Add asset bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26

.gitattributes

@@ -2806,5 +2806,5 @@ dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_ba
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/9bdbff06616158c5a74eb809d7acd718.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.usd filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_030_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 storage_bin_030_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c449f5f575b9b1ba75178e6d7883025dfcb6b7aab1b175dd6ccdfeaa8dc7f7
+size 11860644

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.mtl

@@ -0,0 +1,6 @@
+newmtl storage_bin_030_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_0.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.05645006 -0.02259375 0.02630853
+v 0.05075119 -0.03105005 0.02572360
+v 0.05075119 -0.03214284 0.02571204
+v 0.05185946 -0.03164045 0.02572070
+v 0.05645006 -0.02455565 0.02614498
+v 0.05812878 -0.02455565 0.02587946
+v 0.05825089 -0.02259375 0.02595259
+v 0.05643795 -0.00005948 0.02514747
+v 0.05446935 -0.01867730 0.02611517
+v 0.05075119 -0.03087770 0.02565145
+v 0.05325855 -0.01867729 0.02584870
+v 0.05332566 -0.01671907 0.02576501
+v 0.05443393 -0.00005948 0.02508494
+v 0.05390729 -0.00005948 0.02468378
+v 0.05333964 -0.00005948 0.02412389
+v 0.05075119 -0.03298627 0.02543883
+v 0.05250727 -0.03233720 0.02527144
+v 0.05318025 -0.03112706 0.02554178
+v 0.05371900 -0.02982158 0.02572456
+v 0.05776060 -0.02576944 0.02573131
+v 0.05911961 -0.02455564 0.02547061
+v 0.05924171 -0.02259374 0.02546485
+v 0.05821733 -0.00005948 0.02419508
+v 0.05551051 -0.00005948 0.02513688
+v 0.05075119 -0.03007094 0.02468367
+v 0.05329769 -0.00005948 0.02348031
+v 0.05203283 -0.01083704 0.01888091
+v 0.05075119 -0.03381137 0.02506173
+v 0.05465670 -0.03257923 0.02440756
+v 0.05075119 -0.03422942 0.02485777
+v 0.05250261 -0.03446044 0.02423150
+v 0.05412074 -0.03387738 0.02404296
+v 0.05842612 -0.02645886 0.02511370
+v 0.05955490 -0.02770567 0.02385635
+v 0.05976462 -0.02651753 0.02417959
+v 0.05988300 -0.02455564 0.02450572
+v 0.05981403 -0.02259374 0.02450092
+v 0.05920816 -0.00005948 0.02337256
+v 0.05075119 -0.03001960 0.02454899
+v 0.05191818 -0.01083703 0.01695305
+v 0.05189581 -0.01083703 0.01648166
+v 0.05325202 -0.00005947 0.02273668
+v 0.05544246 -0.03335665 0.02368991
+v 0.05075119 -0.03577326 0.02407085
+v 0.05317279 -0.03518286 0.02360139
+v 0.05977115 -0.02840607 0.02267308
+v 0.05590665 -0.03435776 0.02231038
+v 0.05551796 -0.03539554 0.02185823
+v 0.05782492 -0.03188614 0.02220168
+v 0.05956329 -0.02971889 0.02198716
+v 0.06023534 -0.02651752 0.02273658
+v 0.06027355 -0.02455563 0.02273659
+v 0.06021856 -0.00495504 0.02080976
+v 0.06015891 -0.00299681 0.02080977
+v 0.05976742 -0.00299681 0.02224604
+v 0.05964252 -0.00103492 0.02241440
+v 0.05958473 -0.00005947 0.02240767
+v 0.05075119 -0.02962722 0.02337245
+v 0.05209715 -0.00935552 0.01648167
+v 0.05075119 -0.02930815 0.01648159
+v 0.05075119 -0.02953920 0.02273657
+v 0.05339184 -0.00005945 0.01648170
+v 0.05465670 -0.03446044 0.02330028
+v 0.05075119 -0.03588327 0.02400447
+v 0.05075119 -0.03668637 0.02339648
+v 0.05075119 -0.03686605 0.02323967
+v 0.05247744 -0.03635998 0.02278946
+v 0.05446935 -0.03576958 0.02224400
+v 0.06021297 -0.02847574 0.02080968
+v 0.05178209 -0.03738311 0.02197751
+v 0.05446935 -0.03635632 0.02080965
+v 0.05567269 -0.03553122 0.02080965
+v 0.05760960 -0.03357299 0.02021417
+v 0.05944491 -0.03144608 0.01990729
+v 0.05914571 -0.03102804 0.02119254
+v 0.05969472 -0.03039730 0.02065382
+v 0.06024559 -0.02651752 0.02080968
+v 0.05978886 -0.00484868 0.01872412
+v 0.05974319 -0.00316182 0.01882226
+v 0.05963879 -0.00103491 0.01942545
+v 0.05953812 -0.00005946 0.01963901
+v 0.05959032 -0.00005946 0.01996610
+v 0.05985783 -0.00103492 0.02080978
+v 0.05970684 -0.00005947 0.02084537
+v 0.05075119 -0.03377100 0.01648158
+v 0.05705034 -0.00005945 0.01648170
+v 0.05075119 -0.03744911 0.02226996
+v 0.05987741 -0.02847573 0.01926950
+v 0.05944491 -0.03144608 0.01980821
+v 0.05965743 -0.03043763 0.01951673
+v 0.05075119 -0.03751512 0.02103474
+v 0.05075119 -0.03752245 0.02080964
+v 0.05193869 -0.03740510 0.02080964
+v 0.05292951 -0.03714108 0.02080964
+v 0.05568574 -0.03553855 0.01958309
+v 0.05760960 -0.03357299 0.01962735
+v 0.05943372 -0.00412626 0.01790834
+v 0.05943372 -0.00392824 0.01790835
+v 0.05920350 -0.00262276 0.01814019
+v 0.05076610 -0.03376366 0.01648158
+v 0.05446935 -0.03591992 0.01925985
+v 0.05180167 -0.03735742 0.01974566
+v 0.05075119 -0.03737209 0.01972257
+v 0.05710347 -0.00053617 0.01648170
+v 0.05609773 -0.02825203 0.01648160
+v 0.05656005 -0.02651750 0.01648160
+v 0.05664954 -0.02603711 0.01648160
+v 0.05690959 -0.02455561 0.01648161
+v 0.05833478 -0.03221983 0.01937915
+v 0.05553661 -0.02949884 0.01648159
+v 0.05589267 -0.02876909 0.01648159
+v 0.05597842 -0.02858940 0.01648159
+v 0.05638855 -0.03427707 0.01924831
+v 0.05242618 -0.03270388 0.01648158
+v 0.05373392 -0.03165876 0.01648158
+v 0.05711838 -0.00299679 0.01648169
+v 0.05697298 -0.02259371 0.01648162
+v 0.05145213 -0.03339696 0.01648158
+v 0.05482355 -0.03039728 0.01648159
+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 10 25
+f 2 25 39
+f 2 39 58
+f 2 58 61
+f 2 61 60
+f 2 60 85
+f 2 85 103
+f 2 103 92
+f 2 92 91
+f 2 91 87
+f 2 87 66
+f 2 66 65
+f 2 65 64
+f 2 64 44
+f 2 44 30
+f 2 30 28
+f 2 28 16
+f 2 16 3
+f 2 9 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 10
+f 3 16 4
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 19 6
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 7 22 8
+f 8 23 38
+f 8 38 57
+f 8 57 84
+f 8 84 82
+f 8 82 81
+f 8 81 86
+f 8 86 62
+f 8 62 42
+f 8 42 26
+f 8 26 15
+f 8 15 14
+f 8 14 13
+f 8 13 24
+f 8 24 9
+f 8 22 23
+f 9 24 13
+f 9 13 12
+f 9 12 11
+f 10 15 25
+f 15 26 27
+f 15 27 25
+f 16 28 17
+f 17 29 18
+f 17 28 30
+f 17 30 31
+f 17 31 32
+f 17 32 29
+f 18 29 20
+f 18 20 19
+f 20 33 21
+f 20 29 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 25 27 40
+f 25 40 41
+f 25 41 39
+f 26 42 27
+f 27 42 40
+f 29 32 43
+f 29 43 33
+f 30 44 31
+f 31 44 32
+f 32 44 45
+f 32 45 43
+f 33 43 34
+f 34 46 35
+f 34 43 47
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 46
+f 35 46 51
+f 35 51 36
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 37 56 38
+f 38 56 57
+f 39 41 58
+f 40 42 41
+f 41 42 59
+f 41 59 62
+f 41 62 86
+f 41 86 104
+f 41 104 116
+f 41 116 117
+f 41 117 108
+f 41 108 107
+f 41 107 106
+f 41 106 105
+f 41 105 112
+f 41 112 111
+f 41 111 110
+f 41 110 119
+f 41 119 115
+f 41 115 114
+f 41 114 118
+f 41 118 100
+f 41 100 85
+f 41 85 60
+f 41 60 61
+f 41 61 58
+f 42 62 59
+f 43 45 63
+f 43 63 48
+f 43 48 47
+f 44 64 45
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 63
+f 46 69 51
+f 46 50 69
+f 48 63 68
+f 48 68 70
+f 48 70 71
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 75
+f 48 75 50
+f 48 50 49
+f 50 75 74
+f 50 74 76
+f 50 76 69
+f 51 69 52
+f 52 69 77
+f 52 77 53
+f 53 78 54
+f 53 77 78
+f 54 78 79
+f 54 79 80
+f 54 80 81
+f 54 81 82
+f 54 82 83
+f 54 83 84
+f 54 84 57
+f 54 57 56
+f 54 56 55
+f 66 87 70
+f 66 70 67
+f 67 70 68
+f 69 88 77
+f 69 76 74
+f 69 74 89
+f 69 89 90
+f 69 90 88
+f 70 87 91
+f 70 91 92
+f 70 92 93
+f 70 93 94
+f 70 94 71
+f 71 94 95
+f 71 95 72
+f 72 95 73
+f 73 95 96
+f 73 96 89
+f 73 89 74
+f 77 88 78
+f 78 97 98
+f 78 98 79
+f 78 88 97
+f 79 98 80
+f 80 98 81
+f 81 98 99
+f 81 99 86
+f 82 84 83
+f 85 100 101
+f 85 101 102
+f 85 102 103
+f 86 99 98
+f 86 98 104
+f 88 90 105
+f 88 105 106
+f 88 106 107
+f 88 107 108
+f 88 108 97
+f 89 96 109
+f 89 109 90
+f 90 109 110
+f 90 110 111
+f 90 111 112
+f 90 112 105
+f 92 103 102
+f 92 102 93
+f 93 102 94
+f 94 102 95
+f 95 113 96
+f 95 102 101
+f 95 101 114
+f 95 114 115
+f 95 115 113
+f 96 113 109
+f 97 116 98
+f 97 108 117
+f 97 117 116
+f 98 116 104
+f 100 118 101
+f 101 118 114
+f 109 119 110
+f 109 113 119
+f 113 115 119
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_1.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.05573835 -0.02872571 0.01569831
+v -0.05542672 -0.02930180 0.01569831
+v -0.05972491 -0.02993868 0.01951191
+v -0.05987191 -0.02872572 0.01935267
+v -0.05127553 -0.02872571 0.01569831
+v -0.05465058 -0.03043108 0.01569831
+v -0.05804327 -0.03202636 0.01939375
+v -0.05913692 -0.03096227 0.02080948
+v -0.05976019 -0.02998186 0.02080948
+v -0.06016002 -0.02872573 0.02080948
+v -0.06014826 -0.02872573 0.02058962
+v -0.05149308 -0.02872573 0.02153788
+v -0.01291521 -0.02972110 0.01569831
+v -0.05410375 -0.03110319 0.01569831
+v -0.05613231 -0.03403035 0.01936703
+v -0.05540908 -0.03523012 0.02080946
+v -0.05630282 -0.03424970 0.02080946
+v -0.05814911 -0.03213824 0.02080947
+v -0.05369216 -0.03157710 0.01569830
+v -0.05960731 -0.02967619 0.02194780
+v -0.05594415 -0.03388854 0.02241319
+v -0.05781395 -0.03177003 0.02214916
+v -0.05974255 -0.02872573 0.02245122
+v -0.05154600 -0.02872573 0.02273682
+v -0.01291521 -0.02980038 0.01695273
+v -0.01162751 -0.02978012 0.01569831
+v -0.05216927 -0.02872574 0.02451109
+v -0.05239859 -0.02872574 0.02474533
+v -0.05329820 -0.02872574 0.02565969
+v -0.05419195 -0.03580444 0.01935265
+v -0.05442126 -0.03598943 0.02080946
+v -0.05405671 -0.03574102 0.02228887
+v -0.05322177 -0.03197262 0.01569830
+v -0.05551492 -0.03337412 0.02369843
+v -0.05893113 -0.02892217 0.02323304
+v -0.05923100 -0.02872573 0.02303168
+v -0.01291521 -0.02994749 0.01888110
+v -0.01093369 -0.02989375 0.01695273
+v -0.01093369 -0.02981271 0.01569831
+v -0.05345696 -0.02872574 0.02566277
+v -0.00102610 -0.03139039 0.02566482
+v -0.00009707 -0.03140800 0.02564222
+v -0.01291521 -0.03031923 0.02273682
+v -0.01291521 -0.03011223 0.02080948
+v -0.05253970 -0.03250026 0.01569830
+v -0.05134609 -0.03326839 0.01569830
+v -0.05042295 -0.03381100 0.01569830
+v -0.05171064 -0.03735214 0.01974715
+v -0.05273374 -0.03696984 0.02080945
+v -0.05165184 -0.03733629 0.02185017
+v -0.05296305 -0.03517463 0.02357411
+v -0.05590299 -0.03206866 0.02395836
+v -0.05814323 -0.02872574 0.02395426
+v -0.05873709 -0.02872574 0.02350632
+v -0.05419195 -0.03386829 0.02402308
+v -0.05472113 -0.03259278 0.02436314
+v -0.01093369 -0.03004527 0.01888110
+v -0.00895217 -0.03007961 0.01569831
+v -0.00009707 -0.03136396 0.02465492
+v -0.05370392 -0.02872574 0.02566277
+v -0.04263211 -0.03239900 0.02619392
+v -0.04065059 -0.03239900 0.02618672
+v -0.00102610 -0.03239900 0.02602132
+v -0.00009707 -0.03156216 0.02569667
+v -0.01093369 -0.03021969 0.02080948
+v -0.04858254 -0.03433248 0.01569829
+v -0.05056406 -0.03744198 0.01961256
+v -0.05056406 -0.03756268 0.02080945
+v -0.05174592 -0.03736712 0.02080945
+v -0.05056406 -0.03741997 0.02209880
+v -0.04858254 -0.03708085 0.02331418
+v -0.05056406 -0.03666330 0.02306248
+v -0.05239859 -0.03445584 0.02416279
+v -0.04858254 -0.03610131 0.02420286
+v -0.05651450 -0.02872574 0.02473711
+v -0.04660103 -0.03484959 0.02544290
+v -0.05237506 -0.03222017 0.02523949
+v -0.05292189 -0.03095788 0.02551072
+v -0.05364512 -0.02965066 0.02566997
+v -0.05439186 -0.03035800 0.02518402
+v -0.00009707 -0.03136132 0.02369021
+v -0.00009707 -0.03137452 0.02265257
+v -0.00009707 -0.03146171 0.01695272
+v -0.00009707 -0.03148109 0.01569830
+v -0.05466822 -0.02872574 0.02541415
+v -0.04660103 -0.03387005 0.02579324
+v -0.04449603 -0.03446025 0.02586309
+v -0.04263211 -0.03435895 0.02596686
+v -0.00102610 -0.03425765 0.02598535
+v -0.00009707 -0.03428936 0.02597302
+v -0.00009707 -0.03233293 0.02595968
+v -0.04660103 -0.03462405 0.01569829
+v -0.04858254 -0.03747898 0.01958585
+v -0.04858254 -0.03763667 0.02080945
+v -0.04858254 -0.03745697 0.02235050
+v -0.04660103 -0.03718303 0.02332034
+v -0.04263211 -0.03629599 0.02466518
+v -0.04449603 -0.03604406 0.02482134
+v -0.04660103 -0.03620349 0.02447922
+v -0.04507814 -0.03518168 0.02556926
+v -0.04788284 -0.03353708 0.02568742
+v -0.05159892 -0.03144764 0.02563708
+v -0.00009707 -0.03501164 0.01569829
+v -0.04376104 -0.03536402 0.02564323
+v -0.04263211 -0.03539661 0.02566378
+v -0.04106218 -0.03539133 0.02566173
+v -0.00009707 -0.03526888 0.02560009
+v -0.02876736 -0.03693812 0.01829958
+v -0.02478668 -0.03505392 0.01569829
+v -0.02876736 -0.03755474 0.01926326
+v -0.02876736 -0.03772387 0.02080945
+v -0.01802482 -0.03730723 0.02371485
+v -0.00009707 -0.03709052 0.02043035
+v -0.00535369 -0.03746048 0.01957352
+v -0.00697065 -0.03755209 0.01934545
+v -0.00895217 -0.03754769 0.01927867
+v -0.01780139 -0.03730723 0.02371485
+v -0.00009707 -0.03725085 0.02374773
+v -0.00009707 -0.03641490 0.02454806
+v -0.00895217 -0.03770626 0.02080945
+v -0.00009707 -0.03730459 0.02364499
+v -0.00009707 -0.03724468 0.02088342
+v -0.00009707 -0.03739443 0.02139402
+v -0.00697065 -0.03764195 0.02080945
+v -0.00009707 -0.03740764 0.02202380
+v -0.00009707 -0.03739531 0.02274193
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 23
+f 1 23 36
+f 1 36 54
+f 1 54 53
+f 1 53 75
+f 1 75 85
+f 1 85 60
+f 1 60 40
+f 1 40 29
+f 1 29 28
+f 1 28 27
+f 1 27 24
+f 1 24 12
+f 1 12 5
+f 1 5 13
+f 1 13 26
+f 1 26 39
+f 1 39 58
+f 1 58 84
+f 1 84 103
+f 1 103 109
+f 1 109 92
+f 1 92 66
+f 1 66 47
+f 1 47 46
+f 1 46 45
+f 1 45 33
+f 1 33 19
+f 1 19 14
+f 1 14 6
+f 1 6 2
+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 7
+f 5 12 13
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 14 19
+f 7 19 15
+f 8 20 9
+f 8 18 21
+f 8 21 22
+f 8 22 20
+f 9 20 10
+f 10 20 23
+f 12 24 13
+f 13 25 26
+f 13 24 27
+f 13 27 28
+f 13 28 29
+f 13 29 25
+f 15 19 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 21
+f 16 21 17
+f 17 21 18
+f 19 33 30
+f 20 22 34
+f 20 34 35
+f 20 35 36
+f 20 36 23
+f 21 34 22
+f 21 32 34
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 25 29 37
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 37
+f 30 33 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 32 51 34
+f 32 50 51
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 34 51 55
+f 34 55 56
+f 34 56 52
+f 35 54 36
+f 37 44 57
+f 37 57 38
+f 38 57 42
+f 38 42 39
+f 39 42 59
+f 39 59 58
+f 40 60 61
+f 40 61 62
+f 40 62 63
+f 40 63 41
+f 41 63 42
+f 42 63 64
+f 42 64 91
+f 42 91 90
+f 42 90 107
+f 42 107 119
+f 42 119 118
+f 42 118 121
+f 42 121 126
+f 42 126 125
+f 42 125 123
+f 42 123 122
+f 42 122 113
+f 42 113 103
+f 42 103 84
+f 42 84 83
+f 42 83 82
+f 42 82 81
+f 42 81 59
+f 42 57 65
+f 42 65 43
+f 43 65 44
+f 44 65 57
+f 47 66 48
+f 48 66 67
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 49 69 50
+f 50 69 68
+f 50 68 70
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 73 55
+f 51 72 74
+f 51 74 73
+f 52 56 53
+f 53 56 75
+f 55 73 76
+f 55 76 77
+f 55 77 56
+f 56 77 78
+f 56 78 79
+f 56 79 80
+f 56 80 75
+f 58 59 81
+f 58 81 82
+f 58 82 83
+f 58 83 84
+f 60 85 79
+f 60 79 61
+f 61 79 86
+f 61 86 87
+f 61 87 88
+f 61 88 89
+f 61 89 62
+f 62 89 63
+f 63 89 90
+f 63 90 91
+f 63 91 64
+f 66 92 67
+f 67 92 93
+f 67 93 94
+f 67 94 68
+f 68 94 70
+f 70 94 95
+f 70 95 71
+f 71 74 72
+f 71 95 96
+f 71 96 97
+f 71 97 98
+f 71 98 99
+f 71 99 74
+f 73 74 76
+f 74 99 100
+f 74 100 76
+f 75 80 79
+f 75 79 85
+f 76 100 86
+f 76 86 101
+f 76 101 77
+f 77 101 102
+f 77 102 78
+f 78 102 79
+f 79 102 86
+f 86 102 101
+f 86 100 87
+f 87 104 88
+f 87 100 104
+f 88 104 105
+f 88 105 89
+f 89 105 90
+f 90 105 106
+f 90 106 107
+f 92 108 93
+f 92 109 108
+f 93 108 110
+f 93 110 94
+f 94 110 111
+f 94 111 95
+f 95 111 112
+f 95 112 96
+f 96 112 97
+f 97 105 104
+f 97 104 98
+f 97 112 105
+f 98 104 99
+f 99 104 100
+f 103 113 114
+f 103 114 115
+f 103 115 116
+f 103 116 108
+f 103 108 109
+f 105 112 117
+f 105 117 118
+f 105 118 119
+f 105 119 107
+f 105 107 106
+f 108 116 110
+f 110 116 111
+f 111 116 120
+f 111 120 121
+f 111 121 117
+f 111 117 112
+f 113 122 114
+f 114 122 123
+f 114 123 115
+f 115 123 124
+f 115 124 120
+f 115 120 116
+f 117 121 118
+f 120 124 125
+f 120 125 126
+f 120 126 121
+f 123 125 124
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_10.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.00013894 0.03136776 0.01472037
+v -0.00013894 0.03136226 0.01503016
+v -0.00013894 0.03490889 0.01472038
+v 0.00889002 0.02994487 0.01472036
+v -0.00013894 0.03126189 0.02256616
+v 0.00057362 0.03491045 0.01472038
+v -0.00013894 0.03697066 0.02047205
+v 0.01087467 0.03740263 0.01935836
+v 0.01285454 0.03744183 0.01925621
+v 0.01087467 0.02966892 0.01472036
+v -0.00013894 0.03125247 0.02338228
+v 0.00096577 0.03491124 0.01472038
+v -0.00013894 0.03727719 0.02143696
+v 0.01087467 0.03759626 0.02080849
+v 0.02473854 0.03491908 0.01472038
+v 0.01285454 0.03759391 0.02080849
+v 0.03266758 0.03755000 0.02080849
+v 0.03464745 0.03736187 0.01942609
+v 0.01087467 0.02968381 0.01502460
+v -0.00013894 0.03127913 0.02505670
+v -0.00013894 0.03126188 0.02467252
+v 0.01253891 0.02959993 0.01472036
+v 0.01285454 0.02960149 0.01502460
+v -0.00013894 0.03727719 0.02193329
+v 0.02152006 0.03721995 0.02375095
+v 0.02222784 0.03721995 0.02375095
+v -0.00013894 0.03727484 0.02261172
+v 0.00086534 0.03728816 0.02288820
+v 0.00145834 0.03721603 0.02374540
+v 0.04654101 0.03447379 0.01472038
+v 0.04367163 0.03719800 0.02371319
+v 0.04871695 0.03730541 0.02230526
+v 0.04871695 0.03731090 0.02215980
+v 0.03464745 0.03752492 0.02080849
+v 0.03663210 0.03734540 0.01948938
+v 0.01087467 0.02980297 0.01695329
+v -0.00013894 0.03130657 0.02550973
+v 0.01285454 0.02958817 0.01472036
+v 0.01285454 0.02972065 0.01695329
+v 0.03663210 0.02960307 0.01472036
+v 0.03663210 0.02961717 0.01502460
+v 0.03663210 0.02973163 0.01695329
+v 0.04455636 0.03527339 0.02565410
+v -0.00013894 0.03717291 0.02356108
+v 0.00013843 0.03718310 0.02363214
+v -0.00013894 0.03693929 0.02386531
+v -0.00013894 0.03627293 0.02454929
+v 0.00086534 0.03640228 0.02448044
+v 0.00096577 0.03517696 0.02560524
+v 0.02173526 0.03523654 0.02563189
+v 0.04871695 0.03729287 0.02087289
+v 0.04852088 0.03415472 0.01472038
+v 0.04568498 0.03526163 0.02564632
+v 0.04642145 0.03598522 0.02481577
+v 0.04852088 0.03711098 0.02327016
+v 0.04871695 0.03713371 0.02317467
+v 0.04871695 0.03730149 0.02096172
+v 0.01285454 0.02986019 0.01888088
+v 0.01087467 0.02994407 0.01888088
+v -0.00003852 0.03131127 0.02562966
+v -0.00013894 0.03141946 0.02566186
+v 0.01087467 0.03011339 0.02080846
+v 0.03663210 0.02986175 0.01888088
+v 0.03663210 0.02999815 0.02080846
+v 0.04871695 0.03033764 0.01472036
+v 0.04871695 0.03034546 0.01502460
+v 0.04871695 0.03049832 0.02080846
+v 0.04871695 0.03055006 0.02273716
+v 0.03861197 0.03014475 0.02273716
+v 0.04455636 0.03425110 0.02592835
+v 0.00096577 0.03419700 0.02601274
+v -0.00013894 0.03512600 0.02558858
+v 0.04871695 0.03409122 0.01472038
+v 0.04855435 0.03414531 0.01472038
+v 0.04642145 0.03431774 0.02582398
+v 0.04700489 0.03501468 0.02555971
+v 0.04852088 0.03613103 0.02438828
+v 0.04871695 0.03619688 0.02427836
+v 0.04871695 0.03708119 0.02326905
+v 0.01285454 0.03001697 0.02080846
+v 0.03663210 0.03014554 0.02273716
+v 0.00096577 0.03128540 0.02566407
