109
+f 89 109 90
+f 90 109 110
+f 90 110 111
+f 90 111 91
+f 92 94 112
+f 92 112 113
+f 92 113 114
+f 92 114 96
+f 93 112 94
+f 95 106 104
+f 95 104 98
+f 95 97 106
+f 96 115 97
+f 96 114 115
+f 97 115 106
+f 98 104 103
+f 98 103 116
+f 98 116 99
+f 99 116 117
+f 102 118 103
+f 103 118 116
+f 106 115 107
+f 107 115 108
+f 108 115 109
+f 109 115 119
+f 109 119 110
+f 110 119 120
+f 110 120 121
+f 110 121 111
+f 112 122 123
+f 112 123 113
+f 113 123 119
+f 113 119 115
+f 113 115 114
+f 116 118 124
+f 116 124 125
+f 116 125 117
+f 119 123 120
+f 120 123 126
+f 120 126 121
+f 122 126 123
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_1.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.00051157 -0.04382010 0.00617996
+v 0.00051157 -0.04382011 0.00906800
+v 0.00061254 -0.04382010 0.00616378
+v 0.00126324 -0.04456544 0.00574251
+v 0.00051157 -0.04475820 0.00584127
+v 0.00051157 -0.04386509 0.00906130
+v 0.05213012 -0.05011855 0.00748391
+v 0.05213012 -0.04798373 0.00770933
+v 0.05213012 -0.04659104 0.00783265
+v 0.05213012 -0.04552443 0.00790630
+v 0.05354932 -0.04531882 0.00789012
+v 0.05213012 -0.04382011 0.00801065
+v 0.00067425 -0.04382010 0.00615708
+v 0.00280585 -0.04440160 0.00564989
+v 0.00051157 -0.05287500 0.00336778
+v 0.00051157 -0.04574449 0.00549979
+v 0.00051157 -0.04584891 0.00875106
+v 0.05213012 -0.05225015 0.00713963
+v 0.05427294 -0.05225015 0.00696834
+v 0.05427294 -0.05011855 0.00728862
+v 0.05513120 -0.04382011 0.00781201
+v 0.05420563 -0.04382011 0.00793253
+v 0.00280585 -0.04382010 0.00594505
+v 0.00280585 -0.04584890 0.00522973
+v 0.01352559 -0.04382010 0.00523755
+v 0.00051157 -0.05817589 0.00336776
+v 0.00494868 -0.04584890 0.00511591
+v 0.04900563 -0.04382009 0.00336781
+v 0.00051157 -0.04798373 0.00833369
+v 0.04998168 -0.05438496 0.00661960
+v 0.05213012 -0.05438496 0.00661067
+v 0.05427294 -0.05438496 0.00646895
+v 0.00051157 -0.04957239 0.00798496
+v 0.05543972 -0.05566199 0.00592325
+v 0.05559117 -0.05438496 0.00608897
+v 0.05574263 -0.05225014 0.00631719
+v 0.05578190 -0.05011854 0.00646673
+v 0.05570897 -0.04382011 0.00697618
+v 0.00051157 -0.05778877 0.00390898
+v 0.03282786 -0.05994607 0.00336775
+v 0.05780692 -0.04382009 0.00336781
+v 0.04998168 -0.05601699 0.00608059
+v 0.04783885 -0.05438496 0.00662406
+v 0.04783885 -0.05602181 0.00608394
+v 0.05213012 -0.05599611 0.00607278
+v 0.05427294 -0.05587403 0.00601531
+v 0.00051157 -0.05063900 0.00770206
+v 0.05427294 -0.05694063 0.00555499
+v 0.05520973 -0.05970994 0.00382751
+v 0.05572580 -0.05828674 0.00427668
+v 0.05577628 -0.05643143 0.00490440
+v 0.05763303 -0.04620068 0.00336780
+v 0.05744230 -0.04655407 0.00375279
+v 0.05753206 -0.04513086 0.00388113
+v 0.05759376 -0.04382009 0.00394976
+v 0.00051157 -0.05773255 0.00398654
+v 0.03497068 -0.06004406 0.00336775
+v 0.03282786 -0.05963123 0.00374493
+v 0.03067942 -0.05957501 0.00367909
+v 0.05761059 -0.04382009 0.00390680
+v 0.05773400 -0.04499914 0.00336780
+v 0.04998168 -0.05708360 0.00562585
+v 0.03711351 -0.05438496 0.00661179
+v 0.04569603 -0.05601699 0.00608115
+v 0.04569603 -0.05708360 0.00562641
+v 0.04783885 -0.05708842 0.00562752
+v 0.03497068 -0.05438496 0.00660788
+v 0.05213012 -0.05706432 0.00561469
+v 0.00051157 -0.05225015 0.00720045
+v 0.05440757 -0.05886020 0.00442230
+v 0.05377931 -0.05975171 0.00386099
+v 0.05474975 -0.06016935 0.00336775
+v 0.05566970 -0.05922322 0.00336775
+v 0.05593896 -0.05870277 0.00336775
+v 0.05770034 -0.04553887 0.00336780
+v 0.00065742 -0.05773736 0.00398989
+v 0.00051157 -0.05651978 0.00496187
+v 0.03711351 -0.06010992 0.00336775
+v 0.03497068 -0.05967300 0.00378845
+v 0.03067942 -0.05850681 0.00454451
+v 0.02854220 -0.05844416 0.00451438
+v 0.01995968 -0.05820000 0.00438102
+v 0.00280585 -0.05778556 0.00403899
+v 0.05213012 -0.05865299 0.00464661
+v 0.03926194 -0.05599772 0.00607390
+v 0.04354759 -0.05707557 0.00562362
+v 0.04354759 -0.05865299 0.00463935
+v 0.04569603 -0.05865299 0.00464549
+v 0.04783885 -0.05865299 0.00464884
+v 0.04998168 -0.05865299 0.00465107
+v 0.03282786 -0.05438496 0.00659951
+v 0.03711351 -0.05598165 0.00607166
+v 0.00051157 -0.05433195 0.00634954
+v 0.03282786 -0.05594150 0.00605716
+v 0.03497068 -0.05596238 0.00606497
+v 0.05213012 -0.05976295 0.00387159
+v 0.05213012 -0.06023040 0.00336775
+v 0.05298837 -0.06021915 0.00336775
+v 0.05414953 -0.06019988 0.00336775
+v 0.00051157 -0.05539856 0.00581557
+v 0.03783152 -0.06012598 0.00336775
+v 0.03842613 -0.05971637 0.00383030
+v 0.03711351 -0.05970030 0.00381524
+v 0.03282786 -0.05856464 0.00456849
+v 0.03926194 -0.05706432 0.00561190
+v 0.04140477 -0.05706914 0.00561859
+v 0.04140477 -0.05865299 0.00462764
+v 0.04140477 -0.05973725 0.00384927
+v 0.04354759 -0.05974368 0.00385597
+v 0.00065742 -0.05540177 0.00581668
+v 0.03282786 -0.05700810 0.00557396
+v 0.03067942 -0.05590776 0.00604600
+v 0.03497068 -0.05702898 0.00558846
+v 0.03711351 -0.05704987 0.00560074
+v 0.04253228 -0.06017578 0.00336775
+v 0.03067942 -0.05697597 0.00554996
+v 0.03886367 -0.06014526 0.00336775
+v 0.03711351 -0.05863371 0.00459472
+v 0.03497068 -0.05860640 0.00458244
+v 0.03946949 -0.06015490 0.00336775
+v 0.03985655 -0.05972761 0.00384146
+v 0.03918902 -0.05886342 0.00445578
+v 0.04010897 -0.06016133 0.00336775
+f 1 2 12
+f 1 12 22
+f 1 22 21
+f 1 21 38
+f 1 38 55
+f 1 55 60
+f 1 60 41
+f 1 41 28
+f 1 28 25
+f 1 25 23
+f 1 23 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 15
+f 1 15 26
+f 1 26 39
+f 1 39 56
+f 1 56 77
+f 1 77 100
+f 1 100 93
+f 1 93 69
+f 1 69 47
+f 1 47 33
+f 1 33 29
+f 1 29 17
+f 1 17 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 6 17 7
+f 7 18 19
+f 7 19 20
+f 7 20 11
+f 7 11 8
+f 7 17 18
+f 8 11 9
+f 9 11 10
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 13 23 14
+f 14 24 15
+f 14 23 25
+f 14 25 24
+f 15 24 27
+f 15 27 28
+f 15 28 41
+f 15 41 61
+f 15 61 75
+f 15 75 52
+f 15 52 74
+f 15 74 73
+f 15 73 72
+f 15 72 99
+f 15 99 98
+f 15 98 97
+f 15 97 115
+f 15 115 123
+f 15 123 120
+f 15 120 117
+f 15 117 101
+f 15 101 78
+f 15 78 57
+f 15 57 40
+f 15 40 26
+f 17 29 18
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 18 29 33
+f 18 33 30
+f 19 32 34
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 24 25 27
+f 25 28 27
+f 26 40 39
+f 30 42 31
+f 30 33 43
+f 30 43 44
+f 30 44 42
+f 31 42 45
+f 31 45 46
+f 31 46 32
+f 32 46 34
+f 33 47 43
+f 34 46 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 38
+f 39 40 56
+f 40 57 58
+f 40 58 59
+f 40 59 56
+f 41 60 61
+f 42 44 62
+f 42 62 45
+f 43 63 44
+f 43 47 63
+f 44 64 65
+f 44 65 66
+f 44 66 62
+f 44 63 67
+f 44 67 64
+f 45 68 46
+f 45 62 68
+f 46 68 48
+f 47 69 67
+f 47 67 63
+f 48 70 49
+f 48 68 70
+f 49 70 71
+f 49 71 72
+f 49 72 73
+f 49 73 74
+f 49 74 50
+f 50 74 52
+f 50 52 51
+f 52 75 53
+f 53 75 54
+f 54 75 60
+f 54 60 55
+f 56 76 77
+f 56 59 76
+f 57 78 79
+f 57 79 58
+f 58 80 81
+f 58 81 82
+f 58 82 77
+f 58 77 83
+f 58 83 76
+f 58 76 59
+f 58 79 80
+f 60 75 61
+f 62 66 84
+f 62 84 68
+f 64 67 85
+f 64 85 65
+f 65 85 86
+f 65 86 87
+f 65 87 88
+f 65 88 66
+f 66 88 89
+f 66 89 90
+f 66 90 84
+f 67 91 92
+f 67 92 85
+f 67 69 91
+f 68 84 70
+f 69 93 94
+f 69 94 95
+f 69 95 92
+f 69 92 91
+f 70 84 71
+f 71 84 96
+f 71 96 97
+f 71 97 98
+f 71 98 99
+f 71 99 72
+f 76 83 77
+f 77 82 81
+f 77 81 80
+f 77 80 100
+f 78 101 102
+f 78 102 103
+f 78 103 79
+f 79 103 104
+f 79 104 80
+f 80 104 100
+f 84 90 96
+f 85 92 105
+f 85 105 106
+f 85 106 86
+f 86 106 87
+f 87 106 105
+f 87 105 107
+f 87 107 108
+f 87 108 109
+f 87 109 96
+f 87 96 88
+f 88 96 89
+f 89 96 90
+f 92 95 105
+f 93 100 110
+f 93 110 111
+f 93 111 112
+f 93 112 94
+f 94 112 111
+f 94 111 113
+f 94 113 114
+f 94 114 105
+f 94 105 95
+f 96 109 97
+f 97 109 115
+f 100 104 116
+f 100 116 110
+f 101 117 102
+f 102 118 119
+f 102 119 103
+f 102 117 120
+f 102 120 121
+f 102 121 118
+f 103 119 104
+f 104 119 111
+f 104 111 116
+f 105 114 107
+f 107 114 118
+f 107 118 122
+f 107 122 108
+f 108 115 109
+f 108 122 121
+f 108 121 120
+f 108 120 123
+f 108 123 115
+f 110 116 111
+f 111 119 118
+f 111 118 113
+f 113 118 114
+f 118 121 122
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_10.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.03717922 -0.05466074 0.00576522
+v -0.03717922 -0.05395857 0.00631469
+v -0.04652940 -0.05408810 0.00643711
+v -0.04438622 -0.05485844 0.00576522
+v -0.03717922 -0.04737316 0.00576525
+v -0.03717922 -0.05234291 0.00732081
+v -0.04652940 -0.05262241 0.00744322
+v -0.04867407 -0.05267695 0.00747004
+v -0.05239449 -0.05275875 0.00751131
+v -0.04867407 -0.05410855 0.00646393
+v -0.04652940 -0.05491298 0.00576522
+v -0.04224155 -0.04740725 0.00576525
+v -0.05239449 0.00537146 0.00816758
+v -0.05239449 0.00750524 0.00826594
+v -0.04224155 0.00963902 0.00878103
+v -0.04009687 0.00750524 0.00878240
+v -0.03717922 0.00460112 0.00880165
+v -0.03717922 -0.05127261 0.00790467
+v -0.04009687 -0.05136805 0.00795556
+v -0.04224155 -0.05143622 0.00799339
+v -0.04438622 -0.05149758 0.00802915
+v -0.04652940 -0.05155211 0.00806422
+v -0.04867407 -0.05160665 0.00809929
+v -0.05081875 -0.05165437 0.00813505
+v -0.05239449 -0.05169527 0.00815775
+v -0.05239449 -0.05247925 0.00768186
+v -0.05239449 -0.05414264 0.00650588
+v -0.04867407 -0.05496070 0.00576522
+v -0.04438622 -0.04745497 0.00576525
+v -0.04652940 -0.04757086 0.00576525
+v -0.04867407 -0.04773447 0.00576524
+v -0.04965556 -0.04790490 0.00576524
+v -0.05093492 -0.04812987 0.00576524
+v -0.05239449 -0.04905701 0.00576524
+v -0.05239449 0.00960494 0.00844750
+v -0.05239449 0.01334076 0.00896122
+v -0.04009687 0.00963902 0.00891307
+v -0.03717922 0.00537146 0.00887867
+v -0.03717922 -0.05011368 0.00840395
+v -0.04224155 -0.05011368 0.00858688
+v -0.04652940 -0.05011368 0.00873749
+v -0.04867407 -0.05011368 0.00881039
+v -0.05081875 -0.05011368 0.00887434
+v -0.05239449 -0.05011368 0.00891835
+v -0.05239449 -0.05502887 0.00576522
+v -0.05081875 -0.05500160 0.00576522
+v -0.05239449 0.01461558 0.00925487
+v -0.04224155 0.01177281 0.00927755
+v -0.04006857 0.01194324 0.00949281
+v -0.03717922 0.01461557 0.01044460
+v -0.03717922 0.00673490 0.00905128
+v -0.03717922 -0.04797990 0.00910197
+v -0.04867407 -0.04811626 0.00957442
+v -0.05081875 -0.04825942 0.00960262
+v -0.05239449 -0.04834804 0.00962325
+v -0.05239449 0.01461556 0.01249670
+v -0.03717922 0.01461556 0.01279035
+v -0.03717922 -0.04488491 0.00989147
+v -0.04738429 -0.04695733 0.00988115
+v -0.04867407 -0.04705278 0.00991141
+v -0.05081875 -0.04719594 0.00995748
+v -0.05239449 -0.04728456 0.00998912
+v -0.05239449 -0.02820324 0.01229161
+v -0.05081875 -0.02663529 0.01240371
+v -0.05225449 0.01461556 0.01250220
+v -0.03795220 0.01461556 0.01278897
+v -0.05081875 -0.02876907 0.01238100
+v -0.04867407 -0.02663529 0.01238445
+v -0.04867407 -0.02876907 0.01234524
+v -0.03717922 -0.02587175 0.01173939
+v -0.03717922 -0.04376689 0.01008884
+v -0.04867407 -0.04157856 0.01109221
+v -0.04867407 -0.04371235 0.01069952
+v -0.05081875 -0.04371235 0.01080612
+v -0.04867407 -0.04584613 0.01021881
+v -0.05081875 -0.04584613 0.01031853
+v -0.05239449 -0.04584613 0.01038592
+v -0.05239449 -0.02876907 0.01228541
+v -0.04652940 0.01461556 0.01266037
+v -0.04796365 0.01461556 0.01263080
+v -0.04867407 0.01461556 0.01261567
+v -0.05010833 0.01461556 0.01257578
+v -0.05081875 0.01461556 0.01255309
+v -0.05239449 -0.03033702 0.01225378
+v -0.05239449 -0.03090284 0.01223246
+v -0.05081875 -0.03090285 0.01229986
+v -0.04867407 -0.03090284 0.01224759
+v -0.04652940 -0.03090284 0.01212724
+v -0.04652940 -0.02876906 0.01221527
+v -0.03717922 -0.02663528 0.01171876
+v -0.03717922 -0.04157856 0.01045677
+v -0.03717922 -0.04080822 0.01057712
+v -0.03717922 -0.03944479 0.01078275
+v -0.04652940 -0.03944479 0.01129234
+v -0.04867407 -0.03944479 0.01140719
+v -0.05081875 -0.04157856 0.01118711
+v -0.05239449 -0.04314652 0.01097598
+v -0.05239449 -0.04371235 0.01087420
+v -0.05239449 -0.03247079 0.01216299
+v -0.05239449 -0.03304344 0.01212792
+v -0.05081875 -0.03304344 0.01216712
+v -0.04867407 -0.03304344 0.01210523
+v -0.04643855 -0.03315251 0.01197869
+v -0.04332579 -0.03195951 0.01187897
+v -0.03717922 -0.03090284 0.01155370
+v -0.03717922 -0.02876906 0.01164310
+v -0.03717922 -0.03867444 0.01088453
+v -0.03717922 -0.03731100 0.01105990
+v -0.04976578 -0.03623389 0.01187896
+v -0.05081875 -0.03944479 0.01149590
+v -0.05239449 -0.04157856 0.01124832
+v -0.05239449 -0.03463866 0.01202063
+v -0.05239449 -0.03641795 0.01189959
+v -0.05119556 -0.03643840 0.01189753
+v -0.05061620 -0.03538174 0.01197318
+v -0.04867407 -0.03491135 0.01195117
+v -0.04709238 -0.03447505 0.01191403
+v -0.03717922 -0.03517722 0.01127378
+v -0.03717922 -0.03440688 0.01133293
+v -0.03717922 -0.03304344 0.01143609
+v -0.03717922 -0.03654066 0.01113899
+v -0.04867407 -0.03598165 0.01184526
+v -0.05061620 -0.03721556 0.01178267
+v -0.05239449 -0.03944479 0.01154267
+v -0.05239449 -0.04101274 0.01133016
+v -0.05239449 -0.03643840 0.01189753
+v -0.05239449 -0.03889941 0.01161350
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 28
+f 1 28 46
+f 1 46 45
+f 1 45 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 12
+f 1 12 5
+f 1 5 17
+f 1 17 38
+f 1 38 51
+f 1 51 50
+f 1 50 57
+f 1 57 70
+f 1 70 90
+f 1 90 106
+f 1 106 105
+f 1 105 120
+f 1 120 119
+f 1 119 118
+f 1 118 121
+f 1 121 108
+f 1 108 107
+f 1 107 93
+f 1 93 92
+f 1 92 91
+f 1 91 71
+f 1 71 58
+f 1 58 52
+f 1 52 39
+f 1 39 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 4
+f 3 9 10
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 24
+f 7 24 25
+f 7 25 8
+f 8 25 26
+f 8 26 9
+f 9 27 10
+f 9 26 25
+f 9 25 44
+f 9 44 55
+f 9 55 62
+f 9 62 77
+f 9 77 98
+f 9 98 97
+f 9 97 111
+f 9 111 125
+f 9 125 124
+f 9 124 127
+f 9 127 126
+f 9 126 113
+f 9 113 112
+f 9 112 100
+f 9 100 99
+f 9 99 85
+f 9 85 84
+f 9 84 78
+f 9 78 63
+f 9 63 56
+f 9 56 47
+f 9 47 36
+f 9 36 35
+f 9 35 14
+f 9 14 13
+f 9 13 34
+f 9 34 45
+f 9 45 27
+f 10 27 11
+f 11 27 28
+f 12 29 13
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 14 35 15
+f 15 35 36
+f 15 36 37
+f 15 37 16
+f 16 37 17
+f 17 37 38
+f 18 39 40
+f 18 40 41
+f 18 41 42
+f 18 42 19
+f 19 42 20
+f 20 42 21
+f 21 42 43
+f 21 43 22
+f 22 43 23
+f 23 43 44
+f 23 44 24
+f 24 44 25
+f 27 45 46
+f 27 46 28
+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 39 52 53
+f 39 53 54
+f 39 54 40
+f 40 54 41
+f 41 54 55
+f 41 55 42
+f 42 55 43
+f 43 55 44
+f 47 56 65
+f 47 65 83
+f 47 83 82
+f 47 82 81
+f 47 81 80
+f 47 80 79
+f 47 79 66
+f 47 66 57
+f 47 57 50
+f 47 50 49
+f 47 49 48
+f 52 58 59
+f 52 59 60
+f 52 60 53
+f 53 60 61
+f 53 61 62
+f 53 62 54
+f 54 62 55
+f 56 63 64
+f 56 64 65
+f 57 66 64
+f 57 64 67
+f 57 67 68
+f 57 68 69
+f 57 69 70
+f 58 71 72
+f 58 72 73
+f 58 73 74
+f 58 74 75
+f 58 75 59
+f 59 75 76
+f 59 76 60
+f 60 76 77
+f 60 77 61
+f 61 77 62
+f 63 78 67
+f 63 67 64
+f 64 66 79
+f 64 79 80
+f 64 80 81
+f 64 81 82
+f 64 82 83
+f 64 83 65
+f 67 69 68
+f 67 78 84
+f 67 84 85
+f 67 85 86
+f 67 86 69
+f 69 86 87
+f 69 87 88
+f 69 88 89
+f 69 89 90
+f 69 90 70
+f 71 91 72
+f 72 91 92
+f 72 92 93
+f 72 93 94
+f 72 94 95
+f 72 95 96
+f 72 96 74
+f 72 74 73
+f 74 96 97
+f 74 97 98
+f 74 98 76
+f 74 76 75
+f 76 98 77
+f 85 99 86
+f 86 99 100
+f 86 100 101
+f 86 101 87
+f 87 101 102
+f 87 102 103
+f 87 103 88
+f 88 103 104
+f 88 104 105
+f 88 105 106
+f 88 106 89
+f 89 106 90
+f 93 107 94
+f 94 107 108
+f 94 108 109
+f 94 109 95
+f 95 109 110
+f 95 110 96
+f 96 111 97
+f 96 110 111
+f 100 112 101
+f 101 112 113
+f 101 113 114
+f 101 114 115
+f 101 115 102
+f 102 115 109
+f 102 109 116
+f 102 116 117
+f 102 117 103
+f 103 117 118
+f 103 118 119
+f 103 119 120
+f 103 120 104
+f 104 120 105
+f 108 121 117
+f 108 117 122
+f 108 122 109
+f 109 122 117
+f 109 117 116
+f 109 115 114
+f 109 114 123
+f 109 123 110
+f 110 123 124
+f 110 124 125
+f 110 125 111
+f 113 126 114
+f 114 126 127
+f 114 127 123
+f 117 121 118
+f 123 127 124
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_11.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.04872699 0.01461556 0.01261403
+v -0.05010982 0.01461556 0.01257541
+v -0.04872699 0.01461557 0.00981195
+v -0.04872699 0.03311966 0.01430257
+v -0.05082119 0.03311966 0.01425149
+v -0.05296554 0.03524934 0.01438728
+v -0.05082119 0.01461556 0.01255361
+v -0.05428111 0.01461558 0.00850901
+v -0.05529572 0.04165321 0.00850911
+v -0.04872699 0.05245343 0.01029727
+v -0.04872699 0.03519749 0.01447883
+v -0.05082119 0.03524934 0.01444209
+v -0.05510876 0.03738272 0.01451123
+v -0.05510876 0.03524934 0.01432064
+v -0.05225532 0.01461556 0.01250192
+v -0.05801920 0.01461558 0.00850901
+v -0.05680395 0.05245344 0.00850915
+v -0.04872699 0.05245342 0.01379628
+v -0.04872699 0.03524934 0.01448319
+v -0.05082119 0.03738272 0.01460777
+v -0.05296554 0.03738272 0.01456479
+v -0.05510876 0.03951610 0.01466259
+v -0.05725426 0.04165319 0.01454736
+v -0.05725426 0.03951610 0.01439415
+v -0.05624877 0.03190482 0.01390832
+v -0.05510876 0.01461556 0.01233562
+v -0.05439968 0.01461556 0.01238234
+v -0.05296554 0.01461556 0.01247514
+v -0.05839996 0.01461557 0.00961389
+v -0.06037332 0.05245344 0.00850915
+v -0.04933576 0.05245342 0.01380749
+v -0.04872699 0.05169415 0.01401614
+v -0.04872699 0.03733087 0.01463517
+v -0.04872699 0.03738272 0.01463891
+v -0.05296554 0.03951610 0.01471490
+v -0.05510876 0.04165319 0.01477781
+v -0.05857325 0.04165319 0.01412322
+v -0.05846950 0.03951610 0.01402731
+v -0.05838743 0.03790125 0.01394945
+v -0.05725426 0.04378657 0.01465014
+v -0.05866445 0.04378657 0.01419797
+v -0.05743324 0.03726791 0.01416058
+v -0.05694988 0.03524934 0.01408646
+v -0.05669907 0.01461557 0.01206158
+v -0.05612793 0.01461557 0.01217058
+v -0.05839996 0.01461557 0.01010281
+v -0.06035964 0.05245344 0.00886852
+v -0.05296554 0.05180896 0.01405475
+v -0.05082119 0.05175711 0.01403544
+v -0.05160665 0.05245342 0.01384299
+v -0.05082119 0.05018671 0.01437985
+v -0.04872699 0.05165711 0.01402423
+v -0.04872699 0.03946425 0.01476534
+v -0.05082119 0.03951610 0.01474667
+v -0.05296554 0.04165319 0.01482577
+v -0.05510876 0.04378657 0.01482515
+v -0.05844556 0.02458245 0.01203360
+v -0.05838058 0.02289723 0.01194764
+v -0.05725426 0.04591995 0.01469001
+v -0.05873171 0.04591995 0.01424282
+v -0.05944877 0.05018671 0.01288633
+v -0.05934389 0.04805333 0.01288633
+v -0.05777182 0.01461557 0.01110867
+v -0.05824835 0.01461557 0.01043602
+v -0.06027072 0.05245343 0.01085594
+v -0.06027756 0.05245343 0.01082418
+v -0.05385931 0.05245342 0.01387413
+v -0.05510876 0.05185712 0.01406970
+v -0.05296554 0.05018671 0.01441224
+v -0.04872699 0.05013856 0.01435121
+v -0.04872699 0.05018671 0.01434435
+v -0.04872699 0.04805333 0.01464331
+v -0.04872699 0.03951610 0.01476847
+v -0.05082119 0.04165319 0.01484632
+v -0.05296554 0.04378657 0.01486190
+v -0.05510876 0.04591995 0.01480586
+v -0.05725426 0.04805333 0.01464705
+v -0.05878187 0.04805333 0.01424346
+v -0.05942711 0.05245342 0.01286267
+v -0.05510876 0.05245342 0.01388908
+v -0.05725426 0.05245342 0.01389282
+v -0.05725426 0.05186082 0.01406534
+v -0.05510876 0.05018671 0.01443715
+v -0.05082119 0.04805333 0.01467445
+v -0.04872699 0.04800147 0.01464705
+v -0.04872699 0.04165319 0.01485877
+v -0.05082119 0.04378657 0.01487186
+v -0.05296554 0.04591995 0.01482454
+v -0.05510876 0.04805333 0.01470435
+v -0.05725426 0.05018671 0.01441909
+v -0.05873171 0.05018671 0.01414131
+v -0.05941799 0.05245342 0.01287762
+v -0.05773420 0.05245342 0.01384548
+v -0.05854703 0.05164600 0.01399994
+v -0.05296554 0.04805333 0.01469812
+v -0.05082119 0.04591995 0.01481333
+v -0.04872699 0.04591995 0.01478966
+v -0.04872699 0.04378657 0.01486688
+v -0.05939747 0.05245342 0.01289942
+f 1 2 7
+f 1 7 15
+f 1 15 28
+f 1 28 27
+f 1 27 26
+f 1 26 45
+f 1 45 44
+f 1 44 63
+f 1 63 64
+f 1 64 46
+f 1 46 29
+f 1 29 16
+f 1 16 8
+f 1 8 3
+f 1 3 10
+f 1 10 18
+f 1 18 32
+f 1 32 52
+f 1 52 71
+f 1 71 70
+f 1 70 72
+f 1 72 85
+f 1 85 97
+f 1 97 98
+f 1 98 86
+f 1 86 73
+f 1 73 53
+f 1 53 34
+f 1 34 33
+f 1 33 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 13
+f 7 14 15
+f 8 16 30
+f 8 30 17
+f 8 17 9
+f 9 17 10
+f 10 17 30
+f 10 30 47
+f 10 47 66
+f 10 66 65
+f 10 65 79
+f 10 79 92
+f 10 92 99
+f 10 99 93
+f 10 93 81
+f 10 81 80
+f 10 80 67
+f 10 67 50
+f 10 50 31
+f 10 31 18
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 16 29 30
+f 18 31 32
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 23 36 40
+f 23 40 41
+f 23 41 37
+f 24 39 42
+f 24 42 43
+f 24 43 25
+f 25 44 45
+f 25 45 26
+f 25 43 44
+f 29 46 30
+f 30 46 47
+f 31 48 49
+f 31 49 32
+f 31 50 48
+f 32 49 51
+f 32 51 52
+f 34 53 54
+f 34 54 35
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 40
+f 37 41 57
+f 37 57 58
+f 37 58 38
+f 38 58 39
+f 39 58 44
+f 39 44 42
+f 40 56 59
+f 40 59 60
+f 40 60 41
+f 41 60 61
+f 41 61 62
+f 41 62 57
+f 42 44 43
+f 44 58 63
+f 46 64 58
+f 46 58 65
+f 46 65 66
+f 46 66 47
+f 48 50 67
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 49 69 51
+f 51 70 71
+f 51 71 52
+f 51 69 72
+f 51 72 70
+f 53 73 54
+f 54 73 55
+f 55 74 75
+f 55 75 56
+f 55 73 74
+f 56 75 76
+f 56 76 59
+f 57 62 65
+f 57 65 58
+f 58 64 63
+f 59 76 77
+f 59 77 78
+f 59 78 60
+f 60 78 61
+f 61 78 79
+f 61 79 65
+f 61 65 62
+f 67 80 68
+f 68 80 81
+f 68 81 82
+f 68 82 83
+f 68 83 69
+f 69 83 84
+f 69 84 72
+f 72 84 85
+f 73 86 74
+f 74 86 75
+f 75 87 88
+f 75 88 76
+f 75 86 87
+f 76 89 77
+f 76 88 89
+f 77 90 91
+f 77 91 78
+f 77 89 90
+f 78 91 92
+f 78 92 79
+f 81 93 82
+f 82 94 90
+f 82 90 83
+f 82 93 94
+f 83 90 89
+f 83 89 95
+f 83 95 84
+f 84 95 96
+f 84 96 97
+f 84 97 85
+f 86 98 87
+f 87 98 88
+f 88 98 96
+f 88 96 95
+f 88 95 89
+f 90 94 91
+f 91 94 92
+f 92 94 99
+f 93 99 94
+f 96 98 97
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_12.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.06197775 0.05050299 -0.00722968
+v -0.06200834 0.05018957 -0.00722969
+v -0.06178193 0.05032035 -0.00605701
+v -0.06176357 0.05050298 -0.00605700
+v -0.06119448 0.05050299 -0.00880115
+v -0.06123120 0.05018957 -0.00884553
+v -0.06191655 0.04805572 -0.00722969
+v -0.06179417 0.05018956 -0.00605701
+v -0.06123731 0.04805572 -0.00900737
+v -0.06116389 0.04592188 -0.00911728
+v -0.06100478 0.04210004 -0.00927914
+v -0.03455125 0.05050298 -0.00605700
+v -0.05962795 0.05050299 -0.00937993
+v -0.05939542 0.05018957 -0.00952363
+v -0.05939542 0.04805573 -0.00989368
+v -0.06023988 0.04430135 -0.01020175
+v -0.06047853 0.04287906 -0.01025519
+v -0.06163507 0.04805571 -0.00605701
+v -0.06173909 0.04592188 -0.00722970
+v -0.06116389 0.04210003 -0.00605704
+v -0.06120060 0.04254424 -0.00605703
+v -0.06049688 0.04210005 -0.01026579
+v -0.06140254 0.04210004 -0.00722972
+v -0.03393320 0.05050133 -0.00605700
+v -0.00149504 0.05050298 -0.00606507
+v -0.05939542 0.05050299 -0.00942884
+v -0.05756577 0.05050299 -0.00951858
+v -0.05725368 0.05018958 -0.00962849
+v -0.05510582 0.04848760 -0.01011602
+v -0.05510582 0.04742068 -0.01033332
+v -0.05729652 0.04796690 -0.01009283
+v -0.05661728 0.04719611 -0.01028543
+v -0.05804306 0.04678563 -0.01022140
+v -0.05880797 0.04536416 -0.01030862
+v -0.05947497 0.04601402 -0.01013267
+v -0.05947497 0.04366959 -0.01036005
+v -0.05979317 0.04210005 -0.01039989
+v -0.05649489 0.04210003 -0.00605704
+v -0.03609330 0.04811083 -0.00605701
+v 0.00050596 0.05050298 -0.00606557
+v -0.05542402 0.05050300 -0.00956950
+v -0.05510582 0.05018958 -0.00968294
+v -0.05296409 0.04866447 -0.01014324
+v -0.05296409 0.04759754 -0.01037366
+v -0.05296409 0.04592189 -0.01064842
+v -0.05510582 0.04592189 -0.01055112
+v -0.05729652 0.04601402 -0.01037971
+v -0.05725368 0.04378805 -0.01061718
+v -0.05725368 0.04210005 -0.01074978
+v -0.05774322 0.04210005 -0.01069079
+v -0.05941378 0.04210005 -0.01045535
+v -0.03794743 0.04749799 -0.00605702
+v 0.00050596 0.04210004 -0.00821838
+v 0.00050596 0.04378804 -0.00744600
+v 0.00050596 0.04592187 -0.00670638
+v 0.00050596 0.05050299 -0.00934111
+v -0.05327617 0.05050300 -0.00959571
+v -0.05296409 0.05018958 -0.00971269
+v -0.05081622 0.04872040 -0.01015181
+v -0.05081622 0.04765266 -0.01039028
+v -0.05081622 0.04592189 -0.01069077
+v -0.05081622 0.04378805 -0.01097211
+v -0.05296409 0.04378805 -0.01091816
+v -0.05510582 0.04378805 -0.01079968
+v -0.05555253 0.04210005 -0.01091565
+v -0.05510582 0.04210005 -0.01095397
+v 0.00050596 0.04210005 -0.01099581
+v 0.00050596 0.05033682 -0.00940313
+v -0.01650557 0.05018958 -0.00956447
+v -0.01650557 0.05050299 -0.00944598
+v -0.05113443 0.05050300 -0.00960126
+v -0.05081622 0.05018958 -0.00971975
+v -0.04867449 0.04764114 -0.01039281
+v -0.02723262 0.05018958 -0.00962144
+v -0.02723262 0.04853532 -0.01010442
+v -0.02723262 0.04746839 -0.01035904
+v -0.04867449 0.04592189 -0.01070338
+v -0.04867449 0.04378805 -0.01100286
+v -0.05081622 0.04210005 -0.01114504
+v -0.05126293 0.04210005 -0.01113395
+v -0.04867449 0.04210005 -0.01118437
+v -0.04912119 0.04210005 -0.01117781
+v -0.05296409 0.04210005 -0.01108303
+v -0.05341079 0.04210005 -0.01105833
+v -0.02508476 0.04210005 -0.01118588
+v -0.02508476 0.04378805 -0.01097362
+v 0.00050596 0.04378805 -0.01078254
+v 0.00050596 0.05018957 -0.00945758
+v -0.02508476 0.04851311 -0.01009938
+v -0.02508476 0.05018958 -0.00961135
+v -0.02508476 0.05050299 -0.00949337
+v -0.02723262 0.05050299 -0.00950345
+v -0.04652663 0.04592189 -0.01070187
+v -0.02723262 0.04592189 -0.01065649
+v -0.02539684 0.05050299 -0.00949488
+v -0.02508476 0.04744618 -0.01035399
+v -0.04652663 0.04378805 -0.01101345
+v -0.04697333 0.04210005 -0.01120050
+v -0.02723262 0.04210005 -0.01119949
+v -0.02723262 0.04378805 -0.01098421
+v -0.02508476 0.04592189 -0.01064691
+v 0.00050596 0.04592189 -0.01046138
+v 0.00050596 0.04813964 -0.01002527
+v -0.04438489 0.04378805 -0.01101093
+v -0.02937436 0.04378805 -0.01098925
+v -0.03151610 0.04378805 -0.01099278
+v 0.00050596 0.04714675 -0.01024812
+v 0.00050596 0.04707189 -0.01026476
+v -0.03410454 0.04210005 -0.01120706
+v -0.04483160 0.04210005 -0.01120655
+v -0.04652663 0.04210005 -0.01120252
+v -0.02937436 0.04210005 -0.01120554
+v -0.02982106 0.04210005 -0.01120605
+v -0.03151610 0.04210005 -0.01120706
+v 0.00050596 0.04600251 -0.01044777
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 25
+f 1 25 40
+f 1 40 56
+f 1 56 70
+f 1 70 91
+f 1 91 95
+f 1 95 92
+f 1 92 71
+f 1 71 57
+f 1 57 41
+f 1 41 27
+f 1 27 26
+f 1 26 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 8 18
+f 3 18 21
+f 3 21 20
+f 3 20 38
+f 3 38 52
+f 3 52 39
+f 3 39 24
+f 3 24 12
+f 3 12 4
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 9
+f 7 18 8
+f 7 11 19
+f 7 19 20
+f 7 20 21
+f 7 21 18
+f 9 17 22
+f 9 22 10
+f 10 22 11
+f 11 23 19
+f 11 22 37
+f 11 37 51
+f 11 51 50
+f 11 50 49
+f 11 49 65
+f 11 65 66
+f 11 66 84
+f 11 84 83
+f 11 83 80
+f 11 80 79
+f 11 79 82
+f 11 82 81
+f 11 81 98
+f 11 98 111
+f 11 111 110
+f 11 110 109
+f 11 109 114
+f 11 114 113
+f 11 113 112
+f 11 112 99
+f 11 99 85
+f 11 85 67
+f 11 67 53
+f 11 53 38
+f 11 38 20
+f 11 20 23
+f 12 24 25
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 16
+f 16 35 34
+f 16 34 36
+f 16 36 17
+f 17 36 37
+f 17 37 22
+f 19 23 20
+f 24 39 25
+f 25 39 40
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 46
+f 30 46 32
+f 30 32 31
+f 32 47 33
+f 32 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 36
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 38 53 54
+f 38 54 55
+f 38 55 40
+f 38 40 52
+f 39 52 40
+f 40 55 54
+f 40 54 53
+f 40 53 67
+f 40 67 87
+f 40 87 102
+f 40 102 115
+f 40 115 108
+f 40 108 107
+f 40 107 103
+f 40 103 88
+f 40 88 68
+f 40 68 56
+f 41 57 58
+f 41 58 42
+f 42 58 43
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 45
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 47
+f 47 64 48
+f 48 65 49
+f 48 64 66
+f 48 66 65
+f 56 68 69
+f 56 69 70
+f 57 71 72
+f 57 72 58
+f 58 72 59
+f 59 73 60
+f 59 72 74
+f 59 74 75
+f 59 75 76
+f 59 76 73
+f 60 73 77
+f 60 77 61
+f 61 77 78
