Add asset kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c

.gitattributes

@@ -4016,3 +4016,5 @@ dataset/kitchen_supplies/storage/a25c0658e2345a9892f016109bdea24e/mesh/storage_b
 dataset/kitchen_supplies/storage/a25c0658e2345a9892f016109bdea24e/storage_bin_095.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/drawer_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/af08b0da9a2659fcaf99b6f6b48cc8ce/mesh/drawer_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/drawer_052.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mesh/drawer_052.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/drawer_052.urdf

@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="drawer_052">
+   <link name="drawer_052">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/drawer_052.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/drawer_052_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="14.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>ae690e20fcdd5b1fb733274fa07faa7c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>drawer</category>
+         <name>bedside drawer</name>
+         <color>gray,brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>two-drawer wooden bedside cabinet with curved legs and brass handles</description>
+         <min_height>0.3933</min_height>
+         <max_height>0.3933</max_height>
+         <real_height>0.3933</real_height>
+         <min_mass>10.0</min_mass>
+         <max_mass>18.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609182406</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.153118 -0.200012 -0.244822</min>
+            <max>0.273287 0.200055 0.148468</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/drawer_052.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0451a61260994eed5a6272d7bdb13cfe96babe6556c1e7eaef02727190c6d183
+size 4413181

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mesh/drawer_052.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1acef4da9a459c729e41df044aaf211423aef5f33f622bd6109499a89e76af04
+size 12867524

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mesh/drawer_052.mtl

@@ -0,0 +1,6 @@
+newmtl drawer_052_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl drawer_052_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd drawer_052_geometry_Looks_material_0.png

