Add asset kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5

.gitattributes

@@ -4288,3 +4288,6 @@ dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/bowl_006.usd
 dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mesh/bowl_006.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bowl_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.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>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>0.146096</scale>
+         <version>v0.1.7</version>
+         <category>green napkin</category>
+         <description>flat green napkin with folded edges and intricate cutouts</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <generate_time>20260119144151</generate_time>
+         <gs_model>mesh/green_napkin_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: overlapping geometry and structural inconsistencies.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.888852119445801</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/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f4eaec8201f26e5e83e457e734636e8f966cadb44170eedaa351552180cc4f0
+size 915769

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9538035060ce1ed8c8932398b6f2f4f2a3151d64a7e12e38c4c5c468ab2dee4a
+size 2249348

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb789875e637a836d913448aa153d66e755de8bf22f099886e6c49a461696551
+size 3691881

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/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/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/9dd34f3bd4425e21a9ae58772a0ccaa5.xml

@@ -0,0 +1,180 @@
+<?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" />
+    <mesh name="collision_mesh_0_70" file="mesh/green_napkin_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/green_napkin_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/green_napkin_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/green_napkin_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/green_napkin_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/green_napkin_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/green_napkin_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/green_napkin_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/green_napkin_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/green_napkin_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/green_napkin_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/green_napkin_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/green_napkin_collision_82.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" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_78" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_80" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_0.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03878911 -0.05192244 -0.00844159
+v 0.03686953 -0.05399354 -0.00844160
+v 0.03878911 -0.05157725 -0.00913333
+v 0.03878911 -0.04183366 -0.00844155
+v 0.03524180 -0.05551025 -0.00844160
+v 0.03878911 -0.04907727 -0.01145998
+v 0.00805481 -0.04275938 -0.00857417
+v 0.00805481 -0.04330854 -0.00854087
+v 0.00805481 -0.04501876 -0.00844157
+v 0.03878911 -0.00243564 -0.01139034
+v 0.03356593 -0.05564623 -0.00844160
+v 0.03878911 -0.04745595 -0.01239855
+v 0.03878911 -0.04821955 -0.01195711
+v 0.00805481 -0.00243564 -0.01178357
+v 0.00805481 -0.05584498 -0.00844161
+v 0.03878911 -0.00243563 -0.01405857
+v 0.03282278 -0.05568807 -0.00844160
+v 0.03878911 -0.04650408 -0.01285378
+v 0.03119204 -0.05570900 -0.00844160
+v 0.01914203 -0.05581883 -0.00844161
+v 0.01831161 -0.05582406 -0.00844161
+v 0.01431299 -0.05584498 -0.00844161
+v 0.00805481 -0.00243563 -0.01430598
+v 0.00825038 -0.05585021 -0.00844161
+v 0.00805481 -0.04745595 -0.01226135
+v 0.03878911 -0.03285887 -0.01401447
+v 0.03878911 -0.04568296 -0.01323266
+v 0.01189397 -0.05585544 -0.00844161
+v 0.00946892 -0.05586067 -0.00844161
+v 0.03878911 -0.03399379 -0.01401275
+v 0.03878911 -0.03772805 -0.01400588
+v 0.03878911 -0.03886297 -0.01400301
+v 0.03878911 -0.04016002 -0.01399900
+v 0.00805481 -0.03529607 -0.01417866
+v 0.01347656 -0.04554175 -0.01316836
+v 0.00805481 -0.04547899 -0.01313794
+v 0.01105754 -0.04552083 -0.01315860
+v 0.03878911 -0.04503443 -0.01344334
+v 0.01105754 -0.04430223 -0.01359029
+v 0.01347656 -0.04432315 -0.01359315
+v 0.03878911 -0.04129494 -0.01395882
+v 0.00805481 -0.04016002 -0.01414022
+v 0.00805481 -0.03772805 -0.01416490
+v 0.00805481 -0.03713705 -0.01416834
+v 0.00805481 -0.04518088 -0.01324643
+v 0.00805481 -0.04426039 -0.01358053
+v 0.03878911 -0.04446436 -0.01362071
+v 0.00805481 -0.04386290 -0.01366893
+v 0.00805481 -0.04259200 -0.01393472
+v 0.03878911 -0.04259200 -0.01390889
+v 0.00805481 -0.04200623 -0.01398810
+v 0.03878911 -0.04347588 -0.01377513
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 12
+f 1 12 18
+f 1 18 27
+f 1 27 38
+f 1 38 47
+f 1 47 52
+f 1 52 50
+f 1 50 41
+f 1 41 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 26
+f 1 26 16
+f 1 16 10
+f 1 10 4
+f 1 4 9
+f 1 9 15
+f 1 15 24
+f 1 24 29
+f 1 29 28
+f 1 28 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 4 10 7
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 10 14
+f 7 14 23
+f 7 23 34
+f 7 34 44
+f 7 44 43
+f 7 43 42
+f 7 42 51
+f 7 51 49
+f 7 49 48
+f 7 48 46
+f 7 46 45
+f 7 45 36
+f 7 36 25
+f 7 25 15
+f 7 15 9
+f 7 9 8
+f 10 16 23
+f 10 23 14
+f 11 17 12
+f 12 17 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 18
+f 15 25 24
+f 16 26 23
+f 18 22 28
+f 18 28 29
+f 18 29 27
+f 23 26 30
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 24 25 35
+f 24 35 27
+f 24 27 29
+f 25 36 37
+f 25 37 35
+f 27 35 39
+f 27 39 40
+f 27 40 38
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 35 37 39
+f 36 45 37
+f 37 45 46
+f 37 46 39
+f 38 40 47
+f 39 46 48
+f 39 48 49
+f 39 49 40
+f 40 49 47
+f 41 50 42
+f 42 50 51
+f 47 49 52
+f 49 51 50
+f 49 50 52
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_1.obj

@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.03394139 -0.04937202 0.00810055
+v 0.03394139 -0.04936631 0.00978944
+v 0.02798525 -0.04958966 0.01020716
+v 0.02556697 -0.04965266 0.01020716
+v 0.02314868 -0.04966984 0.01020716
+v 0.02073040 -0.04965266 0.01020716
+v 0.01831212 -0.04962402 0.01020716
+v 0.01347555 -0.04954384 0.01020716
+v 0.03394139 -0.04874776 0.00628572
+v 0.02798525 -0.04907995 0.01160035
+v 0.02556697 -0.04925749 0.01175211
+v 0.03394139 -0.04745920 0.01054980
+v 0.02976090 -0.04885660 0.01144782
+v 0.02314868 -0.04933767 0.01184833
+v 0.02073040 -0.04937203 0.01190622
+v 0.01106622 -0.04940067 0.01201495
+v 0.01106622 -0.04946939 0.01020716
+v 0.01106622 -0.04874205 0.00899154
+v 0.01106622 -0.04610187 0.00628573
+v 0.03394139 -0.02350868 0.00628581
+v 0.02556697 -0.04745920 0.01218080
+v 0.02314868 -0.04745921 0.01237871
+v 0.02073040 -0.04745921 0.01251247
+v 0.03394139 -0.04502521 0.01061003
+v 0.03126113 -0.04745920 0.01121784
+v 0.03005199 -0.04745920 0.01150649
+v 0.02798525 -0.04745920 0.01187259
+v 0.01831212 -0.04745921 0.01260400
+v 0.01589383 -0.04745921 0.01267362
+v 0.01831212 -0.04937776 0.01193751
+v 0.01347555 -0.04745921 0.01273463
+v 0.01106622 -0.04745921 0.01278391
+v 0.01106622 -0.02602285 0.00628580
+v 0.01571470 -0.02542151 0.00628581
+v 0.03394139 -0.00124193 0.00629294
+v 0.02556697 -0.04259121 0.01220975
+v 0.01347555 0.00605429 0.01401224
+v 0.01106622 0.00605429 0.01426413
+v 0.01831212 -0.04502522 0.01267675
+v 0.01589383 -0.04502522 0.01277296
+v 0.03282182 -0.04502521 0.01087365
+v 0.03394139 -0.04390270 0.01061708
+v 0.03282182 -0.04259121 0.01088852
+v 0.03282182 -0.04015721 0.01090261
+v 0.03282182 -0.03772895 0.01091279
+v 0.03132383 -0.04015721 0.01124446
+v 0.03133950 -0.03772895 0.01124916
+v 0.03011468 -0.04015721 0.01151199
+v 0.02798525 -0.03772895 0.01190547
+v 0.02798525 -0.04015721 0.01189842
+v 0.02556697 -0.03772895 0.01223480
+v 0.02556697 -0.04015721 0.01222384
+v 0.01347555 -0.04502522 0.01284180
+v 0.01106622 -0.04744775 0.01278470
+v 0.01106622 -0.04502522 0.01289265
+v 0.01106622 0.00119204 0.00956511
+v 0.02556697 0.00883766 0.00775970
+v 0.02556697 0.00848831 0.00772137
+v 0.03394139 0.00855704 0.00680457
+v 0.03394139 0.00605432 0.00658474
+v 0.03394139 0.00549307 0.00654720
+v 0.01564529 0.00605429 0.01371890
+v 0.01551989 0.00848829 0.01369779
+v 0.01347555 0.00848829 0.01397157
+v 0.01106622 0.00848829 0.01427665
+v 0.03394139 -0.04259121 0.01062490
+v 0.03394139 -0.04015721 0.01063821
+v 0.03394139 -0.03772895 0.01064761
+v 0.03394139 -0.03660072 0.01064997
+v 0.03394139 -0.03417246 0.01065466
+v 0.03282182 -0.03529496 0.01091593
+v 0.03282182 -0.02313071 0.01092850
+v 0.03134174 -0.03529496 0.01124995
+v 0.03013036 -0.03772895 0.01151435
+v 0.02798525 -0.03529496 0.01190627
+v 0.02556697 0.00119203 0.01229752
+v 0.02556697 -0.00124196 0.01229596
+v 0.01106622 0.00362604 0.01001335
+v 0.01347555 0.00883765 0.01037321
+v 0.01555124 0.00883765 0.00988039
+v 0.03394139 0.00883766 0.00684055
+v 0.03394139 0.00871166 0.00682412
+v 0.02073040 0.00605429 0.01298280
+v 0.02073040 0.00848829 0.01296403
+v 0.02073040 0.00883764 0.01295934
+v 0.01548407 0.00883764 0.01369231
+v 0.01372857 0.00883764 0.01392699
+v 0.01347555 0.00883764 0.01395984
+v 0.01139986 0.00883764 0.01422268
+v 0.01106622 0.00883764 0.01426492
+v 0.03394139 -0.02930447 0.01066094
+v 0.03394139 -0.02556471 0.01066565
+v 0.03132830 -0.02313071 0.01125705
+v 0.03394139 -0.02313071 0.01066723
+v 0.03394139 -0.00011945 0.01065714
+v 0.03282182 -0.00124195 0.01090746
+v 0.03013036 -0.03529496 0.01151357
+v 0.02798525 -0.01584019 0.01189929
+v 0.02798525 -0.01340619 0.01189774
+v 0.02798525 0.00119204 0.01188293
+v 0.02798525 0.00362604 0.01186964
+v 0.02556697 0.00362603 0.01228345
+v 0.02314868 0.00605429 0.01262687
+v 0.01106622 0.00883765 0.01117736
+v 0.01140210 0.00883765 0.01106237
+v 0.01313520 0.00883765 0.01048429
+v 0.03394139 0.00883765 0.01063996
+v 0.02314868 0.00848829 0.01260732
+v 0.02107523 0.00883764 0.01290927
+v 0.03132383 -0.02069672 0.01125548
+v 0.03010573 -0.01826845 0.01151051
+v 0.03394139 0.00231455 0.01065324
+v 0.03394139 0.00718253 0.01064387
+v 0.03123874 -0.00124195 0.01124852
+v 0.03002960 -0.00124195 0.01149493
+v 0.03001168 0.00119204 0.01149258
+v 0.03009453 -0.01584019 0.01150895
+v 0.02997586 0.00362604 0.01148555
+v 0.02993779 0.00605430 0.01147539
+v 0.02989524 0.00848830 0.01146602
+v 0.02988853 0.00883765 0.01146445
+v 0.02798525 0.00605430 0.01184696
+v 0.02556697 0.00605429 0.01226078
+v 0.03316664 0.00883765 0.01080345
+v 0.02556697 0.00848830 0.01223654
+v 0.02349127 0.00883764 0.01255100
+v 0.02314868 0.00883764 0.01260341
+v 0.03282182 0.00848830 0.01087698
+v 0.03282182 0.00883765 0.01087541
+v 0.03134845 0.00883765 0.01117424
+v 0.03109767 0.00883765 0.01122430
+v 0.02824947 0.00883765 0.01177110
+v 0.02798525 0.00848830 0.01182351
+v 0.02556697 0.00883765 0.01223262
+v 0.02798525 0.00883765 0.01181960
+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 20
+f 1 20 35
+f 1 35 61
+f 1 61 60
+f 1 60 59
+f 1 59 82
+f 1 82 81
+f 1 81 107
+f 1 107 113
+f 1 113 112
+f 1 112 95
+f 1 95 94
+f 1 94 92
+f 1 92 91
+f 1 91 70
+f 1 70 69
+f 1 69 68
+f 1 68 67
+f 1 67 66
+f 1 66 42
+f 1 42 24
+f 1 24 12
+f 1 12 2
+f 2 10 11
+f 2 11 3
+f 2 12 13
+f 2 13 10
+f 3 11 14
+f 3 14 4
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 33
+f 9 33 34
+f 9 34 20
+f 10 13 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 14
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 21
+f 14 23 28
+f 14 28 29
+f 14 29 15
+f 15 30 16
+f 15 29 31
+f 15 31 32
+f 15 32 30
+f 16 30 32
+f 16 32 54
+f 16 54 55
+f 16 55 38
+f 16 38 65
+f 16 65 90
+f 16 90 104
+f 16 104 78
+f 16 78 56
+f 16 56 33
+f 16 33 19
+f 16 19 18
+f 16 18 17
+f 20 34 35
+f 21 27 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 22 38 23
+f 23 39 40
+f 23 40 28
+f 23 38 39
+f 24 41 26
+f 24 26 25
+f 24 42 41
+f 26 41 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 50
+f 26 50 27
+f 27 50 51
+f 27 51 52
+f 27 52 36
+f 28 40 29
+f 29 40 53
+f 29 53 31
+f 31 54 32
+f 31 53 55
+f 31 55 54
+f 33 56 57
+f 33 57 58
+f 33 58 59
+f 33 59 60
+f 33 60 61
+f 33 61 35
+f 33 35 34
+f 36 52 37
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 38
+f 37 52 51
+f 37 51 62
+f 38 55 53
+f 38 53 40
+f 38 40 39
+f 41 42 43
+f 42 66 43
+f 43 66 44
+f 44 66 67
+f 44 67 45
+f 45 68 69
+f 45 69 70
+f 45 70 91
+f 45 91 71
+f 45 71 47
+f 45 47 46
+f 45 67 68
+f 47 71 72
+f 47 72 73
+f 47 73 74
+f 47 74 48
+f 48 74 49
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 62
+f 49 62 50
+f 50 62 51
+f 56 78 79
+f 56 79 80
+f 56 80 57
+f 57 80 79
+f 57 79 106
+f 57 106 105
+f 57 105 104
+f 57 104 90
+f 57 90 89
+f 57 89 88
+f 57 88 87
+f 57 87 86
+f 57 86 85
+f 57 85 109
+f 57 109 127
+f 57 127 126
+f 57 126 134
+f 57 134 135
+f 57 135 132
+f 57 132 121
+f 57 121 131
+f 57 131 130
+f 57 130 129
+f 57 129 124
+f 57 124 107
+f 57 107 81
+f 57 81 82
+f 57 82 59
+f 57 59 58
+f 62 77 76
+f 62 76 83
+f 62 83 84
+f 62 84 85
+f 62 85 63
+f 63 85 86
+f 63 86 64
+f 64 86 87
+f 64 87 88
+f 64 88 89
+f 64 89 65
+f 65 89 90
+f 71 91 92
+f 71 92 72
+f 72 93 73
+f 72 92 94
+f 72 94 95
+f 72 95 96
+f 72 96 93
+f 73 93 74
+f 74 93 97
+f 74 97 75
+f 75 97 98
+f 75 98 76
+f 76 98 99
+f 76 99 100
+f 76 100 101
+f 76 101 102
+f 76 102 103
+f 76 103 83
+f 78 104 105
+f 78 105 106
+f 78 106 79
+f 83 103 84
+f 84 103 108
+f 84 108 109
+f 84 109 85
+f 93 96 110
+f 93 110 111
+f 93 111 97
+f 95 112 96
+f 96 112 113
+f 96 113 107
+f 96 107 114
+f 96 114 110
+f 97 111 98
+f 98 111 99
+f 99 111 100
+f 100 115 116
+f 100 116 101
+f 100 111 117
+f 100 117 115
+f 101 116 118
+f 101 118 119
+f 101 119 120
+f 101 120 121
+f 101 121 122
+f 101 122 123
+f 101 123 102
+f 102 123 108
+f 102 108 103
+f 107 124 114
+f 108 123 125
+f 108 125 126
+f 108 126 127
+f 108 127 109
+f 110 114 111
+f 111 114 117
+f 114 124 128
+f 114 128 116
+f 114 116 115
+f 114 115 117
+f 116 128 129
+f 116 129 118
+f 118 129 130
+f 118 130 131
+f 118 131 119
+f 119 131 120
+f 120 131 121
+f 121 132 122
+f 122 132 133
+f 122 133 123
+f 123 133 125
+f 124 129 128
+f 125 133 135
+f 125 135 134
+f 125 134 126
+f 132 135 133
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_10.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00805180 -0.07339548 -0.00554349
+v 0.00621694 -0.07340832 -0.00554349
+v 0.00805180 -0.07334672 -0.00690977
+v 0.00805180 -0.07305159 -0.00438461
+v 0.00621694 -0.07307213 -0.00437037
+v 0.00379741 -0.07309009 -0.00435799
+v -0.01554956 -0.07317735 -0.00429484
+v 0.00379741 -0.07341088 -0.00554349
+v -0.01554956 -0.07342372 -0.00554349
+v 0.00621694 -0.07333902 -0.00690357
+v 0.00805180 -0.07297202 -0.00696858
+v 0.00805180 -0.07178638 -0.00378720
+v 0.00621694 -0.07178638 -0.00376553
+v 0.00379741 -0.07178638 -0.00374449
+v -0.01554956 -0.07178638 -0.00362191
+v -0.01555649 -0.07317735 -0.00429484
+v -0.01555649 -0.07342115 -0.00554721
+v -0.01554956 -0.07324662 -0.00682867
+v -0.01555649 -0.07324406 -0.00682929
+v 0.00805180 -0.07178636 -0.00715429
+v 0.00805180 -0.06999761 -0.00295642
+v 0.00805180 -0.06850654 -0.00226925
+v 0.00805180 -0.06821141 -0.00213429
+v 0.00805180 -0.06723619 -0.00169104
+v 0.00805180 -0.06692052 -0.00154928
+v -0.01555649 -0.06954080 -0.00262336
+v -0.01555649 -0.07178638 -0.00362191
+v 0.00379741 -0.07178636 -0.00713200
+v 0.00621694 -0.07178636 -0.00714562
+v -0.01555649 -0.07178122 -0.00701500
+v -0.01554956 -0.07178636 -0.00701500
+v -0.00539540 -0.06010676 -0.00741735
+v 0.00805180 -0.06048916 -0.00741735
+v -0.01555649 -0.05980650 -0.00741735
+v 0.00805180 -0.06589398 -0.00109302
+v -0.01071050 -0.06692052 -0.00148861
+v -0.00980000 -0.06601204 -0.00109302
+v -0.01554956 -0.06692052 -0.00147623
+v -0.01555649 -0.06692052 -0.00147623
+v 0.00805180 -0.04730823 -0.00741730
+v -0.01555649 -0.05961402 -0.00741735
+v 0.00805180 -0.05619050 -0.00109299
+v -0.01071050 -0.06601717 -0.00109302
+v -0.01466217 -0.06603770 -0.00109302
+v -0.01554956 -0.06604026 -0.00109302
+v -0.01555649 -0.06604283 -0.00109426
+v -0.00895652 -0.04720558 -0.00741730
+v -0.01555649 -0.04840153 -0.00399327
+v 0.00805180 -0.04830656 -0.00629680
+v -0.01555649 -0.04737752 -0.00741234
+v -0.01554956 -0.04737752 -0.00741730
+v -0.01555649 -0.05588767 -0.00109423
+v -0.01416301 -0.05615457 -0.00109299
+v -0.01555649 -0.06110512 -0.00109300
+v -0.01555649 -0.04791648 -0.00554340
+f 1 2 3
+f 1 3 11
+f 1 11 20
+f 1 20 33
+f 1 33 40
+f 1 40 49
+f 1 49 42
+f 1 42 35
+f 1 35 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 16 9
+f 7 9 8
+f 7 15 27
+f 7 27 16
+f 9 17 18
+f 9 18 10
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 12 21 13
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 16 27 26
+f 16 26 39
+f 16 39 46
+f 16 46 54
+f 16 54 52
+f 16 52 48
+f 16 48 55
+f 16 55 50
+f 16 50 41
+f 16 41 34
+f 16 34 30
+f 16 30 19
+f 16 19 17
+f 17 19 18
+f 19 28 29
+f 19 29 20
+f 19 30 31
+f 19 31 28
+f 20 32 33
+f 20 29 34
+f 20 34 32
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 28 31 34
+f 28 34 29
+f 30 34 31
+f 32 34 41
+f 32 41 51
+f 32 51 47
+f 32 47 40
+f 32 40 33
+f 35 37 36
+f 35 42 53
+f 35 53 54
+f 35 54 45
+f 35 45 44
+f 35 44 43
+f 35 43 37
+f 37 43 38
+f 38 43 44
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 40 47 48
+f 40 48 49
+f 41 50 51
+f 42 49 48
+f 42 48 52
+f 42 52 53
+f 45 54 46
+f 47 50 55
+f 47 55 48
+f 47 51 50
+f 52 54 53
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_11.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00533062 0.01369142 0.01450478
+v -0.02028627 0.01579145 0.01431527
+v -0.02028627 0.01378181 0.01424370
+v -0.02028627 0.01369142 0.01424039
+v -0.00533062 0.01369143 0.01185223
+v -0.00533062 0.01579145 0.01455449
+v -0.02028627 0.02552602 0.01458831
+v -0.02028627 0.02319207 0.01453066
+v -0.02028627 0.02309105 0.01452800
+v -0.02028627 0.02066140 0.01446174
+v -0.02028627 0.01822643 0.01439215
+v -0.02028627 0.01369143 0.01175350
+v -0.02028627 0.04249110 0.00802560
+v -0.01071354 0.04309718 0.00802560
+v -0.00533062 0.04389466 0.00802560
+v -0.00533062 0.01822643 0.01459028
+v -0.02028627 0.03039065 0.01467514
+v -0.02028627 0.02795568 0.01463736
+v -0.02028627 0.05939767 0.00802566
+v -0.00533062 0.05822803 0.00802565
+v -0.00533062 0.02066140 0.01462077
+v -0.02028627 0.03282031 0.01470497
+v -0.02028627 0.06236961 0.00944902
+v -0.01796885 0.06264607 0.00936752
+v -0.01554895 0.06281619 0.00926083
+v -0.01313051 0.06297569 0.00916939
+v -0.00533062 0.06444837 0.00943048
+v -0.01796885 0.05953058 0.00802566
+v -0.00834781 0.05888728 0.00802566
+v -0.00533062 0.06313519 0.00909915
+v -0.00533062 0.02309105 0.01464529
+v -0.02028627 0.03525528 0.01472817
+v -0.02028627 0.06241745 0.00947221
+v -0.00533062 0.06675042 0.01053908
+v -0.01313051 0.05951463 0.00802566
+v -0.01554895 0.05955716 0.00802566
+v -0.01071354 0.05930728 0.00802566
+v -0.00533062 0.02552602 0.01465723
+v -0.02028627 0.04011990 0.01476331
+v -0.02028627 0.03779126 0.01474806
+v -0.02028627 0.03769025 0.01474739
+v -0.02028627 0.06389544 0.01054966
+v -0.00533062 0.06789347 0.01191870
+v -0.02028627 0.06395392 0.01059737
+v -0.00533062 0.02795568 0.01465989
+v -0.02028627 0.05471378 0.01479384
+v -0.02028627 0.04741418 0.01478520
+v -0.02028627 0.04497921 0.01477989
+v -0.02028627 0.04254956 0.01477326
+v -0.02028627 0.06578812 0.01320090
+v -0.02028627 0.06581470 0.01324794
+v -0.00533062 0.06800511 0.01265158
+v -0.02028627 0.06512356 0.01205983
+v -0.02028627 0.06517141 0.01212278
+v -0.00533062 0.03039065 0.01466056
+v -0.02028627 0.05714344 0.01479451
+v -0.02028627 0.06581470 0.01377739
+v -0.00533062 0.06768080 0.01376879
+v -0.00533062 0.03093825 0.01465990
+v -0.02028627 0.05957841 0.01478922
+v -0.00533062 0.03282031 0.01465726
+v -0.02028627 0.06450151 0.01433202
+v -0.00533062 0.06727675 0.01389270
+v -0.02028627 0.06444303 0.01435455
+v -0.00533062 0.04254956 0.01460429
+v -0.00533062 0.06200806 0.01441086
+v -0.02028627 0.06200806 0.01476074
+v -0.00533062 0.03525528 0.01465064
+v -0.00533062 0.03769025 0.01464005
+v -0.00533062 0.04011990 0.01462548
+v -0.00533062 0.06695775 0.01396228
+v -0.01313051 0.06444303 0.01444997
+v -0.02028627 0.06211439 0.01474682
+v -0.00533062 0.06444303 0.01435124
+v -0.00829511 0.06444303 0.01442810
+v -0.01071354 0.06444303 0.01446389
+v -0.00533062 0.06499064 0.01430817
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 15
+f 1 15 20
+f 1 20 30
+f 1 30 27
+f 1 27 34
+f 1 34 43
+f 1 43 52
+f 1 52 58
+f 1 58 63
+f 1 63 71
+f 1 71 77
+f 1 77 74
+f 1 74 66
+f 1 66 65
+f 1 65 70
+f 1 70 69
+f 1 69 68
+f 1 68 61
+f 1 61 59
+f 1 59 55
+f 1 55 45
+f 1 45 38
+f 1 38 31
+f 1 31 21
+f 1 21 16
+f 1 16 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 18
+f 2 18 17
+f 2 17 22
+f 2 22 32
+f 2 32 41
+f 2 41 40
+f 2 40 39
+f 2 39 49
+f 2 49 48
+f 2 48 47
+f 2 47 46
+f 2 46 56
+f 2 56 60
+f 2 60 67
+f 2 67 73
+f 2 73 64
+f 2 64 62
+f 2 62 57
+f 2 57 51
+f 2 51 50
+f 2 50 54
+f 2 54 53
+f 2 53 44
+f 2 44 42
+f 2 42 33
+f 2 33 23
+f 2 23 19
+f 2 19 13
+f 2 13 12
+f 2 12 4
+f 2 4 3
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 13 19 28
+f 13 28 36
+f 13 36 35
+f 13 35 37
+f 13 37 29
+f 13 29 20
+f 13 20 15
+f 13 15 14
+f 16 21 17
+f 17 21 22
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 20 29 30
+f 21 31 22
+f 22 31 32
+f 23 33 24
+f 24 33 34
+f 24 34 25
+f 25 34 26
+f 26 34 27
+f 27 30 35
+f 27 35 36
+f 27 36 28
+f 29 37 30
+f 30 37 35
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 33 42 34
+f 34 42 44
+f 34 44 43
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 39
+f 43 50 51
+f 43 51 52
+f 43 44 53
+f 43 53 54
+f 43 54 50
+f 45 55 56
+f 45 56 46
+f 51 57 52
+f 52 57 58