+v 0.00096577 0.03229199 0.02604715
+v 0.01285454 0.03025294 0.02273716
+v -0.00013894 0.03221516 0.02594611
+v 0.04871695 0.03094124 0.02474580
+v 0.04059662 0.03057357 0.02466474
+v 0.04257649 0.03229199 0.02606270
+v 0.04654101 0.03245506 0.02585950
+v 0.04852088 0.03362551 0.02573514
+v -0.00013894 0.03414604 0.02597610
+v 0.04871695 0.03356750 0.02571849
+v 0.04852088 0.03460624 0.02535319
+v 0.04871695 0.03472462 0.02522439
+v 0.04871695 0.03610124 0.02435386
+v 0.01483441 0.03019571 0.02273716
+v 0.00294563 0.03126502 0.02568628
+v 0.01879893 0.03113802 0.02579509
+v 0.04059662 0.03105335 0.02585949
+v 0.04871695 0.03109019 0.02500896
+v 0.04257649 0.03110822 0.02583062
+v 0.01879893 0.03077347 0.02466474
+v 0.04871695 0.03192903 0.02571738
+v 0.04871695 0.03219557 0.02573514
+v 0.04871695 0.03454979 0.02531544
+v 0.04787048 0.03146963 0.02545422
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 20
+f 1 20 37
+f 1 37 61
+f 1 61 85
+f 1 85 91
+f 1 91 72
+f 1 72 47
+f 1 47 46
+f 1 46 44
+f 1 44 27
+f 1 27 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 6
+f 1 6 12
+f 1 12 15
+f 1 15 30
+f 1 30 52
+f 1 52 74
+f 1 74 73
+f 1 73 65
+f 1 65 40
+f 1 40 38
+f 1 38 22
+f 1 22 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 6
+f 4 10 11
+f 4 11 5
+f 6 9 12
+f 7 13 8
+f 8 14 9
+f 8 13 14
+f 9 15 12
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 22 23
+f 10 23 19
+f 13 24 14
+f 14 25 26
+f 14 26 16
+f 14 24 27
+f 14 27 28
+f 14 28 29
+f 14 29 25
+f 15 18 30
+f 16 26 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 30
+f 19 23 39
+f 19 39 36
+f 19 36 37
+f 19 37 20
+f 22 38 23
+f 23 38 40
+f 23 40 41
+f 23 41 42
+f 23 42 39
+f 25 29 43
+f 25 43 26
+f 26 43 31
+f 27 44 45
+f 27 45 28
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 43
+f 30 35 51
+f 30 51 52
+f 31 43 53
+f 31 53 54
+f 31 54 55
+f 31 55 56
+f 31 56 32
+f 32 56 79
+f 32 79 78
+f 32 78 95
+f 32 95 94
+f 32 94 105
+f 32 105 92
+f 32 92 104
+f 32 104 103
+f 32 103 100
+f 32 100 86
+f 32 86 68
+f 32 68 67
+f 32 67 66
+f 32 66 65
+f 32 65 73
+f 32 73 51
+f 32 51 57
+f 32 57 33
+f 33 57 34
+f 34 57 51
+f 34 51 35
+f 36 39 58
+f 36 58 59
+f 36 59 37
+f 37 60 61
+f 37 59 62
+f 37 62 60
+f 39 42 63
+f 39 63 64
+f 39 64 58
+f 40 65 66
+f 40 66 67
+f 40 67 68
+f 40 68 41
+f 41 68 69
+f 41 69 42
+f 42 69 63
+f 43 70 53
+f 43 50 71
+f 43 71 70
+f 44 46 45
+f 47 72 49
+f 47 49 48
+f 49 72 71
+f 49 71 50
+f 51 73 74
+f 51 74 52
+f 53 75 76
+f 53 76 77
+f 53 77 54
+f 53 70 75
+f 54 77 55
+f 55 77 78
+f 55 78 79
+f 55 79 56
+f 58 80 59
+f 58 64 69
+f 58 69 81
+f 58 81 80
+f 59 80 62
+f 60 82 83
+f 60 83 61
+f 60 62 84
+f 60 84 82
+f 61 83 85
+f 62 80 84
+f 63 69 64
+f 68 86 87
+f 68 87 69
+f 69 87 81
+f 70 88 89
+f 70 89 90
+f 70 90 75
+f 70 71 88
+f 71 72 91
+f 71 91 83
+f 71 83 88
+f 75 90 76
+f 76 90 92
+f 76 92 93
+f 76 93 94
+f 76 94 95
+f 76 95 77
+f 77 95 78
+f 80 81 96
+f 80 96 84
+f 81 87 96
+f 82 97 83
+f 82 84 96
+f 82 96 97
+f 83 91 85
+f 83 97 98
+f 83 98 99
+f 83 99 88
+f 86 100 101
+f 86 101 87
+f 87 101 99
+f 87 99 98
+f 87 98 102
+f 87 102 96
+f 88 99 101
+f 88 101 103
+f 88 103 104
+f 88 104 89
+f 89 104 90
+f 90 104 92
+f 92 105 93
+f 93 105 94
+f 96 102 97
+f 97 102 98
+f 100 103 106
+f 100 106 101
+f 101 106 103
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_11.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.05650965 -0.02259460 0.02628052
+v -0.05825134 -0.02259460 0.02593265
+v -0.05805693 -0.02455600 0.02583136
+v -0.05650965 -0.02455601 0.02608236
+v -0.05370892 -0.02872573 0.02566291
+v -0.05346214 -0.02872573 0.02566291
+v -0.05329969 -0.02872573 0.02565961
+v -0.05452916 -0.02063600 0.02611319
+v -0.05452916 -0.01867460 0.02616494
+v -0.05523490 -0.00005948 0.02567733
+v -0.05563437 -0.00005948 0.02567733
+v -0.05924202 -0.02259459 0.02540974
+v -0.05904850 -0.02455600 0.02540093
+v -0.05659487 -0.00005948 0.02518415
+v -0.05768409 -0.02566999 0.02568825
+v -0.05467386 -0.02872573 0.02541412
+v -0.05240221 -0.02872573 0.02474589
+v -0.05327305 -0.01867460 0.02589523
+v -0.05496947 -0.00005948 0.02556725
+v -0.05331034 -0.01671599 0.02582699
+v -0.05984300 -0.02259459 0.02444649
+v -0.05989893 -0.02455600 0.02443657
+v -0.05749856 -0.00005948 0.02467995
+v -0.05825932 -0.00005948 0.02419998
+v -0.05875733 -0.00005948 0.02385101
+v -0.05925001 -0.00005948 0.02333691
+v -0.05975867 -0.02651740 0.02408209
+v -0.05955893 -0.02761455 0.02378596
+v -0.05840314 -0.02639955 0.02500571
+v -0.05651409 -0.02872573 0.02473709
+v -0.05217140 -0.02872573 0.02451031
+v -0.05420337 -0.00005948 0.02523809
+v -0.05275907 -0.01671599 0.02466448
+v -0.05339733 -0.00005948 0.02436731
+v -0.05954118 -0.00005947 0.02285143
+v -0.05981903 -0.00299456 0.02223824
+v -0.06021229 -0.00299456 0.02080822
+v -0.06026112 -0.00495597 0.02080821
+v -0.06028242 -0.02455599 0.02273685
+v -0.06024336 -0.02651739 0.02273684
+v -0.05979684 -0.02834972 0.02264877
+v -0.05974447 -0.02872572 0.02245171
+v -0.05923137 -0.02872572 0.02303186
+v -0.05873692 -0.02872573 0.02350633
+v -0.05814570 -0.02872573 0.02395438
+v -0.05155001 -0.02872572 0.02273683
+v -0.05222378 -0.01279598 0.02273689
+v -0.05236137 -0.01083738 0.02273690
+v -0.05214211 -0.01083738 0.02080819
+v -0.05199031 -0.01083737 0.01888169
+v -0.05186426 -0.01083736 0.01695299
+v -0.05176395 -0.01083736 0.01503419
+v -0.05331655 -0.00005947 0.02273694
+v -0.05964505 -0.00005947 0.02237255
+v -0.05991668 -0.00103596 0.02080823
+v -0.05960066 -0.00005946 0.01963692
+v -0.05970008 -0.00103595 0.01942666
+v -0.05980039 -0.00317414 0.01882338
+v -0.05984122 -0.00480724 0.01873089
+v -0.05975423 -0.00005947 0.02158104
+v -0.06032592 -0.02651739 0.02080813
+v -0.06023803 -0.02847599 0.02080813
+v -0.06015992 -0.02872572 0.02080812
+v -0.05149941 -0.02872572 0.02153799
+v -0.05166452 -0.01279596 0.01503418
+v -0.05176395 -0.01279596 0.01695298
+v -0.05188556 -0.01279597 0.01888168
+v -0.05203736 -0.01279598 0.02080818
+v -0.05205778 -0.00888718 0.01503420
+v -0.05345947 -0.00006506 0.01503423
+v -0.05345060 -0.00005945 0.01599418
+v -0.05205955 -0.00887595 0.01503420
+v -0.05976844 -0.00005947 0.02083576
+v -0.05700233 -0.00005945 0.01503423
+v -0.05948880 -0.00394860 0.01791186
+v -0.05948880 -0.00405523 0.01791186
+v -0.05990248 -0.02847598 0.01931977
+v -0.05987318 -0.02872571 0.01935279
+v -0.06015104 -0.02872572 0.02058905
+v -0.05127393 -0.02872570 0.01550859
+v -0.05125706 -0.02872570 0.01503412
+v -0.05349676 -0.00005945 0.01503423
+v -0.05700588 -0.00103594 0.01503423
+v -0.05697037 -0.02259456 0.01503415
+v -0.05691267 -0.02455597 0.01503414
+v -0.05652829 -0.02651737 0.01503413
+v -0.05589003 -0.02826271 0.01503413
+v -0.05566011 -0.02872570 0.01503412
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 3
+f 2 11 14
+f 2 14 12
+f 3 13 15
+f 3 15 4
+f 4 15 5
+f 5 15 16
+f 5 16 30
+f 5 30 45
+f 5 45 44
+f 5 44 43
+f 5 43 42
+f 5 42 63
+f 5 63 79
+f 5 79 78
+f 5 78 88
+f 5 88 81
+f 5 81 80
+f 5 80 64
+f 5 64 46
+f 5 46 31
+f 5 31 17
+f 5 17 7
+f 5 7 6
+f 7 17 18
+f 7 18 9
+f 7 9 8
+f 9 18 10
+f 10 19 32
+f 10 32 34
+f 10 34 53
+f 10 53 71
+f 10 71 82
+f 10 82 74
+f 10 74 56
+f 10 56 73
+f 10 73 60
+f 10 60 54
+f 10 54 35
+f 10 35 26
+f 10 26 25
+f 10 25 24
+f 10 24 23
+f 10 23 14
+f 10 14 11
+f 10 18 20
+f 10 20 19
+f 12 21 22
+f 12 22 13
+f 12 14 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 21
+f 13 22 27
+f 13 27 28
+f 13 28 29
+f 13 29 15
+f 15 29 30
+f 15 30 16
+f 17 31 18
+f 18 31 20
+f 19 20 32
+f 20 31 33
+f 20 33 34
+f 20 34 32
+f 21 26 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 27
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 30
+f 31 46 47
+f 31 47 33
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 35 54 37
+f 35 37 36
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 37 54 60
+f 37 60 55
+f 38 59 61
+f 38 61 39
+f 39 61 40
+f 40 61 62
+f 40 62 41
+f 41 62 42
+f 42 62 63
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 47 68 49
+f 47 49 48
+f 49 68 67
+f 49 67 50
+f 50 67 51
+f 51 67 66
+f 51 66 52
+f 52 66 65
+f 52 65 81
+f 52 81 88
+f 52 88 87
+f 52 87 86
+f 52 86 85
+f 52 85 84
+f 52 84 83
+f 52 83 74
+f 52 74 82
+f 52 82 70
+f 52 70 72
+f 52 72 69
+f 52 69 53
+f 53 70 71
+f 53 69 72
+f 53 72 70
+f 55 60 73
+f 55 73 56
+f 56 74 57
+f 57 75 58
+f 57 74 75
+f 58 75 59
+f 59 75 76
+f 59 76 77
+f 59 77 61
+f 61 77 62
+f 62 77 78
+f 62 78 79
+f 62 79 63
+f 64 80 65
+f 65 80 81
+f 70 82 71
+f 74 83 75
+f 75 83 76
+f 76 83 84
+f 76 84 77
+f 77 84 85
+f 77 85 86
+f 77 86 78
+f 78 86 87
+f 78 87 88
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_12.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.05131477 0.02860601 0.01611977
+v -0.05126796 0.02860601 0.01502277
+v -0.05586339 0.02860601 0.01611977
+v -0.05172157 0.01269073 0.01611971
+v -0.05154223 0.01157398 0.01247893
+v -0.05119346 0.02860602 0.01309375
+v -0.05597943 0.02836751 0.01611976
+v -0.05500430 0.02860611 -0.01004129
+v -0.05505177 0.02853596 -0.01004130
+v -0.05558978 0.02752863 -0.01094486
+v -0.05176377 0.01157397 0.01611970
+v -0.05179805 0.01072938 0.01611970
+v -0.05174135 0.01072938 0.01502270
+v -0.05164575 0.01084443 0.01311222
+v -0.05163256 0.01040952 0.01116730
+v -0.05152180 0.01138880 0.01116730
+v -0.05029415 0.02860611 -0.01094485
+v -0.05623525 0.02766602 0.01611976
+v -0.05497068 0.02860611 -0.01094485
+v -0.05503661 0.02850790 -0.01094486
+v -0.05598998 0.02640906 -0.01094486
+v -0.05601503 0.02640906 -0.01004130
+v -0.05194178 0.00961262 0.01611970
+v -0.05206112 0.00876803 0.01611969
+v -0.05201760 0.00876803 0.01502269
+v -0.05161410 0.01021031 0.00923828
+v -0.05149806 0.01118958 0.00923828
+v -0.05344964 -0.00005945 0.01611966
+v -0.05105566 0.01269083 -0.01094491
+v -0.05605855 0.02640905 -0.00811492
+v -0.05657545 0.02640896 0.01611976
+v -0.05621415 0.02549152 -0.01094487
+v -0.05648842 0.02444771 -0.01004131
+v -0.05159762 0.01006160 0.00730925
+v -0.05117170 0.01072948 -0.01094492
+v -0.05147894 0.01104087 0.00730925
+v -0.05702511 -0.00005945 0.01611966
+v -0.05324129 -0.00005935 -0.01094496
+v -0.05144334 0.00915816 -0.01094493
+v -0.05128379 0.01002800 -0.01094492
+v -0.05652600 0.02444770 -0.00811493
+v -0.05674292 0.02556437 0.01611975
+v -0.05646535 0.02444771 -0.01094487
+v -0.05651941 0.02353017 -0.01094487
+v -0.05659919 0.02248917 -0.01004132
+v -0.05702972 -0.00005941 0.00538019
+v -0.05701060 0.02248907 0.01611974
+v -0.05688203 -0.00005935 -0.01094496
+v -0.05694862 0.02444761 0.01611975
+v -0.05657809 0.02248917 -0.01094488
+v -0.05663150 0.02248916 -0.00811494
+v -0.05690907 0.00092834 -0.01004140
+v -0.05694862 0.00092833 -0.00811502
+v -0.05702840 -0.00005940 0.00345382
+v -0.05697368 0.00092832 -0.00618600
+v -0.05699214 0.00092832 -0.00425698
+v -0.05699807 -0.00005937 -0.00425698
+v -0.05700467 -0.00005938 -0.00329776
+v -0.05701060 -0.00005938 -0.00232795
+v -0.05701522 -0.00005938 -0.00137139
+v -0.05701917 -0.00005939 -0.00040158
+v -0.05702247 -0.00005939 0.00055763
+v -0.05702511 -0.00005940 0.00152744
+v -0.05702709 -0.00005940 0.00248666
+v -0.05691434 -0.00005935 -0.01004140
+v -0.05687940 0.00046536 -0.01094496
+v -0.05687676 0.00092834 -0.01094496
+v -0.05695324 -0.00005936 -0.00811502
+v -0.05697961 -0.00005937 -0.00618600
+v -0.05698885 -0.00005937 -0.00522679
+f 1 2 6
+f 1 6 17
+f 1 17 19
+f 1 19 8
+f 1 8 3
+f 1 3 7
+f 1 7 18
+f 1 18 31
+f 1 31 42
+f 1 42 49
+f 1 49 47
+f 1 47 37
+f 1 37 28
+f 1 28 24
+f 1 24 23
+f 1 23 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 7 10 18
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 21 22
+f 10 22 18
+f 10 20 19
+f 10 19 17
+f 10 17 29
+f 10 29 35
+f 10 35 40
+f 10 40 39
+f 10 39 38
+f 10 38 48
+f 10 48 66
+f 10 66 67
+f 10 67 50
+f 10 50 44
+f 10 44 43
+f 10 43 32
+f 10 32 21
+f 12 23 13
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 26 27
+f 15 27 16
+f 15 25 28
+f 15 28 26
+f 16 27 29
+f 16 29 17
+f 18 22 30
+f 18 30 31
+f 21 32 22
+f 22 32 33
+f 22 33 30
+f 24 28 25
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 26 28 34
+f 27 36 35
+f 27 35 29
+f 28 37 46
+f 28 46 54
+f 28 54 64
+f 28 64 63
+f 28 63 62
+f 28 62 61
+f 28 61 60
+f 28 60 59
+f 28 59 58
+f 28 58 57
+f 28 57 70
+f 28 70 69
+f 28 69 68
+f 28 68 65
+f 28 65 48
+f 28 48 38
+f 28 38 39
+f 28 39 40
+f 28 40 34
+f 30 33 31
+f 31 33 41
+f 31 41 42
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 41
+f 34 40 35
+f 37 47 46
+f 41 49 42
+f 41 45 49
+f 44 50 45
+f 45 51 49
+f 45 50 52
+f 45 52 53
+f 45 53 51
+f 46 47 54
+f 47 49 51
+f 47 51 53
+f 47 53 55
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 61
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 54
+f 48 65 66
+f 50 67 52
+f 52 67 66
+f 52 66 65
+f 52 65 53
+f 53 65 68
+f 53 68 69
+f 53 69 55
+f 55 69 70
+f 55 70 56
+f 56 70 57
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_13.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00014369 0.02860612 -0.01401034
+v -0.00014369 -0.00005934 -0.01411941
+v -0.00014369 0.02860614 -0.01771810
+v -0.01092960 0.02860612 -0.01249434
+v -0.00014369 -0.00005932 -0.01772135
+v -0.01291486 0.02860612 -0.01238642
+v -0.01291486 -0.00005934 -0.01411836
+v -0.00300284 0.02860614 -0.01771915
+v -0.00014369 0.02837044 -0.01772178
+v -0.00696860 0.02837044 -0.01772754
+v -0.00894910 0.02837044 -0.01772911
+v -0.00014369 0.00092837 -0.01772240
+v -0.04065616 -0.00005932 -0.01772555
+v -0.02282213 -0.00005934 -0.01411784
+v -0.03669040 0.02860612 -0.01247129
+v -0.04865417 -0.00005934 -0.01412255
+v -0.04485464 0.02860614 -0.01773382
+v -0.00014369 0.02640909 -0.01772335
+v -0.00014369 0.00484826 -0.01772395
+v -0.00014369 0.00288972 -0.01772396
+v -0.04858292 0.02837044 -0.01773749
+v -0.04659767 0.02860614 -0.01773434
+v -0.04659767 -0.00005932 -0.01772450
+v -0.04865417 0.00092837 -0.01772502
+v -0.04865417 0.00484826 -0.01772814
+v -0.04865417 0.00680961 -0.01772918
+v -0.04858292 0.00680961 -0.01772918
+v -0.04065616 0.00484826 -0.01772814
+v -0.03739332 0.02860612 -0.01251738
+v -0.04865417 0.02860612 -0.01353888
+v -0.04865417 -0.00005932 -0.01772397
+v -0.04865417 0.02837044 -0.01773697
+v -0.04858292 0.02860614 -0.01773172
+v -0.04865417 0.02860614 -0.01771915
+f 1 2 5
+f 1 5 12
+f 1 12 20
+f 1 20 19
+f 1 19 18
+f 1 18 9
+f 1 9 3
+f 1 3 8
+f 1 8 17
+f 1 17 22
+f 1 22 33
+f 1 33 34
+f 1 34 30
+f 1 30 29
+f 1 29 15
+f 1 15 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 14
+f 2 14 16
+f 2 16 31
+f 2 31 23
+f 2 23 13
+f 2 13 5
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 5 13 12
+f 6 14 7
+f 6 15 16
+f 6 16 14
+f 8 11 17
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 17
+f 12 13 20
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 20
+f 15 29 16
+f 16 29 30
+f 16 30 34
+f 16 34 32
+f 16 32 26
+f 16 26 25
+f 16 25 24
+f 16 24 31
+f 20 28 21
+f 21 28 27
+f 21 27 26
+f 21 26 32
+f 21 32 33
+f 21 33 22
+f 23 31 24
+f 32 34 33
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_14.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.05688224 -0.00005935 -0.01094828
+v -0.05684441 -0.00005935 -0.01197209
+v -0.05324067 -0.00005935 -0.01094828
+v -0.05687661 0.00092834 -0.01094828
+v -0.05683958 0.00092834 -0.01197209
+v -0.05667135 0.00092835 -0.01390055
+v -0.05667537 -0.00005934 -0.01390055
+v -0.04865892 -0.00005934 -0.01412222
+v -0.05144322 0.00915816 -0.01094825
+v -0.05657797 0.02248917 -0.01094820
+v -0.05655463 0.02248917 -0.01197201
+v -0.05646045 0.02248918 -0.01390047
+v -0.05601773 0.02248919 -0.01582760
+v -0.05636708 -0.00005934 -0.01486977
+v -0.05105604 0.01269083 -0.01094823
+v -0.05117196 0.01072948 -0.01094824
+v -0.05128385 0.01002800 -0.01094824
+v -0.04865892 -0.00005932 -0.01772419
+v -0.04865892 0.02860612 -0.01353898
+v -0.05029457 0.02860611 -0.01094817
+v -0.05651921 0.02353017 -0.01094819
+v -0.05643952 0.02444771 -0.01197200
+v -0.05634535 0.02444772 -0.01390046
+v -0.05585996 0.02452069 -0.01597803
+v -0.05557984 0.02391460 -0.01685673
+v -0.05606201 -0.00005933 -0.01582768
+v -0.04865892 0.00484826 -0.01772817
+v -0.04956850 -0.00005932 -0.01772486
+v -0.05056583 0.00680961 -0.01773215
+v -0.04865892 0.02860614 -0.01771876
+v -0.05497050 0.02860611 -0.01094817
+v -0.05646528 0.02444771 -0.01094819
+v -0.05621414 0.02549152 -0.01094819
+v -0.05596139 0.02640906 -0.01197199
+v -0.05580523 0.02657743 -0.01394239
+v -0.05572232 0.02603589 -0.01543550
+v -0.05547359 0.02522217 -0.01672093
+v -0.05452858 0.02248919 -0.01733802
+v -0.05557984 0.02248919 -0.01685674
+v -0.05426617 0.02640908 -0.01722883
+v -0.05469923 0.02452069 -0.01721885
+v -0.05580201 -0.00005933 -0.01632694
+v -0.05254761 0.02444774 -0.01774807
+v -0.04865892 0.02837044 -0.01773741
+v -0.05056583 -0.00005932 -0.01772486
+v -0.05056583 0.00484826 -0.01773016
+v -0.05058596 0.02860613 -0.01769080
+v -0.05056583 0.02837044 -0.01773674
+v -0.05501879 0.02847984 -0.01197199
+v -0.05503650 0.02850790 -0.01094818
+v -0.05493347 0.02860611 -0.01197198
+v -0.05598956 0.02640906 -0.01094818
+v -0.05557421 0.02749777 -0.01197199
+v -0.05554523 0.02744166 -0.01332730
+v -0.05550176 0.02734064 -0.01461206
+v -0.05529892 0.02657744 -0.01597802
+v -0.05389428 0.02803091 -0.01705109
+v -0.05254761 0.02640909 -0.01770279
+v -0.05254761 0.02248920 -0.01774475
+v -0.05254761 -0.00005932 -0.01770622
+v -0.05452858 -0.00005933 -0.01726421
+v -0.05554523 -0.00005933 -0.01681688
+v -0.05273999 0.02855843 -0.01732402
+v -0.05272309 0.02860613 -0.01731669
+v -0.05480226 0.02860612 -0.01393239
+v -0.05506307 0.02820487 -0.01394239
+v -0.05558950 0.02752863 -0.01094818
+v -0.05427502 0.02860613 -0.01599133
+v -0.05429595 0.02855843 -0.01601264
+v -0.05425007 0.02860613 -0.01605790
+v -0.05278587 0.02860613 -0.01729206
+f 1 2 7
+f 1 7 14
+f 1 14 26
+f 1 26 42
+f 1 42 62
+f 1 62 61
+f 1 61 60
+f 1 60 45
+f 1 45 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 16
+f 1 16 15
+f 1 15 20
+f 1 20 31
+f 1 31 50
+f 1 50 67
+f 1 67 52
+f 1 52 33
+f 1 33 32
+f 1 32 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 18 27
+f 8 27 44
+f 8 44 30
+f 8 30 19
+f 8 19 20
+f 8 20 15
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 18 28 29
+f 18 29 27
+f 19 30 47
+f 19 47 64
+f 19 64 71
+f 19 71 70
+f 19 70 68
+f 19 68 65
+f 19 65 51
+f 19 51 31
+f 19 31 20
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 25
+f 25 38 39
+f 25 39 26
+f 25 37 40
+f 25 40 41
+f 25 41 38
+f 26 39 42
+f 27 29 43
+f 27 43 44
+f 28 45 46
+f 28 46 29
+f 29 46 43
+f 30 44 48
+f 30 48 47
+f 31 49 50
+f 31 51 49
+f 33 52 34
+f 34 53 54
+f 34 54 35
+f 34 52 53
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 37 57 40
+f 38 41 58
+f 38 58 43
+f 38 43 59
+f 38 59 60
+f 38 60 61
+f 38 61 62
+f 38 62 39
+f 39 62 42
+f 40 58 41
+f 40 57 63
+f 40 63 58
+f 43 58 48
+f 43 48 44
+f 43 46 45
+f 43 45 59
+f 45 60 59
+f 47 48 63
+f 47 63 64
+f 48 58 63
+f 49 51 65
+f 49 65 66
+f 49 66 54
+f 49 54 53
+f 49 53 50
+f 50 53 67
+f 52 67 53
+f 54 66 55
+f 55 66 65
+f 55 65 68
+f 55 68 69
