Add asset kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe

.gitattributes

@@ -4018,7 +4018,5 @@ dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/drawer_028.usd
 dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/mesh/drawer_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/drawer_052.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mesh/drawer_052.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/mesh/storage_bin_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/b02dc033315c5c609821e2bfc4d13173/storage_bin_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/mesh/storage_bin_096.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/b64787adb7395bf480a3a44914cab9a1/storage_bin_096.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/drawer_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mesh/drawer_005.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/drawer_005.urdf

@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="drawer_005">
+   <link name="drawer_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/drawer_005.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/drawer_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>b890904e0a905758911effa19bba5ebe</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>drawer</category>
+         <name>gray drawer chest</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>gray four-drawer chest with tapered legs and simple pull handles</description>
+         <min_height>0.5983</min_height>
+         <max_height>0.5983</max_height>
+         <real_height>0.5983</real_height>
+         <min_mass>18.0</min_mass>
+         <max_mass>32.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609175854</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.169793 -0.207201 -0.331448</min>
+            <max>0.290106 0.207208 0.266882</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Drawers and handles are merged into body surfaces; open drawer front/interior also misassigned.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/drawer_005.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8281590ee5d8b8989d68e3fd4288e120073cfe7aead8657e42da63ec8e135bad
+size 4435385

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mesh/drawer_005.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4578f408f53b1b01ac632d9c8f91faa4f08b091f297d5a9e0004a5bc2e1e0177
+size 12233332

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mesh/drawer_005.mtl

@@ -0,0 +1,6 @@
+newmtl drawer_005_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl drawer_005_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd drawer_005_geometry_Looks_material_0.png

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/drawer_005.xml

@@ -0,0 +1,94 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="drawer_005">
+  <asset>
+    <material name="material_0" texture="texture_0_drawer_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_drawer_005_geometry_Looks_material_0" type="2d" file="mesh/drawer_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/drawer_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/drawer_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/drawer_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/drawer_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/drawer_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/drawer_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/drawer_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/drawer_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/drawer_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/drawer_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/drawer_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/drawer_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/drawer_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/drawer_005_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/drawer_005_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/drawer_005_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/drawer_005_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/drawer_005_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/drawer_005_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/drawer_005_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/drawer_005_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/drawer_005_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/drawer_005_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/drawer_005_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/drawer_005_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/drawer_005_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/drawer_005_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/drawer_005_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/drawer_005_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/drawer_005_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/drawer_005_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/drawer_005_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/drawer_005_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/drawer_005_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/drawer_005_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/drawer_005_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/drawer_005_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/drawer_005_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/drawer_005_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/drawer_005_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/drawer_005_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="drawer_005">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_0.obj

@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v -0.17123984 -0.19156517 0.24866106
+v -0.16776362 -0.19975940 0.24251343
+v -0.16931609 -0.20236857 0.24768171
+v -0.16914734 -0.20187939 0.25910540
+v -0.17090237 -0.19156521 0.25850568
+v -0.17123984 -0.17191521 0.24866113
+v -0.16131735 -0.18174007 0.22091718
+v -0.16013608 -0.18977129 0.22091715
+v -0.15986608 -0.19156507 0.22091715
+v -0.16668359 -0.20628224 0.24375040
+v -0.16799984 -0.20730143 0.25030567
+v -0.16799984 -0.20730145 0.25622839
+v -0.16752735 -0.19894415 0.26429715
+v -0.16793237 -0.19156523 0.26472357
+v -0.17090237 -0.17191525 0.25850575
+v -0.17120611 0.17191813 0.24866239
+v -0.16131735 0.18174319 0.22091852
+v -0.15794233 -0.19609024 0.22091713
+v -0.16276861 -0.20766833 0.24768169
+v -0.15750358 -0.19710945 0.22091713
+v -0.15645732 -0.19751712 0.22091712
+v -0.15196858 -0.19922938 0.22091712
+v -0.14214732 -0.20073777 0.22091711
+v -0.16178983 -0.20783144 0.25785431
+v -0.16178983 -0.20558925 0.26277427
+v -0.16178983 -0.20065637 0.26540764
+v -0.16178983 -0.19156524 0.26738503
+v -0.16178983 -0.00489072 0.26738103
+v -0.16178983 0.18174302 0.26736767
+v -0.16789860 0.18174303 0.26469682
+v -0.17086860 0.17191809 0.25850701
+v -0.17117237 0.19156806 0.24866246
+v -0.16772984 0.19964005 0.24256642
+v -0.15986608 0.19156816 0.22091855
+v -0.15196858 -0.20819831 0.24866100
+v -0.08318599 -0.20077853 0.22091711
+v -0.11268353 -0.20823907 0.24866100
+v -0.15196858 -0.20791299 0.25814952
+v -0.15196858 -0.20607847 0.26307416
+v -0.15196858 -0.20118637 0.26607771
+v -0.15196858 -0.19156525 0.26874388
+v -0.15196858 -0.18174025 0.26875331
+v -0.15196858 -0.13261540 0.26876286
+v -0.15196858 -0.02454068 0.26878198
+v -0.15196858 -0.00489073 0.26878205
+v -0.15196858 0.18174301 0.26876402
+v -0.15196858 0.19156798 0.26874997
+v -0.16178983 0.19156799 0.26734898
+v -0.16789860 0.19156800 0.26468748
+v -0.17083487 0.19156802 0.25850708
+v -0.16907987 0.20180068 0.25904128
+v -0.16921485 0.20228994 0.24774880
+v -0.16617733 0.20620362 0.24386439
+v -0.15750358 0.19711253 0.22091857
+v -0.00279337 -0.20077853 0.22091711
+v 0.15262559 -0.20819831 0.24866100
+v 0.00520539 -0.20791299 0.25808860
+v -0.05372219 -0.20791299 0.25812139
+v -0.06354345 -0.20791299 0.25812607
+v -0.12250478 -0.20791299 0.25814952
+v -0.13232605 -0.20607847 0.26307416
+v 0.14277058 -0.20114561 0.26605894
+v 0.10348553 -0.20114561 0.26606363
+v 0.15262559 -0.20607847 0.26305541
+v -0.00458212 -0.19156525 0.26872516
+v 0.13294932 -0.18174025 0.26872051
+v -0.14214732 -0.13261540 0.26876286
+v 0.12312806 -0.12279042 0.26874413
+v -0.10282850 -0.12279042 0.26876290
+v -0.11268353 -0.02454068 0.26878198
+v -0.14214732 -0.00489073 0.26878205
+v -0.14214732 0.10314322 0.26877777
+v -0.10282850 0.12279316 0.26877316
+v 0.00520539 0.14244311 0.26876387
+v 0.13294932 0.13261814 0.26875447
+v 0.01502666 0.18174301 0.26874525
+v 0.13294932 0.19156798 0.26871719
+v 0.13294932 0.20114835 0.26606511
+v -0.15196858 0.20114835 0.26607919
+v -0.16178983 0.20053686 0.26538100
+v -0.16749362 0.19878388 0.26426112
+v -0.16793237 0.20726355 0.25611744
+v -0.16793237 0.20726357 0.25041966
+v -0.16246484 0.20763049 0.24774882
+v -0.15962985 0.20652978 0.24347078
+v -0.14214732 0.20074085 0.22091859
+v -0.15196858 0.19923246 0.22091858
+v 0.14277058 -0.20073777 0.22091711
+v 0.16244686 -0.20811679 0.24866100
+v 0.16244686 -0.20787220 0.25803705
+v 0.15262559 -0.20787220 0.25813077
+v 0.15262559 -0.20114561 0.26605426
+v 0.15262559 -0.19156525 0.26870171
+v 0.13294932 -0.19156525 0.26870639
+v 0.16244686 -0.20591540 0.26295702
+v 0.15262559 -0.18174025 0.26871114
+v 0.15262559 -0.12279042 0.26873009
+v 0.15262559 -0.09331550 0.26873488
+v 0.13294932 -0.09331550 0.26874424
+v 0.13294932 -0.01471571 0.26875393
+v 0.12312806 0.08349327 0.26875898
+v -0.11268353 -0.01471571 0.26878202
+v 0.12312806 0.10314322 0.26875905
+v 0.15262559 0.13261814 0.26873571
+v 0.15262559 0.16209306 0.26873114
+v 0.13294932 0.18174301 0.26873121
+v 0.14277058 -0.01471571 0.26874922
+v 0.15262559 -0.01471571 0.26873985
+v 0.14277058 0.19156798 0.26871251
+v 0.15262559 0.18174301 0.26872185
+v 0.14277058 0.20114835 0.26606042
+v 0.11330679 0.20604048 0.26302414
+v -0.03404591 0.20608124 0.26302414
+v -0.15196858 0.20608124 0.26302882
+v -0.16178983 0.20546975 0.26268208
+v -0.16178983 0.20783428 0.25775743
+v -0.15196858 0.20820123 0.24866252
+v 0.14277058 0.20074085 0.22091859
+v 0.15262559 0.20824199 0.24866252
+v 0.15262559 -0.20028931 0.22091711
+v 0.16757687 -0.20644530 0.24355361
+v 0.16865687 -0.20717914 0.24866100
+v 0.16889312 -0.20730145 0.25648610
+v 0.16244686 -0.20102329 0.26567004
+v 0.16244686 -0.19156524 0.26790985
+v 0.16862312 -0.19939258 0.26466264
+v 0.15262559 -0.03436565 0.26873977
+v 0.14277058 -0.02454068 0.26874918
+v 0.16244686 0.16209307 0.26792052
+v 0.15262559 0.19156798 0.26870311
+v 0.16244686 0.17191806 0.26791586
+v 0.16244686 0.18174302 0.26790654
+v 0.15262559 0.20110759 0.26605574
+v 0.15262559 0.20604048 0.26298665
+v 0.14277058 0.20604048 0.26300072
+v 0.13294932 0.20604048 0.26301008
+v 0.11330679 0.20791580 0.25810416
+v -0.15196858 0.20791580 0.25810886
+v 0.15083684 0.20037395 0.22091859
+v 0.16244686 0.20816047 0.24866252
+v 0.16754311 0.20644823 0.24357387
+v 0.15262559 0.20791580 0.25806669
+v 0.16244686 0.20787504 0.25799639
+v 0.15387435 -0.19992240 0.22091712
+v 0.15957810 -0.19816941 0.22091712
+v 0.16278437 -0.19278807 0.22091714
+v 0.16349312 -0.19156507 0.22091715
+v 0.17162688 -0.20139013 0.24866102
+v 0.17051312 -0.20216475 0.25926004
+v 0.16926438 -0.19156523 0.26526712
+v 0.17294313 -0.19156521 0.25850568
+v 0.16923062 0.17191807 0.26526377
+v 0.16244686 0.19156799 0.26788781
+v 0.16244686 0.20098531 0.26564811
+v 0.16923062 0.18174303 0.26525913
+v 0.16923062 0.19156800 0.26524976
+v 0.16244686 0.20587741 0.26291637
+v 0.15262559 0.20025167 0.22091859
+v 0.16892687 0.20734507 0.25648292
+v 0.16869063 0.20718202 0.24866252
+v 0.17159312 0.20139305 0.24866250
+v 0.16345936 0.19156816 0.22091855
+v 0.15957810 0.19813174 0.22091858
+v 0.15829561 0.19853941 0.22091858
+v 0.16582187 -0.18467534 0.22091717
+v 0.16632812 -0.18316695 0.22091718
+v 0.16659812 -0.18227006 0.22091718
+v 0.16774562 -0.17823407 0.22091720
+v 0.17324688 -0.19156517 0.24866106
+v 0.17294313 0.17191809 0.25850701
+v 0.17344937 -0.17191521 0.24866113
+v 0.17348312 -0.16209025 0.24866116
+v 0.16858936 0.19939538 0.26464066
+v 0.17290937 0.19156802 0.25850708
+v 0.17051312 0.20216759 0.25926152
+v 0.17317937 0.19156806 0.24866246
+v 0.16771186 0.17819643 0.22091850
+v 0.16747562 0.17905252 0.22091851
+v 0.16632812 0.18308851 0.22091852
+v 0.16855563 -0.17191511 0.22091722
+v 0.17348312 0.16209314 0.24866236
+v 0.17344937 0.17191813 0.24866239
+v 0.16852187 0.17191823 0.22091848
+v 0.16788062 0.17705491 0.22091850
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 6
+f 1 6 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 13 5
+f 4 12 13
+f 5 14 15
+f 5 13 14
+f 6 15 31
+f 6 31 16
+f 6 16 17
+f 7 17 34
+f 7 34 54
+f 7 54 87
+f 7 87 86
+f 7 86 118
+f 7 118 139
+f 7 139 158
+f 7 158 164
+f 7 164 163
+f 7 163 162
+f 7 162 179
+f 7 179 178
+f 7 178 177
+f 7 177 184
+f 7 184 183
+f 7 183 180
+f 7 180 168
+f 7 168 167
+f 7 167 166
+f 7 166 165
+f 7 165 147
+f 7 147 146
+f 7 146 145
+f 7 145 144
+f 7 144 120
+f 7 120 88
+f 7 88 55
+f 7 55 36
+f 7 36 23
+f 7 23 22
+f 7 22 21
+f 7 21 20
+f 7 20 18
+f 7 18 9
+f 7 9 8
+f 9 18 10
+f 10 19 11
+f 10 18 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 19
+f 11 19 24
+f 11 24 12
+f 12 24 25
+f 12 25 13
+f 13 26 27
+f 13 27 14
+f 13 25 26
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 16 31 50
+f 16 50 32
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 19 35 24
+f 19 23 35
+f 23 36 37
+f 23 37 35
+f 24 35 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 29
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 29 45 46
+f 30 49 31
+f 31 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 34
+f 34 53 54
+f 35 37 38
+f 36 55 37
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 38
+f 37 55 56
+f 38 60 61
+f 38 61 39
+f 39 61 40
+f 40 62 63
+f 40 63 41
+f 40 61 64
+f 40 64 62
+f 41 63 62
+f 41 62 65
+f 41 65 66
+f 41 66 42
+f 42 67 43
+f 42 66 68
+f 42 68 69
+f 42 69 67
+f 43 67 70
+f 43 70 44
+f 44 70 102
+f 44 102 71
+f 44 71 45
+f 45 71 72
+f 45 72 46
+f 46 72 73
+f 46 73 74
+f 46 74 75
+f 46 75 76
+f 46 76 47
+f 47 76 77
+f 47 77 78
+f 47 78 79
+f 47 79 80
+f 47 80 48
+f 48 80 81
+f 48 81 49
+f 49 81 50
+f 50 81 51
+f 51 81 82
+f 51 82 52
+f 52 82 83
+f 52 83 53
+f 53 83 84
+f 53 84 85
+f 53 85 86
+f 53 86 87
+f 53 87 54
+f 55 88 56
+f 56 89 90
+f 56 90 91
+f 56 91 57
+f 56 88 89
+f 57 91 58
+f 58 91 64
+f 58 64 59
+f 59 64 60
+f 60 64 61
+f 62 92 93
+f 62 93 94
+f 62 94 65
+f 62 64 92
+f 64 95 92
+f 64 91 90
+f 64 90 95
+f 65 94 66
+f 66 94 93
+f 66 93 96
+f 66 96 68
+f 67 69 70
+f 68 97 98
+f 68 98 99
+f 68 99 128
+f 68 128 100
+f 68 100 70
+f 68 70 69
+f 68 96 97
+f 70 100 101
+f 70 101 103
+f 70 103 102
+f 71 102 72
+f 72 103 74
+f 72 74 73
+f 72 102 103
+f 74 103 75
+f 75 104 105
+f 75 105 110
+f 75 110 106
+f 75 106 76
+f 75 103 101
+f 75 101 100
+f 75 100 128
+f 75 128 107
+f 75 107 108
+f 75 108 104
+f 76 106 77
+f 77 109 111
+f 77 111 78
+f 77 106 110
+f 77 110 109
+f 78 111 112
+f 78 112 113
+f 78 113 79
+f 79 113 114
+f 79 114 115
+f 79 115 80
+f 80 115 81
+f 81 115 82
+f 82 115 116
+f 82 116 83
+f 83 116 84
+f 84 116 117
+f 84 117 85
+f 85 117 86
+f 86 117 119
+f 86 119 118
+f 88 120 121
+f 88 121 89
+f 89 121 122
+f 89 122 123
+f 89 123 90
+f 90 123 95
+f 92 95 124
+f 92 124 93
+f 93 124 125
+f 93 125 96
+f 95 123 126
+f 95 126 124
+f 96 125 97
+f 97 125 98
+f 98 127 128
+f 98 128 99
+f 98 125 127
+f 104 129 105
+f 104 108 129
+f 105 129 131
+f 105 131 110
+f 107 128 127
+f 107 127 108
+f 108 127 129
+f 109 110 130
+f 109 130 111
+f 110 131 132
+f 110 132 153
+f 110 153 130
+f 111 130 133
+f 111 133 134
+f 111 134 135
+f 111 135 136
+f 111 136 112
+f 112 136 113
+f 113 136 137
+f 113 137 114
+f 114 137 138
+f 114 138 116
+f 114 116 115
+f 116 138 117
+f 117 138 119
+f 118 119 140
+f 118 140 141
+f 118 141 139
+f 119 138 137
+f 119 137 142
+f 119 142 143
+f 119 143 140
+f 120 144 121
+f 121 144 145
+f 121 145 146
+f 121 146 147
+f 121 147 148
+f 121 148 122
+f 122 148 123
+f 123 148 149
+f 123 149 126
+f 124 126 125
+f 125 126 150
+f 125 150 129
+f 125 129 127
+f 126 149 151
+f 126 151 150
+f 129 152 155
+f 129 155 131
+f 129 150 152
+f 130 153 154
+f 130 154 133
+f 131 155 156
+f 131 156 132
+f 132 156 153
+f 133 154 157
+f 133 157 134
+f 134 157 143
+f 134 143 142
+f 134 142 135
+f 135 142 136
+f 136 142 137
+f 139 141 158
+f 140 143 159
+f 140 159 160
+f 140 160 141
+f 141 160 161
+f 141 161 162
+f 141 162 163
+f 141 163 164
+f 141 164 158
+f 143 157 159
+f 147 165 148
+f 148 165 166
+f 148 166 167
+f 148 167 168
+f 148 168 169
+f 148 169 151
+f 148 151 149
+f 150 151 170
+f 150 170 152
+f 151 169 171
+f 151 171 172
+f 151 172 181
+f 151 181 170
+f 152 170 155
+f 153 156 173
+f 153 173 154
+f 154 173 157
+f 155 170 156
+f 156 170 174
+f 156 174 173
+f 157 173 159
+f 159 161 160
+f 159 173 175
+f 159 175 161