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/drawer_052.xml

@@ -0,0 +1,208 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="drawer_052">
+  <asset>
+    <material name="material_0" texture="texture_0_drawer_052_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_drawer_052_geometry_Looks_material_0" type="2d" file="mesh/drawer_052_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/drawer_052.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/drawer_052_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/drawer_052_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/drawer_052_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/drawer_052_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/drawer_052_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/drawer_052_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/drawer_052_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/drawer_052_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/drawer_052_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/drawer_052_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/drawer_052_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/drawer_052_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/drawer_052_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/drawer_052_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/drawer_052_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/drawer_052_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/drawer_052_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/drawer_052_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/drawer_052_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/drawer_052_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/drawer_052_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/drawer_052_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/drawer_052_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/drawer_052_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/drawer_052_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/drawer_052_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/drawer_052_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/drawer_052_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/drawer_052_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/drawer_052_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/drawer_052_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/drawer_052_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/drawer_052_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/drawer_052_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/drawer_052_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/drawer_052_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/drawer_052_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/drawer_052_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/drawer_052_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/drawer_052_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/drawer_052_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/drawer_052_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/drawer_052_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/drawer_052_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/drawer_052_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/drawer_052_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/drawer_052_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/drawer_052_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/drawer_052_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/drawer_052_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/drawer_052_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/drawer_052_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/drawer_052_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/drawer_052_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/drawer_052_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/drawer_052_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/drawer_052_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/drawer_052_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/drawer_052_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/drawer_052_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/drawer_052_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/drawer_052_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/drawer_052_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/drawer_052_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/drawer_052_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/drawer_052_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/drawer_052_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/drawer_052_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/drawer_052_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/drawer_052_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/drawer_052_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/drawer_052_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/drawer_052_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/drawer_052_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/drawer_052_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/drawer_052_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/drawer_052_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/drawer_052_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/drawer_052_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/drawer_052_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/drawer_052_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/drawer_052_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/drawer_052_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/drawer_052_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/drawer_052_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/drawer_052_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/drawer_052_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/drawer_052_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/drawer_052_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/drawer_052_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/drawer_052_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/drawer_052_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/drawer_052_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/drawer_052_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/drawer_052_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/drawer_052_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/drawer_052_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="drawer_052">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_78" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_80" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_83" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_84" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_85" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_91" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_0.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.11010091 -0.02785308 -0.06523284
+v -0.10655751 0.10273154 -0.06524294
+v -0.13050409 -0.02785308 -0.06523284
+v -0.11010091 -0.11824784 -0.06523317
+v -0.10655751 0.10273183 -0.14322115
+v -0.13051451 0.10273154 -0.06524294
+v -0.10655751 -0.02785308 -0.06524342
+v -0.13051797 0.10149858 -0.06524295
+v -0.13051103 -0.05257699 -0.06523293
+v -0.13049715 -0.11824784 -0.06523317
+v -0.11010091 -0.11824755 -0.14441772
+v -0.10655751 0.01755008 -0.14323205
+v -0.11417877 0.08767694 -0.16976068
+v -0.11418571 0.10273192 -0.16976062
+v -0.14122800 0.10273182 -0.14205714
+v -0.10655751 -0.02785279 -0.14323221
+v -0.13051797 0.08746026 -0.06524300
+v -0.13051451 -0.06661532 -0.06523298
+v -0.14123146 -0.08764010 -0.14206842
+v -0.14123146 -0.09467007 -0.14206845
+v -0.14121758 -0.11824756 -0.14206853
+v -0.13051451 -0.06683163 -0.06523299
+v -0.11226999 -0.11824748 -0.16308424
+v -0.11225957 -0.07362331 -0.16308408
+v -0.11961013 0.10273194 -0.17312568
+v -0.11496658 0.10273193 -0.17024740
+v -0.11417877 -0.08063165 -0.16976130
+v -0.11961013 -0.08763998 -0.17313696
+v -0.14199845 0.10273185 -0.14906238
+v -0.14200539 0.09470686 -0.14906241
+v -0.14200885 0.08767687 -0.14906244
+v -0.11226651 -0.10868670 -0.16308421
+v -0.14200885 -0.09467004 -0.14906311
+v -0.14197762 -0.11824753 -0.14906319
+v -0.11418571 -0.11824746 -0.16976143
+v -0.11418225 -0.10868668 -0.16976140
+v -0.12062353 0.10273194 -0.17315742
+v -0.11961013 -0.11824744 -0.17313707
+v -0.12662058 -0.11824744 -0.17333812
+v -0.14199845 0.10273190 -0.16308343
+v -0.14200539 0.08767689 -0.15607825
+v -0.14201233 -0.08764005 -0.15606830
+v -0.14200885 -0.09467002 -0.15606833
+v -0.14197762 -0.11824751 -0.15606841
+v -0.12662058 0.10273194 -0.17331615
+v -0.13363797 -0.11824744 -0.17326405
+v -0.13363797 -0.02785268 -0.17326372
+v -0.13030973 -0.02785268 -0.17329546
+v -0.13363797 0.10273194 -0.17325265
+v -0.13956908 0.10273192 -0.16988761
+v -0.13957256 0.09470693 -0.16988764
+v -0.14200191 0.08767692 -0.16308349
+v -0.14200885 -0.08764002 -0.16308413
+v -0.14200539 -0.09466999 -0.16308416
+v -0.14197416 -0.11824748 -0.16308424
+v -0.13955868 -0.11824746 -0.16988842
+v -0.13957256 -0.09466997 -0.16988834
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 18
+f 1 18 22
+f 1 22 10
+f 1 10 4
+f 1 4 7
+f 1 7 2
+f 2 5 14
+f 2 14 26
+f 2 26 25
+f 2 25 37
+f 2 37 45
+f 2 45 49
+f 2 49 50
+f 2 50 40
+f 2 40 29
+f 2 29 15
+f 2 15 6
+f 2 7 16
+f 2 16 12
+f 2 12 5
+f 3 6 8
+f 3 8 9
+f 4 10 21
+f 4 21 34
+f 4 34 44
+f 4 44 55
+f 4 55 56
+f 4 56 46
+f 4 46 39
+f 4 39 38
+f 4 38 35
+f 4 35 23
+f 4 23 11
+f 4 11 16
+f 4 16 7
+f 5 12 13
+f 5 13 14
+f 6 15 8
+f 8 17 22
+f 8 22 18
+f 8 18 9
+f 8 15 19
+f 8 19 20
+f 8 20 17
+f 10 20 21
+f 10 22 20
+f 11 23 16
+f 12 16 24
+f 12 24 13
+f 13 25 26
+f 13 26 14
+f 13 24 27
+f 13 27 38
+f 13 38 28
+f 13 28 25
+f 15 29 30
+f 15 30 31
+f 15 31 19
+f 16 23 32
+f 16 32 24
+f 17 20 22
+f 19 31 33
+f 19 33 20
+f 20 33 21
+f 21 33 34
+f 23 35 36
+f 23 36 32
+f 24 32 36
+f 24 36 27
+f 25 28 37
+f 27 36 38
+f 28 38 39
+f 28 39 37
+f 29 40 30
+f 30 40 31
+f 31 40 41
+f 31 41 53
+f 31 53 42
+f 31 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 35 38 36
+f 37 39 45
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 45
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 42 53 54
+f 42 54 43
+f 43 54 55
+f 43 55 44
+f 46 56 57
+f 46 57 51
+f 46 51 47
+f 47 51 49
+f 47 49 48
+f 49 51 50
+f 51 57 53
+f 51 53 52
+f 53 57 54
+f 54 57 56
+f 54 56 55
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_1.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.16457185 -0.15666870 0.08555316
+v 0.17129771 -0.16156775 0.08555315
+v 0.17129771 -0.16156777 0.08912246
+v 0.17131402 -0.16156779 0.09612805
+v 0.16457185 -0.15664691 0.08912247
+v 0.16457185 -0.13570271 0.08555324
+v 0.17316764 -0.16193856 0.08555315
+v 0.17510609 -0.16232250 0.09612804
+v 0.17141845 -0.16148492 0.10081184
+v 0.16457185 -0.15600565 0.09459191
+v 0.16457185 -0.13571145 0.08666771
+v 0.16794620 -0.11825723 0.08555331
+v 0.17510609 -0.16231809 0.08555314
+v 0.18211912 -0.16281978 0.08555314
+v 0.18211912 -0.16281982 0.09612804
+v 0.18211912 -0.16281112 0.10313112
+v 0.17473733 -0.16200843 0.10314117
+v 0.17214946 -0.16086984 0.10548306
+v 0.16457185 -0.15136402 0.10031989
+v 0.16457185 -0.13573764 0.08912255
+v 0.16794946 -0.11825724 0.08658996
+v 0.19535546 -0.11825723 0.08555331
+v 0.18555221 -0.16245333 0.08555314
+v 0.18910931 -0.16206948 0.09612804
+v 0.18898531 -0.16206951 0.10313112
+v 0.18778438 -0.16181648 0.10740327
+v 0.18211912 -0.16205643 0.10777223
+v 0.17682917 -0.16179904 0.10738067
+v 0.17473733 -0.15823928 0.10853029
+v 0.17093547 -0.15619327 0.10753381
+v 0.16457185 -0.14990696 0.10185856
+v 0.16457185 -0.13621315 0.09114566
+v 0.16795926 -0.11825725 0.08912262
+v 0.19664449 -0.11825725 0.08912262
+v 0.19780626 -0.14377763 0.08555321
+v 0.18911585 -0.16206944 0.08555314
+v 0.18911585 -0.16206946 0.08912245
+v 0.19262072 -0.16130604 0.09612805
+v 0.19249346 -0.16118829 0.10313113
+v 0.19350185 -0.15647683 0.10739074
+v 0.18972936 -0.15840941 0.10846252
+v 0.18211912 -0.15780739 0.11004386
+v 0.17510609 -0.15079257 0.11026478
+v 0.17054713 -0.15079256 0.10799317
+v 0.16457185 -0.14534818 0.10196652
+v 0.16457185 -0.13745211 0.09631891
+v 0.16867394 -0.11825727 0.09612821
+v 0.19702631 -0.11825726 0.09165527
+v 0.19787153 -0.14721962 0.08555320
+v 0.19769857 -0.11825727 0.09612821
+v 0.19090418 -0.16168118 0.08555315
+v 0.19262400 -0.16130602 0.08912246
+v 0.19392282 -0.15958719 0.08555315
+v 0.19527060 -0.15779859 0.08555316
+v 0.19526734 -0.15779861 0.08912247
+v 0.19525755 -0.15779863 0.09612806
+v 0.19458856 -0.15768086 0.10313114
+v 0.19654006 -0.15079254 0.10313117
+v 0.19392935 -0.15079256 0.10778483
+v 0.18913868 -0.15079256 0.11006648
+v 0.18211912 -0.15079257 0.11118598
+v 0.17510609 -0.14377773 0.11027735
+v 0.17052102 -0.14377772 0.10800323
+v 0.16457185 -0.14379079 0.10196652
+v 0.16457185 -0.13817628 0.09744591
+v 0.16951589 -0.11825730 0.10313129
+v 0.19791069 -0.15079247 0.08555319
+v 0.19652701 -0.11825730 0.10313129
+v 0.19788458 -0.15079251 0.09612809
+v 0.19790743 -0.15079249 0.08912250
+v 0.19262400 -0.16130600 0.08555315
+v 0.19392282 -0.14377772 0.10779991
+v 0.18913868 -0.14377772 0.11008408
+v 0.18211912 -0.14377773 0.11119101
+v 0.17510609 -0.13676726 0.11027988
+v 0.17510609 -0.11825733 0.11027995
+v 0.17062545 -0.11825732 0.10800333
+v 0.17022405 -0.11825731 0.10624126
+v 0.19390977 -0.11825732 0.10779248
+v 0.18913868 -0.11825732 0.11007665
+v 0.18211912 -0.11825733 0.11119613
+v 0.18211912 -0.13676726 0.11119356
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 19
+f 1 19 31
+f 1 31 45
+f 1 45 64
+f 1 64 65
+f 1 65 46
+f 1 46 32
+f 1 32 20
+f 1 20 11
+f 1 11 6
+f 1 6 12
+f 1 12 22
+f 1 22 35
+f 1 35 49
+f 1 49 67
+f 1 67 54
+f 1 54 53
+f 1 53 71
+f 1 71 51
+f 1 51 36
+f 1 36 23
+f 1 23 14
+f 1 14 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 12
+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 9 18 10
+f 10 18 19
+f 11 20 12
+f 12 21 33
+f 12 33 47
+f 12 47 66
+f 12 66 78
+f 12 78 77
+f 12 77 76
+f 12 76 81
+f 12 81 80
+f 12 80 79
+f 12 79 68
+f 12 68 50
+f 12 50 48
+f 12 48 34
+f 12 34 22
+f 12 20 21
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 20 32 33
+f 20 33 21
+f 22 34 35
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 42 28
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 32 46 33
+f 33 46 47
+f 34 48 35
+f 35 48 50
+f 35 50 49
+f 36 51 37
+f 37 51 38
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 38 51 52
+f 39 56 57
+f 39 57 40
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 40 57 58
+f 41 60 42
+f 42 60 61
+f 42 61 43
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 44 63 45
+f 45 63 64
+f 46 65 66
+f 46 66 47
+f 49 50 67
+f 50 68 69
+f 50 69 70
+f 50 70 67
+f 51 71 52
+f 52 71 53
+f 54 67 70
+f 54 70 55
+f 55 70 56
+f 56 70 69
+f 56 69 57
+f 57 69 58
+f 58 72 59
+f 58 69 68
+f 58 68 72
+f 59 72 73
+f 59 73 60
+f 60 73 61
+f 61 73 74
+f 61 74 62
+f 62 74 82
+f 62 82 75
+f 62 75 63
+f 63 75 76
+f 63 76 77
+f 63 77 64
+f 64 77 78
+f 64 78 66
+f 64 66 65
+f 68 79 72
+f 72 79 80
+f 72 80 73
+f 73 80 81
+f 73 81 82
+f 73 82 74
+f 75 82 81
+f 75 81 76
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_10.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.18212040 -0.16282348 0.06810207
+v 0.18912097 -0.16207318 0.07510440
+v 0.18555465 -0.16245274 0.08554838
+v 0.18212040 -0.16281919 0.08554838
+v 0.17854582 -0.16256617 0.08554838
+v 0.17510745 -0.16232181 0.06810207
+v 0.17510745 -0.16231733 0.03692244
+v 0.18212040 -0.16281908 0.05409266
+v 0.18912922 -0.16207312 0.06109974
+v 0.19262538 -0.16130979 0.08554839
+v 0.18911684 -0.16206885 0.08554838
+v 0.19264602 -0.16131402 0.04959423
+v 0.19264189 -0.16131404 0.05409267
+v 0.17510745 -0.16231750 0.08554838
+v 0.17316744 -0.16193798 0.08554839
+v 0.17129760 -0.16157154 0.08554839
+v 0.17126870 -0.16157140 0.04708558
+v 0.17128521 -0.16157137 0.03692245
+v 0.18212040 -0.16281029 0.03692244
+v 0.18913748 -0.16206433 0.03692244
+v 0.19106511 -0.16165425 0.03692245
+v 0.19264602 -0.16131398 0.03692245
+v 0.19527123 -0.15780242 0.08211150
+v 0.19526710 -0.15780243 0.08554840
+v 0.19527949 -0.15780667 0.05409268
+v 0.15575271 -0.15491014 0.08554841
+v 0.15575271 -0.15610966 0.04708560
+v 0.15575271 -0.15443447 0.03743658
+v 0.15575271 -0.15425126 0.03692247
+v 0.15575271 -0.15553381 0.04195405
+v 0.15575271 -0.15530696 0.04014040
+v 0.19383066 -0.15973480 0.03692245
+v 0.19791295 -0.15079203 0.08211153
+v 0.19527949 -0.15780234 0.06109976
+v 0.19790882 -0.15079204 0.08554843
+v 0.19792121 -0.15079195 0.06109979
+v 0.19527536 -0.15780661 0.03692246
+v 0.15575271 -0.13763938 0.08554847
+v 0.15575271 -0.13761740 0.03692253
+v 0.19788406 -0.14377718 0.05409273
+v 0.19787580 -0.14377720 0.06109981
+v 0.19787167 -0.14721923 0.08554844
+v 0.19791295 -0.15079190 0.04708562
+v 0.19790470 -0.15079187 0.03692249
+v 0.16794591 -0.11826158 0.08554855
+v 0.16793766 -0.11826157 0.08211165
+v 0.16792527 -0.11826155 0.07510457
+v 0.16792527 -0.11826144 0.04708574
+v 0.16793353 -0.11826141 0.03692261
+v 0.19787993 -0.14377715 0.04708564
+v 0.19535378 -0.11826158 0.08554855
+v 0.19783453 -0.14377728 0.08211155
+v 0.19780563 -0.14377729 0.08554845
+v 0.19787167 -0.14377712 0.03692251
+v 0.19153154 -0.11826141 0.03692261
+v 0.19679435 -0.13676674 0.03692254
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 12
+f 2 12 13
+f 2 13 10
+f 3 11 10
+f 3 10 24
+f 3 24 35
+f 3 35 42
+f 3 42 53
+f 3 53 51
+f 3 51 45
+f 3 45 38
+f 3 38 26
+f 3 26 16
+f 3 16 15
+f 3 15 14
+f 3 14 5
+f 3 5 4
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 29
+f 7 29 39
+f 7 39 49
+f 7 49 55
+f 7 55 56
+f 7 56 54
+f 7 54 44
+f 7 44 37
+f 7 37 32
+f 7 32 22
+f 7 22 21
+f 7 21 20
+f 7 20 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 12
+f 10 23 24
+f 10 13 12
+f 10 12 23
+f 12 22 25
+f 12 25 23
+f 16 26 27
+f 16 27 17
+f 17 27 18
+f 18 28 29
+f 18 27 30
+f 18 30 31
+f 18 31 28
+f 22 32 25
+f 23 33 35
+f 23 35 24
+f 23 25 34
+f 23 34 36
+f 23 36 33
+f 25 36 34
+f 25 32 37
+f 25 37 36
+f 26 38 39
+f 26 39 29
+f 26 29 28
+f 26 28 31
+f 26 31 30
+f 26 30 27
+f 33 36 40
+f 33 40 41
+f 33 41 35
+f 35 41 42
+f 36 37 43
+f 36 43 50
+f 36 50 40
+f 37 44 43
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 39 48 49
+f 39 47 48
+f 40 50 51
+f 40 51 41
+f 41 51 52
+f 41 52 42
+f 42 52 53
+f 43 44 54
+f 43 54 50
+f 45 51 55
+f 45 55 49
+f 45 49 48
+f 45 48 47
+f 45 47 46
+f 50 54 51
+f 51 53 52
+f 51 54 56
+f 51 56 55
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_11.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.09165522 -0.14774793 0.03692249
+v -0.13376859 -0.14774793 0.03692249
+v -0.09165522 -0.17711984 0.03692238
+v -0.09165522 -0.14774726 -0.14368325
+v -0.13945063 -0.15274662 0.03692247
+v -0.14215814 -0.14774724 -0.14906582
+v -0.10557730 -0.18552990 0.03692235
+v -0.09165522 -0.18446829 -0.14205482
+v -0.09165522 -0.15362727 -0.16836026
+v -0.11559565 -0.15411265 -0.22406291
+v -0.11482131 -0.14774715 -0.17484692
+v -0.14099396 -0.15502765 0.03692246
+v -0.14216883 -0.14774723 -0.15304063
+v -0.14489236 -0.15987031 -0.22613314
+v -0.14287374 -0.15781060 0.03692245
+v -0.10873874 -0.18646026 0.03692235
+v -0.09165522 -0.18460291 -0.14906596
+v -0.09165522 -0.18447237 -0.14216523
+v -0.09165522 -0.15780167 -0.17172783
+v -0.10865863 -0.16042937 -0.22455978
+v -0.11359305 -0.15882158 -0.23314427
+v -0.11238615 -0.15743422 -0.22662998
+v -0.11960619 -0.15591622 -0.23314426
+v -0.11960619 -0.15445539 -0.22850698
+v -0.11588936 -0.14774715 -0.17548178
+v -0.14216349 -0.14774719 -0.16308809
+v -0.14473216 -0.16037627 -0.23314428
+v -0.14574146 -0.16482409 -0.23314430
+v -0.14398986 -0.16482509 0.03692242
+v -0.11259441 -0.18759466 0.03692234
+v -0.09165522 -0.18461919 -0.16308823
+v -0.09165522 -0.16469374 -0.17330121
+v -0.10916596 -0.16482411 -0.22927989
+v -0.11070930 -0.16482409 -0.23314430
+v -0.11499753 -0.16019672 -0.23764355
+v -0.12662330 -0.15547960 -0.23314426
+v -0.11960619 -0.15927043 -0.23852685
+v -0.12662330 -0.15888277 -0.23905128
+v -0.12662330 -0.15440643 -0.22872780
+v -0.12167822 -0.14774714 -0.17664110
+v -0.11960619 -0.14774714 -0.17633748
+v -0.14148527 -0.14774718 -0.16703529
+v -0.14031041 -0.15599378 -0.22649196
+v -0.14065753 -0.15748316 -0.23314427
+v -0.14439038 -0.16101284 -0.23695348
+v -0.14490304 -0.16482408 -0.23769878
+v -0.14533026 -0.17183450 -0.23833366
+v -0.14620606 -0.17183452 -0.23314432
+v -0.14398986 -0.17183552 0.03692240
+v -0.11960619 -0.18759874 0.03692234
+v -0.12662330 -0.18942990 -0.23568385
+v -0.12292784 -0.18940542 -0.23604269
+v -0.09165522 -0.18460286 -0.16319864
+v -0.12292784 -0.18940542 -0.23670516
+v -0.12019362 -0.18884639 -0.23347562
+v -0.09165522 -0.16482431 -0.17332882
+v -0.10910188 -0.17183454 -0.22952834
+v -0.11033548 -0.17183452 -0.23314432
+v -0.11382268 -0.17183450 -0.23885812
+v -0.11413775 -0.16482407 -0.23849926
+v -0.12235109 -0.16756212 -0.24401985
+v -0.13364042 -0.15549591 -0.23314426
+v -0.13364042 -0.15440643 -0.22875539
+v -0.12662330 -0.16340811 -0.24255688
+v -0.13364042 -0.15890317 -0.23902369
+v -0.12662330 -0.14774714 -0.17686192
+v -0.13917827 -0.14774715 -0.17388081
+v -0.13773641 -0.15409633 -0.22436654
+v -0.14065753 -0.15989885 -0.23800239
+v -0.14009146 -0.16537495 -0.24120434
+v -0.13737861 -0.16808443 -0.24374382
+v -0.14130904 -0.17183449 -0.24183923
+v -0.14502586 -0.17884899 -0.23789204
+v -0.14586430 -0.17884900 -0.23314435
+v -0.14381896 -0.17885000 0.03692237
+v -0.14391509 -0.17499795 0.03692239
+v -0.12662330 -0.18759874 0.03692234
+v -0.13114651 -0.18941766 -0.23595988
+v -0.12662330 -0.18942990 -0.23676037
+v -0.13364042 -0.18758242 0.03692234
+v -0.09165522 -0.18348885 -0.16910565
+v -0.11340613 -0.18528406 -0.23314437
+v -0.12967259 -0.18251331 -0.24374387
+v -0.12019362 -0.18617768 -0.23860974
+v -0.11476257 -0.18405172 -0.23791967
+v -0.09165522 -0.17183474 -0.17332884
+v -0.10915528 -0.17884902 -0.22927994
+v -0.11051705 -0.17884900 -0.23314435
+v -0.11395618 -0.17884898 -0.23872014
+v -0.11834588 -0.17183449 -0.24236369
+v -0.12184910 -0.17183448 -0.24429588
+v -0.12662330 -0.17183448 -0.24506877
+v -0.12662330 -0.16691330 -0.24429586
+v -0.13788059 -0.14774715 -0.17459849
+v -0.13544542 -0.14774714 -0.17567500
+v -0.13364042 -0.14774714 -0.17636507
+v -0.13364042 -0.16379577 -0.24252927
+v -0.13364042 -0.16730504 -0.24410264
+v -0.13364042 -0.17183448 -0.24470993
+v -0.13780049 -0.17183448 -0.24396465
+v -0.13778981 -0.17607418 -0.24396467
+v -0.14452388 -0.18290100 -0.23717438
+v -0.14033711 -0.17858782 -0.24142521
+v -0.14483362 -0.18346821 -0.23314436
+v -0.14487634 -0.18363962 -0.22613322
+v -0.14039586 -0.18496270 0.03692235
+v -0.13354429 -0.18918916 -0.23342041
+v -0.13114651 -0.18941766 -0.23673276
+v -0.13038285 -0.18251331 -0.24374387
+v -0.13668437 -0.18640314 0.03692235
+v -0.14065753 -0.18689183 -0.22613324
+v -0.09165522 -0.18337868 -0.16918846
+v -0.10870136 -0.18301531 -0.22455986
+v -0.12704519 -0.17897955 -0.24429591
+v -0.12218554 -0.17673115 -0.24413029
+v -0.12499452 -0.18140749 -0.24321942
+v -0.11975038 -0.17897956 -0.24225330
+v -0.09165522 -0.17863705 -0.17250079
+v -0.09165522 -0.17884923 -0.17247319
+v -0.13309037 -0.17858781 -0.24418551
+v -0.13506092 -0.18075052 -0.24294337
+v -0.14065753 -0.18445569 -0.23827851
+v -0.14065753 -0.18683060 -0.23314438
+v -0.13310639 -0.18590021 -0.23982427
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 29
+f 1 29 49
+f 1 49 76
+f 1 76 75
+f 1 75 106
+f 1 106 110
+f 1 110 80
+f 1 80 77
+f 1 77 50
+f 1 50 30
+f 1 30 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 31
+f 1 31 53
+f 1 53 81
+f 1 81 112
+f 1 112 119
+f 1 119 118
+f 1 118 86
+f 1 86 56
+f 1 56 32
+f 1 32 19
+f 1 19 9
+f 1 9 4
+f 1 4 11
+f 1 11 25
+f 1 25 41
+f 1 41 40
+f 1 40 66
+f 1 66 96
+f 1 96 95
+f 1 95 94
+f 1 94 67
+f 1 67 42
+f 1 42 26
+f 1 26 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 21
+f 10 21 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 13 26 14
+f 14 27 28
+f 14 28 15
+f 14 26 27
+f 15 28 29
+f 16 30 17
+f 17 30 31
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 23
+f 23 36 24
+f 23 35 37
+f 23 37 38
+f 23 38 36
+f 24 36 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 26 42 27
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 27 42 43
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 29 48 49
+f 30 50 51
+f 30 51 52
+f 30 52 31
+f 31 52 54
+f 31 54 55
+f 31 55 53
+f 32 56 33
+f 33 57 58
+f 33 58 34
+f 33 56 57
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 35 60 61
+f 35 61 37
+f 36 62 63
+f 36 63 39
+f 36 38 62
+f 37 61 64
+f 37 64 38
+f 38 64 65
+f 38 65 62
+f 39 63 66
+f 39 66 40
+f 42 67 68
+f 42 68 43
+f 43 68 44
+f 44 68 62
+f 44 62 69
+f 44 69 45
+f 45 69 70
+f 45 70 46
+f 46 70 71
+f 46 71 72
+f 46 72 47
+f 47 73 74
+f 47 74 48
+f 47 72 73
+f 48 74 75
+f 48 75 76
+f 48 76 49
+f 50 77 51
+f 51 78 108
+f 51 108 79
+f 51 79 54
+f 51 54 52
+f 51 77 80
+f 51 80 78
+f 53 55 82
+f 53 82 81
+f 54 79 83
+f 54 83 84
+f 54 84 85
+f 54 85 82
+f 54 82 55
+f 56 86 57
+f 57 87 58
+f 57 86 87
+f 58 88 59
+f 58 87 88
+f 59 89 90
+f 59 90 60
+f 59 88 89
+f 60 90 61
+f 61 90 91
+f 61 91 92
+f 61 92 93
+f 61 93 64
+f 62 68 63
+f 62 65 69
+f 63 68 94
+f 63 94 95
+f 63 95 96
+f 63 96 66
+f 64 93 97
+f 64 97 65
+f 65 97 69
+f 67 94 68
+f 69 97 71
+f 69 71 70
+f 71 98 99
+f 71 99 100
+f 71 100 72
+f 71 97 98
+f 72 100 101
+f 72 101 73
+f 73 102 74
+f 73 101 103
+f 73 103 102
+f 74 102 104
+f 74 104 105
+f 74 105 75
+f 75 105 106
+f 78 107 108
+f 78 80 107
+f 79 108 109
+f 79 109 83
