Add asset tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658

.gitattributes

@@ -5101,3 +5101,4 @@ dataset/tools/repair_tools/4e9b3790eb395f8abb66b0bc4089b6d9/mesh/screwdriver_026
 dataset/tools/repair_tools/4e9b3790eb395f8abb66b0bc4089b6d9/screwdriver_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/4fd6f29018a759618c3beafa5b5395ec/mesh/screwdriver_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/4fd6f29018a759618c3beafa5b5395ec/screwdriver_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/5804cc53cf3a50d0b2f880bb3a380658.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/5804cc53cf3a50d0b2f880bb3a380658.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="umbrella_44">
+   <link name="umbrella_44">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/umbrella_44.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/umbrella_44_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.070535</scale>
+         <version>v0.1.5</version>
+         <category>umbrella</category>
+         <description>yellow-orange umbrella with curved handle and extended canopy</description>
+         <min_height>0.8</min_height>
+         <max_height>1.0</max_height>
+         <real_height>0.9</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20251015233600</generate_time>
+         <gs_model>mesh/umbrella_44_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.548904299736023</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/5804cc53cf3a50d0b2f880bb3a380658.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92308ce35617235ecf1eaf7335091927c867cb5c47e81e1dc7cb2b8855b6a268
+size 344672

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/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/5804cc53cf3a50d0b2f880bb3a380658/mesh/umbrella_44.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc6ede455425aed8c714ccdf2b4f5c6fe238de8cb93f3041145d684fe70c66f
+size 1503876

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mesh/umbrella_44_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:debb6c1be80a5e84fd170f0b1353ab83c37c6a2e46608c661592e1061fdbc958
+size 14461802

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/5804cc53cf3a50d0b2f880bb3a380658.xml

@@ -0,0 +1,138 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="umbrella_44">
+  <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/umbrella_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/umbrella_44_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/umbrella_44_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/umbrella_44_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/umbrella_44_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/umbrella_44_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/umbrella_44_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/umbrella_44_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/umbrella_44_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/umbrella_44_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/umbrella_44_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/umbrella_44_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/umbrella_44_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/umbrella_44_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/umbrella_44_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/umbrella_44_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/umbrella_44_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/umbrella_44_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/umbrella_44_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/umbrella_44_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/umbrella_44_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/umbrella_44_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/umbrella_44_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/umbrella_44_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/umbrella_44_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/umbrella_44_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/umbrella_44_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/umbrella_44_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/umbrella_44_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/umbrella_44_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/umbrella_44_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/umbrella_44_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/umbrella_44_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/umbrella_44_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/umbrella_44_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/umbrella_44_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/umbrella_44_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/umbrella_44_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/umbrella_44_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/umbrella_44_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/umbrella_44_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/umbrella_44_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/umbrella_44_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/umbrella_44_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/umbrella_44_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/umbrella_44_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/umbrella_44_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/umbrella_44_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/umbrella_44_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/umbrella_44_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/umbrella_44_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/umbrella_44_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/umbrella_44_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/umbrella_44_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/umbrella_44_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/umbrella_44_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/umbrella_44_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/umbrella_44_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/umbrella_44_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/umbrella_44_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/umbrella_44_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/umbrella_44_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/umbrella_44_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="umbrella_44">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_0.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.00859153 0.00864233 -0.45237256
+v -0.01930597 0.00864231 -0.44568539
+v -0.01895410 0.02646576 -0.44529431
+v -0.00859153 0.02646578 -0.45160048
+v 0.00921308 0.02646578 -0.45167066
+v 0.00921308 0.00864233 -0.45231237
+v -0.00859153 -0.00916344 -0.45212195
+v -0.01937195 -0.00916346 -0.44571553
+v -0.02181745 0.00864227 -0.43458695
+v -0.02215612 -0.00916350 -0.43458701
+v -0.02097736 0.02646572 -0.43458688
+v -0.01966224 0.04451904 -0.43539889
+v -0.01828115 0.03871937 -0.44444210
+v -0.00958557 0.04451908 -0.44766033
+v -0.00430752 0.05703793 -0.44560501
+v 0.00519737 0.05703793 -0.44560501
+v 0.01036546 0.04485503 -0.44769040
+v 0.01901706 0.03926751 -0.44449222
+v 0.01968561 0.02646576 -0.44536452
+v 0.01987034 0.00864231 -0.44563527
+v 0.01977798 -0.00916346 -0.44544485
+v 0.00921308 -0.00916344 -0.45186130
+v 0.00921308 -0.02700458 -0.45092896
+v -0.00859153 -0.02700458 -0.45113952
+v -0.01894970 -0.02700460 -0.44523436
+v -0.02068266 0.00980897 -0.34995998
+v -0.01858024 0.07355275 -0.39911578
+v -0.02139960 -0.02700464 -0.43458708
+v -0.02060789 -0.00990646 -0.34996006
+v -0.01855385 0.07326989 -0.41329212
+v -0.01902888 0.05873534 -0.43002507
+v -0.01618313 0.05061935 -0.44185541
+v -0.01078632 0.06382778 -0.43594022
+v -0.00539392 0.07479060 -0.43002502
+v 0.01707298 0.05114981 -0.44221635
+v 0.00921308 0.07406564 -0.42917284
+v 0.01036546 0.06264309 -0.43837647
+v 0.02206513 0.02646572 -0.43458688
+v 0.01946129 0.06213029 -0.42944357
+v 0.02051690 0.04485499 -0.43561948
+v 0.02276887 0.00864227 -0.43458695
+v 0.02276007 -0.00916350 -0.43458701
+v 0.01944810 -0.02700461 -0.44501380
+v 0.01881913 -0.03856863 -0.44427195
+v 0.00996081 -0.04465123 -0.44737994
+v 0.00452442 -0.05702863 -0.44547511
+v -0.01819758 -0.03878082 -0.44432207
+v -0.00405241 -0.05702863 -0.44547511
+v -0.00943162 -0.04475732 -0.44741002
+v -0.01919162 0.01348682 -0.34995997
+v -0.00341905 0.07997119 -0.36853736
+v -0.01788090 0.07217351 -0.38847850
+v -0.01182874 0.08248215 -0.39911575
+v -0.01969743 -0.04475736 -0.43524884
+v -0.01898489 -0.05961026 -0.42977485
+v -0.01861103 -0.07386201 -0.41378393
+v -0.01835152 -0.07334929 -0.39911632
+v -0.01752023 -0.07165185 -0.39003303
+v -0.00378411 -0.08049292 -0.36921969
+v -0.01800845 -0.01547629 -0.34996008
+v -0.00161571 0.08976718 -0.40992344
+v -0.01726513 0.07061762 -0.42511242
+v 0.00236042 0.08976718 -0.40992344
+v 0.01830452 0.07132490 -0.42602478
+v 0.01921059 0.07321685 -0.41685123
+v 0.01936893 0.07408321 -0.39911578
+v 0.02211351 0.00897791 -0.34995999
+v 0.02224107 0.00494642 -0.34996000
+v 0.02190239 -0.02700464 -0.43458708
+v 0.02029259 -0.04465127 -0.43511851
+v 0.01954926 -0.05955722 -0.42956432
+v 0.01805382 -0.07145722 -0.42555408
+v 0.01639563 -0.05045095 -0.44139460
+v 0.00618260 -0.07545333 -0.42961450
+v -0.01592362 -0.05066313 -0.44159514
+v -0.01745426 -0.07149258 -0.42561424
+v -0.00558305 -0.07545333 -0.42961450
+v -0.01075114 -0.06426061 -0.43560986
+v -0.01749385 0.01753600 -0.34995996
+v 0.00444085 0.07997119 -0.36853736
+v -0.00027861 0.08916585 -0.37195610
+v -0.01122616 0.07885727 -0.38209210
+v -0.01345614 0.01937493 -0.34995995
+v -0.00979229 0.02103704 -0.34995994
+v 0.00954736 0.02181504 -0.34995994
+v -0.00191920 0.08992620 -0.38137022
+v -0.00292203 0.09036832 -0.39911572
+v -0.00117148 -0.09004106 -0.40961328
+v -0.01056641 -0.08226101 -0.39911635
+v -0.00034458 -0.08972291 -0.37199686
+v -0.00930407 -0.02108148 -0.34996010
+v -0.01486801 -0.01858832 -0.34996009
+v 0.00393064 0.09036832 -0.39911572
+v 0.01283295 0.08301261 -0.39911575
+v 0.01851125 0.07249178 -0.38761630
+v 0.01855963 0.01801341 -0.34995995
+v 0.02135260 -0.00976500 -0.34996006
+v 0.01896868 -0.07357915 -0.39911632
+v 0.01922378 -0.07414493 -0.41372378
+v 0.00203934 -0.09004106 -0.40961328
+v 0.01240190 0.07905178 -0.38157079
+v 0.00085617 0.08916585 -0.37195610
+v 0.01249867 0.02061267 -0.34995994
+v 0.00280465 0.08992620 -0.38137022
+v -0.00166410 -0.09023559 -0.39911638
+v -0.00103953 -0.09000579 -0.38137088
+v 0.00090016 -0.08972291 -0.37199686
+v 0.00629256 -0.02111684 -0.34996010
+v 0.01737647 -0.01742131 -0.34996008
+v 0.00430010 -0.08049292 -0.36921969
+v 0.01814618 -0.07166954 -0.39001298
+v 0.01139468 -0.07877771 -0.38301507
+v 0.01147385 -0.08249087 -0.39911635
+v 0.00257154 -0.09023559 -0.39911638
+v 0.00171386 -0.09000579 -0.38137088
+v 0.00972769 -0.02111684 -0.34996010
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 9 11
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 8
+f 8 25 10
+f 9 26 27
+f 9 27 11
+f 9 10 26
+f 10 25 28
+f 10 28 29
+f 10 29 26
+f 11 27 30
+f 11 30 31
+f 11 31 12
+f 12 31 13
+f 13 31 32
+f 13 32 14
+f 14 32 15
+f 15 32 33
+f 15 33 34
+f 15 34 16
+f 16 35 17
+f 16 34 36
+f 16 36 37
+f 16 37 35
+f 17 35 18
+f 18 38 19
+f 18 35 39
+f 18 39 40
+f 18 40 38
+f 19 38 41
+f 19 41 20
+f 20 41 42
+f 20 42 21
+f 21 42 43
+f 21 43 22
+f 22 43 23
+f 23 43 44
+f 23 44 45
+f 23 45 46
+f 23 46 24
+f 24 47 25
+f 24 46 48
+f 24 48 49
+f 24 49 47
+f 25 47 28
+f 26 50 51
+f 26 51 52
+f 26 52 27
+f 26 29 60
+f 26 60 92
+f 26 92 91
+f 26 91 108
+f 26 108 116
+f 26 116 109
+f 26 109 97
+f 26 97 68
+f 26 68 67
+f 26 67 96
+f 26 96 103
+f 26 103 85
+f 26 85 84
+f 26 84 83
+f 26 83 79
+f 26 79 50
+f 27 52 53
+f 27 53 30
+f 28 47 54
+f 28 54 55
+f 28 55 56
+f 28 56 57
+f 28 57 29
+f 29 57 58
+f 29 58 59
+f 29 59 60
+f 30 53 61
+f 30 61 62
+f 30 62 31
+f 31 62 32
+f 32 62 33
+f 33 62 34
+f 34 62 61
+f 34 61 63
+f 34 63 36
+f 35 37 64
+f 35 64 39
+f 36 64 37
+f 36 63 64
+f 38 40 39
+f 38 39 65
+f 38 65 66
+f 38 66 67
+f 38 67 41
+f 39 64 65
+f 41 67 68
+f 41 68 42
+f 42 69 43
+f 42 68 69
+f 43 69 44
+f 44 69 70
+f 44 70 71
+f 44 71 72
+f 44 72 73
+f 44 73 45
+f 45 73 46
+f 46 73 72
+f 46 72 74
+f 46 74 77
+f 46 77 48
+f 47 49 75
+f 47 75 76
+f 47 76 55
+f 47 55 54
+f 48 75 49
+f 48 77 78
+f 48 78 75
+f 50 79 51
+f 51 80 102
+f 51 102 81
+f 51 81 82
+f 51 82 52
+f 51 79 83
+f 51 83 84
+f 51 84 85
+f 51 85 80
+f 52 82 53
+f 53 86 87
+f 53 87 61
+f 53 82 86
+f 55 76 56
+f 56 76 88
+f 56 88 89
+f 56 89 57
+f 57 89 90
+f 57 90 58
+f 58 90 59
+f 59 90 91
+f 59 91 92
+f 59 92 60
+f 61 87 93
+f 61 93 63
+f 63 93 94
+f 63 94 65
+f 63 65 64
+f 65 94 66
+f 66 94 95
+f 66 95 67
+f 67 95 96
+f 68 97 98
+f 68 98 99
+f 68 99 69
+f 69 99 71
+f 69 71 70
+f 71 99 72
+f 72 99 100
+f 72 100 74
+f 74 100 88
+f 74 88 77
+f 75 78 76
+f 76 77 88
+f 76 78 77
+f 80 101 102
+f 80 85 103
+f 80 103 96
+f 80 96 101
+f 81 102 104
+f 81 104 86
+f 81 86 82
+f 86 104 93
+f 86 93 87
+f 88 100 114
+f 88 114 105
+f 88 105 89
+f 89 105 106
+f 89 106 90
+f 90 106 115
+f 90 115 107
+f 90 107 116
+f 90 116 108
+f 90 108 91
+f 93 104 94
+f 94 104 101
+f 94 101 95
+f 95 101 96
+f 97 109 110
+f 97 110 111
+f 97 111 98
+f 98 111 112
+f 98 112 107
+f 98 107 113
+f 98 113 99
+f 99 113 100
+f 100 113 114
+f 101 104 102
+f 105 114 115
+f 105 115 106
+f 107 115 113
+f 107 112 111
+f 107 111 110
+f 107 110 116
+f 109 116 110
+f 113 115 114
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_1.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02326487 0.00864919 -0.32809070
+v -0.01871207 0.01878590 -0.31437363
+v -0.01870285 0.01875838 -0.32809066
+v -0.01749553 0.01754021 -0.34995000
+v -0.01919131 0.01349469 -0.34995001
+v -0.02067972 0.00981235 -0.34995002
+v -0.02060599 -0.00991412 -0.34995010
+v -0.02283171 -0.00917865 -0.32809076
+v -0.01920974 -0.00289240 0.39942733
+v -0.01920974 0.00219667 0.39942735
+v -0.00859268 0.02347968 -0.32809064
+v -0.01030229 0.01100026 0.39942738
+v -0.00128424 0.01863617 0.39942741
+v -0.01345422 0.01938367 -0.34994999
+v -0.01800703 -0.01548590 -0.34995012
+v -0.01775819 -0.01835458 -0.33975398
+v -0.01826969 -0.01885571 -0.32809080
+v -0.01826508 -0.01885116 -0.31540072
+v -0.00979540 -0.01191665 0.39942730
+v 0.00921301 0.02356242 -0.32809064
+v 0.00921301 0.02223390 -0.34584218
+v 0.00954940 0.02181558 -0.34994998
+v -0.00979079 0.02104325 -0.34994998
+v 0.00214880 0.01863617 0.39942741
+v -0.01486891 -0.01858899 -0.34995013
+v -0.00930233 -0.02108526 -0.34995014
+v -0.00859268 -0.02325980 -0.32809082
+v -0.00099854 -0.01902848 0.39942727
+v 0.01933700 0.01884113 -0.32809066
+v 0.01855823 0.01801371 -0.34994999
+v 0.01249858 0.02061112 -0.34994998
+v 0.01094105 0.01138643 0.39942738
+v 0.00629148 -0.02111284 -0.34995014
+v 0.00921301 -0.02340231 -0.32809082
+v 0.00158661 -0.01902848 0.39942727
+v 0.02381146 0.00864919 -0.32809070
+v 0.01963653 0.00236677 0.39942735
+v 0.02211569 0.00897567 -0.34995003
+v 0.00972451 -0.02111284 -0.34995014
+v 0.01845225 -0.01841894 -0.33953394
+v 0.01901444 -0.01899362 -0.32809080
+v 0.01897757 -0.01896609 -0.31540072
+v 0.01060005 -0.01144314 0.39942730
+v 0.02348890 -0.00917865 -0.32809076
+v 0.02224010 0.00493935 -0.34995004
+v 0.02253041 0.00864925 -0.34584223
+v 0.01964114 -0.00263955 0.39942733
+v 0.01737856 -0.01743510 -0.34995012
+v 0.02135074 -0.00977161 -0.34995010
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 12
+f 2 12 13
+f 2 13 11
+f 3 11 4
+f 4 14 23
+f 4 23 22
+f 4 22 31
+f 4 31 30
+f 4 30 38
+f 4 38 45
+f 4 45 49
+f 4 49 48
+f 4 48 39
+f 4 39 33
+f 4 33 26
+f 4 26 25
+f 4 25 15
+f 4 15 7
+f 4 7 6
+f 4 6 5
+f 4 11 14
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 19 28
+f 9 28 35
+f 9 35 43
+f 9 43 47
+f 9 47 37
+f 9 37 32
+f 9 32 24
+f 9 24 13
+f 9 13 12
+f 9 12 10
+f 9 18 19
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 14
+f 11 13 20
+f 13 24 20
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 20 29 30
+f 20 30 31
+f 20 31 22
+f 20 22 21
+f 20 24 29
+f 24 32 29
+f 26 33 34