+f 55 59 56
+f 56 59 61
+f 56 61 60
+f 57 62 58
+f 58 62 64
+f 58 64 63
+f 60 65 66
+f 60 66 67
+f 60 61 68
+f 60 68 69
+f 60 69 70
+f 60 70 65
+f 63 64 72
+f 63 72 71
+f 64 73 72
+f 66 74 75
+f 66 75 67
+f 67 75 76
+f 67 76 73
+f 71 72 76
+f 71 76 77
+f 72 73 76
+f 74 77 75
+f 75 77 76
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_12.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02969103 0.06650679 -0.00721159
+v -0.02727119 0.06650488 -0.00721159
+v -0.02280843 0.06289827 -0.00938702
+v -0.02522252 0.06289254 -0.00938702
+v -0.02647992 0.06286769 -0.00938702
+v -0.02764236 0.06284284 -0.00938702
+v -0.02885948 0.06281418 -0.00938702
+v -0.03123904 0.06275301 -0.00938702
+v -0.03203606 0.06643034 -0.00721159
+v -0.02483120 0.06648195 -0.00721159
+v -0.00962733 0.06284667 -0.00938702
+v -0.01071496 0.06285431 -0.00938702
+v -0.01313193 0.06286769 -0.00938702
+v -0.03247917 0.06270332 -0.00938702
+v -0.03363587 0.06264789 -0.00938702
+v -0.03430629 0.06628126 -0.00721159
+v -0.02238546 0.06645327 -0.00721159
+v -0.01498494 0.06630802 -0.00721159
+v -0.01251330 0.06625450 -0.00721159
+v -0.00962733 0.06618570 -0.00721159
+v -0.00962733 0.05505050 -0.00938705
+v -0.01992246 0.06640932 -0.00721159
+v -0.03489902 0.06255042 -0.00938702
+v -0.03655637 0.06611307 -0.00721159
+v -0.03489902 0.06623921 -0.00721159
+v -0.00962733 0.04724861 -0.00721166
+v -0.01071496 0.04698294 -0.00721166
+v -0.03006221 0.05574812 -0.00938705
+v -0.03568166 0.06218918 -0.00938702
+v -0.03673764 0.06166548 -0.00938702
+v -0.03802669 0.06515933 -0.00721159
+v -0.02764236 0.05082272 -0.00721164
+v -0.03247917 0.05595837 -0.00938704
+v -0.03070098 0.05579209 -0.00938705
+v -0.03682971 0.05945030 -0.00938703
+v -0.03902225 0.06376408 -0.00721160
+v -0.03006221 0.05178984 -0.00721164
+v -0.03287337 0.05607113 -0.00938704
+v -0.03601830 0.05832073 -0.00938704
+v -0.03720664 0.05679934 -0.00721162
+v -0.03787707 0.05827867 -0.00721162
+v -0.03885824 0.06106917 -0.00721161
+v -0.03900498 0.06217962 -0.00721160
+v -0.03247917 0.05289648 -0.00721164
+v -0.03499685 0.05712808 -0.00938704
+v -0.03697070 0.05652029 -0.00721162
+v -0.03385454 0.05366673 -0.00721163
+v -0.03532774 0.05471603 -0.00721163
+v -0.03485874 0.05424585 -0.00721163
+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 16
+f 1 16 25
+f 1 25 24
+f 1 24 31
+f 1 31 36
+f 1 36 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 46
+f 1 46 48
+f 1 48 49
+f 1 49 47
+f 1 47 44
+f 1 44 37
+f 1 37 32
+f 1 32 27
+f 1 27 26
+f 1 26 20
+f 1 20 19
+f 1 19 18
+f 1 18 22
+f 1 22 17
+f 1 17 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 3 13 12
+f 3 12 11
+f 3 11 21
+f 3 21 28
+f 3 28 34
+f 3 34 33
+f 3 33 38
+f 3 38 45
+f 3 45 39
+f 3 39 35
+f 3 35 30
+f 3 30 29
+f 3 29 23
+f 3 23 15
+f 3 15 14
+f 3 14 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 17 11
+f 11 18 19
+f 11 19 20
+f 11 20 26
+f 11 26 21
+f 11 17 22
+f 11 22 18
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 21 26 27
+f 21 27 28
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 30 35 36
+f 30 36 31
+f 32 37 38
+f 32 38 33
+f 35 39 40
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 37 44 38
+f 38 44 45
+f 39 45 46
+f 39 46 40
+f 44 47 45
+f 45 48 46
+f 45 47 49
+f 45 49 48
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_13.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.02280865 0.06289964 -0.00938723
+v -0.02522392 0.06263598 -0.01004363
+v -0.02522392 0.06289231 -0.00938723
+v -0.01313406 0.06286790 -0.00938723
+v -0.02522392 0.06153245 -0.01143637
+v -0.02764189 0.06151536 -0.01143880
+v -0.03005986 0.06149583 -0.01143686
+v -0.02764189 0.06258470 -0.01004363
+v -0.02764189 0.06284349 -0.00938723
+v -0.02648018 0.06286790 -0.00938723
+v -0.01021358 0.06285081 -0.00938723
+v -0.02280865 0.06262132 -0.01004363
+v -0.02764189 0.05957931 -0.01204871
+v -0.01071339 0.06253587 -0.01004363
+v -0.00962733 0.06203050 -0.01066032
+v -0.00962733 0.06141526 -0.01141893
+v -0.00962733 0.06059495 -0.01169023
+v -0.00962733 0.05957931 -0.01202497
+v -0.01313406 0.05957931 -0.01203320
+v -0.01555203 0.05957931 -0.01203853
+v -0.01797001 0.05957931 -0.01204289
+v -0.02038798 0.05957931 -0.01204483
+v -0.03005986 0.05957931 -0.01204483
+v -0.03248054 0.06144700 -0.01142330
+v -0.03005986 0.06252367 -0.01004363
+v -0.02885763 0.06281419 -0.00938723
+v -0.00962733 0.06284593 -0.00938723
+v -0.01797001 0.05714766 -0.01271772
+v -0.02038798 0.05714766 -0.01271626
+v -0.00962733 0.06252611 -0.01004363
+v -0.00962733 0.05848800 -0.01232920
+v -0.00962733 0.05714766 -0.01270173
+v -0.01555203 0.05714766 -0.01271432
+v -0.02764189 0.05714766 -0.01270028
+v -0.03005986 0.05714766 -0.01268768
+v -0.03248054 0.05957931 -0.01201092
+v -0.03489851 0.06136643 -0.01139762
+v -0.03248054 0.06242845 -0.01004363
+v -0.03248054 0.06270432 -0.00938723
+v -0.03123778 0.06275315 -0.00938723
+v -0.00962733 0.05504802 -0.00938726
+v -0.01555203 0.05513593 -0.01322589
+v -0.01797001 0.05514081 -0.01322783
+v -0.02038798 0.05514081 -0.01322638
+v -0.00962733 0.05512128 -0.01322008
+v -0.02280865 0.05512860 -0.01322299
+v -0.02764189 0.05508466 -0.01321524
+v -0.03005986 0.05505780 -0.01320458
+v -0.03248054 0.05714766 -0.01263439
+v -0.03489851 0.05957931 -0.01193147
+v -0.03629796 0.06114915 -0.01131092
+v -0.03489851 0.06224290 -0.01004363
+v -0.03363684 0.06264817 -0.00938723
+v -0.00962733 0.03795805 -0.01042013
+v -0.03005986 0.05574626 -0.00938726
+v -0.00962733 0.05390301 -0.01350977
+v -0.01071339 0.05390789 -0.01351026
+v -0.01555203 0.05392010 -0.01351074
+v -0.01797001 0.05392498 -0.01351123
+v -0.02038798 0.05392498 -0.01351171
+v -0.02280865 0.05391277 -0.01350929
+v -0.02522392 0.05389080 -0.01350396
+v -0.02764189 0.05386883 -0.01349814
+v -0.03005986 0.05384197 -0.01349330
+v -0.03248054 0.05373699 -0.01347247
+v -0.03411773 0.05359783 -0.01344195
+v -0.03573061 0.05337322 -0.01334652
+v -0.03626014 0.05174967 -0.01353158
+v -0.03651139 0.05957931 -0.01152504
+v -0.03673563 0.06166428 -0.00938723
+v -0.03568198 0.06218918 -0.00938723
+v -0.03489851 0.06255051 -0.00938723
+v -0.00962733 0.03795806 -0.01431011
+v -0.03070286 0.05579021 -0.00938726
+v -0.03248054 0.05595623 -0.00938725
+v -0.02764189 0.03795805 -0.01056255
+v -0.00962733 0.05228190 -0.01382757
+v -0.01071339 0.05228190 -0.01382902
+v -0.01313406 0.05391277 -0.01351074
+v -0.01313406 0.05228190 -0.01382999
+v -0.01555203 0.05228190 -0.01382708
+v -0.02038798 0.05228190 -0.01381982
+v -0.02280865 0.05228190 -0.01381304
+v -0.03005986 0.05228190 -0.01377864
+v -0.03248054 0.05228190 -0.01374182
+v -0.03491472 0.05245036 -0.01360279
+v -0.03489851 0.04985024 -0.01394530
+v -0.03639522 0.04985024 -0.01363865
+v -0.03661946 0.05714765 -0.01174788
+v -0.03683019 0.05944990 -0.00938724
+v -0.00962733 0.04011873 -0.01429557
+v -0.01071339 0.03795806 -0.01431641
+v -0.03287498 0.05606853 -0.00938725
+v -0.03005986 0.03795805 -0.01058580
+v -0.00962733 0.04985024 -0.01412744
+v -0.01071339 0.04985024 -0.01413083
+v -0.01313406 0.04985024 -0.01413277
+v -0.01555203 0.04985024 -0.01412841
+v -0.03005986 0.04985024 -0.01409208
+v -0.03248054 0.04985024 -0.01406107
+v -0.03489851 0.04741859 -0.01407271
+v -0.03648708 0.04741859 -0.01370696
+v -0.03693825 0.03795806 -0.01376997
+v -0.03720031 0.03795806 -0.01245668
+v -0.03722733 0.03795806 -0.01229342
+v -0.03601969 0.05831953 -0.00938725
+v -0.03639522 0.03795805 -0.01104117
+v -0.03489851 0.03795805 -0.01080622
+v -0.00962733 0.04255283 -0.01427860
+v -0.01071339 0.04011873 -0.01430138
+v -0.01313406 0.03795806 -0.01432707
+v -0.03499847 0.05712811 -0.00938725
+v -0.03248054 0.03795805 -0.01065120
+v -0.00962733 0.04741859 -0.01422385
+v -0.01071339 0.04741859 -0.01422773
+v -0.01313406 0.04741859 -0.01422918
+v -0.03005986 0.04741859 -0.01421417
+v -0.03248054 0.04741859 -0.01418026
+v -0.03489851 0.04498448 -0.01411050
+v -0.03489851 0.03795806 -0.01417786
+v -0.00962733 0.04498448 -0.01425776
+v -0.01071339 0.04255283 -0.01428442
+v -0.01555203 0.03795806 -0.01433336
+v -0.01313406 0.04011873 -0.01431107
+v -0.01071339 0.04498448 -0.01426261
+v -0.01313406 0.04498448 -0.01426503
+v -0.02764189 0.04498448 -0.01425583
+v -0.03005986 0.04498448 -0.01424662
+v -0.03248054 0.04498448 -0.01420641
+v -0.03248054 0.03795806 -0.01426748
+v -0.01313406 0.04255283 -0.01429071
+v -0.01797001 0.03795806 -0.01433627
+v -0.01555203 0.04011873 -0.01431495
+v -0.01555203 0.04255283 -0.01429071
+v -0.02764189 0.04255283 -0.01428442
+v -0.03005986 0.04255283 -0.01427182
+v -0.03005986 0.03795806 -0.01431641
+v -0.02038798 0.03795806 -0.01433579
+v -0.01797001 0.04011873 -0.01431495
+v -0.02764189 0.04011873 -0.01430962
+v -0.02764189 0.03795806 -0.01433191
+f 1 2 3
+f 1 3 10
+f 1 10 9
+f 1 9 26
+f 1 26 40
+f 1 40 39
+f 1 39 53
+f 1 53 72
+f 1 72 71
+f 1 71 70
+f 1 70 90
+f 1 90 106
+f 1 106 112
+f 1 112 93
+f 1 93 75
+f 1 75 74
+f 1 74 55
+f 1 55 41
+f 1 41 27
+f 1 27 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 4 11
+f 2 11 12
+f 2 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 20
+f 5 20 21
+f 5 21 22
+f 5 22 13
+f 6 13 23
+f 6 23 7
+f 7 23 24
+f 7 24 8
+f 8 24 25
+f 8 25 26
+f 8 26 9
+f 11 27 14
+f 11 14 12
+f 13 22 28
+f 13 28 29
+f 13 29 23
+f 14 27 30
+f 14 30 15
+f 15 30 27
+f 15 27 41
+f 15 41 54
+f 15 54 73
+f 15 73 91
+f 15 91 109
+f 15 109 121
+f 15 121 114
+f 15 114 95
+f 15 95 77
+f 15 77 56
+f 15 56 45
+f 15 45 32
+f 15 32 31
+f 15 31 18
+f 15 18 17
+f 15 17 16
+f 18 31 19
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 28
+f 21 28 22
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 23 29 34
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 28 33 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 34
+f 32 45 33
+f 33 45 42
+f 34 46 47
+f 34 47 35
+f 34 44 46
+f 35 48 49
+f 35 49 36
+f 35 47 48
+f 36 49 50
+f 36 50 37
+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 38 52 53
+f 38 53 39
+f 41 55 54
+f 42 45 56
+f 42 56 57
+f 42 57 43
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 43 57 58
+f 44 60 61
+f 44 61 46
+f 46 61 47
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 48 64 65
+f 48 65 49
+f 49 65 66
+f 49 66 50
+f 50 66 67
+f 50 67 51
+f 51 67 68
+f 51 68 69
+f 51 69 70
+f 51 70 71
+f 51 71 72
+f 51 72 52
+f 52 72 53
+f 54 55 74
+f 54 74 75
+f 54 75 76
+f 54 76 94
+f 54 94 113
+f 54 113 108
+f 54 108 107
+f 54 107 105
+f 54 105 104
+f 54 104 103
+f 54 103 120
+f 54 120 130
+f 54 130 137
+f 54 137 141
+f 54 141 138
+f 54 138 132
+f 54 132 123
+f 54 123 111
+f 54 111 92
+f 54 92 73
+f 56 77 78
+f 56 78 57
+f 57 78 79
+f 57 79 59
+f 57 59 58
+f 59 79 78
+f 59 78 80
+f 59 80 60
+f 60 80 81
+f 60 81 82
+f 60 82 61
+f 61 82 83
+f 61 83 62
+f 62 83 64
+f 62 64 63
+f 64 84 85
+f 64 85 65
+f 64 83 84
+f 65 85 66
+f 66 85 86
+f 66 86 67
+f 67 86 68
+f 68 86 87
+f 68 87 88
+f 68 88 69
+f 69 88 89
+f 69 89 70
+f 70 89 90
+f 73 92 91
+f 75 93 94
+f 75 94 76
+f 77 95 96
+f 77 96 78
+f 78 96 97
+f 78 97 80
+f 80 97 81
+f 81 97 82
+f 82 97 98
+f 82 98 99
+f 82 99 83
+f 83 99 84
+f 84 99 100
+f 84 100 85
+f 85 100 87
+f 85 87 86
+f 87 100 101
+f 87 101 88
+f 88 102 103
+f 88 103 89
+f 88 101 102
+f 89 103 104
+f 89 104 105
+f 89 105 90
+f 90 105 107
+f 90 107 108
+f 90 108 106
+f 91 92 110
+f 91 110 122
+f 91 122 109
+f 92 111 110
+f 93 112 113
+f 93 113 94
+f 95 114 115
+f 95 115 96
+f 96 115 97
+f 97 115 116
+f 97 116 117
+f 97 117 98
+f 98 117 99
+f 99 117 100
+f 100 118 101
+f 100 117 118
+f 101 119 103
+f 101 103 102
+f 101 118 119
+f 103 119 120
+f 106 108 112
+f 108 113 112
+f 109 122 121
+f 110 111 122
+f 111 123 124
+f 111 124 122
+f 114 121 125
+f 114 125 115
+f 115 125 126
+f 115 126 116
+f 116 126 127
+f 116 127 117
+f 117 127 128
+f 117 128 118
+f 118 129 119
+f 118 128 129
+f 119 129 120
+f 120 129 130
+f 121 122 125
+f 122 124 131
+f 122 131 125
+f 123 132 133
+f 123 133 131
+f 123 131 124
+f 125 131 126
+f 126 131 134
+f 126 134 135
+f 126 135 127
+f 127 135 128
+f 128 136 129
+f 128 135 136
+f 129 136 137
+f 129 137 130
+f 131 133 139
+f 131 139 134
+f 132 138 139
+f 132 139 133
+f 134 139 135
+f 135 140 136
+f 135 139 140
+f 136 140 141
+f 136 141 137
+f 138 141 139
+f 139 141 140
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_14.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.01106622 0.01369726 0.01410156
+v 0.00863623 0.01369726 0.01442297
+v 0.01106622 0.01369727 0.01074049
+v 0.01106622 0.05716628 0.01379138
+v 0.00621747 0.01369726 0.01450299
+v 0.00863623 0.05471305 0.01410757
+v 0.00621747 0.05471305 0.01428974
+v 0.00621747 0.05227733 0.01430404
+v 0.01106622 0.02064811 0.01012309
+v 0.00621747 0.01369727 0.00983484
+v 0.00622068 0.02804872 0.00802553
+v 0.00721097 0.02977767 0.00802554
+v 0.01106622 0.05959031 0.01376211
+v 0.01105499 0.05957863 0.01376406
+v 0.00863623 0.05714292 0.01408871
+v -0.00103720 0.01822407 0.01465590
+v -0.00103720 0.01579420 0.01464679
+v -0.00103720 0.01369726 0.01462140
+v -0.00103720 0.03282083 0.01463839
+v -0.00103720 0.02552537 0.01466829
+v -0.00103720 0.02308966 0.01467153
+v 0.00621747 0.05714292 0.01426112
+v -0.00103720 0.05714292 0.01439320
+v -0.00103720 0.04255200 0.01456296
+v -0.00103720 0.04012213 0.01458767
+v -0.00103720 0.03768642 0.01460588
+v -0.00103720 0.03525654 0.01462343
+v 0.00736827 0.03039098 0.00802554
+v 0.01106622 0.05501096 0.00802563
+v 0.00379871 0.01369727 0.00955833
+v 0.00441022 0.02719009 0.00802553
+v 0.01106622 0.06102721 0.01365801
+v 0.01105499 0.06102721 0.01366322
+v 0.00502815 0.07297214 0.01358910
+v 0.00863623 0.05957863 0.01405684
+v -0.00533062 0.02552537 0.01465723
+v -0.00533062 0.02308966 0.01464551
+v -0.00533062 0.02065978 0.01462078
+v -0.00533062 0.01369726 0.01450494
+v -0.00533062 0.01822407 0.01459084
+v -0.00533062 0.01579420 0.01455505
+v -0.00533062 0.04012213 0.01462606
+v -0.00345596 0.03525654 0.01464165
+v -0.00533062 0.03525654 0.01465011
+v -0.00533062 0.03282083 0.01465726
+v -0.00533062 0.03039096 0.01466115
+v -0.00533062 0.02795524 0.01465984
+v -0.00103720 0.06444422 0.01424424
+v -0.00103720 0.06200851 0.01431775
+v -0.00533062 0.06200851 0.01441078
+v -0.00345596 0.04012213 0.01460979
+v -0.00345596 0.04255200 0.01458638
+v -0.00533062 0.04255200 0.01460395
+v 0.01106622 0.06277370 0.00802566
+v 0.00346808 0.01369727 0.00959086
+v 0.00222579 0.02796695 0.00802553
+v 0.00372006 0.02702654 0.00802553
+v 0.01106622 0.06235313 0.01249212
+v 0.00987530 0.06817665 0.01138675
+v 0.00794768 0.07121400 0.01191115
+v 0.00552731 0.07327003 0.01245703
+v 0.00494148 0.07297214 0.01358910
+v -0.00533062 0.06499328 0.01430800
+v -0.00103720 0.06687410 0.01413755
+v -0.00533062 0.01369727 0.01185239
+v -0.00533062 0.03768642 0.01464036
+v -0.00533062 0.06444422 0.01435094
+v 0.00839708 0.06439167 0.00802567
+v 0.00619660 0.06940328 0.00935749
+v 0.00637958 0.07191492 0.01037636
+v 0.00794768 0.07121400 0.01086887
+v 0.00987530 0.06817665 0.01128786
+v 0.01106622 0.06265103 0.01026182
+v 0.00138156 0.01369727 0.00981857
+v 0.00137353 0.02896576 0.00802554
+v 0.00568139 0.07336350 0.01090532
+v 0.00400094 0.07325251 0.01241214
+v -0.00002444 0.07066493 0.01367042
+v -0.00345596 0.06687410 0.01411217
+v -0.00533062 0.06695587 0.01396253
+v -0.00533062 0.04389546 0.00802559
+v 0.00622870 0.06522110 0.00802567
+v 0.00537644 0.06864979 0.00898143
+v 0.00379871 0.06994066 0.00921826
+v 0.00379871 0.07173969 0.00995346
+v 0.00060954 0.03039098 0.00802554
+v 0.00379871 0.07331677 0.01094240
+v 0.00249704 0.07303056 0.01163270
+v -0.00498233 0.06817664 0.01365999
+v -0.00533062 0.06768016 0.01376865
+v -0.00533062 0.06727712 0.01389226
+v -0.00533062 0.05822937 0.00802564
+v 0.00520470 0.06544306 0.00802567
+v 0.00224184 0.06837526 0.00901526
+v 0.00141366 0.06923388 0.00954681
+v 0.00249704 0.07303056 0.01123973
+v -0.00533062 0.06444424 0.00943034
+v -0.00533062 0.06675144 0.01053900
+v -0.00533062 0.06800141 0.01265154
+v -0.00533062 0.06313585 0.00909917
+v 0.00218727 0.06358561 0.00802566
+v -0.00464047 0.06807736 0.01141343
+v -0.00533062 0.06789044 0.01191895
+f 1 2 5
+f 1 5 18
+f 1 18 39
+f 1 39 65
+f 1 65 74
+f 1 74 55
+f 1 55 30
+f 1 30 10
+f 1 10 3
+f 1 3 9
+f 1 9 29
+f 1 29 54
+f 1 54 73
+f 1 73 58
+f 1 58 32
+f 1 32 13
+f 1 13 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 10 11
+f 3 11 12
+f 3 12 9
+f 4 13 14
+f 4 14 15
+f 4 15 6
+f 5 16 17
+f 5 17 18
+f 5 8 19
+f 5 19 20
+f 5 20 21
+f 5 21 16
+f 6 15 7
+f 7 15 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 19
+f 7 19 8
+f 9 12 28
+f 9 28 29
+f 10 30 11
+f 11 30 31
+f 11 31 57
+f 11 57 56
+f 11 56 75
+f 11 75 86
+f 11 86 81
+f 11 81 92
+f 11 92 101
+f 11 101 93
+f 11 93 82
+f 11 82 68
+f 11 68 54
+f 11 54 29
+f 11 29 28
+f 11 28 12
+f 13 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 14
+f 14 35 15
+f 15 35 22
+f 16 21 36
+f 16 36 17
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 18 38 40
+f 18 40 41
+f 18 41 39
+f 19 27 42
+f 19 42 43
+f 19 43 20
+f 20 43 44
+f 20 44 45
+f 20 45 46
+f 20 46 21
+f 21 46 47
+f 21 47 36
+f 22 35 48
+f 22 48 49
+f 22 49 50
+f 22 50 23
+f 23 50 24
+f 24 50 25
+f 25 51 26
+f 25 50 52
+f 25 52 53
+f 25 53 51
+f 26 51 27
+f 27 51 42
+f 30 55 56
+f 30 56 57
+f 30 57 31
+f 32 58 59
+f 32 59 60
+f 32 60 34
+f 32 34 33
+f 34 60 61
+f 34 61 62
+f 34 62 63
+f 34 63 64
+f 34 64 35
+f 35 64 48
+f 36 47 46
+f 36 46 45
+f 36 45 44
+f 36 44 66
+f 36 66 42
+f 36 42 53
+f 36 53 50
+f 36 50 67
+f 36 67 63
+f 36 63 80
+f 36 80 91
+f 36 91 90
+f 36 90 99
+f 36 99 103
+f 36 103 98
+f 36 98 97
+f 36 97 100
+f 36 100 92
+f 36 92 81
+f 36 81 65
+f 36 65 39
+f 36 39 41
+f 36 41 40
+f 36 40 38
+f 36 38 37
+f 42 66 43
+f 42 51 53
+f 43 66 44
+f 48 64 67
+f 48 67 49
+f 49 67 50
+f 50 53 52
+f 54 68 69
+f 54 69 70
+f 54 70 71
+f 54 71 72
+f 54 72 59
+f 54 59 73
+f 55 74 56
+f 56 74 75
+f 58 73 59
+f 59 72 71
+f 59 71 60
+f 60 71 76
+f 60 76 61
+f 61 76 77
+f 61 77 62
+f 62 77 78
+f 62 78 79
+f 62 79 63
+f 63 67 64
+f 63 79 80
+f 65 81 74
+f 68 82 83
+f 68 83 69
+f 69 83 84
+f 69 84 70
+f 70 84 85
+f 70 85 76
+f 70 76 71
+f 74 81 86
+f 74 86 75
+f 76 87 77
+f 76 85 87
+f 77 88 78
+f 77 87 88
+f 78 88 89
+f 78 89 90
+f 78 90 91
+f 78 91 80
+f 78 80 79
+f 82 93 84
+f 82 84 83
+f 84 94 95
+f 84 95 85
+f 84 93 94
+f 85 96 87
+f 85 95 97
+f 85 97 98
+f 85 98 96
+f 87 96 88
+f 88 99 89
+f 88 96 99
+f 89 99 90
+f 92 100 94
+f 92 94 101
+f 93 101 94
+f 94 100 97
+f 94 97 95
+f 96 98 102
+f 96 102 103
+f 96 103 99
+f 98 103 102
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_15.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.03281985 -0.07340146 -0.00556940
+v 0.00805423 -0.07339590 -0.00554351
+v 0.03040268 -0.07339867 -0.00695842
+v 0.03281985 -0.07339867 -0.00696130
+v 0.03281985 -0.07298737 -0.00444654
+v 0.00805423 -0.07305129 -0.00438540
+v 0.02798552 -0.07339589 -0.00695482
+v 0.00805423 -0.07334865 -0.00690951
+v 0.01105568 -0.07335699 -0.00691742
+v 0.03040268 -0.07178679 -0.00725405
+v 0.03281985 -0.07178123 -0.00725477
+v 0.03281985 -0.07177013 -0.00382935
+v 0.03281985 -0.06942735 -0.00270648
+v 0.00805423 -0.07209807 -0.00393365
+v 0.01589485 -0.07336810 -0.00692821
+v 0.02798552 -0.07178679 -0.00724614
+v 0.00863852 -0.07334865 -0.00691166
+v 0.00805423 -0.07178679 -0.00715407
+v 0.00863852 -0.07178679 -0.00715694
+v 0.00805423 -0.05585138 -0.00844161
+v 0.00946767 -0.05586250 -0.00844161
+v 0.01189453 -0.05585972 -0.00844161
+v 0.01431170 -0.05584861 -0.00844161
+v 0.01831202 -0.05582638 -0.00844161
+v 0.01914117 -0.05582082 -0.00844161
+v 0.03119305 -0.05571521 -0.00844160
+v 0.03281985 -0.05569020 -0.00844160
+v 0.00805423 -0.07178681 -0.00378691
+v 0.03281985 -0.06820732 -0.00213605
+v 0.00805423 -0.04502120 -0.00844157
+v 0.03281985 -0.05565685 -0.00844160
+v 0.00805423 -0.06999706 -0.00295681
+v 0.03281985 -0.06692059 -0.00154548
+v 0.00805423 -0.06821287 -0.00213461
+v 0.00805423 -0.06850746 -0.00226984
+v 0.00805423 -0.05619047 -0.00109299
+v 0.03281985 -0.05576248 -0.00109298
+v 0.01105568 -0.04501287 -0.00844157
+v 0.03177249 -0.04665810 -0.00844157
+v 0.03281985 -0.04664142 -0.00844013
+v 0.00805423 -0.06723463 -0.00169151
+v 0.03281985 -0.06590067 -0.00109446
+v 0.00805423 -0.06613967 -0.00120236
+v 0.00805423 -0.06692059 -0.00154980
+v 0.00805423 -0.06589233 -0.00109302
+v 0.03281985 -0.04832279 -0.00615844
+v 0.03281985 -0.06586454 -0.00109302
+v 0.01107507 -0.04501287 -0.00844157
+v 0.02818190 -0.04584660 -0.00844157
+v 0.02556593 -0.04527133 -0.00844157
+v 0.03142580 -0.06589233 -0.00109302
+v 0.02314877 -0.04521296 -0.00844157
+v 0.02072918 -0.04516572 -0.00844157
+v 0.02057402 -0.04516294 -0.00844157
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 27
+f 1 27 31
+f 1 31 40
+f 1 40 46
+f 1 46 37
+f 1 37 47
+f 1 47 42
+f 1 42 33
+f 1 33 29
+f 1 29 13
+f 1 13 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 14
+f 2 14 28
+f 2 28 32
+f 2 32 35
+f 2 35 34
+f 2 34 41
+f 2 41 44
+f 2 44 43
+f 2 43 45
+f 2 45 36
+f 2 36 30
+f 2 30 20
+f 2 20 18
+f 2 18 8
+f 2 8 9
+f 2 9 7
+f 3 7 10
+f 3 10 4
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 7 9 15
+f 7 15 10
+f 8 16 17
+f 8 17 9
+f 8 18 19
+f 8 19 16
+f 9 17 10
+f 9 10 15
+f 10 17 16
+f 10 16 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 13 28 14
+f 13 29 28
+f 16 19 20
+f 18 20 19
+f 20 30 38
+f 20 38 48
+f 20 48 54
+f 20 54 53
+f 20 53 52
+f 20 52 50
+f 20 50 49
+f 20 49 39
+f 20 39 31
+f 20 31 27
+f 20 27 26
+f 20 26 25
+f 20 25 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 28 29 32
+f 29 33 34
+f 29 34 35
+f 29 35 32
+f 30 36 37
+f 30 37 38
+f 31 39 40
+f 33 41 34
+f 33 42 43
+f 33 43 44
+f 33 44 41
+f 36 45 51
+f 36 51 47
+f 36 47 37
+f 37 46 38
+f 38 46 48
+f 39 49 40
+f 40 49 50
+f 40 50 46
+f 42 47 51
+f 42 51 45
+f 42 45 43
+f 46 50 52
+f 46 52 53
