Add asset desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16

.gitattributes

@@ -2977,3 +2977,6 @@ dataset/desktop_supplies/electronic_accessories/034dbb7504865a77b1e34ea313eda1a7
 dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/1729ca28a58e5dce888f76fb1a6c58a4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/mesh/keyboard_71.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/1729ca28a58e5dce888f76fb1a6c58a4/mesh/keyboard_71_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/16abbf17a76153d7b1ffa8d2672f7a16.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/16abbf17a76153d7b1ffa8d2672f7a16.urdf

@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="keyboard_73">
+   <link name="keyboard_73">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/keyboard_73.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/keyboard_73_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.184252</scale>
+         <version>v0.1.5</version>
+         <category>keyboard</category>
+         <description>compact black keyboard with raised keys and ergonomic design</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20251014202232</generate_time>
+         <gs_model>mesh/keyboard_73_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Geometry appears incomplete or overly simplified, with missing structural details and irregular shapes.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.283049583435059</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/16abbf17a76153d7b1ffa8d2672f7a16.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beb211134390f2bbc23d35975093002e8fdb8db8ad826c5ac77a93fe0de71ea1
+size 504043

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd492171b58acc471ba457b5d8f6d84862016b0c872d0da9d909b2d8a7bc1107
+size 1449920

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/keyboard_73_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4948999f0518408a8f12935fe61d194ef7f705dc906a3de6c671ed14558ea92
+size 17216106

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/16abbf17a76153d7b1ffa8d2672f7a16.xml

@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="keyboard_73">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/keyboard_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/keyboard_73_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/keyboard_73_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/keyboard_73_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/keyboard_73_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/keyboard_73_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/keyboard_73_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/keyboard_73_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/keyboard_73_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/keyboard_73_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/keyboard_73_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/keyboard_73_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/keyboard_73_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="keyboard_73">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_0.obj

@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
+v -0.01274024 -0.03583336 -0.00961644
+v -0.01798311 -0.03583337 -0.00858863
+v -0.01274024 -0.03583343 0.00753412
+v -0.01274024 -0.08348229 -0.00869623
+v -0.01930241 -0.07741516 -0.00761223
+v -0.01930241 -0.07437882 -0.00767081
+v -0.01939069 -0.03583337 -0.00829810
+v -0.02226716 -0.07741516 -0.00703119
+v -0.01636218 -0.03583345 0.01307113
+v -0.01628371 -0.03797055 0.01307112
+v -0.01274024 -0.03763193 0.00760003
+v -0.01274024 -0.08651864 -0.00858393
+v -0.02226716 -0.08045150 -0.00693111
+v -0.02226716 -0.03583337 -0.00768532
+v -0.02504799 -0.08045151 -0.00615232
+v -0.02511420 -0.07741517 -0.00619136
+v -0.02523190 -0.03583337 -0.00688700
+v -0.02435891 -0.03583337 -0.00713602
+v -0.01748776 -0.03583345 0.01476300
+v -0.01742645 -0.03797055 0.01481425
+v -0.01274024 -0.03797053 0.00761224
+v -0.01274024 -0.05314669 0.00802965
+v -0.01274024 -0.05305232 0.00802722
+v -0.01274024 -0.08882226 -0.00788816
+v -0.02226716 -0.08890553 -0.00607178
+v -0.02429025 -0.08841151 -0.00581787
+v -0.01386581 -0.08651864 -0.00835200
+v -0.02226716 -0.08348230 -0.00676511
+v -0.02494499 -0.08348230 -0.00606200
+v -0.02819420 -0.08651865 -0.00488771
+v -0.02703675 -0.03583338 -0.00628154
+v -0.01930241 -0.03583346 0.01514141
+v -0.01274024 -0.05914721 0.00803940
+v -0.01274024 -0.05617748 0.00803697
+v -0.01930241 -0.03797056 0.01519022
+v -0.01746078 -0.05314671 0.01479222
+v -0.01751718 -0.08045158 0.01474818
+v -0.01627390 -0.08348237 0.01307095
+v -0.01626900 -0.08045158 0.01307096
+v -0.01274024 -0.07437888 0.00803202
+v -0.01274024 -0.06527540 0.00803694
+v -0.01274024 -0.08940511 -0.00738768
+v -0.01739702 -0.09104263 -0.00562257
+v -0.01930241 -0.09088166 -0.00545656
+v -0.01930241 -0.08936071 -0.00640869
+v -0.02226716 -0.09042093 -0.00518069
+v -0.02993283 -0.09116476 -0.00288825
+v -0.03284854 -0.08836711 -0.00290289
+v -0.02620299 -0.08651865 -0.00552979
+v -0.02472429 -0.08651865 -0.00594726
+v -0.02226716 -0.08651865 -0.00656737
+v -0.01930241 -0.08651864 -0.00721677
+v -0.02819420 -0.08955499 -0.00415531
+v -0.03101672 -0.08944953 -0.00323980
+v -0.03116140 -0.08651866 -0.00375004
+v -0.02768904 -0.03583338 -0.00604229
+v -0.02226716 -0.03583346 0.01532451
+v -0.01930241 -0.08045159 0.01506311
+v -0.01756623 -0.08348237 0.01470666
+v -0.01274024 -0.08348791 0.00796851
+v -0.01274024 -0.08045156 0.00800025
+v -0.01274024 -0.07741522 0.00802225
+v -0.01768884 -0.08512544 0.01461145
+v -0.01274024 -0.08597471 0.00791723
+v -0.01274024 -0.09114809 -0.00581300
+v -0.01337291 -0.09114255 -0.00579103
+v -0.01542053 -0.09109814 -0.00570802
+v -0.02226716 -0.09159218 -0.00373785
+v -0.02523190 -0.09152557 -0.00345709
+v -0.02819420 -0.09134238 -0.00312507
+v -0.02819420 -0.09205847 -0.00134532
+v -0.03101672 -0.09156999 -0.00135996
+v -0.03311093 -0.09133685 -0.00040783
+v -0.03190933 -0.09038763 -0.00232918
+v -0.03610755 -0.08651867 -0.00052256
+v -0.03442042 -0.08651866 -0.00196296
+v -0.03293682 -0.08651866 -0.00294927
+v -0.03396921 -0.08945509 -0.00130136
+v -0.03587950 -0.08852809 -0.00027355
+v -0.03415803 -0.03583339 -0.00335679
+v -0.03116140 -0.03583338 -0.00467024
+v -0.03050175 -0.03583338 -0.00494123
+v -0.02917019 -0.03583338 -0.00546612
+v -0.02314015 -0.03583346 0.01530986
+v -0.02523190 -0.08045159 0.01523645
+v -0.02226716 -0.08045159 0.01518274
+v -0.01930241 -0.08348238 0.01498254
+v -0.01930241 -0.08524201 0.01470422
+v -0.02819420 -0.09161997 0.00947480
+v -0.02523190 -0.09145900 0.00916718
+v -0.02315241 -0.09124252 0.00890352
+v -0.01390259 -0.09134797 0.00615699
+v -0.01274024 -0.09019893 0.00639137
+v -0.01274024 -0.08939960 0.00669898
+v -0.01274024 -0.09154221 -0.00423101
+v -0.01337291 -0.09154776 -0.00423101
+v -0.02226716 -0.09230826 -0.00134532
+v -0.01930241 -0.09157552 -0.00401372
+v -0.02523190 -0.09225829 -0.00134532
+v -0.02819420 -0.09252475 0.00153793
+v -0.03116140 -0.09225276 0.00153793
+v -0.03502121 -0.09052088 0.00153794
+v -0.03353762 -0.09154224 0.00153793
+v -0.03696338 -0.08651868 0.00153795
+v -0.03727482 -0.08348233 0.00153796
+v -0.03624978 -0.08348232 -0.00061532
+v -0.03632335 -0.08045153 -0.00066658
+v -0.03545526 -0.03583339 -0.00270006
+v -0.03441551 -0.08348231 -0.00205816
+v -0.03461414 -0.03583339 -0.00313707
+v -0.03617376 -0.08899993 0.00153794
+v -0.02523190 -0.03583346 0.01526836
+v -0.02523190 -0.07741525 0.01523891
+v -0.02762774 -0.08045158 0.01488245
+v -0.02754681 -0.08348237 0.01483362
+v -0.02523190 -0.08348238 0.01514855
+v -0.02226716 -0.08348238 0.01510217
+v -0.02796860 -0.05011037 0.01488501
+v -0.02226716 -0.08531417 0.01476770
+v -0.02523190 -0.08533637 0.01478723
+v -0.03116140 -0.09153671 0.00951874
+v -0.02819420 -0.09228608 0.00730199
+v -0.02523190 -0.09212511 0.00730199
+v -0.01633766 -0.09159776 0.00649145
+v -0.01274024 -0.09171432 0.00461161
+v -0.01274024 -0.09151450 0.00504128
+v -0.01274024 -0.09200850 -0.00134532
+v -0.01337291 -0.09203626 -0.00134532
+v -0.01633766 -0.09215838 -0.00134532
+v -0.01930241 -0.09226385 -0.00134532
+v -0.02523190 -0.09253585 0.00153793
+v -0.02819420 -0.09246925 0.00441874
+v -0.03116140 -0.09226942 0.00441874
+v -0.03363816 -0.09157555 0.00441874
+v -0.03511930 -0.09062635 0.00441875
+v -0.03705657 -0.08651869 0.00441876
+v -0.03733857 -0.08348234 0.00441877
+v -0.03740969 -0.08045154 0.00153797
+v -0.03748571 -0.07741520 0.00153799
+v -0.03637239 -0.07741519 -0.00070562
+v -0.03656367 -0.03583339 -0.00144764
+v -0.03640918 -0.07437885 -0.00073735
+v -0.03622281 -0.08911096 0.00441875
+v -0.02813535 -0.03583345 0.01483624
+v -0.02910888 -0.08045158 0.01421596
+v -0.02903041 -0.08348237 0.01417689
+v -0.02945220 -0.05011037 0.01441871
+v -0.02721821 -0.08521981 0.01469690
+v -0.03116140 -0.08973823 0.01095916
+v -0.03116140 -0.09210290 0.00730199
+v -0.03300548 -0.09130357 0.00920381
+v -0.02523190 -0.09246925 0.00441874
+v -0.02226716 -0.09243039 0.00441874
+v -0.01930241 -0.09238599 0.00441874
+v -0.01633766 -0.09224166 0.00441874
+v -0.01274024 -0.09221945 0.00153793
+v -0.01274024 -0.09205847 -0.00073253
+v -0.01337291 -0.09224165 0.00153793
+v -0.01633766 -0.09234157 0.00153793
+v -0.01930241 -0.09243038 0.00153793
+v -0.02226716 -0.09249144 0.00153793
+v -0.03336351 -0.09148120 0.00730199
+v -0.03484711 -0.09014898 0.00730200
+v -0.03591628 -0.08863359 0.00730200
+v -0.03568086 -0.08819507 0.00889621
+v -0.03638220 -0.08651870 0.00730201
+v -0.03658329 -0.08348235 0.00730202
+v -0.03743666 -0.08045155 0.00441878
+v -0.03748326 -0.07741521 0.00441880
+v -0.03752740 -0.07437886 0.00153800
+v -0.03779224 -0.03583341 0.00153814
+v -0.03755192 -0.07134807 0.00153801
+v -0.03759361 -0.06527538 0.00153803
+v -0.02921923 -0.03583345 0.01441632
+v -0.02941787 -0.04100689 0.01440654
+v -0.03275535 -0.08820618 0.01167448
+v -0.03457246 -0.03583344 0.01108142
+v -0.03386867 -0.08921089 0.01001191
+v -0.03578876 -0.08651870 0.00911594
+v -0.03587704 -0.08348235 0.00929172
+v -0.03665440 -0.08045156 0.00730203
+v -0.03670099 -0.07741522 0.00730205
+v -0.03750042 -0.07437887 0.00441881
+v -0.03771867 -0.03583341 0.00238773
+v -0.02950124 -0.03583345 0.01426984
+v -0.02932959 -0.03593892 0.01436750
+v -0.03418010 -0.08045157 0.01079073
+v -0.03420217 -0.08348236 0.01073457
+v -0.03425367 -0.08651871 0.01055634
+v -0.03505800 -0.03583344 0.01065663
+v -0.03593835 -0.07741522 0.00938697
+v -0.03591383 -0.08045156 0.00935033
+v -0.03671816 -0.07437888 0.00730206
+v -0.03690208 -0.03583343 0.00730220
+v -0.03753966 -0.03583342 0.00441895
+v -0.03607813 -0.03583344 0.00963858
+f 1 2 7
+f 1 7 14
+f 1 14 18
+f 1 18 17
+f 1 17 31
+f 1 31 56
+f 1 56 83
+f 1 83 82
+f 1 82 81
+f 1 81 80
+f 1 80 110
+f 1 110 108
+f 1 108 141
+f 1 141 171
+f 1 171 184
+f 1 184 195
+f 1 195 194
+f 1 194 196
+f 1 196 190
+f 1 190 177
+f 1 177 185
+f 1 185 174
+f 1 174 144
+f 1 144 112
+f 1 112 84
+f 1 84 57
+f 1 57 32
+f 1 32 19
+f 1 19 9
+f 1 9 3
+f 1 3 11
+f 1 11 21
+f 1 21 23
+f 1 23 22
+f 1 22 34
+f 1 34 33
+f 1 33 41
+f 1 41 40
+f 1 40 62
+f 1 62 61
+f 1 61 60
+f 1 60 64
+f 1 64 94
+f 1 94 93
+f 1 93 126
+f 1 126 125
+f 1 125 156
+f 1 156 157
+f 1 157 127
+f 1 127 95
+f 1 95 65
+f 1 65 42
+f 1 42 24
+f 1 24 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 5
+f 5 13 8
+f 5 8 6
+f 7 8 14
+f 8 13 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 14
+f 9 19 20
+f 9 20 10
+f 10 21 11
+f 10 20 22
+f 10 22 23
+f 10 23 21
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 29
+f 13 29 15
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 19 32 20
+f 20 33 34
+f 20 34 22
+f 20 32 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 33
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 25
+f 25 45 46
+f 25 46 47
+f 25 47 26
+f 26 48 30
+f 26 30 49
+f 26 49 50
+f 26 50 51
+f 26 51 52
+f 26 52 27
+f 26 47 53
+f 26 53 54
+f 26 54 48
+f 27 52 28
+f 28 52 51
+f 28 51 50
+f 28 50 29
+f 29 50 49
+f 29 49 30
+f 30 48 55
+f 30 55 56
+f 30 56 31
+f 32 57 35
+f 35 57 58
+f 35 58 37
+f 35 37 36
+f 37 58 59
+f 37 59 38
+f 38 60 61
+f 38 61 62
+f 38 62 40
+f 38 40 39
+f 38 59 63
+f 38 63 64
+f 38 64 60
+f 42 65 66
+f 42 66 67
+f 42 67 43
+f 43 67 68
+f 43 68 69
+f 43 69 70
+f 43 70 44
+f 44 70 47
+f 44 47 46
+f 44 46 45
+f 47 70 71
+f 47 71 72
+f 47 72 73
+f 47 73 74
+f 47 74 54
+f 47 54 53
+f 48 75 76
+f 48 76 77
+f 48 77 55
+f 48 54 74
+f 48 74 78
+f 48 78 79
+f 48 79 75
+f 55 77 80
+f 55 80 81
+f 55 81 82
+f 55 82 83
+f 55 83 56
+f 57 84 85
+f 57 85 86
+f 57 86 58
+f 58 86 117
+f 58 117 87
+f 58 87 59
+f 59 87 63
+f 63 87 88
+f 63 88 89
+f 63 89 90
+f 63 90 91
+f 63 91 92
+f 63 92 93
+f 63 93 94
+f 63 94 64
+f 65 95 96
+f 65 96 97
+f 65 97 98
+f 65 98 66
+f 66 98 68
+f 66 68 67
+f 68 98 99
+f 68 99 69
+f 69 99 71
+f 69 71 70
+f 71 99 100
+f 71 100 101
+f 71 101 72
+f 72 101 73
+f 73 102 79
+f 73 79 78
+f 73 78 74
+f 73 101 103
+f 73 103 102
+f 75 79 104
+f 75 104 105
+f 75 105 106
+f 75 106 76
+f 76 106 107
+f 76 107 108
+f 76 108 109
+f 76 109 77
+f 77 109 108
+f 77 108 110
+f 77 110 80
+f 79 102 111
+f 79 111 104
+f 84 112 113
+f 84 113 85
+f 85 114 115
+f 85 115 116
