Add asset kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35

.gitattributes

@@ -3972,3 +3972,5 @@ dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/drawer_055.usd
 dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/mesh/drawer_055.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/drawer_060.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/mesh/drawer_060.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/storage_bin_008.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_008_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_bin_008_geometry_Looks_material_0.png

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b905c559ae37732fca1759d729f4719c071c15876abadd250ea0835e8cadf35b
+size 20082680

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.mtl

@@ -0,0 +1,6 @@
+newmtl storage_bin_008_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/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_0.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.02615120 0.04482391 -0.10705171
+v 0.02920221 0.04482391 -0.10705171
+v 0.02292337 0.04482391 -0.10703067
+v 0.01858945 0.05875206 -0.10717783
+v 0.04804284 0.04482391 -0.10700964
+v 0.01986825 0.04482391 -0.10698861
+v 0.01858945 0.08600054 -0.10719876
+v 0.02292337 0.08600054 -0.10721979
+v 0.02292337 0.06071778 -0.10717783
+v 0.01858945 0.04482391 -0.10696758
+v 0.06059641 0.07335269 -0.10709366
+v 0.06059641 0.04482391 -0.10677829
+v 0.06059641 0.15549905 -0.10724057
+v 0.01858945 0.15549905 -0.10700923
+v 0.01858945 0.04482313 0.10734168
+v 0.06059641 0.04482314 0.10454452
+v 0.02292337 0.16182297 -0.10665167
+v 0.06059641 0.16182297 -0.10679889
+v 0.01858945 0.16182297 -0.10660962
+v 0.02292337 0.04482313 0.10744684
+v 0.01858945 0.04808207 0.10757305
+v 0.06059641 0.07333898 0.10544897
+v 0.02920221 0.04482313 0.10717344
+v 0.01858945 0.16643982 -0.10597866
+v 0.02292337 0.16654329 -0.10599969
+v 0.02920221 0.16662088 -0.10602072
+v 0.06059641 0.16583201 -0.10599969
+v 0.06059641 0.13652650 0.10555436
+v 0.01858945 0.16182219 0.10637467
+v 0.01858945 0.16959531 -0.10406480
+v 0.02292337 0.16969877 -0.10410686
+v 0.02920221 0.16977637 -0.10416994
+v 0.03548516 0.16969877 -0.10414891
+v 0.03548516 0.16654329 -0.10597866
+v 0.06059641 0.16900042 -0.10387551
+v 0.01858945 0.16817197 0.10629058
+v 0.06059641 0.15549827 0.10488143
+v 0.01858945 0.17118597 -0.10189855
+v 0.01858945 0.17184553 -0.10093111
+v 0.02292337 0.17184553 -0.10097318
+v 0.02920221 0.17184553 -0.10101524
+v 0.03548516 0.17184553 -0.10101524
+v 0.06059641 0.17198779 -0.10072080
+v 0.01858945 0.17410794 0.10473428
+v 0.06059641 0.16180927 0.10399813
+v 0.06059641 0.16783575 0.10284145
+v 0.01858945 0.17241454 -0.09611494
+v 0.06059641 0.17255679 -0.09611494
+v 0.01858945 0.17418554 0.10467119
+v 0.06059641 0.17099125 0.10170576
+v 0.01858945 0.17488442 -0.03947755
+v 0.02292337 0.17487148 -0.03947755
+v 0.03548516 0.17513005 -0.02061245
+v 0.04175989 0.17459979 -0.00801469
+v 0.06059641 0.17249144 0.09264125
+v 0.01858945 0.17639699 0.09892964
+v 0.06059641 0.17193533 0.09857209
+v 0.01858945 0.17688859 0.05489003
+v 0.01858945 0.17694024 0.07306111
+v 0.01858945 0.17692725 0.08635291
+v 0.01858945 0.17688845 0.09264127
+f 1 2 5
+f 1 5 12
+f 1 12 16
+f 1 16 23
+f 1 23 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 4 6 10
+f 4 10 15
+f 4 15 21
+f 4 21 29
+f 4 29 36
+f 4 36 44
+f 4 44 49
+f 4 49 56
+f 4 56 61
+f 4 61 60
+f 4 60 59
+f 4 59 58
+f 4 58 51
+f 4 51 47
+f 4 47 39
+f 4 39 38
+f 4 38 30
+f 4 30 24
+f 4 24 19
+f 4 19 14
+f 4 14 7
+f 5 9 11
+f 5 11 12
+f 7 13 8
+f 7 14 13
+f 8 13 9
+f 9 13 11
+f 11 13 18
+f 11 18 27
+f 11 27 35
+f 11 35 43
+f 11 43 48
+f 11 48 55
+f 11 55 57
+f 11 57 50
+f 11 50 46
+f 11 46 45
+f 11 45 37
+f 11 37 28
+f 11 28 22
+f 11 22 16
+f 11 16 12
+f 13 14 17
+f 13 17 18
+f 14 19 17
+f 15 20 21
+f 16 22 23
+f 17 19 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 20 23 28
+f 20 28 21
+f 21 28 29
+f 22 28 23
+f 24 30 31
+f 24 31 25
+f 25 31 32
+f 25 32 26
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 27 34 33
+f 27 33 35
+f 28 36 29
+f 28 37 36
+f 30 38 31
+f 31 38 32
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 33 43 35
+f 36 37 45
+f 36 45 46
+f 36 46 44
+f 39 43 40
+f 39 47 48
+f 39 48 43
+f 40 43 41
+f 41 43 42
+f 44 46 50
+f 44 50 49
+f 47 51 48
+f 48 51 52
+f 48 52 53
+f 48 53 54
+f 48 54 55
+f 49 50 56
+f 50 57 56
+f 51 58 52
+f 52 58 53
+f 53 58 54
+f 54 58 59
+f 54 59 60
+f 54 60 55
+f 55 60 61
+f 55 61 56
+f 55 56 57
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_1.obj

@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
+v 0.01035705 0.18224108 0.10806920
+v 0.01035705 0.18277666 0.05487100
+v -0.00848271 0.18270528 0.05487100
+v -0.00848271 0.18241966 0.08005795
+v -0.00848271 0.18227683 0.09264088
+v -0.00220279 0.18206264 0.10806920
+v 0.01573494 0.18006398 0.10806919
+v 0.01035705 0.18252683 0.04859007
+v 0.00407713 0.18238410 0.04228807
+v 0.00407713 0.18263390 0.04859007
+v -0.00220279 0.18263390 0.04859007
+v 0.01581867 0.18020693 0.05487099
+v 0.01572733 0.18006420 0.04859006
+v -0.00848271 0.18249115 0.04859007
+v -0.02029277 0.17492510 -0.04024926
+v -0.01395956 0.18020693 0.05487099
+v -0.01394815 0.18009975 0.08633887
+v -0.01394434 0.18006404 0.09264087
+v -0.00848271 0.18195558 0.10806920
+v 0.01858945 0.17638791 0.09892179
+v 0.01858945 0.17688759 0.09264086
+v 0.01858945 0.17692330 0.08633886
+v 0.01782444 0.17435352 0.10806917
+v 0.01858945 0.17417507 0.10465470
+v 0.01858945 0.17239129 -0.09612424
+v -0.00220279 0.18238410 0.04228807
+v 0.01858945 0.17692335 0.07306038
+v 0.01858945 0.17688773 0.05487098
+v 0.01858945 0.17485373 -0.03949049
+v -0.02029277 0.17239129 -0.09612424
+v -0.02029277 0.17506772 -0.00247938
+v -0.02029277 0.17506772 -0.00172061
+v -0.02029277 0.17453202 0.09264085
+v -0.01359419 0.17974276 0.10806919
+v 0.01858945 0.16814338 0.10629869
+v 0.01858945 0.17410369 0.10471794
+v 0.01783586 0.16814337 0.10806915
+v 0.01858945 -0.04671297 0.10775221
+v 0.01858945 0.04804510 0.10758394
+v 0.01858945 0.17185594 -0.10092978
+v -0.02029277 0.17185594 -0.10067686
+v -0.02029277 0.17371112 0.09925900
+v -0.01504047 0.17688753 0.10806918
+v -0.02029277 0.17192659 0.10248377
+v 0.01777116 -0.16677556 0.10806792
+v 0.01776355 -0.16880992 0.10806791
+v 0.01858945 -0.16638296 0.10629746
+v 0.01858945 0.17117784 -0.10189933
+v 0.01858945 0.16957178 -0.10407025
+v -0.02029277 0.16875090 -0.10383841
+v -0.01579787 0.17438920 0.10806917
+v -0.02029277 0.16992792 0.10385376
+v 0.01858945 -0.16677555 0.10623422
+v 0.01737153 -0.17298569 0.10806789
+v 0.01858945 0.16860812 -0.10466042
+v 0.01858945 0.16643103 -0.10596719
+v -0.02029277 0.16557446 -0.10571427
+v -0.02029277 0.16850030 0.10429638
+v -0.02029277 0.16289689 0.10507620
+v -0.01625078 0.16996359 0.10806915
+v 0.01858945 -0.17212910 0.10475882
+v 0.01858945 -0.17255738 0.10461127
+v 0.01668645 -0.17555541 0.10806789
+v 0.01663697 0.16635965 -0.10596719
+v 0.01858945 0.16496771 -0.10617796
+v -0.02029277 0.16511049 -0.10577750
+v -0.02029277 0.15643692 0.10528694
+v -0.01633071 0.16814337 0.10806915
+v 0.01858945 -0.17441327 0.09892050
+v 0.01524777 -0.17848202 0.10806787
+v 0.01858945 0.16182697 -0.10659952
+v -0.02029277 0.16182697 -0.10619906
+v -0.02029277 0.13652168 0.10581379
+v -0.02029277 0.04247740 0.10766823
+v -0.01599959 -0.16677556 0.10806792
+v 0.01858945 -0.17498429 0.09268173
+v 0.01035705 -0.18080190 0.10806787
+v 0.01547613 -0.17866040 0.09263955
+v 0.01858945 0.15547407 -0.10702107
+v -0.01476263 0.15547407 -0.10683138
+v -0.02029277 0.15547407 -0.10678923
+v -0.02029277 -0.04671296 0.10749928
+v -0.02029277 -0.15414113 0.10518042
+v -0.02029277 -0.16042265 0.10494855
+v -0.01561137 -0.17302137 0.10806789
+v 0.01560173 -0.17894579 0.05486967
+v 0.01858945 -0.17505565 0.08642187
+v 0.00407713 -0.18101603 0.10806787
+v 0.01035705 -0.18172964 0.05486966
+v 0.01858945 0.08598481 -0.10718994
+v -0.00848271 0.07331471 -0.10714784
+v -0.01476263 0.09230202 -0.10706346
+v -0.02029277 0.13020525 -0.10687363
+v -0.02029277 -0.16677554 0.10437945
+v -0.02029277 -0.17098700 0.10298836
+v -0.01340769 -0.17844633 0.10806787
+v 0.01858945 -0.17523399 0.05486969
+v 0.01858945 -0.17523399 0.05518585
+v 0.01858945 -0.17519833 0.06144570
+v 0.01858945 -0.17509131 0.08018310
+v 0.01858945 -0.17430566 -0.04383362
+v 0.01858945 -0.17441276 -0.03949177
+v -0.00220279 -0.18101603 0.10806787
+v 0.00407713 -0.18183671 0.05486966
+v 0.00407713 -0.18172962 0.04858873
+v 0.00407713 -0.18147976 0.04228673
+v 0.01035705 -0.18147978 0.04858873
+v 0.01858945 -0.15414035 -0.10721192
+v -0.00848271 0.00382546 -0.10725349
+v -0.01476263 0.00382546 -0.10721134
+v -0.02029277 0.04172869 -0.10708473
+v -0.02029277 0.09230202 -0.10697916
+v -0.02029277 -0.17227184 0.09986897
+v -0.02029277 -0.17337822 0.09263957
+v -0.01371217 -0.17866040 0.09263955
+v -0.01118498 -0.17948134 0.10806787
+v -0.02029277 -0.17255736 0.09892051
+v -0.02029277 -0.17330684 0.09373557
+v 0.01858945 -0.17212837 -0.09612550
+v -0.00848271 -0.18176533 0.05486966
+v -0.00565104 -0.18087328 0.10806787
+v -0.00220279 -0.18172962 0.04858873
+v -0.00220279 -0.18151545 0.04228673
+v 0.01858945 -0.15610333 -0.10712761
+v 0.01035705 -0.15414035 -0.10721192
+v -0.00848271 -0.09096831 -0.10721168
+v -0.02029277 -0.04039498 -0.10716934
+v -0.02029277 0.00382546 -0.10712703
+v -0.02029277 -0.17476993 0.03042044
+v -0.01386061 -0.17901717 0.05486967
+v -0.00848271 -0.18073050 0.10806787
+v -0.02029277 -0.17212837 -0.09612550
+v 0.01858945 -0.17112902 -0.10240643
+v -0.00848271 -0.18147978 0.04858873
+v -0.02029277 -0.17451983 -0.03949177
+v 0.01858945 -0.16045756 -0.10693794
+v 0.01663697 -0.16045756 -0.10693794
+v -0.00220279 -0.15414035 -0.10719083
+v -0.02029277 -0.15414035 -0.10710652
+v -0.02029277 -0.17116472 -0.10145797
+v 0.01663697 -0.17112902 -0.10240643
+v 0.01858945 -0.17005829 -0.10565227
+v 0.01858945 -0.16677477 -0.10626349
+v 0.00407713 -0.16045756 -0.10689578
+v 0.01663697 -0.16677477 -0.10626349
+v -0.02029277 -0.15492554 -0.10706437
+v -0.02029277 -0.17102193 -0.10219566
+v 0.01663697 -0.17005829 -0.10563119
+v 0.00407713 -0.16998691 -0.10558904
+v 0.01858945 -0.16780978 -0.10607381
+v -0.02029277 -0.16045756 -0.10674823
+v -0.00013613 -0.16995122 -0.10556797
+v 0.00407713 -0.16677477 -0.10617918
+v -0.02029277 -0.16120706 -0.10666394
+v -0.02029277 -0.16952294 -0.10533611
+v -0.01476263 -0.16966569 -0.10539935
+v -0.00432274 -0.16991553 -0.10552581
+v -0.02029277 -0.16638218 -0.10605272
+v -0.00848271 -0.16980845 -0.10548366
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 19
+f 1 19 34
+f 1 34 43
+f 1 43 51
+f 1 51 60
+f 1 60 68
+f 1 68 75
+f 1 75 85
+f 1 85 96
+f 1 96 116
+f 1 116 131
+f 1 131 121
+f 1 121 103
+f 1 103 88
+f 1 88 77
+f 1 77 70
+f 1 70 63
+f 1 63 54
+f 1 54 46
+f 1 46 45
+f 1 45 37
+f 1 37 23
+f 1 23 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 7 12
+f 2 12 13
+f 2 13 8
+f 3 11 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 4
+f 4 18 5
+f 5 19 6
+f 5 18 19
+f 7 20 21
+f 7 21 22
+f 7 22 12
+f 7 23 24
+f 7 24 20
+f 8 13 25
+f 8 25 9
+f 9 26 11
+f 9 11 10
+f 9 25 30
+f 9 30 26
+f 11 26 14
+f 12 22 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 25
+f 14 26 30
+f 14 30 15
+f 15 31 16
+f 15 30 41
+f 15 41 50
+f 15 50 57
+f 15 57 66
+f 15 66 72
+f 15 72 81
+f 15 81 93
+f 15 93 112
+f 15 112 111
+f 15 111 128
+f 15 128 127
+f 15 127 139
+f 15 139 146
+f 15 146 151
+f 15 151 154
+f 15 154 158
+f 15 158 155
+f 15 155 147
+f 15 147 140
+f 15 140 132
+f 15 132 135
+f 15 135 129
+f 15 129 114
+f 15 114 118
+f 15 118 117
+f 15 117 113
+f 15 113 95
+f 15 95 94
+f 15 94 84
+f 15 84 83
+f 15 83 82
+f 15 82 74
+f 15 74 73
+f 15 73 67
+f 15 67 59
+f 15 59 58
+f 15 58 52
+f 15 52 44
+f 15 44 42
+f 15 42 33
+f 15 33 32
+f 15 32 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 18
+f 18 34 19
+f 18 33 34
+f 20 24 36
+f 20 36 35
+f 20 35 39
+f 20 39 38
+f 20 38 47
+f 20 47 53
+f 20 53 61
+f 20 61 62
+f 20 62 69
+f 20 69 76
+f 20 76 87
+f 20 87 100
+f 20 100 99
+f 20 99 98
+f 20 98 97
+f 20 97 102
+f 20 102 101
+f 20 101 119
+f 20 119 133
+f 20 133 142
+f 20 142 150
+f 20 150 143
+f 20 143 136
+f 20 136 124
+f 20 124 108
+f 20 108 90
+f 20 90 79
+f 20 79 71
+f 20 71 65
+f 20 65 56
+f 20 56 55
+f 20 55 49
+f 20 49 48
+f 20 48 40
+f 20 40 25
+f 20 25 29
+f 20 29 28
+f 20 28 27
+f 20 27 22
+f 20 22 21
+f 23 35 36
+f 23 36 24
+f 23 37 38
+f 23 38 39
+f 23 39 35
+f 25 40 30
+f 30 40 41
+f 33 42 34
+f 34 42 44
+f 34 44 43
+f 37 45 38
+f 38 45 46
+f 38 46 47
+f 40 48 41
+f 41 48 49
+f 41 49 50
+f 43 44 52
+f 43 52 51
+f 46 53 47
+f 46 54 53
+f 49 55 50
+f 50 55 56
+f 50 56 57
+f 51 52 58
+f 51 58 59
+f 51 59 60
+f 53 54 61
+f 54 62 61
+f 54 63 62
+f 56 64 57
+f 56 65 64
+f 57 64 65
+f 57 65 66
+f 59 67 68
+f 59 68 60
+f 62 63 69
+f 63 70 69
+f 65 71 66
+f 66 71 72
+f 67 73 68
+f 68 73 74
+f 68 74 75
+f 69 70 76
+f 70 77 78
+f 70 78 76
+f 71 79 80
+f 71 80 81
+f 71 81 72
+f 74 82 75
+f 75 82 83
+f 75 83 84
+f 75 84 85
+f 76 78 86
+f 76 86 87
+f 77 88 89
+f 77 89 78
+f 78 89 86
+f 79 90 91
+f 79 91 92
+f 79 92 80
+f 80 92 81
+f 81 92 93
+f 84 94 85
+f 85 94 95
+f 85 95 96
+f 86 97 98
+f 86 98 99
+f 86 99 100
+f 86 100 87
+f 86 89 101
+f 86 101 102
+f 86 102 97
+f 88 103 104
+f 88 104 89
+f 89 104 105
+f 89 105 106
+f 89 106 107
+f 89 107 101
+f 90 108 109
+f 90 109 91
+f 91 109 110
+f 91 110 92
+f 92 110 111
+f 92 111 112
+f 92 112 93
+f 95 113 96
+f 96 114 115
+f 96 115 116
+f 96 113 117
+f 96 117 118
+f 96 118 114
+f 101 107 119
+f 103 120 104
+f 103 121 120
+f 104 120 122
+f 104 122 105
+f 105 123 106
+f 105 122 123
+f 106 123 119
+f 106 119 107
+f 108 124 125
+f 108 125 109
+f 109 125 126
+f 109 126 127
+f 109 127 110
+f 110 127 128
+f 110 128 111
+f 114 129 115
+f 115 129 130
+f 115 130 120
+f 115 120 131
+f 115 131 116
+f 119 132 141
+f 119 141 133
+f 119 123 132
+f 120 134 123
+f 120 123 122
+f 120 121 131
+f 120 130 135
+f 120 135 132
+f 120 132 134
+f 123 134 132
+f 124 136 137
+f 124 137 125
+f 125 137 138
+f 125 138 126
+f 126 138 139
+f 126 139 127
+f 129 135 130
+f 132 140 141
+f 133 141 142
+f 136 143 145
+f 136 145 137
+f 137 144 138
+f 137 145 144
+f 138 144 139
+f 139 144 146
+f 140 147 141
+f 141 147 148
+f 141 148 142
+f 142 148 149
+f 142 149 145
+f 142 145 150
+f 143 150 145
+f 144 151 146
+f 144 145 151
+f 145 149 152
+f 145 152 153
+f 145 153 154
+f 145 154 151
+f 147 155 156
+f 147 156 157
+f 147 157 152
+f 147 152 149
+f 147 149 148
+f 152 157 158
+f 152 158 153
+f 153 158 154
+f 155 159 156
+f 155 158 159
+f 156 159 157
+f 157 159 158
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_10.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.12383582 0.03540294 -0.08351948
+v 0.12507071 0.03542872 -0.08983447
+v 0.12384026 0.03542870 -0.08354336
+v 0.12383582 0.03542870 -0.08352164
