Add asset kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67

.gitattributes

@@ -3986,3 +3986,5 @@ dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/mesh/storage_b
 dataset/kitchen_supplies/storage/5c254255e9685a08934931ce263faa42/storage_bin_090.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6000ca64fcbc505396b819ae4a2f9801/mesh/storage_bin_046.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/6000ca64fcbc505396b819ae4a2f9801/storage_bin_046.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/drawer_051.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mesh/drawer_051.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/drawer_051.urdf

@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="drawer_051">
+   <link name="drawer_051">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/drawer_051.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/drawer_051_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="17.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>6152f723859e51e8a8265901dc282c67</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>drawer</category>
+         <name>ornate nightstand</name>
+         <color>gray,beige</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>small ornate three-drawer cabinet with carved legs and floral fronts</description>
+         <min_height>0.4978</min_height>
+         <max_height>0.4978</max_height>
+         <real_height>0.4978</real_height>
+         <min_mass>12.0</min_mass>
+         <max_mass>22.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609182323</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.151670 -0.205217 -0.296970</min>
+            <max>0.287158 0.205147 0.200873</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>NO: {"summary":"Drawers are merged with lower body and front/back body parts are inconsistently split.","merge_groups":[{"colors":["Purple","Teal"],"target_part":"main body","reason":"Lower shell, legs, and front apron are one furniture body"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/drawer_051.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200beaddcea4c489d72a5b74e6c9cb74808ddd8b0ab34bc59a4b31af5d903452
+size 4724618

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mesh/drawer_051.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e93cb6640e6fa4673a13a5642f541cc2f24602713586329b6d05c3f057e9c921
+size 14273596

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mesh/drawer_051.mtl

@@ -0,0 +1,6 @@
+newmtl drawer_051_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl drawer_051_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd drawer_051_geometry_Looks_material_0.png

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/drawer_051.xml

@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="drawer_051">
+  <asset>
+    <material name="material_0" texture="texture_0_drawer_051_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_drawer_051_geometry_Looks_material_0" type="2d" file="mesh/drawer_051_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/drawer_051.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/drawer_051_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/drawer_051_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/drawer_051_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/drawer_051_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/drawer_051_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/drawer_051_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/drawer_051_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/drawer_051_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/drawer_051_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/drawer_051_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/drawer_051_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/drawer_051_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/drawer_051_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/drawer_051_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/drawer_051_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/drawer_051_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/drawer_051_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/drawer_051_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/drawer_051_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/drawer_051_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/drawer_051_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/drawer_051_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/drawer_051_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/drawer_051_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/drawer_051_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/drawer_051_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/drawer_051_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/drawer_051_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/drawer_051_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/drawer_051_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/drawer_051_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/drawer_051_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/drawer_051_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/drawer_051_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/drawer_051_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/drawer_051_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/drawer_051_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/drawer_051_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/drawer_051_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/drawer_051_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/drawer_051_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/drawer_051_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/drawer_051_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/drawer_051_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/drawer_051_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/drawer_051_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/drawer_051_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="drawer_051">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_0.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.25925929 -0.17302178 -0.15800145
+v 0.25107632 -0.17288043 -0.14980553
+v 0.25107632 -0.17288034 -0.17437888
+v 0.25925929 -0.17300757 -0.17437888
+v 0.26453694 -0.17232889 -0.17437887
+v 0.26453694 -0.17232895 -0.15800144
+v 0.26453345 -0.17232904 -0.13342809
+v 0.26452997 -0.17232907 -0.12524659
+v 0.26451256 -0.17231517 -0.05972246
+v 0.25925929 -0.17297973 -0.05972247
+v 0.24563494 -0.17218760 -0.14162402
+v 0.24563145 -0.17218757 -0.14980552
+v 0.25107632 -0.17283833 -0.05972246
+v 0.24566628 -0.17218754 -0.15800144
+v 0.24622715 -0.17218748 -0.17437887
+v 0.24657551 -0.17194710 -0.18257480
+v 0.25107632 -0.17242783 -0.18257480
+v 0.25925929 -0.17256922 -0.18257480
+v 0.26412239 -0.17208848 -0.18257480
+v 0.26785681 -0.16757802 -0.17437886
+v 0.26786726 -0.16757805 -0.16619736
+v 0.26787075 -0.16757808 -0.15800143
+v 0.26786726 -0.16757814 -0.14162401
+v 0.26784984 -0.16757841 -0.06791838
+v 0.26451952 -0.17231511 -0.07611431
+v 0.26784635 -0.16757844 -0.05972245
+v 0.26422342 -0.17215967 -0.05154096
+v 0.25925929 -0.17266868 -0.05154096
+v 0.23468948 -0.17034948 -0.14162402
+v 0.24624457 -0.17217377 -0.05972246
+v 0.25107632 -0.17251314 -0.05154096
+v 0.24650932 -0.17198999 -0.05154096
+v 0.23468948 -0.17005252 -0.14981993
+v 0.24694477 -0.17169256 -0.18670161
+v 0.23469992 -0.16926068 -0.15800143
+v 0.25107632 -0.17181981 -0.18686035
+v 0.25925929 -0.17189052 -0.18696135
+v 0.26358941 -0.17179153 -0.18683148
+v 0.26703119 -0.16757799 -0.18257479
+v 0.27009328 -0.15940539 -0.17437883
+v 0.27020824 -0.15940542 -0.16619733
+v 0.27022913 -0.15940545 -0.15800140
+v 0.27023959 -0.15940578 -0.06791835
+v 0.27013160 -0.15940581 -0.05972242
+v 0.26725414 -0.16757847 -0.05154095
+v 0.26374617 -0.17189104 -0.04713998
+v 0.25925929 -0.17201829 -0.04698125
+v 0.25107632 -0.17191930 -0.04709669
+v 0.23468948 -0.16499087 -0.06793280
+v 0.24684375 -0.17176377 -0.04731313
+v 0.23468948 -0.16924653 -0.15801587
+v 0.24601117 -0.16757797 -0.18752409
+v 0.25107632 -0.16757797 -0.18864959
+v 0.23469992 -0.16688521 -0.16619735
+v 0.23468948 -0.16414212 -0.17117550
+v 0.25925929 -0.16757797 -0.18883717
+v 0.26478428 -0.16757797 -0.18772610
+v 0.26919450 -0.15940536 -0.18257476
+v 0.27019082 -0.15123275 -0.17437880
+v 0.27016296 -0.02857257 -0.17437834
+v 0.27026746 -0.02857299 -0.05972193
+v 0.27027442 -0.14306054 -0.05972236
+v 0.27026049 -0.15123317 -0.05972239
+v 0.26942442 -0.15940584 -0.05154092
+v 0.26501070 -0.16757849 -0.04615877
+v 0.25925929 -0.16757850 -0.04481682
+v 0.25107632 -0.16757849 -0.04501884
+v 0.23468948 -0.16412839 -0.06294020
+v 0.24582306 -0.16757849 -0.04636078
+v 0.23468948 -0.16687108 -0.16619735
+v 0.24509150 -0.15940534 -0.18834654
+v 0.25107632 -0.15940533 -0.19023680
+v 0.23468948 -0.15940539 -0.17354192
+v 0.25925929 -0.15940533 -0.19043881
+v 0.26587116 -0.15940534 -0.18853411
+v 0.26921890 -0.15123272 -0.18257473
+v 0.27015599 -0.02857257 -0.17445049
+v 0.26944533 -0.02857302 -0.05159815
+v 0.26944533 -0.14306057 -0.05154086
+v 0.26944185 -0.15123320 -0.05154089
+v 0.26610455 -0.15123322 -0.04526408
+v 0.26609063 -0.15940586 -0.04529297
+v 0.25925929 -0.15940587 -0.04308526
+v 0.25107632 -0.15940587 -0.04325842
+v 0.23468948 -0.15940581 -0.06037175
+v 0.24487203 -0.15940586 -0.04546613
+v 0.24508453 -0.15123270 -0.18834651
+v 0.23468948 -0.15123275 -0.17507142
+v 0.23468948 -0.14306012 -0.17511467
+v 0.24508104 -0.05316111 -0.18834615
+v 0.25102755 -0.02857251 -0.19022187
+v 0.25107632 -0.02857251 -0.19023631
+v 0.25919309 -0.02857251 -0.19040946
+v 0.25925929 -0.02857251 -0.19040946
+v 0.26586071 -0.02857252 -0.18851920
+v 0.26588509 -0.14306007 -0.18853405
+v 0.26588509 -0.15123270 -0.18853408
+v 0.26917710 -0.02857254 -0.18257427
+v 0.26943836 -0.02857302 -0.05154043
+v 0.26612895 -0.02857304 -0.04530691
+v 0.26610804 -0.13488795 -0.04526402
+v 0.26610804 -0.14306059 -0.04526405
+v 0.25925929 -0.15123323 -0.04304194
+v 0.25107632 -0.15123323 -0.04324396
+v 0.23468948 -0.15123317 -0.05970796
+v 0.24487203 -0.14306059 -0.04545163
+v 0.23468948 -0.02857257 -0.17511424
+v 0.24508104 -0.02857252 -0.18834605
+v 0.26610107 -0.02857304 -0.04526362
+v 0.25925929 -0.02857305 -0.04302706
+v 0.25925929 -0.02864375 -0.04302707
+v 0.25107632 -0.04498901 -0.04321471
+v 0.25107632 -0.11037007 -0.04322938
+v 0.23468948 -0.14577532 -0.06227638
+v 0.24486158 -0.03681637 -0.04543681
+v 0.24486158 -0.02857304 -0.04543677
+v 0.24238126 -0.02857302 -0.05148272
+v 0.24236035 -0.02857302 -0.05154043
+v 0.23468948 -0.02857263 -0.15892440
+v 0.25107632 -0.02857305 -0.04321464
+v 0.23468948 -0.02858678 -0.15626939
+v 0.23469992 -0.02857264 -0.15626938
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 12
+f 2 12 3
+f 2 10 13
+f 2 13 11
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 4
+f 3 12 14
+f 4 18 19
+f 4 19 5
+f 5 20 21
+f 5 21 22
+f 5 22 6
+f 5 19 20
+f 6 22 7
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 9
+f 7 9 8
+f 9 25 24
+f 9 24 26
+f 9 26 27
+f 9 27 10
+f 10 27 28
+f 10 28 13
+f 11 29 12
+f 11 13 30
+f 11 30 29
+f 12 29 14
+f 13 28 31
+f 13 31 32
+f 13 32 30
+f 14 29 15
+f 15 29 33
+f 15 33 16
+f 16 34 17
+f 16 33 35
+f 16 35 34
+f 17 34 36
+f 17 36 18
+f 18 36 37
+f 18 37 38
+f 18 38 19
+f 19 38 39
+f 19 39 20
+f 20 40 41
+f 20 41 42
+f 20 42 21
+f 20 39 40
+f 21 42 22
+f 22 42 43
+f 22 43 23
+f 23 43 24
+f 24 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 28
+f 28 46 47
+f 28 47 48
+f 28 48 31
+f 29 30 32
+f 29 32 49
+f 29 49 68
+f 29 68 85
+f 29 85 105
+f 29 105 114
+f 29 114 121
+f 29 121 119
+f 29 119 107
+f 29 107 89
+f 29 89 88
+f 29 88 73
+f 29 73 55
+f 29 55 70
+f 29 70 51
+f 29 51 33
+f 31 48 50
+f 31 50 32
+f 32 50 49
+f 33 51 35
+f 34 52 53
+f 34 53 36
+f 34 35 54
+f 34 54 55
+f 34 55 52
+f 35 51 54
+f 36 53 56
+f 36 56 37
+f 37 56 38
+f 38 56 57
+f 38 57 39
+f 39 58 40
+f 39 57 58
+f 40 59 41
+f 40 58 59
+f 41 59 42
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 43 63 44
+f 44 63 64
+f 44 64 45
+f 45 64 65
+f 45 65 46
+f 46 65 66
+f 46 66 47
+f 47 66 48
+f 48 66 67
+f 48 67 50
+f 49 50 68
+f 50 67 69
+f 50 69 68
+f 51 70 54
+f 52 71 72
+f 52 72 53
+f 52 55 73
+f 52 73 71
+f 53 72 74
+f 53 74 56
+f 54 70 55
+f 56 74 57
+f 57 74 75
+f 57 75 58
+f 58 75 76
+f 58 76 59
+f 59 77 60
+f 59 76 77
+f 60 77 98
+f 60 98 95
+f 60 95 94
+f 60 94 93
+f 60 93 92
+f 60 92 91
+f 60 91 108
+f 60 108 107
+f 60 107 119
+f 60 119 122
+f 60 122 118
+f 60 118 117
+f 60 117 116
+f 60 116 120
+f 60 120 110
+f 60 110 109
+f 60 109 100
+f 60 100 99
+f 60 99 78
+f 60 78 61
+f 61 78 62
+f 62 78 79
+f 62 79 80
+f 62 80 63
+f 63 80 64
+f 64 80 81
+f 64 81 82
+f 64 82 65
+f 65 82 83
+f 65 83 66
+f 66 83 84
+f 66 84 67
+f 67 84 69
+f 68 69 85
+f 69 84 86
+f 69 86 85
+f 71 87 72
+f 71 73 88
+f 71 88 89
+f 71 89 87
+f 72 87 90
+f 72 90 91
+f 72 91 92
+f 72 92 74
+f 74 92 93
+f 74 93 94
+f 74 94 95
+f 74 95 96
+f 74 96 97
+f 74 97 75
+f 75 97 76
+f 76 97 96
+f 76 96 95
+f 76 95 98
+f 76 98 77
+f 78 99 79
+f 79 99 100
+f 79 100 101
+f 79 101 102
+f 79 102 81
+f 79 81 80
+f 81 102 103
+f 81 103 82
+f 82 103 83
+f 83 103 84
+f 84 103 104
+f 84 104 86
+f 85 86 105
+f 86 104 106
+f 86 106 105
+f 87 89 90
+f 89 107 108
+f 89 108 90
+f 90 108 91
+f 100 109 101
+f 101 109 110
+f 101 110 111
+f 101 111 102
+f 102 111 103
+f 103 111 112
+f 103 112 113
+f 103 113 104
+f 104 113 106
+f 105 106 115
+f 105 115 116
+f 105 116 117
+f 105 117 118
+f 105 118 114
+f 106 113 112
+f 106 112 115
+f 110 120 112
+f 110 112 111
+f 112 120 116
+f 112 116 115
+f 114 118 121
+f 118 122 121
+f 119 121 122
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_1.obj

@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.23468975 0.15116415 -0.05967483
+v 0.23468975 0.15933253 -0.06030079