+f 61 78 62
+f 62 79 80
+f 62 80 63
+f 62 78 81
+f 62 81 82
+f 62 82 79
+f 63 83 84
+f 63 84 64
+f 63 80 83
+f 64 84 66
+f 67 85 86
+f 67 86 87
+f 68 88 69
+f 69 89 90
+f 69 90 91
+f 69 91 70
+f 69 88 89
+f 71 92 72
+f 72 92 74
+f 73 93 77
+f 73 76 94
+f 73 94 93
+f 74 92 95
+f 74 95 90
+f 74 90 75
+f 75 90 89
+f 75 89 96
+f 75 96 76
+f 76 96 94
+f 77 93 97
+f 77 97 78
+f 78 97 98
+f 78 98 81
+f 85 99 86
+f 86 99 100
+f 86 100 101
+f 86 101 102
+f 86 102 87
+f 88 103 89
+f 89 103 96
+f 90 95 91
+f 93 104 97
+f 93 94 105
+f 93 105 106
+f 93 106 104
+f 94 96 101
+f 94 101 100
+f 94 100 105
+f 96 103 107
+f 96 107 108
+f 96 108 101
+f 97 109 110
+f 97 110 111
+f 97 111 98
+f 97 104 112
+f 97 112 113
+f 97 113 114
+f 97 114 109
+f 99 112 100
+f 100 112 105
+f 101 108 115
+f 101 115 102
+f 104 106 112
+f 105 112 106
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_13.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.04872699 0.05245343 0.01029701
+v -0.04872699 0.01461557 0.00981184
+v -0.04872699 0.05245342 0.01379666
+v -0.04676558 0.05245343 0.01025037
+v -0.02293945 0.01817862 0.00860613
+v -0.02293945 0.01604524 0.00854518
+v -0.04872699 0.01461556 0.01261442
+v -0.02293945 0.01461558 0.00855139
+v -0.04872699 0.05169415 0.01401617
+v -0.04867398 0.05169415 0.01401554
+v -0.04704027 0.05245342 0.01376806
+v -0.00792764 0.05245344 0.00933752
+v -0.01650582 0.02031200 0.00853960
+v -0.02079491 0.01604524 0.00852093
+v -0.02079491 0.01461558 0.00852092
+v -0.02150333 0.01461558 0.00852901
+v -0.04867398 0.01461556 0.01261567
+v -0.04872699 0.03311966 0.01430276
+v -0.04872699 0.05165711 0.01402425
+v -0.04652944 0.05162378 0.01399316
+v -0.04652944 0.05245342 0.01375811
+v -0.04872699 0.05018671 0.01434448
+v -0.00578310 0.05245344 0.00932198
+v -0.01436127 0.02244908 0.00856759
+v -0.01436127 0.02031200 0.00852281
+v -0.01650582 0.01817862 0.00851846
+v -0.01865036 0.01604524 0.00851658
+v -0.01865036 0.01461558 0.00851781
+v -0.04796074 0.01461556 0.01263059
+v -0.04867398 0.03311966 0.01430400
+v -0.04872699 0.03524934 0.01448372
+v -0.04469332 0.05245342 0.01371955
+v -0.04652944 0.05018671 0.01429411
+v 0.00050596 0.05232379 0.01274888
+v 0.00050596 0.05245342 0.01271406
+v -0.04872699 0.05013856 0.01435132
+v -0.00792764 0.02244908 0.00853090
+v -0.01007218 0.02244908 0.00854147
+v -0.00370602 0.05245344 0.00931887
+v 0.00050596 0.02458246 0.00855143
+v -0.00149401 0.02458246 0.00855641
+v -0.00578310 0.02244908 0.00852966
+v 0.00050596 0.02244908 0.00852779
+v -0.01007218 0.02031200 0.00852281
+v -0.01436127 0.01604524 0.00851596
+v -0.01650582 0.01604524 0.00851596
+v 0.00050596 0.02046385 0.00852468
+v -0.01721424 0.01461558 0.00851595
+v -0.04652944 0.01461556 0.01266044
+v -0.04652944 0.03311966 0.01432515
+v -0.04867398 0.03524934 0.01448434
+v -0.03794644 0.01461556 0.01278916
+v -0.03580190 0.01461556 0.01281652
+v -0.04872699 0.03738272 0.01463919
+v -0.04652944 0.04805333 0.01459384
+v 0.00050596 0.05018671 0.01312383
+v 0.00050596 0.05245344 0.00932136
+v -0.04872699 0.04805333 0.01464358
+v -0.04867398 0.04805333 0.01464296
+v -0.00363855 0.05245344 0.00931887
+v -0.01221673 0.01461558 0.00851533
+v -0.00792764 0.01604524 0.00851782
+v -0.01506970 0.01461558 0.00851533
+v 0.00050596 0.01832677 0.00852281
+v -0.04438489 0.03311966 0.01432888
+v -0.04652944 0.03524934 0.01449927
+v -0.04867398 0.03738272 0.01463981
+v -0.03365735 0.01461556 0.01280968
+v -0.04224035 0.03311966 0.01432825
+v -0.04872699 0.03946425 0.01476542
+v -0.04652944 0.04591995 0.01475053
+v -0.04438489 0.04591995 0.01469829
+v 0.00050596 0.04805333 0.01333401
+v 0.00050596 0.05003855 0.01313876
+v -0.04872699 0.04591995 0.01478970
+v -0.04867398 0.04591995 0.01478908
+v -0.01007218 0.01461558 0.00851595
+v 0.00050596 0.01461558 0.00852154
+v -0.00363855 0.01604524 0.00851969
+v -0.04438489 0.03524934 0.01449802
+v -0.04652944 0.03738272 0.01464852
+v -0.04867398 0.03951610 0.01476916
+v -0.03794644 0.03311966 0.01426669
+v -0.04009580 0.03311966 0.01431768
+v -0.03151281 0.01461556 0.01273817
+v -0.02293945 0.03738272 0.01409509
+v -0.04224035 0.03524934 0.01449056
+v -0.04872699 0.03951610 0.01476854
+v -0.04652944 0.04378657 0.01483882
+v -0.04438489 0.04378657 0.01479280
+v -0.04224035 0.04378657 0.01473932
+v -0.03151281 0.04378657 0.01444769
+v 0.00050596 0.04790517 0.01334023
+v -0.02936826 0.04378657 0.01438550
+v -0.04872699 0.04378657 0.01486680
+v -0.04867398 0.04378657 0.01486680
+v 0.00050596 0.01461557 0.01148394
+v -0.04438489 0.03738272 0.01464354
+v -0.04652944 0.03951610 0.01477227
+v -0.04867398 0.04165319 0.01485933
+v -0.02507918 0.03951610 0.01431460
+v -0.04009580 0.03524934 0.01446755
+v 0.00050596 0.03738272 0.01312006
+v -0.02293945 0.03951610 0.01424496
+v -0.04224035 0.03738272 0.01462551
+v -0.04872699 0.04165319 0.01485870
+v -0.04438489 0.04165319 0.01482139
+v -0.04224035 0.04165319 0.01478035
+v -0.02722372 0.04165319 0.01439171
+v -0.02507918 0.04165319 0.01433575
+v 0.00050596 0.04591995 0.01341048
+v -0.04872699 0.04373471 0.01486680
+v -0.04652944 0.04165319 0.01484938
+v -0.04438489 0.03951610 0.01476294
+v -0.04009580 0.03951610 0.01468708
+v -0.04009580 0.03738272 0.01458820
+v 0.00050596 0.03936795 0.01325438
+v 0.00050596 0.03951610 0.01326434
+v 0.00050596 0.04150133 0.01336196
+v 0.00050596 0.04165319 0.01336880
+v 0.00050596 0.04363841 0.01341421
+v 0.00050596 0.04378657 0.01341732
+v -0.04224035 0.03951610 0.01473496
+v 0.00050596 0.04577179 0.01341173
+f 1 2 7
+f 1 7 18
+f 1 18 31
+f 1 31 54
+f 1 54 70
+f 1 70 88
+f 1 88 106
+f 1 106 112
+f 1 112 95
+f 1 95 75
+f 1 75 58
+f 1 58 36
+f 1 36 22
+f 1 22 19
+f 1 19 9
+f 1 9 3
+f 1 3 11
+f 1 11 21
+f 1 21 32
+f 1 32 35
+f 1 35 57
+f 1 57 60
+f 1 60 39
+f 1 39 23
+f 1 23 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 16
+f 2 16 15
+f 2 15 28
+f 2 28 48
+f 2 48 63
+f 2 63 61
+f 2 61 77
+f 2 77 78
+f 2 78 97
+f 2 97 85
+f 2 85 68
+f 2 68 53
+f 2 53 52
+f 2 52 49
+f 2 49 29
+f 2 29 17
+f 2 17 7
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 7 17 30
+f 7 30 18
+f 9 19 10
+f 10 20 21
+f 10 21 11
+f 10 19 22
+f 10 22 20
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 17 29 30
+f 18 30 31
+f 20 32 21
+f 20 22 33
+f 20 33 34
+f 20 34 35
+f 20 35 32
+f 22 36 33
+f 23 37 38
+f 23 38 24
+f 23 39 40
+f 23 40 41
+f 23 41 37
+f 24 38 25
+f 25 38 37
+f 25 37 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 45 46
+f 26 46 27
+f 26 44 43
+f 26 43 47
+f 26 47 45
+f 27 46 63
+f 27 63 48
+f 27 48 28
+f 29 49 30
+f 30 50 51
+f 30 51 31
+f 30 49 52
+f 30 52 53
+f 30 53 50
+f 31 51 67
+f 31 67 54
+f 33 36 55
+f 33 55 56
+f 33 56 34
+f 34 56 74
+f 34 74 73
+f 34 73 93
+f 34 93 111
+f 34 111 124
+f 34 124 122
+f 34 122 121
+f 34 121 120
+f 34 120 119
+f 34 119 118
+f 34 118 117
+f 34 117 103
+f 34 103 97
+f 34 97 78
+f 34 78 64
+f 34 64 47
+f 34 47 43
+f 34 43 40
+f 34 40 57
+f 34 57 35
+f 36 58 59
+f 36 59 55
+f 37 41 40
+f 37 40 42
+f 39 60 40
+f 40 43 42
+f 40 60 57
+f 45 61 63
+f 45 63 46
+f 45 47 62
+f 45 62 77
+f 45 77 61
+f 47 64 62
+f 50 65 66
+f 50 66 51
+f 50 53 65
+f 51 66 67
+f 53 68 69
+f 53 69 65
+f 54 67 70
+f 55 59 71
+f 55 71 72
+f 55 72 73
+f 55 73 74
+f 55 74 56
+f 58 75 76
+f 58 76 59
+f 59 76 71
+f 62 64 77
+f 64 78 79
+f 64 79 77
+f 65 69 66
+f 66 69 80
+f 66 80 81
+f 66 81 67
+f 67 81 82
+f 67 82 70
+f 68 83 84
+f 68 84 69
+f 68 85 86
+f 68 86 83
+f 69 84 87
+f 69 87 80
+f 70 82 88
+f 71 89 90
+f 71 90 72
+f 71 76 89
+f 72 90 91
+f 72 91 92
+f 72 92 73
+f 73 92 94
+f 73 94 93
+f 75 95 96
+f 75 96 76
+f 76 96 89
+f 77 79 78
+f 80 87 98
+f 80 98 81
+f 81 98 99
+f 81 99 82
+f 82 99 100
+f 82 100 106
+f 82 106 88
+f 83 86 101
+f 83 101 102
+f 83 102 84
+f 84 102 87
+f 85 97 86
+f 86 97 103
+f 86 103 104
+f 86 104 101
+f 87 105 98
+f 87 102 105
+f 89 96 113
+f 89 113 107
+f 89 107 108
+f 89 108 90
+f 90 108 91
+f 91 108 109
+f 91 109 110
+f 91 110 92
+f 92 110 94
+f 93 94 110
+f 93 110 111
+f 95 112 96
+f 96 100 113
+f 96 112 100
+f 98 105 114
+f 98 114 99
+f 99 114 100
+f 100 114 113
+f 100 112 106
+f 101 110 109
+f 101 109 108
+f 101 108 115
+f 101 115 116
+f 101 116 102
+f 101 104 110
+f 102 116 105
+f 103 117 104
+f 104 117 118
+f 104 118 119
+f 104 119 120
+f 104 120 121
+f 104 121 122
+f 104 122 110
+f 105 123 114
+f 105 116 123
+f 107 123 108
+f 107 113 114
+f 107 114 123
+f 108 123 115
+f 110 122 124
+f 110 124 111
+f 115 123 116
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_14.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02544822 0.00493200 -0.01075893
+v 0.02544822 0.00493201 -0.01437952
+v 0.02544822 0.00537407 -0.01059612
+v 0.00664875 0.00493200 -0.01041208
+v 0.02254529 0.00493201 -0.01441786
+v 0.02210338 0.00537408 -0.01438955
+v 0.02544822 0.00517189 -0.01435946
+v 0.00450512 0.00493200 -0.01037846
+v 0.02544822 0.02029478 -0.00859584
+v 0.02039922 0.00493201 -0.01443674
+v 0.02544822 0.00527470 -0.01435062
+v 0.01995731 0.00537408 -0.01440842
+v 0.01995731 0.00670715 -0.01429871
+v 0.02210338 0.00657350 -0.01428455
+v 0.00050596 0.00493200 -0.01038613
+v 0.02544822 0.02244002 -0.00841592
+v 0.00709066 0.02244344 -0.00851207
+v 0.00494703 0.02244344 -0.00852445
+v 0.01995731 0.00493201 -0.01443851
+v 0.02544822 0.03951626 -0.01114103
+v 0.01825559 0.00493201 -0.01444145
+v 0.01781368 0.00537408 -0.01441196
+v 0.01781368 0.00672428 -0.01430048
+v 0.00050596 0.03738473 -0.01151678
+v 0.02210338 0.03951626 -0.01117111
+v 0.02424701 0.03951626 -0.01115518
+v 0.00050596 0.00493201 -0.01402442
+v 0.00065733 0.02457840 -0.00851737
+v 0.00050596 0.02457840 -0.00852916
+v 0.02544822 0.03994119 -0.00852674
+v 0.00065733 0.03994119 -0.00852438
+v 0.00050596 0.03994119 -0.00852438
+v 0.00050596 0.03097985 -0.00850083
+v 0.00050596 0.02884489 -0.00849729
+v 0.00065733 0.02671336 -0.00849907
+v 0.00280096 0.02457840 -0.00849967
+v 0.02544822 0.03994120 -0.01109856
+v 0.01781368 0.00493201 -0.01444204
+v 0.01566761 0.00537408 -0.01439839
+v 0.01566761 0.00667288 -0.01429399
+v 0.00050596 0.03524978 -0.01169316
+v 0.00050596 0.03951626 -0.01130029
+v 0.02210338 0.03994120 -0.01112805
+v 0.01409773 0.00655979 -0.01428219
+v 0.02424701 0.03994120 -0.01111271
+v 0.00050596 0.00552144 -0.01400083
+v 0.00838465 0.00493201 -0.01426155
+v 0.00050596 0.02671336 -0.00850025
+v 0.00050596 0.03994120 -0.01125074
+v 0.01610952 0.00493201 -0.01443084
+v 0.01343853 0.00554885 -0.01434708
+v 0.01566761 0.00493201 -0.01442671
+v 0.01346051 0.00493201 -0.01438778
+v 0.00050596 0.01177553 -0.01362093
+v 0.00062803 0.03994120 -0.01125074
+v 0.00050596 0.00750904 -0.01390231
+v 0.00923673 0.00493201 -0.01428632
+v 0.01138036 0.00510678 -0.01433469
+v 0.00050596 0.00979135 -0.01377253
+v 0.01158056 0.00493201 -0.01435003
+v 0.00050596 0.00765640 -0.01389464
+v 0.01040864 0.00493201 -0.01431994
+v 0.01138036 0.00493201 -0.01434590
+v 0.00050596 0.00964057 -0.01378255
+f 1 2 7
+f 1 7 11
+f 1 11 20
+f 1 20 37
+f 1 37 30
+f 1 30 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 27
+f 1 27 47
+f 1 47 57
+f 1 57 62
+f 1 62 63
+f 1 63 60
+f 1 60 53
+f 1 53 52
+f 1 52 50
+f 1 50 38
+f 1 38 21
+f 1 21 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 8
+f 5 10 12
+f 5 12 6
+f 6 11 7
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 8 9 15
+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 10 19 12
+f 11 14 20
+f 12 19 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 20
+f 13 20 14
+f 15 18 28
+f 15 28 29
+f 15 29 48
+f 15 48 34
+f 15 34 33
+f 15 33 32
+f 15 32 49
+f 15 49 42
+f 15 42 24
+f 15 24 41
+f 15 41 54
+f 15 54 59
+f 15 59 64
+f 15 64 61
+f 15 61 56
+f 15 56 46
+f 15 46 27
+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 17
+f 17 36 18
+f 18 36 28
+f 20 26 45
+f 20 45 37
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 24
+f 24 42 43
+f 24 43 25
+f 24 40 44
+f 24 44 41
+f 25 43 45
+f 25 45 26
+f 27 46 47
+f 28 36 48
+f 28 48 29
+f 30 37 45
+f 30 45 43
+f 30 43 55
+f 30 55 49
+f 30 49 32
+f 30 32 31
+f 34 48 35
+f 35 48 36
+f 38 50 39
+f 39 51 44
+f 39 44 40
+f 39 50 52
+f 39 52 53
+f 39 53 51
+f 41 44 54
+f 42 49 55
+f 42 55 43
+f 44 51 54
+f 46 56 47
+f 47 56 57
+f 51 53 58
+f 51 58 59
+f 51 59 54
+f 53 60 58
+f 56 61 62
+f 56 62 57
+f 58 60 63
+f 58 63 64
+f 58 64 59
+f 61 64 62
+f 62 64 63
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_15.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.05782936 0.01460876 0.00576613
+v -0.05846919 0.01177088 0.00948840
+v -0.05841909 0.01390610 0.00956155
+v -0.05839977 0.01460874 0.00961361
+v -0.05518315 0.01460876 0.00576613
+v -0.05800924 0.00547436 0.00576610
+v -0.05849152 0.00963565 0.00950883
+v -0.05846919 0.01177087 0.01020004
+v -0.05805210 0.00323681 0.00576609
+v -0.05852774 -0.02450067 0.00576599
+v -0.05855671 -0.02663590 0.00576598
+v -0.05841909 0.01390610 0.01014404
+v -0.05839977 0.01460874 0.01010187
+v -0.05239449 0.01460875 0.00925449
+v -0.05353470 0.00750044 0.00576611
+v -0.05849152 0.00963564 0.01019807
+v -0.05777142 0.01460874 0.01110806
+v -0.05824887 0.01460874 0.01043529
+v -0.05856094 -0.03090635 0.00576597
+v -0.05849514 0.00750042 0.01018422
+v -0.05239449 0.01460873 0.01249708
+v -0.05239449 0.01449278 0.00922682
+v -0.05336328 0.00536521 0.00576610
+v -0.05239449 0.01333989 0.00896127
+v -0.05669941 0.01460874 0.01206152
+v -0.05835813 -0.04157568 0.00992903
+v -0.05851204 -0.05386174 0.00576588
+v -0.05296550 0.01460873 0.01247533
+v -0.05239449 -0.02820494 0.01229134
+v -0.05239449 0.00960837 0.00844730
+v -0.05239449 0.00750043 0.00826608
+v -0.05292868 -0.01055689 0.00576604
+v -0.05612840 0.01460874 0.01217025
+v -0.05598172 -0.03090637 0.01184326
+v -0.05834364 -0.04322656 0.00989937
+v -0.05725413 -0.05479633 0.00576588
+v -0.05847643 -0.05365708 0.00611050
+v -0.05439967 0.01460873 0.01238242
+v -0.05511012 0.01460873 0.01233564
+v -0.05296550 -0.02877114 0.01225048
+v -0.05239449 -0.02877115 0.01228540
+v -0.05239449 0.00536520 0.00816723
+v -0.05239449 -0.04905919 0.00576590
+v -0.05725413 -0.03944045 0.01074875
+v -0.05725413 -0.04157568 0.01064990
+v -0.05579763 -0.03304159 0.01182348
+v -0.05490972 -0.03090637 0.01199613
+v -0.05701329 -0.04584613 0.01019390
+v -0.05746358 -0.04384734 0.01033822
+v -0.05833579 -0.05120806 0.00786853
+v -0.05678754 -0.05487136 0.00576588
+v -0.05725413 -0.05400499 0.00639977
+v -0.05725413 -0.05256561 0.00740530
+v -0.05296550 -0.03090637 0.01220831
+v -0.05239449 -0.03034017 0.01225377
+v -0.05239449 -0.05502826 0.00576588
+v -0.05511012 -0.04157568 0.01131015
+v -0.05511012 -0.03944045 0.01153815
+v -0.05510529 -0.03532690 0.01180239
+v -0.05472622 -0.03304159 0.01196054
+v -0.05511012 -0.03730522 0.01169365
+v -0.05511012 -0.04371091 0.01096881
+v -0.05658352 -0.04727189 0.00999359
+v -0.05725413 -0.05149458 0.00803655
+v -0.05511012 -0.05416190 0.00654144
+v -0.05511012 -0.05506920 0.00576588
+v -0.05511012 -0.05282484 0.00754697
+v -0.05511012 -0.05175381 0.00818942
+v -0.05239449 -0.03090637 0.01223203
+v -0.05296550 -0.03304159 0.01211341
+v -0.05239449 -0.03247539 0.01216283
+v -0.05239449 -0.05414143 0.00650585
+v -0.05296550 -0.05414825 0.00651244
+v -0.05296550 -0.04157568 0.01126995
+v -0.05296550 -0.03944045 0.01155923
+v -0.05243252 -0.03643886 0.01189793
+v -0.05386186 -0.03613870 0.01187421
+v -0.05438699 -0.03471976 0.01191440
+v -0.05296550 -0.04371091 0.01089897
+v -0.05511012 -0.04584613 0.01048581
+v -0.05511012 -0.05011658 0.00897026
+v -0.05511012 -0.04847935 0.00964369
+v -0.05511012 -0.04741515 0.01003774
+v -0.05239449 -0.05276343 0.00751139
+v -0.05296550 -0.05170606 0.00816570
+v -0.05296550 -0.05011658 0.00893402
+v -0.05239449 -0.03304159 0.01212791
+v -0.05307415 -0.03532690 0.01195789
+v -0.05239449 -0.04157568 0.01124821
+v -0.05239449 -0.04100947 0.01132991
+v -0.05239449 -0.03944045 0.01154210
+v -0.05239449 -0.03890153 0.01161392
+v -0.05239449 -0.03643886 0.01189793
+v -0.05239449 -0.03463790 0.01202049
+v -0.05239449 -0.04371091 0.01087459
+v -0.05239449 -0.04314470 0.01097540
+v -0.05296550 -0.04584613 0.01041003
+v -0.05239449 -0.04527992 0.01051546
+v -0.05296550 -0.04731282 0.01000018
+v -0.05239449 -0.04728553 0.00998898
+v -0.05296550 -0.04838384 0.00963051
+v -0.05239449 -0.04834973 0.00962326
+v -0.05239449 -0.05169241 0.00815780
+v -0.05239449 -0.05011658 0.00891821
+v -0.05239449 -0.04584613 0.01038565
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 18
+f 1 18 17
+f 1 17 25
+f 1 25 33
+f 1 33 39
+f 1 39 38
+f 1 38 28
+f 1 28 21
+f 1 21 14
+f 1 14 5
+f 1 5 15
+f 1 15 23
+f 1 23 32
+f 1 32 43
+f 1 43 56
+f 1 56 66
+f 1 66 51
+f 1 51 36
+f 1 36 27
+f 1 27 19
+f 1 19 11
+f 1 11 10
+f 1 10 9
+f 1 9 6
+f 1 6 2
+f 2 7 16
+f 2 16 8
+f 2 8 12
+f 2 12 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 12 13
+f 3 13 4
+f 5 14 15
+f 7 11 16
+f 8 16 17
+f 8 17 18
+f 8 18 12
+f 11 19 20
+f 11 20 16
+f 12 18 13
+f 14 21 29
+f 14 29 41
+f 14 41 55
+f 14 55 69
+f 14 69 71
+f 14 71 87
+f 14 87 94
+f 14 94 93
+f 14 93 92
+f 14 92 91
+f 14 91 90
+f 14 90 89
+f 14 89 96
+f 14 96 95
+f 14 95 98
+f 14 98 105
+f 14 105 100
+f 14 100 102
+f 14 102 104
+f 14 104 103
+f 14 103 84
+f 14 84 72
+f 14 72 56
+f 14 56 43
+f 14 43 42
+f 14 42 31
+f 14 31 30
+f 14 30 24
+f 14 24 22
+f 14 22 15
+f 15 22 24
+f 15 24 23
+f 16 20 17
+f 17 20 26
+f 17 26 25
+f 19 27 20
+f 20 27 26
+f 21 28 29
+f 23 24 30
+f 23 30 31
+f 23 31 32
+f 25 26 34
+f 25 34 33
+f 26 27 35
+f 26 35 34
+f 27 36 37
+f 27 37 35
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 31 42 32
+f 32 42 43
+f 33 34 39
+f 34 35 44
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 39
+f 35 48 49
+f 35 49 45
+f 35 45 44
+f 35 37 50
+f 35 50 48
+f 36 51 52
+f 36 52 37
+f 37 52 53
+f 37 53 50
+f 39 47 40
+f 40 47 54
+f 40 54 41
+f 41 54 55
+f 45 49 57
+f 45 57 58
+f 45 58 46
+f 46 59 60
+f 46 60 47
+f 46 58 61
+f 46 61 59
+f 47 60 54
+f 48 62 57
+f 48 57 49
+f 48 50 63
+f 48 63 62
+f 50 53 64
+f 50 64 63
+f 51 65 52
+f 51 66 65
+f 52 67 53
+f 52 65 67
+f 53 68 64
+f 53 67 68
+f 54 69 55
+f 54 60 70
+f 54 70 71
+f 54 71 69
+f 56 72 73
+f 56 73 65
+f 56 65 66
+f 57 62 74
+f 57 74 75
+f 57 75 76
+f 57 76 58
+f 58 76 77
+f 58 77 61
+f 59 78 60
+f 59 61 78
+f 60 78 70
+f 61 77 78
+f 62 79 74
+f 62 63 80
+f 62 80 79
+f 63 64 81
+f 63 81 82
+f 63 82 83
+f 63 83 80
+f 64 68 81
+f 65 73 67
+f 67 73 72
+f 67 72 84
+f 67 84 85
+f 67 85 68
+f 68 85 86
+f 68 86 81
+f 70 87 71
+f 70 78 77
+f 70 77 88
+f 70 88 87
+f 74 89 90
+f 74 90 75
+f 74 79 89
+f 75 90 91
+f 75 91 92
+f 75 92 93
+f 75 93 76
+f 76 93 94
+f 76 94 88
+f 76 88 77
+f 79 95 96
+f 79 96 89
+f 79 80 97
+f 79 97 98
+f 79 98 95
+f 80 83 99
+f 80 99 100
+f 80 100 97
+f 81 86 82
+f 82 101 83
+f 82 86 101
+f 83 101 102
+f 83 102 99
+f 84 103 85
+f 85 103 86
+f 86 104 101
+f 86 103 104
+f 87 88 94
+f 97 105 98
+f 97 100 105
+f 99 102 100
+f 101 104 102
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_16.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.05140342 0.06414010 0.00610955
+v 0.05140342 0.06361418 0.00706590
+v 0.05140342 0.05993785 0.00610953
+v 0.00049922 0.06308701 0.00581394
+v -0.00150234 0.06309965 0.00581394
+v -0.00255524 0.06310471 0.00581394
+v -0.00469232 0.06310977 0.00581394
+v -0.00898733 0.06311735 0.00581394
+v -0.01113484 0.06311988 0.00581394
+v -0.01328234 0.06311988 0.00581394
+v -0.01542985 0.06311862 0.00581394
+v -0.03256819 0.06308195 0.00581394
+v -0.03365236 0.06307816 0.00581394
+v -0.03471569 0.06307310 0.00581394
+v -0.03686320 0.06305920 0.00581394
+v -0.03792653 0.06305035 0.00581394
+v -0.05417876 0.06288347 0.00591748
+v -0.05509614 0.06248777 0.00671102
+v 0.05140342 0.06325261 0.00757806
+v -0.05295906 0.06249662 0.00674263
+v -0.05295906 0.06184175 0.00774878
+v -0.05081156 0.06185565 0.00776696
+v 0.05034010 0.05961927 0.00610953
+v 0.00049922 0.05836011 0.00581392
+v 0.05140342 0.05122486 0.01013726
+v -0.03792653 0.05892648 0.00581393
+v -0.05509614 0.06286957 0.00591748
+v -0.05509614 0.06182784 0.00772823
+v 0.05140342 0.06254592 0.00857710
+v -0.05509614 0.06076969 0.00886399
+v 0.05140342 0.06161165 0.00958246
+v 0.02853145 0.05852699 0.00610952
+v -0.00008457 0.05833230 0.00581392
+v 0.02600866 0.05843344 0.00610952
+v 0.02638395 0.05844481 0.00610952
+v 0.05140342 0.05122485 0.01335883
+v 0.02209936 0.05122486 0.00988513
+v -0.05509614 0.05829817 0.00592220
+v -0.05509614 0.06280888 0.00591748
+v -0.00363942 0.05835379 0.00581392
+v -0.05509614 0.05980761 0.00987014
+v 0.05140342 0.06125009 0.00987014
+v -0.05509614 0.05980130 0.00987646
+v -0.00150234 0.05832977 0.00581392
+v 0.00508612 0.05122486 0.00978317
+v 0.05140342 0.05160158 0.01333749
+v -0.05509614 0.05245746 0.01388838
+v 0.05101771 0.05122485 0.01335883
+v -0.05509614 0.05245494 0.01025107
+v 0.05140342 0.06054339 0.01042340
+v -0.05509614 0.05872545 0.01068107
+v 0.00049922 0.05122486 0.00993018
+v 0.05140342 0.05195304 0.01331457
+v -0.05509614 0.05292648 0.01374533
+v -0.05509614 0.05245493 0.01381409
+v 0.00049922 0.05122485 0.01294151
+v 0.04887020 0.05122485 0.01334540
+v 0.05140342 0.05232598 0.01329007
+v 0.05140342 0.05373431 0.01309565
+v 0.05140342 0.05445871 0.01298262
+v 0.05140342 0.05587084 0.01262222
+v 0.05140342 0.05659270 0.01242305
+v 0.05140342 0.05893025 0.01142876
+v -0.05509614 0.05734492 0.01168009
+v -0.05509614 0.05293533 0.01374216
+v 0.05140342 0.05746123 0.01212033
+v 0.05140342 0.05856869 0.01161766
+v -0.05509614 0.05627665 0.01231793
+v -0.05509614 0.05445997 0.01317706
+v 0.05140342 0.05786325 0.01197648
+v -0.05509614 0.05447135 0.01317231
+f 1 2 19
+f 1 19 29
+f 1 29 31
+f 1 31 42
+f 1 42 50
+f 1 50 63
+f 1 63 67
+f 1 67 70
+f 1 70 66
+f 1 66 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 58
+f 1 58 53
+f 1 53 46
+f 1 46 36
+f 1 36 25
+f 1 25 3
+f 1 3 24
+f 1 24 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 16
+f 1 16 17
+f 1 17 18
+f 1 18 2
+f 2 18 20
+f 2 20 21
+f 2 21 22
+f 2 22 19
+f 3 23 24
+f 3 25 23
+f 4 24 33
+f 4 33 44
+f 4 44 40
+f 4 40 26
+f 4 26 16
+f 4 16 15
+f 4 15 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 16 26 39
+f 16 39 27
+f 16 27 17
+f 17 27 18
+f 18 27 39
+f 18 39 38
+f 18 38 49
+f 18 49 55
+f 18 55 47
+f 18 47 54
+f 18 54 65
+f 18 65 69
+f 18 69 71
+f 18 71 68
+f 18 68 64
+f 18 64 51
+f 18 51 43
+f 18 43 41
+f 18 41 30
+f 18 30 28
+f 18 28 20
+f 19 22 29
+f 20 28 21
+f 21 28 30
+f 21 30 22
+f 22 30 31
+f 22 31 29
+f 23 25 32
+f 23 32 24
+f 24 32 33
+f 25 34 35
+f 25 35 32
+f 25 36 48
+f 25 48 57
+f 25 57 56
+f 25 56 52
+f 25 52 45
+f 25 45 37
+f 25 37 33
+f 25 33 34
+f 26 38 39
+f 26 40 38
+f 30 41 31
+f 31 41 43
+f 31 43 42
+f 32 35 33
+f 33 35 34
+f 33 37 45
+f 33 45 44
+f 36 46 47
+f 36 47 48
+f 38 40 44
+f 38 44 45
+f 38 45 49
+f 42 43 50
+f 43 51 50
+f 45 52 49
+f 46 53 47
+f 47 55 56
+f 47 56 57
+f 47 57 48
+f 47 53 58
+f 47 58 59
+f 47 59 60
+f 47 60 61
+f 47 61 62
+f 47 62 54
+f 49 52 56
+f 49 56 55
+f 50 51 64
+f 50 64 63
+f 54 62 66
+f 54 66 65
+f 63 64 68
+f 63 68 67
+f 65 66 70
+f 65 70 69
+f 67 68 70
+f 68 71 70
+f 69 70 71
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_17.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.05000036 0.00493527 0.00847245
+v 0.02682984 0.00493527 0.00847245
+v 0.05000036 0.00493529 0.00249292
+v 0.05000036 0.03909007 0.00847257
+v 0.03296808 0.00493529 0.00352785
+v 0.02681168 0.00709523 0.00847246
+v 0.03144260 0.02671211 0.00367662
+v 0.03146757 0.02457890 0.00367368
+v 0.03158562 0.01817926 0.00368654
+v 0.03170139 0.00964307 0.00377782
+v 0.03172863 0.00820198 0.00380533
+v 0.05000036 0.00534655 0.00249819
+v 0.03497482 0.00493529 0.00321410
+v 0.03497482 0.01390949 0.00317900
+v 0.03497482 0.01604605 0.00317082
+v 0.03497482 0.01817926 0.00316732
+v 0.03497482 0.02031247 0.00317258
+v 0.03497482 0.02244234 0.00318489
+v 0.03497482 0.02457890 0.00319778
+v 0.03497482 0.02671211 0.00321359
+v 0.03497482 0.02884532 0.00323175
+v 0.03497482 0.03098188 0.00325223
+v 0.05000036 0.03853505 0.00558788
+v 0.03497482 0.03845813 0.00847257
+v 0.03337896 0.00493529 0.00346229
+v 0.03282961 0.00964307 0.00346114
+v 0.02681168 0.00750649 0.00847246
+v 0.03144487 0.02884532 0.00368306
+v 0.03282961 0.02457890 0.00335758
+v 0.03282961 0.02244234 0.00335172
+v 0.03282961 0.02031247 0.00335288
+v 0.03282961 0.01817926 0.00335463
+v 0.04355111 0.03311509 0.00305029
+v 0.05000036 0.03311509 0.00297595
+v 0.03282961 0.02671211 0.00337105
+v 0.03282961 0.02884532 0.00338921
+v 0.03282961 0.03098188 0.00341028
+v 0.03282961 0.03311509 0.00344483
+v 0.03497482 0.03311509 0.00329615
+v 0.05000036 0.03837121 0.00484036
+v 0.03497482 0.03812712 0.00685168
+v 0.03276832 0.03807697 0.00847257
+v 0.03282961 0.03791981 0.00685168
+v 0.02684800 0.00919166 0.00847246
+v 0.03147211 0.03311509 0.00370239
+v 0.03145395 0.03098188 0.00369067
+v 0.05000036 0.03524830 0.00304796
+v 0.03161059 0.03524830 0.00376738
+v 0.03173771 0.03633497 0.00382533
+v 0.03282961 0.03524830 0.00360816
+v 0.03497482 0.03524830 0.00349752
+v 0.05000036 0.03826756 0.00451022
+v 0.03282961 0.03728120 0.00484036
+v 0.03108620 0.03702039 0.00847257
+v 0.03116339 0.03698695 0.00685168
+v 0.03136315 0.03672951 0.00484035
+v 0.02768565 0.02671209 0.00847253
+v 0.03062084 0.03311508 0.00484034
+v 0.03080698 0.03524829 0.00484035
+v 0.03282961 0.03641187 0.00378962
+v 0.05000036 0.03734139 0.00354027
+v 0.03022812 0.03568629 0.00847256
+v 0.03032800 0.03524828 0.00685167
+v 0.03007603 0.03536865 0.00847256
+v 0.02782866 0.02742093 0.00847253
+v 0.02812377 0.02884530 0.00847254
+f 1 2 5
+f 1 5 25
+f 1 25 13
+f 1 13 3
+f 1 3 12
+f 1 12 34
+f 1 34 47
+f 1 47 61
+f 1 61 52
+f 1 52 40
+f 1 40 23
+f 1 23 4
+f 1 4 24
+f 1 24 42
+f 1 42 54
+f 1 54 62
+f 1 62 64
+f 1 64 66
+f 1 66 65
+f 1 65 57
+f 1 57 44
+f 1 44 27
+f 1 27 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 5
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 21
+f 3 21 22
+f 3 22 12
+f 4 23 24
+f 5 11 10
+f 5 10 26
+f 5 26 25
+f 6 27 7
+f 7 28 29
+f 7 29 30
+f 7 30 31
+f 7 31 32
+f 7 32 8
+f 7 27 28
+f 8 32 9
+f 9 32 26
+f 9 26 10
+f 12 22 33
+f 12 33 34
+f 13 25 26
+f 13 26 32
+f 13 32 14
+f 14 32 15
+f 15 32 16
+f 16 32 31
+f 16 31 30
+f 16 30 17
+f 17 30 29
+f 17 29 18
+f 18 29 19
+f 19 29 35
+f 19 35 20
+f 20 35 36
+f 20 36 21
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 33
+f 23 40 41
+f 23 41 24
+f 24 41 43
+f 24 43 42
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 28 46 29
+f 29 46 35
+f 33 39 47
+f 33 47 34
+f 35 46 45
+f 35 45 36
+f 36 45 37
+f 37 45 38
+f 38 45 48
+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 39 50 51
+f 39 51 47
+f 40 52 41
+f 41 52 53
+f 41 53 43
+f 42 43 55
+f 42 55 54
+f 43 53 56
+f 43 56 55
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 45 59 48
+f 47 51 60
+f 47 60 61
+f 48 59 49
+f 49 60 51
+f 49 51 50
+f 49 59 56
+f 49 56 53
+f 49 53 60
+f 52 61 60
+f 52 60 53
+f 54 55 62
+f 55 56 62
+f 56 59 63
+f 56 63 64
+f 56 64 62
+f 57 65 59
+f 57 59 58
+f 59 65 66
+f 59 66 63
+f 63 66 64
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_18.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v -0.02934346 -0.01286296 -0.01213617
+v -0.03366274 -0.01286296 -0.01079474
+v -0.02934346 -0.01286295 -0.01485542
+v -0.02934346 0.03097874 -0.00837842
+v -0.03950703 -0.00106460 -0.00820779
+v -0.04017130 -0.00306059 -0.00820780
+v -0.04345208 -0.01286297 -0.00820784
+v -0.02937464 -0.01286295 -0.01485344
+v -0.02934346 -0.01171700 -0.01488850
+v -0.02934346 0.03311460 -0.00836716
+v -0.03933551 0.00110892 -0.00820779
+v -0.02934346 0.04209922 -0.00833801
+v -0.06085398 -0.01286297 -0.00820784
+v -0.03035077 -0.01286295 -0.01476542
+v -0.03151713 -0.01170086 -0.01469460
+v -0.02937464 -0.01170086 -0.01488652
+v -0.02934346 -0.00959728 -0.01493284
+v -0.03942283 0.00325017 -0.00820778
+v -0.03080297 0.04209922 -0.00831352
+v -0.03151713 0.04209922 -0.00830360
+v -0.02934346 0.04209923 -0.01120550
+v -0.06048598 -0.01286296 -0.01026134
+v -0.06087269 -0.01066254 -0.00820783