+f 46 53 54
+f 46 54 48
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_16.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03040452 0.06335096 -0.00918338
+v 0.03196180 0.06333594 -0.00918338
+v 0.02798637 0.06325703 -0.00918338
+v 0.02407503 0.06835193 -0.00687475
+v 0.02556823 0.06833690 -0.00686841
+v 0.03040452 0.06825800 -0.00681535
+v 0.03196180 0.06823169 -0.00679713
+v 0.03196180 0.03023787 -0.00918350
+v 0.02407503 0.06305414 -0.00918338
+v 0.02407503 0.06849846 -0.00605030
+v 0.02407503 0.06856609 -0.00554264
+v 0.03196180 0.06825048 -0.00634412
+v 0.03196180 0.03018526 -0.00769458
+v 0.03188613 0.03034307 -0.00918350
+v 0.02407503 0.05618579 -0.00918340
+v 0.02407503 0.06830683 -0.00423826
+v 0.02556823 0.06826926 -0.00426994
+v 0.02798637 0.06820539 -0.00432221
+v 0.03040452 0.06814151 -0.00437765
+v 0.03178808 0.06810394 -0.00441012
+v 0.02556823 0.06850973 -0.00554264
+v 0.03040452 0.06830308 -0.00554264
+v 0.03196180 0.06823169 -0.00548324
+v 0.03196180 0.03020781 -0.00763281
+v 0.03156650 0.03102689 -0.00662383
+v 0.03189694 0.03028671 -0.00768904
+v 0.02407503 0.04445173 -0.00554273
+v 0.02407503 0.04480491 -0.00619215
+v 0.02407503 0.04531592 -0.00694531
+v 0.02407503 0.06740883 -0.00379950
+v 0.02407503 0.06687530 -0.00354132
+v 0.02556823 0.06687530 -0.00359517
+v 0.03196180 0.06701807 -0.00389771
+v 0.03196180 0.06790481 -0.00432142
+v 0.03196180 0.06809643 -0.00443625
+v 0.03196180 0.06812273 -0.00461286
+v 0.03196180 0.03074885 -0.00654463
+v 0.02904335 0.03867676 -0.00433499
+v 0.02407503 0.04521446 -0.00420111
+v 0.02407503 0.06464346 -0.00259650
+v 0.03196180 0.06078470 -0.00109256
+v 0.03196180 0.06326453 -0.00215221
+v 0.03196180 0.06448189 -0.00270975
+v 0.03196180 0.03624954 -0.00432154
+v 0.03141517 0.03632093 -0.00434767
+v 0.02407503 0.05220678 -0.00109259
+v 0.02407503 0.06342609 -0.00208648
+v 0.02556823 0.06090117 -0.00109256
+v 0.03196180 0.05213539 -0.00109259
+v 0.03040452 0.05212412 -0.00109259
+v 0.03051107 0.05212412 -0.00109259
+v 0.02407503 0.06091996 -0.00109256
+f 1 2 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 12
+f 2 12 23
+f 2 23 36
+f 2 36 35
+f 2 35 34
+f 2 34 33
+f 2 33 43
+f 2 43 42
+f 2 42 41
+f 2 41 49
+f 2 49 44
+f 2 44 37
+f 2 37 24
+f 2 24 13
+f 2 13 8
+f 3 9 4
+f 4 10 5
+f 4 9 15
+f 4 15 29
+f 4 29 28
+f 4 28 27
+f 4 27 39
+f 4 39 46
+f 4 46 52
+f 4 52 47
+f 4 47 40
+f 4 40 31
+f 4 31 30
+f 4 30 16
+f 4 16 11
+f 4 11 10
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 13 14
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 22 23
+f 12 21 22
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 16 30 17
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 23 22
+f 21 36 23
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 27
+f 25 27 26
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 32 43 33
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 38 46 39
+f 40 47 41
+f 41 47 48
+f 41 48 52
+f 41 52 46
+f 41 46 50
+f 41 50 51
+f 41 51 49
+f 44 50 46
+f 44 46 45
+f 44 49 51
+f 44 51 50
+f 47 52 48
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_17.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03675882 0.03795805 -0.01160923
+v -0.04104731 0.02056347 -0.01160929
+v -0.04128281 0.02056347 -0.01144204
+v -0.04128281 0.02719780 -0.00982735
+v -0.04128281 0.02875492 -0.00938735
+v -0.03639628 0.03795805 -0.01104092
+v -0.00962733 0.03795805 -0.01160923
+v -0.04128281 0.01935174 -0.01160930
+v -0.04128281 0.01867792 -0.00938739
+v -0.04116816 0.02884740 -0.00938735
+v -0.03489965 0.03795805 -0.01080559
+v -0.00962733 0.03795805 -0.01041998
+v -0.00962733 0.02054837 -0.01160929
+v -0.04128281 0.01867793 -0.01160930
+v -0.02971567 0.01867792 -0.00938739
+v -0.03820898 0.03017993 -0.00938735
+v -0.03247963 0.03795805 -0.01065074
+v -0.02038883 0.03299221 -0.00938734
+v -0.01787895 0.03284310 -0.00938734
+v -0.01774880 0.03282989 -0.00938734
+v -0.01628006 0.03209002 -0.00938734
+v -0.01570372 0.03048758 -0.00938735
+v -0.00962733 0.02552365 -0.01039632
+v -0.02764269 0.03795805 -0.01056222
+v -0.02035474 0.01931211 -0.01160930
+v -0.00962733 0.02327949 -0.01077367
+v -0.02702917 0.01867793 -0.01160930
+v -0.02036094 0.02334176 -0.00938737
+v -0.03005961 0.03219005 -0.00938734
+v -0.03005961 0.03795805 -0.01058549
+v -0.02764269 0.03243164 -0.00938734
+v -0.01571611 0.02806223 -0.00938736
+v -0.00962733 0.02428926 -0.01059837
+v -0.01573161 0.02789803 -0.00938736
+v -0.01752261 0.02534999 -0.00938737
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 17
+f 1 17 30
+f 1 30 24
+f 1 24 12
+f 1 12 7
+f 1 7 13
+f 1 13 25
+f 1 25 27
+f 1 27 14
+f 1 14 8
+f 1 8 2
+f 2 8 3
+f 3 8 14
+f 3 14 9
+f 3 9 5
+f 3 5 4
+f 5 9 15
+f 5 15 28
+f 5 28 35
+f 5 35 34
+f 5 34 32
+f 5 32 22
+f 5 22 21
+f 5 21 20
+f 5 20 19
+f 5 19 18
+f 5 18 31
+f 5 31 29
+f 5 29 16
+f 5 16 10
+f 5 10 6
+f 6 10 11
+f 7 12 23
+f 7 23 33
+f 7 33 26
+f 7 26 13
+f 9 14 27
+f 9 27 15
+f 10 16 11
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 24 18
+f 13 26 15
+f 13 15 25
+f 15 27 25
+f 15 26 28
+f 16 29 17
+f 17 29 30
+f 18 24 30
+f 18 30 31
+f 22 32 23
+f 23 32 34
+f 23 34 35
+f 23 35 33
+f 26 33 35
+f 26 35 28
+f 29 31 30
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_18.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03878995 -0.00243041 -0.01405910
+v 0.03878995 -0.00243042 -0.01139030
+v 0.04008021 -0.00243041 -0.01405078
+v 0.03982784 -0.02752310 -0.01401595
+v 0.03878995 -0.02669782 -0.01402260
+v 0.04409892 -0.00243043 -0.00697058
+v 0.03878995 -0.00405398 -0.01138531
+v 0.04408221 -0.00367327 -0.00695727
+v 0.04249862 -0.00243041 -0.01375480
+v 0.04008021 -0.02752310 -0.01401429
+v 0.03878995 -0.02752310 -0.01402094
+v 0.04530896 -0.00243044 -0.00624726
+v 0.03878995 -0.00648072 -0.01138033
+v 0.04529141 -0.00367328 -0.00624144
+v 0.04408304 -0.00610493 -0.00695313
+v 0.04374042 -0.00243041 -0.01344386
+v 0.04244598 -0.02752310 -0.01371166
+v 0.03878995 -0.02752311 -0.01137376
+v 0.04633349 -0.00243044 -0.00590472
+v 0.04732625 -0.00368311 -0.00556634
+v 0.04732625 -0.00367328 -0.00556634
+v 0.04732625 -0.00243781 -0.00557465
+v 0.04529225 -0.00610494 -0.00624644
+v 0.04732625 -0.00611722 -0.00557051
+v 0.04410978 -0.00853658 -0.00694898
+v 0.04732625 -0.00243042 -0.01059049
+v 0.04732625 -0.02752311 -0.01056398
+v 0.04365435 -0.02752310 -0.01339988
+v 0.04268164 -0.02752310 -0.01365097
+v 0.04491704 -0.02752312 -0.00759089
+v 0.04426438 -0.01340234 -0.00699972
+v 0.04414990 -0.01097069 -0.00695148
+v 0.04732625 -0.00243043 -0.00783191
+v 0.04531899 -0.00853659 -0.00628802
+v 0.04732625 -0.00853659 -0.00562373
+v 0.04732625 -0.02752313 -0.00642028
+v 0.04643628 -0.02752313 -0.00679940
+v 0.04547359 -0.01340235 -0.00640693
+v 0.04535994 -0.01097070 -0.00634456
+v 0.04732625 -0.01098298 -0.00570023
+v 0.04714993 -0.02752313 -0.00649510
+v 0.04732625 -0.01583400 -0.00589064
+v 0.04732625 -0.01340235 -0.00578255
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 33
+f 1 33 26
+f 1 26 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 17
+f 4 17 29
+f 4 29 28
+f 4 28 27
+f 4 27 36
+f 4 36 41
+f 4 41 37
+f 4 37 30
+f 4 30 18
+f 4 18 11
+f 4 11 5
+f 6 8 12
+f 7 13 8
+f 8 14 12
+f 8 13 15
+f 8 15 14
+f 9 16 17
+f 9 17 10
+f 12 14 19
+f 13 18 15
+f 14 20 21
+f 14 21 22
+f 14 22 19
+f 14 15 23
+f 14 23 24
+f 14 24 20
+f 15 25 23
+f 15 18 25
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 18 30 31
+f 18 31 32
+f 18 32 25
+f 19 22 33
+f 20 24 35
+f 20 35 40
+f 20 40 43
+f 20 43 42
+f 20 42 36
+f 20 36 27
+f 20 27 26
+f 20 26 33
+f 20 33 22
+f 20 22 21
+f 23 25 32
+f 23 32 34
+f 23 34 24
+f 24 34 35
+f 30 37 31
+f 31 38 39
+f 31 39 32
+f 31 37 38
+f 32 39 34
+f 34 39 35
+f 35 39 40
+f 36 42 38
+f 36 38 41
+f 37 41 38
+f 38 43 39
+f 38 42 43
+f 39 43 40
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_19.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02557211 -0.01826894 -0.00741720
+v -0.02557317 -0.02069849 -0.00741721
+v -0.02692060 -0.03893081 -0.01082509
+v -0.02557849 -0.01583582 -0.00741719
+v -0.02557424 -0.02272788 -0.00741721
+v -0.02557530 -0.02313161 -0.00741721
+v -0.02564017 -0.02556473 -0.00741722
+v -0.02577098 -0.02799785 -0.00741723
+v -0.02594645 -0.03043098 -0.00741724
+v -0.02649627 -0.03287839 -0.00741725
+v -0.02787879 -0.03893082 -0.00741727
+v -0.03376939 -0.03893081 -0.01082509
+v -0.02705779 -0.00243399 -0.01082496
+v -0.02558062 -0.01542851 -0.00741719
+v -0.03176155 -0.03893082 -0.00741727
+v -0.03377896 -0.03893081 -0.01025734
+v -0.03498494 -0.03892367 -0.01082509
+v -0.03643659 -0.00243399 -0.01082496
+v -0.02567208 -0.00243400 -0.00741714
+v -0.02562316 -0.00853645 -0.00741716
+v -0.02560614 -0.01096957 -0.00741717
+v -0.02559125 -0.01340270 -0.00741718
+v -0.03293031 -0.03491849 -0.00741726
+v -0.03295689 -0.03466482 -0.00741726
+v -0.03313981 -0.03286052 -0.00741725
+v -0.03318448 -0.03191371 -0.00741725
+v -0.03639086 -0.00517438 -0.01082497
+v -0.03641638 -0.00367377 -0.01082496
+v -0.03378428 -0.00610690 -0.00741715
+v -0.03380448 -0.00367378 -0.00741714
+v -0.03381086 -0.00243400 -0.00741714
+v -0.03336952 -0.02556473 -0.00741722
+v -0.03339611 -0.02446072 -0.00741722
+v -0.03342482 -0.02313161 -0.00741721
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 31
+f 1 31 30
+f 1 30 29
+f 1 29 34
+f 1 34 33
+f 1 33 32
+f 1 32 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 15
+f 1 15 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 15
+f 3 15 16
+f 3 16 12
+f 3 12 17
+f 3 17 27
+f 3 27 28
+f 3 28 18
+f 3 18 13
+f 3 13 4
+f 4 13 14
+f 12 16 17
+f 13 18 31
+f 13 31 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 17 16
+f 15 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 29
+f 27 29 28
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_2.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.06304996 0.02552471 -0.00109269
+v 0.06304836 0.02308942 -0.00109270
+v 0.06282441 0.01822608 -0.00166196
+v 0.06282121 0.02066138 -0.00166973
+v 0.06281641 0.02308943 -0.00167557
+v 0.06281321 0.02552472 -0.00167556
+v 0.06297638 0.06201067 -0.00109255
+v 0.06304357 0.02066137 -0.00109270
+v 0.06282441 0.01579804 -0.00164737
+v 0.06162148 -0.00243045 -0.00278302
+v 0.06160388 0.02552472 -0.00280919
+v 0.06159909 0.02796002 -0.00281210
+v 0.06161188 0.02066138 -0.00280142
+v 0.06158309 0.03525141 -0.00281791
+v 0.06156229 0.04984870 -0.00280229
+v 0.06154950 0.05471204 -0.00280227
+v 0.06154150 0.05714733 -0.00280031
+v 0.06273323 0.06201068 -0.00160633
+v 0.06277162 0.04984870 -0.00161319
+v 0.06296678 0.06444597 -0.00109254
+v 0.06303716 0.01822607 -0.00109271
+v 0.06302757 0.01579803 -0.00109272
+v 0.06282281 0.01336274 -0.00162013
+v 0.06281961 0.01092744 -0.00158609
+v 0.06281641 0.00849940 -0.00154815
+v 0.06223894 -0.00243045 -0.00204640
+v 0.06063290 -0.00243045 -0.00335616
+v 0.05861575 0.03525142 -0.00465021
+v 0.05982508 0.03525141 -0.00394278
+v 0.05983468 0.05471204 -0.00392714
+v 0.05983148 0.05714733 -0.00392519
+v 0.06153350 0.05957538 -0.00279447
+v 0.06271884 0.06444598 -0.00160340
+v 0.06288520 0.06687402 -0.00109253
+v 0.06300997 0.01336273 -0.00109273
+v 0.06282921 -0.00123455 -0.00133702
+v 0.06282281 0.00120076 -0.00140903
+v 0.06281641 0.00362880 -0.00146156
+v 0.06283081 -0.00243046 -0.00128935
+v 0.05967951 -0.00243045 -0.00390789
+v 0.05700971 0.03525142 -0.00557950
+v 0.05700971 0.05471205 -0.00560862
+v 0.05862375 0.05227675 -0.00466475
+v 0.05862535 0.05471205 -0.00466571
+v 0.05862215 0.05714734 -0.00466181
+v 0.05981868 0.05957538 -0.00391934
+v 0.06152390 0.06201068 -0.00278181
+v 0.06150951 0.06444598 -0.00276331
+v 0.06265645 0.06687403 -0.00153333
+v 0.06252528 0.06930931 -0.00109253
+v 0.06289000 -0.00123455 -0.00109278
+v 0.06286440 -0.00243046 -0.00114631
+v 0.05525650 -0.00243044 -0.00637658
+v 0.05542606 0.03038808 -0.00646209
+v 0.05543726 0.03282338 -0.00646792
+v 0.05544526 0.03525142 -0.00647181
+v 0.05547085 0.05471205 -0.00648633
+v 0.05546605 0.05714734 -0.00647854
+v 0.05700971 0.05714734 -0.00559790
+v 0.05860935 0.05957539 -0.00465401
+v 0.05978829 0.06201068 -0.00390668
+v 0.06144712 0.06687403 -0.00268837
+v 0.06225814 0.06930932 -0.00141170
+v 0.06199100 0.07097633 -0.00109252
+v 0.06287560 -0.00243046 -0.00109279
+v 0.04670800 -0.00243042 -0.01097339
+v 0.05421833 0.03038809 -0.00711697
+v 0.05422953 0.03282339 -0.00712183
+v 0.05423753 0.03525143 -0.00712571
+v 0.05425832 0.05714735 -0.00713828
+v 0.05423913 0.03767948 -0.00712765
+v 0.05857896 0.06201069 -0.00462773
+v 0.06104881 0.06930932 -0.00240521
+v 0.05844619 0.06369220 -0.00454404
+v 0.06178464 0.07150543 -0.00109252
+v 0.05401517 -0.00243046 -0.00109279
+v 0.04670800 -0.00243044 -0.00578009
+v 0.04670800 0.01664607 -0.01102392
+v 0.04670800 0.01822611 -0.01102780
+v 0.04670800 0.01906687 -0.01102975
+v 0.04670800 0.02150217 -0.01103266
+v 0.04670800 0.04011479 -0.01103259
+v 0.04670800 0.04255008 -0.01102479
+v 0.04670800 0.05079820 -0.01098097
+v 0.04670800 0.05227677 -0.01097027
+v 0.04670800 0.02393022 -0.01103362
+v 0.06068409 0.07057046 -0.00218139
+v 0.06172546 0.07161414 -0.00109252
+v 0.04670800 0.05425545 -0.01045453
+v 0.04670800 -0.00123453 -0.00579078
+v 0.04670800 -0.00160417 -0.00578690
+v 0.04670800 -0.00198107 -0.00578301
+v 0.05422953 0.00614382 -0.00109276
+v 0.06061211 0.07057046 -0.00218139
+v 0.05974830 0.07140396 -0.00109252
+v 0.04670800 0.05469033 -0.00996021
+v 0.04789494 0.05621963 -0.00917979
+v 0.04670800 0.00043974 -0.00582387
+v 0.05429032 0.00849939 -0.00109275
+v 0.04670800 0.05475555 -0.00773284
+v 0.05858056 0.06988190 -0.00109252
+v 0.04670800 0.00283879 -0.00587835
+v 0.05615710 0.05957537 -0.00109256
+v 0.04670800 0.05395103 -0.00751779
+v 0.05750720 0.06731613 -0.00109253
+v 0.05793750 0.06877296 -0.00109253
+v 0.04670800 0.00523060 -0.00593964
+v 0.05642264 0.06201792 -0.00109255
+v 0.04670800 0.05227676 -0.00722004
+v 0.05741282 0.06697549 -0.00109253
+v 0.05687854 0.06444597 -0.00109254
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 20
+f 1 20 34
+f 1 34 50
+f 1 50 64
+f 1 64 75
+f 1 75 88
+f 1 88 95
+f 1 95 101
+f 1 101 106
+f 1 106 105
+f 1 105 110
+f 1 110 111
+f 1 111 108
+f 1 108 103
+f 1 103 99
+f 1 99 93
+f 1 93 76
+f 1 76 65
+f 1 65 51
+f 1 51 35
+f 1 35 22
+f 1 22 21
+f 1 21 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 5
+f 5 11 12
+f 5 12 6
+f 5 10 13
+f 5 13 11
+f 6 12 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 18
+f 7 18 20
+f 8 21 9
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 11 13
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 39
+f 10 39 52
+f 10 52 65
+f 10 65 76
+f 10 76 77
+f 10 77 66
+f 10 66 53
+f 10 53 40
+f 10 40 27
+f 10 27 28
+f 10 28 29
+f 10 29 11
+f 11 29 12
+f 12 29 30
+f 12 30 14
+f 14 30 31
+f 14 31 16
+f 14 16 15
+f 16 31 17
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 20
+f 20 33 34
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 24
+f 24 37 25
+f 25 37 38
+f 25 38 26
+f 26 38 37
+f 26 37 36
+f 26 36 39
+f 27 40 28
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 28 40 41
+f 29 43 44
+f 29 44 30
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 47
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 35 51 36
+f 36 51 39
+f 39 51 52
+f 40 53 54
+f 40 54 55
+f 40 55 41
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 58
+f 42 58 59
+f 42 59 45
+f 42 45 44
+f 42 44 43
+f 45 59 60
+f 45 60 46
+f 46 60 61
+f 46 61 48
+f 46 48 47
+f 48 61 62
+f 48 62 49
+f 49 62 63
+f 49 63 50
+f 50 63 64
+f 51 65 52
+f 53 66 67
+f 53 67 54
+f 54 67 55
+f 55 67 68
+f 55 68 69
+f 55 69 56
+f 56 69 57
+f 57 70 58
+f 57 69 71
+f 57 71 70
+f 58 70 72
+f 58 72 60
+f 58 60 59
+f 60 72 61
+f 61 72 62
+f 62 73 63
+f 62 72 74
+f 62 74 73
+f 63 73 75
+f 63 75 64
+f 66 77 92
+f 66 92 91
+f 66 91 90
+f 66 90 98
+f 66 98 102
+f 66 102 107
+f 66 107 109
+f 66 109 104
+f 66 104 100
+f 66 100 96
+f 66 96 89
+f 66 89 85
+f 66 85 84
+f 66 84 83
+f 66 83 82
+f 66 82 86
+f 66 86 81
+f 66 81 80
+f 66 80 79
+f 66 79 78
+f 66 78 69
+f 66 69 68
+f 66 68 67
+f 69 78 79
+f 69 79 80
+f 69 80 81
+f 69 81 71
+f 70 82 83
+f 70 83 84
+f 70 84 85
+f 70 85 74
+f 70 74 72
+f 70 71 81
+f 70 81 86
+f 70 86 82
+f 73 87 88
+f 73 88 75
+f 73 74 85
+f 73 85 89
+f 73 89 87
+f 76 90 91
+f 76 91 92
+f 76 92 77
+f 76 93 90
+f 87 94 88
+f 87 89 94
+f 88 94 95
+f 89 96 97
+f 89 97 95
+f 89 95 94
+f 90 93 99
+f 90 99 98
+f 95 100 101
+f 95 97 100
+f 96 100 97
+f 98 99 102
+f 99 103 102
+f 100 104 105
+f 100 105 106
+f 100 106 101
+f 102 103 107
+f 103 108 109
+f 103 109 107
+f 104 109 110
+f 104 110 105
+f 108 111 109
+f 109 111 110
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_20.obj

@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v 0.06326750 0.06444485 0.00033605
+v 0.06326750 0.06444485 -0.00047669
+v 0.06324196 0.06687747 0.00031090
+v 0.06184720 0.06687747 0.00132748
+v 0.06184720 0.06444484 0.00136216
+v 0.06324707 0.04742913 0.00030302
+v 0.06326580 0.06201223 0.00032996
+v 0.06296777 0.06444485 -0.00109254
+v 0.06324196 0.06687747 -0.00040729
+v 0.06326580 0.06201223 -0.00048017
+v 0.06299502 0.04742913 -0.00109261
+v 0.06297629 0.06201223 -0.00109255
+v 0.06319939 0.06931009 0.00026059
+v 0.06184720 0.06931009 0.00122860
+v 0.06042689 0.06687746 0.00222436
+v 0.06044562 0.06444484 0.00223302
+v 0.06184720 0.04742913 0.00129964
+v 0.06324707 0.04742913 -0.00049324
+v 0.06288603 0.06687747 -0.00109253
+v 0.06319939 0.06931009 -0.00028499
+v 0.05603142 0.04742913 -0.00109261
+v 0.06313637 0.07131625 0.00018254
+v 0.06208391 0.07197487 0.00067695
+v 0.06003009 0.06931008 0.00217491
+v 0.05921775 0.06687746 0.00279163
+v 0.05923648 0.06444484 0.00280896
+v 0.06038431 0.04985165 0.00220867
+v 0.06037920 0.04742912 0.00219999
+v 0.06252499 0.06931009 -0.00109253
+v 0.06313637 0.07131625 -0.00012191
+v 0.04586958 0.04742912 0.00289303
+v 0.05603142 0.04751998 -0.00109261
+v 0.06143507 0.07320380 0.00034995
+v 0.05837646 0.07056677 0.00235881
+v 0.05882095 0.06931008 0.00257304
+v 0.05400485 0.06610527 0.00481783
+v 0.05701065 0.06687746 0.00365294
+v 0.05431650 0.06444483 0.00494620
+v 0.05552393 0.06444483 0.00443618
+v 0.05701065 0.06444484 0.00378824
+v 0.05552734 0.05958212 0.00444050
+v 0.05552393 0.05714950 0.00443962
+v 0.05701065 0.05471689 0.00377259
+v 0.05701065 0.05228427 0.00376564
+v 0.05917517 0.04985165 0.00278462
+v 0.06036899 0.04742912 0.00220606
+v 0.06199025 0.07098062 -0.00109252
+v 0.06178419 0.07150803 -0.00109252
+v 0.06186593 0.07175280 -0.00094506
+v 0.06143507 0.07320380 -0.00026762
+v 0.05607400 0.05714952 -0.00109257
+v 0.04586958 0.04742910 0.00776687
+v 0.04586958 0.04985165 0.00295376
+v 0.05615745 0.05958214 -0.00109256
+v 0.06027021 0.07320380 0.00034995
+v 0.05813975 0.07056677 0.00235881
+v 0.04675855 0.06332188 0.00689000
+v 0.05217411 0.06625415 0.00501126
+v 0.04837130 0.06293328 0.00679719
+v 0.05217411 0.06444483 0.00559327
+v 0.04957021 0.06207782 0.00655086
+v 0.05217411 0.06201221 0.00576067
+v 0.05217411 0.05958212 0.00578148
+v 0.05431990 0.06201221 0.00496094
+v 0.05431990 0.05958212 0.00496873
+v 0.05552734 0.06201221 0.00443877
+v 0.05431650 0.05714950 0.00497046
+v 0.05551371 0.05471688 0.00443701
+v 0.05701065 0.04985165 0.00375696
+v 0.05701065 0.04742912 0.00374567
+v 0.05916496 0.04742912 0.00277767
+v 0.06172628 0.07161401 -0.00109252
+v 0.06027021 0.07320380 -0.00026762
+v 0.04733757 0.04742910 0.00735053
+v 0.04586958 0.04837540 0.00776862
+v 0.04586958 0.05228427 0.00306393
+v 0.05642141 0.06201728 -0.00109255
+v 0.04842579 0.06572170 0.00467905
+v 0.04586958 0.06363480 0.00647539
+v 0.04586958 0.06331431 0.00688653
+v 0.04586958 0.06268849 0.00713547
+v 0.04586958 0.06051074 0.00758477
+v 0.04586958 0.05958211 0.00766283
+v 0.04864037 0.06131068 0.00685878
+v 0.04992955 0.05958212 0.00651875
+v 0.04997383 0.05714950 0.00652395
+v 0.05000108 0.05471688 0.00652741
+v 0.05001981 0.05228426 0.00652913
+v 0.05217411 0.05714950 0.00578754
+v 0.05217411 0.05471688 0.00578839
+v 0.05217411 0.05228426 0.00578578
+v 0.05217411 0.04985164 0.00578144
+v 0.05217411 0.04742911 0.00577535
+v 0.05430628 0.05471688 0.00496698
+v 0.05547114 0.04742911 0.00442744
+v 0.05974909 0.07140709 -0.00109252
+v 0.04842579 0.06572170 0.00450470
+v 0.05963499 0.07151812 -0.00094940
+v 0.04586958 0.06383920 0.00434076
+v 0.04880386 0.04742910 0.00691250
+v 0.04881237 0.04985163 0.00691511
+v 0.04733757 0.04985163 0.00735401
+v 0.04586958 0.04985163 0.00776775
+v 0.04586958 0.05471689 0.00318103
+v 0.05687782 0.06444485 -0.00109254
+v 0.04586958 0.06388967 0.00516651
+v 0.04586958 0.06382911 0.00571817
+v 0.04586958 0.05810588 0.00770272
+v 0.04733757 0.05958211 0.00728032
+v 0.04871871 0.05958211 0.00688306
+v 0.04876469 0.05714949 0.00689866
+v 0.04879194 0.05471687 0.00690819
+v 0.04881067 0.05228425 0.00691425
+v 0.05002151 0.04985164 0.00652825
+v 0.05002321 0.04742911 0.00652304
+v 0.05426711 0.04742911 0.00495567
+v 0.05429266 0.05228426 0.00496350
+v 0.05857912 0.06988292 -0.00109252
+v 0.04586958 0.06293075 0.00419417
+v 0.05793709 0.06877259 -0.00109253
+v 0.04733757 0.05228425 0.00734968
+v 0.04586958 0.05080802 0.00776602
+v 0.04586958 0.05711923 0.00346728
+v 0.05741256 0.06697589 -0.00109253
+v 0.04586958 0.05714949 0.00771660
+v 0.04733757 0.05714949 0.00731674
+v 0.04733757 0.05471687 0.00733581
+v 0.05750623 0.06731908 -0.00109253
+v 0.04586958 0.05228425 0.00775908
+v 0.04586958 0.05324064 0.00775389
+v 0.04586958 0.05567326 0.00773307
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 10
+f 1 10 2
+f 2 8 9
+f 2 10 11
+f 2 11 12
+f 2 12 8
+f 3 9 20
+f 3 20 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 28
+f 6 28 46
+f 6 46 71
+f 6 71 70
+f 6 70 95
+f 6 95 116
+f 6 116 93
+f 6 93 115
+f 6 115 100
+f 6 100 74
+f 6 74 52