+f 80 110 111
+f 80 111 107
+f 81 82 113
+f 81 113 87
+f 81 87 112
+f 82 85 113
+f 83 109 114
+f 83 114 115
+f 83 115 116
+f 83 116 84
+f 84 116 85
+f 85 116 117
+f 85 117 89
+f 85 89 88
+f 85 88 113
+f 86 118 87
+f 87 113 88
+f 87 118 119
+f 87 119 112
+f 89 117 115
+f 89 115 90
+f 90 115 91
+f 91 115 92
+f 92 99 98
+f 92 98 93
+f 92 115 114
+f 92 114 120
+f 92 120 99
+f 93 98 97
+f 99 120 101
+f 99 101 100
+f 101 120 109
+f 101 109 121
+f 101 121 102
+f 101 102 103
+f 102 121 122
+f 102 122 123
+f 102 123 104
+f 104 123 105
+f 105 123 111
+f 105 111 106
+f 106 111 110
+f 107 111 123
+f 107 123 108
+f 108 122 124
+f 108 124 109
+f 108 123 122
+f 109 124 122
+f 109 122 121
+f 109 120 114
+f 115 117 116
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_12.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.16531853 0.10273082 0.13115123
+v 0.16534989 0.06665079 0.13115109
+v 0.16494230 0.08066750 0.12667580
+v 0.16491095 0.10273083 0.12668079
+v 0.16494230 0.10273080 0.13597008
+v 0.16494230 0.06665077 0.13597485
+v 0.16494230 0.03156575 0.13597473
+v 0.16494230 -0.10167945 0.13595952
+v 0.16494230 -0.11824858 0.13594965
+v 0.16531853 -0.11824856 0.13115532
+v 0.16494230 -0.11824855 0.12667507
+v 0.16494230 -0.10868778 0.12667018
+v 0.16494230 -0.09464944 0.12667023
+v 0.16271628 0.08066752 0.12318188
+v 0.16271628 0.09470586 0.12318683
+v 0.16271628 0.10273085 0.12319177
+v 0.16334332 0.10273079 0.13896837
+v 0.16309252 0.07365911 0.13947370
+v 0.16309252 0.04560407 0.13947851
+v 0.16309252 0.03857409 0.13947848
+v 0.16309252 -0.02783220 0.13946352
+v 0.16306116 -0.11824859 0.13945337
+v 0.16271628 -0.11824853 0.12319096
+v 0.16271628 -0.11571774 0.12318115
+v 0.15920481 0.10273086 0.11977637
+v 0.16221464 0.10273085 0.12270105
+v 0.16306116 0.10273079 0.13947381
+v 0.16008267 0.10273078 0.14223656
+v 0.15958104 0.09470579 0.14270271
+v 0.15958104 0.08066745 0.14270756
+v 0.15958104 0.05261241 0.14271236
+v 0.15958104 -0.05257775 0.14271198
+v 0.16180706 -0.11824860 0.14063110
+v 0.15920481 -0.11824852 0.11978047
+v 0.15920481 -0.05257767 0.11977580
+v 0.14396751 -0.09464936 0.10603552
+v 0.14393616 0.10273091 0.10603625
+v 0.15954968 0.10273078 0.14270274
+v 0.15080234 0.10273075 0.14888089
+v 0.15083370 0.08767577 0.14888083
+v 0.15083370 0.05962074 0.14888564
+v 0.15083370 -0.02783224 0.14889021
+v 0.15083370 -0.11824863 0.14888988
+v 0.15954968 -0.11824860 0.14270683
+v 0.14393616 -0.11824847 0.10603544
+v 0.14396751 -0.10868770 0.10603547
+v 0.14142796 -0.11824847 0.10487245
+v 0.13998574 0.10273092 0.10423041
+v 0.14700869 0.10273075 0.14960715
+v 0.14700869 0.05261238 0.14961187
+v 0.14700869 -0.10167950 0.14962112
+v 0.14700869 -0.11824863 0.14962106
+v 0.13998574 -0.11571767 0.10421978
+v 0.13998574 -0.11824846 0.10421978
+v 0.13299414 -0.11571767 0.10301753
+v 0.13299414 -0.02450094 0.10302277
+v 0.13299414 0.05962091 0.10302799
+v 0.13299414 0.10273092 0.10303306
+v 0.13998574 0.10273075 0.15012240
+v 0.13998574 -0.10167950 0.15012656
+v 0.13998574 -0.11824863 0.15012159
+v 0.13299414 -0.11824846 0.10301753
+v 0.05125828 -0.02783206 0.10004901
+v 0.05125828 0.10273093 0.10059419
+v -0.13262391 0.10273075 0.15016657
+v -0.13359584 0.01054064 0.15018095
+v -0.13359584 -0.09464952 0.15016584
+v -0.13359584 -0.11824863 0.15016085
+v 0.05125828 -0.11824845 0.10004868
+v -0.13654297 -0.02783206 0.10004901
+v -0.13695056 0.10273093 0.10059419
+v -0.13359584 0.10273075 0.15016657
+v -0.13854952 0.10273075 0.14942068
+v -0.13858088 0.03156570 0.14942533
+v -0.13858088 0.02457898 0.14942530
+v -0.13854952 -0.10167950 0.14941993
+v -0.13854952 -0.11824863 0.14941005
+v -0.13651162 -0.11824845 0.10004868
+v -0.13654297 -0.10957453 0.10004871
+v -0.13695056 0.09468430 0.10059416
+v -0.15121593 0.10273086 0.12060568
+v -0.15162351 0.10273078 0.14204518
+v -0.15162351 0.03156573 0.14204492
+v -0.15159214 -0.11824860 0.14203946
+v -0.15115322 -0.11824852 0.12061959
+v -0.15118456 -0.10167939 0.12061965
+v -0.15121593 0.08066753 0.12060560
+v -0.15306570 0.10273084 0.12415849
+v -0.15325383 0.10273079 0.13871811
+v -0.15350466 -0.02783220 0.13815821
+v -0.15228190 -0.11824860 0.14063601
+v -0.15237595 -0.11824853 0.12287690
+v -0.15218784 -0.02783214 0.12247484
+v -0.15306570 0.04560412 0.12415828
+v -0.15494687 0.05962081 0.13115107
+v -0.15491552 0.10273082 0.13115123
+v -0.15350466 0.10273079 0.13815869
+v -0.15347329 -0.11824859 0.13815788
+v -0.15491552 -0.11571777 0.13115042
+v -0.15303438 -0.11824854 0.12415768
+v -0.15488416 -0.11824856 0.13115042
+v -0.15422577 -0.11824855 0.12861831
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 26
+f 1 26 25
+f 1 25 37
+f 1 37 48
+f 1 48 58
+f 1 58 64
+f 1 64 71
+f 1 71 81
+f 1 81 88
+f 1 88 96
+f 1 96 97
+f 1 97 89
+f 1 89 82
+f 1 82 73
+f 1 73 72
+f 1 72 65
+f 1 65 59
+f 1 59 49
+f 1 49 39
+f 1 39 38
+f 1 38 28
+f 1 28 27
+f 1 27 17
+f 1 17 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 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 7
+f 7 20 8
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 33
+f 9 33 44
+f 9 44 43
+f 9 43 52
+f 9 52 61
+f 9 61 68
+f 9 68 77
+f 9 77 84
+f 9 84 91
+f 9 91 98
+f 9 98 101
+f 9 101 102
+f 9 102 100
+f 9 100 92
+f 9 92 85
+f 9 85 78
+f 9 78 69
+f 9 69 62
+f 9 62 54
+f 9 54 47
+f 9 47 45
+f 9 45 34
+f 9 34 23
+f 9 23 11
+f 9 11 10
+f 11 23 24
+f 11 24 12
+f 12 24 14
+f 12 14 13
+f 14 24 35
+f 14 35 25
+f 14 25 26
+f 14 26 15
+f 15 26 16
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 23 34 24
+f 24 34 35
+f 25 35 46
+f 25 46 36
+f 25 36 37
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 30 41 31
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 32 44 33
+f 34 45 46
+f 34 46 35
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 39 49 40
+f 40 49 41
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 42 51 52
+f 42 52 43
+f 45 47 46
+f 47 53 48
+f 47 54 53
+f 48 53 55
+f 48 55 56
+f 48 56 57
+f 48 57 58
+f 49 59 50
+f 50 59 51
+f 51 59 60
+f 51 60 52
+f 52 60 61
+f 53 54 62
+f 53 62 55
+f 55 62 69
+f 55 69 63
+f 55 63 56
+f 56 63 57
+f 57 63 58
+f 58 63 64
+f 59 65 66
+f 59 66 60
+f 60 66 67
+f 60 67 68
+f 60 68 61
+f 63 69 78
+f 63 78 79
+f 63 79 70
+f 63 70 71
+f 63 71 64
+f 65 72 66
+f 66 72 73
+f 66 73 74
+f 66 74 75
+f 66 75 76
+f 66 76 67
+f 67 76 68
+f 68 76 77
+f 70 79 80
+f 70 80 71
+f 71 80 87
+f 71 87 81
+f 73 82 74
+f 74 82 83
+f 74 83 75
+f 75 83 84
+f 75 84 76
+f 76 84 77
+f 78 85 79
+f 79 85 86
+f 79 86 87
+f 79 87 80
+f 81 87 94
+f 81 94 88
+f 82 89 83
+f 83 89 90
+f 83 90 91
+f 83 91 84
+f 85 92 86
+f 86 92 93
+f 86 93 87
+f 87 93 94
+f 88 94 95
+f 88 95 96
+f 89 97 90
+f 90 98 91
+f 90 97 95
+f 90 95 99
+f 90 99 98
+f 92 100 93
+f 93 100 94
+f 94 100 99
+f 94 99 95
+f 95 97 96
+f 98 99 101
+f 99 100 102
+f 99 102 101
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_13.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.08450814 0.13373999 0.02132165
+v -0.08450814 0.13373977 0.08111744
+v -0.08450814 0.17600978 0.02132181
+v 0.06164353 0.13373999 0.02132165
+v -0.08450814 0.17333357 0.08111759
+v 0.05543015 0.13373977 0.08111744
+v -0.08450814 0.17601383 0.05407604
+v 0.09083953 0.17631802 0.07510641
+v 0.09083953 0.17631397 0.04708738
+v 0.09083953 0.17630573 0.02132181
+v 0.09083953 0.13471535 0.02132165
+v -0.08351262 0.17600956 0.08111760
+v -0.08450814 0.17600956 0.08110004
+v 0.09083953 0.13780794 0.08111746
+v -0.08450814 0.17601381 0.06108227
+v 0.09083953 0.17631384 0.08111760
+f 1 2 5
+f 1 5 13
+f 1 13 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 6
+f 1 6 2
+f 2 6 14
+f 2 14 16
+f 2 16 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 6
+f 5 12 13
+f 6 11 14
+f 7 15 8
+f 8 16 14
+f 8 14 11
+f 8 11 10
+f 8 10 9
+f 8 15 13
+f 8 13 16
+f 12 16 13
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_14.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.11860482 0.18763818 0.08111764
+v -0.12662380 0.18763818 0.08111764
+v -0.11259495 0.18762988 0.08111764
+v -0.11960647 0.18766317 0.06809945
+v -0.12662380 0.18766317 0.06809945
+v -0.13363532 0.18762988 0.08111764
+v -0.11259495 0.18763820 0.07510497
+v -0.11159331 0.18733890 0.08111764
+v -0.11259495 0.18764655 0.06809945
+v -0.11960647 0.18766320 0.06109391
+v -0.12662380 0.18766320 0.06109391
+v -0.13363532 0.18764658 0.06109391
+v -0.14039642 0.18500289 0.08111763
+v -0.10557762 0.18556820 0.08111763
+v -0.11259495 0.18764660 0.05408839
+v -0.11259495 0.18763841 0.01811721
+v -0.11960647 0.18765499 0.03307796
+v -0.12662380 0.18764673 0.01811721
+v -0.13363532 0.18763841 0.01811721
+v -0.14039060 0.18501144 0.01811720
+v -0.14039060 0.18501139 0.03307795
+v -0.14038477 0.18501126 0.06809944
+v -0.14087977 0.18413832 0.08111763
+v -0.10557762 0.18556843 0.01811720
+v -0.08452560 0.17600802 0.08111760
+v -0.08450814 0.17600802 0.08110528
+v -0.11865723 0.18764673 0.01811721
+v -0.14380900 0.17889293 0.01811718
+v -0.14380900 0.17889270 0.08111761
+v -0.08450814 0.17600825 0.01811717
+v -0.08450814 0.17333117 0.08111759
+v -0.14398371 0.17187658 0.01811715
+v -0.14398953 0.17187655 0.02607238
+v -0.14399535 0.17187645 0.05408833
+v -0.14399535 0.17187643 0.06109385
+v -0.14397789 0.17187635 0.08111758
+v -0.08450814 0.10274402 0.01811690
+v -0.08450814 0.10274379 0.08111733
+v -0.14398953 0.16486025 0.01811713
+v -0.14400118 0.16486012 0.05408831
+v -0.14398371 0.17087877 0.08111758
+v -0.13052556 0.10274402 0.01811690
+v -0.13054303 0.10274379 0.08111733
+v -0.14283647 0.15784391 0.01811710
+v -0.14285395 0.15784376 0.06109380
+v -0.14398371 0.16486002 0.08111756
+v -0.14284812 0.15784370 0.07510486
+v -0.14284230 0.15784368 0.08111753
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 29
+f 1 29 36
+f 1 36 41
+f 1 41 46
+f 1 46 48
+f 1 48 43
+f 1 43 38
+f 1 38 31
+f 1 31 25
+f 1 25 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 4 9 15
+f 4 15 10
+f 4 10 11
+f 4 11 5
+f 4 7 9
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 8 9
+f 8 14 9
+f 9 14 24
+f 9 24 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 21 20
+f 13 20 23
+f 13 22 21
+f 14 25 26
+f 14 26 30
+f 14 30 24
+f 15 24 16
+f 16 27 17
+f 16 24 30
+f 16 30 37
+f 16 37 42
+f 16 42 44
+f 16 44 39
+f 16 39 32
+f 16 32 28
+f 16 28 20
+f 16 20 19
+f 16 19 18
+f 16 18 27
+f 17 27 18
+f 20 28 23
+f 23 28 29
+f 25 31 26
+f 26 31 38
+f 26 38 37
+f 26 37 30
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 29 35 36
+f 32 39 33
+f 33 39 40
+f 33 40 34
+f 34 40 35
+f 35 40 41
+f 35 41 36
+f 37 38 43
+f 37 43 42
+f 39 44 45
+f 39 45 40
+f 40 46 41
+f 40 45 47
+f 40 47 46
+f 42 43 45
+f 42 45 44
+f 43 48 47
+f 43 47 45
+f 46 47 48
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_15.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.14001897 -0.03153016 -0.10369920
+v 0.10475569 -0.11824770 -0.10370632
+v 0.14003624 -0.11824770 -0.10370632
+v 0.14003624 -0.02785294 -0.10370599
+v 0.14003279 0.05962167 -0.10370567
+v 0.13300154 0.05962167 -0.10370567
+v 0.10494217 0.05261332 -0.10370570
+v 0.10475569 -0.02785294 -0.10370599
+v 0.10475569 -0.11824761 -0.12893716
+v 0.14003624 -0.11824763 -0.12127451
+v 0.14003624 -0.02785287 -0.12127418
+v 0.14003279 0.10273168 -0.10371915
+v 0.10476260 0.10273168 -0.10371915
+v 0.10476260 0.05962167 -0.10371249
+v 0.10475569 -0.02785285 -0.12903227
+v 0.10811936 -0.11824746 -0.16752309
+v 0.10475569 -0.11662530 -0.12899170
+v 0.13646536 -0.11824748 -0.16308502
+v 0.13647227 -0.03855992 -0.16308473
+v 0.13647227 -0.02785272 -0.16308469
+v 0.14003279 0.10273175 -0.12126689
+v 0.10476260 0.10273177 -0.12902497
+v 0.10476260 0.06665174 -0.12905238
+v 0.10811591 0.10273192 -0.16752909
+v 0.10811245 -0.02785270 -0.16753640
+v 0.10811245 -0.05960659 -0.16754334
+v 0.10475569 -0.09562188 -0.12903252
+v 0.10950765 -0.11824746 -0.16875021
+v 0.10811245 -0.08764000 -0.16753662
+v 0.10811245 -0.08063165 -0.16754342
+v 0.10475569 -0.10961695 -0.12901212
+v 0.13298082 -0.11824746 -0.16996369
+v 0.13298773 -0.10868668 -0.16996366
+v 0.13298773 -0.03152992 -0.16997019
+v 0.13298082 0.09470693 -0.16996291
+v 0.13595770 0.10273190 -0.16407273
+v 0.13646190 0.08767692 -0.16307746
+v 0.13298773 -0.02785270 -0.16997017
+v 0.13645845 0.10273190 -0.16307740
+v 0.11140015 0.10273193 -0.17041964
+v 0.11195270 -0.07362328 -0.17092476
+v 0.11195270 -0.11824745 -0.17089765
+v 0.11195270 -0.09466996 -0.17091803
+v 0.11195270 -0.08063164 -0.17092479
+v 0.12598411 -0.11824744 -0.17333825
+v 0.12930979 -0.02785269 -0.17174267
+v 0.12598411 0.09470695 -0.17333065
+v 0.13298082 0.10273192 -0.16995606
+v 0.11195615 0.10273193 -0.17090366
+v 0.11195615 0.08066860 -0.17091055
+v 0.11897013 -0.08763998 -0.17334495
+v 0.11897359 0.08767696 -0.17333068
+v 0.11897013 -0.11824744 -0.17333825
+v 0.12598411 -0.01749157 -0.17333788
+v 0.11897359 0.10273194 -0.17332380
+v 0.12598411 0.10273194 -0.17332380
+v 0.11796172 0.10273194 -0.17297612
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 16
+f 2 16 28
+f 2 28 42
+f 2 42 53
+f 2 53 45
+f 2 45 32
+f 2 32 18
+f 2 18 10
+f 2 10 3
+f 2 8 15
+f 2 15 27
+f 2 27 31
+f 2 31 17
+f 2 17 9
+f 3 10 11
+f 3 11 4
+f 4 11 21
+f 4 21 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 13
+f 8 13 22
+f 8 22 15
+f 9 17 16
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 12 21 39
+f 12 39 36
+f 12 36 48
+f 12 48 56
+f 12 56 55
+f 12 55 57
+f 12 57 49
+f 12 49 40
+f 12 40 24
+f 12 24 22
+f 12 22 13
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 30
+f 15 30 27
+f 16 17 29
+f 16 29 30
+f 16 30 28
+f 17 31 29
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 38
+f 19 38 20
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 20 38 35
+f 21 37 39
+f 22 24 23
+f 24 40 41
+f 24 41 26
+f 24 26 25
+f 26 41 44
+f 26 44 30
+f 27 30 29
+f 27 29 31
+f 28 30 43
+f 28 43 42
+f 30 44 43
+f 32 45 33
+f 33 45 34
+f 34 46 38
+f 34 45 46
+f 35 47 56
+f 35 56 48
+f 35 48 36
+f 35 38 46
+f 35 46 47
+f 36 39 37
+f 40 49 50
+f 40 50 41
+f 41 51 44
+f 41 50 52
+f 41 52 51
+f 42 43 53
+f 43 44 53
+f 44 51 53
+f 45 53 51
+f 45 51 54
+f 45 54 46
+f 46 54 47
+f 47 55 56
+f 47 54 51
+f 47 51 52
+f 47 52 55
+f 49 57 52
+f 49 52 50
+f 52 57 55
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_16.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.18212255 0.10273089 0.11119718
+v 0.18313132 0.10273089 0.11104053
+v 0.17611733 0.10273089 0.11041391
+v 0.17879357 -0.02785938 0.11076289
+v 0.18212255 -0.02785938 0.11119670
+v 0.18913654 0.10273090 0.11007649
+v 0.18913654 -0.02785937 0.11007601
+v 0.17510558 0.10273089 0.11028135
+v 0.17510558 -0.02785938 0.11028087
+v 0.19391342 0.08769672 0.10778687
+v 0.19391045 0.10273090 0.10778693
+v 0.19391638 0.01054427 0.10778659
+v 0.19391342 -0.02785937 0.10778645
+v 0.19391638 -0.01049847 0.10778651
+v 0.17062244 0.10273090 0.10800383
+v 0.17297823 -0.02785937 0.10920838
+v 0.19653625 0.10273092 0.10312343
+v 0.19654218 0.01756280 0.10312311
+v 0.19529011 -0.02785936 0.10534022
+v 0.19654218 0.00353856 0.10312306
+v 0.16966113 0.10273092 0.10383440
+v 0.17062244 -0.02785937 0.10800335
+v 0.19671130 0.10273092 0.10211120
+v 0.19774976 0.01756283 0.09612183
+v 0.19653329 -0.02785935 0.10312295
+v 0.19774976 0.00353859 0.09612178
+v 0.16950091 0.10273092 0.10312343
+v 0.16950091 -0.02452268 0.10312296
+v 0.17009134 -0.02785936 0.10568968
+v 0.19774381 0.10273095 0.09612215
+v 0.19782393 -0.02452256 0.07003261
+v 0.19782393 0.02458142 0.07002074
+v 0.19716526 -0.02785934 0.09944758
+v 0.19774381 -0.01049842 0.09612173
+v 0.19782393 -0.02785923 0.06979158
+v 0.19782393 -0.02720724 0.06983979
+v 0.16876806 0.10273094 0.09713439
+v 0.16864642 -0.02452265 0.09612168
+v 0.16909739 -0.02785934 0.09979703
+v 0.16950387 -0.02785935 0.10312295
+v 0.19780019 0.10273128 0.00505741
+v 0.19782393 0.03176614 0.06932184
+v 0.19782393 0.03284001 0.06871932
+v 0.19782393 0.03673919 0.06623696
+v 0.19773492 -0.02785932 0.09612167
+v 0.19773789 -0.02452265 0.09612168
+v 0.19782393 -0.02785912 0.04084657
+v 0.16864642 0.10273095 0.09612215
+v 0.16793729 -0.02785930 0.08912040
+v 0.16864938 -0.02785932 0.09612167
+v 0.19747679 0.08769713 -0.00194392
+v 0.19747382 0.10273131 -0.00194386
+v 0.19782393 0.03990967 0.06136862
+v 0.19782393 0.04021650 0.05970566
+v 0.19782393 0.04072789 0.05409019
+v 0.19782393 0.03860575 0.04722146
+v 0.19782393 0.03507733 0.04335328
+v 0.19782393 0.03144663 0.04122035
+v 0.19780316 0.05263013 0.00505722
+v 0.19748273 0.01756319 -0.00194418
+v 0.19780019 -0.02785899 0.00505693
+v 0.19780316 -0.01049809 0.00505699
+v 0.19782393 -0.02585201 0.04064172
+v 0.16794027 0.10273097 0.08912088
+v 0.16793729 0.03158708 0.08912062
+v 0.16751598 -0.02785907 0.02598845
+v 0.16751598 0.10160620 0.02600096
+v 0.19709405 0.10273131 -0.00278739
+v 0.19782393 0.02458153 0.04055755
+v 0.19763108 -0.02785898 0.00138156
+v 0.19747976 -0.00347956 -0.00194425
+v 0.19609120 -0.02785895 -0.00500514
+v 0.19484506 0.00353897 -0.00776457
+v 0.19484506 0.02458171 -0.00776449
+v 0.19484209 0.10273133 -0.00776420
+v 0.19782393 -0.02452245 0.04055737
+v 0.19782393 -0.02531507 0.04060557
+v 0.16751598 0.10273122 0.02214486
+v 0.16751598 0.10271842 0.02600097
+v 0.16751598 -0.02785896 -0.00341449
+v 0.19747382 -0.02785896 -0.00194434
+v 0.19747679 -0.01750379 -0.00194430
+v 0.19483913 -0.02785894 -0.00775263
+v 0.19484209 -0.01049804 -0.00776462
+v 0.18913654 -0.02785893 -0.01100623
+v 0.18913654 0.07367293 -0.01101791
+v 0.18913654 0.10273134 -0.01101780
+v 0.16751598 0.10273131 -0.00340196
+v 0.16866422 -0.02785895 -0.00500514
+v 0.16751598 -0.01153358 -0.00342648
+v 0.19184245 -0.02785894 -0.00946378
+v 0.18545152 -0.02785893 -0.01150030
+v 0.18253792 0.01054471 -0.01188577
+v 0.18253199 0.10273134 -0.01188543
+v 0.17000530 0.10273133 -0.00686042
+v 0.16751598 0.07367290 -0.00341412
+v 0.17050673 -0.02785894 -0.00754777
+v 0.17050673 -0.01750377 -0.00755978
+v 0.17050376 -0.01049804 -0.00755976
+v 0.16751598 0.01054468 -0.00342640
+v 0.18252012 -0.02785893 -0.01188591
+v 0.18252309 -0.02491858 -0.01188590
+v 0.18253199 -0.00388862 -0.01188582
+v 0.18253496 0.00312989 -0.01188580
+v 0.18178727 0.10273134 -0.01188543
+v 0.17051266 0.10273133 -0.00755934
+v 0.17050376 0.00353897 -0.00755971
+v 0.17269044 -0.02785894 -0.00909022
+v 0.17510558 -0.01750376 -0.01080133
+v 0.18180211 -0.02785893 -0.01188591
+v 0.18111079 0.10273134 -0.01177698
+v 0.18178727 0.00353898 -0.01188580
+v 0.17510558 0.10273134 -0.01080089
+v 0.17510558 -0.02785893 -0.01078932
+v 0.17843753 -0.02785893 -0.01134364
+v 0.18179914 -0.02452226 -0.01188590
+v 0.18179320 -0.01049803 -0.01188585
+f 1 2 6
+f 1 6 11
+f 1 11 17
+f 1 17 23
+f 1 23 30
+f 1 30 41
+f 1 41 52
+f 1 52 68
+f 1 68 75
+f 1 75 87
+f 1 87 94
+f 1 94 105
+f 1 105 111
+f 1 111 113
+f 1 113 106
+f 1 106 95
+f 1 95 88
+f 1 88 78
+f 1 78 64
+f 1 64 48
+f 1 48 37
+f 1 37 27
+f 1 27 21
+f 1 21 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 9 16
+f 4 16 22
+f 4 22 29
+f 4 29 40
+f 4 40 39
+f 4 39 50
+f 4 50 49
+f 4 49 66
+f 4 66 80
+f 4 80 89
+f 4 89 97
+f 4 97 108
+f 4 108 114
+f 4 114 115
+f 4 115 110
+f 4 110 101
+f 4 101 92
+f 4 92 85
+f 4 85 91
+f 4 91 83
+f 4 83 72
+f 4 72 81
+f 4 81 70
+f 4 70 61
+f 4 61 47
+f 4 47 35
+f 4 35 45
+f 4 45 33
+f 4 33 25
+f 4 25 19
+f 4 19 13
+f 4 13 7
+f 4 7 5
+f 6 10 11
+f 6 7 14
+f 6 14 12
+f 6 12 10
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 10 17 11
+f 10 12 18
+f 10 18 17
+f 12 14 20
+f 12 20 18
+f 13 19 14
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 17 18 23
+f 18 20 26
+f 18 26 24
+f 18 24 23
+f 19 25 20
+f 20 25 26
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 23 24 30
+f 24 26 31
+f 24 31 32
+f 24 32 30
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 31
+f 27 37 28
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 28 37 38
+f 30 32 42
+f 30 42 43
+f 30 43 44
+f 30 44 41
+f 31 36 35
+f 31 35 47
+f 31 47 63
+f 31 63 77
+f 31 77 76
+f 31 76 69
+f 31 69 58
+f 31 58 57
+f 31 57 56
+f 31 56 55
+f 31 55 54
+f 31 54 53
+f 31 53 44
+f 31 44 43
+f 31 43 42
+f 31 42 32
+f 33 45 46
+f 33 46 34
+f 34 46 35
+f 35 46 45
+f 37 48 38
+f 38 49 50
+f 38 50 39
+f 38 48 65
+f 38 65 49
+f 41 51 52
+f 41 44 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 51
+f 47 61 62
+f 47 62 63
+f 48 64 65
+f 49 65 79
+f 49 79 67
+f 49 67 66
+f 51 68 52
+f 51 60 68
+f 58 69 59
+f 59 69 76
+f 59 76 62
+f 59 62 60
+f 60 62 70
+f 60 70 71
+f 60 71 72
+f 60 72 73
+f 60 73 74
+f 60 74 75
+f 60 75 68
+f 61 70 62
+f 62 76 77
+f 62 77 63
+f 64 78 79
+f 64 79 65
+f 66 67 79
+f 66 79 78
+f 66 78 88
+f 66 88 96
+f 66 96 100
+f 66 100 90
+f 66 90 80
+f 70 81 82
+f 70 82 71
+f 71 82 72
+f 72 83 84
+f 72 84 73
+f 72 82 81
+f 73 84 85
+f 73 85 86
+f 73 86 87
+f 73 87 74
+f 74 87 75
+f 80 90 89
+f 83 91 84
+f 84 91 85
+f 85 92 86
+f 86 92 93
+f 86 93 87
+f 87 93 94
+f 88 95 96
+f 89 90 98
+f 89 98 97
+f 90 99 98
+f 90 100 107
+f 90 107 99
+f 92 101 102
+f 92 102 103
+f 92 103 104
+f 92 104 93
+f 93 104 103
+f 93 103 102
+f 93 102 101
+f 93 101 110
+f 93 110 116
+f 93 116 117
+f 93 117 112
+f 93 112 105
+f 93 105 94
+f 95 106 107
+f 95 107 100
+f 95 100 96
+f 97 98 108
+f 98 99 109
+f 98 109 108
+f 99 107 113
+f 99 113 109
+f 105 112 111
+f 106 113 107
+f 108 109 114
+f 109 115 114
+f 109 113 115
+f 110 115 116
+f 111 112 115
+f 111 115 113
+f 112 117 115
+f 115 117 116
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_17.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.05238481 -0.11825723 0.08555331
+v 0.05237098 -0.11825725 0.08912124
+v 0.06656657 -0.13774775 0.08912116
+v 0.06656657 -0.13775359 0.08555323
+v -0.07464287 -0.11825723 0.08555331
+v 0.05235716 -0.11825725 0.09042635
+v 0.06656657 -0.13805222 0.09633937
+v 0.05232952 -0.11825726 0.09273034
+v 0.06656657 -0.17607885 0.08555309
+v -0.07464287 -0.17608470 0.08555309
+v -0.07464287 -0.11825727 0.09633945
+v 0.06656657 -0.17805780 0.09633923
+v 0.05130667 -0.11825727 0.09633945
+v 0.02802977 -0.17806366 0.09633923
+v -0.06704056 -0.17609056 0.08555309
+v -0.07464287 -0.17805780 0.09633923
+v -0.07048233 -0.17609056 0.08555309
+v -0.07048233 -0.17806366 0.09633923
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 17
+f 1 17 10
+f 1 10 5
+f 1 5 11
+f 1 11 13
+f 1 13 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 12
+f 3 12 9
+f 3 9 4
+f 3 6 8
+f 3 8 7
+f 5 10 16
+f 5 16 11
+f 7 8 13
+f 7 13 11
+f 7 11 16
+f 7 16 18
+f 7 18 14
+f 7 14 12
+f 9 12 14
+f 9 14 15
+f 10 17 18
+f 10 18 16
+f 14 18 17
+f 14 17 15
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_18.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.05819151 0.10273166 -0.09820660
+v 0.05819151 0.10273178 -0.12937735
+v 0.05696591 0.10273154 -0.06522608
+v 0.05819151 0.10172171 -0.09820661
+v 0.05819151 0.02220431 -0.12938529
+v 0.04640324 0.10273181 -0.13972433
+v 0.05696591 -0.02785873 -0.06522656
+v -0.10655405 0.10273154 -0.06522608
+v 0.05819151 -0.02785861 -0.09822999
+v 0.05819151 0.00818008 -0.12938534
+v 0.04640324 -0.02785846 -0.13972481
+v 0.04574206 0.10273181 -0.13998396
+v -0.10655405 -0.02785873 -0.06522656
+v -0.10655405 0.10273183 -0.14322932
+v 0.05819151 -0.02785849 -0.12937783
+v 0.04177501 -0.02785845 -0.14151167
+v 0.04177501 0.10273182 -0.14151119
+v -0.10655405 -0.02785844 -0.14322980
+v -0.10655405 0.01054520 -0.14323730
+v 0.02672924 0.10273182 -0.14223662
+v 0.02774519 0.05263067 -0.14223681
+v 0.03808210 -0.02785845 -0.14186293
+v 0.03476010 0.04561216 -0.14218338
+v 0.03476010 0.05263067 -0.14218336
+v 0.03476010 0.10273182 -0.14217553
+v 0.02073028 -0.02785845 -0.14229056
+v 0.02774519 0.10273182 -0.14222899
+v 0.03476010 -0.02785845 -0.14217601
+v 0.02774519 -0.02785845 -0.14223710
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 25
+f 1 25 27
+f 1 27 20
+f 1 20 14
+f 1 14 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 8 13
+f 3 13 7
+f 4 7 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 7 13 18
+f 7 18 26
+f 7 26 29
+f 7 29 28
+f 7 28 22
+f 7 22 16
+f 7 16 11
+f 7 11 15
+f 7 15 9
+f 8 14 19
+f 8 19 18
+f 8 18 13
+f 10 15 11
+f 11 16 12
+f 12 16 17
+f 14 20 21
+f 14 21 19
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 18 19 26
+f 19 21 26
+f 20 27 21
+f 21 27 25
+f 21 25 24
+f 21 24 23
+f 21 23 29
+f 21 29 26
+f 22 28 23
+f 23 28 29
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_19.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.27357610 -0.02785872 -0.07201380
+v 0.27247041 -0.02785874 -0.06474154
+v 0.27356396 -0.03154597 -0.07201382
+v 0.27342624 -0.02785870 -0.07569420
+v 0.27166442 -0.02785875 -0.06243972
+v 0.27078551 -0.03017896 -0.06064801
+v 0.27188312 -0.03212782 -0.06439165
+v 0.27103663 -0.03643001 -0.06631828
+v 0.27167250 -0.03715609 -0.07201384
+v 0.27272557 -0.03154594 -0.07901627
+v 0.27302932 -0.02785869 -0.07901625
+v 0.27089487 -0.02785876 -0.06055947
+v 0.25684069 -0.05201872 -0.05131009
+v 0.25690144 -0.05201856 -0.09437872
+v 0.27089083 -0.03623129 -0.07901628
+v 0.26999573 -0.03519771 -0.08265873
+v 0.27084222 -0.03154592 -0.08351031
+v 0.27204513 -0.02785868 -0.08168064
+v 0.25750492 -0.02785879 -0.05131000
+v 0.25742392 -0.03116052 -0.05131001
+v 0.23280276 -0.05201872 -0.05131009
+v 0.23220334 -0.05201856 -0.09437872
+v 0.25752922 -0.03154588 -0.09437865
+v 0.27115003 -0.02785867 -0.08380962
+v 0.23281087 -0.02785879 -0.05131000
+v 0.23280682 -0.03154604 -0.05131002
+v 0.23219929 -0.04699263 -0.09437870
+v 0.25761833 -0.02785863 -0.09437863
+v 0.23220334 -0.02785863 -0.09437863
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 24
+f 1 24 28
+f 1 28 29
+f 1 29 25
+f 1 25 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 7 8
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 13
+f 13 20 19
+f 13 19 25
+f 13 25 26
+f 13 26 21
+f 13 21 22
+f 13 22 14
+f 14 22 27
+f 14 27 29
+f 14 29 28
+f 14 28 23
+f 14 23 24
+f 14 24 17
+f 14 17 16
+f 14 16 15
+f 17 24 18
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 25 29 26
+f 26 29 27
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_2.obj