+f 26 34 27
+f 27 34 28
+f 28 34 35
+f 29 36 30
+f 29 32 37
+f 29 37 36
+f 30 36 38
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 35
+f 35 42 43
+f 36 44 45
+f 36 45 46
+f 36 46 38
+f 36 37 47
+f 36 47 44
+f 38 46 45
+f 39 48 40
+f 40 48 49
+f 40 49 44
+f 40 44 41
+f 41 44 42
+f 42 44 47
+f 42 47 43
+f 44 49 45
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_10.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.51662123 -0.14138874 0.08838884
+v -0.51662123 -0.14138875 0.09118872
+v -0.49905077 -0.00016129 0.08797457
+v -0.51660021 -0.14123668 0.08825922
+v -0.51660021 -0.14138874 0.08823329
+v -0.49905077 -0.00016131 0.09207068
+v -0.51393103 -0.14138879 0.10062532
+v -0.49434288 -0.00016129 0.08789680
+v -0.50142570 -0.08049339 0.08610769
+v -0.50232944 -0.09832652 0.08574468
+v -0.50314914 -0.11615968 0.08600385
+v -0.50724751 -0.14138874 0.08732593
+v -0.49642359 -0.00016134 0.10093694
+v -0.50894990 -0.14138884 0.11503949
+v -0.48862616 -0.00016129 0.08792272
+v -0.49369133 -0.08049339 0.08610769
+v -0.49432186 -0.09832652 0.08574468
+v -0.49526764 -0.11615968 0.08600385
+v -0.49707515 -0.13399283 0.08750743
+v -0.49799988 -0.14138874 0.08846662
+v -0.49303980 -0.00016137 0.10822179
+v -0.48959295 -0.00016139 0.11542887
+v -0.50153079 -0.14138889 0.12922032
+v -0.48379220 -0.00016129 0.08831159
+v -0.48036637 -0.00016130 0.08862269
+v -0.48038738 -0.00918847 0.08864858
+v -0.48049247 -0.01898978 0.08877817
+v -0.30190841 -0.14138955 0.30885288
+v -0.48612512 -0.00016142 0.12123601
+v -0.49804191 -0.14138891 0.13440526
+v -0.48259420 -0.00016144 0.12714685
+v -0.30190841 -0.00016206 0.29594286
+v -0.30190841 -0.00918923 0.29586508
+v -0.30190841 -0.02702237 0.29739455
+v -0.30190841 -0.14138967 0.34094772
+v -0.49551985 -0.14138893 0.13808657
+v -0.47584764 -0.00016147 0.13603905
+v -0.42399795 -0.14138928 0.23333410
+v -0.30190841 -0.00016216 0.32500451
+v -0.30190841 -0.14025610 0.34188098
+v -0.30308538 -0.14138967 0.34063662
+v -0.46693632 -0.00016151 0.14695337
+v -0.41878566 -0.14138930 0.24010045
+v -0.41082011 -0.14138934 0.25021111
+v -0.30571256 -0.00016215 0.32207503
+v -0.32124434 -0.12332150 0.33809606
+v -0.30190841 -0.11631271 0.35059181
+v -0.30190841 -0.13371729 0.34610677
+v -0.31741917 -0.14026990 0.33638495
+v -0.31365709 -0.14138966 0.33690347
+v -0.46306911 -0.00016153 0.15143835
+v -0.40609121 -0.14138936 0.25578492
+v -0.31023126 -0.00016214 0.31823816
+v -0.32124434 -0.12838114 0.33809604
+v -0.31462388 -0.00016213 0.31450501
+v -0.31937378 -0.00016211 0.31012371
+v -0.32418676 -0.00016209 0.30563873
+v -0.34978584 -0.13399366 0.31333789
+v -0.34087449 -0.13399369 0.32176344
+v -0.34106365 -0.14138960 0.32181525
+v -0.30190841 -0.11994846 0.35025478
+v -0.31142925 -0.13418730 0.34154403
+v -0.33641881 -0.14138961 0.32528917
+v -0.31901650 -0.14138965 0.33485541
+v -0.45926499 -0.00016154 0.15581962
+v -0.39425846 -0.14138941 0.26913618
+v -0.33309811 -0.00016206 0.29615025
+v -0.37662495 -0.13754637 0.28730941
+v -0.35878126 -0.13399363 0.30447164
+v -0.37700324 -0.14138948 0.28746495
+v -0.35504016 -0.14138955 0.30893067
+v -0.45035364 -0.00016158 0.16574880
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 20
+f 1 20 28
+f 1 28 35
+f 1 35 41
+f 1 41 50
+f 1 50 64
+f 1 64 63
+f 1 63 60
+f 1 60 71
+f 1 71 70
+f 1 70 66
+f 1 66 52
+f 1 52 44
+f 1 44 43
+f 1 43 38
+f 1 38 36
+f 1 36 30
+f 1 30 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 5
+f 3 5 4
+f 3 6 13
+f 3 13 21
+f 3 21 22
+f 3 22 29
+f 3 29 31
+f 3 31 37
+f 3 37 42
+f 3 42 51
+f 3 51 65
+f 3 65 72
+f 3 72 67
+f 3 67 57
+f 3 57 56
+f 3 56 55
+f 3 55 53
+f 3 53 45
+f 3 45 39
+f 3 39 32
+f 3 32 25
+f 3 25 24
+f 3 24 15
+f 3 15 8
+f 5 10 11
+f 5 11 12
+f 6 7 13
+f 7 14 13
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 13 14 21
+f 14 22 21
+f 14 23 22
+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 20
+f 22 23 29
+f 23 30 31
+f 23 31 29
+f 25 32 33
+f 25 33 26
+f 26 33 27
+f 27 33 34
+f 27 34 28
+f 28 34 33
+f 28 33 32
+f 28 32 39
+f 28 39 47
+f 28 47 61
+f 28 61 48
+f 28 48 40
+f 28 40 35
+f 30 36 31
+f 31 36 38
+f 31 38 37
+f 35 40 41
+f 37 38 43
+f 37 43 44
+f 37 44 42
+f 39 45 46
+f 39 46 47
+f 40 48 49
+f 40 49 50
+f 40 50 41
+f 42 44 52
+f 42 52 51
+f 45 53 46
+f 46 54 47
+f 46 53 55
+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 59
+f 46 59 60
+f 46 60 54
+f 47 54 61
+f 48 61 62
+f 48 62 49
+f 49 62 54
+f 49 54 63
+f 49 63 64
+f 49 64 50
+f 51 52 65
+f 52 66 65
+f 54 62 61
+f 54 60 63
+f 57 67 68
+f 57 68 69
+f 57 69 58
+f 58 69 70
+f 58 70 71
+f 58 71 59
+f 59 71 60
+f 65 66 72
+f 66 70 68
+f 66 68 67
+f 66 67 72
+f 68 70 69
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_11.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.29020228 0.42554168 0.09180712
+v -0.29020228 0.42554167 0.09561868
+v -0.29020228 0.42462237 0.08604329
+v -0.53353751 0.22138720 0.08011138
+v -0.29020228 0.42350311 0.09840762
+v -0.53258464 0.22138716 0.08927772
+v -0.53086951 0.22138714 0.09610134
+v -0.29020228 0.41842679 0.08578297
+v -0.29329908 0.41798711 0.08565282
+v -0.52503327 0.22138722 0.07440334
+v -0.29020228 0.42172438 0.10078751
+v -0.52431863 0.22138711 0.10350135
+v -0.29020228 0.40375725 0.08635930
+v -0.29377549 0.40159878 0.08582010
+v -0.35201874 0.33466647 0.08600578
+v -0.52017370 0.22138721 0.07548173
+v -0.31707279 0.37070079 0.08632199
+v -0.33443857 0.35255371 0.08611740
+v -0.29020228 0.41606840 0.10677443
+v -0.50840595 0.22138706 0.11659080
+v -0.29020228 0.41069221 0.11246386
+v -0.29020228 0.39480359 0.09156530
+v -0.29987378 0.38910767 0.08665673
+v -0.35814082 0.32279489 0.09110021
+v -0.37000385 0.31733879 0.08621024
+v -0.29020228 0.26571519 0.19395635
+v -0.29020228 0.25528260 0.20262062
+v -0.29020228 0.24616906 0.21022512
+v -0.50664318 0.22138720 0.08011138
+v -0.38841776 0.30013107 0.08652625
+v -0.29020228 0.27277019 0.18826692
+v -0.50002085 0.22138704 0.12274508
+v -0.29020228 0.40395698 0.11848796
+v -0.29020228 0.40627533 0.11644273
+v -0.29020228 0.23401767 0.22067433
+v -0.48942035 0.22138716 0.09039330
+v -0.43601285 0.26359708 0.08606130
+v -0.45854787 0.24628943 0.08593107
+v -0.47881983 0.23036076 0.08747424
+v -0.40740339 0.28354287 0.08738147
+v -0.29020228 0.22728246 0.22675420
+v -0.40466393 0.22138679 0.19001446
+v -0.29020228 0.39816110 0.12322915
+v -0.29356111 0.22138665 0.22987780
+v -0.42681779 0.26699465 0.08855276
+v -0.29020228 0.22138664 0.23227630
+v -0.39542126 0.22138677 0.19615014
+v -0.29020228 0.38994690 0.12982962
+v -0.29020228 0.22138652 0.26433058
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 21
+f 1 21 34
+f 1 34 33
+f 1 33 43
+f 1 43 48
+f 1 48 49
+f 1 49 46
+f 1 46 41
+f 1 41 35
+f 1 35 28
+f 1 28 27
+f 1 27 26
+f 1 26 31
+f 1 31 22
+f 1 22 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 16
+f 4 16 29
+f 4 29 36
+f 4 36 44
+f 4 44 46
+f 4 46 49
+f 4 49 47
+f 4 47 42
+f 4 42 32
+f 4 32 20
+f 4 20 12
+f 4 12 7
+f 4 7 6
+f 5 7 11
+f 7 12 11
+f 8 13 14
+f 8 14 10
+f 8 10 9
+f 10 15 16
+f 10 14 17
+f 10 17 18
+f 10 18 15
+f 11 12 19
+f 12 20 21
+f 12 21 19
+f 13 22 23
+f 13 23 14
+f 14 23 17
+f 15 24 25
+f 15 25 16
+f 15 18 26
+f 15 26 27
+f 15 27 28
+f 15 28 24
+f 16 25 30
+f 16 30 29
+f 17 23 31
+f 17 31 26
+f 17 26 18
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 22 31 23
+f 24 28 25
+f 25 28 35
+f 25 35 30
+f 29 30 37
+f 29 37 38
+f 29 38 39
+f 29 39 36
+f 30 40 37
+f 30 35 41
+f 30 41 40
+f 32 42 33
+f 33 42 43
+f 36 39 44
+f 37 40 38
+f 38 40 45
+f 38 45 46
+f 38 46 39
+f 39 46 44
+f 40 41 46
+f 40 46 45
+f 42 47 43
+f 43 47 48
+f 47 49 48
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_12.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.51705770 0.14058190 0.09294100
+v -0.49905682 -0.00016129 0.08797677
+v -0.49905682 -0.00016131 0.09206605
+v -0.51657852 0.14058189 0.09479276
+v -0.51703687 0.14058192 0.08761723
+v -0.51691188 0.13958998 0.08777153
+v -0.50199443 0.07996426 0.08537947
+v -0.49434823 -0.00016129 0.08789961
+v -0.49643168 -0.00016134 0.10093901
+v -0.51445342 0.14058187 0.10204544
+v -0.51201578 0.14058192 0.08656276
+v -0.50274448 0.09780514 0.08507091
+v -0.49322320 0.07996426 0.08537947
+v -0.48861877 -0.00016129 0.08792533
+v -0.49305652 -0.00016137 0.10824313
+v -0.51232831 0.14058184 0.10824365
+v -0.49505660 0.11563225 0.08555963
+v -0.50361953 0.11563225 0.08555963
+v -0.50734888 0.14058192 0.08669136
+v -0.49384820 0.09780514 0.08507091
+v -0.48036837 -0.00016130 0.08861974
+v -0.48378519 -0.00016129 0.08831111
+v -0.50909897 0.14058182 0.11511055
+v -0.48957716 -0.00016139 0.11541865
+v -0.48061839 0.01718361 0.08882555
+v -0.50122358 0.14058192 0.08687138
+v -0.49699420 0.13345934 0.08725714
+v -0.30421376 0.14058110 0.31021284
+v -0.48036837 0.00529429 0.08861976
+v -0.30421376 -0.00016205 0.29377805
+v -0.50518212 0.14058179 0.12220892
+v -0.48613948 -0.00016142 0.12123109
+v -0.50134857 0.14058177 0.12871576
+v -0.30421376 0.02648217 0.29529555
+v -0.30421376 0.01788548 0.29452396
+v -0.30421376 0.00865506 0.29385524
+v -0.49786925 0.14058192 0.08823448
+v -0.30421376 0.14058099 0.34030375
+v -0.30421376 0.00069211 0.29377805
+v -0.30421376 -0.00016216 0.32322599
+v -0.48257682 -0.00016144 0.12714639
+v -0.49518162 0.14058173 0.13758873
+v -0.30696389 0.14058099 0.33966078
+v -0.30421376 0.13349973 0.34503597
+v -0.30421376 0.11567260 0.34781352
+v -0.32190214 0.12170685 0.33850336
+v -0.30571384 -0.00016215 0.32206865
+v -0.48982718 0.14058171 0.14489284
+v -0.47584732 -0.00016147 0.13601936
+v -0.41113577 0.14058132 0.25100833
+v -0.30815147 0.14058099 0.33935215
+v -0.31819362 0.14055345 0.33652311
+v -0.31190164 0.13414725 0.34164110
+v -0.32190214 0.12866411 0.33850338
+v -0.34231982 0.13345847 0.32271212
+v -0.31463095 -0.00016213 0.31450736
+v -0.46693020 -0.00016151 0.14694982
+v -0.39696837 0.14058125 0.26919147
+v -0.31819362 0.14058100 0.33649738
+v -0.34225731 0.14058106 0.32235210
+v -0.36034156 0.14058112 0.30594353
+v -0.35123694 0.13345850 0.31450785
+v -0.31938116 -0.00016211 0.31013516
+v -0.46307583 -0.00016153 0.15145060
+v -0.33311104 -0.00016206 0.29614416
+v -0.37825913 0.13680635 0.28868622
+v -0.38080089 0.14058119 0.28675734
+v -0.45926315 -0.00016154 0.15582278
+v -0.45036686 -0.00016158 0.16575021
+v -0.32419392 -0.00016209 0.30563438
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 23
+f 1 23 31
+f 1 31 33
+f 1 33 42
+f 1 42 48
+f 1 48 50
+f 1 50 58
+f 1 58 67
+f 1 67 61
+f 1 61 60
+f 1 60 59
+f 1 59 51
+f 1 51 43
+f 1 43 38
+f 1 38 28
+f 1 28 37
+f 1 37 26
+f 1 26 19
+f 1 19 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 7
+f 2 7 8
+f 2 8 14
+f 2 14 22
+f 2 22 21
+f 2 21 30
+f 2 30 40
+f 2 40 47
+f 2 47 56
+f 2 56 63
+f 2 63 70
+f 2 70 65
+f 2 65 69
+f 2 69 68
+f 2 68 64
+f 2 64 57
+f 2 57 49
+f 2 49 41
+f 2 41 32
+f 2 32 24
+f 2 24 15
+f 2 15 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 5 12 7
+f 7 12 20
+f 7 20 13
+f 7 13 8
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 12
+f 11 19 17
+f 12 18 17
+f 12 17 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 23 16
+f 15 24 23
+f 17 25 20
+f 17 19 26
+f 17 26 27
+f 17 27 28
+f 17 28 25
+f 20 25 29
+f 20 29 21
+f 21 29 39
+f 21 39 30
+f 23 24 31
+f 24 32 33
+f 24 33 31
+f 25 28 34
+f 25 34 35
+f 25 35 36
+f 25 36 29
+f 26 37 27
+f 27 37 28
+f 28 38 44
+f 28 44 45
+f 28 45 40
+f 28 40 30
+f 28 30 39
+f 28 39 36
+f 28 36 35
+f 28 35 34
+f 29 36 39
+f 32 41 33
+f 33 41 42
+f 38 43 44
+f 40 45 46
+f 40 46 47
+f 41 48 42
+f 41 49 50
+f 41 50 48
+f 43 51 44
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 45 54 46
+f 46 54 55
+f 46 55 56
+f 46 56 47
+f 49 57 58
+f 49 58 50
+f 51 59 52
+f 52 54 53
+f 52 59 60
+f 52 60 54
+f 54 60 55
+f 55 60 61
+f 55 61 62
+f 55 62 56
+f 56 62 63
+f 57 64 58
+f 58 65 66
+f 58 66 67
+f 58 64 68
+f 58 68 69
+f 58 69 65
+f 61 67 62
+f 62 67 66
+f 62 66 70
+f 62 70 63
+f 65 70 66
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_13.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.07505841 0.29815498 0.33997810
+v 0.02611114 0.29815502 0.32976876
+v -0.07505841 0.30255339 0.33683292
+v -0.07505841 0.29815508 0.31237046
+v 0.02611114 0.30606812 0.32317889
+v -0.07505841 0.31133013 0.32959409
+v 0.02611114 0.29815512 0.30131243
+v -0.06861152 0.29815509 0.31044841
+v -0.07505841 0.48447549 0.09323235
+v 0.02611114 0.30663050 0.32270464
+v -0.07505841 0.31522644 0.32632411
+v 0.00920664 0.29815513 0.29978974
+v 0.02078330 0.48104114 0.08861442
+v 0.02611114 0.48146291 0.08886405
+v -0.06199628 0.29815510 0.30867614
+v -0.07505841 0.49100282 0.08661752
+v -0.03381221 0.48136247 0.08888901
+v -0.04548790 0.29815511 0.30435775
+v 0.02611114 0.31554785 0.31481676
+v -0.07505841 0.32191444 0.32060789
+v -0.00859904 0.29815513 0.29983968
+v -0.00859904 0.48086040 0.08836481
+v 0.00920664 0.48086040 0.08836481
+v 0.02611114 0.48784965 0.08751613
+v -0.07505841 0.49339284 0.08499502
+v -0.02194835 0.48106123 0.08863939
+v -0.02639482 0.29815512 0.30138730
+v -0.03562446 0.29815512 0.30278515
+v 0.02611114 0.32494721 0.30593043
+v 0.02611114 0.33340262 0.29686935
+v -0.07505841 0.33137409 0.31019891
+v 0.02611114 0.48885386 0.08734141
+v -0.07505841 0.50229008 0.08499506
+v 0.02611114 0.50020133 0.08716672
+v 0.00920664 0.49007896 0.08694202
+v 0.02611114 0.45153741 0.16644491
+v -0.07505841 0.33360342 0.30772771
+v -0.07505841 0.50323398 0.09443058
+v -0.07505841 0.50331429 0.09767560
+v 0.02611114 0.50020130 0.09473012
+v 0.02611114 0.45999282 0.15693452
+v -0.07505841 0.33868471 0.30193661
+v 0.02611114 0.46045477 0.15641032
+v -0.07505841 0.50004059 0.10845905
+v 0.02611114 0.49787152 0.10359151
+v -0.07505841 0.34685893 0.29260095
+v 0.02611114 0.46796623 0.14754896
+v -0.07505841 0.46913109 0.15111847
+v -0.07505841 0.45615674 0.16617035
+v -0.07505841 0.49618443 0.11497404
+v 0.02611114 0.49158516 0.11542334
+v 0.02611114 0.49753007 0.10426547
+v 0.02611114 0.47642164 0.13721484
+v -0.07505841 0.47889196 0.13926171
+v -0.07505841 0.47176210 0.14792339
+v -0.07505841 0.49467809 0.11734539
+v 0.02611114 0.48379252 0.12777935
+v 0.02611114 0.47688359 0.13664072
+v -0.07505841 0.48576075 0.13040032
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 20
+f 1 20 31
+f 1 31 37
+f 1 37 42
+f 1 42 46
+f 1 46 49
+f 1 49 48
+f 1 48 55
+f 1 55 54
+f 1 54 59
+f 1 59 56
+f 1 56 50
+f 1 50 44
+f 1 44 39
+f 1 39 38
+f 1 38 33
+f 1 33 25
+f 1 25 16
+f 1 16 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 18
+f 1 18 28
+f 1 28 27
+f 1 27 21
+f 1 21 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 14
+f 2 14 24
+f 2 24 32
+f 2 32 34
+f 2 34 40
+f 2 40 45
+f 2 45 52
+f 2 52 51
+f 2 51 57
+f 2 57 58
+f 2 58 53
+f 2 53 47
+f 2 47 43
+f 2 43 41
+f 2 41 36
+f 2 36 30
+f 2 30 29
+f 2 29 19
+f 2 19 10
+f 2 10 5
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 8 9 15
+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 10 19 20
+f 10 20 11
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 14
+f 16 25 17
+f 17 25 26
+f 17 26 21
+f 17 21 27
+f 17 27 28
+f 17 28 18
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 21 26 22
+f 22 26 25
+f 22 25 23
+f 23 25 32
+f 23 32 24
+f 25 33 34
+f 25 34 35
+f 25 35 32
+f 30 36 31
+f 31 36 37
+f 32 35 34
+f 33 38 34
+f 34 38 39
+f 34 39 40
+f 36 41 37
+f 37 41 43
+f 37 43 42
+f 39 44 45
+f 39 45 40
+f 42 43 46
+f 43 47 48
+f 43 48 49
+f 43 49 46
+f 44 50 51
+f 44 51 52
+f 44 52 45
+f 47 53 54
+f 47 54 55
+f 47 55 48
+f 50 56 57
+f 50 57 51
+f 53 58 54
+f 54 58 57
+f 54 57 59
+f 56 59 57
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_14.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.27763679 -0.22375033 0.23993884
+v 0.27763679 -0.22375045 0.27191473
+v 0.28067827 -0.22375032 0.23676017
+v 0.27763679 -0.22379270 0.23884145
+v 0.27763679 -0.42119845 0.11808912
+v 0.40368658 -0.22375014 0.18832330
+v 0.47768781 -0.22374981 0.09742850
+v 0.28288579 -0.23021255 0.22902160
+v 0.27763679 -0.23237370 0.23089473
+v 0.47923307 -0.23084765 0.08770325
+v 0.46736147 -0.23508521 0.09199823
+v 0.42738071 -0.26748126 0.08859239
+v 0.40778275 -0.28388057 0.08734357
+v 0.27763679 -0.42177050 0.11763502
+v 0.41492044 -0.22375011 0.18069827
+v 0.40405449 -0.22375014 0.18807733
