Add asset bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78

.gitattributes

@@ -2792,7 +2792,5 @@ dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/mesh/jewelry_b
 dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/jewelry_box_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/mesh/jewelry_box_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7aeb0a4268995a18977975cb4b608f3a/mesh/storage_bin_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7aeb0a4268995a18977975cb4b608f3a/storage_bin_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.usd filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_014_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_bin_014_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba4e9eb4a8da1ae207bec22e38ec64983d10de99120a6f294d2d671138d7f5cc
+size 13361972

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.mtl

@@ -0,0 +1,6 @@
+newmtl storage_bin_014_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_0.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.04310378 0.02605171 0.02645727
+v 0.04310378 0.02753898 0.02601543
+v 0.00503852 0.02768062 0.02604798
+v 0.00305126 0.02768489 0.02604798
+v 0.00106400 0.02768542 0.02604798
+v 0.00009143 0.02768435 0.02604798
+v 0.00009143 0.02688667 0.02622007
+v 0.00106400 0.02605171 0.02640146
+v 0.04310378 0.02473004 0.02590844
+v 0.04310378 0.02824775 0.02448989
+v 0.04279222 0.02825574 0.02448989
+v 0.04080496 0.02828609 0.02448989
+v 0.03881770 0.02830419 0.02448989
+v 0.01100029 0.02851773 0.02448989
+v 0.00901304 0.02853264 0.02448989
+v 0.00702578 0.02854382 0.02448989
+v 0.00503852 0.02855287 0.02448989
+v 0.00305126 0.02855820 0.02448989
+v 0.00106400 0.02855980 0.02448989
+v 0.00009143 0.02855926 0.02448989
+v 0.00009143 0.02813113 0.02525266
+v 0.00009143 0.02605171 0.02639681
+v 0.00009143 0.02544785 0.02611309
+v 0.00009143 0.02481684 0.02581542
+v 0.04310378 0.02434185 0.02448988
+v 0.04310378 0.02851880 0.02254112
+v 0.04279222 0.02852945 0.02254112
+v 0.04080496 0.02856779 0.02254112
+v 0.03881770 0.02859335 0.02254113
+v 0.03683044 0.02861199 0.02254113
+v 0.03484319 0.02862743 0.02254113
+v 0.03285593 0.02863808 0.02254113
+v 0.01298755 0.02873074 0.02254113
+v 0.01100029 0.02873979 0.02254113
+v 0.00901304 0.02874671 0.02254113
+v 0.00702578 0.02875044 0.02254113
+v 0.00106400 0.02875150 0.02254113
+v 0.00009143 0.02875150 0.02254113
+v 0.00009143 0.02465443 0.02516893
+v 0.00009143 0.02448510 0.02448988
+v 0.01696207 0.02355271 0.01864822
+v 0.01497481 0.02334717 0.01669945
+v 0.04310378 0.02333771 -0.01754125
+v 0.04310378 0.02876974 -0.01446692
+v 0.04279222 0.02877720 -0.01446692
+v 0.00009143 0.02842999 -0.01057404
+v 0.00009143 0.02362566 0.01864822
+v 0.01298755 0.02336102 0.01669945
+v 0.01100029 0.02334984 0.01475068
+v 0.01298755 0.02334505 0.01475068
+v 0.04080496 0.02333771 -0.01744823
+v 0.04310378 0.02333773 -0.02098764
+v 0.04310378 0.02875004 -0.01477388
+v 0.00009143 0.02838421 -0.01251815
+v 0.00009143 0.02840656 -0.01156935
+v 0.00009143 0.02356230 0.01769477
+v 0.00009143 0.02333771 -0.01722963
+v 0.01540426 0.02333771 -0.01721103
+v 0.01739152 0.02333771 -0.01721103
+v 0.02334066 0.02333771 -0.01721568
+v 0.02531950 0.02333771 -0.01722033
+v 0.03086867 0.02333771 -0.01723428
+v 0.03285593 0.02333771 -0.01724824
+v 0.03484319 0.02333771 -0.01727614
+v 0.03683044 0.02333771 -0.01731335
+v 0.03882191 0.02333771 -0.01736916
+v 0.00009143 0.02333773 -0.02092253
+v 0.00009143 0.02410932 -0.02101555
+v 0.04310378 0.02380580 -0.02103416
+v 0.04310378 0.02850084 -0.01641570
+v 0.00009143 0.02814512 -0.01446693
+v 0.00009143 0.02826227 -0.01351812
+v 0.00009143 0.02605189 -0.02048068
+v 0.04310378 0.02605189 -0.02093182
+v 0.04310378 0.02410932 -0.02105741
+v 0.04310378 0.02845078 -0.01672266
+v 0.04310378 0.02816963 -0.01836447
+v 0.00009143 0.02719995 -0.01960164
+v 0.00009143 0.02661313 -0.02005278
+v 0.04310378 0.02756045 -0.02002023
+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 25
+f 1 25 43
+f 1 43 52
+f 1 52 69
+f 1 69 75
+f 1 75 74
+f 1 74 80
+f 1 80 77
+f 1 77 76
+f 1 76 70
+f 1 70 53
+f 1 53 44
+f 1 44 26
+f 1 26 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 3
+f 3 17 18
+f 3 18 4
+f 4 18 19
+f 4 19 5
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 20
+f 6 20 38
+f 6 38 46
+f 6 46 55
+f 6 55 54
+f 6 54 72
+f 6 72 71
+f 6 71 78
+f 6 78 79
+f 6 79 73
+f 6 73 68
+f 6 68 67
+f 6 67 57
+f 6 57 56
+f 6 56 47
+f 6 47 40
+f 6 40 39
+f 6 39 24
+f 6 24 23
+f 6 23 22
+f 6 22 7
+f 7 22 8
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 9 24 25
+f 10 26 27
+f 10 27 11
+f 11 27 28
+f 11 28 12
+f 12 28 29
+f 12 29 30
+f 12 30 13
+f 13 30 31
+f 13 31 14
+f 14 31 15
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 26 44 27
+f 27 44 45
+f 27 45 28
+f 28 45 29
+f 29 45 30
+f 30 45 31
+f 31 45 32
+f 32 45 33
+f 33 45 34
+f 34 45 35
+f 35 45 36
+f 36 45 37
+f 37 45 38
+f 38 45 46
+f 40 47 41
+f 41 47 42
+f 42 47 48
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 43 51 66
+f 43 66 65
+f 43 65 64
+f 43 64 63
+f 43 63 62
+f 43 62 61
+f 43 61 60
+f 43 60 59
+f 43 59 58
+f 43 58 57
+f 43 57 67
+f 43 67 52
+f 43 50 51
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 46
+f 47 56 48
+f 48 56 49
+f 49 56 57
+f 49 57 50
+f 50 57 58
+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 64
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 52 67 68
+f 52 68 69
+f 53 70 71
+f 53 71 72
+f 53 72 54
+f 68 73 74
+f 68 74 75
+f 68 75 69
+f 70 76 71
+f 71 76 77
+f 71 77 78
+f 73 79 80
+f 73 80 74
+f 77 80 78
+f 78 80 79
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_1.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00009142 -0.02084123 -0.01750255
+v 0.00009142 -0.02488537 -0.01425076
+v 0.00009142 -0.02084121 -0.02078640
+v -0.00887616 -0.02084123 -0.01749921
+v 0.00009142 -0.02826203 -0.01425077
+v -0.01086006 -0.02084123 -0.01749854
+v -0.01483629 -0.02084123 -0.01749720
+v -0.03271670 -0.02084123 -0.01749253
+v -0.03470481 -0.02084123 -0.01749253
+v -0.03507548 -0.02084123 -0.01749320
+v -0.03669293 -0.02084123 -0.01749787
+v -0.03702147 -0.02084123 -0.01749921
+v -0.03669293 -0.02511609 -0.01425076
+v 0.00009142 -0.02157426 -0.02085385
+v -0.04293948 -0.02084121 -0.02086921
+v 0.00009142 -0.02822037 -0.01447116
+v -0.00070045 -0.02828210 -0.01425077
+v -0.00092791 -0.02824660 -0.01447116
+v -0.03867683 -0.02084123 -0.01751190
+v -0.03867683 -0.02514772 -0.01425076
+v 0.00009142 -0.02252414 -0.02094067
+v -0.04293948 -0.02446711 -0.02107292
+v -0.04293948 -0.02084123 -0.01764079
+v -0.00092791 -0.02252414 -0.02094134
+v 0.00009142 -0.02709916 -0.01836744
+v -0.00092791 -0.02828673 -0.01425077
+v -0.00268857 -0.02831836 -0.01425077
+v -0.00291181 -0.02828210 -0.01447116
+v -0.04293948 -0.02755520 -0.01961366
+v -0.04065231 -0.02084123 -0.01755130
+v -0.04044592 -0.02522180 -0.01425076
+v 0.00009142 -0.02351723 -0.02094936
+v -0.02278033 -0.02446711 -0.02104019
+v -0.02476845 -0.02446711 -0.02104487
+v -0.04293948 -0.02641008 -0.02050725
+v -0.04293948 -0.02538924 -0.01425076
+v -0.04265306 -0.02084123 -0.01762410
+v 0.00009142 -0.02622722 -0.02009719
+v -0.00291181 -0.02832222 -0.01425077
+v -0.00489993 -0.02830833 -0.01447116
+v -0.04293948 -0.02863319 -0.01475101
+v -0.00688804 -0.02833225 -0.01447116
+v -0.00887616 -0.02835540 -0.01447116
+v -0.01086006 -0.02837624 -0.01447116
+v 0.00009142 -0.02446711 -0.02095738
+v -0.04293948 -0.02872347 -0.01425078
+v -0.00467668 -0.02834537 -0.01425077
+v -0.04293948 -0.02869183 -0.01447117
+v -0.00864870 -0.02839167 -0.01425077
+v -0.01063682 -0.02841173 -0.01425077
+f 1 2 5
+f 1 5 16
+f 1 16 25
+f 1 25 38
+f 1 38 45
+f 1 45 32
+f 1 32 21
+f 1 21 14
+f 1 14 3
+f 1 3 15
+f 1 15 23
+f 1 23 37
+f 1 37 30
+f 1 30 19
+f 1 19 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 20
+f 2 20 31
+f 2 31 36
+f 2 36 46
+f 2 46 50
+f 2 50 49
+f 2 49 47
+f 2 47 39
+f 2 39 27
+f 2 27 26
+f 2 26 17
+f 2 17 5
+f 3 14 15
+f 5 17 18
+f 5 18 16
+f 12 19 13
+f 13 19 20
+f 14 21 15
+f 15 22 35
+f 15 35 29
+f 15 29 41
+f 15 41 48
+f 15 48 46
+f 15 46 36
+f 15 36 23
+f 15 21 24
+f 15 24 22
+f 16 18 25
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 25
+f 19 30 20
+f 20 30 31
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 21 22 24
+f 22 34 35
+f 23 36 37
+f 25 29 38
+f 27 39 28
+f 28 39 40
+f 28 40 29
+f 29 35 38
+f 29 40 42
+f 29 42 43
+f 29 43 44
+f 29 44 41
+f 30 37 31
+f 31 37 36
+f 32 45 33
+f 33 35 34
+f 33 45 35
+f 35 45 38
+f 39 47 40
+f 40 47 42
+f 41 44 48
+f 42 47 49
+f 42 49 43
+f 43 49 44
+f 44 49 50
+f 44 50 48
+f 46 48 50
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_10.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05668034 -0.00696216 0.03301880
+v 0.05472385 -0.00720147 0.02656190
+v 0.05301888 -0.00724165 0.02656190
+v 0.05077111 -0.00743381 0.02656190
+v 0.05581841 -0.00714734 0.03301880
+v 0.05866765 -0.00710279 0.03301880
+v 0.05648151 -0.00747312 0.02656190
+v 0.05020642 -0.00900781 0.02656190
+v 0.05092918 -0.00892485 0.03301880
+v 0.05117175 -0.00846715 0.03301880
+v 0.05154058 -0.00817541 0.03301880
+v 0.05187859 -0.00800421 0.03301880
+v 0.05958724 -0.00779982 0.03301880
+v 0.05657397 -0.00752378 0.02656190
+v 0.04966660 -0.01086655 0.02656189
+v 0.05051958 -0.01013635 0.03301879
+v 0.05975923 -0.00851606 0.03301880
+v 0.05781268 -0.00939825 0.02718958
+v 0.05763373 -0.00810289 0.02763584
+v 0.05735040 -0.00878071 0.02656190
+v 0.04961888 -0.01280828 0.02656188
+v 0.04964970 -0.01382150 0.02656188
+v 0.05048081 -0.01086657 0.03228618
+v 0.05069654 -0.01087531 0.03301879
+v 0.05977414 -0.00892834 0.03301880
+v 0.05976619 -0.00892310 0.03295369
+v 0.05781268 -0.01008742 0.02718957
+v 0.05737724 -0.00887067 0.02656190
+v 0.05018853 -0.01540598 0.02656187
+v 0.05116578 -0.01167890 0.03301879
+v 0.05972841 -0.00995118 0.03301879
+v 0.05972841 -0.00995118 0.03298592
+v 0.05737724 -0.00893182 0.02656190
+v 0.05807713 -0.01043943 0.02838992
+v 0.05470993 -0.01278819 0.02656188
+v 0.05475169 -0.01274714 0.02656188
+v 0.05662069 -0.01086917 0.02656189
+v 0.05077011 -0.01588464 0.02656187
+v 0.05145607 -0.01203091 0.03301879
+v 0.05939040 -0.01017391 0.03301879
+v 0.05723508 -0.01170772 0.03033805
+v 0.05843999 -0.01073729 0.03033805
+v 0.05707402 -0.01141073 0.02838992
+v 0.05293736 -0.01434209 0.02656188
+v 0.05751841 -0.01099585 0.03301879
+v 0.05669923 -0.01121946 0.03301879
+v 0.05344637 -0.01195492 0.03301879
+v 0.05258046 -0.01208681 0.03301879
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 16
+f 1 16 24
+f 1 24 30
+f 1 30 39
+f 1 39 48
+f 1 48 47
+f 1 47 46
+f 1 46 45
+f 1 45 40
+f 1 40 31
+f 1 31 25
+f 1 25 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 14
+f 2 14 20
+f 2 20 28
+f 2 28 33
+f 2 33 37
+f 2 37 36
+f 2 36 35
+f 2 35 44
+f 2 44 38
+f 2 38 29
+f 2 29 22
+f 2 22 21
+f 2 21 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 8 16 9
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 17 25 26
+f 17 26 18
+f 18 27 33
+f 18 33 28
+f 18 28 19
+f 18 26 27
+f 19 28 20
+f 22 29 24
+f 22 24 23
+f 24 29 30
+f 25 31 32
+f 25 32 26
+f 26 32 27
+f 27 32 34
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 33
+f 29 38 39
+f 29 39 30
+f 31 40 41
+f 31 41 32
+f 32 42 34
+f 32 41 42
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 38 41 40
+f 38 40 45
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 38 44 41
+f 41 44 42
+f 42 44 43
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_11.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.04293949 -0.02640935 0.02640748
+v -0.05060194 -0.02057865 0.02632655
+v -0.04861518 -0.02446742 0.02661388
+v -0.04663025 -0.02640935 0.02641152
+v -0.04293949 -0.02763267 0.02578423
+v -0.04293949 -0.02482303 0.02608777
+v -0.05060194 -0.02252468 0.02635893
+v -0.04893559 -0.02058193 0.02607159
+v -0.04893376 -0.02057865 0.02606754
+v -0.04812124 -0.02056877 0.01259889
+v -0.05136947 -0.02056877 0.01259889
+v -0.05179639 -0.02057864 0.02572354
+v -0.05078648 -0.02460754 0.02614038
+v -0.05024663 -0.02602588 0.02595016
+v -0.04869321 -0.02656831 0.02614442
+v -0.04663025 -0.02758105 0.02574376
+v -0.04464256 -0.02762284 0.02578423
+v -0.04293949 -0.02806694 0.02449321
+v -0.04293949 -0.02416834 0.02449322
+v -0.05179639 -0.02058192 0.02572354
+v -0.05177802 -0.02252467 0.02570735
+v -0.04815980 -0.02057864 0.02448918
+v -0.04802025 -0.02056874 0.00501468
+v -0.05209936 -0.02056867 -0.01251722
+v -0.05231878 -0.02057863 0.02254254
+v -0.05213149 -0.02057864 0.02449323
+v -0.05171008 -0.02405445 0.02562235
+v -0.05152095 -0.02520813 0.02449322
+v -0.05052665 -0.02635936 0.02449321
+v -0.04944238 -0.02733032 0.02449321
+v -0.04808268 -0.02749256 0.02562639
+v -0.04663025 -0.02792273 0.02449321
+v -0.04464256 -0.02803253 0.02449321
+v -0.04293949 -0.02832504 0.02254252
+v -0.04808451 -0.02057862 0.01864522
+v -0.04293949 -0.02474508 -0.00277593
+v -0.04802851 -0.02056870 -0.00472661
+v -0.04798720 -0.02056871 -0.00279211
+v -0.04797342 -0.02056872 -0.00084547
+v -0.04797342 -0.02056872 -0.00083333
+v -0.04798077 -0.02056872 0.00111331
+v -0.05213149 -0.02058192 0.02449323
+v -0.05203234 -0.02252467 0.02449323
+v -0.04799729 -0.02056873 0.00306400
+v -0.05209936 -0.02056867 -0.01445172
+v -0.05231878 -0.02058191 0.02254254
+v -0.05209936 -0.02058178 -0.01446791
+v -0.05177986 -0.02423799 0.02449322
+v -0.05165224 -0.02553342 0.02186263
+v -0.04975178 -0.02747125 0.02217424
+v -0.04844900 -0.02761137 0.02449321
+v -0.04880155 -0.02771296 0.02271250
+v -0.04663025 -0.02816526 0.02254252
+v -0.04464256 -0.02828407 0.02254252
+v -0.04293949 -0.02893372 -0.01084986
+v -0.04293949 -0.02483111 -0.00472662
+v -0.04294500 -0.02523175 -0.01473098
+v -0.04812124 -0.02056870 -0.00667730
+v -0.05219117 -0.02252466 0.02254254
+v -0.05209844 -0.02056867 -0.01446791
+v -0.05199470 -0.02252535 -0.01446791
+v -0.05204795 -0.02056867 -0.01473097
+v -0.05205713 -0.02087020 -0.01473097
+v -0.05183311 -0.02453132 0.02252635
+v -0.05165224 -0.02553342 0.02140126
+v -0.04978483 -0.02757681 -0.01473099
+v -0.04965446 -0.02764482 -0.01473099
+v -0.04876941 -0.02803157 -0.01473099
+v -0.04689466 -0.02861661 -0.01473100
+v -0.04663025 -0.02867724 -0.01446794
+v -0.04293949 -0.02893862 -0.01251725
+v -0.04293949 -0.02528174 -0.01457314
+v -0.04857386 -0.02056867 -0.01473097
+v -0.04293949 -0.02552263 -0.01473098
+v -0.05196715 -0.02252535 -0.01473097
+v -0.05194879 -0.02275641 -0.01473097
+v -0.05172753 -0.02387732 -0.01473098
+v -0.05139242 -0.02468441 -0.01473098
+v -0.05123359 -0.02505313 -0.01473098
+v -0.04986838 -0.02744817 -0.01473099
+v -0.04663025 -0.02865922 -0.01473100
+v -0.04490698 -0.02874115 -0.01473100
+v -0.04464256 -0.02877147 -0.01446794
+v -0.04293949 -0.02893616 -0.01280055
+v -0.04293949 -0.02863627 -0.01473100
+v -0.04293949 -0.02869035 -0.01446794
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 34
+f 1 34 55
+f 1 55 71
+f 1 71 84
+f 1 84 86
+f 1 86 85
+f 1 85 74
+f 1 74 72
+f 1 72 56
+f 1 56 36
+f 1 36 19
+f 1 19 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 7
+f 3 7 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 6 9 8
+f 6 19 9
+f 7 12 20
+f 7 20 21
+f 7 21 13
+f 9 19 22
+f 9 22 10
+f 10 22 23
+f 10 23 44
+f 10 44 41
+f 10 41 40
+f 10 40 39
+f 10 39 38
+f 10 38 37
+f 10 37 58
+f 10 58 73
+f 10 73 62
+f 10 62 60
+f 10 60 45
+f 10 45 24
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 42
+f 12 42 20
+f 13 21 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 18
+f 18 33 34
+f 19 35 22
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 35
+f 20 42 21
+f 21 42 43
+f 21 43 27
+f 22 35 23
+f 23 35 44
+f 24 45 25
+f 25 46 42
+f 25 42 26
+f 25 45 47
+f 25 47 46
+f 27 43 48
+f 27 48 28
+f 28 48 49
+f 28 49 29
+f 29 49 50
+f 29 50 30
+f 30 51 31
+f 30 50 52
+f 30 52 51
+f 31 51 32
+f 32 51 53
+f 32 53 54
+f 32 54 33
+f 33 54 34
+f 34 54 55
+f 35 41 44
+f 36 56 57
+f 36 57 58
+f 36 58 37
+f 42 46 43
+f 43 46 59
+f 43 59 48
+f 45 60 47
+f 46 47 61
+f 46 61 59
+f 47 60 62
+f 47 62 63
+f 47 63 61
+f 48 59 64
+f 48 64 49
+f 49 65 66
+f 49 66 50
+f 49 64 65
+f 50 66 67
+f 50 67 68
+f 50 68 69
+f 50 69 52
+f 51 52 53
+f 52 69 70
+f 52 70 53
+f 53 70 55
+f 53 55 54
+f 55 70 71
+f 56 72 57
+f 57 73 58
+f 57 72 74
+f 57 74 85
+f 57 85 82
+f 57 82 81
+f 57 81 69
+f 57 69 68
+f 57 68 67
+f 57 67 66
+f 57 66 80
+f 57 80 79
+f 57 79 78
