Add asset tools/repair_tools/13f390aaddba51bc8d20499e67b7030a

.gitattributes

@@ -5056,5 +5056,4 @@ dataset/tools/repair_tools/09a6e0caaae755b19154b1ff75dde518/measuring_tape_025.u
 dataset/tools/repair_tools/09a6e0caaae755b19154b1ff75dde518/mesh/measuring_tape_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/0a63dd06677652cabafeebc56845c816/mesh/mini_hammer_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/0a63dd06677652cabafeebc56845c816/mini_hammer_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/11c0c13cedc45e07b9611d3f95a01cf7/measuring_tape_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/11c0c13cedc45e07b9611d3f95a01cf7/mesh/measuring_tape_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/13f390aaddba51bc8d20499e67b7030a.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/13f390aaddba51bc8d20499e67b7030a.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="toolbox_39">
+   <link name="toolbox_39">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/toolbox_39.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/toolbox_39_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="3.2500" />
+         <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>0.542845</scale>
+         <version>v0.1.5</version>
+         <category>toolbox</category>
+         <description>compact rectangular toolbox with red base and black lid</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>2.5</min_mass>
+         <max_mass>4.0</max_mass>
+         <generate_time>20251015232002</generate_time>
+         <gs_model>mesh/toolbox_39_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Geometry appears duplicated or overlapping in some areas.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.5933109521865845</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>NO: {"summary":"Handle and body are merged; bottom strip is inconsistent and not a distinct functional part.","merge_groups":[]}</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/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/13f390aaddba51bc8d20499e67b7030a.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad85d69c1d5c1f3ef73356494145078d35a2092f06c5f6d42c143056f77de671
+size 577268

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/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/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/toolbox_39.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:737a5fbe28f9103b4225b59e0e6f3c80c59d59ba1ecd5daa1a3a4ad5146fc877
+size 1323024

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/toolbox_39_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1650aafd8394273f0e8cbfdead08483b91bb2bdb33c326e4d6322584e5940676
+size 37497962

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/13f390aaddba51bc8d20499e67b7030a.xml

@@ -0,0 +1,210 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="toolbox_39">
+  <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/toolbox_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/toolbox_39_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/toolbox_39_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/toolbox_39_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/toolbox_39_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/toolbox_39_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/toolbox_39_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/toolbox_39_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/toolbox_39_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/toolbox_39_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/toolbox_39_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/toolbox_39_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/toolbox_39_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/toolbox_39_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/toolbox_39_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/toolbox_39_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/toolbox_39_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/toolbox_39_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/toolbox_39_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/toolbox_39_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/toolbox_39_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/toolbox_39_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/toolbox_39_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/toolbox_39_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/toolbox_39_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/toolbox_39_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/toolbox_39_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/toolbox_39_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/toolbox_39_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/toolbox_39_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/toolbox_39_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/toolbox_39_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/toolbox_39_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/toolbox_39_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/toolbox_39_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/toolbox_39_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/toolbox_39_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/toolbox_39_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/toolbox_39_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/toolbox_39_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/toolbox_39_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/toolbox_39_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/toolbox_39_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/toolbox_39_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/toolbox_39_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/toolbox_39_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/toolbox_39_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/toolbox_39_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/toolbox_39_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/toolbox_39_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/toolbox_39_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/toolbox_39_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/toolbox_39_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/toolbox_39_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/toolbox_39_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/toolbox_39_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/toolbox_39_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/toolbox_39_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/toolbox_39_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/toolbox_39_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/toolbox_39_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/toolbox_39_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/toolbox_39_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/toolbox_39_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/toolbox_39_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/toolbox_39_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/toolbox_39_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/toolbox_39_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/toolbox_39_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/toolbox_39_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/toolbox_39_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/toolbox_39_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/toolbox_39_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/toolbox_39_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/toolbox_39_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/toolbox_39_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/toolbox_39_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/toolbox_39_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/toolbox_39_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/toolbox_39_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/toolbox_39_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/toolbox_39_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/toolbox_39_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/toolbox_39_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/toolbox_39_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/toolbox_39_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/toolbox_39_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/toolbox_39_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/toolbox_39_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/toolbox_39_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/toolbox_39_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/toolbox_39_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/toolbox_39_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/toolbox_39_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/toolbox_39_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/toolbox_39_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/toolbox_39_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/toolbox_39_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_97" file="mesh/toolbox_39_collision_97.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="toolbox_39">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_83" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_84" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_85" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_91" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_97" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_0.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.04808982 0.23669685 0.14899788
+v 0.04808982 0.23194804 0.14890231
+v 0.05684271 0.23669685 0.14890233
+v 0.04808982 0.24562834 0.14735659
+v -0.00169744 0.23669687 0.14433249
+v -0.00169744 0.23194806 0.14429875
+v 0.05218814 0.23194804 0.14885733
+v 0.06361996 0.23194804 0.14864935
+v 0.06361996 0.23669685 0.14877867
+v 0.05684271 0.24562834 0.14697998
+v 0.04808982 0.26162335 0.14173009
+v 0.03933054 0.26143077 0.14169636
+v -0.00169744 0.24544349 0.14255631
+v -0.00169744 0.23944294 0.14377602
+v -0.00169744 0.23194814 0.12123601
+v 0.06361996 0.23194815 0.11876841
+v 0.06361996 0.24562834 0.14662024
+v 0.04808982 0.26608717 0.13902644
+v 0.05684271 0.26073751 0.14131413
+v 0.05684271 0.26520133 0.13877348
+v 0.03933054 0.26589458 0.13843623
+v -0.00169744 0.26294056 0.13529412
+v -0.00169744 0.25719806 0.13825632
+v -0.00169744 0.25455598 0.13961097
+v -0.00169744 0.24771601 0.09157996
+v 0.04750160 0.24883678 0.09157996
+v 0.04808982 0.24886759 0.09157996
+v 0.05640794 0.24946841 0.09157997
+v 0.06053823 0.25017708 0.09157997
+v 0.06361996 0.25123236 0.09157997
+v 0.00388421 0.24775453 0.09157996
+v 0.02182476 0.24797790 0.09157996
+v 0.02995746 0.24822825 0.09157996
+v 0.06361996 0.25985169 0.14099373
+v 0.04808982 0.26904507 0.13461400
+v 0.06361996 0.26816310 0.13517048
+v 0.06361996 0.26903354 0.13416994
+v 0.05684271 0.26904124 0.13436106
+v 0.06361996 0.26241675 0.13962222
+v 0.06361996 0.26367616 0.13890275
+v 0.03933054 0.26871772 0.13401817
+v -0.00169744 0.26740823 0.13061187
+v -0.00169744 0.26434248 0.13383267
+v -0.00169744 0.27117507 0.09158005
+v 0.06361996 0.27129447 0.09158005
+v 0.06361996 0.27030452 0.12905488
+v 0.06361996 0.27067425 0.12750350
+v 0.05684271 0.27066269 0.12750350
+v 0.04808982 0.27061647 0.12750350
+v -0.00169744 0.26911827 0.12619944
+v -0.00169744 0.27117502 0.10708824
+v 0.06361996 0.27128287 0.10103448
+v 0.06361996 0.27112106 0.12067406
+v 0.06361996 0.27124815 0.11868425
+v 0.05684271 0.27121733 0.11868425
+v 0.04808982 0.27115185 0.11868425
+v 0.03933054 0.27107868 0.11868425
+v -0.00169744 0.27072820 0.11868424
+v -0.00169744 0.27117115 0.10985936
+v 0.06361996 0.27127131 0.10985936
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 15
+f 2 15 16
+f 2 16 8
+f 2 8 7
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 13
+f 5 13 24
+f 5 24 23
+f 5 23 22
+f 5 22 43
+f 5 43 42
+f 5 42 50
+f 5 50 58
+f 5 58 59
+f 5 59 51
+f 5 51 44
+f 5 44 25
+f 5 25 15
+f 5 15 6
+f 8 16 30
+f 8 30 45
+f 8 45 52
+f 8 52 60
+f 8 60 54
+f 8 54 53
+f 8 53 47
+f 8 47 46
+f 8 46 37
+f 8 37 36
+f 8 36 40
+f 8 40 39
+f 8 39 34
+f 8 34 17
+f 8 17 9
+f 9 17 10
+f 10 17 11
+f 11 18 12
+f 11 17 19
+f 11 19 20
+f 11 20 18
+f 12 18 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 15 25 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 25 31
+f 16 31 32
+f 16 32 33
+f 16 33 26
+f 17 34 19
+f 18 35 21
+f 18 20 36
+f 18 36 37
+f 18 37 38
+f 18 38 35
+f 19 34 39
+f 19 39 20
+f 20 39 40
+f 20 40 36
+f 21 35 41
+f 21 41 42
+f 21 42 43
+f 21 43 22
+f 25 44 45
+f 25 45 30
+f 25 30 29
+f 25 29 28
+f 25 28 27
+f 25 27 26
+f 25 26 33
+f 25 33 32
+f 25 32 31
+f 35 38 46
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 50
+f 35 50 41
+f 37 46 38
+f 41 50 42
+f 44 51 45
+f 45 51 52
+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 48 55 49
+f 49 55 56
+f 49 56 57
+f 49 57 58
+f 49 58 50
+f 51 59 60
+f 51 60 52
+f 54 60 59
+f 54 59 55
+f 55 59 56
+f 56 59 57
+f 57 59 58
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_1.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.06361996 -0.00252324 0.14345320
+v 0.00024623 -0.00252324 0.14365316
+v 0.06361996 -0.00252316 0.12330016
+v 0.06361996 0.17417377 0.14744387
+v 0.04808982 0.17417377 0.14830429
+v -0.00169744 -0.00252324 0.14365922
+v 0.04808982 -0.00252316 0.12256093
+v 0.06361996 0.03330745 0.12212783
+v 0.06361996 0.21881856 0.14841351
+v 0.06361996 0.23192509 0.14865291
+v 0.05218814 0.23192509 0.14885891
+v 0.04808982 0.23192509 0.14890436
+v -0.00169744 -0.00252316 0.12187624
+v -0.00169744 0.23192511 0.14429933
+v 0.04622927 -0.00252316 0.12250034
+v 0.05684271 0.04021649 0.12161585
+v 0.05684271 0.04914545 0.12137351
+v 0.06361996 0.04223641 0.12188853
+v 0.06361996 0.23192520 0.11876568
+v 0.00431258 -0.00252316 0.12187018
+v -0.00169744 0.04021650 0.12102205
+v -0.00169744 0.23192519 0.12124088
+v 0.03933054 -0.00252316 0.12230039
+v 0.04808982 0.04021649 0.12135530
+v 0.05684271 0.05809738 0.12113723
+v 0.06361996 0.05809737 0.12148261
+v -0.00169744 0.22774764 0.12029563
+v 0.06361996 0.22774765 0.11795373
+v 0.03933054 0.04021649 0.12123412
+v -0.00169744 0.19203181 0.11991073
+v 0.04808982 0.04914545 0.12115841
+v -0.00169744 0.21881867 0.12004413
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 23
+f 1 23 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 26
+f 1 26 28
+f 1 28 19
+f 1 19 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 14
+f 6 14 22
+f 6 22 27
+f 6 27 32
+f 6 32 30
+f 6 30 21
+f 6 21 13
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 10 19 22
+f 10 22 14
+f 10 14 12
+f 10 12 11
+f 13 21 20
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 19 27 22
+f 19 28 27
+f 20 21 29
+f 20 29 23
+f 21 30 28
+f 21 28 29
+f 23 29 24
+f 24 29 31
+f 24 31 25
+f 25 31 28
+f 25 28 26
+f 27 28 32
+f 28 30 32
+f 28 31 29
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_10.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 0.24433994 0.14299022
+v -0.00169744 0.24433995 0.14278333
+v -0.02687848 0.24571405 0.14271898
+v -0.02687848 0.24434003 0.11982930
+v -0.00169744 0.24544343 0.14255808
+v -0.00169744 0.24434003 0.12003158
+v -0.00169744 0.25456032 0.13961128
+v -0.02687848 0.25456032 0.13982735
+v -0.02687848 0.24761641 0.09602937
+v -0.01816519 0.24757701 0.09602937
+v -0.01320342 0.24434003 0.11958564
+v -0.00444823 0.24434003 0.11985228
+v -0.00169744 0.24757701 0.09602937
+v -0.00169744 0.25720080 0.13825509
+v -0.02687848 0.26340136 0.13601626
+v -0.02687848 0.27111275 0.09602946
+v -0.00941246 0.24756387 0.09602937
+v -0.00444823 0.24756650 0.09602937
+v -0.00217562 0.24757438 0.09602937
+v -0.00169744 0.27117580 0.09602946
+v -0.00169744 0.26294157 0.13529449
+v -0.00169744 0.26434457 0.13383257
+v -0.00169744 0.26740808 0.13061451
+v -0.02687848 0.26539026 0.13378201
+v -0.02574710 0.27111802 0.09602946
+v -0.02687848 0.27111274 0.09716498
+v -0.00444823 0.27117580 0.09602946
+v -0.00169744 0.27117844 0.09825912
+v -0.02687848 0.26737917 0.13063291
+v -0.00169744 0.26911850 0.12620117
+v -0.02687848 0.26916579 0.12684478
+v -0.02687848 0.27111011 0.10103126
+v -0.02195614 0.27112851 0.10103126
+v -0.02195614 0.27113115 0.09602946
+v -0.00823918 0.27116794 0.09602946
+v -0.00444823 0.27117578 0.10103126
+v -0.00169744 0.27117576 0.10708583
+v -0.02687848 0.26984364 0.12373245
+v -0.00169744 0.27072644 0.11868007
+v -0.02687848 0.27109169 0.10599169
+v -0.01320342 0.27114688 0.10985797
+v -0.01320342 0.27115741 0.10103126
+v -0.01320342 0.27115743 0.09602946
+v -0.00444823 0.27117313 0.10985797
+v -0.00169744 0.27117313 0.10985797
+v -0.00444823 0.27072120 0.11868007
+v -0.02687848 0.27067390 0.11868007
+v -0.02687848 0.27088150 0.11481380
+v -0.02687848 0.27107594 0.10985797
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 24
+f 1 24 29
+f 1 29 31
+f 1 31 38
+f 1 38 47
+f 1 47 48
+f 1 48 49
+f 1 49 40
+f 1 40 32
+f 1 32 26
+f 1 26 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 20
+f 2 20 28
+f 2 28 37
+f 2 37 45
+f 2 45 39
+f 2 39 30
+f 2 30 23
+f 2 23 22
+f 2 22 21
+f 2 21 14
+f 2 14 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 9 16 25
+f 9 25 34
+f 9 34 43
+f 9 43 35
+f 9 35 27
+f 9 27 20
+f 9 20 13
+f 9 13 19
+f 9 19 18
+f 9 18 17
+f 9 17 10
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 13
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 16 26 25
+f 20 27 28
+f 23 29 24
+f 23 30 31
+f 23 31 29
+f 25 26 32
+f 25 32 33
+f 25 33 34
+f 27 35 36
+f 27 36 28
+f 28 36 44
+f 28 44 37
+f 30 38 31
+f 30 39 38
+f 32 40 41
+f 32 41 33
+f 33 42 34
+f 33 41 42
+f 34 42 43
+f 35 43 42
+f 35 42 36
+f 36 42 44
+f 37 44 45
+f 38 39 46
+f 38 46 47
+f 39 45 44
+f 39 44 48
+f 39 48 46
+f 40 49 41
+f 41 49 48
+f 41 48 44
+f 41 44 42
+f 46 48 47
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_11.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.10242227 0.21876996 -0.13564248
+v 0.10240893 0.21876983 -0.10194568
+v 0.11994823 0.21876996 -0.13564248
+v 0.10248449 -0.00254516 -0.13564329
+v 0.10240893 0.21876970 -0.06659077
+v 0.12491977 0.21876958 -0.03135622
+v 0.12005491 -0.00254516 -0.13564329
+v 0.10261117 -0.00254542 -0.06665845
+v 0.10245116 0.21876967 -0.05783228
+v 0.12496866 0.21876954 -0.02259773
+v 0.12500867 0.02236754 -0.02253159
+v 0.12491977 0.01342052 -0.03135697
+v 0.12491755 0.00449512 -0.03135700
+v 0.12490866 -0.00254554 -0.03135703
+v 0.10266673 -0.00254545 -0.05783309
+v 0.10265118 0.00449521 -0.05783306
+v 0.10264229 0.01342061 -0.05783303
+v 0.10284898 0.21876964 -0.04900693
+v 0.12502644 0.21876946 0.00089643
+v 0.12511090 0.01342040 0.00093580
+v 0.12505311 0.02236751 -0.01370623
+v 0.12500867 0.01342048 -0.02253162
+v 0.12492643 -0.00254555 -0.02948498
+v 0.10314233 -0.00254547 -0.05087978