+f 6 52 31
+f 6 31 21
+f 6 21 11
+f 6 11 18
+f 6 18 10
+f 6 10 7
+f 8 12 11
+f 8 11 21
+f 8 21 32
+f 8 32 51
+f 8 51 54
+f 8 54 77
+f 8 77 105
+f 8 105 124
+f 8 124 128
+f 8 128 120
+f 8 120 118
+f 8 118 96
+f 8 96 72
+f 8 72 48
+f 8 48 47
+f 8 47 29
+f 8 29 19
+f 8 19 9
+f 9 19 20
+f 10 18 11
+f 13 20 30
+f 13 30 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 25 26
+f 15 26 16
+f 15 24 25
+f 16 26 45
+f 16 45 27
+f 16 27 17
+f 17 27 28
+f 19 29 30
+f 19 30 20
+f 21 31 32
+f 22 30 50
+f 22 50 33
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 27 45 46
+f 27 46 28
+f 29 47 30
+f 30 48 49
+f 30 49 50
+f 30 47 48
+f 31 51 32
+f 31 52 75
+f 31 75 103
+f 31 103 122
+f 31 122 129
+f 31 129 130
+f 31 130 131
+f 31 131 125
+f 31 125 108
+f 31 108 83
+f 31 83 82
+f 31 82 81
+f 31 81 80
+f 31 80 79
+f 31 79 107
+f 31 107 106
+f 31 106 99
+f 31 99 119
+f 31 119 123
+f 31 123 104
+f 31 104 76
+f 31 76 53
+f 31 53 54
+f 31 54 51
+f 33 50 73
+f 33 73 55
+f 33 55 56
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 36
+f 34 36 35
+f 36 58 57
+f 36 57 59
+f 36 59 60
+f 36 60 38
+f 36 38 37
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 64
+f 38 64 39
+f 39 64 65
+f 39 65 66
+f 39 66 40
+f 40 66 65
+f 40 65 41
+f 41 65 67
+f 41 67 42
+f 42 67 68
+f 42 68 44
+f 42 44 43
+f 44 68 69
+f 44 69 45
+f 45 69 70
+f 45 70 71
+f 45 71 46
+f 48 72 49
+f 49 72 50
+f 50 72 73
+f 52 74 75
+f 53 76 54
+f 54 76 77
+f 55 73 97
+f 55 97 78
+f 55 78 79
+f 55 79 80
+f 55 80 56
+f 56 80 57
+f 57 80 81
+f 57 81 59
+f 59 81 82
+f 59 82 83
+f 59 83 84
+f 59 84 61
+f 59 61 60
+f 61 84 62
+f 62 84 85
+f 62 85 63
+f 63 65 64
+f 63 85 86
+f 63 86 87
+f 63 87 88
+f 63 88 89
+f 63 89 65
+f 65 89 90
+f 65 90 67
+f 67 90 91
+f 67 91 92
+f 67 92 93
+f 67 93 94
+f 67 94 68
+f 68 94 95
+f 68 95 69
+f 69 95 70
+f 72 96 73
+f 73 96 98
+f 73 98 99
+f 73 99 97
+f 74 100 101
+f 74 101 102
+f 74 102 75
+f 75 102 103
+f 76 104 77
+f 77 104 105
+f 78 106 107
+f 78 107 79
+f 78 97 106
+f 83 108 109
+f 83 109 84
+f 84 109 110
+f 84 110 85
+f 85 110 111
+f 85 111 86
+f 86 111 112
+f 86 112 87
+f 87 112 113
+f 87 113 88
+f 88 90 89
+f 88 113 101
+f 88 101 114
+f 88 114 90
+f 90 114 91
+f 91 114 92
+f 92 114 115
+f 92 115 93
+f 93 116 117
+f 93 117 94
+f 94 117 95
+f 95 117 116
+f 96 118 99
+f 96 99 98
+f 97 99 106
+f 99 118 120
+f 99 120 119
+f 100 115 101
+f 101 115 114
+f 101 113 102
+f 102 113 121
+f 102 121 103
+f 103 121 122
+f 104 123 124
+f 104 124 105
+f 108 125 126
+f 108 126 109
+f 109 126 110
+f 110 126 111
+f 111 126 127
+f 111 127 112
+f 112 127 121
+f 112 121 113
+f 119 120 128
+f 119 128 124
+f 119 124 123
+f 121 129 122
+f 121 127 130
+f 121 130 129
+f 125 131 126
+f 126 131 130
+f 126 130 127
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_21.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01106622 0.06127626 -0.00109255
+v 0.01106622 0.06088170 -0.00109256
+v 0.01106622 0.05484533 0.00206081
+v 0.03588087 0.05460270 0.00206081
+v 0.03588087 0.06077853 -0.00109256
+v 0.01130669 0.05206299 -0.00109259
+v 0.01106622 0.05205846 -0.00108796
+v 0.01106622 0.04977383 0.00206079
+v 0.03588087 0.04977497 0.00206079
+v 0.03588087 0.05221832 -0.00109259
+v 0.01589507 0.05089518 -0.00008570
+v 0.01106622 0.05090198 -0.00008416
+v 0.03040348 0.05212648 -0.00109259
+v 0.01106622 0.05005389 0.00121657
+v 0.01198196 0.04974322 0.00206079
+v 0.03588087 0.04988948 0.00180027
+v 0.03374092 0.04976136 0.00206079
+v 0.01589507 0.04999380 0.00120639
+v 0.03282276 0.05012306 0.00120639
+v 0.03588087 0.05103010 0.00003993
+v 0.03524204 0.05101876 0.00002820
+v 0.03524204 0.05219678 -0.00109259
+v 0.01347579 0.05089744 -0.00008354
+v 0.03282276 0.05214236 -0.00109259
+v 0.03282276 0.05098815 -0.00000576
+v 0.01106622 0.05005730 0.00120639
+v 0.01347579 0.05000967 0.00120639
+v 0.01347579 0.04971374 0.00206079
+v 0.03524204 0.05015820 0.00120639
+v 0.03588087 0.05022056 0.00115114
+v 0.01589507 0.04969333 0.00206079
+v 0.01439395 0.04970354 0.00206079
+f 1 2 7
+f 1 7 12
+f 1 12 26
+f 1 26 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 22
+f 1 22 24
+f 1 24 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 8 15
+f 3 15 28
+f 3 28 32
+f 3 32 31
+f 3 31 17
+f 3 17 9
+f 3 9 4
+f 4 9 16
+f 4 16 30
+f 4 30 20
+f 4 20 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 6 13 11
+f 8 14 15
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 10 20 21
+f 10 21 22
+f 11 18 23
+f 11 23 12
+f 11 13 24
+f 11 24 25
+f 11 25 19
+f 11 19 18
+f 12 23 18
+f 12 18 27
+f 12 27 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 16 19 29
+f 16 29 30
+f 17 31 18
+f 18 31 27
+f 19 25 29
+f 20 30 29
+f 20 29 21
+f 21 29 25
+f 21 25 22
+f 22 25 24
+f 27 31 32
+f 27 32 28
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_22.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.03878911 -0.04183899 -0.00844155
+v 0.03776248 -0.04214335 -0.00844155
+v 0.03878911 -0.03886299 -0.00461329
+v 0.03878911 -0.05192697 -0.00844159
+v 0.03564438 -0.04298543 -0.00844156
+v 0.03877275 -0.03886638 -0.00460322
+v 0.03878911 -0.03885286 -0.00390044
+v 0.03878911 -0.05255261 -0.00779348
+v 0.03865238 -0.06448708 -0.00329415
+v 0.03827609 -0.06935352 -0.00554349
+v 0.03727342 -0.07178503 -0.00695841
+v 0.03704379 -0.07326628 -0.00686563
+v 0.03524296 -0.07178503 -0.00725118
+v 0.03687200 -0.05399664 -0.00844160
+v 0.03282394 -0.04664118 -0.00844157
+v 0.03281985 -0.04664118 -0.00844013
+v 0.03877275 -0.03886639 -0.00391051
+v 0.03878911 -0.03930264 -0.00258480
+v 0.03878911 -0.05337102 -0.00554344
+v 0.03859162 -0.05967476 -0.00109300
+v 0.03819078 -0.06692200 -0.00329416
+v 0.03878911 -0.05314784 -0.00109298
+v 0.03779930 -0.07178504 -0.00554350
+v 0.03689888 -0.07320203 -0.00554351
+v 0.03533703 -0.07332039 -0.00532412
+v 0.03524296 -0.07340155 -0.00696274
+v 0.03282394 -0.07178503 -0.00725477
+v 0.03282394 -0.05569094 -0.00844160
+v 0.03356834 -0.05565036 -0.00844160
+v 0.03524296 -0.05551508 -0.00844160
+v 0.03281985 -0.05565712 -0.00844160
+v 0.03281985 -0.04832195 -0.00615844
+v 0.03536975 -0.04499764 -0.00109295
+v 0.03606333 -0.04350626 -0.00109294
+v 0.03607969 -0.04347920 -0.00109294
+v 0.03878911 -0.04101047 -0.00115839
+v 0.03761583 -0.06347931 -0.00109301
+v 0.03752701 -0.06448709 -0.00131601
+v 0.03738970 -0.06915738 -0.00327762
+v 0.03697718 -0.07178504 -0.00411708
+v 0.03878911 -0.04116604 -0.00109293
+v 0.03645539 -0.07300588 -0.00441849
+v 0.03620590 -0.07300588 -0.00441849
+v 0.03282394 -0.07339817 -0.00556869
+v 0.03281985 -0.07339817 -0.00556940
+v 0.03281985 -0.07339816 -0.00696130
+v 0.03281985 -0.07178165 -0.00725477
+v 0.03281985 -0.05569094 -0.00844160
+v 0.03455815 -0.04743255 -0.00109295
+v 0.03281985 -0.05576537 -0.00109298
+v 0.03692751 -0.06448709 -0.00109302
+v 0.03705781 -0.06692200 -0.00184041
+v 0.03656291 -0.06821385 -0.00213317
+v 0.03524296 -0.06944822 -0.00269713
+v 0.03533703 -0.07202517 -0.00394084
+v 0.03281985 -0.07177153 -0.00382935
+v 0.03459380 -0.07299574 -0.00442784
+v 0.03281985 -0.07298898 -0.00444654
+v 0.03281985 -0.06586349 -0.00109302
+v 0.03524296 -0.06592436 -0.00109302
+v 0.03524296 -0.06692200 -0.00152822
+v 0.03524296 -0.06823076 -0.00212526
+v 0.03282394 -0.06942455 -0.00270432
+v 0.03281985 -0.06942793 -0.00270648
+v 0.03282394 -0.07298559 -0.00444438
+v 0.03281985 -0.06590069 -0.00109446
+v 0.03282394 -0.06589731 -0.00109302
+v 0.03281985 -0.06692200 -0.00154548
+v 0.03281985 -0.06820709 -0.00213605
+f 1 2 3
+f 1 3 7
+f 1 7 18
+f 1 18 36
+f 1 36 41
+f 1 41 22
+f 1 22 19
+f 1 19 8
+f 1 8 4
+f 1 4 14
+f 1 14 30
+f 1 30 29
+f 1 29 28
+f 1 28 48
+f 1 48 31
+f 1 31 15
+f 1 15 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 16
+f 5 16 6
+f 6 17 7
+f 6 16 17
+f 7 17 18
+f 8 19 9
+f 9 20 21
+f 9 21 10
+f 9 19 22
+f 9 22 20
+f 10 21 23
+f 10 23 12
+f 10 12 11
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 12 23 24
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 15 31 16
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 16 31 48
+f 16 48 47
+f 16 47 46
+f 16 46 45
+f 16 45 58
+f 16 58 56
+f 16 56 64
+f 16 64 69
+f 16 69 68
+f 16 68 66
+f 16 66 59
+f 16 59 50
+f 16 50 32
+f 17 35 18
+f 18 35 36
+f 20 37 38
+f 20 38 21
+f 20 22 41
+f 20 41 35
+f 20 35 34
+f 20 34 33
+f 20 33 49
+f 20 49 50
+f 20 50 59
+f 20 59 67
+f 20 67 60
+f 20 60 51
+f 20 51 37
+f 21 38 39
+f 21 39 40
+f 21 40 23
+f 23 40 42
+f 23 42 24
+f 24 42 25
+f 25 43 44
+f 25 44 26
+f 25 42 43
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 32 49 33
+f 32 50 49
+f 35 41 36
+f 37 51 38
+f 38 51 52
+f 38 52 39
+f 39 52 40
+f 40 52 53
+f 40 53 42
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 44 58 45
+f 51 60 52
+f 52 60 53
+f 53 60 61
+f 53 61 62
+f 53 62 54
+f 54 62 63
+f 54 63 56
+f 54 56 55
+f 56 63 64
+f 56 58 65
+f 56 65 57
+f 57 65 58
+f 59 66 67
+f 60 67 66
+f 60 66 61
+f 61 66 68
+f 61 68 62
+f 62 68 69
+f 62 69 63
+f 63 69 64
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_23.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.05133719 0.01369145 0.00740386
+v -0.05116669 0.01159287 0.00740385
+v -0.04096569 0.00662706 0.01360171
+v -0.04099717 0.00849163 0.01363104
+v -0.04102865 0.01092492 0.01366303
+v -0.04104701 0.01335820 0.01368103
+v -0.04104701 0.01369143 0.01368302
+v -0.03845282 0.01369145 0.00740386
+v -0.05005715 -0.00143845 0.00740380
+v -0.04091323 0.00500684 0.01355042
+v -0.03995845 0.00591469 0.01374229
+v -0.03973548 0.00849163 0.01385822
+v -0.03973548 0.01092492 0.01392619
+v -0.03973548 0.01335820 0.01397616
+v -0.03973548 0.01369143 0.01398083
+v -0.04086602 0.01369143 0.01372633
+v -0.02454284 0.01369144 0.01170767
+v -0.02591469 -0.00092010 0.00740381
+v -0.03996107 -0.00143847 0.01315065
+v -0.02564976 -0.00143845 0.00740380
+v -0.03980106 -0.00143847 0.01321328
+v -0.03876234 -0.00143847 0.01361168
+v -0.03951515 0.00362803 0.01371430
+v -0.03731966 0.00849163 0.01403077
+v -0.03731966 0.01092492 0.01410140
+v -0.03940498 0.01369143 0.01401014
+v -0.03731966 0.01335820 0.01416670
+v -0.03731966 0.01369143 0.01417470
+v -0.02454284 0.01369143 0.01421001
+v -0.02454284 0.00392277 0.00928457
+v -0.02454284 0.00270687 0.00900742
+v -0.02454284 0.00106296 0.00868163
+v -0.02454284 -0.00034251 0.00860635
+v -0.02454284 -0.00143845 0.00861633
+v -0.03750066 -0.00143847 0.01364099
+v -0.03731966 0.00606131 0.01394482
+v -0.02454284 0.00917882 0.01405342
+v -0.02454284 -0.00143847 0.01354106
+v -0.03731966 -0.00143847 0.01364166
+v -0.02454284 0.00849163 0.01402877
+v -0.02454284 0.00431373 0.01384089
+v -0.02859019 -0.00143847 0.01359169
+v -0.03490122 -0.00143847 0.01363633
+v -0.02454284 0.00606131 0.01392950
+v -0.02454284 0.00674554 0.01395814
+v -0.03022172 -0.00143847 0.01360968
+v -0.03248278 -0.00143847 0.01362500
+v -0.03045255 -0.00143847 0.01361168
+v -0.03036599 -0.00143847 0.01361101
+v -0.03028730 -0.00143847 0.01361035
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 15
+f 1 15 26
+f 1 26 28
+f 1 28 29
+f 1 29 17
+f 1 17 8
+f 1 8 18
+f 1 18 20
+f 1 20 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 8 17 18
+f 9 19 10
+f 9 20 34
+f 9 34 38
+f 9 38 42
+f 9 42 46
+f 9 46 50
+f 9 50 49
+f 9 49 48
+f 9 48 47
+f 9 47 43
+f 9 43 39
+f 9 39 35
+f 9 35 22
+f 9 22 21
+f 9 21 19
+f 10 19 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 12
+f 12 23 22
+f 12 22 24
+f 12 24 25
+f 12 25 13
+f 13 26 14
+f 13 25 27
+f 13 27 28
+f 13 28 26
+f 14 26 15
+f 17 29 37
+f 17 37 40
+f 17 40 45
+f 17 45 44
+f 17 44 41
+f 17 41 38
+f 17 38 34
+f 17 34 33
+f 17 33 32
+f 17 32 31
+f 17 31 30
+f 17 30 20
+f 17 20 18
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 22 35 36
+f 22 36 24
+f 24 36 37
+f 24 37 29
+f 24 29 25
+f 25 29 27
+f 27 29 28
+f 35 39 36
+f 36 39 40
+f 36 40 37
+f 38 41 42
+f 39 43 44
+f 39 44 45
+f 39 45 40
+f 41 44 46
+f 41 46 42
+f 43 47 44
+f 44 47 48
+f 44 48 49
+f 44 49 50
+f 44 50 46
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_24.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02454284 0.01369144 0.01170778
+v -0.02454284 0.00392277 0.00928456
+v -0.02454284 0.01369143 0.01420967
+v 0.00379871 0.01369144 0.00955857
+v -0.02454284 0.00270687 0.00900762
+v -0.02454284 0.01335820 0.01419843
+v 0.00137969 0.00849163 0.01458186
+v -0.00103932 0.01335820 0.01461738
+v -0.00103932 0.01369143 0.01462152
+v 0.00588660 0.01369144 0.00979704
+v 0.01106622 0.00119476 0.00956503
+v 0.01105925 -0.00143845 0.00939164
+v -0.01071191 0.00119477 0.00875849
+v -0.01313093 0.00362805 0.00877447
+v -0.02454284 0.00106296 0.00868156
+v -0.02454284 0.00917882 0.01405343
+v 0.00379871 0.00606131 0.01447592
+v 0.00621773 0.00606131 0.01451439
+v 0.00379871 0.00849163 0.01461973
+v -0.02454284 0.00849163 0.01402917
+v -0.02454284 0.00674554 0.01395874
+v -0.02454284 0.00606131 0.01392915
+v -0.02454284 0.00431373 0.01384098
+v -0.02454284 -0.00143847 0.01354094
+v 0.00621773 0.00849163 0.01465050
+v 0.00621773 0.01369143 0.01450258
+v 0.00621773 0.01369144 0.00983492
+v 0.01106622 0.01369144 0.01074028
+v 0.01106622 -0.00124592 0.00940704
+v -0.01071191 -0.00143845 0.00885670
+v 0.01106622 -0.00143846 0.01092662
+v -0.01313093 0.00119477 0.00870286
+v -0.02454284 -0.00034251 0.00860582
+v 0.00379871 -0.00143847 0.01334389
+v 0.00621773 -0.00143847 0.01331845
+v 0.00863675 -0.00143847 0.01328708
+v 0.01106622 -0.00143847 0.01325395
+v 0.00863675 0.00606131 0.01442858
+v -0.00829289 -0.00143847 0.01344922
+v -0.00607604 -0.00143847 0.01343502
+v -0.00123800 -0.00143847 0.01339064
+v -0.02454284 -0.00143845 0.00861646
+v 0.00863675 0.00849163 0.01455759
+v 0.00863675 0.01092492 0.01449961
+v 0.00863675 0.01369143 0.01442329
+v 0.01106622 0.01369143 0.01410197
+v 0.01106622 0.00362803 0.01393980
+v 0.01105228 0.00606131 0.01426526
+v 0.01106622 0.00606131 0.01426408
+v 0.01106622 0.00849163 0.01427652
+v 0.01106622 0.01092492 0.01419901
+f 1 2 5
+f 1 5 15
+f 1 15 33
+f 1 33 42
+f 1 42 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 16
+f 1 16 6
+f 1 6 3
+f 1 3 9
+f 1 9 26
+f 1 26 45
+f 1 45 46
+f 1 46 28
+f 1 28 27
+f 1 27 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 6 16 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 7 16 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 17
+f 8 19 9
+f 9 19 25
+f 9 25 26
+f 10 27 11
+f 11 28 46
+f 11 46 51
+f 11 51 50
+f 11 50 49
+f 11 49 47
+f 11 47 37
+f 11 37 31
+f 11 31 29
+f 11 29 12
+f 11 27 28
+f 12 30 13
+f 12 29 31
+f 12 31 37
+f 12 37 36
+f 12 36 35
+f 12 35 34
+f 12 34 41
+f 12 41 40
+f 12 40 39
+f 12 39 24
+f 12 24 42
+f 12 42 30
+f 13 30 32
+f 13 32 14
+f 14 32 33
+f 14 33 15
+f 17 24 18
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 25
+f 18 25 19
+f 18 24 39
+f 18 39 40
+f 18 40 41
+f 18 41 34
+f 25 38 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 30 42 32
+f 32 42 33
+f 37 47 38
+f 38 47 48
+f 38 48 43
+f 43 48 49
+f 43 49 50
+f 43 50 44
+f 44 50 45
+f 45 50 51
+f 45 51 46
+f 47 49 48
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_25.obj

@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.04005346 0.03009531 -0.00109230
+v -0.04884124 0.01368765 0.00263157
+v -0.04009646 0.02795130 -0.00109231
+v -0.04221703 0.01368766 -0.00109273
+v -0.04005573 0.03037324 -0.00109230
+v -0.04698999 0.03032360 0.00165900
+v -0.04883672 0.05003660 0.00165907
+v -0.04904719 0.05227987 0.00165908
+v -0.04905624 0.05236920 0.00165908
+v -0.04958355 0.05462240 0.00165909
+v -0.05035981 0.05602196 0.00165910
+v -0.05175390 0.05715352 0.00165910
+v -0.05187838 0.05720315 0.00165910
+v -0.05499020 0.05753071 0.00165910
+v -0.06309903 0.01368765 0.00263157
+v -0.05127412 -0.03042342 0.00263141
+v -0.04338481 -0.03285527 -0.00109290
+v -0.04325128 -0.03042341 -0.00109289
+v -0.04317886 -0.02799154 -0.00109288
+v -0.04286655 0.05320299 -0.00109258
+v -0.04291408 0.05394744 -0.00109258
+v -0.04024131 0.03233858 -0.00109229
+v -0.04299781 0.05470182 -0.00109258
+v -0.04326486 0.05602197 -0.00109257
+v -0.04377860 0.05713368 -0.00109257
+v -0.04412033 0.05766968 -0.00109257
+v -0.04554384 0.05877147 -0.00109256
+v -0.04838861 0.05824539 0.00003755
+v -0.04717331 0.05940673 -0.00109256
+v -0.05000450 0.05850347 0.00025191
+v -0.05642050 0.05720315 0.00165910
+v -0.04931650 0.05985340 -0.00109256
+v -0.05182859 0.06002214 -0.00109256
+v -0.05412568 0.05955562 -0.00109256
+v -0.06309903 0.01368765 0.00191084
+v -0.06312619 0.00849636 0.00263155
+v -0.05854333 0.05659767 0.00165910
+v -0.06011169 0.05573411 0.00165909
+v -0.06141299 0.05461247 0.00165909
+v -0.06150125 0.05417573 0.00165909
+v -0.06161215 0.05244861 0.00165908
+v -0.06171625 0.05019541 0.00165907
+v -0.05133975 -0.03101897 0.00263141
+v -0.04357718 -0.03528713 -0.00109291
+v -0.04348891 -0.03419528 -0.00109291
+v -0.04873488 0.05978392 -0.00109256
+v -0.05434068 0.05941666 -0.00109256
+v -0.06312619 0.00849636 0.00189369
+v -0.06177962 0.04787273 0.00165907
+v -0.05604935 0.05713368 -0.00109257
+v -0.06314882 0.00363263 0.00187180
+v -0.06314656 0.00444656 0.00263154
+v -0.05204359 -0.03382803 0.00263140
+v -0.04387591 -0.03771900 -0.00109292
+v -0.04376954 -0.03690507 -0.00109292
+v -0.05234232 -0.03771900 -0.00109292
+v -0.06150352 -0.03771900 0.00134012
+v -0.06316014 -0.01583222 0.00186334
+v -0.06316919 -0.01340036 0.00185825
+v -0.06316466 -0.00609483 0.00186192
+v -0.06316014 -0.00124103 0.00186377
+v -0.06315787 0.00119084 0.00186522
+v -0.06315561 0.00200477 0.00263153
+v -0.05666492 -0.03930717 0.00263138
+v -0.05517351 -0.03915828 0.00240536
+v -0.04793599 -0.03928731 0.00017391
+v -0.04462501 -0.03841382 -0.00109292
+v -0.05179917 -0.03820537 -0.00109292
+v -0.05593845 -0.03932701 -0.00003060
+v -0.06287045 -0.03941635 0.00213121
+v -0.06296777 -0.03771901 0.00201164
+v -0.06299945 -0.03528714 0.00198212
+v -0.06302435 -0.03285528 0.00196718
+v -0.06308319 -0.02555968 0.00191654
+v -0.06310356 -0.02312782 0.00190087
+v -0.06312392 -0.02069595 0.00188775
+v -0.06314203 -0.01826409 0.00187536
+v -0.06314882 -0.01759905 0.00263146
+v -0.06316466 -0.01514733 0.00263146
+v -0.06316919 -0.01340036 0.00263147
+v -0.06316466 -0.00535038 0.00263150
+v -0.06316014 -0.00044695 0.00263152
+v -0.06315787 0.00119084 0.00263152
+v -0.05712207 -0.03961488 0.00263137
+v -0.05666492 -0.03954539 0.00258143
+v -0.05060423 -0.04138169 0.00008568
+v -0.04964466 -0.04012109 0.00035800
+v -0.04694699 -0.04011116 -0.00109293
+v -0.04947945 -0.04007146 -0.00109293
+v -0.05424788 -0.03979353 -0.00025700
+v -0.06150352 -0.03985310 0.00182206
+v -0.06292930 -0.03840390 0.00263138
+v -0.06287045 -0.03941635 0.00255081
+v -0.06296777 -0.03771901 0.00263138
+v -0.06300398 -0.03496951 0.00263139
+v -0.06302887 -0.03244832 0.00263140
+v -0.06304472 -0.03042342 0.00195261
+v -0.05908422 -0.03993251 0.00263137
+v -0.05060423 -0.04138169 0.00007401
+v -0.05072418 -0.04138169 0.00008568
+v -0.04758972 -0.04015087 -0.00109293
+v -0.05072418 -0.04138169 0.00007401
+v -0.05164754 -0.04036924 -0.00044730
+v -0.06150352 -0.03985310 0.00263137
+v -0.06273240 -0.03924761 0.00263138
+v -0.06187241 -0.03973399 0.00263137
+v -0.06245403 -0.03954539 0.00263137
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 36
+f 2 36 52
+f 2 52 63
+f 2 63 83
+f 2 83 82
+f 2 82 81
+f 2 81 80
+f 2 80 79
+f 2 79 78
+f 2 78 96
+f 2 96 95
+f 2 95 94
+f 2 94 92
+f 2 92 105
+f 2 105 107
+f 2 107 106
+f 2 106 104
+f 2 104 98
+f 2 98 84
+f 2 84 64
+f 2 64 53
+f 2 53 43
+f 2 43 16
+f 2 16 17
+f 2 17 18
+f 2 18 3
+f 3 18 19
+f 3 19 4
+f 4 20 5
+f 4 19 18
+f 4 18 17
+f 4 17 45
+f 4 45 44
+f 4 44 55
+f 4 55 54
+f 4 54 67
+f 4 67 88
+f 4 88 101
+f 4 101 89
+f 4 89 68
+f 4 68 56
+f 4 56 50
+f 4 50 47
+f 4 47 34
+f 4 34 33
+f 4 33 32
+f 4 32 46
+f 4 46 29
+f 4 29 27
+f 4 27 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 21
+f 4 21 20
+f 5 20 21
+f 5 21 22
+f 5 22 8
+f 5 8 7
+f 5 7 6
+f 8 22 9
+f 9 23 24
+f 9 24 10
+f 9 22 23
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 31 15
+f 14 30 32
+f 14 32 33
+f 14 33 34
+f 14 34 31
+f 15 35 48
+f 15 48 36
+f 15 31 37
+f 15 37 38
+f 15 38 39
+f 15 39 40
+f 15 40 41
+f 15 41 42
+f 15 42 35
+f 16 43 44
+f 16 44 45
+f 16 45 17
+f 21 23 22
+f 27 29 28
+f 29 46 30
+f 30 46 32
+f 31 34 37
+f 34 38 37
+f 34 47 38
+f 35 42 49
+f 35 49 50
+f 35 50 51
+f 35 51 48
+f 36 48 52
+f 38 47 39
+f 39 47 50
+f 39 50 40
+f 40 50 41
+f 41 50 42
+f 42 50 49
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 48 51 52
+f 50 56 57
+f 50 57 58
+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 51 62 52
+f 52 62 63
+f 53 64 65
+f 53 65 66
+f 53 66 54
+f 54 66 67
+f 56 68 69
+f 56 69 57
+f 57 69 70
+f 57 70 71
+f 57 71 72
+f 57 72 73
+f 57 73 74
+f 57 74 75
+f 57 75 76
+f 57 76 77
+f 57 77 58
+f 58 77 78
+f 58 78 79
+f 58 79 59
+f 59 79 80
+f 59 80 81
+f 59 81 60
+f 60 81 82
+f 60 82 62
+f 60 62 61
+f 62 82 83
+f 62 83 63
+f 64 84 85
+f 64 85 65
+f 65 85 86
+f 65 86 87
+f 65 87 66
+f 66 87 86
+f 66 86 67
+f 67 86 88
+f 68 89 90
+f 68 90 69
+f 69 90 91
+f 69 91 70
+f 70 92 71
+f 70 91 104
+f 70 104 93
+f 70 93 92
+f 71 94 95
+f 71 95 72
+f 71 92 94
+f 72 95 73
+f 73 96 97
+f 73 97 75
+f 73 75 74
+f 73 95 96
+f 75 97 76
+f 76 97 96
+f 76 96 78
+f 76 78 77
+f 84 98 86
+f 84 86 85
+f 86 99 88
+f 86 98 100
+f 86 100 102
+f 86 102 99
+f 88 99 101
+f 89 101 102
+f 89 102 103
+f 89 103 90
+f 90 103 102
+f 90 102 91
+f 91 102 100
+f 91 100 104
+f 92 93 105
+f 93 104 106
+f 93 106 107
+f 93 107 105
+f 98 104 100
+f 99 102 101
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_26.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.00962733 0.04057211 -0.00473720
+v -0.00962733 0.04057211 -0.00554335
+v -0.00962733 0.04079716 -0.00430530
+v -0.01184918 0.03395381 -0.00654846
+v -0.00962733 0.04109380 -0.00672976
+v -0.01184918 0.03395381 -0.00675540
+v -0.00962733 0.04138533 -0.00423846
