Add asset kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b

.gitattributes

@@ -4038,5 +4038,5 @@ dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/mesh/storage_b
 dataset/kitchen_supplies/storage/e6402ed0ce895973a5883a83be600799/storage_bin_097.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/mesh/storage_bin_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/e6e50774f27a5037bea9dd751726f6fa/storage_bin_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/mesh/storage_bin_044.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/f0360d30f9315738a6d892a876ea3e2c/storage_bin_044.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/drawer_046.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mesh/drawer_046.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/drawer_046.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="drawer_046">
+   <link name="drawer_046">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/drawer_046.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/drawer_046_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="17.0000" />
+         <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>1.000000</scale>
+         <uuid>f0d29a08b0665ebc86006cd6c5719f3b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>drawer</category>
+         <name>bedside drawer</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>compact three-drawer wooden bedside cabinet with tapered legs</description>
+         <min_height>0.5058</min_height>
+         <max_height>0.5058</max_height>
+         <real_height>0.5058</real_height>
+         <min_mass>12.0</min_mass>
+         <max_mass>22.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609182054</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.229000 -0.198222 -0.347485</min>
+            <max>0.359388 0.198009 0.158310</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>16</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/drawer_046.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0338d8e3f3864ff8dcd5e0a3b1aaaed8efd1b639dc355030608101112df1edb
+size 4356706

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mesh/drawer_046.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dfe630bca16f8c7f8c917aaad8c71d8cadc75c41b7cb418f67e51d73037d99b
+size 12330312

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mesh/drawer_046.mtl

@@ -0,0 +1,6 @@
+newmtl drawer_046_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl drawer_046_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd drawer_046_geometry_Looks_material_0.png

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/drawer_046.xml

@@ -0,0 +1,188 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="drawer_046">
+  <asset>
+    <material name="material_0" texture="texture_0_drawer_046_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_drawer_046_geometry_Looks_material_0" type="2d" file="mesh/drawer_046_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/drawer_046.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/drawer_046_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/drawer_046_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/drawer_046_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/drawer_046_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/drawer_046_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/drawer_046_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/drawer_046_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/drawer_046_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/drawer_046_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/drawer_046_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/drawer_046_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/drawer_046_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/drawer_046_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/drawer_046_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/drawer_046_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/drawer_046_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/drawer_046_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/drawer_046_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/drawer_046_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/drawer_046_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/drawer_046_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/drawer_046_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/drawer_046_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/drawer_046_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/drawer_046_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/drawer_046_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/drawer_046_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/drawer_046_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/drawer_046_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/drawer_046_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/drawer_046_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/drawer_046_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/drawer_046_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/drawer_046_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/drawer_046_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/drawer_046_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/drawer_046_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/drawer_046_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/drawer_046_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/drawer_046_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/drawer_046_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/drawer_046_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/drawer_046_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/drawer_046_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/drawer_046_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/drawer_046_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/drawer_046_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/drawer_046_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/drawer_046_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/drawer_046_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/drawer_046_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/drawer_046_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/drawer_046_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/drawer_046_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/drawer_046_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/drawer_046_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/drawer_046_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/drawer_046_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/drawer_046_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/drawer_046_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/drawer_046_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/drawer_046_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/drawer_046_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/drawer_046_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/drawer_046_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/drawer_046_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/drawer_046_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/drawer_046_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/drawer_046_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/drawer_046_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/drawer_046_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/drawer_046_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/drawer_046_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/drawer_046_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/drawer_046_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/drawer_046_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/drawer_046_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/drawer_046_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/drawer_046_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/drawer_046_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/drawer_046_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/drawer_046_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/drawer_046_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/drawer_046_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/drawer_046_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/drawer_046_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/drawer_046_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="drawer_046">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_78" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_80" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_83" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_84" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_85" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_0.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.17916322 -0.00013598 -0.24803761
+v -0.17437901 -0.15002015 -0.24810280
+v -0.17916322 -0.00013607 -0.22314449
+v -0.17916322 0.14661229 -0.24850690
+v 0.00142580 -0.15002015 -0.24797851
+v -0.17437901 -0.15002024 -0.22314007
+v -0.17916322 0.07207662 -0.22311937
+v -0.17916322 0.14661220 -0.22316632
+v 0.02706274 0.14661229 -0.24706759
+v 0.02704256 -0.15002015 -0.24794371
+v 0.02484222 -0.15002015 -0.24794868
+v 0.02078472 -0.15002015 -0.24795614
+v 0.01743375 -0.15002015 -0.24796111
+v 0.01109517 -0.15002015 -0.24796856
+v -0.17361191 -0.15002024 -0.22314007
+v -0.15354647 -0.13968341 -0.22313754
+v -0.16321584 -0.05303978 -0.22311734
+v -0.17290538 -0.05303978 -0.22311982
+v -0.17437901 -0.04488065 -0.22311979
+v -0.17290538 0.07207662 -0.22311689
+v -0.17916322 0.08171659 -0.22312182
+v -0.15606978 0.14661220 -0.22316632
+v -0.17916322 0.13946933 -0.22314149
+v -0.16323601 0.13946933 -0.22313652
+v 0.02706274 -0.00013598 -0.24672510
+v 0.02706274 0.14661220 -0.22318124
+v 0.02704256 -0.15002024 -0.22324944
+v 0.02704256 -0.14929434 -0.22317488
+v 0.02704256 -0.13968341 -0.22317234
+v 0.02704256 -0.05303978 -0.22315959
+v 0.02706274 0.08171659 -0.22315413
+v -0.16323601 0.07207662 -0.22311440
+v -0.17290538 0.08171659 -0.22311933
+v -0.16323601 0.12982936 -0.22312910
+v -0.17916322 0.13325561 -0.22313654
+v 0.02706274 0.13946933 -0.22315889
+v 0.02706274 -0.00013607 -0.22318178
+v 0.02706274 0.12982936 -0.22315395
+v -0.15354647 0.12021842 -0.22312665
+v 0.02706274 0.13604307 -0.22315642
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 21
+f 1 21 35
+f 1 35 23
+f 1 23 8
+f 1 8 4
+f 1 4 2
+f 2 5 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 10
+f 2 10 27
+f 2 27 15
+f 2 15 6
+f 2 4 5
+f 3 6 7
+f 4 8 22
+f 4 22 26
+f 4 26 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 20 33
+f 7 33 21
+f 7 19 20
+f 8 23 24
+f 8 24 22
+f 9 25 10
+f 9 26 36
+f 9 36 40
+f 9 40 38
+f 9 38 31
+f 9 31 37
+f 9 37 25
+f 10 25 37
+f 10 37 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 19 18
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 19
+f 19 32 20
+f 20 32 33
+f 21 33 34
+f 21 34 35
+f 22 24 26
+f 23 35 24
+f 24 35 34
+f 24 34 36
+f 24 36 26
+f 27 37 28
+f 28 37 31
+f 28 31 29
+f 29 31 30
+f 31 38 32
+f 32 38 39
+f 32 39 34
+f 32 34 33
+f 34 39 38
+f 34 38 40
+f 34 40 36
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_1.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02706274 -0.02818741 -0.00605487
+v 0.02706274 0.12482938 -0.00605431
+v 0.06291611 -0.02818741 -0.00605487
+v 0.02706274 -0.02818802 0.16108932
+v 0.06354959 0.12482938 -0.00605431
+v 0.02706274 0.12482877 0.16108988
+v 0.06292383 -0.02764814 -0.00605487
+v 0.10598496 0.12482938 -0.00585794
+v 0.10598496 -0.02818741 -0.00535121
+v 0.04986798 -0.02818802 0.16110568
+v 0.04018811 0.01433912 0.16110583
+v 0.04018811 0.05283673 0.16110597
+v 0.04482333 0.12482877 0.16110624
+v 0.10598496 0.12482877 0.16110624
+v 0.10598496 -0.02818802 0.16110568
+v 0.06923545 0.01433912 0.16112220
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 14
+f 2 14 8
+f 2 8 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 5 8 7
+f 6 12 13
+f 8 14 15
+f 8 15 9
+f 10 15 16
+f 10 16 11
+f 11 16 12
+f 12 16 13
+f 13 16 14
+f 14 16 15
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_10.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.30887844 0.14911683 -0.13443333
+v 0.24647086 0.14911684 -0.13479259
+v 0.30887844 0.14883305 -0.13450069
+v 0.30887844 0.15846761 -0.13666748
+v 0.30887844 0.13937824 -0.13674614
+v 0.24647086 0.15061146 -0.13516309
+v 0.24647086 0.13987960 -0.13735240
+v 0.30887844 0.15907775 -0.13682466
+v 0.30887844 0.13272822 -0.14619934
+v 0.24647086 0.15812233 -0.13745337
+v 0.24647086 0.13733029 -0.14619933
+v 0.30887844 0.16352377 -0.14392014
+v 0.24647086 0.15962169 -0.13969877
+v 0.24647086 0.11978310 -0.22355377
+v 0.30887844 0.11978309 -0.22093787
+v 0.30887844 0.16382175 -0.14619923
+v 0.24647086 0.16224674 -0.14619923
+v 0.24647086 0.11978319 -0.24684990
+v 0.30887844 0.11978320 -0.24910655
+v 0.30887844 0.16435151 -0.15229552
+v 0.24647086 0.16321638 -0.15585449
+v 0.24647086 0.16256838 -0.14906213
+v 0.24647086 0.12023725 -0.24684990
+v 0.30887844 0.12986708 -0.24910651
+v 0.30887844 0.16713276 -0.19445308
+v 0.24647086 0.16691996 -0.20410835
+v 0.24647086 0.12701502 -0.24683865
+v 0.30887844 0.13520226 -0.24909525
+v 0.30887844 0.16773823 -0.20410834
+v 0.24647086 0.16736937 -0.22340765
+v 0.24647086 0.13949217 -0.24679370
+v 0.30887844 0.13949217 -0.24908402
+v 0.30887844 0.16809776 -0.22340764
+v 0.30887844 0.16670723 -0.23185039
+v 0.24647086 0.16682546 -0.22613582
+v 0.24647086 0.14911725 -0.24671507
+v 0.30887844 0.14911725 -0.24899416
+v 0.30887844 0.16635250 -0.23361304
+v 0.24647086 0.16552952 -0.23258015
+v 0.24647086 0.15853422 -0.24228036
+v 0.30887844 0.15944234 -0.24508711
+v 0.30887844 0.16096532 -0.24342551
+v 0.24647086 0.16334438 -0.23740780
+v 0.24647086 0.16488627 -0.23400599
+v 0.24647086 0.16192073 -0.23885609
+f 1 2 3
+f 1 3 5
+f 1 5 9
+f 1 9 15
+f 1 15 19
+f 1 19 24
+f 1 24 28
+f 1 28 32
+f 1 32 37
+f 1 37 41
+f 1 41 42
+f 1 42 38
+f 1 38 34
+f 1 34 33
+f 1 33 29
+f 1 29 25
+f 1 25 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 10
+f 2 10 13
+f 2 13 17
+f 2 17 22
+f 2 22 21
+f 2 21 26
+f 2 26 30
+f 2 30 35
+f 2 35 39
+f 2 39 44
+f 2 44 43
+f 2 43 45
+f 2 45 40
+f 2 40 36
+f 2 36 31
+f 2 31 27
+f 2 27 23
+f 2 23 18
+f 2 18 14
+f 2 14 11
+f 2 11 7
+f 2 7 5
+f 4 8 6
+f 5 7 9
+f 6 8 10
+f 7 11 9
+f 8 12 13
+f 8 13 10
+f 9 11 14
+f 9 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 21
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 33 34
+f 30 34 35
+f 31 36 32
+f 32 36 37
+f 34 38 39
+f 34 39 35
+f 36 40 41
+f 36 41 37
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 40 45 41
+f 41 45 43
+f 41 43 42
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_11.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.20695389 0.14939041 -0.21370752
+v -0.22222090 0.14939041 -0.21370752
+v -0.20289724 0.14936107 -0.21370752
+v -0.20289217 0.14939042 -0.21376628
+v -0.22217521 0.00469673 -0.21370805
+v -0.22592723 0.14939048 -0.23257217
+v -0.22598307 -0.01452926 -0.23253751
+v -0.22230721 -0.14999097 -0.21374388
+v -0.17916661 0.14909735 -0.22317510
+v -0.17916661 0.14939045 -0.22320449
+v -0.20335927 -0.00010979 -0.21370807