+v 0.15029160 0.15117035 -0.05971221
+v 0.23468975 0.14571961 -0.06228155
+v 0.15029160 0.15934183 -0.06044093
+v 0.23468975 0.16409537 -0.06289813
+v 0.15029160 0.14961787 -0.06057177
+v 0.15029160 0.14616893 -0.06249644
+v 0.23468975 0.14408657 -0.06792474
+v 0.15029160 0.16380408 -0.06323448
+v 0.23468975 0.16496305 -0.06791532
+v 0.15029160 0.14587146 -0.06417819
+v 0.15029160 0.14521452 -0.06791540
+v 0.15029160 0.14018863 -0.15512313
+v 0.23468975 0.14008637 -0.15512313
+v 0.15029160 0.17158231 -0.14162235
+v 0.23468975 0.17030562 -0.14162235
+v 0.15029160 0.17096880 -0.15512301
+v 0.23468975 0.16951238 -0.15512302
+v 0.15029160 0.17173109 -0.14863895
+v 0.23468975 0.17002676 -0.14981618
+v 0.15029160 0.17174348 -0.14981617
+v 0.15029160 0.17145840 -0.15329178
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 19
+f 1 19 21
+f 1 21 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 10
+f 3 10 16
+f 3 16 20
+f 3 20 22
+f 3 22 23
+f 3 23 18
+f 3 18 14
+f 3 14 13
+f 3 13 12
+f 3 12 8
+f 3 8 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 6 10
+f 6 11 10
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 9 14 15
+f 10 11 16
+f 11 17 16
+f 14 18 19
+f 14 19 15
+f 16 17 20
+f 17 21 22
+f 17 22 20
+f 18 23 19
+f 19 23 21
+f 21 23 22
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_10.obj

@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.04906467 -0.14345333 -0.14291010
+v 0.04906467 -0.14345310 -0.20527783
+v 0.11054725 -0.14345330 -0.14972364
+v 0.11054725 -0.02858389 -0.15629878
+v 0.04906467 -0.02857264 -0.15542830
+v 0.11054725 -0.14345309 -0.20688102
+v 0.04906467 -0.06401723 -0.20528381
+v 0.11054725 -0.02857261 -0.16425836
+v 0.10375732 -0.02857264 -0.15629878
+v 0.04906467 -0.02857251 -0.18923926
+v 0.11054725 -0.02857245 -0.20652990
+v 0.04906467 -0.05316564 -0.20528377
+v 0.04906467 -0.02859495 -0.20527116
+v 0.05450625 -0.02857246 -0.20527740
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 13
+f 1 13 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 6 11
+f 3 11 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 8
+f 5 8 11
+f 5 11 14
+f 5 14 10
+f 6 7 12
+f 6 12 13
+f 6 13 11
+f 10 14 13
+f 11 13 14
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_11.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.11188580 0.19528359 -0.17668388
+v 0.11698932 0.19480877 -0.13035859
+v 0.12006611 0.19481417 -0.13035859
+v 0.11582909 0.19524044 -0.17668388
+v 0.10765613 0.19527280 -0.17668388
+v 0.10369815 0.19478181 -0.13035859
+v 0.12513292 0.19267826 -0.13035860
+v 0.12865030 0.19236561 -0.17668389
+v 0.12371568 0.19443139 -0.17668389
+v 0.12006611 0.19514875 -0.17668388
+v 0.10369815 0.19526201 -0.17668388
+v 0.09551049 0.19333629 -0.13035860
+v 0.07526531 0.19503009 -0.17668388
+v 0.12818768 0.19138917 -0.13035861
+v 0.13115433 0.19100639 -0.17668390
+v 0.07526531 0.18836331 -0.13035862
+v 0.07526531 0.14018701 -0.17668409
+v 0.15028334 0.16802370 -0.13035869
+v 0.15028334 0.17073675 -0.13602292
+v 0.15028334 0.17158358 -0.14162822
+v 0.13263031 0.18841203 -0.17668391
+v 0.15028334 0.17172923 -0.14864844
+v 0.15028334 0.17174002 -0.14981847
+v 0.15028334 0.17145416 -0.15330137
+v 0.15028334 0.17089323 -0.15539655
+v 0.15028334 0.16458806 -0.16936446
+v 0.15028334 0.16378440 -0.17078393
+v 0.07526531 0.14515443 -0.13035878
+v 0.07526531 0.14018693 -0.15511550
+v 0.13734464 0.14018701 -0.17668409
+v 0.15028334 0.14518681 -0.13035878
+v 0.13574383 0.17056430 -0.17668397
+v 0.15028334 0.15934540 -0.17306505
+v 0.15028334 0.15117397 -0.17484735
+v 0.11989722 0.14018693 -0.15510643
+v 0.07913517 0.14515443 -0.13035878
+v 0.13735198 0.14299713 -0.17668407
+v 0.15028334 0.14018700 -0.17484740
+v 0.15028334 0.14018693 -0.15512457
+v 0.14770588 0.14518141 -0.13035878
+v 0.13694077 0.16043494 -0.17668401
+v 0.13735933 0.15117398 -0.17668404
+v 0.12006611 0.14018693 -0.15510643
+v 0.12825377 0.14018693 -0.15511096
+v 0.13644143 0.14517602 -0.13035878
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 8
+f 1 8 15
+f 1 15 21
+f 1 21 32
+f 1 32 41
+f 1 41 42
+f 1 42 37
+f 1 37 30
+f 1 30 17
+f 1 17 13
+f 1 13 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
+f 2 16 28
+f 2 28 36
+f 2 36 45
+f 2 45 40
+f 2 40 31
+f 2 31 18
+f 2 18 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 6
+f 6 11 13
+f 6 13 12
+f 7 14 8
+f 8 14 15
+f 12 13 16
+f 13 17 29
+f 13 29 28
+f 13 28 16
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 15 20 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 21
+f 17 30 38
+f 17 38 39
+f 17 39 44
+f 17 44 43
+f 17 43 35
+f 17 35 29
+f 18 31 39
+f 18 39 38
+f 18 38 34
+f 18 34 33
+f 18 33 27
+f 18 27 26
+f 18 26 25
+f 18 25 24
+f 18 24 23
+f 18 23 22
+f 18 22 20
+f 18 20 19
+f 21 27 33
+f 21 33 34
+f 21 34 32
+f 28 29 35
+f 28 35 43
+f 28 43 36
+f 30 37 38
+f 31 40 39
+f 32 34 41
+f 34 38 42
+f 34 42 41
+f 36 43 44
+f 36 44 39
+f 36 39 45
+f 37 42 38
+f 39 40 45
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_12.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.09104090 -0.20346748 -0.19078619
+v -0.09104090 -0.20280951 -0.19720088
+v -0.09104090 -0.18885771 -0.13035371
+v -0.10100499 -0.19214157 -0.13035373
+v -0.10609266 -0.19374532 -0.13035373
+v -0.10919324 -0.19472050 -0.13035374
+v -0.11738151 -0.19483799 -0.13035374
+v -0.12555834 -0.19483799 -0.13035374
+v -0.10919324 -0.20345573 -0.19078619
+v -0.11738151 -0.19941976 -0.23171264
+v -0.09104090 -0.20262738 -0.19896819
+v -0.09104090 -0.14345923 -0.13035355
+v -0.13374660 -0.19346922 -0.13035373
+v -0.14193485 -0.20280953 -0.19078618
+v -0.13374660 -0.20342635 -0.19078619
+v -0.12555834 -0.20343811 -0.19078619
+v -0.12555834 -0.19934339 -0.23171264
+v -0.12555834 -0.19351567 -0.28087020
+v -0.11738151 -0.19225851 -0.28087020
+v -0.09104090 -0.19973118 -0.21533223
+v -0.13352961 -0.14345923 -0.13035355
+v -0.09104090 -0.14345896 -0.20531723
+v -0.13905698 -0.19005612 -0.13035372
+v -0.14769062 -0.19919081 -0.19078617
+v -0.13374660 -0.20252752 -0.19896819
+v -0.14067863 -0.19789828 -0.22353062
+v -0.13374660 -0.19969590 -0.22353062
+v -0.13953663 -0.19727556 -0.22942165
+v -0.13281014 -0.19039628 -0.28087019
+v -0.13143401 -0.18930946 -0.28905221
+v -0.12555834 -0.19141255 -0.28905221
+v -0.11721019 -0.19004379 -0.28898676
+v -0.09104090 -0.19834476 -0.22069964
+v -0.14934083 -0.14345901 -0.19078597
+v -0.13901130 -0.16163507 -0.13035361
+v -0.09104090 -0.18342928 -0.22367783
+v -0.10475651 -0.17083997 -0.26995530
+v -0.11288767 -0.17102200 -0.29363407
+v -0.11389264 -0.16397257 -0.28404471
+v -0.12122439 -0.16337921 -0.29332312
+v -0.13327266 -0.14345889 -0.22400498
+v -0.14025608 -0.18392896 -0.13035370
+v -0.14935796 -0.19210024 -0.19078615
+v -0.14709106 -0.19808636 -0.19896818
+v -0.13690428 -0.18646622 -0.28087017
+v -0.13557953 -0.18404587 -0.28910129
+v -0.12998937 -0.18827553 -0.29347050
+v -0.12555834 -0.18882774 -0.29407596
+v -0.11982541 -0.18883361 -0.29407596
+v -0.11275634 -0.18858690 -0.28620486
+v -0.09104090 -0.19796291 -0.22204149
+v -0.11436658 -0.18683627 -0.29167044
+v -0.14843293 -0.14345898 -0.19896798
+v -0.13997059 -0.17575104 -0.28087014
+v -0.14541800 -0.17575122 -0.23171256
+v -0.14934654 -0.15123691 -0.19078600
+v -0.14025037 -0.18083308 -0.13035368
+v -0.14023895 -0.17575159 -0.13035367
+v -0.14020469 -0.16758599 -0.13035364
+v -0.13975361 -0.16533603 -0.13035363
+v -0.09104090 -0.18374063 -0.22377602
+v -0.10728036 -0.17575104 -0.28087014
+v -0.11005547 -0.17575101 -0.28905216
+v -0.11246512 -0.17575099 -0.29412501
+v -0.11738151 -0.17575098 -0.29633418
+v -0.11804959 -0.16801423 -0.29441955
+v -0.11560567 -0.16541183 -0.28905212
+v -0.12523287 -0.16703318 -0.29497591
+v -0.12228075 -0.16337921 -0.29332312
+v -0.12523287 -0.16226307 -0.28947758
+v -0.13374660 -0.14345889 -0.22416861
+v -0.14936938 -0.18392874 -0.19078612
+v -0.14830160 -0.19210021 -0.19896816
+v -0.13847455 -0.18139646 -0.28641757
+v -0.13671584 -0.17575100 -0.29114676
+v -0.13143972 -0.18392836 -0.29448505
+v -0.12555834 -0.18392835 -0.29626874
+v -0.11721019 -0.18403410 -0.29509054
+v -0.11258503 -0.18138468 -0.29397775
+v -0.11151725 -0.18403412 -0.28898674
+v -0.09104090 -0.19370386 -0.22492153
+v -0.14533806 -0.14345892 -0.21533203
+v -0.13847455 -0.17040520 -0.28628662
+v -0.13878860 -0.17575102 -0.28703938
+v -0.09104090 -0.19232333 -0.22549428
+v -0.12555834 -0.17575098 -0.29749600
+v -0.13156534 -0.16938887 -0.29455043
+v -0.12773958 -0.16393731 -0.29248857
+v -0.13119419 -0.16259206 -0.28702297
+v -0.14156369 -0.14345889 -0.22220492
+v -0.14102125 -0.14345889 -0.22236857
+v -0.13262171 -0.17575099 -0.29528686
+v -0.14517247 -0.14345892 -0.21574112
+v -0.13410633 -0.16717419 -0.28939576
+f 1 2 11
+f 1 11 20
+f 1 20 33
+f 1 33 51
+f 1 51 81
+f 1 81 85
+f 1 85 61
+f 1 61 36
+f 1 36 22
+f 1 22 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 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 3 12 21
+f 3 21 35
+f 3 35 60
+f 3 60 59
+f 3 59 58
+f 3 58 57
+f 3 57 42
+f 3 42 23
+f 3 23 13
+f 3 13 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 17 18
+f 10 18 11
+f 10 16 15
+f 10 15 17
+f 11 18 19
+f 11 19 20
+f 12 22 41
+f 12 41 71
+f 12 71 91
+f 12 91 90
+f 12 90 93
+f 12 93 82
+f 12 82 53
+f 12 53 34
+f 12 34 21
+f 13 23 24
+f 13 24 14
+f 14 25 15
+f 14 24 26
+f 14 26 18
+f 14 18 27
+f 14 27 25
+f 15 25 17
+f 17 27 18
+f 17 25 27
+f 18 26 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 21 34 35
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 23 42 43
+f 23 43 24
+f 24 43 44
+f 24 44 26
+f 26 45 29
+f 26 29 28
+f 26 44 45
+f 29 45 30
+f 30 46 47
+f 30 47 31
+f 30 45 46
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 50 51
+f 32 51 33
+f 32 49 52
+f 32 52 50
+f 34 53 54
+f 34 54 55
+f 34 55 56
+f 34 56 42
+f 34 42 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 36 61 62
+f 36 62 37
+f 37 62 63
+f 37 63 38
+f 38 63 64
+f 38 64 65
+f 38 65 66
+f 38 66 40
+f 38 40 67
+f 38 67 39
+f 39 67 40
+f 40 66 68
+f 40 68 69
+f 40 69 70
+f 40 70 71
+f 40 71 41
+f 42 56 72
+f 42 72 43
+f 43 73 44
+f 43 72 55
+f 43 55 54
+f 43 54 73
+f 44 73 74
+f 44 74 45
+f 45 74 46
+f 46 75 76
+f 46 76 47
+f 46 74 75
+f 47 76 77
+f 47 77 48
+f 48 77 49
+f 49 77 78
+f 49 78 79
+f 49 79 52
+f 50 52 80
+f 50 80 51
+f 51 80 79
+f 51 79 81
+f 52 79 80
+f 53 82 83
+f 53 83 54
+f 54 83 84
+f 54 84 74
+f 54 74 73
+f 55 72 56
+f 61 85 62
+f 62 85 81
+f 62 81 63
+f 63 79 64
+f 63 81 79
+f 64 79 65
+f 65 86 66
+f 65 79 78
+f 65 78 86
+f 66 86 68
+f 68 86 87
+f 68 87 88
+f 68 88 69
+f 69 88 70
+f 70 88 89
+f 70 89 90
+f 70 90 91
+f 70 91 71
+f 74 84 75
+f 75 84 83
+f 75 83 87
+f 75 87 92
+f 75 92 76
+f 76 92 86
+f 76 86 77
+f 77 86 78
+f 82 93 83
+f 83 89 94
+f 83 94 87
+f 83 93 89
+f 86 92 87
+f 87 94 88
+f 88 94 89
+f 89 93 90
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_13.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.11725785 -0.02856682 -0.13034693
+v -0.13346900 -0.02856682 -0.13034693
+v -0.11725785 -0.14345337 -0.13034736
+v -0.11725785 -0.02856654 -0.20562572
+v -0.11730502 0.14018146 -0.13037683
+v -0.13347214 -0.03370313 -0.13034695
+v -0.13351616 0.14018146 -0.13037683
+v -0.13353188 -0.14345337 -0.13034736
+v -0.11725785 -0.14345309 -0.20602284
+v -0.11730502 0.14018174 -0.20578787
+v -0.14937201 0.14018168 -0.19075448
+v -0.14937516 0.13479551 -0.19075449
+v -0.14934056 -0.14345315 -0.19076569
+v -0.14936886 0.01221840 -0.19075495
+v -0.14936571 -0.02856660 -0.19075509
+v -0.12799507 -0.14345304 -0.22147326
+v -0.12833149 -0.03681231 -0.22927436
+v -0.12824345 -0.02856646 -0.22966083
+v -0.12823402 -0.02045944 -0.23000664
+v -0.12823402 -0.01226911 -0.23030159
+v -0.12823402 -0.00410656 -0.23048464
+v -0.12823087 0.00405599 -0.23048461
+v -0.12823402 0.01221855 -0.23030150
+v -0.12823716 0.02038109 -0.23002683
+v -0.12825288 0.02857140 -0.22969115
+v -0.12831891 0.03673396 -0.22933512
+v -0.12817427 0.14018179 -0.22130948
+v -0.14906388 0.14018169 -0.19358214
+v -0.14936258 -0.04497500 -0.19076533
+v -0.14843192 -0.14345312 -0.19896387
+v -0.14845707 -0.02862210 -0.19896345
+v -0.13327720 -0.14345303 -0.22399578
+v -0.13374883 -0.02045942 -0.23329201
+v -0.13374883 -0.01226910 -0.23389210
+v -0.12829061 -0.02856646 -0.22969135
+v -0.12824660 -0.02862199 -0.22966084
+v -0.13374883 -0.00410655 -0.23422773
+v -0.13374883 0.00405600 -0.23424805
+v -0.13374883 0.01221856 -0.23391236
+v -0.12852956 0.04492427 -0.22887736
+v -0.13374883 0.02038111 -0.23335290
+v -0.13185605 0.14018180 -0.22307930
+v -0.14846650 0.14018171 -0.19895266
+v -0.14846650 0.13479554 -0.19895267
+v -0.14845392 -0.04497497 -0.19896351
+v -0.14533809 -0.14345306 -0.21532970
+v -0.14550473 -0.00410659 -0.22352737
+v -0.14550158 -0.01226914 -0.22352740
+v -0.14548586 -0.02045946 -0.22352743
+v -0.14544185 -0.02862201 -0.22352746
+v -0.13374883 -0.14345303 -0.22415852
+v -0.14102120 -0.14345303 -0.22237851
+v -0.14146766 -0.03681231 -0.22993550
+v -0.14161858 -0.02856645 -0.23048472
+v -0.14166574 -0.02045943 -0.23091190
+v -0.14168776 -0.00410656 -0.23136956
+v -0.14168461 -0.01226911 -0.23121701
+v -0.14168461 0.00405599 -0.23137969
+v -0.14167833 0.01221855 -0.23123727
+v -0.14166261 0.02038110 -0.23095244
+v -0.14161858 0.02857141 -0.23055572
+v -0.14148967 0.03673396 -0.23003695
+v -0.13374883 0.14018180 -0.22394387
+v -0.14158715 0.14018180 -0.22206216
+v -0.14539782 0.14018177 -0.21533884
+v -0.14543242 0.02857138 -0.22352725
+v -0.14547643 0.02038107 -0.22352728
+v -0.14549530 0.01221852 -0.22352731
+v -0.14550158 0.00405596 -0.22352734
+v -0.14529093 -0.03681233 -0.22352749
+v -0.14517459 -0.14345306 -0.21574675
+v -0.14156199 -0.14345303 -0.22219543
+v -0.14530351 0.03673394 -0.22352722
+v -0.14496709 0.04492425 -0.22352718
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 7 6
+f 3 8 13
+f 3 13 30
+f 3 30 46
+f 3 46 71
+f 3 71 72
+f 3 72 52
+f 3 52 51
+f 3 51 32
+f 3 32 16
+f 3 16 9
+f 4 9 10
+f 5 10 27
+f 5 27 42
+f 5 42 63
+f 5 63 64
+f 5 64 65
+f 5 65 43
+f 5 43 28
+f 5 28 11
+f 5 11 7
+f 6 7 8
+f 7 11 12
+f 7 12 8
+f 8 12 14
+f 8 14 15
+f 8 15 13