+f 85 116 117
+f 85 117 86
+f 85 113 118
+f 85 118 114
+f 87 117 88
+f 88 117 119
+f 88 119 89
+f 89 120 121
+f 89 121 122
+f 89 122 123
+f 89 123 90
+f 89 119 120
+f 90 123 124
+f 90 124 91
+f 91 124 92
+f 92 124 125
+f 92 125 126
+f 92 126 93
+f 95 127 128
+f 95 128 129
+f 95 129 130
+f 95 130 97
+f 95 97 96
+f 97 130 161
+f 97 161 131
+f 97 131 100
+f 97 100 99
+f 97 99 98
+f 100 131 132
+f 100 132 133
+f 100 133 101
+f 101 133 134
+f 101 134 103
+f 102 103 135
+f 102 135 111
+f 103 134 135
+f 104 136 105
+f 104 111 136
+f 105 136 137
+f 105 137 138
+f 105 138 106
+f 106 138 107
+f 107 138 139
+f 107 139 140
+f 107 140 108
+f 108 140 142
+f 108 142 141
+f 111 135 143
+f 111 143 136
+f 112 144 118
+f 112 118 113
+f 114 145 146
+f 114 146 115
+f 114 118 147
+f 114 147 145
+f 115 146 148
+f 115 148 116
+f 116 148 120
+f 116 120 119
+f 116 119 117
+f 118 144 147
+f 120 148 149
+f 120 149 121
+f 121 150 122
+f 121 149 151
+f 121 151 150
+f 122 150 132
+f 122 132 152
+f 122 152 153
+f 122 153 154
+f 122 154 155
+f 122 155 123
+f 123 155 124
+f 124 155 125
+f 125 155 156
+f 127 157 128
+f 128 157 129
+f 129 157 156
+f 129 156 130
+f 130 156 158
+f 130 158 159
+f 130 159 160
+f 130 160 161
+f 131 161 154
+f 131 154 153
+f 131 153 152
+f 131 152 132
+f 132 150 133
+f 133 150 134
+f 134 162 135
+f 134 150 162
+f 135 163 143
+f 135 162 163
+f 136 143 164
+f 136 164 165
+f 136 165 166
+f 136 166 137
+f 137 166 167
+f 137 167 168
+f 137 168 138
+f 138 168 139
+f 139 168 169
+f 139 169 170
+f 139 170 142
+f 139 142 140
+f 141 142 170
+f 141 170 172
+f 141 172 173
+f 141 173 171
+f 143 163 164
+f 144 174 175
+f 144 175 147
+f 145 176 146
+f 145 147 176
+f 146 176 148
+f 147 175 177
+f 147 177 176
+f 148 176 149
+f 149 176 151
+f 150 151 162
+f 151 163 162
+f 151 176 178
+f 151 178 165
+f 151 165 163
+f 154 160 159
+f 154 159 158
+f 154 158 156
+f 154 156 155
+f 154 161 160
+f 163 165 164
+f 165 176 179
+f 165 179 166
+f 165 178 176
+f 166 179 167
+f 167 179 180
+f 167 180 181
+f 167 181 168
+f 168 181 182
+f 168 182 169
+f 169 182 193
+f 169 193 183
+f 169 183 171
+f 169 171 173
+f 169 173 172
+f 169 172 170
+f 171 183 184
+f 174 185 186
+f 174 186 175
+f 175 186 185
+f 175 185 177
+f 176 177 187
+f 176 187 188
+f 176 188 189
+f 176 189 179
+f 177 190 191
+f 177 191 188
+f 177 188 187
+f 179 189 180
+f 180 189 188
+f 180 188 192
+f 180 192 181
+f 181 192 182
+f 182 192 191
+f 182 191 193
+f 183 193 194
+f 183 194 195
+f 183 195 184
+f 188 191 192
+f 190 196 191
+f 191 196 193
+f 193 196 194
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_1.obj

@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
+v -0.01274024 0.01647275 -0.00987941
+v -0.01274024 0.01647269 0.00617466
+v -0.03116016 0.01647273 -0.00650513
+v -0.01274024 0.01969349 -0.00986690
+v -0.01443212 0.01647267 0.00997135
+v -0.01274024 0.01897025 0.00688202
+v -0.01382465 0.01969341 0.01018631
+v -0.01472581 0.01793393 0.01194094
+v -0.03333903 0.01647273 -0.00609272
+v -0.01274024 0.02879658 -0.00980687
+v -0.01274024 0.02814795 -0.00981438
+v -0.01274024 0.02511359 -0.00983939
+v -0.01274024 0.02207923 -0.00985689
+v -0.01632231 0.01647266 0.01293321
+v -0.01274024 0.01969342 0.00699699
+v -0.01463293 0.01969341 0.01218339
+v -0.01274024 0.03811580 0.00793436
+v -0.01274024 0.04094141 0.00801686
+v -0.01537094 0.01969340 0.01362558
+v -0.01719335 0.01766552 0.01486280
+v -0.03427031 0.01647273 -0.00591276
+v -0.01930444 0.07430454 -0.00766467
+v -0.01633737 0.07430454 -0.00823705
+v -0.01274024 0.08340762 -0.00874940
+v -0.01860911 0.01647266 0.01408047
+v -0.01274024 0.04410251 0.00803436
+v -0.01463545 0.02272777 0.01220089
+v -0.01535838 0.02272776 0.01364558
+v -0.01685447 0.01969339 0.01503778
+v -0.01930444 0.01969339 0.01558766
+v -0.01930444 0.01741203 0.01503277
+v -0.03439582 0.01647273 -0.00588526
+v -0.02226900 0.07733890 -0.00702480
+v -0.01633737 0.07733890 -0.00817705
+v -0.01429657 0.08340762 -0.00844447
+v -0.01274024 0.08600211 -0.00863691
+v -0.01930444 0.01647266 0.01420794
+v -0.01274024 0.04700268 0.00803687
+v -0.01274024 0.06822830 0.00804445
+v -0.01274024 0.08340756 0.00803451
+v -0.01684192 0.02272775 0.01503279
+v -0.01500445 0.08340755 0.01138879
+v -0.01623194 0.08340754 0.01307094
+v -0.01756988 0.08340754 0.01469559
+v -0.01753474 0.08037318 0.01472807
+v -0.01930444 0.02272775 0.01560017
+v -0.02226649 0.01969339 0.01560016
+v -0.03116016 0.01647265 0.01531771
+v -0.02226649 0.02272775 0.01565515
+v -0.03647930 0.01647273 -0.00458804
+v -0.03539238 0.01723318 -0.00560782
+v -0.02226900 0.08037326 -0.00693730
+v -0.01633737 0.08340762 -0.00804205
+v -0.01396020 0.08644198 -0.00837697
+v -0.01274024 0.08644198 -0.00861692
+v -0.01274024 0.08652394 0.00766460
+v -0.01767531 0.08506265 0.01461311
+v -0.01930444 0.08340754 0.01496803
+v -0.01930444 0.08037317 0.01504300
+v -0.02226900 0.08037317 0.01518547
+v -0.02523355 0.02272775 0.01560267
+v -0.03417241 0.01647265 0.01519523
+v -0.02523355 0.08037317 0.01522797
+v -0.03659728 0.01647273 -0.00446807
+v -0.03633370 0.08340759 -0.00072362
+v -0.03457405 0.08340760 -0.00216581
+v -0.03301270 0.08644196 -0.00298812
+v -0.03116016 0.08644196 -0.00382544
+v -0.02819309 0.08644197 -0.00494270
+v -0.02653384 0.08340761 -0.00561757
+v -0.02517833 0.08037325 -0.00616746
+v -0.02505533 0.08340761 -0.00606997
+v -0.02226900 0.08340761 -0.00679482
+v -0.01930444 0.08340762 -0.00743218
+v -0.01633737 0.08644198 -0.00789207
+v -0.01274024 0.08749320 -0.00851944
+v -0.01274024 0.09009510 0.00647736
+v -0.01274024 0.09118359 0.00604746
+v -0.01337281 0.09128051 0.00615244
+v -0.02288149 0.09125813 0.00898684
+v -0.02523355 0.09151162 0.00932927
+v -0.02819309 0.09163089 0.00967419
+v -0.01930444 0.08517448 0.01470059
+v -0.02226900 0.08340753 0.01508051
+v -0.03552793 0.01647266 0.01454287
+v -0.02784668 0.08037318 0.01487054
+v -0.02920220 0.08340754 0.01434066
+v -0.02523355 0.08340753 0.01508301
+v -0.02772117 0.08340754 0.01478557
+v -0.03826908 0.01647271 -0.00133124
+v -0.03826155 0.01665909 -0.00134623
+v -0.03746079 0.08037322 0.00153839
+v -0.03735285 0.08340758 0.00153840
+v -0.03614293 0.08644195 -0.00055864
+v -0.03449372 0.08644196 -0.00200083
+v -0.03284200 0.08826109 -0.00290064
+v -0.02432235 0.08836548 -0.00581752
+v -0.02626525 0.08644197 -0.00554757
+v -0.02478925 0.08644197 -0.00595749
+v -0.02226900 0.08644197 -0.00659235
+v -0.01930444 0.08644198 -0.00726221
+v -0.02226900 0.08888736 -0.00607245
+v -0.01274024 0.08873826 -0.00797705
+v -0.01274024 0.09133270 0.00576253
+v -0.01633737 0.09159364 0.00657985
+v -0.02523355 0.09224971 0.00730220
+v -0.02819309 0.09239136 0.00730220
+v -0.03116016 0.09143707 0.00950673
+v -0.02729193 0.08507756 0.01464060
+v -0.02523355 0.08517448 0.01472058
+v -0.02226900 0.08520430 0.01473808
+v -0.03615799 0.01647266 0.01349310
+v -0.03116016 0.08340754 0.01295346
+v -0.03270896 0.08556963 0.01166124
+v -0.03424521 0.08340755 0.01057397
+v -0.03580154 0.08340756 0.00913428
+v -0.03238514 0.08759751 0.01160876
+v -0.03838455 0.01647270 0.00152315
+v -0.03752857 0.07733886 0.00153837
+v -0.03736791 0.08037321 0.00442027
+v -0.03728006 0.08340757 0.00442028
+v -0.03696628 0.08644193 0.00442029
+v -0.03698887 0.08644194 0.00153841
+v -0.03585928 0.08840273 -0.00024371
+v -0.03396658 0.08934212 -0.00128348
+v -0.03192829 0.09028151 -0.00232325
+v -0.02995275 0.09110906 -0.00291063
+v -0.03102712 0.08935704 -0.00325555
+v -0.02819309 0.08947634 -0.00419785
+v -0.02527874 0.08941669 -0.00501768
+v -0.02226900 0.09040081 -0.00525763
+v -0.01998470 0.09081086 -0.00550258
+v -0.01912119 0.08967017 -0.00627741
+v -0.01800917 0.09101216 -0.00569753
+v -0.01274024 0.08908866 -0.00773710
+v -0.01274024 0.09183221 0.00443031
+v -0.01337281 0.09192913 0.00442031
+v -0.01633737 0.09227954 0.00442031
+v -0.01930444 0.09242120 0.00442031
+v -0.02523355 0.09253302 0.00442031
+v -0.02819309 0.09257030 0.00442031
+v -0.03116016 0.09235410 0.00442031
+v -0.03116016 0.09206332 0.00730220
+v -0.03285958 0.09115376 0.00905431
+v -0.03130073 0.08930480 0.01107388
+v -0.03623079 0.01647266 0.01333563
+v -0.03413225 0.08661339 0.01028404
+v -0.03571368 0.08562183 0.00895682
+v -0.03645671 0.08340756 0.00730217
+v -0.03654707 0.08037320 0.00730216
+v -0.03628099 0.01647266 0.01320316
+v -0.03350721 0.08947628 0.00968418
+v -0.03555554 0.08764970 0.00859690
+v -0.03837702 0.01647270 0.00171061
+v -0.03741812 0.07733885 0.00442025
+v -0.03731520 0.01647267 0.01018630
+v -0.03607767 0.08656121 0.00750214
+v -0.03586681 0.08843999 0.00667481
+v -0.03615799 0.08889477 0.00442030
+v -0.03615297 0.08887242 0.00153842
+v -0.03502086 0.09038587 0.00153842
+v -0.03311311 0.09130290 -0.00040116
+v -0.03102712 0.09156383 -0.00135345
+v -0.02819309 0.09210808 -0.00134595
+v -0.02819309 0.09128800 -0.00315057
+v -0.02523355 0.09148929 -0.00349299
+v -0.02226900 0.09157875 -0.00381543
+v -0.01633737 0.09108671 -0.00580001
+v -0.01274024 0.09090033 -0.00628241
+v -0.01274024 0.09197387 0.00380545
+v -0.01274024 0.09222736 0.00153843
+v -0.01930444 0.09245103 0.00153843
+v -0.02226900 0.09253303 0.00153843
+v -0.02523355 0.09260013 0.00153843
+v -0.01337281 0.09225718 0.00153843
+v -0.01633737 0.09236156 0.00153843
+v -0.02819309 0.09263741 0.00153843
+v -0.03116016 0.09236156 0.00153843
+v -0.03357247 0.09155636 0.00442031
+v -0.03319343 0.09136251 0.00730220
+v -0.03505350 0.09040823 0.00442030
+v -0.03483009 0.08946138 0.00750215
+v -0.03726499 0.01647267 0.01035877
+v -0.03820632 0.01647269 0.00441753
+v -0.03819126 0.01647269 0.00459000
+v -0.03786996 0.01647268 0.00729942
+v -0.03353733 0.09153400 0.00153843
+v -0.02523355 0.09230193 -0.00134595
+v -0.01633737 0.09165332 -0.00423034
+v -0.01337281 0.09117617 -0.00595248
+v -0.01274024 0.09118363 -0.00597747
+v -0.01274024 0.09208571 -0.00134595
+v -0.01633737 0.09223483 -0.00134595
+v -0.01930444 0.09231684 -0.00134595
+v -0.02226900 0.09234666 -0.00134595
+v -0.01337281 0.09168314 -0.00423034
+v -0.01274024 0.09157876 -0.00462025
+v -0.01274024 0.09201118 -0.00195832
+v -0.01274024 0.09167569 -0.00423034
+f 1 2 5
+f 1 5 14
+f 1 14 25
+f 1 25 37
+f 1 37 48
+f 1 48 62
+f 1 62 85
+f 1 85 112
+f 1 112 146
+f 1 146 151
+f 1 151 183
+f 1 183 156
+f 1 156 186
+f 1 186 185
+f 1 185 184
+f 1 184 154
+f 1 154 118
+f 1 118 90
+f 1 90 64
+f 1 64 50
+f 1 50 32
+f 1 32 21
+f 1 21 9
+f 1 9 3
+f 1 3 4
+f 1 4 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 24
+f 1 24 36
+f 1 36 55
+f 1 55 76
+f 1 76 103
+f 1 103 135
+f 1 135 169
+f 1 169 191
+f 1 191 197
+f 1 197 199
+f 1 199 198
+f 1 198 192
+f 1 192 171
+f 1 171 170
+f 1 170 136
+f 1 136 104
+f 1 104 78
+f 1 78 77
+f 1 77 56
+f 1 56 40
+f 1 40 39
+f 1 39 38
+f 1 38 26
+f 1 26 18
+f 1 18 17
+f 1 17 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 5 8 14
+f 6 15 7
+f 7 16 8
+f 7 15 17
+f 7 17 18
+f 7 18 16
+f 8 16 19
+f 8 19 20
+f 8 20 14
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 14 20 25
+f 16 18 26
+f 16 26 27
+f 16 27 28
+f 16 28 19
+f 19 29 20
+f 19 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 25
+f 21 32 33
+f 21 33 22
+f 22 33 24
+f 22 24 34
+f 22 34 23
+f 23 34 24
+f 24 33 35
+f 24 35 36
+f 25 31 37
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 41 29
+f 28 40 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 41
+f 29 41 46
+f 29 46 30
+f 30 47 48
+f 30 48 31
+f 30 46 49
+f 30 49 47
+f 31 48 37
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 35
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 40 56 42
+f 41 45 46
+f 42 56 43
+f 43 56 57
+f 43 57 44
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 45 59 46
+f 46 59 60
+f 46 60 49
+f 47 49 61
+f 47 61 48
+f 48 61 62
+f 49 63 61
+f 49 60 63
+f 50 64 65
+f 50 65 51
+f 51 65 66
+f 51 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 70
+f 51 70 71
+f 51 71 52
+f 52 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 53
+f 53 74 75
+f 53 75 54
+f 54 75 76
+f 54 76 55
+f 56 77 57
+f 57 77 78
+f 57 78 79
+f 57 79 80
+f 57 80 81
+f 57 81 82
+f 57 82 83
+f 57 83 58
+f 58 83 84
+f 58 84 60
+f 58 60 59
+f 60 84 63
+f 61 63 62
+f 62 63 86
+f 62 86 87
+f 62 87 85
+f 63 84 88
+f 63 88 89
+f 63 89 86
+f 64 90 91
+f 64 91 65
+f 65 92 93
+f 65 93 94
+f 65 94 95
+f 65 95 66
+f 65 91 92
+f 66 95 67
+f 67 95 96
+f 67 96 68
+f 68 96 69
+f 69 96 97
+f 69 97 98
+f 69 98 70
+f 70 98 72
+f 70 72 71
+f 72 98 99
+f 72 99 73
+f 73 99 100
+f 73 100 101
+f 73 101 74
+f 74 101 75
+f 75 101 76
+f 76 97 102
+f 76 102 103
+f 76 101 97
+f 78 104 79
+f 79 104 105
+f 79 105 81
+f 79 81 80
+f 81 105 106
+f 81 106 82
+f 82 106 107
+f 82 107 108
+f 82 108 109
+f 82 109 110
+f 82 110 111
+f 82 111 83
+f 83 111 84
+f 84 111 88
+f 85 87 113
+f 85 113 114
+f 85 114 115
+f 85 115 116
+f 85 116 112
+f 86 89 87
+f 87 89 109
+f 87 109 117
+f 87 117 114
+f 87 114 113
+f 88 111 110
+f 88 110 109
+f 88 109 89
+f 90 118 119
+f 90 119 92
+f 90 92 91
+f 92 119 120
+f 92 120 121
+f 92 121 93
+f 93 121 122
+f 93 122 123
+f 93 123 94
+f 94 123 124
+f 94 124 95
+f 95 124 96
+f 96 124 125
+f 96 125 126
+f 96 126 127
+f 96 127 128
+f 96 128 97
+f 97 101 100
+f 97 100 99
+f 97 99 98
+f 97 128 129
+f 97 129 127
+f 97 127 130
+f 97 130 102
+f 102 130 131
+f 102 131 132
+f 102 132 133
+f 102 133 103
+f 103 133 132