+f 57 78 77
+f 57 77 76
+f 57 76 75
+f 57 75 63
+f 57 63 62
+f 57 62 73
+f 59 65 64
+f 59 61 65
+f 61 63 75
+f 61 75 76
+f 61 76 65
+f 65 76 77
+f 65 77 78
+f 65 78 79
+f 65 79 80
+f 65 80 66
+f 69 81 70
+f 70 81 82
+f 70 82 83
+f 70 83 84
+f 70 84 71
+f 82 85 86
+f 82 86 83
+f 83 86 84
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_12.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.05440706 -0.00733814 0.02663497
+v -0.05636590 -0.00748898 0.02663497
+v -0.05847045 -0.00750029 0.03219773
+v -0.05650003 -0.00741237 0.03219773
+v -0.05297218 -0.00734540 0.02663497
+v -0.05724304 -0.00871183 0.02663497
+v -0.05750454 -0.00807620 0.02761083
+v -0.05933118 -0.00863522 0.03219773
+v -0.05259103 -0.00832305 0.03219773
+v -0.05115808 -0.00737443 0.02663497
+v -0.05730286 -0.00892074 0.02663497
+v -0.05768112 -0.00937165 0.02717790
+v -0.05935820 -0.00892318 0.03219773
+v -0.05096991 -0.00899497 0.03219773
+v -0.05066209 -0.00786245 0.02663497
+v -0.05663223 -0.01077035 0.02663496
+v -0.05768112 -0.01008552 0.02717789
+v -0.05870011 -0.01053241 0.03219772
+v -0.05795227 -0.01042753 0.02839010
+v -0.05831509 -0.01071712 0.03033802
+v -0.05036200 -0.01086636 0.03219772
+v -0.04960355 -0.00996049 0.02663496
+v -0.05019313 -0.00841660 0.02663497
+v -0.05474382 -0.01263608 0.02663495
+v -0.05702303 -0.01168830 0.03033802
+v -0.05063990 -0.01557786 0.02663494
+v -0.05703171 -0.01130678 0.03219772
+v -0.05690434 -0.01139952 0.02839010
+v -0.05347974 -0.01376133 0.02663495
+v -0.05290270 -0.01422595 0.02663495
+v -0.05019602 -0.01468250 0.02663495
+v -0.04950126 -0.01280870 0.02663495
+v -0.04950609 -0.01181735 0.02663496
+v -0.04955337 -0.01086634 0.02663496
+v -0.05111079 -0.01219649 0.03219772
+v -0.05260357 -0.01441067 0.02663495
+v -0.05118992 -0.01222069 0.03219772
+v -0.05272612 -0.01236830 0.03219771
+v -0.05644213 -0.01155118 0.03219772
+v -0.05651643 -0.01153425 0.03219772
+v -0.05651547 -0.01154473 0.03217213
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 23
+f 1 23 22
+f 1 22 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 26
+f 1 26 36
+f 1 36 30
+f 1 30 29
+f 1 29 24
+f 1 24 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 13
+f 3 13 18
+f 3 18 27
+f 3 27 40
+f 3 40 39
+f 3 39 38
+f 3 38 37
+f 3 37 35
+f 3 35 21
+f 3 21 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 12 17 13
+f 13 17 19
+f 13 19 20
+f 13 20 18
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 16 24 17
+f 17 24 19
+f 18 25 26
+f 18 26 27
+f 18 20 25
+f 19 24 28
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 25
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 21 35 26
+f 21 26 31
+f 24 29 28
+f 25 36 26
+f 25 30 36
+f 26 35 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 40
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_13.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.05239805 -0.02152253 0.02254383
+v 0.05233710 -0.02252558 0.02254383
+v 0.05215605 -0.02058128 -0.01252053
+v 0.05215514 -0.02057565 -0.01252442
+v 0.05212239 -0.02057566 -0.01057748
+v 0.05172209 -0.02057575 0.01267311
+v 0.05220427 -0.02152254 0.02449077
+v 0.05214604 -0.02252559 0.02449077
+v 0.05190404 -0.02419386 0.02449076
+v 0.05197864 -0.02460730 0.02261765
+v 0.05188494 -0.02222703 -0.01317728
+v 0.05211420 -0.02058128 -0.01317728
+v 0.05211420 -0.02057565 -0.01317728
+v 0.05074226 -0.02152255 0.02629392
+v 0.05135272 -0.02152255 0.02598303
+v 0.05190677 -0.02152254 0.02568769
+v 0.05207690 -0.02152254 0.02505814
+v 0.04843962 -0.02057575 0.01267311
+v 0.05188403 -0.02252559 0.02566437
+v 0.05181580 -0.02386970 0.02557887
+v 0.05165749 -0.02516394 0.02449076
+v 0.05179214 -0.02553313 0.02201919
+v 0.05179214 -0.02553313 0.02140130
+v 0.05182762 -0.02255200 -0.01317728
+v 0.04877350 -0.02057565 -0.01317728
+v 0.04310378 -0.02616378 0.02635608
+v 0.04310378 -0.02640912 0.02640271
+v 0.04875349 -0.02446816 0.02652319
+v 0.05074226 -0.02252560 0.02627449
+v 0.04981429 -0.02152255 0.02615790
+v 0.04310378 -0.02482692 0.02608795
+v 0.04853514 -0.02057570 -0.00082723
+v 0.04310378 -0.02416651 0.02449076
+v 0.04813666 -0.02152254 0.02449077
+v 0.04844053 -0.02152254 0.02510865
+v 0.04890451 -0.02152255 0.02602189
+v 0.05089510 -0.02449793 0.02606852
+v 0.05033377 -0.02601336 0.02592472
+v 0.05048388 -0.02656113 0.02432364
+v 0.04989617 -0.02747650 0.02130414
+v 0.05101519 -0.02627235 0.02261764
+v 0.04986341 -0.02745558 0.02254381
+v 0.05013726 -0.02592795 -0.01317730
+v 0.05104157 -0.02446721 -0.01317729
+v 0.05164657 -0.02319791 -0.01317729
+v 0.04310469 -0.02466508 -0.01317729
+v 0.04858336 -0.02057568 -0.00472500
+v 0.04676927 -0.02640912 0.02641048
+v 0.04310378 -0.02744032 0.02587808
+v 0.04882172 -0.02656114 0.02612680
+v 0.04310378 -0.02472153 0.02583923
+v 0.04855425 -0.02057569 -0.00277806
+v 0.04310378 -0.02419305 0.02059299
+v 0.04820307 -0.02749340 0.02562937
+v 0.04952862 -0.02730920 0.02485992
+v 0.04975333 -0.02738481 0.02356196
+v 0.04875349 -0.02781112 0.02254381
+v 0.04676927 -0.02825510 0.01475216
+v 0.04777002 -0.02738468 -0.00969535
+v 0.04877168 -0.02690205 -0.01317730
+v 0.04961959 -0.02630681 -0.01317730
+v 0.04310469 -0.02800726 -0.01317730
+v 0.04310378 -0.02541808 0.01267310
+v 0.04310378 -0.02531029 0.01315886
+v 0.04310378 -0.02461613 0.01639599
+v 0.04310378 -0.02420913 0.01864605
+v 0.04310378 -0.02762854 0.02578093
+v 0.04478232 -0.02761888 0.02578093
+v 0.04676927 -0.02757866 0.02574596
+v 0.04676927 -0.02792213 0.02449075
+v 0.04882172 -0.02757062 0.02432364
+v 0.04676927 -0.02817711 0.02254381
+v 0.04478232 -0.02865327 0.01280132
+v 0.04478232 -0.02864924 0.01267308
+v 0.04478141 -0.02858971 0.01085438
+v 0.04478141 -0.02784720 -0.01056973
+v 0.04310469 -0.02806277 -0.01221744
+v 0.04762264 -0.02735492 -0.01099331
+v 0.04682113 -0.02735491 -0.01317730
+v 0.04310378 -0.02869268 0.01267308
+v 0.04310378 -0.02799211 0.02469282
+v 0.04310378 -0.02805566 0.02449075
+v 0.04478232 -0.02802268 0.02449075
+v 0.04478232 -0.02828570 0.02254381
+v 0.04464949 -0.02866453 0.01267308
+v 0.04310469 -0.02873610 0.00920667
+v 0.04310469 -0.02879322 0.01115750
+v 0.04310378 -0.02831546 0.02254381
+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 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 25
+f 4 25 47
+f 4 47 52
+f 4 52 32
+f 4 32 18
+f 4 18 6
+f 4 6 5
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 6 18 14
+f 7 17 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 21 10
+f 9 20 21
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 10 21 22
+f 11 24 45
+f 11 45 44
+f 11 44 43
+f 11 43 61
+f 11 61 60
+f 11 60 79
+f 11 79 62
+f 11 62 46
+f 11 46 25
+f 11 25 13
+f 11 13 12
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 14 18 30
+f 14 30 31
+f 14 31 26
+f 15 29 16
+f 16 19 17
+f 16 29 19
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 30
+f 19 29 37
+f 19 37 20
+f 20 37 38
+f 20 38 21
+f 21 38 39
+f 21 39 22
+f 22 40 23
+f 22 39 41
+f 22 41 42
+f 22 42 40
+f 23 40 43
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 25 46 47
+f 26 31 51
+f 26 51 33
+f 26 33 53
+f 26 53 66
+f 26 66 65
+f 26 65 64
+f 26 64 63
+f 26 63 80
+f 26 80 88
+f 26 88 82
+f 26 82 81
+f 26 81 67
+f 26 67 49
+f 26 49 27
+f 27 48 28
+f 27 49 48
+f 28 48 50
+f 28 50 38
+f 28 38 37
+f 28 37 29
+f 30 36 31
+f 31 36 51
+f 32 52 33
+f 33 51 36
+f 33 36 35
+f 33 35 34
+f 33 52 53
+f 38 50 54
+f 38 54 55
+f 38 55 39
+f 39 56 42
+f 39 42 41
+f 39 55 56
+f 40 42 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 43
+f 42 56 57
+f 46 62 80
+f 46 80 63
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 47 66 52
+f 48 49 67
+f 48 67 68
+f 48 68 69
+f 48 69 50
+f 50 69 54
+f 52 66 53
+f 54 69 70
+f 54 70 71
+f 54 71 55
+f 55 71 57
+f 55 57 56
+f 57 72 73
+f 57 73 58
+f 57 71 72
+f 58 73 59
+f 59 74 75
+f 59 75 76
+f 59 76 77
+f 59 77 78
+f 59 78 60
+f 59 73 74
+f 60 78 79
+f 62 79 78
+f 62 78 77
+f 62 77 80
+f 67 81 68
+f 68 81 82
+f 68 82 83
+f 68 83 69
+f 69 83 70
+f 70 83 84
+f 70 84 72
+f 70 72 71
+f 72 84 73
+f 73 84 85
+f 73 85 86
+f 73 86 74
+f 74 86 77
+f 74 77 75
+f 75 77 76
+f 77 86 80
+f 80 86 87
+f 80 87 88
+f 82 88 84
+f 82 84 83
+f 84 88 87
+f 84 87 85
+f 85 87 86
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_14.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.05205693 -0.02086845 -0.01473159
+v -0.05191055 -0.02186929 -0.01563348
+v -0.05200338 -0.02186930 -0.01473159
+v -0.05159369 0.00002520 -0.01473151
+v -0.05180969 -0.02186929 -0.01615322
+v -0.05088947 0.00002522 -0.01836721
+v -0.04819039 -0.02186930 -0.01473159
+v -0.04820377 0.00002520 -0.01473151
+v -0.05129380 -0.02186928 -0.01836729
+v -0.05066365 0.00002522 -0.01908021
+v -0.04293949 -0.02186929 -0.01764866
+v -0.04293949 -0.01891602 -0.01760737
+v -0.04293949 -0.01863741 -0.01760362
+v -0.04293949 -0.01697218 -0.01759860
+v -0.04293949 -0.01669356 -0.01759798
+v -0.04817789 -0.00892463 -0.01473154
+v -0.04293949 0.00002521 -0.01766171
+v -0.04818146 -0.00698078 -0.01473154
+v -0.04293949 -0.01475186 -0.01760234
+v -0.05039588 -0.02186928 -0.02021484
+v -0.05031734 0.00002522 -0.02017224
+v -0.04293949 -0.02186927 -0.02092097
+v -0.04293949 0.00002523 -0.02089900
+v -0.04921414 -0.02186927 -0.02081965
+v -0.04861524 0.00002523 -0.02106099
+v -0.04332507 -0.02186927 -0.02093911
+v -0.04662931 -0.02186927 -0.02108859
+v -0.04662931 0.00002523 -0.02106162
+v -0.04861524 -0.02186927 -0.02111986
+v -0.04729872 -0.02186927 -0.02110297
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 5 9
+f 2 9 20
+f 2 20 24
+f 2 24 29
+f 2 29 30
+f 2 30 27
+f 2 27 26
+f 2 26 22
+f 2 22 11
+f 2 11 7
+f 2 7 3
+f 2 4 6
+f 2 6 5
+f 4 8 17
+f 4 17 23
+f 4 23 28
+f 4 28 25
+f 4 25 21
+f 4 21 10
+f 4 10 6
+f 5 6 9
+f 6 10 9
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 18 15
+f 8 15 19
+f 8 19 17
+f 9 10 21
+f 9 21 20
+f 11 22 23
+f 11 23 17
+f 11 17 19
+f 11 19 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 15 18 16
+f 20 21 25
+f 20 25 24
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 24 25 29
+f 25 28 29
+f 27 30 28
+f 28 30 29
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_15.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.04293949 0.02665701 0.01260153
+v -0.04408322 0.02689466 0.01260153
+v -0.04293949 0.02335118 0.01260152
+v -0.04293949 0.02764477 0.00334054
+v -0.04515519 0.02710547 0.01260153
+v -0.04293949 0.02785242 0.00139264
+v -0.04851917 0.02027195 0.01260150
+v -0.04769067 0.02027206 -0.01631963
+v -0.04293949 0.02435638 -0.01631961
+v -0.04642883 0.02724364 0.01260153
+v -0.04293949 0.02802376 -0.00055525
+v -0.05181592 0.02027195 0.01260150
+v -0.05171236 0.02027206 -0.01631963
+v -0.04293949 0.02814067 -0.01631960
+v -0.04662960 0.02726417 0.01260153
+v -0.04293949 0.02814694 -0.00250031
+v -0.05170600 0.02166313 0.01260151
+v -0.05185317 0.02027196 0.01091408
+v -0.05178231 0.02216618 -0.01631962
+v -0.05180865 0.02027206 -0.01605633
+v -0.04464192 0.02824016 -0.01631960
+v -0.04293949 0.02833805 -0.01447080
+v -0.04804223 0.02719390 0.01260153
+v -0.04464192 0.02792191 0.00111235
+v -0.04464192 0.02801271 -0.00083554
+v -0.04293949 0.02820538 -0.00444821
+v -0.05188496 0.02027197 0.00896619
+v -0.05168965 0.02183367 0.01260151
+v -0.05221927 0.02027205 -0.01252011
+v -0.05166875 0.02317916 -0.01631961
+v -0.05180502 0.02216618 -0.01623752
+v -0.05213115 0.02027205 -0.01447083
+v -0.04662960 0.02820621 -0.01631960
+v -0.04464192 0.02827568 -0.01447080
+v -0.04820939 0.02717890 0.01260153
+v -0.04662960 0.02768030 0.00306308
+v -0.04662960 0.02760923 0.00501097
+v -0.04464192 0.02805535 -0.00278061
+v -0.05154339 0.02280481 0.01260151
+v -0.05198944 0.02216617 -0.01447082
+v -0.05157791 0.02387633 -0.01631961
+v -0.05171327 0.02352972 -0.01601101
+v -0.04862273 0.02778064 -0.01631960
+v -0.04920323 0.02684966 0.01260153
+v -0.05118455 0.02397571 0.01260152
+v -0.05171872 0.02351787 -0.01447081
+v -0.05145709 0.02418978 -0.01631961
+v -0.05134535 0.02448901 -0.01447081
+v -0.04868814 0.02775380 -0.01631960
+v -0.05010077 0.02597958 0.01260153
+v -0.04982097 0.02722480 -0.01631960
+v -0.05114185 0.02410914 0.01260152
+v -0.05065947 0.02605943 -0.01631960
+v -0.05020161 0.02587851 0.01260153
+v -0.05061586 0.02612259 -0.01631960
+v -0.05029972 0.02569455 0.01260152
+f 1 2 5
+f 1 5 10
+f 1 10 15
+f 1 15 23
+f 1 23 35
+f 1 35 44
+f 1 44 50
+f 1 50 54
+f 1 54 56
+f 1 56 52
+f 1 52 45
+f 1 45 39
+f 1 39 28
+f 1 28 17
+f 1 17 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 14
+f 1 14 22
+f 1 22 26
+f 1 26 16
+f 1 16 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 5 6 10
+f 6 11 10
+f 7 12 18
+f 7 18 27
+f 7 27 29
+f 7 29 32
+f 7 32 20
+f 7 20 13
+f 7 13 8
+f 8 13 19
+f 8 19 30
+f 8 30 41
+f 8 41 47
+f 8 47 53
+f 8 53 55
+f 8 55 51
+f 8 51 49
+f 8 49 43
+f 8 43 33
+f 8 33 21
+f 8 21 14
+f 8 14 9
+f 10 11 15
+f 11 16 15
+f 12 17 18
+f 13 20 19
+f 14 21 22
+f 15 16 24
+f 15 24 23
+f 16 25 24
+f 16 26 25
+f 17 27 18
+f 17 28 29
+f 17 29 27
+f 19 20 31
+f 19 31 30
+f 20 32 31
+f 21 33 22
+f 22 33 34
+f 22 34 26
+f 23 24 25
+f 23 25 35
+f 25 36 37
+f 25 37 35
+f 25 26 38
+f 25 38 33
+f 25 33 36
+f 26 34 33
+f 26 33 38
+f 28 39 40
+f 28 40 29
+f 29 40 32
+f 30 31 42
+f 30 42 41
+f 31 32 40
+f 31 40 42
+f 33 43 35
+f 33 35 36
+f 35 37 36
+f 35 43 44
+f 39 45 46
+f 39 46 40
+f 40 46 42
+f 41 42 47
+f 42 46 48
+f 42 48 47
+f 43 49 44
+f 44 49 51
+f 44 51 50
+f 45 52 46
+f 46 52 48
+f 47 48 53
+f 48 52 53
+f 50 51 54
+f 51 55 54
+f 52 56 53
+f 53 56 54
+f 53 54 55
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_16.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.05223399 0.02021818 -0.01057167
+v 0.05221611 0.02021819 -0.01252089
+v 0.05221611 0.02022322 -0.01252089
+v 0.05191672 0.02233211 -0.01247265
+v 0.05175674 0.02132821 0.01267435
+v 0.05187471 0.02022313 0.01085563
+v 0.05187471 0.02021810 0.01085563
+v 0.05203022 0.02021819 -0.01447012
+v 0.05203022 0.02022322 -0.01447012
+v 0.05186488 0.02234885 -0.01463184
+v 0.05175495 0.02319023 -0.01408990
+v 0.05175495 0.02319023 -0.01308833
+v 0.05159677 0.02230019 0.01267435
+v 0.05160928 0.02223573 0.01267435
+v 0.05183986 0.02022312 0.01267434
+v 0.05183986 0.02021809 0.01267434
+v 0.05180769 0.02021820 -0.01567881
+v 0.05180769 0.02022323 -0.01567881
+v 0.05179338 0.02182394 -0.01564475
+v 0.05173262 0.02311908 -0.01538939
+v 0.05136351 0.02400567 -0.01631151
+v 0.05132776 0.02409943 -0.01631151
+v 0.05144484 0.02394622 -0.01463183
+v 0.05113293 0.02410937 0.01267436
+v 0.04856439 0.02021809 0.01267434
+v 0.05180590 0.02021820 -0.01568448
+v 0.05159319 0.02224170 -0.01631152
+v 0.05159230 0.02232374 -0.01631152
+v 0.05158694 0.02237649 -0.01631152
+v 0.05057525 0.02592451 -0.01631150
+v 0.05027764 0.02584152 0.01267436
+v 0.04310467 0.02480591 0.01267436
+v 0.04768676 0.02021820 -0.01631153
+v 0.05160303 0.02021820 -0.01631153
+v 0.05160303 0.02022323 -0.01631153
+v 0.05050644 0.02606097 -0.01631150
+v 0.04950994 0.02674820 0.01267437
+v 0.04987190 0.02707733 -0.01631150
+v 0.04984508 0.02712002 -0.01631150
+v 0.04310467 0.02805171 0.01267437
+v 0.04310467 0.02468798 -0.01631151
+v 0.04945364 0.02681350 0.01267437
+v 0.04876458 0.02778894 -0.01631150
+v 0.04406452 0.02802492 0.01267437
+v 0.04310467 0.02811869 0.01085566
+v 0.04310467 0.02851730 -0.01631150
+v 0.04938750 0.02685034 0.01267437
+v 0.04864482 0.02783917 -0.01631150
+v 0.04846072 0.02733591 0.01267437
+v 0.04478128 0.02800483 0.01267437
+v 0.04310467 0.02817145 0.00890644
+v 0.04310467 0.02875003 -0.01477367
+v 0.04467136 0.02861274 -0.01631149
+v 0.04676802 0.02850725 -0.01631150
+v 0.04676802 0.02780139 0.01267437
+v 0.04478128 0.02873161 -0.01447008
+v 0.04310467 0.02877012 -0.01447008
+v 0.04478128 0.02861023 -0.01631149
+v 0.04665898 0.02852400 -0.01631150
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 25
+f 1 25 33
+f 1 33 34
+f 1 34 26
+f 1 26 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 13
+f 5 13 24
+f 5 24 31
+f 5 31 37
+f 5 37 42
+f 5 42 47
+f 5 47 49
+f 5 49 55
+f 5 55 50
+f 5 50 44
+f 5 44 40
+f 5 40 32
+f 5 32 25
+f 5 25 16
+f 5 16 15
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 20
+f 20 28 29
+f 20 29 21
+f 21 29 28
+f 21 28 27
+f 21 27 35
+f 21 35 34
+f 21 34 33
+f 21 33 41
+f 21 41 46
+f 21 46 53
+f 21 53 58
+f 21 58 59
+f 21 59 54
+f 21 54 48
+f 21 48 43
+f 21 43 39
+f 21 39 38
+f 21 38 36
+f 21 36 30
+f 21 30 22
+f 22 30 23
+f 23 30 24