+f 161 175 174
+f 161 174 176
+f 161 176 177
+f 161 177 178
+f 161 178 179
+f 161 179 162
+f 168 180 169
+f 169 180 171
+f 170 181 174
+f 171 180 172
+f 172 180 181
+f 173 174 175
+f 174 181 182
+f 174 182 176
+f 176 182 183
+f 176 183 184
+f 176 184 177
+f 180 183 181
+f 181 183 182
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_1.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.12314097 0.20076879 0.14340334
+v 0.08384342 0.20075463 0.22091099
+v 0.14277360 0.20075463 0.22091099
+v 0.14277360 0.20075491 0.14340334
+v -0.14215789 0.20074103 0.14340334
+v -0.14215789 0.20074075 0.22091099
+v 0.15262221 0.20028282 0.22091099
+v 0.15262221 0.20029678 0.19944560
+v 0.15262221 0.20031084 0.15023980
+v 0.14961919 0.20044963 0.14340334
+v -0.15197420 0.19920073 0.14340333
+v -0.15197420 0.19922819 0.22091098
+v -0.14393387 0.20047709 0.22091099
+v 0.15830533 0.19854824 0.22091098
+v 0.15959695 0.19817365 0.19944559
+v 0.15262221 0.20031086 0.14340334
+v -0.15365331 0.19856240 0.14340333
+v -0.15300750 0.19883966 0.22091098
+v 0.15956467 0.19815969 0.22091098
+v 0.15959695 0.19817385 0.14340333
+v 0.16353640 0.19158220 0.20928671
+v 0.16356868 0.19158242 0.15023976
+v -0.15746358 0.19709147 0.14340332
+v -0.15749588 0.19711895 0.22091097
+v 0.16027505 0.19696631 0.22091097
+v 0.16356868 0.19158244 0.14340330
+v 0.16343952 0.19158216 0.22091095
+v 0.16641024 0.18310357 0.20928668
+v 0.16444052 0.18898750 0.14340329
+v -0.15907812 0.19327539 0.14340331
+v -0.15982080 0.19158235 0.16992208
+v -0.15943330 0.19260904 0.22091096
+v 0.16631337 0.18310353 0.22091092
+v 0.16773415 0.17819119 0.22091090
+v 0.16641024 0.18311766 0.15023973
+v 0.16641024 0.18311768 0.14340327
+v -0.15978850 0.19158244 0.14340330
+v -0.15985309 0.19158216 0.22091095
+v -0.16082181 0.18476901 0.14340328
+v -0.16133845 0.18175750 0.22091092
+v 0.16854142 0.17193282 0.22091088
+v 0.16773415 0.17820533 0.15023971
+v 0.16773415 0.17820535 0.14340325
+v -0.16127387 0.18175778 0.14340327
+v -0.16091868 0.05900464 0.22091047
+v 0.16850913 0.17193310 0.14340323
+v 0.16473115 0.05900464 0.22091047
+v 0.16518322 0.05900479 0.17999039
+v 0.16557070 0.05900492 0.14340282
+v -0.16078951 0.05900492 0.14340282
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 20
+f 1 20 26
+f 1 26 29
+f 1 29 36
+f 1 36 43
+f 1 43 46
+f 1 46 49
+f 1 49 50
+f 1 50 44
+f 1 44 39
+f 1 39 37
+f 1 37 30
+f 1 30 23
+f 1 23 17
+f 1 17 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 12
+f 2 12 18
+f 2 18 24
+f 2 24 32
+f 2 32 38
+f 2 38 40
+f 2 40 45
+f 2 45 47
+f 2 47 41
+f 2 41 34
+f 2 34 33
+f 2 33 27
+f 2 27 25
+f 2 25 19
+f 2 19 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 9 16 10
+f 9 15 20
+f 9 20 16
+f 11 17 18
+f 11 18 12
+f 14 19 15
+f 15 19 21
+f 15 21 22
+f 15 22 26
+f 15 26 20
+f 17 23 24
+f 17 24 18
+f 19 25 21
+f 21 25 27
+f 21 27 33
+f 21 33 28
+f 21 28 22
+f 22 28 29
+f 22 29 26
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 29 35 36
+f 30 37 31
+f 31 38 32
+f 31 37 39
+f 31 39 40
+f 31 40 38
+f 34 41 42
+f 34 42 35
+f 35 42 43
+f 35 43 36
+f 39 44 40
+f 40 44 45
+f 41 46 43
+f 41 43 42
+f 41 47 48
+f 41 48 49
+f 41 49 46
+f 44 50 45
+f 45 50 49
+f 45 49 48
+f 45 48 47
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_10.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.16815459 0.05484278 0.01212066
+v 0.16841315 0.05101443 -0.00325883
+v 0.16818691 0.05101444 -0.00589712
+v 0.16469636 0.05101457 -0.04211432
+v 0.16770210 0.05484278 0.01210486
+v 0.16812226 0.05484277 0.01242872
+v 0.16592452 0.03444957 0.03856665
+v 0.16854242 -0.17190868 0.03856589
+v 0.16867171 0.05101440 0.00549333
+v 0.16886563 0.05101441 0.00257858
+v 0.16573059 0.03434977 -0.04211438
+v 0.16534276 0.04463390 -0.04211435
+v -0.16076405 0.05101457 -0.04211432
+v -0.16079638 0.05484278 0.01210486
+v 0.16747588 0.05484276 0.01768950
+v 0.16527812 0.04761125 0.03856669
+v 0.16773443 -0.17821428 0.03856587
+v 0.16854242 -0.17190839 -0.04211514
+v 0.16880098 -0.16209984 0.00257779
+v 0.16886563 -0.15226611 0.00257783
+v -0.16121652 -0.18174214 -0.04211518
+v -0.16124885 -0.18171731 0.01210399
+v -0.16079638 0.05484268 0.03856672
+v 0.16447013 0.05484268 0.03856672
+v 0.16773443 -0.17821399 -0.04211516
+v 0.16728194 -0.17989077 0.03856586
+v 0.16702339 -0.18089138 -0.04211517
+v -0.15979446 -0.19155083 -0.04211521
+v -0.16121652 -0.18204258 0.01210399
+v -0.16124885 -0.18174233 0.01210399
+v -0.16124885 -0.18171741 0.03856585
+v 0.16640931 -0.18311863 0.03856585
+v 0.16640931 -0.18311861 0.03211231
+v 0.16637700 -0.18311834 -0.04211518
+v -0.15982677 -0.19155102 0.01210396
+v -0.15743512 -0.19708075 -0.04211523
+v -0.15982677 -0.19155112 0.03856582
+v -0.16076405 -0.18509541 0.03856584
+v 0.16453477 -0.18864855 0.03856583
+v 0.16366214 -0.19127578 0.01210396
+v 0.16356517 -0.19155083 -0.04211521
+v 0.16508420 -0.18699680 -0.04211520
+v -0.15746743 -0.19705592 0.01210394
+v -0.15901878 -0.19345281 0.03856581
+v -0.15194075 -0.19918262 -0.04211524
+v -0.15197306 -0.19918281 0.01210393
+v -0.15743512 -0.19708094 0.01210394
+v 0.16353285 -0.19155112 0.03856582
+v 0.16356517 -0.19155103 0.01242782
+v 0.16175526 -0.19457854 -0.04211522
+v -0.15746743 -0.19705602 0.03856580
+v -0.14744829 -0.19990826 -0.04211524
+v -0.15197306 -0.19918291 0.03856579
+v 0.16094727 -0.19587998 0.03856580
+v 0.15958983 -0.19815691 0.01210393
+v 0.15958983 -0.19815672 -0.04211524
+v -0.14211554 -0.20073400 -0.04211525
+v -0.14243872 -0.20068415 0.01210392
+v -0.14211554 -0.20070927 0.03856578
+v 0.15955752 -0.19815701 0.03856579
+v 0.15936360 -0.19823196 0.01210393
+v 0.15260877 -0.20028360 -0.04211525
+v -0.14211554 -0.20073419 0.01210392
+v -0.13762309 -0.20075902 -0.04211525
+v -0.12278829 -0.20075921 0.01210392
+v -0.12249740 -0.20073427 0.03211224
+v -0.08655778 -0.20073429 0.03856578
+v 0.15716585 -0.19888264 0.03856579
+v 0.15257644 -0.20028387 0.03211224
+v 0.15260877 -0.20028379 0.01210392
+v 0.15228557 -0.20030881 0.01210392
+v 0.14278354 -0.20075902 -0.04211525
+v -0.03933856 -0.20078403 -0.04211525
+v -0.05368855 -0.20075922 0.01242778
+v 0.07061341 -0.20073429 0.03856578
+v 0.15257644 -0.20025887 0.03856578
+v 0.14921518 -0.20043402 0.03856578
+v 0.14278354 -0.20075921 0.01210392
+v 0.12310078 -0.20073427 0.03211224
+v 0.14278354 -0.20070927 0.03856578
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 23
+f 1 23 24
+f 1 24 15
+f 1 15 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 4
+f 4 12 11
+f 4 11 18
+f 4 18 25
+f 4 25 27
+f 4 27 34
+f 4 34 42
+f 4 42 41
+f 4 41 50
+f 4 50 56
+f 4 56 62
+f 4 62 72
+f 4 72 73
+f 4 73 64
+f 4 64 57
+f 4 57 52
+f 4 52 45
+f 4 45 36
+f 4 36 28
+f 4 28 21
+f 4 21 13
+f 4 13 14
+f 4 14 5
+f 6 15 16
+f 6 16 7
+f 7 16 24
+f 7 24 23
+f 7 23 31
+f 7 31 38
+f 7 38 37
+f 7 37 44
+f 7 44 51
+f 7 51 53
+f 7 53 59
+f 7 59 67
+f 7 67 75
+f 7 75 80
+f 7 80 77
+f 7 77 76
+f 7 76 68
+f 7 68 60
+f 7 60 54
+f 7 54 48
+f 7 48 39
+f 7 39 32
+f 7 32 26
+f 7 26 17
+f 7 17 8
+f 8 17 25
+f 8 25 18
+f 8 18 19
+f 8 19 20
+f 8 20 10
+f 8 10 9
+f 10 20 18
+f 10 18 11
+f 13 21 14
+f 14 21 22
+f 14 22 31
+f 14 31 23
+f 15 24 16
+f 17 26 27
+f 17 27 25
+f 18 20 19
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 28 35 29
+f 28 36 35
+f 29 37 38
+f 29 38 31
+f 29 31 30
+f 29 35 37
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 35 36 43
+f 35 43 44
+f 35 44 37
+f 36 45 46
+f 36 46 53
+f 36 53 47
+f 36 47 51
+f 36 51 43
+f 39 48 40
+f 40 48 49
+f 40 49 41
+f 41 49 50
+f 43 51 44
+f 45 52 46
+f 46 52 53
+f 47 53 51
+f 48 54 49
+f 49 54 55
+f 49 55 50
+f 50 55 56
+f 52 57 63
+f 52 63 58
+f 52 58 53
+f 53 58 63
+f 53 63 59
+f 54 60 55
+f 55 60 61
+f 55 61 56
+f 56 61 62
+f 57 64 63
+f 59 65 66
+f 59 66 67
+f 59 63 65
+f 60 68 69
+f 60 69 61
+f 61 69 70
+f 61 70 62
+f 62 70 71
+f 62 71 72
+f 63 64 65
+f 64 73 65
+f 65 73 74
+f 65 74 67
+f 65 67 66
+f 67 74 75
+f 68 76 69
+f 69 76 77
+f 69 77 78
+f 69 78 71
+f 69 71 70
+f 71 78 72
+f 72 78 73
+f 73 78 74
+f 74 78 75
+f 75 78 79
+f 75 79 80
+f 77 80 78
+f 78 80 79
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_11.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.14216205 -0.14987978 -0.28494899
+v -0.13233925 -0.15000514 -0.28494899
+v -0.14216205 -0.15953147 -0.32223417
+v -0.14233068 -0.14987978 -0.28494899
+v -0.12208961 -0.15232156 -0.28494900
+v -0.12715910 -0.15703458 -0.30792523
+v -0.14216205 -0.16361278 -0.32981222
+v -0.14979788 -0.16484119 -0.32889991
+v -0.15570526 -0.15758611 -0.30698030
+v -0.15225358 -0.15571091 -0.30324247
+v -0.15199010 -0.15019065 -0.28494899
+v -0.13233925 -0.16102061 -0.32223417
+v -0.13233925 -0.16452530 -0.32916986
+v -0.12197895 -0.15240680 -0.28494900
+v -0.12664267 -0.16605958 -0.32804341
+v -0.14216205 -0.17194090 -0.33250275
+v -0.13233925 -0.17194090 -0.33168814
+v -0.15263828 -0.17207629 -0.32950969
+v -0.15717025 -0.17544566 -0.32754538
+v -0.15634817 -0.16889246 -0.32558102
+v -0.15807664 -0.15621733 -0.30041699
+v -0.16122794 -0.15301349 -0.28494900
+v -0.11355790 -0.16202852 -0.28494904
+v -0.12336489 -0.17194094 -0.32223421
+v -0.12576262 -0.17194091 -0.32899300
+v -0.11337347 -0.16224413 -0.28494904
+v -0.13233925 -0.18175818 -0.33168354
+v -0.14216205 -0.18175818 -0.33248881
+v -0.15266462 -0.18167795 -0.32950508
+v -0.15717025 -0.17834371 -0.32754540
+v -0.16232932 -0.17194101 -0.30255361
+v -0.16479029 -0.16277060 -0.28494904
+v -0.16467435 -0.16211377 -0.28494904
+v -0.15729673 -0.16634541 -0.31901771
+v -0.15973662 -0.16136162 -0.30324249
+v -0.16185506 -0.15417170 -0.28494901
+v -0.11191376 -0.17193103 -0.28494907
+v -0.12332801 -0.18175822 -0.32223425
+v -0.12577843 -0.18175819 -0.32899304
+v -0.12666375 -0.18763452 -0.32803881
+v -0.13233925 -0.18915373 -0.32916530
+v -0.14216205 -0.19007629 -0.32980302
+v -0.14984005 -0.18886291 -0.32889066
+v -0.15639033 -0.18489691 -0.32577657
+v -0.16486407 -0.19227756 -0.28494915
+v -0.16231879 -0.18175829 -0.30255365
+v -0.16573357 -0.18175835 -0.28494911
+v -0.16573357 -0.18171321 -0.28494911
+v -0.16569669 -0.17194107 -0.28495838
+v -0.16569669 -0.17194107 -0.28494907
+v -0.11189794 -0.18138230 -0.28494911
+v -0.11190321 -0.18176336 -0.28494911
+v -0.11355790 -0.19075835 -0.28494914
+v -0.11371073 -0.19144525 -0.28494914
+v -0.12696938 -0.19678500 -0.30827448
+v -0.13233925 -0.19286405 -0.32223429
+v -0.14216205 -0.19435319 -0.32223429
+v -0.15683826 -0.19647413 -0.30745057
+v -0.15734943 -0.18751923 -0.31921328
+v -0.16405253 -0.19384691 -0.28494915
+v -0.15987891 -0.19255326 -0.30352190
+v -0.15832959 -0.19769254 -0.30088729
+v -0.11714660 -0.19542630 -0.28494916
+v -0.12561508 -0.19766246 -0.30255371
+v -0.13233925 -0.19905634 -0.30255371
+v -0.14216205 -0.19925688 -0.30255371
+v -0.15293339 -0.19831426 -0.30352192
+v -0.16041641 -0.19853996 -0.28494917
+v -0.15936773 -0.19855998 -0.29270876
+v -0.15199010 -0.20085134 -0.29270877
+v -0.12250592 -0.19875054 -0.28494917
+v -0.12420805 -0.19857001 -0.29270876
+v -0.13233925 -0.20087641 -0.29270877
+v -0.14216205 -0.20109702 -0.29270877
+v -0.15199010 -0.20078619 -0.28494918
+v -0.12409739 -0.19920180 -0.28494917
+v -0.13233925 -0.20083633 -0.28494918
+v -0.13442079 -0.20088647 -0.28494918
+v -0.14216205 -0.20099176 -0.28494918
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 36
+f 1 36 33
+f 1 33 32
+f 1 32 50
+f 1 50 48
+f 1 48 47
+f 1 47 45
+f 1 45 60
+f 1 60 68
+f 1 68 75
+f 1 75 79
+f 1 79 78
+f 1 78 77
+f 1 77 76
+f 1 76 71
+f 1 71 63
+f 1 63 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 37
+f 1 37 26
+f 1 26 23
+f 1 23 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 6 12
+f 3 12 13
+f 3 13 7
+f 5 14 6
+f 6 14 15
+f 6 15 12
+f 7 16 8
+f 7 13 17
+f 7 17 16
+f 8 16 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 11 10
+f 9 20 21
+f 9 21 11
+f 11 21 22
+f 12 15 13
+f 13 15 17
+f 14 23 15
+f 15 24 25
+f 15 25 17
+f 15 23 26
+f 15 26 24
+f 16 17 27
+f 16 27 28
+f 16 28 29
+f 16 29 18
+f 17 25 27
+f 18 29 19
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 19 29 30
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 24 26 37
+f 24 37 38
+f 24 38 25
+f 25 39 27
+f 25 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 29 44 30
+f 29 43 44
+f 30 45 46
+f 30 46 31
+f 30 44 45
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 33 36 35
+f 33 35 34
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 40
+f 38 40 39
+f 40 55 56
+f 40 56 41
+f 40 54 55
+f 41 56 57
+f 41 57 42
+f 42 57 43
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 45
+f 45 47 46
+f 45 59 61
+f 45 61 62
+f 45 62 60
+f 48 50 49
+f 54 63 55
+f 55 63 64
+f 55 64 65
+f 55 65 57
+f 55 57 56
+f 57 65 66
+f 57 66 67
+f 57 67 58
+f 58 62 59
+f 58 67 62
+f 59 62 61
+f 60 62 69
+f 60 69 68
+f 62 67 70
+f 62 70 69
+f 63 71 72
+f 63 72 64
+f 64 72 73
+f 64 73 65
+f 65 73 74
+f 65 74 66
+f 66 74 70
+f 66 70 67
+f 68 70 75
+f 68 69 70
+f 70 74 75
+f 71 76 73
+f 71 73 72
+f 73 77 78
+f 73 78 74
+f 73 76 77
+f 74 78 79
+f 74 79 75
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_12.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.11805013 -0.17193937 -0.28749771
+v 0.11811639 -0.17151306 -0.28749771
+v 0.12116906 -0.17193932 -0.30255448
+v 0.12114539 -0.18175885 -0.30255452
+v 0.11805960 -0.18175890 -0.28749775
+v 0.11946524 -0.16333502 -0.28749768
+v 0.12784232 -0.16671587 -0.32745213
+v 0.12575988 -0.17193925 -0.32223631
+v 0.12573622 -0.18175878 -0.32223635
+v 0.12788018 -0.18693312 -0.32740374
+v 0.11979181 -0.19158332 -0.28749778
+v 0.11973975 -0.16211494 -0.28749768
+v 0.13297742 -0.16508417 -0.32872193
+v 0.13297742 -0.17193921 -0.33088238
+v 0.12726492 -0.17193922 -0.32819287
+v 0.12248005 -0.15596058 -0.28749765
+v 0.12407027 -0.15354980 -0.28749764
+v 0.12667805 -0.15619574 -0.30078641
+v 0.12847178 -0.15727370 -0.30734703
+v 0.13297742 -0.16207072 -0.32223628
+v 0.12728858 -0.18175875 -0.32815323
+v 0.12338874 -0.19158327 -0.30255455
+v 0.13297742 -0.18175874 -0.33084275
+v 0.13297742 -0.18858929 -0.32868233
+v 0.13297742 -0.19188209 -0.32223638
+v 0.12790385 -0.19662041 -0.30778365
+v 0.12682476 -0.19743874 -0.30255458
+v 0.12064371 -0.19290142 -0.28749779
+v 0.14279800 -0.16363377 -0.32981979
+v 0.14279800 -0.17193921 -0.33251373
+v 0.14279800 -0.15959133 -0.32223627
+v 0.14279800 -0.18175874 -0.33254021
+v 0.12668278 -0.15281481 -0.28749764
+v 0.13297742 -0.15123702 -0.28749764
+v 0.13223910 -0.15571063 -0.30346267
+v 0.14279800 -0.19010338 -0.32984192
+v 0.14279800 -0.19437619 -0.32223639
+v 0.13297742 -0.19882541 -0.30255458
+v 0.12561316 -0.19836976 -0.29270925
+v 0.12428798 -0.19851187 -0.28749781
+v 0.13297742 -0.20066293 -0.29270926
+v 0.15262804 -0.16521156 -0.32860731
+v 0.15262804 -0.17193922 -0.33072805
+v 0.15262804 -0.18175874 -0.33077660
+v 0.13622886 -0.15114881 -0.28749764
+v 0.14279800 -0.15104591 -0.28749763
+v 0.15262804 -0.15117332 -0.28749764
+v 0.15262804 -0.15521574 -0.30255442
+v 0.15763536 -0.15713650 -0.30763360
+v 0.15262804 -0.16216381 -0.32223628
+v 0.15262804 -0.18855010 -0.32865590
+v 0.15262804 -0.19184290 -0.32223638
+v 0.15791460 -0.19677231 -0.30812755
+v 0.15262804 -0.19907531 -0.30255458
+v 0.14279800 -0.19927621 -0.30255458
+v 0.13297742 -0.20067276 -0.28749782
+v 0.14279800 -0.20109903 -0.29270926
+v 0.15766849 -0.16684816 -0.32732868
+v 0.15823169 -0.17193922 -0.32805621
+v 0.15825062 -0.18175875 -0.32808269
+v 0.15769688 -0.18689881 -0.32736403
+v 0.15516010 -0.15184951 -0.28749764
+v 0.15881856 -0.15632312 -0.30255442
+v 0.15921611 -0.19768864 -0.30255458
+v 0.15262804 -0.20099124 -0.29270926
+v 0.14279800 -0.20101085 -0.28749782
+v 0.16229718 -0.16211489 -0.30255445
+v 0.16459258 -0.16211492 -0.29270912
+v 0.16454999 -0.17193932 -0.30255448
+v 0.15971306 -0.17193925 -0.32223631
+v 0.15976512 -0.18175878 -0.32223635
+v 0.16453106 -0.18175885 -0.30255452
+v 0.16503274 -0.19158330 -0.29270922
+v 0.16267106 -0.19158327 -0.30255455
+v 0.16078741 -0.15382419 -0.28749765
+v 0.16066908 -0.19868334 -0.29270925
+v 0.15262804 -0.20089326 -0.28749782
+v 0.16058390 -0.19862946 -0.28749781
+v 0.15679765 -0.19971237 -0.28749781
+v 0.16490495 -0.16211494 -0.28749768
+v 0.16639579 -0.17193935 -0.29270915
+v 0.16636739 -0.18175888 -0.29270919
+v 0.16490969 -0.19158332 -0.28749778
+v 0.16263794 -0.19528769 -0.28749780
+v 0.16629640 -0.18175890 -0.28749775
+v 0.16634373 -0.17193937 -0.28749771
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 28
+f 1 28 40
+f 1 40 56
+f 1 56 66
+f 1 66 77
+f 1 77 79
+f 1 79 78
+f 1 78 84
+f 1 84 83
+f 1 83 85
+f 1 85 86
+f 1 86 80
+f 1 80 75
+f 1 75 62
+f 1 62 47
+f 1 47 46
+f 1 46 45
+f 1 45 34
+f 1 34 33
+f 1 33 17
+f 1 17 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 7 12 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 13
+f 8 15 9
+f 9 21 10
+f 9 15 21
+f 10 22 11
+f 10 21 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 22
+f 11 27 28
+f 11 22 27
+f 13 29 30
+f 13 30 14
+f 13 20 31
+f 13 31 29
+f 14 30 32
+f 14 32 23
+f 14 23 15
+f 15 23 21
+f 17 33 19
+f 17 19 18
+f 19 33 34