+f 103 132 134
+f 103 134 135
+f 104 136 105
+f 105 136 137
+f 105 137 138
+f 105 138 106
+f 106 138 107
+f 107 139 140
+f 107 140 141
+f 107 141 142
+f 107 142 143
+f 107 143 108
+f 107 138 139
+f 108 144 145
+f 108 145 109
+f 108 143 144
+f 109 145 117
+f 112 116 146
+f 114 147 115
+f 114 117 147
+f 115 147 148
+f 115 148 116
+f 116 148 149
+f 116 149 150
+f 116 150 151
+f 116 151 146
+f 117 145 144
+f 117 144 152
+f 117 152 153
+f 117 153 147
+f 118 154 155
+f 118 155 119
+f 119 155 120
+f 120 150 121
+f 120 155 156
+f 120 156 150
+f 121 150 149
+f 121 149 157
+f 121 157 122
+f 122 157 153
+f 122 153 158
+f 122 158 159
+f 122 159 123
+f 123 159 160
+f 123 160 124
+f 124 160 161
+f 124 161 162
+f 124 162 125
+f 125 162 126
+f 126 162 127
+f 127 132 131
+f 127 131 130
+f 127 129 128
+f 127 162 163
+f 127 163 164
+f 127 164 165
+f 127 165 132
+f 132 165 134
+f 134 165 166
+f 134 166 167
+f 134 167 168
+f 134 168 135
+f 135 168 169
+f 136 170 137
+f 137 170 138
+f 138 170 171
+f 138 171 139
+f 139 172 173
+f 139 173 174
+f 139 174 140
+f 139 171 175
+f 139 175 176
+f 139 176 172
+f 140 174 177
+f 140 177 141
+f 141 177 142
+f 142 177 178
+f 142 178 179
+f 142 179 143
+f 143 179 180
+f 143 180 144
+f 144 180 181
+f 144 181 182
+f 144 182 153
+f 144 153 152
+f 147 153 148
+f 148 153 157
+f 148 157 149
+f 150 156 183
+f 150 183 151
+f 153 182 158
+f 154 184 155
+f 155 184 185
+f 155 185 186
+f 155 186 156
+f 158 182 181
+f 158 181 159
+f 159 181 160
+f 160 181 161
+f 161 181 179
+f 161 179 187
+f 161 187 162
+f 162 187 178
+f 162 178 163
+f 163 178 164
+f 164 167 166
+f 164 166 165
+f 164 178 177
+f 164 177 188
+f 164 188 167
+f 167 188 189
+f 167 189 190
+f 167 190 168
+f 168 190 169
+f 169 190 191
+f 171 192 175
+f 172 176 193
+f 172 193 173
+f 173 193 194
+f 173 194 174
+f 174 194 177
+f 175 192 193
+f 175 193 176
+f 177 194 195
+f 177 195 188
+f 178 187 179
+f 179 181 180
+f 188 195 189
+f 189 196 197
+f 189 197 191
+f 189 191 190
+f 189 195 196
+f 192 198 193
+f 193 198 199
+f 193 199 194
+f 194 199 196
+f 194 196 195
+f 196 199 197
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_10.obj

@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
+v 0.03103749 -0.05027600 -0.02014164
+v 0.02858748 -0.05027600 -0.02013633
+v 0.03226955 -0.05027600 -0.02001686
+v 0.03262929 -0.05140117 -0.02011245
+v 0.03265280 -0.05314456 -0.02011511
+v 0.03277507 -0.05921141 -0.02011513
+v 0.03245295 -0.05921141 -0.02011513
+v 0.02843935 -0.05027600 -0.02013368
+v 0.03250467 -0.06126804 -0.02010718
+v 0.03341461 -0.05027600 -0.01884608
+v 0.03569298 -0.05410488 -0.01752398
+v 0.03589283 -0.05617799 -0.01792221
+v 0.03608564 -0.05921141 -0.01827267
+v 0.03425871 -0.05921141 -0.01971691
+v 0.03386840 -0.06226956 -0.01985762
+v 0.03274450 -0.06126804 -0.02010718
+v 0.02698863 -0.05027600 -0.02006731
+v 0.02814074 -0.08348704 -0.01973292
+v 0.02517816 -0.08652047 -0.01961878
+v 0.03502052 -0.05027601 -0.01579299
+v 0.03543434 -0.05208123 -0.01672751
+v 0.03592340 -0.05311160 -0.01576646
+v 0.03656764 -0.05617800 -0.01576647
+v 0.03696265 -0.05921142 -0.01576648
+v 0.03713429 -0.06224897 -0.01576649
+v 0.03616323 -0.06224896 -0.01836825
+v 0.03407061 -0.06528238 -0.01963728
+v 0.02517816 -0.05027600 -0.01984961
+v 0.02814074 -0.08652047 -0.01949665
+v 0.02517816 -0.08955389 -0.01870021
+v 0.02226731 -0.08970639 -0.01799933
+v 0.01924830 -0.08866778 -0.01753473
+v 0.02221323 -0.08652047 -0.01886480
+v 0.02237312 -0.05027600 -0.01918855
+v 0.03503933 -0.05027601 -0.01571866
+v 0.03566946 -0.05130640 -0.01480540
+v 0.03654883 -0.05314458 -0.01288064
+v 0.03717897 -0.05617801 -0.01288065
+v 0.03760219 -0.05921143 -0.01288066
+v 0.03781616 -0.06224898 -0.01288067
+v 0.03780676 -0.06528240 -0.01288068
+v 0.03708727 -0.06528239 -0.01576650
+v 0.03613266 -0.06528238 -0.01824083
+v 0.03407061 -0.06831581 -0.01929481
+v 0.03110568 -0.08044950 -0.01885681
+v 0.03030390 -0.08652047 -0.01818250
+v 0.02989243 -0.08839164 -0.01767277
+v 0.02794324 -0.08946322 -0.01813207
+v 0.02682404 -0.09116541 -0.01737544
+v 0.02517816 -0.09121898 -0.01745244
+v 0.02329011 -0.09116953 -0.01736482
+v 0.02131270 -0.09081508 -0.01684712
+v 0.01766590 -0.08811962 -0.01724268
+v 0.01453874 -0.08916236 -0.01526748
+v 0.02221323 -0.05027600 -0.01914342
+v 0.03548607 -0.05027602 -0.01384433
+v 0.03586697 -0.05075411 -0.01288063
+v 0.03691328 -0.05314459 -0.00999747
+v 0.03757633 -0.05617802 -0.00999748
+v 0.03805599 -0.05921144 -0.00999749
+v 0.03835224 -0.06217892 -0.00986741
+v 0.03855680 -0.06314336 -0.00881874
+v 0.03833579 -0.06528241 -0.01026299
+v 0.03822292 -0.06809739 -0.00976389
+v 0.03754106 -0.06831583 -0.01288069
+v 0.03678396 -0.06831582 -0.01576651
+v 0.03597513 -0.06831581 -0.01794615
+v 0.03119267 -0.08318618 -0.01825152
+v 0.03575646 -0.07056615 -0.01757713
+v 0.03259167 -0.08197858 -0.01721346
+v 0.03133845 -0.08652048 -0.01576658
+v 0.03273745 -0.08830924 -0.00901264
+v 0.03019574 -0.08884500 -0.01576659
+v 0.02928110 -0.09078212 -0.01353917
+v 0.02874972 -0.09036171 -0.01576659
+v 0.02726608 -0.09140033 -0.01576660
+v 0.02517816 -0.09170532 -0.01576660
+v 0.01742608 -0.09115305 -0.01448430
+v 0.02226731 -0.09144979 -0.01583829
+v 0.01924830 -0.09130143 -0.01489581
+v 0.01453874 -0.09070381 -0.01356838
+v 0.01453874 -0.09005673 -0.01431704
+v 0.01453874 -0.08652048 -0.01614357
+v 0.01940819 -0.05027600 -0.01812395
+v 0.03568827 -0.05027602 -0.01288062
+v 0.03603861 -0.05030900 -0.00999745
+v 0.03602685 -0.05027603 -0.00999745
+v 0.03652297 -0.05314460 -0.00711430
+v 0.03585521 -0.05081596 -0.00711429
+v 0.03712489 -0.05617803 -0.00711431
+v 0.03855680 -0.06314336 -0.00835680
+v 0.03855680 -0.06528242 -0.00882141
+v 0.03853329 -0.06693926 -0.00864620
+v 0.03766098 -0.07134514 -0.00999753
+v 0.03696265 -0.07134513 -0.01288070
+v 0.03608093 -0.07148112 -0.01589130
+v 0.03546961 -0.07258569 -0.01693732
+v 0.03575881 -0.07347181 -0.01501256
+v 0.03606683 -0.07444449 -0.01290991
+v 0.03689917 -0.07438268 -0.00999754
+v 0.03598688 -0.07742023 -0.00995507
+v 0.03566946 -0.07931612 -0.00896482
+v 0.03408707 -0.08348707 -0.00999758
+v 0.03308543 -0.08654523 -0.00998166
+v 0.03273745 -0.08830924 -0.00761884
+v 0.03004056 -0.09138800 -0.00711444
+v 0.02998178 -0.09135089 -0.00999761
+v 0.03158063 -0.08941379 -0.00998167
+v 0.02968082 -0.09112010 -0.01161706
+v 0.02814074 -0.09204331 -0.00999761
+v 0.02517816 -0.09214221 -0.01288078
+v 0.02221323 -0.09195263 -0.01288078
+v 0.01545102 -0.09087279 -0.01379669
+v 0.01453874 -0.09123961 -0.01223300
+v 0.01924830 -0.09165999 -0.01288078
+v 0.01453874 -0.05027601 -0.01624697
+v 0.01924830 -0.05027600 -0.01806555
+v 0.03561774 -0.05027604 -0.00711428
+v 0.03560833 -0.05145892 -0.00562226
+v 0.03760925 -0.05921145 -0.00711432
+v 0.03804188 -0.06528242 -0.00690991
+v 0.03855680 -0.06528242 -0.00835150
+v 0.03807244 -0.06217893 -0.00728424
+v 0.03853329 -0.06693926 -0.00848160
+v 0.03684744 -0.07438269 -0.00711437
+v 0.03566946 -0.07931612 -0.00786040
+v 0.03313951 -0.08681313 -0.00684097
+v 0.03257991 -0.08802074 -0.00569938
+v 0.03173111 -0.08941380 -0.00684098
+v 0.02814074 -0.09193204 -0.00711444
+v 0.02976076 -0.09117369 -0.00559054
+v 0.02517816 -0.09237715 -0.00999761
+v 0.01453874 -0.09188257 -0.00711444
+v 0.01453874 -0.09156522 -0.00999761
+v 0.01453874 -0.05027609 0.00539008
+v 0.03409177 -0.05027605 -0.00537800
+v 0.03579878 -0.05314461 -0.00548422
+v 0.02159955 -0.05027608 0.00379717
+v 0.02635849 -0.05799154 0.00573518
+v 0.02954915 -0.05816051 0.00292900
+v 0.03282680 -0.05983383 0.00054759
+v 0.03303841 -0.06224903 0.00086881
+v 0.03311365 -0.06528245 0.00093252
+v 0.03296317 -0.06831588 0.00071747
+v 0.03797840 -0.06809740 -0.00735859
+v 0.03742350 -0.07134515 -0.00711436
+v 0.03575646 -0.07669074 -0.00551881
+v 0.03543199 -0.07871440 -0.00594094
+v 0.03600569 -0.07758922 -0.00698430
+v 0.02950212 -0.08450512 -0.00043214
+v 0.02752472 -0.08577043 0.00095103
+v 0.02973019 -0.08248147 0.00031654
+v 0.02517816 -0.09214635 -0.00711444
+v 0.02814074 -0.09130558 -0.00548701
+v 0.02500182 -0.08595590 0.00176076
+v 0.01628102 -0.08622380 0.00399083
+v 0.01453874 -0.08626090 0.00437048
+v 0.01453874 -0.08722533 0.00309615
+v 0.02221323 -0.09213811 -0.00711444
+v 0.01924830 -0.09212163 -0.00711444
+v 0.01628102 -0.09199798 -0.00711444
+v 0.01453874 -0.09163530 -0.00420737
+v 0.01924830 -0.05027609 0.00475822
+v 0.01453874 -0.05314465 0.00547501
+v 0.01924830 -0.06224905 0.00679179
+v 0.02221323 -0.06224906 0.00698029
+v 0.02221323 -0.05921150 0.00659534
+v 0.02438109 -0.05739392 0.00605376
+v 0.02144202 -0.05027608 0.00386354
+v 0.02529338 -0.05908786 0.00631658
+v 0.02689693 -0.06001519 0.00608561
+v 0.02697217 -0.06224905 0.00616790
+v 0.02683815 -0.06402541 0.00604311
+v 0.02836411 -0.08348711 0.00130148
+v 0.03598923 -0.07438270 -0.00537809
+v 0.02580360 -0.08348712 0.00287580
+v 0.02389673 -0.08504505 0.00299793
+v 0.01453874 -0.09113249 -0.00272330
+v 0.01453874 -0.08348713 0.00550145
+v 0.01453874 -0.05619456 0.00555465
+v 0.01697934 -0.06224905 0.00626613
+v 0.02517816 -0.06224905 0.00675993
+v 0.01453874 -0.08275350 0.00550677
+v 0.01453874 -0.05921150 0.00555995
+v 0.01453874 -0.07134520 0.00555460
+v 0.01453874 -0.07438274 0.00554663
+f 1 2 8
+f 1 8 17
+f 1 17 28
+f 1 28 34
+f 1 34 55
+f 1 55 84
+f 1 84 117
+f 1 117 116
+f 1 116 135
+f 1 135 163
+f 1 163 169
+f 1 169 138
+f 1 138 136
+f 1 136 118
+f 1 118 87
+f 1 87 85
+f 1 85 56
+f 1 56 35
+f 1 35 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 6
+f 4 6 5
+f 6 15 16
+f 6 16 9
+f 6 9 7
+f 8 9 18
+f 8 18 19
+f 8 19 17
+f 9 16 18
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 18
+f 15 18 16
+f 17 19 28
+f 18 29 19
+f 18 27 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 28
+f 20 35 36
+f 20 36 21
+f 21 36 22
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 29
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 29 44 45
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 51 52
+f 31 52 32
+f 32 53 33
+f 32 52 54
+f 32 54 53
+f 33 53 55
+f 33 55 34
+f 35 56 36
+f 36 56 57
+f 36 57 37
+f 37 58 59
+f 37 59 38
+f 37 57 58
+f 38 59 60
+f 38 60 39
+f 39 60 61
+f 39 61 40
+f 40 61 62
+f 40 62 63
+f 40 63 41
+f 41 63 64
+f 41 64 65
+f 41 65 42
+f 42 65 66
+f 42 66 67
+f 42 67 43
+f 43 67 44
+f 44 67 68
+f 44 68 46
+f 44 46 45
+f 46 68 67
+f 46 67 69
+f 46 69 70
+f 46 70 47
+f 47 71 72
+f 47 72 73
+f 47 73 74
+f 47 74 75
+f 47 75 49
+f 47 49 48
+f 47 70 71
+f 49 75 74
+f 49 74 76
+f 49 76 77
+f 49 77 50
+f 50 77 51
+f 51 78 52
+f 51 77 79
+f 51 79 80
+f 51 80 78
+f 52 78 81
+f 52 81 82
+f 52 82 54
+f 53 83 55
+f 53 54 83
+f 54 82 81
+f 54 81 114
+f 54 114 134
+f 54 134 133
+f 54 133 162
+f 54 162 178
+f 54 178 158
+f 54 158 157
+f 54 157 179
+f 54 179 183
+f 54 183 186
+f 54 186 185
+f 54 185 184
+f 54 184 180
+f 54 180 164
+f 54 164 135
+f 54 135 116
+f 54 116 83
+f 55 83 84
+f 56 85 57
+f 57 86 58
+f 57 85 87
+f 57 87 86
+f 58 88 59
+f 58 86 89
+f 58 89 88
+f 59 88 90
+f 59 90 91
+f 59 91 60
+f 60 91 62
+f 60 62 61
+f 62 91 122
+f 62 122 92
+f 62 92 63
+f 63 92 93
+f 63 93 64
+f 64 93 94
+f 64 94 65
+f 65 94 95
+f 65 95 66
+f 66 95 96
+f 66 96 69
+f 66 69 67
+f 69 96 97
+f 69 97 70
+f 70 97 98
+f 70 98 99
+f 70 99 100
+f 70 100 101
+f 70 101 102
+f 70 102 103
+f 70 103 104
+f 70 104 72
+f 70 72 71
+f 72 105 106
+f 72 106 107
+f 72 107 108
+f 72 108 73
+f 72 104 103
+f 72 103 102
+f 72 102 126
+f 72 126 105
+f 73 108 109
+f 73 109 74
+f 74 109 76
+f 76 107 110
+f 76 110 111
+f 76 111 77
+f 76 109 107
+f 77 111 112
+f 77 112 79
+f 78 113 81
+f 78 80 114
+f 78 114 113
+f 79 112 115
+f 79 115 80
+f 80 115 114
+f 81 113 114
+f 83 116 117
+f 83 117 84
+f 86 87 89
+f 87 118 89
+f 88 89 119
+f 88 119 90
+f 89 118 119
+f 90 119 120
+f 90 120 91
+f 91 121 122
+f 91 120 123
+f 91 123 121
+f 92 122 124
+f 92 124 93
+f 93 124 94
+f 94 125 126
+f 94 126 102
+f 94 102 100
+f 94 100 95
+f 94 124 125
+f 95 100 98
+f 95 98 96
+f 96 98 97
+f 98 100 99
+f 100 102 101
+f 105 126 127
+f 105 127 128
+f 105 128 129
+f 105 129 106
+f 106 130 110
+f 106 110 107
+f 106 129 131
+f 106 131 130
+f 107 109 108
+f 110 130 132
+f 110 132 111
+f 111 132 112
+f 112 132 133
+f 112 133 134
+f 112 134 115
+f 114 115 134
+f 118 136 119
+f 119 137 120
+f 119 136 138
+f 119 138 139
+f 119 139 140
+f 119 140 141
+f 119 141 142
+f 119 142 137
+f 120 142 123
+f 120 137 142
+f 121 123 142
+f 121 142 143
+f 121 143 144
+f 121 144 145
+f 121 145 124
+f 121 124 122
+f 124 145 146
+f 124 146 125
+f 125 146 147
+f 125 147 148
+f 125 148 149
+f 125 149 126
+f 126 149 128
+f 126 128 127
+f 128 150 151
+f 128 151 131
+f 128 131 129
+f 128 149 148
+f 128 148 147
+f 128 147 152
+f 128 152 150
+f 130 153 132
+f 130 131 154
+f 130 154 153
+f 131 151 155
+f 131 155 156
+f 131 156 157
+f 131 157 158
+f 131 158 154
+f 132 153 159
+f 132 159 160
+f 132 160 161
+f 132 161 133
+f 133 161 162
+f 135 164 165
+f 135 165 166
+f 135 166 167
+f 135 167 168
+f 135 168 163
+f 138 169 139
+f 139 169 163
+f 139 163 168
+f 139 168 170
+f 139 170 171
+f 139 171 140
+f 140 171 141
+f 141 171 142
+f 142 171 172
+f 142 172 143
+f 143 172 144
+f 144 172 173
+f 144 173 174
+f 144 174 152
+f 144 152 147
+f 144 147 175
+f 144 175 145
+f 145 175 146
+f 146 175 147
+f 150 174 151