+v 0.11078077 0.21876946 0.00093655
+v 0.10327567 -0.00254548 -0.04900774
+v 0.11082299 -0.00254566 0.00093574
+v 0.11081633 0.00752790 0.00093578
+v 0.11081188 0.01647496 0.00093581
+v 0.11080966 0.02236746 0.00093583
+v 0.12502644 0.21876946 0.00093655
+v 0.12509756 0.00211201 0.00093576
+v 0.12505089 0.01342045 -0.01370626
+v 0.12499755 0.00449508 -0.02253165
+v 0.12498644 -0.00254558 -0.02253168
+v 0.12509090 -0.00254566 0.00093574
+v 0.12503978 0.00449505 -0.01370629
+v 0.12507533 -0.00254565 -0.00300893
+v 0.12502867 -0.00254561 -0.01370632
+f 1 2 5
+f 1 5 9
+f 1 9 18
+f 1 18 25
+f 1 25 31
+f 1 31 19
+f 1 19 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 7 14
+f 4 14 23
+f 4 23 35
+f 4 35 39
+f 4 39 38
+f 4 38 36
+f 4 36 27
+f 4 27 26
+f 4 26 24
+f 4 24 15
+f 4 15 8
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 22
+f 6 22 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 15 24 16
+f 16 24 18
+f 16 18 17
+f 18 24 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 25
+f 19 31 20
+f 20 32 33
+f 20 33 21
+f 20 31 25
+f 20 25 30
+f 20 30 29
+f 20 29 28
+f 20 28 27
+f 20 27 36
+f 20 36 32
+f 21 33 22
+f 22 33 37
+f 22 37 34
+f 22 34 23
+f 23 34 35
+f 32 37 33
+f 32 36 38
+f 32 38 37
+f 34 37 39
+f 34 39 35
+f 37 38 39
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_12.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.12520820 -0.23665510 0.00037621
+v -0.12415492 -0.24557645 0.00037618
+v -0.12510470 -0.21879157 0.00037628
+v -0.12510470 -0.21877078 0.00036357
+v -0.12509861 -0.21877076 -0.00489833
+v -0.12508035 -0.21877073 -0.01371900
+v -0.12517776 -0.23665505 -0.01370636
+v -0.12445934 -0.24557633 -0.03135410
+v -0.12442281 -0.24557637 -0.02252707
+v -0.12433148 -0.24557640 -0.01370639
+v -0.12284592 -0.25026589 0.00037616
+v -0.12321731 -0.25071808 -0.03135412
+v -0.12313207 -0.25061414 -0.02252709
+v -0.12302858 -0.25048940 -0.01370641
+v -0.11083362 -0.21877078 0.00037628
+v -0.12504382 -0.21877070 -0.02254603
+v -0.12515341 -0.23665502 -0.02252704
+v -0.12504990 -0.23665498 -0.03135407
+v -0.12417927 -0.24557630 -0.04017478
+v -0.12317469 -0.25067126 -0.04017480
+v -0.08833718 -0.26864930 0.00037609
+v -0.08835545 -0.26868563 -0.01370648
+v -0.08834327 -0.26866487 -0.00487945
+v -0.11076664 -0.21877078 0.00037628
+v -0.12492205 -0.21877066 -0.03137306
+v -0.12492813 -0.21879145 -0.03135400
+v -0.12446542 -0.23665495 -0.04017475
+v -0.12327211 -0.24557628 -0.04539855
+v -0.12294943 -0.25040090 -0.04490924
+v -0.08794753 -0.26825404 -0.03634918
+v -0.08817889 -0.26850360 -0.03135419
+v -0.08830065 -0.26862843 -0.02252716
+v -0.08531736 -0.26980866 0.00037609
+v -0.08325341 -0.27060922 -0.02252716
+v -0.08325341 -0.27064046 -0.01370648
+v -0.06300966 -0.24281583 0.00037619
+v -0.06300966 -0.23270897 -0.03856057
+v -0.06300966 -0.23188751 -0.04297091
+v -0.06300966 -0.23169515 -0.04495365
+v -0.06300966 -0.23138840 -0.04900176
+v -0.10324146 -0.21877060 -0.04900171
+v -0.12422189 -0.21877063 -0.04018103
+v -0.12331473 -0.23665493 -0.04562094
+v -0.11866323 -0.22772310 -0.06454596
+v -0.11845014 -0.23665486 -0.06454599
+v -0.11587477 -0.24386576 -0.06454602
+v -0.11088233 -0.24832646 -0.06454603
+v -0.10983513 -0.24887234 -0.06454603
+v -0.10650481 -0.25060359 -0.06454604
+v -0.08325341 -0.26918984 -0.03789979
+v -0.08325341 -0.27052080 -0.03135419
+v -0.08325341 -0.27059371 0.00037609
+v -0.07449838 -0.27188292 -0.03135420
+v -0.07804179 -0.27130594 0.00037608
+v -0.06300966 -0.27174266 0.00037608
+v -0.06300966 -0.23131560 -0.05175345
+v -0.10246214 -0.21877057 -0.05782238
+v -0.12313207 -0.21877061 -0.04532219
+v -0.11817616 -0.21877054 -0.06454592
+v -0.10076349 -0.25159657 -0.06454604
+v -0.07449838 -0.26990731 -0.03914536
+v -0.06300966 -0.26987090 -0.03916443
+v -0.06300966 -0.27183612 -0.03135420
+v -0.06300966 -0.27183616 -0.02252717
+v -0.07449838 -0.27177387 0.00037608
+v -0.06928675 -0.27176345 0.00037608
+v -0.06300966 -0.23121161 -0.05782243
+v -0.10244997 -0.21877575 -0.06454592
+v -0.10618821 -0.21877054 -0.06454592
+v -0.07449838 -0.25300028 -0.06454605
+v -0.06364894 -0.25323424 -0.06454605
+v -0.06300966 -0.25324464 -0.06454605
+v -0.06300966 -0.23126876 -0.06454597
+f 1 2 11
+f 1 11 21
+f 1 21 33
+f 1 33 52
+f 1 52 54
+f 1 54 65
+f 1 65 66
+f 1 66 55
+f 1 55 36
+f 1 36 24
+f 1 24 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 12
+f 2 12 13
+f 2 13 14
+f 2 14 11
+f 3 15 4
+f 4 15 24
+f 4 24 41
+f 4 41 57
+f 4 57 69
+f 4 69 59
+f 4 59 58
+f 4 58 42
+f 4 42 25
+f 4 25 16
+f 4 16 6
+f 4 6 5
+f 6 16 17
+f 6 17 7
+f 7 17 8
+f 8 12 9
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 12
+f 9 12 10
+f 11 14 21
+f 12 20 22
+f 12 22 23
+f 12 23 21
+f 12 21 13
+f 13 21 14
+f 16 25 26
+f 16 26 18
+f 16 18 17
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 20 30 31
+f 20 31 32
+f 20 32 22
+f 20 29 30
+f 21 23 33
+f 22 32 34
+f 22 34 35
+f 22 35 23
+f 23 35 33
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 25 42 26
+f 26 42 27
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 51 32
+f 32 51 34
+f 33 35 52
+f 34 51 53
+f 34 53 35
+f 35 53 54
+f 35 54 52
+f 36 55 64
+f 36 64 63
+f 36 63 62
+f 36 62 72
+f 36 72 73
+f 36 73 67
+f 36 67 56
+f 36 56 40
+f 36 40 39
+f 36 39 38
+f 36 38 37
+f 40 56 57
+f 40 57 41
+f 42 58 43
+f 43 58 44
+f 44 59 69
+f 44 69 68
+f 44 68 73
+f 44 73 72
+f 44 72 71
+f 44 71 70
+f 44 70 60
+f 44 60 49
+f 44 49 48
+f 44 48 47
+f 44 47 46
+f 44 46 45
+f 44 58 59
+f 49 60 50
+f 50 60 61
+f 50 61 53
+f 50 53 51
+f 53 61 62
+f 53 62 63
+f 53 63 64
+f 53 64 65
+f 53 65 54
+f 55 66 64
+f 56 67 57
+f 57 67 68
+f 57 68 69
+f 60 70 61
+f 61 70 71
+f 61 71 72
+f 61 72 62
+f 64 66 65
+f 67 73 68
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_13.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.02723872 -0.23685421 -0.06195727
+v 0.02740551 -0.24081603 -0.06195728
+v 0.02803931 -0.21753240 -0.06195720
+v 0.02777245 -0.23664940 -0.06665766
+v 0.02876206 -0.23664936 -0.07548287
+v 0.02768720 -0.24531810 -0.06195730
+v 0.02979986 -0.23664933 -0.08430809
+v 0.04541509 -0.21753240 -0.06195720
+v 0.03261305 -0.21753226 -0.10195844
+v 0.03275760 -0.21753225 -0.10319676
+v 0.03364715 -0.21753222 -0.11077494
+v 0.03173092 -0.25191759 -0.06195733
+v 0.02940328 -0.24557934 -0.07548290
+v 0.02832841 -0.24557938 -0.06665769
+v 0.03392142 -0.25113712 -0.09313335
+v 0.03322461 -0.25165268 -0.08430814
+v 0.03263529 -0.25188576 -0.07548293
+v 0.03091550 -0.23664930 -0.09313330
+v 0.06510368 -0.23127517 -0.06195725
+v 0.06510368 -0.21753213 -0.13613434
+v 0.03456264 -0.21753220 -0.11736769
+v 0.03213122 -0.23664927 -0.10195851
+v 0.03933653 -0.25354187 -0.06195733
+v 0.03207562 -0.25192111 -0.06665772
+v 0.03933653 -0.25360538 -0.07548293
+v 0.03052633 -0.24557931 -0.08430812
+v 0.03451075 -0.25056154 -0.09990051
+v 0.04230168 -0.25130295 -0.12842548
+v 0.04140472 -0.25170905 -0.11960027
+v 0.03933653 -0.25287440 -0.09313336
+v 0.03933653 -0.25339702 -0.08430815
+v 0.06510368 -0.25215417 -0.06195733
+v 0.06510368 -0.21753208 -0.15103779
+v 0.03545589 -0.21753218 -0.12178029
+v 0.03543365 -0.22771920 -0.12185009
+v 0.03454040 -0.22771922 -0.11742877
+v 0.03348406 -0.23664923 -0.11077501
+v 0.03474055 -0.24181158 -0.11625154
+v 0.06510368 -0.25272606 -0.10195857
+v 0.06510368 -0.25284961 -0.11077507
+v 0.04808743 -0.25328743 -0.11960028
+v 0.04808743 -0.25335101 -0.11077507
+v 0.06510368 -0.25288489 -0.11960028
+v 0.03180876 -0.24557928 -0.09313333
+v 0.03353596 -0.24625014 -0.10249050
+v 0.03519644 -0.24967170 -0.10577817
+v 0.04310597 -0.25064969 -0.13500951
+v 0.04753517 -0.25156422 -0.13766928
+v 0.04808743 -0.25284955 -0.12842549
+v 0.06510368 -0.21878912 -0.15104652
+v 0.06436980 -0.21753208 -0.15102035
+v 0.03682727 -0.21753216 -0.12842536
+v 0.03680874 -0.22771918 -0.12842540
+v 0.03548184 -0.23664919 -0.12154491
+v 0.03457747 -0.23664921 -0.11713230
+v 0.03425500 -0.24359125 -0.11077503
+v 0.03696811 -0.23664917 -0.12842543
+v 0.04170494 -0.24611583 -0.13766926
+v 0.03902148 -0.24557915 -0.12842546
+v 0.05684574 -0.25282833 -0.13725070
+v 0.05684574 -0.25304022 -0.12842549
+v 0.06510368 -0.25284955 -0.12842549
+v 0.04424756 -0.24945265 -0.14088716
+v 0.05008149 -0.25094274 -0.14305859
+v 0.06510368 -0.22771910 -0.15102912
+v 0.05684574 -0.23664909 -0.15085474
+v 0.05684574 -0.22771910 -0.15085471
+v 0.05684574 -0.21753208 -0.15083721
+v 0.03941807 -0.21753213 -0.13725057
+v 0.03938842 -0.22771915 -0.13725061
+v 0.03948479 -0.23664914 -0.13725064
+v 0.04282799 -0.24349931 -0.14292776
+v 0.05684574 -0.25133820 -0.14374752
+v 0.06510368 -0.25123933 -0.14368647
+v 0.06510368 -0.25263766 -0.13725070
+v 0.06510368 -0.25283895 -0.12893128
+v 0.04824310 -0.24540606 -0.14593635
+v 0.05224234 -0.24135949 -0.15057569
+v 0.05684574 -0.24609108 -0.14816011
+v 0.06510368 -0.23664909 -0.15099426
+v 0.05684574 -0.24162432 -0.15066289
+v 0.05216080 -0.23664909 -0.15060183
+v 0.05223122 -0.22771910 -0.15058437
+v 0.05230535 -0.21878912 -0.15055816
+v 0.05231647 -0.21753208 -0.15054943
+v 0.04242028 -0.21753210 -0.14339857
+v 0.04239063 -0.22771912 -0.14347710
+v 0.04237581 -0.23664911 -0.14354690
+v 0.04778350 -0.23664910 -0.14795951
+v 0.06510368 -0.24624998 -0.14809905
+v 0.06510368 -0.24178321 -0.15072393
+v 0.04785021 -0.22771911 -0.14788971
+v 0.04793546 -0.21753209 -0.14781117
+v 0.04715340 -0.21753209 -0.14719203
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 32
+f 1 32 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 20
+f 3 20 33
+f 3 33 51
+f 3 51 68
+f 3 68 85
+f 3 85 93
+f 3 93 94
+f 3 94 86
+f 3 86 69
+f 3 69 52
+f 3 52 34
+f 3 34 21
+f 3 21 11
+f 3 11 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 5 9 10
+f 5 10 11
+f 5 11 7
+f 6 7 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 12
+f 7 18 13
+f 7 11 18
+f 8 19 20
+f 11 21 22
+f 11 22 18
+f 12 17 24
+f 12 24 25
+f 12 25 23
+f 13 18 26
+f 13 26 27
+f 13 27 15
+f 13 15 14
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 25 24
+f 17 31 25
+f 18 22 26
+f 19 32 39
+f 19 39 40
+f 19 40 43
+f 19 43 62
+f 19 62 76
+f 19 76 75
+f 19 75 74
+f 19 74 90
+f 19 90 91
+f 19 91 80
+f 19 80 65
+f 19 65 50
+f 19 50 33
+f 19 33 20
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 26
+f 23 39 32
+f 23 25 40
+f 23 40 39
+f 25 31 41
+f 25 41 42
+f 25 42 43
+f 25 43 40
+f 26 38 44
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 29 49 30
+f 30 49 31
+f 31 49 41
+f 33 50 51
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 37
+f 37 55 38
+f 38 56 44
+f 38 55 54
+f 38 54 57
+f 38 57 58
+f 38 58 59
+f 38 59 46
+f 38 46 56
+f 41 49 60
+f 41 60 61
+f 41 61 42
+f 42 61 62
+f 42 62 43
+f 44 56 45
+f 45 56 46
+f 46 59 47
+f 47 59 58
+f 47 58 63
+f 47 63 48
+f 48 63 64
+f 48 64 60
+f 48 60 49
+f 50 65 66
+f 50 66 67
+f 50 67 68
+f 50 68 51
+f 52 69 70
+f 52 70 53
+f 53 57 54
+f 53 70 71
+f 53 71 57
+f 57 71 58
+f 58 72 63
+f 58 71 72
+f 60 64 73
+f 60 73 74
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 61 76 62
+f 63 72 77
+f 63 77 64
+f 64 77 78
+f 64 78 79
+f 64 79 73
+f 65 80 66
+f 66 80 81
+f 66 81 78
+f 66 78 82
+f 66 82 67
+f 67 82 68
+f 68 82 83
+f 68 83 84
+f 68 84 85
+f 69 86 87
+f 69 87 88
+f 69 88 70
+f 70 88 71
+f 71 88 72
+f 72 88 89
+f 72 89 78
+f 72 78 77
+f 73 79 90
+f 73 90 74
+f 78 89 82
+f 78 81 79
+f 79 81 91
+f 79 91 90
+f 80 91 81
+f 82 89 83
+f 83 89 84
+f 84 89 85
+f 85 89 92
+f 85 92 93
+f 86 94 89
+f 86 89 87
+f 87 89 88
+f 89 94 92
+f 92 94 93
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_14.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.06300613 -0.24761417 0.02717641
+v -0.02688201 -0.24373547 0.02717642
+v -0.06300613 -0.27168789 0.02717632
+v -0.06300613 -0.24364522 0.11788001
+v -0.02688201 -0.27160555 0.02717632
+v -0.02688201 -0.24364523 0.11875523
+v -0.06020504 -0.27168514 0.02717632
+v -0.03071582 -0.27163325 0.10102600
+v -0.03947276 -0.27163875 0.10102600
+v -0.03947276 -0.27163328 0.10984916
+v -0.04822615 -0.27163328 0.10984916
+v -0.05697955 -0.27163054 0.10984916
+v -0.06300613 -0.27162779 0.10984916
+v -0.06300613 -0.24364533 0.14728268
+v -0.03393778 -0.27163848 0.02717632
+v -0.02688201 -0.27162750 0.03042883
+v -0.02688201 -0.24364532 0.14362804
+v -0.05144811 -0.27167141 0.02717632
+v -0.02688201 -0.27164131 0.05194269
+v -0.02688201 -0.27164134 0.06077769
+v -0.03071582 -0.27163597 0.09219100
+v -0.02688201 -0.27163320 0.08724719
+v -0.02688201 -0.27163048 0.09219100
+v -0.02688201 -0.27162226 0.10102600
+v -0.03071582 -0.27162229 0.10984916
+v -0.04822615 -0.27161684 0.11867233
+v -0.06300613 -0.27161959 0.11867233
+v -0.06300613 -0.24558330 0.14684507
+v -0.04822615 -0.24558330 0.14762567
+v -0.06117411 -0.24364533 0.14737730
+v -0.03071582 -0.27164126 0.03925200
+v -0.02688201 -0.27163027 0.03429636
+v -0.03947276 -0.24364533 0.14627736
+v -0.03947276 -0.24558330 0.14605263
+v -0.02688201 -0.24558329 0.14332053
+v -0.02688201 -0.27160035 0.10984916
+v -0.03947276 -0.27157292 0.11867233
+v -0.04822615 -0.27100749 0.12749550
+v -0.06300613 -0.27142199 0.12142809
+v -0.04822615 -0.25451281 0.14484622
+v -0.06300613 -0.26126003 0.14157003
+v -0.05697955 -0.26185569 0.14187755
+v -0.04822615 -0.26243489 0.14229149
+v -0.04822615 -0.24364533 0.14800415
+v -0.05697955 -0.24364533 0.14759019
+v -0.03947276 -0.26231960 0.14223236
+v -0.03947276 -0.25451281 0.14431400
+v -0.02688201 -0.25075763 0.14237432
+v -0.02688201 -0.27126825 0.11867233
+v -0.03947276 -0.27070831 0.12749551
+v -0.04822615 -0.26916014 0.13514778
+v -0.05697955 -0.27099104 0.12749550
+v -0.06300613 -0.27095258 0.12749550
+v -0.06300613 -0.26433442 0.13984323
+v -0.06300613 -0.26572614 0.13902714
+v -0.05697955 -0.26631906 0.13925186
+v -0.04822615 -0.26689826 0.13955937
+v -0.03300408 -0.26097455 0.14157003
+v -0.03947276 -0.26678571 0.13925186
+v -0.02688201 -0.25338185 0.14160555
+v -0.02688201 -0.26942087 0.12732993
+v -0.03947276 -0.26890759 0.13484027
+v -0.05697955 -0.26914091 0.13482843
+v -0.06300613 -0.27037614 0.12979001
+v -0.06300613 -0.26822133 0.13598751
+v -0.06300613 -0.26909973 0.13461555
+v -0.02688201 -0.25723859 0.14042279
+v -0.02688201 -0.26376619 0.13653159
+v -0.02688201 -0.26111178 0.13830569
+v -0.03325519 -0.26840801 0.13356291
+v -0.02688201 -0.26760095 0.13120930
+v -0.02688201 -0.26862483 0.12919863
+f 1 2 5
+f 1 5 15
+f 1 15 18
+f 1 18 7
+f 1 7 3
+f 1 3 13
+f 1 13 27
+f 1 27 39
+f 1 39 53
+f 1 53 64
+f 1 64 66
+f 1 66 65
+f 1 65 55
+f 1 55 54
+f 1 54 41
+f 1 41 28
+f 1 28 14
+f 1 14 4
+f 1 4 2
+f 2 4 6
+f 2 6 17
+f 2 17 35
+f 2 35 48
+f 2 48 60
+f 2 60 67
+f 2 67 69
+f 2 69 68
+f 2 68 71
+f 2 71 72
+f 2 72 61
+f 2 61 49
+f 2 49 36
+f 2 36 24
+f 2 24 23
+f 2 23 22
+f 2 22 20
+f 2 20 19
+f 2 19 32
+f 2 32 16
+f 2 16 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 30
+f 4 30 45
+f 4 45 44
+f 4 44 33
+f 4 33 17
+f 4 17 6
+f 5 16 15
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 20
+f 8 20 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 10
+f 8 10 9
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 11 27 12
+f 12 27 13
+f 14 28 29
+f 14 29 30
+f 15 16 31
+f 15 31 18
+f 16 32 31
+f 17 33 34
+f 17 34 35
+f 18 31 19
+f 19 31 32
+f 24 36 25
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 28 40 29
+f 28 41 42
+f 28 42 43
+f 28 43 40
+f 29 44 45
+f 29 45 30
+f 29 40 46
+f 29 46 47
+f 29 47 44
+f 33 44 34
+f 34 44 47
+f 34 47 48
+f 34 48 35
+f 36 49 37
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 40 43 46
+f 41 54 42
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 43 56 57
+f 43 57 46
+f 46 58 47
+f 46 57 59
+f 46 59 58
+f 47 58 48
+f 48 58 60
+f 49 61 50
+f 50 61 62
+f 50 62 51
+f 51 62 59
+f 51 59 57
+f 51 57 63
+f 51 63 64
+f 51 64 53
+f 51 53 52
+f 55 65 56
+f 56 65 57
+f 57 65 66
+f 57 66 63
+f 58 67 60
+f 58 59 68
+f 58 68 69
+f 58 69 67
+f 59 62 70
+f 59 70 71
+f 59 71 68
+f 61 72 70
+f 61 70 62
+f 63 66 64
+f 70 72 71
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_15.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.06560654 0.27128391 0.10642784
+v 0.06460688 0.27127880 0.10642784
+v 0.06560654 0.27127879 0.10985697
+v 0.06901298 0.27127880 0.10642784
+v 0.06361997 0.27127369 0.10642784
+v 0.06361997 0.27126857 0.10985697
+v 0.06560654 0.27125831 0.11868066
+v 0.07436141 0.27126346 0.10985697
+v 0.07436141 0.27126858 0.10642784
+v 0.06361997 0.24777578 0.10642775
+v 0.06361997 0.27124809 0.11868066
+v 0.06361997 0.27112033 0.12067926
+v 0.06361997 0.27067058 0.12750849
+v 0.06560654 0.27067569 0.12750849
+v 0.07436141 0.27123275 0.11868066
+v 0.07776786 0.27109993 0.10642784
+v 0.06361997 0.21908049 0.11898730
+v 0.10867419 0.21908054 0.10642764
+v 0.06361997 0.27030771 0.12905512
+v 0.07436141 0.27060415 0.12750849
+v 0.08311629 0.27072682 0.11868065
+v 0.08311629 0.27079330 0.10985696
+v 0.08311629 0.27081375 0.10642783
+v 0.06361997 0.21908038 0.14841895
+v 0.12865443 0.21908054 0.10642764
+v 0.06361997 0.26903009 0.13417188
+v 0.06560654 0.26903009 0.13411797
+v 0.07436141 0.26896877 0.13384015
+v 0.08072860 0.26860082 0.13309380
+v 0.08343466 0.26943383 0.12786923
+v 0.08871943 0.26869794 0.12517403
+v 0.08941344 0.26910169 0.11868065
+v 0.08952169 0.26915283 0.10985696
+v 0.08563133 0.27016981 0.10642783
+v 0.06560654 0.21908038 0.14838993
+v 0.06361997 0.23669615 0.14878392
+v 0.12866079 0.22429832 0.10642766
+v 0.12863533 0.21908049 0.11868046
+v 0.06361997 0.26816131 0.13517117
+v 0.07436141 0.26348522 0.13787465
+v 0.10938095 0.25129677 0.14173912
+v 0.06361997 0.26367431 0.13890297
+v 0.08656731 0.26713411 0.13105372
+v 0.11491404 0.25068861 0.14122080
+v 0.11795118 0.25233420 0.13638188
+v 0.11813583 0.25547717 0.12750844
+v 0.11813583 0.25620288 0.11868060
+v 0.08954079 0.26916817 0.10642783
+v 0.11813583 0.25630001 0.10985691
+v 0.07436141 0.21908039 0.14824896
+v 0.06560654 0.23669615 0.14874660
+v 0.06361997 0.24562412 0.14661950
+v 0.12866079 0.22776833 0.10642768
+v 0.12864169 0.22776828 0.11868050
+v 0.12862895 0.21908049 0.11892096
+v 0.10062607 0.25159828 0.14215791
+v 0.09187118 0.24562413 0.14514334
+v 0.10062607 0.24562413 0.14455454
+v 0.10938095 0.24562413 0.14369622
+v 0.06361997 0.26241713 0.13962031
+v 0.06361997 0.25985167 0.14099693
+v 0.11674141 0.24562414 0.14198373
+v 0.12112204 0.24562415 0.13965756
+v 0.12338876 0.25105148 0.13347520
+v 0.12414646 0.25193050 0.12750843
+v 0.12449028 0.25234959 0.11868059
+v 0.11813583 0.25631536 0.10642778
+v 0.12452848 0.25237518 0.10985690
+v 0.12063814 0.25478222 0.10642778
+v 0.08311629 0.21908039 0.14800016
+v 0.07436141 0.23669615 0.14840659
+v 0.06560654 0.24562412 0.14651583
+v 0.12864169 0.23669631 0.10642771
+v 0.12863533 0.23669630 0.10985684
+v 0.12860985 0.23669626 0.11868053
+v 0.12834243 0.22776825 0.12750834
+v 0.12834880 0.21908046 0.12750830
+v 0.08311629 0.23669616 0.14783852
+v 0.10938095 0.23669617 0.14454623
+v 0.11799576 0.23669618 0.14248129
+v 0.12237001 0.23669618 0.14064853
+v 0.12450938 0.24562416 0.13524157
+v 0.12700532 0.24562419 0.12750840
+v 0.12752743 0.24562422 0.11868056
+v 0.12757837 0.24562426 0.10985687
+v 0.12573189 0.24975352 0.10642776
+v 0.12454122 0.25238541 0.10642777
