Add asset bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35

.gitattributes

@@ -2799,9 +2799,5 @@ dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/remote_holder_
 dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/9173a268ed5d556abd1e680d842b32d2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9173a268ed5d556abd1e680d842b32d2/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/basket_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/mesh/basket_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/storage_bin_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/jewelry_box_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mesh/jewelry_box_015.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/jewelry_box_015.urdf

@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_015">
+   <link name="jewelry_box_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_015.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/jewelry_box_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.6500" />
+         <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>94c689aab69057dab5dbaeb8997cca35</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>brown jewelry box</name>
+         <color>brown,golden</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>brown rectangular jewelry box with open lid and pull-out drawers</description>
+         <min_height>0.1087</min_height>
+         <max_height>0.1087</max_height>
+         <real_height>0.1087</real_height>
+         <min_mass>1.8</min_mass>
+         <max_mass>3.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518170447</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.043038 -0.060026 -0.026271</min>
+            <max>0.062746 0.059974 0.082436</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/jewelry_box_015.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b7b8ecd862bb6dfb959ecccf8414531356a0b0db4223bfcffc79742608fb54
+size 4964891

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mesh/jewelry_box_015.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c9b981c793dc4b1185ad47e7c866f88a09e6da73392abc104347590cc617b5c
+size 16056696

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mesh/jewelry_box_015.mtl

@@ -0,0 +1,6 @@
+newmtl jewelry_box_015_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/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_015_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 jewelry_box_015_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/jewelry_box_015.xml

@@ -0,0 +1,176 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_015">
+  <asset>
+    <material name="material_0" texture="texture_0_jewelry_box_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_jewelry_box_015_geometry_Looks_material_0" type="2d" file="mesh/jewelry_box_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/jewelry_box_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/jewelry_box_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/jewelry_box_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/jewelry_box_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/jewelry_box_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/jewelry_box_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/jewelry_box_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/jewelry_box_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/jewelry_box_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/jewelry_box_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/jewelry_box_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/jewelry_box_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/jewelry_box_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/jewelry_box_015_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/jewelry_box_015_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/jewelry_box_015_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/jewelry_box_015_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/jewelry_box_015_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/jewelry_box_015_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/jewelry_box_015_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/jewelry_box_015_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/jewelry_box_015_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/jewelry_box_015_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/jewelry_box_015_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/jewelry_box_015_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/jewelry_box_015_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/jewelry_box_015_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/jewelry_box_015_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/jewelry_box_015_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/jewelry_box_015_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/jewelry_box_015_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/jewelry_box_015_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/jewelry_box_015_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/jewelry_box_015_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/jewelry_box_015_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/jewelry_box_015_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/jewelry_box_015_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/jewelry_box_015_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/jewelry_box_015_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/jewelry_box_015_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/jewelry_box_015_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/jewelry_box_015_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/jewelry_box_015_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/jewelry_box_015_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/jewelry_box_015_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/jewelry_box_015_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/jewelry_box_015_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/jewelry_box_015_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/jewelry_box_015_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/jewelry_box_015_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/jewelry_box_015_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/jewelry_box_015_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/jewelry_box_015_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/jewelry_box_015_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/jewelry_box_015_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/jewelry_box_015_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/jewelry_box_015_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/jewelry_box_015_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/jewelry_box_015_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/jewelry_box_015_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/jewelry_box_015_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/jewelry_box_015_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/jewelry_box_015_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/jewelry_box_015_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/jewelry_box_015_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/jewelry_box_015_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/jewelry_box_015_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/jewelry_box_015_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/jewelry_box_015_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/jewelry_box_015_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/jewelry_box_015_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/jewelry_box_015_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/jewelry_box_015_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/jewelry_box_015_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/jewelry_box_015_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/jewelry_box_015_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/jewelry_box_015_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/jewelry_box_015_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/jewelry_box_015_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/jewelry_box_015_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/jewelry_box_015_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/jewelry_box_015_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="jewelry_box_015">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_0.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00860364 0.05644112 0.01514558
+v -0.00941602 0.05581016 0.01646348
+v -0.00941602 0.05498857 0.01646347
+v -0.00869744 0.05452720 0.01514557
+v -0.00872128 0.05652391 0.01514558
+v -0.02370186 0.05548994 0.03171998
+v -0.02174642 0.05547059 0.02973213
+v -0.01979098 0.05545023 0.02774429
+v -0.01783713 0.05542921 0.02575813
+v -0.01588328 0.05540785 0.02377198
+v -0.01393579 0.05537614 0.02177906
+v -0.00871016 0.05434626 0.01514557
+v -0.01393579 0.05536312 0.02177906
+v -0.01070852 0.05710513 0.01514558
+v -0.02484491 0.05646911 0.03074214
+v -0.02484491 0.05578606 0.03239839
+v -0.02484491 0.05576937 0.03242884
+v -0.02370186 0.05527294 0.03171998
+v -0.01588328 0.05533807 0.02377198
+v -0.00887073 0.05425211 0.01514557
+v -0.01783713 0.05532071 0.02575813
+v -0.01979098 0.05530368 0.02774429
+v -0.02174642 0.05528797 0.02973213
+v -0.01098355 0.05712550 0.01514558
+v -0.02484491 0.05648180 0.03064401
+v -0.02484491 0.05503291 0.03242884
+v -0.01098355 0.05371529 0.01514557
+v -0.02484491 0.05433686 0.03064400
+v -0.01295330 0.05686677 0.01514558
+v -0.02484491 0.05660498 0.02867139
+v -0.02484491 0.05661100 0.02877459
+v -0.01114412 0.05372764 0.01514557
+v -0.02484491 0.05385579 0.02863586
+v -0.02484491 0.05382442 0.02669876
+v -0.01479110 0.05618640 0.01514558
+v -0.02484491 0.05567960 0.02490040
+v -0.02484491 0.05625279 0.02669877
+v -0.01295330 0.05400373 0.01514557
+v -0.02484491 0.05455287 0.02490040
+v -0.01479110 0.05458328 0.01514557
+v -0.01296125 0.05400607 0.01514557
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 20
+f 1 20 27
+f 1 27 32
+f 1 32 38
+f 1 38 41
+f 1 41 40
+f 1 40 35
+f 1 35 29
+f 1 29 24
+f 1 24 14
+f 1 14 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 13
+f 2 13 3
+f 3 12 4
+f 3 13 12
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 26
+f 6 26 18
+f 6 18 19
+f 6 19 10
+f 6 10 7
+f 7 10 9
+f 7 9 8
+f 10 19 13
+f 10 13 11
+f 12 13 19
+f 12 19 21
+f 12 21 22
+f 12 22 23
+f 12 23 18
+f 12 18 20
+f 14 24 25
+f 14 25 15
+f 15 25 31
+f 15 31 30
+f 15 30 37
+f 15 37 36
+f 15 36 39
+f 15 39 34
+f 15 34 33
+f 15 33 28
+f 15 28 26
+f 15 26 17
+f 15 17 16
+f 18 23 19
+f 18 26 20
+f 19 23 21
+f 20 26 28
+f 20 28 27
+f 21 23 22
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 27 28 33
+f 27 33 34
+f 27 34 32
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 32 34 38
+f 34 39 40
+f 34 40 41
+f 34 41 38
+f 35 40 39
+f 35 39 36
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_1.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v -0.02484492 0.05576905 0.03243303
+v -0.02484492 0.05503269 0.03243303
+v -0.02484492 0.05578519 0.03240339
+v -0.02672735 0.05635700 0.06944653
+v -0.02484492 0.05433769 0.03064954
+v -0.02684301 0.05501842 0.06944652
+v -0.02689833 0.05437990 0.06944652
+v -0.02484492 0.05646912 0.03074836
+v -0.02688827 0.05695114 0.06944653
+v -0.02484492 0.05385653 0.02863880
+v -0.02723861 0.05327435 0.06944652
+v -0.02484492 0.05648122 0.03064955
+v -0.02722855 0.05818682 0.06944653
+v -0.02783535 0.05008294 0.01897535
+v -0.02484492 0.05382527 0.02670710
+v -0.02740120 0.05275183 0.06944651
+v -0.02811529 0.05176227 0.06944651
+v -0.02871538 0.05098354 0.06944651
+v -0.02484492 0.05661034 0.02877714
+v -0.02792419 0.05917637 0.06944654
+v -0.04141301 0.05008294 0.01897535
+v -0.02731907 0.05074265 0.01897536
+v -0.02907075 0.05078684 0.06944651
+v -0.03110405 0.05018160 0.06944650
+v -0.03216679 0.04989311 0.06944650
+v -0.03438448 0.04989323 0.03797120
+v -0.02484492 0.05455357 0.02490386
+v -0.02575009 0.05334615 0.01897537
+v -0.02484492 0.05660428 0.02867339
+v -0.02781692 0.05925121 0.01897539
+v -0.02779512 0.05927036 0.02078852
+v -0.02779345 0.05927137 0.02275974
+v -0.02780518 0.05926327 0.03064956
+v -0.02783535 0.05923901 0.04641933
+v -0.02786050 0.05921778 0.05627543
+v -0.02787055 0.05920869 0.06021787
+v -0.02789067 0.05919556 0.06613647
+v -0.02790408 0.05919051 0.06810769
+v -0.02890983 0.05971907 0.06944654
+v -0.04157896 0.05438009 0.01897537
+v -0.04156052 0.04989323 0.03797120
+v -0.04160243 0.05008293 0.02275970
+v -0.04175832 0.04989311 0.06944650
+v -0.02484492 0.05567830 0.02490386
+v -0.02572830 0.05429738 0.01897537
+v -0.02572663 0.05438009 0.01897537
+v -0.02484492 0.05625225 0.02670711
+v -0.02721346 0.05834336 0.01897538
+v -0.02872209 0.05974145 0.01897539
+v -0.02878076 0.05979289 0.02078852
+v -0.02878076 0.05979692 0.02275974
+v -0.02878579 0.05979891 0.02670712
+v -0.02879417 0.05980091 0.03262078
+v -0.02884446 0.05977157 0.05627543
+v -0.02886122 0.05976247 0.06218909
+v -0.02886960 0.05975540 0.06416525
+v -0.02887631 0.05974330 0.06613647
+v -0.02888804 0.05972815 0.06810769
+v -0.03069001 0.06000958 0.06944654
+v -0.03069001 0.06007214 0.06416525
+v -0.03069001 0.06005096 0.06613647
+v -0.03069001 0.06002674 0.06810769
+v -0.04162422 0.05635719 0.01897538
+v -0.04168121 0.05008292 0.02473092
+v -0.04190918 0.04989316 0.05627539
+v -0.04163930 0.05635700 0.06944653
+v -0.04186392 0.04989312 0.06757903
+v -0.02574004 0.05542815 0.01897537
+v -0.02617586 0.05641670 0.01897538
+v -0.02715982 0.05826165 0.01897538
+v -0.02880423 0.05978482 0.01897539
+v -0.03069001 0.06019738 0.02275974
+v -0.02895844 0.05981710 0.01897539
+v -0.03069001 0.06018830 0.02078852
+v -0.03069001 0.06019837 0.02670712
+v -0.03069001 0.06019532 0.03262078
+v -0.03069001 0.06011554 0.05627543
+v -0.03069001 0.06008829 0.06218909
+v -0.03659881 0.05997528 0.06944654
+v -0.03659881 0.05999546 0.06810769
+v -0.04162086 0.05645705 0.01897538
+v -0.04171809 0.05008291 0.02670708
+v -0.04196114 0.04989315 0.06021783
+v -0.04196785 0.04989314 0.06166536
+v -0.04194103 0.04989316 0.05824661
+v -0.04158566 0.05753619 0.06944653
+v -0.04196114 0.04989314 0.06363658
+v -0.04195444 0.04989313 0.06416521
+v -0.04192930 0.04989313 0.06560781
+v -0.03659881 0.06017721 0.02275974
+v -0.03659881 0.06018527 0.02473096
+v -0.03659881 0.06018725 0.03262078
+v -0.03069001 0.06015603 0.01897539
+v -0.03659881 0.06016207 0.02078852
+v -0.03659881 0.06018724 0.03459200
+v -0.03659881 0.06004289 0.06218909
+v -0.03659881 0.06013172 0.04641933
+v -0.03856840 0.05995107 0.06944654
+v -0.03856840 0.05997328 0.06810769
+v -0.03856840 0.06002474 0.06218909
+v -0.04162925 0.05635718 0.02078851
+v -0.04158063 0.05755656 0.01897538
+v -0.04196785 0.04989314 0.06218905
+v -0.04158902 0.05760191 0.02867339
+v -0.04158734 0.05759890 0.02473095
+v -0.04158566 0.05759488 0.02275973
+v -0.04158399 0.05758177 0.02078851
+v -0.04158734 0.05755032 0.06810768
+v -0.04141301 0.05785596 0.06944653
+v -0.04107943 0.05855200 0.06613647
+v -0.04112134 0.05856715 0.06021787
+v -0.04113307 0.05857119 0.05824665
+v -0.03856840 0.06013383 0.02275974
+v -0.03856840 0.06014391 0.02473096
+v -0.03856840 0.06012072 0.02078852
+v -0.03856840 0.06015294 0.03459200
+v -0.03659881 0.06012174 0.01897539
+v -0.03856840 0.06009047 0.01897539
+v -0.03856840 0.06007320 0.05233299
+v -0.03956410 0.05970293 0.06944654
+v -0.04009379 0.05960308 0.06613647
+v -0.04007200 0.05959096 0.06810769
+v -0.04014744 0.05963741 0.05824665
+v -0.04013403 0.05962933 0.06021787
+v -0.04010721 0.05961216 0.06416525
+v -0.04114984 0.05854611 0.01897539
+v -0.04119174 0.05858343 0.02275974
+v -0.04117666 0.05857132 0.02078852
+v -0.04158902 0.05756345 0.06613646
+v -0.04158902 0.05756950 0.06416524
+v -0.04158902 0.05758264 0.05824664
+v -0.04158902 0.05758567 0.05627542
+v -0.04158902 0.05759886 0.03459199
+v -0.04158902 0.05760090 0.03064955
+v -0.04119342 0.05858745 0.02473096
+v -0.04114145 0.05857422 0.05627543
+v -0.04103417 0.05852575 0.06944653
+v -0.04105764 0.05853887 0.06810769
+v -0.04109284 0.05855805 0.06416525
+v -0.04015749 0.05964246 0.05627543
+v -0.04019270 0.05966982 0.02078852
+v -0.04020611 0.05967587 0.02275974
+v -0.04016420 0.05965672 0.01897539
+v -0.04020778 0.05967687 0.02473096
+v -0.04020611 0.05967787 0.02670712
+v -0.04020443 0.05967887 0.03064956
+v -0.04020275 0.05967886 0.03262078
+v -0.04019940 0.05967784 0.03459200
+v -0.04019270 0.05967279 0.03853939
+v -0.04018934 0.05966975 0.04051061
+v -0.04017426 0.05965761 0.04839055
+v -0.04016588 0.05965054 0.05233299
+v -0.04005021 0.05957886 0.06944654
+v -0.04114816 0.05857524 0.05430421
+v -0.04116492 0.05857930 0.04641933
+v -0.04118001 0.05858538 0.03797124
+v -0.04118504 0.05858741 0.03459200
+v -0.04118839 0.05858945 0.03064956
+v -0.04119006 0.05859046 0.02867340
+v -0.04119174 0.05858946 0.02670712
+v -0.04036703 0.05923992 0.06944654
+v -0.04020611 0.05967786 0.02867340
+v -0.04019437 0.05967279 0.03797124
+f 1 2 5
+f 1 5 10
+f 1 10 15
+f 1 15 27
+f 1 27 44
+f 1 44 47
+f 1 47 29
+f 1 29 19
+f 1 19 12
+f 1 12 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 4
+f 4 9 13
+f 4 13 20
+f 4 20 39
+f 4 39 59
+f 4 59 79
+f 4 79 98
+f 4 98 120
+f 4 120 153
+f 4 153 161
+f 4 161 137
+f 4 137 109
+f 4 109 86
+f 4 86 66
+f 4 66 43
+f 4 43 25
+f 4 25 24
+f 4 24 23
+f 4 23 18
+f 4 18 17
+f 4 17 16
+f 4 16 11
+f 4 11 7
+f 4 7 6
+f 4 8 9
+f 5 7 10
+f 7 11 10
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 10 11 16
+f 10 16 17
+f 10 17 18
+f 10 18 14
+f 12 19 13
+f 13 19 20
+f 14 21 40
+f 14 40 63
+f 14 63 81
+f 14 81 102
+f 14 102 126
+f 14 126 143
+f 14 143 118
+f 14 118 117
+f 14 117 93
+f 14 93 73
+f 14 73 71
+f 14 71 49
+f 14 49 30
+f 14 30 48
+f 14 48 70
+f 14 70 69
+f 14 69 68
+f 14 68 46
+f 14 46 45
+f 14 45 28
+f 14 28 22
+f 14 22 15
+f 14 18 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 41
+f 14 41 21
+f 15 22 28
+f 15 28 27
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 38 39
+f 21 41 42
+f 21 42 40
+f 25 43 67
+f 25 67 89
+f 25 89 88
+f 25 88 87
+f 25 87 103
+f 25 103 84
+f 25 84 83
+f 25 83 85
+f 25 85 65
+f 25 65 41
+f 25 41 26
+f 27 28 45
+f 27 45 46
+f 27 46 44
+f 29 47 30
+f 30 49 31
+f 30 47 48
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 33 53 54
+f 33 54 34
+f 34 54 55
+f 34 55 35
+f 35 55 36
+f 36 55 37
+f 37 55 56
+f 37 56 38
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 39 58 60
+f 39 60 61
+f 39 61 62
+f 39 62 59
+f 40 42 64
+f 40 64 63
+f 41 64 42
+f 41 65 64
+f 43 66 67
+f 44 46 68
+f 44 68 69
+f 44 69 47
+f 47 69 70
+f 47 70 48
+f 49 71 50
+f 50 72 51
+f 50 71 73
+f 50 73 74
+f 50 74 72
+f 51 72 75
+f 51 75 52
+f 52 75 53
+f 53 75 76
+f 53 76 54
+f 54 76 55
+f 55 77 56
+f 55 76 77
+f 56 77 78
+f 56 78 57
+f 57 78 60
+f 57 60 58
+f 59 62 80
+f 59 80 79
+f 60 78 80
+f 60 80 61
+f 61 80 62
+f 63 64 82
+f 63 82 83
+f 63 83 84
+f 63 84 81
+f 64 65 82
+f 65 85 82
+f 66 86 87
+f 66 87 88
+f 66 88 89
+f 66 89 67
+f 72 74 90
+f 72 90 91
+f 72 91 92
+f 72 92 75
+f 73 93 74
+f 74 93 94
+f 74 94 90
+f 75 92 95
+f 75 95 76
+f 76 95 77
+f 77 95 78
+f 78 96 80
+f 78 95 97
+f 78 97 96
+f 79 80 99
+f 79 99 98
+f 80 96 100
+f 80 100 99
+f 81 84 101
+f 81 101 102
+f 82 85 83
+f 84 103 104
+f 84 104 105
+f 84 105 106
+f 84 106 107
+f 84 107 102
+f 84 102 101
+f 86 108 103
+f 86 103 87
+f 86 109 110
+f 86 110 111
+f 86 111 112
+f 86 112 108
+f 90 113 114
+f 90 114 91
+f 90 94 115
+f 90 115 113
+f 91 114 116
+f 91 116 92
+f 92 116 95
+f 93 117 94
+f 94 117 118
+f 94 118 115
+f 95 116 119
+f 95 119 97
+f 96 97 100
+f 97 119 100
+f 98 99 120
+f 99 121 122
+f 99 122 120
+f 99 100 121
+f 100 119 123
+f 100 123 124
+f 100 124 125
+f 100 125 121
+f 102 107 127
+f 102 127 128
+f 102 128 126
+f 103 108 129
+f 103 129 130
+f 103 130 131
+f 103 131 132
+f 103 132 133
+f 103 133 134
+f 103 134 104
+f 104 134 135
+f 104 135 105
+f 105 135 127
+f 105 127 106
+f 106 127 107
+f 108 112 136
+f 108 136 129
+f 109 137 138
+f 109 138 110
+f 110 138 122
+f 110 122 121
+f 110 121 125
+f 110 125 124
+f 110 124 123
+f 110 123 139
+f 110 139 111
+f 111 123 112
+f 111 139 123
+f 112 123 140
+f 112 140 136
+f 113 115 141
+f 113 141 114
+f 114 141 142
+f 114 142 116
+f 115 118 143
+f 115 143 141
+f 116 142 144
+f 116 144 145
+f 116 145 146
+f 116 146 147
+f 116 147 148
+f 116 148 149
+f 116 149 150
+f 116 150 151
+f 116 151 152
+f 116 152 140
+f 116 140 123
+f 116 123 119
+f 120 122 153
+f 122 138 153
+f 126 128 143
+f 127 135 142
+f 127 142 141
+f 127 141 128
+f 128 141 143
+f 129 136 154
+f 129 154 155
+f 129 155 156
+f 129 156 157
+f 129 157 130
+f 130 157 158
+f 130 158 159
+f 130 159 131
+f 131 159 160
+f 131 160 132
+f 132 160 135
+f 132 135 133
+f 133 135 134
+f 135 160 144
+f 135 144 142
+f 136 140 152
+f 136 152 154
+f 137 161 138
+f 138 161 153
+f 144 160 162
+f 144 162 146
+f 144 146 145
+f 146 162 160
+f 146 160 159
+f 146 159 147
+f 147 157 156
+f 147 156 148
+f 147 159 158
+f 147 158 157
+f 148 156 155
+f 148 155 154
+f 148 154 163
+f 148 163 149
+f 149 154 150
+f 149 163 154
+f 150 154 151
+f 151 154 152
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_10.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.04168746 0.04645864 0.02117090
+v -0.04161829 0.04843687 0.02117091
+v -0.04141486 0.05008231 0.01897535
+v -0.04143520 0.04843688 0.01897535
+v -0.04144199 0.04645865 0.01897534
+v -0.04168203 0.00293774 0.02117074
+v -0.04152607 0.05002684 0.02117091
+v -0.04152200 0.05008230 0.02117091
+v -0.02783399 0.05008231 0.01897535
+v -0.04142029 -0.00892235 0.01897514
+v -0.04167661 -0.00892236 0.02117070
+v -0.03355846 0.05008230 0.02117091
+v -0.02861244 -0.04435472 0.01897587
+v -0.02864770 -0.04255214 0.01897501
+v -0.02871686 0.05008231 0.01953956
+v -0.04140130 -0.04435472 0.01897501
+v -0.04161151 -0.04435473 0.02116455
+v -0.04161151 -0.04435473 0.02117057
+v -0.03068877 0.05008231 0.02034169
+v -0.03379172 0.00293774 0.02117074
+v -0.02871822 -0.04435472 0.01903670
+v -0.04132264 -0.04435472 0.01897501
+v -0.03560630 -0.04435473 0.02117057
+v -0.03389751 -0.00892236 0.02117070
+v -0.03401143 -0.02079169 0.02117065
+v -0.03407788 -0.02290858 0.02117065
+v -0.03463934 -0.03859570 0.02117059
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 18
+f 1 18 23
+f 1 23 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 20
+f 1 20 12
+f 1 12 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 12
+f 3 12 19
+f 3 19 15
+f 3 15 9
+f 3 9 14
+f 3 14 22
+f 3 22 16
+f 3 16 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 9 13 14
+f 9 15 13
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 12 20 19
+f 13 21 23
+f 13 23 18
+f 13 18 17
+f 13 17 16
+f 13 16 22
+f 13 22 14
+f 13 15 21
+f 15 19 21
+f 19 20 24
+f 19 24 25
+f 19 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 23
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_11.obj