+f 19 34 35
+f 19 35 31
+f 19 31 20
+f 23 32 24
+f 24 32 36
+f 24 36 37
+f 24 37 25
+f 25 37 26
+f 26 37 38
+f 26 38 27
+f 27 39 40
+f 27 40 28
+f 27 38 41
+f 27 41 39
+f 29 42 30
+f 29 31 42
+f 30 42 43
+f 30 43 44
+f 30 44 32
+f 31 35 34
+f 31 34 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 42
+f 32 44 51
+f 32 51 36
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 55 41
+f 39 41 40
+f 40 41 56
+f 41 57 56
+f 41 55 57
+f 42 50 49
+f 42 49 58
+f 42 58 43
+f 43 58 59
+f 43 59 44
+f 44 60 61
+f 44 61 51
+f 44 59 60
+f 47 62 49
+f 47 49 48
+f 49 62 63
+f 49 63 58
+f 51 61 53
+f 51 53 52
+f 53 64 54
+f 53 61 64
+f 54 65 55
+f 54 64 65
+f 55 65 57
+f 56 57 66
+f 57 65 66
+f 58 67 68
+f 58 68 69
+f 58 69 70
+f 58 70 59
+f 58 63 67
+f 59 70 71
+f 59 71 60
+f 60 71 61
+f 61 71 72
+f 61 72 73
+f 61 73 74
+f 61 74 64
+f 62 75 63
+f 63 68 67
+f 63 75 68
+f 64 76 65
+f 64 74 73
+f 64 73 76
+f 65 77 66
+f 65 76 78
+f 65 78 79
+f 65 79 77
+f 68 75 80
+f 68 80 81
+f 68 81 69
+f 69 81 72
+f 69 72 71
+f 69 71 70
+f 72 82 73
+f 72 81 82
+f 73 83 84
+f 73 84 76
+f 73 82 85
+f 73 85 83
+f 76 84 78
+f 80 86 81
+f 81 86 82
+f 82 86 85
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_13.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.16559703 -0.05937196 0.14340238
+v 0.16514495 -0.05937211 0.18545303
+v 0.16853561 -0.17192532 0.22090962
+v 0.16856790 -0.17192524 0.19944423
+v 0.16853561 -0.17192506 0.15023843
+v 0.16850333 -0.17192504 0.14340197
+v -0.16081118 -0.05937196 0.14340238
+v 0.16472516 -0.05937224 0.22091003
+v 0.16840644 -0.17307424 0.22090961
+v 0.16776060 -0.17825128 0.20928536
+v 0.16772832 -0.17823720 0.14340195
+v -0.16126328 -0.18175318 0.14340193
+v -0.16094036 -0.05937224 0.22091003
+v 0.16772832 -0.17825132 0.22090960
+v 0.16643663 -0.18317916 0.19944419
+v 0.16643663 -0.18317913 0.18960302
+v 0.16643663 -0.18316525 0.17976186
+v 0.16682413 -0.18164244 0.14340193
+v -0.16129556 -0.18175331 0.17976186
+v -0.16026222 -0.18857752 0.14340191
+v -0.16132785 -0.18175346 0.22090958
+v 0.16659809 -0.18226563 0.22090958
+v 0.16640434 -0.18316536 0.20928534
+v 0.16356264 -0.19158158 0.20928531
+v 0.16359493 -0.19158154 0.19944416
+v 0.16359493 -0.19158147 0.17976183
+v 0.16556474 -0.18572597 0.14340192
+v 0.16640434 -0.18315128 0.14340193
+v -0.15984243 -0.19158143 0.16992068
+v -0.15981013 -0.19158134 0.14340190
+v -0.15987471 -0.19158162 0.22090955
+v 0.16633975 -0.18316540 0.22090958
+v 0.16349805 -0.19158162 0.22090955
+v 0.16278763 -0.19278591 0.22090954
+v 0.15959071 -0.19818447 0.22090952
+v 0.16356264 -0.19158134 0.14340190
+v 0.15959071 -0.19818419 0.14340187
+v 0.16236782 -0.19360234 0.14340189
+v -0.15748511 -0.19710448 0.14340188
+v -0.15796947 -0.19609425 0.22090953
+v 0.15261562 -0.20030238 0.22090951
+v 0.15261562 -0.20031614 0.19944412
+v 0.15474691 -0.19966533 0.14340187
+v -0.15580591 -0.19775507 0.14340187
+v -0.15751739 -0.19711860 0.22090953
+v 0.14279884 -0.20075917 0.22090951
+v 0.15261562 -0.20031594 0.14340186
+v -0.15196315 -0.19923621 0.14340187
+v -0.15196315 -0.19925034 0.22090952
+v 0.14279884 -0.20075889 0.14340186
+v 0.06594371 -0.20077301 0.22090951
+v -0.14214638 -0.20074504 0.14340186
+v -0.14214638 -0.20075917 0.22090951
+v -0.05369839 -0.20078686 0.22090951
+v 0.00823779 -0.20077273 0.14340186
+v -0.12248050 -0.20075889 0.14340186
+v -0.09303013 -0.20077290 0.18960295
+v -0.06054431 -0.20077273 0.14340186
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 18
+f 1 18 28
+f 1 28 27
+f 1 27 36
+f 1 36 38
+f 1 38 37
+f 1 37 43
+f 1 43 47
+f 1 47 50
+f 1 50 55
+f 1 55 58
+f 1 58 56
+f 1 56 52
+f 1 52 48
+f 1 48 44
+f 1 44 39
+f 1 39 30
+f 1 30 20
+f 1 20 12
+f 1 12 7
+f 1 7 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
+f 3 9 4
+f 3 8 13
+f 3 13 21
+f 3 21 31
+f 3 31 40
+f 3 40 45
+f 3 45 49
+f 3 49 53
+f 3 53 54
+f 3 54 51
+f 3 51 46
+f 3 46 41
+f 3 41 35
+f 3 35 34
+f 3 34 33
+f 3 33 32
+f 3 32 22
+f 3 22 14
+f 3 14 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 7 12 13
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 13
+f 12 20 19
+f 13 19 21
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 19 20 29
+f 19 29 21
+f 20 30 29
+f 21 29 31
+f 22 32 23
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 25 35 37
+f 25 37 26
+f 26 36 27
+f 26 37 38
+f 26 38 36
+f 29 30 39
+f 29 39 40
+f 29 40 31
+f 35 41 42
+f 35 42 43
+f 35 43 37
+f 39 44 45
+f 39 45 40
+f 41 46 42
+f 42 46 50
+f 42 50 47
+f 42 47 43
+f 44 48 45
+f 45 48 49
+f 46 51 50
+f 48 52 53
+f 48 53 49
+f 50 51 54
+f 50 54 55
+f 52 56 53
+f 53 56 57
+f 53 57 54
+f 54 57 56
+f 54 56 58
+f 54 58 55
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_14.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.16572735 -0.18175786 -0.28494911
+v -0.16572735 -0.18171290 -0.28494911
+v -0.16484917 -0.19227622 -0.28494915
+v -0.16730808 -0.18979499 -0.27929199
+v -0.16760917 -0.18175788 -0.28003883
+v -0.16567719 -0.17183281 -0.28494907
+v -0.16760917 -0.17193172 -0.28002288
+v -0.16404628 -0.19384950 -0.28494915
+v -0.16665572 -0.19634877 -0.27787771
+v -0.16886371 -0.19247405 -0.27395265
+v -0.17009315 -0.18175791 -0.27301504
+v -0.17011825 -0.17193175 -0.27301500
+v -0.16477389 -0.16276183 -0.28494904
+v -0.16979207 -0.10944178 -0.27301477
+v -0.16821136 -0.10944176 -0.27649488
+v -0.16730808 -0.10944176 -0.27848124
+v -0.16040811 -0.19854231 -0.28494917
+v -0.16803572 -0.19782315 -0.27131478
+v -0.17117207 -0.19158407 -0.26316271
+v -0.17169898 -0.18175794 -0.26316268
+v -0.17172407 -0.17193178 -0.26316264
+v -0.17169898 -0.13263618 -0.26316250
+v -0.17167389 -0.10944181 -0.26316241
+v -0.16467355 -0.16210555 -0.28494904
+v -0.16379536 -0.10944175 -0.27951416
+v -0.16183828 -0.15417632 -0.28494901
+v -0.15197757 -0.20078083 -0.28494918
+v -0.16181318 -0.20083487 -0.26316275
+v -0.16866299 -0.19844350 -0.26316274
+v -0.17139788 -0.18175798 -0.25332621
+v -0.17064517 -0.19158411 -0.25332624
+v -0.17139788 -0.16210567 -0.25332614
+v -0.17137279 -0.11299292 -0.25332596
+v -0.17157352 -0.10944183 -0.25961875
+v -0.16181318 -0.10944175 -0.28008622
+v -0.16121101 -0.15301660 -0.28494900
+v -0.14214197 -0.20099660 -0.28494918
+v -0.15197757 -0.20126637 -0.26316275
+v -0.15197757 -0.19921717 -0.12262359
+v -0.14214197 -0.20076346 -0.12262360
+v -0.16828664 -0.19803000 -0.25332627
+v -0.15747248 -0.19708651 -0.12262358
+v -0.16123610 -0.18175846 -0.12262353
+v -0.15978082 -0.19158459 -0.12262356
+v -0.16020738 -0.18882465 -0.12262355
+v -0.17134771 -0.10944185 -0.25332594
+v -0.16080954 -0.10944233 -0.12262326
+v -0.15554046 -0.10944175 -0.28076952
+v -0.15197757 -0.10944175 -0.28115092
+v -0.15197757 -0.15019370 -0.28494899
+v -0.13441397 -0.20087973 -0.28494918
+v 0.08460402 -0.20034038 -0.27301511
+v 0.08460402 -0.20121244 -0.26316275
+v -0.05372181 -0.20077245 -0.12262360
+v 0.08460402 -0.20077245 -0.12262360
+v -0.15812482 -0.19554022 -0.12262358
+v 0.08460402 -0.10944233 -0.12262326
+v -0.14570487 -0.10944175 -0.28115092
+v -0.14231759 -0.14987906 -0.28494899
+v -0.13233145 -0.20083479 -0.28494918
+v 0.08460402 -0.19811082 -0.27870404
+v 0.08460402 -0.10944175 -0.28111915
+v -0.14214197 -0.14987906 -0.28494899
+v -0.12407655 -0.19919858 -0.28494917
+v 0.08460402 -0.19158401 -0.28081750
+v 0.08460402 -0.19792201 -0.27918078
+v 0.08460402 -0.18175788 -0.28116708
+v -0.11190748 -0.17192271 -0.28494907
+v -0.11336276 -0.16224040 -0.28494904
+v -0.11353840 -0.16202464 -0.28494904
+v -0.12196892 -0.15240527 -0.28494900
+v -0.12206928 -0.15232435 -0.28494900
+v -0.13233145 -0.15000493 -0.28494899
+v -0.12249582 -0.19874908 -0.28494917
+v -0.11712638 -0.19542275 -0.28494916
+v -0.11368895 -0.19144915 -0.28494914
+v -0.11353840 -0.19075690 -0.28494914
+v -0.11188239 -0.18175786 -0.28494911
+v -0.11188239 -0.18138027 -0.28494911
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 26
+f 1 26 36
+f 1 36 50
+f 1 50 59
+f 1 59 63
+f 1 63 73
+f 1 73 72
+f 1 72 71
+f 1 71 70
+f 1 70 69
+f 1 69 68
+f 1 68 79
+f 1 79 78
+f 1 78 77
+f 1 77 76
+f 1 76 75
+f 1 75 74
+f 1 74 64
+f 1 64 60
+f 1 60 51
+f 1 51 37
+f 1 37 27
+f 1 27 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 7
+f 6 7 14
+f 6 14 15
+f 6 15 16
+f 6 16 13
+f 7 12 14
+f 8 17 9
+f 9 18 10
+f 9 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 14
+f 13 16 24
+f 14 23 34
+f 14 34 46
+f 14 46 47
+f 14 47 57
+f 14 57 62
+f 14 62 58
+f 14 58 49
+f 14 49 48
+f 14 48 35
+f 14 35 25
+f 14 25 16
+f 14 16 15
+f 16 25 26
+f 16 26 24
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 30 20
+f 19 29 31
+f 19 31 30
+f 20 30 21
+f 21 30 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 25 35 26
+f 26 35 36
+f 27 37 38
+f 27 38 28
+f 28 39 29
+f 28 38 40
+f 28 40 39
+f 29 41 31
+f 29 39 42
+f 29 42 41
+f 30 31 43
+f 30 43 32
+f 31 41 44
+f 31 44 45
+f 31 45 43
+f 32 43 33
+f 33 46 34
+f 33 43 47
+f 33 47 46
+f 35 48 36
+f 36 48 49
+f 36 49 50
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 54 40
+f 38 53 55
+f 38 55 54
+f 39 40 54
+f 39 54 55
+f 39 55 57
+f 39 57 47
+f 39 47 43
+f 39 43 45
+f 39 45 44
+f 39 44 56
+f 39 56 42
+f 41 42 56
+f 41 56 44
+f 49 58 63
+f 49 63 59
+f 49 59 50
+f 51 60 52
+f 52 61 66
+f 52 66 65
+f 52 65 67
+f 52 67 62
+f 52 62 57
+f 52 57 55
+f 52 55 53
+f 52 60 61
+f 58 62 63
+f 60 64 65
+f 60 65 66
+f 60 66 61
+f 62 67 68
+f 62 68 69
+f 62 69 70
+f 62 70 71
+f 62 71 72
+f 62 72 73
+f 62 73 63
+f 64 74 65
+f 65 74 67
+f 67 74 75
+f 67 75 76
+f 67 76 77
+f 67 77 78
+f 67 78 79
+f 67 79 68
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_15.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.16345378 0.11496121 -0.12260657
+v 0.16348553 -0.10315134 -0.12260737
+v 0.16243791 0.11496121 -0.12314030
+v -0.16083657 0.11496121 -0.12260657
+v 0.16345378 -0.10943333 -0.12260739
+v 0.16310458 -0.10943333 -0.12280476
+v 0.16243791 -0.10315134 -0.12315179
+v 0.15262824 -0.02456052 -0.12567445
+v 0.16046962 0.11496121 -0.12364729
+v -0.16080481 0.11496123 -0.12686793
+v -0.16080481 0.00034781 -0.12686835
+v -0.16080481 -0.10943333 -0.12260739
+v 0.16243791 -0.10943333 -0.12314914
+v 0.15262824 -0.10943332 -0.12567432
+v 0.15262824 0.00032584 -0.12567303
+v 0.07583349 -0.06385592 -0.12715861
+v 0.07583349 -0.04419723 -0.12715854
+v 0.07580175 0.00032585 -0.12715838
+v 0.15259649 0.10316601 -0.12567265
+v 0.15259649 0.11496122 -0.12567216
+v -0.16077308 0.00032585 -0.12715838
+v 0.07646842 0.11496123 -0.12686793
+v -0.16077308 -0.10943331 -0.12715878
+v 0.07580175 -0.10943331 -0.12715432
+v 0.07580175 -0.10941135 -0.12715878
+v 0.01468976 -0.10943331 -0.12715878
+f 1 2 3
+f 1 3 9
+f 1 9 20
+f 1 20 22
+f 1 22 10
+f 1 10 4
+f 1 4 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 5 12 23
+f 5 23 26
+f 5 26 24
+f 5 24 14
+f 5 14 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 15 9
+f 8 14 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 15
+f 9 15 20
+f 10 21 23
+f 10 23 11
+f 10 22 18
+f 10 18 21
+f 11 23 12
+f 14 24 25
+f 14 25 16
+f 16 25 26
+f 16 26 23
+f 16 23 21
+f 16 21 18
+f 16 18 17
+f 18 22 20
+f 18 20 19
+f 24 26 25
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_16.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.16817528 0.05103442 -0.06608009
+v 0.16807421 0.05103460 -0.11552421
+v 0.16810791 0.05103440 -0.05854844
+v 0.18030335 0.04254654 -0.05647648
+v 0.16740043 0.05103462 -0.12050329
+v 0.17996646 0.04220788 -0.06631646
+v 0.16467162 0.05103433 -0.04212221
+v 0.17895579 0.04126358 -0.04966177
+v 0.18330168 0.03438711 -0.05647651
+v 0.18262790 0.03438714 -0.06631649
+v 0.16740043 -0.05381653 -0.12051944
+v 0.16729936 -0.05381653 -0.12057459
+v 0.16345881 -0.01671424 -0.12260705
+v 0.16396414 0.05103463 -0.12232318
+v 0.16534540 0.04465048 -0.04212224
+v 0.17973064 0.03438708 -0.04874003
+v -0.16079886 0.05103433 -0.04212221
+v 0.18333538 -0.03437783 -0.05647677
+v 0.17976434 -0.03437786 -0.04871666
+v 0.18256053 -0.03437780 -0.06631675
+v 0.17993278 -0.04222932 -0.06631678
+v 0.16807421 -0.05381655 -0.11563491
+v 0.16345881 -0.05381652 -0.12260719
+v 0.16342511 0.05103463 -0.12260680
+v 0.16574966 0.03438705 -0.04212227
+v -0.16079886 0.05103463 -0.12260680
+v -0.16083256 -0.04419972 -0.11552456
+v -0.16079886 -0.05381682 -0.04212260
+v 0.17898949 -0.04130567 -0.04962268
+v 0.18033705 -0.04260910 -0.05647680
+v 0.16574966 -0.03592767 -0.04212253
+v 0.16537908 -0.04899301 -0.04212258
+v 0.16480637 -0.05381682 -0.04212260
+v 0.16807421 -0.05381655 -0.11552460
+v -0.16079886 -0.05381652 -0.12260719
+v 0.16804052 -0.05381657 -0.10904077
+v 0.16612025 -0.05381677 -0.05569689
+f 1 2 5
+f 1 5 14
+f 1 14 24
+f 1 24 26
+f 1 26 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 8 9
+f 4 9 6
+f 4 7 8
+f 5 6 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 9 10
+f 7 15 16
+f 7 16 8
+f 7 17 28
+f 7 28 33
+f 7 33 32
+f 7 32 31
+f 7 31 25
+f 7 25 15
+f 8 16 9
+f 9 18 10
+f 9 16 19
+f 9 19 18
+f 10 18 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 34
+f 11 34 36
+f 11 36 37
+f 11 37 33
+f 11 33 28
+f 11 28 35
+f 11 35 23
+f 11 23 12
+f 12 23 13
+f 13 23 35
+f 13 35 26
+f 13 26 24
+f 13 24 14
+f 15 25 16
+f 16 25 19
+f 17 26 27
+f 17 27 28
+f 18 19 29
+f 18 29 30
+f 18 30 21
+f 18 21 20
+f 19 25 31
+f 19 31 32
+f 19 32 33
+f 19 33 29
+f 21 30 22
+f 22 30 34
+f 26 35 27
+f 27 35 28
+f 29 33 30
+f 30 36 34
+f 30 33 37
+f 30 37 36
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_17.obj

@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.26071753 -0.18115057 -0.24348342
+v 0.25348197 -0.17883407 -0.20411477
+v 0.25348638 -0.17883403 -0.21395021
+v 0.25372888 -0.17882692 -0.24348341
+v 0.25447405 -0.17814592 -0.25333228
+v 0.26071753 -0.17997115 -0.25333229
+v 0.26892313 -0.17867243 -0.25333229
+v 0.26998135 -0.17916387 -0.24348341
+v 0.27002545 -0.17914993 -0.21395021
+v 0.27003427 -0.17913607 -0.16475960
+v 0.27000781 -0.17913615 -0.14506183
+v 0.26071753 -0.18112278 -0.16475961
+v 0.23115798 -0.17078899 -0.20411474
+v 0.23115798 -0.17078899 -0.20419548
+v 0.26071753 -0.18110179 -0.14506184
+v 0.25369362 -0.17881322 -0.14506183
+v 0.23115798 -0.17076790 -0.21395018
+v 0.23115798 -0.17076087 -0.21404436
+v 0.23115798 -0.17000969 -0.22379904
+v 0.25540439 -0.17726137 -0.25859308
+v 0.26071753 -0.17782297 -0.25905056
+v 0.26711093 -0.17773170 -0.25898327
+v 0.27338970 -0.17220688 -0.25310354
+v 0.27489765 -0.17502199 -0.24348339
+v 0.27492852 -0.17510631 -0.22379906
+v 0.27494175 -0.17513441 -0.21395019
+v 0.27494616 -0.17514148 -0.20411475
+v 0.27495057 -0.17515559 -0.18444389
+v 0.27003427 -0.17914296 -0.20411477
+v 0.27003427 -0.17914300 -0.19426589
+v 0.27495057 -0.17516265 -0.17459501
+v 0.27003868 -0.17913604 -0.17459503
+v 0.27494616 -0.17515566 -0.16475958
+v 0.26998135 -0.17913618 -0.13522640
+v 0.23115798 -0.17043802 -0.19426586
+v 0.25375093 -0.17879220 -0.13522640
+v 0.26071753 -0.18108076 -0.13522641
+v 0.23115798 -0.16744731 -0.23064753
+v 0.25504726 -0.17193308 -0.25888907
+v 0.26071753 -0.17193307 -0.26007310
+v 0.23115798 -0.16423909 -0.23555849
+v 0.23115798 -0.16419696 -0.23559885
+v 0.23115798 -0.15932499 -0.23907018
+v 0.26823088 -0.17193308 -0.25944072
+v 0.27580156 -0.16911804 -0.24965910
+v 0.27353520 -0.16210490 -0.25521589
+v 0.27596469 -0.17010790 -0.24348337
+v 0.27596469 -0.17019221 -0.22379905
+v 0.27596469 -0.17022033 -0.21395018
+v 0.27596469 -0.17024856 -0.17459500
+v 0.27596469 -0.17024156 -0.16475957
+v 0.27596028 -0.17021353 -0.15491069
+v 0.27493293 -0.17512059 -0.15491070
+v 0.27489326 -0.17483986 -0.13522638
+v 0.26851748 -0.17837805 -0.12788011
+v 0.27491970 -0.17506448 -0.14506181
+v 0.23115798 -0.16749677 -0.14515598
+v 0.25446082 -0.17813233 -0.12836447
+v 0.23115798 -0.16708260 -0.14012389
+v 0.23115798 -0.16748976 -0.14506179
+v 0.26071753 -0.17895369 -0.12703245
+v 0.25488852 -0.16210489 -0.25901013
+v 0.26071753 -0.16210488 -0.26030179
+v 0.23115798 -0.15228379 -0.23959488
+v 0.26861890 -0.16210489 -0.25953487
+v 0.27597351 -0.16210492 -0.25029146
+v 0.27353520 -0.15228373 -0.25521585
+v 0.26862331 -0.15228372 -0.25953483
+v 0.27606611 -0.16173990 -0.24310660
+v 0.27620279 -0.16210534 -0.13522634
+v 0.27595146 -0.17015740 -0.14506180
+v 0.27589414 -0.16992576 -0.13522636
+v 0.27571337 -0.16883768 -0.12983100
+v 0.27129531 -0.17203885 -0.12692479
+v 0.26071753 -0.17193358 -0.12330546
+v 0.25350402 -0.17193356 -0.12718043
+v 0.23115798 -0.16210533 -0.13856312
+v 0.23115798 -0.16707558 -0.14008352
+v 0.25488411 -0.15228372 -0.25901009
+v 0.23115798 -0.14246263 -0.23960829
+v 0.26071753 -0.13264138 -0.26028823
+v 0.26860567 -0.10943283 -0.25952122
+v 0.25488411 -0.10943283 -0.25900993
+v 0.27596910 -0.13264142 -0.25029135
+v 0.27353079 -0.14246257 -0.25521581
+v 0.27596469 -0.10943286 -0.25027779
+v 0.27607052 -0.10943328 -0.13522614
+v 0.27592501 -0.10943330 -0.13163372
+v 0.27584123 -0.10943330 -0.12960205
+v 0.27584123 -0.13264186 -0.12960214
+v 0.27583682 -0.16210536 -0.12961571
+v 0.27054573 -0.16210538 -0.12549855
+v 0.26071753 -0.16210539 -0.12286142