@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
+v 0.16533355 -0.11825740 0.13115622
+v 0.16536489 -0.18586170 0.13115597
+v 0.16508271 -0.11825739 0.12830235
+v 0.16520813 -0.11825741 0.13289023
+v 0.16498865 -0.18586172 0.13600034
+v 0.16495731 -0.19287987 0.13581967
+v 0.16530218 -0.19287985 0.13115594
+v 0.16492594 -0.19287984 0.12677037
+v 0.16492594 -0.18586169 0.12666925
+v 0.16492594 -0.11825739 0.12668757
+v 0.16495731 -0.11825742 0.13595723
+v 0.16307610 -0.11825743 0.13945774
+v 0.16307610 -0.12273899 0.13946134
+v 0.16307610 -0.17885170 0.13950087
+v 0.16307610 -0.18586173 0.13950085
+v 0.16480054 -0.19681035 0.13531031
+v 0.16244903 -0.19287988 0.13932019
+v 0.16492594 -0.19697240 0.13115593
+v 0.16480054 -0.19674548 0.12713884
+v 0.16273121 -0.18586167 0.12316513
+v 0.16351505 -0.11825738 0.12445143
+v 0.15956452 -0.11825744 0.14271261
+v 0.15956452 -0.16482353 0.14271243
+v 0.15956452 -0.17885171 0.14270877
+v 0.15956452 -0.18586174 0.14267623
+v 0.15805956 -0.19660776 0.14185616
+v 0.16066190 -0.19767749 0.13785350
+v 0.16106948 -0.19913619 0.13115592
+v 0.15893746 -0.19287989 0.14229689
+v 0.16041106 -0.19745052 0.12454505
+v 0.15765197 -0.19642939 0.12060744
+v 0.16197873 -0.19287982 0.12326987
+v 0.15921963 -0.18586166 0.11977661
+v 0.16047377 -0.11825736 0.12100511
+v 0.16269987 -0.11825737 0.12318345
+v 0.15084830 -0.11825747 0.14888997
+v 0.15084830 -0.14378535 0.14888987
+v 0.15081694 -0.17885174 0.14887530
+v 0.15072287 -0.18281463 0.14880665
+v 0.14702319 -0.18712600 0.14781320
+v 0.14702319 -0.19287990 0.14490873
+v 0.15404633 -0.19689951 0.14209819
+v 0.15404633 -0.19920917 0.13816056
+v 0.15404633 -0.20084616 0.13115591
+v 0.15404633 -0.19875529 0.12415129
+v 0.15846716 -0.19287981 0.12018118
+v 0.15404633 -0.19659958 0.12045933
+v 0.13297688 -0.18818752 0.11327049
+v 0.13736636 -0.18753919 0.11327049
+v 0.14000004 -0.18680982 0.11327049
+v 0.14326078 -0.18553748 0.11327050
+v 0.14526739 -0.18422461 0.11327050
+v 0.15918829 -0.11825736 0.11977324
+v 0.14633341 -0.17885161 0.11327052
+v 0.14642747 -0.17553704 0.11327054
+v 0.14652154 -0.17183346 0.11327055
+v 0.14652154 -0.16482343 0.11327057
+v 0.14946875 -0.11825747 0.14915731
+v 0.14702319 -0.17183359 0.14962311
+v 0.14702319 -0.17885174 0.14961948
+v 0.14702319 -0.18361694 0.14913900
+v 0.14000004 -0.18420043 0.14940631
+v 0.14000004 -0.18770949 0.14788183
+v 0.14702319 -0.19711832 0.14226076
+v 0.14000004 -0.19287990 0.14499904
+v 0.14702319 -0.19946039 0.13816056
+v 0.14702319 -0.20100014 0.13115591
+v 0.14702319 -0.19907945 0.12415129
+v 0.14702319 -0.19679407 0.12031122
+v 0.14000004 -0.19683460 0.12027871
+v 0.13297688 -0.19683460 0.12027509
+v -0.12659751 -0.18818752 0.11327049
+v 0.14649018 -0.14378522 0.11327065
+v 0.14642747 -0.11825734 0.11327075
+v 0.14702319 -0.11825747 0.14962331
+v 0.14000004 -0.17885174 0.15015774
+v 0.13297688 -0.18420043 0.14940992
+v 0.00668559 -0.18420043 0.14941354
+v -0.13362067 -0.18770139 0.14788905
+v -0.05642870 -0.19287990 0.14500627
+v 0.14000004 -0.19715884 0.14227882
+v -0.05642870 -0.19718315 0.14228966
+v 0.14000004 -0.19949281 0.13816056
+v 0.14000004 -0.20102445 0.13115591
+v 0.14000004 -0.19914429 0.12415129
+v -0.07047501 -0.19914429 0.12415129
+v -0.06345185 -0.19683460 0.12028954
+v -0.13362067 -0.19681839 0.12028592
+v -0.13362067 -0.18817131 0.11327049
+v -0.13982862 -0.11825734 0.11327075
+v 0.14000004 -0.11825747 0.15012545
+v 0.14000004 -0.17183359 0.15015415
+v -0.13362067 -0.11825747 0.15016881
+v -0.13362067 -0.15781353 0.15017226
+v -0.12659751 -0.17183359 0.15017221
+v -0.12659751 -0.17885174 0.15016495
+v -0.00030621 -0.18420043 0.14941354
+v -0.07047501 -0.18420043 0.14940992
+v -0.12659751 -0.18420043 0.14940631
+v -0.13362067 -0.18420043 0.14939909
+v -0.13807283 -0.18358453 0.14914984
+v -0.14584847 -0.19676174 0.14197537
+v -0.14064379 -0.19704539 0.14220295
+v -0.13362067 -0.19287990 0.14499904
+v -0.11960570 -0.19287990 0.14500627
+v -0.07047501 -0.19718315 0.14228966
+v -0.04943692 -0.19951712 0.13816056
+v -0.11258255 -0.20104067 0.13115591
+v -0.13362067 -0.20104067 0.13115591
+v -0.12659751 -0.19913617 0.12415129
+v -0.13362067 -0.19912807 0.12415129
+v -0.14064379 -0.19676166 0.12032205
+v -0.14534680 -0.19660768 0.12045210
+v -0.14092598 -0.18573198 0.11327050
+v -0.14500192 -0.15845362 0.11327060
+v -0.15120988 -0.11825736 0.12061856
+v -0.13857449 -0.11825747 0.14942102
+v -0.13362067 -0.17183359 0.15017221
+v -0.13362067 -0.17885174 0.15015051
+v -0.13854312 -0.17885174 0.14940273
+v -0.15146070 -0.19095921 0.14191397
+v -0.15052010 -0.19563527 0.14145517
+v -0.14798048 -0.19829340 0.13873495
+v -0.14064379 -0.19938746 0.13816056
+v -0.13362067 -0.19715884 0.14227520
+v -0.12659751 -0.19716695 0.14228604
+v -0.11960570 -0.19717505 0.14228966
+v -0.11960570 -0.19951712 0.13816056
+v -0.13362067 -0.19950091 0.13816056
+v -0.14064379 -0.20097583 0.13115591
+v -0.14064379 -0.19901462 0.12415129
+v -0.14766695 -0.19817989 0.12362387
+v -0.15236995 -0.19769365 0.12560713
+v -0.15001846 -0.19440338 0.12093619
+v -0.14343426 -0.18120179 0.11327051
+v -0.14509598 -0.17009920 0.11327056
+v -0.15120988 -0.18586166 0.12060748
+v -0.15240132 -0.11825737 0.12287277
+v -0.15161747 -0.11825744 0.14204068
+v -0.13857449 -0.16482356 0.14942084
+v -0.13857449 -0.17183359 0.14941720
+v -0.15161747 -0.18586174 0.14203682
+v -0.15353003 -0.18586173 0.13816061
+v -0.15280891 -0.19313109 0.13873497
+v -0.15233861 -0.19764507 0.13678420
+v -0.14766695 -0.20057062 0.13115591
+v -0.15296567 -0.19830959 0.13115592
+v -0.15484687 -0.19287985 0.13115594
+v -0.15265214 -0.19239357 0.12362389
+v -0.15120988 -0.18972732 0.12061469
+v -0.14396725 -0.18022930 0.11327052
+v -0.14509598 -0.17183346 0.11327055
+v -0.15305973 -0.18586168 0.12415134
+v -0.15305973 -0.11825738 0.12415159
+v -0.15230724 -0.11825744 0.14063542
+v -0.15161747 -0.12273900 0.14204066
+v -0.15403169 -0.11825742 0.13562489
+v -0.15494095 -0.18586170 0.13115597
+v -0.15349868 -0.11825743 0.13816086
+v -0.14471974 -0.17633935 0.11327053
+v -0.15425117 -0.11825739 0.12862386
+v -0.15490958 -0.11825740 0.13115622
+f 1 2 3
+f 1 3 10
+f 1 10 21
+f 1 21 35
+f 1 35 34
+f 1 34 53
+f 1 53 74
+f 1 74 90
+f 1 90 116
+f 1 116 138
+f 1 138 154
+f 1 154 161
+f 1 161 162
+f 1 162 157
+f 1 157 159
+f 1 159 155
+f 1 155 139
+f 1 139 117
+f 1 117 93
+f 1 93 91
+f 1 91 75
+f 1 75 58
+f 1 58 36
+f 1 36 22
+f 1 22 12
+f 1 12 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 16 7
+f 6 15 17
+f 6 17 16
+f 7 16 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 20 10
+f 10 20 21
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 17
+f 16 17 26
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 17 25 29
+f 17 29 26
+f 18 28 19
+f 19 28 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 22 36 37
+f 22 37 23
+f 23 37 24
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 29
+f 26 29 39
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 28
+f 28 44 30
+f 30 44 45
+f 30 45 31
+f 31 46 32
+f 31 45 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 46
+f 32 46 33
+f 33 53 34
+f 33 46 52
+f 33 52 54
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 53
+f 36 58 37
+f 37 58 59
+f 37 59 60
+f 37 60 38
+f 38 60 39
+f 39 60 61
+f 39 61 40
+f 40 61 62
+f 40 62 63
+f 40 63 41
+f 41 64 42
+f 41 63 65
+f 41 65 64
+f 42 64 43
+f 43 64 66
+f 43 66 44
+f 44 66 67
+f 44 67 68
+f 44 68 45
+f 45 68 47
+f 47 68 69
+f 47 69 48
+f 48 69 70
+f 48 70 71
+f 48 71 72
+f 48 72 89
+f 48 89 114
+f 48 114 135
+f 48 135 151
+f 48 151 160
+f 48 160 152
+f 48 152 136
+f 48 136 115
+f 48 115 90
+f 48 90 74
+f 48 74 73
+f 48 73 57
+f 48 57 56
+f 48 56 55
+f 48 55 54
+f 48 54 52
+f 48 52 51
+f 48 51 50
+f 48 50 49
+f 53 57 73
+f 53 73 74
+f 58 75 59
+f 59 75 76
+f 59 76 60
+f 60 76 61
+f 61 76 62
+f 62 76 77
+f 62 77 63
+f 63 77 78
+f 63 78 79
+f 63 79 80
+f 63 80 65
+f 64 65 81
+f 64 81 66
+f 65 80 82
+f 65 82 81
+f 66 81 83
+f 66 83 67
+f 67 83 84
+f 67 84 85
+f 67 85 68
+f 68 85 69
+f 69 85 70
+f 70 85 71
+f 71 85 86
+f 71 86 87
+f 71 87 72
+f 72 87 88
+f 72 88 89
+f 75 91 92
+f 75 92 76
+f 76 92 93
+f 76 93 94
+f 76 94 95
+f 76 95 96
+f 76 96 78
+f 76 78 77
+f 78 96 97
+f 78 97 79
+f 79 97 98
+f 79 98 99
+f 79 99 100
+f 79 100 101
+f 79 101 102
+f 79 102 103
+f 79 103 104
+f 79 104 105
+f 79 105 80
+f 80 105 106
+f 80 106 82
+f 81 82 83
+f 82 106 128
+f 82 128 107
+f 82 107 83
+f 83 107 84
+f 84 107 108
+f 84 108 85
+f 85 108 109
+f 85 109 86
+f 86 109 110
+f 86 110 87
+f 87 110 88
+f 88 110 111
+f 88 111 112
+f 88 112 89
+f 89 112 113
+f 89 113 114
+f 90 115 116
+f 91 93 92
+f 93 117 94
+f 94 117 140
+f 94 140 118
+f 94 118 95
+f 95 118 96
+f 96 118 119
+f 96 119 100
+f 96 100 99
+f 96 99 98
+f 96 98 97
+f 100 119 101
+f 101 120 121
+f 101 121 122
+f 101 122 102
+f 101 119 120
+f 102 122 123
+f 102 123 124
+f 102 124 103
+f 103 124 125
+f 103 125 104
+f 104 125 126
+f 104 126 127
+f 104 127 105
+f 105 127 106
+f 106 127 128
+f 107 128 109
+f 107 109 108
+f 109 111 110
+f 109 128 129
+f 109 129 130
+f 109 130 111
+f 111 130 131
+f 111 131 112
+f 112 131 113
+f 113 131 132
+f 113 132 133
+f 113 133 134
+f 113 134 114
+f 114 134 135
+f 115 136 116
+f 116 137 138
+f 116 136 137
+f 117 139 156
+f 117 156 140
+f 118 140 141
+f 118 141 120
+f 118 120 119
+f 120 141 142
+f 120 142 121
+f 121 142 143
+f 121 143 144
+f 121 144 122
+f 122 144 145
+f 122 145 123
+f 123 145 146
+f 123 146 124
+f 124 130 129
+f 124 129 125
+f 124 146 130
+f 125 129 126
+f 126 129 127
+f 127 129 128
+f 130 146 131
+f 131 146 132
+f 132 146 133
+f 133 147 148
+f 133 148 149
+f 133 149 134
+f 133 146 147
+f 134 149 150
+f 134 150 151
+f 134 151 135
+f 136 152 137
+f 137 150 153
+f 137 153 138
+f 137 152 150
+f 138 153 154
+f 139 155 143
+f 139 143 156
+f 140 156 142
+f 140 142 141
+f 142 156 143
+f 143 157 158
+f 143 158 148
+f 143 148 144
+f 143 155 159
+f 143 159 157
+f 144 148 145
+f 145 148 147
+f 145 147 146
+f 148 158 153
+f 148 153 149
+f 149 153 150
+f 150 152 160
+f 150 160 151
+f 153 158 154
+f 154 158 161
+f 157 162 158
+f 158 162 161
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_20.obj