+f 150 152 174
+f 151 174 176
+f 151 176 177
+f 151 177 155
+f 153 162 159
+f 153 154 178
+f 153 178 162
+f 154 158 178
+f 155 177 156
+f 156 177 157
+f 157 177 179
+f 159 162 160
+f 160 162 161
+f 164 180 165
+f 165 180 181
+f 165 181 179
+f 165 179 166
+f 166 182 167
+f 166 179 182
+f 167 182 170
+f 167 170 168
+f 170 182 171
+f 171 182 172
+f 172 182 173
+f 173 182 176
+f 173 176 174
+f 176 179 177
+f 176 182 179
+f 179 181 183
+f 180 184 181
+f 181 184 185
+f 181 185 186
+f 181 186 183
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_11.obj

@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
+v -0.03116140 -0.01452331 0.01659105
+v -0.01990543 -0.01238141 0.01763429
+v -0.02226764 -0.01253008 0.01781304
+v -0.03116140 -0.01297302 0.01813832
+v -0.03428904 -0.01452331 0.01621302
+v -0.01647110 -0.01452330 0.01281077
+v -0.01792848 -0.01206589 0.01732660
+v -0.01907156 -0.01089483 0.01794785
+v -0.02226764 -0.01065819 0.01862479
+v -0.02523307 -0.01065819 0.01889732
+v -0.02819597 -0.01065819 0.01913175
+v -0.03346785 -0.01280313 0.01790389
+v -0.03116140 -0.01065819 0.01929000
+v -0.03489734 -0.01452331 0.01582034
+v -0.01470705 -0.01249061 0.01213384
+v -0.01274024 -0.01452327 0.00598577
+v -0.01662825 -0.01089482 0.01620131
+v -0.01751027 -0.01004534 0.01759913
+v -0.01507963 -0.01065817 0.01412948
+v -0.01930221 -0.00762130 0.01841087
+v -0.02226764 -0.00762130 0.01902627
+v -0.02523307 -0.00762130 0.01935448
+v -0.02819597 -0.00762130 0.01962408
+v -0.03116140 -0.00762130 0.01984679
+v -0.03432453 -0.01071886 0.01829951
+v -0.03544480 -0.01177160 0.01713026
+v -0.03412683 -0.00762130 0.01914642
+v -0.03581992 -0.01452331 0.01497637
+v -0.01274024 -0.01452321 -0.00989431
+v -0.01274024 -0.01280914 0.00603559
+v -0.01450429 -0.00762128 0.01293680
+v -0.01489968 -0.00762128 0.01437858
+v -0.01455751 -0.01065817 0.01268771
+v -0.01594138 -0.00762129 0.01595516
+v -0.01737848 -0.00762129 0.01769292
+v -0.01742410 0.00754801 0.01766367
+v -0.01930221 0.00754800 0.01834939
+v -0.02226764 0.00451414 0.01899701
+v -0.02523307 0.00451414 0.01937797
+v -0.03116140 -0.00458744 0.02003142
+v -0.03412683 -0.00458744 0.01953617
+v -0.03574895 -0.00975105 0.01760792
+v -0.03590102 -0.00762130 0.01787753
+v -0.03657521 -0.01452330 0.01310089
+v -0.01274024 0.00147736 -0.00990597
+v -0.01279093 -0.01452321 -0.00988552
+v -0.03412683 -0.00458735 -0.00628104
+v -0.03412683 -0.00155349 -0.00629569
+v -0.01274024 0.01647062 0.00617636
+v -0.01447641 0.00754802 0.01298082
+v -0.01488447 0.00754802 0.01442260
+v -0.01597180 0.00754801 0.01595522
+v -0.01754322 0.00991745 0.01758163
+v -0.01908930 0.01079119 0.01792742
+v -0.02226764 0.00754800 0.01897065
+v -0.02523307 0.00754800 0.01932523
+v -0.02819597 0.00451414 0.01970618
+v -0.03116140 0.00451414 0.01999922
+v -0.03412683 0.00147725 0.01972375
+v -0.03412683 -0.00155358 0.01971201
+v -0.03612153 -0.00155358 0.01832884
+v -0.03603282 -0.00458744 0.01814421
+v -0.03752314 -0.01452329 0.01018510
+v -0.03670955 -0.01369203 0.01307158
+v -0.03759918 -0.01369202 0.01018510
+v -0.01274024 0.00451425 -0.00990303
+v -0.03331324 -0.01452323 -0.00621953
+v -0.03412683 -0.01369196 -0.00611111
+v -0.03412683 -0.01065810 -0.00618729
+v -0.03412683 -0.00762121 -0.00624003
+v -0.03580978 -0.00762121 -0.00580632
+v -0.03585033 -0.00458735 -0.00583268
+v -0.03586554 -0.00155349 -0.00584440
+v -0.03412683 0.00147734 -0.00628394
+v -0.01274024 0.01600650 -0.00987955
+v -0.01274024 0.01361582 -0.00988542
+v -0.01274024 0.00993575 -0.00989422
+v -0.01443078 0.01647060 0.00997421
+v -0.01508470 0.01058187 0.01412663
+v -0.01453724 0.01058187 0.01268486
+v -0.01274024 0.01647068 -0.00987662
+v -0.01665359 0.01079120 0.01619260
+v -0.01795889 0.01194103 0.01731496
+v -0.02226764 0.01058185 0.01860728
+v -0.01993584 0.01232937 0.01764611
+v -0.02819597 0.00754800 0.01960069
+v -0.03116140 0.00754800 0.01980290
+v -0.03412683 0.00451414 0.01953915
+v -0.03612913 0.00147725 0.01834058
+v -0.03781461 -0.00155355 0.01018514
+v -0.03779687 -0.00458741 0.01018513
+v -0.03776392 -0.00762127 0.01018512
+v -0.03769802 -0.01065816 0.01018511
+v -0.03808834 -0.01452328 0.00730154
+v -0.03815424 -0.01369201 0.00730154
+v -0.03418006 -0.01452323 -0.00606129
+v -0.03566531 -0.01452323 -0.00571257
+v -0.03568812 -0.01369196 -0.00572722
+v -0.03575655 -0.01065810 -0.00577410
+v -0.03719111 -0.00762121 -0.00422974
+v -0.03726461 -0.00458735 -0.00422973
+v -0.03585287 0.00147734 -0.00583559
+v -0.03728743 -0.00155349 -0.00422972
+v -0.03583512 0.00451423 -0.00582385
+v -0.03412683 0.00451423 -0.00626635
+v -0.01632410 0.01647059 0.01293103
+v -0.03412683 0.00754809 -0.00623997
+v -0.03412683 0.01058194 -0.00619014
+v -0.03412683 0.01361580 -0.00609342
+v -0.03116140 0.01647066 -0.00650368
+v -0.01860774 0.01647059 0.01407977
+v -0.02226764 0.01249015 0.01783366
+v -0.02523307 0.01058185 0.01887395
+v -0.01930221 0.01647059 0.01421164
+v -0.02819597 0.01058185 0.01906736
+v -0.03116140 0.01058185 0.01916407
+v -0.03412683 0.00754800 0.01915527
+v -0.03592890 0.00754800 0.01791569
+v -0.03604803 0.00451414 0.01816770
+v -0.03769042 0.01058188 0.01018519
+v -0.03776139 0.00754803 0.01018518
+v -0.03780194 0.00451417 0.01018517
+v -0.03781968 0.00147728 0.01018516
+v -0.03834687 -0.00155354 0.00730158
+v -0.03832913 -0.00458740 0.00730157
+v -0.03829365 -0.00762126 0.00730156
+v -0.03823282 -0.01065815 0.00730155
+v -0.03835701 -0.01452327 0.00442091
+v -0.03839503 -0.01369200 0.00442091
+v -0.03687683 -0.01452323 -0.00430302
+v -0.03698581 -0.01369196 -0.00422976
+v -0.03709987 -0.01065810 -0.00422975
+v -0.03850402 -0.00458736 -0.00202604
+v -0.03851415 -0.00155350 -0.00209929
+v -0.03726461 0.00147734 -0.00422970
+v -0.03580471 0.00754809 -0.00580919
+v -0.03722660 0.00451423 -0.00422969
+v -0.03575148 0.01058194 -0.00577109
+v -0.03566531 0.01361580 -0.00571247
+v -0.03561462 0.01520251 -0.00567436
+v -0.03429158 0.01638875 -0.00591466
+v -0.03427130 0.01647066 -0.00591466
+v -0.02523307 0.01255690 0.01793329
+v -0.03116140 0.01647058 0.01531934
+v -0.03116140 0.01277837 0.01801534
+v -0.03350080 0.01264488 0.01780728
+v -0.03434480 0.01073051 0.01825856
+v -0.03577683 0.00982037 0.01764610
+v -0.03726461 0.01647060 0.01036103
+v -0.03731531 0.01647060 0.01018521
+v -0.03756623 0.01361574 0.01018520
+v -0.03811876 0.01361575 0.00730164
+v -0.03822775 0.01058189 0.00730163
+v -0.03829111 0.00754804 0.00730162
+v -0.03832660 0.00451418 0.00730161
+v -0.03834687 0.00147729 0.00730160
+v -0.03851669 -0.00155353 0.00442095
+v -0.03850655 -0.00458739 0.00442094
+v -0.03847613 -0.00762125 0.00442093
+v -0.03848881 -0.01452326 0.00139669
+v -0.03858765 -0.01296385 0.00027140
+v -0.03733558 -0.01452324 -0.00344147
+v -0.03843558 -0.01065811 -0.00160407
+v -0.03862821 -0.00458737 -0.00058426
+v -0.03847360 -0.00762122 -0.00179747
+v -0.03858765 -0.01296385 -0.00002164
+v -0.03860033 -0.01065812 -0.00016229
+v -0.03716830 0.00754809 -0.00422968
+v -0.03863328 -0.00155351 -0.00065751
+v -0.03850402 0.00147733 -0.00197326
+v -0.03708213 0.01058194 -0.00422967
+v -0.03695793 0.01361580 -0.00422966
+v -0.03659296 0.01638875 -0.00447874
+v -0.03659549 0.01647066 -0.00446995
+v -0.03647890 0.01647066 -0.00458717
+v -0.03439549 0.01647066 -0.00588535
+v -0.03417499 0.01647058 0.01519920
+v -0.03552844 0.01647059 0.01454278
+v -0.03547775 0.01184395 0.01723584
+v -0.03576416 0.01564842 0.01473033
+v -0.03615955 0.01647059 0.01349368
+v -0.03623051 0.01647059 0.01333836
+v -0.03628121 0.01647059 0.01320356
+v -0.03783742 0.01647061 0.00747454
+v -0.03787037 0.01647061 0.00730165
+v -0.03819226 0.01647062 0.00459392
+v -0.03820747 0.01647062 0.00442102
+v -0.03836715 0.01361576 0.00442101
+v -0.03843305 0.01058190 0.00442100
+v -0.03847106 0.00754805 0.00442099
+v -0.03849388 0.00451419 0.00442098
+v -0.03851162 0.00147730 0.00442097
+v -0.03863328 -0.00155351 0.00089856
+v -0.03862821 -0.00458737 0.00086338
+v -0.03861554 -0.00762123 0.00066996
+v -0.03860033 -0.01065812 0.00045896
+v -0.03842037 -0.01452325 -0.00051396
+v -0.03838742 -0.01452325 -0.00117624
+v -0.03842291 -0.01386187 -0.00112642
+v -0.03861554 -0.00762123 -0.00035569
+v -0.03862314 0.00147732 -0.00053148
+v -0.03848374 0.00451422 -0.00178863
+v -0.03857498 0.01222324 0.00007222
+v -0.03826830 0.01647064 -0.00133144
+v -0.03709987 0.01647065 -0.00352634
+v -0.03837728 0.01647063 0.00171036
+v -0.03857498 0.01222324 0.00013962
+v -0.03858258 0.01058192 0.00023926
+v -0.03862314 0.00147732 0.00077843
+v -0.03858258 0.01058192 0.00001068
+v -0.03842037 0.01058193 -0.00143110
+v -0.03838235 0.01647063 0.00152281
+v -0.03841024 0.01338824 -0.00107064
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 28
+f 1 28 44
+f 1 44 63
+f 1 63 94
+f 1 94 128
+f 1 128 160
+f 1 160 197
+f 1 197 198
+f 1 198 162
+f 1 162 130
+f 1 130 97
+f 1 97 96
+f 1 96 67
+f 1 67 46
+f 1 46 29
+f 1 29 16
+f 1 16 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 7
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 12 5
+f 4 11 13
+f 4 13 12
+f 5 12 14
+f 6 15 7
+f 6 16 15
+f 7 17 18
+f 7 18 8
+f 7 15 19
+f 7 19 17
+f 8 20 21
+f 8 21 9
+f 8 18 20
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 13
+f 12 13 25
+f 12 25 26
+f 12 26 14
+f 13 24 27
+f 13 27 25
+f 14 26 28
+f 15 16 19
+f 16 29 45
+f 16 45 66
+f 16 66 77
+f 16 77 76
+f 16 76 75
+f 16 75 81
+f 16 81 49
+f 16 49 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 19
+f 17 19 18
+f 18 19 34
+f 18 34 35
+f 18 35 20
+f 19 33 32
+f 19 32 34
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 40 23
+f 23 40 24
+f 24 40 41
+f 24 41 27
+f 25 27 42
+f 25 42 26
+f 26 42 28
+f 27 41 43
+f 27 43 42
+f 28 42 44
+f 29 46 47
+f 29 47 48
+f 29 48 45
+f 30 49 50
+f 30 50 31
+f 31 50 32
+f 32 50 51
+f 32 51 34
+f 34 52 35
+f 34 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 55 39
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 60 61
+f 41 61 62
+f 41 62 43
+f 42 43 63
+f 42 63 64
+f 42 64 44
+f 43 62 65
+f 43 65 63
+f 44 64 63
+f 45 48 66
+f 46 67 68
+f 46 68 69
+f 46 69 70
+f 46 70 47
+f 47 70 71
+f 47 71 72
+f 47 72 73
+f 47 73 48
+f 48 73 74
+f 48 74 75
+f 48 75 76
+f 48 76 77
+f 48 77 66
+f 49 78 79
+f 49 79 80
+f 49 80 51
+f 49 51 50
+f 49 81 110
+f 49 110 142
+f 49 142 176
+f 49 176 175
+f 49 175 174
+f 49 174 205
+f 49 205 204
+f 49 204 212
+f 49 212 206
+f 49 206 187
+f 49 187 186
+f 49 186 185
+f 49 185 184
+f 49 184 150
+f 49 150 149
+f 49 149 183
+f 49 183 182
+f 49 182 181
+f 49 181 178
+f 49 178 177
+f 49 177 144
+f 49 144 114
+f 49 114 111
+f 49 111 106
+f 49 106 78
+f 51 80 79
+f 51 79 52
+f 52 79 53
+f 53 79 82
+f 53 82 83
+f 53 83 54
+f 54 84 55
+f 54 83 85
+f 54 85 84
+f 55 84 56
+f 56 86 58
+f 56 58 57
+f 56 84 86
+f 58 86 87
+f 58 87 88
+f 58 88 59
+f 59 88 89
+f 59 89 60
+f 60 89 61
+f 61 89 90
+f 61 90 91
+f 61 91 92
+f 61 92 93
+f 61 93 65
+f 61 65 62
+f 63 65 94
+f 65 93 95
+f 65 95 94
+f 67 96 68
+f 68 96 97
+f 68 97 69
+f 69 97 98
+f 69 98 99
+f 69 99 70
+f 70 99 71
+f 71 99 100
+f 71 100 101
+f 71 101 72
+f 72 101 73
+f 73 102 74
+f 73 101 103
+f 73 103 102
+f 74 102 104
+f 74 104 105
+f 74 105 75
+f 75 105 81
+f 78 106 79
+f 79 106 82
+f 81 105 107
+f 81 107 108
+f 81 108 109
+f 81 109 110
+f 82 106 83
+f 83 106 111
+f 83 111 85
+f 84 85 112
+f 84 112 113
+f 84 113 86
+f 85 111 114
+f 85 114 112
+f 86 113 87
+f 87 113 115
+f 87 115 116
+f 87 116 117
+f 87 117 88
+f 88 117 118
+f 88 118 119
+f 88 119 89
+f 89 119 120
+f 89 120 121
+f 89 121 122
+f 89 122 123
+f 89 123 90
+f 90 123 124
+f 90 124 125
+f 90 125 91
+f 91 125 92
+f 92 125 126
+f 92 126 127
+f 92 127 93
+f 93 127 95
+f 94 95 128
+f 95 127 129
+f 95 129 128
+f 97 130 131
+f 97 131 98
+f 98 131 132
+f 98 132 99
+f 99 132 100
+f 100 132 133
+f 100 133 101
+f 101 133 134
+f 101 134 103
+f 102 103 135
+f 102 135 104
+f 103 134 135
+f 104 136 105
+f 104 135 137
+f 104 137 136
+f 105 136 107
+f 107 136 108
+f 108 136 138
+f 108 138 139
+f 108 139 109
+f 109 139 140
+f 109 140 141
+f 109 141 142
+f 109 142 110
+f 112 143 115
+f 112 115 113
+f 112 114 144
+f 112 144 143
+f 115 143 145
+f 115 145 116
+f 116 145 146
+f 116 146 147
+f 116 147 117
+f 117 147 148
+f 117 148 118
+f 118 148 149
+f 118 149 150
+f 118 150 151
+f 118 151 119
+f 119 151 120
+f 120 151 152
+f 120 152 153
+f 120 153 121
+f 121 153 154
+f 121 154 122
+f 122 154 155
+f 122 155 156
+f 122 156 123
+f 123 156 124
+f 124 156 157
+f 124 157 158
+f 124 158 125
+f 125 158 159
+f 125 159 126
+f 126 159 129
+f 126 129 127
+f 128 129 160
+f 129 159 161
+f 129 161 160
+f 130 162 131
+f 131 162 163
+f 131 163 133
+f 131 133 132
+f 133 164 134
+f 133 163 165
+f 133 165 166
+f 133 166 167
+f 133 167 164
+f 134 168 137
+f 134 137 135
+f 134 164 169
+f 134 169 201
+f 134 201 170
+f 134 170 168
+f 136 137 168
+f 136 168 138
+f 138 168 171
+f 138 171 172
+f 138 172 139
+f 139 172 140
+f 140 172 173
+f 140 173 174
+f 140 174 175
+f 140 175 176
+f 140 176 142
+f 140 142 141
+f 143 144 145
+f 144 177 145
+f 145 177 146
+f 146 177 178
+f 146 178 179
+f 146 179 147
+f 147 179 148
+f 148 179 180
+f 148 180 181
+f 148 181 182
+f 148 182 183
+f 148 183 149
+f 150 184 151
+f 151 184 152
+f 152 184 185
+f 152 185 186
+f 152 186 187
+f 152 187 188
+f 152 188 153
+f 153 188 189