+v -0.20267893 -0.15002027 -0.21374388
+v -0.17439408 -0.04339768 -0.22312293
+v -0.17439408 -0.00010975 -0.22314628
+v -0.22217013 -0.00008048 -0.21370807
+v -0.22596277 0.14939049 -0.23283664
+v -0.22622678 -0.01452924 -0.23735652
+v -0.22598307 -0.02417160 -0.23254931
+v -0.22621154 0.14939050 -0.23766739
+v -0.22596785 -0.14928751 -0.23272607
+v -0.22596277 -0.15002021 -0.23272607
+v -0.22230721 -0.15002027 -0.21376738
+v -0.22226152 -0.15002027 -0.21374388
+v -0.17916661 0.14939055 -0.25092555
+v -0.22195182 -0.00010979 -0.21370807
+v -0.17439408 -0.15002024 -0.22314095
+v -0.17439408 -0.04489239 -0.22312293
+v -0.17439408 -0.00010966 -0.24684169
+v -0.22624708 -0.01452922 -0.24273382
+v -0.22624708 -0.02417156 -0.24273386
+v -0.22621663 -0.15002019 -0.23755096
+v -0.22623693 0.14939052 -0.24258630
+v -0.22598307 -0.15002020 -0.23307869
+v -0.19318465 0.12984216 -0.27016050
+v -0.19321511 0.14939062 -0.26981370
+v -0.17439408 -0.15002015 -0.24809988
+v -0.22626233 0.14939056 -0.25237125
+v -0.22625218 -0.07229528 -0.25237207
+v -0.22624708 -0.15002013 -0.25237235
+v -0.22623693 -0.15002017 -0.24273432
+v -0.20198844 0.12984217 -0.27350443
+v -0.20198844 0.14939063 -0.27316350
+v -0.19316940 0.06246304 -0.27016664
+v -0.20198844 0.11058680 -0.27351037
+v -0.19308818 -0.15002007 -0.26996172
+v -0.19316940 -0.13006131 -0.27018497
+v -0.22623188 0.14939058 -0.25920013
+v -0.22622678 -0.15002010 -0.26004163
+v -0.22624708 -0.15002013 -0.25303643
+v -0.21167057 0.14939064 -0.27364542
+v -0.21166549 -0.15002005 -0.27374053
+v -0.20198844 0.07210538 -0.27351641
+v -0.20198336 -0.13006130 -0.27353477
+v -0.21061453 -0.15002005 -0.27372291
+v -0.20096285 -0.15002006 -0.27300005
+v -0.22613032 0.14939060 -0.26403090
+v -0.22614555 0.12984214 -0.26419552
+v -0.22617094 -0.15002009 -0.26478423
+v -0.22130194 0.14939062 -0.27027211
+v -0.22029158 -0.15002007 -0.27073747
+v -0.20198336 -0.15002006 -0.27330565
+v -0.22592216 -0.15002009 -0.26516623
+v -0.22141872 -0.15002007 -0.27028495
+f 1 2 5
+f 1 5 15
+f 1 15 25
+f 1 25 11
+f 1 11 3
+f 1 3 4
+f 1 4 10
+f 1 10 24
+f 1 24 35
+f 1 35 42
+f 1 42 50
+f 1 50 59
+f 1 59 56
+f 1 56 47
+f 1 47 37
+f 1 37 32
+f 1 32 19
+f 1 19 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 4
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 9
+f 5 8 15
+f 6 16 7
+f 7 17 18
+f 7 18 8
+f 7 16 19
+f 7 19 17
+f 8 18 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 15
+f 9 14 10
+f 10 14 28
+f 10 28 24
+f 11 25 23
+f 11 23 12
+f 12 23 22
+f 12 22 21
+f 12 21 33
+f 12 33 31
+f 12 31 40
+f 12 40 39
+f 12 39 49
+f 12 49 48
+f 12 48 58
+f 12 58 62
+f 12 62 63
+f 12 63 60
+f 12 60 51
+f 12 51 54
+f 12 54 61
+f 12 61 55
+f 12 55 45
+f 12 45 36
+f 12 36 26
+f 12 26 27
+f 12 27 13
+f 13 27 26
+f 13 26 36
+f 13 36 28
+f 13 28 14
+f 15 23 25
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 17 19 32
+f 17 32 29
+f 18 31 20
+f 20 31 33
+f 20 33 21
+f 24 34 35
+f 24 28 34
+f 28 36 34
+f 29 32 37
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 34 41 42
+f 34 42 35
+f 34 36 43
+f 34 43 44
+f 34 44 41
+f 36 45 46
+f 36 46 43
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 38 49 39
+f 41 50 42
+f 41 44 51
+f 41 51 50
+f 43 52 44
+f 43 46 53
+f 43 53 52
+f 44 52 54
+f 44 54 51
+f 45 55 46
+f 46 55 53
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 50 51 60
+f 50 60 59
+f 52 53 54
+f 53 55 61
+f 53 61 54
+f 56 59 57
+f 57 59 62
+f 57 62 58
+f 59 60 63
+f 59 63 62
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_12.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.22226755 -0.15002027 -0.21373480
+v -0.20268371 -0.15002027 -0.21373480
+v -0.22227714 -0.15002031 -0.20480799
+v -0.22231173 -0.15000560 -0.21373480
+v -0.20336576 -0.00012235 -0.21373425
+v -0.20443401 -0.00010839 -0.02052181
+v -0.20376347 -0.14928725 -0.02052236
+v -0.20351947 -0.15002060 -0.12522322
+v -0.22227524 -0.15002045 -0.16550734
+v -0.22225793 -0.15002060 -0.12522322
+v -0.22222719 -0.14928725 -0.02052236
+v -0.22221759 -0.06251816 -0.02052204
+v -0.22221375 -0.05287715 -0.02052200
+v -0.22218492 -0.00010839 -0.02052181
+v -0.22218492 -0.00010839 -0.02072984
+v -0.22217533 -0.00010768 -0.21373425
+v -0.22209078 -0.00010768 -0.21373425
+v -0.20395945 -0.00010770 -0.20893042
+f 1 2 8
+f 1 8 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 16
+f 1 16 17
+f 1 17 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 17 18
+f 5 18 6
+f 6 14 13
+f 6 13 12
+f 6 12 11
+f 6 11 7
+f 6 18 17
+f 6 17 16
+f 6 16 15
+f 6 15 14
+f 7 11 10
+f 7 10 8
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_13.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.17433895 -0.19261479 -0.21873202
+v -0.15354032 -0.19258252 -0.12523959
+v -0.17433895 -0.19256981 -0.13655204
+v -0.17433895 -0.17412638 -0.21873195
+v 0.00133552 -0.19262384 -0.21873202
+v -0.17433895 -0.19256261 -0.12523959
+v 0.02079357 -0.19259872 -0.15585458
+v -0.15188432 -0.19258252 -0.12523959
+v -0.17433895 -0.17516079 -0.12523952
+v 0.02706273 -0.17532561 -0.12523952
+v 0.02619530 -0.17429481 -0.21873195
+v 0.01111383 -0.19262384 -0.21873202
+v 0.02093157 -0.19262021 -0.21873202
+v 0.02706273 -0.19261479 -0.21873202
+v 0.02706273 -0.19258605 -0.15585458
+v 0.02706273 -0.19258064 -0.14619874
+v 0.02246929 -0.19257710 -0.12523959
+v 0.02079357 -0.19258071 -0.12689619
+v 0.02079357 -0.19257891 -0.12523959
+v 0.02706273 -0.19256805 -0.12523959
+v 0.02706273 -0.17429662 -0.21873195
+f 1 2 3
+f 1 3 6
+f 1 6 9
+f 1 9 4
+f 1 4 11
+f 1 11 21
+f 1 21 14
+f 1 14 13
+f 1 13 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 19
+f 2 19 17
+f 2 17 20
+f 2 20 10
+f 2 10 9
+f 2 9 6
+f 4 9 10
+f 4 10 11
+f 5 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 10 20 16
+f 10 16 15
+f 10 15 14
+f 10 14 21
+f 10 21 11
+f 16 20 17
+f 17 19 18
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_14.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.21167206 0.14939522 -0.27366012
+v -0.20198769 0.14939521 -0.27317741
+v -0.22130567 0.14939520 -0.27028119
+v -0.21167206 0.16747507 -0.33924270
+v -0.19321224 0.14939520 -0.26982458
+v -0.21992153 0.17036633 -0.33924269
+v -0.22613171 0.14939518 -0.26404516
+v -0.21826056 0.17185343 -0.34502211
+v -0.21167206 0.17114442 -0.34551787
+v -0.20385628 0.17180278 -0.34504821
+v -0.20117566 0.17016838 -0.34001241
+v -0.17916322 0.14939513 -0.25093385
+v -0.22353414 0.17799965 -0.33924267
+v -0.22613631 0.14939518 -0.26390165
+v -0.22562880 0.17799958 -0.31993447
+v -0.22526892 0.17799961 -0.32958858
+v -0.21926175 0.17799967 -0.34555698
+v -0.21167206 0.17799967 -0.34707034
+v -0.20117566 0.17872710 -0.34529604
+v -0.19740157 0.17600616 -0.34375661
+v -0.19636808 0.17200993 -0.33731187
+v -0.17916322 0.14939503 -0.22319788
+v -0.17916322 0.16063339 -0.27103782
+v -0.22335419 0.18762641 -0.32958854
+v -0.22160096 0.18762645 -0.33924263
+v -0.21831593 0.18762647 -0.34508728
+v -0.22623319 0.14939516 -0.25921811
+v -0.22589640 0.17799954 -0.31028038
+v -0.22621015 0.18287963 -0.28742362
+v -0.22383865 0.18762638 -0.31993443
+v -0.21167206 0.18762647 -0.34631361
+v -0.20221377 0.18668727 -0.34506120
+v -0.19713397 0.18285220 -0.34408275
+v -0.19713397 0.18242403 -0.34408275
+v -0.19616508 0.17872708 -0.34001238
+v -0.17916322 0.16837259 -0.27457327
+v -0.17916322 0.17399377 -0.21380462
+v -0.20288739 0.14939500 -0.21380471
+v -0.21892957 0.19406271 -0.32958852
+v -0.21798835 0.19345042 -0.33924261
+v -0.21700560 0.19277368 -0.34439582
+v -0.22626091 0.14939514 -0.25238197
+v -0.22621937 0.17306865 -0.28851952
+v -0.22609019 0.17799950 -0.30063932
+v -0.22505208 0.18670089 -0.29077645
+v -0.22454455 0.18762630 -0.30063928
+v -0.22423081 0.18762634 -0.31028034
+v -0.22618246 0.17799948 -0.29371185
+v -0.22622398 0.17799946 -0.28888480
+v -0.22627012 0.17799943 -0.28133111
+v -0.22622858 0.18299470 -0.28133109
+v -0.22497826 0.18790704 -0.27169003
+v -0.22489981 0.18780580 -0.28133107
+v -0.21927099 0.19421921 -0.31993441
+v -0.21167206 0.19314658 -0.34474807
+v -0.20558646 0.19304531 -0.34465675
+v -0.19886876 0.18973505 -0.33924262
+v -0.19745232 0.19200477 -0.33356757
+v -0.17916322 0.19415457 -0.27050281
+v -0.17916322 0.18762621 -0.27399919
+v -0.17916322 0.18605167 -0.27423403
+v -0.17916322 0.17799941 -0.27497768
+v -0.17916322 0.17755744 -0.27496463
+v -0.17916322 0.19261666 -0.21380455
+v -0.22223304 0.14939500 -0.21380471
+v -0.21167206 0.19597333 -0.32958851
+v -0.21167206 0.19483620 -0.33924260
+v -0.22626091 0.14939514 -0.25210799
+v -0.22629780 0.17799940 -0.27169007
+v -0.21954321 0.19431125 -0.31028032
+v -0.21976466 0.19437107 -0.30063926
+v -0.22624244 0.18309594 -0.27169005
+v -0.22501517 0.18793002 -0.26203592
+v -0.22013838 0.19439858 -0.27169001
+v -0.22005532 0.19439861 -0.28133105
+v -0.21993537 0.19438944 -0.29098516
+v -0.21167206 0.19619429 -0.31993440
+v -0.20370403 0.19382334 -0.33924261
+v -0.19670027 0.19286107 -0.32713586
+v -0.17916322 0.19597770 -0.26203589
+v -0.20195078 0.19612945 -0.21380454
+v -0.17916322 0.19580724 -0.23307359
+v -0.22556421 0.16828031 -0.21380464
+v -0.22592870 0.14939506 -0.23257801
+v -0.20198769 0.19630471 -0.30063925
+v -0.20198769 0.19596405 -0.31028031
+v -0.20198769 0.19537940 -0.31993440
+v -0.22623783 0.14939510 -0.24258435
+v -0.22621476 0.17797617 -0.21380461
+v -0.22627473 0.17799929 -0.24272776
+v -0.22629319 0.17799936 -0.26203596
+v -0.22624244 0.18311429 -0.25238185
+v -0.22624244 0.18311892 -0.26203594
+v -0.21167206 0.19631396 -0.31028031
+v -0.21167206 0.19638758 -0.30063925
+v -0.22501054 0.18792539 -0.25238183
+v -0.22017068 0.19439394 -0.26203590
+v -0.21167206 0.19640597 -0.29098515
+v -0.20120334 0.19421924 -0.33004513
+v -0.17916322 0.19612959 -0.25238180
+v -0.20198769 0.19613406 -0.21380454
+v -0.17916322 0.19610653 -0.24272769
+v -0.22620551 0.17312823 -0.21380462
+v -0.22596561 0.14939507 -0.23283893
+v -0.20198769 0.19642439 -0.29098515
+v -0.22621015 0.14939508 -0.23766598
+v -0.22620551 0.18283792 -0.21380459
+v -0.22622858 0.18298991 -0.23307364
+v -0.22623783 0.18308202 -0.24272774
+v -0.22016606 0.19437549 -0.25238181
+v -0.22499670 0.18789772 -0.24272772
+v -0.22015683 0.19435244 -0.24272770
+v -0.21167206 0.19639672 -0.28133104
+v -0.20198769 0.19641974 -0.28133104
+v -0.17916322 0.19611575 -0.24617187
+v -0.21167206 0.19627227 -0.24272769
+v -0.21167206 0.19623081 -0.23307359
+v -0.21167206 0.19613406 -0.21380454
+v -0.22620551 0.14939508 -0.23753552
+v -0.22620090 0.18287475 -0.21380459
+v -0.21167206 0.19637368 -0.27169000
+v -0.22485829 0.18767204 -0.21380457
+v -0.22003688 0.19424645 -0.21380455
+v -0.22010147 0.19432939 -0.23307360
+v -0.21167206 0.19630914 -0.25238180
+v -0.21998150 0.19427867 -0.21380455
+v -0.22004611 0.19430172 -0.22341951
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 38
+f 1 38 65
+f 1 65 84
+f 1 84 104
+f 1 104 119
+f 1 119 106
+f 1 106 88
+f 1 88 68
+f 1 68 42
+f 1 42 27
+f 1 27 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 3 7 6
+f 4 6 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 8
+f 6 7 13
+f 7 14 15
+f 7 15 16
+f 7 16 13
+f 8 17 18
+f 8 18 9
+f 8 13 17
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 21 23
+f 12 23 36
+f 12 36 63
+f 12 63 62
+f 12 62 61
+f 12 61 60
+f 12 60 59
+f 12 59 80
+f 12 80 100
+f 12 100 115
+f 12 115 102
+f 12 102 82
+f 12 82 64
+f 12 64 37
+f 12 37 22
+f 13 16 24
+f 13 24 25
+f 13 25 26
+f 13 26 17
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 24
+f 17 26 18
+f 18 31 32
+f 18 32 19
+f 18 26 31
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 23
+f 20 23 21
+f 22 37 38
+f 24 30 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 26
+f 26 41 31
+f 27 42 43
+f 27 43 28
+f 28 44 29
+f 28 43 44
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 29 44 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 53
+f 29 53 45
+f 30 47 54
+f 30 54 39
+f 31 41 55
+f 31 55 56
+f 31 56 32
+f 32 56 33
+f 33 56 57
+f 33 57 58
+f 33 58 59
+f 33 59 60
+f 33 60 61
+f 33 61 62
+f 33 62 34
+f 34 62 63
+f 34 63 36
+f 34 36 35
+f 37 64 81
+f 37 81 101
+f 37 101 118
+f 37 118 126
+f 37 126 123
+f 37 123 122
+f 37 122 120
+f 37 120 107
+f 37 107 89
+f 37 89 103
+f 37 103 83
+f 37 83 65
+f 37 65 38
+f 39 54 66
+f 39 66 40
+f 40 67 41
+f 40 66 67
+f 41 67 55
+f 42 68 69
+f 42 69 50
+f 42 50 43
+f 43 50 49
+f 43 49 48
+f 43 48 44
+f 45 53 46
+f 46 70 47
+f 46 53 71
+f 46 71 70
+f 47 70 54
+f 50 69 51
+f 51 69 72
+f 51 72 73
+f 51 73 52
+f 52 74 75
+f 52 75 76
+f 52 76 53
+f 52 73 74
+f 53 76 71
+f 54 70 77
+f 54 77 66
+f 55 67 56
+f 56 67 78
+f 56 78 58
+f 56 58 57
+f 58 78 79
+f 58 79 80
+f 58 80 59
+f 64 82 81
+f 65 83 84
+f 66 78 67
+f 66 77 85
+f 66 85 86
+f 66 86 87
+f 66 87 78
+f 68 88 89
+f 68 89 90
+f 68 90 91
+f 68 91 69
+f 69 91 92
+f 69 92 93
+f 69 93 72
+f 70 71 94
+f 70 94 77
+f 71 76 95
+f 71 95 94
+f 72 93 73
+f 73 93 92
+f 73 92 96
+f 73 96 97
+f 73 97 74
+f 74 98 95
+f 74 95 75
+f 74 97 98
+f 75 95 76
+f 77 94 105
+f 77 105 85
+f 78 87 99
+f 78 99 80
+f 78 80 79
+f 80 99 87
+f 80 87 86
+f 80 86 85
+f 80 85 100
+f 81 82 101
+f 82 102 101
+f 83 103 84
+f 84 103 104
+f 85 105 100
+f 88 106 103
+f 88 103 89
+f 89 107 90
+f 90 108 109
+f 90 109 91
+f 90 107 108
+f 91 109 92
+f 92 109 96
+f 94 95 105
+f 95 98 105
+f 96 110 97
+f 96 109 111
+f 96 111 112
+f 96 112 110
+f 97 110 113
+f 97 113 98
+f 98 113 114
+f 98 114 105
+f 100 105 114
+f 100 114 115
+f 101 116 117
+f 101 117 118
+f 101 102 114
+f 101 114 116
+f 102 115 114
+f 103 106 119
+f 103 119 104
+f 107 120 108
+f 108 120 109
+f 109 120 111
+f 110 112 121
+f 110 121 113
+f 111 120 122
+f 111 122 123
+f 111 123 112
+f 112 123 124
+f 112 124 125
+f 112 125 121
+f 113 121 114
+f 114 121 125
+f 114 125 116
+f 116 125 124
+f 116 124 126
+f 116 126 117
+f 117 126 118
+f 123 126 127
+f 123 127 124
+f 124 127 126
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_15.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.22195894 -0.00010769 -0.21367905
+v -0.20336923 -0.00010769 -0.21367905
+v -0.22215744 -0.00010770 -0.20891703
+v -0.22217419 -0.00007842 -0.21367905
+v -0.20290526 0.14937576 -0.21367850
+v -0.19806234 -0.00010845 -0.00581877
+v -0.22226268 -0.00010845 -0.00581877
+v -0.22217658 0.00472144 -0.21367903
+v -0.20696377 0.14939039 -0.21367850
+v -0.20377103 0.14939036 -0.20445971
+v -0.20376862 0.14939015 -0.14654211
+v -0.20376862 0.14939007 -0.12521476
+v -0.19787579 0.14909696 -0.00581822
+v -0.22228658 0.05286562 -0.00581858
+v -0.22222440 0.14939039 -0.21367850
+v -0.22219331 0.14939007 -0.12521476
+v -0.22230811 0.14909696 -0.00581822
+v -0.22222440 0.14939039 -0.21347499
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 17
+f 6 17 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 9 15 18
+f 9 18 16
+f 9 16 12
+f 9 12 11
+f 9 11 10
+f 12 16 17
+f 12 17 13
+f 14 17 15
+f 15 17 18
+f 16 18 17
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_16.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.24853084 0.00470912 -0.03049371
+v 0.26935055 0.00470920 -0.05181129
+v 0.24853084 0.01433646 -0.03067061
+v 0.24853084 -0.01440719 -0.03049988
+v 0.26936593 -0.00491156 -0.05178083
+v 0.27093533 0.00470923 -0.05932186
+v 0.26879445 0.01102858 -0.05306812
+v 0.24853084 0.02396383 -0.03428858
+v 0.24853084 -0.02385662 -0.03067685
+v 0.26881863 -0.01125730 -0.05303159
+v 0.27095511 -0.00491153 -0.05932190
+v 0.27097709 0.00470926 -0.06896786
+v 0.26939451 0.01288690 -0.06896783
+v 0.26934395 0.01259693 -0.05932183
+v 0.24853084 0.03027665 -0.04001758
+v 0.24853084 -0.02975425 -0.03441690
