Add asset desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b

.gitattributes

@@ -3214,18 +3214,4 @@ dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/mesh/notebook_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/notebook_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/a31529328e585ae594523771b2e5a4d9.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/mesh/book.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/mesh/book_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/mesh/sharpener_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/sharpener_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/mesh/stapler_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/stapler_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/stapler_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_45">
+   <link name="pen_holder_45">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_45.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_45_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.225000</scale>
+         <version>v0.1.5</version>
+         <category>pen holder</category>
+         <description>colorful geometric pen holder with multiple pens inserted vertically</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251014175058</generate_time>
+         <gs_model>mesh/pen_holder_45_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.168530702590942</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0817436b1cac1c2f7014f44e349b2401c3f865d830fcaea9defa4ca0148a615c
+size 641533

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/material.mtl

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

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c851bda6fac9b298c25d42fe16186244c638a170f70e0bc018f463061cb068ec
+size 2553564

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a83f24edd8a64beb6849821056abbac8e82ec51fbdd5d11ab69b9dd987c59e7
+size 35605610

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/a32dcba8c28b5924b9eb671b31cff68b.xml

@@ -0,0 +1,214 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_45">
+  <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/pen_holder_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_45_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_45_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_45_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_45_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_45_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_45_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_45_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_45_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_45_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_45_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_45_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_45_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_45_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_45_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_45_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_45_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_45_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_45_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_45_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_45_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_45_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_45_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_45_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_45_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_45_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_45_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_45_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_45_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_45_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_45_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_45_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_45_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_45_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_45_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_45_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_45_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_45_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pen_holder_45_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pen_holder_45_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pen_holder_45_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pen_holder_45_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/pen_holder_45_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/pen_holder_45_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/pen_holder_45_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/pen_holder_45_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/pen_holder_45_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/pen_holder_45_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/pen_holder_45_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/pen_holder_45_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/pen_holder_45_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/pen_holder_45_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/pen_holder_45_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/pen_holder_45_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/pen_holder_45_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/pen_holder_45_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/pen_holder_45_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/pen_holder_45_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/pen_holder_45_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/pen_holder_45_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/pen_holder_45_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/pen_holder_45_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/pen_holder_45_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/pen_holder_45_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/pen_holder_45_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/pen_holder_45_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/pen_holder_45_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/pen_holder_45_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/pen_holder_45_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/pen_holder_45_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/pen_holder_45_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/pen_holder_45_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/pen_holder_45_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/pen_holder_45_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/pen_holder_45_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/pen_holder_45_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/pen_holder_45_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/pen_holder_45_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/pen_holder_45_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/pen_holder_45_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/pen_holder_45_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/pen_holder_45_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/pen_holder_45_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/pen_holder_45_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/pen_holder_45_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/pen_holder_45_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/pen_holder_45_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/pen_holder_45_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/pen_holder_45_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/pen_holder_45_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/pen_holder_45_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/pen_holder_45_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/pen_holder_45_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/pen_holder_45_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/pen_holder_45_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/pen_holder_45_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/pen_holder_45_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/pen_holder_45_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_97" file="mesh/pen_holder_45_collision_97.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_98" file="mesh/pen_holder_45_collision_98.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_99" file="mesh/pen_holder_45_collision_99.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_45">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_78" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_80" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_83" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_84" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_85" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_91" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_97" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_98" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_99" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_0.obj