+v 0.23115798 -0.15321082 -0.13863036
+v 0.26071753 -0.13264189 -0.12284786
+v 0.26071753 -0.10943333 -0.12286122
+v 0.25317773 -0.10943331 -0.12696492
+v 0.23115798 -0.10943290 -0.23960817
+v 0.26071753 -0.10943282 -0.26027468
+v 0.27351756 -0.10943284 -0.25520224
+v 0.27245934 -0.10943331 -0.12697838
+v 0.27054573 -0.10943332 -0.12549835
+v 0.24536455 -0.10943327 -0.13911457
+v 0.23115798 -0.14780530 -0.14519626
+v 0.24826584 -0.10943329 -0.13419013
+v 0.24640954 -0.10943328 -0.13732509
+v 0.23115798 -0.10943298 -0.21703108
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 13 14
+f 2 14 3
+f 2 12 15
+f 2 15 16
+f 2 16 13
+f 3 14 17
+f 3 17 4
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 20 6
+f 5 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 9
+f 9 29 30
+f 9 30 10
+f 9 28 31
+f 9 31 29
+f 10 32 31
+f 10 31 33
+f 10 33 11
+f 10 30 32
+f 11 33 34
+f 11 34 12
+f 12 34 15
+f 13 35 57
+f 13 57 60
+f 13 60 59
+f 13 59 78
+f 13 78 77
+f 13 77 94
+f 13 94 104
+f 13 104 107
+f 13 107 98
+f 13 98 80
+f 13 80 64
+f 13 64 43
+f 13 43 42
+f 13 42 41
+f 13 41 38
+f 13 38 19
+f 13 19 18
+f 13 18 17
+f 13 17 14
+f 13 16 36
+f 13 36 35
+f 15 34 37
+f 15 37 16
+f 16 37 36
+f 19 38 20
+f 20 39 40
+f 20 40 21
+f 20 38 41
+f 20 41 42
+f 20 42 43
+f 20 43 39
+f 21 40 22
+f 22 40 44
+f 22 44 23
+f 23 45 24
+f 23 44 46
+f 23 46 45
+f 24 45 47
+f 24 47 25
+f 25 47 26
+f 26 47 48
+f 26 48 27
+f 27 48 49
+f 27 49 28
+f 28 50 31
+f 28 49 50
+f 29 31 30
+f 30 31 32
+f 31 50 51
+f 31 51 33
+f 33 51 52
+f 33 52 71
+f 33 71 53
+f 33 53 34
+f 34 54 55
+f 34 55 37
+f 34 53 56
+f 34 56 54
+f 35 36 57
+f 36 37 58
+f 36 58 59
+f 36 59 60
+f 36 60 57
+f 37 55 61
+f 37 61 58
+f 39 62 63
+f 39 63 40
+f 39 43 64
+f 39 64 62
+f 40 63 44
+f 44 63 65
+f 44 65 46
+f 45 46 66
+f 45 66 47
+f 46 67 66
+f 46 65 68
+f 46 68 67
+f 47 66 69
+f 47 69 70
+f 47 70 48
+f 48 70 49
+f 49 70 50
+f 50 70 51
+f 51 70 52
+f 52 70 71
+f 53 71 56
+f 54 72 73
+f 54 73 55
+f 54 56 71
+f 54 71 72
+f 55 74 75
+f 55 75 61
+f 55 73 74
+f 58 61 75
+f 58 75 76
+f 58 76 77
+f 58 77 78
+f 58 78 59
+f 62 79 63
+f 62 64 80
+f 62 80 79
+f 63 81 82
+f 63 82 68
+f 63 68 65
+f 63 79 83
+f 63 83 81
+f 66 67 84
+f 66 84 69
+f 67 85 84
+f 67 68 85
+f 68 82 85
+f 69 84 86
+f 69 86 70
+f 70 87 88
+f 70 88 89
+f 70 89 90
+f 70 90 91
+f 70 91 73
+f 70 73 72
+f 70 72 71
+f 70 86 87
+f 73 91 92
+f 73 92 74
+f 74 92 75
+f 75 92 93
+f 75 93 77
+f 75 77 76
+f 77 93 95
+f 77 95 96
+f 77 96 97
+f 77 97 94
+f 79 80 98
+f 79 98 83
+f 81 83 99
+f 81 99 82
+f 82 99 83
+f 82 83 98
+f 82 98 107
+f 82 107 103
+f 82 103 106
+f 82 106 105
+f 82 105 97
+f 82 97 96
+f 82 96 102
+f 82 102 101
+f 82 101 89
+f 82 89 88
+f 82 88 87
+f 82 87 86
+f 82 86 100
+f 82 100 85
+f 84 85 86
+f 85 100 86
+f 89 101 90
+f 90 101 92
+f 90 92 91
+f 92 101 102
+f 92 102 95
+f 92 95 93
+f 94 103 104
+f 94 97 105
+f 94 105 106
+f 94 106 103
+f 95 102 96
+f 103 107 104
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_18.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.17224822 0.11496165 -0.24282086
+v 0.17479198 0.00032627 -0.24199302
+v 0.17231604 0.11493969 -0.24282086
+v 0.17224822 0.11496165 -0.24283619
+v -0.16576821 0.11496165 -0.24282086
+v 0.17475807 -0.10943289 -0.24199342
+v 0.16478648 -0.00490130 -0.27301417
+v 0.16478648 0.00032638 -0.27301415
+v 0.16475257 0.11496176 -0.27301756
+v -0.16505595 0.00032627 -0.24199302
+v -0.16793889 0.11496166 -0.24511006
+v -0.16580212 0.08350776 -0.24282097
+v 0.16475257 -0.10943278 -0.27301455
+v -0.16498812 -0.10943289 -0.24199342
+v 0.16322631 -0.10943277 -0.27537277
+v 0.16047903 -0.06385536 -0.27953304
+v 0.16047903 -0.05403700 -0.27953301
+v 0.16047903 0.00032641 -0.27952513
+v 0.16044512 0.11496179 -0.27951704
+v -0.16583603 0.02121499 -0.24282120
+v -0.16505595 -0.01641107 -0.24199308
+v -0.16885464 0.11496166 -0.24609169
+v -0.16888857 0.04421237 -0.24608428
+v -0.16888857 0.02455368 -0.24607283
+v -0.16502203 -0.08513959 -0.24199333
+v -0.16888857 -0.10943288 -0.24609633
+v 0.16047903 -0.10943275 -0.27952553
+v 0.15261030 -0.06385536 -0.28112436
+v 0.15261030 -0.00490127 -0.28112415
+v 0.15261030 0.05403086 -0.28112010
+v 0.16044512 0.05403086 -0.27952877
+v 0.15261030 0.11496179 -0.28110069
+v -0.16583603 0.00034823 -0.24282128
+v -0.16888857 0.01473532 -0.24606904
+v -0.16888857 -0.00490140 -0.24606911
+v -0.17136451 0.11496169 -0.25333890
+v -0.17007565 0.00032630 -0.24946647
+v -0.17139842 -0.00490137 -0.25333934
+v -0.17136451 -0.10943285 -0.25333972
+v 0.15261030 -0.10943275 -0.28111302
+v 0.12941109 -0.10943275 -0.28112453
+v -0.15196401 -0.06385536 -0.28116653
+v 0.10346463 0.04421250 -0.28112779
+v 0.12310254 0.05403086 -0.28112393
+v 0.09166152 0.11496179 -0.28111604
+v 0.12310254 0.11496179 -0.28110836
+v -0.17163584 0.11496173 -0.26317057
+v -0.17166976 0.04421244 -0.26317083
+v -0.17170367 -0.03437837 -0.26317112
+v -0.17139842 0.02455371 -0.25333923
+v -0.17156800 -0.10943283 -0.25962447
+v -0.15196401 -0.10943275 -0.28115903
+v -0.15196401 0.05403086 -0.28115843
+v -0.15552528 -0.10943275 -0.28077558
+v -0.16179992 -0.06385536 -0.28010438
+v -0.16179992 -0.05403700 -0.28010435
+v -0.16179992 0.06384922 -0.28010008
+v -0.15196401 0.07368954 -0.28115452
+v -0.15196401 0.11496179 -0.28114288
+v -0.16980432 0.11496176 -0.27301756
+v -0.16980432 0.03437214 -0.27301785
+v -0.16980432 -0.10943278 -0.27301455
+v -0.17048265 -0.10943279 -0.26945997
+v -0.17166976 -0.10943281 -0.26317139
+v -0.16179992 0.11496179 -0.28009605
+v -0.16179992 -0.10943275 -0.28009687
+v -0.16380102 -0.10943275 -0.27951404
+v -0.16732838 -0.10943276 -0.27847872
+v -0.16732838 -0.03437832 -0.27847845
+v -0.16729447 0.11496178 -0.27848172
+v -0.15393118 0.11496179 -0.28093581
+v -0.16780322 0.11496178 -0.27738890
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 32
+f 1 32 46
+f 1 46 45
+f 1 45 59
+f 1 59 71
+f 1 71 65
+f 1 65 70
+f 1 70 72
+f 1 72 60
+f 1 60 47
+f 1 47 36
+f 1 36 22
+f 1 22 11
+f 1 11 5
+f 1 5 10
+f 1 10 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 21
+f 2 21 25
+f 2 25 14
+f 2 14 6
+f 3 9 4
+f 5 11 12
+f 5 12 10
+f 6 13 7
+f 6 14 26
+f 6 26 39
+f 6 39 51
+f 6 51 64
+f 6 64 63
+f 6 63 62
+f 6 62 68
+f 6 68 67
+f 6 67 66
+f 6 66 54
+f 6 54 52
+f 6 52 41
+f 6 41 40
+f 6 40 27
+f 6 27 15
+f 6 15 13
+f 7 13 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 10 12 20
+f 10 20 33
+f 10 33 21
+f 11 22 23
+f 11 23 24
+f 11 24 20
+f 11 20 12
+f 14 25 26
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 19
+f 19 31 30
+f 19 30 32
+f 20 24 34
+f 20 34 35
+f 20 35 33
+f 21 33 35
+f 21 35 26
+f 21 26 25
+f 22 36 23
+f 23 36 37
+f 23 37 24
+f 24 37 34
+f 26 35 37
+f 26 37 38
+f 26 38 39
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 32
+f 34 37 35
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 37 50 38
+f 38 50 49
+f 38 49 51
+f 38 51 39
+f 41 52 42
+f 42 53 43
+f 42 52 54
+f 42 54 55
+f 42 55 56
+f 42 56 57
+f 42 57 53
+f 43 53 44
+f 44 53 45
+f 45 58 59
+f 45 53 58
+f 47 60 48
+f 48 60 49
+f 49 60 61
+f 49 61 62
+f 49 62 63
+f 49 63 64
+f 49 64 51
+f 53 57 65
+f 53 65 58
+f 54 66 55
+f 55 66 67
+f 55 67 68
+f 55 68 69
+f 55 69 56
+f 56 69 57
+f 57 69 70
+f 57 70 65
+f 58 65 71
+f 58 71 59
+f 60 72 69
+f 60 69 68
+f 60 68 61
+f 61 68 62
+f 69 72 70
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_19.obj

@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.18212201 0.11496164 -0.23959227
+v 0.23147788 0.11496164 -0.23970185
+v 0.18212201 0.11496164 -0.23949235
+v 0.18212201 0.12281287 -0.23959546
+v 0.23147788 0.12282428 -0.23970826
+v 0.23147788 0.11496156 -0.21690832
+v 0.18407885 0.11496156 -0.21732086
+v 0.18212201 0.11497298 -0.21732086
+v 0.18212201 0.13263830 -0.23959864
+v 0.18212201 0.14246374 -0.23959861
+v 0.23147788 0.14247515 -0.23970497
+v 0.23147788 0.14498559 -0.20678454
+v 0.18212201 0.14606969 -0.20678453
+v 0.18212201 0.15228346 -0.23958568
+v 0.23147788 0.15205522 -0.23969849
+v 0.23147788 0.17085011 -0.20678444
+v 0.18212201 0.17325226 -0.20678443
+v 0.18212201 0.15938151 -0.23907319
+v 0.23147788 0.15229488 -0.23969527
+v 0.23147788 0.17083872 -0.21396222
+v 0.18212201 0.17323518 -0.21397187
+v 0.18212201 0.16429993 -0.23652695
+v 0.23147788 0.15948421 -0.23913120
+v 0.23147788 0.15925029 -0.23918278
+v 0.23147788 0.17007988 -0.22380226
+v 0.18212201 0.17147210 -0.22380869
+v 0.23147788 0.16427711 -0.23585012
+v 0.18212201 0.16815134 -0.23160852
+v 0.23147788 0.16436840 -0.23575986
+v 0.23147788 0.17002281 -0.22403754
+v 0.23147788 0.16751229 -0.23086723
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 17
+f 1 17 21
+f 1 21 26
+f 1 26 28
+f 1 28 22
+f 1 22 18
+f 1 18 14
+f 1 14 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 15
+f 2 15 19
+f 2 19 24
+f 2 24 23
+f 2 23 27
+f 2 27 29
+f 2 29 31
+f 2 31 30
+f 2 30 25
+f 2 25 20
+f 2 20 16
+f 2 16 12
+f 2 12 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 8 7
+f 6 12 13
+f 6 13 8
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 21
+f 21 25 26
+f 22 27 23
+f 22 28 29
+f 22 29 27
+f 25 30 26
+f 26 30 31
+f 26 31 28
+f 28 31 29
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_2.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.16122928 0.18175677 -0.12260632
+v -0.16077679 0.05103463 -0.12260680
+v -0.16126158 0.18175653 -0.05645643
+v -0.15977482 0.19159356 -0.12260629
+v -0.16077679 0.05103414 0.01209667
+v -0.16080908 0.05484571 0.01209668
+v -0.16129391 0.18175609 0.06163265
+v 0.16343417 0.05103463 -0.12260680
+v -0.15744774 0.19709101 -0.12260627
+v -0.15980715 0.19159307 0.01209718
+v -0.16080908 0.05484548 0.07384299
+v 0.16815302 0.05103414 0.01209667
+v -0.16126158 0.18175605 0.07384346
+v -0.16093837 0.18410163 0.07384347
+v -0.15980715 0.19159284 0.07384349
+v 0.16634304 0.17832636 -0.12260633
+v 0.16740964 0.05103462 -0.12049154
+v -0.15754469 0.19689993 0.01209720
+v -0.15744774 0.19709029 0.07384351
+v -0.15327833 0.19870288 0.07384352
+v -0.15350457 0.19861563 -0.12260626
+v -0.15925770 0.19289757 0.07384350
+v 0.16443612 0.05484548 0.07384299
+v 0.16867016 0.05103416 0.00548169
+v 0.16550270 0.05484552 0.06151680
+v 0.16728035 0.17483730 -0.11977959
+v 0.16740964 0.16829900 -0.12049111
+v 0.16740964 0.16209786 -0.12051036
+v 0.16740964 0.15227575 -0.12051040
+v 0.16576126 0.18163950 -0.12260632
+v 0.16760356 0.17781324 -0.11320305
+v 0.16808838 0.14246827 -0.11551074
+v 0.16805605 0.05103460 -0.11551107
+v -0.15195319 0.19920203 -0.12260626
+v -0.15195319 0.19920131 0.07384352
+v 0.16850856 0.17193394 0.07384342
+v 0.16886407 0.05103417 0.00255879
+v 0.16782980 0.17170007 -0.11608751
+v 0.16808838 0.16209784 -0.11551066
+v 0.16450075 0.18852963 -0.12260630
+v 0.16773284 0.17826766 -0.10566504
+v 0.16847622 0.17193460 -0.10566506
+v 0.16660162 0.18136094 -0.11608747
+v -0.15162995 0.19926018 0.01209721
+v -0.14212761 0.20075598 -0.12260625
+v -0.14212761 0.20074059 0.07384353
+v -0.14212761 0.20075541 0.03211526
+v 0.16854087 0.17193395 0.07147818
+v 0.16792678 0.17672772 0.07384344
+v 0.16889640 0.16209741 0.00255920
+v 0.16644002 0.18317872 -0.10566502
+v 0.16362810 0.19159356 -0.12260629
+v 0.16776516 0.17826748 -0.05645645
+v 0.16854087 0.17193453 -0.08599316
+v 0.13020828 0.20079995 -0.12260625
+v -0.13230207 0.20075534 0.05178716
+v -0.11501038 0.20075526 0.07384353
+v 0.16857318 0.17193431 -0.02693901
+v 0.16776516 0.17826737 -0.02693899
+v 0.16773284 0.17823768 0.07384344
+v 0.16857318 0.17193435 -0.03678457
+v 0.16644002 0.18317865 -0.08599312
+v 0.16075154 0.19634335 -0.12260627
+v 0.16362810 0.19159350 -0.10566499
+v 0.09365334 0.20078481 0.01209722
+v 0.12309768 0.20078477 0.02226969
+v 0.14278111 0.20078481 0.01209722
+v 0.14278111 0.20078530 -0.12260625
+v 0.11094502 0.20076991 0.07384353
+v 0.16644002 0.18316373 -0.01711263
+v 0.16640769 0.18316340 0.07384346
+v 0.15962029 0.19817583 -0.12260626
+v 0.15962029 0.19817573 -0.09581939
+v 0.15958798 0.19817534 0.01209721
+v 0.16052529 0.19659184 0.07384351
+v 0.16353112 0.19159284 0.07384349
+v 0.13059613 0.20076991 0.07384353
+v 0.14278111 0.20075526 0.07384353
+v 0.15260667 0.20030080 0.07384353
+v 0.15260667 0.20034550 -0.12260625
+v 0.15764873 0.19879155 -0.12260626
+v 0.15955566 0.19817511 0.07384352
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 21
+f 1 21 34
+f 1 34 45
+f 1 45 55
+f 1 55 68
+f 1 68 80
+f 1 80 81
+f 1 81 72
+f 1 72 63
+f 1 63 52
+f 1 52 40
+f 1 40 30
+f 1 30 16
+f 1 16 8
+f 1 8 2
+f 2 5 11
+f 2 11 6
+f 2 6 7
+f 2 7 3
+f 2 8 17
+f 2 17 33
+f 2 33 37
+f 2 37 24
+f 2 24 12
+f 2 12 5
+f 3 7 4
+f 4 7 10
+f 4 10 9
+f 5 12 23
+f 5 23 11
+f 6 11 7
+f 7 13 14
+f 7 14 15
+f 7 15 10
+f 7 11 13
+f 8 16 17
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 10 18
+f 10 15 22
+f 10 22 18
+f 11 23 36
+f 11 36 49
+f 11 49 60
+f 11 60 71
+f 11 71 76
+f 11 76 75
+f 11 75 82
+f 11 82 79
+f 11 79 78
+f 11 78 77
+f 11 77 69
+f 11 69 57
+f 11 57 46
+f 11 46 35
+f 11 35 20
+f 11 20 19
+f 11 19 22
+f 11 22 15
+f 11 15 14
+f 11 14 13
+f 12 24 25
+f 12 25 23
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 16 30 31
+f 16 31 26
+f 17 29 32
+f 17 32 33
+f 18 22 19
+f 20 34 21
+f 20 35 34
+f 23 25 36
+f 24 37 25
+f 25 37 36
+f 26 31 38
+f 26 38 27
+f 27 38 39
+f 27 39 28
+f 28 39 32
+f 28 32 29
+f 30 40 31
+f 31 41 42
+f 31 42 38
+f 31 40 43
+f 31 43 41
+f 32 39 42
+f 32 42 33
+f 33 42 37
+f 34 35 44
+f 34 44 45
+f 35 46 47
+f 35 47 44
+f 36 37 48
+f 36 48 49
+f 37 50 48
+f 37 42 50
+f 38 42 39
+f 40 51 43
+f 40 52 51
+f 41 53 61
+f 41 61 54
+f 41 54 42
+f 41 43 51
+f 41 51 53
+f 42 54 50
+f 44 47 45
+f 45 47 55
+f 46 56 47
+f 46 57 56
+f 47 56 55
+f 48 50 58
+f 48 58 59
+f 48 59 49
+f 49 59 60
+f 50 54 61
+f 50 61 58
+f 51 52 64
+f 51 64 62
+f 51 62 59
+f 51 59 53
+f 52 63 64
+f 53 59 58
+f 53 58 61
+f 55 56 65
+f 55 65 66
+f 55 66 67
+f 55 67 68
+f 56 57 65
+f 57 69 66
+f 57 66 65
+f 59 62 70
+f 59 70 71
+f 59 71 60
+f 62 64 70
+f 63 72 73
+f 63 73 74
+f 63 74 64
+f 64 74 75
+f 64 75 76
+f 64 76 71
+f 64 71 70
+f 66 69 77
+f 66 77 67
+f 67 77 78
+f 67 78 79
+f 67 79 80
+f 67 80 68
+f 72 81 73
+f 73 81 74
+f 74 82 75
+f 74 81 80
+f 74 80 82
+f 79 82 80
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_20.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.13552855 -0.13518616 -0.28125365
+v 0.14279456 -0.13518616 -0.28125365
+v 0.12570382 -0.13518616 -0.28123953
+v 0.08460402 -0.10943276 -0.28111943
+v 0.11959680 -0.10943276 -0.28112647
+v 0.12315403 -0.10943276 -0.28112647
+v 0.15262820 -0.10943276 -0.28111235
+v 0.15262820 -0.13518616 -0.28122541
+v 0.08460402 -0.13518616 -0.28111953
+v 0.08460402 -0.10943301 -0.21163084
+v 0.15763863 -0.10943276 -0.28010282
+v 0.16048263 -0.10943276 -0.27952393
+v 0.16047371 -0.13518616 -0.27956638
+v 0.08460402 -0.13518642 -0.20913886
+v 0.17568331 -0.10943299 -0.21733508
+v 0.16322856 -0.10943278 -0.27537283
+v 0.16477983 -0.10943279 -0.27301488
+v 0.16477983 -0.12280994 -0.27301493
+v 0.16477091 -0.13263481 -0.27301497
+v 0.16476200 -0.13518619 -0.27301498
+v 0.17568331 -0.13518640 -0.21612797
+v 0.17568331 -0.10943290 -0.24169808
+v 0.17568331 -0.12621106 -0.24169814
+v 0.17568331 -0.13518630 -0.24169112
+f 1 2 8
+f 1 8 13
+f 1 13 20
+f 1 20 24
+f 1 24 21
+f 1 21 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 14
+f 4 14 10
+f 4 10 15
+f 4 15 22
+f 4 22 17
+f 4 17 16
+f 4 16 12
+f 4 12 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 10 14 15
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 14 21 15
+f 15 21 24
+f 15 24 23
+f 15 23 22
+f 17 22 23
+f 17 23 18
+f 18 23 24
+f 18 24 19
+f 19 24 20
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_21.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.23147788 0.16211807 -0.13851387
+v 0.18212201 0.16211807 -0.13856732
+v 0.18212201 0.15328214 -0.13863419
+v 0.23147788 0.15321018 -0.13858741
+v 0.23147788 0.16709917 -0.14006417
+v 0.19193521 0.16708257 -0.14007753
+v 0.18212201 0.16708534 -0.14008422
+v 0.18212201 0.14840897 -0.14506267
+v 0.23147788 0.14814331 -0.14472855
+v 0.23147788 0.16712684 -0.14019114
+v 0.18212201 0.17234613 -0.19427846
+v 0.23147788 0.14781125 -0.14637910
+v 0.18212201 0.14745983 -0.15490585
+v 0.23147788 0.16753089 -0.14506260
+v 0.18212201 0.17325385 -0.20412162
+v 0.23147788 0.14705028 -0.15490585
+v 0.18212201 0.14607639 -0.20677464
+v 0.23147788 0.14498608 -0.20677465
+v 0.23147788 0.17046992 -0.19427177
+v 0.23147788 0.17048376 -0.19451234
+v 0.23147788 0.17085461 -0.20411494
+v 0.23147788 0.17085461 -0.20435551
+v 0.18212201 0.17325108 -0.20677454
+v 0.23147788 0.17085186 -0.20677455
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 12
+f 1 12 16
+f 1 16 18
+f 1 18 24
+f 1 24 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 14
+f 1 14 10
+f 1 10 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 15
+f 2 15 23
+f 2 23 17
+f 2 17 13
+f 2 13 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 5 10 7
+f 5 7 6
+f 7 10 11
+f 8 12 9
+f 8 13 12
+f 10 14 15
+f 10 15 11
+f 12 13 16
+f 13 17 18
+f 13 18 16
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 17 23 24