+f 24 30 31
+f 25 32 33
+f 26 34 35
+f 26 35 27
+f 30 36 31
+f 31 36 38
+f 31 38 39
+f 31 39 37
+f 32 40 45
+f 32 45 51
+f 32 51 57
+f 32 57 52
+f 32 52 46
+f 32 46 41
+f 32 41 33
+f 37 39 42
+f 39 43 42
+f 40 44 45
+f 42 43 47
+f 43 48 49
+f 43 49 47
+f 44 50 45
+f 45 50 51
+f 46 52 53
+f 48 54 49
+f 49 54 55
+f 50 55 56
+f 50 56 51
+f 51 56 57
+f 52 57 53
+f 53 57 58
+f 54 59 55
+f 55 59 56
+f 56 59 58
+f 56 58 57
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_17.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05074067 0.01558627 0.02656000
+v 0.05014370 0.01437447 0.02655999
+v 0.05267532 0.01447324 0.02655999
+v 0.05074244 0.02072596 0.02636156
+v 0.04959699 0.01245041 0.02655999
+v 0.04902560 0.02072596 0.02611824
+v 0.05394598 0.01363182 0.02655999
+v 0.05192845 0.02072597 0.02571043
+v 0.05399007 0.01360143 0.02655999
+v 0.05571044 0.01198317 0.02655998
+v 0.05690350 0.01075998 0.02655998
+v 0.04960581 0.01138677 0.02655998
+v 0.04822669 0.02072597 0.02449246
+v 0.04918961 0.00132392 0.02604611
+v 0.05225382 0.02072597 0.02449246
+v 0.05709308 0.01044278 0.02655998
+v 0.04961286 0.00132392 0.02614942
+v 0.05074244 0.00132392 0.02642401
+v 0.04998586 0.00961086 0.02655998
+v 0.04817643 0.02072598 0.02056125
+v 0.04840746 0.00132395 0.01864993
+v 0.04856265 0.00132393 0.02449238
+v 0.04873372 0.00132393 0.02491650
+v 0.05244518 0.02072598 0.02254453
+v 0.05716892 0.00866877 0.02655997
+v 0.05255275 0.01257962 0.01267432
+v 0.05180147 0.02072601 0.01267435
+v 0.05110221 0.00132392 0.02626632
+v 0.05610548 0.00736011 0.02655997
+v 0.05322644 0.00712079 0.02655997
+v 0.05115247 0.00700303 0.02655997
+v 0.04816056 0.02072599 0.01866225
+v 0.04844185 0.00132396 0.01670064
+v 0.05258714 0.00856626 0.01267430
+v 0.05259331 0.01050931 0.01267431
+v 0.05259155 0.01063847 0.01267431
+v 0.05255540 0.01245046 0.01267432
+v 0.05712307 0.00860609 0.02655997
+v 0.05206071 0.00132393 0.02584493
+v 0.05218681 0.00132393 0.02547655
+v 0.05252189 0.00132393 0.02449238
+v 0.05256245 0.00132393 0.02396224
+v 0.05267091 0.00132394 0.02254445
+v 0.05209069 0.00132397 0.01267427
+v 0.04844538 0.02072601 0.01267435
+v 0.04844449 0.02072601 0.01268794
+v 0.04862879 0.00132397 0.01475270
+v 0.04883072 0.00132397 0.01267427
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 31
+f 1 31 30
+f 1 30 29
+f 1 29 38
+f 1 38 25
+f 1 25 16
+f 1 16 11
+f 1 11 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 8 15
+f 4 15 24
+f 4 24 27
+f 4 27 45
+f 4 45 46
+f 4 46 32
+f 4 32 20
+f 4 20 13
+f 4 13 6
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 8
+f 5 6 12
+f 6 13 14
+f 6 14 12
+f 8 11 16
+f 8 16 15
+f 12 14 17
+f 12 17 18
+f 12 18 19
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 22
+f 14 22 21
+f 14 21 33
+f 14 33 47
+f 14 47 48
+f 14 48 44
+f 14 44 43
+f 14 43 42
+f 14 42 41
+f 14 41 40
+f 14 40 39
+f 14 39 28
+f 14 28 18
+f 14 18 17
+f 15 16 24
+f 16 25 26
+f 16 26 27
+f 16 27 24
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 20 32 21
+f 21 32 33
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 34
+f 26 37 36
+f 26 36 35
+f 26 35 34
+f 26 34 44
+f 26 44 48
+f 26 48 45
+f 26 45 27
+f 28 39 29
+f 29 39 38
+f 32 46 33
+f 33 46 45
+f 33 45 47
+f 45 48 47
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_18.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.05074102 0.01558652 0.02656173
+v 0.05267612 0.01447390 0.02656172
+v 0.05014388 0.01437558 0.02656172
+v 0.05091702 0.01261167 0.03038337
+v 0.05098437 0.01270579 0.03038337
+v 0.05152404 0.01355959 0.02985661
+v 0.05284494 0.01331084 0.03038337
+v 0.05293473 0.01329068 0.03038337
+v 0.05471628 0.01275285 0.03038337
+v 0.05670346 0.01212427 0.03038336
+v 0.05800549 0.01167973 0.03038336
+v 0.05800729 0.01168141 0.03033810
+v 0.05394673 0.01363187 0.02656172
+v 0.05783219 0.01158308 0.02905935
+v 0.04959613 0.01245034 0.02656172
+v 0.05097180 0.01041668 0.03038336
+v 0.04960600 0.01138645 0.02656171
+v 0.05803333 0.01165115 0.03038336
+v 0.05876876 0.01050660 0.03038336
+v 0.05876158 0.01050744 0.03033810
+v 0.05399073 0.01360246 0.02656172
+v 0.05809440 0.01051669 0.02840202
+v 0.05745236 0.01116964 0.02776077
+v 0.05115229 0.00700235 0.02656170
+v 0.05097898 0.01041164 0.03038336
+v 0.04998584 0.00960995 0.02656171
+v 0.05876607 0.01045365 0.03038336
+v 0.05783039 0.00925532 0.02715917
+v 0.05783039 0.00987466 0.02715918
+v 0.05571122 0.01198394 0.02656171
+v 0.05690370 0.01075871 0.02656171
+v 0.05274706 0.00930153 0.03038335
+v 0.05322747 0.00712084 0.02656170
+v 0.05600126 0.00746874 0.02783820
+v 0.05669987 0.00804857 0.03038335
+v 0.05471628 0.00860572 0.03038335
+v 0.05846346 0.00873850 0.03038335
+v 0.05809260 0.00896624 0.02839003
+v 0.05716860 0.00866792 0.02656170
+v 0.05709317 0.01044190 0.02656171
+v 0.05610542 0.00735865 0.02656170
+v 0.05675913 0.00806202 0.03038335
+v 0.05712280 0.00860657 0.02656170
+f 1 2 13
+f 1 13 21
+f 1 21 30
+f 1 30 31
+f 1 31 40
+f 1 40 39
+f 1 39 43
+f 1 43 41
+f 1 41 33
+f 1 33 24
+f 1 24 26
+f 1 26 17
+f 1 17 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 14
+f 2 14 13
+f 3 15 4
+f 4 16 25
+f 4 25 32
+f 4 32 36
+f 4 36 35
+f 4 35 42
+f 4 42 37
+f 4 37 27
+f 4 27 19
+f 4 19 18
+f 4 18 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 5
+f 4 15 17
+f 4 17 16
+f 5 7 6
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 14
+f 13 14 21
+f 14 20 22
+f 14 22 23
+f 14 23 21
+f 16 24 25
+f 16 17 26
+f 16 26 24
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 22
+f 21 23 30
+f 22 29 23
+f 23 29 31
+f 23 31 30
+f 24 32 25
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 32
+f 27 37 38
+f 27 38 28
+f 28 39 29
+f 28 38 39
+f 29 39 40
+f 29 40 31
+f 33 41 34
+f 34 41 42
+f 34 42 35
+f 37 42 41
+f 37 41 38
+f 38 41 43
+f 38 43 39
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_19.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.05060148 0.01526730 0.02663368
+v -0.05270752 0.01435322 0.02663367
+v -0.05013326 0.01492329 0.02663367
+v -0.05060331 0.02022300 0.02636445
+v -0.05378166 0.01360623 0.02663367
+v -0.04952366 0.01333495 0.02663367
+v -0.04890122 0.02022104 0.02610757
+v -0.04890122 0.02022300 0.02610620
+v -0.05180231 0.02022301 0.02572431
+v -0.05680027 0.01078928 0.02663366
+v -0.05593820 0.01167191 0.02663366
+v -0.04950530 0.01245036 0.02663367
+v -0.04813279 0.02022105 0.02449349
+v -0.04899302 0.00014072 0.02606767
+v -0.04813279 0.02022301 0.02449212
+v -0.05214934 0.02022301 0.02449349
+v -0.05706559 0.01037058 0.02663366
+v -0.04990466 0.01048459 0.02663366
+v -0.05060331 0.00014072 0.02638773
+v -0.04796295 0.02022302 0.02059635
+v -0.04830722 0.00014073 0.02449342
+v -0.04780779 0.00079340 0.01670188
+v -0.04779311 0.00273557 0.01670189
+v -0.04778301 0.00467972 0.01670190
+v -0.05233479 0.02022302 0.02254423
+v -0.05715189 0.00890411 0.02663365
+v -0.05182067 0.02022305 0.01260150
+v -0.05058220 0.00899847 0.02663365
+v -0.05186382 0.00014073 0.02578743
+v -0.05114956 0.00854241 0.02663365
+v -0.05256981 0.00791533 0.02663365
+v -0.05460058 0.00725090 0.02663365
+v -0.05598594 0.00734919 0.02663365
+v -0.05605664 0.00739244 0.02663365
+v -0.04788124 0.01633474 0.01864983
+v -0.04791888 0.01827889 0.01864984
+v -0.04798039 0.02022303 0.01864846
+v -0.04781606 0.00014076 0.01670188
+v -0.04779402 0.00273558 0.01475263
+v -0.04777291 0.00467973 0.01475264
+v -0.04778943 0.00662190 0.01670190
+v -0.05715189 0.00874095 0.02663365
+v -0.05201346 0.01245237 0.01260148
+v -0.05214199 0.01050626 0.01288994
+v -0.04853491 0.02022305 0.01260150
+v -0.05200428 0.00014073 0.02535335
+v -0.04778760 0.00662191 0.01475264
+v -0.04788308 0.00662191 0.01280476
+v -0.04794550 0.00856605 0.01280477
+v -0.04795744 0.00856605 0.01260146
+v -0.04782708 0.00014076 0.01540650
+v -0.04782432 0.00079341 0.01475262
+v -0.04789593 0.00273558 0.01280475
+v -0.04787206 0.00467973 0.01280476
+v -0.05214291 0.00856605 0.01296549
+v -0.05127442 0.00014077 0.01260143
+v -0.05229072 0.00014074 0.02059628
+v -0.05240089 0.00014074 0.02189166
+v -0.05245505 0.00014074 0.02254416
+v -0.05228154 0.00014073 0.02449342
+v -0.05196389 0.01050626 0.01260147
+v -0.04789501 0.00662191 0.01260145
+v -0.04790144 0.00682438 0.01260146
+v -0.04783809 0.00014077 0.01475262
+v -0.04791154 0.00014077 0.01345861
+v -0.04793541 0.00079341 0.01280474
+v -0.04790786 0.00273558 0.01260144
+v -0.04788399 0.00467973 0.01260145
+v -0.05189871 0.00856605 0.01260146
+v -0.04796295 0.00014077 0.01260143
+v -0.04794734 0.00079341 0.01260143
+f 1 2 5
+f 1 5 11
+f 1 11 10
+f 1 10 17
+f 1 17 26
+f 1 26 42
+f 1 42 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 28
+f 1 28 18
+f 1 18 12
+f 1 12 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 4 8 15
+f 4 15 20
+f 4 20 37
+f 4 37 45
+f 4 45 27
+f 4 27 25
+f 4 25 16
+f 4 16 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 7
+f 7 13 15
+f 7 15 8
+f 7 12 14
+f 7 14 13
+f 9 16 17
+f 9 17 10
+f 12 18 19
+f 12 19 14
+f 13 20 15
+f 13 14 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 20
+f 14 19 29
+f 14 29 46
+f 14 46 60
+f 14 60 59
+f 14 59 58
+f 14 58 57
+f 14 57 56
+f 14 56 70
+f 14 70 65
+f 14 65 64
+f 14 64 51
+f 14 51 38
+f 14 38 21
+f 16 25 17
+f 17 25 27
+f 17 27 26
+f 18 28 19
+f 19 28 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 29
+f 20 35 36
+f 20 36 37
+f 20 24 35
+f 21 38 22
+f 22 39 40
+f 22 40 23
+f 22 38 39
+f 23 40 24
+f 24 40 41
+f 24 41 35
+f 26 27 43
+f 26 43 44
+f 26 44 42
+f 27 45 50
+f 27 50 63
+f 27 63 62
+f 27 62 68
+f 27 68 67
+f 27 67 71
+f 27 71 70
+f 27 70 56
+f 27 56 69
+f 27 69 61
+f 27 61 43
+f 29 34 42
+f 29 42 46
+f 35 41 47
+f 35 47 36
+f 36 47 48
+f 36 48 37
+f 37 48 49
+f 37 49 50
+f 37 50 45
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 40
+f 40 48 47
+f 40 47 41
+f 40 54 48
+f 42 44 55
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 59
+f 42 59 60
+f 42 60 46
+f 43 61 55
+f 43 55 44
+f 48 62 63
+f 48 63 49
+f 48 54 68
+f 48 68 62
+f 49 63 50
+f 51 64 52
+f 52 64 65
+f 52 65 66
+f 52 66 53
+f 53 67 68
+f 53 68 54
+f 53 66 71
+f 53 71 67
+f 55 61 69
+f 55 69 56
+f 65 70 71
+f 65 71 66
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_2.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.04293948 -0.02872423 -0.01425078
+v -0.04293948 -0.02893653 -0.01280196
+v -0.04293948 -0.02538994 -0.01425076
+v -0.01063682 -0.02841218 -0.01425077
+v -0.00688804 -0.02867509 -0.01251936
+v -0.00887616 -0.02869278 -0.01251936
+v -0.04265306 -0.02896405 -0.01251936
+v -0.04293948 -0.02893898 -0.01251936
+v -0.04293948 -0.02483172 -0.00472597
+v -0.04044592 -0.02522237 -0.01425076
+v -0.00864870 -0.02839154 -0.01425077
+v -0.00489993 -0.02865543 -0.01251936
+v -0.04066495 -0.02910116 -0.01057301
+v -0.04265306 -0.02895865 -0.01057301
+v -0.04293948 -0.02893457 -0.01085163
+v -0.04293948 -0.02474475 -0.00277962
+v -0.03867683 -0.02514816 -0.01425076
+v -0.00666480 -0.02836894 -0.01425077
+v -0.00291181 -0.02863332 -0.01251936
+v 0.00009142 -0.02869672 -0.01057301
+v -0.00092791 -0.02870753 -0.01057301
+v -0.03867683 -0.02916211 -0.00862268
+v -0.04293948 -0.02832533 0.02254285
+v -0.03669293 -0.02511622 -0.01425076
+v -0.04293948 -0.02416743 0.02449320
+v 0.00009142 -0.02414228 -0.00083327
+v -0.00467668 -0.02834535 -0.01425077
+v -0.00291181 -0.02832225 -0.01425077
+v -0.00092791 -0.02860383 -0.01251936
+v 0.00009142 -0.02864562 -0.01152430
+v 0.00009142 -0.02877001 0.00890643
+v -0.00092791 -0.02878623 0.00890643
+v -0.03669293 -0.02915720 -0.00667633
+v -0.04265306 -0.02833172 0.02254285
+v -0.04293948 -0.02806734 0.02449319
+v 0.00009142 -0.02488575 -0.01425076
+v -0.04293948 -0.02482398 0.02608928
+v -0.04265306 -0.02482349 0.02608928
+v 0.00009142 -0.02422443 0.02449320
+v 0.00009142 -0.02419640 0.01864618
+v -0.00268857 -0.02831881 -0.01425077
+v -0.00092791 -0.02828687 -0.01425077
+v -0.00070045 -0.02828245 -0.01425077
+v 0.00009142 -0.02858221 -0.01251935
+v 0.00009142 -0.02840248 0.02254285
+v -0.00092791 -0.02840199 0.02254285
+v -0.00887616 -0.02839511 0.02254285
+v -0.03669293 -0.02836661 0.02254285
+v -0.03867683 -0.02836415 0.02254285
+v -0.03470481 -0.02910855 -0.00472599
+v -0.04066495 -0.02835481 0.02254285
+v -0.04265306 -0.02807324 0.02449319
+v -0.04293948 -0.02763293 0.02578677
+v 0.00009142 -0.02826181 -0.01425077
+v -0.04293948 -0.02641077 0.02640770
+v -0.04265306 -0.02641077 0.02641168
+v 0.00009142 -0.02641077 0.02635197
+v 0.00009142 -0.02562254 0.02618879
+v 0.00009142 -0.02486870 0.02602958
+v 0.00009142 -0.02453944 0.02524547
+v 0.00009142 -0.02840727 -0.01347462
+v 0.00009142 -0.02829389 0.02353792
+v 0.00009142 -0.02818725 0.02449319
+v -0.03867683 -0.02809683 0.02449319
+v -0.04066495 -0.02809142 0.02449319
+v -0.04293948 -0.02658474 0.02632013
+v -0.04265306 -0.02763440 0.02578677
+v 0.00009142 -0.02767126 0.02578677
+v 0.00009142 -0.02702554 0.02607733
+f 1 2 8
+f 1 8 15
+f 1 15 23
+f 1 23 35
+f 1 35 53
+f 1 53 66
+f 1 66 55
+f 1 55 37
+f 1 37 25
+f 1 25 16
+f 1 16 9
+f 1 9 3
+f 1 3 10
+f 1 10 17
+f 1 17 24
+f 1 24 36
+f 1 36 54
+f 1 54 43
+f 1 43 42
+f 1 42 41
+f 1 41 28
+f 1 28 27
+f 1 27 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 7
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 17
+f 9 17 10
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 22 23
+f 13 23 14
+f 13 21 22
+f 14 23 15
+f 16 24 17
+f 16 25 26
+f 16 26 24
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 44
+f 20 44 61
+f 20 61 54
+f 20 54 36
+f 20 36 26
+f 20 26 40
+f 20 40 39
+f 20 39 60
+f 20 60 59
+f 20 59 58
+f 20 58 57
+f 20 57 69
+f 20 69 68
+f 20 68 63
+f 20 63 62
+f 20 62 45
+f 20 45 31
+f 20 31 32
+f 20 32 33
+f 20 33 22
+f 20 22 21
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 24 26 36
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 33 50 49
+f 33 49 51
+f 33 51 34
+f 34 52 35
+f 34 51 52
+f 35 52 53
+f 37 55 56
+f 37 56 38
+f 38 56 57
+f 38 57 58
+f 38 58 59
+f 38 59 60
+f 38 60 39
+f 43 54 61
+f 43 61 44
+f 45 62 46
+f 46 62 47
+f 47 62 48
+f 48 62 63
+f 48 63 49
+f 49 64 65
+f 49 65 51
+f 49 63 64
+f 51 65 52
+f 52 65 53
+f 53 65 67
+f 53 67 56
+f 53 56 66
+f 55 66 56
+f 56 67 68
+f 56 68 69
+f 56 69 57
+f 63 68 67
+f 63 67 64
+f 64 67 65
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_20.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.04293949 -0.02186929 -0.01764859
+v -0.04293949 -0.02523257 -0.01473225
+v -0.04293949 -0.02186927 -0.02092127
+v -0.04819025 -0.02186930 -0.01473097
+v -0.04294481 -0.02523257 -0.01473098
+v -0.04293949 -0.02552322 -0.01473098
+v -0.04293949 -0.02418905 -0.02105735
+v -0.04332455 -0.02186927 -0.02093899
+v -0.05200366 -0.02186930 -0.01473097
+v -0.04293949 -0.02863688 -0.01473100
+v -0.04293949 -0.02446758 -0.02107318
+v -0.04662957 -0.02186927 -0.02108899
+v -0.05191050 -0.02186929 -0.01563347
+v -0.05181467 -0.02252459 -0.01622459
+v -0.05196817 -0.02252460 -0.01473097
+v -0.04293949 -0.02863285 -0.01475062
+v -0.04490741 -0.02874251 -0.01473100
+v -0.04662957 -0.02854538 -0.01641954
+v -0.04293949 -0.02640992 -0.02050675
+v -0.04464213 -0.02640992 -0.02065168
+v -0.04662957 -0.02640992 -0.02077003
+v -0.04662957 -0.02446758 -0.02119659
+v -0.04729856 -0.02186927 -0.02110291
+v -0.05180935 -0.02186929 -0.01615371
+v -0.05132668 -0.02252458 -0.01836693
+v -0.05119803 -0.02446759 -0.01836694
+v -0.05172417 -0.02388968 -0.01600752
+v -0.05194865 -0.02275536 -0.01473097
+v -0.04293949 -0.02755502 -0.01961311
+v -0.04662957 -0.02814304 -0.01836695
+v -0.04662957 -0.02866043 -0.01473100
+v -0.04861524 -0.02822513 -0.01641954
+v -0.04464213 -0.02763643 -0.01973336
+v -0.04662957 -0.02768891 -0.01981626
+v -0.04822574 -0.02758933 -0.01966690
+v -0.04877849 -0.02658486 -0.02024410
+v -0.04861524 -0.02446758 -0.02113203
+v -0.04861524 -0.02252457 -0.02113139
+v -0.04861524 -0.02186927 -0.02112000
+v -0.05129385 -0.02186928 -0.01836693
+v -0.05039596 -0.02186928 -0.02021433
+v -0.05039862 -0.02252458 -0.02021813
+v -0.05032764 -0.02446759 -0.02018143
+v -0.05004194 -0.02605403 -0.01987323
+v -0.05024335 -0.02658486 -0.01848909
+v -0.05064173 -0.02640994 -0.01641954
+v -0.05144025 -0.02450931 -0.01656193
+v -0.05139323 -0.02468425 -0.01473098
+v -0.05172772 -0.02387690 -0.01473098
+v -0.04877849 -0.02777031 -0.01848909
+v -0.04689486 -0.02861737 -0.01473100
+v -0.04876962 -0.02803205 -0.01473099
+v -0.04979617 -0.02759002 -0.01480630
+v -0.04982723 -0.02761827 -0.01641954