+v 0.26936373 -0.01289807 -0.05932193
+v 0.24853084 -0.03357618 -0.04023746
+v 0.26939891 -0.01322093 -0.06896793
+v 0.27098367 -0.00491150 -0.06896790
+v 0.26927583 0.00455115 -0.07905924
+v 0.26886040 0.01141746 -0.07613674
+v 0.24853084 0.03327506 -0.08544099
+v 0.24853084 0.03345954 -0.07849783
+v 0.24853084 0.03352540 -0.06896776
+v 0.24853084 0.03354514 -0.05932787
+v 0.24853084 0.03340012 -0.04966967
+v 0.24853084 -0.03372112 -0.04974923
+v 0.26886479 -0.01167894 -0.07608802
+v 0.24853084 -0.03377379 -0.05934641
+v 0.24853084 -0.03375400 -0.06896800
+v 0.24853084 -0.03353650 -0.07862009
+v 0.24853084 -0.03177047 -0.08622218
+v 0.26927801 -0.00472036 -0.07903487
+v 0.26815264 -0.00138602 -0.08375719
+v 0.26815264 0.00123662 -0.08375718
+v 0.24853084 0.03143000 -0.08979725
+v 0.24853084 -0.02416611 -0.09088347
+v 0.24853084 -0.01875607 -0.09282363
+v 0.24976834 -0.01519112 -0.09282362
+v 0.25128938 -0.00524747 -0.09282358
+v 0.25135092 -0.00011421 -0.09282356
+v 0.25135312 0.00504542 -0.09282354
+v 0.25057722 0.00993487 -0.09282352
+v 0.24853084 0.01919320 -0.09282349
+v 0.24853084 0.02053088 -0.09260384
+v 0.24853084 0.02360820 -0.09209743
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 37
+f 1 37 47
+f 1 47 46
+f 1 46 45
+f 1 45 39
+f 1 39 38
+f 1 38 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 28
+f 1 28 18
+f 1 18 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 11 12
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 17 11
+f 10 16 18
+f 10 18 17
+f 11 17 19
+f 11 19 20
+f 11 20 12
+f 12 21 22
+f 12 22 13
+f 12 20 21
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 15
+f 17 18 19
+f 18 28 19
+f 19 29 20
+f 19 28 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 29
+f 20 29 34
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 23
+f 29 35 34
+f 29 33 35
+f 33 38 35
+f 35 38 39
+f 35 39 40
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 36 43 44
+f 36 44 45
+f 36 45 46
+f 36 46 47
+f 36 47 37
+f 39 45 44
+f 39 44 43
+f 39 43 42
+f 39 42 41
+f 39 41 40
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_17.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.06777882 -0.13338448 -0.13946686
+v 0.04754598 -0.13338448 -0.13946686
+v 0.06776166 -0.13338448 -0.13943646
+v 0.10598496 -0.14031649 -0.13946689
+v 0.04755742 -0.13969894 -0.13946688
+v 0.04986844 -0.13969894 -0.13863593
+v 0.04986844 -0.13338448 -0.13863194
+v 0.05955869 -0.13338448 -0.13760008
+v 0.10598496 -0.14112480 -0.13738863
+v 0.10598496 -0.16641496 -0.13946698
+v 0.04763751 -0.14362082 -0.13946690
+v 0.04986844 -0.14932743 -0.13870822
+v 0.05955869 -0.14932744 -0.13742126
+v 0.05955869 -0.13969894 -0.13751595
+v 0.10598496 -0.14932744 -0.13496586
+v 0.10598496 -0.15907235 -0.13668242
+v 0.10596780 -0.16641497 -0.13717283
+v 0.10182056 -0.16641496 -0.13946698
+v 0.04775763 -0.14932743 -0.13946692
+v 0.04808941 -0.15123503 -0.13946693
+v 0.04986844 -0.15334309 -0.13946693
+v 0.05208221 -0.15490149 -0.13946694
+v 0.05955869 -0.15778874 -0.13940967
+v 0.05872352 -0.15768205 -0.13946695
+v 0.05955869 -0.15790191 -0.13946695
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 25
+f 1 25 24
+f 1 24 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 15
+f 4 15 16
+f 4 16 10
+f 5 11 6
+f 6 11 12
+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 10 16 17
+f 10 17 18
+f 11 19 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 12 19 20
+f 13 22 23
+f 13 23 17
+f 13 17 15
+f 13 15 14
+f 15 17 16
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 22 24 23
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_18.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.09920225 0.17523974 -0.12522481
+v -0.09920225 0.17422304 -0.01488146
+v -0.09920225 0.19252898 -0.12522474
+v -0.09542603 0.17523793 -0.12522481
+v 0.01492206 0.17516044 -0.12308621
+v 0.01492206 0.17506311 -0.11343009
+v 0.01492206 0.17414736 -0.01488146
+v -0.09920225 0.19251776 -0.01488139
+v -0.09920225 0.19254512 -0.10381710
+v -0.09542603 0.19254695 -0.10757586
+v -0.09542603 0.19253258 -0.12522474
+v 0.01492206 0.17520369 -0.12522481
+v 0.01492206 0.19252857 -0.01488139
+v -0.09920225 0.19253223 -0.03037007
+v -0.09542603 0.19252317 -0.01488139
+v -0.09920225 0.19254872 -0.09793053
+v -0.09542603 0.19255412 -0.09793053
+v -0.08573971 0.19254695 -0.10757586
+v 0.01492206 0.19253258 -0.12522474
+v 0.01492206 0.19253401 -0.02071395
+v -0.08573971 0.19252498 -0.01488139
+v -0.09920225 0.19253587 -0.03626743
+v -0.09542603 0.19252860 -0.02071395
+v -0.09542603 0.19253585 -0.03037007
+v -0.09920225 0.19254871 -0.09417177
+v -0.09920225 0.19254132 -0.04967152
+v -0.09542603 0.19255227 -0.08827441
+v -0.04699442 0.19254673 -0.04967152
+v 0.01492206 0.19255037 -0.05932764
+v 0.01492206 0.19255042 -0.07276413
+v 0.01492206 0.19254510 -0.09793053
+v 0.01492206 0.19254154 -0.10757586
+v 0.01492206 0.19253974 -0.11137782
+v 0.01492206 0.19254489 -0.04001540
+v 0.01111233 0.19254489 -0.04001540
+v -0.04699442 0.19254308 -0.04001540
+v -0.09920225 0.19253768 -0.04001540
+v -0.09542603 0.19254129 -0.04001540
+v -0.09542603 0.19254492 -0.04967152
+v 0.01492206 0.19254671 -0.04381736
+v 0.01492206 0.19254854 -0.04967152
+f 1 2 8
+f 1 8 14
+f 1 14 22
+f 1 22 37
+f 1 37 26
+f 1 26 25
+f 1 25 16
+f 1 16 9
+f 1 9 3
+f 1 3 11
+f 1 11 19
+f 1 19 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 21
+f 2 21 15
+f 2 15 8
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 12 19
+f 5 19 33
+f 5 33 32
+f 5 32 31
+f 5 31 30
+f 5 30 29
+f 5 29 41
+f 5 41 40
+f 5 40 34
+f 5 34 20
+f 5 20 13
+f 5 13 7
+f 5 7 6
+f 8 15 14
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 13 20 21
+f 14 15 23
+f 14 23 24
+f 14 24 22
+f 15 21 23
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 19
+f 17 19 18
+f 20 34 35
+f 20 35 36
+f 20 36 24
+f 20 24 21
+f 21 24 23
+f 22 24 38
+f 22 38 37
+f 24 36 38
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 28
+f 28 39 38
+f 28 38 36
+f 28 36 40
+f 28 40 41
+f 28 41 29
+f 34 40 35
+f 35 40 36
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_19.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.10598496 0.14911357 -0.11984780
+v 0.10598496 0.16293162 -0.11862153
+v 0.10598496 0.13949108 -0.11984279
+v 0.04018811 0.13949107 -0.11724400
+v 0.04018811 0.14911356 -0.11722378
+v 0.10598496 0.16293143 -0.06829583
+v 0.04018811 0.15827529 -0.11480158
+v 0.04018811 0.16293159 -0.11173852
+v 0.10598496 0.12128174 -0.11982772
+v 0.04018811 0.12128173 -0.11722893
+v 0.03926107 0.12128173 -0.11696148
+v 0.03169795 0.12128172 -0.11477648
+v 0.03170568 0.12986449 -0.11478149
+v 0.03170568 0.13949106 -0.11478146
+v 0.03172113 0.14911355 -0.11476628
+v 0.03293401 0.15669329 -0.11396895
+v 0.10598496 0.13637988 -0.06829593
+v 0.02931854 0.16293143 -0.06829583
+v 0.03146619 0.16293158 -0.10797910
+v 0.10598496 0.12128165 -0.09513669
+v 0.03121125 0.12128172 -0.11399432
+v 0.02722497 0.13949104 -0.10758054
+v 0.02725587 0.14911353 -0.10758050
+v 0.05398560 0.12128155 -0.06829598
+v 0.02931082 0.16293143 -0.06897707
+v 0.02706274 0.15161686 -0.06829587
+v 0.02944987 0.16293154 -0.09792708
+v 0.02722497 0.12128170 -0.10758060
+v 0.02706274 0.13161364 -0.10582954
+v 0.02706274 0.13949103 -0.10581942
+v 0.02706274 0.14911352 -0.10552670
+v 0.02706274 0.12128155 -0.06829598
+v 0.02932627 0.16293147 -0.07862539
+v 0.02706274 0.15152723 -0.08586167
+v 0.02706274 0.15157612 -0.07862543
+v 0.02706274 0.15158835 -0.07614775
+v 0.02706274 0.15161686 -0.06897711
+v 0.02935717 0.16293150 -0.08827876
+v 0.02706274 0.15131525 -0.09792712
+v 0.02706274 0.12128169 -0.10579425
+v 0.02706274 0.12201153 -0.10579930
+v 0.02706274 0.15138862 -0.09565129
+v 0.02706274 0.15149868 -0.08827880
+f 1 2 6
+f 1 6 17
+f 1 17 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 19
+f 2 19 27
+f 2 27 38
+f 2 38 33
+f 2 33 25
+f 2 25 18
+f 2 18 6
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 7
+f 6 18 26
+f 6 26 32
+f 6 32 24
+f 6 24 17
+f 7 16 8
+f 8 16 19
+f 9 20 24
+f 9 24 32
+f 9 32 40
+f 9 40 28
+f 9 28 21
+f 9 21 12
+f 9 12 11
+f 9 11 10
+f 12 14 13
+f 12 21 14
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 23 19
+f 17 24 20
+f 18 25 26
+f 19 23 27
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 27
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 37 36
+f 26 36 35
+f 26 35 34
+f 26 34 43
+f 26 43 42
+f 26 42 39
+f 26 39 31
+f 26 31 30
+f 26 30 29
+f 26 29 41
+f 26 41 40
+f 26 40 32
+f 27 31 39
+f 27 39 38
+f 28 40 41
+f 28 41 29
+f 33 42 43
+f 33 43 34
+f 33 38 42
+f 38 39 42
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_2.obj

@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v 0.33078217 -0.15894796 -0.12276817
+v 0.32109805 -0.14931012 -0.12384134
+v 0.32109805 -0.15894795 -0.12424708
+v 0.32109805 -0.16677237 -0.12819963
+v 0.33078217 -0.16761190 -0.12728349
+v 0.33814715 -0.16610076 -0.12889328
+v 0.33950040 -0.15894794 -0.12740124
+v 0.33956078 -0.14931010 -0.12737504
+v 0.33952556 0.14909314 -0.12738702
+v 0.33078217 0.14909312 -0.12283248
+v 0.31402989 -0.14931010 -0.12844823
+v 0.32109805 0.14909313 -0.12390567
+v 0.31399468 0.14909314 -0.12846022
+v 0.31439713 -0.15894794 -0.12888016
+v 0.31525235 -0.16499257 -0.13011044
+v 0.32109805 -0.16999615 -0.13654964
+v 0.33078217 -0.17147372 -0.13654965
+v 0.33950544 -0.16730965 -0.13654963
+v 0.34347971 -0.15894791 -0.13654960
+v 0.34349982 -0.14931007 -0.13654957
+v 0.34343945 0.14909317 -0.13654847
+v 0.34342939 0.15873098 -0.13654844
+v 0.33947022 0.15873095 -0.12745243
+v 0.33078217 0.15873093 -0.12287171
+v 0.30888346 -0.14931008 -0.13446862
+v 0.30888346 0.14909316 -0.13442825
+v 0.32109805 0.15873094 -0.12431136
+v 0.31436694 0.15873095 -0.12887900
+v 0.30888346 -0.14964591 -0.13454714
+v 0.30888346 -0.15921656 -0.13685062
+v 0.30888346 -0.15958595 -0.13741340
+v 0.30888346 -0.16391790 -0.14620841
+v 0.31376829 -0.16583208 -0.13654963
+v 0.30888346 -0.16747734 -0.19697594
+v 0.30888346 -0.16784671 -0.20410878
+v 0.32109805 -0.17029833 -0.14620844
+v 0.31230938 -0.16613426 -0.14620842
+v 0.32109805 -0.17036547 -0.15585413
+v 0.32109805 -0.17066751 -0.20410879
+v 0.33078217 -0.17154082 -0.15585413
+v 0.33960605 -0.16734318 -0.14620842
+v 0.34358031 -0.15894787 -0.14620839
+v 0.36027224 -0.00491040 -0.18481679
+v 0.35763613 -0.00554849 -0.17432039
+v 0.35762609 0.00529827 -0.17434652
+v 0.36025211 0.00469384 -0.18481675
+v 0.34354007 0.15873102 -0.14620723
+v 0.33958089 0.16722710 -0.14620720
+v 0.33946518 0.16715989 -0.13654841
+v 0.33811695 0.16591734 -0.12893132
+v 0.33078217 0.16746208 -0.12734769
+v 0.32109805 0.16662255 -0.12823767
+v 0.30888346 0.15846232 -0.13666623
+v 0.31523222 0.16480917 -0.13009614
+v 0.30888346 0.15906680 -0.13682328
+v 0.30888346 -0.16818243 -0.22341326
+v 0.32109805 -0.17070104 -0.22341327
+v 0.33078217 -0.17140619 -0.23305897
+v 0.33960101 -0.16737675 -0.15585411
+v 0.34355013 -0.15894784 -0.15585408
+v 0.34289110 -0.15894752 -0.24271770
+v 0.36011126 -0.00491037 -0.19444940
+v 0.36011126 0.00469387 -0.19444936
+v 0.34289110 0.15873137 -0.24271654
+v 0.34350486 0.15873105 -0.15585292
+v 0.33958089 0.16726070 -0.15585289
+v 0.33078217 0.17149191 -0.14620718
+v 0.33078217 0.17142470 -0.13654839
+v 0.32109805 0.16994713 -0.13654840
+v 0.31370288 0.16568232 -0.13654841
+v 0.30888346 0.16349955 -0.14391684
+v 0.32109805 -0.17033158 -0.24271775
+v 0.32109805 -0.17060026 -0.23305897
+v 0.30888346 -0.16646976 -0.23355629
+v 0.33078217 -0.17137259 -0.24271775
+v 0.33912311 -0.16720852 -0.24271773
+v 0.33925390 -0.15894749 -0.25153886
+v 0.33939475 -0.14930964 -0.25185294
+v 0.34312253 -0.14930968 -0.24271767
+v 0.33793584 -0.16603314 -0.25000764
+v 0.35748017 -0.00491034 -0.20249839
+v 0.35749026 0.00469390 -0.20251143
+v 0.34308227 0.14909356 -0.24271657
+v 0.33937464 0.14909360 -0.25189111
+v 0.33925390 0.15873140 -0.25156389
+v 0.33795597 0.16585065 -0.25001950
+v 0.33914826 0.16705954 -0.24271651
+v 0.33078217 0.17139149 -0.23305771
+v 0.33078217 0.17152551 -0.15585287
+v 0.32109805 0.17061899 -0.20410753
+v 0.32109805 0.17031659 -0.15585287
+v 0.32109805 0.17024939 -0.14620718
+v 0.30888346 0.16773102 -0.20410754
+v 0.31222889 0.16598458 -0.14620720
+v 0.30888346 0.16380179 -0.14620721
+v 0.31291307 -0.16613391 -0.24271773
+v 0.31472412 -0.16522718 -0.24926163
+v 0.32109805 -0.16693984 -0.25091068
+v 0.30888346 -0.16445486 -0.23926254
+v 0.33078217 -0.16754428 -0.25147347
+v 0.33078217 -0.15894747 -0.25581858
+v 0.33078217 -0.14930963 -0.25625044
+v 0.33078217 0.02393617 -0.25645921
+v 0.33930924 0.02393616 -0.25203554
+v 0.33078217 0.14909361 -0.25627553
+v 0.33078217 0.15873142 -0.25577815
+v 0.33078217 0.16736179 -0.25141989
+v 0.33078217 0.17129078 -0.24271649
+v 0.32109805 0.17068623 -0.22341201
+v 0.32109805 0.17065263 -0.21375322
+v 0.30888346 0.16806691 -0.22341202
+v 0.30888346 0.16712653 -0.19444877
+v 0.30888346 0.16433911 -0.15229303
+v 0.30888346 -0.16059299 -0.24441912
+v 0.31285269 -0.15894749 -0.25060964
+v 0.32109805 -0.15894747 -0.25488935
+v 0.32109805 -0.14930963 -0.25550444
+v 0.32109805 -0.13967181 -0.25554367
+v 0.32109805 -0.13006756 -0.25555672
+v 0.32109805 0.02393617 -0.25560850
+v 0.32109805 0.03357400 -0.25560847
+v 0.32109805 0.12985153 -0.25552959
+v 0.32109805 0.13948936 -0.25551646
+v 0.32109805 0.14909361 -0.25549025
+v 0.32109805 0.15873142 -0.25484892
+v 0.32109805 0.16675731 -0.25088329
+v 0.32109805 0.17021617 -0.24271649
+v 0.32109805 0.17058553 -0.23305771
+v 0.30888346 0.16669011 -0.23184057
+v 0.30888346 -0.15961912 -0.24498190
+v 0.30888346 -0.15260063 -0.24847631
+v 0.30888346 -0.14930966 -0.24896055
+v 0.31167047 -0.14930965 -0.25110694
+v 0.31159502 -0.13967183 -0.25113308
+v 0.31157993 -0.13006758 -0.25115922
+v 0.31156987 -0.12042976 -0.25115918
+v 0.31155477 0.03357398 -0.25118480
+v 0.31154470 0.11057585 -0.25114525
+v 0.31155477 0.12985151 -0.25113209
+v 0.31156987 0.13948934 -0.25111896
+v 0.31165036 0.14909359 -0.25110584
+v 0.31280742 0.15873140 -0.25063466
+v 0.31468389 0.16504469 -0.24928658
+v 0.31283761 0.16598493 -0.24271651
+v 0.30888346 0.16632072 -0.23362050
+v 0.30888346 -0.14383592 -0.24902596
+v 0.30888346 -0.13967184 -0.24906521
+v 0.30888346 -0.11509033 -0.24910437
+v 0.30888346 -0.13429883 -0.24907828
+v 0.30888346 0.02393615 -0.24913005
+v 0.30888346 0.03357398 -0.24913002
+v 0.30888346 0.12021368 -0.24911661
+v 0.30888346 0.12985151 -0.24910347
+v 0.30888346 0.13519092 -0.24909037
+v 0.30888346 0.13948933 -0.24907728
+v 0.30888346 0.14909358 -0.24898562
+v 0.30888346 0.15943659 -0.24508542
+v 0.30888346 0.16094773 -0.24342328
+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 14
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 9 20 21
+f 10 24 12
+f 11 25 14
+f 11 13 26
+f 11 26 25
+f 12 24 27
+f 12 27 13
+f 13 27 28
+f 13 28 26
+f 14 25 29
+f 14 29 30
+f 14 30 15
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 15 30 31
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 16 33 37
+f 16 37 34
+f 17 38 39
+f 17 39 40
+f 17 40 41
+f 17 41 18
+f 17 36 38
+f 18 41 19
+f 19 42 43
+f 19 43 44
+f 19 44 20
+f 19 41 42
+f 20 44 21
+f 21 44 22
+f 22 44 45
+f 22 45 46
+f 22 46 47
+f 22 47 48
+f 22 48 49
+f 22 49 50
+f 22 50 23
+f 23 50 24
+f 24 50 51
+f 24 51 52
+f 24 52 27
+f 25 26 53
+f 25 53 55
+f 25 55 71
+f 25 71 95
+f 25 95 113
+f 25 113 112
+f 25 112 93
+f 25 93 111
+f 25 111 129
+f 25 129 145
+f 25 145 158
+f 25 158 157
+f 25 157 156
+f 25 156 155
+f 25 155 154
+f 25 154 153
+f 25 153 152
+f 25 152 151
+f 25 151 150
+f 25 150 148