@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.13698761 0.10273093 0.10057987
+v 0.05129460 0.10273093 0.10057987
+v -0.13049895 0.10273116 0.03717763
+v -0.13051749 -0.03856066 0.03717091
+v -0.13051749 -0.06252749 0.03717082
+v -0.13693200 -0.02785369 0.10057939
+v 0.05233278 0.10273096 0.09275235
+v 0.05129460 -0.02785369 0.10057939
+v 0.05238840 0.10273116 0.03717763
+v -0.13049895 -0.02785346 0.03717095
+v -0.13049895 -0.10167909 0.03717068
+v -0.13048042 -0.11824822 0.03717062
+v -0.13656120 -0.11824845 0.10004522
+v 0.05235132 0.10273096 0.09223094
+v 0.05233278 0.08767598 0.09275229
+v 0.05129460 -0.11824845 0.10004522
+v 0.05233278 -0.11824842 0.09272671
+v 0.05233278 -0.10167929 0.09273299
+v 0.05240694 -0.10868750 0.05409818
+v 0.05238840 -0.04264887 0.03717089
+v 0.05236986 -0.02785346 0.03717095
+v 0.05238840 0.10273097 0.08911483
+v 0.05236986 -0.11824822 0.03717062
+v 0.05238840 0.08767599 0.08911477
+v 0.05236986 -0.11824841 0.08911402
+v 0.05238840 -0.11824838 0.08210588
+v 0.05238840 -0.11824824 0.04262070
+v 0.05238840 -0.11279727 0.03717064
+f 1 2 7
+f 1 7 14
+f 1 14 22
+f 1 22 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 15
+f 2 15 7
+f 3 9 21
+f 3 21 10
+f 3 10 4
+f 4 10 21
+f 4 21 20
+f 4 20 28
+f 4 28 23
+f 4 23 12
+f 4 12 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 16
+f 6 16 8
+f 7 15 14
+f 8 16 17
+f 8 17 18
+f 8 18 15
+f 9 19 20
+f 9 20 21
+f 9 22 19
+f 12 23 27
+f 12 27 26
+f 12 26 25
+f 12 25 17
+f 12 17 16
+f 12 16 13
+f 14 24 22
+f 14 15 18
+f 14 18 17
+f 14 17 24
+f 17 25 24
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 19 22 24
+f 19 24 26
+f 23 28 27
+f 24 25 26
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_21.obj

@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.10476541 -0.02785897 0.00086436
+v 0.16751598 -0.02785896 -0.00342082
+v 0.10476541 -0.02785904 0.01991726
+v 0.10476541 0.00370514 0.00086447
+v 0.16751598 -0.00347956 -0.00342937
+v 0.16751598 -0.02785907 0.02598793
+v 0.10476541 -0.02470135 0.01992016
+v 0.10476541 0.10190033 0.00086770
+v 0.16751598 0.10273131 -0.00341170
+v 0.16751598 0.10271842 0.02598841
+v 0.10476541 0.05963580 0.01992047
+v 0.10476541 0.10273130 0.00087059
+v 0.16751598 0.10273122 0.02213233
+v 0.10476541 0.10273123 0.01991774
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 14
+f 1 14 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 13
+f 2 13 10
+f 2 10 6
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 14
+f 9 14 13
+f 10 13 14
+f 10 14 11
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_22.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.24527485 0.06664922 -0.01201718
+v 0.24119969 -0.02451041 -0.01224059
+v 0.24527485 -0.01048352 -0.01202515
+v 0.25197893 -0.05201886 -0.01225607
+v 0.25203583 0.05963577 -0.01224797
+v 0.25205080 0.06664922 -0.01224795
+v 0.24527485 0.10273134 -0.01202473
+v 0.24119670 0.09470300 -0.01224015
+v 0.24119071 0.07366266 -0.01223638
+v 0.24119670 -0.01749697 -0.01224056
+v 0.24120269 -0.05201887 -0.01224453
+v 0.24527784 -0.05201887 -0.01203299
+v 0.25226339 -0.05201886 -0.01227530
+v 0.25556005 0.06664923 -0.01248641
+v 0.25554508 0.07366267 -0.01248638
+v 0.25192204 0.10273135 -0.01225166
+v 0.24119969 0.10273134 -0.01224396
+v 0.23813360 0.10273136 -0.01597090
+v 0.23813360 0.07366268 -0.01597101
+v 0.23813958 -0.02785807 -0.01597138
+v 0.23814857 -0.05201885 -0.01597147
+v 0.25548519 -0.05201886 -0.01249453
+v 0.25930583 0.05963579 -0.01573645
+v 0.25930583 0.07366268 -0.01573640
+v 0.25930583 0.10273136 -0.01574783
+v 0.25930583 -0.05201885 -0.01574070
+v 0.25598822 0.10273135 -0.01296704
+v 0.25542830 0.10273135 -0.01249781
+v 0.23519626 0.10273138 -0.02184016
+v 0.23519626 0.10171648 -0.02184017
+v 0.23519925 -0.02451037 -0.02189063
+v 0.23544179 -0.05201883 -0.02142919
+v 0.26299173 -0.05201884 -0.01920995
+v 0.26298874 0.08067614 -0.01921331
+v 0.26298874 0.10273137 -0.01921707
+v 0.23355243 0.10273141 -0.02998250
+v 0.23355243 0.10171651 -0.02998251
+v 0.23356440 -0.05201880 -0.02998307
+v 0.23520523 -0.05201883 -0.02190996
+v 0.26337798 -0.05201883 -0.02297535
+v 0.26304563 0.10273137 -0.01975938
+v 0.23292363 0.10273143 -0.03597099
+v 0.23281584 -0.05201877 -0.03697926
+v 0.26337798 -0.05201882 -0.02354074
+v 0.26338398 -0.02785802 -0.02998298
+v 0.26338996 0.10273141 -0.02998250
+v 0.26337500 0.10273138 -0.02297478
+v 0.23282183 0.10273144 -0.03697869
+v 0.23280985 -0.05201875 -0.04341775
+v 0.23280087 0.03858044 -0.05098668
+v 0.26337500 -0.05201880 -0.02998307
+v 0.26337798 -0.04556582 -0.02998305
+v 0.26338098 -0.03855238 -0.02998302
+v 0.26299772 -0.03153892 -0.03403302
+v 0.26300371 0.10171653 -0.03404792
+v 0.26300371 0.10273143 -0.03404791
+v 0.23281285 0.10273148 -0.04998259
+v 0.23280387 -0.05201872 -0.05131009
+v 0.23281285 0.10273149 -0.05098644
+v 0.26334506 -0.05201880 -0.03031000
+v 0.26299173 -0.04556581 -0.03402153
+v 0.25750630 -0.02785794 -0.05131000
+v 0.26299772 -0.01749688 -0.03403681
+v 0.25744342 0.02458385 -0.05098673
+v 0.26282406 0.10273143 -0.03455560
+v 0.23280685 -0.03855230 -0.05131004
+v 0.25683858 -0.05201872 -0.05131009
+v 0.25683259 0.10273149 -0.05098644
+v 0.23280985 -0.02785794 -0.05131000
+v 0.26298874 -0.05201879 -0.03401386
+v 0.26288993 -0.05201878 -0.03429848
+v 0.25742245 -0.03116016 -0.05131001
+v 0.26175511 0.10273144 -0.03755561
+v 0.26175212 -0.05201877 -0.03751387
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 21
+f 4 21 32
+f 4 32 39
+f 4 39 38
+f 4 38 43
+f 4 43 49
+f 4 49 58
+f 4 58 67
+f 4 67 74
+f 4 74 71
+f 4 71 70
+f 4 70 60
+f 4 60 51
+f 4 51 44
+f 4 44 40
+f 4 40 33
+f 4 33 26
+f 4 26 22
+f 4 22 13
+f 4 13 6
+f 4 6 5
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 28
+f 7 28 27
+f 7 27 25
+f 7 25 35
+f 7 35 41
+f 7 41 47
+f 7 47 46
+f 7 46 56
+f 7 56 65
+f 7 65 73
+f 7 73 68
+f 7 68 59
+f 7 59 57
+f 7 57 48
+f 7 48 42
+f 7 42 36
+f 7 36 29
+f 7 29 18
+f 7 18 17
+f 7 17 8
+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 13 22 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 14 22 26
+f 14 26 23
+f 15 25 27
+f 15 27 28
+f 15 28 16
+f 18 29 30
+f 18 30 19
+f 19 30 20
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 23 26 33
+f 23 33 24
+f 24 34 35
+f 24 35 25
+f 24 33 34
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 31
+f 31 38 39
+f 31 39 32
+f 33 40 41
+f 33 41 35
+f 33 35 34
+f 36 42 43
+f 36 43 37
+f 37 43 38
+f 40 44 45
+f 40 45 46
+f 40 46 47
+f 40 47 41
+f 42 48 43
+f 43 48 50
+f 43 50 49
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 46
+f 46 55 56
+f 48 57 50
+f 49 50 58
+f 50 57 59
+f 50 59 58
+f 51 60 52
+f 52 60 53
+f 53 60 54
+f 54 60 61
+f 54 61 62
+f 54 62 63
+f 54 63 55
+f 55 63 62
+f 55 62 56
+f 56 62 64
+f 56 64 65
+f 58 66 69
+f 58 69 62
+f 58 62 72
+f 58 72 67
+f 58 59 66
+f 59 68 62
+f 59 62 69
+f 59 69 66
+f 60 70 61
+f 61 70 62
+f 62 68 64
+f 62 70 71
+f 62 71 72
+f 64 68 73
+f 64 73 65
+f 67 72 74
+f 71 74 72
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_23.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.15575271 -0.13761736 0.03692253
+v 0.15575271 -0.13764201 0.08554847
+v 0.15575271 -0.15425928 0.03692247
+v 0.08616909 -0.13777888 0.03692253
+v 0.08616909 -0.13777888 0.03780317
+v 0.08616909 -0.13778387 0.06582200
+v 0.08616909 -0.13779374 0.08554847
+v 0.15575271 -0.15491533 0.08554841
+v 0.15575271 -0.15444038 0.03743658
+v 0.14398288 -0.18306937 0.03692237
+v 0.08616909 -0.17604551 0.03692239
+v 0.08616909 -0.17612889 0.08554833
+v 0.15575271 -0.15611439 0.04708560
+v 0.14398970 -0.18306954 0.08554831
+v 0.15575271 -0.15531165 0.04014040
+v 0.14398970 -0.18307436 0.06109967
+v 0.14398970 -0.18307928 0.06810200
+v 0.14001874 -0.18570275 0.04708549
+v 0.14001874 -0.18569784 0.04008316
+v 0.14001874 -0.18569293 0.03692236
+v 0.15575271 -0.15553680 0.04195405
+v 0.11195644 -0.18723475 0.03692235
+v 0.11195644 -0.18725444 0.06810198
+v 0.11195644 -0.18724960 0.08211139
+v 0.11195644 -0.18724471 0.08554829
+v 0.11195644 -0.18723966 0.04008315
+v 0.14398970 -0.18307444 0.08211141
+v 0.14398970 -0.18307931 0.07510433
+v 0.14196676 -0.18441069 0.08554830
+v 0.14001874 -0.18570769 0.06109966
+v 0.13300316 -0.18761662 0.06109965
+v 0.13300316 -0.18760186 0.03692235
+v 0.11581160 -0.18742075 0.03692235
+v 0.11897202 -0.18760194 0.06109965
+v 0.11897202 -0.18760197 0.06810198
+v 0.11897202 -0.18758733 0.08211139
+v 0.11540292 -0.18741114 0.08554829
+v 0.11897202 -0.18757739 0.04008315
+v 0.14001874 -0.18570288 0.08211140
+v 0.14001874 -0.18570775 0.07510432
+v 0.14001874 -0.18569800 0.08554830
+v 0.13300316 -0.18761665 0.06810198
+v 0.12598078 -0.18761172 0.06109965
+v 0.11897202 -0.18757249 0.03692235
+v 0.13300316 -0.18761178 0.07510431
+v 0.13300316 -0.18760203 0.08554829
+v 0.11897202 -0.18758245 0.08554829
+v 0.12942726 -0.18759713 0.08554829
+v 0.12241169 -0.18758734 0.08554829
+f 1 2 8
+f 1 8 13
+f 1 13 21
+f 1 21 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 20
+f 1 20 32
+f 1 32 44
+f 1 44 33
+f 1 33 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 25
+f 2 25 37
+f 2 37 47
+f 2 47 49
+f 2 49 48
+f 2 48 46
+f 2 46 41
+f 2 41 29
+f 2 29 14
+f 2 14 8
+f 3 9 10
+f 4 11 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 8 14 13
+f 9 15 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 15 21
+f 10 21 13
+f 10 13 16
+f 11 22 12
+f 12 23 24
+f 12 24 25
+f 12 22 26
+f 12 26 23
+f 13 14 27
+f 13 27 28
+f 13 28 17
+f 13 17 16
+f 14 29 27
+f 17 28 40
+f 17 40 30
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 20
+f 22 33 26
+f 23 26 34
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 26 33 38
+f 26 38 34
+f 27 29 39
+f 27 39 40
+f 27 40 28
+f 29 41 39
+f 30 40 42
+f 30 42 31
+f 31 42 43
+f 31 43 32
+f 32 43 34
+f 32 34 38
+f 32 38 44
+f 33 44 38
+f 34 43 35
+f 35 43 42
+f 35 42 45
+f 35 45 46
+f 35 46 36
+f 36 47 37
+f 36 46 48
+f 36 48 49
+f 36 49 47
+f 39 41 46
+f 39 46 45
+f 39 45 42
+f 39 42 40
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_24.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.14401104 -0.17183197 0.08554835
+v -0.14400520 -0.17183186 0.05409263
+v -0.14383633 -0.17885208 0.06109968
+v -0.14392368 -0.17540317 0.08554834
+v -0.14401104 -0.16481858 0.08554837
+v -0.14399938 -0.16481847 0.05409265
+v -0.14399356 -0.16481842 0.04008323
+v -0.14399356 -0.16798224 0.03692242
+v -0.14399356 -0.17183180 0.03692241
+v -0.14383633 -0.17885217 0.08554832
+v -0.14381886 -0.17885200 0.03692238
+v -0.14040055 -0.18496922 0.04708549
+v -0.14040637 -0.18497606 0.06109966
+v -0.14290459 -0.15780517 0.08211150
+v -0.14290459 -0.15780518 0.08554840
+v -0.14398774 -0.16481841 0.03692243
+v -0.14288713 -0.15780507 0.05409268
+v -0.14287548 -0.15780501 0.03692246
+v -0.14040637 -0.18497609 0.06810199
+v -0.14208932 -0.18196847 0.08554831
+v -0.14039473 -0.18496241 0.03692236
+v -0.14040055 -0.18497604 0.05409258
+v -0.13363963 -0.18760355 0.06109965
+v -0.13065224 -0.11825723 0.08554855
+v -0.13050665 -0.11825706 0.03692261
+v -0.13363963 -0.18760364 0.08554829
+v -0.14040055 -0.18497615 0.08554830
+v -0.13668525 -0.18640175 0.03692236
+v -0.13363963 -0.18758310 0.03692235
+v -0.12662247 -0.18759667 0.03692235
+v -0.12662247 -0.18761033 0.06109965
+v -0.08452538 -0.11825723 0.08554855
+v -0.08452538 -0.11825706 0.03692261
+v -0.11960532 -0.18761715 0.06810198
+v -0.11259400 -0.18760364 0.08554829
+v -0.11575026 -0.18759667 0.03692235
+v -0.08452538 -0.17607532 0.08554833
+v -0.08452538 -0.17595972 0.03692239
+v -0.11259400 -0.18759668 0.04008315
+v -0.11259400 -0.18761036 0.06810198
+v -0.11259400 -0.18761039 0.07510431
+v -0.10557684 -0.18554646 0.08554830
+v -0.11259400 -0.18758988 0.03692235
+v -0.10557684 -0.18555322 0.07510432
+v -0.10557684 -0.18555319 0.06810199
+v -0.10557684 -0.18553952 0.04708549
+v -0.10557684 -0.18553272 0.04008316
+v -0.10557684 -0.18552592 0.03692236
+v -0.10873892 -0.18645606 0.03692236
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 27
+f 1 27 26
+f 1 26 35
+f 1 35 42
+f 1 42 37
+f 1 37 32
+f 1 32 24
+f 1 24 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 19
+f 3 19 10
+f 5 14 6
+f 5 15 14
+f 6 14 7
+f 7 16 8
+f 7 14 17
+f 7 17 18
+f 7 18 16
+f 8 16 18
+f 8 18 25
+f 8 25 33
+f 8 33 38
+f 8 38 48
+f 8 48 49
+f 8 49 43
+f 8 43 36
+f 8 36 30
+f 8 30 29
+f 8 29 28
+f 8 28 21
+f 8 21 11
+f 8 11 9
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 26
+f 13 26 19
+f 14 15 24
+f 14 24 17
+f 17 24 18
+f 18 24 25
+f 19 26 27
+f 19 27 20
+f 21 28 22
+f 22 28 29
+f 22 29 23
+f 23 30 31
+f 23 31 34
+f 23 34 26
+f 23 29 30
+f 24 32 33
+f 24 33 25
+f 26 34 35
+f 30 36 34
+f 30 34 31
+f 32 37 38
+f 32 38 33
+f 34 36 39
+f 34 39 40
+f 34 40 41
+f 34 41 35
+f 35 41 44
+f 35 44 42
+f 36 43 39
+f 37 42 44
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 37 48 38
+f 39 43 49
+f 39 49 47
+f 39 47 46
+f 39 46 45
+f 39 45 40
+f 40 45 44
+f 40 44 41
+f 47 49 48
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_25.obj