+f 55 69 56
+f 56 69 70
+f 56 70 57
+f 57 70 71
+f 57 71 64
+f 57 64 63
+f 68 70 69
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_15.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.05688825 -0.00103584 -0.01091181
+v -0.05688331 -0.00005935 -0.01091181
+v -0.05684976 -0.00103584 -0.01197224
+v -0.05653990 -0.02259446 -0.01197232
+v -0.05656260 -0.02259446 -0.01091189
+v -0.05324495 -0.00005935 -0.01091181
+v -0.05684483 -0.00005935 -0.01197224
+v -0.05667510 -0.00005934 -0.01390041
+v -0.05667904 -0.00103583 -0.01390041
+v -0.05644517 -0.02259445 -0.01390049
+v -0.05634254 -0.02455586 -0.01390050
+v -0.05643530 -0.02455587 -0.01197233
+v -0.05646096 -0.02455587 -0.01091190
+v -0.04680701 -0.00005934 -0.01412320
+v -0.05143810 -0.00944547 -0.01091184
+v -0.05636721 -0.00005934 -0.01486985
+v -0.05606624 -0.00103582 -0.01582791
+v -0.05600505 -0.02259444 -0.01582799
+v -0.05585802 -0.02461477 -0.01597319
+v -0.05572282 -0.02614125 -0.01542793
+v -0.05580868 -0.02668282 -0.01395136
+v -0.05596558 -0.02651727 -0.01197234
+v -0.05599420 -0.02651727 -0.01091191
+v -0.04680701 -0.00005932 -0.01772397
+v -0.05119732 -0.01083726 -0.01091185
+v -0.05111838 -0.01191477 -0.01091185
+v -0.05106410 -0.01279586 -0.01091186
+v -0.05029538 -0.02872560 -0.01091192
+v -0.04680701 -0.02872559 -0.01388379
+v -0.05606229 -0.00005933 -0.01582791
+v -0.05580177 -0.00005933 -0.01632702
+v -0.05554816 -0.00103582 -0.01681943
+v -0.05557974 -0.02400306 -0.01685565
+v -0.05546823 -0.02530786 -0.01671314
+v -0.05529159 -0.02668281 -0.01597320
+v -0.05550178 -0.02744886 -0.01462709
+v -0.05554816 -0.02755268 -0.01334253
+v -0.05557777 -0.02761162 -0.01197234
+v -0.05581953 -0.02700832 -0.01091191
+v -0.04680701 -0.02869751 -0.01772743
+v -0.05254629 -0.02455584 -0.01774614
+v -0.05254629 -0.02259443 -0.01774479
+v -0.05056576 -0.00005932 -0.01772531
+v -0.05496397 -0.02872560 -0.01091192
+v -0.04680701 -0.02872557 -0.01772743
+v -0.05554520 -0.00005933 -0.01681742
+v -0.05452780 -0.00005933 -0.01726434
+v -0.05452780 -0.02259444 -0.01733601
+v -0.05469556 -0.02461477 -0.01721760
+v -0.05425643 -0.02651725 -0.01722363
+v -0.05388736 -0.02813913 -0.01704567
+v -0.05372750 -0.02872558 -0.01692725
+v -0.05423570 -0.02872558 -0.01607088
+v -0.05429195 -0.02866666 -0.01601469
+v -0.05426630 -0.02872558 -0.01598792
+v -0.05470937 -0.02872559 -0.01438357
+v -0.05479424 -0.02872559 -0.01393866
+v -0.05506265 -0.02831311 -0.01395136
+v -0.05501627 -0.02859092 -0.01197235
+v -0.05559355 -0.02764248 -0.01091191
+v -0.05528665 -0.02818124 -0.01091191
+v -0.04833360 -0.02872557 -0.01772943
+v -0.05056576 -0.02847584 -0.01772809
+v -0.05254629 -0.02651724 -0.01769664
+v -0.05254629 -0.00005932 -0.01770591
+v -0.05492647 -0.02872560 -0.01197235
+v -0.05503403 -0.02862178 -0.01091192
+v -0.05273970 -0.02866666 -0.01731730
+v -0.05271898 -0.02872558 -0.01730861
+v -0.05491660 -0.02872560 -0.01215500
+v -0.05031511 -0.02872557 -0.01772341
+v -0.05058747 -0.02872558 -0.01768059
+v -0.05268148 -0.02872558 -0.01731730
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 23
+f 1 23 39
+f 1 39 60
+f 1 60 61
+f 1 61 67
+f 1 67 44
+f 1 44 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 15
+f 1 15 6
+f 1 6 2
+f 2 6 14
+f 2 14 24
+f 2 24 43
+f 2 43 65
+f 2 65 47
+f 2 47 46
+f 2 46 31
+f 2 31 30
+f 2 30 16
+f 2 16 8
+f 2 8 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 15 14
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 11 18 19
+f 12 22 23
+f 12 23 13
+f 14 15 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 45
+f 14 45 40
+f 14 40 24
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 19
+f 19 34 20
+f 19 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 28 44 66
+f 28 66 70
+f 28 70 57
+f 28 57 56
+f 28 56 55
+f 28 55 53
+f 28 53 52
+f 28 52 69
+f 28 69 73
+f 28 73 72
+f 28 72 71
+f 28 71 62
+f 28 62 45
+f 28 45 29
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 37
+f 37 58 59
+f 37 59 38
+f 38 60 39
+f 38 59 61
+f 38 61 60
+f 40 45 41
+f 41 45 62
+f 41 62 63
+f 41 63 64
+f 41 64 48
+f 41 48 42
+f 42 48 65
+f 42 65 43
+f 44 67 66
+f 47 65 48
+f 48 64 49
+f 49 64 50
+f 50 64 68
+f 50 68 51
+f 51 68 69
+f 51 69 52
+f 53 55 54
+f 57 70 58
+f 58 70 59
+f 59 67 61
+f 59 70 66
+f 59 66 67
+f 62 71 63
+f 63 71 72
+f 63 72 73
+f 63 73 68
+f 63 68 64
+f 68 73 69
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_16.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.00008622 -0.03501423 0.01693119
+v 0.01087256 -0.03751723 0.01934349
+v -0.00008622 -0.03709078 0.02043066
+v -0.00008622 -0.03146150 0.01693120
+v 0.02474274 -0.03503555 0.01693119
+v 0.01285330 -0.03755249 0.01925064
+v 0.01087256 -0.03770504 0.02080927
+v -0.00008622 -0.03739422 0.02139523
+v -0.00008622 -0.03724414 0.02088319
+v -0.00008622 -0.03137459 0.02265279
+v 0.00889182 -0.03015834 0.01693121
+v 0.04654086 -0.03461401 0.01693119
+v 0.03464646 -0.03646174 0.01843934
+v 0.03464646 -0.03747868 0.01940299
+v 0.01285330 -0.03770258 0.02080927
+v 0.03266571 -0.03766486 0.02080927
+v 0.00218317 -0.03733600 0.02376697
+v 0.00096387 -0.03743194 0.02273660
+v -0.00008622 -0.03740816 0.02202445
+v 0.04385343 -0.03731796 0.02373632
+v 0.02238376 -0.03733764 0.02376968
+v 0.02141828 -0.03733764 0.02376968
+v -0.00008622 -0.03136147 0.02369037
+v 0.01087256 -0.02990574 0.01693121
+v -0.00008622 -0.03136393 0.02465493
+v 0.04850170 -0.03440899 0.01693119
+v 0.05075119 -0.03737453 0.01972301
+v 0.05050235 -0.03737863 0.01971760
+v 0.05050235 -0.03754594 0.02080927
+v 0.05050235 -0.03746639 0.02233996
+v 0.00096387 -0.03631906 0.02470451
+v 0.00096387 -0.03732698 0.02375165
+v 0.04456012 -0.03539151 0.02565825
+v 0.02156260 -0.03536937 0.02564653
+v -0.00008622 -0.03730484 0.02364528
+v -0.00008622 -0.03739504 0.02274201
+v 0.04852161 -0.03723267 0.02335501
+v 0.04645129 -0.03610583 0.02482170
+v 0.04572965 -0.03537675 0.02565014
+v -0.00008622 -0.03140822 0.02564294
+v 0.01087256 -0.02990738 0.01695285
+v 0.01089247 -0.02990492 0.01693121
+v 0.04852161 -0.03440570 0.01693119
+v 0.05075119 -0.03392594 0.01696816
+v 0.05075119 -0.03752216 0.02080927
+v 0.05062179 -0.03393824 0.01693120
+v 0.05070142 -0.03391528 0.01693120
+v 0.05075119 -0.03751478 0.02103464
+v 0.05075119 -0.03745081 0.02227055
+v 0.05050235 -0.03693907 0.02330362
+v 0.00096387 -0.03530458 0.02561769
+v -0.00008622 -0.03526932 0.02560056
+v -0.00008622 -0.03641502 0.02454855
+v -0.00008622 -0.03725071 0.02374714
+v -0.00004143 -0.03729992 0.02370297
+v 0.04456012 -0.03435900 0.02594852
+v 0.02276200 -0.03435900 0.02595483
+v -0.00008622 -0.03428929 0.02597286
+v 0.04852161 -0.03625263 0.02440432
+v 0.04705347 -0.03514712 0.02556901
+v 0.04645129 -0.03444018 0.02582863
+v 0.01087256 -0.03047000 0.02273663
+v 0.01087256 -0.03023299 0.02080930
+v 0.01087256 -0.03006239 0.01888107
+v -0.00008622 -0.03156240 0.02569703
+v 0.01880051 -0.03120319 0.02584307
+v 0.05075119 -0.03007143 0.02468289
+v 0.05075119 -0.03002223 0.02454947
+v 0.05075119 -0.02963103 0.02337216
+v 0.01285330 -0.02997710 0.01888107
+v 0.01285330 -0.02982783 0.01695285
+v 0.01285330 -0.02982701 0.01693121
+v 0.05075119 -0.03386689 0.01693120
+v 0.05075119 -0.03686772 0.02323962
+v 0.05050235 -0.03595903 0.02404824
+v 0.05075119 -0.03668729 0.02339648
+v 0.05075119 -0.03214468 0.02571235
+v 0.04257440 -0.03239893 0.02613964
+v -0.00008622 -0.03233332 0.02595935
+v 0.02078125 -0.03239893 0.02613784
+v 0.04852161 -0.03471984 0.02536888
+v 0.04953686 -0.03339863 0.02563663
+v 0.04852161 -0.03373980 0.02573038
+v 0.01483405 -0.03037322 0.02273663
+v 0.01285330 -0.03014359 0.02080930
+v 0.04059366 -0.03113021 0.02588724
+v 0.05075119 -0.03088171 0.02565106
+v 0.05075119 -0.02953999 0.02273663
+v 0.05075119 -0.02932838 0.01695285
+v 0.05075119 -0.02932838 0.01693121
+v 0.05075119 -0.03588604 0.02400407
+v 0.05075119 -0.03577450 0.02407078
+v 0.05075119 -0.03298776 0.02543921
+v 0.05075119 -0.03105147 0.02572318
+v 0.04257440 -0.03116712 0.02588274
+v 0.05075119 -0.03423105 0.02485775
+v 0.05075119 -0.03381361 0.02506240
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 19
+f 1 19 36
+f 1 36 35
+f 1 35 54
+f 1 54 53
+f 1 53 52
+f 1 52 58
+f 1 58 79
+f 1 79 65
+f 1 65 40
+f 1 40 25
+f 1 25 23
+f 1 23 10
+f 1 10 4
+f 1 4 11
+f 1 11 24
+f 1 24 42
+f 1 42 72
+f 1 72 90
+f 1 90 73
+f 1 73 47
+f 1 47 46
+f 1 46 43
+f 1 43 26
+f 1 26 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 7
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 7
+f 6 14 16
+f 6 16 15
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 7 15 20
+f 7 20 21
+f 7 21 22
+f 7 22 17
+f 10 23 11
+f 11 23 25
+f 11 25 24
+f 12 26 27
+f 12 27 28
+f 12 28 14
+f 12 14 13
+f 14 28 29
+f 14 29 16
+f 15 16 30
+f 15 30 20
+f 16 29 30
+f 17 31 32
+f 17 32 18
+f 17 22 33
+f 17 33 34
+f 17 34 31
+f 18 32 35
+f 18 35 36
+f 18 36 19
+f 20 30 37
+f 20 37 38
+f 20 38 39
+f 20 39 33
+f 20 33 21
+f 21 33 22
+f 24 25 40
+f 24 40 41
+f 24 41 42
+f 26 43 27
+f 27 44 73
+f 27 73 90
+f 27 90 89
+f 27 89 88
+f 27 88 69
+f 27 69 68
+f 27 68 67
+f 27 67 87
+f 27 87 94
+f 27 94 77
+f 27 77 93
+f 27 93 97
+f 27 97 96
+f 27 96 92
+f 27 92 91
+f 27 91 76
+f 27 76 74
+f 27 74 49
+f 27 49 48
+f 27 48 45
+f 27 45 29
+f 27 29 28
+f 27 43 46
+f 27 46 47
+f 27 47 44
+f 29 45 48
+f 29 48 49
+f 29 49 30
+f 30 49 50
+f 30 50 37
+f 31 34 51
+f 31 51 52
+f 31 52 53
+f 31 53 32
+f 32 53 54
+f 32 54 55
+f 32 55 35
+f 33 39 56
+f 33 56 57
+f 33 57 58
+f 33 58 34
+f 34 58 51
+f 35 55 54
+f 37 50 59
+f 37 59 38
+f 38 59 39
+f 39 59 60
+f 39 60 61
+f 39 61 56
+f 40 62 63
+f 40 63 64
+f 40 64 41
+f 40 65 66
+f 40 66 67
+f 40 67 68
+f 40 68 69
+f 40 69 62
+f 41 64 70
+f 41 70 71
+f 41 71 42
+f 42 71 72
+f 44 47 73
+f 49 74 50
+f 50 75 59
+f 50 74 76
+f 50 76 75
+f 51 58 52
+f 56 61 77
+f 56 77 78
+f 56 78 58
+f 56 58 57
+f 58 78 80
+f 58 80 79
+f 59 75 60
+f 60 75 81
+f 60 81 82
+f 60 82 83
+f 60 83 61
+f 61 83 77
+f 62 84 85
+f 62 85 63
+f 62 69 84
+f 63 85 64
+f 64 85 70
+f 65 79 66
+f 66 79 80
+f 66 80 86
+f 66 86 67
+f 67 86 87
+f 69 88 84
+f 70 85 88
+f 70 88 71
+f 71 88 72
+f 72 88 89
+f 72 89 90
+f 75 76 91
+f 75 91 92
+f 75 92 81
+f 77 94 78
+f 77 83 82
+f 77 82 93
+f 78 94 95
+f 78 95 86
+f 78 86 80
+f 81 92 96
+f 81 96 97
+f 81 97 93
+f 81 93 82
+f 84 88 85
+f 86 95 87
+f 87 95 94
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_17.obj

@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.00008622 -0.03479954 -0.01240503
+v -0.00008622 -0.03081146 -0.01240501
+v 0.00051596 -0.03480300 -0.01240503
+v -0.00008622 -0.03484376 -0.01197141
+v -0.00008622 -0.03146152 0.01693120
+v 0.00914563 -0.02907644 -0.01240501
+v 0.00096387 -0.03480507 -0.01240503
+v 0.00096387 -0.03484929 -0.01197141
+v -0.00008622 -0.03488589 -0.01106686
+v -0.00008622 -0.03501446 0.01693119
+v 0.00891172 -0.03015541 0.01693121
+v 0.00889182 -0.03005664 0.01502160
+v 0.00889182 -0.02997928 0.01309476
+v 0.01087256 -0.02879256 -0.01240501
+v 0.02474274 -0.03479333 -0.01240503
+v 0.00096387 -0.03493838 -0.01004170
+v -0.00008622 -0.03493355 -0.01004170
+v 0.02474274 -0.03483754 -0.01197141
+v -0.00008622 -0.03508350 0.00923819
+v 0.02474274 -0.03503587 0.01693119
+v 0.01087256 -0.02990607 0.01693121
+v 0.01087256 -0.02978106 0.01502160
+v 0.01087256 -0.02968849 0.01309476
+v 0.01087256 -0.02961734 0.01116505
+v 0.01177833 -0.02945018 0.00862368
+v 0.01285330 -0.02872764 -0.01240501
+v 0.04654086 -0.03414960 -0.01240503
+v 0.00096387 -0.03499158 -0.00811486
+v -0.00008622 -0.03498812 -0.00811486
+v 0.02474274 -0.03492526 -0.01004170
+v 0.02474274 -0.03498053 -0.00811486
+v 0.04654086 -0.03417171 -0.01197141
+v -0.00008622 -0.03509386 0.00730847
+v 0.00096387 -0.03509662 0.00730847
+v 0.02474274 -0.03509455 0.00923819
+v 0.04654086 -0.03461455 0.01693119
+v 0.01285330 -0.02982664 0.01693121
+v 0.01285330 -0.02970439 0.01502160
+v 0.01285330 -0.02961321 0.01309476
+v 0.05075119 -0.02805490 -0.01240500
+v 0.04807370 -0.03383188 -0.01240502
+v 0.04852161 -0.03376144 -0.01197140
+v 0.00096387 -0.03502958 -0.00618515
+v -0.00008622 -0.03500608 -0.00721031
+v 0.02474274 -0.03502060 -0.00618515
+v 0.04654086 -0.03422489 -0.01004170
+v 0.04654086 -0.03426704 -0.00811486
+v 0.04654086 -0.03430849 -0.00618515
+v 0.04654086 -0.03434924 -0.00425831
+v 0.04654086 -0.03439000 -0.00232860
+v -0.00008622 -0.03509799 0.00628619
+v 0.00096387 -0.03510214 0.00538163
+v 0.02474274 -0.03510629 0.00730847
+v 0.02474274 -0.03511043 0.00538163
+v 0.02474274 -0.03510904 0.00345192
+v 0.02474274 -0.03510075 0.00152795
+v 0.02474274 -0.03508623 -0.00040176
+v 0.02474274 -0.03506895 -0.00232860
+v 0.04654086 -0.03450123 0.00538163
+v 0.04850170 -0.03440941 0.01693119
+v 0.05075119 -0.02932796 0.01693121
+v 0.05075119 -0.03275232 -0.01240502
+v 0.04855645 -0.03373035 -0.01240502
+v 0.04852161 -0.03381462 -0.01004169
+v 0.04957668 -0.03341055 -0.01240502
+v 0.04959659 -0.03341816 -0.01197140
+v 0.05070142 -0.03391556 0.01693120
+v 0.00096387 -0.03505513 -0.00425831
+v -0.00008622 -0.03502543 -0.00618515
+v 0.02474274 -0.03504891 -0.00425831
+v 0.04654086 -0.03442593 -0.00040176
+v 0.04852161 -0.03386160 -0.00811485
+v 0.04852161 -0.03390719 -0.00618514
+v 0.04852161 -0.03395002 -0.00425830
+v 0.04852161 -0.03399216 -0.00232859
+v 0.04852161 -0.03440596 0.01693119
+v -0.00008622 -0.03510007 0.00538163
+v 0.00096387 -0.03510351 0.00345192
+v 0.00096387 -0.03509937 0.00152795
+v 0.00096387 -0.03508761 -0.00040176
+v 0.00096387 -0.03507310 -0.00232860
+v 0.04654086 -0.03448119 0.00345192
+v 0.04654086 -0.03445426 0.00152795
+v 0.05075119 -0.03386652 0.01693120
+v 0.05075119 -0.03278065 -0.01197140
+v 0.05063673 -0.03282484 -0.01240502
+v 0.05062179 -0.03393836 0.01693120
+v 0.05052723 -0.03289391 -0.01240502
+v 0.05058696 -0.03288425 -0.01197140
+v -0.00008622 -0.03505099 -0.00425831
+v -0.00008622 -0.03510144 0.00345192
+v -0.00008622 -0.03509522 0.00152795
+v -0.00008622 -0.03508899 0.00050279
+v -0.00008622 -0.03508347 -0.00040176
+v -0.00008622 -0.03507586 -0.00142405
+v -0.00008622 -0.03506895 -0.00232860
+f 1 2 6
+f 1 6 14
+f 1 14 26
+f 1 26 40
+f 1 40 62
+f 1 62 86
+f 1 86 88
+f 1 88 65
+f 1 65 63
+f 1 63 41
+f 1 41 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 29
+f 1 29 44
+f 1 44 69
+f 1 69 90
+f 1 90 96
+f 1 96 95
+f 1 95 94
+f 1 94 93
+f 1 93 92
+f 1 92 91
+f 1 91 77
+f 1 77 51
+f 1 51 33
+f 1 33 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 20
+f 5 20 36
+f 5 36 60
+f 5 60 76
+f 5 76 87
+f 5 87 67
+f 5 67 84
+f 5 84 61
+f 5 61 37
+f 5 37 21
+f 5 21 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 18
+f 7 18 8
+f 8 16 17
+f 8 17 9
+f 8 18 16
+f 10 19 20
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 15 27 18
+f 16 28 29
+f 16 29 17
+f 16 18 30
+f 16 30 31
+f 16 31 28
+f 18 27 32
+f 18 32 30
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 21 37 22
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 25
+f 23 25 24
+f 25 39 40
+f 25 40 26
+f 27 41 42
+f 27 42 32
+f 28 43 44
+f 28 44 29
+f 28 31 45
+f 28 45 43
+f 30 32 31
+f 31 32 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 45
+f 32 42 64
+f 32 64 46
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 37 61 38
+f 38 61 39
+f 39 61 40
+f 40 61 84
+f 40 84 85
+f 40 85 62
+f 41 63 42
+f 42 63 65
+f 42 65 66
+f 42 66 67
+f 42 67 64
+f 43 68 90
+f 43 90 69
+f 43 69 44
+f 43 45 70
+f 43 70 68
+f 45 50 71
+f 45 71 70
+f 46 64 72
+f 46 72 73
+f 46 73 74
+f 46 74 47
+f 47 74 75
+f 47 75 76
+f 47 76 48
+f 48 76 49
+f 49 76 50
+f 50 76 60
+f 50 60 71
+f 51 77 52
+f 52 77 91
+f 52 91 78
+f 52 78 54
+f 52 54 53
+f 54 78 55
+f 55 78 79
+f 55 79 56
+f 56 79 80
+f 56 80 57
+f 57 80 81
+f 57 81 58
+f 58 70 82
+f 58 82 59
+f 58 81 68
+f 58 68 70
+f 59 82 60
+f 60 82 83
+f 60 83 71
+f 62 85 86
+f 64 67 87
+f 64 87 72
+f 65 88 89
+f 65 89 66
+f 66 89 67
+f 67 85 84
+f 67 89 85
+f 68 81 96
+f 68 96 90
+f 70 71 83
+f 70 83 82
+f 72 87 73
+f 73 87 74
+f 74 87 75
+f 75 87 76
+f 78 91 79
+f 79 91 92
+f 79 92 93
+f 79 93 80
+f 80 93 94
+f 80 94 95
+f 80 95 81
+f 81 95 96
+f 85 89 88
+f 85 88 86
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_18.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00009120 -0.00005934 -0.01411935
+v -0.00009120 -0.02872559 -0.01400478
+v -0.00009120 -0.00005932 -0.01772096
+v -0.01291335 -0.00005934 -0.01411830
+v -0.01291335 -0.02872559 -0.01237887
+v -0.01236462 -0.02872559 -0.01239353
+v -0.01093333 -0.02872559 -0.01247783
+v -0.00009120 -0.02872557 -0.01771427
+v -0.00009120 -0.01867443 -0.01772313
+v -0.03867198 -0.00005932 -0.01772515
+v -0.02282263 -0.00005934 -0.01411778
+v -0.04680701 -0.00005934 -0.01412301
+v -0.03669195 -0.02872559 -0.01247103
+v -0.00696870 -0.02847584 -0.01772159
+v -0.00009120 -0.02847584 -0.01771792
+v -0.04660123 -0.02872557 -0.01772736
+v -0.00009120 -0.02155340 -0.01772314
+v -0.04680701 -0.02869751 -0.01772736
+v -0.04263661 -0.00005932 -0.01772515
+v -0.04680701 -0.00005932 -0.01772411
+v -0.04680701 -0.02872559 -0.01388382
+v -0.03873143 -0.02872559 -0.01266635
+v -0.00009120 -0.02743481 -0.01771897
+v -0.04680701 -0.02872557 -0.01772736
+f 1 2 8
+f 1 8 15
+f 1 15 23
+f 1 23 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 19
+f 1 19 20
+f 1 20 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 5
+f 2 5 13
+f 2 13 22
+f 2 22 21
+f 2 21 24
+f 2 24 16
+f 2 16 8
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 8 14 15
+f 8 16 14
+f 9 17 16
+f 9 16 10
+f 10 16 18
+f 10 18 19
+f 12 20 18
+f 12 18 24
+f 12 24 21
+f 12 21 22
+f 12 22 13
+f 14 17 23
+f 14 23 15
+f 14 16 17
+f 16 24 18
+f 18 20 19
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_19.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.05332158 -0.00005695 -0.00975362
+v 0.05147506 0.00965415 -0.00975358
+v 0.05689179 -0.00005695 -0.00975362
+v 0.05339072 -0.00005705 0.01663157
+v 0.05149906 0.00976452 -0.00723800
+v 0.05158990 0.01053474 0.00538123
+v 0.05133566 0.01070277 -0.00975358
+v 0.05689065 0.00063413 -0.00975362
+v 0.05690607 -0.00005696 -0.00907178
+v 0.05705062 -0.00005705 0.01663157
+v 0.05212009 0.00877100 0.01663160
+v 0.05206410 0.00877100 0.01502256
+v 0.05200868 0.00877101 0.01309326
+v 0.05163446 0.01073149 0.00923725
+v 0.05158647 0.01066431 0.00617155
+v 0.05131509 0.01102431 -0.00975358
+v 0.05147506 0.01151376 0.00538123
+v 0.05148135 0.01157135 0.00617155
+v 0.05688951 0.00092927 -0.00975362
+v 0.05692264 0.00092926 -0.00811358
+v 0.05692550 -0.00005696 -0.00811358
+v 0.05705005 -0.00005705 0.01600397
+v 0.05696435 0.02248941 0.01663165
+v 0.05187727 0.01073146 0.01663161
+v 0.05180357 0.01073146 0.01502257
+v 0.05173559 0.01073147 0.01309327
+v 0.05168245 0.01073148 0.01116655
+v 0.05148706 0.01161934 0.00684822
+v 0.05158190 0.01087307 0.00741901
+v 0.05121511 0.01268722 -0.00975357
+v 0.05660727 0.02248711 -0.00975354
+v 0.05694607 0.00092925 -0.00618428
+v 0.05693864 -0.00005696 -0.00714248
+v 0.05663184 0.02248710 -0.00811350
+v 0.05665812 0.02248709 -0.00618420
+v 0.05698435 -0.00005699 -0.00040155