@@ -0,0 +1,721 @@
+# https://github.com/mikedh/trimesh
+v -0.03434320 0.05008224 0.03797116
+v -0.03355906 0.05008230 0.02117113
+v -0.04154259 0.05008224 0.03797116
+v -0.03328893 0.04250214 0.03797114
+v -0.04152181 0.05008230 0.02117113
+v -0.03310083 0.04108780 0.03797113
+v -0.03304177 0.04052392 0.03797113
+v -0.03292694 0.03910958 0.03797112
+v -0.03281758 0.03713136 0.03797112
+v -0.03257041 0.03261102 0.03797110
+v -0.03247855 0.03063280 0.03797109
+v -0.03240965 0.02865458 0.03797109
+v -0.03244465 0.02865459 0.03656013
+v -0.03238559 0.02667636 0.03656012
+v -0.03245886 0.02667636 0.03458838
+v -0.03241512 0.02469814 0.03458837
+v -0.03252667 0.02469815 0.03261664
+v -0.03242934 0.01282881 0.03261660
+v -0.03260978 0.01480705 0.03064486
+v -0.03260650 0.01282882 0.03064486
+v -0.03259229 0.00293771 0.03064482
+v -0.03279133 0.00293771 0.02867473
+v -0.03282523 -0.00892239 0.02867469
+v -0.03307239 -0.00892238 0.02670131
+v -0.03379091 0.00293774 0.02117096
+v -0.04165414 0.05008226 0.03246872
+v -0.04235407 0.04645861 0.03064498
+v -0.04265154 0.04448038 0.03261671
+v -0.04259358 0.04448037 0.03458844
+v -0.04282433 0.04250214 0.03797114
+v -0.04160493 0.05008230 0.02275805
+v -0.04152619 0.05002684 0.02117113
+v -0.04213753 0.04645863 0.02472978
+v -0.04228408 0.04645862 0.02670151
+v -0.03235606 0.02667635 0.03797108
+v -0.03234294 0.02469814 0.03656011
+v -0.03231888 0.02271992 0.03656010
+v -0.03233091 0.01480703 0.03458833
+v -0.03231669 0.01282880 0.03458833
+v -0.03231560 0.01085058 0.03458832
+v -0.03242934 0.00491592 0.03261657
+v -0.03243371 0.00293770 0.03261656
+v -0.03246543 -0.00892240 0.03261652
+v -0.03263056 -0.00892239 0.03064478
+v -0.03293788 -0.02079172 0.02867464
+v -0.03316535 -0.02079171 0.02670126
+v -0.03389700 -0.00892236 0.02117092
+v -0.04169023 0.05008227 0.03064499
+v -0.04235407 0.04645861 0.02867489
+v -0.04266576 0.04448039 0.03064497
+v -0.04169352 0.05008227 0.03042134
+v -0.04171648 0.05008227 0.02867490
+v -0.04171867 0.05008228 0.02670152
+v -0.04289870 0.04250215 0.03458844
+v -0.04285824 0.04250215 0.03656018
+v -0.04309555 0.04052392 0.03797113
+v -0.04168149 0.05008229 0.02472979
+v -0.04161805 0.04843687 0.02117113
+v -0.04191115 0.04645864 0.02275804
+v -0.04246125 0.04448040 0.02670150
+v -0.04260670 0.04448039 0.02867488
+v -0.03231669 0.02469813 0.03797107
+v -0.03229810 0.02328379 0.03797107
+v -0.03229154 0.02271991 0.03797106
+v -0.03227732 0.02130557 0.03797106
+v -0.03227295 0.02074169 0.03797106
+v -0.03226201 0.01480703 0.03656007
+v -0.03225217 0.01282880 0.03656007
+v -0.03224889 0.01085058 0.03656006
+v -0.03231560 0.00491591 0.03458830
+v -0.03234075 -0.00892241 0.03458825
+v -0.03235935 -0.01090063 0.03458824
+v -0.03258354 -0.02079173 0.03261647
+v -0.03274649 -0.02079172 0.03064473
+v -0.03278367 -0.02276995 0.03064473
+v -0.03300459 -0.03266106 0.03064469
+v -0.03320363 -0.03266106 0.02867460
+v -0.03401183 -0.02080094 0.02117087
+v -0.04284730 0.04250217 0.03064497
+v -0.04290417 0.04250216 0.03261671
+v -0.04310430 0.04052393 0.03656017
+v -0.04326507 0.03854569 0.03797112
+v -0.04168805 0.04645864 0.02117112
+v -0.04222830 0.04448041 0.02472977
+v -0.04283089 0.02865461 0.02867483
+v -0.04270403 0.04250217 0.02867488
+v -0.03225982 0.01876346 0.03797105
+v -0.03224889 0.01678524 0.03797104
+v -0.03223248 0.01282879 0.03797103
+v -0.03223904 0.01480702 0.03797103
+v -0.03223030 0.01085057 0.03797102
+v -0.03222920 0.00745801 0.03797101
+v -0.03224889 0.00689413 0.03656005
+v -0.03225108 0.00491591 0.03656004
+v -0.03226639 -0.00892241 0.03655999
+v -0.03227404 -0.01090063 0.03655998
+v -0.03228826 -0.01287885 0.03655997
+v -0.03230576 -0.01485707 0.03655997
+v -0.03245996 -0.02079174 0.03458820
+v -0.03260978 -0.02276996 0.03261647
+v -0.03281976 -0.03068285 0.03261644
+v -0.03269618 -0.03068286 0.03458817
+v -0.03288319 -0.03266107 0.03261643
+v -0.03359843 -0.04386485 0.03498938
+v -0.03329768 -0.03463928 0.02867459
+v -0.03351422 -0.03463927 0.02706793
+v -0.03407744 -0.02290858 0.02117087
+v -0.04288886 0.04052395 0.03064496
+v -0.04303103 0.04052394 0.03261670
+v -0.04309446 0.04052393 0.03458843
+v -0.04324866 0.03854570 0.03656016
+v -0.04334490 0.03656747 0.03797111
+v -0.04227861 0.02865463 0.02472972
+v -0.04168258 0.00293774 0.02117096
+v -0.04228626 -0.00892237 0.02472958
+v -0.04257389 0.02865462 0.02670145
+v -0.04304306 0.02865461 0.03064492
+v -0.04284074 -0.00892239 0.02867469
+v -0.03223139 0.00350156 0.03797099
+v -0.03223904 -0.00638031 0.03797096
+v -0.03224233 -0.00892242 0.03797095
+v -0.03224561 -0.01033675 0.03797094
+v -0.03225217 -0.01231497 0.03797093
+v -0.03226529 -0.01429320 0.03797093
+v -0.03227076 -0.01485708 0.03797093
+v -0.03228607 -0.01627142 0.03797092
+v -0.03237466 -0.02079174 0.03655994
+v -0.03248621 -0.02276997 0.03458820
+v -0.03264259 -0.02870463 0.03458817
+v -0.03261963 -0.03068286 0.03655991
+v -0.03279024 -0.03266108 0.03458816
+v -0.03255292 -0.02870463 0.03655991
+v -0.03286788 -0.03605365 0.03797085
+v -0.03300787 -0.03803187 0.03797084
+v -0.03319379 -0.04057398 0.03797083
+v -0.03341907 -0.04255220 0.03655986
+v -0.03357000 -0.04396653 0.03655986
+v -0.03365968 -0.04435478 0.03511271
+v -0.03367389 -0.04435478 0.03458319
+v -0.03382372 -0.04435477 0.03261639
+v -0.03358640 -0.03591495 0.02734256
+v -0.03463848 -0.03859570 0.02117081
+v -0.04320054 0.02865460 0.03261666
+v -0.04318523 0.03854570 0.03458842
+v -0.04330991 0.03656748 0.03656015
+v -0.04337662 0.03458925 0.03797111
+v -0.04258373 -0.00892238 0.02670131
+v -0.04167711 -0.00892236 0.02117092
+v -0.04195052 -0.00892236 0.02275784
+v -0.04161259 -0.04435473 0.02117079
+v -0.04304415 -0.00892239 0.03064478
+v -0.04215284 -0.04435474 0.02491363
+v -0.04292057 -0.03068284 0.03064470
+v -0.03229263 -0.01683531 0.03797092
+v -0.03231779 -0.01881353 0.03797091
+v -0.03234513 -0.02079175 0.03797090
+v -0.03240747 -0.02276997 0.03655994
+v -0.03245121 -0.02474819 0.03655993
+v -0.03249933 -0.02672641 0.03655992
+v -0.03258572 -0.03068287 0.03797087
+v -0.03264478 -0.03209721 0.03797086
+v -0.03271368 -0.03266108 0.03655990
+v -0.03274540 -0.03407543 0.03797085
+v -0.03246543 -0.02672642 0.03797088
+v -0.03252011 -0.02870464 0.03797087
+v -0.03338517 -0.04255221 0.03797082
+v -0.03357546 -0.04387410 0.03797082
+v -0.03364108 -0.04435478 0.03655986
+v -0.03411681 -0.04435476 0.03064465
+v -0.03560744 -0.04435473 0.02117079
+v -0.04330772 0.02865459 0.03458839
+v -0.04328475 0.03063281 0.03458839
+v -0.04321148 0.03656748 0.03458841
+v -0.04319508 -0.00892240 0.03261652
+v -0.04333834 0.03458926 0.03656015
+v -0.04338209 0.03402536 0.03797110
+v -0.04187725 -0.04435473 0.02294189
+v -0.04312180 -0.02870462 0.03261644
+v -0.04236938 -0.04435475 0.02688536
+v -0.04258373 -0.04255218 0.02867456
+v -0.04310868 -0.03068285 0.03261644
+v -0.03236919 -0.02220609 0.03797090
+v -0.03237903 -0.02276998 0.03797090
+v -0.03240637 -0.02418431 0.03797089
+v -0.03245230 -0.02616254 0.03797088
+v -0.03267212 -0.03266109 0.03797086
+v -0.03362796 -0.04415142 0.03797082
+v -0.03365858 -0.04435479 0.03762713
+v -0.04337553 0.02865459 0.03656013
+v -0.04336787 0.03063281 0.03656013
+v -0.04335584 0.03261103 0.03656014
+v -0.04330116 -0.00892241 0.03458825
+v -0.04325851 -0.02870463 0.03458817
+v -0.04339193 0.03261102 0.03797110
+v -0.04324648 -0.03068286 0.03458817
+v -0.04251374 -0.04435476 0.02885874
+v -0.04274122 -0.04255218 0.03064465
+v -0.04295119 -0.04057396 0.03261640
+v -0.04278496 -0.04057395 0.03064466
+v -0.04315789 -0.03661753 0.03458815
+v -0.03367608 -0.04435479 0.03797082
+v -0.04340068 0.02809069 0.03797108
+v -0.04340068 0.03006891 0.03797109
+v -0.04339521 0.03204714 0.03797110
+v -0.04336459 -0.00892241 0.03655999
+v -0.04334053 -0.02870463 0.03655991
+v -0.04333069 -0.03068286 0.03655991
+v -0.04328913 -0.03463930 0.03655989
+v -0.04331319 -0.03266108 0.03655990
+v -0.04259248 -0.04435476 0.03082883
+v -0.04283527 -0.04255219 0.03261639
+v -0.04303650 -0.04057397 0.03458813
+v -0.04312508 -0.03859575 0.03458814
+v -0.04252140 -0.04435479 0.03797082
+v -0.04338974 -0.00892242 0.03797095
+v -0.04337115 -0.02729031 0.03797088
+v -0.04338865 -0.01090064 0.03797094
+v -0.04336787 -0.02870464 0.03797087
+v -0.04334272 -0.03266109 0.03797086
+v -0.04335803 -0.03068287 0.03797087
+v -0.04331866 -0.03463931 0.03797085
+v -0.04325523 -0.03661753 0.03655989
+v -0.04262311 -0.04435477 0.03261639
+v -0.04286589 -0.04255220 0.03458812
+v -0.04305290 -0.04057397 0.03655987
+v -0.04318851 -0.03859575 0.03655988
+v -0.04270950 -0.04311609 0.03797082
+v -0.04257389 -0.04435478 0.03674404
+v -0.04330881 -0.03520320 0.03797085
+v -0.04327600 -0.03661754 0.03797085
+v -0.04262529 -0.04435477 0.03280057
+v -0.04262201 -0.04435478 0.03458812
+v -0.04284292 -0.04255220 0.03655986
+v -0.04296541 -0.04113787 0.03797083
+v -0.04302447 -0.04057398 0.03797083
+v -0.04314805 -0.03915965 0.03797084
+v -0.04318633 -0.03859576 0.03797084
+v -0.04325632 -0.03718142 0.03797084
+v -0.04279153 -0.04255221 0.03797082
+v -0.04258045 -0.04435478 0.03655986
+v -0.04261982 -0.04435478 0.03477230
+f 1 2 5
+f 1 5 31
+f 1 31 57
+f 1 57 53
+f 1 53 52
+f 1 52 51
+f 1 51 48
+f 1 48 26
+f 1 26 3
+f 1 3 30
+f 1 30 56
+f 1 56 82
+f 1 82 112
+f 1 112 146
+f 1 146 176
+f 1 176 194
+f 1 194 204
+f 1 204 203
+f 1 203 202
+f 1 202 215
+f 1 215 217
+f 1 217 216
+f 1 216 218
+f 1 218 220
+f 1 220 219
+f 1 219 221
+f 1 221 229
+f 1 229 230
+f 1 230 238
+f 1 238 237
+f 1 237 236
+f 1 236 235
+f 1 235 234
+f 1 234 239
+f 1 239 227
+f 1 227 214
+f 1 214 201
+f 1 201 187
+f 1 187 167
+f 1 167 166
+f 1 166 135
+f 1 135 134
+f 1 134 133
+f 1 133 163
+f 1 163 186
+f 1 186 161
+f 1 161 160
+f 1 160 165
+f 1 165 164
+f 1 164 185
+f 1 185 184
+f 1 184 183
+f 1 183 182
+f 1 182 156
+f 1 156 155
+f 1 155 154
+f 1 154 126
+f 1 126 125
+f 1 125 124
+f 1 124 123
+f 1 123 122
+f 1 122 121
+f 1 121 120
+f 1 120 119
+f 1 119 92
+f 1 92 91
+f 1 91 89
+f 1 89 90
+f 1 90 88
+f 1 88 87
+f 1 87 66
+f 1 66 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 35
+f 1 35 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 18
+f 2 18 19
+f 2 19 20
+f 2 20 21
+f 2 21 22
+f 2 22 23
+f 2 23 24
+f 2 24 25
+f 2 25 47
+f 2 47 78
+f 2 78 107
+f 2 107 142
+f 2 142 170
+f 2 170 150
+f 2 150 148
+f 2 148 114
+f 2 114 83
+f 2 83 58
+f 2 58 32
+f 2 32 5
+f 3 26 27
+f 3 27 28
+f 3 28 29
+f 3 29 30
+f 5 32 33
+f 5 33 34
+f 5 34 31
+f 12 35 14
+f 12 14 13
+f 14 35 36
+f 14 36 16
+f 14 16 15
+f 16 36 37
+f 16 37 38
+f 16 38 17
+f 17 38 18
+f 18 38 39
+f 18 39 40
+f 18 40 70
+f 18 70 41
+f 18 41 21
+f 18 21 20
+f 18 20 19
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 23
+f 21 23 22
+f 23 44 45
+f 23 45 46
+f 23 46 24
+f 24 46 25
+f 25 46 47
+f 26 48 27
+f 27 49 50
+f 27 50 28
+f 27 48 51
+f 27 51 52
+f 27 52 53
+f 27 53 49
+f 28 50 54
+f 28 54 55
+f 28 55 30
+f 28 30 29
+f 30 55 56
+f 31 34 57
+f 32 58 33
+f 33 58 59
+f 33 59 60
+f 33 60 34
+f 34 49 57
+f 34 60 61
+f 34 61 49
+f 35 62 36
+f 36 62 63
+f 36 63 37
+f 37 63 64
+f 37 64 65
+f 37 65 66
+f 37 66 67
+f 37 67 39
+f 37 39 38
+f 39 67 68
+f 39 68 69
+f 39 69 40
+f 40 69 93
+f 40 93 70
+f 41 70 71
+f 41 71 42
+f 42 71 43
+f 43 71 72
+f 43 72 73
+f 43 73 74
+f 43 74 44
+f 44 74 45
+f 45 74 75
+f 45 75 76
+f 45 76 77
+f 45 77 46
+f 46 78 47
+f 46 77 78
+f 49 53 57
+f 49 61 50
+f 50 61 79
+f 50 79 80
+f 50 80 54
+f 54 80 81
+f 54 81 56
+f 54 56 55
+f 56 81 82
+f 58 83 59
+f 59 83 84
+f 59 84 60
+f 60 84 85
+f 60 85 86
+f 60 86 61
+f 61 86 79
+f 66 87 67
+f 67 87 88
+f 67 88 90
+f 67 90 68
+f 68 89 69
+f 68 90 89
+f 69 89 91
+f 69 91 92
+f 69 92 93
+f 70 93 94
+f 70 94 95
+f 70 95 71
+f 71 95 96
+f 71 96 97
+f 71 97 98
+f 71 98 72
+f 72 98 99
+f 72 99 73
+f 73 99 128
+f 73 128 100
+f 73 100 74
+f 74 100 75
+f 75 100 76
+f 76 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 105
+f 76 105 77
+f 76 100 101
+f 77 105 106
+f 77 106 78
+f 78 106 107
+f 79 86 108
+f 79 108 109
+f 79 109 110
+f 79 110 80
+f 80 110 81
+f 81 110 82
+f 82 110 111
+f 82 111 112
+f 83 113 84
+f 83 114 115
+f 83 115 113
+f 84 113 116
+f 84 116 85
+f 85 117 86
+f 85 116 147
+f 85 147 118
+f 85 118 117
+f 86 117 108
+f 92 119 93
+f 93 119 120
+f 93 120 94
+f 94 120 95
+f 95 120 121
+f 95 121 122
+f 95 122 123
+f 95 123 96
+f 96 123 124
+f 96 124 97
+f 97 124 98
+f 98 124 125
+f 98 125 126
+f 98 126 127
+f 98 127 99
+f 99 127 128
+f 100 128 129
+f 100 129 101
+f 101 129 102
+f 102 130 162
+f 102 162 131
+f 102 131 103
+f 102 129 159
+f 102 159 132
+f 102 132 130
+f 103 131 133
+f 103 133 134
+f 103 134 135
+f 103 135 104
+f 104 135 136
+f 104 136 137
+f 104 137 138
+f 104 138 139
+f 104 139 140
+f 104 140 105
+f 105 140 141
+f 105 141 142
+f 105 142 106
+f 106 142 107
+f 108 117 143
+f 108 143 109
+f 109 144 111
+f 109 111 110
+f 109 143 144
+f 111 144 145
+f 111 145 112
+f 112 145 146
+f 113 115 147
+f 113 147 116
+f 114 148 149
+f 114 149 115
+f 115 149 150
+f 115 150 147
+f 117 118 151
+f 117 151 143
+f 118 147 152
+f 118 152 153
+f 118 153 151
+f 126 154 127
+f 127 155 156
+f 127 156 157
+f 127 157 128
+f 127 154 155
+f 128 157 158
+f 128 158 159
+f 128 159 129
+f 130 160 161
+f 130 161 162
+f 130 132 160
+f 131 162 163
+f 131 163 133
+f 132 159 164
+f 132 164 165
+f 132 165 160
+f 135 166 136
+f 136 166 137
+f 137 166 167
+f 137 167 168
+f 137 168 138
+f 138 168 188
+f 138 188 201
+f 138 201 214
+f 138 214 228
+f 138 228 240
+f 138 240 241
+f 138 241 232
+f 138 232 231
+f 138 231 223
+f 138 223 210
+f 138 210 196
+f 138 196 179
+f 138 179 152
+f 138 152 177
+f 138 177 150
+f 138 150 170
+f 138 170 169
+f 138 169 140
+f 138 140 139
+f 140 169 142
+f 140 142 141
+f 142 169 170
+f 143 171 172
+f 143 172 173
+f 143 173 144
+f 143 151 174
+f 143 174 171
+f 144 173 175
+f 144 175 145
+f 145 175 146
+f 146 175 176
+f 147 150 177
+f 147 177 152
+f 148 150 149
+f 151 153 178
+f 151 178 174
+f 152 179 153
+f 153 179 180
+f 153 180 181
+f 153 181 178
+f 156 182 157
+f 157 183 184
+f 157 184 158
+f 157 182 183
+f 158 184 185
+f 158 185 164
+f 158 164 159
+f 161 186 162
+f 162 186 163
+f 167 187 188
+f 167 188 168
+f 171 189 190
+f 171 190 191
+f 171 191 175
+f 171 175 172
+f 171 174 192
+f 171 192 189
+f 172 175 173
+f 174 178 193
+f 174 193 192
+f 175 191 176
+f 176 191 194
+f 178 181 195
+f 178 195 193
+f 179 196 197
+f 179 197 180
+f 180 197 198
+f 180 198 199
+f 180 199 181
+f 181 199 198
+f 181 198 200
+f 181 200 195
+f 187 201 188
+f 189 202 203
+f 189 203 204
+f 189 204 190
+f 189 192 205
+f 189 205 202
+f 190 204 194
+f 190 194 191
+f 192 193 206
+f 192 206 205
+f 193 195 207
+f 193 207 206
+f 195 208 209
+f 195 209 207
+f 195 200 208
+f 196 210 211
+f 196 211 197
+f 197 211 198
+f 198 211 212
+f 198 212 213
+f 198 213 200
+f 200 213 208
+f 202 205 215
+f 205 206 216
+f 205 216 217
+f 205 217 215
+f 206 207 220
+f 206 220 218
+f 206 218 216
+f 207 209 219
+f 207 219 220
+f 208 221 219
+f 208 219 209
+f 208 213 222
+f 208 222 221
+f 210 223 211
+f 211 223 224
+f 211 224 212
+f 212 225 226
+f 212 226 213
+f 212 224 225
+f 213 226 222
+f 214 227 228
+f 221 222 229
+f 222 226 230
+f 222 230 229
+f 223 231 224
+f 224 231 232
+f 224 232 233
+f 224 233 225
+f 225 233 234
+f 225 234 235
+f 225 235 236
+f 225 236 226
+f 226 236 237
+f 226 237 238
+f 226 238 230
+f 227 239 233
+f 227 233 228
+f 228 233 240
+f 232 241 233
+f 233 241 240
+f 233 239 234
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_12.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02861254 -0.04435472 0.01897596
+v -0.02871785 -0.04435472 0.01903670
+v -0.02858284 -0.05032272 0.01938306
+v -0.02799558 -0.05032272 0.01897531
+v -0.02860984 -0.04439153 0.01897533
+v -0.04132317 -0.04435472 0.01897533
+v -0.03361444 -0.05032273 0.02220659
+v -0.02861524 -0.05032272 0.01940140
+v -0.03584741 -0.04435473 0.02220661
+v -0.04140013 -0.05032272 0.01897531
+v -0.04140147 -0.04435472 0.01897533
+v -0.04150948 -0.05032273 0.02220659
+v -0.04176463 -0.04435473 0.02220661
+v -0.04146763 -0.05032273 0.02090396
+v -0.04163773 -0.04902585 0.02220659
+v -0.04175789 -0.04721313 0.02220660
+v -0.04178219 -0.04651796 0.02220660
+v -0.04140282 -0.05024502 0.01897531
+v -0.04140688 -0.04453991 0.01897533
+v -0.04177679 -0.04453992 0.02220661
+v -0.04178624 -0.04515506 0.02220660
+v -0.04142443 -0.04822726 0.01897531
+v -0.04142308 -0.04849598 0.01897531
+v -0.04142848 -0.04651795 0.01897532
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 13
+f 1 13 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 7
+f 3 8 7
+f 3 7 12
+f 3 12 14
+f 3 14 10
+f 3 10 4
+f 4 10 18
+f 4 18 23
+f 4 23 22
+f 4 22 24
+f 4 24 19
+f 4 19 11
+f 4 11 6
+f 4 6 5
+f 7 9 13
+f 7 13 20
+f 7 20 21
+f 7 21 17
+f 7 17 16
+f 7 16 15
+f 7 15 12
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 11 19 20
+f 11 20 13
+f 12 15 14
+f 17 21 22
+f 17 22 23
+f 17 23 18
+f 19 24 21
+f 19 21 20
+f 21 24 22
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_13.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.04161230 -0.05245204 0.01486939
+v -0.04157020 -0.05245204 0.01374663
+v -0.04155091 -0.05443000 0.01380721
+v -0.04158248 -0.05443000 0.01486938
+v -0.04158950 -0.05640797 0.01897496
+v -0.04160879 -0.03292570 0.01486946
+v -0.04157196 -0.03292570 0.01373897
+v -0.04157196 -0.03662838 0.01373896
+v -0.04157020 -0.05047408 0.01374276
+v -0.04099484 -0.04849612 0.01275537
+v -0.04098607 -0.05047408 0.01275665
+v -0.04096502 -0.05245204 0.01276052
+v -0.04153161 -0.05545363 0.01387037
+v -0.04158774 -0.05640797 0.01881254
+v -0.04152284 -0.05729032 0.01596892
+v -0.04153863 -0.05744759 0.01728374
+v -0.04156143 -0.05742628 0.01897496
+v -0.04135269 -0.03292572 0.01897505
+v -0.04156319 -0.03292571 0.01614690
+v -0.04099835 -0.03292570 0.01275285
+v -0.04099835 -0.03464775 0.01275284
+v -0.04099835 -0.04256225 0.01275410
+v -0.04157020 -0.04849612 0.01374149
+v -0.04099835 -0.04454021 0.01275539
+v -0.03563238 -0.04058426 0.00580618
+v -0.03562887 -0.04256222 0.00580617
+v -0.03562185 -0.04454018 0.00580617
+v -0.03561659 -0.04573975 0.00580616
+v -0.03560606 -0.04680603 0.00580616
+v -0.03550432 -0.05047405 0.00580614
+v -0.03531312 -0.05245201 0.00580614
+v -0.03559378 -0.04760841 0.00580616
+v -0.03557800 -0.04846411 0.00580615
+v -0.03485704 -0.05442997 0.00580613
+v -0.03409222 -0.05614668 0.00580612
+v -0.04048087 -0.05612006 0.01302862
+v -0.04005286 -0.05785810 0.01350169
+v -0.04140531 -0.05685046 0.01486937
+v -0.04036685 -0.05846588 0.01489257
+v -0.04107377 -0.05821798 0.01671270
+v -0.04110886 -0.05850589 0.01881254
+v -0.04152284 -0.05760488 0.01897496
+v -0.04155792 -0.05752490 0.01897496
+v -0.04155617 -0.05751691 0.01881254
+v -0.04111061 -0.05851389 0.01897496
+v -0.02921216 -0.03292572 0.01897505
+v -0.03563238 -0.03292567 0.00580621
+v -0.03382384 -0.05654387 0.00580612
+v -0.03342389 -0.05713566 0.00580612
+v -0.03283625 -0.05765547 0.00580612
+v -0.03243981 -0.05799935 0.00580612
+v -0.03975465 -0.05948152 0.01556544
+v -0.03997743 -0.05959882 0.01684159
+v -0.04012302 -0.05967613 0.01881253
+v -0.04020722 -0.05958817 0.01897495
+v -0.02897359 -0.03292572 0.01889384
+v -0.02578102 -0.05374226 0.01897497
+v -0.02381812 -0.03292567 0.00580621
+v -0.03174341 -0.05839921 0.00580612
+v -0.03857059 -0.05994003 0.01684159
+v -0.03059444 -0.05903365 0.00580611
+v -0.02979454 -0.05935353 0.00580611
+v -0.02972087 -0.05938286 0.00580611
+v -0.03857059 -0.06007333 0.01881253
+v -0.04012653 -0.05967880 0.01897495
+v -0.03999672 -0.05971345 0.01897495
+v -0.02878239 -0.03292572 0.01882810
+v -0.02573191 -0.05473124 0.01897497
+v -0.02369358 -0.05443001 0.01521355
+v -0.02369358 -0.05236674 0.01482685
+v -0.02763692 -0.03292572 0.01798120
+v -0.02777726 -0.03292572 0.01808819
+v -0.02871924 -0.03292572 0.01880619
+v -0.02369358 -0.04661144 0.00580616
+v -0.02382163 -0.03292568 0.00698310
+v -0.02369358 -0.04706996 0.01021984
+v -0.02369358 -0.04673940 0.00897076
+v -0.02369358 -0.04673673 0.00895529
+v -0.02882098 -0.05951348 0.00580611
+v -0.02804214 -0.05958812 0.00580611
+v -0.02674757 -0.05970807 0.00580611
+v -0.03659892 -0.06011331 0.01881253
+v -0.03659892 -0.06011864 0.01897495
+v -0.03857059 -0.06007599 0.01897495
+v -0.02674757 -0.05987602 0.00895524
+v -0.02477765 -0.05992667 0.00895524
+v -0.02573191 -0.05556827 0.01897497
+v -0.02369358 -0.05532568 0.01510140
+v -0.02369358 -0.05053273 0.01415784
+v -0.02400406 -0.03292569 0.01092757
+v -0.02369358 -0.05975339 0.00580611
+v -0.02383040 -0.03292568 0.00895534
+v -0.02369358 -0.04853078 0.01285205
+v -0.02595293 -0.05972673 0.00580611
+v -0.03068916 -0.06015863 0.01897495
+v -0.02369358 -0.05993733 0.00895524
+v -0.02477765 -0.05975073 0.00580611
+v -0.02597573 -0.05655725 0.01897496
+v -0.02369358 -0.05643727 0.01494284
+v -0.02398301 -0.05975339 0.00580611
+v -0.02369358 -0.05988936 0.01092747
+v -0.02879467 -0.05982008 0.01897495
+v -0.02605643 -0.05670387 0.01897496
+v -0.02369358 -0.05779412 0.01424418
+v -0.02369358 -0.05955081 0.01223713
+v -0.02780883 -0.05932160 0.01897495
+v -0.02696157 -0.05833261 0.01897496
+v -0.02369358 -0.05878310 0.01322067
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 13
+f 3 13 4
+f 4 14 5
+f 4 13 15
+f 4 15 16
+f 4 16 14
+f 5 14 17
+f 5 17 43
+f 5 43 42
+f 5 42 45
+f 5 45 55
+f 5 55 65
+f 5 65 66
+f 5 66 84
+f 5 84 83
+f 5 83 95
+f 5 95 102
+f 5 102 106
+f 5 106 107
+f 5 107 103
+f 5 103 98
+f 5 98 87
+f 5 87 68
+f 5 68 57
+f 5 57 46
+f 5 46 18
+f 5 18 19
+f 5 19 6
+f 6 19 18
+f 6 18 46
+f 6 46 56
+f 6 56 67
+f 6 67 73
+f 6 73 72
+f 6 72 71
+f 6 71 90
+f 6 90 92
+f 6 92 75
+f 6 75 58
+f 6 58 47
+f 6 47 20
+f 6 20 7
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 22
+f 9 22 24
+f 9 24 10
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 11 28 29
+f 11 29 12
+f 12 30 31
+f 12 31 13
+f 12 29 32
+f 12 32 33
+f 12 33 30
+f 13 31 34
+f 13 34 35
+f 13 35 36
+f 13 36 37
+f 13 37 38
+f 13 38 15
+f 14 16 17
+f 15 38 39
+f 15 39 40
+f 15 40 41
+f 15 41 16
+f 16 42 43
+f 16 43 44
+f 16 44 17
+f 16 41 45
+f 16 45 42
+f 17 44 43
+f 20 47 25
+f 20 25 21
+f 21 25 22
+f 22 25 24
+f 25 47 58
+f 25 58 74
+f 25 74 91
+f 25 91 100
+f 25 100 97
+f 25 97 94
+f 25 94 81
+f 25 81 80
+f 25 80 79
+f 25 79 63
+f 25 63 62
+f 25 62 61
+f 25 61 59
+f 25 59 51
+f 25 51 50
+f 25 50 49
+f 25 49 48
+f 25 48 35
+f 25 35 34
+f 25 34 31
+f 25 31 30
+f 25 30 33
+f 25 33 32
+f 25 32 29
+f 25 29 28
+f 25 28 27
+f 25 27 26
+f 35 48 37
+f 35 37 36
+f 37 39 38
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 39
+f 39 52 40
+f 40 52 53
+f 40 53 41
+f 41 53 54
+f 41 54 55
+f 41 55 45
+f 46 57 56
+f 51 59 52
+f 52 60 53
+f 52 59 61
+f 52 61 62
+f 52 62 63
+f 52 63 60
+f 53 60 64
+f 53 64 54
+f 54 65 55
+f 54 64 66
+f 54 66 65
+f 56 57 67
+f 57 68 69
+f 57 69 70
+f 57 70 71
+f 57 71 72
+f 57 72 73
+f 57 73 67
+f 58 75 76
+f 58 76 77
+f 58 77 78
+f 58 78 74
+f 60 79 80
+f 60 80 81
+f 60 81 64
+f 60 63 79
+f 64 82 83
+f 64 83 84
+f 64 84 66
+f 64 81 85
+f 64 85 86
+f 64 86 82
+f 68 87 69
+f 69 87 88
+f 69 88 99
+f 69 99 104
+f 69 104 108
+f 69 108 105
+f 69 105 101
+f 69 101 96
+f 69 96 91
+f 69 91 74
+f 69 74 78
+f 69 78 77
+f 69 77 76
+f 69 76 93
+f 69 93 89
+f 69 89 70
+f 70 89 90
+f 70 90 71
+f 75 92 76
+f 76 92 93
+f 81 94 86
+f 81 86 85
+f 82 86 83
+f 83 86 96
+f 83 96 95
+f 86 94 97
+f 86 97 96
+f 87 98 99
+f 87 99 88
+f 89 93 92
+f 89 92 90
+f 91 96 100
+f 95 96 101
+f 95 101 102
+f 96 97 100
+f 98 103 104
+f 98 104 99
+f 101 105 102
+f 102 105 106
+f 103 107 104
+f 104 107 108
+f 105 108 107
+f 105 107 106
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_14.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.02492064 -0.05515819 0.03243344
+v -0.02492064 -0.05583308 0.03243343
+v -0.02492064 -0.05515529 0.03242786
+v -0.02744358 -0.05290342 0.03797079
+v -0.02693769 -0.05443208 0.03797078
+v -0.02672812 -0.05640937 0.03797077
+v -0.02492064 -0.05593267 0.03223447
+v -0.02708831 -0.05779396 0.03797077
+v -0.02723402 -0.05834508 0.03797077
+v -0.02492064 -0.05455581 0.03081574
+v -0.02835387 -0.05191429 0.03797079
+v -0.02492064 -0.05401337 0.02850635
+v -0.02492064 -0.05670714 0.03064467
+v -0.02738956 -0.05862742 0.03797076
+v -0.02863383 -0.05175089 0.03797079
+v -0.02799696 -0.05032368 0.01897499
+v -0.02492064 -0.05403078 0.02670271
+v -0.02492064 -0.05700011 0.02867183
+v -0.02778249 -0.05933518 0.03797076
+v -0.02933947 -0.05134092 0.03797079
+v -0.02492064 -0.05403658 0.02645169
+v -0.02748943 -0.05099761 0.01897498
+v -0.04140080 -0.05032368 0.01897499
+v -0.03448850 -0.05032375 0.03797080
+v -0.02492064 -0.05700300 0.02843010
+v -0.02876645 -0.05984086 0.03797076
+v -0.02876481 -0.05984569 0.03458848
+v -0.02778249 -0.05934192 0.03064466
+v -0.02778085 -0.05933517 0.03655947
+v -0.02492064 -0.05449874 0.02485631
+v -0.02578182 -0.05374358 0.01897497
+v -0.04155797 -0.05460605 0.01897497
+v -0.04153178 -0.05032369 0.02275891
+v -0.04157762 -0.05032375 0.03797080
+v -0.02777921 -0.05934287 0.02472985
+v -0.02777921 -0.05934286 0.02078603
+v -0.02780868 -0.05932254 0.01897495
+v -0.02696224 -0.05833341 0.01897496
+v -0.02492064 -0.05669649 0.02646098
+v -0.02778085 -0.05934192 0.02867182
+v -0.02931491 -0.05993755 0.03797076
+v -0.03068853 -0.06018603 0.03458848
+v -0.03068853 -0.06019952 0.02275887
+v -0.02876481 -0.05984274 0.02275887
+v -0.02778085 -0.05934288 0.02670269
+v -0.02492064 -0.05452678 0.02485631
+v -0.02573270 -0.05473271 0.01897497
+v -0.04158908 -0.05640930 0.01897496
+v -0.04157434 -0.05032370 0.02472989
+v -0.04158744 -0.05032375 0.03691837
+v -0.04164474 -0.05640937 0.03797077
+v -0.02876481 -0.05983597 0.02078603
+v -0.02879428 -0.05982049 0.01897495
+v -0.02788891 -0.05936315 0.01897495
+v -0.02605687 -0.05670420 0.01897496
+v -0.02492064 -0.05595391 0.02491580
+v -0.02597664 -0.05655723 0.01897496
+v -0.03068853 -0.06017928 0.03797076
+v -0.03068853 -0.06018216 0.03655947
+v -0.03857006 -0.06012512 0.03655947
+v -0.03857006 -0.06014443 0.02670269
+v -0.03659886 -0.06015796 0.02670269
+v -0.03857006 -0.06014442 0.02472985
+v -0.03659886 -0.06015407 0.02078603
+v -0.03068853 -0.06019179 0.02078603
+v -0.02492064 -0.05594811 0.02490465
+v -0.02573270 -0.05556810 0.01897497
+v -0.04161691 -0.05640931 0.02078604
+v -0.04156124 -0.05742744 0.01897496
+v -0.04159235 -0.05032371 0.02670273
+v -0.04159399 -0.05032374 0.03491206
+v -0.04159071 -0.05764311 0.03655948
+v -0.04159071 -0.05764215 0.03797077
+v -0.04159563 -0.05032372 0.02900097
+v -0.04159563 -0.05032372 0.02867186
+v -0.04164310 -0.05640936 0.03458849
+v -0.04158744 -0.05763437 0.02472986
+v -0.04158908 -0.05764019 0.02867183
+v -0.04159071 -0.05764407 0.03261565
+v -0.04159071 -0.05764408 0.03458849
+v -0.03068853 -0.06015793 0.01897495
+v -0.02595536 -0.05647698 0.01897496
+v -0.03857006 -0.06011739 0.03797076
+v -0.04015979 -0.05969583 0.03797076
+v -0.04016307 -0.05969776 0.03655947
+v -0.04017780 -0.05971029 0.02670269
+v -0.04017780 -0.05971222 0.02472985
+v -0.04016634 -0.05970066 0.03458848
+v -0.04017125 -0.05971124 0.02275887
+v -0.03857006 -0.06013764 0.02275887
+v -0.03857006 -0.06011637 0.02078603
+v -0.03659886 -0.06011829 0.01897495
+v -0.04155797 -0.05752412 0.01897496
+v -0.04157598 -0.05759375 0.02078604
+v -0.04163328 -0.05640931 0.02275888
+v -0.04116177 -0.05862738 0.02670269
+v -0.04115522 -0.05863320 0.03261564
+v -0.04115194 -0.05863321 0.03458848
+v -0.04114867 -0.05863224 0.03655947
+v -0.04114539 -0.05863128 0.03797076
+v -0.04116013 -0.05862932 0.02867182
+v -0.04163819 -0.05640934 0.02867183
+v -0.04164147 -0.05640935 0.03261565
+v -0.04116340 -0.05862350 0.02472985
+v -0.04158580 -0.05762759 0.02275888
+v -0.04086543 -0.05893489 0.03797076
+v -0.04115685 -0.05861672 0.02275887
+v -0.04015652 -0.05969867 0.02078603
+v -0.03999607 -0.05971413 0.01897495
+v -0.03857006 -0.06007768 0.01897495
+v -0.04152195 -0.05760534 0.01897496
+v -0.04114048 -0.05858288 0.02078603
+v -0.04020727 -0.05958843 0.01897495
+v -0.04012541 -0.05967932 0.01897495
+v -0.04111101 -0.05851325 0.01897496
+f 1 2 7
+f 1 7 13
+f 1 13 18
+f 1 18 25
+f 1 25 39
+f 1 39 56
+f 1 56 66
+f 1 66 46
+f 1 46 30
+f 1 30 21
+f 1 21 17
+f 1 17 12
+f 1 12 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 4 11 15
+f 4 15 20
+f 4 20 24
+f 4 24 34
+f 4 34 51
+f 4 51 73
+f 4 73 100
+f 4 100 106
+f 4 106 84
+f 4 84 83
+f 4 83 58
+f 4 58 41
+f 4 41 26
+f 4 26 19
+f 4 19 14
+f 4 14 9
+f 4 9 8
+f 4 8 6
+f 4 6 5
+f 4 10 12
+f 4 12 11
+f 7 9 13
+f 9 14 13
+f 11 12 16
+f 11 16 15
+f 12 17 16
+f 13 14 19
+f 13 19 18
+f 15 16 20
+f 16 17 21
+f 16 21 22
+f 16 22 31
+f 16 31 47
+f 16 47 67
+f 16 67 82
+f 16 82 57
+f 16 57 55
+f 16 55 38
+f 16 38 37
+f 16 37 54
+f 16 54 53
+f 16 53 81
+f 16 81 92
+f 16 92 110
+f 16 110 109
+f 16 109 114
+f 16 114 113
+f 16 113 115
+f 16 115 111
+f 16 111 93
+f 16 93 69
+f 16 69 48
+f 16 48 32
+f 16 32 23
+f 16 23 33
+f 16 33 49
+f 16 49 70
+f 16 70 75
+f 16 75 74
+f 16 74 71
+f 16 71 50
+f 16 50 34
+f 16 34 24
+f 16 24 20
+f 18 19 25
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 25
+f 21 30 31
+f 21 31 22
+f 23 32 33
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 29 28
+f 25 28 40
+f 25 40 35
+f 26 41 42
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 36
+f 27 36 35
+f 27 35 45
+f 27 45 28
+f 28 45 35
+f 28 35 40
+f 30 46 67
+f 30 67 47
+f 30 47 31
+f 32 48 49
+f 32 49 33
+f 34 50 51
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 36 44 52
+f 38 55 39
+f 39 55 57
+f 39 57 56
+f 41 58 59
+f 41 59 42
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 43
+f 43 62 61
+f 43 61 63
+f 43 63 64
+f 43 64 65
+f 43 65 52
+f 43 52 44
+f 46 66 67
+f 48 68 49
+f 48 69 68
+f 49 68 70
+f 50 71 51
+f 51 72 73
+f 51 71 74
+f 51 74 75
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 79
+f 51 79 80
+f 51 80 72
+f 52 65 53
+f 53 65 81
+f 56 57 66
+f 57 82 66
+f 58 83 60
+f 58 60 59
+f 60 83 84
+f 60 84 85
+f 60 85 61
+f 61 86 87
+f 61 87 63
+f 61 85 88
+f 61 88 86
+f 63 87 89
+f 63 89 90
+f 63 90 64
+f 64 90 91
+f 64 91 92
+f 64 92 81
+f 64 81 65
+f 66 82 67
+f 68 69 93
+f 68 93 94
+f 68 94 95
+f 68 95 70
+f 70 95 75
+f 72 80 96
+f 72 96 73
+f 73 97 98
+f 73 98 99
+f 73 99 100
+f 73 96 101
+f 73 101 97
+f 75 95 102
+f 75 102 103
+f 75 103 76
+f 76 103 77
+f 77 104 78
+f 77 103 102
+f 77 102 95
+f 77 95 105
+f 77 105 104
+f 78 104 79
+f 79 104 96
+f 79 96 80
+f 84 106 85
+f 85 106 88
+f 86 88 106
+f 86 106 99
+f 86 99 98
+f 86 98 97
+f 86 97 87
+f 87 97 101
+f 87 101 96
+f 87 96 104
+f 87 104 89
+f 89 104 107
+f 89 107 108
+f 89 108 90
+f 90 108 91
+f 91 108 109
+f 91 109 110
+f 91 110 92
+f 93 111 112
+f 93 112 94
+f 94 112 107
+f 94 107 105
+f 94 105 95
+f 99 106 100
+f 104 105 107
+f 107 112 108
+f 108 112 113
+f 108 113 114
+f 108 114 109
+f 111 115 112
+f 112 115 113
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_15.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.03351913 -0.05032275 0.02670162
+v -0.03352002 -0.05032276 0.02867369
+v -0.03361363 -0.05032273 0.02220660
+v -0.03365999 -0.04435478 0.03511302
+v -0.03364038 -0.04435478 0.03656044
+v -0.03365821 -0.04435479 0.03762826
+v -0.03367693 -0.04435479 0.03797082
+v -0.03363235 -0.05032276 0.03064421
+v -0.04150918 -0.05032273 0.02220660
+v -0.03584874 -0.04435473 0.02220662
+v -0.03455154 -0.04435475 0.02849008
+v -0.03411646 -0.04435476 0.03064423
+v -0.03382314 -0.04435477 0.03261630
+v -0.03367426 -0.04435478 0.03458374
+v -0.04252198 -0.04435479 0.03797082
+v -0.03449002 -0.05032279 0.03797080
+v -0.03405851 -0.05032278 0.03458835
+v -0.03381869 -0.05032277 0.03261628
+v -0.04163756 -0.04902585 0.02220660
+v -0.04153236 -0.05032273 0.02275748
+v -0.04217249 -0.04651798 0.02670163
+v -0.04204678 -0.04651797 0.02472956
+v -0.04176505 -0.04435473 0.02220662
+v -0.04257458 -0.04435478 0.03674407
+v -0.04255408 -0.04453997 0.03656044
+v -0.04249345 -0.04453998 0.03797082
+v -0.04157783 -0.05032279 0.03797080
+v -0.04175792 -0.04721313 0.02220661
+v -0.04157426 -0.05032274 0.02472955
+v -0.04224025 -0.04651799 0.02867370
+v -0.04256745 -0.04453995 0.03064423
+v -0.04249078 -0.04453995 0.02867371
+v -0.04234724 -0.04453994 0.02670164
+v -0.04185064 -0.04651796 0.02275749
+v -0.04177664 -0.04453992 0.02220662
+v -0.04187650 -0.04435473 0.02294267
+v -0.04258082 -0.04435478 0.03656044
+v -0.04262005 -0.04435478 0.03477200
+v -0.04259687 -0.04453997 0.03458837
+v -0.04158763 -0.05032279 0.03691842
+v -0.04178199 -0.04651796 0.02220661
+v -0.04159210 -0.05032275 0.02670162
+v -0.04226432 -0.04651799 0.03064422
+v -0.04260133 -0.04453996 0.03261630
+v -0.04259241 -0.04435476 0.03082786
+v -0.04251395 -0.04435476 0.02885733
+v -0.04213148 -0.04453993 0.02472957
+v -0.04236863 -0.04435475 0.02688681
+v -0.04178734 -0.04515506 0.02220661
+v -0.04185777 -0.04453992 0.02275750
+v -0.04215288 -0.04435474 0.02491474
+v -0.04262183 -0.04435478 0.03458837
+v -0.04262629 -0.04435477 0.03279993
+v -0.04226432 -0.04651800 0.03261629
+v -0.04159388 -0.05032278 0.03491240
+v -0.04159299 -0.05032275 0.02705190
+v -0.04159655 -0.05032276 0.02867369
+v -0.04159655 -0.05032276 0.02900236
+f 1 2 8
+f 1 8 18
+f 1 18 17
+f 1 17 16
+f 1 16 27
+f 1 27 40
+f 1 40 55
+f 1 55 58
+f 1 58 57
+f 1 57 56
+f 1 56 42
+f 1 42 29
+f 1 29 20
+f 1 20 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 19
+f 3 19 28
+f 3 28 41
+f 3 41 49
+f 3 49 35
+f 3 35 23
+f 3 23 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 23
+f 4 23 36
+f 4 36 51
+f 4 51 48
+f 4 48 46
+f 4 46 45
+f 4 45 53
+f 4 53 52
+f 4 52 38
+f 4 38 37
+f 4 37 24
+f 4 24 15
+f 4 15 7
+f 4 7 6
+f 4 6 5
+f 7 15 26
+f 7 26 27
+f 7 27 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 20 21
+f 9 21 22
+f 9 22 19
+f 15 24 25
+f 15 25 26
+f 19 22 28
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 28
+f 23 35 36
+f 24 37 25
+f 25 27 26
+f 25 37 38
+f 25 38 39
+f 25 39 27
+f 27 39 40
+f 28 34 41
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 31
+f 31 44 53
+f 31 53 45
+f 31 45 32
+f 32 46 33
+f 32 45 46
+f 33 47 34
+f 33 46 48
+f 33 48 51
+f 33 51 47
+f 34 47 41
+f 35 49 50
+f 35 50 36
+f 36 50 51
+f 38 52 39
+f 39 52 53
+f 39 53 44
+f 39 44 54
+f 39 54 40
+f 40 54 55
+f 41 47 49
+f 42 56 43
+f 43 54 44
+f 43 56 57
+f 43 57 58
+f 43 58 54
+f 47 51 50
+f 47 50 49
+f 54 58 55
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_16.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.04253331 -0.03069329 0.06923064
+v -0.04152031 -0.03860162 0.07688939
+v -0.04152031 -0.03662356 0.07689555
+v -0.04152031 -0.03464551 0.07689965
+v -0.04152031 -0.03266745 0.07690274
+v -0.04152031 -0.03069332 0.07690480
+v -0.04152185 -0.01090885 0.07691307
+v -0.04152185 -0.01072868 0.07691307
+v -0.04247029 -0.01684299 0.06923069
+v -0.04206294 -0.04651380 0.06889420
+v -0.04157565 -0.05074413 0.07582174
+v -0.04152185 -0.05074413 0.07667397
+v -0.04151262 -0.05074413 0.07680832
+v -0.04151262 -0.05047386 0.07681652
+v -0.04151570 -0.04849580 0.07684525
+v -0.04151724 -0.04651383 0.07686577
+v -0.04151877 -0.04255772 0.07688219
+v -0.04068408 -0.04651384 0.07796823
+v -0.04068716 -0.04453971 0.07796824
+v -0.04145882 -0.01072868 0.07700845
+v -0.04157257 -0.01072868 0.07601572
+v -0.04238728 -0.01486493 0.06923070
+v -0.04204910 -0.04453967 0.06889421
+v -0.04190460 -0.04849577 0.06889419
+v -0.04160947 -0.05074410 0.06889418
+v -0.04077170 -0.05074414 0.07780309
+v -0.04065488 -0.05047387 0.07796821
+v -0.04067793 -0.04849581 0.07796822
+v -0.04151724 -0.04453970 0.07687603
+v -0.03970336 -0.04849581 0.07902556
+v -0.03970797 -0.04453971 0.07902968
+v -0.03970951 -0.04255773 0.07903173
+v -0.03973257 -0.01072869 0.07905851
+v -0.04062567 -0.01072869 0.07808527
+v -0.04157719 -0.01072868 0.07592752
+v -0.04226277 -0.01374469 0.06923070
+v -0.04168171 -0.04039946 0.06889422
+v -0.04180315 -0.04162938 0.06889422
+v -0.04188155 -0.04249894 0.06889421
+v -0.04199069 -0.04375628 0.06889421
+v -0.03091375 -0.05074410 0.06889418
+v -0.04061952 -0.05074414 0.07799282
+v -0.03968338 -0.05047387 0.07901632
+v -0.03856892 -0.04453971 0.07926966
+v -0.03856892 -0.04255773 0.07927376
+v -0.03961728 -0.01072869 0.07910159
+v -0.04190307 -0.01072865 0.06923071
+v -0.04202912 -0.01176272 0.06923071
+v -0.03236946 -0.04039946 0.06889422
+v -0.03012518 -0.05074410 0.06914339
+v -0.03259697 -0.01072865 0.06923071
+v -0.03188986 -0.01684299 0.06923069
+v -0.03977253 -0.05074414 0.07890453
+v -0.03967262 -0.05074414 0.07901119
+v -0.03876260 -0.05074414 0.07916707
+v -0.03856892 -0.05047387 0.07920604
+v -0.03659825 -0.04453971 0.07931991
+v -0.03659825 -0.04255773 0.07932298
+v -0.03659825 -0.02475916 0.07934664
+v -0.03857046 -0.02475916 0.07929536
+v -0.03857046 -0.01072869 0.07929747
+v -0.02911678 -0.05074411 0.06982230
+v -0.02823598 -0.01072866 0.07139563
+v -0.02922131 -0.01072866 0.07089927
+v -0.03858890 -0.05074414 0.07919271
+v -0.03659825 -0.05074414 0.07922758
+v -0.03659825 -0.05047387 0.07923783
+v -0.03659825 -0.04651384 0.07929528
+v -0.03068932 -0.04453971 0.07933734
+v -0.03068932 -0.04849581 0.07932604
+v -0.03068932 -0.01072869 0.07937028
+v -0.03659825 -0.01072869 0.07935387
+v -0.03839214 -0.01072869 0.07930977
+v -0.02733212 -0.05074412 0.07232668
+v -0.02742281 -0.01072867 0.07229299
+v -0.02734288 -0.01072867 0.07238221
+v -0.03068932 -0.05074414 0.07927270
+v -0.03068932 -0.05047387 0.07928809
+v -0.02900150 -0.04849581 0.07921015
+v -0.02898920 -0.04453971 0.07921940
+v -0.02903839 -0.05047387 0.07919066
+v -0.02897383 -0.02278111 0.07923076
+v -0.02897537 -0.01684303 0.07923386
+v -0.02897844 -0.01072869 0.07922773
+v -0.02683253 -0.05074412 0.07402704
+v -0.02734134 -0.01288690 0.07238117
+v -0.02683868 -0.01072867 0.07402719
+v -0.02683407 -0.03069331 0.07402712
+v -0.02905530 -0.05074414 0.07918245
+v -0.02805306 -0.05047387 0.07871070
+v -0.02801770 -0.04849581 0.07872507
+v -0.02800386 -0.04453971 0.07872919
+v -0.02806996 -0.05074414 0.07870455
+v -0.02800848 -0.03662357 0.07873743
+v -0.02798849 -0.02278111 0.07873440
+v -0.02799003 -0.01684303 0.07873237
+v -0.02801463 -0.01072869 0.07874162
+v -0.02685559 -0.05074413 0.07599608
+v -0.02685098 -0.02673329 0.07599617
+v -0.02685098 -0.04453970 0.07599611
+v -0.02685251 -0.04849580 0.07599609
+v -0.02685405 -0.05047386 0.07599608
+v -0.02686020 -0.01072868 0.07599623
+v -0.02685713 -0.01486496 0.07599622
+v -0.02685251 -0.02278110 0.07599619
+v -0.02736133 -0.05074414 0.07771797
+v -0.02735979 -0.05047387 0.07772515
+v -0.02735825 -0.04849581 0.07773849
+v -0.02735671 -0.04039950 0.07774776
+v -0.02735056 -0.01072869 0.07777555
+v -0.02795314 -0.01072869 0.07866778
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 16
+f 1 16 17
+f 1 17 2
+f 2 17 3
+f 3 17 18
+f 3 18 4
+f 4 18 19
+f 4 19 5
+f 5 20 6
+f 5 19 20
+f 6 20 7
+f 7 20 8
+f 8 20 34
+f 8 34 33
+f 8 33 46
+f 8 46 61
+f 8 61 73
+f 8 73 72
+f 8 72 71
+f 8 71 84
+f 8 84 97
+f 8 97 111
+f 8 111 110
+f 8 110 103
+f 8 103 87
+f 8 87 76
+f 8 76 75
+f 8 75 63
+f 8 63 64
+f 8 64 51
+f 8 51 47
+f 8 47 35
+f 8 35 21
+f 8 21 22
+f 8 22 9
+f 9 22 23
+f 9 23 10
+f 10 23 40
+f 10 40 39
+f 10 39 38
+f 10 38 37
+f 10 37 49
+f 10 49 41
+f 10 41 25
+f 10 25 24
+f 10 24 11
+f 11 25 41
+f 11 41 50
+f 11 50 62
+f 11 62 74
+f 11 74 85
+f 11 85 98
+f 11 98 106
+f 11 106 93
+f 11 93 89
+f 11 89 77
+f 11 77 66
+f 11 66 65
+f 11 65 55
+f 11 55 54
+f 11 54 53
+f 11 53 42
+f 11 42 26
+f 11 26 13
+f 11 13 12
+f 11 24 25
+f 13 26 27
+f 13 27 14
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 28
+f 17 28 18
+f 18 28 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 26 42 27
+f 27 42 43
+f 27 43 30
+f 27 30 28
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 31 46 32
+f 32 46 33
+f 35 47 48
+f 35 48 36
+f 36 48 37
+f 37 48 47
+f 37 47 51
+f 37 51 49
+f 41 49 51
+f 41 51 52
+f 41 52 50
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 44 57 45
+f 44 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 46 60 61
+f 50 52 63
+f 50 63 62
+f 51 64 52
+f 52 64 63
+f 55 65 56
+f 56 65 66
+f 56 66 67
+f 56 67 68
+f 56 68 57
+f 57 69 58
+f 57 68 70
+f 57 70 69
+f 58 69 59
+f 59 71 72
+f 59 72 73
+f 59 73 60
+f 59 69 71
+f 60 73 61
+f 62 63 75
+f 62 75 76
+f 62 76 74
+f 66 77 78
+f 66 78 67
+f 67 78 70
+f 67 70 68
+f 69 70 79
+f 69 79 80
+f 69 80 71
+f 70 78 81
+f 70 81 79
+f 71 82 83
+f 71 83 84
+f 71 80 82
+f 74 76 86
+f 74 86 87
+f 74 87 88
+f 74 88 85
+f 76 87 86
+f 77 89 78
+f 78 89 81
+f 79 81 90
+f 79 90 91
+f 79 91 80
+f 80 91 92
+f 80 92 82
+f 81 89 93
+f 81 93 90
+f 82 94 95
+f 82 95 83
+f 82 92 94
+f 83 95 96
+f 83 96 97
+f 83 97 84
+f 85 88 99
+f 85 99 100
+f 85 100 101
+f 85 101 102
+f 85 102 98
+f 87 103 104
+f 87 104 105
+f 87 105 99
+f 87 99 88
+f 90 93 106
+f 90 106 107
+f 90 107 91
+f 91 107 108
+f 91 108 92
+f 92 108 109
+f 92 109 95
+f 92 95 94
+f 95 110 96
+f 95 109 110
+f 96 110 111
+f 96 111 97
+f 98 102 107
+f 98 107 106
+f 99 105 110
+f 99 110 100
+f 100 110 101
+f 101 108 102
+f 101 110 109
+f 101 109 108
+f 102 108 107
+f 103 110 104
+f 104 110 105
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_17.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02255359 0.02085855 0.00580712
+v -0.02255359 0.02085855 0.00595766
+v -0.02255359 0.02782937 0.00580714
+v -0.00702697 0.02171369 0.00580712
+v -0.02255359 0.02086263 0.00723547
+v -0.00702697 0.02171369 0.00581639
+v -0.00702697 0.02171641 0.00699860
+v -0.02255359 0.02781776 0.00698292
+v -0.00702697 0.02707795 0.00895493
+v -0.00702697 0.02709296 0.00698292
+v -0.00702697 0.02709980 0.00580714
+v -0.02255359 0.02087423 0.00895491
+v -0.00702697 0.02172392 0.00896275
+v -0.02255359 0.02778977 0.00830282
+v -0.00702697 0.02687183 0.01091052
+v -0.02255359 0.02777544 0.00895493
+v -0.02255359 0.02087628 0.00908618
+v -0.00702697 0.02173346 0.00996160
+v -0.00702697 0.02686978 0.01092622
+v -0.02255359 0.02722331 0.01102467
+v -0.02255359 0.02133831 0.01047957
+v -0.00702697 0.02173483 0.00996945
+v -0.00702697 0.02191978 0.01094760
+v -0.00702697 0.02618184 0.01242234
+v -0.02255359 0.02631356 0.01241521
+v -0.02255359 0.02205150 0.01154191
+v -0.00702697 0.02192729 0.01096044
+v -0.00702697 0.02290868 0.01258428
+v -0.00702697 0.02471520 0.01308942
+v -0.02255359 0.02470359 0.01302306
+v -0.02083449 0.02470359 0.01305446
+v -0.01886459 0.02470359 0.01309013
+v -0.01689317 0.02470359 0.01309227
+v -0.01492327 0.02470359 0.01309370
+v -0.01295338 0.02470359 0.01309441
+v -0.00901206 0.02470359 0.01309512
+v -0.00702697 0.02470359 0.01309441
+v -0.01886459 0.02290868 0.01258428
+v -0.02255359 0.02291414 0.01252007
+v -0.01098348 0.02290936 0.01258570
+v -0.01492327 0.02290936 0.01258570
+v -0.00702697 0.02292301 0.01258856
+v -0.02255359 0.02314072 0.01258500
+f 1 2 5
+f 1 5 12
+f 1 12 17
+f 1 17 21
+f 1 21 26
+f 1 26 39
+f 1 39 43
+f 1 43 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 14
+f 1 14 8
+f 1 8 3
+f 1 3 11
+f 1 11 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 11 10
+f 4 10 9
+f 4 9 15
+f 4 15 19
+f 4 19 24
+f 4 24 29
+f 4 29 37
+f 4 37 42
+f 4 42 28
+f 4 28 27
+f 4 27 23
+f 4 23 22
+f 4 22 18
+f 4 18 13
+f 4 13 7
+f 4 7 6
+f 5 7 13
+f 5 13 12
+f 8 14 9
+f 9 14 16
+f 9 16 15
+f 12 13 18
+f 12 18 17
+f 15 16 19
+f 16 20 19
+f 17 18 22
+f 17 22 23
+f 17 23 21
+f 19 20 24
+f 20 25 24
+f 21 23 27
+f 21 27 28
+f 21 28 26
+f 24 25 29
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 29
+f 26 38 39
+f 26 28 40
+f 26 40 41
+f 26 41 38
+f 28 42 40
+f 30 43 31
+f 31 43 32
+f 32 43 38
+f 32 38 33
+f 33 38 34
+f 34 38 35
+f 35 38 41
+f 35 41 36
+f 36 41 40
+f 36 40 42
+f 36 42 37
+f 38 43 39
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_18.obj