+v 0.48938767 -0.22374978 0.08999268
+v 0.27763679 -0.24212003 0.22236149
+v 0.38894520 -0.30059771 0.08668129
+v 0.50145550 -0.22374975 0.08295420
+v 0.27763679 -0.42244852 0.11702956
+v 0.50729316 -0.22374987 0.11483550
+v 0.49851213 -0.22374990 0.12126851
+v 0.27763679 -0.25159093 0.21428233
+v 0.52223077 -0.22374974 0.07894302
+v 0.37047556 -0.31780215 0.08651093
+v 0.35860396 -0.32354402 0.09080590
+v 0.37707360 -0.30591584 0.09137359
+v 0.27763679 -0.43713156 0.10183622
+v 0.51430822 -0.22374985 0.10861060
+v 0.27763679 -0.25955748 0.20786820
+v 0.52453641 -0.22374974 0.07864029
+v 0.31764207 -0.37108932 0.08622693
+v 0.34099281 -0.34146886 0.09080584
+v 0.27763679 -0.43990714 0.09835481
+v 0.52551753 -0.22374981 0.09805288
+v 0.27763679 -0.25996006 0.20754655
+v 0.52821563 -0.22374975 0.08106213
+v 0.28771782 -0.43119894 0.08654836
+v 0.27763679 -0.43655943 0.08592396
+v 0.29448757 -0.40219293 0.08581056
+v 0.31180441 -0.38371721 0.08552682
+v 0.30061958 -0.38971336 0.08675664
+v 0.27763679 -0.27294809 0.19736719
+v 0.27763679 -0.44018258 0.09568700
+v 0.52806847 -0.22374976 0.08531928
+v 0.52605715 -0.22374981 0.09740957
+v 0.27763679 -0.42081694 0.08647271
+v 0.27763679 -0.42016011 0.08654840
+v 0.28381784 -0.40861282 0.08747555
+v 0.27763679 -0.41242662 0.09084342
+f 1 2 6
+f 1 6 16
+f 1 16 15
+f 1 15 23
+f 1 23 22
+f 1 22 30
+f 1 30 36
+f 1 36 47
+f 1 47 46
+f 1 46 38
+f 1 38 32
+f 1 32 25
+f 1 25 20
+f 1 20 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 24
+f 1 24 31
+f 1 31 37
+f 1 37 44
+f 1 44 51
+f 1 51 49
+f 1 49 48
+f 1 48 40
+f 1 40 45
+f 1 45 35
+f 1 35 29
+f 1 29 21
+f 1 21 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 7 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 8
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 7 17 10
+f 8 13 9
+f 9 13 19
+f 9 19 18
+f 10 17 20
+f 10 20 13
+f 10 13 12
+f 10 12 11
+f 13 20 19
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 18 19 24
+f 19 20 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 24
+f 21 29 30
+f 21 30 22
+f 24 28 27
+f 24 27 31
+f 25 32 33
+f 25 33 26
+f 26 33 27
+f 27 33 34
+f 27 34 31
+f 29 35 36
+f 29 36 30
+f 31 34 37
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 33
+f 33 42 41
+f 33 41 43
+f 33 43 44
+f 33 44 37
+f 33 37 34
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 38 45 39
+f 38 46 45
+f 39 45 40
+f 40 48 41
+f 41 48 49
+f 41 49 43
+f 43 49 50
+f 43 50 44
+f 44 50 51
+f 49 51 50
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_15.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.39380363 0.31970291 0.08914306
+v 0.39380363 0.31970292 0.08774706
+v 0.39276394 0.32128455 0.08971698
+v 0.39378713 0.31970291 0.09069417
+v 0.39276394 0.32128456 0.08805729
+v 0.38969433 0.31970292 0.08591675
+v 0.23517551 0.50479468 0.08511085
+v 0.22522412 0.52167869 0.09807820
+v 0.38589862 0.31970287 0.09986123
+v 0.38302706 0.31970293 0.08554449
+v 0.22522412 0.50631706 0.08242745
+v 0.22522412 0.50803708 0.08270666
+v 0.22522412 0.50513071 0.11265857
+v 0.38114573 0.31970285 0.10504193
+v 0.37522110 0.31970293 0.08521875
+v 0.24603457 0.45827463 0.08549846
+v 0.22522412 0.49692602 0.08369933
+v 0.35152261 0.33375977 0.08529637
+v 0.33406227 0.35141487 0.08557562
+v 0.22522412 0.45530879 0.14965235
+v 0.37701991 0.31970284 0.10921441
+v 0.36885088 0.31970293 0.08563755
+v 0.26676250 0.42678016 0.08807320
+v 0.25044091 0.44639252 0.08965539
+v 0.23012555 0.47867779 0.08687903
+v 0.22654438 0.49008541 0.08458342
+v 0.31681651 0.36970261 0.08591694
+v 0.29993379 0.38824738 0.08636684
+v 0.28331513 0.40738525 0.08703388
+v 0.22522412 0.49008540 0.08590187
+v 0.35781028 0.32187766 0.09007373
+v 0.33964034 0.33953276 0.08981012
+v 0.32218004 0.35782051 0.09019796
+v 0.22522412 0.43526143 0.16448088
+v 0.36729959 0.31970281 0.11783858
+v 0.22522412 0.42136270 0.17448549
+v 0.22522412 0.41357309 0.17994536
+v 0.35896550 0.31970290 0.09126808
+v 0.22644534 0.31970248 0.20770987
+v 0.22522412 0.31970247 0.20891975
+v 0.22522412 0.47482252 0.09644936
+v 0.30495074 0.37636526 0.09081847
+v 0.23563760 0.31970251 0.19896161
+v 0.25849443 0.31970258 0.17848696
+v 0.25445117 0.31970257 0.18205452
+v 0.24476383 0.31970254 0.19061664
+v 0.36107790 0.31970279 0.12323644
+v 0.22522412 0.40323308 0.18680123
+v 0.22522412 0.38215763 0.20060602
+v 0.22522412 0.31970236 0.24088810
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 35
+f 1 35 47
+f 1 47 50
+f 1 50 40
+f 1 40 39
+f 1 39 43
+f 1 43 46
+f 1 46 45
+f 1 45 44
+f 1 44 38
+f 1 38 22
+f 1 22 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 3 8 4
+f 4 8 9
+f 5 7 8
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 12 8
+f 8 12 11
+f 8 11 17
+f 8 17 30
+f 8 30 41
+f 8 41 40
+f 8 40 50
+f 8 50 49
+f 8 49 48
+f 8 48 37
+f 8 37 36
+f 8 36 34
+f 8 34 20
+f 8 20 13
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 11 16 17
+f 11 15 18
+f 11 18 19
+f 11 19 16
+f 13 20 21
+f 13 21 14
+f 15 22 18
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 16 19 27
+f 16 27 28
+f 16 28 29
+f 16 29 23
+f 17 26 30
+f 18 22 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 27
+f 20 34 21
+f 21 34 36
+f 21 36 37
+f 21 37 35
+f 22 38 31
+f 23 29 39
+f 23 39 40
+f 23 40 24
+f 24 40 25
+f 25 41 30
+f 25 30 26
+f 25 40 41
+f 27 42 28
+f 27 33 42
+f 28 42 29
+f 29 42 43
+f 29 43 39
+f 31 38 44
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 42
+f 35 37 48
+f 35 48 49
+f 35 49 47
+f 42 46 43
+f 47 49 50
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_16.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.21083591 -0.52628232 0.06979591
+v 0.21668157 -0.52628232 0.06979591
+v 0.21212251 -0.53631344 0.07008492
+v 0.18239076 -0.52502082 0.08398583
+v 0.18239076 -0.51283580 0.08327638
+v 0.21168431 -0.51652816 0.07034777
+v 0.21596368 -0.53631344 0.07008492
+v 0.21562804 -0.51652816 0.07034777
+v 0.27763679 -0.42080214 0.08648259
+v 0.27763679 -0.43655650 0.08593071
+v 0.21890049 -0.53806738 0.07993902
+v 0.20575474 -0.53757503 0.08156825
+v 0.19598401 -0.53529804 0.08855810
+v 0.18239076 -0.52748245 0.09194794
+v 0.27763679 -0.41243264 0.09084471
+v 0.27763679 -0.42015597 0.08653515
+v 0.18239076 -0.22375060 0.31194548
+v 0.25229627 -0.25255121 0.23279710
+v 0.26579630 -0.26609002 0.21169610
+v 0.27763679 -0.27295173 0.19740106
+v 0.27072829 -0.45003384 0.08645620
+v 0.27763679 -0.44018740 0.09567969
+v 0.21859283 -0.53791357 0.09452311
+v 0.23209284 -0.51877446 0.08811144
+v 0.23209284 -0.51877447 0.08934649
+v 0.20512076 -0.53732892 0.09331435
+v 0.19598401 -0.53529804 0.08908365
+v 0.18239076 -0.52819017 0.09662536
+v 0.18239076 -0.22375069 0.33822310
+v 0.25873862 -0.22375038 0.25295216
+v 0.26312986 -0.22851972 0.24509512
+v 0.25126139 -0.23356605 0.24974625
+v 0.25771306 -0.24027393 0.23894611
+v 0.26417407 -0.24698179 0.22819854
+v 0.27198691 -0.25421275 0.21637358
+v 0.27729184 -0.25962827 0.20806983
+v 0.27763679 -0.25996672 0.20754427
+v 0.27763679 -0.43991049 0.09836001
+v 0.20512076 -0.52600556 0.11541389
+v 0.20512076 -0.53363652 0.10216992
+v 0.22388841 -0.52689783 0.09786041
+v 0.21434143 -0.51778997 0.12479504
+v 0.20512076 -0.51865153 0.12652935
+v 0.18239076 -0.52123616 0.11480952
+v 0.21570263 -0.22375063 0.32019664
+v 0.18239076 -0.24381284 0.33097039
+v 0.27580944 -0.22375033 0.24020751
+v 0.27099865 -0.23507374 0.23327017
+v 0.27704943 -0.22375033 0.23928779
+v 0.27763679 -0.25159728 0.21427137
+v 0.27763679 -0.25904364 0.20828004
+v 0.27763679 -0.25956673 0.20785960
+v 0.27763679 -0.43714115 0.10185495
+v 0.19265563 -0.51865154 0.12676584
+v 0.19937766 -0.48745069 0.16492110
+v 0.19343877 -0.47991204 0.17674607
+v 0.18239076 -0.46729632 0.19692733
+v 0.20111178 -0.50354343 0.14778802
+v 0.27763679 -0.42243306 0.11704348
+v 0.27763679 -0.42194076 0.11749020
+v 0.27763679 -0.42175612 0.11764786
+v 0.27763679 -0.42120228 0.11809459
+v 0.27763679 -0.22375045 0.27189833
+v 0.18731341 -0.49778946 0.15693265
+v 0.18239076 -0.51323600 0.12944619
+v 0.22385112 -0.22375061 0.31467833
+v 0.18239076 -0.26162876 0.32411188
+v 0.18239076 -0.26713661 0.32161546
+v 0.27763679 -0.23236596 0.23090520
+v 0.27763679 -0.24190469 0.22254886
+v 0.27763679 -0.22375033 0.23991846
+v 0.27763679 -0.22381187 0.23884106
+v 0.27763679 -0.22442727 0.23826297
+v 0.18731341 -0.50354343 0.14807707
+v 0.18239076 -0.50400498 0.14447704
+v 0.18239076 -0.51089745 0.13328273
+v 0.18239076 -0.45151125 0.21064431
+v 0.18239076 -0.48308138 0.17727161
+v 0.23699687 -0.22375057 0.30498189
+v 0.18239076 -0.43612619 0.22165472
+v 0.18239076 -0.28039855 0.31473069
+v 0.18239076 -0.28412174 0.31273357
+v 0.18239076 -0.29495283 0.30637434
+v 0.18239076 -0.29575284 0.30590134
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 7 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 28
+f 4 28 44
+f 4 44 65
+f 4 65 76
+f 4 76 75
+f 4 75 78
+f 4 78 57
+f 4 57 77
+f 4 77 80
+f 4 80 84
+f 4 84 83
+f 4 83 82
+f 4 82 81
+f 4 81 68
+f 4 68 67
+f 4 67 46
+f 4 46 29
+f 4 29 17
+f 4 17 5
+f 5 15 16
+f 5 16 6
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 15
+f 6 16 8
+f 7 10 21
+f 7 21 11
+f 8 16 9
+f 9 16 15
+f 9 15 20
+f 9 20 37
+f 9 37 52
+f 9 52 51
+f 9 51 50
+f 9 50 70
+f 9 70 69
+f 9 69 73
+f 9 73 72
+f 9 72 71
+f 9 71 63
+f 9 63 62
+f 9 62 61
+f 9 61 60
+f 9 60 59
+f 9 59 53
+f 9 53 38
+f 9 38 22
+f 9 22 10
+f 10 22 21
+f 11 23 12
+f 11 21 24
+f 11 24 25
+f 11 25 23
+f 12 23 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 14
+f 17 29 45
+f 17 45 66
+f 17 66 79
+f 17 79 63
+f 17 63 71
+f 17 71 49
+f 17 49 47
+f 17 47 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 21 22 24
+f 22 38 25
+f 22 25 24
+f 23 39 40
+f 23 40 26
+f 23 25 38
+f 23 38 41
+f 23 41 42
+f 23 42 43
+f 23 43 39
+f 26 28 27
+f 26 40 44
+f 26 44 28
+f 29 46 45
+f 30 47 31
+f 31 48 32
+f 31 47 49
+f 31 49 48
+f 32 48 33
+f 33 48 34
+f 34 50 35
+f 34 48 50
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 36 52 37
+f 38 53 41
+f 39 54 40
+f 39 43 54
+f 40 54 44
+f 41 53 42
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 43
+f 42 53 59
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 55
+f 43 58 64
+f 43 64 54
+f 44 54 65
+f 45 46 67
+f 45 67 68
+f 45 68 66
+f 48 49 69
+f 48 69 70
+f 48 70 50
+f 49 71 72
+f 49 72 73
+f 49 73 69
+f 54 64 74
+f 54 74 75
+f 54 75 76
+f 54 76 65
+f 55 77 56
+f 55 63 77
+f 56 77 57
+f 57 78 58
+f 58 78 64
+f 63 79 80
+f 63 80 77
+f 64 78 74
+f 66 68 81
+f 66 81 82
+f 66 82 79
+f 74 78 75
+f 79 82 83
+f 79 83 84
+f 79 84 80
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_17.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.27384875 -0.02663825 0.32029218
+v 0.27384875 -0.02690945 0.32029218
+v 0.27384875 -0.02663834 0.34672085
+v 0.48127958 -0.02663740 0.08858372
+v 0.27384875 -0.14208188 0.32078373
+v 0.27384875 -0.09804486 0.36361085
+v 0.28725829 -0.10361587 0.35642291
+v 0.27637345 -0.02663834 0.34510835
+v 0.48699589 -0.02663739 0.08811911
+v 0.49406982 -0.08051709 0.08563183
+v 0.49447474 -0.09833763 0.08511249
+v 0.49557038 -0.11615817 0.08554971
+v 0.27384875 -0.14208198 0.34879755
+v 0.49742817 -0.13399002 0.08713482
+v 0.49833325 -0.14208102 0.08809136
+v 0.27384875 -0.11621571 0.36432139
+v 0.27637345 -0.11615919 0.36339216
+v 0.28947336 -0.11615917 0.35721545
+v 0.29835745 -0.11615915 0.35174934
+v 0.32155619 -0.12366249 0.33775606
+v 0.28685338 -0.02663831 0.33830304
+v 0.48835352 -0.02663739 0.08803711
+v 0.50209651 -0.08051709 0.08563183
+v 0.48899660 -0.02663739 0.08800980
+v 0.50314448 -0.09833763 0.08511249
+v 0.50407341 -0.11615817 0.08554971
+v 0.51264787 -0.14208102 0.08697080
+v 0.50212033 -0.14208102 0.08699813
+v 0.27401546 -0.14208198 0.34877021
+v 0.27384875 -0.12958391 0.35841792
+v 0.27637345 -0.12923360 0.35814465
+v 0.28887788 -0.12709784 0.35647748
+v 0.32155619 -0.12829560 0.33775604
+v 0.34101545 -0.14208188 0.32127566
+v 0.34089638 -0.13399088 0.32124838
+v 0.34980430 -0.13399085 0.31283057
+v 0.35880749 -0.13399082 0.30397545
+v 0.32522414 -0.02663819 0.30608031
+v 0.31607802 -0.02663823 0.31474409
+v 0.31569696 -0.02663823 0.31509938
+v 0.30697955 -0.02663826 0.32266994
+v 0.29576129 -0.02663829 0.33155240
+v 0.49942889 -0.02663739 0.08820110
+v 0.51717328 -0.14208102 0.08828267
+v 0.27592090 -0.14208198 0.34830559
+v 0.29430841 -0.14208196 0.34303081
+v 0.30814665 -0.14208194 0.33876724
+v 0.31891239 -0.14018349 0.33658080
+v 0.35916476 -0.14208182 0.30430340
+v 0.31788821 -0.14208193 0.33529626
+v 0.37921950 -0.14208174 0.28432475
+v 0.37650427 -0.13846566 0.28642923
+v 0.33413208 -0.02663816 0.29654193
+v 0.49942889 -0.02663741 0.09224603
+v 0.51717328 -0.14208103 0.09027780
+v 0.39546338 -0.14208168 0.26666921
+v 0.45965286 -0.02663764 0.15600822
+v 0.51714946 -0.14208103 0.09085175
+v 0.51707800 -0.14147082 0.09049645
+v 0.49780927 -0.02663744 0.10093714
+v 0.41080217 -0.14208162 0.24947830
+v 0.46760805 -0.02663761 0.14693446
+v 0.51688747 -0.14208104 0.09191764
+v 0.49776163 -0.02663744 0.10110112
+v 0.51464858 -0.14208107 0.10025346
+v 0.41139762 -0.14208161 0.24876770
+v 0.47651599 -0.02663757 0.13622089
+v 0.49761874 -0.02663744 0.10142909
+v 0.50921809 -0.14208112 0.11492997
+v 0.51248116 -0.14208109 0.10692211
+v 0.41863829 -0.14208158 0.23972130
+v 0.43419144 -0.14208151 0.22017995
+v 0.48337558 -0.02663754 0.12733846
+v 0.49109260 -0.02663749 0.11542234
+v 0.50574064 -0.14208115 0.12135265
+v 0.44905386 -0.14208144 0.20069326
+v 0.45853340 -0.14208139 0.18812121
+v 0.48663861 -0.14208125 0.15007707
+v 0.49573709 -0.14208120 0.13745035
+v 0.50171542 -0.14208117 0.12856792
+v 0.49094968 -0.02663749 0.11566831
+f 1 2 5
+f 1 5 13
+f 1 13 30
+f 1 30 16
+f 1 16 6
+f 1 6 3
+f 1 3 8
+f 1 8 21
+f 1 21 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 53
+f 1 53 57
+f 1 57 62
+f 1 62 67
+f 1 67 73
+f 1 73 81
+f 1 81 74
+f 1 74 68
+f 1 68 64
+f 1 64 60
+f 1 60 54
+f 1 54 43
+f 1 43 24
+f 1 24 22
+f 1 22 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 14
+f 5 14 15
+f 5 15 28
+f 5 28 27
+f 5 27 44
+f 5 44 55
+f 5 55 58
+f 5 58 63
+f 5 63 65
+f 5 65 70
+f 5 70 69
+f 5 69 75
+f 5 75 80
+f 5 80 79
+f 5 79 78
+f 5 78 77
+f 5 77 76
+f 5 76 72
+f 5 72 71
+f 5 71 66
+f 5 66 61
+f 5 61 56
+f 5 56 51
+f 5 51 49
+f 5 49 34
+f 5 34 50
+f 5 50 47
+f 5 47 46
+f 5 46 45
+f 5 45 29
+f 5 29 13
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 9 22 10
+f 10 23 25
+f 10 25 11
+f 10 22 24
+f 10 24 23
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 14
+f 13 29 30
+f 14 28 15
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 18
+f 18 32 33
+f 18 33 20
+f 18 20 19
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 21
+f 20 33 34
+f 23 24 43
+f 23 43 44
+f 23 44 25
+f 25 44 27
+f 25 27 26
+f 29 45 31
+f 29 31 30
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 34
+f 34 49 35
+f 34 48 50
+f 35 49 36
+f 36 49 37
+f 37 49 51
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 43 54 55
+f 43 55 44
+f 47 50 48
+f 51 56 52
+f 52 56 53
+f 53 56 57
+f 54 58 59
+f 54 59 55
+f 54 60 58
+f 55 59 58
+f 56 61 57
+f 57 61 62
+f 58 60 63
+f 60 64 65
+f 60 65 63
+f 61 66 62
+f 62 66 67
+f 64 68 69
+f 64 69 70
+f 64 70 65
+f 66 71 67
+f 67 72 73
+f 67 71 72
+f 68 74 69
+f 69 74 75
+f 72 76 73
+f 73 76 77
+f 73 77 78
+f 73 78 79
+f 73 79 80
+f 73 80 81
+f 74 81 80
+f 74 80 75
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_18.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.15205510 0.36752935 0.29516615
+v -0.13164886 0.36752935 0.29318408
+v -0.15106048 0.37791683 0.28734114
+v -0.15699625 0.37737723 0.28657719
+v -0.15699625 0.36752936 0.29194527
+v -0.13744025 0.37638794 0.28643267
+v -0.07506643 0.36752944 0.26834618
+v -0.15106048 0.38683536 0.27930961
+v -0.15699625 0.39657834 0.27028709
+v -0.15699625 0.36752950 0.25298511
+v -0.15106048 0.40552688 0.26147100
+v -0.15106048 0.39660832 0.27045225
+v -0.15106048 0.41351609 0.25261363
+v -0.07506643 0.36752957 0.23541484
+v -0.07506643 0.45616047 0.16616641
+v -0.15699625 0.40116503 0.26568290
+v -0.15699625 0.50289682 0.09049672
+v -0.14266214 0.49887973 0.08861786
+v -0.13325313 0.49768059 0.08706937
+v -0.11545380 0.49558214 0.08490146
+v -0.15473424 0.43043890 0.23427951
+v -0.15699625 0.43060378 0.23434145
+v -0.15699625 0.41368097 0.25277881