+v 0.08311629 0.22776818 0.14795874
+v 0.09187118 0.21908039 0.14746527
+v 0.12759110 0.24562427 0.10642774
+v 0.12827876 0.23669623 0.12750837
+v 0.12523525 0.23669620 0.13623255
+v 0.12527982 0.22776822 0.13623667
+v 0.12529255 0.21908043 0.13623663
+v 0.09211313 0.21908039 0.14742381
+v 0.10938095 0.21908040 0.14420614
+v 0.11798938 0.21908041 0.14237341
+v 0.11799576 0.22776820 0.14243979
+v 0.12224904 0.21908041 0.14069824
+v 0.12237001 0.22776820 0.14064850
+v 0.12244642 0.21908041 0.14052823
+v 0.12236365 0.21908041 0.14064846
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 23
+f 1 23 34
+f 1 34 48
+f 1 48 67
+f 1 67 69
+f 1 69 87
+f 1 87 86
+f 1 86 90
+f 1 90 73
+f 1 73 53
+f 1 53 37
+f 1 37 25
+f 1 25 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 11
+f 3 11 7
+f 4 8 9
+f 5 10 17
+f 5 17 24
+f 5 24 36
+f 5 36 52
+f 5 52 61
+f 5 61 60
+f 5 60 42
+f 5 42 39
+f 5 39 26
+f 5 26 19
+f 5 19 13
+f 5 13 12
+f 5 12 11
+f 5 11 6
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 10 18 17
+f 13 19 14
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 17 18 25
+f 17 25 38
+f 17 38 55
+f 17 55 77
+f 17 77 94
+f 17 94 101
+f 17 101 102
+f 17 102 99
+f 17 99 97
+f 17 97 96
+f 17 96 95
+f 17 95 89
+f 17 89 70
+f 17 70 50
+f 17 50 35
+f 17 35 24
+f 19 26 27
+f 19 27 20
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 20 27 28
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 24 35 36
+f 25 37 38
+f 26 39 27
+f 27 39 28
+f 28 40 41
+f 28 41 29
+f 28 39 42
+f 28 42 40
+f 29 43 31
+f 29 31 30
+f 29 41 44
+f 29 44 45
+f 29 45 43
+f 31 43 45
+f 31 45 46
+f 31 46 32
+f 32 46 47
+f 32 47 33
+f 33 48 34
+f 33 47 49
+f 33 49 48
+f 35 50 36
+f 36 51 52
+f 36 50 51
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 40 42 41
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 44
+f 41 42 60
+f 41 60 61
+f 41 61 56
+f 44 59 62
+f 44 62 63
+f 44 63 64
+f 44 64 45
+f 45 64 46
+f 46 64 65
+f 46 65 47
+f 47 65 66
+f 47 66 49
+f 48 49 67
+f 49 66 68
+f 49 68 69
+f 49 69 67
+f 50 70 51
+f 51 70 71
+f 51 71 52
+f 52 71 72
+f 52 72 61
+f 53 73 54
+f 54 73 74
+f 54 74 75
+f 54 75 76
+f 54 76 77
+f 54 77 55
+f 56 61 57
+f 57 61 72
+f 57 72 71
+f 57 71 78
+f 57 78 58
+f 58 78 59
+f 59 79 62
+f 59 78 79
+f 62 79 80
+f 62 80 81
+f 62 81 63
+f 63 81 82
+f 63 82 64
+f 64 82 83
+f 64 83 65
+f 65 83 66
+f 66 83 84
+f 66 84 85
+f 66 85 68
+f 68 85 86
+f 68 86 87
+f 68 87 69
+f 70 88 71
+f 70 89 88
+f 71 88 78
+f 73 90 74
+f 74 90 75
+f 75 90 85
+f 75 85 84
+f 75 84 91
+f 75 91 76
+f 76 91 92
+f 76 92 93
+f 76 93 94
+f 76 94 77
+f 78 88 89
+f 78 89 79
+f 79 89 95
+f 79 95 96
+f 79 96 97
+f 79 97 98
+f 79 98 80
+f 80 98 99
+f 80 99 100
+f 80 100 81
+f 81 100 94
+f 81 94 93
+f 81 93 92
+f 81 92 82
+f 82 92 91
+f 82 91 83
+f 83 91 84
+f 85 90 86
+f 94 100 101
+f 97 99 98
+f 99 102 100
+f 100 102 101
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_16.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.11080842 -0.00254571 0.01495339
+v 0.10754693 -0.00254609 0.11662368
+v 0.12513925 -0.00254571 0.01495339
+v 0.11080842 -0.00444416 0.01495338
+v 0.10718011 -0.10261089 0.11662331
+v 0.10719688 -0.09367182 0.11662335
+v 0.12859148 -0.00254609 0.11662368
+v 0.12838815 -0.00254597 0.08337383
+v 0.12839235 -0.01338349 0.08337379
+v 0.12839444 -0.02230999 0.08337376
+v 0.12839864 -0.11161270 0.08337343
+v 0.12513925 -0.00263372 0.01495339
+v 0.11085243 -0.13097415 0.01495292
+v 0.10718011 -0.10267375 0.11662331
+v 0.12856632 -0.00254601 0.09407230
+v 0.12858728 -0.01545808 0.11662363
+v 0.12856003 -0.02231002 0.09220125
+v 0.12856213 -0.01338352 0.09220128
+v 0.12856423 -0.00444445 0.09220131
+v 0.12842589 -0.00254597 0.08524482
+v 0.12856423 -0.00254600 0.09220132
+v 0.12839654 -0.13097441 0.08337336
+v 0.12513715 -0.00444416 0.01495338
+v 0.12494012 -0.13097415 0.01495292
+v 0.10737505 -0.13097453 0.11662321
+v 0.10736247 -0.12946582 0.11662321
+v 0.10729121 -0.12031302 0.11662325
+v 0.10722623 -0.11161282 0.11662328
+v 0.12852649 -0.13097453 0.11662321
+v 0.12852230 -0.13097450 0.10984585
+v 0.12854117 -0.05804117 0.09220112
+v 0.12853488 -0.06695509 0.09220108
+v 0.12847619 -0.13097444 0.09220085
+v 0.12509942 -0.03123623 0.01495329
+v 0.12511619 -0.02010954 0.01495333
+v 0.12512876 -0.01117047 0.01495336
+v 0.12852021 -0.13097450 0.10835305
+v 0.12850554 -0.13097447 0.10101838
+v 0.12850135 -0.13097447 0.09953551
+f 1 2 7
+f 1 7 15
+f 1 15 21
+f 1 21 20
+f 1 20 8
+f 1 8 3
+f 1 3 12
+f 1 12 23
+f 1 23 36
+f 1 36 35
+f 1 35 34
+f 1 34 24
+f 1 24 13
+f 1 13 4
+f 1 4 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 14
+f 2 14 28
+f 2 28 27
+f 2 27 26
+f 2 26 25
+f 2 25 29
+f 2 29 16
+f 2 16 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 15
+f 8 20 9
+f 9 20 21
+f 9 21 10
+f 10 21 11
+f 11 22 12
+f 11 21 19
+f 11 19 22
+f 12 22 23
+f 13 24 22
+f 13 22 33
+f 13 33 39
+f 13 39 38
+f 13 38 37
+f 13 37 30
+f 13 30 29
+f 13 29 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 15 19 21
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 22
+f 17 22 18
+f 18 22 19
+f 22 31 32
+f 22 32 33
+f 22 24 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 30 37 31
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 33
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_17.obj

@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.02688201 -0.14190697 0.14385995
+v -0.02838158 -0.14190697 0.14386282
+v -0.02688201 -0.14190689 0.12154938
+v -0.02688201 0.17417739 0.14533065
+v -0.03947276 0.17417737 0.14875862
+v -0.04822615 0.17417737 0.14913535
+v -0.03071582 -0.14190697 0.14386569
+v -0.02703409 -0.14190689 0.12154938
+v -0.02688201 -0.13839035 0.12105475
+v -0.02688201 0.17805772 0.14533928
+v -0.03947276 0.18306977 0.14877591
+v -0.04822615 0.18306977 0.14919578
+v -0.06300613 0.22773385 0.14893425
+v -0.05697955 0.17417737 0.14864072
+v -0.06300613 -0.14190697 0.14385995
+v -0.06041017 -0.14190697 0.14386282
+v -0.05697955 -0.14190697 0.14386569
+v -0.04822615 -0.14190697 0.14387145
+v -0.03947276 -0.14190697 0.14387433
+v -0.03071582 -0.14190689 0.12156088
+v -0.03071582 -0.13839035 0.12109501
+v -0.02688201 -0.13337825 0.12088797
+v -0.02688201 0.18699053 0.14531920
+v -0.02688201 0.19592335 0.14526747
+v -0.03947276 0.19200259 0.14870980
+v -0.04822615 0.23666667 0.14912121
+v -0.04822615 0.22773385 0.14915280
+v -0.05697955 0.22773385 0.14905215
+v -0.06300613 0.23666667 0.14896016
+v -0.06300613 0.17417738 0.14824961
+v -0.06300613 -0.14190689 0.12247539
+v -0.04822615 -0.14190689 0.12184559
+v -0.05703260 -0.14190689 0.12204690
+v -0.04822615 -0.13839036 0.12149762
+v -0.04822615 -0.12945752 0.12106341
+v -0.03947276 -0.12945752 0.12091386
+v -0.03071582 -0.12945752 0.12079883
+v -0.02688201 -0.12945752 0.12077870
+v -0.02688201 0.23666669 0.14455440
+v -0.03947276 0.24559950 0.14581404
+v -0.04822615 0.24559950 0.14731810
+v -0.05697955 0.23666667 0.14904356
+v -0.06300613 0.23945568 0.14830161
+v -0.06300613 -0.13839036 0.12217344
+v -0.05697955 -0.13839036 0.12172482
+v -0.05697955 -0.12945753 0.12137687
+v -0.05697955 -0.09372624 0.12086799
+v -0.04822615 -0.09372624 0.12068394
+v -0.04822615 -0.08479343 0.12061783
+v -0.03947276 -0.08479343 0.12056606
+v -0.03071582 -0.08479343 0.12052580
+v -0.02688201 -0.08479343 0.12051142
+v -0.02688201 0.24568036 0.14271967
+v -0.03387766 0.26043366 0.14128757
+v -0.06300613 0.24559950 0.14668254
+v -0.03947276 0.26128247 0.14160679
+v -0.04822615 0.26112079 0.14147163
+v -0.06300613 -0.09372625 0.12151218
+v -0.06300613 -0.08758242 0.12144892
+v -0.06300613 -0.08479344 0.12143168
+v -0.05697955 -0.08479343 0.12081338
+v -0.06300613 0.24038542 0.11981666
+v -0.02688201 0.21880114 0.11982234
+v -0.02688201 0.25453235 0.13982663
+v -0.02688201 0.26338433 0.13601621
+v -0.03947276 0.26576912 0.13863034
+v -0.05697955 0.26023158 0.14109202
+v -0.06300613 0.24838851 0.14550060
+v -0.04822615 0.26556701 0.13888341
+v -0.05697955 0.26467777 0.13882588
+v -0.06300613 0.27102377 0.11981678
+v -0.02688201 0.24430615 0.11981668
+v -0.02688201 0.26536494 0.13378458
+v -0.03361948 0.26843687 0.13331009
+v -0.03947276 0.26884107 0.13421886
+v -0.04822615 0.26900275 0.13447479
+v -0.05697955 0.26908359 0.13441729
+v -0.06300613 0.26334392 0.13891505
+v -0.06300613 0.26006990 0.14047373
+v -0.06240488 0.25942318 0.14084469
+v -0.06300613 0.26908359 0.13428500
+v -0.06300613 0.27061954 0.12750670
+v -0.05697955 0.27061954 0.12750670
+v -0.04822615 0.27094293 0.11981678
+v -0.02688201 0.27045789 0.11981677
+v -0.02688201 0.26734552 0.13063845
+v -0.02688201 0.26916445 0.12684814
+v -0.03947276 0.27025578 0.12750670
+v -0.04822615 0.27053870 0.12750670
+v -0.04060097 0.27086209 0.11981677
+v -0.03184404 0.27066001 0.11981677
+v -0.02688201 0.26981116 0.12373651
+f 1 2 7
+f 1 7 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 31
+f 1 31 33
+f 1 33 32
+f 1 32 20
+f 1 20 8
+f 1 8 3
+f 1 3 9
+f 1 9 22
+f 1 22 38
+f 1 38 52
+f 1 52 63
+f 1 63 72
+f 1 72 85
+f 1 85 92
+f 1 92 87
+f 1 87 86
+f 1 86 73
+f 1 73 65
+f 1 65 64
+f 1 64 53
+f 1 53 39
+f 1 39 24
+f 1 24 23
+f 1 23 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 8 20 9
+f 9 21 22
+f 9 20 21
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 42
+f 12 42 28
+f 12 28 29
+f 12 29 13
+f 13 30 14
+f 13 29 43
+f 13 43 55
+f 13 55 68
+f 13 68 79
+f 13 79 78
+f 13 78 81
+f 13 81 82
+f 13 82 71
+f 13 71 62
+f 13 62 60
+f 13 60 59
+f 13 59 58
+f 13 58 44
+f 13 44 31
+f 13 31 15
+f 13 15 30
+f 14 30 15
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 24 39 25
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 28 42 29
+f 29 42 41
+f 29 41 43
+f 31 44 45
+f 31 45 33
+f 33 45 34
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 37
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 38 50 51
+f 38 51 52
+f 39 53 40
+f 40 53 54
+f 40 54 41
+f 41 55 43
+f 41 54 56
+f 41 56 57
+f 41 57 55
+f 44 46 45
+f 44 58 46
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 47 60 61
+f 47 61 49
+f 47 49 48
+f 49 61 62
+f 49 62 50
+f 50 62 51
+f 51 62 52
+f 52 62 63
+f 53 64 54
+f 54 64 65
+f 54 65 66
+f 54 66 56
+f 55 57 67
+f 55 67 68
+f 56 66 69
+f 56 69 57
+f 57 69 70
+f 57 70 67
+f 60 62 61
+f 62 71 84
+f 62 84 90
+f 62 90 91
+f 62 91 85
+f 62 85 72
+f 62 72 63
+f 65 73 74
+f 65 74 66
+f 66 74 75
+f 66 75 76
+f 66 76 77
+f 66 77 69
+f 67 70 78
+f 67 78 79
+f 67 79 80
+f 67 80 68
+f 68 80 79
+f 69 77 81
+f 69 81 70
+f 70 81 78
+f 71 82 83
+f 71 83 84
+f 73 86 74
+f 74 86 87
+f 74 87 75
+f 75 87 88
+f 75 88 89
+f 75 89 76
+f 76 89 83
+f 76 83 77
+f 77 83 82
+f 77 82 81
+f 83 89 84
+f 84 89 90
+f 85 91 88
+f 85 88 92
+f 87 92 88
+f 88 91 89
+f 89 91 90
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_18.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.11069524 0.21907583 0.00094992
+v 0.10724778 0.21907543 0.11002921
+v 0.12502820 0.21907583 0.00094992
+v 0.11081267 0.01342081 0.00094917
+v 0.10724778 0.21907530 0.14458926
+v 0.11082316 -0.00254566 0.00094911
+v 0.10724778 -0.00254609 0.11722723
+v 0.12840646 0.21907552 0.08337100
+v 0.12845469 0.12950278 0.08337068
+v 0.12510788 0.02235855 0.00094920
+v 0.10938462 0.21881497 0.14419557
+v 0.10961738 0.21907530 0.14415339
+v 0.10724778 -0.00254619 0.14330897
+v 0.10938462 -0.00254619 0.14328085
+v 0.11799698 -0.00254618 0.14197324
+v 0.12509111 -0.00254566 0.00094911
+v 0.12866858 0.21907549 0.09220083
+v 0.12866858 0.21881516 0.09220083
+v 0.12845049 0.11164897 0.08337061
+v 0.12510998 0.01342081 0.00094917
+v 0.11799068 0.21881498 0.14236774
+v 0.11799068 0.21907531 0.14236774
+v 0.12144443 -0.00254618 0.14094684
+v 0.12509740 0.00211846 0.00094913
+v 0.12838758 -0.00254597 0.08337019
+v 0.12866858 0.21907546 0.10125562
+v 0.12866858 0.21881513 0.10101660
+v 0.12866229 0.14737814 0.11867598
+v 0.12864971 0.15631597 0.10101637
+v 0.12856372 -0.00254600 0.09220002
+v 0.12844420 0.08487911 0.08337051
+v 0.12237550 -0.00254618 0.14066564
+v 0.12237969 0.02235803 0.14067980
+v 0.12238598 0.04914959 0.14067990
+v 0.12224968 0.21907531 0.14069458
+v 0.12842533 -0.00254597 0.08524021
+v 0.12863922 0.21907539 0.11867624
+v 0.12866229 0.15631590 0.11867601
+v 0.12842533 0.11164881 0.12749162
+v 0.12840855 -0.00254613 0.12749120
+v 0.12859309 -0.00254610 0.11867543
+v 0.12857631 -0.00254604 0.10289986
+v 0.12857422 -0.00254603 0.10101579
+v 0.12301088 -0.00254617 0.13973767
+v 0.12536791 -0.00254616 0.13626479
+v 0.12536791 0.00450425 0.13626482
+v 0.12536372 0.04914961 0.13626498
+v 0.12244680 0.21907531 0.14052585
+v 0.12236921 0.21907531 0.14063833
+v 0.12835193 0.21907536 0.12749201
+v 0.12840226 0.16523192 0.12749182
+v 0.12840855 0.15631587 0.12749178
+v 0.12841484 0.14737811 0.12749175
+v 0.12842323 0.12950262 0.12749169
+v 0.12842533 0.12058656 0.12749165
+v 0.12776267 -0.00254614 0.12936121
+v 0.12535323 0.12950259 0.13620904
+v 0.12534064 0.14737808 0.13622316
+v 0.12532387 0.17416964 0.13623732
+v 0.12529242 0.21907533 0.13623748
+v 0.12827015 0.21907536 0.12773104
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 35
+f 1 35 49
+f 1 49 48
+f 1 48 60
+f 1 60 61
+f 1 61 50
+f 1 50 37
+f 1 37 26
+f 1 26 17
+f 1 17 8
+f 1 8 3
+f 1 3 10
+f 1 10 20
+f 1 20 24
+f 1 24 16
+f 1 16 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 13
+f 2 13 5
+f 3 8 9
+f 3 9 10
+f 5 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 11
+f 6 16 25
+f 6 25 36
+f 6 36 30
+f 6 30 43
+f 6 43 42
+f 6 42 41
+f 6 41 40
+f 6 40 56
+f 6 56 45
+f 6 45 44
+f 6 44 32
+f 6 32 23
+f 6 23 15
+f 6 15 14
+f 6 14 13
+f 6 13 7
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 15 12
+f 12 21 22
+f 12 15 21
+f 15 23 21
+f 16 24 25
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 20
+f 20 31 25
+f 20 25 24
+f 21 23 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 25 31 36
+f 26 37 38
+f 26 38 28
+f 26 28 27
+f 28 38 55
+f 28 55 39
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 36 31
+f 32 44 33
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 39 45 56
+f 39 56 40
+f 39 55 46
+f 39 46 45
+f 46 55 47
+f 47 55 54
+f 47 54 57
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 48 59 60
+f 50 61 51
+f 51 61 60
+f 51 60 52
+f 52 60 53
+f 53 60 59
+f 53 59 54
+f 54 59 58
+f 54 58 57
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_19.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03313709 -0.00255086 0.01495339
+v 0.03231360 -0.00255095 0.03925471
+v 0.05261731 -0.00255086 0.01495339
+v 0.00730745 -0.02589087 0.01495330
+v 0.03205260 -0.00255099 0.04807247
+v 0.05263081 -0.00255089 0.02160488
+v 0.05263531 -0.00444691 0.01495338
+v 0.00667746 -0.03123383 0.01495329
+v 0.00773044 -0.02611244 0.01870371
+v 0.03227310 -0.00255102 0.05689978
+v 0.05261731 -0.00255089 0.02303633
+v 0.05264881 -0.00444694 0.02160487
+v 0.05256331 -0.00908915 0.01495337
+v 0.00698795 -0.03314019 0.01495328
+v 0.00816243 -0.03602551 0.01825038
+v 0.00757744 -0.03123385 0.01911882
+v 0.03374458 -0.00255104 0.06326020
+v 0.05255431 -0.00255091 0.02705872
+v 0.05255881 -0.00444696 0.02712074
+v 0.05251831 -0.01062975 0.02660063
+v 0.05254081 -0.01120164 0.02160485
+v 0.05253631 -0.01075851 0.01495336
+v 0.00796894 -0.03612854 0.01495327
+v 0.02569869 -0.05439867 0.01495320
+v 0.02589669 -0.05407924 0.01780657
+v 0.01607332 -0.03624194 0.02679617
+v 0.03472556 -0.01820379 0.06163783
+v 0.03427557 -0.01337607 0.06234404
+v 0.03378058 -0.00444709 0.06320294
+v 0.03933350 -0.00444709 0.06364669
+v 0.03933350 -0.00255104 0.06369441
+v 0.05224381 -0.00255092 0.03027472
+v 0.05213132 -0.00444698 0.03152962
+v 0.05205932 -0.01351506 0.02989773
+v 0.05239681 -0.01566870 0.02160483
+v 0.05236082 -0.01522557 0.01495334
+v 0.03057662 -0.05518182 0.01495320
+v 0.03057662 -0.05407409 0.01780179
+v 0.03735802 -0.01820379 0.06163783
+v 0.03990049 -0.01376764 0.06227246
+v 0.04382893 -0.01105237 0.06153766
+v 0.04392793 -0.00444709 0.06175717
+v 0.04392343 -0.00255104 0.06174763
+v 0.05214032 -0.00255092 0.03124334
+v 0.05092983 -0.02230492 0.03042734
+v 0.05170382 -0.02230489 0.02160481
+v 0.05159582 -0.02230486 0.01495332
+v 0.03268709 -0.05493966 0.01495320
+v 0.03504506 -0.05372887 0.01739144
+v 0.04319444 -0.01700844 0.06074557
+v 0.04552541 -0.02956457 0.03773727
+v 0.04635340 -0.03201704 0.03064202
+v 0.04779338 -0.03123386 0.02160478
+v 0.04875187 -0.02902864 0.01495329
+v 0.03511256 -0.05436775 0.01495320
+v 0.04331594 -0.03552063 0.03372441
+v 0.04778438 -0.03123383 0.01495329
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 31
+f 1 31 43
+f 1 43 44
+f 1 44 32
+f 1 32 18
+f 1 18 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 36
+f 1 36 47
+f 1 47 54
+f 1 54 57
+f 1 57 55
+f 1 55 48
+f 1 48 37
+f 1 37 24
+f 1 24 23
+f 1 23 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 11 18 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 12 18 19
+f 13 21 22
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 18 32 19
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 35 36
+f 24 37 25
+f 25 27 26
+f 25 37 38
+f 25 38 39
+f 25 39 27
+f 27 39 28
+f 28 39 30
+f 28 30 29
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 32 44 33
+f 33 42 41
+f 33 41 34
+f 33 44 43
+f 33 43 42
+f 34 41 45
+f 34 45 46
+f 34 46 35
+f 35 46 36
+f 36 46 47
+f 37 48 49
+f 37 49 38
+f 38 49 39
+f 39 50 40
+f 39 49 50
+f 40 50 41
+f 41 50 45
+f 45 51 52
+f 45 52 53
+f 45 53 46
+f 45 50 51
+f 46 53 54
+f 46 54 47
+f 48 55 49
+f 49 55 52
+f 49 52 56
+f 49 56 50
+f 50 56 51
+f 51 56 52
+f 52 55 53
+f 53 55 57
+f 53 57 54
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_2.obj

@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.10952154 0.25304380 0.00037801
+v -0.11876689 0.25136926 0.00037800
+v -0.11827395 0.25599268 0.08337730
+v -0.10599516 0.25349367 0.00040627
+v -0.10599516 0.24292158 0.00037797
+v -0.12178919 0.25036954 0.00037800
+v -0.11827395 0.25604264 0.09219138
+v -0.10599516 0.25616762 0.08337730
+v -0.10599516 0.25609267 0.07939401
+v -0.12463081 0.25231869 0.08337729
+v -0.10599516 0.22842558 0.00037792
+v -0.12289328 0.24919485 0.00037800
+v -0.11827395 0.25606759 0.10101959
+v -0.10599516 0.25621745 0.12419893
+v -0.12461074 0.25234365 0.09219137
+v -0.12751928 0.24562053 0.08337726
+v -0.12757505 0.24562050 0.09219134
+v -0.10599516 0.00088782 0.11911294
+v -0.11088214 0.00088826 0.00040534
+v -0.11094236 0.00088826 0.00037708
+v -0.12334829 0.24764528 0.00037799
+v -0.12457951 0.25234362 0.10101958
+v -0.11827395 0.25604258 0.10984779
+v -0.11827395 0.25594257 0.11867600
+v -0.10952154 0.25591753 0.12750421
+v -0.10599516 0.25569261 0.12750421
+v -0.12377877 0.24612071 0.00037798
+v -0.12467320 0.24029731 0.00037796
+v -0.12513490 0.23667332 0.00037795
+v -0.12842263 0.23667301 0.08337723
+v -0.12858546 0.23667298 0.09219131
+v -0.12859885 0.23667295 0.10101952
+v -0.12861892 0.23667288 0.11867593
+v -0.12754383 0.24562047 0.10101955
+v -0.10599516 0.00088773 0.14366242
+v -0.12512376 0.00088826 0.00037708
+v -0.12453491 0.25231860 0.10984778
+v -0.12749253 0.24562044 0.10984775
+v -0.12446799 0.25224358 0.11867599
+v -0.11827395 0.25519274 0.12750421
+v -0.10952154 0.25439294 0.13631828