@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.02446994 0.00765754 0.01696312
+v 0.02509276 0.00394282 0.01696310
+v 0.02474731 0.00765752 0.02068198
+v 0.02515328 0.01882854 0.01695382
+v 0.02491121 0.01882855 0.01334709
+v 0.02475740 0.00765755 0.01334705
+v 0.02520875 0.00394283 0.01334703
+v 0.02626528 0.00139663 0.01696310
+v 0.02645944 0.00164029 0.02068196
+v 0.02666620 0.00187629 0.02441016
+v 0.02541804 0.00394280 0.02068196
+v 0.02625771 0.00094765 0.01334702
+v 0.02580636 0.00394279 0.02441016
+v 0.02514824 0.00765751 0.02441018
+v 0.02872882 0.01882853 0.01928978
+v 0.02559707 0.00765750 0.02813837
+v 0.02674689 0.00969902 0.03418386
+v 0.03425854 0.00955114 0.07479227
+v 0.03577146 0.01136818 0.08029580
+v 0.03756931 0.01366875 0.08332322
+v 0.03984625 0.01571225 0.08029582
+v 0.04356552 0.01599622 0.08029582
+v 0.03466450 0.01882855 0.01334709
+v 0.02855735 -0.00077350 0.02129864
+v 0.02678976 0.00203554 0.02652187
+v 0.02631571 0.00089393 0.01334702
+v 0.02850440 -0.00077350 0.02068195
+v 0.02629049 0.00378352 0.02791410
+v 0.02646952 0.00488679 0.03186656
+v 0.03090742 0.01882853 0.01919634
+v 0.02669898 0.00546816 0.03447350
+v 0.02617198 0.00765748 0.03186657
+v 0.02666872 0.00765747 0.03463236
+v 0.02819929 0.00765744 0.04304183
+v 0.02888767 0.00765743 0.04677003
+v 0.03515620 0.00765731 0.08029579
+v 0.03601352 0.00765729 0.08402399
+v 0.03691119 0.01170202 0.08434169
+v 0.03803327 0.01316219 0.08579934
+v 0.03950332 0.01462813 0.08434170
+v 0.04356552 0.01556065 0.08402402
+v 0.04657370 0.01414077 0.08402401
+v 0.04665691 0.01430004 0.08029581
+v 0.03459895 0.01882855 0.01351528
+v 0.03317176 0.01882854 0.01615959
+v 0.03283135 0.01882854 0.01670153
+v 0.03772312 0.00774005 0.01334705
+v 0.04648041 0.01419260 0.07656761
+v 0.04851781 0.01211074 0.08029580
+v 0.04845477 0.01122045 0.07642744
+v 0.04929696 0.00988499 0.07757674
+v 0.02898349 -0.00077351 0.02420458
+v 0.02701417 0.00244038 0.02900733
+v 0.03797023 0.00207179 0.08220192
+v 0.02862795 -0.00077347 0.01334702
+v 0.02831024 -0.00077348 0.01696309
+v 0.02833546 -0.00077348 0.01744897
+v 0.03035268 0.00543739 0.05330137
+v 0.03427871 0.00625663 0.07465209
+v 0.03748106 0.01068699 0.08680847
+v 0.03722386 0.00393682 0.08367825
+v 0.03755670 0.00517057 0.08672436
+v 0.04522721 0.00536428 0.10850489
+v 0.04522721 0.00615097 0.10850489
+v 0.04075400 0.01384335 0.08775221
+v 0.04356552 0.01440554 0.08775221
+v 0.04583994 0.01346534 0.09044325
+v 0.04626608 0.01378770 0.08775221
+v 0.04934739 0.00971606 0.09795570
+v 0.04954407 0.00998086 0.09519926
+v 0.04812445 0.01222392 0.08775220
+v 0.04843459 0.01228725 0.08402401
+v 0.03775590 0.00755777 0.01334705
+v 0.04960711 0.01042989 0.08402400
+v 0.04948608 0.01025338 0.08029580
+v 0.04981639 0.00765731 0.08029579
+v 0.04937261 0.00765732 0.07696938
+v 0.04907254 0.00765732 0.07510995
+v 0.04801602 0.00765735 0.06912054
+v 0.04735033 0.00765736 0.06539234
+v 0.03805597 0.00555651 0.01334704
+v 0.03202698 -0.00077355 0.03559474
+v 0.03645984 0.00394259 0.08029577
+v 0.03984625 0.00108364 0.08029576
+v 0.03988155 0.00154988 0.08367825
+v 0.04728478 0.00375445 0.10637448
+v 0.03859053 -0.00077347 0.01334702
+v 0.03409716 0.00549297 0.07216662
+v 0.04728478 0.00488843 0.10879455
+v 0.04728478 0.00650786 0.10879455
+v 0.04527763 0.00962203 0.10113261
+v 0.04356552 0.01344232 0.09030308
+v 0.04615765 0.00962203 0.10113261
+v 0.04728478 0.00760540 0.10637450
+v 0.04957937 0.00639273 0.10871046
+v 0.04863884 0.00936108 0.10044115
+v 0.04983153 0.00685516 0.10637450
+v 0.05014924 0.00765725 0.09519925
+v 0.04963232 0.01022647 0.09147105
+v 0.04962224 0.01036848 0.08775220
+v 0.05022741 0.00765726 0.09147104
+v 0.05021732 0.00765728 0.08775219
+v 0.05011898 0.00765729 0.08402399
+v 0.04929444 0.00551215 0.07733378
+v 0.03825769 0.00394283 0.01334703
+v 0.03318688 -0.00077356 0.03857544
+v 0.04356552 0.00074208 0.08402396
+v 0.04114484 0.00177245 0.08675238
+v 0.04549197 0.00205832 0.09359208
+v 0.04586011 0.00184726 0.09147102
+v 0.04630390 0.00150958 0.08775217
+v 0.04983153 0.00452771 0.10637449
+v 0.04957937 0.00502082 0.10871046
+v 0.04341422 0.00143666 0.08790167
+v 0.03724655 -0.00077354 0.03213752
+v 0.04947599 0.00522240 0.08029578
+v 0.04965502 0.00498062 0.08402398
+v 0.04808158 0.00336505 0.08029577
+v 0.04821270 0.00312518 0.08402397
+v 0.04622069 0.00149042 0.08029577
+v 0.04635433 0.00140022 0.08402397
+v 0.04356552 0.00061163 0.08029576
+v 0.03984625 -0.00026707 0.05421705
+v 0.04987187 0.00460064 0.10265563
+v 0.04973823 0.00489618 0.08775218
+v 0.03590006 -0.00077357 0.04020126
+v 0.04816479 0.00304075 0.08775217
+v 0.03691371 -0.00077355 0.03589375
+v 0.03624046 -0.00077356 0.03944441
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 7 12
+f 2 12 8
+f 3 11 13
+f 3 13 14
+f 3 14 4
+f 4 15 30
+f 4 30 46
+f 4 46 45
+f 4 45 44
+f 4 44 23
+f 4 23 5
+f 4 14 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 15
+f 5 23 47
+f 5 47 73
+f 5 73 81
+f 5 81 105
+f 5 105 87
+f 5 87 55
+f 5 55 26
+f 5 26 12
+f 5 12 7
+f 5 7 6
+f 8 24 9
+f 8 12 24
+f 9 24 10
+f 10 24 25
+f 10 25 11
+f 11 25 13
+f 12 26 27
+f 12 27 24
+f 13 25 28
+f 13 28 29
+f 13 29 14
+f 14 29 16
+f 15 22 30
+f 16 29 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 36 19
+f 18 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 21 40 41
+f 21 41 22
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 22 23 44
+f 22 44 45
+f 22 45 46
+f 22 46 30
+f 23 43 48
+f 23 48 49
+f 23 49 50
+f 23 50 51
+f 23 51 47
+f 24 27 57
+f 24 57 56
+f 24 56 55
+f 24 55 87
+f 24 87 115
+f 24 115 128
+f 24 128 129
+f 24 129 126
+f 24 126 106
+f 24 106 82
+f 24 82 52
+f 24 52 25
+f 25 53 28
+f 25 52 54
+f 25 54 53
+f 26 55 56
+f 26 56 57
+f 26 57 27
+f 28 53 29
+f 29 53 31
+f 31 35 34
+f 31 34 33
+f 31 33 32
+f 31 53 58
+f 31 58 59
+f 31 59 36
+f 31 36 35
+f 36 59 37
+f 37 60 38
+f 37 59 61
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 60
+f 38 60 39
+f 39 60 64
+f 39 64 65
+f 39 65 40
+f 40 65 41
+f 41 65 66
+f 41 66 67
+f 41 67 68
+f 41 68 42
+f 42 68 69
+f 42 69 70
+f 42 70 71
+f 42 71 72
+f 42 72 43
+f 43 72 49
+f 43 49 48
+f 47 51 73
+f 49 72 74
+f 49 74 75
+f 49 75 50
+f 50 75 51
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 79
+f 51 79 80
+f 51 80 81
+f 51 81 73
+f 52 82 54
+f 53 54 83
+f 53 83 58
+f 54 84 85
+f 54 85 86
+f 54 86 63
+f 54 63 61
+f 54 61 83
+f 54 82 84
+f 58 83 88
+f 58 88 59
+f 59 88 83
+f 59 83 61
+f 61 63 62
+f 63 86 89
+f 63 89 90
+f 63 90 64
+f 64 90 91
+f 64 91 65
+f 65 91 92
+f 65 92 66
+f 66 92 91
+f 66 91 67
+f 67 91 93
+f 67 93 94
+f 67 94 95
+f 67 95 96
+f 67 96 69
+f 67 69 68
+f 69 96 95
+f 69 95 97
+f 69 97 70
+f 70 97 98
+f 70 98 99
+f 70 99 72
+f 70 72 71
+f 72 99 100
+f 72 100 74
+f 74 100 101
+f 74 101 102
+f 74 102 103
+f 74 103 75
+f 75 103 76
+f 76 104 77
+f 76 103 104
+f 77 104 87
+f 77 87 78
+f 78 87 79
+f 79 87 80
+f 80 87 105
+f 80 105 81
+f 82 106 84
+f 84 107 85
+f 84 106 107
+f 85 107 108
+f 85 108 86
+f 86 109 110
+f 86 110 111
+f 86 111 112
+f 86 112 113
+f 86 113 89
+f 86 108 114
+f 86 114 107
+f 86 107 109
+f 87 104 116
+f 87 116 117
+f 87 117 118
+f 87 118 119
+f 87 119 120
+f 87 120 121
+f 87 121 122
+f 87 122 123
+f 87 123 115
+f 89 113 95
+f 89 95 90
+f 90 95 94
+f 90 94 91
+f 91 94 93
+f 95 113 112
+f 95 112 97
+f 97 112 98
+f 98 101 99
+f 98 112 101
+f 99 101 100
+f 101 112 124
+f 101 124 102
+f 102 125 117
+f 102 117 103
+f 102 124 125
+f 103 117 116
+f 103 116 104
+f 106 126 107
+f 107 122 111
+f 107 111 110
+f 107 110 109
+f 107 114 108
+f 107 126 122
+f 111 122 121
+f 111 121 112
+f 112 121 127
+f 112 127 124
+f 115 123 128
+f 117 125 119
+f 117 119 118
+f 119 125 124
+f 119 124 127
+f 119 127 121
+f 119 121 120
+f 122 126 123
+f 123 126 129
+f 123 129 128
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_1.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.00850642 0.02919347 0.02104343
+v -0.01222560 0.02933087 0.02104343
+v -0.00374263 0.03078900 0.02104343
+v -0.00625056 0.03154609 0.02708724
+v -0.00709651 0.03194426 0.02957055
+v -0.00850642 0.03011881 0.02441480
+v -0.01016627 0.03539325 0.04526801
+v -0.00957454 0.03159094 0.03077109
+v -0.01157191 0.03159094 0.03077109
+v -0.01222560 0.03011601 0.02441480
+v -0.01508601 0.03075535 0.02104343
+v -0.01818140 0.04283802 0.07512526
+v -0.01405207 0.03180405 0.02998169
+v -0.01448359 0.03148159 0.02749839
+v -0.01484034 0.03112268 0.02441480
+v -0.00374263 0.04493569 0.02104349
+v -0.00374263 0.03084508 0.02123255
+v -0.01403498 0.04290533 0.07480457
+v -0.01367396 0.03904133 0.06057900
+v -0.01478907 0.03904133 0.06057900
+v -0.01864497 0.03562607 0.02104345
+v -0.02143488 0.04298105 0.07076714
+v -0.02168482 0.04277356 0.06828384
+v -0.01594264 0.04224636 0.07284753
+v -0.01594264 0.04283802 0.07510060
+v -0.02141566 0.05028843 0.10106020
+v -0.02188349 0.05028843 0.10106020
+v -0.01966181 0.04540655 0.08402241
+v -0.01966181 0.04439990 0.08029745
+v -0.01951869 0.04351381 0.07644915
+v -0.02081110 0.04316891 0.07284753
+v -0.00374263 0.04564231 0.02433263
+v -0.00850642 0.04454031 0.02104348
+v -0.01042903 0.04665738 0.02996530
+v -0.01594264 0.05616311 0.07284758
+v -0.00374263 0.03345847 0.02929097
+v -0.01365901 0.04629265 0.08289588
+v -0.01587855 0.04579632 0.08408820
+v -0.01932215 0.03740388 0.02104346
+v -0.02174677 0.04268383 0.06538939
+v -0.02465204 0.04779005 0.08029747
+v -0.02477167 0.04789942 0.07657251
+v -0.02229151 0.04620291 0.08402241
+v -0.02279139 0.04574306 0.08029746
+v -0.02114436 0.05336731 0.10503187
+v -0.02338099 0.05322430 0.10504831
+v -0.02322718 0.05149137 0.10244165
+v -0.02424402 0.05119416 0.09893049
+v -0.02176173 0.04652537 0.08628370
+v -0.00374263 0.04611619 0.02702973
+v -0.01594264 0.05696228 0.07657254
+v -0.00886745 0.04447862 0.02104348
+v -0.01290705 0.04642464 0.03067246
+v -0.01189021 0.04691815 0.03189767
+v -0.01838862 0.05435450 0.06629395
+v -0.01966181 0.05660896 0.07657254
+v -0.00374263 0.04412799 0.05539861
+v -0.01288997 0.04837328 0.08408821
+v -0.01359065 0.04952296 0.08678531
+v -0.01910639 0.03992196 0.02104347
+v -0.02542963 0.04975854 0.07657251
+v -0.02532282 0.05006700 0.07428655
+v -0.02532282 0.05050164 0.07428656
+v -0.02525019 0.05035016 0.08977021
+v -0.02541041 0.04991274 0.08402242
+v -0.02547877 0.04964637 0.08029747
+v -0.02547877 0.05323272 0.10265545
+v -0.02514338 0.05073711 0.09225352
+v -0.02114436 0.05449175 0.10503187
+v -0.01190944 0.05222051 0.08402243
+v -0.02338099 0.05449175 0.10504831
+v -0.02533777 0.05365053 0.10471117
+v -0.00374263 0.04807061 0.03941338
+v -0.01957423 0.05744737 0.08044551
+v -0.01827540 0.05783994 0.08178583
+v -0.01751063 0.05783994 0.08178583
+v -0.01613917 0.05748101 0.08044551
+v -0.00374263 0.04841551 0.04218449
+v -0.01247981 0.04380564 0.02104348
+v -0.01429774 0.04679757 0.03315577
+v -0.01964259 0.05466575 0.06933641
+v -0.01966181 0.05563034 0.07284757
+v -0.02250086 0.05510877 0.07657253
+v -0.02161646 0.05416380 0.07072607
+v -0.02195612 0.05450870 0.07284757
+v -0.00374263 0.04545151 0.05731455
+v -0.01115107 0.04872943 0.08011656
+v -0.01030726 0.05011746 0.07875979
+v -0.01491511 0.04272886 0.02104348
+v -0.02397913 0.05193173 0.07296268
+v -0.02542963 0.05077082 0.07657252
+v -0.02528650 0.05413850 0.08904661
+v -0.02480799 0.05301690 0.08029748
+v -0.02435938 0.05262714 0.07657252
+v -0.02556635 0.05305048 0.09893049
+v -0.02547877 0.05116058 0.08029748
+v -0.02547877 0.05442166 0.10265545
+v -0.01365260 0.05457875 0.08681822
+v -0.01308223 0.05522090 0.08402244
+v -0.02069788 0.05492360 0.10265545
+v -0.02338099 0.05526569 0.10265545
+v -0.00374263 0.04930714 0.05907425
+v -0.02533777 0.05421136 0.10471117
+v -0.02321436 0.05575928 0.08402244
+v -0.01957423 0.05763523 0.08415402
+v -0.02294733 0.05559106 0.08029749
+v -0.01827540 0.05783994 0.08299460
+v -0.01751063 0.05783994 0.08299460
+v -0.01613917 0.05720340 0.08415402
+v -0.01261012 0.05563312 0.08029749
+v -0.01249263 0.05545928 0.07657253
+v -0.00374263 0.04963244 0.05422276
+v -0.00374263 0.04889218 0.04677284
+v -0.00374263 0.04877441 0.04562164
+v -0.00374263 0.04850803 0.04303966
+v -0.01429560 0.04312985 0.02104348
+v -0.00374263 0.04662082 0.05788192
+v -0.02550440 0.05444412 0.09519732
+v -0.02537622 0.05426748 0.09147236
+v -0.02556635 0.05454226 0.09893050
+v -0.02338099 0.05572278 0.09893050
+v -0.01966181 0.05674069 0.09147237
+v -0.01966181 0.05736322 0.08774741
+v -0.00374263 0.04941090 0.05802995
+v -0.02338099 0.05581814 0.09147237
+v -0.02338099 0.05583496 0.09519733
+f 1 2 11
+f 1 11 21
+f 1 21 39
+f 1 39 60
+f 1 60 89
+f 1 89 116
+f 1 116 79
+f 1 79 52
+f 1 52 33
+f 1 33 16
+f 1 16 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 11
+f 3 16 32
+f 3 32 50
+f 3 50 73
+f 3 73 78
+f 3 78 115
+f 3 115 114
+f 3 114 113
+f 3 113 112
+f 3 112 124
+f 3 124 102
+f 3 102 117
+f 3 117 86
+f 3 86 57
+f 3 57 36
+f 3 36 17
+f 3 17 4
+f 4 17 7
+f 4 7 5
+f 5 7 6
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 20 10
+f 10 20 12
+f 11 15 22
+f 11 22 23
+f 11 23 21
+f 12 20 19
+f 12 19 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 13
+f 13 30 31
+f 13 31 22
+f 13 22 14
+f 14 22 15
+f 16 33 34
+f 16 34 35
+f 16 35 32
+f 17 36 18
+f 18 37 38
+f 18 38 26
+f 18 26 25
+f 18 25 19
+f 18 36 37
+f 19 25 24
+f 21 23 40
+f 21 40 41
+f 21 41 42
+f 21 42 39
+f 22 31 43
+f 22 43 44
+f 22 44 23
+f 23 44 41
+f 23 41 40
+f 26 38 37
+f 26 37 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 43
+f 27 43 49
+f 27 49 29
+f 27 29 28
+f 29 49 43
+f 29 43 31
+f 29 31 30
+f 32 35 51
+f 32 51 50
+f 33 52 34
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 51
+f 36 57 37
+f 37 57 58
+f 37 58 59
+f 37 59 45
+f 39 42 61
+f 39 61 62
+f 39 62 63
+f 39 63 60
+f 41 44 64
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 66 61
+f 43 48 44
+f 44 48 67
+f 44 67 68
+f 44 68 64
+f 45 69 71
+f 45 71 46
+f 45 59 70
+f 45 70 69
+f 46 71 103
+f 46 103 72
+f 46 72 47
+f 47 72 48
+f 48 72 67
+f 50 51 73
+f 51 56 74
+f 51 74 75
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 73
+f 52 79 53
+f 53 80 54
+f 53 79 80
+f 54 80 55
+f 55 81 82
+f 55 82 56
+f 55 80 81
+f 56 83 74
+f 56 82 84
+f 56 84 85
+f 56 85 83
+f 57 86 58
+f 58 87 59
+f 58 86 87
+f 59 87 88
+f 59 88 70
+f 60 63 90
+f 60 90 85
+f 60 85 84
+f 60 84 89
+f 61 66 96
+f 61 96 91
+f 61 91 63
+f 61 63 62
+f 63 91 92
+f 63 92 93
+f 63 93 94
+f 63 94 90
+f 64 68 67
+f 64 67 65
+f 65 67 95
+f 65 95 66
+f 66 95 120
+f 66 120 96
+f 67 72 103
+f 67 103 97
+f 67 97 120
+f 67 120 95
+f 69 98 99
+f 69 99 100
+f 69 100 101
+f 69 101 71
+f 69 70 98
+f 70 99 98
+f 70 88 102
+f 70 102 99
+f 71 101 103
+f 74 104 105
+f 74 105 75
+f 74 83 106
+f 74 106 104
+f 75 105 107
+f 75 107 108
+f 75 108 76
+f 76 108 77
+f 77 108 109
+f 77 109 110
+f 77 110 111
+f 77 111 112
+f 77 112 113
+f 77 113 114
+f 77 114 115
+f 77 115 78
+f 79 116 80
+f 80 116 84
+f 80 84 81
+f 81 84 82
+f 83 94 106
+f 83 85 90
+f 83 90 94
+f 84 116 89
+f 86 117 88
+f 86 88 87
+f 88 117 102
+f 91 96 118
+f 91 118 119
+f 91 119 92
+f 92 119 104
+f 92 104 106
+f 92 106 93
+f 93 106 94
+f 96 120 118
+f 97 103 101
+f 97 101 121
+f 97 121 120
+f 99 110 109
+f 99 109 100
+f 99 102 110
+f 100 122 101
+f 100 109 108
+f 100 108 122
+f 101 122 123
+f 101 123 121
+f 102 124 110
+f 104 119 118
+f 104 118 120
+f 104 120 125
+f 104 125 105
+f 105 125 126
+f 105 126 121
+f 105 121 123
+f 105 123 107
+f 107 123 108
+f 108 123 122
+f 110 124 112
+f 110 112 111
+f 120 121 126
+f 120 126 125
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_10.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00374427 0.02836208 0.01333777
+v -0.00374427 0.02860391 0.01418936
+v -0.00460777 0.02804140 0.01333777
+v -0.00374427 0.04498681 0.01333784
+v -0.00374427 0.02972365 0.01790188
+v -0.00527175 0.02780658 0.01333777
+v -0.00850662 0.04505866 0.01333784
+v -0.00374427 0.04493596 0.02104273
+v -0.00821225 0.02929256 0.02104267
+v -0.00850662 0.02919443 0.02104267
+v -0.00644108 0.02801160 0.01537883
+v -0.00374427 0.03078909 0.02104267
+v -0.00840196 0.02722304 0.01333777
+v -0.01223212 0.04510948 0.01333784
+v -0.01594290 0.04494651 0.01333784
+v -0.00850662 0.04453993 0.02104272
+v -0.01222395 0.02932936 0.02104267
+v -0.00850662 0.02909454 0.02068137
+v -0.00850662 0.02833753 0.01778798
+v -0.00850662 0.02720902 0.01333777
+v -0.01966186 0.04443131 0.01333783
+v -0.00886642 0.04448035 0.02104272
+v -0.01362223 0.02824993 0.01401813
+v -0.01222395 0.02924525 0.02068137
+v -0.01114457 0.02787667 0.01591663
+v -0.01508594 0.03075404 0.02104267
+v -0.02045013 0.03196144 0.01610145
+v -0.01216671 0.02767340 0.01333777
+v -0.01976653 0.04440853 0.01333783
+v -0.01247744 0.04380568 0.02104272
+v -0.01375470 0.02819911 0.01333777
+v -0.01278653 0.02786090 0.01333777
+v -0.01231880 0.02847247 0.01707745
+v -0.02045013 0.03473718 0.01946249
+v -0.02045013 0.03445505 0.01922867
+v -0.02045013 0.03252395 0.01695679
+v -0.01864626 0.03562562 0.02104269
+v -0.02045013 0.03640718 0.02042947
+v -0.02045013 0.03185631 0.01390802
+v -0.02045013 0.04417722 0.01333783
+v -0.02045013 0.04395642 0.01405364
+v -0.02045013 0.04392838 0.01412152
+v -0.02045013 0.04325196 0.01573793
+v -0.01429440 0.04312752 0.02104272
+v -0.02045013 0.03217874 0.01333779
+v -0.01932169 0.03740253 0.02104270
+v -0.01910745 0.03992068 0.02104271
+v -0.02045013 0.03974020 0.01968200
+v -0.01491586 0.04272447 0.02104272
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 20
+f 1 20 28
+f 1 28 32
+f 1 32 31
+f 1 31 45
+f 1 45 40
+f 1 40 29
+f 1 29 21
+f 1 21 15
+f 1 15 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 5 12 9
+f 6 11 13
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 22
+f 8 22 30
+f 8 30 44
+f 8 44 49
+f 8 49 47
+f 8 47 46
+f 8 46 37
+f 8 37 26
+f 8 26 17
+f 8 17 10
+f 8 10 9
+f 8 9 12
+f 10 17 18
+f 10 18 11
+f 11 19 13
+f 11 18 19
+f 13 19 20
+f 15 21 16
+f 16 21 22
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 17 26 27
+f 17 27 23
+f 18 25 19
+f 19 25 20
+f 20 25 28
+f 21 29 30
+f 21 30 22
+f 23 31 32
+f 23 32 25
+f 23 25 33
+f 23 33 24
+f 23 27 31
+f 24 33 25
+f 25 32 28
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 26 37 38
+f 26 38 34
+f 27 36 35
+f 27 35 34
+f 27 34 38
+f 27 38 48
+f 27 48 43
+f 27 43 42
+f 27 42 41
+f 27 41 40
+f 27 40 45
+f 27 45 39
+f 27 39 31
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 31 39 45
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 43 48 47
+f 43 47 49
+f 43 49 44
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_11.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00094234 -0.06585068 -0.06947234
+v 0.00094234 -0.07390049 -0.06947237
+v 0.00094234 -0.06460604 -0.06717774
+v 0.06909335 -0.01885572 -0.06946371
+v 0.00374029 -0.06392174 -0.06947233
+v 0.00566576 -0.07095320 -0.06947236
+v 0.02722196 -0.02415791 0.01188883
+v 0.01243497 -0.03159888 0.01537728
+v 0.00771909 -0.03474013 0.01423420
+v 0.00094234 -0.03881892 0.01332820
+v 0.00094234 -0.06412112 -0.06623788
+v 0.06994326 -0.01885572 -0.06947217
+v 0.00707977 -0.06163719 -0.06947233
+v 0.00094234 -0.06348532 -0.06499320
+v 0.00094234 -0.06258552 -0.06313889
+v 0.00094234 -0.06193895 -0.06176721
+v 0.00094234 -0.06095294 -0.05962501
+v 0.00094234 -0.05919105 -0.05578092
+v 0.00094234 -0.02950288 0.00923859
+v 0.02533410 -0.01885598 -0.00131993
+v 0.01377378 -0.06583451 -0.06947234
+v 0.05293747 -0.02026759 -0.01831354
+v 0.03143392 -0.02087118 0.01255775
+v 0.02925272 -0.02198112 0.01333673
+v 0.02871871 -0.02234751 0.01333673
+v 0.02612384 -0.02347901 0.01437818
+v 0.01933206 -0.02758475 0.01501321
+v 0.01685753 -0.02834447 0.01565671
+v 0.01009583 -0.03222929 0.01595304
+v 0.00616216 -0.03303750 0.01701991
+v 0.00616216 -0.03301056 0.01702837
+v 0.00094234 -0.03142646 0.01333669
+v 0.07737436 -0.01885572 -0.06947217
+v 0.00094234 -0.02848455 0.01321817
+v 0.02176145 -0.01885600 0.00635979
+v 0.03162947 -0.05430938 -0.06947230
+v 0.06770942 -0.02389905 -0.05200442
+v 0.07162804 -0.02403372 -0.05908298
+v 0.07550154 -0.02416840 -0.06617847
+v 0.06055661 -0.02051539 -0.03283474
+v 0.05312551 -0.01885592 -0.01741602
+v 0.04905645 -0.01885594 -0.01070155
+v 0.04494227 -0.01885596 -0.00424110
+v 0.03465306 -0.01885602 0.01145703
+v 0.03336691 -0.01885603 0.01333674
+v 0.03229888 -0.01970196 0.01333674
+v 0.02920760 -0.02175482 0.01379396
+v 0.02744760 -0.02175483 0.01539425
+v 0.02558230 -0.02175483 0.01612243
+v 0.02492795 -0.02175483 0.01621556
+v 0.00616216 -0.02965917 0.01691831
+v 0.00094234 -0.02850072 0.01333671
+v 0.07720137 -0.01885573 -0.06907421
+v 0.07747966 -0.01948074 -0.06947217
+v 0.02070847 -0.01885603 0.01292185
+v 0.02070094 -0.01885603 0.01275251
+v 0.02064829 -0.01885602 0.01000914
+v 0.02064829 -0.01885602 0.00998374
+v 0.03311118 -0.05333413 -0.06947230
+v 0.07778051 -0.02206164 -0.06947218
+v 0.06795762 -0.02063387 -0.04778776
+v 0.06430976 -0.02061774 -0.04020118
+v 0.07644171 -0.02476646 -0.06947219
+v 0.06430976 -0.01944852 -0.04020117
+v 0.06378327 -0.01885583 -0.03958307
+v 0.02099428 -0.01885603 0.01333674
+v 0.02149821 -0.02175483 0.01602929
+v 0.06829609 -0.01885580 -0.04922717
+v 0.06795762 -0.01965863 -0.04778775
+v 0.07150770 -0.02006810 -0.05558602
+v 0.07150770 -0.02038061 -0.05558602
+f 1 2 10
+f 1 10 32
+f 1 32 52
+f 1 52 34
+f 1 34 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 33
+f 1 33 54
+f 1 54 60
+f 1 60 63
+f 1 63 59
+f 1 59 36
+f 1 36 21
+f 1 21 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 35
+f 4 35 58
+f 4 58 57
+f 4 57 56
+f 4 56 55
+f 4 55 66
+f 4 66 45
+f 4 45 44
+f 4 44 43
+f 4 43 42
+f 4 42 41
+f 4 41 65
+f 4 65 68
+f 4 68 53
+f 4 53 33
+f 4 33 12
+f 6 21 22
+f 6 22 7
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 8
+f 8 27 28
+f 8 28 29
+f 8 29 10
+f 8 10 9
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 19 34 20
+f 20 34 35
+f 21 36 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 23
+f 22 36 37
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 47 24
+f 24 47 25
+f 25 47 26
+f 26 47 48
+f 26 48 27
+f 27 48 28
+f 28 48 49
+f 28 49 30
+f 28 30 29
+f 30 49 31
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 33 53 54
+f 34 52 55
+f 34 55 56
+f 34 56 57
+f 34 57 58
+f 34 58 35
+f 36 59 38
+f 36 38 37
+f 38 59 39
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 39 59 63
+f 39 63 60
+f 40 62 41
+f 41 64 65
+f 41 62 64
+f 45 66 50
+f 45 50 49
+f 45 49 48
+f 45 48 47
+f 45 47 46
+f 50 66 67
+f 50 67 51
+f 51 67 66
+f 51 66 52
+f 52 66 55
+f 53 68 69
+f 53 69 70
+f 53 70 54
+f 54 70 60
+f 60 70 71
+f 60 71 61
+f 61 71 70
+f 61 70 69
+f 61 69 64
+f 61 64 62
+f 64 69 65
+f 65 69 68
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_12.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02737027 0.00386788 0.01333769
+v -0.02737027 0.00817874 0.01333771
+v -0.03650235 0.00386788 0.01333769
+v -0.02737027 0.00386803 -0.02782033
+v -0.02737027 0.01034158 0.01332940
+v -0.02772694 0.01094731 0.01333772
+v -0.03650235 0.01552169 0.01333774
+v -0.03650235 0.00386794 -0.00238097
+v -0.02767509 0.00386803 -0.02698011
+v -0.02741854 0.00394218 -0.02775794
+v -0.02737027 0.00393989 -0.02788688
+v -0.02949775 0.01552169 0.01333774
+v -0.02737027 0.01067240 0.01286353
+v -0.02928322 0.01552169 0.01296754
+v -0.02930199 0.01552169 0.01301746
+v -0.02936009 0.01552169 0.01316720
+v -0.03650235 0.01552178 -0.01097856
+v -0.03650235 0.01128505 -0.00903610
+v -0.02737027 0.00416690 -0.02798253
+v -0.03650235 0.01395440 -0.01029226
+v -0.02737027 0.01223636 0.00981880
+v -0.02872006 0.01552170 0.01032627
+v -0.03127572 0.01552175 -0.00193586
+v -0.02737027 0.01365440 -0.01590755
+v -0.02737027 0.01363843 -0.01606977
+v -0.02737027 0.01321409 -0.01869440
+v -0.02737027 0.01244068 -0.02134814
+v -0.02737027 0.01121553 -0.02481716
+v -0.02737027 0.00993221 -0.02664732
+v -0.02737027 0.00842644 -0.02863972
+v -0.02737027 0.00765644 -0.02915550
+v -0.02737027 0.01337939 0.00749782
+v -0.02737027 0.01375816 -0.00154488
+v -0.02737027 0.01388252 -0.00876157
+v -0.02737027 0.01385516 -0.01243023
+v -0.02873973 0.01552170 0.00996440
+v -0.03103169 0.01552174 -0.00118299
+v -0.03006270 0.01552173 0.00190334
+v -0.02935920 0.01552172 0.00516853
+v -0.02889080 0.01552171 0.00770996
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 19
+f 1 19 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 21
+f 1 21 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 17
+f 3 17 20
+f 3 20 18
+f 3 18 8
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 12
+f 7 12 16
+f 7 16 15
+f 7 15 14
+f 7 14 22
+f 7 22 36
+f 7 36 40
+f 7 40 39
+f 7 39 38
+f 7 38 37
+f 7 37 23
+f 7 23 17
+f 8 18 9
+f 9 18 10
+f 10 18 11
+f 11 18 20
+f 11 20 17
+f 11 17 19
+f 13 21 22
+f 13 22 14
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 35
+f 35 40 36
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_13.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.07617849 0.04008488 -0.10591855
+v -0.07729195 0.03544758 -0.10423733
+v -0.07587014 0.04008488 -0.10500992
+v -0.07555609 0.04008489 -0.10972131
+v -0.07756603 0.03632726 -0.10841868
+v -0.07756603 0.03632725 -0.10672062
+v -0.08132895 0.02519710 -0.10600694
+v -0.08109484 0.02454979 -0.10399619
+v -0.07488802 0.04008487 -0.10212419
+v -0.07729765 0.03176301 -0.11158486
+v -0.08512613 0.01432587 -0.10856740
+v -0.08135750 0.02529005 -0.10851548
+v -0.07455683 0.04008490 -0.11120904
+v -0.08225398 0.02251165 -0.10600695
+v -0.08780984 0.00617659 -0.10600701
+v -0.08480065 0.01337981 -0.10402988
+v -0.08644515 0.00617658 -0.10223791
+v -0.08143744 0.02251164 -0.10320816
+v -0.07934756 0.02250498 -0.09831589
+v -0.07809135 0.02621946 -0.09831587
+v -0.07336914 0.04008485 -0.09831582
+v -0.08105486 0.02071916 -0.11161435
+v -0.07399725 0.04008490 -0.11185405
+v -0.08546302 0.01102965 -0.10977891
+v -0.08700473 0.00617660 -0.10976351
+v -0.08747295 0.00617660 -0.10763917
+v -0.08734162 0.00617658 -0.10470297
+v -0.08469216 0.00617656 -0.09831595
+v -0.06608884 0.04008485 -0.09831582
+v -0.08131752 0.01880052 -0.11179383
+v -0.08476639 0.00956246 -0.11160878
+v -0.07173607 0.04008490 -0.11236586
+v -0.07433414 0.03736626 -0.11202934
+v -0.08182572 0.01508604 -0.11205186
+v -0.08615393 0.00617661 -0.11090630
+v -0.07782869 0.00617656 -0.09831595
+v -0.06817300 0.03365505 -0.09831585
+v -0.02948174 0.00765705 -0.10027342
+v -0.02948174 0.01137152 -0.10023414
+v -0.02948174 0.01251674 -0.10022993
+v -0.02948174 0.01499970 -0.10022711
+v -0.02948174 0.03724672 -0.10039530
+v -0.02948174 0.03884006 -0.10042754
+v -0.02948174 0.03914545 -0.10043596
+v -0.02948174 0.04008486 -0.10046539
+v -0.08522890 0.00617661 -0.11187521
+v -0.08502334 0.00765709 -0.11177145
+v -0.06807593 0.04008490 -0.11205457
+v -0.07173607 0.03736626 -0.11247664
+v -0.07545331 0.02622283 -0.11256081
+v -0.07917055 0.01508604 -0.11264078
+v -0.07917055 0.01880052 -0.11243744
+v -0.08289350 0.00765709 -0.11243468
+v -0.06940066 0.03013642 -0.09831586
+v -0.02948174 0.00617657 -0.10029586
+v -0.02948174 0.00676743 -0.10028604
+v -0.02948174 0.04008489 -0.10827844
+v -0.08289350 0.00617661 -0.11252303
+v -0.02948174 0.03973303 -0.10829948
+v -0.02948174 0.03230739 -0.10864866
+v -0.02948174 0.02859292 -0.10879730
+v -0.02948174 0.02487844 -0.10889267
+v -0.02948174 0.00765708 -0.10929656
+v -0.02948174 0.00617660 -0.10932602
+v -0.07173607 0.03365178 -0.11246965
+v -0.07917055 0.01137156 -0.11257069
+v -0.07917055 0.00765709 -0.11240383
+f 1 2 3
+f 1 3 9
+f 1 9 21
+f 1 21 29
+f 1 29 45
+f 1 45 57
+f 1 57 48
+f 1 48 32
+f 1 32 23
+f 1 23 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 13 10
+f 5 12 11
+f 5 11 6
+f 6 11 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 10 22 11
+f 10 13 23
+f 10 23 22
+f 11 22 24
+f 11 24 25
+f 11 25 26
+f 11 26 15
+f 11 15 14
+f 15 26 25
+f 15 25 35
+f 15 35 46
+f 15 46 58
+f 15 58 64
+f 15 64 55
+f 15 55 36
+f 15 36 28
+f 15 28 17
+f 15 17 27
+f 15 27 16
+f 16 27 17
+f 17 28 19
+f 17 19 18
+f 19 28 36
+f 19 36 54
+f 19 54 37
+f 19 37 29
+f 19 29 21
+f 19 21 20
+f 22 30 31
+f 22 31 24
+f 22 23 30
+f 23 32 33
+f 23 33 34
+f 23 34 30
+f 24 31 25
+f 25 31 35
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 30 34 46
+f 30 46 47
+f 30 47 31
+f 31 47 35
+f 32 48 49
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 33 52 34
+f 34 52 53
+f 34 53 46
+f 35 47 46
+f 36 55 56
+f 36 56 54
+f 37 54 56
+f 37 56 38
+f 38 56 55
+f 38 55 64
+f 38 64 63
+f 38 63 62
+f 38 62 61
+f 38 61 60
+f 38 60 59
+f 38 59 57
+f 38 57 45
+f 38 45 44
+f 38 44 43
+f 38 43 42
+f 38 42 41
+f 38 41 40
+f 38 40 39
+f 46 53 58
+f 48 57 59
+f 48 59 60
+f 48 60 61
+f 48 61 49
+f 49 61 62
+f 49 62 63
+f 49 63 64
+f 49 64 65
+f 49 65 50
+f 50 65 51
+f 51 66 58
+f 51 58 52
+f 51 65 64
+f 51 64 66
+f 52 58 53
+f 58 66 67
+f 58 67 64
+f 64 67 66
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_14.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03754801 0.04322181 -0.00879471
+v 0.03838931 0.04850766 -0.01374224
+v 0.03816245 0.05066282 -0.01437181
+v 0.03754801 0.04485845 -0.00970344
+v 0.03754801 0.04322188 -0.02792562
+v 0.04567981 0.04322189 -0.02900066
+v 0.04590904 0.04322189 -0.02957084
+v 0.04878270 0.04322191 -0.03672192
+v 0.03804429 0.05413704 -0.01835716
+v 0.03754801 0.05106145 -0.01404514
+v 0.03754801 0.04860163 -0.01198417
+v 0.03754801 0.04528624 -0.00994101
+v 0.04903556 0.04322192 -0.03736338
+v 0.06169053 0.04322204 -0.06947194
+v 0.04176870 0.05420836 -0.02572799
+v 0.05280488 0.07246424 -0.06700697
+v 0.04909228 0.06885064 -0.05576364
+v 0.03754801 0.06942433 -0.06947184
+v 0.05085759 0.04322201 -0.06129335
+v 0.03843894 0.05810710 -0.02527658
+v 0.03754801 0.05423102 -0.01802455
+v 0.03754801 0.05369951 -0.01726430
+v 0.04963581 0.07304109 -0.06232670
+v 0.05420626 0.04322204 -0.06947194
+v 0.05414009 0.07098642 -0.06947184
+v 0.05373598 0.07105123 -0.06844432
+v 0.05385178 0.06001934 -0.06091910
+v 0.05510191 0.05593587 -0.06129330
+v 0.05327515 0.07356290 -0.06947183
+v 0.03754801 0.07629817 -0.06947182
+v 0.05179342 0.04322201 -0.06359191
+v 0.03754801 0.05821081 -0.02502713
+v 0.03754801 0.05784783 -0.02430846
+v 0.05164690 0.07525786 -0.06947182
+v 0.05050311 0.07568242 -0.06947182
+v 0.04882760 0.07624308 -0.06947182
+v 0.04728915 0.07323230 -0.06179215
+v 0.03855001 0.06169800 -0.03286716
+v 0.03856892 0.07630142 -0.06947182
+v 0.03754801 0.06174337 -0.03274837
+v 0.03754801 0.06143549 -0.03198218
+v 0.04728915 0.07632735 -0.06947182
+v 0.04728915 0.07583149 -0.06821860
+v 0.04728915 0.07456106 -0.06501726
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 10
+f 1 10 22
+f 1 22 21
+f 1 21 33
+f 1 33 32
+f 1 32 41
+f 1 41 40
+f 1 40 30
+f 1 30 18
+f 1 18 5
+f 1 5 19
+f 1 19 31
+f 1 31 24
+f 1 24 14
+f 1 14 13
+f 1 13 8
+f 1 8 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 8 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 9
+f 5 18 19
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 9 17 23
+f 9 23 20
+f 14 24 18
+f 14 18 30
+f 14 30 39
+f 14 39 42
+f 14 42 36
+f 14 36 35
+f 14 35 34
+f 14 34 29
+f 14 29 25
+f 14 25 26
+f 14 26 16
+f 14 16 27
+f 14 27 28
+f 14 28 15
+f 15 28 27
+f 15 27 16
+f 16 26 25
+f 16 25 29
+f 16 29 23
+f 16 23 17
+f 18 24 31
+f 18 31 19
+f 20 32 33
+f 20 33 21
+f 20 23 32
+f 23 29 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 32
+f 30 40 39
+f 32 38 41
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 37 44 41
+f 37 41 38
+f 39 43 42
+f 39 40 43
+f 40 41 44
+f 40 44 43
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_15.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.06654898 -0.01562112 0.11010650
+v -0.06646587 -0.01587159 0.10638275
+v -0.06654898 -0.01728414 0.11010650
+v -0.06632608 -0.01600095 0.11215262
+v -0.06429359 -0.01408743 0.11010651
+v -0.06243866 -0.01276931 0.10454998
+v -0.06244244 -0.01276520 0.10263962
+v -0.06244244 -0.01276519 0.10074866
+v -0.06022105 -0.01164616 0.08028747
+v -0.06216665 -0.01317781 0.08402089
+v -0.06621653 -0.01633353 0.10424936
+v -0.06646587 -0.01717942 0.10638275
+v -0.06208354 -0.01361511 0.08028746
+v -0.06279378 -0.01546702 0.08028745
+v -0.06312623 -0.01833934 0.08028744
+v -0.06297889 -0.02108644 0.08402086
+v -0.06133552 -0.02294451 0.08402086
+v -0.06328112 -0.02087707 0.09891585
+v -0.06316779 -0.02061634 0.10263959
+v -0.06279378 -0.02033097 0.10497664
+v -0.06429359 -0.01837435 0.11010649
+v -0.06632608 -0.01682220 0.11215262
+v -0.06429359 -0.01541992 0.11240474
+v -0.06243110 -0.01276931 0.10454998
+v -0.06203065 -0.01554721 0.11235626
+v -0.04295241 -0.00392220 0.04670591
+v -0.04490557 -0.00392220 0.04666712
+v -0.04599738 -0.00392219 0.04305004
+v -0.04606916 -0.00392217 0.03931661
+v -0.04318664 -0.00392208 0.01371586
+v -0.05989615 -0.01174470 0.07656372
+v -0.06621653 -0.01668461 0.10424936
+v -0.06361735 -0.01833936 0.08402087
+v -0.06275978 -0.02073944 0.08028743
+v -0.06173975 -0.01477306 0.07672856
+v -0.04313753 -0.00392208 0.01337646
+v -0.04312998 -0.00392208 0.01333766
+v -0.04383643 -0.00543728 0.01333765
+v -0.06252933 -0.01611170 0.07808617
+v -0.06258599 -0.01833934 0.07791161
+v -0.06254066 -0.02037193 0.07808616
+v -0.06113152 -0.02259546 0.08028743
+v -0.05926903 -0.02424206 0.08028742
+v -0.05947303 -0.02432216 0.08402085
+v -0.05926903 -0.02419487 0.08774460
+v -0.05895168 -0.02402037 0.09010103
+v -0.06222709 -0.02033097 0.10497664
+v -0.06203065 -0.01702957 0.11235626
+v -0.06429359 -0.01714660 0.11240474
+v -0.06165286 -0.01494564 0.11010651
+v -0.05042126 -0.01833937 0.08745370
+v -0.05079905 -0.01462527 0.08667794
+v -0.05125995 -0.01275898 0.08590216
+v -0.04000568 -0.00392218 0.04146939
+v -0.03296373 -0.00392208 0.01333766
+v -0.04430867 -0.00703666 0.01333764
+v -0.04431622 -0.00712084 0.01333764
+v -0.04442200 -0.01114907 0.01333763
+v -0.06052706 -0.02201031 0.07675762
+v -0.05894413 -0.02406960 0.07791159
+v -0.04424822 -0.01172394 0.01333763
+v -0.04401777 -0.01301535 0.01411340
+v -0.05912924 -0.02065728 0.06995985
+v -0.05970726 -0.02127323 0.07283994
+v -0.05685497 -0.02478819 0.08028742
+v -0.05685497 -0.02489703 0.08402085
+v -0.05685497 -0.02448026 0.08774460
+v -0.05685497 -0.02401010 0.09001376
+v -0.05495470 -0.02393413 0.08966466
+v -0.05236308 -0.02218692 0.08799674
+v -0.05076127 -0.02103717 0.08693974
+v -0.04921612 -0.01833936 0.08402087
+v -0.04989236 -0.01462526 0.08402089
+v -0.02866074 -0.00409454 0.01333765
+v -0.02871363 -0.00392413 0.01333766
+v -0.03428221 -0.00392213 0.02814537
+v -0.03544957 -0.00392214 0.03117091
+v -0.03731584 -0.00392216 0.03559286
+v -0.03906499 -0.00392218 0.03960752
+v -0.03296373 -0.00392212 0.02452829
+v -0.04392710 -0.01654675 0.02234636
+v -0.03798074 -0.01768826 0.01333761
+v -0.03433132 -0.01967363 0.01333760
+v -0.05681341 -0.02429133 0.07663155
+v -0.04278619 -0.01400701 0.01333762
+v -0.05337933 -0.02445559 0.08028742
+v -0.03296373 -0.01984814 0.01333760
+v -0.05374578 -0.02448435 0.08402085
+v -0.05441824 -0.02419693 0.08774460
+v -0.05188330 -0.02345985 0.08402085
+v -0.05030792 -0.02160382 0.08402086
+v -0.04746319 -0.02032470 0.07524486
+v -0.02864563 -0.00962771 0.01588801
+v -0.02864563 -0.00785382 0.01588802
+v -0.02795806 -0.00688884 0.01333764
+v -0.03306951 -0.00392212 0.02481921
+v -0.04196639 -0.01476051 0.01333762
+v -0.05119194 -0.02396487 0.07419754
+v -0.05119194 -0.02396488 0.07583638
+v -0.02981299 -0.01573574 0.01333761
+v -0.05129772 -0.02390330 0.07830918
+v -0.02818095 -0.01019642 0.01333763
+f 1 2 12
+f 1 12 3
+f 1 3 22
+f 1 22 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 32
+f 2 32 12
+f 2 10 13
+f 2 13 14
+f 2 14 15
+f 2 15 11
+f 3 12 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 21
+f 3 21 22
+f 4 22 49
+f 4 49 23
+f 4 23 5
+f 5 24 6
+f 5 23 25
+f 5 25 24
+f 6 24 26
+f 6 26 27
+f 6 27 28
+f 6 28 29
+f 6 29 7
+f 7 29 8
+f 8 29 9
+f 9 29 30
+f 9 30 31
+f 9 31 10
+f 10 31 13
+f 11 15 33
+f 11 33 32
+f 12 32 33
+f 12 33 34
+f 12 34 16
+f 13 35 14
+f 13 31 36
+f 13 36 37
+f 13 37 38
+f 13 38 35
+f 14 35 39
+f 14 39 15
+f 15 39 40
+f 15 40 41
+f 15 41 33
+f 16 34 42
+f 16 42 17
+f 17 42 43
+f 17 43 44
+f 17 44 18
+f 18 45 19
+f 18 44 45
+f 19 45 46
+f 19 46 20
+f 20 47 21
+f 20 46 47
+f 21 48 49
+f 21 49 22
+f 21 47 48
+f 23 49 48
+f 23 48 25
+f 24 25 50
+f 24 50 26
+f 25 48 51
+f 25 51 52
+f 25 52 53
+f 25 53 50
+f 26 54 79
+f 26 79 78
+f 26 78 77
+f 26 77 76
+f 26 76 96
+f 26 96 80
+f 26 80 55
+f 26 55 37
+f 26 37 36
+f 26 36 30
+f 26 30 29
+f 26 29 28
+f 26 28 27
+f 26 50 53
+f 26 53 54
+f 30 36 31
+f 33 41 34
+f 34 41 42
+f 35 38 39
+f 37 55 75
+f 37 75 74
+f 37 74 95
+f 37 95 102
+f 37 102 100
+f 37 100 87
+f 37 87 83
+f 37 83 82
+f 37 82 97
+f 37 97 85
+f 37 85 61
+f 37 61 58
+f 37 58 57
+f 37 57 56
+f 37 56 38
+f 38 56 39
+f 39 56 57
+f 39 57 40
+f 40 57 58
+f 40 58 41
+f 41 59 60
+f 41 60 42
+f 41 58 61
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 59
+f 42 60 43
+f 43 60 65
+f 43 65 44
+f 44 65 66
+f 44 66 45
+f 45 66 46
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 47 68 69
+f 47 69 48
+f 48 69 70
+f 48 70 71
+f 48 71 51
+f 51 72 52
+f 51 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 75
+f 52 75 53
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 54
+f 55 80 75
+f 59 64 60
+f 60 64 81
+f 60 81 82
+f 60 82 83
+f 60 83 84
+f 60 84 65
+f 61 85 62
+f 62 85 64
+f 62 64 63
+f 64 85 81
+f 65 86 66
+f 65 84 83
+f 65 83 87
+f 65 87 86
+f 66 86 88
+f 66 88 89
+f 66 89 67
+f 67 89 69
+f 67 69 68
+f 69 89 90
+f 69 90 70
+f 70 90 71
+f 71 90 91
+f 71 91 92
+f 71 92 93
+f 71 93 72
+f 72 94 95
+f 72 95 73
+f 72 93 94
+f 73 95 74
+f 75 80 96
+f 75 96 76
+f 81 85 97
+f 81 97 82
+f 86 87 98
+f 86 98 99
+f 86 99 88
+f 87 99 98
+f 87 100 91
+f 87 91 90
+f 87 90 101
+f 87 101 99
+f 88 99 101
+f 88 101 90
+f 88 90 89
+f 91 100 92
+f 92 100 93
+f 93 100 102
+f 93 102 95
+f 93 95 94
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_16.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.08780852 0.00617327 -0.10600880
+v -0.08887391 0.00326579 -0.10860773
+v -0.08820474 0.00501569 -0.10600880
+v -0.08855693 0.00233670 -0.10396518
+v -0.08734627 0.00617326 -0.10470394
+v -0.08747394 0.00617328 -0.10763867
+v -0.08883868 0.00316054 -0.10600881
+v -0.08700288 0.00617328 -0.10976386
+v -0.08615761 0.00617329 -0.11090680
+v -0.08790537 0.00022601 -0.11111191
+v -0.08931855 0.00022600 -0.10924817
+v -0.09225056 -0.00879413 -0.10800451
+v -0.09225056 -0.00879414 -0.10738206
+v -0.08972357 0.00022599 -0.10600882
+v -0.08897516 -0.00405258 -0.10041042
+v -0.08798021 -0.00094664 -0.10041041
+v -0.08706891 0.00184960 -0.10041040
+v -0.08641295 0.00382802 -0.10041040
+v -0.08562051 0.00617325 -0.10041039
+v -0.08566014 0.00617325 -0.10049675
+v -0.08644817 0.00617326 -0.10223815
+v -0.09209648 -0.00946765 -0.10489948
+v -0.09067890 -0.00720059 -0.10228258
+v -0.09048959 -0.00906777 -0.10041044
+v -0.08993929 -0.00721564 -0.10041044
+v -0.08930534 -0.00509591 -0.10041043
+v -0.08522870 0.00617329 -0.11187465
+v -0.08825316 -0.00229662 -0.11145492
+v -0.09291092 -0.01462415 -0.10912349
+v -0.09249269 -0.01091086 -0.10847346
+v -0.09337318 -0.01462416 -0.10600887
+v -0.09173548 -0.00741406 -0.10608800
+v -0.09072292 -0.00348730 -0.10600883
+v -0.09254993 -0.01078759 -0.10608801
+v -0.07800432 0.00617325 -0.10041039
+v -0.09238263 -0.01194218 -0.10359104
+v -0.09165624 -0.01078760 -0.10232217
+v -0.09096946 -0.01085075 -0.10041045
+v -0.08553687 0.00394231 -0.11203057
+v -0.08859215 -0.00477415 -0.11168280
+v -0.08289101 0.00617329 -0.11252348
+v -0.09147133 -0.01462414 -0.11098723
+v -0.09299017 -0.01833744 -0.10913910
+v -0.09352727 -0.01833745 -0.10600889
+v -0.09221534 -0.01635905 -0.10041047
+v -0.09257194 -0.01494288 -0.10232218
+v -0.07696976 -0.02454332 -0.10041050
+v -0.04855652 0.00394227 -0.10042959
+v -0.04855652 0.00617325 -0.10043078
+v -0.09195560 -0.01391760 -0.10110607
+v -0.09151536 -0.01310879 -0.10041046
+v -0.08604315 0.00022601 -0.11218769
+v -0.08885189 -0.00720056 -0.11183033
+v -0.07909173 0.00617329 -0.11227762
+v -0.08289101 0.00394231 -0.11265662
+v -0.08960911 -0.01462414 -0.11209779
+v -0.09143612 -0.01833743 -0.11100164
+v -0.08923490 -0.01091085 -0.11199464
+v -0.09263798 -0.02133813 -0.10855985
+v -0.09274363 -0.02159672 -0.10600890
+v -0.09247949 -0.02092022 -0.10314733
+v -0.09262917 -0.01811497 -0.10205595
+v -0.09221974 -0.01676495 -0.10041047
+v -0.09219333 -0.01624479 -0.10041047
+v -0.08859656 -0.02454332 -0.10041050
+v -0.04855652 -0.02454332 -0.10204517
+v -0.04855652 -0.02205376 -0.10150907
+v -0.04855652 -0.01833747 -0.10102933
+v -0.04855652 -0.01462418 -0.10080984
+v -0.04855652 -0.01091089 -0.10064432
+v -0.04855652 -0.01004495 -0.10062993
+v -0.04855652 0.00024401 -0.10047998
+v -0.04855652 0.00617328 -0.10818676
+v -0.09177951 -0.01423932 -0.10041046
+v -0.08661106 -0.00720056 -0.11248515
+v -0.04855652 -0.02454329 -0.11008059
+v -0.08289101 0.00022601 -0.11266023
+v -0.08661106 -0.01091085 -0.11256072
+v -0.08957389 -0.01833743 -0.11211101
+v -0.08891793 -0.02205372 -0.11184117
+v -0.08847769 -0.02391488 -0.11160012
+v -0.09102669 -0.02236643 -0.10977475
+v -0.09190717 -0.02345186 -0.10600891
+v -0.08952106 -0.02454329 -0.10973758
+v -0.09140089 -0.02211690 -0.10205596
+v -0.09066129 -0.02219508 -0.10041049
+v -0.09184554 -0.01957022 -0.10041048
+v -0.09211849 -0.01920640 -0.10066354
+v -0.09204365 -0.01905006 -0.10041048
+v -0.08895755 -0.02427873 -0.10041050
+v -0.08928333 -0.02454332 -0.10178012
+v -0.07989296 -0.02454328 -0.11200549
+v -0.08661106 -0.01833743 -0.11243242
+v -0.08661106 -0.02205372 -0.11224654
+v -0.08666829 -0.02454328 -0.11182439
+v -0.08678715 -0.02454328 -0.11180280
+v -0.08811669 -0.02454328 -0.11123313
+v -0.08913365 -0.02454329 -0.11021851
+v -0.09081097 -0.02454330 -0.10600891
+v -0.08960471 -0.02454331 -0.10258367
+v -0.08955188 -0.02356313 -0.10041050
+v -0.08433501 -0.02454328 -0.11211582
+v -0.08661106 -0.02454328 -0.11183398
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 21
+f 1 21 20
+f 1 20 19
+f 1 19 35
+f 1 35 49
+f 1 49 73
+f 1 73 54
+f 1 54 41
+f 1 41 27
+f 1 27 9
+f 1 9 8
+f 1 8 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 7
+f 3 7 4
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 5
+f 4 7 14
+f 4 14 22
+f 4 22 23
+f 4 23 24
+f 4 24 25
+f 4 25 26
+f 4 26 15
+f 9 27 10
+f 10 28 11
+f 10 27 28
+f 11 29 30
+f 11 30 12
+f 11 28 29
+f 12 30 31
+f 12 31 13
+f 13 22 32
+f 13 32 33
+f 13 33 14
+f 13 31 34
+f 13 34 22
+f 14 33 22
+f 15 26 25
+f 15 25 24
+f 15 24 38
+f 15 38 51
+f 15 51 74
+f 15 74 64
+f 15 64 45
+f 15 45 63
+f 15 63 89
+f 15 89 87
+f 15 87 86
+f 15 86 101
+f 15 101 90
+f 15 90 65
+f 15 65 47
+f 15 47 35
+f 15 35 19
+f 15 19 18
+f 15 18 17
+f 15 17 16
+f 22 34 31
+f 22 31 36
+f 22 36 23
+f 22 33 32
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 27 39 40
+f 27 40 28
+f 27 41 39
+f 28 40 42
+f 28 42 29
+f 29 43 44
+f 29 44 31
+f 29 31 30
+f 29 42 43
+f 31 44 45
+f 31 45 46
+f 31 46 36
+f 35 47 48
+f 35 48 49
+f 36 46 50
+f 36 50 37
+f 37 51 38
+f 37 50 51
+f 39 52 53
+f 39 53 40
+f 39 41 52
+f 40 53 42
+f 41 54 55
+f 41 55 52
+f 42 56 57
+f 42 57 43
+f 42 53 58
+f 42 58 56
+f 43 57 59
+f 43 59 44
+f 44 59 60
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 45 64 46
+f 45 62 63
+f 46 64 50
+f 47 65 91
+f 47 91 100
+f 47 100 99
+f 47 99 84
+f 47 84 98
+f 47 98 97
+f 47 97 96
+f 47 96 95
+f 47 95 103
+f 47 103 102
+f 47 102 92
+f 47 92 76
+f 47 76 66
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 70
+f 47 70 71
+f 47 71 72
+f 47 72 48
+f 48 72 71
+f 48 71 70
+f 48 70 69
+f 48 69 68
+f 48 68 67
+f 48 67 66
+f 48 66 76
+f 48 76 73
+f 48 73 49
+f 50 64 74
+f 50 74 51
+f 52 55 75
+f 52 75 58
+f 52 58 53
+f 54 73 76
+f 54 76 55
+f 55 76 77
+f 55 77 78
+f 55 78 75
+f 56 79 57
+f 56 58 75
+f 56 75 78
+f 56 78 79
+f 57 79 80
+f 57 80 81
+f 57 81 82
+f 57 82 59
+f 59 83 60
+f 59 82 84
+f 59 84 83
+f 60 83 61
+f 61 83 85
+f 61 85 86
+f 61 86 87
+f 61 87 88
+f 61 88 62
+f 62 88 63
+f 63 88 89
+f 65 90 91
+f 76 92 77
+f 77 92 93
+f 77 93 78
+f 78 93 79
+f 79 93 94
+f 79 94 80
+f 80 94 95
+f 80 95 96
+f 80 96 81
+f 81 97 98
+f 81 98 84
+f 81 84 82
+f 81 96 97
+f 83 84 99
+f 83 99 100
+f 83 100 91
+f 83 91 90
+f 83 90 101
+f 83 101 85
+f 85 101 86
+f 87 89 88
+f 92 102 93
+f 93 102 94
+f 94 103 95
+f 94 102 103
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_17.obj