+v -0.04971366 -0.02748909 -0.01792139
+v -0.04955041 -0.02734982 -0.01921945
+v -0.04921414 -0.02186927 -0.02082001
+v -0.05123441 -0.02505428 -0.01473098
+v -0.04965510 -0.02764587 -0.01473099
+v -0.04986804 -0.02744874 -0.01473099
+v -0.04978553 -0.02757724 -0.01473099
+f 1 2 6
+f 1 6 10
+f 1 10 16
+f 1 16 29
+f 1 29 19
+f 1 19 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 12
+f 1 12 23
+f 1 23 39
+f 1 39 57
+f 1 57 41
+f 1 41 40
+f 1 40 24
+f 1 24 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 4 9 15
+f 4 15 28
+f 4 28 49
+f 4 49 48
+f 4 48 58
+f 4 58 60
+f 4 60 61
+f 4 61 59
+f 4 59 52
+f 4 52 51
+f 4 51 31
+f 4 31 17
+f 4 17 10
+f 4 10 6
+f 4 6 5
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 10 17 18
+f 10 18 16
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 16 18 30
+f 16 30 29
+f 17 31 18
+f 18 31 32
+f 18 32 30
+f 19 29 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 27 47 46
+f 27 46 48
+f 27 48 49
+f 27 49 28
+f 29 30 33
+f 30 32 50
+f 30 50 35
+f 30 35 34
+f 30 34 33
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 56
+f 32 56 50
+f 35 50 56
+f 35 56 36
+f 36 56 44
+f 36 44 37
+f 37 44 43
+f 37 43 42
+f 37 42 38
+f 38 42 57
+f 38 57 39
+f 41 57 42
+f 44 56 45
+f 45 56 55
+f 45 55 46
+f 46 54 53
+f 46 53 58
+f 46 58 48
+f 46 55 54
+f 52 59 53
+f 53 60 58
+f 53 59 61
+f 53 61 60
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_21.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05440587 -0.00733864 0.02663359
+v -0.05636559 -0.00748872 0.02663359
+v -0.05297091 -0.00734473 0.02663359
+v -0.05060345 0.00013869 0.02638773
+v -0.05724328 -0.00871162 0.02663359
+v -0.05186380 0.00013870 0.02578743
+v -0.05115793 -0.00737515 0.02663359
+v -0.04899388 0.00013869 0.02606767
+v -0.05066197 -0.00786188 0.02663359
+v -0.05019293 -0.00841756 0.02663359
+v -0.04960316 -0.00996088 0.02663358
+v -0.05730365 -0.00892253 0.02663359
+v -0.05200405 0.00013870 0.02535335
+v -0.05228175 0.00013870 0.02449342
+v -0.05245543 0.00013871 0.02254416
+v -0.05240064 0.00013871 0.02189166
+v -0.05229104 0.00013871 0.02059628
+v -0.05127496 0.00013874 0.01260143
+v -0.04830751 0.00013870 0.02449342
+v -0.04955301 -0.01086538 0.02663358
+v -0.04950657 -0.01181653 0.02663358
+v -0.04899202 -0.01086538 0.02615554
+v -0.04898459 -0.01280823 0.02615828
+v -0.04816170 -0.02057760 0.02448922
+v -0.05213965 -0.00892451 0.01285004
+v -0.05214244 -0.01086533 0.01284178
+v -0.05208857 -0.01280818 0.01285551
+v -0.05137062 -0.02057756 0.01260135
+v -0.05663215 -0.01077007 0.02663358
+v -0.04796294 0.00013874 0.01260143
+v -0.05184244 -0.00698166 0.01260140
+v -0.04781619 0.00013873 0.01670188
+v -0.04950099 -0.01280823 0.02663357
+v -0.04893537 -0.01863679 0.02609095
+v -0.04893537 -0.02057761 0.02607033
+v -0.04808646 -0.02057758 0.01864557
+v -0.05199290 -0.00892451 0.01260140
+v -0.05199569 -0.00941529 0.01260140
+v -0.05200126 -0.01086533 0.01260139
+v -0.05199848 -0.01135003 0.01260139
+v -0.05195296 -0.01280818 0.01260138
+v -0.04812269 -0.02057756 0.01260135
+v -0.05231983 -0.02057759 0.02254408
+v -0.05213315 -0.02057760 0.02449334
+v -0.05179879 -0.02057760 0.02572279
+v -0.05060345 -0.02057761 0.02632996
+v -0.05474302 -0.01263585 0.02663357
+v -0.04791185 0.00013874 0.01345861
+v -0.04783198 -0.00115109 0.01670188
+v -0.04782734 0.00013873 0.01540650
+v -0.05019572 -0.01468213 0.02663357
+v -0.04783755 0.00013874 0.01475262
+v -0.05063968 -0.01557649 0.02663356
+v -0.05260218 -0.01441038 0.02663357
+v -0.05290218 -0.01422583 0.02663357
+v -0.05347895 -0.01375938 0.02663357
+f 1 2 5
+f 1 5 12
+f 1 12 29
+f 1 29 47
+f 1 47 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 51
+f 1 51 33
+f 1 33 21
+f 1 21 20
+f 1 20 11
+f 1 11 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 8 19
+f 4 19 32
+f 4 32 50
+f 4 50 52
+f 4 52 48
+f 4 48 30
+f 4 30 18
+f 4 18 17
+f 4 17 16
+f 4 16 15
+f 4 15 14
+f 4 14 13
+f 4 13 6
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 8
+f 5 6 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 12
+f 8 11 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 19
+f 12 18 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 18 30 42
+f 18 42 28
+f 18 28 41
+f 18 41 40
+f 18 40 39
+f 18 39 38
+f 18 38 37
+f 18 37 31
+f 18 31 25
+f 19 24 32
+f 21 33 22
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 46
+f 24 46 45
+f 24 45 44
+f 24 44 43
+f 24 43 28
+f 24 28 42
+f 24 42 36
+f 24 36 32
+f 25 37 38
+f 25 38 26
+f 25 31 37
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 28
+f 28 43 29
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 30 48 42
+f 32 49 50
+f 32 36 49
+f 33 51 35
+f 33 35 34
+f 35 51 46
+f 36 42 49
+f 42 48 52
+f 42 52 50
+f 42 50 49
+f 46 51 53
+f 46 53 54
+f 46 54 55
+f 46 55 56
+f 46 56 47
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_22.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.04310378 -0.02073806 -0.02087116
+v 0.04676835 -0.02073806 -0.02106300
+v 0.04310378 -0.02073808 -0.01763858
+v 0.04310378 0.00009175 -0.02089593
+v 0.04875471 -0.02073806 -0.02111193
+v 0.04676835 0.00009175 -0.02105438
+v 0.04872880 -0.02073809 -0.01317728
+v 0.04310378 -0.01863798 -0.01760517
+v 0.04310378 0.00009173 -0.01765947
+v 0.05053921 -0.02057904 -0.02021719
+v 0.05053921 -0.02073807 -0.02021719
+v 0.04748465 0.00009175 -0.02106525
+v 0.04875471 -0.00115201 -0.02108544
+v 0.05053295 0.00009174 -0.02019924
+v 0.04310378 -0.01833417 -0.01760440
+v 0.05208792 -0.02073809 -0.01317728
+v 0.04876542 -0.01280866 -0.01317725
+v 0.04310378 -0.01444796 -0.01760515
+v 0.04310378 -0.01475176 -0.01760438
+v 0.04310378 -0.01639107 -0.01760050
+v 0.04310378 -0.01669487 -0.01760050
+v 0.04877971 -0.01086555 -0.01317724
+v 0.04892619 0.00009172 -0.01317720
+v 0.05060441 -0.02073807 -0.02006729
+v 0.04875471 0.00009175 -0.02108311
+v 0.04939598 0.00009175 -0.02076467
+v 0.05120638 0.00009174 -0.01836703
+v 0.05130195 -0.02073807 -0.01836711
+v 0.05201736 -0.02073809 -0.01447125
+v 0.05211471 -0.02057906 -0.01317728
+v 0.05222636 0.00009172 -0.01317720
+v 0.05202093 0.00009172 -0.01447117
+v 0.05182355 -0.02057905 -0.01572405
+v 0.05182087 -0.02073808 -0.01571861
+v 0.05203165 -0.02057906 -0.01447125
+v 0.05218706 -0.01863799 -0.01317727
+v 0.05213347 0.00009172 -0.01376904
+v 0.05222725 -0.00049958 -0.01317720
+v 0.05222725 -0.00115204 -0.01317720
+f 1 2 5
+f 1 5 11
+f 1 11 24
+f 1 24 28
+f 1 28 34
+f 1 34 29
+f 1 29 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 23
+f 4 23 31
+f 4 31 37
+f 4 37 32
+f 4 32 27
+f 4 27 14
+f 4 14 26
+f 4 26 25
+f 4 25 12
+f 4 12 6
+f 5 10 11
+f 5 6 12
+f 5 12 13
+f 5 13 14
+f 5 14 10
+f 7 15 8
+f 7 16 30
+f 7 30 36
+f 7 36 39
+f 7 39 38
+f 7 38 31
+f 7 31 23
+f 7 23 22
+f 7 22 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 15
+f 9 22 23
+f 9 18 17
+f 9 17 22
+f 10 24 11
+f 10 14 24
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 14 27 28
+f 14 28 24
+f 16 29 30
+f 27 32 28
+f 28 33 34
+f 28 32 33
+f 29 34 35
+f 29 35 30
+f 30 35 36
+f 31 38 37
+f 32 37 35
+f 32 35 33
+f 33 35 34
+f 35 37 38
+f 35 38 39
+f 35 39 36
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_23.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.04877509 -0.02057565 -0.01317728
+v 0.04876615 -0.01280718 -0.01317725
+v 0.05211454 -0.02057565 -0.01317728
+v 0.04858432 -0.02057568 -0.00472798
+v 0.04878079 -0.01086506 -0.01317724
+v 0.04855545 -0.02057569 -0.00277951
+v 0.05218735 -0.01863758 -0.01317727
+v 0.05226911 -0.01863758 -0.01252188
+v 0.05215644 -0.02057565 -0.01252695
+v 0.04892681 0.00009171 -0.01317720
+v 0.04853674 -0.02057570 -0.00083103
+v 0.05222803 -0.00115245 -0.01317720
+v 0.05233257 -0.00115245 -0.01252181
+v 0.05246639 -0.00115246 -0.01057333
+v 0.05245785 -0.00309458 -0.01057334
+v 0.05235250 -0.01669345 -0.01057339
+v 0.05232280 -0.01863759 -0.01057340
+v 0.05212349 -0.02057566 -0.01057847
+v 0.05222681 0.00009171 -0.01317720
+v 0.04844074 -0.02057575 0.01267419
+v 0.04883773 0.00009161 0.01267427
+v 0.05222803 -0.00049901 -0.01317720
+v 0.05232972 0.00009171 -0.01252181
+v 0.05237812 0.00009170 -0.01181833
+v 0.05246069 0.00009170 -0.01057333
+v 0.05247208 0.00009170 -0.00986986
+v 0.05249771 -0.00115247 -0.00862486
+v 0.05249120 -0.00309459 -0.00862487
+v 0.05258557 -0.01073569 0.01267423
+v 0.05258313 -0.01086516 0.01267423
+v 0.05252781 -0.01280728 0.01267422
+v 0.05179321 -0.02020148 0.01085478
+v 0.05172243 -0.02057575 0.01267419
+v 0.05209746 0.00009161 0.01267427
+v 0.05248957 0.00009169 -0.00862486
+v 0.05259614 -0.00879357 0.01267424
+v 0.05219427 0.00009162 0.01151024
+v 0.05241392 0.00009163 0.00695790
+v 0.05236226 0.00009163 0.00890637
+v 0.05224878 0.00009162 0.01085485
+f 1 2 5
+f 1 5 10
+f 1 10 19
+f 1 19 22
+f 1 22 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 33
+f 1 33 20
+f 1 20 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 5 6 11
+f 5 11 10
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 11 20
+f 10 20 21
+f 10 21 34
+f 10 34 37
+f 10 37 40
+f 10 40 39
+f 10 39 38
+f 10 38 35
+f 10 35 26
+f 10 26 25
+f 10 25 24
+f 10 24 23
+f 10 23 19
+f 12 22 13
+f 13 23 24
+f 13 24 14
+f 13 22 19
+f 13 19 23
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 14 24 25
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 20 33 31
+f 20 31 30
+f 20 30 29
+f 20 29 36
+f 20 36 34
+f 20 34 21
+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 28 36 29
+f 31 33 32
+f 34 36 37
+f 35 38 36
+f 36 38 39
+f 36 39 40
+f 36 40 37
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_24.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.04765240 -0.02544756 -0.02129269
+v 0.04765240 -0.02536929 -0.02129269
+v 0.04778168 -0.02544756 -0.02129269
+v 0.04690133 -0.02622109 -0.02087565
+v 0.04478093 -0.02640967 -0.02069295
+v 0.04310466 -0.02640967 -0.02057141
+v 0.04310466 -0.02477010 -0.02102578
+v 0.04310466 -0.02446695 -0.02109569
+v 0.04875437 -0.02073806 -0.02111157
+v 0.04778168 -0.02536929 -0.02129269
+v 0.04676853 -0.02073806 -0.02106232
+v 0.04875437 -0.02252423 -0.02113937
+v 0.04856793 -0.02461995 -0.02116083
+v 0.05016504 -0.02602825 -0.01986361
+v 0.04871128 -0.02638549 -0.02040776
+v 0.04831640 -0.02757531 -0.01965310
+v 0.04676853 -0.02767636 -0.01981118
+v 0.04478093 -0.02764505 -0.01975955
+v 0.04310466 -0.02660252 -0.02042604
+v 0.04310466 -0.02073806 -0.02087087
+v 0.05053970 -0.02073807 -0.02021709
+v 0.05053794 -0.02252424 -0.02022186
+v 0.05045263 -0.02446696 -0.02017421
+v 0.05119842 -0.02446696 -0.01836699
+v 0.05039810 -0.02632927 -0.01836700
+v 0.04959603 -0.02730063 -0.01836700
+v 0.04860223 -0.02767992 -0.01836700
+v 0.04676853 -0.02796671 -0.01836700
+v 0.04478093 -0.02789341 -0.01836700
+v 0.04310466 -0.02758172 -0.01966184
+v 0.04310466 -0.02073808 -0.01763853
+v 0.05060478 -0.02073807 -0.02006775
+v 0.05134705 -0.02252424 -0.01836698
+v 0.05128285 -0.02446697 -0.01641996
+v 0.05180086 -0.02216061 -0.01567005
+v 0.05187034 -0.02237482 -0.01447133
+v 0.05170148 -0.02334689 -0.01447134
+v 0.05038051 -0.02626310 -0.01641997
+v 0.04948609 -0.02723517 -0.01641997
+v 0.04849317 -0.02764578 -0.01641997
+v 0.04676853 -0.02788203 -0.01641997
+v 0.04310466 -0.02800729 -0.01317730
+v 0.04310466 -0.02796246 -0.01444434
+v 0.04310466 -0.02788417 -0.01641997
+v 0.04310466 -0.02779378 -0.01836700
+v 0.04310466 -0.02762015 -0.01944497
+v 0.04310466 -0.02466481 -0.01317729
+v 0.04872887 -0.02073809 -0.01317728
+v 0.05130220 -0.02073807 -0.01836698
+v 0.05182109 -0.02073808 -0.01571851
+v 0.05119666 -0.02446698 -0.01447134
+v 0.05201721 -0.02073809 -0.01447133
+v 0.05208845 -0.02073809 -0.01317728
+v 0.05188529 -0.02222609 -0.01317728
+v 0.05182812 -0.02255201 -0.01317728
+v 0.05164695 -0.02319745 -0.01317729
+v 0.05013690 -0.02592794 -0.01317730
+v 0.05104275 -0.02446698 -0.01317729
+v 0.04961977 -0.02630723 -0.01317730
+v 0.04877196 -0.02690214 -0.01317730
+v 0.04817040 -0.02752908 -0.01487410
+v 0.04682042 -0.02735616 -0.01317730
+f 1 2 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 9 10
+f 2 8 11
+f 2 11 9
+f 3 10 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 30
+f 6 30 46
+f 6 46 45
+f 6 45 44
+f 6 44 43
+f 6 43 42
+f 6 42 47
+f 6 47 31
+f 6 31 20
+f 6 20 8
+f 6 8 7
+f 8 20 11
+f 9 21 12
+f 9 12 10
+f 9 11 20
+f 9 20 31
+f 9 31 48
+f 9 48 53
+f 9 53 52
+f 9 52 50
+f 9 50 49
+f 9 49 32
+f 9 32 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 16
+f 14 16 15
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 18
+f 18 29 30
+f 18 30 19
+f 18 28 29
+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 23 33 24
+f 24 34 25
+f 24 33 35
+f 24 35 36
+f 24 36 37
+f 24 37 34
+f 25 38 26
+f 25 34 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 28
+f 28 41 42
+f 28 42 29
+f 28 40 41
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 31 47 48
+f 32 49 33
+f 33 49 50
+f 33 50 35
+f 34 51 38
+f 34 37 51
+f 35 50 52
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 51
+f 38 57 39
+f 38 51 58
+f 38 58 57
+f 39 57 59
+f 39 59 60
+f 39 60 61
+f 39 61 40
+f 40 61 41
+f 41 61 42
+f 42 62 60
+f 42 60 59
+f 42 59 57
+f 42 57 58
+f 42 58 56
+f 42 56 55
+f 42 55 54
+f 42 54 53
+f 42 53 48
+f 42 48 47
+f 42 61 62
+f 51 56 58
+f 60 62 61
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_25.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05472307 -0.00720216 0.02655991
+v 0.05301779 -0.00724241 0.02655991
+v 0.05648132 -0.00747497 0.02655991
+v 0.05074257 0.00132202 0.02642401
+v 0.05077089 -0.00743472 0.02655991
+v 0.05657357 -0.00752417 0.02655991
+v 0.05110153 0.00132202 0.02626632
+v 0.04961364 0.00132202 0.02614942
+v 0.04966662 -0.01086497 0.02655990
+v 0.05020642 -0.00900897 0.02655991
+v 0.05735085 -0.00878088 0.02655991
+v 0.05206058 0.00132203 0.02584493
+v 0.04918983 0.00132202 0.02604611
+v 0.04961821 -0.01280818 0.02655989
+v 0.05737734 -0.00887033 0.02655991
+v 0.05209072 0.00132207 0.01267427
+v 0.05267163 0.00132204 0.02254445
+v 0.05252183 0.00132203 0.02449238
+v 0.05218662 0.00132203 0.02547655
+v 0.04873406 0.00132203 0.02491650
+v 0.04813762 -0.02152242 0.02449230
+v 0.04844269 -0.02152242 0.02511216
+v 0.04890577 -0.02152243 0.02602564
+v 0.04964926 -0.01382115 0.02655989
+v 0.05737734 -0.00893294 0.02655991
+v 0.05259673 -0.00879425 0.01267424
+v 0.04883088 0.00132207 0.01267427
+v 0.04856326 0.00132203 0.02449238
+v 0.04810383 -0.02152242 0.02318054
+v 0.04840707 0.00132205 0.01864993
+v 0.04981458 -0.02152243 0.02616021
+v 0.05018907 -0.01540434 0.02655988
+v 0.05662107 -0.01086720 0.02655990
+v 0.05239853 -0.02152241 0.02254437
+v 0.05160572 -0.02152238 0.01267419
+v 0.05167787 -0.02103043 0.01267419
+v 0.05252822 -0.01280813 0.01267422
+v 0.05258394 -0.01086492 0.01267423
+v 0.05258668 -0.01073522 0.01267423
+v 0.04862902 0.00132207 0.01475270
+v 0.04820247 -0.02152238 0.01267419
+v 0.04805725 -0.02152241 0.02059643
+v 0.04844178 0.00132206 0.01670064
+v 0.04804720 -0.02152240 0.01864985
+v 0.05074257 -0.02152243 0.02629479
+v 0.05076998 -0.01588287 0.02655988
+v 0.05661467 -0.01087391 0.02655990
+v 0.05135454 -0.02152243 0.02598622
+v 0.05190804 -0.02152242 0.02569124
+v 0.05207793 -0.02152242 0.02506187
+v 0.05220489 -0.02152242 0.02449230
+v 0.05230628 -0.02152242 0.02348775
+v 0.05470937 -0.01278805 0.02655989
+v 0.05293650 -0.01434217 0.02655989
+f 1 2 5
+f 1 5 10
+f 1 10 9
+f 1 9 14
+f 1 14 24
+f 1 24 32
+f 1 32 46
+f 1 46 54
+f 1 54 53
+f 1 53 47
+f 1 47 33
+f 1 33 25
+f 1 25 15
+f 1 15 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 12
+f 4 12 19
+f 4 19 18
+f 4 18 17
+f 4 17 16
+f 4 16 27
+f 4 27 40
+f 4 40 43
+f 4 43 30
+f 4 30 28
+f 4 28 20
+f 4 20 13
+f 4 13 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 4 6 7
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 15 25 26
+f 15 26 16
+f 16 26 39
+f 16 39 38
+f 16 38 37
+f 16 37 36
+f 16 36 35
+f 16 35 41
+f 16 41 27
+f 20 28 21
+f 21 29 42
+f 21 42 44
+f 21 44 41
+f 21 41 35
+f 21 35 34
+f 21 34 52
+f 21 52 51
+f 21 51 50
+f 21 50 49
+f 21 49 48
+f 21 48 45
+f 21 45 31
+f 21 31 23
+f 21 23 22
+f 21 28 30
+f 21 30 29
+f 23 31 32
+f 23 32 24
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 27 41 40
+f 29 30 42
+f 30 43 44
+f 30 44 42
+f 31 45 32
+f 32 45 46
+f 33 47 45
+f 33 45 48
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 34
+f 40 41 43
+f 41 44 43
+f 45 47 53
+f 45 53 54
+f 45 54 46