+v -0.10599516 0.25421797 0.13631828
+v -0.12854308 0.14737260 0.08337690
+v -0.12850070 0.19203529 0.08337707
+v -0.12859885 0.22775043 0.09219128
+v -0.12868360 0.22775033 0.11867590
+v -0.12835795 0.23667285 0.12750414
+v -0.12742115 0.24562040 0.11867596
+v -0.10599516 0.23667279 0.14468030
+v -0.10952154 0.00088773 0.14360593
+v -0.12851409 0.00088795 0.08337636
+v -0.12851854 0.01343450 0.08337641
+v -0.12406204 0.25169370 0.12750419
+v -0.12689029 0.24562037 0.12750417
+v -0.12334829 0.25084392 0.13325311
+v -0.11796837 0.25214355 0.13624766
+v -0.11484793 0.25056896 0.14113495
+v -0.10952154 0.25129376 0.14174232
+v -0.10599516 0.25141873 0.14194007
+v -0.12860999 0.21882788 0.09219124
+v -0.12869029 0.00088792 0.09219044
+v -0.12868806 0.01343447 0.09219049
+v -0.12844940 0.21882775 0.12750407
+v -0.12842263 0.22775030 0.12750411
+v -0.12869029 0.21882778 0.11867586
+v -0.12857653 0.13844989 0.12750378
+v -0.12854977 0.16524252 0.12750388
+v -0.12853193 0.18308759 0.12750394
+v -0.12851854 0.19203513 0.12750398
+v -0.12849624 0.20095767 0.12750401
+v -0.12486502 0.23649785 0.13713749
+v -0.12452821 0.24562034 0.13503287
+v -0.12549624 0.22775027 0.13631819
+v -0.10599516 0.24562031 0.14394581
+v -0.10952154 0.24562031 0.14352207
+v -0.10952154 0.23667279 0.14421417
+v -0.11305016 0.00088773 0.14305503
+v -0.12858546 0.00088794 0.08692177
+v -0.12103305 0.24562033 0.13943991
+v -0.11665908 0.24562032 0.14181294
+v -0.12864122 0.20988032 0.10101942
+v -0.12877951 0.01343437 0.11867511
+v -0.12874829 0.00088786 0.10984685
+v -0.12563230 0.19203510 0.13631806
+v -0.12553193 0.21882772 0.13631815
+v -0.12560330 0.20095764 0.13631809
+v -0.12859215 0.11168227 0.12750368
+v -0.12858769 0.12060481 0.12750371
+v -0.12858323 0.12950236 0.12750375
+v -0.12570590 0.13844986 0.13631786
+v -0.12571483 0.12950233 0.13631783
+v -0.12569699 0.14737241 0.13631789
+v -0.12567468 0.16524249 0.13631796
+v -0.12565237 0.18308756 0.13631802
+v -0.12271260 0.23337370 0.14078175
+v -0.12246502 0.23932206 0.14061228
+v -0.12274829 0.22775025 0.14080997
+v -0.11903677 0.23649783 0.14201064
+v -0.11827395 0.22775025 0.14234962
+v -0.11827395 0.21882770 0.14234958
+v -0.11827395 0.00088774 0.14222166
+v -0.12877505 0.00088782 0.11867506
+v -0.12871706 0.00088781 0.12223459
+v -0.12863007 0.00088779 0.12750327
+v -0.12863230 0.01343434 0.12750332
+v -0.12277506 0.20988017 0.14083817
+v -0.12276168 0.21882770 0.14082407
+v -0.12572375 0.11168224 0.13631776
+v -0.12571929 0.12060478 0.13631779
+v -0.12280405 0.17416501 0.14086628
+v -0.12279513 0.19203508 0.14085223
+v -0.12280628 0.16524247 0.14086625
+v -0.12281298 0.13844984 0.14086615
+v -0.12281520 0.12950231 0.14086612
+v -0.12281520 0.10273468 0.14086602
+v -0.12281075 0.07594207 0.14086592
+v -0.12280628 0.05809698 0.14086585
+v -0.12276613 0.00088774 0.14082327
+v -0.12567691 0.00088776 0.13631735
+v -0.12572375 0.10273470 0.13631773
+v -0.12450145 0.00088775 0.13813949
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 36
+f 1 36 29
+f 1 29 28
+f 1 28 27
+f 1 27 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 7
+f 4 9 8
+f 4 8 14
+f 4 14 26
+f 4 26 42
+f 4 42 59
+f 4 59 74
+f 4 74 49
+f 4 49 35
+f 4 35 18
+f 4 18 11
+f 4 11 5
+f 6 12 10
+f 7 10 13
+f 7 13 8
+f 8 13 14
+f 10 15 13
+f 10 12 16
+f 10 16 17
+f 10 17 15
+f 11 18 19
+f 11 19 20
+f 12 21 16
+f 13 15 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 15 17 34
+f 15 34 22
+f 16 21 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 18 35 50
+f 18 50 77
+f 18 77 101
+f 18 101 118
+f 18 118 121
+f 18 121 119
+f 18 119 104
+f 18 104 103
+f 18 103 102
+f 18 102 83
+f 18 83 61
+f 18 61 78
+f 18 78 51
+f 18 51 36
+f 18 36 20
+f 18 20 19
+f 22 37 23
+f 22 34 38
+f 22 38 37
+f 23 37 24
+f 24 37 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 29 43 44
+f 29 44 30
+f 29 36 43
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 33
+f 33 47 48
+f 33 48 38
+f 33 38 34
+f 33 46 64
+f 33 64 47
+f 35 49 50
+f 36 51 52
+f 36 52 43
+f 37 38 48
+f 37 48 39
+f 39 53 40
+f 39 48 54
+f 39 54 53
+f 40 53 55
+f 40 55 56
+f 40 56 41
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 42
+f 43 60 44
+f 43 52 61
+f 43 61 62
+f 43 62 60
+f 44 60 45
+f 45 60 46
+f 46 63 64
+f 46 60 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 70
+f 46 70 63
+f 47 71 72
+f 47 72 54
+f 47 54 48
+f 47 64 73
+f 47 73 71
+f 49 74 75
+f 49 75 76
+f 49 76 50
+f 50 76 77
+f 51 78 52
+f 52 78 61
+f 53 54 55
+f 54 72 55
+f 55 57 56
+f 55 72 79
+f 55 79 57
+f 57 79 80
+f 57 80 75
+f 57 75 58
+f 58 75 74
+f 58 74 59
+f 60 81 65
+f 60 62 82
+f 60 82 81
+f 61 83 82
+f 61 82 62
+f 63 70 84
+f 63 84 64
+f 64 85 73
+f 64 84 86
+f 64 86 85
+f 65 81 82
+f 65 82 87
+f 65 87 88
+f 65 88 89
+f 65 89 66
+f 66 90 67
+f 66 89 91
+f 66 91 90
+f 67 90 92
+f 67 92 68
+f 68 92 93
+f 68 93 94
+f 68 94 69
+f 69 94 84
+f 69 84 70
+f 71 73 95
+f 71 95 96
+f 71 96 72
+f 72 96 79
+f 73 85 97
+f 73 97 95
+f 75 80 98
+f 75 98 76
+f 76 98 99
+f 76 99 100
+f 76 100 101
+f 76 101 77
+f 79 96 80
+f 80 96 98
+f 82 83 102
+f 82 102 103
+f 82 103 104
+f 82 104 105
+f 82 105 87
+f 84 94 106
+f 84 106 107
+f 84 107 97
+f 84 97 86
+f 85 86 97
+f 87 108 109
+f 87 109 88
+f 87 105 108
+f 88 109 91
+f 88 91 89
+f 90 110 111
+f 90 111 92
+f 90 91 110
+f 91 109 110
+f 92 111 93
+f 93 111 94
+f 94 111 106
+f 95 98 96
+f 95 97 99
+f 95 99 98
+f 97 107 99
+f 99 107 106
+f 99 106 111
+f 99 111 110
+f 99 110 112
+f 99 112 113
+f 99 113 114
+f 99 114 115
+f 99 115 100
+f 100 115 116
+f 100 116 117
+f 100 117 101
+f 101 117 118
+f 104 119 120
+f 104 120 105
+f 105 120 108
+f 108 120 115
+f 108 115 114
+f 108 114 113
+f 108 113 112
+f 108 112 110
+f 108 110 109
+f 115 120 116
+f 116 120 117
+f 117 120 119
+f 117 119 121
+f 117 121 118
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_20.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.04808885 -0.24394711 0.14754355
+v 0.04808885 -0.24558214 0.14730724
+v 0.04969858 -0.24394711 0.14751503
+v -0.00168496 -0.24161639 0.14359978
+v -0.02686570 -0.24161639 0.14395831
+v 0.04808885 -0.25451752 0.14473642
+v 0.05682737 -0.24558214 0.14699761
+v 0.05843710 -0.24394711 0.14722577
+v -0.02686570 -0.24166922 0.14395015
+v -0.02686570 -0.24558507 0.14332272
+v -0.02686570 -0.25076018 0.14236935
+v 0.03933755 -0.26223177 0.14220227
+v -0.00168496 -0.24161631 0.12287048
+v 0.06718839 -0.24394711 0.14679798
+v 0.07434274 -0.24394711 0.14643130
+v 0.08310682 -0.24394711 0.14597499
+v 0.09185812 -0.24394710 0.14542498
+v 0.10062219 -0.24394710 0.14472831
+v 0.10221914 -0.24394710 0.14452052
+v 0.10362446 -0.24394710 0.14433311
+v -0.02686570 -0.24161630 0.11952561
+v 0.06559145 -0.24558214 0.14655353
+v 0.04808885 -0.26211436 0.14210856
+v 0.05682737 -0.26169165 0.14183153
+v 0.09185812 -0.24558213 0.14520905
+v 0.08310682 -0.24558214 0.14566128
+v -0.02686570 -0.25338150 0.14160340
+v -0.02686570 -0.25723570 0.14042188
+v -0.02686570 -0.26111042 0.13831145
+v 0.03933755 -0.26669944 0.13926479
+v 0.04808885 -0.26658203 0.13942776
+v -0.01378347 -0.24161630 0.12032821
+v 0.10362446 -0.24394697 0.10808538
+v 0.10062219 -0.24558213 0.14463460
+v 0.10362446 -0.24558213 0.14423533
+v -0.02194709 -0.24751936 0.10592199
+v -0.02680182 -0.24765146 0.10592199
+v -0.02686570 -0.24765440 0.10592199
+v -0.02492381 -0.24161630 0.11955005
+v 0.10289625 -0.24394697 0.10808130
+v 0.07440662 -0.24394697 0.10808130
+v 0.05682737 -0.26615640 0.13921590
+v 0.06559145 -0.26559574 0.13901627
+v 0.06559145 -0.26112805 0.14151374
+v -0.02686570 -0.26376404 0.13653103
+v -0.02686570 -0.26759765 0.13120611
+v 0.03933755 -0.26907125 0.13484840
+v 0.04808885 -0.26928848 0.13501137
+v 0.07434274 -0.26915636 0.13440024
+v -0.01609585 -0.24161630 0.12011228
+v 0.10362446 -0.24752230 0.10808129
+v -0.00168496 -0.24744597 0.10592199
+v -0.02362070 -0.24161630 0.11957042
+v -0.02194709 -0.24161630 0.11960301
+v 0.10362446 -0.25154980 0.14216156
+v 0.10062219 -0.25168777 0.14235305
+v -0.01805053 -0.24748708 0.10592199
+v -0.02686570 -0.27160440 0.10592190
+v -0.00444449 -0.24744304 0.10592199
+v -0.00928645 -0.24744304 0.10592199
+v -0.01319579 -0.24744891 0.10592199
+v 0.07434274 -0.26447735 0.13881664
+v -0.02686570 -0.26862211 0.12920162
+v -0.02686570 -0.26942055 0.12733566
+v 0.04808885 -0.27108197 0.12750269
+v 0.05682737 -0.27102033 0.12750269
+v 0.06559145 -0.27095574 0.12750269
+v 0.07434274 -0.27088822 0.12750269
+v 0.08102439 -0.26872485 0.13349985
+v 0.10362446 -0.25602032 0.10808126
+v -0.00168496 -0.27154275 0.10592190
+v 0.08686285 -0.26737750 0.13120611
+v 0.10362446 -0.25416818 0.13632330
+v -0.02686570 -0.27159853 0.10985753
+v -0.02194709 -0.27159264 0.10592190
+v 0.06559145 -0.27156918 0.10808120
+v 0.05682737 -0.27157506 0.10808120
+v -0.02686570 -0.27126687 0.11868214
+v 0.05682737 -0.27151051 0.11868214
+v 0.06559145 -0.27148410 0.11868214
+v 0.07434274 -0.27142245 0.11868214
+v 0.04808885 -0.27152521 0.11868214
+v 0.08310682 -0.27065925 0.11868215
+v 0.08360506 -0.26950567 0.12795492
+v 0.08875364 -0.26860741 0.12532710
+v 0.10362446 -0.25617888 0.12141596
+v 0.08925189 -0.26890676 0.10808121
+v 0.08310682 -0.27067096 0.10808121
+v 0.07434274 -0.27149581 0.10808120
+v 0.10362446 -0.25552431 0.13054614
+v 0.05682737 -0.27156918 0.10985753
+v 0.06559145 -0.27156330 0.10985753
+v 0.07434274 -0.27148994 0.10985753
+v 0.08931577 -0.26892443 0.11868215
+v 0.10362446 -0.25614074 0.12705866
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 6
+f 3 8 4
+f 4 13 32
+f 4 32 50
+f 4 50 54
+f 4 54 53
+f 4 53 39
+f 4 39 21
+f 4 21 5
+f 4 8 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 33
+f 4 33 13
+f 5 21 38
+f 5 38 58
+f 5 58 74
+f 5 74 78
+f 5 78 64
+f 5 64 63
+f 5 63 46
+f 5 46 45
+f 5 45 29
+f 5 29 28
+f 5 28 27
+f 5 27 11
+f 5 11 10
+f 5 10 9
+f 6 22 7
+f 6 12 23
+f 6 23 24
+f 6 24 25
+f 6 25 26
+f 6 26 22
+f 7 22 14
+f 7 14 8
+f 11 27 12
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 23
+f 13 33 32
+f 14 22 26
+f 14 26 15
+f 15 26 25
+f 15 25 16
+f 16 25 17
+f 17 25 34
+f 17 34 18
+f 18 34 19
+f 19 34 35
+f 19 35 20
+f 20 35 55
+f 20 55 73
+f 20 73 90
+f 20 90 95
+f 20 95 86
+f 20 86 70
+f 20 70 51
+f 20 51 33
+f 21 36 37
+f 21 37 38
+f 21 39 33
+f 21 33 40
+f 21 40 41
+f 21 41 36
+f 23 31 42
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 25 44 34
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 31 49 42
+f 32 33 50
+f 33 51 52
+f 33 52 40
+f 33 39 53
+f 33 53 54
+f 33 54 50
+f 34 55 35
+f 34 44 56
+f 34 56 55
+f 36 57 61
+f 36 61 60
+f 36 60 59
+f 36 59 52
+f 36 52 71
+f 36 71 75
+f 36 75 58
+f 36 58 38
+f 36 38 37
+f 36 41 57
+f 40 52 59
+f 40 59 60
+f 40 60 41
+f 41 60 61
+f 41 61 57
+f 42 49 43
+f 43 49 62
+f 43 62 44
+f 44 62 55
+f 44 55 56
+f 46 63 47
+f 47 63 64
+f 47 64 48
+f 48 64 65
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 49 68 69
+f 49 69 62
+f 51 70 71
+f 51 71 52
+f 55 62 69
+f 55 69 72
+f 55 72 73
+f 58 75 76
+f 58 76 77
+f 58 77 74
+f 64 78 65
+f 65 79 80
+f 65 80 81
+f 65 81 66
+f 65 78 82
+f 65 82 79
+f 66 81 67
+f 67 81 68
+f 68 81 83
+f 68 83 84
+f 68 84 69
+f 69 84 85
+f 69 85 72
+f 70 86 87
+f 70 87 71
+f 71 87 88
+f 71 88 89
+f 71 89 76
+f 71 76 75
+f 72 85 73
+f 73 85 90
+f 74 77 91
+f 74 91 82
+f 74 82 78
+f 76 89 93
+f 76 93 92
+f 76 92 91
+f 76 91 77
+f 79 92 80
+f 79 82 92
+f 80 92 81
+f 81 93 83
+f 81 92 93
+f 82 91 92
+f 83 88 94
+f 83 94 85
+f 83 85 84
+f 83 93 89
+f 83 89 88
+f 85 94 95
+f 85 95 90
+f 86 95 94
+f 86 94 87
+f 87 94 88
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_21.obj

@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v 0.12052882 -0.23662613 -0.12907187
+v 0.11981022 -0.21879923 -0.12907180
+v 0.11838972 -0.24556273 -0.12907190
+v 0.12047868 -0.23662610 -0.13725732
+v 0.11997733 0.21876998 -0.13725784
+v 0.11994391 0.21876998 -0.13565671
+v 0.10726531 -0.21879923 -0.12907180
+v 0.11494712 -0.25102656 -0.12907192
+v 0.11823374 -0.24556270 -0.13725735
+v 0.11548746 -0.24472920 -0.14587487
+v 0.11721990 -0.23662606 -0.14607661
+v 0.11748172 -0.21875286 -0.14607874
+v 0.11757085 -0.20976996 -0.14607871
+v 0.11760985 -0.20087967 -0.14607868
+v 0.11763770 -0.19194307 -0.14607865
+v 0.11784381 -0.09373310 -0.14607828
+v 0.11785495 -0.08479650 -0.14607825
+v 0.11784938 -0.06692331 -0.14607819
+v 0.11780482 -0.00251497 -0.14607795
+v 0.11996062 0.21876998 -0.13732144
+v 0.10241335 0.21876998 -0.13565671
+v 0.06511288 -0.22884712 -0.12907184
+v 0.06361997 0.21876998 -0.13574884
+v 0.11482456 -0.25093392 -0.13725737
+v 0.11455160 -0.25121177 -0.12907192
+v 0.11435664 -0.25056348 -0.14279767
+v 0.11379958 -0.24116381 -0.15051370
+v 0.11390542 -0.23662605 -0.15055975
+v 0.11405583 -0.22768946 -0.15062989
+v 0.11418395 -0.21879915 -0.15068689
+v 0.11747615 -0.21879916 -0.14608970
+v 0.11427308 -0.20976995 -0.15072853
+v 0.11431207 -0.20087966 -0.15074386
+v 0.11433435 -0.19194306 -0.15075918
+v 0.11452932 -0.09373309 -0.15087725
+v 0.11454604 -0.08479649 -0.15088599
+v 0.11454604 -0.07585990 -0.15088816
+v 0.11454046 -0.06692330 -0.15088374
+v 0.11449033 0.00447688 -0.15085495
+v 0.11779367 0.00447687 -0.14607792
+v 0.11777696 0.01336717 -0.14607789
+v 0.11722548 0.21877002 -0.14607714
+v 0.06511288 -0.25283240 -0.12907193
+v 0.06361997 0.21877003 -0.15088708
+v 0.06361997 -0.00251501 -0.13580448
+v 0.10937655 -0.25329541 -0.13725738
+v 0.10937655 -0.25334173 -0.12907193
+v 0.10937655 -0.24616459 -0.14875907
+v 0.10937655 -0.25158215 -0.14434833
+v 0.10937655 -0.24167314 -0.15057731
+v 0.10061963 -0.23662605 -0.15099183
+v 0.10937655 -0.23662605 -0.15078126
+v 0.10937655 -0.22768946 -0.15093257
+v 0.10061963 -0.24676655 -0.14958814
+v 0.10937655 -0.21879915 -0.15100053
+v 0.10937655 -0.20976995 -0.15104437
+v 0.10937655 -0.09373308 -0.15133126
+v 0.10937655 -0.08479648 -0.15135317
+v 0.10937655 -0.07585989 -0.15136630
+v 0.10937655 -0.05798669 -0.15137939
+v 0.10937655 -0.04909640 -0.15137717
+v 0.11447919 0.01336718 -0.15085054
+v 0.11400012 0.21877003 -0.15061072
+v 0.06511288 -0.25260085 -0.13725738
+v 0.10061963 -0.25426779 -0.13725738
+v 0.10061963 -0.25403628 -0.12907193
+v 0.06361997 -0.00251495 -0.15116643
+v 0.06560866 0.21877003 -0.15091120
+v 0.06560866 0.20983343 -0.15092878
+v 0.06361997 0.21187078 -0.15090026
+v 0.10061963 -0.25218409 -0.14517303
+v 0.10061963 -0.24227510 -0.15069136
+v 0.09187386 -0.23662605 -0.15107079
+v 0.10061963 -0.22768945 -0.15109707
+v 0.09187386 -0.24213617 -0.15077910
+v 0.06511288 -0.24621091 -0.14810327
+v 0.06511288 -0.24176575 -0.15072427
+v 0.06560309 -0.24176575 -0.15072865
+v 0.10061407 -0.06692329 -0.15146716
+v 0.10061407 -0.05798669 -0.15147808
+v 0.10061407 -0.04909640 -0.15147805
+v 0.10937655 0.00447689 -0.15133529
+v 0.10937655 0.01336719 -0.15132649
+v 0.10937655 0.21877003 -0.15085856
+v 0.10937655 0.02230379 -0.15131110
+v 0.10937655 0.04017698 -0.15127155
+v 0.06511288 -0.25121171 -0.14369035
+v 0.06361997 0.00447689 -0.15117079
+v 0.06511288 -0.08479648 -0.15127639
+v 0.06511288 -0.22768946 -0.15103567
+v 0.06511288 -0.23662605 -0.15099402
+v 0.10061407 0.21877003 -0.15096603
+v 0.10061407 0.05805018 -0.15136142
+v 0.10061407 0.04911358 -0.15138119
+v 0.06560866 0.19196023 -0.15096173
+v 0.06560866 0.17413334 -0.15099251
+v 0.06560866 0.04911358 -0.15119915
+v 0.06560866 0.03128669 -0.15122554
+v 0.06361997 0.03128669 -0.15116412
+v 0.08311694 -0.23662605 -0.15107518
+v 0.08311694 -0.24185836 -0.15078788
+v 0.06560309 -0.23662605 -0.15100279
+v 0.08312250 -0.07585989 -0.15141454
+v 0.09187386 -0.06692329 -0.15144741
+v 0.09187386 -0.12049657 -0.15133794
+v 0.08312250 -0.10266967 -0.15135982
+v 0.08312250 -0.06692329 -0.15142329
+v 0.10061407 -0.00251495 -0.15143840
+v 0.10061407 0.01336719 -0.15142299
+v 0.10061407 0.03128669 -0.15140318
+v 0.06511288 -0.07585989 -0.15128075
+v 0.06361997 0.01336719 -0.15117295
+v 0.06560866 -0.07585989 -0.15130049
+v 0.06560866 -0.08479648 -0.15129394
+v 0.06560309 -0.22768946 -0.15104444
+v 0.07436558 0.03128669 -0.15127159
+v 0.08312250 0.04911358 -0.15129126
+v 0.09187386 0.06698677 -0.15130874
+v 0.07436558 0.10273317 -0.15115946
+v 0.07436558 0.08485997 -0.15119024
+v 0.07436558 0.02230379 -0.15128258
+v 0.08312250 -0.05798669 -0.15141447
+v 0.06560866 0.02230379 -0.15123434
+v 0.06361997 0.02434114 -0.15117072
+v 0.07437115 -0.08479648 -0.15136194
+v 0.07437115 -0.07585989 -0.15137288
+v 0.07437115 -0.06692329 -0.15137066
+v 0.09187386 0.00447689 -0.15139232
+v 0.06511288 -0.07535054 -0.15128075
+v 0.06361997 0.01540455 -0.15117294
+f 1 2 7
+f 1 7 22
+f 1 22 43
+f 1 43 66
+f 1 66 47
+f 1 47 25
+f 1 25 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 21
+f 2 21 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 5
+f 5 20 42
+f 5 42 63
+f 5 63 84
+f 5 84 92
+f 5 92 68
+f 5 68 44
+f 5 44 23
+f 5 23 21
+f 5 21 6
+f 7 21 23
+f 7 23 22
+f 8 24 9
+f 8 25 24
+f 9 24 26
+f 9 26 10
+f 10 26 27
+f 10 27 11
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 12
+f 12 31 13
+f 13 31 32
+f 13 32 33
+f 13 33 14
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 15 35 36
+f 15 36 16
+f 16 36 17
+f 17 36 37
+f 17 37 18
+f 18 37 19
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 20
+f 20 40 41
+f 20 41 42
+f 22 23 43
+f 23 44 70
+f 23 70 99
+f 23 99 124
+f 23 124 130
+f 23 130 112
+f 23 112 88
+f 23 88 67
+f 23 67 45
+f 23 45 43
+f 24 25 46
+f 24 46 26
+f 25 47 46
+f 26 48 27
+f 26 46 49
+f 26 49 48
+f 27 50 51
+f 27 51 52
+f 27 52 53
+f 27 53 28
+f 27 48 54
+f 27 54 50
+f 28 53 29
+f 29 53 55
+f 29 55 30
+f 30 55 32
+f 30 32 31
+f 32 56 57
+f 32 57 58
+f 32 58 33
+f 32 55 56
+f 33 58 34
+f 34 58 59
+f 34 59 35
+f 35 59 36
+f 36 59 60
+f 36 60 37
+f 37 60 61
+f 37 61 39
+f 37 39 38
+f 39 61 62
+f 39 62 40
+f 40 62 41
+f 41 62 42
+f 42 62 63
+f 43 64 65
+f 43 65 66
+f 43 45 67
+f 43 67 64
+f 44 68 69
+f 44 69 70
+f 46 47 65
+f 46 65 49
+f 47 66 65
+f 48 49 54
+f 49 65 71
+f 49 71 54
+f 50 72 51
+f 50 54 72
+f 51 73 74
+f 51 74 53
+f 51 53 52
+f 51 72 75
+f 51 75 73
+f 53 74 55
+f 54 76 77
+f 54 77 78
+f 54 78 75
+f 54 75 72
+f 54 71 76
+f 55 74 56
+f 56 74 57
+f 57 74 58
+f 58 74 79
+f 58 79 59
+f 59 79 80
+f 59 80 60
+f 60 80 81
+f 60 81 61
+f 61 81 82
+f 61 82 62
+f 62 82 83
+f 62 83 63
+f 63 83 85
+f 63 85 86
+f 63 86 84
+f 64 67 87
+f 64 87 65
+f 65 87 71
+f 67 88 89
+f 67 89 90
+f 67 90 91
+f 67 91 77
+f 67 77 76
+f 67 76 87
+f 68 92 93
+f 68 93 94
+f 68 94 69
+f 69 95 70
+f 69 94 95
+f 70 95 96
+f 70 96 97
+f 70 97 98
+f 70 98 99
+f 71 87 76
+f 73 100 74
+f 73 75 100
+f 74 100 79
+f 75 78 101
+f 75 101 100
+f 77 91 102
+f 77 102 78
+f 78 102 100
+f 78 100 101
+f 79 103 104
+f 79 104 80
+f 79 100 105
+f 79 105 106
+f 79 106 103
+f 80 104 107
+f 80 107 81
+f 81 108 82
+f 81 107 108
+f 82 108 109
+f 82 109 83
+f 83 109 110
+f 83 110 94
+f 83 94 85
+f 84 86 93
+f 84 93 92
+f 85 94 93
+f 85 93 86
+f 88 111 89
+f 88 112 111
+f 89 111 113
+f 89 113 114
+f 89 114 90
+f 90 115 102
+f 90 102 91
+f 90 114 115
+f 94 110 116
+f 94 116 117
+f 94 117 118
+f 94 118 95
+f 95 118 96
+f 96 118 119
+f 96 119 120
+f 96 120 97
+f 97 120 117
+f 97 117 116
+f 97 116 98