@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
+v -0.12660516 0.20102667 0.13115766
+v -0.12660516 0.19911221 0.12415445
+v -0.13362801 0.20101705 0.13115766
+v -0.12660516 0.19953546 0.13816085
+v -0.11255945 0.19953546 0.13816085
+v 0.14001245 0.20101705 0.13115766
+v 0.12596675 0.19912183 0.12415445
+v 0.10492954 0.19912183 0.12415445
+v -0.13362801 0.19682255 0.12031127
+v -0.13362801 0.19910258 0.12415445
+v -0.03540212 0.19684179 0.12031965
+v -0.14065087 0.20092084 0.13115766
+v -0.13362801 0.19950660 0.13816085
+v -0.12660516 0.19720729 0.14230158
+v -0.11958230 0.19721690 0.14230158
+v 0.14001245 0.19950660 0.13816085
+v 0.14001245 0.19910258 0.12415445
+v 0.14703530 0.20098819 0.13115766
+v 0.14001245 0.19682255 0.12032383
+v 0.13298960 0.19682255 0.12031127
+v -0.02837927 0.19684179 0.12031965
+v -0.11958230 0.18762540 0.10737353
+v -0.13362801 0.18761578 0.10737353
+v -0.14065087 0.19674559 0.12036155
+v -0.14065087 0.19892941 0.12415445
+v -0.14065087 0.19937191 0.13816085
+v -0.14767372 0.20054564 0.13115766
+v -0.13362801 0.19717842 0.14228482
+v -0.13362801 0.19290692 0.14505508
+v -0.12660516 0.19290692 0.14506346
+v -0.11958230 0.19290692 0.14506346
+v 0.14001245 0.19290692 0.14505927
+v 0.14001245 0.19718805 0.14228064
+v 0.14703530 0.19947774 0.13816085
+v 0.14703530 0.19901600 0.12415445
+v 0.14703530 0.19676483 0.12036155
+v 0.15402681 0.20083426 0.13115766
+v 0.13298960 0.18760616 0.10737353
+v -0.14036869 0.18499900 0.10737352
+v -0.14522827 0.19660128 0.12049147
+v -0.14761101 0.19814055 0.12362637
+v -0.14065087 0.19704374 0.14218424
+v -0.14792453 0.19829442 0.13872246
+v -0.14576125 0.19676475 0.14194954
+v -0.15237653 0.19772685 0.12560873
+v -0.15294085 0.19833293 0.13115765
+v -0.15234518 0.19767871 0.13676106
+v -0.13362801 0.18781766 0.14793849
+v 0.14001245 0.18781766 0.14794268
+v 0.14703530 0.19290692 0.14497964
+v 0.14703530 0.19714957 0.14226386
+v 0.15402681 0.19922760 0.13816085
+v 0.15402681 0.19879474 0.12415445
+v 0.15402681 0.19666862 0.12043699
+v 0.16104966 0.19911219 0.13115765
+v 0.16051668 0.19752482 0.12453583
+v 0.15778905 0.19654355 0.12054177
+v 0.13998110 0.18564357 0.10737352
+v -0.14171684 0.18258425 0.10737351
+v -0.14993107 0.19429235 0.12093572
+v -0.15043270 0.19558143 0.14142985
+v -0.13808000 0.18367121 0.14916644
+v -0.15265869 0.19234901 0.12362635
+v -0.15482197 0.19290697 0.13115763
+v -0.15281546 0.19311858 0.13872244
+v -0.13362801 0.18430616 0.14941791
+v -0.12660516 0.18430616 0.14942211
+v 0.13298960 0.18429654 0.14940953
+v 0.14001245 0.18429654 0.14940115
+v 0.14703530 0.18720194 0.14788400
+v 0.15807122 0.19664930 0.14186572
+v 0.15402681 0.19693792 0.14210460
+v 0.16064209 0.19767870 0.13782558
+v 0.16478055 0.19678401 0.13526904
+v 0.16490596 0.19697644 0.13115764
+v 0.16478055 0.19678404 0.12713007
+v 0.15857285 0.19290701 0.12013523
+v 0.14396281 0.18303642 0.10737351
+v 0.16205292 0.19290700 0.12329107
+v -0.14388012 0.17863985 0.10737350
+v -0.15118516 0.18961680 0.12063395
+v -0.15146732 0.19091548 0.14189922
+v -0.13855028 0.17888982 0.14941369
+v -0.13362801 0.17888982 0.15017228
+v -0.15306625 0.18590325 0.12415440
+v -0.15491603 0.18590323 0.13115760
+v -0.15350521 0.18590320 0.13816080
+v -0.12660516 0.17888982 0.15018904
+v 0.13298960 0.17888982 0.15015132
+v 0.11894390 0.17888982 0.15015551
+v 0.14001245 0.17888982 0.15014294
+v 0.14703530 0.18369045 0.14912872
+v 0.15070350 0.18285346 0.14879763
+v 0.15901178 0.19290693 0.14234349
+v 0.16252321 0.19290694 0.13926726
+v 0.16490596 0.19290695 0.13576357
+v 0.16521948 0.19290697 0.13115763
+v 0.16490596 0.19290698 0.12679478
+v 0.15913719 0.18590327 0.11978734
+v 0.14462120 0.17888998 0.10737350
+v 0.14437038 0.18052547 0.10737350
+v 0.16267997 0.18590326 0.12322399
+v -0.14403689 0.17186700 0.10737347
+v -0.15121650 0.16485361 0.12061710
+v -0.15159272 0.18590319 0.14202494
+v -0.13858163 0.15784016 0.14942201
+v -0.15162407 0.17186687 0.14203746
+v -0.13362801 0.17186684 0.15017643
+v -0.15309762 0.13680982 0.12415422
+v -0.15494739 0.12980608 0.13115740
+v -0.15353655 0.15784020 0.13816070
+v -0.15165543 0.13680976 0.14205410
+v 0.11195239 0.17186684 0.15015548
+v -0.13362801 0.15784016 0.15017638
+v -0.13362801 0.10274353 0.15017200
+v 0.14001245 0.10274353 0.15012170
+v 0.14001245 0.15084605 0.15013864
+v 0.14001245 0.17186684 0.15014291
+v 0.14703530 0.17186684 0.14961484
+v 0.14703530 0.17888982 0.14960649
+v 0.15079755 0.17888982 0.14886886
+v 0.15963882 0.18590319 0.14272065
+v 0.16311889 0.18590320 0.13945583
+v 0.16493731 0.18590321 0.13595214
+v 0.16531354 0.18590323 0.13115760
+v 0.16493731 0.18590324 0.12672769
+v 0.15919989 0.17186695 0.11977891
+v 0.14590664 0.14644002 0.10737338
+v 0.14587528 0.15079811 0.10737339
+v 0.16267997 0.17186694 0.12320298
+v -0.14403689 0.16485366 0.10737345
+v -0.15149867 0.10274364 0.12111560
+v -0.15121650 0.15784027 0.12061287
+v -0.13858163 0.10274353 0.14942181
+v -0.15309762 0.10274362 0.12415410
+v -0.15491603 0.10274360 0.13115730
+v -0.15472792 0.10274359 0.13216734
+v -0.15353655 0.10274357 0.13816050
+v -0.15165543 0.12980604 0.14205408
+v 0.14703530 0.10274353 0.14961039
+v 0.14703530 0.14382308 0.14961474
+v 0.15082891 0.12980601 0.14888126
+v 0.15082891 0.16485350 0.14887719
+v 0.15082891 0.17186684 0.14887303
+v 0.15082891 0.10274353 0.14888116
+v 0.15957612 0.10274356 0.14270778
+v 0.16308755 0.10274357 0.13947649
+v 0.16493731 0.10274358 0.13597698
+v 0.16493731 0.13680978 0.13597292
+v 0.16534489 0.10274360 0.13115730
+v 0.16493731 0.17186692 0.12670668
+v 0.15919989 0.16485361 0.11977470
+v 0.16220969 0.10274363 0.12269561
+v 0.14578123 0.13934008 0.10737335
+v 0.15919989 0.15084616 0.11977045
+v 0.15919989 0.10274364 0.11977028
+v 0.16267997 0.15084615 0.12319033
+v -0.15121650 0.10274364 0.12060849
+v -0.13782918 0.10275331 0.10737322
+v -0.15162407 0.10274356 0.14205398
+v 0.16493731 0.10274361 0.12669385
+v 0.16493731 0.15084613 0.12669402
+v 0.16267997 0.10274363 0.12319016
+v 0.14421363 0.10275331 0.10737322
+v 0.14785046 0.10274365 0.11608218
+v -0.14134061 0.10274365 0.11608218
+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 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 17 7
+f 6 16 34
+f 6 34 18
+f 6 18 17
+f 7 17 19
+f 7 19 20
+f 7 20 21
+f 7 21 11
+f 7 11 8
+f 9 11 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 10 24 25
+f 10 25 12
+f 11 21 22
+f 12 26 13
+f 12 25 27
+f 12 27 26
+f 13 26 28
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 33 34
+f 17 18 35
+f 17 35 36
+f 17 36 19
+f 18 34 37
+f 18 37 35
+f 19 38 20
+f 19 36 38
+f 20 38 21
+f 21 38 22
+f 22 38 58
+f 22 58 78
+f 22 78 101
+f 22 101 100
+f 22 100 129
+f 22 129 128
+f 22 128 154
+f 22 154 164
+f 22 164 159
+f 22 159 131
+f 22 131 103
+f 22 103 80
+f 22 80 59
+f 22 59 39
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 24 40 25
+f 25 40 41
+f 25 41 27
+f 26 42 28
+f 26 27 43
+f 26 43 44
+f 26 44 42
+f 27 41 45
+f 27 45 46
+f 27 46 47
+f 27 47 43
+f 28 42 29
+f 29 42 48
+f 29 48 30
+f 30 48 49
+f 30 49 31
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 33 51 34
+f 34 51 52
+f 34 52 37
+f 35 37 53
+f 35 53 54
+f 35 54 36
+f 36 54 38
+f 37 52 55
+f 37 55 56
+f 37 56 53
+f 38 54 57
+f 38 57 58
+f 39 59 60
+f 39 60 40
+f 40 60 45
+f 40 45 41
+f 42 44 48
+f 43 47 61
+f 43 61 44
+f 44 61 62
+f 44 62 48
+f 45 63 64
+f 45 64 46
+f 45 60 63
+f 46 64 47
+f 47 64 65
+f 47 65 61
+f 48 62 66
+f 48 66 67
+f 48 67 49
+f 49 67 68
+f 49 68 69
+f 49 69 70
+f 49 70 50
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 52
+f 52 72 71
+f 52 71 73
+f 52 73 55
+f 53 56 57
+f 53 57 54
+f 55 73 74
+f 55 74 75
+f 55 75 76
+f 55 76 56
+f 56 76 57
+f 57 77 78
+f 57 78 58
+f 57 76 79
+f 57 79 77
+f 59 80 60
+f 60 80 81
+f 60 81 63
+f 61 65 82
+f 61 82 62
+f 62 83 84
+f 62 84 66
+f 62 82 83
+f 63 85 64
+f 63 81 85
+f 64 86 87
+f 64 87 65
+f 64 85 86
+f 65 87 82
+f 66 84 88
+f 66 88 67
+f 67 88 68
+f 68 89 91
+f 68 91 69
+f 68 88 90
+f 68 90 89
+f 69 91 92
+f 69 92 70
+f 70 92 93
+f 70 93 71
+f 71 93 94
+f 71 94 95
+f 71 95 74
+f 71 74 73
+f 74 95 96
+f 74 96 97
+f 74 97 75
+f 75 97 76
+f 76 97 98
+f 76 98 79
+f 77 79 99
+f 77 99 100
+f 77 100 101
+f 77 101 78
+f 79 98 102
+f 79 102 99
+f 80 103 81
+f 81 103 104
+f 81 104 85
+f 82 87 105
+f 82 105 83
+f 83 106 84
+f 83 105 107
+f 83 107 106
+f 84 108 88
+f 84 106 108
+f 85 109 86
+f 85 104 109
+f 86 109 110
+f 86 110 111
+f 86 111 87
+f 87 111 112
+f 87 112 107
+f 87 107 105
+f 88 113 90
+f 88 108 114
+f 88 114 115
+f 88 115 113
+f 89 116 117
+f 89 117 118
+f 89 118 91
+f 89 90 113
+f 89 113 116
+f 91 118 141
+f 91 141 119
+f 91 119 120
+f 91 120 92
+f 92 120 93
+f 93 121 122
+f 93 122 94
+f 93 120 121
+f 94 122 95
+f 95 123 96
+f 95 122 123
+f 96 123 124
+f 96 124 125
+f 96 125 97
+f 97 125 98
+f 98 125 126
+f 98 126 102
+f 99 102 127
+f 99 127 128
+f 99 128 129
+f 99 129 100
+f 102 126 151
+f 102 151 130
+f 102 130 127
+f 103 131 132
+f 103 132 133
+f 103 133 104
+f 104 133 109
+f 106 134 114
+f 106 114 108
+f 106 107 112
+f 106 112 139
+f 106 139 134
+f 109 135 110
+f 109 133 132
+f 109 132 135
+f 110 136 137
+f 110 137 138
+f 110 138 111
+f 110 135 136
+f 111 138 139
+f 111 139 112
+f 113 115 116
+f 114 134 115
+f 115 134 160
+f 115 160 138
+f 115 138 137
+f 115 137 136
+f 115 136 135
+f 115 135 132
+f 115 132 158
+f 115 158 166
+f 115 166 165
+f 115 165 156
+f 115 156 153
+f 115 153 163
+f 115 163 161
+f 115 161 150
+f 115 150 148
+f 115 148 147
+f 115 147 146
+f 115 146 145
+f 115 145 140
+f 115 140 116
+f 116 140 117
+f 117 140 118
+f 118 140 141
+f 119 141 145
+f 119 145 142
+f 119 142 143
+f 119 143 144
+f 119 144 120
+f 120 144 121
+f 121 144 122
+f 122 144 143
+f 122 143 142
+f 122 142 145
+f 122 145 146
+f 122 146 147
+f 122 147 123
+f 123 147 148
+f 123 148 149
+f 123 149 124
+f 124 149 150
+f 124 150 125
+f 125 150 126
+f 126 150 151
+f 127 152 128
+f 127 130 153
+f 127 153 152
+f 128 152 155
+f 128 155 156
+f 128 156 154
+f 130 151 162
+f 130 162 157
+f 130 157 153
+f 131 158 132
+f 131 159 158
+f 134 139 160
+f 138 160 139
+f 140 145 141
+f 148 150 149
+f 150 161 162
+f 150 162 151
+f 152 153 155
+f 153 156 155
+f 153 157 163
+f 154 156 164
+f 156 165 164
+f 157 162 161
+f 157 161 163
+f 158 159 166
+f 159 164 165
+f 159 165 166
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_26.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.14213746 0.14673644 -0.15608463
+v -0.14213430 0.14673642 -0.14907821
+v -0.14213430 0.14673646 -0.16017298
+v -0.14199843 0.10274469 -0.16308509
+v -0.14200159 0.10274466 -0.15608479
+v -0.14200159 0.10274466 -0.15507339
+v -0.14195736 0.14673641 -0.14616320
+v -0.14199843 0.10274464 -0.14907837
+v -0.14212798 0.14673647 -0.16308493
+v -0.13992249 0.10274471 -0.16891207
+v -0.13992881 0.14673650 -0.17045802
+v -0.14179936 0.14673640 -0.14469958
+v -0.14188783 0.10274463 -0.14806698
+v -0.13957175 0.10274471 -0.16989290
+v -0.13740102 0.14673651 -0.17391081
+v -0.10986082 0.14673640 -0.14469958
+v -0.14151815 0.10274462 -0.14469974
+v -0.13364094 0.10274473 -0.17325708
+v -0.13364094 0.14673651 -0.17530721
+v -0.11030633 0.10274462 -0.14469974
+v -0.11125424 0.14673647 -0.16308493
+v -0.12763430 0.10274473 -0.17331514
+v -0.12982715 0.14673652 -0.17578388
+v -0.12662319 0.14673652 -0.17591526
+v -0.11226852 0.10274469 -0.16308509
+v -0.11179772 0.14673648 -0.16699911
+v -0.12662319 0.10274473 -0.17332430
+v -0.11960858 0.14673651 -0.17523387
+v -0.11960858 0.10274473 -0.17313792
+v -0.12061969 0.10274473 -0.17316541
+v -0.11254342 0.10274469 -0.16405065
+v -0.11387683 0.14673651 -0.17342497
+v -0.11418016 0.10274471 -0.16976762
+f 1 2 7
+f 1 7 12
+f 1 12 16
+f 1 16 21
+f 1 21 26
+f 1 26 32
+f 1 32 28
+f 1 28 24
+f 1 24 23
+f 1 23 19
+f 1 19 15
+f 1 15 11
+f 1 11 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 10 14
+f 4 14 18
+f 4 18 22
+f 4 22 27
+f 4 27 30
+f 4 30 29
+f 4 29 33
+f 4 33 31
+f 4 31 25
+f 4 25 20
+f 4 20 17
+f 4 17 13
+f 4 13 8
+f 4 8 6
+f 4 6 5
+f 4 9 11
+f 4 11 10
+f 7 8 12
+f 8 13 12
+f 10 11 14
+f 11 15 14
+f 12 13 17
+f 12 17 20
+f 12 20 16
+f 14 15 18
+f 15 19 18
+f 16 20 21
+f 18 19 23
+f 18 23 24
+f 18 24 22
+f 20 25 21
+f 21 25 26
+f 22 24 27
+f 24 28 29
+f 24 29 30
+f 24 30 27
+f 25 31 26
+f 26 31 33
+f 26 33 32
+f 28 32 29
+f 29 32 33
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_27.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.06030414 -0.02785861 -0.09988310
+v 0.05696810 -0.03132741 -0.06523285
+v 0.06030414 -0.02976992 -0.09987536
+v 0.06030414 -0.02785850 -0.12936295
+v 0.05695142 -0.02785874 -0.06523283
+v 0.05696810 -0.05960774 -0.06523295
+v 0.06030414 -0.04558248 -0.09987542
+v 0.06030414 -0.03856538 -0.12936299
+v 0.04640953 -0.03154836 -0.13972704
+v 0.04640953 -0.02785847 -0.13971927
+v -0.11010080 -0.02785874 -0.06523283
+v 0.05693473 -0.11824784 -0.06523316
+v 0.06030414 -0.11824771 -0.09989118
+v 0.06030414 -0.11824760 -0.12935553
+v 0.04640953 -0.11824757 -0.13972735
+v 0.04177243 -0.03154835 -0.14151769
+v 0.04397422 -0.02785846 -0.14066498
+v -0.11010080 -0.02785845 -0.14441682
+v -0.11010080 -0.11824784 -0.06523316
+v 0.04177243 -0.11824756 -0.14151800
+v 0.03730214 -0.11824756 -0.14194435
+v 0.03475007 -0.03856534 -0.14218436
+v 0.03475007 -0.02785846 -0.14217657
+v 0.04177243 -0.02785846 -0.14150992
+v -0.11010080 -0.11824755 -0.14441715
+v 0.03475007 -0.11824756 -0.14218465
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 24
+f 1 24 23
+f 1 23 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 11
+f 2 11 19
+f 2 19 12
+f 2 12 6
+f 2 6 7
+f 2 7 3
+f 4 8 15
+f 4 15 9
+f 4 9 10
+f 6 12 13
+f 6 13 7
+f 8 14 15
+f 9 15 20
+f 9 20 16
+f 9 16 17
+f 9 17 10
+f 11 18 25
+f 11 25 19
+f 12 19 25
+f 12 25 26
+f 12 26 21
+f 12 21 20
+f 12 20 15
+f 12 15 14
+f 12 14 13
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 18 23 22
+f 18 22 26
+f 18 26 25
+f 21 26 22
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_28.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.16792000 -0.04465691 0.03455387
+v 0.16791152 -0.04465700 0.06109504
+v 0.16792000 -0.02785911 0.03455393
+v 0.19138686 -0.04465691 0.03455387
+v 0.16791152 -0.04465705 0.07464030
+v 0.16791152 -0.03154564 0.06109508
+v 0.16791576 -0.02785919 0.05777156
+v 0.19171786 -0.02785911 0.03455393
+v 0.19170088 -0.03154555 0.03455391
+v 0.20748267 -0.02942119 0.04304521
+v 0.20806403 -0.03639124 0.04880545
+v 0.20887879 -0.03728081 0.05409484
+v 0.19339407 -0.04465698 0.05409482
+v 0.16791152 -0.03154569 0.07464034
+v 0.19190033 -0.04465705 0.07464030
+v 0.16791576 -0.02785925 0.07464036
+v 0.20749963 -0.02785914 0.04303737
+v 0.20942197 -0.02785915 0.04691417
+v 0.20892123 -0.03167384 0.04671796
+v 0.21119578 -0.03154562 0.05409486
+v 0.21062713 -0.03154564 0.06109508
+v 0.20833562 -0.03668561 0.06109507
+v 0.19332192 -0.04465699 0.05783429
+v 0.20734687 -0.03559877 0.06513275
+v 0.20831440 -0.03154566 0.06616082
+v 0.20856901 -0.02785922 0.06643159
+v 0.19294849 -0.03078932 0.07464035
+v 0.19299092 -0.02785925 0.07464036
+v 0.21049135 -0.02785917 0.05041428
+v 0.21125943 -0.02785918 0.05409488
+v 0.21088174 -0.02785920 0.06109510
+v 0.19296546 -0.02982085 0.07464035
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 13
+f 1 13 23
+f 1 23 15
+f 1 15 5
+f 1 5 2
+f 2 5 14
+f 2 14 6
+f 3 6 7
+f 3 7 16
+f 3 16 28
+f 3 28 26
+f 3 26 31
+f 3 31 30
+f 3 30 29
+f 3 29 18
+f 3 18 17
+f 3 17 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 15 27
+f 5 27 32
+f 5 32 28
+f 5 28 16
+f 5 16 14
+f 6 14 16
+f 6 16 7
+f 8 17 9
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 15
+f 12 15 23
+f 12 23 13
+f 15 22 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 18 29 20
+f 18 20 19
+f 20 30 31
+f 20 31 21
+f 20 29 30
+f 21 31 26
+f 21 26 25
+f 21 25 24
+f 21 24 22
+f 26 28 32
+f 26 32 27
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_29.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.22428924 -0.14378222 -0.02502838
+v 0.14697564 -0.14385050 -0.02502838
+v 0.14697564 -0.15043091 -0.02479255
+v 0.14697564 -0.15058938 -0.02480280
+v 0.22428924 -0.14864623 -0.02539757
+v 0.22428924 -0.13985201 -0.02609485
+v 0.14697564 -0.13992760 -0.02611536
+v 0.22428924 -0.14871205 -0.02540782
+v 0.14697564 -0.15488530 -0.02699731
+v 0.22428924 -0.13829162 -0.02999160
+v 0.14697564 -0.13989102 -0.02612561
+v 0.22428924 -0.15141588 -0.02993013
+v 0.22428924 -0.15144025 -0.02999165
+v 0.14697564 -0.15603850 -0.02999166
+v 0.22428924 -0.13713350 -0.03699551
+v 0.14697564 -0.13840865 -0.02999160
+v 0.14697564 -0.15662120 -0.03196056
+v 0.22428924 -0.15275923 -0.03691353
+v 0.14697564 -0.13730172 -0.03699551
+v 0.22428924 -0.13702603 -0.09308833
+v 0.19793027 -0.13517061 -0.09924110
+v 0.18913638 -0.13517061 -0.09924110
+v 0.14697564 -0.13517061 -0.09925136
+v 0.14697564 -0.15748670 -0.03699559
+v 0.22428924 -0.15276899 -0.03699557
+v 0.22428924 -0.13702591 -0.12560575
+v 0.19793027 -0.13517052 -0.12326770
+v 0.14697564 -0.13517052 -0.12326770
+v 0.14697564 -0.16003924 -0.07615802
+v 0.22428924 -0.15531418 -0.08601270
+v 0.22428924 -0.13810597 -0.12659021
+v 0.14697564 -0.13841318 -0.12656970
+v 0.14697564 -0.16005874 -0.07867041
+v 0.22428924 -0.15541163 -0.10696291
+v 0.22428924 -0.14378184 -0.12897955
+v 0.14697564 -0.14377941 -0.12893854
+v 0.14697564 -0.16007821 -0.08601272
+v 0.22428924 -0.15544328 -0.12098098
+v 0.22428924 -0.14386231 -0.12896931
+v 0.14697564 -0.15102054 -0.12955383
+v 0.14697564 -0.14511305 -0.12906159
+v 0.14697564 -0.16003665 -0.11929925
+v 0.22428924 -0.15544328 -0.12104251
+v 0.22428924 -0.15079136 -0.12786182
+v 0.14697564 -0.15735959 -0.12831306
+v 0.14697564 -0.16003177 -0.12104253
+v 0.22428924 -0.15489225 -0.12542124
+v 0.22428924 -0.15083768 -0.12784131
+v 0.22428924 -0.15487762 -0.12548277
+v 0.14697564 -0.15803250 -0.12773880
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 12
+f 1 12 13
+f 1 13 18
+f 1 18 25
+f 1 25 30
+f 1 30 34
+f 1 34 38
+f 1 38 43
+f 1 43 47
+f 1 47 49
+f 1 49 48
+f 1 48 44
+f 1 44 39
+f 1 39 35
+f 1 35 31
+f 1 31 26
+f 1 26 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 16
+f 2 16 19
+f 2 19 23
+f 2 23 28
+f 2 28 32
+f 2 32 36
+f 2 36 41
+f 2 41 40
+f 2 40 45
+f 2 45 50
+f 2 50 46
+f 2 46 42
+f 2 42 37
+f 2 37 33
+f 2 33 29
+f 2 29 24
+f 2 24 17
+f 2 17 14
+f 2 14 9
+f 2 9 4
+f 2 4 3
+f 4 8 5
+f 4 9 8
+f 6 10 11
+f 6 11 7
+f 8 9 12
+f 9 13 12
+f 9 14 13
+f 10 15 16
+f 10 16 11
+f 13 14 17
+f 13 17 18
+f 15 19 16
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 19
+f 17 24 18
+f 18 24 25
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 21 28 23
+f 21 23 22
+f 24 29 25
+f 25 29 30
+f 26 31 32
+f 26 32 28
+f 26 28 27
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 37 42 43
+f 37 43 38
+f 39 44 40
+f 40 44 45
+f 42 46 43
+f 43 46 47
+f 44 48 45
+f 45 48 49
+f 45 49 50
+f 46 50 49
+f 46 49 47
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_3.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.05767327 -0.11824806 -0.00500523
+v 0.05767327 -0.11824816 0.02122283
+v 0.05767327 -0.11775056 -0.00500780
+v 0.10475467 -0.11824808 0.00087551
+v 0.10475467 -0.11824815 0.01991656
+v 0.05767327 -0.11571737 0.02122540
+v 0.05767327 -0.08063225 -0.00502310
+v 0.05767327 -0.07362389 -0.00502564
+v 0.10475467 -0.08764062 0.00086533
+v 0.10475927 -0.02785332 0.00086813
+v 0.10475927 -0.02785339 0.01991689
+v 0.10475467 -0.10886041 0.01991917
+v 0.05767327 -0.05240426 0.02122307
+v 0.05767788 0.05962121 0.02122862
+v 0.05767327 -0.05960719 -0.00502302
+v 0.05767788 0.09611233 -0.00503788
+v 0.05767788 0.08908234 -0.00503790
+v 0.10475927 -0.01749221 0.00086559
+v 0.10475927 0.10273123 0.01991737
+v 0.10475467 -0.10167902 0.01991920
+v 0.05767327 -0.03836593 0.02122054
+v 0.05767788 0.10273122 0.02122364
+v 0.05767327 -0.03715451 -0.00501780
+v 0.05767788 0.10273132 -0.00503528
+v 0.10475927 0.10273130 0.00087118
+v 0.10475927 0.09487936 0.00086858
+v 0.10475927 -0.00330246 0.00086564
+v 0.05767327 -0.02785330 -0.00501519
+v 0.05767327 -0.02785340 0.02121801
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 29
+f 1 29 28
+f 1 28 23
+f 1 23 15
+f 1 15 8
+f 1 8 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 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 14
+f 6 14 13
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 27
+f 10 27 26
+f 10 26 25
+f 10 25 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 20 14
+f 13 14 22
+f 13 22 21
+f 14 19 22
+f 14 20 19
+f 15 23 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 18
+f 16 18 17
+f 16 23 28
+f 16 28 24
+f 19 25 24
+f 19 24 22
+f 21 22 29
+f 22 24 28
+f 22 28 29
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_30.obj