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 11 28 12
+f 12 28 14
+f 13 15 29
+f 13 29 45
+f 13 45 30
+f 14 28 31
+f 14 31 15
+f 15 31 29
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 17 35 36
+f 17 36 18
+f 17 34 35
+f 18 36 19
+f 19 34 37
+f 19 37 20
+f 19 36 34
+f 20 37 21
+f 21 37 38
+f 21 38 22
+f 22 38 23
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 26
+f 26 40 27
+f 26 39 41
+f 26 41 40
+f 27 40 41
+f 27 41 42
+f 28 43 44
+f 28 44 31
+f 29 31 45
+f 30 45 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 46
+f 31 44 47
+f 31 47 45
+f 32 51 33
+f 33 51 52
+f 33 52 34
+f 34 36 35
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 37
+f 37 56 38
+f 37 55 57
+f 37 57 56
+f 38 56 58
+f 38 58 59
+f 38 59 60
+f 38 60 39
+f 39 60 61
+f 39 61 62
+f 39 62 41
+f 41 63 42
+f 41 62 64
+f 41 64 63
+f 43 65 66
+f 43 66 67
+f 43 67 68
+f 43 68 69
+f 43 69 47
+f 43 47 44
+f 46 50 70
+f 46 70 71
+f 47 69 58
+f 47 58 56
+f 47 56 48
+f 48 56 49
+f 49 56 50
+f 50 56 57
+f 50 57 70
+f 52 72 54
+f 52 54 53
+f 54 72 70
+f 54 70 55
+f 55 70 57
+f 58 69 68
+f 58 68 67
+f 58 67 66
+f 58 66 59
+f 59 66 73
+f 59 73 60
+f 60 73 61
+f 61 73 74
+f 61 74 64
+f 61 64 62
+f 64 74 65
+f 65 74 73
+f 65 73 66
+f 70 72 71
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_14.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.12005166 0.19520981 0.15724783
+v 0.12870571 0.19214279 0.15724782
+v 0.12005166 0.19481559 0.12579682
+v -0.12555081 0.19520981 0.15724783
+v 0.12816651 0.19137615 0.12579680
+v 0.12290939 0.19361070 0.12579681
+v 0.13223743 0.18383989 0.15724779
+v 0.13218351 0.18384001 0.12579678
+v 0.13078160 0.18649080 0.12579679
+v -0.12555081 0.19477178 0.12579682
+v -0.13072708 0.19472784 0.15724783
+v 0.13223743 0.17566845 0.15724776
+v 0.13320798 0.02041110 0.14505283
+v 0.13318101 0.15115418 0.14505332
+v 0.13299230 0.15932562 0.14505335
+v 0.13307318 0.15932565 0.13686427
+v 0.13285750 0.15932569 0.12579669
+v -0.13086186 0.19389548 0.12579681
+v -0.13374656 0.19341353 0.12579681
+v -0.13374656 0.19420206 0.15724782
+v 0.13320798 -0.02855183 0.14505266
+v 0.13202174 -0.02855188 0.15724701
+v 0.13425940 -0.00235057 0.12579609
+v 0.13423245 0.00238142 0.12579611
+v -0.13908458 0.18999597 0.12579680
+v -0.13954289 0.19091597 0.15724781
+v -0.13671210 0.19271237 0.15724782
+v 0.13320798 -0.02855183 0.14500956
+v -0.14051344 -0.02855188 0.15724701
+v 0.13301926 -0.02855181 0.13961892
+v 0.12959538 -0.02855176 0.12579600
+v -0.13951593 0.18782715 0.12579679
+v -0.14113351 0.18383989 0.15724779
+v -0.14116045 0.17566845 0.15724776
+v -0.14029775 0.18097014 0.12579676
+v -0.14027078 0.17279871 0.12579673
+v -0.14024384 0.16749714 0.12579672
+v -0.13347696 -0.02855176 0.12579600
+v -0.14029775 0.18384001 0.12579678
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 27
+f 1 27 26
+f 1 26 33
+f 1 33 34
+f 1 34 29
+f 1 29 22
+f 1 22 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 6 5
+f 3 5 9
+f 3 9 8
+f 3 8 17
+f 3 17 24
+f 3 24 23
+f 3 23 31
+f 3 31 38
+f 3 38 37
+f 3 37 36
+f 3 36 35
+f 3 35 39
+f 3 39 32
+f 3 32 25
+f 3 25 19
+f 3 19 18
+f 3 18 10
+f 3 10 4
+f 4 10 11
+f 7 12 21
+f 7 21 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 12 22 21
+f 13 21 23
+f 13 23 14
+f 14 23 24
+f 14 24 16
+f 14 16 15
+f 16 24 17
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 21 28 23
+f 21 22 29
+f 21 29 38
+f 21 38 31
+f 21 31 30
+f 21 30 28
+f 23 28 30
+f 23 30 31
+f 25 32 33
+f 25 33 26
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 32 39 33
+f 33 39 34
+f 34 39 35
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_15.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.27028610 0.00368326 -0.09363864
+v 0.28197116 0.00405066 -0.10238020
+v 0.28083864 0.00959520 -0.10360447
+v 0.27028610 0.01276472 -0.10060491
+v 0.27028610 -0.00309150 -0.09363866
+v 0.28202587 -0.00411665 -0.10231901
+v 0.28576336 0.00405068 -0.10886495
+v 0.28588110 -0.00411663 -0.10886498
+v 0.28199769 0.01228206 -0.10927709
+v 0.28004769 0.01656221 -0.11228071
+v 0.27028610 0.02018452 -0.10841597
+v 0.27028610 0.01296975 -0.10080488
+v 0.27028610 -0.01750812 -0.10373925
+v 0.28090992 -0.00972526 -0.10352293
+v 0.28710979 0.00405071 -0.11705148
+v 0.28347842 0.01222228 -0.11705145
+v 0.28212868 -0.01238645 -0.10919965
+v 0.28367243 -0.01229245 -0.11705154
+v 0.28722420 -0.00411660 -0.11705151
+v 0.28006593 0.01657505 -0.11705143
+v 0.27028610 0.02173087 -0.11705141
+v 0.27028610 -0.02011806 -0.10824879
+v 0.28010904 -0.01668795 -0.11215432
+v 0.28472038 0.00405074 -0.12524210
+v 0.28152345 0.01186777 -0.12454013
+v 0.27986032 0.01641275 -0.12133650
+v 0.28156490 -0.01192506 -0.12457694
+v 0.28014387 -0.01671355 -0.11705155
+v 0.27990344 -0.01651277 -0.12140600
+v 0.28474193 -0.00411657 -0.12524213
+v 0.27028610 0.02163262 -0.11747584
+v 0.27028610 -0.02024193 -0.10846916
+v 0.27028610 -0.02183521 -0.11654960
+v 0.27028610 -0.02190783 -0.11705157
+v 0.28113213 0.00405076 -0.13055151
+v 0.28039093 0.00890757 -0.12990668
+v 0.27028610 0.01975315 -0.12467069
+v 0.28035279 -0.00895628 -0.12987002
+v 0.27028610 -0.01990869 -0.12477286
+v 0.28110393 -0.00411655 -0.13052705
+v 0.27028610 0.00405078 -0.13528550
+v 0.27028610 -0.00411653 -0.13532634
+v 0.27028610 0.01104765 -0.13318374
+v 0.27028610 0.01178664 -0.13291847
+v 0.27028610 0.01929609 -0.12521347
+v 0.27028610 -0.01192076 -0.13295937
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 21
+f 1 21 31
+f 1 31 37
+f 1 37 45
+f 1 45 44
+f 1 44 43
+f 1 43 41
+f 1 41 42
+f 1 42 46
+f 1 46 39
+f 1 39 34
+f 1 34 33
+f 1 33 32
+f 1 32 22
+f 1 22 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 5 13 14
+f 5 14 6
+f 6 14 8
+f 7 15 16
+f 7 16 9
+f 7 8 15
+f 8 14 17
+f 8 17 18
+f 8 18 19
+f 8 19 15
+f 9 16 10
+f 10 20 21
+f 10 21 11
+f 10 16 20
+f 13 22 23
+f 13 23 14
+f 14 23 17
+f 15 24 25
+f 15 25 16
+f 15 19 24
+f 16 25 26
+f 16 26 20
+f 17 23 18
+f 18 27 19
+f 18 23 28
+f 18 28 29
+f 18 29 27
+f 19 27 30
+f 19 30 24
+f 20 26 21
+f 21 26 31
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 28
+f 24 35 36
+f 24 36 25
+f 24 30 35
+f 25 36 26
+f 26 37 31
+f 26 36 37
+f 27 38 30
+f 27 29 38
+f 28 34 29
+f 29 34 39
+f 29 39 38
+f 30 38 40
+f 30 40 35
+f 35 41 36
+f 35 40 42
+f 35 42 41
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 36 41 43
+f 38 39 46
+f 38 46 42
+f 38 42 40
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_16.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.11188087 -0.14109978 -0.06741908
+v 0.12016788 -0.14109978 -0.06697436
+v 0.10369032 -0.14109978 -0.06738488
+v 0.10369032 -0.02857298 -0.06350166
+v 0.11188087 -0.02857298 -0.06350166
+v 0.12006265 -0.02857298 -0.06345034
+v 0.12058004 -0.14109978 -0.06692305
+v 0.04330473 -0.14109979 -0.06487047
+v 0.04330473 -0.02857298 -0.06131224
+v 0.12606087 -0.14109979 -0.06581123
+v 0.12741135 -0.02857299 -0.05955044
+v 0.04330473 -0.14110042 0.10732398
+v 0.04330473 -0.02857360 0.10732440
+v 0.12747273 -0.02857299 -0.05951623
+v 0.12894598 -0.14109981 -0.05982454
+v 0.12954229 -0.14110042 0.10732398
+v 0.13095416 -0.02857360 0.10732440
+v 0.13079631 -0.02857302 -0.05157958
+v 0.13082261 -0.02857302 -0.05151116
+v 0.13103308 -0.14109984 -0.05151158
+v 0.13287464 -0.14110029 0.07133541
+v 0.13287464 -0.04499648 0.07133576
+v 0.13286587 -0.02857347 0.07133583
+v 0.13253264 -0.02857306 -0.04006802
+v 0.13254141 -0.07768789 -0.04010242
+v 0.13254141 -0.11036869 -0.04011965
+v 0.13254141 -0.12671459 -0.04011971
+v 0.13254141 -0.14109988 -0.04010265
+v 0.13269048 -0.14109990 -0.03514225
+v 0.13286587 -0.02857347 0.07126740
+v 0.13269048 -0.11854167 -0.03514217
+v 0.13267294 -0.05316904 -0.03514193
+v 0.13266417 -0.02857308 -0.03517604
+v 0.13265540 -0.14109990 -0.03633959
+f 1 2 7
+f 1 7 10
+f 1 10 15
+f 1 15 20
+f 1 20 28
+f 1 28 34
+f 1 34 29
+f 1 29 21
+f 1 21 16
+f 1 16 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 13
+f 4 13 17
+f 4 17 23
+f 4 23 30
+f 4 30 33
+f 4 33 24
+f 4 24 19
+f 4 19 18
+f 4 18 14
+f 4 14 11
+f 4 11 6
+f 4 6 5
+f 6 10 7
+f 6 11 10
+f 8 12 13
+f 8 13 9
+f 10 11 14
+f 10 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 21 29 31
+f 21 31 22
+f 22 30 23
+f 22 31 32
+f 22 32 33
+f 22 33 30
+f 24 33 32
+f 24 32 31
+f 24 31 25
+f 25 31 34
+f 25 34 26
+f 26 34 27
+f 27 34 28
+f 29 34 31
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_17.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.04103241 -0.02857329 0.02298398
+v 0.04103241 -0.02857350 0.07929454
+v 0.04103241 0.02339802 0.02298417
+v 0.13089561 -0.02857329 0.02298398
+v 0.04103241 0.02339781 0.07929473
+v 0.13118348 -0.02857350 0.07929454
+v 0.13096757 0.02339802 0.02298417
+v 0.13193917 -0.00479041 0.02298406
+v 0.13209211 -0.02857331 0.02784556
+v 0.13133642 0.02339781 0.07929473
+v 0.13242496 -0.02857349 0.07563456
+v 0.13293775 -0.00386983 0.07929463
+v 0.13211910 0.02339800 0.02791190
+v 0.13186720 0.00446838 0.02298410
+v 0.13193917 -0.00462253 0.02298406
+v 0.13268586 -0.00411893 0.03189696
+v 0.13268586 -0.02857333 0.03198507
+v 0.13210110 -0.02857331 0.02788966
+v 0.13167828 0.02339781 0.07828051
+v 0.13281180 0.00416802 0.07929466
+v 0.13286578 -0.02857347 0.07133521
+v 0.13286578 -0.02857347 0.07126907
+v 0.13288378 -0.02046440 0.07133523
+v 0.13291076 0.00405104 0.07133532
+v 0.13290176 0.01222116 0.07133535
+v 0.13286578 0.02339784 0.07133540
+v 0.13268586 0.02339798 0.03200731
+v 0.13268586 0.00405118 0.03190802
+v 0.13242496 0.02339782 0.07568437
+v 0.13258690 0.02339783 0.07411896
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 17
+f 1 17 22
+f 1 22 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 20
+f 2 20 10
+f 2 10 5
+f 3 5 10
+f 3 10 19
+f 3 19 29
+f 3 29 30
+f 3 30 26
+f 3 26 27
+f 3 27 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 20 19
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 20
+f 13 27 14
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 24
+f 16 24 17
+f 17 24 23
+f 17 23 22
+f 19 20 29
+f 20 26 30
+f 20 30 29
+f 24 28 27
+f 24 27 25
+f 25 27 26
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_18.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.09707187 0.17568775 -0.23371950
+v -0.09715615 0.17497011 -0.23371951
+v -0.09710932 0.17568775 -0.23395068
+v -0.09754469 0.18386233 -0.23371947
+v -0.09847159 0.16769717 -0.23371953
+v -0.10472116 0.17070125 -0.27008296
+v -0.10461818 0.17568788 -0.27070149
+v -0.09823752 0.18551381 -0.23371947
+v -0.10483352 0.18031110 -0.26990174
+v -0.10891095 0.18386250 -0.28086698
+v -0.10142551 0.16056685 -0.23371956
+v -0.10624260 0.16546618 -0.26449726
+v -0.10707587 0.16779392 -0.27276337
+v -0.11183679 0.16935346 -0.28905819
+v -0.11286201 0.17091755 -0.29368170
+v -0.10995958 0.17568795 -0.28905816
+v -0.10719291 0.17568792 -0.28086701
+v -0.10555445 0.17568790 -0.27479395
+v -0.10201536 0.15937538 -0.23371956
+v -0.10113058 0.19199092 -0.23371944
+v -0.11142015 0.18393154 -0.28897690
+v -0.11268410 0.18860995 -0.28619029
+v -0.11142015 0.16191485 -0.27267593
+v -0.11250153 0.16278890 -0.27868651
+v -0.11046984 0.16694750 -0.28119821
+v -0.11381699 0.16384238 -0.28414728
+v -0.11548355 0.16526846 -0.28905820
+v -0.12113860 0.16326739 -0.29337559
+v -0.11800211 0.16792281 -0.29448771
+v -0.11737949 0.17568798 -0.29641208
+v -0.11241727 0.17568797 -0.29420652
+v -0.11254835 0.18125423 -0.29403157
+v -0.10521270 0.15535481 -0.23371958
+v -0.10354616 0.19426803 -0.23371944
+v -0.11443492 0.18670547 -0.29165105
+v -0.11724841 0.19012343 -0.28897688
+v -0.11737949 0.19240970 -0.28086695
+v -0.10743166 0.19671994 -0.23371943
+v -0.11687858 0.16147326 -0.28119823
+v -0.11957502 0.16252674 -0.28905821
+v -0.12556245 0.15991839 -0.28086707
+v -0.12550159 0.16214491 -0.28958929
+v -0.12273493 0.16326739 -0.29337559
+v -0.12550159 0.16688316 -0.29503755
+v -0.12556245 0.17568798 -0.29754921
+v -0.11724841 0.18393156 -0.29514993
+v -0.11989336 0.18880779 -0.29413149
+v -0.10949145 0.15374013 -0.23371959
+v -0.11737949 0.15927433 -0.27267593
+v -0.12556245 0.19154949 -0.28905811
+v -0.12556245 0.19373457 -0.28086695
+v -0.10974424 0.19770438 -0.23371942
+v -0.13117068 0.16249454 -0.28721505
+v -0.11737949 0.15216685 -0.23371959
+v -0.12556245 0.15193224 -0.23371959
+v -0.13328664 0.15328470 -0.23371959
+v -0.12819335 0.16373661 -0.29267581
+v -0.13159200 0.16918786 -0.29459393
+v -0.13266402 0.17568797 -0.29533741
+v -0.12556245 0.18386256 -0.29628709
+v -0.12556245 0.18874798 -0.29408152
+v -0.12991609 0.18815455 -0.29341299
+v -0.13147029 0.18932758 -0.28905811
+v -0.13297299 0.19050062 -0.28086696
+v -0.13726578 0.19575389 -0.23371943
+v -0.13298703 0.19756638 -0.23371942
+v -0.13189161 0.19776878 -0.23371942
+v -0.12537051 0.19887284 -0.23371942
+v -0.11757141 0.19892804 -0.23371942
+v -0.13620780 0.16546624 -0.28086705
+v -0.13847824 0.17034709 -0.28631530
+v -0.13411056 0.16704415 -0.28949556
+v -0.13565071 0.15447155 -0.23371958
+v -0.13698489 0.15584702 -0.23507540
+v -0.13904468 0.15722709 -0.23371957
+v -0.13676019 0.17568796 -0.29128245
+v -0.13140943 0.18386255 -0.29445015
+v -0.13562730 0.18414315 -0.28920808
+v -0.13706915 0.18671004 -0.28086697
+v -0.14083763 0.19172870 -0.23371945
+v -0.14099211 0.15949499 -0.23371956
+v -0.14007925 0.17568792 -0.28086701
+v -0.13888083 0.17568794 -0.28719001
+v -0.13888552 0.16955124 -0.28086704
+v -0.14399752 0.16735677 -0.23371954
+v -0.13859059 0.18160842 -0.28657768
+v -0.13903999 0.18262504 -0.28086699
+v -0.14126831 0.19083627 -0.23371945
+v -0.14489634 0.17568775 -0.23371950
+v -0.14438139 0.18187045 -0.23371948
+v -0.14390858 0.18401874 -0.23371947
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 20
+f 1 20 34
+f 1 34 38
+f 1 38 52
+f 1 52 69
+f 1 69 68
+f 1 68 67
+f 1 67 66
+f 1 66 65
+f 1 65 80
+f 1 80 88
+f 1 88 91
+f 1 91 90
+f 1 90 89
+f 1 89 85
+f 1 85 81
+f 1 81 75
+f 1 75 73
+f 1 73 56
+f 1 56 55
+f 1 55 54
+f 1 54 48
+f 1 48 33
+f 1 33 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 8
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 6 11 19
+f 6 19 12
+f 7 18 9
+f 8 10 20