+f 98 116 121
+f 98 121 122
+f 98 122 107
+f 98 107 123
+f 98 123 99
+f 99 123 124
+f 100 102 115
+f 100 115 106
+f 100 106 105
+f 103 125 126
+f 103 126 107
+f 103 107 104
+f 103 106 115
+f 103 115 125
+f 107 126 127
+f 107 127 123
+f 107 122 109
+f 107 109 108
+f 109 122 128
+f 109 128 110
+f 110 128 116
+f 111 129 113
+f 111 112 130
+f 111 130 129
+f 113 127 126
+f 113 126 114
+f 113 129 124
+f 113 124 123
+f 113 123 127
+f 114 125 115
+f 114 126 125
+f 116 128 121
+f 117 120 118
+f 118 120 119
+f 121 128 122
+f 124 129 130
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_22.obj

@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 -0.24159387 0.11952627
+v -0.02493370 -0.24159387 0.11954648
+v -0.02687848 -0.24159396 0.14395662
+v -0.02687848 0.24433741 0.11983382
+v -0.01320342 0.24433741 0.11959124
+v -0.02362979 -0.24159387 0.11956923
+v -0.02682671 -0.24159396 0.14395662
+v -0.02687848 -0.23659955 0.14453783
+v -0.02687848 0.24433732 0.14298807
+v -0.00445069 0.24433741 0.11985909
+v -0.00445069 0.19201512 0.11980836
+v -0.00169744 -0.21876232 0.11995594
+v -0.02195368 -0.24159387 0.11960208
+v -0.00169744 -0.24159396 0.14360286
+v -0.00169744 -0.23659955 0.14439632
+v -0.02687848 -0.19198291 0.14528597
+v -0.02687848 0.23667924 0.14455221
+v -0.00169744 0.24433733 0.14278340
+v -0.00169744 0.24433741 0.12003850
+v -0.00169744 0.19201512 0.11991197
+v -0.00169744 -0.22770468 0.12020354
+v -0.01609717 -0.24159387 0.12010999
+v -0.00169744 -0.24159388 0.12287193
+v -0.00169744 0.23667924 0.14433489
+v -0.02687848 0.17807829 0.14534040
+v -0.02687848 0.19591542 0.14526718
+v -0.01379252 -0.24159387 0.12032730
+v -0.02687848 0.18697306 0.14532021
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 27
+f 1 27 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 25
+f 1 25 28
+f 1 28 26
+f 1 26 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 18
+f 4 18 19
+f 4 19 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 18
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 21 13
+f 12 20 19
+f 12 19 18
+f 12 18 24
+f 12 24 15
+f 12 15 14
+f 12 14 23
+f 12 23 21
+f 13 21 22
+f 15 24 25
+f 15 25 16
+f 17 24 18
+f 17 26 24
+f 21 23 27
+f 21 27 22
+f 24 26 28
+f 24 28 25
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_23.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.06300967 -0.21877028 -0.13567541
+v -0.10292534 -0.21877028 -0.13556559
+v -0.06300967 -0.21877023 -0.15073724
+v -0.06300967 -0.02772609 -0.13564333
+v -0.12006006 -0.21877028 -0.13556559
+v -0.10282451 -0.08787957 -0.13556511
+v -0.06574316 -0.21877023 -0.15078588
+v -0.06574316 -0.08483105 -0.15140668
+v -0.06300967 -0.08762189 -0.15127648
+v -0.06300967 -0.00445472 -0.13564325
+v -0.12011047 -0.21877028 -0.13727258
+v -0.12016088 -0.00617216 -0.13556481
+v -0.12022810 -0.00445472 -0.13725612
+v -0.10282451 -0.07894886 -0.13556508
+v -0.10076319 -0.21877023 -0.15081725
+v -0.10076319 -0.08483105 -0.15151337
+v -0.09200258 -0.08483105 -0.15148827
+v -0.07449817 -0.08483105 -0.15143493
+v -0.09200258 -0.07590034 -0.15151805
+v -0.07449817 -0.07590034 -0.15146157
+v -0.06574316 -0.07590034 -0.15142548
+v -0.06300967 -0.07869118 -0.15129998
+v -0.06300967 -0.08483105 -0.15128588
+v -0.06300967 0.00054733 -0.13564480
+v -0.10291973 0.00054733 -0.13556479
+v -0.11730416 -0.21877024 -0.14608847
+v -0.11771866 -0.08483107 -0.14608013
+v -0.12016088 0.00054733 -0.13556479
+v -0.12022810 0.00054733 -0.13725610
+v -0.10951820 -0.21877023 -0.15077175
+v -0.10951820 -0.08483105 -0.15133922
+v -0.10076319 -0.07590034 -0.15154001
+v -0.09200258 -0.06696963 -0.15154312
+v -0.09200258 -0.05803892 -0.15156505
+v -0.07449817 -0.06696963 -0.15147880
+v -0.07449817 -0.05803892 -0.15149131
+v -0.06574316 -0.06696963 -0.15143487
+v -0.06300967 -0.06976047 -0.15130623
+v -0.06300967 0.00054739 -0.15128557
+v -0.11410015 -0.21877023 -0.15060388
+v -0.11447545 -0.08483106 -0.15082304
+v -0.11771866 -0.07590036 -0.14608010
+v -0.11766265 0.00054737 -0.14607982
+v -0.11770746 -0.04017752 -0.14607997
+v -0.11771307 -0.04910823 -0.14608000
+v -0.10951820 -0.07590034 -0.15135017
+v -0.10076319 -0.05803892 -0.15158232
+v -0.10076319 -0.06696963 -0.15156195
+v -0.09200258 -0.04910821 -0.15157757
+v -0.08325318 -0.05803892 -0.15152896
+v -0.08325318 -0.04910821 -0.15154149
+v -0.07449817 -0.04910821 -0.15150070
+v -0.06574316 -0.05803892 -0.15143953
+v -0.06300967 -0.06082977 -0.15130932
+v -0.06574316 0.00054739 -0.15140325
+v -0.06300967 -0.00445466 -0.15129187
+v -0.11447545 -0.07590035 -0.15082301
+v -0.10951820 -0.04910821 -0.15136734
+v -0.10951820 -0.05803892 -0.15136422
+v -0.10951820 -0.06696963 -0.15135798
+v -0.11583099 0.00054738 -0.14869682
+v -0.11444744 -0.04017751 -0.15081346
+v -0.11445864 -0.04910822 -0.15081821
+v -0.10076319 -0.04910821 -0.15159169
+v -0.09200258 -0.04017750 -0.15156969
+v -0.08325318 -0.04017750 -0.15154302
+v -0.07449817 -0.04017750 -0.15150223
+v -0.06574316 -0.04910821 -0.15144108
+v -0.06300967 -0.01338537 -0.15129504
+v -0.07449817 -0.00445466 -0.15146445
+v -0.07449817 0.00054739 -0.15145502
+v -0.06574316 -0.01338537 -0.15141898
+v -0.07449817 -0.02231608 -0.15148962
+v -0.06574316 -0.03124679 -0.15143159
+v -0.11438022 0.00054738 -0.15076625
+v -0.10951820 -0.04017750 -0.15135162
+v -0.10076319 0.00054739 -0.15151150
+v -0.09689822 0.00054739 -0.15151306
+v -0.09200258 0.00054739 -0.15151306
+v -0.08814320 0.00054739 -0.15150678
+v -0.08325318 0.00054739 -0.15149580
+v -0.07449817 -0.03124679 -0.15149749
+v -0.07938820 0.00054739 -0.15147855
+v -0.10951820 0.00054739 -0.15127458
+v -0.10565322 0.00054739 -0.15137970
+f 1 2 5
+f 1 5 11
+f 1 11 26
+f 1 26 40
+f 1 40 30
+f 1 30 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 23
+f 1 23 22
+f 1 22 38
+f 1 38 54
+f 1 54 69
+f 1 69 56
+f 1 56 39
+f 1 39 24
+f 1 24 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 25
+f 2 25 28
+f 2 28 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 4 10 14
+f 4 14 6
+f 5 12 13
+f 5 13 11
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 10 24 25
+f 10 25 14
+f 11 13 27
+f 11 27 26
+f 12 28 29
+f 12 29 13
+f 13 29 42
+f 13 42 27
+f 15 30 16
+f 16 31 32
+f 16 32 19
+f 16 19 17
+f 16 30 31
+f 17 19 18
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 52
+f 21 52 37
+f 21 37 22
+f 22 37 38
+f 24 39 55
+f 24 55 71
+f 24 71 83
+f 24 83 81
+f 24 81 80
+f 24 80 79
+f 24 79 78
+f 24 78 77
+f 24 77 85
+f 24 85 84
+f 24 84 75
+f 24 75 61
+f 24 61 43
+f 24 43 29
+f 24 29 28
+f 24 28 25
+f 26 27 41
+f 26 41 40
+f 27 42 57
+f 27 57 41
+f 29 43 44
+f 29 44 45
+f 29 45 42
+f 30 40 31
+f 31 41 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 31 40 41
+f 32 48 34
+f 32 34 33
+f 34 48 47
+f 34 47 49
+f 34 49 51
+f 34 51 50
+f 34 50 35
+f 35 50 51
+f 35 51 36
+f 36 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 54
+f 39 56 55
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 46
+f 42 45 57
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 44 63 57
+f 44 57 45
+f 46 60 64
+f 46 64 47
+f 47 64 49
+f 49 64 65
+f 49 65 66
+f 49 66 51
+f 51 66 67
+f 51 67 52
+f 52 67 68
+f 52 68 53
+f 53 68 54
+f 54 68 69
+f 55 70 71
+f 55 56 72
+f 55 72 73
+f 55 73 70
+f 56 74 72
+f 56 69 68
+f 56 68 74
+f 57 63 58
+f 58 64 59
+f 58 63 62
+f 58 62 75
+f 58 75 76
+f 58 76 77
+f 58 77 64
+f 59 64 60
+f 61 75 62
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 65 79 80
+f 65 80 81
+f 65 81 66
+f 66 73 82
+f 66 82 67
+f 66 81 73
+f 67 82 74
+f 67 74 68
+f 70 81 83
+f 70 83 71
+f 70 73 81
+f 72 74 82
+f 72 82 73
+f 75 84 76
+f 76 84 85
+f 76 85 77
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_24.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.06301352 0.00054733 -0.13564397
+v -0.10243992 0.00054733 -0.13570337
+v -0.06301352 0.00054739 -0.15128596
+v -0.06301352 0.21904180 -0.13554628
+v -0.10243992 0.21931519 -0.13554627
+v -0.10243992 0.00054739 -0.15146569
+v -0.06574230 0.00054739 -0.15140318
+v -0.06301352 0.00449923 -0.15128751
+v -0.06301352 0.25217264 -0.13554615
+v -0.10243992 0.25406157 -0.13554615
+v -0.10076096 0.00054739 -0.15151101
+v -0.10243992 0.00621418 -0.15146723
+v -0.07449600 0.00054739 -0.15145632
+v -0.06574230 0.00449923 -0.15139846
+v -0.06301352 0.02236950 -0.15127337
+v -0.06301352 0.01342194 -0.15128277
+v -0.06301352 0.25217264 -0.13725444
+v -0.10076096 0.25445924 -0.13725444
+v -0.10076096 0.25440952 -0.13554615
+v -0.10243220 0.25413613 -0.13554615
+v -0.10243992 0.25413613 -0.13556490
+v -0.09689745 0.00054739 -0.15151258
+v -0.10076096 0.00449923 -0.15151099
+v -0.10243992 0.02408445 -0.15146404
+v -0.07939005 0.00054739 -0.15147821
+v -0.08324970 0.00449923 -0.15149068
+v -0.08324970 0.01342194 -0.15147816
+v -0.08324970 0.02236950 -0.15146405
+v -0.08324970 0.03129221 -0.15144996
+v -0.07449600 0.00449923 -0.15145005
+v -0.06574230 0.03129221 -0.15135930
+v -0.06574230 0.02236950 -0.15137340
+v -0.06574230 0.01342194 -0.15138749
+v -0.06301352 0.03129221 -0.15126240
+v -0.06301352 0.25107907 -0.14345310
+v -0.10243992 0.25416098 -0.13725444
+v -0.10076096 0.25232180 -0.14487381
+v -0.10243992 0.25217267 -0.14467063
+v -0.09200726 0.00054739 -0.15151258
+v -0.10076096 0.01342194 -0.15150784
+v -0.10243992 0.04192986 -0.15145773
+v -0.08324970 0.00054739 -0.15149539
+v -0.09200726 0.04916247 -0.15146082
+v -0.09200726 0.03129221 -0.15148434
+v -0.10076096 0.07595545 -0.15145604
+v -0.09200726 0.06700789 -0.15143262
+v -0.08324970 0.05808518 -0.15140610
+v -0.07449600 0.03129221 -0.15140620
+v -0.06301352 0.04021492 -0.15124986
+v -0.07449600 0.04916247 -0.15137643
+v -0.06574230 0.04021492 -0.15134207
+v -0.06301352 0.23668843 -0.15090998
+v -0.06301352 0.24618278 -0.14786376
+v -0.10076096 0.24660532 -0.14928759
+v -0.10243992 0.24754978 -0.14823886
+v -0.08813989 0.00054739 -0.15150633
+v -0.09200726 0.00449923 -0.15151099
+v -0.10076096 0.02236950 -0.15150312
+v -0.10243992 0.05087743 -0.15145144
+v -0.10076096 0.04021492 -0.15149368
+v -0.09200726 0.01342194 -0.15150315
+v -0.09200726 0.02236950 -0.15149375
+v -0.10076096 0.06700789 -0.15146700
+v -0.10243992 0.07767040 -0.15142945
+v -0.10243992 0.08487816 -0.15141381
+v -0.10076096 0.08487816 -0.15143568
+v -0.09200726 0.07595545 -0.15141384
+v -0.08324970 0.06700789 -0.15138886
+v -0.07449600 0.05808518 -0.15135920
+v -0.06574230 0.04916247 -0.15132329
+v -0.06574230 0.23668843 -0.15091779
+v -0.06301352 0.24170902 -0.15070052
+v -0.10243992 0.24630707 -0.14915945
+v -0.10076096 0.24213153 -0.15071303
+v -0.10243992 0.24203212 -0.15068958
+v -0.10076096 0.04916247 -0.15148584
+v -0.10243992 0.06872284 -0.15143888
+v -0.10243992 0.23666358 -0.15087872
+v -0.10076096 0.23668843 -0.15092248
+v -0.09200726 0.23668843 -0.15095687
+v -0.08324970 0.23668843 -0.15095843
+v -0.07449600 0.23668843 -0.15094124
+v -0.08324970 0.24175872 -0.15072866
+v -0.09200726 0.24195756 -0.15072866
+v -0.10243992 0.23805543 -0.15084277
+f 1 2 6
+f 1 6 11
+f 1 11 22
+f 1 22 39
+f 1 39 56
+f 1 56 42
+f 1 42 25
+f 1 25 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 15
+f 1 15 34
+f 1 34 49
+f 1 49 52
+f 1 52 72
+f 1 72 53
+f 1 53 35
+f 1 35 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 21
+f 2 21 36
+f 2 36 38
+f 2 38 55
+f 2 55 73
+f 2 73 75
+f 2 75 85
+f 2 85 78
+f 2 78 65
+f 2 65 64
+f 2 64 77
+f 2 77 59
+f 2 59 41
+f 2 41 24
+f 2 24 12
+f 2 12 6
+f 3 7 8
+f 4 9 19
+f 4 19 20
+f 4 20 10
+f 4 10 5
+f 6 12 11
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 9 18 19
+f 10 20 21
+f 11 12 23
+f 11 23 22
+f 12 24 23
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 14
+f 14 33 34
+f 14 34 15
+f 17 35 18
+f 18 36 21
+f 18 21 19
+f 18 35 37
+f 18 37 38
+f 18 38 36
+f 19 21 20
+f 22 23 40
+f 22 40 39
+f 23 24 41
+f 23 41 40
+f 25 42 26
+f 26 43 27
+f 26 42 44
+f 26 44 45
+f 26 45 43
+f 27 43 28
+f 28 43 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 31
+f 31 49 32
+f 31 48 50
+f 31 50 69
+f 31 69 51
+f 31 51 52
+f 31 52 49
+f 32 49 33
+f 33 49 34
+f 35 53 37
+f 37 54 38
+f 37 53 54
+f 38 54 55
+f 39 40 57
+f 39 57 56
+f 40 41 58
+f 40 58 57
+f 41 59 60
+f 41 60 58
+f 42 56 61
+f 42 61 62
+f 42 62 44
+f 43 45 46
+f 44 62 76
+f 44 76 63
+f 44 63 45
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 52
+f 45 52 67
+f 45 67 46
+f 46 67 68
+f 46 68 47
+f 47 68 69
+f 47 69 50
+f 47 50 48
+f 51 69 70
+f 51 70 52
+f 52 71 72
+f 52 70 69
+f 52 69 68
+f 52 68 67
+f 52 66 71
+f 53 72 54
+f 54 73 55
+f 54 72 74
+f 54 74 75
+f 54 75 73
+f 56 57 61
+f 57 58 60
+f 57 60 76
+f 57 76 61
+f 59 77 60
+f 60 77 76
+f 61 76 62
+f 63 76 64
+f 64 76 77
+f 65 78 79
+f 65 79 66
+f 66 79 80
+f 66 80 81
+f 66 81 82
+f 66 82 71
+f 71 82 72
+f 72 81 83
+f 72 83 84
+f 72 84 74
+f 72 82 81
+f 74 84 80
+f 74 80 79
+f 74 79 85
+f 74 85 75
+f 78 85 79
+f 80 84 81
+f 81 84 83
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_25.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03963595 -0.04201063 0.01495325
+v 0.04417078 -0.03624309 0.01495327
+v 0.02660251 -0.04201063 0.01495325
+v 0.04002179 -0.04201063 0.01277002
+v 0.04507878 -0.03503009 0.01495327
+v 0.04546461 -0.04201037 -0.05782348
+v 0.02660251 -0.02210819 0.01495332
+v 0.02660251 -0.04201036 -0.06124888
+v 0.04778475 -0.03123272 0.01495329
+v 0.04552634 -0.04201036 -0.05964534
+v 0.03314109 -0.00254957 0.01495339
+v 0.02660251 -0.02204638 0.01277009
+v 0.02660251 -0.04016382 -0.06112090
+v 0.02742562 -0.04201035 -0.06195655
+v 0.04874934 -0.02903078 0.01495329
+v 0.04547747 -0.04201035 -0.06195655
+v 0.05122124 -0.02230117 -0.03134614
+v 0.05159935 -0.02230134 0.01495332
+v 0.05261795 -0.00254957 0.01495339
+v 0.03379958 -0.00254929 -0.06195641
+v 0.02660251 -0.02173712 -0.04559734
+v 0.02660251 -0.02164443 -0.04016938
+v 0.02660251 -0.03123245 -0.05975823
+v 0.02910271 -0.02889915 -0.06195651
+v 0.02875803 -0.03123244 -0.06195651
+v 0.02769313 -0.03907056 -0.06195654
+v 0.02757995 -0.04016381 -0.06195655
+v 0.04648063 -0.03541226 -0.06195653
+v 0.04915832 -0.02230108 -0.05782341
+v 0.05045986 -0.02230111 -0.04900016
+v 0.05089971 -0.02230114 -0.04016938
+v 0.05230929 -0.01362476 -0.03200861
+v 0.05233244 -0.01574948 -0.02253040
+v 0.05236073 -0.01522424 0.01495334
+v 0.05262053 -0.00260365 0.01495339
+v 0.05287261 -0.00254944 -0.02065579
+v 0.04904771 -0.00254929 -0.06195641
+v 0.02660251 -0.02382313 -0.05647584
+v 0.02660251 -0.02306984 -0.05400652
+v 0.02660251 -0.02184914 -0.04900016
+v 0.04770758 -0.02648088 -0.06195650
+v 0.05013319 -0.01337358 -0.05782338
+v 0.05156592 -0.01337361 -0.04900013
+v 0.05197490 -0.01337364 -0.04016935
+v 0.05257423 -0.01081634 -0.02950918
+v 0.05261281 -0.01128380 -0.02253038
+v 0.05253564 -0.01075855 0.01495336
+v 0.05263596 -0.00444247 0.01495338
+v 0.05287518 -0.00444234 -0.02253036
+v 0.05287775 -0.00254944 -0.02253035
+v 0.05054218 -0.00254931 -0.05782334
+v 0.05056275 -0.00444221 -0.05782335
+v 0.04905543 -0.00331804 -0.06195641
+v 0.04854356 -0.01755338 -0.06195646
+v 0.04874676 -0.01337356 -0.06195645
+v 0.04897569 -0.00862200 -0.06195643
+v 0.05201606 -0.00444224 -0.04900010
+v 0.05245076 -0.00840964 -0.03538882
+v 0.05268998 -0.00503720 -0.03200858
+v 0.05256394 -0.00908971 0.01495337
+v 0.05270541 -0.00254940 -0.03183541
+v 0.05086885 -0.00254931 -0.05594877
+v 0.05201349 -0.00254934 -0.04900009
+v 0.04906572 -0.00444219 -0.06195642
+v 0.05253822 -0.00254938 -0.03776777
+v 0.05235302 -0.00503717 -0.04043282
+v 0.05254851 -0.00254938 -0.03746663
+f 1 2 5
+f 1 5 9
+f 1 9 15
+f 1 15 18
+f 1 18 34
+f 1 34 47
+f 1 47 60
+f 1 60 48
+f 1 48 35
+f 1 35 19
+f 1 19 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 10
+f 1 10 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 12
+f 3 12 22
+f 3 22 21
+f 3 21 40
+f 3 40 39
+f 3 39 38
+f 3 38 23
+f 3 23 13
+f 3 13 8
+f 5 6 9
+f 6 10 9
+f 7 11 12
+f 8 13 14
+f 9 10 15
+f 10 16 17
+f 10 17 18
+f 10 18 15
+f 11 19 36
+f 11 36 50
+f 11 50 61
+f 11 61 67
+f 11 67 65
+f 11 65 63
+f 11 63 62
+f 11 62 51
+f 11 51 37
+f 11 37 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 26
+f 14 26 25
+f 14 25 24
+f 14 24 20
+f 14 20 37
+f 14 37 53
+f 14 53 64
+f 14 64 56
+f 14 56 55
+f 14 55 54
+f 14 54 41
+f 14 41 28
+f 14 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 19 35 36
+f 20 24 23
+f 20 23 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 31
+f 31 43 44
+f 31 44 32
+f 32 45 33
+f 32 44 45
+f 33 46 34
+f 33 45 46
+f 34 46 47
+f 35 48 36
+f 36 48 49
+f 36 49 50
+f 37 51 52
+f 37 52 53
+f 41 54 42
+f 42 54 55
+f 42 55 56
+f 42 56 52
+f 42 52 57
+f 42 57 43
+f 43 57 58
+f 43 58 44
+f 44 58 45
+f 45 58 59
+f 45 59 49
+f 45 49 46
+f 46 49 47
+f 47 49 60
+f 48 60 49
+f 49 59 61
+f 49 61 50
+f 51 62 52
+f 52 62 63
+f 52 63 57
+f 52 56 64
+f 52 64 53
+f 57 63 65
+f 57 65 66
+f 57 66 58
+f 58 65 59
+f 58 66 65
+f 59 65 67
+f 59 67 61
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_26.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.06300613 -0.06975527 -0.15130750
+v -0.06300613 -0.06742318 -0.15129537
+v -0.06269490 -0.06742318 -0.15128325
+v -0.05697955 -0.06742319 -0.15101658
+v -0.05697955 -0.08482422 -0.15101664
+v -0.06300613 -0.07868644 -0.15129541
+v -0.06300613 -0.06742324 -0.13564725
+v -0.05241010 -0.06742319 -0.15055599
+v -0.05239595 -0.07589306 -0.15056814
+v -0.05238888 -0.08482422 -0.15056817
+v -0.06300613 -0.08482421 -0.15128331
+v -0.05239241 -0.09375540 -0.15056820
+v -0.05251620 -0.16519194 -0.15051999
+v -0.05259401 -0.18837197 -0.15049583
+v -0.04413770 -0.06742355 -0.05266746
+v -0.06300613 -0.08482427 -0.13564731
+v -0.04227384 -0.19832862 -0.04240152
+v -0.04432161 -0.11161809 -0.05214642
+v -0.04428978 -0.10268692 -0.05211003
+v -0.04825798 -0.06742320 -0.14832574
+v -0.06300613 -0.08761761 -0.15127120
+v -0.05278853 -0.19433035 -0.15048373
+v -0.05710333 -0.19832823 -0.15064132
+v -0.04801395 -0.09375541 -0.14816826
+v -0.04813420 -0.14732960 -0.14816846
+v -0.04813420 -0.15626077 -0.14815637
+v -0.05253742 -0.17412309 -0.15050790
+v -0.04815895 -0.17412310 -0.14812008
+v -0.04819079 -0.18305428 -0.14809586
+v -0.04846665 -0.19832824 -0.14816865
+v -0.05002281 -0.19832823 -0.14899287
+v -0.03995729 -0.08482462 -0.04018297
+v -0.03964252 -0.07589346 -0.04018294
+v -0.03920043 -0.06742359 -0.04018291
+v -0.04164077 -0.19832863 -0.04018339
+v -0.04022961 -0.09375580 -0.04018300
+v -0.06300613 -0.12054895 -0.13565956
+v -0.06300613 -0.15626081 -0.13567181
+v -0.06300613 -0.18305432 -0.13568405
+v -0.06300613 -0.19832828 -0.13569623
+v -0.04803163 -0.06742320 -0.14819241
+v -0.05985844 -0.19832823 -0.15070192
+v -0.06300613 -0.19832823 -0.15075041
+v -0.05295829 -0.19832823 -0.15047163
+v -0.05561084 -0.19832823 -0.15058071
+v -0.04225262 -0.12054892 -0.14378059
+v -0.04225969 -0.12948009 -0.14378063
+v -0.04227031 -0.13839845 -0.14376854
+v -0.04230214 -0.15626078 -0.14374435
+v -0.04233043 -0.17412311 -0.14370806
+v -0.04236580 -0.19198546 -0.14365965
+v -0.04238348 -0.19832825 -0.14363543
+v -0.03637105 -0.06742362 -0.03317702
+v -0.03896347 -0.19832866 -0.03327447
+v -0.03685911 -0.08482465 -0.03337102
+v -0.04222433 -0.06742321 -0.14378040
+v -0.03921104 -0.06742323 -0.13758661