+v 0.05698149 0.00092923 -0.00040155
+v 0.05695692 0.02281335 0.01663165
+v 0.05697292 0.00092924 -0.00232826
+v 0.05696092 0.00092925 -0.00425756
+v 0.05179957 0.01268712 0.01663162
+v 0.05172130 0.01268712 0.01502258
+v 0.05165046 0.01268713 0.01309328
+v 0.05159047 0.01268714 0.01116656
+v 0.05153562 0.01268715 0.00923726
+v 0.05150363 0.01268715 0.00802596
+v 0.05148249 0.01268715 0.00706260
+v 0.05145335 0.01268716 0.00538124
+v 0.05148820 0.01374777 0.00680174
+v 0.05148249 0.01379817 0.00617156
+v 0.05123110 0.01298237 -0.00975357
+v 0.05649815 0.02443317 -0.00975353
+v 0.05652729 0.02443316 -0.00818323
+v 0.05656157 0.02443315 -0.00618419
+v 0.05691465 0.02444986 0.01663166
+v 0.05695007 -0.00005697 -0.00618428
+v 0.05697578 -0.00005698 -0.00232826
+v 0.05696492 -0.00005697 -0.00425756
+v 0.05187670 0.01432123 0.01663162
+v 0.05181729 0.01464758 0.01502258
+v 0.05174701 0.01464759 0.01309328
+v 0.05168931 0.01464760 0.01116656
+v 0.05164246 0.01464761 0.00923726
+v 0.05158590 0.01450123 0.00739061
+v 0.05158876 0.01483958 0.00538124
+v 0.05147563 0.01386055 0.00538124
+v 0.05132823 0.01464528 -0.00975357
+v 0.05286281 0.02443317 -0.00975353
+v 0.05673468 0.02445470 0.00617160
+v 0.05685637 0.02445467 0.01309074
+v 0.05688094 0.02445466 0.01501745
+v 0.05573543 0.02445466 0.01663166
+v 0.05189270 0.01464758 0.01663162
+v 0.05212009 0.01628169 0.01663163
+v 0.05216808 0.01660803 0.01663163
+v 0.05210923 0.01660803 0.01502259
+v 0.05204753 0.01660804 0.01309329
+v 0.05331073 0.02445466 0.01502004
+v 0.05330673 0.02445467 0.01487024
+v 0.05149563 0.01563389 -0.00705977
+v 0.05134709 0.01480125 -0.00975357
+v 0.05146935 0.01574668 -0.00975356
+v 0.05148535 0.01567949 -0.00811352
+v 0.05315761 0.02445470 0.00617160
+v 0.05336272 0.02445466 0.01663166
+f 1 2 7
+f 1 7 16
+f 1 16 30
+f 1 30 51
+f 1 51 67
+f 1 67 81
+f 1 81 82
+f 1 82 68
+f 1 68 52
+f 1 52 31
+f 1 31 19
+f 1 19 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 33
+f 1 33 56
+f 1 56 58
+f 1 58 57
+f 1 57 36
+f 1 36 22
+f 1 22 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 4 5
+f 3 8 9
+f 4 10 23
+f 4 23 38
+f 4 38 55
+f 4 55 72
+f 4 72 85
+f 4 85 75
+f 4 75 74
+f 4 74 73
+f 4 73 59
+f 4 59 41
+f 4 41 24
+f 4 24 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 6
+f 4 6 5
+f 6 15 7
+f 6 14 15
+f 7 15 17
+f 7 17 18
+f 7 18 16
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 10 22 23
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 13
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 17
+f 16 18 30
+f 17 29 18
+f 18 29 28
+f 18 28 30
+f 19 31 20
+f 20 32 33
+f 20 33 21
+f 20 31 34
+f 20 34 35
+f 20 35 23
+f 20 23 32
+f 22 36 37
+f 22 37 23
+f 23 37 39
+f 23 39 40
+f 23 40 32
+f 23 35 38
+f 24 41 42
+f 24 42 25
+f 25 42 43
+f 25 43 26
+f 26 43 28
+f 26 28 27
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 31 52 53
+f 31 53 54
+f 31 54 55
+f 31 55 34
+f 32 40 58
+f 32 58 56
+f 32 56 33
+f 34 55 35
+f 35 55 38
+f 36 57 39
+f 36 39 37
+f 39 57 58
+f 39 58 40
+f 41 59 42
+f 42 59 60
+f 42 60 43
+f 43 60 61
+f 43 61 49
+f 43 49 44
+f 44 49 45
+f 45 49 46
+f 46 49 47
+f 47 49 48
+f 49 61 62
+f 49 62 63
+f 49 63 64
+f 49 64 50
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 51 66 67
+f 52 68 84
+f 52 84 69
+f 52 69 53
+f 53 69 70
+f 53 70 54
+f 54 70 55
+f 55 70 71
+f 55 71 72
+f 59 73 60
+f 60 73 74
+f 60 74 75
+f 60 75 76
+f 60 76 61
+f 61 77 62
+f 61 76 78
+f 61 78 77
+f 62 77 78
+f 62 78 79
+f 62 79 63
+f 63 79 65
+f 63 65 64
+f 65 68 80
+f 65 80 81
+f 65 81 67
+f 65 67 66
+f 65 79 68
+f 68 82 83
+f 68 83 80
+f 68 79 84
+f 69 84 79
+f 69 79 78
+f 69 78 85
+f 69 85 72
+f 69 72 71
+f 69 71 70
+f 75 85 76
+f 76 85 78
+f 80 83 81
+f 81 83 82
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_2.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.05075119 -0.03377156 0.01647727
+v 0.05076615 -0.03376495 0.01647727
+v 0.05075119 -0.02931005 0.01647728
+v 0.05075119 -0.03277818 -0.01196907
+v 0.05145182 -0.03339536 0.01647727
+v 0.05189626 -0.01083703 0.01647735
+v 0.05075119 -0.00005934 -0.01399892
+v 0.05075119 -0.03266267 -0.01386840
+v 0.05206144 -0.03185088 -0.01389855
+v 0.05212377 -0.03190369 -0.01196907
+v 0.05242609 -0.03270568 0.01647727
+v 0.05209634 -0.00935536 0.01647736
+v 0.05075119 -0.00005932 -0.01771718
+v 0.05339226 -0.00005945 0.01647739
+v 0.05075119 -0.03220727 -0.01582802
+v 0.05176037 -0.03161988 -0.01582802
+v 0.05305254 -0.03100940 -0.01389854
+v 0.05311487 -0.03106551 -0.01196906
+v 0.05373384 -0.03165960 0.01647727
+v 0.05248780 -0.00005932 -0.01770378
+v 0.05248780 -0.02259456 -0.01773736
+v 0.05075119 -0.02259456 -0.01772731
+v 0.05705061 -0.00005945 0.01647739
+v 0.05075119 -0.03161658 -0.01693680
+v 0.05150044 -0.03141858 -0.01679276
+v 0.05275147 -0.03072230 -0.01582801
+v 0.05371452 -0.02974222 -0.01582801
+v 0.05395076 -0.03002932 -0.01389854
+v 0.05399814 -0.03008543 -0.01196906
+v 0.05482219 -0.03039573 0.01647728
+v 0.05348451 -0.00005933 -0.01749609
+v 0.05446876 -0.02259457 -0.01738563
+v 0.05248780 -0.02455472 -0.01773737
+v 0.05075119 -0.02283875 -0.01772731
+v 0.05710359 -0.00053794 0.01647739
+v 0.05704999 -0.00005945 0.01600507
+v 0.05075119 -0.03067940 -0.01728852
+v 0.05229145 -0.03025701 -0.01698704
+v 0.05349947 -0.02948152 -0.01680950
+v 0.05469565 -0.02828695 -0.01564711
+v 0.05546672 -0.02751148 -0.01488671
+v 0.05494125 -0.02855755 -0.01389853
+v 0.05498924 -0.02864996 -0.01196906
+v 0.05553715 -0.02949815 0.01647728
+v 0.05446876 -0.00005933 -0.01728841
+v 0.05446876 -0.02455473 -0.01735214
+v 0.05551721 -0.00103611 -0.01684289
+v 0.05557580 -0.02259457 -0.01690996
+v 0.05075119 -0.02651487 -0.01772398
+v 0.05248780 -0.02651487 -0.01770388
+v 0.05075119 -0.02847504 -0.01769383
+v 0.05711918 -0.00299639 0.01647738
+v 0.05696522 -0.00005937 -0.00425776
+v 0.05697643 -0.00005938 -0.00232828
+v 0.05698454 -0.00005939 -0.00040216
+v 0.05075119 -0.03041210 -0.01738566
+v 0.05248780 -0.02847504 -0.01747274
+v 0.05378994 -0.02847504 -0.01700712
+v 0.05546111 -0.02553811 -0.01679273
+v 0.05519307 -0.02684818 -0.01616968
+v 0.05560635 -0.02632349 -0.01564711
+v 0.05637554 -0.02455474 -0.01389852
+v 0.05588560 -0.02651489 -0.01389853
+v 0.05550225 -0.02757747 -0.01389853
+v 0.05554962 -0.02766988 -0.01196905
+v 0.05589308 -0.02876886 0.01647728
+v 0.05551222 -0.00005933 -0.01683954
+v 0.05450741 -0.02632349 -0.01714447
+v 0.05553715 -0.02455473 -0.01686977
+v 0.05606200 -0.00103611 -0.01582790
+v 0.05606138 -0.02259457 -0.01582798
+v 0.05697270 -0.02259469 0.01647731
+v 0.05695462 -0.00103615 -0.00618388
+v 0.05696895 -0.00103615 -0.00425776
+v 0.05695025 -0.00005937 -0.00618388
+v 0.05596788 -0.02455473 -0.01582799
+v 0.05648587 -0.02259458 -0.01389851
+v 0.05645346 -0.02455475 -0.01196904
+v 0.05597411 -0.02651490 -0.01196905
+v 0.05597848 -0.02859066 0.01647728
+v 0.05605514 -0.00005933 -0.01582790
+v 0.05666290 -0.00005934 -0.01389843
+v 0.05666664 -0.00103612 -0.01389843
+v 0.05690974 -0.02455485 0.01647730
+v 0.05662799 -0.02259460 -0.00811343
+v 0.05692906 -0.00103614 -0.00811335
+v 0.05692594 -0.00005936 -0.00811335
+v 0.05693841 -0.00005936 -0.00714192
+v 0.05682434 -0.00103613 -0.01196895
+v 0.05656316 -0.02259459 -0.01196903
+v 0.05649335 -0.02455475 -0.01004292
+v 0.05606512 -0.02651491 -0.00811345
+v 0.05602273 -0.02651490 -0.01004293
+v 0.05609815 -0.02825077 0.01647729
+v 0.05674269 -0.00005934 -0.01292699
+v 0.05682122 -0.00005935 -0.01196895
+v 0.05664918 -0.02603652 0.01647729
+v 0.05655942 -0.02455477 -0.00618397
+v 0.05659994 -0.02259459 -0.01004291
+v 0.05688917 -0.00103613 -0.01004283
+v 0.05688667 -0.00005935 -0.01004283
+v 0.05690662 -0.00005936 -0.00907139
+v 0.05685426 -0.00005935 -0.01100087
+v 0.05610501 -0.02651492 -0.00618398
+v 0.05652763 -0.02455476 -0.00811344
+v 0.05656005 -0.02651500 0.01647729
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 30
+f 1 30 44
+f 1 44 66
+f 1 66 80
+f 1 80 94
+f 1 94 106
+f 1 106 97
+f 1 97 84
+f 1 84 72
+f 1 72 52
+f 1 52 35
+f 1 35 23
+f 1 23 14
+f 1 14 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 34
+f 1 34 49
+f 1 49 51
+f 1 51 56
+f 1 56 37
+f 1 37 24
+f 1 24 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 6 12 7
+f 7 12 14
+f 7 14 23
+f 7 23 36
+f 7 36 55
+f 7 55 54
+f 7 54 53
+f 7 53 75
+f 7 75 88
+f 7 88 87
+f 7 87 102
+f 7 102 101
+f 7 101 103
+f 7 103 96
+f 7 96 95
+f 7 95 82
+f 7 82 81
+f 7 81 67
+f 7 67 45
+f 7 45 31
+f 7 31 20
+f 7 20 13
+f 8 15 16
+f 8 16 9
+f 9 17 18
+f 9 18 10
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 13 20 21
+f 13 21 22
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 20 31 32
+f 20 32 21
+f 21 33 34
+f 21 34 22
+f 21 32 33
+f 23 35 36
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 30
+f 31 45 32
+f 32 46 50
+f 32 50 33
+f 32 45 47
+f 32 47 48
+f 32 48 46
+f 33 49 34
+f 33 50 51
+f 33 51 49
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 37 56 38
+f 38 56 57
+f 38 57 39
+f 39 57 58
+f 39 58 59
+f 39 59 60
+f 39 60 40
+f 40 60 41
+f 41 60 59
+f 41 59 61
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 42
+f 42 64 43
+f 43 64 65
+f 43 65 44
+f 44 65 66
+f 45 67 47
+f 46 68 50
+f 46 48 69
+f 46 69 68
+f 47 67 70
+f 47 70 48
+f 48 70 71
+f 48 71 69
+f 50 68 57
+f 50 57 51
+f 51 57 56
+f 52 72 73
+f 52 73 74
+f 52 74 53
+f 53 74 73
+f 53 73 75
+f 57 68 58
+f 58 68 59
+f 59 76 61
+f 59 68 69
+f 59 69 76
+f 61 76 62
+f 62 76 77
+f 62 77 78
+f 62 78 79
+f 62 79 63
+f 63 79 64
+f 64 79 65
+f 65 79 80
+f 65 80 66
+f 67 81 70
+f 69 71 76
+f 70 81 82
+f 70 82 83
+f 70 83 71
+f 71 83 77
+f 71 77 76
+f 72 84 85
+f 72 85 86
+f 72 86 73
+f 73 86 87
+f 73 87 88
+f 73 88 75
+f 77 83 89
+f 77 89 90
+f 77 90 78
+f 78 90 91
+f 78 91 92
+f 78 92 93
+f 78 93 79
+f 79 93 94
+f 79 94 80
+f 82 95 83
+f 83 95 96
+f 83 96 89
+f 84 97 98
+f 84 98 99
+f 84 99 85
+f 85 99 86
+f 86 99 90
+f 86 90 100
+f 86 100 101
+f 86 101 102
+f 86 102 87
+f 89 96 103
+f 89 103 101
+f 89 101 100
+f 89 100 90
+f 90 99 91
+f 91 104 92
+f 91 99 105
+f 91 105 106
+f 91 106 104
+f 92 104 94
+f 92 94 93
+f 94 104 106
+f 97 106 98
+f 98 105 99
+f 98 106 105
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_20.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.05645061 0.02248937 0.02631133
+v 0.05812799 0.02248937 0.02594086
+v 0.05805914 0.02444982 0.02588876
+v 0.05645061 0.02444982 0.02618248
+v 0.05478733 0.02445462 0.02592287
+v 0.05446961 0.02052891 0.02604603
+v 0.05446961 0.00484766 0.02583942
+v 0.05606155 0.00288720 0.02577213
+v 0.05911850 0.02248938 0.02533541
+v 0.05904964 0.02444983 0.02535247
+v 0.05705205 0.00288720 0.02551726
+v 0.05904881 0.02445463 0.02535152
+v 0.05805997 0.02445462 0.02588686
+v 0.05645061 0.02445462 0.02618154
+v 0.05375203 0.02445463 0.02460489
+v 0.05347496 0.02153434 0.02563387
+v 0.05340943 0.02052892 0.02570493
+v 0.05438333 0.02230700 0.02592854
+v 0.05339034 0.01902438 0.02572482
+v 0.05340445 0.00484766 0.02570013
+v 0.05341606 0.00347270 0.02569160
+v 0.05440242 0.00284641 0.02578161
+v 0.05575212 0.00136827 0.02570392
+v 0.05975560 0.02052892 0.02431779
+v 0.05980289 0.02444983 0.02438791
+v 0.05832377 0.00288720 0.02455365
+v 0.05934248 0.00092675 0.02336642
+v 0.05642738 0.00079957 0.02537038
+v 0.05835198 0.00092675 0.02435561
+v 0.05980372 0.02445463 0.02438412
+v 0.05373793 0.02445463 0.02456320
+v 0.05345920 0.02445464 0.02273737
+v 0.05246538 0.01660802 0.02273734
+v 0.05230112 0.01464756 0.02273733
+v 0.05223476 0.01268710 0.02273733
+v 0.05333974 -0.00005948 0.02412347
+v 0.05369728 0.00216493 0.02546988
+v 0.05501795 0.00136827 0.02570392
+v 0.05226711 0.01072904 0.02273732
+v 0.05309253 0.00484766 0.02466546
+v 0.05643817 -0.00005948 0.02514677
+v 0.06023178 0.02052893 0.02273736
+v 0.06019777 0.02444984 0.02273737
+v 0.05920809 -0.00005948 0.02337210
+v 0.05958554 -0.00005947 0.02240849
+v 0.05821676 -0.00005948 0.02419548
+v 0.06019694 0.02445464 0.02273263
+v 0.05336297 0.02445466 0.01663166
+v 0.05216839 0.01660804 0.01663163
+v 0.05211945 0.01628169 0.01663163
+v 0.05189298 0.01464758 0.01663162
+v 0.05190791 0.01464758 0.01695283
+v 0.05235504 0.01660802 0.02080917
+v 0.05201741 0.01464757 0.01888099
+v 0.05214185 0.01464756 0.02080916
+v 0.05206802 0.01268710 0.02080916
+v 0.05329826 -0.00005948 0.02348012
+v 0.05390716 -0.00005948 0.02468345
+v 0.05240316 0.00876859 0.02273731
+v 0.05443394 -0.00005948 0.02508519
+v 0.05551071 -0.00005948 0.02513730
+v 0.05212526 0.01072904 0.02080915
+v 0.06027408 0.01660802 0.02080917
+v 0.06026662 0.01856847 0.02080918
+v 0.05970666 -0.00005947 0.02084511
+v 0.05989746 0.02445464 0.02080636
+v 0.05573636 0.02445466 0.01663166
+v 0.05187639 0.01432123 0.01663162
+v 0.05181500 0.01268712 0.01695283
+v 0.05193280 0.01268711 0.01888099
+v 0.05325264 -0.00005947 0.02273728
+v 0.05199999 0.01072905 0.01888098
+v 0.05189215 0.01072906 0.01695282
+v 0.05992069 0.01660803 0.01903260
+v 0.05959052 -0.00005946 0.01996678
+v 0.05953826 -0.00005946 0.01963894
+v 0.05950341 0.02444985 0.01975558
+v 0.05950093 0.02445465 0.01975368
+v 0.05692098 0.02445466 0.01694908
+v 0.05691517 0.02444986 0.01663166
+v 0.05179924 0.01268712 0.01663162
+v 0.05339034 -0.00005945 0.01663157
+v 0.05187722 0.01072906 0.01663161
+v 0.05212028 0.00876861 0.01663160
+v 0.05696495 0.02248941 0.01663165
+v 0.05695748 0.02281575 0.01663165
+v 0.05705039 -0.00005945 0.01663157
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 9
+f 3 10 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 5
+f 5 14 13
+f 5 13 12
+f 5 12 30
+f 5 30 47
+f 5 47 66
+f 5 66 78
+f 5 78 79
+f 5 79 67
+f 5 67 48
+f 5 48 32
+f 5 32 31
+f 5 31 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 17
+f 6 17 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 11
+f 9 24 25
+f 9 25 10
+f 9 11 26
+f 9 26 27
+f 9 27 24
+f 10 25 12
+f 11 23 28
+f 11 28 29
+f 11 29 26
+f 12 25 30
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 19
+f 19 35 20
+f 20 35 21
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 21 35 39
+f 21 39 40
+f 21 40 36
+f 22 38 23
+f 23 38 41
+f 23 41 28
+f 24 42 25
+f 24 27 42
+f 25 43 30
+f 25 42 43
+f 26 29 27
+f 27 29 44
+f 27 44 45
+f 27 45 42
+f 28 41 46
+f 28 46 29
+f 29 46 44
+f 30 43 47
+f 32 48 49
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 56
+f 34 56 35
+f 35 56 39
+f 36 57 71
+f 36 71 82
+f 36 82 87
+f 36 87 76
+f 36 76 75
+f 36 75 65
+f 36 65 45
+f 36 45 44
+f 36 44 46
+f 36 46 41
+f 36 41 61
+f 36 61 60
+f 36 60 58
+f 36 58 37
+f 36 40 59
+f 36 59 57
+f 37 58 60
+f 37 60 38
+f 38 60 61
+f 38 61 41
+f 39 56 62
+f 39 62 59
+f 39 59 40
+f 42 63 64
+f 42 64 43
+f 42 45 63
+f 43 64 47
+f 45 65 63
+f 47 64 66
+f 48 67 80
+f 48 80 86
+f 48 86 85
+f 48 85 87
+f 48 87 82
+f 48 82 84
+f 48 84 83
+f 48 83 81
+f 48 81 68
+f 48 68 51
+f 48 51 50
+f 48 50 49
+f 51 68 52
+f 52 68 69
+f 52 69 54
+f 52 54 53
+f 54 69 70
+f 54 70 55
+f 55 70 56
+f 56 70 62
+f 57 59 71
+f 59 62 72
+f 59 72 73
+f 59 73 71
+f 62 70 72
+f 63 74 64
+f 63 65 75
+f 63 75 76
+f 63 76 74
+f 64 74 66
+f 66 77 78
+f 66 74 77
+f 67 79 80
+f 68 81 69
+f 69 81 73
+f 69 73 72
+f 69 72 70
+f 71 73 83
+f 71 83 84
+f 71 84 82
+f 73 81 83
+f 74 85 86
+f 74 86 80
+f 74 80 77
+f 74 76 87
+f 74 87 85
+f 77 80 78
+f 78 80 79
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_21.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.05286214 0.02443874 -0.00975353
+v 0.04871774 0.02975691 -0.00975351
+v 0.05649813 0.02443874 -0.00975353
+v 0.05315857 0.02443868 0.00617265
+v 0.05330557 0.02445527 0.01486979
+v 0.04871855 0.03019775 0.00923897
+v 0.04871774 0.03362628 -0.00975350
+v 0.04871774 0.03013421 0.00617267
+v 0.05649732 0.02445145 -0.00975353
+v 0.05701466 0.02445526 0.01736797
+v 0.05652818 0.02443873 -0.00811286
+v 0.05673609 0.02443868 0.00617265
+v 0.05337461 0.02445526 0.01736797
+v 0.05330963 0.02445526 0.01501846
+v 0.04871855 0.03040692 0.01736799
+v 0.04871855 0.03039519 0.01695118
+v 0.04871855 0.03029158 0.01309375
+v 0.04871855 0.03024368 0.01116636
+v 0.04871774 0.03366048 -0.00845264
+v 0.04871855 0.03442390 0.01736801
+v 0.05058568 0.03413747 0.01736801
+v 0.04945679 0.03338481 -0.00975350
+v 0.04871774 0.03394589 0.00617268
+v 0.05601409 0.02641155 -0.00975352
+v 0.05632596 0.02847420 0.01736798
+v 0.05671498 0.02641145 0.01736798
+v 0.05664595 0.02443870 -0.00040065
+v 0.05661914 0.02443871 -0.00232804
+v 0.05659072 0.02443872 -0.00425543
+v 0.05656148 0.02443872 -0.00618547
+v 0.04871774 0.03370838 -0.00650933
+v 0.04871774 0.03375432 -0.00456601
+v 0.04871774 0.03379928 -0.00262535
+v 0.04871774 0.03384131 -0.00068734
+v 0.04871774 0.03387944 0.00125067
+v 0.04871774 0.03391853 0.00345681
+v 0.04871774 0.03393807 0.00511607
+v 0.04871774 0.03394100 0.00538155
+v 0.05154889 0.03359001 0.01736800
+v 0.05061979 0.03279042 -0.00975350
+v 0.04962897 0.03332713 -0.00975350
+v 0.05563806 0.02741555 -0.00975352
+v 0.05574608 0.02957694 0.01736799
+v 0.05556822 0.02760130 -0.00975352
+v 0.05181446 0.03341990 0.01736800
+v 0.05191680 0.03195653 -0.00975350
+v 0.05573958 0.02958671 0.01736799
+v 0.05548457 0.02774794 -0.00975352
+v 0.05500621 0.02858086 -0.00975352
+v 0.05394961 0.03177166 0.01736800
+v 0.05214420 0.03180989 -0.00975350
+v 0.05416401 0.02978722 -0.00975351
+v 0.05401539 0.02999838 -0.00975351
+v 0.05388382 0.03014698 -0.00975351
+v 0.05313340 0.03097892 -0.00975351
+v 0.05229282 0.03168573 -0.00975350
+f 1 2 7
+f 1 7 22
+f 1 22 41
+f 1 41 40
+f 1 40 46
+f 1 46 51
+f 1 51 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 49
+f 1 49 48
+f 1 48 44
+f 1 44 42
+f 1 42 24
+f 1 24 9
+f 1 9 3
+f 1 3 11
+f 1 11 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 23
+f 2 23 38
+f 2 38 37
+f 2 37 36
+f 2 36 35
+f 2 35 34
+f 2 34 33
+f 2 33 32
+f 2 32 31
+f 2 31 19
+f 2 19 7
+f 3 9 10
+f 3 10 11
+f 4 12 10
+f 4 10 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 8
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 8 18 17
+f 8 17 16
+f 8 16 15
+f 8 15 20
+f 8 20 23
+f 9 24 25
+f 9 25 26
+f 9 26 10
+f 10 26 25
+f 10 25 43
+f 10 43 47
+f 10 47 50
+f 10 50 45
+f 10 45 39
+f 10 39 21
+f 10 21 20
+f 10 20 15
+f 10 15 13
+f 10 12 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 13 15 14
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 23
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 24 42 25
+f 25 42 44
+f 25 44 43
+f 39 45 40
+f 40 45 46
+f 43 44 48
+f 43 48 49
+f 43 49 47
+f 45 50 51
+f 45 51 46
+f 47 49 52
+f 47 52 53
+f 47 53 50
+f 50 53 54
+f 50 54 55
+f 50 55 56
+f 50 56 51
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_22.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.05468721 0.01280131 -0.00975435
+v 0.05468721 0.01280131 -0.00977074
+v 0.05122110 0.01280131 -0.00975435
+v 0.05635504 0.00484774 -0.00975438
+v 0.05463599 0.01280131 -0.01197166
+v 0.05634864 0.00484774 -0.01004393
+v 0.04871775 0.01280132 -0.01401570
+v 0.05121469 0.01268801 -0.00975435
+v 0.05640786 0.00455317 -0.00975438
+v 0.05670077 0.00288767 -0.01004394
+v 0.05451114 0.01280132 -0.01389941