+f 17 24 18
+f 22 24 23
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_22.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.14216437 0.20113493 -0.29270845
+v -0.14216437 0.19928899 -0.30255322
+v -0.15199096 0.20087980 -0.29270845
+v -0.15199096 0.20078472 -0.28494902
+v -0.14990861 0.20083474 -0.28494902
+v -0.14216437 0.20100983 -0.28494902
+v -0.13234306 0.20083474 -0.28494902
+v -0.13234306 0.20088481 -0.29270845
+v -0.13234306 0.19906887 -0.30255322
+v -0.14216437 0.19440147 -0.32223343
+v -0.15199096 0.19880374 -0.30255322
+v -0.15798497 0.19741799 -0.30255322
+v -0.15936091 0.19856858 -0.29270846
+v -0.15881264 0.19902378 -0.28494903
+v -0.12249011 0.19873363 -0.28494903
+v -0.12558464 0.19766812 -0.30255322
+v -0.12417708 0.19856858 -0.29270846
+v -0.12694477 0.19680769 -0.30832043
+v -0.14216437 0.19011923 -0.32980669
+v -0.14981898 0.18887857 -0.32889435
+v -0.15690426 0.19651253 -0.30748257
+v -0.13234306 0.19288567 -0.32223343
+v -0.13234306 0.18915873 -0.32912710
+v -0.16066303 0.19159492 -0.30255325
+v -0.16482773 0.19222519 -0.28494905
+v -0.16036780 0.19853354 -0.28494903
+v -0.11488294 0.19247532 -0.28494905
+v -0.11365988 0.19115962 -0.28494906
+v -0.12670225 0.18760289 -0.32798203
+v -0.14216437 0.18176982 -0.33249715
+v -0.13234306 0.18176982 -0.33162672
+v -0.15265520 0.18165976 -0.32951346
+v -0.15717312 0.17831798 -0.32755848
+v -0.15637181 0.18486644 -0.32567330
+v -0.15732073 0.18748780 -0.31911012
+v -0.16236054 0.18176971 -0.30255328
+v -0.16511242 0.19000901 -0.28494906
+v -0.11186749 0.18178466 -0.28494909
+v -0.12339685 0.18176978 -0.32223347
+v -0.12582714 0.18176981 -0.32893629
+v -0.13234306 0.17194962 -0.33164538
+v -0.14216437 0.17194962 -0.33248786
+v -0.15266575 0.17203466 -0.32951350
+v -0.12580078 0.17194961 -0.32896425
+v -0.15717312 0.17536641 -0.32755849
+v -0.16236581 0.17194951 -0.30255332
+v -0.16424783 0.18176968 -0.29270852
+v -0.16571866 0.18176965 -0.28495840
+v -0.16571866 0.18176965 -0.28494909
+v -0.11190966 0.17193944 -0.28494913
+v -0.12344431 0.17194958 -0.32223351
+v -0.12667589 0.16607649 -0.32801935
+v -0.13234306 0.16455070 -0.32914581
+v -0.14216437 0.16362020 -0.32980211
+v -0.14984009 0.16484085 -0.32889443
+v -0.16469595 0.16212425 -0.28494916
+v -0.15638762 0.16881794 -0.32565009
+v -0.16424256 0.17194948 -0.29270856
+v -0.16571339 0.17194945 -0.28494913
+v -0.11336467 0.16236938 -0.28494916
+v -0.11339630 0.16222931 -0.28494916
+v -0.12720308 0.15707165 -0.30784578
+v -0.13234306 0.16109883 -0.32223355
+v -0.11586349 0.15592597 -0.28494919
+v -0.14216437 0.15958302 -0.32223355
+v -0.15557049 0.15761695 -0.30694277
+v -0.16123239 0.15302444 -0.28494920
+v -0.15729438 0.16635661 -0.31908693
+v -0.15977211 0.16138392 -0.30321897
+v -0.15810096 0.15624119 -0.30037961
+v -0.12212108 0.15243413 -0.28494920
+v -0.13234306 0.15012790 -0.28494921
+v -0.14216437 0.15002784 -0.28494921
+v -0.15199096 0.15024296 -0.28494921
+v -0.15217548 0.15576594 -0.30321899
+v -0.15204895 0.15025796 -0.28494921
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 26
+f 4 26 25
+f 4 25 37
+f 4 37 49
+f 4 49 59
+f 4 59 56
+f 4 56 67
+f 4 67 76
+f 4 76 74
+f 4 74 73
+f 4 73 72
+f 4 72 71
+f 4 71 64
+f 4 64 61
+f 4 61 60
+f 4 60 50
+f 4 50 38
+f 4 38 28
+f 4 28 27
+f 4 27 15
+f 4 15 7
+f 4 7 6
+f 4 6 5
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 16
+f 9 16 18
+f 9 18 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 18 22
+f 10 22 23
+f 10 23 19
+f 11 21 12
+f 12 24 25
+f 12 25 13
+f 12 21 24
+f 13 26 14
+f 13 25 26
+f 15 27 17
+f 16 17 27
+f 16 27 28
+f 16 28 18
+f 18 28 29
+f 18 29 22
+f 19 30 20
+f 19 23 31
+f 19 31 30
+f 20 30 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 24
+f 22 29 23
+f 23 29 31
+f 24 35 34
+f 24 34 25
+f 25 36 37
+f 25 34 33
+f 25 33 36
+f 28 38 39
+f 28 39 29
+f 29 40 31
+f 29 39 40
+f 30 31 41
+f 30 41 42
+f 30 42 43
+f 30 43 32
+f 31 40 44
+f 31 44 41
+f 32 43 33
+f 33 45 46
+f 33 46 36
+f 33 43 45
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 38 50 39
+f 39 50 51
+f 39 51 44
+f 39 44 40
+f 41 44 52
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 42 54 55
+f 42 55 43
+f 43 55 45
+f 44 51 52
+f 45 56 46
+f 45 55 57
+f 45 57 56
+f 46 56 58
+f 46 58 47
+f 47 58 48
+f 48 59 49
+f 48 58 59
+f 50 60 51
+f 51 60 61
+f 51 61 52
+f 52 62 63
+f 52 63 53
+f 52 61 64
+f 52 64 62
+f 53 63 65
+f 53 65 54
+f 54 65 55
+f 55 65 66
+f 55 66 57
+f 56 59 58
+f 56 57 68
+f 56 68 69
+f 56 69 67
+f 57 66 70
+f 57 70 68
+f 62 64 71
+f 62 71 72
+f 62 72 65
+f 62 65 63
+f 65 72 73
+f 65 73 74
+f 65 74 75
+f 65 75 66
+f 66 75 74
+f 66 74 70
+f 67 69 70
+f 67 70 76
+f 68 70 69
+f 70 74 76
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_23.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.14279456 -0.14712506 -0.28370288
+v 0.13903227 -0.14712506 -0.28367637
+v 0.08460402 -0.13518868 -0.28111578
+v 0.12570382 -0.13518868 -0.28123939
+v 0.13552855 -0.13518868 -0.28125704
+v 0.14279456 -0.13518868 -0.28125704
+v 0.15262820 -0.13518868 -0.28122172
+v 0.15262820 -0.14712506 -0.28357041
+v 0.13296984 -0.14712506 -0.28360574
+v 0.08460402 -0.14712507 -0.28112464
+v 0.08460402 -0.13518894 -0.20914629
+v 0.12910949 -0.14712506 -0.28349978
+v 0.16047371 -0.13518868 -0.27956178
+v 0.16087490 -0.14712507 -0.28106284
+v 0.08460402 -0.14712539 -0.19351806
+v 0.08460402 -0.14083238 -0.19351804
+v 0.17568331 -0.13518892 -0.21613045
+v 0.16476200 -0.13518871 -0.27301910
+v 0.16492248 -0.14712510 -0.27301914
+v 0.09476753 -0.14712539 -0.19351806
+v 0.17568331 -0.14712535 -0.20530549
+v 0.17568331 -0.13518882 -0.24168311
+v 0.17568331 -0.13603708 -0.24168311
+v 0.17568331 -0.14586217 -0.24167431
+v 0.17568331 -0.14712521 -0.24166548
+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 14
+f 1 14 19
+f 1 19 25
+f 1 25 21
+f 1 21 20
+f 1 20 15
+f 1 15 10
+f 1 10 12
+f 1 12 9
+f 1 9 2
+f 2 9 3
+f 3 10 15
+f 3 15 16
+f 3 16 11
+f 3 11 17
+f 3 17 22
+f 3 22 18
+f 3 18 13
+f 3 13 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 3 9 12
+f 3 12 10
+f 7 13 8
+f 8 13 14
+f 11 16 17
+f 13 18 14
+f 14 18 19
+f 15 20 16
+f 16 20 21
+f 16 21 17
+f 17 21 25
+f 17 25 24
+f 17 24 23
+f 17 23 22
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 19 24 25
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_24.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.16806624 -0.05383093 -0.11552460
+v 0.16855053 -0.17192671 -0.04663729
+v 0.16806624 -0.05383093 -0.11563491
+v 0.16803396 -0.05383095 -0.10904077
+v 0.16851824 -0.17192673 -0.04212303
+v 0.16816309 -0.17481834 -0.04212304
+v 0.16774339 -0.17822784 -0.04212305
+v 0.16774339 -0.17825645 -0.08599724
+v 0.16774339 -0.17825642 -0.09584509
+v 0.16851824 -0.17192653 -0.09584507
+v 0.16848596 -0.17192649 -0.10568506
+v 0.16809852 -0.16210075 -0.11552500
+v 0.16742052 -0.06387242 -0.12051947
+v 0.16738824 -0.05383091 -0.12051944
+v 0.16612908 -0.05383115 -0.05569689
+v 0.16480536 -0.05383120 -0.04212260
+v 0.16703309 -0.18088927 -0.04212306
+v 0.16645195 -0.18314765 -0.10568510
+v 0.16771109 -0.17824199 -0.10568508
+v 0.16758194 -0.17775282 -0.11316945
+v 0.16780794 -0.17152363 -0.11607652
+v 0.16738824 -0.16798464 -0.12048835
+v 0.16742052 -0.11298657 -0.12051966
+v 0.16742052 -0.09334954 -0.12052746
+v 0.16577393 -0.18162265 -0.12260766
+v 0.16729137 -0.05383091 -0.12057459
+v -0.16079851 -0.05383120 -0.04212260
+v 0.16641965 -0.18314789 -0.04212307
+v 0.16661337 -0.18132057 -0.11607656
+v 0.16364307 -0.19157788 -0.11552510
+v 0.16364307 -0.19157785 -0.12260769
+v 0.16729137 -0.17453032 -0.11973205
+v 0.16738824 -0.16210073 -0.12050408
+v 0.16344935 -0.05383090 -0.12260719
+v -0.16083080 -0.05383093 -0.11531190
+v -0.16128280 -0.18175237 -0.05647731
+v -0.16125051 -0.18175243 -0.04212307
+v 0.16512821 -0.18700336 -0.04212309
+v 0.16357849 -0.19157815 -0.04212310
+v 0.15960732 -0.19818137 -0.04212313
+v 0.16251305 -0.19344803 -0.12260770
+v -0.16083080 -0.05383090 -0.12260719
+v -0.16125051 -0.18175216 -0.11552507
+v -0.15982995 -0.19157802 -0.07616518
+v -0.15982995 -0.19157815 -0.04212310
+v 0.15260126 -0.20031050 -0.04212314
+v 0.15260126 -0.20033901 -0.11552514
+v 0.15960732 -0.19819551 -0.10568516
+v 0.15960732 -0.19819545 -0.12260772
+v -0.16121824 -0.18175213 -0.12260766
+v -0.15979766 -0.19157785 -0.12260769
+v -0.15747307 -0.19708772 -0.12260771
+v -0.15747307 -0.19708802 -0.04212312
+v 0.14727408 -0.20055508 -0.04212314
+v 0.14278634 -0.20075649 -0.04212314
+v 0.14556293 -0.20065548 -0.12260773
+v 0.15260126 -0.20033898 -0.12260773
+v -0.15198446 -0.19921687 -0.12260772
+v -0.15495475 -0.19806627 -0.04212313
+v 0.14278634 -0.20077059 -0.11552514
+v 0.12312419 -0.20077086 -0.04212314
+v 0.14278634 -0.20077056 -0.12260773
+v -0.14213724 -0.20075619 -0.12260773
+v -0.15198446 -0.19921717 -0.04212313
+v -0.04389107 -0.20078523 -0.04663740
+v -0.06884811 -0.20077086 -0.04212314
+v -0.06077662 -0.20077056 -0.12260773
+v -0.14213724 -0.20075649 -0.04212314
+f 1 2 3
+f 1 3 14
+f 1 14 26
+f 1 26 34
+f 1 34 42
+f 1 42 35
+f 1 35 27
+f 1 27 16
+f 1 16 15
+f 1 15 4
+f 1 4 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 2 4 5
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 5
+f 5 15 16
+f 5 16 27
+f 5 27 37
+f 5 37 45
+f 5 45 53
+f 5 53 59
+f 5 59 64
+f 5 64 68
+f 5 68 66
+f 5 66 61
+f 5 61 55
+f 5 55 54
+f 5 54 46
+f 5 46 40
+f 5 40 39
+f 5 39 38
+f 5 38 28
+f 5 28 17
+f 5 17 7
+f 5 7 6
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 11
+f 9 11 10
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 17 28 18
+f 18 29 19
+f 18 28 30
+f 18 30 31
+f 18 31 29
+f 19 29 20
+f 20 29 25
+f 20 25 32
+f 20 32 21
+f 21 32 22
+f 22 32 25
+f 22 25 33
+f 22 33 23
+f 23 33 25
+f 23 25 24
+f 25 29 31
+f 25 31 41
+f 25 41 49
+f 25 49 57
+f 25 57 56
+f 25 56 62
+f 25 62 67
+f 25 67 63
+f 25 63 58
+f 25 58 52
+f 25 52 51
+f 25 51 50
+f 25 50 42
+f 25 42 34
+f 25 34 26
+f 27 35 36
+f 27 36 37
+f 28 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 35 42 36
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 36 42 43
+f 40 46 47
+f 40 47 48
+f 40 48 41
+f 41 48 49
+f 42 50 43
+f 43 50 51
+f 43 51 44
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 46 54 47
+f 47 54 55
+f 47 55 56
+f 47 56 57
+f 47 57 49
+f 47 49 48
+f 52 58 59
+f 52 59 53
+f 55 60 56
+f 55 61 60
+f 56 60 62
+f 58 63 68
+f 58 68 64
+f 58 64 59
+f 60 61 65
+f 60 65 62
+f 61 66 65
+f 62 65 67
+f 63 67 65
+f 63 65 68
+f 65 66 68
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_25.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.16572171 0.18176542 -0.28494444
+v -0.16569659 0.17194459 -0.28494448
+v -0.16760692 0.17194457 -0.28003429
+v -0.16760692 0.18176540 -0.28001838
+v -0.16509334 0.19000714 -0.28494441
+v -0.16733042 0.11496178 -0.27847723
+v -0.16783313 0.11496178 -0.27738079
+v -0.16981887 0.11496176 -0.27301087
+v -0.16567146 0.17165748 -0.28494448
+v -0.17009537 0.17194454 -0.27301066
+v -0.16728015 0.18967779 -0.27927147
+v -0.17007022 0.18176537 -0.27301062
+v -0.16481684 0.19222802 -0.28494440
+v -0.16469115 0.16211530 -0.28494451
+v -0.16122239 0.15302915 -0.28494455
+v -0.16180052 0.11496179 -0.28009808
+v -0.17019591 0.11496176 -0.27104044
+v -0.17167891 0.11496173 -0.26317460
+v -0.17167891 0.18176534 -0.26317435
+v -0.16883858 0.19240530 -0.27393223
+v -0.17112593 0.19159460 -0.26317432
+v -0.16657634 0.19623063 -0.27780953
+v -0.16036777 0.19853598 -0.28494438
+v -0.15204781 0.15025938 -0.28494456
+v -0.15197241 0.11496179 -0.28114684
+v -0.17162866 0.11496172 -0.26120418
+v -0.17137729 0.18176530 -0.25332220
+v -0.16800908 0.19779282 -0.27124671
+v -0.17062320 0.19159456 -0.25332217
+v -0.16831071 0.19802919 -0.25332214
+v -0.16863748 0.19841768 -0.26317429
+v -0.15880935 0.19901731 -0.28494438
+v -0.16180052 0.20078211 -0.26317428
+v -0.15197241 0.15024250 -0.28494456
+v -0.14214427 0.15003137 -0.28494456
+v -0.14209401 0.15003137 -0.28494456
+v 0.08508398 0.11496179 -0.28111505
+v -0.17135216 0.11496169 -0.25332245
+v -0.17137729 0.15230280 -0.25332231
+v -0.16124754 0.18176482 -0.12260632
+v -0.16084535 0.18452613 -0.12260631
+v -0.15978965 0.19159408 -0.12260629
+v -0.15913612 0.19313940 -0.12260628
+v -0.15745202 0.19709139 -0.12260627
+v -0.15353082 0.19862827 -0.12260626
+v -0.15197241 0.19922782 -0.12260626
+v -0.15197241 0.20078219 -0.28494437
+v -0.14490922 0.20033403 -0.12260625
+v -0.14214427 0.20076471 -0.12260625
+v -0.15197241 0.20122966 -0.26317428
+v -0.13231616 0.15012428 -0.28494456
+v 0.08508398 0.18052407 -0.28113072
+v 0.08508398 0.11496121 -0.12260657
+v -0.12211098 0.15243803 -0.28494455
+v -0.11585216 0.15592557 -0.28494454
+v -0.11338883 0.16222509 -0.28494451
+v -0.11333858 0.16236020 -0.28494451
+v -0.11190583 0.17192770 -0.28494448
+v -0.11188069 0.17234992 -0.28494448
+v -0.16082022 0.11496121 -0.12260657
+v -0.14991125 0.20083286 -0.28494437
+v 0.08106224 0.20079004 -0.12260625
+v -0.14214427 0.20101018 -0.28494437
+v 0.08508398 0.20079004 -0.12260625
+v 0.08508398 0.20120433 -0.26317428
+v 0.08508398 0.18176540 -0.28113071
+v -0.11185554 0.18178230 -0.28494444
+v -0.13231616 0.20083286 -0.28494437
+v 0.08508398 0.20030081 -0.27301055
+v 0.08508398 0.19035333 -0.28082876
+v -0.11364020 0.19115558 -0.28494441
+v -0.11487187 0.19247291 -0.28494440
+v -0.12246289 0.19873020 -0.28494438
+v 0.08508398 0.19999682 -0.27378921
+v 0.08508398 0.19789419 -0.27916021
+v 0.08508398 0.19710041 -0.27936681
+v 0.08508398 0.19159466 -0.28078110
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 23
+f 1 23 32
+f 1 32 47
+f 1 47 61
+f 1 61 63
+f 1 63 68
+f 1 68 73
+f 1 73 72
+f 1 72 71
+f 1 71 67
+f 1 67 59
+f 1 59 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 51
+f 1 51 36
+f 1 36 35
+f 1 35 34
+f 1 34 24
+f 1 24 15
+f 1 15 14
+f 1 14 9
+f 1 9 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 6
+f 3 8 10
+f 3 10 4
+f 4 11 5
+f 4 10 12
+f 4 12 11
+f 5 11 13
+f 6 9 14
+f 6 14 15
+f 6 15 16
+f 6 16 25
+f 6 25 37
+f 6 37 53
+f 6 53 60
+f 6 60 38
+f 6 38 26
+f 6 26 18
+f 6 18 17
+f 6 17 8
+f 6 8 7
+f 8 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 12
+f 11 12 20
+f 11 20 13
+f 12 19 21
+f 12 21 20
+f 13 20 22
+f 13 22 23
+f 15 24 25
+f 15 25 16
+f 18 26 19
+f 19 26 27
+f 19 27 21
+f 20 21 28
+f 20 28 22
+f 21 27 29
+f 21 29 30
+f 21 30 31
+f 21 31 28
+f 22 28 23
+f 23 28 33
+f 23 33 32
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 27 40 29
+f 28 31 33
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 33
+f 32 33 47
+f 33 46 48
+f 33 48 49
+f 33 49 50
+f 33 50 47
+f 36 51 37
+f 37 52 66
+f 37 66 70
+f 37 70 77
+f 37 77 76
+f 37 76 75
+f 37 75 74
+f 37 74 69
+f 37 69 65
+f 37 65 64
+f 37 64 53
+f 37 51 54
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 52
+f 38 40 39
+f 38 60 40
+f 40 60 53
+f 40 53 64
+f 40 64 62
+f 40 62 49
+f 40 49 48
+f 40 48 46
+f 40 46 45
+f 40 45 44
+f 40 44 43
+f 40 43 42
+f 40 42 41
+f 47 50 61
+f 49 62 50
+f 50 63 61
+f 50 62 64
+f 50 64 65
+f 50 65 63
+f 52 59 67
+f 52 67 66
+f 63 65 69
+f 63 69 68
+f 66 67 71
+f 66 71 72
+f 66 72 73
+f 66 73 70
+f 68 69 74
+f 68 74 75
+f 68 75 76
+f 68 76 77
+f 68 77 73
+f 70 73 77
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_26.obj

@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.22405360 0.00032477 -0.21724586
+v 0.09363596 0.00030328 -0.21698146
+v 0.22405360 -0.04421866 -0.21724358
+v 0.22405360 0.00032485 -0.23954721
+v 0.08933187 0.00032477 -0.21698146
+v 0.09363596 -0.10943298 -0.21698186
+v 0.22405360 -0.05403841 -0.21724362
+v 0.22405360 -0.10315857 -0.23956227
+v 0.17476609 0.00032486 -0.24199057
+v -0.16076224 0.00032477 -0.21698146
+v 0.22405360 -0.10943298 -0.21724871
+v -0.16076224 -0.10943298 -0.21698186
+v 0.22405360 -0.10943290 -0.23956229
+v 0.17476609 -0.10943289 -0.24199097
+v -0.16506635 0.00032486 -0.24199057
+v -0.16080033 -0.02757665 -0.21698156
+v -0.16080033 -0.06686640 -0.21698171
+v -0.16502825 -0.07367782 -0.24199084
+v -0.16499016 -0.10943289 -0.24199097
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 16
+f 2 16 17
+f 2 17 12
+f 2 12 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 6 11 7
+f 6 12 19
+f 6 19 14
+f 6 14 13
+f 6 13 11
+f 8 13 14
+f 8 14 9
+f 9 14 19
+f 9 19 18
+f 9 18 15
+f 10 15 16
+f 12 17 18
+f 12 18 19
+f 15 18 17
+f 15 17 16
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_27.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.16555304 0.05483100 0.05190727
+v 0.16555304 0.05483100 0.05093718
+v 0.16551939 0.05483096 0.06153565
+v 0.18012585 0.04237198 0.05180367
+v 0.16447607 0.05483105 0.03857807
+v 0.16447607 0.05483092 0.07384298
+v 0.18005853 0.04234870 0.06164263
+v 0.18298656 0.03438752 0.05180364
+v 0.17871232 0.04103545 0.04534791
+v 0.17941908 0.03438755 0.04460221
+v 0.16528379 0.04762527 0.03857804
+v -0.16080371 0.05483105 0.03857807
+v 0.16821182 0.03438744 0.07384291
+v 0.17225047 0.03438745 0.07210642
+v 0.17935177 0.03438746 0.06876808
+v 0.17867866 0.04100050 0.06803623
+v -0.16080371 0.05483092 0.07384298