@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v -0.04232694 0.00010751 0.06923102
+v -0.04160096 0.00096224 0.08103876
+v -0.04159167 0.00294012 0.08102601
+v -0.04156197 0.00410538 0.08098262
+v -0.04229351 0.00096229 0.06923102
+v -0.04231394 -0.00101367 0.06923102
+v -0.04157868 -0.00299351 0.08100939
+v -0.04159539 -0.00101372 0.08103365
+v -0.04054077 0.00096224 0.08171899
+v -0.04054077 -0.00101372 0.08171516
+v -0.04054077 0.00294012 0.08169986
+v -0.04064289 0.00482600 0.08144079
+v -0.04005431 0.00626149 0.08128126
+v -0.04079700 0.00885076 0.07796944
+v -0.04152112 0.00885077 0.07692165
+v -0.04152298 0.00885077 0.07690889
+v -0.04157868 0.00885077 0.07593512
+v -0.04222110 0.00208539 0.06923103
+v -0.04190175 -0.01072865 0.06923098
+v -0.04157311 -0.01072868 0.07601673
+v -0.04155268 -0.00417794 0.08096855
+v -0.04054077 -0.00299351 0.08168580
+v -0.03857079 0.00294012 0.08226778
+v -0.03857079 -0.00299351 0.08226394
+v -0.03857079 0.00491799 0.08216442
+v -0.03857079 0.00647039 0.08148291
+v -0.03857079 0.00885076 0.07957494
+v -0.03981851 0.00885076 0.07917293
+v -0.04157868 0.00885078 0.07429898
+v -0.04149513 0.00885080 0.06923105
+v -0.03259587 -0.01072865 0.06923098
+v -0.04152112 -0.01072868 0.07691265
+v -0.04011558 -0.00640497 0.08131440
+v -0.04068002 -0.00489089 0.08145351
+v -0.04145799 -0.01072868 0.07700836
+v -0.04062433 -0.01072869 0.07808551
+v -0.03857079 -0.00497139 0.08221670
+v -0.02871904 -0.00101372 0.08224352
+v -0.02871904 0.00096224 0.08224352
+v -0.02871904 0.00294012 0.08224226
+v -0.03659896 0.00491799 0.08220143
+v -0.02871904 -0.00299351 0.08224224
+v -0.03068902 -0.00497139 0.08224095
+v -0.03659896 0.00650298 0.08150843
+v -0.03659896 0.00885076 0.07970257
+v -0.03663609 0.00885076 0.07970129
+v -0.03187547 0.00885080 0.06923105
+v -0.03246776 -0.01020351 0.06923098
+v -0.02922221 -0.01072866 0.07089902
+v -0.03857079 -0.00667328 0.08153647
+v -0.03973310 -0.01072869 0.07905927
+v -0.03961798 -0.01072869 0.07910267
+v -0.03659896 -0.00671736 0.08156455
+v -0.02674721 -0.00299351 0.08212610
+v -0.02674721 -0.00101372 0.08212484
+v -0.02674721 0.00294012 0.08212229
+v -0.02674721 0.00491799 0.08199978
+v -0.02871904 0.00491799 0.08211209
+v -0.03068902 0.00491799 0.08218484
+v -0.03068902 0.00649914 0.08151098
+v -0.03462898 0.00650106 0.08150971
+v -0.02871904 -0.00497139 0.08222053
+v -0.02674721 -0.00497139 0.08211716
+v -0.03462898 -0.00671928 0.08156837
+v -0.03266086 -0.00672311 0.08157093
+v -0.03068902 -0.00672311 0.08157093
+v -0.02871904 -0.00669820 0.08156327
+v -0.03068902 0.00885076 0.07969874
+v -0.02823630 0.00885079 0.07139810
+v -0.03180677 -0.00497134 0.06923100
+v -0.03215583 -0.00838662 0.06923099
+v -0.02823630 -0.01072866 0.07139548
+v -0.03857079 -0.01072869 0.07929793
+v -0.03839255 -0.01072869 0.07931070
+v -0.03659896 -0.01072869 0.07935409
+v -0.03068902 -0.01072869 0.07937068
+v -0.02529526 -0.00299351 0.08150330
+v -0.02529526 -0.00101372 0.08150203
+v -0.02529711 0.00096224 0.08150076
+v -0.02530454 0.00294012 0.08149821
+v -0.02534724 0.00491799 0.08145228
+v -0.02551063 0.00619825 0.08124680
+v -0.02674721 0.00636498 0.08140250
+v -0.02871904 0.00644356 0.08145483
+v -0.02674721 -0.00660812 0.08151733
+v -0.02547536 -0.00634747 0.08129526
+v -0.02531382 -0.00497139 0.08149180
+v -0.02863178 0.00885076 0.07932097
+v -0.02734507 0.00885078 0.07238336
+v -0.02734322 -0.00101369 0.07238205
+v -0.02823630 0.00491803 0.07139681
+v -0.02823630 -0.00497135 0.07139550
+v -0.03192931 -0.00670006 0.06923100
+v -0.03194974 -0.00694922 0.06923099
+v -0.02734322 -0.01072867 0.07238073
+v -0.02897898 -0.01072869 0.07922774
+v -0.02350909 -0.00101371 0.07930563
+v -0.02430934 -0.00101371 0.08029216
+v -0.02431120 0.00096225 0.08028705
+v -0.02351838 0.00096225 0.07930180
+v -0.02360750 0.00294013 0.07920992
+v -0.02371519 0.00409772 0.07907337
+v -0.02529154 0.00636691 0.07994121
+v -0.02738592 0.00885076 0.07805112
+v -0.02739335 0.00885076 0.07807282
+v -0.02741377 0.00885076 0.07810600
+v -0.02859836 0.00885076 0.07930183
+v -0.02801535 -0.01072869 0.07874149
+v -0.02795408 -0.01072869 0.07866875
+v -0.02735064 -0.01072869 0.07777666
+v -0.02518571 -0.00656978 0.07994117
+v -0.02368362 -0.00427951 0.07911545
+v -0.02357408 -0.00299350 0.07924564
+v -0.02733765 0.00885078 0.07240505
+v -0.02372447 0.00220227 0.07690887
+v -0.02365392 0.00096226 0.07682973
+v -0.02364277 -0.00101370 0.07681569
+v -0.02370962 -0.00238403 0.07688971
+v -0.02393243 -0.00370262 0.07721004
+v -0.02368362 -0.00427951 0.07852455
+v -0.02688275 -0.01072867 0.07387776
+v -0.02335870 -0.00101371 0.07796941
+v -0.02337912 0.00096225 0.07796941
+v -0.02371519 0.00409772 0.07867519
+v -0.02683819 0.00885078 0.07405267
+v -0.02685490 0.00885077 0.07602063
+v -0.02685861 -0.01072868 0.07599758
+v -0.02685675 -0.01072868 0.07581891
+v -0.02683819 -0.01072867 0.07402708
+v -0.02684190 0.00885078 0.07402715
+v -0.02360378 0.00289413 0.07799750
+v -0.02356851 -0.00302417 0.07790814
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 30
+f 1 30 47
+f 1 47 70
+f 1 70 93
+f 1 93 94
+f 1 94 71
+f 1 71 48
+f 1 48 31
+f 1 31 19
+f 1 19 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 11 4
+f 3 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 22 8
+f 7 21 22
+f 8 22 10
+f 9 23 11
+f 9 10 24
+f 9 24 23
+f 10 22 24
+f 11 23 25
+f 11 25 12
+f 12 25 13
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 13 25 26
+f 14 28 27
+f 14 27 46
+f 14 46 45
+f 14 45 68
+f 14 68 88
+f 14 88 107
+f 14 107 106
+f 14 106 105
+f 14 105 104
+f 14 104 126
+f 14 126 125
+f 14 125 130
+f 14 130 114
+f 14 114 89
+f 14 89 69
+f 14 69 47
+f 14 47 30
+f 14 30 29
+f 14 29 17
+f 14 17 16
+f 14 16 15
+f 17 29 18
+f 18 29 30
+f 19 31 49
+f 19 49 72
+f 19 72 95
+f 19 95 121
+f 19 121 129
+f 19 129 128
+f 19 128 127
+f 19 127 110
+f 19 110 109
+f 19 109 108
+f 19 108 96
+f 19 96 76
+f 19 76 75
+f 19 75 74
+f 19 74 73
+f 19 73 52
+f 19 52 51
+f 19 51 36
+f 19 36 35
+f 19 35 32
+f 19 32 20
+f 20 32 21
+f 21 33 34
+f 21 34 22
+f 21 32 35
+f 21 35 36
+f 21 36 33
+f 22 34 37
+f 22 37 24
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 25
+f 23 24 42
+f 23 42 38
+f 24 37 43
+f 24 43 42
+f 25 41 44
+f 25 44 26
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 31 48 49
+f 33 50 37
+f 33 37 34
+f 33 36 51
+f 33 51 52
+f 33 52 50
+f 37 50 53
+f 37 53 43
+f 38 42 54
+f 38 54 39
+f 39 54 55
+f 39 55 40
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 41
+f 40 55 56
+f 41 59 60
+f 41 60 61
+f 41 61 44
+f 42 43 62
+f 42 62 63
+f 42 63 54
+f 43 53 64
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 62
+f 44 61 60
+f 44 60 45
+f 45 60 68
+f 47 69 70
+f 48 71 49
+f 49 71 72
+f 50 52 73
+f 50 73 74
+f 50 74 53
+f 53 74 75
+f 53 75 76
+f 53 76 64
+f 54 63 77
+f 54 77 78
+f 54 78 55
+f 55 78 56
+f 56 78 79
+f 56 79 80
+f 56 80 81
+f 56 81 57
+f 57 81 82
+f 57 82 83
+f 57 83 58
+f 58 83 84
+f 58 84 60
+f 58 60 59
+f 60 84 68
+f 62 67 85
+f 62 85 63
+f 63 85 86
+f 63 86 87
+f 63 87 77
+f 64 76 65
+f 65 76 66
+f 66 76 67
+f 67 76 85
+f 68 84 83
+f 68 83 88
+f 69 89 90
+f 69 90 91
+f 69 91 70
+f 70 92 72
+f 70 72 93
+f 70 91 92
+f 71 94 72
+f 72 94 93
+f 72 92 95
+f 76 96 85
+f 77 87 97
+f 77 97 98
+f 77 98 78
+f 78 98 79
+f 79 98 99
+f 79 99 80
+f 80 99 100
+f 80 100 81
+f 81 100 101
+f 81 101 102
+f 81 102 82
+f 82 102 103
+f 82 103 104
+f 82 104 105
+f 82 105 106
+f 82 106 107
+f 82 107 88
+f 82 88 83
+f 85 96 86
+f 86 96 108
+f 86 108 109
+f 86 109 110
+f 86 110 111
+f 86 111 112
+f 86 112 87
+f 87 112 113
+f 87 113 97
+f 89 114 115
+f 89 115 116
+f 89 116 117
+f 89 117 90
+f 90 117 95
+f 90 95 91
+f 91 95 92
+f 95 118 119
+f 95 119 120
+f 95 120 121
+f 95 117 118
+f 97 113 122
+f 97 122 100
+f 97 100 99
+f 97 99 98
+f 100 122 123
+f 100 123 101
+f 101 123 102
+f 102 123 124
+f 102 124 125
+f 102 125 126
+f 102 126 103
+f 103 126 104
+f 110 127 111
+f 111 127 112
+f 112 127 128
+f 112 128 129
+f 112 129 120
+f 112 120 122
+f 112 122 113
+f 114 130 124
+f 114 124 115
+f 115 124 131
+f 115 131 123
+f 115 123 116
+f 116 123 122
+f 116 122 117
+f 117 122 118
+f 118 132 120
+f 118 120 119
+f 118 122 132
+f 120 129 121
+f 120 132 122
+f 123 131 124
+f 124 130 125
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_19.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03215641 -0.05074409 0.06415656
+v -0.03301948 -0.04039945 0.05215052
+v -0.03306969 -0.04039946 0.05412419
+v -0.03321496 -0.04039947 0.05609530
+v -0.03382274 -0.04039950 0.06415660
+v -0.04163104 -0.05074409 0.06415656
+v -0.03215961 -0.05074408 0.06366442
+v -0.03303657 -0.04039943 0.04623719
+v -0.03302376 -0.04039944 0.04821086
+v -0.03302269 -0.04039944 0.04839285
+v -0.03301521 -0.04039944 0.05018197
+v -0.04226339 -0.04039950 0.06415660
+v -0.04207219 -0.04850526 0.06415657
+v -0.04153170 -0.05074399 0.03797079
+v -0.03271185 -0.05074402 0.04642170
+v -0.03313805 -0.04039940 0.03853474
+v -0.03309105 -0.04039941 0.04050585
+v -0.04230719 -0.04040052 0.06415660
+v -0.04256355 -0.04039949 0.06237517
+v -0.04242255 -0.04651755 0.06415658
+v -0.04243216 -0.04651754 0.06219316
+v -0.04249412 -0.04453987 0.03797082
+v -0.03361232 -0.05074399 0.03797079
+v -0.04271950 -0.04453995 0.06022206
+v -0.03281653 -0.05074401 0.04468128
+v -0.03318398 -0.04039940 0.03797083
+v -0.04254752 -0.04256138 0.06415659
+v -0.04259132 -0.04039949 0.06219318
+v -0.04259773 -0.04453997 0.06415659
+v -0.04269707 -0.04453996 0.06219317
+v -0.04270988 -0.04312529 0.03797082
+v -0.03301201 -0.05074401 0.04297162
+v -0.04292245 -0.04256135 0.05824839
+v -0.04296518 -0.04114670 0.03797083
+v -0.04279214 -0.04256128 0.03797082
+v -0.03283896 -0.05074401 0.04444803
+v -0.04304102 -0.04039940 0.03797083
+v -0.04260948 -0.04058379 0.06219318
+v -0.04282738 -0.04039948 0.06022207
+v -0.04283914 -0.04058378 0.06022207
+v -0.04275047 -0.04256137 0.06219317
+v -0.04287652 -0.04256136 0.06022206
+v -0.04306345 -0.04058377 0.05627729
+v -0.04302499 -0.04058370 0.03797083
+v -0.04306772 -0.04039947 0.05627729
+v -0.04298975 -0.04039947 0.05824840
+v -0.04299402 -0.04058377 0.05824840
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 18
+f 1 18 27
+f 1 27 29
+f 1 29 20
+f 1 20 13
+f 1 13 6
+f 1 6 14
+f 1 14 23
+f 1 23 32
+f 1 32 36
+f 1 36 25
+f 1 25 15
+f 1 15 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 17
+f 2 17 16
+f 2 16 26
+f 2 26 37
+f 2 37 45
+f 2 45 46
+f 2 46 39
+f 2 39 28
+f 2 28 19
+f 2 19 12
+f 2 12 5
+f 2 5 4
+f 2 4 3
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 12 19 18
+f 13 20 21
+f 13 21 14
+f 14 22 31
+f 14 31 35
+f 14 35 34
+f 14 34 44
+f 14 44 37
+f 14 37 26
+f 14 26 23
+f 14 21 24
+f 14 24 22
+f 15 25 16
+f 16 25 26
+f 18 19 28
+f 18 28 27
+f 20 29 30
+f 20 30 24
+f 20 24 21
+f 22 24 31
+f 23 26 32
+f 24 30 33
+f 24 33 34
+f 24 34 35
+f 24 35 31
+f 25 36 26
+f 26 36 32
+f 27 28 38
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 29
+f 28 39 38
+f 29 41 42
+f 29 42 30
+f 30 42 33
+f 33 42 43
+f 33 43 37
+f 33 37 44
+f 33 44 34
+f 37 43 45
+f 39 46 40
+f 40 46 41
+f 41 46 47
+f 41 47 42
+f 42 47 43
+f 43 47 45
+f 45 47 46
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_2.obj