+v 0.12383582 0.02908258 -0.08352166
+v 0.12383970 0.02278799 -0.08354341
+v 0.12524408 0.02910842 -0.10241670
+v 0.12523700 0.03542877 -0.10241668
+v 0.12427600 0.04174908 -0.08983445
+v 0.12383582 0.04174907 -0.08671822
+v 0.12383582 0.03548881 -0.08354336
+v 0.12383582 0.01645045 -0.08352606
+v 0.12383582 0.01013868 -0.08353042
+v 0.12383582 -0.03408665 -0.08359792
+v 0.12506292 0.01014729 -0.08983456
+v 0.12525394 -0.02776622 -0.10241691
+v 0.12383582 0.02910843 -0.10568278
+v 0.12383582 0.03542878 -0.10558721
+v 0.12383582 0.04174913 -0.10243838
+v 0.12384525 0.04174913 -0.10241666
+v 0.12383582 0.04416217 -0.09612555
+v 0.12433000 0.04174910 -0.09612556
+v 0.12383582 0.04394747 -0.08983444
+v 0.12383582 -0.03889562 -0.08504638
+v 0.12497146 -0.03408663 -0.08983473
+v 0.12523645 -0.03408658 -0.10241694
+v 0.12383582 -0.02776621 -0.10570254
+v 0.12383582 -0.02403067 -0.10570253
+v 0.12383582 0.04177489 -0.10241666
+v 0.12383582 -0.04040700 -0.08590851
+v 0.12442744 -0.04040699 -0.08983475
+v 0.12442758 -0.04040697 -0.09612586
+v 0.12383582 -0.04351562 -0.09612587
+v 0.12383582 -0.04169506 -0.10113138
+v 0.12399239 -0.04040694 -0.10241696
+v 0.12383582 -0.03408657 -0.10565914
+v 0.12383582 -0.03036821 -0.10568518
+v 0.12383582 -0.04280290 -0.08744601
+v 0.12383582 -0.04355858 -0.08983476
+v 0.12383582 -0.04356716 -0.09298357
+v 0.12383582 -0.04088783 -0.10246039
+v 0.12383582 -0.04040694 -0.10277528
+v 0.12383582 -0.03954820 -0.10316834
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 23
+f 1 23 21
+f 1 21 29
+f 1 29 19
+f 1 19 18
+f 1 18 17
+f 1 17 28
+f 1 28 27
+f 1 27 37
+f 1 37 36
+f 1 36 43
+f 1 43 42
+f 1 42 41
+f 1 41 34
+f 1 34 33
+f 1 33 40
+f 1 40 39
+f 1 39 38
+f 1 38 30
+f 1 30 24
+f 1 24 14
+f 1 14 13
+f 1 13 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 6 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 7
+f 3 11 4
+f 5 12 6
+f 7 17 8
+f 7 16 17
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 8 17 18
+f 9 22 23
+f 9 23 10
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 19 29 20
+f 20 29 21
+f 21 23 22
+f 24 30 25
+f 25 30 31
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 30 38 31
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 32 40 33
+f 34 41 35
+f 35 41 42
+f 35 42 43
+f 35 43 36
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_11.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v 0.00407722 -0.19226675 0.13668784
+v -0.00220099 -0.19225877 0.13668784
+v 0.00407722 -0.19076074 0.13039889
+v 0.01035542 -0.19207102 0.13668784
+v 0.00407722 -0.19213897 0.14298234
+v -0.00220099 -0.19072878 0.13039889
+v -0.00220099 -0.19212299 0.14298234
+v -0.00848250 -0.19205104 0.13668784
+v 0.01006780 -0.19025340 0.13003189
+v -0.00220099 -0.18102156 0.10806787
+v 0.00063230 -0.18102556 0.10806787
+v 0.00407722 -0.18102955 0.10806787
+v 0.01035542 -0.18080186 0.10806787
+v 0.01509962 -0.19039723 0.13668785
+v 0.01035542 -0.19181938 0.14298235
+v 0.00407722 -0.19190329 0.14927131
+v 0.01459379 -0.18990987 0.13188355
+v -0.00220099 -0.19166762 0.15556581
+v -0.00220099 -0.19189929 0.14927131
+v -0.00808247 -0.19024142 0.13003189
+v -0.00848250 -0.18075792 0.10806787
+v -0.00564921 -0.18088574 0.10806787
+v -0.00848250 -0.19177544 0.14298235
+v -0.01328951 -0.19038926 0.13668785
+v -0.01277046 -0.18993383 0.13188355
+v 0.01256387 -0.17976323 0.10806787
+v 0.01489464 -0.19020951 0.14298235
+v 0.01690142 -0.18576737 0.13668787
+v 0.01657081 -0.18576742 0.14927133
+v 0.01471281 -0.19000980 0.14927131
+v 0.01035542 -0.19149983 0.14927131
+v 0.00407722 -0.19164766 0.15556581
+v 0.01524839 -0.17849691 0.10806787
+v 0.01668652 -0.17555281 0.10806789
+v -0.00220099 -0.19022555 0.16052581
+v -0.00848250 -0.18987002 0.15993083
+v -0.00848250 -0.19110836 0.15556581
+v -0.00848250 -0.19148385 0.14927131
+v -0.01340853 -0.17846495 0.10806787
+v -0.01282666 -0.18999782 0.14927131
+v -0.01525661 -0.18576737 0.13668787
+v -0.01475079 -0.18576742 0.14927133
+v -0.01561036 -0.17302815 0.10806789
+v 0.01718905 -0.17944780 0.14927135
+v 0.01705680 -0.17944782 0.15556585
+v 0.01737088 -0.17299219 0.10806789
+v 0.01776430 -0.16884569 0.10806791
+v 0.01617408 -0.18576744 0.15556583
+v 0.01442849 -0.18974617 0.15556581
+v 0.01035542 -0.19108040 0.15556581
+v 0.01035542 -0.18982608 0.15988078
+v 0.00407722 -0.19020559 0.16049800
+v 0.00407722 -0.18576747 0.16335057
+v -0.00220099 -0.18576747 0.16336725
+v -0.00848250 -0.18576747 0.16217730
+v -0.01208610 -0.18933873 0.15919128
+v -0.01256879 -0.18975417 0.15556581
+v -0.01438381 -0.18576744 0.15556583
+v -0.01549465 -0.17944775 0.13668789
+v -0.01599717 -0.16681239 0.10806792
+v -0.01530951 -0.17944782 0.15556585
+v -0.01541200 -0.17944780 0.14927135
+v 0.01716921 -0.17312819 0.15556587
+v 0.01532443 -0.17312821 0.16080389
+v 0.01523516 -0.17944784 0.16058145
+v 0.01466322 -0.18576746 0.15990860
+v 0.01777091 -0.16681239 0.10806792
+v 0.01393919 -0.18931075 0.15915792
+v 0.01035542 -0.18576747 0.16215505
+v 0.01035542 -0.17944785 0.16350628
+v 0.00407722 -0.17944785 0.16460726
+v -0.00220099 -0.17944785 0.16460170
+v -0.00848250 -0.17944785 0.16351185
+v -0.01278699 -0.18576746 0.15991416
+v -0.01446647 -0.16054469 0.10806794
+v -0.01543183 -0.17312819 0.15556587
+v -0.01517396 -0.16681254 0.14927140
+v -0.01428463 -0.16048889 0.14298246
+v -0.01246299 -0.15146086 0.14298249
+v -0.01246630 -0.15146083 0.13668799
+v -0.01337216 -0.17944784 0.16059813
+v -0.01352093 -0.17312821 0.16083169
+v 0.01675926 -0.16681254 0.14927140
+v 0.01634931 -0.16681256 0.15556590
+v 0.01035542 -0.17312822 0.16385662
+v 0.01458387 -0.16681258 0.15998652
+v 0.01672620 -0.16215856 0.10806793
+v 0.01365156 -0.15146085 0.14217622
+v 0.00407722 -0.17312823 0.16485195
+v -0.00220099 -0.17312823 0.16487419
+v -0.00848250 -0.17312822 0.16390109
+v -0.01202329 -0.15146082 0.13225625
+v -0.01109098 -0.15146081 0.13046019
+v -0.01021157 -0.15146080 0.12910899
+v -0.00848250 -0.15801605 0.10806795
+v -0.01469789 -0.16681256 0.15556590
+v -0.01232083 -0.15146086 0.14450608
+v -0.01278368 -0.16681258 0.16001433
+v 0.01448800 -0.16229854 0.15556591
+v 0.01371438 -0.16344503 0.15896896
+v 0.01348295 -0.15146086 0.14471737
+v 0.00407722 -0.16681259 0.16351745
+v 0.01035542 -0.16681259 0.16235530
+v 0.01630963 -0.16062858 0.10806794
+v 0.01369454 -0.15146083 0.13668799
+v -0.00220099 -0.16681259 0.16355081
+v -0.00848250 -0.16681259 0.16242203
+v -0.00841638 -0.15146080 0.12728514
+v -0.00220099 -0.15764454 0.10806795
+v -0.00707081 -0.15146079 0.12617860
+v -0.00415156 -0.15146079 0.12528335
+v -0.01188113 -0.16341308 0.15901900
+v -0.01201998 -0.15146087 0.14697495
+v 0.01035542 -0.16295369 0.15973631
+v 0.01329781 -0.15146086 0.14513442
+v 0.01191258 -0.15146087 0.14716957
+v 0.01061660 -0.15146088 0.14880992
+v 0.00407722 -0.16254223 0.16042025
+v 0.01489133 -0.15985760 0.10806794
+v 0.01182001 -0.15146081 0.13008764
+v 0.01358875 -0.15146082 0.13323490
+v 0.01368462 -0.15146083 0.13529785
+v -0.00220099 -0.16252625 0.16043693
+v -0.00848250 -0.16291374 0.15978636
+v 0.00407722 -0.15764454 0.10806795
+v -0.00220099 -0.15146079 0.12506092
+v -0.00851556 -0.15146088 0.14960507
+v 0.00612036 -0.15146088 0.15032795
+v 0.00407722 -0.15146088 0.15100633
+v 0.01035542 -0.15809993 0.10806795
+v 0.00867925 -0.15146079 0.12619527
+v -0.00220099 -0.15146088 0.15100633
+v -0.00567896 -0.15146088 0.15035575
+v 0.00978017 -0.15804800 0.10806795
+v 0.00138609 -0.15146079 0.12506649
+v 0.00407722 -0.15146079 0.12507205
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 3 6 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 9
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 4 9 17
+f 4 17 14
+f 5 16 18
+f 5 18 19
+f 5 19 7
+f 6 8 20
+f 6 20 21
+f 6 21 22
+f 6 22 10
+f 7 19 8
+f 8 19 18
+f 8 18 23
+f 8 23 24
+f 8 24 25
+f 8 25 20
+f 9 13 17
+f 10 22 21
+f 10 21 39
+f 10 39 43
+f 10 43 60
+f 10 60 75
+f 10 75 95
+f 10 95 109
+f 10 109 125
+f 10 125 134
+f 10 134 130
+f 10 130 119
+f 10 119 104
+f 10 104 87
+f 10 87 67
+f 10 67 47
+f 10 47 46
+f 10 46 34
+f 10 34 33
+f 10 33 26
+f 10 26 13
+f 10 13 12
+f 10 12 11
+f 13 26 17
+f 14 27 15
+f 14 17 28
+f 14 28 29
+f 14 29 30
+f 14 30 27
+f 15 27 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 18
+f 17 26 33
+f 17 33 34
+f 17 34 28
+f 18 32 35
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 23
+f 20 25 21
+f 21 25 39
+f 23 38 40
+f 23 40 24
+f 24 41 25
+f 24 40 42
+f 24 42 41
+f 25 43 39
+f 25 41 43
+f 28 44 45
+f 28 45 29
+f 28 34 46
+f 28 46 47
+f 28 47 44
+f 29 45 48
+f 29 48 30
+f 30 48 49
+f 30 49 31
+f 31 49 50
+f 31 50 32
+f 32 50 51
+f 32 51 52
+f 32 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 56 57
+f 37 57 38
+f 38 57 40
+f 40 57 58
+f 40 58 42
+f 41 59 60
+f 41 60 43
+f 41 42 61
+f 41 61 62
+f 41 62 59
+f 42 58 61
+f 44 63 45
+f 44 47 63
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 48
+f 47 67 63
+f 48 66 68
+f 48 68 49
+f 49 68 50
+f 50 68 51
+f 51 68 69
+f 51 69 53
+f 51 53 52
+f 53 70 71
+f 53 71 54
+f 53 69 70
+f 54 71 72
+f 54 72 73
+f 54 73 55
+f 55 73 74
+f 55 74 56
+f 56 74 58
+f 56 58 57
+f 58 74 61
+f 59 62 60
+f 60 62 76
+f 60 76 77
+f 60 77 78
+f 60 78 79
+f 60 79 80
+f 60 80 75
+f 61 74 81
+f 61 81 82
+f 61 82 76
+f 61 76 62
+f 63 83 84
+f 63 84 64
+f 63 67 83
+f 64 85 65
+f 64 84 86
+f 64 86 85
+f 65 85 70
+f 65 70 66
+f 66 70 69
+f 66 69 68
+f 67 87 88
+f 67 88 83
+f 70 85 71
+f 71 85 89
+f 71 89 90
+f 71 90 72
+f 72 91 73
+f 72 90 91
+f 73 91 81
+f 73 81 74
+f 75 92 93
+f 75 93 94
+f 75 94 95
+f 75 80 92
+f 76 82 96
+f 76 96 77
+f 77 96 79
+f 77 79 78
+f 79 96 97
+f 79 97 113
+f 79 113 127
+f 79 127 133
+f 79 133 132
+f 79 132 129
+f 79 129 128
+f 79 128 117
+f 79 117 116
+f 79 116 115
+f 79 115 101
+f 79 101 88
+f 79 88 105
+f 79 105 122
+f 79 122 121
+f 79 121 120
+f 79 120 131
+f 79 131 136
+f 79 136 135
+f 79 135 126
+f 79 126 111
+f 79 111 110
+f 79 110 108
+f 79 108 94
+f 79 94 93
+f 79 93 92
+f 79 92 80
+f 81 91 82
+f 82 91 98
+f 82 98 96
+f 83 88 84
+f 84 99 100
+f 84 100 86
+f 84 88 101
+f 84 101 99
+f 85 102 89
+f 85 86 103
+f 85 103 102
+f 86 100 103
+f 87 104 105
+f 87 105 88
+f 89 102 106
+f 89 106 90
+f 90 106 91
+f 91 106 107
+f 91 107 98
+f 94 108 95
+f 95 108 110
+f 95 110 111
+f 95 111 109
+f 96 98 112
+f 96 112 113
+f 96 113 97
+f 98 107 112
+f 99 101 100
+f 100 114 103
+f 100 101 115
+f 100 115 116
+f 100 116 117
+f 100 117 114
+f 102 103 114
+f 102 114 118
+f 102 118 106
+f 104 119 120
+f 104 120 121
+f 104 121 122
+f 104 122 105
+f 106 118 123
+f 106 123 124
+f 106 124 107
+f 107 124 112
+f 109 111 126
+f 109 126 125
+f 112 124 127
+f 112 127 113
+f 114 117 128
+f 114 128 129
+f 114 129 118
+f 118 129 123
+f 119 130 131
+f 119 131 120
+f 123 132 124
+f 123 129 132
+f 124 132 133
+f 124 133 127
+f 125 126 135
+f 125 135 136
+f 125 136 134
+f 130 134 131
+f 131 134 136
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_12.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.06059641 0.10498686 -0.02719538
+v 0.06059641 0.17177475 -0.02719514
+v 0.12098987 0.10498686 -0.02719538
+v 0.06059641 0.10498637 0.10536451
+v 0.11085470 0.17222122 -0.02719514
+v 0.06059641 0.17191003 -0.02060677
+v 0.12254195 0.14286918 -0.02719525
+v 0.12254817 0.10498679 -0.00802806
+v 0.06692934 0.10498637 0.10536451
+v 0.06059641 0.11126401 0.10540351
+v 0.11685727 0.17178151 -0.02719514
+v 0.10457163 0.17397295 0.06118247
+v 0.11085470 0.17391883 0.06118247
+v 0.11713153 0.17358734 0.06747195
+v 0.06059641 0.17195735 -0.01431730
+v 0.08573490 0.17409462 0.08635338
+v 0.12254195 0.14315330 -0.02719524
+v 0.12419374 0.15550532 0.06118240
+v 0.12427477 0.15550529 0.06747188
+v 0.12418750 0.13655053 0.08635324
+v 0.12414387 0.13023229 0.09264270
+v 0.12261674 0.10498642 0.09260363
+v 0.11085470 0.13023224 0.10541658
+v 0.11085470 0.13655046 0.10554655
+v 0.06060888 0.13655046 0.10555955
+v 0.08577230 0.10498637 0.10511761
+v 0.06059641 0.13654370 0.10554655
+v 0.11999880 0.17115917 -0.02719514
+v 0.10457163 0.17404732 0.07376142
+v 0.11085470 0.17403378 0.07376142
+v 0.11713153 0.17362114 0.07376142
+v 0.12127660 0.17215999 0.06747194
+v 0.06059641 0.17249137 0.09264285
+v 0.07945184 0.17374961 0.09264286
+v 0.07945184 0.17371579 0.08635338
+v 0.08573490 0.17408783 0.09264286
+v 0.10457163 0.17407436 0.08005091
+v 0.12252948 0.14947153 -0.02719522
+v 0.12409401 0.16182356 0.06118242
+v 0.12243598 0.15550564 -0.02719520
+v 0.12413764 0.16182353 0.06747190
+v 0.12411270 0.16182344 0.09264281
+v 0.12421867 0.13655051 0.09264272
+v 0.12378234 0.13655049 0.09893220
+v 0.12347692 0.13023227 0.09893218
+v 0.12261674 0.10498642 0.09264261
+v 0.11713153 0.13023224 0.10494877
+v 0.11713153 0.13655046 0.10529965
+v 0.11085470 0.10498638 0.10351925
+v 0.11715645 0.10498638 0.10305144
+v 0.11085470 0.16182339 0.10552065
+v 0.09201797 0.14918692 0.10554660
+v 0.11713153 0.14286869 0.10529967
+v 0.08573490 0.16182339 0.10548167
+v 0.06060888 0.15550515 0.10489688
+v 0.06059641 0.15549162 0.10489688
+v 0.12005489 0.17101710 -0.02719514
+v 0.12322136 0.16814851 0.06747193
+v 0.11085470 0.17402701 0.08005091
+v 0.12130776 0.17218027 0.07376141
+v 0.11713153 0.17360759 0.08005091
+v 0.12131400 0.17218025 0.08005090
+v 0.06059641 0.17192987 0.09856847
+v 0.08573490 0.17360752 0.09893234
+v 0.09201797 0.17359400 0.09893234
+v 0.11085470 0.17399313 0.09264286
+v 0.12224274 0.16182388 -0.02719518
+v 0.12325252 0.16814849 0.07376140
+v 0.12325876 0.16814847 0.08005089
+v 0.12322136 0.16814842 0.09264284
+v 0.12368885 0.16182342 0.09893229
+v 0.12177526 0.14286870 0.10346741
+v 0.12178773 0.13655047 0.10348038
+v 0.12155709 0.13023225 0.10327244
+v 0.12057225 0.10498638 0.10232373
+v 0.12174409 0.10498640 0.09893209
+v 0.12175033 0.10498640 0.09889310
+v 0.12056602 0.10498638 0.10233673
+v 0.11713153 0.15550515 0.10526073
+v 0.11713153 0.16182339 0.10519578
+v 0.11085470 0.16814838 0.10474099
+v 0.10457163 0.16814838 0.10476698
+v 0.09201797 0.16814838 0.10476698
+v 0.07945184 0.16182339 0.10516979
+v 0.08573490 0.16814838 0.10475399
+v 0.06060888 0.16182340 0.10400026
+v 0.06059641 0.16181663 0.10400026
+v 0.12120804 0.16800004 -0.02719515
+v 0.11713153 0.17358051 0.08635338
+v 0.12130153 0.17216668 0.08635337
+v 0.06059641 0.17099634 0.10171322
+v 0.06060888 0.17100311 0.10171322
+v 0.08573490 0.17216662 0.10301269
+v 0.09201797 0.17216662 0.10301269
+v 0.10457163 0.17213957 0.10299970
+v 0.11085470 0.17212603 0.10298670
+v 0.09828857 0.17356694 0.09893234
+v 0.11085470 0.17349929 0.09893234
+v 0.11713153 0.17351284 0.09264286
+v 0.12125166 0.17212607 0.09264285
+v 0.12090261 0.17183517 0.09893233
+v 0.12261674 0.16814840 0.09893232
+v 0.12113324 0.16814838 0.10288274
+v 0.12170669 0.16182340 0.10342849
+v 0.12173786 0.15550516 0.10344146
+v 0.11713153 0.16814838 0.10420821
+v 0.11713153 0.17184192 0.10266183
+v 0.06059641 0.16784398 0.10284375
+v 0.11713153 0.17292429 0.09893234
+v 0.12048499 0.17147663 0.10225900