+v -0.06072923 -0.00742916 -0.00924152
+v -0.03151713 -0.01286295 -0.01464961
+v -0.03379996 -0.01153408 -0.01440077
+v -0.03366274 -0.00956500 -0.01447820
+v -0.03151713 -0.00956500 -0.01474887
+v -0.03350681 -0.01286295 -0.01439085
+v -0.02937464 -0.00956500 -0.01493086
+v -0.02937464 -0.00742914 -0.01496063
+v -0.02934346 -0.00746141 -0.01496195
+v -0.03954134 0.00537527 -0.00820777
+v -0.03366274 0.04209922 -0.00828904
+v -0.03967856 0.00751113 -0.00820776
+v -0.02937464 0.04209923 -0.01120617
+v -0.02934346 0.04165269 -0.01126308
+v -0.06053276 -0.00742915 -0.01031096
+v -0.06049534 -0.01170087 -0.01027258
+v -0.05939758 -0.00529866 -0.01081125
+v -0.05939758 -0.00742915 -0.01078082
+v -0.05939758 -0.00956501 -0.01074112
+v -0.05939758 -0.01170087 -0.01069943
+v -0.05950673 -0.01286296 -0.01063326
+v -0.06074483 -0.00529867 -0.00924151
+v -0.06120014 0.04165268 -0.00820764
+v -0.05725197 -0.01286296 -0.01119710
+v -0.03366274 -0.00742914 -0.01452716
+v -0.03366274 -0.00529865 -0.01457149
+v -0.03151713 -0.00742914 -0.01479055
+v -0.03151713 -0.00529865 -0.01481833
+v -0.03151713 -0.00316279 -0.01482759
+v -0.03151713 -0.00102692 -0.01483420
+v -0.02937464 -0.00529865 -0.01496591
+v -0.02934346 -0.00532555 -0.01496723
+v -0.05198463 0.04209922 -0.00820764
+v -0.04072641 0.01191198 -0.00820775
+v -0.04009333 0.00964162 -0.00820775
+v -0.02982060 0.04209923 -0.01120683
+v -0.02934346 0.03951683 -0.01151058
+v -0.03151713 0.04165269 -0.01126374
+v -0.03196621 0.04209923 -0.01120815
+v -0.06054523 -0.00529866 -0.01032484
+v -0.05939758 -0.00316280 -0.01082382
+v -0.05725197 -0.00316280 -0.01134728
+v -0.05725197 -0.00529866 -0.01133009
+v -0.05725197 -0.00742915 -0.01130032
+v -0.05725197 -0.00956501 -0.01126261
+v -0.05725197 -0.01170087 -0.01122158
+v -0.05823122 -0.01286296 -0.01095886
+v -0.06102238 0.04165268 -0.00924134
+v -0.06119391 0.04209922 -0.00820764
+v -0.06100991 0.04209922 -0.00927972
+v -0.03366274 -0.00102692 -0.01464824
+v -0.03366274 0.00110894 -0.01467669
+v -0.02937464 -0.00316279 -0.01494869
+v -0.03366274 0.00323943 -0.01466808
+v -0.03151713 0.00110894 -0.01481567
+v -0.02934346 -0.00529865 -0.01496723
+v -0.02937464 0.03951683 -0.01151058
+v -0.02934346 0.03738096 -0.01173295
+v -0.03366274 0.04165269 -0.01126374
+v -0.04483675 0.04209923 -0.01120683
+v -0.06054835 -0.00316280 -0.01032947
+v -0.05939758 -0.00102693 -0.01082976
+v -0.05725197 -0.00102693 -0.01135985
+v -0.03692482 0.00537529 -0.01429350
+v -0.03593309 0.00335779 -0.01440800
+v -0.06049534 0.04209923 -0.01026644
+v -0.06050469 0.04165269 -0.01027239
+v -0.06052029 0.03951683 -0.01028761
+v -0.06054523 0.00323942 -0.01032481
+v -0.06054835 -0.00102693 -0.01032879
+v -0.03580835 0.00537529 -0.01443976
+v -0.02937464 -0.00102692 -0.01492949
+v -0.02934346 -0.00102692 -0.01493082
+v -0.02934346 -0.00319507 -0.01495002
+v -0.03151713 0.00323943 -0.01475610
+v -0.03366274 0.00537529 -0.01460520
+v -0.02937464 0.00110894 -0.01487920
+v -0.04438767 0.04165269 -0.01125778
+v -0.02937464 0.03738096 -0.01173295
+v -0.02934346 0.01391337 -0.01395067
+v -0.04653016 0.04209923 -0.01120352
+v -0.05939758 0.00110893 -0.01083373
+v -0.05725197 0.00110893 -0.01136514
+v -0.03692482 0.00683865 -0.01429217
+v -0.05979365 0.04209923 -0.01040012
+v -0.05939758 0.03951683 -0.01056027
+v -0.05939758 0.03738096 -0.01061190
+v -0.05939758 0.03525048 -0.01065029
+v -0.05939758 0.03311461 -0.01067611
+v -0.06052029 0.03738096 -0.01029226
+v -0.05939758 0.00323942 -0.01082909
+v -0.03586449 0.00753267 -0.01435239
+v -0.02934346 0.00110894 -0.01487986
+v -0.03151713 0.00537529 -0.01465682
+v -0.02934346 0.00323943 -0.01478985
+v -0.03366274 0.00751115 -0.01446754
+v -0.04653016 0.04165269 -0.01125315
+v -0.03151713 0.03738096 -0.01172435
+v -0.02934346 0.00751115 -0.01451784
+v -0.02937464 0.00751115 -0.01451784
+v -0.03151713 0.00751115 -0.01450195
+v -0.04867265 0.04165269 -0.01123264
+v -0.04697612 0.04209923 -0.01120087
+v -0.05725197 0.00323942 -0.01135918
+v -0.05725197 0.02244067 -0.01130087
+v -0.05725197 0.02457654 -0.01129160
+v -0.05725197 0.02671240 -0.01127438
+v -0.05725197 0.02884288 -0.01125121
+v -0.05725197 0.03097875 -0.01121613
+v -0.05725197 0.03311461 -0.01115855
+v -0.05725197 0.03525048 -0.01109037
+v -0.05725197 0.03738096 -0.01102021
+v -0.05510948 0.03738096 -0.01124522
+v -0.05941318 0.04209923 -0.01045571
+v -0.05725197 0.03951683 -0.01092094
+v -0.03518463 0.00884002 -0.01429879
+v -0.05510948 0.03951683 -0.01114131
+v -0.05296387 0.03951683 -0.01127962
+v -0.02934346 0.00537529 -0.01467336
+v -0.05296387 0.04165269 -0.01112741
+v -0.05081826 0.04165269 -0.01119161
+v -0.04867265 0.04209923 -0.01118499
+v -0.02934346 0.00747887 -0.01452048
+v -0.05081826 0.04209923 -0.01114594
+v -0.04912174 0.04209923 -0.01117837
+v -0.05774472 0.04209923 -0.01069130
+v -0.05725197 0.04165269 -0.01078527
+v -0.05510948 0.04165269 -0.01099506
+v -0.05510948 0.04209923 -0.01095469
+v -0.05341296 0.04209923 -0.01105925
+v -0.05296387 0.04209923 -0.01108374
+v -0.05126734 0.04209923 -0.01113469
+v -0.05725197 0.04209923 -0.01075020
+v -0.05555545 0.04209923 -0.01091631
+f 1 2 7
+f 1 7 13
+f 1 13 22
+f 1 22 44
+f 1 44 70
+f 1 70 47
+f 1 47 29
+f 1 29 25
+f 1 25 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 32
+f 1 32 55
+f 1 55 79
+f 1 79 97
+f 1 97 96
+f 1 96 116
+f 1 116 118
+f 1 118 142
+f 1 142 146
+f 1 146 122
+f 1 122 103
+f 1 103 81
+f 1 81 60
+f 1 60 37
+f 1 37 21
+f 1 21 12
+f 1 12 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 4 5
+f 3 8 9
+f 4 10 5
+f 5 11 18
+f 5 18 33
+f 5 33 35
+f 5 35 58
+f 5 58 57
+f 5 57 56
+f 5 56 72
+f 5 72 46
+f 5 46 23
+f 5 23 13
+f 5 13 7
+f 5 7 6
+f 5 10 12
+f 5 12 11
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 11 12 19
+f 11 19 20
+f 11 20 18
+f 12 21 36
+f 12 36 59
+f 12 59 62
+f 12 62 83
+f 12 83 104
+f 12 104 126
+f 12 126 145
+f 12 145 148
+f 12 148 147
+f 12 147 155
+f 12 155 154
+f 12 154 153
+f 12 153 152
+f 12 152 157
+f 12 157 156
+f 12 156 149
+f 12 149 137
+f 12 137 108
+f 12 108 89
+f 12 89 73
+f 12 73 72
+f 12 72 56
+f 12 56 34
+f 12 34 20
+f 12 20 19
+f 13 23 24
+f 13 24 22
+f 14 25 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 15 25 29
+f 15 29 26
+f 16 28 17
+f 17 28 30
+f 17 30 31
+f 17 31 32
+f 18 20 33
+f 20 34 35
+f 20 35 33
+f 21 37 36
+f 22 24 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 23 45 24
+f 23 46 45
+f 24 45 38
+f 26 29 47
+f 26 47 27
+f 27 47 48
+f 27 48 28
+f 28 48 49
+f 28 49 50
+f 28 50 30
+f 30 50 31
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 54
+f 31 54 32
+f 32 54 55
+f 34 56 57
+f 34 57 58
+f 34 58 35
+f 36 37 59
+f 37 60 61
+f 37 61 62
+f 37 62 59
+f 38 45 63
+f 38 63 40
+f 38 40 39
+f 40 63 64
+f 40 64 86
+f 40 86 65
+f 40 65 66
+f 40 66 67
+f 40 67 41
+f 41 67 68
+f 41 68 42
+f 42 68 69
+f 42 69 43
+f 43 69 70
+f 43 70 44
+f 45 46 71
+f 45 71 63
+f 46 72 73
+f 46 73 71
+f 47 70 69
+f 47 69 48
+f 48 69 49
+f 49 74 50
+f 49 69 68
+f 49 68 74
+f 50 74 75
+f 50 75 51
+f 51 75 52
+f 52 75 53
+f 53 76 54
+f 53 75 77
+f 53 77 78
+f 53 78 76
+f 54 79 55
+f 54 76 79
+f 60 80 82
+f 60 82 61
+f 60 81 102
+f 60 102 80
+f 61 82 62
+f 62 82 83
+f 63 71 84
+f 63 84 64
+f 64 84 85
+f 64 85 86
+f 65 86 87
+f 65 87 66
+f 66 87 88
+f 66 88 67
+f 67 88 74
+f 67 74 68
+f 71 73 84
+f 73 89 90
+f 73 90 91
+f 73 91 92
+f 73 92 93
+f 73 93 84
+f 74 88 75
+f 75 88 94
+f 75 94 77
+f 76 78 95
+f 76 95 96
+f 76 96 97
+f 76 97 79
+f 77 98 78
+f 77 94 99
+f 77 99 98
+f 78 98 100
+f 78 100 96
+f 78 96 95
+f 80 101 83
+f 80 83 82
+f 80 102 101
+f 81 103 102
+f 83 101 104
+f 84 93 105
+f 84 105 85
+f 85 105 106
+f 85 106 86
+f 86 106 87
+f 87 107 94
+f 87 94 88
+f 87 106 107
+f 89 108 109
+f 89 109 110
+f 89 110 90
+f 90 110 111
+f 90 111 112
+f 90 112 91
+f 91 113 92
+f 91 112 114
+f 91 114 105
+f 91 105 113
+f 92 105 93
+f 92 113 105
+f 94 107 115
+f 94 115 99
+f 96 100 116
+f 98 99 117
+f 98 117 118
+f 98 118 116
+f 98 116 100
+f 99 119 117
+f 99 115 119
+f 101 102 120
+f 101 120 104
+f 102 121 120
+f 102 103 121
+f 103 122 123
+f 103 123 124
+f 103 124 125
+f 103 125 120
+f 103 120 121
+f 104 120 126
+f 105 114 106
+f 106 114 127
+f 106 127 107
+f 107 127 128
+f 107 128 129
+f 107 129 130
+f 107 130 131
+f 107 131 132
+f 107 132 133
+f 107 133 134
+f 107 134 135
+f 107 135 136
+f 107 136 115
+f 108 137 138
+f 108 138 135
+f 108 135 109
+f 109 135 134
+f 109 134 133
+f 109 133 132
+f 109 132 110
+f 110 132 111
+f 111 132 131
+f 111 131 112
+f 112 131 130
+f 112 130 129
+f 112 129 114
+f 114 129 128
+f 114 128 127
+f 115 139 119
+f 115 136 140
+f 115 140 141
+f 115 141 139
+f 117 119 124
+f 117 124 142
+f 117 142 118
+f 119 139 141
+f 119 141 143
+f 119 143 144
+f 119 144 125
+f 119 125 124
+f 120 125 145
+f 120 145 126
+f 122 146 123
+f 123 146 124
+f 124 146 142
+f 125 144 147
+f 125 147 148
+f 125 148 145
+f 135 138 136
+f 136 138 140
+f 137 149 138
+f 138 149 150
+f 138 150 140
+f 140 150 151
+f 140 151 141
+f 141 151 143
+f 143 151 152
+f 143 152 153
+f 143 153 154
+f 143 154 155
+f 143 155 144
+f 144 155 147
+f 149 156 150
+f 150 156 151
+f 151 156 157
+f 151 157 152
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_19.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.00050596 -0.01286296 -0.01040041
+v -0.00148944 -0.01286296 -0.01040583
+v 0.00050596 -0.01286295 -0.01416450
+v 0.00050596 0.02457653 -0.00852940
+v -0.00363676 -0.01286296 -0.01044847
+v -0.02934034 0.03097874 -0.00837843
+v -0.01435876 -0.01286295 -0.01492463
+v 0.00050596 -0.01170086 -0.01417058
+v 0.00050596 0.04209922 -0.00821798
+v -0.02934034 -0.01286296 -0.01213591
+v -0.00849818 0.04209922 -0.00823557
+v -0.01068640 0.04209922 -0.00824302
+v -0.02934034 0.03311460 -0.00836759
+v -0.01533455 -0.01286295 -0.01496863
+v 0.00050596 -0.00102692 -0.01419423
+v 0.00050596 -0.00316279 -0.01419966
+v 0.00050596 -0.00529865 -0.01419832
+v 0.00050596 -0.00742914 -0.01418953
+v 0.00050596 0.04209923 -0.01099654
+v -0.02934034 -0.01286295 -0.01485559
+v -0.01289507 0.04209922 -0.00825385
+v -0.02934034 0.04209922 -0.00833846
+v -0.01650024 -0.01286294 -0.01501736
+v -0.01650024 -0.00742914 -0.01495101
+v 0.00050596 -0.00088166 -0.01419220
+v -0.02508075 0.04209923 -0.01118606
+v 0.00050596 0.04165269 -0.01105340
+v -0.02934034 -0.01171700 -0.01488875
+v -0.02820386 -0.01286295 -0.01494561
+v -0.02934034 0.04209923 -0.01120569
+v -0.01747895 -0.01286294 -0.01504714
+v -0.01864756 -0.00742913 -0.01502343
+v -0.01864756 -0.00529864 -0.01499296
+v -0.01650024 -0.00529865 -0.01491851
+v 0.00050596 0.00110894 -0.01415971
+v -0.02722515 0.04209923 -0.01120028
+v -0.02508075 0.04165269 -0.01124224
+v -0.02722515 0.04165269 -0.01125713
+v 0.00050596 0.03951683 -0.01130045
+v -0.01006996 0.03738096 -0.01163484
+v -0.01221436 0.03738096 -0.01165244
+v -0.02934034 -0.00959728 -0.01493274
+v -0.02722515 -0.01286294 -0.01501465
+v -0.02934034 0.04165269 -0.01126255
+v -0.01864756 -0.01286294 -0.01507828
+v -0.01864756 -0.01170085 -0.01506744
+v -0.02079195 -0.00742913 -0.01507691
+v -0.02079195 -0.00529864 -0.01504779
+v -0.02079195 -0.00316278 -0.01500040
+v -0.01864756 -0.00316279 -0.01494490
+v -0.01650024 -0.00316279 -0.01487247
+v 0.00050596 0.00125420 -0.01415565
+v -0.01650024 -0.00102692 -0.01482034
+v -0.02508075 0.03951683 -0.01149336
+v -0.02722515 0.03951683 -0.01150758
+v -0.02934034 0.04162041 -0.01126661
+v -0.00363676 0.03738096 -0.01157189
+v -0.00578116 0.03738096 -0.01159355
+v 0.00050596 0.03738096 -0.01151774
+v -0.01650024 0.01817433 -0.01371968
+v -0.01864756 0.01603847 -0.01396742
+v -0.01006996 0.03525048 -0.01186160
+v -0.01864756 0.01817433 -0.01374404
+v -0.02722515 -0.01170085 -0.01503766
+v -0.02934034 -0.00746141 -0.01496184
+v -0.02605946 -0.01286294 -0.01507016
+v -0.01962335 -0.01286294 -0.01509859
+v -0.02293635 -0.00742913 -0.01510804
+v -0.02293635 -0.00529864 -0.01507960
+v -0.02079195 -0.00956499 -0.01509452
+v -0.02293635 -0.00316278 -0.01503221
+v -0.02079195 -0.00102692 -0.01494489
+v -0.01864756 -0.00102692 -0.01489074
+v -0.01650024 0.00110894 -0.01475807
+v 0.00050596 0.00339007 -0.01408728
+v -0.02934034 0.03951683 -0.01151096
+v 0.00050596 0.03525048 -0.01169306
+v -0.01221436 0.01391337 -0.01398300
+v -0.01221436 0.01603847 -0.01380633
+v -0.01435876 0.01391337 -0.01406558
+v -0.01435876 0.01603847 -0.01387875
+v -0.01650024 0.01603847 -0.01393426
+v -0.01867385 0.01373045 -0.01418877
+v -0.01940423 0.01290192 -0.01427473
+v -0.02079195 0.01603847 -0.01396810
+v -0.02722515 -0.00956499 -0.01506067
+v -0.02934034 -0.00532555 -0.01496724
+v -0.02722515 -0.00742913 -0.01507081
+v -0.02508075 -0.01286294 -0.01510536
+v -0.02079195 -0.01286294 -0.01511957
+v -0.02079195 -0.01170085 -0.01511144
+v -0.02508075 -0.00742913 -0.01511278
+v -0.02508075 -0.00529864 -0.01508840
+v -0.02293635 -0.00956499 -0.01512227
+v -0.02508075 -0.00316278 -0.01504304
+v -0.02508075 -0.00102691 -0.01498821
+v -0.02293635 -0.00102691 -0.01497467
+v -0.02079195 0.00110894 -0.01486569
+v -0.01864756 0.00537529 -0.01467006
+v -0.01864756 0.00110894 -0.01482102
+v -0.01650024 0.00537529 -0.01461997
+v -0.01650024 0.00751115 -0.01454009
+v -0.01435876 0.00751115 -0.01446292
+v 0.00050596 0.00552593 -0.01400063
+v -0.02934034 0.03738096 -0.01173299
+v 0.00050596 0.01177750 -0.01362088
+v 0.00050596 0.00979228 -0.01377250
+v -0.01417762 0.01178288 -0.01422195
+v -0.01476777 0.01107810 -0.01429843
+v -0.01650024 0.01145470 -0.01432889
+v -0.01650024 0.01251994 -0.01424360
+v -0.01650024 0.01391337 -0.01412853
+v -0.01797561 0.01276204 -0.01426255
+v -0.01867385 0.01193890 -0.01434243
+v -0.02076566 0.01194428 -0.01434311
+v -0.02003528 0.01290192 -0.01427473
+v -0.02076566 0.01373045 -0.01419012
+v -0.02293635 0.01603847 -0.01392884
+v -0.02508075 -0.01170085 -0.01511482
+v -0.02934034 -0.00529865 -0.01496724
+v -0.02722515 -0.00529864 -0.01505794
+v -0.02508075 -0.00956499 -0.01511821
+v -0.02391506 -0.01286294 -0.01512499
+v -0.02176774 -0.01286294 -0.01512837
+v -0.02293635 -0.01170085 -0.01513107
+v -0.02722515 -0.00316278 -0.01502274
+v -0.02722515 -0.00102691 -0.01498144
+v -0.02722515 0.00110894 -0.01490766
+v -0.02508075 0.00110894 -0.01490901
+v -0.02293635 0.00110894 -0.01489209
+v -0.01864756 0.00751115 -0.01458544
+v -0.01864756 0.00964164 -0.01449134
+v -0.01650024 0.00964164 -0.01444058
+v -0.01417762 0.00982994 -0.01434649
+v 0.00050596 0.00751115 -0.01390247
+v -0.02293635 0.01391337 -0.01413056
+v -0.02508075 0.01603847 -0.01386995
+v -0.02934034 0.01391337 -0.01395051
+v 0.00050596 0.00964164 -0.01378266
+v -0.01334207 0.01066384 -0.01426730
+v -0.02079195 0.00964164 -0.01449540
+v -0.02146683 0.01276204 -0.01426255
+v -0.02934034 0.00537529 -0.01467276
+v -0.02934034 0.00747887 -0.01452046
+v -0.02934034 -0.00319507 -0.01495031
+v -0.02934034 -0.00105920 -0.01493135
+v -0.02293635 -0.01286294 -0.01513311
+v -0.02934034 -0.00102692 -0.01493067
+v -0.02934034 0.00110894 -0.01487991
+v -0.02934034 0.00323943 -0.01478987
+v -0.02722515 0.00323943 -0.01480612
+v -0.02508075 0.00323943 -0.01480815
+v -0.02079195 0.00751115 -0.01459762
+v 0.00050596 0.00765641 -0.01389503
+v -0.02934034 0.00751115 -0.01451775
+v -0.02508075 0.01391337 -0.01407032
+v -0.02934034 0.00534301 -0.01467479
+f 1 2 5
+f 1 5 10
+f 1 10 20
+f 1 20 29
+f 1 29 43
+f 1 43 66
+f 1 66 89
+f 1 89 123
+f 1 123 147
+f 1 147 124
+f 1 124 90
+f 1 90 67
+f 1 67 45
+f 1 45 31
+f 1 31 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 25
+f 1 25 35
+f 1 35 52
+f 1 52 75
+f 1 75 104
+f 1 104 135
+f 1 135 154
+f 1 154 139
+f 1 139 107
+f 1 107 106
+f 1 106 77
+f 1 77 59
+f 1 59 39
+f 1 39 27
+f 1 27 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 6
+f 5 6 10
+f 6 9 11
+f 6 11 12
+f 6 12 13
+f 6 13 22
+f 6 22 30
+f 6 30 44
+f 6 44 56
+f 6 56 76
+f 6 76 105
+f 6 105 138
+f 6 138 155
+f 6 155 144
+f 6 144 143
+f 6 143 157
+f 6 157 150
+f 6 150 149
+f 6 149 148
+f 6 148 146
+f 6 146 145
+f 6 145 120
+f 6 120 87
+f 6 87 65
+f 6 65 42
+f 6 42 28
+f 6 28 20
+f 6 20 10
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 26
+f 9 26 36
+f 9 36 30
+f 9 30 22
+f 9 22 21
+f 9 21 12
+f 9 12 11
+f 12 21 13
+f 13 21 22
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 19 27 26
+f 20 28 29
+f 23 31 32
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 26 27 37
+f 26 37 38
+f 26 38 36
+f 27 39 40
+f 27 40 41
+f 27 41 37
+f 28 42 29
+f 29 42 43
+f 30 36 38
+f 30 38 44
+f 31 45 46
+f 31 46 32
+f 32 47 48
+f 32 48 33
+f 32 46 47
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 35
+f 35 51 53
+f 35 53 52
+f 37 41 54
+f 37 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 44
+f 39 57 58
+f 39 58 40
+f 39 59 60
+f 39 60 61
+f 39 61 57
+f 40 58 62
+f 40 62 41
+f 41 55 54
+f 41 62 63
+f 41 63 55
+f 42 64 43
+f 42 65 64
+f 43 64 66
+f 45 67 47
+f 45 47 46
+f 47 68 69
+f 47 69 48
+f 47 67 70
+f 47 70 68
+f 48 69 71
+f 48 71 49
+f 49 71 72
+f 49 72 73
+f 49 73 50
+f 50 73 53
+f 50 53 51
+f 52 53 74
+f 52 74 75
+f 53 73 74
+f 55 76 56
+f 55 63 76
+f 57 62 58
+f 57 61 63
+f 57 63 62
+f 59 77 78
+f 59 78 79
+f 59 79 80
+f 59 80 81
+f 59 81 82
+f 59 82 60
+f 60 82 61
+f 61 82 83
+f 61 83 84
+f 61 84 85
+f 61 85 63
+f 63 85 76
+f 64 65 86
+f 64 86 66
+f 65 87 88
+f 65 88 86
+f 66 86 89
+f 67 90 91
+f 67 91 70
+f 68 92 93
+f 68 93 69
+f 68 70 91
+f 68 91 90
+f 68 90 94
+f 68 94 92
+f 69 93 95
+f 69 95 71
+f 71 95 96
+f 71 96 97
+f 71 97 72
+f 72 97 98
+f 72 98 99
+f 72 99 100
+f 72 100 73
+f 73 100 101
+f 73 101 74
+f 74 101 75
+f 75 101 102
+f 75 102 103
+f 75 103 104
+f 76 85 105
+f 77 106 78
+f 78 106 107
+f 78 107 108
+f 78 108 80
+f 78 80 79
+f 80 108 109
+f 80 109 110
+f 80 110 111
+f 80 111 112
+f 80 112 81
+f 81 112 82
+f 82 112 83
+f 83 112 113
+f 83 113 84
+f 84 113 114
+f 84 114 115
+f 84 115 116
+f 84 116 85
+f 85 116 117
+f 85 117 118
+f 85 118 105
+f 86 119 89
+f 86 88 119
+f 87 120 88
+f 88 120 121
+f 88 121 92
+f 88 92 122
+f 88 122 119
+f 89 119 123
+f 90 124 94
+f 92 121 93
+f 92 94 125
+f 92 125 122
+f 93 121 126
+f 93 126 127
+f 93 127 95
+f 94 124 125
+f 95 127 96
+f 96 127 128
+f 96 128 129
+f 96 129 97
+f 97 129 130
+f 97 130 98
+f 98 130 131
+f 98 131 99
+f 99 131 102
+f 99 102 101
+f 99 101 100
+f 102 131 132
+f 102 132 133
+f 102 133 103
+f 103 133 134
+f 103 134 104
+f 104 134 135
+f 105 118 136
+f 105 136 137
+f 105 137 138
+f 107 109 108
+f 107 139 109
+f 109 139 140
+f 109 140 134
+f 109 134 133
+f 109 133 110
+f 110 133 132
+f 110 132 114
+f 110 114 113
+f 110 113 111
+f 111 113 112
+f 114 132 141
+f 114 141 115
+f 115 142 116
+f 115 141 143
+f 115 143 144
+f 115 144 142
+f 116 142 117
+f 117 142 136
+f 117 136 118
+f 119 122 123
+f 120 145 121
+f 121 145 146
+f 121 146 126
+f 122 125 147
+f 122 147 123
+f 124 147 125
+f 126 146 127
+f 127 146 148
+f 127 148 149
+f 127 149 128
+f 128 149 150
+f 128 150 151
+f 128 151 152
+f 128 152 129
+f 129 152 153
+f 129 153 132
+f 129 132 131
+f 129 131 130
+f 132 153 141
+f 134 140 154
+f 134 154 135
+f 136 142 155
+f 136 155 156
+f 136 156 137
+f 137 156 138
+f 138 156 155
+f 139 154 140
+f 141 153 152
+f 141 152 151
+f 141 151 157
+f 141 157 143
+f 142 144 155
+f 150 157 151
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_2.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.02647883 -0.04382010 0.00589926
+v 0.02647883 -0.04382010 0.00526619
+v 0.02647883 -0.04381534 0.00852020
+v 0.02639239 -0.04382011 0.00852082
+v 0.02220765 -0.04382010 0.00507646
+v 0.02647883 0.00492716 0.00849496
+v 0.00050596 -0.04382011 0.00906770
+v 0.02647883 -0.04371035 0.00853322
+v 0.02639239 -0.04371035 0.00853508
+v 0.00050596 -0.04371035 0.00908321
+v 0.02006443 -0.04382010 0.00502065
+v 0.01137969 -0.01383684 0.00698817
+v 0.01995765 0.00492716 0.00849000
+v 0.02647883 0.00492715 0.01135338
+v 0.01995765 -0.04382010 0.00501879
+v 0.00050596 -0.04382010 0.00617952
+v 0.02647883 -0.04157721 0.00878187
+v 0.02639239 -0.04157721 0.00878435
+v 0.00050596 -0.04157721 0.00930767
+v 0.00050596 0.00492716 0.00851728
+v 0.01781189 0.00492716 0.00849186
+v 0.01825426 0.00492716 0.00849124
+v 0.01781189 -0.04382010 0.00507398
+v 0.00050596 -0.02236939 0.00679841
+v 0.00050596 0.00492715 0.01126348
+v 0.02647883 0.00109990 0.01129446
+v 0.00061020 -0.04382010 0.00616402
+v 0.00050596 -0.02450253 0.00670849
+v 0.02647883 -0.03944408 0.00898774
+v 0.02639239 -0.03944408 0.00899022
+v 0.01137969 -0.03265334 0.00992341
+v 0.00050596 -0.03944408 0.00950486
+v 0.01352291 -0.04382010 0.00523767
+v 0.00050596 0.00308511 0.01123184
+v 0.00050596 0.00095197 0.01119153
+v 0.00050596 -0.00529952 0.01107246
+v 0.02647883 -0.00103324 0.01125353
+v 0.00067121 -0.04382010 0.00615720
+v 0.01137969 -0.04382010 0.00537904
+v 0.00280172 -0.04382010 0.00594514
+v 0.02647883 -0.02844910 0.00994451
+v 0.02366443 -0.02996664 0.00987878
+v 0.00923647 -0.03282514 0.00993395
+v 0.00050596 -0.03580772 0.00982357
+v 0.00050596 -0.03731094 0.00970079
+v 0.02647883 -0.02655457 0.01009332
+v 0.02647883 -0.02442143 0.01024649
+v 0.02647883 -0.02236941 0.01039097
+v 0.02647883 -0.02015038 0.01053545
+v 0.02647883 -0.01802201 0.01066876
+v 0.00050596 -0.00545223 0.01106936
+v 0.00050596 -0.00758537 0.01102285
+v 0.02647883 -0.00743743 0.01110841
+v 0.00050596 -0.03478649 0.00988930
+v 0.02647883 -0.01597476 0.01078224
+v 0.00050596 -0.00957057 0.01097447
+v 0.02647883 -0.00957057 0.01105198
+v 0.00050596 -0.03467196 0.00989488
+v 0.02647883 -0.01588887 0.01078658
+v 0.00050596 -0.00971851 0.01097013
+v 0.00050596 -0.01170371 0.01091185
+v 0.00050596 -0.01383685 0.01083247
+v 0.02647883 -0.01170371 0.01097199
+v 0.00050596 -0.03320214 0.00996309
+v 0.00050596 -0.01597476 0.01073945
+v 0.02647883 -0.01375095 0.01088270
+v 0.00050596 -0.01398479 0.01082627
+f 1 2 6
+f 1 6 14
+f 1 14 26
+f 1 26 37
+f 1 37 53
+f 1 53 57
+f 1 57 63
+f 1 63 66
+f 1 66 59
+f 1 59 55
+f 1 55 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 41
+f 1 41 29
+f 1 29 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 16
+f 1 16 27
+f 1 27 38
+f 1 38 40
+f 1 40 39
+f 1 39 33
+f 1 33 23
+f 1 23 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 5 11 6
+f 6 12 13
+f 6 13 22
+f 6 22 21
+f 6 21 20
+f 6 20 25
+f 6 25 14
+f 6 11 15
+f 6 15 12
+f 7 10 19
+f 7 19 32
+f 7 32 45
+f 7 45 44
+f 7 44 54
+f 7 54 58
+f 7 58 64
+f 7 64 65
+f 7 65 67
+f 7 67 62
+f 7 62 61
+f 7 61 60
+f 7 60 56
+f 7 56 52
+f 7 52 51
+f 7 51 36
+f 7 36 35
+f 7 35 34
+f 7 34 25
+f 7 25 20
+f 7 20 24
+f 7 24 28
+f 7 28 16
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 12 15 23
+f 12 23 24
+f 12 24 20
+f 14 25 26
+f 16 28 27
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 23 33 24
+f 24 33 28
+f 25 34 26
+f 26 35 36
+f 26 36 37
+f 26 34 35
+f 27 28 38
+f 28 33 39
+f 28 39 40
+f 28 40 38
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 31 42 41
+f 31 41 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 43
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 43 54 44
+f 43 50 54
+f 50 55 54
+f 52 56 53
+f 53 56 57
+f 54 55 59
+f 54 59 58
+f 56 60 57
+f 57 60 61
+f 57 61 62
+f 57 62 63
+f 58 59 64
+f 59 65 64
+f 59 66 65
+f 62 67 63
+f 63 67 66
+f 65 66 67
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_20.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.05082507 -0.04323053 0.00471632
+v -0.05425169 -0.04323053 0.00576526
+v -0.05082507 -0.04323053 0.00469097
+v -0.05082507 -0.04157714 0.00470873
+v -0.05292852 -0.01055336 0.00576538
+v -0.05821356 -0.04323053 0.00576526
+v -0.05130671 -0.04323052 0.00234416
+v -0.05082507 -0.04322486 0.00234771
+v -0.05082507 -0.03944245 0.00469099
+v -0.05336345 0.00536904 0.00576544
+v -0.05082507 -0.03303838 0.00460888
+v -0.05082507 -0.02237060 0.00445277
+v -0.05082507 -0.02023591 0.00441932
+v -0.05082507 -0.01810122 0.00437673
+v -0.05822428 -0.04323053 0.00572470
+v -0.05850837 -0.03303838 0.00576530
+v -0.05296528 -0.04323052 0.00232693
+v -0.05082507 -0.00956244 0.00069762
+v -0.05082507 0.01460993 0.00278088
+v -0.05353498 0.00750373 0.00576545
+v -0.05082507 -0.01596653 0.00431134
+v -0.05082507 -0.01383750 0.00420945
+v -0.05826027 -0.04323053 0.00558325
+v -0.05856043 -0.03090935 0.00576531
+v -0.05846855 -0.04323053 0.00457741
+v -0.05510931 -0.04323052 0.00236292
+v -0.05510931 -0.00785242 0.00058609
+v -0.05469811 -0.00784676 0.00058609
+v -0.05282668 -0.00757497 0.00058609
+v -0.05082507 -0.00743341 0.00059775
+v -0.05082507 0.01461560 0.00277226
+v -0.05518282 0.01461559 0.00576547
+v -0.05864773 -0.03090935 0.00483957
+v -0.05863701 -0.03303838 0.00483956
+v -0.05855661 -0.02663998 0.00576532
+v -0.05846855 -0.04323052 0.00361111
+v -0.05559554 -0.04323052 0.00248561
+v -0.05655959 -0.02663997 0.00174852
+v -0.05634059 -0.02825372 0.00179466
+v -0.05520885 -0.00743341 0.00058609
+v -0.05680233 -0.02450528 0.00168516
+v -0.05725411 -0.01383748 0.00125579
+v -0.05212221 -0.00743341 0.00058609
+v -0.05109154 -0.00716728 0.00058609
+v -0.05082507 -0.00706536 0.00058609
+v -0.05082507 0.01461561 0.00058617
+v -0.05782917 0.01461559 0.00576547
+v -0.05847238 -0.01170280 0.00165479
+v -0.05853134 -0.03730775 0.00351328
+v -0.05835139 0.01461560 0.00392463
+v -0.05835675 0.01461560 0.00381360
+v -0.05839657 0.01461560 0.00287924
+v -0.05837207 0.01461560 0.00169544
+v -0.05851296 -0.03944244 0.00354623
+v -0.05852751 -0.02450529 0.00576533
+v -0.05725411 -0.04323052 0.00291654
+v -0.05845706 -0.01383749 0.00167810
+v -0.05833914 -0.01939221 0.00181041
+v -0.05673801 0.00109968 0.00058612
+v -0.05725411 -0.01170279 0.00116556
+v -0.05700754 -0.02237059 0.00162585
+v -0.05741032 -0.02015662 0.00161370
+v -0.05803208 0.01461561 0.00058617
+v -0.05800911 0.00547096 0.00576544
+v -0.05805199 0.00323435 0.00576543
+v -0.05799609 0.01403239 0.00058617
+v -0.05771814 0.00963844 0.00058616
+v -0.05748306 0.00750375 0.00058615
+v -0.05750067 0.00766229 0.00058615
+f 1 2 6
+f 1 6 15
+f 1 15 23
+f 1 23 25
+f 1 25 36
+f 1 36 56
+f 1 56 37
+f 1 37 26
+f 1 26 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 30
+f 1 30 45
+f 1 45 46
+f 1 46 31
+f 1 31 19
+f 1 19 22
+f 1 22 21
+f 1 21 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 32
+f 2 32 47
+f 2 47 64
+f 2 64 65
+f 2 65 55
+f 2 55 35
+f 2 35 24
+f 2 24 16
+f 2 16 6
+f 3 7 8
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 10
+f 6 16 15
+f 7 17 8
+f 8 17 18
+f 10 19 20
+f 10 14 21
+f 10 21 22
+f 10 22 19
+f 15 16 23
+f 16 24 25
+f 16 25 23
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 19 31 32
+f 19 32 20
+f 24 33 34
+f 24 34 25
+f 24 35 33
+f 25 34 36
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 40 59
+f 27 59 68
+f 27 68 69
+f 27 69 67
+f 27 67 66
+f 27 66 63
+f 27 63 46
+f 27 46 45
+f 27 45 44
+f 27 44 43
+f 27 43 29
+f 27 29 28
+f 27 39 38
+f 27 38 41
+f 27 41 42
+f 27 42 40
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 31 46 63
+f 31 63 53
+f 31 53 52
+f 31 52 51
+f 31 51 50
+f 31 50 47
+f 31 47 32
+f 33 48 49
+f 33 49 34
+f 33 35 50
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 48
+f 34 49 54
+f 34 54 36
+f 35 55 50
+f 36 54 57
+f 36 57 58
+f 36 58 56
+f 37 56 38
+f 38 56 41
+f 40 42 60
+f 40 60 59
+f 41 56 58
+f 41 58 61
+f 41 61 42
+f 42 61 62
+f 42 62 58
+f 42 58 60
+f 47 50 64
+f 48 57 49
+f 48 53 63
+f 48 63 57
+f 49 57 54
+f 50 65 64
+f 50 55 65
+f 57 63 66
+f 57 66 67
+f 57 67 58
+f 58 67 60
+f 58 62 61
+f 59 60 68
+f 60 67 69
+f 60 69 68
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_21.obj

@@ -0,0 +1,1105 @@
+# https://github.com/mikedh/trimesh
+v 0.05995084 -0.00956985 -0.00985889
+v 0.05994776 -0.01170499 -0.00986609
+v 0.05995084 -0.00956985 -0.01095333
+v 0.05994160 -0.00743470 -0.00986208
+v 0.05875927 -0.01384015 -0.00710599
+v 0.05876851 -0.01597025 -0.00710600
+v 0.05877775 -0.02003360 -0.00710601
+v 0.05878082 -0.02216875 -0.00710602
+v 0.05994468 -0.01384014 -0.00987410
+v 0.05947667 -0.00956985 -0.01195897
+v 0.05994160 -0.00743470 -0.01094292
+v 0.05994776 -0.01170499 -0.01095333
+v 0.05948899 -0.01384014 -0.01195658