+v -0.03904835 -0.06742324 -0.13724723
+v -0.03912262 -0.12054895 -0.13724742
+v -0.03928885 -0.19198549 -0.13724769
+v -0.03914030 -0.12948012 -0.13724746
+v -0.03930653 -0.19832828 -0.13724771
+v -0.03136658 -0.06742363 -0.02922560
+v -0.03800501 -0.19832866 -0.03140785
+v -0.03689095 -0.06742327 -0.12842320
+v -0.03686265 -0.09375548 -0.12842329
+v -0.03685558 -0.10268664 -0.12842333
+v -0.03685558 -0.11161781 -0.12842336
+v -0.03691570 -0.19832831 -0.12842368
+v -0.03119682 -0.06742363 -0.02916500
+v -0.03117206 -0.19832868 -0.02758976
+v -0.03485733 -0.06742331 -0.11676287
+v -0.03485025 -0.08482434 -0.11689626
+v -0.03484672 -0.09375552 -0.11693265
+v -0.03483965 -0.11161785 -0.11698121
+v -0.03482903 -0.19832835 -0.11703002
+v -0.03505539 -0.19832835 -0.11830271
+v -0.03561419 -0.19832833 -0.12144202
+v -0.02688201 -0.06742363 -0.02922560
+v -0.03071582 -0.19832868 -0.02748067
+v -0.02688201 -0.06742352 -0.05961274
+v -0.02688201 -0.09487051 -0.06014617
+v -0.02688201 -0.14732992 -0.06050998
+v -0.02688201 -0.15626109 -0.06048577
+v -0.02688201 -0.19832856 -0.06023139
+v -0.02688201 -0.19832868 -0.02831701
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 21
+f 1 21 43
+f 1 43 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 16
+f 1 16 7
+f 1 7 2
+f 2 7 15
+f 2 15 34
+f 2 34 53
+f 2 53 63
+f 2 63 70
+f 2 70 79
+f 2 79 81
+f 2 81 72
+f 2 72 65
+f 2 65 58
+f 2 58 57
+f 2 57 56
+f 2 56 41
+f 2 41 20
+f 2 20 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 11 6
+f 5 10 12
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 15
+f 8 20 9
+f 9 20 10
+f 10 20 12
+f 11 14 22
+f 11 22 23
+f 11 23 21
+f 12 20 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 22
+f 15 32 33
+f 15 33 34
+f 15 19 35
+f 15 35 36
+f 15 36 32
+f 16 37 17
+f 17 38 39
+f 17 39 40
+f 17 40 43
+f 17 43 42
+f 17 42 23
+f 17 23 45
+f 17 45 44
+f 17 44 31
+f 17 31 30
+f 17 30 52
+f 17 52 62
+f 17 62 69
+f 17 69 78
+f 17 78 77
+f 17 77 76
+f 17 76 85
+f 17 85 86
+f 17 86 80
+f 17 80 71
+f 17 71 64
+f 17 64 54
+f 17 54 35
+f 17 35 19
+f 17 19 18
+f 17 37 38
+f 20 41 24
+f 21 23 42
+f 21 42 43
+f 22 31 44
+f 22 44 45
+f 22 45 23
+f 24 41 46
+f 24 46 47
+f 24 47 26
+f 24 26 25
+f 26 47 48
+f 26 48 49
+f 26 49 28
+f 26 28 27
+f 28 50 51
+f 28 51 29
+f 28 49 50
+f 29 51 52
+f 29 52 30
+f 32 53 33
+f 32 36 53
+f 33 53 34
+f 35 54 36
+f 36 55 53
+f 36 54 55
+f 41 56 46
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 48 60 49
+f 48 59 61
+f 48 61 60
+f 49 60 50
+f 50 60 62
+f 50 62 51
+f 51 62 52
+f 53 55 64
+f 53 64 63
+f 54 64 55
+f 58 65 66
+f 58 66 67
+f 58 67 68
+f 58 68 69
+f 58 69 59
+f 59 69 61
+f 60 69 62
+f 60 61 69
+f 63 64 71
+f 63 71 70
+f 65 72 73
+f 65 73 74
+f 65 74 66
+f 66 74 75
+f 66 75 67
+f 67 75 76
+f 67 76 77
+f 67 77 68
+f 68 77 78
+f 68 78 69
+f 70 71 80
+f 70 80 79
+f 72 81 82
+f 72 82 73
+f 73 82 83
+f 73 83 74
+f 74 83 75
+f 75 83 76
+f 76 83 84
+f 76 84 85
+f 79 80 86
+f 79 86 85
+f 79 85 84
+f 79 84 83
+f 79 83 82
+f 79 82 81
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_27.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.06510953 -0.23129461 -0.06426156
+v 0.06510953 -0.25215662 -0.06426164
+v 0.06510953 -0.23124777 -0.05782580
+v 0.10247372 -0.21881487 -0.06426151
+v 0.08311793 -0.25153706 -0.06426163
+v 0.07435978 -0.26995218 -0.03957320
+v 0.06560749 -0.26994176 -0.03951892
+v 0.06510953 -0.26993656 -0.03951117
+v 0.06510953 -0.23127383 -0.04900184
+v 0.10249130 -0.21881490 -0.05782575
+v 0.11770528 -0.21881487 -0.06426151
+v 0.10062250 -0.25083419 -0.06426163
+v 0.08311793 -0.26917643 -0.03817750
+v 0.07435978 -0.27199832 -0.03134630
+v 0.06510953 -0.27185775 -0.03181153
+v 0.10206950 -0.25073528 -0.06426163
+v 0.10625818 -0.25040206 -0.06426163
+v 0.06510953 -0.23129467 -0.04849783
+v 0.10266705 -0.21881493 -0.04900179
+v 0.11810950 -0.22772302 -0.06426155
+v 0.12300704 -0.21881494 -0.04531867
+v 0.08784557 -0.26823408 -0.03642511
+v 0.08311793 -0.27056654 -0.03134629
+v 0.08311793 -0.27070715 -0.02253007
+v 0.07435978 -0.27198794 -0.02253008
+v 0.06510953 -0.27197228 -0.03134630
+v 0.11064018 -0.24869958 -0.06426162
+v 0.06510953 -0.23167477 -0.03944124
+v 0.11077493 -0.21881516 0.01494485
+v 0.12318865 -0.23665206 -0.04562890
+v 0.11820910 -0.23665199 -0.06426158
+v 0.12412597 -0.21881496 -0.04018557
+v 0.12273170 -0.25028240 -0.04482254
+v 0.08816191 -0.26851523 -0.03134629
+v 0.08833181 -0.26865583 -0.02253007
+v 0.08843140 -0.26869761 0.01494466
+v 0.08458250 -0.27016583 0.01494466
+v 0.08311793 -0.27065001 0.01494466
+v 0.06510953 -0.27195150 -0.02303409
+v 0.07652149 -0.27159757 0.01494465
+v 0.07435978 -0.27180065 0.01494465
+v 0.06776920 -0.27180065 0.01494465
+v 0.06510953 -0.27180065 0.01482058
+v 0.11213404 -0.24749169 -0.06426162
+v 0.06510953 -0.23188824 -0.03675839
+v 0.06510953 -0.23720408 -0.00488201
+v 0.06510953 -0.23923982 0.00419007
+v 0.06510953 -0.24148381 0.01277366
+v 0.06510953 -0.24210857 0.01494476
+v 0.12494028 -0.21881516 0.01494485
+v 0.06510953 -0.23204443 -0.03494397
+v 0.06510953 -0.23228395 -0.03337768
+v 0.12307148 -0.24558101 -0.04533428
+v 0.12437788 -0.23665208 -0.04017013
+v 0.11646918 -0.24221241 -0.06426160
+v 0.12478796 -0.21881499 -0.03136936
+v 0.12392093 -0.24558103 -0.04017016
+v 0.12291916 -0.25047505 -0.04017018
+v 0.11582477 -0.24424291 -0.06426161
+v 0.12252080 -0.25004831 0.00874934
+v 0.12242121 -0.24992336 0.01462681
+v 0.12241535 -0.24991295 0.01494473
+v 0.12293674 -0.25048550 -0.03134622
+v 0.06510953 -0.27179544 0.01494465
+v 0.12491099 -0.21881512 0.00392652
+v 0.12494614 -0.22772331 0.01494481
+v 0.12489341 -0.23665211 -0.03134617
+v 0.12482311 -0.21881503 -0.02255314
+v 0.12414941 -0.24558106 -0.03134620
+v 0.12356358 -0.24607063 0.01494475
+v 0.12248565 -0.24970991 0.01494473
+v 0.12488169 -0.21881509 -0.00490521
+v 0.12495199 -0.23665228 0.01494478
+v 0.12376862 -0.24558119 0.00394192
+f 1 2 8
+f 1 8 15
+f 1 15 26
+f 1 26 39
+f 1 39 43
+f 1 43 64
+f 1 64 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 52
+f 1 52 51
+f 1 51 45
+f 1 45 28
+f 1 28 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 31
+f 1 31 55
+f 1 55 59
+f 1 59 44
+f 1 44 27
+f 1 27 17
+f 1 17 16
+f 1 16 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 4
+f 4 10 19
+f 4 19 29
+f 4 29 50
+f 4 50 65
+f 4 65 72
+f 4 72 68
+f 4 68 56
+f 4 56 32
+f 4 32 21
+f 4 21 11
+f 5 12 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 12 16
+f 6 16 17
+f 6 17 13
+f 7 15 8
+f 9 18 19
+f 9 19 10
+f 11 21 20
+f 13 22 23
+f 13 23 14
+f 13 17 22
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 17 27 22
+f 18 28 19
+f 19 28 29
+f 20 30 31
+f 20 21 30
+f 21 32 30
+f 22 27 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 39 26
+f 25 38 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 39
+f 27 44 33
+f 28 45 29
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 64
+f 29 64 42
+f 29 42 41
+f 29 41 40
+f 29 40 38
+f 29 38 37
+f 29 37 36
+f 29 36 62
+f 29 62 71
+f 29 71 70
+f 29 70 73
+f 29 73 66
+f 29 66 50
+f 29 45 51
+f 29 51 52
+f 29 52 46
+f 30 53 31
+f 30 32 54
+f 30 54 53
+f 31 53 33
+f 31 33 55
+f 32 56 54
+f 33 57 58
+f 33 58 34
+f 33 44 59
+f 33 59 55
+f 33 53 57
+f 34 58 35
+f 35 58 36
+f 36 60 61
+f 36 61 62
+f 36 58 63
+f 36 63 60
+f 42 64 43
+f 50 66 67
+f 50 67 65
+f 53 54 57
+f 54 56 67
+f 54 67 57
+f 56 68 67
+f 57 67 69
+f 57 69 58
+f 58 69 63
+f 60 70 71
+f 60 71 61
+f 60 63 70
+f 61 71 62
+f 63 69 70
+f 65 67 72
+f 66 73 67
+f 67 68 72
+f 67 73 69
+f 69 73 74
+f 69 74 70
+f 70 74 73
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_28.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01809561 -0.04909831 -0.05987875
+v 0.01809561 -0.05422743 -0.05953246
+v 0.01809561 -0.04529397 -0.05981851
+v 0.02683931 -0.04909830 -0.06195658
+v 0.02664596 -0.05802637 -0.06195661
+v 0.02745964 -0.06957161 -0.06195666
+v 0.01809561 -0.05802638 -0.05890762
+v 0.01809561 -0.04201036 -0.05960770
+v 0.02742741 -0.04201035 -0.06195655
+v 0.02686616 -0.04873675 -0.06195658
+v 0.04503834 -0.06957161 -0.06195666
+v 0.02363830 -0.06957163 -0.05779347
+v 0.01809561 -0.06553525 -0.05590383
+v 0.01809561 -0.06291538 -0.05713847
+v 0.01809561 -0.04201046 -0.03136127
+v 0.04547875 -0.04201035 -0.06195655
+v 0.04552708 -0.04201036 -0.05964534
+v 0.04546263 -0.04201037 -0.05782348
+v 0.04497120 -0.06957162 -0.06040582
+v 0.02292130 -0.06957163 -0.05643837
+v 0.01809561 -0.06748061 -0.05064904
+v 0.01809561 -0.05863090 -0.02301991
+v 0.01928257 -0.04201063 0.01277002
+v 0.04485036 -0.06957163 -0.05782359
+v 0.04002199 -0.04201063 0.01277002
+v 0.02036747 -0.06957166 -0.04900034
+v 0.01809561 -0.06800945 -0.04900033
+v 0.01809561 -0.06648242 -0.02298228
+v 0.02003717 -0.04201063 0.01495325
+v 0.04197697 -0.06957176 -0.02253060
+v 0.03963261 -0.04201063 0.01495325
+v 0.03884309 -0.06957185 0.00394666
+v 0.02029765 -0.06957166 -0.04808941
+v 0.01809561 -0.06913733 -0.03134631
+v 0.01809561 -0.06873258 -0.04016955
+v 0.01809561 -0.06716773 -0.02478157
+v 0.02080519 -0.06957176 -0.02241015
+v 0.02137987 -0.06957176 -0.02064098
+v 0.03398250 -0.06957187 0.00949507
+v 0.02569801 -0.05440308 0.01495320
+v 0.03511306 -0.05437070 0.01495320
+v 0.03690960 -0.06957187 0.00949507
+v 0.03728287 -0.06957187 0.00884010
+v 0.01973640 -0.06957169 -0.04016956
+v 0.01929599 -0.06957172 -0.03134632
+v 0.03058009 -0.05518284 0.01495320
+v 0.03268545 -0.05494540 0.01495320
+f 1 2 7
+f 1 7 14
+f 1 14 13
+f 1 13 21
+f 1 21 27
+f 1 27 35
+f 1 35 34
+f 1 34 36
+f 1 36 28
+f 1 28 22
+f 1 22 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 16
+f 4 16 11
+f 4 11 6
+f 4 6 5
+f 6 11 19
+f 6 19 24
+f 6 24 30
+f 6 30 32
+f 6 32 43
+f 6 43 42
+f 6 42 39
+f 6 39 38
+f 6 38 37
+f 6 37 45
+f 6 45 44
+f 6 44 33
+f 6 33 26
+f 6 26 20
+f 6 20 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 23
+f 8 23 29
+f 8 29 31
+f 8 31 25
+f 8 25 18
+f 8 18 17
+f 8 17 16
+f 8 16 9
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 12 20 13
+f 13 20 21
+f 15 22 23
+f 18 24 19
+f 18 25 24
+f 20 26 27
+f 20 27 21
+f 22 28 23
+f 23 28 29
+f 24 25 30
+f 25 31 32
+f 25 32 30
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 40 46
+f 29 46 47
+f 29 47 41
+f 29 41 31
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 33 44 34
+f 34 44 45
+f 34 45 37
+f 34 37 36
+f 39 42 46
+f 39 46 40
+f 41 47 42
+f 42 47 46
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_29.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.02688201 -0.24363537 0.14363784
+v -0.02688201 -0.24363528 0.11876218
+v -0.02688201 -0.24166354 0.14395133
+v -0.04822615 -0.23664436 0.14933402
+v -0.03947276 -0.24363538 0.14628685
+v -0.06300613 -0.24363527 0.11788441
+v -0.02688201 -0.14190689 0.12154951
+v -0.02688201 -0.23664434 0.14453758
+v -0.05697955 -0.23664436 0.14919296
+v -0.04822615 -0.24363538 0.14800166
+v -0.04259215 -0.19725758 0.14988906
+v -0.04822615 -0.19716796 0.14985144
+v -0.06300613 -0.24363538 0.14729004
+v -0.06300613 -0.14190689 0.12247744
+v -0.05703260 -0.14190689 0.12204796
+v -0.04822615 -0.14190689 0.12184732
+v -0.03071582 -0.14190689 0.12155891
+v -0.02703409 -0.14190689 0.12154951
+v -0.02688201 -0.14190697 0.14386079
+v -0.02688201 -0.19199936 0.14528700
+v -0.03808990 -0.19199938 0.14874482
+v -0.06300613 -0.23664436 0.14901425
+v -0.05697955 -0.24363538 0.14760038
+v -0.04246836 -0.19199938 0.14990788
+v -0.04803517 -0.19250728 0.14987340
+v -0.06300613 -0.14190697 0.14386079
+v -0.02838158 -0.14190697 0.14386393
+v -0.04822615 -0.17413342 0.14886401
+v -0.03947276 -0.17413341 0.14827151
+v -0.04326412 -0.18524736 0.14969787
+v -0.02688201 -0.17022959 0.14502060
+v -0.02688201 -0.18808558 0.14527447
+v -0.02688201 -0.17915260 0.14515851
+v -0.05280267 -0.19661027 0.14962258
+v -0.05280267 -0.19581358 0.14962258
+v -0.06300613 -0.23386588 0.14897038
+v -0.04499005 -0.18524736 0.14969787
+v -0.06300613 -0.17413341 0.14732791
+v -0.05697955 -0.14190697 0.14386705
+v -0.03071582 -0.14190697 0.14386705
+v -0.03947276 -0.14190697 0.14387333
+v -0.04822615 -0.14190697 0.14387333
+v -0.06300613 -0.22493289 0.14879486
+v -0.06300613 -0.22771138 0.14886696
+f 1 2 7
+f 1 7 19
+f 1 19 31
+f 1 31 33
+f 1 33 32
+f 1 32 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 12
+f 4 12 9
+f 6 13 22
+f 6 22 36
+f 6 36 44
+f 6 44 43
+f 6 43 38
+f 6 38 26
+f 6 26 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 17
+f 7 17 16
+f 7 16 15
+f 7 15 14
+f 7 14 26
+f 7 26 39
+f 7 39 42
+f 7 42 41
+f 7 41 40
+f 7 40 27
+f 7 27 19
+f 8 20 21
+f 8 21 11
+f 9 22 10
+f 9 12 22
+f 10 22 23
+f 11 21 24
+f 11 24 25
+f 11 25 12
+f 12 25 22
+f 13 23 22
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 24
+f 19 24 31
+f 20 32 21
+f 21 32 33
+f 21 33 31
+f 21 31 24
+f 22 25 34
+f 22 34 35
+f 22 35 36
+f 24 30 37
+f 24 37 25
+f 25 35 34
+f 25 37 28
+f 25 28 35
+f 26 38 28
+f 26 28 39
+f 27 40 28
+f 28 37 30
+f 28 30 29
+f 28 40 41
+f 28 41 42
+f 28 42 39
+f 28 38 35
+f 35 43 44
+f 35 44 36
+f 35 38 43
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_3.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.10243992 0.00620800 -0.15146805
+v -0.10243992 0.00054739 -0.15145321
+v -0.10565670 0.00054739 -0.15137890
+v -0.10951994 0.04915907 -0.15130439
+v -0.10951994 0.07594762 -0.15131915
+v -0.10951994 0.08488542 -0.15131912
+v -0.10243992 0.04193435 -0.15145306
+v -0.10243992 0.00054733 -0.13569795
+v -0.10951994 0.00054739 -0.15127484
+v -0.11447397 0.07594761 -0.15082865
+v -0.11448508 0.08488541 -0.15082862
+v -0.10951994 0.09382322 -0.15128936
+v -0.10243992 0.08659850 -0.15140831
+v -0.10243992 0.06872291 -0.15143809
+v -0.11448508 0.09382321 -0.15082859
+v -0.11446730 0.10273617 -0.15081370
+v -0.11442510 0.12061176 -0.15078391
+v -0.11436067 0.14737549 -0.15073923
+v -0.11429180 0.17416405 -0.15069454
+v -0.11426514 0.18310185 -0.15067964
+v -0.11423626 0.19203964 -0.15066473
+v -0.11413851 0.21882819 -0.15062005
+v -0.10265096 0.00054704 -0.05782825
+v -0.10243992 0.23101780 0.00037793
+v -0.11438066 0.00054738 -0.15075464
+v -0.11438955 0.01343271 -0.15076944
+v -0.11777516 0.06700982 -0.14607238
+v -0.11780183 0.08488540 -0.14607232
+v -0.11766631 0.00054737 -0.14607263
+v -0.11774628 0.04915905 -0.14607245
+v -0.11780404 0.09382320 -0.14607229
+v -0.11410519 0.22776599 -0.15059029
+v -0.10951994 0.22776599 -0.15078351
+v -0.10243992 0.23665413 -0.15087266
+v -0.11778850 0.10273616 -0.14607225
+v -0.11777072 0.11167396 -0.14607222
+v -0.11775073 0.12061175 -0.14607219
+v -0.11767075 0.15631328 -0.14607206
+v -0.11765076 0.16522625 -0.14607202
+v -0.11762854 0.17416404 -0.14607199
+v -0.11748859 0.22776598 -0.14607179
+v -0.10289755 0.00054702 -0.05290844
+v -0.10243992 0.25395816 0.00037801
+v -0.11088175 0.00054683 0.00037708
+v -0.10309305 0.00054701 -0.04901421
+v -0.12073647 0.23667891 -0.13724287
+v -0.11879929 0.00054735 -0.14217841
+v -0.11402522 0.23355074 -0.15056054
+v -0.10972877 0.23657964 -0.15067944
+v -0.10243992 0.23806929 -0.15084293
+v -0.11664663 0.23657963 -0.14688926
+v -0.10243992 0.25398299 -0.00318922
+v -0.10597660 0.25351125 0.00037801
+v -0.12512400 0.00054683 0.00037708
+v -0.12503958 0.23667853 -0.03135555
+v -0.12413764 0.24561635 -0.04018441
+v -0.12291358 0.25035836 -0.04488125
+v -0.11804397 0.24561670 -0.13724284
+v -0.11588464 0.24561673 -0.14430299
+v -0.12023218 0.00054733 -0.13724374
+v -0.12481076 0.00054695 -0.03135642
+v -0.11278560 0.23950926 -0.15036730
+v -0.10694741 0.24179337 -0.15061996
+v -0.10243992 0.24204164 -0.15067942
+v -0.10243992 0.25400783 -0.01201812
+v -0.11827501 0.25209622 -0.03135549
+v -0.10951994 0.25303953 0.00037801
+v -0.12513511 0.23667841 0.00037795
+v -0.12513288 0.23667843 -0.00488371
+v -0.12512844 0.23667846 -0.01371261
+v -0.12510178 0.23667849 -0.02252665
+v -0.12511734 0.00054683 -0.00099036
+v -0.12433535 0.24561632 -0.03135552
+v -0.12496849 0.00054691 -0.02252752
+v -0.12504181 0.00054688 -0.01371348
+v -0.12310240 0.25055697 -0.04018439
+v -0.11472278 0.25075594 -0.13724282
+v -0.11437400 0.25048286 -0.14235585
+v -0.10972877 0.24509539 -0.14859852
+v -0.10243992 0.24631192 -0.14914848
+v -0.10243992 0.25403271 -0.02252659
+v -0.11827501 0.25194723 -0.02252659
+v -0.10243992 0.25418209 -0.13724281
+v -0.10951994 0.25299040 -0.13724281
+v -0.12310240 0.25055694 -0.03135550
+v -0.11827501 0.25162442 -0.00488366
+v -0.11876819 0.25137613 0.00037800
+v -0.12467303 0.24030319 0.00037796
+v -0.12509957 0.00449438 -0.00488456
+v -0.12509734 0.00054685 -0.00488458
+v -0.12423095 0.24561628 -0.02252662
+v -0.10951994 0.25152561 -0.14381247
+v -0.10243992 0.24752844 -0.14822693
+v -0.10243992 0.25217112 -0.14465968
+v -0.12411987 0.24561625 -0.01371258
+v -0.12399324 0.24561622 -0.00488368
+v -0.12377997 0.24611275 0.00037798
+v -0.12298022 0.25043277 -0.02252660
+v -0.12272030 0.25015960 -0.00488366
+v -0.12178948 0.25035820 0.00037800
+v -0.12334677 0.24765204 0.00037799
+v -0.12265365 0.25008511 -0.00046922
+v -0.12289358 0.24919132 0.00037800
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 13
+f 1 13 34
+f 1 34 50
+f 1 50 64
+f 1 64 80
+f 1 80 93
+f 1 93 94
+f 1 94 83
+f 1 83 81
+f 1 81 65
+f 1 65 52
+f 1 52 43
+f 1 43 24
+f 1 24 8
+f 1 8 2
+f 2 8 23
+f 2 23 42
+f 2 42 45
+f 2 45 44
+f 2 44 54
+f 2 54 72
+f 2 72 90
+f 2 90 75
+f 2 75 74
+f 2 74 61
+f 2 61 60
+f 2 60 47
+f 2 47 29
+f 2 29 25
+f 2 25 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 15
+f 5 15 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 12
+f 8 24 23
+f 9 25 26
+f 9 26 10
+f 10 27 28
+f 10 28 11
+f 10 26 25
+f 10 25 29
+f 10 29 30
+f 10 30 27
+f 11 28 31
+f 11 31 15
+f 12 22 32
+f 12 32 33
+f 12 33 34
+f 12 34 13
+f 15 31 35
+f 15 35 36
+f 15 36 37
+f 15 37 38
+f 15 38 39
+f 15 39 40
+f 15 40 41
+f 15 41 16
+f 16 41 17
+f 17 41 18
+f 18 41 19
+f 19 41 20
+f 20 41 21
+f 21 41 22
+f 22 41 32
+f 23 24 42
+f 24 43 53
+f 24 53 67
+f 24 67 87
+f 24 87 100
+f 24 100 103
+f 24 103 101
+f 24 101 97
+f 24 97 88
+f 24 88 68
+f 24 68 54
+f 24 54 44
+f 24 44 45
+f 24 45 42
+f 27 30 46
+f 27 46 28
+f 28 46 31
+f 29 47 46
+f 29 46 30
+f 31 46 35
+f 32 41 48
+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 35 46 36
+f 36 46 37
+f 37 46 38
+f 38 46 39
+f 39 46 40
+f 40 46 41
+f 41 46 51
+f 41 51 48
+f 43 52 53
+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 59
+f 46 59 51
+f 46 47 60
+f 46 60 61
+f 46 61 55
+f 48 51 62
+f 48 62 63
+f 48 63 49
+f 49 63 50
+f 50 63 64
+f 51 59 62
+f 52 65 66
+f 52 66 53
+f 53 66 67
+f 54 68 69
+f 54 69 70
+f 54 70 71
+f 54 71 72
+f 55 71 73
+f 55 73 56
+f 55 61 74
+f 55 74 75
+f 55 75 71
+f 56 73 76
+f 56 76 57
+f 57 76 77
+f 57 77 58
+f 58 77 78
+f 58 78 59
+f 59 78 62
+f 62 78 79
+f 62 79 63
+f 63 79 80
+f 63 80 64
+f 65 81 66
+f 66 82 67
+f 66 81 83
+f 66 83 84
+f 66 84 76
+f 66 76 85
+f 66 85 82
+f 67 82 86
+f 67 86 87
+f 68 88 73
+f 68 73 69
+f 69 73 70
+f 70 73 71
+f 71 75 89
+f 71 89 72
+f 72 89 90
+f 73 88 91
+f 73 91 85
+f 73 85 76
+f 75 90 89
+f 76 84 77
+f 77 84 78
+f 78 84 92
+f 78 92 79
+f 79 92 80
+f 80 92 93
+f 82 85 87
+f 82 87 86
+f 83 94 92
+f 83 92 84
+f 85 91 95
+f 85 95 96
+f 85 96 97