+f 1 2 5
+f 1 5 11
+f 1 11 28
+f 1 28 57
+f 1 57 88
+f 1 88 67
+f 1 67 40
+f 1 40 38
+f 1 38 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 22
+f 1 22 46
+f 1 46 77
+f 1 77 76
+f 1 76 75
+f 1 75 78
+f 1 78 50
+f 1 50 49
+f 1 49 26
+f 1 26 9
+f 1 9 4
+f 1 4 10
+f 1 10 27
+f 1 27 56
+f 1 56 87
+f 1 87 108
+f 1 108 91
+f 1 91 63
+f 1 63 33
+f 1 33 15
+f 1 15 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 5 6 12
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 6 15 16
+f 6 16 12
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 9 26 23
+f 10 25 27
+f 11 14 28
+f 12 16 29
+f 12 29 30
+f 12 30 13
+f 13 30 14
+f 14 30 31
+f 14 31 32
+f 14 32 28
+f 15 33 34
+f 15 34 35
+f 15 35 16
+f 16 35 34
+f 16 34 36
+f 16 36 37
+f 16 37 29
+f 17 38 18
+f 18 39 19
+f 18 38 40
+f 18 40 39
+f 19 39 41
+f 19 41 42
+f 19 42 43
+f 19 43 20
+f 20 43 21
+f 21 43 44
+f 21 44 45
+f 21 45 46
+f 21 46 22
+f 23 47 48
+f 23 48 24
+f 23 26 49
+f 23 49 50
+f 23 50 47
+f 24 51 52
+f 24 52 25
+f 24 48 53
+f 24 53 51
+f 25 52 51
+f 25 51 54
+f 25 54 55
+f 25 55 56
+f 25 56 27
+f 28 32 58
+f 28 58 57
+f 29 37 30
+f 30 37 59
+f 30 59 31
+f 31 60 32
+f 31 59 61
+f 31 61 62
+f 31 62 60
+f 32 60 58
+f 33 63 64
+f 33 64 34
+f 34 64 36
+f 36 64 65
+f 36 65 66
+f 36 66 37
+f 37 66 59
+f 39 58 41
+f 39 40 67
+f 39 67 58
+f 41 58 68
+f 41 68 69
+f 41 69 42
+f 42 70 71
+f 42 71 43
+f 42 69 70
+f 43 71 44
+f 44 71 72
+f 44 72 73
+f 44 73 45
+f 45 73 74
+f 45 74 75
+f 45 75 76
+f 45 76 77
+f 45 77 46
+f 47 50 78
+f 47 78 48
+f 48 78 74
+f 48 74 73
+f 48 73 53
+f 51 53 79
+f 51 79 80
+f 51 80 81
+f 51 81 82
+f 51 82 83
+f 51 83 54
+f 53 73 72
+f 53 72 79
+f 54 84 55
+f 54 83 85
+f 54 85 84
+f 55 84 85
+f 55 85 86
+f 55 86 87
+f 55 87 56
+f 57 58 88
+f 58 60 68
+f 58 67 88
+f 59 66 61
+f 60 62 69
+f 60 69 68
+f 61 66 89
+f 61 89 90
+f 61 90 62
+f 62 90 70
+f 62 70 69
+f 63 91 92
+f 63 92 64
+f 64 92 93
+f 64 93 94
+f 64 94 65
+f 65 94 95
+f 65 95 96
+f 65 96 97
+f 65 97 66
+f 66 97 98
+f 66 98 99
+f 66 99 89
+f 70 100 101
+f 70 101 102
+f 70 102 71
+f 70 90 100
+f 71 102 103
+f 71 103 104
+f 71 104 105
+f 71 105 72
+f 72 105 79
+f 74 78 75
+f 79 105 104
+f 79 104 80
+f 80 104 103
+f 80 103 106
+f 80 106 81
+f 81 106 107
+f 81 107 96
+f 81 96 82
+f 82 96 95
+f 82 95 94
+f 82 94 93
+f 82 93 83
+f 83 93 85
+f 85 93 92
+f 85 92 108
+f 85 108 86
+f 86 108 87
+f 89 99 100
+f 89 100 90
+f 91 108 92
+f 96 107 98
+f 96 98 97
+f 98 109 99
+f 98 107 109
+f 99 109 101
+f 99 101 100
+f 101 109 110
+f 101 110 102
+f 102 110 103
+f 103 110 106
+f 106 110 107
+f 107 110 109
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_13.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.02029651 -0.17479289 0.03044033
+v -0.02029651 -0.17339498 0.09262997
+v -0.05856585 -0.17215081 0.09262998
+v -0.03361247 -0.17462654 0.01712737
+v -0.03988829 -0.17475582 -0.00172744
+v -0.03988829 -0.17478043 -0.00801932
+v -0.02104961 -0.17455858 -0.03947874
+v -0.02029651 -0.17452778 -0.03947874
+v -0.02029651 -0.17330874 0.09373417
+v -0.02029651 -0.17258813 0.09892185
+v -0.05856585 -0.17127622 0.09892185
+v -0.05856585 -0.17219985 0.02971115
+v -0.05856585 -0.17219941 -0.08983463
+v -0.05856585 -0.17215628 -0.09595984
+v -0.03361247 -0.17463255 -0.02689497
+v -0.05856585 -0.17215012 -0.09612652
+v -0.02029651 -0.17213165 -0.09612652
+v -0.02029651 -0.17227402 0.09985938
+v -0.05856585 -0.17018606 0.10227614
+v -0.05856585 -0.17107840 -0.10137670
+v -0.02732917 -0.17103526 -0.10210588
+v -0.02104961 -0.17103526 -0.10218923
+v -0.02029651 -0.17103526 -0.10218923
+v -0.02029651 -0.17099907 0.10298450
+v -0.05856585 -0.17009983 0.10229698
+v -0.02029651 -0.16680464 0.10438040
+v -0.05856585 -0.17104759 -0.10152253
+v -0.02029651 -0.16953857 -0.10533516
+v -0.05856585 -0.16663834 0.10313035
+v -0.02029651 -0.16045448 0.10494294
+v -0.05856585 -0.15416590 0.10506796
+v -0.05856585 -0.16048526 0.10417207
+v -0.05856585 -0.16741980 -0.10466845
+v -0.03361247 -0.16901503 -0.10512681
+v -0.02732917 -0.16933531 -0.10525182
+v -0.02104961 -0.16952009 -0.10533516
+v -0.02029651 -0.16676076 -0.10598099
+v -0.02029651 -0.15416590 0.10517213
+v -0.02732917 -0.13521394 0.10571389
+v -0.05856585 -0.13521394 0.10546388
+v -0.05856585 -0.16434017 -0.10564764
+v -0.05856585 -0.16426011 -0.10566848
+v -0.03361247 -0.16585535 -0.10596017
+v -0.02732917 -0.16616947 -0.10602267
+v -0.02104961 -0.16636040 -0.10604350
+v -0.02029651 -0.16637888 -0.10604350
+v -0.02029651 -0.13521394 0.10556804
+v -0.02104961 -0.13521394 0.10558888
+v -0.02732917 -0.11187045 0.10554731
+v -0.04616784 -0.11187045 0.10550563
+v -0.05856585 -0.13504765 0.10546388
+v -0.05856585 -0.16058921 -0.10606431
+v -0.02732917 -0.16048449 -0.10668933
+v -0.02029651 -0.16120512 -0.10666851
+v -0.02029651 -0.11187045 0.10485977
+v -0.05245115 -0.11187045 0.10544313
+v -0.05856585 -0.11187045 0.10535980
+v -0.05856585 -0.15416512 -0.10666849
+v -0.03361247 -0.15416512 -0.10700183
+v -0.02732917 -0.15416512 -0.10708517
+v -0.02029651 -0.16048449 -0.10675183
+v -0.02029651 -0.11186967 -0.10675165
+v -0.05856585 -0.11186967 -0.10687666
+v -0.04616784 -0.12889379 -0.10696006
+v -0.04616784 -0.11186967 -0.10704333
+v -0.02029651 -0.15416512 -0.10712683
+v -0.02732917 -0.11186967 -0.10702250
+v -0.02732917 -0.12889379 -0.10708507
+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 17
+f 1 17 23
+f 1 23 28
+f 1 28 37
+f 1 37 46
+f 1 46 54
+f 1 54 61
+f 1 61 66
+f 1 66 62
+f 1 62 55
+f 1 55 47
+f 1 47 38
+f 1 38 30
+f 1 30 26
+f 1 26 24
+f 1 24 18
+f 1 18 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 19
+f 3 19 25
+f 3 25 29
+f 3 29 32
+f 3 32 31
+f 3 31 40
+f 3 40 51
+f 3 51 57
+f 3 57 63
+f 3 63 58
+f 3 58 52
+f 3 52 42
+f 3 42 41
+f 3 41 33
+f 3 33 27
+f 3 27 20
+f 3 20 16
+f 3 16 14
+f 3 14 13
+f 3 13 12
+f 3 12 6
+f 3 6 5
+f 3 5 4
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 12 13
+f 7 15 14
+f 7 14 16
+f 7 16 17
+f 7 17 8
+f 10 18 19
+f 10 19 11
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 18 24 19
+f 19 24 26
+f 19 26 25
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 22 28 23
+f 25 26 29
+f 26 30 31
+f 26 31 32
+f 26 32 29
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 30 38 31
+f 31 38 39
+f 31 39 40
+f 33 41 34
+f 34 41 35
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 36
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 38 47 48
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 42 52 53
+f 42 53 43
+f 43 53 44
+f 44 53 54
+f 44 54 45
+f 45 54 46
+f 47 49 48
+f 47 55 49
+f 49 55 62
+f 49 62 67
+f 49 67 65
+f 49 65 63
+f 49 63 57
+f 49 57 56
+f 49 56 50
+f 50 56 51
+f 51 56 57
+f 52 58 53
+f 53 58 59
+f 53 59 60
+f 53 60 61
+f 53 61 54
+f 58 63 64
+f 58 64 59
+f 59 64 60
+f 60 64 65
+f 60 65 66
+f 60 66 61
+f 62 66 67
+f 63 65 64
+f 65 67 68
+f 65 68 66
+f 66 68 67
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_14.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.12286548 -0.10823473 -0.09611094
+v 0.12173913 -0.10823470 -0.10235502
+v 0.12256678 -0.06690169 -0.09611079
+v 0.12257300 -0.06690169 -0.09490359
+v 0.12259168 -0.06690171 -0.08982506
+v 0.12259790 -0.06690178 -0.07094709
+v 0.12261657 -0.06690238 0.09262732
+v 0.12261657 -0.09096577 0.09262724
+v 0.12261035 -0.10360644 0.09262719
+v 0.12259790 -0.10823542 0.09262717
+v 0.12061278 -0.10823470 -0.10314595
+v 0.11991581 -0.07833247 -0.10541452
+v 0.12016472 -0.07201214 -0.10551856
+v 0.12017718 -0.06690165 -0.10551855
+v 0.12041987 -0.06690165 -0.10491495
+v 0.12141554 -0.06690166 -0.10237569
+v 0.12163956 -0.06690167 -0.10116850
+v 0.12178892 -0.06690240 0.09893385
+v 0.12178270 -0.07201289 0.09893384
+v 0.12175780 -0.09096579 0.09893377
+v 0.12174535 -0.09728612 0.09893374
+v 0.12195071 -0.10823544 0.09724780
+v 0.11765688 -0.10823469 -0.10518568
+v 0.11713416 -0.10823469 -0.10541463
+v 0.11677322 -0.07833247 -0.10599730
+v 0.11702837 -0.07201214 -0.10603890
+v 0.11704081 -0.06690165 -0.10603889
+v 0.12061278 -0.06690242 0.10238892
+v 0.12060655 -0.07201291 0.10238891
+v 0.12059411 -0.08464953 0.10236805
+v 0.12171424 -0.10823544 0.09893370
+v 0.12057544 -0.09728614 0.10234718
+v 0.11299589 -0.10823469 -0.10601823
+v 0.11085520 -0.10823469 -0.10628881
+v 0.11085520 -0.07201214 -0.10655924
+v 0.11085520 -0.06690165 -0.10658004
+v 0.11713416 -0.06690242 0.10315902
+v 0.11713416 -0.07833324 0.10313816
+v 0.12055056 -0.10823546 0.10232633
+v 0.10493719 -0.10823469 -0.10666345
+v 0.10410954 -0.10823469 -0.10668426
+v 0.06061118 -0.09096504 -0.10703802
+v 0.06061118 -0.07201214 -0.10691308
+v 0.10577107 -0.06690165 -0.10660086
+v 0.11085520 -0.06690242 0.10361692
+v 0.11085520 -0.07201291 0.10361691
+v 0.11085520 -0.09728614 0.10353356
+v 0.11713416 -0.09096581 0.10309650
+v 0.11085520 -0.07833324 0.10359607
+v 0.11713416 -0.10823546 0.10301317
+v 0.06056139 -0.10823469 -0.10676752
+v 0.06689012 -0.09728537 -0.10693398
+v 0.05929813 -0.09096504 -0.10703802
+v 0.05929813 -0.07201214 -0.10687145
+v 0.06061118 -0.06690165 -0.10672574
+v 0.09201214 -0.06690242 0.10478249
+v 0.09201214 -0.07833324 0.10478245
+v 0.09201214 -0.09728614 0.10474075
+v 0.11085520 -0.10823546 0.10347108
+v 0.08741961 -0.10823547 0.10499047
+v 0.05929813 -0.10823469 -0.10674671
+v 0.05929813 -0.06690165 -0.10664249
+v 0.09081111 -0.06690243 0.10484492
+v 0.08573319 -0.10823547 0.10507372
+v 0.05929813 -0.10823547 0.10534430
+v 0.05929813 -0.06690243 0.10490737
+v 0.06689012 -0.06690243 0.10551097
+v 0.08573319 -0.07201292 0.10505306
+v 0.07316907 -0.07833325 0.10546930
+v 0.06689012 -0.09728615 0.10544841
+v 0.06229137 -0.10823547 0.10534430
+v 0.06689012 -0.07201292 0.10555258
+v 0.05929813 -0.07201292 0.10517794
+v 0.05929813 -0.06700763 0.10492819
+v 0.06568909 -0.06690243 0.10542772
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 22
+f 1 22 31
+f 1 31 39
+f 1 39 50
+f 1 50 59
+f 1 59 60
+f 1 60 64
+f 1 64 71
+f 1 71 65
+f 1 65 61
+f 1 61 51
+f 1 51 41
+f 1 41 40
+f 1 40 34
+f 1 34 33
+f 1 33 24
+f 1 24 23
+f 1 23 11
+f 1 11 2
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 3
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 27
+f 3 27 36
+f 3 36 44
+f 3 44 55
+f 3 55 62
+f 3 62 66
+f 3 66 75
+f 3 75 67
+f 3 67 63
+f 3 63 56
+f 3 56 45
+f 3 45 37
+f 3 37 28
+f 3 28 18
+f 3 18 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 11 23 12
+f 12 24 13
+f 12 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 18 28 29
+f 18 29 19
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 21 31 22
+f 21 30 32
+f 21 32 31
+f 24 33 25
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 32
+f 31 32 39
+f 32 38 39
+f 34 40 35
+f 35 40 36
+f 36 40 41
+f 36 41 42
+f 36 42 43
+f 36 43 44
+f 37 45 46
+f 37 46 38
+f 38 47 48
+f 38 48 39
+f 38 46 49
+f 38 49 47
+f 39 48 50
+f 41 51 52
+f 41 52 42
+f 42 52 51
+f 42 51 53
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 45 56 57
+f 45 57 46
+f 46 57 58
+f 46 58 49
+f 47 59 50
+f 47 50 48
+f 47 49 58
+f 47 58 60
+f 47 60 59
+f 51 61 53
+f 53 61 65
+f 53 65 73
+f 53 73 74
+f 53 74 66
+f 53 66 62
+f 53 62 54
+f 54 62 55
+f 56 63 57
+f 57 63 64
+f 57 64 60
+f 57 60 58
+f 63 67 68
+f 63 68 64
+f 64 68 69
+f 64 69 70
+f 64 70 71
+f 65 71 70
+f 65 70 72
+f 65 72 73
+f 66 74 75
+f 67 75 73
+f 67 73 72
+f 67 72 69
+f 67 69 68
+f 69 72 70
+f 73 75 74
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_15.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.06060847 0.07335157 0.10537714
+v -0.06060847 0.10602721 0.10525239
+v -0.06501542 0.07335157 0.10548120
+v -0.06501542 0.05372161 0.10537707
+v -0.06060847 0.05882622 0.10496087
+v -0.06394743 0.10602721 0.10531483
+v -0.06060847 0.10602799 -0.10641757
+v -0.07130053 0.07966961 0.10552284
+v -0.09014361 0.05372161 0.10496085
+v -0.06060847 0.05372162 0.10473192
+v -0.08385849 0.10602721 0.10531483
+v -0.06060847 0.10476335 -0.10648000
+v -0.06146776 0.10602799 -0.10647999
+v -0.08385849 0.10494689 0.10531483
+v -0.08385849 0.07335157 0.10521065
+v -0.11525953 0.05372162 0.10360812
+v -0.06060847 0.05372239 -0.10616802
+v -0.11525953 0.10602722 0.10344183
+v -0.11525953 0.09862887 0.10348342
+v -0.11525953 0.06703354 0.10358736
+v -0.11525953 0.06071038 0.10360814
+v -0.06060847 0.09419574 -0.10683383
+v -0.06501542 0.10494767 -0.10675054
+v -0.06501542 0.10602799 -0.10670892
+v -0.11571987 0.05372162 0.10352488
+v -0.06442005 0.05372239 -0.10656343
+v -0.06060847 0.05458255 -0.10645938
+v -0.11880718 0.10602722 0.10285912
+v -0.11955600 0.09862887 0.10275503
+v -0.11959283 0.07966962 0.10279658
+v -0.11961738 0.06703354 0.10281735
+v -0.11962351 0.06071038 0.10281732
+v -0.06060847 0.09230647 -0.10689628
+v -0.06608953 0.10602799 -0.10670892
+v -0.06501542 0.09230647 -0.10695870
+v -0.07130053 0.10494767 -0.10666730
+v -0.11961123 0.05372162 0.10281730
+v -0.10898055 0.05372239 -0.10670911
+v -0.06501542 0.07335235 -0.10708364
+v -0.06060847 0.07335235 -0.10693797
+v -0.11953758 0.10602722 0.10273425
+v -0.12194360 0.10602724 0.09892581
+v -0.12201726 0.06703356 0.09892567
+v -0.11986903 0.05372162 0.10240107
+v -0.12201726 0.06071040 0.09892564
+v -0.12201112 0.05372164 0.09892562
+v -0.07236851 0.10602799 -0.10662568
+v -0.10898055 0.07335235 -0.10643849
+v -0.11525953 0.07335235 -0.10631363
+v -0.11459664 0.05372239 -0.10654262
+v -0.12321413 0.10602726 0.09264085
+v -0.12214001 0.05372164 0.09825966
+v -0.12321413 0.09230574 0.09264080
+v -0.12320800 0.05372166 0.09264066
+v -0.11525953 0.07967039 -0.10618874
+v -0.11085258 0.10602799 -0.10543944
+v -0.11899746 0.07335235 -0.10587660
+v -0.11888083 0.07967039 -0.10581414
+v -0.11525953 0.05372239 -0.10652181
+v -0.12322026 0.10602728 0.08741726
+v -0.12322026 0.05372168 0.08633490
+v -0.11864760 0.08598843 -0.10568924
+v -0.11848187 0.09019193 -0.10558518
+v -0.11525953 0.10602799 -0.10529376
+v -0.11870284 0.05372239 -0.10606396
+v -0.11915090 0.05372239 -0.10598072
+v -0.12139734 0.07335234 -0.10240114
+v -0.12104135 0.10602798 -0.10229696
+v -0.12323255 0.10602733 0.07376516
+v -0.12331234 0.10602795 -0.09615769
+v -0.12323868 0.05372233 -0.09049724
+v -0.11646868 0.10602799 -0.10483592
+v -0.12128686 0.05372238 -0.10279661
+v -0.12155078 0.05372238 -0.10240121
+v -0.12306682 0.05372236 -0.09678221
+v -0.12322026 0.05372235 -0.09611625
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 27
+f 1 27 40
+f 1 40 33
+f 1 33 22
+f 1 22 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 13
+f 2 13 24
+f 2 24 34
+f 2 34 47
+f 2 47 56
+f 2 56 64
+f 2 64 72
+f 2 72 68
+f 2 68 70
+f 2 70 69
+f 2 69 60
+f 2 60 51
+f 2 51 42
+f 2 42 41
+f 2 41 28
+f 2 28 18
+f 2 18 11
+f 2 11 6
+f 3 6 8
+f 3 8 4
+f 4 8 9
+f 4 9 16
+f 4 16 25
+f 4 25 37
+f 4 37 44
+f 4 44 46
+f 4 46 52
+f 4 52 54
+f 4 54 61
+f 4 61 71
+f 4 71 76
+f 4 76 75
+f 4 75 74
+f 4 74 73
+f 4 73 66
+f 4 66 65
+f 4 65 59
+f 4 59 50
+f 4 50 38
+f 4 38 26
+f 4 26 17
+f 4 17 10
+f 4 10 5
+f 6 11 8
+f 7 12 13
+f 8 11 14
+f 8 14 15