+v 0.18288560 0.03438748 0.06164260
+v 0.18291924 -0.03438118 0.06164234
+v 0.18295289 -0.03438114 0.05180338
+v 0.17938542 -0.03438111 0.04463992
+v 0.17225047 -0.02454870 0.04124292
+v 0.17225047 0.02455517 0.04121203
+v 0.17225047 0.03438756 0.04126386
+v 0.16592326 0.03445730 0.03857800
+v -0.16080371 -0.06387828 0.03857764
+v -0.16083737 -0.06385508 0.05180328
+v 0.16834644 0.02829740 0.07384288
+v 0.17225047 0.02455505 0.07218579
+v 0.17935177 -0.03438120 0.06881960
+v -0.16080371 -0.06387841 0.07384255
+v 0.17871232 -0.04101748 0.06809461
+v 0.18009220 -0.04235402 0.06164231
+v 0.18012585 -0.04238884 0.05180335
+v 0.17871232 -0.04105227 0.04537178
+v 0.16444242 -0.06387828 0.03857764
+v 0.17225047 -0.03438110 0.04130157
+v 0.16592326 -0.03438109 0.03857774
+v 0.16602422 -0.02466491 0.03857778
+v 0.16602422 0.02455518 0.03857796
+v -0.16083737 -0.06387833 0.05180328
+v 0.16841375 0.02455505 0.07384287
+v 0.17225047 0.00491350 0.07219262
+v 0.17225047 -0.02454882 0.07219251
+v 0.17225047 -0.03438122 0.07216485
+v 0.16440875 -0.06387841 0.07384255
+v 0.16444242 -0.06387833 0.05180328
+v 0.16841375 -0.02454882 0.07384269
+v 0.16827914 -0.03438122 0.07384265
+f 1 2 5
+f 1 5 12
+f 1 12 17
+f 1 17 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 25
+f 5 25 40
+f 5 40 39
+f 5 39 38
+f 5 38 36
+f 5 36 26
+f 5 26 12
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 17 31
+f 6 31 46
+f 6 46 49
+f 6 49 48
+f 6 48 42
+f 6 42 28
+f 6 28 13
+f 7 16 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 10
+f 8 10 9
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 12 26 41
+f 12 41 27
+f 12 27 17
+f 13 28 14
+f 14 28 29
+f 14 29 15
+f 15 30 19
+f 15 19 18
+f 15 18 16
+f 15 29 30
+f 17 27 41
+f 17 41 31
+f 19 30 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 25
+f 23 25 24
+f 26 36 47
+f 26 47 46
+f 26 46 31
+f 26 31 41
+f 28 42 29
+f 29 43 30
+f 29 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 32
+f 32 46 33
+f 33 46 34
+f 34 46 47
+f 34 47 36
+f 34 36 35
+f 36 38 37
+f 42 48 44
+f 42 44 43
+f 44 48 45
+f 45 48 49
+f 45 49 46
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_28.obj

@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.20205925 0.11496156 -0.21730999
+v 0.20205925 0.11298661 -0.21730999
+v 0.20205925 0.11496164 -0.23953186
+v 0.08559347 0.11496154 -0.21308042
+v 0.20205925 0.00033599 -0.21732204
+v 0.08559347 0.00033597 -0.21308084
+v 0.20205925 0.11269495 -0.23953187
+v 0.17231258 0.11495043 -0.24281537
+v 0.17227658 0.11496165 -0.24281537
+v -0.16080694 0.11496154 -0.21308042
+v 0.20205925 0.00033607 -0.23952355
+v -0.16077092 0.00033597 -0.21308084
+v 0.17227658 0.00033608 -0.24281579
+v 0.17231258 0.11295304 -0.24281538
+v -0.16577671 0.11496165 -0.24281537
+v -0.16581273 0.07039066 -0.24281553
+v -0.16584874 0.00492559 -0.24281577
+v -0.16080694 0.06385975 -0.21308061
+v -0.16581273 0.00033608 -0.24281579
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 14
+f 3 14 8
+f 3 8 9
+f 4 10 18
+f 4 18 12
+f 4 12 6
+f 5 6 12
+f 5 12 19
+f 5 19 13
+f 5 13 11
+f 7 11 13
+f 7 13 14
+f 8 14 13
+f 8 13 19
+f 8 19 17
+f 8 17 16
+f 8 16 15
+f 8 15 9
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 12 18 17
+f 12 17 19
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_29.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.08560419 0.11496154 -0.21308042
+v 0.08070678 0.11496129 -0.14506274
+v 0.08562831 0.08350824 -0.21308053
+v -0.16081024 0.11496154 -0.21308042
+v 0.07981414 0.11496128 -0.14039602
+v 0.07959702 0.03439234 -0.13923175
+v 0.08070678 0.00033572 -0.14506316
+v 0.08560419 0.00033597 -0.21308084
+v -0.16081024 0.07368961 -0.21308057
+v -0.16083437 0.11496123 -0.12686844
+v 0.07957289 0.11496127 -0.13923146
+v 0.07648487 0.11496123 -0.12686844
+v 0.07959702 0.00033570 -0.13923188
+v -0.16078612 0.00033597 -0.21308084
+v -0.16081024 0.06385972 -0.20411848
+v -0.16081024 0.05405226 -0.19427030
+v -0.16081024 0.00033566 -0.12686886
+v 0.07648487 0.00033566 -0.12686886
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 13
+f 2 13 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 18
+f 6 18 13
+f 7 13 18
+f 7 18 17
+f 7 17 14
+f 7 14 8
+f 9 15 10
+f 9 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 12
+f 14 17 16
+f 14 16 15
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_3.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.16129807 -0.18176047 0.12070103
+v -0.16126576 -0.18176030 0.07384892
+v -0.15984438 -0.19158723 0.07384889
+v -0.15984438 -0.19158744 0.13053986
+v -0.16126576 -0.18176056 0.14340193
+v -0.16126576 0.18175672 0.14340327
+v -0.16126576 0.18175698 0.07385026
+v -0.15748616 -0.19709029 0.07384887
+v -0.15748616 -0.19709055 0.14340188
+v -0.15981207 -0.19158749 0.14340190
+v -0.16026433 -0.18856080 0.14340191
+v -0.15981207 0.19158365 0.14340330
+v -0.15981207 0.19158391 0.07385029
+v -0.15616169 -0.19760129 0.07384886
+v -0.15196213 -0.19921318 0.14340187
+v -0.15745385 0.19708674 0.14340332
+v -0.15926290 0.19288105 0.07385030
+v -0.15196213 -0.19921292 0.07384886
+v -0.14895783 -0.19968487 0.14340187
+v -0.15196213 0.19920934 0.14340333
+v -0.15328660 0.19869859 0.07385032
+v -0.15745385 0.19708700 0.07385031
+v -0.14214163 -0.20074591 0.07384885
+v -0.14214163 -0.20074617 0.14340186
+v -0.14449985 0.20038882 0.07385033
+v -0.15196213 0.19920960 0.07385032
+v -0.14214163 0.20074233 0.14340334
+v -0.05372480 -0.20078526 0.08133185
+v 0.14278216 -0.20074591 0.07384885
+v 0.14278216 -0.20074617 0.14340186
+v -0.14214163 0.20074259 0.07385033
+v 0.14278216 0.20074233 0.14340334
+v 0.12314115 0.20078191 0.07385033
+v 0.15260267 -0.20031350 0.07384885
+v 0.14578646 -0.20062825 0.14340186
+v 0.14278216 0.20074259 0.07385033
+v 0.15260267 0.20030996 0.14340334
+v 0.15428248 -0.19980253 0.07384886
+v 0.15260267 -0.20031376 0.14340186
+v 0.15260267 0.20031022 0.07385033
+v 0.15744832 0.19881626 0.14340333
+v 0.15958040 -0.19815159 0.07384886
+v 0.15958040 -0.19819116 0.14340187
+v 0.15958040 0.19814830 0.07385032
+v 0.15958040 0.19814804 0.14340333
+v 0.16261700 -0.19315954 0.07384888
+v 0.16358613 -0.19158744 0.13053986
+v 0.16358613 -0.19158749 0.14340190
+v 0.16054953 0.19657599 0.07385031
+v 0.16080796 0.19614333 0.14340332
+v 0.16355382 -0.19158723 0.07384889
+v 0.16571820 -0.18514076 0.07384891
+v 0.16642890 -0.18313633 0.14038557
+v 0.16555669 -0.18573063 0.14340192
+v 0.16355382 0.19158391 0.07385029
+v 0.16355382 0.19158365 0.14340330
+v 0.16639661 -0.18309676 0.07384892
+v 0.16642890 -0.18313634 0.14340193
+v 0.16671963 -0.18195683 0.07384892
+v 0.16772108 -0.17818332 0.07384894
+v 0.16772108 -0.17822285 0.14038559
+v 0.16642890 0.18313276 0.07385026
+v 0.16642890 0.18309318 0.14340327
+v 0.16642890 0.18313266 0.10101781
+v 0.16772108 -0.17822286 0.14340195
+v 0.16852868 -0.17193337 0.07384896
+v 0.16775338 0.17821932 0.07385024
+v 0.16733343 0.17971273 0.14340326
+v 0.16775338 0.17821926 0.09117892
+v 0.16827025 -0.17385971 0.14340196
+v 0.16852868 -0.17193343 0.09117764
+v 0.16869020 -0.16210665 0.12070110
+v 0.16852868 0.17193009 0.07385022
+v 0.16872251 0.16210299 0.12070230
+v 0.16794720 0.17672561 0.07385024
+v 0.16772108 0.17817974 0.14340325
+v 0.16797952 0.17629298 0.14340325
+v 0.16849637 -0.17193363 0.14340197
+v 0.16852868 0.17192995 0.11085665
+v 0.16849637 0.17192983 0.14340323
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 17
+f 2 17 22
+f 2 22 21
+f 2 21 26
+f 2 26 25
+f 2 25 31
+f 2 31 33
+f 2 33 36
+f 2 36 40
+f 2 40 44
+f 2 44 49
+f 2 49 55
+f 2 55 62
+f 2 62 67
+f 2 67 75
+f 2 75 73
+f 2 73 66
+f 2 66 60
+f 2 60 59
+f 2 59 57
+f 2 57 52
+f 2 52 51
+f 2 51 46
+f 2 46 42
+f 2 42 38
+f 2 38 34
+f 2 34 29
+f 2 29 23
+f 2 23 18
+f 2 18 14
+f 2 14 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 9
+f 5 9 15
+f 5 15 19
+f 5 19 24
+f 5 24 30
+f 5 30 35
+f 5 35 39
+f 5 39 43
+f 5 43 48
+f 5 48 54
+f 5 54 58
+f 5 58 65
+f 5 65 70
+f 5 70 78
+f 5 78 80
+f 5 80 77
+f 5 77 76
+f 5 76 68
+f 5 68 63
+f 5 63 56
+f 5 56 50
+f 5 50 45
+f 5 45 41
+f 5 41 37
+f 5 37 32
+f 5 32 27
+f 5 27 20
+f 5 20 16
+f 5 16 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 20 27 25
+f 23 28 24
+f 23 29 28
+f 24 28 30
+f 25 27 31
+f 27 32 33
+f 27 33 31
+f 28 29 30
+f 29 34 35
+f 29 35 30
+f 32 36 33
+f 32 37 40
+f 32 40 36
+f 34 38 43
+f 34 43 39
+f 34 39 35
+f 37 41 40
+f 38 42 43
+f 40 41 44
+f 41 45 44
+f 42 46 43
+f 43 46 47
+f 43 47 48
+f 44 45 49
+f 45 50 49
+f 46 51 47
+f 47 51 52
+f 47 52 53
+f 47 53 54
+f 47 54 48
+f 49 50 56
+f 49 56 55
+f 52 57 53
+f 53 58 54
+f 53 57 59
+f 53 59 60
+f 53 60 61
+f 53 61 65
+f 53 65 58
+f 55 56 64
+f 55 64 62
+f 56 63 64
+f 60 66 61
+f 61 66 71
+f 61 71 65
+f 62 64 69
+f 62 69 67
+f 63 68 69
+f 63 69 64
+f 65 71 70
+f 66 72 71
+f 66 73 74
+f 66 74 72
+f 67 69 75
+f 68 76 69
+f 69 76 77
+f 69 77 75
+f 70 71 78
+f 71 72 78
+f 72 74 78
+f 73 75 79
+f 73 79 74
+f 74 79 80
+f 74 80 78
+f 75 77 79
+f 77 80 79
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_30.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.08966435 0.00032476 -0.21504713
+v 0.09362503 0.00030328 -0.21698145
+v 0.08934053 0.00032477 -0.21698145
+v 0.08072171 0.00032450 -0.14506883
+v 0.09362503 -0.10943298 -0.21698185
+v -0.16077962 0.00032477 -0.21698145
+v 0.07957585 0.00032448 -0.13923071
+v 0.08072171 -0.05403868 -0.14506903
+v 0.08069680 -0.10943325 -0.14506923
+v -0.16077962 -0.10943298 -0.21698185
+v -0.16080452 -0.03740715 -0.21698159
+v -0.16080452 -0.01473797 -0.20411830
+v -0.16080452 -0.00491825 -0.19427083
+v -0.16080452 0.00032445 -0.12998116
+v 0.07957585 -0.07367820 -0.13923098
+v 0.07581446 0.00032444 -0.12715882
+v 0.07957585 -0.10943327 -0.13923991
+v -0.16080452 -0.10943308 -0.19071030
+v -0.16080452 -0.06385817 -0.21395710
+v -0.16080452 -0.05704665 -0.21698166
+v -0.16082943 -0.10943331 -0.12715922
+v -0.16080452 0.00032444 -0.12715882
+v 0.07581446 -0.10942257 -0.12715922
+v 0.07581446 -0.10943330 -0.12974416
+v 0.01468561 -0.10943331 -0.12715922
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 22
+f 1 22 16
+f 1 16 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
+f 2 10 20
+f 2 20 11
+f 2 11 6
+f 2 6 3
+f 2 4 8
+f 2 8 5
+f 4 7 15
+f 4 15 8
+f 5 8 9
+f 5 9 17
+f 5 17 24
+f 5 24 25
+f 5 25 21
+f 5 21 18
+f 5 18 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 16 23
+f 7 23 15
+f 8 15 17
+f 8 17 9
+f 10 18 19
+f 10 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 14
+f 14 21 22
+f 15 23 17
+f 16 22 21
+f 16 21 25
+f 16 25 23
+f 17 23 24
+f 18 21 19
+f 19 21 20
+f 23 25 24
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_31.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.08460402 -0.20077092 -0.12731218
+v 0.14279742 -0.20077092 -0.12731218
+v 0.14279742 -0.20077989 -0.12537487
+v 0.08460402 -0.20077094 -0.12260773
+v 0.08460402 -0.16978856 -0.12731206
+v 0.15068846 -0.20043116 -0.12731218
+v 0.15262745 -0.20034175 -0.12260773
+v 0.14556287 -0.20065471 -0.12260773
+v 0.14279742 -0.20077094 -0.12260773
+v 0.08460402 -0.10944226 -0.12260739
+v 0.15262745 -0.16694517 -0.12731205
+v 0.08460402 -0.10944226 -0.12371443
+v 0.15262745 -0.10944225 -0.12567477
+v 0.15262745 -0.20034173 -0.12731218
+v 0.15459822 -0.19974267 -0.12260772
+v 0.16347464 -0.10944226 -0.12260739
+v 0.16328392 -0.17163052 -0.12731207
+v 0.16244953 -0.10944226 -0.12314893
+v 0.15963640 -0.19820471 -0.12731217
+v 0.15963640 -0.19820472 -0.12537486
+v 0.15962845 -0.19820473 -0.12260772
+v 0.16578712 -0.18162716 -0.12260766
+v 0.16529443 -0.18176126 -0.12731211
+v 0.16497656 -0.17991037 -0.12731210
+v 0.16365742 -0.19157906 -0.12731214
+v 0.16365742 -0.19157908 -0.12260769
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 11
+f 1 11 17
+f 1 17 24
+f 1 24 23
+f 1 23 25
+f 1 25 19
+f 1 19 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 7
+f 4 7 15
+f 4 15 21
+f 4 21 26
+f 4 26 22
+f 4 22 16
+f 4 16 10
+f 5 12 13
+f 5 13 11
+f 6 14 7
+f 7 14 15
+f 10 16 18
+f 10 18 13
+f 10 13 12
+f 11 13 17
+f 13 18 17
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 16 22 23
+f 16 23 18
+f 17 18 24
+f 18 23 24
+f 19 25 26
+f 19 26 20
+f 20 26 21
+f 22 26 25
+f 22 25 23
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_32.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.08509193 0.11496121 -0.12370046
+v 0.15262125 0.11496122 -0.12567245
+v 0.08509193 0.11496121 -0.12260657
+v 0.08509193 0.16675581 -0.12599793
+v 0.16245354 0.11496121 -0.12314006
+v 0.15262125 0.16271409 -0.12599794
+v 0.15688510 0.16630206 -0.12599793
+v 0.16333653 0.17178066 -0.12599791
+v 0.16346382 0.11496121 -0.12260657
+v 0.08509193 0.20078695 -0.12260625
+v 0.08509193 0.20078696 -0.12599780
+v 0.16537299 0.18176312 -0.12599787
+v 0.16635145 0.17834319 -0.12260633
+v 0.12038791 0.20079537 -0.12260625
+v 0.13297260 0.20080377 -0.12599780
+v 0.16530936 0.18239334 -0.12599787
+v 0.16577074 0.18164547 -0.12260632
+v 0.14279693 0.20079537 -0.12260625
+v 0.14279693 0.20079538 -0.12599780
+v 0.16363882 0.19159436 -0.12599784
+v 0.16452977 0.18853573 -0.12260630
+v 0.15262125 0.20034161 -0.12260625
+v 0.15262125 0.20035002 -0.12537334
+v 0.14342536 0.20077016 -0.12599780
+v 0.16338426 0.19201450 -0.12599783
+v 0.16363882 0.19159435 -0.12260629
+v 0.15766467 0.19880390 -0.12260626
+v 0.15306673 0.20021559 -0.12599780
+v 0.15262125 0.20035002 -0.12599780
+v 0.16075913 0.19634189 -0.12260627
+v 0.15962954 0.19819893 -0.12599781
+v 0.15962954 0.19819892 -0.12260626
+f 1 2 5
+f 1 5 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 13
+f 3 13 17
+f 3 17 21
+f 3 21 26
+f 3 26 30
+f 3 30 32
+f 3 32 27
+f 3 27 22
+f 3 22 18
+f 3 18 14
+f 3 14 10
+f 4 11 15
+f 4 15 19
+f 4 19 24
+f 4 24 29
+f 4 29 28
+f 4 28 31
+f 4 31 25
+f 4 25 20
+f 4 20 16
+f 4 16 12
+f 4 12 8
+f 4 8 7
+f 4 7 6
+f 5 8 12
+f 5 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 21
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 30 26
+f 25 31 30
+f 27 32 31
+f 27 31 28
+f 30 31 32
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_33.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.11816875 0.18176810 -0.28758719
+v 0.11935307 0.18959729 -0.28758716
+v 0.11914546 0.18176812 -0.29270963
+v 0.11918793 0.17194613 -0.29270967
+v 0.11825840 0.17194611 -0.28758723
+v 0.11975885 0.19159497 -0.28758716
+v 0.12112718 0.18176815 -0.30255001
+v 0.12115549 0.17194616 -0.30255005
+v 0.11982019 0.16212412 -0.28758726
+v 0.12333539 0.19159502 -0.30254998
+v 0.12791222 0.18689956 -0.32735755
+v 0.12427434 0.19853305 -0.28758713
+v 0.12677509 0.19747549 -0.30254995
+v 0.12574176 0.18176822 -0.32223515
+v 0.12574648 0.17194623 -0.32223519
+v 0.12782257 0.16669741 -0.32747636
+v 0.12412336 0.15359965 -0.28758730
+v 0.13297976 0.18854473 -0.32863706
+v 0.13297976 0.18176826 -0.33079600
+v 0.12730827 0.18176825 -0.32812704
+v 0.12786975 0.19664804 -0.30783068
+v 0.13297976 0.19183013 -0.32223512
+v 0.12789335 0.19965920 -0.28758713
+v 0.13297976 0.20071193 -0.29270956
+v 0.12555775 0.19840087 -0.29270957
+v 0.13297976 0.19887094 -0.30254995
+v 0.12724221 0.17194626 -0.32821502
+v 0.13297976 0.17194627 -0.33088837
+v 0.13297976 0.16505716 -0.32873387
+v 0.13297976 0.16206058 -0.32223522
+v 0.12852561 0.15729154 -0.30732957
+v 0.12668072 0.15620452 -0.30076934
+v 0.13297976 0.15130818 -0.28758730
+v 0.14279872 0.19009687 -0.32981106
+v 0.14279872 0.18176826 -0.33248881
+v 0.14279872 0.19436152 -0.32223511
+v 0.13297976 0.20071191 -0.28758712
+v 0.13769343 0.20091755 -0.28758712
+v 0.14279872 0.20113790 -0.29270956
+v 0.14279872 0.19930671 -0.30254995
+v 0.14279872 0.17194627 -0.33250645
+v 0.14279872 0.16360295 -0.32982872
+v 0.14279872 0.15956837 -0.32223523
+v 0.13227201 0.15572469 -0.30345148
+v 0.14279872 0.15112213 -0.28758730
+v 0.15262712 0.18852514 -0.32860629
+v 0.15262712 0.18176825 -0.33072566
+v 0.15795889 0.19681450 -0.30820882
+v 0.15262712 0.19183013 -0.32223512
+v 0.15262712 0.19913045 -0.30254995
+v 0.14279872 0.20104486 -0.28758712
+v 0.14751711 0.20098609 -0.28758712
+v 0.15262712 0.20101548 -0.29270956
+v 0.15262712 0.17194626 -0.33073887
+v 0.15262712 0.16518936 -0.32861957
+v 0.15760502 0.15716423 -0.30758460
+v 0.15262712 0.15523997 -0.30255011
+v 0.15262712 0.15122984 -0.28758730
+v 0.14921101 0.15119067 -0.28758730
+v 0.15262712 0.16217320 -0.32223522
+v 0.15766636 0.18686039 -0.32732238
+v 0.15822784 0.18176825 -0.32805671
+v 0.15923758 0.19772520 -0.30254995
+v 0.15262712 0.20089796 -0.28758712
+v 0.16065309 0.19869464 -0.29270957
+v 0.16056816 0.19862608 -0.28758713
+v 0.15823256 0.17194626 -0.32806115
+v 0.15767108 0.16685409 -0.32732686
+v 0.15878933 0.15633674 -0.30255011
+v 0.16077105 0.15384936 -0.28758729
+v 0.16267728 0.19159502 -0.30254998
+v 0.16451745 0.18176815 -0.30255001
+v 0.15973773 0.18176822 -0.32223515
+v 0.16501288 0.19159499 -0.29270960
+v 0.16280467 0.19500280 -0.28758714
+v 0.16489964 0.19159497 -0.28758716
+v 0.15969526 0.17194623 -0.32223519
+v 0.16453632 0.17194616 -0.30255005
+v 0.16455048 0.16212414 -0.29270970