+f 9 18 17
+f 9 17 10
+f 10 17 21
+f 10 21 22
+f 10 22 20
+f 12 23 24
+f 12 24 13
+f 12 19 23
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 17
+f 17 32 21
+f 19 33 23
+f 20 22 34
+f 21 32 35
+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 34
+f 23 33 24
+f 24 39 40
+f 24 40 26
+f 24 26 25
+f 24 33 39
+f 26 40 28
+f 26 28 27
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 30 46 32
+f 30 32 31
+f 32 46 47
+f 32 47 35
+f 33 48 49
+f 33 49 39
+f 35 47 36
+f 36 47 50
+f 36 50 37
+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 39 49 40
+f 40 49 41
+f 41 53 42
+f 41 49 54
+f 41 54 55
+f 41 55 56
+f 41 56 53
+f 42 57 43
+f 42 53 57
+f 43 57 44
+f 44 58 45
+f 44 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 46 60 47
+f 47 60 61
+f 47 61 50
+f 48 54 49
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 51 63 64
+f 51 64 65
+f 51 65 66
+f 51 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 52
+f 53 70 71
+f 53 71 72
+f 53 72 57
+f 53 56 73
+f 53 73 74
+f 53 74 75
+f 53 75 70
+f 57 72 58
+f 58 72 71
+f 58 71 76
+f 58 76 59
+f 59 77 60
+f 59 76 77
+f 60 77 62
+f 60 62 61
+f 62 78 63
+f 62 77 78
+f 63 78 79
+f 63 79 64
+f 64 79 65
+f 65 79 80
+f 70 75 81
+f 70 81 71
+f 71 82 83
+f 71 83 76
+f 71 81 84
+f 71 84 85
+f 71 85 82
+f 73 75 74
+f 76 83 86
+f 76 86 78
+f 76 78 77
+f 78 86 79
+f 79 86 87
+f 79 87 88
+f 79 88 80
+f 81 85 84
+f 82 89 90
+f 82 90 86
+f 82 86 83
+f 82 85 89
+f 86 90 87
+f 87 90 91
+f 87 91 88
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_19.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.05064358 -0.02857245 -0.20527564
+v 0.05064358 -0.02857263 -0.15567094
+v 0.05064358 -0.01654690 -0.20528101
+v 0.11723915 -0.02855592 -0.20968988
+v 0.11735618 -0.02857243 -0.20968988
+v 0.15028334 -0.02857263 -0.15631930
+v 0.15028334 0.14018155 -0.15513004
+v 0.05064358 0.14018155 -0.15449789
+v 0.05064358 0.02040524 -0.20529169
+v 0.11722939 -0.00410837 -0.20968980
+v 0.13750651 -0.02857243 -0.20968988
+v 0.15028334 -0.02857256 -0.17485690
+v 0.15028334 0.14018162 -0.17485629
+v 0.05064358 0.14018173 -0.20528044
+v 0.05064358 0.03249687 -0.20529164
+v 0.11720989 0.14018175 -0.20968927
+v 0.13751626 -0.01793444 -0.20968985
+v 0.15028334 -0.02046192 -0.17486229
+v 0.15028334 0.00659557 -0.17486219
+v 0.13751626 -0.00158102 -0.20968979
+v 0.13750651 0.10465021 -0.20968940
+v 0.13749676 0.11847628 -0.20968934
+v 0.13747725 0.13481320 -0.20968928
+v 0.13745774 0.14018175 -0.20968927
+v 0.05064358 0.13481318 -0.20528585
+f 1 2 8
+f 1 8 14
+f 1 14 25
+f 1 25 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 16
+f 4 16 24
+f 4 24 23
+f 4 23 22
+f 4 22 21
+f 4 21 20
+f 4 20 17
+f 4 17 11
+f 4 11 5
+f 4 9 10
+f 6 12 18
+f 6 18 19
+f 6 19 13
+f 6 13 7
+f 7 13 24
+f 7 24 16
+f 7 16 14
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 14 16 25
+f 15 25 16
+f 17 20 19
+f 17 19 18
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_2.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.23468947 -0.15125026 -0.05970163
+v 0.14790308 -0.15123931 -0.05974683
+v 0.23468947 -0.15941263 -0.06036822
+v 0.23468947 -0.14578555 -0.06227746
+v 0.14790308 -0.15940898 -0.06049250
+v 0.14790308 -0.14623821 -0.06251471
+v 0.23468947 -0.16413992 -0.06293278
+v 0.23468947 -0.14414648 -0.06791493
+v 0.14790308 -0.16209203 -0.06215324
+v 0.14790308 -0.14527448 -0.06791493
+v 0.14790308 -0.16386614 -0.06326040
+v 0.23468947 -0.16499045 -0.06792630
+v 0.23468947 -0.13490328 -0.15625044
+v 0.16920040 -0.13490328 -0.15627303
+v 0.14790308 -0.13490328 -0.15628434
+v 0.14790308 -0.17191872 -0.13841174
+v 0.23468947 -0.17035266 -0.14163154
+v 0.23468947 -0.13490321 -0.17510604
+v 0.14790308 -0.13490321 -0.17484621
+v 0.14790308 -0.17209757 -0.14162024
+v 0.14790308 -0.17213042 -0.14427516
+v 0.14790308 -0.17219611 -0.14981097
+v 0.23468947 -0.17005695 -0.14982226
+v 0.23468947 -0.14306557 -0.17511738
+v 0.14790308 -0.14632905 -0.17484625
+v 0.14790308 -0.17189309 -0.15446556
+v 0.23468947 -0.16925748 -0.15801298
+v 0.23468947 -0.15123889 -0.17507221
+v 0.14790308 -0.15123889 -0.17483497
+v 0.14790308 -0.17135283 -0.15566310
+v 0.23468947 -0.16688467 -0.16620370
+v 0.23468947 -0.15940856 -0.17354707
+v 0.14790308 -0.15449872 -0.17413454
+v 0.14790308 -0.16387305 -0.17080178
+v 0.23468947 -0.16415048 -0.17117461
+v 0.14790308 -0.15940856 -0.17307258
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 23
+f 1 23 27
+f 1 27 31
+f 1 31 35
+f 1 35 32
+f 1 32 28
+f 1 28 24
+f 1 24 18
+f 1 18 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 10
+f 2 10 15
+f 2 15 19
+f 2 19 25
+f 2 25 29
+f 2 29 33
+f 2 33 36
+f 2 36 34
+f 2 34 30
+f 2 30 26
+f 2 26 22
+f 2 22 21
+f 2 21 20
+f 2 20 16
+f 2 16 11
+f 2 11 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 11
+f 7 11 12
+f 8 13 14
+f 8 14 15
+f 8 15 10
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 15
+f 13 15 14
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 25
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 30 34 31
+f 31 34 35
+f 32 35 36
+f 32 36 33
+f 34 36 35
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_20.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.13746058 0.14018175 -0.20968927
+v 0.13705707 0.13481322 -0.21534726
+v 0.13701931 0.14018177 -0.21534725
+v 0.11721183 0.14018175 -0.20968927
+v 0.13747846 0.13481320 -0.20968928
+v 0.13716242 0.02858203 -0.22353638
+v 0.13546293 0.14018179 -0.21963797
+v 0.13704713 0.03675874 -0.22353634
+v 0.11894113 0.14018177 -0.21534725
+v 0.11888150 0.03675874 -0.22353634
+v 0.11872646 0.02858203 -0.22353638
+v 0.11869863 0.02040531 -0.22353641
+v 0.11869664 0.01222859 -0.22353644
+v 0.11869068 -0.02046174 -0.22353656
+v 0.11723369 0.00406835 -0.20968977
+v 0.13749437 0.12663649 -0.20968931
+v 0.13717832 0.02040531 -0.22353641
+v 0.13478115 0.00406843 -0.23115325
+v 0.13478115 0.01222862 -0.23099368
+v 0.13478115 0.02040534 -0.23071135
+v 0.13464599 0.14018179 -0.22187662
+v 0.13476326 0.02858206 -0.23035786
+v 0.11989721 0.14018178 -0.21758834
+v 0.12145359 0.02858206 -0.23046586
+v 0.12142576 0.02040534 -0.23081936
+v 0.12142377 0.01222862 -0.23108695
+v 0.12142576 0.00406843 -0.23124408
+v 0.12142576 -0.00410829 -0.23123920
+v 0.11873043 -0.02857238 -0.22353658
+v 0.11724760 -0.02855592 -0.20968988
+v 0.11724363 -0.02046179 -0.20968986
+v 0.13750430 0.11029957 -0.20968937
+v 0.13751822 -0.00975773 -0.20968982
+v 0.13717832 -0.01228503 -0.22353653
+v 0.13751225 0.09394614 -0.20968943
+v 0.13751424 0.08831330 -0.20968946
+v 0.13478115 -0.00410829 -0.23114838
+v 0.12825750 0.00406844 -0.23476651
+v 0.12825750 0.01222863 -0.23444983
+v 0.12825750 0.14018180 -0.22424536
+v 0.13464599 0.03675876 -0.22994299
+v 0.12825750 0.02040535 -0.23389750
+v 0.12172590 0.14018179 -0.22181281
+v 0.12161062 0.03675876 -0.22999943
+v 0.12825750 -0.00410828 -0.23475672
+v 0.12142377 -0.01228500 -0.23107477
+v 0.12146154 -0.02857235 -0.23042187
+v 0.11725158 -0.02857243 -0.20969479
+v 0.12142179 -0.02046171 -0.23079251
+v 0.11736090 -0.02857243 -0.20968988
+v 0.13751623 -0.01793444 -0.20968985
+v 0.13751225 -0.02857243 -0.20968988
+v 0.13717235 -0.02046174 -0.22353656
+v 0.13714055 -0.02857238 -0.22353658
+v 0.13478115 -0.01228500 -0.23097413
+v 0.13477518 -0.02046171 -0.23067714
+v 0.12825750 -0.01228499 -0.23441801
+v 0.12825750 -0.02857234 -0.23310236
+v 0.12825750 -0.02046170 -0.23383628
+v 0.13712068 -0.02857238 -0.22359549
+v 0.13474537 -0.02857235 -0.23031387
+v 0.13469170 -0.02857235 -0.23033842
+f 1 2 3
+f 1 3 7
+f 1 7 21
+f 1 21 40
+f 1 40 43
+f 1 43 23
+f 1 23 9
+f 1 9 4
+f 1 4 15
+f 1 15 31
+f 1 31 30
+f 1 30 50
+f 1 50 52
+f 1 52 51
+f 1 51 33
+f 1 33 36
+f 1 36 35
+f 1 35 32
+f 1 32 16
+f 1 16 5
+f 1 5 6
+f 1 6 2
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 8
+f 7 8 21
+f 8 20 22
+f 8 22 21
+f 9 23 24
+f 9 24 10
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 13
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 16 32 17
+f 17 33 34
+f 17 34 18
+f 17 32 35
+f 17 35 36
+f 17 36 33
+f 18 34 37
+f 18 37 38
+f 18 38 19
+f 19 38 20
+f 20 38 39
+f 20 39 22
+f 21 22 41
+f 21 41 42
+f 21 42 40
+f 22 39 41
+f 23 43 24
+f 24 39 25
+f 24 43 44
+f 24 44 39
+f 25 39 38
+f 25 38 26
+f 26 38 27
+f 27 38 28
+f 28 38 45
+f 28 45 46
+f 28 46 29
+f 29 47 58
+f 29 58 62
+f 29 62 61
+f 29 61 60
+f 29 60 54
+f 29 54 52
+f 29 52 50
+f 29 50 48
+f 29 48 30
+f 29 46 49
+f 29 49 47
+f 30 48 50
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 34 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 45
+f 37 45 38
+f 39 44 42
+f 39 42 41
+f 40 42 43
+f 42 44 43
+f 45 55 56
+f 45 56 57
+f 45 57 49
+f 45 49 46
+f 47 49 57
+f 47 57 59
+f 47 59 58
+f 52 54 53
+f 54 60 55
+f 55 60 56
+f 56 60 61
+f 56 61 57
+f 57 61 62
+f 57 62 59
+f 58 59 62
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_21.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.04904238 -0.02857264 -0.15542526
+v 0.04773997 -0.14345337 -0.13033719
+v 0.04904238 -0.14345333 -0.14291108
+v 0.04904238 -0.02857251 -0.18924214
+v 0.04026746 -0.02857273 -0.13033676
+v -0.11725785 -0.14345337 -0.13033719
+v 0.04904238 -0.14345310 -0.20527669
+v 0.04904238 -0.02859495 -0.20527627
+v 0.04637245 -0.02857246 -0.20526885
+v -0.11725785 -0.02857273 -0.13033676
+v -0.11725785 -0.14345309 -0.20603245
+v 0.04904238 -0.06401723 -0.20528381
+v 0.04904238 -0.05316564 -0.20528377
+v -0.11725785 -0.02858370 -0.20563932
+v 0.02999477 -0.02857246 -0.20527626
+v -0.11725785 -0.02857249 -0.19734810
+v -0.10924809 -0.02857246 -0.20529107
+v -0.07642761 -0.02857246 -0.20529107
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 18
+f 1 18 17
+f 1 17 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 4 8 9
+f 6 10 16
+f 6 16 14
+f 6 14 11
+f 7 11 12
+f 8 13 11
+f 8 11 14
+f 8 14 9
+f 9 14 15
+f 11 13 12
+f 14 16 17
+f 14 17 18
+f 14 18 15
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_22.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.05207496 -0.14110568 0.10732400
+v -0.13349750 -0.14110568 0.10732400
+v 0.05207496 -0.18832365 0.10732383
+v 0.05207496 -0.14110507 -0.06115117
+v -0.13901477 -0.16161258 0.10732393
+v -0.13349750 -0.14110483 -0.12524244
+v -0.10918761 -0.19471726 0.10732380
+v -0.10918761 -0.19472237 0.06312291
+v -0.10918761 -0.19472742 0.00580134
+v 0.05207496 -0.18832278 -0.13033735
+v 0.05207496 -0.14453578 -0.13033719
+v 0.04305526 -0.14110481 -0.13033718
+v -0.13974916 -0.16523299 0.10732391
+v -0.13901477 -0.16161257 0.10409028
+v -0.14023875 -0.16758513 0.08771266
+v -0.13347866 -0.14110481 -0.13033718
+v -0.13899594 -0.16163276 -0.13033725
+v -0.13901477 -0.16163293 -0.08427527
+v -0.11735996 -0.19484881 0.10732380
+v -0.11735996 -0.19484844 0.00580134
+v -0.10918761 -0.19472166 -0.13033738
+v -0.14021992 -0.16758520 0.10732390
+v -0.14023875 -0.16758504 0.06312301
+v -0.14027640 -0.17575211 0.08771263
+v -0.13974916 -0.16533210 -0.13033727
+v -0.14021992 -0.16758453 -0.07608651
+v -0.12555112 -0.19484355 0.10732380
+v -0.12555112 -0.19485920 0.07133497
+v -0.11735996 -0.19483742 -0.13033738
+v -0.14025758 -0.17575218 0.10732387
+v -0.14027640 -0.17575181 0.00580141
+v -0.14027640 -0.18070921 0.10732386
+v -0.14029523 -0.18392935 0.01399018
+v -0.14020109 -0.16758433 -0.13033728
+v -0.14023875 -0.17575131 -0.13033731
+v -0.14025758 -0.17575154 -0.06789774
+v -0.13052231 -0.19400686 0.10732381
+v -0.13374228 -0.19349629 0.07133498
+v -0.12555112 -0.19483742 -0.13033738
+v -0.14027640 -0.18392969 0.10732384
+v -0.13907127 -0.19007034 0.00580136
+v -0.13907127 -0.19007055 0.06312293
+v -0.14025758 -0.18392882 -0.13033734
+v -0.13905242 -0.19005406 -0.13033736
+v -0.13907127 -0.19006499 -0.01874176
+v -0.13374228 -0.19345959 0.10732381
+v -0.13374228 -0.19346484 0.10409016
+v -0.13696227 -0.19139153 0.10732382
+v -0.13905242 -0.19004966 0.10409017
+v -0.13374228 -0.19346925 -0.13033737
+v -0.13954202 -0.18763957 0.10732383
+v -0.13905242 -0.19004441 0.10732382
+f 1 2 5
+f 1 5 13
+f 1 13 22
+f 1 22 30
+f 1 30 32
+f 1 32 40
+f 1 40 51
+f 1 51 52
+f 1 52 48
+f 1 48 46
+f 1 46 37
+f 1 37 27
+f 1 27 19
+f 1 19 7
+f 1 7 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 12
+f 1 12 16
+f 1 16 6
+f 1 6 2
+f 2 6 14
+f 2 14 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 5 14 23
+f 5 23 15
+f 5 15 13
+f 6 16 17
+f 6 17 18
+f 6 18 14
+f 7 19 8
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 29
+f 10 29 39
+f 10 39 50
+f 10 50 44
+f 10 44 43
+f 10 43 35
+f 10 35 34
+f 10 34 25
+f 10 25 17
+f 10 17 16
+f 10 16 12
+f 10 12 11
+f 13 15 22
+f 14 18 23
+f 15 24 30
+f 15 30 22
+f 15 23 31
+f 15 31 24
+f 17 25 18
+f 18 25 26
+f 18 26 23
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 20 29 21
+f 23 26 31
+f 24 32 30
+f 24 31 33
+f 24 33 32
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 26 36 31
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 29
+f 31 36 33
+f 32 33 40
+f 33 41 42
+f 33 42 40
+f 33 36 43
+f 33 43 44
+f 33 44 45
+f 33 45 41
+f 35 43 36
+f 37 46 47
+f 37 47 38
+f 38 47 48
+f 38 48 49
+f 38 49 42
+f 38 42 41
+f 38 41 50
+f 38 50 39
+f 40 42 51
+f 41 45 44
+f 41 44 50
+f 42 49 52
+f 42 52 51
+f 46 48 47
+f 48 52 49
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_23.obj

@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.11730328 -0.02857244 -0.20563592
+v 0.05064358 -0.02857245 -0.20527409
+v -0.11730328 -0.02857272 -0.13035941
+v -0.11730328 0.14013218 -0.20579039
+v 0.05064358 -0.01654690 -0.20528143
+v 0.05064358 -0.02857263 -0.15567311
+v 0.04027020 -0.02857272 -0.13035941
+v -0.11730328 0.14018146 -0.13035880
+v -0.11730328 0.14018174 -0.20579039
+v 0.05064358 0.01614344 -0.20528869
+v 0.05064358 0.14018155 -0.15449838
+v 0.04170044 0.14018146 -0.13035880
+v 0.05064358 0.14018173 -0.20528086
+v 0.05064358 0.03675867 -0.20528861
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 5 10
+f 2 10 14
+f 2 14 13
+f 2 13 11
+f 2 11 6
+f 2 4 5
+f 3 7 12
+f 3 12 8
+f 4 9 14
+f 4 14 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 8 12 11
+f 8 11 13
+f 8 13 9
+f 9 13 14