+f 8 15 9
+f 9 15 14
+f 9 14 16
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 16
+f 11 16 14
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 16 21 25
+f 17 26 27
+f 18 28 19
+f 19 28 20
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 25
+f 22 33 23
+f 23 34 24
+f 23 33 35
+f 23 35 36
+f 23 36 34
+f 25 32 37
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 28 41 29
+f 29 41 42
+f 29 42 30
+f 30 42 31
+f 31 42 43
+f 31 43 32
+f 32 44 37
+f 32 43 45
+f 32 45 46
+f 32 46 44
+f 33 40 39
+f 33 39 35
+f 34 36 47
+f 35 39 38
+f 35 38 48
+f 35 48 36
+f 36 48 49
+f 36 49 47
+f 38 50 49
+f 38 49 48
+f 42 51 43
+f 43 51 53
+f 43 53 45
+f 45 52 46
+f 45 53 54
+f 45 54 52
+f 47 49 55
+f 47 55 56
+f 49 57 58
+f 49 58 55
+f 49 50 59
+f 49 59 57
+f 51 60 53
+f 53 60 61
+f 53 61 54
+f 55 58 62
+f 55 62 63
+f 55 63 64
+f 55 64 56
+f 57 59 65
+f 57 65 66
+f 57 66 67
+f 57 67 68
+f 57 68 58
+f 58 68 62
+f 60 69 61
+f 61 69 70
+f 61 70 71
+f 62 68 63
+f 63 68 72
+f 63 72 64
+f 66 73 67
+f 67 73 74
+f 67 74 70
+f 67 70 68
+f 70 74 75
+f 70 75 76
+f 70 76 71
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_16.obj

@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
+v 0.00407700 0.01015304 0.16770387
+v 0.01035839 0.01015305 0.16690369
+v 0.00407700 0.01646578 0.16770005
+v -0.00220154 0.02910666 0.16768096
+v -0.00220154 -0.02776959 0.16767309
+v 0.00407700 -0.02776959 0.16768075
+v 0.01035839 -0.00248783 0.16690364
+v 0.01391880 0.02277853 0.16544123
+v 0.01391594 0.02910667 0.16543744
+v 0.01035839 0.01646579 0.16689606
+v 0.00407700 0.02910666 0.16768479
+v 0.01392736 -0.00248783 0.16545263
+v 0.01392451 0.00384031 0.16545265
+v 0.00407700 0.03541940 0.16760058
+v -0.00220154 0.03541940 0.16757761
+v -0.00848294 0.02910667 0.16689611
+v -0.00848294 0.02277853 0.16690756
+v -0.00848294 -0.02144145 0.16686146
+v -0.00848294 -0.02776958 0.16684996
+v -0.00220154 -0.03408234 0.16755821
+v -0.00848294 0.01015305 0.16689604
+v 0.00407700 -0.03408234 0.16755438
+v 0.01035839 -0.02776958 0.16688059
+v 0.01035839 -0.01512871 0.16689594
+v 0.01392451 -0.02776958 0.16544871
+v 0.01392451 -0.02144145 0.16545256
+v 0.01392736 -0.01512871 0.16545258
+v 0.01480676 0.02277855 0.16185772
+v 0.01035839 0.02910667 0.16687314
+v 0.01388739 0.03541941 0.16540683
+v 0.01482389 -0.02144143 0.16185756
+v 0.01035839 0.03541941 0.16676596
+v 0.01043833 0.04167056 0.16588924
+v 0.00407700 0.04174755 0.16670855
+v -0.00220154 0.04174755 0.16669707
+v -0.00855432 0.04165517 0.16587393
+v -0.00848294 0.03541941 0.16674682
+v -0.01206048 0.02910667 0.16546806
+v -0.01207189 0.02277853 0.16547952
+v -0.01202050 0.03541941 0.16541449
+v -0.01206048 0.00384031 0.16546031
+v -0.01204620 -0.01512871 0.16544109
+v -0.01204049 -0.02144145 0.16543342
+v -0.01202907 -0.02776958 0.16542191
+v -0.01195198 -0.03408233 0.16534532
+v -0.00848294 -0.03408233 0.16671593
+v -0.00220154 -0.04039506 0.16663551
+v 0.00407700 -0.04039506 0.16664316
+v 0.01035839 -0.03408233 0.16671210
+v 0.01382458 -0.03408233 0.16534148
+v 0.01472967 -0.02776956 0.16185754
+v 0.01536637 0.02277857 0.15556744
+v 0.01529214 0.04174759 0.15556751
+v 0.01463830 0.03541943 0.16185777
+v 0.01542062 -0.02144141 0.15556728
+v 0.01436421 0.04167057 0.16213345
+v 0.01373892 0.03953039 0.16525754
+v 0.01534924 -0.04039502 0.15556721
+v 0.00839974 0.04539662 0.16536858
+v 0.00892795 0.09175683 0.15322080
+v 0.00407700 0.09175682 0.15402863
+v -0.00650430 0.04542741 0.16538389
+v -0.00220154 0.09175682 0.15401714
+v -0.01186918 0.03948420 0.16524988
+v -0.00749504 0.09175683 0.15321315
+v -0.01302552 0.02277855 0.16185772
+v -0.01299697 -0.02144143 0.16185756
+v -0.01206619 0.01015305 0.16546417
+v -0.01253729 0.04165518 0.16212579
+v -0.01279426 0.03541943 0.16185777
+v -0.01292274 -0.02776956 0.16185754
+v -0.01276285 -0.03408231 0.16185751
+v -0.01248590 -0.04016410 0.16209870
+v -0.01179780 -0.03790076 0.16518451
+v -0.00838871 -0.04016411 0.16580089
+v -0.00623305 -0.04399795 0.16527254
+v -0.00220154 -0.04419811 0.16541803
+v 0.00407700 -0.04422890 0.16543334
+v 0.01038694 -0.04021031 0.16579324
+v 0.00831408 -0.04402874 0.16528786
+v 0.01365041 -0.03797775 0.16516153
+v 0.01434993 -0.04021030 0.16217526
+v 0.01458976 -0.03408231 0.16185751
+v 0.01539493 0.02277861 0.14298687
+v 0.01545203 -0.02144139 0.14927317
+v 0.01520648 0.04174761 0.14927340
+v 0.01353335 0.09175688 0.13939213
+v 0.01353620 0.09175688 0.13971373
+v 0.01356476 0.09175686 0.14298713
+v 0.01356190 0.09175686 0.14327427
+v 0.01353049 0.09175685 0.14628733
+v 0.01206864 0.09175684 0.14942672
+v 0.01421003 -0.04538365 0.16028778
+v 0.01461546 -0.04718508 0.15599215
+v 0.01353620 -0.06553818 0.14628291
+v 0.01519221 -0.04672314 0.14927308
+v 0.01544061 -0.02144137 0.14298671
+v -0.00265266 0.09175682 0.15395589
+v -0.01063574 0.09175684 0.15078968
+v -0.01076422 0.09175684 0.15051403
+v -0.01195769 0.09175685 0.14764645
+v -0.01357086 0.04174759 0.15556751
+v -0.01363653 0.02277857 0.15556744
+v -0.01370791 -0.02144141 0.15556728
+v -0.01359371 -0.04039502 0.15556721
+v -0.01234885 -0.04539905 0.16016143
+v -0.01042160 -0.04211951 0.16435753
+v -0.00672986 -0.06553820 0.15289863
+v -0.00661850 -0.06553820 0.15291394
+v -0.00220154 -0.06553820 0.15337337
+v 0.00407700 -0.06553820 0.15336571
+v 0.01250263 -0.04218110 0.16448387
+v 0.00837690 -0.06553820 0.15289097
+v 0.01452981 0.02910677 0.13806722
+v 0.01447841 0.03541951 0.13813998
+v 0.01349909 0.05783745 0.13354199
+v 0.01315646 0.09175689 0.13624507
+v 0.01151759 -0.06553819 0.14942614
+v 0.01353906 -0.06553818 0.14620252
+v 0.01356761 -0.06553817 0.14298655
+v 0.01356761 -0.06553816 0.14287169
+v 0.01352764 -0.06553815 0.13841527
+v 0.01343913 -0.06553814 0.13534478
+v 0.01508657 -0.03408225 0.14298666
+v 0.01444130 -0.03408223 0.13817801
+v 0.01450982 -0.02776948 0.13805936
+v 0.01451553 -0.01512861 0.13806322
+v -0.01198624 0.09175685 0.14724829
+v -0.01339384 0.04806035 0.14927343
+v -0.01351947 0.04174761 0.14927340
+v -0.01369649 0.02277861 0.14298687
+v -0.01228889 0.09175686 0.14298713
+v -0.01371648 -0.02144139 0.14927317
+v -0.01361655 -0.04039500 0.14927310
+v -0.01353660 -0.04672314 0.14927308
+v -0.01196054 -0.06553818 0.14727451
+v -0.01283137 -0.04720047 0.15601895
+v -0.01191486 -0.06553818 0.14735108
+v -0.00987055 -0.06553819 0.15041774
+v -0.00979632 -0.06553819 0.15047899
+v 0.01351051 0.05101662 0.13352283
+v 0.01351051 0.05438855 0.13352667
+v 0.01035839 0.05438856 0.13108406
+v 0.01097225 0.06023939 0.13168134
+v 0.01001577 0.09175691 0.13168911
+v 0.01028987 0.09175690 0.13207197
+v 0.01029843 -0.06553812 0.13136311
+v 0.01347624 -0.05303583 0.13473609
+v -0.01227461 0.09175687 0.14243582
+v -0.01207761 0.09175689 0.13669301
+v -0.01204905 0.09175689 0.13639821
+v -0.01174641 0.09175690 0.13337366
+v -0.01178352 0.08598305 0.13332388
+v -0.01182064 0.07965491 0.13326259
+v -0.01184634 0.07334216 0.13320897
+v -0.01186632 0.06702942 0.13315918
+v -0.01188631 0.06070128 0.13310938
+v -0.01190344 0.05438855 0.13305959
+v -0.01190915 -0.05303583 0.13306685
+v -0.01369078 -0.02144137 0.14298671
+v -0.01217468 -0.06553814 0.13669243
+v -0.01227461 -0.06553817 0.14298655
+v 0.01033555 -0.05303582 0.13114110
+v 0.00407700 0.05438857 0.12862232
+v 0.00460235 0.09175691 0.12990884
+v 0.00407700 -0.06553811 0.12915787
+v 0.00407700 -0.05936395 0.12891669
+v 0.00407700 -0.05303581 0.12870232
+v 0.01031842 -0.05936396 0.13124061
+v -0.00848294 0.09175691 0.13149386
+v -0.00848294 0.05438856 0.13058635
+v -0.00848294 -0.05303582 0.13064721
+v -0.01188916 -0.05936397 0.13311660
+v -0.01186061 -0.06553813 0.13317401
+v -0.01186918 -0.06553813 0.13326206
+v -0.00220154 0.05438857 0.12859552
+v 0.00407700 0.09175691 0.12974804
+v -0.00220154 -0.06553811 0.12914255
+v -0.00220154 -0.05936395 0.12890520
+v -0.00220154 -0.05303581 0.12869083
+v -0.00220154 0.09175691 0.12972890
+v -0.00848294 -0.05936396 0.13080416
+v -0.00856574 -0.06553812 0.13103385
+v -0.00165335 0.09175691 0.12972890
+v -0.00848294 -0.06553812 0.13098025
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 24
+f 1 24 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 7 27
+f 2 27 12
+f 2 12 13
+f 2 13 8
+f 3 11 4
+f 4 11 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 5 17 21
+f 5 21 18
+f 6 20 22
+f 6 22 23
+f 6 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 8 28 9
+f 8 13 28
+f 9 29 10
+f 9 28 30
+f 9 30 29
+f 10 29 11
+f 11 29 14
+f 12 27 31
+f 12 31 28
+f 12 28 13
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 15
+f 14 29 32
+f 15 35 36
+f 15 36 37
+f 15 37 16
+f 16 38 39
+f 16 39 17
+f 16 37 40
+f 16 40 38
+f 17 39 21
+f 18 41 42
+f 18 42 43
+f 18 43 19
+f 18 21 39
+f 18 39 41
+f 19 44 45
+f 19 45 46
+f 19 46 20
+f 19 43 44
+f 20 46 47
+f 20 47 48
+f 20 48 22
+f 22 48 49
+f 22 49 23
+f 23 25 24
+f 23 49 50
+f 23 50 25
+f 25 51 31
+f 25 31 27
+f 25 27 26
+f 25 50 51
+f 28 52 53
+f 28 53 54
+f 28 54 30
+f 28 31 55
+f 28 55 52
+f 29 30 32
+f 30 54 56
+f 30 56 57
+f 30 57 32
+f 31 51 58
+f 31 58 55
+f 32 57 33
+f 33 59 34
+f 33 57 60
+f 33 60 59
+f 34 59 61
+f 34 61 63
+f 34 63 35
+f 35 62 36
+f 35 63 62
+f 36 64 37
+f 36 62 65
+f 36 65 64
+f 37 64 40
+f 38 66 39
+f 38 40 66
+f 39 66 67
+f 39 67 68
+f 39 68 41
+f 40 64 69
+f 40 69 70
+f 40 70 66
+f 41 68 42
+f 42 67 43
+f 42 68 67
+f 43 67 44
+f 44 67 71
+f 44 71 45
+f 45 71 72
+f 45 72 73
+f 45 73 74
+f 45 74 46
+f 46 74 75
+f 46 75 47
+f 47 75 76
+f 47 76 77
+f 47 77 78
+f 47 78 48
+f 48 79 49
+f 48 78 80
+f 48 80 79
+f 49 79 81
+f 49 81 50
+f 50 81 82
+f 50 82 83
+f 50 83 51
+f 51 83 58
+f 52 84 53
+f 52 55 85
+f 52 85 84
+f 53 56 54
+f 53 84 86
+f 53 86 87
+f 53 87 88
+f 53 88 89
+f 53 89 90
+f 53 90 91
+f 53 91 56
+f 55 58 85
+f 56 91 57
+f 57 91 92
+f 57 92 60
+f 58 83 82
+f 58 82 93
+f 58 93 94
+f 58 94 95
+f 58 95 96
+f 58 96 97
+f 58 97 85
+f 59 60 61
+f 60 92 91
+f 60 91 90
+f 60 90 89
+f 60 89 88
+f 60 88 87
+f 60 87 117
+f 60 117 146
+f 60 146 145
+f 60 145 165
+f 60 165 177
+f 60 177 184
+f 60 184 181
+f 60 181 170
+f 60 170 152
+f 60 152 151
+f 60 151 150
+f 60 150 149
+f 60 149 132
+f 60 132 128
+f 60 128 101
+f 60 101 100
+f 60 100 99
+f 60 99 65
+f 60 65 98
+f 60 98 63
+f 60 63 61
+f 62 63 98
+f 62 98 65
+f 64 65 99
+f 64 99 100
+f 64 100 101
+f 64 101 69
+f 66 70 102
+f 66 102 103
+f 66 103 104
+f 66 104 67
+f 67 104 105
+f 67 105 71
+f 69 102 70
+f 69 101 102
+f 71 105 72
+f 72 105 73
+f 73 105 106
+f 73 106 74
+f 74 106 107
+f 74 107 75
+f 75 107 76
+f 76 107 108
+f 76 108 109
+f 76 109 110
+f 76 110 77
+f 77 110 78
+f 78 110 111
+f 78 111 80
+f 79 80 112
+f 79 112 81
+f 80 111 113
+f 80 113 112
+f 81 112 93
+f 81 93 82
+f 84 114 115
+f 84 115 116
+f 84 116 117
+f 84 117 87
+f 84 87 86
+f 84 85 97
+f 84 97 114
+f 93 112 118
+f 93 118 95
+f 93 95 94
+f 95 118 113
+f 95 113 111
+f 95 111 110
+f 95 110 109
+f 95 109 108
+f 95 108 140
+f 95 140 139
+f 95 139 138
+f 95 138 136
+f 95 136 162
+f 95 162 161
+f 95 161 175
+f 95 175 174
+f 95 174 183
+f 95 183 185
+f 95 185 178
+f 95 178 166
+f 95 166 147
+f 95 147 123
+f 95 123 122
+f 95 122 121
+f 95 121 120
+f 95 120 119
+f 95 119 96
+f 96 119 120
+f 96 120 121
+f 96 121 122
+f 96 122 123
+f 96 123 124
+f 96 124 97
+f 97 124 123
+f 97 123 125
+f 97 125 126
+f 97 126 127
+f 97 127 114
+f 101 128 102
+f 102 129 130
+f 102 130 131
+f 102 131 103
+f 102 128 132
+f 102 132 129
+f 103 131 104
+f 104 133 134
+f 104 134 105
+f 104 131 133
+f 105 134 135
+f 105 135 136
+f 105 136 137
+f 105 137 106
+f 106 137 136
+f 106 136 138
+f 106 138 139
+f 106 139 107
+f 107 139 140
+f 107 140 108
+f 112 113 118
+f 114 141 142
+f 114 142 116
+f 114 116 115
+f 114 127 141
+f 116 142 143
+f 116 143 144
+f 116 144 145
+f 116 145 146
+f 116 146 117
+f 123 147 148
+f 123 148 126
+f 123 126 125
+f 126 148 141
+f 126 141 127
+f 129 131 130
+f 129 132 149
+f 129 149 131
+f 131 149 150
+f 131 150 151
+f 131 151 152
+f 131 152 153
+f 131 153 154
+f 131 154 155
+f 131 155 156
+f 131 156 157
+f 131 157 158
+f 131 158 159
+f 131 159 160
+f 131 160 133
+f 133 160 134
+f 134 160 135
+f 135 161 162
+f 135 162 136
+f 135 160 161
+f 141 143 142
+f 141 148 163
+f 141 163 143
+f 143 164 145
+f 143 145 144
+f 143 163 164
+f 145 164 165
+f 147 166 167
+f 147 167 168
+f 147 168 169
+f 147 169 148
+f 148 169 163
+f 152 154 153
+f 152 170 171
+f 152 171 154
+f 154 171 155
+f 155 171 156
+f 156 171 157
+f 157 171 158
+f 158 171 159
+f 159 172 173
+f 159 173 160
+f 159 171 172
+f 160 173 174
+f 160 174 175
+f 160 175 161
+f 163 169 168
+f 163 168 164
+f 164 176 177
+f 164 177 165
+f 164 168 176
+f 166 178 167
+f 167 178 179
+f 167 179 180
+f 167 180 168
+f 168 180 176
+f 170 181 176
+f 170 176 171
+f 171 176 172
+f 172 180 182
+f 172 182 174
+f 172 174 173
+f 172 176 180
+f 174 182 183
+f 176 181 184
+f 176 184 177
+f 178 185 179
+f 179 185 180
+f 180 185 182
+f 182 185 183
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_17.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.00220302 -0.09097187 0.15403623
+v 0.00407614 -0.09097187 0.15402205
+v 0.00407614 -0.08465550 0.15389441
+v -0.00220302 -0.08465550 0.15390292
+v -0.00662045 -0.06553821 0.15291575
+v -0.00714286 -0.07833073 0.15307740
+v -0.00732212 -0.08465549 0.15315965
+v -0.00746040 -0.09097186 0.15322488
+v -0.00220302 -0.15145247 0.15100621
+v -0.00014411 -0.15145247 0.15100904
+v 0.00407614 -0.15145247 0.15100904
+v 0.00894428 -0.09097186 0.15321069
+v 0.00891612 -0.08465549 0.15315398
+v 0.00876247 -0.07833073 0.15307457
+v 0.00837578 -0.06553821 0.15289306
+v 0.00407614 -0.07833073 0.15372989
+v -0.00220302 -0.07833073 0.15373272
+v -0.00220302 -0.06553821 0.15337249
+v -0.00673057 -0.06553821 0.15289873
+v -0.00694312 -0.07201437 0.15298665
+v -0.00979588 -0.06553820 0.15048171
+v -0.01046170 -0.08465548 0.15062348
+v -0.01060255 -0.09097185 0.15070573
+v -0.01028244 -0.07833072 0.15054407
+v -0.01202125 -0.15145246 0.14697783
+v -0.00851547 -0.15145247 0.14960763
+v -0.00568063 -0.15145247 0.15035656
+v 0.00611969 -0.15145247 0.15032819
+v 0.01208386 -0.09097185 0.14938658
+v 0.01205826 -0.08465548 0.14940078
+v 0.01061651 -0.15145247 0.14881330
+v 0.01190205 -0.07833072 0.14941215
+v 0.01172023 -0.07201436 0.14942069
+v 0.01151536 -0.06553820 0.14942639
+v 0.00857809 -0.07201437 0.15298382
+v 0.00407614 -0.06553821 0.15336682
+v -0.00205193 -0.06553821 0.15337249
+v -0.00987015 -0.06553820 0.15041646
+v -0.01008526 -0.07201436 0.15047601
+v -0.01191369 -0.06553819 0.14734695
+v -0.01196235 -0.06553819 0.14727036
+v -0.01194442 -0.09097184 0.14755963
+v -0.01232086 -0.15145245 0.14450975
+v 0.01351537 -0.10137574 0.14617802
+v 0.01352305 -0.09729661 0.14621775
+v 0.01352817 -0.07833071 0.14626604
+v 0.01353842 -0.06569799 0.14628028
+v 0.01353842 -0.06553819 0.14628028
+v 0.01191485 -0.15145246 0.14717074
+v 0.01330026 -0.15145245 0.14513954
+v 0.01346671 -0.15128423 0.14486152
+v -0.01227477 -0.06553818 0.14298382