+f 153 189 154
+f 154 189 190
+f 154 190 155
+f 155 190 191
+f 155 191 156
+f 156 191 192
+f 156 192 157
+f 157 192 193
+f 157 193 194
+f 157 194 158
+f 158 194 195
+f 158 195 196
+f 158 196 161
+f 158 161 159
+f 160 161 166
+f 160 166 197
+f 161 196 167
+f 161 167 166
+f 162 198 163
+f 163 198 199
+f 163 199 166
+f 163 166 165
+f 164 200 195
+f 164 195 194
+f 164 194 193
+f 164 193 169
+f 164 167 200
+f 166 199 198
+f 166 198 197
+f 167 196 195
+f 167 195 200
+f 168 170 171
+f 169 193 209
+f 169 209 201
+f 170 202 171
+f 170 201 203
+f 170 203 202
+f 171 202 204
+f 171 204 172
+f 172 205 174
+f 172 174 173
+f 172 204 205
+f 178 180 179
+f 178 181 180
+f 187 206 188
+f 188 206 207
+f 188 207 189
+f 189 207 190
+f 190 207 191
+f 191 207 208
+f 191 208 209
+f 191 209 192
+f 192 209 193
+f 201 209 208
+f 201 208 210
+f 201 210 203
+f 202 211 204
+f 202 203 211
+f 203 210 208
+f 203 208 207
+f 203 207 212
+f 203 212 204
+f 203 204 213
+f 203 213 211
+f 204 211 213
+f 206 212 207
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_2.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.02785804 0.03483870 -0.00134742
+v 0.02706324 0.03483875 -0.01289181
+v 0.02733745 0.03483870 0.00112809
+v 0.02699966 -0.00799498 0.00121784
+v 0.02699966 -0.00799498 -0.00104489
+v 0.02631613 -0.00799493 -0.01287999
+v 0.02682878 0.03483875 -0.01490878
+v 0.02732950 0.03483870 0.00114008
+v 0.02645125 -0.00458624 0.00266539
+v 0.02643535 -0.00799499 0.00265939
+v 0.02693210 -0.00799499 0.00139466
+v 0.02577567 -0.00799492 -0.01576608
+v 0.02635985 0.03483876 -0.01634134
+v 0.02605385 0.03483869 0.00256964
+v 0.02643933 -0.00155065 0.00264742
+v 0.02488947 0.00451634 0.00353756
+v 0.02495703 -0.00155065 0.00354652
+v 0.02496498 -0.00458624 0.00354351
+v 0.02513586 -0.00799499 0.00342662
+v 0.02450400 -0.00799491 -0.01810073
+v 0.02635587 0.03483876 -0.01635033
+v 0.02455566 0.03483869 0.00336084
+v 0.02485768 0.00755193 0.00353157
+v 0.02221100 0.03182406 0.00458061
+v 0.02221100 0.01968589 0.00462252
+v 0.02221100 -0.00762184 0.00461043
+v 0.02495306 -0.00762183 0.00353451
+v 0.02495306 -0.00799499 0.00353151
+v 0.02221100 -0.00799491 -0.01948834
+v 0.02487358 0.03483877 -0.01836431
+v 0.02634395 0.03483876 -0.01636832
+v 0.02221100 0.03483868 0.00449670
+v 0.01924243 0.03483868 0.00553666
+v 0.01950074 0.02272148 0.00558456
+v 0.02221100 -0.00799500 0.00460743
+v 0.02461924 -0.00799499 0.00366338
+v 0.01946498 0.01968589 0.00558455
+v 0.01960804 -0.00799491 -0.01975507
+v 0.01924243 -0.00155057 -0.01983597
+v 0.02221100 0.03483877 -0.01970396
+v 0.01896425 0.03174858 0.00564454
+v 0.01032878 0.03483867 0.00758060
+v 0.00442343 0.01968588 0.00937574
+v 0.00442343 0.01665029 0.00939970
+v 0.01924243 -0.00762184 0.00540763
+v 0.01924243 -0.00799500 0.00539864
+v 0.00442343 -0.00762185 0.00925576
+v 0.01924243 -0.00799491 -0.01978204
+v 0.01924243 -0.00762175 -0.01978804
+v -0.01274023 -0.00799494 -0.00988000
+v 0.01924243 0.00148083 -0.01985094
+v 0.01924243 0.01665039 -0.01974899
+v 0.01924243 0.01968598 -0.01971901
+v 0.01924243 0.02272157 -0.01968603
+v 0.01924243 0.02575296 -0.01963507
+v 0.01924243 0.03483877 -0.01947020
+v 0.01924243 0.00451642 -0.01985093
+v 0.01924243 0.00755201 -0.01982994
+v 0.01924243 0.01058760 -0.01980595
+v 0.00395052 0.03483867 0.00901616
+v 0.00601700 0.02791635 0.00877037
+v 0.00145883 0.01665028 0.00999910
+v 0.00145883 0.03483867 0.00951366
+v 0.00145883 0.00755190 0.01001106
+v 0.00145883 -0.00458627 0.01001700
+v 0.00145883 -0.00762186 0.01000800
+v 0.00442343 -0.00799501 0.00924976
+v -0.01274023 -0.00799500 0.00588714
+v -0.01274023 -0.00155060 -0.00989796
+v -0.01274023 0.00083511 -0.00990395
+v -0.01274023 0.02878853 -0.00980793
+v -0.01274023 0.03117843 -0.00975698
+v -0.01274023 0.03182412 -0.00974199
+v -0.01274023 0.03421401 -0.00966406
+v -0.01274023 0.03483874 -0.00964308
+v -0.01274023 0.00387070 -0.00990394
+v -0.01274023 0.00755198 -0.00989792
+v -0.01274023 0.01058757 -0.00989192
+v -0.01274023 0.01361477 -0.00988592
+v -0.01274023 0.01968595 -0.00986791
+v -0.01274023 0.02272154 -0.00985292
+v -0.01274023 0.02510724 -0.00983792
+v -0.01274023 0.02814284 -0.00981394
+v -0.00150974 0.01665028 0.01046064
+v -0.00150974 -0.00458627 0.01049052
+v -0.00152961 0.03483866 0.00990327
+v 0.00145883 -0.00799502 0.01000201
+v -0.00908814 -0.00799501 0.00895606
+v -0.01274023 0.02575286 0.00729285
+v -0.01274023 0.03483867 0.00765253
+v -0.00447434 0.03483866 0.01014902
+v -0.00447434 0.01665028 0.01066743
+v -0.00447434 -0.00458627 0.01076025
+v -0.00150974 -0.00799502 0.01041259
+v 0.00109322 -0.00799502 0.01005296
+v -0.00764955 -0.00799502 0.00977424
+v -0.00743893 -0.00458627 0.00998404
+v -0.00939413 0.02575286 0.00914199
+v -0.00743893 0.02575285 0.00987625
+v -0.00745085 0.03483866 0.00960057
+v -0.00449421 0.03483866 0.01014602
+v -0.00743893 -0.00799502 0.00987913
+v -0.00483597 -0.00799502 0.01049951
+v -0.00447434 -0.00799502 0.01057143
+v -0.00743893 0.03483866 0.00960357
+f 1 2 7
+f 1 7 13
+f 1 13 21
+f 1 21 31
+f 1 31 30
+f 1 30 40
+f 1 40 56
+f 1 56 75
+f 1 75 90
+f 1 90 100
+f 1 100 105
+f 1 105 101
+f 1 101 91
+f 1 91 86
+f 1 86 63
+f 1 63 60
+f 1 60 42
+f 1 42 33
+f 1 33 32
+f 1 32 22
+f 1 22 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 19
+f 4 19 28
+f 4 28 36
+f 4 36 35
+f 4 35 46
+f 4 46 67
+f 4 67 87
+f 4 87 95
+f 4 95 94
+f 4 94 104
+f 4 104 103
+f 4 103 102
+f 4 102 96
+f 4 96 88
+f 4 88 68
+f 4 68 50
+f 4 50 48
+f 4 48 38
+f 4 38 29
+f 4 29 20
+f 4 20 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 12 13
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 12 20 21
+f 12 21 13
+f 14 22 23
+f 14 23 15
+f 15 23 16
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 22 32 24
+f 22 24 23
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 25 34 26
+f 26 35 36
+f 26 36 27
+f 26 34 37
+f 26 37 35
+f 27 36 28
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 33 41 34
+f 33 42 43
+f 33 43 41
+f 34 41 43
+f 34 43 44
+f 34 44 37
+f 35 37 45
+f 35 45 46
+f 37 44 47
+f 37 47 45
+f 38 48 49
+f 38 49 39
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 51 57
+f 40 57 58
+f 40 58 59
+f 40 59 52
+f 42 60 61
+f 42 61 43
+f 43 62 44
+f 43 61 60
+f 43 60 63
+f 43 63 62
+f 44 62 64
+f 44 64 65
+f 44 65 66
+f 44 66 47
+f 45 47 67
+f 45 67 46
+f 47 66 87
+f 47 87 67
+f 48 50 49
+f 50 68 89
+f 50 89 90
+f 50 90 75
+f 50 75 74
+f 50 74 73
+f 50 73 72
+f 50 72 71
+f 50 71 83
+f 50 83 82
+f 50 82 81
+f 50 81 80
+f 50 80 79
+f 50 79 78
+f 50 78 77
+f 50 77 76
+f 50 76 70
+f 50 70 69
+f 50 69 51
+f 51 69 70
+f 51 70 76
+f 51 76 57
+f 52 71 53
+f 52 59 71
+f 53 71 54
+f 54 71 55
+f 55 71 56
+f 56 71 72
+f 56 72 73
+f 56 73 74
+f 56 74 75
+f 57 76 77
+f 57 77 78
+f 57 78 79
+f 57 79 80
+f 57 80 81
+f 57 81 82
+f 57 82 58
+f 58 82 83
+f 58 83 59
+f 59 83 71
+f 62 63 84
+f 62 84 85
+f 62 85 64
+f 63 86 84
+f 64 85 65
+f 65 85 66
+f 66 85 87
+f 68 88 89
+f 84 86 91
+f 84 91 92
+f 84 92 93
+f 84 93 85
+f 85 93 94
+f 85 94 95
+f 85 95 87
+f 88 96 97
+f 88 97 90
+f 88 90 89
+f 90 98 99
+f 90 99 100
+f 90 97 98
+f 91 101 92
+f 92 101 99
+f 92 99 93
+f 93 97 102
+f 93 102 103
+f 93 103 104
+f 93 104 94
+f 93 99 97
+f 96 102 97
+f 97 99 98
+f 99 101 105
+f 99 105 100
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_3.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.00447123 -0.00799502 0.01057146
+v -0.00447123 -0.01369537 0.01053835
+v -0.00150663 -0.01369537 0.01043606
+v -0.00150663 -0.00799502 0.01041502
+v -0.00483465 -0.00799502 0.01049926
+v -0.00743990 -0.01369537 0.00999682
+v -0.00743990 -0.03796773 0.00955448
+v -0.00447123 -0.01672902 0.01048118
+v -0.00150663 -0.02582997 0.01024648
+v 0.00145796 -0.01672902 0.00998177
+v 0.00145796 -0.00799502 0.00999985
+v 0.00109453 -0.00799502 0.01005099
+v -0.00743990 -0.00799502 0.00987951
+v -0.00925296 -0.04031175 0.00902197
+v -0.00884053 -0.04031175 0.00914231
+v -0.00920804 -0.01369536 0.00911834
+v -0.01274024 -0.03796772 0.00761401
+v -0.01274024 -0.04031175 0.00763205
+v -0.00743990 -0.04031175 0.00949130
+v -0.00676205 -0.04031176 0.00956651
+v -0.00447123 -0.03796773 0.00988241
+v -0.00150663 -0.03796773 0.00986135
+v 0.00145796 -0.03189726 0.00964175
+v 0.00574968 -0.04031175 0.00873015
+v 0.00585585 -0.03894835 0.00873918
+v 0.00606410 -0.03189725 0.00880840
+v 0.00442255 -0.01672901 0.00930185
+v 0.00442255 -0.00799501 0.00925074
+v -0.00764816 -0.00799502 0.00977421
+v -0.00915087 -0.01065855 0.00904314
+v -0.01274024 -0.03762923 0.00760198
+v -0.01274024 -0.04031169 -0.00942003
+v -0.00447123 -0.04031176 0.00967481
+v -0.00379745 -0.04031176 0.00967180
+v -0.00150663 -0.04031176 0.00955447
+v 0.00145796 -0.04031175 0.00922354
+v 0.02205902 -0.04031173 0.00373607
+v 0.02221011 -0.03189724 0.00416932
+v 0.02221011 -0.02886359 0.00430772
+v 0.02221011 -0.02582995 0.00439498
+v 0.02221011 -0.01976265 0.00448827
+v 0.02221011 -0.01065854 0.00459660
+v 0.01924552 -0.00799500 0.00539988
+v -0.00908962 -0.00799501 0.00895591
+v -0.01274024 -0.03493406 0.00749970
+v -0.01274024 -0.03796765 -0.00953434
+v 0.02157309 -0.03796762 -0.02000386
+v 0.02174460 -0.04031165 -0.01992565
+v 0.02515021 -0.04031173 0.00231306
+v 0.02507262 -0.03808474 0.00266807
+v 0.02587298 -0.03493404 0.00268312
+v 0.02221011 -0.03493404 0.00399482
+v 0.02466427 -0.03189723 0.00326377
+v 0.02476228 -0.02886358 0.00332695
+v 0.02483169 -0.02582994 0.00337511
+v 0.02488478 -0.02279945 0.00341724
+v 0.02493378 -0.01976264 0.00345937
+v 0.02495828 -0.01672899 0.00348946
+v 0.02496236 -0.01369534 0.00350451
+v 0.02221011 -0.00799500 0.00460865
+v -0.01274024 -0.00799500 0.00588725
+v -0.01274024 -0.03493399 -0.00965166
+v 0.02305539 -0.03796762 -0.02014827
+v 0.02322689 -0.04031165 -0.02015129
+v -0.01274024 -0.03189718 -0.00974492
+v 0.01924552 -0.03493396 -0.01938711
+v 0.01924552 -0.03189715 -0.01947736
+v 0.01924552 -0.02886350 -0.01955256
+v 0.01924552 -0.02582986 -0.01961873
+v 0.01924552 -0.02279937 -0.01965181
+v 0.01924552 -0.00799491 -0.01978413
+v 0.02767787 -0.04031172 0.00102843
+v 0.02614657 -0.03189723 0.00268313
+v 0.02624457 -0.02886358 0.00267110
+v 0.02641608 -0.01976264 0.00269822
+v 0.02644058 -0.01672899 0.00270425
+v 0.02495420 -0.00799499 0.00353161
+v 0.02461935 -0.00799499 0.00366398
+v -0.01274024 -0.00799494 -0.00988021
+v 0.02387616 -0.03796762 -0.02014827
+v 0.02446827 -0.04031165 -0.02016332
+v -0.01274024 -0.02886353 -0.00981109
+v -0.01274024 -0.02582989 -0.00984116
+v 0.01960486 -0.00799491 -0.01975706
+v 0.02469286 -0.04031165 -0.02016332
+v -0.01274024 -0.01976259 -0.00989228
+v -0.01274024 -0.01672894 -0.00990130
+v 0.02868240 -0.04031172 -0.00078869
+v 0.02759620 -0.03796769 0.00117285
+v 0.02631399 -0.02582994 0.00267112
+v 0.02637116 -0.02279945 0.00268016
+v 0.02644466 -0.01369534 0.00269222
+v 0.02513387 -0.00799499 0.00342631
+v 0.02221011 -0.00799491 -0.01948930
+v 0.02586889 -0.04031165 -0.01965188
+v 0.02892741 -0.04031171 -0.00150772
+v 0.02700001 -0.00799498 0.00121809
+v 0.02643650 -0.00799499 0.00265915
+v 0.02450502 -0.00799491 -0.01810239
+v 0.02715927 -0.04031165 -0.01853874
+v 0.02897641 -0.04031171 -0.00380018
+v 0.02700001 -0.00799498 -0.00104429
+v 0.02561980 -0.00799492 -0.01605362
+v 0.02748186 -0.04031165 -0.01817171
+v 0.02891516 -0.04031168 -0.00999766
+v 0.02884574 -0.04031167 -0.01268423
+v 0.02883757 -0.04031167 -0.01287979
+v 0.02631808 -0.00799493 -0.01287967
+v 0.02577497 -0.00799492 -0.01576480
+v 0.02851906 -0.04031166 -0.01576793
+v 0.02858440 -0.04031166 -0.01533471
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 28
+f 1 28 43
+f 1 43 60
+f 1 60 78
+f 1 78 77
+f 1 77 93
+f 1 93 98
+f 1 98 97
+f 1 97 102
+f 1 102 108
+f 1 108 109
+f 1 109 103
+f 1 103 99
+f 1 99 94
+f 1 94 84
+f 1 84 71
+f 1 71 79
+f 1 79 61
+f 1 61 44
+f 1 44 29
+f 1 29 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 9 10
+f 5 13 6
+f 6 14 15
+f 6 15 7
+f 6 13 16
+f 6 16 17
+f 6 17 18
+f 6 18 14
+f 7 15 19
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 22 23
+f 9 23 10
+f 9 21 22
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 11 27 28
+f 13 29 16
+f 14 18 32
+f 14 32 48
+f 14 48 64
+f 14 64 81
+f 14 81 85
+f 14 85 95
+f 14 95 100
+f 14 100 104
+f 14 104 110
+f 14 110 111
+f 14 111 107
+f 14 107 106
+f 14 106 105
+f 14 105 101
+f 14 101 96
+f 14 96 88
+f 14 88 72
+f 14 72 49
+f 14 49 37
+f 14 37 24
+f 14 24 36
+f 14 36 35
+f 14 35 34
+f 14 34 33
+f 14 33 20
+f 14 20 19
+f 14 19 15
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 45
+f 17 45 61
+f 17 61 79
+f 17 79 87
+f 17 87 86
+f 17 86 83
+f 17 83 82
+f 17 82 65
+f 17 65 62
+f 17 62 46
+f 17 46 32
+f 17 32 18
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 24
+f 22 24 23
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 28
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 32 46 47
+f 32 47 48
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 38 52 51
+f 38 51 39
+f 39 51 53
+f 39 53 54
+f 39 54 40
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 41 57 58
+f 41 58 42
+f 42 58 59
+f 42 59 60
+f 42 60 43
+f 44 61 45
+f 46 62 47
+f 47 63 64
+f 47 64 48
+f 47 62 65
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 70
+f 47 70 71
+f 47 71 63
+f 49 72 50
+f 50 72 51