@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.14004442 -0.11822280 -0.12126623
+v 0.21716001 -0.11822280 -0.12122829
+v 0.14004442 -0.11822287 -0.10370597
+v 0.14004442 0.05257814 -0.12126798
+v 0.14697616 0.13516294 -0.12325017
+v 0.21907089 0.13516294 -0.12343751
+v 0.21716001 -0.11822287 -0.10369174
+v 0.21907089 0.10273929 -0.12145039
+v 0.14705352 -0.11822287 -0.10370360
+v 0.21907089 0.13516285 -0.09921360
+v 0.14699937 0.13516285 -0.09926340
+v 0.14697616 0.13516285 -0.09927525
+v 0.14004442 -0.02782366 -0.10370089
+v 0.14004442 0.10271448 -0.12125356
+v 0.20061978 -0.11822287 -0.10369174
+v 0.21907089 0.10273922 -0.10367433
+v 0.14004442 0.10271441 -0.10371939
+v 0.14004442 0.05260287 -0.10369824
+f 1 2 7
+f 1 7 15
+f 1 15 9
+f 1 9 3
+f 1 3 13
+f 1 13 18
+f 1 18 17
+f 1 17 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 16
+f 2 16 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 5
+f 5 14 17
+f 5 17 12
+f 5 12 11
+f 5 11 10
+f 5 10 6
+f 6 10 16
+f 6 16 8
+f 7 16 10
+f 7 10 15
+f 9 15 10
+f 12 17 18
+f 12 18 13
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_31.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.04879713 0.17187952 -0.17334633
+v 0.03475537 0.17889331 -0.17251655
+v 0.06878599 0.17889331 -0.17251655
+v 0.06282387 0.17187952 -0.17334053
+v 0.05581050 0.16486573 -0.17333474
+v -0.07047524 0.16486573 -0.17333474
+v -0.06346187 0.17187952 -0.17334053
+v -0.08462213 0.17889331 -0.17251075
+v 0.06878599 0.17959009 -0.17201174
+v -0.08462213 0.18355148 -0.16913951
+v 0.06878599 0.17292646 -0.17321287
+v 0.06878599 0.17187952 -0.17333472
+v 0.06878599 0.16486573 -0.17332895
+v 0.05581050 0.15785192 -0.17167528
+v -0.02837999 0.15785192 -0.17169268
+v -0.08462213 0.16486573 -0.17332895
+v -0.07750363 0.17187952 -0.17333472
+v -0.08462213 0.17187952 -0.17332893
+v 0.06878599 0.18354441 -0.16913951
+v -0.08451699 0.18355148 -0.16913951
+v -0.08462213 0.18470098 -0.16308755
+v 0.06878599 0.15890240 -0.17191318
+v 0.06282387 0.15785192 -0.17166948
+v 0.06878599 0.15368537 -0.16829827
+v 0.05581050 0.15368537 -0.16830407
+v -0.02837999 0.15368183 -0.16831567
+v -0.06346187 0.15785192 -0.17166948
+v -0.08462213 0.15785192 -0.17165207
+v 0.06878599 0.18371771 -0.16823433
+v -0.08451699 0.18470098 -0.16308755
+v -0.08462213 0.18471154 -0.14907462
+v 0.06878599 0.15785192 -0.17166367
+v 0.06878599 0.14858139 -0.13046628
+v 0.04804624 0.14858143 -0.14132847
+v 0.04176874 0.14858144 -0.14331872
+v 0.03475537 0.14858144 -0.14373069
+v 0.02072863 0.14858144 -0.14380032
+v 0.01370024 0.14858144 -0.14383513
+v 0.00668687 0.14858144 -0.14385834
+v -0.00733988 0.14858144 -0.14388735
+v -0.01360236 0.14858144 -0.14389316
+v -0.02063074 0.14858144 -0.14389896
+v -0.07047524 0.14858144 -0.14392217
+v -0.07750363 0.14858144 -0.14392217
+v -0.08462213 0.14858144 -0.14391637
+v -0.06346187 0.15369245 -0.16829827
+v -0.08462213 0.15375965 -0.16833308
+v 0.06878599 0.18469390 -0.16308755
+v 0.06878599 0.18469744 -0.16203730
+v -0.08462213 0.18455234 -0.14207106
+v -0.08451699 0.18455234 -0.14207106
+v 0.06878599 0.18470446 -0.14907462
+v 0.06878599 0.18470095 -0.15607818
+v 0.06878599 0.14858133 -0.11406855
+v -0.08462213 0.14858133 -0.11406855
+v -0.08462213 0.15370306 -0.16828086
+v -0.08462213 0.18418094 -0.13506750
+v -0.08451699 0.18418094 -0.13506750
+v 0.06878599 0.18416679 -0.13506750
+v 0.06878599 0.18453465 -0.14207106
+v 0.06878599 0.18467969 -0.14802437
+v 0.06878599 0.17609890 -0.11406845
+v -0.08462213 0.17610244 -0.11406845
+v -0.08462213 0.18318703 -0.13048357
+v -0.06346187 0.18319056 -0.13047777
+v -0.03539337 0.18319056 -0.13047777
+v 0.06878599 0.18318703 -0.13047777
+v 0.06285391 0.17610244 -0.11406845
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 9 19
+f 3 19 29
+f 3 29 48
+f 3 48 49
+f 3 49 53
+f 3 53 52
+f 3 52 61
+f 3 61 60
+f 3 60 59
+f 3 59 67
+f 3 67 62
+f 3 62 54
+f 3 54 33
+f 3 33 24
+f 3 24 32
+f 3 32 22
+f 3 22 13
+f 3 13 12
+f 3 12 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 16
+f 8 16 28
+f 8 28 47
+f 8 47 56
+f 8 56 45
+f 8 45 55
+f 8 55 63
+f 8 63 64
+f 8 64 57
+f 8 57 50
+f 8 50 31
+f 8 31 21
+f 8 21 10
+f 9 10 20
+f 9 20 19
+f 10 21 30
+f 10 30 20
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 26 27
+f 15 27 16
+f 15 25 26
+f 16 18 17
+f 16 27 28
+f 19 20 29
+f 20 30 29
+f 21 31 30
+f 22 32 23
+f 23 32 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 28
+f 28 46 47
+f 29 30 48
+f 30 31 49
+f 30 49 48
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 49
+f 33 54 55
+f 33 55 45
+f 33 45 44
+f 33 44 43
+f 33 43 42
+f 33 42 41
+f 33 41 40
+f 33 40 39
+f 33 39 38
+f 33 38 37
+f 33 37 36
+f 33 36 35
+f 33 35 34
+f 45 56 46
+f 46 56 47
+f 50 57 58
+f 50 58 51
+f 51 58 59
+f 51 59 60
+f 51 60 61
+f 51 61 52
+f 54 62 68
+f 54 68 63
+f 54 63 55
+f 57 64 65
+f 57 65 66
+f 57 66 58
+f 58 66 67
+f 58 67 59
+f 62 67 68
+f 63 65 64
+f 63 68 66
+f 63 66 65
+f 66 68 67
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_32.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.14697292 0.15063221 -0.02483870
+v 0.14697292 0.14520093 -0.02500661
+v 0.14697292 0.15598924 -0.02998126
+v 0.14453962 0.17889259 -0.00273083
+v 0.14527420 0.15800916 -0.00273091
+v 0.14697292 0.14382454 -0.02505962
+v 0.14697292 0.15743992 -0.03698822
+v 0.14447840 0.17935799 -0.00273083
+v 0.14697292 0.16009382 -0.07871197
+v 0.14697292 0.16012353 -0.08128326
+v 0.14454727 0.17889261 -0.00896023
+v 0.14505994 0.15324131 -0.00273093
+v 0.14697292 0.13994294 -0.02612880
+v 0.14697292 0.14378987 -0.02506846
+v 0.14396572 0.18308117 -0.00273082
+v 0.14697292 0.16013346 -0.08601938
+v 0.14454727 0.17889266 -0.02297419
+v 0.14062949 0.15074599 -0.00273094
+v 0.06880100 0.13964588 -0.02671198
+v 0.06880100 0.13835862 -0.02998132
+v 0.14697292 0.13843288 -0.02998132
+v 0.13300054 0.14983501 -0.00273094
+v 0.06880100 0.14966667 -0.00273094
+v 0.14001733 0.18571018 -0.00896021
+v 0.14045350 0.18541805 -0.00273081
+v 0.14396572 0.18308124 -0.02297418
+v 0.14697292 0.16012850 -0.08785728
+v 0.14453197 0.17889290 -0.08601931
+v 0.14396572 0.18307646 -0.07200535
+v 0.06880100 0.13815563 -0.03103280
+v 0.14697292 0.13841803 -0.03004317
+v 0.06880100 0.17600615 -0.00273084
+v 0.13300054 0.18766092 -0.01596718
+v 0.13300054 0.18765593 -0.00896020
+v 0.14001733 0.18570520 -0.00273081
+v 0.14001733 0.18571023 -0.02297417
+v 0.14001733 0.18570551 -0.08601929
+v 0.14697292 0.16011367 -0.09299985
+v 0.14452431 0.17889292 -0.09299978
+v 0.14395807 0.18305178 -0.09299977
+v 0.14395807 0.18307157 -0.08601930
+v 0.14394277 0.18308150 -0.09299977
+v 0.06880100 0.13718031 -0.03698830
+v 0.14697292 0.13728428 -0.03698830
+v 0.11195013 0.18729944 -0.00273080
+v 0.06880100 0.17601111 -0.00791759
+v 0.12598373 0.18766094 -0.02297416
+v 0.13300054 0.18766120 -0.09299975
+v 0.12598373 0.18766604 -0.06499835
+v 0.12598373 0.18765098 -0.00896020
+v 0.13300054 0.18765096 -0.00273080
+v 0.14001733 0.18570059 -0.09299976
+v 0.13998673 0.18571049 -0.09299976
+v 0.14697292 0.13720031 -0.09299994
+v 0.06880100 0.13717041 -0.03803979
+v 0.06880100 0.13716052 -0.04399528
+v 0.11273062 0.18733905 -0.00273080
+v 0.11195013 0.18730441 -0.00896020
+v 0.06880100 0.17601609 -0.01492457
+v 0.11896693 0.18765598 -0.02297416
+v 0.13296993 0.18766120 -0.09299975
+v 0.12595312 0.18765624 -0.09299975
+v 0.11896693 0.18765616 -0.07200533
+v 0.11896693 0.18765101 -0.01596718
+v 0.11896693 0.18764106 -0.00273080
+v 0.06880100 0.13709139 -0.09299994
+v 0.11195013 0.18730940 -0.01596718
+v 0.06880100 0.17602120 -0.05694876
+v 0.11893632 0.18764635 -0.09299975
+v 0.11195013 0.18729977 -0.09299975
+v 0.11195013 0.18730942 -0.02297416
+v 0.06880100 0.17600648 -0.09299979
+v 0.06880100 0.17602123 -0.06499839
+v 0.06880100 0.17601139 -0.08496783
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 21
+f 1 21 31
+f 1 31 44
+f 1 44 54
+f 1 54 38
+f 1 38 27
+f 1 27 16
+f 1 16 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 15
+f 4 15 25
+f 4 25 35
+f 4 35 51
+f 4 51 65
+f 4 65 57
+f 4 57 45
+f 4 45 32
+f 4 32 23
+f 4 23 22
+f 4 22 18
+f 4 18 12
+f 4 12 5
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 8
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 8 11 15
+f 10 16 11
+f 11 17 26
+f 11 26 15
+f 11 16 17
+f 12 18 13
+f 13 19 20
+f 13 20 21
+f 13 18 22
+f 13 22 23
+f 13 23 19
+f 15 24 25
+f 15 26 36
+f 15 36 24
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 26
+f 19 23 32
+f 19 32 46
+f 19 46 59
+f 19 59 68
+f 19 68 73
+f 19 73 74
+f 19 74 72
+f 19 72 66
+f 19 66 56
+f 19 56 55
+f 19 55 43
+f 19 43 30
+f 19 30 20
+f 20 30 31
+f 20 31 21
+f 24 33 34
+f 24 34 51
+f 24 51 35
+f 24 35 25
+f 24 36 48
+f 24 48 33
+f 26 29 37
+f 26 37 36
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 42
+f 29 42 37
+f 30 43 31
+f 31 43 44
+f 32 45 46
+f 33 47 60
+f 33 60 64
+f 33 64 50
+f 33 50 34
+f 33 48 49
+f 33 49 47
+f 34 50 65
+f 34 65 51
+f 36 37 48
+f 37 42 52
+f 37 52 53
+f 37 53 48
+f 38 54 66
+f 38 66 72
+f 38 72 70
+f 38 70 69
+f 38 69 62
+f 38 62 61
+f 38 61 48
+f 38 48 53
+f 38 53 52
+f 38 52 42
+f 38 42 40
+f 38 40 39
+f 40 42 41
+f 43 55 44
+f 44 55 56
+f 44 56 54
+f 45 57 58
+f 45 58 46
+f 46 58 67
+f 46 67 59
+f 47 49 60
+f 48 61 49
+f 49 61 62
+f 49 62 63
+f 49 63 60
+f 50 64 65
+f 54 56 66
+f 57 65 64
+f 57 64 60
+f 57 60 67
+f 57 67 58
+f 59 67 68
+f 60 63 71
+f 60 71 67
+f 62 69 63
+f 63 69 70
+f 63 70 71
+f 67 71 73
+f 67 73 68
+f 70 72 74
+f 70 74 73
+f 70 73 71
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_33.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.09163418 -0.14906083 -0.14409469
+v -0.09163418 -0.11825640 -0.14250217
+v -0.09152424 -0.14906083 -0.14409469
+v -0.09163418 -0.14906100 -0.09903538
+v -0.09163418 -0.11825656 -0.09903526
+v -0.08899568 -0.11825640 -0.14250217
+v -0.07047898 -0.11825640 -0.14249776
+v -0.07047898 -0.14906083 -0.14408587
+v 0.06879668 -0.14906100 -0.09903538
+v 0.05921637 -0.11825656 -0.09903526
+v -0.03539307 -0.11825640 -0.14247129
+v -0.02840416 -0.14906083 -0.14406823
+v 0.06879668 -0.14906088 -0.13134222
+v 0.06879668 -0.13516341 -0.09903533
+v 0.06879668 -0.11825654 -0.10368455
+v -0.02837275 -0.11825640 -0.14246247
+v -0.01434781 -0.14906083 -0.14405499
+v 0.06879668 -0.11825644 -0.12933505
+v 0.04822258 -0.14906084 -0.14149656
+v -0.02136813 -0.11825640 -0.14245365
+v -0.00734320 -0.14906083 -0.14404617
+v 0.04641645 -0.11825641 -0.13972759
+v 0.04739019 -0.14906084 -0.14181857
+v -0.01882385 -0.11825640 -0.14244923
+v 0.00669745 -0.14906083 -0.14401970
+v 0.04176765 -0.11825640 -0.14151850
+v 0.04176765 -0.14906083 -0.14351684
+v -0.01180353 -0.11825640 -0.14243600
+v -0.00734320 -0.11825640 -0.14242277
+v -0.00032287 -0.11825640 -0.14240071
+v 0.01370207 -0.14906083 -0.14399765
+v 0.03476304 -0.11825640 -0.14218898
+v 0.04139073 -0.14906083 -0.14355212
+v 0.00220570 -0.11825640 -0.14239189
+v 0.02774271 -0.14906083 -0.14394913
+v 0.03476304 -0.14906083 -0.14391825
+v 0.03459028 -0.14906083 -0.14392266
+v 0.02774271 -0.11825640 -0.14224633
+v 0.00669745 -0.11825640 -0.14237424
+v 0.00922602 -0.11825640 -0.14236101
+v 0.01624635 -0.11825640 -0.14232131
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 21
+f 1 21 25
+f 1 25 31
+f 1 31 35
+f 1 35 37
+f 1 37 36
+f 1 36 33
+f 1 33 27
+f 1 27 23
+f 1 23 19
+f 1 19 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 18
+f 2 18 22
+f 2 22 26
+f 2 26 32
+f 2 32 38
+f 2 38 41
+f 2 41 40
+f 2 40 39
+f 2 39 34
+f 2 34 30
+f 2 30 29
+f 2 29 28
+f 2 28 24
+f 2 24 20
+f 2 20 16
+f 2 16 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 14
+f 4 14 10
+f 4 10 5
+f 7 11 12
+f 7 12 8
+f 9 13 18
+f 9 18 15
+f 9 15 14
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 13 19 18
+f 16 20 21
+f 16 21 17
+f 18 19 22
+f 19 23 22
+f 20 24 21
+f 21 24 28
+f 21 28 25
+f 22 23 26
+f 23 27 26
+f 25 28 29
+f 25 29 30
+f 25 30 31
+f 26 27 32
+f 27 33 32
+f 30 34 35
+f 30 35 31
+f 32 36 37
+f 32 37 38
+f 32 33 36
+f 34 39 37
+f 34 37 35
+f 37 39 40
+f 37 40 41
+f 37 41 38
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_34.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.08462794 0.17602487 0.01811717
+v -0.10557759 0.18556745 0.01811720
+v -0.08462794 0.14674011 0.01811706
+v -0.08462794 0.17609747 -0.11394237
+v -0.11259180 0.18763862 0.01811721
+v -0.10557759 0.18557159 -0.01597102
+v -0.11259180 0.18765477 -0.01597101
+v -0.13307654 0.14674011 0.01811706
+v -0.08462794 0.14674060 -0.11399421
+v -0.08462794 0.17609747 -0.11399410
+v -0.11960601 0.18765064 0.01811721
+v -0.10557759 0.18557167 -0.03698519
+v -0.11259180 0.18766310 -0.10002771
+v -0.11960601 0.18766279 -0.01597101
+v -0.13941664 0.15282941 0.01811708
+v -0.13942246 0.15281789 -0.11399419
+v -0.13307654 0.14674016 0.00504302
+v -0.13273369 0.14674060 -0.11399421
+v -0.10557759 0.18556391 -0.10703676
+v -0.10557759 0.18556789 -0.10002772
+v -0.10557759 0.18554791 -0.11399407
+v -0.12662022 0.18765064 0.01811721
+v -0.11259180 0.18766312 -0.10703675
+v -0.12662022 0.18766279 -0.01597101
+v -0.14237459 0.15717205 0.01811710
+v -0.14283368 0.15785353 -0.10002782
+v -0.14282787 0.15785355 -0.10703686
+v -0.14282206 0.15785358 -0.11399417
+v -0.13308236 0.14676062 -0.11399421
+v -0.13307073 0.14674059 -0.11032158
+v -0.10562989 0.18556394 -0.11399407
+v -0.11259180 0.18765113 -0.11399406
+v -0.13364024 0.18763862 0.01811721
+v -0.11264410 0.18765113 -0.11399406
+v -0.12662022 0.18765510 -0.10703675
+v -0.12662022 0.18766310 -0.10002771
+v -0.13364024 0.18764677 -0.01597101
+v -0.14283368 0.15785309 0.01811710
+v -0.14396687 0.16486825 -0.10002779
+v -0.14396106 0.16486830 -0.11399414
+v -0.14283368 0.15790566 -0.11399417
+v -0.14383322 0.16391836 0.01811712
+v -0.13947476 0.18536715 0.01811720
+v -0.11965832 0.18764713 -0.11399406
+v -0.12667252 0.18763911 -0.11399406
+v -0.13364024 0.18761507 -0.11399406
+v -0.13364024 0.18762707 -0.10703675
+v -0.13364024 0.18763906 -0.10002771
+v -0.13364024 0.18764679 -0.02298004
+v -0.14038132 0.18501487 -0.05099033
+v -0.14397850 0.17187898 -0.10703681
+v -0.14398431 0.16486784 0.01205212
+v -0.14397269 0.17187901 -0.11399412
+v -0.14398431 0.16486781 0.01811713
+v -0.14038713 0.18501060 0.01811720
+v -0.14036970 0.18499907 -0.11399407
+v -0.14037551 0.18500306 -0.10703676
+v -0.14037551 0.18500704 -0.10002772
+v -0.14038132 0.18501494 -0.07200451
+v -0.14398431 0.17187855 0.01205214
+v -0.14380998 0.17889325 0.01811718
+v -0.14379254 0.17889371 -0.10703678
+v -0.14378092 0.17889374 -0.11399409
+v -0.14398431 0.17187852 0.01811715
+v -0.14085203 0.18418535 0.01811720
+v -0.14038713 0.18501063 0.01205219
+f 1 2 5
+f 1 5 11
+f 1 11 22
+f 1 22 33
+f 1 33 43
+f 1 43 55
+f 1 55 65
+f 1 65 61
+f 1 61 64
+f 1 64 54
+f 1 54 42
+f 1 42 38
+f 1 38 25
+f 1 25 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 17
+f 3 17 30
+f 3 30 18
+f 3 18 9
+f 4 10 12
+f 4 12 6
+f 5 7 11
+f 6 12 23
+f 6 23 13
+f 6 13 7
+f 7 14 11
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 9 18 29
+f 9 29 16
+f 9 16 28
+f 9 28 41
+f 9 41 40
+f 9 40 53
+f 9 53 63
+f 9 63 56
+f 9 56 46
+f 9 46 45
+f 9 45 44
+f 9 44 34
+f 9 34 32
+f 9 32 31
+f 9 31 21
+f 9 21 10
+f 10 19 20
+f 10 20 12
+f 10 21 19
+f 11 14 24
+f 11 24 22
+f 12 20 23
+f 13 23 36
+f 13 36 24
+f 13 24 14
+f 15 25 16
+f 16 26 27
+f 16 27 28
+f 16 29 30
+f 16 30 17
+f 16 25 26
+f 18 30 29
+f 19 21 31
+f 19 31 32
+f 19 32 23
+f 19 23 20
+f 22 24 33
+f 23 32 34
+f 23 34 44
+f 23 44 35
+f 23 35 36
+f 24 37 33
+f 24 36 49
+f 24 49 37
+f 25 38 26
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 26 38 42
+f 26 42 39
+f 27 41 28
+f 33 37 43
+f 35 44 45
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 49
+f 37 49 59
+f 37 59 50
+f 37 50 43
+f 39 51 40
+f 39 42 52
+f 39 52 51
+f 40 51 53
+f 42 54 52
+f 43 50 55
+f 46 56 47
+f 47 56 48
+f 48 56 57
+f 48 57 58
+f 48 58 59
+f 48 59 49
+f 50 59 66
+f 50 66 55
+f 51 60 61
+f 51 61 62
+f 51 62 53
+f 51 52 60
+f 52 54 64
+f 52 64 60
+f 53 62 63
+f 55 66 65
+f 56 63 62
+f 56 62 57
+f 57 62 59
+f 57 59 58
+f 59 62 61
+f 59 61 65
+f 59 65 66
+f 60 64 61
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_35.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.14697564 -0.15043564 -0.02478320
+v 0.14697564 -0.15059480 -0.02480204
+v 0.14697564 -0.14384841 -0.02501875
+v 0.14524615 -0.15774175 -0.00277156
+v 0.14697564 -0.15489216 -0.02697873
+v 0.14454212 -0.17884860 -0.00277164
+v 0.14697564 -0.13992585 -0.02610235
+v 0.14504718 -0.15742856 -0.00277156
+v 0.14697564 -0.13988992 -0.02612119
+v 0.14697564 -0.15604222 -0.02998460
+v 0.14697564 -0.15749004 -0.03698576
+v 0.14697564 -0.15662238 -0.03194456
+v 0.14397582 -0.18305355 -0.00277165
+v 0.14454977 -0.17884837 -0.06499983
+v 0.14697564 -0.16008265 -0.08602203
+v 0.14697564 -0.16006214 -0.07868167
+v 0.14697564 -0.16004161 -0.07614693
+v 0.14073877 -0.15105697 -0.00277153
+v 0.06879669 -0.13985397 -0.02610235
+v 0.14001943 -0.13988992 -0.02611177
+v 0.06879669 -0.14958344 -0.00277153
+v 0.13300200 -0.14976313 -0.00277153
+v 0.14029492 -0.15071298 -0.00277153
+v 0.14697564 -0.13842151 -0.02994685
+v 0.06879669 -0.13830342 -0.02998454
+v 0.14001943 -0.18568740 -0.00277166
+v 0.14397582 -0.18305855 -0.03698585
+v 0.14454977 -0.17884835 -0.07201039
+v 0.14697564 -0.16007236 -0.09120457
+v 0.06879669 -0.17597856 -0.00277163
+v 0.14697564 -0.13841123 -0.02998454
+v 0.06879669 -0.13716359 -0.03698568
+v 0.13300200 -0.18760761 -0.00277167
+v 0.13300200 -0.18761753 -0.09903502
+v 0.14001943 -0.18568707 -0.09302326
+v 0.14397582 -0.18305835 -0.09302325
+v 0.14454212 -0.17884829 -0.08602210
+v 0.14697564 -0.16006723 -0.09302317
+v 0.11194969 -0.18723282 -0.00277167
+v 0.06879669 -0.17597854 -0.00896241
+v 0.11194969 -0.18724787 -0.09903502
+v 0.11194969 -0.18723790 -0.01597302
+v 0.14697564 -0.13730221 -0.03698568
+v 0.14697564 -0.13526370 -0.09903483
+v 0.06879669 -0.13516615 -0.09903483
+v 0.13218317 -0.18760761 -0.00277167
+v 0.11896713 -0.18760213 -0.09903502
+v 0.14001943 -0.18568192 -0.09903501
+v 0.14058572 -0.18530712 -0.09903501
+v 0.14396817 -0.18305320 -0.09903500
+v 0.14453446 -0.17884825 -0.09903499
+v 0.14697564 -0.16003640 -0.09826225
+v 0.11896713 -0.18758194 -0.00277167
+v 0.06879669 -0.17596285 -0.08707745
+v 0.06879669 -0.17595767 -0.09903498
+v 0.11896713 -0.18758702 -0.01597302
+v 0.14697564 -0.16003126 -0.09903492
+f 1 2 5
+f 1 5 10
+f 1 10 12
+f 1 12 11
+f 1 11 17
+f 1 17 16
+f 1 16 15
+f 1 15 29
+f 1 29 38
+f 1 38 52
+f 1 52 57
+f 1 57 44
+f 1 44 43
+f 1 43 31
+f 1 31 24
+f 1 24 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 18
+f 4 18 23
+f 4 23 22
+f 4 22 21
+f 4 21 30
+f 4 30 39
+f 4 39 53
+f 4 53 46
+f 4 46 33
+f 4 33 26
+f 4 26 13
+f 4 13 6
+f 4 7 9
+f 4 9 8
+f 5 6 10
+f 6 11 12
+f 6 12 10
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 11
+f 8 9 18
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 18
+f 9 24 25
+f 9 25 19
+f 13 26 27
+f 13 27 14
+f 14 28 15
+f 14 27 36
+f 14 36 28
+f 15 28 29
+f 19 21 20
+f 19 25 32
+f 19 32 45
+f 19 45 55
+f 19 55 54
+f 19 54 40
+f 19 40 30
+f 19 30 21
+f 24 31 25
+f 25 31 32
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 30 40 41
+f 30 41 42
+f 30 42 39
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 33 46 34
+f 34 47 41
+f 34 41 55
+f 34 55 45
+f 34 45 44
+f 34 44 57
+f 34 57 51
+f 34 51 50
+f 34 50 49
+f 34 49 48
+f 34 48 35
+f 34 46 47
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 37 51 38
+f 38 51 52
+f 39 42 56
+f 39 56 53
+f 40 54 41
+f 41 54 55
+f 41 47 42
+f 42 47 56
+f 46 53 56
+f 46 56 47
+f 51 57 52
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_36.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.21717643 -0.11824764 -0.12099122
+v 0.21717643 -0.11824770 -0.10369189
+v 0.21717643 -0.11822600 -0.12123809
+v 0.21721733 -0.11824763 -0.12123809
+v 0.22546135 -0.11824770 -0.10290267
+v 0.22557951 -0.02783131 -0.10282005
+v 0.22557951 0.04560496 -0.10279360
+v 0.21720823 0.04560496 -0.10368755
+v 0.21717643 -0.02785294 -0.10369156
+v 0.23955888 -0.11824757 -0.13976426
+v 0.21717643 -0.10167850 -0.12124177
+v 0.25901912 -0.11824770 -0.10313083
+v 0.22557951 0.05339202 -0.10279357
+v 0.21720823 0.05261331 -0.10368753
+v 0.21717643 -0.02783125 -0.12105074
+v 0.21720823 0.10273168 -0.10371352
+v 0.24526698 -0.11824756 -0.14099111
+v 0.23955434 -0.05257672 -0.13976776
+v 0.24526698 -0.02783117 -0.14100200
+v 0.21717643 -0.10163524 -0.12124177
+v 0.25950541 -0.11824770 -0.10451104
+v 0.26033253 0.10273169 -0.10704622
+v 0.25893277 0.10273168 -0.10314498
+v 0.25892823 -0.02783131 -0.10313050
+v 0.22557951 0.10273168 -0.10287567
+v 0.21717643 -0.02783124 -0.12123776
+v 0.21720823 0.10273175 -0.12122979
+v 0.25228393 -0.09464845 -0.14082646
+v 0.25228393 -0.10868679 -0.14082277
+v 0.25228393 -0.11824756 -0.14081906
+v 0.23955434 0.00353335 -0.13976756
+v 0.25228393 -0.02783117 -0.14083368
+v 0.23955434 0.08767683 -0.13976351
+v 0.24527152 0.08066849 -0.14099412
+v 0.25228393 0.08767684 -0.14083701
+v 0.25228393 0.05962181 -0.14083711
+v 0.26033253 -0.11824769 -0.10705076
+v 0.26033253 0.05962168 -0.10704638
+v 0.26059612 0.10273170 -0.10805986
+v 0.21720823 0.08066842 -0.12123736
+v 0.23955888 0.10273181 -0.13975971
+v 0.25747394 -0.06661505 -0.13960698
+v 0.25746939 -0.07362340 -0.13960701
+v 0.25746485 -0.09464846 -0.13960334
+v 0.25745576 -0.11824757 -0.13959221
+v 0.24444439 0.10273182 -0.14081077
+v 0.24527152 0.09470683 -0.14099033
+v 0.25127047 0.10273182 -0.14085565
+v 0.25228393 0.10273182 -0.14083320
+v 0.25747394 0.09470682 -0.13961013
+v 0.25747394 0.05962180 -0.13961026
+v 0.26213677 -0.11824766 -0.11405653
+v 0.26214585 0.10171507 -0.11405199
+v 0.26214585 0.10273172 -0.11405198
+v 0.26098241 -0.05960671 -0.13599748
+v 0.26097333 -0.09464847 -0.13600135
+v 0.26096879 -0.10868681 -0.13600140
+v 0.26096423 -0.11824758 -0.13600143
+v 0.25746031 -0.11571678 -0.13959221
+v 0.24527152 0.10273182 -0.14098656
+v 0.25746939 0.10273181 -0.13960636
+v 0.26098241 0.10171515 -0.13598192
+v 0.26098697 0.08767682 -0.13598572
+v 0.26098697 0.08066847 -0.13598947
+v 0.26098241 -0.02783119 -0.13599736
+v 0.26319113 -0.11824763 -0.12178792
+v 0.26319567 -0.10868686 -0.12178415
+v 0.26319113 0.10273175 -0.12181704
+v 0.26320930 -0.11824759 -0.13249293
+v 0.26177774 -0.11824759 -0.13473343
+v 0.26097787 0.10273180 -0.13598191
+v 0.26320021 0.10273179 -0.13248090
+v 0.26320475 0.08767681 -0.13248470
+v 0.26320930 -0.10167846 -0.13249287
+v 0.26360469 -0.11824761 -0.12805683
+v 0.26360469 -0.10167848 -0.12805677
+v 0.26359105 0.10273177 -0.12805602
+f 1 2 9
+f 1 9 15
+f 1 15 26
+f 1 26 20
+f 1 20 11
+f 1 11 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 30
+f 1 30 45
+f 1 45 58
+f 1 58 70
+f 1 70 69
+f 1 69 75
+f 1 75 66
+f 1 66 52
+f 1 52 37
+f 1 37 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 14
+f 2 14 9
+f 3 10 4
+f 3 11 10
+f 5 12 6
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 13
+f 9 14 16
+f 9 16 15
+f 10 11 18
+f 10 18 19
+f 10 19 17
+f 11 20 31
+f 11 31 18
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 23
+f 13 23 25
+f 13 25 16
+f 13 16 14
+f 15 16 27
+f 15 27 26
+f 16 25 23
+f 16 23 22
+f 16 22 39
+f 16 39 54
+f 16 54 68
+f 16 68 77
+f 16 77 72
+f 16 72 71
+f 16 71 61
+f 16 61 49
+f 16 49 48
+f 16 48 60
+f 16 60 46
+f 16 46 41
+f 16 41 27
+f 17 19 28
+f 17 28 29
+f 17 29 30
+f 18 31 19
+f 19 32 28
+f 19 31 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 32
+f 20 26 33
+f 20 33 31
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 26 27 40
+f 26 40 33
+f 27 41 33
+f 27 33 40
+f 28 32 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 30
+f 30 44 45
+f 32 36 42
+f 33 41 46
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 36
+f 36 51 42
+f 37 52 53
+f 37 53 39
+f 37 39 38
+f 39 53 54
+f 42 55 56
+f 42 56 57
+f 42 57 44
+f 42 44 43
+f 42 51 55
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 45 59 58
+f 46 60 47
+f 47 60 48
+f 49 61 50
+f 50 61 62
+f 50 62 63
+f 50 63 64
+f 50 64 65
+f 50 65 55
+f 50 55 51
+f 52 66 67
+f 52 67 53
+f 53 67 54
+f 54 67 68
+f 55 69 56
+f 55 65 74
+f 55 74 69
+f 56 69 70
+f 56 70 57
+f 57 70 58
+f 61 71 62
+f 62 71 72
+f 62 72 63
+f 63 73 64
+f 63 72 73
+f 64 73 74
+f 64 74 65
+f 66 75 67
+f 67 75 76
+f 67 76 68
+f 68 76 77
+f 69 74 76
+f 69 76 75
+f 72 77 73
+f 73 77 76
+f 73 76 74
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_37.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.25683429 0.10273149 -0.05099142
+v 0.26033245 0.03874677 -0.06256361
+v 0.26033245 0.04033202 -0.06449362
+v 0.26033245 0.04263319 -0.07201050
+v 0.25666397 0.10273164 -0.09249280
+v 0.23280939 0.10273149 -0.05099142
+v 0.25744525 0.02456909 -0.05099171
+v 0.26033245 0.02458189 -0.05665579
+v 0.26033245 0.03217569 -0.05741151
+v 0.26033245 0.03314728 -0.05807787
+v 0.26033245 0.04235195 -0.07412336
+v 0.23271748 0.10273164 -0.09249280
+v 0.26033245 0.04070281 -0.07990528
+v 0.26033245 0.03769855 -0.08511836
+v 0.26033245 0.03721275 -0.08535809
+v 0.26033245 0.03188176 -0.08742627
+v 0.26033245 0.02545133 -0.08841772
+v 0.26033245 0.02458200 -0.08847460
+v 0.25799944 0.02458202 -0.09249309
+v 0.23280128 0.03859332 -0.05099166
+v 0.25743174 -0.02453490 -0.05099189
+v 0.26033245 -0.02453488 -0.05670473
+v 0.23271748 0.09524012 -0.09249283
+v 0.26033245 -0.02452197 -0.08855198
+v 0.25803730 -0.02452196 -0.09249327
+v 0.23272289 -0.02785863 -0.09249328
+v 0.23280939 -0.02784600 -0.05099190
+v 0.25735063 -0.02785878 -0.05099190
+v 0.25887533 -0.02785877 -0.05400272
+v 0.26033245 -0.02785876 -0.05698916
+v 0.26033245 -0.02748791 -0.08811723
+v 0.25787780 -0.02785863 -0.09249328
+v 0.23280939 -0.02785878 -0.05099596
+v 0.25729657 -0.02785878 -0.05099190
+v 0.26033245 -0.02785865 -0.08806035
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 20
+f 1 20 27
+f 1 27 34
+f 1 34 28
+f 1 28 21
+f 1 21 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 9
+f 2 9 8
+f 2 8 22
+f 2 22 30
+f 2 30 35
+f 2 35 31
+f 2 31 24
+f 2 24 18
+f 2 18 17
+f 2 17 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 11
+f 2 11 4
+f 2 4 3
+f 4 11 5
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 25
+f 5 25 32
+f 5 32 26
+f 5 26 23
+f 5 23 12
+f 6 12 20
+f 7 21 8
+f 8 21 22
+f 12 23 20
+f 18 24 19
+f 19 24 25
+f 20 23 26
+f 20 26 27
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 24 31 32
+f 24 32 25
+f 26 32 35
+f 26 35 30
+f 26 30 29
+f 26 29 28
+f 26 28 34
+f 26 34 33
+f 26 33 27
+f 27 33 34
+f 31 35 32
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_38.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.07464287 -0.11826419 0.11327074
+v -0.07464287 -0.18631075 0.11327049
+v -0.07464287 -0.11826408 0.08555331
+v -0.13985665 -0.11826419 0.11327074
+v -0.07464287 -0.18363404 0.10488961
+v -0.11258883 -0.18818648 0.11327048
+v -0.11258883 -0.18760449 0.08555305
+v -0.07464287 -0.17608312 0.08555309
+v -0.13065471 -0.11826408 0.08555331
+v -0.13696639 -0.11826414 0.10063022
+v -0.14290558 -0.15780502 0.08555316
+v -0.14400926 -0.16482189 0.08555313
+v -0.14501637 -0.15844862 0.11327059
+v -0.10557355 -0.18554392 0.08555306
+v -0.12661937 -0.18818648 0.11327048
+v -0.13019254 -0.18760449 0.08555305
+v -0.14401616 -0.17183192 0.08555311
+v -0.14511294 -0.17183203 0.11327054
+v -0.14510604 -0.17010006 0.11327055
+v -0.13363466 -0.18817279 0.11327048
+v -0.13363466 -0.18759764 0.08555305
+v -0.14392648 -0.17540539 0.08555310
+v -0.14471976 -0.17633652 0.11327052
+v -0.14383681 -0.17884879 0.08555308
+v -0.14093275 -0.18573571 0.11327049
+v -0.13708366 -0.18626273 0.08555306
+v -0.14397478 -0.18023174 0.11327051
+v -0.14345053 -0.18120384 0.11327050
+v -0.14040161 -0.18497572 0.08555306
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 13
+f 1 13 19
+f 1 19 18
+f 1 18 23
+f 1 23 27
+f 1 27 28
+f 1 28 25
+f 1 25 20
+f 1 20 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 14
+f 3 14 7
+f 3 7 16
+f 3 16 21
+f 3 21 26
+f 3 26 29
+f 3 29 24
+f 3 24 22
+f 3 22 17
+f 3 17 12
+f 3 12 11
+f 3 11 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 7 14
+f 5 14 8
+f 6 15 16
+f 6 16 7
+f 9 11 10
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 24
+f 18 24 23
+f 20 25 21
+f 21 25 26
+f 23 24 27
+f 24 28 27
+f 24 29 25
+f 24 25 28
+f 25 29 26
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_39.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v 0.24527516 0.10274461 -0.14098011
+v 0.24527516 0.14381907 -0.14099259
+v 0.25127955 0.10274461 -0.14085387
+v 0.23955455 0.10274460 -0.13975556
+v 0.23955455 0.13680448 -0.13976807
+v 0.24527516 0.15083365 -0.14097994
+v 0.25229038 0.14381907 -0.14081585
+v 0.25229038 0.11576663 -0.14082857
+v 0.23954818 0.14381906 -0.13976804
+v 0.23955775 0.15083364 -0.13976802
+v 0.25229038 0.10274461 -0.14082862
+v 0.23604057 0.14381905 -0.13702859
+v 0.23908263 0.10274460 -0.13908649
+v 0.23102150 0.14381903 -0.13146132
+v 0.24527516 0.15784822 -0.14023508
+v 0.25229038 0.15083365 -0.14079058
+v 0.24036131 0.15784821 -0.13936402
+v 0.25745613 0.14381906 -0.13959130
+v 0.25746569 0.12278121 -0.13960401
+v 0.25747527 0.10875205 -0.13960406
+v 0.25747845 0.10274460 -0.13960408
+v 0.23605014 0.15083363 -0.13663723
+v 0.23628929 0.10274459 -0.13505936
+v 0.23102150 0.10274455 -0.12646229
+v 0.23102150 0.15083361 -0.13057761
+v 0.25229038 0.15784821 -0.14004572
+v 0.24135938 0.16158815 -0.13882116
+v 0.24527516 0.16177662 -0.13902315
+v 0.25229038 0.16170594 -0.13894741
+v 0.25674504 0.15784821 -0.13917465
+v 0.25742424 0.15083364 -0.13956603
+v 0.26096693 0.14381905 -0.13595553
+v 0.26097330 0.13680447 -0.13596819
+v 0.26097969 0.11576661 -0.13598089
+v 0.26098606 0.10274459 -0.13598094
+v 0.23102150 0.10274445 -0.09747713
+v 0.23102150 0.15581625 -0.12750990
+v 0.25599569 0.16149391 -0.13872018
+v 0.24061641 0.16192385 -0.13505915
+v 0.24527516 0.16255993 -0.13505914
+v 0.25229038 0.16240091 -0.13505914
+v 0.26305237 0.15479147 -0.13210511
+v 0.26093185 0.15083363 -0.13591764
+v 0.26318310 0.15083362 -0.13242073
+v 0.26319905 0.14381904 -0.13245862
+v 0.26320542 0.13680446 -0.13247128
+v 0.26288974 0.10274458 -0.13298900
+v 0.23281995 0.10274423 -0.03699460
+v 0.23102150 0.13427742 -0.02998806
+v 0.23102150 0.15727686 -0.12104630
+v 0.25645168 0.16176482 -0.13505915
+v 0.24008707 0.16213585 -0.12805271
+v 0.24527516 0.16290740 -0.12805271
+v 0.25229038 0.16273070 -0.12805271
+v 0.26031005 0.15854316 -0.12805273
+v 0.26318310 0.15503292 -0.12805274
+v 0.26355299 0.15083360 -0.12805276
+v 0.26358170 0.12979575 -0.12805283
+v 0.26320861 0.11576660 -0.13247135
+v 0.26320861 0.10274458 -0.13248403
+v 0.26359126 0.10875201 -0.12805291
+v 0.23292517 0.10274422 -0.03598467
+v 0.23102150 0.13759328 -0.02461013
+v 0.23102150 0.15734750 -0.11403988
+v 0.25680244 0.16195916 -0.12805272
+v 0.23659222 0.16033357 -0.11403987
+v 0.23658585 0.16033352 -0.10002701
+v 0.24010940 0.16212957 -0.02298152
+v 0.24527516 0.16290701 -0.02298152
+v 0.25229038 0.16273621 -0.02298152
+v 0.26030048 0.15855491 -0.12104630
+v 0.26319905 0.15505054 -0.11403989
+v 0.26319267 0.15504468 -0.12104631
+v 0.26319905 0.15504463 -0.10703346
+v 0.26354981 0.15083352 -0.10703348
+v 0.26352430 0.15083324 -0.02998800
+v 0.26353706 0.10274456 -0.12868415
+v 0.26359126 0.10274456 -0.12805293
+v 0.23355017 0.10274420 -0.02998817
+v 0.23519237 0.10274417 -0.02184556
+v 0.23102150 0.14369495 -0.02267861
+v 0.23102150 0.15735337 -0.10703345
+v 0.25676736 0.16195288 -0.02298153
+v 0.23102150 0.15735337 -0.10681883
+v 0.23657946 0.16032760 -0.09302058
+v 0.23660179 0.16003291 -0.03699439
+v 0.23102150 0.15527407 -0.03699441
+v 0.24066105 0.16187630 -0.01774249
+v 0.23102150 0.15729442 -0.09280598
+v 0.23102150 0.15725906 -0.08601416
+v 0.24527516 0.16213544 -0.01683354
+v 0.25229038 0.16204709 -0.01721227
+v 0.25644211 0.16175851 -0.01823484
+v 0.26027497 0.15853101 -0.02998797
+v 0.26318628 0.15502078 -0.02998798
+v 0.26307469 0.15483229 -0.02298155
+v 0.26333935 0.15083321 -0.02298157
+v 0.26335848 0.14381863 -0.02298159
+v 0.26337123 0.13680405 -0.02298162
+v 0.26337762 0.12979536 -0.02298164
+v 0.26337762 0.11576619 -0.02298169
+v 0.26337442 0.10274417 -0.02298174
+v 0.26337762 0.10274418 -0.02399168
+v 0.23102150 0.14381863 -0.02265336
+v 0.23813557 0.10274415 -0.01597531
+v 0.26027497 0.15833663 -0.02298154
+v 0.23102150 0.15469097 -0.03367425
+v 0.23966298 0.15780065 -0.01563426
+v 0.24138489 0.15542711 -0.01231410
+v 0.24527516 0.15946741 -0.01333664
+v 0.23102150 0.15397832 -0.02998798
+v 0.23102150 0.15348358 -0.02873820
+v 0.23102150 0.15052107 -0.02426924
+v 0.25266026 0.15778886 -0.01348815
+v 0.25898991 0.15726470 -0.01727541
+v 0.26291525 0.15453779 -0.01933316
+v 0.26297903 0.15083320 -0.01923219
+v 0.26299815 0.14381862 -0.01920696
+v 0.26304598 0.10274416 -0.01976257
+v 0.23857561 0.10274415 -0.01543247
+v 0.24119995 0.10274414 -0.01225117
+v 0.24119995 0.12278074 -0.01223848
+v 0.24119676 0.12979532 -0.01223845
+v 0.24119357 0.15083317 -0.01223838
+v 0.24527516 0.15083317 -0.01202377
+v 0.24527516 0.15596307 -0.01225098
+v 0.25056845 0.15540944 -0.01232673
+v 0.25504544 0.15083318 -0.01254136
+v 0.25930559 0.15083319 -0.01581103
+v 0.26299496 0.13680404 -0.01920699
+v 0.26299178 0.10875161 -0.01921971
+v 0.25930559 0.14381861 -0.01577318
+v 0.25930559 0.12979534 -0.01574798
+v 0.25930559 0.10274415 -0.01574808
+v 0.26298859 0.10274416 -0.01921973
+v 0.24178667 0.10274413 -0.01221330
+v 0.24623497 0.10274413 -0.01206181
+v 0.25192367 0.10274414 -0.01225117
+v 0.25191729 0.10875159 -0.01225115
+v 0.25168451 0.14381860 -0.01226365
+v 0.25153783 0.15083318 -0.01226363
+v 0.24527516 0.10274413 -0.01203656
+v 0.25519531 0.14381860 -0.01252876
+v 0.25530373 0.13680402 -0.01251616
+v 0.25536113 0.12979533 -0.01250356
+v 0.25539620 0.12278075 -0.01250359
+v 0.25541852 0.11576616 -0.01250361
+v 0.25543129 0.10274414 -0.01250366
+v 0.25599250 0.10274414 -0.01297075
+v 0.25179293 0.13680402 -0.01226368
+f 1 2 3
+f 1 3 11
+f 1 11 21
+f 1 21 35
+f 1 35 47
+f 1 47 60
+f 1 60 77
+f 1 77 78
+f 1 78 103
+f 1 103 102
+f 1 102 119
+f 1 119 135
+f 1 135 134
+f 1 134 149
+f 1 149 148
+f 1 148 138
+f 1 138 137
+f 1 137 142
+f 1 142 136
+f 1 136 121
+f 1 121 120
+f 1 120 105
+f 1 105 80
+f 1 80 79
+f 1 79 62
+f 1 62 48
+f 1 48 36
+f 1 36 24
+f 1 24 23
+f 1 23 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 8 11
+f 4 12 9
+f 4 9 5
+f 4 13 14
+f 4 14 12
+f 6 15 26
+f 6 26 16
+f 6 16 7
+f 6 10 17
+f 6 17 15
+f 7 16 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 11
+f 9 12 10
+f 10 12 22
+f 10 22 17
+f 12 14 22
+f 13 23 14
+f 14 24 36
+f 14 36 49
+f 14 49 63
+f 14 63 81
+f 14 81 104
+f 14 104 113
+f 14 113 112
+f 14 112 111
+f 14 111 107
+f 14 107 87
+f 14 87 90
+f 14 90 89
+f 14 89 84
+f 14 84 82
+f 14 82 64
+f 14 64 50
+f 14 50 37
+f 14 37 25
+f 14 25 22
+f 14 23 24
+f 15 17 27
+f 15 27 28
+f 15 28 29
+f 15 29 26
+f 16 26 30
+f 16 30 31
+f 16 31 18
+f 17 22 25
+f 17 25 27
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 21
+f 21 34 35
+f 25 37 27
+f 26 29 38
+f 26 38 30
+f 27 39 40
+f 27 40 28
+f 27 37 39
+f 28 40 29
+f 29 40 41
+f 29 41 38
+f 30 38 42
+f 30 42 43
+f 30 43 31
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 34
+f 34 46 35
+f 35 46 47
+f 36 48 49
+f 37 50 39
+f 38 41 51
+f 38 51 42
+f 39 50 52
+f 39 52 53
+f 39 53 40
+f 40 53 41
+f 41 53 54
+f 41 54 51
+f 42 55 56
+f 42 56 57
+f 42 57 44
+f 42 44 43
+f 42 51 55
+f 44 57 45
+f 45 57 58
+f 45 58 46
+f 46 59 60
+f 46 60 47
+f 46 58 61
+f 46 61 59
+f 48 62 63
+f 48 63 49
+f 50 64 52
+f 51 54 65
+f 51 65 55
+f 52 64 66
+f 52 66 67
+f 52 67 68
+f 52 68 69
+f 52 69 53
+f 53 69 70
+f 53 70 54
+f 54 70 65
+f 55 65 71
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 56 73 57
+f 57 73 72
+f 57 72 74
+f 57 74 75
+f 57 75 58
+f 58 75 76
+f 58 76 61
+f 59 61 60
+f 60 61 77
+f 61 78 77
+f 61 76 78
+f 62 79 63
+f 63 80 81
+f 63 79 80
+f 64 82 66
+f 65 70 83
+f 65 83 71
+f 66 82 67
+f 67 82 84
+f 67 84 85
+f 67 85 68
+f 68 86 87
+f 68 87 88
+f 68 88 69
+f 68 85 84
+f 68 84 89
+f 68 89 90
+f 68 90 86
+f 69 88 91
+f 69 91 92
+f 69 92 70
+f 70 92 93
+f 70 93 83
+f 71 83 94
+f 71 94 95
+f 71 95 72
+f 72 95 74
+f 74 95 75
+f 75 95 76
+f 76 95 96
+f 76 96 97
+f 76 97 98
+f 76 98 99
+f 76 99 100
+f 76 100 101
+f 76 101 102
+f 76 102 103
+f 76 103 78
+f 80 104 81
+f 80 105 104
+f 83 93 106
+f 83 106 94
+f 86 90 87
+f 87 107 88
+f 88 108 109
+f 88 109 110
+f 88 110 91
+f 88 107 111
+f 88 111 112
+f 88 112 113
+f 88 113 108
+f 91 110 92
+f 92 110 114
+f 92 114 93
+f 93 114 115
+f 93 115 116
+f 93 116 106
+f 94 106 95
+f 95 106 96
+f 96 106 116
+f 96 116 97
+f 97 116 117
+f 97 117 118
+f 97 118 98
+f 98 118 99
+f 99 118 100
+f 100 118 101
+f 101 118 119
+f 101 119 102
+f 104 105 120
+f 104 120 121
+f 104 121 122
+f 104 122 123
+f 104 123 124
+f 104 124 109
+f 104 109 113
+f 108 113 109
+f 109 124 125
+f 109 125 126
+f 109 126 110
+f 110 126 127
+f 110 127 114
+f 114 127 128
+f 114 128 115
+f 115 128 116
+f 116 128 129
+f 116 129 117
+f 117 129 118
+f 118 130 131
+f 118 131 119
+f 118 129 132
+f 118 132 133
+f 118 133 134
+f 118 134 130
+f 119 131 135
+f 121 136 122
+f 122 136 125
+f 122 125 123
+f 123 125 124
+f 125 137 138
+f 125 138 139
+f 125 139 140
+f 125 140 141
+f 125 141 127
+f 125 127 126
+f 125 136 142
+f 125 142 137
+f 127 141 128
+f 128 141 143
+f 128 143 129
+f 129 143 144
+f 129 144 145
+f 129 145 132
+f 130 135 131
+f 130 134 135
+f 132 145 146
+f 132 146 147
+f 132 147 133
+f 133 147 148
+f 133 148 149
+f 133 149 134
+f 138 148 147
+f 138 147 139
+f 139 147 146
+f 139 146 145
+f 139 145 150
+f 139 150 140
+f 140 150 145
+f 140 145 141
+f 141 145 144
+f 141 144 143
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_4.obj