+v -0.02673653 0.02562722 -0.00312255
+v -0.01191622 0.03646508 -0.00441460
+v -0.01652751 0.02646603 -0.00652286
+v -0.00962733 0.04255148 -0.00691827
+v -0.01652751 0.02646604 -0.00720853
+v -0.01652751 0.02647115 -0.00721133
+v -0.01397526 0.03312526 -0.00721131
+v -0.00962733 0.04364598 -0.00402310
+v -0.02767507 0.02427696 -0.00312255
+v -0.03006452 0.01903449 -0.00332711
+v -0.01877809 0.04010156 -0.00312249
+v -0.02767028 0.01903449 -0.00385387
+v -0.01899357 0.02420025 -0.00657811
+v -0.00962733 0.04489397 -0.00709840
+v -0.01899357 0.02420026 -0.00701601
+v -0.01873978 0.02448157 -0.00721134
+v -0.01653709 0.02646092 -0.00721133
+v -0.00962733 0.04724668 -0.00721126
+v -0.00962733 0.05742985 -0.00312243
+v -0.03388093 0.01903449 -0.00312257
+v -0.02736382 0.01903450 -0.00543775
+v -0.01907498 0.02422584 -0.00721134
+v -0.00962733 0.06618608 -0.00721119
+v -0.00962733 0.06741357 -0.00312239
+v -0.04559352 0.01903449 -0.00312257
+v -0.02848432 0.01903451 -0.00708448
+v -0.02864234 0.01903451 -0.00721136
+v -0.01003435 0.06619631 -0.00721119
+v -0.04940993 0.07073295 -0.00679089
+v -0.04699176 0.07069715 -0.00677728
+v -0.00962733 0.06830352 -0.00679250
+v -0.00962733 0.06771021 -0.00330812
+v -0.03006452 0.06998110 -0.00312238
+v -0.05311142 0.03133513 -0.00660450
+v -0.05311142 0.03133514 -0.00711765
+v -0.04940993 0.02529991 -0.00721134
+v -0.04815056 0.02442019 -0.00721134
+v -0.04519129 0.02254313 -0.00721135
+v -0.03736693 0.01903451 -0.00721136
+v -0.05784243 0.05610517 -0.00312243
+v -0.01498563 0.06630883 -0.00721119
+v -0.05182811 0.07075342 -0.00678368
+v -0.05424629 0.07128533 -0.00554324
+v -0.01992254 0.06640601 -0.00721119
+v -0.02238381 0.06645204 -0.00721119
+v -0.02483551 0.06648273 -0.00721119
+v -0.02727284 0.06650318 -0.00721119
+v -0.02969580 0.06650318 -0.00721119
+v -0.04457358 0.07065112 -0.00675566
+v -0.04215540 0.07060509 -0.00672604
+v -0.04021128 0.07055906 -0.00669482
+v -0.03859757 0.07050791 -0.00661757
+v -0.00962733 0.06862574 -0.00610123
+v -0.00962733 0.06866664 -0.00392814
+v -0.03248269 0.07017545 -0.00312238
+v -0.05552481 0.04099151 -0.00652522
+v -0.05792383 0.05331772 -0.00431766
+v -0.05316888 0.03182103 -0.00721131
+v -0.05302523 0.03122262 -0.00721132
+v -0.05552481 0.04099151 -0.00675617
+v -0.05795256 0.05714343 -0.00312243
+v -0.05812974 0.05714343 -0.00359035
+v -0.05801960 0.05471400 -0.00400224
+v -0.05424629 0.07071761 -0.00674566
+v -0.03203737 0.06643158 -0.00721119
+v -0.03430231 0.06627814 -0.00721119
+v -0.03489608 0.06623723 -0.00721119
+v -0.03655289 0.06610936 -0.00721119
+v -0.04457358 0.07090174 -0.00554324
+v -0.05667404 0.07114212 -0.00571255
+v -0.05666447 0.07121883 -0.00407503
+v -0.03795112 0.07056928 -0.00432641
+v -0.04215540 0.07078410 -0.00554324
+v -0.03953611 0.07062555 -0.00573777
+v -0.00962733 0.06888147 -0.00554325
+v -0.03489608 0.07015499 -0.00312238
+v -0.05792383 0.05331772 -0.00447777
+v -0.05431811 0.03972310 -0.00721128
+v -0.05801960 0.05471401 -0.00456663
+v -0.05848408 0.06444199 -0.00496006
+v -0.05854633 0.06687654 -0.00510255
+v -0.05559185 0.04255148 -0.00681060
+v -0.05803875 0.05957798 -0.00312242
+v -0.05823029 0.05957798 -0.00342983
+v -0.05835958 0.06201254 -0.00350788
+v -0.05848408 0.06444198 -0.00364596
+v -0.05586958 0.07062555 -0.00670203
+v -0.03802774 0.06515804 -0.00721119
+v -0.03901895 0.06376175 -0.00721120
+v -0.05410742 0.04241338 -0.00721127
+v -0.05821114 0.07102960 -0.00507612
+v -0.05821114 0.07102960 -0.00418791
+v -0.05666447 0.06931108 -0.00348904
+v -0.03722807 0.07004247 -0.00312238
+v -0.03795112 0.07056928 -0.00511775
+v -0.05430375 0.04005555 -0.00721128
+v -0.05854633 0.06687653 -0.00376563
+v -0.05846014 0.06931109 -0.00528667
+v -0.05667404 0.06938781 -0.00639783
+v -0.05777060 0.06197162 -0.00312241
+v -0.05846014 0.06931108 -0.00395576
+v -0.05666447 0.06723967 -0.00312239
+v -0.05741625 0.06444198 -0.00312240
+v -0.05683685 0.06687653 -0.00312239
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 25
+f 1 25 30
+f 1 30 38
+f 1 38 60
+f 1 60 82
+f 1 82 61
+f 1 61 39
+f 1 39 31
+f 1 31 26
+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 12
+f 4 12 6
+f 4 9 10
+f 5 6 11
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 7 15 8
+f 8 16 17
+f 8 17 9
+f 8 15 18
+f 8 18 26
+f 8 26 31
+f 8 31 40
+f 8 40 62
+f 8 62 83
+f 8 83 101
+f 8 101 109
+f 8 109 111
+f 8 111 110
+f 8 110 107
+f 8 107 90
+f 8 90 68
+f 8 68 47
+f 8 47 32
+f 8 32 27
+f 8 27 16
+f 9 17 19
+f 9 19 10
+f 10 20 22
+f 10 22 12
+f 10 19 20
+f 11 14 21
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 23
+f 13 23 29
+f 13 29 34
+f 13 34 46
+f 13 46 45
+f 13 45 44
+f 13 44 43
+f 13 43 66
+f 13 66 65
+f 13 65 85
+f 13 85 103
+f 13 103 97
+f 13 97 96
+f 13 96 95
+f 13 95 75
+f 13 75 74
+f 13 74 73
+f 13 73 72
+f 13 72 55
+f 13 55 54
+f 13 54 53
+f 13 53 52
+f 13 52 51
+f 13 51 48
+f 13 48 35
+f 13 35 30
+f 13 30 25
+f 13 25 14
+f 14 25 21
+f 15 26 18
+f 16 27 17
+f 17 27 32
+f 17 32 46
+f 17 46 34
+f 17 34 33
+f 17 33 28
+f 17 28 19
+f 19 28 20
+f 20 28 22
+f 22 29 23
+f 22 28 29
+f 28 33 29
+f 29 33 34
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 31 39 40
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 47 41
+f 35 48 36
+f 36 49 50
+f 36 50 37
+f 36 48 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 49
+f 37 50 56
+f 37 56 38
+f 38 56 57
+f 38 57 58
+f 38 58 59
+f 38 59 60
+f 39 61 40
+f 40 61 62
+f 41 63 67
+f 41 67 42
+f 41 47 64
+f 41 64 63
+f 42 65 66
+f 42 66 43
+f 42 67 65
+f 47 68 69
+f 47 69 70
+f 47 70 64
+f 49 71 50
+f 49 55 72
+f 49 72 73
+f 49 73 74
+f 49 74 75
+f 49 75 71
+f 50 76 59
+f 50 59 58
+f 50 58 57
+f 50 57 56
+f 50 71 77
+f 50 77 78
+f 50 78 79
+f 50 79 76
+f 59 76 80
+f 59 80 81
+f 59 81 82
+f 59 82 60
+f 61 82 62
+f 62 79 78
+f 62 78 83
+f 62 82 79
+f 63 64 84
+f 63 84 67
+f 64 70 86
+f 64 86 84
+f 65 67 85
+f 67 84 86
+f 67 86 87
+f 67 87 88
+f 67 88 89
+f 67 89 85
+f 68 90 91
+f 68 91 69
+f 69 91 92
+f 69 92 93
+f 69 93 70
+f 70 93 87
+f 70 87 86
+f 71 94 77
+f 71 75 95
+f 71 95 96
+f 71 96 97
+f 71 97 94
+f 76 79 80
+f 77 98 78
+f 77 94 98
+f 78 98 99
+f 78 99 100
+f 78 100 101
+f 78 101 83
+f 79 102 80
+f 79 82 102
+f 80 102 81
+f 81 102 82
+f 85 89 94
+f 85 94 103
+f 87 93 104
+f 87 104 88
+f 88 104 108
+f 88 108 105
+f 88 105 89
+f 89 105 106
+f 89 106 94
+f 90 107 104
+f 90 104 93
+f 90 93 92
+f 90 92 91
+f 94 106 105
+f 94 105 98
+f 94 97 103
+f 98 105 108
+f 98 108 99
+f 99 108 109
+f 99 109 100
+f 100 109 101
+f 104 107 110
+f 104 110 111
+f 104 111 108
+f 108 111 109
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_27.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01106622 -0.06587017 -0.00108969
+v 0.01106622 -0.06448208 -0.00047341
+v -0.00980027 -0.06601191 -0.00109302
+v 0.00966667 -0.06588483 -0.00109302
+v 0.01105379 -0.06587506 -0.00109302
+v 0.01106622 -0.05627573 -0.00109299
+v -0.00829382 -0.06450652 -0.00043764
+v 0.01106622 -0.06323574 0.00006721
+v -0.01432954 -0.06603635 -0.00109302
+v 0.01106622 -0.05617309 -0.00109299
+v -0.01071258 -0.06451141 -0.00043515
+v -0.00829382 -0.06328950 0.00008883
+v -0.00104002 -0.04603127 0.00740364
+v -0.01432954 -0.04638806 0.00740364
+v 0.01106622 -0.04518571 0.00740364
+v 0.01106374 -0.04531767 0.00740364
+v -0.01432954 -0.06526899 -0.00075951
+v -0.01432954 -0.05611933 -0.00109299
+v 0.00137874 -0.03043477 0.00124916
+v 0.00379751 -0.02800074 0.00164423
+v 0.00863503 -0.02800074 0.00192285
+v 0.01106622 -0.02800074 0.00207338
+v -0.01071258 -0.06329438 0.00009132
+v -0.01432954 -0.06390046 -0.00016650
+v -0.01432954 -0.06451141 -0.00043099
+v -0.01432954 -0.01610424 0.00740375
+v 0.01106622 -0.02694014 0.00740371
+v -0.01432954 -0.03042012 0.00139804
+v -0.00104002 -0.03043477 0.00126497
+v -0.01432954 -0.01826945 0.00354052
+v 0.00379751 -0.02618254 0.00204926
+v 0.00621627 -0.02606523 0.00214823
+v 0.00863503 -0.02618742 0.00219481
+v 0.01105379 -0.02655400 0.00227632
+v -0.01432954 -0.02928619 0.00158517
+v 0.01106622 -0.02655888 0.00227632
+v -0.00104002 -0.01885598 0.00740374
+v 0.00752633 -0.01940339 0.00471654
+v -0.00872388 -0.01677873 0.00496522
+v -0.00872388 -0.01677873 0.00431900
+v -0.01432954 -0.01612867 0.00501928
+v 0.01106622 -0.02392934 0.00502757
+v 0.01106374 -0.02574267 0.00740372
+v -0.01432954 -0.01713062 0.00385741
+v 0.00863503 -0.02497040 0.00256077
+v -0.01071258 -0.01826945 0.00367858
+v -0.01432954 -0.01623131 0.00412189
+v 0.00752633 -0.01940339 0.00447784
+v 0.01106622 -0.02534675 0.00289178
+v 0.00142349 -0.01967222 0.00740374
+v 0.00402869 -0.02082081 0.00740373
+v -0.01071258 -0.01663210 0.00418094
+v 0.01106622 -0.02392933 0.00402039
+v 0.00137874 -0.01891462 0.00413102
+v 0.00621627 -0.02070349 0.00388816
+v 0.00621627 -0.01932030 0.00438719
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 22
+f 1 22 36
+f 1 36 49
+f 1 49 53
+f 1 53 42
+f 1 42 27
+f 1 27 15
+f 1 15 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 9 18
+f 3 18 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 3 7 9
+f 7 11 9
+f 7 8 12
+f 7 12 23
+f 7 23 11
+f 8 13 14
+f 8 14 12
+f 8 15 16
+f 8 16 13
+f 9 11 17
+f 9 17 25
+f 9 25 24
+f 9 24 14
+f 9 14 26
+f 9 26 41
+f 9 41 47
+f 9 47 44
+f 9 44 30
+f 9 30 35
+f 9 35 28
+f 9 28 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 11 23 24
+f 11 24 25
+f 11 25 17
+f 12 14 23
+f 13 16 15
+f 13 15 27
+f 13 27 43
+f 13 43 51
+f 13 51 50
+f 13 50 37
+f 13 37 26
+f 13 26 14
+f 14 24 23
+f 18 28 29
+f 18 29 19
+f 19 29 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 20 29 35
+f 20 35 30
+f 21 34 36
+f 21 36 22
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 27 42 43
+f 28 35 29
+f 30 44 33
+f 30 33 32
+f 30 32 31
+f 33 45 34
+f 33 44 46
+f 33 46 47
+f 33 47 45
+f 34 45 48
+f 34 48 36
+f 36 48 49
+f 37 50 38
+f 38 48 40
+f 38 40 39
+f 38 50 51
+f 38 51 43
+f 38 43 42
+f 38 42 53
+f 38 53 48
+f 40 52 47
+f 40 47 41
+f 40 48 52
+f 44 47 46
+f 45 47 52
+f 45 52 54
+f 45 54 55
+f 45 55 56
+f 45 56 48
+f 48 56 52
+f 48 53 49
+f 52 56 54
+f 54 56 55
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_28.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.01390994 -0.02556520 -0.00582591
+v -0.01390994 -0.02556519 -0.00687767
+v -0.01392011 -0.02313156 -0.00582887
+v -0.01411121 -0.03772574 -0.00390071
+v -0.01555057 -0.02556519 -0.00713913
+v -0.01555057 -0.02313155 -0.00715100
+v -0.01392011 -0.02313155 -0.00688539
+v -0.01411121 -0.03772573 -0.00458287
+v -0.01417830 -0.03929729 -0.00454187
+v -0.01409495 -0.02799501 -0.00678974
+v -0.01555057 -0.02799500 -0.00702742
+v -0.01396077 -0.02070175 -0.00584195
+v -0.01608321 -0.04139907 -0.00192852
+v -0.01417830 -0.03929730 -0.00401123
+v -0.01526595 -0.02070175 -0.00471710
+v -0.02594526 -0.03042864 -0.00741664
+v -0.02790303 -0.04139905 -0.00741668
+v -0.02577042 -0.02799500 -0.00741663
+v -0.02563828 -0.02556519 -0.00741662
+v -0.02557322 -0.02313155 -0.00741661
+v -0.02557119 -0.02070174 -0.00741661
+v -0.02557119 -0.01826811 -0.00741660
+v -0.02557729 -0.01583829 -0.00741659
+v -0.02557932 -0.01543014 -0.00741659
+v -0.02558949 -0.01340466 -0.00741658
+v -0.02562201 -0.00853739 -0.00741656
+v -0.02564438 -0.00563077 -0.00741655
+v -0.02567081 -0.00243424 -0.00741654
+v -0.01555057 -0.02070174 -0.00714090
+v -0.01396077 -0.02070174 -0.00688004
+v -0.01561156 -0.04139907 -0.00334335
+v -0.01635157 -0.04139906 -0.00451395
+v -0.01648981 -0.03219093 -0.00678797
+v -0.01430841 -0.02928049 -0.00669289
+v -0.01563189 -0.03022647 -0.00684323
+v -0.01411527 -0.01826812 -0.00606952
+v -0.01678866 -0.01232899 -0.00443006
+v -0.01534320 -0.01826812 -0.00494408
+v -0.01709971 -0.04139907 -0.00167182
+v -0.01902292 -0.00243425 -0.00432841
+v -0.03163154 -0.04139905 -0.00741668
+v -0.03380888 -0.00243424 -0.00741654
+v -0.02038909 -0.00243424 -0.00711706
+v -0.01796983 -0.01097102 -0.00714739
+v -0.01555057 -0.01826811 -0.00707374
+v -0.01411527 -0.01826811 -0.00681882
+v -0.01426572 -0.01666985 -0.00639811
+v -0.01796983 -0.04139907 -0.00155595
+v -0.01655283 -0.00902565 -0.00613187
+v -0.01884198 -0.00243425 -0.00492144
+v -0.02038909 -0.00243425 -0.00417867
+v -0.03132456 -0.04139907 -0.00401184
+v -0.03467696 -0.03550190 -0.00385078
+v -0.03467696 -0.03555148 -0.00554548
+v -0.03467696 -0.03530354 -0.00566967
+v -0.03467696 -0.03286228 -0.00650038
+v -0.03293062 -0.03491827 -0.00741666
+v -0.03467696 -0.00243425 -0.00678489
+v -0.03380481 -0.00367394 -0.00741654
+v -0.03467696 -0.00448643 -0.00678074
+v -0.01882369 -0.00243424 -0.00687403
+v -0.01636376 -0.01097102 -0.00688535
+v -0.01655283 -0.00902564 -0.00680631
+v -0.01426572 -0.01666985 -0.00673444
+v -0.01919979 -0.04139907 -0.00144246
+v -0.01866918 -0.00243425 -0.00554358
+v -0.03467696 -0.00243426 -0.00328973
+v -0.03069026 -0.04139907 -0.00281390
+v -0.02963311 -0.04139907 -0.00184830
+v -0.03467696 -0.03286229 -0.00350019
+v -0.03467696 -0.03195825 -0.00651880
+v -0.03318475 -0.03191628 -0.00741665
+v -0.03314002 -0.03286227 -0.00741665
+v -0.03378448 -0.00610376 -0.00741655
+v -0.03467696 -0.00693914 -0.00677244
+v -0.01874440 -0.00243425 -0.00619484
+v -0.02038909 -0.04139907 -0.00138660
+v -0.03467696 -0.01826813 -0.00336050
+v -0.02764891 -0.04139907 -0.00146266
+v -0.02645351 -0.04139907 -0.00140383
+v -0.02522355 -0.04139907 -0.00137234
+v -0.02403628 -0.04139908 -0.00134916
+v -0.02280632 -0.04139908 -0.00134679
+v -0.02161905 -0.04139908 -0.00135629
+v -0.03467696 -0.02799502 -0.00340569
+v -0.03467696 -0.03020360 -0.00342709
+v -0.03467696 -0.03042866 -0.00343006
+v -0.03467696 -0.03263724 -0.00349246
+v -0.03467696 -0.03042865 -0.00654909
+v -0.03336772 -0.02556519 -0.00741662
+v -0.03342464 -0.02313155 -0.00741661
+v -0.03467696 -0.02677438 -0.00660731
+v -0.03467696 -0.02423395 -0.00663642
+v -0.03467696 -0.02935297 -0.00656692
+v -0.03339618 -0.02446281 -0.00741662
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 5
+f 3 7 30
+f 3 30 12
+f 3 12 4
+f 4 13 14
+f 4 14 9
+f 4 9 8
+f 4 12 15
+f 4 15 13
+f 5 16 6
+f 5 11 17
+f 5 17 16
+f 6 16 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 6 27 28
+f 6 28 29
+f 6 29 7
+f 7 29 30
+f 9 14 31
+f 9 31 32
+f 9 32 17
+f 9 17 33
+f 9 33 34
+f 9 34 10
+f 10 34 35
+f 10 35 11
+f 11 35 33
+f 11 33 17
+f 12 30 46
+f 12 46 36
+f 12 36 37
+f 12 37 38
+f 12 38 15
+f 13 39 48
+f 13 48 65
+f 13 65 77
+f 13 77 84
+f 13 84 83
+f 13 83 82
+f 13 82 81
+f 13 81 80
+f 13 80 79
+f 13 79 69
+f 13 69 68
+f 13 68 52
+f 13 52 41
+f 13 41 17
+f 13 17 32
+f 13 32 31
+f 13 31 14
+f 13 15 37
+f 13 37 40
+f 13 40 39
+f 15 38 37
+f 16 17 41
+f 16 41 57
+f 16 57 73
+f 16 73 72
+f 16 72 90
+f 16 90 95
+f 16 95 91
+f 16 91 74
+f 16 74 59
+f 16 59 42
+f 16 42 28
+f 16 28 27
+f 16 27 26
+f 16 26 25
+f 16 25 24
+f 16 24 23
+f 16 23 22
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 16 19 18
+f 28 42 58
+f 28 58 67
+f 28 67 51
+f 28 51 40
+f 28 40 50
+f 28 50 66
+f 28 66 76
+f 28 76 61
+f 28 61 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 33 35 34
+f 36 46 64
+f 36 64 47
+f 36 47 40
+f 36 40 37
+f 39 40 48
+f 40 47 49
+f 40 49 50
+f 40 51 48
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 42 59 60
+f 42 60 58
+f 43 61 44
+f 44 62 45
+f 44 61 62
+f 45 62 46
+f 46 62 63
+f 46 63 64
+f 47 64 63
+f 47 63 49
+f 48 51 65
+f 49 63 66
+f 49 66 50
+f 51 67 65
+f 52 68 53
+f 53 68 69
+f 53 69 70
+f 53 70 88
+f 53 88 87
+f 53 87 86
+f 53 86 85
+f 53 85 78
+f 53 78 67
+f 53 67 58
+f 53 58 60
+f 53 60 75
+f 53 75 93
+f 53 93 92
+f 53 92 94
+f 53 94 89
+f 53 89 71
+f 53 71 56
+f 53 56 55
+f 53 55 54
+f 56 71 72
+f 56 72 73
+f 56 73 57
+f 59 74 75
+f 59 75 60
+f 61 76 63
+f 61 63 62
+f 63 76 66
+f 65 67 77
+f 67 78 69
+f 67 69 79
+f 67 79 80
+f 67 80 81
+f 67 81 82
+f 67 82 83
+f 67 83 84
+f 67 84 77
+f 69 85 86
+f 69 86 87
+f 69 87 88
+f 69 88 70
+f 69 78 85
+f 71 89 72
+f 72 89 90
+f 74 91 92
+f 74 92 93
+f 74 93 75
+f 89 94 90
+f 90 92 95
+f 90 94 92
+f 91 95 92
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_29.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.03467696 -0.03554913 -0.00554536
+v -0.03534096 -0.03696785 -0.00408722
+v -0.03534096 -0.03696785 -0.00486003
+v -0.03821135 -0.03912262 -0.00461320
+v -0.03467696 -0.03530505 -0.00567017
+v -0.03467696 -0.03549956 -0.00385096
+v -0.04085004 -0.03902348 -0.00212984
+v -0.03821135 -0.03912262 -0.00413792
+v -0.04567784 -0.04139182 -0.00218891
+v -0.03973820 -0.03918746 -0.00463605
+v -0.03737098 -0.03775730 -0.00504613
+v -0.03467696 -0.03286043 -0.00650036
+v -0.03467696 -0.03286044 -0.00350049
+v -0.04215729 -0.03772680 -0.00160553
+v -0.04387261 -0.03772681 -0.00109292
+v -0.04215729 -0.03947731 -0.00191477
+v -0.04567784 -0.04139182 -0.00214155
+v -0.04587324 -0.04139182 -0.00218891
+v -0.04132729 -0.03909211 -0.00451347
+v -0.03973820 -0.03772679 -0.00508736
+v -0.03731911 -0.03529361 -0.00578606
+v -0.03973820 -0.03529361 -0.00534087
+v -0.03467696 -0.03196038 -0.00651875
+v -0.03467696 -0.03263924 -0.00349213
+v -0.04376713 -0.03691448 -0.00109292
+v -0.04462133 -0.03841710 -0.00109292
+v -0.04694358 -0.04012185 -0.00109293
+v -0.04475275 -0.04029346 -0.00166070
+v -0.04758510 -0.04015617 -0.00109293
+v -0.04587324 -0.04139182 -0.00214155
+v -0.04947679 -0.04006846 -0.00109293
+v -0.04857936 -0.03939722 -0.00230145
+v -0.04680525 -0.04019049 -0.00250817
+v -0.04171116 -0.03772679 -0.00463326
+v -0.04192731 -0.03529361 -0.00471794
+v -0.03973820 -0.03286043 -0.00535869
+v -0.03467696 -0.00693830 -0.00677273
+v -0.03467696 -0.02423370 -0.00663684
+v -0.03467696 -0.02677748 -0.00660732
+v -0.03467696 -0.02935559 -0.00656721
+v -0.03467696 -0.03043106 -0.00654883
+v -0.03467696 -0.03043107 -0.00343027
+v -0.04357519 -0.03529363 -0.00109291
+v -0.05179732 -0.03821116 -0.00109292
+v -0.05234200 -0.03772681 -0.00109292
+v -0.04881280 -0.03772680 -0.00239394
+v -0.04699200 -0.03772680 -0.00303749
+v -0.04699200 -0.03529362 -0.00309041
+v -0.04193595 -0.03286043 -0.00472462
+v -0.04192039 -0.01096945 -0.00471897
+v -0.03467696 -0.00243425 -0.00678497
+v -0.03467696 -0.00448605 -0.00678052
+v -0.04338325 -0.03286045 -0.00109290
+v -0.04348701 -0.03419908 -0.00109291
+v -0.03467696 -0.03020606 -0.00342693
+v -0.04324838 -0.03043108 -0.00109289
+v -0.04885776 -0.03529362 -0.00242068
+v -0.05163305 -0.00243427 -0.00109279
+v -0.04993329 -0.00243426 -0.00186672
+v -0.04931598 -0.00243426 -0.00213528
+v -0.04872288 -0.00243426 -0.00239158
+v -0.04877476 -0.01340263 -0.00241670
+v -0.04878168 -0.01583581 -0.00242172
+v -0.04699200 -0.01583581 -0.00309201
+v -0.04189272 -0.00243425 -0.00471782
+v -0.03467696 -0.00243426 -0.00328976
+v -0.03467696 -0.02799790 -0.00340575
+v -0.04317749 -0.02799791 -0.00109288
+v -0.04299765 -0.00243427 -0.00109279
+v -0.04699200 -0.00243426 -0.00304014
+v -0.04699200 -0.01340263 -0.00308364
+v -0.03467696 -0.01826899 -0.00336058
+v -0.04299247 -0.00367374 -0.00109279
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 23
+f 1 23 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 52
+f 1 52 51
+f 1 51 66
+f 1 66 72
+f 1 72 67
+f 1 67 55
+f 1 55 42
+f 1 42 24
+f 1 24 13
+f 1 13 6
+f 1 6 2
+f 2 7 8
+f 2 8 4
+f 2 4 3
+f 2 6 7
+f 4 8 17
+f 4 17 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 13 14
+f 9 17 30
+f 9 30 18
+f 9 18 10
+f 10 19 20
+f 10 20 11
+f 10 18 19
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 13 24 15
+f 13 15 14
+f 15 25 43
+f 15 43 54
+f 15 54 53
+f 15 53 56
+f 15 56 68
+f 15 68 73
+f 15 73 69
+f 15 69 58
+f 15 58 45
+f 15 45 44
+f 15 44 31
+f 15 31 29
+f 15 29 27
+f 15 27 26
+f 15 26 16
+f 15 24 25
+f 16 27 28
+f 16 28 17
+f 16 26 27
+f 17 28 27
+f 17 27 29
+f 17 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 32
+f 19 32 34
+f 19 34 20
+f 20 34 22
+f 20 22 21
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 22 34 35
+f 24 42 43
+f 24 43 25
+f 29 31 30
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 34
+f 34 47 35
+f 35 48 49
+f 35 49 36
+f 35 47 48
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 42 53 54
+f 42 54 43
+f 42 55 56
+f 42 56 53
+f 45 57 46
+f 45 58 59
+f 45 59 60
+f 45 60 61
+f 45 61 62
+f 45 62 63
+f 45 63 57
+f 46 57 48
+f 46 48 47
+f 48 57 64
+f 48 64 49
+f 49 64 50
+f 50 64 65
+f 50 65 51
+f 51 65 70
+f 51 70 61
+f 51 61 60
+f 51 60 59
+f 51 59 58
+f 51 58 69
+f 51 69 66
+f 55 67 56
+f 56 67 68
+f 57 63 64
+f 61 70 62
+f 62 70 71
+f 62 71 64
+f 62 64 63
+f 64 71 65
+f 65 71 70
+f 66 69 73
+f 66 73 68
+f 66 68 72
+f 67 72 68
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_3.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03196257 -0.00243041 -0.01159628
+v -0.00962733 -0.00243041 -0.01175968
+v 0.03196257 -0.00243040 -0.01408133
+v 0.03196257 0.03024155 -0.00918350
+v -0.00962733 -0.00243040 -0.01456993
+v -0.00962733 0.02552814 -0.01039650
+v 0.03196257 -0.00200542 -0.01408239
+v -0.00952555 -0.00243040 -0.01456886
+v 0.00380308 0.00849674 -0.01446078
+v 0.03196257 0.06333207 -0.00918338
+v -0.00962733 0.05568242 -0.00918341
+v -0.00962733 -0.00232738 -0.01457046
+v 0.03196257 0.00606276 -0.01410152
+v 0.00138081 0.00849674 -0.01448846
+v -0.00962733 0.00983607 -0.01461778
+v -0.00962733 0.01093072 -0.01462044
+v 0.00380308 0.01093072 -0.01446609
+v 0.03196257 0.01336470 -0.01411853
+v 0.03196257 0.06272680 -0.01033036
+v 0.03040336 0.06274612 -0.01034367
+v 0.03040336 0.06335138 -0.00918338
+v -0.00962733 0.06294572 -0.00918338
+v -0.00962733 0.00849674 -0.01461407
+v -0.00962733 0.01227005 -0.01461564
+v 0.03196257 0.04741464 -0.01406039
+v 0.03196257 0.01579224 -0.01411958
+v 0.03196257 0.01422754 -0.01411906
+v 0.03196257 0.04498066 -0.01406571
+v 0.03196257 0.06194123 -0.01102867
+v 0.03196257 0.06150981 -0.01140922
+v 0.03040336 0.06152913 -0.01141135
+v -0.00962733 0.06141322 -0.01141880
+v -0.00962733 0.06203138 -0.01066036