+v 0.05948283 -0.01170499 -0.01195817
+v 0.05992005 -0.00529955 -0.00987967
+v 0.05872540 -0.01170500 -0.00710598
+v 0.05992929 -0.02024054 -0.00990372
+v 0.05993852 -0.01810539 -0.00989172
+v 0.05994160 -0.01597024 -0.00988211
+v 0.05875927 -0.02430389 -0.00710603
+v 0.05994468 -0.01384014 -0.01095094
+v 0.05946744 -0.00743470 -0.01194776
+v 0.05776168 -0.03944172 -0.01446077
+v 0.05776476 -0.03517647 -0.01443116
+v 0.05944589 -0.00529955 -0.01191655
+v 0.05992005 -0.00529955 -0.01091091
+v 0.05949207 -0.01597024 -0.01194219
+v 0.05774936 -0.04157687 -0.01447198
+v 0.05989542 -0.00316945 -0.00990446
+v 0.05863611 -0.00956986 -0.00710598
+v 0.05986771 -0.00103430 -0.00993085
+v 0.05983999 0.00110085 -0.00995806
+v 0.05980921 0.00323600 -0.00998285
+v 0.05873156 -0.02644914 -0.00710604
+v 0.05990773 -0.02237064 -0.00992213
+v 0.05992929 -0.02024054 -0.01088136
+v 0.05993852 -0.01810539 -0.01091416
+v 0.05994160 -0.01597024 -0.01093735
+v 0.05773705 -0.03304132 -0.01441115
+v 0.05641924 -0.03944172 -0.01475518
+v 0.05641924 -0.03517647 -0.01473037
+v 0.05641924 -0.03304132 -0.01470716
+v 0.05837440 -0.00529954 -0.01292619
+v 0.05941510 -0.00316945 -0.01187014
+v 0.05989542 -0.00316945 -0.01086530
+v 0.05948283 -0.01810539 -0.01191900
+v 0.05771241 -0.04371202 -0.01444959
+v 0.05641924 -0.04157687 -0.01475919
+v 0.05946436 -0.02024054 -0.01188620
+v 0.05976302 0.00492695 -0.01003804
+v 0.05755847 0.00492694 -0.00710592
+v 0.05983999 0.00110085 -0.01073809
+v 0.05980921 0.00323600 -0.01068047
+v 0.05988002 -0.02450579 -0.00994614
+v 0.05868230 -0.02877105 -0.00710605
+v 0.05982152 -0.02877104 -0.01000937
+v 0.05984923 -0.02664094 -0.00997176
+v 0.05990773 -0.02237064 -0.01080537
+v 0.05755847 -0.02664093 -0.01430233
+v 0.05427318 -0.03304132 -0.01492477
+v 0.05427318 -0.03090618 -0.01490716
+v 0.05427318 -0.02877103 -0.01487756
+v 0.05427318 -0.02664093 -0.01483915
+v 0.05641924 -0.03090618 -0.01465515
+v 0.05834053 -0.00316944 -0.01286938
+v 0.05986771 -0.00103430 -0.01080529
+v 0.05936891 -0.00103430 -0.01181013
+v 0.05766007 -0.04584717 -0.01439920
+v 0.05641924 -0.04371202 -0.01470960
+v 0.05982152 -0.02877104 -0.01059099
+v 0.05427318 -0.04157687 -0.01488160
+v 0.05427318 -0.03944172 -0.01490319
+v 0.05427318 -0.03731162 -0.01491919
+v 0.05427318 -0.03517647 -0.01492718
+v 0.05976302 0.00492695 -0.01058526
+v 0.04160314 0.00492694 -0.00710592
+v 0.05926423 0.00323600 -0.01168531
+v 0.05933504 0.00492695 -0.01138289
+v 0.05988002 -0.02450579 -0.01072058
+v 0.05852527 -0.03517649 -0.00710607
+v 0.05965218 -0.03668068 -0.01022460
+v 0.05750920 -0.02536388 -0.01427832
+v 0.05213021 -0.03304131 -0.01501357
+v 0.05213021 -0.03090617 -0.01500556
+v 0.05213021 -0.02877102 -0.01499676
+v 0.05213021 -0.02664092 -0.01498395
+v 0.05213021 -0.02450578 -0.01495514
+v 0.05213021 -0.02237063 -0.01491033
+v 0.05213021 -0.02024053 -0.01485672
+v 0.05213021 -0.01170498 -0.01463908
+v 0.05427318 -0.01170498 -0.01443907
+v 0.05536930 -0.01049860 -0.01427507
+v 0.05641924 -0.02877103 -0.01459675
+v 0.05829434 -0.00103429 -0.01280777
+v 0.05763852 -0.04663460 -0.01438080
+v 0.05427318 -0.04371202 -0.01482081
+v 0.05685338 -0.04663460 -0.01451761
+v 0.05641924 -0.04584717 -0.01461601
+v 0.05965218 -0.03668068 -0.01028540
+v 0.05213021 -0.04157687 -0.01492080
+v 0.05213021 -0.03944172 -0.01495679
+v 0.05213021 -0.03731161 -0.01498399
+v 0.05213021 -0.03517646 -0.01500558
+v 0.03497407 0.00492694 -0.00768195
+v 0.03282801 -0.01170500 -0.00766520
+v 0.03508800 -0.04381804 -0.00710610
+v 0.05819274 0.00323601 -0.01267735
+v 0.05814963 0.00492696 -0.01262534
+v 0.05922112 0.00492695 -0.01159090
+v 0.05845445 -0.03717536 -0.00710608
+v 0.05844829 -0.03729650 -0.00710608
+v 0.05858685 -0.04663462 -0.00924140
+v 0.05641924 -0.02664093 -0.01453754
+v 0.05641924 -0.00743469 -0.01392064
+v 0.05641924 -0.00529954 -0.01383183
+v 0.05824200 0.00110086 -0.01274377
+v 0.04784117 -0.02664092 -0.01512796
+v 0.04784117 -0.02450577 -0.01513515
+v 0.04784117 -0.02237062 -0.01512874
+v 0.04998415 -0.02450577 -0.01506155
+v 0.04998415 -0.02237062 -0.01504154
+v 0.04998415 -0.02024052 -0.01500472
+v 0.04998415 -0.01170498 -0.01476709
+v 0.05213021 -0.00956984 -0.01456628
+v 0.05438094 -0.00970107 -0.01436547
+v 0.04998415 -0.01810538 -0.01494952
+v 0.04998415 -0.01597023 -0.01489031
+v 0.04998415 -0.01384013 -0.01483030
+v 0.05516609 -0.00907517 -0.01424786
+v 0.05856529 -0.04663461 -0.01125268
+v 0.05213021 -0.04371202 -0.01484241
+v 0.05427318 -0.04584717 -0.01471521
+v 0.05641924 -0.04663460 -0.01457681
+v 0.04998415 -0.04157687 -0.01491520
+v 0.04998415 -0.03944172 -0.01496319
+v 0.04998415 -0.03731161 -0.01499999
+v 0.04998415 -0.03517646 -0.01503119
+v 0.04998415 -0.03304131 -0.01505278
+v 0.04569511 -0.02450577 -0.01517755
+v 0.03462614 0.00492694 -0.00774435
+v 0.03282801 -0.00956986 -0.00770121
+v 0.03146710 -0.01170500 -0.00800922
+v 0.03144247 -0.01384015 -0.00799803
+v 0.03133163 -0.02237065 -0.00796846
+v 0.03282801 -0.02237065 -0.00760844
+v 0.03134086 -0.02450580 -0.00797967
+v 0.03157487 -0.03944174 -0.00808452
+v 0.03523887 -0.04513547 -0.00710611
+v 0.05641924 -0.00316944 -0.01371581
+v 0.05641924 -0.00103429 -0.01358540
+v 0.05641924 0.00110086 -0.01345179
+v 0.05641924 0.00323601 -0.01331658
+v 0.05641924 0.00492696 -0.01320616
+v 0.05828511 -0.03944174 -0.00710608
+v 0.05755231 -0.04663462 -0.00710611
+v 0.05486435 -0.00743469 -0.01421585
+v 0.04569511 -0.02237062 -0.01517994
+v 0.04569511 -0.02024052 -0.01515913
+v 0.04784117 -0.02024052 -0.01510393
+v 0.04784117 -0.01810537 -0.01505513
+v 0.04784117 -0.01170498 -0.01486469
+v 0.04998415 -0.00956984 -0.01468708
+v 0.04784117 -0.01597022 -0.01499271
+v 0.05213021 -0.00743469 -0.01446866
+v 0.05345417 -0.00595068 -0.01429665
+v 0.05378978 -0.00743469 -0.01433666
+v 0.04998415 -0.04371202 -0.01482401
+v 0.05213021 -0.04584717 -0.01471681
+v 0.05506448 -0.04663460 -0.01463921
+v 0.05427318 -0.04663460 -0.01466881
+v 0.04784117 -0.04157687 -0.01489440
+v 0.03497407 -0.03090617 -0.01506077
+v 0.03497407 -0.02877102 -0.01511437
+v 0.03282801 -0.02450577 -0.01520155
+v 0.03497407 -0.02450577 -0.01521515
+v 0.03497407 -0.02237062 -0.01526074
+v 0.03712013 -0.02237062 -0.01526074
+v 0.03926310 -0.02237062 -0.01525034
+v 0.04355214 -0.02450577 -0.01519835
+v 0.04569511 -0.02664092 -0.01515916
+v 0.04355214 -0.02237062 -0.01521354
+v 0.03338531 0.00492694 -0.00798116
+v 0.03151637 -0.00956986 -0.00803882
+v 0.02849587 0.00492695 -0.01071247
+v 0.02849587 -0.04663461 -0.01056305
+v 0.03165800 -0.04099641 -0.00814933
+v 0.03712013 -0.04577652 -0.00710611
+v 0.05427318 -0.00316944 -0.01404783
+v 0.05427318 0.00110086 -0.01377581
+v 0.05427318 0.00492696 -0.01351418
+v 0.05427318 0.00323601 -0.01363419
+v 0.04523635 -0.04663462 -0.00710611
+v 0.05421160 -0.00526421 -0.01417824
+v 0.04355214 -0.02024052 -0.01520233
+v 0.04355214 -0.01810537 -0.01517033
+v 0.04569511 -0.01810537 -0.01511833
+v 0.04569511 -0.01597022 -0.01506232
+v 0.04569511 -0.01170498 -0.01493909
+v 0.04784117 -0.00956984 -0.01478389
+v 0.04998415 -0.00743469 -0.01458707
+v 0.05213021 -0.00526421 -0.01433985
+v 0.05284453 -0.00452725 -0.01425104
+v 0.04784117 -0.04371202 -0.01479921
+v 0.04355214 -0.04584717 -0.01460401
+v 0.05291843 -0.04663460 -0.01466961
+v 0.05213021 -0.04663460 -0.01466241
+v 0.04569511 -0.04157687 -0.01486800
+v 0.03068504 -0.03304132 -0.01495037
+v 0.03068504 -0.03090617 -0.01501597
+v 0.03282801 -0.03090617 -0.01503917
+v 0.03068504 -0.02877102 -0.01507437
+v 0.03282801 -0.02877102 -0.01509517
+v 0.03282801 -0.02664092 -0.01514876
+v 0.03068504 -0.02664092 -0.01512796
+v 0.03068504 -0.02450577 -0.01517915
+v 0.03282801 -0.02237062 -0.01524874
+v 0.03282801 -0.02024052 -0.01526713
+v 0.03497407 -0.02024052 -0.01527834
+v 0.03712013 -0.02024052 -0.01527354
+v 0.04140916 -0.02237062 -0.01523354
+v 0.03926310 -0.02024052 -0.01525593
+v 0.04140916 -0.02024052 -0.01523273
+v 0.03173189 -0.00360860 -0.00821000
+v 0.02849587 0.00492696 -0.01433261
+v 0.02849587 -0.04663460 -0.01427600
+v 0.04154156 -0.04635700 -0.00710611
+v 0.04140916 -0.04634690 -0.00710611
+v 0.03939550 -0.04615004 -0.00710611
+v 0.03723713 -0.04579671 -0.00710611
+v 0.05213021 0.00110086 -0.01393341
+v 0.05213021 0.00323601 -0.01379020
+v 0.05213021 0.00492696 -0.01366218
+v 0.04140916 -0.01810537 -0.01520713
+v 0.04140916 -0.01597022 -0.01516552
+v 0.04355214 -0.01597022 -0.01512152
+v 0.04355214 -0.01384012 -0.01506551
+v 0.04355214 -0.01170497 -0.01500629
+v 0.04355214 -0.00956984 -0.01492629
+v 0.04569511 -0.00956984 -0.01485829
+v 0.04784117 -0.00743469 -0.01467827
+v 0.04784117 -0.00529954 -0.01455186
+v 0.04998415 -0.00529954 -0.01445745
+v 0.04569511 -0.04371202 -0.01477040
+v 0.05077545 -0.04663460 -0.01464401
+v 0.04355214 -0.04663460 -0.01454241
+v 0.04140916 -0.04584717 -0.01457121
+v 0.04355214 -0.04371202 -0.01474080
+v 0.04355214 -0.04157687 -0.01483680
+v 0.02849587 -0.03517647 -0.01484958
+v 0.02849587 -0.03300095 -0.01492397
+v 0.02849587 -0.03090617 -0.01498956
+v 0.02849587 -0.02873064 -0.01505037
+v 0.02853898 -0.02664092 -0.01510316
+v 0.02853898 -0.02450577 -0.01515035
+v 0.03068504 -0.02237062 -0.01522314
+v 0.03068504 -0.02024052 -0.01524313
+v 0.03068504 -0.01810537 -0.01524233
+v 0.03282801 -0.01810537 -0.01526153
+v 0.03497407 -0.01810537 -0.01526634
+v 0.03712013 -0.01810537 -0.01525913
+v 0.03926310 -0.01810537 -0.01523753
+v 0.02851435 0.00492696 -0.01433261
+v 0.02849587 0.00323601 -0.01447902
+v 0.02921636 -0.04663460 -0.01429120
+v 0.02849587 -0.04622069 -0.01431200
+v 0.04998415 0.00323601 -0.01387900
+v 0.04998415 0.00110086 -0.01402702
+v 0.04998415 0.00492696 -0.01374538
+v 0.03712013 -0.01597022 -0.01523192
+v 0.03926310 -0.01597022 -0.01520152
+v 0.03712013 -0.01170497 -0.01513990
+v 0.03926310 -0.01170497 -0.01510150
+v 0.04140916 -0.01384012 -0.01511431
+v 0.04140916 -0.01170497 -0.01505990
+v 0.04140916 -0.00956983 -0.01498629
+v 0.04140916 -0.00743469 -0.01488468
+v 0.04355214 -0.00743469 -0.01482148
+v 0.04569511 -0.00743469 -0.01475187
+v 0.04569511 -0.00529954 -0.01462866
+v 0.04140916 -0.04663460 -0.01450961
+v 0.03926310 -0.04584717 -0.01453281
+v 0.02849587 -0.04371202 -0.01447839
+v 0.04140916 -0.04371202 -0.01470480
+v 0.02849587 -0.04153649 -0.01459119
+v 0.04140916 -0.04157687 -0.01480160
+v 0.02853898 -0.03944172 -0.01468558
+v 0.02853898 -0.03731162 -0.01477038
+v 0.02849587 -0.03731162 -0.01476959
+v 0.02849587 -0.02664092 -0.01510236
+v 0.02849587 -0.02450577 -0.01514955
+v 0.02853898 -0.02237062 -0.01519194
+v 0.02853898 -0.02024052 -0.01521193
+v 0.02853898 -0.01810537 -0.01521273
+v 0.02853898 -0.01597022 -0.01520952
+v 0.03068504 -0.01597022 -0.01523512
+v 0.03282801 -0.01597022 -0.01524792
+v 0.03497407 -0.01597022 -0.01524552
+v 0.03068504 0.00492696 -0.01428301
+v 0.02853898 0.00491687 -0.01433341
+v 0.02853898 0.00323601 -0.01447822
+v 0.02849587 0.00110086 -0.01463424
+v 0.02849587 -0.04596326 -0.01433120
+v 0.04569511 -0.00316944 -0.01447984
+v 0.04355214 -0.00316944 -0.01455345
+v 0.04140916 -0.00103429 -0.01446463
+v 0.03926310 -0.00103429 -0.01452864
+v 0.03289267 0.00339248 -0.01435742
+v 0.03222145 0.00446763 -0.01428461
+v 0.03261556 0.00492696 -0.01423020
+v 0.03497407 -0.01384012 -0.01521271
+v 0.03712013 -0.01384012 -0.01518871
+v 0.03497407 -0.01170497 -0.01516790
+v 0.03497407 -0.00956983 -0.01510630
+v 0.03712013 -0.00956983 -0.01507510
+v 0.03926310 -0.00956983 -0.01503430
+v 0.03926310 -0.00743469 -0.01493988
+v 0.03926310 -0.00529954 -0.01482147
+v 0.04140916 -0.00529954 -0.01476227
+v 0.04355214 -0.00529954 -0.01469826
+v 0.02849587 -0.03944172 -0.01468478
+v 0.02849587 -0.02237062 -0.01519114
+v 0.02849587 -0.02024052 -0.01521033
+v 0.02849587 -0.01810537 -0.01521113
+v 0.02849587 -0.01806499 -0.01521113
+v 0.02849587 -0.01592984 -0.01520792
+v 0.02849587 -0.01384012 -0.01519671
+v 0.02853898 -0.01384012 -0.01519751
+v 0.03068504 -0.01384012 -0.01521671
+v 0.03282801 -0.01384012 -0.01522151
+v 0.03068504 0.00467963 -0.01430701
+v 0.03068504 0.00323601 -0.01443182
+v 0.03068504 0.00110086 -0.01459264
+v 0.02853898 0.00110086 -0.01463344
+v 0.03068504 -0.00103429 -0.01473424
+v 0.02853898 -0.00103429 -0.01477024
+v 0.02849587 -0.00098886 -0.01476785
+v 0.04140916 -0.00316944 -0.01461985
+v 0.03926310 -0.00316944 -0.01468065
+v 0.03712013 -0.00103429 -0.01458464
+v 0.03282801 0.00110086 -0.01454144
+v 0.03282801 -0.01170497 -0.01518550
+v 0.03282801 -0.00956983 -0.01512950
+v 0.03282801 -0.00743468 -0.01505349
+v 0.03497407 -0.00743468 -0.01502629
+v 0.03712013 -0.00743468 -0.01498708
+v 0.03712013 -0.00529954 -0.01487427
+v 0.03712013 -0.00316944 -0.01473585
+v 0.02849587 -0.01170497 -0.01517590
+v 0.03068504 -0.01170497 -0.01518870
+v 0.03497407 -0.00103429 -0.01463904
+v 0.03497407 -0.00316944 -0.01478466
+v 0.03282801 -0.00316944 -0.01482866
+v 0.03068504 -0.00316944 -0.01486546
+v 0.02853898 -0.00316944 -0.01488786
+v 0.02849587 -0.00312401 -0.01488546
+v 0.03068504 -0.00956983 -0.01513910
+v 0.03068504 -0.00743468 -0.01506709
+v 0.03068504 -0.00529953 -0.01497827
+v 0.03282801 -0.00529954 -0.01495587
+v 0.03497407 -0.00529954 -0.01491907
+v 0.02849587 -0.01165955 -0.01517510
+v 0.02853898 -0.00956983 -0.01513430
+v 0.02853898 -0.00529953 -0.01498947
+v 0.02849587 -0.00316944 -0.01488786
+v 0.02853898 -0.00743468 -0.01507029
+v 0.02849587 -0.00952944 -0.01513270
+v 0.02849587 -0.00529953 -0.01498867
+v 0.02849587 -0.00525915 -0.01498707
+v 0.02849587 -0.00739430 -0.01506869
+f 1 2 9
+f 1 9 21
+f 1 21 12
+f 1 12 3
+f 1 3 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 3 12 13
+f 3 13 14
+f 3 14 10
+f 4 11 26
+f 4 26 15
+f 4 15 5
+f 5 15 16
+f 5 16 30
+f 5 30 51
+f 5 51 76
+f 5 76 106
+f 5 106 148
+f 5 148 187
+f 5 187 229
+f 5 229 228
+f 5 228 227
+f 5 227 226
+f 5 226 192
+f 5 192 155
+f 5 155 154
+f 5 154 111
+f 5 111 110
+f 5 110 80
+f 5 80 55
+f 5 55 34
+f 5 34 20
+f 5 20 8
+f 5 8 7
+f 5 7 6
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 8 20 17
+f 9 19 18
+f 9 18 37
+f 9 37 21
+f 10 22 11
+f 10 14 23
+f 10 23 24
+f 10 24 22
+f 11 22 25
+f 11 25 26
+f 12 21 27
+f 12 27 13
+f 13 27 28
+f 13 28 23
+f 13 23 14
+f 15 26 45
+f 15 45 29
+f 15 29 16
+f 16 29 31
+f 16 31 32
+f 16 32 33
+f 16 33 30
+f 17 20 34
+f 17 34 35
+f 17 35 58
+f 17 58 36
+f 17 36 37
+f 17 37 18
+f 21 37 38
+f 21 38 27
+f 22 24 39
+f 22 39 25
+f 23 28 40
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 24 42 39
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 25 39 43
+f 27 38 37
+f 27 37 46
+f 27 46 28
+f 28 47 48
+f 28 48 40
+f 28 46 49
+f 28 49 47
+f 29 45 66
+f 29 66 52
+f 29 52 32
+f 29 32 31
+f 30 33 50
+f 30 50 51
+f 32 52 53
+f 32 53 33
+f 33 53 75
+f 33 75 50
+f 34 54 35
+f 34 55 56
+f 34 56 57
+f 34 57 54
+f 35 54 79
+f 35 79 58
+f 36 49 46
+f 36 46 37
+f 36 58 47
+f 36 47 49
+f 39 42 59
+f 39 59 43
+f 40 48 60
+f 40 60 41
+f 41 60 61
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 59
+f 43 65 44
+f 43 59 65
+f 44 66 45
+f 44 65 67
+f 44 67 53
+f 44 53 66
+f 47 68 69
+f 47 69 48
+f 47 58 70
+f 47 70 68
+f 48 69 71
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 60
+f 50 75 78
+f 50 78 109
+f 50 109 108
+f 50 108 153
+f 50 153 190
+f 50 190 232
+f 50 232 268
+f 50 268 309
+f 50 309 298
+f 50 298 262
+f 50 262 224
+f 50 224 184
+f 50 184 182
+f 50 182 140
+f 50 140 104
+f 50 104 76
+f 50 76 51
+f 52 66 53
+f 53 77 78
+f 53 78 75
+f 53 67 77
+f 54 57 56
+f 54 56 70
+f 54 70 79
+f 55 80 56
+f 56 80 81
+f 56 81 99
+f 56 99 70
+f 58 79 70
+f 59 64 82
+f 59 82 65
+f 60 74 83
+f 60 83 84
+f 60 84 85
+f 60 85 86
+f 60 86 61
+f 61 86 87
+f 61 87 62
+f 62 87 63
+f 63 87 88
+f 63 88 89
+f 63 89 90
+f 63 90 91
+f 63 91 92
+f 63 92 64
+f 64 92 93
+f 64 93 82
+f 65 94 67
+f 65 82 94
+f 67 94 77
+f 68 95 69
+f 68 70 95
+f 69 96 71
+f 69 95 97
+f 69 97 98
+f 69 98 96
+f 70 99 95
+f 71 96 100
+f 71 100 101
+f 71 101 102
+f 71 102 103
+f 71 103 72
+f 72 103 73
+f 73 103 83
+f 73 83 74
+f 76 104 105
+f 76 105 106
+f 77 107 108
+f 77 108 109
+f 77 109 78
+f 77 94 107
+f 80 110 81
+f 81 110 111
+f 81 111 112
+f 81 112 99
+f 82 93 113
+f 82 113 92
+f 82 92 114
+f 82 114 115
+f 82 115 108
+f 82 108 107
+f 82 107 116
+f 82 116 94
+f 83 103 117
+f 83 117 118
+f 83 118 119
+f 83 119 120
+f 83 120 84
+f 84 120 85
+f 85 120 86
+f 86 120 121
+f 86 121 87
+f 87 121 122
+f 87 122 88
+f 88 122 89
+f 89 122 90
+f 90 123 124
+f 90 124 125
+f 90 125 91
+f 90 122 126
+f 90 126 127
+f 90 127 128
+f 90 128 123
+f 91 125 92
+f 92 125 129
+f 92 129 115
+f 92 115 114
+f 92 113 93
+f 94 116 107
+f 95 130 112
+f 95 112 155
+f 95 155 192
+f 95 192 185
+f 95 185 225
+f 95 225 264
+f 95 264 280
+f 95 280 245
+f 95 245 244
+f 95 244 206
+f 95 206 205
+f 95 205 170
+f 95 170 169
+f 95 169 133
+f 95 133 97
+f 95 99 130
+f 96 131 100
+f 96 98 132
+f 96 132 131
+f 97 133 98
+f 98 133 132
+f 99 112 130
+f 100 131 134
+f 100 134 135
+f 100 135 136
+f 100 136 101
+f 101 136 137
+f 101 137 102
+f 102 137 138
+f 102 138 103
+f 103 138 139
+f 103 139 117
+f 104 140 141
+f 104 141 105
+f 105 141 142
+f 105 142 143
+f 105 143 144
+f 105 144 145
+f 105 145 106
+f 106 145 144
+f 106 144 146
+f 106 146 147
+f 106 147 148
+f 108 115 149
+f 108 149 150
+f 108 150 151
+f 108 151 152
+f 108 152 153
+f 111 154 112
+f 112 154 155
+f 115 129 156
+f 115 156 149
+f 117 139 118
+f 118 139 157
+f 118 157 119
+f 119 157 158
+f 119 158 159
+f 119 159 121
+f 119 121 120
+f 121 159 122
+f 122 159 160
+f 122 160 126
+f 123 161 162
+f 123 162 124
+f 123 128 163
+f 123 163 161
+f 124 162 164
+f 124 164 165
+f 124 165 166
+f 124 166 125
+f 125 166 156
+f 125 156 129
+f 126 160 127
+f 127 160 128
+f 128 160 163
+f 131 167 134
+f 131 132 168
+f 131 168 167
+f 132 133 169
+f 132 169 170
+f 132 170 168
+f 134 167 171
+f 134 171 172
+f 134 172 173
+f 134 173 174
+f 134 174 175
+f 134 175 135
+f 135 175 176
+f 135 176 177
+f 135 177 136
+f 136 177 137
+f 137 177 178
+f 137 178 179
+f 137 179 180
+f 137 180 138
+f 138 180 139
+f 139 180 179
+f 139 179 181
+f 139 181 157
+f 140 182 141
+f 141 183 142
+f 141 182 183
+f 142 183 184
+f 142 184 143
+f 143 184 144
+f 144 185 146
+f 144 184 185
+f 146 185 147
+f 147 185 186
+f 147 186 148
+f 148 186 185
+f 148 185 187
+f 149 188 150
+f 149 156 188
+f 150 188 151
+f 151 188 152
+f 152 188 189
+f 152 189 153
+f 153 189 191
+f 153 191 190
+f 156 166 193
+f 156 193 188
+f 157 181 194
+f 157 194 158
+f 158 194 195
+f 158 195 196
+f 158 196 159
+f 159 196 160
+f 160 196 197
+f 160 197 198
+f 160 198 163
+f 161 198 239
+f 161 239 199
+f 161 199 162
+f 161 163 198
+f 162 199 200
+f 162 200 164
+f 164 200 201
+f 164 201 202
+f 164 202 165
+f 165 202 189
+f 165 189 188
+f 165 188 193
+f 165 193 166
+f 167 203 171
+f 167 168 203
+f 168 204 203
+f 168 170 205
+f 168 205 206
+f 168 206 204
+f 171 203 207
+f 171 207 208
+f 171 208 209
+f 171 209 210
+f 171 210 172
+f 172 210 211
+f 172 211 212
+f 172 212 213
+f 172 213 173
+f 173 213 174
+f 174 213 214
+f 174 214 215
+f 174 215 216
+f 174 216 175
+f 175 216 176
+f 176 216 217
+f 176 217 218
+f 176 218 177
+f 177 218 219
+f 177 219 178
+f 178 219 220
+f 178 220 179
+f 179 220 181
+f 181 220 221
+f 181 221 222
+f 181 222 194
+f 182 184 223
+f 182 223 183
+f 183 223 184
+f 184 224 263
+f 184 263 301
+f 184 301 336
+f 184 336 355
+f 184 355 364
+f 184 364 368
+f 184 368 367
+f 184 367 369
+f 184 369 366
+f 184 366 361
+f 184 361 348
+f 184 348 326
+f 184 326 325
+f 184 325 324
+f 184 324 323
+f 184 323 322
+f 184 322 321
+f 184 321 290
+f 184 290 289
+f 184 289 252
+f 184 252 251
+f 184 251 250
+f 184 250 249
+f 184 249 288
+f 184 288 320
+f 184 320 284
+f 184 284 282
+f 184 282 302
+f 184 302 265
+f 184 265 225
+f 184 225 185
+f 185 192 226
+f 185 226 227
+f 185 227 228
+f 185 228 229
+f 185 229 187
+f 189 202 230
+f 189 230 191
+f 190 191 231
+f 190 231 232
+f 191 230 231
+f 194 222 233
+f 194 233 195
+f 195 233 234
+f 195 234 235
+f 195 235 196
+f 196 235 197
+f 197 235 236
+f 197 236 237
+f 197 237 198
+f 198 237 238
+f 198 238 239
+f 199 239 240
+f 199 240 200
+f 200 240 241
+f 200 241 242
+f 200 242 201
+f 201 242 230
+f 201 230 202
+f 203 243 207
+f 203 204 243
+f 204 206 244
+f 204 244 245
+f 204 245 280
+f 204 280 246
+f 204 246 247
+f 204 247 243
+f 207 243 247
+f 207 247 248
+f 207 248 249
+f 207 249 250
+f 207 250 208
+f 208 250 251
+f 208 251 209
+f 209 251 252
+f 209 252 211
+f 209 211 210
+f 211 252 214
+f 211 214 213
+f 211 213 212
+f 214 252 253
+f 214 253 215
+f 215 253 254
+f 215 254 255
+f 215 255 216
+f 216 255 256
+f 216 256 217
+f 217 256 257
+f 217 257 258
+f 217 258 218
+f 218 258 259
+f 218 259 219
+f 219 259 260
+f 219 260 221
+f 219 221 220
+f 221 260 261
+f 221 261 222
+f 222 261 233
+f 224 262 263
+f 225 265 264
+f 230 242 231
+f 231 266 232
+f 231 242 241
+f 231 241 267
+f 231 267 266
+f 232 266 268
+f 233 261 269
+f 233 269 270
+f 233 270 234
+f 234 270 271
+f 234 271 272
+f 234 272 273
+f 234 273 235
+f 235 273 274
+f 235 274 236
+f 236 274 237
+f 237 274 275
+f 237 275 238
+f 238 275 276
+f 238 276 277
+f 238 277 239
+f 239 277 278
+f 239 278 240
+f 240 278 279
+f 240 279 241
+f 241 279 266
+f 241 266 267
+f 246 281 282
+f 246 282 283
+f 246 283 247
+f 246 280 265
+f 246 265 281
+f 247 283 284
+f 247 284 285
+f 247 285 248
+f 248 285 286
+f 248 286 287
+f 248 287 249
+f 249 287 288
+f 252 289 253
+f 253 289 290
+f 253 290 254
+f 254 290 321
+f 254 321 291
+f 254 291 255
+f 255 291 292
+f 255 292 256
+f 256 292 293
+f 256 293 257
+f 257 293 294
+f 257 294 295
+f 257 295 258
+f 258 295 296
+f 258 296 259
+f 259 296 297
+f 259 297 260
+f 260 297 269
+f 260 269 261
+f 262 298 299
+f 262 299 263
+f 263 299 300
+f 263 300 333
+f 263 333 301
+f 264 265 280
+f 265 302 281
+f 266 279 303
+f 266 303 304
+f 266 304 305
+f 266 305 306
+f 266 306 268
+f 268 307 308
+f 268 308 309
+f 268 306 307
+f 269 297 310
+f 269 310 311
+f 269 311 270
+f 270 311 271
+f 271 311 312
+f 271 312 313
+f 271 313 314
+f 271 314 272
+f 272 314 315
+f 272 315 274
+f 272 274 273
+f 274 315 275
+f 275 315 316
+f 275 316 276
+f 276 316 317
+f 276 317 318
+f 276 318 277
+f 277 318 319
+f 277 319 279
+f 277 279 278
+f 279 319 304
+f 279 304 303
+f 281 302 282
+f 282 284 283
+f 284 320 286
+f 284 286 285
+f 286 320 288
+f 286 288 287
+f 291 321 292
+f 292 321 322
+f 292 322 323
+f 292 323 293
+f 293 323 324
+f 293 324 325
+f 293 325 294
+f 294 325 326
+f 294 326 327
+f 294 327 295
+f 295 327 328
+f 295 328 296
+f 296 328 329
+f 296 329 297
+f 297 329 310
+f 298 309 330
+f 298 330 299
+f 299 330 331
+f 299 331 300
+f 300 331 332
+f 300 332 333
+f 301 333 334
+f 301 334 335
+f 301 335 336
+f 304 319 337
+f 304 337 305
+f 305 337 306
+f 306 337 338
+f 306 338 339
+f 306 339 340
+f 306 340 307
+f 307 340 331
+f 307 331 308
+f 308 331 330
+f 308 330 309
+f 310 329 341
+f 310 341 312
+f 310 312 311
+f 312 341 342
+f 312 342 313
+f 313 342 343
+f 313 343 344
+f 313 344 314
+f 314 344 345
+f 314 345 315
+f 315 345 316
+f 316 345 346
+f 316 346 317
+f 317 346 347
+f 317 347 338
+f 317 338 318
+f 318 338 337
+f 318 337 319
+f 326 348 327
+f 327 348 328
+f 328 348 349
+f 328 349 329
+f 329 349 341
+f 331 340 332
+f 332 340 350
+f 332 350 347
+f 332 347 351
+f 332 351 334
+f 332 334 333
+f 334 351 352
+f 334 352 353
+f 334 353 335
+f 335 353 354
+f 335 354 355
+f 335 355 336
+f 338 347 339
+f 339 347 350
+f 339 350 340
+f 341 349 356
+f 341 356 342
+f 342 356 357
+f 342 357 343
+f 343 357 358
+f 343 358 359
+f 343 359 344
+f 344 359 360
+f 344 360 345
+f 345 360 346
+f 346 360 351
+f 346 351 347
+f 348 361 349
+f 349 361 362
+f 349 362 356
+f 351 360 352
+f 352 360 353
+f 353 360 359
+f 353 359 358
+f 353 358 354
+f 354 358 363
+f 354 363 364
+f 354 364 355
+f 356 362 365
+f 356 365 357
+f 357 365 363
+f 357 363 358
+f 361 366 362
+f 362 366 369
+f 362 369 365
+f 363 367 368
+f 363 368 364
+f 363 365 369
+f 363 369 367
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_22.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.05140342 0.05802439 0.00768987
+v 0.05140342 0.05122486 0.01013665
+v 0.05140342 0.05802706 0.00769361
+v 0.05140618 0.05802706 0.00768613
+v 0.05519389 0.05802709 0.00063601
+v 0.05412613 0.05122490 0.00063599
+v 0.05140342 0.05122485 0.01335960
+v 0.05140342 0.05802705 0.01189453
+v 0.05883273 0.05802709 0.00063601
+v 0.05906246 0.05122490 0.00063599
+v 0.05317139 0.05122485 0.01336334
+v 0.05427683 0.05232481 0.01330229
+v 0.05213211 0.05232481 0.01329606
+v 0.05140342 0.05160038 0.01333718
+v 0.05140342 0.05786392 0.01197675
+v 0.05234989 0.05802705 0.01194810
+v 0.05926462 0.05445887 0.00063600
+v 0.06048032 0.05802706 0.00885472
+v 0.05916721 0.05215441 0.00063599
+v 0.05979850 0.05122489 0.00349267
+v 0.05427683 0.05122485 0.01335462
+v 0.05642062 0.05232481 0.01325495
+v 0.05642062 0.05445882 0.01305189
+v 0.05427683 0.05445882 0.01304691
+v 0.05140342 0.05232481 0.01328983
+v 0.05140342 0.05195128 0.01331475
+v 0.05213211 0.05790520 0.01199669
+v 0.05140342 0.05745975 0.01212002
+v 0.05420883 0.05802705 0.01205026
+v 0.05928483 0.05426710 0.00063600
+v 0.06060070 0.05802705 0.01095020
+v 0.06079091 0.05659217 0.01087420
+v 0.05978104 0.05232485 0.00352631
+v 0.06053913 0.05445883 0.01087419
+v 0.06023038 0.05232482 0.01087418
+v 0.06006682 0.05122486 0.01082684
+v 0.05531610 0.05122485 0.01333095
+v 0.05642062 0.05122485 0.01328734
+v 0.05856533 0.05232481 0.01304067
+v 0.05856533 0.05445882 0.01294973
+v 0.05856533 0.05659216 0.01260714
+v 0.05642062 0.05659216 0.01261462
+v 0.05213211 0.05445882 0.01300081
+v 0.05140342 0.05373439 0.01309550
+v 0.05140342 0.05659216 0.01242401
+v 0.05624235 0.05802705 0.01213871
+v 0.05996206 0.05802705 0.01203905
+v 0.06019546 0.05659217 0.01222717
+v 0.06023589 0.05445882 0.01237167
+v 0.06013482 0.05232481 0.01237664
+v 0.06007049 0.05122485 0.01233802
+v 0.05745990 0.05122485 0.01318269
+v 0.05856533 0.05122485 0.01301326
+v 0.05932618 0.05122485 0.01269184
+v 0.05993449 0.05802705 0.01204528
+v 0.05856533 0.05802705 0.01218107
+v 0.05829610 0.05802705 0.01218107
+v 0.05642062 0.05802705 0.01214370
+v 0.05427683 0.05659216 0.01254610
+v 0.05140342 0.05445882 0.01298212
+v 0.05140342 0.05586839 0.01262209
+v 0.05213211 0.05659216 0.01245515
+f 1 2 7
+f 1 7 14
+f 1 14 26
+f 1 26 25
+f 1 25 44
+f 1 44 60
+f 1 60 61
+f 1 61 45
+f 1 45 28
+f 1 28 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 20
+f 2 20 36
+f 2 36 51
+f 2 51 54
+f 2 54 53
+f 2 53 52
+f 2 52 38
+f 2 38 37
+f 2 37 21
+f 2 21 11
+f 2 11 7
+f 3 8 16
+f 3 16 29
+f 3 29 46
+f 3 46 58
+f 3 58 57
+f 3 57 56
+f 3 56 55
+f 3 55 47
+f 3 47 31
+f 3 31 18
+f 3 18 9
+f 3 9 5
+f 3 5 4
+f 5 9 17
+f 5 17 30
+f 5 30 19
+f 5 19 10
+f 5 10 6
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 8 15 16
+f 9 18 17
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 25 26
+f 13 26 14
+f 13 24 25
+f 15 27 16
+f 15 28 27
+f 16 27 29
+f 17 18 30
+f 18 31 32
+f 18 32 20
+f 18 20 33
+f 18 33 30
+f 19 30 20
+f 20 30 33
+f 20 32 34
+f 20 34 35
+f 20 35 36
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 27 28 29
+f 28 45 29
+f 29 45 46
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 51
+f 32 51 34
+f 34 51 35
+f 35 51 36
+f 38 52 39
+f 39 53 54
+f 39 54 50
+f 39 50 49
+f 39 49 40
+f 39 52 53
+f 40 49 48
+f 40 48 41
+f 41 48 47
+f 41 47 55
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 58
+f 42 58 46
+f 42 46 59
+f 42 59 60
+f 42 60 43
+f 43 60 44
+f 45 61 62
+f 45 62 46
+f 46 62 59
+f 50 54 51
+f 59 62 61
+f 59 61 60
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_23.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.05970536 -0.03797158 -0.00814258
+v -0.05928100 -0.03797158 -0.00889379
+v -0.05922206 -0.03944687 -0.00882886
+v -0.05960516 -0.03944687 -0.00814258
+v -0.03090813 -0.03797158 -0.00814258
+v -0.05725352 -0.03797157 -0.00963726
+v -0.05909829 -0.04158104 -0.00872283
+v -0.05941656 -0.04158104 -0.00814259
+v -0.02532667 -0.03959978 -0.00814259
+v 0.00050596 -0.03797157 -0.01057195