+v 0.05627821 0.00484774 -0.01197169
+v 0.05663355 0.00288767 -0.01197170
+v 0.04871775 0.01280134 -0.01772214
+v 0.04871775 0.01268802 -0.01401492
+v 0.04871775 0.01095833 -0.01401805
+v 0.04871775 0.00899323 -0.01402977
+v 0.04871775 0.00697903 -0.01404694
+v 0.04871775 -0.00005934 -0.01411565
+v 0.05131473 0.01102252 -0.00975436
+v 0.05670637 0.00288767 -0.00975439
+v 0.05673438 0.00259310 -0.00975439
+v 0.05688404 0.00092761 -0.01004395
+v 0.05681842 0.00092761 -0.01197171
+v 0.05397334 0.01280133 -0.01582795
+v 0.05611655 0.00484775 -0.01389944
+v 0.05556674 0.00620231 -0.01512321
+v 0.05647348 0.00288768 -0.01389945
+v 0.05665916 0.00092762 -0.01389946
+v 0.05050643 0.01280134 -0.01772214
+v 0.05050643 0.01072798 -0.01772605
+v 0.04871775 0.00484777 -0.01772451
+v 0.04871775 -0.00005932 -0.01772141
+v 0.05332109 -0.00005935 -0.00975440
+v 0.05147479 0.00964909 -0.00975436
+v 0.05133554 0.01070151 -0.00975436
+v 0.05688964 0.00092761 -0.00975440
+v 0.05689044 0.00077906 -0.00975440
+v 0.05689284 -0.00005935 -0.00975440
+v 0.05688644 -0.00005935 -0.01004395
+v 0.05682162 -0.00005935 -0.01197171
+v 0.05666316 -0.00005934 -0.01389946
+v 0.05350516 0.01280133 -0.01681914
+v 0.05573080 0.00484776 -0.01546116
+v 0.05582764 0.00276936 -0.01595754
+v 0.05604852 0.00092763 -0.01582800
+v 0.05605493 -0.00005933 -0.01582800
+v 0.05248798 0.01280133 -0.01728352
+v 0.05248798 0.00680657 -0.01762226
+v 0.05248798 0.00484776 -0.01767690
+v 0.05248798 0.00288770 -0.01769720
+v 0.05248798 0.00092764 -0.01770424
+v 0.05050643 0.00680658 -0.01772684
+v 0.04871775 0.00465642 -0.01772451
+v 0.05050643 -0.00005932 -0.01772141
+v 0.04871775 0.00073629 -0.01772219
+v 0.05050643 0.00092764 -0.01772297
+v 0.05536587 0.00334467 -0.01668650
+v 0.05547471 0.00203795 -0.01680591
+v 0.05399335 0.00680657 -0.01715398
+v 0.05550752 0.00092763 -0.01683636
+v 0.05551232 -0.00005933 -0.01684104
+v 0.05421823 0.00484776 -0.01720862
+v 0.05446873 0.00092763 -0.01728357
+v 0.05446873 -0.00005933 -0.01728825
+v 0.05348355 -0.00005933 -0.01749741
+v 0.05248798 -0.00005932 -0.01770346
+v 0.05150280 -0.00005932 -0.01771282
+v 0.05050643 0.00484777 -0.01772607
+v 0.04871775 0.00269636 -0.01772374
+v 0.05461038 0.00276936 -0.01715166
+v 0.05499613 -0.00005933 -0.01706347
+f 1 2 5
+f 1 5 11
+f 1 11 25
+f 1 25 43
+f 1 43 48
+f 1 48 30
+f 1 30 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 36
+f 1 36 35
+f 1 35 34
+f 1 34 39
+f 1 39 38
+f 1 38 37
+f 1 37 22
+f 1 22 21
+f 1 21 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 6 12
+f 5 12 11
+f 6 10 13
+f 6 13 12
+f 7 14 32
+f 7 32 54
+f 7 54 70
+f 7 70 56
+f 7 56 33
+f 7 33 19
+f 7 19 18
+f 7 18 17
+f 7 17 16
+f 7 16 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 13
+f 11 12 26
+f 11 26 27
+f 11 27 25
+f 12 13 28
+f 12 28 26
+f 13 24 29
+f 13 29 28
+f 14 30 31
+f 14 31 32
+f 19 33 55
+f 19 55 68
+f 19 68 67
+f 19 67 66
+f 19 66 65
+f 19 65 72
+f 19 72 62
+f 19 62 47
+f 19 47 42
+f 19 42 41
+f 19 41 40
+f 19 40 39
+f 19 39 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 24 42 29
+f 25 27 44
+f 25 44 43
+f 26 28 44
+f 26 44 27
+f 28 45 44
+f 28 29 46
+f 28 46 45
+f 29 42 47
+f 29 47 46
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 31
+f 31 52 53
+f 31 53 32
+f 32 53 54
+f 33 56 57
+f 33 57 55
+f 43 44 58
+f 43 58 59
+f 43 59 60
+f 43 60 48
+f 44 45 58
+f 45 46 59
+f 45 59 58
+f 46 61 59
+f 46 47 62
+f 46 62 61
+f 48 60 63
+f 48 63 49
+f 49 63 64
+f 49 64 50
+f 50 64 51
+f 51 64 65
+f 51 65 66
+f 51 66 52
+f 52 66 67
+f 52 67 68
+f 52 68 69
+f 52 69 53
+f 53 69 70
+f 53 70 54
+f 55 57 68
+f 56 70 69
+f 56 69 57
+f 57 69 68
+f 59 71 63
+f 59 63 60
+f 59 61 71
+f 61 64 71
+f 61 62 72
+f 61 72 64
+f 63 71 64
+f 64 72 65
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_23.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.04871448 0.03409139 0.01471650
+v 0.04855379 0.03414513 0.01471650
+v 0.04871448 0.03033708 0.01471648
+v 0.04871448 0.03391436 0.00318216
+v 0.04852165 0.03398808 0.00345310
+v 0.04852165 0.03415477 0.01471650
+v 0.03663292 0.02960331 0.01471648
+v 0.04871448 0.02849137 -0.01352218
+v 0.04871448 0.03387923 0.00124687
+v 0.04852165 0.03395294 0.00152611
+v 0.04654143 0.03435117 0.00152612
+v 0.04654143 0.03438287 0.00345311
+v 0.04654143 0.03447377 0.01471650
+v 0.04654143 0.03440697 0.00538288
+v 0.03631895 0.02962053 0.01471648
+v 0.03456865 0.02800288 -0.01352218
+v 0.03653651 0.02795189 -0.01352218
+v 0.03663292 0.02795121 -0.01352218
+v 0.03861314 0.02802975 -0.01352218
+v 0.04871448 0.03349069 -0.01352216
+v 0.04871448 0.03384133 -0.00068842
+v 0.04852165 0.03391505 -0.00040089
+v 0.04654143 0.03427885 -0.00232787
+v 0.04654143 0.03431605 -0.00040088
+v 0.02474420 0.03489964 -0.00618463
+v 0.02474420 0.03492720 -0.00425763
+v 0.02474420 0.03497607 0.00923687
+v 0.02474420 0.03495952 0.01116663
+v 0.02474420 0.03493747 0.01309363
+v 0.02474420 0.03491886 0.01471650
+v 0.02474420 0.03496645 -0.00040088
+v 0.02474420 0.03497816 0.00152612
+v 0.02474420 0.03498711 0.00345311
+v 0.02474420 0.03498986 0.00538288
+v 0.02474420 0.03498503 0.00730987
+v 0.02474420 0.03494993 -0.00232787
+v 0.03465270 0.02971423 0.01471648
+v 0.03233133 0.02818822 -0.01352218
+v 0.04869717 0.03349620 -0.01352216
+v 0.04871448 0.03355682 -0.01217022
+v 0.04871448 0.03380620 -0.00232788
+v 0.04852165 0.03387304 -0.00232788
+v 0.04654143 0.03423890 -0.00425763
+v 0.02474420 0.03485831 -0.00811439
+v 0.02346114 0.03479906 -0.00811439
+v 0.02346114 0.03483901 -0.00618463
+v 0.02346114 0.03486588 -0.00425763
+v 0.02346114 0.03491682 0.00923687
+v 0.02346114 0.03490785 0.01048375
+v 0.02346114 0.03492026 0.00855675
+v 0.02346114 0.03490165 0.01116663
+v 0.02346114 0.03488855 0.01241351
+v 0.02346114 0.03486788 0.01434051
+v 0.02346114 0.03486374 0.01471650
+v 0.02346114 0.03490582 -0.00040088
+v 0.02346114 0.03491340 0.00084324
+v 0.02346114 0.03491753 0.00152612
+v 0.02346114 0.03492717 0.00345311
+v 0.02346114 0.03492923 0.00538288
+v 0.02346114 0.03492509 0.00730987
+v 0.02346114 0.03488861 -0.00232787
+v 0.02346114 0.03135265 0.01471649
+v 0.02346114 0.02993688 -0.01352217
+v 0.04863537 0.03351411 -0.01352216
+v 0.04852165 0.03362434 -0.01197116
+v 0.04871448 0.03356302 -0.01197116
+v 0.04871448 0.03375523 -0.00456729
+v 0.04852165 0.03382826 -0.00425764
+v 0.04654143 0.03419618 -0.00618463
+v 0.04654143 0.03414934 -0.00811439
+v 0.04654143 0.03409906 -0.01004139
+v 0.04654143 0.03404256 -0.01197115
+v 0.02474420 0.03479631 -0.01004139
+v 0.02346114 0.03473844 -0.01004139
+v 0.02346114 0.03449524 -0.01352215
+v 0.04654143 0.03396196 -0.01352216
+v 0.04852165 0.03368222 -0.01004140
+v 0.04871448 0.03360987 -0.01040081
+v 0.04871448 0.03370907 -0.00651088
+v 0.04852165 0.03378210 -0.00618464
+v 0.04852165 0.03373319 -0.00811440
+v 0.02474420 0.03470674 -0.01197115
+v 0.02346114 0.03470674 -0.01072427
+v 0.02346114 0.03464887 -0.01197115
+v 0.02474420 0.03454967 -0.01352215
+v 0.04871448 0.03366085 -0.00845446
+f 1 2 6
+f 1 6 13
+f 1 13 30
+f 1 30 54
+f 1 54 62
+f 1 62 37
+f 1 37 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 40
+f 1 40 66
+f 1 66 78
+f 1 78 86
+f 1 86 79
+f 1 79 67
+f 1 67 41
+f 1 41 21
+f 1 21 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 24
+f 5 24 11
+f 5 11 12
+f 5 12 6
+f 6 12 14
+f 6 14 13
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 18
+f 8 18 17
+f 8 17 16
+f 8 16 38
+f 8 38 63
+f 8 63 75
+f 8 75 85
+f 8 85 76
+f 8 76 64
+f 8 64 39
+f 8 39 20
+f 9 21 10
+f 10 22 23
+f 10 23 24
+f 10 21 22
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 14
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 14 31
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 27
+f 14 26 36
+f 14 36 31
+f 15 37 16
+f 16 37 38
+f 20 39 40
+f 21 41 22
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 23 43 25
+f 23 25 24
+f 25 44 45
+f 25 45 46
+f 25 46 26
+f 25 43 44
+f 26 46 47
+f 26 47 61
+f 26 61 36
+f 27 48 49
+f 27 49 28
+f 27 35 50
+f 27 50 48
+f 28 49 51
+f 28 51 52
+f 28 52 53
+f 28 53 54
+f 28 54 29
+f 29 54 30
+f 31 36 55
+f 31 55 56
+f 31 56 32
+f 32 56 57
+f 32 57 58
+f 32 58 33
+f 33 58 34
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 35 60 50
+f 36 61 55
+f 37 62 38
+f 38 62 63
+f 39 64 65
+f 39 65 40
+f 40 65 66
+f 41 67 42
+f 42 67 68
+f 42 68 69
+f 42 69 43
+f 43 69 44
+f 44 69 70
+f 44 70 71
+f 44 71 72
+f 44 72 73
+f 44 73 74
+f 44 74 45
+f 45 74 83
+f 45 83 84
+f 45 84 75
+f 45 75 63
+f 45 63 62
+f 45 62 54
+f 45 54 53
+f 45 53 52
+f 45 52 51
+f 45 51 49
+f 45 49 48
+f 45 48 50
+f 45 50 60
+f 45 60 59
+f 45 59 58
+f 45 58 57
+f 45 57 56
+f 45 56 55
+f 45 55 61
+f 45 61 47
+f 45 47 46
+f 64 76 65
+f 65 76 72
+f 65 72 77
+f 65 77 66
+f 66 77 78
+f 67 79 68
+f 68 79 80
+f 68 80 69
+f 69 80 70
+f 70 81 71
+f 70 80 81
+f 71 77 72
+f 71 81 77
+f 72 82 73
+f 72 76 82
+f 73 82 83
+f 73 83 74
+f 75 84 82
+f 75 82 85
+f 76 85 82
+f 77 81 78
+f 78 81 86
+f 79 86 80
+f 80 86 81
+f 82 84 83
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_24.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.04871695 0.03040896 0.01736885
+v 0.04871695 0.03044822 0.01888131
+v 0.04871695 0.03442494 0.01736887
+v 0.05337590 0.02445466 0.01736883
+v 0.05345934 0.02445464 0.02273707
+v 0.04871695 0.03049889 0.02080963
+v 0.04871695 0.03635818 0.01939210
+v 0.04940700 0.03722345 0.01979761
+v 0.05050634 0.03724752 0.01975447
+v 0.05171393 0.03723358 0.01977173
+v 0.05058527 0.03413863 0.01736887
+v 0.05701444 0.02445466 0.01736883
+v 0.05373784 0.02445463 0.02456271
+v 0.04871695 0.03093975 0.02474565
+v 0.04871695 0.03055083 0.02273709
+v 0.04871695 0.03729185 0.02087437
+v 0.04871695 0.03730199 0.02096237
+v 0.05050634 0.03739700 0.02080966
+v 0.05241976 0.03635184 0.01922730
+v 0.05183231 0.03727538 0.02080966
+v 0.05282342 0.03700807 0.02080966
+v 0.05568847 0.03542703 0.01958363
+v 0.05446961 0.03579949 0.01926440
+v 0.05154818 0.03359007 0.01736886
+v 0.05950065 0.02445465 0.01975356
+v 0.05671565 0.02641071 0.01736884
+v 0.05987273 0.02837182 0.01927214
+v 0.05969571 0.02641070 0.01951889
+v 0.05375137 0.02445463 0.02460499
+v 0.04871695 0.03108924 0.02500966
+v 0.04871695 0.03731085 0.02216078
+v 0.05050634 0.03734126 0.02229364
+v 0.05172746 0.03726145 0.02194508
+v 0.05446961 0.03622134 0.02080965
+v 0.05763684 0.03348238 0.01960692
+v 0.05638979 0.03418169 0.01923766
+v 0.05567832 0.03542448 0.02080965
+v 0.05763684 0.03348238 0.02025228
+v 0.05395095 0.03177211 0.01736886
+v 0.05181428 0.03342031 0.01736886
+v 0.05989754 0.02445464 0.02080702
+v 0.05632665 0.02847445 0.01736884
+v 0.05843175 0.03033167 0.01875707
+v 0.05969571 0.03033167 0.01946541
+v 0.06023580 0.02837181 0.02080962
+v 0.06011966 0.02641069 0.02080962
+v 0.05478644 0.02445462 0.02592332
+v 0.04919615 0.03125900 0.02566710
+v 0.04871695 0.03192791 0.02571715
+v 0.04871695 0.03730452 0.02230486
+v 0.04871695 0.03713348 0.02317541
+v 0.04871695 0.03708154 0.02326945
+v 0.05050634 0.03680790 0.02325824
+v 0.05446961 0.03565379 0.02224532
+v 0.05552159 0.03529273 0.02186742
+v 0.05947810 0.03139077 0.01975187
+v 0.05835169 0.03214330 0.01933169
+v 0.05947810 0.03139077 0.02000035
+v 0.05574034 0.02958803 0.01736885
+v 0.06019746 0.02445464 0.02273275
+v 0.05574710 0.02957916 0.01736885
+v 0.05974419 0.03033166 0.02070954
+v 0.05982087 0.02835154 0.02271206
+v 0.06018393 0.02641069 0.02273708
+v 0.05645068 0.02445462 0.02618216
+v 0.04871695 0.03219395 0.02573527
+v 0.04871695 0.03619600 0.02427890
+v 0.05050634 0.03582734 0.02403301
+v 0.05314589 0.03505961 0.02359385
+v 0.05465227 0.03434383 0.02329964
+v 0.05786122 0.03180756 0.02222547
+v 0.05959536 0.02967795 0.02205204
+v 0.05918268 0.03098410 0.02128588
+v 0.05543590 0.03324545 0.02368788
+v 0.05960213 0.02768389 0.02392513
+v 0.05980395 0.02445463 0.02438412
+v 0.05975998 0.02641068 0.02422192
+v 0.05805966 0.02445462 0.02588709
+v 0.05780823 0.02574051 0.02575508
+v 0.05187629 0.03154911 0.02573095
+v 0.04871695 0.03356597 0.02571801
+v 0.04871695 0.03610098 0.02435396
+v 0.04871695 0.03472516 0.02522451
+v 0.05411556 0.03375220 0.02401315
+v 0.05465227 0.03247139 0.02439364
+v 0.05845430 0.02640055 0.02517703
+v 0.05904851 0.02445463 0.02535216
+v 0.05319663 0.03102590 0.02554113
+v 0.05251673 0.03223829 0.02525125
+v 0.04956372 0.03330626 0.02564467
+v 0.04871695 0.03454906 0.02531510
+f 1 2 6
+f 1 6 15
+f 1 15 14
+f 1 14 30
+f 1 30 49
+f 1 49 66
+f 1 66 81
+f 1 81 91
+f 1 91 83
+f 1 83 82
+f 1 82 67
+f 1 67 52
+f 1 52 51
+f 1 51 50
+f 1 50 31
+f 1 31 17
+f 1 17 16
+f 1 16 7
+f 1 7 3
+f 1 3 11
+f 1 11 24
+f 1 24 40
+f 1 40 39
+f 1 39 59
+f 1 59 61
+f 1 61 42
+f 1 42 26
+f 1 26 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 25
+f 4 25 41
+f 4 41 60
+f 4 60 76
+f 4 76 87
+f 4 87 78
+f 4 78 65
+f 4 65 47
+f 4 47 29
+f 4 29 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+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 23
+f 11 23 24
+f 12 26 27
+f 12 27 28
+f 12 28 25
+f 13 29 14
+f 14 29 30
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 20
+f 20 33 21
+f 21 34 22
+f 21 33 34
+f 22 35 36
+f 22 36 23
+f 22 34 37
+f 22 37 38
+f 22 38 35
+f 23 36 39
+f 23 39 40
+f 23 40 24
+f 25 28 41
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 41
+f 27 41 28
+f 29 47 30
+f 30 48 49
+f 30 47 48
+f 31 50 32
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 37
+f 35 38 58
+f 35 58 56
+f 35 56 57
+f 35 57 36
+f 36 57 39
+f 37 55 38
+f 38 55 58
+f 39 57 59
+f 41 46 60
+f 42 61 43
+f 43 61 59
+f 43 59 57
+f 43 57 44
+f 44 57 56
+f 44 56 45
+f 45 60 46
+f 45 56 62
+f 45 62 63
+f 45 63 64
+f 45 64 60
+f 47 65 49
+f 47 49 48
+f 49 65 66
+f 52 67 53
+f 53 67 68
+f 53 68 69
+f 53 69 54
+f 54 69 70
+f 54 70 55
+f 55 71 72
+f 55 72 73
+f 55 73 58
+f 55 70 74
+f 55 74 75
+f 55 75 71
+f 56 58 62
+f 58 73 72
+f 58 72 62
+f 60 64 76
+f 62 72 63
+f 63 75 64
+f 63 72 75
+f 64 77 76
+f 64 75 77
+f 65 78 79
+f 65 79 80
+f 65 80 81
+f 65 81 66
+f 67 82 68
+f 68 83 84
+f 68 84 69
+f 68 82 83
+f 69 84 74
+f 69 74 70
+f 71 75 72
+f 74 84 85
+f 74 85 86
+f 74 86 75
+f 75 86 77
+f 76 77 87
+f 77 86 87
+f 78 87 79
+f 79 87 86
+f 79 86 85
+f 79 85 88
+f 79 88 80
+f 80 88 89
+f 80 89 90
+f 80 90 81
+f 81 90 91
+f 83 91 84
+f 84 91 89
+f 84 89 85
+f 85 89 88
+f 89 91 90
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_25.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.05643153 0.02471883 -0.00975431
+v 0.05275729 0.02471883 -0.00975431
+v 0.05649795 0.02444936 -0.00975431
+v 0.05642612 0.02471883 -0.01004381
+v 0.04871695 0.02471884 -0.01407012
+v 0.05146896 0.01575036 -0.00975434
+v 0.05649255 0.02444936 -0.01004381
+v 0.05660686 0.02248954 -0.00975432
+v 0.05660300 0.02248954 -0.01004382
+v 0.05644929 0.02444936 -0.01197168
+v 0.05638132 0.02471883 -0.01197168
+v 0.04871695 0.02471886 -0.01772556
+v 0.04871695 0.01464914 -0.01402165
+v 0.05122102 0.01280248 -0.00975435
+v 0.05123106 0.01298329 -0.00975435
+v 0.05132838 0.01464913 -0.00975435
+v 0.05134692 0.01480429 -0.00975435
+v 0.05656515 0.02248954 -0.01197169
+v 0.05657287 0.02219441 -0.00975432
+v 0.05637823 0.02052973 -0.00975432
+v 0.05637360 0.02052973 -0.01004382
+v 0.05648791 0.02248955 -0.01389956
+v 0.05636974 0.02444937 -0.01389955
+v 0.05630099 0.02471884 -0.01389955
+v 0.05221662 0.02471886 -0.01774434
+v 0.05248773 0.02444939 -0.01774669
+v 0.04871695 0.02444939 -0.01772556
+v 0.04871695 0.01280249 -0.01401617
+v 0.05468748 0.01280248 -0.00975435
+v 0.05633421 0.02052973 -0.01197169
+v 0.05468748 0.01280248 -0.00977078
+v 0.05623920 0.02052974 -0.01389956
+v 0.05606464 0.02248956 -0.01582743
+v 0.05596192 0.02444938 -0.01582742
+v 0.05625311 0.02471884 -0.01416401
+v 0.05248773 0.02471886 -0.01774199
+v 0.05446890 0.02248956 -0.01739226
+v 0.05248773 0.02248957 -0.01773887
+v 0.05050579 0.01280251 -0.01772169
+v 0.05039225 0.01280251 -0.01772247
+v 0.04871695 0.01280251 -0.01772169
+v 0.05468130 0.01280248 -0.01004385
+v 0.05463573 0.01280248 -0.01197172
+v 0.05451138 0.01280249 -0.01389959
+v 0.05562052 0.01908323 -0.01524532
+v 0.05577809 0.02060208 -0.01586420
+v 0.05551702 0.02130318 -0.01685005
+v 0.05557727 0.02248956 -0.01691264
+v 0.05553401 0.02444938 -0.01686882
+v 0.05551393 0.02471885 -0.01684769
+v 0.05582443 0.02471885 -0.01609188
+v 0.05590708 0.02471885 -0.01579925
+v 0.05419779 0.02471885 -0.01740242
+v 0.05446890 0.02444938 -0.01735313
+v 0.05455772 0.02060208 -0.01718336
+v 0.05248773 0.01280250 -0.01728354
+v 0.05248773 0.02052976 -0.01770366
+v 0.05397303 0.01280250 -0.01582746
+v 0.05350496 0.01280250 -0.01681956
+v 0.05447430 0.02471885 -0.01732262
+v 0.05537722 0.02471885 -0.01691185
+f 1 2 6
+f 1 6 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 29
+f 1 29 20
+f 1 20 19
+f 1 19 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 11
+f 1 11 24
+f 1 24 35
+f 1 35 52
+f 1 52 51
+f 1 51 50
+f 1 50 61
+f 1 61 60
+f 1 60 53
+f 1 53 36
+f 1 36 25
+f 1 25 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 8 9
+f 3 9 7
+f 4 7 10
+f 4 10 11
+f 5 12 27
+f 5 27 41
+f 5 41 28
+f 5 28 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 7 9 18
+f 7 18 10
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 18
+f 10 18 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 12 25 26
+f 12 26 27
+f 13 28 14
+f 14 28 41
+f 14 41 40
+f 14 40 39
+f 14 39 56
+f 14 56 59
+f 14 59 58
+f 14 58 44
+f 14 44 43
+f 14 43 42
+f 14 42 31
+f 14 31 29
+f 18 21 30
+f 18 30 22
+f 20 29 31
+f 20 31 21
+f 21 31 30
+f 22 30 32
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 25 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 30 31 42
+f 30 42 43
+f 30 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 36 53 37
+f 37 53 54
+f 37 54 48
+f 37 48 47
+f 37 47 55
+f 37 55 56
+f 37 56 39
+f 37 39 57
+f 37 57 38
+f 38 57 39
+f 44 58 45
+f 45 58 46
+f 46 58 47
+f 47 58 59
+f 47 59 56
+f 47 56 55
+f 48 54 49
+f 49 54 60
+f 49 60 61
+f 49 61 50
+f 53 60 54
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_26.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.04871695 0.03362600 -0.00975350
+v 0.04945626 0.03338534 -0.00975350
+v 0.04871695 0.03361902 -0.01004372
+v 0.04871695 0.02975707 -0.00975351
+v 0.04871695 0.03361031 -0.01040199
+v 0.04962843 0.03332692 -0.00975350
+v 0.04962088 0.03332343 -0.01004372
+v 0.04956273 0.03329465 -0.01197199
+v 0.04871695 0.02471884 -0.01407005
+v 0.05275709 0.02471883 -0.00975353
+v 0.04871695 0.03356322 -0.01197199
+v 0.04952498 0.03327635 -0.01301084
+v 0.04977720 0.03324669 -0.00975350
+v 0.05061166 0.03278630 -0.01004372
+v 0.05055351 0.03275665 -0.01197199
+v 0.04871695 0.02471886 -0.01772556
+v 0.05643173 0.02471883 -0.00975353
+v 0.04871695 0.03355712 -0.01217225
+v 0.04940038 0.03323363 -0.01429609
+v 0.04871695 0.03348214 -0.01369766
+v 0.05031337 0.03279764 -0.01375164
+v 0.05061921 0.03278978 -0.00975350
+v 0.05209783 0.03177655 -0.01197199
+v 0.05203742 0.03172686 -0.01389949
+v 0.05221639 0.02471886 -0.01774433
+v 0.04871695 0.02818058 -0.01773181
+v 0.05643097 0.02471883 -0.00979343