+v -0.00962733 0.06252719 -0.01004402
+v -0.00962733 0.01336470 -0.01461138
+v 0.03196257 0.04984862 -0.01404548
+v 0.03196257 0.06027351 -0.01179405
+v 0.03040336 0.05957808 -0.01201493
+v 0.01589004 0.05957808 -0.01203888
+v -0.00962733 0.05957808 -0.01202504
+v -0.00962733 0.01579224 -0.01458849
+v -0.00962733 0.04498066 -0.01425785
+v -0.00962733 0.04741464 -0.01422379
+v -0.00962733 0.04984862 -0.01412744
+v 0.03196257 0.05071146 -0.01397042
+v 0.03196257 0.05957808 -0.01200854
+v 0.03040336 0.05714412 -0.01270366
+v 0.01589004 0.05714412 -0.01271537
+v -0.00962733 0.05714412 -0.01270153
+v -0.00962733 0.05227616 -0.01382725
+v 0.02798515 0.05227616 -0.01383736
+v 0.03040336 0.05227616 -0.01383683
+v 0.03196257 0.05227616 -0.01383417
+v 0.03196257 0.05801339 -0.01245084
+v 0.03196257 0.05714412 -0.01269568
+v 0.03196257 0.05588205 -0.01303525
+v 0.03196257 0.05518663 -0.01322101
+v 0.03040336 0.05519307 -0.01322474
+v 0.02798515 0.05518663 -0.01322580
+v -0.00962733 0.05623620 -0.01293519
+v -0.00962733 0.05317763 -0.01365160
+v 0.03040336 0.05397608 -0.01352759
+v 0.03196257 0.05396964 -0.01352599
+v 0.03196257 0.05440106 -0.01341794
+v -0.00962733 0.05511580 -0.01321995
+v -0.00962733 0.05389881 -0.01351002
+v -0.00962733 0.05457492 -0.01334982
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 7
+f 1 7 13
+f 1 13 18
+f 1 18 27
+f 1 27 26
+f 1 26 28
+f 1 28 25
+f 1 25 36
+f 1 36 45
+f 1 45 53
+f 1 53 63
+f 1 63 64
+f 1 64 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 46
+f 1 46 37
+f 1 37 30
+f 1 30 29
+f 1 29 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 22
+f 2 22 34
+f 2 34 33
+f 2 33 32
+f 2 32 40
+f 2 40 49
+f 2 49 60
+f 2 60 65
+f 2 65 67
+f 2 67 66
+f 2 66 61
+f 2 61 50
+f 2 50 44
+f 2 44 43
+f 2 43 42
+f 2 42 41
+f 2 41 35
+f 2 35 24
+f 2 24 16
+f 2 16 15
+f 2 15 23
+f 2 23 12
+f 2 12 5
+f 3 8 9
+f 3 9 7
+f 4 10 21
+f 4 21 22
+f 4 22 11
+f 4 11 6
+f 5 12 8
+f 7 9 13
+f 8 12 9
+f 9 12 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 13
+f 10 19 20
+f 10 20 21
+f 12 23 14
+f 14 23 15
+f 16 24 25
+f 16 25 17
+f 17 26 27
+f 17 27 18
+f 17 25 28
+f 17 28 26
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 22
+f 24 35 25
+f 25 35 36
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 35 41 36
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 41 42
+f 37 46 38
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 44 50 51
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 46 54 47
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 47 54 55
+f 48 58 59
+f 48 59 49
+f 49 59 60
+f 50 61 62
+f 50 62 51
+f 51 62 52
+f 52 62 53
+f 53 62 63
+f 57 64 58
+f 58 64 63
+f 58 63 62
+f 58 62 59
+f 59 65 60
+f 59 62 65
+f 61 66 62
+f 62 66 67
+f 62 67 65
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_30.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04814128 -0.02172755 0.00648915
+v 0.04801478 -0.02172755 0.00653591
+v 0.04814128 -0.02172754 0.00283011
+v 0.04814128 0.00883766 0.00682126
+v 0.04784797 -0.02172755 0.00659670
+v 0.04814128 -0.00853498 0.00270780
+v 0.04491624 -0.02172754 0.00371857
+v 0.03524253 -0.00124003 0.00590472
+v 0.04814128 0.00883768 0.00317001
+v 0.04715709 0.00883766 0.00716262
+v 0.04663858 -0.02172756 0.00700118
+v 0.04814128 -0.00740991 0.00270546
+v 0.03531342 -0.02172755 0.00638082
+v 0.03394139 -0.00124003 0.00629361
+v 0.03394139 0.00549539 0.00654692
+v 0.03524253 0.00362527 0.00611827
+v 0.04491624 0.00883768 0.00394780
+v 0.04491624 0.00849059 0.00393378
+v 0.04814128 -0.00497427 0.00273353
+v 0.04814128 -0.00610532 0.00270469
+v 0.04524292 0.00883766 0.00776038
+v 0.04491624 -0.02172756 0.00756075
+v 0.04591156 -0.02172756 0.00723810
+v 0.03394139 -0.02172756 0.00697546
+v 0.03394139 -0.00367268 0.00635673
+v 0.03394139 0.00605792 0.00658511
+v 0.03394139 0.00855640 0.00680412
+v 0.03394139 0.00883766 0.00683997
+v 0.04491624 0.00883766 0.00786169
+v 0.03936557 -0.02172756 0.00922311
+v 0.03394139 -0.02172757 0.01066646
+v 0.03394139 0.00883765 0.01064007
+v 0.04284082 0.00883766 0.00842594
+v 0.03766131 -0.02172757 0.00970786
+v 0.03864550 -0.02172756 0.00942885
+v 0.03421941 -0.02172757 0.01060177
+v 0.03524253 0.00605790 0.01036729
+v 0.03394139 -0.00011498 0.01065719
+v 0.03394139 0.00718297 0.01064397
+v 0.03524253 0.00883765 0.01036418
+v 0.04249747 0.00883766 0.00851868
+v 0.03663680 -0.02172757 0.00998531
+v 0.03524253 -0.02172757 0.01036173
+v 0.03766131 0.00883765 0.00978279
+v 0.03558588 0.00883765 0.01028313
+v 0.03524253 0.00849056 0.01036496
+v 0.03394139 0.00231767 0.01065330
+v 0.03964637 0.00883766 0.00927621
+v 0.03794906 0.00883765 0.00971109
+f 1 2 5
+f 1 5 11
+f 1 11 23
+f 1 23 22
+f 1 22 30
+f 1 30 35
+f 1 35 34
+f 1 34 42
+f 1 42 43
+f 1 43 36
+f 1 36 31
+f 1 31 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 6
+f 1 6 12
+f 1 12 20
+f 1 20 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 6
+f 4 9 17
+f 4 17 28
+f 4 28 32
+f 4 32 40
+f 4 40 45
+f 4 45 44
+f 4 44 49
+f 4 49 48
+f 4 48 41
+f 4 41 33
+f 4 33 29
+f 4 29 21
+f 4 21 10
+f 4 10 5
+f 5 10 11
+f 6 8 12
+f 7 13 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 9 19
+f 8 19 20
+f 8 20 12
+f 8 13 14
+f 9 18 17
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 13 24 25
+f 13 25 14
+f 14 25 24
+f 14 24 31
+f 14 31 38
+f 14 38 47
+f 14 47 39
+f 14 39 32
+f 14 32 28
+f 14 28 27
+f 14 27 26
+f 14 26 15
+f 15 26 17
+f 15 17 16
+f 17 27 28
+f 17 26 27
+f 21 29 22
+f 22 29 30
+f 29 33 34
+f 29 34 35
+f 29 35 30
+f 31 36 37
+f 31 37 38
+f 32 39 40
+f 33 41 42
+f 33 42 34
+f 36 43 37
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 37 43 44
+f 38 46 47
+f 39 47 46
+f 39 46 40
+f 40 46 45
+f 41 48 43
+f 41 43 42
+f 43 48 49
+f 43 49 44
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_31.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04670800 -0.00243044 -0.00577977
+v 0.04670800 -0.00243042 -0.01097360
+v 0.04670800 -0.00198498 -0.00578303
+v 0.04633273 -0.00243044 -0.00590467
+v 0.04374044 -0.00243041 -0.01344398
+v 0.04381550 0.01092413 -0.01350435
+v 0.04381982 0.01335717 -0.01350842
+v 0.04670800 0.01664039 -0.01102415
+v 0.04670800 -0.00123653 -0.00579037
+v 0.04532526 -0.00123653 -0.00625326
+v 0.04530794 -0.00243044 -0.00624755
+v 0.04249770 -0.00243041 -0.01375503
+v 0.04249770 0.01092413 -0.01383253
+v 0.04249770 0.01335717 -0.01383905
+v 0.04249770 0.01579020 -0.01383006
+v 0.04379240 0.02066983 -0.01348553
+v 0.04380251 0.01822323 -0.01349289
+v 0.04670800 0.02066982 -0.01103066
+v 0.04670800 0.02065625 -0.01103066
+v 0.04670800 0.01906438 -0.01102904
+v 0.04670800 0.01822322 -0.01102741
+v 0.04670800 0.00043674 -0.00582384
+v 0.04670800 0.00283586 -0.00587853
+v 0.04670800 0.00523045 -0.00593975
+v 0.04540753 0.00119650 -0.00628755
+v 0.03196401 0.02066982 -0.01148702
+v 0.03196401 -0.00243042 -0.01159569
+v 0.04007862 -0.00243041 -0.01405056
+v 0.04007862 0.01092413 -0.01408316
+v 0.04007862 0.01335717 -0.01408805
+v 0.04007862 0.01579020 -0.01408478
+v 0.04007862 0.01822323 -0.01407905
+v 0.04007862 0.02066983 -0.01407251
+v 0.04249770 0.01822323 -0.01381944
+v 0.04249770 0.02066983 -0.01380800
+v 0.04670800 0.02066981 -0.00708018
+v 0.04670800 0.00606030 -0.00596342
+v 0.03196401 0.02066983 -0.01410761
+v 0.03196401 -0.00243041 -0.01408158
+v 0.03884743 -0.00243041 -0.01405872
+v 0.03766242 0.01092413 -0.01409541
+v 0.03766242 -0.00243041 -0.01406525
+v 0.03766242 0.00849336 -0.01409052
+v 0.03766242 0.01335717 -0.01409948
+v 0.03766242 0.01579020 -0.01409784
+v 0.03766242 0.01822323 -0.01409293
+v 0.03766242 0.02066983 -0.01408639
+v 0.04248471 0.02066983 -0.01380963
+v 0.03524334 0.02066983 -0.01409619
+v 0.03196401 0.01822323 -0.01411415
+v 0.03196401 -0.00037047 -0.01408647
+v 0.03196401 0.01335717 -0.01411826
+v 0.03196401 0.01179017 -0.01411500
+v 0.03196401 0.01422320 -0.01411907
+v 0.03196401 0.01579020 -0.01411988
+f 1 2 8
+f 1 8 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 36
+f 1 36 37
+f 1 37 24
+f 1 24 23
+f 1 23 22
+f 1 22 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 27
+f 1 27 39
+f 1 39 42
+f 1 42 40
+f 1 40 28
+f 1 28 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 11 26 27
+f 12 28 13
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 15
+f 15 33 34
+f 15 34 16
+f 16 35 48
+f 16 48 33
+f 16 33 47
+f 16 47 49
+f 16 49 38
+f 16 38 26
+f 16 26 36
+f 16 36 18
+f 16 18 17
+f 16 34 35
+f 24 37 26
+f 24 26 25
+f 26 37 36
+f 26 38 50
+f 26 50 55
+f 26 55 54
+f 26 54 52
+f 26 52 53
+f 26 53 51
+f 26 51 39
+f 26 39 27
+f 28 40 29
+f 29 41 30
+f 29 40 42
+f 29 42 43
+f 29 43 41
+f 30 41 44
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 32
+f 32 46 47
+f 32 47 33
+f 33 48 34
+f 34 48 35
+f 38 49 50
+f 39 51 42
+f 41 52 44
+f 41 43 52
+f 42 51 53
+f 42 53 43
+f 43 53 52
+f 44 52 54
+f 44 54 55
+f 44 55 45
+f 45 55 46
+f 46 49 47
+f 46 55 49
+f 49 55 50
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_32.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.02028627 0.01369143 0.01424081
+v -0.02028627 0.01369144 0.01175427
+v -0.02028627 0.01579183 0.01431501
+v -0.03731802 0.01369143 0.01417444
+v -0.03643400 0.01369144 0.01015791
+v -0.02028627 0.04265755 0.01015802
+v -0.02028627 0.01589404 0.01431842
+v -0.03940587 0.01369143 0.01400997
+v -0.02028627 0.01822441 0.01439213
+v -0.02028627 0.02065699 0.01446193
+v -0.02028627 0.02308957 0.01452830
+v -0.03489895 0.02795984 0.01455760
+v -0.03731802 0.02795984 0.01453417
+v -0.04316583 0.01369144 0.01015791
+v -0.02028627 0.06336004 0.01015809
+v -0.03973710 0.01369143 0.01398118
+v -0.03731802 0.03039242 0.01459372
+v -0.02028627 0.02552215 0.01458882
+v -0.02038906 0.02552215 0.01458834
+v -0.03489895 0.03039242 0.01461617
+v -0.04104829 0.01369143 0.01368299
+v -0.04336457 0.01817331 0.01015793
+v -0.02172081 0.06322206 0.01015809
+v -0.03247987 0.06383020 0.01093553
+v -0.02028627 0.06389664 0.01054998
+v -0.04086783 0.01369143 0.01372643
+v -0.03731802 0.05714570 0.01507112
+v -0.03973710 0.02795984 0.01423062
+v -0.02028627 0.02795984 0.01463764
+v -0.02280814 0.02795984 0.01462739
+v -0.02522722 0.02795984 0.01461568
+v -0.03006308 0.03039242 0.01463960
+v -0.03731802 0.05957828 0.01511359
+v -0.04109854 0.02552215 0.01374891
+v -0.04354503 0.03039243 0.01015797
+v -0.04339198 0.01967579 0.01015793
+v -0.03973710 0.03039242 0.01427064
+v -0.03973710 0.06201087 0.01473147
+v -0.02921560 0.06201088 0.01015809
+v -0.03006308 0.06201088 0.01020006
+v -0.02028627 0.06395797 0.01059683
+v -0.03489895 0.06375865 0.01104338
+v -0.03731802 0.06484719 0.01198726
+v -0.02522722 0.03039242 0.01466059
+v -0.02764401 0.03039242 0.01465083
+v -0.02028627 0.03039242 0.01467523
+v -0.03489895 0.05714570 0.01507356
+v -0.03489895 0.05957828 0.01510383
+v -0.03731802 0.06201086 0.01514337
+v -0.04110768 0.02795984 0.01376259
+v -0.04356330 0.03282502 0.01015798
+v -0.03973710 0.06444345 0.01441426
+v -0.04108940 0.06444345 0.01382081
+v -0.04117392 0.06201087 0.01394817
+v -0.02982780 0.06177069 0.01015809
+v -0.03006308 0.06163782 0.01015809
+v -0.04237090 0.05457004 0.01015806
+v -0.03247987 0.06201088 0.01036062
+v -0.03731802 0.06363090 0.01116539
+v -0.03489895 0.06497495 0.01202776
+v -0.03731802 0.06589993 0.01311218
+v -0.02028627 0.06517425 0.01212342
+v -0.03973710 0.06580794 0.01328494
+v -0.03892617 0.06344181 0.01125763
+v -0.02028627 0.03282501 0.01470452
+v -0.03247987 0.05957828 0.01507553
+v -0.03489895 0.06201086 0.01512141
+v -0.02028627 0.03525759 0.01472844
+v -0.03731802 0.06444345 0.01474661
+v -0.04362041 0.04741539 0.01015803
+v -0.03973710 0.06580794 0.01382617
+v -0.04097976 0.06569552 0.01364414
+v -0.04359757 0.05228055 0.01015805
+v -0.04360899 0.05101316 0.01015805
+v -0.04361813 0.04984797 0.01015804
+v -0.04362269 0.04857036 0.01015804
+v -0.04052975 0.06201088 0.01163586
+v -0.03489895 0.06201088 0.01059390
+v -0.03731802 0.06589993 0.01396087
+v -0.02028627 0.06581306 0.01324785
+v -0.02028627 0.06578750 0.01320051
+v -0.03973481 0.06433103 0.01214587
+v -0.04097976 0.06569552 0.01351090
+v -0.03006308 0.05714570 0.01502281
+v -0.03006308 0.05957828 0.01503844
+v -0.03247987 0.06201086 0.01508822
+v -0.02028627 0.03769017 0.01474749
+v -0.03006308 0.06201086 0.01504772
+v -0.03489895 0.06444345 0.01470122
+v -0.02028627 0.06581306 0.01377786
+v -0.02028627 0.04011764 0.01476311
+v -0.02764401 0.05957828 0.01499012
+v -0.02028627 0.04255022 0.01477337
+v -0.02764401 0.06201086 0.01499452
+v -0.03247987 0.06444345 0.01465340
+v -0.03006308 0.06444345 0.01459874
+v -0.02028627 0.06450477 0.01433178
+v -0.02522722 0.05957829 0.01493302
+v -0.02028627 0.04498280 0.01478021
+v -0.02028627 0.06444345 0.01435472
+v -0.02522722 0.06201087 0.01492913
+v -0.02028627 0.05471313 0.01479391
+v -0.02028627 0.05714571 0.01479441
+v -0.02280814 0.05957829 0.01486518
+v -0.02028627 0.04741538 0.01478510
+v -0.02028627 0.06211308 0.01474709
+v -0.02028627 0.05957829 0.01478905
+v -0.02028627 0.05968050 0.01478807
+v -0.02280814 0.06201087 0.01484811
+v -0.02028627 0.06201087 0.01476027
+f 1 2 6
+f 1 6 15
+f 1 15 25
+f 1 25 41
+f 1 41 62
+f 1 62 81
+f 1 81 80
+f 1 80 90
+f 1 90 97
+f 1 97 100
+f 1 100 106
+f 1 106 110
+f 1 110 108
+f 1 108 107
+f 1 107 103
+f 1 103 102
+f 1 102 105
+f 1 105 99
+f 1 99 93
+f 1 93 91
+f 1 91 87
+f 1 87 68
+f 1 68 65
+f 1 65 46
+f 1 46 29
+f 1 29 18
+f 1 18 11
+f 1 11 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 26
+f 1 26 21
+f 1 21 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 8
+f 5 14 22
+f 5 22 36
+f 5 36 35
+f 5 35 51
+f 5 51 70
+f 5 70 76
+f 5 76 75
+f 5 75 74
+f 5 74 73
+f 5 73 57
+f 5 57 56
+f 5 56 55
+f 5 55 39
+f 5 39 23
+f 5 23 15
+f 5 15 6
+f 8 13 17
+f 8 17 16
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 17
+f 12 17 13
+f 14 21 22
+f 15 23 24
+f 15 24 25
+f 16 17 27
+f 16 27 28
+f 16 28 26
+f 17 20 27
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 27
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 21 26 37
+f 21 37 38
+f 21 38 34
+f 23 39 40
+f 23 40 24
+f 24 41 25
+f 24 40 42
+f 24 42 43
+f 24 43 41
+f 26 28 37
+f 27 33 28
+f 28 33 37
+f 29 44 45
+f 29 45 30
+f 29 46 33
+f 29 33 44
+f 30 45 32
+f 30 32 31
+f 32 45 33
+f 33 47 48
+f 33 48 49
+f 33 49 38
+f 33 38 37
+f 33 45 44
+f 33 46 47
+f 34 50 51
+f 34 51 35
+f 34 38 50
+f 38 49 52
+f 38 52 53
+f 38 53 54
+f 38 54 50
+f 39 55 40
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 42
+f 41 43 60
+f 41 60 61
+f 41 61 62
+f 42 59 43
+f 43 63 61
+f 43 61 60
+f 43 59 64
+f 43 64 63
+f 46 65 48
+f 46 48 47
+f 48 66 67
+f 48 67 49
+f 48 65 68
+f 48 68 66
+f 49 67 69
+f 49 69 52
+f 50 54 51
+f 51 54 70
+f 52 69 71
+f 52 71 72
+f 52 72 53
+f 53 72 73
+f 53 73 54
+f 54 73 74
+f 54 74 75
+f 54 75 76
+f 54 76 70
+f 57 77 64
+f 57 64 78
+f 57 78 58
+f 57 73 77
+f 58 78 64
+f 58 64 59
+f 61 63 71
+f 61 71 79
+f 61 79 90
+f 61 90 80
+f 61 80 81
+f 61 81 62
+f 63 64 82
+f 63 82 83
+f 63 83 72
+f 63 72 71
+f 64 77 83
+f 64 83 82
+f 66 84 85
+f 66 85 86
+f 66 86 67
+f 66 68 87
+f 66 87 84
+f 67 86 69
+f 69 86 88
+f 69 88 89
+f 69 89 90
+f 69 90 79
+f 69 79 71
+f 72 83 73
+f 73 83 77
+f 84 87 91
+f 84 91 85
+f 85 92 88
+f 85 88 86
+f 85 91 93
+f 85 93 92
+f 88 92 94
+f 88 94 95
+f 88 95 89
+f 89 95 90
+f 90 95 96
+f 90 96 97
+f 92 98 94
+f 92 93 99
+f 92 99 98
+f 94 100 96
+f 94 96 95
+f 94 98 101
+f 94 101 100
+f 96 100 97
+f 98 102 103
+f 98 103 104
+f 98 104 101
+f 98 99 105
+f 98 105 102
+f 100 101 106
+f 101 104 107
+f 101 107 108
+f 101 108 109
+f 101 109 106
+f 103 107 104
+f 106 109 110
+f 108 110 109
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_33.obj

@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v -0.04424933 -0.00143845 0.00882793
+v -0.04400025 -0.00367464 0.00882793
+v -0.04107096 -0.04895515 0.01107891
+v -0.04107096 -0.04895515 0.01156382
+v -0.04111969 -0.04745964 0.01165856
+v -0.04117384 -0.00143846 0.01201828
+v -0.02431819 -0.00143845 0.00882793
+v -0.04371870 -0.00610426 0.00882792
+v -0.04341548 -0.00853859 0.00882791
+v -0.04277656 -0.01340254 0.00882789
+v -0.03973355 -0.04745964 0.00997856
+v -0.03742693 -0.04755398 0.00882777
+v -0.03973355 -0.04936559 0.01064913
+v -0.03973355 -0.04936559 0.01193046
+v -0.03973355 -0.04745965 0.01251528
+v -0.03996097 -0.00143847 0.01315069
+v -0.04009633 -0.00143847 0.01305031
+v -0.01313162 -0.00143845 0.00883405
+v 0.01106081 -0.00894431 0.00882791
+v -0.03844487 -0.04503001 0.00882777
+v -0.03783844 -0.04674725 0.00882777
+v -0.03489832 -0.04852111 0.00882776
+v -0.03731323 -0.04963450 0.01034376
+v -0.03731323 -0.04963450 0.01218587
+v -0.03731323 -0.04745965 0.01305581
+v -0.03875892 -0.00143847 0.01361157
+v -0.03979853 -0.00143847 0.01321336
+v -0.01293670 -0.00143845 0.00883452
+v -0.01071671 -0.00143845 0.00885667
+v 0.01106622 -0.00367936 0.00920822
+v 0.01106622 -0.00839706 0.00886891
+v 0.01106622 -0.00857633 0.00886137
+v 0.01106622 -0.01097293 0.00882790
+v -0.03082112 -0.04851639 0.00882776
+v 0.01106622 -0.04874284 0.00899081
+v -0.03247799 -0.04962978 0.01035224
+v 0.01106622 -0.04946938 0.01020663
+v -0.03247799 -0.04962978 0.01219812
+v -0.03489832 -0.04962978 0.01219388
+v -0.03005766 -0.04745965 0.01308832
+v -0.03247799 -0.04745965 0.01308172
+v -0.03489832 -0.04745965 0.01307230
+v -0.03731323 -0.00143847 0.01364220
+v -0.03749732 -0.00143847 0.01364078
+v 0.01106081 -0.00143845 0.00939154
+v 0.01106622 -0.00157527 0.00938070
+v 0.01106622 -0.04842675 0.00882776
+v -0.02841163 -0.04851168 0.00882776
+v -0.03005766 -0.04962506 0.01035460
+v -0.02764275 -0.04962034 0.01036214
+v 0.01106622 -0.04939861 0.01201481
+v 0.01105539 -0.04940333 0.01201481
+v 0.00863507 -0.04941748 0.01203790
+v -0.02764275 -0.04962034 0.01219671
+v -0.03005766 -0.04962506 0.01219907
+v -0.02038719 -0.04745965 0.01309068
+v -0.02280210 -0.04745965 0.01309115
+v -0.02764275 -0.04745965 0.01309021
+v -0.02280210 -0.04502531 0.01313733
+v -0.02522243 -0.04502531 0.01313168
+v -0.02038719 -0.04502531 0.01313922
+v -0.01796686 -0.04502531 0.01313875
+v -0.00587606 -0.04259098 0.01314394
+v -0.03489832 -0.00143847 0.01363654
+v 0.01106622 -0.00143846 0.01092640
+v 0.01106622 -0.04939389 0.01201811
+v 0.01105539 -0.04745965 0.01278484
+v 0.00863507 -0.04745965 0.01282914
+v 0.00621474 -0.04745965 0.01286778
+v 0.00379441 -0.04745965 0.01289605
+v -0.00104082 -0.04745965 0.01295025
+v -0.00346115 -0.04745965 0.01297664
+v -0.00587606 -0.04745965 0.01300208
+v 0.00621474 -0.04942692 0.01205863
+v 0.00379441 -0.04944107 0.01207419
+v 0.00137950 -0.04945522 0.01208785
+v -0.01796686 -0.04956373 0.01218634
+v -0.01796686 -0.04745965 0.01308691
+v -0.01071671 -0.04502531 0.01312131
+v -0.00829639 -0.04502531 0.01311518
+v -0.00587606 -0.04502531 0.01310293
+v -0.00346115 -0.04259098 0.01313169
+v -0.00346115 -0.04016136 0.01315903
+v -0.03247799 -0.00143847 0.01362476
+v 0.01106622 -0.00143847 0.01325389
+v 0.01106622 -0.04745965 0.01278437
+v 0.01106622 -0.04502531 0.01289275
+v 0.00863507 -0.04502531 0.01293752
+v 0.00621474 -0.04502531 0.01297522
+v 0.00379441 -0.04502531 0.01300256
+v 0.00137950 -0.04502531 0.01302942
+v -0.00104082 -0.04502531 0.01305628
+v -0.00346115 -0.04502531 0.01308172
+v -0.00829639 -0.04745965 0.01302612
+v -0.01071671 -0.04745965 0.01304685
+v -0.00346115 -0.04947881 0.01211518
+v -0.01555195 -0.04745965 0.01307607
+v -0.00587606 -0.04948825 0.01212932
+v -0.01313162 -0.04745965 0.01306193
+v -0.00104082 -0.04259098 0.01310907
+v -0.00104082 -0.04016136 0.01314442
+v -0.03028508 -0.00143847 0.01361062
+v 0.01106622 -0.02798497 0.01311808
+v 0.00863507 -0.00143847 0.01328688
+v 0.01106622 -0.04258154 0.01293895
+v 0.00863507 -0.04259098 0.01298701
+v 0.00621474 -0.04259098 0.01302613
+v 0.00379441 -0.04259098 0.01305440
+v 0.00137950 -0.04259098 0.01308221
+v 0.00137950 -0.04016136 0.01311944
+v 0.00379441 -0.03772703 0.01311757
+v 0.00137950 -0.03772703 0.01314207
+v -0.00607640 -0.00143847 0.01343485
+v 0.01106622 -0.03042875 0.01309451
+v 0.00621474 -0.00143847 0.01331845
+v 0.00863507 -0.02799441 0.01314730
+v 0.00863507 -0.03042875 0.01313127
+v 0.01106622 -0.04014721 0.01297760
+v 0.01105539 -0.04016136 0.01297760
+v 0.00863507 -0.04016136 0.01302614
+v 0.00621474 -0.04016136 0.01306431
+v 0.00379441 -0.04016136 0.01309258
+v 0.00621474 -0.03529270 0.01311522
+v 0.00621474 -0.03286308 0.01313691
+v -0.00124116 -0.00143847 0.01339055
+v 0.01106622 -0.03529270 0.01303652
+v 0.00863507 -0.03286308 0.01310722
+v 0.00863507 -0.03529270 0.01308129
+v 0.00863507 -0.03772703 0.01305395
+v 0.00379441 -0.00143847 0.01334390
+v 0.01106622 -0.03772703 0.01300730
+v 0.00621474 -0.03772703 0.01309024
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 16
+f 1 16 27
+f 1 27 26
+f 1 26 44
+f 1 44 43
+f 1 43 64
+f 1 64 84
+f 1 84 102
+f 1 102 113
+f 1 113 125
+f 1 125 130
+f 1 130 115
+f 1 115 104
+f 1 104 85
+f 1 85 65
+f 1 65 45
+f 1 45 29
+f 1 29 28
+f 1 28 18
+f 1 18 7
+f 1 7 19
+f 1 19 33
+f 1 33 47
+f 1 47 48
+f 1 48 34
+f 1 34 22
+f 1 22 12
+f 1 12 21
+f 1 21 20
+f 1 20 10
+f 1 10 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 7 18 19
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 26 27
+f 15 27 16
+f 15 25 26
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 22 34 35
+f 22 35 23
+f 23 36 38
+f 23 38 24
+f 23 35 37
+f 23 37 36
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 29 45 30
+f 30 45 46
+f 30 46 65
+f 30 65 85
+f 30 85 103
+f 30 103 114
+f 30 114 126
+f 30 126 131
+f 30 131 118
+f 30 118 105
+f 30 105 87
+f 30 87 86
+f 30 86 66
+f 30 66 51
+f 30 51 37
+f 30 37 35
+f 30 35 47
+f 30 47 33
+f 30 33 32
+f 30 32 31
+f 34 48 35
+f 35 48 47
+f 36 49 55
+f 36 55 38
+f 36 37 49
+f 37 50 49
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 50
+f 38 55 56
+f 38 56 57
+f 38 57 58
+f 38 58 40
+f 38 40 39