+v -0.01246427 -0.15145245 0.14298350
+v 0.01348464 -0.15145245 0.14471968
+v 0.01365109 -0.15145244 0.14217499
+v 0.01356915 -0.06553818 0.14298382
+v -0.01217490 -0.06553815 0.13669161
+v -0.01246683 -0.15145242 0.13669129
+v 0.01369463 -0.15145242 0.13669129
+v 0.01352817 -0.06553816 0.13841644
+v 0.01368438 -0.15145242 0.13529838
+v -0.01187016 -0.06553814 0.13325898
+v -0.01195723 -0.10361292 0.13247302
+v -0.01195979 -0.10992087 0.13234534
+v -0.01202381 -0.15145241 0.13225440
+v 0.01353073 -0.10361292 0.13343472
+v 0.01352049 -0.10013093 0.13347445
+v 0.01343854 -0.06553815 0.13534409
+v 0.01358963 -0.15145241 0.13323313
+v -0.01186247 -0.06553814 0.13317387
+v -0.01013391 -0.10992085 0.12919924
+v -0.01109166 -0.15145240 0.13045866
+v 0.01182010 -0.15145240 0.13008703
+v 0.01169974 -0.10992086 0.13028292
+v 0.01029640 -0.06553813 0.13136394
+v 0.01143341 -0.10361291 0.13028579
+v -0.00848218 -0.06553813 0.13097812
+v -0.00666655 -0.10361290 0.12676805
+v -0.00699433 -0.10992085 0.12665172
+v -0.00707116 -0.15145238 0.12618063
+v -0.00841559 -0.15145239 0.12728702
+v -0.01021074 -0.15145239 0.12910830
+v 0.00868052 -0.15145238 0.12619482
+v 0.00856016 -0.10992085 0.12667441
+v 0.01014788 -0.06553813 0.13130721
+v 0.00829127 -0.10361290 0.12679358
+v -0.00220302 -0.06553812 0.12914266
+v -0.00220302 -0.10361289 0.12627726
+v -0.00220302 -0.10992084 0.12605313
+v -0.00415181 -0.15145238 0.12528418
+v 0.00407614 -0.15145238 0.12507141
+v 0.00407614 -0.10992084 0.12607583
+v 0.00407614 -0.06553812 0.12915685
+v 0.00407614 -0.10361289 0.12629997
+v -0.00220302 -0.15145238 0.12505722
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 3
+f 2 11 12
+f 3 15 16
+f 3 16 4
+f 4 16 17
+f 4 17 5
+f 5 18 37
+f 5 37 36
+f 5 36 15
+f 5 15 34
+f 5 34 48
+f 5 48 56
+f 5 56 60
+f 5 60 68
+f 5 68 75
+f 5 75 85
+f 5 85 93
+f 5 93 87
+f 5 87 77
+f 5 77 70
+f 5 70 62
+f 5 62 57
+f 5 57 52
+f 5 52 41
+f 5 41 40
+f 5 40 38
+f 5 38 21
+f 5 21 19
+f 5 19 6
+f 5 17 18
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 22 23
+f 7 23 8
+f 7 21 24
+f 7 24 22
+f 8 23 25
+f 8 25 26
+f 8 26 27
+f 8 27 9
+f 9 27 26
+f 9 26 25
+f 9 25 43
+f 9 43 53
+f 9 53 58
+f 9 58 65
+f 9 65 72
+f 9 72 82
+f 9 82 81
+f 9 81 80
+f 9 80 90
+f 9 90 95
+f 9 95 91
+f 9 91 83
+f 9 83 73
+f 9 73 69
+f 9 69 61
+f 9 61 59
+f 9 59 55
+f 9 55 54
+f 9 54 50
+f 9 50 49
+f 9 49 31
+f 9 31 28
+f 9 28 11
+f 9 11 10
+f 11 28 12
+f 12 29 30
+f 12 30 13
+f 12 28 31
+f 12 31 29
+f 13 30 32
+f 13 32 33
+f 13 33 34
+f 13 34 14
+f 14 34 35
+f 14 35 15
+f 15 36 16
+f 15 35 34
+f 16 36 37
+f 16 37 17
+f 17 37 18
+f 19 21 20
+f 21 38 39
+f 21 39 24
+f 22 24 40
+f 22 40 41
+f 22 41 23
+f 23 41 42
+f 23 42 25
+f 24 39 40
+f 25 42 43
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 29 31 49
+f 29 49 50
+f 29 50 51
+f 29 51 44
+f 30 48 32
+f 32 48 33
+f 33 48 34
+f 38 40 39
+f 41 52 53
+f 41 53 43
+f 41 43 42
+f 44 51 54
+f 44 54 45
+f 45 47 46
+f 45 54 55
+f 45 55 47
+f 47 55 48
+f 48 55 56
+f 50 54 51
+f 52 57 58
+f 52 58 53
+f 55 59 56
+f 56 59 61
+f 56 61 60
+f 57 62 63
+f 57 63 58
+f 58 64 65
+f 58 63 64
+f 60 66 67
+f 60 67 68
+f 60 61 66
+f 61 69 66
+f 62 70 63
+f 63 70 71
+f 63 71 64
+f 64 71 72
+f 64 72 65
+f 66 69 73
+f 66 73 74
+f 66 74 67
+f 67 74 68
+f 68 74 76
+f 68 76 75
+f 70 77 78
+f 70 78 79
+f 70 79 71
+f 71 79 80
+f 71 80 81
+f 71 81 82
+f 71 82 72
+f 73 83 74
+f 74 83 84
+f 74 84 76
+f 75 76 84
+f 75 84 86
+f 75 86 85
+f 77 87 78
+f 78 87 88
+f 78 88 89
+f 78 89 79
+f 79 89 90
+f 79 90 80
+f 83 91 84
+f 84 91 92
+f 84 92 86
+f 85 86 93
+f 86 92 94
+f 86 94 93
+f 87 93 88
+f 88 93 94
+f 88 94 92
+f 88 92 89
+f 89 92 91
+f 89 91 95
+f 89 95 90
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_18.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.06506508 0.10498715 -0.10670740
+v 0.06730258 0.10498715 -0.10670740
+v 0.06060273 0.10498715 -0.10666848
+v 0.06060273 0.10647775 -0.10670740
+v 0.10425921 0.10832721 -0.10670739
+v 0.10425921 0.10498715 -0.10574230
+v 0.06060273 0.10498686 -0.02719538
+v 0.06060273 0.16232709 -0.10670719
+v 0.11713430 0.11083225 -0.10670738
+v 0.11038389 0.10498715 -0.10543877
+v 0.12098988 0.10498686 -0.02719538
+v 0.06060273 0.17177420 -0.02719514
+v 0.06060273 0.16583968 -0.10600671
+v 0.06153818 0.16508748 -0.10670718
+v 0.12114790 0.11312336 -0.10670737
+v 0.11713430 0.10498714 -0.10439583
+v 0.12104045 0.10498686 -0.02742887
+v 0.12253843 0.14286614 -0.02719525
+v 0.11085161 0.17222276 -0.02719514
+v 0.10456893 0.17409303 -0.05837418
+v 0.07317443 0.17548029 -0.10241088
+v 0.06060273 0.17243691 -0.08353691
+v 0.06213864 0.16648837 -0.10670718
+v 0.06060273 0.16900030 -0.10387413
+v 0.12246259 0.11522815 -0.10670737
+v 0.12143864 0.10498713 -0.10138377
+v 0.12124902 0.10498688 -0.03268245
+v 0.12516149 0.12391643 -0.10241106
+v 0.12253843 0.14315599 -0.02719524
+v 0.12429556 0.15550879 -0.05837425
+v 0.11685619 0.17178110 -0.02719514
+v 0.11085161 0.17406542 -0.05837418
+v 0.07945080 0.17547338 -0.10241088
+v 0.11513067 0.17529397 -0.10670715
+v 0.07945080 0.17532847 -0.10670715
+v 0.07745349 0.17532847 -0.10670715
+v 0.07317443 0.17494893 -0.10670715
+v 0.06060273 0.17198840 -0.10072975
+v 0.06060273 0.17255426 -0.09612216
+v 0.06390209 0.16842063 -0.10670717
+v 0.06798521 0.17283723 -0.10670716
+v 0.12325266 0.11741576 -0.10670736
+v 0.12258267 0.10498711 -0.09616132
+v 0.12474432 0.12190137 -0.10670734
+v 0.12259532 0.10498702 -0.07095190
+v 0.12449149 0.11759517 -0.10241109
+v 0.12495922 0.12391644 -0.10670733
+v 0.12495922 0.13655207 -0.10670729
+v 0.12488338 0.16613642 -0.10670718
+v 0.12490866 0.16182332 -0.10241093
+v 0.12253211 0.14918741 -0.02719522
+v 0.12420076 0.16182315 -0.05837423
+v 0.12384680 0.16182313 -0.05208550
+v 0.11999754 0.17116002 -0.02719514
+v 0.11713430 0.17339603 -0.05837418
+v 0.11713430 0.17523875 -0.10241088
+v 0.11085161 0.17530086 -0.10241088
+v 0.11713430 0.17527326 -0.10670715
+v 0.07108863 0.17425193 -0.10670715
+v 0.12258900 0.10498711 -0.09612240
+v 0.12259532 0.10498709 -0.08986480
+v 0.12485177 0.16814459 -0.10670717
+v 0.12480121 0.16814458 -0.10241090
+v 0.12243729 0.15550868 -0.02719520
+v 0.12301248 0.16814441 -0.05837420
+v 0.12121110 0.16799939 -0.02719515
+v 0.12224136 0.16182304 -0.02719518
+v 0.12005443 0.17101509 -0.02719514
+v 0.12104676 0.17197444 -0.05837419
+v 0.12239938 0.17318917 -0.10241088
+v 0.12079394 0.17388617 -0.10670715
+v 0.12323369 0.17162267 -0.10670716
+v 0.12246890 0.17323058 -0.10670715
+f 1 2 6
+f 1 6 10
+f 1 10 16
+f 1 16 26
+f 1 26 43
+f 1 43 60
+f 1 60 61
+f 1 61 45
+f 1 45 27
+f 1 27 17
+f 1 17 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 23
+f 1 23 40
+f 1 40 41
+f 1 41 59
+f 1 59 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 58
+f 1 58 71
+f 1 71 73
+f 1 73 72
+f 1 72 62
+f 1 62 49
+f 1 49 48
+f 1 48 47
+f 1 47 44
+f 1 44 42
+f 1 42 25
+f 1 25 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 22
+f 3 22 39
+f 3 39 38
+f 3 38 24
+f 3 24 13
+f 3 13 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 11 18
+f 7 18 29
+f 7 29 51
+f 7 51 64
+f 7 64 67
+f 7 67 66
+f 7 66 68
+f 7 68 54
+f 7 54 31
+f 7 31 19
+f 7 19 12
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 13 23 14
+f 13 24 23
+f 15 25 26
+f 15 26 16
+f 17 27 28
+f 17 28 18
+f 18 28 30
+f 18 30 29
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 23 24 40
+f 24 38 41
+f 24 41 40
+f 25 42 26
+f 26 42 44
+f 26 44 43
+f 27 45 28
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 30
+f 29 30 51
+f 30 52 53
+f 30 53 51
+f 30 50 52
+f 31 54 55
+f 31 55 32
+f 32 55 56
+f 32 56 57
+f 32 57 33
+f 33 57 34
+f 34 57 56
+f 34 56 58
+f 37 59 38
+f 38 59 41
+f 43 44 46
+f 43 46 60
+f 44 47 46
+f 45 61 46
+f 46 61 60
+f 49 62 50
+f 50 62 63
+f 50 63 52
+f 51 53 64
+f 52 65 53
+f 52 63 65
+f 53 65 66
+f 53 66 67
+f 53 67 64
+f 54 68 65
+f 54 65 69
+f 54 69 70
+f 54 70 56
+f 54 56 55
+f 56 70 71
+f 56 71 58
+f 62 72 63
+f 63 72 73
+f 63 73 70
+f 63 70 65
+f 65 68 66
+f 65 70 69
+f 70 73 71
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_19.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.05856960 -0.11186973 -0.08986085
+v -0.05856960 -0.17219398 -0.08986107
+v -0.05856960 -0.11186967 -0.10685988
+v -0.05857619 -0.11187045 0.10534497
+v -0.05857619 -0.13504678 0.10544968
+v -0.07130240 -0.17450287 -0.10239551
+v -0.05856960 -0.17213810 -0.09610733
+v -0.05857619 -0.13521437 0.10544968
+v -0.05857619 -0.15416383 0.10507232
+v -0.05857619 -0.16031481 0.10419195
+v -0.05857619 -0.16680095 0.10310199
+v -0.05857619 -0.17018367 0.10226355
+v -0.05857619 -0.17127606 0.09893082
+v -0.05857619 -0.17212637 0.09278936
+v -0.05857619 -0.17214499 0.09262168
+v -0.05857619 -0.17219442 0.02971900
+v -0.05856960 -0.15431823 -0.10665044
+v -0.06468214 -0.15415684 -0.10864169
+v -0.06776807 -0.14737898 -0.10864166
+v -0.09670207 -0.11656824 -0.10864155
+v -0.10290033 -0.11281930 -0.10864153
+v -0.10808313 -0.11186966 -0.10864153
+v -0.05874104 -0.11187045 0.10534497
+v -0.11525727 -0.13521437 0.10544968
+v -0.08386376 -0.16048240 0.10549151
+v -0.07757978 -0.17527873 -0.10239551
+v -0.07750725 -0.17481940 -0.10864176
+v -0.05856960 -0.17103947 -0.10151516
+v -0.08386376 -0.16680096 0.10494652
+v -0.08386376 -0.17116436 0.10318581
+v -0.08386376 -0.17297052 0.09893081
+v -0.08386376 -0.17354153 0.09262167
+v -0.05856960 -0.16048162 -0.10606356
+v -0.06621851 -0.16650224 -0.10864173
+v -0.06509755 -0.16048161 -0.10864171
+v -0.11069431 -0.11186966 -0.10864153
+v -0.08386376 -0.11187045 0.10521921
+v -0.11525727 -0.16048240 0.10544959
+v -0.11525727 -0.12889580 0.10503050
+v -0.12118519 -0.13521436 0.10379379
+v -0.12116541 -0.14153292 0.10381473
+v -0.10269592 -0.16680096 0.10509324
+v -0.09014115 -0.16680096 0.10505132
+v -0.11524409 -0.17488149 -0.10239551
+v -0.11524409 -0.17478217 -0.10864176
+v -0.09008180 -0.17496216 -0.10864176
+v -0.07757978 -0.17482561 -0.10864176
+v -0.10897989 -0.17359732 0.07373620
+v -0.07109140 -0.17250426 -0.10864175
+v -0.07091996 -0.17242977 -0.10864175
+v -0.07073533 -0.17232425 -0.10864175
+v -0.05856960 -0.16741467 -0.10465923
+v -0.09014115 -0.17122642 0.10326965
+v -0.09014115 -0.17303259 0.09893081
+v -0.09641194 -0.17303881 0.09893081
+v -0.10269592 -0.17302639 0.09893081
+v -0.10269592 -0.17345464 0.09262167
+v -0.05856960 -0.16424917 -0.10566532
+v -0.05856960 -0.16432986 -0.10564436
+v -0.06768895 -0.16907187 -0.10864174
+v -0.11524409 -0.11200001 -0.10864153
+v -0.11524409 -0.11186966 -0.10853673
+v -0.09014115 -0.11187045 0.10486288
+v -0.12112584 -0.15416382 0.10381468
+v -0.12106650 -0.16048239 0.10381466
+v -0.12057855 -0.16680095 0.10345831
+v -0.11525727 -0.16680096 0.10494652
+v -0.10897989 -0.16680096 0.10507228
+v -0.11525727 -0.11187044 0.10341659
+v -0.11947077 -0.11187044 0.10270393
+v -0.12433047 -0.13521435 0.10044010
+v -0.10897989 -0.17120780 0.10329061
+v -0.10269592 -0.17122642 0.10329061
+v -0.09641194 -0.17123263 0.10329061
+v -0.12146873 -0.17352838 -0.10864176
+v -0.11525727 -0.17348560 0.07373620
+v -0.11525727 -0.17333051 0.09262167
+v -0.10897989 -0.17299535 0.09893081
+v -0.11742008 -0.11289379 -0.10864153
+v -0.11893007 -0.11186967 -0.10734197
+v -0.12431069 -0.14153291 0.10037720
+v -0.12425794 -0.15416381 0.10020947
+v -0.12420519 -0.16048238 0.10006272
+v -0.12371065 -0.16660852 0.09870027
+v -0.11954990 -0.17066781 0.10276660
+v -0.11525727 -0.17110229 0.10318581
+v -0.12020270 -0.11187043 0.10155110
+v -0.12185776 -0.11187042 0.09893104
+v -0.12480524 -0.13099368 0.09679298
+v -0.12487777 -0.13521434 0.09729601
+v -0.12487777 -0.14153290 0.09725408
+v -0.12486458 -0.15416380 0.09706539
+v -0.12154126 -0.17350976 -0.10864176
+v -0.12104672 -0.17166708 0.09262168
+v -0.11525727 -0.17284638 0.09893082
+v -0.12059173 -0.17133812 0.09893082
+v -0.11772339 -0.11305517 -0.10864154
+v -0.12000488 -0.11186967 -0.10694372
+v -0.12485138 -0.16048237 0.09691863
+v -0.12478545 -0.16436784 0.09645750
+v -0.12418541 -0.16783124 0.09262169
+v -0.12318313 -0.11187040 0.09262190
+v -0.12486458 -0.13046609 0.09262183
+v -0.12497008 -0.13521432 0.09262181
+v -0.12522065 -0.17087188 -0.10239550
+v -0.12524702 -0.17090289 -0.10864175
+v -0.12162038 -0.11517170 -0.10864154
+v -0.12187755 -0.11186968 -0.10461710
+v -0.12510196 -0.11844891 -0.10864156
+v -0.12499646 -0.16048230 0.08004538
+v -0.12483161 -0.16466576 0.09262171
+v -0.12433047 -0.11186970 -0.09803548
+v -0.12473270 -0.11291245 -0.09906255
+v -0.12524702 -0.11622689 -0.10191320
+v -0.12593279 -0.12258268 -0.10239532
+v -0.12501624 -0.15416373 0.08004540
+v -0.12580750 -0.16679398 -0.10239548
+v -0.12580750 -0.16679396 -0.10864173
+v -0.12286004 -0.11186968 -0.10298218
+v -0.12562288 -0.12258266 -0.10864157
+v -0.12473270 -0.11291244 -0.09948177
+v -0.12374362 -0.11186969 -0.10052979
+v -0.12566244 -0.12883295 -0.10864159
+v -0.12580750 -0.16673190 -0.10864173
+f 1 2 7
+f 1 7 28
+f 1 28 52
+f 1 52 59
+f 1 59 58
+f 1 58 33
+f 1 33 17
+f 1 17 3
+f 1 3 22
+f 1 22 36
+f 1 36 62
+f 1 62 80
+f 1 80 98
+f 1 98 108
+f 1 108 119
+f 1 119 122
+f 1 122 112
+f 1 112 102
+f 1 102 88
+f 1 88 87
+f 1 87 70
+f 1 70 69
+f 1 69 63
+f 1 63 37
+f 1 37 23
+f 1 23 4
+f 1 4 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 6
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 21
+f 3 21 22
+f 4 23 5
+f 5 23 24
+f 5 24 25
+f 5 25 8
+f 6 26 27
+f 6 27 28
+f 6 28 7
+f 6 16 15
+f 6 15 26
+f 8 25 9
+f 9 25 29
+f 9 29 10
+f 10 29 11
+f 11 29 12
+f 12 29 30
+f 12 30 31
+f 12 31 13
+f 13 31 14
+f 14 31 15
+f 15 31 32
+f 15 32 26
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 34
+f 18 34 60
+f 18 60 51
+f 18 51 50
+f 18 50 49
+f 18 49 27
+f 18 27 47
+f 18 47 46
+f 18 46 45
+f 18 45 75
+f 18 75 93
+f 18 93 106
+f 18 106 118
+f 18 118 124
+f 18 124 123
+f 18 123 120
+f 18 120 109
+f 18 109 107
+f 18 107 97
+f 18 97 79
+f 18 79 61
+f 18 61 36
+f 18 36 22
+f 18 22 21
+f 18 21 20
+f 18 20 19
+f 23 37 24
+f 24 38 25
+f 24 37 39
+f 24 39 40
+f 24 40 41
+f 24 41 38
+f 25 38 42
+f 25 42 43
+f 25 43 29
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 26 32 48
+f 26 48 44
+f 27 49 28
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 29 43 53
+f 29 53 30
+f 30 53 31
+f 31 53 54
+f 31 54 32
+f 32 54 55
+f 32 55 56
+f 32 56 57
+f 32 57 48
+f 33 58 34
+f 34 58 59
+f 34 59 60
+f 36 61 62
+f 37 63 39
+f 38 41 64
+f 38 64 65
+f 38 65 66
+f 38 66 67
+f 38 67 68
+f 38 68 42
+f 39 63 69
+f 39 69 70
+f 39 70 40
+f 40 70 71
+f 40 71 41
+f 41 71 64
+f 42 68 72
+f 42 72 73
+f 42 73 74
+f 42 74 43
+f 43 74 53
+f 44 75 45
+f 44 48 76
+f 44 76 75
+f 48 57 77
+f 48 77 76
+f 51 60 52
+f 52 60 59
+f 53 74 54
+f 54 74 55
+f 55 74 73
+f 55 73 56
+f 56 73 72
+f 56 72 78
+f 56 78 57
+f 57 78 77
+f 61 79 80
+f 61 80 62
+f 64 71 65
+f 65 71 81
+f 65 81 82
+f 65 82 83
+f 65 83 66
+f 66 83 84
+f 66 84 85
+f 66 85 67
+f 67 85 86
+f 67 86 72
+f 67 72 68
+f 70 87 71
+f 71 87 88
+f 71 88 89
+f 71 89 90