@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.10238111 0.13004121 -0.10280377
+v 0.10238111 0.10274713 -0.10371995
+v 0.10238111 0.13004128 -0.12361195
+v 0.06880429 0.13004121 -0.10260485
+v 0.10238111 0.10274720 -0.12375077
+v 0.06880429 0.10274713 -0.10369116
+v 0.10238111 0.11556459 -0.12373241
+v 0.07687061 0.13004130 -0.12907180
+v 0.06880429 0.13004131 -0.12934140
+v 0.10238111 0.10874843 -0.12374552
+v 0.07687061 0.10274722 -0.12908761
+v 0.07687061 0.11576501 -0.12909279
+v 0.07687061 0.12277624 -0.12909539
+v 0.06880429 0.10274723 -0.12933364
+v 0.06985284 0.13004131 -0.12933878
+v 0.06985284 0.10274723 -0.12933364
+v 0.06985284 0.12979014 -0.12933878
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 16
+f 2 16 11
+f 2 11 5
+f 3 7 8
+f 4 9 14
+f 4 14 6
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 7 10 13
+f 7 13 8
+f 8 13 15
+f 9 16 14
+f 9 15 17
+f 9 17 16
+f 11 16 12
+f 12 16 13
+f 13 16 17
+f 13 17 15
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_40.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.16065624 0.13727143 0.08111745
+v 0.16792575 0.10275556 0.08111733
+v 0.16065624 0.13727143 0.08211884
+v 0.16065624 0.15498561 0.08111752
+v 0.19357684 0.10275556 0.08111733
+v 0.17047773 0.10274958 0.10737127
+v 0.16792940 0.10275555 0.08312894
+v 0.16065624 0.13733027 0.08912558
+v 0.16065624 0.15498561 0.08253712
+v 0.17127249 0.16163208 0.08912567
+v 0.17127614 0.16163211 0.08111754
+v 0.19419296 0.10275556 0.08239558
+v 0.19414557 0.10274958 0.10737127
+v 0.19786782 0.14381784 0.08111748
+v 0.17062357 0.10274957 0.10800743
+v 0.16966474 0.10275548 0.10383402
+v 0.16950434 0.10275548 0.10313011
+v 0.16864760 0.10275551 0.09612926
+v 0.16804241 0.10275553 0.09013568
+v 0.16794398 0.10275553 0.08912546
+v 0.16065624 0.13885500 0.09556979
+v 0.16065624 0.15495614 0.08912565
+v 0.17128708 0.16163206 0.09612947
+v 0.17510776 0.16239738 0.09612948
+v 0.17510776 0.16238565 0.08111755
+v 0.19666475 0.10275553 0.08912546
+v 0.19390859 0.10274957 0.10778654
+v 0.19774023 0.10275551 0.09612926
+v 0.19653350 0.10275548 0.10313011
+v 0.19414921 0.14381775 0.10737142
+v 0.19391588 0.14381774 0.10778374
+v 0.19790063 0.15082934 0.08111750
+v 0.17510776 0.10274956 0.11029000
+v 0.17051054 0.14381774 0.10801053
+v 0.16065624 0.14463608 0.10051194
+v 0.16065624 0.14112739 0.09907169
+v 0.16065624 0.15493848 0.08937011
+v 0.17140010 0.16154373 0.10101563
+v 0.18211843 0.16288598 0.10313033
+v 0.17611033 0.16245629 0.08111755
+v 0.17467028 0.16208532 0.10326286
+v 0.18982542 0.10274957 0.10974513
+v 0.19788969 0.15082931 0.08912563
+v 0.19787147 0.15082929 0.09612943
+v 0.19653350 0.14381776 0.10313026
+v 0.19414192 0.15082925 0.10737144
+v 0.19391588 0.15082924 0.10777199
+v 0.18913639 0.14381774 0.11006631
+v 0.18913639 0.13680036 0.11006923
+v 0.18913639 0.11576587 0.11007505
+v 0.19527208 0.15779963 0.08111753
+v 0.19527208 0.15779963 0.08211892
+v 0.19526479 0.15779372 0.08912566
+v 0.18211843 0.10274956 0.11120597
+v 0.17510776 0.13680035 0.11029307
+v 0.17510776 0.14381773 0.11029015
+v 0.17510776 0.15082923 0.11027545
+v 0.17054335 0.15082924 0.10799583
+v 0.16065624 0.14883944 0.10051196
+v 0.16065624 0.15462646 0.09329317
+v 0.17203445 0.16098444 0.10568680
+v 0.18211843 0.16286250 0.08111755
+v 0.17668999 0.16187928 0.10737148
+v 0.17677384 0.16188516 0.10737148
+v 0.18211843 0.16219717 0.10737149
+v 0.18767812 0.16185572 0.10741271
+v 0.18768541 0.16186162 0.10737148
+v 0.18881922 0.16211476 0.10313033
+v 0.18895046 0.16210891 0.09612948
+v 0.18897962 0.16210896 0.08111755
+v 0.18309548 0.16275654 0.08111755
+v 0.18913639 0.10274957 0.11007500
+v 0.19525021 0.15778192 0.09612946
+v 0.19457211 0.15762293 0.10313031
+v 0.19652256 0.15082926 0.10313028
+v 0.19348935 0.15641608 0.10738618
+v 0.18913639 0.15082924 0.11004866
+v 0.18211843 0.15082923 0.11118847
+v 0.18211843 0.14381773 0.11119729
+v 0.18211843 0.13680035 0.11120021
+v 0.19248678 0.16130832 0.08111754
+v 0.19247219 0.16130241 0.08912567
+v 0.18211843 0.15784073 0.11008109
+v 0.17466664 0.15832348 0.10855840
+v 0.17093345 0.15631009 0.10753639
+v 0.16065624 0.15234226 0.09679211
+v 0.16065624 0.15449106 0.09350228
+v 0.17658427 0.16184984 0.10737148
+v 0.17671187 0.16186750 0.10741859
+v 0.18211843 0.16212063 0.10780738
+v 0.18966137 0.15838824 0.10846120
+v 0.19233002 0.16113162 0.10313032
+v 0.19245761 0.16129061 0.09612947
+v 0.19248313 0.16130832 0.08211893
+f 1 2 3
+f 1 3 8
+f 1 8 21
+f 1 21 36
+f 1 36 35
+f 1 35 59
+f 1 59 86
+f 1 86 87
+f 1 87 60
+f 1 60 37
+f 1 37 22
+f 1 22 9
+f 1 9 4
+f 1 4 11
+f 1 11 25
+f 1 25 40
+f 1 40 62
+f 1 62 71
+f 1 71 70
+f 1 70 81
+f 1 81 51
+f 1 51 32
+f 1 32 14
+f 1 14 5
+f 1 5 2
+f 2 5 13
+f 2 13 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 14 12
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 6 13 27
+f 6 27 42
+f 6 42 72
+f 6 72 54
+f 6 54 33
+f 6 33 15
+f 7 20 8
+f 8 20 21
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 12 26 13
+f 12 14 26
+f 13 26 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 27
+f 14 28 26
+f 14 32 28
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 16
+f 16 36 17
+f 17 36 21
+f 17 21 18
+f 18 21 19
+f 19 21 20
+f 22 37 38
+f 22 38 23
+f 23 38 24
+f 24 39 40
+f 24 40 25
+f 24 38 41
+f 24 41 39
+f 27 31 42
+f 28 32 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 42
+f 32 51 52
+f 32 52 53
+f 32 53 43
+f 33 54 55
+f 33 55 34
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 35
+f 34 55 56
+f 37 60 38
+f 38 60 61
+f 38 61 41
+f 39 62 40
+f 39 41 63
+f 39 63 64
+f 39 64 65
+f 39 65 66
+f 39 66 67
+f 39 67 68
+f 39 68 69
+f 39 69 70
+f 39 70 71
+f 39 71 62
+f 41 61 63
+f 42 50 72
+f 43 53 44
+f 44 53 73
+f 44 73 74
+f 44 74 75
+f 44 75 45
+f 45 75 46
+f 46 75 76
+f 46 76 47
+f 47 76 77
+f 47 77 48
+f 48 77 78
+f 48 78 79
+f 48 79 80
+f 48 80 49
+f 49 80 50
+f 50 80 54
+f 50 54 72
+f 51 81 52
+f 52 81 53
+f 53 81 82
+f 53 82 93
+f 53 93 73
+f 54 80 55
+f 55 80 79
+f 55 79 56
+f 56 79 78
+f 56 78 57
+f 57 78 83
+f 57 83 84
+f 57 84 85
+f 57 85 58
+f 58 85 59
+f 59 85 61
+f 59 61 86
+f 60 87 61
+f 61 85 84
+f 61 84 88
+f 61 88 63
+f 61 87 86
+f 63 88 89
+f 63 89 64
+f 64 89 90
+f 64 90 65
+f 65 90 66
+f 66 90 83
+f 66 83 91
+f 66 91 76
+f 66 76 92
+f 66 92 67
+f 67 92 68
+f 68 92 93
+f 68 93 69
+f 69 93 82
+f 69 82 94
+f 69 94 81
+f 69 81 70
+f 73 93 92
+f 73 92 74
+f 74 92 76
+f 74 76 75
+f 76 91 77
+f 77 91 83
+f 77 83 78
+f 81 94 82
+f 83 90 89
+f 83 89 84
+f 84 89 88
+

dataset/kitchen_supplies/storage/ae690e20fcdd5b1fb733274fa07faa7c/mjcf/mesh/drawer_052_collision_41.obj

@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.05581050 0.17603034 0.01811408
+v 0.06377000 0.17602317 0.01811408
+v 0.06878599 0.17601611 -0.01346166
+v -0.08462213 0.17602329 -0.01346166
+v -0.08462213 0.17602317 0.01811408
+v 0.06878599 0.17601599 0.01811408
+v 0.06878599 0.15232861 -0.01346175
+v -0.08462213 0.10274413 -0.01346193
+v -0.08462213 0.10274401 0.01811381
+v 0.06878599 0.10274401 0.01811381
+v 0.06878599 0.10274408 0.00052983
+v 0.05088462 0.10274413 -0.01346193
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 3 7 12
+f 3 12 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 7 11 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+