+v 0.05601488 0.02641132 -0.00975352
+v 0.04871695 0.03302611 -0.01578630
+v 0.04871695 0.03333826 -0.01483977
+v 0.04871695 0.03347516 -0.01379858
+v 0.05174819 0.03150277 -0.01582776
+v 0.05050594 0.03222128 -0.01582776
+v 0.05191584 0.03195705 -0.00975350
+v 0.05213785 0.03180620 -0.01004372
+v 0.05229266 0.03168674 -0.00975350
+v 0.05313392 0.03097957 -0.00975351
+v 0.05312788 0.03097434 -0.01004373
+v 0.05308785 0.03093336 -0.01197200
+v 0.05302820 0.03087582 -0.01389950
+v 0.05050594 0.02837154 -0.01773259
+v 0.05248749 0.02471886 -0.01774199
+v 0.04871695 0.02837154 -0.01773103
+v 0.05642569 0.02471883 -0.01004375
+v 0.05600733 0.02641132 -0.01004374
+v 0.05553535 0.02753617 -0.01197201
+v 0.05556404 0.02759284 -0.01004374
+v 0.05556857 0.02760069 -0.00975352
+v 0.05638113 0.02471883 -0.01197202
+v 0.04871695 0.03297902 -0.01592242
+v 0.05149672 0.03131094 -0.01679229
+v 0.05273821 0.03059244 -0.01582777
+v 0.05214389 0.03180969 -0.00975350
+v 0.05388380 0.03014684 -0.00975351
+v 0.05401067 0.02999425 -0.01004373
+v 0.05397744 0.02995326 -0.01197200
+v 0.05392760 0.02989572 -0.01389950
+v 0.05369274 0.02961234 -0.01582777
+v 0.04871695 0.03013989 -0.01769034
+v 0.04871695 0.03033085 -0.01766296
+v 0.05050594 0.03033085 -0.01744784
+v 0.05248749 0.02837153 -0.01747210
+v 0.05248749 0.02641135 -0.01771538
+v 0.05419719 0.02471885 -0.01740249
+v 0.05595446 0.02641132 -0.01197201
+v 0.05549155 0.02745247 -0.01389951
+v 0.05496822 0.02851626 -0.01197201
+v 0.05500220 0.02857294 -0.01004374
+v 0.05548475 0.02774805 -0.00975352
+v 0.05630109 0.02471884 -0.01389952
+v 0.04871695 0.03295722 -0.01596231
+v 0.05050594 0.03156730 -0.01698082
+v 0.05348582 0.02936035 -0.01679934
+v 0.05228964 0.03014076 -0.01698083
+v 0.05401595 0.02999948 -0.00975351
+v 0.05416472 0.02978846 -0.00975351
+v 0.05500673 0.02858078 -0.00975352
+v 0.05491838 0.02843256 -0.01389951
+v 0.05546134 0.02739492 -0.01486951
+v 0.05467521 0.02817796 -0.01563848
+v 0.04871695 0.03182715 -0.01723740
+v 0.04871695 0.03194748 -0.01719203
+v 0.05377430 0.02837153 -0.01700274
+v 0.05450304 0.02621515 -0.01715059
+v 0.05447434 0.02471885 -0.01732270
+v 0.05586913 0.02641133 -0.01389951
+v 0.05625275 0.02471884 -0.01416392
+v 0.05518646 0.02673833 -0.01615477
+v 0.05545983 0.02543125 -0.01679232
+v 0.05560105 0.02621515 -0.01563848
+v 0.05537752 0.02471885 -0.01691201
+v 0.05590689 0.02471885 -0.01579885
+v 0.05582458 0.02471885 -0.01609142
+v 0.05551420 0.02471885 -0.01684786
+f 1 2 3
+f 1 3 5
+f 1 5 11
+f 1 11 18
+f 1 18 20
+f 1 20 31
+f 1 31 30
+f 1 30 29
+f 1 29 50
+f 1 50 71
+f 1 71 82
+f 1 82 81
+f 1 81 60
+f 1 60 59
+f 1 59 43
+f 1 43 26
+f 1 26 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 28
+f 1 28 48
+f 1 48 69
+f 1 69 77
+f 1 77 76
+f 1 76 75
+f 1 75 54
+f 1 54 37
+f 1 37 36
+f 1 36 53
+f 1 53 34
+f 1 34 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 4 9 10
+f 5 8 12
+f 5 12 11
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 12
+f 9 16 25
+f 9 25 42
+f 9 42 64
+f 9 64 85
+f 9 85 91
+f 9 91 94
+f 9 94 93
+f 9 93 92
+f 9 92 87
+f 9 87 70
+f 9 70 49
+f 9 49 44
+f 9 44 27
+f 9 27 17
+f 9 17 10
+f 11 12 18
+f 12 19 20
+f 12 20 18
+f 12 15 21
+f 12 21 19
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 21
+f 16 26 25
+f 17 27 28
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 19 21 32
+f 19 32 33
+f 19 33 29
+f 21 24 32
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 32
+f 25 41 42
+f 25 26 41
+f 26 43 41
+f 27 44 28
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 44 49
+f 28 49 45
+f 29 33 50
+f 32 51 33
+f 32 40 52
+f 32 52 51
+f 33 51 50
+f 34 53 35
+f 35 53 36
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 38 56 39
+f 39 56 57
+f 39 57 40
+f 40 57 58
+f 40 58 52
+f 41 43 59
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 41 62 63
+f 41 63 42
+f 42 63 64
+f 45 65 46
+f 45 49 65
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 46 65 66
+f 47 69 48
+f 49 70 65
+f 50 51 71
+f 51 72 71
+f 51 52 73
+f 51 73 74
+f 51 74 61
+f 51 61 72
+f 52 58 73
+f 54 75 55
+f 55 75 76
+f 55 76 56
+f 56 76 77
+f 56 77 68
+f 56 68 67
+f 56 67 57
+f 57 67 78
+f 57 78 79
+f 57 79 58
+f 58 79 80
+f 58 80 73
+f 60 81 61
+f 61 81 82
+f 61 82 72
+f 61 74 62
+f 62 74 73
+f 62 73 83
+f 62 83 84
+f 62 84 63
+f 63 84 85
+f 63 85 64
+f 65 86 66
+f 65 70 86
+f 66 86 79
+f 66 79 78
+f 66 78 67
+f 68 77 69
+f 70 87 79
+f 70 79 86
+f 71 72 82
+f 73 80 88
+f 73 88 89
+f 73 89 83
+f 79 87 90
+f 79 90 89
+f 79 89 88
+f 79 88 80
+f 83 89 84
+f 84 89 91
+f 84 91 85
+f 87 92 90
+f 89 93 94
+f 89 94 91
+f 89 90 93
+f 90 92 93
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_27.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.02346113 0.03486350 0.01471650
+v 0.00096298 0.03491114 0.01471650
+v 0.02346113 0.03135260 0.01471649
+v 0.02346113 0.03488905 0.01241351
+v 0.00096298 0.03495465 0.01116663
+v 0.00057026 0.03491045 0.01471650
+v 0.01681495 0.03004835 0.01471648
+v 0.01679416 0.02833754 -0.01352218
+v 0.02346113 0.02993729 -0.01352217
+v 0.02346113 0.03490148 0.01116663
+v 0.00096298 0.03497330 0.00923687
+v -0.00013894 0.03496017 0.01030957
+v -0.00013894 0.03495188 0.01116663
+v -0.00013894 0.03490838 0.01471650
+v -0.00013894 0.03492840 0.01309363
+v -0.00013894 0.03491528 0.01416633
+v 0.01650077 0.02999381 0.01471648
+v 0.01483287 0.02803236 -0.01352218
+v 0.01483287 0.02971901 0.01471648
+v 0.02346113 0.03449490 -0.01352215
+v 0.02346113 0.03490770 0.01048375
+v -0.00013894 0.03497054 0.00923687
+v 0.02346113 0.03491737 0.00923687
+v 0.00096298 0.03498504 0.00730987
+v -0.00013894 0.03136779 0.01471649
+v 0.01285080 0.02793984 -0.01352218
+v 0.01451870 0.02969622 0.01471648
+v 0.01285080 0.02958783 0.01471648
+v 0.00096298 0.03456809 -0.01352215
+v 0.00096298 0.03472619 -0.01197115
+v 0.02346113 0.03464886 -0.01197115
+v -0.00013894 0.03498158 0.00730987
+v 0.02346113 0.03492014 0.00855675
+v 0.02346113 0.03492497 0.00730987
+v 0.00096298 0.03499126 0.00538288
+v 0.00888896 0.02994479 0.01471648
+v -0.00013894 0.02996560 -0.01352217
+v 0.00838305 0.02809105 -0.01352218
+v 0.01274685 0.02793984 -0.01352218
+v 0.01253663 0.02960025 0.01471648
+v 0.01077863 0.02797781 -0.01352218
+v 0.00057719 0.03456602 -0.01352215
+v -0.00013894 0.03471859 -0.01197115
+v -0.00013894 0.03477038 -0.01089845
+v 0.00096298 0.03481664 -0.01004139
+v -0.00013894 0.03456188 -0.01352215
+v 0.02346113 0.03470686 -0.01072427
+v -0.00013894 0.03498781 0.00538288
+v 0.02346113 0.03492912 0.00538288
+v -0.00013894 0.03498850 0.00452305
+v 0.00096298 0.03499265 0.00345311
+v 0.01087104 0.02966861 0.01471648
+v -0.00013894 0.03481042 -0.01004139
+v 0.02346113 0.03473862 -0.01004139
+v -0.00013894 0.03484356 -0.00897145
+v -0.00013894 0.03486979 -0.00811439
+v 0.00096298 0.03487532 -0.00811439
+v 0.02346113 0.03479868 -0.00811439
+v 0.02346113 0.03492843 0.00469999
+v -0.00013894 0.03498782 0.00345311
+v 0.00096298 0.03498575 0.00152612
+v -0.00013894 0.03498506 0.00259606
+v 0.02346113 0.03492706 0.00345311
+v -0.00013894 0.03490983 -0.00618463
+v 0.00096298 0.03491742 -0.00618463
+v 0.02346113 0.03483871 -0.00618463
+v -0.00013894 0.03498022 0.00152612
+v 0.02346113 0.03491808 0.00152612
+v 0.02346113 0.03491395 0.00084324
+v 0.00096298 0.03497333 -0.00040088
+v -0.00013894 0.03496850 -0.00040088
+v -0.00013894 0.03492364 -0.00511469
+v -0.00013894 0.03493468 -0.00425763
+v 0.00096298 0.03494159 -0.00425763
+v 0.02346113 0.03486633 -0.00425763
+v 0.02346113 0.03490566 -0.00040088
+v 0.00096298 0.03495815 -0.00232787
+v -0.00013894 0.03496159 -0.00125794
+v -0.00013894 0.03494503 -0.00318770
+v -0.00013894 0.03495262 -0.00232787
+v 0.02346113 0.03490014 -0.00108099
+v 0.02346113 0.03488841 -0.00232787
+f 1 2 6
+f 1 6 14
+f 1 14 25
+f 1 25 36
+f 1 36 52
+f 1 52 40
+f 1 40 28
+f 1 28 27
+f 1 27 19
+f 1 19 17
+f 1 17 7
+f 1 7 3
+f 1 3 9
+f 1 9 20
+f 1 20 31
+f 1 31 47
+f 1 47 54
+f 1 54 58
+f 1 58 66
+f 1 66 75
+f 1 75 82
+f 1 82 81
+f 1 81 76
+f 1 76 69
+f 1 69 68
+f 1 68 63
+f 1 63 59
+f 1 59 49
+f 1 49 34
+f 1 34 33
+f 1 33 23
+f 1 23 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 15
+f 6 15 16
+f 6 16 14
+f 7 17 8
+f 8 18 26
+f 8 26 39
+f 8 39 41
+f 8 41 38
+f 8 38 37
+f 8 37 46
+f 8 46 42
+f 8 42 29
+f 8 29 20
+f 8 20 9
+f 8 17 19
+f 8 19 18
+f 10 21 11
+f 11 22 12
+f 11 21 23
+f 11 23 24
+f 11 24 22
+f 12 22 32
+f 12 32 48
+f 12 48 50
+f 12 50 60
+f 12 60 62
+f 12 62 67
+f 12 67 71
+f 12 71 78
+f 12 78 80
+f 12 80 79
+f 12 79 73
+f 12 73 72
+f 12 72 64
+f 12 64 56
+f 12 56 55
+f 12 55 53
+f 12 53 44
+f 12 44 43
+f 12 43 46
+f 12 46 37
+f 12 37 25
+f 12 25 14
+f 12 14 16
+f 12 16 15
+f 12 15 13
+f 18 19 27
+f 18 27 28
+f 18 28 26
+f 20 29 30
+f 20 30 31
+f 22 24 32
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 48
+f 24 48 32
+f 25 37 38
+f 25 38 36
+f 26 28 39
+f 28 40 41
+f 28 41 39
+f 29 42 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 30 42 46
+f 30 46 43
+f 31 45 47
+f 34 49 35
+f 35 50 48
+f 35 49 51
+f 35 51 50
+f 36 38 52
+f 38 41 52
+f 40 52 41
+f 44 53 45
+f 45 54 47
+f 45 53 55
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 54
+f 49 59 51
+f 50 51 60
+f 51 61 62
+f 51 62 60
+f 51 59 63
+f 51 63 61
+f 56 64 65
+f 56 65 57
+f 57 65 58
+f 58 65 66
+f 61 67 62
+f 61 63 68
+f 61 68 69
+f 61 69 70
+f 61 70 71
+f 61 71 67
+f 64 72 65
+f 65 72 73
+f 65 73 74
+f 65 74 75
+f 65 75 66
+f 69 76 70
+f 70 77 71
+f 70 76 77
+f 71 77 78
+f 73 79 74
+f 74 79 80
+f 74 80 77
+f 74 77 81
+f 74 81 82
+f 74 82 75
+f 76 81 77
+f 77 80 78
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_3.obj

@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.05579195 0.02860689 0.01571321
+v -0.05987975 0.02860688 0.01934745
+v -0.05969742 0.03033159 0.01956020
+v -0.05564490 0.02890726 0.01571321
+v -0.05129242 0.02860689 0.01571321
+v -0.06022678 0.02860687 0.02078737
+v -0.05947980 0.03131462 0.01984285
+v -0.05522142 0.02957847 0.01571321
+v -0.05149828 0.02860687 0.02080998
+v -0.01291408 0.02961459 0.01571321
+v -0.06017384 0.02860687 0.02102684
+v -0.05966213 0.02969032 0.02203510
+v -0.05976212 0.03033951 0.02062087
+v -0.05947980 0.03131462 0.01985313
+v -0.05753294 0.03330534 0.01980379
+v -0.05831522 0.03209769 0.01953040
+v -0.05370393 0.03147759 0.01571322
+v -0.05466854 0.03031486 0.01571321
+v -0.05158062 0.02860687 0.02273707
+v -0.01093193 0.02970972 0.01571321
+v -0.01291408 0.02968946 0.01695272
+v -0.05319222 0.02860686 0.02545864
+v -0.05233937 0.02860686 0.02481113
+v -0.05216292 0.02860686 0.02451411
+v -0.05170414 0.02860686 0.02337019
+v -0.05980918 0.02860687 0.02255207
+v -0.05792114 0.03173918 0.02223141
+v -0.05923865 0.03099750 0.02113784
+v -0.05913866 0.02860686 0.02343391
+v -0.05554492 0.03330532 0.02372272
+v -0.05753294 0.03330534 0.01994254
+v -0.05730944 0.03304637 0.02122727
+v -0.05538611 0.03510579 0.02127661
+v -0.05555080 0.03526260 0.01979866
+v -0.05253347 0.03240336 0.01571322
+v -0.01022612 0.02980133 0.01571321
+v -0.00013894 0.03126175 0.02467238
+v -0.00013894 0.03127848 0.02505678
+v -0.00013894 0.03130667 0.02551003
+v -0.01093193 0.02978811 0.01695272
+v -0.01291408 0.02982950 0.01888186
+v -0.05358630 0.02860686 0.02563439
+v -0.01291408 0.02998012 0.02080998
+v -0.01291408 0.03015100 0.02273707
+v -0.05589782 0.03369291 0.02273708
+v -0.05824463 0.02860686 0.02405572
+v -0.05452737 0.03229235 0.02456859
+v -0.05452737 0.03366559 0.02396220
+v -0.05303341 0.03506967 0.02357473
+v -0.05406860 0.03564135 0.02228898
+v -0.05812700 0.02860686 0.02413485
+v -0.05588017 0.03229235 0.02392314
+v -0.05555080 0.03526260 0.01999189
+v -0.05464501 0.03577965 0.02070517
+v -0.05275697 0.03687278 0.02081001
+v -0.05173355 0.03725332 0.01973392
+v -0.05452737 0.03560877 0.01944202
+v -0.05173943 0.03295389 0.01571322
+v -0.00894979 0.02997838 0.01571321
+v -0.00013894 0.03125206 0.02338252
+v -0.01093193 0.03026023 0.02273707
+v -0.01093193 0.03008846 0.02080998
+v -0.01093193 0.02992992 0.01888186
+v -0.00013894 0.03141942 0.02566215
+v -0.05338044 0.02871344 0.02567139
+v -0.05380392 0.02860686 0.02563439
+v -0.05624484 0.02860686 0.02495605
+v -0.05439798 0.03025582 0.02520477
+v -0.05365099 0.02955113 0.02567139
+v -0.05298636 0.03085832 0.02552133
+v -0.05241583 0.03213555 0.02524590
+v -0.05243936 0.03435089 0.02417187
+v -0.04858094 0.03600778 0.02421401
+v -0.05056308 0.03659708 0.02307318
+v -0.05165709 0.03723129 0.02185938
+v -0.05176884 0.03726741 0.02081001
+v -0.05056308 0.03745855 0.02081001
+v -0.05056308 0.03734317 0.01960134
+v -0.04858094 0.03423377 0.01571323
+v -0.04935733 0.03406553 0.01571323
+v -0.05042780 0.03370438 0.01571322
+v -0.05104538 0.03340665 0.01571322
+v -0.00013894 0.03136043 0.01571322
+v -0.00013894 0.03126176 0.02256646
+v -0.00013894 0.03221570 0.02594684
+v -0.04065236 0.03229234 0.02621201
+v -0.05365099 0.02871344 0.02567139
+v -0.05416859 0.02860686 0.02554394
+v -0.05166885 0.03137802 0.02564879
+v -0.04263450 0.03229234 0.02618632
+v -0.04659879 0.03377922 0.02579370
+v -0.04791042 0.03344009 0.02569093
+v -0.04659879 0.03475961 0.02545249
+v -0.04515188 0.03508729 0.02557891
+v -0.04659879 0.03609058 0.02448843
+v -0.04858094 0.03698728 0.02329108
+v -0.05056308 0.03730704 0.02210913
+v -0.04858094 0.03733435 0.02232702
+v -0.04858094 0.03750788 0.02081001
+v -0.04858094 0.03736519 0.01959517
+v -0.02877124 0.03744182 0.01926320
+v -0.02877124 0.03683404 0.01829914
+v -0.04659879 0.03452357 0.01571323
+v -0.04730460 0.03444870 0.01571323
+v -0.00013894 0.03490586 0.01571323
+v -0.00013894 0.03414653 0.02597563
+v -0.04263450 0.03425135 0.02597255
+v -0.04454018 0.03436057 0.02586566
+v -0.04383438 0.03527051 0.02565188
+v -0.04454018 0.03593731 0.02482760
+v -0.04263450 0.03617426 0.02466521
+v -0.04659879 0.03707097 0.02326846
+v -0.01794296 0.03719781 0.02371041
+v -0.02877124 0.03760389 0.02081001
+v -0.00894979 0.03744182 0.01927553
+v -0.02477754 0.03495166 0.01571323
+v -0.02578332 0.03495078 0.01571323
+v -0.00696764 0.03744799 0.01933926
+v -0.00541486 0.03735550 0.01956537
+v -0.00013894 0.03697056 0.02047393
+v -0.00013894 0.03512604 0.02558816
+v -0.04263450 0.03528900 0.02566421
+v -0.01782533 0.03719781 0.02371041
+v -0.00894979 0.03759596 0.02081001
+v -0.00696764 0.03752814 0.02081001
+v -0.00013894 0.03727709 0.02143696
+v -0.00013894 0.03627291 0.02454907
+v -0.00013894 0.03693972 0.02386458
+v -0.00013894 0.03717226 0.02356138
+v -0.00013894 0.03727533 0.02261171
+v -0.00013894 0.03727709 0.02193338
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 17
+f 1 17 35
+f 1 35 58
+f 1 58 82
+f 1 82 81
+f 1 81 80
+f 1 80 79
+f 1 79 104
+f 1 104 103
+f 1 103 117
+f 1 117 116
+f 1 116 105
+f 1 105 83
+f 1 83 59
+f 1 59 36
+f 1 36 20
+f 1 20 10
+f 1 10 5
+f 1 5 9
+f 1 9 19
+f 1 19 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 42
+f 1 42 66
+f 1 66 88
+f 1 88 67
+f 1 67 51
+f 1 51 46
+f 1 46 29
+f 1 29 26
+f 1 26 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 5 10 9
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 31
+f 7 31 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 10 19
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 19
+f 11 26 12
+f 12 27 28
+f 12 28 14
+f 12 14 13
+f 12 26 29
+f 12 29 30
+f 12 30 27
+f 14 28 32
+f 14 32 33
+f 14 33 31
+f 15 31 53
+f 15 53 34
+f 15 34 17
+f 15 17 16
+f 17 34 35
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 21 40 41
+f 21 41 22
+f 22 41 43
+f 22 43 44
+f 22 44 42
+f 27 45 28
+f 27 30 45
+f 28 45 32
+f 29 46 30
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 45
+f 30 46 51
+f 30 51 52
+f 30 52 47
+f 31 33 53
+f 32 45 33
+f 33 50 54
+f 33 54 53
+f 33 45 50
+f 34 53 55
+f 34 55 56
+f 34 56 57
+f 34 57 35
+f 35 57 58
+f 36 59 60
+f 36 60 37
+f 37 60 84
+f 37 84 83
+f 37 83 105
+f 37 105 120
+f 37 120 126
+f 37 126 131
+f 37 131 130
+f 37 130 129
+f 37 129 128
+f 37 128 127
+f 37 127 121
+f 37 121 106
+f 37 106 85
+f 37 85 64
+f 37 64 39
+f 37 39 38
+f 39 44 61
+f 39 61 62
+f 39 62 63
+f 39 63 40
+f 39 64 42
+f 39 42 44
+f 40 63 41
+f 41 63 43
+f 42 65 87
+f 42 87 66
+f 42 64 65
+f 43 63 62
+f 43 62 44
+f 44 62 61
+f 47 52 51
+f 47 51 67
+f 47 67 68
+f 47 68 69
+f 47 69 70
+f 47 70 71
+f 47 71 48
+f 48 71 72
+f 48 72 49
+f 49 72 73
+f 49 73 74
+f 49 74 75
+f 49 75 50
+f 50 75 54
+f 53 54 55
+f 54 75 55
+f 55 75 76
+f 55 76 56
+f 56 76 77
+f 56 77 78
+f 56 78 79
+f 56 79 80
+f 56 80 81
+f 56 81 57
+f 57 81 82
+f 57 82 58
+f 59 83 84
+f 59 84 60
+f 64 85 65
+f 65 86 87
+f 65 85 86
+f 66 87 69
+f 66 69 88
+f 67 88 69
+f 67 69 68
+f 69 89 70
+f 69 87 90
+f 69 90 91
+f 69 91 89
+f 70 89 71
+f 71 89 92
+f 71 92 93
+f 71 93 72
+f 72 93 73
+f 73 93 94
+f 73 94 95
+f 73 95 96
+f 73 96 74
+f 74 96 75
+f 75 96 97
+f 75 97 77
+f 75 77 76
+f 77 97 98
+f 77 98 99
+f 77 99 78
+f 78 99 100
+f 78 100 101
+f 78 101 102
+f 78 102 103
+f 78 103 104
+f 78 104 79
+f 85 106 86
+f 86 107 90
+f 86 90 87
+f 86 106 107
+f 89 91 92
+f 90 107 108
+f 90 108 91
+f 91 108 94
+f 91 94 93
+f 91 93 92
+f 94 108 109
+f 94 109 95
+f 95 109 110
+f 95 110 96
+f 96 110 111
+f 96 111 112
+f 96 112 98
+f 96 98 97
+f 98 112 113
+f 98 113 114
+f 98 114 99
+f 99 114 101
+f 99 101 100
+f 101 114 115
+f 101 115 102
+f 102 115 105
+f 102 105 116
+f 102 116 117
+f 102 117 103
+f 105 115 118
+f 105 118 119
+f 105 119 120
+f 106 121 122
+f 106 122 107
+f 107 122 109
+f 107 109 108
+f 109 122 111
+f 109 111 110
+f 111 122 113
+f 111 113 112
+f 113 123 114
+f 113 122 123
+f 114 123 124
+f 114 124 118
+f 114 118 115
+f 118 124 125
+f 118 125 126
+f 118 126 119
+f 119 126 120
+f 121 127 122
+f 122 127 123
+f 123 127 128
+f 123 128 129
+f 123 129 124
+f 124 129 130
+f 124 130 125
+f 125 130 131
+f 125 131 126
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_4.obj

@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v -0.04659754 -0.03043840 -0.01773530
+v -0.04659754 -0.03232164 -0.01726404
+v -0.04858047 -0.03043841 -0.01768948
+v -0.05031281 -0.02872557 -0.01772220
+v -0.04832988 -0.02872557 -0.01772875
+v -0.00009120 -0.02872557 -0.01771239
+v -0.00009120 -0.02939785 -0.01770257
+v -0.00009120 -0.03043841 -0.01768621
+v -0.00009120 -0.03135787 -0.01748658
+v -0.00009120 -0.03239842 -0.01725750
+v -0.02480705 -0.03239842 -0.01726731
+v -0.04659754 -0.03330164 -0.01666514
+v -0.04858047 -0.03209942 -0.01722150
+v -0.02480705 -0.03342149 -0.01683205
+v -0.05075407 -0.03062816 -0.01731639
+v -0.05058519 -0.02872558 -0.01767966
+v -0.00009120 -0.02872559 -0.01400118
+v -0.00009120 -0.03341712 -0.01682550
+v -0.04659754 -0.03368990 -0.01569970
+v -0.04812832 -0.03354820 -0.01535607
+v -0.04870576 -0.03311438 -0.01593206
+v -0.05022020 -0.03176110 -0.01704477
+v -0.02480705 -0.03398765 -0.01582734
+v -0.00009120 -0.03368366 -0.01635751
+v -0.05220858 -0.03010071 -0.01709712
+v -0.05267708 -0.02872558 -0.01731639
+v -0.01190709 -0.02945663 0.01025913
+v -0.01093196 -0.02976876 0.01502087
+v -0.01093196 -0.02981245 0.01569831
+v -0.00894903 -0.03007961 0.01569831
+v -0.00009120 -0.03148158 0.01569830