@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v -0.04197922 0.09049237 -0.10600714
+v -0.04197922 0.08993474 -0.10228233
+v -0.03825898 0.09049237 -0.10600714
+v -0.04197922 0.08895770 -0.10951620
+v -0.04569946 0.08894783 -0.10953848
+v -0.04941212 0.08893303 -0.10956214
+v -0.04569946 0.09048250 -0.10600714
+v -0.04569946 0.08992487 -0.10228233
+v -0.04197922 0.08856782 -0.09855613
+v -0.00851223 0.08857770 -0.09855613
+v -0.00851223 0.08993474 -0.10228233
+v 0.00122403 0.08992981 -0.10228233
+v -0.03454632 0.09048250 -0.10600714
+v -0.03825898 0.08895770 -0.10949115
+v -0.04941212 0.08707267 -0.11142455
+v -0.04941212 0.09047263 -0.10600714
+v -0.05313236 0.08885407 -0.10949254
+v -0.04569946 0.08854315 -0.09855613
+v -0.04941212 0.08989033 -0.10228233
+v -0.04233534 0.08848393 -0.09833899
+v -0.00886077 0.08849380 -0.09833899
+v -0.00851223 0.08849380 -0.09833899
+v -0.00107176 0.08856782 -0.09855613
+v 0.00122403 0.08940672 -0.10085004
+v 0.00122403 0.09016667 -0.10457624
+v 0.00122403 0.09030979 -0.10600714
+v -0.03454632 0.08894783 -0.10946609
+v 0.00122403 0.08878005 -0.10931298
+v -0.04941212 0.08521724 -0.11202587
+v -0.05313236 0.08512842 -0.11205233
+v -0.05313236 0.08698879 -0.11135635
+v 0.00122403 0.08624365 -0.11117540
+v -0.05313236 0.09033446 -0.10600714
+v -0.05685260 0.08842476 -0.10903182
+v -0.04569946 0.08845926 -0.09833900
+v -0.04941212 0.08845432 -0.09855614
+v -0.05313236 0.08967814 -0.10228233
+v -0.00107176 0.08848393 -0.09833899
+v 0.00122403 0.08856289 -0.09855613
+v -0.05685260 0.08193076 -0.11232654
+v 0.00122403 0.08510374 -0.11153035
+v 0.00122403 0.08438822 -0.11174888
+v -0.05685260 0.08461028 -0.11193262
+v -0.05685260 0.08646571 -0.11089562
+v -0.05685260 0.08943635 -0.10600714
+v -0.05923173 0.08788194 -0.10839154
+v -0.04941212 0.08837044 -0.09833900
+v -0.05697383 0.08853330 -0.10216959
+v -0.05581457 0.08787698 -0.09959174
+v -0.05298840 0.08802995 -0.09833900
+v -0.05284444 0.08805955 -0.09833900
+v -0.04964701 0.08835563 -0.09833900
+v 0.00122403 0.08847900 -0.09833899
+v -0.06057284 0.07078832 -0.11247831
+v -0.06057284 0.07449917 -0.11241008
+v -0.05952723 0.08193076 -0.11193402
+v -0.05896654 0.08407240 -0.11173774
+v 0.00122403 0.08302625 -0.11174889
+v -0.06429308 0.06336660 -0.11255907
+v -0.05941358 0.08808426 -0.10600715
+v -0.05913323 0.08789673 -0.10333743
+v -0.06033795 0.08525671 -0.10945080
+v -0.06252009 0.08396383 -0.10802547
+v -0.05829220 0.08721574 -0.10085283
+v -0.05676926 0.08663837 -0.09833900
+v -0.05697383 0.08653968 -0.09833900
+v 0.00122403 0.08128427 -0.09833902
+v -0.06380058 0.07078832 -0.11217904
+v -0.06070165 0.07816069 -0.11208018
+v -0.06305047 0.07449917 -0.11193266
+v -0.06262616 0.07688755 -0.11171689
+v -0.06202002 0.07936474 -0.11134524
+v -0.06138356 0.08193076 -0.11059220
+v 0.00122403 0.04008489 -0.10876474
+v -0.07173355 0.04008490 -0.11236567
+v -0.06801331 0.04850835 -0.11248534
+v -0.06429308 0.05965081 -0.11254655
+v -0.06464161 0.06739821 -0.11224446
+v -0.06801331 0.05222415 -0.11246028
+v -0.06738443 0.05965081 -0.11218882
+v -0.06146690 0.08537513 -0.10593200
+v -0.05927719 0.08457569 -0.09833901
+v -0.06237613 0.08362332 -0.10464028
+v -0.06007277 0.08584391 -0.10216960
+v -0.06252009 0.08396382 -0.10712349
+v -0.06299743 0.08193075 -0.10872979
+v -0.06648279 0.07367015 -0.10850154
+v 0.00122403 0.04008485 -0.09857997
+v -0.06609637 0.04008485 -0.09833917
+v -0.06683890 0.06336660 -0.11200507
+v -0.06646006 0.06637673 -0.11180463
+v -0.06611910 0.06884900 -0.11157216
+v -0.06364904 0.07816068 -0.10995470
+v -0.07399146 0.04008490 -0.11185482
+v -0.07173355 0.04108170 -0.11232531
+v -0.07077886 0.04850835 -0.11209699
+v -0.06058041 0.08192084 -0.09833902
+v -0.06311108 0.08220215 -0.10593201
+v -0.06469465 0.07821495 -0.10600718
+v -0.06577056 0.07527390 -0.10600719
+v -0.06615698 0.07264865 -0.10414340
+v -0.06280801 0.08115106 -0.10317181
+v -0.06198971 0.08220213 -0.10207079
+v -0.06694498 0.07078831 -0.10925737
+v -0.07008179 0.06225135 -0.10833873
+v -0.07008179 0.06225134 -0.10700108
+v -0.06726320 0.07078830 -0.10600721
+v -0.06639944 0.07341846 -0.10600720
+v -0.07337773 0.04008485 -0.09833917
+v -0.07387022 0.04108170 -0.11179079
+v -0.07004391 0.05478524 -0.11172394
+v -0.07363534 0.04309998 -0.11163350
+v -0.06966507 0.05725749 -0.11141909
+v -0.07044548 0.05965080 -0.10902079
+v -0.07455214 0.04008490 -0.11120897
+v -0.06065618 0.08171359 -0.09833902
+v -0.06233067 0.07975948 -0.10068722
+v -0.06844519 0.06707250 -0.10600722
+v -0.06977872 0.06113117 -0.10451927
+v -0.06646764 0.07078829 -0.10345302
+v -0.06189879 0.07825933 -0.09833903
+v -0.06190636 0.07839750 -0.09846987
+v -0.07427938 0.04452115 -0.10981424
+v -0.07387022 0.04850834 -0.10844874
+v -0.07359745 0.05039338 -0.10788639
+v -0.07359745 0.05039338 -0.10784464
+v -0.07618117 0.04008488 -0.10591963
+v -0.06947565 0.06344059 -0.10585831
+v -0.07488553 0.04008487 -0.10212383
+v -0.06557357 0.06653953 -0.09833908
+v -0.06703590 0.06716625 -0.10210285
+v -0.06823304 0.06336657 -0.10228243
+v -0.07555987 0.04008489 -0.10972100
+v -0.06185332 0.07839257 -0.09833903
+v -0.06306562 0.07463236 -0.09833905
+v -0.06547507 0.06687015 -0.09833907
+v -0.06436127 0.07078827 -0.09855620
+v -0.06312624 0.07443991 -0.09833905
+v -0.06427034 0.07076853 -0.09833906
+f 1 2 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 6
+f 6 16 7
+f 6 15 17
+f 6 17 16
+f 7 16 8
+f 8 18 9
+f 8 16 19
+f 8 19 18
+f 9 18 20
+f 9 20 10
+f 10 21 22
+f 10 22 38
+f 10 38 23
+f 10 23 24
+f 10 24 12
+f 10 12 11
+f 10 20 21
+f 12 24 39
+f 12 39 53
+f 12 53 67
+f 12 67 88
+f 12 88 74
+f 12 74 58
+f 12 58 42
+f 12 42 41
+f 12 41 32
+f 12 32 28
+f 12 28 26
+f 12 26 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 29 30
+f 15 30 31
+f 15 31 17
+f 15 28 32
+f 15 32 29
+f 16 17 33
+f 16 33 19
+f 17 31 34
+f 17 34 33
+f 18 35 20
+f 18 19 36
+f 18 36 47
+f 18 47 35
+f 19 33 37
+f 19 37 36
+f 20 35 47
+f 20 47 52
+f 20 52 51
+f 20 51 50
+f 20 50 65
+f 20 65 66
+f 20 66 82
+f 20 82 97
+f 20 97 116
+f 20 116 134
+f 20 134 121
+f 20 121 135
+f 20 135 138
+f 20 138 139
+f 20 139 136
+f 20 136 130
+f 20 130 109
+f 20 109 89
+f 20 89 67
+f 20 67 53
+f 20 53 38
+f 20 38 22
+f 20 22 21
+f 23 38 53
+f 23 53 39
+f 23 39 24
+f 26 28 27
+f 29 40 30
+f 29 32 41
+f 29 41 42
+f 29 42 40
+f 30 40 43
+f 30 43 31
+f 31 43 44
+f 31 44 34
+f 33 34 45
+f 33 45 37
+f 34 46 45
+f 34 44 46
+f 36 37 47
+f 37 45 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 47
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 43
+f 40 42 54
+f 42 58 59
+f 42 59 54
+f 43 57 44
+f 44 57 46
+f 45 46 60
+f 45 60 61
+f 45 61 48
+f 46 57 62
+f 46 62 63
+f 46 63 60
+f 48 61 64
+f 48 64 49
+f 49 65 50
+f 49 64 66
+f 49 66 65
+f 54 59 55
+f 55 59 68
+f 55 68 69
+f 55 69 56
+f 56 69 68
+f 56 68 70
+f 56 70 71
+f 56 71 57
+f 57 71 72
+f 57 72 73
+f 57 73 63
+f 57 63 62
+f 58 74 75
+f 58 75 76
+f 58 76 77
+f 58 77 59
+f 59 78 68
+f 59 77 76
+f 59 76 79
+f 59 79 80
+f 59 80 78
+f 60 63 81
+f 60 81 61
+f 61 82 64
+f 61 81 83
+f 61 83 84
+f 61 84 82
+f 63 85 81
+f 63 73 86
+f 63 86 87
+f 63 87 85
+f 64 82 66
+f 67 89 88
+f 68 78 80
+f 68 80 90
+f 68 90 91
+f 68 91 70
+f 70 91 92
+f 70 92 71
+f 71 92 72
+f 72 92 93
+f 72 93 86
+f 72 86 73
+f 74 88 89
+f 74 89 109
+f 74 109 129
+f 74 129 127
+f 74 127 133
+f 74 133 115
+f 74 115 94
+f 74 94 75
+f 75 94 95
+f 75 95 79
+f 75 79 76
+f 79 95 80
+f 80 95 96
+f 80 96 94
+f 80 94 90
+f 81 85 83
+f 82 84 83
+f 82 83 97
+f 83 85 98
+f 83 98 99
+f 83 99 100
+f 83 100 101
+f 83 101 102
+f 83 102 103
+f 83 103 97
+f 85 87 99
+f 85 99 98
+f 86 93 87
+f 87 92 104
+f 87 104 105
+f 87 105 106
+f 87 106 107
+f 87 107 108
+f 87 108 100
+f 87 100 99
+f 87 93 92
+f 90 94 110
+f 90 110 111
+f 90 111 91
+f 91 111 92
+f 92 111 112
+f 92 112 113
+f 92 113 114
+f 92 114 105
+f 92 105 104
+f 94 96 95
+f 94 115 110
+f 97 103 117
+f 97 117 116
+f 100 108 101
+f 101 108 107
+f 101 107 118
+f 101 118 119
+f 101 119 120
+f 101 120 121
+f 101 121 122
+f 101 122 117
+f 101 117 102
+f 102 117 103
+f 105 114 123
+f 105 123 124
+f 105 124 125
+f 105 125 126
+f 105 126 106
+f 106 126 127
+f 106 127 128
+f 106 128 118
+f 106 118 107
+f 109 130 131
+f 109 131 132
+f 109 132 119
+f 109 119 129
+f 110 115 112
+f 110 112 111
+f 112 115 133
+f 112 133 123
+f 112 123 114
+f 112 114 113
+f 116 117 122
+f 116 122 134
+f 118 128 119
+f 119 132 131
+f 119 131 120
+f 119 128 127
+f 119 127 129
+f 120 131 135
+f 120 135 121
+f 121 134 122
+f 123 133 124
+f 124 133 125
+f 125 133 127
+f 125 127 126
+f 130 136 131
+f 131 136 137
+f 131 137 138
+f 131 138 135
+f 136 139 137
+f 137 139 138
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_18.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.06411869 -0.02454343 -0.06947219
+v 0.07654042 -0.02454343 -0.06947219
+v 0.07365538 -0.02454337 -0.08738215
+v 0.05958632 -0.02720540 -0.06947220
+v 0.07644248 -0.02475790 -0.06947219
+v 0.07882888 -0.02454342 -0.07310541
+v 0.07410951 -0.02454337 -0.08820112
+v 0.05763624 -0.02839762 -0.06947220
+v 0.05835750 -0.02794344 -0.06947220
+v 0.09044030 -0.02796858 -0.09597978
+v 0.03347841 -0.05309973 -0.06947230
+v 0.00451218 -0.08732680 -0.09989315
+v 0.07912273 -0.02454342 -0.07362657
+v 0.07769801 -0.02454334 -0.09430313
+v 0.00810068 -0.06095949 -0.06947232
+v 0.09113486 -0.02848583 -0.09855281
+v 0.09152665 -0.02873183 -0.09989294
+v 0.09293356 -0.02577338 -0.09989292
+v 0.09068073 -0.02577340 -0.09545861
+v 0.08312974 -0.02454339 -0.08077090
+v 0.02734324 -0.07197314 -0.09989309
+v 0.03161738 -0.05431717 -0.06947230
+v 0.00197440 -0.08898581 -0.09989316
+v 0.08110842 -0.02454332 -0.09989292
+v 0.00707666 -0.06164075 -0.06947233
+v 0.09270204 -0.02454332 -0.09989292
+v 0.09156227 -0.02454333 -0.09744795
+v 0.09061840 -0.02454334 -0.09557773
+v 0.08321878 -0.02454339 -0.08094065
+v 0.03105640 -0.05468304 -0.06947230
+v 0.01377282 -0.06584188 -0.06947234
+v 0.00534920 -0.07271128 -0.07247425
+v 0.00197440 -0.07490015 -0.07260231
+v 0.00197440 -0.08008523 -0.09989312
+v 0.00197440 -0.07906334 -0.09782635
+v 0.00374639 -0.06392425 -0.06947233
+v 0.00566976 -0.07095767 -0.06947236
+v 0.00456560 -0.07221296 -0.07055639
+v 0.00197440 -0.07330424 -0.06954981
+v 0.00197440 -0.06520478 -0.06949021
+v 0.00197440 -0.06519847 -0.06947234
+v 0.00204564 -0.07321593 -0.06947237
+v 0.00197440 -0.07326008 -0.06947237
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 15
+f 1 15 25
+f 1 25 36
+f 1 36 41
+f 1 41 43
+f 1 43 42
+f 1 42 37
+f 1 37 31
+f 1 31 30
+f 1 30 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 6
+f 5 11 12
+f 5 12 10
+f 6 10 13
+f 7 14 15
+f 7 15 8
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 13
+f 10 12 21
+f 10 21 16
+f 11 22 12
+f 12 22 23
+f 12 23 34
+f 12 34 24
+f 12 24 26
+f 12 26 18
+f 12 18 17
+f 12 17 21
+f 14 24 25
+f 14 25 15
+f 16 21 17
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 20
+f 22 30 23
+f 23 31 32
+f 23 32 33
+f 23 33 39
+f 23 39 43
+f 23 43 41
+f 23 41 40
+f 23 40 35
+f 23 35 34
+f 23 30 31
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 31 37 32
+f 32 37 38
+f 32 38 33
+f 33 38 37
+f 33 37 39
+f 35 40 36
+f 36 40 41
+f 37 42 39
+f 39 42 43
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_19.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.05345393 0.04008475 -0.06947195
+v -0.06609691 0.04008485 -0.09831348
+v -0.06134498 0.04008475 -0.06947195
+v -0.05542011 0.03364738 -0.06947198
+v -0.08364596 -0.01443999 -0.10040927
+v -0.07336766 0.04008485 -0.09831348
+v -0.07902937 0.00142315 -0.10040921
+v -0.07840154 0.00407950 -0.10040921
+v -0.07802936 0.00602356 -0.10040920
+v -0.07800680 0.00617352 -0.10040920
+v -0.06446532 0.04008477 -0.07624323
+v -0.07978878 -0.01462219 -0.06947215
+v -0.05650283 0.03013950 -0.06947199
+v -0.07119846 -0.01462219 -0.06947821
+v -0.08385272 -0.01462208 -0.10040927
+v -0.05795021 0.02551765 -0.06947201
+v -0.05854044 0.02365928 -0.06947201
+v -0.05901037 0.02220793 -0.06947202
+v -0.06042016 0.01790742 -0.06947203
+v -0.06158935 0.01436205 -0.06947205
+v -0.07808951 0.02621933 -0.09831353
+v -0.07301803 0.04008485 -0.09739894
+v -0.08561966 0.00617352 -0.10040920
+v -0.06581495 0.04008478 -0.07920491
+v -0.07989028 -0.01462219 -0.06969625
+v -0.07119846 -0.01462219 -0.06947215
+v -0.08977008 -0.01462208 -0.10040927
+v -0.07934892 0.02250258 -0.09831355
+v -0.07202554 0.04008484 -0.09484002
+v -0.08641290 0.00382779 -0.10040921
+v -0.06653300 0.04008479 -0.08087351
+v -0.08069480 -0.01462219 -0.07150717
+v -0.08008201 -0.01462219 -0.07012324
+v -0.09185657 -0.01462208 -0.10039715
+v -0.09178137 -0.01423648 -0.10040927
+v -0.08706705 0.00185159 -0.10040921
+v -0.08798059 -0.00094401 -0.10040922
+v -0.08930767 -0.00508920 -0.10040924
+v -0.08883774 -0.01462211 -0.09198453
+v -0.09157461 -0.01462208 -0.09957648
+v -0.08989790 -0.01462210 -0.09484022
+v -0.09151446 -0.01310646 -0.10040927
+v -0.08993926 -0.00721000 -0.10040925
+v -0.09048437 -0.00906302 -0.10040925
+v -0.09030016 -0.01091069 -0.09854988
+v -0.09096558 -0.01084642 -0.10040926
+f 1 2 6
+f 1 6 22
+f 1 22 29
+f 1 29 31
+f 1 31 24
+f 1 24 11
+f 1 11 3
+f 1 3 12
+f 1 12 26
+f 1 26 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 23
+f 2 23 6
+f 3 11 12
+f 4 13 5
+f 5 14 15
+f 5 15 27
+f 5 27 35
+f 5 35 42
+f 5 42 46
+f 5 46 44
+f 5 44 43
+f 5 43 38
+f 5 38 37
+f 5 37 36
+f 5 36 30
+f 5 30 23
+f 5 23 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 13 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 14
+f 6 21 22
+f 6 23 21
+f 11 24 12
+f 12 25 33
+f 12 33 32
+f 12 32 39
+f 12 39 41
+f 12 41 40
+f 12 40 34
+f 12 34 27
+f 12 27 15
+f 12 15 14
+f 12 14 26
+f 12 24 25
+f 14 20 26
+f 21 28 29
+f 21 29 22
+f 21 23 28
+f 23 30 28
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 27 34 35
+f 28 31 29
+f 28 30 31
+f 30 36 31
+f 31 36 32
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 38 43 39
+f 39 43 44
+f 39 44 45
+f 39 45 41
+f 41 45 46
+f 41 46 42
+f 44 46 45
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_2.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03466346 0.01883112 0.01333882
+v 0.03459544 0.01883112 0.01351017
+v 0.02491058 0.01883112 0.01333882
+v 0.03423682 0.02056729 0.01333883
+v 0.02924084 0.02993843 0.02434748
+v 0.03317126 0.01883111 0.01615591
+v 0.02924290 0.02987918 0.02434748
+v 0.02491471 0.01883112 0.01340672
+v 0.01744547 0.02028136 0.01333882
+v 0.03376278 0.02245801 0.01333883
+v 0.03274668 0.02635795 0.01333885
+v 0.03245814 0.02745014 0.01333885
+v 0.03147089 0.03118521 0.01333886
+v 0.03095769 0.03310942 0.01333887
+v 0.03049396 0.03483271 0.01333888
+v 0.02990862 0.03695011 0.01333889
+v 0.02876474 0.04107930 0.01333890
+v 0.02872970 0.04118234 0.01333890
+v 0.02775689 0.03387185 0.02434749
+v 0.03282912 0.01883111 0.01670014
+v 0.02866169 0.02617244 0.02434747
+v 0.02515173 0.01883111 0.01694909
+v 0.01580900 0.02066518 0.01333883
+v 0.02754872 0.04355991 0.01333891
+v 0.02697575 0.04307563 0.01531324
+v 0.02736323 0.03430461 0.02434750
+v 0.03090411 0.01883110 0.01918961
+v 0.02740651 0.02377427 0.02434746
+v 0.02872558 0.01883110 0.01928337
+v 0.02125223 0.02103607 0.02434745
+v 0.02119658 0.02104637 0.02434745
+v 0.01918706 0.02059303 0.01937175
+v 0.01610167 0.02078367 0.01451459
+v 0.01753616 0.02223644 0.02434745
+v 0.01748669 0.02226993 0.02434745
+v 0.01519481 0.02385670 0.02434746
+v 0.01473314 0.02336471 0.02068115
+v 0.01432711 0.02291394 0.01695556
+v 0.01387368 0.02258681 0.01333883
+v 0.02496829 0.04461088 0.01333891
+v 0.02496829 0.04345686 0.01608918
+v 0.02511669 0.03618760 0.02434750
+v 0.02554539 0.03584500 0.02434750
+v 0.02496829 0.02206128 0.02434745
+v 0.01778142 0.02138383 0.02064127
+v 0.01516596 0.02390306 0.02434746
+v 0.01360987 0.02451357 0.01883291
+v 0.01360987 0.02359656 0.01596086
+v 0.01360987 0.02292940 0.01333883
+v 0.02125223 0.04378400 0.01672178
+v 0.02485287 0.04462891 0.01333891
+v 0.02125223 0.03699902 0.02434751
+v 0.01386750 0.02623169 0.02434747
+v 0.01360987 0.02630896 0.02337000
+v 0.01360987 0.04514410 0.01333892
+v 0.02125223 0.04505652 0.01333892
+v 0.01360987 0.04510288 0.01345962
+v 0.01360987 0.04506424 0.01356200
+v 0.01360987 0.04385356 0.01667975
+v 0.01360987 0.04375052 0.01683279
+v 0.01719609 0.03618503 0.02434750
+v 0.01360987 0.04136263 0.01901510
+v 0.01384895 0.02628063 0.02434747
+v 0.01360987 0.02665156 0.02393148
+v 0.01701265 0.03606653 0.02434750
+v 0.01360987 0.03382291 0.02422355
+v 0.01360987 0.02708947 0.02434747
+v 0.01406742 0.03392080 0.02434749
+v 0.01360987 0.03266117 0.02434749
+v 0.01361399 0.03267405 0.02434749
+v 0.01400353 0.03384352 0.02434749
+f 1 2 6
+f 1 6 20
+f 1 20 27
+f 1 27 29
+f 1 29 22
+f 1 22 8
+f 1 8 3
+f 1 3 9
+f 1 9 23
+f 1 23 39
+f 1 39 49
+f 1 49 55
+f 1 55 56
+f 1 56 51
+f 1 51 40
+f 1 40 24
+f 1 24 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 4 10 5
+f 5 10 11
+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 18
+f 5 18 19
+f 5 19 26
+f 5 26 43
+f 5 43 42
+f 5 42 52
+f 5 52 61
+f 5 61 65
+f 5 65 68
+f 5 68 71
+f 5 71 70
+f 5 70 69
+f 5 69 67
+f 5 67 63
+f 5 63 53
+f 5 53 46
+f 5 46 36
+f 5 36 35
+f 5 35 34
+f 5 34 31
+f 5 31 30
+f 5 30 44
+f 5 44 28
+f 5 28 21
+f 5 21 7
+f 6 7 20
+f 7 21 20
+f 8 22 9
+f 9 22 23
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 20 21 27
+f 21 28 27
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 27 44 30
+f 27 30 29
+f 27 28 44
+f 31 34 32
+f 32 34 45
+f 32 45 33
+f 33 45 34
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 38
+f 38 48 49
+f 38 49 39
+f 40 50 41
+f 40 51 50
+f 41 50 42
+f 42 50 52
+f 46 53 47
+f 47 53 54
+f 47 54 64
+f 47 64 67
+f 47 67 69
+f 47 69 66
+f 47 66 62
+f 47 62 60
+f 47 60 59
+f 47 59 58
+f 47 58 57
+f 47 57 55
+f 47 55 49
+f 47 49 48
+f 50 51 56
+f 50 56 57
+f 50 57 58
+f 50 58 59
+f 50 59 60
+f 50 60 52
+f 52 60 62
+f 52 62 61
+f 53 63 64
+f 53 64 54
+f 55 57 56
+f 61 62 65
+f 62 66 65
+f 63 67 64
+f 65 66 68
+f 66 69 70
+f 66 70 71
+f 66 71 68
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_20.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02772082 0.04322173 0.01333783
+v 0.02755025 0.04356174 0.01333783
+v 0.02464051 0.04322173 0.01333783
+v 0.03072912 0.04322175 0.00819869
+v 0.03074807 0.04329299 0.00811764
+v 0.02497153 0.04461418 0.01333783
+v 0.03063183 0.04672557 0.00406470
+v 0.03754801 0.05784911 -0.02430587
+v 0.03754801 0.05820856 -0.02502730
+v 0.02464051 0.04465951 0.01333783
+v 0.02464051 0.04322180 -0.00447892
+v 0.03075692 0.04322175 0.00814195
+v 0.03079735 0.04322175 0.00804468
+v 0.03444243 0.04693931 -0.00315765
+v 0.02485530 0.04463361 0.01333783
+v 0.03754801 0.06143390 -0.03197402
+v 0.03754801 0.05369762 -0.01726186
+v 0.03754801 0.05423195 -0.01802382
+v 0.03754801 0.06174478 -0.03274409
+v 0.03754801 0.07630092 -0.06947182
+v 0.03240826 0.07629120 -0.06947182
+v 0.03109805 0.07628796 -0.06947182
+v 0.02868990 0.07628149 -0.06947182
+v 0.02497153 0.07625558 -0.06947182
+v 0.02464051 0.07625234 -0.06947182
+v 0.03754801 0.04322188 -0.02792926
+v 0.02464051 0.06846431 -0.06947185
+v 0.03620875 0.04322180 -0.00540299
+v 0.03587646 0.04479559 -0.00540299
+v 0.03754801 0.04860057 -0.01198495
+v 0.03754801 0.05106167 -0.01405194
+v 0.03754801 0.06942284 -0.06947184
+v 0.03754801 0.04322181 -0.00879936
+v 0.03664843 0.04322180 -0.00650539
+v 0.03751769 0.04322181 -0.00871830
+v 0.03737997 0.04485713 -0.00926950
+v 0.03754801 0.04528459 -0.00994228
+v 0.03754801 0.04324124 -0.00880746
+f 1 2 6
+f 1 6 15
+f 1 15 10
+f 1 10 3
+f 1 3 11
+f 1 11 26
+f 1 26 33
+f 1 33 35
+f 1 35 34
+f 1 34 28
+f 1 28 13
+f 1 13 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 25
+f 3 25 27
+f 3 27 11
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 6 9 16
+f 6 16 15
+f 7 14 17
+f 7 17 18
+f 7 18 8
+f 8 18 17
+f 8 17 31
+f 8 31 30
+f 8 30 37
+f 8 37 38
+f 8 38 33
+f 8 33 26
+f 8 26 32
+f 8 32 20
+f 8 20 19
+f 8 19 16
+f 8 16 9
+f 10 15 16
+f 10 16 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 11 27 26
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 17
+f 20 32 27
+f 20 27 25
+f 20 25 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 26 27 32
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 33 38 35
+f 35 38 36
+f 36 38 37
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_21.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.02710093 -0.05183291 0.10637517
+v -0.02455706 -0.05080862 0.10637517
+v -0.02459709 -0.05078493 0.11010557
+v -0.02710093 -0.05165124 0.11010557
+v -0.02979493 -0.05092974 0.10637517
+v -0.02896421 -0.04990799 0.08214955
+v -0.02710093 -0.05000015 0.08165802
+v -0.02496741 -0.05003175 0.08150002
+v -0.02306743 -0.04873626 0.08401913
+v -0.02094226 -0.04690883 0.08029753
+v -0.01661185 -0.04209802 0.06262863
+v -0.02487567 -0.05038470 0.11233502
+v -0.01661185 -0.04047864 0.06485810
+v -0.02710093 -0.05057956 0.11253691
+v -0.02927114 -0.05032414 0.11236137
+v -0.02960977 -0.05077440 0.11010557
+v -0.02976156 -0.05072172 0.10265355
+v -0.03292597 -0.04660079 0.08774954
+v -0.03297101 -0.04662974 0.08401914
+v -0.03088087 -0.04848611 0.08401913
+v -0.03286091 -0.04644278 0.08107871
+v -0.03080246 -0.04802793 0.08037651
+v -0.03053390 -0.04741175 0.07656713
+v -0.02989168 -0.04689301 0.07284551
+v -0.02930784 -0.04644274 0.07033518
+v -0.02710093 -0.04793310 0.07284550
+v -0.02710093 -0.04888368 0.07656712
+v -0.02710093 -0.04959991 0.07979720
+v -0.02358955 -0.04892319 0.08027119
+v -0.02485732 -0.04632687 0.06688566
+v -0.01661185 -0.04029952 0.04693464
+v -0.01661185 -0.04098679 0.05049826
+v -0.01661185 -0.04193739 0.05863491
+v -0.02487567 -0.04946310 0.11233503
+v -0.01661185 -0.03946488 0.06437535
+v -0.02710093 -0.04921822 0.11253692
+v -0.02927114 -0.04943150 0.11236137
+v -0.03293598 -0.04433629 0.09078653
+v -0.03343808 -0.04433628 0.08774955
+v -0.03279919 -0.04640331 0.09057586
+v -0.03364993 -0.04433627 0.08401915
+v -0.03327127 -0.04466013 0.08001666
+v -0.03264239 -0.04611362 0.07859471
+v -0.03239218 -0.04557119 0.07656713
+v -0.02898589 -0.04249825 0.05975842
+v -0.02531772 -0.03140205 0.02608834
+v -0.02564133 -0.03529651 0.03678798
+v -0.01661185 -0.03356384 0.02287581
+v -0.02818854 -0.04592400 0.06785117
+v -0.02700918 -0.04675081 0.06910634
+v -0.02570805 -0.04632687 0.06688566
+v -0.02121583 -0.04062355 0.08684549
+v -0.02147272 -0.03870135 0.08599409
+v -0.02485732 -0.03486747 0.08254458
+v -0.02710093 -0.04791217 0.11010558
+v -0.01661185 -0.03845901 0.06327818
+v -0.02929616 -0.03857760 0.08994392
+v -0.03009519 -0.03802463 0.08774957
+v -0.03195513 -0.03945706 0.08774957
+v -0.03261904 -0.03885933 0.08541478
+v -0.03290262 -0.04207178 0.09021601
+v -0.03319454 -0.04131606 0.08774956
+v -0.03346644 -0.04062352 0.08029755
+v -0.03333632 -0.04062351 0.07656715
+v -0.03286091 -0.03968344 0.06911513
+v -0.03326627 -0.04030756 0.08411572
+v -0.03306943 -0.04371482 0.07656714
+v -0.03283923 -0.04296436 0.07373204
+v -0.03263739 -0.04225867 0.07124804
+v -0.02903260 -0.03518858 0.04458232
+v -0.02908097 -0.03891714 0.05192899
+v -0.02607671 -0.02907960 0.02287582
+v -0.02451369 -0.03028821 0.02287582
+v -0.02376304 -0.03071478 0.02287582
+v -0.02404995 -0.03089911 0.02360434
+v -0.01661185 -0.02493503 0.02287584
+v -0.02153277 -0.03506495 0.07841921
+v -0.01661185 -0.02937725 0.05301742
+v -0.01661185 -0.02840826 0.05184126
+v -0.01749594 -0.02727075 0.05326320
+v -0.02145104 -0.02759201 0.05989892
+v -0.02448700 -0.03105464 0.07184495
+v -0.02602333 -0.03105464 0.07184495
+v -0.02710093 -0.03488064 0.08253580
+v -0.02710093 -0.03571535 0.08439662
+v -0.02070205 -0.02719703 0.05795033
+v -0.02903427 -0.03500966 0.08228126
+v -0.03275082 -0.03865657 0.08293078
+v -0.02940626 -0.03472000 0.08029757
+v -0.02994839 -0.03421180 0.07656717
+v -0.02905595 -0.03126001 0.06764058
+v -0.02924945 -0.03106252 0.06540234
+v -0.02950634 -0.03070176 0.06167194
+v -0.02895253 -0.02764727 0.04854973
+v -0.03215530 -0.03613925 0.07284555
+v -0.03294766 -0.03821418 0.07656716
+v -0.03296100 -0.03799562 0.07284554
+v -0.03286091 -0.03814832 0.06911514
+v -0.03273080 -0.03854329 0.06699101
+v -0.03273080 -0.03897249 0.06699101
+v -0.03286425 -0.03844854 0.08029756
+v -0.03242220 -0.04153981 0.06911513
+v -0.02897755 -0.03138103 0.03736730
+v -0.02671559 -0.02786572 0.02287583
+v -0.01661185 -0.02493512 0.04555665
+v -0.02780821 -0.02493503 0.02287584
+v -0.01942261 -0.02647817 0.05439548
+v -0.01661185 -0.02720490 0.04981368
+v -0.01690543 -0.02493512 0.04633784
+v -0.01753097 -0.02493512 0.04738235
+v -0.01965782 -0.02493514 0.05086698
+v -0.02038678 -0.02493514 0.05121807
+v -0.02338438 -0.02559343 0.05421994
+v -0.02342775 -0.02493514 0.05211337
+v -0.02540279 -0.02755515 0.06007446
+v -0.02710093 -0.03409332 0.08029757
+v -0.02850214 -0.03155757 0.07011579
+v -0.02561798 -0.02493513 0.04904128
+v -0.02653544 -0.02493512 0.04647827
+v -0.02679233 -0.02493512 0.04571464
+v -0.02752630 -0.02493511 0.04232656
+v -0.02808511 -0.02493509 0.03892971
+v -0.02907263 -0.02744977 0.04606573
+v -0.02845043 -0.02493508 0.03525198
+v -0.02847879 -0.02493506 0.03092472
+v -0.02831698 -0.02493505 0.02729965
+v -0.02902926 -0.02729437 0.03317172
+v -0.02902926 -0.02793422 0.03317172
+v -0.02768643 -0.02576974 0.02287584
+v -0.02792664 -0.02493504 0.02356925
+v -0.02412835 -0.02493514 0.05131463
+v -0.02590322 -0.02726813 0.05795033
+v -0.02794499 -0.02576975 0.02441188
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 12 4
+f 3 11 13
+f 3 13 12
+f 4 12 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 17 6
+f 5 16 18
+f 5 18 19
+f 5 19 17
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 6 27 28
+f 6 28 7
+f 6 17 20
+f 7 28 8
+f 8 29 9
+f 8 28 27
+f 8 27 30
+f 8 30 31
+f 8 31 32
+f 8 32 33
+f 8 33 29
+f 9 29 10
+f 10 29 33
+f 10 33 11
+f 11 33 32
+f 11 32 31
+f 11 31 48
+f 11 48 76
+f 11 76 105
+f 11 105 108
+f 11 108 79
+f 11 79 78
+f 11 78 56
+f 11 56 35
+f 11 35 13
+f 12 34 36
+f 12 36 14
+f 12 13 34
+f 13 35 34
+f 14 36 37
+f 14 37 15
+f 15 37 38
+f 15 38 39
+f 15 39 16
+f 16 39 40
+f 16 40 18
+f 17 19 20
+f 18 40 39
+f 18 39 41
+f 18 41 19
+f 19 41 21
+f 19 21 20
+f 21 41 42
+f 21 42 43
+f 21 43 22
+f 22 43 23
+f 23 43 24
+f 24 43 44
+f 24 44 45
+f 24 45 25
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 50
+f 25 50 26
+f 26 50 51
+f 26 51 30
+f 26 30 27
+f 30 51 48
+f 30 48 31
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 36
+f 34 35 52
+f 35 56 53
+f 35 53 52
+f 36 55 37
+f 37 55 57
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 37 61 38
+f 38 61 39
+f 39 61 62
+f 39 62 41
+f 41 63 64
+f 41 64 65
+f 41 65 42
+f 41 62 66
+f 41 66 63
+f 42 65 67
+f 42 67 43
+f 43 67 68
+f 43 68 69
+f 43 69 44
+f 44 69 70
+f 44 70 71
+f 44 71 45
+f 45 71 46
+f 46 71 72
+f 46 72 73
+f 46 73 74
+f 46 74 75
+f 46 75 48
+f 46 48 47
+f 48 75 74
+f 48 74 73
+f 48 73 72
+f 48 72 104
+f 48 104 129
+f 48 129 106
+f 48 106 76
+f 48 51 50
+f 48 50 49
+f 53 77 54
+f 53 56 78
+f 53 78 79
+f 53 79 80
+f 53 80 77
+f 54 81 82
+f 54 82 83
+f 54 83 84
+f 54 84 85
+f 54 85 55
+f 54 77 86
+f 54 86 81
+f 55 85 57
+f 57 85 87
+f 57 87 58
+f 58 60 59
+f 58 87 60
+f 60 88 66
+f 60 66 62
+f 60 62 61
+f 60 87 89
+f 60 89 90
+f 60 90 91
+f 60 91 92
+f 60 92 93
+f 60 93 94
+f 60 94 95
+f 60 95 88
+f 63 66 96
+f 63 96 97
+f 63 97 98
+f 63 98 64
+f 64 98 99
+f 64 99 100
+f 64 100 65
+f 65 100 67
+f 66 88 101
+f 66 101 96
+f 67 100 68
+f 68 100 69
+f 69 102 103
+f 69 103 70
+f 69 100 102
+f 70 103 104
+f 70 104 72
+f 70 72 71
+f 76 106 130
+f 76 130 126
+f 76 126 125
+f 76 125 124
+f 76 124 122
+f 76 122 121
+f 76 121 120
+f 76 120 119
+f 76 119 118
+f 76 118 131
+f 76 131 114
+f 76 114 112
+f 76 112 111
+f 76 111 110
+f 76 110 109
+f 76 109 105
+f 77 80 107
+f 77 107 86
+f 79 108 80
+f 80 108 105
+f 80 105 109
+f 80 109 110
+f 80 110 111
+f 80 111 107
+f 81 86 111
+f 81 111 112
+f 81 112 82
+f 82 112 113
+f 82 113 114
+f 82 114 83
+f 83 115 87
+f 83 87 116
+f 83 116 84
+f 83 114 115
+f 84 116 87
+f 84 87 85
+f 86 107 111
+f 87 115 117
+f 87 117 89
+f 88 95 101
+f 89 117 91
+f 89 91 90
+f 91 117 118
+f 91 118 119
+f 91 119 120
+f 91 120 121
+f 91 121 92
+f 92 121 94
+f 92 94 93
+f 94 121 122
+f 94 122 123
+f 94 123 95
+f 95 96 101
+f 95 123 124
+f 95 124 96
+f 96 124 97
+f 97 124 125
+f 97 125 98
+f 98 125 126
+f 98 126 127
+f 98 127 99
+f 99 127 128
+f 99 128 100
+f 100 128 129
+f 100 129 102
+f 102 129 103
+f 103 129 104
+f 106 129 130
+f 112 114 113
+f 114 131 115
+f 115 131 118
+f 115 118 132
+f 115 132 117
+f 117 132 118
+f 122 124 123
+f 126 130 127
+f 127 130 128
+f 128 130 133
+f 128 133 129
+f 129 133 130
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_22.obj