+f 25 148 149
+f 25 149 147
+f 25 147 146
+f 25 146 132
+f 25 132 131
+f 25 131 130
+f 25 130 114
+f 25 114 99
+f 25 99 74
+f 25 74 56
+f 25 56 35
+f 25 35 34
+f 25 34 32
+f 25 32 31
+f 25 31 30
+f 25 30 29
+f 26 28 53
+f 27 52 54
+f 27 54 28
+f 28 55 53
+f 28 54 55
+f 32 37 33
+f 32 34 37
+f 35 56 36
+f 36 56 38
+f 38 56 39
+f 39 56 57
+f 39 57 40
+f 40 58 59
+f 40 59 41
+f 40 57 58
+f 41 59 42
+f 42 59 60
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 46
+f 43 46 45
+f 43 45 44
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 65 66
+f 47 66 48
+f 48 66 89
+f 48 89 67
+f 48 67 68
+f 48 68 49
+f 49 68 50
+f 50 68 51
+f 51 68 52
+f 52 68 69
+f 52 69 54
+f 54 69 70
+f 54 70 71
+f 54 71 55
+f 56 72 73
+f 56 73 57
+f 56 74 72
+f 57 73 75
+f 57 75 58
+f 58 75 59
+f 59 75 76
+f 59 76 60
+f 60 76 61
+f 61 77 78
+f 61 78 79
+f 61 79 62
+f 61 76 80
+f 61 80 77
+f 62 81 82
+f 62 82 63
+f 62 79 81
+f 63 82 83
+f 63 83 64
+f 64 83 84
+f 64 84 85
+f 64 85 86
+f 64 86 87
+f 64 87 65
+f 65 87 66
+f 66 88 89
+f 66 87 88
+f 67 89 110
+f 67 110 90
+f 67 90 91
+f 67 91 68
+f 68 91 92
+f 68 92 69
+f 69 92 93
+f 69 93 94
+f 69 94 70
+f 70 94 95
+f 70 95 71
+f 72 75 73
+f 72 74 96
+f 72 96 97
+f 72 97 98
+f 72 98 75
+f 74 99 97
+f 74 97 96
+f 75 98 100
+f 75 100 80
+f 75 80 76
+f 77 101 102
+f 77 102 78
+f 77 80 101
+f 78 102 103
+f 78 103 104
+f 78 104 84
+f 78 84 79
+f 79 84 83
+f 79 83 82
+f 79 82 81
+f 80 100 101
+f 84 105 85
+f 84 104 103
+f 84 103 105
+f 85 105 106
+f 85 106 86
+f 86 107 108
+f 86 108 87
+f 86 106 107
+f 87 108 88
+f 88 108 109
+f 88 109 89
+f 89 109 110
+f 90 110 111
+f 90 111 91
+f 91 111 92
+f 92 111 93
+f 93 112 94
+f 94 112 113
+f 94 113 95
+f 97 99 114
+f 97 114 115
+f 97 115 116
+f 97 116 98
+f 98 116 101
+f 98 101 100
+f 101 116 117
+f 101 117 102
+f 102 117 118
+f 102 118 119
+f 102 119 103
+f 103 120 121
+f 103 121 122
+f 103 122 123
+f 103 123 105
+f 103 119 120
+f 105 123 124
+f 105 124 106
+f 106 124 125
+f 106 125 126
+f 106 126 107
+f 107 126 108
+f 108 126 127
+f 108 127 128
+f 108 128 109
+f 109 128 111
+f 109 111 110
+f 111 128 127
+f 111 127 129
+f 114 130 115
+f 115 131 132
+f 115 132 133
+f 115 133 116
+f 115 130 131
+f 116 133 117
+f 117 133 134
+f 117 134 118
+f 118 134 135
+f 118 135 119
+f 119 135 136
+f 119 136 120
+f 120 137 121
+f 120 136 137
+f 121 137 138
+f 121 138 122
+f 122 138 139
+f 122 139 123
+f 123 140 124
+f 123 139 140
+f 124 141 125
+f 124 140 141
+f 125 141 142
+f 125 142 143
+f 125 143 126
+f 126 143 127
+f 127 143 144
+f 127 144 145
+f 127 145 129
+f 132 146 133
+f 133 146 147
+f 133 147 134
+f 134 147 135
+f 135 148 136
+f 135 147 149
+f 135 149 148
+f 136 148 137
+f 137 150 151
+f 137 151 152
+f 137 152 138
+f 137 148 150
+f 138 152 139
+f 139 152 153
+f 139 153 154
+f 139 154 140
+f 140 155 141
+f 140 154 155
+f 141 156 142
+f 141 155 156
+f 142 156 157
+f 142 157 143
+f 143 157 158
+f 143 158 145
+f 143 145 144
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_20.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.17434402 -0.17515632 -0.12523898
+v -0.20375862 -0.14929097 -0.02052235
+v -0.17912028 -0.17437818 -0.02054190
+v -0.17912028 -0.19210876 -0.02052251
+v -0.17434402 -0.19255520 -0.12523905
+v -0.17434402 -0.17407342 -0.21933012
+v -0.19999858 -0.15002267 -0.21933003
+v -0.22222341 -0.14929097 -0.02052235
+v -0.17913552 -0.17437358 -0.02052244
+v -0.20385515 -0.14929059 -0.12521943
+v -0.17912028 -0.19258323 -0.02052251
+v -0.20198530 -0.19578477 -0.02052252
+v -0.20198023 -0.19632302 -0.21374505
+v -0.17434402 -0.19281283 -0.21933019
+v -0.22327519 -0.15002267 -0.21933003
+v -0.22545499 -0.16858315 -0.02052242
+v -0.22222341 -0.14929097 -0.02073642
+v -0.22215735 -0.14929059 -0.12521943
+v -0.21148192 -0.19566501 -0.02052252
+v -0.21166483 -0.19634146 -0.21374505
+v -0.20756438 -0.19634604 -0.21933020
+v -0.20198023 -0.19632762 -0.21933020
+v -0.22592245 -0.17032830 -0.21933011
+v -0.22602917 -0.17801274 -0.02052245
+v -0.22620700 -0.17334577 -0.17513550
+v -0.22619683 -0.17336882 -0.16894709
+v -0.21166992 -0.19566040 -0.02052252
+v -0.22003852 -0.19447124 -0.20409268
+v -0.22004869 -0.19448962 -0.21374504
+v -0.22005886 -0.19449883 -0.21933019
+v -0.21166483 -0.19635065 -0.21933020
+v -0.21926111 -0.19414485 -0.02052251
+v -0.21941354 -0.19411260 -0.02052251
+v -0.22622734 -0.17309684 -0.21933012
+v -0.22603933 -0.17820162 -0.02052245
+v -0.22625273 -0.17820089 -0.21933013
+v -0.22620700 -0.17824712 -0.17562202
+v -0.22485543 -0.18791617 -0.19445975
+v -0.22488082 -0.18792534 -0.20409266
+v -0.22490116 -0.18795754 -0.21933017
+v -0.22415424 -0.18782928 -0.02052249
+v -0.22620700 -0.18305170 -0.18478790
+v -0.22619683 -0.18301948 -0.17916384
+v -0.22621209 -0.18314370 -0.21933015
+v -0.22621209 -0.18311148 -0.21374500
+v -0.22565823 -0.18518440 -0.21933016
+v -0.22620700 -0.18310695 -0.19445973
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 14
+f 1 14 6
+f 1 6 7
+f 1 7 2
+f 2 8 16
+f 2 16 24
+f 2 24 35
+f 2 35 41
+f 2 41 33
+f 2 33 32
+f 2 32 27
+f 2 27 19
+f 2 19 12
+f 2 12 11
+f 2 11 4
+f 2 4 9
+f 2 9 3
+f 2 7 10
+f 2 10 18
+f 2 18 17
+f 2 17 8
+f 3 9 4
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 14 22
+f 6 22 21
+f 6 21 31
+f 6 31 30
+f 6 30 40
+f 6 40 46
+f 6 46 44
+f 6 44 36
+f 6 36 34
+f 6 34 23
+f 6 23 15
+f 6 15 7
+f 7 15 18
+f 7 18 10
+f 8 17 15
+f 8 15 16
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 23 16
+f 15 17 18
+f 16 23 25
+f 16 25 26
+f 16 26 24
+f 19 27 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 20 27 32
+f 20 32 33
+f 20 33 28
+f 23 34 25
+f 24 26 35
+f 25 35 26
+f 25 34 36
+f 25 36 37
+f 25 37 35
+f 28 38 39
+f 28 39 40
+f 28 40 30
+f 28 30 29
+f 28 33 41
+f 28 41 38
+f 35 37 42
+f 35 42 43
+f 35 43 41
+f 36 44 45
+f 36 45 42
+f 36 42 37
+f 38 43 42
+f 38 42 39
+f 38 41 43
+f 39 42 40
+f 40 42 47
+f 40 47 46
+f 42 45 44
+f 42 44 47
+f 44 46 47
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_21.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02706274 0.16090921 -0.01023174
+v 0.01493323 0.16090919 -0.00515893
+v 0.01493323 0.17520441 -0.12519680
+v 0.02706274 0.17276222 -0.10762414
+v 0.02706274 0.16090858 0.16106681
+v 0.01493323 0.16090858 0.16106681
+v 0.01493323 0.19253413 -0.12519673
+v 0.02245718 0.17504036 -0.12519680
+v 0.02706274 0.17501052 -0.12519680
+v 0.02706274 0.17458816 0.16106686
+v 0.01493323 0.17216095 0.16106685
+v 0.02080801 0.19253413 -0.12519673
+v 0.01493323 0.19899450 0.14338218
+v 0.02706274 0.19252668 -0.12519673
+v 0.02706274 0.18762274 0.16101087
+v 0.01493323 0.18178402 0.16103886
+v 0.02080801 0.19899450 0.14338218
+v 0.01493323 0.19830843 0.15302333
+v 0.02706274 0.19898704 0.14338218
+v 0.02706274 0.19479623 0.15941338
+v 0.01493323 0.18762274 0.16101087
+v 0.02706274 0.19830843 0.15302333
+v 0.01493323 0.19479623 0.15941338
+v 0.02706274 0.19706314 0.15529348
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 22
+f 1 22 24
+f 1 24 20
+f 1 20 15
+f 1 15 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 21
+f 2 21 23
+f 2 23 18
+f 2 18 13
+f 2 13 7
+f 2 7 3
+f 3 7 12
+f 3 12 14
+f 3 14 9
+f 3 9 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 13 17
+f 7 17 12
+f 10 15 16
+f 10 16 11
+f 12 17 19
+f 12 19 14
+f 13 18 22
+f 13 22 17
+f 15 20 23
+f 15 23 21
+f 15 21 16
+f 17 22 19
+f 18 23 24
+f 18 24 22
+f 20 24 23
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_22.obj

@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.01675511 -0.16448158 -0.00554220
+v 0.01678918 -0.16448158 -0.00554220
+v -0.09925344 -0.16448158 -0.00531379
+v 0.01678918 -0.00010845 -0.00537845
+v 0.01678918 -0.16448219 0.16108734
+v -0.09925344 -0.00010845 -0.00449742
+v -0.09925344 -0.16448219 0.16108734
+v 0.01678918 -0.00010906 0.16107163
+v 0.01678918 -0.06668854 0.16108770
+v -0.07605854 -0.09154725 0.16112022
+v -0.06636939 -0.16448219 0.16110367
+v -0.09925344 -0.00010906 0.16110427
+v -0.08573633 -0.16448219 0.16110367
+v -0.09925344 -0.14348503 0.16110374
+v -0.04699109 -0.00010906 0.16110427
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 6 4
+f 3 7 14
+f 3 14 12
+f 3 12 6
+f 4 6 12
+f 4 12 15
+f 4 15 8
+f 5 9 10
+f 5 10 11
+f 7 13 14
+f 8 15 9
+f 9 15 10
+f 10 15 12
+f 10 12 14
+f 10 14 13
+f 10 13 11
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_23.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.23391473 -0.17159036 -0.02071578
+v 0.24359968 -0.16769553 -0.03036689
+v 0.23391473 -0.17153428 -0.01106467
+v 0.22422980 -0.16983938 -0.02071577
+v 0.22422980 -0.17007489 -0.07862246
+v 0.22422980 -0.17006359 -0.09792469
+v 0.23391473 -0.17152269 -0.10757582
+v 0.24359968 -0.16767304 -0.04001800
+v 0.24854557 -0.16392417 -0.04001798
+v 0.24854557 -0.16392421 -0.03036687
+v 0.24359968 -0.16760577 -0.02071577
+v 0.22422980 -0.16943535 -0.01106466
+v 0.24443791 -0.16675277 -0.01185772
+v 0.24177083 -0.16621404 -0.00359754
+v 0.23391473 -0.16762829 -0.00213341
+v 0.22422980 -0.16640485 -0.00335352
+v 0.21152944 -0.16716785 -0.07197282
+v 0.21152944 -0.16739230 -0.07862245
+v 0.21152944 -0.16752692 -0.09792469
+v 0.22422980 -0.16987273 -0.10757581
+v 0.23391473 -0.17148899 -0.11722693
+v 0.24340735 -0.16744831 -0.10757581
+v 0.24333841 -0.16742583 -0.11722691
+v 0.24850564 -0.16385681 -0.04642359
+v 0.24824075 -0.15895160 -0.10757577
+v 0.24836049 -0.14932123 -0.11722685
+v 0.24841129 -0.14932126 -0.10757574
+v 0.24859635 -0.15895185 -0.04001796
+v 0.24859273 -0.15895189 -0.03036685
+v 0.24849839 -0.16385690 -0.02071575
+v 0.24845848 -0.16378958 -0.01561567
+v 0.21870332 -0.16458652 -0.00522029
+v 0.21700511 -0.16537220 -0.01106465
+v 0.21152944 -0.16381200 -0.02071575
+v 0.21537946 -0.16577624 -0.02071576
+v 0.21152944 -0.16701073 -0.06897134
+v 0.24827704 -0.15895197 -0.00892941
+v 0.24343276 -0.15895199 -0.00219438
+v 0.23391473 -0.15895201 0.00205162
+v 0.22422980 -0.15895200 0.00001403
+v 0.21152944 -0.16556265 -0.10744158
+v 0.22422980 -0.16953598 -0.11722692
+v 0.22467613 -0.16757173 -0.12259543
+v 0.22886000 -0.16841354 -0.12259543
+v 0.23378411 -0.16916557 -0.12259543
+v 0.24225343 -0.16657277 -0.12259542
+v 0.24815004 -0.15895157 -0.11722688
+v 0.24822987 -0.05692376 -0.11722651
+v 0.24832420 -0.05692377 -0.11334654
+v 0.24840404 -0.05692379 -0.10757540
+v 0.24646270 -0.14932121 -0.12259536
+v 0.24847299 -0.05692395 -0.06509097
+v 0.24847661 -0.05692397 -0.05933202
+v 0.24848025 -0.05692401 -0.04966871
+v 0.24848025 -0.05692408 -0.03036648
+v 0.24844758 -0.05692389 -0.08218479
+v 0.24846935 -0.05692394 -0.06897094
+v 0.24845848 -0.05692411 -0.02062996
+v 0.24844396 -0.05974140 -0.01616435
+v 0.24853467 -0.15895192 -0.02071573
+v 0.24846935 -0.15895195 -0.01376108
+v 0.24842581 -0.14932163 -0.00822171
+v 0.21771269 -0.15895198 -0.00421977
+v 0.21152944 -0.15943461 -0.01112563
+v 0.21152944 -0.16010804 -0.01227254
+v 0.24358153 -0.14932165 -0.00214554
+v 0.23391473 -0.05692420 0.00186898
+v 0.22422980 -0.14932166 0.00046551
+v 0.24352347 -0.05692418 -0.00223061
+v 0.21704139 -0.14932165 -0.00371950
+v 0.21152944 -0.16511368 -0.10872271
+v 0.21838763 -0.16481057 -0.12259542
+v 0.21924400 -0.16528199 -0.12259542
+v 0.24554828 -0.15920971 -0.12259539
+v 0.24636835 -0.15359762 -0.12259537
+v 0.24541401 -0.05692374 -0.12259502
+v 0.24844032 -0.05692413 -0.01620093
+v 0.24841855 -0.05692414 -0.01457818
+v 0.24641553 -0.05692416 -0.00751371
+v 0.24837139 -0.05692415 -0.01143028
+v 0.21152944 -0.14932163 -0.00836814
+v 0.22422980 -0.05692419 0.00020962
+v 0.21795945 -0.05692418 -0.00388997
+v 0.21152944 -0.16374433 -0.11246845
+v 0.21786148 -0.16411468 -0.12259541
+v 0.21462469 -0.05692374 -0.12259502
+v 0.21152944 -0.14047696 -0.01084493
+v 0.21736073 -0.05692417 -0.00676945
+v 0.21152944 -0.15949034 -0.11715369
+v 0.21621043 -0.15914236 -0.12259539
+v 0.21451947 -0.14430399 -0.12259534
+v 0.21152944 -0.05692375 -0.11998397
+v 0.21646806 -0.05692415 -0.01106425
+v 0.21152944 -0.13947801 -0.01119877
+v 0.21152944 -0.15830057 -0.11753191
+v 0.21518351 -0.15461902 -0.12259538
+v 0.21152944 -0.14932122 -0.11998431
+v 0.21451947 -0.14932121 -0.12259536
+v 0.21152944 -0.05692385 -0.09317803
+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 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 7 8
+f 3 12 4
+f 3 11 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 12
+f 4 12 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 19 6
+f 6 20 21
+f 6 21 7
+f 6 19 20
+f 7 21 8
+f 8 21 22
+f 8 22 9
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 10
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 11 30 31
+f 11 31 13
+f 12 16 32
+f 12 32 33
+f 12 33 34
+f 12 34 35
+f 12 35 36
+f 12 36 17
+f 13 31 14
+f 14 37 38
+f 14 38 39
+f 14 39 15
+f 14 31 37
+f 15 39 16
+f 16 39 40
+f 16 40 32
+f 17 36 34
+f 17 34 65
+f 17 65 64
+f 17 64 81
+f 17 81 87
+f 17 87 94
+f 17 94 99
+f 17 99 92
+f 17 92 97
+f 17 97 95
+f 17 95 89
+f 17 89 84
+f 17 84 71
+f 17 71 41
+f 17 41 19
+f 17 19 18
+f 19 41 42
+f 19 42 20
+f 20 42 21
+f 21 23 22
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 46
+f 21 46 23
+f 23 46 47
+f 23 47 24
+f 24 47 25
+f 25 47 26
+f 26 48 49
+f 26 49 50
+f 26 50 27
+f 26 47 51
+f 26 51 48
+f 27 50 28
+f 28 52 53
+f 28 53 54
+f 28 54 55
+f 28 55 29
+f 28 50 56
+f 28 56 57
+f 28 57 52
+f 29 55 58
+f 29 58 59
+f 29 59 60
+f 29 60 30
+f 30 60 31
+f 31 61 62
+f 31 62 37
+f 31 60 61
+f 32 40 63
+f 32 63 64
+f 32 64 65
+f 32 65 33
+f 33 65 34
+f 34 36 35
+f 37 62 38
+f 38 66 39
+f 38 62 66
+f 39 67 68
+f 39 68 40
+f 39 66 69
+f 39 69 67
+f 40 68 70
+f 40 70 63
+f 41 71 72
+f 41 72 73
+f 41 73 42
+f 42 73 43
+f 43 73 72
+f 43 72 85
+f 43 85 90
+f 43 90 96
+f 43 96 98
+f 43 98 91
+f 43 91 86
+f 43 86 76
+f 43 76 51
+f 43 51 75
+f 43 75 74
+f 43 74 46
+f 43 46 45
+f 43 45 44
+f 46 74 47
+f 47 74 75
+f 47 75 51
+f 48 51 76
+f 48 76 86
+f 48 86 92
+f 48 92 99
+f 48 99 93
+f 48 93 88
+f 48 88 83
+f 48 83 82
+f 48 82 67
+f 48 67 69
+f 48 69 79
+f 48 79 80
+f 48 80 78
+f 48 78 77
+f 48 77 58
+f 48 58 55
+f 48 55 54
+f 48 54 53
+f 48 53 52
+f 48 52 57
+f 48 57 56
+f 48 56 50
+f 48 50 49
+f 58 77 59
+f 59 77 78
+f 59 78 62
+f 59 62 60
+f 60 62 61
+f 62 79 69
+f 62 69 66
+f 62 78 80
+f 62 80 79
+f 63 70 81
+f 63 81 64
+f 67 82 68
+f 68 82 70
+f 70 83 81
+f 70 82 83
+f 71 84 72
+f 72 84 85
+f 81 83 87
+f 83 88 87
+f 84 89 85
+f 85 89 90
+f 86 91 92
+f 87 88 93
+f 87 93 94
+f 89 95 90
+f 90 95 97
+f 90 97 96
+f 91 98 97
+f 91 97 92
+f 93 99 94
+f 96 97 98
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_24.obj

@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.16018005 -0.12667098 -0.11977740
+v 0.16018005 -0.12667107 -0.09427293
+v 0.16018005 -0.08192316 -0.11977973
+v 0.18822915 -0.12667099 -0.11810191
+v 0.18822915 -0.12667107 -0.09427542
+v 0.18822915 0.12016679 -0.09542314
+v 0.18542314 0.12016679 -0.09542314
+v 0.16018005 0.12016679 -0.09542564
+v 0.16018005 -0.00489505 -0.11978195
+v 0.18822915 0.05009740 -0.11808628
+v 0.18822915 0.12016687 -0.11807353
+v 0.16018005 0.12016688 -0.11976650
+v 0.16018005 0.02395424 -0.11977934
+v 0.16018005 0.10095819 -0.11976907
+f 1 2 8
+f 1 8 12
+f 1 12 14
+f 1 14 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 6 12 8
+f 6 8 7
+f 9 13 10
+f 10 13 14
+f 10 14 12
+f 10 12 11
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_25.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.16018005 -0.17192075 -0.07861912
+v 0.16018005 -0.17180998 -0.08727305
+v 0.17579430 -0.17095505 -0.08827703
+v 0.17579430 -0.17101709 -0.07861912
+v 0.16018005 -0.17100828 -0.06897211