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_24.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.04327866 -0.02857316 0.10732442
+v 0.04101163 0.13118250 0.10730172
+v -0.13344632 -0.02857316 0.10732442
+v 0.04327866 -0.14110042 0.10732400
+v 0.04327866 -0.02857254 -0.06130639
+v 0.04101163 0.13118312 -0.06305075
+v -0.13348093 0.13118250 0.10730172
+v -0.13348093 -0.04176619 0.10732437
+v -0.13349823 -0.14110042 0.10732400
+v 0.04327866 -0.14109979 -0.06484322
+v 0.04303638 -0.14109955 -0.13033656
+v 0.04035401 0.13118337 -0.13035883
+v -0.13348093 0.13118337 -0.13035883
+v -0.13351554 -0.14110032 0.07952133
+v -0.13349823 -0.13982109 0.10732401
+v 0.04025017 -0.02854563 -0.13035941
+v 0.04026748 -0.01226090 -0.13035936
+v -0.13348093 -0.14109955 -0.13033656
+v -0.13348093 0.09392304 -0.13035897
+v -0.13349823 -0.14109957 -0.12524134
+v -0.13344632 -0.02854563 -0.13035941
+v -0.13346362 0.02857088 -0.13035921
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 13
+f 2 13 7
+f 3 7 8
+f 4 9 14
+f 4 14 20
+f 4 20 18
+f 4 18 11
+f 4 11 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 15 14
+f 11 16 17
+f 11 17 12
+f 11 18 21
+f 11 21 16
+f 12 17 16
+f 12 16 21
+f 12 21 22
+f 12 22 19
+f 12 19 13
+f 13 19 20
+f 13 20 14
+f 18 20 19
+f 18 19 22
+f 18 22 21
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_25.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.08000584 0.13118895 -0.13035882
+v -0.08000584 0.13118872 -0.06793125
+v -0.08000584 0.18835544 -0.13035861
+v 0.04038124 0.13118895 -0.13035882
+v -0.08000584 0.18834402 -0.06793104
+v 0.03996252 0.13118872 -0.06793125
+v -0.08000584 0.18835539 -0.11704937
+v -0.06823858 0.18836104 -0.12524390
+v -0.06005203 0.18836106 -0.13035861
+v 0.06749648 0.14514894 -0.13035877
+v 0.06749648 0.14489123 -0.06793120
+v 0.04035236 0.13118893 -0.12524411
+v -0.06823858 0.18835521 -0.06793104
+v 0.04004915 0.13118874 -0.07245322
+v 0.04002028 0.13119434 -0.06793125
+v 0.04637316 0.18836659 -0.11704937
+v 0.06274626 0.18836106 -0.13035861
+v 0.06749648 0.18835544 -0.13035861
+v 0.06749648 0.18834963 -0.06793104
+v 0.05455971 0.18835521 -0.06793104
+v 0.06749648 0.18836104 -0.12524390
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 18
+f 1 18 10
+f 1 10 4
+f 1 4 12
+f 1 12 14
+f 1 14 6
+f 1 6 2
+f 2 6 15
+f 2 15 11
+f 2 11 19
+f 2 19 20
+f 2 20 13
+f 2 13 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 5 13 7
+f 6 14 15
+f 7 13 8
+f 8 13 16
+f 8 16 9
+f 9 16 17
+f 10 18 21
+f 10 21 19
+f 10 19 11
+f 11 15 14
+f 11 14 12
+f 13 20 16
+f 16 20 21
+f 16 21 17
+f 17 21 18
+f 19 21 20
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_26.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00657559 -0.20001923 -0.21132213
+v -0.06004217 -0.20263372 -0.19895684
+v -0.09103519 -0.20004860 -0.21106056
+v 0.00657559 -0.18006127 -0.21132206
+v 0.05456311 -0.20003098 -0.21132213
+v -0.05186346 -0.20263372 -0.19895684
+v -0.07641682 -0.20347390 -0.19076881
+v -0.07641682 -0.20262785 -0.19895684
+v -0.09103519 -0.17618953 -0.21106048
+v -0.09103519 -0.20262197 -0.19895684
+v 0.08486739 -0.17571363 -0.21132205
+v 0.06677091 -0.20003098 -0.21132213
+v -0.03548881 -0.20347390 -0.19076881
+v 0.07092053 -0.20262785 -0.19895684
+v -0.08461275 -0.20346802 -0.19076881
+v 0.08486739 -0.18960872 -0.13035319
+v -0.09103519 -0.14345897 -0.20530573
+v 0.08486739 -0.14879361 -0.20696239
+v -0.09103519 -0.20346215 -0.19076881
+v 0.08486739 -0.20002510 -0.21132213
+v 0.05456311 -0.20346215 -0.19076088
+v 0.00657559 -0.20346802 -0.19076088
+v 0.08486739 -0.20262197 -0.19895684
+v 0.08486739 -0.20345627 -0.19076088
+v -0.09103519 -0.18885081 -0.13035318
+v 0.08486739 -0.14520416 -0.13035302
+v -0.09103519 -0.14345924 -0.13035302
+v 0.08486739 -0.14345897 -0.20544840
+v 0.08486739 -0.14345917 -0.14968568
+v 0.04772743 -0.14345924 -0.13035302
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 11
+f 1 11 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 12
+f 2 12 6
+f 2 6 13
+f 2 13 7
+f 2 7 8
+f 2 8 3
+f 3 8 10
+f 3 10 19
+f 3 19 25
+f 3 25 27
+f 3 27 17
+f 3 17 9
+f 4 9 11
+f 6 12 14
+f 6 14 13
+f 7 15 10
+f 7 10 8
+f 7 13 16
+f 7 16 15
+f 9 17 18
+f 9 18 11
+f 10 15 19
+f 11 18 28
+f 11 28 29
+f 11 29 26
+f 11 26 16
+f 11 16 24
+f 11 24 23
+f 11 23 20
+f 12 20 14
+f 13 14 21
+f 13 21 22
+f 13 22 16
+f 14 20 23
+f 14 23 24
+f 14 24 21
+f 15 16 19
+f 16 25 19
+f 16 22 21
+f 16 21 24
+f 16 26 30
+f 16 30 27
+f 16 27 25
+f 17 27 30
+f 17 30 29
+f 17 29 28
+f 17 28 18
+f 26 29 30
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_27.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.00274188 0.19203349 -0.23435772
+v -0.00274188 0.19791014 -0.23071326
+v 0.00543786 0.19791590 -0.23053001
+v 0.00543786 0.19203349 -0.23402178
+v 0.00543786 0.18436165 -0.23111031
+v -0.00274188 0.18434442 -0.23126302
+v -0.01092162 0.18436165 -0.23115105
+v -0.01092162 0.19203349 -0.23409305
+v -0.01092162 0.19790728 -0.23057073
+v -0.01911635 0.19967943 -0.22353633
+v 0.00543786 0.19968231 -0.22353633
+v 0.01361761 0.19967943 -0.22353633
+v 0.02181233 0.19957317 -0.22353633
+v 0.01361761 0.19791302 -0.23014317
+v 0.02181233 0.19780961 -0.22961380
+v 0.01361761 0.19203349 -0.23320737
+v 0.02181233 0.18464600 -0.23003125
+v 0.01361761 0.18443633 -0.23069295
+v 0.07525034 0.17397830 -0.20768613
+v 0.01361761 0.18084309 -0.22353640
+v 0.00543786 0.18076841 -0.22353640
+v -0.00274188 0.18075118 -0.22353640
+v -0.01092162 0.18076841 -0.22353640
+v -0.01911635 0.18083160 -0.22353640
+v -0.01911635 0.18442196 -0.23076420
+v -0.07778280 0.17397830 -0.20755378
+v -0.02729610 0.18458569 -0.23015340
+v -0.01911635 0.19203349 -0.23331936
+v -0.03549082 0.19753962 -0.22908445
+v -0.02729610 0.19784695 -0.22970543
+v -0.01911635 0.19790728 -0.23018389
+v -0.02729610 0.19961912 -0.22353633
+v -0.07778280 0.20252002 -0.19896175
+v 0.07525034 0.20250853 -0.19896175
+v -0.05186529 0.20252289 -0.19896175
+v -0.04368555 0.20252289 -0.19896175
+v 0.07525034 0.19966791 -0.21534142
+v 0.07525034 0.19872869 -0.21867028
+v 0.07525034 0.19789001 -0.22161231
+v 0.02999208 0.19742185 -0.22892156
+v 0.03818680 0.19668942 -0.22812754
+v 0.04262124 0.19620689 -0.22768979
+v 0.02181233 0.19203348 -0.23201632
+v 0.03818680 0.18644691 -0.22834136
+v 0.02999208 0.18522619 -0.22921684
+v 0.07525034 0.18446790 -0.22206028
+v 0.07525034 0.17397802 -0.13036883
+v -0.07778280 0.17397802 -0.13036883
+v -0.07778280 0.18460002 -0.22194831
+v -0.03549082 0.18504236 -0.22937971
+v -0.02729610 0.19203348 -0.23224028
+v -0.04368555 0.19687038 -0.22830061
+v -0.07778280 0.19790436 -0.22162249
+v -0.03549082 0.19931178 -0.22353633
+v -0.07778280 0.19968514 -0.21534142
+v -0.07778280 0.20331560 -0.19076681
+v -0.06006002 0.20331848 -0.19076681
+v 0.07525034 0.20330700 -0.19076681
+v -0.03549082 0.20331848 -0.19076681
+v 0.07525034 0.19479945 -0.22302735
+v 0.07525034 0.19203345 -0.22422859
+v 0.07525034 0.18836522 -0.13036878
+v -0.07778280 0.18835948 -0.13036878
+v -0.07778280 0.19203345 -0.22413698
+v -0.04937841 0.18721381 -0.22792397
+v -0.04368555 0.18611659 -0.22851443
+v -0.04873422 0.19633900 -0.22780177
+v -0.07778280 0.19299854 -0.22373995
+v -0.07778280 0.19819734 -0.22059430
+v -0.06313117 0.18836236 -0.13036878
+v 0.03510067 0.18836522 -0.13036878
+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 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 25 8
+f 7 24 26
+f 7 26 25
+f 8 25 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 9
+f 9 31 32
+f 9 32 10
+f 10 32 33
+f 10 33 11
+f 11 34 12
+f 11 33 35
+f 11 35 36
+f 11 36 34
+f 12 34 13
+f 13 15 14
+f 13 34 37
+f 13 37 38
+f 13 38 39
+f 13 39 15
+f 15 40 16
+f 15 39 40
+f 16 40 41
+f 16 41 42
+f 16 42 43
+f 16 43 44
+f 16 44 45
+f 16 45 17
+f 17 45 46
+f 17 46 19
+f 17 19 18
+f 19 21 20
+f 19 46 61
+f 19 61 60
+f 19 60 39
+f 19 39 38
+f 19 38 37
+f 19 37 34
+f 19 34 58
+f 19 58 62
+f 19 62 47
+f 19 47 48
+f 19 48 26
+f 19 26 22
+f 19 22 21
+f 22 26 23
+f 23 26 24
+f 25 26 27
+f 26 48 63
+f 26 63 56
+f 26 56 33
+f 26 33 55
+f 26 55 69
+f 26 69 53
+f 26 53 68
+f 26 68 64
+f 26 64 49
+f 26 49 27
+f 27 50 28
+f 27 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 29
+f 29 52 53
+f 29 53 30
+f 30 53 54
+f 30 54 32
+f 30 32 31
+f 32 54 55
+f 32 55 33
+f 33 56 57
+f 33 57 35
+f 34 36 58
+f 35 57 59
+f 35 59 36
+f 36 59 58
+f 39 60 42
+f 39 42 41
+f 39 41 40
+f 42 60 61
+f 42 61 43
+f 43 61 44
+f 44 61 46
+f 44 46 45
+f 47 62 71
+f 47 71 70
+f 47 70 63
+f 47 63 48
+f 49 64 65
+f 49 65 66
+f 49 66 50
+f 50 66 51
+f 51 67 52
+f 51 66 65
+f 51 65 64
+f 51 64 67
+f 52 67 53
+f 53 69 54
+f 53 67 68
+f 54 69 55
+f 56 63 70
+f 56 70 57
+f 57 70 71
+f 57 71 62
+f 57 62 59
+f 58 59 62
+f 64 68 67
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_28.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.07525034 0.17397830 -0.20768682
+v 0.07525034 0.17397802 -0.13036622
+v 0.07525034 0.14018173 -0.20528747
+v -0.07778280 0.14018173 -0.20528747
+v -0.07778280 0.17397830 -0.20755813
+v 0.07525034 0.14515037 -0.13036633
+v -0.07778280 0.17397802 -0.13036622
+v 0.07525034 0.14018155 -0.15511803
+v -0.07778280 0.14018146 -0.13036635
+v 0.04170739 0.14018146 -0.13036635
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 9
+f 2 9 10
+f 2 10 6
+f 3 8 10
+f 3 10 9
+f 3 9 4
+f 4 9 7
+f 4 7 5
+f 6 10 8
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_29.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.08486740 -0.20346022 -0.19078471
+v 0.11188570 -0.20344848 -0.19078471
+v 0.11188570 -0.19939557 -0.18320019
+v 0.08486740 -0.19940732 -0.18322381
+v 0.08486740 -0.20262611 -0.19897172
+v 0.11188570 -0.19966558 -0.23173157
+v 0.12006505 -0.20343673 -0.19078471
+v 0.12006505 -0.19938969 -0.18321201
+v 0.11188570 -0.19537788 -0.17671436
+v 0.10369533 -0.19537200 -0.17671436
+v 0.09967731 -0.19535438 -0.17671436
+v 0.09149245 -0.19518992 -0.17671436
+v 0.08486740 -0.19503719 -0.17671436
+v 0.08486740 -0.19972438 -0.21535754
+v 0.11188570 -0.19269315 -0.28086542
+v 0.12006505 -0.19912519 -0.23173157
+v 0.12825543 -0.20341323 -0.19078471
+v 0.12825543 -0.19938382 -0.18363731
+v 0.12006505 -0.19524865 -0.17671436
+v 0.08486740 -0.14345906 -0.17671417
+v 0.08486740 -0.19800919 -0.22304837
+v 0.11188570 -0.19090162 -0.28906424
+v 0.12006505 -0.19214689 -0.28086542
+v 0.12825543 -0.19934254 -0.22354455
+v 0.12825543 -0.20240290 -0.19897172
+v 0.13387184 -0.19753929 -0.22354455
+v 0.13658910 -0.19927803 -0.19873543
+v 0.13718987 -0.19974796 -0.19021762
+v 0.13495213 -0.19831477 -0.18492502
+v 0.12865227 -0.19242335 -0.17671435
+v 0.08486740 -0.14345896 -0.20546913
+v 0.13729460 -0.14345906 -0.17671417
+v 0.08486740 -0.19210011 -0.22607270
+v 0.09893324 -0.18124506 -0.27924687
+v 0.10361817 -0.18392349 -0.28906422
+v 0.10779052 -0.18801166 -0.29315182
+v 0.10679290 -0.18886926 -0.28906423
+v 0.11188570 -0.18864017 -0.29388429
+v 0.11779424 -0.18885162 -0.29413238
+v 0.12034064 -0.19014976 -0.28925325
+v 0.12511376 -0.18886927 -0.28665419
+v 0.13317185 -0.19693426 -0.22865995
+v 0.14093783 -0.19731618 -0.19584101
+v 0.14093783 -0.19731619 -0.19258039
+v 0.14037563 -0.19210025 -0.18727595
+v 0.13257659 -0.18840564 -0.17671433
+v 0.12165242 -0.14345889 -0.22191404
+v 0.11499981 -0.16319471 -0.29356523
+v 0.11211720 -0.16237240 -0.28882786
+v 0.10732754 -0.16315363 -0.28594527
+v 0.10518349 -0.16727117 -0.28882787
+v 0.10172766 -0.16760014 -0.28127882
+v 0.09894977 -0.17033148 -0.27883336
+v 0.09666242 -0.17575305 -0.27267834
+v 0.08486740 -0.18325412 -0.22387528
+v 0.13729460 -0.15124189 -0.17671420
+v 0.14044728 -0.14345902 -0.18702769
+v 0.09860804 -0.17575302 -0.28018016
+v 0.09982613 -0.17575301 -0.28426775
+v 0.10170561 -0.17575299 -0.28906419
+v 0.10660551 -0.18392347 -0.29420326
+v 0.11188570 -0.18392346 -0.29604620
+v 0.12034064 -0.18429940 -0.29536100
+v 0.12535077 -0.18182651 -0.29435683
+v 0.12325081 -0.18727744 -0.29211220
+v 0.12690506 -0.18429942 -0.28925323
+v 0.12930816 -0.18392352 -0.28086539
+v 0.14114727 -0.19210022 -0.19633719
+v 0.13144670 -0.17575302 -0.28086536
+v 0.14114727 -0.19210024 -0.19137537
+v 0.14041421 -0.18392386 -0.18718141
+v 0.13691981 -0.15941239 -0.17671423
+v 0.13333169 -0.18392390 -0.17671432
+v 0.12825543 -0.14345889 -0.22435951
+v 0.11676906 -0.16319471 -0.29356523
+v 0.11211720 -0.16727115 -0.29506560
+v 0.10641260 -0.16977928 -0.29443947
+v 0.10954875 -0.16433425 -0.29140327
+v 0.14042524 -0.17575336 -0.18713413
+v 0.14043075 -0.16758873 -0.18708684
+v 0.14044177 -0.15124185 -0.18703953
+v 0.14117483 -0.15941234 -0.19115079
+v 0.14113624 -0.14345901 -0.19092626
+v 0.10557482 -0.17575297 -0.29516014
+v 0.11188570 -0.17575296 -0.29740478
+v 0.12006505 -0.17575296 -0.29709761
+v 0.12584682 -0.17575297 -0.29486478
+v 0.12946799 -0.17575299 -0.28906419
+v 0.14115829 -0.18392383 -0.19636079
+v 0.13701901 -0.14345892 -0.21535734
+v 0.14116932 -0.14345899 -0.19637246
+v 0.14117483 -0.15941232 -0.19638432
+v 0.14116932 -0.16758870 -0.19638435
+v 0.14115829 -0.18392385 -0.19128082
+v 0.13463796 -0.14345889 -0.22198492
+v 0.11972333 -0.16229016 -0.28883967
+v 0.12477755 -0.16301265 -0.28595709
+v 0.12222564 -0.16468668 -0.29141509
+v 0.12521297 -0.17013759 -0.29422681
+v 0.11972333 -0.16748262 -0.29493564
+v 0.14116380 -0.17575335 -0.19122172
+v 0.14116932 -0.16758872 -0.19118625
+v 0.14116932 -0.14345901 -0.19111528
+v 0.12660743 -0.16748264 -0.28883969
+v 0.12876801 -0.16758839 -0.28086533
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 20
+f 1 20 31
+f 1 31 55
+f 1 55 33
+f 1 33 21
+f 1 21 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 30
+f 9 30 46
+f 9 46 73
+f 9 73 72
+f 9 72 56
+f 9 56 32
+f 9 32 20
+f 9 20 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 24 25
+f 16 25 17
+f 16 23 24
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 20 32 57
+f 20 57 83
+f 20 83 103
+f 20 103 91
+f 20 91 90
+f 20 90 95
+f 20 95 74
+f 20 74 47
+f 20 47 31
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 36
+f 22 36 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 26
+f 24 26 25
+f 26 42 43
+f 26 43 27
+f 27 43 28
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 54