@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v 0.04034023 -0.00473305 0.01812917
+v 0.04034023 -0.01405059 0.01812914
+v 0.04034023 -0.00426777 0.02042309
+v 0.04211726 -0.00496644 0.02137198
+v 0.04167911 -0.00538328 0.01888460
+v 0.04155684 -0.00563721 0.01812917
+v 0.04034023 -0.01471551 0.02128904
+v 0.04086396 -0.01373208 0.01812914
+v 0.04872609 -0.01635073 0.04952543
+v 0.04034023 -0.00361902 0.02441212
+v 0.04260431 -0.00459656 0.02441211
+v 0.04575079 -0.00505455 0.03268496
+v 0.04534933 -0.00545671 0.03019758
+v 0.04241886 -0.00753066 0.01812916
+v 0.04502938 -0.00618913 0.02813398
+v 0.04034023 -0.01533052 0.02488191
+v 0.04194403 -0.01304369 0.01812914
+v 0.05268161 -0.01640508 0.06021196
+v 0.04922333 -0.01652247 0.05201281
+v 0.04611353 -0.01665015 0.04677088
+v 0.04034023 -0.01580905 0.02863141
+v 0.04034023 -0.00332840 0.02813399
+v 0.04356822 -0.00349870 0.03558692
+v 0.04317084 -0.00432210 0.02813398
+v 0.04616448 -0.00474632 0.03558691
+v 0.04925390 -0.00524687 0.04447700
+v 0.04889320 -0.00570187 0.04198962
+v 0.04852230 -0.00650768 0.03931798
+v 0.04944750 -0.00836444 0.03931797
+v 0.04916423 -0.00901173 0.03740177
+v 0.04642940 -0.00689662 0.03160709
+v 0.04262469 -0.01096383 0.01812915
+v 0.04446489 -0.00743674 0.02464242
+v 0.04550624 -0.00883262 0.02603351
+v 0.04584249 -0.00804588 0.02813397
+v 0.04200721 -0.01290131 0.01812914
+v 0.04931300 -0.01301001 0.04068141
+v 0.04970020 -0.01352228 0.04303982
+v 0.05645372 -0.01639778 0.07130384
+v 0.05680016 -0.01664438 0.07379122
+v 0.05501905 -0.01721828 0.07266729
+v 0.05472560 -0.01782743 0.07657340
+v 0.04180139 -0.01650774 0.03721749
+v 0.04147736 -0.01650774 0.03721749
+v 0.04034023 -0.01611289 0.03243619
+v 0.04034023 -0.00314201 0.03183742
+v 0.04356822 -0.00329175 0.03931799
+v 0.04999365 -0.00474344 0.05049278
+v 0.04666172 -0.00450268 0.03931798
+v 0.05472560 -0.00426650 0.07657345
+v 0.05501090 -0.00462904 0.07278710
+v 0.05421409 -0.00462902 0.06912051
+v 0.04954735 -0.00502671 0.04677092
+v 0.05267550 -0.00553607 0.05676651
+v 0.05745432 -0.00768056 0.06912050
+v 0.05644149 -0.00545246 0.07150656
+v 0.05308918 -0.00857732 0.05157985
+v 0.05692039 -0.00845554 0.06538943
+v 0.05663102 -0.00896045 0.06337189
+v 0.04916423 -0.00914090 0.03740177
+v 0.05834079 -0.01091263 0.06912049
+v 0.04550624 -0.00940506 0.02603351
+v 0.05298933 -0.01296308 0.05196676
+v 0.05333781 -0.01345920 0.05422383
+v 0.05747062 -0.01414177 0.06912048
+v 0.06050298 -0.01313343 0.07757758
+v 0.05920282 -0.01447352 0.07642601
+v 0.05932101 -0.01533513 0.08029527
+v 0.05714048 -0.01686162 0.07657341
+v 0.05746043 -0.01703483 0.08029527
+v 0.05472560 -0.01797715 0.08029526
+v 0.05100647 -0.01795365 0.07284232
+v 0.04142438 -0.01654150 0.03931794
+v 0.04034023 -0.01634628 0.03608435
+v 0.05100647 -0.01807842 0.07657340
+v 0.04034023 -0.00308331 0.03558692
+v 0.04356822 -0.00327122 0.04303986
+v 0.05472560 -0.00421807 0.08029531
+v 0.05700395 -0.00506792 0.07657345
+v 0.05673291 -0.00523670 0.07398473
+v 0.05755825 -0.00475971 0.08401717
+v 0.06042962 -0.00881226 0.07789083
+v 0.05915798 -0.00668250 0.08029531
+v 0.05905405 -0.00742519 0.07661950
+v 0.06010967 -0.01091266 0.07552320
+v 0.05939641 -0.01091265 0.07284235
+v 0.05725664 -0.01091262 0.06538942
+v 0.05662286 -0.01283395 0.06340871
+v 0.05692039 -0.01332567 0.06538941
+v 0.06054782 -0.01091266 0.07739334
+v 0.06094113 -0.01091267 0.08029529
+v 0.06069658 -0.01347837 0.08029528
+v 0.06073938 -0.01355618 0.08401714
+v 0.05925173 -0.01541294 0.08401713
+v 0.05739114 -0.01694091 0.08401713
+v 0.05100647 -0.01789496 0.08029526
+v 0.05472560 -0.01761756 0.08401713
+v 0.04154461 -0.01654152 0.04303981
+v 0.04034023 -0.01635362 0.03649891
+v 0.04508237 -0.01670012 0.06538940
+v 0.04181565 -0.01645494 0.04809748
+v 0.04163835 -0.01650924 0.04561010
+v 0.04034023 -0.00335193 0.03931799
+v 0.05100647 -0.00418137 0.07657345
+v 0.05100647 -0.00395385 0.07284238
+v 0.05100647 -0.00391127 0.06912052
+v 0.05472560 -0.00432965 0.08401717
+v 0.05756028 -0.00474064 0.08774824
+v 0.05729740 -0.00492555 0.08029531
+v 0.05941883 -0.00636254 0.08401717
+v 0.05942087 -0.00627742 0.08774824
+v 0.06054985 -0.00853925 0.08029530
+v 0.06072307 -0.00821929 0.08401716
+v 0.06115918 -0.01091269 0.08401715
+v 0.06112657 -0.01091270 0.08774822
+v 0.06058246 -0.01325677 0.08774821
+v 0.06041943 -0.01295294 0.09037378
+v 0.05730759 -0.01326564 0.10637594
+v 0.05701617 -0.01669874 0.08678089
+v 0.05199281 -0.01680148 0.08699278
+v 0.05085363 -0.01716695 0.08410004
+v 0.04887078 -0.01672073 0.08291163
+v 0.04853657 -0.01695263 0.08029527
+v 0.04815345 -0.01711115 0.07657341
+v 0.04525151 -0.01660766 0.06814394
+v 0.05696727 -0.01302787 0.10881726
+v 0.05598704 -0.01302787 0.10881726
+v 0.04034023 -0.01624502 0.04078274
+v 0.04034023 -0.01579883 0.04694592
+v 0.04034023 -0.00443372 0.04574833
+v 0.04915404 -0.00534682 0.08214703
+v 0.05063966 -0.00468044 0.08065460
+v 0.05456053 -0.00476999 0.08776666
+v 0.05568748 -0.00500926 0.09147010
+v 0.05628050 -0.00522210 0.09404961
+v 0.05680220 -0.00522210 0.09404961
+v 0.05715475 -0.00500926 0.09147010
+v 0.05901533 -0.00646678 0.09147010
+v 0.06084738 -0.00813417 0.08774823
+v 0.06062729 -0.00861270 0.09520116
+v 0.06080662 -0.00832354 0.09147009
+v 0.06062729 -0.01017443 0.09520115
+v 0.06077402 -0.01115344 0.09156221
+v 0.06021564 -0.01255078 0.09286116
+v 0.05853235 -0.01091277 0.10637595
+v 0.04554496 -0.01640659 0.07063133
+v 0.05279165 -0.00921456 0.11206931
+v 0.04656594 -0.01437372 0.08013866
+v 0.04043601 -0.01397587 0.05794568
+v 0.04034023 -0.01577535 0.04713017
+v 0.05745024 -0.01086875 0.11007938
+v 0.05692039 -0.00960205 0.11222590
+v 0.05472560 -0.00958444 0.11224433
+v 0.04034023 -0.00477278 0.04677092
+v 0.04117168 -0.00482270 0.05049278
+v 0.05279165 -0.00895769 0.11206931
+v 0.05167897 -0.00491236 0.08401717
+v 0.05472560 -0.00827222 0.11010703
+v 0.05738096 -0.00838524 0.11010703
+v 0.05781095 -0.00804471 0.10637596
+v 0.06043166 -0.00888279 0.09786359
+v 0.06043166 -0.00952715 0.09786359
+v 0.06001593 -0.01202972 0.09520115
+v 0.05692039 -0.00878890 0.11222591
+v 0.04156091 -0.01300863 0.06403516
+v 0.04533710 -0.01296758 0.07879363
+v 0.04034023 -0.01091260 0.05993560
+v 0.04034023 -0.01198556 0.05953025
+v 0.04505587 -0.01348130 0.07657342
+v 0.04034023 -0.01357957 0.05794568
+v 0.04034023 -0.01375864 0.05767852
+v 0.04034023 -0.01409917 0.05639798
+v 0.05472560 -0.00878156 0.11224434
+v 0.04034023 -0.00599694 0.05038223
+v 0.04162816 -0.00892229 0.06389700
+v 0.04034023 -0.00941838 0.05794570
+v 0.04034023 -0.00713302 0.05314598
+f 1 2 7
+f 1 7 16
+f 1 16 21
+f 1 21 45
+f 1 45 74
+f 1 74 99
+f 1 99 128
+f 1 128 129
+f 1 129 150
+f 1 150 172
+f 1 172 171
+f 1 171 170
+f 1 170 168
+f 1 168 167
+f 1 167 176
+f 1 176 177
+f 1 177 174
+f 1 174 154
+f 1 154 130
+f 1 130 103
+f 1 103 76
+f 1 76 46
+f 1 46 22
+f 1 22 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 32
+f 1 32 36
+f 1 36 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 15
+f 6 15 14
+f 7 9 16
+f 8 17 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 16
+f 9 17 18
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 15
+f 14 15 33
+f 14 33 34
+f 14 34 32
+f 15 31 35
+f 15 35 33
+f 17 36 37
+f 17 37 38
+f 17 38 39
+f 17 39 18
+f 18 39 40
+f 18 40 41
+f 18 41 42
+f 18 42 19
+f 19 42 20
+f 20 43 21
+f 20 42 43
+f 21 43 44
+f 21 44 45
+f 22 46 47
+f 22 47 23
+f 23 48 49
+f 23 49 25
+f 23 25 24
+f 23 47 50
+f 23 50 51
+f 23 51 52
+f 23 52 48
+f 25 49 48
+f 25 48 53
+f 25 53 26
+f 26 54 55
+f 26 55 27
+f 26 53 56
+f 26 56 54
+f 27 57 29
+f 27 29 28
+f 27 55 58
+f 27 58 59
+f 27 59 57
+f 29 57 30
+f 30 60 62
+f 30 62 34
+f 30 34 35
+f 30 35 31
+f 30 57 59
+f 30 59 61
+f 30 61 60
+f 32 37 36
+f 32 34 62
+f 32 62 63
+f 32 63 37
+f 33 35 34
+f 37 63 38
+f 38 63 64
+f 38 64 39
+f 39 65 66
+f 39 66 67
+f 39 67 40
+f 39 64 65
+f 40 67 68
+f 40 68 69
+f 40 69 41
+f 41 69 42
+f 42 69 70
+f 42 70 71
+f 42 71 72
+f 42 72 43
+f 43 72 44
+f 44 73 74
+f 44 74 45
+f 44 72 75
+f 44 75 73
+f 46 76 47
+f 47 76 77
+f 47 77 78
+f 47 78 50
+f 48 52 79
+f 48 79 80
+f 48 80 53
+f 50 78 81
+f 50 81 79
+f 50 79 51
+f 51 79 52
+f 53 80 56
+f 54 56 55
+f 55 56 82
+f 55 82 58
+f 56 80 83
+f 56 83 84
+f 56 84 82
+f 58 82 59
+f 59 82 85
+f 59 85 86
+f 59 86 61
+f 60 63 62
+f 60 61 87
+f 60 87 88
+f 60 88 63
+f 61 88 87
+f 61 86 88
+f 63 88 89
+f 63 89 64
+f 64 89 65
+f 65 89 66
+f 66 86 85
+f 66 85 90
+f 66 90 91
+f 66 91 92
+f 66 92 68
+f 66 68 67
+f 66 89 88
+f 66 88 86
+f 68 70 69
+f 68 92 93
+f 68 93 94
+f 68 94 70
+f 70 94 95
+f 70 95 71
+f 71 96 75
+f 71 75 72
+f 71 95 97
+f 71 97 96
+f 73 98 99
+f 73 99 74
+f 73 75 98
+f 75 96 100
+f 75 100 101
+f 75 101 102
+f 75 102 98
+f 76 103 104
+f 76 104 105
+f 76 105 77
+f 77 105 106
+f 77 106 78
+f 78 106 105
+f 78 105 107
+f 78 107 108
+f 78 108 81
+f 79 81 109
+f 79 109 110
+f 79 110 83
+f 79 83 80
+f 81 108 111
+f 81 111 110
+f 81 110 109
+f 82 84 83
+f 82 83 112
+f 82 112 91
+f 82 91 90
+f 82 90 85
+f 83 110 112
+f 91 112 113
+f 91 113 114
+f 91 114 92
+f 92 114 93
+f 93 114 115
+f 93 115 116
+f 93 116 94
+f 94 116 117
+f 94 117 118
+f 94 118 95
+f 95 118 119
+f 95 119 97
+f 96 97 120
+f 96 120 121
+f 96 121 122
+f 96 122 123
+f 96 123 124
+f 96 124 125
+f 96 125 100
+f 97 119 126
+f 97 126 127
+f 97 127 120
+f 98 102 99
+f 99 102 128
+f 100 125 101
+f 101 129 128
+f 101 128 102
+f 101 125 129
+f 103 130 131
+f 103 131 132
+f 103 132 104
+f 104 132 107
+f 104 107 105
+f 107 133 134
+f 107 134 135
+f 107 135 136
+f 107 136 137
+f 107 137 108
+f 107 132 133
+f 108 137 138
+f 108 138 111
+f 110 111 139
+f 110 139 113
+f 110 113 112
+f 111 138 140
+f 111 140 141
+f 111 141 139
+f 113 139 114
+f 114 139 115
+f 115 139 141
+f 115 141 140
+f 115 140 142
+f 115 142 143
+f 115 143 116
+f 116 143 117
+f 117 143 142
+f 117 142 144
+f 117 144 118
+f 118 145 126
+f 118 126 119
+f 118 144 145
+f 120 127 121
+f 121 127 122
+f 122 146 123
+f 122 127 147
+f 122 147 148
+f 122 148 149
+f 122 149 146
+f 123 146 125
+f 123 125 124
+f 125 146 149
+f 125 149 150
+f 125 150 129
+f 126 145 151
+f 126 151 152
+f 126 152 153
+f 126 153 127
+f 127 153 147
+f 130 154 155
+f 130 155 156
+f 130 156 131
+f 131 156 132
+f 132 156 157
+f 132 157 135
+f 132 135 134
+f 132 134 133
+f 135 157 156
+f 135 156 158
+f 135 158 136
+f 136 158 159
+f 136 159 137
+f 137 159 160
+f 137 160 138
+f 138 160 161
+f 138 161 140
+f 140 161 162
+f 140 162 142
+f 142 162 144
+f 144 162 163
+f 144 163 145
+f 145 161 164
+f 145 164 152
+f 145 152 151
+f 145 163 162
+f 145 162 161
+f 147 165 166
+f 147 166 148
+f 147 153 173
+f 147 173 156
+f 147 156 167
+f 147 167 168
+f 147 168 165
+f 148 166 169
+f 148 169 149
+f 149 170 171
+f 149 171 172
+f 149 172 150
+f 149 169 166
+f 149 166 165
+f 149 165 170
+f 152 164 173
+f 152 173 153
+f 154 174 155
+f 155 174 156
+f 156 173 158
+f 156 174 175
+f 156 175 167
+f 158 173 164
+f 158 164 159
+f 159 164 161
+f 159 161 160
+f 165 168 170
+f 167 175 176
+f 174 177 175
+f 175 177 176
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_23.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02830990 -0.00077554 0.01695523
+v 0.02837278 -0.00077555 0.01812919
+v 0.02862669 -0.00077553 0.01333814
+v 0.02242878 -0.00467347 0.01333812
+v 0.02282537 -0.00506369 0.01608096
+v 0.02283746 -0.00589340 0.01812917
+v 0.03702761 -0.00077555 0.01812919
+v 0.03858978 -0.00077553 0.01333814
+v 0.02239976 -0.00472071 0.01333812
+v 0.02201284 -0.00710714 0.01812916
+v 0.04155453 -0.00563668 0.01812917
+v 0.04241542 -0.00753020 0.01812916
+v 0.04104187 -0.00737410 0.01333811
+v 0.02088837 -0.00719132 0.01333811
+v 0.02171540 -0.00798202 0.01812916
+v 0.04262339 -0.01096606 0.01812915
+v 0.04184713 -0.00869875 0.01462229
+v 0.04145780 -0.01097631 0.01333810
+v 0.02085210 -0.00730838 0.01333811
+v 0.02077229 -0.01091472 0.01812915
+v 0.04200432 -0.01290066 0.01812914
+v 0.04145296 -0.01100301 0.01333810
+v 0.04184713 -0.00980570 0.01462228
+v 0.01791879 -0.02175419 0.01333806
+v 0.02089079 -0.01208123 0.01812915
+v 0.01891268 -0.02175419 0.01474137
+v 0.04194145 -0.01304442 0.01812914
+v 0.04191968 -0.01302183 0.01797249
+v 0.04154969 -0.01228043 0.01548902
+v 0.03975779 -0.01430127 0.01333809
+v 0.02953594 -0.02175419 0.01333806
+v 0.02144456 -0.01462578 0.01812914
+v 0.02130189 -0.02175420 0.01594676
+v 0.02245296 -0.01784805 0.01812912
+v 0.03948936 -0.01460727 0.01333809
+v 0.04086050 -0.01373241 0.01812914
+v 0.04003105 -0.01423763 0.01812914
+v 0.02920223 -0.02175419 0.01380005
+v 0.02149292 -0.02175420 0.01603024
+v 0.02325339 -0.01838612 0.01812912
+v 0.03744596 -0.01555200 0.01812913
+v 0.02744660 -0.02175420 0.01540035
+v 0.02492681 -0.02175420 0.01622348
+v 0.02535000 -0.01928770 0.01812912
+v 0.02497033 -0.01923636 0.01812912
+v 0.03004861 -0.01905769 0.01812912
+v 0.02893381 -0.01951361 0.01812912
+v 0.02558215 -0.02175420 0.01612921
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 10
+f 2 10 15
+f 2 15 20
+f 2 20 25
+f 2 25 32
+f 2 32 34
+f 2 34 40
+f 2 40 45
+f 2 45 44
+f 2 44 47
+f 2 47 46
+f 2 46 41
+f 2 41 37
+f 2 37 36
+f 2 36 27
+f 2 27 21
+f 2 21 16
+f 2 16 12
+f 2 12 11
+f 2 11 7
+f 3 8 13
+f 3 13 18
+f 3 18 22
+f 3 22 30
+f 3 30 35
+f 3 35 31
+f 3 31 24
+f 3 24 19
+f 3 19 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 16 21 22
+f 16 22 18
+f 16 18 23
+f 16 23 17
+f 17 23 18
+f 19 24 20
+f 20 24 26
+f 20 26 25
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 29 30
+f 24 31 38
+f 24 38 42
+f 24 42 48
+f 24 48 43
+f 24 43 39
+f 24 39 33
+f 24 33 26
+f 25 26 32
+f 26 33 34
+f 26 34 32
+f 27 35 30
+f 27 30 28
+f 27 36 31
+f 27 31 35
+f 28 30 29
+f 31 36 37
+f 31 37 38
+f 33 39 34
+f 34 39 40
+f 37 41 38
+f 38 41 42
+f 39 43 44
+f 39 44 45
+f 39 45 40
+f 41 46 42
+f 42 47 48
+f 42 46 47
+f 43 48 47
+f 43 47 44
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_24.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.00850603 -0.05527437 0.08029780
+v -0.01154213 -0.05433708 0.08029780
+v -0.01122420 -0.05409805 0.07657251
+v -0.01080711 -0.05384024 0.07367116
+v -0.00850603 -0.05472291 0.07657251
+v -0.00654177 -0.05366439 0.07077858
+v -0.00603654 -0.05387098 0.07284722
+v -0.00478684 -0.05467853 0.08029780
+v -0.00850603 -0.05515489 0.08402309
+v -0.01139104 -0.05426198 0.08402309
+v -0.01340094 -0.05293541 0.08029781
+v -0.01308458 -0.05276467 0.07657252
+v -0.00972110 -0.05357561 0.07119056
+v -0.01211819 -0.05267076 0.07259303
+v -0.01241566 -0.05084736 0.06565084
+v -0.01142252 -0.05056053 0.06167135
+v -0.01083387 -0.05017126 0.05888396
+v -0.00849187 -0.05395292 0.07259302
+v -0.00724374 -0.05366439 0.07077858
+v -0.00478684 -0.05150979 0.06539664
+v -0.00509533 -0.05261952 0.06936736
+v -0.00290443 -0.05363881 0.07834311
+v -0.00850603 -0.05230879 0.06539664
+v -0.00661417 -0.04992199 0.05603522
+v -0.00606645 -0.05019345 0.05794607
+v -0.00473333 -0.05413220 0.07688806
+v -0.00277851 -0.05376345 0.08295371
+v -0.00451141 -0.05442076 0.08412828
+v -0.00279897 -0.05374124 0.08029780
+v -0.00657640 -0.05366107 0.09774969
+v -0.00690220 -0.05366107 0.09774969
+v -0.00850603 -0.05246089 0.10637485
+v -0.01324984 -0.05262641 0.08402310
+v -0.01079295 -0.05076557 0.11010890
+v -0.01477813 -0.05107789 0.08029781
+v -0.01470888 -0.05090715 0.07657252
+v -0.01454361 -0.05061008 0.07284723
+v -0.01429808 -0.05020202 0.06911318
+v -0.01412495 -0.04996130 0.06705331
+v -0.00850603 -0.05134587 0.06167135
+v -0.00849187 -0.05325463 0.06936735
+v -0.01403523 -0.04611304 0.05258166
+v -0.01343557 -0.03829532 0.02286702
+v -0.01157676 -0.03951090 0.02286701
+v -0.01047659 -0.04625130 0.04471034
+v -0.00929929 -0.04981614 0.05639459
+v -0.00471444 -0.05057760 0.06189048
+v -0.00284777 -0.04997664 0.06327543
+v -0.00207812 -0.05108982 0.07284723
+v -0.00214265 -0.05194347 0.07688807
+v -0.00176491 -0.05176422 0.08029781
+v -0.00259751 -0.05024469 0.06539665
+v -0.00226541 -0.05068689 0.06911317
+v -0.00682193 -0.04992199 0.05603522
+v -0.00850603 -0.04017161 0.02286701
+v -0.00645363 -0.03978065 0.02286701
+v -0.00512996 -0.03937944 0.02286702
+v -0.00303034 -0.04613351 0.04878624
+v -0.00210330 -0.05204594 0.08412829
+v -0.00606487 -0.05087142 0.11010890
+v -0.00572018 -0.05135628 0.10637485
+v -0.00850603 -0.05173018 0.11010890
+v -0.01455778 -0.05077060 0.08402310
+v -0.01062296 -0.05031486 0.11228273
+v -0.01558555 -0.04805090 0.08029782
+v -0.01561388 -0.04805089 0.07657253
+v -0.01543918 -0.04805088 0.07284724
+v -0.01661018 -0.04098780 0.05049552
+v -0.01661018 -0.04030146 0.04693677
+v -0.00824004 -0.05029418 0.05776200
+v -0.01416115 -0.04258065 0.04080975
+v -0.01384479 -0.03783436 0.02286702
+v -0.00978878 -0.03991552 0.02286701
+v -0.00261010 -0.04650230 0.05126685
+v -0.00104405 -0.04805086 0.06911318
+v -0.00088823 -0.04805090 0.08029782
+v -0.00084416 -0.04805088 0.07284724
+v -0.00081111 -0.04805089 0.07657253
+v -0.00230004 -0.04687791 0.05422079
+v -0.00099998 -0.04433748 0.05422080
+v -0.00360482 -0.03839263 0.02286702
+v -0.00286823 -0.04252600 0.03731236
+v -0.00254085 -0.04285722 0.03931963
+v -0.00125338 -0.04805092 0.08402311
+v -0.00232837 -0.05115987 0.08774839
+v -0.00289971 -0.04996651 0.09354233
+v -0.00639697 -0.05033706 0.11224767
+v -0.00850603 -0.05053510 0.11241421
+v -0.01062296 -0.04952951 0.11228273
+v -0.01661018 -0.03846107 0.06327547
+v -0.01661018 -0.03946838 0.06437114
+v -0.01661018 -0.04048079 0.06486200
+v -0.01661018 -0.04209928 0.06262682
+v -0.01497644 -0.04805092 0.08402311
+v -0.01450269 -0.04546439 0.08402312
+v -0.01661018 -0.04194049 0.05862980
+v -0.01661018 -0.04145390 0.05447500
+v -0.01661018 -0.03783442 0.03903916
+v -0.00296581 -0.03783436 0.02286702
+v -0.00210802 -0.04340869 0.04304492
+v -0.00070723 -0.04062412 0.04304493
+v -0.00110543 -0.04433755 0.07284726
+v -0.00146901 -0.04433756 0.07657255
+v -0.00057187 -0.04062415 0.05049552
+v -0.00066788 -0.04062416 0.05422081
+v -0.00053095 -0.04062413 0.04677023
+v -0.00281786 -0.03885362 0.02600503
+v -0.00247002 -0.03919166 0.02813501
+v -0.00202618 -0.03976362 0.03186029
+v -0.00217098 -0.04497099 0.08402312
+v -0.00256918 -0.04565733 0.08774841
+v -0.00284934 -0.04608586 0.08989593
+v -0.00197109 -0.04805093 0.08774840
+v -0.00606487 -0.04910269 0.11010891
+v -0.00639697 -0.04955512 0.11224767
+v -0.00289971 -0.04978212 0.09354233
+v -0.00850603 -0.04936049 0.11241422
+v -0.00850603 -0.04844197 0.11010891
+v -0.01661018 -0.03783451 0.06250411
+v -0.00234254 -0.03783437 0.02521614
+v -0.00126282 -0.04062410 0.03931964
+v -0.00107395 -0.03783440 0.03186030
+v -0.00075130 -0.03783441 0.03565572
+v -0.00073398 -0.03783445 0.04677024
+v -0.00206080 -0.04409514 0.08021018
+v -0.00114320 -0.03783447 0.05049553
+v -0.00055613 -0.03783444 0.04304494
+v -0.00059233 -0.03783442 0.03931965
+v -0.00171769 -0.03783438 0.02813501
+v -0.00282258 -0.04238616 0.07891290
+v -0.00322708 -0.04269689 0.08139351
+v -0.00659843 -0.04616444 0.10096662
+v -0.01002172 -0.04250228 0.08582880
+v -0.01118485 -0.04208228 0.08334820
+v -0.00850603 -0.04089912 0.08029785
+v -0.00850603 -0.03783452 0.06565965
+v -0.00215996 -0.03783449 0.05794611
+v -0.00226069 -0.03783450 0.05856845
+v -0.00254715 -0.03831083 0.06167140
+v -0.00281786 -0.03865400 0.06395917
+v -0.00583980 -0.04214033 0.08402314
+v -0.00651187 -0.04243058 0.08605670
+v -0.00598617 -0.03856182 0.06815779
+v -0.00477268 -0.03783451 0.06366115
+v -0.00359381 -0.03783451 0.06167140
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 4
+f 4 13 5
+f 4 12 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 13
+f 5 13 18
+f 5 18 19
+f 5 19 6
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 6 19 23
+f 6 23 24
+f 6 24 25
+f 6 25 20
+f 7 22 26
+f 7 26 8
+f 8 27 28
+f 8 28 9
+f 8 26 22
+f 8 22 29
+f 8 29 27
+f 9 28 30
+f 9 30 31
+f 9 31 32
+f 9 32 10
+f 10 33 11
+f 10 32 34
+f 10 34 33
+f 11 35 36
+f 11 36 37
+f 11 37 12
+f 11 33 35
+f 12 37 38
+f 12 38 39
+f 12 39 14
+f 13 19 18
+f 13 17 40
+f 13 40 23
+f 13 23 41
+f 13 41 19
+f 14 39 15
+f 15 39 16
+f 16 42 43
+f 16 43 17
+f 16 39 42
+f 17 43 44
+f 17 44 45
+f 17 45 46
+f 17 46 40
+f 19 41 23
+f 20 25 47
+f 20 47 48
+f 20 48 22
+f 20 22 21
+f 22 49 50
+f 22 50 51
+f 22 51 29
+f 22 48 52
+f 22 52 53
+f 22 53 49
+f 23 40 54
+f 23 54 24
+f 24 54 55
+f 24 55 56
+f 24 56 57
+f 24 57 58
+f 24 58 25
+f 25 58 47
+f 27 59 60
+f 27 60 61
+f 27 61 30
+f 27 30 28
+f 27 29 51
+f 27 51 59
+f 30 61 60
+f 30 60 62
+f 30 62 32
+f 30 32 31
+f 32 62 34
+f 33 34 63
+f 33 63 35
+f 34 62 64
+f 34 64 63
+f 35 63 65
+f 35 65 66
+f 35 66 36
+f 36 66 67
+f 36 67 68
+f 36 68 69
+f 36 69 37
+f 37 69 38
+f 38 69 39
+f 39 69 42
+f 40 46 70
+f 40 70 54
+f 42 69 71
+f 42 71 72
+f 42 72 43
+f 43 72 99
+f 43 99 81
+f 43 81 57
+f 43 57 56
+f 43 56 55
+f 43 55 73
+f 43 73 44
+f 44 73 45
+f 45 73 55
+f 45 55 46
+f 46 54 70
+f 46 55 54
+f 47 58 48
+f 48 58 74
+f 48 74 52
+f 49 51 50
+f 49 53 75
+f 49 75 51
+f 51 76 59
+f 51 75 77
+f 51 77 78
+f 51 78 76
+f 52 74 79
+f 52 79 53
+f 53 79 80
+f 53 80 75
+f 57 81 82
+f 57 82 58
+f 58 82 83
+f 58 83 74
+f 59 76 84
+f 59 84 85
+f 59 85 60
+f 60 85 86
+f 60 86 87
+f 60 87 62
+f 62 87 88
+f 62 88 64
+f 63 64 65
+f 64 88 117
+f 64 117 89
+f 64 89 65
+f 65 90 91
+f 65 91 92
+f 65 92 93
+f 65 93 66
+f 65 89 94
+f 65 94 95
+f 65 95 90
+f 66 93 96
+f 66 96 97
+f 66 97 68
+f 66 68 67
+f 68 97 96
+f 68 96 93
+f 68 93 92
+f 68 92 91
+f 68 91 90
+f 68 90 119
+f 68 119 98
+f 68 98 69
+f 69 98 72
+f 69 72 71
+f 72 98 119
+f 72 119 136
+f 72 136 144
+f 72 144 145
+f 72 145 138
+f 72 138 137
+f 72 137 126
+f 72 126 124
+f 72 124 127
+f 72 127 128
+f 72 128 123
+f 72 123 122
+f 72 122 129
+f 72 129 120
+f 72 120 99
+f 74 83 100
+f 74 100 79
+f 75 80 101
+f 75 101 77
+f 76 102 103
+f 76 103 84
+f 76 78 104
+f 76 104 105
+f 76 105 102
+f 77 101 106
+f 77 106 78
+f 78 106 104
+f 79 100 80
+f 80 100 101
+f 81 99 107
+f 81 107 82
+f 82 107 83
+f 83 107 108
+f 83 108 109
+f 83 109 100
+f 84 110 111
+f 84 111 112
+f 84 112 113
+f 84 113 114
+f 84 114 115
+f 84 115 116
+f 84 116 86
+f 84 86 85
+f 84 103 110
+f 86 116 115
+f 86 115 87
+f 87 115 117
+f 87 117 88
+f 89 95 94
+f 89 117 118
+f 89 118 119
+f 89 119 90
+f 89 90 95
+f 99 120 108
+f 99 108 107
+f 100 109 121
+f 100 121 101
+f 101 121 122
+f 101 122 123
+f 101 123 106
+f 102 105 124
+f 102 124 103
+f 103 125 110
+f 103 124 126
+f 103 126 125
+f 104 106 127
+f 104 127 105
+f 105 127 124
+f 106 123 128
+f 106 128 127
+f 108 120 129
+f 108 129 109
+f 109 129 122
+f 109 122 121
+f 110 125 130
+f 110 130 111
+f 111 130 131
+f 111 131 114
+f 111 114 112
+f 112 114 113
+f 114 132 115
+f 114 131 132
+f 115 132 118
+f 115 118 117
+f 118 133 134
+f 118 134 119
+f 118 132 135
+f 118 135 133
+f 119 134 133
+f 119 133 135
+f 119 135 136
+f 125 126 137
+f 125 137 130
+f 130 137 138
+f 130 138 139
+f 130 139 140
+f 130 140 131
+f 131 141 132
+f 131 140 141
+f 132 141 142
+f 132 142 135
+f 135 142 143
+f 135 143 136
+f 136 143 144
+f 138 145 139
+f 139 145 140
+f 140 144 141
+f 140 145 144
+f 141 144 142
+f 142 144 143
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_25.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01661018 -0.02493240 0.02286707
+v -0.00445252 -0.02493240 0.02286707
+v -0.01661018 -0.03356329 0.02286704
+v -0.01661018 -0.02493249 0.04555159
+v -0.00288307 -0.02758673 0.03013398
+v -0.00228853 -0.02661185 0.02286706
+v -0.01497520 -0.03643605 0.02286703
+v -0.01661018 -0.03783145 0.03903854
+v -0.01661018 -0.02720292 0.04981121
+v -0.00850401 -0.03783155 0.06565600
+v -0.00477377 -0.03783154 0.06364974
+v -0.00279037 -0.03492970 0.05276821
+v -0.00279996 -0.03122980 0.04151812
+v -0.00209355 -0.03033702 0.03558730
+v -0.00248192 -0.03088632 0.03931500
+v -0.00155815 -0.02800972 0.02286706
+v -0.01411695 -0.03752580 0.02286702
+v -0.01384526 -0.03783139 0.02286702
+v -0.01661018 -0.03783154 0.06249792
+v -0.01661018 -0.02840633 0.05183422
+v -0.01661018 -0.02937739 0.05300697
+v -0.00359428 -0.03783154 0.06166861
+v -0.00225977 -0.03783153 0.05856498
+v -0.00250909 -0.03460896 0.05048971
+v -0.00065356 -0.03319588 0.03558729
+v -0.00120334 -0.03319589 0.03931499
+v -0.00081498 -0.02956037 0.02286705
+v -0.00296458 -0.03783139 0.02286702
+v -0.00215908 -0.03783152 0.05794091
+v -0.00133120 -0.03690969 0.05048970
+v -0.00046976 -0.03319587 0.03186378
+v -0.00080059 -0.03690967 0.04676200
+v -0.00050652 -0.03690966 0.04303848
+v -0.00028277 -0.03319583 0.02286704
+v -0.00159011 -0.03673279 0.02286703
+v -0.00234287 -0.03783140 0.02521253
+v -0.00114261 -0.03783150 0.05048970
+v -0.00037067 -0.03690964 0.03931497
+v -0.00073347 -0.03783148 0.04676200
+v -0.00055606 -0.03783147 0.04303848
+v -0.00036108 -0.03690963 0.03558727
+v -0.00061839 -0.03690962 0.03186376
+v -0.00107389 -0.03783143 0.03186376
+v -0.00171797 -0.03783141 0.02813606
+v -0.00059282 -0.03783145 0.03931497
+v -0.00075105 -0.03783144 0.03565847
+f 1 2 6
+f 1 6 16
+f 1 16 27
+f 1 27 34
+f 1 34 35
+f 1 35 28
+f 1 28 18
+f 1 18 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 21
+f 1 21 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 14 6
+f 5 13 15
+f 5 15 14
+f 6 14 16
+f 7 17 8
+f 8 17 18
+f 8 18 28
+f 8 28 36
+f 8 36 44
+f 8 44 43
+f 8 43 46
+f 8 46 45
+f 8 45 40
+f 8 40 39
+f 8 39 37
+f 8 37 29
+f 8 29 23
+f 8 23 22
+f 8 22 11
+f 8 11 10
+f 8 10 19
+f 9 20 10
+f 10 20 21
+f 10 21 19
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 15
+f 12 15 13
+f 14 25 16
+f 14 15 26
+f 14 26 25
+f 15 24 26
+f 16 25 27
+f 23 29 30
+f 23 30 26
+f 23 26 24
+f 25 31 27
+f 25 26 30
+f 25 30 32
+f 25 32 33
+f 25 33 31
+f 27 31 34
+f 28 35 36
+f 29 37 32
+f 29 32 30
+f 31 33 38
+f 31 38 34
+f 32 37 39
+f 32 39 33
+f 33 39 40
+f 33 40 38
+f 34 38 41
+f 34 41 42
+f 34 42 35
+f 35 42 43
+f 35 43 44
+f 35 44 36
+f 38 40 41
+f 40 45 41
+f 41 46 42
+f 41 45 46
+f 42 46 43
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_26.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.07648688 0.04008980 -0.10600893
+v 0.07529177 0.04331062 -0.10389081
+v 0.07609459 0.04008979 -0.10392344
+v 0.07587109 0.04008981 -0.10885925
+v 0.07571143 0.04108462 -0.10867559
+v 0.07533739 0.04346331 -0.10814394
+v 0.06402957 0.08379756 -0.10787918
+v 0.06402957 0.08379756 -0.10784172
+v 0.07287877 0.04690573 -0.10020677
+v 0.07350825 0.04473388 -0.10020678
+v 0.07579810 0.04008979 -0.10283600
+v 0.06542081 0.07821773 -0.10600879
+v 0.06419378 0.08060133 -0.10367076
+v 0.06452221 0.07805520 -0.10236946
+v 0.06379237 0.07805519 -0.10020665
+v 0.07413773 0.04008982 -0.11072241
+v 0.06367377 0.07549926 -0.11141824
+v 0.06487800 0.07821774 -0.10919017
+v 0.06432150 0.08193105 -0.10839874
+v 0.06209552 0.08227580 -0.11052410
+v 0.06026181 0.08374832 -0.11158858
+v 0.06193131 0.08527501 -0.10879988
+v 0.06053550 0.08769802 -0.10817640
+v 0.06069972 0.08787529 -0.10600876
+v 0.06059480 0.08780141 -0.10346654
+v 0.06145691 0.08583641 -0.10224739
+v 0.06379237 0.08307853 -0.10535872
+v 0.06436711 0.08187687 -0.10636401
+v 0.07447072 0.04108459 -0.10020679
+v 0.07463493 0.04040005 -0.10020679
+v 0.07470791 0.04008978 -0.10020679
+v 0.06335447 0.08187686 -0.10236945
+v 0.06263376 0.08190640 -0.10020664
+v 0.07227666 0.04008982 -0.11195847
+v 0.07172473 0.04397058 -0.11174097
+v 0.07136437 0.04644284 -0.11156093
+v 0.06410712 0.07302207 -0.11164903
+v 0.06080919 0.08127114 -0.11179520
+v 0.06320851 0.07821775 -0.11105333
+v 0.05778495 0.08444272 -0.11179037
+v 0.05879303 0.08566408 -0.11088174
+v 0.05844180 0.08824959 -0.10884700
+v 0.05844180 0.08917053 -0.10600875
+v 0.05860145 0.08853029 -0.10224738
+v 0.05994708 0.08720550 -0.10098233
+v 0.06114673 0.08519618 -0.10020663
+v 0.06196324 0.08346264 -0.10020663
+v 0.06748714 0.04008978 -0.10020679
+v 0.07044296 0.04008982 -0.11240433
+v 0.06135200 0.07821775 -0.11196558
+v 0.05879303 0.08227580 -0.11187858
+v 0.05472422 0.08468404 -0.11184715
+v 0.05472422 0.08654070 -0.11123334
+v 0.05472422 0.08875192 -0.10937016
+v 0.05472422 0.09021458 -0.10600875
+v 0.05472422 0.08978119 -0.10228242
+v 0.05781688 0.08816092 -0.10020662
+v 0.05880671 0.08756994 -0.10020662
+v 0.05956392 0.08706269 -0.10020662
+v 0.02988715 0.05965116 -0.10023330
+v 0.02988715 0.05713457 -0.10024177
+v 0.02988715 0.05593784 -0.10025143
+v 0.02988715 0.04589614 -0.10040372
+v 0.02988715 0.04008978 -0.10052819
+v 0.02988715 0.08115782 -0.10020664
+v 0.06960365 0.04008982 -0.11254932
+v 0.06960365 0.04108463 -0.11252031
+v 0.06216394 0.07078620 -0.11211786
+v 0.02988715 0.08440332 -0.11176498
+v 0.02988715 0.08625998 -0.11114755
+v 0.02988715 0.08797381 -0.10988490
+v 0.02988715 0.08878147 -0.10928438
+v 0.04728907 0.08884550 -0.10935446
+v 0.05100664 0.08882579 -0.10937016
+v 0.02988715 0.08566408 -0.11134693
+v 0.05100664 0.09037710 -0.10600875
+v 0.05100664 0.08995356 -0.10228242
+v 0.05265788 0.08910648 -0.10020661
+v 0.05479720 0.08897351 -0.10020661
+v 0.02988715 0.04008981 -0.10843756
+v 0.02988715 0.08914588 -0.10020661
+v 0.06688047 0.04008982 -0.11241641
+v 0.02988715 0.08308347 -0.11176498
+v 0.02988715 0.09031801 -0.10600875
+v 0.04357149 0.08883565 -0.10933634
+v 0.03613177 0.09034755 -0.10600875
+v 0.04728907 0.09039681 -0.10600875
+v 0.04728907 0.08996341 -0.10228242
+v 0.05100664 0.08918035 -0.10020661
+v 0.03033873 0.08915080 -0.10020661
+v 0.02988715 0.08992401 -0.10228242
+v 0.02988715 0.09005205 -0.10348103
+v 0.03984935 0.08994863 -0.10228242
+v 0.04728907 0.08919020 -0.10020661
+f 1 2 3
+f 1 3 11
+f 1 11 31
+f 1 31 48
+f 1 48 64
+f 1 64 80
+f 1 80 82
+f 1 82 66
+f 1 66 49
+f 1 49 34
+f 1 34 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 8 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 9
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 18 19
+f 5 19 6
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 12
+f 9 15 33
+f 9 33 47
+f 9 47 46
+f 9 46 59
+f 9 59 58
+f 9 58 57
+f 9 57 79
+f 9 79 78
+f 9 78 89
+f 9 89 94
+f 9 94 90
+f 9 90 81
+f 9 81 65
+f 9 65 48
+f 9 48 31
+f 9 31 30
+f 9 30 29
+f 9 29 10
+f 10 29 11
+f 11 30 31
+f 11 29 30
+f 12 28 27
+f 12 27 13
+f 13 27 32
+f 13 32 33
+f 13 33 14
+f 14 33 15
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 17
+f 17 37 38
+f 17 38 21
+f 17 21 39
+f 17 39 18
+f 18 39 19
+f 19 39 20
+f 20 39 21
+f 21 38 40
+f 21 40 41
+f 21 41 23
+f 21 23 22
+f 23 42 43
+f 23 43 24
+f 23 41 42
+f 24 43 25
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 26
+f 26 46 27
+f 27 46 47
+f 27 47 32
+f 32 47 33
+f 34 49 50
+f 34 50 37
+f 34 37 35
+f 35 37 36
+f 37 50 38
+f 38 50 51
+f 38 51 40
+f 40 52 53
+f 40 53 41
+f 40 51 52
+f 41 53 42
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 43 55 56
+f 43 56 44
+f 44 57 58
+f 44 58 45
+f 44 56 57
+f 45 58 59
+f 45 59 46
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 48 63 64
+f 48 65 60
+f 49 66 67
+f 49 67 50
+f 50 68 52
+f 50 52 51
+f 50 67 66
+f 50 66 68
+f 52 69 53
+f 52 68 69
+f 53 70 71
+f 53 71 72
+f 53 72 73
+f 53 73 74
+f 53 74 54
+f 53 69 75
+f 53 75 70
+f 54 74 76
+f 54 76 55
+f 55 76 77
+f 55 77 56
+f 56 77 78
+f 56 78 79
+f 56 79 57
+f 60 65 81
+f 60 81 91
+f 60 91 92
+f 60 92 84
+f 60 84 72
+f 60 72 71
+f 60 71 70
+f 60 70 75
+f 60 75 69
+f 60 69 83
+f 60 83 80
+f 60 80 64
+f 60 64 63
+f 60 63 62
+f 60 62 61
+f 66 82 83
+f 66 83 69
+f 66 69 68
+f 72 84 85
+f 72 85 73
+f 73 85 84
+f 73 84 86
+f 73 86 87
+f 73 87 74
+f 74 87 76
+f 76 87 77
+f 77 87 88
+f 77 88 94
+f 77 94 89
+f 77 89 78
+f 80 83 82
+f 81 90 91
+f 84 92 86
+f 86 92 87
+f 87 92 91
+f 87 91 93
+f 87 93 88
+f 88 93 94
+f 90 94 93
+f 90 93 91
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_27.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.08575609 0.00617658 -0.10288685
+v 0.07326997 0.00617647 -0.07364238
+v 0.07775504 0.00617658 -0.10288685
+v 0.08254636 0.01864795 -0.10288680
+v 0.07915833 0.02160087 -0.09610636
+v 0.07131235 0.01633631 -0.07469228
+v 0.07161084 0.01386140 -0.07399888
+v 0.07271175 0.00617647 -0.07234059
+v 0.07107976 0.00617652 -0.08663411
+v 0.07056806 0.02996961 -0.10288676
+v 0.08227114 0.01965849 -0.10288680
+v 0.07881720 0.02407579 -0.09697967
+v 0.05494975 0.06799476 -0.06947512
+v 0.06259028 0.04008092 -0.06947849
+v 0.06330355 0.03744868 -0.06947850
+v 0.06966097 0.01880517 -0.07247792
+v 0.06834297 0.01871439 -0.06947857
+v 0.06922293 0.01531366 -0.06947858
+v 0.07069986 0.01509583 -0.07264474
+v 0.07107976 0.01137438 -0.07146400
+v 0.07171550 0.00617646 -0.07006083
+v 0.06404396 0.00617646 -0.06947862
+v 0.06138082 0.01496875 -0.06947859
+v 0.06962608 0.03365474 -0.10288675
+v 0.04615791 0.06799476 -0.06947512
+v 0.05911697 0.06683911 -0.10020127
+v 0.08164702 0.02191556 -0.10288679
+v 0.06762969 0.05738722 -0.09329006
+v 0.06440835 0.06642760 -0.09208309
+v 0.06376485 0.06799484 -0.09172002
+v 0.06253601 0.04026245 -0.06947522
+v 0.06258253 0.04008697 -0.06947522
+v 0.07018430 0.01137438 -0.06947860
+v 0.07118830 0.00723541 -0.06947861
+v 0.07144415 0.00617646 -0.06947862
+v 0.05497689 0.04008697 -0.06947522
+v 0.06816077 0.04008104 -0.10288672
+v 0.05886499 0.06799487 -0.10020127
+v 0.07951496 0.02855970 -0.10288677
+v 0.06666058 0.06799487 -0.10020127
+v 0.06635046 0.06335969 -0.09482732
+v 0.06461380 0.06799484 -0.09390166
+v 0.07580906 0.04008104 -0.10288672
+v 0.06612950 0.06799486 -0.09855278
+v 0.06487740 0.06799485 -0.09467030
+f 1 2 8
+f 1 8 21
+f 1 21 35
+f 1 35 22
+f 1 22 9
+f 1 9 3
+f 1 3 10
+f 1 10 24
+f 1 24 37
+f 1 37 43
+f 1 43 39
+f 1 39 27
+f 1 27 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 6 14 15
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 9 22 23
+f 9 23 10
+f 10 23 25
+f 10 25 26
+f 10 26 24
+f 11 27 12
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 13 29 30
+f 13 30 42
+f 13 42 45
+f 13 45 44
+f 13 44 40
+f 13 40 38
+f 13 38 25
+f 13 25 36
+f 13 36 32
+f 13 32 31
+f 13 31 14
+f 14 31 15
+f 15 17 16
+f 15 31 17
+f 17 31 32
+f 17 32 18
+f 18 33 21
+f 18 21 20
+f 18 20 19
+f 18 32 33
+f 21 33 34
+f 21 34 35
+f 22 35 32
+f 22 32 36
+f 22 36 25
+f 22 25 23
+f 24 26 37
+f 25 38 26
+f 26 38 37
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 29
+f 29 42 30
+f 32 35 34
+f 32 34 33
+f 37 38 40
+f 37 40 43
+f 39 43 40
+f 40 44 41
+f 41 44 45
+f 41 45 42
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_28.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00121936 0.06957890 -0.06947184
+v 0.00121936 0.07831839 -0.09110245
+v 0.00121936 0.07627651 -0.06947182
+v -0.04646753 0.06274516 -0.06947187
+v 0.00121936 0.08128281 -0.09833902
+v 0.00121936 0.08549999 -0.09110243
+v -0.00106812 0.08551259 -0.09110243
+v -0.04197661 0.07651094 -0.06947182
+v -0.04646753 0.07588580 -0.06947182
+v -0.04646753 0.08106351 -0.09833902
+v -0.03081932 0.08111140 -0.09833902
+v -0.02338269 0.08114417 -0.09833902
+v 0.00121936 0.08847954 -0.09833899
+v 0.00121936 0.08636461 -0.09314821
+v -0.00478877 0.08553024 -0.09110243
+v 0.00121936 0.08690154 -0.09441977
+v -0.04197661 0.08555545 -0.09110243
+v -0.04646753 0.08007783 -0.07805060
+v -0.04569726 0.07930143 -0.07618565
+v -0.04569726 0.07767050 -0.07247270
+v -0.04569726 0.07658405 -0.07010760
+v -0.04569726 0.07627651 -0.06947182
+v -0.00478877 0.08691163 -0.09439999
+v -0.00850942 0.08691415 -0.09439717
+v -0.04646753 0.07652859 -0.07024041
+v -0.04646753 0.08843921 -0.09833900
+v 0.00121936 0.08821990 -0.09767779
+v -0.00106812 0.08848458 -0.09833899
+v 0.00121936 0.08766785 -0.09628190
+v -0.04197661 0.08692927 -0.09439434
+v -0.04646753 0.07720163 -0.07170412
+v -0.04569726 0.08552772 -0.09110243
+v -0.04646753 0.08526052 -0.09050055
+v -0.00106812 0.08767037 -0.09627342
+v -0.00478877 0.08767541 -0.09626212
+v -0.04646753 0.08764768 -0.09632711
+v -0.04569726 0.08765776 -0.09629886
+v -0.04569726 0.08845937 -0.09833900
+v -0.00850942 0.08849466 -0.09833899
+v -0.04197661 0.08767289 -0.09625647
+v -0.04569726 0.08690658 -0.09443390
+v -0.00850942 0.08767541 -0.09625930
+v -0.04646753 0.08660156 -0.09374726
+v -0.04646753 0.08689398 -0.09446216
+v -0.04197661 0.08848458 -0.09833899
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 29
+f 1 29 16
+f 1 16 14
+f 1 14 6
+f 1 6 3
+f 1 3 8
+f 1 8 22
+f 1 22 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 25
+f 4 25 31
+f 4 31 18
+f 4 18 33
+f 4 33 43
+f 4 43 44
+f 4 44 36
+f 4 36 26
+f 4 26 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 10
+f 5 10 26
+f 5 26 38
+f 5 38 45
+f 5 45 39
+f 5 39 28
+f 5 28 13
+f 6 14 7
+f 7 15 8
+f 7 14 16
+f 7 16 15
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 15 23
+f 8 23 24
+f 8 24 17
+f 9 22 25
+f 13 28 27
+f 15 16 23
+f 16 29 23
+f 17 30 18
+f 17 24 30
+f 18 31 20
+f 18 20 19
+f 18 30 32
+f 18 32 33
+f 20 31 21
+f 21 31 25
+f 21 25 22
+f 23 29 34
+f 23 34 35
+f 23 35 24
+f 24 35 30
+f 26 36 37
+f 26 37 38
+f 27 28 35
+f 27 35 34
+f 27 34 29
+f 28 39 35
+f 30 40 37
+f 30 37 41
+f 30 41 32
+f 30 35 42
+f 30 42 40
+f 32 41 33
+f 33 41 43
+f 35 39 42
+f 36 44 41
+f 36 41 37
+f 37 40 38
+f 38 40 45
+f 39 45 40
+f 39 40 42
+f 41 44 43
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_29.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.09184738 -0.01463568 -0.10039715
+v -0.09219192 -0.01625085 -0.10040928
+v -0.09220795 -0.01639636 -0.10036082
+v -0.09156694 -0.01463568 -0.09957648
+v -0.08976410 -0.01463568 -0.10040927
+v -0.09221597 -0.01636726 -0.10040928
+v -0.08989229 -0.01463570 -0.09482811
+v -0.09139868 -0.01494854 -0.09889512
+v -0.09220795 -0.01673831 -0.10036082
+v -0.08899488 -0.01834624 -0.09156060
+v -0.08103031 -0.01648378 -0.07061383
+v -0.08496452 -0.01586532 -0.08121591
+v -0.08883463 -0.01463571 -0.09198453
+v -0.08385076 -0.01463568 -0.10040927
+v -0.09221597 -0.01677469 -0.10040928
+v -0.09203968 -0.01905194 -0.10040929
+v -0.09160701 -0.01812068 -0.09889514
+v -0.09018076 -0.01834623 -0.09482813
+v -0.08873847 -0.02060166 -0.09224803
+v -0.08103031 -0.01649106 -0.07061383
+v -0.08007680 -0.01535607 -0.06947216
+v -0.08008482 -0.01463579 -0.07012324
+v -0.08069378 -0.01463579 -0.07150717
+v -0.07696790 -0.02454498 -0.10040931
+v -0.07119879 -0.01463579 -0.06947821
+v -0.01035875 -0.06798013 -0.06947235
+v -0.02910033 -0.05745236 -0.08522250
+v -0.01035875 -0.07967912 -0.09841083
+v -0.01035875 -0.08029025 -0.09989166
+v -0.09183937 -0.01957578 -0.10040929
+v -0.09065350 -0.02220225 -0.10040930
+v -0.08922725 -0.02126373 -0.09482814
+v -0.08879457 -0.02415938 -0.09974005
+v -0.08817759 -0.02368648 -0.09725382
+v -0.08506868 -0.02050711 -0.08482263
+v -0.08068576 -0.01982324 -0.07499882
+v -0.07907522 -0.01822264 -0.06947217
+v -0.07943579 -0.01776428 -0.06947217
+v -0.07988450 -0.01486861 -0.06947215
+v -0.07978835 -0.01463579 -0.06947215
+v -0.08859425 -0.02454498 -0.10040931
+v -0.01035875 -0.08895544 -0.09989170
+v -0.07320195 -0.01463579 -0.06947215
+v -0.07082219 -0.01534152 -0.06947216
+v -0.01035875 -0.07685631 -0.06947238
+v -0.01035875 -0.07067207 -0.07619519
+v -0.08954775 -0.02357006 -0.10040931
+v -0.08895482 -0.02428306 -0.10040931
+v -0.01478173 -0.08391351 -0.09482534
+v -0.01426091 -0.08346970 -0.09259954
+v -0.07753679 -0.02039803 -0.07015960
+v -0.07736052 -0.02023069 -0.06947217
+v -0.01309106 -0.07512473 -0.06947238
+v -0.01529454 -0.07328401 -0.06947237
+v -0.01187314 -0.08802417 -0.09989169
+v -0.01282664 -0.08734027 -0.09989169
+v -0.01035875 -0.08859895 -0.09854714
+v -0.01152860 -0.08788594 -0.09855016
+v -0.01035875 -0.08338243 -0.08481681
+v -0.01128822 -0.07646343 -0.06947238
+v -0.01055105 -0.08345518 -0.08516506
+v -0.01365996 -0.08670002 -0.09989169
+v -0.01739385 -0.08364428 -0.09989168
+v -0.01603170 -0.08439368 -0.09883784
+v -0.01338753 -0.08647449 -0.09855016
+v -0.01216160 -0.08595793 -0.09461640
+v -0.01365996 -0.08296770 -0.09011330
+v -0.01169686 -0.07616513 -0.06947238
+v -0.01111194 -0.08389898 -0.08737572
+v -0.01035875 -0.08757310 -0.09545827
+v -0.01087156 -0.08740577 -0.09571870
+v -0.01035875 -0.08707109 -0.09396532
+v -0.01234589 -0.08447373 -0.09125497
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 23
+f 1 23 22
+f 1 22 40
+f 1 40 43
+f 1 43 25
+f 1 25 14
+f 1 14 5
+f 1 5 2
+f 2 6 3
+f 2 5 14
+f 2 14 24
+f 2 24 41
+f 2 41 48
+f 2 48 47
+f 2 47 31
+f 2 31 30
+f 2 30 16
+f 2 16 15
+f 2 15 6
+f 3 7 8
+f 3 8 4
+f 3 6 15
+f 3 15 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 7
+f 4 8 7
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 13
+f 11 13 12
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 24
+f 16 30 19
+f 16 19 18
+f 16 18 17
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 21 38 37
+f 21 37 52
+f 21 52 54
+f 21 54 53
+f 21 53 68
+f 21 68 60
+f 21 60 45
+f 21 45 26
+f 21 26 44
+f 21 44 43
+f 21 43 40
+f 21 40 39
+f 21 39 22
+f 22 39 40
+f 24 29 42
+f 24 42 41
+f 25 43 44
+f 25 44 26
+f 26 45 59
+f 26 59 72
+f 26 72 70
+f 26 70 57
+f 26 57 42
+f 26 42 29
+f 26 29 28
+f 26 28 46
+f 26 46 27
+f 27 46 28
+f 31 47 32
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 51 52
+f 34 52 36
+f 34 36 35
+f 34 50 53
+f 34 53 54
+f 34 54 51
+f 36 52 37
+f 41 42 55
+f 41 55 56
+f 41 56 48
+f 42 57 58
+f 42 58 55
+f 45 60 61
+f 45 61 59
+f 48 56 62
+f 48 62 63
+f 48 63 64
+f 48 64 49
+f 49 64 65
+f 49 65 66
+f 49 66 50
+f 50 66 67
+f 50 67 53
+f 51 54 52
+f 53 67 69
+f 53 69 61
+f 53 61 68
+f 55 58 56
+f 56 58 65
+f 56 65 62
+f 57 70 71
+f 57 71 58
+f 58 71 65
+f 59 61 72
+f 60 68 61
+f 61 69 71
+f 61 71 72
+f 62 65 63
+f 63 65 64
+f 65 71 66
+f 66 73 67
+f 66 71 69
+f 66 69 73
+f 67 73 69
+f 70 72 71
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_3.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.01360781 0.03265934 0.02434749
+v 0.01400178 0.03384427 0.02434749
+v 0.01360781 0.02708794 0.02434747
+v 0.01360781 0.02995841 0.02747076
+v 0.01560621 0.03199516 0.03778943
+v 0.01538924 0.03250790 0.03559128
+v 0.01406744 0.03392098 0.02434749
+v 0.01941459 0.03532988 0.05224348
+v 0.01918621 0.03578206 0.04976068
+v 0.01891214 0.03608486 0.04677182
+v 0.01861238 0.03633922 0.04303970
+v 0.01384762 0.02628049 0.02434747
+v 0.01547489 0.02769954 0.03454753
+v 0.01360781 0.02710005 0.02436329
+v 0.01360781 0.02833949 0.02585771
+v 0.01578321 0.02882189 0.03703035
+v 0.01452707 0.02994022 0.03186706
+v 0.01560621 0.03129874 0.03778942
+v 0.02502440 0.03365029 0.07657338
+v 0.02299459 0.03577391 0.06788358
+v 0.01583745 0.03535217 0.02813497
+v 0.01572041 0.03547330 0.02576286
+v 0.01701366 0.03606677 0.02434750
+v 0.02530132 0.03736456 0.07657340
+v 0.02667165 0.03941547 0.07894551
+v 0.02644612 0.03963147 0.07657341
+v 0.01836401 0.03647045 0.03931550
+v 0.02618347 0.03980509 0.07284130
+v 0.01386760 0.02623002 0.02434747
+v 0.01552342 0.02420533 0.02682236
+v 0.01587742 0.02466557 0.02930517
+v 0.01925758 0.02789732 0.04906483
+v 0.01803570 0.02994017 0.04677180
+v 0.01706219 0.02994018 0.04303968
+v 0.01610581 0.03001287 0.03914152
+v 0.01532644 0.03001288 0.03570987
+v 0.01928327 0.03139760 0.05274161
+v 0.02614636 0.03352310 0.08049527
+v 0.02662597 0.03467573 0.08248785
+v 0.02662597 0.03608473 0.08248785
+v 0.01719637 0.03618587 0.02434750
+v 0.02596365 0.03989191 0.06911709
+v 0.02353702 0.03909864 0.05422025
+v 0.02349134 0.03916930 0.05049604
+v 0.02622629 0.03733831 0.08023436
+v 0.02718553 0.03855956 0.08142832
+v 0.03050287 0.03926001 0.08596695
+v 0.02984911 0.03967585 0.08402183
+v 0.02852731 0.04023705 0.08023437
+v 0.02868718 0.04094156 0.07657341
+v 0.01510946 0.02400550 0.02434746
+v 0.01870659 0.02378139 0.03559125
+v 0.01913482 0.02413868 0.03824801
+v 0.01517798 0.02388438 0.02434746
+v 0.01520368 0.02386420 0.02441072
+v 0.01892070 0.02744919 0.04677179
+v 0.02653462 0.03140759 0.07938828
+v 0.02695714 0.03219888 0.08187109
+v 0.03361753 0.03395705 0.09529722
+v 0.03424560 0.03539834 0.09710003
+v 0.03424560 0.03553762 0.09710003
+v 0.02125313 0.03782495 0.03559130
+v 0.02125313 0.03755649 0.03186709
+v 0.02125313 0.03699938 0.02434751
+v 0.02125313 0.03802277 0.03931551
+v 0.02472464 0.03913500 0.04684299
+v 0.02868718 0.04092946 0.07284130
+v 0.02868718 0.04081644 0.06911709
+v 0.04097165 0.03611896 0.10512566
+v 0.03389445 0.03942956 0.09018930
+v 0.03240707 0.04063066 0.08402183
+v 0.03240707 0.04150878 0.08029762
+v 0.03240707 0.04165413 0.07657341
+v 0.01812420 0.02335547 0.03186704
+v 0.01753610 0.02223719 0.02434745
+v 0.02125313 0.02210191 0.03186703
+v 0.02125313 0.02277612 0.03559124
+v 0.02273480 0.02419315 0.04598108
+v 0.03044292 0.02802640 0.07869245
+v 0.02869860 0.02988555 0.08028177
+v 0.01519511 0.02385612 0.02434746
+v 0.02944087 0.03077574 0.08402179
+v 0.03389160 0.03146002 0.09411907
+v 0.03460246 0.03292352 0.09660188
+v 0.04097165 0.03447378 0.10512566
+v 0.02511861 0.03618789 0.02434750
+v 0.02497301 0.03886048 0.04303971
+v 0.02497301 0.03842649 0.03931551
+v 0.04249044 0.03611896 0.10512566
+v 0.03543037 0.03942956 0.09018930
+v 0.03645241 0.03969401 0.08785674
+v 0.03791124 0.03920145 0.08916930
+v 0.03612695 0.04020271 0.08402183
+v 0.03612695 0.04042478 0.08029762
+v 0.03631537 0.04014622 0.07683434
+v 0.03539896 0.04005741 0.07284130
+v 0.03240707 0.04118179 0.07284130
+v 0.02697141 0.03926418 0.04813975
+v 0.01748756 0.02226949 0.02434745
+v 0.01753324 0.02225132 0.02441071
+v 0.02119603 0.02104822 0.02434745
+v 0.02125313 0.02154479 0.02813492
+v 0.03240707 0.02793152 0.07927756
+v 0.03612695 0.03003084 0.09147811
+v 0.03708333 0.03132476 0.09818328
+v 0.03840799 0.03214229 0.10066609
+v 0.04088886 0.03168810 0.10139353
+v 0.04249044 0.03447378 0.10512566
+v 0.02686864 0.03554192 0.02610286
+v 0.02554684 0.03584473 0.02434750
+v 0.03072841 0.03933683 0.05539839
+v 0.04277307 0.03637937 0.10265076
+v 0.03802544 0.03926407 0.07825760
+v 0.03484226 0.03968600 0.06911709
+v 0.02125313 0.02103611 0.02434745
+v 0.02125313 0.02104216 0.02441071
+v 0.03460246 0.02793758 0.07930129
+v 0.04187664 0.03168810 0.10139353
+v 0.04266173 0.03340190 0.10264284
+v 0.03071128 0.03568923 0.04050946
+v 0.02775935 0.03387253 0.02434749
+v 0.02736538 0.03430451 0.02434750
+v 0.03445971 0.03938726 0.06662637
+v 0.03946999 0.03365029 0.07657338
+v 0.03837944 0.03631690 0.07284128
+v 0.03863637 0.03748366 0.07683433
+v 0.04223921 0.03347661 0.09869724
+v 0.03811394 0.03576987 0.07041383
+v 0.03444829 0.03575983 0.05539048
+v 0.02497301 0.02206157 0.02434745
+v 0.02497301 0.02227351 0.02813492
+v 0.03483941 0.02778619 0.07657336
+v 0.04187664 0.03168810 0.09978841
+v 0.03484226 0.02772363 0.07284125
+v 0.02923817 0.02994025 0.02434748
+v 0.03879054 0.03365030 0.07284127
+v 0.03815676 0.03150855 0.07000265
+v 0.03820815 0.03365031 0.06982078
+v 0.03783130 0.03365032 0.06796264
+v 0.02740821 0.02377336 0.02434746
+v 0.03868776 0.03085652 0.07657337
+v 0.03839657 0.03117345 0.07284126
+v 0.02924103 0.02987969 0.02434748
+v 0.02866149 0.02617350 0.02434747
+v 0.02867005 0.02622598 0.02434747
+f 1 2 7
+f 1 7 23
+f 1 23 41
+f 1 41 64
+f 1 64 86
+f 1 86 110
+f 1 110 122
+f 1 122 121
+f 1 121 135
+f 1 135 143
+f 1 143 145
+f 1 145 144
+f 1 144 140
+f 1 140 130
+f 1 130 115
+f 1 115 101
+f 1 101 75
+f 1 75 99
+f 1 99 81
+f 1 81 54
+f 1 54 51
+f 1 51 29
+f 1 29 12
+f 1 12 3
+f 1 3 14
+f 1 14 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 12 13
+f 3 13 14
+f 4 15 13
+f 4 13 16
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 8 6
+f 5 18 19
+f 5 19 20
+f 5 20 8
+f 7 21 22
+f 7 22 23
+f 7 11 21
+f 8 20 24
+f 8 24 25
+f 8 25 9
+f 9 25 10
+f 10 25 26
+f 10 26 11
+f 11 27 22
+f 11 22 21
+f 11 26 28
+f 11 28 27
+f 12 29 13
+f 13 15 14
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 18
+f 16 18 36
+f 16 36 17
+f 17 36 18
+f 18 35 34
+f 18 34 37
+f 18 37 19
+f 19 38 39
+f 19 39 40
+f 19 40 20
+f 19 37 33
+f 19 33 32
+f 19 32 38
+f 20 40 24
+f 22 41 23
+f 22 27 42
+f 22 42 43
+f 22 43 44
+f 22 44 41
+f 24 40 45
+f 24 45 25
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 50
+f 25 50 26
+f 26 50 28
+f 27 28 42
+f 28 50 42
+f 29 51 30
+f 30 52 53
+f 30 53 31
+f 30 51 54
+f 30 54 55
+f 30 55 52
+f 31 53 56
+f 31 56 32
+f 32 56 53
+f 32 53 57
+f 32 57 58
+f 32 58 38
+f 33 37 34
+f 38 58 39
+f 39 58 59
+f 39 59 60
+f 39 60 61
+f 39 61 40
+f 40 61 46
+f 40 46 45
+f 41 62 63
+f 41 63 64
+f 41 44 65
+f 41 65 62
+f 42 50 44
+f 42 44 43
+f 44 66 62
+f 44 62 65
+f 44 50 67
+f 44 67 68
+f 44 68 66
+f 46 61 47
+f 47 61 69
+f 47 69 70
+f 47 70 48
+f 48 71 49
+f 48 70 71
+f 49 72 50
+f 49 71 72
+f 50 72 73
+f 50 73 67
+f 52 55 74
+f 52 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 78
+f 52 78 53
+f 53 78 79
+f 53 79 80
+f 53 80 57
+f 54 81 55
+f 55 81 74
+f 57 80 82
+f 57 82 58
+f 58 82 83
+f 58 83 84
+f 58 84 59
+f 59 84 60
+f 60 84 85
+f 60 85 69
+f 60 69 61
+f 62 66 63
+f 63 66 64
+f 64 66 87
+f 64 87 88
+f 64 88 86
+f 66 68 73
+f 66 73 87
+f 67 73 68
+f 69 85 108
+f 69 108 89
+f 69 89 90
+f 69 90 70
+f 70 90 72
+f 70 72 71
+f 72 90 89
+f 72 89 91
+f 72 91 92
+f 72 92 93
+f 72 93 94
+f 72 94 73
+f 73 94 95
+f 73 95 96
+f 73 96 97
+f 73 97 98
+f 73 98 87
+f 74 81 99
+f 74 99 100
+f 74 100 75
+f 75 100 99
+f 75 101 102
+f 75 102 76
+f 76 78 77
+f 76 102 79
+f 76 79 78
+f 79 103 104
+f 79 104 105
+f 79 105 83
+f 79 83 82
+f 79 82 80
+f 79 102 103
+f 83 105 84
+f 84 105 106
+f 84 106 85
+f 85 106 107
+f 85 107 118
+f 85 118 108
+f 86 109 110
+f 86 88 98
+f 86 98 111
+f 86 111 109
+f 87 98 88
+f 89 108 112
+f 89 112 91
+f 91 112 92
+f 92 112 94
+f 92 94 93
+f 94 113 95
+f 94 112 113
+f 95 113 96
+f 96 114 111
+f 96 111 97
+f 96 113 114
+f 97 111 98
+f 101 115 116
+f 101 116 102
+f 102 116 103
+f 103 117 118
+f 103 118 107
+f 103 107 104
+f 103 116 117
+f 104 107 105
+f 105 107 106
+f 108 119 112
+f 108 118 119
+f 109 120 121
+f 109 121 122
+f 109 122 110
+f 109 111 114
+f 109 114 123
+f 109 123 113
+f 109 113 120
+f 112 124 125
+f 112 125 126
+f 112 126 113
+f 112 119 127
+f 112 127 124
+f 113 126 125
+f 113 125 128
+f 113 128 129
+f 113 129 120
+f 113 123 114
+f 115 130 131
+f 115 131 132
+f 115 132 117
+f 115 117 116
+f 117 132 118
+f 118 133 119
+f 118 132 134
+f 118 134 130
+f 118 130 133
+f 119 133 127
+f 120 129 121
+f 121 129 128
+f 121 128 135
+f 124 136 128
+f 124 128 125
+f 124 127 137
+f 124 137 136
+f 127 133 137
+f 128 136 138
+f 128 138 139
+f 128 139 135
+f 130 140 133
+f 130 134 132
+f 130 132 131
+f 133 141 142
+f 133 142 137
+f 133 140 141
+f 135 139 138
+f 135 138 143
+f 136 137 138
+f 137 142 140
+f 137 140 144
+f 137 144 145
+f 137 145 143
+f 137 143 138
+f 140 142 141
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_30.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.07654992 -0.02454343 -0.06947836
+v 0.07778151 -0.02205387 -0.06947835
+v 0.06412964 -0.02454343 -0.06947836
+v 0.07883417 -0.02454342 -0.07310553
+v 0.07934411 -0.02429687 -0.07338375
+v 0.08316114 -0.02448325 -0.08070336
+v 0.07863736 -0.02205387 -0.07112706
+v 0.07748330 -0.01947411 -0.06947834
+v 0.07366626 -0.02454337 -0.08738065
+v 0.06404316 0.00617314 -0.06947825
+v 0.07725965 0.00617326 -0.10456495
+v 0.07735507 0.00563205 -0.10456495
+v 0.08313132 -0.02454339 -0.08076862
+v 0.08322078 -0.02454339 -0.08094379
+v 0.09156459 -0.02454333 -0.09744811
+v 0.09375342 -0.02454332 -0.10195460
+v 0.09051192 -0.02267316 -0.09575817
+v 0.09414108 -0.02278137 -0.10333539
+v 0.07730438 -0.01833758 -0.06947834
+v 0.07762942 0.00412268 -0.10456495
+v 0.08294345 -0.02454331 -0.10456506
+v 0.07145060 0.00617314 -0.06947825
+v 0.08642351 0.00617326 -0.10456495
+v 0.09425440 -0.02454331 -0.10305374
+v 0.09450192 -0.02454331 -0.10456506
+v 0.09446613 -0.02415544 -0.10456506
+v 0.09441245 -0.02361724 -0.10456506
+v 0.09427229 -0.02225219 -0.10456505
+v 0.09369974 -0.01990395 -0.10456504
+v 0.09374149 -0.02030685 -0.10431086
+v 0.08637580 0.00594174 -0.10407034
+v 0.07271797 0.00617315 -0.07233945
+v 0.07193667 0.00617314 -0.07055335
+v 0.07171898 0.00617314 -0.07005873
+v 0.07504994 -0.00763969 -0.06947830
+v 0.07543463 -0.00814482 -0.07004504
+v 0.07532131 -0.00876120 -0.06947830
+v 0.07580738 -0.01091100 -0.06947831
+v 0.07157883 0.00617314 -0.06975303
+v 0.08620583 0.00617326 -0.10383334
+v 0.08643246 0.00615221 -0.10456495
+v 0.07327561 0.00617315 -0.07364125
+f 1 2 8
+f 1 8 19
+f 1 19 38
+f 1 38 37
+f 1 37 35
+f 1 35 22
+f 1 22 10
+f 1 10 3
+f 1 3 9
+f 1 9 21
+f 1 21 25
+f 1 25 24
+f 1 24 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 10 11
+f 3 11 12
+f 3 12 9
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 9 12 20
+f 9 20 21
+f 10 22 39
+f 10 39 34
+f 10 34 33
+f 10 33 32
+f 10 32 42
+f 10 42 40
+f 10 40 23
+f 10 23 11
+f 11 23 41
+f 11 41 29
+f 11 29 28
+f 11 28 27
+f 11 27 26
+f 11 26 25
+f 11 25 21
+f 11 21 20
+f 11 20 12
+f 16 24 18
+f 16 18 17
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+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 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 19
+f 22 35 39
+f 23 40 31
+f 23 31 41
+f 29 41 31
+f 29 31 30
+f 31 40 42
+f 31 42 32
+f 34 39 35
+f 35 37 36
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_31.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.07852561 -0.01885572 -0.06947217
+v -0.06817386 -0.01885572 -0.06947217
+v -0.07736644 -0.02022757 -0.06947217
+v -0.07688778 -0.01978680 -0.06766868
+v -0.07806425 -0.01885573 -0.06849651
+v -0.06797202 -0.01885573 -0.06914104
+v -0.06789705 -0.01907363 -0.06947217
+v -0.01961003 -0.06945070 -0.06947236
+v -0.01961003 -0.06935661 -0.06921218
+v -0.01961003 -0.06918327 -0.06874504
+v -0.01961003 -0.06778172 -0.06501977
+v -0.01961003 -0.05599977 -0.03435424
+v -0.01961003 -0.05552930 -0.03313022
+v -0.01961003 -0.05402869 -0.02925712
+v -0.01961003 -0.05340964 -0.02776110
+v -0.01961003 -0.04537671 -0.00906376
+v -0.02006562 -0.04496070 -0.00906376
+v -0.05000784 -0.01905898 -0.01285397
+v -0.04983483 -0.01885594 -0.01208526
+v -0.05022121 -0.01885593 -0.01285397
+v -0.05356607 -0.01885591 -0.01953581
+v -0.06018658 -0.02536334 -0.06947219
+v -0.06767790 -0.01885573 -0.06862068
+v -0.01961003 -0.06040739 -0.06947232
+v -0.01961003 -0.03634331 -0.00906372
+v -0.04827197 -0.01885595 -0.00906366
+v -0.04872757 -0.01885594 -0.00991515
+v -0.05808163 -0.02710167 -0.06947220
+v -0.06646683 -0.01885574 -0.06635596
+v -0.06412543 -0.01885575 -0.06189155
+v -0.03409094 -0.04749121 -0.06947227
+v -0.03783948 -0.01885595 -0.00906366
+v -0.01961003 -0.04367793 -0.02809811
+v -0.01961003 -0.04352935 -0.02772558
+v -0.02704944 -0.02917206 -0.00906370
+v -0.05567102 -0.02909259 -0.06947221
+v -0.05397553 -0.03049415 -0.06947221
+v -0.04887751 -0.01885586 -0.03151580
+v -0.03557306 -0.04617879 -0.06947227
+v -0.04552689 -0.03759607 -0.06947224
+v -0.04597671 -0.03720977 -0.06947224
+v -0.05217623 -0.03199477 -0.06947222
+v -0.04793172 -0.03555067 -0.06947223
+v -0.04918893 -0.03449579 -0.06947223
+v -0.04965028 -0.03410949 -0.06947223
+f 1 2 7
+f 1 7 22
+f 1 22 28
+f 1 28 36
+f 1 36 37
+f 1 37 42
+f 1 42 45
+f 1 45 44
+f 1 44 43
+f 1 43 41
+f 1 41 40
+f 1 40 39
+f 1 39 31
+f 1 31 24
+f 1 24 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 21
+f 1 21 20
+f 1 20 19
+f 1 19 27
+f 1 27 26
+f 1 26 32
+f 1 32 38
+f 1 38 30
+f 1 30 29
+f 1 29 23
+f 1 23 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 4
+f 4 19 20
+f 4 20 21
+f 4 21 5
+f 6 22 7
+f 6 23 22
+f 8 24 33
+f 8 33 34
+f 8 34 25
+f 8 25 16
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 16 25 35
+f 16 35 32
+f 16 32 26
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 27 19
+f 22 23 29
+f 22 29 30
+f 22 30 28
+f 24 31 32
+f 24 32 33
+f 25 34 35
+f 28 30 36
+f 30 37 36
+f 30 38 37
+f 31 39 32
+f 32 35 34
+f 32 34 33
+f 32 39 40
+f 32 40 41
+f 32 41 38
+f 37 38 42
+f 38 41 43
+f 38 43 44
+f 38 44 45
+f 38 45 42
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_32.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.04082062 -0.02454328 -0.11286953
+v 0.04082062 -0.02454330 -0.10536871
+v 0.04234386 -0.02454328 -0.11293388
+v 0.04082062 -0.03319621 -0.11323818
+v 0.04082062 -0.04563576 -0.10652957
+v 0.05135111 -0.04563578 -0.09989598
+v 0.05156267 -0.04547267 -0.09989598
+v 0.05262048 -0.04468604 -0.09989597
+v 0.05669834 -0.04170675 -0.09989596
+v 0.08111257 -0.02454332 -0.09989590
+v 0.04357092 -0.02454328 -0.11297811
+v 0.04357092 -0.03319621 -0.11332663
+v 0.04082062 -0.03690845 -0.11337491
+v 0.04082062 -0.04563573 -0.11343526
+v 0.06516080 -0.04563578 -0.09989598
+v 0.09270087 -0.02454332 -0.09989590
+v 0.04606206 -0.02454327 -0.11305720
+v 0.04728912 -0.02454327 -0.11309338
+v 0.04728912 -0.02948191 -0.11327972
+v 0.04728912 -0.03319621 -0.11341376
+v 0.04357092 -0.03690845 -0.11343523
+v 0.04082062 -0.04062276 -0.11343390
+v 0.04082062 -0.04433500 -0.11344329
+v 0.04728912 -0.04433500 -0.11349154
+v 0.04357092 -0.04563573 -0.11345135
+v 0.06680570 -0.04563577 -0.10228322
+v 0.09152670 -0.02872630 -0.09989592
+v 0.09273789 -0.02474152 -0.09989590
+v 0.09283309 -0.02454332 -0.10015326
+v 0.05100732 -0.02454327 -0.11316308
+v 0.06588540 -0.02454327 -0.11342043
+v 0.05100732 -0.03319621 -0.11345933
+v 0.04728912 -0.03690845 -0.11348751
+v 0.04357092 -0.04062276 -0.11346339
+v 0.05100732 -0.04062276 -0.11353845
+v 0.04728912 -0.04563573 -0.11345403
+v 0.05473081 -0.04062276 -0.11354783
+v 0.05100732 -0.04433500 -0.11347546
+v 0.06792169 -0.04563577 -0.10418121
+v 0.09217725 -0.02912683 -0.10211158
+v 0.09415535 -0.02811309 -0.10323884
+v 0.09292830 -0.02576972 -0.09989590
+v 0.09375339 -0.02454332 -0.10195608
+v 0.05473081 -0.03319621 -0.11350090
+v 0.06960361 -0.02454327 -0.11346065
+v 0.05100732 -0.03690845 -0.11352504
+v 0.05473081 -0.03690845 -0.11355988
+v 0.05844900 -0.03690845 -0.11358804
+v 0.05100732 -0.04563573 -0.11340042
+v 0.06216721 -0.03690845 -0.11355318
+v 0.05844900 -0.04062276 -0.11349690
+v 0.05473081 -0.04433500 -0.11338432
+v 0.06848762 -0.04563576 -0.10521867
+v 0.08999817 -0.03130916 -0.10436747
+v 0.06884727 -0.04563576 -0.10589155
+v 0.09423998 -0.02826792 -0.10600809
+v 0.09485351 -0.02576970 -0.10600808
+v 0.09432990 -0.02576971 -0.10285816
+v 0.09348894 -0.02576972 -0.10099502
+v 0.09170653 -0.03034909 -0.10576951
+v 0.09425585 -0.02454331 -0.10305520
+v 0.05844900 -0.03319621 -0.11353440
+v 0.07332181 -0.02454327 -0.11346868
+v 0.06216721 -0.03319621 -0.11355585
+v 0.07704000 -0.02454327 -0.11345662
+v 0.06588540 -0.03319621 -0.11353574
+v 0.05473081 -0.04563573 -0.11324894
+v 0.08075821 -0.02454327 -0.11340837
+v 0.08075821 -0.02576967 -0.11338425
+v 0.06588540 -0.03690845 -0.11343121
+v 0.06216721 -0.04062276 -0.11334275
+v 0.05844900 -0.04433500 -0.11317924
+v 0.07930372 -0.03904539 -0.10722119
+v 0.09032080 -0.03150117 -0.10684988
+v 0.06901652 -0.04563576 -0.10629500
+v 0.09032080 -0.03150116 -0.10813933
+v 0.09401784 -0.02799538 -0.10824922
+v 0.09471071 -0.02454330 -0.10592631
+v 0.09455732 -0.02454330 -0.10491164
+v 0.09429816 -0.02576969 -0.10871835
+v 0.09429287 -0.02454329 -0.10871835
+v 0.05856007 -0.04563574 -0.11290447
+v 0.08448169 -0.02454327 -0.11327300
+v 0.08448169 -0.02576967 -0.11322474
+v 0.06960361 -0.03690845 -0.11320334
+v 0.06588540 -0.04062276 -0.11301569
+v 0.06216721 -0.04433501 -0.11277042
+v 0.07930372 -0.03904538 -0.10835917
+v 0.06901652 -0.04563576 -0.10674403
+v 0.08358256 -0.03570891 -0.10886583
+v 0.08647038 -0.03143095 -0.11165651
+v 0.08895094 -0.03043992 -0.11062306
+v 0.09160075 -0.02921765 -0.10943547
+v 0.09039484 -0.02796440 -0.11178249
+v 0.09265856 -0.02576968 -0.11058149
+v 0.09376925 -0.02454329 -0.10933225
+v 0.06216721 -0.04563574 -0.11242461
+v 0.08697283 -0.02454328 -0.11294326
+v 0.08819989 -0.02576968 -0.11273415
+v 0.08448169 -0.02948192 -0.11265375
+v 0.08075821 -0.02948191 -0.11311217
+v 0.07704000 -0.03319622 -0.11296340
+v 0.07332181 -0.03690846 -0.11275163
+v 0.06873091 -0.04563575 -0.10895702
+v 0.07257076 -0.04321598 -0.10895432
+v 0.07683902 -0.03973291 -0.10965400
+v 0.07794443 -0.03803370 -0.11084426
+v 0.08218096 -0.03470548 -0.11134957
+v 0.08448169 -0.03207718 -0.11191253
+v 0.08790371 -0.02931468 -0.11200902
+v 0.07112685 -0.04224558 -0.11143807
+v 0.07546916 -0.03895247 -0.11171551
+v 0.09079681 -0.02576968 -0.11197281
+v 0.09266913 -0.02454328 -0.11058149
+v 0.09081268 -0.02454328 -0.11198622
+v 0.07332181 -0.03965858 -0.11198896
+v 0.06572145 -0.04428546 -0.11212436
+v 0.06486991 -0.04563574 -0.11187505
+v 0.08819989 -0.02454328 -0.11277570
+v 0.07683902 -0.03684033 -0.11209752
+v 0.06675281 -0.04563574 -0.11074108
+v 0.06646720 -0.04563574 -0.11097564
+v 0.08993999 -0.02454328 -0.11226502
+f 1 2 10
+f 1 10 16
+f 1 16 29
+f 1 29 43
+f 1 43 61
+f 1 61 79
+f 1 79 78
+f 1 78 81
+f 1 81 96
+f 1 96 114
+f 1 114 115
+f 1 115 123
+f 1 123 119
+f 1 119 98
+f 1 98 83
+f 1 83 68
+f 1 68 65
+f 1 65 63
+f 1 63 45
+f 1 45 31
+f 1 31 30
+f 1 30 18
+f 1 18 17
+f 1 17 11
+f 1 11 3
+f 1 3 4
+f 1 4 13
+f 1 13 22
+f 1 22 23
+f 1 23 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 5 14 25
+f 5 25 36
+f 5 36 49
+f 5 49 67
+f 5 67 82
+f 5 82 97
+f 5 97 118
+f 5 118 122
+f 5 122 121
+f 5 121 104
+f 5 104 89
+f 5 89 75
+f 5 75 55
+f 5 55 53
+f 5 53 39
+f 5 39 26
+f 5 26 15
+f 5 15 6
+f 6 15 27
+f 6 27 42
+f 6 42 28
+f 6 28 16
+f 6 16 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 14 23 24
+f 14 24 25
+f 15 26 27
+f 16 28 29
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 20 32 33
+f 20 33 21
+f 20 31 32
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 36 25
+f 24 35 37
+f 24 37 38
+f 24 38 36
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 28 42 29
+f 29 42 43
+f 31 44 32
+f 31 45 44
+f 32 44 33
+f 33 44 46
+f 33 46 35
+f 33 35 34
+f 35 46 47
+f 35 47 48
+f 35 48 37
+f 36 38 49
+f 37 48 50
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 49
+f 39 53 40
+f 40 54 41
+f 40 53 55
+f 40 55 54
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 42
+f 41 54 60
+f 41 60 56
+f 42 59 43
+f 43 59 61
+f 44 45 62
+f 44 62 47
+f 44 47 46
+f 45 63 64
+f 45 64 62
+f 47 62 48
+f 48 62 64
+f 48 64 65
+f 48 65 66
+f 48 66 50
+f 49 52 67
+f 50 66 68
+f 50 68 69
+f 50 69 70
+f 50 70 51
+f 51 70 71
+f 51 71 52
+f 52 71 72
+f 52 72 67
+f 54 73 74
+f 54 74 60
+f 54 55 75
+f 54 75 73
+f 56 60 74
+f 56 74 76
+f 56 76 77
+f 56 77 57
+f 57 78 79
+f 57 79 61
+f 57 61 58
+f 57 77 80
+f 57 80 81
+f 57 81 78
+f 58 61 59
+f 63 65 64
+f 65 68 66
+f 67 72 82
+f 68 83 69
+f 69 83 84
+f 69 84 70
+f 70 84 85
+f 70 85 71
+f 71 85 72
+f 72 85 86
+f 72 86 87
+f 72 87 82
+f 73 88 76
+f 73 76 74
+f 73 75 89
+f 73 89 88
+f 76 88 90
+f 76 90 91
+f 76 91 92
+f 76 92 93
+f 76 93 77
+f 77 93 94
+f 77 94 95
+f 77 95 80
+f 80 95 96
+f 80 96 81
+f 82 87 97
+f 83 98 99
+f 83 99 84
+f 84 100 101
+f 84 101 85
+f 84 99 100
+f 85 102 86
+f 85 101 102
+f 86 102 103
+f 86 103 87
+f 87 103 97
+f 88 89 104
+f 88 104 105
+f 88 105 90
+f 90 105 106
+f 90 106 107
+f 90 107 108
+f 90 108 91
+f 91 109 110
+f 91 110 94
+f 91 94 92
+f 91 108 111
+f 91 111 112
+f 91 112 109
+f 92 94 93
+f 94 110 99
+f 94 99 113
+f 94 113 95
+f 95 114 96
+f 95 113 115
+f 95 115 114
+f 97 103 116
+f 97 116 117
+f 97 117 118
+f 98 119 99
+f 99 119 113
+f 99 110 100
+f 100 110 109
+f 100 109 120
+f 100 120 103
+f 100 103 102
+f 100 102 101
+f 103 120 116
+f 104 121 105
+f 105 121 111
+f 105 111 106
+f 106 111 107
+f 107 111 108
+f 109 112 116
+f 109 116 120
+f 111 121 122
+f 111 122 118
+f 111 118 112
+f 112 118 116
+f 113 119 123
+f 113 123 115
+f 116 118 117
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_33.obj