+v 0.16018005 -0.17179669 -0.08827703
+v 0.16018005 -0.17151314 -0.09689822
+v 0.16018005 -0.17141127 -0.09792404
+v 0.17579430 -0.16932488 -0.09792403
+v 0.18822915 -0.16759285 -0.09792403
+v 0.18822915 -0.16815547 -0.08827702
+v 0.18822915 -0.16824409 -0.07861911
+v 0.18822915 -0.16809348 -0.07587997
+v 0.18822915 -0.16285333 -0.02071524
+v 0.16018005 -0.16621991 -0.02163193
+v 0.16018005 -0.16887301 -0.10601048
+v 0.18822915 -0.16495270 -0.10606504
+v 0.18822915 -0.15826416 -0.01293432
+v 0.16018005 -0.16401392 -0.01798702
+v 0.16018005 -0.16808894 -0.10786568
+v 0.18822915 -0.16312763 -0.11088853
+v 0.18822915 -0.14932499 -0.00993324
+v 0.16018005 -0.15757756 -0.01062079
+v 0.16018005 -0.15938046 -0.01124283
+v 0.16018005 -0.16036347 -0.11621402
+v 0.18822915 -0.15831695 -0.11524276
+v 0.18822915 -0.14090850 -0.01289061
+v 0.16018005 -0.14932500 -0.00829631
+v 0.16018005 -0.15938451 -0.11697792
+v 0.18822915 -0.14932460 -0.11809100
+v 0.16018005 -0.13953973 -0.01191935
+v 0.16018005 -0.14800052 -0.00877646
+v 0.18822915 -0.13977448 -0.01507318
+v 0.16018005 -0.14932459 -0.11976067
+v 0.16018005 -0.13969881 -0.11978246
+v 0.18822915 -0.14243195 -0.11810188
+v 0.16018005 -0.13789185 -0.01517139
+v 0.18822915 -0.13690844 -0.02071514
+v 0.16018005 -0.12667099 -0.11977150
+v 0.18822915 -0.12667100 -0.11810183
+v 0.18548080 -0.13687300 -0.02071514
+v 0.16018005 -0.13662493 -0.02071514
+v 0.18822915 -0.12667108 -0.09426806
+v 0.16018005 -0.12667108 -0.09426806
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 19
+f 1 19 24
+f 1 24 23
+f 1 23 28
+f 1 28 32
+f 1 32 31
+f 1 31 37
+f 1 37 42
+f 1 42 44
+f 1 44 39
+f 1 39 35
+f 1 35 34
+f 1 34 29
+f 1 29 25
+f 1 25 20
+f 1 20 16
+f 1 16 8
+f 1 8 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 21
+f 10 21 26
+f 10 26 30
+f 10 30 36
+f 10 36 40
+f 10 40 43
+f 10 43 38
+f 10 38 33
+f 10 33 27
+f 10 27 22
+f 10 22 18
+f 10 18 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 21
+f 21 25 26
+f 22 27 28
+f 22 28 23
+f 25 29 26
+f 26 29 30
+f 27 31 32
+f 27 32 28
+f 27 33 31
+f 29 34 30
+f 30 34 35
+f 30 35 36
+f 31 33 38
+f 31 38 37
+f 35 39 40
+f 35 40 36
+f 37 41 42
+f 37 38 41
+f 38 43 41
+f 39 44 43
+f 39 43 40
+f 41 43 42
+f 42 43 44
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_26.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.16018128 0.00480389 0.08414224
+v 0.16426457 0.00283220 0.08157768
+v 0.16018128 0.00550806 0.08404979
+v 0.16018128 -0.00501618 0.08414220
+v 0.16426457 -0.00304875 0.08157766
+v 0.16693760 -0.00572034 0.07941105
+v 0.16693760 0.00550808 0.07937089
+v 0.17153393 0.01077876 0.07244099
+v 0.16018128 0.00772730 0.08238968
+v 0.16018128 -0.01054290 0.08158166
+v 0.17157358 -0.01103366 0.07252934
+v 0.17190942 -0.00491372 0.07436233
+v 0.17187967 0.00470577 0.07429403
+v 0.17184993 0.01178598 0.06616628
+v 0.16582601 0.01686886 0.06606179
+v 0.16018128 0.02164872 0.06464689
+v 0.16018128 0.02003978 0.06830478
+v 0.16018128 0.01488432 0.07656920
+v 0.16018128 0.01328817 0.07789167
+v 0.16118630 0.00925088 0.08055268
+v 0.17281158 0.00470580 0.06616626
+v 0.16018128 -0.01504534 0.07656105
+v 0.16018128 -0.01964595 0.07016976
+v 0.16018128 -0.02195050 0.06605360
+v 0.17187720 -0.01195546 0.06616620
+v 0.17284008 -0.00491369 0.06616622
+v 0.17177186 0.01147020 0.05651503
+v 0.16018128 0.02164873 0.06371029
+v 0.17268270 0.00470583 0.05651501
+v 0.16018128 -0.02162187 0.05878603
+v 0.17174336 -0.01154146 0.05651495
+v 0.17265420 -0.00491366 0.05651497
+v 0.17142984 0.01035207 0.05094778
+v 0.16018128 0.02132014 0.05703764
+v 0.16018128 0.02144816 0.05876610
+v 0.17175080 0.00470586 0.05020815
+v 0.16018128 -0.01421729 0.04728577
+v 0.17139389 -0.01047877 0.05099595
+v 0.17172353 -0.00491363 0.05024429
+v 0.16610855 0.00470587 0.04648995
+v 0.16018128 0.00470588 0.04313754
+v 0.16018128 0.01251583 0.04663870
+v 0.16018128 0.01397967 0.04731401
+v 0.16610855 -0.00491362 0.04650196
+v 0.16018128 -0.00491361 0.04308525
+v 0.16018128 -0.00485813 0.04308525
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 28
+f 1 28 35
+f 1 35 34
+f 1 34 43
+f 1 43 42
+f 1 42 41
+f 1 41 46
+f 1 46 45
+f 1 45 37
+f 1 37 30
+f 1 30 24
+f 1 24 23
+f 1 23 22
+f 1 22 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 6
+f 4 6 5
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 13 8
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 8 13 21
+f 8 21 14
+f 9 20 19
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 21
+f 12 21 13
+f 14 21 27
+f 14 27 28
+f 14 28 16
+f 14 16 15
+f 21 29 27
+f 21 26 29
+f 24 30 25
+f 25 31 32
+f 25 32 26
+f 25 30 31
+f 26 32 29
+f 27 29 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 29 36 33
+f 29 32 36
+f 30 37 38
+f 30 38 31
+f 31 38 32
+f 32 38 39
+f 32 39 36
+f 33 36 40
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 36 39 44
+f 36 44 40
+f 37 45 38
+f 38 45 44
+f 38 44 39
+f 40 44 45
+f 40 45 46
+f 40 46 41
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_27.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.17433896 -0.17407710 -0.21933012
+v -0.17433896 -0.19281130 -0.21933019
+v -0.17433896 -0.15002024 -0.22314444
+v -0.20000014 -0.15002025 -0.21933003
+v -0.20198504 -0.19632626 -0.21933020
+v -0.17433896 -0.19409859 -0.22338221
+v -0.17433896 -0.15002015 -0.24810696
+v -0.22327945 -0.15002025 -0.21933003
+v -0.17433896 -0.19621662 -0.24272944
+v -0.17433896 -0.19595189 -0.23448780
+v -0.17433896 -0.19590624 -0.23307459
+v -0.17433896 -0.19439073 -0.22493299
+v -0.20756820 -0.19634452 -0.21933020
+v -0.20198504 -0.19663645 -0.28133632
+v -0.17433896 -0.16124965 -0.26996798
+v -0.19638152 -0.17221877 -0.33730181
+v -0.20117581 -0.17035630 -0.34000316
+v -0.19308862 -0.15002007 -0.26996794
+v -0.22592598 -0.17032477 -0.21933011
+v -0.22596161 -0.15002021 -0.23272425
+v -0.17433896 -0.19624853 -0.25238429
+v -0.21167034 -0.19635365 -0.21933020
+v -0.21167034 -0.19659992 -0.28133632
+v -0.21167034 -0.19661815 -0.29097865
+v -0.20198504 -0.19665010 -0.29097865
+v -0.17433896 -0.16743046 -0.27288196
+v -0.19740959 -0.17567435 -0.34373006
+v -0.20386307 -0.17199049 -0.34505568
+v -0.21167034 -0.16767215 -0.33925277
+v -0.20096205 -0.15002006 -0.27300696
+v -0.22623136 -0.17310022 -0.21933012
+v -0.22598706 -0.15002020 -0.23307442
+v -0.17433896 -0.19623485 -0.25379748
+v -0.21651044 -0.19528547 -0.21933020
+v -0.22006289 -0.19450031 -0.21933019
+v -0.22017995 -0.19456864 -0.26203911
+v -0.22015450 -0.19458685 -0.27169397
+v -0.22008834 -0.19460052 -0.28133631
+v -0.21167034 -0.19660443 -0.30063349
+v -0.21167034 -0.19654504 -0.31028834
+v -0.20198504 -0.19654051 -0.30063349
+v -0.17433896 -0.16858082 -0.27339472
+v -0.19710931 -0.18209255 -0.34411777
+v -0.20117581 -0.17860955 -0.34531835
+v -0.21167034 -0.17820329 -0.34709423
+v -0.21167034 -0.17135598 -0.34551842
+v -0.21823068 -0.17207722 -0.34500566
+v -0.21990511 -0.17058910 -0.33925278
+v -0.22592598 -0.15002009 -0.26517804
+v -0.22141670 -0.15002007 -0.27029309
+v -0.22029193 -0.15002007 -0.27074332
+v -0.21167034 -0.15002005 -0.27375733
+v -0.21062191 -0.15002005 -0.27373232
+v -0.20198504 -0.15002006 -0.27331962
+v -0.22624663 -0.17608107 -0.21933013
+v -0.22621608 -0.15002019 -0.23755167
+v -0.22622117 -0.15002019 -0.23792685
+v -0.17433896 -0.19604766 -0.26203912
+v -0.22490809 -0.18796343 -0.21933017
+v -0.22498952 -0.18816876 -0.24272941
+v -0.22501496 -0.18820068 -0.25238426
+v -0.22017487 -0.19454584 -0.25238428
+v -0.22502514 -0.18821890 -0.26203909
+v -0.22499461 -0.18826908 -0.27169395
+v -0.22492844 -0.18822797 -0.28133629
+v -0.21996111 -0.19460504 -0.29097864
+v -0.21979315 -0.19458675 -0.30063348
+v -0.21957939 -0.19453651 -0.31028833
+v -0.21167034 -0.19641718 -0.31994318
+v -0.21167034 -0.19619348 -0.32959803
+v -0.20198504 -0.19622093 -0.31028834
+v -0.17433896 -0.17629085 -0.27380747
+v -0.19710931 -0.18314704 -0.34411777
+v -0.17433896 -0.17820355 -0.27388250
+v -0.20218862 -0.18694499 -0.34508077
+v -0.21167034 -0.18783059 -0.34638141
+v -0.21840372 -0.18783059 -0.34515580
+v -0.21925876 -0.17820329 -0.34556846
+v -0.22354410 -0.17820331 -0.33925280
+v -0.22617028 -0.15002009 -0.26479033
+v -0.22625173 -0.17820375 -0.21933013
+v -0.22624154 -0.15002017 -0.24342962
+v -0.22628734 -0.17820370 -0.23307452
+v -0.17433896 -0.19580113 -0.26336479
+v -0.20198504 -0.19565029 -0.31994318
+v -0.20368494 -0.19405707 -0.33925286
+v -0.22622117 -0.18314749 -0.21933015
+v -0.22623645 -0.18327526 -0.23307454
+v -0.22624663 -0.18335739 -0.24272939
+v -0.22626697 -0.18345315 -0.27169393
+v -0.22626188 -0.18341203 -0.28133627
+v -0.22623645 -0.18322484 -0.28925273
+v -0.22508622 -0.18699085 -0.29186656
+v -0.22459762 -0.18783076 -0.30063346
+v -0.22428718 -0.18783072 -0.31028831
+v -0.21929948 -0.19443604 -0.31994317
+v -0.21895339 -0.19427624 -0.32959802
+v -0.21807292 -0.19370558 -0.33925286
+v -0.21167034 -0.19511612 -0.33925287
+v -0.19746049 -0.19219463 -0.33360003
+v -0.19884991 -0.18999891 -0.33925285
+v -0.20555277 -0.19327190 -0.34466807
+v -0.17433896 -0.18783086 -0.27255687
+v -0.17433896 -0.19300742 -0.26988055
+v -0.17433896 -0.19424907 -0.26920521
+v -0.21167034 -0.19340885 -0.34480564
+v -0.21709063 -0.19303453 -0.34445547
+v -0.22171698 -0.18783061 -0.33925284
+v -0.22529489 -0.17820335 -0.32959796
+v -0.22622626 -0.15002010 -0.26005045
+v -0.22565115 -0.17820338 -0.31994311
+v -0.22593108 -0.17820342 -0.31028827
+v -0.22612448 -0.17820346 -0.30063342
+v -0.22623136 -0.17321866 -0.28920268
+v -0.22630771 -0.17820367 -0.24272937
+v -0.22624663 -0.15002013 -0.25238412
+v -0.22632804 -0.17820356 -0.27169391
+v -0.22629243 -0.16858089 -0.25238419
+v -0.22631789 -0.17820353 -0.28133625
+v -0.22624663 -0.17820349 -0.29075345
+v -0.22619573 -0.17820347 -0.29558088
+v -0.22388510 -0.18783068 -0.31994315
+v -0.22339651 -0.18783065 -0.32959800
+v -0.22624663 -0.15002013 -0.25304694
+f 1 2 6
+f 1 6 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 21
+f 1 21 33
+f 1 33 58
+f 1 58 84
+f 1 84 105
+f 1 105 104
+f 1 104 103
+f 1 103 74
+f 1 74 72
+f 1 72 42
+f 1 42 26
+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 19
+f 1 19 31
+f 1 31 55
+f 1 55 81
+f 1 81 87
+f 1 87 59
+f 1 59 35
+f 1 35 34
+f 1 34 22
+f 1 22 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 18
+f 3 18 30
+f 3 30 54
+f 3 54 53
+f 3 53 52
+f 3 52 51
+f 3 51 50
+f 3 50 49
+f 3 49 80
+f 3 80 110
+f 3 110 124
+f 3 124 116
+f 3 116 82
+f 3 82 57
+f 3 57 56
+f 3 56 32
+f 3 32 20
+f 3 20 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 5 13 14
+f 5 14 9
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 8 20 19
+f 9 14 21
+f 13 22 14
+f 14 23 24
+f 14 24 25
+f 14 25 21
+f 14 22 23
+f 15 26 27
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 19 20 31
+f 20 32 31
+f 21 25 33
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 33
+f 26 42 27
+f 27 43 44
+f 27 44 28
+f 27 42 43
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 53
+f 29 53 54
+f 29 54 30
+f 31 32 56
+f 31 56 57
+f 31 57 55
+f 33 41 58
+f 35 59 60
+f 35 60 61
+f 35 61 62
+f 35 62 36
+f 36 62 63
+f 36 63 64
+f 36 64 37
+f 37 64 38
+f 38 65 66
+f 38 66 39
+f 38 64 65
+f 39 66 40
+f 40 66 67
+f 40 67 68
+f 40 68 69
+f 40 69 41
+f 41 69 70
+f 41 70 71
+f 41 71 58
+f 42 72 43
+f 43 73 44
+f 43 72 74
+f 43 74 73
+f 44 73 75
+f 44 75 45
+f 45 76 77
+f 45 77 78
+f 45 78 47
+f 45 47 46
+f 45 75 76
+f 47 78 79
+f 47 79 48
+f 48 79 80
+f 48 80 49
+f 55 57 82
+f 55 82 83
+f 55 83 81
+f 58 71 70
+f 58 70 85
+f 58 85 86
+f 58 86 84
+f 59 87 60
+f 60 88 61
+f 60 87 88
+f 61 88 89
+f 61 89 90
+f 61 90 63
+f 61 63 62
+f 63 90 91
+f 63 91 64
+f 64 91 65
+f 65 91 92
+f 65 92 93
+f 65 93 94
+f 65 94 68
+f 65 68 67
+f 65 67 66
+f 68 95 96
+f 68 96 69
+f 68 94 95
+f 69 96 70
+f 70 97 98
+f 70 98 99
+f 70 99 86
+f 70 86 85
+f 70 96 97
+f 73 100 101
+f 73 101 102
+f 73 102 75
+f 73 74 103
+f 73 103 104
+f 73 104 105
+f 73 105 100
+f 75 102 76
+f 76 102 106
+f 76 106 107
+f 76 107 77
+f 77 107 108
+f 77 108 79
+f 77 79 78
+f 79 108 109
+f 79 109 80
+f 80 109 111
+f 80 111 112
+f 80 112 113
+f 80 113 114
+f 80 114 110
+f 81 83 87
+f 82 115 83
+f 82 116 117
+f 82 117 118
+f 82 118 115
+f 83 115 87
+f 84 86 100
+f 84 100 105
+f 86 99 102
+f 86 102 100
+f 87 115 88
+f 88 115 89
+f 89 115 90
+f 90 117 91
+f 90 115 117
+f 91 119 92
+f 91 117 119
+f 92 119 120
+f 92 120 121
+f 92 121 113
+f 92 113 112
+f 92 112 111
+f 92 111 109
+f 92 109 122
+f 92 122 95
+f 92 95 94
+f 92 94 93
+f 95 122 96
+f 96 122 97
+f 97 123 98
+f 97 122 123
+f 98 108 107
+f 98 107 99
+f 98 123 108
+f 99 107 106
+f 99 106 102
+f 100 102 101
+f 108 123 109
+f 109 123 122
+f 110 114 119
+f 110 119 124
+f 113 121 114
+f 114 121 120
+f 114 120 119
+f 115 118 117
+f 116 124 117
+f 117 124 119
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_28.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.18823532 -0.05692376 -0.11808970
+v 0.21458806 -0.03856194 -0.12259204
+v 0.21459424 -0.04341518 -0.12259206
+v 0.21461278 -0.05303219 -0.12259209
+v 0.21462513 -0.05692374 -0.12259211
+v 0.18823532 -0.05692384 -0.09544070
+v 0.18823532 0.14910405 -0.11808894
+v 0.21447684 0.14910407 -0.12259135
+v 0.24541428 -0.05692374 -0.12259211
+v 0.21172726 -0.05692385 -0.09282377
+v 0.18823532 0.12799126 -0.09282309
+v 0.18823532 0.15558996 -0.11605482
+v 0.21832626 0.16467023 -0.12259130
+v 0.21612659 0.15894475 -0.12259132
+v 0.24823183 -0.05692376 -0.11723585
+v 0.24553785 -0.04748563 -0.12259207
+v 0.24842955 -0.05692385 -0.09282377
+v 0.18823532 0.16789070 -0.09282294
+v 0.18823532 0.15816195 -0.11524759
+v 0.18823532 0.16160616 -0.11226054
+v 0.18823532 0.16297044 -0.11104241
+v 0.22464103 0.16753297 -0.12259128
+v 0.24832452 -0.05692377 -0.11335416
+v 0.24826890 -0.05303221 -0.11723583
+v 0.25134597 -0.00009398 -0.09282356
+v 0.25128418 -0.00523797 -0.09282358
+v 0.24561819 -0.03793571 -0.12259204
+v 0.24840483 -0.05692379 -0.10758700
+v 0.23390929 0.17151385 -0.09282293
+v 0.23390929 0.17153625 -0.09793148
+v 0.23390929 0.17155865 -0.10758616
+v 0.23390929 0.17153632 -0.11723501
+v 0.18823532 0.16742105 -0.09793150
+v 0.18823532 0.16431234 -0.10758910
+v 0.22422704 0.16956818 -0.11723502
+v 0.23387221 0.16916563 -0.12259128
+v 0.24834923 -0.04341520 -0.11723580
+v 0.25135213 0.00505000 -0.09282354
+v 0.24839248 -0.03379818 -0.11723576
+v 0.24563672 -0.03379816 -0.12259202
+v 0.24344941 0.16735395 -0.09282295
+v 0.24343706 0.16735401 -0.10758618
+v 0.24334437 0.16735404 -0.11723503
+v 0.24225690 0.16648180 -0.12259129
+v 0.23927870 0.16780135 -0.12259128
+v 0.18823532 0.16675012 -0.10025993
+v 0.18823532 0.16478200 -0.10621943
+v 0.24839865 -0.02415880 -0.11723573
+v 0.24835540 0.14910405 -0.11723509
+v 0.24825655 0.15874341 -0.10758621
+v 0.24828126 0.15874335 -0.09282298
+v 0.24643379 0.14483234 -0.12259137
+v 0.24645232 0.14910407 -0.12259135
+v 0.24815151 0.15874344 -0.11723506
+v 0.24377071 0.16375325 -0.12259130
+v 0.24555022 0.15901184 -0.12259132
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 23
+f 1 23 28
+f 1 28 17
+f 1 17 10
+f 1 10 6
+f 1 6 11
+f 1 11 18
+f 1 18 33
+f 1 33 46
+f 1 46 47
+f 1 47 34
+f 1 34 21
+f 1 21 20
+f 1 20 19
+f 1 19 12
+f 1 12 7
+f 1 7 8
+f 1 8 2
+f 2 8 14
+f 2 14 13
+f 2 13 22
+f 2 22 36
+f 2 36 45
+f 2 45 44
+f 2 44 55
+f 2 55 56
+f 2 56 53
+f 2 53 52
+f 2 52 40
+f 2 40 27
+f 2 27 16
+f 2 16 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 16 15
+f 10 17 26
+f 10 26 25
+f 10 25 38
+f 10 38 51
+f 10 51 41
+f 10 41 29
+f 10 29 18
+f 10 18 11
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 15 16 24