@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.04250026 0.02866157 0.06944743
+v -0.04211419 0.01481505 0.06944737
+v -0.04157833 0.00885077 0.07593545
+v -0.04152274 0.00885077 0.07690836
+v -0.04152120 0.00885077 0.07692142
+v -0.04152274 0.01679311 0.07692446
+v -0.04152120 0.03657385 0.07689943
+v -0.04151965 0.04844229 0.07688643
+v -0.04151811 0.05042036 0.07687539
+v -0.04150884 0.05239843 0.07676896
+v -0.04158142 0.05437651 0.07557115
+v -0.04157370 0.05635458 0.07530208
+v -0.04217596 0.04448616 0.06944748
+v -0.04193660 0.01283698 0.06944737
+v -0.04157833 0.00885078 0.07429887
+v -0.04079694 0.00885076 0.07796963
+v -0.04152120 0.02074926 0.07692247
+v -0.04151965 0.04646421 0.07689043
+v -0.04068729 0.04844228 0.07796978
+v -0.04065950 0.05042035 0.07796979
+v -0.04048808 0.05437650 0.07789249
+v -0.04147332 0.05437651 0.07655712
+v -0.04155054 0.05740121 0.07510127
+v -0.04214354 0.04582324 0.06944749
+v -0.04149494 0.00885079 0.06944735
+v -0.03981941 0.00885076 0.07917348
+v -0.03970822 0.04844228 0.07903005
+v -0.03968197 0.05042035 0.07901701
+v -0.04037071 0.05250359 0.07815956
+v -0.03962329 0.05191267 0.07898889
+v -0.03948122 0.05323473 0.07894372
+v -0.04031512 0.05635457 0.07763446
+v -0.04130036 0.05635458 0.07628805
+v -0.03996303 0.05768665 0.07728506
+v -0.04046183 0.05820245 0.07576595
+v -0.03964800 0.05936927 0.07511534
+v -0.04080929 0.05844784 0.07402695
+v -0.04097298 0.05849293 0.07205502
+v -0.04157061 0.05746131 0.07402695
+v -0.04162620 0.05635459 0.07402695
+v -0.04157988 0.05750639 0.07205502
+v -0.04158606 0.05753644 0.06944753
+v -0.03167031 0.00885079 0.06944735
+v -0.03857010 0.00885076 0.07957509
+v -0.03857010 0.04646420 0.07928406
+v -0.03857010 0.04844228 0.07926800
+v -0.03857010 0.05042035 0.07924191
+v -0.03872298 0.05250359 0.07910938
+v -0.03816705 0.05392079 0.07903408
+v -0.03872298 0.05449669 0.07888147
+v -0.03857010 0.05635457 0.07840858
+v -0.03857010 0.05794706 0.07750695
+v -0.03857010 0.05893860 0.07629810
+v -0.03857010 0.05944439 0.07531213
+v -0.03857010 0.05970480 0.07402696
+v -0.03982405 0.05945942 0.07402696
+v -0.03998774 0.05954456 0.07205503
+v -0.04102549 0.05851797 0.07008309
+v -0.04004024 0.05957460 0.07008310
+v -0.04103630 0.05852297 0.06944753
+v -0.04141464 0.05785193 0.06944753
+v -0.03166568 0.00887583 0.06944735
+v -0.02823586 0.00885079 0.07139720
+v -0.03659961 0.00885076 0.07970361
+v -0.03659961 0.04844228 0.07931018
+v -0.03659961 0.05042035 0.07927705
+v -0.03659961 0.05239842 0.07917364
+v -0.03068970 0.05239842 0.07922283
+v -0.02938171 0.05401594 0.07905617
+v -0.03068970 0.05491734 0.07889151
+v -0.03659961 0.05484222 0.07887444
+v -0.03068970 0.05635457 0.07845476
+v -0.03659961 0.05796709 0.07751298
+v -0.03659961 0.05895863 0.07632320
+v -0.03659961 0.05945440 0.07533723
+v -0.03068970 0.05978492 0.07402696
+v -0.03659961 0.05972984 0.07402696
+v -0.03857010 0.05988008 0.07205503
+v -0.03857010 0.05994017 0.07008310
+v -0.03857010 0.05995019 0.06944754
+v -0.04005105 0.05957961 0.06944754
+v -0.02689698 0.05437653 0.06944752
+v -0.02734482 0.00885078 0.07238316
+v -0.02684138 0.05501252 0.06944752
+v -0.02672557 0.05635460 0.06944753
+v -0.03068970 0.00885076 0.07969959
+v -0.03068970 0.05042035 0.07930215
+v -0.02912227 0.05239842 0.07916962
+v -0.02813702 0.05239842 0.07864852
+v -0.02872230 0.05455678 0.07859933
+v -0.02871922 0.05635457 0.07807524
+v -0.02871922 0.05779181 0.07736538
+v -0.03068970 0.05799213 0.07753306
+v -0.03068970 0.05897866 0.07636938
+v -0.03068970 0.05947443 0.07538342
+v -0.03068970 0.05996521 0.07205503
+v -0.02936935 0.05946442 0.07536233
+v -0.02907903 0.05961966 0.07402696
+v -0.03659961 0.05990512 0.07205503
+v -0.03659961 0.05996521 0.07008310
+v -0.03659961 0.05997523 0.06944754
+v -0.02684138 0.00885078 0.07402677
+v -0.02683830 0.00885078 0.07405187
+v -0.02688771 0.05695053 0.06944753
+v -0.02672711 0.05635460 0.07008309
+v -0.02863274 0.00885076 0.07932107
+v -0.02903115 0.05042035 0.07920677
+v -0.02804591 0.05042035 0.07869772
+v -0.02738651 0.05239842 0.07766256
+v -0.02743593 0.05437651 0.07752803
+v -0.02755175 0.05635458 0.07727100
+v -0.02766757 0.05744628 0.07707120
+v -0.02871458 0.05876833 0.07601094
+v -0.03068970 0.06000026 0.07008310
+v -0.02894776 0.05970481 0.07205503
+v -0.02809378 0.05907882 0.07402696
+v -0.03068970 0.06001028 0.06944754
+v -0.02685528 0.00885077 0.07602079
+v -0.02674564 0.05437652 0.07402694
+v -0.02722745 0.05818745 0.06944753
+v -0.02673792 0.05635460 0.07205502
+v -0.02862038 0.00885076 0.07931505
+v -0.02801811 0.04646420 0.07873284
+v -0.02803819 0.04844228 0.07872482
+v -0.02736798 0.05042035 0.07771176
+v -0.02688308 0.05239843 0.07599786
+v -0.02693404 0.05437651 0.07599787
+v -0.02708383 0.05635458 0.07599788
+v -0.02746527 0.05776677 0.07599788
+v -0.02890916 0.05971983 0.06944754
+v -0.02796252 0.05914393 0.07205503
+v -0.02793473 0.05916897 0.07008310
+v -0.02792391 0.05917398 0.06944754
+v -0.02727069 0.05809229 0.07402695
+v -0.02738651 0.00885076 0.07805096
+v -0.02686146 0.04646421 0.07599784
+v -0.02677035 0.05635459 0.07402695
+v -0.02686609 0.05042036 0.07599786
+v -0.02686301 0.04844229 0.07599785
+v -0.02723826 0.05815740 0.07205502
+v -0.02722899 0.05817743 0.07008309
+v -0.02859876 0.00885076 0.07930199
+v -0.02736489 0.04844228 0.07773885
+v -0.02791002 0.00945169 0.07880600
+v -0.02741431 0.00885076 0.07810618
+v -0.02739269 0.00885076 0.07807305
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 24
+f 1 24 42
+f 1 42 61
+f 1 61 60
+f 1 60 81
+f 1 81 80
+f 1 80 101
+f 1 101 117
+f 1 117 130
+f 1 130 133
+f 1 133 120
+f 1 120 104
+f 1 104 85
+f 1 85 84
+f 1 84 82
+f 1 82 62
+f 1 62 43
+f 1 43 25
+f 1 25 14
+f 1 14 2
+f 2 14 3
+f 3 15 25
+f 3 25 43
+f 3 43 63
+f 3 63 83
+f 3 83 102
+f 3 102 103
+f 3 103 118
+f 3 118 135
+f 3 135 146
+f 3 146 145
+f 3 145 142
+f 3 142 122
+f 3 122 106
+f 3 106 86
+f 3 86 64
+f 3 64 44
+f 3 44 26
+f 3 26 16
+f 3 16 5
+f 3 5 4
+f 3 14 15
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 8
+f 8 19 9
+f 8 18 16
+f 8 16 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 12
+f 10 12 11
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 14 25 15
+f 16 26 19
+f 16 18 17
+f 19 27 20
+f 19 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 23
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 23 33 34
+f 24 40 41
+f 24 41 42
+f 26 44 27
+f 27 45 46
+f 27 46 28
+f 27 44 45
+f 28 46 47
+f 28 47 30
+f 28 30 29
+f 30 48 31
+f 30 47 48
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 31 48 49
+f 32 51 34
+f 32 34 33
+f 34 52 53
+f 34 53 36
+f 34 36 35
+f 34 51 52
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 37 57 38
+f 38 58 39
+f 38 57 59
+f 38 59 58
+f 39 58 60
+f 39 60 41
+f 39 41 40
+f 41 60 61
+f 41 61 42
+f 43 62 63
+f 44 64 45
+f 45 64 46
+f 46 65 47
+f 46 64 65
+f 47 65 66
+f 47 66 67
+f 47 67 48
+f 48 67 49
+f 49 67 68
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 50
+f 50 71 51
+f 51 71 70
+f 51 70 72
+f 51 72 73
+f 51 73 52
+f 52 73 74
+f 52 74 53
+f 53 74 54
+f 54 74 75
+f 54 75 76
+f 54 76 77
+f 54 77 55
+f 55 77 99
+f 55 99 78
+f 55 78 56
+f 56 78 57
+f 57 78 79
+f 57 79 59
+f 58 59 81
+f 58 81 60
+f 59 79 80
+f 59 80 81
+f 62 82 63
+f 63 82 84
+f 63 84 85
+f 63 85 83
+f 64 86 87
+f 64 87 65
+f 65 87 66
+f 66 87 68
+f 66 68 67
+f 68 88 69
+f 68 87 88
+f 69 88 89
+f 69 89 90
+f 69 90 91
+f 69 91 72
+f 69 72 70
+f 72 91 92
+f 72 92 93
+f 72 93 73
+f 73 93 94
+f 73 94 74
+f 74 94 95
+f 74 95 75
+f 75 95 76
+f 76 96 77
+f 76 95 97
+f 76 97 98
+f 76 98 96
+f 77 96 99
+f 78 99 100
+f 78 100 79
+f 79 100 101
+f 79 101 80
+f 83 85 102
+f 85 103 102
+f 85 104 105
+f 85 105 103
+f 86 106 107
+f 86 107 87
+f 87 107 88
+f 88 107 108
+f 88 108 89
+f 89 109 110
+f 89 110 111
+f 89 111 90
+f 89 108 109
+f 90 111 112
+f 90 112 91
+f 91 112 92
+f 92 112 113
+f 92 113 97
+f 92 97 94
+f 92 94 93
+f 94 97 95
+f 96 114 100
+f 96 100 99
+f 96 98 115
+f 96 115 114
+f 97 113 116
+f 97 116 98
+f 98 116 115
+f 100 114 117
+f 100 117 101
+f 103 105 119
+f 103 119 118
+f 104 120 105
+f 105 120 121
+f 105 121 119
+f 106 122 107
+f 107 123 124
+f 107 124 108
+f 107 122 123
+f 108 124 125
+f 108 125 109
+f 109 126 127
+f 109 127 110
+f 109 125 126
+f 110 127 128
+f 110 128 111
+f 111 128 112
+f 112 129 113
+f 112 128 129
+f 113 129 116
+f 114 115 117
+f 115 130 117
+f 115 116 131
+f 115 131 132
+f 115 132 133
+f 115 133 130
+f 116 129 134
+f 116 134 131
+f 118 119 136
+f 118 136 135
+f 119 121 137
+f 119 137 126
+f 119 126 138
+f 119 138 139
+f 119 139 136
+f 120 140 141
+f 120 141 121
+f 120 133 140
+f 121 141 140
+f 121 140 137
+f 122 142 123
+f 123 143 125
+f 123 125 124
+f 123 142 144
+f 123 144 145
+f 123 145 143
+f 125 143 138
+f 125 138 126
+f 126 137 127
+f 127 137 128
+f 128 137 129
+f 129 137 134
+f 131 134 140
+f 131 140 132
+f 132 140 133
+f 134 137 140
+f 135 136 139
+f 135 139 146
+f 138 143 146
+f 138 146 139
+f 142 145 144
+f 143 145 146
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_20.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00860346 -0.05648778 0.01521776
+v -0.00891010 -0.05668022 0.01521776
+v -0.00894044 -0.05448576 0.01521777
+v -0.00947067 -0.05509268 0.01642277
+v -0.00947067 -0.05590454 0.01642276
+v -0.02179037 -0.05547366 0.02968793
+v -0.02374517 -0.05549867 0.03167493
+v -0.02491901 -0.05583322 0.03243500
+v -0.01098308 -0.05734898 0.01521776
+v -0.02491901 -0.05593256 0.03223445
+v -0.02491901 -0.05670691 0.03064350
+v -0.00900273 -0.05445517 0.01521777
+v -0.02491901 -0.05515787 0.03243501
+v -0.02374517 -0.05537498 0.03167493
+v -0.02179037 -0.05539011 0.02968793
+v -0.01150372 -0.05731806 0.01521776
+v -0.02491901 -0.05700067 0.02867168
+v -0.02491901 -0.05700296 0.02842730
+v -0.01097510 -0.05399726 0.01521777
+v -0.02491901 -0.05455620 0.03081541
+v -0.02491901 -0.05515459 0.03242658
+v -0.01295385 -0.05703318 0.01521776
+v -0.02491901 -0.05669637 0.02645716
+v -0.01111883 -0.05398904 0.01521777
+v -0.02491901 -0.05401342 0.02850484
+v -0.01322535 -0.05696345 0.01521776
+v -0.02491901 -0.05595358 0.02491509
+v -0.01295385 -0.05418937 0.01521777
+v -0.02491901 -0.05403612 0.02644875
+v -0.02491901 -0.05403085 0.02669986
+v -0.01476491 -0.05621376 0.01521776
+v -0.02491901 -0.05594766 0.02490330
+v -0.01489907 -0.05459497 0.01521777
+v -0.02491901 -0.05449829 0.02485612
+v -0.02491901 -0.05452625 0.02485612
+f 1 2 9
+f 1 9 16
+f 1 16 22
+f 1 22 26
+f 1 26 31
+f 1 31 33
+f 1 33 28
+f 1 28 24
+f 1 24 19
+f 1 19 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 11
+f 2 11 9
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 6
+f 4 6 5
+f 6 15 14
+f 6 14 7
+f 7 14 13
+f 7 13 8
+f 8 13 21
+f 8 21 20
+f 8 20 25
+f 8 25 30
+f 8 30 29
+f 8 29 34
+f 8 34 35
+f 8 35 32
+f 8 32 27
+f 8 27 23
+f 8 23 18
+f 8 18 17
+f 8 17 11
+f 8 11 10
+f 9 11 17
+f 9 17 18
+f 9 18 16
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 16 18 23
+f 16 23 22
+f 19 24 25
+f 19 25 20
+f 22 23 26
+f 23 27 26
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 27 31
+f 27 32 31
+f 28 33 29
+f 29 33 34
+f 31 32 33
+f 32 35 33
+f 33 35 34
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_21.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.02679998 -0.05989484 0.00895477
+v 0.02843056 -0.05988696 0.00895477
+v 0.02679998 -0.05984758 0.01092576
+v 0.02679998 -0.05972416 0.00580690
+v 0.02843056 -0.05971890 0.00580690
+v 0.03040160 -0.05985546 0.00895477
+v 0.02843056 -0.05983971 0.01092576
+v 0.02679998 -0.05979507 0.01114484
+v 0.02679998 -0.04842010 0.00580694
+v 0.03040160 -0.05968477 0.00580690
+v 0.03237136 -0.05971366 0.00895477
+v 0.03040160 -0.05980557 0.01092576
+v 0.03237136 -0.05955348 0.00580690
+v 0.02843056 -0.05952986 0.01219914
+v 0.02679998 -0.05953775 0.01221022
+v 0.02679998 -0.04842273 0.00647448
+v 0.02812851 -0.03307232 0.00580700
+v 0.03348230 -0.05941169 0.00580690
+v 0.03376772 -0.05949047 0.00895477
+v 0.03377796 -0.05949311 0.01045199
+v 0.03244943 -0.05960601 0.01103648
+v 0.03184276 -0.05945110 0.01204966
+v 0.03040160 -0.05950623 0.01215485
+v 0.03040160 -0.05838765 0.01313402
+v 0.02843056 -0.05838765 0.01318069
+v 0.02679998 -0.05934082 0.01237947
+v 0.02679998 -0.04842536 0.00698304
+v 0.02813235 -0.03307232 0.00674503
+v 0.03983826 -0.03307232 0.00580700
+v 0.02679998 -0.04843587 0.00895481
+v 0.03446782 -0.05910447 0.00580690
+v 0.03475324 -0.05919638 0.00895477
+v 0.03439743 -0.05915963 0.01103648
+v 0.03315721 -0.05934081 0.01176651
+v 0.03434111 -0.05817496 0.01276466
+v 0.03244943 -0.05856358 0.01276703
+v 0.03418241 -0.05622400 0.01377309
+v 0.03235600 -0.05622400 0.01386721
+v 0.03040160 -0.05640780 0.01387591
+v 0.02679998 -0.05838765 0.01319414
+v 0.02814003 -0.03307233 0.00855546
+v 0.03987282 -0.03307233 0.00895487
+v 0.03983826 -0.03742589 0.00580698
+v 0.02679998 -0.04868795 0.01092580
+v 0.02814259 -0.03307233 0.00895487
+v 0.03631215 -0.05814868 0.00580691
+v 0.03631215 -0.05833775 0.00895478
+v 0.03645422 -0.05806992 0.01096927
+v 0.03589235 -0.05780735 0.01241270
+v 0.03645422 -0.05654697 0.01289912
+v 0.03473276 -0.05479819 0.01387750
+v 0.03612273 -0.05425465 0.01376757
+v 0.03341959 -0.05544151 0.01388462
+v 0.02843056 -0.05640780 0.01387828
+v 0.02679998 -0.05804630 0.01331436
+v 0.03987026 -0.04058473 0.00895484
+v 0.03984594 -0.03307233 0.00935429
+v 0.03983698 -0.03940312 0.00580698
+v 0.02679998 -0.04901355 0.01180688
+v 0.02832305 -0.03307234 0.01092586
+v 0.02679998 -0.04918685 0.01214382
+v 0.03733095 -0.05743184 0.00580691
+v 0.03741926 -0.05752900 0.00895478
+v 0.03741542 -0.05752639 0.01034048
+v 0.03720680 -0.05730056 0.01165500
+v 0.03767780 -0.05598243 0.01240637
+v 0.03804641 -0.05443058 0.01275756
+v 0.03637615 -0.05245073 0.01385932
+v 0.03533815 -0.05348004 0.01388383
+v 0.03300235 -0.05544151 0.01388462
+v 0.02679998 -0.05640780 0.01387987
+v 0.03539063 -0.05245073 0.01388463
+v 0.03546230 -0.05047350 0.01388542
+v 0.03548918 -0.04849365 0.01388622
+v 0.03983570 -0.04058472 0.00580697
+v 0.03973587 -0.03307234 0.01092586
+v 0.03973203 -0.04058474 0.01092583
+v 0.03972819 -0.04256197 0.01092582
+v 0.03986514 -0.04256196 0.00895483
+v 0.02882861 -0.03307234 0.01211778
+v 0.02679998 -0.05015053 0.01272515
+v 0.02679998 -0.05211200 0.01345991
+v 0.03774179 -0.05682790 0.00580691
+v 0.03819871 -0.05640778 0.00895478
+v 0.03793250 -0.05654696 0.01096927
+v 0.03902169 -0.05446995 0.01103571
+v 0.03923031 -0.05316756 0.01176653
+v 0.03931862 -0.05184941 0.01200856
+v 0.03845726 -0.05248486 0.01273937
+v 0.03828191 -0.05047350 0.01306444
+v 0.03828191 -0.04849365 0.01311665
+v 0.03644782 -0.05047350 0.01387119
+v 0.03528824 -0.04849365 0.01388622
+v 0.03300235 -0.05520781 0.01388462
+v 0.03529336 -0.04454183 0.01388545
+v 0.03531255 -0.04058475 0.01388467
+v 0.03532023 -0.03899090 0.01388389
+v 0.03614704 -0.03307235 0.01387996
+v 0.03591154 -0.03307235 0.01387600
+v 0.03451390 -0.03307235 0.01385069
+v 0.03427840 -0.03307235 0.01383962
+v 0.03237136 -0.03307235 0.01374866
+v 0.02679998 -0.05443058 0.01384112
+v 0.03647470 -0.04849365 0.01387278
+v 0.03646958 -0.04651643 0.01387437
+v 0.03645678 -0.04454183 0.01387596
+v 0.03640430 -0.04058475 0.01387834
+v 0.03631215 -0.03464783 0.01387915
+v 0.03547126 -0.04454183 0.01388545
+v 0.03541879 -0.04058475 0.01388467
+v 0.03983314 -0.04138297 0.00580697
+v 0.03967059 -0.03307234 0.01117895
+v 0.03940310 -0.04454182 0.01216915
+v 0.03940053 -0.04651642 0.01216360
+v 0.03970131 -0.04849364 0.01092580
+v 0.03982290 -0.04849363 0.00895481
+v 0.03981522 -0.04454180 0.00580696
+v 0.03982930 -0.04256195 0.00580696
+v 0.02895788 -0.03307235 0.01241991
+v 0.02679998 -0.05245073 0.01355719
+v 0.03802721 -0.05640777 0.00580691
+v 0.03906136 -0.05482180 0.00895479
+v 0.03939158 -0.05383977 0.01045201
+v 0.03947733 -0.05248485 0.01103572
+v 0.03965523 -0.05047349 0.01092579
+v 0.03936086 -0.05047349 0.01209161
+v 0.03938774 -0.04849364 0.01214224
+v 0.03828191 -0.04651643 0.01314039
+v 0.03537399 -0.03899090 0.01388389
+v 0.03788386 -0.03307235 0.01330258
+v 0.03197331 -0.03307235 0.01366087
+v 0.03040160 -0.03307235 0.01331128
+v 0.03010850 -0.03307235 0.01313095
+v 0.03828191 -0.04454183 0.01314752
+v 0.03828191 -0.04058475 0.01315149
+v 0.03828191 -0.03662768 0.01315467
+v 0.03828191 -0.03307235 0.01315626
+v 0.03643758 -0.04256198 0.01387675
+v 0.03940565 -0.03307234 0.01217393
+v 0.03940565 -0.03464782 0.01217392
+v 0.03940438 -0.04058474 0.01217074
+v 0.03940438 -0.03860489 0.01217233
+v 0.03976915 -0.05047348 0.00895480
+v 0.03975763 -0.04849362 0.00580694
+v 0.03978067 -0.04731464 0.00580695
+v 0.03979346 -0.04651640 0.00580695
+v 0.03860316 -0.05531807 0.00580692
+v 0.03897945 -0.05458810 0.00580692
+v 0.03931734 -0.05359817 0.00580692
+v 0.03938902 -0.05383450 0.00895479
+v 0.03961172 -0.05245071 0.00895480
+v 0.03917783 -0.03307235 0.01237325
+v 0.03967827 -0.05047347 0.00580693
+v 0.03972691 -0.04929187 0.00580694
+v 0.03942229 -0.05292072 0.00580693
+v 0.03949397 -0.05245070 0.00580693
+v 0.03960532 -0.05127172 0.00580693
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 26
+f 1 26 40
+f 1 40 55
+f 1 55 71
+f 1 71 103
+f 1 103 120
+f 1 120 82
+f 1 82 81
+f 1 81 61
+f 1 61 59
+f 1 59 44
+f 1 44 30
+f 1 30 27
+f 1 27 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 7 8
+f 4 9 17
+f 4 17 29
+f 4 29 43
+f 4 43 58
+f 4 58 75
+f 4 75 111
+f 4 111 118
+f 4 118 117
+f 4 117 146
+f 4 146 145
+f 4 145 144
+f 4 144 154
+f 4 154 153
+f 4 153 157
+f 4 157 156
+f 4 156 155
+f 4 155 149
+f 4 149 148
+f 4 148 147
+f 4 147 121
+f 4 121 83
+f 4 83 62
+f 4 62 46
+f 4 46 31
+f 4 31 18
+f 4 18 13
+f 4 13 10
+f 4 10 5
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 13
+f 6 13 11
+f 7 12 14
+f 7 14 15
+f 7 15 8
+f 9 16 17
+f 11 13 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 16 27 17
+f 17 28 41
+f 17 41 45
+f 17 45 60
+f 17 60 80
+f 17 80 119
+f 17 119 133
+f 17 133 132
+f 17 132 131
+f 17 131 102
+f 17 102 101
+f 17 101 100
+f 17 100 99
+f 17 99 98
+f 17 98 130
+f 17 130 137
+f 17 137 152
+f 17 152 139
+f 17 139 112
+f 17 112 76
+f 17 76 57
+f 17 57 42
+f 17 42 29
+f 17 27 30
+f 17 30 28
+f 18 31 32
+f 18 32 19
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 24 36 35
+f 24 35 37
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 26
+f 28 30 41
+f 29 42 43
+f 30 44 45
+f 30 45 41
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 35
+f 35 49 50
+f 35 50 37
+f 37 51 38
+f 37 50 52
+f 37 52 51
+f 38 51 53
+f 38 53 39
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 42 56 43
+f 42 57 56
+f 43 56 58
+f 44 59 45
+f 45 59 61
+f 45 61 60
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 48 64 65
+f 48 65 49
+f 49 65 66
+f 49 66 50
+f 50 66 67
+f 50 67 52
+f 51 52 68
+f 51 68 69
+f 51 69 53
+f 52 67 68
+f 53 70 71
+f 53 71 54
+f 53 69 72
+f 53 72 73
+f 53 73 74
+f 53 74 93
+f 53 93 70
+f 54 71 55
+f 56 75 58
+f 56 57 76
+f 56 76 77
+f 56 77 78
+f 56 78 79
+f 56 79 75
+f 60 61 81
+f 60 81 82
+f 60 82 80
+f 62 83 84
+f 62 84 63
+f 63 84 64
+f 64 84 85
+f 64 85 65
+f 65 85 66
+f 66 85 86
+f 66 86 87
+f 66 87 67
+f 67 87 88
+f 67 88 89
+f 67 89 90
+f 67 90 68
+f 68 90 91
+f 68 91 92
+f 68 92 69
+f 69 92 72
+f 70 93 94
+f 70 94 71
+f 71 94 93
+f 71 93 95
+f 71 95 96
+f 71 96 97
+f 71 97 98
+f 71 98 99
+f 71 99 100
+f 71 100 101
+f 71 101 102
+f 71 102 103
+f 72 92 104
+f 72 104 73
+f 73 104 105
+f 73 105 106
+f 73 106 74
+f 74 106 107
+f 74 107 108
+f 74 108 98
+f 74 98 109
+f 74 109 110
+f 74 110 96
+f 74 96 93
+f 75 79 111
+f 76 112 77
+f 77 113 78
+f 77 112 113
+f 78 113 114
+f 78 114 115
+f 78 115 79
+f 79 116 117
+f 79 117 118
+f 79 118 111
+f 79 115 116
+f 80 82 119
+f 82 120 119
+f 83 121 84
+f 84 121 122
+f 84 122 85
+f 85 122 86
+f 86 123 87
+f 86 122 123
+f 87 123 124
+f 87 124 88
+f 88 124 125
+f 88 125 126
+f 88 126 89
+f 89 126 90
+f 90 126 127
+f 90 127 91
+f 91 127 114
+f 91 114 128
+f 91 128 92
+f 92 128 104
+f 93 96 95
+f 96 110 129
+f 96 129 97
+f 97 129 98
+f 98 108 130
+f 98 129 110
+f 98 110 109
+f 102 131 103
+f 103 131 132
+f 103 132 133
+f 103 133 119
+f 103 119 120
+f 104 128 134
+f 104 134 135
+f 104 135 136
+f 104 136 137
+f 104 137 105
+f 105 137 106
+f 106 137 138
+f 106 138 107
+f 107 138 130
+f 107 130 108
+f 112 139 140
+f 112 140 141
+f 112 141 113
+f 113 134 128
+f 113 128 114
+f 113 141 140
+f 113 140 142
+f 113 142 136
+f 113 136 135
+f 113 135 134
+f 114 127 115
+f 115 127 126
+f 115 126 125
+f 115 125 116
+f 116 125 143
+f 116 143 144
+f 116 144 145
+f 116 145 146
+f 116 146 117
+f 121 147 122
+f 122 147 148
+f 122 148 149
+f 122 149 150
+f 122 150 123
+f 123 150 151
+f 123 151 124
+f 124 151 125
+f 125 151 143
+f 130 138 137
+f 136 142 140
+f 136 140 137
+f 137 140 152
+f 139 152 140
+f 143 151 153
+f 143 153 154
+f 143 154 144
+f 149 155 151
+f 149 151 150
+f 151 155 156
+f 151 156 157
+f 151 157 153
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_22.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.04161207 -0.00893004 0.01486955
+v -0.04156571 -0.00497328 0.01616247
+v -0.04156571 0.00326261 0.01617281
+v -0.04161014 0.00326262 0.01486959
+v -0.04157150 0.00326262 0.01373910
+v -0.04157150 -0.00893004 0.01373519
+v -0.04157150 -0.01288681 0.01373517
+v -0.04157150 -0.02871035 0.01373769
+v -0.04157150 -0.03292570 0.01373897
+v -0.04161014 -0.02673373 0.01486948
+v -0.04156378 -0.03292571 0.01614690
+v -0.04142275 0.00294025 0.01897518
+v -0.04141889 0.00326260 0.01897518
+v -0.04109242 0.00326262 0.01291282
+v -0.04099969 -0.00893004 0.01274907
+v -0.04099969 -0.01288681 0.01274905
+v -0.04099776 -0.03292570 0.01275285
+v -0.04160434 -0.03292570 0.01472251
+v -0.04099969 -0.01684004 0.01275033
+v -0.04160821 -0.03292570 0.01486946
+v -0.04156957 -0.03292571 0.01598190
+v -0.04135321 -0.03292572 0.01897505
+v -0.04136094 -0.03246168 0.01897505
+v -0.04137832 -0.03069052 0.01897506
+v -0.04142082 -0.00893006 0.01897514
+v -0.02920994 0.00326260 0.01897518
+v -0.04099969 0.00326262 0.01275298
+v -0.03563703 0.00326265 0.00580634
+v -0.03563703 -0.00685067 0.00580630
+v -0.03563317 -0.03292567 0.00580621
+v -0.02921188 -0.03292572 0.01897505
+v -0.02871927 0.00326260 0.01880761
+v -0.02920415 -0.02079682 0.01897509
+v -0.02871927 -0.02079682 0.01881010
+v -0.02262639 0.00326265 0.00580634
+v -0.02381831 -0.03292567 0.00580621
+v -0.02897427 -0.03292572 0.01889384
+v -0.02871927 -0.02475360 0.01881009
+v -0.02920994 -0.03118290 0.01897506
+v -0.02854348 0.00326260 0.01867355
+v -0.02920415 -0.02524244 0.01897508
+v -0.02763553 -0.02475360 0.01798381
+v -0.02264377 0.00326264 0.00696390
+v -0.02187685 0.00298281 0.00648437
+v -0.02187685 0.00298635 0.00580634
+v -0.02382024 -0.03292567 0.00660541
+v -0.02187685 -0.02756969 0.00580623
+v -0.02187685 -0.02756969 0.00590935
+v -0.02187685 -0.02756616 0.00716101
+v -0.02187685 -0.02755907 0.00895536
+v -0.02871927 -0.03292572 0.01880619
+v -0.02871927 -0.03069052 0.01880749
+v -0.02763553 -0.02871037 0.01798250
+v -0.02763746 0.00326260 0.01798133
+v -0.02187685 -0.02475358 0.01307901
+v -0.02267855 0.00326264 0.00895547
+v -0.02187685 0.00296155 0.00895547
+v -0.02382989 -0.03292568 0.00895534
+v -0.02187685 -0.02753782 0.00916547
+v -0.02763746 -0.03292572 0.01798120
+v -0.02187685 -0.00101650 0.01291281
+v -0.02187685 0.00096012 0.01281356
+v -0.02187685 0.00219285 0.01209170
+v -0.02187685 0.00275608 0.01089676
+v -0.02302241 0.00326263 0.01080911
+v -0.02187685 -0.02566395 0.01277737
+v -0.02300888 0.00326263 0.01073950
+v -0.02400569 -0.03292569 0.01092757
+v -0.02187685 -0.02735009 0.01100622
+v -0.02187685 -0.02643263 0.01250924
+v -0.02187685 -0.02698523 0.01169972
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 3
+f 2 11 12
+f 3 12 13
+f 3 13 26
+f 3 26 32
+f 3 32 40
+f 3 40 54
+f 3 54 65
+f 3 65 67
+f 3 67 56
+f 3 56 43
+f 3 43 35
+f 3 35 28
+f 3 28 27
+f 3 27 14
+f 3 14 5
+f 3 5 4
+f 5 14 6
+f 6 15 16
+f 6 16 7
+f 6 14 15
+f 7 16 8
+f 8 16 9
+f 9 17 30
+f 9 30 36
+f 9 36 46
+f 9 46 58
+f 9 58 68
+f 9 68 60
+f 9 60 51
+f 9 51 37
+f 9 37 31
+f 9 31 22
+f 9 22 11
+f 9 11 21
+f 9 21 20
+f 9 20 18
+f 9 18 10
+f 9 16 19
+f 9 19 17
+f 10 18 20
+f 10 20 21
+f 10 21 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 24
+f 12 24 23
+f 12 23 22
+f 12 22 31
+f 12 31 39
+f 12 39 41
+f 12 41 33
+f 12 33 26
+f 12 26 13
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 16 17 19
+f 26 33 34
+f 26 34 32
+f 28 35 45
+f 28 45 47
+f 28 47 36
+f 28 36 30
+f 28 30 29
+f 31 37 38
+f 31 38 39
+f 32 34 40
+f 33 41 38
+f 33 38 34
+f 34 38 42
+f 34 42 40
+f 35 43 44
+f 35 44 45
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 46
+f 37 51 52
+f 37 52 38
+f 38 41 39
+f 38 52 53
+f 38 53 42
+f 40 42 54
+f 42 53 55
+f 42 55 54
+f 43 56 44
+f 44 57 64
+f 44 64 63
+f 44 63 62
+f 44 62 61
+f 44 61 55
+f 44 55 66
+f 44 66 70
+f 44 70 71
+f 44 71 69
+f 44 69 59
+f 44 59 50
+f 44 50 49
+f 44 49 48
+f 44 48 47
+f 44 47 45
+f 44 56 57
+f 46 50 58
+f 50 59 58
+f 51 60 53
+f 51 53 52
+f 53 60 55
+f 54 61 62
+f 54 62 63
+f 54 63 64
+f 54 64 65
+f 54 55 61
+f 55 60 66
+f 56 67 57
+f 57 67 65
+f 57 65 64
+f 58 59 69
+f 58 69 68
+f 60 68 70
+f 60 70 66
+f 68 69 71
+f 68 71 70
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_23.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.01400738 -0.00281674 0.00580632
+v 0.01400738 -0.00281120 0.00660830
+v 0.01400738 0.00257821 0.00580634
+v 0.02626387 -0.00302558 0.00580632
+v 0.02631136 -0.00302559 0.00683450
+v 0.02631928 -0.00302559 0.00698319
+v 0.02646440 -0.00302559 0.00895492
+v 0.02700533 -0.00302560 0.01092586
+v 0.01400738 -0.00280844 0.00698319
+v 0.01400738 0.00256823 0.00698321
+v 0.02704491 0.00263248 0.01159973
+v 0.02556727 0.00263248 0.00984867
+v 0.02498149 0.00263249 0.00895494
+v 0.02494719 0.00263249 0.00849859
+v 0.02484692 0.00263249 0.00698321
+v 0.02478359 0.00263250 0.00580634
+v 0.04068668 -0.00302558 0.00580632
+v 0.02846186 -0.00302561 0.01244361
+v 0.01400738 -0.00279293 0.00895492
+v 0.01400738 -0.00279792 0.00832615
+v 0.01400738 0.00254773 0.00895494
+v 0.02787344 0.00263247 0.01231709
+v 0.04067876 0.00263250 0.00580634
+v 0.04069196 -0.00181298 0.00580632
+v 0.04095054 -0.00101474 0.00698320
+v 0.04093999 -0.00302559 0.00698319
+v 0.03039862 -0.00302561 0.01333576
+v 0.01400738 -0.00259518 0.01092586
+v 0.01400738 0.00248623 0.00958371
+v 0.03009254 0.00263247 0.01327567
+v 0.04082653 0.00263250 0.00652844
+v 0.04068668 0.00214336 0.00580634
+v 0.04069460 -0.00101473 0.00580633
+v 0.04094527 0.00096287 0.00698320
+v 0.04096110 0.00096287 0.00895493
+v 0.04096110 -0.00101474 0.00895493
+v 0.04095846 -0.00302559 0.00895492
+v 0.04069460 0.00016519 0.00580633
+v 0.03236968 -0.00302561 0.01375019
+v 0.01400738 -0.00220520 0.01216363
+v 0.01400738 0.00235495 0.01092588
+v 0.03039862 0.00263247 0.01334764
+v 0.04091888 0.00263249 0.00698321
+v 0.04069196 0.00096288 0.00580633
+v 0.04094527 0.00263249 0.00895494
+v 0.04065765 0.00263248 0.01092588
+v 0.04064974 -0.00302560 0.01092586
+v 0.03426423 -0.00302561 0.01384589
+v 0.01400738 -0.00101476 0.01288416
+v 0.01400738 0.00206357 0.01205846
+v 0.03206360 0.00263247 0.01369880
+v 0.04052308 0.00263248 0.01115129
+v 0.03979218 -0.00302561 0.01237085
+v 0.04063655 -0.00302560 0.01094959
+v 0.03429589 -0.00302561 0.01384747
+v 0.01400738 0.00033245 0.01281377
+v 0.03428798 0.00263247 0.01384749
+v 0.03398717 0.00263247 0.01383246
+v 0.03236968 0.00263247 0.01375021
+v 0.01400738 0.00171235 0.01228861
+v 0.03979218 0.00263247 0.01237008
+v 0.03979218 0.00096285 0.01237086
+v 0.03828288 -0.00302561 0.01335315
+v 0.03528011 -0.00302561 0.01388544
+v 0.03511915 0.00263247 0.01387992
+v 0.01400738 0.00096285 0.01277976
+v 0.03828288 0.00263247 0.01335317
+v 0.03668914 0.00263247 0.01388071
+v 0.03662053 -0.00302561 0.01387990
+v 0.03527219 0.00263247 0.01388546
+v 0.03563632 -0.00302561 0.01388544
+v 0.03653346 0.00263247 0.01388150
+v 0.03663900 -0.00101476 0.01388070
+v 0.03660470 -0.00302561 0.01388069
+v 0.03570229 0.00263247 0.01388546
+f 1 2 9
+f 1 9 20
+f 1 20 19
+f 1 19 28
+f 1 28 40
+f 1 40 49
+f 1 49 56
+f 1 56 66
+f 1 66 60
+f 1 60 50
+f 1 50 41
+f 1 41 29
+f 1 29 21
+f 1 21 10
+f 1 10 3
+f 1 3 16
+f 1 16 23
+f 1 23 32
+f 1 32 44
+f 1 44 38
+f 1 38 33
+f 1 33 24
+f 1 24 17
+f 1 17 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 4 17 26
+f 4 26 37
+f 4 37 47
+f 4 47 54
+f 4 54 53
+f 4 53 63
+f 4 63 69
+f 4 69 74
+f 4 74 71
+f 4 71 64
+f 4 64 55
+f 4 55 48
+f 4 48 39
+f 4 39 27
+f 4 27 18
+f 4 18 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 10 21 22
+f 10 22 11
+f 11 22 30
+f 11 30 42
+f 11 42 51
+f 11 51 59
+f 11 59 58
+f 11 58 57
+f 11 57 65
+f 11 65 70
+f 11 70 75
+f 11 75 72
+f 11 72 68
+f 11 68 67
+f 11 67 61
+f 11 61 52
+f 11 52 46
+f 11 46 45
+f 11 45 43
+f 11 43 31
+f 11 31 23
+f 11 23 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 17 24 25
+f 17 25 26
+f 18 27 19
+f 19 27 28
+f 21 29 30
+f 21 30 22
+f 23 31 32
+f 24 33 25
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 25 33 38
+f 25 38 34
+f 27 39 40
+f 27 40 28
+f 29 41 30
+f 30 41 42
+f 31 43 34
+f 31 34 32
+f 32 34 44
+f 34 45 35
+f 34 38 44
+f 34 43 45
+f 35 45 46
+f 35 46 36
+f 36 46 37
+f 37 46 47
+f 39 48 49
+f 39 49 40
+f 41 50 42
+f 42 50 51
+f 46 52 53
+f 46 53 54
+f 46 54 47
+f 48 55 49
+f 49 55 57
+f 49 57 58
+f 49 58 59
+f 49 59 56
+f 50 60 59
+f 50 59 51
+f 52 61 62
+f 52 62 53
+f 53 62 67
+f 53 67 63
+f 55 64 65
+f 55 65 57
+f 56 59 66
+f 59 60 66
+f 61 67 62
+f 63 68 69
+f 63 67 68
+f 64 70 65
+f 64 71 75
+f 64 75 70
+f 68 72 73
+f 68 73 69
+f 69 73 74
+f 71 74 73
+f 71 73 72
+f 71 72 75
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_24.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00278236 -0.03045767 0.00121710
+v -0.00263837 -0.03074343 0.00121710
+v -0.00278236 -0.02746369 0.00580578
+v -0.00278236 -0.01905316 0.00121714
+v 0.00839805 -0.03074343 0.00121710
+v 0.00024356 -0.03074345 0.00580577
+v -0.00278236 -0.02216615 0.00580580
+v -0.00262958 -0.01882806 0.00121714
+v 0.00602722 -0.03074345 0.00580577
+v 0.00844642 -0.03063029 0.00121710
+v 0.00844642 -0.02749401 0.00580578
+v 0.00024466 -0.01882808 0.00580581
+v 0.00839366 -0.01882806 0.00121714
+v 0.00844642 -0.01897385 0.00121714
+v 0.00844642 -0.02215566 0.00580580
+v 0.00602612 -0.01882808 0.00580581
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 2 6 3
+f 3 6 9
+f 3 9 11
+f 3 11 15
+f 3 15 16
+f 3 16 12
+f 3 12 7
+f 4 7 8
+f 5 10 11
+f 5 11 9
+f 7 12 8
+f 8 12 16
+f 8 16 13
+f 10 14 15
+f 10 15 11
+f 13 16 15
+f 13 15 14
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_25.obj