+v -0.07506643 0.46912611 0.15111506
+v -0.09764646 0.49414319 0.08424076
+v -0.07506643 0.48447518 0.09322201
+v -0.15699625 0.50901239 0.08552091
+v -0.15699625 0.44569787 0.21522274
+v -0.07506643 0.47174922 0.14793550
+v -0.07506643 0.47888406 0.13926394
+v -0.07506643 0.48576410 0.13038591
+v -0.15699625 0.51995445 0.08529383
+v -0.09764646 0.50378120 0.08424079
+v -0.07983911 0.49352864 0.08477757
+v -0.07506643 0.49099546 0.08661511
+v -0.15699625 0.44641735 0.21427298
+v -0.07506643 0.49466767 0.11733730
+v -0.15699625 0.48649847 0.15753623
+v -0.15699625 0.46839151 0.18355091
+v -0.15699625 0.44706191 0.21338518
+v -0.15699625 0.52064391 0.08973286
+v -0.15106048 0.51924996 0.08574806
+v -0.07506643 0.50228226 0.08498406
+v -0.07983911 0.50255207 0.08477761
+v -0.07506643 0.49339374 0.08498403
+v -0.07506643 0.49618159 0.11496293
+v -0.15699625 0.50367609 0.13193448
+v -0.15699625 0.49612154 0.14329009
+v -0.15699625 0.52059892 0.09786762
+v -0.13851511 0.51767607 0.09225174
+v -0.13851511 0.51767609 0.08754431
+v -0.07506643 0.50324154 0.09441958
+v -0.07506643 0.50004881 0.10845927
+v -0.15699625 0.51289445 0.11611921
+v -0.15699625 0.51752612 0.10794316
+v -0.07506643 0.50333144 0.09768174
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 4
+f 4 9 16
+f 4 16 23
+f 4 23 22
+f 4 22 28
+f 4 28 36
+f 4 36 40
+f 4 40 39
+f 4 39 38
+f 4 38 48
+f 4 48 47
+f 4 47 54
+f 4 54 55
+f 4 55 49
+f 4 49 41
+f 4 41 32
+f 4 32 27
+f 4 27 17
+f 4 17 10
+f 4 10 5
+f 6 7 11
+f 6 11 12
+f 6 12 8
+f 7 13 11
+f 7 14 26
+f 7 26 35
+f 7 35 45
+f 7 45 43
+f 7 43 52
+f 7 52 56
+f 7 56 53
+f 7 53 46
+f 7 46 37
+f 7 37 31
+f 7 31 30
+f 7 30 29
+f 7 29 24
+f 7 24 15
+f 7 15 13
+f 8 12 9
+f 9 12 16
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 14
+f 11 16 12
+f 11 13 21
+f 11 21 22
+f 11 22 23
+f 11 23 16
+f 13 15 24
+f 13 24 21
+f 14 20 25
+f 14 25 26
+f 17 27 18
+f 18 27 19
+f 19 27 20
+f 20 27 25
+f 21 28 22
+f 21 24 29
+f 21 29 30
+f 21 30 31
+f 21 31 28
+f 25 27 32
+f 25 32 33
+f 25 33 44
+f 25 44 34
+f 25 34 35
+f 25 35 26
+f 28 31 36
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 36
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 34 44 43
+f 34 43 45
+f 34 45 35
+f 37 46 47
+f 37 47 48
+f 37 48 38
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 42 51 43
+f 43 51 52
+f 46 53 47
+f 47 53 54
+f 49 55 53
+f 49 53 56
+f 49 56 50
+f 50 56 51
+f 51 56 52
+f 53 55 54
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_19.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.22523821 0.19584390 0.33013677
+v 0.22523821 0.21469665 0.31978042
+v 0.22523821 0.19584400 0.30241736
+v 0.23876405 0.19584392 0.32428091
+v 0.22523821 0.22090412 0.31561231
+v 0.24956636 0.19584394 0.31939676
+v 0.22523821 0.27851735 0.23810551
+v 0.23044045 0.28336695 0.22941125
+v 0.23564269 0.27147337 0.23409078
+v 0.24892374 0.28423995 0.21235511
+v 0.24751606 0.26486584 0.22887418
+v 0.35899719 0.31969078 0.09127454
+v 0.51160665 0.19584481 0.08130124
+v 0.22523821 0.22329255 0.31384788
+v 0.22523821 0.23641067 0.30407963
+v 0.48076038 0.19584446 0.17716851
+v 0.22523821 0.29393903 0.22672630
+v 0.23221534 0.30335938 0.21337803
+v 0.23604052 0.29393906 0.21672787
+v 0.24494555 0.29393909 0.20877515
+v 0.25079042 0.30419600 0.19619404
+v 0.36888145 0.31969081 0.08564883
+v 0.36970768 0.31667193 0.08569996
+v 0.25850199 0.31969046 0.17852424
+v 0.51537061 0.21092701 0.06974300
+v 0.52565272 0.20909631 0.06892472
+v 0.52583634 0.19584481 0.08053410
+v 0.22523821 0.31969024 0.24086739
+v 0.48204565 0.19584446 0.17617123
+v 0.22523821 0.31282818 0.21350594
+v 0.22796174 0.31525299 0.20920994
+v 0.23564269 0.31969039 0.19898139
+v 0.24007991 0.31969040 0.19491553
+v 0.24476193 0.31969042 0.19064509
+v 0.24604719 0.31608961 0.19197480
+v 0.37524654 0.31969081 0.08521411
+v 0.52565272 0.21760731 0.06892475
+v 0.51537061 0.21595844 0.06974302
+v 0.25446260 0.31969045 0.18207868
+v 0.53617964 0.21034506 0.06951286
+v 0.53783210 0.20726556 0.07994599
+v 0.53070196 0.19584475 0.09769252
+v 0.22523821 0.31969035 0.20890311
+v 0.51723732 0.21403054 0.12484945
+v 0.36110867 0.31969067 0.12323882
+v 0.49915187 0.19584452 0.16003566
+v 0.49915187 0.19614761 0.16003566
+v 0.22643166 0.31969036 0.20770124
+v 0.38301932 0.31969081 0.08554655
+v 0.53617964 0.21664951 0.06951289
+v 0.38969045 0.31969080 0.08593011
+v 0.53783210 0.21885605 0.07994603
+v 0.53673044 0.20944779 0.09769257
+v 0.52384724 0.19584469 0.11500438
+v 0.53474138 0.21395787 0.10684716
+v 0.38118325 0.31969073 0.10503197
+v 0.37705204 0.31969072 0.10922568
+v 0.36732077 0.31969069 0.11784325
+v 0.51803295 0.19584464 0.12674166
+v 0.53474138 0.21325468 0.10684715
+v 0.39379105 0.31969080 0.08774568
+v 0.51803295 0.23196197 0.08961208
+v 0.53673044 0.21683128 0.09769260
+v 0.39379105 0.31969079 0.09068640
+v 0.38589585 0.31969075 0.09986654
+f 1 2 5
+f 1 5 14
+f 1 14 15
+f 1 15 28
+f 1 28 43
+f 1 43 30
+f 1 30 17
+f 1 17 7
+f 1 7 3
+f 1 3 13
+f 1 13 27
+f 1 27 42
+f 1 42 54
+f 1 54 59
+f 1 59 46
+f 1 46 29
+f 1 29 16
+f 1 16 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 5 6 14
+f 6 15 14
+f 6 16 15
+f 7 17 8
+f 8 18 19
+f 8 19 20
+f 8 20 10
+f 8 10 9
+f 8 17 18
+f 10 20 21
+f 10 21 12
+f 10 12 11
+f 12 22 23
+f 12 23 13
+f 12 21 24
+f 12 24 39
+f 12 39 34
+f 12 34 33
+f 12 33 32
+f 12 32 48
+f 12 48 43
+f 12 43 28
+f 12 28 45
+f 12 45 58
+f 12 58 57
+f 12 57 56
+f 12 56 65
+f 12 65 64
+f 12 64 61
+f 12 61 51
+f 12 51 49
+f 12 49 36
+f 12 36 22
+f 13 23 25
+f 13 25 26
+f 13 26 27
+f 15 16 28
+f 16 29 28
+f 17 30 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 21
+f 18 21 20
+f 18 20 19
+f 18 30 31
+f 21 35 24
+f 22 36 37
+f 22 37 38
+f 22 38 25
+f 22 25 23
+f 24 35 39
+f 25 38 37
+f 25 37 26
+f 26 37 50
+f 26 50 40
+f 26 40 27
+f 27 40 41
+f 27 41 42
+f 28 29 44
+f 28 44 45
+f 29 46 47
+f 29 47 44
+f 30 43 48
+f 30 48 31
+f 31 48 32
+f 34 39 35
+f 36 49 37
+f 37 49 51
+f 37 51 50
+f 40 50 52
+f 40 52 41
+f 41 52 63
+f 41 63 53
+f 41 53 42
+f 42 53 54
+f 44 47 55
+f 44 55 56
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 46 59 60
+f 46 60 55
+f 46 55 47
+f 50 51 61
+f 50 61 52
+f 52 62 63
+f 52 61 64
+f 52 64 62
+f 53 63 55
+f 53 55 60
+f 53 60 54
+f 54 60 59
+f 55 63 64
+f 55 64 65
+f 55 65 56
+f 62 64 63
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_2.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.52975664 -0.22317464 0.08988063
+v -0.52921333 -0.22317461 0.08047776
+v -0.51870092 -0.23283638 0.08726969
+v -0.51870092 -0.23283639 0.09015446
+v -0.52874084 -0.22317467 0.09703777
+v -0.52737069 -0.22317460 0.07814073
+v -0.28844413 -0.42791925 0.08652041
+v -0.28844413 -0.42838129 0.09442613
+v -0.52451228 -0.22317468 0.10194918
+v -0.28844413 -0.42348012 0.10180237
+v -0.52486663 -0.22317460 0.07810421
+v -0.28844413 -0.42348007 0.08586312
+v -0.50589708 -0.22317474 0.11706681
+v -0.28844413 -0.41530487 0.11042018
+v -0.28844413 -0.41502364 0.11071231
+v -0.50561359 -0.22317461 0.08093421
+v -0.33403719 -0.35277459 0.08600945
+v -0.31669768 -0.37075226 0.08608243
+v -0.31100443 -0.38346720 0.08544334
+v -0.29361766 -0.40192698 0.08580843
+v -0.28844413 -0.40765168 0.08602751
+v -0.41730950 -0.22317497 0.17958222
+v -0.28844413 -0.40498028 0.11912929
+v -0.50164486 -0.22317461 0.08208446
+v -0.38830003 -0.30066945 0.08666694
+v -0.36977934 -0.31772314 0.08635649
+v -0.35182560 -0.33499779 0.08617385
+v -0.33994304 -0.34088323 0.09066530
+v -0.32217827 -0.35886091 0.09077477
+v -0.30481513 -0.37742109 0.09130418
+v -0.29959437 -0.38931247 0.08655706
+v -0.28844413 -0.27158417 0.18987956
+v -0.28844413 -0.40496007 0.08652049
+v -0.40790741 -0.22317499 0.18620988
+v -0.28844413 -0.22317528 0.26460978
+v -0.40115113 -0.22317501 0.19082916
+v -0.49292786 -0.22317463 0.08708715
+v -0.47889559 -0.23092813 0.08770789
+v -0.45883935 -0.24705783 0.08644804
+v -0.43599559 -0.26427220 0.08624714
+v -0.35789679 -0.32312649 0.09073839
+v -0.40738769 -0.28409786 0.08745209
+v -0.28844413 -0.22725277 0.22763730
+v -0.28844413 -0.23769786 0.21821612
+v -0.28844413 -0.24237807 0.21412631
+v -0.28844413 -0.24679714 0.21029210
+v -0.28844413 -0.26262548 0.19714629
+v -0.28844413 -0.39465557 0.09278302
+v -0.28844413 -0.39696555 0.09132237
+v -0.28844413 -0.22317516 0.23156278
+v -0.48551013 -0.22317465 0.09165165
+v -0.42690059 -0.26760661 0.08865718
+v -0.28844413 -0.25804571 0.20094397
+v -0.28844413 -0.22675061 0.22811201
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 22
+f 1 22 34
+f 1 34 36
+f 1 36 35
+f 1 35 50
+f 1 50 51
+f 1 51 37
+f 1 37 24
+f 1 24 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 5
+f 5 8 10
+f 5 10 9
+f 6 11 12
+f 6 12 7
+f 7 12 21
+f 7 21 33
+f 7 33 49
+f 7 49 48
+f 7 48 32
+f 7 32 47
+f 7 47 53
+f 7 53 46
+f 7 46 45
+f 7 45 44
+f 7 44 43
+f 7 43 54
+f 7 54 50
+f 7 50 35
+f 7 35 23
+f 7 23 15
+f 7 15 14
+f 7 14 10
+f 7 10 8
+f 9 10 14
+f 9 14 15
+f 9 15 13
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 13 15 23
+f 13 23 22
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 28 29
+f 17 29 18
+f 17 27 28
+f 18 30 31
+f 18 31 20
+f 18 20 19
+f 18 29 32
+f 18 32 30
+f 20 31 21
+f 21 31 33
+f 22 23 34
+f 23 35 36
+f 23 36 34
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 41 26
+f 25 40 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 41
+f 26 41 27
+f 27 41 28
+f 28 47 29
+f 28 41 47
+f 29 47 32
+f 30 32 31
+f 31 32 48
+f 31 48 49
+f 31 49 33
+f 37 51 38
+f 38 52 39
+f 38 51 50
+f 38 50 52
+f 39 52 40
+f 40 52 42
+f 41 46 53
+f 41 53 47
+f 42 52 43
+f 43 52 54
+f 50 54 52
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_20.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.07241256 0.13959759 0.44398533
+v 0.08045358 0.11002545 0.44123615
+v 0.09769370 0.11002547 0.43578402
+v 0.07241256 0.14332771 0.44398535
+v 0.06795504 0.13959759 0.44398533
+v 0.02611114 0.11002548 0.43406394
+v 0.24933683 0.11002569 0.37536546
+v 0.09749705 0.19584364 0.39494730
+v 0.08799203 0.19584362 0.39940112
+v 0.08071578 0.19584362 0.40115195
+v 0.06795504 0.14332771 0.44398535
+v 0.24933683 0.11047936 0.37522725
+v 0.24933683 0.17353873 0.33425220
+v 0.24933683 0.19584392 0.31950856
+v 0.02611114 0.13347316 0.43612199
+v 0.02611114 0.11002556 0.41142617
+v 0.24933683 0.11002581 0.34418862
+v 0.07116708 0.19584362 0.40061443
+v 0.02611114 0.14920857 0.43329618
+v 0.02611114 0.14841046 0.43344976
+v 0.24933683 0.19584404 0.28710310
+v 0.02611114 0.18032675 0.37382993
+v 0.06299495 0.19584362 0.39886360
+v 0.02611114 0.19584366 0.39012485
+v 0.02611114 0.18878674 0.36939149
+v 0.02611114 0.19584374 0.36631991
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 16
+f 2 16 17
+f 2 17 7
+f 2 7 3
+f 3 7 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 7 12
+f 4 12 13
+f 4 13 14
+f 4 14 8
+f 5 11 15
+f 5 15 6
+f 6 15 20
+f 6 20 19
+f 6 19 24
+f 6 24 26
+f 6 26 25
+f 6 25 22
+f 6 22 16
+f 7 17 21
+f 7 21 14
+f 7 14 13
+f 7 13 12
+f 8 14 21
+f 8 21 26
+f 8 26 24
+f 8 24 23
+f 8 23 18
+f 8 18 10
+f 8 10 9
+f 10 18 11
+f 11 19 20
+f 11 20 15
+f 11 18 19
+f 16 22 21
+f 16 21 17
+f 18 23 19
+f 19 23 24
+f 21 22 25
+f 21 25 26
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_21.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.20162768 -0.53703768 0.09242355
+v -0.19448091 -0.53562925 0.08736500
+v -0.19448091 -0.53562926 0.08989428
+v -0.15721684 -0.51894358 0.10728045
+v -0.15721684 -0.51851277 0.10849196
+v -0.20162768 -0.53639145 0.09397512
+v -0.20162768 -0.53702106 0.08290157
+v -0.15721684 -0.52035192 0.08574972
+v -0.15721684 -0.52141242 0.09782223
+v -0.20162768 -0.53140402 0.10451734
+v -0.15721684 -0.50706313 0.12609067
+v -0.19278551 -0.51856254 0.12647321
+v -0.20162768 -0.52628387 0.07648277
+v -0.15721684 -0.51702140 0.08574973
+v -0.20162768 -0.52391454 0.11812020
+v -0.15721684 -0.50371606 0.13106422
+v -0.17410566 -0.46595386 0.19782450
+v -0.18668641 -0.48809094 0.16851457
+v -0.20162768 -0.51864537 0.12645194
+v -0.20162768 -0.51282925 0.08062743
+v -0.15721684 -0.50971414 0.08587729
+v -0.15721684 -0.44752835 0.21280894
+v -0.15816452 -0.44696499 0.21429674
+v -0.15721684 -0.43259908 0.23261812
+v -0.16888033 -0.44882081 0.21606085
+v -0.16446360 -0.41450498 0.25270361
+v -0.18127416 -0.46595386 0.19782450
+v -0.18668641 -0.48159561 0.17739893
+v -0.20110602 -0.50341787 0.14740888
+v -0.20162768 -0.50401436 0.14623988
+v -0.20162768 -0.36776155 0.20228830
+v -0.15721684 -0.50209209 0.09248744
+v -0.15721684 -0.44578854 0.21527446
+v -0.15721684 -0.41432273 0.25257609
+v -0.15721684 -0.40984891 0.25737960
+v -0.15721684 -0.39680856 0.27017481
+v -0.15721684 -0.39230162 0.27448948
+v -0.16302903 -0.39660973 0.26985601
+v -0.18020475 -0.44882081 0.21576329
+v -0.19942366 -0.48712986 0.16566647
+v -0.20162768 -0.50320245 0.14715380
+v -0.20162768 -0.36776168 0.23718806
+v -0.19390272 -0.36776158 0.21093884
+v -0.15721684 -0.36776174 0.25293759
+v -0.15721684 -0.37816765 0.28698712
+v -0.16176834 -0.37767057 0.28634951
+v -0.17879626 -0.42994790 0.23206552
+v -0.19773695 -0.46976485 0.18113976
+v -0.20162768 -0.48895253 0.16111802
+v -0.16375066 -0.36776187 0.28932516
+v -0.20162768 -0.47362557 0.17246794
+v -0.15721684 -0.36776189 0.29361855
+v -0.15721684 -0.37289850 0.29104675
+v -0.15721684 -0.37187118 0.29183316
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 15
+f 1 15 19
+f 1 19 30
+f 1 30 41
+f 1 41 49
+f 1 49 51
+f 1 51 42
+f 1 42 31
+f 1 31 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 9 8
+f 4 8 14
+f 4 14 21
+f 4 21 32
+f 4 32 44
+f 4 44 52
+f 4 52 54
+f 4 54 53
+f 4 53 45
+f 4 45 37
+f 4 37 36
+f 4 36 35
+f 4 35 34
+f 4 34 24
+f 4 24 33
+f 4 33 22
+f 4 22 16
+f 4 16 11
+f 4 11 5
+f 5 10 6
+f 5 11 12
+f 5 12 10
+f 7 13 8
+f 8 13 14
+f 10 12 15
+f 11 16 17
+f 11 17 12
+f 12 18 19
+f 12 19 15
+f 12 17 18
+f 13 20 21
+f 13 21 14
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 20 31 21
+f 21 31 32
+f 22 33 23
+f 23 33 24
+f 24 34 25
+f 25 34 35
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 27 40 29
+f 27 29 28
+f 29 40 41
+f 29 41 30
+f 31 42 50
+f 31 50 52
+f 31 52 44
+f 31 44 43
+f 31 43 32
+f 32 43 44
+f 37 45 38
+f 38 45 46
+f 38 46 39
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 40 48 49
+f 40 49 41
+f 42 47 46
+f 42 46 50
+f 42 51 48
+f 42 48 47
+f 45 53 46
+f 46 53 54
+f 46 54 52
+f 46 52 50
+f 48 51 49
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_22.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.12882309 0.22140042 0.36881440
+v -0.12882309 0.22140051 0.34341757
+v -0.12882309 0.27612693 0.35649851
+v -0.20098266 0.22140056 0.32854717
+v -0.13156368 0.22140051 0.34180687
+v -0.20098266 0.29426458 0.25027449
+v -0.20098266 0.30084436 0.24586546
+v -0.20098266 0.31059959 0.23939019
+v -0.20098266 0.32724931 0.22842455
+v -0.20098266 0.34568700 0.21632007
+v -0.20098266 0.35366855 0.21117890
+v -0.20098266 0.36124960 0.20647702
+v -0.20098266 0.36751471 0.20262115
+v -0.12882309 0.36748587 0.25902778
+v -0.12882309 0.29065965 0.35254508
+v -0.14317588 0.30613643 0.33800011
+v -0.13953118 0.31802292 0.33640574
+v -0.20098266 0.22679310 0.32636706
+v -0.20098266 0.22140066 0.30106786
+v -0.12892197 0.36751450 0.25904406
+v -0.20098266 0.36751458 0.23732416
+v -0.12882309 0.36751450 0.25923930
+v -0.12882309 0.31966788 0.33861839
+v -0.14472277 0.34150988 0.32182828
+v -0.14762583 0.32960910 0.32508215
+v -0.20098266 0.23536113 0.32259257
+v -0.16331362 0.36751439 0.28875230
+v -0.20098266 0.25801845 0.30923534
+v -0.12882309 0.36751438 0.29174590
+v -0.12882309 0.32297206 0.33669862
+v -0.13326596 0.34113797 0.32163304
+v -0.13624670 0.35921809 0.30474530
+v -0.14715257 0.35921809 0.30474530
+v -0.15206163 0.36751437 0.29516253
+v -0.15901908 0.35476961 0.30098700
+v -0.20098266 0.24046761 0.32003825
+v -0.13166257 0.36751437 0.29317764
+v -0.12882309 0.36704236 0.29228282
+v -0.12882309 0.34020825 0.32091719
+v -0.12882309 0.35010654 0.31071620
+v -0.12882309 0.35741582 0.30282546
+v -0.12882309 0.36584080 0.29363317
+f 1 2 14
+f 1 14 22
+f 1 22 29
+f 1 29 38
+f 1 38 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 30
+f 1 30 23
+f 1 23 15
+f 1 15 3
+f 1 3 4
+f 1 4 19
+f 1 19 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 3 15 4