+f 15 24 25
+f 15 25 26
+f 15 26 23
+f 16 27 24
+f 17 28 26
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 21 34 35
+f 21 35 22
+f 22 35 32
+f 22 32 36
+f 23 26 28
+f 24 27 37
+f 24 37 25
+f 25 37 39
+f 25 39 38
+f 27 40 39
+f 27 39 37
+f 29 41 30
+f 30 41 31
+f 31 41 42
+f 31 42 32
+f 32 35 33
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 36
+f 33 35 46
+f 34 47 35
+f 35 47 46
+f 38 39 48
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 39 40 52
+f 39 52 53
+f 39 53 48
+f 41 51 42
+f 42 51 50
+f 42 50 43
+f 43 50 54
+f 43 54 44
+f 44 54 55
+f 48 53 49
+f 49 53 54
+f 49 54 50
+f 53 56 54
+f 54 56 55
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_29.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.07605339 0.13948178 0.16111738
+v 0.01492206 0.16251954 0.16108301
+v -0.05668075 0.15873839 0.16110022
+v -0.09920225 0.15873839 0.16110022
+v -0.09920225 -0.00010906 0.16109964
+v -0.04215685 -0.00010906 0.16109964
+v 0.01492206 -0.00010906 0.16108241
+v 0.01492206 0.17214783 0.16106580
+v -0.04699442 0.16836669 0.16108303
+v -0.09920225 0.17799499 0.16106582
+v -0.09920225 -0.00010845 -0.00449376
+v 0.01492206 -0.00010845 -0.00509673
+v 0.01492206 0.17799499 0.16104859
+v -0.05668075 0.17799499 0.16106582
+v -0.09920225 0.18762329 0.16101418
+v -0.09920225 0.17421447 -0.01486424
+v 0.01492206 0.17413650 -0.01486424
+v 0.01492206 0.18762329 0.16101418
+v -0.09920225 0.19479577 0.15942926
+v -0.09920225 0.19251602 -0.01486417
+v 0.01492206 0.19251602 -0.01486417
+v 0.01492206 0.19479577 0.15942926
+v 0.01492206 0.19617960 0.15691401
+v -0.09920225 0.19830409 0.15303777
+v -0.09920225 0.19900577 0.14337298
+v 0.01492206 0.19898629 0.14337298
+v 0.01492206 0.19830409 0.15303777
+v -0.09920225 0.19873289 0.14714587
+v 0.01492206 0.19857697 0.14923043
+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 8 9
+f 2 9 3
+f 2 7 12
+f 2 12 17
+f 2 17 21
+f 2 21 26
+f 2 26 29
+f 2 29 27
+f 2 27 23
+f 2 23 22
+f 2 22 18
+f 2 18 13
+f 2 13 8
+f 3 9 14
+f 3 14 10
+f 3 10 4
+f 4 10 15
+f 4 15 19
+f 4 19 24
+f 4 24 28
+f 4 28 25
+f 4 25 20
+f 4 20 16
+f 4 16 11
+f 4 11 5
+f 5 11 12
+f 5 12 7
+f 5 7 6
+f 8 13 14
+f 8 14 9
+f 10 14 18
+f 10 18 15
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 15 18 22
+f 15 22 19
+f 16 20 21
+f 16 21 17
+f 19 22 23
+f 19 23 24
+f 20 25 21
+f 21 25 26
+f 23 27 24
+f 24 27 28
+f 25 28 27
+f 25 27 29
+f 25 29 26
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_3.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.19229869 0.16835490 0.16111348
+v -0.21167173 0.17798363 0.16104816
+v -0.20197875 0.16835490 0.16109715
+v -0.20197875 0.15872615 0.16111344
+v -0.14387253 0.13948816 0.16111337
+v -0.09921516 0.15872615 0.16109711
+v -0.12449949 0.16835490 0.16109715
+v -0.14387253 0.17798363 0.16108082
+v -0.19229869 0.17798363 0.16108082
+v -0.22135179 0.17798363 0.16057432
+v -0.22135179 0.16835490 0.16065601
+v -0.22135179 0.13948816 0.16070490
+v -0.21167173 0.16835490 0.16106446
+v -0.20197875 0.18761237 0.16101551
+v -0.21167173 0.18761237 0.16093383
+v -0.21167173 0.14909742 0.16108072
+v -0.20683169 -0.00010906 0.16109653
+v -0.20197875 0.12985943 0.16111334
+v -0.13417956 0.02398228 0.16111295
+v -0.09921516 0.17798363 0.16106449
+v -0.09921516 -0.00010906 0.16109653
+v -0.09921516 0.18761237 0.16101551
+v -0.22135179 0.18761237 0.16006787
+v -0.22750831 0.17798364 0.15898949
+v -0.22761157 0.16835491 0.15907114
+v -0.22762450 0.14909743 0.15910376
+v -0.22763738 0.12985944 0.15912002
+v -0.22135179 0.09136396 0.16072107
+v -0.09921516 0.19199793 0.16005156
+v -0.16324558 0.19478520 0.15943071
+v -0.20197875 0.19476571 0.15941434
+v -0.21167173 0.19464875 0.15934899
+v -0.22135179 0.19373266 0.15874445
+v -0.21167173 -0.00010906 0.16108017
+v -0.19713872 -0.00010906 0.16111286
+v -0.13417956 -0.00010906 0.16111286
+v -0.09921516 -0.00010845 -0.00449597
+v -0.22647579 0.19277759 0.15809091
+v -0.22701787 0.18761238 0.15856471
+v -0.22956048 0.18761240 0.15304225
+v -0.23011549 0.17798366 0.15304221
+v -0.23023164 0.16835493 0.15304218
+v -0.22763738 0.13948817 0.15910372
+v -0.23027037 0.13948819 0.15304207
+v -0.23028326 0.12023072 0.15304200
+v -0.23029618 0.08173525 0.15304186
+v -0.22765030 0.08173523 0.15911984
+v -0.22135179 0.08173522 0.16072103
+v -0.09921516 0.19478520 0.15943071
+v -0.19229869 0.19831316 0.15304229
+v -0.19229869 0.19478520 0.15941434
+v -0.20197875 0.19829367 0.15304229
+v -0.21167173 0.19817674 0.15304229
+v -0.22135179 0.19706571 0.15304228
+v -0.22135179 -0.00010906 0.16070439
+v -0.19805510 -0.00010845 -0.00578672
+v -0.09921516 0.16498350 -0.00578611
+v -0.22765030 0.19423947 0.15304227
+v -0.23064465 0.18761243 0.14338609
+v -0.23096734 0.17798369 0.14338605
+v -0.23101896 0.16835496 0.14338602
+v -0.23103188 0.15872621 0.14338598
+v -0.23105769 0.06247780 0.14338563
+v -0.23028326 0.03359156 0.15304168
+v -0.22763738 -0.00010905 0.15911954
+v -0.09921516 0.19829367 0.15304229
+v -0.18260571 0.19831316 0.15304229
+v -0.18260571 0.19901488 0.14338613
+v -0.20197875 0.19899539 0.14338613
+v -0.21167173 0.19895642 0.14338613
+v -0.22135179 0.19819625 0.14338613
+v -0.22225527 -0.00010845 -0.00578672
+v -0.09921516 0.19250530 -0.00578601
+v -0.22828274 0.19494119 0.14338612
+v -0.22410094 0.18761298 -0.00578603
+v -0.22595952 0.17798424 -0.00578607
+v -0.23104477 0.02398234 0.14338549
+v -0.23027037 0.01435357 0.15304161
+v -0.23025745 -0.00010903 0.15304156
+v -0.09921516 0.19872250 0.14714402
+v -0.09921516 0.19899539 0.14338613
+v -0.20197875 0.19560444 -0.00578600
+v -0.20727052 0.19552649 -0.00578600
+v -0.21167173 0.19544851 -0.00578600
+v -0.21938997 0.19388920 -0.00578601
+v -0.23101896 -0.00010900 0.14338540
+v -0.22153249 0.19104346 -0.00578602
+f 1 2 3
+f 1 3 4
+f 1 4 18
+f 1 18 35
+f 1 35 36
+f 1 36 19
+f 1 19 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 4
+f 2 4 3
+f 2 9 14
+f 2 14 15
+f 2 15 10
+f 4 13 16
+f 4 16 17
+f 4 17 18
+f 5 19 6
+f 6 20 7
+f 6 19 36
+f 6 36 21
+f 6 21 37
+f 6 37 57
+f 6 57 73
+f 6 73 81
+f 6 81 80
+f 6 80 66
+f 6 66 49
+f 6 49 29
+f 6 29 22
+f 6 22 20
+f 7 20 8
+f 8 20 22
+f 8 22 14
+f 8 14 9
+f 10 15 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 12
+f 12 16 13
+f 12 26 27
+f 12 27 28
+f 12 28 16
+f 14 22 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 23
+f 16 28 48
+f 16 48 34
+f 16 34 17
+f 17 34 55
+f 17 55 65
+f 17 65 79
+f 17 79 86
+f 17 86 72
+f 17 72 56
+f 17 56 37
+f 17 37 21
+f 17 21 36
+f 17 36 35
+f 17 35 18
+f 23 33 38
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 29 49 30
+f 30 49 67
+f 30 67 50
+f 30 50 51
+f 30 51 31
+f 31 51 50
+f 31 50 52
+f 31 52 53
+f 31 53 32
+f 32 53 54
+f 32 54 33
+f 33 54 38
+f 34 48 55
+f 37 56 57
+f 38 54 58
+f 38 58 40
+f 38 40 39
+f 40 58 59
+f 40 59 41
+f 41 59 60
+f 41 60 42
+f 42 60 61
+f 42 61 44
+f 42 44 43
+f 44 61 62
+f 44 62 45
+f 45 62 46
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 46 62 63
+f 47 65 48
+f 48 65 55
+f 49 66 67
+f 50 67 68
+f 50 68 69
+f 50 69 52
+f 52 69 70
+f 52 70 53
+f 53 70 71
+f 53 71 54
+f 54 71 58
+f 56 72 76
+f 56 76 75
+f 56 75 87
+f 56 87 85
+f 56 85 84
+f 56 84 83
+f 56 83 82
+f 56 82 73
+f 56 73 57
+f 58 71 74
+f 58 74 59
+f 59 74 75
+f 59 75 76
+f 59 76 60
+f 60 76 61
+f 61 76 62
+f 62 76 63
+f 63 77 64
+f 63 76 77
+f 64 77 78
+f 64 78 65
+f 65 78 79
+f 66 80 67
+f 67 80 68
+f 68 80 81
+f 68 81 82
+f 68 82 69
+f 69 82 70
+f 70 82 83
+f 70 83 84
+f 70 84 71
+f 71 84 85
+f 71 85 74
+f 72 86 76
+f 73 82 81
+f 74 85 87
+f 74 87 75
+f 76 86 77
+f 77 86 79
+f 77 79 78
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_30.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.12736380 -0.00009661 -0.01335524
+v 0.12047270 0.12666431 -0.01337197
+v 0.12736380 0.12666431 -0.01455851
+v 0.13704528 -0.00009661 -0.01332085
+v 0.11767701 -0.00009662 -0.01062105
+v 0.11736932 0.12666431 -0.01249496
+v 0.13704528 0.12666431 -0.01452412
+v 0.14716177 0.12666431 -0.01259814
+v 0.14188337 -0.00009662 -0.01218591
+v 0.11095037 0.12666430 -0.00988114
+v 0.10598496 -0.00009664 -0.00534181
+v 0.14896544 0.12666430 -0.01144599
+v 0.15232345 -0.00009663 -0.00749134
+v 0.14673207 -0.00009662 -0.01103375
+v 0.10898755 0.12666429 -0.00883218
+v 0.10598496 0.12666428 -0.00673424
+v 0.10598496 -0.00009725 0.16110019
+v 0.15237651 0.12666429 -0.00817872
+v 0.16018005 -0.00009682 0.04311708
+v 0.10598496 0.12666367 0.16110066
+v 0.13221250 -0.00009725 0.16110019
+v 0.11767701 0.09135028 0.16111774
+v 0.15262584 0.12666428 -0.00614957
+v 0.16018005 0.00471752 0.04315149
+v 0.16018005 -0.00009697 0.08413002
+v 0.12736380 0.12666367 0.16110066
+v 0.13704528 0.12666367 0.16108347
+v 0.14189398 -0.00009725 0.16106581
+v 0.15312981 0.12666427 -0.00138622
+v 0.16018005 0.01252219 0.04664235
+v 0.15338444 0.12666425 0.00181227
+v 0.15464701 0.12666419 0.01790791
+v 0.16018005 0.00481663 0.08413004
+v 0.15999968 0.04321941 0.14338829
+v 0.15999437 0.02397449 0.14338822
+v 0.15998376 -0.00009719 0.14338813
+v 0.14673207 0.09135028 0.16103177
+v 0.14673207 0.12666367 0.16101470
+v 0.14673207 -0.00009725 0.16103143
+v 0.16018005 0.01398634 0.04731300
+v 0.15998376 0.12666373 0.14338860
+v 0.16018005 0.00551149 0.08404404
+v 0.15999437 0.11060768 0.14338854
+v 0.15999968 0.09135034 0.14338847
+v 0.15884851 0.04321938 0.15303534
+v 0.15883260 -0.00009722 0.15303518
+v 0.15438707 0.04321935 0.15943232
+v 0.15438177 0.07209295 0.15943242
+v 0.15437646 0.08172162 0.15943246
+v 0.15183010 0.12666367 0.15994852
+v 0.15438177 -0.00009725 0.15943216
+v 0.15438707 0.02397443 0.15943225
+v 0.16018005 0.02133188 0.05704608
+v 0.15882199 0.12666370 0.15303565
+v 0.15998907 0.12022395 0.14338857
+v 0.16018005 0.00773254 0.08237602
+v 0.16018005 0.01329137 0.07788784
+v 0.16018005 0.01489202 0.07656373
+v 0.16018005 0.02005381 0.06830958
+v 0.16018005 0.02165446 0.06466399
+v 0.16018005 0.02165447 0.06371820
+v 0.16018005 0.02145595 0.05876570
+v 0.15884321 0.07209298 0.15303544
+v 0.15436585 0.12666367 0.15941544
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 13
+f 1 13 19
+f 1 19 25
+f 1 25 36
+f 1 36 46
+f 1 46 51
+f 1 51 39
+f 1 39 28
+f 1 28 21
+f 1 21 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 15
+f 2 15 16
+f 2 16 20
+f 2 20 26
+f 2 26 27
+f 2 27 38
+f 2 38 50
+f 2 50 64
+f 2 64 54
+f 2 54 41
+f 2 41 32
+f 2 32 31
+f 2 31 29
+f 2 29 23
+f 2 23 18
+f 2 18 12
+f 2 12 8
+f 2 8 7
+f 2 7 3
+f 4 8 9
+f 4 7 8
+f 5 10 6
+f 5 11 10
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 11 15
+f 11 16 15
+f 11 17 20
+f 11 20 16
+f 12 18 13
+f 13 18 19
+f 17 21 22
+f 17 22 20
+f 18 23 24
+f 18 24 19
+f 19 24 30
+f 19 30 40
+f 19 40 53
+f 19 53 62
+f 19 62 61
+f 19 61 60
+f 19 60 59
+f 19 59 58
+f 19 58 57
+f 19 57 56
+f 19 56 42
+f 19 42 33
+f 19 33 25
+f 20 22 26
+f 21 27 26
+f 21 26 22
+f 21 28 27
+f 23 29 24
+f 24 29 31
+f 24 31 32
+f 24 32 30
+f 25 33 44
+f 25 44 34
+f 25 34 35
+f 25 35 36
+f 27 28 37
+f 27 37 38
+f 28 39 37
+f 30 32 40
+f 32 41 40
+f 33 42 43
+f 33 43 44
+f 34 44 45
+f 34 45 35
+f 35 45 46
+f 35 46 36
+f 37 39 52
+f 37 52 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 39 51 52
+f 40 41 53
+f 41 54 55
+f 41 55 42
+f 41 42 56
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 41 62 53
+f 42 55 43
+f 43 55 54
+f 43 54 63
+f 43 63 44
+f 44 63 45
+f 45 63 48
+f 45 48 47
+f 45 47 52
+f 45 52 51
+f 45 51 46
+f 48 63 54
+f 48 54 64
+f 48 64 49
+f 49 64 50
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_31.obj

@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02706274 -0.16312922 -0.00997172
+v 0.02706274 -0.15130447 -0.09790617
+v 0.02706274 -0.16312985 0.16108180
+v 0.01679019 -0.16312924 -0.00533946
+v 0.02706274 -0.14930977 -0.10539106
+v 0.02706274 -0.09156091 0.16110822
+v 0.01679019 -0.16312985 0.16108180
+v 0.01679019 -0.14931014 -0.00536559
+v 0.02706274 -0.07231531 -0.10622826
+v 0.02706274 -0.08053337 -0.10617594
+v 0.02706274 -0.13788427 -0.10575741
+v 0.02706274 -0.13968745 -0.10573124
+v 0.02706274 -0.14723531 -0.10546956
+v 0.02706274 -0.00010906 0.16108240
+v 0.01679019 -0.00010906 0.16108240
+v 0.01679019 -0.08192204 -0.00539150
+v 0.02706274 -0.05305473 -0.10622818
+v 0.02706274 -0.00010808 -0.10607096
+v 0.01679019 -0.00010845 -0.00536504
+v 0.01679019 -0.07231568 -0.00539147
+f 1 2 5
+f 1 5 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 17
+f 1 17 18
+f 1 18 14
+f 1 14 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 7 15
+f 4 15 19
+f 4 19 20
+f 4 20 16
+f 4 16 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 9 16 20
+f 9 20 17
+f 14 18 19
+f 14 19 15
+f 17 20 19
+f 17 19 18
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_32.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01678918 -0.16448219 0.16108073
+v -0.09925344 -0.16448219 0.16108073
+v -0.07605854 -0.16858038 0.16110874
+v 0.01678918 -0.17257669 0.16108070
+v 0.01678918 -0.16448158 -0.00554866
+v -0.09925344 -0.17820957 0.16108068
+v -0.09925344 -0.16448158 -0.00532444
+v -0.04699109 -0.17820957 0.16108068
+v 0.01678918 -0.18219910 0.16105262
+v 0.01678918 -0.17540058 -0.12523037
+v 0.01675511 -0.16448158 -0.00554866
+v -0.09925344 -0.18783197 0.16102457
+v -0.05668024 -0.17540736 -0.12523037
+v -0.09925344 -0.17542094 -0.12523037
+v 0.01678918 -0.18783197 0.16102457
+v 0.01678918 -0.19257423 -0.12523044
+v -0.09925344 -0.19066029 0.16040793
+v -0.09925344 -0.19255724 -0.12523044
+v 0.01678918 -0.19500293 0.15942692
+v -0.09542548 -0.19256404 -0.12523044
+v 0.01678918 -0.19914520 0.14336658
+v -0.00825721 -0.19916217 0.14336658
+v -0.01794636 -0.19916556 0.14336658
+v -0.09925344 -0.19499954 0.15942692
+v -0.09542548 -0.19500293 0.15942692
+v -0.06636939 -0.19500634 0.15942692
+v -0.00825721 -0.19500634 0.15942692
+v -0.09925344 -0.19915198 0.14336658
+v -0.01794636 -0.19847974 0.15303642
+v 0.01678918 -0.19846955 0.15303642
+v 0.01678918 -0.19875136 0.14902833
+v -0.03731330 -0.19847974 0.15303642
+v -0.09925344 -0.19847294 0.15303642
+v -0.09925344 -0.19874117 0.14922455
+v -0.09925344 -0.19637125 0.15690435
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 19
+f 1 19 30
+f 1 30 31
+f 1 31 21
+f 1 21 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 7
+f 1 7 2
+f 2 6 3
+f 2 7 14
+f 2 14 18
+f 2 18 28
+f 2 28 34
+f 2 34 33
+f 2 33 35
+f 2 35 24
+f 2 24 17
+f 2 17 12
+f 2 12 6
+f 3 8 4
+f 3 6 8
+f 4 8 9
+f 5 10 11
+f 6 12 15
+f 6 15 8
+f 7 11 13
+f 7 13 14
+f 8 15 9
+f 10 16 20
+f 10 20 18
+f 10 18 14
+f 10 14 13
+f 10 13 11
+f 12 17 15
+f 15 17 19
+f 16 21 22
+f 16 22 23
+f 16 23 20
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 19
+f 18 20 28
+f 19 27 29
+f 19 29 30
+f 20 23 28
+f 21 31 22
+f 22 31 30
+f 22 30 23
+f 23 30 29
+f 23 29 32
+f 23 32 33
+f 23 33 34
+f 23 34 28
+f 24 35 25
+f 25 35 33
+f 25 33 26
+f 26 33 32
+f 26 32 29
+f 26 29 27
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_33.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.12736380 -0.12681685 -0.01457005
+v 0.13704528 -0.12681685 -0.01453565
+v 0.11730566 -0.12681685 -0.01252354
+v 0.12736380 -0.00009660 -0.01334855
+v 0.13704528 -0.00009660 -0.01333136
+v 0.14407960 -0.12681685 -0.01345221
+v 0.10758705 -0.12681687 -0.00839616
+v 0.11767701 -0.00009661 -0.01061417
+v 0.14673207 -0.00009661 -0.01102690
+v 0.14723604 -0.12681685 -0.01269552
+v 0.10599027 -0.12681688 -0.00676240
+v 0.10598496 -0.00009663 -0.00535174
+v 0.14952246 -0.00009662 -0.00927276
+v 0.15232345 -0.00009662 -0.00748422
+v 0.15238181 -0.12681687 -0.00831017