@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
+v 0.01265545 0.05970367 0.00895643
+v -0.00900977 0.05952242 0.00580746
+v -0.01177593 0.05952242 0.00580746
+v -0.01097601 0.05968720 0.00895643
+v 0.01068921 0.05964481 0.01092625
+v 0.01265545 0.05964599 0.01092625
+v 0.02251715 0.05962833 0.01092625
+v 0.02251715 0.05968484 0.00895551
+v 0.02251715 0.05951183 0.00580655
+v 0.02054481 0.05951536 0.00580655
+v 0.01324776 0.05951536 0.00580655
+v -0.01294835 0.05952125 0.00580746
+v -0.01294835 0.05968484 0.00895643
+v -0.01294835 0.05962363 0.01092442
+v -0.02083161 0.05938469 0.01203136
+v -0.01885926 0.05938587 0.01203410
+v -0.01491458 0.05938823 0.01203867
+v -0.00703743 0.05939176 0.01204598
+v 0.00083972 0.05939411 0.01204964
+v 0.00281206 0.05939411 0.01205147
+v 0.00675064 0.05939411 0.01205147
+v 0.01324776 0.05939411 0.01204872
+v 0.01463390 0.05939411 0.01204689
+v 0.02448949 0.05938940 0.01203775
+v 0.02645573 0.05938705 0.01203227
+v 0.02448949 0.05961539 0.01092625
+v 0.02842807 0.05958243 0.01092625
+v 0.03039430 0.05961422 0.00895551
+v 0.02842807 0.05948123 0.00580655
+v 0.02762814 0.05948829 0.00580655
+v 0.02645573 0.05949535 0.00580655
+v 0.02566191 0.05949888 0.00580655
+v 0.02369567 0.05950712 0.00580655
+v 0.01324776 0.04847271 0.00580651
+v -0.02255359 0.05950241 0.00580746
+v -0.02083161 0.05951065 0.00580746
+v -0.01885926 0.05951419 0.00580746
+v -0.02255359 0.05966836 0.00895643
+v -0.02255359 0.05961068 0.01092442
+v -0.02255359 0.05937881 0.01201947
+v -0.01097601 0.05712365 0.01514466
+v -0.00506509 0.05939176 0.01204781
+v 0.01857247 0.05939176 0.01204415
+v 0.02842807 0.05937763 0.01201307
+v 0.03039430 0.05956478 0.01092625
+v 0.03219567 0.05945179 0.01088785
+v 0.03354516 0.05937999 0.01020687
+v 0.03236054 0.05947180 0.00893175
+v 0.03173159 0.05936588 0.00580655
+v 0.03116370 0.05940001 0.00580655
+v 0.03039430 0.05944003 0.00580655
+v 0.02960048 0.05945769 0.00580655
+v -0.02255359 0.04789245 0.00580742
+v 0.02775027 0.04780535 0.00580651
+v -0.02255359 0.05856784 0.01288053
+v -0.02255359 0.05844779 0.01300666
+v -0.02255359 0.05758622 0.01383846
+v -0.02255359 0.05745910 0.01396003
+v -0.01294835 0.05686588 0.01514466
+v -0.01070733 0.05710364 0.01514466
+v 0.03039430 0.05833480 0.01293444
+v 0.02842807 0.05833480 0.01298837
+v 0.03039430 0.05935173 0.01196371
+v 0.03142627 0.05932938 0.01192258
+v 0.03273913 0.05923992 0.01152039
+v 0.03425350 0.05898922 0.01088785
+v 0.03648841 0.05793817 0.00885587
+v 0.03425350 0.05905867 0.00893175
+v 0.03354516 0.05937999 0.00957251
+v 0.03271471 0.05925054 0.00580655
+v -0.00027163 0.04768059 0.00580742
+v -0.00016782 0.04768058 0.00698383
+v 0.00021688 0.04768057 0.01065838
+v 0.00024741 0.04768057 0.01092621
+v -0.02255359 0.04789597 0.00698383
+v 0.03976750 0.04780535 0.00580651
+v -0.02255359 0.05649749 0.01442712
+v -0.01478635 0.05618558 0.01514466
+v -0.02255359 0.05635625 0.01449476
+v -0.02255359 0.05463077 0.01489968
+v -0.02255359 0.05437771 0.01495818
+v -0.00871667 0.05652220 0.01514466
+v 0.03246435 0.05616558 0.01385126
+v 0.03039430 0.05635625 0.01386497
+v 0.03416801 0.05616558 0.01373060
+v 0.03433899 0.05803584 0.01271324
+v 0.03219567 0.05848192 0.01267576
+v 0.03580450 0.05769215 0.01236498
+v 0.03639682 0.05789461 0.01085403
+v 0.03736161 0.05741439 0.01015019
+v 0.03736161 0.05741440 0.00944544
+v 0.03621363 0.05795113 0.00580654
+v 0.03433899 0.05886566 0.00580655
+v 0.03371614 0.05901631 0.00580655
+v 0.00698268 0.04768059 0.00580742
+v 0.00101680 0.04768056 0.01249018
+v -0.02255359 0.04791363 0.00895639
+v 0.03975529 0.04844564 0.00580651
+v 0.03982857 0.04780534 0.00895547
+v -0.01478635 0.05458132 0.01514465
+v -0.02255359 0.05265575 0.01468944
+v -0.01294835 0.05400106 0.01514465
+v -0.00860065 0.05643981 0.01514466
+v 0.03470537 0.05478731 0.01387410
+v 0.03339251 0.05537934 0.01388415
+v 0.03613424 0.05422823 0.01375344
+v 0.03639682 0.05645512 0.01285675
+v 0.03766082 0.05586074 0.01238600
+v 0.03711736 0.05718017 0.01146371
+v 0.03785623 0.05645513 0.01085403
+v 0.03898589 0.05460489 0.00895549
+v 0.03789897 0.05653871 0.00885587
+v 0.03720285 0.05725669 0.00580654
+v 0.03661664 0.05767688 0.00580654
+v 0.03792339 0.05626683 0.00580654
+v 0.03764251 0.05666584 0.00580654
+v 0.00697047 0.04768058 0.00698383
+v 0.00281206 0.04768056 0.01310443
+v -0.02255359 0.04805956 0.01102675
+v 0.03981635 0.04844563 0.00895547
+v 0.03966980 0.05042419 0.00580652
+v 0.03970033 0.04844562 0.01092621
+v 0.03970644 0.04780533 0.01092621
+v 0.00692772 0.04768058 0.00895639
+v -0.02255359 0.05240388 0.01464556
+v -0.01114088 0.05372682 0.01514465
+v -0.00869224 0.05452483 0.01514465
+v 0.03647009 0.04780532 0.01387042
+v 0.03645177 0.05042416 0.01386678
+v 0.03535874 0.05347024 0.01388507
+v 0.03640292 0.05240152 0.01385581
+v 0.03801499 0.05437889 0.01274157
+v 0.03919961 0.05299827 0.01162914
+v 0.03896147 0.05432946 0.01095365
+v 0.03934006 0.05364091 0.01031563
+v 0.03933395 0.05361738 0.00895549
+v 0.03927900 0.05343614 0.00580653
+v 0.03913245 0.05383161 0.00580653
+v 0.03891262 0.05442129 0.00580653
+v -0.02255359 0.05101854 0.01410626
+v -0.02255359 0.05015580 0.01355507
+v -0.02255359 0.05002868 0.01345452
+v -0.02255359 0.04898939 0.01259438
+v -0.02255359 0.04885168 0.01246824
+v -0.02255359 0.04813960 0.01125527
+v 0.00417377 0.04768056 0.01276897
+v 0.03548697 0.04780532 0.01388596
+v 0.03526104 0.04780532 0.01388596
+v 0.03972476 0.05042418 0.00895548
+v 0.03961485 0.05042417 0.01092622
+v 0.03944998 0.05240155 0.00580652
+v 0.03953546 0.05240154 0.00895548
+v 0.03935227 0.05042417 0.01208343
+v 0.03938891 0.04844562 0.01215106
+v 0.03939502 0.04780533 0.01215563
+v 0.00653081 0.04768057 0.01088050
+v 0.00689108 0.04768058 0.00922147
+v -0.01097601 0.05371387 0.01514465
+v -0.02255359 0.05117626 0.01417482
+v -0.00870445 0.05434474 0.01514465
+v 0.00480883 0.04768056 0.01257976
+v 0.03827756 0.04780532 0.01312911
+v -0.00871056 0.05434004 0.01514465
+v -0.00886322 0.05424941 0.01514465
+v 0.03827756 0.04844561 0.01312363
+v 0.03827756 0.05042416 0.01305325
+v 0.03843633 0.05236503 0.01272510
+v 0.03930342 0.05167885 0.01199019
+v 0.03943166 0.05236504 0.01095364
+v 0.00572478 0.04768057 0.01175252
+v 0.00645753 0.04768057 0.01108983
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 7
+f 7 25 26
+f 7 26 8
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 32
+f 8 32 33
+f 8 33 9
+f 9 33 32
+f 9 32 31
+f 9 31 30
+f 9 30 29
+f 9 29 52
+f 9 52 51
+f 9 51 50
+f 9 50 49
+f 9 49 70
+f 9 70 94
+f 9 94 93
+f 9 93 92
+f 9 92 114
+f 9 114 113
+f 9 113 116
+f 9 116 115
+f 9 115 139
+f 9 139 138
+f 9 138 137
+f 9 137 151
+f 9 151 121
+f 9 121 98
+f 9 98 76
+f 9 76 54
+f 9 54 34
+f 9 34 11
+f 9 11 10
+f 11 34 53
+f 11 53 35
+f 11 35 36
+f 11 36 37
+f 11 37 12
+f 12 37 13
+f 13 37 38
+f 13 38 39
+f 13 39 14
+f 14 39 15
+f 15 39 40
+f 15 40 41
+f 15 41 16
+f 16 41 17
+f 17 41 18
+f 18 41 42
+f 18 42 20
+f 18 20 19
+f 20 42 41
+f 20 41 21
+f 21 41 22
+f 22 41 23
+f 23 41 43
+f 23 43 24
+f 24 43 41
+f 24 41 25
+f 25 44 26
+f 25 41 44
+f 26 44 27
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 29
+f 34 54 53
+f 35 38 36
+f 35 53 75
+f 35 75 97
+f 35 97 119
+f 35 119 145
+f 35 145 144
+f 35 144 143
+f 35 143 142
+f 35 142 141
+f 35 141 140
+f 35 140 159
+f 35 159 125
+f 35 125 101
+f 35 101 81
+f 35 81 80
+f 35 80 79
+f 35 79 77
+f 35 77 58
+f 35 58 57
+f 35 57 56
+f 35 56 55
+f 35 55 40
+f 35 40 39
+f 35 39 38
+f 36 38 37
+f 40 55 41
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 78
+f 41 78 100
+f 41 100 102
+f 41 102 126
+f 41 126 158
+f 41 158 164
+f 41 164 163
+f 41 163 160
+f 41 160 127
+f 41 127 103
+f 41 103 82
+f 41 82 60
+f 41 60 61
+f 41 61 62
+f 41 62 44
+f 44 62 61
+f 44 61 63
+f 44 63 45
+f 45 63 64
+f 45 64 46
+f 46 64 65
+f 46 65 47
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 69 49
+f 49 69 70
+f 53 71 72
+f 53 72 73
+f 53 73 74
+f 53 74 75
+f 53 54 71
+f 54 76 95
+f 54 95 71
+f 58 77 59
+f 59 77 79
+f 59 79 80
+f 59 80 81
+f 59 81 78
+f 60 82 83
+f 60 83 84
+f 60 84 61
+f 61 84 83
+f 61 83 85
+f 61 85 86
+f 61 86 87
+f 61 87 64
+f 61 64 63
+f 64 87 86
+f 64 86 65
+f 65 86 88
+f 65 88 66
+f 66 88 89
+f 66 89 67
+f 67 90 91
+f 67 91 92
+f 67 92 68
+f 67 89 90
+f 68 93 69
+f 68 92 93
+f 69 93 94
+f 69 94 70
+f 71 95 117
+f 71 117 124
+f 71 124 157
+f 71 157 156
+f 71 156 171
+f 71 171 170
+f 71 170 161
+f 71 161 146
+f 71 146 118
+f 71 118 96
+f 71 96 74
+f 71 74 73
+f 71 73 72
+f 74 96 75
+f 75 96 97
+f 76 98 120
+f 76 120 99
+f 76 99 95
+f 78 81 100
+f 81 101 102
+f 81 102 100
+f 82 103 104
+f 82 104 105
+f 82 105 83
+f 83 105 104
+f 83 104 85
+f 85 104 106
+f 85 106 107
+f 85 107 86
+f 86 107 88
+f 88 107 108
+f 88 108 109
+f 88 109 89
+f 89 109 90
+f 90 110 111
+f 90 111 112
+f 90 112 91
+f 90 109 110
+f 91 113 114
+f 91 114 92
+f 91 112 115
+f 91 115 116
+f 91 116 113
+f 95 99 117
+f 96 118 97
+f 97 118 119
+f 98 121 120
+f 99 120 122
+f 99 122 123
+f 99 123 124
+f 99 124 117
+f 101 125 126
+f 101 126 102
+f 103 127 128
+f 103 128 129
+f 103 129 130
+f 103 130 104
+f 104 130 131
+f 104 131 106
+f 106 131 132
+f 106 132 107
+f 107 132 108
+f 108 132 133
+f 108 133 134
+f 108 134 110
+f 108 110 109
+f 110 134 111
+f 111 134 135
+f 111 135 136
+f 111 136 137
+f 111 137 138
+f 111 138 139
+f 111 139 115
+f 111 115 112
+f 118 140 141
+f 118 141 142
+f 118 142 143
+f 118 143 144
+f 118 144 145
+f 118 145 119
+f 118 146 128
+f 118 128 147
+f 118 147 148
+f 118 148 140
+f 120 121 149
+f 120 149 150
+f 120 150 122
+f 121 151 152
+f 121 152 149
+f 122 150 153
+f 122 153 154
+f 122 154 155
+f 122 155 123
+f 123 155 156
+f 123 156 157
+f 123 157 124
+f 125 158 126
+f 125 159 148
+f 125 148 158
+f 127 160 128
+f 128 146 161
+f 128 161 162
+f 128 162 129
+f 128 160 163
+f 128 163 164
+f 128 164 158
+f 128 158 147
+f 129 162 165
+f 129 165 131
+f 129 131 130
+f 131 165 166
+f 131 166 132
+f 132 166 167
+f 132 167 168
+f 132 168 133
+f 133 168 169
+f 133 169 135
+f 133 135 134
+f 135 169 152
+f 135 152 136
+f 136 152 137
+f 137 152 151
+f 140 148 159
+f 147 158 148
+f 149 152 169
+f 149 169 150
+f 150 169 168
+f 150 168 153
+f 153 168 167
+f 153 167 166
+f 153 166 154
+f 154 166 165
+f 154 165 155
+f 155 165 162
+f 155 162 161
+f 155 161 170
+f 155 170 171
+f 155 171 156
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_26.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03068724 -0.00310247 -0.02697693
+v -0.02477729 0.01085532 -0.02698009
+v -0.02103619 -0.00310247 -0.02697693
+v -0.03254770 -0.00310247 -0.02693521
+v -0.03068724 -0.00299303 -0.02697693
+v -0.03068724 0.01309808 -0.02697366
+v -0.02701244 0.01309808 -0.02697687
+v -0.02103619 0.01309808 -0.02697687
+v -0.02103619 -0.00310258 0.00273178
+v -0.03265867 -0.00310247 -0.02693200
+v -0.03265867 0.01309808 -0.02693194
+v -0.02103619 0.01309798 0.00115928
+v -0.02103619 -0.00290750 0.00580632
+v -0.02163281 -0.00310259 0.00580632
+v -0.03437934 -0.00310247 -0.02626125
+v -0.03448022 0.01309808 -0.02621947
+v -0.02381464 0.01309796 0.00580638
+v -0.02103619 0.00267879 0.00580634
+v -0.03563743 -0.00310259 0.00580632
+v -0.03448166 -0.00310247 -0.02621953
+v -0.03448166 0.00887585 -0.02621949
+v -0.03546593 0.00492166 -0.02510586
+v -0.03546593 0.00887584 -0.02510264
+v -0.03546593 0.01085531 -0.02509301
+v -0.03546593 0.01283319 -0.02507053
+v -0.03546593 0.01309807 -0.02506732
+v -0.03563454 0.01309796 0.00580638
+v -0.03563743 0.00304201 0.00580634
+v -0.03575848 0.00492165 -0.02259296
+v -0.03575271 -0.00310249 -0.02259299
+v -0.03541261 -0.00310248 -0.02516045
+v -0.03546737 -0.00310248 -0.02509627
+v -0.03575415 0.00492166 -0.02412060
+v -0.03575127 0.00887584 -0.02411738
+v -0.03574695 0.01085531 -0.02410453
+v -0.03550196 0.01309807 -0.02493574
+v -0.03573830 0.01309806 -0.02259293
+v -0.03574983 0.01085530 -0.02259294
+v -0.03575415 0.00887583 -0.02259295
+v -0.03574983 -0.00310248 -0.02411100
+v -0.03573686 0.01283319 -0.02408527
+v -0.03573542 0.01309807 -0.02408206
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 19
+f 1 19 30
+f 1 30 40
+f 1 40 32
+f 1 32 31
+f 1 31 20
+f 1 20 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 12
+f 3 12 18
+f 3 18 13
+f 3 13 9
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 16
+f 6 16 26
+f 6 26 36
+f 6 36 42
+f 6 42 37
+f 6 37 27
+f 6 27 17
+f 6 17 12
+f 6 12 8
+f 6 8 7
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 13 18 17
+f 13 17 27
+f 13 27 28
+f 13 28 19
+f 13 19 14
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 19 28 29
+f 19 29 30
+f 20 31 22
+f 20 22 21
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 25
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 27 37 38
+f 27 38 39
+f 27 39 29
+f 27 29 28
+f 29 39 34
+f 29 34 33
+f 29 33 40
+f 29 40 30
+f 32 40 33
+f 34 39 38
+f 34 38 35
+f 35 41 36
+f 35 38 41
+f 36 41 42
+f 37 42 41
+f 37 41 38
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_27.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.03236935 -0.04039951 0.06889422
+v -0.03091336 -0.05074410 0.06889418
+v -0.03215661 -0.05074409 0.06415656
+v -0.03382305 -0.04039950 0.06415660
+v -0.04168173 -0.04039951 0.06889422
+v -0.04160967 -0.05074410 0.06889418
+v -0.04163026 -0.05074409 0.06415656
+v -0.04226390 -0.04039950 0.06415660
+v -0.04228105 -0.04039950 0.06434952
+v -0.04230736 -0.04040052 0.06415660
+v -0.04254640 -0.04256138 0.06416680
+v -0.04228448 -0.04256138 0.06613864
+v -0.04180411 -0.04163183 0.06889422
+v -0.04161082 -0.05073600 0.06889418
+v -0.04197453 -0.04849616 0.06810999
+v -0.04161082 -0.05074410 0.06887470
+v -0.04163140 -0.05074409 0.06416677
+v -0.04207403 -0.04849615 0.06415657
+v -0.04230507 -0.04039950 0.06416681
+v -0.04254754 -0.04256138 0.06415659
+v -0.04241830 -0.04453997 0.06613864
+v -0.04216896 -0.04453998 0.06811001
+v -0.04199054 -0.04375725 0.06889421
+v -0.04188188 -0.04250265 0.06889421
+v -0.04190590 -0.04849616 0.06889419
+v -0.04216553 -0.04651756 0.06811000
+v -0.04233709 -0.04651755 0.06613863
+v -0.04242288 -0.04651755 0.06416679
+v -0.04205916 -0.04849615 0.06613862
+v -0.04163026 -0.05074410 0.06810998
+v -0.04163712 -0.05074409 0.06483595
+v -0.04207403 -0.04849615 0.06416678
+v -0.04242288 -0.04651755 0.06415658
+v -0.04164627 -0.05074409 0.06613861
+v -0.04259787 -0.04453997 0.06415659
+v -0.04206374 -0.04651756 0.06889420
+v -0.04205002 -0.04453998 0.06889421
+v -0.04164627 -0.05074410 0.06674704
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 19
+f 1 19 9
+f 1 9 5
+f 1 5 13
+f 1 13 24
+f 1 24 23
+f 1 23 37
+f 1 37 36
+f 1 36 25
+f 1 25 14
+f 1 14 6
+f 1 6 2
+f 2 6 16
+f 2 16 30
+f 2 30 38
+f 2 38 34
+f 2 34 31
+f 2 31 17
+f 2 17 7
+f 2 7 3
+f 3 7 18
+f 3 18 33
+f 3 33 35
+f 3 35 20
+f 3 20 10
+f 3 10 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 7 17 18
+f 8 10 19
+f 9 19 10
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 17 31 18
+f 18 32 28
+f 18 28 33
+f 18 31 34
+f 18 34 38
+f 18 38 32
+f 20 35 21
+f 21 35 26
+f 21 26 22
+f 22 26 36
+f 22 36 37
+f 22 37 23
+f 25 36 26
+f 26 35 27
+f 27 35 28
+f 28 32 29
+f 28 35 33
+f 29 32 38
+f 29 38 30
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_28.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.00645653 -0.04716533 0.00580700
+v 0.00010954 -0.04716533 0.00580700
+v 0.00641018 -0.04716534 0.00774190
+v 0.02679539 -0.04842301 0.00580699
+v 0.00010954 -0.04716533 0.00588315
+v -0.00702214 -0.04895558 0.00580699
+v 0.00637045 -0.04716534 0.00895513
+v 0.02679539 -0.04842551 0.00647452
+v 0.02679539 -0.05972589 0.00580695
+v 0.00013271 -0.04716534 0.00698300
+v -0.00702214 -0.04896185 0.00895512
+v -0.00702214 -0.05972840 0.00580695
+v 0.00614862 -0.04716535 0.01054569
+v 0.02679539 -0.04843927 0.00895512
+v 0.02679539 -0.04843552 0.00844749
+v 0.02679539 -0.04842802 0.00698299
+v 0.02679539 -0.05989468 0.00895508
+v 0.02251771 -0.05992968 0.00895508
+v 0.02645768 -0.05972840 0.00580695
+v 0.00018569 -0.04716534 0.00895513
+v -0.00702214 -0.04911063 0.01091033
+v 0.00040421 -0.04716535 0.01092557
+v -0.00506871 -0.05992593 0.00895508
+v -0.00702214 -0.05991718 0.00895508
+v 0.00281454 -0.05973339 0.00580695
+v 0.00675451 -0.05993593 0.00895508
+v 0.00561225 -0.04716535 0.01145350
+v 0.02679539 -0.04869057 0.01092556
+v 0.00470176 -0.04716536 0.01254828
+v 0.02679539 -0.05984843 0.01092552
+v 0.02251771 -0.05988844 0.01092552
+v 0.01266447 -0.05993469 0.00895508
+v 0.02054441 -0.05973590 0.00580695
+v 0.02251771 -0.05973464 0.00580695
+v 0.02448769 -0.05973215 0.00580695
+v 0.01266447 -0.05989594 0.01092552
+v 0.00872450 -0.05989844 0.01092552
+v -0.00702214 -0.04911188 0.01092556
+v 0.00082469 -0.04716535 0.01178768
+v -0.00506871 -0.05989093 0.01092552
+v -0.00702214 -0.05991718 0.00897031
+v 0.01660444 -0.05973590 0.00580695
+v 0.00872450 -0.05993593 0.00895508
+v 0.00675451 -0.05989844 0.01092552
+v 0.02679539 -0.04901562 0.01180713
+v 0.00281454 -0.04716536 0.01310159
+v 0.02679539 -0.05953839 0.01221065
+v 0.02645768 -0.05953963 0.01221319
+v 0.02448769 -0.05954589 0.01222504
+v 0.02251771 -0.05955089 0.01223350
+v 0.02054441 -0.05955214 0.01223773
+v 0.00675451 -0.05955464 0.01224111
+v 0.01660444 -0.05955339 0.01224027
+v -0.00702214 -0.04937067 0.01205587
+v 0.00115247 -0.04716536 0.01245014
+v -0.00702214 -0.05955464 0.01224027
+v -0.00702214 -0.05987969 0.01093651
+v -0.00702214 -0.05988218 0.01092552
+v -0.00309872 -0.05955464 0.01224111
+v 0.02679539 -0.04918814 0.01214386
+v 0.00218878 -0.04716536 0.01289431
+v -0.00702214 -0.04937317 0.01206433
+v -0.00702214 -0.05047459 0.01278515
+v -0.00702214 -0.05259864 0.01366503
+v -0.00702214 -0.05438015 0.01427079
+v 0.02679539 -0.05245362 0.01355674
+v 0.02679539 -0.05211357 0.01345944
+v 0.02679539 -0.05015329 0.01272509
+v 0.02679539 -0.05934087 0.01237986
+v 0.02645768 -0.05838698 0.01319715
+v 0.02251771 -0.05838823 0.01321999
+v -0.00702214 -0.05854700 0.01322591
+v 0.01266447 -0.05955339 0.01224111
+v -0.00702214 -0.05441516 0.01427502
+v 0.02679539 -0.05443016 0.01384100
+v 0.02679539 -0.05838698 0.01319377
+v 0.02360037 -0.05739809 0.01388414
+v -0.00702214 -0.05755686 0.01401781
+v -0.00702214 -0.05639794 0.01444845
+v 0.02679539 -0.05640919 0.01387991
+v -0.00702214 -0.05640919 0.01444929
+v 0.02679539 -0.05804693 0.01331391
+f 1 2 5
+f 1 5 10
+f 1 10 20
+f 1 20 22
+f 1 22 39
+f 1 39 55
+f 1 55 61
+f 1 61 46
+f 1 46 29
+f 1 29 27
+f 1 27 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 35
+f 1 35 34
+f 1 34 33
+f 1 33 42
+f 1 42 25
+f 1 25 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 8 16
+f 4 16 15
+f 4 15 14
+f 4 14 28
+f 4 28 45
+f 4 45 60
+f 4 60 68
+f 4 68 67
+f 4 67 66
+f 4 66 75
+f 4 75 80
+f 4 80 82
+f 4 82 76
+f 4 76 69
+f 4 69 47
+f 4 47 30
+f 4 30 17
+f 4 17 9
+f 4 7 8
+f 5 6 11
+f 5 11 10
+f 6 12 24
+f 6 24 41
+f 6 41 58
+f 6 58 57
+f 6 57 56
+f 6 56 72
+f 6 72 78
+f 6 78 81
+f 6 81 79
+f 6 79 74
+f 6 74 65
+f 6 65 64
+f 6 64 63
+f 6 63 62
+f 6 62 54
+f 6 54 38
+f 6 38 21
+f 6 21 11
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 9 18 19
+f 10 11 20
+f 11 21 22
+f 11 22 20
+f 12 23 24
+f 12 25 26
+f 12 26 23
+f 13 27 14
+f 14 27 29
+f 14 29 28
+f 17 30 31
+f 17 31 18
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 18 31 36
+f 18 36 37
+f 18 37 32
+f 21 38 22
+f 22 38 39
+f 23 26 40
+f 23 40 41
+f 23 41 24
+f 25 42 26
+f 26 42 33
+f 26 33 43
+f 26 43 37
+f 26 37 44
+f 26 44 40
+f 28 29 46
+f 28 46 45
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 36
+f 32 37 43
+f 32 43 33
+f 36 51 37
+f 37 52 59
+f 37 59 44
+f 37 51 53
+f 37 53 52
+f 38 54 55
+f 38 55 39
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 40 44 56
+f 44 59 56
+f 45 46 60
+f 46 61 62
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 60
+f 47 69 48
+f 48 69 70
+f 48 70 49
+f 49 70 50
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 53
+f 52 72 59
+f 52 53 73
+f 52 73 72
+f 53 72 73
+f 54 62 55
+f 55 62 61
+f 56 59 72
+f 65 74 75
+f 65 75 66
+f 69 76 70
+f 70 76 77
+f 70 77 78
+f 70 78 71
+f 71 78 72
+f 74 79 75
+f 75 79 81
+f 75 81 80
+f 76 82 77
+f 77 82 80
+f 77 80 81
+f 77 81 78
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_29.obj