+f 31 54 55
+f 32 56 57
+f 33 55 54
+f 33 54 58
+f 33 58 34
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 35 60 61
+f 35 61 36
+f 36 61 62
+f 36 62 38
+f 38 62 39
+f 39 62 63
+f 39 63 64
+f 39 64 65
+f 39 65 40
+f 40 65 41
+f 41 65 66
+f 41 66 67
+f 41 67 43
+f 41 43 42
+f 43 68 70
+f 43 70 44
+f 43 67 69
+f 43 69 68
+f 44 70 45
+f 45 70 71
+f 45 71 56
+f 45 56 72
+f 45 72 73
+f 45 73 46
+f 47 74 48
+f 48 75 76
+f 48 76 77
+f 48 77 78
+f 48 78 49
+f 48 74 75
+f 49 78 50
+f 50 78 51
+f 51 78 77
+f 51 77 53
+f 51 53 52
+f 53 77 60
+f 53 60 59
+f 53 59 58
+f 53 58 54
+f 56 71 79
+f 56 79 80
+f 56 80 81
+f 56 81 57
+f 57 81 82
+f 57 82 83
+f 60 77 84
+f 60 84 61
+f 61 84 85
+f 61 85 62
+f 62 85 86
+f 62 86 63
+f 63 86 64
+f 64 86 87
+f 64 87 88
+f 64 88 66
+f 64 66 65
+f 66 88 67
+f 67 88 69
+f 68 89 94
+f 68 94 70
+f 68 69 89
+f 69 88 90
+f 69 90 91
+f 69 91 92
+f 69 92 93
+f 69 93 89
+f 70 94 71
+f 71 94 79
+f 74 95 75
+f 75 96 97
+f 75 97 98
+f 75 98 99
+f 75 99 100
+f 75 100 76
+f 75 95 96
+f 76 85 77
+f 76 100 85
+f 77 85 84
+f 79 94 101
+f 79 101 80
+f 80 101 102
+f 80 102 82
+f 80 82 81
+f 82 103 83
+f 82 102 93
+f 82 93 92
+f 82 92 91
+f 82 91 103
+f 85 100 86
+f 86 100 99
+f 86 99 87
+f 87 99 88
+f 88 104 105
+f 88 105 90
+f 88 99 104
+f 89 93 102
+f 89 102 94
+f 90 105 104
+f 90 104 97
+f 90 97 95
+f 94 102 101
+f 95 97 96
+f 97 104 99
+f 97 99 98
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_3.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.14790308 -0.13490321 -0.17485073
+v 0.23468947 -0.13490321 -0.17511111
+v 0.14790308 -0.13490328 -0.15629502
+v 0.14790308 -0.11037098 -0.17485988
+v 0.23468947 -0.13490328 -0.15625993
+v 0.14790308 -0.10545828 -0.17486170
+v 0.14790308 -0.09401962 -0.17486351
+v 0.23468947 -0.02864542 -0.17512365
+v 0.15281327 -0.13490328 -0.15629132
+v 0.16101109 -0.02857264 -0.15630570
+v 0.14790308 -0.04172866 -0.15631313
+v 0.23468947 -0.13489287 -0.15625993
+v 0.16920040 -0.13490328 -0.15628394
+v 0.14790308 -0.02857257 -0.17486141
+v 0.23468947 -0.02857257 -0.17512180
+v 0.23468947 -0.03682638 -0.15627065
+v 0.23468947 -0.02865590 -0.15627247
+v 0.23468947 -0.02858305 -0.15627430
+v 0.16920040 -0.02857264 -0.15630385
+v 0.15282177 -0.02857264 -0.15631308
+v 0.14790308 -0.03355819 -0.15631495
+v 0.14790308 -0.02857264 -0.15631862
+v 0.23468947 -0.02857263 -0.15893171
+v 0.22657660 -0.02857264 -0.15630385
+v 0.21838728 -0.02857264 -0.15630200
+v 0.21831934 -0.02857264 -0.15630200
+f 1 2 5
+f 1 5 13
+f 1 13 9
+f 1 9 3
+f 1 3 11
+f 1 11 21
+f 1 21 22
+f 1 22 14
+f 1 14 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 15
+f 2 15 23
+f 2 23 18
+f 2 18 17
+f 2 17 16
+f 2 16 12
+f 2 12 5
+f 3 9 10
+f 3 10 11
+f 5 12 13
+f 7 14 8
+f 8 14 15
+f 9 13 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 26
+f 10 26 25
+f 10 25 24
+f 10 24 23
+f 10 23 15
+f 10 15 14
+f 10 14 22
+f 10 22 20
+f 10 20 21
+f 10 21 11
+f 12 16 13
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 20 22 21
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_30.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05207497 -0.18832451 -0.13033735
+v 0.05207497 -0.18832456 -0.11705209
+v 0.05207497 -0.14453515 -0.13033719
+v 0.10369420 -0.19481164 -0.13033738
+v 0.05207497 -0.18831427 -0.05304676
+v 0.10369420 -0.19481181 -0.08429289
+v 0.05207497 -0.14109981 -0.06117209
+v 0.09598367 -0.14109978 -0.06684632
+v 0.10369420 -0.14109978 -0.06739861
+v 0.11187373 -0.14109978 -0.06742131
+v 0.12016583 -0.14109978 -0.06697494
+v 0.12057855 -0.14109978 -0.06693711
+v 0.14790307 -0.14522963 -0.13033719
+v 0.11187373 -0.19482742 -0.13033738
+v 0.11187373 -0.19483282 -0.09247891
+v 0.05207497 -0.14109984 -0.05304659
+v 0.10369420 -0.19480667 -0.05304679
+v 0.11187373 -0.19483288 -0.07610687
+v 0.12606597 -0.14109979 -0.06582496
+v 0.12894569 -0.14109981 -0.05984054
+v 0.13040900 -0.14109984 -0.05304659
+v 0.14790307 -0.14522456 -0.07937503
+v 0.14790307 -0.16841596 -0.13033728
+v 0.12006264 -0.19484321 -0.13033738
+v 0.11036352 -0.19482245 -0.05304679
+v 0.12006264 -0.19484350 -0.05304679
+v 0.13281033 -0.15077002 -0.05304662
+v 0.14790307 -0.15123824 -0.05974979
+v 0.14790307 -0.14924422 -0.06085436
+v 0.14790307 -0.14624004 -0.06251879
+v 0.14790307 -0.14527721 -0.06791309
+v 0.14790307 -0.14525089 -0.07118144
+v 0.14790307 -0.14522457 -0.07610668
+v 0.14790307 -0.16428611 -0.06791316
+v 0.12816713 -0.19143420 -0.05304677
+v 0.12817651 -0.19143417 -0.05971967
+v 0.12818589 -0.19143414 -0.06791326
+v 0.12818589 -0.19143405 -0.09247889
+v 0.12818589 -0.19142870 -0.11705210
+v 0.12817651 -0.19143391 -0.13033736
+v 0.12313935 -0.19355420 -0.13033737
+v 0.13218186 -0.18392640 -0.05304675
+v 0.14790307 -0.15614698 -0.06018861
+v 0.14790307 -0.16412828 -0.06605201
+v 0.14790307 -0.16387048 -0.06326029
+v 0.12891755 -0.19003997 -0.05304677
+v 0.14790307 -0.16209744 -0.06215570
+v 0.14790307 -0.15941421 -0.06049125
+f 1 2 5
+f 1 5 16
+f 1 16 7
+f 1 7 3
+f 1 3 13
+f 1 13 23
+f 1 23 40
+f 1 40 41
+f 1 41 24
+f 1 24 14
+f 1 14 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 4 15 18
+f 4 18 6
+f 5 6 17
+f 5 17 25
+f 5 25 26
+f 5 26 35
+f 5 35 46
+f 5 46 42
+f 5 42 27
+f 5 27 21
+f 5 21 16
+f 6 18 17
+f 7 16 21
+f 7 21 20
+f 7 20 19
+f 7 19 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 33
+f 13 33 32
+f 13 32 31
+f 13 31 30
+f 13 30 29
+f 13 29 28
+f 13 28 43
+f 13 43 48
+f 13 48 47
+f 13 47 45
+f 13 45 44
+f 13 44 34
+f 13 34 23
+f 14 24 15
+f 15 24 26
+f 15 26 18
+f 17 18 25
+f 18 26 25
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 22
+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 24 41 26
+f 26 41 37
+f 26 37 36
+f 26 36 35
+f 27 42 28
+f 28 42 43
+f 34 44 35
+f 35 44 45
+f 35 45 46
+f 37 41 38
+f 38 41 40
+f 38 40 39
+f 42 46 45
+f 42 45 47
+f 42 47 48
+f 42 48 43
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_31.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.08486739 -0.17572181 -0.21132346
+v 0.00657559 -0.18004034 -0.21107115
+v 0.08486739 -0.20002509 -0.21132354
+v 0.08486739 -0.17757736 -0.21534908
+v 0.00542196 -0.18085731 -0.22353674
+v -0.00275675 -0.18083587 -0.22353674
+v -0.09103519 -0.17858016 -0.21802905
+v -0.09103519 -0.17619583 -0.21107114
+v 0.00657559 -0.20003938 -0.21107122
+v 0.06274182 -0.20003462 -0.21132354
+v 0.01361789 -0.19973207 -0.22353454
+v 0.08486739 -0.19972257 -0.21534916
+v 0.08486739 -0.18325595 -0.22386180
+v 0.01361789 -0.18451837 -0.23067424
+v 0.00657559 -0.18445168 -0.23104476
+v 0.00542196 -0.18444215 -0.23110612
+v -0.00275675 -0.18442071 -0.23126297
+v -0.01093546 -0.18084778 -0.22353674
+v -0.09103519 -0.18343460 -0.22368905
+v -0.01093546 -0.18443501 -0.23115159
+v -0.01911417 -0.18449217 -0.23076744
+v -0.09103519 -0.20005606 -0.21107122
+v -0.05577202 -0.20005606 -0.21107122
+v 0.00657559 -0.19973445 -0.22353681
+v 0.02181382 -0.19962726 -0.22353454
+v -0.00275675 -0.19796700 -0.23066066
+v 0.00542196 -0.19797653 -0.23050154
+v 0.08486739 -0.19800991 -0.22304355
+v 0.08486739 -0.19210021 -0.22606900
+v 0.00657559 -0.19210018 -0.23386113
+v 0.00542196 -0.19210018 -0.23397479
+v -0.00275675 -0.19210018 -0.23429302
+v -0.02731011 -0.18465891 -0.23014461
+v -0.01911417 -0.19210018 -0.23332923
+v -0.09103519 -0.18374188 -0.22377770
+v -0.01093546 -0.19210018 -0.23406116
+v -0.09103519 -0.19987026 -0.21357162
+v -0.02731011 -0.19966300 -0.22353681
+v -0.01911417 -0.19972254 -0.22353681
+v 0.00542196 -0.19973445 -0.22353681
+v 0.01361789 -0.19796938 -0.23011283
+v -0.01093546 -0.19796700 -0.23054017
+v 0.00657559 -0.19292197 -0.23343379
+v 0.02181382 -0.19786696 -0.22959230
+v -0.02731011 -0.19790269 -0.22971505
+v -0.03548881 -0.19760733 -0.22908995
+v -0.09103519 -0.19370567 -0.22492109
+v -0.09103519 -0.19231936 -0.22550528
+v -0.01911417 -0.19796462 -0.23019695
+v -0.09103519 -0.19973448 -0.21534916
+v -0.09103519 -0.19834577 -0.22070454
+v -0.09103519 -0.19796227 -0.22205703
+f 1 2 9
+f 1 9 3
+f 1 3 12
+f 1 12 28
+f 1 28 29
+f 1 29 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 22
+f 2 22 23
+f 2 23 9
+f 3 10 11
+f 3 11 12
+f 3 9 10
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 19 35
+f 7 35 48
+f 7 48 47
+f 7 47 52
+f 7 52 51
+f 7 51 50
+f 7 50 37
+f 7 37 22
+f 7 22 8
+f 7 18 17
+f 7 17 20
+f 7 20 21
+f 7 21 19
+f 9 23 10
+f 10 23 24
+f 10 24 11
+f 11 25 12
+f 11 24 26
+f 11 26 27
+f 11 27 25
+f 12 25 28
+f 13 29 30
+f 13 30 31
+f 13 31 14
+f 14 31 16
+f 14 16 15
+f 16 31 32
+f 16 32 17
+f 17 32 20
+f 19 21 33
+f 19 33 34
+f 19 34 35
+f 20 32 36
+f 20 36 21
+f 21 36 33
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 24
+f 22 24 23
+f 24 40 26
+f 25 41 28
+f 25 27 41
+f 26 32 27
+f 26 40 39
+f 26 39 42
+f 26 42 32
+f 27 32 31
+f 27 31 43
+f 27 43 41
+f 28 41 44
+f 28 44 29
+f 29 44 30
+f 30 44 31
+f 31 44 43
+f 32 42 36
+f 33 36 34
+f 34 36 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 36 42 49
+f 36 49 45
+f 37 50 38
+f 38 50 51
+f 38 51 52
+f 38 52 45
+f 38 45 49
+f 38 49 42
+f 38 42 39
+f 41 43 44
+f 45 52 46
+f 46 52 47
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_32.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.07778280 0.18835767 -0.13036679
+v -0.10919340 0.19467404 -0.13036676
+v -0.07778280 0.14018764 -0.13036697
+v -0.07778280 0.20331445 -0.19076654
+v -0.11227000 0.19471730 -0.13036676
+v -0.13351175 0.14018764 -0.13036697
+v -0.07778280 0.14018791 -0.20528991
+v -0.07778280 0.20251720 -0.19895678
+v -0.12555749 0.20331445 -0.19076654
+v -0.12555749 0.19479147 -0.13036676
+v -0.11737195 0.19478529 -0.13036676
+v -0.13903420 0.16150384 -0.13036689
+v -0.14937825 0.14018786 -0.19076678
+v -0.12597798 0.14018795 -0.21394652
+v -0.10177175 0.15325949 -0.21394647
+v -0.07778280 0.18044706 -0.21394637
+v -0.09281532 0.20251720 -0.19895678
+v -0.07778280 0.19978553 -0.21394630
+v -0.12555749 0.20251103 -0.19895678
+v -0.13375003 0.20330827 -0.19076654
+v -0.12863407 0.19427849 -0.13036677
+v -0.14193557 0.20264078 -0.19076655
+v -0.13948972 0.16376587 -0.13036688
+v -0.14028165 0.18385834 -0.13036680
+v -0.14937123 0.16751759 -0.19076667
+v -0.14846719 0.15934713 -0.19895693
+v -0.14846719 0.14018789 -0.19895701
+v -0.14023960 0.16751737 -0.13036686
+v -0.14025361 0.17058902 -0.13036685
+v -0.14026763 0.17568786 -0.13036683
+v -0.14027463 0.17875951 -0.13036682
+v -0.14547469 0.14018795 -0.21394652
+v -0.09421695 0.19978553 -0.21394630
+v -0.13375003 0.20244305 -0.19895678
+v -0.12555749 0.19976700 -0.21394630
+v -0.13375003 0.19976080 -0.21394630
+v -0.13375003 0.19341941 -0.13036677
+v -0.14193557 0.20116988 -0.19895678
+v -0.14710760 0.19804261 -0.19895679
+v -0.14766825 0.19904997 -0.19076656
+v -0.13982611 0.18616363 -0.13036680
+v -0.14932217 0.19203522 -0.19076658
+v -0.14935021 0.18385856 -0.19076661
+v -0.14936424 0.17568808 -0.19076664
+v -0.14845318 0.17568811 -0.19895687
+v -0.14553778 0.16123838 -0.21394644
+v -0.14553778 0.15934719 -0.21394644
+v -0.14552375 0.15117052 -0.21394647
+v -0.14548170 0.14083689 -0.21394651
+v -0.14116467 0.19788816 -0.21394630
+v -0.13574736 0.19213390 -0.13036677
+v -0.14831300 0.19203525 -0.19895681
+v -0.14436040 0.19295620 -0.21394632
+v -0.14487200 0.19203531 -0.21394632
+v -0.13906222 0.18999548 -0.13036678
+v -0.14843915 0.18385859 -0.19895684
+v -0.14551675 0.18385865 -0.21394635
+v -0.14552375 0.17756701 -0.21394638
+v -0.14553076 0.16940887 -0.21394641
+v -0.14543965 0.18553353 -0.21394635
+f 1 2 5
+f 1 5 11
+f 1 11 10
+f 1 10 21
+f 1 21 37
+f 1 37 51
+f 1 51 55
+f 1 55 41
+f 1 41 24
+f 1 24 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 23
+f 1 23 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 13
+f 3 13 27
+f 3 27 32
+f 3 32 14
+f 3 14 7
+f 4 8 17
+f 4 17 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 8 18 33
+f 8 33 17
+f 9 17 19
+f 9 19 20
+f 9 20 10
+f 10 20 22
+f 10 22 21
+f 12 23 13
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 23 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 24
+f 14 32 49
+f 14 49 48
+f 14 48 47
+f 14 47 46
+f 14 46 59
+f 14 59 58
+f 14 58 57
+f 14 57 60
+f 14 60 54
+f 14 54 53
+f 14 53 50
+f 14 50 36
+f 14 36 35
+f 14 35 33
+f 14 33 18
+f 14 18 16
+f 14 16 15
+f 17 33 19
+f 19 34 20
+f 19 33 35
+f 19 35 36
+f 19 36 34
+f 20 34 22
+f 21 22 37
+f 22 34 36
+f 22 36 38
+f 22 38 39
+f 22 39 40
+f 22 40 37
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 25 44 45
+f 25 45 26
+f 26 45 59
+f 26 59 46
+f 26 46 47
+f 26 47 27
+f 27 47 48
+f 27 48 49
+f 27 49 32
+f 36 50 38
+f 37 40 51
+f 38 50 39
+f 39 52 42
+f 39 42 40
+f 39 50 53
+f 39 53 54
+f 39 54 52
+f 40 42 55
+f 40 55 51
+f 41 55 42
+f 42 52 56
+f 42 56 43
+f 43 56 45
+f 43 45 44
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 52 54 60
+f 52 60 57
+f 52 57 56
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_33.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.14790307 -0.14345330 -0.14973962
+v 0.14790307 -0.14345321 -0.17485292
+v 0.14463282 -0.14345330 -0.14973054
+v 0.08732318 -0.14520189 -0.13034173
+v 0.12825687 -0.14521713 -0.13034173
+v 0.14463282 -0.14522731 -0.13034173
+v 0.14790307 -0.14523239 -0.13034173
+v 0.14790307 -0.15124023 -0.17484387
+v 0.13729634 -0.15124022 -0.17670966
+v 0.13729634 -0.14345320 -0.17670963
+v 0.12825687 -0.14345330 -0.14969423
+v 0.12006890 -0.14345330 -0.14968969
+v 0.08486740 -0.14345330 -0.14967607
+v 0.08486740 -0.14520189 -0.13034173
+v 0.14790307 -0.16842063 -0.13034182
+v 0.14790307 -0.15450346 -0.17414023
+v 0.13257608 -0.18840649 -0.17670979
+v 0.13333502 -0.18392844 -0.17670978
+v 0.13691379 -0.15941355 -0.17670969
+v 0.13696932 -0.15830039 -0.17670968
+v 0.08486740 -0.14345320 -0.17670963
+v 0.08486740 -0.18961131 -0.13034190
+v 0.14790307 -0.17178551 -0.13728749
+v 0.12818283 -0.19143607 -0.13034190
+v 0.14790307 -0.15941356 -0.17307345
+v 0.14790307 -0.17219209 -0.14982144
+v 0.14790307 -0.17213112 -0.14428761
+v 0.14790307 -0.17210063 -0.14163192
+v 0.12865177 -0.19242199 -0.17670981
+v 0.14790307 -0.16388145 -0.17080363
+v 0.14790307 -0.17135339 -0.15566395