+v 0.10598496 -0.12109859 -0.00540377
+v 0.10598496 -0.12681690 -0.00122482
+v 0.10598496 -0.00009724 0.16110240
+v 0.16018005 -0.00009681 0.04311068
+v 0.15312981 -0.12681689 -0.00139680
+v 0.16018005 -0.00487239 0.04309346
+v 0.16018005 -0.00492201 0.04309346
+v 0.10598496 -0.12681749 0.16110193
+v 0.11767701 -0.09155264 0.16111927
+v 0.12736380 -0.00009724 0.16110240
+v 0.16018005 -0.00009696 0.08414381
+v 0.15466293 -0.12681697 0.01791595
+v 0.16018005 -0.01422509 0.04728961
+v 0.13704528 -0.12681749 0.16110193
+v 0.13704528 -0.12044179 0.16110196
+v 0.13704528 -0.00009724 0.16108521
+v 0.15998376 -0.00009718 0.14337183
+v 0.15999968 -0.09155258 0.14337149
+v 0.16018005 -0.00502139 0.08414379
+v 0.15999968 -0.12681743 0.14337136
+v 0.16018005 -0.02163038 0.05879468
+v 0.14031842 -0.12681749 0.16108474
+v 0.14673207 -0.00009724 0.16103362
+v 0.15883260 -0.00009721 0.15303680
+v 0.15883790 -0.09155261 0.15303646
+v 0.16018005 -0.01055361 0.08158134
+v 0.16018005 -0.01505627 0.07655966
+v 0.15882199 -0.12681746 0.15303633
+v 0.16018005 -0.02195291 0.06606921
+v 0.16018005 -0.01965817 0.07017940
+v 0.14673207 -0.12681749 0.16103315
+v 0.15438177 -0.01454802 0.15943422
+v 0.15056222 -0.00009724 0.16022534
+v 0.15438177 -0.00009724 0.15941706
+v 0.15438177 -0.03381158 0.15943415
+v 0.15437646 -0.09155264 0.15943393
+v 0.15587245 -0.12681748 0.15726690
+v 0.15436585 -0.12681749 0.15941659
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 20
+f 1 20 27
+f 1 27 35
+f 1 35 43
+f 1 43 52
+f 1 52 53
+f 1 53 46
+f 1 46 37
+f 1 37 29
+f 1 29 23
+f 1 23 17
+f 1 17 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 12
+f 4 12 18
+f 4 18 25
+f 4 25 31
+f 4 31 38
+f 4 38 48
+f 4 48 49
+f 4 49 39
+f 4 39 32
+f 4 32 26
+f 4 26 19
+f 4 19 14
+f 4 14 13
+f 4 13 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 12
+f 11 17 16
+f 12 16 17
+f 12 17 23
+f 12 23 18
+f 14 19 15
+f 15 19 21
+f 15 21 22
+f 15 22 20
+f 18 23 24
+f 18 24 25
+f 19 26 34
+f 19 34 41
+f 19 41 42
+f 19 42 45
+f 19 45 44
+f 19 44 36
+f 19 36 28
+f 19 28 22
+f 19 22 21
+f 20 22 27
+f 22 28 27
+f 23 29 24
+f 24 29 30
+f 24 30 25
+f 25 30 31
+f 26 32 33
+f 26 33 35
+f 26 35 34
+f 27 28 35
+f 28 36 35
+f 29 37 30
+f 30 37 38
+f 30 38 31
+f 32 39 33
+f 33 39 40
+f 33 40 35
+f 34 35 41
+f 35 42 41
+f 35 40 43
+f 35 36 44
+f 35 44 45
+f 35 45 42
+f 37 46 38
+f 38 46 50
+f 38 50 47
+f 38 47 48
+f 39 49 47
+f 39 47 40
+f 40 47 50
+f 40 50 51
+f 40 51 52
+f 40 52 43
+f 46 53 51
+f 46 51 50
+f 47 49 48
+f 51 53 52
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_34.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.02706274 -0.00010808 -0.10607780
+v 0.02706274 0.04479592 -0.10599918
+v 0.02706274 -0.00010906 0.16107689
+v 0.01493323 -0.00010845 -0.00510038
+v 0.01493323 0.16090917 -0.00515210
+v 0.02706274 0.13948992 -0.10581576
+v 0.02706274 0.13948894 0.16110357
+v 0.01493323 -0.00010906 0.16107689
+v 0.02706274 0.16090919 -0.01022582
+v 0.02706274 0.15131088 -0.09791745
+v 0.02706274 0.14910432 -0.10552803
+v 0.01493323 0.16090856 0.16107748
+v 0.02706274 0.16090856 0.16107748
+f 1 2 6
+f 1 6 11
+f 1 11 10
+f 1 10 9
+f 1 9 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 8 12
+f 4 12 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 5 12 13
+f 5 13 9
+f 7 13 12
+f 7 12 8
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_35.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.12736380 0.12666431 -0.01454270
+v 0.12787307 0.12666431 -0.01454270
+v 0.12047270 0.12666431 -0.01336946
+v 0.10598496 0.12673545 -0.09389800
+v 0.13704528 0.12666431 -0.01451773
+v 0.10612289 0.12673545 -0.09389800
+v 0.11736932 0.12666431 -0.01249578
+v 0.10598496 0.19263716 -0.09389776
+v 0.11095037 0.12666430 -0.00987473
+v 0.10898755 0.12666429 -0.00882632
+v 0.10598496 0.12666428 -0.00672948
+v 0.14716177 0.12666431 -0.01259563
+v 0.16018005 0.12691966 -0.09389800
+v 0.15237651 0.12666429 -0.00817729
+v 0.14896544 0.12666430 -0.01144736
+v 0.12736380 0.19561980 -0.09389775
+v 0.10598496 0.19901251 0.14336939
+v 0.10598496 0.12666367 0.16109239
+v 0.15338444 0.12666425 0.00180764
+v 0.15312981 0.12666427 -0.00138754
+v 0.15262584 0.12666428 -0.00615534
+v 0.16018005 0.17143979 -0.09389784
+v 0.16018005 0.13652622 -0.02070836
+v 0.15998376 0.12666373 0.14336913
+v 0.15464701 0.12666419 0.01790836
+v 0.13704528 0.19559856 -0.09389775
+v 0.13704528 0.19904084 0.14336939
+v 0.10598496 0.19887081 0.14536637
+v 0.13382519 0.12666367 0.16109239
+v 0.11767701 0.13949403 0.16111741
+v 0.10598496 0.16836411 0.16109254
+v 0.15103967 0.19142568 -0.09389777
+v 0.15946389 0.18762033 0.14336935
+v 0.16018005 0.17169483 -0.08825635
+v 0.16018005 0.13938839 -0.01182176
+v 0.15999437 0.16836417 0.14336928
+v 0.15882199 0.12666370 0.15302956
+v 0.16018005 0.14912273 -0.00830202
+v 0.14237673 0.19467046 -0.09389775
+v 0.14673207 0.19887789 0.14336939
+v 0.10799022 0.19831817 0.15302982
+v 0.11767701 0.19831817 0.15302982
+v 0.12736380 0.19831108 0.15302982
+v 0.13704528 0.19826858 0.15302982
+v 0.10598496 0.19831108 0.15302982
+v 0.13704528 0.16836411 0.16106759
+v 0.12736380 0.15875020 0.16109250
+v 0.14351198 0.12666367 0.16104246
+v 0.11767701 0.16836411 0.16109254
+v 0.10598496 0.17799220 0.16106762
+v 0.14619628 0.19400451 -0.09389776
+v 0.15528891 0.19557643 0.14336938
+v 0.15460457 0.19504505 0.15302981
+v 0.15810052 0.18762030 0.15302978
+v 0.15866283 0.17799223 0.15302974
+v 0.15995724 0.17799226 0.14336931
+v 0.16018005 0.17177980 -0.07862088
+v 0.15877424 0.16836414 0.15302971
+v 0.15880076 0.15875023 0.15302967
+v 0.15881138 0.14912214 0.15302964
+v 0.15882199 0.12986598 0.15302957
+v 0.16018005 0.15920425 -0.01122259
+v 0.16018005 0.16424857 -0.01938525
+v 0.16018005 0.16536089 -0.02342915
+v 0.15436585 0.12666367 0.15941993
+v 0.14673207 0.19794268 0.15302982
+v 0.10598496 0.19758845 0.15435282
+v 0.12736380 0.19478997 0.15942018
+v 0.13704528 0.19473330 0.15939520
+v 0.12736380 0.17799220 0.16104264
+v 0.11767701 0.17799220 0.16106762
+v 0.14673207 0.15875020 0.16101761
+v 0.14673207 0.16836411 0.16099269
+v 0.13704528 0.18762027 0.16096780
+v 0.14673207 0.12666367 0.16101750
+v 0.10598496 0.18762027 0.16101772
+v 0.15278498 0.19350765 0.15859639
+v 0.15376639 0.18762028 0.15914555
+v 0.15421731 0.17799220 0.15934521
+v 0.15431811 0.16836411 0.15939510
+v 0.16018005 0.17104297 -0.07018361
+v 0.15434463 0.15875020 0.15942004
+v 0.15435524 0.14912211 0.15942001
+v 0.15436585 0.12986595 0.15941994
+v 0.14673207 0.19436489 0.15917055
+v 0.10598496 0.19478997 0.15942018
+v 0.11767701 0.18762027 0.16101772
+v 0.12736380 0.18762027 0.16099276
+v 0.14673207 0.18762027 0.16066826
+v 0.14673207 0.17799220 0.16091785
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 14
+f 1 14 21
+f 1 21 20
+f 1 20 19
+f 1 19 25
+f 1 25 24
+f 1 24 37
+f 1 37 65
+f 1 65 75
+f 1 75 48
+f 1 48 29
+f 1 29 18
+f 1 18 11
+f 1 11 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 8 16
+f 4 16 26
+f 4 26 39
+f 4 39 51
+f 4 51 32
+f 4 32 22
+f 4 22 13
+f 4 13 6
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 18
+f 4 18 31
+f 4 31 50
+f 4 50 76
+f 4 76 86
+f 4 86 67
+f 4 67 45
+f 4 45 28
+f 4 28 17
+f 4 17 8
+f 5 6 12
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 8 17 16
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 13 22 34
+f 13 34 57
+f 13 57 81
+f 13 81 64
+f 13 64 63
+f 13 63 62
+f 13 62 38
+f 13 38 35
+f 13 35 23
+f 13 23 24
+f 13 24 25
+f 13 25 19
+f 16 17 27
+f 16 27 26
+f 17 28 27
+f 18 29 30
+f 18 30 31
+f 22 32 33
+f 22 33 34
+f 23 35 24
+f 24 36 37
+f 24 35 38
+f 24 38 36
+f 26 27 40
+f 26 40 39
+f 27 28 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 40
+f 28 45 41
+f 29 46 47
+f 29 47 30
+f 29 48 46
+f 30 47 49
+f 30 49 31
+f 31 49 71
+f 31 71 50
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 34
+f 36 56 58
+f 36 58 59
+f 36 59 60
+f 36 60 61
+f 36 61 37
+f 36 38 62
+f 36 62 63
+f 36 63 64
+f 36 64 56
+f 37 61 84
+f 37 84 65
+f 39 40 51
+f 40 44 66
+f 40 66 53
+f 40 53 52
+f 40 52 51
+f 41 45 67
+f 41 67 42
+f 42 67 68
+f 42 68 43
+f 43 68 44
+f 44 68 69
+f 44 69 66
+f 46 70 71
+f 46 71 49
+f 46 49 47
+f 46 48 72
+f 46 72 73
+f 46 73 74
+f 46 74 88
+f 46 88 70
+f 48 75 72
+f 50 71 87
+f 50 87 76
+f 53 66 77
+f 53 77 54
+f 54 77 78
+f 54 78 79
+f 54 79 55
+f 55 79 80
+f 55 80 58
+f 55 58 56
+f 56 64 81
+f 56 81 57
+f 58 80 82
+f 58 82 59
+f 59 82 83
+f 59 83 60
+f 60 83 84
+f 60 84 61
+f 65 84 72
+f 65 72 75
+f 66 69 85
+f 66 85 77
+f 67 86 68
+f 68 86 76
+f 68 76 87
+f 68 87 88
+f 68 88 74
+f 68 74 69
+f 69 74 89
+f 69 89 85
+f 70 88 87
+f 70 87 71
+f 72 84 83
+f 72 83 82
+f 72 82 73
+f 73 82 80
+f 73 80 79
+f 73 79 90
+f 73 90 74
+f 74 90 89
+f 77 85 89
+f 77 89 78
+f 78 89 79
+f 79 89 90
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_36.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02706274 -0.12419626 -0.24668242
+v 0.02706274 -0.12419635 -0.22317684
+v 0.02706274 -0.12043962 -0.24669105
+v 0.10598496 -0.12419625 -0.24949814
+v 0.03815635 -0.12419636 -0.22011327
+v 0.02706274 -0.12043971 -0.22317394
+v 0.02706274 -0.11703222 -0.24669681
+v 0.10598496 -0.11560696 -0.24950963
+v 0.10598496 -0.12419635 -0.22261196
+v 0.07255735 -0.12419636 -0.22011327
+v 0.03814090 -0.08192946 -0.22011311
+v 0.02706274 -0.05305619 -0.22315927
+v 0.02706274 -0.10740466 -0.24670253
+v 0.10598496 -0.05789819 -0.24954976
+v 0.10598496 -0.10598883 -0.24952113
+v 0.10598496 -0.11081205 -0.24951539
+v 0.10598496 -0.02776967 -0.22354826
+v 0.07216336 -0.02776968 -0.22011291
+v 0.03813317 -0.05305620 -0.22011300
+v 0.02706274 -0.04342862 -0.22315924
+v 0.02706274 -0.05305610 -0.24671963
+v 0.10598496 -0.05305609 -0.24955262
+v 0.10598496 -0.02776957 -0.24954677
+v 0.03814090 -0.02776968 -0.22011291
+v 0.03813317 -0.04250363 -0.22011297
+v 0.02706274 -0.03721790 -0.22316211
+v 0.02706274 -0.02776958 -0.24671954
+v 0.10598496 -0.04828006 -0.24955261
+v 0.02706274 -0.02776967 -0.22316783
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 26
+f 1 26 29
+f 1 29 27
+f 1 27 21
+f 1 21 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 16
+f 4 16 15
+f 4 15 14
+f 4 14 22
+f 4 22 28
+f 4 28 23
+f 4 23 17
+f 4 17 9
+f 5 10 18
+f 5 18 24
+f 5 24 25
+f 5 25 19
+f 5 19 11
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 9 18 10
+f 11 19 12
+f 12 19 25
+f 12 25 20
+f 13 21 22
+f 13 22 14
+f 17 23 27
+f 17 27 29
+f 17 29 24
+f 17 24 18
+f 20 25 24
+f 20 24 26
+f 21 27 28
+f 21 28 22
+f 23 28 27
+f 24 29 26
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_37.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.23105211 -0.16857035 0.14338763
+v -0.22583363 -0.17819547 0.11470082
+v -0.23102003 -0.17819558 0.14338760
+v -0.23022742 -0.15894511 0.15304083
+v -0.23023199 -0.14931988 0.15304086
+v -0.23026407 -0.07231788 0.15304114
+v -0.23026864 -0.05306738 0.15304122
+v -0.23026864 -0.02419163 0.15304132
+v -0.23026407 -0.00010903 0.15304141
+v -0.23102003 -0.00010900 0.14338825
+v -0.22400555 -0.18782073 0.11470078
+v -0.23069931 -0.18782084 0.14338756
+v -0.22970511 -0.00010898 0.13880710
+v -0.22839020 -0.00010896 0.13423502
+v -0.22270894 -0.00010889 0.11470147
+v -0.23009914 -0.17819561 0.15304076
+v -0.23019534 -0.16857038 0.15304079
+v -0.22758840 -0.15894513 0.15906725
+v -0.22760215 -0.14931990 0.15908091
+v -0.22760672 -0.13969464 0.15908549
+v -0.22762505 -0.09156840 0.15910384
+v -0.22762962 -0.07231790 0.15911300
+v -0.22763420 -0.05306740 0.15911308
+v -0.22763880 -0.01454692 0.15911776
+v -0.22763880 -0.00010905 0.15911781
+v -0.22895372 -0.00010904 0.15607734
+v -0.21950179 -0.19391932 0.11470076
+v -0.22731809 -0.19395836 0.13663397
+v -0.22830314 -0.19520539 0.14338753
+v -0.22761130 -0.19440657 0.15304070
+v -0.22952186 -0.18782087 0.15304072
+v -0.18424608 -0.00010889 0.11470147
+v -0.22746012 -0.17819563 0.15894447
+v -0.22755632 -0.16857040 0.15903539
+v -0.22135735 -0.15894514 0.16067157
+v -0.22135735 -0.16857041 0.16063516
+v -0.22135735 -0.14931991 0.16068068
+v -0.22761587 -0.11079941 0.15909923
+v -0.22135735 -0.07231791 0.16071277
+v -0.22135735 -0.03381692 0.16072201
+v -0.22763420 -0.03381691 0.15911769
+v -0.22135735 -0.13969465 0.16068527
+v -0.22135735 -0.00010906 0.16071304
+v -0.21936894 -0.19409468 0.11470076
+v -0.22135735 -0.19843979 0.14338752
+v -0.22639258 -0.19288682 0.15802635
+v -0.22135735 -0.19721231 0.15304069
+v -0.22693778 -0.18782089 0.15849450
+v -0.18424608 -0.19329582 0.11470076
+v -0.18424608 -0.00010906 0.16112208
+v -0.22135735 -0.17819564 0.16053515
+v -0.22135735 -0.18782090 0.15999883
+v -0.21167178 -0.17819564 0.16106688
+v -0.21167178 -0.16857041 0.16108511
+v -0.21167178 -0.15894514 0.16108969
+v -0.21167178 -0.02419166 0.16109018
+v -0.21167178 -0.00010906 0.16108117
+v -0.21167178 -0.19559497 0.11470075
+v -0.21167178 -0.19912174 0.14338752
+v -0.21167178 -0.19836187 0.15304068
+v -0.22135735 -0.19388050 0.15870354
+v -0.21167178 -0.19485473 0.15935798
+v -0.18424608 -0.19723173 0.13373892
+v -0.19203028 -0.19438694 0.11470076
+v -0.19230061 -0.00010906 0.16112208
+v -0.18424608 -0.07231791 0.16112635
+v -0.21167178 -0.18782090 0.16095324
+v -0.20199077 -0.17819564 0.16109416
+v -0.20199077 -0.16857041 0.16111692
+v -0.20199077 -0.18782090 0.16103049
+v -0.20199077 -0.00492168 0.16111296
+v -0.20199077 -0.15894514 0.16111696
+v -0.20683815 -0.00010906 0.16109481
+v -0.20199077 -0.19569238 0.11470075
+v -0.20199077 -0.19914122 0.14338752
+v -0.18424608 -0.19847880 0.15304068
+v -0.20199077 -0.19843982 0.15304068
+v -0.20199077 -0.19497164 0.15942614
+v -0.18424608 -0.19916071 0.14338752
+v -0.20171587 -0.19567290 0.11470075
+v -0.19714797 -0.00010906 0.16111754
+v -0.19230061 -0.08194316 0.16112632
+v -0.18424608 -0.16857041 0.16112600
+v -0.19230061 -0.17819564 0.16110325
+v -0.19230061 -0.18782090 0.16104413
+v -0.19230061 -0.16857041 0.16112600
+v -0.20199077 -0.00010906 0.16110844
+v -0.18424608 -0.19859568 0.15141364
+v -0.18424608 -0.19499112 0.15943978
+v -0.19230061 -0.19499112 0.15943068
+v -0.18424608 -0.17819564 0.16110779
+v -0.18424608 -0.17981285 0.16109869
+v -0.18424608 -0.18902892 0.16078053
+v -0.18424608 -0.18782090 0.16104867
+f 1 2 3
+f 1 3 17
+f 1 17 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 12
+f 2 12 3
+f 2 10 13
+f 2 13 14
+f 2 14 15
+f 2 15 32
+f 2 32 49
+f 2 49 64
+f 2 64 80
+f 2 80 74
+f 2 74 58
+f 2 58 44
+f 2 44 27
+f 2 27 11
+f 3 16 17
+f 3 12 16
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 5
+f 5 21 22
+f 5 22 6
+f 6 22 23
+f 6 23 7
+f 7 23 24
+f 7 24 25
+f 7 25 8
+f 8 25 26
+f 8 26 9
+f 9 26 25
+f 9 25 43
+f 9 43 57
+f 9 57 73
+f 9 73 87
+f 9 87 81
+f 9 81 65
+f 9 65 50
+f 9 50 32
+f 9 32 15
+f 9 15 14
+f 9 14 13
+f 9 13 10
+f 11 27 28
+f 11 28 12
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 16
+f 16 33 34
+f 16 34 17
+f 16 31 33
+f 17 34 18
+f 18 35 19
+f 18 34 36
+f 18 36 35
+f 19 35 37
+f 19 37 20
+f 20 37 38
+f 20 38 21
+f 21 38 22
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 22 38 42
+f 22 42 39
+f 23 41 24
+f 24 41 40
+f 24 40 25
+f 25 40 43
+f 27 44 28
+f 28 44 29
+f 29 45 30
+f 29 44 45
+f 30 46 31
+f 30 45 47
+f 30 47 46
+f 31 48 33
+f 31 46 48
+f 32 50 66
+f 32 66 83
+f 32 83 91
+f 32 91 92
+f 32 92 94
+f 32 94 93
+f 32 93 89
+f 32 89 76
+f 32 76 88
+f 32 88 79
+f 32 79 63
+f 32 63 49
+f 33 51 34
+f 33 48 52
+f 33 52 51
+f 34 51 36
+f 35 36 53
+f 35 53 54
+f 35 54 37
+f 36 51 53
+f 37 42 38
+f 37 54 55
+f 37 55 42
+f 39 42 55
+f 39 55 40
+f 40 56 43
+f 40 55 56
+f 43 56 57
+f 44 58 45
+f 45 59 60
+f 45 60 47