@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.00968896 0.05952414 0.00580334
+v -0.01177799 0.05952414 0.00580334
+v -0.00968896 0.04846942 0.00580330
+v -0.00968896 0.05967861 -0.02259484
+v -0.02083722 0.05970456 -0.02259484
+v -0.01886538 0.05951636 0.00580334
+v -0.02351983 0.04645357 0.00580329
+v -0.00968896 0.04645359 0.00112749
+v -0.00968896 0.05959949 -0.02388172
+v -0.00968896 0.05955798 -0.02455565
+v -0.02083722 0.05958133 -0.02456207
+v -0.02280396 0.05956965 -0.02455565
+v -0.02280396 0.05968899 -0.02259484
+v -0.02280396 0.05950339 0.00580334
+v -0.02083722 0.05951247 0.00580334
+v -0.03560305 0.04645357 0.00580329
+v -0.00968896 0.04645369 -0.02697544
+v -0.00968896 0.05932189 -0.02554088
+v -0.01295497 0.05932319 -0.02554409
+v -0.01492426 0.05932319 -0.02554729
+v -0.02083722 0.05932448 -0.02555050
+v -0.02280396 0.05932189 -0.02554088
+v -0.02477579 0.05955538 -0.02450431
+v -0.02477579 0.05966564 -0.02259484
+v -0.02477579 0.05948652 0.00580334
+v -0.03560050 0.04663777 0.00580329
+v -0.03571005 0.04844487 -0.02285482
+v -0.03571514 0.04645367 -0.02271363
+v -0.02083722 0.04645369 -0.02697865
+v -0.00968896 0.04912592 -0.02697543
+v -0.01098314 0.05932189 -0.02554409
+v -0.00968896 0.05833344 -0.02625012
+v -0.01689610 0.05833473 -0.02625333
+v -0.02083722 0.05833473 -0.02625333
+v -0.02280396 0.05833214 -0.02625333
+v -0.02477579 0.05930373 -0.02548953
+v -0.02477579 0.05831527 -0.02625333
+v -0.02674508 0.05826079 -0.02624370
+v -0.02674508 0.05953074 -0.02434706
+v -0.02674508 0.05960467 -0.02259484
+v -0.02674508 0.05942815 0.00580334
+v -0.03555719 0.04837472 0.00580330
+v -0.03567438 0.05042310 -0.02313080
+v -0.03571005 0.04844488 -0.02397804
+v -0.03571514 0.04645368 -0.02401335
+v -0.03068620 0.04645369 -0.02697544
+v -0.03068620 0.04844489 -0.02697543
+v -0.02674508 0.05042312 -0.02697542
+v -0.02477579 0.05042312 -0.02697542
+v -0.00968896 0.05437957 -0.02697220
+v -0.00968896 0.05635780 -0.02695935
+v -0.02280396 0.05635780 -0.02696577
+v -0.02477579 0.05635780 -0.02696577
+v -0.02674508 0.05924925 -0.02533228
+v -0.02871691 0.05811810 -0.02620198
+v -0.02674508 0.05635780 -0.02695614
+v -0.02871691 0.05635780 -0.02691121
+v -0.02871691 0.05942696 -0.02394591
+v -0.02974104 0.05934005 -0.02363141
+v -0.02974104 0.05934005 -0.02348699
+v -0.02791952 0.05935291 0.00580334
+v -0.03551643 0.04924384 0.00580330
+v -0.03563871 0.05163469 -0.02340679
+v -0.03567438 0.05042311 -0.02383683
+v -0.03544000 0.04844488 -0.02496326
+v -0.03545529 0.04646665 -0.02499857
+v -0.03545529 0.04645368 -0.02499857
+v -0.03265803 0.04645369 -0.02693051
+v -0.03265803 0.04646666 -0.02693051
+v -0.03068620 0.05240264 -0.02696900
+v -0.02871691 0.05240264 -0.02697221
+v -0.02674508 0.05437957 -0.02697220
+v -0.03068620 0.05437957 -0.02696257
+v -0.02871691 0.05437957 -0.02696899
+v -0.02871691 0.05910656 -0.02493113
+v -0.03068620 0.05635780 -0.02670583
+v -0.03068620 0.05781196 -0.02600301
+v -0.03232175 0.05783788 -0.02259485
+v -0.03051296 0.05873815 -0.02439840
+v -0.03223004 0.05776266 -0.02456529
+v -0.03227844 0.05781184 0.00580333
+v -0.03134093 0.05832683 0.00580333
+v -0.03068620 0.05867967 0.00580334
+v -0.02960602 0.05900008 0.00580334
+v -0.02890543 0.05920373 0.00580334
+v -0.03546038 0.05042300 0.00580331
+v -0.03487953 0.05437955 -0.02259486
+v -0.03563871 0.05163469 -0.02368278
+v -0.03524639 0.05240252 0.00580331
+v -0.03505022 0.05319900 0.00580332
+v -0.03475215 0.05437945 0.00580332
+v -0.03539924 0.05042311 -0.02482205
+v -0.03441333 0.05042312 -0.02620200
+v -0.03445408 0.04844489 -0.02621485
+v -0.03544764 0.04645368 -0.02500820
+v -0.03446937 0.04645369 -0.02621807
+v -0.03446937 0.04646666 -0.02621807
+v -0.03265803 0.04844489 -0.02692729
+v -0.03265803 0.05042312 -0.02691123
+v -0.03265803 0.05240264 -0.02685989
+v -0.03265803 0.05437957 -0.02664486
+v -0.03190140 0.05752267 -0.02574627
+v -0.03259689 0.05627348 -0.02603831
+v -0.03330767 0.05698433 -0.02259485
+v -0.03321341 0.05687667 -0.02456529
+v -0.03326436 0.05692975 0.00580333
+v -0.03406940 0.05599457 -0.02259485
+v -0.03399552 0.05588820 -0.02456529
+v -0.03472922 0.05437956 -0.02456530
+v -0.03402609 0.05594128 0.00580333
+v -0.03531517 0.05233777 -0.02443053
+v -0.03429613 0.05240264 -0.02615066
+v -0.03402354 0.05437957 -0.02594526
+v -0.03377133 0.05555872 -0.02570456
+f 1 2 6
+f 1 6 15
+f 1 15 14
+f 1 14 25
+f 1 25 41
+f 1 41 61
+f 1 61 85
+f 1 85 84
+f 1 84 83
+f 1 83 82
+f 1 82 81
+f 1 81 106
+f 1 106 110
+f 1 110 91
+f 1 91 90
+f 1 90 89
+f 1 89 86
+f 1 86 62
+f 1 62 42
+f 1 42 26
+f 1 26 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 30
+f 1 30 50
+f 1 50 51
+f 1 51 32
+f 1 32 18
+f 1 18 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 16 28
+f 7 28 45
+f 7 45 67
+f 7 67 95
+f 7 95 96
+f 7 96 68
+f 7 68 46
+f 7 46 29
+f 7 29 17
+f 7 17 8
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 23 13
+f 12 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 16 26 27
+f 16 27 28
+f 17 29 30
+f 18 31 19
+f 18 32 31
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 36 23
+f 22 35 37
+f 22 37 38
+f 22 38 36
+f 23 36 39
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 26 42 43
+f 26 43 27
+f 27 43 64
+f 27 64 44
+f 27 44 45
+f 27 45 28
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 32 51 33
+f 33 51 52
+f 33 52 53
+f 33 53 34
+f 34 53 35
+f 35 53 37
+f 36 54 39
+f 36 38 55
+f 36 55 54
+f 37 53 56
+f 37 56 38
+f 38 56 57
+f 38 57 55
+f 39 54 58
+f 39 58 40
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 41
+f 42 62 63
+f 42 63 43
+f 43 63 88
+f 43 88 64
+f 44 64 65
+f 44 65 66
+f 44 66 45
+f 45 66 67
+f 46 68 69
+f 46 69 47
+f 47 69 70
+f 47 70 71
+f 47 71 72
+f 47 72 48
+f 48 72 50
+f 48 50 49
+f 50 72 53
+f 50 53 52
+f 50 52 51
+f 53 73 56
+f 53 72 74
+f 53 74 73
+f 54 75 58
+f 54 55 75
+f 55 57 76
+f 55 76 77
+f 55 77 75
+f 56 73 57
+f 57 73 76
+f 58 75 59
+f 59 78 60
+f 59 75 79
+f 59 79 80
+f 59 80 78
+f 60 78 81
+f 60 81 82
+f 60 82 83
+f 60 83 84
+f 60 84 85
+f 60 85 61
+f 62 86 63
+f 63 87 88
+f 63 86 89
+f 63 89 90
+f 63 90 91
+f 63 91 87
+f 64 88 92
+f 64 92 65
+f 65 92 93
+f 65 93 94
+f 65 94 66
+f 66 94 95
+f 66 95 67
+f 68 96 97
+f 68 97 69
+f 69 97 98
+f 69 98 70
+f 70 74 71
+f 70 98 73
+f 70 73 74
+f 71 74 72
+f 73 98 99
+f 73 99 100
+f 73 100 101
+f 73 101 76
+f 75 77 102
+f 75 102 79
+f 76 101 103
+f 76 103 102
+f 76 102 77
+f 78 80 104
+f 78 104 81
+f 79 102 80
+f 80 105 104
+f 80 102 105
+f 81 104 106
+f 87 107 108
+f 87 108 109
+f 87 109 88
+f 87 91 110
+f 87 110 107
+f 88 109 111
+f 88 111 92
+f 92 111 112
+f 92 112 93
+f 93 112 100
+f 93 100 99
+f 93 99 94
+f 94 99 98
+f 94 98 97
+f 94 97 95
+f 95 97 96
+f 100 112 101
+f 101 112 113
+f 101 113 114
+f 101 114 103
+f 102 114 105
+f 102 103 114
+f 104 105 108
+f 104 108 107
+f 104 107 110
+f 104 110 106
+f 105 114 108
+f 108 114 109
+f 109 114 113
+f 109 113 111
+f 111 113 112
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_3.obj