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 26
+f 4 26 36
+f 4 36 28
+f 4 28 21
+f 4 21 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 19
+f 5 19 6
+f 13 20 14
+f 13 21 27
+f 13 27 34
+f 13 34 37
+f 13 37 29
+f 13 29 22
+f 13 22 20
+f 14 20 22
+f 15 23 17
+f 15 17 16
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 21 28 27
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 27
+f 24 27 35
+f 24 35 36
+f 24 36 25
+f 25 36 26
+f 27 28 36
+f 27 36 35
+f 29 37 38
+f 30 39 31
+f 31 39 32
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 37
+f 32 37 34
+f 32 34 33
+f 37 42 38
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_23.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.41034280 -0.18209828 0.19767094
+v 0.41034280 -0.18209842 0.23773832
+v 0.41034280 -0.14208149 0.21380168
+v 0.49835054 -0.14208102 0.08808343
+v 0.49861387 -0.14437251 0.08835087
+v 0.51246705 -0.18209786 0.08435570
+v 0.41283868 -0.18209842 0.23675209
+v 0.41034280 -0.17518481 0.24574512
+v 0.41034280 -0.14208162 0.24997429
+v 0.50212868 -0.14208102 0.08698020
+v 0.51135651 -0.16966114 0.08460648
+v 0.52108806 -0.16966114 0.08460648
+v 0.52433954 -0.18209786 0.08460643
+v 0.41769300 -0.18209841 0.23439518
+v 0.41883790 -0.18133850 0.23493008
+v 0.41034280 -0.17075461 0.24980702
+v 0.42933655 -0.17957972 0.23205500
+v 0.41034280 -0.14214038 0.25000773
+v 0.41037716 -0.14208162 0.24994086
+v 0.51265022 -0.14208102 0.08698020
+v 0.51855786 -0.15183454 0.08667928
+v 0.51717255 -0.14208102 0.08826730
+v 0.52730482 -0.18209791 0.09680884
+v 0.42679488 -0.18209839 0.22946406
+v 0.41034280 -0.16660252 0.25355135
+v 0.44816999 -0.18090364 0.21555668
+v 0.41362864 -0.16525896 0.25234783
+v 0.43390464 -0.18209838 0.22470012
+v 0.44909736 -0.18209833 0.21316633
+v 0.41034280 -0.14286112 0.25039218
+v 0.41082367 -0.14208162 0.24947283
+v 0.51717255 -0.14208103 0.09025646
+v 0.51716109 -0.14208103 0.09084151
+v 0.51688632 -0.14208104 0.09191131
+v 0.51854642 -0.15217145 0.09690924
+v 0.51545519 -0.14645253 0.10230841
+v 0.51735573 -0.15834089 0.10769080
+v 0.52578210 -0.18209792 0.10122176
+v 0.41034280 -0.15183516 0.25512267
+v 0.43999548 -0.16966166 0.22510134
+v 0.43108821 -0.16966169 0.23424479
+v 0.46532044 -0.18209828 0.19767094
+v 0.46538913 -0.18197685 0.19772108
+v 0.41327372 -0.15183515 0.25203028
+v 0.41143045 -0.14208161 0.24875406
+v 0.43060737 -0.15568948 0.23409440
+v 0.51464234 -0.14208107 0.10026912
+v 0.51247848 -0.14208109 0.10690523
+v 0.50923844 -0.14208112 0.11492872
+v 0.52022939 -0.18209797 0.11412622
+v 0.44849055 -0.16966162 0.21622535
+v 0.46557234 -0.18209828 0.19742022
+v 0.46538913 -0.17379799 0.19772111
+v 0.48298611 -0.18209819 0.17520513
+v 0.48125732 -0.17995947 0.17764563
+v 0.41864326 -0.14208158 0.23972761
+v 0.44684191 -0.15845879 0.21473769
+v 0.43420233 -0.14208151 0.22015362
+v 0.50574653 -0.14208115 0.12134753
+v 0.50971930 -0.18209804 0.13311519
+v 0.48125732 -0.17833389 0.17764563
+v 0.49574018 -0.14208120 0.13744467
+v 0.48369594 -0.18209819 0.17420220
+v 0.45856559 -0.14208139 0.18809304
+v 0.44906300 -0.14208144 0.20067991
+v 0.48663830 -0.14208125 0.15008170
+v 0.50171653 -0.14208117 0.12856868
+v 0.50725778 -0.18209805 0.13729408
+v 0.50188824 -0.18209809 0.14638739
+f 1 2 8
+f 1 8 16
+f 1 16 25
+f 1 25 39
+f 1 39 30
+f 1 30 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 23
+f 1 23 38
+f 1 38 50
+f 1 50 60
+f 1 60 68
+f 1 68 69
+f 1 69 63
+f 1 63 54
+f 1 54 52
+f 1 52 42
+f 1 42 29
+f 1 29 28
+f 1 28 24
+f 1 24 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 3 9 19
+f 3 19 31
+f 3 31 45
+f 3 45 56
+f 3 56 58
+f 3 58 65
+f 3 65 64
+f 3 64 66
+f 3 66 62
+f 3 62 67
+f 3 67 59
+f 3 59 49
+f 3 49 48
+f 3 48 47
+f 3 47 34
+f 3 34 33
+f 3 33 32
+f 3 32 22
+f 3 22 20
+f 3 20 10
+f 3 10 4
+f 4 10 6
+f 4 6 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 17
+f 8 17 16
+f 9 18 19
+f 10 20 12
+f 10 12 11
+f 12 21 13
+f 12 20 21
+f 13 21 22
+f 13 22 23
+f 14 17 15
+f 14 24 17
+f 16 17 25
+f 17 26 27
+f 17 27 25
+f 17 24 28
+f 17 28 29
+f 17 29 26
+f 18 30 19
+f 19 30 31
+f 20 22 21
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 25 27 39
+f 26 40 41
+f 26 41 27
+f 26 29 42
+f 26 42 43
+f 26 43 40
+f 27 40 39
+f 27 41 40
+f 30 44 31
+f 30 39 44
+f 31 44 46
+f 31 46 45
+f 34 47 36
+f 34 36 35
+f 36 47 48
+f 36 48 37
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 39 40 51
+f 39 51 46
+f 39 46 44
+f 40 43 51
+f 42 52 43
+f 43 53 51
+f 43 52 54
+f 43 54 55
+f 43 55 61
+f 43 61 53
+f 45 46 56
+f 46 51 53
+f 46 53 57
+f 46 57 58
+f 46 58 56
+f 49 59 50
+f 50 59 60
+f 53 61 62
+f 53 62 57
+f 54 63 61
+f 54 61 55
+f 57 64 65
+f 57 65 58
+f 57 62 66
+f 57 66 64
+f 59 67 60
+f 60 67 68
+f 61 63 69
+f 61 69 67
+f 61 67 62
+f 67 69 68
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_24.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.18767449 -0.00016242 0.39369917
+v -0.22031461 -0.00016235 0.37640315
+v -0.18767449 -0.00016232 0.36876936
+v -0.18767449 0.06092106 0.40435399
+v -0.21753091 0.07996865 0.39243444
+v -0.25397011 -0.00016228 0.35787482
+v -0.30420236 -0.00016205 0.29379449
+v -0.18767449 0.11755685 0.36015449
+v -0.18767449 0.08064846 0.40519378
+v -0.20450224 0.07996863 0.39869414
+v -0.21829528 0.09286292 0.39268531
+v -0.25408420 0.09779482 0.37516029
+v -0.26288025 -0.00016226 0.35242209
+v -0.26299434 0.09779484 0.37015469
+v -0.30420236 -0.00016216 0.32325007
+v -0.30420236 0.00069065 0.29379449
+v -0.30420236 0.07742238 0.30642326
+v -0.30420236 0.07996896 0.30714302
+v -0.30420236 0.09076602 0.31054557
+v -0.30420236 0.09779505 0.31283573
+v -0.30420236 0.10937567 0.31704528
+v -0.30420236 0.11755699 0.32055686
+v -0.18767449 0.11755675 0.38560776
+v -0.30420236 0.00468914 0.29383813
+v -0.30420236 0.00865306 0.29388176
+v -0.30420236 0.01788299 0.29453614
+v -0.30420236 0.02649069 0.29531046
+v -0.30420236 0.03592803 0.29677182
+v -0.30420236 0.04300316 0.29788420
+v -0.30420236 0.05101165 0.29965089
+v -0.30420236 0.06207374 0.30238819
+v -0.18767449 0.08960187 0.40112611
+v -0.20450224 0.09625067 0.39493183
+v -0.25416405 0.11018207 0.37482226
+v -0.28876647 0.11563253 0.35686104
+v -0.29767661 0.11563255 0.35205174
+v -0.26925768 -0.00016225 0.34832165
+v -0.29429966 -0.00016219 0.33096022
+v -0.30420236 0.11566712 0.34782043
+v -0.30420236 0.11755689 0.34727518
+v -0.24012002 0.11332785 0.37700337
+v -0.18767449 0.09992650 0.39627322
+v -0.24012002 0.11755680 0.37410254
+v -0.18767449 0.09941949 0.39657858
+v -0.25909258 0.11755682 0.36847532
+v -0.25922948 0.11593207 0.36943501
+v -0.27572640 0.11755684 0.36222651
+v -0.28867520 0.11755686 0.35670836
+v -0.29725450 0.11755688 0.35176822
+v -0.27572640 -0.00016223 0.34413397
+v -0.28540092 -0.00016221 0.33775429
+f 1 2 6
+f 1 6 13
+f 1 13 37
+f 1 37 50
+f 1 50 51
+f 1 51 38
+f 1 38 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 23
+f 1 23 42
+f 1 42 44
+f 1 44 32
+f 1 32 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 14
+f 6 14 13
+f 7 15 39
+f 7 39 40
+f 7 40 22
+f 7 22 21
+f 7 21 20
+f 7 20 19
+f 7 19 18
+f 7 18 17
+f 7 17 31
+f 7 31 30
+f 7 30 29
+f 7 29 28
+f 7 28 27
+f 7 27 26
+f 7 26 25
+f 7 25 24
+f 7 24 16
+f 7 16 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 40
+f 8 40 49
+f 8 49 48
+f 8 48 47
+f 8 47 45
+f 8 45 43
+f 8 43 23
+f 8 16 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 17
+f 9 32 33
+f 9 33 11
+f 9 11 10
+f 11 33 34
+f 11 34 12
+f 12 34 35
+f 12 35 36
+f 12 36 14
+f 13 14 36
+f 13 36 37
+f 15 38 39
+f 23 41 33
+f 23 33 42
+f 23 43 41
+f 32 44 33
+f 33 44 42
+f 33 41 34
+f 34 41 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 35 48 36
+f 36 48 49
+f 36 49 40
+f 36 40 39
+f 36 39 50
+f 36 50 37
+f 38 51 39
+f 39 51 50
+f 41 43 45
+f 45 47 46
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_25.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.42594338 0.22137904 0.14031566
+v -0.42594338 0.14058154 0.19174604
+v -0.42594338 0.22137892 0.17459625
+v -0.30421376 0.22137874 0.22279659
+v -0.42594338 0.14058140 0.22896329
+v -0.30421376 0.22044540 0.22365801
+v -0.30421376 0.21973354 0.22432366
+v -0.30421376 0.21563631 0.22820003
+v -0.30421376 0.21337413 0.23039272
+v -0.30421376 0.20197625 0.24211973
+v -0.30421376 0.19769709 0.24658344
+v -0.30421376 0.19592533 0.24846290
+v -0.30421376 0.14058110 0.31023042
+v -0.42382222 0.22137891 0.17618204
+v -0.42594338 0.17914106 0.23240911
+v -0.30421376 0.22137862 0.25464954
+v -0.41860267 0.14058136 0.24016173
+v -0.42594338 0.15139389 0.23943741
+v -0.30421376 0.14058099 0.34032136
+v -0.41425308 0.22137889 0.18321044
+v -0.38212550 0.22137881 0.20476551
+v -0.39541266 0.22137884 0.19617089
+v -0.40463622 0.22137886 0.19002349
+v -0.42594338 0.16959405 0.23920254
+v -0.41455099 0.16487983 0.25398370
+v -0.39683077 0.16328202 0.27021361
+v -0.37638162 0.16147856 0.28575832
+v -0.35439520 0.15953272 0.30093106
+v -0.30421376 0.17126272 0.31250152
+v -0.41163137 0.14058132 0.25032258
+v -0.41113086 0.14058132 0.25100780
+v -0.41450332 0.15129893 0.25437520
+v -0.42594338 0.16186630 0.23953532
+v -0.30421376 0.14413244 0.33855938
+v -0.30632304 0.14371324 0.33826570
+v -0.30695463 0.14058099 0.33965573
+v -0.40691234 0.15129889 0.26324391
+v -0.39801054 0.15129886 0.27238669
+v -0.38803619 0.15129883 0.28125542
+v -0.36069918 0.14764447 0.30625614
+v -0.34219247 0.14527150 0.32211410
+v -0.32916743 0.14834834 0.32538357
+v -0.32916743 0.15726259 0.31579053
+v -0.30421376 0.16442874 0.32025427
+v -0.39694993 0.14058125 0.26919550
+v -0.30421376 0.14560365 0.33738471
+v -0.31818021 0.14058100 0.33650369
+v -0.30814631 0.14058099 0.33936205
+v -0.30421376 0.15755520 0.32685195
+v -0.38079083 0.14058119 0.28675671
+v -0.36032974 0.14058112 0.30594286
+v -0.34224014 0.14058106 0.32234902
+v -0.30421376 0.16280725 0.32187921
+f 1 2 5
+f 1 5 18
+f 1 18 33
+f 1 33 24
+f 1 24 15
+f 1 15 3
+f 1 3 14
+f 1 14 20
+f 1 20 23
+f 1 23 22
+f 1 22 21
+f 1 21 16
+f 1 16 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 19
+f 2 19 36
+f 2 36 48
+f 2 48 47
+f 2 47 52
+f 2 52 51
+f 2 51 50
+f 2 50 45
+f 2 45 31
+f 2 31 30
+f 2 30 17
+f 2 17 5
+f 3 15 14
+f 4 16 29
+f 4 29 44
+f 4 44 53
+f 4 53 49
+f 4 49 46
+f 4 46 34
+f 4 34 19
+f 4 19 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 5 17 18
+f 14 15 20
+f 15 21 22
+f 15 22 23
+f 15 23 20
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 16 21
+f 16 27 28
+f 16 28 29
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 19 34 35
+f 19 35 36
+f 24 33 25
+f 25 33 32
+f 25 32 37
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 31 45 32
+f 32 45 37
+f 34 46 35
+f 35 47 48
+f 35 48 36
+f 35 46 49
+f 35 49 47
+f 37 45 50
+f 37 50 38
+f 38 50 51
+f 38 51 40
+f 38 40 39
+f 40 51 52
+f 40 52 41
+f 41 52 47
+f 41 47 42
+f 42 49 53
+f 42 53 44
+f 42 44 43
+f 42 47 49
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_26.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.15700429 0.36751438 0.29195850
+v -0.15700429 0.37737015 0.28658864
+v -0.16147272 0.37697328 0.28601783
+v -0.16331519 0.36751439 0.28874501
+v -0.15700429 0.36751452 0.25297399
+v -0.15700429 0.39658561 0.27028880
+v -0.16328507 0.39655255 0.27011968
+v -0.17898918 0.42993985 0.23250947
+v -0.20097836 0.36751458 0.23730832
+v -0.19642814 0.36751469 0.20779510
+v -0.15700429 0.50289940 0.09050385
+v -0.15700429 0.40116624 0.26568001
+v -0.16485633 0.41388286 0.25299532
+v -0.18053462 0.44880806 0.21642105
+v -0.19568339 0.48128589 0.17764808
+v -0.20097836 0.36751471 0.20259435
+v -0.20097836 0.47225698 0.17335636
+v -0.20097836 0.51222603 0.08075776
+v -0.15700429 0.50901794 0.08553568
+v -0.15700429 0.41368441 0.25278390
+v -0.16888138 0.44035788 0.22555405
+v -0.16888138 0.44879154 0.21669589
+v -0.18124923 0.46541077 0.19798593
+v -0.18668625 0.48844623 0.16864192
+v -0.18668625 0.49724367 0.15690855
+v -0.20081478 0.50261807 0.14777554
+v -0.20097836 0.50279997 0.14739500
+v -0.20097836 0.48781783 0.16282808
+v -0.20097836 0.52502530 0.07619130
+v -0.15700429 0.51994855 0.08530316
+v -0.20097836 0.52575290 0.07597988
+v -0.15700429 0.43060132 0.23434878
+v -0.17321206 0.46541077 0.19798593
+v -0.17772784 0.48118666 0.17756351
+v -0.18668625 0.50270074 0.14805038
+v -0.19279914 0.51776558 0.12602124
+v -0.20097836 0.51791441 0.12608466
+v -0.15700429 0.50367648 0.13194074
+v -0.19493865 0.53491410 0.08760761
+v -0.15700429 0.52064308 0.08972169
+v -0.20097836 0.53507948 0.08164578
+v -0.20097836 0.53645197 0.08325252
+v -0.15700429 0.44571576 0.21521598
+v -0.15769305 0.44660872 0.21449718
+v -0.15700429 0.46838739 0.18356758
+v -0.15700429 0.48649496 0.15754275
+v -0.15700429 0.49611924 0.14329357
+v -0.15700429 0.51288734 0.11612710
+v -0.15700429 0.51751761 0.10792431
+v -0.20097836 0.53192091 0.10077861
+v -0.20097836 0.52399987 0.11553518
+v -0.19493865 0.53491409 0.08938348
+v -0.15700429 0.52059343 0.09788222
+v -0.20097836 0.53603853 0.09175131
+v -0.15700429 0.44644337 0.21426462
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 19
+f 1 19 30
+f 1 30 40
+f 1 40 53
+f 1 53 49
+f 1 49 48
+f 1 48 38
+f 1 38 47
+f 1 47 46
+f 1 46 45
+f 1 45 55
+f 1 55 43
+f 1 43 32
+f 1 32 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 17
+f 9 17 28
+f 9 28 27
+f 9 27 37
+f 9 37 51
+f 9 51 50
+f 9 50 54
+f 9 54 42
+f 9 42 41
+f 9 41 31
+f 9 31 29
+f 9 29 18
+f 9 18 16
+f 10 16 11
+f 11 18 19
+f 11 16 18
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 17
+f 15 23 24
+f 18 29 19
+f 19 29 31
+f 19 31 30
+f 20 32 22
+f 20 22 21
+f 22 33 23
+f 22 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 25
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 25 34 38
+f 25 38 35
+f 26 37 27
+f 30 39 40
+f 30 31 41
+f 30 41 42
+f 30 42 39
+f 32 43 44
+f 32 44 33
+f 33 44 45
+f 33 45 46
+f 33 46 34
+f 34 46 47
+f 34 47 38
+f 35 38 36
+f 36 38 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 39 52 40
+f 39 42 52
+f 40 52 53
+f 42 54 52
+f 43 55 44
+f 44 55 45
+f 49 53 52
+f 49 52 54
+f 49 54 50
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_27.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.53695656 -0.21893159 0.07993413
+v -0.53644882 -0.20604249 0.08147186
+v -0.53497508 -0.21246299 0.07028694
+v -0.53497508 -0.21596948 0.07028693
+v -0.52737117 -0.22317460 0.07814012
+v -0.52921642 -0.22317461 0.08048328
+v -0.52974893 -0.22317464 0.08989251
+v -0.53620112 -0.21765076 0.09767252
+v -0.53584197 -0.20708327 0.09613488
+v -0.53410818 -0.19604343 0.08919698
+v -0.53410818 -0.19604342 0.08840983
+v -0.51660925 -0.14138874 0.08824528
+v -0.52505531 -0.21243096 0.07023202
+v -0.50725914 -0.14138874 0.08731167
+v -0.52505531 -0.21611358 0.07023201
+v -0.52486952 -0.22317460 0.07810351
+v -0.52873342 -0.22317467 0.09705011
+v -0.53397195 -0.21425639 0.10656920
+v -0.53397195 -0.21420034 0.10656920
+v -0.51660925 -0.14138875 0.09119252
+v -0.51684456 -0.15784846 0.10796065
+v -0.51488785 -0.14596004 0.10294489
+v -0.51576713 -0.21360779 0.07074458
+v -0.49800812 -0.14138874 0.08844664
+v -0.51576713 -0.21500079 0.07074457
+v -0.50562442 -0.22317461 0.08092262
+v -0.52452279 -0.22317468 0.10195609
+v -0.51715416 -0.21498498 0.12558902
+v -0.48063304 -0.19649207 0.17759613
+v -0.48779111 -0.18749368 0.16862626
+v -0.49655916 -0.18749364 0.15691049
+v -0.51727800 -0.19305745 0.12646779
+v -0.50152525 -0.14138889 0.12919555
+v -0.50894341 -0.14138884 0.11502679
+v -0.51392185 -0.14138879 0.10063836
+v -0.48552481 -0.22317465 0.09164987
+v -0.41043915 -0.22317486 0.14999075
+v -0.41043915 -0.14138921 0.21413488
+v -0.49293057 -0.22317463 0.08707340
+v -0.50164910 -0.22317461 0.08209420
+v -0.50590928 -0.22317474 0.11707675
+v -0.41732478 -0.22317497 0.17957305
+v -0.41043915 -0.22317499 0.18442411
+v -0.42923842 -0.17958431 0.23225757
+v -0.44827300 -0.18116937 0.21649619
+v -0.46504127 -0.18192185 0.19831844
+v -0.46504127 -0.17413232 0.19831847
+v -0.48060826 -0.17843929 0.17761449
+v -0.50226830 -0.18749360 0.14805044
+v -0.49804529 -0.14138891 0.13439442
+v -0.41043915 -0.14138934 0.25069173
+v -0.41043915 -0.17887184 0.24236242
+v -0.41043915 -0.16680736 0.25462741
+v -0.41396866 -0.16542235 0.25352906
+v -0.44013657 -0.16966526 0.22603360