+v 0.16224791 0.16212417 -0.30255008
+v 0.16291792 0.15719844 -0.28758728
+v 0.16635762 0.18176812 -0.29270963
+v 0.16564514 0.18648324 -0.28758718
+v 0.16629157 0.18176810 -0.28758719
+v 0.16637178 0.17194613 -0.29270967
+v 0.16486661 0.16212412 -0.28758726
+v 0.16630572 0.17666125 -0.28758721
+v 0.16631044 0.17194611 -0.28758723
+v 0.16573951 0.16683926 -0.28758725
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 17
+f 1 17 33
+f 1 33 45
+f 1 45 59
+f 1 59 58
+f 1 58 70
+f 1 70 81
+f 1 81 86
+f 1 86 89
+f 1 89 88
+f 1 88 87
+f 1 87 84
+f 1 84 83
+f 1 83 76
+f 1 76 75
+f 1 75 66
+f 1 66 64
+f 1 64 52
+f 1 52 51
+f 1 51 38
+f 1 38 37
+f 1 37 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 6 12 13
+f 6 13 10
+f 7 11 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 13 11
+f 11 18 19
+f 11 19 20
+f 11 20 14
+f 11 13 21
+f 11 21 22
+f 11 22 18
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 24
+f 13 24 26
+f 13 26 21
+f 14 20 27
+f 14 27 15
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 31
+f 17 31 33
+f 18 34 35
+f 18 35 19
+f 18 22 36
+f 18 36 34
+f 19 35 28
+f 19 28 27
+f 19 27 20
+f 21 26 36
+f 21 36 22
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 26
+f 26 40 36
+f 28 41 29
+f 28 35 41
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 31
+f 31 43 44
+f 31 44 33
+f 33 44 43
+f 33 43 45
+f 34 46 35
+f 34 36 46
+f 35 46 47
+f 35 47 41
+f 36 48 49
+f 36 49 46
+f 36 40 50
+f 36 50 48
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 53 50
+f 41 54 55
+f 41 55 42
+f 41 47 54
+f 42 55 43
+f 43 56 57
+f 43 57 58
+f 43 58 59
+f 43 59 45
+f 43 55 60
+f 43 60 56
+f 46 61 47
+f 46 49 48
+f 46 48 61
+f 47 61 62
+f 47 62 54
+f 48 50 63
+f 48 63 61
+f 50 53 63
+f 52 64 53
+f 53 65 63
+f 53 64 66
+f 53 66 65
+f 54 67 68
+f 54 68 55
+f 54 62 67
+f 55 68 56
+f 55 56 60
+f 56 69 58
+f 56 58 57
+f 56 68 69
+f 58 69 70
+f 61 71 72
+f 61 72 73
+f 61 73 62
+f 61 63 71
+f 62 73 67
+f 63 74 71
+f 63 65 74
+f 65 66 75
+f 65 75 76
+f 65 76 74
+f 67 77 68
+f 67 73 77
+f 68 77 78
+f 68 78 79
+f 68 79 80
+f 68 80 69
+f 69 80 81
+f 69 81 70
+f 71 74 72
+f 72 74 82
+f 72 82 78
+f 72 78 73
+f 73 78 77
+f 74 76 83
+f 74 83 84
+f 74 84 82
+f 78 85 79
+f 78 82 85
+f 79 86 81
+f 79 81 80
+f 79 85 86
+f 82 84 87
+f 82 87 85
+f 85 87 88
+f 85 88 89
+f 85 89 86
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_34.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.17568874 -0.11639010 -0.24169360
+v 0.17568874 -0.13603661 -0.24168621
+v 0.17568874 -0.10943654 -0.24169357
+v 0.23115255 -0.11298808 -0.23961449
+v 0.23115255 -0.14245782 -0.23961086
+v 0.17568874 -0.14585986 -0.24167507
+v 0.17568874 -0.10943663 -0.21732945
+v 0.23115255 -0.10943655 -0.23961447
+v 0.23115255 -0.14668393 -0.23960344
+v 0.17568874 -0.14668392 -0.24166763
+v 0.17568874 -0.14668405 -0.20600262
+v 0.23115255 -0.14668406 -0.20363290
+v 0.23115255 -0.10943663 -0.21704253
+f 1 2 6
+f 1 6 10
+f 1 10 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 8
+f 4 8 13
+f 4 13 12
+f 4 12 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 13
+f 9 12 11
+f 9 11 10
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_35.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.23115255 -0.16210949 -0.13856426
+v 0.23115255 -0.16215338 -0.13857436
+v 0.23115255 -0.15329385 -0.13862486
+v 0.17568874 -0.15904612 -0.13845307
+v 0.17568874 -0.16210949 -0.13844299
+v 0.17568874 -0.16574050 -0.13942323
+v 0.23115255 -0.16707763 -0.14008009
+v 0.23115255 -0.15321777 -0.13863496
+v 0.20176444 -0.15323532 -0.13863496
+v 0.17568874 -0.15325581 -0.13863496
+v 0.17568874 -0.16745506 -0.13994873
+v 0.17568874 -0.16871608 -0.14334417
+v 0.23115255 -0.16708348 -0.14012052
+v 0.23115255 -0.14781075 -0.14519339
+v 0.17568874 -0.15157051 -0.14085816
+v 0.17568874 -0.17656013 -0.20411864
+v 0.23115255 -0.16749308 -0.14506210
+v 0.23115255 -0.14723141 -0.15077163
+v 0.17568874 -0.14839593 -0.14506203
+v 0.17568874 -0.17657472 -0.21396139
+v 0.23115255 -0.17079324 -0.20411862
+v 0.23115255 -0.17044217 -0.19427586
+v 0.23115255 -0.14707631 -0.15490478
+v 0.17568874 -0.14748593 -0.15490478
+v 0.17568874 -0.14807992 -0.14847768
+v 0.23115255 -0.17076395 -0.21404221
+v 0.23115255 -0.17076980 -0.21396137
+v 0.23115255 -0.17079324 -0.20419946
+v 0.17568874 -0.17361078 -0.22405676
+v 0.23115255 -0.17001195 -0.22380410
+v 0.23115255 -0.14668700 -0.20362336
+v 0.17568874 -0.14668699 -0.20599814
+v 0.17568874 -0.16960230 -0.23322242
+v 0.23115255 -0.16745179 -0.23064552
+v 0.23115255 -0.14668687 -0.23959891
+v 0.17568874 -0.14668686 -0.24166043
+v 0.23115255 -0.16423916 -0.23556689
+v 0.23115255 -0.16742545 -0.23068594
+v 0.17568874 -0.16622583 -0.23673913
+v 0.23115255 -0.15228697 -0.23958881
+v 0.17568874 -0.15228696 -0.24160991
+v 0.17568874 -0.16451126 -0.23829537
+v 0.17568874 -0.16267967 -0.23993245
+v 0.23115255 -0.16419821 -0.23559719
+v 0.17568874 -0.15472714 -0.24143814
+v 0.23115255 -0.15932956 -0.23907347
+v 0.17568874 -0.16116408 -0.24073077
+f 1 2 7
+f 1 7 13
+f 1 13 17
+f 1 17 22
+f 1 22 21
+f 1 21 28
+f 1 28 27
+f 1 27 26
+f 1 26 30
+f 1 30 34
+f 1 34 38
+f 1 38 37
+f 1 37 44
+f 1 44 46
+f 1 46 40
+f 1 40 35
+f 1 35 31
+f 1 31 23
+f 1 23 18
+f 1 18 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 15
+f 4 15 19
+f 4 19 25
+f 4 25 24
+f 4 24 32
+f 4 32 36
+f 4 36 41
+f 4 41 45
+f 4 45 47
+f 4 47 43
+f 4 43 42
+f 4 42 39
+f 4 39 33
+f 4 33 29
+f 4 29 20
+f 4 20 16
+f 4 16 12
+f 4 12 11
+f 4 11 6
+f 4 6 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 9
+f 9 14 10
+f 10 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 20 29 30
+f 20 30 26
+f 23 31 32
+f 23 32 24
+f 29 33 34
+f 29 34 30
+f 31 35 36
+f 31 36 32
+f 33 37 38
+f 33 38 34
+f 33 39 37
+f 35 40 36
+f 36 40 41
+f 37 39 42
+f 37 42 43
+f 37 43 44
+f 40 45 41
+f 40 46 45
+f 43 47 46
+f 43 46 44
+f 45 46 47
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_36.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.17568331 -0.16211721 -0.13844411
+v 0.17568331 -0.16574746 -0.13943189
+v 0.17568331 -0.15904863 -0.13845976
+v 0.16528800 -0.18175847 -0.12732778
+v 0.16364758 -0.19158500 -0.12732781
+v 0.17568331 -0.16746207 -0.13994931
+v 0.17568331 -0.15326031 -0.13863221
+v 0.16496705 -0.17990787 -0.12732777
+v 0.17568331 -0.16872141 -0.14335165
+v 0.15963567 -0.19820698 -0.12732784
+v 0.17568331 -0.17655521 -0.20413909
+v 0.17568331 -0.14840025 -0.14507627
+v 0.08460402 -0.14199704 -0.14510759
+v 0.15262820 -0.15309477 -0.13795801
+v 0.15262820 -0.16695364 -0.12732772
+v 0.16328205 -0.17162449 -0.12732774
+v 0.15262820 -0.20034137 -0.12732785
+v 0.16058070 -0.19862616 -0.28748862
+v 0.17568331 -0.17656701 -0.21396980
+v 0.17568331 -0.14748969 -0.15492266
+v 0.08460402 -0.14083224 -0.15492264
+v 0.08460402 -0.14183147 -0.14644031
+v 0.08460402 -0.15169942 -0.13833432
+v 0.08460402 -0.16980346 -0.12732773
+v 0.15068465 -0.20043005 -0.12732785
+v 0.15262820 -0.20087891 -0.26317053
+v 0.15679167 -0.19970816 -0.28748862
+v 0.16490465 -0.19157850 -0.28748859
+v 0.17568331 -0.17361664 -0.22406705
+v 0.17568331 -0.14713476 -0.20531489
+v 0.08460402 -0.14082629 -0.16475335
+v 0.08460402 -0.20076708 -0.12732785
+v 0.14279456 -0.20077298 -0.12732785
+v 0.14279456 -0.20118635 -0.26317053
+v 0.15262820 -0.20089065 -0.28748863
+v 0.16629544 -0.18175788 -0.28748856
+v 0.17568331 -0.16623191 -0.23673564
+v 0.17568331 -0.16961387 -0.23322357
+v 0.17568331 -0.14713462 -0.24165877
+v 0.08460402 -0.14082622 -0.18571615
+v 0.08460402 -0.20121592 -0.26317053
+v 0.10351350 -0.20122184 -0.26317053
+v 0.11333822 -0.20121592 -0.26317053
+v 0.14279456 -0.20100890 -0.28748863
+v 0.16634002 -0.17193726 -0.28748852
+v 0.17568331 -0.15229029 -0.24159608
+v 0.17568331 -0.15473215 -0.24142362
+v 0.17568331 -0.16117084 -0.24071808
+v 0.17568331 -0.16268443 -0.23993414
+v 0.17568331 -0.16451729 -0.23830353
+v 0.16490465 -0.16211666 -0.28748849
+v 0.16492248 -0.14713451 -0.27300104
+v 0.08460402 -0.14083210 -0.19350860
+v 0.08460402 -0.20040588 -0.27224867
+v 0.13296984 -0.20066597 -0.28748863
+v 0.16078575 -0.15382737 -0.28748846
+v 0.16086598 -0.14713448 -0.28106004
+v 0.15262820 -0.14713447 -0.28356869
+v 0.14279456 -0.14713447 -0.28369411
+v 0.13902337 -0.14713447 -0.28367845
+v 0.13296984 -0.14713447 -0.28360005
+v 0.12910949 -0.14713447 -0.28349029
+v 0.08460402 -0.14713448 -0.28110709
+v 0.08460402 -0.20033493 -0.27300124
+v 0.12429519 -0.19850792 -0.28748862
+v 0.08460402 -0.19792261 -0.27917876
+v 0.15516016 -0.15185260 -0.28748845
+v 0.15262820 -0.15117857 -0.28748845
+v 0.14279456 -0.15104851 -0.28748844
+v 0.13621502 -0.15115492 -0.28748845
+v 0.13296984 -0.15124361 -0.28748845
+v 0.12669343 -0.15282224 -0.28748845
+v 0.12407231 -0.15354947 -0.28748845
+v 0.12248538 -0.15596176 -0.28748846
+v 0.11973944 -0.16211666 -0.28748849
+v 0.11948090 -0.16333462 -0.28748849
+v 0.11812576 -0.17151157 -0.28748852
+v 0.11806336 -0.17193726 -0.28748852
+v 0.08460402 -0.18175791 -0.28115425
+v 0.11979294 -0.19157850 -0.28748859
+v 0.08460402 -0.19207519 -0.28068392
+v 0.08460402 -0.19157853 -0.28080936
+v 0.11807227 -0.18175788 -0.28748856
+f 1 2 6
+f 1 6 9
+f 1 9 11
+f 1 11 19
+f 1 19 29
+f 1 29 38
+f 1 38 37
+f 1 37 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 39
+f 1 39 30
+f 1 30 20
+f 1 20 12
+f 1 12 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 16
+f 4 16 15
+f 4 15 24
+f 4 24 32
+f 4 32 33
+f 4 33 25
+f 4 25 17
+f 4 17 10
+f 4 10 5
+f 4 7 8
+f 5 9 6
+f 5 10 11
+f 5 11 9
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 23 15
+f 13 15 14
+f 13 22 21
+f 13 21 31
+f 13 31 40
+f 13 40 53
+f 13 53 63
+f 13 63 79
+f 13 79 82
+f 13 82 81
+f 13 81 66
+f 13 66 64
+f 13 64 54
+f 13 54 41
+f 13 41 32
+f 13 32 24
+f 13 24 23
+f 15 23 24
+f 17 25 26
+f 17 26 18
+f 18 27 35
+f 18 35 44
+f 18 44 55
+f 18 55 65
+f 18 65 80
+f 18 80 83
+f 18 83 78
+f 18 78 77
+f 18 77 76
+f 18 76 75
+f 18 75 74
+f 18 74 73
+f 18 73 72
+f 18 72 71
+f 18 71 70
+f 18 70 69
+f 18 69 68
+f 18 68 67
+f 18 67 56
+f 18 56 51
+f 18 51 45
+f 18 45 36
+f 18 36 28
+f 18 28 19
+f 18 26 27
+f 19 28 29
+f 20 30 21
+f 21 30 31
+f 25 33 26
+f 26 34 35
+f 26 35 27
+f 26 33 34
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 30 39 40
+f 30 40 31
+f 32 41 42
+f 32 42 33
+f 33 42 43
+f 33 43 34
+f 34 43 44
+f 34 44 35
+f 36 45 46
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 39 46 45
+f 39 45 51
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 41 54 44
+f 41 44 42
+f 42 44 43
+f 44 54 55
+f 51 56 57
+f 51 57 52
+f 52 57 53
+f 53 57 58
+f 53 58 59
+f 53 59 60
+f 53 60 61
+f 53 61 62
+f 53 62 63
+f 54 64 55
+f 55 64 66
+f 55 66 65
+f 56 67 57
+f 57 67 58
+f 58 67 68
+f 58 68 69
+f 58 69 59
+f 59 69 60
+f 60 69 61
+f 61 69 70
+f 61 70 71
+f 61 71 62
+f 62 71 63
+f 63 71 72
+f 63 72 73
+f 63 73 74
+f 63 74 75
+f 63 75 76
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 65 66 81
+f 65 81 82
+f 65 82 80
+f 78 83 79
+f 79 83 80
+f 79 80 82
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_37.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.08508398 0.14185878 -0.20401293
+v 0.08508398 0.14202596 -0.15490517
+v 0.08508398 0.20080280 -0.20401271
+v 0.18210769 0.14719687 -0.20401291
+v 0.08508398 0.14318587 -0.14508360
+v 0.18210769 0.14746215 -0.15490515
+v 0.18210769 0.14840855 -0.14506067
+v 0.12305763 0.20080858 -0.20401271
+v 0.08508398 0.20079690 -0.16474942
+v 0.09367032 0.20080266 -0.16474942
+v 0.11333151 0.20080840 -0.15490495
+v 0.13298321 0.20081420 -0.16474942
+v 0.18210769 0.17324674 -0.20401281
+v 0.08508398 0.14567312 -0.14065397
+v 0.18210769 0.15328494 -0.13863006
+v 0.14279481 0.20080858 -0.20401271
+v 0.08508398 0.20079097 -0.12599781
+v 0.13298321 0.20080251 -0.12599781
+v 0.13360059 0.20080251 -0.12599781
+v 0.14279481 0.20079675 -0.12599781
+v 0.14279481 0.20080262 -0.15490495
+v 0.18210769 0.17234643 -0.19427529
+v 0.15966354 0.19822898 -0.20401272
+v 0.15966354 0.19822316 -0.19427519
+v 0.15964454 0.19821144 -0.14506049
+v 0.15962554 0.19820560 -0.12599782
+v 0.08508398 0.16676572 -0.12599794
+v 0.15262540 0.16272031 -0.12599795
+v 0.18210769 0.16212019 -0.13856892
+v 0.16537193 0.18177006 -0.12599788
+v 0.16333933 0.17178640 -0.12599792
+v 0.15688058 0.16630404 -0.12599794
+v 0.14342168 0.20077366 -0.12599781
+v 0.15253042 0.20038152 -0.20401271
+v 0.18210769 0.16708893 -0.14008110
+v 0.15262540 0.20037575 -0.20401271
+v 0.15262540 0.20036407 -0.16474942
+v 0.15307182 0.20021388 -0.12599781
+v 0.16364327 0.19159214 -0.12599785
+v 0.16530544 0.18239332 -0.12599788
+v 0.15262540 0.20034661 -0.12599781
+f 1 2 5
+f 1 5 14
+f 1 14 27
+f 1 27 17
+f 1 17 9
+f 1 9 3
+f 1 3 8
+f 1 8 16
+f 1 16 34
+f 1 34 36
+f 1 36 23
+f 1 23 13
+f 1 13 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 8
+f 4 13 22
+f 4 22 35
+f 4 35 29
+f 4 29 15
+f 4 15 7
+f 4 7 6
+f 5 7 14
+f 7 15 14
+f 8 12 16
+f 9 17 10
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 16
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 22
+f 14 15 28
+f 14 28 27
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 28
+f 16 21 33
+f 16 33 34
+f 17 27 28
+f 17 28 32
+f 17 32 31
+f 17 31 30
+f 17 30 40
+f 17 40 39
+f 17 39 26
+f 17 26 38
+f 17 38 41
+f 17 41 33
+f 17 33 20
+f 17 20 19
+f 17 19 18
+f 20 33 21
+f 22 26 35
+f 23 36 37
+f 23 37 38
+f 23 38 25
+f 23 25 24
+f 25 38 26
+f 26 39 35
+f 29 35 39
+f 29 39 40
+f 29 40 30
+f 33 37 34
+f 33 41 37
+f 34 37 36
+f 37 41 38
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_38.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.14279481 0.20120578 -0.26316986
+v 0.14279481 0.20080875 -0.20402035
+v 0.15262540 0.20088494 -0.26316986
+v 0.15262540 0.20089348 -0.28758712
+v 0.14751539 0.20098635 -0.28758712
+v 0.14279481 0.20104545 -0.28758712
+v 0.11333151 0.20120578 -0.26316986
+v 0.15262540 0.20037816 -0.20402035
+v 0.12305763 0.20080875 -0.20402035
+v 0.15958755 0.19825055 -0.20402036
+v 0.16056586 0.19862236 -0.28758713
+v 0.13768479 0.20091882 -0.28758712
+v 0.08508398 0.20119733 -0.26316986
+v 0.08508398 0.20080030 -0.20402035
+v 0.15966354 0.19822522 -0.20402036
+v 0.18210769 0.17325118 -0.20411861
+v 0.18210769 0.17325118 -0.20413496
+v 0.18210769 0.17324277 -0.21396732
+v 0.16280743 0.19500034 -0.28758714
+v 0.13298321 0.20071620 -0.28758712
+v 0.08508398 0.20030242 -0.27301856
+v 0.08508398 0.20108758 -0.26441322
+v 0.08508398 0.14186055 -0.20402057
+v 0.18210769 0.17324273 -0.20402045
+v 0.18210769 0.17147825 -0.22380786
+v 0.16489702 0.19158942 -0.28758716
+v 0.12789219 0.19966083 -0.28758713
+v 0.08508398 0.19789622 -0.27916174
+v 0.08508398 0.19999849 -0.27379567
+v 0.08508398 0.11496155 -0.21272418
+v 0.18210769 0.14719645 -0.20402055
+v 0.18210769 0.16815178 -0.23161157
+v 0.18210769 0.16430185 -0.23652776
+v 0.18210769 0.16429340 -0.23653595
+v 0.16564738 0.18648149 -0.28758718
+v 0.12427339 0.19852947 -0.28758713
+v 0.08508398 0.19158939 -0.28078958
+v 0.18210769 0.11496157 -0.21732134
+v 0.08508398 0.11496180 -0.28110889
+v 0.18210769 0.15938810 -0.23907993
+v 0.16629325 0.18177036 -0.28758719
+v 0.11976176 0.19158942 -0.28758716
+v 0.08508398 0.19034829 -0.28083867
+v 0.11935335 0.18959690 -0.28758716
+v 0.18210769 0.11496165 -0.23959545
+v 0.08508398 0.13140854 -0.28111700
+v 0.11817557 0.18177036 -0.28758719
+v 0.11826106 0.17194284 -0.28758723
+v 0.11982825 0.16211533 -0.28758726
+v 0.12412142 0.15360491 -0.28758730
+v 0.13298321 0.15130845 -0.28758730
+v 0.14279481 0.15112269 -0.28758730
+v 0.12315261 0.11496180 -0.28110889
+v 0.18210769 0.15229608 -0.23959531
+v 0.16630275 0.17665396 -0.28758721
+v 0.08508398 0.18177033 -0.28114136
+v 0.16573286 0.16683490 -0.28758725
+v 0.16630275 0.17194284 -0.28758723
+v 0.18210769 0.12281353 -0.23960359
+v 0.16477355 0.11496177 -0.27301888
+v 0.15262540 0.15123246 -0.28758730
+v 0.15262540 0.11496180 -0.28110071
+v 0.18210769 0.14247701 -0.23960352
+v 0.16485903 0.16211533 -0.28758726
+v 0.16047088 0.11496180 -0.27952197
+v 0.16076532 0.15384975 -0.28758729
+v 0.16292141 0.15720157 -0.28758728
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
+f 2 8 3
+f 2 9 14
+f 2 14 23
+f 2 23 31
+f 2 31 24
+f 2 24 15
+f 2 15 10
+f 2 10 8
+f 3 8 10
+f 3 10 11
+f 3 11 4
+f 4 11 19
+f 4 19 26
+f 4 26 35
+f 4 35 41
+f 4 41 55
+f 4 55 58
+f 4 58 57
+f 4 57 64
+f 4 64 67
+f 4 67 66
+f 4 66 61
+f 4 61 52
+f 4 52 51
+f 4 51 50
+f 4 50 49
+f 4 49 48
+f 4 48 47
+f 4 47 44
+f 4 44 42
+f 4 42 36
+f 4 36 27
+f 4 27 20
+f 4 20 12
+f 4 12 6
+f 4 6 5
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 9
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 21
+f 13 21 29
+f 13 29 28
+f 13 28 37
+f 13 37 43
+f 13 43 56
+f 13 56 46
+f 13 46 39
+f 13 39 30
+f 13 30 23
+f 13 23 14
+f 15 24 16
+f 16 24 31
+f 16 31 38
+f 16 38 45
+f 16 45 59
+f 16 59 63
+f 16 63 54
+f 16 54 40
+f 16 40 34
+f 16 34 33
+f 16 33 32
+f 16 32 25
+f 16 25 18
+f 16 18 17
+f 18 25 26
+f 18 26 19
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 23 30 31
+f 25 32 26
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 27 36 28