@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.04813624 0.03854254 0.00179392
+v 0.05010616 0.00294122 0.00131352
+v 0.04813624 0.04053074 0.00179138
+v 0.04223776 0.03262970 0.00064686
+v 0.04223776 0.02867400 0.00064940
+v 0.04223776 0.02075224 0.00065193
+v 0.04223776 -0.01090374 0.00065181
+v 0.04813624 -0.04058188 0.00178597
+v 0.05144537 0.00294122 0.00038106
+v 0.04998636 0.04844216 0.00100202
+v 0.04813624 0.04844215 0.00175564
+v 0.04813624 0.04250860 0.00178883
+v 0.05010616 -0.00299234 0.00130839
+v 0.04223776 0.03658540 0.00064176
+v 0.04223776 -0.03068226 0.00064918
+v 0.04223776 -0.03463796 0.00064661
+v 0.04813624 -0.04255973 0.00178340
+v 0.05144230 0.00096337 0.00038105
+v 0.05217744 0.00294122 -0.00090649
+v 0.05097132 0.04844216 -0.00054356
+v 0.04992903 0.05042001 0.00089984
+v 0.04813624 0.05042000 0.00151041
+v 0.04223776 0.04949839 0.00013087
+v 0.04223776 0.04053075 0.00059579
+v 0.04223776 0.03856326 0.00062644
+v 0.04813624 -0.04849329 0.00175784
+v 0.05010616 -0.00497019 0.00129560
+v 0.05143411 -0.00299234 0.00037849
+v 0.04223776 -0.03661581 0.00064150
+v 0.05250917 0.00491908 -0.00287869
+v 0.05213341 0.00491907 -0.00090648
+v 0.05216720 -0.00101449 -0.00090650
+v 0.05116074 0.04975729 -0.00160119
+v 0.05089965 0.05040966 -0.00092930
+v 0.04962801 0.05182832 0.00056518
+v 0.04813624 0.05191117 0.00067503
+v 0.04692296 0.05165228 0.00038890
+v 0.04223776 0.05022326 -0.00090632
+v 0.04223776 -0.04959093 0.00015095
+v 0.04813624 -0.05047114 0.00158156
+v 0.04995667 -0.05047113 0.00094544
+v 0.04998636 -0.04849328 0.00100421
+v 0.04223776 -0.03860402 0.00062871
+v 0.04223776 -0.04058187 0.00060060
+v 0.04223776 -0.04255972 0.00052651
+v 0.05141773 -0.00497019 0.00036570
+v 0.05216105 -0.00299234 -0.00090651
+v 0.05269756 0.00089092 -0.01000879
+v 0.05269756 0.00484662 -0.01000877
+v 0.05269756 0.02271977 -0.01002404
+v 0.05269756 0.03063118 -0.01003422
+v 0.05269756 0.03257797 -0.01003677
+v 0.05269756 0.03458688 -0.01004187
+v 0.05269756 0.03656473 -0.01004698
+v 0.05269756 0.03854259 -0.01006485
+v 0.05269756 0.04056186 -0.01009550
+v 0.05269756 0.04250865 -0.01012614
+v 0.05269756 0.04448649 -0.01033818
+v 0.05246616 -0.00497018 -0.00287873
+v 0.05269756 -0.04255968 -0.01013157
+v 0.05269756 -0.04247684 -0.01012902
+v 0.05269756 -0.03860398 -0.01007535
+v 0.05269756 -0.03664684 -0.01004979
+v 0.05269756 -0.03467934 -0.01003702
+v 0.05269756 -0.03270149 -0.01003190
+v 0.05269756 -0.03073399 -0.01002933
+v 0.05269756 -0.02875614 -0.01002678
+v 0.05269756 -0.01886689 -0.01001908
+v 0.05269756 -0.01485941 -0.01001650
+v 0.05269756 0.04984016 -0.01120930
+v 0.05269756 0.05009904 -0.01158228
+v 0.05097747 0.05095849 -0.00287852
+v 0.04993210 0.05208721 -0.00090631
+v 0.04813624 0.05253248 -0.00090631
+v 0.04223776 0.05092743 -0.00287852
+v 0.04223776 -0.05046078 -0.00090669
+v 0.04688201 -0.05176553 0.00041663
+v 0.04813624 -0.05207619 0.00073596
+v 0.04965975 -0.05197264 0.00061845
+v 0.05093856 -0.05041935 -0.00099099
+v 0.05097235 -0.04849328 -0.00062567
+v 0.05212317 -0.00497019 -0.00090652
+v 0.05112490 -0.04972554 -0.00170374
+v 0.05269756 -0.04453753 -0.01031551
+v 0.05269756 -0.04430972 -0.01028230
+v 0.05269756 0.05068930 -0.01335522
+v 0.04999148 0.05214935 -0.00287852
+v 0.04813624 0.05268782 -0.00287852
+v 0.05269756 0.05086534 -0.01470663
+v 0.04223776 0.05099993 -0.00879258
+v 0.04223776 -0.05126847 -0.00287890
+v 0.04813624 -0.05286319 -0.00090669
+v 0.04997613 -0.05228330 -0.00090669
+v 0.05101637 -0.05091640 -0.00287890
+v 0.05269756 -0.05076103 -0.01273481
+v 0.05269756 -0.04995333 -0.01119433
+v 0.05000582 0.05215971 -0.00485072
+v 0.05269756 0.05101034 -0.02062069
+v 0.04813624 0.05271890 -0.00879258
+v 0.04223776 0.05099993 -0.00880535
+v 0.04223776 -0.05149626 -0.00960023
+v 0.04813624 -0.05304957 -0.00287890
+v 0.05003142 -0.05234542 -0.00287890
+v 0.05269756 -0.05119595 -0.01470701
+v 0.05000684 0.05215972 -0.00682037
+v 0.04813624 0.05260501 -0.01076478
+v 0.04998227 0.05211831 -0.01076478
+v 0.04999660 0.05215972 -0.00879258
+v 0.05269756 0.05082395 -0.02259290
+v 0.04223776 0.05097927 -0.02063602
+v 0.04223776 -0.05149626 -0.00992978
+v 0.04813624 -0.05307026 -0.00682075
+v 0.05269756 -0.05148586 -0.02147178
+v 0.04616633 0.05083430 -0.02259290
+v 0.04223776 0.05080324 -0.02259290
+v 0.05269756 0.05055471 -0.02303230
+v 0.04223776 -0.05146515 -0.02164550
+v 0.04813624 -0.05305991 -0.00879296
+v 0.05269756 -0.05148586 -0.02170425
+v 0.05269756 0.04995411 -0.02398520
+v 0.04223776 0.04995411 -0.02399031
+v 0.04419539 -0.05147551 -0.02166593
+v 0.04813624 -0.05293564 -0.01076516
+v 0.04223776 -0.05110272 -0.02263415
+v 0.05207709 -0.05148586 -0.02171447
+v 0.05269756 -0.05111307 -0.02269035
+v 0.05269756 0.04947777 -0.02408483
+v 0.04223776 0.04994376 -0.02399287
+v 0.04616633 -0.05111307 -0.02265459
+v 0.04223776 -0.05011896 -0.02401111
+v 0.04419539 -0.05110272 -0.02265203
+v 0.05207709 -0.05111307 -0.02269802
+v 0.05269756 -0.05012932 -0.02401366
+v 0.05269756 0.04844225 -0.02429176
+v 0.04223776 0.04844225 -0.02430198
+v 0.04223776 -0.04850354 -0.02424103
+v 0.05269756 -0.04849319 -0.02423848
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 8 13
+f 2 13 9
+f 3 12 14
+f 3 14 4
+f 4 14 25
+f 4 25 24
+f 4 24 23
+f 4 23 38
+f 4 38 75
+f 4 75 90
+f 4 90 100
+f 4 100 110
+f 4 110 115
+f 4 115 121
+f 4 121 128
+f 4 128 135
+f 4 135 136
+f 4 136 130
+f 4 130 124
+f 4 124 117
+f 4 117 111
+f 4 111 101
+f 4 101 91
+f 4 91 76
+f 4 76 39
+f 4 39 45
+f 4 45 44
+f 4 44 43
+f 4 43 29
+f 4 29 16
+f 4 16 15
+f 4 15 7
+f 4 7 6
+f 4 6 5
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 13
+f 9 13 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 14
+f 11 14 12
+f 13 17 26
+f 13 26 27
+f 13 27 28
+f 13 28 18
+f 16 29 17
+f 17 29 26
+f 18 28 19
+f 19 30 31
+f 19 31 20
+f 19 28 32
+f 19 32 30
+f 20 33 34
+f 20 34 21
+f 20 31 33
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 26 29 43
+f 26 43 44
+f 26 44 45
+f 26 45 39
+f 27 42 28
+f 28 42 46
+f 28 46 47
+f 28 47 32
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 30 54 55
+f 30 55 56
+f 30 56 57
+f 30 57 58
+f 30 58 33
+f 30 33 31
+f 30 32 47
+f 30 47 59
+f 30 59 60
+f 30 60 61
+f 30 61 62
+f 30 62 63
+f 30 63 64
+f 30 64 65
+f 30 65 66
+f 30 66 67
+f 30 67 68
+f 30 68 69
+f 30 69 48
+f 33 58 70
+f 33 70 71
+f 33 71 34
+f 34 71 72
+f 34 72 73
+f 34 73 35
+f 35 73 74
+f 35 74 36
+f 36 74 37
+f 37 74 75
+f 37 75 38
+f 39 76 77
+f 39 77 78
+f 39 78 40
+f 40 78 79
+f 40 79 41
+f 41 80 81
+f 41 81 42
+f 41 79 80
+f 42 81 46
+f 46 82 47
+f 46 81 82
+f 47 82 59
+f 48 69 68
+f 48 68 67
+f 48 67 66
+f 48 66 65
+f 48 65 64
+f 48 64 63
+f 48 63 62
+f 48 62 61
+f 48 61 60
+f 48 60 85
+f 48 85 84
+f 48 84 96
+f 48 96 95
+f 48 95 104
+f 48 104 113
+f 48 113 119
+f 48 119 126
+f 48 126 133
+f 48 133 137
+f 48 137 134
+f 48 134 127
+f 48 127 120
+f 48 120 116
+f 48 116 109
+f 48 109 98
+f 48 98 89
+f 48 89 86
+f 48 86 71
+f 48 71 70
+f 48 70 58
+f 48 58 57
+f 48 57 56
+f 48 56 55
+f 48 55 54
+f 48 54 53
+f 48 53 52
+f 48 52 51
+f 48 51 50
+f 48 50 49
+f 59 82 81
+f 59 81 83
+f 59 83 84
+f 59 84 85
+f 59 85 60
+f 71 86 72
+f 72 86 73
+f 73 87 88
+f 73 88 74
+f 73 86 89
+f 73 89 87
+f 74 88 75
+f 75 88 90
+f 76 91 92
+f 76 92 77
+f 77 92 78
+f 78 92 79
+f 79 92 93
+f 79 93 80
+f 80 93 94
+f 80 94 95
+f 80 95 96
+f 80 96 83
+f 80 83 81
+f 83 96 84
+f 87 97 88
+f 87 89 98
+f 87 98 97
+f 88 97 99
+f 88 99 90
+f 90 99 100
+f 91 101 102
+f 91 102 92
+f 92 102 93
+f 93 102 103
+f 93 103 104
+f 93 104 95
+f 93 95 94
+f 97 105 99
+f 97 98 105
+f 98 106 99
+f 98 99 107
+f 98 107 108
+f 98 108 105
+f 98 109 106
+f 99 105 108
+f 99 108 107
+f 99 106 110
+f 99 110 100
+f 101 111 112
+f 101 112 102
+f 102 112 113
+f 102 113 103
+f 103 113 104
+f 106 109 114
+f 106 114 115
+f 106 115 110
+f 109 116 114
+f 111 117 112
+f 112 118 119
+f 112 119 113
+f 112 117 118
+f 114 116 120
+f 114 120 121
+f 114 121 115
+f 117 122 123
+f 117 123 118
+f 117 124 122
+f 118 123 119
+f 119 123 125
+f 119 125 126
+f 120 127 128
+f 120 128 121
+f 122 125 123
+f 122 124 129
+f 122 129 125
+f 124 130 131
+f 124 131 129
+f 125 132 126
+f 125 129 132
+f 126 132 133
+f 127 134 135
+f 127 135 128
+f 129 131 130
+f 129 130 132
+f 130 136 133
+f 130 133 132
+f 133 136 137
+f 134 137 135
+f 135 137 136
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_30.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01324942 0.02170700 0.00580641
+v 0.01324942 0.02170770 0.00615522
+v 0.01324942 0.02709917 0.00580643
+v 0.02778148 0.02019865 0.00580640
+v 0.02778409 0.02019864 0.00698333
+v 0.02779451 0.02019864 0.00895515
+v 0.01324942 0.02170980 0.00698334
+v 0.01324942 0.02709637 0.00639885
+v 0.02787004 0.02736575 0.01092622
+v 0.02766948 0.02736576 0.00895518
+v 0.02762520 0.02736576 0.00714392
+v 0.02762259 0.02736576 0.00698336
+v 0.02760957 0.02736577 0.00591558
+v 0.02760957 0.02736577 0.00580643
+v 0.03983900 0.02019865 0.00580640
+v 0.02798987 0.02019863 0.01100370
+v 0.01324942 0.02171611 0.00895516
+v 0.01324942 0.02709496 0.00663455
+v 0.02790912 0.02736575 0.01101481
+v 0.01324942 0.02709285 0.00698336
+v 0.01324942 0.02708162 0.00837067
+v 0.01324942 0.02707671 0.00895518
+v 0.03983380 0.02736577 0.00580643
+v 0.03983900 0.02074727 0.00580641
+v 0.03985724 0.02470334 0.00895517
+v 0.03984943 0.02019864 0.00895515
+v 0.02882860 0.02019862 0.01242503
+v 0.01324942 0.02172873 0.00999051
+v 0.02859938 0.02736574 0.01250495
+v 0.01324942 0.02692867 0.01034171
+v 0.02910471 0.02736574 0.01281104
+v 0.03984422 0.02736576 0.00895518
+v 0.03983640 0.02668175 0.00580643
+v 0.03971919 0.02470333 0.01092621
+v 0.03970877 0.02019863 0.01092619
+v 0.03039929 0.02019862 0.01331485
+v 0.01324942 0.02192025 0.01097682
+v 0.01324942 0.02178555 0.01028316
+v 0.01324942 0.02686624 0.01092622
+v 0.03039929 0.02736574 0.01333386
+v 0.03970616 0.02736575 0.01092622
+v 0.03951080 0.02736575 0.01174327
+v 0.03940401 0.02736575 0.01217512
+v 0.03940661 0.02470333 0.01217591
+v 0.03940661 0.02272564 0.01217669
+v 0.03940661 0.02074725 0.01217748
+v 0.03940661 0.02019863 0.01217747
+v 0.03237110 0.02019862 0.01375066
+v 0.01324942 0.02290944 0.01258244
+v 0.01324942 0.02617940 0.01241953
+v 0.03237110 0.02736574 0.01375069
+v 0.03107913 0.02736574 0.01348493
+v 0.03866946 0.02736574 0.01281816
+v 0.03828135 0.02668172 0.01315827
+v 0.03828135 0.02470332 0.01315905
+v 0.03828135 0.02019862 0.01316061
+v 0.03428041 0.02019862 0.01384636
+v 0.01324942 0.02470332 0.01308945
+v 0.01324942 0.02514110 0.01289092
+v 0.03303011 0.02736574 0.01378391
+v 0.03828135 0.02736574 0.01315748
+v 0.03674713 0.02736574 0.01388119
+v 0.03673671 0.02074724 0.01388117
+v 0.03673411 0.02019862 0.01388116
+v 0.03526762 0.02019862 0.01388591
+v 0.03526501 0.02272563 0.01388592
+v 0.03526501 0.02736574 0.01388594
+v 0.03428041 0.02736574 0.01384639
+v 0.03610375 0.02736574 0.01388436
+v 0.03646321 0.02019862 0.01388275
+v 0.03574950 0.02019862 0.01388591
+v 0.03576253 0.02736574 0.01388594
+v 0.03575211 0.02074724 0.01388592
+f 1 2 7
+f 1 7 17
+f 1 17 28
+f 1 28 38
+f 1 38 37
+f 1 37 49
+f 1 49 58
+f 1 58 59
+f 1 59 50
+f 1 50 39
+f 1 39 30
+f 1 30 22
+f 1 22 21
+f 1 21 20
+f 1 20 18
+f 1 18 8
+f 1 8 3
+f 1 3 14
+f 1 14 23
+f 1 23 33
+f 1 33 24
+f 1 24 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 26
+f 4 26 35
+f 4 35 47
+f 4 47 56
+f 4 56 64
+f 4 64 70
+f 4 70 71
+f 4 71 65
+f 4 65 57
+f 4 57 48
+f 4 48 36
+f 4 36 27
+f 4 27 16
+f 4 16 6
+f 4 6 5
+f 6 16 17
+f 6 17 7
+f 8 18 9
+f 9 19 29
+f 9 29 31
+f 9 31 40
+f 9 40 52
+f 9 52 51
+f 9 51 60
+f 9 60 68
+f 9 68 67
+f 9 67 72
+f 9 72 69
+f 9 69 62
+f 9 62 61
+f 9 61 53
+f 9 53 43
+f 9 43 42
+f 9 42 41
+f 9 41 32
+f 9 32 23
+f 9 23 14
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 9 18 20
+f 9 20 21
+f 9 21 22
+f 9 22 19
+f 15 24 25
+f 15 25 26
+f 16 27 28
+f 16 28 17
+f 19 22 29
+f 22 30 31
+f 22 31 29
+f 23 32 25
+f 23 25 33
+f 24 33 25
+f 25 32 41
+f 25 41 34
+f 25 34 26
+f 26 34 35
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 30 39 31
+f 31 39 40
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 36 48 49
+f 36 49 37
+f 39 50 51
+f 39 51 52
+f 39 52 40
+f 43 53 44
+f 44 53 54
+f 44 54 45
+f 45 54 55
+f 45 55 46
+f 46 55 56
+f 46 56 47
+f 48 57 58
+f 48 58 49
+f 50 59 51
+f 51 59 58
+f 51 58 60
+f 53 61 54
+f 54 61 62
+f 54 62 55
+f 55 62 56
+f 56 62 63
+f 56 63 64
+f 57 65 58
+f 58 65 66
+f 58 66 67
+f 58 67 68
+f 58 68 60
+f 62 69 70
+f 62 70 63
+f 63 70 64
+f 65 71 73
+f 65 73 72
+f 65 72 67
+f 65 67 66
+f 69 72 70
+f 70 72 73
+f 70 73 71
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_31.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00702691 -0.02741872 0.00580623
+v -0.02187540 -0.02757197 0.00580694
+v -0.00702691 -0.02222077 0.00580625
+v -0.00125384 -0.02822247 0.00580623
+v -0.02187540 -0.02757197 0.00590876
+v -0.02187540 -0.02203004 0.00580696
+v -0.00125384 -0.02139293 0.00580625
+v -0.00125384 -0.02821176 0.00616937
+v -0.02187540 -0.02755994 0.00895489
+v -0.02187540 -0.02756864 0.00698324
+v -0.02187540 -0.02203205 0.00666141
+v -0.00125384 -0.02138625 0.00698397
+v -0.00125384 -0.02139025 0.00625199
+v -0.00125384 -0.02818768 0.00698395
+v -0.02187540 -0.02735315 0.01100415
+v -0.00125384 -0.02815288 0.00768033
+v -0.02187540 -0.02204143 0.00895491
+v -0.00125384 -0.02235129 0.01092584
+v -0.02187540 -0.02224756 0.01099776
+v -0.02187540 -0.02698708 0.01169768
+v -0.00125384 -0.02801435 0.00895560
+v -0.00125384 -0.02737390 0.01091514
+v -0.00125384 -0.02239948 0.01102411
+v -0.02187540 -0.02312494 0.01248024
+v -0.00125384 -0.02318450 0.01248307
+v -0.02187540 -0.02643297 0.01250941
+v -0.00125384 -0.02638545 0.01250870
+v -0.02187540 -0.02475653 0.01307834
+v -0.01689158 -0.02475653 0.01307906
+v -0.00702691 -0.02475653 0.01307977
+v -0.00125384 -0.02475653 0.01307977
+v -0.00125384 -0.02328355 0.01252081
+v -0.02187540 -0.02566669 0.01277715
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
+f 2 10 9
+f 2 9 15
+f 2 15 20
+f 2 20 26
+f 2 26 33
+f 2 33 28
+f 2 28 24
+f 2 24 19
+f 2 19 17
+f 2 17 11
+f 2 11 6
+f 2 4 5
+f 3 6 7
+f 4 7 13
+f 4 13 12
+f 4 12 18
+f 4 18 23
+f 4 23 25
+f 4 25 32
+f 4 32 31
+f 4 31 27
+f 4 27 22
+f 4 22 21
+f 4 21 16
+f 4 16 14
+f 4 14 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 16
+f 9 16 15
+f 11 17 12
+f 12 17 19
+f 12 19 18
+f 15 16 21
+f 15 21 22
+f 15 22 20
+f 18 19 23
+f 19 24 25
+f 19 25 23
+f 20 22 27
+f 20 27 26
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 26 27 31
+f 26 31 33
+f 28 33 29
+f 29 33 30
+f 30 33 31
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_32.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.01387559 0.03019632 -0.02697611
+v 0.01387559 0.04645713 -0.02697605
+v 0.02448885 0.04645713 -0.02697883
+v 0.02695461 0.03019632 -0.02697611
+v 0.01387559 0.03019622 0.00113033
+v 0.01387559 0.04645703 0.00112482
+v 0.02449525 0.04645713 -0.02697883
+v 0.02695461 0.04645713 -0.02697605
+v 0.02695461 0.03019621 0.00144754
+v 0.02695461 0.04645702 0.00143369
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 8
+f 2 8 7
+f 2 7 3
+f 4 7 8
+f 4 8 10
+f 4 10 9
+f 5 9 6
+f 6 9 10
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_33.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.02478120 0.00263305 0.00580634
+v 0.04067853 0.00263305 0.00580634
+v 0.02484765 0.00263304 0.00698325
+v 0.02779705 0.02019864 0.00895511
+v 0.02778756 0.02019864 0.00698331
+v 0.02778281 0.02019865 0.00580640
+v 0.04067378 0.00294255 0.00580634
+v 0.04091904 0.00263304 0.00698325
+v 0.02494575 0.00263304 0.00849868
+v 0.02799168 0.02019863 0.01100363
+v 0.02498056 0.00263304 0.00895505
+v 0.03983833 0.02019865 0.00580640
+v 0.04091429 0.00294254 0.00698325
+v 0.04061049 0.00492160 0.00580635
+v 0.04088265 0.00492159 0.00698326
+v 0.04092537 0.00492159 0.00895506
+v 0.04094594 0.00263304 0.00895505
+v 0.02883188 0.02019862 0.01242494
+v 0.02556601 0.00263303 0.00984881
+v 0.03984941 0.02019864 0.00895511
+v 0.04059942 0.00492158 0.01092607
+v 0.04065955 0.00294253 0.01092606
+v 0.03970858 0.02019863 0.01092612
+v 0.04065796 0.00263303 0.01092606
+v 0.03040151 0.02019862 0.01331475
+v 0.02704546 0.00263303 0.01159994
+v 0.02787617 0.00263302 0.01231732
+v 0.03962472 0.02019863 0.01127334
+v 0.03940637 0.02019863 0.01217738
+v 0.03979245 0.00294252 0.01237031
+v 0.03979245 0.00263302 0.01237031
+v 0.04052347 0.00263303 0.01115148
+v 0.03975289 0.00492157 0.01235371
+v 0.03237147 0.02019862 0.01375055
+v 0.03009455 0.00263302 0.01327514
+v 0.03040151 0.00263302 0.01334711
+v 0.03909465 0.02019862 0.01245025
+v 0.03828294 0.02019862 0.01316051
+v 0.03828294 0.00492157 0.01333605
+v 0.03828294 0.00294252 0.01335344
+v 0.03828294 0.00263302 0.01335344
+v 0.03428289 0.01481168 0.01384703
+v 0.03375124 0.02019862 0.01382015
+v 0.03206451 0.00263302 0.01369908
+v 0.03237147 0.00263302 0.01375049
+v 0.03673545 0.02019862 0.01388106
+v 0.03671330 0.00689890 0.01388102
+v 0.03670855 0.00492157 0.01388101
+v 0.03669273 0.00294252 0.01388100
+v 0.03668956 0.00263302 0.01388100
+v 0.03673387 0.01876806 0.01388106
+v 0.03673070 0.01678901 0.01388105
+v 0.03672437 0.01283262 0.01388104
+v 0.03672121 0.01085529 0.01388103
+v 0.03499334 0.02019862 0.01387552
+v 0.03428131 0.02019862 0.01384625
+v 0.03428447 0.00887796 0.01384701
+v 0.03398858 0.00263302 0.01383196
+v 0.03646329 0.02019862 0.01388264
+v 0.03653450 0.00263302 0.01388179
+v 0.03526708 0.01876806 0.01388580
+v 0.03526708 0.02019862 0.01388580
+v 0.03428605 0.00492157 0.01384700
+v 0.03511992 0.00263302 0.01388021
+v 0.03428764 0.00263302 0.01384699
+v 0.03574968 0.02019862 0.01388580
+v 0.03574809 0.01876806 0.01388580
+v 0.03574493 0.01678901 0.01388579
+v 0.03573860 0.01283262 0.01388578
+v 0.03572911 0.00689890 0.01388576
+v 0.03572436 0.00492157 0.01388575
+v 0.03570854 0.00294252 0.01388574
+v 0.03570379 0.00263302 0.01388574
+v 0.03526866 0.01283262 0.01388578
+v 0.03527341 0.00263302 0.01388574
+v 0.03527024 0.00689890 0.01388576
+f 1 2 8
+f 1 8 17
+f 1 17 24
+f 1 24 32
+f 1 32 31
+f 1 31 41
+f 1 41 50
+f 1 50 60
+f 1 60 73
+f 1 73 75
+f 1 75 64
+f 1 64 65
+f 1 65 58
+f 1 58 45
+f 1 45 44
+f 1 44 36
+f 1 36 35
+f 1 35 27
+f 1 27 26
+f 1 26 19
+f 1 19 11
+f 1 11 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 14
+f 1 14 7
+f 1 7 2
+f 2 7 13
+f 2 13 8
+f 3 9 4
+f 4 10 18
+f 4 18 25
+f 4 25 34
+f 4 34 43
+f 4 43 56
+f 4 56 55
+f 4 55 62
+f 4 62 66
+f 4 66 59
+f 4 59 46
+f 4 46 38
+f 4 38 37
+f 4 37 29
+f 4 29 28
+f 4 28 23
+f 4 23 20
+f 4 20 12
+f 4 12 6
+f 4 6 5
+f 4 9 11
+f 4 11 10
+f 7 14 15
+f 7 15 13
+f 8 13 16
+f 8 16 17
+f 10 11 18
+f 11 19 18
+f 12 20 16
+f 12 16 15
+f 12 15 14
+f 13 15 16
+f 16 21 22
+f 16 22 17
+f 16 20 23
+f 16 23 21
+f 17 22 24
+f 18 19 26
+f 18 26 27
+f 18 27 25
+f 21 23 28
+f 21 28 29
+f 21 29 22
+f 22 30 31
+f 22 31 32
+f 22 32 24
+f 22 29 33
+f 22 33 30
+f 25 27 35
+f 25 35 36
+f 25 36 34
+f 29 37 33
+f 30 33 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 33 37 38
+f 34 42 43
+f 34 36 44
+f 34 44 45
+f 34 45 42
+f 38 46 39
+f 39 46 40
+f 40 46 41
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 41 46 51
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 47
+f 42 55 56
+f 42 56 43
+f 42 45 57
+f 42 57 55
+f 45 58 57
+f 46 59 51
+f 47 54 59
+f 47 59 48
+f 48 60 49
+f 48 59 60
+f 49 60 50
+f 51 59 52
+f 52 59 53
+f 53 59 54
+f 55 61 62
+f 55 57 63
+f 55 63 64
+f 55 64 61
+f 57 58 63
+f 58 65 63
+f 59 66 67
+f 59 67 68
+f 59 68 69
+f 59 69 70
+f 59 70 71
+f 59 71 60
+f 60 71 72
+f 60 72 73
+f 61 64 74
+f 61 74 76
+f 61 76 75
+f 61 75 73
+f 61 73 72
+f 61 72 71
+f 61 71 70
+f 61 70 69
+f 61 69 68
+f 61 68 67
+f 61 67 66
+f 61 66 62
+f 63 65 64
+f 64 75 76
+f 64 76 74
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_34.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02769499 -0.05971964 0.00580611
+v 0.02769499 -0.05971397 0.00550906
+v 0.02843120 -0.05971964 0.00580611
+v 0.02769499 -0.04793628 0.00580615
+v 0.02769499 -0.05964304 0.00225715
+v 0.03040180 -0.05968561 0.00580611
+v 0.02843120 -0.05964021 0.00225715
+v 0.03040180 -0.05961752 0.00225715
+v 0.02769499 -0.04779727 0.00226205
+v 0.02812690 -0.03074345 0.00580622
+v 0.02790358 -0.03074344 0.00225726
+v 0.02769499 -0.04970349 0.00225719
+v 0.03159078 -0.05954376 0.00225715
+v 0.03237239 -0.05950689 0.00303885
+v 0.03237239 -0.05955229 0.00580611
+v 0.03983758 -0.03074345 0.00580622
+v 0.04022900 -0.03074344 0.00225726
+v 0.03243620 -0.05948704 0.00225715
+v 0.03338468 -0.05938491 0.00225715
+v 0.03348285 -0.05941046 0.00580611
+v 0.03983881 -0.03266952 0.00580621
+v 0.04022900 -0.03568485 0.00225724
+v 0.03429391 -0.05908423 0.00225715
+v 0.03446692 -0.05910410 0.00580611
+v 0.03983881 -0.03544658 0.00580620
+v 0.04022655 -0.03766482 0.00225723
+v 0.03983758 -0.03860659 0.00580619
+v 0.03638720 -0.05799213 0.00225716
+v 0.03438961 -0.05906721 0.00303885
+v 0.03631236 -0.05815099 0.00580612
+v 0.04022164 -0.03964763 0.00225722
+v 0.03983513 -0.04058373 0.00580618
+v 0.03983391 -0.04138082 0.00580618
+v 0.03631236 -0.05812546 0.00501051
+v 0.03726330 -0.05736240 0.00225716
+v 0.03727189 -0.05737091 0.00262751
+v 0.03730011 -0.05739927 0.00394217
+v 0.03731851 -0.05741914 0.00501051
+v 0.03733078 -0.05743049 0.00580612
+v 0.04021796 -0.04058372 0.00225722
+v 0.03982900 -0.04256370 0.00580617
+v 0.03788171 -0.05648304 0.00225716
+v 0.03800687 -0.05640930 0.00501051
+v 0.03774183 -0.05682912 0.00580612
+v 0.04021305 -0.04163043 0.00225722
+v 0.03981550 -0.04454083 0.00580617
+v 0.03894186 -0.05453995 0.00225717
+v 0.03802773 -0.05640930 0.00580612
+v 0.04020324 -0.04256369 0.00225721
+v 0.03980691 -0.04533509 0.00580616
+v 0.03930506 -0.05355280 0.00225717
+v 0.03894922 -0.05455413 0.00303887
+v 0.03860320 -0.05531720 0.00580613
+v 0.04018974 -0.04363026 0.00225721
+v 0.03979341 -0.04651512 0.00580616
+v 0.03942899 -0.05312447 0.00225717
+v 0.03930874 -0.05356415 0.00303887
+v 0.03897867 -0.05458818 0.00580613
+v 0.03897008 -0.05457967 0.00501052
+v 0.04009771 -0.04849792 0.00225719
+v 0.03978114 -0.04731505 0.00580616
+v 0.03982777 -0.05167211 0.00225718
+v 0.03931733 -0.05359819 0.00580613
+v 0.03931488 -0.05358968 0.00501052
+v 0.03975783 -0.04849509 0.00580615
+v 0.03972715 -0.04929219 0.00580615
+v 0.03967807 -0.05047223 0.00580614
+v 0.04004127 -0.04975171 0.00225719
+v 0.03949402 -0.05245220 0.00580614
+v 0.03942285 -0.05292024 0.00580614
+v 0.03960568 -0.05127216 0.00580614
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 20
+f 1 20 24
+f 1 24 30
+f 1 30 39
+f 1 39 44
+f 1 44 48
+f 1 48 53
+f 1 53 58
+f 1 58 63
+f 1 63 70
+f 1 70 69
+f 1 69 71
+f 1 71 67
+f 1 67 66
+f 1 66 65
+f 1 65 61
+f 1 61 55
+f 1 55 50
+f 1 50 46
+f 1 46 41
+f 1 41 33
+f 1 33 32
+f 1 32 27
+f 1 27 25
+f 1 25 21
+f 1 21 16
+f 1 16 10
+f 1 10 4
+f 1 4 9
+f 1 9 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 6
+f 4 10 11
+f 4 11 9
+f 5 12 11
+f 5 11 17
+f 5 17 22
+f 5 22 26
+f 5 26 31
+f 5 31 40
+f 5 40 45
+f 5 45 49
+f 5 49 54
+f 5 54 60
+f 5 60 68
+f 5 68 62
+f 5 62 56
+f 5 56 51
+f 5 51 47
+f 5 47 42
+f 5 42 35
+f 5 35 28
+f 5 28 23
+f 5 23 19
+f 5 19 18
+f 5 18 13
+f 5 13 8
+f 5 8 7
+f 6 8 13
+f 6 13 14
+f 6 14 15
+f 9 11 12
+f 10 16 17
+f 10 17 11
+f 13 18 14
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 25
+f 17 25 22
+f 19 23 24
+f 19 24 20
+f 22 25 27
+f 22 27 26
+f 23 28 29
+f 23 29 24
+f 24 29 30
+f 26 27 32
+f 26 32 33
+f 26 33 31
+f 28 30 34
+f 28 34 29
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 30
+f 29 34 30
+f 30 38 39
+f 31 33 40
+f 33 41 40
+f 35 42 36
+f 36 42 37
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 40 41 45
+f 41 46 45
+f 42 47 43
+f 43 48 44
+f 43 47 48
+f 45 46 49
+f 46 50 49
+f 47 51 52
+f 47 52 53
+f 47 53 48
+f 49 50 55
+f 49 55 54
+f 51 56 57
+f 51 57 58
+f 51 58 59
+f 51 59 52
+f 52 59 53
+f 53 59 58
+f 54 55 61
+f 54 61 60
+f 56 62 63
+f 56 63 64
+f 56 64 57
+f 57 64 58
+f 58 64 63
+f 60 61 65
+f 60 65 66
+f 60 66 67
+f 60 67 68
+f 62 69 70
+f 62 70 63
+f 62 68 69
+f 67 71 68
+f 68 71 69
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_35.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02187540 -0.00311186 0.00580632
+v -0.02187540 -0.00318498 0.00581049
+v -0.02187540 0.00298823 0.00580634
+v -0.00702545 -0.00281819 0.00580632
+v -0.02187540 -0.00318076 0.00698276
+v -0.00702545 -0.00281819 0.00581606
+v -0.02187540 0.00297130 0.00809174
+v -0.00702545 0.00257914 0.00580634
+v -0.02187540 -0.00316626 0.00895510
+v -0.00702545 -0.00281095 0.00699876
+v -0.02187540 0.00296405 0.00895512
+v -0.00702545 0.00256825 0.00698278
+v -0.02187540 -0.00308288 0.00976977
+v -0.00702545 -0.00279584 0.00895510
+v -0.00702545 -0.00279463 0.00897040
+v -0.00702545 -0.00260128 0.01092604
+v -0.02187540 0.00275919 0.01089614
+v -0.00702545 0.00235494 0.01091075
+v -0.00702545 0.00254529 0.00895512
+v -0.02187540 -0.00296203 0.01092047
+v -0.00702545 -0.00259826 0.01093578
+v -0.02187540 0.00219541 0.01209068
+v -0.00702545 0.00206368 0.01205867
+v -0.00702545 0.00206610 0.01205033
+v -0.00702545 0.00235312 0.01092606
+v -0.02187540 -0.00275960 0.01154661
+v -0.00702545 -0.00220971 0.01216927
+v -0.02187540 0.00096329 0.01281351
+v -0.00702545 0.00096329 0.01278081
+v -0.02187540 -0.00233480 0.01219014
+v -0.00702545 -0.00220004 0.01217553
+v -0.02187540 -0.00101448 0.01291369
+v -0.00702545 -0.00099937 0.01289073
+v -0.02187540 -0.00176921 0.01253104
+v -0.00702545 -0.00101448 0.01289143
+f 1 2 5
+f 1 5 9
+f 1 9 13
+f 1 13 20
+f 1 20 26
+f 1 26 30
+f 1 30 34
+f 1 34 32
+f 1 32 28
+f 1 28 22
+f 1 22 17
+f 1 17 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 8 12
+f 4 12 19
+f 4 19 18
+f 4 18 25
+f 4 25 24
+f 4 24 23
+f 4 23 29
+f 4 29 33
+f 4 33 35
+f 4 35 31
+f 4 31 27
+f 4 27 21
+f 4 21 16
+f 4 16 15
+f 4 15 14
+f 4 14 10
+f 4 10 6
+f 5 6 10
+f 5 10 9
+f 7 11 8
+f 8 11 12
+f 9 10 14
+f 9 14 15
+f 9 15 16
+f 9 16 13
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 16 20
+f 16 21 20
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 20 21 27
+f 20 27 26
+f 22 28 29
+f 22 29 23
+f 26 27 30
+f 27 31 30
+f 28 32 33
+f 28 33 29
+f 30 31 35
+f 30 35 34
+f 32 34 35
+f 32 35 33
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_36.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.02103619 0.00373827 -0.02697583
+v -0.02103619 0.01310063 -0.02697579
+v -0.01194456 0.00373827 -0.02697583
+v -0.02103619 0.00373816 0.00153077
+v -0.02083774 0.03019632 -0.02697292
+v -0.02083774 0.02272197 -0.02697576
+v -0.02103619 0.01310053 0.00115691
+v -0.01194456 0.01310063 -0.02697579
+v -0.01194456 0.00373816 0.00149985
+v -0.01194456 0.02050494 0.00174169
+v -0.02083774 0.02049199 0.00174169
+v -0.02083774 0.02745614 0.00174171
+v -0.01194456 0.03019632 -0.02697292
+v -0.02083774 0.03019104 0.00114291
+v -0.02083507 0.03019622 0.00114010
+v -0.02083507 0.02272197 -0.02697576
+v -0.01194456 0.02744837 0.00174171
+v -0.01194456 0.03019622 0.00112886
+f 1 2 6
+f 1 6 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 13
+f 3 13 18
+f 3 18 17
+f 3 17 10
+f 3 10 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 7
+f 5 13 16
+f 5 16 6
+f 5 7 14
+f 5 14 15
+f 5 15 18
+f 5 18 13
+f 7 12 14
+f 8 16 13
+f 10 17 12
+f 10 12 11
+f 12 17 14
+f 14 18 15
+f 14 17 18
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_37.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v -0.02260928 -0.03074344 0.00158939
+v -0.03559589 -0.03074344 0.00158939
+v -0.02248431 -0.03074914 0.00158939
+v -0.00967877 -0.03074343 0.00109438
+v -0.03572086 -0.03074335 -0.02259319
+v -0.03573362 -0.03267093 -0.02259320
+v -0.03559589 -0.03267102 0.00158938
+v -0.00967877 -0.04799756 0.00158932
+v -0.00967877 -0.03074333 -0.02697833
+v -0.03572086 -0.03074334 -0.02403906
+v -0.03573107 -0.03267092 -0.02406704
+v -0.03573107 -0.04256260 -0.02406428
+v -0.03573107 -0.04256261 -0.02261562
+v -0.03559334 -0.04058379 0.00158935
+v -0.00967877 -0.05962577 0.00158928
+v -0.02674602 -0.03074333 -0.02697833
+v -0.00967877 -0.03595863 -0.02697835
+v -0.03546328 -0.03074334 -0.02502627
+v -0.03546072 -0.03267092 -0.02505145
+v -0.03546072 -0.04256260 -0.02505149
+v -0.03546072 -0.04454150 -0.02503192
+v -0.03572342 -0.04454150 -0.02404750
+v -0.03570556 -0.05047251 -0.02392727
+v -0.03558569 -0.04401693 0.00158934
+v -0.03559080 -0.04203803 0.00158935
+v -0.03570556 -0.05047252 -0.02302675
+v -0.01046174 -0.05962862 0.00158928
+v -0.02083675 -0.05987090 -0.02259330
+v -0.01492493 -0.05984809 -0.02259330
+v -0.00967877 -0.05982243 -0.02259330
+v -0.03068638 -0.03074333 -0.02697553
+v -0.02674602 -0.03464981 -0.02697835
+v -0.00967877 -0.04651754 -0.02697559
+v -0.02477456 -0.05443031 -0.02697562
+v -0.02280566 -0.03860477 -0.02697836
+v -0.03447627 -0.03074333 -0.02622044
+v -0.03447627 -0.04058368 -0.02622048
+v -0.03447372 -0.04454149 -0.02622049
+v -0.03446862 -0.04651754 -0.02622050
+v -0.03445587 -0.04849360 -0.02622051
+v -0.03544032 -0.04849361 -0.02495922
+v -0.03540462 -0.05047251 -0.02491169
+v -0.03566476 -0.05188968 -0.02376227
+v -0.03558314 -0.04454160 0.00158934
+v -0.03566476 -0.05188968 -0.02329523
+v -0.03553979 -0.04849371 0.00158932
+v -0.03557039 -0.04651765 0.00158933
+v -0.03557549 -0.04599299 0.00158933
+v -0.02477456 -0.05966283 0.00158928
+v -0.02280566 -0.05985664 -0.02259330
+v -0.02083675 -0.05976824 -0.02456494
+v -0.01886530 -0.05976254 -0.02456494
+v -0.01492493 -0.05975113 -0.02456494
+v -0.00967877 -0.05973117 -0.02456494
+v -0.03265784 -0.03074333 -0.02693359
+v -0.03068638 -0.05047250 -0.02697561
+v -0.02477456 -0.03860477 -0.02697836
+v -0.00967877 -0.05640922 -0.02697284
+v -0.01689639 -0.05640922 -0.02697284
+v -0.02477456 -0.05640922 -0.02697004
+v -0.02871748 -0.05443031 -0.02697003
+v -0.03442781 -0.03074333 -0.02624002
+v -0.03265784 -0.04651754 -0.02693365
+v -0.03265784 -0.04849360 -0.02693086
+v -0.03265784 -0.05047250 -0.02691968
+v -0.03441761 -0.05047250 -0.02620654
+v -0.03431305 -0.05245141 -0.02615899
+v -0.03534341 -0.05251130 -0.02447821
+v -0.03481037 -0.05443032 -0.02456492
+v -0.03495830 -0.05443033 -0.02259328
+v -0.03476957 -0.05443042 0.00158930
+v -0.03525669 -0.05245152 0.00158931
+v -0.03546072 -0.05047261 0.00158931
+v -0.02622319 -0.05964573 0.00158928
+v -0.02477456 -0.05983953 -0.02259330
+v -0.01295348 -0.05943176 -0.02562766
+v -0.00967877 -0.05942891 -0.02562766
+v -0.02280566 -0.05975113 -0.02456494
+v -0.02477456 -0.05941751 -0.02561088
+v -0.02280566 -0.05942606 -0.02562486
+v -0.02083675 -0.05942891 -0.02562766
+v -0.03068638 -0.05443031 -0.02696724
+v -0.00967877 -0.05771804 -0.02655334
+v -0.01492493 -0.05838528 -0.02633800
+v -0.02674602 -0.05640922 -0.02696725
+v -0.02083675 -0.05838528 -0.02633520
+v -0.03265784 -0.05245141 -0.02686934
+v -0.03265784 -0.05443031 -0.02667918
+v -0.03405801 -0.05443031 -0.02597163
+v -0.03379787 -0.05566215 -0.02572832
+v -0.03404271 -0.05606421 -0.02456493
+v -0.03412176 -0.05618683 -0.02259329
+v -0.03403505 -0.05604719 0.00158929
+v -0.02674602 -0.05963717 0.00158928
+v -0.02674602 -0.05979961 -0.02259330
+v -0.02477456 -0.05972261 -0.02456494
+v -0.00967877 -0.05838528 -0.02633800
+v -0.02616453 -0.05939755 -0.02558292
+v -0.02679193 -0.05857347 -0.02613385
+v -0.02477456 -0.05838528 -0.02631842
+v -0.02280566 -0.05838528 -0.02633240
+v -0.02871748 -0.05640922 -0.02693928
+v -0.03068638 -0.05640922 -0.02676868
+v -0.03263999 -0.05635789 -0.02608630
+v -0.03197178 -0.05762965 -0.02579545
+v -0.03334645 -0.05705366 -0.02456493
+v -0.03345611 -0.05717628 -0.02259329
+v -0.03385397 -0.05630668 0.00158929
+v -0.02804672 -0.05953452 0.00158928
+v -0.02853895 -0.05949460 0.00158928
+v -0.02879654 -0.05958290 -0.02250660
+v -0.02994422 -0.05946028 -0.02385459
+v -0.02871748 -0.05958004 -0.02424612
+v -0.02679193 -0.05961996 -0.02473553
+v -0.02747798 -0.05935763 -0.02550740
+v -0.02871748 -0.05826551 -0.02622893
+v -0.03068638 -0.05795756 -0.02606113
+v -0.02871748 -0.05925498 -0.02523334
+v -0.03063537 -0.05892421 -0.02453417
+v -0.03236199 -0.05792905 -0.02456493
+v -0.03246911 -0.05801746 -0.02259329
+v -0.03235689 -0.05794056 0.00158929
+v -0.03261703 -0.05770389 0.00158929
+v -0.03334134 -0.05703380 0.00158929
+v -0.02994422 -0.05946029 -0.02310509
+v -0.02952340 -0.05934917 0.00158928
+v -0.03068638 -0.05890150 0.00158928
+v -0.03039564 -0.05901556 0.00158928
+f 1 2 7
+f 1 7 14
+f 1 14 25
+f 1 25 24
+f 1 24 44
+f 1 44 48
+f 1 48 47
+f 1 47 46
+f 1 46 73
+f 1 73 72
+f 1 72 71
+f 1 71 93
+f 1 93 108
+f 1 108 124
+f 1 124 123
+f 1 123 122
+f 1 122 127
+f 1 127 128
+f 1 128 126
+f 1 126 110
+f 1 110 109
+f 1 109 94
+f 1 94 74
+f 1 74 49
+f 1 49 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 31
+f 1 31 55
+f 1 55 62
+f 1 62 36
+f 1 36 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 15
+f 4 15 30
+f 4 30 54
+f 4 54 77
+f 4 77 97
+f 4 97 83
+f 4 83 58
+f 4 58 33
+f 4 33 17
+f 4 17 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 9 17 35
+f 9 35 57
+f 9 57 32
+f 9 32 16
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 26
+f 12 26 13
+f 13 24 25
+f 13 25 14
+f 13 26 24
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 16 32 56
+f 16 56 31
+f 17 33 34
+f 17 34 35
+f 18 36 19
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 21 40 41
+f 21 41 23
+f 21 23 22
+f 23 41 42
+f 23 42 43
+f 23 43 45
+f 23 45 26
+f 24 26 44
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 44
+f 27 49 28
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 53
+f 28 53 54
+f 28 54 29
+f 29 54 30
+f 31 56 63
+f 31 63 55
+f 32 57 56
+f 33 58 34
+f 34 58 59
+f 34 59 60
+f 34 60 85
+f 34 85 61
+f 34 61 56
+f 34 56 57
+f 34 57 35
+f 36 62 37
+f 37 63 38
+f 37 62 63
+f 38 63 39
+f 39 63 64
+f 39 64 40
+f 40 64 65
+f 40 65 66
+f 40 66 41
+f 41 66 42
+f 42 66 67
+f 42 67 68
+f 42 68 43
+f 43 68 69
+f 43 69 70
+f 43 70 45
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 45 70 71
+f 49 74 75
+f 49 75 50
+f 50 75 78
+f 50 78 51
+f 51 76 77
+f 51 77 52
+f 51 78 79
+f 51 79 80
+f 51 80 81
+f 51 81 76
+f 52 77 53
+f 53 77 54
+f 55 63 62
+f 56 61 82
+f 56 82 64
+f 56 64 63
+f 58 83 59
+f 59 83 84
+f 59 84 60
+f 60 84 86
+f 60 86 85
+f 61 85 82
+f 64 82 65
+f 65 87 66
+f 65 82 87
+f 66 87 67
+f 67 87 88
+f 67 88 89
+f 67 89 68
+f 68 89 69
+f 69 89 90
+f 69 90 91
+f 69 91 70
+f 70 91 92
+f 70 92 93
+f 70 93 71
+f 74 94 75
+f 75 95 96
+f 75 96 78
+f 75 94 95
+f 76 97 77
+f 76 81 84
+f 76 84 97
+f 78 96 79
+f 79 96 98
+f 79 98 99
+f 79 99 100
+f 79 100 80
+f 80 100 101
+f 80 101 81
+f 81 101 86
+f 81 86 84
+f 82 88 87
+f 82 85 102
+f 82 102 103
+f 82 103 88
+f 83 97 84
+f 85 86 101
+f 85 101 100
+f 85 100 102
+f 88 103 104
+f 88 104 90
+f 88 90 89
+f 90 104 105
+f 90 105 106
+f 90 106 91
+f 91 106 107
+f 91 107 92
+f 92 107 93
+f 93 107 108
+f 94 109 95
+f 95 109 110
+f 95 110 111
+f 95 111 112
+f 95 112 113
+f 95 113 96
+f 96 113 114
+f 96 114 98
+f 98 114 115
+f 98 115 116
+f 98 116 99
+f 99 116 100
+f 100 116 102
+f 102 116 103
+f 103 116 117
+f 103 117 105
+f 103 105 104
+f 105 117 118
+f 105 118 119
+f 105 119 120
+f 105 120 106
+f 106 120 107
+f 107 120 121
+f 107 121 122
+f 107 122 123
+f 107 123 124
+f 107 124 108
+f 110 125 111
+f 110 126 125
+f 111 125 112
+f 112 119 118
+f 112 118 113
+f 112 125 121
+f 112 121 120
+f 112 120 119
+f 113 118 115
+f 113 115 114
+f 115 118 117
+f 115 117 116
+f 121 125 127
+f 121 127 122
+f 125 126 128
+f 125 128 127
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_38.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02369182 -0.04661333 0.00580616
+v -0.02369182 -0.05975472 0.00580611
+v -0.02369182 -0.04673866 0.00895504
+v -0.00702708 -0.04896174 0.00895503
+v -0.00702708 -0.04895520 0.00580615
+v -0.02280434 -0.05994401 0.00895499
+v -0.02369182 -0.05993618 0.00895499
+v -0.02200985 -0.05975472 0.00580611
+v -0.01886451 -0.05994923 0.00895499
+v -0.02369182 -0.04674127 0.00897070
+v -0.00702708 -0.04911187 0.01092561
+v -0.00702708 -0.04911057 0.01090995
+v -0.00702708 -0.05972861 0.00580611
+v -0.02280434 -0.05989964 0.01092557
+v -0.02369182 -0.05991269 0.01004024
+v -0.00702708 -0.05991790 0.00897065
+v -0.00702708 -0.05988266 0.01092557
+v -0.01886451 -0.05990486 0.01092557
+v -0.00702708 -0.05991790 0.00895499
+v -0.02369182 -0.04707154 0.01021901
+v -0.00702708 -0.04937295 0.01206430
+v -0.02280434 -0.05955632 0.01224482
+v -0.02369182 -0.05954979 0.01223561
+v -0.02369182 -0.05988919 0.01092557
+v -0.00702708 -0.05988005 0.01093663
+v -0.02083524 -0.05955632 0.01224390
+v -0.00702708 -0.05955371 0.01224022
+v -0.01098322 -0.05955502 0.01223930
+v -0.02369182 -0.04853229 0.01285198
+v -0.00702708 -0.05047471 0.01278564
+v -0.02369182 -0.05878484 0.01322137
+v -0.01098322 -0.05885272 0.01322505
+v -0.01098322 -0.05734892 0.01521776
+v -0.00702708 -0.05854596 0.01322597
+v -0.02369182 -0.05053607 0.01415832
+v -0.01097343 -0.05399667 0.01521777
+v -0.00900270 -0.05445356 0.01521777
+v -0.00893908 -0.05448489 0.01521777
+v -0.00702708 -0.05258292 0.01365807
+v -0.02369182 -0.05779535 0.01424490
+v -0.00890971 -0.05668056 0.01521776
+v -0.01150201 -0.05731759 0.01521776
+v -0.00702708 -0.05755777 0.01401827
+v -0.02369182 -0.05236884 0.01482716
+v -0.01111863 -0.05398754 0.01521777
+v -0.00860464 -0.05648736 0.01521776
+v -0.00702708 -0.05639858 0.01444850
+v -0.00702708 -0.05441439 0.01427439
+v -0.00702708 -0.05438045 0.01427071
+v -0.00702708 -0.05259858 0.01366452
+v -0.02369182 -0.05643775 0.01494322
+v -0.01295395 -0.05703301 0.01521776
+v -0.00702708 -0.05640903 0.01444850
+v -0.02369182 -0.05443006 0.01521408
+v -0.01295395 -0.05418856 0.01521777
+v -0.02369182 -0.05532817 0.01510261
+v -0.01322640 -0.05696383 0.01521776
+v -0.01476481 -0.05621323 0.01521776
+v -0.01489858 -0.05459454 0.01521777
+f 1 2 7
+f 1 7 15
+f 1 15 24
+f 1 24 23
+f 1 23 31
+f 1 31 40
+f 1 40 51
+f 1 51 56
+f 1 56 54
+f 1 54 44
+f 1 44 35
+f 1 35 29
+f 1 29 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 8
+f 1 8 2
+f 2 6 7
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 21
+f 4 21 30
+f 4 30 39
+f 4 39 50
+f 4 50 49
+f 4 49 48
+f 4 48 47
+f 4 47 53
+f 4 53 43
+f 4 43 34
+f 4 34 27
+f 4 27 25
+f 4 25 17
+f 4 17 16
+f 4 16 19
+f 4 19 13
+f 4 13 5
+f 6 9 18
+f 6 18 14
+f 6 14 15
+f 6 15 7
+f 8 13 9
+f 9 16 17
+f 9 17 18
+f 9 13 19
+f 9 19 16
+f 10 20 21
+f 10 21 11
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 14 18 22
+f 17 25 18
+f 18 26 22
+f 18 25 27
+f 18 27 28
+f 18 28 26
+f 20 29 21
+f 21 29 30
+f 22 31 23
+f 22 26 32
+f 22 32 33
+f 22 33 31
+f 26 28 27
+f 26 27 32
+f 27 34 33
+f 27 33 32
+f 29 35 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 35 36
+f 31 33 40
+f 33 34 41
+f 33 41 46
+f 33 46 38
+f 33 38 37
+f 33 37 36
+f 33 36 45
+f 33 45 55
+f 33 55 59
+f 33 59 58
+f 33 58 57
+f 33 57 52
+f 33 52 42
+f 33 42 40
+f 34 43 41
+f 35 44 45
+f 35 45 36
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 40 42 51
+f 41 43 46
+f 42 52 51
+f 43 53 46
+f 44 54 45
+f 45 54 55
+f 46 53 47
+f 51 52 56
+f 52 57 54
+f 52 54 56
+f 54 57 58
+f 54 58 59
+f 54 59 55
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_39.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00293943 0.00263305 0.00580634
+v 0.00867027 0.00263305 0.00580634
+v -0.00290534 0.00263305 0.00678874
+v 0.00022891 0.01924683 0.00895497
+v 0.00019369 0.01924683 0.00771317
+v 0.00015277 0.01924684 0.00580640
+v 0.00864072 0.00263304 0.00698293
+v 0.00623946 0.01924684 0.00580640
+v -0.00280534 0.00263304 0.00866112
+v 0.00028687 0.01924683 0.00947877
+v 0.00858390 0.00263304 0.00895491
+v 0.00620650 0.01924683 0.00698299
+v -0.00275761 0.00263304 0.00895491
+v 0.00047438 0.01924682 0.01095919
+v 0.00804296 0.00263303 0.01092831
+v 0.00614173 0.01924683 0.00895497
+v 0.00607127 0.01924682 0.00990369
+v 0.00599058 0.01924682 0.01026627
+v 0.00579739 0.01924682 0.01103514
+v -0.00224735 0.00263303 0.01007417
+v 0.00126874 0.01924681 0.01244748
+v 0.00591103 0.00263302 0.01230125
+v 0.00483598 0.01924681 0.01230704
+v 0.00459733 0.01924681 0.01255067
+v -0.00061999 0.00263303 0.01164774
+v 0.00281314 0.01924681 0.01308666
+v 0.00021528 0.00263302 0.01232346
+v 0.00487802 0.00263302 0.01262227
+v 0.00461210 0.01678954 0.01258935
+v 0.00324839 0.01924681 0.01295768
+v 0.00281314 0.01876869 0.01309454
+v 0.00060053 0.00263302 0.01247250
+v 0.00281314 0.01678954 0.01312606
+v 0.00281314 0.00689868 0.01312244
+v 0.00281314 0.00263302 0.01310594
+v 0.00281314 0.01481040 0.01312533
+v 0.00250517 0.00263302 0.01306868
+f 1 2 7
+f 1 7 11
+f 1 11 15
+f 1 15 22
+f 1 22 28
+f 1 28 35
+f 1 35 37
+f 1 37 32
+f 1 32 27
+f 1 27 25
+f 1 25 20
+f 1 20 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 7
+f 3 9 4
+f 4 10 14
+f 4 14 21
+f 4 21 26
+f 4 26 30
+f 4 30 24
+f 4 24 23
+f 4 23 19
+f 4 19 18
+f 4 18 17
+f 4 17 16
+f 4 16 12
+f 4 12 8
+f 4 8 6
+f 4 6 5
+f 4 9 10
+f 7 8 12
+f 7 12 11
+f 9 13 14
+f 9 14 10
+f 11 12 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 15
+f 13 20 14
+f 14 20 21
+f 15 19 23
+f 15 23 24
+f 15 24 22
+f 20 25 21
+f 21 25 27
+f 21 27 26
+f 22 24 29
+f 22 29 28
+f 24 30 29
+f 26 27 31
+f 26 31 30
+f 27 32 33
+f 27 33 31
+f 28 34 35
+f 28 29 33
+f 28 33 36
+f 28 36 34
+f 29 30 33
+f 30 31 33
+f 32 37 33
+f 33 37 36
+f 34 37 35
+f 34 36 37
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_4.obj