+f 85 97 98
+f 85 98 87
+f 87 98 99
+f 87 99 100
+f 88 97 96
+f 88 96 95
+f 88 95 91
+f 92 94 93
+f 97 101 98
+f 98 101 99
+f 99 102 100
+f 99 101 102
+f 100 102 103
+f 101 103 102
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_30.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.12016506 0.00054733 -0.13556477
+v -0.12481118 0.00054695 -0.03135954
+v -0.10292355 0.00054733 -0.13556477
+v -0.12005851 -0.21877028 -0.13556557
+v -0.12492662 -0.21877066 -0.03137365
+v -0.12496880 0.00054691 -0.02253716
+v -0.10267715 0.00054714 -0.08429383
+v -0.10292133 -0.00123451 -0.13556477
+v -0.10293021 -0.21877028 -0.13556557
+v -0.12504426 -0.21877070 -0.02255127
+v -0.12503983 0.00054688 -0.01370147
+v -0.10264385 0.00054711 -0.07547145
+v -0.10244851 -0.21877054 -0.06666317
+v -0.10283032 -0.07894886 -0.13556506
+v -0.10282810 -0.08787957 -0.13556509
+v -0.12507978 -0.21877073 -0.01372889
+v -0.12507978 -0.20984002 -0.01370224
+v -0.12512418 0.00054683 0.00037708
+v -0.12509755 0.00054685 -0.00487909
+v -0.12506647 0.00054687 -0.00981590
+v -0.10264385 0.00054707 -0.06666237
+v -0.10246627 -0.21877057 -0.05784079
+v -0.10265051 0.00054704 -0.05783999
+v -0.12510865 -0.21877078 0.00036297
+v -0.11088169 0.00054683 0.00037708
+v -0.12510865 -0.21516415 0.00037629
+v -0.10305452 -0.17411704 -0.04900494
+v -0.10307228 -0.18304775 -0.04900497
+v -0.10324543 -0.21877060 -0.04900510
+v -0.10289691 0.00054702 -0.05290318
+v -0.10309226 0.00054701 -0.04900430
+v -0.11083951 -0.21877078 0.00037628
+v -0.11077069 -0.21877078 0.00037628
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 19
+f 1 19 18
+f 1 18 25
+f 1 25 31
+f 1 31 30
+f 1 30 23
+f 1 23 21
+f 1 21 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 13
+f 4 13 22
+f 4 22 29
+f 4 29 33
+f 4 33 32
+f 4 32 24
+f 4 24 16
+f 4 16 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 13
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 12 21 13
+f 13 15 14
+f 13 21 23
+f 13 23 22
+f 16 24 18
+f 16 18 17
+f 18 24 26
+f 18 26 32
+f 18 32 33
+f 18 33 25
+f 22 27 28
+f 22 28 29
+f 22 23 30
+f 22 30 31
+f 22 31 27
+f 24 32 26
+f 25 33 31
+f 27 33 28
+f 27 31 33
+f 28 33 29
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_31.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.10091176 -0.00254516 -0.13610504
+v 0.12007089 -0.00254516 -0.13610504
+v 0.10090701 -0.01298156 -0.13610508
+v 0.10266904 -0.21880974 -0.04901361
+v 0.10266667 -0.00254545 -0.05784033
+v 0.12491055 -0.00254554 -0.03135779
+v 0.12007327 -0.00328608 -0.13610504
+v 0.10089989 -0.03084834 -0.13610514
+v 0.10088089 -0.21876709 -0.13610583
+v 0.10249569 -0.21880971 -0.05784112
+v 0.11078104 -0.21880997 0.01495260
+v 0.11080716 -0.00254571 0.01495339
+v 0.10327459 -0.00254548 -0.04901282
+v 0.10314399 -0.00254547 -0.05087591
+v 0.10089751 -0.03978174 -0.13610518
+v 0.12008040 -0.02231717 -0.13610511
+v 0.12008040 -0.02115286 -0.13610511
+v 0.12007802 -0.01221948 -0.13610507
+v 0.12492717 -0.00254555 -0.02947991
+v 0.12478944 -0.21880980 -0.03138815
+v 0.12006615 -0.21876709 -0.13610583
+v 0.10695301 -0.21880942 -0.13610583
+v 0.10272604 -0.21880951 -0.11077664
+v 0.10242920 -0.21880955 -0.10194912
+v 0.10241970 -0.21880958 -0.09312160
+v 0.10246719 -0.21880968 -0.06663906
+v 0.12479657 -0.21880997 0.01495260
+v 0.12513852 -0.00254571 0.01495339
+v 0.12498653 -0.00254558 -0.02253028
+v 0.12482743 -0.21880984 -0.02256064
+v 0.11979543 -0.21880945 -0.12844645
+v 0.12503641 -0.00254562 -0.01183967
+v 0.12506728 -0.00254564 -0.00487525
+v 0.11453308 -0.21880942 -0.13610583
+v 0.12493905 -0.21880997 0.01493781
+v 0.12493905 -0.21876764 0.01495260
+v 0.12513852 -0.00263039 0.01495339
+v 0.12513852 -0.00254571 0.01464288
+v 0.12488680 -0.21880990 -0.00490561
+v 0.12510290 -0.00254567 0.00393748
+v 0.12511002 -0.00254568 0.00581536
+v 0.12513377 -0.00254571 0.01276500
+v 0.12493429 -0.21880997 0.01274942
+v 0.12491292 -0.21880993 0.00392190
+f 1 2 7
+f 1 7 18
+f 1 18 17
+f 1 17 16
+f 1 16 21
+f 1 21 34
+f 1 34 22
+f 1 22 9
+f 1 9 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
+f 1 13 12
+f 1 12 28
+f 1 28 38
+f 1 38 42
+f 1 42 41
+f 1 41 40
+f 1 40 33
+f 1 33 32
+f 1 32 29
+f 1 29 19
+f 1 19 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 22
+f 4 22 34
+f 4 34 31
+f 4 31 20
+f 4 20 30
+f 4 30 39
+f 4 39 44
+f 4 44 43
+f 4 43 35
+f 4 35 27
+f 4 27 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 8 15
+f 4 15 9
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 6 19 20
+f 6 20 21
+f 6 21 16
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 10
+f 11 27 36
+f 11 36 37
+f 11 37 28
+f 11 28 12
+f 19 29 20
+f 20 31 21
+f 20 29 32
+f 20 32 33
+f 20 33 30
+f 21 31 34
+f 27 35 36
+f 28 37 38
+f 30 33 40
+f 30 40 41
+f 30 41 42
+f 30 42 39
+f 35 43 38
+f 35 38 37
+f 35 37 36
+f 38 43 44
+f 38 44 42
+f 39 42 44
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_32.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.06300966 -0.05184989 -0.15130672
+v -0.06300966 -0.06077359 -0.15130675
+v -0.06300966 0.01343704 -0.15128271
+v -0.05698036 0.03131321 -0.15104894
+v -0.05698036 -0.06742319 -0.15101762
+v -0.06300966 -0.06742318 -0.15130281
+v -0.05698036 0.02236073 -0.15104898
+v -0.06300966 0.03131322 -0.15126283
+v -0.05698036 0.22665582 -0.15088185
+v -0.05214776 0.22665582 -0.15067192
+v -0.05673988 -0.06742319 -0.15099386
+v -0.05224510 0.04918939 -0.15063296
+v -0.05225083 0.03131321 -0.15062510
+v -0.05225941 0.02236073 -0.15062118
+v -0.06300966 -0.06742324 -0.13564473
+v -0.06300966 0.04026570 -0.15124696
+v -0.06300966 0.22665582 -0.15090564
+v -0.06300966 0.05811310 -0.15121521
+v -0.04777609 0.22665581 -0.14802593
+v -0.04788774 0.02236072 -0.14814947
+v -0.04803375 -0.06742320 -0.14820129
+v -0.05240829 -0.06742319 -0.15055813
+v -0.04721782 -0.06742331 -0.11716636
+v -0.04917892 0.22665568 -0.11083946
+v -0.06300966 0.22665575 -0.13076361
+v -0.04711476 0.22665581 -0.14747535
+v -0.04217623 -0.04905766 -0.14382029
+v -0.04219340 -0.05801014 -0.14380844
+v -0.04222203 -0.06693384 -0.14378867
+v -0.04222489 -0.06742321 -0.14378471
+v -0.04544281 0.19997095 -0.11083956
+v -0.03493305 -0.06742331 -0.11716636
+v -0.03376211 0.22665568 -0.11083946
+v -0.04249687 0.22665580 -0.14360935
+v -0.03896976 -0.04905769 -0.13724889
+v -0.03899553 -0.05801017 -0.13724892
+v -0.03921311 -0.06742323 -0.13758961
+v -0.03392243 0.19997095 -0.11083956
+v -0.03689128 -0.06742327 -0.12843559
+v -0.03472119 0.04026557 -0.11739570
+v -0.03468684 0.04026557 -0.11716596
+v -0.03387091 0.22665568 -0.11158414
+v -0.03466966 0.04918927 -0.11716593
+v -0.03471833 0.16522611 -0.11751408
+v -0.03471547 0.17417860 -0.11748235
+v -0.03963109 0.22665577 -0.13725184
+v -0.03942782 0.15627372 -0.13724814
+v -0.03687124 -0.02228663 -0.12843542
+v -0.03686551 -0.04013403 -0.12843549
+v -0.03686838 -0.04905772 -0.12843552
+v -0.03709169 0.22665574 -0.12843055
+v -0.03694281 0.15627369 -0.12843477
+v -0.03904706 -0.06693387 -0.13724896
+v -0.03904992 -0.06742324 -0.13724896
+v -0.03470687 0.04918927 -0.11741548
+v -0.03473837 0.22665570 -0.11731976
+v -0.03556861 0.15627367 -0.12191882
+v -0.03557434 0.16522613 -0.12192670
+v -0.03558007 0.22665572 -0.12173239
+v -0.03547414 0.22665572 -0.12118576
+v -0.03740661 0.22665575 -0.12952776
+v -0.03576902 0.22665572 -0.12258005
+f 1 2 6
+f 1 6 15
+f 1 15 25
+f 1 25 17
+f 1 17 18
+f 1 18 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 7
+f 5 11 22
+f 5 22 21
+f 5 21 30
+f 5 30 37
+f 5 37 54
+f 5 54 39
+f 5 39 32
+f 5 32 23
+f 5 23 15
+f 5 15 6
+f 5 7 12
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 7 10 12
+f 8 16 9
+f 9 17 25
+f 9 25 24
+f 9 24 33
+f 9 33 42
+f 9 42 56
+f 9 56 60
+f 9 60 59
+f 9 59 62
+f 9 62 51
+f 9 51 61
+f 9 61 46
+f 9 46 34
+f 9 34 26
+f 9 26 19
+f 9 19 10
+f 9 16 18
+f 9 18 17
+f 10 19 20
+f 10 20 21
+f 10 21 12
+f 11 14 22
+f 12 21 13
+f 13 21 14
+f 14 21 22
+f 15 23 24
+f 15 24 25
+f 19 26 27
+f 19 27 20
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 23 31 24
+f 23 32 38
+f 23 38 31
+f 24 31 38
+f 24 38 33
+f 26 34 27
+f 27 35 28
+f 27 34 35
+f 28 35 36
+f 28 36 29
+f 29 37 30
+f 29 36 37
+f 32 39 40
+f 32 40 41
+f 32 41 33
+f 32 33 38
+f 33 41 43
+f 33 43 44
+f 33 44 45
+f 33 45 42
+f 34 46 47
+f 34 47 35
+f 35 48 49
+f 35 49 50
+f 35 50 39
+f 35 39 36
+f 35 47 51
+f 35 51 52
+f 35 52 48
+f 36 39 53
+f 36 53 37
+f 37 53 54
+f 39 54 53
+f 39 50 55
+f 39 55 40
+f 40 55 41
+f 41 55 43
+f 42 45 56
+f 43 55 44
+f 44 55 57
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 56
+f 46 61 47
+f 47 61 51
+f 48 52 57
+f 48 57 49
+f 49 57 55
+f 49 55 50
+f 51 62 52
+f 52 58 57
+f 52 62 59
+f 52 59 58
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_33.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.10724778 -0.00254619 0.14330968
+v 0.10062416 0.00449316 0.14339615
+v 0.10062416 -0.00254619 0.14337992
+v 0.10724778 -0.00254609 0.11723175
+v 0.10724778 0.00449316 0.14331780
+v 0.09186957 0.15620437 0.14376677
+v 0.08311496 0.15620437 0.14383701
+v 0.06362423 0.15620437 0.14395045
+v 0.09186957 -0.00254619 0.14339882
+v 0.06362423 -0.00254611 0.12330148
+v 0.06362423 0.03331883 0.12212926
+v 0.06362423 0.04021833 0.12194291
+v 0.06362423 0.04223845 0.12188889
+v 0.06362423 0.05808865 0.12148105
+v 0.06362423 0.06010877 0.12145135
+v 0.06362423 0.06700827 0.12136764
+v 0.10724350 0.15620447 0.11635443
+v 0.10724778 0.14751794 0.11669746
+v 0.10724778 0.15620437 0.14346963
+v 0.10716236 0.15620437 0.14347233
+v 0.10062416 0.15620437 0.14360200
+v 0.06362423 -0.00254619 0.14345284
+v 0.06560576 -0.00254619 0.14345014
+v 0.07436036 -0.00254619 0.14343394
+v 0.06362423 0.15620444 0.12469320
+v 0.06362423 0.06902839 0.12136494
+v 0.06362423 0.07594342 0.12135956
+v 0.06362423 0.08486304 0.12136770
+v 0.06362423 0.08688316 0.12140283
+v 0.06362423 0.13844290 0.12249972
+v 0.06362423 0.14537348 0.12282120
+v 0.06362423 0.14983328 0.12332095
+v 0.06362423 0.15127845 0.12362350
+v 0.10724778 0.15620447 0.11774557
+f 1 2 3
+f 1 3 9
+f 1 9 24
+f 1 24 23
+f 1 23 22
+f 1 22 10
+f 1 10 4
+f 1 4 18
+f 1 18 34
+f 1 34 19
+f 1 19 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 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 20
+f 6 20 19
+f 6 19 34
+f 6 34 17
+f 6 17 25
+f 6 25 8
+f 6 8 7
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 8 25 33
+f 8 33 32
+f 8 32 31
+f 8 31 30
+f 8 30 29
+f 8 29 28
+f 8 28 27
+f 8 27 26
+f 8 26 16
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 22
+f 16 26 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 25
+f 17 34 18
+f 17 26 27
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_34.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06300966 -0.25324680 -0.06454605
+v -0.06300966 -0.25312891 -0.08155811
+v -0.06300966 -0.23126765 -0.06454597
+v -0.06365378 -0.25323294 -0.06454605
+v -0.10076039 -0.25417538 -0.11961423
+v -0.06300966 -0.25306649 -0.09038217
+v -0.06300966 -0.23061591 -0.11961415
+v -0.10244629 -0.21877747 -0.06454592
+v -0.07449731 -0.25299727 -0.06454605
+v -0.06300966 -0.25269902 -0.11961423
+v -0.06300966 -0.25281689 -0.11077939
+v -0.06300966 -0.25293129 -0.10194994
+v -0.06300966 -0.25296596 -0.09920085
+v -0.06300966 -0.25303529 -0.09312588
+v -0.10076039 -0.25379419 -0.11077939
+v -0.10951475 -0.25276488 -0.11960346
+v -0.10951475 -0.25276488 -0.11961423
+v -0.10521318 -0.21878072 -0.11961410
+v -0.10454667 -0.21877380 -0.11737709
+v -0.10362810 -0.21877382 -0.11077926
+v -0.10319123 -0.21877386 -0.10194981
+v -0.10270954 -0.21877392 -0.08430708
+v -0.10252471 -0.21877395 -0.07548302
+v -0.10244069 -0.21877399 -0.06665356
+v -0.10619336 -0.21877399 -0.06454592
+v -0.10076039 -0.25159714 -0.06454604
+v -0.10650142 -0.25060250 -0.06454604
+v -0.11437082 -0.25043252 -0.11265524
+v -0.11466767 -0.25067856 -0.11960345
+v -0.11466767 -0.25067856 -0.11961422
+v -0.11960776 -0.21877379 -0.11961410
+v -0.11817390 -0.21877399 -0.06454592
+v -0.10983401 -0.24887314 -0.06454603
+v -0.11587748 -0.24386182 -0.06454602
+v -0.11088140 -0.24832558 -0.06454603
+v -0.11782103 -0.24558058 -0.11960343
+v -0.11782103 -0.24558058 -0.11961420
+v -0.11966376 -0.21878765 -0.11961410
+v -0.11966376 -0.21878765 -0.11960333
+v -0.11866678 -0.22771883 -0.06454596
+v -0.11845395 -0.23664982 -0.06454599
+v -0.12022946 -0.23664962 -0.11961417
+v -0.11996061 -0.22771863 -0.11961414
+v -0.11996061 -0.22771863 -0.11960337
+v -0.11975898 -0.22771866 -0.11077930
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 25
+f 1 25 32
+f 1 32 40
+f 1 40 41
+f 1 41 34
+f 1 34 35
+f 1 35 33
+f 1 33 27
+f 1 27 26
+f 1 26 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 9 15
+f 5 15 16
+f 5 16 17
+f 5 17 30
+f 5 30 37
+f 5 37 42
+f 5 42 43
+f 5 43 38
+f 5 38 31
+f 5 31 18
+f 5 18 7
+f 5 7 10
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 25
+f 9 26 15
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 18 31 19
+f 19 31 32
+f 19 32 25
+f 19 25 24
+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 27 33 28
+f 28 34 29
+f 28 33 35
+f 28 35 34
+f 29 34 36
+f 29 36 37
+f 29 37 30
+f 31 38 39
+f 31 39 32
+f 32 39 40
+f 34 41 36
+f 36 41 42
+f 36 42 37
+f 38 43 44
+f 38 44 39
+f 39 44 45
+f 39 45 40
+f 40 45 42
+f 40 42 41
+f 42 45 44
+f 42 44 43
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_35.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.06510368 -0.22885667 -0.12906550
+v 0.10272523 -0.21880951 -0.11077571
+v 0.10399484 -0.21880949 -0.11809668
+v 0.10727193 -0.21880945 -0.12906546
+v 0.06510368 -0.25283401 -0.12906559
+v 0.06510368 -0.23129364 -0.06426157
+v 0.10247022 -0.21880968 -0.06426152
+v 0.10246480 -0.21880968 -0.06665320
+v 0.10241597 -0.21880958 -0.09313305
+v 0.10242682 -0.21880955 -0.10195121
+v 0.11981607 -0.21880945 -0.12906546
+v 0.10062550 -0.25406964 -0.12906559
+v 0.06510368 -0.25285128 -0.12842485
+v 0.06510368 -0.25215775 -0.06426165
+v 0.11770549 -0.21880968 -0.06426152
+v 0.12053226 -0.23664663 -0.12842479
+v 0.12052683 -0.23664663 -0.12906553
+v 0.11958276 -0.21880948 -0.11962559
+v 0.12049428 -0.23664666 -0.11960029
+v 0.06510368 -0.25285134 -0.11077584
+v 0.06510368 -0.25288237 -0.11960035
+v 0.06510368 -0.25288237 -0.12010152
+v 0.10874229 -0.25341387 -0.12906559
+v 0.10938252 -0.25313433 -0.11960035
+v 0.10062550 -0.25405238 -0.12842485
+v 0.06510368 -0.25246832 -0.08430868
+v 0.06510368 -0.25259945 -0.09313318
+v 0.08311688 -0.25153649 -0.06426164
+v 0.10062550 -0.25374524 -0.11960035
+v 0.11811242 -0.22772137 -0.06426156
+v 0.11840539 -0.24557904 -0.12842482
+v 0.11839454 -0.24557904 -0.12906556
+v 0.11830774 -0.24557907 -0.11960032
+v 0.11821007 -0.23664686 -0.06426159
+v 0.10938252 -0.25334483 -0.12906559
+v 0.10938252 -0.25334483 -0.12842485
+v 0.11489500 -0.25099096 -0.11960034
+v 0.11459115 -0.25072869 -0.11077583
+v 0.10938252 -0.25259938 -0.11077584
+v 0.10626276 -0.25040441 -0.06426164
+v 0.10207415 -0.25073920 -0.06426164
+v 0.10062550 -0.25083585 -0.06426164
+v 0.11496010 -0.25106342 -0.12842484
+v 0.11494925 -0.25105651 -0.12906558
+v 0.11646844 -0.24220718 -0.06426161
+v 0.11582821 -0.24423665 -0.06426162
+v 0.11455318 -0.25122909 -0.12906558
+v 0.11413541 -0.25035251 -0.10382915
+v 0.11063584 -0.24870284 -0.06426163
+v 0.11213333 -0.24749137 -0.06426163
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 32
+f 1 32 44
+f 1 44 47
+f 1 47 35
+f 1 35 23
+f 1 23 12
+f 1 12 5
+f 1 5 13
+f 1 13 22
+f 1 22 21
+f 1 21 20
+f 1 20 27
+f 1 27 26
+f 1 26 14
+f 1 14 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 15
+f 2 15 18
+f 2 18 11
+f 2 11 4
+f 2 4 3
+f 5 12 13
+f 6 14 28
+f 6 28 42
+f 6 42 41
+f 6 41 40
+f 6 40 49
+f 6 49 50
+f 6 50 46
+f 6 46 45
+f 6 45 34
+f 6 34 30
+f 6 30 15
+f 6 15 7
+f 11 16 17
+f 11 18 19
+f 11 19 16
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 12 23 24
+f 12 24 25
+f 12 25 14
+f 12 14 26
+f 12 26 27
+f 12 27 20
+f 14 25 29
+f 14 29 28
+f 15 30 19
+f 15 19 18
+f 16 31 17
+f 16 19 31
+f 17 31 32
+f 19 33 31
+f 19 30 34
+f 19 34 33
+f 23 35 36
+f 23 36 24
+f 24 29 25
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 29
+f 28 29 42
+f 29 41 42
+f 31 43 32
+f 31 33 43
+f 32 43 44
+f 33 38 37
+f 33 37 43
+f 33 34 45
+f 33 45 46
+f 33 46 38
+f 35 47 43
+f 35 43 36
+f 36 43 37
+f 38 48 49
+f 38 49 40
+f 38 40 39
+f 38 46 48
+f 43 47 44
+f 46 50 48
+f 48 50 49
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_36.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.10724778 0.15620438 0.14347206
+v 0.09186957 0.16525099 0.14556454
+v 0.10051313 0.15620438 0.14360354
+v 0.10724778 0.15620448 0.11774653
+v 0.10724778 0.16525099 0.14378765
+v 0.09186957 0.17418069 0.14721375
+v 0.08311496 0.16525098 0.14567725
+v 0.09186957 0.15620438 0.14376508
+v 0.10724350 0.15620448 0.11635657
+v 0.10724778 0.15632140 0.11634906
+v 0.10724778 0.17418070 0.14409197
+v 0.10062416 0.17418070 0.14543686
+v 0.08311496 0.17418069 0.14729639
+v 0.06362423 0.16525098 0.14586507
+v 0.10724778 0.21665056 0.14457674
+v 0.09186957 0.21882913 0.14747687
+v 0.08311496 0.21882913 0.14800281
+v 0.07436036 0.21882913 0.14824699
+v 0.06560576 0.21882912 0.14838599
+v 0.06362423 0.21882912 0.14841603
+v 0.08311496 0.15620438 0.14383645
+v 0.06362423 0.15620445 0.12469257
+v 0.10724778 0.21906928 0.11004188
+v 0.06362423 0.17418069 0.14744290
+v 0.06362423 0.15620438 0.14394914
+v 0.10724778 0.21901377 0.14458801
+v 0.10724778 0.21906915 0.14458801
+v 0.09210445 0.21906914 0.14742428
+v 0.09186957 0.21906914 0.14746560
+v 0.08311496 0.21906914 0.14800281
+v 0.07436036 0.21906914 0.14824699
+v 0.06584064 0.21906913 0.14838599
+v 0.06560576 0.21906913 0.14838974
+v 0.06362423 0.21906913 0.14841603
+v 0.06362423 0.21882923 0.11900524
+v 0.06362423 0.21906924 0.11899021
+f 1 2 3
+f 1 3 8
+f 1 8 21
+f 1 21 25
+f 1 25 22
+f 1 22 9
+f 1 9 4
+f 1 4 10
+f 1 10 23
+f 1 23 27
+f 1 27 26
+f 1 26 15
+f 1 15 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 13
+f 7 14 8
+f 8 14 21
+f 9 22 23
+f 9 23 10
+f 11 15 12
+f 13 24 14
+f 13 20 24
+f 14 25 21
+f 14 24 20
+f 14 20 34
+f 14 34 36
+f 14 36 35
+f 14 35 22
+f 14 22 25
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 20
+f 20 33 34
+f 22 35 23
+f 23 35 36
+f 23 36 34
+f 23 34 33
+f 23 33 32
+f 23 32 31
+f 23 31 30
+f 23 30 29
+f 23 29 28
+f 23 28 27
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_37.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.06362372 0.27138568 0.00095012
+v 0.07436044 0.27144927 0.00095012
+v 0.06362372 0.24044019 0.00095000
+v 0.06362372 0.27144545 0.02160915
+v 0.07436044 0.27146047 0.00395450
+v 0.07733890 0.27123977 0.00095012
+v 0.08311153 0.27133692 0.03043647
+v 0.10203902 0.23328828 0.00094998
+v 0.09187015 0.23482151 0.10642356
+v 0.09064041 0.23521052 0.10642356
+v 0.08385239 0.23752592 0.10642357
+v 0.06362372 0.24777874 0.10642361
+v 0.06560560 0.27145666 0.02160915
+v 0.06362372 0.27127682 0.10642370
+v 0.07436044 0.27149780 0.02160915
+v 0.08311153 0.27081337 0.00095011
+v 0.08311153 0.27129202 0.03925347
+v 0.09068553 0.26954892 0.03925346
+v 0.09047494 0.26956767 0.03043646
+v 0.07436044 0.27127305 0.10642370
+v 0.10203902 0.25422034 0.00095005