+v -0.44842162 -0.16966523 0.21715525
+v -0.43047685 -0.15509498 0.23498523
+v -0.49551890 -0.14138893 0.13807391
+v -0.41083543 -0.14138934 0.25023409
+v -0.41043915 -0.14730554 0.25444442
+v -0.41043915 -0.15968231 0.25722686
+v -0.41043915 -0.15183676 0.25706214
+v -0.41379527 -0.15183675 0.25341928
+v -0.41879852 -0.14138930 0.24009261
+v -0.42402467 -0.14138928 0.23333775
+v -0.41043915 -0.14869854 0.25524987
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 13 15
+f 3 15 4
+f 3 12 14
+f 3 14 13
+f 4 15 5
+f 5 16 26
+f 5 26 40
+f 5 40 39
+f 5 39 36
+f 5 36 37
+f 5 37 43
+f 5 43 42
+f 5 42 41
+f 5 41 27
+f 5 27 17
+f 5 17 7
+f 5 7 6
+f 5 15 16
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 20 10
+f 9 19 21
+f 9 21 22
+f 9 22 20
+f 10 20 12
+f 10 12 11
+f 12 20 35
+f 12 35 34
+f 12 34 33
+f 12 33 50
+f 12 50 58
+f 12 58 65
+f 12 65 64
+f 12 64 59
+f 12 59 51
+f 12 51 38
+f 12 38 24
+f 12 24 14
+f 13 23 25
+f 13 25 15
+f 13 14 23
+f 14 24 23
+f 15 25 26
+f 15 26 16
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 32 33
+f 19 33 34
+f 19 34 21
+f 19 31 32
+f 20 22 35
+f 21 34 22
+f 22 34 35
+f 23 24 36
+f 23 36 25
+f 24 37 36
+f 24 38 37
+f 25 36 39
+f 25 39 40
+f 25 40 26
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 31 48 33
+f 31 33 49
+f 31 49 32
+f 32 49 33
+f 33 48 50
+f 37 38 51
+f 37 51 60
+f 37 60 66
+f 37 66 62
+f 37 62 61
+f 37 61 53
+f 37 53 52
+f 37 52 43
+f 43 52 44
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 45 54 55
+f 45 55 56
+f 45 56 46
+f 46 56 47
+f 47 56 57
+f 47 57 58
+f 47 58 50
+f 47 50 48
+f 51 59 60
+f 53 61 54
+f 54 61 55
+f 55 61 62
+f 55 62 56
+f 56 62 63
+f 56 63 57
+f 57 63 59
+f 57 59 64
+f 57 64 65
+f 57 65 58
+f 59 63 60
+f 60 63 66
+f 62 66 63
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_28.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.07505841 -0.00016257 0.43627898
+v -0.13325660 0.06213085 0.43790222
+v -0.13325660 0.04431628 0.43558246
+v -0.07741719 -0.00016257 0.43600983
+v -0.07505841 -0.00016249 0.41420636
+v -0.07505841 0.07996847 0.44009529
+v -0.07984212 0.07996847 0.44048320
+v -0.09764327 0.07996847 0.44092656
+v -0.14735422 0.06213087 0.43236821
+v -0.14785024 0.04431629 0.43228898
+v -0.11545545 0.07996847 0.43975485
+v -0.13266139 0.07986480 0.43342123
+v -0.14608665 0.02649019 0.42982672
+v -0.13320149 -0.00016254 0.42786320
+v -0.10645016 -0.00016256 0.43212255
+v -0.09764327 -0.00016256 0.43346844
+v -0.08863798 -0.00016257 0.43463225
+v -0.07984212 -0.00016257 0.43573271
+v -0.18766309 -0.00016232 0.36878643
+v -0.13478871 0.11755679 0.37597551
+v -0.13278263 0.11755679 0.37682264
+v -0.11728516 0.11755676 0.38343334
+v -0.07505841 0.11755669 0.40229168
+v -0.07505841 0.09779458 0.44034869
+v -0.07984212 0.09779458 0.44104538
+v -0.07826592 0.11755655 0.44058629
+v -0.09764327 0.09779458 0.44022994
+v -0.14539224 0.07384979 0.42993774
+v -0.18766309 0.08064846 0.40518918
+v -0.18142442 0.07520958 0.40993936
+v -0.18142442 0.06593355 0.40993932
+v -0.18766309 0.06092106 0.40434990
+v -0.18766309 -0.00016242 0.39370919
+v -0.07967678 0.11755655 0.44010333
+v -0.18766309 0.09941949 0.39659137
+v -0.09397281 0.11755658 0.43392016
+v -0.14995551 -0.00016251 0.41881406
+v -0.18766309 0.11755685 0.36017315
+v -0.17159245 0.11755683 0.36446416
+v -0.15105775 0.11755681 0.37042570
+v -0.07505841 0.11755655 0.44019835
+v -0.07505841 0.10257663 0.44031705
+v -0.07935713 0.11755655 0.44021418
+v -0.18766309 0.08960187 0.40112776
+v -0.18766309 0.11755675 0.38562636
+f 1 2 3
+f 1 3 4
+f 1 4 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 37
+f 1 37 33
+f 1 33 19
+f 1 19 5
+f 1 5 23
+f 1 23 41
+f 1 41 42
+f 1 42 24
+f 1 24 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 12
+f 2 12 9
+f 3 10 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 4
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 23
+f 6 24 25
+f 6 25 7
+f 7 25 8
+f 8 25 26
+f 8 26 27
+f 8 27 11
+f 9 12 28
+f 9 28 29
+f 9 29 30
+f 9 30 10
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 13
+f 11 27 34
+f 11 34 12
+f 12 35 28
+f 12 34 36
+f 12 36 35
+f 13 33 37
+f 13 37 14
+f 19 33 32
+f 19 32 29
+f 19 29 44
+f 19 44 35
+f 19 35 45
+f 19 45 38
+f 19 38 39
+f 19 39 40
+f 19 40 20
+f 20 40 39
+f 20 39 38
+f 20 38 45
+f 20 45 36
+f 20 36 34
+f 20 34 43
+f 20 43 26
+f 20 26 41
+f 20 41 23
+f 20 23 22
+f 20 22 21
+f 24 42 25
+f 25 42 41
+f 25 41 26
+f 26 43 27
+f 27 43 34
+f 28 35 44
+f 28 44 29
+f 29 32 31
+f 29 31 30
+f 35 36 45
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_29.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.15232080 -0.36776190 0.29608491
+v -0.13652364 -0.35997782 0.30480567
+v -0.14757566 -0.35997782 0.30480567
+v -0.15400931 -0.36776190 0.29571620
+v -0.13344697 -0.36776189 0.29382458
+v -0.13344697 -0.35469878 0.30849277
+v -0.13344697 -0.34152242 0.32150980
+v -0.14476594 -0.34204609 0.32186244
+v -0.13344697 -0.36394062 0.29874601
+v -0.16375323 -0.36776187 0.28931993
+v -0.15944854 -0.35607159 0.30131097
+v -0.13344697 -0.36776176 0.25959888
+v -0.13344697 -0.32915279 0.33096798
+v -0.13344697 -0.31965618 0.33702766
+v -0.13897965 -0.31766061 0.33633833
+v -0.14778254 -0.33014348 0.32506866
+v -0.20162100 -0.36776168 0.23720390
+v -0.20162100 -0.24590511 0.31755054
+v -0.20162100 -0.26062414 0.30804423
+v -0.20162100 -0.23926739 0.32115747
+v -0.20162100 -0.36776155 0.20228891
+v -0.13344697 -0.22317556 0.34058683
+v -0.13344697 -0.31226834 0.34063460
+v -0.20162100 -0.22317552 0.32825919
+v -0.13344697 -0.29587926 0.34755995
+v -0.20162100 -0.22395391 0.32793857
+v -0.20162100 -0.23503567 0.32308119
+v -0.20162100 -0.36242591 0.20552714
+v -0.13500199 -0.22317556 0.33964100
+v -0.13344697 -0.22317565 0.36604369
+v -0.20162100 -0.34796162 0.21469680
+v -0.20162100 -0.32826078 0.22729703
+v -0.20162100 -0.31545238 0.23550484
+v -0.20162100 -0.31107915 0.23831023
+v -0.20162100 -0.29494480 0.24895473
+v -0.13344697 -0.29456306 0.34792867
+v -0.13344697 -0.27988645 0.35198449
+v -0.13344697 -0.26770078 0.35501437
+v -0.20162100 -0.22317541 0.30014121
+v -0.20162100 -0.27927754 0.26004807
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 6
+f 3 8 4
+f 4 8 11
+f 4 11 10
+f 5 12 22
+f 5 22 30
+f 5 30 38
+f 5 38 37
+f 5 37 36
+f 5 36 25
+f 5 25 23
+f 5 23 14
+f 5 14 13
+f 5 13 7
+f 5 7 6
+f 5 6 9
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 11
+f 10 11 18
+f 10 18 19
+f 10 19 17
+f 11 16 20
+f 11 20 18
+f 12 21 22
+f 14 23 15
+f 15 24 16
+f 15 23 25
+f 15 25 24
+f 16 24 26
+f 16 26 27
+f 16 27 20
+f 17 19 18
+f 17 18 20
+f 17 20 27
+f 17 27 26
+f 17 26 24
+f 17 24 39
+f 17 39 40
+f 17 40 35
+f 17 35 34
+f 17 34 33
+f 17 33 32
+f 17 32 31
+f 17 31 28
+f 17 28 21
+f 21 28 22
+f 22 29 39
+f 22 39 24
+f 22 24 30
+f 22 28 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 29
+f 24 25 36
+f 24 36 37
+f 24 37 38
+f 24 38 30
+f 29 35 40
+f 29 40 39
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_3.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.07505841 -0.50375739 0.09805557
+v -0.07505841 -0.50274289 0.08546548
+v 0.02611114 -0.50108295 0.08672718
+v 0.02611114 -0.50108298 0.09467317
+v -0.07505841 -0.50285825 0.10108901
+v -0.07505841 -0.49432779 0.08546551
+v 0.02611114 -0.49220673 0.08672721
+v 0.02611114 -0.49810890 0.10355873
+v -0.07505841 -0.50059886 0.10839074
+v 0.00920664 -0.48273112 0.08917010
+v 0.02611114 -0.49174565 0.08683458
+v -0.07505841 -0.48540552 0.09349206
+v -0.06201609 -0.48510581 0.09206931
+v -0.04421041 -0.48455247 0.09070023
+v -0.02639482 -0.48399914 0.08997543
+v -0.00859904 -0.48328445 0.08946539
+v 0.02611114 -0.49146908 0.11542404
+v -0.07505841 -0.49538846 0.11687364
+v 0.00920664 -0.26825064 0.32306752
+v 0.02611114 -0.48328445 0.08951908
+v -0.00859904 -0.26825064 0.32317487
+v -0.07505841 -0.26825067 0.33332213
+v -0.07334517 -0.26825067 0.33289260
+v -0.06232308 -0.26825066 0.33020816
+v -0.05255868 -0.26825066 0.32822165
+v -0.04421041 -0.26825065 0.32661098
+v -0.03146519 -0.26825064 0.32497345
+v -0.02675133 -0.26825064 0.32438288
+v 0.02611114 -0.48397623 0.12734305
+v -0.07505841 -0.49276018 0.12087348
+v 0.02248663 -0.26825064 0.32389967
+v 0.02611114 -0.26825064 0.32416813
+v -0.07505841 -0.26825077 0.35968347
+v 0.02611114 -0.47740556 0.13577228
+v -0.07505841 -0.47952664 0.13936943
+v -0.07505841 -0.48446042 0.13287303
+v -0.07505841 -0.48623562 0.13048386
+v 0.02611114 -0.26825074 0.35026102
+v -0.07505841 -0.27168598 0.35753588
+v 0.02611114 -0.47703669 0.13622863
+v -0.07505841 -0.46975135 0.15136898
+v 0.02611114 -0.27666582 0.34473101
+v -0.07505841 -0.28021633 0.35181799
+v 0.02611114 -0.28678698 0.33804670
+v 0.02611114 -0.46857552 0.14634906
+v -0.07505841 -0.45554949 0.16798583
+v -0.07505841 -0.29437211 0.34215390
+v -0.07505841 -0.30098890 0.33726817
+v 0.02611114 -0.29570925 0.33136235
+v 0.02611114 -0.46811440 0.14688595
+v -0.07505841 -0.44667330 0.17824047
+v -0.07505841 -0.30375549 0.33514741
+v 0.02611114 -0.29630869 0.33090602
+v 0.02611114 -0.46071377 0.15528832
+v -0.07505841 -0.34530059 0.29471938
+v -0.07505841 -0.30818207 0.33165761
+v 0.02611114 -0.30705232 0.32250362
+v 0.02611114 -0.33430331 0.29624953
+v -0.07505841 -0.33600943 0.30513510
+v -0.07505841 -0.34244175 0.29794071
+v -0.07505841 -0.31177865 0.32873153
+v -0.07505841 -0.31984790 0.32188614
+v 0.02611114 -0.31597463 0.31477237
+v 0.02611114 -0.32584217 0.30543043
+v -0.07505841 -0.33144455 0.31015504
+v -0.07505841 -0.32192283 0.32006072
+v 0.02611114 -0.32538105 0.30591360
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 18
+f 1 18 30
+f 1 30 37
+f 1 37 36
+f 1 36 35
+f 1 35 41
+f 1 41 46
+f 1 46 51
+f 1 51 55
+f 1 55 60
+f 1 60 59
+f 1 59 65
+f 1 65 66
+f 1 66 62
+f 1 62 61
+f 1 61 56
+f 1 56 52
+f 1 52 48
+f 1 48 47
+f 1 47 43
+f 1 43 39
+f 1 39 33
+f 1 33 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 20
+f 3 20 32
+f 3 32 38
+f 3 38 42
+f 3 42 44
+f 3 44 49
+f 3 49 53
+f 3 53 57
+f 3 57 63
+f 3 63 67
+f 3 67 64
+f 3 64 58
+f 3 58 54
+f 3 54 50
+f 3 50 45
+f 3 45 40
+f 3 40 34
+f 3 34 29
+f 3 29 17
+f 3 17 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 10
+f 8 17 9
+f 9 17 18
+f 10 19 20
+f 10 20 11
+f 10 16 21
+f 10 21 19
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 28 15
+f 15 28 16
+f 16 28 21
+f 17 29 18
+f 18 29 30
+f 19 21 28
+f 19 28 27
+f 19 27 26
+f 19 26 25
+f 19 25 24
+f 19 24 23
+f 19 23 22
+f 19 22 33
+f 19 33 38
+f 19 38 32
+f 19 32 31
+f 19 31 20
+f 20 31 32
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 33 39 38
+f 34 40 35
+f 35 40 41
+f 38 39 42
+f 39 43 44
+f 39 44 42
+f 40 45 41
+f 41 45 46
+f 43 47 44
+f 44 48 49
+f 44 47 48
+f 45 50 46
+f 46 50 51
+f 48 52 53
+f 48 53 49
+f 50 54 55
+f 50 55 51
+f 52 56 57
+f 52 57 53
+f 54 58 59
+f 54 59 60
+f 54 60 55
+f 56 61 57
+f 57 62 63
+f 57 61 62
+f 58 64 65
+f 58 65 59
+f 62 66 63
+f 63 66 67
+f 64 67 65
+f 65 67 66
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_30.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.24933683 -0.00917996 0.33491120
+v 0.24933683 -0.01194235 0.33508247
+v 0.24933683 0.00865130 0.33542517
+v 0.48073519 0.00865221 0.08830734
+v 0.48055742 -0.00917905 0.08807887
+v 0.48076057 -0.02254903 0.08833578
+v 0.24933683 -0.02663829 0.33613886
+v 0.24933683 0.02747701 0.33671009
+v 0.48101453 0.01909405 0.08865001
+v 0.49500713 0.11446575 0.08513846
+v 0.49414371 0.09779469 0.08502419
+v 0.48698232 -0.02663738 0.08810735
+v 0.48126850 -0.02663739 0.08859273
+v 0.24933683 -0.02663839 0.36157872
+v 0.24933683 0.11446480 0.34359144
+v 0.50374298 0.11446575 0.08513846
+v 0.50300652 0.09779469 0.08502419
+v 0.48898852 -0.02663738 0.08802169
+v 0.25540623 -0.02663838 0.35823813
+v 0.25373016 0.09779362 0.37468457
+v 0.24933683 0.09779362 0.37671175
+v 0.24933683 0.11446469 0.37237191
+v 0.49945124 -0.02663738 0.08819299
+v 0.50854262 0.11446570 0.09684479
+v 0.28836880 0.11446475 0.35652552
+v 0.26264377 0.09779364 0.36965940
+v 0.26431984 -0.02663836 0.35284181
+v 0.28783552 0.11446475 0.35683960
+v 0.25395871 0.10958906 0.37454184
+v 0.24933683 0.10547308 0.37668323
+v 0.24933683 0.11047302 0.37522709
+v 0.25337464 0.11446470 0.37125838
+v 0.50877117 0.11446570 0.09767279
+v 0.49945124 -0.02663740 0.09224738
+v 0.29720624 0.11446477 0.35107209
+v 0.27656019 -0.02663833 0.34498998
+v 0.27546818 0.11446473 0.36286408
+v 0.25835203 0.11446470 0.36985933
+v 0.50338746 0.11446563 0.11614596
+v 0.49777516 -0.02663743 0.10109852
+v 0.28684513 -0.02663830 0.33830881
+v 0.30937040 0.11446480 0.34250647
+v 0.49109630 -0.02663748 0.11543164
+v 0.49762281 -0.02663743 0.10144115
+v 0.49856241 0.11446560 0.12394067
+v 0.31114804 0.11446481 0.34125018
+v 0.29598729 -0.02663828 0.33137067
+v 0.48337625 -0.02663753 0.12733784
+v 0.49348342 0.11446558 0.13122143
+v 0.31856336 0.11446483 0.33525425
+v 0.30698327 -0.02663825 0.32266229
+v 0.49279776 0.11446557 0.13219221
+v 0.48390956 0.11446553 0.14458378
+v 0.48355404 0.11446553 0.14506918
+v 0.47651962 -0.02663756 0.13621751
+v 0.31587147 -0.02663822 0.31495325
+v 0.32826419 0.11446486 0.32651734
+v 0.48317311 0.11446553 0.14555455
+v 0.47634186 -0.02663756 0.13644594
+v 0.32978789 0.11446487 0.32508973
+v 0.32521681 -0.02663818 0.30607355
+v 0.47649424 0.11446549 0.15386319
+v 0.46752984 0.11446545 0.16488429
+v 0.44396338 0.11446535 0.19343632
+v 0.46760601 -0.02663760 0.14692453
+v 0.33710163 0.11446489 0.31786606
+v 0.33395266 -0.02663815 0.29673704
+v 0.34591365 0.11446493 0.30890074
+v 0.41135631 0.11446521 0.23252404
+v 0.45986058 -0.02663763 0.15580421
+v 0.40513456 0.11446518 0.23997612
+v 0.35980466 0.11446498 0.29342553
+v 0.35462412 0.11446496 0.29947857
+f 1 2 7
+f 1 7 14
+f 1 14 21
+f 1 21 30
+f 1 30 31
+f 1 31 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 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 12
+f 7 12 18
+f 7 18 23
+f 7 23 34
+f 7 34 40
+f 7 40 44
+f 7 44 43
+f 7 43 48
+f 7 48 55
+f 7 55 59
+f 7 59 65
+f 7 65 70
+f 7 70 67
+f 7 67 61
+f 7 61 56
+f 7 56 51
+f 7 51 47
+f 7 47 41
+f 7 41 36
+f 7 36 27
+f 7 27 19
+f 7 19 14
+f 8 15 9
+f 9 15 10
+f 10 16 17
+f 10 17 11
+f 10 15 22
+f 10 22 32
+f 10 32 38
+f 10 38 37
+f 10 37 28
+f 10 28 25
+f 10 25 35
+f 10 35 42
+f 10 42 46
+f 10 46 50
+f 10 50 57
+f 10 57 60
+f 10 60 66
+f 10 66 68
+f 10 68 73
+f 10 73 72
+f 10 72 71
+f 10 71 69
+f 10 69 64
+f 10 64 63
+f 10 63 62
+f 10 62 58
+f 10 58 54
+f 10 54 53
+f 10 53 52
+f 10 52 49
+f 10 49 45
+f 10 45 39
+f 10 39 33
+f 10 33 24
+f 10 24 16
+f 11 17 18
+f 11 18 12
+f 14 19 20
+f 14 20 21
+f 16 23 17
+f 16 24 23
+f 17 23 18
+f 19 25 26
+f 19 26 20
+f 19 27 25
+f 20 26 28
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 22 31 32
+f 23 24 33
+f 23 33 34
+f 25 28 26
+f 25 27 35
+f 27 36 35
+f 28 37 29
+f 29 31 30
+f 29 37 38
+f 29 38 31
+f 31 38 32
+f 33 39 40
+f 33 40 34
+f 35 36 41
+f 35 41 42
+f 39 43 44
+f 39 44 40
+f 39 45 43
+f 41 46 42
+f 41 47 46
+f 43 45 48
+f 45 49 48
+f 46 47 51
+f 46 51 50
+f 48 49 52
+f 48 52 53
+f 48 53 54
+f 48 54 55
+f 50 51 56
+f 50 56 57
+f 54 58 59
+f 54 59 55
+f 56 60 57
+f 56 61 60
+f 58 62 59
+f 59 62 63
+f 59 63 64
+f 59 64 65
+f 60 61 66
+f 61 67 68
+f 61 68 66
+f 64 69 65
+f 65 69 71
+f 65 71 72
+f 65 72 73
+f 65 73 70
+f 67 73 68
+f 67 70 73
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_31.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.41043912 -0.22317486 0.14997658
+v -0.41043912 -0.22317499 0.18443228
+v -0.41043912 -0.14138921 0.21415835
+v -0.31790755 -0.22317509 0.21135374
+v -0.40787884 -0.22317499 0.18622705
+v -0.41043912 -0.17887184 0.24238834
+v -0.30191902 -0.21388859 0.23105877
+v -0.30191902 -0.21456107 0.23038574
+v -0.30191902 -0.22317513 0.22221578
+v -0.30224836 -0.22317513 0.22197275
+v -0.30913244 -0.22317511 0.21726149
+v -0.31029043 -0.22317511 0.21647629
+v -0.41043912 -0.14138934 0.25068926
+v -0.30191902 -0.14138955 0.30885081
+v -0.30191902 -0.19692463 0.24896908
+v -0.40113285 -0.22317501 0.19084483
+v -0.38176603 -0.22317506 0.20350164
+v -0.37650734 -0.16211614 0.28589272
+v -0.39628850 -0.16369320 0.27013246
+v -0.41043912 -0.16680736 0.25463391
+v -0.30191902 -0.22317525 0.25482066
+v -0.41043912 -0.14730554 0.25444702
+v -0.40607283 -0.14138936 0.25579312
+v -0.30191902 -0.14138967 0.34095089