@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
+v 0.05941731 0.04646045 -0.00965866
+v 0.06035601 0.00293934 -0.01001083
+v 0.06035799 0.00491945 -0.01001246
+v 0.06040165 0.04448035 -0.01013839
+v 0.06040265 0.04646045 -0.01015311
+v 0.05938258 0.04844056 -0.00966848
+v 0.05864531 0.04646045 -0.00965866
+v 0.05939349 -0.04651178 -0.00966391
+v 0.06035601 0.00095923 -0.01001248
+v 0.06174322 0.00293934 -0.01099645
+v 0.06173131 0.00491945 -0.01099808
+v 0.06119548 0.04844056 -0.01116492
+v 0.06036792 0.04844056 -0.01017766
+v 0.06123517 0.04448035 -0.01112401
+v 0.05922183 0.04981220 -0.00971268
+v 0.05866516 0.04844056 -0.00966848
+v 0.05269756 0.03657023 -0.01004673
+v 0.05269756 0.03459012 -0.01004018
+v 0.05269756 0.03261002 -0.01003692
+v 0.05269756 0.02271979 -0.01002386
+v 0.05269756 0.02073968 -0.01002222
+v 0.05269756 0.00484726 -0.01000918
+v 0.05269756 -0.00101056 -0.01000920
+v 0.05864928 -0.04651178 -0.00966391
+v 0.05938555 -0.04849189 -0.00966720
+v 0.06037883 -0.04453167 -0.01014198
+v 0.06035403 -0.00497077 -0.01001905
+v 0.06035403 -0.00299067 -0.01001576
+v 0.06174124 0.00095923 -0.01099810
+v 0.06271070 0.00293935 -0.01273685
+v 0.06268589 0.00491946 -0.01273684
+v 0.06157354 0.04844057 -0.01273668
+v 0.06113594 0.05042067 -0.01131390
+v 0.05991147 0.05045161 -0.01025624
+v 0.05878125 0.04981220 -0.00971268
+v 0.05995910 0.05183356 -0.01115181
+v 0.05269756 0.04250024 -0.01012529
+v 0.05269756 0.03854003 -0.01006473
+v 0.05269756 -0.01887278 -0.01001910
+v 0.05269756 -0.03073280 -0.01002896
+v 0.05269756 -0.03270260 -0.01003061
+v 0.05865920 -0.04849189 -0.00966720
+v 0.06037089 -0.04849189 -0.01016656
+v 0.06037883 -0.04651178 -0.01015018
+v 0.05917717 -0.05047200 -0.00972451
+v 0.06173330 -0.00299067 -0.01100139
+v 0.06283374 0.00293935 -0.01470809
+v 0.06282680 0.00491946 -0.01470808
+v 0.06270375 0.00095924 -0.01273686
+v 0.06282382 -0.00497076 -0.01470812
+v 0.06173330 0.04844057 -0.01470792
+v 0.06143661 0.05042068 -0.01273667
+v 0.06103870 0.05154479 -0.01154475
+v 0.05798842 0.05178199 -0.01124841
+v 0.05806979 0.05045161 -0.01028571
+v 0.05269756 0.04984314 -0.01120913
+v 0.05269756 0.04448035 -0.01033649
+v 0.05995910 0.05235953 -0.01273667
+v 0.05798842 0.05228734 -0.01273667
+v 0.05269756 -0.03468270 -0.01003553
+v 0.05882095 -0.05047200 -0.00972451
+v 0.05269756 -0.03664218 -0.01004863
+v 0.05269756 -0.03860166 -0.01007484
+v 0.05269756 -0.04247938 -0.01012888
+v 0.05269756 -0.04255157 -0.01013052
+v 0.06121136 -0.04849189 -0.01115218
+v 0.06123319 -0.04651178 -0.01113580
+v 0.06171544 -0.00497077 -0.01100467
+v 0.06016251 -0.05047200 -0.01029100
+v 0.06115678 -0.05047200 -0.01127662
+v 0.05897574 -0.05146205 -0.00977854
+v 0.06266902 -0.00497076 -0.01273688
+v 0.06268788 -0.00299066 -0.01273687
+v 0.06282084 0.00095925 -0.01668098
+v 0.06281787 0.00293936 -0.01668097
+v 0.06282184 -0.00101054 -0.01668098
+v 0.06174521 0.04844060 -0.02259454
+v 0.06178986 0.04844060 -0.02062166
+v 0.06179085 0.04844059 -0.01865041
+v 0.06177299 0.04844058 -0.01668080
+v 0.06156461 -0.04849188 -0.01273704
+v 0.06167079 -0.04849188 -0.01470828
+v 0.06172238 -0.04849187 -0.01668116
+v 0.06175315 -0.04849186 -0.01865077
+v 0.06171048 -0.04849185 -0.02259490
+v 0.06279802 -0.00497075 -0.01668100
+v 0.06281787 -0.00299065 -0.01668099
+v 0.06156957 0.05042068 -0.01470791
+v 0.06111610 0.05165825 -0.01273667
+v 0.05269756 0.05048256 -0.01273667
+v 0.05269756 0.05009066 -0.01158569
+v 0.05995910 0.05246267 -0.01470791
+v 0.05798842 0.05245235 -0.01470791
+v 0.05269756 0.05086414 -0.01470791
+v 0.05269756 0.05068882 -0.01335718
+v 0.05897277 -0.05146205 -0.00977854
+v 0.05269756 -0.04430478 -0.01028278
+v 0.06105458 -0.05165800 -0.01151239
+v 0.06146141 -0.05047199 -0.01273705
+v 0.05976362 -0.05190551 -0.01081820
+v 0.06152790 0.03657028 -0.02456584
+v 0.06151897 0.04448040 -0.02456581
+v 0.06151599 0.04646050 -0.02456580
+v 0.06154377 -0.03662151 -0.02456610
+v 0.06153782 0.01084951 -0.02456593
+v 0.06147729 0.04844061 -0.02456579
+v 0.06130166 0.05042072 -0.02456578
+v 0.06155965 0.05042071 -0.02259453
+v 0.06162514 0.05042071 -0.02062165
+v 0.06161919 0.05042070 -0.01865040
+v 0.06160232 0.05042069 -0.01668079
+v 0.06156362 -0.05047199 -0.01470829
+v 0.06159339 -0.05047198 -0.01668117
+v 0.06161125 -0.05047197 -0.01865078
+v 0.06159736 -0.05047196 -0.02062203
+v 0.06146637 -0.04849184 -0.02456615
+v 0.06149714 -0.04651173 -0.02456614
+v 0.06176208 -0.04453163 -0.02259488
+v 0.06155370 -0.05047196 -0.02259491
+v 0.06152095 -0.04453162 -0.02456613
+v 0.06152790 -0.04255152 -0.02456613
+v 0.06114785 0.05172013 -0.01470791
+v 0.05995910 0.05250394 -0.01865040
+v 0.05798842 0.05247299 -0.01668079
+v 0.05269756 0.05100855 -0.02062165
+v 0.05818489 -0.05186426 -0.01087059
+v 0.05798842 -0.05260679 -0.01273705
+v 0.05269756 -0.04453167 -0.01031553
+v 0.05269756 -0.04994603 -0.01119475
+v 0.05995910 -0.05266866 -0.01273705
+v 0.06114388 -0.05182300 -0.01273705
+v 0.06109824 0.04646050 -0.02575771
+v 0.06109427 0.04844061 -0.02575279
+v 0.06110022 -0.04058172 -0.02575967
+v 0.06110717 -0.03662151 -0.02576784
+v 0.06110915 -0.03464140 -0.02576948
+v 0.06102580 0.05042072 -0.02565946
+v 0.06095535 0.05142108 -0.02556614
+v 0.06104863 0.05156547 -0.02456578
+v 0.06114884 0.05172016 -0.02259453
+v 0.06115976 0.05174078 -0.02062165
+v 0.06115579 0.05174077 -0.01865040
+v 0.06115281 0.05173045 -0.01668079
+v 0.06118457 -0.05189518 -0.01470829
+v 0.06119449 -0.05191581 -0.01668117
+v 0.06119846 -0.05191580 -0.01865078
+v 0.06119846 -0.05190547 -0.02062203
+v 0.06117961 -0.05187453 -0.02259491
+v 0.06108335 -0.04849184 -0.02573842
+v 0.06130364 -0.05047195 -0.02456616
+v 0.06101489 -0.05047195 -0.02564511
+v 0.06105458 -0.05165795 -0.02456616
+v 0.06108832 -0.04651173 -0.02574495
+v 0.05995910 0.05249364 -0.02062165
+v 0.05798842 0.05249364 -0.02062165
+v 0.05798842 0.05248331 -0.01865040
+v 0.05798842 0.05243176 -0.02259453
+v 0.05269756 0.05082292 -0.02259453
+v 0.05269756 -0.05076075 -0.01273705
+v 0.05798842 -0.05278211 -0.01470829
+v 0.05269756 -0.05119390 -0.01470829
+v 0.05995910 -0.05279242 -0.01470829
+v 0.05995910 0.04448041 -0.02638315
+v 0.05995910 0.04646051 -0.02637987
+v 0.05995910 0.04844062 -0.02636185
+v 0.06110320 -0.03860161 -0.02576457
+v 0.05995910 -0.04651172 -0.02637202
+v 0.05995910 -0.04255151 -0.02638020
+v 0.05995910 -0.03860160 -0.02638509
+v 0.05995910 0.05042073 -0.02617028
+v 0.05995910 0.05164797 -0.02577243
+v 0.05995910 0.05216363 -0.02456578
+v 0.05995910 0.05245238 -0.02259453
+v 0.05995910 -0.05281304 -0.01668117
+v 0.05995910 -0.05281303 -0.01865078
+v 0.05995910 -0.05280271 -0.02062203
+v 0.05995910 -0.05275114 -0.02259491
+v 0.05995910 -0.04849183 -0.02635730
+v 0.06094741 -0.05146200 -0.02555506
+v 0.05995910 -0.05047194 -0.02619849
+v 0.05995910 -0.05240049 -0.02456616
+v 0.05788324 0.05197799 -0.02459525
+v 0.05269756 0.05055478 -0.02303331
+v 0.05847067 0.05172017 -0.02583301
+v 0.05798842 -0.05282335 -0.01668117
+v 0.05269756 -0.05148263 -0.02147176
+v 0.05798842 0.04646051 -0.02626035
+v 0.05798842 -0.04849183 -0.02626561
+v 0.05798842 0.04844062 -0.02625215
+v 0.05788324 0.05034854 -0.02599511
+v 0.05798842 -0.05285427 -0.02062203
+v 0.05798842 -0.05280271 -0.02259491
+v 0.05995910 -0.05177139 -0.02580064
+v 0.05837442 -0.05186420 -0.02588087
+v 0.05782568 -0.05052350 -0.02603804
+v 0.05782568 -0.05221485 -0.02471024
+v 0.05269756 0.04994632 -0.02398620
+v 0.05269756 -0.05148263 -0.02170589
+v 0.05269756 0.04844061 -0.02429237
+v 0.05269756 -0.04849184 -0.02424034
+v 0.05269756 0.04947192 -0.02408444
+v 0.05269756 -0.05112167 -0.02269151
+v 0.05269756 -0.05013161 -0.02401276
+v 0.05269756 -0.05123512 -0.02238207
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 7
+f 1 7 24
+f 1 24 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 9
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 6
+f 5 11 14
+f 5 14 12
+f 6 15 35
+f 6 35 16
+f 6 13 15
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 8 24 42
+f 8 42 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 9
+f 9 28 10
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 11 30 31
+f 11 31 14
+f 12 32 33
+f 12 33 13
+f 12 14 31
+f 12 31 32
+f 13 33 34
+f 13 34 15
+f 15 34 36
+f 15 36 35
+f 16 35 37
+f 16 37 38
+f 16 38 17
+f 17 38 37
+f 17 37 57
+f 17 57 56
+f 17 56 91
+f 17 91 90
+f 17 90 95
+f 17 95 94
+f 17 94 125
+f 17 125 158
+f 17 158 183
+f 17 183 197
+f 17 197 201
+f 17 201 199
+f 17 199 200
+f 17 200 203
+f 17 203 202
+f 17 202 204
+f 17 204 198
+f 17 198 186
+f 17 186 161
+f 17 161 159
+f 17 159 129
+f 17 129 128
+f 17 128 97
+f 17 97 65
+f 17 65 64
+f 17 64 63
+f 17 63 62
+f 17 62 60
+f 17 60 41
+f 17 41 40
+f 17 40 39
+f 17 39 23
+f 17 23 22
+f 17 22 21
+f 17 21 20
+f 17 20 19
+f 17 19 18
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 25 43 44
+f 25 44 26
+f 25 42 61
+f 25 61 45
+f 25 45 43
+f 26 44 46
+f 26 46 27
+f 27 46 29
+f 27 29 28
+f 29 46 30
+f 30 47 48
+f 30 48 31
+f 30 46 49
+f 30 49 50
+f 30 50 47
+f 31 48 51
+f 31 51 32
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 34
+f 34 53 36
+f 35 36 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 37
+f 36 53 58
+f 36 58 59
+f 36 59 54
+f 41 60 42
+f 42 60 62
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 61
+f 43 66 67
+f 43 67 68
+f 43 68 44
+f 43 45 69
+f 43 69 70
+f 43 70 66
+f 44 68 46
+f 45 61 96
+f 45 96 71
+f 45 71 69
+f 46 68 72
+f 46 72 73
+f 46 73 49
+f 47 74 75
+f 47 75 48
+f 47 50 76
+f 47 76 74
+f 48 75 77
+f 48 77 78
+f 48 78 79
+f 48 79 80
+f 48 80 51
+f 49 73 50
+f 50 73 72
+f 50 72 81
+f 50 81 82
+f 50 82 83
+f 50 83 84
+f 50 84 85
+f 50 85 86
+f 50 86 87
+f 50 87 76
+f 51 80 88
+f 51 88 52
+f 52 88 89
+f 52 89 53
+f 53 89 58
+f 54 59 90
+f 54 90 91
+f 54 91 56
+f 54 56 55
+f 58 92 93
+f 58 93 59
+f 58 89 92
+f 59 93 94
+f 59 94 95
+f 59 95 90
+f 61 65 96
+f 65 97 96
+f 66 81 72
+f 66 72 67
+f 66 70 81
+f 67 72 68
+f 69 71 98
+f 69 98 70
+f 70 98 99
+f 70 99 81
+f 71 96 100
+f 71 100 98
+f 74 101 102
+f 74 102 103
+f 74 103 75
+f 74 76 101
+f 75 103 77
+f 76 87 104
+f 76 104 105
+f 76 105 101
+f 77 103 106
+f 77 106 107
+f 77 107 108
+f 77 108 109
+f 77 109 78
+f 78 109 79
+f 79 109 110
+f 79 110 111
+f 79 111 80
+f 80 111 88
+f 81 99 82
+f 82 99 112
+f 82 112 83
+f 83 112 84
+f 84 112 113
+f 84 113 114
+f 84 114 115
+f 84 115 85
+f 85 116 117
+f 85 117 118
+f 85 118 86
+f 85 115 119
+f 85 119 116
+f 86 118 87
+f 87 118 120
+f 87 120 121
+f 87 121 104
+f 88 111 122
+f 88 122 89
+f 89 122 92
+f 92 122 123
+f 92 123 93
+f 93 123 124
+f 93 124 125
+f 93 125 94
+f 96 126 127
+f 96 127 100
+f 96 97 128
+f 96 128 129
+f 96 129 126
+f 98 100 130
+f 98 130 131
+f 98 131 99
+f 99 131 112
+f 100 127 130
+f 101 132 102
+f 101 105 132
+f 102 132 103
+f 103 133 106
+f 103 132 133
+f 104 121 134
+f 104 134 135
+f 104 135 136
+f 104 136 105
+f 105 136 132
+f 106 133 137
+f 106 137 107
+f 107 137 138
+f 107 138 108
+f 108 138 139
+f 108 139 140
+f 108 140 109
+f 109 140 141
+f 109 141 142
+f 109 142 110
+f 110 142 143
+f 110 143 122
+f 110 122 111
+f 112 131 144
+f 112 144 113
+f 113 144 114
+f 114 144 145
+f 114 145 146
+f 114 146 147
+f 114 147 115
+f 115 147 148
+f 115 148 119
+f 116 149 117
+f 116 119 150
+f 116 150 151
+f 116 151 149
+f 117 149 120
+f 117 120 118
+f 119 148 152
+f 119 152 150
+f 120 149 153
+f 120 153 121
+f 121 153 134
+f 122 143 123
+f 123 154 155
+f 123 155 156
+f 123 156 124
+f 123 143 142
+f 123 142 141
+f 123 141 154
+f 124 156 125
+f 125 156 155
+f 125 155 157
+f 125 157 158
+f 126 129 159
+f 126 159 127
+f 127 160 130
+f 127 159 161
+f 127 161 160
+f 130 160 162
+f 130 162 131
+f 131 162 144
+f 132 163 164
+f 132 164 133
+f 132 136 163
+f 133 165 137
+f 133 164 165
+f 134 166 135
+f 134 153 167
+f 134 167 166
+f 135 166 167
+f 135 167 168
+f 135 168 136
+f 136 168 169
+f 136 169 163
+f 137 170 138
+f 137 165 170
+f 138 171 172
+f 138 172 139
+f 138 170 171
+f 139 172 173
+f 139 173 140
+f 140 173 154
+f 140 154 141
+f 144 162 145
+f 145 162 174
+f 145 174 146
+f 146 174 175
+f 146 175 176
+f 146 176 147
+f 147 176 148
+f 148 176 177
+f 148 177 152
+f 149 178 167
+f 149 167 153
+f 149 151 178
+f 150 152 179
+f 150 179 151
+f 151 179 180
+f 151 180 178
+f 152 177 181
+f 152 181 179
+f 154 173 155
+f 155 173 157
+f 157 173 172
+f 157 172 182
+f 157 182 158
+f 158 182 184
+f 158 184 183
+f 160 185 162
+f 160 161 186
+f 160 186 185
+f 162 185 174
+f 163 187 164
+f 163 169 188
+f 163 188 187
+f 164 187 189
+f 164 189 165
+f 165 189 170
+f 167 178 188
+f 167 188 168
+f 168 188 169
+f 170 190 184
+f 170 184 171
+f 170 189 190
+f 171 184 172
+f 172 184 182
+f 174 185 191
+f 174 191 175
+f 175 191 176
+f 176 191 192
+f 176 192 177
+f 177 192 181
+f 178 180 188
+f 179 181 193
+f 179 193 180
+f 180 193 194
+f 180 194 195
+f 180 195 188
+f 181 194 193
+f 181 192 196
+f 181 196 194
+f 183 184 197
+f 184 190 197
+f 185 186 191
+f 186 198 191
+f 187 199 189
+f 187 188 199
+f 188 195 200
+f 188 200 199
+f 189 199 190
+f 190 201 197
+f 190 199 201
+f 191 198 192
+f 192 198 196
+f 194 196 202
+f 194 202 203
+f 194 203 195
+f 195 203 200
+f 196 198 204
+f 196 204 202
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_40.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00866888 0.00263305 0.00584408
+v 0.00866888 0.00263305 0.00580706
+v 0.00864006 0.00263304 0.00698285
+v 0.01400738 0.00257794 0.00580706
+v -0.00293871 0.00263305 0.00580706
+v 0.00858241 0.00263304 0.00895484
+v 0.01400738 0.00256791 0.00698285
+v 0.01400738 -0.00281685 0.00580704
+v 0.00804300 0.00263303 0.01092829
+v -0.00702545 0.00257878 0.00580706
+v -0.00290371 0.00263305 0.00678907
+v 0.01400738 0.00254704 0.00895484
+v 0.01400738 -0.00280851 0.00698283
+v 0.00611801 -0.00589709 0.00580703
+v 0.00591007 0.00263302 0.01230149
+v -0.00702545 -0.00281769 0.00580704
+v -0.00702545 0.00256791 0.00698285
+v -0.00224694 0.00263303 0.01007402
+v -0.00275753 0.00263304 0.00895484
+v -0.00280488 0.00263304 0.00866090
+v 0.01400738 0.00248607 0.00958338
+v 0.01400738 -0.00279265 0.00895482
+v 0.00608507 -0.00589710 0.00698282
+v 0.00021951 -0.00589709 0.00580703
+v 0.00487861 0.00263302 0.01262230
+v 0.01400738 0.00235498 0.01092611
+v -0.00702545 -0.00281769 0.00581575
+v -0.00702545 0.00254537 0.00893960
+v -0.00062048 0.00263303 0.01164755
+v 0.01400738 -0.00259477 0.01092609
+v 0.00576801 -0.00589711 0.01077511
+v 0.00587301 -0.00589711 0.01031423
+v 0.00597595 -0.00589711 0.00954924
+v 0.00601713 -0.00589710 0.00895481
+v 0.00605419 -0.00589710 0.00790531
+v 0.00024834 -0.00589710 0.00698282
+v -0.00702545 -0.00279599 0.00895482
+v -0.00702545 -0.00281102 0.00699880
+v 0.01400738 0.00206357 0.01205908
+v 0.01400738 0.00226230 0.01128756
+v 0.00281362 0.00263302 0.01310568
+v -0.00702545 0.00254453 0.00895484
+v 0.00021539 0.00263302 0.01232400
+v 0.01400738 -0.00220483 0.01216357
+v 0.00513390 -0.00589711 0.01194365
+v 0.00559507 -0.00589711 0.01129987
+v 0.00031422 -0.00589710 0.00895481
+v -0.00702545 -0.00260145 0.01092609
+v 0.00056539 -0.00589711 0.01092608
+v 0.01400738 0.00096306 0.01277979
+v 0.00250479 0.00263302 0.01306866
+v -0.00702545 0.00096306 0.01278051
+v 0.00281362 0.00096306 0.01321091
+v -0.00702545 0.00235498 0.01091087
+v 0.00060039 0.00263302 0.01247278
+v -0.00702545 0.00235331 0.01092611
+v 0.01400738 -0.00139575 0.01265421
+v 0.00281362 -0.00589712 0.01310783
+v 0.00460890 -0.00589712 0.01257146
+v -0.00702545 -0.00220984 0.01216938
+v 0.00095863 -0.00589711 0.01173607
+v 0.00130451 -0.00589712 0.01244808
+v 0.01400738 0.00033182 0.01281390
+v -0.00702545 0.00206357 0.01205908
+v -0.00702545 -0.00101583 0.01289156
+v 0.00281362 -0.00101583 0.01322107
+v 0.01400738 -0.00101583 0.01288430
+v -0.00702545 0.00206608 0.01205037
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 19
+f 1 19 18
+f 1 18 29
+f 1 29 43
+f 1 43 55
+f 1 55 51
+f 1 51 41
+f 1 41 25
+f 1 25 15
+f 1 15 9
+f 1 9 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 8
+f 2 8 14
+f 2 14 24
+f 2 24 16
+f 2 16 10
+f 2 10 5
+f 3 6 4
+f 4 7 12
+f 4 12 21
+f 4 21 26
+f 4 26 40
+f 4 40 39
+f 4 39 50
+f 4 50 63
+f 4 63 67
+f 4 67 57
+f 4 57 44
+f 4 44 30
+f 4 30 22
+f 4 22 13
+f 4 13 8
+f 4 6 9
+f 4 9 7
+f 5 10 11
+f 7 9 12
+f 8 13 14
+f 9 15 12
+f 10 16 27
+f 10 27 38
+f 10 38 37
+f 10 37 48
+f 10 48 60
+f 10 60 65
+f 10 65 52
+f 10 52 64
+f 10 64 68
+f 10 68 56
+f 10 56 54
+f 10 54 42
+f 10 42 28
+f 10 28 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 12 15 21
+f 13 22 14
+f 14 22 23
+f 14 23 35
+f 14 35 34
+f 14 34 33
+f 14 33 32
+f 14 32 31
+f 14 31 46
+f 14 46 45
+f 14 45 59
+f 14 59 58
+f 14 58 62
+f 14 62 61
+f 14 61 49
+f 14 49 47
+f 14 47 36
+f 14 36 24
+f 15 25 26
+f 15 26 21
+f 16 24 27
+f 17 28 18
+f 18 28 29
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 24 36 37
+f 24 37 38
+f 24 38 27
+f 25 39 40
+f 25 40 26
+f 25 41 39
+f 28 42 43
+f 28 43 29
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 36 47 37
+f 37 47 49
+f 37 49 48
+f 39 41 50
+f 41 51 52
+f 41 52 53
+f 41 53 50
+f 42 54 43
+f 43 54 56
+f 43 56 55
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 48 49 61
+f 48 61 62
+f 48 62 60
+f 50 53 63
+f 51 55 64
+f 51 64 52
+f 52 65 53
+f 53 65 66
+f 53 66 67
+f 53 67 63
+f 55 56 68
+f 55 68 64
+f 57 67 58
+f 58 67 66
+f 58 66 65
+f 58 65 60
+f 58 60 62
+

dataset/bedroom_supplies/storage/94c689aab69057dab5dbaeb8997cca35/mjcf/mesh/jewelry_box_015_collision_41.obj

@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00281293 -0.04453781 0.01312576
+v 0.00218951 -0.04716342 0.01289310
+v 0.00281293 -0.04716342 0.01310013
+v 0.00469987 -0.04716342 0.01254772
+v 0.00461416 -0.04453781 0.01258975
+v 0.00461416 -0.04255873 0.01258975
+v 0.00424709 -0.03307132 0.01269740
+v 0.00281293 -0.03307132 0.01312273
+v 0.00115200 -0.04716342 0.01244933
+v 0.00004092 -0.04755164 0.00580706
+v 0.00665051 -0.04755164 0.00580706
+v 0.00561072 -0.04716341 0.01145314
+v 0.00461189 -0.03307132 0.01258876
+v 0.00602709 -0.03074509 0.00580712
+v 0.00024418 -0.03074509 0.00580712
+v 0.00130596 -0.03307132 0.01244528
+v 0.00082361 -0.04716341 0.01178725
+v -0.00062800 -0.04755163 0.00293739
+v 0.00040344 -0.04716341 0.01092533
+v 0.00707067 -0.04755163 0.00265657
+v 0.00636762 -0.04716340 0.00895448
+v 0.00614768 -0.04716341 0.01054510
+v 0.00559707 -0.03307131 0.01119902
+v 0.00577378 -0.03307131 0.01041191
+v 0.00581853 -0.03307131 0.01021206
+v 0.00658377 -0.03074508 0.00265663
+v -0.00006298 -0.03074508 0.00265663
+v 0.00031850 -0.03307130 0.00895453
+v 0.00051569 -0.03307131 0.01052670
+v 0.00056574 -0.03307131 0.01092538
+v -0.00067730 -0.04755163 0.00265657
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 6
+f 4 6 5
+f 4 11 12
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 17 10
+f 9 16 17
+f 10 18 31
+f 10 31 20
+f 10 20 11
+f 10 17 19
+f 10 19 18
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 19
+f 16 19 17
+f 18 19 31
+f 19 30 31
+f 20 26 21
+f 20 31 27
+f 20 27 26
+f 21 26 25
+f 21 25 22
+f 22 25 24
+f 22 24 23
+f 27 31 28
+f 28 31 29
+f 29 31 30
+