+f 40 58 61
+f 40 61 59
+f 40 59 60
+f 40 60 43
+f 40 43 41
+f 41 43 42
+f 43 60 59
+f 43 59 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 45 65 46
+f 49 50 54
+f 49 54 55
+f 51 66 52
+f 52 66 67
+f 52 67 68
+f 52 68 69
+f 52 69 53
+f 53 69 70
+f 53 70 71
+f 53 71 72
+f 53 72 73
+f 53 73 74
+f 53 74 75
+f 53 75 76
+f 53 76 77
+f 53 77 54
+f 54 77 78
+f 54 78 55
+f 55 78 56
+f 56 78 62
+f 56 62 57
+f 57 62 61
+f 57 61 58
+f 62 78 79
+f 62 79 63
+f 63 79 80
+f 63 80 81
+f 63 81 82
+f 63 82 83
+f 63 83 64
+f 64 83 84
+f 66 86 67
+f 67 86 87
+f 67 87 88
+f 67 88 68
+f 68 88 69
+f 69 88 89
+f 69 89 70
+f 70 89 90
+f 70 90 71
+f 71 91 92
+f 71 92 72
+f 71 90 91
+f 72 92 73
+f 73 92 93
+f 73 93 94
+f 73 94 74
+f 74 94 75
+f 75 94 95
+f 75 95 76
+f 76 95 96
+f 76 96 77
+f 77 97 78
+f 77 96 98
+f 77 98 95
+f 77 95 99
+f 77 99 97
+f 78 97 80
+f 78 80 79
+f 80 97 81
+f 81 93 82
+f 81 97 99
+f 81 99 95
+f 81 95 94
+f 81 94 93
+f 82 93 100
+f 82 100 101
+f 82 101 83
+f 83 101 84
+f 84 101 102
+f 85 104 103
+f 87 105 106
+f 87 106 88
+f 88 106 107
+f 88 107 89
+f 89 107 108
+f 89 108 109
+f 89 109 90
+f 90 109 91
+f 91 109 100
+f 91 100 92
+f 92 100 93
+f 95 98 96
+f 100 109 110
+f 100 110 101
+f 101 110 111
+f 101 111 123
+f 101 123 112
+f 101 112 113
+f 101 113 102
+f 103 104 115
+f 103 115 116
+f 103 116 117
+f 103 117 114
+f 105 118 119
+f 105 119 120
+f 105 120 106
+f 106 120 107
+f 107 121 122
+f 107 122 108
+f 107 120 121
+f 108 122 109
+f 109 122 110
+f 110 122 111
+f 111 122 132
+f 111 132 123
+f 112 123 124
+f 112 124 113
+f 113 124 116
+f 113 116 125
+f 114 117 127
+f 114 127 128
+f 114 128 129
+f 114 129 120
+f 114 120 126
+f 115 130 116
+f 116 124 117
+f 116 130 125
+f 117 124 123
+f 117 123 127
+f 118 131 120
+f 118 120 119
+f 120 129 121
+f 120 131 126
+f 121 129 128
+f 121 128 127
+f 121 127 132
+f 121 132 122
+f 123 132 127
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_34.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.04388093 -0.00243398 -0.01387834
+v -0.04391164 -0.00367376 -0.01389471
+v -0.04388093 -0.00243398 -0.01277021
+v -0.04302084 -0.00243398 -0.01419231
+v -0.04215564 -0.00367376 -0.01453576
+v -0.04391164 -0.00367376 -0.01275875
+v -0.04215564 -0.00853643 -0.01463935
+v -0.04215564 -0.01096955 -0.01469094
+v -0.04400892 -0.00853643 -0.01394795
+v -0.04301573 -0.00243398 -0.01231174
+v -0.04215564 -0.00243398 -0.01450588
+v -0.03973409 -0.00243398 -0.01471301
+v -0.04215564 -0.00853644 -0.01175667
+v -0.04400892 -0.00853643 -0.01272766
+v -0.03973409 -0.00367376 -0.01473757
+v -0.03973409 -0.01096955 -0.01487146
+v -0.04215564 -0.01340268 -0.01473393
+v -0.04404987 -0.01096955 -0.01397170
+v -0.04419322 -0.01826892 -0.01402290
+v -0.04215564 -0.00243399 -0.01186881
+v -0.03731767 -0.00243398 -0.01475477
+v -0.04215564 -0.01096956 -0.01173499
+v -0.03865899 -0.00243399 -0.01114917
+v -0.04099862 -0.00243399 -0.01162034
+v -0.04404987 -0.01096955 -0.01271866
+v -0.04419322 -0.01826892 -0.01273384
+v -0.03973409 -0.01340268 -0.01491282
+v -0.03973409 -0.01583580 -0.01495090
+v -0.04215564 -0.01583580 -0.01477119
+v -0.04423417 -0.02069847 -0.01403765
+v -0.04215564 -0.01826892 -0.01480272
+v -0.03247969 -0.00243398 -0.01476746
+v -0.04423417 -0.02069847 -0.01273713
+v -0.04424954 -0.02313159 -0.01274122
+v -0.04424442 -0.02556471 -0.01274246
+v -0.04422394 -0.02799783 -0.01274042
+v -0.04415226 -0.03772674 -0.01275233
+v -0.04215564 -0.03893081 -0.01193772
+v -0.03986208 -0.00853644 -0.01132317
+v -0.03643198 -0.00243399 -0.01082496
+v -0.03973409 -0.01826891 -0.01498038
+v -0.03005814 -0.00243398 -0.01477360
+v -0.04215564 -0.02069847 -0.01482361
+v -0.04215564 -0.02799783 -0.01487766
+v -0.04422394 -0.02799783 -0.01408638
+v -0.04424954 -0.02313159 -0.01404583
+v -0.04424442 -0.02556471 -0.01406017
+v -0.04415226 -0.03772674 -0.01409502
+v -0.04413179 -0.03893080 -0.01275765
+v -0.03499339 -0.03893081 -0.01083082
+v -0.03498315 -0.03892367 -0.01082509
+v -0.03639102 -0.00517438 -0.01082497
+v -0.03641662 -0.00367377 -0.01082496
+v -0.02705296 -0.00243399 -0.01082496
+v -0.03731767 -0.01826892 -0.01496237
+v -0.03973409 -0.02069846 -0.01499513
+v -0.02764171 -0.00243398 -0.01476705
+v -0.02522016 -0.00243398 -0.01474985
+v -0.04215564 -0.03043096 -0.01488872
+v -0.04414715 -0.03529362 -0.01410237
+v -0.04215564 -0.03286050 -0.01488914
+v -0.04413179 -0.03893080 -0.01408765
+v -0.04215564 -0.03529362 -0.01488138
+v -0.03376981 -0.03893081 -0.01082509
+v -0.02691985 -0.03893081 -0.01082509
+v 0.00805180 -0.03893081 -0.01121807
+v 0.00805180 -0.00243399 -0.01178408
+v -0.03731767 -0.02069846 -0.01497711
+v -0.02280374 -0.00243398 -0.01472979
+v -0.03973409 -0.02313158 -0.01500209
+v -0.03973409 -0.02556470 -0.01500701
+v -0.03973409 -0.02799782 -0.01500415
+v -0.04215564 -0.03772674 -0.01484413
+v -0.04215564 -0.03893080 -0.01480033
+v -0.03973409 -0.03043095 -0.01499475
+v -0.03973409 -0.03286049 -0.01498411
+v -0.03973409 -0.03529362 -0.01495752
+v 0.00805180 -0.03893080 -0.01415273
+v 0.00805180 -0.00243398 -0.01430570
+v -0.03731767 -0.02313158 -0.01498039
+v -0.02038731 -0.00243398 -0.01470400
+v -0.01797088 -0.00243398 -0.01467412
+v -0.00829493 -0.00243398 -0.01455418
+v -0.00587850 -0.00243398 -0.01452348
+v -0.03731767 -0.02556470 -0.01498163
+v -0.03731767 -0.02799782 -0.01497509
+v -0.03973409 -0.03772674 -0.01489162
+v -0.03973409 -0.03893080 -0.01481712
+v 0.00805180 -0.03714079 -0.01416870
+v 0.00805180 -0.03772674 -0.01416461
+v 0.00740162 -0.00243398 -0.01431839
+v 0.00805180 -0.03529362 -0.01417892
+v -0.00345695 -0.00243398 -0.01448868
+v 0.00379745 -0.00243398 -0.01438021
+v 0.00621388 -0.00243398 -0.01434009
+f 1 2 6
+f 1 6 3
+f 1 3 10
+f 1 10 20
+f 1 20 24
+f 1 24 23
+f 1 23 40
+f 1 40 54
+f 1 54 67
+f 1 67 79
+f 1 79 91
+f 1 91 95
+f 1 95 94
+f 1 94 93
+f 1 93 84
+f 1 84 83
+f 1 83 82
+f 1 82 81
+f 1 81 69
+f 1 69 58
+f 1 58 57
+f 1 57 42
+f 1 42 32
+f 1 32 21
+f 1 21 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 14
+f 2 14 6
+f 3 6 10
+f 4 11 5
+f 5 11 12
+f 5 12 7
+f 6 13 10
+f 6 14 13
+f 7 12 8
+f 8 12 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 18 19
+f 9 19 26
+f 9 26 14
+f 9 17 18
+f 10 13 20
+f 12 21 15
+f 13 22 23
+f 13 23 24
+f 13 24 20
+f 13 14 25
+f 13 25 22
+f 14 26 25
+f 15 21 16
+f 16 27 17
+f 16 21 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 19
+f 19 30 33
+f 19 33 26
+f 19 29 31
+f 19 31 30
+f 21 28 27
+f 21 32 28
+f 22 25 26
+f 22 26 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 28 41 31
+f 28 31 29
+f 28 32 42
+f 28 42 41
+f 30 31 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 34
+f 30 34 33
+f 31 41 43
+f 34 46 47
+f 34 47 35
+f 35 47 48
+f 35 48 37
+f 35 37 36
+f 37 48 62
+f 37 62 49
+f 37 49 38
+f 38 49 62
+f 38 62 74
+f 38 74 88
+f 38 88 78
+f 38 78 66
+f 38 66 65
+f 38 65 64
+f 38 64 50
+f 38 50 51
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 53 52
+f 40 52 51
+f 40 51 64
+f 40 64 65
+f 40 65 54
+f 41 55 68
+f 41 68 56
+f 41 56 44
+f 41 44 43
+f 41 42 57
+f 41 57 58
+f 41 58 55
+f 44 56 59
+f 44 59 45
+f 45 60 48
+f 45 48 47
+f 45 47 46
+f 45 59 61
+f 45 61 60
+f 48 60 61
+f 48 61 63
+f 48 63 62
+f 50 64 51
+f 54 65 66
+f 54 66 67
+f 55 58 69
+f 55 69 68
+f 56 70 59
+f 56 68 70
+f 59 70 71
+f 59 71 61
+f 61 71 72
+f 61 72 63
+f 62 63 73
+f 62 73 74
+f 63 72 75
+f 63 75 76
+f 63 76 77
+f 63 77 73
+f 66 78 90
+f 66 90 89
+f 66 89 92
+f 66 92 79
+f 66 79 67
+f 68 80 71
+f 68 71 70
+f 68 69 81
+f 68 81 82
+f 68 82 83
+f 68 83 84
+f 68 84 80
+f 71 80 85
+f 71 85 72
+f 72 85 86
+f 72 86 75
+f 73 77 87
+f 73 87 74
+f 74 87 88
+f 75 86 76
+f 76 86 89
+f 76 89 90
+f 76 90 78
+f 76 78 77
+f 77 78 87
+f 78 88 87
+f 79 92 91
+f 80 84 85
+f 84 93 85
+f 85 93 94
+f 85 94 86
+f 86 94 95
+f 86 95 92
+f 86 92 89
+f 91 92 95
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_35.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01432954 -0.06603604 -0.00109302
+v -0.01432954 -0.06570562 -0.00094913
+v -0.01538564 -0.04750103 0.00740364
+v -0.01797098 -0.04839284 0.00740363
+v -0.03438492 -0.06643370 -0.00109302
+v -0.01432954 -0.05612086 -0.00109299
+v -0.01432954 -0.06526995 -0.00075951
+v -0.01432954 -0.04638992 0.00740364
+v -0.01432954 -0.06451265 -0.00043099
+v -0.02038903 -0.04839869 0.00740363
+v -0.03684217 -0.06647171 -0.00109302
+v -0.01628750 -0.04491621 -0.00109294
+v -0.01432954 -0.03660630 0.00213323
+v -0.01432954 -0.03660632 0.00740368
+v -0.03006119 -0.04841331 0.00740363
+v -0.03731793 -0.06647171 -0.00109302
+v -0.03489728 -0.04841623 0.00740363
+v -0.01706128 -0.04369984 -0.00109294
+v -0.01797098 -0.04315891 -0.00109294
+v -0.01854870 -0.04300393 -0.00109294
+v -0.02038903 -0.04263259 -0.00109294
+v -0.02263715 -0.04242499 -0.00109294
+v -0.02280707 -0.04241914 -0.00109294
+v -0.02506826 -0.04243669 -0.00109294
+v -0.02150786 -0.03660630 0.00217815
+v -0.03978826 -0.03660632 0.00740368
+v -0.03862498 -0.06337523 0.00012293
+v -0.03833220 -0.06587814 -0.00109302
+v -0.03588018 -0.04809752 0.00740363
+v -0.02522511 -0.04244838 -0.00109294
+v -0.03731793 -0.03660630 0.00265554
+v -0.03247924 -0.03660630 0.00248504
+v -0.03007165 -0.03660630 0.00240769
+v -0.02537673 -0.03660630 0.00227296
+v -0.02280707 -0.03660630 0.00219977
+v -0.04023266 -0.03660632 0.00691049
+v -0.03960527 -0.03962970 0.00740366
+v -0.03901187 -0.06205651 0.00037992
+v -0.03924191 -0.06467054 -0.00109302
+v -0.03732316 -0.04743085 0.00740364
+v -0.03880536 -0.04505074 0.00740364
+v -0.02764577 -0.04264429 -0.00109294
+v -0.03973598 -0.03660630 0.00345064
+v -0.03016837 -0.04462381 -0.00109294
+v -0.03929681 -0.05970857 -0.00109300
+v -0.04031369 -0.03660632 0.00680652
+v -0.03939353 -0.04211508 0.00740366
+v -0.04072934 -0.03660631 0.00626592
+v -0.03931772 -0.04989575 0.00507322
+v -0.04094892 -0.04631389 0.00459168
+v -0.03949810 -0.06205651 -0.00104311
+v -0.03948241 -0.06205651 -0.00109301
+v -0.03934125 -0.04259753 0.00740365
+v -0.04103519 -0.03660631 0.00439960
+v -0.03935432 -0.06038693 -0.00109300
+v -0.04088879 -0.03660631 0.00580350
+v -0.04103257 -0.03660631 0.00526623
+v -0.04096722 -0.04503027 0.00463659
+v -0.04094892 -0.04631389 0.00457006
+v -0.04096722 -0.04503027 0.00453180
+v -0.04099075 -0.04259752 0.00447775
+v -0.04101166 -0.04016478 0.00443534
+v -0.04103257 -0.03773204 0.00439710
+v -0.04103519 -0.03660631 0.00470234
+v -0.04103257 -0.03773204 0.00496098
+v -0.04099075 -0.04259752 0.00471977
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 28
+f 1 28 39
+f 1 39 52
+f 1 52 55
+f 1 55 45
+f 1 45 44
+f 1 44 42
+f 1 42 30
+f 1 30 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 13
+f 1 13 14
+f 1 14 8
+f 1 8 9
+f 1 9 7
+f 1 7 2
+f 2 7 3
+f 3 8 14
+f 3 14 26
+f 3 26 37
+f 3 37 47
+f 3 47 53
+f 3 53 41
+f 3 41 40
+f 3 40 29
+f 3 29 17
+f 3 17 15
+f 3 15 10
+f 3 10 4
+f 3 7 9
+f 3 9 8
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 10 15 11
+f 11 15 17
+f 11 17 16
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 35
+f 13 35 34
+f 13 34 33
+f 13 33 32
+f 13 32 31
+f 13 31 43
+f 13 43 54
+f 13 54 64
+f 13 64 57
+f 13 57 56
+f 13 56 48
+f 13 48 46
+f 13 46 36
+f 13 36 26
+f 13 26 14
+f 16 27 28
+f 16 17 27
+f 17 29 27
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 26 36 37
+f 27 38 39
+f 27 39 28
+f 27 29 40
+f 27 40 41
+f 27 41 38
+f 30 42 31
+f 31 42 44
+f 31 44 45
+f 31 45 43
+f 36 46 37
+f 37 46 48
+f 37 48 47
+f 38 41 49
+f 38 49 50
+f 38 50 39
+f 39 51 52
+f 39 50 51
+f 41 53 50
+f 41 50 49
+f 43 45 54
+f 45 55 54
+f 47 48 50
+f 47 50 53
+f 48 56 50
+f 50 56 57
+f 50 57 58
+f 50 58 60
+f 50 60 59
+f 50 59 51
+f 51 59 60
+f 51 60 61
+f 51 61 62
+f 51 62 63
+f 51 63 54
+f 51 54 52
+f 52 54 55
+f 54 63 65
+f 54 65 64
+f 57 64 65
+f 57 65 66
+f 57 66 58
+f 58 66 61
+f 58 61 60
+f 61 66 65
+f 61 65 63
+f 61 63 62
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_36.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.02407289 0.04444955 -0.00554273
+v 0.01431447 0.04615773 -0.00671168
+v 0.02407289 0.04480354 -0.00619215
+v 0.02407289 0.04521217 -0.00420111
+v 0.01212075 0.04616961 -0.00439436
+v 0.00223404 0.04729334 -0.00554272
+v 0.01589241 0.04604607 -0.00678771
+v 0.01831063 0.04585126 -0.00687720
+v 0.00223404 0.04784216 -0.00689303
+v 0.02407289 0.04531434 -0.00694531
+v 0.00880237 0.05204011 -0.00109259
+v 0.00634994 0.05203773 -0.00109259
+v 0.00607412 0.05204486 -0.00109259
+v 0.01347205 0.04609833 -0.00434367
+v 0.02407289 0.05220879 -0.00109259
+v 0.02072886 0.05215890 -0.00109259
+v 0.01831063 0.05212326 -0.00109259
+v 0.00223404 0.04779226 -0.00423754
+v 0.00223404 0.04737412 -0.00519505
+v 0.00223404 0.05448005 -0.00918341
+v 0.00380129 0.05449668 -0.00918341
+v 0.00621951 0.05458221 -0.00918341
+v 0.02407289 0.05618823 -0.00918340
+v 0.00223404 0.05288826 -0.00109259
+v 0.02407289 0.06092073 -0.00109256
+v 0.00223404 0.06291165 -0.00918338
+v 0.02407289 0.06305658 -0.00918338
+v 0.00223404 0.06169761 -0.00109255
+v 0.02407289 0.06342718 -0.00208648
+v 0.01589241 0.06687679 -0.00322136
+v 0.01347205 0.06687679 -0.00316038
+v 0.01347205 0.06496429 -0.00242147
+v 0.01105596 0.06502844 -0.00239534
+v 0.00863774 0.06508071 -0.00237712
+v 0.00573416 0.06162158 -0.00109255
+v 0.00223404 0.06824286 -0.00676466
+v 0.02314708 0.06836166 -0.00687871
+v 0.02407289 0.06835216 -0.00687475
+v 0.00337366 0.06168573 -0.00109255
+v 0.00223404 0.06516386 -0.00234624
+v 0.02407289 0.06464357 -0.00259650
+v 0.01831063 0.06687679 -0.00330452
+v 0.01831063 0.06846619 -0.00409412
+v 0.01589241 0.06849469 -0.00405531
+v 0.01105596 0.06687679 -0.00311603
+v 0.00621951 0.06512822 -0.00236128
+v 0.00223404 0.06855409 -0.00597269
+v 0.00223404 0.06872039 -0.00554264
+v 0.01831063 0.06867288 -0.00554264
+v 0.02072886 0.06864912 -0.00554264
+v 0.02407289 0.06849707 -0.00605030
+v 0.00223404 0.06687679 -0.00302257
+v 0.02407289 0.06687679 -0.00354132
+v 0.02407289 0.06740896 -0.00379950
+v 0.02407289 0.06830701 -0.00423826
+v 0.02072886 0.06840204 -0.00415748
+v 0.02314708 0.06859923 -0.00554264
+v 0.01347205 0.06850894 -0.00403314
+v 0.00863774 0.06687679 -0.00308356
+v 0.00621951 0.06687679 -0.00305584
+v 0.00223404 0.06857071 -0.00396978
+v 0.00621951 0.06854933 -0.00398799
+v 0.01105596 0.06852319 -0.00401492
+v 0.02407289 0.06856597 -0.00554264
+v 0.00223404 0.06747073 -0.00335283
+v 0.00863774 0.06853507 -0.00400066
+f 1 2 3
+f 1 3 10
+f 1 10 23
+f 1 23 27
+f 1 27 38
+f 1 38 51
+f 1 51 64
+f 1 64 55
+f 1 55 54
+f 1 54 53
+f 1 53 41
+f 1 41 29
+f 1 29 25
+f 1 25 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 8 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 15 16
+f 4 16 17
+f 4 17 11
+f 5 14 13
+f 5 13 18
+f 5 18 19
+f 5 19 6
+f 6 19 18
+f 6 18 24
+f 6 24 28
+f 6 28 40
+f 6 40 52
+f 6 52 65
+f 6 65 61
+f 6 61 48
+f 6 48 47
+f 6 47 36
+f 6 36 26
+f 6 26 20
+f 6 20 9
+f 7 9 8
+f 8 9 10
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 11 17 16
+f 11 16 15
+f 11 15 25
+f 11 25 35
+f 11 35 39
+f 11 39 28
+f 11 28 24
+f 11 24 13
+f 11 13 12
+f 13 24 18
+f 20 26 27
+f 20 27 23
+f 20 23 22
+f 20 22 21
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 28 39 40
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 33
+f 31 33 32
+f 33 45 34
+f 34 45 46
+f 34 46 35
+f 35 46 39
+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 38 50 51
+f 39 46 40
+f 40 46 52
+f 41 53 42
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 50
+f 43 50 44
+f 44 50 49
+f 44 49 58
+f 44 58 59
+f 44 59 45
+f 45 59 46
+f 46 59 60
+f 46 60 52
+f 48 61 49
+f 49 61 62
+f 49 62 63
+f 49 63 58
+f 50 57 51
+f 51 57 64
+f 52 60 65
+f 55 64 57
+f 55 57 56
+f 58 63 60
+f 58 60 59
+f 60 63 66
+f 60 66 65
+f 61 65 62
+f 62 66 63
+f 62 65 66
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_37.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.03284469 0.07035843 -0.00109163
+v -0.03248081 0.07035413 -0.00109163
+v -0.03487511 0.07029395 -0.00109163
+v -0.03487511 0.07061638 -0.00017148
+v -0.03248081 0.07059918 -0.00013043
+v -0.03006265 0.07058198 -0.00008313
+v -0.02815005 0.07055619 -0.00000994
+v -0.03006265 0.07022946 -0.00109163
+v -0.03487511 0.06141629 -0.00109166
+v -0.03487511 0.07061638 0.00020693
+v -0.03006265 0.07058198 0.00016409
+v -0.02815005 0.07055619 0.00012839
+v -0.02725825 0.07000160 -0.00089350
+v -0.02725825 0.06997581 -0.00109163
+v -0.02748045 0.07001020 -0.00109163
+v -0.03330550 0.04207033 -0.00109174
+v -0.03487511 0.02802945 0.00213899
+v -0.03248081 0.07059918 0.00018730
+v -0.03487511 0.06932234 0.00123595
+v -0.03248081 0.06930945 0.00121988
+v -0.03006265 0.06930945 0.00119311
+v -0.02746405 0.06955020 0.00092805
+v -0.02725825 0.06952010 0.00094322
+v -0.02725825 0.03293043 -0.00109177
+v -0.03300426 0.03943928 -0.00109175
+v -0.03205877 0.03587962 -0.00109176
+v -0.03141750 0.03387194 -0.00109177
+v -0.02985089 0.03296913 -0.00109177
+v -0.02781003 0.03265529 -0.00109177
+v -0.02764375 0.03266819 -0.00109177
+v -0.03487511 0.02704065 0.00305288
+v -0.03487511 0.06930945 0.00124576
+v -0.02764375 0.06788644 0.00222928
+v -0.02725825 0.06788214 0.00222749
+v -0.02725825 0.03458558 0.00386864
+v -0.03487511 0.02669672 0.00350894
+v -0.03487511 0.06790793 0.00224266
+v -0.03248081 0.06790363 0.00223909
+v -0.03006265 0.06789503 0.00223642
+v -0.02725825 0.05723324 0.00802410
+v -0.02725825 0.03590108 0.00766167
+v -0.03487511 0.02802514 0.00482356
+v -0.02725825 0.03603436 0.00801955
+v -0.03487511 0.06669128 0.00282544
+v -0.03487511 0.05583603 0.00801874
+v -0.03398032 0.05590051 0.00802410
+v -0.02725825 0.03608165 0.00802402
+v -0.02834690 0.03692427 0.00802403
+v -0.02921335 0.03817531 0.00802403
+v -0.03487511 0.04953784 0.00802407
+v -0.03487511 0.05082327 0.00802408
+f 1 2 8
+f 1 8 15
+f 1 15 14
+f 1 14 24
+f 1 24 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 17
+f 3 17 31
+f 3 31 36
+f 3 36 42
+f 3 42 50
+f 3 50 51
+f 3 51 45
+f 3 45 44
+f 3 44 37
+f 3 37 32
+f 3 32 19
+f 3 19 10
+f 3 10 4
+f 4 10 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 17
+f 10 18 11
+f 10 19 20
+f 10 20 21
+f 10 21 18
+f 11 18 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 34
+f 13 34 40
+f 13 40 47
+f 13 47 43
+f 13 43 41
+f 13 41 35
+f 13 35 24
+f 13 24 14
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 24 35 36
+f 24 36 30
+f 30 36 31
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 33 39 40
+f 33 40 34
+f 35 41 36
+f 36 41 43
+f 36 43 42
+f 37 44 40
+f 37 40 38
+f 38 40 39
+f 40 44 45
+f 40 45 46
+f 40 46 51
+f 40 51 50
+f 40 50 49
+f 40 49 48
+f 40 48 47
+f 42 43 48
+f 42 48 49
+f 42 49 50
+f 43 47 48
+f 45 51 46
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_38.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.04286620 0.01369145 0.00802483
+v -0.04910578 0.01369145 0.00802483
+v -0.04286620 0.01369146 0.00502385
+v -0.04286620 0.05462351 0.00802498
+v -0.04912757 0.01394027 0.00802483
+v -0.05445993 0.01369146 0.00657045
+v -0.04857888 0.01369147 0.00165958
+v -0.04803019 0.01579317 0.00165959
+v -0.04772317 0.01710395 0.00165959
+v -0.04746170 0.01822812 0.00165960
+v -0.04703780 0.02059642 0.00165961
+v -0.04702592 0.02076971 0.00165961
+v -0.04693282 0.02309358 0.00165961
+v -0.04286620 0.01636190 0.00496466
+v -0.04286620 0.05466350 0.00795643
+v -0.04762016 0.05612092 0.00711086
+v -0.04941280 0.05636085 0.00727163
+v -0.04677237 0.05470793 0.00802498
+v -0.04928801 0.01579315 0.00802484
+v -0.05637538 0.01369146 0.00604951
+v -0.06235349 0.01369147 0.00165958
+v -0.04693282 0.02311135 0.00165961
+v -0.04286620 0.03038953 0.00484756
+v -0.04286620 0.01824588 0.00494784
+v -0.05187892 0.05721400 0.00165974
+v -0.05484223 0.05851144 0.00428872
+v -0.05484223 0.05851144 0.00486386
+v -0.04286620 0.05438358 0.00652760
+v -0.05666656 0.05870695 0.00505206
+v -0.05908514 0.05882247 0.00501529
+v -0.05183138 0.05640084 0.00713329
+v -0.04941280 0.05471237 0.00794771
+v -0.04941280 0.05396590 0.00802498
+v -0.04947421 0.01816589 0.00802485
+v -0.04947817 0.01822810 0.00802485
+v -0.04960890 0.02046310 0.00802486
+v -0.04961881 0.02065861 0.00802486
+v -0.05461245 0.01822811 0.00659976
+v -0.05666656 0.01369146 0.00596788
+v -0.06310026 0.01369147 0.00191132
+v -0.06233368 0.01579317 0.00165959
+v -0.04694668 0.02553742 0.00165962
+v -0.04286620 0.03525499 0.00485693
+v -0.04286620 0.03289558 0.00484882
+v -0.04286620 0.03045174 0.00484756
+v -0.05175413 0.05715623 0.00165974
+v -0.05499475 0.05753392 0.00165974
+v -0.05908514 0.05861809 0.00215451
+v -0.05908514 0.05908464 0.00345685
+v -0.05682899 0.05867585 0.00350608
+v -0.04286620 0.05424583 0.00594560
+v -0.06150372 0.05896023 0.00345685
+v -0.06150372 0.05860920 0.00476542
+v -0.05342594 0.05617423 0.00692641
+v -0.05183138 0.05471237 0.00747787
+v -0.05004072 0.05228187 0.00802497
+v -0.04970993 0.02309356 0.00802486
+v -0.05466990 0.02065862 0.00661223
+v -0.05666656 0.01579316 0.00599157
+v -0.05875434 0.01369146 0.00536968
+v -0.06308243 0.01822812 0.00192817
+v -0.06309036 0.01579317 0.00191819
+v -0.06230001 0.01822812 0.00165960
+v -0.06310026 0.01369147 0.00303420
+v -0.06297151 0.05471239 0.00345683
+v -0.06295764 0.05471239 0.00207660
+v -0.04696253 0.02796348 0.00165963
+v -0.04286620 0.03768550 0.00486940
+v -0.05035963 0.05602763 0.00165974
+v -0.06150372 0.05871585 0.00209906
+v -0.05642292 0.05720956 0.00165974
+v -0.06150372 0.05714735 0.00178000
+v -0.04286620 0.05228188 0.00526015
+v -0.04957919 0.05463242 0.00165973
+v -0.06283285 0.05855588 0.00221184
+v -0.06281304 0.05852034 0.00345684
+v -0.06272786 0.05838258 0.00459342
+v -0.06150372 0.05714734 0.00495172
+v -0.05011005 0.04984692 0.00802496
+v -0.04986443 0.02750135 0.00802488
+v -0.04988028 0.02795902 0.00802488
+v -0.05908514 0.03768550 0.00553552
+v -0.05908514 0.01369146 0.00527434