+v -0.35365597 -0.15961843 0.30062474
+v -0.34116263 -0.14543246 0.32182542
+v -0.35953084 -0.14773003 0.30516777
+v -0.39671345 -0.15183682 0.27101117
+v -0.41043912 -0.15968231 0.25723260
+v -0.30191902 -0.18032910 0.30361593
+v -0.41043912 -0.15183676 0.25706438
+v -0.39424878 -0.14138941 0.26914167
+v -0.30306637 -0.14138967 0.34063307
+v -0.30554168 -0.14379936 0.33797831
+v -0.30191902 -0.14443181 0.33846438
+v -0.30191902 -0.17208330 0.31287021
+v -0.32916858 -0.14846662 0.32507842
+v -0.31902303 -0.14138965 0.33485617
+v -0.33641385 -0.14138961 0.32530278
+v -0.34105639 -0.14138960 0.32180674
+v -0.35503704 -0.14138955 0.30894428
+v -0.40562665 -0.15183678 0.26228040
+v -0.37699604 -0.14138948 0.28748189
+v -0.31365811 -0.14138966 0.33689398
+v -0.31171398 -0.15174096 0.32866794
+v -0.30191902 -0.16341318 0.32173189
+v -0.30191902 -0.15339814 0.33057486
+f 1 2 6
+f 1 6 20
+f 1 20 29
+f 1 29 31
+f 1 31 22
+f 1 22 13
+f 1 13 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 21
+f 1 21 17
+f 1 17 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 13 23
+f 3 23 32
+f 3 32 43
+f 3 43 41
+f 3 41 40
+f 3 40 39
+f 3 39 38
+f 3 38 44
+f 3 44 33
+f 3 33 24
+f 3 24 14
+f 3 14 15
+f 3 15 7
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 7 15 14
+f 7 14 24
+f 7 24 35
+f 7 35 47
+f 7 47 46
+f 7 46 36
+f 7 36 30
+f 7 30 21
+f 7 21 9
+f 7 9 8
+f 13 22 23
+f 17 21 18
+f 18 21 25
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 21 30 25
+f 22 31 32
+f 22 32 23
+f 24 33 34
+f 24 34 35
+f 25 30 36
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 42 29
+f 28 41 43
+f 28 43 42
+f 29 42 31
+f 31 42 32
+f 32 42 43
+f 33 44 34
+f 34 44 38
+f 34 38 37
+f 34 37 45
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 36 46 37
+f 37 46 45
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_32.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.53699637 0.21925158 0.07992914
+v -0.53260514 0.22137923 0.08927559
+v -0.53352904 0.22137927 0.08011207
+v -0.53530073 0.21623802 0.06993406
+v -0.53530073 0.21165041 0.06993405
+v -0.53640939 0.20533844 0.08165866
+v -0.53667027 0.21856338 0.09394881
+v -0.53088779 0.22137921 0.09611080
+v -0.52504009 0.22137929 0.07439111
+v -0.52505098 0.21730583 0.06961809
+v -0.52505098 0.21014757 0.06961806
+v -0.51201865 0.14058192 0.08654786
+v -0.51704028 0.14058192 0.08762886
+v -0.53399640 0.19577562 0.08871005
+v -0.53399640 0.19577562 0.08889299
+v -0.53601814 0.20478472 0.09273471
+v -0.53175736 0.20478469 0.10159888
+v -0.51746417 0.19258789 0.12679435
+v -0.52426838 0.20478464 0.11541899
+v -0.51757286 0.20478459 0.12671124
+v -0.51672507 0.21416549 0.12499832
+v -0.52432274 0.22137918 0.10349484
+v -0.52018151 0.22137928 0.07547211
+v -0.51521423 0.21597700 0.07026667
+v -0.51521423 0.21101764 0.07026666
+v -0.50122540 0.14058192 0.08686385
+v -0.51705114 0.14058190 0.09293405
+v -0.51657289 0.14058189 0.09479669
+v -0.51522509 0.14453671 0.10427620
+v -0.51704028 0.15642493 0.10826761
+v -0.50909480 0.14058182 0.11511941
+v -0.50518183 0.14058179 0.12218746
+v -0.50135583 0.14058177 0.12872332
+v -0.48170410 0.17645195 0.17919763
+v -0.50234495 0.20056868 0.14783222
+v -0.48170410 0.18226557 0.17919765
+v -0.50004065 0.22137911 0.12273657
+v -0.50841003 0.22137913 0.11658320
+v -0.46563923 0.18140335 0.19863895
+v -0.47891065 0.19415382 0.17676962
+v -0.44810699 0.18036712 0.21588498
+v -0.42837917 0.17869812 0.23173404
+v -0.42595529 0.22137892 0.17457445
+v -0.50664920 0.22137927 0.08011207
+v -0.48944306 0.22137923 0.09038985
+v -0.48050846 0.22137920 0.09702549
+v -0.49787765 0.14058192 0.08824419
+v -0.51446424 0.14058187 0.10204767
+v -0.51233385 0.14058184 0.10825093
+v -0.49518204 0.14058173 0.13758749
+v -0.44707440 0.15753189 0.21613436
+v -0.43129213 0.15494534 0.23584173
+v -0.46563923 0.17283716 0.19863891
+v -0.44892220 0.16913538 0.21751475
+v -0.44009629 0.16913535 0.22639554
+v -0.43119430 0.16913532 0.23532623
+v -0.42595529 0.16959405 0.23918455
+v -0.42595529 0.17914106 0.23238263
+v -0.42595529 0.22137904 0.14033185
+v -0.42595529 0.14058154 0.19172042
+v -0.48982348 0.14058171 0.14487174
+v -0.43330297 0.14058143 0.22012566
+v -0.42595529 0.15139389 0.23941731
+v -0.42595529 0.16186630 0.23951713
+v -0.42595529 0.14058140 0.22895657
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 22
+f 2 22 38
+f 2 38 37
+f 2 37 43
+f 2 43 59
+f 2 59 46
+f 2 46 45
+f 2 45 44
+f 2 44 23
+f 2 23 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 12
+f 12 26 47
+f 12 47 60
+f 12 60 65
+f 12 65 62
+f 12 62 61
+f 12 61 50
+f 12 50 33
+f 12 33 32
+f 12 32 31
+f 12 31 49
+f 12 49 48
+f 12 48 28
+f 12 28 27
+f 12 27 13
+f 13 27 14
+f 14 27 15
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 18
+f 16 18 17
+f 18 20 19
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 20
+f 20 35 21
+f 20 34 36
+f 20 36 35
+f 21 37 38
+f 21 38 22
+f 21 35 39
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 37
+f 23 44 24
+f 24 44 45
+f 24 45 46
+f 24 46 25
+f 25 47 26
+f 25 46 47
+f 28 48 29
+f 29 48 49
+f 29 49 30
+f 30 49 31
+f 33 50 34
+f 34 51 52
+f 34 52 53
+f 34 53 39
+f 34 39 36
+f 34 50 51
+f 35 36 39
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 41
+f 39 41 40
+f 41 56 57
+f 41 57 42
+f 42 57 58
+f 42 58 43
+f 43 58 57
+f 43 57 64
+f 43 64 63
+f 43 63 65
+f 43 65 60
+f 43 60 59
+f 46 59 47
+f 47 59 60
+f 50 61 52
+f 50 52 51
+f 52 62 63
+f 52 63 64
+f 52 64 56
+f 52 56 55
+f 52 55 54
+f 52 54 53
+f 52 61 62
+f 56 64 57
+f 62 65 63
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_33.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.07505841 0.02550404 0.41482316
+v -0.01031227 0.01099570 0.39946021
+v -0.01921511 0.00219427 0.39946018
+v -0.07505841 0.02169619 0.41458601
+v -0.07505841 0.02550396 0.43688284
+v -0.00786622 0.02550404 0.41361681
+v -0.00129059 0.01864032 0.39946024
+v -0.01921511 -0.00290535 0.39946016
+v -0.07505841 -0.00919076 0.41419926
+v -0.07505841 0.00386196 0.41421475
+v -0.07505841 0.00864346 0.41425601
+v -0.06298659 0.02550395 0.43871301
+v -0.07505841 -0.07297955 0.44098098
+v -0.00859904 -0.00919090 0.45212706
+v 0.00837478 0.02550404 0.41346215
+v 0.00214576 0.01864032 0.39946024
+v -0.07505841 -0.07297945 0.41448772
+v -0.00979731 -0.01191886 0.39946013
+v -0.06201609 0.02550395 0.43882126
+v -0.00935168 0.01010864 0.44853903
+v -0.07233507 -0.07297955 0.44103771
+v 0.00920664 -0.00919090 0.45209613
+v 0.00920664 0.00864332 0.45085376
+v 0.00849362 0.02550404 0.41346215
+v 0.00967208 0.02550404 0.41374571
+v 0.02610124 0.02550403 0.41770500
+v 0.01093967 0.01138131 0.39946021
+v -0.00101331 -0.01904291 0.39946010
+v 0.00158129 -0.01904291 0.39946010
+v 0.00920664 -0.07297946 0.41534865
+v -0.04421041 0.02550394 0.44080606
+v 0.02611114 -0.07297954 0.43797028
+v 0.02491287 -0.00919088 0.44668303
+v 0.02611114 0.00299423 0.44682742
+v 0.02611114 0.00807458 0.44705941
+v 0.02611114 0.00864334 0.44701817
+v 0.02611114 0.02382655 0.44364151
+v 0.02611114 0.02550393 0.44321360
+v 0.02294217 0.02550393 0.44337857
+v 0.00920664 0.02550393 0.44391990
+v 0.02611114 0.02550401 0.42102502
+v 0.02611114 0.00832534 0.41369409
+v 0.01963455 0.00236780 0.39946018
+v 0.01060296 -0.01145614 0.39946013
+v 0.02611114 -0.07297946 0.41559611
+v 0.01949591 -0.07297946 0.41548783
+v 0.02611114 -0.00919088 0.44619328
+v 0.02611114 0.00817110 0.41365799
+v 0.01963455 -0.00264507 0.39946016
+v 0.02611114 -0.00859307 0.41349296
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 9
+f 1 9 17
+f 1 17 13
+f 1 13 5
+f 1 5 12
+f 1 12 19
+f 1 19 31
+f 1 31 40
+f 1 40 39
+f 1 39 38
+f 1 38 41
+f 1 41 26
+f 1 26 25
+f 1 25 24
+f 1 24 15
+f 1 15 6
+f 1 6 7
+f 1 7 2
+f 2 7 16
+f 2 16 27
+f 2 27 43
+f 2 43 49
+f 2 49 44
+f 2 44 29
+f 2 29 28
+f 2 28 18
+f 2 18 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 13 14
+f 5 14 12
+f 6 15 7
+f 7 15 24
+f 7 24 16
+f 8 17 9
+f 8 18 17
+f 12 14 20
+f 12 20 19
+f 13 17 30
+f 13 30 46
+f 13 46 45
+f 13 45 32
+f 13 32 21
+f 13 21 14
+f 14 22 23
+f 14 23 20
+f 14 21 22
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 17 18 28
+f 17 28 29
+f 17 29 30
+f 19 20 31
+f 20 23 31
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 31
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 32 45 50
+f 32 50 48
+f 32 48 42
+f 32 42 41
+f 32 41 38
+f 32 38 37
+f 32 37 36
+f 32 36 35
+f 32 35 34
+f 32 34 47
+f 32 47 33
+f 33 47 34
+f 42 48 43
+f 43 48 50
+f 43 50 49
+f 44 49 45
+f 45 49 50
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_34.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.15721684 -0.52142645 0.09781087
+v -0.07505841 -0.50375254 0.09805895
+v -0.15721684 -0.51894460 0.10727674
+v -0.15721684 -0.52035845 0.08574087
+v -0.15106460 -0.51951613 0.08638157
+v -0.13991017 -0.51796682 0.08799367
+v -0.13991017 -0.51796684 0.09212724
+v -0.07505841 -0.50285005 0.10107645
+v -0.07505841 -0.50275973 0.08545158
+v -0.07505841 -0.50060888 0.10837220
+v -0.15601856 -0.51837305 0.10826881
+v -0.15721684 -0.51850840 0.10847548
+v -0.15721684 -0.51701920 0.08574088
+v -0.09764071 -0.50387282 0.08497622
+v -0.07983543 -0.50298538 0.08528623
+v -0.07505841 -0.49432138 0.08545161
+v -0.07505841 -0.49538945 0.11686670
+v -0.15721684 -0.50706179 0.12608450
+v -0.15721684 -0.50970897 0.08588559
+v -0.09764071 -0.49495314 0.08497625
+v -0.07983543 -0.49442666 0.08528626
+v -0.07505841 -0.48540173 0.09349143
+v -0.07505841 -0.49275718 0.12087627
+v -0.15721684 -0.50370754 0.13106546
+v -0.11545404 -0.49605116 0.08534827
+v -0.15721684 -0.50209793 0.09249932
+v -0.14276513 -0.49936036 0.08857244
+v -0.13325128 -0.49803669 0.08712569
+v -0.07505841 -0.36776167 0.23477709
+v -0.07505841 -0.48622915 0.13048682
+v -0.15721684 -0.44751231 0.21280691
+v -0.15721684 -0.36776174 0.25294410
+v -0.07505841 -0.36776179 0.26799028
+v -0.07505841 -0.48445427 0.13286364
+v -0.15467553 -0.43090643 0.23428083
+v -0.15721684 -0.44578252 0.21526638
+v -0.15721684 -0.36776189 0.29361836
+v -0.13159460 -0.36776189 0.29355637
+v -0.13754578 -0.37723808 0.28673595
+v -0.15106460 -0.41418021 0.25248924
+v -0.07505841 -0.44666985 0.17822963
+v -0.07505841 -0.47952061 0.13935335
+v -0.15721684 -0.43260613 0.23260673
+v -0.07505841 -0.46975865 0.15136139
+v -0.15721684 -0.37186824 0.29184093
+v -0.15399998 -0.36776190 0.29570583
+v -0.13242294 -0.36776189 0.29370104
+v -0.15106460 -0.37881747 0.28785202
+v -0.15106460 -0.38773712 0.27937818
+v -0.15106460 -0.39698769 0.27051164
+v -0.15106460 -0.40590734 0.26135577
+v -0.15721684 -0.41433061 0.25259259
+v -0.07505841 -0.45554439 0.16797837
+v -0.15721684 -0.37817068 0.28698398
+v -0.15231918 -0.36776190 0.29609852
+v -0.15721684 -0.39230975 0.27447990
+v -0.15721684 -0.39679214 0.27018097
+v -0.15721684 -0.40984825 0.25738752
+f 1 2 3
+f 1 3 12
+f 1 12 18
+f 1 18 24
+f 1 24 31
+f 1 31 36
+f 1 36 43
+f 1 43 52
+f 1 52 58
+f 1 58 57
+f 1 57 56
+f 1 56 54
+f 1 54 45
+f 1 45 37
+f 1 37 32
+f 1 32 26
+f 1 26 19
+f 1 19 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 6
+f 2 6 9
+f 2 9 16
+f 2 16 22
+f 2 22 29
+f 2 29 33
+f 2 33 41
+f 2 41 53
+f 2 53 44
+f 2 44 42
+f 2 42 34
+f 2 34 30
+f 2 30 23
+f 2 23 17
+f 2 17 10
+f 2 10 8
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 4 13 20
+f 4 20 14
+f 4 14 15
+f 4 15 9
+f 4 9 5
+f 5 9 6
+f 9 15 21
+f 9 21 16
+f 10 12 11
+f 10 17 12
+f 12 17 18
+f 13 19 20
+f 14 20 21
+f 14 21 15
+f 16 21 22
+f 17 23 18
+f 18 23 24
+f 19 25 20
+f 19 26 27
+f 19 27 28
+f 19 28 25
+f 20 25 22
+f 20 22 21
+f 22 25 29
+f 23 30 24
+f 24 30 31
+f 25 28 32
+f 25 32 29
+f 26 32 27
+f 27 32 28
+f 29 32 37
+f 29 37 46
+f 29 46 55
+f 29 55 47
+f 29 47 38
+f 29 38 33
+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 34 42 35
+f 35 40 43
+f 35 43 36
+f 35 42 44
+f 35 44 40
+f 37 45 46
+f 38 47 48
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 40 51 52
+f 40 52 43
+f 40 44 53
+f 40 53 41
+f 45 54 55
+f 45 55 46
+f 47 55 48
+f 48 55 54
+f 48 54 56
+f 48 56 49
+f 49 56 50
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 51 58 52
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_35.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.11544916 -0.29385183 0.35438313
+v -0.11026529 -0.29385183 0.35383253
+v -0.09764568 -0.26381311 0.37018423
+v -0.11544916 -0.28939653 0.35679570
+v -0.12555971 -0.28867705 0.35587560
+v -0.13139514 -0.29385181 0.34973920
+v -0.10297816 -0.28756319 0.35646966
+v -0.07505841 -0.29385179 0.34250161
+v -0.08560904 -0.25187234 0.37409652
+v -0.07983648 -0.22666250 0.38719528
+v -0.07983648 -0.22317574 0.38907895
+v -0.09764568 -0.25490251 0.37495864
+v -0.10879071 -0.25459809 0.37429209
+v -0.13344697 -0.22317565 0.36605482
+v -0.13344697 -0.26768723 0.35502078
+v -0.13344697 -0.27987708 0.35199239
+v -0.13344697 -0.29385181 0.34813082
+v -0.07505841 -0.27166519 0.35755647
+v -0.07505841 -0.28018840 0.35182577
+v -0.07505841 -0.29385169 0.31506537
+v -0.07505841 -0.25876973 0.36571422
+v -0.07505841 -0.24010451 0.37724080
+v -0.07505841 -0.22518201 0.38623172
+v -0.07505841 -0.22317573 0.38740541
+v -0.07711023 -0.22317574 0.38818782
+v -0.09673693 -0.22317573 0.38745610
+v -0.09764568 -0.24099004 0.38070383
+v -0.11129406 -0.24099002 0.37582806
+v -0.11587782 -0.22317569 0.37666853
+v -0.13344697 -0.22317556 0.34060371
+v -0.13344697 -0.29385170 0.31861535
+v -0.07505841 -0.22317563 0.35902734
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 31
+f 1 31 20
+f 1 20 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 7 9
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 7 18 9
+f 7 8 19
+f 7 19 18
+f 8 20 32
+f 8 32 24
+f 8 24 23
+f 8 23 22
+f 8 22 21
+f 8 21 18
+f 8 18 19
+f 9 18 21
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 24
+f 11 24 32
+f 11 32 30
+f 11 30 14
+f 11 14 29
+f 11 29 26
+f 11 26 27
+f 11 27 12
+f 12 27 13
+f 13 27 26
+f 13 26 28
+f 13 28 14
+f 14 28 29
+f 14 30 31
+f 14 31 17
+f 14 17 16
+f 14 16 15
+f 20 31 30
+f 20 30 32
+f 26 29 28
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_36.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02623383 0.29922853 0.30042590
+v 0.02703134 0.29931242 0.30042590
+v 0.02611114 0.29922853 0.30042590
+v 0.02611114 0.48147426 0.08886310
+v 0.04102862 0.30182933 0.30042591
+v 0.11606592 0.49521238 0.08474261
+v 0.02611114 0.33008159 0.30042601
+v 0.02611114 0.48785041 0.08751074
+v 0.09825491 0.49401686 0.08455242
+v 0.04145805 0.30191325 0.30042591
+v 0.11606592 0.50502830 0.08474265
+v 0.13056419 0.50811151 0.08617957
+v 0.13056419 0.49703713 0.08645423
+v 0.05192790 0.30417847 0.30042592
+v 0.13056419 0.36139612 0.30042613
+v 0.02611114 0.33385697 0.29638999
+v 0.02611114 0.48883619 0.08734171
+v 0.02611114 0.50020423 0.08717270
+v 0.09825491 0.50356011 0.08455246
+v 0.13056419 0.51348085 0.09818199
+v 0.13056419 0.32548825 0.30042600
+v 0.06227505 0.30659048 0.30042593
+v 0.13056419 0.38293670 0.27659045
+v 0.02611114 0.45110330 0.16689974
+v 0.02611114 0.50020420 0.09473759
+v 0.02611114 0.49787602 0.10359146
+v 0.13056419 0.51232729 0.10143616
+v 0.13056419 0.38583115 0.27333630
+v 0.02611114 0.45999642 0.15692594
+v 0.02611114 0.45152278 0.16643485
+v 0.02611114 0.49751948 0.10426766
+v 0.13056419 0.50710465 0.11561502
+v 0.13056419 0.39677976 0.26089017
+v 0.02611114 0.46043688 0.15641880
+v 0.02611114 0.49158372 0.11542480
+v 0.13056419 0.50565743 0.11819301
+v 0.13056419 0.39894008 0.25837560
+v 0.02611114 0.46796664 0.14754382
+v 0.02611114 0.49120620 0.11603758
+v 0.13056419 0.50074941 0.12687782
+v 0.13056419 0.40021953 0.25683303
+v 0.02611114 0.47688072 0.13666138
+v 0.02611114 0.48378127 0.12778640
+v 0.13056419 0.49468784 0.13554151
+v 0.13056419 0.40535825 0.25043037
+v 0.13056419 0.48564792 0.14783970
+v 0.13056419 0.41475474 0.23861817
+v 0.13056419 0.49290500 0.13803495
+f 1 2 5
+f 1 5 10
+f 1 10 14
+f 1 14 22
+f 1 22 21
+f 1 21 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 16
+f 3 16 24
+f 3 24 30
+f 3 30 29
+f 3 29 34
+f 3 34 38
+f 3 38 42
+f 3 42 43
+f 3 43 39
+f 3 39 35
+f 3 35 31
+f 3 31 26
+f 3 26 25
+f 3 25 18
+f 3 18 17
+f 3 17 8
+f 3 8 4
+f 4 8 9
+f 4 9 6
+f 5 6 10
+f 6 9 19
+f 6 19 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 10
+f 7 15 16
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 11 19 12