+v 0.14790307 -0.17189219 -0.15447003
+v 0.08486740 -0.19503969 -0.17670982
+v 0.09551115 -0.19337774 -0.13034191
+v 0.14790307 -0.17191765 -0.13841785
+v 0.12006890 -0.19484671 -0.13034192
+v 0.12006890 -0.19525317 -0.17670982
+v 0.09149429 -0.19519218 -0.17670982
+v 0.10369912 -0.19481113 -0.13034192
+v 0.11188710 -0.19483146 -0.13034192
+v 0.10369912 -0.19537007 -0.17670982
+v 0.11188710 -0.19538025 -0.17670982
+v 0.09967609 -0.19535483 -0.17670982
+v 0.10679661 -0.19482130 -0.13034192
+f 1 2 10
+f 1 10 21
+f 1 21 13
+f 1 13 12
+f 1 12 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 23
+f 1 23 35
+f 1 35 28
+f 1 28 27
+f 1 27 26
+f 1 26 32
+f 1 32 31
+f 1 31 30
+f 1 30 25
+f 1 25 16
+f 1 16 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 4 12 13
+f 4 13 14
+f 4 14 22
+f 4 22 34
+f 4 34 39
+f 4 39 44
+f 4 44 40
+f 4 40 36
+f 4 36 24
+f 4 24 15
+f 4 15 7
+f 4 7 6
+f 4 6 5
+f 4 11 12
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 19
+f 9 19 18
+f 9 18 17
+f 9 17 29
+f 9 29 37
+f 9 37 42
+f 9 42 41
+f 9 41 43
+f 9 43 38
+f 9 38 33
+f 9 33 21
+f 9 21 10
+f 13 21 33
+f 13 33 22
+f 13 22 14
+f 15 24 23
+f 16 25 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 25 30
+f 17 30 31
+f 17 31 32
+f 17 32 26
+f 22 33 34
+f 23 24 35
+f 24 29 28
+f 24 28 35
+f 24 36 29
+f 29 36 37
+f 33 38 39
+f 33 39 34
+f 36 40 41
+f 36 41 42
+f 36 42 37
+f 38 43 39
+f 39 43 41
+f 39 41 44
+f 40 44 41
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_34.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.06750458 0.14515036 -0.13035877
+v 0.06750458 0.13118933 -0.05815894
+v 0.06750458 0.18835958 -0.13035861
+v 0.07401991 0.14515036 -0.13035877
+v 0.10369547 0.13118935 -0.06361784
+v 0.09944106 0.13118935 -0.06334527
+v 0.09577010 0.13118935 -0.06310299
+v 0.06750458 0.13118931 -0.05301802
+v 0.06750458 0.18835953 -0.11704827
+v 0.09551079 0.19333711 -0.13035859
+v 0.13644231 0.14517527 -0.13035877
+v 0.11188016 0.13118935 -0.06361784
+v 0.06750458 0.18835305 -0.05301781
+v 0.13021061 0.13118931 -0.05301802
+v 0.09551079 0.19333682 -0.05301779
+v 0.10369547 0.19478239 -0.13035858
+v 0.14770638 0.14518152 -0.13035877
+v 0.12043761 0.13118935 -0.06357241
+v 0.12896265 0.13118933 -0.05601626
+v 0.15028334 0.14518774 -0.13035877
+v 0.15028334 0.14518151 -0.12777696
+v 0.15028334 0.14517522 -0.11704843
+v 0.15028334 0.14518132 -0.07610286
+v 0.15028334 0.14521243 -0.06791072
+v 0.15028334 0.14587277 -0.06417806
+v 0.15028334 0.14617178 -0.06249723
+v 0.15028334 0.14962303 -0.06057411
+v 0.15028334 0.15117422 -0.05971097
+v 0.13260929 0.15193421 -0.05301794
+v 0.09699376 0.19359846 -0.05301779
+v 0.10369547 0.19478216 -0.06791053
+v 0.11188016 0.19480711 -0.07610267
+v 0.12006484 0.19481976 -0.12524038
+v 0.12006484 0.19481355 -0.13035858
+v 0.12374390 0.13118935 -0.06181587
+v 0.12747157 0.13118934 -0.05957477
+v 0.15028334 0.16801960 -0.13035868
+v 0.13274705 0.15972757 -0.05301791
+v 0.15028334 0.15934759 -0.06044536
+v 0.13219601 0.18386144 -0.05301782
+v 0.10369547 0.19476965 -0.05301778
+v 0.10369547 0.19477591 -0.05971838
+v 0.10517844 0.19477588 -0.05301778
+v 0.11188016 0.19480708 -0.06791053
+v 0.12006484 0.19481955 -0.06791053
+v 0.12820090 0.19138704 -0.08429483
+v 0.12819280 0.19138719 -0.12524040
+v 0.12513773 0.19267676 -0.13035859
+v 0.15028334 0.16420678 -0.06791065
+v 0.12818470 0.19138721 -0.13035860
+v 0.12820090 0.19138698 -0.06791055
+v 0.12819280 0.19138695 -0.05971840
+v 0.12818470 0.19138068 -0.05301780
+v 0.15028334 0.16380183 -0.06323159
+v 0.11188016 0.19479457 -0.05301778
+v 0.12006484 0.19481329 -0.05971838
+v 0.12153970 0.19419029 -0.05301779
+v 0.12006484 0.19480702 -0.05301778
+f 1 2 8
+f 1 8 13
+f 1 13 9
+f 1 9 3
+f 1 3 10
+f 1 10 16
+f 1 16 34
+f 1 34 48
+f 1 48 50
+f 1 50 37
+f 1 37 20
+f 1 20 17
+f 1 17 11
+f 1 11 4
+f 1 4 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 5
+f 2 5 12
+f 2 12 18
+f 2 18 35
+f 2 35 36
+f 2 36 19
+f 2 19 14
+f 2 14 8
+f 3 9 15
+f 3 15 10
+f 4 11 12
+f 8 14 29
+f 8 29 38
+f 8 38 40
+f 8 40 53
+f 8 53 57
+f 8 57 58
+f 8 58 55
+f 8 55 43
+f 8 43 41
+f 8 41 30
+f 8 30 15
+f 8 15 13
+f 9 13 15
+f 10 15 31
+f 10 31 16
+f 11 17 12
+f 12 17 18
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 15 30 31
+f 16 31 44
+f 16 44 32
+f 16 32 33
+f 16 33 34
+f 17 20 18
+f 18 20 35
+f 19 36 20
+f 20 37 49
+f 20 49 54
+f 20 54 39
+f 20 39 28
+f 20 28 27
+f 20 27 26
+f 20 26 25
+f 20 25 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 20 36 35
+f 28 38 29
+f 28 39 40
+f 28 40 38
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 32 44 45
+f 32 45 33
+f 33 45 51
+f 33 51 46
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 37 50 47
+f 37 47 46
+f 37 46 51
+f 37 51 52
+f 37 52 53
+f 37 53 49
+f 39 54 40
+f 40 54 53
+f 41 43 42
+f 43 55 44
+f 44 55 56
+f 44 56 45
+f 45 56 57
+f 45 57 52
+f 45 52 51
+f 47 50 48
+f 49 53 54
+f 52 57 53
+f 55 58 56
+f 56 58 57
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_35.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.11737495 0.19982064 -0.22353671
+v -0.09421252 0.19978558 -0.21394823
+v -0.07778280 0.19978558 -0.21394823
+v -0.07778280 0.19978558 -0.21400049
+v -0.10919333 0.19974474 -0.22353671
+v -0.11737495 0.19945869 -0.23172584
+v -0.12556323 0.19980313 -0.22353671
+v -0.13375149 0.19976222 -0.21394823
+v -0.12556323 0.19976807 -0.21394823
+v -0.07778280 0.18044893 -0.21394830
+v -0.07778280 0.19968633 -0.21534565
+v -0.11756105 0.19892741 -0.23371942
+v -0.12556323 0.19940030 -0.23172584
+v -0.13375149 0.19961046 -0.22353671
+v -0.14116215 0.19788812 -0.21394823
+v -0.07778280 0.18068831 -0.21534572
+v -0.10176938 0.15325970 -0.21394840
+v -0.10255365 0.15393114 -0.22353687
+v -0.07778280 0.19819757 -0.22060249
+v -0.12537048 0.19886902 -0.23371942
+v -0.07778280 0.19789981 -0.22163025
+v -0.10974497 0.19770135 -0.23371942
+v -0.13385118 0.19792321 -0.23199100
+v -0.13952051 0.19716421 -0.22943808
+v -0.14063044 0.19779473 -0.22353671
+v -0.14448531 0.19203227 -0.22353673
+v -0.14435902 0.19295471 -0.21394825
+v -0.07778280 0.18459420 -0.22195740
+v -0.10363700 0.15442158 -0.22966470
+v -0.12597530 0.14018177 -0.21394845
+v -0.12816858 0.14018179 -0.22132079
+v -0.13189053 0.19776558 -0.23371942
+v -0.07778280 0.19299560 -0.22374190
+v -0.10113134 0.19199145 -0.23371944
+v -0.10355061 0.19426256 -0.23371944
+v -0.10743206 0.19672051 -0.23371943
+v -0.13298716 0.19756707 -0.23371942
+v -0.14083648 0.19172872 -0.23371945
+v -0.14135488 0.19240012 -0.23199102
+v -0.13726740 0.19575135 -0.23371943
+v -0.14477110 0.18385860 -0.23172589
+v -0.14560854 0.18385857 -0.22353676
+v -0.14487079 0.19203224 -0.21394825
+v -0.07778280 0.19203227 -0.22414256
+v -0.10157665 0.15878284 -0.23212858
+v -0.10201530 0.15937838 -0.23371956
+v -0.10143043 0.16056939 -0.23371956
+v -0.09847280 0.16769804 -0.23371953
+v -0.10521219 0.15535574 -0.23371958
+v -0.14547561 0.14018177 -0.21394845
+v -0.13185065 0.14018180 -0.22308597
+v -0.10949241 0.15373852 -0.23371959
+v -0.09824019 0.18551086 -0.23371947
+v -0.14126849 0.19083545 -0.23371945
+v -0.14390707 0.18401624 -0.23371947
+v -0.14437896 0.18187357 -0.23371948
+v -0.14544902 0.17568489 -0.23172592
+v -0.14567501 0.17568486 -0.22353679
+v -0.14551548 0.18385854 -0.21394828
+v -0.14544238 0.18553414 -0.21394828
+v -0.09715683 0.17496095 -0.23371951
+v -0.09709703 0.17547473 -0.23371951
+v -0.09707709 0.17568490 -0.23371950
+v -0.09754898 0.18385861 -0.23371947
+v -0.10379652 0.15713645 -0.23371957
+v -0.14548226 0.14083568 -0.21394844
+v -0.14566171 0.16751701 -0.22353682
+v -0.14539586 0.14018177 -0.21534587
+v -0.13375149 0.14018180 -0.22395307
+v -0.11737495 0.15216800 -0.23371959
+v -0.14489074 0.17568490 -0.23371950
+v -0.14487079 0.16751704 -0.23172595
+v -0.14554207 0.15934327 -0.21394837
+v -0.14554207 0.16124074 -0.21394837
+v -0.14552213 0.15117540 -0.21394840
+v -0.14400013 0.16735357 -0.23371954
+v -0.14158751 0.14018180 -0.22207564
+v -0.13328625 0.15328897 -0.23371959
+v -0.12556323 0.15193446 -0.23371959
+v -0.14098934 0.15949513 -0.23371956
+v -0.13904197 0.15722402 -0.23371957
+v -0.13564569 0.15446831 -0.23371958
+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 2
+f 2 9 8
+f 2 8 15
+f 2 15 27
+f 2 27 43
+f 2 43 60
+f 2 60 59
+f 2 59 74
+f 2 74 73
+f 2 73 75
+f 2 75 66
+f 2 66 50
+f 2 50 30
+f 2 30 17
+f 2 17 10
+f 2 10 3
+f 3 10 16
+f 3 16 28
+f 3 28 44
+f 3 44 33
+f 3 33 21
+f 3 21 19
+f 3 19 11
+f 3 11 4
+f 4 11 6
+f 4 6 5
+f 6 12 13
+f 6 13 7
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 10 17 18
+f 10 18 16
+f 11 19 12
+f 12 20 13
+f 12 19 21
+f 12 21 22
+f 12 22 36
+f 12 36 35
+f 12 35 34
+f 12 34 53
+f 12 53 64
+f 12 64 63
+f 12 63 62
+f 12 62 61
+f 12 61 48
+f 12 48 47
+f 12 47 46
+f 12 46 65
+f 12 65 49
+f 12 49 52
+f 12 52 70
+f 12 70 79
+f 12 79 78
+f 12 78 82
+f 12 82 81
+f 12 81 80
+f 12 80 76
+f 12 76 71
+f 12 71 56
+f 12 56 55
+f 12 55 54
+f 12 54 38
+f 12 38 40
+f 12 40 37
+f 12 37 32
+f 12 32 20
+f 13 20 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 16 18 29
+f 16 29 28
+f 17 30 18
+f 18 30 31
+f 18 31 29
+f 20 32 23
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 23 32 37
+f 23 37 24
+f 24 38 39
+f 24 39 26
+f 24 26 25
+f 24 37 40
+f 24 40 38
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 26 39 41
+f 28 29 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 44
+f 29 49 45
+f 29 31 49
+f 30 50 68
+f 30 68 77
+f 30 77 69
+f 30 69 51
+f 30 51 31
+f 31 51 52
+f 31 52 49
+f 33 44 34
+f 34 44 53
+f 38 54 39
+f 39 54 41
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 58 59
+f 42 59 60
+f 42 60 43
+f 42 57 58
+f 44 48 61
+f 44 61 62
+f 44 62 63
+f 44 63 64
+f 44 64 53
+f 45 49 65
+f 45 65 46
+f 50 66 67
+f 50 67 57
+f 50 57 68
+f 51 69 52
+f 52 69 70
+f 56 71 57
+f 57 67 58
+f 57 71 72
+f 57 72 68
+f 58 67 73
+f 58 73 74
+f 58 74 59
+f 66 75 67
+f 67 75 73
+f 68 72 76
+f 68 76 77
+f 69 78 79
+f 69 79 70
+f 69 77 78
+f 71 76 72
+f 76 80 77
+f 77 80 81
+f 77 81 82
+f 77 82 78
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_36.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.13185985 0.02339772 0.10409747
+v 0.13176384 0.02339771 0.10732127
+v 0.14133305 0.01686570 0.10409744
+v 0.13133713 0.02339781 0.07929474
+v 0.14118369 0.01676394 0.10732124
+v 0.04103241 0.02339771 0.10732127
+v 0.14541890 0.01273485 0.10409743
+v 0.14101301 0.01664697 0.09933168
+v 0.04103241 0.02339781 0.07929474
+v 0.14888600 0.00840053 0.09964443
+v 0.14702976 0.00405095 0.09461528
+v 0.14293325 0.00405097 0.08984954
+v 0.13281997 0.00416802 0.07929467
+v 0.14899269 0.00858874 0.10732121
+v 0.04103241 -0.02857360 0.10732108
+v 0.14903535 0.00864979 0.10409741
+v 0.04103241 -0.02857350 0.07929455
+v 0.14995281 0.00405092 0.10409739
+v 0.14930205 0.00405094 0.09871157
+v 0.14710445 -0.00411916 0.09452746
+v 0.14301859 -0.00411914 0.08978366
+v 0.13293733 -0.00386983 0.07929464
+v 0.14963276 0.00405091 0.10732119
+v 0.13095307 -0.02857360 0.10732108
+v 0.13118777 -0.02857350 0.07929455
+v 0.15001681 -0.00411919 0.10409736
+v 0.14932339 -0.00411917 0.09862374
+v 0.14892868 -0.00854509 0.09952365
+v 0.14967543 -0.00411920 0.10732116
+v 0.13107043 -0.02857359 0.10409728
+v 0.14569627 -0.01291504 0.10409733
+v 0.14793655 -0.01007128 0.10732114
+v 0.14909936 -0.00882998 0.10409735
+v 0.14934473 -0.00720208 0.10732115
+v 0.14904602 -0.00873842 0.10732115
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 15
+f 2 15 24
+f 2 24 32
+f 2 32 35
+f 2 35 34
+f 2 34 29
+f 2 29 23
+f 2 23 14
+f 2 14 5
+f 3 5 7
+f 3 7 8
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 22
+f 4 22 25
+f 4 25 17
+f 4 17 9
+f 5 14 7
+f 6 9 17
+f 6 17 15
+f 7 14 16
+f 7 16 10
+f 7 10 8
+f 10 16 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 14 23 18
+f 14 18 16
+f 15 17 25
+f 15 25 30
+f 15 30 24
+f 18 23 26
+f 18 26 19
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 25
+f 20 25 21
+f 21 25 22
+f 23 29 26
+f 24 30 31
+f 24 31 32
+f 25 31 30
+f 25 28 33
+f 25 33 31
+f 26 29 34
+f 26 34 35
+f 26 35 33
+f 26 33 28
+f 26 28 27
+f 31 33 32
+f 32 33 35
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_37.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.06749648 0.18833904 0.10732461
+v -0.00276060 0.18835583 0.10732461
+v 0.06749648 0.13118808 0.10732440
+v 0.06749648 0.18835595 0.07478153
+v -0.08000584 0.18835583 0.10732461
+v -0.06005203 0.18837838 0.06313328
+v -0.08000584 0.13118808 0.10732440
+v 0.06749648 0.13118868 -0.05815288
+v 0.06749648 0.18835599 0.06313328
+v -0.06823858 0.18837277 0.07133338
+v -0.08000584 0.18836717 0.06670152
+v -0.06823858 0.18837283 0.05495035
+v 0.04637316 0.18835647 -0.06793104
+v 0.03818660 0.18835647 -0.06793104
+v -0.06823858 0.18835644 -0.05971378
+v -0.08000584 0.13118872 -0.06793125
+v 0.03996252 0.13118872 -0.06793125
+v 0.04002028 0.13119434 -0.06793125
+v 0.06749648 0.14489421 -0.06793120
+v 0.06749648 0.18835087 -0.06793104
+v -0.08000584 0.18834528 -0.06793104
+v -0.06823858 0.18835087 -0.06793104
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 16
+f 3 16 17
+f 3 17 8
+f 4 9 6
+f 5 6 10
+f 5 10 11
+f 5 11 21
+f 5 21 16
+f 5 16 7
+f 6 12 11
+f 6 11 10
+f 6 9 13
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 8 17 18
+f 8 18 19
+f 9 20 13
+f 11 12 15
+f 11 15 21
+f 13 20 19
+f 13 19 18
+f 13 18 17
+f 13 17 16
+f 13 16 21
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 22 21
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_38.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.13637815 0.17568610 -0.23365518
+v 0.13565483 0.18370775 -0.23365516
+v 0.13588203 0.16944447 -0.23365521
+v 0.13150040 0.17568627 -0.28086701
+v 0.13370744 0.19061054 -0.23365513
+v 0.12935363 0.18386050 -0.28086698
+v 0.13564092 0.16767832 -0.23365521
+v 0.12886215 0.16751666 -0.28086704
+v 0.12945100 0.17568630 -0.28905930
+v 0.13408301 0.16175570 -0.23365524
+v 0.13374917 0.16071080 -0.23365524
+v 0.13098574 0.19380071 -0.23365512
+v 0.12511111 0.18880759 -0.28658659
+v 0.12689158 0.18418417 -0.28921537
+v 0.12480509 0.16291637 -0.28598100
+v 0.12661802 0.16741497 -0.28885328