+f 28 36 37
+f 30 38 31
+f 30 39 53
+f 30 53 62
+f 30 62 65
+f 30 65 60
+f 30 60 45
+f 30 45 38
+f 34 40 41
+f 34 41 35
+f 36 42 37
+f 37 42 44
+f 37 44 43
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 40 54 41
+f 41 54 55
+f 43 44 56
+f 44 47 56
+f 45 57 58
+f 45 58 59
+f 45 60 57
+f 46 56 47
+f 52 61 62
+f 52 62 53
+f 54 63 55
+f 55 63 59
+f 55 59 58
+f 57 60 64
+f 60 65 64
+f 61 66 62
+f 62 66 65
+f 64 65 67
+f 65 66 67
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_39.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.16444790 -0.06388991 0.04198847
+v 0.16444790 -0.06388990 0.03857764
+v 0.16441561 -0.06389003 0.07384255
+v 0.16851596 -0.17193478 0.07384215
+v 0.16854824 -0.17193466 0.04196046
+v 0.16851596 -0.17193465 0.03857724
+v -0.16083493 -0.06388990 0.03857764
+v -0.16080264 -0.06389003 0.07384255
+v 0.16774109 -0.17821940 0.07384213
+v 0.16774109 -0.17823273 0.05180286
+v 0.16774109 -0.17823268 0.03857722
+v -0.16125465 -0.18175690 0.03857720
+v -0.16128693 -0.18175699 0.06164180
+v -0.16083493 -0.06388999 0.06164224
+v -0.16125465 -0.18175703 0.07384211
+v 0.16674021 -0.18194463 0.07384211
+v 0.16728908 -0.17992108 0.03857721
+v -0.16077036 -0.18513371 0.03857719
+v -0.15983406 -0.19157914 0.03857717
+v -0.15983406 -0.19157927 0.07384208
+v 0.16641736 -0.18312384 0.07384211
+v 0.16641736 -0.18315055 0.05180284
+v 0.16641736 -0.18315050 0.03857720
+v -0.15902690 -0.19348195 0.03857716
+v -0.15805831 -0.19578689 0.07384206
+v 0.16573934 -0.18514724 0.07384210
+v 0.16357618 -0.19157927 0.07384208
+v 0.16357618 -0.19157923 0.06164177
+v 0.16454475 -0.18868472 0.03857718
+v -0.15747717 -0.19709998 0.03857715
+v -0.15747717 -0.19710011 0.07384206
+v 0.15960498 -0.19818551 0.07384205
+v 0.15960498 -0.19818547 0.06164174
+v 0.16096099 -0.19590737 0.03857715
+v 0.16354389 -0.19157914 0.03857717
+v -0.15198852 -0.19921718 0.03857714
+v -0.15198852 -0.19923064 0.05180278
+v -0.15198852 -0.19923072 0.07384205
+v 0.15259889 -0.20030272 0.07384204
+v 0.15259889 -0.20030259 0.03857713
+v 0.15718352 -0.19890899 0.03857714
+v 0.15957270 -0.19817198 0.03857714
+v -0.14214125 -0.20073139 0.03857713
+v -0.14214125 -0.20075833 0.07384204
+v -0.14214125 -0.20074484 0.05180277
+v 0.14278390 -0.20074492 0.07384204
+v 0.14278390 -0.20074479 0.03857713
+v -0.13571631 -0.20074479 0.03857713
+v -0.05370953 -0.20078512 0.07384204
+v 0.13296892 -0.20075833 0.07384204
+v 0.13296892 -0.20075832 0.07148415
+v 0.06416716 -0.20077171 0.07148415
+v 0.06416716 -0.20075820 0.03857713
+v -0.08657681 -0.20075820 0.03857713
+v 0.06652405 -0.20077172 0.07384204
+v -0.04389453 -0.20077164 0.05180277
+f 1 2 7
+f 1 7 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 11
+f 2 11 17
+f 2 17 23
+f 2 23 29
+f 2 29 35
+f 2 35 34
+f 2 34 42
+f 2 42 41
+f 2 41 40
+f 2 40 47
+f 2 47 53
+f 2 53 54
+f 2 54 48
+f 2 48 43
+f 2 43 36
+f 2 36 30
+f 2 30 24
+f 2 24 19
+f 2 19 18
+f 2 18 12
+f 2 12 7
+f 3 8 15
+f 3 15 20
+f 3 20 25
+f 3 25 31
+f 3 31 38
+f 3 38 44
+f 3 44 49
+f 3 49 55
+f 3 55 50
+f 3 50 46
+f 3 46 39
+f 3 39 32
+f 3 32 27
+f 3 27 26
+f 3 26 21
+f 3 21 16
+f 3 16 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 8 14 13
+f 8 13 15
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 15
+f 16 21 22
+f 16 22 17
+f 17 22 23
+f 19 24 25
+f 19 25 20
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 24 30 25
+f 25 30 31
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 36 43 45
+f 36 45 37
+f 37 44 38
+f 37 45 44
+f 39 46 47
+f 39 47 40
+f 43 48 45
+f 44 45 48
+f 44 48 49
+f 46 50 51
+f 46 51 47
+f 47 51 52
+f 47 52 53
+f 48 54 49
+f 49 54 56
+f 49 56 53
+f 49 53 52
+f 49 52 55
+f 50 55 51
+f 51 55 52
+f 53 56 54
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_4.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.22405360 -0.10943290 -0.23955979
+v 0.25488307 -0.10943283 -0.25901081
+v 0.22405360 -0.10943298 -0.21725172
+v 0.22405360 -0.09332808 -0.23955973
+v 0.25487782 -0.00491801 -0.25901973
+v 0.25860632 -0.10943283 -0.25982380
+v 0.26071964 0.00032493 -0.26030189
+v 0.23988524 -0.10943300 -0.21284306
+v 0.22405360 -0.05403841 -0.21724223
+v 0.22405360 0.00032485 -0.23954545
+v 0.25487782 0.00032492 -0.25901971
+v 0.26071964 -0.10943282 -0.26028371
+v 0.26440618 0.00032492 -0.25994419
+v 0.26861186 -0.02456826 -0.25953547
+v 0.26860137 -0.10943283 -0.25952648
+v 0.26575388 -0.10943283 -0.25980056
+v 0.27192606 -0.10943300 -0.21284306
+v 0.23987998 -0.05403843 -0.21284286
+v 0.22405360 -0.05139545 -0.21724222
+v 0.22405360 0.00032477 -0.21724667
+v 0.26861186 0.00032492 -0.25953538
+v 0.27352025 -0.04421852 -0.25521050
+v 0.27174253 -0.10943284 -0.25676701
+v 0.27596395 -0.10943288 -0.24511125
+v 0.27716483 -0.03438818 -0.21284279
+v 0.23987998 -0.04415422 -0.21284282
+v 0.23989573 0.00032475 -0.21284266
+v 0.27352549 0.00032491 -0.25520570
+v 0.27352025 -0.03438802 -0.25521047
+v 0.27352549 -0.02456827 -0.25520579
+v 0.27596920 -0.04421854 -0.25029082
+v 0.27351500 -0.10943284 -0.25520145
+v 0.27596395 -0.10943286 -0.25027714
+v 0.27762630 -0.02456843 -0.21284275
+v 0.27761057 0.00032475 -0.21284266
+v 0.27596920 0.00032489 -0.25028139
+v 0.27596920 -0.03438804 -0.25029079
+v 0.27596920 -0.05403829 -0.25028624
+v 0.27507772 -0.10943285 -0.25206104
+f 1 2 6
+f 1 6 12
+f 1 12 16
+f 1 16 15
+f 1 15 23
+f 1 23 32
+f 1 32 39
+f 1 39 33
+f 1 33 24
+f 1 24 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 20
+f 1 20 10
+f 1 10 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 11
+f 5 11 7
+f 6 7 12
+f 7 11 10
+f 7 10 20
+f 7 20 27
+f 7 27 35
+f 7 35 36
+f 7 36 28
+f 7 28 21
+f 7 21 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 12
+f 8 17 25
+f 8 25 34
+f 8 34 35
+f 8 35 27
+f 8 27 26
+f 8 26 18
+f 8 18 9
+f 9 18 26
+f 9 26 19
+f 13 21 14
+f 14 21 29
+f 14 29 22
+f 14 22 23
+f 14 23 15
+f 17 24 25
+f 19 26 20
+f 20 26 27
+f 21 28 29
+f 22 29 28
+f 22 28 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 24 33 34
+f 24 34 25
+f 28 36 37
+f 28 37 31
+f 28 31 30
+f 31 38 33
+f 31 33 39
+f 31 39 32
+f 31 37 34
+f 31 34 38
+f 33 38 34
+f 34 37 36
+f 34 36 35
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_5.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.26072165 0.06385942 -0.12284966
+v 0.25318609 0.06385944 -0.12696088
+v 0.26072165 0.05405200 -0.12284969
+v 0.27054513 0.08350792 -0.12548695
+v 0.27054513 0.11496122 -0.12549547
+v 0.26072165 0.11496121 -0.12286670
+v 0.25318123 0.11496123 -0.12696930
+v 0.25318609 0.05405202 -0.12696091
+v 0.24925280 0.11496125 -0.13275259
+v 0.26072165 0.04422214 -0.12285834
+v 0.27054513 0.05405201 -0.12548706
+v 0.27584629 0.11496124 -0.12959806
+v 0.24826947 0.05405204 -0.13420079
+v 0.24830356 0.04422218 -0.13420944
+v 0.25321530 0.04422216 -0.12697818
+v 0.24826947 0.11496125 -0.13420057
+v 0.25410126 0.03663656 -0.12809005
+v 0.26072165 0.00033571 -0.14228551
+v 0.26164655 0.03377513 -0.12732298
+v 0.26958127 0.03508802 -0.12840895
+v 0.27054513 0.04422215 -0.12553882
+v 0.27584143 0.05405203 -0.12959828
+v 0.27584629 0.06385945 -0.12959825
+v 0.27589498 0.11496124 -0.13072714
+v 0.29047442 0.03439254 -0.19427463
+v 0.24536819 0.05405206 -0.13912218
+v 0.24537794 0.04422220 -0.13913084
+v 0.24558238 0.03857789 -0.13948424
+v 0.24537306 0.11496127 -0.13912196
+v 0.24501283 0.00033577 -0.15844597
+v 0.25363394 0.00033573 -0.14667254
+v 0.26936708 0.00033572 -0.14559517
+v 0.27567592 0.03881351 -0.12990000
+v 0.27581222 0.04422217 -0.12965004
+v 0.27608482 0.11496126 -0.13521760
+v 0.29031378 0.00033590 -0.19427476
+v 0.28891182 0.00033592 -0.19896344
+v 0.28768023 0.00033594 -0.20307466
+v 0.28776785 0.03439258 -0.20314349
+v 0.27191787 0.11496153 -0.21089160
+v 0.24433134 0.09333785 -0.14506046
+v 0.24433134 0.05405208 -0.14506060
+v 0.24434107 0.04422222 -0.14506064
+v 0.24397596 0.00033580 -0.16475501
+v 0.24452604 0.00033578 -0.16139363
+v 0.24433619 0.11496129 -0.14506038
+v 0.28791389 0.00033587 -0.18449230
+v 0.28919415 0.00033589 -0.18969812
+v 0.28571845 0.00033595 -0.20570343
+v 0.28400009 0.00033595 -0.20799606
+v 0.28402929 0.02457396 -0.20803044
+v 0.28379076 0.03439259 -0.20806488
+v 0.24074852 0.11496153 -0.21089160
+v 0.27937068 0.03439260 -0.21089189
+v 0.24075827 0.00033596 -0.21089202
+v 0.24074852 0.10316795 -0.21089164
+v 0.28138113 0.00033596 -0.20985774
+v 0.27992561 0.00033596 -0.21089202
+v 0.27996944 0.02457397 -0.21089193
+f 1 2 8
+f 1 8 3
+f 1 3 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 16
+f 2 16 13
+f 2 13 8
+f 3 8 10
+f 3 10 11
+f 4 11 23
+f 4 23 12
+f 4 12 5
+f 5 12 24
+f 5 24 35
+f 5 35 40
+f 5 40 53
+f 5 53 46
+f 5 46 29
+f 5 29 16
+f 5 16 9
+f 5 9 7
+f 5 7 6
+f 8 13 14
+f 8 14 15
+f 8 15 10
+f 10 15 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 12 23 25
+f 12 25 24
+f 13 26 27
+f 13 27 14
+f 13 16 26
+f 14 27 28
+f 14 28 15
+f 15 28 17
+f 16 29 26
+f 17 28 30
+f 17 30 31
+f 17 31 18
+f 18 31 30
+f 18 30 45
+f 18 45 44
+f 18 44 55
+f 18 55 58
+f 18 58 57
+f 18 57 50
+f 18 50 49
+f 18 49 38
+f 18 38 37
+f 18 37 36
+f 18 36 48
+f 18 48 47
+f 18 47 32
+f 18 32 20
+f 18 20 19
+f 20 33 21
+f 20 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 25
+f 22 25 23
+f 24 25 35
+f 25 34 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 35
+f 26 29 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 30
+f 29 46 41
+f 32 47 33
+f 33 47 34
+f 34 47 48
+f 34 48 36
+f 38 49 39
+f 39 49 50
+f 39 50 51
+f 39 51 52
+f 39 52 40
+f 40 52 54
+f 40 54 59
+f 40 59 58
+f 40 58 55
+f 40 55 56
+f 40 56 53
+f 41 46 53
+f 41 53 56
+f 41 56 42
+f 42 55 43
+f 42 56 55
+f 43 55 44
+f 50 57 51
+f 51 57 58
+f 51 58 59
+f 51 59 52
+f 52 59 54
+

dataset/kitchen_supplies/storage/b890904e0a905758911effa19bba5ebe/mjcf/mesh/drawer_005_collision_6.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.26071813 0.11496173 -0.26030227
+v 0.26071813 0.13264921 -0.26031566
+v 0.26704863 0.11496172 -0.25969673
+v 0.25954484 0.11496173 -0.26004660
+v 0.25486921 0.12281995 -0.25902387
+v 0.25485607 0.15229476 -0.25902376
+v 0.26071813 0.16211753 -0.26031555
+v 0.26864658 0.14247198 -0.25954860
+v 0.26863345 0.11496172 -0.25953526
+v 0.25486921 0.11496172 -0.25901045
+v 0.23147788 0.11496165 -0.23970042
+v 0.25485607 0.16211752 -0.25902372
+v 0.26071813 0.17194031 -0.26018094
+v 0.26835764 0.17194030 -0.25948122
+v 0.26864658 0.16211752 -0.25953508
+v 0.26864658 0.15229476 -0.25954856
+v 0.25496989 0.17194030 -0.25894295
+v 0.27356300 0.15229475 -0.25522904
+v 0.27354988 0.11496171 -0.25521573
+v 0.23147788 0.14247191 -0.23970032
+v 0.23147788 0.11496157 -0.21690518
+v 0.23147788 0.15229469 -0.23968682
+v 0.25532451 0.17736065 -0.25866035
+v 0.26071813 0.17795068 -0.25914478
+v 0.26725878 0.17780802 -0.25903713
+v 0.27350171 0.17223853 -0.25310286
+v 0.27355863 0.16211751 -0.25521555
+v 0.23147788 0.15925167 -0.23917546
+v 0.27596210 0.16211749 -0.25030393
+v 0.27596650 0.15229473 -0.25030397
+v 0.27596650 0.14247195 -0.25030401
+v 0.27548491 0.11496169 -0.25128643
+v 0.24537346 0.11496128 -0.13912682
+v 0.23147788 0.14813828 -0.14473805
+v 0.25440951 0.17822944 -0.25333160
+v 0.26071813 0.18010323 -0.25333159
+v 0.23147788 0.15948508 -0.23912163
+v 0.23147788 0.16427651 -0.23585170
+v 0.23147788 0.16436727 -0.23575750
+v 0.23147788 0.16751185 -0.23085933
+v 0.23147788 0.17002101 -0.22403691
+v 0.26904934 0.17872870 -0.25333159
+v 0.27495082 0.17513669 -0.24348148
+v 0.27579574 0.16915877 -0.24967146
+v 0.27595335 0.17022855 -0.24348149
+v 0.27605843 0.16178032 -0.24313166
+v 0.27596650 0.11496169 -0.25029067
+v 0.24826728 0.11496126 -0.13420175
+v 0.23147788 0.15320851 -0.13858843
+v 0.25371342 0.17885833 -0.24348146
+v 0.26071813 0.18117948 -0.24348145
+v 0.23147788 0.17007935 -0.22379469
+v 0.27003877 0.17917603 -0.24348146
+v 0.27497707 0.17518854 -0.23364480
+v 0.27499021 0.17524684 -0.22379467
+v 0.27596210 0.17033222 -0.22379468
+v 0.27597087 0.17035812 -0.21395800
+v 0.27597962 0.17037105 -0.20410787
+v 0.27620290 0.16211707 -0.13522427
+v 0.27608470 0.11496127 -0.13522445
+v 0.25317931 0.11496124 -0.12697564
+v 0.23147788 0.16211708 -0.13852110
+v 0.23147788 0.17083791 -0.21395800
+v 0.25354707 0.17886475 -0.22379465
+v 0.25345950 0.17886472 -0.21395797
+v 0.26071813 0.18119241 -0.23364477
+v 0.27006064 0.17918248 -0.23364478
+v 0.27499021 0.17527275 -0.21395799
+v 0.27499021 0.17528567 -0.20410786
+v 0.27597962 0.17036452 -0.19427121
+v 0.27597525 0.17035149 -0.17459785
+v 0.27597087 0.17033201 -0.16474771
+v 0.27596210 0.17029305 -0.15491104
+v 0.27595335 0.17024115 -0.14506091
+v 0.27589207 0.17001420 -0.13522425
+v 0.27571258 0.16888602 -0.12984167
+v 0.27583515 0.16211705 -0.12961292
+v 0.27584390 0.14247151 -0.12959955
+v 0.27584390 0.11496125 -0.12959965
+v 0.25468533 0.11496123 -0.12615480
+v 0.23147788 0.16709655 -0.14006859
+v 0.26071813 0.11496122 -0.12287141
+v 0.26071813 0.16211702 -0.12285778
+v 0.25346827 0.17193982 -0.12715036
+v 0.25443141 0.17817712 -0.12832105
+v 0.23147788 0.17085084 -0.20435009
+v 0.25345950 0.17886468 -0.20410784
+v 0.27007816 0.17918244 -0.22379465
+v 0.26071813 0.18119219 -0.17459781
+v 0.27007816 0.17918237 -0.20410784
+v 0.27007379 0.17918230 -0.18443449
+v 0.27499021 0.17527915 -0.19427120
+v 0.27498584 0.17526611 -0.17459784
+v 0.27498146 0.17524663 -0.16474770
+v 0.27495519 0.17515579 -0.14506090
+v 0.27493330 0.17492883 -0.13522423
+v 0.27496832 0.17520770 -0.15491103
+v 0.26854150 0.17840404 -0.12787698
+v 0.27130837 0.17207598 -0.12693506
+v 0.27054223 0.16211703 -0.12552217
+v 0.27054223 0.14247149 -0.12550878
+v 0.27160606 0.11496123 -0.12631627
+v 0.23147788 0.16712248 -0.14018969
+v 0.26268383 0.11496122 -0.12339622
+v 0.27054223 0.11496123 -0.12549543
+v 0.26071813 0.17193980 -0.12327490
+v 0.26071813 0.17900704 -0.12700231
+v 0.26071813 0.18115964 -0.13522420
+v 0.25371781 0.17884498 -0.13522421
+v 0.23147788 0.17085084 -0.20410787
+v 0.25367402 0.17885149 -0.14506088
+v 0.26071813 0.18117916 -0.15491100
+v 0.26071813 0.18118568 -0.16474767
+v 0.27001687 0.17916916 -0.13522421
+v 0.27004314 0.17916919 -0.14506088
+v 0.27006504 0.17917575 -0.16474768
+v 0.23147788 0.16753098 -0.14506092
+v 0.23147788 0.17048123 -0.19449996
+v 0.23147788 0.17046827 -0.19427121
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 32
+f 1 32 47
+f 1 47 60
+f 1 60 79
+f 1 79 102
+f 1 102 105
+f 1 105 104
+f 1 104 82
+f 1 82 80
+f 1 80 61
+f 1 61 48
+f 1 48 33
+f 1 33 21
+f 1 21 11
+f 1 11 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 12
+f 2 12 7
+f 2 7 16
+f 2 16 8
+f 2 8 3
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 20
+f 6 20 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 12 17
+f 7 17 13
+f 8 16 18
+f 8 18 19
+f 8 19 9
+f 11 21 34
+f 11 34 49
+f 11 49 62
+f 11 62 81
+f 11 81 103
+f 11 103 117
+f 11 117 119
+f 11 119 118
+f 11 118 110
+f 11 110 86
+f 11 86 63
+f 11 63 52
+f 11 52 41
+f 11 41 40
+f 11 40 39
+f 11 39 38
+f 11 38 37
+f 11 37 28
+f 11 28 22
+f 11 22 20
+f 12 20 22
+f 12 22 17
+f 13 17 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 18
+f 15 18 16
+f 17 22 28
+f 17 28 23
+f 18 27 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 21 33 34
+f 23 35 36
+f 23 36 24
+f 23 28 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 35
+f 24 36 25
+f 25 36 42
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 46 31
+f 31 46 47
+f 31 47 32
+f 33 48 49
+f 33 49 34
+f 35 50 51
+f 35 51 36
+f 35 41 52
+f 35 52 50
+f 36 51 42
+f 42 51 53
+f 42 53 43
+f 43 45 44
+f 43 53 54
+f 43 54 45
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 46 59 47
+f 47 59 60
+f 48 61 49
+f 49 61 62
+f 50 52 63
+f 50 63 64
+f 50 64 51
+f 51 64 65
+f 51 65 66
+f 51 66 53
+f 53 66 67
+f 53 67 68
+f 53 68 55
+f 53 55 54
+f 55 68 58
+f 55 58 57
+f 55 57 56
+f 58 68 69
+f 58 69 92
+f 58 92 70
+f 58 70 59
+f 59 71 72
+f 59 72 73
+f 59 73 74
+f 59 74 75
+f 59 75 76
+f 59 76 77
+f 59 77 78
+f 59 78 79
+f 59 79 60
+f 59 70 71
+f 61 80 62
+f 62 80 82
+f 62 82 83
+f 62 83 84
+f 62 84 85
+f 62 85 81
+f 63 86 65
+f 63 65 64
+f 65 86 110
+f 65 110 87
+f 65 87 89
+f 65 89 66
+f 66 88 67
+f 66 89 90
+f 66 90 88
+f 67 88 68
+f 68 88 69
+f 69 88 90
+f 69 90 91
+f 69 91 92
+f 70 92 93
+f 70 93 71
+f 71 93 94
+f 71 94 72
+f 72 94 73
+f 73 94 74
+f 74 95 96
+f 74 96 75
+f 74 94 97
+f 74 97 95
+f 75 96 76
+f 76 96 98
+f 76 98 99
+f 76 99 100
+f 76 100 77
+f 77 100 78
+f 78 100 101
+f 78 101 102
+f 78 102 79
+f 81 85 103
+f 82 104 83
+f 83 104 105
+f 83 105 101
+f 83 101 100
+f 83 100 106
+f 83 106 84
+f 84 106 85
+f 85 106 107
+f 85 107 108
+f 85 108 109
+f 85 109 103
+f 87 110 111
+f 87 111 108
+f 87 108 112
+f 87 112 113
+f 87 113 89
+f 89 113 114
+f 89 114 115
+f 89 115 116
+f 89 116 91
+f 89 91 90
+f 91 116 92
+f 92 116 93
+f 93 116 115
+f 93 115 114
+f 93 114 94
+f 94 114 97
+f 95 114 96
+f 95 97 114
+f 96 114 98
+f 98 107 106
+f 98 106 99
+f 98 114 108
+f 98 108 107
+f 99 106 100
+f 101 105 102
+f 103 109 117
+f 108 111 109
+f 108 114 112
+f 109 111 110
+f 109 110 118
+f 109 118 119
+f 109 119 117
+f 112 114 113
+