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_26.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05244511 0.02072598 0.02254415
+v 0.05237105 0.02216619 0.02254415
+v 0.05219366 0.02216618 0.02449312
+v 0.05225309 0.02072597 0.02449312
+v 0.05180047 0.02072601 0.01267435
+v 0.05213331 0.02410911 0.02254416
+v 0.05199158 0.02410910 0.02449313
+v 0.05175658 0.02132864 0.01267435
+v 0.05176390 0.02513967 0.02550904
+v 0.05183796 0.02410910 0.02560819
+v 0.05191020 0.02216618 0.02569646
+v 0.05192757 0.02072597 0.02571004
+v 0.04844469 0.02072601 0.01267435
+v 0.05184528 0.02530598 0.02124575
+v 0.05184802 0.02530979 0.02254416
+v 0.05160845 0.02223564 0.01267435
+v 0.05110280 0.02615652 0.02449314
+v 0.04997262 0.02716955 0.02566388
+v 0.05067761 0.02589257 0.02590563
+v 0.05074162 0.02410909 0.02632666
+v 0.05120521 0.02628087 0.02254417
+v 0.05074162 0.02216617 0.02637554
+v 0.05074162 0.02072596 0.02636196
+v 0.04310378 0.02480636 0.01267436
+v 0.04844377 0.02072601 0.01268793
+v 0.05159657 0.02229972 0.01267435
+v 0.05113297 0.02410914 0.01267436
+v 0.05027802 0.02584151 0.01267436
+v 0.05010978 0.02726796 0.02449314
+v 0.04875466 0.02735033 0.02587983
+v 0.04875466 0.02605124 0.02653854
+v 0.04875466 0.02776303 0.02449314
+v 0.04950994 0.02674851 0.01267437
+v 0.04945417 0.02681335 0.01267437
+v 0.05010886 0.02728093 0.02093474
+v 0.05021219 0.02735111 0.02254417
+v 0.04676863 0.02605124 0.02654941
+v 0.04310378 0.02605124 0.02645705
+v 0.04902441 0.02072596 0.02611885
+v 0.04310378 0.02805142 0.01267437
+v 0.04310378 0.02463319 0.01670133
+v 0.04310378 0.02455842 0.01864894
+v 0.04816032 0.02072599 0.01866251
+v 0.04310378 0.02439822 0.02284839
+v 0.04310378 0.02440966 0.02254416
+v 0.04875466 0.02794078 0.02254417
+v 0.04676863 0.02748840 0.02601021
+v 0.04676863 0.02809333 0.02449314
+v 0.04478167 0.02752731 0.02602108
+v 0.04676863 0.02830998 0.02254417
+v 0.04938742 0.02684997 0.01267437
+v 0.04846023 0.02733589 0.01267437
+v 0.04310378 0.02753875 0.02601565
+v 0.04310378 0.02472926 0.02590834
+v 0.04822615 0.02072597 0.02449312
+v 0.04310378 0.02851900 0.02254417
+v 0.04478167 0.02800489 0.01267437
+v 0.04817495 0.02072598 0.02056123
+v 0.04310378 0.02434252 0.02449313
+v 0.04676863 0.02780197 0.01267437
+v 0.04478167 0.02820470 0.02449314
+v 0.04310378 0.02824742 0.02449314
+v 0.04478167 0.02846102 0.02254417
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 23
+f 1 23 39
+f 1 39 55
+f 1 55 58
+f 1 58 43
+f 1 43 25
+f 1 25 13
+f 1 13 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 24
+f 5 24 40
+f 5 40 57
+f 5 57 60
+f 5 60 52
+f 5 52 51
+f 5 51 34
+f 5 34 33
+f 5 33 28
+f 5 28 27
+f 5 27 26
+f 5 26 16
+f 5 16 8
+f 6 14 15
+f 6 15 9
+f 6 9 7
+f 6 8 14
+f 8 16 14
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 9 15 21
+f 9 21 17
+f 10 20 11
+f 11 20 22
+f 11 22 12
+f 12 22 23
+f 13 25 24
+f 14 21 15
+f 14 16 26
+f 14 26 27
+f 14 27 28
+f 14 28 21
+f 17 29 18
+f 17 21 29
+f 18 30 31
+f 18 31 19
+f 18 29 32
+f 18 32 30
+f 19 31 20
+f 20 31 22
+f 21 28 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 29
+f 22 31 23
+f 23 31 37
+f 23 37 38
+f 23 38 39
+f 24 25 41
+f 24 41 42
+f 24 42 45
+f 24 45 44
+f 24 44 59
+f 24 59 54
+f 24 54 38
+f 24 38 53
+f 24 53 62
+f 24 62 56
+f 24 56 40
+f 25 42 41
+f 25 43 44
+f 25 44 45
+f 25 45 42
+f 29 36 46
+f 29 46 32
+f 30 47 31
+f 30 32 48
+f 30 48 47
+f 31 47 49
+f 31 49 37
+f 32 46 50
+f 32 50 48
+f 34 51 35
+f 35 46 36
+f 35 51 52
+f 35 52 46
+f 37 49 53
+f 37 53 38
+f 38 54 39
+f 39 54 55
+f 40 56 57
+f 43 58 59
+f 43 59 44
+f 46 52 60
+f 46 60 50
+f 47 48 61
+f 47 61 62
+f 47 62 49
+f 48 50 63
+f 48 63 61
+f 49 62 53
+f 50 60 57
+f 50 57 63
+f 54 59 55
+f 55 59 58
+f 56 62 61
+f 56 61 63
+f 56 63 57
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_27.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.06022158 0.00273607 0.03813057
+v -0.06020425 0.00010660 0.03813056
+v -0.06001172 0.00010660 0.03898215
+v -0.05990390 0.00079244 0.03944658
+v -0.05982400 0.00273607 0.03935234
+v -0.06002616 0.00468466 0.03824096
+v -0.06021291 0.00662087 0.03618288
+v -0.06008392 0.00010660 0.03767632
+v -0.05969019 0.00891734 0.03274427
+v -0.05989812 0.00010660 0.03944063
+v -0.05855138 0.00079243 0.03994157
+v -0.05855138 0.00273606 0.03973102
+v -0.05968153 0.00404091 0.03921735
+v -0.05992315 0.00662086 0.03764748
+v -0.05987502 0.00847909 0.03606402
+v -0.05972004 0.00977649 0.03423519
+v -0.05969019 0.00976784 0.03274428
+v -0.05985192 0.00010660 0.03686379
+v -0.05885365 0.00828473 0.03209815
+v -0.05902308 0.00010659 0.03976072
+v -0.05855138 0.00010659 0.03992883
+v -0.05457755 0.00079243 0.04064118
+v -0.05457755 0.00273606 0.04039836
+v -0.05855138 0.00434917 0.03933113
+v -0.05855138 0.00532098 0.03896349
+v -0.05969404 0.00777466 0.03730278
+v -0.05963339 0.00962422 0.03533555
+v -0.05749920 0.01147130 0.03323417
+v -0.05814803 0.01121999 0.03209816
+v -0.05864861 0.01060595 0.03209816
+v -0.05938792 0.00010661 0.03672200
+v -0.05656447 0.00774992 0.03209815
+v -0.05855138 0.00010661 0.03648766
+v -0.05457755 0.00010659 0.04062759
+v -0.05259064 0.00010659 0.04076429
+v -0.05259064 0.00079243 0.04077108
+v -0.05259064 0.00273606 0.04055544
+v -0.05259064 0.00467846 0.04004432
+v -0.05457755 0.00467846 0.03984989
+v -0.05457755 0.00601673 0.03929547
+v -0.05855138 0.00662086 0.03826813
+v -0.05855138 0.00794427 0.03743523
+v -0.05855138 0.00891609 0.03649703
+v -0.05855138 0.00978763 0.03552319
+v -0.05747610 0.01166442 0.03209816
+v -0.05672715 0.01106028 0.03412482
+v -0.05457755 0.01115065 0.03464698
+v -0.05259064 0.01132892 0.03497132
+v -0.05259064 0.01189345 0.03399661
+v -0.05259064 0.01269443 0.03228665
+v -0.05260605 0.01275385 0.03209817
+v -0.05635557 0.01192564 0.03209816
+v -0.05278414 0.00861775 0.03209815
+v -0.05656447 0.00010661 0.03664898
+v -0.05785057 0.00010661 0.03654285
+v -0.05101863 0.00010659 0.03987619
+v -0.05103019 0.00079243 0.03987449
+v -0.05101767 0.00273606 0.03978281
+v -0.05111586 0.00467846 0.03955952
+v -0.05135075 0.00603901 0.03929971
+v -0.05259064 0.00622719 0.03939905
+v -0.05259064 0.00719776 0.03887860
+v -0.05457755 0.00698731 0.03875209
+v -0.05457755 0.00835899 0.03777824
+v -0.05320193 0.00949298 0.03711514
+v -0.05656447 0.00998942 0.03574734
+v -0.05117073 0.01180060 0.03383445
+v -0.05457755 0.01017884 0.03598337
+v -0.05255984 0.01020979 0.03635355
+v -0.05187732 0.00956231 0.03718222
+v -0.05156157 0.00956231 0.03718222
+v -0.05083477 0.01216333 0.03228664
+v -0.05082996 0.01220914 0.03209816
+v -0.05259353 0.00868584 0.03209815
+v -0.05259738 0.00010660 0.03741567
+v -0.05101863 0.00010660 0.03835726
+v -0.05038714 0.01050691 0.03228664
+v -0.05078182 0.00467847 0.03813058
+v -0.05060951 0.00856327 0.03618289
+v -0.05095221 0.00665924 0.03823841
+v -0.05122561 0.00856326 0.03755409
+v -0.05255984 0.00873286 0.03777060
+v -0.05118132 0.01000304 0.03618290
+v -0.05075776 0.01067031 0.03438463
+v -0.05042853 0.01071984 0.03209816
+v -0.05119769 0.00918970 0.03209815
+v -0.05111875 0.00926893 0.03209815
+v -0.05043142 0.01049825 0.03209816
+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 18
+f 2 18 31
+f 2 31 33
+f 2 33 55
+f 2 55 54
+f 2 54 75
+f 2 75 76
+f 2 76 56
+f 2 56 35
+f 2 35 34
+f 2 34 21
+f 2 21 20
+f 2 20 10
+f 2 10 3
+f 2 7 9
+f 2 9 8
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 6
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 8 9 18
+f 9 17 19
+f 9 19 18
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 23 24
+f 12 24 13
+f 12 22 23
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 19
+f 18 19 31
+f 19 30 29
+f 19 29 45
+f 19 45 52
+f 19 52 51
+f 19 51 73
+f 19 73 85
+f 19 85 88
+f 19 88 87
+f 19 87 86
+f 19 86 74
+f 19 74 53
+f 19 53 32
+f 19 32 33
+f 19 33 31
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 44 28
+f 27 43 44
+f 28 45 29
+f 28 44 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 45
+f 32 53 54
+f 32 54 55
+f 32 55 33
+f 35 56 36
+f 36 56 57
+f 36 57 58
+f 36 58 37
+f 37 58 59
+f 37 59 60
+f 37 60 38
+f 38 60 61
+f 38 61 40
+f 38 40 39
+f 40 61 62
+f 40 62 63
+f 40 63 41
+f 41 63 42
+f 42 63 64
+f 42 64 65
+f 42 65 43
+f 43 65 44
+f 44 65 66
+f 44 66 48
+f 44 48 47
+f 44 47 46
+f 48 67 49
+f 48 66 68
+f 48 68 65
+f 48 65 69
+f 48 69 70
+f 48 70 71
+f 48 71 67
+f 49 67 50
+f 50 67 72
+f 50 72 51
+f 51 72 73
+f 53 74 75
+f 53 75 54
+f 56 76 77
+f 56 77 78
+f 56 78 58
+f 56 58 57
+f 58 78 79
+f 58 79 80
+f 58 80 59
+f 59 80 60
+f 60 80 81
+f 60 81 71
+f 60 71 62
+f 60 62 61
+f 62 71 70
+f 62 70 82
+f 62 82 64
+f 62 64 63
+f 64 82 65
+f 65 70 69
+f 65 68 66
+f 65 82 70
+f 67 71 83
+f 67 83 84
+f 67 84 72
+f 71 81 83
+f 72 84 77
+f 72 77 73
+f 73 77 85
+f 74 86 75
+f 75 86 76
+f 76 86 87
+f 76 87 88
+f 76 88 77
+f 77 88 85
+f 77 84 79
+f 77 79 78
+f 79 81 80
+f 79 84 83
+f 79 83 81
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_28.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.05204829 -0.02056584 -0.01473097
+v -0.04857566 -0.02056584 -0.01473097
+v -0.05209900 -0.02056584 -0.01446878
+v -0.05172222 0.00002520 -0.01413694
+v -0.05163936 0.00002520 -0.01452221
+v -0.05159401 0.00002520 -0.01473089
+v -0.04855298 -0.02022316 -0.01473096
+v -0.04812220 -0.02056587 -0.00667789
+v -0.05210024 -0.02056584 -0.01445540
+v -0.05193576 0.00002520 -0.01252097
+v -0.05185248 0.00002520 -0.01315773
+v -0.04820465 0.00002520 -0.01473089
+v -0.04835841 -0.01669355 -0.01473095
+v -0.04803027 -0.02056587 -0.00472749
+v -0.04825453 -0.01475035 -0.01473094
+v -0.05209982 -0.02056584 -0.01252105
+v -0.05217691 -0.01863675 -0.01252104
+v -0.05199759 0.00002519 -0.01134110
+v -0.04798781 -0.02056588 -0.00277977
+v -0.04818197 -0.00698160 -0.01473092
+v -0.04796555 0.00002510 0.01260143
+v -0.04820011 -0.01280716 -0.01473094
+v -0.04818239 -0.01086396 -0.01473093
+v -0.05137017 -0.02056594 0.01260135
+v -0.05195183 -0.01280726 0.01260138
+v -0.05203758 0.00002519 -0.01057325
+v -0.05199842 -0.01134986 0.01260139
+v -0.05200089 -0.01086406 0.01260139
+v -0.05199511 -0.00941473 0.01260140
+v -0.05199264 -0.00892489 0.01260140
+v -0.04817868 -0.00892479 -0.01473092
+v -0.04797462 -0.02056589 -0.00083472
+v -0.05127660 0.00002510 0.01260143
+v -0.04812220 -0.02056594 0.01260135
+v -0.04802120 -0.02056591 0.00501112
+v -0.04799853 -0.02056590 0.00306072
+v -0.04798204 -0.02056589 0.00111300
+v -0.05201449 0.00002518 -0.00862553
+v -0.05184218 -0.00698170 0.01260140
+v -0.05135492 0.00002511 0.01085437
+f 1 2 8
+f 1 8 14
+f 1 14 19
+f 1 19 32
+f 1 32 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 24
+f 1 24 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 20
+f 1 20 31
+f 1 31 23
+f 1 23 22
+f 1 22 15
+f 1 15 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 18
+f 4 18 26
+f 4 26 38
+f 4 38 40
+f 4 40 33
+f 4 33 21
+f 4 21 12
+f 4 12 6
+f 4 6 5
+f 7 13 8
+f 8 13 15
+f 8 15 14
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 12 19 20
+f 12 21 19
+f 14 15 22
+f 14 22 23
+f 14 23 19
+f 16 24 25
+f 16 25 17
+f 17 26 18
+f 17 25 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 26
+f 19 23 31
+f 19 31 20
+f 19 21 32
+f 21 33 39
+f 21 39 30
+f 21 30 29
+f 21 29 28
+f 21 28 27
+f 21 27 25
+f 21 25 24
+f 21 24 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 32
+f 26 30 38
+f 30 39 38
+f 33 40 39
+f 38 39 40
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_29.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.06020845 -0.00115117 0.03813098
+v -0.06001177 0.00010538 0.03898210
+v -0.06020459 0.00010538 0.03813098
+v -0.06005419 -0.00500874 0.03609331
+v -0.06019206 -0.00309401 0.03813097
+v -0.05989801 0.00010538 0.03943994
+v -0.06008312 0.00010538 0.03767649
+v -0.05963385 -0.00779781 0.03307203
+v -0.05987776 -0.00708223 0.03428037
+v -0.06001852 -0.00713841 0.03633815
+v -0.05997803 -0.00491472 0.03817205
+v -0.05975340 -0.00309401 0.03928732
+v -0.05988741 -0.00115117 0.03942904
+v -0.05902262 0.00010537 0.03976111
+v -0.05985173 0.00010538 0.03686311
+v -0.05933112 -0.00863429 0.03219828
+v -0.05935812 -0.00892248 0.03219828
+v -0.05965120 -0.00892248 0.03287162
+v -0.05979582 -0.00900186 0.03415795
+v -0.05982088 -0.00840839 0.03579226
+v -0.05986909 -0.00659623 0.03754985
+v -0.05960878 -0.00418570 0.03915398
+v -0.05855117 -0.00115118 0.03990533
+v -0.05855117 0.00010537 0.03992881
+v -0.05938800 0.00010539 0.03672139
+v -0.05847019 -0.00749985 0.03219828
+v -0.05869964 -0.01053194 0.03219827
+v -0.05959818 -0.00996045 0.03293115
+v -0.05959818 -0.00996045 0.03345691
+v -0.05924725 -0.00789186 0.03709032
+v -0.05902358 -0.00970280 0.03475582
+v -0.05457815 -0.00309402 0.04025248
+v -0.05855117 -0.00309402 0.03959422
+v -0.05855117 -0.00534456 0.03878922
+v -0.05400355 -0.00616273 0.03919423
+v -0.05463021 -0.00516507 0.03951707
+v -0.05457815 -0.00115118 0.04060132
+v -0.05457815 0.00010537 0.04062732
+v -0.05855117 0.00010539 0.03648828
+v -0.05650441 -0.00741193 0.03219828
+v -0.05703176 -0.01130492 0.03219827
+v -0.05871700 -0.01052339 0.03228380
+v -0.05651694 -0.01153327 0.03219827
+v -0.05843741 -0.01019858 0.03415794
+v -0.05457815 -0.00837177 0.03752636
+v -0.05463021 -0.00687831 0.03859131
+v -0.05857142 -0.00713842 0.03771252
+v -0.05769891 -0.00993115 0.03525810
+v -0.05457815 -0.00934256 0.03656036
+v -0.05259115 -0.00503807 0.03978792
+v -0.05259115 -0.00309402 0.04043612
+v -0.05259115 -0.00625309 0.03924371
+v -0.05259115 -0.00722390 0.03863827
+v -0.05259115 -0.00115118 0.04075310
+v -0.05259115 0.00010537 0.04076484
+v -0.05785028 0.00010539 0.03654279
+v -0.05649862 -0.00741193 0.03219828
+v -0.05644174 -0.01155037 0.03219827
+v -0.05351090 -0.01182513 0.03323135
+v -0.05656418 -0.01067116 0.03423508
+v -0.05259115 -0.00854273 0.03766388
+v -0.05259115 -0.00951353 0.03675994
+v -0.05218623 -0.01193259 0.03343260
+v -0.05274541 -0.01142216 0.03414284
+v -0.05457815 -0.01018759 0.03558681
+v -0.05146509 -0.00617860 0.03920010
+v -0.05122118 -0.00503806 0.03943741
+v -0.05100329 -0.00309402 0.03974013
+v -0.05099654 -0.00115118 0.03987934
+v -0.05101872 0.00010537 0.03987598
+v -0.05656418 0.00010539 0.03664928
+v -0.05259115 -0.00832290 0.03219828
+v -0.05272613 -0.01236731 0.03219826
+v -0.05274541 -0.01227084 0.03246407
+v -0.05121154 -0.00837177 0.03750875
+v -0.05259115 -0.01035611 0.03578638
+v -0.05118647 -0.01023888 0.03563125
+v -0.05143906 -0.01193259 0.03343260
+v -0.05101583 -0.00688808 0.03814688
+v -0.05073913 -0.00503806 0.03813096
+v -0.05101872 0.00010538 0.03835739
+v -0.05045279 -0.00892249 0.03423509
+v -0.05259790 0.00010538 0.03741571
+v -0.05096955 -0.00899453 0.03219828
+v -0.05119033 -0.01222078 0.03219827
+v -0.05083650 -0.00898110 0.03624172
+v -0.05090785 -0.01087753 0.03414284
+v -0.05112381 -0.01218170 0.03228715
+v -0.05036217 -0.01086531 0.03219827
+v -0.05036024 -0.01086531 0.03228715
+v -0.05111127 -0.01219635 0.03219827
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 14
+f 2 14 24
+f 2 24 38
+f 2 38 55
+f 2 55 70
+f 2 70 81
+f 2 81 83
+f 2 83 71
+f 2 71 56
+f 2 56 39
+f 2 39 25
+f 2 25 15
+f 2 15 7
+f 2 7 3
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 16
+f 9 18 19
+f 9 19 10
+f 10 20 21
+f 10 21 11
+f 10 19 20
+f 11 22 12
+f 11 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 14
+f 14 23 24
+f 15 25 26
+f 15 26 16
+f 16 26 40
+f 16 40 57
+f 16 57 72
+f 16 72 84
+f 16 84 89
+f 16 89 91
+f 16 91 85
+f 16 85 73
+f 16 73 58
+f 16 58 43
+f 16 43 41
+f 16 41 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 19 28 29
+f 19 29 20
+f 20 30 21
+f 20 29 31
+f 20 31 30
+f 21 30 22
+f 22 32 33
+f 22 33 23
+f 22 30 34
+f 22 34 35
+f 22 35 36
+f 22 36 32
+f 23 37 38
+f 23 38 24
+f 23 33 37
+f 25 39 26
+f 26 39 40
+f 27 41 42
+f 27 42 28
+f 28 42 29
+f 29 42 41
+f 29 41 43
+f 29 43 44
+f 29 44 31
+f 30 45 46
+f 30 46 35
+f 30 35 47
+f 30 47 34
+f 30 31 48
+f 30 48 49
+f 30 49 45
+f 31 44 48
+f 32 36 50
+f 32 50 51
+f 32 51 37
+f 32 37 33
+f 34 47 35
+f 35 52 50
+f 35 50 36
+f 35 46 53
+f 35 53 52
+f 37 54 38
+f 37 51 54
+f 38 54 55
+f 39 56 57
+f 39 57 40
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 48
+f 45 61 53
+f 45 53 46
+f 45 49 62
+f 45 62 61
+f 48 60 59
+f 48 59 63
+f 48 63 64
+f 48 64 65
+f 48 65 49
+f 49 65 62
+f 50 52 66
+f 50 66 51
+f 51 66 67
+f 51 67 68
+f 51 68 54
+f 52 53 66
+f 53 61 66
+f 54 69 55
+f 54 68 69
+f 55 69 70
+f 56 71 57
+f 57 71 72
+f 58 73 74
+f 58 74 59
+f 59 74 63