+v -0.05725352 -0.03944687 -0.00949965
+v -0.05893327 -0.04371427 -0.00859357
+v -0.02723038 -0.03797156 -0.01284286
+v -0.05911008 -0.04442041 -0.00814260
+v -0.05933405 -0.04241042 -0.00814260
+v -0.02470193 -0.04121870 -0.00814259
+v -0.01437595 -0.04584751 -0.00814559
+v -0.01007345 -0.04658609 -0.00818014
+v -0.00857053 -0.04671953 -0.00820397
+v -0.00788095 -0.04594482 -0.00832788
+v -0.00792810 -0.04371427 -0.00864956
+v 0.00050596 -0.03944686 -0.01041766
+v 0.00050596 -0.03797156 -0.01422792
+v -0.05725352 -0.04158104 -0.00927864
+v -0.05870930 -0.04584844 -0.00844107
+v -0.05889790 -0.04584844 -0.00814261
+v -0.05725352 -0.04584844 -0.00871689
+v -0.05725352 -0.04371427 -0.00901713
+v -0.02656438 -0.03797156 -0.01290898
+v -0.02466067 -0.04743772 -0.00814261
+v -0.01435827 -0.04739231 -0.00815870
+v -0.01221881 -0.04733763 -0.00816644
+v -0.01007345 -0.04726813 -0.00818014
+v -0.00857053 -0.04712264 -0.00820397
+v -0.00578275 -0.04743772 -0.00864123
+v 0.00050596 -0.04743771 -0.00984520
+v 0.00050596 -0.04143182 -0.01382879
+v -0.01155280 -0.03797156 -0.01383117
+v -0.05849123 -0.04737377 -0.00831716
+v -0.05879770 -0.04647025 -0.00814261
+v -0.05854427 -0.04743772 -0.00822780
+v -0.05722405 -0.04743772 -0.00847503
+v -0.05837335 -0.04743772 -0.00832371
+v -0.02508503 -0.03797156 -0.01305077
+v -0.01435827 -0.04743772 -0.00816704
+v -0.05860321 -0.04743772 -0.00814261
+v -0.01221881 -0.04743772 -0.00818431
+v -0.01007345 -0.04743772 -0.00820874
+v -0.00828763 -0.04743772 -0.00826354
+v 0.00050596 -0.04743770 -0.01296799
+v 0.00050596 -0.04158102 -0.01380973
+v -0.01369816 -0.03797156 -0.01375730
+v -0.05846765 -0.04743772 -0.00831001
+v -0.02442492 -0.03797156 -0.01311213
+v -0.02293968 -0.03797156 -0.01323604
+v -0.02079432 -0.04743771 -0.01148404
+v -0.01705174 -0.04743771 -0.01176582
+v -0.02079432 -0.03797156 -0.01339271
+v -0.02013422 -0.03797156 -0.01343620
+v -0.01864897 -0.03797156 -0.01352556
+v -0.01798886 -0.03797156 -0.01356369
+v -0.01650362 -0.03797156 -0.01363994
+v -0.01584351 -0.03797156 -0.01367151
+v 0.00050596 -0.04569922 -0.01323785
+v 0.00050596 -0.04356506 -0.01355239
+v -0.02227957 -0.03797156 -0.01328727
+v -0.01919710 -0.04743771 -0.01160974
+v -0.01864897 -0.04743771 -0.01165025
+v 0.00050596 -0.04371425 -0.01353094
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 14
+f 1 14 26
+f 1 26 40
+f 1 40 46
+f 1 46 30
+f 1 30 16
+f 1 16 9
+f 1 9 5
+f 1 5 10
+f 1 10 23
+f 1 23 38
+f 1 38 52
+f 1 52 63
+f 1 63 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 58
+f 1 58 66
+f 1 66 55
+f 1 55 54
+f 1 54 44
+f 1 44 29
+f 1 29 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 6 13 11
+f 7 12 14
+f 7 14 15
+f 7 15 8
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 20
+f 10 20 22
+f 10 22 36
+f 10 36 50
+f 10 50 64
+f 10 64 69
+f 10 69 65
+f 10 65 51
+f 10 51 37
+f 10 37 23
+f 11 24 25
+f 11 25 12
+f 11 13 24
+f 12 25 26
+f 12 26 14
+f 13 27 28
+f 13 28 24
+f 13 29 27
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 19
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 22
+f 23 37 38
+f 24 28 39
+f 24 39 25
+f 25 40 26
+f 25 39 41
+f 25 41 40
+f 27 42 43
+f 27 43 39
+f 27 39 28
+f 27 29 42
+f 29 44 42
+f 30 45 31
+f 30 46 41
+f 30 41 53
+f 30 53 43
+f 30 43 42
+f 30 42 56
+f 30 56 67
+f 30 67 68
+f 30 68 57
+f 30 57 50
+f 30 50 36
+f 30 36 35
+f 30 35 49
+f 30 49 48
+f 30 48 47
+f 30 47 45
+f 31 45 47
+f 31 47 32
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 35
+f 37 51 52
+f 37 52 38
+f 39 43 53
+f 39 53 41
+f 40 41 46
+f 42 44 54
+f 42 54 55
+f 42 55 56
+f 50 57 58
+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 64
+f 51 65 52
+f 52 65 63
+f 55 66 67
+f 55 67 56
+f 57 68 66
+f 57 66 58
+f 63 65 69
+f 63 69 64
+f 66 68 67
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_24.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.02555369 -0.04663636 -0.01424051
+v 0.02555369 -0.04739763 -0.01416220
+v 0.02555369 -0.04663637 -0.01050738
+v 0.04140864 -0.04663636 -0.01450927
+v 0.04140864 -0.04798445 -0.01440340
+v 0.04140864 -0.04923914 -0.01429126
+v 0.03999203 -0.04911050 -0.01427686
+v 0.02555369 -0.04745578 -0.01415594
+v 0.02555369 -0.05563950 -0.00827028
+v 0.03306137 -0.05220496 -0.00827027
+v 0.03723338 -0.05039693 -0.00827027
+v 0.04918214 -0.04663638 -0.00827025
+v 0.04219636 -0.04663636 -0.01452180
+v 0.05212881 -0.04798445 -0.01457004
+v 0.05427478 -0.05011848 -0.01442658
+v 0.05427478 -0.05145776 -0.01430130
+v 0.05254698 -0.05130973 -0.01428501
+v 0.04355137 -0.05048678 -0.01419292
+v 0.04140864 -0.05030528 -0.01416848
+v 0.02555369 -0.04798445 -0.01409894
+v 0.02555369 -0.06030054 -0.00827030
+v 0.05808049 -0.04663638 -0.00827025
+v 0.04355137 -0.04663636 -0.01454247
+v 0.05077379 -0.04663636 -0.01464458
+v 0.05212881 -0.04663636 -0.01466275
+v 0.05427478 -0.04798445 -0.01459009
+v 0.05577891 -0.05142252 -0.01429629
+v 0.05427478 -0.05252389 -0.01417663
+v 0.02853926 -0.05011848 -0.01390473
+v 0.04355137 -0.05225251 -0.01397178
+v 0.02555369 -0.04928319 -0.01393731
+v 0.02555369 -0.06007145 -0.00875206
+v 0.03404035 -0.06167682 -0.00827031
+v 0.05841438 -0.05011850 -0.00827026
+v 0.05858619 -0.04663638 -0.00924191
+v 0.05291977 -0.04663636 -0.01466964
+v 0.05506575 -0.04663636 -0.01463957
+v 0.05642076 -0.04798445 -0.01450928
+v 0.05646290 -0.05018897 -0.01435830
+v 0.05427478 -0.04663636 -0.01466902
+v 0.05642076 -0.05651882 -0.01342050
+v 0.05427478 -0.05438655 -0.01391164
+v 0.05720848 -0.05094848 -0.01421046
+v 0.05212881 -0.05438655 -0.01386779
+v 0.02639652 -0.05011848 -0.01384960
+v 0.04140864 -0.05225251 -0.01391915
+v 0.04998607 -0.05438655 -0.01381642
+v 0.02555369 -0.05011848 -0.01382455
+v 0.02555369 -0.05932427 -0.00975817
+v 0.05531860 -0.06399412 -0.01025435
+v 0.03432237 -0.06172088 -0.00827031
+v 0.05852784 -0.05225253 -0.00827027
+v 0.05865102 -0.05011850 -0.00924192
+v 0.05856673 -0.04663637 -0.01125350
+v 0.05642076 -0.04663636 -0.01457630
+v 0.05754237 -0.04952638 -0.01430630
+v 0.05642076 -0.05865286 -0.01304150
+v 0.05427478 -0.05651882 -0.01353890
+v 0.05766232 -0.06023708 -0.01241377
+v 0.04784009 -0.05438655 -0.01376192
+v 0.04569411 -0.05438655 -0.01370178
+v 0.05212881 -0.05651882 -0.01348565
+v 0.02853926 -0.05225251 -0.01354703
+v 0.02555369 -0.05141723 -0.01359652
+v 0.02555369 -0.05890662 -0.01019043
+v 0.05447252 -0.06305310 -0.01094471
+v 0.05427478 -0.06156756 -0.01211872
+v 0.05642076 -0.06292093 -0.01113077
+v 0.05642076 -0.06400645 -0.01027064
+v 0.05642076 -0.06442763 -0.00924198
+v 0.05447252 -0.06428665 -0.00929899
+v 0.05212881 -0.06420383 -0.00870071
+v 0.05045935 -0.06407871 -0.00842506
+v 0.03564497 -0.06190591 -0.00831228
+v 0.02555369 -0.05825637 -0.01082566
+v 0.03561255 -0.06191825 -0.00827031
+v 0.05867047 -0.05225253 -0.00924193
+v 0.05776605 -0.06429547 -0.00827032
+v 0.05855053 -0.05011849 -0.01125351
+v 0.05763638 -0.04663636 -0.01438147
+v 0.05685190 -0.04663636 -0.01451741
+v 0.05759748 -0.04798445 -0.01434953
+v 0.05789571 -0.05651882 -0.01276709
+v 0.05782764 -0.05865286 -0.01260109
+v 0.05642076 -0.06055956 -0.01253782
+v 0.05427478 -0.05865286 -0.01309663
+v 0.05840141 -0.05651883 -0.01125354
+v 0.05766232 -0.06292093 -0.01065904
+v 0.05751320 -0.06400822 -0.01027189
+v 0.05642076 -0.06162571 -0.01211245
+v 0.04998607 -0.05651882 -0.01342614
+v 0.04355137 -0.05438655 -0.01363412
+v 0.04140864 -0.05438655 -0.01356207
+v 0.02639652 -0.05225251 -0.01347373
+v 0.02555369 -0.05225251 -0.01344178
+v 0.05427478 -0.06050141 -0.01255786
+v 0.02555369 -0.05682722 -0.01183052
+v 0.02555369 -0.05640957 -0.01206607
+v 0.02555369 -0.05576107 -0.01240686
+v 0.05642076 -0.06463734 -0.00827032
+v 0.05437203 -0.06454217 -0.00827032
+v 0.05768501 -0.06420207 -0.00924198
+v 0.05275768 -0.06438005 -0.00827032
+v 0.05067654 -0.06413863 -0.00827032
+v 0.05036858 -0.06409810 -0.00827032
+v 0.05849542 -0.05438656 -0.01125353
+v 0.05853756 -0.05225252 -0.01125352
+v 0.05212881 -0.05865286 -0.01299514
+v 0.04569411 -0.05651882 -0.01326952
+v 0.04784009 -0.05651882 -0.01335598
+v 0.02555369 -0.05355126 -0.01311039
+v 0.02555369 -0.05526060 -0.01258290
+v 0.02555369 -0.05438655 -0.01288423
+v 0.02639652 -0.05438655 -0.01292871
+v 0.02853926 -0.05438655 -0.01303083
+f 1 2 8
+f 1 8 20
+f 1 20 31
+f 1 31 48
+f 1 48 64
+f 1 64 95
+f 1 95 111
+f 1 111 113
+f 1 113 112
+f 1 112 99
+f 1 99 98
+f 1 98 97
+f 1 97 75
+f 1 75 65
+f 1 65 49
+f 1 49 32
+f 1 32 21
+f 1 21 9
+f 1 9 3
+f 1 3 12
+f 1 12 22
+f 1 22 35
+f 1 35 54
+f 1 54 80
+f 1 80 81
+f 1 81 55
+f 1 55 37
+f 1 37 40
+f 1 40 36
+f 1 36 25
+f 1 25 24
+f 1 24 23
+f 1 23 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 9 21 33
+f 9 33 51
+f 9 51 76
+f 9 76 105
+f 9 105 104
+f 9 104 103
+f 9 103 101
+f 9 101 100
+f 9 100 78
+f 9 78 52
+f 9 52 34
+f 9 34 22
+f 9 22 12
+f 9 12 11
+f 9 11 10
+f 13 23 14
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 14 23 24
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 18
+f 18 28 19
+f 19 29 20
+f 19 28 30
+f 19 30 29
+f 20 29 31
+f 21 32 33
+f 22 34 35
+f 25 36 26
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 26 36 40
+f 26 40 37
+f 27 41 42
+f 27 42 28
+f 27 39 43
+f 27 43 41
+f 28 42 44
+f 28 44 30
+f 29 45 31
+f 29 30 46
+f 29 46 45
+f 30 44 47
+f 30 47 46
+f 31 45 48
+f 32 49 50
+f 32 50 33
+f 33 50 51
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 37 55 38
+f 38 55 56
+f 38 56 39
+f 39 56 43
+f 41 57 58
+f 41 58 42
+f 41 43 57
+f 42 58 44
+f 43 56 59
+f 43 59 57
+f 44 58 47
+f 45 46 60
+f 45 60 61
+f 45 61 48
+f 46 47 60
+f 47 58 62
+f 47 62 60
+f 48 61 63
+f 48 63 64
+f 49 65 50
+f 50 66 67
+f 50 67 68
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 51
+f 50 65 75
+f 50 75 66
+f 51 74 76
+f 52 77 53
+f 52 78 77
+f 53 77 54
+f 54 77 79
+f 54 79 80
+f 55 81 56
+f 56 82 83
+f 56 83 84
+f 56 84 59
+f 56 81 82
+f 57 85 86
+f 57 86 58
+f 57 59 85
+f 58 86 62
+f 59 84 87
+f 59 87 88
+f 59 88 89
+f 59 89 90
+f 59 90 85
+f 60 62 91
+f 60 91 61
+f 61 91 92
+f 61 92 63
+f 62 86 91
+f 63 93 94
+f 63 94 64
+f 63 92 93
+f 64 94 95
+f 66 75 67
+f 67 96 90
+f 67 90 68
+f 67 75 97
+f 67 97 98
+f 67 98 99
+f 67 99 96
+f 68 90 89
+f 68 89 69
+f 69 89 70
+f 70 100 101
+f 70 101 71
+f 70 89 102
+f 70 102 100
+f 71 101 103
+f 71 103 72
+f 72 103 73
+f 73 103 104
+f 73 104 105
+f 73 105 76
+f 73 76 74
+f 77 87 106
+f 77 106 107
+f 77 107 79
+f 77 78 87
+f 78 100 102
+f 78 102 87
+f 79 107 80
+f 80 82 81
+f 80 107 106
+f 80 106 83
+f 80 83 82
+f 83 106 87
+f 83 87 84
+f 85 90 96
+f 85 96 86
+f 86 96 108
+f 86 108 109
+f 86 109 110
+f 86 110 91
+f 87 102 88
+f 88 102 89
+f 91 110 92
+f 92 110 93
+f 93 110 94
+f 94 110 95
+f 95 110 109
+f 95 109 111
+f 96 99 112
+f 96 112 113
+f 96 113 114
+f 96 114 108
+f 108 114 109
+f 109 114 115
+f 109 115 111
+f 111 115 114
+f 111 114 113
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_25.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01072491 -0.05213362 0.00336778
+v 0.00923672 -0.05214923 0.00336778
+v 0.01138058 -0.05213622 0.00336778
+v 0.02253990 -0.05427267 -0.00175136
+v 0.00863065 -0.05217439 0.00336778
+v 0.00923672 -0.05477057 -0.00175136
+v 0.01352445 -0.05218133 0.00336778
+v 0.02253990 -0.05240079 0.00336778
+v 0.02253990 -0.06099521 -0.00175138
+v 0.00050596 -0.05287614 0.00336778
+v 0.00709069 -0.05500131 -0.00175136
+v 0.02253990 -0.05930029 0.00336775
+v 0.00050596 -0.06005145 -0.00175138
+v 0.02253990 -0.06087638 -0.00119467
+v 0.00050596 -0.05982940 0.00015326
+v 0.00050596 -0.05984328 0.00006557
+v 0.00050596 -0.06003065 -0.00119467
+v 0.00050596 -0.06003672 -0.00133497
+v 0.00050596 -0.05663120 -0.00175137
+v 0.00050596 -0.05817697 0.00336776
+v 0.02253990 -0.05933585 0.00333267
+v 0.02253990 -0.06042359 0.00081620
+v 0.00050596 -0.05950845 0.00108829
+v 0.02253990 -0.06001504 0.00232698
+v 0.00050596 -0.05856298 0.00282807
+v 0.00050596 -0.05948330 0.00115844
+f 1 2 5
+f 1 5 10
+f 1 10 20
+f 1 20 12
+f 1 12 8
+f 1 8 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 7 8
+f 4 8 12
+f 4 12 21
+f 4 21 24
+f 4 24 22
+f 4 22 14
+f 4 14 9
+f 4 9 13
+f 4 13 19
+f 4 19 11
+f 4 11 6
+f 5 6 10
+f 6 11 10
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 13
+f 10 19 13
+f 10 13 18
+f 10 18 17
+f 10 17 16
+f 10 16 15
+f 10 15 23
+f 10 23 26
+f 10 26 25
+f 10 25 20
+f 10 11 19
+f 12 20 21
+f 14 22 15
+f 15 22 24
+f 15 24 23
+f 20 25 21
+f 21 25 24
+f 23 24 26
+f 24 25 26
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_26.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.00050596 -0.04663596 -0.01309239
+v 0.00050596 -0.04663597 -0.01021508
+v 0.00056235 -0.04663596 -0.01309694
+v 0.00050596 -0.04783517 -0.01290635
+v 0.00050596 -0.04710142 -0.00999259
+v 0.00050841 -0.04663597 -0.01020662
+v 0.00144746 -0.04663596 -0.01316655
+v 0.00280086 -0.04798302 -0.01306378
+v 0.00065797 -0.04798302 -0.01289464
+v 0.00050596 -0.04798302 -0.01288228
+v 0.00050596 -0.04780507 -0.00968685
+v 0.02555369 -0.04663597 -0.01050717
+v 0.00359034 -0.04663596 -0.01332008
+v 0.00494620 -0.04798302 -0.01322771
+v 0.00494620 -0.05011723 -0.01288033
+v 0.00050596 -0.05024728 -0.01247114
+v 0.00280086 -0.05011723 -0.01270533
+v 0.00050596 -0.05011725 -0.00880928
+v 0.00494620 -0.05302628 -0.00759539
+v 0.00709153 -0.05303450 -0.00759539
+v 0.02210153 -0.05475254 -0.00759540
+v 0.02419048 -0.05504960 -0.00759540
+v 0.02555369 -0.05563141 -0.00759540
+v 0.02555369 -0.04663596 -0.01424058
+v 0.00573568 -0.04663596 -0.01346189
+v 0.00709153 -0.04798302 -0.01337148
+v 0.00709153 -0.05011723 -0.01302800
+v 0.00494620 -0.05191741 -0.01247115
+v 0.00280086 -0.05162992 -0.01238203
+v 0.00057706 -0.05026644 -0.01247374
+v 0.00123905 -0.05136572 -0.01230656
+v 0.00050596 -0.05034037 -0.01245162
+v 0.00050596 -0.05333019 -0.00759540
+v 0.02555369 -0.06061990 -0.00759542
+v 0.02555369 -0.04739848 -0.01416252
+v 0.02445772 -0.04663596 -0.01422367
+v 0.00709153 -0.04663596 -0.01354061
+v 0.00788102 -0.04663596 -0.01358615
+v 0.00923687 -0.04798302 -0.01349378
+v 0.00923687 -0.05011723 -0.01315615
+v 0.01137975 -0.05225143 -0.01278080
+v 0.00902356 -0.05246499 -0.01256808
+v 0.00494620 -0.05298520 -0.01215174
+v 0.00280086 -0.05269772 -0.01207172
+v 0.00050596 -0.05215014 -0.01200862
+v 0.00050596 -0.05204884 -0.01203594
+v 0.00050596 -0.05864449 -0.00759542
+v 0.02555369 -0.06053229 -0.00778473
+v 0.02555369 -0.04798302 -0.01409943
+v 0.02424687 -0.04663596 -0.01421977
+v 0.01002635 -0.04663596 -0.01369609
+v 0.01137975 -0.04798302 -0.01360762
+v 0.01137975 -0.05011723 -0.01327520
+v 0.01352264 -0.05225143 -0.01290115
+v 0.01137975 -0.05356563 -0.01237553
+v 0.00959729 -0.05343147 -0.01231308
+v 0.00816788 -0.05331785 -0.01225778
+v 0.00280086 -0.05438428 -0.01130930
+v 0.00050596 -0.05438428 -0.01111935
+v 0.00050596 -0.05791073 -0.00858553
+v 0.02555369 -0.06007094 -0.00875207
+v 0.02555369 -0.04928216 -0.01393744
+v 0.02424687 -0.04798302 -0.01407406
+v 0.02256247 -0.04663596 -0.01418529
+v 0.01217169 -0.04663596 -0.01379627
+v 0.01352264 -0.04798302 -0.01371236
+v 0.01352264 -0.05011723 -0.01338189
+v 0.01566797 -0.05225143 -0.01300979
+v 0.02555369 -0.05438427 -0.01288425
+v 0.02424687 -0.05438427 -0.01281464
+v 0.01352264 -0.05372443 -0.01244254
+v 0.02555369 -0.05576144 -0.01240676
+v 0.02424687 -0.05566561 -0.01236512
+v 0.02267281 -0.05553967 -0.01230462
+v 0.00050596 -0.05568753 -0.01040571
+v 0.02555369 -0.05641034 -0.01206654
+v 0.00050596 -0.05675395 -0.00959125
+v 0.02555369 -0.05825706 -0.01082532
+v 0.02555369 -0.05890732 -0.01019041
+v 0.02555369 -0.05932485 -0.00975780
+v 0.02555369 -0.05011723 -0.01382490
+v 0.01995865 -0.04798302 -0.01397387
+v 0.02210153 -0.04798302 -0.01402527
+v 0.02210153 -0.04663596 -0.01417488
+v 0.01431212 -0.04663596 -0.01389190
+v 0.01566797 -0.04798302 -0.01381059
+v 0.01566797 -0.05011723 -0.01348337
+v 0.01781331 -0.05225143 -0.01311062
+v 0.02555369 -0.05355058 -0.01310998
+v 0.02555369 -0.05525904 -0.01258240
+v 0.01995865 -0.05225143 -0.01321016
+v 0.02555369 -0.05682787 -0.01183039
+v 0.02555369 -0.05141637 -0.01359657
+v 0.02424687 -0.05011723 -0.01378652
+v 0.01995865 -0.05011723 -0.01365902
+v 0.01781331 -0.04798302 -0.01390427
+v 0.01989245 -0.04663596 -0.01411113
+v 0.01645746 -0.04663596 -0.01398492
+v 0.01781331 -0.05011723 -0.01358160
+v 0.02555369 -0.05225143 -0.01344175
+v 0.02210153 -0.05225143 -0.01330513
+v 0.02424687 -0.05225143 -0.01339166
+v 0.01781331 -0.04663596 -0.01404217
+f 1 2 6
+f 1 6 12
+f 1 12 24
+f 1 24 36
+f 1 36 50
+f 1 50 64
+f 1 64 84
+f 1 84 97
+f 1 97 103
+f 1 103 98
+f 1 98 85
+f 1 85 65
+f 1 65 51
+f 1 51 38
+f 1 38 37
+f 1 37 25
+f 1 25 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 32
+f 1 32 46
+f 1 46 45
+f 1 45 59
+f 1 59 75
+f 1 75 77
+f 1 77 60
+f 1 60 47
+f 1 47 33
+f 1 33 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 10
+f 10 15 17
+f 10 17 16
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 34
+f 12 34 48
+f 12 48 61
+f 12 61 80
+f 12 80 79
+f 12 79 78
+f 12 78 92
+f 12 92 76
+f 12 76 72
+f 12 72 90
+f 12 90 69
+f 12 69 89
+f 12 89 100
+f 12 100 93
+f 12 93 81
+f 12 81 62
+f 12 62 49
+f 12 49 35
+f 12 35 24
+f 12 20 21
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 17
+f 16 17 30
+f 16 30 31
+f 16 31 32
+f 17 29 31
+f 17 31 30
+f 18 33 19
+f 19 33 47
+f 19 47 34
+f 19 34 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 24 35 36
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 31
+f 31 45 46
+f 31 46 32
+f 34 47 48
+f 35 49 50
+f 35 50 36
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 40
+f 40 53 54
+f 40 54 41
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 41 54 55
+f 42 57 43
+f 43 57 58
+f 43 58 59
+f 43 59 44
+f 44 59 45
+f 47 60 61
+f 47 61 48
+f 49 62 63
+f 49 63 50
+f 50 63 64
+f 51 65 66
+f 51 66 52
+f 52 66 67
+f 52 67 53
+f 53 67 68
+f 53 68 54
+f 54 68 69
+f 54 69 70
+f 54 70 71
+f 54 71 55
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 56 73 57
+f 57 73 74
+f 57 74 58
+f 58 75 59
+f 58 74 73
+f 58 73 76
+f 58 76 75
+f 60 77 78
+f 60 78 79
+f 60 79 80
+f 60 80 61
+f 62 81 82
+f 62 82 83
+f 62 83 63
+f 63 83 84
+f 63 84 64
+f 65 85 86
+f 65 86 66
+f 66 86 99
+f 66 99 87
+f 66 87 67
+f 67 87 68
+f 68 87 88
+f 68 88 69
+f 69 90 70
+f 69 88 91
+f 69 91 89
+f 70 90 71
+f 71 90 72
+f 72 76 73
+f 75 76 92
+f 75 92 78
+f 75 78 77
+f 81 93 94
+f 81 94 82
+f 82 95 96
+f 82 96 97
+f 82 97 84
+f 82 84 83
+f 82 94 95
+f 85 98 96
+f 85 96 86
+f 86 96 99
+f 87 99 91
+f 87 91 88
+f 89 91 101
+f 89 101 102
+f 89 102 100
+f 91 99 101
+f 93 100 95
+f 93 95 94
+f 95 99 96
+f 95 100 99
+f 96 98 103
+f 96 103 97
+f 99 100 102
+f 99 102 101
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_27.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00149222 0.06433102 0.00282866
+v -0.00363717 0.06431840 0.00282866
+v -0.01585582 0.06406531 0.00384337
+v -0.01436189 0.06407129 0.00385872
+v -0.01007200 0.06408790 0.00389966
+v -0.00578211 0.06410318 0.00393497
+v -0.00363717 0.06411048 0.00395083
+v -0.00149222 0.06411646 0.00396209
+v 0.00050596 0.06411115 0.00394878
+v 0.00050596 0.06431774 0.00282866
+v 0.00050596 0.06427257 0.00126846
+v -0.00149222 0.06427656 0.00113082
+v -0.00363717 0.06426991 0.00097321
+v -0.03793746 0.06410916 0.00159749
+v -0.01728579 0.06406000 0.00381830
+v -0.03793746 0.06410916 0.00222484
+v -0.03580380 0.06399490 0.00330659
+v -0.03793746 0.06354186 0.00484016
+v -0.03580380 0.06356113 0.00484016
+v -0.01221694 0.06407927 0.00388021
+v -0.03365886 0.06357508 0.00484016
+v -0.00363717 0.06363752 0.00495683
+v -0.00149222 0.06363221 0.00496809
+v -0.01436189 0.06365346 0.00486473
+v -0.01221694 0.06365213 0.00488571
+v -0.01007200 0.06365080 0.00490566
+v -0.00792706 0.06364748 0.00492357
+v 0.00050596 0.06362623 0.00495479
+v 0.00050596 0.06426859 0.00115026
+v -0.00363717 0.06417293 0.00058636
+v -0.00578211 0.06416629 0.00058636
+v -0.00578211 0.06425530 0.00096912
+v -0.03793746 0.06410783 0.00159135
+v -0.00792706 0.06424268 0.00099317
+v -0.03793746 0.06398494 0.00323444
+v -0.03793746 0.06305098 0.00581394
+v -0.03686875 0.06306094 0.00581394
+v -0.03472004 0.06307356 0.00581394
+v -0.03365886 0.06307887 0.00581394
+v -0.03043015 0.06308751 0.00581394
+v -0.01543060 0.06311939 0.00581394
+v -0.00255341 0.06310545 0.00581394
+v -0.00149222 0.06310013 0.00581394
+v 0.00050596 0.06308817 0.00581394
+v -0.01328565 0.06312072 0.00581394
+v -0.01113695 0.06312006 0.00581394
+v -0.00899200 0.06311807 0.00581394
+v -0.00684706 0.06311475 0.00581394
+v -0.00469835 0.06311076 0.00581394
+v -0.03257133 0.06308286 0.00581394
+v 0.00050596 0.06409322 0.00058636
+v -0.00792706 0.06415168 0.00058636
+v -0.03793746 0.06387269 0.00059198
+v -0.03793746 0.05892857 0.00581393
+v 0.00050596 0.05836195 0.00581392
+v 0.00050596 0.05774753 0.00058633
+v -0.03755739 0.06387402 0.00058635
+v -0.03793746 0.05999141 0.00058634
+v -0.03793746 0.05985324 0.00058992
+v -0.00289208 0.05763262 0.00058633
+v -0.00149222 0.05754560 0.00058633
+v -0.00363717 0.05835465 0.00581392
+v -0.00008108 0.05833472 0.00581392
+v 0.00046080 0.05774156 0.00058633
+v -0.03699293 0.05985058 0.00058634
+v -0.00149222 0.05833140 0.00581392
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 2
+f 2 15 3
+f 2 14 16
+f 2 16 17
+f 2 17 15
+f 3 15 18
+f 3 18 19
+f 3 19 4
+f 4 20 5
+f 4 19 20
+f 5 20 19
+f 5 19 6
+f 6 19 21
+f 6 21 7
+f 7 21 8
+f 8 22 23
+f 8 23 9
+f 8 21 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 22
+f 9 28 44
+f 9 44 55
+f 9 55 56
+f 9 56 51
+f 9 51 29
+f 9 29 11
+f 9 11 10
+f 9 23 28
+f 11 29 12
+f 12 29 13
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 14 33 53
+f 14 53 58
+f 14 58 59
+f 14 59 54
+f 14 54 36
+f 14 36 18
+f 14 18 35
+f 14 35 16
+f 14 32 34
+f 14 34 33
+f 15 17 18
+f 16 35 17
+f 17 35 18
+f 18 36 37
+f 18 37 19
+f 19 37 21
+f 21 37 38
+f 21 38 39
+f 21 39 24
+f 22 27 40
+f 22 40 41
+f 22 41 23
+f 23 42 43
+f 23 43 44
+f 23 44 28
+f 23 41 45
+f 23 45 46
+f 23 46 47
+f 23 47 48
+f 23 48 49
+f 23 49 42
+f 24 39 25
+f 25 39 26
+f 26 39 50
+f 26 50 27
+f 27 50 40
+f 29 51 30
+f 30 51 56
+f 30 56 64
+f 30 64 61
+f 30 61 60
+f 30 60 65
+f 30 65 58
+f 30 58 57
+f 30 57 52
+f 30 52 31
+f 31 52 32
+f 32 52 34
+f 33 34 52
+f 33 52 53
+f 36 54 62
+f 36 62 66
+f 36 66 63
+f 36 63 55
+f 36 55 44
+f 36 44 43
+f 36 43 42
+f 36 42 49
+f 36 49 48
+f 36 48 47
+f 36 47 46
+f 36 46 45
+f 36 45 41
+f 36 41 40
+f 36 40 50
+f 36 50 39
+f 36 39 38
+f 36 38 37
+f 52 57 53
+f 53 57 58
+f 54 59 60
+f 54 60 61
+f 54 61 62
+f 55 63 61
+f 55 61 64
+f 55 64 56
+f 58 65 59
+f 59 65 60
+f 61 63 66
+f 61 66 62
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_28.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.06057271 0.05245347 0.00058631
+v -0.06043863 0.05245344 0.00685106
+v -0.05296310 0.05245347 0.00058631
+v -0.05803195 0.01461561 0.00058617
+v -0.05837161 0.01461560 0.00169518
+v -0.05839694 0.01461560 0.00287942
+v -0.06037308 0.05245344 0.00850915
+v -0.05296310 0.05245345 0.00477419
+v -0.05296310 0.01461561 0.00058617
+v -0.05835671 0.01461560 0.00381394
+v -0.05680366 0.05245344 0.00850915
+v -0.05835150 0.01461560 0.00392484
+v -0.05801929 0.01461558 0.00850901
+v -0.05296310 0.05232382 0.00477729
+v -0.05529679 0.04165321 0.00850911
+v -0.05428153 0.01461558 0.00850901
+v -0.05296310 0.01461560 0.00286468
+v -0.05296310 0.05019044 0.00479201
+v -0.05296534 0.01461560 0.00287554
+v -0.05296310 0.01461930 0.00287554
+v -0.05296310 0.04591998 0.00472686
+v -0.05296310 0.04805706 0.00477262
+f 1 2 7
+f 1 7 11
+f 1 11 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 14
+f 3 14 18
+f 3 18 22
+f 3 22 21
+f 3 21 20
+f 3 20 17
+f 3 17 9
+f 4 9 17
+f 4 17 19
+f 4 19 16
+f 4 16 13
+f 4 13 12
+f 4 12 10
+f 4 10 6
+f 4 6 5
+f 6 10 7
+f 7 10 12
+f 7 12 13
+f 7 13 16
+f 7 16 15
+f 7 15 11
+f 8 11 15
+f 8 15 16
+f 8 16 14
+f 14 16 18
+f 16 19 20
+f 16 20 21
+f 16 21 22
+f 16 22 18
+f 17 20 19
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_29.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.05140342 0.06487074 0.00063604
+v 0.05140342 0.06093159 0.00063602
+v 0.05140342 0.06488816 0.00069820
+v 0.05213149 0.06494185 0.00081801
+v 0.05213149 0.06489025 0.00063604
+v 0.05519454 0.05802709 0.00063601
+v 0.05140618 0.05802706 0.00768616
+v 0.05140342 0.05802706 0.00769294
+v 0.05140342 0.06492163 0.00081801
+v 0.05140342 0.06494044 0.00150064
+v 0.05642086 0.06511126 0.00282975
+v 0.05427617 0.06498995 0.00081801
+v 0.05427617 0.06493766 0.00063604
+v 0.05883305 0.05802709 0.00063601
+v 0.05140342 0.05802705 0.01189386
+v 0.05140342 0.06497460 0.00282975
+v 0.05642086 0.06475986 0.00484036
+v 0.05856554 0.06481006 0.00484036
+v 0.05856554 0.06514960 0.00282975
+v 0.05642086 0.06501854 0.00081801
+v 0.05642086 0.06496555 0.00063604
+v 0.06050706 0.06281820 0.00063603
+v 0.06048040 0.05802706 0.00885478
+v 0.05234936 0.05802705 0.01194811
+v 0.05642086 0.05922413 0.01159437
+v 0.05140342 0.05856946 0.01161811
+v 0.05140342 0.06457441 0.00484036
+v 0.05140342 0.06444333 0.00523593
+v 0.05140342 0.06416795 0.00605984
+v 0.05642086 0.06427252 0.00627571
+v 0.05856554 0.06429135 0.00631865
+v 0.05990861 0.06421535 0.00616269
+v 0.06019266 0.06444194 0.00484036
+v 0.06020094 0.06454584 0.00081801
+v 0.05856554 0.06502899 0.00081801
+v 0.06031861 0.06461137 0.00282975
+v 0.05856554 0.06497461 0.00063604
+v 0.06052085 0.06300714 0.00063603
+v 0.06055578 0.06299528 0.00081800
+v 0.06057508 0.05857714 0.00870899
+v 0.06059990 0.05802705 0.01095015
+v 0.05427066 0.05802705 0.01205322
+v 0.05427617 0.05803123 0.01205209
+v 0.05140342 0.05893200 0.01142937
+v 0.05642086 0.05815672 0.01210182
+v 0.05856554 0.05930012 0.01164523
+v 0.05642086 0.06075377 0.01058850
+v 0.05427617 0.06066871 0.01051730
+v 0.05213149 0.06057808 0.01044723
+v 0.05140342 0.06054600 0.01042349
+v 0.05140342 0.06361506 0.00706457
+v 0.05213149 0.06363667 0.00709283
+v 0.05642086 0.06373637 0.00728044
+v 0.05856554 0.06377332 0.00732338
+v 0.06022024 0.06245005 0.00850670
+v 0.06044271 0.06309495 0.00683966
+v 0.06079479 0.06299526 0.00484035
+v 0.06019634 0.06442732 0.00063604
+v 0.06017152 0.06452074 0.00063604
+v 0.06072768 0.06299527 0.00282974
+v 0.05872641 0.06494743 0.00063604
+v 0.06062013 0.06106194 0.00905144
+v 0.06050430 0.05874864 0.01098746
+v 0.05996192 0.05802705 0.01203966
+v 0.05624252 0.05802705 0.01213912
+v 0.05642086 0.05802705 0.01214477
+v 0.05856554 0.05823341 0.01211990
+v 0.05995825 0.05805145 0.01203627
+v 0.06025517 0.06048465 0.01039298
+v 0.05856554 0.06081233 0.01063936
+v 0.05856554 0.06187834 0.00981998
+v 0.05642086 0.06182047 0.00976234
+v 0.05427617 0.06173542 0.00968549
+v 0.05140342 0.06125087 0.00986970
+v 0.05140342 0.06254766 0.00857564
+v 0.05213149 0.06256997 0.00860389
+v 0.05642086 0.06266967 0.00875647
+v 0.05856554 0.06270662 0.00881411
+v 0.05993435 0.05802705 0.01204531
+v 0.05829619 0.05802705 0.01218206
+v 0.05856554 0.05802705 0.01218093
+v 0.05213149 0.06164478 0.00960976
+v 0.05140342 0.06161201 0.00958151
+f 1 2 8
+f 1 8 15
+f 1 15 26
+f 1 26 44
+f 1 44 50
+f 1 50 74
+f 1 74 83
+f 1 83 75
+f 1 75 51
+f 1 51 29
+f 1 29 28
+f 1 28 27
+f 1 27 16
+f 1 16 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 21
+f 1 21 37
+f 1 37 61
+f 1 61 59
+f 1 59 58
+f 1 58 38
+f 1 38 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 6 14 23
+f 6 23 41
+f 6 41 64
+f 6 64 79
+f 6 79 81
+f 6 81 80
+f 6 80 66
+f 6 66 65
+f 6 65 42
+f 6 42 24
+f 6 24 15
+f 6 15 8
+f 6 8 7
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 14 22 23
+f 15 24 25
+f 15 25 26
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 34 35
+f 19 35 20
+f 19 33 36
+f 19 36 34
+f 20 35 21
+f 21 35 37
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 24 42 43
+f 24 43 25
+f 25 44 26
+f 25 43 45
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 50
+f 25 50 44
+f 29 51 52
+f 29 52 53
+f 29 53 30
+f 30 53 54
+f 30 54 31
+f 31 54 32
+f 32 54 55
+f 32 55 56
+f 32 56 33
+f 33 56 57