+f 71 90 91
+f 71 91 92
+f 71 92 81
+f 72 86 78
+f 75 76 77
+f 75 77 93
+f 77 94 93
+f 77 78 95
+f 77 95 96
+f 77 96 94
+f 78 86 95
+f 79 97 98
+f 79 98 80
+f 81 92 99
+f 81 99 82
+f 82 99 83
+f 83 99 100
+f 83 100 84
+f 84 96 85
+f 84 100 101
+f 84 101 96
+f 85 96 95
+f 85 95 86
+f 88 102 89
+f 89 102 103
+f 89 103 104
+f 89 104 90
+f 90 104 91
+f 91 104 92
+f 92 104 99
+f 93 105 106
+f 93 94 105
+f 94 96 101
+f 94 101 105
+f 97 107 98
+f 98 107 109
+f 98 109 108
+f 99 104 110
+f 99 110 111
+f 99 111 100
+f 100 111 101
+f 101 111 105
+f 102 112 113
+f 102 113 114
+f 102 114 115
+f 102 115 103
+f 103 115 104
+f 104 116 110
+f 104 115 116
+f 105 117 106
+f 105 111 117
+f 106 117 118
+f 108 109 119
+f 109 120 114
+f 109 114 121
+f 109 121 122
+f 109 122 119
+f 110 116 117
+f 110 117 111
+f 112 122 121
+f 112 121 113
+f 113 121 114
+f 114 120 115
+f 115 120 123
+f 115 123 124
+f 115 124 118
+f 115 118 117
+f 115 117 116
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_2.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.12369406 0.04482386 -0.09612261
+v 0.12292195 0.04482389 -0.10240136
+v 0.12258839 0.10498711 -0.09612238
+v 0.12259457 0.10498709 -0.08986455
+v 0.12261310 0.10498642 0.09259608
+v 0.12261310 0.10498642 0.09263793
+v 0.12262545 0.06071201 0.09263776
+v 0.12262545 0.04482317 0.09263770
+v 0.12225483 0.04482389 -0.10407570
+v 0.12143947 0.10498713 -0.10137560
+v 0.12258221 0.10498711 -0.09616423
+v 0.12174833 0.10498640 0.09889576
+v 0.12176067 0.09230712 0.09893757
+v 0.12182244 0.04807394 0.09893741
+v 0.12221777 0.04482316 0.09586080
+v 0.12121710 0.04482390 -0.10639884
+v 0.11992612 0.07335079 -0.10541505
+v 0.11945667 0.07966982 -0.10524760
+v 0.11713413 0.10498714 -0.10438940
+v 0.12174215 0.10498640 0.09893762
+v 0.12064265 0.04807392 0.10241165
+v 0.12182244 0.04482315 0.09893739
+v 0.11713413 0.04482391 -0.10767552
+v 0.11535517 0.08598884 -0.10577080
+v 0.11453363 0.09075314 -0.10562429
+v 0.11038889 0.10498715 -0.10543586
+v 0.12056853 0.10498638 0.10232815
+v 0.12057470 0.09862612 0.10234905
+v 0.12059323 0.08598807 0.10236994
+v 0.11713413 0.06071197 0.10318608
+v 0.11713413 0.04482313 0.10320695
+v 0.12064265 0.04482313 0.10241163
+v 0.11407653 0.04482391 -0.10794760
+v 0.11085216 0.04482391 -0.10813596
+v 0.10426134 0.10498715 -0.10572888
+v 0.11715267 0.10498638 0.10303974
+v 0.11085216 0.06071197 0.10366745
+v 0.11085216 0.04482313 0.10366739
+v 0.10780075 0.04482391 -0.10815689
+v 0.06689073 0.10498715 -0.10671254
+v 0.11085216 0.10498638 0.10352111
+v 0.08577370 0.10498637 0.10511173
+v 0.09201243 0.07966905 0.10479769
+v 0.09201243 0.05439294 0.10481853
+v 0.09201243 0.04482312 0.10481849
+v 0.10457019 0.04482391 -0.10817782
+v 0.06685367 0.10498715 -0.10671254
+v 0.06692779 0.10498637 0.10536288
+v 0.07317270 0.07966904 0.10555115
+v 0.08573664 0.07335001 0.10509067
+v 0.06689073 0.04482312 0.10557194
+v 0.06060259 0.07335079 -0.10708939
+v 0.06060259 0.09230787 -0.10690096
+v 0.06060259 0.10498715 -0.10667069
+v 0.06060259 0.04482390 -0.10677556
+v 0.06060259 0.10498637 0.10536288
+v 0.06689073 0.09862611 0.10542564
+v 0.06689073 0.07335001 0.10563484
+v 0.06060259 0.07334412 0.10546740
+v 0.06366636 0.04482312 0.10527893
+v 0.06060259 0.04482313 0.10452548
+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 15
+f 1 15 22
+f 1 22 32
+f 1 32 31
+f 1 31 38
+f 1 38 45
+f 1 45 51
+f 1 51 60
+f 1 60 61
+f 1 61 55
+f 1 55 46
+f 1 46 39
+f 1 39 34
+f 1 34 33
+f 1 33 23
+f 1 23 16
+f 1 16 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 19
+f 3 19 26
+f 3 26 35
+f 3 35 40
+f 3 40 47
+f 3 47 54
+f 3 54 56
+f 3 56 48
+f 3 48 42
+f 3 42 41
+f 3 41 36
+f 3 36 27
+f 3 27 20
+f 3 20 12
+f 3 12 6
+f 3 6 5
+f 3 5 4
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 32
+f 14 32 22
+f 14 22 15
+f 16 23 17
+f 17 23 18
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 23 33 26
+f 23 26 24
+f 24 26 25
+f 26 33 34
+f 26 34 35
+f 27 36 28
+f 28 36 30
+f 28 30 29
+f 30 36 37
+f 30 37 31
+f 31 37 38
+f 34 39 40
+f 34 40 35
+f 36 41 37
+f 37 42 43
+f 37 43 44
+f 37 44 45
+f 37 45 38
+f 37 41 42
+f 39 46 40
+f 40 46 47
+f 42 48 49
+f 42 49 50
+f 42 50 45
+f 42 45 44
+f 42 44 43
+f 45 50 49
+f 45 49 51
+f 46 52 53
+f 46 53 54
+f 46 54 47
+f 46 55 52
+f 48 56 57
+f 48 57 49
+f 49 57 58
+f 49 58 51
+f 51 58 59
+f 51 59 60
+f 52 55 61
+f 52 61 59
+f 52 59 56
+f 52 56 54
+f 52 54 53
+f 56 59 58
+f 56 58 57
+f 59 61 60
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_20.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.10456802 -0.17362605 0.07376419
+v 0.11085337 -0.17362605 0.07376419
+v 0.10456802 -0.17362607 0.08004729
+v 0.08573737 -0.17360049 0.08634514
+v 0.05930450 -0.17215970 -0.03949373
+v 0.07945201 -0.17233257 -0.03319590
+v 0.11713237 -0.17312031 0.06746635
+v 0.11713237 -0.17313315 0.07376419
+v 0.11713237 -0.17308198 0.08634514
+v 0.11085337 -0.17359406 0.08004729
+v 0.10524235 -0.17218528 -0.04511313
+v 0.11085337 -0.17212767 -0.04511313
+v 0.11085337 -0.17347248 0.09264299
+v 0.08573737 -0.17355570 0.09264299
+v 0.07945201 -0.17327404 0.09264299
+v 0.07945201 -0.17327402 0.08634514
+v 0.05930450 -0.17220458 -0.02061496
+v 0.05930450 -0.17204446 -0.04511313
+v 0.06060864 -0.17205085 -0.04511313
+v 0.07945201 -0.17214048 -0.04511313
+v 0.07945201 -0.17224932 -0.03949373
+v 0.10456802 -0.17218528 -0.04511313
+v 0.12163646 -0.17127670 0.06746636
+v 0.11152772 -0.17207005 -0.04511313
+v 0.11713237 -0.17143632 -0.04511313
+v 0.11750771 -0.17134030 -0.04511313
+v 0.12069492 -0.17036727 -0.04511313
+v 0.12165554 -0.17127672 0.07376420
+v 0.12165554 -0.17127037 0.08634515
+v 0.12164282 -0.17126399 0.09264300
+v 0.11713237 -0.17304359 0.09264299
+v 0.11085337 -0.17292838 0.09892607
+v 0.09828901 -0.17297959 0.09892607
+v 0.08573737 -0.17302441 0.09892607
+v 0.05930450 -0.17216659 0.09264300
+v 0.05930450 -0.10823492 -0.04511290
+v 0.12360223 -0.16680850 0.06746638
+v 0.12180187 -0.16717936 -0.04511311
+v 0.12166190 -0.17127034 0.08004730
+v 0.12366584 -0.16680859 0.09264302
+v 0.12131838 -0.17094394 0.09892608
+v 0.11713237 -0.17241627 0.09892608
+v 0.11713237 -0.17088634 0.10299682
+v 0.11085337 -0.17116160 0.10326230
+v 0.05930450 -0.17019499 0.10227411
+v 0.05930450 -0.17128962 0.09892608
+v 0.10456802 -0.17117441 0.10327705
+v 0.08573737 -0.17121282 0.10327705
+v 0.12117841 -0.10823492 -0.04511290
+v 0.05930450 -0.10823548 0.10534215
+v 0.12403482 -0.16048385 0.06116856
+v 0.12408571 -0.16048388 0.06746640
+v 0.12413025 -0.16048390 0.07376424
+v 0.12190365 -0.16680808 -0.04511311
+v 0.12268614 -0.16116201 -0.04511309
+v 0.12276249 -0.16048346 -0.04511309
+v 0.12416842 -0.16048397 0.09264304
+v 0.12374218 -0.16048399 0.09892612
+v 0.12306148 -0.16680861 0.09892610
+v 0.12075218 -0.17040623 0.10251011
+v 0.11713237 -0.16680863 0.10457499
+v 0.11085337 -0.16680864 0.10504696
+v 0.05930450 -0.16751278 0.10293784
+v 0.08573737 -0.16680864 0.10503221
+v 0.10456802 -0.16680864 0.10506171
+v 0.09201001 -0.16680864 0.10504696
+v 0.12164282 -0.11624951 -0.04511293
+v 0.12204361 -0.10823494 -0.03949350
+v 0.05930450 -0.10993185 0.10537164
+v 0.06229450 -0.10823548 0.10535690
+v 0.12412389 -0.15416563 0.06116858
+v 0.12287699 -0.15416524 -0.04511307
+v 0.12418750 -0.15416568 0.07376426
+v 0.12425748 -0.13521109 0.09264313
+v 0.12428929 -0.13521107 0.08634528
+v 0.12379308 -0.13521111 0.09892621
+v 0.12180187 -0.14152295 0.10346890
+v 0.12177006 -0.15416579 0.10346885
+v 0.12175097 -0.16048401 0.10346883
+v 0.12136927 -0.16680863 0.10310008
+v 0.11713237 -0.16048402 0.10525347
+v 0.11085337 -0.16048402 0.10551895
+v 0.05930450 -0.16680863 0.10310008
+v 0.08573737 -0.16048402 0.10545995
+v 0.05930450 -0.15416580 0.10509125
+v 0.05930450 -0.15548450 0.10489951
+v 0.05930450 -0.16048401 0.10416204
+v 0.05930450 -0.16180270 0.10394081
+v 0.12255255 -0.14152240 -0.04511302
+v 0.12224082 -0.10823496 -0.03487706
+v 0.12274976 -0.14784701 -0.04511304
+v 0.06060864 -0.10993185 0.10537164
+v 0.05930450 -0.13521114 0.10548954
+v 0.09201001 -0.14784757 0.10556324
+v 0.10456802 -0.13521114 0.10550429
+v 0.11085337 -0.13521114 0.10550429
+v 0.08573737 -0.10823548 0.10507667
+v 0.12226626 -0.10823497 -0.03319567
+v 0.12394576 -0.12889286 0.09264316
+v 0.12257163 -0.10823506 -0.00801904
+v 0.12171280 -0.10823545 0.09892631
+v 0.12086670 -0.10823546 0.10141890
+v 0.12054861 -0.10823547 0.10233335
+v 0.12180822 -0.13521113 0.10346892
+v 0.12260344 -0.10823543 0.09264323
+v 0.11713237 -0.15416580 0.10526824
+v 0.11713237 -0.14152296 0.10526829
+v 0.08573737 -0.15416580 0.10550422
+v 0.07945201 -0.15416580 0.10547472
+v 0.11713237 -0.13521114 0.10523881
+v 0.11085337 -0.12889291 0.10516510
+v 0.08741686 -0.10823548 0.10498818
+v 0.12259707 -0.10823535 0.07206830
+v 0.11805483 -0.10823547 0.10283481
+v 0.11713237 -0.10823547 0.10301180
+v 0.11085337 -0.10823547 0.10348377
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 6 11
+f 2 11 12
+f 2 12 7
+f 3 10 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 5 17 35
+f 5 35 46
+f 5 46 45
+f 5 45 63
+f 5 63 83
+f 5 83 88
+f 5 88 87
+f 5 87 86
+f 5 86 85
+f 5 85 93
+f 5 93 69
+f 5 69 50
+f 5 50 36
+f 5 36 18
+f 6 21 22
+f 6 22 11
+f 7 23 8
+f 7 12 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 23
+f 8 28 29
+f 8 29 30
+f 8 30 9
+f 8 23 28
+f 9 30 31
+f 9 31 10
+f 10 31 13
+f 11 22 20
+f 11 20 19
+f 11 19 18
+f 11 18 36
+f 11 36 49
+f 11 49 67
+f 11 67 89
+f 11 89 91
+f 11 91 72
+f 11 72 56
+f 11 56 55
+f 11 55 54
+f 11 54 38
+f 11 38 27
+f 11 27 26
+f 11 26 25
+f 11 25 24
+f 11 24 12
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 14
+f 14 34 15
+f 15 34 35
+f 15 35 17
+f 15 17 16
+f 20 22 21
+f 23 37 28
+f 23 27 37
+f 27 38 37
+f 28 39 29
+f 28 37 40
+f 28 40 39
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 30 41 31
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 33 44 34
+f 34 45 46
+f 34 46 35
+f 34 44 47
+f 34 47 48
+f 34 48 45
+f 36 50 70
+f 36 70 97
+f 36 97 112
+f 36 112 116
+f 36 116 115
+f 36 115 114
+f 36 114 103
+f 36 103 102
+f 36 102 101
+f 36 101 105
+f 36 105 113
+f 36 113 100
+f 36 100 98
+f 36 98 90
+f 36 90 68
+f 36 68 49
+f 37 51 52
+f 37 52 53
+f 37 53 40
+f 37 38 54
+f 37 54 55
+f 37 55 56
+f 37 56 51
+f 40 57 58
+f 40 58 59
+f 40 59 41
+f 40 53 57
+f 41 59 60
+f 41 60 42
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 44
+f 44 62 47
+f 45 48 64
+f 45 64 63
+f 47 62 65
+f 47 65 48
+f 48 65 66
+f 48 66 64
+f 49 68 67
+f 50 69 70
+f 51 71 52
+f 51 56 72
+f 51 72 71
+f 52 71 53
+f 53 71 73
+f 53 73 57
+f 57 74 58
+f 57 73 75
+f 57 75 74
+f 58 74 76
+f 58 76 77
+f 58 77 78
+f 58 78 79
+f 58 79 80
+f 58 80 59
+f 59 80 60
+f 60 80 61
+f 61 81 62
+f 61 80 81
+f 62 81 82
+f 62 82 65
+f 63 64 83
+f 64 66 84
+f 64 84 85
+f 64 85 86
+f 64 86 87
+f 64 87 88
+f 64 88 83
+f 65 82 66
+f 66 82 84
+f 67 68 89
+f 68 90 91
+f 68 91 89
+f 69 92 70
+f 69 93 94
+f 69 94 95
+f 69 95 96
+f 69 96 92
+f 70 92 96
+f 70 96 97
+f 71 75 73
+f 71 72 75
+f 72 91 90
+f 72 90 98
+f 72 98 75
+f 74 99 76
+f 74 75 99
+f 75 98 100
+f 75 100 99
+f 76 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 77
+f 76 99 105
+f 76 105 101
+f 77 104 106
+f 77 106 78
+f 78 106 79
+f 79 106 81
+f 79 81 80
+f 81 106 82
+f 82 96 94
+f 82 94 84
+f 82 106 107
+f 82 107 96
+f 84 94 108
+f 84 108 109
+f 84 109 85
+f 85 109 93
+f 93 109 108
+f 93 108 94
+f 94 96 95
+f 96 107 110
+f 96 110 111
+f 96 111 97
+f 97 111 112
+f 99 113 105
+f 99 100 113
+f 103 114 110
+f 103 110 104
+f 104 110 107
+f 104 107 106
+f 110 114 115
+f 110 115 116
+f 110 116 111
+f 111 116 112
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_21.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.12135442 0.10603440 -0.04177884
+v -0.12316000 0.14286527 -0.04177871
+v -0.06060847 0.10603440 -0.04177884
+v -0.12308425 0.10603428 -0.00802227
+v -0.12319789 0.14918579 -0.04177868
+v -0.12487721 0.15156311 0.06117885
+v -0.06060847 0.17111114 -0.04177860
+v -0.06060847 0.10603386 0.10524975
+v -0.12316000 0.10603421 0.01192872
+v -0.12485827 0.13116947 0.09264162
+v -0.12483302 0.13152915 0.08635194
+v -0.12322314 0.15550631 -0.04177866
+v -0.12510448 0.15550587 0.08004792
+v -0.12504135 0.15550589 0.07375823
+v -0.12488352 0.15605873 0.06164049
+v -0.06510981 0.17162398 -0.04177860
+v -0.06060847 0.17167060 -0.03958586
+v -0.06060847 0.10938394 0.10537960
+v -0.06394816 0.10603386 0.10532188
+v -0.12322945 0.10603398 0.07375805
+v -0.12322945 0.10603398 0.07483999
+v -0.12322314 0.10603393 0.08741936
+v -0.12321682 0.10603391 0.09264153
+v -0.12481407 0.13195536 0.09681070
+v -0.12487721 0.13655089 0.09733005
+v -0.12300849 0.16182683 -0.04177864
+v -0.12480776 0.16548291 0.06117890
+v -0.12504135 0.16182639 0.08004794
+v -0.12498453 0.16182641 0.07375825
+v -0.12494034 0.16182634 0.09264173
+v -0.12487721 0.16580257 0.06746859
+v -0.10898047 0.17232330 -0.04177860
+v -0.08386011 0.17402783 0.08635210
+v -0.06060847 0.17169723 -0.03740756
+v -0.06060847 0.13655086 0.10556723
+v -0.11526215 0.13655086 0.10550953
+v -0.08386011 0.10603386 0.10532188
+v -0.12194156 0.10603389 0.09893122
+v -0.12413225 0.13000393 0.09891688
+v -0.12434689 0.13655088 0.10047490
+v -0.12434689 0.14918527 0.10044609
+v -0.12487721 0.14286476 0.09731565
+v -0.12201100 0.16583626 -0.04177862
+v -0.12139231 0.16814735 -0.04177861
+v -0.12487721 0.16581584 0.08004796
+v -0.12484565 0.16572256 0.09264175
+v -0.12487089 0.14918528 0.09730125
+v -0.12486458 0.15550580 0.09725800
+v -0.12485196 0.16182632 0.09705605
+v -0.12478883 0.16546280 0.09653674
+v -0.12370294 0.16895950 0.06746860
+v -0.12374083 0.16897944 0.08004797
+v -0.12372820 0.16895948 0.07375828
+v -0.11296414 0.17233662 -0.04177860
+v -0.10898047 0.17394136 0.06117893
+v -0.10898047 0.17405453 0.07375830
+v -0.08386011 0.17406777 0.09264178
+v -0.06060847 0.17173717 -0.03303651
+v -0.08386011 0.16182629 0.10548077
+v -0.08386011 0.15550577 0.10550960
+v -0.11526215 0.16182629 0.10548077
+v -0.06060847 0.15550577 0.10487486
+v -0.12119659 0.15550578 0.10383619
+v -0.12120290 0.14918526 0.10383617
+v -0.12120921 0.13655087 0.10383612
+v -0.11526215 0.13023034 0.10526427
+v -0.11526215 0.10603387 0.10344652
+v -0.11953621 0.10603387 0.10273965
+v -0.12090619 0.13023035 0.10363414
+v -0.12434058 0.15550579 0.10040283
+v -0.12003496 0.17043180 -0.04177860
+v -0.12372820 0.16888615 0.09264176
+v -0.12374083 0.16893945 0.08635208
+v -0.12428376 0.16182631 0.10021532
+v -0.12334940 0.16780052 0.09874391
+v -0.12059052 0.17260261 0.07375829
+v -0.12056527 0.17258930 0.06746861
+v -0.11916373 0.17177717 -0.04177860
+v -0.12059683 0.17258926 0.08004798
+v -0.12059052 0.17255591 0.09264177
+v -0.12059683 0.17257591 0.08635209
+v -0.11526215 0.17228999 -0.04177860
+v -0.11526215 0.17391467 0.07375830
+v -0.11526215 0.17388135 0.08004799
+v -0.11526215 0.17379471 0.09264178
+v -0.10898047 0.17400788 0.08004799
+v -0.10898047 0.17359489 0.09893147