+f 51 72 73
+f 51 73 53
+f 53 73 54
+f 54 73 55
+f 55 73 56
+f 56 73 57
+f 57 73 58
+f 58 73 74
+f 58 74 75
+f 58 75 76
+f 58 76 59
+f 59 77 78
+f 59 78 60
+f 59 76 77
+f 63 71 80
+f 63 80 85
+f 63 85 81
+f 63 81 64
+f 65 82 69
+f 65 69 68
+f 65 68 67
+f 65 67 66
+f 69 82 70
+f 70 82 83
+f 70 83 71
+f 71 84 85
+f 71 85 80
+f 71 83 86
+f 71 86 87
+f 71 87 79
+f 72 88 89
+f 72 89 73
+f 73 89 74
+f 74 90 91
+f 74 91 75
+f 74 89 90
+f 75 91 89
+f 75 89 76
+f 76 92 77
+f 76 89 92
+f 77 92 93
+f 84 94 85
+f 85 94 95
+f 88 96 97
+f 88 97 98
+f 88 98 89
+f 89 98 92
+f 89 91 90
+f 92 98 93
+f 94 99 95
+f 95 99 100
+f 96 101 97
+f 97 101 102
+f 99 103 104
+f 99 104 100
+f 101 105 102
+f 102 105 106
+f 102 106 107
+f 102 107 108
+f 103 109 104
+f 104 109 110
+f 107 111 108
+f 108 111 110
+f 108 110 109
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_4.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.00160042 0.03484437 -0.01314006
+v 0.00160042 0.03484429 0.00948381
+v -0.01274023 0.03484436 -0.00964327
+v -0.01274023 0.08340989 -0.00875059
+v -0.00017391 0.08525274 -0.01147158
+v 0.00160042 0.08634833 -0.01180569
+v 0.00145443 0.03484429 0.00951356
+v 0.00160042 0.03502970 0.00948381
+v -0.01274023 0.03484429 0.00765074
+v -0.01274023 0.08405039 -0.00872312
+v -0.01274023 0.08644383 -0.00862013
+v -0.01274023 0.08750009 -0.00852173
+v -0.01209732 0.08805632 -0.00859725
+v 0.00024160 0.08727537 -0.01136630
+v 0.00160042 0.08796082 -0.01154480
+v -0.00151028 0.03484428 0.00990031
+v 0.00145443 0.03486114 0.00951356
+v 0.00160042 0.08317386 0.00909037
+v -0.00745233 0.03484428 0.00960052
+v -0.01274023 0.03486114 0.00765303
+v -0.01274023 0.08874176 -0.00797706
+v -0.01040440 0.08837095 -0.00876659
+v -0.01274023 0.08909011 -0.00773677
+v -0.00743969 0.08882604 -0.00906866
+v 0.00160042 0.08916316 -0.01055846
+v -0.00153133 0.03484428 0.00990260
+v -0.00151028 0.03486113 0.00990031
+v -0.00447639 0.06520055 0.01023911
+v -0.00151028 0.08340982 0.00969224
+v -0.00151028 0.08037588 0.00971511
+v -0.00447639 0.08037588 0.01018425
+v 0.00160042 0.08329185 0.00908808
+v -0.00743969 0.03484428 0.00960509
+v -0.01274023 0.03789509 0.00792079
+v -0.01274023 0.03522072 0.00768506
+v -0.01274023 0.09090484 -0.00628588
+v 0.00160042 0.08952273 -0.01021061
+v -0.00447639 0.03486113 0.01015204
+v -0.00447639 0.03484428 0.01014975
+v -0.00743969 0.06520055 0.00965097
+v -0.00743969 0.05307040 0.00966237
+v -0.00447639 0.08340982 0.01002178
+v 0.00160042 0.08519649 0.00894391
+v 0.00145443 0.08521896 0.00896221
+v -0.00743969 0.08037588 0.00958696
+v -0.01274023 0.04410343 0.00803523
+v -0.01274023 0.04093465 0.00801691
+v -0.01274023 0.03811420 0.00793452
+v -0.00449745 0.03484428 0.01014746
+v -0.01274023 0.09118577 -0.00597922
+v 0.00160042 0.08967443 -0.01004584
+v -0.01274023 0.08340983 0.00803538
+v -0.01274023 0.04699691 0.00803753
+v -0.01274023 0.06823450 0.00804676
+v -0.00447639 0.08555045 0.00931006
+v -0.00673923 0.08534819 0.00914529
+v -0.01274023 0.08652805 0.00766466
+v -0.00761235 0.08314577 0.00931693
+v -0.00151028 0.08549426 0.00920708
+v 0.00160042 0.08525829 0.00888212
+v -0.01274023 0.09118573 0.00604900
+v 0.00160042 0.09101723 -0.00855833
+v -0.01274023 0.09158467 -0.00462215
+v -0.01274023 0.09010137 0.00647924
+v 0.00160042 0.08646624 0.00731223
+v -0.00305720 0.09096662 0.00292524
+v 0.00160042 0.09139925 0.00069856
+v -0.01274023 0.09133742 0.00576524
+v -0.01274023 0.09168018 -0.00422853
+v 0.00160042 0.09118015 -0.00759946
+v 0.00160042 0.09142171 0.00061160
+v 0.00145443 0.09141048 0.00071229
+v -0.01274023 0.09183746 0.00443106
+v -0.00743969 0.09147789 0.00360035
+v -0.01274023 0.09201728 -0.00195836
+v 0.00160042 0.09121386 -0.00740036
+v 0.00160042 0.09174759 -0.00134734
+v -0.01274023 0.09197793 0.00380631
+v -0.01274023 0.09208468 -0.00134734
+v 0.00160042 0.09156781 -0.00437041
+v 0.00160042 0.09123072 -0.00727678
+v 0.00160042 0.09174760 -0.00148694
+v 0.00145443 0.09175321 -0.00134734
+v -0.01040440 0.09214648 0.00153614
+v -0.00743969 0.09194984 0.00153614
+v -0.01274023 0.09223638 0.00153614
+v 0.00160042 0.09157905 -0.00422853
+f 1 2 7
+f 1 7 16
+f 1 16 26
+f 1 26 39
+f 1 39 49
+f 1 49 33
+f 1 33 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 25
+f 1 25 37
+f 1 37 51
+f 1 51 62
+f 1 62 70
+f 1 70 76
+f 1 76 81
+f 1 81 80
+f 1 80 87
+f 1 87 82
+f 1 82 77
+f 1 77 71
+f 1 71 67
+f 1 67 65
+f 1 65 60
+f 1 60 43
+f 1 43 32
+f 1 32 18
+f 1 18 8
+f 1 8 2
+f 2 8 17
+f 2 17 7
+f 3 9 20
+f 3 20 35
+f 3 35 34
+f 3 34 48
+f 3 48 47
+f 3 47 46
+f 3 46 53
+f 3 53 54
+f 3 54 52
+f 3 52 57
+f 3 57 64
+f 3 64 61
+f 3 61 68
+f 3 68 73
+f 3 73 78
+f 3 78 86
+f 3 86 79
+f 3 79 75
+f 3 75 69
+f 3 69 63
+f 3 63 50
+f 3 50 36
+f 3 36 23
+f 3 23 21
+f 3 21 12
+f 3 12 11
+f 3 11 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 17 27
+f 7 27 16
+f 8 18 17
+f 9 19 20
+f 12 21 13
+f 13 22 15
+f 13 15 14
+f 13 21 23
+f 13 23 22
+f 15 22 24
+f 15 24 25
+f 16 27 28
+f 16 28 26
+f 17 28 27
+f 17 18 29
+f 17 29 30
+f 17 30 31
+f 17 31 28
+f 18 32 29
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 22 23 24
+f 23 36 24
+f 24 36 25
+f 25 36 37
+f 26 38 39
+f 26 28 38
+f 28 31 40
+f 28 40 41
+f 28 41 38
+f 29 42 31
+f 29 31 30
+f 29 32 43
+f 29 43 44
+f 29 44 42
+f 31 42 45
+f 31 45 40
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 33 49 38
+f 33 38 41
+f 33 41 46
+f 36 50 51
+f 36 51 37
+f 38 49 39
+f 40 45 52
+f 40 52 41
+f 41 53 46
+f 41 52 54
+f 41 54 53
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 45
+f 42 44 59
+f 42 59 55
+f 43 60 44
+f 44 60 61
+f 44 61 59
+f 45 58 52
+f 50 62 51
+f 50 63 62
+f 52 58 57
+f 55 59 61
+f 55 61 56
+f 56 61 64
+f 56 64 57
+f 60 65 61
+f 61 66 67
+f 61 67 68
+f 61 65 66
+f 62 63 69
+f 62 69 70
+f 65 67 66
+f 67 71 72
+f 67 72 73
+f 67 73 74
+f 67 74 68
+f 68 74 73
+f 69 75 76
+f 69 76 70
+f 71 77 78
+f 71 78 73
+f 71 73 72
+f 75 79 80
+f 75 80 81
+f 75 81 76
+f 77 82 83
+f 77 83 86
+f 77 86 84
+f 77 84 85
+f 77 85 78
+f 78 84 86
+f 78 85 84
+f 79 86 82
+f 79 82 87
+f 79 87 80
+f 82 86 83
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_5.obj

@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v 0.02517556 0.09211427 -0.00999766
+v 0.02220813 0.09196972 -0.00711383
+v 0.02517556 0.09194857 -0.00711383
+v 0.02813949 0.09171941 -0.00711383
+v 0.02842960 0.09163480 -0.01027298
+v 0.02517556 0.09206493 -0.01288148
+v 0.00160042 0.09174760 -0.00149094
+v 0.00160042 0.09174759 -0.00134902
+v 0.00160042 0.09141971 0.00061232
+v 0.00160042 0.09140209 0.00069747
+v 0.02813949 0.09120820 -0.00549026
+v 0.02973680 0.09106718 -0.00560948
+v 0.03001292 0.09126109 -0.00711383
+v 0.03003040 0.09127873 -0.00949810
+v 0.02783541 0.09155021 -0.01288148
+v 0.02724472 0.09135631 -0.01576531
+v 0.02517556 0.09170886 -0.01576531
+v 0.02220813 0.09188865 -0.01288148
+v 0.00160042 0.09156780 -0.00437477
+v 0.00160042 0.09158190 -0.00423284
+v 0.00160042 0.08646989 0.00731095
+v 0.00442105 0.09125402 0.00039944
+v 0.02744395 0.08550745 0.00062648
+v 0.03263432 0.08805288 -0.00562085
+v 0.03149489 0.08974513 -0.00711384
+v 0.00738848 0.08593049 0.00670921
+v 0.01628377 0.08611736 0.00400136
+v 0.03272869 0.08822564 -0.00897869
+v 0.03121178 0.08960765 -0.01019919
+v 0.03018069 0.08870867 -0.01576532
+v 0.02960748 0.09098964 -0.01141971
+v 0.02684627 0.09112011 -0.01740024
+v 0.02931738 0.09073582 -0.01288149
+v 0.02517556 0.09118004 -0.01749391
+v 0.02325320 0.09112011 -0.01739456
+v 0.02224309 0.09142330 -0.01583627
+v 0.00160042 0.09101784 -0.00855859
+v 0.00160042 0.09118353 -0.00759921
+v 0.00160042 0.09121526 -0.00740051
+v 0.00160042 0.09123289 -0.00727846
+v 0.00160042 0.08526064 0.00888058
+v 0.00418338 0.08591639 0.00745287
+v 0.02517556 0.08340978 0.00215923
+v 0.02831425 0.08334280 0.00087910
+v 0.02970534 0.08228515 0.00021490
+v 0.01247400 0.08520072 0.00601662
+v 0.03331938 0.08644527 -0.00711385
+v 0.03272869 0.08822564 -0.00711385
+v 0.03564020 0.07628125 -0.00557831
+v 0.03538854 0.07843182 -0.00711388
+v 0.03410930 0.08340982 -0.00711386
+v 0.00160042 0.08520071 0.00894586
+v 0.01035241 0.08556737 0.00627776
+v 0.03400444 0.08340983 -0.00999769
+v 0.03307122 0.08646291 -0.00996361
+v 0.03234073 0.08356144 -0.01601795
+v 0.03136556 0.08644530 -0.01576533
+v 0.02987311 0.08828913 -0.01761881
+v 0.02872669 0.09022463 -0.01576532
+v 0.02517556 0.08948076 -0.01867753
+v 0.02795425 0.08937147 -0.01809281
+v 0.02224309 0.08961825 -0.01797076
+v 0.00221907 0.08827501 -0.01162409
+v 0.00160042 0.08916696 -0.01055683
+v 0.00160042 0.08952303 -0.01021055
+v 0.00160042 0.08967463 -0.01004592
+v 0.02904126 0.06520764 0.00283186
+v 0.02813949 0.08037785 0.00144394
+v 0.01423907 0.08340977 0.00571292
+v 0.02984166 0.08037786 0.00040792
+v 0.00303695 0.08497155 0.00876988
+v 0.03481882 0.08037790 -0.00999770
+v 0.03579049 0.07430698 -0.00543924
+v 0.03696488 0.06824314 -0.00711392
+v 0.03664681 0.07127506 -0.00711391
+v 0.03622390 0.07430699 -0.00711390
+v 0.03576952 0.07691585 -0.00711389
+v 0.00160042 0.08329341 0.00908778
+v 0.03561573 0.07305193 -0.01462717
+v 0.03408833 0.08037791 -0.01288152
+v 0.03257141 0.08182690 -0.01714481
+v 0.03031351 0.08644531 -0.01813256
+v 0.02813949 0.08644531 -0.01944674
+v 0.02517556 0.08644531 -0.01957163
+v 0.02220813 0.08644531 -0.01882513
+v 0.01924770 0.08855002 -0.01750526
+v 0.01770981 0.08801062 -0.01722711
+v 0.00160042 0.08796477 -0.01154461
+v 0.02943272 0.06217219 0.00292552
+v 0.02999545 0.07734241 0.00062361
+v 0.00172625 0.08328989 0.00906508
+v 0.01035241 0.06217217 0.00752942
+v 0.01035241 0.06520762 0.00746414
+v 0.03538155 0.07811806 -0.00999771
+v 0.03597923 0.07127505 -0.00528881
+v 0.03716760 0.06520768 -0.00711393
+v 0.03726547 0.06520769 -0.00999776
+v 0.03704177 0.06824315 -0.00999775
+v 0.03666778 0.07127507 -0.00999774
+v 0.03615749 0.07430700 -0.00999773
+v 0.03571010 0.07660210 -0.00999772
+v 0.00160042 0.08317708 0.00909062
+v 0.03622739 0.07127508 -0.01288156
+v 0.03576253 0.07111997 -0.01565753
+v 0.03559826 0.07000591 -0.01728394
+v 0.03534660 0.07202955 -0.01654879
+v 0.03503203 0.07415895 -0.01565752
+v 0.03281957 0.07980326 -0.01753369
+v 0.03085526 0.08340986 -0.01847034
+v 0.02813949 0.08340986 -0.01976465
+v 0.03407085 0.06824318 -0.01868896
+v 0.02576625 0.05609784 -0.01985842
+v 0.02544819 0.05609784 -0.01977327
+v 0.02220813 0.05609784 -0.01881389
+v 0.01924770 0.05609784 -0.01781761
+v 0.01924770 0.05610490 -0.01781761
+v 0.00160042 0.08634656 -0.01180574
+v 0.02945369 0.05913674 0.00292267
+v 0.03627283 0.06217222 -0.00509583
+v 0.03622390 0.06520767 -0.00512704
+v 0.03612254 0.06824313 -0.00518664
+v 0.00160042 0.06236255 0.00907351
+v 0.00160042 0.05609774 0.00895712
+v 0.01035241 0.05610480 0.00714905
+v 0.03723052 0.06217223 -0.00711394
+v 0.03730741 0.06217224 -0.00999777
+v 0.03697886 0.06217225 -0.01288159
+v 0.03690546 0.06520770 -0.01288158
+v 0.03664681 0.06824316 -0.01288157
+v 0.03615050 0.06824317 -0.01576540
+v 0.03641963 0.06520771 -0.01576541
+v 0.03570311 0.06824317 -0.01746560
+v 0.03424212 0.07111998 -0.01812127
+v 0.03356055 0.07430703 -0.01809855
+v 0.03314812 0.07734248 -0.01786011
+v 0.02755230 0.05609784 -0.01990668
+v 0.03407085 0.06520772 -0.01894726
+v 0.03407085 0.06217227 -0.01906933
+v 0.03110343 0.06217227 -0.01960011
+v 0.03110343 0.05913682 -0.01963702
+v 0.03110343 0.05610490 -0.01966541
+v 0.03583942 0.06520771 -0.01768985
+v 0.01763991 0.05609783 -0.01724992
+v 0.00160042 0.08607510 -0.01180574
+v 0.02220813 0.05610481 0.00431348
+v 0.02220464 0.05609775 0.00431348
+v 0.02747890 0.05730701 0.00312986
+v 0.03014574 0.05693332 0.00099822
+v 0.03609807 0.05609779 -0.00518384
+v 0.03609807 0.05610485 -0.00518100
+v 0.03623438 0.05913677 -0.00510436
+v 0.00160042 0.05609781 -0.01145673
+v 0.01034891 0.05609774 0.00714905
+v 0.03710469 0.05913678 -0.00711395
+v 0.03713265 0.05913679 -0.00999778
+v 0.03681458 0.05913680 -0.01288160
+v 0.03639516 0.05913681 -0.01576543
+v 0.03652099 0.06217226 -0.01576542
+v 0.03110343 0.05609784 -0.01966541
+v 0.03589535 0.06217227 -0.01778352
+v 0.03407085 0.05913682 -0.01902676
+v 0.01616144 0.05609783 -0.01671630
+v 0.00160042 0.08356847 -0.01178021
+v 0.02495536 0.05609776 0.00340803
+v 0.02502527 0.05609776 0.00337113
+v 0.02833523 0.05645032 0.00179013
+v 0.03676915 0.05609780 -0.00711680
+v 0.02772706 0.05609776 0.00172201
+v 0.03676915 0.05610486 -0.00711396
+v 0.03673769 0.05610487 -0.00999779
+v 0.03643361 0.05609782 -0.01288729
+v 0.03605263 0.05610489 -0.01576544
+v 0.03567864 0.05609783 -0.01744010
+v 0.03583942 0.05913682 -0.01770690
+v 0.03407085 0.05609784 -0.01877699
+v 0.03673419 0.05609781 -0.01000062
+v 0.03604914 0.05609783 -0.01576827
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 10 11
+f 5 15 6
+f 5 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 19
+f 7 19 40
+f 7 40 39
+f 7 39 38
+f 7 38 37
+f 7 37 66
+f 7 66 65
+f 7 65 64
+f 7 64 88
+f 7 88 117
+f 7 117 144
+f 7 144 163
+f 7 163 152
+f 7 152 123
+f 7 123 122
+f 7 122 102
+f 7 102 78
+f 7 78 52
+f 7 52 41
+f 7 41 21
+f 7 21 10
+f 7 10 9
+f 7 9 8
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 12 22 26
+f 12 26 27
+f 12 27 23
+f 13 25 14
+f 14 25 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 16