+f 61 75 66
+f 61 62 75
+f 62 65 76
+f 62 76 77
+f 62 77 75
+f 63 78 76
+f 63 76 64
+f 63 74 73
+f 63 73 78
+f 64 76 65
+f 66 75 79
+f 66 79 67
+f 67 79 68
+f 68 79 80
+f 68 80 69
+f 69 80 70
+f 70 80 82
+f 70 82 81
+f 71 83 72
+f 72 83 84
+f 73 85 78
+f 75 77 86
+f 75 86 79
+f 76 78 77
+f 77 78 87
+f 77 87 86
+f 78 85 88
+f 78 88 87
+f 79 86 80
+f 80 86 82
+f 81 82 89
+f 81 89 84
+f 81 84 83
+f 82 86 90
+f 82 90 89
+f 85 91 88
+f 86 87 90
+f 87 88 90
+f 88 91 90
+f 89 90 91
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_3.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.04310378 -0.02641028 0.02640393
+v 0.04310378 -0.02616350 0.02635698
+v 0.04279222 -0.02641028 0.02640820
+v 0.04310378 -0.02762893 0.02578501
+v 0.04310378 -0.02482699 0.02608808
+v 0.04279222 -0.02482630 0.02608808
+v 0.00503852 -0.02641028 0.02636552
+v 0.00503852 -0.02767815 0.02579781
+v 0.00901304 -0.02767815 0.02579781
+v 0.01100029 -0.02767676 0.02579781
+v 0.04279222 -0.02763101 0.02578501
+v 0.04080496 -0.02807952 0.02449167
+v 0.04310378 -0.02799217 0.02469229
+v 0.04310378 -0.02472231 0.02584051
+v 0.00009143 -0.02422458 0.02449168
+v 0.00009143 -0.02486928 0.02603259
+v 0.00106400 -0.02641028 0.02635698
+v 0.00009143 -0.02702516 0.02607953
+v 0.00009143 -0.02767122 0.02578928
+v 0.00305126 -0.02767676 0.02579354
+v 0.00305126 -0.02819390 0.02449167
+v 0.00503852 -0.02819528 0.02449167
+v 0.00901304 -0.02819528 0.02449167
+v 0.01100029 -0.02819251 0.02449167
+v 0.03881770 -0.02808922 0.02449167
+v 0.04080496 -0.02833738 0.02254100
+v 0.04279222 -0.02832074 0.02254100
+v 0.04279222 -0.02806149 0.02449167
+v 0.04310378 -0.02805595 0.02449167
+v 0.04310378 -0.02416636 0.02449168
+v 0.03683044 -0.02379685 0.01864819
+v 0.03484319 -0.02368247 0.01669752
+v 0.01894933 -0.02183425 -0.01719813
+v 0.01693260 -0.02185851 -0.01719813
+v 0.01497481 -0.02189941 -0.01719813
+v 0.01298755 -0.02194932 -0.01719813
+v 0.01100029 -0.02200409 -0.01719813
+v 0.00009143 -0.02232158 -0.01719813
+v 0.00009143 -0.02641028 0.02635271
+v 0.00106400 -0.02767399 0.02578928
+v 0.00009143 -0.02818766 0.02449167
+v 0.00106400 -0.02819043 0.02449167
+v 0.00009143 -0.02829372 0.02353981
+v 0.00009143 -0.02840254 0.02254100
+v 0.00106400 -0.02840323 0.02254100
+v 0.00305126 -0.02840462 0.02254100
+v 0.00702578 -0.02840670 0.02254100
+v 0.00901304 -0.02840601 0.02254100
+v 0.01100029 -0.02840393 0.02254100
+v 0.01298755 -0.02840046 0.02254100
+v 0.03484319 -0.02835679 0.02254100
+v 0.03683044 -0.02835194 0.02254100
+v 0.03881770 -0.02834500 0.02254100
+v 0.04279222 -0.02881842 0.01085401
+v 0.04310378 -0.02831520 0.02254100
+v 0.04310378 -0.02382168 -0.01719814
+v 0.03383271 -0.02226404 -0.01719813
+v 0.03208545 -0.02208034 -0.01719813
+v 0.03022870 -0.02198052 -0.01719813
+v 0.02831302 -0.02192645 -0.01719813
+v 0.02645207 -0.02188902 -0.01719813
+v 0.02440166 -0.02185574 -0.01719813
+v 0.02242703 -0.02183633 -0.01719813
+v 0.02093659 -0.02182940 -0.01719813
+v 0.00009143 -0.02727594 -0.01719815
+v 0.00009143 -0.02876989 0.00890760
+v 0.04080496 -0.02889813 0.00890760
+v 0.04080496 -0.02834279 -0.01251994
+v 0.04279222 -0.02876296 0.00890760
+v 0.04310378 -0.02879278 0.01115706
+v 0.04310378 -0.02783813 -0.01719815
+v 0.04279222 -0.02784437 -0.01719815
+v 0.00009143 -0.02767800 -0.01618226
+v 0.03881770 -0.02891131 0.00695692
+v 0.00009143 -0.02869634 -0.01057355
+v 0.00009143 -0.02864574 -0.01152541
+v 0.00009143 -0.02858195 -0.01251994
+v 0.04080496 -0.02821317 -0.01447062
+v 0.04310378 -0.02788457 -0.01641703
+v 0.04279222 -0.02801629 -0.01447062
+v 0.04279222 -0.02810294 -0.01251994
+v 0.04310378 -0.02873592 0.00921066
+v 0.03683044 -0.02888773 0.00501052
+v 0.04293958 -0.02784160 -0.01719815
+v 0.00009143 -0.02840726 -0.01347181
+v 0.00009143 -0.02822079 -0.01447062
+v 0.04310378 -0.02806275 -0.01221688
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 29
+f 1 29 55
+f 1 55 70
+f 1 70 82
+f 1 82 87
+f 1 87 79
+f 1 79 71
+f 1 71 56
+f 1 56 30
+f 1 30 14
+f 1 14 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 4
+f 4 11 12
+f 4 12 13
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 10
+f 10 23 24
+f 10 24 11
+f 11 25 12
+f 11 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 14 30 15
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 38
+f 15 38 65
+f 15 65 73
+f 15 73 86
+f 15 86 85
+f 15 85 77
+f 15 77 76
+f 15 76 75
+f 15 75 66
+f 15 66 44
+f 15 44 43
+f 15 43 41
+f 15 41 19
+f 15 19 18
+f 15 18 39
+f 15 39 16
+f 16 39 17
+f 17 39 18
+f 19 40 20
+f 19 41 42
+f 19 42 40
+f 20 40 42
+f 20 42 21
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 46
+f 21 46 22
+f 22 46 47
+f 22 47 23
+f 23 47 48
+f 23 48 49
+f 23 49 24
+f 24 49 50
+f 24 50 51
+f 24 51 52
+f 24 52 53
+f 24 53 25
+f 25 53 26
+f 26 53 54
+f 26 54 27
+f 27 55 29
+f 27 29 28
+f 27 54 55
+f 30 56 57
+f 30 57 58
+f 30 58 59
+f 30 59 60
+f 30 60 61
+f 30 61 62
+f 30 62 31
+f 31 62 63
+f 31 63 32
+f 32 63 64
+f 32 64 33
+f 33 64 63
+f 33 63 62
+f 33 62 61
+f 33 61 60
+f 33 60 59
+f 33 59 58
+f 33 58 57
+f 33 57 56
+f 33 56 71
+f 33 71 84
+f 33 84 72
+f 33 72 65
+f 33 65 38
+f 33 38 37
+f 33 37 36
+f 33 36 35
+f 33 35 34
+f 41 43 42
+f 44 66 67
+f 44 67 45
+f 45 67 46
+f 46 67 47
+f 47 67 48
+f 48 67 49
+f 49 67 54
+f 49 54 50
+f 50 54 51
+f 51 54 52
+f 52 54 53
+f 54 67 68
+f 54 68 69
+f 54 69 70
+f 54 70 55
+f 65 72 73
+f 66 74 67
+f 66 75 74
+f 67 74 68
+f 68 75 76
+f 68 76 77
+f 68 77 78
+f 68 78 71
+f 68 71 79
+f 68 79 80
+f 68 80 81
+f 68 81 82
+f 68 82 69
+f 68 74 83
+f 68 83 75
+f 69 82 70
+f 71 78 84
+f 72 84 78
+f 72 78 77
+f 72 77 85
+f 72 85 86
+f 72 86 73
+f 74 75 83
+f 79 87 81
+f 79 81 80
+f 81 87 82
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_30.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.05051975 -0.01013448 0.03301879
+v 0.05095212 -0.00899578 0.03625665
+v 0.05058248 -0.00892235 0.03423462
+v 0.05111523 0.00062540 0.03837977
+v 0.05092992 -0.00892358 0.03301880
+v 0.05069637 -0.01087371 0.03301879
+v 0.05102837 -0.01088741 0.03415039
+v 0.05130729 -0.01025396 0.03565562
+v 0.05133720 -0.00839718 0.03752530
+v 0.05111330 -0.00691126 0.03815694
+v 0.05081604 -0.00503705 0.03813092
+v 0.05111523 0.00062539 0.03993246
+v 0.05125421 0.00062540 0.03830167
+v 0.05117217 -0.00846686 0.03301880
+v 0.05116638 -0.01167890 0.03301879
+v 0.05145591 -0.01203109 0.03301879
+v 0.05157269 -0.01193775 0.03344448
+v 0.05272987 -0.00954087 0.03678492
+v 0.05272987 -0.01037219 0.03581027
+v 0.05272987 -0.00857017 0.03768761
+v 0.05156787 -0.00621683 0.03922347
+v 0.05131308 -0.00503705 0.03947077
+v 0.05110847 -0.00309440 0.03977627
+v 0.05110847 -0.00115175 0.03992098
+v 0.05259186 0.00062539 0.04076470
+v 0.05273759 0.00062540 0.03748628
+v 0.05154085 -0.00817440 0.03301880
+v 0.05258028 -0.01208709 0.03301879
+v 0.05233899 -0.01193775 0.03344448
+v 0.05795887 -0.00996648 0.03530496
+v 0.05471704 -0.00938033 0.03658510
+v 0.05963914 -0.00794045 0.03714325
+v 0.05471704 -0.00840963 0.03756281
+v 0.05289297 -0.01143623 0.03415039
+v 0.05272987 -0.00726718 0.03866226
+v 0.05272987 -0.00629648 0.03926941
+v 0.05272987 -0.00503706 0.03983980
+v 0.05272987 -0.00309440 0.04049136
+v 0.05272987 -0.00115175 0.04080682
+v 0.05272987 0.00062539 0.04084050
+v 0.05670326 0.00062540 0.03680640
+v 0.05187864 -0.00800390 0.03301880
+v 0.05344599 -0.01195517 0.03301879
+v 0.05366410 -0.01182699 0.03323699
+v 0.05670326 -0.01071691 0.03423461
+v 0.05669939 -0.01121843 0.03301879
+v 0.05751781 -0.01099442 0.03301879
+v 0.05864893 -0.01021663 0.03415881
+v 0.05928398 -0.00972256 0.03475753
+v 0.05994895 -0.00842704 0.03584474
+v 0.06002519 -0.00664494 0.03760417
+v 0.05981286 -0.00432271 0.03920969
+v 0.05869043 -0.00554231 0.03887358
+v 0.05886222 -0.00716762 0.03780934
+v 0.05483962 -0.00689010 0.03863776
+v 0.05425958 -0.00618323 0.03920586
+v 0.05483962 -0.00520258 0.03955269
+v 0.05471704 -0.00309440 0.04032216
+v 0.05471704 -0.00115175 0.04066058
+v 0.05471704 0.00062539 0.04069963
+v 0.05454815 0.00062539 0.04071188
+v 0.05869043 0.00062541 0.03666093
+v 0.05668009 -0.00696102 0.03301880
+v 0.05581824 -0.00714645 0.03301880
+v 0.05939111 -0.01017306 0.03301879
+v 0.05972793 -0.00995029 0.03345826
+v 0.06014390 -0.00716761 0.03636996
+v 0.05990841 -0.00901444 0.03415882
+v 0.06016127 -0.00499723 0.03820442
+v 0.05997307 -0.00309439 0.03936972
+v 0.05869043 -0.00309440 0.03974488
+v 0.05869043 -0.00457161 0.03930999
+v 0.05869043 -0.00115175 0.04004272
+v 0.05869043 0.00062539 0.04007181
+v 0.05992578 0.00062540 0.03694421
+v 0.05866727 -0.00710165 0.03301880
+v 0.05972793 -0.00995029 0.03301879
+v 0.05997887 -0.00710912 0.03430659
+v 0.06018057 -0.00505820 0.03612650
+v 0.06037842 -0.00309439 0.03813093
+v 0.05977329 -0.00892732 0.03301880
+v 0.06008213 -0.00115175 0.03950448
+v 0.06008599 0.00062539 0.03951367
+v 0.06032824 0.00062540 0.03813094
+v 0.05974916 -0.00784461 0.03312598
+v 0.05958703 -0.00779856 0.03301880
+v 0.05975978 -0.00851415 0.03301880
+v 0.06035236 -0.00115174 0.03813094
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 27
+f 1 27 42
+f 1 42 64
+f 1 64 63
+f 1 63 76
+f 1 76 86
+f 1 86 87
+f 1 87 81
+f 1 81 77
+f 1 77 65
+f 1 65 47
+f 1 47 46
+f 1 46 43
+f 1 43 28
+f 1 28 16
+f 1 16 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 12 25
+f 4 25 40
+f 4 40 61
+f 4 61 60
+f 4 60 74
+f 4 74 83
+f 4 83 84
+f 4 84 75
+f 4 75 62
+f 4 62 41
+f 4 41 26
+f 4 26 13
+f 4 13 14
+f 4 14 5
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 18 9
+f 8 17 19
+f 8 19 18
+f 9 20 21
+f 9 21 10
+f 9 18 20
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 13 26 14
+f 14 26 27
+f 16 28 17
+f 17 28 29
+f 17 29 19
+f 18 19 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 20
+f 19 29 34
+f 19 34 30
+f 20 33 35
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 22 38 23
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 25
+f 26 41 42
+f 26 42 27
+f 28 43 44
+f 28 44 29
+f 29 44 30
+f 29 30 34
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 32
+f 30 32 31
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 33
+f 33 55 35
+f 35 55 56
+f 35 56 36
+f 36 56 37
+f 37 57 58
+f 37 58 38
+f 37 56 57
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 61
+f 39 61 40
+f 41 62 63
+f 41 63 64
+f 41 64 42
+f 43 46 44
+f 44 46 45
+f 47 65 66
+f 47 66 48
+f 48 66 49
+f 49 66 50
+f 50 67 51
+f 50 66 68
+f 50 68 67
+f 51 67 69
+f 51 69 52
+f 52 70 71
+f 52 71 72
+f 52 72 53
+f 52 69 70
+f 53 72 56
+f 53 56 54
+f 54 56 55
+f 56 72 57
+f 57 72 58
+f 58 72 71
+f 58 71 59
+f 59 73 60
+f 59 71 73
+f 60 73 74
+f 62 75 76
+f 62 76 63
+f 65 77 66
+f 66 77 68
+f 67 68 78
+f 67 78 79
+f 67 79 80
+f 67 80 69
+f 68 77 81
+f 68 81 78
+f 69 80 70
+f 70 80 82
+f 70 82 73
+f 70 73 71
+f 73 82 74
+f 74 82 83
+f 75 84 85
+f 75 85 86
+f 75 86 76
+f 78 81 87
+f 78 87 85
+f 78 85 84
+f 78 84 79
+f 79 84 88
+f 79 88 80
+f 80 88 83
+f 80 83 82
+f 83 88 84
+f 85 87 86
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_31.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.05272976 0.00079302 0.04084362
+v 0.05111624 0.00079302 0.03993336
+v 0.05111527 0.00062663 0.03993234
+v 0.05259185 0.00062663 0.04076478
+v 0.05272976 0.00062663 0.04083952
+v 0.05454775 0.00062663 0.04071154
+v 0.05471749 0.00079302 0.04070334
+v 0.05272976 0.00273624 0.04063475
+v 0.05109309 0.00273624 0.03984020
+v 0.05111527 0.00062664 0.03837906
+v 0.05087223 0.00467948 0.03813027
+v 0.05050960 0.01050669 0.03228682
+v 0.05471749 0.00062663 0.04069925
+v 0.05869005 0.00062663 0.04007159
+v 0.05869005 0.00079302 0.04007466
+v 0.05869005 0.00273624 0.03987603
+v 0.05471749 0.00273624 0.04047297
+v 0.05272976 0.00467947 0.04011564
+v 0.05145283 0.00609747 0.03932723
+v 0.05120497 0.00467947 0.03960061
+v 0.05068995 0.00856346 0.03618280
+v 0.05125416 0.00062664 0.03830124
+v 0.05097254 0.01041606 0.03038336
+v 0.05097929 0.01041109 0.03038336
+v 0.05086645 0.01067803 0.03439506
+v 0.05096193 0.01217923 0.03228682
+v 0.05091756 0.01261134 0.03038337
+v 0.06008657 0.00062663 0.03951356
+v 0.06008657 0.00079302 0.03951458
+v 0.06002292 0.00273625 0.03942346
+v 0.05987343 0.00422751 0.03926784
+v 0.05855792 0.00479620 0.03935282
+v 0.05471749 0.00467947 0.03993236
+v 0.05272976 0.00629614 0.03943781
+v 0.05272976 0.00726714 0.03891357
+v 0.05167273 0.00958411 0.03720263
+v 0.05132649 0.00856345 0.03759170
+v 0.05105066 0.00669596 0.03825621
+v 0.05128019 0.01002864 0.03618281
+v 0.05273748 0.00062664 0.03748621
+v 0.05274712 0.00930103 0.03038335
+v 0.05129659 0.01181294 0.03385238
+v 0.05272976 0.01272184 0.03228683
+v 0.05284549 0.01331165 0.03038337
+v 0.05098411 0.01270571 0.03038337
+v 0.05092721 0.01261507 0.03043969
+v 0.06032865 0.00062664 0.03813025
+v 0.06036241 0.00273625 0.03813026
+v 0.06017819 0.00479620 0.03828898
+v 0.06009043 0.00662146 0.03774630
+v 0.05987054 0.00782961 0.03735518
+v 0.05913177 0.00552258 0.03904360
+v 0.05471749 0.00609251 0.03933951
+v 0.05471749 0.00706350 0.03878968
+v 0.05471749 0.00839209 0.03781594
+v 0.05277027 0.00873604 0.03781082
+v 0.05213470 0.00958411 0.03720263
+v 0.05272976 0.01134978 0.03500326
+v 0.05670329 0.00062664 0.03680531
+v 0.05290047 0.00924640 0.03038335
+v 0.05471749 0.00860445 0.03038335
+v 0.05669943 0.00804818 0.03038335
+v 0.05272976 0.01191227 0.03402952
+v 0.05775743 0.01150128 0.03331073
+v 0.05293519 0.01329054 0.03038337
+v 0.06033251 0.00662147 0.03618279
+v 0.05992648 0.00062664 0.03694456
+v 0.05982231 0.00904524 0.03277214
+v 0.06003931 0.00851255 0.03609474
+v 0.05980206 0.00965986 0.03538825
+v 0.05869005 0.00900922 0.03658315
+v 0.05869005 0.00803698 0.03751286
+v 0.05855792 0.00643645 0.03857465
+v 0.05345985 0.00949967 0.03712173
+v 0.05277027 0.01023848 0.03635585
+v 0.05471749 0.01020992 0.03601386
+v 0.05670329 0.01004354 0.03582034
+v 0.05869005 0.00984859 0.03560942
+v 0.05670329 0.01101453 0.03440939
+v 0.05869005 0.00062665 0.03665991
+v 0.05675922 0.00806060 0.03038335
+v 0.05795129 0.01161923 0.03228682
+v 0.05471749 0.01275290 0.03038337
+v 0.05982231 0.00977783 0.03277215
+v 0.05987632 0.00981010 0.03423533
+v 0.05846341 0.00873731 0.03038335
+v 0.05876624 0.01045331 0.03038336
+v 0.05876914 0.01050546 0.03038336
+v 0.05800626 0.01168009 0.03038336
+v 0.05670329 0.01212461 0.03038336
+v 0.05803326 0.01165153 0.03038336
+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 3
+f 3 10 22
+f 3 22 40
+f 3 40 59
+f 3 59 80
+f 3 80 67
+f 3 67 47
+f 3 47 28
+f 3 28 14
+f 3 14 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 3 9 11
+f 3 11 12
+f 3 12 10
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 11
+f 10 12 23
+f 10 23 24
+f 10 24 22
+f 11 21 12
+f 12 21 25
+f 12 25 26
+f 12 26 27
+f 12 27 23
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 19
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 38 21
+f 21 37 39
+f 21 39 25
+f 21 38 37
+f 22 24 40
+f 23 27 45
+f 23 45 44
+f 23 44 65
+f 23 65 83
+f 23 83 90
+f 23 90 89
+f 23 89 91
+f 23 91 88
+f 23 88 87
+f 23 87 86
+f 23 86 81
+f 23 81 62
+f 23 62 61
+f 23 61 60
+f 23 60 41
+f 23 41 24
+f 24 41 40
+f 25 39 42
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 45
+f 28 47 48
+f 28 48 29
+f 29 48 30
+f 30 48 49
+f 30 49 31
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 52 33
+f 33 52 53
+f 33 53 34
+f 34 53 35
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 35 53 54
+f 36 57 58
+f 36 58 42
+f 36 42 39
+f 36 39 37
+f 40 41 60
+f 40 60 61
+f 40 61 62
+f 40 62 59
+f 42 63 43
+f 42 58 63
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 47 66 48
+f 47 67 68
+f 47 68 66
+f 48 66 49
+f 49 66 50
+f 50 66 69
+f 50 69 51
+f 51 69 70
+f 51 70 71
+f 51 71 72
+f 51 72 52
+f 52 73 54
+f 52 54 53
+f 52 72 73
+f 54 72 55
+f 54 73 72
+f 55 72 74
+f 55 74 56
+f 56 74 57
+f 57 74 75
+f 57 75 58
+f 58 75 76
+f 58 76 77
+f 58 77 78
+f 58 78 79
+f 58 79 64
+f 58 64 63
+f 59 62 80
+f 62 81 80
+f 64 82 65
+f 64 79 78
+f 64 78 70
+f 64 70 82
+f 65 82 83
+f 66 68 84
+f 66 84 85
+f 66 85 69
+f 67 80 81
+f 67 81 86
+f 67 86 68
+f 68 86 87
+f 68 87 88
+f 68 88 84
+f 69 85 70
+f 70 85 82
+f 70 78 71
+f 71 78 77
+f 71 77 74
+f 71 74 72
+f 74 77 76
+f 74 76 75
+f 82 89 90
+f 82 90 83
+f 82 85 89
+f 84 88 91
+f 84 91 85
+f 85 91 89
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_32.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04751707 0.00009172 -0.01631160