+v 0.12521775 0.17006885 -0.29424197
+v 0.12581124 0.17568632 -0.29484760
+v 0.12530121 0.18167366 -0.29432933
+v 0.13080491 0.15670229 -0.23365525
+v 0.12975702 0.19491958 -0.23365511
+v 0.12315445 0.18712007 -0.29205020
+v 0.12027973 0.19008829 -0.28921535
+v 0.12006644 0.19216880 -0.28086695
+v 0.12651137 0.19708334 -0.23365511
+v 0.12006644 0.16049830 -0.28086707
+v 0.11971869 0.16217663 -0.28885329
+v 0.11675588 0.16312907 -0.29355513
+v 0.12221321 0.16461781 -0.29144461
+v 0.12680812 0.15374330 -0.23365527
+v 0.12559332 0.15334567 -0.23365527
+v 0.11971869 0.16741499 -0.29494132
+v 0.12006644 0.17568633 -0.29708925
+v 0.12027973 0.18418419 -0.29532839
+v 0.11769248 0.18875677 -0.29410452
+v 0.11188277 0.19086502 -0.28905925
+v 0.11188277 0.19271899 -0.28086695
+v 0.11188277 0.19908991 -0.23365510
+v 0.12006644 0.19850274 -0.23365510
+v 0.11188277 0.16021164 -0.28086707
+v 0.12006644 0.15218519 -0.23365527
+v 0.11800777 0.15198177 -0.23365527
+v 0.11499395 0.16312907 -0.29355513
+v 0.11211460 0.16718845 -0.29507244
+v 0.11188277 0.17568633 -0.29744516
+v 0.11188277 0.18386056 -0.29606517
+v 0.11188277 0.18855796 -0.29387348
+v 0.10778398 0.18795228 -0.29316166
+v 0.10677782 0.18883073 -0.28905926
+v 0.09778274 0.19680132 -0.23365511
+v 0.09895117 0.19719893 -0.23365511
+v 0.10369446 0.19822533 -0.23365510
+v 0.10577167 0.19854434 -0.23365510
+v 0.10727395 0.16303658 -0.28604344
+v 0.11211460 0.16225061 -0.28889075
+v 0.11188277 0.15186155 -0.23365527
+v 0.10369446 0.15299891 -0.23365527
+v 0.09762509 0.15469571 -0.23365526
+v 0.10954126 0.16424794 -0.29150081
+v 0.10640226 0.16969435 -0.29445426
+v 0.10554448 0.17568632 -0.29519727
+v 0.10658309 0.18386055 -0.29422940
+v 0.10356463 0.18386053 -0.28905927
+v 0.10100520 0.18388362 -0.28157881
+v 0.09052176 0.18966737 -0.23365513
+v 0.09174119 0.19125781 -0.23365513
+v 0.09380914 0.19363889 -0.23365512
+v 0.10515500 0.16718843 -0.28889074
+v 0.10612406 0.16228757 -0.28086706
+v 0.09958639 0.16341102 -0.26864106
+v 0.10062500 0.16481657 -0.27410467
+v 0.09424034 0.15764084 -0.23365525
+v 0.09895581 0.17026760 -0.27880647
+v 0.10166825 0.17568630 -0.28905930
+v 0.09893263 0.18117428 -0.27931844
+v 0.09010909 0.18834505 -0.23365514
+v 0.10168679 0.16753516 -0.28126667
+v 0.09840405 0.16753513 -0.27189423
+v 0.09386941 0.15801071 -0.23365525
+v 0.09350312 0.15846843 -0.23365525
+v 0.09104570 0.16183430 -0.23365524
+v 0.09666531 0.17568624 -0.27268096
+v 0.09861270 0.17568627 -0.28020513
+v 0.09982286 0.17568628 -0.28430128
+v 0.08978917 0.16751649 -0.23365521
+v 0.08936260 0.18386033 -0.23365515
+v 0.08901485 0.17568610 -0.23365518
+v 0.08906121 0.18144228 -0.23365516
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 25
+f 1 25 39
+f 1 39 38
+f 1 38 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 67
+f 1 67 66
+f 1 66 65
+f 1 65 76
+f 1 76 86
+f 1 86 88
+f 1 88 87
+f 1 87 85
+f 1 85 81
+f 1 81 80
+f 1 80 79
+f 1 79 72
+f 1 72 58
+f 1 58 57
+f 1 57 56
+f 1 56 42
+f 1 42 41
+f 1 41 31
+f 1 31 30
+f 1 30 20
+f 1 20 11
+f 1 11 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 8 9
+f 4 9 6
+f 4 7 10
+f 4 10 11
+f 4 11 8
+f 5 6 13
+f 5 13 12
+f 6 9 14
+f 6 14 13
+f 8 15 16
+f 8 16 9
+f 8 11 15
+f 9 17 18
+f 9 18 19
+f 9 19 14
+f 9 16 17
+f 11 20 15
+f 12 13 21
+f 13 14 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 21
+f 14 19 22
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 17
+f 15 17 16
+f 15 20 30
+f 15 30 31
+f 15 31 26
+f 17 32 33
+f 17 33 18
+f 17 29 28
+f 17 28 32
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 22
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 26 40 27
+f 26 31 41
+f 26 41 42
+f 26 42 40
+f 27 40 28
+f 28 43 44
+f 28 44 32
+f 28 40 43
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 34
+f 34 46 35
+f 35 47 36
+f 35 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 40 54 55
+f 40 55 43
+f 40 42 56
+f 40 56 57
+f 40 57 58
+f 40 58 54
+f 43 55 59
+f 43 59 60
+f 43 60 44
+f 44 60 45
+f 45 61 62
+f 45 62 46
+f 45 60 61
+f 46 62 48
+f 46 48 47
+f 48 63 49
+f 48 62 63
+f 49 63 64
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 50
+f 54 68 59
+f 54 59 55
+f 54 58 69
+f 54 69 70
+f 54 70 71
+f 54 71 68
+f 58 72 70
+f 58 70 69
+f 59 68 60
+f 60 68 73
+f 60 73 74
+f 60 74 61
+f 61 74 62
+f 62 74 63
+f 63 74 75
+f 63 75 64
+f 64 75 65
+f 65 75 76
+f 68 71 77
+f 68 77 73
+f 70 78 73
+f 70 73 71
+f 70 72 79
+f 70 79 80
+f 70 80 81
+f 70 81 78
+f 71 73 77
+f 73 82 83
+f 73 83 84
+f 73 84 74
+f 73 78 81
+f 73 81 85
+f 73 85 82
+f 74 84 75
+f 75 84 83
+f 75 83 82
+f 75 82 86
+f 75 86 76
+f 82 87 88
+f 82 88 86
+f 82 85 87
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_39.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.13299866 0.15117422 0.07132133
+v 0.13297301 0.15934778 0.07132136
+v 0.13288966 0.15934765 0.10732451
+v 0.13287684 0.13118886 0.07132125
+v 0.13288325 0.15934814 -0.02694182
+v 0.13290889 0.15934805 -0.00237994
+v 0.13222284 0.18385602 0.07132145
+v 0.13219078 0.18385589 0.10732460
+v 0.13224207 0.18385641 -0.03513425
+v 0.13260113 0.15463166 0.10732449
+v 0.12939527 0.13118873 0.10732440
+v 0.13267807 0.13118925 -0.03513445
+v 0.13274860 0.15972826 -0.05299466
+v 0.13219719 0.18385647 -0.05299457
+v 0.12818986 0.19138791 0.07132147
+v 0.12818345 0.19138785 0.08770651
+v 0.12817704 0.19138155 0.10732462
+v 0.12976074 0.18842237 0.10732461
+v 0.13147267 0.18522080 -0.05299457
+v 0.12818345 0.19138213 -0.05299455
+v 0.12820269 0.19138207 -0.03513423
+v 0.06750289 0.13118873 0.10732440
+v 0.13254343 0.13118927 -0.04012529
+v 0.13261396 0.15193471 -0.05299469
+v 0.12006621 0.19482684 0.05495214
+v 0.12819628 0.19138824 -0.01874918
+v 0.12006621 0.19482053 0.07951401
+v 0.12498400 0.19273343 0.10732463
+v 0.12154091 0.19419180 -0.05299454
+v 0.12819628 0.19138827 -0.02694171
+v 0.06750289 0.18834139 0.10732461
+v 0.06750289 0.13118931 -0.05299477
+v 0.13082508 0.13118931 -0.05151949
+v 0.13020956 0.13118931 -0.05299477
+v 0.11187844 0.19480820 0.04675962
+v 0.11187844 0.19480811 0.07132149
+v 0.12006621 0.19481466 -0.01874916
+v 0.11335955 0.19479609 -0.05299453
+v 0.12006621 0.19481424 0.09589905
+v 0.12006621 0.19480798 0.10732464
+v 0.12006621 0.19480856 -0.05299453
+v 0.09550930 0.19333773 0.10732463
+v 0.06750289 0.18835394 0.07951398
+v 0.06750289 0.18834820 -0.05299456
+v 0.10517177 0.19477740 -0.05299453
+v 0.10369066 0.19478332 0.03037458
+v 0.10369066 0.19478320 0.06314466
+v 0.10369066 0.19477683 0.10409156
+v 0.11684111 0.19480174 0.10732464
+v 0.10046557 0.19420991 0.10732463
+v 0.09550930 0.19333831 -0.05299454
+v 0.06750289 0.18835439 -0.04332676
+v 0.10369066 0.19477117 -0.05299453
+v 0.09699041 0.19359996 -0.05299454
+v 0.10369066 0.19477059 0.10732464
+v 0.10865334 0.19478304 0.10732464
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 8 18
+f 3 18 17
+f 3 17 28
+f 3 28 40
+f 3 40 49
+f 3 49 56
+f 3 56 55
+f 3 55 50
+f 3 50 42
+f 3 42 31
+f 3 31 22
+f 3 22 11
+f 3 11 10
+f 3 10 4
+f 4 10 11
+f 4 11 22
+f 4 22 32
+f 4 32 34
+f 4 34 33
+f 4 33 23
+f 4 23 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 9
+f 5 9 6
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 9 15
+f 9 14 19
+f 9 19 20
+f 9 20 21
+f 9 21 15
+f 12 23 24
+f 12 24 13
+f 13 24 34
+f 13 34 32
+f 13 32 44
+f 13 44 51
+f 13 51 54
+f 13 54 53
+f 13 53 45
+f 13 45 38
+f 13 38 41
+f 13 41 29
+f 13 29 20
+f 13 20 19
+f 13 19 14
+f 15 25 16
+f 15 21 26
+f 15 26 25
+f 16 25 27
+f 16 27 28
+f 16 28 17
+f 20 29 21
+f 21 30 26
+f 21 29 30
+f 22 31 43
+f 22 43 52
+f 22 52 44
+f 22 44 32
+f 23 33 24
+f 24 33 34
+f 25 35 36
+f 25 36 27
+f 25 26 30
+f 25 30 29
+f 25 29 37
+f 25 37 38
+f 25 38 35
+f 27 36 39
+f 27 39 28
+f 28 39 40
+f 29 41 37
+f 31 42 43
+f 35 38 45
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 36 47 48
+f 36 48 39
+f 37 41 38
+f 39 48 49
+f 39 49 40
+f 42 50 47
+f 42 47 46
+f 42 46 54
+f 42 54 51
+f 42 51 52
+f 42 52 43
+f 44 52 51
+f 45 53 46
+f 46 53 54
+f 47 50 48
+f 48 50 55
+f 48 55 56
+f 48 56 49
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_4.obj

@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.15029160 -0.02857257 -0.17485349
+v 0.15029160 -0.02857264 -0.15631598
+v 0.15029160 -0.02609195 -0.17485544
+v 0.23462364 -0.02857257 -0.17512170
+v 0.16101590 -0.02857264 -0.15630619
+v 0.15029160 0.14018719 -0.15512313
+v 0.15029160 -0.01228256 -0.17485931
+v 0.23468975 -0.02855304 -0.17512170
+v 0.23468975 -0.02857263 -0.15885121
+v 0.15029160 -0.00157881 -0.17485927
+v 0.23468975 -0.01228256 -0.17512165
+v 0.23468975 -0.02857264 -0.15627291
+v 0.16083414 0.14016765 -0.15512313
+v 0.15029160 0.17097023 -0.15512301
+v 0.15029160 0.15116445 -0.17485087
+v 0.23468975 0.14298039 -0.17511714
+v 0.23468975 0.14007000 -0.15512313
+v 0.23468975 0.16950530 -0.15512302
+v 0.23468975 0.16923186 -0.15801064
+v 0.15029160 0.17089210 -0.15540100
+v 0.15029160 0.15932901 -0.17306541
+v 0.23468975 0.15932901 -0.17352351
+v 0.23468975 0.15116445 -0.17507796
+v 0.23468975 0.16679034 -0.16619972
+v 0.15029160 0.16458319 -0.16936534
+v 0.15029160 0.16071579 -0.17235673
+v 0.23468975 0.16405583 -0.17115273
+v 0.15029160 0.16376285 -0.17078664
+f 1 2 6
+f 1 6 14
+f 1 14 20
+f 1 20 25
+f 1 25 28
+f 1 28 26
+f 1 26 21
+f 1 21 15
+f 1 15 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 7 10
+f 4 10 11
+f 4 11 8
+f 5 12 6
+f 6 13 17
+f 6 17 18
+f 6 18 14
+f 6 12 13
+f 8 11 16
+f 8 16 23
+f 8 23 22
+f 8 22 27
+f 8 27 24
+f 8 24 19
+f 8 19 18
+f 8 18 17
+f 8 17 12
+f 8 12 9
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 14 18 19
+f 14 19 20
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 19 24 20
+f 20 24 25
+f 21 26 27
+f 21 27 22
+f 24 27 25
+f 25 27 28
+f 26 28 27
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_40.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.13302068 -0.15123897 0.07132848
+v 0.13287013 -0.14110555 0.07132852
+v 0.13287013 -0.15941530 0.10730824
+v 0.13298106 -0.15941520 0.07952281
+v 0.13301275 -0.15941517 0.07132845
+v 0.13289390 -0.15941481 -0.02694091
+v 0.13280674 -0.15077026 -0.05304662
+v 0.13269582 -0.14110516 -0.03513519
+v 0.12955022 -0.14110568 0.10730831
+v 0.13257696 -0.15474845 0.10730826
+v 0.13219663 -0.18392811 0.10730815
+v 0.13220456 -0.18392810 0.10409005
+v 0.13221249 -0.18392798 0.07132836
+v 0.13221249 -0.18392759 -0.03513535
+v 0.13218079 -0.18392753 -0.05304675
+v 0.13282259 -0.15941478 -0.03513526
+v 0.13040595 -0.14110510 -0.05304659
+v 0.13103982 -0.14110510 -0.05152388
+v 0.13253734 -0.14110514 -0.04011145
+v 0.05207496 -0.14110568 0.10730831
+v 0.13061988 -0.18687974 0.10730814
+v 0.12818739 -0.19143084 0.10409003
+v 0.12817946 -0.19143033 -0.03513537
+v 0.12817154 -0.19143027 -0.05304677
+v 0.12891634 -0.19004125 -0.05304677
+v 0.05207496 -0.14110510 -0.05304659
+v 0.05207496 -0.18832137 0.10730814
+v 0.12817946 -0.19143085 0.10730813
+v 0.12325902 -0.19349857 0.10730812
+v 0.12006587 -0.19484022 0.10730811
+v 0.12006587 -0.19485058 0.06313398
+v 0.12006587 -0.19483964 -0.05304679
+v 0.05207496 -0.18831553 -0.05304676
+v 0.05207496 -0.18832663 0.10633485
+v 0.10368816 -0.19480865 0.10730811
+v 0.11509789 -0.19483496 0.10730811
+v 0.11188098 -0.19482970 0.10730811
+v 0.11188098 -0.19483483 0.07132832
+v 0.10368816 -0.19481904 0.07132832
+v 0.10368816 -0.19481901 0.06313398
+v 0.11188098 -0.19483459 0.00582065
+v 0.11854458 -0.19483964 -0.05304679
+v 0.10368816 -0.19480807 -0.05304679
+v 0.10368816 -0.19481348 -0.01056805
+v 0.05207496 -0.18832658 0.09339972
+v 0.10691299 -0.19481917 0.10730811
+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 19
+f 2 19 18
+f 2 18 17
+f 2 17 26
+f 2 26 20
+f 2 20 9
+f 3 10 9
+f 3 9 20
+f 3 20 27
+f 3 27 35
+f 3 35 46
+f 3 46 37
+f 3 37 36
+f 3 36 30
+f 3 30 29
+f 3 29 28
+f 3 28 21
+f 3 21 11
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 15
+f 7 15 25
+f 7 25 24
+f 7 24 32
+f 7 32 42
+f 7 42 43
+f 7 43 33
+f 7 33 26
+f 7 26 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 14 22 23
+f 20 26 33
+f 20 33 45
+f 20 45 34
+f 20 34 27
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 32 24
+f 23 31 32
+f 27 34 35
+f 30 36 31
+f 31 36 37
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 33 43 44
+f 33 44 45
+f 34 45 40
+f 34 40 39
+f 34 39 35
+f 35 39 46
+f 37 46 39
+f 37 39 38
+f 40 45 44
+f 40 44 41
+f 41 44 43
+f 41 43 42
+

dataset/kitchen_supplies/storage/6152f723859e51e8a8265901dc282c67/mjcf/mesh/drawer_051_collision_41.obj

@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.12980736 0.05671239 0.10732413
+v 0.12975193 0.05671237 0.11229114
+v 0.14898860 0.00859293 0.10732395
+v -0.13346361 0.05671239 0.10732413
+v 0.12958560 0.05671232 0.12504230
+v 0.14896089 0.00856787 0.10879941
+v 0.14962614 0.00405981 0.10732393
+v -0.13346361 -0.02857360 0.10732382
+v -0.13349132 0.05671234 0.12048031
+v 0.12955789 0.05671232 0.12579631
+v 0.14740864 0.00405978 0.11396711
+v 0.14937667 0.00405980 0.10987163
+v 0.14968157 -0.00411315 0.10732390
+v -0.13346361 -0.02857367 0.12579600
+v 0.13094381 -0.02857360 0.10732382
+v -0.13346361 0.05671232 0.12579631
+v 0.13424232 0.00237339 0.12579611
+v 0.14330630 0.00405976 0.11881841
+v 0.14743637 -0.00411318 0.11403037
+v 0.14940439 -0.00411316 0.10993669
+v 0.14901633 -0.00869636 0.10888432
+v 0.14932123 -0.00720201 0.10732389
+v 0.12961333 -0.02857367 0.12579600
+v 0.14793530 -0.01006547 0.10732388
+v 0.13077751 -0.02857362 0.11217872
+v 0.13424232 -0.00236008 0.12579609
+v 0.14333402 -0.00411320 0.11887263
+v 0.14904405 -0.00873809 0.10732389
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 28
+f 1 28 24
+f 1 24 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
+f 4 8 9
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 11
+f 7 12 13
+f 8 14 9
+f 8 15 25
+f 8 25 23
+f 8 23 14
+f 9 14 16
+f 10 17 18
+f 10 18 11
+f 10 16 14
+f 10 14 23
+f 10 23 26
+f 10 26 17
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 15 24 25
+f 17 26 27
+f 17 27 18
+f 18 27 19
+f 19 21 20
+f 19 27 23
+f 19 23 21
+f 21 24 28
+f 21 28 22
+f 21 23 24
+f 23 25 24
+f 23 27 26
+