+f 33 57 36
+f 34 39 58
+f 34 58 59
+f 34 59 35
+f 34 36 60
+f 34 60 39
+f 35 59 61
+f 35 61 37
+f 36 57 60
+f 38 58 39
+f 39 60 40
+f 40 57 41
+f 40 60 57
+f 41 57 62
+f 41 62 63
+f 41 63 64
+f 42 65 43
+f 43 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 69
+f 46 69 70
+f 46 70 47
+f 47 70 71
+f 47 71 72
+f 47 72 48
+f 48 72 49
+f 49 72 73
+f 49 73 50
+f 50 73 74
+f 51 75 76
+f 51 76 52
+f 52 76 53
+f 53 76 77
+f 53 77 78
+f 53 78 54
+f 54 78 55
+f 55 78 71
+f 55 71 69
+f 55 69 62
+f 55 62 56
+f 56 62 57
+f 62 69 63
+f 63 68 64
+f 63 69 68
+f 64 68 79
+f 66 80 67
+f 67 80 81
+f 67 81 68
+f 68 81 79
+f 69 71 70
+f 71 78 77
+f 71 77 72
+f 72 77 76
+f 72 76 75
+f 72 75 73
+f 73 82 74
+f 73 75 82
+f 74 82 83
+f 75 83 82
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_3.obj

@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
+v -0.06059249 -0.01286541 -0.00959314
+v -0.06055661 -0.01286541 -0.00982098
+v -0.06058651 -0.01375267 -0.00959314
+v -0.04150035 -0.01286541 -0.00959314
+v -0.06048483 -0.01286541 -0.01026148
+v -0.06047885 -0.01321442 -0.01025822
+v -0.06045492 -0.01463747 -0.01021265
+v -0.06050875 -0.01597204 -0.00959315
+v -0.02516556 -0.03797157 -0.00959323
+v 0.00049998 -0.01286541 -0.01040035
+v -0.05950390 -0.01286541 -0.01063362
+v -0.05959960 -0.01389031 -0.01057503
+v -0.05932447 -0.01597204 -0.01061844
+v -0.05983287 -0.02450789 -0.00959318
+v -0.06000633 -0.02313153 -0.00959317
+v -0.06007212 -0.02237454 -0.00959317
+v -0.06039511 -0.01597204 -0.01009169
+v -0.06023960 -0.02023873 -0.00959316
+v -0.06038913 -0.01810539 -0.00959316
+v -0.05921680 -0.01810539 -0.01057776
+v -0.05910316 -0.02023873 -0.01053057
+v -0.05898354 -0.02237454 -0.01048230
+v -0.05883998 -0.02450789 -0.01042263
+v -0.05864858 -0.02663878 -0.01035158
+v 0.00049998 -0.03797157 -0.01057241
+v 0.00049998 -0.01810539 -0.01039929
+v 0.00049998 -0.01597204 -0.01039494
+v 0.00049998 -0.01383623 -0.01039818
+v -0.05736860 -0.03797157 -0.00959323
+v 0.00049998 -0.01286540 -0.01416463
+v -0.05822990 -0.01286541 -0.01095911
+v -0.05724897 -0.01383623 -0.01117664
+v -0.05724897 -0.01597204 -0.01112078
+v -0.05953979 -0.02663878 -0.00959319
+v -0.05724897 -0.01810539 -0.01104159
+v -0.05724897 -0.02023873 -0.01094665
+v -0.05724897 -0.02237454 -0.01084739
+v -0.05846915 -0.02832481 -0.01029299
+v 0.00049998 -0.03797156 -0.01422765
+v -0.05738056 -0.03792979 -0.00959323
+v -0.05826579 -0.02974540 -0.01023984
+v -0.05724897 -0.03797157 -0.00963717
+v 0.00049998 -0.02663877 -0.01457697
+v -0.01436342 -0.01286540 -0.01492465
+v -0.05724897 -0.01286541 -0.01119726
+v -0.03350342 -0.01286540 -0.01439085
+v -0.05920484 -0.02888027 -0.00959320
+v -0.03328809 -0.01383622 -0.01438325
+v -0.02937636 -0.02237453 -0.01454549
+v -0.02957972 -0.02468729 -0.01442018
+v -0.05724897 -0.02450789 -0.01072914
+v -0.03042307 -0.02551556 -0.01426666
+v -0.05882802 -0.03090793 -0.00959320
+v 0.00049998 -0.03791749 -0.01423416
+v -0.01155224 -0.03797156 -0.01383110
+v -0.01221615 -0.03731042 -0.01392603
+v -0.01436342 -0.03556049 -0.01415603
+v -0.01436342 -0.03449381 -0.01433343
+v -0.01650471 -0.03304126 -0.01449670
+v -0.01436342 -0.03304126 -0.01454824
+v -0.05753009 -0.03731043 -0.00959323
+v -0.05786504 -0.03090793 -0.01019427
+v -0.05724897 -0.03731043 -0.00969901
+v -0.05724897 -0.02663878 -0.01059027
+v -0.02902346 -0.02663877 -0.01436812
+v -0.02856889 -0.02805936 -0.01430627
+v -0.02727095 -0.02877211 -0.01440067
+v -0.02801861 -0.02948241 -0.01423196
+v -0.02658311 -0.03025169 -0.01432527
+v -0.02727095 -0.03093987 -0.01414896
+v -0.02572181 -0.03167474 -0.01422926
+v -0.02722909 -0.03304126 -0.01383705
+v -0.02722909 -0.03517707 -0.01343833
+v -0.02722909 -0.03731042 -0.01299351
+v -0.02722909 -0.03797156 -0.01284324
+v 0.00049998 -0.02862465 -0.01463014
+v -0.01533837 -0.01286540 -0.01496914
+v -0.03151166 -0.01286540 -0.01464961
+v -0.03151166 -0.01383622 -0.01461218
+v -0.02937636 -0.02023872 -0.01462414
+v -0.02722909 -0.02237453 -0.01478906
+v -0.02722909 -0.02450788 -0.01470933
+v -0.02722909 -0.02663877 -0.01458891
+v 0.00049998 -0.03692455 -0.01434429
+v -0.01650471 -0.03090792 -0.01475654
+v -0.01369950 -0.03797156 -0.01375732
+v -0.01436342 -0.03731042 -0.01385443
+v -0.01650471 -0.03535403 -0.01411806
+v -0.01650471 -0.03428490 -0.01429979
+v -0.01854431 -0.03317890 -0.01440936
+v -0.02079326 -0.03271438 -0.01440557
+v -0.02079326 -0.03090792 -0.01465022
+v -0.01865198 -0.03090792 -0.01470826
+v -0.02508780 -0.02877457 -0.01461767
+v -0.02503397 -0.03093987 -0.01438548
+v -0.02428631 -0.03210731 -0.01429544
+v -0.02503397 -0.03290855 -0.01407899
+v -0.02508780 -0.03517707 -0.01364122
+v -0.02508780 -0.03731042 -0.01319856
+v -0.02508780 -0.03797156 -0.01305101
+v -0.02656517 -0.03797156 -0.01290888
+v 0.00049998 -0.02877457 -0.01463286
+v -0.01650471 -0.01286539 -0.01501742
+v -0.03034532 -0.01286540 -0.01476571
+v -0.02722909 -0.02023872 -0.01484927
+v -0.02508780 -0.02237453 -0.01496049
+v -0.02508780 -0.02450788 -0.01489160
+v -0.02508780 -0.02663877 -0.01478257
+v 0.00049998 -0.03682132 -0.01435405
+v -0.01436342 -0.03090792 -0.01478041
+v -0.01650471 -0.02877457 -0.01492146
+v -0.02079326 -0.02877457 -0.01484768
+v -0.01865198 -0.02877457 -0.01489054
+v -0.01584079 -0.03797156 -0.01367107
+v -0.01650471 -0.03731042 -0.01376926
+v -0.01776077 -0.03415464 -0.01427755
+v -0.01865198 -0.03731042 -0.01365967
+v -0.02079326 -0.03378105 -0.01420593
+v -0.02294053 -0.03237521 -0.01434806
+v -0.02294053 -0.03090792 -0.01454823
+v -0.02294053 -0.02877457 -0.01475871
+v -0.02294053 -0.03517707 -0.01380342
+v -0.02294053 -0.03731042 -0.01337758
+v -0.02294053 -0.03797156 -0.01323600
+v -0.02442388 -0.03797156 -0.01311231
+v 0.00049998 -0.03076045 -0.01465184
+v -0.01650471 -0.01810537 -0.01507440
+v -0.01650471 -0.01597202 -0.01505377
+v -0.01650471 -0.01383621 -0.01502989
+v -0.01748563 -0.01286539 -0.01504725
+v -0.02937636 -0.01286540 -0.01485304
+v -0.02722909 -0.01810538 -0.01490080
+v -0.02722909 -0.01597203 -0.01494853
+v -0.02722909 -0.01383621 -0.01499572
+v -0.02508780 -0.02023871 -0.01500496
+v -0.02294053 -0.02237452 -0.01505868
+v -0.02294053 -0.02450787 -0.01501203
+v -0.02294053 -0.02663877 -0.01491602
+v 0.00049998 -0.03517707 -0.01448749
+v -0.01436342 -0.02877457 -0.01492471
+v -0.01221615 -0.03090792 -0.01478204
+v -0.01865198 -0.02663876 -0.01503862
+v -0.01650471 -0.02663876 -0.01504405
+v -0.02079326 -0.02663876 -0.01500445
+v -0.01650471 -0.03797156 -0.01363960
+v -0.01798806 -0.03797156 -0.01356420
+v -0.01865198 -0.03797156 -0.01352514
+v -0.02013533 -0.03797156 -0.01343617
+v -0.02079326 -0.03731042 -0.01353002
+v -0.02079326 -0.03517707 -0.01394284
+v -0.02227661 -0.03797156 -0.01328753
+v 0.00049998 -0.03090792 -0.01465239
+v -0.01436342 -0.02450787 -0.01505380
+v -0.01221615 -0.02450787 -0.01499087
+v -0.01436342 -0.02237452 -0.01504132
+v -0.01436342 -0.02023871 -0.01502557
+v -0.01650471 -0.02023871 -0.01508904
+v -0.01865198 -0.01597202 -0.01510639
+v -0.01865198 -0.01383621 -0.01508794
+v -0.01865198 -0.01286539 -0.01507817
+v -0.02821001 -0.01286540 -0.01494581
+v -0.02722909 -0.01286539 -0.01501470
+v -0.02508780 -0.01810537 -0.01503859
+v -0.02508780 -0.01597202 -0.01507059
+v -0.02294053 -0.02023871 -0.01508850
+v -0.02079326 -0.02450787 -0.01508635
+v 0.00049998 -0.03502715 -0.01449780
+v 0.00049998 -0.03304126 -0.01460520
+v -0.01865198 -0.02450787 -0.01511022
+v -0.01650471 -0.02450787 -0.01509503
+v -0.01436342 -0.02663876 -0.01502398
+v -0.02079326 -0.03797156 -0.01339277
+v 0.00049998 -0.03289380 -0.01461008
+v -0.01650471 -0.02237452 -0.01509448
+v -0.01865198 -0.01810537 -0.01511671
+v -0.01962692 -0.01286539 -0.01509879
+v -0.02079326 -0.01383621 -0.01512537
+v -0.02079326 -0.01286539 -0.01511940
+v -0.02606274 -0.01286539 -0.01507058
+v -0.02508780 -0.01383621 -0.01509770
+v -0.02294053 -0.01810537 -0.01510966
+v -0.02079326 -0.02237452 -0.01510750
+v -0.02079326 -0.02023871 -0.01512159
+v -0.02079326 -0.01810537 -0.01513190
+v -0.01865198 -0.02237452 -0.01511889
+v -0.01865198 -0.02023871 -0.01512051
+v -0.02079326 -0.01597202 -0.01513515
+v -0.02177419 -0.01286539 -0.01512808
+v -0.02508780 -0.01286539 -0.01510530
+v -0.02294053 -0.01597202 -0.01512647
+v -0.02294053 -0.01383621 -0.01513405
+v -0.02294053 -0.01286539 -0.01513297
+v -0.02391548 -0.01286539 -0.01512537
+f 1 2 3
+f 1 3 8
+f 1 8 19
+f 1 19 18
+f 1 18 16
+f 1 16 15
+f 1 15 14
+f 1 14 34
+f 1 34 47
+f 1 47 53
+f 1 53 61
+f 1 61 40
+f 1 40 29
+f 1 29 9
+f 1 9 4
+f 1 4 10
+f 1 10 30
+f 1 30 44
+f 1 44 77
+f 1 77 103
+f 1 103 130
+f 1 130 160
+f 1 160 176
+f 1 176 178
+f 1 178 188
+f 1 188 192
+f 1 192 193
+f 1 193 189
+f 1 189 179
+f 1 179 162
+f 1 162 161
+f 1 161 131
+f 1 131 104
+f 1 104 78
+f 1 78 46
+f 1 46 45
+f 1 45 31
+f 1 31 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 7 13 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 14
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 10
+f 9 29 42
+f 9 42 75
+f 9 75 101
+f 9 101 100
+f 9 100 125
+f 9 125 124
+f 9 124 151
+f 9 151 172
+f 9 172 148
+f 9 148 147
+f 9 147 146
+f 9 146 145
+f 9 145 114
+f 9 114 86
+f 9 86 55
+f 9 55 39
+f 9 39 25
+f 10 28 27
+f 10 27 26
+f 10 26 25
+f 10 25 39
+f 10 39 54
+f 10 54 84
+f 10 84 109
+f 10 109 139
+f 10 139 167
+f 10 167 168
+f 10 168 173
+f 10 173 152
+f 10 152 126
+f 10 126 102
+f 10 102 76
+f 10 76 43
+f 10 43 30
+f 11 13 12
+f 11 31 13
+f 13 31 32
+f 13 32 33
+f 13 33 20
+f 14 24 34
+f 16 18 17
+f 20 33 21
+f 21 33 22
+f 22 33 35
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 34
+f 29 40 41
+f 29 41 42
+f 30 43 44
+f 31 45 32
+f 32 45 46
+f 32 46 33
+f 33 46 35
+f 34 38 47
+f 35 46 48
+f 35 48 49
+f 35 49 50
+f 35 50 36
+f 36 50 37
+f 37 51 38
+f 37 50 52
+f 37 52 51
+f 38 41 53
+f 38 53 47
+f 38 51 41
+f 39 55 56
+f 39 56 57
+f 39 57 58
+f 39 58 59
+f 39 59 60
+f 39 60 54
+f 40 61 41
+f 41 62 63
+f 41 63 42
+f 41 61 53
+f 41 51 64
+f 41 64 52
+f 41 52 65
+f 41 65 62
+f 42 63 66
+f 42 66 67
+f 42 67 68
+f 42 68 69
+f 42 69 70
+f 42 70 71
+f 42 71 72
+f 42 72 73
+f 42 73 74
+f 42 74 75
+f 43 76 44
+f 44 76 77
+f 46 78 48
+f 48 78 79
+f 48 79 49
+f 49 79 78
+f 49 78 80
+f 49 80 81
+f 49 81 82
+f 49 82 50
+f 50 82 83
+f 50 83 52
+f 51 52 64
+f 52 83 65
+f 54 60 85
+f 54 85 84
+f 55 86 87
+f 55 87 56
+f 56 87 57
+f 57 87 88
+f 57 88 89
+f 57 89 58
+f 58 89 59
+f 59 89 90
+f 59 90 91
+f 59 91 92
+f 59 92 93
+f 59 93 60
+f 60 93 85
+f 62 65 66
+f 62 66 63
+f 65 83 66
+f 66 83 67
+f 67 83 94
+f 67 94 69
+f 67 69 68
+f 69 71 70
+f 69 94 95
+f 69 95 71
+f 71 95 96
+f 71 96 72
+f 72 96 97
+f 72 97 73
+f 73 97 98
+f 73 98 99
+f 73 99 74
+f 74 99 100
+f 74 100 101
+f 74 101 75
+f 76 102 103
+f 76 103 77
+f 78 104 81
+f 78 81 80
+f 81 105 106
+f 81 106 107
+f 81 107 82
+f 81 104 105
+f 82 107 108
+f 82 108 83
+f 83 108 94
+f 84 85 110
+f 84 110 109
+f 85 111 110
+f 85 93 112
+f 85 112 113
+f 85 113 111
+f 86 114 115
+f 86 115 87
+f 87 115 88
+f 88 115 91
+f 88 91 116
+f 88 116 89
+f 89 116 90
+f 90 116 91
+f 91 117 118
+f 91 118 119
+f 91 119 120
+f 91 120 92
+f 91 115 117
+f 92 120 121
+f 92 121 112
+f 92 112 93
+f 94 108 121
+f 94 121 120
+f 94 120 95
+f 95 120 96
+f 96 98 97
+f 96 120 119
+f 96 119 98
+f 98 119 122
+f 98 122 123
+f 98 123 99
+f 99 123 124
+f 99 124 125
+f 99 125 100
+f 102 126 127
+f 102 127 128
+f 102 128 129
+f 102 129 103
+f 103 129 130
+f 104 131 105
+f 105 132 106
+f 105 131 132
+f 106 132 133
+f 106 133 134
+f 106 134 135
+f 106 135 136
+f 106 136 137
+f 106 137 107
+f 107 137 138
+f 107 138 108
+f 108 138 121
+f 109 110 139
+f 110 111 140
+f 110 140 141
+f 110 141 139
+f 111 113 142
+f 111 142 143
+f 111 143 140
+f 112 121 138
+f 112 138 144
+f 112 144 113
+f 113 144 142
+f 114 145 115
+f 115 145 146
+f 115 146 117
+f 117 146 147
+f 117 147 148
+f 117 148 149
+f 117 149 150
+f 117 150 118
+f 118 150 119
+f 119 150 149
+f 119 149 122
+f 122 149 123
+f 123 149 151
+f 123 151 124
+f 126 152 153
+f 126 153 154
+f 126 154 155
+f 126 155 156
+f 126 156 127
+f 127 157 158
+f 127 158 159
+f 127 159 128
+f 127 156 155
+f 127 155 157
+f 128 159 160
+f 128 160 130
+f 128 130 129
+f 131 161 132
+f 132 161 133
+f 133 161 134
+f 134 161 162
+f 134 162 135
+f 135 162 163
+f 135 163 136
+f 136 163 164
+f 136 164 165
+f 136 165 166
+f 136 166 137
+f 137 166 144
+f 137 144 138
+f 139 141 167
+f 140 143 168
+f 140 168 167
+f 140 167 141
+f 142 144 166
+f 142 166 169
+f 142 169 143
+f 143 169 170
+f 143 170 171
+f 143 171 168
+f 148 172 149
+f 149 172 151
+f 152 173 171
+f 152 171 153
+f 153 171 170
+f 153 170 174
+f 153 174 157
+f 153 157 155
+f 153 155 154
+f 157 174 175
+f 157 175 158
+f 158 176 159
+f 158 175 177
+f 158 177 178
+f 158 178 176
+f 159 176 160
+f 162 179 163
+f 163 179 164
+f 164 179 180
+f 164 180 165
+f 165 180 181
+f 165 181 182
+f 165 182 166
+f 166 182 169
+f 168 171 173
+f 169 182 183
+f 169 183 184
+f 169 184 185
+f 169 185 170
+f 170 185 186
+f 170 186 174
+f 174 186 175
+f 175 186 187
+f 175 187 177
+f 177 188 178
+f 177 187 188
+f 179 189 180
+f 180 189 190
+f 180 190 181
+f 181 190 182
+f 182 190 183
+f 183 190 184
+f 184 190 191
+f 184 191 187
+f 184 187 185
+f 185 187 186
+f 187 191 192
+f 187 192 188
+f 189 193 190
+f 190 193 191
+f 191 193 192
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_30.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.03590491 -0.02849986 -0.00652686
+v -0.06083083 -0.02849986 -0.00652686
+v -0.03783559 -0.02849984 -0.00959289
+v -0.03967985 0.00750218 -0.00820663
+v -0.03889721 -0.00300779 -0.00637957
+v -0.03804791 -0.01286034 -0.00637961
+v -0.06112462 -0.01286034 -0.00637961
+v -0.06089008 -0.02663575 -0.00652686
+v -0.06075182 -0.02849985 -0.00722984
+v -0.05926061 -0.02849984 -0.00959289
+v -0.04150682 -0.01286032 -0.00959284
+v -0.04009462 0.00963445 -0.00820662
+v -0.03968725 0.00110104 -0.00637956
+v -0.06108759 -0.01671399 -0.00652682
+v -0.06099871 -0.02237121 -0.00652684
+v -0.06095427 -0.02450348 -0.00652685
+v -0.06112709 -0.01260084 -0.00637961
+v -0.06086045 -0.02450347 -0.00722983
+v -0.06051234 -0.02849985 -0.00836057
+v -0.05935443 -0.02849985 -0.00951237
+v -0.05972476 -0.02663574 -0.00943531
+v -0.05953959 -0.02663573 -0.00959289
+v -0.06059381 -0.01286032 -0.00959284
+v -0.05447343 0.01568525 -0.00820660
+v -0.04868142 0.01539114 -0.00820660
+v -0.04444727 0.01506243 -0.00820660
+v -0.04334121 0.01494566 -0.00820661
+v -0.04323258 0.01486348 -0.00820661
+v -0.04196604 0.01390331 -0.00820661
+v -0.04072665 0.01190945 -0.00820662
+v -0.04024769 0.00330684 -0.00637955
+v -0.06110487 -0.01458173 -0.00652681
+v -0.06102340 -0.01383348 -0.00722979
+v -0.06099871 -0.01597007 -0.00722980
+v -0.06090242 -0.02237120 -0.00722982
+v -0.06112462 -0.01046424 -0.00637960
+v -0.06103327 -0.00956029 -0.00723009
+v -0.06103080 -0.01169688 -0.00723009
+v -0.06057900 -0.01404972 -0.00959284
+v -0.06024323 -0.02023892 -0.00959286
+v -0.06007535 -0.02237119 -0.00959287
+v -0.06000621 -0.02312808 -0.00959287
+v -0.05991240 -0.02450347 -0.00952651
+v -0.06050987 -0.01597006 -0.00959285
+v -0.06038889 -0.01810233 -0.00959286
+v -0.05983339 -0.02450346 -0.00959288
+v -0.06085304 -0.01286033 -0.00820671
+v -0.06087032 -0.01065886 -0.00820670
+v -0.06088514 -0.00852659 -0.00820669
+v -0.06088761 -0.00639433 -0.00820668
+v -0.06088267 -0.00426206 -0.00820668
+v -0.06069997 0.01568525 -0.00820660
+v -0.06058394 -0.01374696 -0.00959284
+v -0.05670037 0.01568524 -0.00637950
+v -0.04653348 0.01259280 -0.00637951
+v -0.04526201 0.01216029 -0.00637952
+v -0.04427939 0.01182293 -0.00637952
+v -0.04224996 0.00971662 -0.00637952
+v -0.04153151 0.00750217 -0.00637953
+v -0.06111475 -0.00833197 -0.00637959
+v -0.06102833 -0.00742802 -0.00723008
+v -0.06101846 -0.00529575 -0.00723007
+v -0.06073947 0.01568525 -0.00786251
+v -0.06079132 0.01568524 -0.00637950
+v -0.06109993 -0.00619971 -0.00637958
+v -0.06080613 0.01568525 -0.00722999
+v -0.06080366 0.01568525 -0.00692993
+f 1 2 9
+f 1 9 19
+f 1 19 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 3 10 22
+f 3 22 46
+f 3 46 42
+f 3 42 41
+f 3 41 40
+f 3 40 45
+f 3 45 44
+f 3 44 39
+f 3 39 53
+f 3 53 23
+f 3 23 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 31
+f 5 31 59
+f 5 59 58
+f 5 58 57
+f 5 57 56
+f 5 56 55
+f 5 55 54
+f 5 54 64
+f 5 64 65
+f 5 65 60
+f 5 60 36
+f 5 36 17
+f 5 17 7
+f 5 7 6
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 7 17 14
+f 8 16 9
+f 9 16 18
+f 9 18 19
+f 10 20 21
+f 10 21 22
+f 11 23 52
+f 11 52 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 12
+f 12 30 31
+f 12 31 13
+f 14 17 32
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 15
+f 15 35 18
+f 15 18 16
+f 17 36 37
+f 17 37 38
+f 17 38 32
+f 18 35 39
+f 18 39 19
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 21
+f 19 21 20
+f 19 39 44
+f 19 44 45
+f 19 45 40
+f 21 43 22
+f 22 43 46
+f 23 47 48
+f 23 48 49
+f 23 49 50
+f 23 50 51
+f 23 51 52
+f 23 53 47
+f 24 54 25
+f 24 52 63
+f 24 63 66
+f 24 66 67
+f 24 67 64
+f 24 64 54
+f 25 54 26
+f 26 54 27
+f 27 54 55
+f 27 55 56
+f 27 56 57
+f 27 57 28
+f 28 57 29
+f 29 57 58
+f 29 58 30
+f 30 58 59
+f 30 59 31
+f 32 38 33
+f 33 47 34
+f 33 38 49
+f 33 49 48
+f 33 48 47
+f 34 47 53
+f 34 53 35
+f 35 53 39
+f 36 60 62
+f 36 62 61
+f 36 61 37
+f 37 61 51
+f 37 51 50
+f 37 50 38
+f 38 50 49
+f 42 46 43
+f 51 61 62
+f 51 62 52
+f 52 62 63
+f 60 65 62
+f 62 65 66
+f 62 66 63
+f 64 67 65
+f 65 67 66
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_31.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.05292767 0.03716231 -0.01110379
+v 0.05292767 0.03738555 -0.01107966
+v 0.05427619 0.03738555 -0.01105438
+v 0.05427619 0.03716231 -0.01107736
+v 0.05292767 0.03716230 -0.00838030
+v 0.05292767 0.03872771 -0.01092568
+v 0.05642163 0.03738555 -0.01097854
+v 0.05642163 0.03716231 -0.01100267
+v 0.05449995 0.03716231 -0.01107047
+v 0.05292767 0.03951994 -0.01083143
+v 0.05427619 0.03951994 -0.01079926
+v 0.05334099 0.03716227 0.00063594
+v 0.05292767 0.03945732 -0.00746328
+v 0.05642163 0.03951994 -0.01072111
+v 0.05749733 0.04272697 -0.01024651
+v 0.05797607 0.04165433 -0.01032236
+v 0.05873434 0.03963156 -0.01044187
+v 0.05856559 0.03738555 -0.01068435
+v 0.05856559 0.03716231 -0.01070274
+v 0.05292767 0.04086210 -0.01065561
+v 0.05427619 0.04165433 -0.01051197
+v 0.05642163 0.04165433 -0.01043728
+v 0.05292767 0.06067049 0.00063602
+v 0.05791883 0.03716227 0.00063594
+v 0.05642163 0.04284131 -0.01026604
+v 0.05642163 0.04390851 -0.01009597
+v 0.05642163 0.04592311 -0.00975925
+v 0.05856559 0.04805748 -0.00918007
+v 0.05956174 0.04041562 -0.01017412
+v 0.05968217 0.03899451 -0.01028790
+v 0.05973421 0.03738555 -0.01034420
+v 0.05973941 0.03716231 -0.01034995
+v 0.05292767 0.04165433 -0.01054874
+v 0.05427619 0.04304277 -0.01030052
+v 0.05292767 0.06490660 0.00063604
+v 0.05990296 0.03716228 -0.00192092
+v 0.06050734 0.06281849 0.00063603
+v 0.05292767 0.04314622 -0.01032005
+v 0.05292767 0.04421342 -0.01012814
+v 0.05292767 0.04592311 -0.00980522
+v 0.05642163 0.04805748 -0.00935245
+v 0.05856559 0.05019187 -0.00878476
+v 0.05972009 0.05152859 -0.00831015
+v 0.05985315 0.05019187 -0.00845840
+v 0.05996020 0.04805748 -0.00862273
+v 0.05996020 0.04592310 -0.00871697
+v 0.05994533 0.03716228 -0.00320682
+v 0.05427619 0.06493654 0.00063604
+v 0.05292767 0.06443290 -0.00103138
+v 0.05991337 0.03716228 -0.00205537
+v 0.06052072 0.06300634 0.00063603
+v 0.05292767 0.04805748 -0.00935819
+v 0.05642163 0.05019187 -0.00887095
+v 0.05856559 0.05181989 -0.00839174
+v 0.05972603 0.05786913 -0.00630486
+v 0.05985390 0.05659231 -0.00647609
+v 0.05992229 0.05445792 -0.00671857
+v 0.05447988 0.06493927 0.00063604
+v 0.05427619 0.06444651 -0.00106240
+v 0.05292767 0.06426412 -0.00140485
+v 0.05991411 0.05863958 -0.00524304
+v 0.06006502 0.06086107 -0.00320674
+v 0.06014977 0.06313974 -0.00132097
+v 0.06019660 0.06442473 0.00063604
+v 0.05292767 0.05019187 -0.00881349
+v 0.05642163 0.05190156 -0.00842277
+v 0.05642163 0.05296875 -0.00810790
+v 0.05642163 0.05445793 -0.00764479
+v 0.05856559 0.05659232 -0.00685876
+v 0.05856559 0.05804608 -0.00638186
+v 0.05856559 0.05911328 -0.00586703
+v 0.05965020 0.06194189 -0.00422373
+v 0.05982490 0.06086108 -0.00450528
+v 0.05642163 0.06496377 0.00063604
+v 0.05642163 0.06400548 -0.00209664
+v 0.05427619 0.06398915 -0.00206791
+v 0.05642163 0.06445740 -0.00109113
+v 0.05292767 0.06397281 -0.00203689
+v 0.05994905 0.06432672 -0.00073489
+v 0.06017133 0.06452001 0.00063604
+v 0.05987099 0.06238563 -0.00320673
+v 0.05292767 0.05169193 -0.00837336
+v 0.05292767 0.05275913 -0.00802976
+v 0.05292767 0.05445793 -0.00747586
+v 0.05642163 0.05659232 -0.00693000
+v 0.05642163 0.05805153 -0.00638760
+v 0.05642163 0.05911872 -0.00592678
+v 0.05642163 0.06086108 -0.00499252
+v 0.05856559 0.06086108 -0.00490519
+v 0.05856559 0.06198000 -0.00425476
+v 0.05856559 0.06293557 -0.00320673
+v 0.05856559 0.06395103 -0.00206103
+v 0.05856559 0.06497466 0.00063604
+v 0.05856559 0.06446011 -0.00105551
+v 0.05642163 0.06302541 -0.00320673
+v 0.05427619 0.06300090 -0.00320673
+v 0.05292767 0.06296279 -0.00320673
+v 0.05872691 0.06494743 0.00063604
+v 0.05292767 0.05659231 -0.00674729
+v 0.05292767 0.05734914 -0.00647494
+v 0.05292767 0.05783918 -0.00629567
+v 0.05292767 0.05851162 -0.00602907
+v 0.05292767 0.05890637 -0.00586473
+v 0.05292767 0.06016414 -0.00525453
+v 0.05292767 0.06086108 -0.00490634
+v 0.05427619 0.06086108 -0.00494426
+v 0.05292767 0.06198272 -0.00425820
+v 0.05427619 0.06200450 -0.00427429
+v 0.05642163 0.06201267 -0.00428349
+v 0.05292767 0.06155803 -0.00450642
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 19
+f 1 19 32
+f 1 32 47
+f 1 47 50
+f 1 50 36
+f 1 36 24
+f 1 24 12
+f 1 12 5
+f 1 5 13
+f 1 13 23
+f 1 23 35
+f 1 35 49
+f 1 49 60
+f 1 60 78
+f 1 78 97
+f 1 97 107
+f 1 107 110
+f 1 110 105
+f 1 105 104
+f 1 104 103
+f 1 103 102
+f 1 102 101
+f 1 101 100
+f 1 100 99
+f 1 99 84
+f 1 84 83
+f 1 83 82
+f 1 82 65
+f 1 65 52
+f 1 52 40
+f 1 40 39
+f 1 39 38
+f 1 38 33
+f 1 33 20
+f 1 20 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 5 12 13
+f 7 11 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 14
+f 12 23 13
+f 12 24 37
+f 12 37 51
+f 12 51 64
+f 12 64 80
+f 12 80 98
+f 12 98 93
+f 12 93 74
+f 12 74 58
+f 12 58 48
+f 12 48 35
+f 12 35 23
+f 14 22 15
+f 15 22 21
+f 15 21 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 29 17
+f 16 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 20 33 21
+f 21 33 34
+f 21 34 25
+f 24 36 37
+f 25 34 26
+f 26 34 27
+f 27 34 38
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 33 38 34
+f 35 48 49
+f 36 50 51
+f 36 51 37
+f 40 52 41
+f 41 52 53
+f 41 53 42
+f 42 53 54
+f 42 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 44 56 45
+f 45 56 57
+f 45 57 51
+f 45 51 46
+f 46 51 47
+f 47 51 50
+f 48 58 59
+f 48 59 49
+f 49 59 60
+f 51 57 56
+f 51 56 61
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 52 65 53
+f 53 65 66
+f 53 66 54
+f 54 66 67
+f 54 67 68
+f 54 68 69
+f 54 69 55
+f 55 69 70
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 56 73 61
+f 58 74 59
+f 59 75 76
+f 59 76 60
+f 59 74 77
+f 59 77 75
+f 60 76 78
+f 61 73 62
+f 62 73 63
+f 63 79 80
+f 63 80 64
+f 63 73 81
+f 63 81 79
+f 65 82 66
+f 66 82 67
+f 67 82 68
+f 68 82 83
+f 68 83 84
+f 68 84 85
+f 68 85 70
+f 68 70 69
+f 70 85 86
+f 70 86 87
+f 70 87 71
+f 71 87 88
+f 71 88 89
+f 71 89 72
+f 72 89 90
+f 72 90 91
+f 72 91 92
+f 72 92 79
+f 72 79 81
+f 72 81 73
+f 74 93 77
+f 75 77 94
+f 75 94 92
+f 75 92 95
+f 75 95 96
+f 75 96 76
+f 76 96 97
+f 76 97 78
+f 77 93 94
+f 79 92 94
+f 79 94 93
+f 79 93 98
+f 79 98 80
+f 84 99 85
+f 85 99 100
+f 85 100 101
+f 85 101 86
+f 86 101 102
+f 86 102 103
+f 86 103 87
+f 87 103 104
+f 87 104 105
+f 87 105 106
+f 87 106 88
+f 88 106 107
+f 88 107 108
+f 88 108 109
+f 88 109 90
+f 88 90 89
+f 90 109 95
+f 90 95 91
+f 91 95 92
+f 95 109 108
+f 95 108 96
+f 96 108 107
+f 96 107 97
+f 105 110 106
+f 106 110 107
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_32.obj

@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.06124989 -0.01286543 -0.00521799
+v -0.06115022 -0.01286543 -0.00613490
+v -0.06125442 -0.01383625 -0.00521799
+v -0.06104150 -0.01286543 -0.00441268
+v -0.06125442 -0.01597206 -0.00521800
+v -0.06110492 -0.01286543 -0.00652671
+v -0.06110492 -0.01458342 -0.00652671
+v -0.06089654 -0.01810542 -0.00375834
+v -0.06086482 -0.01286544 -0.00373022
+v -0.06124989 -0.01810541 -0.00521801
+v -0.04009863 -0.01286543 -0.00652671
+v -0.06108680 -0.01671677 -0.00652672
+v -0.06087841 -0.02023876 -0.00376637
+v -0.06019889 -0.01286544 -0.00332555
+v -0.06121818 -0.02023875 -0.00521801
+v -0.02937124 -0.01286543 -0.00631314
+v -0.02937578 -0.01383625 -0.00634566
+v -0.02722848 -0.01597206 -0.00635450
+v -0.02722848 -0.01810541 -0.00639586
+v -0.02499512 -0.03748003 -0.00652680
+v -0.06100073 -0.02237456 -0.00652674
+v -0.06081952 -0.02450792 -0.00379890
+v -0.06084670 -0.02237457 -0.00378123
+v -0.05939706 -0.03090796 -0.00308033
+v -0.05939706 -0.02663881 -0.00302050
+v -0.05939706 -0.01286544 -0.00288155
+v -0.06118193 -0.02237456 -0.00521802
+v -0.02819794 -0.01286543 -0.00627661
+v -0.02722395 -0.01386083 -0.00627982
+v -0.02516727 -0.01612444 -0.00626739
+v -0.02508572 -0.01810541 -0.00632681
+v -0.02508572 -0.02023875 -0.00635973
+v -0.02470972 -0.03797159 -0.00652680
+v -0.06095543 -0.02450791 -0.00652675
+v -0.06078781 -0.02663881 -0.00381899
+v -0.05939706 -0.03304130 -0.00313734
+v -0.05725430 -0.03797160 -0.00250749
+v -0.05840949 -0.01286544 -0.00266397
+v -0.06113210 -0.02450791 -0.00521803
+v -0.02769509 -0.01286543 -0.00625935
+v -0.02593739 -0.01458833 -0.00624289
+v -0.02398943 -0.01694042 -0.00623085
+v -0.02381275 -0.01810541 -0.00625094
+v -0.02339145 -0.02023875 -0.00627543
+v -0.06022154 -0.03797159 -0.00652680
+v -0.02314229 -0.02237456 -0.00627985
+v -0.02196898 -0.02663880 -0.00621443
+v -0.02079568 -0.03090795 -0.00608879
+v -0.01864839 -0.03304129 -0.00582786
+v -0.01864839 -0.03731045 -0.00577168
+v -0.01864839 -0.03797159 -0.00573474
+v -0.06076516 -0.03090795 -0.00652677
+v -0.06068362 -0.03090796 -0.00389969
+v -0.06062019 -0.03304130 -0.00397276
+v -0.05925662 -0.03797160 -0.00334251
+v -0.05514778 -0.01286544 -0.00242591
+v -0.05720900 -0.01286544 -0.00243394
+v -0.01716703 -0.03797160 -0.00278851
+v -0.06105962 -0.02663880 -0.00521804
+v -0.02665316 -0.01286543 -0.00616180
+v -0.02650819 -0.01316528 -0.00618227
+v -0.02451040 -0.01551737 -0.00614494
+v -0.02513103 -0.01286543 -0.00584786
+v -0.02276629 -0.01286543 -0.00485187
+v -0.01668683 -0.02663880 -0.00484268
+v -0.01864839 -0.02663880 -0.00567649
+v -0.02207318 -0.02237456 -0.00618511
+v -0.06020795 -0.03797159 -0.00521808
+v -0.06056583 -0.03487971 -0.00521807
+v -0.06022607 -0.03793227 -0.00652680
+v -0.02079568 -0.02877460 -0.00608678
+v -0.01864839 -0.03090795 -0.00583106
+v -0.01650563 -0.03517710 -0.00530197
+v -0.01650563 -0.03731045 -0.00529516
+v -0.01798698 -0.03797159 -0.00560507
+v -0.06088748 -0.03090795 -0.00521805
+v -0.06065191 -0.03303638 -0.00652678
+v -0.06054318 -0.03466588 -0.00409120
+v -0.05993162 -0.03797159 -0.00463276
+v -0.02508572 -0.01286544 -0.00299918
+v -0.01650563 -0.03797160 -0.00280496
+v -0.02516727 -0.01386083 -0.00602048
+v -0.02276629 -0.01286544 -0.00360978
+v -0.02170171 -0.01433027 -0.00441348
+v -0.01706283 -0.02494293 -0.00461505
+v -0.01542292 -0.02968398 -0.00422285
+v -0.01526890 -0.03090795 -0.00437259
+v -0.01506504 -0.03304129 -0.00454001
+v -0.01650563 -0.03304129 -0.00528389
+v -0.01864839 -0.02877460 -0.00576723
+v -0.06075610 -0.03304129 -0.00521806
+v -0.06052959 -0.03463147 -0.00652679
+v -0.01500615 -0.03517710 -0.00456611
+v -0.01498350 -0.03731045 -0.00457094
+v -0.01497897 -0.03797159 -0.00456934
+v -0.01603449 -0.03797159 -0.00506994
+v -0.01650563 -0.03797159 -0.00527548
+v -0.01650563 -0.03517711 -0.00286196
+v -0.01650563 -0.03304130 -0.00292939