+v -0.09014178 0.17361487 0.09893147
+v -0.08386011 0.17358823 0.09893147
+v -0.06060847 0.17248931 0.09264177
+v -0.08386011 0.16814682 0.10473065
+v -0.09014178 0.16814682 0.10475951
+v -0.09641714 0.16814682 0.10477393
+v -0.10898047 0.16814682 0.10480278
+v -0.11526215 0.16814682 0.10471623
+v -0.12035693 0.16814682 0.10334577
+v -0.12113977 0.16182630 0.10382179
+v -0.06060847 0.16182630 0.10399490
+v -0.12009809 0.17228948 0.09893146
+v -0.11921424 0.17178996 0.10261005
+v -0.11770538 0.17201027 -0.04177860
+v -0.11526215 0.17342838 0.09893147
+v -0.11526215 0.17210964 0.10297070
+v -0.10898047 0.17218290 0.10304283
+v -0.10269881 0.17218290 0.10302841
+v -0.09641714 0.17217625 0.10301398
+v -0.09014178 0.17216958 0.10299955
+v -0.08386011 0.17214960 0.10298513
+v -0.06060847 0.17093080 0.10162910
+v -0.06060847 0.17163677 0.09942194
+v -0.06060847 0.17192984 0.09848426
+v -0.06060847 0.17232280 0.09438731
+v -0.06060847 0.16599559 0.10318707
+v -0.06060847 0.16777386 0.10284086
+v -0.06060847 0.16999172 0.10198973
+f 1 2 5
+f 1 5 12
+f 1 12 26
+f 1 26 43
+f 1 43 44
+f 1 44 71
+f 1 71 78
+f 1 78 101
+f 1 101 82
+f 1 82 54
+f 1 54 32
+f 1 32 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 37
+f 1 37 67
+f 1 67 68
+f 1 68 38
+f 1 38 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 17
+f 3 17 34
+f 3 34 58
+f 3 58 90
+f 3 90 112
+f 3 112 111
+f 3 111 110
+f 3 110 109
+f 3 109 115
+f 3 115 114
+f 3 114 113
+f 3 113 98
+f 3 98 62
+f 3 62 35
+f 3 35 18
+f 3 18 8
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 5 6 12
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 7 16 17
+f 8 18 19
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 13
+f 10 13 11
+f 12 15 27
+f 12 27 26
+f 13 28 29
+f 13 29 14
+f 13 25 30
+f 13 30 28
+f 14 29 31
+f 14 31 27
+f 14 27 15
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 30
+f 26 27 43
+f 27 31 44
+f 27 44 43
+f 28 45 31
+f 28 31 29
+f 28 30 46
+f 28 46 45
+f 30 42 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 46
+f 31 51 44
+f 31 45 52
+f 31 52 53
+f 31 53 51
+f 32 54 55
+f 32 55 33
+f 33 55 56
+f 33 56 57
+f 33 57 58
+f 33 58 34
+f 35 59 60
+f 35 60 61
+f 35 61 36
+f 35 62 59
+f 36 61 63
+f 36 63 64
+f 36 64 65
+f 36 65 66
+f 36 66 37
+f 37 66 67
+f 38 68 40
+f 38 40 39
+f 40 68 69
+f 40 69 65
+f 40 65 64
+f 40 64 63
+f 40 63 41
+f 41 70 48
+f 41 48 47
+f 41 47 42
+f 41 63 70
+f 44 51 71
+f 45 46 72
+f 45 72 73
+f 45 73 52
+f 46 50 72
+f 48 70 49
+f 49 70 74
+f 49 74 50
+f 50 74 75
+f 50 75 72
+f 51 53 52
+f 51 52 76
+f 51 76 77
+f 51 77 78
+f 51 78 71
+f 52 79 76
+f 52 73 80
+f 52 80 81
+f 52 81 79
+f 54 82 55
+f 55 82 83
+f 55 83 56
+f 56 83 84
+f 56 84 85
+f 56 85 86
+f 56 86 57
+f 57 86 85
+f 57 85 87
+f 57 87 88
+f 57 88 89
+f 57 89 90
+f 57 90 58
+f 59 61 60
+f 59 62 91
+f 59 91 92
+f 59 92 93
+f 59 93 94
+f 59 94 61
+f 61 94 95
+f 61 95 96
+f 61 96 97
+f 61 97 63
+f 62 98 91
+f 63 97 70
+f 65 69 66
+f 66 69 68
+f 66 68 67
+f 70 97 74
+f 72 75 99
+f 72 99 80
+f 72 80 73
+f 74 97 96
+f 74 96 75
+f 75 96 100
+f 75 100 99
+f 76 79 83
+f 76 83 77
+f 77 83 78
+f 78 83 101
+f 79 81 83
+f 80 85 84
+f 80 84 83
+f 80 83 81
+f 80 99 102
+f 80 102 85
+f 82 101 83
+f 85 102 87
+f 87 102 103
+f 87 103 104
+f 87 104 88
+f 88 104 105
+f 88 105 106
+f 88 106 107
+f 88 107 108
+f 88 108 89
+f 89 109 110
+f 89 110 111
+f 89 111 112
+f 89 112 90
+f 89 108 109
+f 91 98 113
+f 91 113 114
+f 91 114 115
+f 91 115 109
+f 91 109 108
+f 91 108 92
+f 92 108 107
+f 92 107 106
+f 92 106 105
+f 92 105 93
+f 93 105 104
+f 93 104 94
+f 94 104 95
+f 95 104 103
+f 95 103 100
+f 95 100 96
+f 99 100 102
+f 100 103 102
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_22.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.05929814 -0.17224390 -0.09612258
+v 0.05929814 -0.17217854 -0.05208616
+v 0.05929814 -0.17112344 -0.10171133
+v 0.07317002 -0.17430127 -0.10870976
+v 0.07317002 -0.17487133 -0.10438720
+v 0.07317647 -0.17512687 -0.10241617
+v 0.05929814 -0.17204095 -0.04511893
+v 0.05929814 -0.16839768 -0.10486124
+v 0.06833099 -0.17168035 -0.10883450
+v 0.07304744 -0.17417677 -0.10883451
+v 0.07317002 -0.17423574 -0.10883451
+v 0.07946076 -0.17501546 -0.10883451
+v 0.07946076 -0.17507443 -0.10870976
+v 0.07946076 -0.17517274 -0.10241617
+v 0.10456565 -0.17361347 -0.05837976
+v 0.10456565 -0.17320070 -0.05208617
+v 0.07946076 -0.17213268 -0.04511893
+v 0.05929814 -0.10823491 -0.04511870
+v 0.05929814 -0.16523293 -0.10605258
+v 0.06600826 -0.16740827 -0.10883448
+v 0.11712777 -0.17497615 -0.10883451
+v 0.11712777 -0.17497615 -0.10870976
+v 0.11084994 -0.17497617 -0.10241617
+v 0.11084994 -0.17349552 -0.05837976
+v 0.11084994 -0.17313517 -0.05208617
+v 0.10524311 -0.17218511 -0.04511893
+v 0.10456565 -0.17218511 -0.04511893
+v 0.12117319 -0.10823491 -0.04511870
+v 0.05929814 -0.10823469 -0.10675096
+v 0.05929814 -0.16048253 -0.10681353
+v 0.06393715 -0.16048252 -0.10883446
+v 0.12270232 -0.17245351 -0.10883450
+v 0.11712777 -0.17481891 -0.10241617
+v 0.12270232 -0.17245351 -0.10870975
+v 0.11712777 -0.17281409 -0.05837975
+v 0.11712777 -0.17228993 -0.05208616
+v 0.11712777 -0.17143815 -0.04511893
+v 0.11152094 -0.17206716 -0.04511893
+v 0.11084994 -0.17212614 -0.04511893
+v 0.12258619 -0.10823482 -0.07096046
+v 0.12163773 -0.11625489 -0.04511873
+v 0.12521217 -0.12257763 -0.10241598
+v 0.10802394 -0.11190395 -0.10883428
+v 0.10473340 -0.11221845 -0.10883428
+v 0.10239130 -0.11301128 -0.10883429
+v 0.09815877 -0.11484593 -0.10883429
+v 0.05929814 -0.10993173 -0.10689442
+v 0.06056274 -0.10823469 -0.10677591
+v 0.05929814 -0.15916552 -0.10690708
+v 0.05929814 -0.15416614 -0.10721894
+v 0.06366617 -0.15802542 -0.10883445
+v 0.12275394 -0.17233558 -0.10883450
+v 0.12258619 -0.17234215 -0.10438719
+v 0.12253457 -0.17228974 -0.10241616
+v 0.12142482 -0.17107773 -0.05837975
+v 0.12507667 -0.16680546 -0.10870973
+v 0.12498635 -0.16680548 -0.10438717
+v 0.12493473 -0.16679893 -0.10241614
+v 0.12337979 -0.16679910 -0.05837973
+v 0.12259265 -0.17233560 -0.10438719
+v 0.12068929 -0.17037013 -0.04511893
+v 0.11750198 -0.17133987 -0.04511893
+v 0.12286363 -0.10823473 -0.09612235
+v 0.12254747 -0.14153356 -0.04511882
+v 0.12382498 -0.15416634 -0.05208610
+v 0.12421210 -0.15416632 -0.05837969
+v 0.12507667 -0.16680546 -0.10883448
+v 0.12507667 -0.16667441 -0.10883448
+v 0.12489601 -0.13521695 -0.10870962
+v 0.12483795 -0.12889400 -0.10870959
+v 0.12474117 -0.12257761 -0.10870957
+v 0.12418629 -0.11625468 -0.10241596
+v 0.10410109 -0.10823469 -0.10668235
+v 0.11084994 -0.11193016 -0.10883428
+v 0.09453917 -0.11791894 -0.10883430
+v 0.06949882 -0.14397078 -0.10883440
+v 0.06642764 -0.14731899 -0.10883441
+v 0.06417588 -0.15206940 -0.10883443
+v 0.06362100 -0.15416613 -0.10883444
+v 0.12410887 -0.16048271 -0.05837971
+v 0.12279910 -0.16679912 -0.05208614
+v 0.12376691 -0.16048273 -0.05208612
+v 0.12179259 -0.16717917 -0.04511891
+v 0.12173452 -0.10823470 -0.10235980
+v 0.12274104 -0.14783685 -0.04511884
+v 0.12287008 -0.15416636 -0.04511887
+v 0.12488311 -0.13521695 -0.10883437
+v 0.12478634 -0.12890055 -0.10883434
+v 0.12467665 -0.12257761 -0.10883432
+v 0.12463794 -0.12244656 -0.10883432
+v 0.12228940 -0.11638570 -0.10883430
+v 0.12236037 -0.11622190 -0.10850996
+v 0.10493986 -0.10823469 -0.10666988
+v 0.11401788 -0.11226433 -0.10883428
+v 0.11084994 -0.10823469 -0.10630810
+v 0.12190228 -0.16679914 -0.04511891
+v 0.12276040 -0.16048275 -0.04511889
+v 0.12268297 -0.16115763 -0.04511889
+v 0.12084414 -0.11195637 -0.10627692
+v 0.12061187 -0.10823470 -0.10315819
+v 0.11712777 -0.11284092 -0.10883428
+v 0.11765039 -0.10823469 -0.10520408
+v 0.11299201 -0.10823469 -0.10602118
+v 0.11712777 -0.10823469 -0.10541615
+f 1 2 7
+f 1 7 18
+f 1 18 29
+f 1 29 47
+f 1 47 50
+f 1 50 49
+f 1 49 30
+f 1 30 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 27
+f 7 27 26
+f 7 26 39
+f 7 39 38
+f 7 38 37
+f 7 37 62
+f 7 62 61
+f 7 61 83
+f 7 83 96
+f 7 96 98
+f 7 98 97
+f 7 97 86
+f 7 86 85
+f 7 85 64
+f 7 64 41
+f 7 41 28
+f 7 28 18
+f 8 19 9
+f 9 19 20
+f 9 20 31
+f 9 31 51
+f 9 51 79
+f 9 79 78
+f 9 78 77
+f 9 77 76
+f 9 76 75
+f 9 75 46
+f 9 46 45
+f 9 45 44
+f 9 44 43
+f 9 43 74
+f 9 74 94
+f 9 94 101
+f 9 101 91
+f 9 91 90
+f 9 90 89
+f 9 89 88
+f 9 88 87
+f 9 87 68
+f 9 68 67
+f 9 67 52
+f 9 52 32
+f 9 32 21
+f 9 21 12
+f 9 12 11
+f 9 11 10
+f 12 21 13
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 24 25
+f 15 25 16
+f 15 23 24
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 18 28 40
+f 18 40 63
+f 18 63 84
+f 18 84 100
+f 18 100 102
+f 18 102 104
+f 18 104 103
+f 18 103 95
+f 18 95 93
+f 18 93 73
+f 18 73 48
+f 18 48 29
+f 19 30 20
+f 20 30 31
+f 21 32 34
+f 21 34 22
+f 22 33 23
+f 22 34 33
+f 23 33 24
+f 24 35 25
+f 24 33 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 28 41 42
+f 28 42 40
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 48 43
+f 30 49 31
+f 31 49 50
+f 31 50 51
+f 32 52 34
+f 33 34 53
+f 33 53 54
+f 33 54 55
+f 33 55 35
+f 34 52 56
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 53
+f 35 55 61
+f 35 61 36
+f 36 61 62
+f 36 62 37
+f 40 42 63
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 67 68
+f 42 68 69
+f 42 69 70
+f 42 70 71
+f 42 71 72
+f 42 72 63
+f 42 66 56
+f 42 56 67
+f 43 48 73
+f 43 73 74
+f 46 75 47
+f 47 75 76
+f 47 76 77
+f 47 77 78
+f 47 78 79
+f 47 79 50
+f 50 79 51
+f 52 67 56
+f 53 60 55
+f 53 55 54
+f 55 60 59
+f 55 59 61
+f 56 66 57
+f 57 66 80
+f 57 80 58
+f 58 80 59
+f 59 81 61
+f 59 80 82
+f 59 82 81
+f 61 81 83
+f 63 72 84
+f 64 85 65
+f 65 86 82
+f 65 82 66
+f 65 85 86
+f 66 82 80
+f 68 87 69
+f 69 87 70
+f 70 87 88
+f 70 88 71
+f 71 88 89
+f 71 89 90
+f 71 90 91
+f 71 91 92
+f 71 92 84
+f 71 84 72
+f 73 93 74
+f 74 93 95
+f 74 95 94
+f 81 96 83
+f 81 82 96
+f 82 97 98
+f 82 98 96
+f 82 86 97
+f 84 92 91
+f 84 91 99
+f 84 99 100
+f 91 101 102
+f 91 102 99
+f 94 95 103
+f 94 103 101
+f 99 102 100
+f 101 103 104
+f 101 104 102
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_23.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.06059641 0.15118800 -0.10670922
+v 0.06059641 0.15551021 -0.10726209
+v 0.06060272 0.15059771 -0.10670923
+v 0.06732006 0.14362577 -0.10670726
+v 0.06059641 0.16206240 -0.10670918
+v 0.06872792 0.16181976 -0.11354122
+v 0.07254115 0.16181977 -0.11668679
+v 0.07240225 0.15550370 -0.11636946
+v 0.06059641 0.16182629 -0.10680699
+v 0.08336843 0.14918108 -0.12353883
+v 0.06109516 0.14866944 -0.10670923
+v 0.09352650 0.11640040 -0.10670736
+v 0.06732006 0.17167096 -0.10670716
+v 0.06060272 0.16232476 -0.10670918
+v 0.06913197 0.16814238 -0.11294442
+v 0.07377855 0.16753243 -0.11605605
+v 0.08703013 0.16181980 -0.12555067
+v 0.08290756 0.15550373 -0.12421542
+v 0.08650613 0.14918109 -0.12577027
+v 0.08768040 0.14419644 -0.12526931
+v 0.08925872 0.13999884 -0.12412367
+v 0.09877915 0.11161908 -0.10670738
+v 0.06799558 0.17283186 -0.10670716
+v 0.06213685 0.16648300 -0.10670917
+v 0.06153709 0.16508599 -0.10670917
+v 0.06968122 0.17169722 -0.11221590
+v 0.08899987 0.17121192 -0.12439699
+v 0.08822965 0.16700121 -0.12494988
+v 0.09201763 0.16181981 -0.12667438
+v 0.08604526 0.15550373 -0.12587004
+v 0.09201763 0.14918110 -0.12707559
+v 0.09161989 0.14239934 -0.12587009
+v 0.09344443 0.13896257 -0.12505975
+v 0.09961882 0.11935843 -0.11311425
+v 0.10425908 0.10832658 -0.10670739
+v 0.07108909 0.17424200 -0.10670715
+v 0.07317247 0.17469456 -0.10871105
+v 0.06863322 0.17262199 -0.10871106
+v 0.06390457 0.16841782 -0.10670916
+v 0.07317247 0.17259578 -0.11314001
+v 0.09146206 0.16871961 -0.12535704
+v 0.09146206 0.17314019 -0.12189609
+v 0.09317296 0.17180877 -0.12478220
+v 0.09828672 0.16181980 -0.12647478
+v 0.09201763 0.15550374 -0.12709753
+v 0.09828672 0.16814243 -0.12585003
+v 0.11085015 0.16814243 -0.12563447
+v 0.09828672 0.14918110 -0.12701971
+v 0.09828672 0.14286503 -0.12675229
+v 0.09828672 0.13853625 -0.12539707
+v 0.10456843 0.12257878 -0.11728172
+v 0.11713188 0.11083858 -0.10670738
+v 0.11085015 0.12221149 -0.11768689
+v 0.11085015 0.11821065 -0.11454733
+v 0.11713188 0.11834182 -0.11410223
+v 0.07317247 0.17494379 -0.10670715
+v 0.07745288 0.17532419 -0.10670715
+v 0.07945419 0.17525205 -0.10871105
+v 0.09201763 0.17517993 -0.11500418
+v 0.09828672 0.17410432 -0.12129133
+v 0.09828672 0.17206456 -0.12495984
+v 0.10456843 0.15550373 -0.12658258
+v 0.10456843 0.14918110 -0.12686602
+v 0.10456843 0.17208424 -0.12496583
+v 0.11085015 0.17202520 -0.12493390
+v 0.11713188 0.16814243 -0.12529516
+v 0.11713188 0.16181980 -0.12566444
+v 0.11713188 0.17171039 -0.12471434
+v 0.10456843 0.14286502 -0.12656667
+v 0.11713188 0.13849033 -0.12506375
+v 0.12112819 0.11316038 -0.10677922
+v 0.12114712 0.11312759 -0.10670737
+v 0.12167112 0.11926661 -0.11305437
+v 0.12092616 0.13879860 -0.12483821
+v 0.07945419 0.17532419 -0.10670715
+v 0.11085015 0.17532422 -0.11500418
+v 0.10456843 0.17417647 -0.12129133
+v 0.11085015 0.14918109 -0.12636305
+v 0.11713188 0.14286502 -0.12578227
+v 0.11085015 0.17409777 -0.12129133
+v 0.11713188 0.17365833 -0.12129133
+v 0.12072413 0.16814243 -0.12472632
+v 0.12037690 0.17140213 -0.12450477
+v 0.12112819 0.16181980 -0.12497585
+v 0.12124182 0.15550373 -0.12503774
+v 0.11713188 0.15550373 -0.12574230
+v 0.12246028 0.11523294 -0.10670737
+v 0.12485933 0.12391673 -0.10871123
+v 0.12264337 0.11733831 -0.10880906
+v 0.12375451 0.14286501 -0.12129145
+v 0.12126076 0.14286502 -0.12504179
+v 0.11513056 0.17529139 -0.10670715
+v 0.11713188 0.17528485 -0.10871105
+v 0.11713188 0.17524552 -0.11500418
+v 0.11713188 0.14918109 -0.12581417
+v 0.12141858 0.17233346 -0.12129134
+v 0.12303479 0.16814242 -0.12129135
+v 0.12360930 0.16181979 -0.12129138
+v 0.12372925 0.15550372 -0.12129140
+v 0.12125445 0.14918109 -0.12504176
+v 0.12324945 0.11742357 -0.10670736
+v 0.12473938 0.12190320 -0.10670734
+v 0.12509292 0.14286498 -0.11500430
+v 0.12495402 0.12391672 -0.10670733
+v 0.11713188 0.17527172 -0.10670715
+v 0.12249817 0.17324508 -0.10871105
+v 0.12246028 0.17322542 -0.11500418
+v 0.12488458 0.16814239 -0.11500420
+v 0.12502348 0.16181976 -0.11500423
+v 0.12495402 0.13655544 -0.10670729
+v 0.12487827 0.16612883 -0.10670718
+v 0.12078727 0.17387470 -0.10670715
+v 0.12323050 0.17161850 -0.10670716
+v 0.12487196 0.16814237 -0.10871107
+v 0.12246660 0.17322539 -0.10670715
+v 0.12484670 0.16814236 -0.10670717
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 5
+f 1 5 9
+f 1 9 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 6
+f 3 10 11
+f 3 11 4
+f 3 8 10
+f 4 11 12
+f 4 12 22
+f 4 22 35
+f 4 35 52
+f 4 52 72
+f 4 72 87
+f 4 87 101
+f 4 101 102
+f 4 102 104
+f 4 104 110
+f 4 110 111
+f 4 111 116
+f 4 116 113
+f 4 113 115
+f 4 115 112
+f 4 112 105
+f 4 105 92
+f 4 92 75
+f 4 75 57
+f 4 57 56
+f 4 56 36
+f 4 36 23
+f 4 23 13
+f 5 13 14
+f 5 14 9
+f 6 9 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 10
+f 9 14 15
+f 10 19 20
+f 10 20 11
+f 10 18 19