+f 12 20 27
+f 12 27 32
+f 12 32 36
+f 12 36 40
+f 12 40 44
+f 12 44 48
+f 12 48 46
+f 12 46 47
+f 12 47 45
+f 12 45 41
+f 12 41 37
+f 12 37 33
+f 12 33 28
+f 12 28 23
+f 12 23 15
+f 12 15 21
+f 12 21 13
+f 12 19 18
+f 12 18 20
+f 13 21 22
+f 13 22 14
+f 15 23 24
+f 15 24 16
+f 18 25 20
+f 20 26 27
+f 20 25 26
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 26 31 32
+f 26 32 27
+f 28 33 29
+f 29 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 34
+f 34 37 38
+f 35 39 40
+f 35 40 36
+f 37 41 38
+f 38 41 42
+f 39 43 40
+f 40 43 44
+f 41 45 42
+f 42 46 43
+f 42 45 47
+f 42 47 46
+f 43 46 48
+f 43 48 44
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_37.obj

@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02611115 -0.02663860 0.41710326
+v 0.02611115 -0.12917575 0.40332712
+v 0.02611115 -0.02663869 0.44238424
+v 0.12892856 -0.02663855 0.40279488
+v 0.02662632 -0.12917575 0.40331509
+v 0.02611115 -0.12917588 0.43797480
+v 0.06747409 -0.12917589 0.44047768
+v 0.14218997 -0.07176470 0.44370156
+v 0.14218997 -0.07062049 0.44370156
+v 0.14290455 -0.07062049 0.44370156
+v 0.13386419 -0.02663868 0.43833557
+v 0.17577555 -0.02663855 0.40279488
+v 0.06290406 -0.12917575 0.40279451
+v 0.02702516 -0.12917575 0.40330710
+v 0.08035327 -0.12917587 0.43590844
+v 0.14290455 -0.07176470 0.44370156
+v 0.14978451 -0.02663866 0.43353007
+v 0.13419656 -0.02663868 0.43823548
+v 0.19588368 -0.08095837 0.40279468
+v 0.19096467 -0.06193840 0.40279475
+v 0.12027043 -0.12917575 0.40279451
+v 0.08414225 -0.12917587 0.43427455
+v 0.18740834 -0.08687012 0.40279466
+f 1 2 6
+f 1 6 3
+f 1 3 11
+f 1 11 18
+f 1 18 17
+f 1 17 12
+f 1 12 4
+f 1 4 2
+f 2 5 14
+f 2 14 13
+f 2 13 21
+f 2 21 22
+f 2 22 15
+f 2 15 7
+f 2 7 6
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 20
+f 4 20 19
+f 4 19 23
+f 4 23 21
+f 4 21 13
+f 4 13 14
+f 4 14 5
+f 7 15 16
+f 7 16 8
+f 8 16 10
+f 8 10 9
+f 10 17 18
+f 10 18 11
+f 10 16 19
+f 10 19 17
+f 12 17 20
+f 15 22 16
+f 16 22 19
+f 17 19 20
+f 19 22 23
+f 21 23 22
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_38.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.14035367 -0.22375067 0.33624709
+v 0.14035367 -0.22375076 0.36193269
+v 0.14035367 -0.21649274 0.33824799
+v 0.27384875 -0.22375032 0.24168615
+v 0.27384875 -0.12959218 0.35842033
+v 0.27384875 -0.12917559 0.35858338
+v 0.14035367 -0.12917571 0.39308773
+v 0.21568640 -0.22375061 0.32019543
+v 0.27384875 -0.17067708 0.32775456
+v 0.14035367 -0.21188250 0.33955231
+v 0.27384875 -0.12917548 0.32858472
+v 0.27384875 -0.22375044 0.27485659
+v 0.14035367 -0.19803322 0.34367272
+v 0.14035367 -0.17107525 0.35207661
+v 0.14035367 -0.16642797 0.35361803
+v 0.14035367 -0.15819801 0.35640450
+v 0.14035367 -0.14081235 0.36305943
+v 0.14035367 -0.13432280 0.36572730
+v 0.14035367 -0.12917562 0.36784680
+v 0.14666515 -0.12917561 0.36520858
+v 0.16950671 -0.12917558 0.35678998
+v 0.18275691 -0.12917556 0.35246210
+v 0.19869897 -0.12917555 0.34823800
+v 0.22384036 -0.22375059 0.31468185
+v 0.27384875 -0.18389683 0.31663843
+v 0.27127450 -0.18073076 0.32115900
+v 0.27384875 -0.17357470 0.32551652
+v 0.27384875 -0.19325619 0.30752320
+v 0.23699908 -0.22375055 0.30498862
+v 0.27384875 -0.19007160 0.31081358
+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 14
+f 1 14 13
+f 1 13 10
+f 1 10 3
+f 1 3 4
+f 1 4 12
+f 1 12 29
+f 1 29 24
+f 1 24 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 9
+f 2 9 5
+f 3 10 4
+f 4 11 6
+f 4 6 5
+f 4 5 9
+f 4 9 27
+f 4 27 25
+f 4 25 30
+f 4 30 28
+f 4 28 12
+f 4 10 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 21
+f 4 21 22
+f 4 22 23
+f 4 23 11
+f 6 11 23
+f 6 23 22
+f 6 22 21
+f 6 21 20
+f 6 20 19
+f 6 19 7
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 9
+f 12 28 29
+f 24 30 25
+f 24 29 30
+f 25 27 26
+f 28 30 29
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_39.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.13311615 -0.51378490 0.09755388
+v 0.02611114 -0.49810763 0.10356078
+v 0.02611114 -0.49826332 0.10309872
+v 0.02611114 -0.50108117 0.09469352
+v 0.02611114 -0.50108114 0.08670640
+v 0.13311615 -0.51342682 0.09658574
+v 0.13311615 -0.50769776 0.11546442
+v 0.13311615 -0.50137708 0.12706008
+v 0.02611114 -0.49181809 0.11478238
+v 0.02611114 -0.49220721 0.08670643
+v 0.09825782 -0.50403910 0.08422004
+v 0.13311615 -0.50869402 0.08628831
+v 0.02611114 -0.49146003 0.11542047
+v 0.13311615 -0.49561682 0.13531126
+v 0.02611114 -0.48398730 0.12734617
+v 0.09825782 -0.49449573 0.08422007
+v 0.02611114 -0.49174013 0.08683844
+v 0.11606407 -0.50497319 0.08452808
+v 0.13311615 -0.50799345 0.08628831
+v 0.13311615 -0.49521205 0.13588334
+v 0.13311615 -0.48627589 0.14794106
+v 0.13311615 -0.41614103 0.23855007
+v 0.13311615 -0.40943112 0.24719732
+v 0.02611114 -0.47704386 0.13621345
+v 0.02611114 -0.48328659 0.08952285
+v 0.02703287 -0.48331771 0.08954486
+v 0.11606407 -0.49555436 0.08452811
+v 0.13311615 -0.49754713 0.08637636
+v 0.13311615 -0.40127336 0.25718675
+v 0.02611114 -0.46812326 0.14688498
+v 0.13311615 -0.39314675 0.26691214
+v 0.02611114 -0.35473966 0.23958445
+v 0.02703287 -0.35473966 0.23962845
+v 0.06264535 -0.48471886 0.09145913
+v 0.03275182 -0.35473966 0.24026654
+v 0.04483911 -0.35473967 0.24165273
+v 0.04842131 -0.35473967 0.24242285
+v 0.06264535 -0.35473968 0.24576731
+v 0.07248068 -0.35473969 0.24895776
+v 0.07549726 -0.35473970 0.25010192
+v 0.08294446 -0.35473971 0.25300633
+v 0.13311615 -0.35473979 0.27393129
+v 0.02611114 -0.46030801 0.15575226
+v 0.13311615 -0.38587640 0.27525135
+v 0.13311615 -0.38360342 0.27784770
+v 0.02611114 -0.35473978 0.27265510
+v 0.13311615 -0.35473991 0.30896022
+v 0.13311615 -0.37647317 0.28590089
+v 0.13311615 -0.37055724 0.29247983
+v 0.13311615 -0.35995528 0.30394347
+v 0.13311615 -0.35494231 0.30878417
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 19
+f 1 19 28
+f 1 28 42
+f 1 42 47
+f 1 47 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 45
+f 1 45 44
+f 1 44 31
+f 1 31 29
+f 1 29 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 14
+f 1 14 8
+f 1 8 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 13
+f 2 13 15
+f 2 15 24
+f 2 24 30
+f 2 30 43
+f 2 43 46
+f 2 46 32
+f 2 32 25
+f 2 25 17
+f 2 17 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
+f 5 10 16
+f 5 16 11
+f 5 11 12
+f 5 12 6
+f 8 13 9
+f 8 14 15
+f 8 15 13
+f 10 17 16
+f 11 16 27
+f 11 27 18
+f 11 18 12
+f 12 18 27
+f 12 27 19
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 16 25 26
+f 16 26 27
+f 16 17 25
+f 19 27 28
+f 23 29 24
+f 24 29 31
+f 24 31 30
+f 25 32 33
+f 25 33 26
+f 26 34 27
+f 26 33 34
+f 27 34 33
+f 27 33 35
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 30 31 44
+f 30 44 45
+f 30 45 43
+f 32 46 47
+f 32 47 42
+f 32 42 41
+f 32 41 40
+f 32 40 39
+f 32 39 38
+f 32 38 37
+f 32 37 36
+f 32 36 35
+f 32 35 33
+f 43 45 48
+f 43 48 49
+f 43 49 46
+f 46 49 50
+f 46 50 51
+f 46 51 47
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_4.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.07505841 0.12145931 0.44072787
+v -0.07505841 0.11755657 0.44019445
+v -0.07505841 0.13797485 0.43963984
+v -0.07826605 0.11755657 0.44057851
+v -0.07505841 0.11755671 0.40228200
+v -0.07967920 0.11755657 0.44010914
+v -0.07936516 0.11755657 0.44021580
+v -0.07505841 0.22137589 0.38835055
+v -0.07983622 0.22137589 0.39003602
+v -0.08683470 0.22137589 0.39020670
+v -0.09145549 0.21803211 0.39212687
+v -0.28822045 0.12615511 0.35604885
+v -0.27572637 0.11755686 0.36221467
+v -0.07505841 0.22137599 0.36095629
+v -0.11729603 0.11755678 0.38342176
+v -0.30421376 0.22137650 0.22279016
+v -0.09520147 0.22137589 0.38875593
+v -0.30421376 0.13351345 0.34503997
+v -0.29723772 0.11755690 0.35176048
+v -0.28866905 0.11755688 0.35671023
+v -0.13279587 0.11755681 0.37680789
+v -0.13481466 0.11755681 0.37595447
+v -0.15107715 0.11755683 0.37040736
+v -0.30421376 0.21973002 0.22432629
+v -0.30421376 0.22137638 0.25466480
+v -0.21608227 0.22137614 0.32073963
+v -0.30421376 0.14559777 0.33740204
+v -0.30421376 0.14413423 0.33855414
+v -0.30421376 0.11755691 0.34725878
+v -0.29936865 0.11755690 0.35039502
+v -0.30421376 0.11755701 0.32056857
+v -0.30421376 0.17126044 0.31252541
+v -0.23840112 0.22137620 0.30497299
+v -0.22539114 0.22137616 0.31476578
+v -0.30421376 0.16280447 0.32189149
+v -0.30421376 0.15754996 0.32686255
+v -0.30421376 0.16443060 0.32027004
+v -0.23750389 0.22137620 0.30565569
+f 1 2 5
+f 1 5 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 7
+f 2 7 6
+f 2 6 13
+f 2 13 20
+f 2 20 19
+f 2 19 30
+f 2 30 29
+f 2 29 31
+f 2 31 23
+f 2 23 22
+f 2 22 21
+f 2 21 15
+f 2 15 5
+f 3 6 7
+f 3 7 4
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 6
+f 5 15 16
+f 5 16 14
+f 8 14 16
+f 8 16 25
+f 8 25 33
+f 8 33 38
+f 8 38 34
+f 8 34 26
+f 8 26 17
+f 8 17 10
+f 8 10 9
+f 10 17 11
+f 11 17 12
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 12 17 18
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 31
+f 16 31 29
+f 16 29 18
+f 16 18 28
+f 16 28 27
+f 16 27 36
+f 16 36 35
+f 16 35 37
+f 16 37 32
+f 16 32 25
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 29 30
+f 18 30 19
+f 23 31 24
+f 25 32 33
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 32 37 34
+f 32 34 38
+f 32 38 33
+f 34 37 35
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_40.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.11611509 -0.35472706 0.30055322
+v 0.11611509 -0.34675185 0.30930313
+v 0.02611114 -0.33427599 0.29625895
+v 0.02611114 -0.33468631 0.29580461
+v 0.02611114 -0.34204610 0.28739182
+v 0.02611114 -0.35095732 0.27707366
+v 0.02611114 -0.35472696 0.27266208
+v 0.11611509 -0.35472694 0.26759094
+v 0.11611509 -0.33813549 0.31852204
+v 0.02611114 -0.32536476 0.30593223
+v 0.02611114 -0.32581353 0.30544857
+v 0.02611114 -0.35472684 0.23959723
+v 0.09825703 -0.35472691 0.25954459
+v 0.11611509 -0.22375074 0.35035617
+v 0.11611509 -0.33013463 0.32699346
+v 0.11611509 -0.32968585 0.32744780
+v 0.11611509 -0.32049251 0.33656414
+v 0.02611114 -0.31644068 0.31434503
+v 0.02702739 -0.35472684 0.23965585
+v 0.02611114 -0.22385331 0.35100105
+v 0.02612876 -0.22375074 0.35107434
+v 0.08294508 -0.35472689 0.25302249
+v 0.11611509 -0.22375083 0.37650321
+v 0.07549173 -0.35472688 0.25012053
+v 0.07246987 -0.35472687 0.24899198
+v 0.06275233 -0.35472686 0.24582619
+v 0.06264661 -0.35472686 0.24579687
+v 0.04841831 -0.35472685 0.24245523
+v 0.04484141 -0.35472685 0.24166378
+v 0.03275395 -0.35472684 0.24028609
+v 0.02611114 -0.28679635 0.33804454
+v 0.02611114 -0.29569478 0.33137587
+v 0.02611114 -0.29628461 0.33092150
+v 0.02611114 -0.30702936 0.32250869
+v 0.02611114 -0.30749096 0.32211295
+v 0.02611114 -0.31595346 0.31478475
+v 0.11611509 -0.31246598 0.34233879
+v 0.02611114 -0.22375079 0.36439702
+v 0.09807201 -0.22375087 0.38652820
+v 0.11611509 -0.22382775 0.37650321
+v 0.10335807 -0.28752729 0.35646766
+v 0.02611114 -0.27665421 0.34474255
+v 0.11611509 -0.29882344 0.35056109
+v 0.02611114 -0.22375083 0.37591696
+v 0.08494497 -0.22375088 0.38919567
+v 0.09807201 -0.22380214 0.38651354
+v 0.10888200 -0.25390811 0.37380632
+v 0.11139288 -0.24099638 0.37531595
+v 0.11611509 -0.22400726 0.37647390
+v 0.09825703 -0.26320403 0.37012751
+v 0.02611114 -0.25554928 0.35825585
+v 0.02611114 -0.26446052 0.35273035
+v 0.02611114 -0.26514008 0.35229067
+v 0.11606224 -0.29701551 0.35164566
+v 0.11611509 -0.29700269 0.35163101
+v 0.08044301 -0.22723843 0.38737824
+v 0.08044301 -0.22375088 0.38931289
+v 0.09825703 -0.25429278 0.37445120
+v 0.11606224 -0.28811709 0.35637972
+v 0.11606224 -0.27665427 0.36155346
+v 0.11611509 -0.27665427 0.36153881
+v 0.11532218 -0.25944718 0.36803166
+v 0.11611509 -0.25940871 0.36754800
+v 0.11611509 -0.25872915 0.36772389
+v 0.11611509 -0.24099637 0.37225277
+v 0.11611509 -0.28806579 0.35637972
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 19
+f 1 19 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 22
+f 1 22 13
+f 1 13 8
+f 1 8 14
+f 1 14 23
+f 1 23 40
+f 1 40 49
+f 1 49 65
+f 1 65 64
+f 1 64 63
+f 1 63 61
+f 1 61 66
+f 1 66 55
+f 1 55 43
+f 1 43 37
+f 1 37 17
+f 1 17 16
+f 1 16 15
+f 1 15 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 18
+f 3 18 36
+f 3 36 35
+f 3 35 34
+f 3 34 33
+f 3 33 32
+f 3 32 31
+f 3 31 42
+f 3 42 53
+f 3 53 52
+f 3 52 51
+f 3 51 44
+f 3 44 38
+f 3 38 20
+f 3 20 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 12 14 19
+f 12 20 21
+f 12 21 14
+f 13 22 14
+f 14 21 38
+f 14 38 44
+f 14 44 57
+f 14 57 45
+f 14 45 39
+f 14 39 23
+f 14 22 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 19
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 17 37 31
+f 20 38 21
+f 23 39 40
+f 31 37 41
+f 31 41 42
+f 37 43 41
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 42
+f 41 43 54
+f 41 54 50
+f 43 55 54
+f 44 56 57
+f 44 51 56
+f 45 57 58
+f 45 58 47
+f 45 47 46
+f 47 58 50
+f 47 50 59
+f 47 59 60
+f 47 60 61
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 49
+f 47 49 48
+f 50 58 57
+f 50 57 56
+f 50 56 51
+f 50 54 59
+f 54 55 59
+f 55 66 59
+f 59 66 61
+f 59 61 60
+f 61 63 62
+

dataset/tools/repair_tools/5804cc53cf3a50d0b2f880bb3a380658/mjcf/mesh/umbrella_44_collision_41.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.38936056 0.19584437 0.19535219
+v 0.38936056 0.11446525 0.22502118
+v 0.38936056 0.19584425 0.22948534
+v 0.51161869 0.19584479 0.08129286
+v 0.49507041 0.11563674 0.08514071
+v 0.49501506 0.11446577 0.08512147
+v 0.38936056 0.11446513 0.25855786
+v 0.38936056 0.16431529 0.27285392
+v 0.42900176 0.17867786 0.23169797
+v 0.48113717 0.19552580 0.17751600
+v 0.48077744 0.19584444 0.17715041
+v 0.52585633 0.19584479 0.08052323
+v 0.50375964 0.11446577 0.08512147
+v 0.39549006 0.11446516 0.25138105
+v 0.41380942 0.15129919 0.25272804
+v 0.39380203 0.13947782 0.26813986
+v 0.38936056 0.13656232 0.27137231
+v 0.38936056 0.15426238 0.27691372
+v 0.39656930 0.16300094 0.26989087
+v 0.44844186 0.18044634 0.21590129
+v 0.49916597 0.19584450 0.16002612
+v 0.48205037 0.19584444 0.17616915
+v 0.51693186 0.14182841 0.08858492
+v 0.53071288 0.19584473 0.09768600
+v 0.50854701 0.11446572 0.09683911
+v 0.40516169 0.11446520 0.23999051
+v 0.43044073 0.15517862 0.23456475
+v 0.46575115 0.17391440 0.19812280
+v 0.41434904 0.16460213 0.25324758
+v 0.40563214 0.15129916 0.26159805
+v 0.41138806 0.11446523 0.23252509
+v 0.44397271 0.11446537 0.19338933
+v 0.46753602 0.11446547 0.16487450
+v 0.47650198 0.11446551 0.15384953
+v 0.38936056 0.14091166 0.27331563
+v 0.38936056 0.15129910 0.27706764
+v 0.39672149 0.15129913 0.27041033
+v 0.46575115 0.18135450 0.19812283
+v 0.49916597 0.19540639 0.16002612
+v 0.51802492 0.19272998 0.12677805
+v 0.51803878 0.19584462 0.12673958
+v 0.51693186 0.14182841 0.09050899
+v 0.50876840 0.11446572 0.09768570
+v 0.51772055 0.15603142 0.10840297
+v 0.51601867 0.14415438 0.10234208
+v 0.52385004 0.19584467 0.11500270
+v 0.48355853 0.11446555 0.14507575
+v 0.48391829 0.11446555 0.14457549
+v 0.49280123 0.11446559 0.13218442
+v 0.49347922 0.11446560 0.13122238
+v 0.49855715 0.11446562 0.12393013
+v 0.50338606 0.11446565 0.11613761
+f 1 2 7
+f 1 7 17
+f 1 17 35
+f 1 35 36
+f 1 36 18
+f 1 18 8
+f 1 8 3
+f 1 3 11
+f 1 11 22
+f 1 22 21
+f 1 21 41
+f 1 41 46
+f 1 46 24
+f 1 24 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 25
+f 2 25 43
+f 2 43 52
+f 2 52 51
+f 2 51 50
+f 2 50 49
+f 2 49 48
+f 2 48 47
+f 2 47 34
+f 2 34 33
+f 2 33 32
+f 2 32 31
+f 2 31 26
+f 2 26 14
+f 2 14 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 6
+f 4 6 5
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 21 22
+f 10 22 11
+f 10 20 21
+f 12 23 13
+f 12 24 23
+f 13 23 25
+f 14 26 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 15 26 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 27
+f 16 30 17
+f 17 30 35
+f 18 36 37
+f 18 37 19
+f 19 37 29
+f 19 29 20
+f 20 29 38
+f 20 38 21
+f 21 39 40
+f 21 40 41
+f 21 38 28
+f 21 28 39
+f 23 42 43
+f 23 43 25
+f 23 24 42
+f 24 44 45
+f 24 45 43
+f 24 43 42
+f 24 46 44
+f 27 34 47
+f 27 47 28
+f 28 38 29
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 39
+f 29 37 30
+f 30 37 35
+f 35 37 36
+f 39 50 51
+f 39 51 52
+f 39 52 40
+f 40 52 44
+f 40 44 46
+f 40 46 41
+f 43 45 44
+f 43 44 52
+