+v -0.01545463 -0.03797160 -0.00332444
+v -0.01500615 -0.03517711 -0.00359661
+v -0.01668683 -0.02663881 -0.00363030
+v -0.01706283 -0.02494294 -0.00381175
+v -0.02170171 -0.01433028 -0.00399276
+v -0.01542292 -0.02968398 -0.00419877
+v -0.01526890 -0.03090796 -0.00394224
+v -0.01506504 -0.03304130 -0.00365080
+v -0.01498350 -0.03731046 -0.00357414
+v -0.01497897 -0.03797160 -0.00356531
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 26
+f 1 26 38
+f 1 38 57
+f 1 57 56
+f 1 56 80
+f 1 80 83
+f 1 83 64
+f 1 64 63
+f 1 63 60
+f 1 60 40
+f 1 40 28
+f 1 28 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 3 8 4
+f 4 8 9
+f 5 7 10
+f 5 10 8
+f 6 11 20
+f 6 20 33
+f 6 33 45
+f 6 45 70
+f 6 70 92
+f 6 92 77
+f 6 77 52
+f 6 52 34
+f 6 34 21
+f 6 21 12
+f 6 12 7
+f 7 12 10
+f 8 13 14
+f 8 14 9
+f 8 10 13
+f 10 12 15
+f 10 15 13
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 12 21 15
+f 13 15 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 15 21 27
+f 15 27 22
+f 16 28 18
+f 16 18 17
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 21 34 27
+f 22 27 35
+f 22 35 24
+f 22 24 23
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 37 26
+f 26 37 38
+f 27 34 39
+f 27 39 35
+f 28 40 29
+f 29 41 30
+f 29 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 44 33
+f 33 44 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 75
+f 33 75 97
+f 33 97 96
+f 33 96 95
+f 33 95 109
+f 33 109 100
+f 33 100 81
+f 33 81 58
+f 33 58 37
+f 33 37 55
+f 33 55 79
+f 33 79 68
+f 33 68 45
+f 34 52 39
+f 35 39 53
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 56 57
+f 37 57 38
+f 37 58 56
+f 39 52 59
+f 39 59 53
+f 40 60 61
+f 40 61 41
+f 41 61 42
+f 42 44 43
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 67
+f 42 67 44
+f 44 67 46
+f 45 68 69
+f 45 69 70
+f 46 67 47
+f 47 67 71
+f 47 71 48
+f 48 71 72
+f 48 72 49
+f 49 73 74
+f 49 74 50
+f 49 72 73
+f 50 74 75
+f 50 75 51
+f 52 76 59
+f 52 77 76
+f 53 59 54
+f 54 78 55
+f 54 59 76
+f 54 76 78
+f 55 78 79
+f 56 58 80
+f 58 81 80
+f 60 63 61
+f 61 63 82
+f 61 82 62
+f 62 82 63
+f 64 83 104
+f 64 104 84
+f 64 84 85
+f 64 85 65
+f 65 85 86
+f 65 86 87
+f 65 87 88
+f 65 88 89
+f 65 89 66
+f 66 89 90
+f 66 90 67
+f 67 90 72
+f 67 72 71
+f 68 79 78
+f 68 78 69
+f 69 91 70
+f 69 78 91
+f 70 91 92
+f 72 90 89
+f 72 89 73
+f 73 89 93
+f 73 93 94
+f 73 94 95
+f 73 95 96
+f 73 96 74
+f 74 96 97
+f 74 97 75
+f 76 77 91
+f 76 91 78
+f 77 92 91
+f 80 81 98
+f 80 98 99
+f 80 99 83
+f 81 100 101
+f 81 101 98
+f 83 99 102
+f 83 102 103
+f 83 103 104
+f 84 104 103
+f 84 103 85
+f 85 103 105
+f 85 105 86
+f 86 105 106
+f 86 106 87
+f 87 106 107
+f 87 107 88
+f 88 107 101
+f 88 101 93
+f 88 93 89
+f 93 101 108
+f 93 108 94
+f 94 108 109
+f 94 109 95
+f 98 101 99
+f 99 101 107
+f 99 107 102
+f 100 109 101
+f 101 109 108
+f 102 107 106
+f 102 106 105
+f 102 105 103
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_33.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.00363457 0.06417313 0.00058636
+v -0.00363457 0.06401791 -0.00003367
+v -0.00578189 0.06402193 -0.00003763
+v -0.00578189 0.06416644 0.00058636
+v 0.00050596 0.06409285 0.00058636
+v -0.00363457 0.06332745 -0.00119463
+v -0.00578189 0.06335019 -0.00119463
+v 0.00050596 0.06397777 0.00021355
+v 0.00050596 0.06395502 0.00014333
+v 0.00050596 0.06328195 -0.00110267
+v 0.00050596 0.06323110 -0.00119463
+v -0.00792586 0.06334484 -0.00119463
+v -0.00792586 0.06401791 -0.00001389
+v -0.00792586 0.06415172 0.00058636
+v 0.00050596 0.05774617 0.00058633
+v -0.00363457 0.06230514 -0.00259589
+v -0.00578189 0.06232387 -0.00260973
+v 0.00050596 0.06233725 -0.00247227
+v 0.00050596 0.06227034 -0.00256721
+v -0.00792586 0.06232253 -0.00260874
+v -0.03371711 0.06223288 -0.00252963
+v -0.03371711 0.06312271 -0.00119463
+v -0.00914189 0.06413968 0.00058636
+v -0.03371711 0.06388410 0.00053493
+v -0.03371711 0.06389614 0.00058635
+v 0.00050596 0.05050298 -0.00606494
+v 0.00046241 0.05774082 0.00058633
+v 0.00050596 0.06127613 -0.00350269
+v 0.00050596 0.06120119 -0.00357292
+v -0.00578189 0.06121457 -0.00361643
+v -0.00792586 0.06121725 -0.00361445
+v -0.01006983 0.06121859 -0.00360654
+v -0.03371711 0.06117978 -0.00353534
+v -0.03371711 0.05987377 0.00058634
+v -0.00149061 0.05050298 -0.00606395
+v 0.00050596 0.05050299 -0.00934112
+v -0.00149061 0.05754545 0.00058633
+v 0.00050596 0.06020966 -0.00439864
+v 0.00050596 0.06013472 -0.00446094
+v -0.00792586 0.06015078 -0.00447181
+v -0.01006983 0.06015212 -0.00447478
+v -0.03371711 0.06011197 -0.00445500
+v -0.03371711 0.06014008 -0.00443127
+v -0.03371711 0.05050298 -0.00607779
+v -0.00289089 0.05763243 0.00058633
+v -0.00621403 0.05050298 -0.00606395
+v -0.01650508 0.05050299 -0.00944594
+v 0.00050596 0.05229338 -0.00867263
+v -0.00836135 0.05050298 -0.00606494
+v 0.00050596 0.05882471 -0.00526490
+v -0.01006983 0.05872569 -0.00535390
+v -0.01221379 0.05872569 -0.00535489
+v -0.02293698 0.05872569 -0.00535192
+v -0.03371711 0.05872569 -0.00534599
+v -0.03371711 0.05050299 -0.00951615
+v -0.02508094 0.05050299 -0.00949341
+v -0.02508094 0.05232550 -0.00880613
+v 0.00050596 0.05236698 -0.00864198
+v 0.00050596 0.05872569 -0.00532522
+v -0.01221379 0.05743307 -0.00609953
+v -0.02293698 0.05746117 -0.00611140
+v -0.02508094 0.05746251 -0.00611140
+v -0.03371711 0.05749462 -0.00608964
+v -0.03371711 0.05055116 -0.00949835
+v -0.02968377 0.05050299 -0.00950923
+v -0.02722491 0.05050299 -0.00950330
+v -0.02722491 0.05232550 -0.00881701
+v 0.00050596 0.05335986 -0.00821773
+v 0.00050596 0.05749329 -0.00603031
+v 0.00050596 0.05740096 -0.00608272
+v -0.02936888 0.05457487 -0.00771538
+v -0.02936888 0.05639603 -0.00670967
+v -0.03151619 0.05639603 -0.00671165
+v -0.03371711 0.05642413 -0.00669781
+v -0.03371711 0.05746251 -0.00610843
+v -0.03371711 0.05232550 -0.00882986
+v -0.03366016 0.05232550 -0.00882986
+v -0.02936888 0.05232550 -0.00882294
+v -0.02753980 0.05050299 -0.00950428
+v -0.02722491 0.05350304 -0.00829487
+v 0.00050596 0.05445979 -0.00763825
+v 0.00050596 0.05633582 -0.00664935
+v -0.02722491 0.05456952 -0.00771241
+v -0.02936888 0.05350705 -0.00829684
+v -0.03371711 0.05457888 -0.00771934
+v -0.03371711 0.05351240 -0.00829882
+v -0.03366016 0.05351240 -0.00829882
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 23
+f 1 23 25
+f 1 25 34
+f 1 34 45
+f 1 45 37
+f 1 37 27
+f 1 27 15
+f 1 15 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 6
+f 3 7 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 5 15 26
+f 5 26 36
+f 5 36 48
+f 5 48 58
+f 5 58 68
+f 5 68 81
+f 5 81 82
+f 5 82 70
+f 5 70 69
+f 5 69 59
+f 5 59 50
+f 5 50 39
+f 5 39 38
+f 5 38 29
+f 5 29 28
+f 5 28 19
+f 5 19 18
+f 5 18 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 6 16 17
+f 6 17 7
+f 6 11 18
+f 6 18 19
+f 6 19 16
+f 7 17 20
+f 7 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 23 14
+f 13 22 24
+f 13 24 25
+f 13 25 23
+f 15 27 26
+f 16 19 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 43
+f 21 43 42
+f 21 42 54
+f 21 54 63
+f 21 63 75
+f 21 75 74
+f 21 74 85
+f 21 85 86
+f 21 86 76
+f 21 76 64
+f 21 64 55
+f 21 55 44
+f 21 44 34
+f 21 34 25
+f 21 25 24
+f 21 24 22
+f 26 35 46
+f 26 46 49
+f 26 49 44
+f 26 44 55
+f 26 55 65
+f 26 65 79
+f 26 79 66
+f 26 66 56
+f 26 56 47
+f 26 47 36
+f 26 27 37
+f 26 37 35
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 34 44 45
+f 35 37 46
+f 36 47 48
+f 37 49 46
+f 37 45 44
+f 37 44 49
+f 39 50 51
+f 39 51 40
+f 40 51 41
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 47 56 57
+f 47 57 48
+f 48 57 58
+f 50 59 51
+f 51 59 60
+f 51 60 61
+f 51 61 52
+f 52 61 62
+f 52 62 53
+f 53 62 63
+f 53 63 54
+f 55 64 65
+f 56 66 67
+f 56 67 57
+f 57 67 68
+f 57 68 58
+f 59 69 60
+f 60 69 70
+f 60 70 71
+f 60 71 61
+f 61 71 72
+f 61 72 73
+f 61 73 74
+f 61 74 62
+f 62 74 75
+f 62 75 63
+f 64 76 77
+f 64 77 78
+f 64 78 65
+f 65 78 79
+f 66 79 67
+f 67 79 78
+f 67 78 80
+f 67 80 68
+f 68 80 81
+f 70 82 80
+f 70 80 83
+f 70 83 71
+f 71 84 85
+f 71 85 72
+f 71 83 80
+f 71 80 84
+f 72 85 73
+f 73 85 74
+f 76 86 87
+f 76 87 77
+f 77 84 78
+f 77 87 84
+f 78 84 80
+f 80 82 81
+f 84 87 85
+f 85 87 86
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_34.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.05292692 0.03716230 -0.00838064
+v 0.03786926 0.03716230 -0.00857708
+v 0.05292692 0.03716231 -0.01110294
+v 0.05292692 0.03945993 -0.00746352
+v 0.03786926 0.06017113 0.00063602
+v 0.03786926 0.03716231 -0.01123894
+v 0.05213092 0.03716231 -0.01111805
+v 0.05292692 0.03738501 -0.01107969
+v 0.05292692 0.06067085 0.00063602
+v 0.03786926 0.06432369 0.00063604
+v 0.03786926 0.03738501 -0.01121801
+v 0.04140851 0.03738501 -0.01120058
+v 0.04355328 0.03716231 -0.01120988
+v 0.04998614 0.03716231 -0.01114943
+v 0.05213092 0.03738501 -0.01109480
+v 0.05292692 0.03872937 -0.01092626
+v 0.05292692 0.06490761 0.00063604
+v 0.04355328 0.06459800 0.00063604
+v 0.03786926 0.06414173 -0.00037988
+v 0.03786926 0.03951969 -0.01099948
+v 0.04355328 0.03738501 -0.01118895
+v 0.04377587 0.03716231 -0.01120871
+v 0.04140851 0.03951969 -0.01098204
+v 0.04806543 0.03716231 -0.01117617
+v 0.04784136 0.03738501 -0.01115641
+v 0.04998614 0.03738501 -0.01112618
+v 0.04784136 0.03951969 -0.01092508
+v 0.04998614 0.03951969 -0.01088905
+v 0.05213092 0.03951969 -0.01085069
+v 0.05292692 0.03951969 -0.01083209
+v 0.05292692 0.06443233 -0.00103081
+v 0.05213092 0.06442418 -0.00101337
+v 0.05233729 0.06489403 0.00063604
+v 0.04569659 0.06469849 0.00063604
+v 0.04355328 0.06427752 -0.00066931
+v 0.03786926 0.06397063 -0.00073093
+v 0.03786926 0.04165436 -0.01075886
+v 0.04569659 0.03738501 -0.01117733
+v 0.04355328 0.03951969 -0.01097042
+v 0.04591917 0.03716231 -0.01119709
+v 0.03926373 0.04165436 -0.01075189
+v 0.04784136 0.03716231 -0.01117849
+v 0.04569659 0.03951969 -0.01095414
+v 0.04569659 0.04165436 -0.01069842
+v 0.04784136 0.04165436 -0.01066355
+v 0.04998614 0.04165436 -0.01061938
+v 0.05213092 0.04165436 -0.01057172
+v 0.05292692 0.04086404 -0.01065541
+v 0.05292692 0.06426395 -0.00140393
+v 0.05213092 0.06396521 -0.00201884
+v 0.04998614 0.06439431 -0.00093782
+v 0.05213092 0.06488860 0.00063604
+v 0.04784136 0.06436172 -0.00085529
+v 0.04784136 0.06477453 0.00063604
+v 0.04569659 0.06432641 -0.00076927
+v 0.04569659 0.06383213 -0.00177591
+v 0.04355328 0.06378053 -0.00167478
+v 0.03786926 0.06364746 -0.00138535
+v 0.03786926 0.04378904 -0.01046942
+v 0.04140851 0.04165436 -0.01074026
+v 0.04355328 0.04165436 -0.01072283
+v 0.04140851 0.04378904 -0.01044617
+v 0.04360045 0.04398458 -0.01038922
+v 0.04569659 0.04366954 -0.01040549
+v 0.04784136 0.04351745 -0.01038573
+v 0.04998614 0.04336536 -0.01035899
+v 0.05213092 0.04320784 -0.01033110
+v 0.05292692 0.04314538 -0.01032064
+v 0.05292692 0.04165436 -0.01054963
+v 0.05292692 0.06397336 -0.00203744
+v 0.05213092 0.06294133 -0.00320680
+v 0.04784136 0.06281368 -0.00317192
+v 0.04569659 0.06276480 -0.00312892
+v 0.04355328 0.06271591 -0.00308358
+v 0.03786926 0.06258012 -0.00294526
+v 0.04998614 0.06392447 -0.00194329
+v 0.04784136 0.06388102 -0.00186192
+v 0.03786926 0.04459022 -0.01034156
+v 0.03786926 0.04500303 -0.01027529
+v 0.04140851 0.04492970 -0.01026134
+v 0.04291649 0.04489168 -0.01025322
+v 0.04434633 0.04482922 -0.01024043
+v 0.05292692 0.04421271 -0.01012768
+v 0.05292692 0.06296305 -0.00320680
+v 0.05213092 0.06197177 -0.00424829
+v 0.05062294 0.06194190 -0.00422620
+v 0.04919309 0.06191474 -0.00420296
+v 0.04993897 0.06268060 -0.00340208
+v 0.04784136 0.06187943 -0.00417738
+v 0.04569659 0.06182511 -0.00413438
+v 0.04355328 0.06176808 -0.00408904
+v 0.04140851 0.06266159 -0.00303476
+v 0.03786926 0.06224335 -0.00329746
+v 0.03786926 0.04569829 -0.01013929
+v 0.03786926 0.04607037 -0.01006374
+v 0.04140851 0.04599704 -0.01004049
+v 0.04360045 0.04573088 -0.01006490
+v 0.05292692 0.04592371 -0.00980569
+v 0.04569659 0.04473688 -0.01022183
+v 0.05292692 0.04805838 -0.00935816
+v 0.05292692 0.06259370 -0.00360317
+v 0.05292692 0.06198264 -0.00425759
+v 0.05292692 0.06155896 -0.00450634
+v 0.05292692 0.06086098 -0.00490621
+v 0.03926373 0.06058396 -0.00469930
+v 0.03786926 0.06054323 -0.00468303
+v 0.04140851 0.06170832 -0.00404022
+v 0.03926373 0.06165129 -0.00398675
+v 0.03786926 0.06161055 -0.00395072
+v 0.03786926 0.04735226 -0.00978244
+v 0.03786926 0.04805839 -0.00962435
+v 0.04140851 0.04805839 -0.00956972
+v 0.04355328 0.04805839 -0.00953368
+v 0.05292692 0.05019034 -0.00881417
+v 0.05292692 0.06016300 -0.00525608
+v 0.03786926 0.05872631 -0.00563967
+v 0.03786926 0.04944619 -0.00924076
+v 0.03786926 0.05019034 -0.00903037
+v 0.05292692 0.05169221 -0.00837245
+v 0.05292692 0.05890827 -0.00586517
+v 0.03786926 0.05754219 -0.00617437
+v 0.03786926 0.05182801 -0.00846428
+v 0.05292692 0.05659163 -0.00674626
+v 0.05292692 0.05445697 -0.00747625
+v 0.05292692 0.05275683 -0.00802955
+v 0.05292692 0.05851175 -0.00602908
+v 0.05292692 0.05784093 -0.00629526
+v 0.05292692 0.05734936 -0.00647427
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 40
+f 1 40 42
+f 1 42 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 30
+f 1 30 48
+f 1 48 69
+f 1 69 68
+f 1 68 83
+f 1 83 98
+f 1 98 100
+f 1 100 114
+f 1 114 119
+f 1 119 125
+f 1 125 124
+f 1 124 123
+f 1 123 128
+f 1 128 127
+f 1 127 126
+f 1 126 120
+f 1 120 115
+f 1 115 104
+f 1 104 103
+f 1 103 102
+f 1 102 101
+f 1 101 84
+f 1 84 70
+f 1 70 49
+f 1 49 31
+f 1 31 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 19
+f 2 19 36
+f 2 36 58
+f 2 58 75
+f 2 75 93
+f 2 93 109
+f 2 109 106
+f 2 106 116
+f 2 116 121
+f 2 121 122
+f 2 122 118
+f 2 118 117
+f 2 117 111
+f 2 111 110
+f 2 110 95
+f 2 95 94
+f 2 94 79
+f 2 79 78
+f 2 78 59
+f 2 59 37
+f 2 37 20
+f 2 20 11
+f 2 11 6
+f 3 7 15
+f 3 15 8
+f 4 9 5
+f 5 9 17
+f 5 17 33
+f 5 33 52
+f 5 52 54
+f 5 54 34
+f 5 34 18
+f 5 18 10
+f 6 11 12
+f 6 12 13
+f 7 14 26
+f 7 26 15
+f 8 15 16
+f 10 18 19
+f 11 20 23
+f 11 23 12
+f 12 21 22
+f 12 22 13
+f 12 23 39
+f 12 39 21
+f 14 24 25
+f 14 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 17 31 32
+f 17 32 33
+f 18 34 19
+f 19 34 35
+f 19 35 36
+f 20 37 23
+f 21 38 40
+f 21 40 22
+f 21 39 38
+f 23 37 41
+f 23 41 60
+f 23 60 39
+f 24 42 25
+f 25 42 38
+f 25 38 43
+f 25 43 27
+f 25 27 26
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 33 51 53
+f 33 53 52
+f 34 54 35
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 37 59 41
+f 38 42 40
+f 38 39 43
+f 39 60 43
+f 41 59 60
+f 43 60 61
+f 43 61 44
+f 44 61 62
+f 44 62 63
+f 44 63 64
+f 44 64 45
+f 45 64 65
+f 45 65 46
+f 46 65 47
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 49 70 50
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 55
+f 50 55 53
+f 50 53 51
+f 52 53 54
+f 53 55 54
+f 55 76 77
+f 55 77 56
+f 56 77 75
+f 56 75 57
+f 57 75 58
+f 59 78 62
+f 59 62 60
+f 60 62 61
+f 62 78 79
+f 62 79 80
+f 62 80 81
+f 62 81 63
+f 63 81 82
+f 63 82 64
+f 64 82 65
+f 65 82 66
+f 66 82 83
+f 66 83 67
+f 67 83 68
+f 70 84 71
+f 71 84 85
+f 71 85 86
+f 71 86 87
+f 71 87 88
+f 71 88 72
+f 72 88 87
+f 72 87 73
+f 73 87 74
+f 74 87 89
+f 74 89 90
+f 74 90 91
+f 74 91 92
+f 74 92 75
+f 75 77 76
+f 75 92 91
+f 75 91 93
+f 79 94 80
+f 80 94 95
+f 80 95 81
+f 81 95 96
+f 81 96 97
+f 81 97 82
+f 82 98 99
+f 82 99 83
+f 82 97 100
+f 82 100 98
+f 83 99 98
+f 84 101 85
+f 85 101 102
+f 85 102 103
+f 85 103 86
+f 86 103 104
+f 86 104 105
+f 86 105 87
+f 87 105 106
+f 87 106 89
+f 89 106 90
+f 90 106 91
+f 91 106 107
+f 91 107 93
+f 93 107 108
+f 93 108 109
+f 95 110 96
+f 96 110 111
+f 96 111 112
+f 96 112 97
+f 97 112 113
+f 97 113 100
+f 100 113 114
+f 104 115 116
+f 104 116 105
+f 105 116 106
+f 106 109 108
+f 106 108 107
+f 111 117 114
+f 111 114 112
+f 112 114 113
+f 114 118 119
+f 114 117 118
+f 115 120 116
+f 116 120 121
+f 118 122 123
+f 118 123 124
+f 118 124 125
+f 118 125 119
+f 120 126 121
+f 121 126 122
+f 122 126 127
+f 122 127 128
+f 122 128 123
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_35.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.05846663 -0.04323052 0.00361111
+v -0.05864051 -0.05067409 0.00058593
+v -0.05914474 -0.05651844 0.00058591
+v -0.05846663 -0.04323053 0.00457741
+v -0.05725386 -0.04323052 0.00291654
+v -0.05559336 -0.04323052 0.00248561
+v -0.05510651 -0.04323052 0.00236292
+v -0.05834492 -0.05049298 0.00058593
+v -0.05878830 -0.05795957 0.00058591
+v -0.05911866 -0.05651844 0.00081709
+v -0.05851010 -0.05386486 0.00576522
+v -0.05825798 -0.04323053 0.00558325
+v -0.05296351 -0.04893521 0.00058594
+v -0.05511520 -0.04933271 0.00058594
+v -0.05725386 -0.04984225 0.00058594
+v -0.03419379 -0.04323052 0.00190664
+v -0.05876221 -0.05793962 0.00081709
+v -0.05725386 -0.05835554 0.00058591
+v -0.05873613 -0.05652919 0.00275984
+v -0.05858834 -0.05582475 0.00424985
+v -0.05725386 -0.05480106 0.00576522
+v -0.05821017 -0.04323053 0.00576526
+v -0.05822321 -0.04323053 0.00572470
+v -0.03214207 -0.04323052 0.00186355
+v -0.03051635 -0.04323052 0.00183516
+v -0.02982085 -0.04323052 0.00182400
+v -0.02900799 -0.04323052 0.00181285
+v -0.02774740 -0.04323052 0.00180271
+v -0.02556963 -0.04323052 0.00178750
+v -0.02723012 -0.04844715 0.00058594
+v -0.05725386 -0.05831718 0.00081709
+v -0.05849271 -0.05771249 0.00204348
+v -0.05535428 -0.05838470 0.00058591
+v -0.05725386 -0.05607184 0.00454339
+v -0.05725386 -0.05507118 0.00554925
+v -0.05678440 -0.05487473 0.00576522
+v -0.05425018 -0.04323053 0.00576526
+v -0.02508278 -0.04323052 0.00178649
+v -0.02333534 -0.04323052 0.00178902
+v -0.02508278 -0.04848245 0.00058594
+v -0.05725386 -0.05779383 0.00219050
+v -0.05510651 -0.05834940 0.00081709
+v -0.05510651 -0.05781379 0.00223207
+v -0.05725386 -0.05714003 0.00319584
+v -0.01474161 -0.05890959 0.00058590
+v -0.05510651 -0.05613477 0.00462349
+v -0.05510651 -0.05523387 0.00562935
+v -0.05510651 -0.05507579 0.00576522
+v -0.01474161 -0.04569535 0.00576525
+v -0.01864943 -0.04323053 0.00478932
+v -0.02293108 -0.04323052 0.00179409
+v -0.02293978 -0.04869885 0.00058594
+v -0.05510651 -0.05720295 0.00323741
+v -0.01474161 -0.05884513 0.00081708
+v -0.01474161 -0.05800563 0.00247745
+v -0.01474161 -0.05468287 0.00058592
+v -0.01474161 -0.05731038 0.00348279
+v -0.01474161 -0.05624374 0.00456266
+v -0.01474161 -0.05505737 0.00556851
+v -0.01474161 -0.05475349 0.00576522
+v -0.01474161 -0.04593170 0.00488970
+v -0.01531105 -0.04458418 0.00282833
+v -0.01528931 -0.04454120 0.00401314
+v -0.01658902 -0.04323053 0.00429603
+v -0.02180090 -0.04323052 0.00182451
+v -0.01650643 -0.04459492 0.00178243
+v -0.01541537 -0.04475914 0.00181133
+v -0.02046642 -0.04953222 0.00058594
+v -0.01474161 -0.04595319 0.00484204
+v -0.01792351 -0.05062958 0.00058593
+v -0.01656729 -0.04323052 0.00280197
+v -0.01656729 -0.04323052 0.00303112
+v -0.02063595 -0.04323052 0.00190664
+v -0.01880157 -0.04323052 0.00203693
+v -0.01833646 -0.05040243 0.00058593
+v -0.01862770 -0.05025663 0.00058594
+v -0.01864943 -0.04323052 0.00205265
+v -0.01691069 -0.04323052 0.00262503
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 23
+f 1 23 22
+f 1 22 37
+f 1 37 50
+f 1 50 64
+f 1 64 72
+f 1 72 71
+f 1 71 78
+f 1 78 77
+f 1 77 74
+f 1 74 73
+f 1 73 65
+f 1 65 51
+f 1 51 39
+f 1 39 38
+f 1 38 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 16
+f 1 16 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 15
+f 2 15 14
+f 2 14 13
+f 2 13 30
+f 2 30 40
+f 2 40 52
+f 2 52 68
+f 2 68 76
+f 2 76 75
+f 2 75 70
+f 2 70 56
+f 2 56 45
+f 2 45 33
+f 2 33 18
+f 2 18 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 7 16 13
+f 9 17 10
+f 9 18 17
+f 10 17 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 36
+f 11 36 48
+f 11 48 60
+f 11 60 49
+f 11 49 37
+f 11 37 22
+f 11 22 23
+f 11 23 12
+f 13 16 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 17 18 31
+f 17 31 32
+f 17 32 20
+f 17 20 19
+f 18 33 31
+f 20 32 34
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 31 41 32
+f 31 33 42
+f 31 42 43
+f 31 43 41
+f 32 41 44
+f 32 44 34
+f 33 45 42
+f 34 44 46
+f 34 46 47
+f 34 47 35
+f 35 47 48
+f 35 48 36
+f 37 49 50
+f 39 51 40
+f 40 51 52
+f 41 43 53
+f 41 53 44
+f 42 45 54
+f 42 54 43
+f 43 54 55
+f 43 55 53
+f 44 53 46
+f 45 56 69
+f 45 69 61
+f 45 61 49
+f 45 49 60
+f 45 60 59
+f 45 59 58
+f 45 58 57
+f 45 57 55
+f 45 55 54
+f 46 53 57
+f 46 57 47
+f 47 57 58
+f 47 58 48
+f 48 58 59
+f 48 59 60
+f 49 61 62
+f 49 62 63
+f 49 63 64
+f 49 64 50
+f 51 65 52
+f 52 65 66
+f 52 66 67
+f 52 67 68
+f 53 55 57
+f 56 70 67
+f 56 67 69
+f 61 69 62
+f 62 69 67
+f 62 67 71
+f 62 71 63
+f 63 71 72
+f 63 72 64
+f 65 73 66
+f 66 73 74
+f 66 74 67
+f 67 70 75
+f 67 75 76
+f 67 76 68
+f 67 74 77
+f 67 77 78
+f 67 78 71
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_36.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.04507556 -0.04663462 -0.00719504
+v 0.03723195 -0.05039748 -0.00827027
+v 0.03328432 -0.04873820 -0.00463687
+v 0.03267426 -0.04841883 -0.00335427
+v 0.03497570 -0.04796922 -0.00320687
+v 0.04578245 -0.04663463 -0.00535026
+v 0.04750288 -0.04663462 -0.00807563
+v 0.03306160 -0.05220488 -0.00827027
+v 0.04918135 -0.04663462 -0.00827025
+v 0.02555691 -0.05564123 -0.00827028
+v 0.03143478 -0.04870609 -0.00278252
+v 0.03143478 -0.04870609 -0.00179601
+v 0.03354900 -0.04839385 -0.00175134
+v 0.03497570 -0.04822257 -0.00175134
+v 0.05094052 -0.04663464 -0.00175133
+v 0.05010774 -0.04663464 -0.00228160
+v 0.05808046 -0.04663462 -0.00827025
+v 0.02555691 -0.06029977 -0.00827030
+v 0.02555691 -0.05320939 -0.00430635
+v 0.02555691 -0.05274729 -0.00320688
+v 0.02555691 -0.05271874 -0.00246093
+v 0.02555691 -0.05271696 -0.00239839
+v 0.03154130 -0.04869717 -0.00175134
+v 0.02555691 -0.05279903 -0.00175135
+v 0.05797717 -0.04663464 -0.00175133
+v 0.05848394 -0.04663464 -0.00392728
+v 0.05841616 -0.05011737 -0.00827026
+v 0.02555691 -0.06053171 -0.00778406
+v 0.03403963 -0.06167717 -0.00827031
+v 0.03421393 -0.06181098 -0.00812993
+v 0.02555691 -0.06123292 -0.00175138
+v 0.05799654 -0.05464032 -0.00175136
+v 0.05814825 -0.04663464 -0.00218843
+v 0.05852268 -0.04663464 -0.00315325
+v 0.05852913 -0.05225305 -0.00827027
+v 0.02555691 -0.06078685 -0.00722954
+v 0.03561158 -0.06191803 -0.00827031
+v 0.03494665 -0.06218744 -0.00736739
+v 0.05036919 -0.06409832 -0.00827032
+v 0.04902965 -0.06396807 -0.00813695
+v 0.02555691 -0.06128645 -0.00198302
+v 0.03497570 -0.06285475 -0.00175139
+v 0.05797072 -0.05652800 -0.00175137
+v 0.05822894 -0.05651908 -0.00320690
+v 0.05785452 -0.06439628 -0.00722956
+v 0.05776736 -0.06429636 -0.00827032
+v 0.05815147 -0.05865297 -0.00521823
+v 0.03282920 -0.06205364 -0.00679373
+v 0.02555691 -0.06144166 -0.00510912
+v 0.03497570 -0.06285296 -0.00521824
+v 0.05067583 -0.06413935 -0.00827032
+v 0.05427486 -0.06480129 -0.00722956
+v 0.03711898 -0.06313665 -0.00521824
+v 0.02555691 -0.06136673 -0.00234228
+v 0.03497570 -0.06309919 -0.00320692
+v 0.03711898 -0.06336682 -0.00320692
+v 0.03711898 -0.06311346 -0.00175139
+v 0.02555691 -0.06158262 -0.00331157
+v 0.05790939 -0.05717388 -0.00175137
+v 0.05756078 -0.06205365 -0.00188986
+v 0.05773509 -0.06425355 -0.00521825
+v 0.05641813 -0.06486017 -0.00722956
+v 0.05641813 -0.06463714 -0.00827032
+v 0.02744842 -0.06185560 -0.00422087
+v 0.05275778 -0.06438022 -0.00827032
+v 0.04453329 -0.06399484 -0.00430320
+v 0.03926548 -0.06339000 -0.00521824
+v 0.05437492 -0.06454259 -0.00827032
+v 0.05427486 -0.06473171 -0.00521825
+v 0.04453329 -0.06399484 -0.00418770
+v 0.03926548 -0.06353810 -0.00320692
+v 0.04140875 -0.06366300 -0.00320692
+v 0.03926548 -0.06322587 -0.00175139
+v 0.05754464 -0.06078687 -0.00175138
+v 0.05735420 -0.06216962 -0.00175139
+v 0.05757047 -0.06406622 -0.00402243
+v 0.05641813 -0.06466927 -0.00521825
+v 0.05427486 -0.06428747 -0.00330902
+v 0.05427486 -0.06395382 -0.00230335
+v 0.05427486 -0.06369690 -0.00175139
+v 0.05649883 -0.06301177 -0.00175139
+v 0.05641813 -0.06360233 -0.00256817
+v 0.05641813 -0.06421788 -0.00357448
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 15
+f 1 15 25
+f 1 25 33
+f 1 33 34
+f 1 34 26
+f 1 26 17
+f 1 17 9
+f 1 9 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 17
+f 2 17 27
+f 2 27 35
+f 2 35 46
+f 2 46 63
+f 2 63 68
+f 2 68 65
+f 2 65 51
+f 2 51 39
+f 2 39 37
+f 2 37 29
+f 2 29 18
+f 2 18 10
+f 2 10 8
+f 3 8 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 12 13
+f 10 18 28
+f 10 28 36
+f 10 36 49
+f 10 49 58
+f 10 58 54
+f 10 54 41
+f 10 41 31
+f 10 31 24
+f 10 24 22
+f 10 22 21
+f 10 21 20
+f 10 20 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 23 13
+f 12 22 24
+f 12 24 23
+f 13 23 24
+f 13 24 31
+f 13 31 42
+f 13 42 57
+f 13 57 73
+f 13 73 80
+f 13 80 81
+f 13 81 75
+f 13 75 74
+f 13 74 59
+f 13 59 43
+f 13 43 32
+f 13 32 25
+f 13 25 15
+f 13 15 14
+f 17 26 27
+f 18 29 30
+f 18 30 28
+f 25 32 33
+f 26 34 35
+f 26 35 27
+f 28 30 36
+f 29 37 30
+f 30 38 36
+f 30 37 39
+f 30 39 40
+f 30 40 38
+f 31 41 42
+f 32 43 34
+f 32 34 33
+f 34 44 35
+f 34 43 44
+f 35 45 46
+f 35 44 47
+f 35 47 45
+f 36 48 49
+f 36 38 48
+f 38 50 48
+f 38 40 50
+f 39 51 40
+f 40 51 52
+f 40 52 53
+f 40 53 50
+f 41 54 42
+f 42 55 56
+f 42 56 57
+f 42 54 58
+f 42 58 55
+f 43 59 60
+f 43 60 44
+f 44 61 45
+f 44 45 47
+f 44 60 61
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 48 50 49
+f 49 64 58
+f 49 50 64
+f 50 53 55
+f 50 55 64
+f 51 65 52
+f 52 66 56
+f 52 56 67
+f 52 67 53
+f 52 65 68
+f 52 68 63
+f 52 63 62
+f 52 62 69
+f 52 69 70
+f 52 70 66
+f 53 67 56
+f 53 56 55
+f 55 58 64
+f 56 66 70
+f 56 70 71
+f 56 71 57
+f 57 71 72
+f 57 72 73
+f 59 74 60
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 61 76 77
+f 61 77 62
+f 62 77 69
+f 69 77 78
+f 69 78 73
+f 69 73 72
+f 69 72 71
+f 69 71 70
+f 73 78 79
+f 73 79 80
+f 75 81 76
+f 76 81 82
+f 76 82 83
+f 76 83 77
+f 77 83 78
+f 78 83 79
+f 79 83 80
+f 80 83 82
+f 80 82 81
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_37.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02555369 -0.05271647 -0.00239826
+v 0.02555369 -0.05279893 -0.00175135
+v 0.02555369 -0.05274598 -0.00320705
+v 0.00494620 -0.05302544 -0.00759474
+v 0.02555369 -0.06123373 -0.00175138
+v 0.00050596 -0.05333009 -0.00759475
+v 0.00709153 -0.05500093 -0.00175136
+v 0.02555369 -0.05320859 -0.00430641
+v 0.00709153 -0.05303412 -0.00759474
+v 0.02555369 -0.06128581 -0.00198304
+v 0.00050596 -0.06005158 -0.00175138
+v 0.00050596 -0.05864547 -0.00759477
+v 0.00050596 -0.05663182 -0.00175137
+v 0.02555369 -0.05563278 -0.00759475
+v 0.02419048 -0.05505039 -0.00759475
+v 0.02210153 -0.05475354 -0.00759475
+v 0.02555369 -0.06136653 -0.00234225
+v 0.00050596 -0.06010365 -0.00320708
+v 0.02555369 -0.06158352 -0.00331176
+v 0.00050596 -0.05891714 -0.00722927
+v 0.02555369 -0.06061920 -0.00759477
+v 0.00050596 -0.06009063 -0.00332491
+v 0.02555369 -0.06144203 -0.00510894
+v 0.00050596 -0.05960457 -0.00609846
+v 0.02555369 -0.06078758 -0.00722927
+v 0.00050596 -0.05965925 -0.00600580
+v 0.00050596 -0.05990228 -0.00499968
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 19
+f 1 19 23
+f 1 23 25
+f 1 25 21
+f 1 21 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 13
+f 2 13 11
+f 2 11 5
+f 3 8 9
+f 3 9 4
+f 4 9 16
+f 4 16 15
+f 4 15 14
+f 4 14 21
+f 4 21 12
+f 4 12 6
+f 5 11 10
+f 6 12 20
+f 6 20 24
+f 6 24 26
+f 6 26 27
+f 6 27 22
+f 6 22 18
+f 6 18 11
+f 6 11 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 11 17
+f 11 18 19
+f 11 19 17
+f 12 21 20
+f 18 22 23
+f 18 23 19
+f 20 21 24
+f 21 25 26
+f 21 26 24
+f 22 27 23
+f 23 27 26
+f 23 26 25
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_38.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00050596 -0.04498355 0.00576525
+v 0.00050596 -0.05546271 0.00576522
+v 0.00050596 -0.05564830 0.00058592
+v -0.01410878 -0.05472168 0.00058592
+v -0.01474161 -0.05468283 0.00058592
+v -0.01474161 -0.04595334 0.00484204
+v -0.01474161 -0.04593176 0.00488970
+v -0.01448788 -0.04564830 0.00576525
+v 0.00050596 -0.05651883 0.00496114
+v 0.00039701 -0.05545983 0.00576522
+v 0.00050596 -0.05968140 0.00058590