+v -0.05127704 -0.02872570 0.01569831
+v -0.04659754 -0.03407192 -0.01389975
+v -0.02480705 -0.03464869 -0.01389975
+v -0.04870576 -0.03361188 -0.01374919
+v -0.04945209 -0.03333723 -0.01428918
+v -0.05075407 -0.03213999 -0.01601061
+v -0.05153853 -0.03140780 -0.01677314
+v -0.00009120 -0.03398203 -0.01582734
+v -0.00009120 -0.03464744 -0.01389975
+v -0.05352691 -0.02944842 -0.01677968
+v -0.05372302 -0.02872558 -0.01692695
+v -0.05279693 -0.02872558 -0.01727712
+v -0.05271521 -0.02872558 -0.01730658
+v -0.01291490 -0.02967824 0.01502087
+v -0.01162381 -0.02977999 0.01569831
+v -0.00009120 -0.03501209 0.01569829
+v -0.05573864 -0.02872570 0.01569831
+v -0.01291490 -0.02972131 0.01569831
+v -0.04659754 -0.03417243 -0.01196887
+v -0.04858047 -0.03373985 -0.01196886
+v -0.02480705 -0.03484096 -0.01196887
+v -0.00009120 -0.03484408 -0.01196887
+v -0.04958283 -0.03338342 -0.01300630
+v -0.05037274 -0.03289779 -0.01374919
+v -0.05187083 -0.03166747 -0.01549025
+v -0.05269887 -0.03059321 -0.01613496
+v -0.05379929 -0.02977862 -0.01549352
+v -0.05423510 -0.02872558 -0.01606951
+v -0.02478526 -0.03505453 0.01569829
+v -0.00102274 -0.03506638 0.01116564
+v -0.00009120 -0.03506450 0.01116564
+v -0.05510672 -0.02872562 -0.00619913
+v -0.05542813 -0.02930122 0.01569831
+v -0.04659754 -0.03422798 -0.01004127
+v -0.04858047 -0.03379915 -0.01004126
+v -0.02480705 -0.03493084 -0.01004127
+v -0.02480705 -0.03498953 -0.00811366
+v -0.04962097 -0.03340341 -0.01196886
+v -0.00009120 -0.03493396 -0.01004127
+v -0.05061243 -0.03286472 -0.01196886
+v -0.05207784 -0.03182915 -0.01389974
+v -0.05306931 -0.03096400 -0.01389973
+v -0.05396817 -0.02998399 -0.01389973
+v -0.05470904 -0.02872559 -0.01438081
+v -0.05426234 -0.02872558 -0.01598769
+v -0.04659754 -0.03462446 0.01569829
+v -0.02480705 -0.03509133 0.00731044
+v -0.00009120 -0.03509445 0.00731044
+v -0.00009120 -0.03508322 0.00923804
+v -0.05499232 -0.02872560 -0.01004125
+v -0.05402264 -0.03005205 -0.01196885
+v -0.05464912 -0.03043041 0.01569831
+v -0.04659754 -0.03427855 -0.00811366
+v -0.04858047 -0.03385097 -0.00811365
+v -0.04968634 -0.03343400 -0.01004126
+v -0.00009120 -0.03498828 -0.00811366
+v -0.02480705 -0.03502948 -0.00618606
+v -0.04659754 -0.03432164 -0.00618606
+v -0.05067780 -0.03289780 -0.01004126
+v -0.05214866 -0.03188534 -0.01196886
+v -0.05314013 -0.03103267 -0.01196885
+v -0.05491605 -0.02872560 -0.01215212
+v -0.05479076 -0.02872559 -0.01393572
+v -0.04858047 -0.03433233 0.01569829
+v -0.04659754 -0.03449895 0.00537956
+v -0.02480705 -0.03505445 -0.00425846
+v -0.02480705 -0.03507256 -0.00232758
+v -0.02480705 -0.03508693 -0.00040325
+v -0.02480705 -0.03509755 0.00152435
+v -0.02480705 -0.03510255 0.00345196
+v -0.02480705 -0.03509944 0.00537956
+v -0.00009120 -0.03510069 0.00537956
+v -0.05405533 -0.03009324 -0.01004125
+v -0.05318371 -0.03107387 -0.01004125
+v -0.05369579 -0.03157708 0.01569830
+v -0.05409891 -0.03110268 0.01569831
+v -0.04858047 -0.03389780 -0.00618605
+v -0.05042176 -0.03381112 0.01569830
+v -0.00009120 -0.03500575 -0.00721041
+v -0.00009120 -0.03502512 -0.00618606
+v -0.00009120 -0.03503760 -0.00527953
+v -0.04659754 -0.03447460 0.00345196
+v -0.04659754 -0.03444838 0.00152435
+v -0.04659754 -0.03442153 -0.00040325
+v -0.04659754 -0.03439093 -0.00232758
+v -0.04659754 -0.03435722 -0.00425846
+v -0.04858047 -0.03397771 -0.00232757
+v -0.04858047 -0.03393900 -0.00425845
+v -0.05073228 -0.03292590 -0.00811365
+v -0.05254089 -0.03249966 0.01569830
+v -0.05219224 -0.03191717 -0.01004126
+v -0.05322184 -0.03197220 0.01569830
+v -0.00009120 -0.03505071 -0.00425846
+v -0.00009120 -0.03506882 -0.00232758
+v -0.00009120 -0.03507569 -0.00142432
+v -0.00009120 -0.03508319 -0.00040325
+v -0.00009120 -0.03509568 0.00152435
+v -0.00009120 -0.03510130 0.00345196
+v -0.05134241 -0.03326868 0.01569830
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 3
+f 2 11 14
+f 2 14 12
+f 3 13 15
+f 3 15 4
+f 4 15 16
+f 4 16 26
+f 4 26 44
+f 4 44 43
+f 4 43 42
+f 4 42 59
+f 4 59 76
+f 4 76 75
+f 4 75 94
+f 4 94 93
+f 4 93 81
+f 4 81 63
+f 4 63 48
+f 4 48 32
+f 4 32 17
+f 4 17 6
+f 4 6 5
+f 6 17 31
+f 6 31 47
+f 6 47 62
+f 6 62 80
+f 6 80 79
+f 6 79 103
+f 6 103 129
+f 6 129 128
+f 6 128 127
+f 6 127 126
+f 6 126 125
+f 6 125 124
+f 6 124 112
+f 6 112 111
+f 6 111 110
+f 6 110 87
+f 6 87 70
+f 6 70 53
+f 6 53 40
+f 6 40 39
+f 6 39 24
+f 6 24 18
+f 6 18 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 10 18 11
+f 11 18 14
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 12 14 23
+f 12 23 19
+f 13 22 15
+f 14 18 24
+f 14 24 23
+f 15 22 25
+f 15 25 26
+f 15 26 16
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 32 27
+f 19 33 20
+f 19 23 34
+f 19 34 33
+f 20 33 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 22 38 25
+f 23 24 39
+f 23 39 40
+f 23 40 34
+f 25 38 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 27 45 28
+f 27 32 45
+f 28 46 29
+f 28 45 46
+f 29 46 49
+f 29 49 32
+f 29 32 48
+f 29 48 64
+f 29 64 83
+f 29 83 107
+f 29 107 106
+f 29 106 123
+f 29 123 121
+f 29 121 130
+f 29 130 109
+f 29 109 95
+f 29 95 77
+f 29 77 60
+f 29 60 47
+f 29 47 31
+f 29 31 30
+f 32 49 45
+f 33 50 51
+f 33 51 35
+f 33 34 52
+f 33 52 50
+f 34 40 53
+f 34 53 52
+f 35 51 54
+f 35 54 36
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 56 38
+f 38 56 57
+f 38 57 41
+f 41 58 59
+f 41 59 42
+f 41 57 58
+f 45 49 46
+f 47 60 61
+f 47 61 62
+f 48 63 64
+f 50 65 66
+f 50 66 51
+f 50 52 67
+f 50 67 68
+f 50 68 65
+f 51 66 69
+f 51 69 54
+f 52 53 70
+f 52 70 67
+f 54 69 71
+f 54 71 55
+f 55 71 72
+f 55 72 56
+f 56 72 73
+f 56 73 58
+f 56 58 57
+f 58 73 74
+f 58 74 75
+f 58 75 76
+f 58 76 59
+f 60 77 78
+f 60 78 79
+f 60 79 80
+f 60 80 61
+f 61 80 62
+f 63 81 64
+f 64 81 82
+f 64 82 83
+f 65 84 85
+f 65 85 66
+f 65 68 84
+f 66 85 86
+f 66 86 69
+f 67 70 68
+f 68 70 87
+f 68 87 88
+f 68 88 89
+f 68 89 84
+f 69 86 90
+f 69 90 71
+f 71 90 91
+f 71 91 72
+f 72 91 92
+f 72 92 73
+f 73 92 74
+f 74 82 93
+f 74 93 94
+f 74 94 75
+f 74 92 82
+f 77 95 96
+f 77 96 97
+f 77 97 98
+f 77 98 99
+f 77 99 100
+f 77 100 101
+f 77 101 102
+f 77 102 78
+f 78 102 79
+f 79 102 103
+f 81 93 82
+f 82 104 83
+f 82 92 105
+f 82 105 106
+f 82 106 104
+f 83 104 107
+f 84 89 108
+f 84 108 85
+f 85 108 86
+f 86 108 109
+f 86 109 90
+f 87 110 88
+f 88 110 111
+f 88 111 112
+f 88 112 97
+f 88 97 113
+f 88 113 114
+f 88 114 115
+f 88 115 116
+f 88 116 117
+f 88 117 89
+f 89 117 95
+f 89 95 118
+f 89 118 119
+f 89 119 108
+f 90 109 120
+f 90 120 91
+f 91 120 121
+f 91 121 122
+f 91 122 123
+f 91 123 106
+f 91 106 105
+f 91 105 92
+f 95 109 118
+f 95 117 116
+f 95 116 115
+f 95 115 114
+f 95 114 113
+f 95 113 96
+f 96 113 97
+f 97 112 124
+f 97 124 125
+f 97 125 98
+f 98 125 126
+f 98 126 99
+f 99 126 127
+f 99 127 128
+f 99 128 100
+f 100 128 129
+f 100 129 101
+f 101 129 103
+f 101 103 102
+f 104 106 107
+f 108 119 109
+f 109 130 120
+f 109 119 118
+f 120 130 121
+f 121 123 122
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_5.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00096577 0.03456872 -0.01352491
+v 0.00096577 0.03452805 -0.01390007
+v -0.00013894 0.03452466 -0.01390007
+v -0.00013894 0.03456194 -0.01352491
+v 0.02473854 0.03454838 -0.01352491
+v 0.02473854 0.03451110 -0.01390007
+v 0.00096577 0.03387047 -0.01582778
+v -0.00013894 0.03386709 -0.01582778
+v -0.00013894 0.02996227 -0.01352493
+v 0.04654101 0.03395859 -0.01352492
+v 0.04654101 0.03394165 -0.01390008
+v 0.02473854 0.03385353 -0.01582778
+v 0.04654101 0.03357219 -0.01568818
+v 0.00096577 0.03331119 -0.01682849
+v 0.02473854 0.03330442 -0.01682479
+v -0.00013894 0.03330780 -0.01682602
+v -0.00013894 -0.00005595 -0.01411929
+v 0.00838310 0.02808782 -0.01352494
+v 0.04863565 0.03351456 -0.01352492
+v 0.04865000 0.03349761 -0.01375224
+v 0.04807612 0.03343322 -0.01534884
+v 0.04654101 0.03318578 -0.01665223
+v 0.00096577 0.03229093 -0.01726254
+v -0.00013894 0.03229093 -0.01726007
+v 0.02473854 0.03229093 -0.01726213
+v 0.04654101 0.03220619 -0.01725842
+v 0.01581957 -0.00005595 -0.01411764
+v 0.01274933 0.02793868 -0.01352494
+v 0.01087467 0.02797258 -0.01352494
+v 0.01077903 0.02797597 -0.01352494
+v -0.00013894 -0.00005593 -0.01772101
+v 0.04871695 0.03348744 -0.01352492
+v 0.04871695 0.03348066 -0.01369788
+v 0.04871695 0.03347388 -0.01379878
+v 0.04871695 0.03333830 -0.01484025
+v 0.04865000 0.03300613 -0.01592579
+v 0.04871695 0.03295529 -0.01596203
+v 0.04871695 0.03194519 -0.01719212
+v 0.04852088 0.03198586 -0.01721518
+v -0.00013894 0.03032835 -0.01769043
+v 0.04654101 0.03032836 -0.01772667
+v 0.04852088 0.03032835 -0.01768631
+v 0.04871695 -0.00005595 -0.01411641
+v 0.01285454 0.02793868 -0.01352494
+v -0.00013894 0.00005592 -0.01772142
+v 0.00096577 -0.00005593 -0.01772142
+v 0.04871695 0.02849119 -0.01352494
+v 0.04871695 0.03297901 -0.01592250
+v 0.04871695 0.03182655 -0.01723783
+v -0.00013894 0.02945724 -0.01770443
+v 0.04871695 0.03013854 -0.01769084
+v 0.04871695 0.02836918 -0.01773162
+v 0.04852088 0.02836918 -0.01773162
+v 0.00889002 0.02836918 -0.01772544
+v -0.00013894 0.02836918 -0.01772173
+v 0.04871695 0.03032835 -0.01766325
+v 0.04871695 -0.00005593 -0.01772142
+v 0.03861197 0.02802681 -0.01352494
+v 0.03663210 0.02794885 -0.01352494
+v -0.00013894 0.00048979 -0.01772183
+v 0.00294563 0.00092705 -0.01772266
+v 0.00492550 -0.00005593 -0.01772183
+v 0.04871695 0.02817936 -0.01773203
+v 0.00492550 0.02640999 -0.01772544
+v -0.00013894 0.02749805 -0.01772256
+v 0.04871695 0.00073723 -0.01772225
+v 0.02672319 -0.00005593 -0.01772266
+v -0.00013894 0.00092705 -0.01772225
+v 0.00294563 0.00288962 -0.01772429
+v 0.00691016 0.00092705 -0.01772307
+v 0.04871695 0.00288962 -0.01772429
+v 0.00889002 0.00484881 -0.01772552
+v 0.00492550 0.00484881 -0.01772552
+v 0.00294563 0.00484881 -0.01772511
+v -0.00013894 0.00484881 -0.01772428
+v -0.00013894 0.02640999 -0.01772338
+v 0.00691016 0.00288962 -0.01772471
+v 0.01087467 0.00288962 -0.01772471
+v -0.00013894 0.00288962 -0.01772388
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 30
+f 1 30 29
+f 1 29 28
+f 1 28 44
+f 1 44 59
+f 1 59 58
+f 1 58 47
+f 1 47 32
+f 1 32 19
+f 1 19 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 12
+f 2 12 7
+f 3 8 16
+f 3 16 24
+f 3 24 40
+f 3 40 50
+f 3 50 55
+f 3 55 65
+f 3 65 76
+f 3 76 75
+f 3 75 79
+f 3 79 68
+f 3 68 60
+f 3 60 45
+f 3 45 31
+f 3 31 17
+f 3 17 9
+f 3 9 4
+f 5 10 11
+f 5 11 6
+f 6 11 13
+f 6 13 12
+f 7 14 8
+f 7 12 15
+f 7 15 14
+f 8 14 16
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 13
+f 12 13 22
+f 12 22 15
+f 13 21 22
+f 14 23 24
+f 14 24 16
+f 14 15 25
+f 14 25 23
+f 15 22 26
+f 15 26 25
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 17 31 46
+f 17 46 62
+f 17 62 67
+f 17 67 57
+f 17 57 43
+f 17 43 27
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 26
+f 23 40 24
+f 23 25 41
+f 23 41 40
+f 25 26 41
+f 26 39 42
+f 26 42 41
+f 27 43 28
+f 28 43 44
+f 31 45 46
+f 32 47 43
+f 32 43 57
+f 32 57 66
+f 32 66 71
+f 32 71 63
+f 32 63 52
+f 32 52 51
+f 32 51 56
+f 32 56 49
+f 32 49 38
+f 32 38 37
+f 32 37 48
+f 32 48 35
+f 32 35 34
+f 32 34 33
+f 35 48 36
+f 36 48 37
+f 38 49 39
+f 39 49 42
+f 40 41 50
+f 41 42 51
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 50
+f 42 49 56
+f 42 56 51
+f 43 47 58
+f 43 58 59
+f 43 59 44
+f 45 60 61
+f 45 61 46
+f 46 61 62
+f 52 63 53
+f 53 63 54
+f 54 64 65
+f 54 65 55
+f 54 63 64
+f 57 67 66
+f 60 68 61
+f 61 68 79
+f 61 79 69
+f 61 69 77
+f 61 77 70
+f 61 70 62
+f 62 70 67
+f 63 71 72
+f 63 72 73
+f 63 73 64
+f 64 73 74
+f 64 74 75
+f 64 75 76
+f 64 76 65
+f 66 67 71
+f 67 70 77
+f 67 77 78
+f 67 78 71
+f 69 79 73
+f 69 73 77
+f 71 78 72
+f 72 78 77
+f 72 77 73
+f 73 79 74
+f 74 79 75
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_6.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.05075119 -0.00005934 -0.01400137
+v 0.05075119 -0.01083758 -0.01259368
+v 0.05075119 -0.00005932 -0.01771934
+v -0.00008622 -0.00005934 -0.01411920
+v 0.05075119 -0.01279664 -0.01242528
+v 0.05075119 -0.02259532 -0.01772828
+v 0.05050235 -0.00005932 -0.01772194
+v -0.00008622 -0.00005932 -0.01772090
+v -0.00008622 -0.03080911 -0.01240501
+v 0.05075119 -0.02805418 -0.01240500
+v 0.00914563 -0.02907452 -0.01240501
+v 0.01087256 -0.02878883 -0.01240501
+v 0.01285330 -0.02872421 -0.01240501
+v 0.05075119 -0.02283680 -0.01772828
+v 0.04852161 -0.02847590 -0.01772986
+v 0.04654086 -0.03043496 -0.01773092
+v 0.02771883 -0.00005932 -0.01772246
+v -0.00008622 -0.01867380 -0.01772358
+v 0.00096387 -0.00005932 -0.01772142
+v -0.00008622 -0.03479865 -0.01240503
+v 0.05075119 -0.03275117 -0.01240502
+v 0.05075119 -0.02455438 -0.01772725
+v 0.05050235 -0.02847590 -0.01772830
+v 0.02573809 -0.00005932 -0.01772246
+v 0.04852161 -0.03043497 -0.01769233
+v 0.04654086 -0.03231921 -0.01726377
+v 0.02474274 -0.03239743 -0.01727211
+v 0.00096387 -0.03239743 -0.01726116
+v -0.00008622 -0.03135668 -0.01748744
+v -0.00008622 -0.03043497 -0.01768712
+v 0.00096387 -0.02847590 -0.01771891
+v 0.00492536 -0.02847590 -0.01772204
+v 0.00691108 -0.02847590 -0.01772309
+v -0.00008622 -0.02063626 -0.01772359
+v 0.00691108 -0.00005932 -0.01772194
+v 0.00096387 -0.03480546 -0.01240503
+v -0.00008622 -0.03464560 -0.01390035
+v 0.05075119 -0.03266273 -0.01387114
+v 0.05052723 -0.03289401 -0.01240502
+v 0.05075119 -0.02651684 -0.01772569
+v 0.05050235 -0.03043497 -0.01745041
+v 0.05075119 -0.02847590 -0.01769649
+v 0.04852161 -0.03210834 -0.01722049
+v 0.04654086 -0.03329874 -0.01666783
+v 0.02474274 -0.03342458 -0.01683519
+v 0.00096387 -0.03341778 -0.01682946
+v -0.00008622 -0.03287700 -0.01705730
+v -0.00008622 -0.03239743 -0.01726012
+v -0.00008622 -0.02847590 -0.01771787
+v -0.00008622 -0.02743515 -0.01771891
+v -0.00008622 -0.02155457 -0.01772307
+v 0.02474274 -0.03479185 -0.01240503
+v 0.00096387 -0.03465240 -0.01390035
+v -0.00008622 -0.03398237 -0.01582788
+v 0.05075119 -0.03220697 -0.01582788
+v 0.05032817 -0.03292462 -0.01386228
+v 0.04942738 -0.03334977 -0.01447907
+v 0.04957668 -0.03340758 -0.01240502
+v 0.04955180 -0.03339398 -0.01319387
+v 0.05050235 -0.03168319 -0.01698483
+v 0.05075119 -0.03041117 -0.01738680
+v 0.05075119 -0.03067985 -0.01728826
+v 0.04867091 -0.03312868 -0.01593842
+v 0.04810854 -0.03355382 -0.01536907
+v 0.04654086 -0.03369327 -0.01570379
+v 0.02474274 -0.03398577 -0.01582788
+v 0.00096387 -0.03398577 -0.01582788
+v -0.00008622 -0.03368307 -0.01635813
+v -0.00008622 -0.03341437 -0.01682789
+v 0.04654086 -0.03414903 -0.01240503
+v 0.02474274 -0.03463880 -0.01390035
+v 0.04654086 -0.03407421 -0.01390035
+v 0.05075119 -0.03161857 -0.01693790
+v 0.05050235 -0.03235322 -0.01582788
+v 0.04867091 -0.03362526 -0.01386228
+v 0.04855645 -0.03372729 -0.01240502
+v 0.04807370 -0.03382933 -0.01240502
+f 1 2 5
+f 1 5 10
+f 1 10 21
+f 1 21 38
+f 1 38 55
+f 1 55 73
+f 1 73 62
+f 1 62 61
+f 1 61 42
+f 1 42 40
+f 1 40 22
+f 1 22 14
+f 1 14 6
+f 1 6 3
+f 1 3 7
+f 1 7 17
+f 1 17 24
+f 1 24 35
+f 1 35 19
+f 1 19 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 18
+f 4 18 34
+f 4 34 51
+f 4 51 50
+f 4 50 49
+f 4 49 30
+f 4 30 29
+f 4 29 48
+f 4 48 47
+f 4 47 69
+f 4 69 68
+f 4 68 54
+f 4 54 37
+f 4 37 20
+f 4 20 9
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 8 19 18
+f 9 20 36
+f 9 36 52
+f 9 52 70
+f 9 70 77
+f 9 77 76
+f 9 76 58
+f 9 58 39
+f 9 39 21
+f 9 21 10
+f 9 10 13
+f 9 13 12
+f 9 12 11
+f 14 22 23
+f 14 23 15
+f 15 23 16
+f 16 24 17
+f 16 23 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 18
+f 16 18 19
+f 16 19 35
+f 16 35 24
+f 20 37 53
+f 20 53 36
+f 21 39 38
+f 22 40 23
+f 23 41 25
+f 23 40 42
+f 23 42 41
+f 25 41 43
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 28
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 30 49 31
+f 31 49 50
+f 31 50 32
+f 32 50 51
+f 32 51 34
+f 32 34 33
+f 36 53 71
+f 36 71 52
+f 37 54 53
+f 38 39 56
+f 38 56 57
+f 38 57 55
+f 39 58 59
+f 39 59 56
+f 41 60 43
+f 41 42 61
+f 41 61 62
+f 41 62 60
+f 43 60 44
+f 44 60 63
+f 44 63 64
+f 44 64 65
+f 44 65 66
+f 44 66 45
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 52 71 72
+f 52 72 70
+f 53 54 67
+f 53 67 66
+f 53 66 71
+f 54 68 67
+f 55 57 74
+f 55 74 73
+f 56 59 57
+f 57 75 64
+f 57 64 63
+f 57 63 74
+f 57 59 75
+f 58 76 59
+f 59 76 75
+f 60 62 73
+f 60 73 63
+f 63 73 74
+f 64 72 65
+f 64 75 72
+f 65 72 71
+f 65 71 66
+f 70 72 77
+f 72 75 76
+f 72 76 77
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_7.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.04659790 0.02860614 -0.01773481
+v -0.04858090 0.02860614 -0.01773154
+v -0.04659790 0.03033171 -0.01773154
+v -0.00102149 0.02860614 -0.01771844
+v -0.05058025 0.02860613 -0.01768897
+v -0.04858090 0.03033170 -0.01768897
+v -0.04659790 0.03222220 -0.01726007
+v -0.02480664 0.03229154 -0.01725680
+v -0.00013894 0.03229154 -0.01726007
+v -0.00013894 0.03033170 -0.01768897
+v -0.00013894 0.02860614 -0.01771517
+v -0.05272124 0.02860613 -0.01731574
+v -0.05074913 0.03051912 -0.01731901
+v -0.04858090 0.03199666 -0.01721751
+v -0.04659790 0.03320243 -0.01667730
+v -0.02480664 0.03330489 -0.01682136
+v -0.00013894 0.03330864 -0.01682463
+v -0.00013894 0.02860612 -0.01400902
+v -0.05278116 0.02860613 -0.01728955
+v -0.05352752 0.02934021 -0.01677881
+v -0.05220370 0.02998996 -0.01709966
+v -0.05021524 0.03165742 -0.01704399
+v -0.04871710 0.03301438 -0.01593411
+v -0.04814508 0.03344421 -0.01536444
+v -0.04659790 0.03358291 -0.01571475
+v -0.02480664 0.03385467 -0.01582607
+v -0.00013894 0.03386717 -0.01582607
+v -0.00013894 0.03135992 0.01571219
+v -0.00894806 0.02997797 0.01571218
+v -0.01022285 0.02980116 0.01571218
+v -0.01093106 0.02970995 0.01571218
+v -0.01093106 0.02966684 0.01502137
+v -0.01291407 0.02957188 0.01502137
+v -0.01291407 0.02947942 0.01309300
+v -0.05129391 0.02860601 0.01571218
+v -0.05424663 0.02860613 -0.01605526
+v -0.05269945 0.03048601 -0.01613056
+v -0.05153362 0.03129694 -0.01676899
+v -0.05427387 0.02860613 -0.01598978
+v -0.05379991 0.02967571 -0.01549213
+v -0.04946345 0.03323553 -0.01432986
+v -0.05074913 0.03203789 -0.01600614
+v -0.04659790 0.03396462 -0.01389769
+v -0.04871710 0.03350855 -0.01377001
+v -0.02480664 0.03450940 -0.01389768
+v -0.00013894 0.03452440 -0.01389768
+v -0.00013894 0.03490664 0.01571220
+v -0.01291407 0.02961436 0.01571218
+v -0.05579381 0.02860601 0.01571218
+v -0.05187683 0.03156058 -0.01548230
+v -0.05480231 0.02860612 -0.01393044
+v -0.05396879 0.02988249 -0.01389770
+v -0.05307535 0.03086273 -0.01389770
+v -0.04958875 0.03327864 -0.01304318
+v -0.05037323 0.03279071 -0.01377001
+v -0.04858090 0.03363474 -0.01196932
+v -0.04659790 0.03406394 -0.01196931
+v -0.02480664 0.03470431 -0.01196931
+v -0.00013894 0.03471868 -0.01196931
+v -0.00013894 0.03496038 0.01030686
+v -0.02477940 0.03495224 0.01571220
+v -0.05564127 0.02890652 0.01571218
+v -0.05506380 0.02860610 -0.00811258
+v -0.05208385 0.03171864 -0.01389769
+v -0.05493305 0.02860611 -0.01196933
+v -0.05402327 0.02994870 -0.01196933