+f 14 16 15
+f 16 32 17
+f 16 31 33
+f 16 33 32
+f 17 32 34
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 38
+f 17 38 39
+f 17 39 40
+f 17 40 18
+f 18 40 19
+f 21 41 42
+f 21 42 22
+f 22 42 26
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 23 27 46
+f 23 46 43
+f 24 47 48
+f 24 48 25
+f 24 45 49
+f 24 49 50
+f 24 50 51
+f 24 51 47
+f 25 48 28
+f 26 42 41
+f 26 41 52
+f 26 52 53
+f 26 53 27
+f 27 53 46
+f 28 48 47
+f 28 47 54
+f 28 54 55
+f 28 55 56
+f 28 56 57
+f 28 57 58
+f 28 58 30
+f 28 30 29
+f 30 58 59
+f 30 59 33
+f 30 33 31
+f 32 60 34
+f 32 33 59
+f 32 59 58
+f 32 58 61
+f 32 61 60
+f 34 60 35
+f 35 60 62
+f 35 62 63
+f 35 63 64
+f 35 64 65
+f 35 65 66
+f 35 66 37
+f 35 37 36
+f 43 67 68
+f 43 68 44
+f 43 46 69
+f 43 69 67
+f 44 68 45
+f 45 70 49
+f 45 68 70
+f 46 53 71
+f 46 71 69
+f 47 51 72
+f 47 72 54
+f 49 73 74
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 50
+f 49 70 73
+f 50 72 51
+f 50 77 72
+f 52 78 71
+f 52 71 53
+f 54 72 79
+f 54 79 80
+f 54 80 81
+f 54 81 56
+f 54 56 55
+f 56 81 57
+f 57 81 58
+f 58 81 82
+f 58 82 83
+f 58 83 61
+f 60 61 83
+f 60 83 84
+f 60 84 62
+f 62 84 85
+f 62 85 86
+f 62 86 63
+f 63 87 88
+f 63 88 64
+f 63 86 87
+f 67 89 70
+f 67 70 68
+f 67 69 71
+f 67 71 89
+f 70 89 90
+f 70 90 73
+f 71 78 91
+f 71 91 92
+f 71 92 93
+f 71 93 89
+f 72 77 94
+f 72 94 79
+f 73 95 74
+f 73 90 95
+f 74 96 97
+f 74 97 98
+f 74 98 75
+f 74 95 96
+f 75 98 99
+f 75 99 76
+f 76 99 100
+f 76 100 77
+f 77 100 101
+f 77 101 94
+f 78 102 91
+f 79 94 101
+f 79 101 100
+f 79 100 103
+f 79 103 104
+f 79 104 105
+f 79 105 106
+f 79 106 107
+f 79 107 81
+f 79 81 80
+f 81 108 82
+f 81 107 106
+f 81 106 105
+f 81 105 108
+f 82 108 109
+f 82 109 83
+f 83 110 84
+f 83 109 111
+f 83 111 110
+f 84 110 112
+f 84 112 85
+f 85 112 113
+f 85 113 114
+f 85 114 115
+f 85 115 116
+f 85 116 117
+f 85 117 87
+f 85 87 86
+f 87 117 88
+f 89 118 119
+f 89 119 120
+f 89 120 121
+f 89 121 95
+f 89 95 90
+f 89 93 92
+f 89 92 118
+f 91 102 92
+f 92 102 122
+f 92 122 123
+f 92 123 124
+f 92 124 118
+f 95 121 96
+f 96 125 97
+f 96 121 120
+f 96 120 119
+f 96 119 125
+f 97 125 126
+f 97 126 127
+f 97 127 128
+f 97 128 98
+f 98 128 129
+f 98 129 99
+f 99 129 103
+f 99 103 100
+f 103 130 104
+f 103 129 130
+f 104 130 105
+f 105 130 131
+f 105 131 132
+f 105 132 111
+f 105 111 133
+f 105 133 134
+f 105 134 135
+f 105 135 108
+f 108 135 109
+f 109 135 134
+f 109 134 111
+f 110 136 112
+f 110 111 137
+f 110 137 138
+f 110 138 139
+f 110 139 140
+f 110 140 141
+f 110 141 136
+f 111 134 133
+f 111 132 142
+f 111 142 137
+f 112 136 159
+f 112 159 175
+f 112 175 173
+f 112 173 177
+f 112 177 171
+f 112 171 176
+f 112 176 167
+f 112 167 149
+f 112 149 168
+f 112 168 165
+f 112 165 164
+f 112 164 146
+f 112 146 153
+f 112 153 123
+f 112 123 152
+f 112 152 162
+f 112 162 143
+f 112 143 115
+f 112 115 114
+f 112 114 113
+f 115 143 144
+f 115 144 117
+f 115 117 116
+f 118 145 146
+f 118 146 147
+f 118 147 148
+f 118 148 149
+f 118 149 150
+f 118 150 151
+f 118 151 119
+f 118 124 145
+f 119 151 125
+f 123 153 124
+f 124 153 146
+f 124 146 145
+f 125 151 154
+f 125 154 126
+f 126 154 155
+f 126 155 156
+f 126 156 127
+f 127 156 157
+f 127 157 158
+f 127 158 128
+f 128 158 131
+f 128 131 129
+f 129 131 130
+f 131 142 132
+f 131 158 142
+f 136 141 159
+f 137 142 160
+f 137 160 138
+f 138 160 161
+f 138 161 159
+f 138 159 141
+f 138 141 140
+f 138 140 139
+f 142 158 160
+f 143 162 163
+f 143 163 144
+f 146 164 147
+f 147 164 165
+f 147 165 166
+f 147 166 148
+f 148 166 149
+f 149 167 169
+f 149 169 150
+f 149 166 168
+f 150 169 154
+f 150 154 151
+f 152 163 162
+f 154 169 167
+f 154 167 155
+f 155 167 170
+f 155 170 171
+f 155 171 156
+f 156 171 172
+f 156 172 157
+f 157 172 173
+f 157 173 174
+f 157 174 158
+f 158 174 160
+f 159 161 175
+f 160 174 161
+f 161 174 175
+f 165 168 166
+f 167 176 170
+f 170 176 171
+f 171 177 172
+f 172 177 173
+f 173 175 174
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_6.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.01453874 -0.04031167 -0.01682273
+v -0.01274023 -0.04031170 -0.00941995
+v 0.01453874 -0.04031175 0.00506668
+v 0.01453874 -0.08651953 -0.01614212
+v -0.01274023 -0.04031176 0.00763165
+v -0.01274023 -0.07769871 -0.00879559
+v 0.01251738 -0.04031175 0.00637999
+v 0.01272566 -0.04707474 0.00654614
+v 0.01453874 -0.05010818 0.00538559
+v 0.01453874 -0.08916173 -0.01526838
+v 0.01107012 -0.08845038 -0.01460099
+v -0.01208336 -0.08812013 -0.00859729
+v -0.01274023 -0.08651956 -0.00858389
+v -0.01274023 -0.08348613 -0.00869644
+v -0.01274023 -0.08055431 -0.00874736
+v -0.00925293 -0.04031176 0.00902001
+v -0.01274023 -0.05010819 0.00793985
+v 0.01088854 -0.04031176 0.00705272
+v 0.01034916 -0.04707475 0.00753247
+v 0.01034916 -0.06224703 0.00800680
+v 0.01291524 -0.06224703 0.00682483
+v 0.01453874 -0.05314670 0.00547670
+v -0.01274023 -0.08940565 -0.00738851
+v -0.01274023 -0.08882132 -0.00788704
+v 0.01453874 -0.09005602 -0.01431690
+v -0.01274023 -0.09114849 -0.00581254
+v -0.00883904 -0.04031176 0.00914330
+v -0.01274023 -0.05305017 0.00802561
+v -0.01274023 -0.05314671 0.00802828
+v -0.00743985 -0.08045276 0.01010267
+v -0.00743985 -0.07741424 0.01006249
+v 0.01034916 -0.04031176 0.00726178
+v 0.00574570 -0.04031176 0.00873055
+v -0.00447323 -0.08045276 0.01055295
+v -0.00150929 -0.08348620 0.00997133
+v 0.00145466 -0.08348619 0.00940044
+v 0.00321967 -0.08519853 0.00887244
+v 0.01453874 -0.08348618 0.00550339
+v 0.01453874 -0.05921358 0.00556245
+v 0.01453874 -0.05619539 0.00555442
+v 0.01453874 -0.07438078 0.00554632
+v 0.01453874 -0.07134734 0.00555437
+v 0.01453874 -0.09070132 -0.01356912
+v 0.01453874 -0.09123993 -0.01223169
+v -0.01274023 -0.09153975 -0.00423122
+v -0.00743985 -0.04031176 0.00949173
+v -0.01274023 -0.05618016 0.00803631
+v -0.01274023 -0.07438079 0.00803089
+v -0.01274023 -0.07741423 0.00802284
+v -0.01274023 -0.08045275 0.00800137
+v -0.01274023 -0.08348619 0.00796652
+v -0.01274023 -0.08597595 0.00791827
+v -0.00772289 -0.08374534 0.00960414
+v -0.00447323 -0.08348620 0.01040553
+v -0.01274023 -0.05914754 0.00803898
+v -0.01274023 -0.06224703 0.00803897
+v 0.00145466 -0.04031176 0.00922371
+v -0.00447323 -0.04031177 0.00967667
+v -0.00676161 -0.04031177 0.00956410
+v -0.00150929 -0.04031177 0.00955338
+v -0.00379767 -0.04031177 0.00967131
+v 0.00145466 -0.08546275 0.00909222
+v 0.01453874 -0.08626048 0.00436965
+v 0.01034916 -0.08566091 0.00624582
+v 0.01233580 -0.08525949 0.00598851
+v 0.01453874 -0.09156513 -0.00999638
+v -0.01274023 -0.09200723 -0.00134997
+v -0.01274023 -0.08939554 0.00669876
+v -0.00692182 -0.08547291 0.00927983
+v -0.00447323 -0.08571173 0.00948621
+v -0.00150929 -0.08567108 0.00933612
+v 0.00738522 -0.08762222 0.00477436
+v 0.00738522 -0.08610296 0.00663176
+v -0.01192315 -0.09103675 0.00583840
+v 0.01453874 -0.08722588 0.00309654
+v 0.01453874 -0.09188524 -0.00711514
+v -0.01274023 -0.09205804 -0.00073620
+v -0.01274023 -0.09020344 0.00639053
+v 0.01331310 -0.08792708 0.00246669
+v -0.01274023 -0.09151438 0.00504236
+v -0.01274023 -0.09171254 0.00461085
+v -0.01040379 -0.09163631 0.00407212
+v 0.00441860 -0.09123997 0.00030909
+v 0.01331310 -0.09127553 -0.00255608
+v 0.01453874 -0.09113326 -0.00272224
+v 0.01453874 -0.09163628 -0.00420442
+v 0.01331310 -0.09173282 -0.00423122
+v 0.01034916 -0.09186494 -0.00423122
+v -0.01274023 -0.09222064 0.00153395
+v -0.01040379 -0.09212918 0.00153395
+v 0.01034916 -0.09149910 -0.00217816
+f 1 2 5
+f 1 5 16
+f 1 16 27
+f 1 27 46
+f 1 46 59
+f 1 59 58
+f 1 58 61
+f 1 61 60
+f 1 60 57
+f 1 57 33
+f 1 33 32
+f 1 32 18
+f 1 18 7
+f 1 7 3
+f 1 3 9
+f 1 9 22
+f 1 22 40
+f 1 40 39
+f 1 39 42
+f 1 42 41
+f 1 41 38
+f 1 38 63
+f 1 63 75
+f 1 75 85
+f 1 85 86
+f 1 86 76
+f 1 76 66
+f 1 66 44
+f 1 44 43
+f 1 43 25
+f 1 25 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 15
+f 2 15 14
+f 2 14 13
+f 2 13 24
+f 2 24 23
+f 2 23 26
+f 2 26 45
+f 2 45 67
+f 2 67 77
+f 2 77 89
+f 2 89 81
+f 2 81 80
+f 2 80 78
+f 2 78 68
+f 2 68 52
+f 2 52 51
+f 2 51 50
+f 2 50 49
+f 2 49 48
+f 2 48 56
+f 2 56 55
+f 2 55 47
+f 2 47 29
+f 2 29 28
+f 2 28 17
+f 2 17 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 6
+f 5 17 16
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 10 23 24
+f 10 24 12
+f 10 12 11
+f 10 25 26
+f 10 26 23
+f 12 24 13
+f 16 17 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 27
+f 18 32 19
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 21 39 40
+f 21 40 22
+f 21 38 41
+f 21 41 42
+f 21 42 39
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 27 31 46
+f 29 47 30
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 30 54 34
+f 30 34 31
+f 30 47 55
+f 30 55 56
+f 30 56 48
+f 31 34 46
+f 33 57 34
+f 34 58 59
+f 34 59 46
+f 34 54 35
+f 34 57 60
+f 34 60 61
+f 34 61 58
+f 35 54 62
+f 35 62 37
+f 35 37 36
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 38
+f 38 65 63
+f 44 66 67
+f 44 67 45
+f 52 68 69
+f 52 69 54
+f 52 54 53
+f 54 69 70
+f 54 70 71
+f 54 71 62
+f 62 72 73
+f 62 73 63
+f 62 71 74
+f 62 74 72
+f 63 65 64
+f 63 73 72
+f 63 72 75
+f 66 76 67
+f 67 76 77
+f 68 78 69
+f 69 78 70
+f 70 78 74
+f 70 74 71
+f 72 79 75
+f 72 74 79
+f 74 78 80
+f 74 80 81
+f 74 81 82
+f 74 82 83
+f 74 83 84
+f 74 84 85
+f 74 85 79
+f 75 79 85
+f 76 86 87
+f 76 87 88
+f 76 88 89
+f 76 89 77
+f 81 89 90
+f 81 90 87
+f 81 87 86
+f 81 86 91
+f 81 91 82
+f 82 91 84
+f 82 84 83
+f 84 91 86
+f 84 86 85
+f 87 90 88
+f 88 90 89
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_7.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00160042 0.03486156 0.00948541
+v 0.00160042 0.03503012 0.00948251
+v 0.00160042 0.03484075 0.00948251
+v 0.00393115 0.03483867 0.00901913
+v 0.00407919 0.03789560 0.00898729
+v 0.00160042 0.05323643 0.00913215
+v 0.00160042 0.03483870 -0.00011514
+v 0.00395869 0.03483867 0.00901334
+v 0.00738765 0.03789560 0.00830671
+v 0.01035184 0.05003175 0.00756535
+v 0.00310490 0.05499900 0.00879620
+v 0.00160042 0.05598121 0.00897288
+v 0.01035184 0.05306579 0.00748716
+v 0.00160042 0.03483875 -0.01313886
+v 0.01033119 0.03483867 0.00757978
+v 0.01035184 0.03789560 0.00766377
+v 0.01924442 0.03486157 0.00553514
+v 0.02220517 0.05609775 0.00431307
+v 0.01034840 0.05609774 0.00714834
+v 0.00160042 0.05609774 0.00895550
+v 0.01924442 0.03483877 -0.01946972
+v 0.00160042 0.03487205 -0.01313886
+v 0.01924097 0.03483868 0.00553514
+v 0.02218795 0.03483868 0.00450413
+v 0.02495591 0.05609776 0.00340659
+v 0.00160042 0.05609781 -0.01145615
+v 0.02220861 0.03789570 -0.01981434
+v 0.02220861 0.03483877 -0.01970430
+v 0.01924442 0.03486166 -0.01946972
+v 0.00160042 0.03776666 -0.01296798
+v 0.01924442 0.03789570 -0.01938862
+v 0.02220861 0.03483868 0.00449544
+v 0.02455655 0.03483869 0.00336017
+v 0.02502476 0.05609776 0.00337184
+v 0.00160042 0.03789568 -0.01295929
+v 0.01615973 0.05609783 -0.01671546
+v 0.01924442 0.04092974 -0.01919747
+v 0.02220861 0.04092974 -0.01979406
+v 0.02662219 0.05547148 -0.02010100
+v 0.02662219 0.05360694 -0.02010100
+v 0.02669793 0.05360694 -0.02010100
+v 0.02814043 0.04699781 -0.01983169
+v 0.03110463 0.05003185 -0.01965212
+v 0.02814043 0.04396585 -0.01943783
+v 0.03137660 0.04674186 -0.01868194
+v 0.02487328 0.03483877 -0.01836631
+v 0.02576839 0.05609784 -0.01985772
+v 0.02457376 0.03483869 0.00335148
+v 0.02605414 0.03486158 0.00257243
+v 0.02772731 0.05609776 0.00172106
+v 0.01764010 0.05609783 -0.01724834
+v 0.01924442 0.05609784 -0.01781597
+v 0.02220861 0.05609784 -0.01881512
+v 0.02544822 0.05609784 -0.01977083
+v 0.02755173 0.05609784 -0.01990405
+v 0.02669793 0.05547148 -0.02010100
+v 0.03110463 0.05306589 -0.01970714
+v 0.03406882 0.05609784 -0.01877747
+v 0.03349732 0.05003185 -0.01835467
+v 0.03302911 0.04758256 -0.01787104
+v 0.02634333 0.03483876 -0.01636800
+v 0.03254713 0.04555986 -0.01696166
+v 0.02605414 0.03483869 0.00256954
+v 0.02966212 0.04216159 0.00014553
+v 0.02966212 0.04267351 0.00014554
+v 0.03609658 0.05609779 -0.00518322
+v 0.03110463 0.05609784 -0.01966657
+v 0.03568001 0.05609783 -0.01743948
+v 0.03423751 0.05332393 -0.01828225
+v 0.03556985 0.05450590 -0.01724255
+v 0.03462309 0.05003184 -0.01576557
+v 0.02635366 0.03483876 -0.01635063
+v 0.03326322 0.04674185 -0.01590459
+v 0.03269861 0.04530182 -0.01503866
+v 0.02682875 0.03483875 -0.01490837
+v 0.02732795 0.03483870 0.00113887
+v 0.03564559 0.05131159 -0.00556552
+v 0.03584527 0.05306584 -0.00537728
+v 0.02733483 0.03483870 0.00113018
+v 0.03677136 0.05609780 -0.00711781
+v 0.03605183 0.05609783 -0.01576843
+v 0.03534262 0.05245407 -0.01576556
+v 0.03569378 0.05397109 -0.01576555
+v 0.03550443 0.05175487 -0.01288105
+v 0.03492606 0.05003183 -0.01288106
+v 0.03367979 0.04699779 -0.01288107
+v 0.03277435 0.04518111 -0.01288107
+v 0.02785469 0.03483871 -0.00136915
+v 0.02706286 0.03483875 -0.01289270
+v 0.03507065 0.04964475 -0.00711205
+v 0.03569723 0.05116385 -0.00711204
+v 0.03619642 0.05306585 -0.00711204
+v 0.02785469 0.03483870 -0.00134887
+v 0.03673349 0.05609781 -0.01000232
+v 0.03643397 0.05609782 -0.01288682
+v 0.03587281 0.05327188 -0.01288104
+v 0.03565591 0.05127206 -0.00951290
+v 0.03598642 0.05276412 -0.01028326
+v 0.03516705 0.05016916 -0.01028327
+v 0.03382438 0.04699778 -0.00999656
+v 0.03381061 0.04699777 -0.00711206