+v -0.01474161 -0.05890874 0.00058590
+v -0.01474161 -0.04569434 0.00576525
+v 0.00050596 -0.05773321 0.00398571
+v -0.00148954 -0.05540371 0.00576522
+v -0.00348354 -0.05531738 0.00576522
+v -0.00148954 -0.05651883 0.00489016
+v -0.00053582 -0.05965119 0.00058590
+v 0.00050596 -0.05950730 0.00108882
+v -0.01435803 -0.05893176 0.00058590
+v -0.01474161 -0.05885694 0.00077551
+v -0.01474161 -0.05475479 0.00576522
+v -0.00148954 -0.05768428 0.00393603
+v 0.00050596 -0.05778932 0.00390865
+v -0.01474161 -0.05505839 0.00556851
+v -0.01474161 -0.05624401 0.00456266
+v -0.00242535 -0.05959075 0.00058590
+v 0.00050596 -0.05948284 0.00115879
+v -0.00597157 -0.05943104 0.00058590
+v -0.01474161 -0.05884543 0.00081708
+v -0.00363429 -0.05762961 0.00387925
+v -0.00148954 -0.05847853 0.00282828
+v 0.00050596 -0.05856343 0.00282827
+v -0.01474161 -0.05731019 0.00348279
+v -0.00634171 -0.05755767 0.00380067
+v -0.00491188 -0.05759651 0.00384477
+v -0.00421488 -0.05951737 0.00058590
+v -0.00148954 -0.05944687 0.00106652
+v 0.00050596 -0.05863105 0.00270558
+v -0.00584769 -0.05943824 0.00058590
+v -0.01474161 -0.05800515 0.00247745
+v -0.00590739 -0.05940658 0.00065840
+v -0.00363429 -0.05939219 0.00097019
+v -0.00363429 -0.05836918 0.00282828
+v -0.00568799 -0.05813752 0.00300978
+v -0.00792229 -0.05820227 0.00273550
+f 1 2 9
+f 1 9 14
+f 1 14 24
+f 1 24 33
+f 1 33 39
+f 1 39 28
+f 1 28 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 13
+f 1 13 22
+f 1 22 16
+f 1 16 15
+f 1 15 10
+f 1 10 2
+f 2 10 9
+f 3 11 18
+f 3 18 27
+f 3 27 37
+f 3 37 40
+f 3 40 29
+f 3 29 20
+f 3 20 12
+f 3 12 5
+f 3 5 4
+f 5 12 21
+f 5 21 30
+f 5 30 41
+f 5 41 34
+f 5 34 26
+f 5 26 25
+f 5 25 22
+f 5 22 13
+f 5 13 7
+f 5 7 6
+f 7 13 8
+f 9 10 15
+f 9 15 16
+f 9 16 17
+f 9 17 14
+f 11 19 18
+f 12 20 21
+f 14 23 24
+f 14 17 25
+f 14 25 26
+f 14 26 23
+f 16 22 25
+f 16 25 17
+f 18 19 28
+f 18 28 27
+f 20 29 21
+f 21 29 30
+f 23 31 32
+f 23 32 24
+f 23 26 31
+f 24 32 33
+f 26 34 35
+f 26 35 36
+f 26 36 31
+f 27 28 38
+f 27 38 37
+f 28 39 32
+f 28 32 38
+f 29 40 30
+f 30 40 42
+f 30 42 43
+f 30 43 41
+f 31 36 32
+f 32 36 35
+f 32 35 44
+f 32 44 41
+f 32 41 43
+f 32 43 38
+f 32 39 33
+f 34 41 35
+f 35 41 45
+f 35 45 44
+f 37 42 40
+f 37 38 43
+f 37 43 42
+f 41 46 45
+f 41 44 46
+f 44 45 46
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_39.obj

@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.05140342 0.06497529 0.00282870
+v 0.05140342 0.06457461 0.00483975
+v 0.05140342 0.06494072 0.00150014
+v 0.00050596 0.06431715 0.00282870
+v 0.00050596 0.06411117 0.00394886
+v 0.05140342 0.06444341 0.00523510
+v 0.05140342 0.06492169 0.00081711
+v 0.00050596 0.06427201 0.00126872
+v 0.00050596 0.06362655 0.00495492
+v 0.05140342 0.06416830 0.00605902
+v 0.05140342 0.06487090 0.00063604
+v 0.00161698 0.06415492 0.00063604
+v 0.00050596 0.06426849 0.00115032
+v 0.00050596 0.06290352 0.00610883
+v 0.05140342 0.06414009 0.00610884
+v 0.05140342 0.06093124 0.00063602
+v 0.00050596 0.06410907 0.00063604
+v 0.00050596 0.05825352 0.00610881
+v 0.05140342 0.05993872 0.00610882
+v 0.05034721 0.05962200 0.00610882
+v 0.00051593 0.05776964 0.00063601
+v 0.00050596 0.05776964 0.00063601
+v 0.00251376 0.05825846 0.00610881
+v 0.02853544 0.05852863 0.00610881
+v 0.02425080 0.05840166 0.00610881
+v 0.02390704 0.05839813 0.00610881
+v 0.02639312 0.05844680 0.00610881
+v 0.02600950 0.05843411 0.00610881
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 19
+f 1 19 16
+f 1 16 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 13
+f 4 13 17
+f 4 17 22
+f 4 22 18
+f 4 18 14
+f 4 14 9
+f 4 9 5
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 11 16 21
+f 11 21 22
+f 11 22 17
+f 11 17 12
+f 12 17 13
+f 14 18 23
+f 14 23 26
+f 14 26 25
+f 14 25 28
+f 14 28 27
+f 14 27 24
+f 14 24 20
+f 14 20 19
+f 14 19 15
+f 16 19 20
+f 16 20 21
+f 18 22 21
+f 18 21 23
+f 20 24 21
+f 21 25 26
+f 21 26 23
+f 21 24 27
+f 21 27 28
+f 21 28 25
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_4.obj

@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v 0.02849588 -0.04663461 -0.01056294
+v 0.02639170 -0.04663461 -0.01050757
+v 0.02849588 -0.04663460 -0.01427599
+v 0.02849588 0.00492695 -0.01071220
+v 0.00050870 -0.04663461 -0.01020624
+v 0.00450335 0.00492695 -0.01037852
+v 0.02817806 -0.04663460 -0.01427648
+v 0.02849588 -0.04622069 -0.01431176
+v 0.02849588 0.00492696 -0.01433264
+v 0.00050596 -0.04662956 -0.01020771
+v 0.00050596 -0.04663461 -0.01021457
+v 0.00050596 0.00492695 -0.01038636
+v 0.02780271 -0.04663460 -0.01427158
+v 0.02424643 -0.04541812 -0.01431862
+v 0.02849588 -0.04596326 -0.01433087
+v 0.02849588 0.00491687 -0.01433411
+v 0.02837533 0.00492696 -0.01433509
+v 0.00050596 -0.04663460 -0.01309270
+v 0.00050596 0.00492696 -0.01402445
+v 0.02601087 -0.04663460 -0.01424757
+v 0.02210116 -0.04519602 -0.01430343
+v 0.02424643 -0.04371202 -0.01442690
+v 0.02639170 -0.04371202 -0.01445336
+v 0.02849588 -0.04371202 -0.01447834
+v 0.02849588 -0.04582193 -0.01434067
+v 0.02424643 -0.04648317 -0.01423532
+v 0.02849588 0.00323601 -0.01447915
+v 0.02659171 0.00492696 -0.01436498
+v 0.00050596 -0.04584717 -0.01321470
+v 0.00144572 -0.04663460 -0.01316619
+v 0.00838566 0.00492696 -0.01426110
+v 0.00923500 0.00472001 -0.01430275
+v 0.00787605 0.00443734 -0.01427972
+v 0.00923500 0.00323601 -0.01439292
+v 0.00923500 0.00110086 -0.01449876
+v 0.00050596 0.00338239 -0.01408717
+v 0.02445739 -0.04663460 -0.01422357
+v 0.02049015 -0.04496888 -0.01428628
+v 0.02210116 -0.04371202 -0.01439505
+v 0.02210116 -0.04626612 -0.01421573
+v 0.02424643 -0.04157687 -0.01453468
+v 0.02639170 -0.04157687 -0.01456310
+v 0.02849588 -0.04157687 -0.01458907
+v 0.02424643 -0.04663460 -0.01421965
+v 0.02639170 0.00323601 -0.01450855
+v 0.02849588 0.00110086 -0.01463400
+v 0.02254501 0.00492696 -0.01441790
+v 0.00050596 -0.04569574 -0.01323773
+v 0.00359099 -0.04663460 -0.01332005
+v 0.00923500 0.00492696 -0.01428658
+v 0.01138027 0.00323601 -0.01445466
+v 0.01040764 0.00492696 -0.01431990
+v 0.01138027 0.00492696 -0.01434587
+v 0.01138027 0.00110086 -0.01456295
+v 0.01138027 -0.00103429 -0.01463302
+v 0.00923500 -0.00103429 -0.01456295
+v 0.00709247 0.00110086 -0.01441645
+v 0.00050596 0.00125229 -0.01415627
+v 0.01984903 -0.04574621 -0.01420103
+v 0.00050596 -0.03682200 -0.01435387
+v 0.00050596 -0.03517647 -0.01448762
+v 0.00050596 -0.03502504 -0.01449791
+v 0.00050596 -0.03304132 -0.01460570
+v 0.02256144 -0.04663460 -0.01418535
+v 0.02210116 -0.04663460 -0.01417457
+v 0.01989287 -0.04663460 -0.01411136
+v 0.02849588 -0.03940134 -0.01468705
+v 0.02849588 -0.04153649 -0.01459103
+v 0.02424643 0.00323601 -0.01452717
+v 0.02639170 0.00110086 -0.01465556
+v 0.02849588 -0.00098886 -0.01476825
+v 0.02039973 0.00492696 -0.01443652
+v 0.00050596 -0.04371202 -0.01353073
+v 0.00573626 -0.04663460 -0.01346214
+v 0.00050596 -0.04356564 -0.01355229
+v 0.01352555 0.00323601 -0.01450022
+v 0.01346527 0.00492696 -0.01438801
+v 0.01352555 0.00110086 -0.01460803
+v 0.01352555 -0.00103429 -0.01468005
+v 0.01138027 -0.00316944 -0.01465606
+v 0.00050596 -0.02877103 -0.01463313
+v 0.02639170 -0.00956983 -0.01510638
+v 0.02639170 -0.01170497 -0.01513969
+v 0.00709247 -0.00103429 -0.01447426
+v 0.00050596 0.00110086 -0.01415970
+v 0.00340194 0.00061124 -0.01428905
+v 0.01781335 -0.04663460 -0.01404227
+v 0.01781335 -0.04584717 -0.01412263
+v 0.00050596 -0.03692295 -0.01434456
+v 0.00050596 -0.03288990 -0.01461011
+v 0.02849588 -0.03090617 -0.01498934
+v 0.02849588 -0.03300095 -0.01492418
+v 0.02849588 -0.03517647 -0.01484923
+v 0.02849588 -0.03731162 -0.01477035
+v 0.02210116 0.00323601 -0.01454432
+v 0.02210116 0.00110086 -0.01467418
+v 0.01995862 0.00323601 -0.01455461
+v 0.02639170 -0.00103429 -0.01478393
+v 0.02849588 -0.00312401 -0.01488586
+v 0.01995862 0.00492696 -0.01443897
+v 0.00709247 -0.04663460 -0.01354103
+v 0.00050596 -0.04143049 -0.01382862
+v 0.01566808 0.00323601 -0.01453648
+v 0.01566808 0.00110086 -0.01464576
+v 0.01566808 0.00492696 -0.01442672
+v 0.01566808 -0.00103429 -0.01471729
+v 0.00050596 -0.03075979 -0.01465224
+v 0.00050596 -0.00103429 -0.01419449
+v 0.02639170 -0.00743468 -0.01504806
+v 0.02849588 -0.00952944 -0.01513283
+v 0.02849588 -0.00956983 -0.01513381
+v 0.02849588 -0.01165955 -0.01517497
+v 0.02849588 -0.01170497 -0.01517546
+v 0.02849588 -0.01379469 -0.01519654
+v 0.02849588 -0.01592984 -0.01520831
+v 0.02639170 -0.01384012 -0.01515097
+v 0.00050596 -0.00088286 -0.01419204
+v 0.01645714 -0.04663460 -0.01398544
+v 0.01431461 -0.04663460 -0.01389185
+v 0.01217208 -0.04663460 -0.01379679
+v 0.00050596 -0.03791734 -0.01423383
+v 0.00050596 -0.03090618 -0.01465273
+v 0.02849588 -0.02450577 -0.01514954
+v 0.02849588 -0.02664092 -0.01510252
+v 0.02849588 -0.02877102 -0.01504912
+v 0.01995862 0.00110086 -0.01467809
+v 0.01781335 0.00323601 -0.01455608
+v 0.01781335 0.00492696 -0.01444191
+v 0.01825446 0.00492696 -0.01444142
+v 0.02849588 -0.00316944 -0.01488831
+v 0.02639170 -0.00316944 -0.01489125
+v 0.00788153 -0.04663460 -0.01358610
+v 0.01002681 -0.04663460 -0.01369586
+v 0.01781335 0.00110086 -0.01466977
+v 0.01781335 -0.00103429 -0.01474228
+v 0.01610919 0.00492696 -0.01443064
+v 0.02639170 -0.00529953 -0.01498092
+v 0.02849588 -0.00739430 -0.01506864
+v 0.02849588 -0.01806499 -0.01521126
+v 0.02849588 -0.01810537 -0.01521126
+v 0.02849588 -0.02024052 -0.01521077
+v 0.02849588 -0.02233024 -0.01519118
+v 0.02849588 -0.02237062 -0.01519069
+v 0.02849588 -0.00529953 -0.01498925
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 30
+f 1 30 49
+f 1 49 74
+f 1 74 101
+f 1 101 132
+f 1 132 133
+f 1 133 120
+f 1 120 119
+f 1 119 118
+f 1 118 87
+f 1 87 66
+f 1 66 65
+f 1 65 64
+f 1 64 44
+f 1 44 37
+f 1 37 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 25
+f 1 25 24
+f 1 24 43
+f 1 43 68
+f 1 68 67
+f 1 67 94
+f 1 94 93
+f 1 93 92
+f 1 92 91
+f 1 91 125
+f 1 125 124
+f 1 124 123
+f 1 123 143
+f 1 143 142
+f 1 142 141
+f 1 141 140
+f 1 140 139
+f 1 139 115
+f 1 115 114
+f 1 114 113
+f 1 113 112
+f 1 112 111
+f 1 111 110
+f 1 110 138
+f 1 138 144
+f 1 144 130
+f 1 130 99
+f 1 99 71
+f 1 71 46
+f 1 46 27
+f 1 27 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 17
+f 4 17 28
+f 4 28 47
+f 4 47 72
+f 4 72 100
+f 4 100 129
+f 4 129 128
+f 4 128 136
+f 4 136 105
+f 4 105 77
+f 4 77 53
+f 4 53 52
+f 4 52 50
+f 4 50 31
+f 4 31 19
+f 4 19 12
+f 4 12 6
+f 5 10 11
+f 5 6 12
+f 5 12 10
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 10 12 19
+f 10 19 36
+f 10 36 58
+f 10 58 85
+f 10 85 117
+f 10 117 108
+f 10 108 81
+f 10 81 107
+f 10 107 122
+f 10 122 90
+f 10 90 63
+f 10 63 62
+f 10 62 61
+f 10 61 60
+f 10 60 89
+f 10 89 121
+f 10 121 102
+f 10 102 75
+f 10 75 73
+f 10 73 48
+f 10 48 29
+f 10 29 18
+f 10 18 11
+f 13 20 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 14 20 26
+f 14 26 21
+f 16 27 28
+f 16 28 17
+f 18 29 30
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 20 37 26
+f 21 38 39
+f 21 39 22
+f 21 26 40
+f 21 40 38
+f 22 39 41
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 23 43 24
+f 26 37 44
+f 26 44 40
+f 27 45 28
+f 27 46 45
+f 28 45 47
+f 29 48 30
+f 30 48 49
+f 31 50 32
+f 32 51 34
+f 32 34 33
+f 32 50 52
+f 32 52 53
+f 32 53 51
+f 34 51 54
+f 34 54 35
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 36 57 58
+f 38 40 59
+f 38 59 60
+f 38 60 61
+f 38 61 62
+f 38 62 39
+f 39 62 63
+f 39 63 41
+f 40 44 64
+f 40 64 65
+f 40 65 66
+f 40 66 59
+f 41 63 42
+f 42 67 68
+f 42 68 43
+f 42 63 67
+f 45 69 72
+f 45 72 47
+f 45 46 70
+f 45 70 69
+f 46 71 70
+f 48 73 49
+f 49 73 75
+f 49 75 74
+f 51 76 54
+f 51 53 76
+f 53 77 76
+f 54 78 79
+f 54 79 55
+f 54 76 78
+f 55 80 81
+f 55 81 56
+f 55 79 82
+f 55 82 83
+f 55 83 80
+f 56 84 85
+f 56 85 86
+f 56 86 57
+f 56 81 84
+f 57 86 58
+f 58 86 85
+f 59 66 87
+f 59 87 88
+f 59 88 60
+f 60 88 89
+f 63 90 91
+f 63 91 92
+f 63 92 93
+f 63 93 94
+f 63 94 67
+f 69 95 72
+f 69 70 95
+f 70 96 97
+f 70 97 95
+f 70 71 98
+f 70 98 96
+f 71 99 98
+f 72 95 100
+f 74 75 102
+f 74 102 101
+f 76 103 104
+f 76 104 78
+f 76 77 105
+f 76 105 103
+f 78 104 79
+f 79 104 106
+f 79 106 82
+f 80 83 81
+f 81 108 84
+f 81 83 107
+f 82 109 110
+f 82 110 111
+f 82 111 112
+f 82 112 83
+f 82 106 109
+f 83 112 113
+f 83 113 114
+f 83 114 115
+f 83 115 116
+f 83 116 107
+f 84 108 117
+f 84 117 85
+f 87 118 89
+f 87 89 88
+f 89 118 119
+f 89 119 120
+f 89 120 121
+f 90 122 123
+f 90 123 124
+f 90 124 125
+f 90 125 91
+f 95 97 100
+f 96 126 97
+f 96 98 126
+f 97 127 128
+f 97 128 129
+f 97 129 100
+f 97 126 127
+f 98 99 130
+f 98 130 131
+f 98 131 126
+f 101 102 132
+f 102 121 133
+f 102 133 132
+f 103 127 134
+f 103 134 104
+f 103 105 127
+f 104 134 135
+f 104 135 106
+f 105 136 127
+f 106 135 137
+f 106 137 109
+f 107 116 115
+f 107 115 122
+f 109 137 138
+f 109 138 110
+f 115 139 122
+f 120 133 121
+f 122 139 140
+f 122 140 141
+f 122 141 142
+f 122 142 143
+f 122 143 123
+f 126 134 127
+f 126 131 134
+f 127 136 128
+f 130 144 131
+f 131 144 137
+f 131 137 134
+f 134 137 135
+f 137 144 138
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_40.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03793746 0.06410971 0.00159743
+v -0.03793746 0.06410971 0.00222452
+v -0.03793746 0.06387239 0.00059157
+v -0.05296393 0.06384843 0.00074599
+v -0.05081864 0.06408346 0.00171742
+v -0.03793746 0.06398534 0.00322881
+v -0.05081864 0.06408346 0.00197306
+v -0.03793746 0.05999078 0.00058634
+v -0.03795162 0.06387011 0.00058635
+v -0.05296393 0.06378567 0.00058635
+v -0.05081864 0.06384729 0.00071156
+v -0.05522486 0.06388608 0.00100059
+v -0.05296393 0.06407662 0.00175186
+v -0.05725451 0.06372064 0.00058635
+v -0.05725451 0.06380850 0.00081747
+v -0.03795162 0.06398420 0.00323455
+v -0.03793746 0.06398420 0.00323507
+v -0.05296393 0.06407662 0.00192141
+v -0.05296393 0.06391688 0.00292726
+v -0.03793746 0.05985272 0.00058999
+v -0.03795162 0.05984930 0.00058634
+v -0.05458765 0.06406749 0.00179307
+v -0.05939744 0.06366131 0.00058635
+v -0.05939744 0.06374574 0.00081747
+v -0.05296393 0.06341940 0.00483984
+v -0.03793746 0.06354491 0.00482993
+v -0.05458765 0.06406749 0.00186402
+v -0.05522486 0.06393057 0.00265232
+v -0.05725451 0.06385298 0.00282865
+v -0.05510922 0.06338746 0.00483984
+v -0.03793746 0.05886347 0.00591611
+v -0.03884844 0.05245461 0.00081743
+v -0.03888856 0.05245461 0.00058631
+v -0.05939744 0.06377996 0.00282865
+v -0.06137517 0.06277819 0.00058635
+v -0.06140113 0.06281813 0.00081747
+v -0.05419116 0.06288428 0.00591612
+v -0.05296393 0.06289797 0.00591612
+v -0.03795162 0.06354149 0.00483984
+v -0.03793746 0.06354149 0.00483984
+v -0.05939744 0.06326537 0.00483984
+v -0.05725451 0.06333268 0.00483984
+v -0.05635297 0.06284663 0.00591612
+v -0.05510922 0.06287059 0.00591612
+v -0.05725451 0.06282381 0.00591612
+v -0.04224220 0.05245459 0.00454712
+v -0.04067277 0.05245459 0.00413497
+v -0.03969098 0.05245460 0.00293452
+v -0.03964378 0.05245460 0.00285470
+v -0.03793746 0.06299952 0.00591612
+v -0.05642377 0.05245459 0.00591608
+v -0.06057039 0.05245461 0.00058631
+v -0.06140821 0.06283180 0.00282865
+v -0.06130201 0.06257850 0.00483984
+v -0.06203834 0.06086021 0.00058634
+v -0.06204542 0.06086021 0.00081746
+v -0.05081864 0.06291395 0.00591612
+v -0.03795162 0.06299952 0.00591612
+v -0.05939744 0.06274851 0.00591612
+v -0.06104948 0.06232634 0.00591612
+v -0.06052319 0.06251575 0.00591612
+v -0.06040755 0.05245459 0.00591608
+v -0.06044531 0.05261889 0.00591608
+v -0.06178581 0.05971920 0.00591611
+v -0.06202890 0.06086020 0.00282864
+v -0.06197226 0.06086019 0.00483983
+v -0.06132325 0.06175585 0.00591612
+v -0.06164894 0.06091838 0.00591611
+f 1 2 6
+f 1 6 17
+f 1 17 26
+f 1 26 40
+f 1 40 50
+f 1 50 31
+f 1 31 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 10
+f 4 10 14
+f 4 14 15
+f 4 15 12
+f 5 13 18
+f 5 18 7
+f 6 16 17
+f 6 7 18
+f 6 18 19
+f 6 19 16
+f 8 20 21
+f 8 21 33
+f 8 33 52
+f 8 52 55
+f 8 55 35
+f 8 35 23
+f 8 23 14
+f 8 14 10
+f 8 10 9
+f 12 22 13
+f 12 15 22
+f 13 22 27
+f 13 27 18
+f 14 23 15
+f 15 23 24
+f 15 24 22
+f 16 19 25
+f 16 25 17
+f 17 25 26
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 25
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 22 24 34
+f 22 34 27
+f 23 35 24
+f 24 35 36
+f 24 36 34
+f 25 30 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 27 34 29
+f 27 29 28
+f 29 34 41
+f 29 41 42
+f 29 42 30
+f 30 43 44
+f 30 44 37
+f 30 42 45
+f 30 45 43
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 31 50 58
+f 31 58 57
+f 31 57 38
+f 31 38 37
+f 31 37 44
+f 31 44 43
+f 31 43 45
+f 31 45 59
+f 31 59 61
+f 31 61 60
+f 31 60 67
+f 31 67 68
+f 31 68 64
+f 31 64 63
+f 31 63 62
+f 31 62 51
+f 31 51 46
+f 32 49 48
+f 32 48 47
+f 32 47 46
+f 32 46 51
+f 32 51 62
+f 32 62 52
+f 32 52 33
+f 34 36 53
+f 34 53 54
+f 34 54 41
+f 35 55 36
+f 36 55 56
+f 36 56 53
+f 38 57 39
+f 39 58 50
+f 39 50 40
+f 39 57 58
+f 41 59 45
+f 41 45 42
+f 41 54 60
+f 41 60 61
+f 41 61 59
+f 52 62 63
+f 52 63 64
+f 52 64 65
+f 52 65 56
+f 52 56 55
+f 53 56 65
+f 53 65 66
+f 53 66 54
+f 54 66 67
+f 54 67 60
+f 64 68 66
+f 64 66 65
+f 66 68 67
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_41.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.06015269 0.02671446 0.00282902
+v 0.05996984 0.02244586 0.00417602
+v 0.05997182 0.02031156 0.00420669
+v 0.05996288 0.01817726 0.00422894
+v 0.06013381 0.02458017 0.00282901
+v 0.05996586 0.02884423 0.00147128
+v 0.05996785 0.03097852 0.00145747
+v 0.06002151 0.03738141 0.00282906
+v 0.05984164 0.04805289 0.00414927
+v 0.05985655 0.04591859 0.00412778
+v 0.05789286 0.02671444 0.00847253
+v 0.05993803 0.01604297 0.00423737
+v 0.05993605 0.02671446 0.00151116
+v 0.05989630 0.01391320 0.00421971
+v 0.05981282 0.00964461 0.00414299
+v 0.05976711 0.00751031 0.00409389
+v 0.05976711 0.00751032 0.00352547
+v 0.05981282 0.00964462 0.00342730
+v 0.05993803 0.01604298 0.00306601
+v 0.05856564 0.02884424 0.00087218
+v 0.05856564 0.03097853 0.00082922
+v 0.05906253 0.05122490 0.00063599
+v 0.05994301 0.03311282 0.00147973
+v 0.05991418 0.03524712 0.00151656
+v 0.05979791 0.05122489 0.00349188
+v 0.05979791 0.05122488 0.00411629
+v 0.05981382 0.05018718 0.00413700
+v 0.05787994 0.02884421 0.00847254
+v 0.05784317 0.02458015 0.00847252
+v 0.05970848 0.00537603 0.00365357
+v 0.05963891 0.01921044 0.00182027
+v 0.05797137 0.00493648 0.00150724
+v 0.05679177 0.01104484 0.00063584
+v 0.05985356 0.01177891 0.00418442
+v 0.05970848 0.00537603 0.00400797
+v 0.05773783 0.02244585 0.00847251
+v 0.05799920 0.02884424 0.00063591
+v 0.05804093 0.02958286 0.00063591
+v 0.05810851 0.03097853 0.00063591
+v 0.05412648 0.05122490 0.00063599
+v 0.05986450 0.03738141 0.00157333
+v 0.05732442 0.05122487 0.00847262
+v 0.05905159 0.00537603 0.00264791
+v 0.05969357 0.00493648 0.00369039
+v 0.05906153 0.00493648 0.00272002
+v 0.05882303 0.00493648 0.00241701
+v 0.05612495 0.00493649 0.00063582
+v 0.05663177 0.00936368 0.00063583
+v 0.05668344 0.00493646 0.00847245
+v 0.05969357 0.00493648 0.00397498
+v 0.05748343 0.01817725 0.00847250
+v 0.05374785 0.05122489 0.00282911
+v 0.05378363 0.05038206 0.00063599
+v 0.05291607 0.05122487 0.00847262
+v 0.05130319 0.00493649 0.00063582
+v 0.05000036 0.00493646 0.00847245
+v 0.05341196 0.05122488 0.00483966
+v 0.05371605 0.05018720 0.00063598
+v 0.05000036 0.03908974 0.00847257
+v 0.05000036 0.03826503 0.00451053
+v 0.05000036 0.03837378 0.00483961
+v 0.05000036 0.03853691 0.00558753
+v 0.05000036 0.00493648 0.00249296
+v 0.05000036 0.00534884 0.00249833
+v 0.05131014 0.00559808 0.00063582
+v 0.05369021 0.05018720 0.00081702
+v 0.05342587 0.04805291 0.00063598
+v 0.05000036 0.03524712 0.00304844
+v 0.05000036 0.03734063 0.00354093
+v 0.05000036 0.03311282 0.00297632
+v 0.05162616 0.01817728 0.00063587
+v 0.05182690 0.02244588 0.00063588
+v 0.05000036 0.03523352 0.00304767
+v 0.05169572 0.02031611 0.00063587
+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 9
+f 2 9 3
+f 3 11 4
+f 3 9 11
+f 4 11 12
+f 4 12 5
+f 5 13 6
+f 5 12 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 13
+f 6 13 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 23
+f 7 23 8
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 9
+f 9 27 28
+f 9 28 11
+f 11 28 42
+f 11 42 54
+f 11 54 59
+f 11 59 56
+f 11 56 49
+f 11 49 51
+f 11 51 36
+f 11 36 29
+f 11 29 12
+f 12 29 14
+f 13 19 17
+f 13 17 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 20
+f 14 34 15
+f 14 29 34
+f 15 34 29
+f 15 29 16
+f 16 35 30
+f 16 30 17
+f 16 29 36
+f 16 36 35
+f 17 19 18
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 20 33 37
+f 21 39 22
+f 22 40 52
+f 22 52 57
+f 22 57 54
+f 22 54 42
+f 22 42 26
+f 22 26 25
+f 22 25 41
+f 22 41 24
+f 22 24 23
+f 22 39 38
+f 22 38 37
+f 22 37 33
+f 22 33 48
+f 22 48 47
+f 22 47 55
+f 22 55 65
+f 22 65 71
+f 22 71 74
+f 22 74 72
+f 22 72 67
+f 22 67 58
+f 22 58 53
+f 22 53 40
+f 24 41 25
+f 26 42 27
+f 27 42 28
+f 30 43 31
+f 30 35 50
+f 30 50 44
+f 30 44 45
+f 30 45 43
+f 31 43 46
+f 31 46 32
+f 32 46 45
+f 32 45 44
+f 32 44 50
+f 32 50 49
+f 32 49 56
+f 32 56 63
+f 32 63 55
+f 32 55 47
+f 32 47 48
+f 32 48 33
+f 35 49 50
+f 35 36 51
+f 35 51 49
+f 40 53 52
+f 43 45 46
+f 52 53 57
+f 53 58 57
+f 54 57 60
+f 54 60 61
+f 54 61 62
+f 54 62 59
+f 55 63 64
+f 55 64 65
+f 56 59 62
+f 56 62 61
+f 56 61 60
+f 56 60 69
+f 56 69 68
+f 56 68 73
+f 56 73 70
+f 56 70 64
+f 56 64 63
+f 57 58 66
+f 57 66 60
+f 58 67 68
+f 58 68 69
+f 58 69 60
+f 58 60 66
+f 64 70 65
+f 65 70 71
+f 67 72 68
+f 68 72 74
+f 68 74 73
+f 70 73 71
+f 71 73 74
+

dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/mjcf/mesh/green_napkin_collision_42.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.02130005 0.00110890 -0.00320595
+v -0.02163537 0.00323939 -0.00210776
+v -0.02163927 0.00110890 -0.00211981
+v -0.02186542 -0.00849980 -0.00219936
+v -0.02137023 -0.00102696 -0.00320595
+v -0.02170555 -0.00742917 -0.00431409
+v -0.02154179 -0.00102695 -0.00433865
+v -0.02153009 0.00110891 -0.00433237
+v -0.02177574 0.01391334 -0.00427268
+v -0.02180303 0.01522068 -0.00425383
+v -0.02135074 0.00323939 -0.00320594
+v -0.02183033 0.01511845 -0.00217207
+v -0.02381497 0.01064765 0.00058564
+v -0.02425947 0.04209919 0.00051930
+v -0.02430626 0.04208305 0.00058575
+v -0.02381887 0.01268667 0.00058565
+v -0.02384226 0.00964159 0.00058564
+v -0.02386956 0.00866781 0.00058563
+v -0.04481557 -0.00529870 0.00058558
+v -0.04652727 -0.00602500 0.00058558
+v -0.02508608 -0.01286299 -0.00299881
+v -0.02276611 -0.01286299 -0.00360937
+v -0.02186542 -0.01066793 -0.00420632
+v -0.02179523 -0.00935522 -0.00340374
+v -0.02169775 -0.00742918 -0.00320598
+v -0.02417369 0.00677942 0.00058562
+v -0.02511338 0.00425620 0.00058562
+v -0.02570214 0.00386346 0.00058561
+v -0.02177964 -0.00956503 -0.00426753
+v -0.02276611 -0.01286298 -0.00475829
+v -0.02276611 -0.01213129 -0.00475828
+v -0.02508608 0.02884286 -0.00454729
+v -0.02528884 0.03951681 -0.00442273
+v -0.02396314 0.03236139 -0.00424749
+v -0.02463768 0.04165266 -0.00320580
+v -0.02420488 0.04209919 -0.00079442
+v -0.02179133 0.01526909 -0.00320589
+v -0.02172505 0.01391333 -0.00320590
+v -0.02420488 0.04209919 -0.00062543
+v -0.02430236 0.04209919 0.00057633
+v -0.02431016 0.04209919 0.00058575
+v -0.04867179 -0.00666522 0.00058558
+v -0.05514820 -0.01286299 -0.00242540
+v -0.05211860 -0.00742919 0.00058557
+v -0.05282433 -0.00756907 0.00058557
+v -0.05469591 -0.00783807 0.00058557
+v -0.02186542 -0.01066793 -0.00421469
+v -0.06113333 -0.01286298 -0.00475829
+v -0.02314432 -0.00956503 -0.00475828
+v -0.02723059 0.03951681 -0.00465189
+v -0.02723059 0.04165267 -0.00457760
+v -0.02553838 0.04165267 -0.00437669
+v -0.02564755 0.04209921 -0.00435053
+v -0.02483654 0.04209920 -0.00319429
+v -0.02467278 0.04209920 -0.00272603
+v -0.03529785 0.04209919 0.00058575
+v -0.05721083 -0.01286299 -0.00243325
+v -0.05510921 -0.00784883 0.00058557
+v -0.06086820 -0.01286299 -0.00372971
+v -0.06086430 -0.01170090 -0.00372080
+v -0.06085650 -0.00956504 -0.00370929
+v -0.06084870 -0.00742918 -0.00370457
+v -0.06112944 -0.01170089 -0.00475828
+v -0.02354203 -0.00742917 -0.00475827
+v -0.02937510 0.03951681 -0.00470473
+v -0.03151961 0.04165267 -0.00470996
+v -0.02937510 0.04165267 -0.00465293
+v -0.02982350 0.04209921 -0.00464718
+v -0.02767899 0.04209921 -0.00457079
+v -0.02723839 0.04209921 -0.00453522
+v -0.05510921 0.04209920 -0.00162315
+v -0.05506242 0.04162037 0.00058575
+v -0.05840786 -0.01286299 -0.00266345
+v -0.05520669 -0.00742919 0.00058557
+v -0.06019755 -0.01286299 -0.00332476
+v -0.05939823 -0.01286299 -0.00288110
+v -0.05673514 0.00110889 0.00058560
+v -0.05749937 0.00767250 0.00058563
+v -0.05771772 0.00964159 0.00058564
+v -0.05799455 0.01403706 0.00058565
+v -0.05811932 0.01604380 0.00058566
+v -0.05820120 0.02707282 0.00058570
+v -0.05821680 0.02928939 0.00058571
+v -0.05822850 0.03146829 0.00058572
+v -0.06111774 -0.00956503 -0.00475828
+v -0.06058746 0.04209920 -0.00404237
+v -0.06068494 0.04209921 -0.00430187
+v -0.06083310 0.04209921 -0.00475809
+v -0.02508608 -0.00431952 -0.00475826
+v -0.03151961 0.03951681 -0.00473089
+v -0.03411252 0.04209921 -0.00472775
+v -0.03196801 0.04209921 -0.00470525
+v -0.05668445 0.04209920 -0.00203542
+v -0.05510921 0.04161499 0.00058575
+v -0.05815052 0.03360416 0.00058572
+v -0.05801015 0.03571312 0.00058573
+v -0.05779570 0.03780056 0.00058574
+v -0.05731611 0.03971584 0.00058575
+v -0.05715234 0.04013011 0.00058575
+v -0.05636472 0.04099629 0.00058575
+v -0.06033402 0.04209920 -0.00387443
+v -0.04968165 0.04209921 -0.00475809
+v -0.05939823 0.04209920 -0.00330625
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 13 3
+f 2 12 14
+f 2 14 15
+f 2 15 16
+f 2 16 13
+f 3 13 17
+f 3 17 18
+f 3 18 4
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 23
+f 4 23 24
+f 4 24 25
+f 4 25 5
+f 4 18 26
+f 4 26 27
+f 4 27 28
+f 4 28 19
+f 5 25 29
+f 5 29 6
+f 6 29 30
+f 6 30 7
+f 7 30 31
+f 7 31 8
+f 8 31 9
+f 9 32 33
+f 9 33 10
+f 9 31 32
+f 10 34 35
+f 10 35 36
+f 10 36 37
+f 10 37 38
+f 10 38 11
+f 10 33 34
+f 11 38 12
+f 12 38 37
+f 12 37 14
+f 13 16 15
+f 13 15 41
+f 13 41 56
+f 13 56 72
+f 13 72 94
+f 13 94 100
+f 13 100 99
+f 13 99 98
+f 13 98 97
+f 13 97 96
+f 13 96 95
+f 13 95 84
+f 13 84 83
+f 13 83 82
+f 13 82 81
+f 13 81 80
+f 13 80 79
+f 13 79 78
+f 13 78 77
+f 13 77 74
+f 13 74 58
+f 13 58 46
+f 13 46 45
+f 13 45 44
+f 13 44 42
+f 13 42 20
+f 13 20 19
+f 13 19 28
+f 13 28 27
+f 13 27 26
+f 13 26 18
+f 13 18 17
+f 14 39 36
+f 14 36 55
+f 14 55 54
+f 14 54 53
+f 14 53 70
+f 14 70 69
+f 14 69 68
+f 14 68 92
+f 14 92 91
+f 14 91 102
+f 14 102 88
+f 14 88 87
+f 14 87 86
+f 14 86 101
+f 14 101 103
+f 14 103 93
+f 14 93 71
+f 14 71 56
+f 14 56 41
+f 14 41 40
+f 14 40 15
+f 14 37 39
+f 15 40 41
+f 20 42 21
+f 21 43 57
+f 21 57 73
+f 21 73 76
+f 21 76 75
+f 21 75 59
+f 21 59 48
+f 21 48 30
+f 21 30 22
+f 21 42 44
+f 21 44 45
+f 21 45 46
+f 21 46 43
+f 22 30 47
+f 22 47 23
+f 23 47 29
+f 23 29 24
+f 24 29 25
+f 29 47 30
+f 30 48 63
+f 30 63 85
+f 30 85 88
+f 30 88 102
+f 30 102 89
+f 30 89 64
+f 30 64 49
+f 30 49 31
+f 31 49 50
+f 31 50 32
+f 32 50 33
+f 33 50 51
+f 33 51 52
+f 33 52 34
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 39 37
+f 43 46 58
+f 43 58 57
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 49 64 65
+f 49 65 50
+f 50 65 66
+f 50 66 67
+f 50 67 51
+f 51 67 68
+f 51 68 69
+f 51 69 70
+f 51 70 53
+f 51 53 52
+f 56 71 72
+f 57 58 73
+f 58 74 59
+f 58 59 75
+f 58 75 76
+f 58 76 73
+f 59 74 77
+f 59 77 78
+f 59 78 79
+f 59 79 80
+f 59 80 81
+f 59 81 82
+f 59 82 83
+f 59 83 84
+f 59 84 60
+f 60 84 61
+f 61 84 62
+f 62 85 63
+f 62 84 86
+f 62 86 87
+f 62 87 88
+f 62 88 85
+f 64 89 90
+f 64 90 65
+f 65 90 66
+f 66 91 92
+f 66 92 67
+f 66 90 91
+f 67 92 68
+f 71 93 72
+f 72 93 94
+f 84 95 86
+f 86 95 96
+f 86 96 97
+f 86 97 98
+f 86 98 99
+f 86 99 100
+f 86 100 94
+f 86 94 101
+f 89 102 90
+f 90 102 91
+f 93 103 94
+f 94 103 101
+