+v -0.06211381 0.03038954 0.00165964
+v -0.06295764 0.01369147 0.00318811
+v -0.06271598 0.04853614 0.00458342
+v -0.06271994 0.04984693 0.00458654
+v -0.06272786 0.05471238 0.00459404
+v -0.06273183 0.05714734 0.00459716
+v -0.06294179 0.05714735 0.00345684
+v -0.06292397 0.05714735 0.00211587
+v -0.06150372 0.05471239 0.00166908
+v -0.06161465 0.05246406 0.00165972
+v -0.06171567 0.05020240 0.00165971
+v -0.06178301 0.04787854 0.00165971
+v -0.06193356 0.04081807 0.00165968
+v -0.06198110 0.03845865 0.00165967
+v -0.06202270 0.03609035 0.00165966
+v -0.04698828 0.03032734 0.00165964
+v -0.04286620 0.04502146 0.00491430
+v -0.04286620 0.04259539 0.00489559
+v -0.04286620 0.04016933 0.00488250
+v -0.05854438 0.05660081 0.00165974
+v -0.06011319 0.05574769 0.00165973
+v -0.06141458 0.05462353 0.00165973
+v -0.04286620 0.04984693 0.00503706
+v -0.04905626 0.05237520 0.00165972
+v -0.06150372 0.05471238 0.00494922
+v -0.05012590 0.04255095 0.00802494
+v -0.05012986 0.04741641 0.00802495
+v -0.04993970 0.02986077 0.00802489
+v -0.05908514 0.04011601 0.00555547
+v -0.06127196 0.03768550 0.00489246
+v -0.06082034 0.01369146 0.00475279
+v -0.06202864 0.01369146 0.00415895
+v -0.06150372 0.05418364 0.00165973
+v -0.04883440 0.05004244 0.00165971
+v -0.04286620 0.04741642 0.00494732
+v -0.04904437 0.05228189 0.00165972
+v -0.05007638 0.03768549 0.00802492
+v -0.05011005 0.04011600 0.00802493
+v -0.05000507 0.03282448 0.00802490
+v -0.04995357 0.03038952 0.00802489
+v -0.04999318 0.03223795 0.00802490
+f 1 2 6
+f 1 6 20
+f 1 20 39
+f 1 39 60
+f 1 60 83
+f 1 83 114
+f 1 114 115
+f 1 115 85
+f 1 85 64
+f 1 64 40
+f 1 40 21
+f 1 21 7
+f 1 7 3
+f 1 3 14
+f 1 14 24
+f 1 24 23
+f 1 23 45
+f 1 45 44
+f 1 44 43
+f 1 43 68
+f 1 68 102
+f 1 102 101
+f 1 101 100
+f 1 100 118
+f 1 118 106
+f 1 106 73
+f 1 73 51
+f 1 51 28
+f 1 28 15
+f 1 15 4
+f 1 4 18
+f 1 18 33
+f 1 33 56
+f 1 56 79
+f 1 79 110
+f 1 110 109
+f 1 109 121
+f 1 121 120
+f 1 120 122
+f 1 122 124
+f 1 124 123
+f 1 123 111
+f 1 111 81
+f 1 81 80
+f 1 80 57
+f 1 57 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 19
+f 1 19 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 5 19 6
+f 6 19 20
+f 7 21 41
+f 7 41 63
+f 7 63 84
+f 7 84 98
+f 7 98 97
+f 7 97 96
+f 7 96 95
+f 7 95 94
+f 7 94 93
+f 7 93 116
+f 7 116 105
+f 7 105 104
+f 7 104 103
+f 7 103 71
+f 7 71 47
+f 7 47 25
+f 7 25 46
+f 7 46 69
+f 7 69 74
+f 7 74 107
+f 7 107 119
+f 7 119 117
+f 7 117 99
+f 7 99 67
+f 7 67 42
+f 7 42 22
+f 7 22 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 13 22 45
+f 13 45 23
+f 13 23 24
+f 13 24 14
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 28 25
+f 16 27 17
+f 17 27 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 21 40 41
+f 22 42 43
+f 22 43 44
+f 22 44 45
+f 25 47 48
+f 25 48 49
+f 25 49 50
+f 25 50 26
+f 25 28 51
+f 25 51 46
+f 26 50 49
+f 26 49 27
+f 27 49 29
+f 29 49 30
+f 30 49 52
+f 30 52 53
+f 30 53 31
+f 31 54 32
+f 31 53 54
+f 32 54 55
+f 32 55 33
+f 33 55 56
+f 37 57 58
+f 37 58 38
+f 38 58 39
+f 39 58 59
+f 39 59 60
+f 40 61 62
+f 40 62 63
+f 40 63 41
+f 40 64 65
+f 40 65 66
+f 40 66 61
+f 42 67 43
+f 43 67 68
+f 46 51 69
+f 47 70 48
+f 47 71 72
+f 47 72 70
+f 48 70 49
+f 49 70 52
+f 51 73 74
+f 51 74 69
+f 52 70 75
+f 52 75 76
+f 52 76 77
+f 52 77 53
+f 53 77 54
+f 54 77 55
+f 55 77 78
+f 55 78 56
+f 56 78 79
+f 57 80 58
+f 58 80 81
+f 58 81 82
+f 58 82 59
+f 59 82 60
+f 60 82 83
+f 61 63 62
+f 61 66 63
+f 63 66 84
+f 64 85 86
+f 64 86 87
+f 64 87 88
+f 64 88 89
+f 64 89 65
+f 65 89 77
+f 65 77 90
+f 65 90 66
+f 66 90 91
+f 66 91 92
+f 66 92 93
+f 66 93 94
+f 66 94 95
+f 66 95 96
+f 66 96 97
+f 66 97 98
+f 66 98 84
+f 67 99 100
+f 67 100 101
+f 67 101 102
+f 67 102 68
+f 70 72 75
+f 71 103 72
+f 72 91 75
+f 72 103 104
+f 72 104 105
+f 72 105 92
+f 72 92 91
+f 73 106 107
+f 73 107 74
+f 75 90 76
+f 75 91 90
+f 76 90 77
+f 77 89 78
+f 78 89 108
+f 78 108 109
+f 78 109 110
+f 78 110 79
+f 81 111 82
+f 82 112 86
+f 82 86 113
+f 82 113 83
+f 82 111 112
+f 83 113 86
+f 83 86 114
+f 85 115 86
+f 86 112 108
+f 86 108 87
+f 86 115 114
+f 87 108 88
+f 88 108 89
+f 92 105 116
+f 92 116 93
+f 99 117 106
+f 99 106 118
+f 99 118 100
+f 106 117 119
+f 106 119 107
+f 108 120 121
+f 108 121 109
+f 108 112 122
+f 108 122 120
+f 111 123 112
+f 112 123 124
+f 112 124 122
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_39.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.04732625 -0.05417148 -0.00805834
+v 0.04732625 -0.05417148 -0.00808153
+v 0.04732625 -0.05271855 -0.00718084
+v 0.03878995 -0.05282551 -0.00661999
+v 0.04732625 -0.05402280 -0.00918003
+v 0.04732625 -0.05072827 -0.00684100
+v 0.03878995 -0.05254900 -0.00779458
+v 0.04483263 -0.04981009 -0.00661998
+v 0.03878995 -0.04123597 -0.00661995
+v 0.04732625 -0.05231422 -0.00984085
+v 0.03878995 -0.05158124 -0.00913364
+v 0.03878995 -0.04907708 -0.01145961
+v 0.03878995 -0.04822150 -0.01195668
+v 0.03878995 -0.04745981 -0.01239868
+v 0.04249862 -0.04928837 -0.01154221
+v 0.04249862 -0.04745981 -0.01242912
+v 0.04732625 -0.04989095 -0.00679824
+v 0.04732625 -0.04849019 -0.00672868
+v 0.04517777 -0.04900668 -0.00661998
+v 0.03880331 -0.04120468 -0.00661995
+v 0.03878995 -0.02752311 -0.01137402
+v 0.04732625 -0.04987789 -0.01033213
+v 0.04255461 -0.04506000 -0.01316314
+v 0.03878995 -0.04650249 -0.01285373
+v 0.04008021 -0.04745981 -0.01242912
+v 0.04008021 -0.04570429 -0.01324140
+v 0.04178497 -0.04427223 -0.01355514
+v 0.04573849 -0.04745984 -0.00661997
+v 0.04732625 -0.04160899 -0.00661995
+v 0.04319306 -0.03292793 -0.00661992
+v 0.04491704 -0.02752312 -0.00759087
+v 0.03878995 -0.02752310 -0.01402172
+v 0.04732625 -0.04750677 -0.01046182
+v 0.04337273 -0.04259236 -0.01329791
+v 0.04356242 -0.04016385 -0.01336456
+v 0.03878995 -0.04568342 -0.01323270
+v 0.03878995 -0.04503652 -0.01344284
+v 0.04008021 -0.04448613 -0.01362180
+v 0.04008021 -0.04259236 -0.01390875
+v 0.04216352 -0.04259236 -0.01366310
+v 0.04732625 -0.02752313 -0.00661990
+v 0.04685745 -0.02752313 -0.00661990
+v 0.04643628 -0.02752313 -0.00679888
+v 0.03982784 -0.02752310 -0.01401593
+v 0.04008021 -0.03043157 -0.01401086
+v 0.03878995 -0.02913515 -0.01401956
+v 0.04364850 -0.03773013 -0.01339860
+v 0.04732625 -0.04502610 -0.01050095
+v 0.04235405 -0.04016385 -0.01370440
+v 0.03878995 -0.04446787 -0.01362035
+v 0.03878995 -0.04347664 -0.01377469
+v 0.03878995 -0.04259236 -0.01390875
+v 0.03878995 -0.04129594 -0.01395873
+v 0.03878995 -0.04016385 -0.01399931
+v 0.04008021 -0.04016385 -0.01399496
+v 0.04732625 -0.02752311 -0.01056392
+v 0.04008021 -0.02752310 -0.01401448
+v 0.04246269 -0.03529902 -0.01370728
+v 0.04244013 -0.03773013 -0.01370656
+v 0.04008021 -0.03529902 -0.01400364
+v 0.03878995 -0.03399999 -0.01401232
+v 0.04367106 -0.03529902 -0.01340657
+v 0.04732625 -0.04259237 -0.01052557
+v 0.03878995 -0.03886482 -0.01400292
+v 0.03878995 -0.03773013 -0.01400582
+v 0.04008021 -0.03773013 -0.01400003
+v 0.04365435 -0.02752310 -0.01340001
+v 0.04732625 -0.02824827 -0.01056319
+v 0.04198302 -0.02752310 -0.01377101
+v 0.04244598 -0.02752310 -0.01371159
+v 0.03878995 -0.03529902 -0.01401016
+v 0.04732625 -0.03043158 -0.01056031
+v 0.04732625 -0.03529903 -0.01055163
+v 0.04732625 -0.03773014 -0.01054729
+v 0.04732625 -0.04016386 -0.01053933
+f 1 2 5
+f 1 5 10
+f 1 10 22
+f 1 22 33
+f 1 33 48
+f 1 48 63
+f 1 63 75
+f 1 75 74
+f 1 74 73
+f 1 73 72
+f 1 72 68
+f 1 68 56
+f 1 56 41
+f 1 41 29
+f 1 29 18
+f 1 18 17
+f 1 17 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 5
+f 4 6 8
+f 4 8 19
+f 4 19 28
+f 4 28 29
+f 4 29 41
+f 4 41 42
+f 4 42 30
+f 4 30 20
+f 4 20 9
+f 4 9 21
+f 4 21 32
+f 4 32 46
+f 4 46 61
+f 4 61 71
+f 4 71 65
+f 4 65 64
+f 4 64 54
+f 4 54 53
+f 4 53 52
+f 4 52 51
+f 4 51 50
+f 4 50 37
+f 4 37 36
+f 4 36 24
+f 4 24 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 7
+f 5 7 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 10
+f 6 17 8
+f 8 17 18
+f 8 18 19
+f 9 20 21
+f 10 16 23
+f 10 23 22
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 23
+f 18 28 19
+f 18 29 28
+f 20 30 21
+f 21 30 31
+f 21 31 43
+f 21 43 42
+f 21 42 41
+f 21 41 56
+f 21 56 67
+f 21 67 70
+f 21 70 69
+f 21 69 57
+f 21 57 44
+f 21 44 32
+f 22 23 34
+f 22 34 35
+f 22 35 33
+f 23 27 34
+f 24 26 25
+f 24 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 34
+f 30 42 43
+f 30 43 31
+f 32 44 45
+f 32 45 46
+f 33 35 47
+f 33 47 48
+f 34 40 35
+f 35 40 49
+f 35 49 47
+f 37 50 38
+f 38 50 51
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 40 55 49
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 46 60 61
+f 47 59 62
+f 47 62 48
+f 47 49 59
+f 48 62 63
+f 49 55 59
+f 54 64 55
+f 55 64 65
+f 55 65 66
+f 55 66 59
+f 56 68 62
+f 56 62 67
+f 57 69 58
+f 58 62 59
+f 58 69 70
+f 58 70 62
+f 59 66 60
+f 60 66 61
+f 61 66 71
+f 62 70 67
+f 62 68 72
+f 62 72 73
+f 62 73 74
+f 62 74 75
+f 62 75 63
+f 65 71 66
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_4.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.05023177 0.01903448 -0.00109331
+v -0.05050610 0.01700481 -0.00109332
+v -0.04107888 0.01903448 -0.00109331
+v -0.03737060 0.01903451 -0.00721176
+v -0.05081593 0.01468518 -0.00109333
+v -0.04299273 -0.00243046 -0.00109339
+v -0.01902286 -0.00243044 -0.00432781
+v -0.01902286 -0.00123701 -0.00432361
+v -0.02067206 0.00849113 -0.00425410
+v -0.02101417 0.01014891 -0.00431459
+v -0.02764646 0.01579038 -0.00348140
+v -0.03006378 0.01903449 -0.00332686
+v -0.04188896 -0.00243044 -0.00471774
+v -0.04699147 -0.00243045 -0.00304003
+v -0.04872135 -0.00243045 -0.00239135
+v -0.04872780 -0.00123702 -0.00239433
+v -0.04872135 0.00119607 -0.00239314
+v -0.04990903 0.00362915 -0.00185525
+v -0.04987676 0.00606014 -0.00184207
+v -0.04983158 0.00849112 -0.00181690
+v -0.05143559 0.00849111 -0.00109335
+v -0.05130972 0.01029176 -0.00109334
+v -0.05126131 0.01092420 -0.00109334
+v -0.05109026 0.01249373 -0.00109333
+v -0.05098698 0.01335728 -0.00109333
+v -0.02864373 0.01903451 -0.00721176
+v -0.03403025 -0.00243043 -0.00721184
+v -0.05163246 -0.00243046 -0.00109339
+v -0.01884213 -0.00243044 -0.00492139
+v -0.01866785 -0.00243044 -0.00554312
+v -0.01868399 -0.00123701 -0.00554311
+v -0.01908741 0.00070022 -0.00436494
+v -0.01923264 0.00232227 -0.00445897
+v -0.01931333 0.00362916 -0.00484051
+v -0.02009113 0.00849113 -0.00554308
+v -0.02099480 0.01016362 -0.00554307
+v -0.02736245 0.01903450 -0.00543762
+v -0.02767228 0.01903449 -0.00385395
+v -0.04931519 -0.00243045 -0.00213499
+v -0.04993163 -0.00243045 -0.00186665
+v -0.04993808 -0.00123702 -0.00186724
+v -0.04993163 0.00119607 -0.00186305
+v -0.05159051 0.00332238 -0.00109337
+v -0.05154209 0.00569664 -0.00109336
+v -0.05153241 0.00606013 -0.00109336
+v -0.05145495 0.00802677 -0.00109335
+v -0.02848558 0.01903451 -0.00708418
+v -0.02137886 0.00987576 -0.00671285
+v -0.02101739 0.00849113 -0.00679792
+v -0.02038805 0.00362917 -0.00698721
+v -0.02038805 0.00119609 -0.00709743
+v -0.02640391 0.01291398 -0.00721178
+v -0.02430934 -0.00243043 -0.00721184
+v -0.05163569 -0.00148496 -0.00109339
+v -0.01882599 -0.00243043 -0.00687403
+v -0.01884213 -0.00123700 -0.00687461
+v -0.01887763 0.00119609 -0.00686024
+v -0.01904223 0.00362916 -0.00676320
+v -0.01904223 0.00362916 -0.00596537
+v -0.01888409 0.00138518 -0.00534244
+v -0.01950052 0.00587945 -0.00563174
+v -0.01916810 0.00494656 -0.00644034
+v -0.01916810 0.00494656 -0.00667753
+v -0.05163569 -0.00123703 -0.00109338
+v -0.05161955 0.00119606 -0.00109338
+v -0.02029768 0.00587946 -0.00683686
+v -0.02038805 -0.00123700 -0.00711600
+v -0.02572616 0.01092423 -0.00721179
+v -0.02542279 0.00870966 -0.00721180
+v -0.02038805 -0.00243043 -0.00711721
+v -0.01961347 -0.00243043 -0.00699681
+f 1 2 5
+f 1 5 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 65
+f 1 65 64
+f 1 64 54
+f 1 54 28
+f 1 28 6
+f 1 6 3
+f 1 3 12
+f 1 12 38
+f 1 38 37
+f 1 37 47
+f 1 47 26
+f 1 26 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 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 26 52
+f 4 52 68
+f 4 68 69
+f 4 69 53
+f 4 53 27
+f 4 27 13
+f 6 28 40
+f 6 40 39
+f 6 39 15
+f 6 15 14
+f 6 14 13
+f 6 13 27
+f 6 27 53
+f 6 53 70
+f 6 70 71
+f 6 71 55
+f 6 55 30
+f 6 30 29
+f 6 29 7
+f 7 29 8
+f 8 29 30
+f 8 30 31
+f 8 31 32
+f 8 32 9
+f 9 32 33
+f 9 33 34
+f 9 34 10
+f 10 34 35
+f 10 35 36
+f 10 36 37
+f 10 37 38
+f 10 38 11
+f 11 38 12
+f 15 39 16
+f 16 39 40
+f 16 40 41
+f 16 41 17
+f 17 41 42
+f 17 42 18
+f 18 42 43
+f 18 43 44
+f 18 44 19
+f 19 44 45
+f 19 45 46
+f 19 46 20
+f 20 46 21
+f 26 47 48
+f 26 48 49
+f 26 49 50
+f 26 50 51
+f 26 51 52
+f 28 54 41
+f 28 41 40
+f 30 55 56
+f 30 56 31
+f 31 56 57
+f 31 57 58
+f 31 58 59
+f 31 59 60
+f 31 60 32
+f 32 60 33
+f 33 60 34
+f 34 61 35
+f 34 60 59
+f 34 59 61
+f 35 61 62
+f 35 62 63
+f 35 63 48
+f 35 48 36
+f 36 48 37
+f 37 48 47
+f 41 54 64
+f 41 64 42
+f 42 64 65
+f 42 65 43
+f 48 63 49
+f 49 63 58
+f 49 58 66
+f 49 66 50
+f 50 66 58
+f 50 58 57
+f 50 57 51
+f 51 57 56
+f 51 56 67
+f 51 67 68
+f 51 68 52
+f 53 69 67
+f 53 67 70
+f 55 71 67
+f 55 67 56
+f 58 63 62
+f 58 62 59
+f 59 62 61
+f 67 71 70
+f 67 69 68
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_40.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.05426491 0.05236653 -0.00312245
+v -0.04559362 0.01903449 -0.00312257
+v -0.05023297 0.01903448 -0.00109291
+v -0.05149666 0.05236652 -0.00109279
+v -0.02583884 0.05236653 -0.00312245
+v -0.03387829 0.01903449 -0.00312257
+v -0.04107644 0.01903448 -0.00109291
+v -0.02829291 0.05236652 -0.00109279
+v -0.01997070 0.04216949 -0.00109283
+v -0.01920970 0.04363788 -0.00312248
+v -0.02767154 0.02427821 -0.00312255
+v -0.02718631 0.02715948 -0.00221749
+v -0.02519303 0.03397272 -0.00109286
+v -0.01997070 0.04052818 -0.00109283
+v -0.01860578 0.04185952 -0.00312249
+v -0.01870003 0.04253170 -0.00312248
+v -0.02673948 0.02562911 -0.00312255
+v -0.01877683 0.04009747 -0.00312249
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 16
+f 1 16 15
+f 1 15 18
+f 1 18 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 14
+f 3 14 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 14
+f 12 14 13
+f 14 18 15
+f 14 17 18
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_41.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01106622 0.04930887 0.00345717
+v 0.01106622 0.04938506 0.00322902
+v 0.01106622 0.04979869 0.00570633
+v 0.00801602 0.04741483 0.00802495
+v 0.00784964 0.04741483 0.00756207
+v 0.00710980 0.04741484 0.00578096
+v 0.00700951 0.04741484 0.00558613
+v 0.00571391 0.04741484 0.00422331
+v 0.00380000 0.04741485 0.00383179
+v -0.00098829 0.04741485 0.00370316
+v 0.01105442 0.04938506 0.00322902
+v 0.01106622 0.05539909 0.00322904
+v 0.01106622 0.04980232 0.00571431
+v -0.00098829 0.04741483 0.00802495
+v 0.01106622 0.05071847 0.00721516
+v 0.01106622 0.05228230 0.00777287
+v 0.01013287 0.05228230 0.00802497
+v 0.00380000 0.04980595 0.00322902
+v -0.00098829 0.05138792 0.00323090
+v 0.00138108 0.05050986 0.00322903
+v 0.00562895 0.06201180 0.00322907
+v 0.01106622 0.06201180 0.00370697
+v -0.00098829 0.05897120 0.00802500
+v 0.01106622 0.05501628 0.00802498
+v -0.00098829 0.05174169 0.00322903
+v 0.00332802 0.06414710 0.00322908
+v 0.01106622 0.06443374 0.00388443
+v -0.00000656 0.06105933 0.00802500
+v -0.00098829 0.06454259 0.00359525
+v 0.01106622 0.06277374 0.00802501
+v -0.00098829 0.06462604 0.00322908
+v 0.00138108 0.06449360 0.00322908
+v 0.01105442 0.06589233 0.00433934
+v 0.01106622 0.06588689 0.00433840
+v 0.01106622 0.06444643 0.00388631
+v 0.00218699 0.06358649 0.00802501
+v -0.00098829 0.06458250 0.00354784
+v 0.01106622 0.06478023 0.00609697
+v 0.00839832 0.06439562 0.00802502
+v 0.00448202 0.06574538 0.00470551
+v 0.00448202 0.06574538 0.00445060
+v 0.00621775 0.06586330 0.00433417
+v 0.00863668 0.06594676 0.00428300
+v 0.01106622 0.06589233 0.00497732
+v 0.00520534 0.06544603 0.00802502
+v 0.00622955 0.06522652 0.00802502
+v 0.00621775 0.06586330 0.00489141
+v 0.00863668 0.06594676 0.00503976
+v 0.01105442 0.06589233 0.00498061
+f 1 2 12
+f 1 12 22
+f 1 22 27
+f 1 27 35
+f 1 35 34
+f 1 34 44
+f 1 44 38
+f 1 38 30
+f 1 30 24
+f 1 24 16
+f 1 16 15
+f 1 15 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 18
+f 2 18 20
+f 2 20 25
+f 2 25 31
+f 2 31 32
+f 2 32 26
+f 2 26 21
+f 2 21 12
+f 3 13 4
+f 4 14 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 13 15
+f 4 15 16
+f 4 16 17
+f 4 17 24
+f 4 24 30
+f 4 30 39
+f 4 39 46
+f 4 46 45
+f 4 45 36
+f 4 36 28
+f 4 28 23
+f 4 23 14
+f 10 18 11
+f 10 14 23
+f 10 23 29
+f 10 29 37
+f 10 37 31
+f 10 31 25
+f 10 25 19
+f 10 19 20
+f 10 20 18
+f 12 21 22
+f 16 24 17
+f 19 25 20
+f 21 26 27
+f 21 27 22
+f 23 28 29
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 28 36 29
+f 29 36 37
+f 30 38 39
+f 31 37 40
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 32 43 33
+f 33 43 44
+f 33 44 34
+f 36 45 37
+f 37 45 40
+f 38 44 39
+f 39 44 46
+f 40 45 47
+f 40 47 42
+f 40 42 41
+f 42 47 48
+f 42 48 43
+f 43 48 44
+f 44 48 49
+f 44 49 45
+f 44 45 46
+f 45 49 48
+f 45 48 47
+

dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mjcf/mesh/green_napkin_collision_42.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.03523537 -0.05151311 -0.00741732
+v -0.03695881 -0.05233188 -0.00741732
+v -0.03245753 -0.05151314 -0.00109978
+v -0.01582127 -0.05151311 -0.00741732
+v -0.03731815 -0.05250810 -0.00741732
+v -0.03829453 -0.05811914 -0.00109299
+v -0.03248827 -0.05158406 -0.00109297
+v -0.02339589 -0.05151314 -0.00109297
+v -0.01555885 -0.05151311 -0.00741360
+v -0.01555885 -0.05961266 -0.00741735
+v -0.03907469 -0.05495579 -0.00741733
+v -0.03929692 -0.05971154 -0.00109300
+v -0.01820430 -0.05151314 -0.00109297
+v -0.01555885 -0.05151312 -0.00415176
+v -0.01555885 -0.05980607 -0.00741735
+v -0.03911960 -0.05527815 -0.00741733
+v -0.03935365 -0.06039063 -0.00109300
+v -0.01556358 -0.05588419 -0.00109299
+v -0.01555885 -0.05588634 -0.00109423
+v -0.01555885 -0.07178025 -0.00701500
+v -0.03246226 -0.05964489 -0.00741735
+v -0.03902268 -0.05708759 -0.00741734
+v -0.03860423 -0.07304602 -0.00669557
+v -0.03920235 -0.07181035 -0.00574096
+v -0.03941276 -0.06935405 -0.00536456
+v -0.03970827 -0.06692140 -0.00329442
+v -0.03948132 -0.06205824 -0.00109301
+v -0.01555885 -0.06110839 -0.00109300
+v -0.01555885 -0.07324371 -0.00682929
+v -0.01797025 -0.07178670 -0.00700819
+v -0.03490912 -0.05961266 -0.00741735
+v -0.03898485 -0.05748516 -0.00741734
+v -0.03889502 -0.07322009 -0.00554349
+v -0.03894703 -0.05783330 -0.00741734
+v -0.03714794 -0.05906252 -0.00741735
+v -0.03731815 -0.07308685 -0.00672095
+v -0.03731815 -0.07343713 -0.00554349
+v -0.03931110 -0.07178672 -0.00385158
+v -0.03940803 -0.06931108 -0.00318794
+v -0.03924018 -0.06467141 -0.00109302
+v -0.01555885 -0.06604247 -0.00109426
+v -0.01709789 -0.06605322 -0.00109302
+v -0.01555885 -0.07342209 -0.00554721
+v -0.01797025 -0.07344143 -0.00554349
+v -0.02038874 -0.07345862 -0.00554349
+v -0.02280723 -0.07346292 -0.00554349
+v -0.02522571 -0.07346292 -0.00554349
+v -0.01797025 -0.07324157 -0.00682248
+v -0.02038874 -0.07323297 -0.00681567
+v -0.02038874 -0.07178670 -0.00699890
+v -0.02280723 -0.07178670 -0.00698342
+v -0.02522571 -0.07178670 -0.00696423
+v -0.02764184 -0.07178670 -0.00694442
+v -0.03006032 -0.07178670 -0.00692028
+v -0.03893994 -0.07324802 -0.00421375
+v -0.03247881 -0.07178670 -0.00688252
+v -0.03489966 -0.07312338 -0.00674200
+v -0.03731815 -0.07335332 -0.00413017
+v -0.03247881 -0.07315346 -0.00676057
+v -0.03006032 -0.07317925 -0.00677791
+v -0.02764184 -0.07319644 -0.00678967
+v -0.02522571 -0.07320934 -0.00679833
+v -0.02764184 -0.07345862 -0.00554349
+v -0.03881464 -0.06847297 -0.00203153
+v -0.03918816 -0.06692140 -0.00171952
+v -0.03833236 -0.06587700 -0.00109302
+v -0.01555885 -0.06692140 -0.00147623
+v -0.03438429 -0.06643574 -0.00109302
+v -0.03731815 -0.06861695 -0.00196715
+v -0.03731815 -0.06983328 -0.00248283
+v -0.03731815 -0.07178672 -0.00331919
+v -0.01555885 -0.07317710 -0.00429484
+v -0.02038874 -0.07323083 -0.00425398
+v -0.02280723 -0.07322008 -0.00680762
+v -0.03731815 -0.06692141 -0.00127441
+v -0.03731815 -0.06647442 -0.00109302
+v -0.01555885 -0.06953887 -0.00262336
+v -0.03684060 -0.06647227 -0.00109302
+v -0.01555885 -0.07178672 -0.00362191
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 21
+f 1 21 31
+f 1 31 35
+f 1 35 34
+f 1 34 32
+f 1 32 22
+f 1 22 16
+f 1 16 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 17
+f 6 17 27
+f 6 27 40
+f 6 40 66
+f 6 66 76
+f 6 76 78
+f 6 78 68
+f 6 68 42
+f 6 42 28
+f 6 28 18
+f 6 18 13
+f 6 13 8
+f 6 8 7
+f 9 14 19
+f 9 19 28
+f 9 28 41
+f 9 41 67
+f 9 67 77
+f 9 77 79
+f 9 79 72
+f 9 72 43
+f 9 43 29
+f 9 29 20
+f 9 20 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 18 28 19
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 22 32 23
+f 23 33 24
+f 23 32 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 33
+f 24 38 25
+f 24 33 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 28 42 41
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 54
+f 31 54 35
+f 33 37 55
+f 33 55 38
+f 35 54 56
+f 35 56 36
+f 36 56 54
+f 36 54 57
+f 36 57 37
+f 37 58 55
+f 37 57 59
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 49
+f 37 49 48
+f 37 48 63
+f 37 63 58
+f 38 55 64
+f 38 64 65
+f 38 65 39
+f 39 65 40
+f 40 65 66
+f 41 42 68
+f 41 68 69
+f 41 69 70
+f 41 70 71
+f 41 71 67
+f 43 72 73
+f 43 73 58
+f 43 58 44
+f 44 58 45
+f 45 58 46
+f 46 58 47
+f 47 63 48
+f 47 58 63
+f 49 62 74
+f 49 74 50
+f 50 74 61
+f 50 61 60
+f 50 60 51
+f 51 60 52
+f 52 60 53
+f 53 60 59
+f 53 59 57
+f 53 57 54
+f 55 58 71
+f 55 71 64
+f 58 73 71
+f 61 74 62
+f 64 71 70
+f 64 70 69
+f 64 69 75
+f 64 75 76
+f 64 76 66
+f 64 66 65
+f 67 71 77
+f 68 78 69
+f 69 78 75
+f 71 73 72
+f 71 72 79
+f 71 79 77
+f 75 78 76
+