+v 0.04738554 0.01244961 -0.01631155
+v 0.05149311 0.00009172 -0.01631160
+v 0.04883800 0.00009161 0.01267427
+v 0.04872176 0.00856464 0.01267430
+v 0.04856525 0.02021726 0.01267434
+v 0.04738962 0.01439204 -0.01631155
+v 0.05160272 0.02021737 -0.01631153
+v 0.05177351 0.00009172 -0.01554553
+v 0.05209724 0.00009161 0.01267427
+v 0.04768786 0.02021737 -0.01631153
+v 0.04754868 0.01827887 -0.01631153
+v 0.04744213 0.01633644 -0.01631154
+v 0.05183978 0.02021726 0.01267434
+v 0.05180818 0.02021737 -0.01567881
+v 0.05186324 0.00009172 -0.01515682
+v 0.05219411 0.00009162 0.01151098
+v 0.05258615 0.00856464 0.01267430
+v 0.05255200 0.01257952 0.01267432
+v 0.05187496 0.02021727 0.01085563
+v 0.05202995 0.02021736 -0.01447012
+v 0.05202128 0.00009171 -0.01447019
+v 0.05224865 0.00009162 0.01085556
+v 0.05259329 0.01050707 0.01267431
+v 0.05236234 0.00009163 0.00890634
+v 0.05241383 0.00009163 0.00695711
+v 0.05248929 0.00009169 -0.00862535
+v 0.05255505 0.01244950 0.01267432
+v 0.05234909 0.01827885 -0.01057167
+v 0.05234195 0.01827884 -0.00862528
+v 0.05223387 0.02021735 -0.01057167
+v 0.05232819 0.00079304 -0.01252096
+v 0.05232972 0.00009171 -0.01252096
+v 0.05213344 0.00009171 -0.01376654
+v 0.05221654 0.02021736 -0.01252089
+v 0.05226191 0.01827886 -0.01252089
+v 0.05259125 0.01063512 0.01267431
+v 0.05248470 0.00079302 -0.00862535
+v 0.05247195 0.00009170 -0.00987092
+v 0.05245768 0.00079303 -0.01057174
+v 0.05237815 0.00009170 -0.01182015
+v 0.05246074 0.00009170 -0.01057174
+f 1 2 7
+f 1 7 13
+f 1 13 12
+f 1 12 11
+f 1 11 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 22
+f 1 22 34
+f 1 34 33
+f 1 33 41
+f 1 41 42
+f 1 42 39
+f 1 39 27
+f 1 27 26
+f 1 26 25
+f 1 25 23
+f 1 23 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 18
+f 4 18 24
+f 4 24 37
+f 4 37 28
+f 4 28 19
+f 4 19 14
+f 4 14 6
+f 4 6 5
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 6 14 20
+f 6 20 31
+f 6 31 35
+f 6 35 21
+f 6 21 15
+f 6 15 8
+f 6 8 11
+f 8 15 9
+f 9 15 16
+f 10 17 18
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 17 23 18
+f 18 23 25
+f 18 25 26
+f 18 26 27
+f 18 27 24
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 21 35 36
+f 21 36 32
+f 24 27 38
+f 24 38 29
+f 24 29 37
+f 27 39 29
+f 27 29 38
+f 28 37 29
+f 29 39 40
+f 29 40 36
+f 29 36 35
+f 29 35 31
+f 29 31 30
+f 32 36 41
+f 32 41 33
+f 36 40 42
+f 36 42 41
+f 39 42 40
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_33.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05112047 0.00002719 -0.01631970
+v -0.05180911 0.02027008 -0.01605633
+v -0.05171269 0.02027008 -0.01631963
+v -0.04723878 0.00002719 -0.01631970
+v -0.05134477 0.00002719 -0.01562888
+v -0.05151071 0.00002719 -0.01511076
+v -0.05163961 0.00002718 -0.01452187
+v -0.05172233 0.00002718 -0.01413682
+v -0.05213542 0.02022250 -0.01447083
+v -0.05213186 0.02027007 -0.01447083
+v -0.04769094 0.02027008 -0.01631963
+v -0.04722152 0.00786551 -0.01631967
+v -0.04788429 0.00467854 0.01260145
+v -0.04790560 0.00293846 0.01260144
+v -0.04790814 0.00273631 0.01260144
+v -0.04794722 0.00079407 0.01260143
+v -0.04796599 0.00002708 0.01260143
+v -0.05185225 0.00002718 -0.01315721
+v -0.05193547 0.00002718 -0.01252018
+v -0.05232166 0.01827828 -0.01252011
+v -0.05222930 0.02022250 -0.01252011
+v -0.05222016 0.02027007 -0.01252011
+v -0.04758031 0.01905320 -0.01631963
+v -0.04852016 0.02026997 0.01260150
+v -0.04722254 0.00856511 -0.01631967
+v -0.04788530 0.00488070 0.01260145
+v -0.04722559 0.00979388 -0.01631966
+v -0.05127677 0.00002708 0.01260143
+v -0.05199789 0.00002717 -0.01134238
+v -0.05239271 0.01633603 -0.01057222
+v -0.05237393 0.01827827 -0.01057221
+v -0.05189081 0.02022242 0.00890673
+v -0.05188472 0.02026999 0.00896619
+v -0.04751332 0.01827829 -0.01631963
+v -0.05181621 0.02026997 0.01260150
+v -0.04795686 0.00856500 0.01260146
+v -0.04733875 0.01544024 -0.01631964
+v -0.04743872 0.01726357 -0.01631964
+v -0.04789495 0.00662277 0.01260145
+v -0.04724182 0.01170242 -0.01631966
+v -0.05189792 0.00856500 0.01260146
+v -0.05135492 0.00002709 0.01085455
+v -0.05203747 0.00002717 -0.01057228
+v -0.05236683 0.01439180 -0.00862434
+v -0.05240540 0.01633602 -0.00862433
+v -0.05233942 0.01827826 -0.00862432
+v -0.05185834 0.02022241 0.01085462
+v -0.05185326 0.02026998 0.01091408
+v -0.05182028 0.02022240 0.01260150
+v -0.04790104 0.00682492 0.01260146
+v -0.04727481 0.01358917 -0.01631965
+v -0.05196288 0.01050724 0.01260147
+v -0.05201413 0.00002716 -0.00862439
+v -0.05201261 0.01245146 0.01260148
+v -0.05236886 0.01633601 -0.00667644
+v -0.05200550 0.01827820 0.00695883
+f 1 2 3
+f 1 3 11
+f 1 11 23
+f 1 23 34
+f 1 34 38
+f 1 38 37
+f 1 37 51
+f 1 51 40
+f 1 40 27
+f 1 27 25
+f 1 25 12
+f 1 12 4
+f 1 4 17
+f 1 17 28
+f 1 28 42
+f 1 42 53
+f 1 53 43
+f 1 43 29
+f 1 29 19
+f 1 19 18
+f 1 18 8
+f 1 8 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 22
+f 2 22 33
+f 2 33 48
+f 2 48 35
+f 2 35 24
+f 2 24 11
+f 2 11 3
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 11 24 23
+f 12 25 13
+f 13 26 39
+f 13 39 50
+f 13 50 36
+f 13 36 24
+f 13 24 35
+f 13 35 49
+f 13 49 54
+f 13 54 52
+f 13 52 41
+f 13 41 28
+f 13 28 17
+f 13 17 16
+f 13 16 15
+f 13 15 14
+f 13 25 27
+f 13 27 26
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 23 24 34
+f 24 36 37
+f 24 37 38
+f 24 38 34
+f 26 27 39
+f 27 40 39
+f 28 41 42
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 32
+f 32 47 48
+f 32 48 33
+f 35 48 49
+f 36 50 51
+f 36 51 37
+f 39 40 51
+f 39 51 50
+f 41 52 53
+f 41 53 42
+f 43 53 44
+f 44 53 54
+f 44 54 45
+f 45 55 46
+f 45 54 55
+f 46 55 47
+f 47 49 48
+f 47 55 49
+f 49 56 54
+f 49 55 56
+f 52 54 53
+f 54 56 55
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_34.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.04294040 0.02605159 0.02650841
+v -0.04294040 0.02584980 0.02643174
+v -0.04294040 0.02730315 0.02608131
+v -0.04662904 0.02605159 0.02658507
+v -0.05060277 0.02022380 0.02636464
+v -0.04890053 0.02022380 0.02610728
+v -0.04294040 0.02467192 0.02597041
+v -0.04294040 0.02751054 0.02600464
+v -0.04464172 0.02749452 0.02600464
+v -0.04662904 0.02745128 0.02598959
+v -0.04861545 0.02605159 0.02652757
+v -0.05060277 0.02216640 0.02639203
+v -0.05180105 0.02022381 0.02572399
+v -0.04813172 0.02022381 0.02449196
+v -0.04294040 0.02460626 0.02575412
+v -0.04294040 0.02807587 0.02470965
+v -0.04861545 0.02729995 0.02583627
+v -0.04294040 0.02816475 0.02449336
+v -0.04464172 0.02811511 0.02449336
+v -0.04662904 0.02799980 0.02449336
+v -0.05060277 0.02410899 0.02636603
+v -0.04978430 0.02712940 0.02562272
+v -0.05050897 0.02591146 0.02590061
+v -0.05178725 0.02216641 0.02571578
+v -0.05214866 0.02022381 0.02449333
+v -0.04294040 0.02338515 0.01855770
+v -0.04294040 0.02423872 0.02449335
+v -0.04796251 0.02022382 0.02059600
+v -0.04294040 0.02319619 0.01670144
+v -0.04861545 0.02764107 0.02449336
+v -0.04294040 0.02836975 0.02282464
+v -0.04294040 0.02840339 0.02254401
+v -0.04464172 0.02834573 0.02254401
+v -0.04662904 0.02819599 0.02254401
+v -0.05164471 0.02517079 0.02553783
+v -0.05172564 0.02410900 0.02564324
+v -0.04861545 0.02781324 0.02254401
+v -0.04986522 0.02719345 0.02449336
+v -0.05207510 0.02216641 0.02449334
+v -0.05233443 0.02022382 0.02254398
+v -0.04797998 0.02022383 0.01864940
+v -0.04294040 0.02319539 0.01631404
+v -0.04294040 0.02820080 0.02059603
+v -0.04464172 0.02816316 0.02059603
+v -0.04804251 0.02719349 0.01260153
+v -0.04820989 0.02717908 0.01260153
+v -0.05185714 0.02410900 0.02449335
+v -0.05085843 0.02613247 0.02449336
+v -0.05097522 0.02623017 0.02254401
+v -0.05171000 0.02530132 0.02123805
+v -0.05197853 0.02410901 0.02254400
+v -0.04993971 0.02724551 0.02099165
+v -0.04998110 0.02728075 0.02254401
+v -0.04920309 0.02684998 0.01260153
+v -0.05223695 0.02216642 0.02254399
+v -0.05182036 0.02022385 0.01260150
+v -0.04853360 0.02022385 0.01260150
+v -0.04294040 0.02322022 0.01475347
+v -0.04294040 0.02665700 0.01260153
+v -0.04408351 0.02689482 0.01260153
+v -0.04515579 0.02710541 0.01260153
+v -0.04642948 0.02724394 0.01260153
+v -0.04662904 0.02726396 0.01260153
+v -0.05020181 0.02587868 0.01260153
+v -0.05114167 0.02410904 0.01260152
+v -0.05118489 0.02397612 0.01260152
+v -0.05154355 0.02280464 0.01260151
+v -0.05168885 0.02183334 0.01260151
+v -0.05010065 0.02597957 0.01260153
+v -0.05170540 0.02166358 0.01260151
+v -0.04294040 0.02335154 0.01260152
+v -0.04294040 0.02334754 0.01265354
+v -0.04294040 0.02323303 0.01452622
+f 1 2 7
+f 1 7 15
+f 1 15 27
+f 1 27 26
+f 1 26 29
+f 1 29 42
+f 1 42 58
+f 1 58 73
+f 1 73 72
+f 1 72 71
+f 1 71 59
+f 1 59 43
+f 1 43 32
+f 1 32 31
+f 1 31 18
+f 1 18 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 25
+f 5 25 40
+f 5 40 56
+f 5 56 57
+f 5 57 41
+f 5 41 28
+f 5 28 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 8 16 9
+f 9 16 10
+f 10 17 11
+f 10 16 18
+f 10 18 19
+f 10 19 20
+f 10 20 17
+f 11 21 12
+f 11 17 22
+f 11 22 23
+f 11 23 21
+f 12 21 24
+f 12 24 13
+f 13 24 25
+f 14 26 27
+f 14 27 15
+f 14 28 29
+f 14 29 26
+f 17 20 30
+f 17 30 22
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 30
+f 21 23 35
+f 21 35 36
+f 21 36 24
+f 22 35 23
+f 22 30 37
+f 22 37 38
+f 22 38 35
+f 24 36 39
+f 24 39 25
+f 25 39 40
+f 28 41 42
+f 28 42 29
+f 30 34 37
+f 32 43 44
+f 32 44 33
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 37
+f 35 47 39
+f 35 39 36
+f 35 38 48
+f 35 48 49
+f 35 49 50
+f 35 50 51
+f 35 51 47
+f 37 52 53
+f 37 53 38
+f 37 46 54
+f 37 54 52
+f 38 53 49
+f 38 49 48
+f 39 47 55
+f 39 55 40
+f 40 55 56
+f 41 57 58
+f 41 58 42
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 44 63 45
+f 45 63 62
+f 45 62 61
+f 45 61 60
+f 45 60 59
+f 45 59 71
+f 45 71 57
+f 45 57 56
+f 45 56 70
+f 45 70 68
+f 45 68 67
+f 45 67 66
+f 45 66 65
+f 45 65 64
+f 45 64 69
+f 45 69 54
+f 45 54 46
+f 47 51 55
+f 49 53 52
+f 49 52 50
+f 50 52 64
+f 50 64 65
+f 50 65 66
+f 50 66 67
+f 50 67 51
+f 51 67 68
+f 51 68 55
+f 52 54 69
+f 52 69 64
+f 55 68 70
+f 55 70 56
+f 57 71 72
+f 57 72 73
+f 57 73 58
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_4.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00009142 0.02605129 0.02639827
+v 0.00009142 0.02544759 0.02611531
+v 0.00009142 0.02688630 0.02622250
+v -0.04293948 0.02605129 0.02650973
+v -0.04293948 0.02467253 0.02596955
+v 0.00009142 0.02481666 0.02581521
+v 0.00009142 0.02768437 0.02605101
+v -0.00489993 0.02767468 0.02604673
+v -0.04293948 0.02730350 0.02608102
+v -0.04293948 0.02460715 0.02575091
+v -0.04293948 0.02423839 0.02449051
+v 0.00009142 0.02465438 0.02516787
+v -0.00291181 0.02767952 0.02604673
+v 0.00009142 0.02813124 0.02525362
+v -0.00092791 0.02855813 0.02449052
+v -0.00291181 0.02855268 0.02449052
+v -0.00489993 0.02854542 0.02449052
+v -0.00688804 0.02766801 0.02604244
+v -0.04066495 0.02752572 0.02600386
+v -0.04265306 0.02751300 0.02600386
+v -0.04293948 0.02751058 0.02600386
+v 0.00009142 0.02448483 0.02449051
+v -0.04293948 0.02338524 0.01855294
+v -0.04192437 0.02310428 0.01781555
+v -0.04066495 0.02308127 0.01787986
+v 0.00009142 0.02855874 0.02449052
+v -0.00092791 0.02875130 0.02254421
+v -0.00291181 0.02874948 0.02254421
+v -0.00489993 0.02874646 0.02254421
+v -0.00688804 0.02874282 0.02254421
+v -0.00887616 0.02873677 0.02254421
+v -0.01086006 0.02872769 0.02254421
+v -0.00688804 0.02853573 0.02449052
+v -0.00887616 0.02852241 0.02449052
+v -0.01086006 0.02850606 0.02449052
+v -0.01284818 0.02848668 0.02449052
+v -0.03867683 0.02823297 0.02449052
+v -0.04066495 0.02820936 0.02449052
+v -0.04293948 0.02807554 0.02470916
+v -0.00092791 0.02359293 0.01864725
+v 0.00009142 0.02362563 0.01864725
+v -0.04293948 0.02319633 0.01669664
+v -0.04214761 0.02305948 0.01669663
+v -0.04066495 0.02292748 0.01669663
+v -0.03853783 0.02295170 0.01687240
+v 0.00009142 0.02875130 0.02254421
+v -0.03669293 0.02844564 -0.01057333
+v -0.01284818 0.02871618 0.02254421
+v -0.01483629 0.02870286 0.02254421
+v -0.01881252 0.02867440 0.02254421
+v -0.02079643 0.02865926 0.02254421
+v -0.02278033 0.02864292 0.02254421
+v -0.02476845 0.02862535 0.02254421
+v -0.02675656 0.02860719 0.02254421
+v -0.03072858 0.02857086 0.02254420
+v -0.03470481 0.02853332 0.02254420
+v -0.03669293 0.02851394 0.02254420
+v -0.04265306 0.02817302 0.02449052
+v -0.03867683 0.02848851 0.02254420
+v -0.04066495 0.02845520 0.02254420
+v -0.04293948 0.02816455 0.02449052
+v -0.03669293 0.02269860 0.01475031
+v -0.00291181 0.02333681 0.01669664
+v 0.00009142 0.02356266 0.01769553
+v -0.04293948 0.02319572 0.01631081
+v -0.04211812 0.02304980 0.01475031
+v -0.04066495 0.02283727 0.01475031
+v -0.03867683 0.02267923 0.01475031
+v 0.00009142 0.02842989 -0.01057333
+v -0.00092791 0.02843232 -0.01057333
+v -0.00291181 0.02843474 -0.01057333
+v -0.00489993 0.02838994 -0.01251966
+v -0.03867683 0.02840023 -0.01251966
+v -0.04265306 0.02834816 -0.01447027
+v -0.03867683 0.02843413 -0.01057333
+v -0.04265306 0.02841282 0.02254420
+v -0.04293948 0.02836983 0.02282286
+v -0.03669293 0.02256600 0.01280398
+v -0.00092791 0.02346396 0.01669664
+v -0.03470481 0.02260112 0.01280398
+v 0.00009142 0.02329999 -0.01728688
+v -0.04293948 0.02351374 -0.01728688
+v -0.03867683 0.02265622 0.01280398
+v 0.00009142 0.02838388 -0.01251966
+v -0.00092791 0.02838631 -0.01251966
+v -0.00291181 0.02838873 -0.01251966
+v -0.04293948 0.02813866 -0.01641660
+v -0.04293948 0.02833786 -0.01447027
+v -0.04293948 0.02840313 0.02254420
+v -0.04031113 0.02337205 -0.01728688
+v -0.03867683 0.02331937 -0.01728688
+v -0.03836934 0.02331028 -0.01728688
+v -0.03669293 0.02328485 -0.01728688
+v -0.03641071 0.02328183 -0.01728688
+v -0.03443102 0.02327335 -0.01728688
+v -0.03244291 0.02327395 -0.01728688
+v 0.00009142 0.02754102 -0.01728687
+v -0.04293948 0.02803330 -0.01728687
+v -0.04223607 0.02346590 -0.01728688
+v 0.00009142 0.02826218 -0.01351426
+v 0.00009142 0.02814471 -0.01447027
+f 1 2 6
+f 1 6 12
+f 1 12 22
+f 1 22 41
+f 1 41 64
+f 1 64 81
+f 1 81 97
+f 1 97 101
+f 1 101 100
+f 1 100 84
+f 1 84 69
+f 1 69 46
+f 1 46 26
+f 1 26 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 21
+f 4 21 39
+f 4 39 61
+f 4 61 77
+f 4 77 89
+f 4 89 88
+f 4 88 87
+f 4 87 98
+f 4 98 82
+f 4 82 65
+f 4 65 42
+f 4 42 23
+f 4 23 11
+f 4 11 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 7 14 15
+f 7 15 13
+f 8 13 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 11 22 12
+f 11 23 24
+f 11 24 25
+f 11 25 22
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 19
+f 17 19 18
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 22 25 40
+f 22 40 41
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 25 44 45
+f 25 45 40
+f 26 46 27
+f 27 46 47
+f 27 47 28
+f 28 47 29
+f 29 47 30
+f 30 47 31
+f 31 47 32
+f 32 48 33
+f 32 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 36 57 37
+f 37 57 38
+f 38 58 39
+f 38 57 59
+f 38 59 60
+f 38 60 58
+f 39 58 61
+f 40 45 62
+f 40 62 63
+f 40 63 41
+f 41 63 64
+f 42 65 66
+f 42 66 43
+f 43 66 67
+f 43 67 44
+f 44 67 68
+f 44 68 45
+f 45 68 62
+f 46 69 70
+f 46 70 71
+f 46 71 47
+f 47 71 72
+f 47 72 73
+f 47 73 74
+f 47 74 75
+f 47 75 48
+f 48 75 49
+f 49 75 50
+f 50 75 51
+f 51 75 52
+f 52 75 53
+f 53 75 54
+f 54 75 55
+f 55 75 56
+f 56 75 57
+f 57 75 59
+f 58 60 76
+f 58 76 61
+f 59 75 60
+f 60 75 74
+f 60 74 76
+f 61 76 77
+f 62 68 78
+f 62 78 63
+f 63 79 64
+f 63 78 80
+f 63 80 81
+f 63 81 79
+f 64 79 81
+f 65 82 66
+f 66 82 67
+f 67 83 68
+f 67 82 83
+f 68 83 78
+f 69 84 85
+f 69 85 70
+f 70 85 86
+f 70 86 71
+f 71 86 72
+f 72 86 74
+f 72 74 73
+f 74 86 85
+f 74 85 84
+f 74 84 87
+f 74 87 88
+f 74 88 89
+f 74 89 76
+f 76 89 77
+f 78 83 90
+f 78 90 91
+f 78 91 92
+f 78 92 93
+f 78 93 94
+f 78 94 95
+f 78 95 96
+f 78 96 81
+f 78 81 80
+f 81 96 95
+f 81 95 94
+f 81 94 93
+f 81 93 92
+f 81 92 91
+f 81 91 90
+f 81 90 99
+f 81 99 82
+f 81 82 98
+f 81 98 97
+f 82 99 83
+f 83 99 90
+f 84 100 98
+f 84 98 87
+f 97 98 101
+f 98 100 101
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_5.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04293948 -0.02084121 -0.02086947
+v 0.00009142 -0.02084121 -0.02078634
+v -0.04293948 -0.02084123 -0.01764051
+v -0.04293948 0.02410563 -0.02104400
+v 0.00009142 0.02410563 -0.02101605
+v 0.00009142 -0.02084123 -0.01750258
+v -0.04265306 -0.02084123 -0.01762396
+v -0.04293948 -0.02057810 -0.01763389
+v -0.04293948 0.02438312 -0.02102083
+v -0.04293948 0.02604799 -0.02082368