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 26
+f 1 26 35
+f 1 35 30
+f 1 30 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 5
+f 4 7 14
+f 4 14 21
+f 4 21 28
+f 4 28 46
+f 4 46 61
+f 4 61 72
+f 4 72 75
+f 4 75 89
+f 4 89 88
+f 4 88 93
+f 4 93 79
+f 4 79 76
+f 4 76 63
+f 4 63 48
+f 4 48 33
+f 4 33 32
+f 4 32 24
+f 4 24 23
+f 4 23 15
+f 4 15 8
+f 5 9 10
+f 5 10 6
+f 6 11 12
+f 6 10 13
+f 6 13 11
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 13
+f 11 13 19
+f 11 19 12
+f 12 19 20
+f 13 18 19
+f 14 22 29
+f 14 29 21
+f 15 23 17
+f 15 17 16
+f 17 24 25
+f 17 25 18
+f 17 23 24
+f 18 25 34
+f 18 34 50
+f 18 50 66
+f 18 66 80
+f 18 80 94
+f 18 94 95
+f 18 95 81
+f 18 81 68
+f 18 68 58
+f 18 58 67
+f 18 67 55
+f 18 55 47
+f 18 47 54
+f 18 54 53
+f 18 53 52
+f 18 52 51
+f 18 51 36
+f 18 36 26
+f 18 26 20
+f 18 20 19
+f 21 27 28
+f 21 29 27
+f 22 30 31
+f 22 31 29
+f 24 32 25
+f 25 33 48
+f 25 48 34
+f 25 32 33
+f 26 36 37
+f 26 37 35
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 27 29 38
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 29 31 38
+f 30 35 37
+f 30 37 31
+f 31 37 47
+f 31 47 39
+f 31 39 38
+f 34 48 49
+f 34 49 50
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 47
+f 39 47 55
+f 39 55 56
+f 39 56 41
+f 39 41 40
+f 41 57 43
+f 41 43 42
+f 41 56 57
+f 43 57 58
+f 43 58 59
+f 43 59 45
+f 43 45 44
+f 45 59 60
+f 45 60 46
+f 46 60 62
+f 46 62 61
+f 48 63 49
+f 49 63 64
+f 49 64 50
+f 50 64 65
+f 50 65 66
+f 55 67 56
+f 56 67 57
+f 57 67 58
+f 58 68 69
+f 58 69 59
+f 59 69 70
+f 59 70 60
+f 60 70 71
+f 60 71 62
+f 61 62 72
+f 62 71 73
+f 62 73 74
+f 62 74 75
+f 62 75 72
+f 63 76 64
+f 64 77 78
+f 64 78 66
+f 64 66 65
+f 64 76 79
+f 64 79 77
+f 66 78 80
+f 68 81 70
+f 68 70 69
+f 70 82 71
+f 70 81 83
+f 70 83 82
+f 71 82 84
+f 71 84 85
+f 71 85 73
+f 73 86 74
+f 73 85 86
+f 74 86 87
+f 74 87 88
+f 74 88 89
+f 74 89 75
+f 77 90 91
+f 77 91 92
+f 77 92 80
+f 77 80 78
+f 77 79 93
+f 77 93 90
+f 80 92 94
+f 81 95 83
+f 82 83 96
+f 82 96 84
+f 83 95 96
+f 84 97 85
+f 84 96 98
+f 84 98 97
+f 85 97 99
+f 85 99 86
+f 86 100 87
+f 86 99 100
+f 87 100 88
+f 88 100 93
+f 90 101 100
+f 90 100 99
+f 90 99 97
+f 90 97 91
+f 90 93 101
+f 91 97 92
+f 92 97 98
+f 92 98 94
+f 93 100 101
+f 94 98 96
+f 94 96 95
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_8.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.03849065 -0.01452326 0.00139757
+v -0.03842259 -0.01452325 -0.00051379
+v -0.03778992 -0.03582578 0.00153754
+v -0.03841503 -0.01672755 0.00153761
+v -0.03835706 -0.01452327 0.00441891
+v -0.03838731 -0.01452325 -0.00117770
+v -0.03826379 -0.01672754 -0.00134629
+v -0.03690267 -0.03582577 -0.00062020
+v -0.03771682 -0.03582578 0.00238559
+v -0.03753786 -0.03582579 0.00441883
+v -0.03808735 -0.01452328 0.00730281
+v -0.03733622 -0.01452324 -0.00344177
+v -0.03656239 -0.03582576 -0.00144750
+v -0.03664305 -0.01976389 -0.00398381
+v -0.03690267 -0.03582580 0.00730273
+v -0.03752526 -0.01452329 0.01018670
+v -0.03687747 -0.01452323 -0.00430278
+v -0.03567514 -0.03381959 -0.00284275
+v -0.03545585 -0.03582576 -0.00270013
+v -0.03660524 -0.01662742 -0.00448433
+v -0.03563733 -0.01555134 -0.00569287
+v -0.03543317 -0.01757420 -0.00561766
+v -0.03607844 -0.03582581 0.00963941
+v -0.03657500 -0.01452330 0.01310171
+v -0.03566506 -0.01452323 -0.00571361
+v -0.03461397 -0.03582576 -0.00313842
+v -0.03418043 -0.01452323 -0.00606113
+v -0.03431654 -0.01662742 -0.00593925
+v -0.02226809 -0.03582574 -0.00768729
+v -0.02768737 -0.03582575 -0.00604306
+v -0.02917200 -0.03582575 -0.00546731
+v -0.03050288 -0.03582575 -0.00494344
+v -0.03116075 -0.03582575 -0.00467113
+v -0.03415774 -0.03582576 -0.00335626
+v -0.02436019 -0.03582574 -0.00713489
+v -0.02523231 -0.03582574 -0.00688592
+v -0.02703706 -0.03582575 -0.00628165
+v -0.03505760 -0.03582581 0.01065603
+v -0.03582134 -0.01452331 0.01497676
+v -0.03331334 -0.01452323 -0.00622192
+v -0.01274024 -0.02886461 -0.00981129
+v -0.01274024 -0.03189889 -0.00974646
+v -0.01798308 -0.03582574 -0.00858980
+v -0.01834856 -0.03582574 -0.00851459
+v -0.01938957 -0.03582574 -0.00829934
+v -0.03457112 -0.03582581 0.01108135
+v -0.03489628 -0.01452331 0.01582222
+v -0.01274024 -0.01452321 -0.00989681
+v -0.01274024 -0.01672750 -0.00990201
+v -0.01274024 -0.01976386 -0.00989164
+v -0.01274024 -0.02583034 -0.00984239
+v -0.01274024 -0.03493317 -0.00965051
+v -0.01274024 -0.03557965 -0.00962458
+v -0.01274024 -0.03582573 -0.00961421
+v -0.02950220 -0.03582582 0.01426867
+v -0.02983744 -0.03390932 0.01462399
+v -0.03428882 -0.01452331 0.01621383
+v -0.01274024 -0.01452327 0.00598535
+v -0.01274024 -0.03582580 0.00753354
+v -0.02921990 -0.03582582 0.01441650
+v -0.02813604 -0.03582582 0.01483664
+v -0.03116075 -0.01452331 0.01659247
+v -0.02523231 -0.03582583 0.01526714
+v -0.01274024 -0.02390139 0.00672184
+v -0.01647072 -0.01452330 0.01281125
+v -0.01483485 -0.01818737 0.01168309
+v -0.01479200 -0.01976394 0.01182832
+v -0.01274024 -0.03493324 0.00749983
+v -0.01534401 -0.02279823 0.01339474
+v -0.01539442 -0.02583043 0.01330137
+v -0.01636233 -0.03582582 0.01307051
+v -0.02314022 -0.03582583 0.01531123
+v -0.02226809 -0.03582583 0.01532420
+v -0.02226809 -0.02886471 0.01567174
+v -0.01930135 -0.02886471 0.01559394
+v -0.01930135 -0.02583044 0.01570547
+v -0.01930135 -0.02279824 0.01574439
+v -0.01930135 -0.01976396 0.01532167
+v -0.01709835 -0.01976395 0.01492747
+v -0.01752181 -0.01806017 0.01465775
+v -0.01475419 -0.02279822 0.01195279
+v -0.01561623 -0.01976395 0.01327026
+v -0.01682612 -0.02279824 0.01510900
+v -0.01687653 -0.02583044 0.01508046
+v -0.01705802 -0.02886471 0.01502079
+v -0.01748652 -0.03582582 0.01476143
+v -0.01930135 -0.03582583 0.01514007
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 24
+f 1 24 39
+f 1 39 47
+f 1 47 57
+f 1 57 62
+f 1 62 65
+f 1 65 58
+f 1 58 48
+f 1 48 40
+f 1 40 27
+f 1 27 25
+f 1 25 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 13
+f 3 13 19
+f 3 19 26
+f 3 26 34
+f 3 34 33
+f 3 33 32
+f 3 32 31
+f 3 31 30
+f 3 30 37
+f 3 37 36
+f 3 36 35
+f 3 35 29
+f 3 29 45
+f 3 45 44
+f 3 44 43
+f 3 43 54
+f 3 54 59
+f 3 59 71
+f 3 71 86
+f 3 86 87
+f 3 87 73
+f 3 73 72
+f 3 72 63
+f 3 63 61
+f 3 61 60
+f 3 60 55
+f 3 55 46
+f 3 46 38
+f 3 38 23
+f 3 23 15
+f 3 15 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 5 9 10
+f 5 10 11
+f 6 12 7
+f 7 13 8
+f 7 12 14
+f 7 14 13
+f 10 15 16
+f 10 16 11
+f 12 17 14
+f 13 14 18
+f 13 18 19
+f 14 17 20
+f 14 20 21
+f 14 21 22
+f 14 22 18
+f 15 23 24
+f 15 24 16
+f 17 25 21
+f 17 21 20
+f 18 22 19
+f 19 22 26
+f 21 25 27
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 26
+f 22 29 35
+f 22 35 36
+f 22 36 37
+f 22 37 30
+f 23 38 39
+f 23 39 24
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 29
+f 27 29 28
+f 38 46 47
+f 38 47 39
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 41 51 50
+f 41 50 49
+f 41 49 48
+f 41 48 58
+f 41 58 64
+f 41 64 68
+f 41 68 59
+f 41 59 54
+f 41 54 53
+f 41 53 52
+f 41 52 42
+f 42 52 43
+f 43 52 53
+f 43 53 54
+f 46 55 56
+f 46 56 47
+f 47 56 57
+f 55 60 56
+f 56 60 61
+f 56 61 57
+f 57 61 63
+f 57 63 62
+f 58 65 66
+f 58 66 67
+f 58 67 64
+f 59 68 69
+f 59 69 70
+f 59 70 71
+f 62 63 72
+f 62 72 73
+f 62 73 74
+f 62 74 75
+f 62 75 76
+f 62 76 77
+f 62 77 78
+f 62 78 79
+f 62 79 80
+f 62 80 65
+f 64 67 81
+f 64 81 68
+f 65 80 79
+f 65 79 82
+f 65 82 66
+f 66 82 69
+f 66 69 67
+f 67 69 81
+f 68 81 69
+f 69 82 83
+f 69 83 84
+f 69 84 70
+f 70 84 85
+f 70 85 86
+f 70 86 71
+f 73 75 74
+f 73 87 75
+f 75 85 76
+f 75 87 86
+f 75 86 85
+f 76 85 84
+f 76 84 83
+f 76 83 77
+f 77 83 79
+f 77 79 78
+f 79 83 82
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/mjcf/mesh/keyboard_73_collision_9.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.01453874 -0.04031264 -0.01682361
+v 0.01924613 -0.04031263 -0.01899533
+v 0.01453874 -0.04275200 -0.01670352
+v 0.01453874 -0.04031272 0.00506627
+v 0.02121701 -0.04031263 -0.01974342
+v 0.01924613 -0.04100388 -0.01893528
+v 0.01453874 -0.05027189 -0.01624818
+v 0.01453874 -0.04850526 -0.01636077
+v 0.01453874 -0.04707206 -0.01645083
+v 0.01453874 -0.04562034 -0.01654090
+v 0.01453874 -0.05010720 0.00538650
+v 0.01924613 -0.04403903 0.00469347
+v 0.01924613 -0.04031272 0.00455837
+v 0.02179755 -0.04100388 -0.01990355
+v 0.02174707 -0.04031263 -0.01992607
+v 0.01924613 -0.05027188 -0.01806712
+v 0.01453874 -0.05027197 0.00539150
+v 0.01924613 -0.04707214 0.00474100
+v 0.02206047 -0.04031271 0.00373522
+v 0.02239281 -0.04426611 -0.01979347
+v 0.02221192 -0.05027188 -0.01914548
+v 0.02379578 -0.04542729 -0.02008622
+v 0.02322996 -0.04031263 -0.02015125
+v 0.02328044 -0.04100388 -0.02015375
+v 0.02350340 -0.04340521 -0.02012374
+v 0.01924613 -0.05027197 0.00475850
+v 0.02515246 -0.04031271 0.00231409
+v 0.02169448 -0.04707213 0.00384779
+v 0.02237388 -0.05027188 -0.01918801
+v 0.02494213 -0.04426611 -0.02016377
+v 0.02844007 -0.05027188 -0.02013376
+v 0.02693404 -0.05010711 -0.02007121
+v 0.02698663 -0.05027188 -0.02006621
+v 0.02517770 -0.05027188 -0.01985104
+v 0.02446886 -0.04031263 -0.02016126
+v 0.02500102 -0.04119497 -0.02016876
+v 0.02144208 -0.05027196 0.00386279
+v 0.02767864 -0.04031270 0.00102807
+v 0.02159983 -0.05027196 0.00379774
+v 0.02806146 -0.04714225 -0.02015877
+v 0.02858941 -0.05027188 -0.02013627
+v 0.02841693 -0.05010711 -0.02013627
+v 0.02469603 -0.04031263 -0.02016126
+v 0.02792264 -0.04429243 -0.02015876
+v 0.03409400 -0.05027193 -0.00537955
+v 0.03561896 -0.05027192 -0.00711593
+v 0.02868196 -0.04031270 -0.00078837
+v 0.02770388 -0.04100395 0.00098553
+v 0.03103776 -0.05027188 -0.02014127
+v 0.03096835 -0.05027188 -0.02014127
+v 0.02678891 -0.04233373 -0.02013625
+v 0.02968107 -0.04547116 -0.02011874
+v 0.02586972 -0.04031263 -0.01965085
+v 0.02995241 -0.04707205 -0.02014626
+v 0.03602702 -0.05027191 -0.00999822
+v 0.03547382 -0.04878997 -0.00999822
+v 0.03519617 -0.04929598 -0.00711593
+v 0.02892806 -0.04031269 -0.00150644
+v 0.03226825 -0.05027188 -0.02001617
+v 0.03198219 -0.04937686 -0.01994111
+v 0.02715910 -0.04031263 -0.01853997
+v 0.02748303 -0.04031263 -0.01817218
+v 0.03018589 -0.04429243 -0.01842489
+v 0.03305492 -0.04781107 -0.01801708
+v 0.03568837 -0.05027190 -0.01288050
+v 0.03530134 -0.04923454 -0.01288050
+v 0.03440530 -0.04707208 -0.00999821
+v 0.03285089 -0.04523428 -0.00711592
+v 0.03397410 -0.04707209 -0.00711592
+v 0.03408558 -0.04707207 -0.01288049
+v 0.02897433 -0.04031269 -0.00380077
+v 0.03300233 -0.04505488 -0.00999821
+v 0.03341460 -0.05027188 -0.01884524
+v 0.02852210 -0.04031264 -0.01577027
+v 0.02967056 -0.04245951 -0.01731150
+v 0.03243232 -0.04578804 -0.01661596
+v 0.03335570 -0.04690924 -0.01570023
+v 0.03500687 -0.05021826 -0.01576529
+v 0.03501949 -0.05027189 -0.01579282
+v 0.03548644 -0.05027190 -0.01384377
+v 0.03504052 -0.05027189 -0.01571776
+v 0.03285510 -0.04522841 -0.01288049
+v 0.03268262 -0.04543316 -0.01469443
+v 0.02891544 -0.04031266 -0.00999819
+v 0.02883761 -0.04031265 -0.01288047
+v 0.02884602 -0.04031265 -0.01268282
+v 0.02858310 -0.04031264 -0.01533492
+f 1 2 3
+f 1 3 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 17
+f 1 17 11
+f 1 11 4
+f 1 4 13
+f 1 13 19
+f 1 19 27
+f 1 27 38
+f 1 38 47
+f 1 47 58
+f 1 58 71
+f 1 71 84
+f 1 84 86
+f 1 86 85
+f 1 85 87
+f 1 87 74
+f 1 74 62
+f 1 62 61
+f 1 61 53
+f 1 53 43
+f 1 43 35
+f 1 35 23
+f 1 23 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 4 11 12
+f 4 12 13
+f 5 14 6
+f 5 15 14
+f 6 14 16
+f 6 16 7
+f 7 16 21
+f 7 21 29
+f 7 29 34
+f 7 34 33
+f 7 33 31
+f 7 31 41
+f 7 41 50
+f 7 50 49
+f 7 49 59
+f 7 59 73
+f 7 73 79
+f 7 79 81
+f 7 81 80
+f 7 80 65
+f 7 65 55
+f 7 55 46
+f 7 46 45
+f 7 45 39
+f 7 39 37
+f 7 37 26
+f 7 26 17
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 21
+f 14 21 16
+f 14 15 22
+f 14 22 20
+f 15 23 24
+f 15 24 25
+f 15 25 22
+f 17 26 18
+f 18 26 19
+f 19 26 28
+f 19 28 27
+f 20 22 21
+f 21 22 29
+f 22 25 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 29
+f 23 35 36
+f 23 36 24
+f 24 36 30
+f 24 30 25
+f 26 37 28
+f 27 28 39
+f 27 39 38
+f 28 37 39
+f 30 36 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 33 32
+f 31 42 41
+f 35 43 36
+f 36 43 44
+f 36 44 40
+f 38 45 46
+f 38 46 47
+f 38 39 48
+f 38 48 45
+f 39 45 48
+f 40 44 49
+f 40 49 50
+f 40 50 41
+f 43 51 52
+f 43 52 44
+f 43 53 51
+f 44 54 49
+f 44 52 54
+f 46 55 56
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 49 54 59
+f 51 53 52
+f 52 60 59
+f 52 59 54
+f 52 53 61
+f 52 61 62
+f 52 62 63
+f 52 63 64
+f 52 64 60
+f 55 65 66
+f 55 66 56
+f 56 67 68
+f 56 68 69
+f 56 69 57
+f 56 66 70
+f 56 70 67
+f 57 69 58
+f 58 69 68
+f 58 68 67
+f 58 67 72
+f 58 72 71
+f 59 60 73
+f 60 64 73
+f 62 64 63
+f 62 74 75
+f 62 75 64
+f 64 75 76
+f 64 76 77
+f 64 77 78
+f 64 78 79
+f 64 79 73
+f 65 80 66
+f 66 80 81
+f 66 81 78
+f 66 78 77
+f 66 77 70
+f 67 70 82
+f 67 82 72
+f 70 77 83
+f 70 83 82
+f 71 72 84
+f 72 82 85
+f 72 85 86
+f 72 86 84
+f 74 87 82
+f 74 82 83
+f 74 83 76
+f 74 76 75
+f 76 83 77
+f 78 81 79
+f 82 87 85
+

dataset/desktop_supplies/electronic_accessories/16abbf17a76153d7b1ffa8d2672f7a16/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca13f84d72745aa291f322c9fa7afc298528bb325f3767500dd10ecfbef636cf
+size 212161