+v 0.10203902 0.23510205 0.10642356
+v 0.06460902 0.27128055 0.10642370
+v 0.06900901 0.27128055 0.10642370
+v 0.08501820 0.27021862 0.00095011
+v 0.07776386 0.27110099 0.10642370
+v 0.08311153 0.27081298 0.10642369
+v 0.09506296 0.26618245 0.03925345
+v 0.08953853 0.26916715 0.10642369
+v 0.08868485 0.26905156 0.00095011
+v 0.10203902 0.25596706 0.02954851
+v 0.10203902 0.25684954 0.10642364
+v 0.10203902 0.25615779 0.03893335
+v 0.09391596 0.26529569 0.10642367
+v 0.10203902 0.25686827 0.10102400
+v 0.10203902 0.25688700 0.09219668
+v 0.10203902 0.25689824 0.08336937
+f 1 2 6
+f 1 6 16
+f 1 16 25
+f 1 25 30
+f 1 30 21
+f 1 21 8
+f 1 8 3
+f 1 3 12
+f 1 12 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 5
+f 4 14 13
+f 5 13 15
+f 5 15 7
+f 6 7 16
+f 7 17 18
+f 7 18 19
+f 7 19 16
+f 7 15 20
+f 7 20 17
+f 8 21 31
+f 8 31 33
+f 8 33 37
+f 8 37 36
+f 8 36 35
+f 8 35 32
+f 8 32 22
+f 8 22 9
+f 9 22 32
+f 9 32 34
+f 9 34 29
+f 9 29 27
+f 9 27 26
+f 9 26 20
+f 9 20 24
+f 9 24 23
+f 9 23 14
+f 9 14 12
+f 9 12 11
+f 9 11 10
+f 13 14 15
+f 14 23 15
+f 15 23 24
+f 15 24 20
+f 16 19 25
+f 17 20 26
+f 17 26 27
+f 17 27 18
+f 18 28 19
+f 18 27 29
+f 18 29 28
+f 19 28 30
+f 19 30 25
+f 21 30 28
+f 21 28 31
+f 28 33 31
+f 28 29 34
+f 28 34 32
+f 28 32 35
+f 28 35 36
+f 28 36 37
+f 28 37 33
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_38.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.06510368 -0.07539992 -0.15128086
+v 0.06510368 -0.07590499 -0.15128086
+v 0.05684368 -0.07590500 -0.15096796
+v 0.05684368 -0.00254511 -0.15095839
+v 0.06510368 -0.00254510 -0.15121243
+v 0.06510368 -0.08482770 -0.15127780
+v 0.05684368 -0.08482771 -0.15096799
+v 0.05213214 -0.01338285 -0.15060837
+v 0.05213510 -0.00446013 -0.15060834
+v 0.05213805 -0.00254511 -0.15060833
+v 0.06510368 -0.00254516 -0.13618088
+v 0.06510368 -0.21753208 -0.15104593
+v 0.05684368 -0.21753208 -0.15083527
+v 0.05231562 -0.21753208 -0.15055335
+v 0.04775501 -0.01338285 -0.14844286
+v 0.04776093 -0.00254511 -0.14844282
+v 0.04811016 -0.00254522 -0.11963441
+v 0.04846826 -0.21753219 -0.11963520
+v 0.06510368 -0.00446018 -0.13617780
+v 0.06510368 -0.21753213 -0.13613831
+v 0.04793850 -0.21753209 -0.14781162
+v 0.04776389 -0.02230556 -0.14843359
+v 0.04188630 -0.02230558 -0.14402203
+v 0.04188334 -0.01338287 -0.14403129
+v 0.04187742 -0.00446015 -0.14403126
+v 0.04187742 -0.00254513 -0.14403125
+v 0.03498176 -0.00254522 -0.11963441
+v 0.03502319 -0.21753219 -0.11963520
+v 0.04715423 -0.21753209 -0.14719201
+v 0.04189518 -0.03124934 -0.14398178
+v 0.03866043 -0.06696129 -0.13725303
+v 0.03863380 -0.05803856 -0.13725299
+v 0.03861308 -0.04911585 -0.13725296
+v 0.03859236 -0.04017209 -0.13725293
+v 0.03857460 -0.03124937 -0.13725289
+v 0.03856573 -0.02230561 -0.13725286
+v 0.03855981 -0.01338290 -0.13725283
+v 0.03855685 -0.00446018 -0.13725280
+v 0.03855685 -0.00254516 -0.13725279
+v 0.03558550 -0.00254521 -0.12332724
+v 0.03497288 -0.00446024 -0.11963442
+v 0.03486930 -0.04017215 -0.11963455
+v 0.03639049 -0.03124940 -0.12842976
+v 0.03639936 -0.04017212 -0.12842980
+v 0.03545528 -0.21753218 -0.12178522
+v 0.04242197 -0.21753210 -0.14339694
+v 0.04197213 -0.07590502 -0.14380537
+v 0.04194845 -0.06696126 -0.14382702
+v 0.03869003 -0.07590505 -0.13725306
+v 0.03682850 -0.21753216 -0.12843045
+v 0.03642008 -0.04911588 -0.12842983
+v 0.03687289 -0.00254518 -0.13030396
+v 0.03642008 -0.00254519 -0.12842966
+v 0.03494032 -0.01338296 -0.11963445
+v 0.03488113 -0.03124943 -0.11963451
+v 0.03641712 -0.00446021 -0.12842967
+v 0.03639936 -0.02230564 -0.12842973
+v 0.03564765 -0.21753218 -0.12272392
+v 0.03941511 -0.21753213 -0.13725358
+v 0.03873146 -0.08482776 -0.13725309
+v 0.03719251 -0.21753215 -0.12967275
+v 0.03491073 -0.02230567 -0.11963448
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 16
+f 4 16 26
+f 4 26 39
+f 4 39 52
+f 4 52 53
+f 4 53 40
+f 4 40 27
+f 4 27 17
+f 4 17 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 15 9
+f 8 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 19
+f 12 20 18
+f 12 18 28
+f 12 28 45
+f 12 45 58
+f 12 58 50
+f 12 50 61
+f 12 61 59
+f 12 59 46
+f 12 46 29
+f 12 29 21
+f 12 21 14
+f 12 14 13
+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 16
+f 17 27 41
+f 17 41 54
+f 17 54 62
+f 17 62 55
+f 17 55 42
+f 17 42 28
+f 17 28 18
+f 18 20 19
+f 21 29 23
+f 21 23 22
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 23 29 30
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 27 40 41
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 50
+f 31 50 32
+f 32 51 33
+f 32 50 51
+f 33 51 44
+f 33 44 34
+f 34 44 35
+f 35 44 43
+f 35 43 36
+f 36 43 37
+f 37 43 38
+f 38 43 39
+f 39 43 52
+f 40 53 41
+f 41 53 54
+f 42 55 56
+f 42 56 57
+f 42 57 43
+f 43 57 52
+f 44 51 45
+f 45 51 58
+f 46 59 60
+f 46 60 49
+f 46 49 47
+f 47 49 48
+f 49 60 50
+f 50 58 51
+f 50 60 61
+f 52 57 56
+f 52 56 53
+f 53 56 55
+f 53 55 62
+f 53 62 54
+f 59 61 60
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_39.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.02688201 -0.27195597 -0.02253897
+v -0.06300613 -0.27183763 -0.02253897
+v -0.03947276 -0.27192211 -0.03135325
+v -0.02688201 -0.27187987 -0.02748612
+v -0.02688201 -0.27187573 -0.00489301
+v -0.06300613 -0.27175747 0.01277039
+v -0.06300613 -0.27183338 -0.03135325
+v -0.02688201 -0.27180802 -0.03135325
+v -0.05697955 -0.25262176 -0.13724641
+v -0.02688201 -0.27160539 0.02717632
+v -0.03393778 -0.27163918 0.02717632
+v -0.05144811 -0.27167300 0.02717632
+v -0.06020504 -0.27168568 0.02717632
+v -0.06300613 -0.27168568 0.02717632
+v -0.06300613 -0.25254569 -0.13724641
+v -0.02688201 -0.27071770 -0.03529004
+v -0.05697955 -0.25132436 -0.14402258
+v -0.04822615 -0.25197518 -0.13724641
+v -0.04822615 -0.25073696 -0.14289032
+v -0.04379464 -0.25010306 -0.14174062
+v -0.06300613 -0.25169203 -0.14191481
+v -0.06300613 -0.25129055 -0.14404000
+v -0.02688201 -0.24373515 0.02717642
+v -0.06300613 -0.24761458 0.02717641
+v -0.02688201 -0.26976684 -0.03825137
+v -0.06300613 -0.24779143 -0.14707099
+v -0.05697955 -0.24598272 -0.14842969
+v -0.05245254 -0.24131303 -0.15053745
+v -0.04306961 -0.24558128 -0.14276836
+v -0.04098647 -0.24558130 -0.13724638
+v -0.03880078 -0.24558133 -0.12841468
+v -0.02688201 -0.22878787 0.01423379
+v -0.03129231 -0.22878787 0.01426862
+v -0.03181574 -0.22878787 0.01407700
+v -0.03580517 -0.22878786 0.01034923
+v -0.06300613 -0.23270938 -0.03856478
+v -0.03520039 -0.24986232 -0.10608288
+v -0.03494929 -0.24176533 -0.11601198
+v -0.03080778 -0.24558149 -0.08429105
+v -0.02955931 -0.24558152 -0.07547678
+v -0.02688201 -0.24520970 -0.05647209
+v -0.06300613 -0.24612217 -0.14844712
+v -0.06300613 -0.24304990 -0.14996260
+v -0.05697955 -0.24151587 -0.15058970
+v -0.06300613 -0.23816891 -0.15074647
+v -0.06300613 -0.23665179 -0.15078131
+v -0.05697955 -0.23665179 -0.15069421
+v -0.05240656 -0.23665179 -0.15055485
+v -0.04802810 -0.23665180 -0.14818580
+v -0.04232689 -0.23665181 -0.14377867
+v -0.03936665 -0.23665184 -0.13724635
+v -0.03700766 -0.23665187 -0.12841465
+v -0.02688201 -0.22878761 -0.05708171
+v -0.05171690 -0.22878765 -0.04595064
+v -0.06300613 -0.23138661 -0.04901648
+v -0.06300613 -0.23169088 -0.04495774
+v -0.06300613 -0.23188529 -0.04298933
+v -0.03559297 -0.23665189 -0.12122040
+v -0.03482903 -0.23665191 -0.11681325
+v -0.03386351 -0.23665193 -0.11076868
+v -0.03254431 -0.23665197 -0.10193699
+v -0.03133829 -0.23665200 -0.09312272
+v -0.02895807 -0.23665206 -0.07547675
+v -0.02783693 -0.23665210 -0.06664505
+v -0.02688201 -0.23677045 -0.05824885
+v -0.06300613 -0.24165955 -0.15062455
+v -0.06300613 -0.23050300 -0.15076387
+v -0.06216439 -0.22878727 -0.15074644
+v -0.05631111 -0.22878727 -0.15064192
+v -0.05345343 -0.22878727 -0.15055482
+v -0.05251266 -0.22878727 -0.15051998
+v -0.05249144 -0.22943384 -0.15051998
+v -0.05158604 -0.22878727 -0.15003224
+v -0.04966913 -0.22878727 -0.14900448
+v -0.04884508 -0.22878727 -0.14855159
+v -0.04231274 -0.22878729 -0.14376122
+v -0.03960361 -0.22878731 -0.13803018
+v -0.03925348 -0.22878732 -0.13724632
+v -0.03716681 -0.22878734 -0.12947721
+v -0.03688741 -0.22878735 -0.12841462
+v -0.02688201 -0.23190214 -0.05755205
+v -0.02688555 -0.22878761 -0.05711655
+v -0.05225094 -0.22878764 -0.04873776
+v -0.06300613 -0.22878736 -0.12590621
+v -0.03556821 -0.22878737 -0.12158617
+v -0.03477598 -0.22878739 -0.11717903
+v -0.03382814 -0.22878741 -0.11076865
+v -0.02700580 -0.22878761 -0.05821398
+v -0.03265041 -0.22878745 -0.10193696
+v -0.02695275 -0.22878761 -0.05774365
+v -0.06300613 -0.22878727 -0.15074644
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 25
+f 1 25 41
+f 1 41 65
+f 1 65 81
+f 1 81 53
+f 1 53 32
+f 1 32 23
+f 1 23 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 14
+f 2 14 24
+f 2 24 36
+f 2 36 57
+f 2 57 56
+f 2 56 55
+f 2 55 84
+f 2 84 91
+f 2 91 67
+f 2 67 46
+f 2 46 45
+f 2 45 66
+f 2 66 43
+f 2 43 42
+f 2 42 26
+f 2 26 22
+f 2 22 21
+f 2 21 15
+f 2 15 7
+f 3 8 4
+f 3 7 9
+f 3 9 8
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 9
+f 8 9 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 16
+f 9 15 21
+f 9 21 22
+f 9 22 17
+f 10 23 24
+f 10 24 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 16 20 25
+f 17 19 18
+f 17 22 26
+f 17 26 27
+f 17 27 19
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 25
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 25 31 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 29 50 51
+f 29 51 30
+f 29 49 50
+f 30 51 52
+f 30 52 38
+f 30 38 31
+f 31 38 37
+f 32 53 82
+f 32 82 90
+f 32 90 88
+f 32 88 89
+f 32 89 87
+f 32 87 86
+f 32 86 85
+f 32 85 80
+f 32 80 79
+f 32 79 78
+f 32 78 77
+f 32 77 76
+f 32 76 75
+f 32 75 74
+f 32 74 73
+f 32 73 71
+f 32 71 70
+f 32 70 69
+f 32 69 68
+f 32 68 91
+f 32 91 84
+f 32 84 83
+f 32 83 54
+f 32 54 35
+f 32 35 34
+f 32 34 33
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 38 52 58
+f 38 58 59
+f 38 59 60
+f 38 60 61
+f 38 61 40
+f 38 40 39
+f 40 61 41
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 43 66 44
+f 44 66 45
+f 46 67 47
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 70 71
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 49
+f 48 69 70
+f 49 74 75
+f 49 75 76
+f 49 76 50
+f 50 76 77
+f 50 77 51
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 52 79 80
+f 52 80 58
+f 53 81 82
+f 54 83 55
+f 55 83 84
+f 58 85 86
+f 58 86 59
+f 58 80 85
+f 59 86 60
+f 60 86 61
+f 61 86 87
+f 61 87 62
+f 62 87 63
+f 63 88 64
+f 63 87 89
+f 63 89 88
+f 64 88 65
+f 65 88 90
+f 65 90 81
+f 67 91 68
+f 71 73 72
+f 81 90 82
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_4.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 -0.00254611 0.12187800
+v -0.00169744 -0.07588169 0.12054554
+v -0.00169744 -0.00254619 0.14365842
+v 0.10753745 -0.00254609 0.11662368
+v -0.00169744 -0.08482076 0.12048434
+v -0.00169744 -0.13097463 0.14378558
+v 0.00283010 -0.13097463 0.14378027
+v 0.00432227 -0.13097463 0.14377760
+v 0.00025386 -0.00254619 0.14365310
+v 0.12858095 -0.00254609 0.11662368
+v 0.10719310 -0.09367182 0.11662335
+v -0.00169744 -0.08762444 0.12049497
+v 0.10716760 -0.10261089 0.11662331
+v 0.10716760 -0.10267375 0.11662331
+v 0.10721861 -0.11161282 0.11662328
+v 0.10728238 -0.12053932 0.11662325
+v 0.10735889 -0.12952868 0.11662321
+v 0.10737165 -0.13097453 0.11662321
+v -0.00169744 -0.13097454 0.12088835
+v 0.01307127 -0.13097463 0.14375101
+v 0.10062498 -0.00254619 0.14337921
+v 0.12859370 -0.00254610 0.11867914
+v 0.12858095 -0.02231011 0.11662361
+v -0.00169744 -0.09374726 0.12052953
+v -0.00169744 -0.12946583 0.12082188
+v 0.12851718 -0.13097453 0.11662321
+v 0.02035360 -0.13097463 0.14371378
+v 0.08163481 -0.13097463 0.14338937
+v 0.08311423 -0.13097463 0.14338140
+v 0.09038381 -0.13097463 0.14333354
+v 0.09186323 -0.13097463 0.14332291
+v 0.10937397 -0.00254619 0.14328880
+v 0.12852994 -0.12053933 0.11867871
+v 0.12852994 -0.12262636 0.11662324
+v 0.12840239 -0.00254613 0.12750459
+v 0.12840239 -0.01338365 0.12750455
+v 0.12837689 -0.12053936 0.12750416
+v 0.12851718 -0.13097454 0.11867867
+v 0.10062498 -0.13097463 0.14319260
+v 0.10937397 -0.01338371 0.14327547
+v 0.11799543 -0.01338370 0.14197253
+v 0.11799543 -0.00254618 0.14197257
+v 0.12536703 -0.00254616 0.13626355
+v 0.12536703 -0.01338368 0.13626351
+v 0.12536703 -0.08482082 0.13621273
+v 0.12536703 -0.11161289 0.13616742
+v 0.12536703 -0.12946589 0.13613544
+v 0.12836414 -0.13097457 0.12750412
+v 0.10937397 -0.13097463 0.14297191
+v 0.11626093 -0.13097462 0.14199604
+v 0.11766384 -0.13097462 0.14179395
+v 0.11798268 -0.02231020 0.14195919
+v 0.12233166 -0.05804135 0.14066942
+v 0.12234442 -0.04910227 0.14067212
+v 0.12235717 -0.04017577 0.14067215
+v 0.12236993 -0.02231020 0.14067487
+v 0.12236993 -0.00444463 0.14067760
+v 0.12236993 -0.00254618 0.14067761
+v 0.12300761 -0.00254617 0.13973895
+v 0.12535427 -0.05804133 0.13625538
+v 0.12535427 -0.13097460 0.13613544
+v 0.12586442 -0.13097459 0.13467827
+v 0.12230615 -0.06695527 0.14065609
+v 0.12203833 -0.13097462 0.14054683
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 25
+f 1 25 19
+f 1 19 6
+f 1 6 3
+f 1 3 9
+f 1 9 21
+f 1 21 32
+f 1 32 42
+f 1 42 58
+f 1 58 59
+f 1 59 43
+f 1 43 35
+f 1 35 22
+f 1 22 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 23
+f 4 23 34
+f 4 34 26
+f 4 26 18
+f 4 18 17
+f 4 17 16
+f 4 16 15
+f 4 15 14
+f 4 14 13
+f 4 13 11
+f 4 11 5
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 12
+f 6 19 18
+f 6 18 26
+f 6 26 38
+f 6 38 48
+f 6 48 62
+f 6 62 61
+f 6 61 64
+f 6 64 51
+f 6 51 50
+f 6 50 49
+f 6 49 39
+f 6 39 31
+f 6 31 30
+f 6 30 29
+f 6 29 28
+f 6 28 27
+f 6 27 20
+f 6 20 8
+f 6 8 7
+f 8 20 21
+f 8 21 9
+f 10 22 23
+f 12 18 24
+f 18 19 25
+f 18 25 24
+f 20 27 21
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 27 28
+f 22 33 34
+f 22 34 23
+f 22 35 36
+f 22 36 37
+f 22 37 33
+f 26 34 38
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 33 38 34
+f 33 37 48
+f 33 48 38
+f 35 43 44
+f 35 44 36
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 42
+f 43 59 44
+f 44 59 57
+f 44 57 56
+f 44 56 60
+f 44 60 45
+f 45 60 56
+f 45 56 55
+f 45 55 46
+f 46 55 47
+f 47 61 62
+f 47 62 48
+f 47 55 54
+f 47 54 53
+f 47 53 63
+f 47 63 64
+f 47 64 61
+f 51 64 63
+f 51 63 52
+f 52 63 53
+f 57 59 58
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_40.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 -0.26344241 -0.04222552
+v -0.00169744 -0.25450799 -0.04211256
+v 0.02724361 -0.23685811 -0.06195727
+v 0.02740708 -0.24082275 -0.06195728
+v 0.02768825 -0.24532435 -0.06195730
+v 0.03172928 -0.25191778 -0.06195733
+v -0.00169744 -0.26560300 -0.04113392
+v 0.02766864 -0.22889444 -0.06195724
+v -0.00169744 -0.24571532 -0.03861183
+v 0.03933398 -0.25354144 -0.06195733
+v -0.00169744 -0.27032796 -0.03873238
+v 0.05289560 -0.22889444 -0.06195724
+v -0.00169744 -0.24124810 -0.03555531
+v -0.00169744 -0.23962446 -0.03252889
+v -0.00169744 -0.23890713 -0.03114367
+v 0.01602945 -0.22889452 -0.04017014
+v 0.06510368 -0.25215403 -0.06195733
+v 0.06510368 -0.26994135 -0.03951533
+v 0.01306734 -0.27034514 -0.03873238
+v -0.00169744 -0.27275916 -0.03134706
+v 0.05301331 -0.22889446 -0.05782417
+v 0.06510368 -0.23124403 -0.05782418
+v 0.06510368 -0.23127838 -0.06195725
+v -0.00169744 -0.23720187 -0.02525648
+v -0.00169744 -0.23642442 -0.02253121
+v 0.01328312 -0.22889455 -0.03134690
+v 0.06510368 -0.27185714 -0.03181382
+v 0.01306734 -0.27275916 -0.03134706
+v -0.00169744 -0.27277216 -0.00487732
+v 0.05273213 -0.22889449 -0.04900092
+v 0.06510368 -0.23126984 -0.04900093
+v -0.00169744 -0.23617530 -0.01647841
+v 0.00450141 -0.22889472 0.01276933
+v 0.06510368 -0.27197311 -0.03134706
+v 0.01306734 -0.27276785 -0.00487732
+v 0.00431179 -0.27277216 -0.00487732
+v -0.00169744 -0.27271634 -0.00210688
+v 0.05198016 -0.22889452 -0.04012497
+v 0.06510368 -0.23167365 -0.03943990
+v -0.00169744 -0.23606364 -0.01370797
+v -0.00169744 -0.23550533 0.01276930
+v 0.00450141 -0.22889472 0.01281450
+v 0.06510368 -0.27195166 -0.02303574
+v 0.06510368 -0.27179717 0.01495240
+v 0.01306734 -0.27258748 0.00394592
+v 0.00431179 -0.27258748 0.00394592
+v -0.00169744 -0.27258317 0.00394592
+v 0.03722193 -0.22889471 0.01201649
+v 0.03677075 -0.22889472 0.01346947
+v 0.06510368 -0.23188841 -0.03675981
+v -0.00169744 -0.23561273 0.01495253
+v 0.00460604 -0.22889472 0.01495256
+v 0.06510368 -0.24210736 0.01495251
+v 0.05900291 -0.27180148 0.01495240
+v 0.05024736 -0.27178430 0.01495240
+v 0.04808953 -0.27177998 0.01495240
+v -0.00169744 -0.27163823 0.01495240
+v 0.03567876 -0.22889472 0.01495256
+v 0.06510368 -0.24148023 0.01276928
+v 0.06510368 -0.23923801 0.00419448
+v 0.06510368 -0.23720624 -0.00487719
+v 0.06510368 -0.23228361 -0.03337957
+v 0.06510368 -0.23204306 -0.03493794
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 20
+f 1 20 29
+f 1 29 37
+f 1 37 47
+f 1 47 57
+f 1 57 51
+f 1 51 41
+f 1 41 40
+f 1 40 32
+f 1 32 25
+f 1 25 24
+f 1 24 15
+f 1 15 14
+f 1 14 13
+f 1 13 9
+f 1 9 2
+f 2 8 3
+f 2 9 8
+f 3 8 12
+f 3 12 23
+f 3 23 17
+f 3 17 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 11
+f 6 11 7
+f 8 9 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 26
+f 8 26 33
+f 8 33 42
+f 8 42 52
+f 8 52 58
+f 8 58 49
+f 8 49 48
+f 8 48 38
+f 8 38 30
+f 8 30 21
+f 8 21 12
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 12 21 22
+f 12 22 23
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 17 23 22
+f 17 22 31
+f 17 31 39
+f 17 39 50
+f 17 50 63
+f 17 63 62
+f 17 62 61
+f 17 61 60
+f 17 60 59
+f 17 59 53
+f 17 53 44
+f 17 44 43
+f 17 43 34
+f 17 34 27
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 20
+f 20 28 36
+f 20 36 29
+f 21 30 31
+f 21 31 22
+f 25 32 33
+f 25 33 26
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 29 36 37
+f 30 38 31
+f 31 38 39
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 34 43 35
+f 35 44 45
+f 35 45 36
+f 35 43 44
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 41 51 42
+f 42 51 52
+f 44 53 58
+f 44 58 52
+f 44 52 51
+f 44 51 57
+f 44 57 56
+f 44 56 55
+f 44 55 54
+f 44 54 45
+f 45 54 46
+f 46 54 47
+f 47 54 55
+f 47 55 56
+f 47 56 57
+f 49 58 53
+f 49 53 59
+f 49 59 60
+f 49 60 61
+f 49 61 62
+f 49 62 63
+f 49 63 50
+

dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_41.obj

@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.10915850 -0.22317094 0.10578057
+v -0.09729334 -0.22317097 0.11523380
+v -0.10915850 -0.22317108 0.14420314
+v -0.10915850 0.00086592 0.11297820
+v -0.09729334 -0.22317109 0.14617454
+v -0.09729334 0.00086587 0.12454930
+v -0.09729334 -0.22143828 0.14619434
+v -0.09729334 -0.21878422 0.14621810
+v -0.10915850 0.00086580 0.14361808
+v -0.09729334 0.00086580 0.14374871
+v -0.09729334 -0.18305327 0.14592925
+v -0.10429280 0.00086580 0.14368142
+v -0.09729334 -0.17412600 0.14585407
+v -0.10076403 0.00086580 0.14372496
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 13
+f 2 13 11
+f 2 11 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 9 12
+f 4 12 14
+f 4 14 10
+f 4 10 6
+f 8 11 9
+f 9 11 13
+f 9 13 12
+f 10 14 13
+f 12 13 14
+