+v 0.00009142 0.02505767 -0.02075454
+v -0.01483629 -0.02084123 -0.01749670
+v 0.00009142 -0.01863575 -0.01745182
+v -0.04065231 -0.02084123 -0.01755113
+v -0.04066495 -0.01863575 -0.01751802
+v -0.04265306 -0.01863575 -0.01759085
+v -0.04293948 -0.01891322 -0.01760703
+v -0.04293948 0.02626327 -0.02069237
+v 0.00009142 0.02604799 -0.02048052
+v -0.00688804 -0.01863575 -0.01744961
+v -0.03309579 -0.02084123 -0.01749192
+v 0.00009142 0.02329710 -0.01728688
+v -0.03867683 -0.02084123 -0.01751178
+v -0.03867683 -0.01863575 -0.01747315
+v -0.04293948 0.02351238 -0.01728688
+v -0.04293948 -0.01863575 -0.01760335
+v -0.04293948 0.02745930 -0.01992734
+v 0.00009142 0.02661251 -0.02005276
+v -0.01086006 -0.01863575 -0.01744887
+v -0.03470481 -0.02084123 -0.01749228
+v -0.01483629 -0.01863575 -0.01744814
+v -0.03271670 -0.01863575 -0.01745145
+v 0.00009142 0.02754061 -0.01728687
+v -0.03244291 0.02327318 -0.01728688
+v -0.03702147 -0.02084123 -0.01749927
+v -0.03669293 -0.01863575 -0.01745696
+v -0.04288894 0.02350760 -0.01728688
+v -0.04293948 0.02803338 -0.01728687
+v -0.03470481 -0.01863575 -0.01745255
+v -0.04293948 0.02753584 -0.01969121
+v 0.00009142 0.02719617 -0.01960588
+v -0.03507548 -0.02084123 -0.01749302
+v -0.03470481 0.02327318 -0.01728688
+v -0.03641071 0.02327796 -0.01728688
+v -0.03836934 0.02330667 -0.01728688
+v -0.03867683 0.02331624 -0.01728688
+v -0.04031113 0.02336886 -0.01728688
+v -0.04223607 0.02346454 -0.01728688
+v -0.04293948 0.02790900 -0.01836748
+v -0.03669293 -0.02084123 -0.01749743
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 30
+f 1 30 42
+f 1 42 50
+f 1 50 35
+f 1 35 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 26
+f 1 26 25
+f 1 25 38
+f 1 38 49
+f 1 49 40
+f 1 40 27
+f 1 27 18
+f 1 18 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 19
+f 2 19 28
+f 2 28 41
+f 2 41 33
+f 2 33 22
+f 2 22 13
+f 2 13 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 13 12
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 13 20
+f 13 22 20
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 26 17
+f 16 25 26
+f 18 27 19
+f 19 27 28
+f 20 29 21
+f 20 22 29
+f 21 29 31
+f 21 31 32
+f 21 32 30
+f 22 33 38
+f 22 38 25
+f 22 25 37
+f 22 37 48
+f 22 48 47
+f 22 47 46
+f 22 46 45
+f 22 45 44
+f 22 44 43
+f 22 43 34
+f 22 34 31
+f 22 31 29
+f 23 35 36
+f 23 36 24
+f 24 36 25
+f 25 36 39
+f 25 39 32
+f 25 32 37
+f 27 40 41
+f 27 41 28
+f 30 32 39
+f 30 39 42
+f 31 34 43
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 32
+f 32 47 48
+f 32 48 37
+f 33 41 49
+f 33 49 38
+f 35 50 36
+f 36 50 42
+f 36 42 39
+f 40 49 41
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_6.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00009143 -0.02727357 -0.01719815
+v 0.00009143 -0.02719341 -0.01773801
+v 0.04310378 -0.02778959 -0.01836752
+v 0.04279222 -0.02783970 -0.01719815
+v 0.00009143 -0.02231871 -0.01719813
+v 0.00009143 -0.02709821 -0.01836752
+v 0.04310378 -0.02761925 -0.01944495
+v 0.04310378 -0.02783469 -0.01719815
+v 0.04293958 -0.02783970 -0.01719815
+v 0.01100029 -0.02200308 -0.01719813
+v 0.01696207 0.02333217 -0.01721551
+v 0.01540426 0.02333217 -0.01721589
+v 0.01497481 0.02333217 -0.01721627
+v 0.00028931 0.02333217 -0.01723383
+v 0.00009143 0.02333217 -0.01723421
+v 0.04310378 -0.02757917 -0.01966242
+v 0.00009143 -0.02622648 -0.02009736
+v 0.04310378 -0.02381669 -0.01719814
+v 0.01298755 -0.02194797 -0.01719813
+v 0.01739152 0.02333217 -0.01721551
+v 0.01497481 -0.02189787 -0.01719813
+v 0.01693260 -0.02185779 -0.01719813
+v 0.01894933 -0.02183274 -0.01719813
+v 0.02045240 -0.02182773 -0.01719813
+v 0.00009143 0.02333219 -0.02092393
+v 0.04310378 -0.02660222 -0.02042623
+v 0.04310378 -0.02640683 -0.02057197
+v 0.00009143 -0.02446296 -0.02095730
+v 0.03383271 -0.02225859 -0.01719813
+v 0.04310378 0.02333217 -0.01754210
+v 0.04080496 0.02333217 -0.01744977
+v 0.03882191 0.02333217 -0.01737041
+v 0.03683044 0.02333217 -0.01731547
+v 0.03484319 0.02333217 -0.01727885
+v 0.03285593 0.02333217 -0.01725290
+v 0.03086867 0.02333217 -0.01723840
+v 0.02888141 0.02333217 -0.01723192
+v 0.02490689 0.02333217 -0.01722162
+v 0.02291964 0.02333217 -0.01721742
+v 0.02093659 -0.02182773 -0.01719813
+v 0.02242703 -0.02183274 -0.01719813
+v 0.02440166 -0.02185278 -0.01719813
+v 0.02645207 -0.02188785 -0.01719813
+v 0.02831302 -0.02192292 -0.01719813
+v 0.03022870 -0.02197803 -0.01719813
+v 0.03208545 -0.02207823 -0.01719813
+v 0.04310378 0.02333219 -0.02099031
+v 0.04310378 -0.02446296 -0.02109541
+v 0.04310378 -0.02476857 -0.02102598
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 18
+f 1 18 29
+f 1 29 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 19
+f 1 19 10
+f 1 10 5
+f 1 5 15
+f 1 15 25
+f 1 25 28
+f 1 28 17
+f 1 17 6
+f 1 6 2
+f 2 6 3
+f 3 7 16
+f 3 16 26
+f 3 26 27
+f 3 27 49
+f 3 49 48
+f 3 48 47
+f 3 47 30
+f 3 30 18
+f 3 18 8
+f 3 8 9
+f 3 9 4
+f 3 6 7
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 16 7
+f 6 17 16
+f 10 19 11
+f 11 20 39
+f 11 39 38
+f 11 38 37
+f 11 37 36
+f 11 36 35
+f 11 35 34
+f 11 34 33
+f 11 33 32
+f 11 32 31
+f 11 31 30
+f 11 30 47
+f 11 47 25
+f 11 25 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 11 19 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 40
+f 11 40 20
+f 16 17 26
+f 17 27 26
+f 17 28 27
+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 39
+f 18 39 20
+f 18 20 29
+f 20 40 41
+f 20 41 42
+f 20 42 43
+f 20 43 44
+f 20 44 45
+f 20 45 46
+f 20 46 29
+f 25 47 48
+f 25 48 28
+f 27 28 49
+f 28 48 49
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_7.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.04310378 0.00009174 -0.02089621
+v 0.04676873 0.00009174 -0.02105474
+v 0.04310378 0.00009172 -0.01765985
+v 0.04310378 0.02410732 -0.02105703
+v 0.04748425 0.00009174 -0.02106569
+v 0.04676873 0.02410732 -0.02117462
+v 0.04751670 0.00009172 -0.01631160
+v 0.04310378 0.02468522 -0.01631151
+v 0.04310378 0.02605046 -0.02093229
+v 0.04875471 0.00009174 -0.02108378
+v 0.04478109 0.02605046 -0.02098561
+v 0.04676873 0.02605046 -0.02103798
+v 0.04875471 0.02410732 -0.02113225
+v 0.05149282 0.00009172 -0.01631160
+v 0.04310378 0.02851565 -0.01631150
+v 0.04310378 0.02756084 -0.02002299
+v 0.04478109 0.02759435 -0.02006202
+v 0.05053269 0.00009173 -0.02019971
+v 0.04875471 0.02605046 -0.02072425
+v 0.04676873 0.02759993 -0.02008630
+v 0.05047778 0.02410731 -0.02019057
+v 0.05053934 0.02216418 -0.02021582
+v 0.05120660 0.00009173 -0.01836777
+v 0.05134305 0.02216418 -0.01836769
+v 0.05160347 0.02022103 -0.01631153
+v 0.04467127 0.02861336 -0.01631149
+v 0.04310378 0.02849890 -0.01641909
+v 0.04310378 0.02816947 -0.01836767
+v 0.04478109 0.02828114 -0.01836767
+v 0.05016162 0.02605045 -0.01986017
+v 0.04875471 0.02738496 -0.01982922
+v 0.04985128 0.02711694 -0.01948502
+v 0.04676873 0.02829231 -0.01836767
+v 0.05123240 0.02410731 -0.01836768
+v 0.05159182 0.02232331 -0.01631152
+v 0.05159348 0.02223955 -0.01631152
+v 0.04478109 0.02861057 -0.01631149
+v 0.04478109 0.02860220 -0.01641908
+v 0.04310378 0.02844864 -0.01672330
+v 0.05058178 0.02605045 -0.01836767
+v 0.04875471 0.02778419 -0.01836767
+v 0.04989787 0.02716440 -0.01836767
+v 0.04676873 0.02851006 -0.01641909
+v 0.05136385 0.02400400 -0.01631151
+v 0.05158766 0.02237356 -0.01631152
+v 0.04665891 0.02852403 -0.01631150
+v 0.05051938 0.02605044 -0.01641909
+v 0.05057512 0.02592480 -0.01631150
+v 0.05132808 0.02409893 -0.01631151
+v 0.04875471 0.02780373 -0.01641909
+v 0.04984962 0.02712251 -0.01641909
+v 0.04676873 0.02850727 -0.01631150
+v 0.04984463 0.02711972 -0.01631150
+v 0.05050690 0.02605881 -0.01631150
+v 0.04864488 0.02783723 -0.01631150
+v 0.04876469 0.02778698 -0.01631150
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 27
+f 1 27 39
+f 1 39 28
+f 1 28 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 6
+f 5 6 10
+f 6 9 11
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 7 14 25
+f 7 25 36
+f 7 36 35
+f 7 35 45
+f 7 45 44
+f 7 44 49
+f 7 49 48
+f 7 48 54
+f 7 54 53
+f 7 53 56
+f 7 56 55
+f 7 55 52
+f 7 52 46
+f 7 46 37
+f 7 37 26
+f 7 26 15
+f 7 15 8
+f 9 16 17
+f 9 17 11
+f 10 13 18
+f 11 17 12
+f 12 19 13
+f 12 17 20
+f 12 20 19
+f 13 19 21
+f 13 21 22
+f 13 22 18
+f 14 23 24
+f 14 24 25
+f 15 26 27
+f 16 28 29
+f 16 29 17
+f 17 29 20
+f 18 22 24
+f 18 24 23
+f 19 30 21
+f 19 20 31
+f 19 31 32
+f 19 32 30
+f 20 29 33
+f 20 33 31
+f 21 34 24
+f 21 24 22
+f 21 30 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 26 37 38
+f 26 38 29
+f 26 29 27
+f 27 29 39
+f 28 39 29
+f 29 38 33
+f 30 40 34
+f 30 32 40
+f 31 33 41
+f 31 41 32
+f 32 41 42
+f 32 42 40
+f 33 38 43
+f 33 43 41
+f 34 44 45
+f 34 45 35
+f 34 40 44
+f 37 46 38
+f 38 46 43
+f 40 47 48
+f 40 48 49
+f 40 49 44
+f 40 42 47
+f 41 43 50
+f 41 50 42
+f 42 51 47
+f 42 50 51
+f 43 52 50
+f 43 46 52
+f 47 51 53
+f 47 53 54
+f 47 54 48
+f 50 55 56
+f 50 56 53
+f 50 53 51
+f 50 52 55
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_8.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05178299 0.02216421 -0.01632245
+v -0.05166872 0.02317781 -0.01632244
+v -0.05127398 0.02410857 -0.01836757
+v -0.05135103 0.02216422 -0.01836758
+v -0.05088963 0.00002798 -0.01836766
+v -0.05112076 0.00002797 -0.01632253
+v -0.05157783 0.02387380 -0.01632244
+v -0.05037024 0.02410857 -0.02020985
+v -0.05147135 0.02414722 -0.01656567
+v -0.05061522 0.02605015 -0.01836756
+v -0.05006121 0.02605015 -0.01988728
+v -0.05041439 0.02216422 -0.02022649
+v -0.05031744 0.00002798 -0.02017194
+v -0.04723918 0.00002797 -0.01632253
+v -0.05145664 0.02418865 -0.01632244
+v -0.04861557 0.02605016 -0.02073811
+v -0.04861557 0.02410858 -0.02115237
+v -0.05067842 0.02605014 -0.01641935
+v -0.04983787 0.02723222 -0.01836756
+v -0.04973659 0.02713279 -0.01950723
+v -0.04861557 0.00002799 -0.02106125
+v -0.04964483 0.00002799 -0.02052348
+v -0.04293949 0.00002797 -0.01766173
+v -0.04293949 0.02435436 -0.01632244
+v -0.05065937 0.02605842 -0.01632243
+v -0.04861557 0.02738136 -0.01983502
+v -0.04662890 0.02757745 -0.02006922
+v -0.04662890 0.02605016 -0.02101697
+v -0.04662890 0.02410858 -0.02117565
+v -0.05061609 0.02612195 -0.01632243
+v -0.04982835 0.02722945 -0.01641935
+v -0.04861557 0.02779563 -0.01641935
+v -0.04861557 0.02779564 -0.01836756
+v -0.04662890 0.00002799 -0.02106172
+v -0.04293949 0.00002799 -0.02089925
+v -0.04293949 0.02813810 -0.01632243
+v -0.04662890 0.02815468 -0.01836756
+v -0.04464222 0.02753602 -0.02001317
+v -0.04464222 0.02605016 -0.02092956
+v -0.04293949 0.02438476 -0.02102078
+v -0.04293949 0.02410858 -0.02104405
+v -0.04982142 0.02722392 -0.01632243
+v -0.04868828 0.02775420 -0.01632243
+v -0.04862249 0.02777906 -0.01632243
+v -0.04662890 0.02820438 -0.01632243
+v -0.04662890 0.02821543 -0.01641935
+v -0.04293949 0.02813810 -0.01641935
+v -0.04302432 0.02814362 -0.01632243
+v -0.04464222 0.02823752 -0.01641935
+v -0.04464222 0.02807182 -0.01836756
+v -0.04293949 0.02745869 -0.01992718
+v -0.04293949 0.02626282 -0.02069203
+v -0.04293949 0.02605016 -0.02082362
+v -0.04293949 0.02753602 -0.01969108
+v -0.04464222 0.02824028 -0.01632243
+v -0.04293949 0.02791163 -0.01836756
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 24
+f 1 24 36
+f 1 36 48
+f 1 48 55
+f 1 55 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 30
+f 1 30 25
+f 1 25 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 8 12
+f 4 12 13
+f 4 13 5
+f 5 13 22
+f 5 22 21
+f 5 21 34
+f 5 34 35
+f 5 35 23
+f 5 23 14
+f 5 14 6
+f 7 15 9
+f 8 11 16
+f 8 16 17
+f 8 17 12
+f 9 15 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 16
+f 12 17 21
+f 12 21 22
+f 12 22 13
+f 14 23 24
+f 15 25 18
+f 16 20 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 21
+f 18 25 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 26
+f 21 29 34
+f 23 35 41
+f 23 41 40
+f 23 40 53
+f 23 53 52
+f 23 52 51
+f 23 51 54
+f 23 54 56
+f 23 56 47
+f 23 47 36
+f 23 36 24
+f 26 33 37
+f 26 37 27
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 34
+f 30 42 31
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 37
+f 34 41 35
+f 36 47 48
+f 37 46 49
+f 37 49 50
+f 37 50 38
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 38 50 54
+f 38 54 51
+f 39 53 40
+f 45 55 46
+f 46 55 49
+f 47 56 50
+f 47 50 49
+f 47 49 55
+f 47 55 48
+f 50 56 54
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_9.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.05060116 0.01526819 0.02663559
+v -0.05260622 0.01275361 0.03209678
+v -0.05082995 0.01220895 0.03209677
+v -0.05013353 0.01492444 0.02663558
+v -0.05270872 0.01435309 0.02663558
+v -0.05780694 0.01162348 0.03193477
+v -0.05747658 0.01166429 0.03209677
+v -0.05635554 0.01192563 0.03209677
+v -0.05042820 0.01072094 0.03209677
+v -0.04952405 0.01333518 0.02663558
+v -0.05378309 0.01360752 0.02663558
+v -0.05767791 0.01157090 0.02907638
+v -0.05783531 0.01165645 0.03033768
+v -0.05814829 0.01122087 0.03209677
+v -0.05043186 0.01049883 0.03209677
+v -0.04950483 0.01244991 0.02663558
+v -0.05568749 0.01189740 0.02663557
+v -0.05731277 0.01118714 0.02777764
+v -0.05795336 0.01052711 0.02841231
+v -0.05859579 0.01050748 0.03033768
+v -0.05864887 0.01060635 0.03209677
+v -0.05058286 0.00899671 0.02663556
+v -0.04990474 0.01048551 0.02663557
+v -0.05111821 0.00926981 0.03209676
+v -0.05593824 0.01167216 0.02663557
+v -0.05680029 0.01079159 0.02663557
+v -0.05770445 0.00989219 0.02713763
+v -0.05885294 0.00828644 0.03209676
+v -0.05770445 0.00923294 0.02713762
+v -0.05119783 0.00919054 0.03209676
+v -0.05114933 0.00854074 0.02663556
+v -0.05706568 0.01037171 0.02663557
+v -0.05715170 0.00890254 0.02663556
+v -0.05598582 0.00734938 0.02663556
+v -0.05884654 0.00828487 0.03209676
+v -0.05796252 0.00894649 0.02839038
+v -0.05715170 0.00873929 0.02663556
+v -0.05605629 0.00739098 0.02663556
+v -0.05259341 0.00868748 0.03209676
+v -0.05257053 0.00791524 0.02663556
+v -0.05460031 0.00725050 0.02663556
+v -0.05656419 0.00775119 0.03209676
+v -0.05278376 0.00861920 0.03209676
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 23
+f 1 23 22
+f 1 22 31
+f 1 31 40
+f 1 40 41
+f 1 41 34
+f 1 34 38
+f 1 38 37
+f 1 37 33
+f 1 33 32
+f 1 32 26
+f 1 26 25
+f 1 25 17
+f 1 17 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 14
+f 2 14 21
+f 2 21 28
+f 2 28 35
+f 2 35 42
+f 2 42 43
+f 2 43 39
+f 2 39 30
+f 2 30 24
+f 2 24 15
+f 2 15 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 15 22 23
+f 15 23 16
+f 15 24 22
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 20
+f 20 28 21
+f 20 27 29
+f 20 29 28
+f 22 24 30
+f 22 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 37
+f 27 37 29
+f 28 34 35
+f 28 29 36
+f 28 36 37
+f 28 37 38
+f 28 38 34
+f 29 37 36
+f 30 39 40
+f 30 40 31
+f 34 41 42
+f 34 42 35
+f 39 43 40
+f 40 43 41
+f 41 43 42
+

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/storage_bin_014.xml

@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_014">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/storage_bin_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_014_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_014_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_014_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_014_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_bin_014_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_bin_014_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_bin_014_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_bin_014_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_bin_014_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_014">
+   <link name="storage_bin_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_014.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>86c8c22b1e6e515fb2b10391966f8c78</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>fabric storage bin</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>gray rectangular fabric storage bin with two loop handles</description>
+         <min_height>0.0618</min_height>
+         <max_height>0.0618</max_height>
+         <real_height>0.0618</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135726</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059930 -0.029010 -0.020769</min>
+            <max>0.060070 0.028641 0.041058</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db031092e1857f5919f5e2e9cff7d49e933d85497dbbde7febcec7c61d865af6
+size 4886759