@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00082038 0.00617317 -0.07913519
+v -0.00067536 0.00617317 -0.07972180
+v 0.00081651 0.00167415 -0.08364967
+v -0.00082038 0.00167412 -0.07508447
+v -0.00082038 0.00617314 -0.06947208
+v 0.00299493 0.00617321 -0.08971586
+v 0.00219731 0.00167416 -0.08751215
+v -0.00082038 0.00167410 -0.06947209
+v 0.01493918 0.00617314 -0.06947208
+v 0.01278699 0.00617321 -0.08971586
+v 0.00343617 0.00534343 -0.08971586
+v 0.00240250 0.00167416 -0.08804128
+v 0.01486513 0.00167410 -0.06947209
+v 0.01488056 0.00617314 -0.07023507
+v 0.01481267 0.00167410 -0.07187797
+v 0.01469079 0.00167412 -0.07559180
+v 0.01449486 0.00167413 -0.07920457
+v 0.01242907 0.00472286 -0.08971586
+v 0.01318966 0.00617320 -0.08730801
+v 0.01403665 0.00167415 -0.08364967
+v 0.01320355 0.00167416 -0.08660449
+v 0.00378175 0.00469599 -0.08971586
+v 0.00540322 0.00167417 -0.08971587
+v 0.01443315 0.00167413 -0.07992395
+v 0.01403820 0.00617317 -0.07992394
+v 0.01022443 0.00167417 -0.08971587
+v 0.01367873 0.00617319 -0.08364966
+v 0.01415082 0.00167414 -0.08276581
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 25
+f 1 25 27
+f 1 27 19
+f 1 19 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 23
+f 3 23 26
+f 3 26 21
+f 3 21 20
+f 3 20 28
+f 3 28 24
+f 3 24 17
+f 3 17 16
+f 3 16 15
+f 3 15 13
+f 3 13 8
+f 3 8 4
+f 5 8 13
+f 5 13 9
+f 6 10 18
+f 6 18 26
+f 6 26 23
+f 6 23 22
+f 6 22 11
+f 6 11 12
+f 6 12 7
+f 9 13 15
+f 9 15 16
+f 9 16 17
+f 9 17 14
+f 10 19 20
+f 10 20 21
+f 10 21 18
+f 11 22 12
+f 12 22 23
+f 14 17 24
+f 14 24 25
+f 18 21 26
+f 19 27 20
+f 20 27 28
+f 24 28 27
+f 24 27 25
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_34.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.04646754 0.08844159 -0.09833900
+v -0.04942049 0.08837059 -0.09833900
+v -0.04646754 0.08764636 -0.09632711
+v -0.04646754 0.08106217 -0.09833902
+v -0.04965230 0.08835639 -0.09833900
+v -0.05153050 0.08754696 -0.09658142
+v -0.04942049 0.08760377 -0.09643449
+v -0.04646754 0.08749016 -0.09593999
+v -0.04646754 0.06274369 -0.06947187
+v -0.05101156 0.04797538 -0.06947192
+v -0.05345084 0.04008475 -0.06947195
+v -0.06610035 0.04008485 -0.09833917
+v -0.05285024 0.08805818 -0.09833900
+v -0.05207315 0.08405367 -0.08859321
+v -0.04942049 0.08422406 -0.08819479
+v -0.04942049 0.08542636 -0.09110243
+v -0.04646754 0.08689375 -0.09446216
+v -0.04646754 0.07588370 -0.06947182
+v -0.06134032 0.04008475 -0.06947195
+v -0.07337606 0.04008485 -0.09833917
+v -0.05299512 0.08802978 -0.09833900
+v -0.05401193 0.08731030 -0.09710417
+v -0.04757917 0.08007755 -0.07805060
+v -0.04942049 0.08342412 -0.08633267
+v -0.05455194 0.08357560 -0.08955678
+v -0.04771352 0.07644224 -0.07045516
+v -0.04646754 0.08550683 -0.09110243
+v -0.04646754 0.08660027 -0.09374726
+v -0.04646754 0.07652744 -0.07024041
+v -0.04842212 0.07511214 -0.06947182
+v -0.06414313 0.04108352 -0.07619991
+v -0.06446187 0.04008477 -0.07624230
+v -0.06082665 0.04171778 -0.06947195
+v -0.05911177 0.05900903 -0.07725100
+v -0.07302044 0.04008485 -0.09740104
+v -0.06557351 0.06654000 -0.09833908
+v -0.05677259 0.08663815 -0.09833900
+v -0.05565041 0.08426195 -0.09204056
+v -0.04646754 0.08007755 -0.07805060
+v -0.04646754 0.07719959 -0.07170412
+v -0.05518679 0.08030004 -0.08515438
+v -0.05136191 0.07644698 -0.07418789
+v -0.05176494 0.08037576 -0.08123231
+v -0.04879091 0.07479501 -0.06947183
+v -0.06581322 0.04008478 -0.07920362
+v -0.06201468 0.05222130 -0.07903687
+v -0.05515518 0.05965275 -0.06947188
+v -0.05504191 0.06163133 -0.07052586
+v -0.05851117 0.05712512 -0.07476723
+v -0.05871137 0.06148463 -0.07807891
+v -0.05984409 0.06000779 -0.07956241
+v -0.06146676 0.05570510 -0.08019821
+v -0.07202471 0.04008484 -0.09484097
+v -0.06538911 0.06716008 -0.09833907
+v -0.06612143 0.04283018 -0.08187953
+v -0.05697806 0.08653875 -0.09833900
+v -0.05886152 0.08397322 -0.09639494
+v -0.05887997 0.08041367 -0.09259722
+v -0.05831097 0.07883743 -0.09011345
+v -0.05176494 0.07450154 -0.07334585
+v -0.05124600 0.07255136 -0.07068123
+v -0.05097468 0.07171354 -0.06947184
+v -0.04905170 0.07451100 -0.06947183
+v -0.06568151 0.04139120 -0.07981114
+v -0.06649812 0.04035459 -0.08097815
+v -0.06653236 0.04008479 -0.08087360
+v -0.05418579 0.06266795 -0.06947187
+v -0.05399349 0.06325017 -0.06947187
+v -0.05462570 0.06410692 -0.07138203
+v -0.05718880 0.06336379 -0.07619983
+v -0.05840317 0.06336380 -0.07875426
+v -0.05924085 0.06336381 -0.08061638
+v -0.06213586 0.05678907 -0.08258025
+v -0.06250464 0.05431349 -0.08162236
+v -0.06427484 0.07077169 -0.09833906
+v -0.05706499 0.08646775 -0.09833900
+v -0.05928037 0.08457437 -0.09833901
+v -0.06058167 0.08191892 -0.09833902
+v -0.05929090 0.08176271 -0.09502167
+v -0.06065543 0.08171539 -0.09833902
+v -0.06185663 0.07839251 -0.09833903
+v -0.06051581 0.07821737 -0.09482670
+v -0.05913812 0.07784342 -0.09125221
+v -0.05886679 0.06565952 -0.08144995
+v -0.05778413 0.06696594 -0.08009644
+v -0.05585588 0.06707480 -0.07610656
+v -0.05181763 0.06939890 -0.06947185
+v -0.05263950 0.06713631 -0.06947185
+v -0.05522630 0.06583936 -0.07386863
+v -0.06263636 0.07327566 -0.09622543
+v -0.06306837 0.07463417 -0.09833905
+v -0.06194092 0.07813691 -0.09833903
+v -0.06224386 0.07575126 -0.09716638
+v -0.05227861 0.06813033 -0.06947185
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 28
+f 1 28 27
+f 1 27 39
+f 1 39 40
+f 1 40 29
+f 1 29 18
+f 1 18 9
+f 1 9 4
+f 1 4 12
+f 1 12 20
+f 1 20 36
+f 1 36 54
+f 1 54 75
+f 1 75 91
+f 1 91 92
+f 1 92 81
+f 1 81 80
+f 1 80 78
+f 1 78 77
+f 1 77 76
+f 1 76 56
+f 1 56 37
+f 1 37 21
+f 1 21 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 17 8
+f 7 16 17
+f 9 18 30
+f 9 30 44
+f 9 44 63
+f 9 63 62
+f 9 62 87
+f 9 87 94
+f 9 94 88
+f 9 88 68
+f 9 68 67
+f 9 67 47
+f 9 47 33
+f 9 33 19
+f 9 19 11
+f 9 11 10
+f 11 19 32
+f 11 32 45
+f 11 45 66
+f 11 66 53
+f 11 53 35
+f 11 35 20
+f 11 20 12
+f 13 21 22
+f 13 22 14
+f 14 23 24
+f 14 24 15
+f 14 22 25
+f 14 25 26
+f 14 26 23
+f 15 27 16
+f 15 24 23
+f 15 23 27
+f 16 27 28
+f 16 28 17
+f 18 29 26
+f 18 26 30
+f 19 31 32
+f 19 33 34
+f 19 34 31
+f 20 35 36
+f 21 37 22
+f 22 37 38
+f 22 38 25
+f 23 39 27
+f 23 26 29
+f 23 29 40
+f 23 40 39
+f 25 38 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 26 42 30
+f 26 43 42
+f 30 42 44
+f 31 45 32
+f 31 34 46
+f 31 46 45
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 48
+f 34 48 50
+f 34 50 51
+f 34 51 52
+f 34 52 46
+f 35 53 36
+f 36 53 55
+f 36 55 54
+f 37 56 38
+f 38 56 57
+f 38 57 41
+f 41 57 58
+f 41 58 42
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 44
+f 42 58 59
+f 45 64 65
+f 45 65 66
+f 45 46 52
+f 45 52 64
+f 47 67 48
+f 48 67 68
+f 48 68 69
+f 48 69 70
+f 48 70 50
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 52
+f 52 72 73
+f 52 73 74
+f 52 74 64
+f 53 66 65
+f 53 65 55
+f 54 55 74
+f 54 74 73
+f 54 73 75
+f 55 65 74
+f 56 76 57
+f 57 76 77
+f 57 77 78
+f 57 78 79
+f 57 79 58
+f 58 79 78
+f 58 78 80
+f 58 80 81
+f 58 81 82
+f 58 82 83
+f 58 83 84
+f 58 84 59
+f 59 84 85
+f 59 85 86
+f 59 86 87
+f 59 87 62
+f 59 62 61
+f 59 61 60
+f 64 74 65
+f 68 88 69
+f 69 88 89
+f 69 89 70
+f 70 89 71
+f 71 89 85
+f 71 85 84
+f 71 84 72
+f 72 84 83
+f 72 83 73
+f 73 83 82
+f 73 82 90
+f 73 90 75
+f 75 90 91
+f 81 92 82
+f 82 92 93
+f 82 93 90
+f 85 89 86
+f 86 89 88
+f 86 88 94
+f 86 94 87
+f 90 93 91
+f 91 93 92
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_35.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.02101177 -0.01656661 0.03008579
+v 0.02101366 -0.01834114 0.03186599
+v 0.02108175 -0.01656662 0.03186600
+v 0.02129357 -0.01656660 0.02635708
+v 0.02306756 -0.02031188 0.04903043
+v 0.02306756 -0.01966259 0.04903043
+v 0.02130870 -0.01834112 0.02813728
+v 0.02232241 -0.02088508 0.03186598
+v 0.03045480 -0.03145494 0.10517350
+v 0.02317726 -0.01718707 0.04813590
+v 0.02301650 -0.01656667 0.04583314
+v 0.02210113 -0.01656657 0.01812913
+v 0.02678387 -0.02424726 0.07870948
+v 0.02510822 -0.02205605 0.06538889
+v 0.02678387 -0.02375611 0.07870948
+v 0.02259853 -0.02064481 0.02813727
+v 0.02245102 -0.01784842 0.01812912
+v 0.03048884 -0.03138338 0.08161447
+v 0.02709782 -0.02725494 0.06911758
+v 0.02704865 -0.02711506 0.07284628
+v 0.03047938 -0.03139099 0.08402351
+v 0.03240846 -0.03204028 0.08402351
+v 0.03240846 -0.03209965 0.10264932
+v 0.03218529 -0.03190655 0.10640460
+v 0.03327654 -0.03170584 0.10860994
+v 0.03045480 -0.03067640 0.10517351
+v 0.02336638 -0.01656668 0.04779049
+v 0.02664392 -0.01992725 0.07179235
+v 0.03460421 -0.01656657 0.01812913
+v 0.03046236 -0.02751964 0.10143596
+v 0.02695976 -0.02056286 0.07428109
+v 0.02325291 -0.01838670 0.01812912
+v 0.02497205 -0.01923823 0.01812912
+v 0.02497205 -0.02151762 0.02813727
+v 0.02497205 -0.02224600 0.03186598
+v 0.02652099 -0.02408898 0.03999649
+v 0.03080279 -0.03127236 0.07912573
+v 0.03218908 -0.03173767 0.08033909
+v 0.03328222 -0.03154606 0.07731893
+v 0.03496543 -0.03154606 0.07731893
+v 0.03617395 -0.03171335 0.08064908
+v 0.03647654 -0.03186085 0.08381981
+v 0.03591673 -0.03200532 0.08775222
+v 0.03506189 -0.03200234 0.10264932
+v 0.03491815 -0.03196129 0.10637803
+v 0.03463257 -0.03170584 0.10860994
+v 0.03327654 -0.03055172 0.10860995
+v 0.03205669 -0.02937629 0.10645774
+v 0.03083683 -0.02820087 0.10391585
+v 0.02580799 -0.01656672 0.05933973
+v 0.03016544 -0.01989688 0.08300503
+v 0.02679144 -0.01656673 0.06362641
+v 0.02647371 -0.01656673 0.06232446
+v 0.03309498 -0.01753518 0.01812913
+v 0.03752997 -0.01656660 0.02813729
+v 0.03795550 -0.02758795 0.06732850
+v 0.03428647 -0.02393085 0.04483230
+v 0.02535031 -0.01928841 0.01812912
+v 0.02869026 -0.02266112 0.03186598
+v 0.02869026 -0.02346400 0.03559467
+v 0.02869026 -0.02387001 0.03764945
+v 0.03049073 -0.02764113 0.05599183
+v 0.03617395 -0.03083291 0.07627384
+v 0.03744486 -0.03109446 0.07963942
+v 0.03799333 -0.03134384 0.08212816
+v 0.03063636 -0.02764113 0.05599183
+v 0.03110728 -0.02413764 0.04014706
+v 0.03435834 -0.02767307 0.05959653
+v 0.03799333 -0.03134384 0.08243815
+v 0.03794794 -0.03130888 0.08491804
+v 0.03777584 -0.03113858 0.08775223
+v 0.03885763 -0.02928195 0.08775223
+v 0.03847560 -0.02877866 0.09147208
+v 0.03463257 -0.03055172 0.10860995
+v 0.03817111 -0.02816131 0.09399627
+v 0.03331626 -0.02735087 0.10524438
+v 0.03105243 -0.02038651 0.08548493
+v 0.03233848 -0.01965663 0.08415642
+v 0.02955267 -0.01656675 0.06876334
+v 0.03240846 -0.01791076 0.01812912
+v 0.03770397 -0.01656662 0.03186600
+v 0.04021177 -0.02576784 0.07656614
+v 0.03985621 -0.02576783 0.07284629
+v 0.03862122 -0.02836803 0.07284628
+v 0.03828836 -0.02795290 0.06981726
+v 0.03004628 -0.01905880 0.01812912
+v 0.02893234 -0.01951650 0.01812912
+v 0.03892004 -0.02886831 0.07656612
+v 0.03891626 -0.02970617 0.08064909
+v 0.03891059 -0.02983543 0.08381982
+v 0.04033092 -0.02576785 0.08029484
+v 0.04008506 -0.02576787 0.08402354
+v 0.03817111 -0.02713947 0.09399627
+v 0.03499191 -0.02938086 0.10644889
+v 0.03460799 -0.02735087 0.10524438
+v 0.03353186 -0.02000942 0.08633518
+v 0.03240846 -0.01871689 0.08029486
+v 0.03240846 -0.01656676 0.07065869
+v 0.03763210 -0.01656663 0.03556813
+v 0.03853423 -0.01943761 0.06911761
+v 0.03973707 -0.02205608 0.07284630
+v 0.03965952 -0.02205609 0.07656615
+v 0.03934557 -0.02205610 0.08029485
+v 0.03876874 -0.02190254 0.08374014
+v 0.03849073 -0.02311750 0.08775226
+v 0.03936071 -0.02576788 0.08775225
+v 0.03846425 -0.02584849 0.09133039
+v 0.03812950 -0.02372574 0.08999301
+v 0.03732572 -0.02056290 0.08479409
+v 0.03484628 -0.02000942 0.08633518
+v 0.03245763 -0.01656676 0.07063213
+v 0.03705148 -0.01656671 0.05794921
+v 0.03850207 -0.01959425 0.07284631
+v 0.03836780 -0.01981779 0.07656616
+v 0.03815976 -0.02004588 0.08029486
+v 0.03802359 -0.02016754 0.08230535
+v 0.03610397 -0.01981934 0.08374015
+v 0.03509782 -0.01656675 0.06848878
+v 0.03675077 -0.01656673 0.06159821
+v 0.03613801 -0.01656674 0.06538891
+f 1 2 3
+f 1 3 11
+f 1 11 27
+f 1 27 50
+f 1 50 53
+f 1 53 52
+f 1 52 79
+f 1 79 98
+f 1 98 111
+f 1 111 118
+f 1 118 120
+f 1 120 119
+f 1 119 112
+f 1 112 99
+f 1 99 81
+f 1 81 55
+f 1 55 29
+f 1 29 12
+f 1 12 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 6 10
+f 3 10 11
+f 4 12 7
+f 5 9 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 10
+f 7 16 8
+f 7 12 17
+f 7 17 16
+f 8 16 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 19
+f 9 19 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 47
+f 9 47 26
+f 9 26 15
+f 9 15 13
+f 10 27 11
+f 10 15 28
+f 10 28 27
+f 12 29 54
+f 12 54 80
+f 12 80 86
+f 12 86 87
+f 12 87 58
+f 12 58 33
+f 12 33 32
+f 12 32 17
+f 13 15 14
+f 15 26 30
+f 15 30 31
+f 15 31 28
+f 16 17 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 18
+f 18 37 38
+f 18 38 22
+f 18 22 21
+f 18 21 19
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 23 44 45
+f 23 45 24
+f 23 43 44
+f 24 45 25
+f 25 46 74
+f 25 74 47
+f 25 45 46
+f 26 47 48
+f 26 48 49
+f 26 49 30
+f 27 28 50
+f 28 31 51
+f 28 51 52
+f 28 52 53
+f 28 53 50
+f 29 55 56
+f 29 56 57
+f 29 57 54
+f 30 49 51
+f 30 51 31
+f 33 58 34
+f 34 58 59
+f 34 59 60
+f 34 60 36
+f 34 36 35
+f 36 60 61
+f 36 61 62
+f 36 62 37
+f 37 39 38
+f 37 62 39
+f 39 62 66
+f 39 66 40
+f 40 63 64
+f 40 64 65
+f 40 65 41
+f 40 66 67
+f 40 67 68
+f 40 68 63
+f 41 65 42
+f 42 65 69
+f 42 69 43
+f 43 69 70
+f 43 70 44
+f 44 70 45
+f 45 70 71
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 46 73 75
+f 46 75 93
+f 46 93 74
+f 47 74 95
+f 47 95 76
+f 47 76 48
+f 48 76 49
+f 49 76 77
+f 49 77 51
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 54 57 80
+f 55 81 82
+f 55 82 83
+f 55 83 84
+f 55 84 85
+f 55 85 56
+f 56 85 65
+f 56 65 64
+f 56 64 57
+f 57 68 86
+f 57 86 80
+f 57 64 68
+f 58 87 59
+f 59 87 67
+f 59 67 66
+f 59 66 60
+f 60 66 62
+f 60 62 61
+f 63 68 64
+f 65 85 84
+f 65 84 88
+f 65 88 89
+f 65 89 90
+f 65 90 69
+f 67 87 86
+f 67 86 68
+f 69 90 70
+f 70 90 72
+f 70 72 71
+f 72 90 91
+f 72 91 92
+f 72 92 73
+f 73 92 75
+f 74 93 94
+f 74 94 95
+f 75 92 93
+f 76 95 110
+f 76 110 96
+f 76 96 77
+f 77 96 78
+f 78 96 97
+f 78 97 79
+f 79 97 98
+f 81 99 100
+f 81 100 101
+f 81 101 82
+f 82 101 91
+f 82 91 89
+f 82 89 88
+f 82 88 83
+f 83 88 84
+f 89 91 90
+f 91 101 102
+f 91 102 92
+f 92 102 103
+f 92 103 104
+f 92 104 105
+f 92 105 106
+f 92 106 93
+f 93 106 107
+f 93 107 108
+f 93 108 95
+f 93 95 94
+f 95 108 109
+f 95 109 110
+f 96 110 98
+f 96 98 97
+f 98 110 111
+f 99 112 100
+f 100 113 102
+f 100 102 101
+f 100 112 113
+f 102 114 103
+f 102 113 114
+f 103 114 115
+f 103 115 116
+f 103 116 104
+f 104 116 105
+f 105 108 106
+f 105 116 108
+f 106 108 107
+f 108 116 109
+f 109 116 110
+f 110 116 117
+f 110 117 118
+f 110 118 111
+f 112 119 113
+f 113 119 114
+f 114 119 115
+f 115 119 116
+f 116 119 120
+f 116 120 118
+f 116 118 117
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_36.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.07291843 0.00386819 -0.06947209
+v -0.07273307 0.00443507 -0.06947208
+v -0.06537927 0.00386819 -0.06947209
+v -0.04128606 0.00386788 0.01333768
+v -0.04128962 0.00394211 0.01333768
+v -0.04059096 0.00750371 0.01333770
+v -0.04005983 0.00918580 0.01333770
+v -0.06797431 0.01883497 -0.06947203
+v -0.06531868 0.00403184 -0.06947209
+v -0.06340805 0.00386817 -0.06501385
+v -0.03650235 0.00386788 0.01333768
+v -0.03912234 0.01114797 0.01333771
+v -0.06721861 0.02110420 -0.06947202
+v -0.06294821 0.01052234 -0.06947206
+v -0.06272720 0.01112803 -0.06947206
+v -0.06175050 0.00386815 -0.06125272
+v -0.03650235 0.01598674 0.01333773
+v -0.03650235 0.00386794 -0.00237964
+v -0.03727587 0.01486815 0.01333772
+v -0.05937290 0.02110420 -0.06947202
+v -0.03650235 0.02110391 0.00698273
+v -0.06225311 0.01243895 -0.06947205
+v -0.05197990 0.00386807 -0.03886425
+v -0.03650235 0.01128639 -0.00904265
+v -0.05047207 0.00386806 -0.03533819
+v -0.06041733 0.01790703 -0.06947203
+v -0.05902357 0.02110419 -0.06871817
+v -0.03650235 0.02110400 -0.01508150
+v -0.06158653 0.01435894 -0.06947205
+v -0.05646061 0.01879614 -0.06129318
+v -0.05783655 0.01501521 -0.06141479
+v -0.03715467 0.02110400 -0.01671889
+v -0.05501338 0.02071105 -0.05938019
+v -0.05512745 0.02110416 -0.05993139
+v -0.04399873 0.02110406 -0.03341702
+v -0.04378842 0.02110406 -0.03291446
+v -0.05858512 0.02027242 -0.06716186
+v -0.05870632 0.02110419 -0.06802107
+v -0.05806113 0.01893955 -0.06499758
+v -0.05796132 0.02110418 -0.06636746
+v -0.05735889 0.02110418 -0.06500567
+v -0.05576195 0.02110417 -0.06139045
+v -0.05845323 0.02110419 -0.06746176
+f 1 2 8
+f 1 8 13
+f 1 13 20
+f 1 20 26
+f 1 26 29
+f 1 29 22
+f 1 22 15
+f 1 15 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 16
+f 1 16 23
+f 1 23 25
+f 1 25 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 4 11 17
+f 4 17 19
+f 4 19 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 18 24
+f 11 24 28
+f 11 28 21
+f 11 21 17
+f 12 19 13
+f 13 19 21
+f 13 21 28
+f 13 28 32
+f 13 32 36
+f 13 36 35
+f 13 35 34
+f 13 34 42
+f 13 42 41
+f 13 41 40
+f 13 40 43
+f 13 43 38
+f 13 38 27
+f 13 27 20
+f 15 22 16
+f 16 22 23
+f 17 21 19
+f 18 25 24
+f 20 27 26
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 30
+f 23 30 24
+f 23 24 25
+f 24 32 28
+f 24 30 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 32
+f 26 27 37
+f 26 37 29
+f 27 38 37
+f 29 37 39
+f 29 39 30
+f 30 39 37
+f 30 37 40
+f 30 40 41
+f 30 41 42
+f 30 42 33
+f 33 42 34
+f 37 38 43
+f 37 43 40
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_37.obj