+v -0.05314072 0.03092894 -0.01196933
+v -0.04962143 0.03329737 -0.01196932
+v -0.04858090 0.03368909 -0.01004094
+v -0.05061294 0.03274947 -0.01196932
+v -0.04659790 0.03411580 -0.01004093
+v -0.02480664 0.03485050 -0.00811256
+v -0.02480664 0.03479365 -0.01004093
+v -0.00013894 0.03481052 -0.01004093
+v -0.00013894 0.03477054 -0.01089872
+v -0.00013894 0.03497039 0.00923627
+v -0.02480664 0.03498040 0.00538279
+v -0.02578180 0.03495037 0.01571220
+v -0.00013894 0.03498163 0.00731117
+v -0.00013894 0.03498477 0.00645011
+v -0.00013894 0.03498789 0.00538279
+v -0.05522179 0.02957812 0.01571218
+v -0.05500387 0.02860611 -0.01004095
+v -0.05214922 0.03176986 -0.01196932
+v -0.05406140 0.02998744 -0.01004095
+v -0.05370185 0.03147737 0.01571219
+v -0.05104876 0.03340723 0.01571219
+v -0.04968136 0.03332486 -0.01004094
+v -0.04935994 0.03406572 0.01571220
+v -0.04858090 0.03373844 -0.00811257
+v -0.05066741 0.03278008 -0.01004094
+v -0.04858090 0.03378529 -0.00618419
+v -0.04659790 0.03416139 -0.00811256
+v -0.02480664 0.03489297 -0.00618418
+v -0.00013894 0.03486986 -0.00811256
+v -0.04659790 0.03420449 -0.00618418
+v -0.00013894 0.03484363 -0.00897034
+v -0.02480664 0.03497978 0.00345442
+v -0.04659790 0.03452429 0.01571220
+v -0.00013894 0.03498852 0.00452501
+v -0.05466611 0.03031471 0.01571218
+v -0.05253602 0.03240263 0.01571219
+v -0.05174064 0.03295304 0.01571219
+v -0.05042771 0.03370399 0.01571219
+v -0.04858090 0.03423440 0.01571220
+v -0.04858090 0.03386962 -0.00232744
+v -0.04858090 0.03382777 -0.00425582
+v -0.02480664 0.03492171 -0.00425581
+v -0.00013894 0.03490984 -0.00618418
+v -0.04659790 0.03428195 -0.00232743
+v -0.04659790 0.03431630 -0.00040233
+v -0.00013894 0.03498790 0.00345442
+v -0.02480664 0.03497291 0.00152604
+v -0.04659790 0.03439563 0.00538279
+v -0.04730612 0.03444869 0.01571220
+v -0.02480664 0.03496167 -0.00040233
+v -0.02480664 0.03494481 -0.00232743
+v -0.00013894 0.03493483 -0.00425581
+v -0.00013894 0.03492421 -0.00511359
+v -0.04659790 0.03434503 0.00152604
+v -0.04659790 0.03437127 0.00345442
+v -0.00013894 0.03498478 0.00259663
+v -0.00013894 0.03498041 0.00152604
+v -0.00013894 0.03496855 -0.00040233
+v -0.00013894 0.03496167 -0.00125684
+v -0.00013894 0.03495294 -0.00232743
+v -0.00013894 0.03494544 -0.00318522
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 35
+f 1 35 49
+f 1 49 63
+f 1 63 83
+f 1 83 65
+f 1 65 51
+f 1 51 39
+f 1 39 36
+f 1 36 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 14 7
+f 6 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 27
+f 9 27 46
+f 9 46 59
+f 9 59 75
+f 9 75 74
+f 9 74 97
+f 9 97 95
+f 9 95 109
+f 9 109 119
+f 9 119 118
+f 9 118 127
+f 9 127 126
+f 9 126 125
+f 9 125 124
+f 9 124 123
+f 9 123 122
+f 9 122 112
+f 9 112 100
+f 9 100 81
+f 9 81 80
+f 9 80 79
+f 9 79 76
+f 9 76 60
+f 9 60 47
+f 9 47 28
+f 9 28 18
+f 9 18 11
+f 9 11 10
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 22 23
+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 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 19 36 20
+f 20 37 38
+f 20 38 21
+f 20 36 39
+f 20 39 40
+f 20 40 37
+f 21 38 22
+f 22 38 23
+f 23 41 24
+f 23 38 42
+f 23 42 41
+f 24 43 25
+f 24 41 44
+f 24 44 43
+f 25 43 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 28 47 61
+f 28 61 78
+f 28 78 99
+f 28 99 115
+f 28 115 105
+f 28 105 89
+f 28 89 104
+f 28 104 87
+f 28 87 103
+f 28 103 102
+f 28 102 86
+f 28 86 101
+f 28 101 82
+f 28 82 62
+f 28 62 49
+f 28 49 35
+f 28 35 48
+f 28 48 31
+f 28 31 30
+f 28 30 29
+f 31 48 32
+f 32 48 33
+f 33 48 35
+f 33 35 34
+f 37 40 50
+f 37 50 38
+f 38 50 42
+f 39 51 40
+f 40 51 52
+f 40 52 53
+f 40 53 50
+f 41 54 44
+f 41 42 50
+f 41 50 55
+f 41 55 54
+f 43 44 56
+f 43 56 57
+f 43 57 58
+f 43 58 45
+f 44 54 56
+f 45 58 46
+f 46 58 59
+f 47 60 61
+f 49 62 63
+f 50 64 55
+f 50 53 64
+f 51 65 52
+f 52 66 67
+f 52 67 53
+f 52 65 66
+f 53 67 64
+f 54 68 69
+f 54 69 56
+f 54 55 70
+f 54 70 68
+f 55 64 70
+f 56 69 57
+f 57 69 71
+f 57 71 72
+f 57 72 73
+f 57 73 58
+f 58 73 74
+f 58 74 75
+f 58 75 59
+f 60 76 61
+f 61 77 78
+f 61 76 79
+f 61 79 80
+f 61 80 81
+f 61 81 77
+f 62 82 83
+f 62 83 63
+f 64 84 70
+f 64 67 84
+f 65 83 66
+f 66 85 86
+f 66 86 67
+f 66 83 82
+f 66 82 85
+f 67 86 84
+f 68 70 87
+f 68 87 88
+f 68 88 89
+f 68 89 90
+f 68 90 69
+f 69 90 71
+f 70 84 91
+f 70 91 87
+f 71 90 92
+f 71 92 93
+f 71 93 72
+f 72 94 95
+f 72 95 73
+f 72 93 96
+f 72 96 94
+f 73 95 97
+f 73 97 74
+f 77 98 99
+f 77 99 78
+f 77 81 100
+f 77 100 98
+f 82 101 85
+f 84 102 103
+f 84 103 87
+f 84 87 91
+f 84 86 102
+f 85 101 86
+f 87 104 88
+f 88 104 89
+f 89 105 106
+f 89 106 107
+f 89 107 92
+f 89 92 90
+f 92 107 96
+f 92 96 93
+f 94 108 109
+f 94 109 95
+f 94 96 110
+f 94 110 111
+f 94 111 120
+f 94 120 108
+f 96 107 106
+f 96 106 105
+f 96 105 110
+f 98 100 112
+f 98 112 113
+f 98 113 99
+f 99 114 115
+f 99 113 116
+f 99 116 117
+f 99 117 108
+f 99 108 114
+f 105 115 111
+f 105 111 110
+f 108 117 118
+f 108 118 119
+f 108 119 109
+f 108 120 121
+f 108 121 114
+f 111 115 120
+f 112 122 113
+f 113 122 123
+f 113 123 116
+f 114 121 115
+f 115 121 120
+f 116 123 124
+f 116 124 125
+f 116 125 126
+f 116 126 127
+f 116 127 117
+f 117 127 118
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_8.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.05650963 0.02248903 0.02629885
+v -0.05452873 0.02052768 0.02609664
+v -0.05358846 0.02860598 0.02563446
+v -0.05650963 0.02444757 0.02614645
+v -0.05803713 0.02444757 0.02587252
+v -0.05813750 0.02248903 0.02592730
+v -0.05621998 0.00288956 0.02584853
+v -0.05452873 0.00288955 0.02599994
+v -0.05343175 0.02052769 0.02574899
+v -0.05336924 0.00484810 0.02579375
+v -0.05319668 0.02860598 0.02545815
+v -0.05380504 0.02860598 0.02563446
+v -0.05650963 0.02611711 0.02581475
+v -0.05778006 0.02570464 0.02574203
+v -0.05902759 0.02444758 0.02526289
+v -0.05912795 0.02248904 0.02526985
+v -0.05721044 0.00288956 0.02552180
+v -0.05586958 0.00092821 0.02575887
+v -0.05563451 -0.00005948 0.02567719
+v -0.05546812 -0.00005948 0.02567818
+v -0.05523481 -0.00005948 0.02567818
+v -0.05461237 0.00098152 0.02576684
+v -0.05348457 0.00166898 0.02568517
+v -0.05339213 0.00288956 0.02578080
+v -0.05234445 0.02860598 0.02481067
+v -0.05416953 0.02860598 0.02554382
+v -0.05846149 0.02637807 0.02506068
+v -0.05624639 0.02860598 0.02495610
+v -0.05812694 0.02860598 0.02413529
+v -0.05959545 0.02758462 0.02383644
+v -0.05973983 0.02640893 0.02409145
+v -0.05980674 0.02444758 0.02429863
+v -0.05976977 0.02248904 0.02430560
+v -0.05976097 0.02052769 0.02423288
+v -0.05938063 0.00092821 0.02332732
+v -0.05837873 0.00288956 0.02455755
+v -0.05839018 0.00092821 0.02436130
+v -0.05686092 0.00092821 0.02532555
+v -0.05659416 -0.00005948 0.02518410
+v -0.05496981 -0.00005948 0.02556662
+v -0.05317555 0.00288956 0.02466513
+v -0.05420386 -0.00005948 0.02523889
+v -0.05339741 -0.00005948 0.02436728
+v -0.05303381 0.00484810 0.02466514
+v -0.05228458 0.01072936 0.02273665
+v -0.05170528 0.02860598 0.02337026
+v -0.05216573 0.02860598 0.02451481
+v -0.05824491 0.02860598 0.02405560
+v -0.05985517 0.02829173 0.02270185
+v -0.05914204 0.02860598 0.02343401
+v -0.05981202 0.02860599 0.02255244
+v -0.06017564 0.02640894 0.02273671
+v -0.06019588 0.02444759 0.02273670
+v -0.06020821 0.02052770 0.02273669
+v -0.05954086 -0.00005947 0.02285216
+v -0.05925033 -0.00005948 0.02333728
+v -0.05875730 -0.00005948 0.02385128
+v -0.05825900 -0.00005948 0.02419993
+v -0.05749921 -0.00005948 0.02467906
+v -0.05238759 0.00876801 0.02273664
+v -0.05331642 -0.00005947 0.02273661
+v -0.05179772 0.01072938 0.01612235
+v -0.05184086 0.01072938 0.01695312
+v -0.05195531 0.01072937 0.01888163
+v -0.05209177 0.01072936 0.02080914
+v -0.05158642 0.02860599 0.02273672
+v -0.06028920 0.02837029 0.02080920
+v -0.06017739 0.02860599 0.02102836
+v -0.06030857 0.01660780 0.02080916
+v -0.05975480 -0.00005947 0.02158110
+v -0.05964475 -0.00005947 0.02237302
+v -0.05344936 -0.00005945 0.01612231
+v -0.05206096 0.00876803 0.01612234
+v -0.05194211 0.00961262 0.01612235
+v -0.05176338 0.01157397 0.01612235
+v -0.05172112 0.01269073 0.01612236
+v -0.05176691 0.01269073 0.01695313
+v -0.05150102 0.02860599 0.02080921
+v -0.06022669 0.02860599 0.02078729
+v -0.05988334 0.02860600 0.01934789
+v -0.05990799 0.02837030 0.01931899
+v -0.05996874 0.01660781 0.01904103
+v -0.05960073 -0.00005946 0.01963665
+v -0.05976800 -0.00005947 0.02083599
+v -0.05702467 -0.00005945 0.01612231
+v -0.05131438 0.02860601 0.01612242
+v -0.05134607 0.02860601 0.01695319
+v -0.05586342 0.02860601 0.01612242
+v -0.05597875 0.02836751 0.01612241
+v -0.05623495 0.02766602 0.01612241
+v -0.05657567 0.02640896 0.01612241
+v -0.05674294 0.02556437 0.01612240
+v -0.05694896 0.02444761 0.01612240
+v -0.05701059 0.02248907 0.01612239
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 11 25
+f 3 25 47
+f 3 47 46
+f 3 46 66
+f 3 66 78
+f 3 78 87
+f 3 87 86
+f 3 86 88
+f 3 88 80
+f 3 80 79
+f 3 79 68
+f 3 68 51
+f 3 51 50
+f 3 50 48
+f 3 48 29
+f 3 29 28
+f 3 28 26
+f 3 26 12
+f 3 12 4
+f 3 9 11
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 10
+f 9 25 11
+f 9 10 25
+f 10 24 25
+f 12 26 14
+f 12 14 13
+f 14 27 15
+f 14 26 28
+f 14 28 29
+f 14 29 27
+f 15 27 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 18 38 19
+f 19 39 59
+f 19 59 58
+f 19 58 57
+f 19 57 56
+f 19 56 55
+f 19 55 71
+f 19 71 70
+f 19 70 84
+f 19 84 83
+f 19 83 85
+f 19 85 72
+f 19 72 61
+f 19 61 43
+f 19 43 42
+f 19 42 40
+f 19 40 21
+f 19 21 20
+f 19 38 39
+f 21 40 23
+f 21 23 22
+f 23 41 24
+f 23 40 42
+f 23 42 43
+f 23 43 41
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 25
+f 24 41 44
+f 27 29 30
+f 29 48 30
+f 30 49 31
+f 30 48 50
+f 30 50 51
+f 30 51 49
+f 31 49 52
+f 31 52 32
+f 32 52 53
+f 32 53 54
+f 32 54 34
+f 32 34 33
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 37
+f 35 37 36
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 38 59 39
+f 41 43 60
+f 41 60 44
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 60
+f 44 60 45
+f 45 60 65
+f 45 65 66
+f 45 66 46
+f 49 51 67
+f 49 67 52
+f 51 68 67
+f 52 67 53
+f 53 67 54
+f 54 67 69
+f 54 69 70
+f 54 70 71
+f 54 71 55
+f 60 64 65
+f 61 72 73
+f 61 73 74
+f 61 74 62
+f 62 74 73
+f 62 73 72
+f 62 72 85
+f 62 85 94
+f 62 94 93
+f 62 93 92
+f 62 92 91
+f 62 91 90
+f 62 90 89
+f 62 89 88
+f 62 88 86
+f 62 86 76
+f 62 76 75
+f 62 75 63
+f 63 75 76
+f 63 76 77
+f 63 77 64
+f 64 77 66
+f 64 66 65
+f 66 77 76
+f 66 76 78
+f 67 68 79
+f 67 79 80
+f 67 80 81
+f 67 81 82
+f 67 82 69
+f 69 82 83
+f 69 83 84
+f 69 84 70
+f 76 86 87
+f 76 87 78
+f 80 88 89
+f 80 89 90
+f 80 90 91
+f 80 91 81
+f 81 91 92
+f 81 92 93
+f 81 93 94
+f 81 94 82
+f 82 94 85
+f 82 85 83
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_9.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.05349639 -0.00005945 0.01503423
+v -0.05700227 -0.00005945 0.01503423
+v -0.05345879 -0.00006506 0.01503423
+v -0.05345945 -0.00005945 0.01502407
+v -0.05701217 -0.00005943 0.01212376
+v -0.05700623 -0.00103594 0.01503423
+v -0.05205907 -0.00887595 0.01503420
+v -0.05205841 -0.00887595 0.01502404
+v -0.05164944 -0.01064653 0.01116626
+v -0.05163164 -0.01044448 0.00923864
+v -0.05324573 -0.00005935 -0.01091114
+v -0.05161580 -0.01028735 0.00731102
+v -0.05119694 -0.01083726 -0.01091118
+v -0.05143837 -0.00944547 -0.01091117
+v -0.05701811 -0.00005943 0.01019614
+v -0.05702536 -0.00103591 0.00923868
+v -0.05696995 -0.02259456 0.01503415
+v -0.05176422 -0.01083736 0.01503419
+v -0.05176356 -0.01083736 0.01502403
+v -0.05166264 -0.01100010 0.01300499
+v -0.05155050 -0.01176333 0.01230403
+v -0.05153467 -0.01162863 0.01116626
+v -0.05150960 -0.01142659 0.00923864
+v -0.05148784 -0.01126665 0.00731102
+v -0.05688354 -0.00005935 -0.01091114
+v -0.05111779 -0.01191477 -0.01091118
+v -0.05702668 -0.00005942 0.00731106
+v -0.05703064 -0.00103591 0.00731106
+v -0.05696995 -0.02259456 0.01502399
+v -0.05691323 -0.02454474 0.01503414
+v -0.05703328 -0.00103590 0.00538091
+v -0.05176356 -0.01084577 0.01503419
+v -0.05166395 -0.01279596 0.01502402
+v -0.05125697 -0.02872570 0.01502396
+v -0.05119562 -0.02872569 0.01349761
+v -0.05029458 -0.02872560 -0.01091125
+v -0.05106370 -0.01279586 -0.01091119
+v -0.05691389 -0.00005935 -0.01004257
+v -0.05688816 -0.00103584 -0.01091114
+v -0.05691916 -0.00103584 -0.01004257
+v -0.05702932 -0.00005941 0.00538091
+v -0.05664542 -0.02259448 -0.00618488
+v -0.05703130 -0.00103589 0.00345329
+v -0.05702734 -0.00103589 0.00152821
+v -0.05702272 -0.00103588 -0.00040195
+v -0.05701547 -0.00103587 -0.00232956
+v -0.05700359 -0.00103586 -0.00425718
+v -0.05698512 -0.00103586 -0.00618480
+v -0.05695808 -0.00103585 -0.00811496
+v -0.05688156 -0.02455596 0.01309383
+v -0.05691256 -0.02455597 0.01502398
+v -0.05691256 -0.02455597 0.01503414
+v -0.05661574 -0.02259447 -0.00811504
+v -0.05702866 -0.00005940 0.00345329
+v -0.05166462 -0.01279596 0.01503418
+v -0.05125763 -0.02872570 0.01503412
+v -0.05496404 -0.02872560 -0.01091125
+v -0.05693367 -0.00005936 -0.00908257
+v -0.05656297 -0.02259446 -0.01091122
+v -0.05695346 -0.00005936 -0.00811496
+v -0.05658210 -0.02259446 -0.01004265
+v -0.05702668 -0.00005940 0.00248313
+v -0.05702272 -0.00005939 0.00055805
+v -0.05701547 -0.00005938 -0.00136956
+v -0.05701085 -0.00005938 -0.00232956
+v -0.05700425 -0.00005938 -0.00329972
+v -0.05699765 -0.00005937 -0.00425718
+v -0.05698908 -0.00005937 -0.00522734
+v -0.05697985 -0.00005937 -0.00618480
+v -0.05655439 -0.02455589 -0.00618489
+v -0.05652801 -0.02651737 0.01503413
+v -0.05565929 -0.02872570 0.01503412
+v -0.05499109 -0.02872560 -0.01014935
+v -0.05503396 -0.02862178 -0.01091125
+v -0.05646072 -0.02455587 -0.01091123
+v -0.05648183 -0.02455587 -0.01004266
+v -0.05652009 -0.02455588 -0.00811505
+v -0.05609925 -0.02651729 -0.00618490
+v -0.05560585 -0.02766493 -0.01004267
+v -0.05589015 -0.02826271 0.01503413
+v -0.05515533 -0.02872562 -0.00435126
+v -0.05499438 -0.02872560 -0.01004268
+v -0.05504848 -0.02864423 -0.01004268
+v -0.05528660 -0.02818124 -0.01091124
+v -0.05599371 -0.02651727 -0.01091124
+v -0.05601746 -0.02651727 -0.01004267
+v -0.05605967 -0.02651728 -0.00811506
+v -0.05559332 -0.02764248 -0.01091124
+v -0.05507618 -0.02868914 -0.00811507
+v -0.05509926 -0.02872562 -0.00648459
+v -0.05510718 -0.02872562 -0.00618491
+v -0.05505045 -0.02872561 -0.00816332
+v -0.05581957 -0.02700832 -0.01091124
+f 1 2 6
+f 1 6 17
+f 1 17 30
+f 1 30 52
+f 1 52 71
+f 1 71 80
+f 1 80 72
+f 1 72 56
+f 1 56 55
+f 1 55 32
+f 1 32 18
+f 1 18 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 25
+f 1 25 38
+f 1 38 58
+f 1 58 60
+f 1 60 69
+f 1 69 68
+f 1 68 67
+f 1 67 66
+f 1 66 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 54
+f 1 54 41
+f 1 41 27
+f 1 27 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 11
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 13
+f 10 13 12
+f 11 14 13
+f 11 13 26
+f 11 26 37
+f 11 37 36
+f 11 36 57
+f 11 57 74
+f 11 74 84
+f 11 84 88
+f 11 88 93
+f 11 93 85
+f 11 85 75
+f 11 75 59
+f 11 59 39
+f 11 39 25
+f 13 24 23
+f 13 23 26
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 29 30
+f 17 28 31
+f 17 31 29
+f 18 32 19
+f 19 32 21
+f 19 21 20
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 23
+f 23 37 26
+f 25 39 40
+f 25 40 38
+f 27 41 31
+f 27 31 28
+f 29 42 30
+f 29 31 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 42
+f 30 50 51
+f 30 51 52
+f 30 42 53
+f 30 53 50
+f 31 41 54
+f 31 54 43
+f 32 55 33
+f 33 55 56
+f 33 56 34
+f 34 56 72
+f 34 72 81
+f 34 81 91
+f 34 91 90
+f 34 90 92
+f 34 92 82
+f 34 82 73
+f 34 73 57
+f 34 57 36
+f 34 36 35
+f 38 40 58
+f 39 59 40
+f 40 49 60
+f 40 60 58
+f 40 59 61
+f 40 61 49
+f 42 49 53
+f 43 54 62
+f 43 62 63
+f 43 63 44
+f 44 63 45
+f 45 63 64
+f 45 64 46
+f 46 64 65
+f 46 65 47
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 48
+f 48 68 69
+f 48 69 60
+f 48 60 49
+f 49 61 53
+f 50 70 71
+f 50 71 51
+f 50 53 70
+f 51 71 52
+f 53 61 70
+f 57 73 74
+f 59 75 76
+f 59 76 61
+f 61 76 77
+f 61 77 70
+f 70 77 71
+f 71 77 76
+f 71 76 78
+f 71 78 79
+f 71 79 80
+f 72 80 79
+f 72 79 81
+f 73 82 83
+f 73 83 74
+f 74 83 84
+f 75 85 86
+f 75 86 76
+f 76 86 87
+f 76 87 78
+f 78 87 79
+f 79 87 86
+f 79 86 88
+f 79 88 83
+f 79 83 89
+f 79 89 90
+f 79 90 91
+f 79 91 81
+f 82 92 89
+f 82 89 83
+f 83 88 84
+f 85 93 86
+f 86 93 88
+f 89 92 90
+

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/storage_bin_030.xml

@@ -0,0 +1,70 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_030">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/storage_bin_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_030_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_030_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_030_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_030_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_030_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_030_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_030_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_030_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_030_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_030_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_030_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_030_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_030_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_030_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_030_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_030_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_030_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_030_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_030_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_030_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_030_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_030_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_030">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_030">
+   <link name="storage_bin_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_030.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/storage_bin_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>a261ebc4fb1257a995b3ad58b4961d26</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>wavy bin</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular brown plastic storage bin with scalloped rim and rounded corners</description>
+         <min_height>0.0438</min_height>
+         <max_height>0.0438</max_height>
+         <real_height>0.0438</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140400</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060030 -0.037531 -0.017337</min>
+            <max>0.059970 0.037422 0.026503</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4724d8b507314bf75be5e01b6693ab02ae5514624bc9c5ff72c8cc1dcbce7b01
+size 4951903

dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d80883938a93d92dec3da11ea44794e246d339419d8442bb477da9d85fcb8749
+size 230647