+f 45 58 59
+f 46 61 52
+f 46 52 48
+f 46 47 61
+f 47 60 62
+f 47 62 61
+f 49 63 64
+f 50 65 66
+f 51 52 67
+f 51 67 53
+f 52 61 67
+f 53 68 69
+f 53 69 54
+f 53 67 70
+f 53 70 68
+f 54 69 55
+f 55 69 72
+f 55 72 56
+f 56 71 57
+f 56 72 71
+f 57 71 73
+f 58 74 59
+f 59 75 76
+f 59 76 77
+f 59 77 60
+f 59 74 75
+f 60 77 78
+f 60 78 62
+f 61 62 67
+f 62 78 67
+f 63 79 80
+f 63 80 64
+f 65 81 82
+f 65 82 66
+f 66 82 86
+f 66 86 83
+f 67 78 70
+f 68 84 86
+f 68 86 69
+f 68 70 85
+f 68 85 84
+f 69 86 82
+f 69 82 72
+f 70 78 85
+f 71 82 81
+f 71 81 87
+f 71 87 73
+f 71 72 82
+f 74 80 79
+f 74 79 75
+f 75 79 88
+f 75 88 76
+f 76 89 90
+f 76 90 77
+f 77 90 78
+f 78 90 89
+f 78 89 85
+f 83 86 91
+f 84 85 92
+f 84 92 91
+f 84 91 86
+f 85 89 93
+f 85 93 94
+f 85 94 92
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_38.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.09925344 -0.14245430 0.16109218
+v -0.14386292 -0.14245430 0.16110996
+v -0.13418727 -0.16858237 0.16110986
+v -0.09925344 -0.17237364 0.16109207
+v -0.09925344 -0.14245369 -0.00450170
+v -0.18424608 -0.16858237 0.16112764
+v -0.18424608 -0.14245430 0.16110996
+v -0.13418727 -0.17820208 0.16109205
+v -0.09925344 -0.17820208 0.16107427
+v -0.18260712 -0.17820208 0.16110983
+v -0.09925344 -0.17538712 -0.02052245
+v -0.18424608 -0.16953091 -0.02052243
+v -0.18424608 -0.14245369 -0.00455504
+v -0.18424608 -0.17820208 0.16110983
+v -0.09925344 -0.18783290 0.16103868
+v -0.09925344 -0.19256159 -0.02052252
+v -0.18424608 -0.19274477 -0.02052252
+v -0.18424608 -0.18783290 0.16103868
+v -0.18424608 -0.18903744 0.16077195
+v -0.09925344 -0.19499911 0.15943835
+v -0.09925344 -0.19915112 0.14338215
+v -0.15354689 -0.19915666 0.14338215
+v -0.18424608 -0.19915666 0.14338215
+v -0.18424608 -0.19500465 0.15943835
+v -0.17292315 -0.19500465 0.15943835
+v -0.18260712 -0.19849059 0.15303721
+v -0.09925344 -0.19637017 0.15691347
+v -0.09925344 -0.19847394 0.15303721
+v -0.18424608 -0.19860161 0.15140135
+v -0.18424608 -0.19848503 0.15303721
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 27
+f 1 27 28
+f 1 28 21
+f 1 21 16
+f 1 16 11
+f 1 11 5
+f 1 5 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 4
+f 4 8 9
+f 4 6 10
+f 4 10 8
+f 5 11 12
+f 5 12 13
+f 6 7 13
+f 6 13 12
+f 6 12 17
+f 6 17 23
+f 6 23 29
+f 6 29 30
+f 6 30 24
+f 6 24 19
+f 6 19 18
+f 6 18 14
+f 6 14 10
+f 8 10 15
+f 8 15 9
+f 10 14 18
+f 10 18 15
+f 11 16 17
+f 11 17 12
+f 15 18 19
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 19 24 25
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 21 28 26
+f 21 26 22
+f 22 26 23
+f 23 26 29
+f 24 30 26
+f 24 26 25
+f 26 28 27
+f 26 30 29
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_39.obj

@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.16018005 0.17144930 -0.09389784
+v 0.15122004 0.19173176 -0.13655364
+v 0.15118820 0.19167697 -0.12691207
+v 0.15103967 0.19143034 -0.09389777
+v 0.16018005 0.15649579 -0.09389790
+v 0.16018005 0.17189579 -0.22340217
+v 0.15149589 0.19222900 -0.23306844
+v 0.15147997 0.19220550 -0.22340209
+v 0.14619628 0.19400868 -0.09389776
+v 0.10598496 0.15649579 -0.09389790
+v 0.16018005 0.15649635 -0.24464342
+v 0.16018005 0.16859761 -0.23381210
+v 0.15157547 0.18281982 -0.32479970
+v 0.15091765 0.19069944 -0.29096743
+v 0.15113515 0.19126672 -0.28132585
+v 0.15131022 0.19173618 -0.27165950
+v 0.15143223 0.19205696 -0.26201793
+v 0.15146936 0.19216257 -0.25235158
+v 0.15148527 0.19220165 -0.24271000
+v 0.14646682 0.19442796 -0.27165949
+v 0.14658883 0.19439663 -0.26201793
+v 0.14662597 0.19436921 -0.25235158
+v 0.14664189 0.19434961 -0.24271000
+v 0.14665250 0.19432610 -0.23306844
+v 0.14663658 0.19430258 -0.22340209
+v 0.14237673 0.19467378 -0.09389775
+v 0.13704528 0.19645076 -0.28132583
+v 0.13704528 0.19641551 -0.27165948
+v 0.10598496 0.19263539 -0.09389776
+v 0.10598496 0.15649641 -0.26199328
+v 0.15220144 0.15649644 -0.26918108
+v 0.14548011 0.17032342 -0.33924969
+v 0.15157547 0.17503007 -0.32470058
+v 0.15134205 0.17814051 -0.32864146
+v 0.16018005 0.15920377 -0.24362721
+v 0.16018005 0.16804204 -0.23453088
+v 0.14935270 0.17799970 -0.33924967
+v 0.14750659 0.18762440 -0.33924963
+v 0.14983014 0.18666581 -0.32864142
+v 0.15028636 0.18900932 -0.31027535
+v 0.15063119 0.18992480 -0.30063378
+v 0.16018005 0.16441129 -0.23871965
+v 0.16018005 0.15962240 -0.24342891
+v 0.14465784 0.19415821 -0.32958326
+v 0.14506632 0.19429120 -0.31994170
+v 0.14544297 0.19437725 -0.31027533
+v 0.14578779 0.19442416 -0.30063377
+v 0.14607426 0.19443977 -0.29096742
+v 0.14629176 0.19443973 -0.28132584
+v 0.13704528 0.19645474 -0.30063376
+v 0.13704528 0.19646252 -0.29096741
+v 0.13704528 0.19560106 -0.09389775
+v 0.12736380 0.19645857 -0.28132583
+v 0.12736380 0.19562061 -0.09389775
+v 0.10598496 0.19612979 -0.24270999
+v 0.10598496 0.15656682 -0.26241462
+v 0.10623960 0.15649641 -0.26241463
+v 0.14862592 0.15649645 -0.27289891
+v 0.13704528 0.16519802 -0.32958336
+v 0.14194703 0.16353907 -0.31528212
+v 0.13704528 0.16740079 -0.33924971
+v 0.14369766 0.17182582 -0.34502470
+v 0.14480107 0.17799972 -0.34556998
+v 0.14392046 0.18762442 -0.34514857
+v 0.14251996 0.19286324 -0.34447936
+v 0.14363399 0.19357529 -0.33924961
+v 0.14990972 0.18808209 -0.31994172
+v 0.13704528 0.19608707 -0.32958325
+v 0.13704528 0.19628658 -0.31994169
+v 0.13704528 0.19639217 -0.31027532
+v 0.12736380 0.19645471 -0.29096741
+v 0.10598496 0.19614157 -0.25235157
+v 0.10598496 0.19614156 -0.25036873
+v 0.10598496 0.15720066 -0.26429832
+v 0.12253101 0.17328126 -0.34405806
+v 0.12640361 0.17007692 -0.34019154
+v 0.12736380 0.16657521 -0.32958336
+v 0.11116787 0.15649644 -0.26833838
+v 0.14747476 0.15649645 -0.27359291
+v 0.13704528 0.15649647 -0.27688939
+v 0.13415940 0.15649647 -0.27693896
+v 0.12736380 0.15649647 -0.27683981
+v 0.11693432 0.15649645 -0.27277498
+v 0.12899241 0.17178278 -0.34504949
+v 0.13704528 0.17110984 -0.34554521
+v 0.13704528 0.17799972 -0.34710667
+v 0.13704528 0.18762442 -0.34631349
+v 0.13704528 0.19316450 -0.34475199
+v 0.13704528 0.19492119 -0.33924960
+v 0.12903485 0.19378266 -0.33924961
+v 0.12648849 0.19430690 -0.33032681
+v 0.12736380 0.19553147 -0.31994169
+v 0.12736380 0.19604006 -0.31027532
+v 0.12736380 0.19633735 -0.30063376
+v 0.10598496 0.19606334 -0.26001029
+v 0.10598496 0.16044806 -0.27133741
+v 0.10598496 0.16837474 -0.27562527
+v 0.12135332 0.17709200 -0.34019151
+v 0.12237187 0.17969381 -0.34423155
+v 0.12640361 0.17709202 -0.34539647
+v 0.12763965 0.18692800 -0.34509900
+v 0.13105072 0.19298061 -0.34457849
+v 0.12267425 0.19223330 -0.33404464
+v 0.12194747 0.19297664 -0.32760041
+v 0.10598496 0.19602421 -0.26201792
+v 0.10598496 0.17799947 -0.27698845
+v 0.12237187 0.18325418 -0.34423154
+v 0.12419145 0.19021055 -0.33924962
+v 0.12171406 0.18539429 -0.33924964
+v 0.10598496 0.19423626 -0.27091592
+v 0.10598496 0.19467053 -0.26930486
+v 0.10598496 0.18657171 -0.27512948
+v 0.10598496 0.18762416 -0.27488163
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 26
+f 1 26 52
+f 1 52 54
+f 1 54 29
+f 1 29 10
+f 1 10 5
+f 1 5 11
+f 1 11 35
+f 1 35 43
+f 1 43 42
+f 1 42 36
+f 1 36 12
+f 1 12 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 9
+f 3 9 4
+f 5 10 30
+f 5 30 57
+f 5 57 78
+f 5 78 83
+f 5 83 82
+f 5 82 81
+f 5 81 80
+f 5 80 79
+f 5 79 58
+f 5 58 31
+f 5 31 11
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 8
+f 8 25 9
+f 9 25 27
+f 9 27 28
+f 9 28 26
+f 10 29 55
+f 10 55 73
+f 10 73 72
+f 10 72 95
+f 10 95 105
+f 10 105 111
+f 10 111 110
+f 10 110 113
+f 10 113 112
+f 10 112 106
+f 10 106 97
+f 10 97 96
+f 10 96 74
+f 10 74 56
+f 10 56 30
+f 11 31 32
+f 11 32 33
+f 11 33 34
+f 11 34 13
+f 11 13 35
+f 12 36 13
+f 13 34 37
+f 13 37 38
+f 13 38 39
+f 13 39 40
+f 13 40 41
+f 13 41 14
+f 13 36 42
+f 13 42 43
+f 13 43 35
+f 14 41 44
+f 14 44 15
+f 15 44 16
+f 16 44 45
+f 16 45 17
+f 17 45 46
+f 17 46 47
+f 17 47 48
+f 17 48 18
+f 18 48 49
+f 18 49 20
+f 18 20 19
+f 20 49 50
+f 20 50 51
+f 20 51 21
+f 21 23 22
+f 21 51 27
+f 21 27 23
+f 23 27 24
+f 24 27 25
+f 26 28 52
+f 27 51 53
+f 27 53 28
+f 28 53 54
+f 28 54 52
+f 29 54 55
+f 30 56 57
+f 31 58 59
+f 31 59 60
+f 31 60 32
+f 32 60 61
+f 32 61 62
+f 32 62 37
+f 32 37 33
+f 33 37 34
+f 37 62 63
+f 37 63 64
+f 37 64 38
+f 38 64 65
+f 38 65 66
+f 38 66 39
+f 39 67 40
+f 39 66 44
+f 39 44 67
+f 40 67 44
+f 40 44 41
+f 44 66 68
+f 44 68 45
+f 45 68 69
+f 45 69 46
+f 46 69 47
+f 47 69 70
+f 47 70 48
+f 48 70 50
+f 48 50 49
+f 50 71 51
+f 50 70 71
+f 51 71 53
+f 53 71 72
+f 53 72 73
+f 53 73 55
+f 53 55 54
+f 56 74 75
+f 56 75 76
+f 56 76 77
+f 56 77 78
+f 56 78 57
+f 58 79 59
+f 59 77 61
+f 59 61 60
+f 59 79 80
+f 59 80 81
+f 59 81 82
+f 59 82 83
+f 59 83 77
+f 61 77 76
+f 61 76 84
+f 61 84 85
+f 61 85 62
+f 62 85 86
+f 62 86 63
+f 63 86 64
+f 64 86 87
+f 64 87 65
+f 65 87 88
+f 65 88 89
+f 65 89 66
+f 66 89 68
+f 68 89 90
+f 68 90 91
+f 68 91 92
+f 68 92 93
+f 68 93 94
+f 68 94 69
+f 69 94 71
+f 69 71 70
+f 71 94 95
+f 71 95 72
+f 74 96 75
+f 75 97 98
+f 75 98 99
+f 75 99 100
+f 75 100 84
+f 75 84 76
+f 75 96 97
+f 77 83 78
+f 84 100 86
+f 84 86 85
+f 86 100 101
+f 86 101 87
+f 87 101 102
+f 87 102 88
+f 88 102 89
+f 89 102 90
+f 90 103 91
+f 90 102 103
+f 91 103 104
+f 91 104 105
+f 91 105 92
+f 92 105 93
+f 93 105 94
+f 94 105 95
+f 97 106 98
+f 98 106 107
+f 98 107 99
+f 99 107 100
+f 100 107 101
+f 101 107 102
+f 102 107 108
+f 102 108 103
+f 103 108 107
+f 103 107 109
+f 103 109 110
+f 103 110 111
+f 103 111 105
+f 103 105 104
+f 106 112 107
+f 107 112 113
+f 107 113 110
+f 107 110 109
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_4.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.17916322 0.17799809 -0.27497695
+v -0.17916322 0.16837638 -0.27456409
+v -0.17916322 0.18605415 -0.27422295
+v 0.02706274 0.17799808 -0.27354082
+v -0.17916322 0.16063052 -0.27102763
+v 0.02706274 0.17177910 -0.27319376
+v 0.02706274 0.16837637 -0.27300228
+v -0.17916322 0.18762465 -0.27399554
+v 0.02706274 0.18762464 -0.27247565
+v 0.02706274 0.18140566 -0.27316381
+v -0.17916322 0.14661229 -0.24850433
+v 0.02706274 0.16372303 -0.27083016
+v 0.02706274 0.16117339 -0.26963938
+v 0.02706274 0.14661229 -0.24706822
+v -0.17916322 0.19415383 -0.27050094
+v 0.02706274 0.19420714 -0.26915457
+v 0.02706274 0.18995615 -0.27130280
+v -0.17916322 0.14661220 -0.22316856
+v 0.02706274 0.14661220 -0.22318053
+v -0.17916322 0.19597634 -0.26202774
+v 0.02080491 0.19604420 -0.26202774
+v 0.02706274 0.19603936 -0.26202774
+v 0.02706274 0.19485666 -0.26662935
+v -0.17914302 0.17399406 -0.21385155
+v -0.17916322 0.17444970 -0.21385155
+v -0.16323601 0.14661220 -0.22316258
+v 0.02706274 0.17498775 -0.21385155
+v -0.17916322 0.19612657 -0.25237574
+v 0.02706274 0.19610719 -0.25237574
+v 0.02706274 0.19606359 -0.25860497
+v -0.17916322 0.19262189 -0.21385148
+v 0.02706274 0.19251527 -0.21385148
+v -0.17916322 0.19610715 -0.24272373
+v 0.02706274 0.19610230 -0.24272373
+v -0.17916322 0.19580659 -0.23307171
+v 0.02084528 0.19252010 -0.21385148
+v 0.02706274 0.19581628 -0.23307171
+v -0.02764285 0.19581628 -0.23307171
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 25
+f 1 25 31
+f 1 31 35
+f 1 35 33
+f 1 33 28
+f 1 28 20
+f 1 20 15
+f 1 15 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 9
+f 4 9 17
+f 4 17 16
+f 4 16 23
+f 4 23 22
+f 4 22 30
+f 4 30 29
+f 4 29 34
+f 4 34 37
+f 4 37 32
+f 4 32 27
+f 4 27 19
+f 4 19 14
+f 4 14 13
+f 4 13 12
+f 4 12 7
+f 4 7 6
+f 5 7 12
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 11 14 19
+f 11 19 26
+f 11 26 18
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 18 24 25
+f 18 26 24
+f 19 27 24
+f 19 24 26
+f 20 28 21
+f 21 29 30
+f 21 30 22
+f 21 28 29
+f 24 27 32
+f 24 32 36
+f 24 36 31
+f 24 31 25
+f 28 33 34
+f 28 34 29
+f 31 36 37
+f 31 37 38
+f 31 38 35
+f 32 37 36
+f 33 35 38
+f 33 38 37
+f 33 37 34
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_40.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.16018005 0.12018264 -0.11976551
+v 0.16018005 0.13949299 -0.11977635
+v 0.18822915 0.12018263 -0.11807446
+v 0.16018005 0.12018255 -0.09541445
+v 0.16018005 0.14911534 -0.11976540
+v 0.18822915 0.14911533 -0.11808527
+v 0.18822915 0.13949298 -0.11808531
+v 0.18822915 0.12018255 -0.09541445
+v 0.16018005 0.13652763 -0.02071379
+v 0.16018005 0.15740923 -0.11756156
+v 0.16018005 0.15921247 -0.11699424
+v 0.18822915 0.15816183 -0.11523774
+v 0.18822915 0.13677514 -0.02071379
+v 0.18548080 0.13673978 -0.02071379
+v 0.16018005 0.13938652 -0.01185488
+v 0.16018005 0.16390997 -0.11261932
+v 0.18822915 0.16297552 -0.11103737
+v 0.18822915 0.16161174 -0.11225930
+v 0.18822915 0.14074022 -0.01290224
+v 0.16018005 0.14911493 -0.00832001
+v 0.16018005 0.16725884 -0.10892083
+v 0.16018005 0.16791548 -0.10791710
+v 0.18822915 0.16432921 -0.10757891
+v 0.18822915 0.14308898 -0.01207306
+v 0.16018005 0.15920198 -0.01124386
+v 0.18822915 0.14911494 -0.00995651
+v 0.18822915 0.16479895 -0.10621516
+v 0.16018005 0.17129969 -0.09792355
+v 0.16018005 0.16425312 -0.01940450
+v 0.18822915 0.15167079 -0.01077474
+v 0.18822915 0.15813116 -0.01294581
+v 0.18822915 0.16676887 -0.10024740
+v 0.16018005 0.17169364 -0.08826823
+v 0.17579430 0.17075917 -0.08826823
+v 0.17579430 0.16918833 -0.09792356
+v 0.16018005 0.16535932 -0.02344118
+v 0.18822915 0.16277820 -0.02071369
+v 0.18822915 0.16742045 -0.09792357
+v 0.16018005 0.17177441 -0.07942024
+v 0.17579430 0.17082482 -0.07862381
+v 0.18822915 0.16805685 -0.09100664
+v 0.16018005 0.17104703 -0.07020131
+v 0.18822915 0.16813763 -0.07862382
+v 0.16018005 0.17177948 -0.07862381
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 25
+f 1 25 29
+f 1 29 36
+f 1 36 42
+f 1 42 44
+f 1 44 39
+f 1 39 33
+f 1 33 28
+f 1 28 22
+f 1 22 21
+f 1 21 16
+f 1 16 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 12
+f 3 12 18
+f 3 18 17
+f 3 17 23
+f 3 23 27
+f 3 27 32
+f 3 32 38
+f 3 38 41
+f 3 41 43
+f 3 43 37
+f 3 37 31
+f 3 31 30
+f 3 30 26
+f 3 26 24
+f 3 24 19
+f 3 19 13
+f 3 13 8
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 15
+f 13 15 14
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 19 24 20
+f 20 24 26
+f 20 26 25
+f 22 27 23
+f 22 28 27
+f 25 26 30
+f 25 30 31
+f 25 31 29
+f 27 28 32
+f 28 33 34
+f 28 34 35
+f 28 35 32
+f 29 31 37
+f 29 37 36
+f 32 35 38
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 34 41 38
+f 34 38 35
+f 36 37 40
+f 36 40 42
+f 37 43 40
+f 39 44 40
+f 40 43 41
+f 40 44 42
+

dataset/kitchen_supplies/storage/f0d29a08b0665ebc86006cd6c5719f3b/mjcf/mesh/drawer_046_collision_41.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.09920225 0.19250725 -0.00579771
+v -0.09920225 0.16498702 -0.00579781
+v -0.09920225 0.19251003 -0.00730589
+v -0.17835780 0.19258212 -0.00579771
+v -0.17835780 0.16427426 -0.00579782
+v -0.17835780 0.17434206 -0.12522482
+v -0.09920225 0.17524063 -0.12522482
+v -0.09920225 0.19252394 -0.02071586
+v -0.09920225 0.19253230 -0.03036122
+v -0.09920225 0.19253788 -0.04001826
+v -0.09920225 0.19254068 -0.04591070
+v -0.17835780 0.19260465 -0.09792547
+v -0.17835780 0.19259920 -0.12522475
+v -0.09920225 0.19252709 -0.12522475
+v -0.09920225 0.19254918 -0.09792547
+v -0.17835780 0.19260469 -0.10758252
+v -0.09920225 0.19252987 -0.12313200
+v -0.17835780 0.19260194 -0.11722787
+f 1 2 7
+f 1 7 14
+f 1 14 17
+f 1 17 15
+f 1 15 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 16
+f 4 16 18
+f 4 18 13
+f 4 13 6
+f 4 6 5
+f 6 13 14
+f 6 14 7
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 13 18 15
+f 13 15 17
+f 15 18 16
+