@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v -0.06415460 -0.04563576 -0.10600867
+v -0.06411550 -0.04563576 -0.10588568
+v -0.06347675 -0.04563575 -0.10905458
+v -0.06295532 -0.04662075 -0.10847964
+v -0.05499051 -0.05362676 -0.10787804
+v -0.05499051 -0.05362676 -0.10785433
+v -0.02865840 -0.07564831 -0.10600878
+v -0.03114822 -0.07352569 -0.10588578
+v 0.06884863 -0.04563576 -0.10588568
+v -0.06265551 -0.04563575 -0.10975031
+v -0.02242733 -0.08038834 -0.10874946
+v -0.03277768 -0.07227246 -0.10799962
+v -0.05896640 -0.05012607 -0.10819143
+v -0.03277768 -0.07227247 -0.10710014
+v -0.02459126 -0.07907500 -0.10600879
+v -0.02864536 -0.07563905 -0.10588579
+v 0.05905882 -0.05269263 -0.10588570
+v 0.05907185 -0.05272501 -0.10600869
+v 0.06901810 -0.04563576 -0.10629467
+v -0.06139104 -0.04563574 -0.11080982
+v -0.02889304 -0.07213372 -0.11157898
+v -0.01846448 -0.08385666 -0.10851089
+v -0.02051109 -0.08249708 -0.10600880
+v -0.02264894 -0.08068893 -0.10588581
+v 0.05718168 -0.05401985 -0.10588571
+v 0.05722079 -0.05404759 -0.10600870
+v 0.05306240 -0.05747892 -0.10747055
+v 0.06814471 -0.04645890 -0.10705559
+v 0.06901810 -0.04563576 -0.10674514
+v -0.05955300 -0.04563574 -0.11182339
+v -0.05905765 -0.04646351 -0.11173375
+v -0.05508176 -0.04997807 -0.11163669
+v -0.02641626 -0.07306323 -0.11185758
+v -0.01819073 -0.07989813 -0.11171757
+v -0.01413663 -0.08337108 -0.11161757
+v -0.02478679 -0.07553730 -0.11144268
+v -0.01661341 -0.08237683 -0.11099370
+v -0.01546627 -0.08485090 -0.10956152
+v -0.01222038 -0.08797240 -0.10886729
+v -0.01433216 -0.08722787 -0.10812859
+v -0.01864698 -0.08401389 -0.10600881
+v -0.02043287 -0.08253408 -0.10588581
+v -0.01863394 -0.08400464 -0.10588582
+v 0.04826526 -0.06031370 -0.10588573
+v 0.04821312 -0.06040156 -0.10600872
+v 0.05306240 -0.05747891 -0.10813885
+v 0.04208634 -0.06503986 -0.10706677
+v 0.06814471 -0.04645889 -0.10835664
+v 0.06873131 -0.04563575 -0.10895826
+v -0.05888819 -0.04563574 -0.11194416
+v -0.05652872 -0.04784159 -0.11189379
+v -0.02743304 -0.07066777 -0.11217913
+v -0.02348322 -0.07419621 -0.11211542
+v -0.01952037 -0.07770615 -0.11201764
+v -0.01559663 -0.08127159 -0.11187465
+v -0.01222038 -0.08398151 -0.11180057
+v -0.00726682 -0.08740821 -0.11172649
+v -0.00974360 -0.08663131 -0.11142567
+v -0.01222038 -0.08583590 -0.11072921
+v -0.00761878 -0.09135285 -0.10864503
+v -0.01442342 -0.08730187 -0.10600882
+v -0.01627448 -0.08587292 -0.10600882
+v -0.01003038 -0.09052510 -0.10600883
+v -0.01222038 -0.08892504 -0.10600883
+v -0.01618323 -0.08593766 -0.10588583
+v 0.04632294 -0.06167790 -0.10588574
+v 0.04342902 -0.06370340 -0.10589834
+v 0.04208634 -0.06503985 -0.10831892
+v 0.05740329 -0.05416319 -0.10873158
+v 0.04007884 -0.06603874 -0.10589835
+v 0.03545117 -0.06929896 -0.10600875
+v 0.03111028 -0.07256843 -0.10675636
+v 0.06674989 -0.04563574 -0.11074092
+v 0.06024506 -0.04987171 -0.11157520
+v -0.05555105 -0.04563574 -0.11237982
+v -0.05312640 -0.04805431 -0.11236724
+v -0.03080929 -0.06662140 -0.11238878
+v -0.01965073 -0.07404361 -0.11268963
+v -0.01593556 -0.07775702 -0.11255776
+v -0.01222038 -0.08147044 -0.11236958
+v -0.00850521 -0.08530872 -0.11207693
+v -0.00477700 -0.08518386 -0.11245332
+v -0.00477700 -0.08771342 -0.11183540
+v -0.00477700 -0.08956782 -0.11097372
+v -0.00868771 -0.08899440 -0.11003498
+v -0.00477700 -0.09176906 -0.10911107
+v -0.00477700 -0.09287893 -0.10600884
+v -0.00816628 -0.09168583 -0.10600884
+v -0.01441038 -0.08729724 -0.10588583
+v -0.00815324 -0.09168120 -0.10588585
+v -0.01001735 -0.09051584 -0.10588584
+v -0.01212913 -0.08897129 -0.10588584
+v 0.04342902 -0.06369878 -0.10588574
+v 0.03111028 -0.07256842 -0.10845751
+v 0.04007884 -0.06603412 -0.10588575
+v 0.03216617 -0.07154181 -0.10588577
+v 0.02936350 -0.07341933 -0.10588578
+v 0.02738207 -0.07471879 -0.10588578
+v 0.02623493 -0.07550957 -0.10600878
+v 0.01978226 -0.07986116 -0.10686085
+v 0.06646310 -0.04563574 -0.11097578
+v 0.06216132 -0.04727741 -0.11198862
+v 0.06436435 -0.04643576 -0.11172930
+v 0.04922990 -0.05739104 -0.11162931
+v -0.05183587 -0.04563574 -0.11254430
+v -0.04941123 -0.04805431 -0.11265176
+v -0.04569606 -0.05176773 -0.11267473
+v -0.04196785 -0.05548115 -0.11263251
+v -0.02337894 -0.07033019 -0.11277853
+v -0.00849217 -0.08147044 -0.11280672
+v -0.00477700 -0.08147043 -0.11298380
+v -0.00106182 -0.08147044 -0.11288452
+v -0.00106182 -0.08518386 -0.11229921
+v -0.00106182 -0.08747758 -0.11175612
+v -0.00106182 -0.08933197 -0.11070995
+v -0.00106182 -0.09156558 -0.10884730
+v -0.00477700 -0.09286043 -0.10588585
+v -0.00106182 -0.09243961 -0.10600884
+v 0.01978226 -0.07986115 -0.10826414
+v 0.02426654 -0.07661480 -0.10885613
+v 0.02837279 -0.07316497 -0.10971262
+v 0.02940261 -0.07128745 -0.11094105
+v 0.02619582 -0.07548645 -0.10588579
+v 0.02266315 -0.07776629 -0.10588580
+v 0.02098154 -0.07884841 -0.10588580
+v 0.00685085 -0.08788454 -0.10588583
+v 0.00159746 -0.09124188 -0.10588585
+v 0.00161050 -0.09125113 -0.10600884
+v 0.00831084 -0.08709839 -0.10729061
+v 0.06485970 -0.04563574 -0.11187525
+v 0.05878508 -0.04840114 -0.11232056
+v 0.06216132 -0.04563574 -0.11242502
+v 0.05067687 -0.05532392 -0.11195383
+v 0.05469186 -0.05182322 -0.11216054
+v 0.02691279 -0.07224470 -0.11162864
+v 0.03611599 -0.04563573 -0.11340748
+v -0.04196785 -0.05176773 -0.11278734
+v -0.03825267 -0.05548115 -0.11282662
+v -0.02337894 -0.06662139 -0.11298893
+v -0.01965073 -0.07033018 -0.11298154
+v -0.02709411 -0.06662140 -0.11281037
+v -0.01593556 -0.07404361 -0.11296081
+v -0.01222038 -0.07775702 -0.11289044
+v -0.00849217 -0.07775701 -0.11309123
+v -0.00477700 -0.07775701 -0.11317792
+v -0.00106182 -0.07775701 -0.11315717
+v 0.00265335 -0.07775701 -0.11305344
+v 0.00636853 -0.07775702 -0.11284672
+v 0.00265335 -0.08147044 -0.11262816
+v 0.00235353 -0.08509599 -0.11189837
+v 0.00089353 -0.08709375 -0.11162053
+v 0.01752708 -0.07404361 -0.11247921
+v 0.01992565 -0.07616622 -0.11171977
+v 0.00337031 -0.08627060 -0.11121674
+v 0.00236657 -0.08870306 -0.10975491
+v 0.00134978 -0.09108464 -0.10829382
+v -0.00104879 -0.09241649 -0.10588585
+v -0.00094450 -0.09237949 -0.10588585
+v 0.00831084 -0.08709838 -0.10795670
+v 0.02240244 -0.07537081 -0.11133969
+v 0.04727455 -0.05548115 -0.11248803
+v 0.05100276 -0.05176773 -0.11277475
+v 0.05471793 -0.04805430 -0.11299628
+v 0.05855043 -0.04563574 -0.11290514
+v 0.02120315 -0.07409910 -0.11200724
+v 0.03984420 -0.04563573 -0.11343564
+v 0.01379887 -0.06290797 -0.11334752
+v 0.00636853 -0.06662139 -0.11331271
+v -0.00477700 -0.07404360 -0.11323790
+v -0.00849217 -0.07404360 -0.11319049
+v 0.00265335 -0.07033018 -0.11329569
+v -0.00106182 -0.07033018 -0.11326012
+v -0.01222038 -0.07404360 -0.11310603
+v -0.00106182 -0.07404360 -0.11326013
+v 0.00265335 -0.07404360 -0.11322828
+v 0.04727455 -0.04805430 -0.11338526
+v 0.02124226 -0.06662139 -0.11311414
+v 0.01752708 -0.07033019 -0.11297116
+v 0.05100276 -0.04805430 -0.11326153
+v 0.01379887 -0.07404361 -0.11278299
+v 0.02124226 -0.07033019 -0.11270962
+v 0.02495743 -0.07033019 -0.11230359
+v 0.04355938 -0.05548115 -0.11290220
+v 0.04727455 -0.05176772 -0.11310002
+v 0.05471793 -0.04563573 -0.11324892
+v 0.04355938 -0.04563573 -0.11345119
+v 0.01008370 -0.06662139 -0.11331864
+v 0.04727455 -0.04563573 -0.11345416
+v 0.00636853 -0.07033018 -0.11328235
+v 0.05100276 -0.04563573 -0.11340080
+v 0.01752708 -0.06290797 -0.11334011
+f 1 2 9
+f 1 9 19
+f 1 19 29
+f 1 29 49
+f 1 49 73
+f 1 73 101
+f 1 101 130
+f 1 130 132
+f 1 132 164
+f 1 164 185
+f 1 185 190
+f 1 190 188
+f 1 188 186
+f 1 186 166
+f 1 166 136
+f 1 136 105
+f 1 105 75
+f 1 75 50
+f 1 50 30
+f 1 30 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 16
+f 2 16 24
+f 2 24 42
+f 2 42 43
+f 2 43 65
+f 2 65 89
+f 2 89 92
+f 2 92 91
+f 2 91 90
+f 2 90 117
+f 2 117 157
+f 2 157 158
+f 2 158 127
+f 2 127 126
+f 2 126 125
+f 2 125 124
+f 2 124 123
+f 2 123 98
+f 2 98 97
+f 2 97 96
+f 2 96 95
+f 2 95 93
+f 2 93 66
+f 2 66 44
+f 2 44 25
+f 2 25 17
+f 2 17 9
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 12
+f 5 13 12
+f 5 12 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 16 8
+f 7 15 16
+f 9 17 18
+f 9 18 19
+f 10 20 21
+f 10 21 11
+f 11 22 12
+f 11 21 22
+f 12 22 23
+f 12 23 14
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 19 28 48
+f 19 48 29
+f 19 27 28
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 31
+f 21 31 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 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 42 24
+f 23 41 43
+f 23 43 42
+f 25 44 26
+f 26 44 45
+f 26 45 27
+f 27 46 48
+f 27 48 28
+f 27 45 47
+f 27 47 68
+f 27 68 46
+f 29 48 49
+f 30 50 31
+f 31 50 51
+f 31 51 33
+f 33 51 52
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 35
+f 35 37 36
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 37
+f 37 59 38
+f 38 59 39
+f 39 59 60
+f 39 60 40
+f 40 61 62
+f 40 62 41
+f 40 60 63
+f 40 63 64
+f 40 64 61
+f 41 62 65
+f 41 65 43
+f 44 66 45
+f 45 66 67
+f 45 67 47
+f 46 68 69
+f 46 69 48
+f 47 67 70
+f 47 70 71
+f 47 71 72
+f 47 72 94
+f 47 94 68
+f 48 69 49
+f 49 69 74
+f 49 74 73
+f 50 75 76
+f 50 76 52
+f 50 52 51
+f 52 76 77
+f 52 77 78
+f 52 78 53
+f 53 78 79
+f 53 79 54
+f 54 79 80
+f 54 80 55
+f 55 80 56
+f 56 80 81
+f 56 81 57
+f 57 82 83
+f 57 83 84
+f 57 84 60
+f 57 60 85
+f 57 85 58
+f 57 81 82
+f 58 85 59
+f 59 85 60
+f 60 84 86
+f 60 86 87
+f 60 87 88
+f 60 88 63
+f 61 89 65
+f 61 65 62
+f 61 64 89
+f 63 88 90
+f 63 90 91
+f 63 91 64
+f 64 91 92
+f 64 92 89
+f 66 93 67
+f 67 93 95
+f 67 95 70
+f 68 94 69
+f 69 94 74
+f 70 95 96
+f 70 96 71
+f 71 96 72
+f 72 96 97
+f 72 97 98
+f 72 98 99
+f 72 99 100
+f 72 100 119
+f 72 119 94
+f 73 74 101
+f 74 102 103
+f 74 103 101
+f 74 94 104
+f 74 104 102
+f 75 105 106
+f 75 106 107
+f 75 107 76
+f 76 107 108
+f 76 108 109
+f 76 109 78
+f 76 78 77
+f 78 109 110
+f 78 110 79
+f 79 110 80
+f 80 110 81
+f 81 110 82
+f 82 110 111
+f 82 111 112
+f 82 112 113
+f 82 113 114
+f 82 114 83
+f 83 114 84
+f 84 114 115
+f 84 115 116
+f 84 116 86
+f 86 116 87
+f 87 117 90
+f 87 90 88
+f 87 116 118
+f 87 118 117
+f 94 119 120
+f 94 120 121
+f 94 121 122
+f 94 122 104
+f 98 123 99
+f 99 123 124
+f 99 124 125
+f 99 125 100
+f 100 125 126
+f 100 126 127
+f 100 127 128
+f 100 128 129
+f 100 129 159
+f 100 159 119
+f 101 103 130
+f 102 131 132
+f 102 132 130
+f 102 130 103
+f 102 104 133
+f 102 133 134
+f 102 134 131
+f 104 122 135
+f 104 135 133
+f 105 136 106
+f 106 137 138
+f 106 138 107
+f 106 136 137
+f 107 138 139
+f 107 139 140
+f 107 140 141
+f 107 141 109
+f 107 109 108
+f 109 142 143
+f 109 143 110
+f 109 141 142
+f 110 143 144
+f 110 144 111
+f 111 144 145
+f 111 145 146
+f 111 146 112
+f 112 146 147
+f 112 147 148
+f 112 148 149
+f 112 149 113
+f 113 150 151
+f 113 151 114
+f 113 149 152
+f 113 152 153
+f 113 153 150
+f 114 151 115
+f 115 151 154
+f 115 154 155
+f 115 155 156
+f 115 156 116
+f 116 156 118
+f 117 118 157
+f 118 156 128
+f 118 128 158
+f 118 158 157
+f 119 159 156
+f 119 156 120
+f 120 156 160
+f 120 160 135
+f 120 135 121
+f 121 135 122
+f 127 158 128
+f 128 156 159
+f 128 159 129
+f 131 134 161
+f 131 161 162
+f 131 162 132
+f 132 162 163
+f 132 163 164
+f 133 161 134
+f 133 135 161
+f 135 160 153
+f 135 153 165
+f 135 165 161
+f 136 166 167
+f 136 167 168
+f 136 168 137
+f 137 169 170
+f 137 170 138
+f 137 168 171
+f 137 171 172
+f 137 172 169
+f 138 170 139
+f 139 170 173
+f 139 173 140
+f 140 173 144
+f 140 144 142
+f 140 142 141
+f 142 144 143
+f 144 173 145
+f 145 173 170
+f 145 170 169
+f 145 169 174
+f 145 174 146
+f 146 174 175
+f 146 175 176
+f 146 176 147
+f 147 177 178
+f 147 178 148
+f 147 176 179
+f 147 179 177
+f 148 178 180
+f 148 180 149
+f 149 180 181
+f 149 181 152
+f 150 153 151
+f 151 153 160
+f 151 160 154
+f 152 181 162
+f 152 162 182
+f 152 182 165
+f 152 165 153
+f 154 160 155
+f 155 160 156
+f 161 165 182
+f 161 182 162
+f 162 181 183
+f 162 183 163
+f 163 183 184
+f 163 184 179
+f 163 179 185
+f 163 185 164
+f 166 186 167
+f 167 187 171
+f 167 171 168
+f 167 186 188
+f 167 188 187
+f 169 172 171
+f 169 171 174
+f 171 187 174
+f 174 187 189
+f 174 189 175
+f 175 189 188
+f 175 188 176
+f 176 188 190
+f 176 190 179
+f 177 179 178
+f 178 179 184
+f 178 184 181
+f 178 181 180
+f 179 190 185
+f 181 184 183
+f 187 188 191
+f 187 191 189
+f 188 189 191
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_38.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00174700 0.00386819 -0.06946831
+v 0.01468579 0.00386819 -0.06946831
+v 0.00174700 -0.01009100 -0.06946836
+v 0.00174700 0.00386812 -0.05072520
+v 0.02006448 -0.00300849 -0.06946833
+v 0.01505370 0.00386817 -0.06552757
+v 0.02353714 -0.00118476 -0.03083995
+v 0.02350154 -0.00121160 -0.03148666
+v 0.02330215 -0.00141385 -0.03450463
+v 0.00220512 -0.01021271 -0.06946836
+v 0.00265374 -0.01038992 -0.06874602
+v 0.00174700 -0.01012681 -0.06900319
+v 0.00174700 -0.00697318 -0.03513623
+v 0.01365325 -0.00046523 -0.03083995
+v 0.01752942 0.00110090 -0.03083995
+v 0.01271091 0.00386809 -0.04318786
+v 0.02040154 -0.00345775 -0.06946833
+v 0.01595569 0.00386813 -0.05411756
+v 0.02124894 0.00026324 -0.03083995
+v 0.02484028 -0.00348653 -0.03083996
+v 0.01597468 0.00386813 -0.05336118
+v 0.01601741 0.00386811 -0.05011631
+v 0.00265374 -0.01032547 -0.06946836
+v 0.00174700 -0.01014650 -0.06874602
+v 0.01381228 -0.01216546 -0.06946836
+v 0.00265374 -0.01064946 -0.06501706
+v 0.00174700 -0.01096808 -0.05756671
+v 0.00174700 -0.01091269 -0.03161150
+v 0.01288893 -0.00108811 -0.03083995
+v 0.01371734 0.00386809 -0.04298364
+v 0.02167145 -0.00719857 -0.06946835
+v 0.01558540 0.00386810 -0.04639114
+v 0.02599625 -0.00716292 -0.03083998
+v 0.00174700 -0.01138873 -0.05009367
+v 0.00174700 -0.01120436 -0.05384153
+v 0.01752942 -0.01177527 -0.06946836
+v 0.02124894 -0.01417384 -0.03084000
+v 0.01817743 -0.01441726 -0.03084000
+v 0.01752942 -0.01441368 -0.03084000
+v 0.00174700 -0.01177540 -0.03521187
+v 0.01472851 -0.01366373 -0.03084000
+v 0.01416596 -0.01345252 -0.03084000
+v 0.01263258 -0.01267930 -0.03084000
+v 0.01230976 -0.01243409 -0.03084000
+v 0.01126773 -0.01090017 -0.03083999
+v 0.01108021 -0.01057620 -0.03083999
+v 0.01036099 -0.00773568 -0.03083998
+v 0.01027791 -0.00719872 -0.03083998
+v 0.01120126 -0.00341315 -0.03083996
+v 0.01158580 -0.00262561 -0.03083996
+v 0.02047038 -0.01014470 -0.06946836
+v 0.02527465 -0.01091449 -0.03083999
+v 0.00174700 -0.01172706 -0.03885763
+v 0.02367006 -0.01321089 -0.03084000
+v 0.02403561 -0.01273300 -0.03084000
+f 1 2 5
+f 1 5 17
+f 1 17 31
+f 1 31 51
+f 1 51 36
+f 1 36 25
+f 1 25 23
+f 1 23 10
+f 1 10 3
+f 1 3 12
+f 1 12 24
+f 1 24 27
+f 1 27 35
+f 1 35 34
+f 1 34 53
+f 1 53 40
+f 1 40 28
+f 1 28 13
+f 1 13 4
+f 1 4 16
+f 1 16 30
+f 1 30 32
+f 1 32 22
+f 1 22 21
+f 1 21 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 9 17
+f 6 18 7
+f 7 19 15
+f 7 15 14
+f 7 14 29
+f 7 29 50
+f 7 50 49
+f 7 49 48
+f 7 48 47
+f 7 47 46
+f 7 46 45
+f 7 45 44
+f 7 44 43
+f 7 43 42
+f 7 42 41
+f 7 41 39
+f 7 39 38
+f 7 38 37
+f 7 37 54
+f 7 54 55
+f 7 55 52
+f 7 52 33
+f 7 33 20
+f 7 20 8
+f 7 18 21
+f 7 21 22
+f 7 22 19
+f 8 20 9
+f 9 20 17
+f 10 23 11
+f 11 24 12
+f 11 23 25
+f 11 25 26
+f 11 26 27
+f 11 27 24
+f 13 28 29
+f 13 29 14
+f 15 19 30
+f 15 30 16
+f 17 20 31
+f 19 22 32
+f 19 32 30
+f 20 33 31
+f 25 34 35
+f 25 35 26
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 34
+f 26 35 27
+f 28 40 39
+f 28 39 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 29
+f 31 33 52
+f 31 52 51
+f 34 39 53
+f 36 51 54
+f 36 54 37
+f 39 40 53
+f 51 52 55
+f 51 55 54
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_39.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03295856 -0.01573850 0.01334141
+v -0.03295856 -0.01984896 0.01334140
+v -0.03295856 -0.01573851 0.01598684
+v -0.01353814 -0.01573850 0.01334141
+v -0.03290883 -0.02190375 0.01334139
+v -0.02752532 -0.02493247 0.04232345
+v -0.02679177 -0.02493248 0.04570899
+v -0.02653689 -0.02493248 0.04647567
+v -0.02561685 -0.02493249 0.04903381
+v -0.02412488 -0.02493250 0.05130728
+v -0.02342552 -0.02493250 0.05211192
+v -0.02207653 -0.01625517 0.02693672
+v -0.02334471 -0.01573854 0.02397626
+v -0.01367801 -0.01573850 0.01403598
+v -0.00483501 -0.02116482 0.01334139
+v -0.03046262 -0.02493236 0.01334138
+v -0.02844847 -0.02493244 0.03524493
+v -0.02808480 -0.02493245 0.03892273
+v -0.02038564 -0.02493250 0.05121619
+v -0.02092959 -0.02369135 0.04928051
+v -0.02226925 -0.02369135 0.04928051
+v -0.02029239 -0.01625517 0.02693672
+v -0.01961790 -0.01573854 0.02502760
+v -0.02313334 -0.01573854 0.02407494
+v -0.01479077 -0.01573852 0.01810849
+v -0.00208730 -0.02288659 0.01334139
+v -0.00120456 -0.02493236 0.01334138
+v -0.01965520 -0.02493250 0.05086321
+v -0.01745766 -0.02364363 0.04551542
+v -0.01794876 -0.02023607 0.03735902
+v -0.01937856 -0.02058888 0.03934782
+v -0.02042916 -0.01998406 0.03812949
+v -0.01940965 -0.01573854 0.02502760
+v -0.00296383 -0.02393785 0.01878406
+v -0.00249448 -0.02345812 0.01630183
+v -0.01663086 -0.01573853 0.02195708
+v -0.00202514 -0.02493237 0.01706092
+v -0.01752915 -0.02493248 0.04737520
+v -0.01845230 -0.02425477 0.04799765
+v -0.01687330 -0.02310810 0.04303700
+v -0.01715305 -0.01981844 0.03487300
+v -0.01690750 -0.02493248 0.04633145
+v -0.01781200 -0.01648648 0.02626872
+v -0.01917342 -0.01573854 0.02490235
+v -0.00222718 -0.02493238 0.01778965
+v -0.01706602 -0.01606436 0.02378270
+v -0.00324979 -0.02493239 0.02068178
+v -0.01891233 -0.01573854 0.02460631
+f 1 2 3
+f 1 3 13
+f 1 13 24
+f 1 24 23
+f 1 23 33
+f 1 33 44
+f 1 44 48
+f 1 48 36
+f 1 36 25
+f 1 25 14
+f 1 14 4
+f 1 4 15
+f 1 15 26
+f 1 26 27
+f 1 27 16
+f 1 16 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 11
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 17
+f 6 17 16
+f 6 16 27
+f 6 27 37
+f 6 37 45
+f 6 45 47
+f 6 47 42
+f 6 42 38
+f 6 38 28
+f 6 28 19
+f 6 19 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 20
+f 12 20 22
+f 12 22 33
+f 12 33 23
+f 12 23 24
+f 12 24 13
+f 14 25 26
+f 14 26 15
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 22
+f 22 32 33
+f 25 34 35
+f 25 35 26
+f 25 36 34
+f 26 35 37
+f 26 37 27
+f 28 38 39
+f 28 39 29
+f 29 40 41
+f 29 41 30
+f 29 39 38
+f 29 38 42
+f 29 42 34
+f 29 34 40
+f 30 41 43
+f 30 43 31
+f 31 43 44
+f 31 44 32
+f 32 44 33
+f 34 45 35
+f 34 36 46
+f 34 46 41
+f 34 41 40
+f 34 42 47
+f 34 47 45
+f 35 45 37
+f 36 48 46
+f 41 46 43
+f 43 46 44
+f 44 46 48
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_4.obj

@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.00374263 0.03309645 0.02812256
+v -0.00374263 0.04618610 0.02812261
+v 0.00265362 0.03311712 0.02812256
+v 0.00265362 0.03311712 0.02813906
+v 0.00637162 0.04676464 0.08161761
+v -0.00374263 0.03312007 0.02821334
+v -0.00031807 0.04719595 0.02812261
+v -0.00374263 0.04695380 0.03261216
+v -0.00005516 0.05881788 0.07656691
+v 0.00161217 0.06103541 0.08029721
+v 0.00399868 0.06167911 0.07786262
+v 0.00637162 0.03362205 0.02812256
+v 0.00637162 0.03362500 0.02813906
+v 0.00854102 0.04646642 0.07938934
+v 0.00637162 0.04778334 0.08401920
+v 0.00454824 0.05777248 0.10829913
+v 0.00445665 0.05777248 0.10829913
+v 0.00413607 0.04649595 0.07924079
+v -0.00374263 0.03345963 0.02929446
+v 0.00265362 0.04778060 0.02812262
+v -0.00374263 0.04807288 0.03941252
+v -0.00018407 0.05918106 0.08029721
+v 0.00140694 0.06093499 0.08401924
+v 0.00287073 0.06278925 0.10637623
+v 0.00295045 0.06276269 0.10265419
+v 0.00326763 0.06213382 0.08401925
+v 0.00347287 0.06192123 0.08029722
+v 0.00637162 0.06274799 0.08401925
+v 0.00637162 0.06219289 0.08029722
+v 0.00637162 0.06165254 0.07795340
+v 0.00890061 0.03496556 0.02812257
+v 0.00852915 0.03527854 0.03096980
+v 0.00805253 0.03557676 0.03345391
+v 0.00990475 0.04776858 0.08049523
+v 0.01022362 0.04917114 0.08398619
+v 0.00907193 0.04979417 0.08673439
+v 0.00504352 0.06084631 0.11243382
+v 0.01155173 0.05090737 0.08520762
+v 0.00353054 0.06084631 0.11243382
+v 0.00321845 0.05962387 0.10976815
+v 0.00037397 0.04988276 0.08309488
+v 0.00243651 0.04905303 0.08420902
+v 0.00279949 0.04744083 0.08040444
+v -0.00374263 0.04413087 0.05539828
+v 0.00827812 0.06152852 0.07836605
+v 0.00622915 0.04711031 0.02812261
+v -0.00374263 0.04841539 0.04218548
+v -0.00160885 0.05593302 0.07656690
+v -0.00153592 0.05593301 0.08029720
+v 0.00293858 0.06255892 0.11010652
+v -0.00374263 0.04850692 0.04304378
+v -0.00374263 0.04877266 0.04561867
+v -0.00374263 0.04889077 0.04676582
+v -0.00374263 0.04963484 0.05421815
+v 0.00637162 0.06306683 0.10265419
+v 0.00637162 0.06326173 0.09892390
+v 0.00637162 0.06324402 0.09520187
+v 0.00637162 0.06314659 0.09147158
+v 0.00637162 0.06300782 0.08774954
+v 0.00928734 0.06211905 0.08401925
+v 0.00870555 0.06177655 0.08029722
+v 0.01062901 0.03736616 0.02812258
+v 0.01062901 0.03736616 0.02813908
+v 0.01181294 0.03980512 0.03559142
+v 0.01207245 0.04278442 0.04936545
+v 0.01215895 0.05011604 0.08272351
+v 0.00504352 0.06206285 0.11243383
+v 0.00840533 0.05759534 0.10123468
+v 0.00827642 0.06133354 0.10469265
+v 0.01223528 0.05338474 0.08662712
+v 0.00353054 0.06206285 0.11243383
+v 0.00249757 0.05964750 0.10637622
+v -0.00133068 0.05221842 0.08029718
+v -0.00374263 0.04545665 0.05732121
+v 0.01056455 0.06054229 0.08029721
+v 0.01206058 0.05790253 0.07435514
+v 0.01185195 0.05395768 0.06000342
+v 0.00826116 0.04667329 0.02991348
+v 0.00675326 0.04688000 0.02812261
+v -0.00374263 0.04941042 0.05803097
+v -0.00374263 0.04930706 0.05907082
+v -0.00179034 0.05221843 0.07656688
+v 0.00561344 0.06255892 0.11010652
+v 0.00656160 0.06257370 0.10611214
+v 0.00878358 0.06211900 0.09892390
+v 0.00902782 0.06226370 0.09520187
+v 0.00924154 0.06230800 0.09147158
+v 0.00940946 0.06227259 0.08774954
+v 0.01114804 0.06068991 0.08401924
+v 0.01168233 0.04106894 0.02812259
+v 0.01188417 0.04082975 0.03157228
+v 0.01209280 0.04166242 0.03559142
+v 0.01231161 0.04223227 0.04304376
+v 0.01224207 0.04250687 0.04676580
+v 0.01235910 0.04985325 0.08029717
+v 0.01334458 0.05221842 0.08029718
+v 0.01264067 0.05217411 0.08398620
+v 0.00827642 0.06157272 0.10469265
+v 0.01230991 0.05624597 0.08781555
+v 0.01196729 0.05769282 0.08968894
+v 0.01323093 0.05593299 0.08401923
+v -0.00374263 0.04662595 0.05788240
+v 0.01233196 0.05824209 0.07656690
+v 0.01259996 0.05868500 0.08029721
+v 0.01218270 0.05432676 0.06248752
+v 0.01203004 0.04676184 0.04065870
+v 0.00962657 0.04491050 0.02812260
+v 0.00897016 0.04542133 0.02812261
+v 0.00847318 0.06180894 0.10265419
+v 0.01252533 0.05883262 0.08401924
+v 0.01126846 0.06020565 0.08774953
+v 0.01168233 0.04108075 0.02812259
+v 0.01168403 0.04108075 0.02813909
+v 0.01201478 0.04190160 0.03262039
+v 0.01251685 0.04479528 0.04304376
+v 0.01259657 0.04479527 0.04676580
+v 0.01349384 0.05221844 0.07284485
+v 0.01346840 0.05221843 0.07656688
+v 0.01358543 0.05593301 0.08029720
+v 0.01196729 0.05784637 0.08968894
+v 0.01218779 0.05834835 0.08774952
+v 0.01325298 0.05593302 0.07656690
+v 0.01242186 0.05464270 0.06540078
+v 0.01201478 0.04310043 0.03262040
+v 0.01176544 0.04607976 0.03817459
+v 0.01318174 0.05221847 0.06540077
+v 0.00976905 0.04466247 0.02812260
+v 0.01285778 0.04850688 0.05421815
+v 0.01343278 0.05221846 0.06912281
+f 1 2 7
+f 1 7 20
+f 1 20 46
+f 1 46 79
+f 1 79 108
+f 1 108 107
+f 1 107 127
+f 1 127 112
+f 1 112 90
+f 1 90 62
+f 1 62 31
+f 1 31 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 19
+f 1 19 44
+f 1 44 74
+f 1 74 102
+f 1 102 81
+f 1 81 80
+f 1 80 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 47
+f 1 47 21
+f 1 21 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 7 11 20
+f 8 21 9
+f 9 22 10
+f 9 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 20
+f 12 31 13
+f 13 31 32
+f 13 32 33
+f 13 33 14
+f 14 34 35
+f 14 35 36
+f 14 36 15
+f 14 33 32
+f 14 32 34
+f 15 36 16
+f 16 37 39
+f 16 39 17
+f 16 36 35
+f 16 35 38
+f 16 38 37
+f 17 39 40
+f 17 40 41
+f 17 41 42
+f 17 42 18
+f 18 42 43
+f 18 43 19
+f 19 43 41
+f 19 41 44
+f 20 30 45
+f 20 45 46
+f 21 47 22
+f 22 48 49
+f 22 49 50
+f 22 50 24
+f 22 24 23
+f 22 47 51
+f 22 51 52
+f 22 52 53
+f 22 53 54
+f 22 54 48
+f 24 50 55
+f 24 55 56
+f 24 56 57
+f 24 57 25
+f 25 57 58
+f 25 58 59
+f 25 59 26
+f 26 59 27
+f 27 59 28
+f 28 59 60
+f 28 60 61
+f 28 61 29
+f 29 61 45
+f 29 45 30
+f 31 62 63
+f 31 63 64
+f 31 64 65
+f 31 65 66
+f 31 66 32
+f 32 66 34
+f 34 66 35
+f 35 66 38
+f 37 67 71
+f 37 71 39
+f 37 38 68
+f 37 68 69
+f 37 69 98
+f 37 98 67
+f 38 66 70
+f 38 70 68
+f 39 71 50
+f 39 50 72
+f 39 72 40
+f 40 72 73
+f 40 73 41
+f 41 43 42
+f 41 73 44
+f 44 73 74
+f 45 61 75
+f 45 75 76
+f 45 76 77
+f 45 77 78
+f 45 78 79
+f 45 79 46
+f 48 80 49
+f 48 54 80
+f 49 80 81
+f 49 81 82
+f 49 82 73
+f 49 73 50
+f 50 71 67
+f 50 67 83
+f 50 83 55
+f 50 73 72
+f 55 83 84
+f 55 84 85
+f 55 85 86
+f 55 86 56
+f 56 86 87
+f 56 87 88
+f 56 88 57
+f 57 88 58
+f 58 88 59
+f 59 88 60
+f 60 88 89
+f 60 89 75
+f 60 75 61
+f 62 90 91
+f 62 91 64
+f 62 64 63
+f 64 91 92
+f 64 92 93
+f 64 93 94
+f 64 94 65
+f 65 94 95
+f 65 95 66
+f 66 95 96
+f 66 96 97
+f 66 97 70
+f 67 98 83
+f 68 70 69
+f 69 70 99
+f 69 99 100
+f 69 100 120
+f 69 120 98
+f 70 97 101
+f 70 101 99
+f 73 82 74
+f 74 82 102
+f 75 103 76
+f 75 89 104
+f 75 104 103
+f 76 103 105
+f 76 105 77
+f 77 105 106
+f 77 106 107
+f 77 107 78
+f 78 107 108
+f 78 108 79
+f 81 102 82
+f 83 98 109
+f 83 109 84
+f 84 109 85
+f 85 109 110
+f 85 110 111
+f 85 111 86
+f 86 111 89
+f 86 89 87
+f 87 89 88
+f 89 110 104
+f 89 111 110
+f 90 112 113
+f 90 113 114
+f 90 114 91
+f 91 114 92
+f 92 114 115
+f 92 115 93
+f 93 115 116
+f 93 116 117
+f 93 117 118
+f 93 118 96
+f 93 96 94
+f 94 96 95
+f 96 118 119
+f 96 119 101
+f 96 101 97
+f 98 120 121
+f 98 121 110
+f 98 110 109
+f 99 101 100
+f 100 101 120
+f 101 119 110
+f 101 110 121
+f 101 121 120
+f 103 104 122
+f 103 122 123
+f 103 123 105
+f 104 110 119
+f 104 119 122
+f 105 123 106
+f 106 124 125
+f 106 125 107
+f 106 123 126
+f 106 126 124
+f 107 125 124
+f 107 124 127
+f 112 127 124
+f 112 124 113
+f 113 124 114
+f 114 124 115
+f 115 124 128
+f 115 128 129
+f 115 129 116
+f 116 129 117
+f 117 129 119
+f 117 119 118
+f 119 129 126
+f 119 126 122
+f 122 126 123
+f 124 126 128
+f 126 129 128
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_40.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02988715 0.04008486 -0.10052830
+v 0.01391706 0.04008485 -0.09812616
+v 0.02988715 0.04008489 -0.10843708
+v 0.02988715 0.08112320 -0.09812601
+v 0.00214150 0.04008485 -0.09812616
+v 0.02496874 0.04008489 -0.10855592
+v 0.02988715 0.08308026 -0.11176574
+v 0.02988715 0.08835629 -0.09812599
+v 0.00122403 0.04008485 -0.09858015
+v 0.00122403 0.08120187 -0.09812601
+v 0.02124837 0.04008489 -0.10862002
+v 0.00122403 0.08302617 -0.11174972
+v 0.02988715 0.08440297 -0.11176574
+v 0.01009288 0.04008489 -0.10874152
+v 0.00637531 0.04008489 -0.10877490
+v 0.02988715 0.08852839 -0.09855594
+v 0.00122403 0.08839563 -0.09812599
+v 0.00122403 0.04008489 -0.10876556
+v 0.00122403 0.08438822 -0.11174971
+v 0.00265494 0.04008489 -0.10876823
+v 0.00122403 0.08510120 -0.11153073
+v 0.00122403 0.08624690 -0.11117554
+v 0.02988715 0.08566175 -0.11134780
+v 0.00265494 0.08856281 -0.09855594
+v 0.02988715 0.08898077 -0.09975501
+v 0.00122403 0.08856281 -0.09855594
+v 0.02988715 0.08626165 -0.11114750
+v 0.00122403 0.08877920 -0.10931284
+v 0.02988715 0.08992487 -0.10228266
+v 0.00265494 0.08992979 -0.10228266
+v 0.00122403 0.08992979 -0.10228266
+v 0.02988715 0.08797279 -0.10988434
+v 0.00122403 0.09031334 -0.10600672
+v 0.02988715 0.09031334 -0.10600672
+v 0.02988715 0.08982162 -0.10706291
+v 0.02988715 0.08877920 -0.10928479
+v 0.02988715 0.09005272 -0.10348173
+f 1 2 5
+f 1 5 9
+f 1 9 18
+f 1 18 20
+f 1 20 15
+f 1 15 14
+f 1 14 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 23
+f 1 23 27
+f 1 27 32
+f 1 32 36
+f 1 36 35
+f 1 35 34
+f 1 34 37
+f 1 37 29
+f 1 29 25
+f 1 25 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 17
+f 2 17 10
+f 2 10 5
+f 3 6 7
+f 5 10 9
+f 6 11 7
+f 7 12 19
+f 7 19 13
+f 7 11 14
+f 7 14 15
+f 7 15 12
+f 8 16 17
+f 9 10 17
+f 9 17 26
+f 9 26 31
+f 9 31 33
+f 9 33 28
+f 9 28 22
+f 9 22 21
+f 9 21 19
+f 9 19 12
+f 9 12 18
+f 12 15 20
+f 12 20 18
+f 13 19 21
+f 13 21 22
+f 13 22 23
+f 16 24 17
+f 16 25 24
+f 17 24 26
+f 22 27 23
+f 22 28 27
+f 24 25 29
+f 24 29 30
+f 24 30 31
+f 24 31 26
+f 27 28 32
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 32
+f 29 37 30
+f 30 37 34
+f 30 34 33
+f 30 33 31
+

dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_41.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.08008073 -0.01534793 -0.06947216
+v -0.07291644 0.00386819 -0.06947209
+v -0.07944200 -0.01776134 -0.06947217
+v -0.07792452 -0.01730982 -0.06564945
+v -0.05522339 -0.01325948 -0.01416136
+v -0.05522339 -0.01220291 -0.01416135
+v -0.05312008 -0.01071039 -0.01039069
+v -0.04784755 0.00386797 -0.01039064
+v -0.05203791 0.00386800 -0.02022791
+v -0.06538194 0.00386819 -0.06947209
+v -0.07907992 -0.01821956 -0.06947217
+v -0.05517050 -0.01666938 -0.01808240
+v -0.05277427 -0.01466082 -0.01039070
+v -0.04050020 0.00386797 -0.01039064
+v -0.06382379 -0.01885575 -0.06128312
+v -0.06412890 -0.01885575 -0.06189036
+v -0.06646818 -0.01885574 -0.06635501
+v -0.06768053 -0.01885573 -0.06862204
+v -0.06797346 -0.01885573 -0.06914253
+v -0.06817687 -0.01885572 -0.06947217
+v -0.06514192 0.00386818 -0.06893425
+v -0.03852300 -0.01885594 -0.01039072
+v -0.04888090 -0.01885586 -0.03151685
+v -0.07852256 -0.01885572 -0.06947217
+v -0.07806691 -0.01885573 -0.06849481
+v -0.05142766 -0.01662937 -0.01039071
+v -0.04092330 0.00386797 -0.01152993
+v -0.06321760 0.00386817 -0.06459105
+v -0.06185066 0.00386816 -0.06147389
+v -0.05199315 0.00386807 -0.03890774
+v -0.05047974 0.00386806 -0.03536262
+v -0.04301440 0.00386799 -0.01696039
+v -0.04293711 0.00386799 -0.01676954
+v -0.04263605 0.00386799 -0.01599459
+v -0.04145218 0.00386798 -0.01292369
+v -0.04132199 0.00386798 -0.01258248
+v -0.04897040 -0.01885594 -0.01039072
+v -0.05357165 -0.01885591 -0.01953400
+v -0.05146834 -0.01667608 -0.01056999
+v -0.05111440 -0.01691631 -0.01039071
+v -0.04945860 -0.01841552 -0.01039072
+v -0.04984102 -0.01885594 -0.01208520
+v -0.05022751 -0.01885593 -0.01285437
+f 1 2 10
+f 1 10 20
+f 1 20 24
+f 1 24 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 14
+f 2 14 27
+f 2 27 36
+f 2 36 35
+f 2 35 34
+f 2 34 33
+f 2 33 32
+f 2 32 31
+f 2 31 30
+f 2 30 29
+f 2 29 28
+f 2 28 21
+f 2 21 10
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 7
+f 5 7 6
+f 7 13 26
+f 7 26 40
+f 7 40 41
+f 7 41 37
+f 7 37 22
+f 7 22 14
+f 7 14 8
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 21 22
+f 10 22 23
+f 10 23 15
+f 11 24 25
+f 11 25 12
+f 12 26 13
+f 12 25 26
+f 14 22 27
+f 15 23 22
+f 15 22 37
+f 15 37 42
+f 15 42 43
+f 15 43 38
+f 15 38 25
+f 15 25 24
+f 15 24 20
+f 15 20 19
+f 15 19 18
+f 15 18 17
+f 15 17 16
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 27
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 37 41 42
+f 38 43 39
+f 39 43 42
+f 39 42 40
+f 40 42 41
+