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 31 20
+f 19 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 38
+f 24 38 26
+f 24 26 25
+f 26 38 37
+f 26 37 40
+f 26 40 27
+f 27 41 29
+f 27 29 28
+f 27 40 42
+f 27 42 43
+f 27 43 41
+f 29 44 45
+f 29 45 30
+f 29 41 46
+f 29 46 47
+f 29 47 44
+f 30 45 31
+f 31 48 49
+f 31 49 32
+f 31 45 48
+f 32 49 33
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 35
+f 35 51 53
+f 35 53 54
+f 35 54 55
+f 35 55 52
+f 36 56 37
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 42
+f 37 42 40
+f 41 43 46
+f 42 59 60
+f 42 60 43
+f 43 60 61
+f 43 61 46
+f 44 47 45
+f 45 62 63
+f 45 63 48
+f 45 47 62
+f 46 61 64
+f 46 64 65
+f 46 65 47
+f 47 66 67
+f 47 67 62
+f 47 65 68
+f 47 68 66
+f 48 63 49
+f 49 69 70
+f 49 70 50
+f 49 63 69
+f 50 70 53
+f 50 53 51
+f 52 71 72
+f 52 55 73
+f 52 73 71
+f 53 55 54
+f 53 70 74
+f 53 74 55
+f 55 74 73
+f 57 75 76
+f 57 76 59
+f 57 59 58
+f 59 76 77
+f 59 77 60
+f 60 77 61
+f 61 77 64
+f 62 67 63
+f 63 78 79
+f 63 79 69
+f 63 67 78
+f 64 77 65
+f 65 77 80
+f 65 80 81
+f 65 81 68
+f 66 82 67
+f 66 68 83
+f 66 83 82
+f 67 82 84
+f 67 84 85
+f 67 85 86
+f 67 86 78
+f 68 81 83
+f 69 79 70
+f 70 79 74
+f 71 73 72
+f 72 73 87
+f 73 88 89
+f 73 89 87
+f 73 74 90
+f 73 90 88
+f 74 79 91
+f 74 91 90
+f 75 92 76
+f 76 92 93
+f 76 93 94
+f 76 94 80
+f 76 80 77
+f 78 86 95
+f 78 95 79
+f 79 95 91
+f 80 94 81
+f 81 94 96
+f 81 96 83
+f 82 97 98
+f 82 98 84
+f 82 83 97
+f 83 96 97
+f 84 98 85
+f 85 99 100
+f 85 100 95
+f 85 95 86
+f 85 98 99
+f 87 89 101
+f 88 102 101
+f 88 101 89
+f 88 90 103
+f 88 103 104
+f 88 104 102
+f 90 91 100
+f 90 100 99
+f 90 99 103
+f 91 95 100
+f 92 105 93
+f 93 105 106
+f 93 106 107
+f 93 107 94
+f 94 107 96
+f 96 107 108
+f 96 108 97
+f 97 108 98
+f 98 109 99
+f 98 108 109
+f 99 109 103
+f 103 110 104
+f 103 109 111
+f 103 111 110
+f 105 112 106
+f 106 113 114
+f 106 114 108
+f 106 108 107
+f 106 112 115
+f 106 115 113
+f 108 114 109
+f 109 114 111
+f 111 114 116
+f 113 116 114
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_24.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.06361945 -0.15416520 -0.10884110
+v 0.07236118 -0.16048256 -0.11664659
+v 0.06874640 -0.16048257 -0.11349942
+v 0.06366765 -0.15803476 -0.10884111
+v 0.06417372 -0.15206971 -0.10884109
+v 0.07261421 -0.15416517 -0.11627905
+v 0.07589161 -0.16417287 -0.11833436
+v 0.07354803 -0.16649090 -0.11626303
+v 0.06902956 -0.16680616 -0.11306234
+v 0.08295247 -0.15416514 -0.12418263
+v 0.06393273 -0.16048259 -0.10884112
+v 0.08358506 -0.14784776 -0.12325308
+v 0.06642692 -0.14732240 -0.10884107
+v 0.08781434 -0.14334151 -0.12517098
+v 0.08672991 -0.14784775 -0.12567411
+v 0.08676606 -0.16048253 -0.12565810
+v 0.08814570 -0.16680612 -0.12496946
+v 0.08881443 -0.17005753 -0.12449134
+v 0.06952961 -0.17065717 -0.11237727
+v 0.08609732 -0.15416514 -0.12585256
+v 0.06599918 -0.16740576 -0.10884114
+v 0.06949948 -0.14397207 -0.10884106
+v 0.09453782 -0.11791746 -0.10884096
+v 0.09001935 -0.13912581 -0.12345465
+v 0.09420647 -0.13793896 -0.12483734
+v 0.09207376 -0.14135110 -0.12569014
+v 0.09201350 -0.14784774 -0.12701398
+v 0.09201350 -0.16048252 -0.12680707
+v 0.09201350 -0.16680612 -0.12585616
+v 0.09201350 -0.17059531 -0.12479286
+v 0.09201350 -0.17310498 -0.12129602
+v 0.07317450 -0.17175746 -0.11340313
+v 0.07304196 -0.17418058 -0.10884117
+v 0.06832468 -0.17168948 -0.10884116
+v 0.09201350 -0.15416513 -0.12705325
+v 0.09816465 -0.11483912 -0.10884095
+v 0.09990576 -0.11842433 -0.11283202
+v 0.09829117 -0.13762989 -0.12510317
+v 0.09829117 -0.14153036 -0.12650905
+v 0.10456882 -0.12183644 -0.11681416
+v 0.09829117 -0.14784774 -0.12706571
+v 0.10456882 -0.14784774 -0.12694082
+v 0.10456882 -0.15416513 -0.12666789
+v 0.11713619 -0.16680612 -0.12544938
+v 0.11085251 -0.16680612 -0.12569023
+v 0.09829117 -0.16680612 -0.12598997
+v 0.09829117 -0.17107746 -0.12505869
+v 0.09829117 -0.17374784 -0.12129602
+v 0.09201350 -0.17499651 -0.11500526
+v 0.07317450 -0.17423622 -0.10884117
+v 0.10239393 -0.11300943 -0.10884095
+v 0.10456882 -0.11770727 -0.11366876
+v 0.10456882 -0.13768553 -0.12504251
+v 0.11085251 -0.12140375 -0.11722985
+v 0.11713619 -0.13767316 -0.12485517
+v 0.10456882 -0.14153036 -0.12637525
+v 0.11713619 -0.15416514 -0.12576334
+v 0.11713619 -0.16048253 -0.12570093
+v 0.11713619 -0.14153036 -0.12553136
+v 0.11713619 -0.14784775 -0.12578472
+v 0.12091363 -0.16680612 -0.12483387
+v 0.12053408 -0.17026769 -0.12460195
+v 0.11713619 -0.17069421 -0.12484459
+v 0.11085251 -0.17100328 -0.12501765
+v 0.10456882 -0.17104655 -0.12503906
+v 0.10456882 -0.17369839 -0.12129602
+v 0.11713619 -0.17502123 -0.11500526
+v 0.11085251 -0.17504596 -0.11500526
+v 0.09829117 -0.17501506 -0.11500526
+v 0.07945216 -0.17502125 -0.10884117
+v 0.10473752 -0.11221821 -0.10884094
+v 0.11085251 -0.11742911 -0.11408267
+v 0.11713619 -0.11756510 -0.11372764
+v 0.12085339 -0.13774116 -0.12478025
+v 0.12129921 -0.15416514 -0.12506933
+v 0.12122691 -0.16048253 -0.12502475
+v 0.12123896 -0.14153036 -0.12501575
+v 0.12132331 -0.14784775 -0.12507822
+v 0.12333554 -0.16680613 -0.12129599
+v 0.12166069 -0.17142363 -0.12129601
+v 0.11713619 -0.17323478 -0.12129602
+v 0.11085251 -0.17362421 -0.12129602
+v 0.11713619 -0.17498417 -0.10884117
+v 0.12268487 -0.17244978 -0.11500525
+v 0.12258848 -0.17251160 -0.10884116
+v 0.10802696 -0.11190295 -0.10884094
+v 0.11085251 -0.11192768 -0.10884094
+v 0.11402146 -0.11226148 -0.10884094
+v 0.11713619 -0.11283635 -0.10884094
+v 0.12147995 -0.11830688 -0.11282487
+v 0.12376930 -0.14153037 -0.12129590
+v 0.12229929 -0.12257204 -0.11361882
+v 0.12374521 -0.15416515 -0.12129595
+v 0.12365483 -0.16048254 -0.12129597
+v 0.12382955 -0.14784776 -0.12129592
+v 0.12510075 -0.16680616 -0.11500523
+v 0.12270294 -0.17245598 -0.10884116
+v 0.12229327 -0.11637829 -0.10884096
+v 0.12464287 -0.12243607 -0.10884098
+v 0.12468504 -0.12257206 -0.10884098
+v 0.12516100 -0.14153040 -0.11500514
+v 0.12508267 -0.16680618 -0.10884114
+v 0.12479349 -0.12889564 -0.10884100
+v 0.12488988 -0.13521303 -0.10884103
+v 0.12508267 -0.16667636 -0.10884114
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 34
+f 1 34 33
+f 1 33 50
+f 1 50 70
+f 1 70 83
+f 1 83 85
+f 1 85 97
+f 1 97 102
+f 1 102 105
+f 1 105 104
+f 1 104 103
+f 1 103 100
+f 1 100 99
+f 1 99 98
+f 1 98 89
+f 1 89 88
+f 1 88 87
+f 1 87 86
+f 1 86 71
+f 1 71 51
+f 1 51 36
+f 1 36 23
+f 1 23 22
+f 1 22 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 10
+f 2 10 7
+f 3 11 4
+f 3 9 11
+f 5 12 6
+f 5 13 14
+f 5 14 12
+f 6 12 15
+f 6 15 10
+f 7 10 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 11
+f 10 15 20
+f 10 20 16
+f 11 19 21
+f 12 14 15
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 20
+f 16 20 28
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 21
+f 20 35 28
+f 20 27 35
+f 23 36 24
+f 24 36 37
+f 24 37 25
+f 25 38 39
+f 25 39 26
+f 25 37 40
+f 25 40 38
+f 26 39 27
+f 27 39 41
+f 27 41 35
+f 28 35 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 30
+f 30 47 31
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 31 47 48
+f 32 50 33
+f 35 41 42
+f 36 51 37
+f 37 51 52
+f 37 52 40
+f 38 53 39
+f 38 40 54
+f 38 54 53
+f 39 53 55
+f 39 55 56
+f 39 56 42
+f 39 42 41
+f 40 52 54
+f 42 57 58
+f 42 58 44
+f 42 44 43
+f 42 56 59
+f 42 59 60
+f 42 60 57
+f 44 61 62
+f 44 62 63
+f 44 63 45
+f 44 58 61
+f 45 63 64
+f 45 64 46
+f 46 64 65
+f 46 65 47
+f 47 65 48
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 49 69 70
+f 49 70 50
+f 51 71 52
+f 52 72 54
+f 52 71 72
+f 53 54 55
+f 54 72 73
+f 54 73 74
+f 54 74 55
+f 55 74 56
+f 56 74 59
+f 57 75 76
+f 57 76 58
+f 57 60 75
+f 58 76 61
+f 59 74 77
+f 59 77 60
+f 60 77 78
+f 60 78 75
+f 61 76 79
+f 61 79 62
+f 62 79 80
+f 62 80 81
+f 62 81 63
+f 63 81 64
+f 64 81 82
+f 64 82 66
+f 64 66 65
+f 66 82 67
+f 67 83 68
+f 67 82 81
+f 67 81 80
+f 67 80 84
+f 67 84 85
+f 67 85 83
+f 68 70 69
+f 68 83 70
+f 71 86 72
+f 72 86 87
+f 72 87 73
+f 73 87 88
+f 73 88 89
+f 73 89 90
+f 73 90 74
+f 74 91 77
+f 74 90 92
+f 74 92 91
+f 75 93 94
+f 75 94 76
+f 75 78 95
+f 75 95 93
+f 76 94 79
+f 77 91 78
+f 78 91 95
+f 79 94 96
+f 79 96 80
+f 80 96 84
+f 84 97 85
+f 84 96 97
+f 89 98 90
+f 90 98 99
+f 90 99 100
+f 90 100 92
+f 91 101 95
+f 91 92 100
+f 91 100 101
+f 93 96 94
+f 93 95 96
+f 95 101 96
+f 96 102 97
+f 96 101 102
+f 100 103 101
+f 101 103 104
+f 101 104 105
+f 101 105 102
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_25.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.11295971 0.17232963 -0.04179302
+v -0.10897251 0.17231603 -0.04179302
+v -0.10897251 0.17361544 -0.05208536
+v -0.11525363 0.17228201 -0.04179302
+v -0.06511963 0.17161532 -0.04179302
+v -0.10897251 0.17404405 -0.05837731
+v -0.11525363 0.17381954 -0.05837731
+v -0.11525363 0.17335692 -0.05208536
+v -0.11770091 0.17200309 -0.04179302
+v -0.06061486 0.17110510 -0.04179302
+v -0.06061486 0.17146567 -0.04599638
+v -0.07758604 0.17552727 -0.10240785
+v -0.11525363 0.17518032 -0.10240785
+v -0.12153477 0.17384012 -0.10240785
+v -0.12033988 0.17251338 -0.05837732
+v -0.11915778 0.17176498 -0.04179302
+v -0.06061486 0.10603455 -0.04179326
+v -0.06061486 0.17211204 -0.07096121
+v -0.07130492 0.17475853 -0.10240785
+v -0.07758604 0.17510550 -0.10868015
+v -0.09014190 0.17527557 -0.10868015
+v -0.09020581 0.17527557 -0.10868015
+v -0.09641026 0.17522796 -0.10868015
+v -0.11525363 0.17509188 -0.10553745
+v -0.12155394 0.17386055 -0.10868015
+v -0.12154116 0.17385374 -0.10553745
+v -0.12508747 0.17190130 -0.10868016
+v -0.12507469 0.17188088 -0.10553746
+v -0.12506191 0.17186046 -0.10240786
+v -0.12492133 0.17166316 -0.09865626
+v -0.12348364 0.16872411 -0.05837733
+v -0.12002678 0.17042479 -0.04179302
+v -0.12134946 0.10603455 -0.04179326
+v -0.06061486 0.10602799 -0.10553770
+v -0.06061486 0.17241143 -0.08353201
+v -0.06061486 0.17262916 -0.09612245
+v -0.06061486 0.17207133 -0.10105911
+v -0.07566273 0.17452044 -0.10868015
+v -0.11525363 0.17499665 -0.10868015
+v -0.12569449 0.16814605 -0.10868017
+v -0.12568171 0.16814604 -0.10553747
+v -0.12566255 0.16813922 -0.10240787
+v -0.12478076 0.16534302 -0.05464537
+v -0.12138780 0.16813899 -0.04179303
+v -0.12324084 0.10603466 -0.07096145
+v -0.08839111 0.10602799 -0.10553770
+v -0.12315137 0.14285911 -0.04179313
+v -0.12481909 0.15179148 -0.05435735
+v -0.06061486 0.10602799 -0.10642813
+v -0.06061486 0.16944540 -0.10325901
+v -0.07122185 0.17314624 -0.10868015
+v -0.07118351 0.17315985 -0.10860813
+v -0.12570088 0.12394706 -0.10868033
+v -0.12579673 0.12391984 -0.10553763
+v -0.12588619 0.12391983 -0.10240803
+v -0.12572645 0.16181925 -0.10240790
+v -0.12485105 0.16181907 -0.05418709
+v -0.12200122 0.16583278 -0.04179304
+v -0.12299801 0.16181902 -0.04179306
+v -0.12330472 0.10603475 -0.09616852
+v -0.12533667 0.11730052 -0.10240806
+v -0.12485105 0.11390581 -0.09871540
+v -0.12103636 0.10603478 -0.10230333
+v -0.11646130 0.10603479 -0.10483714
+v -0.11525363 0.10603479 -0.10529545
+v -0.08396941 0.10602799 -0.10596327
+v -0.12318971 0.14917908 -0.04179310
+v -0.12488300 0.15549911 -0.05397759
+v -0.06146469 0.10602799 -0.10648706
+v -0.06061486 0.11127309 -0.10669655
+v -0.06061486 0.16813922 -0.10409707
+v -0.06703656 0.16814605 -0.10868017
+v -0.12570088 0.12391985 -0.10868033
+v -0.12321527 0.15549906 -0.04179308
+v -0.12308108 0.15951282 -0.04179306
+v -0.12485105 0.11390582 -0.10031293
+v -0.12518971 0.11928021 -0.10868035
+v -0.12527278 0.11829377 -0.10553766
+v -0.12166895 0.11545694 -0.10868037
+v -0.11525363 0.11234116 -0.10868038
+v -0.11084471 0.10603479 -0.10544603
+v -0.07758604 0.10602799 -0.10646087
+v -0.06502378 0.10602799 -0.10670966
+v -0.06727298 0.14857387 -0.10868024
+v -0.06595030 0.15108416 -0.10868024
+v -0.06491516 0.15539726 -0.10868022
+v -0.06490238 0.15549931 -0.10868022
+v -0.06061486 0.15549930 -0.10717435
+v -0.06061486 0.16630923 -0.10509881
+v -0.06061486 0.16181246 -0.10653924
+v -0.06570749 0.16394181 -0.10868019
+v -0.12519610 0.11930742 -0.10868035
+v -0.11037186 0.11221872 -0.10868038
+v -0.06609088 0.10602799 -0.10670966
+v -0.07237200 0.10602799 -0.10663110
+v -0.10897251 0.11223913 -0.10868038
+v -0.10466582 0.11260649 -0.10868038
+v -0.10269777 0.11298065 -0.10868037
+v -0.10012909 0.11412355 -0.10868037
+v -0.09627607 0.11742980 -0.10868036
+v -0.06886403 0.14671664 -0.10868025
+v -0.06533688 0.16218663 -0.10868019
+v -0.06061486 0.15774428 -0.10697137
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 32
+f 1 32 44
+f 1 44 58
+f 1 58 59
+f 1 59 75
+f 1 75 74
+f 1 74 67
+f 1 67 47
+f 1 47 33
+f 1 33 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 3 5 6
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 10 17 34
+f 10 34 49
+f 10 49 70
+f 10 70 88
+f 10 88 103
+f 10 103 90
+f 10 90 89
+f 10 89 71
+f 10 71 50
+f 10 50 37
+f 10 37 36
+f 10 36 35
+f 10 35 18
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 17 33 46
+f 17 46 34
+f 18 35 19
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 51
+f 20 51 72
+f 20 72 91
+f 20 91 102
+f 20 102 87
+f 20 87 86
+f 20 86 85
+f 20 85 84
+f 20 84 101
+f 20 101 100
+f 20 100 99
+f 20 99 98
+f 20 98 97
+f 20 97 96
+f 20 96 93
+f 20 93 80
+f 20 80 79
+f 20 79 77
+f 20 77 92
+f 20 92 73
+f 20 73 53
+f 20 53 40
+f 20 40 27
+f 20 27 25
+f 20 25 39
+f 20 39 23
+f 20 23 22
+f 20 22 21
+f 23 39 24
+f 24 39 25
+f 25 27 26
+f 27 40 41
+f 27 41 28
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 31
+f 31 43 44
+f 31 44 32
+f 33 45 46
+f 33 47 48
+f 33 48 45
+f 34 46 66
+f 34 66 82
+f 34 82 95
+f 34 95 94
+f 34 94 83
+f 34 83 69
+f 34 69 49
+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 38 52 51
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 41
+f 41 56 42
+f 42 56 57
+f 42 57 43
+f 43 58 44
+f 43 57 59
+f 43 59 58
+f 45 60 46
+f 45 48 55
+f 45 55 61
+f 45 61 62
+f 45 62 60
+f 46 60 63
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 47 67 68
+f 47 68 48
+f 48 68 55
+f 49 69 70
+f 50 71 51
+f 51 71 72
+f 53 73 54
+f 54 73 61
+f 54 61 55
+f 55 68 56
+f 56 68 57
+f 57 68 74
+f 57 74 75
+f 57 75 59
+f 60 62 76
+f 60 76 77
+f 60 77 63
+f 61 73 78
+f 61 78 76
+f 61 76 62
+f 63 77 79
+f 63 79 64
+f 64 79 65
+f 65 80 81
+f 65 81 82
+f 65 82 66
+f 65 79 80
+f 67 74 68
+f 69 83 70
+f 70 83 84
+f 70 84 85
+f 70 85 86
+f 70 86 87
+f 70 87 88
+f 71 89 72
+f 72 89 90
+f 72 90 91
+f 73 92 78
+f 76 78 92
+f 76 92 77
+f 80 93 94
+f 80 94 95
+f 80 95 81
+f 81 95 82
+f 83 93 96
+f 83 96 97
+f 83 97 98
+f 83 98 99
+f 83 99 100
+f 83 100 101
+f 83 101 84
+f 83 94 93
+f 87 102 88
+f 88 102 103
+f 90 103 91
+f 91 103 102
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_26.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.06059641 0.10498715 -0.10726009
+v 0.06059641 0.10498715 -0.10626009
+v 0.06059641 0.11503094 -0.10726009
+v 0.06059641 0.11503094 -0.10626009
+v 0.06729784 0.10498715 -0.10726009
+v 0.06729784 0.10498715 -0.10626009
+v 0.06729784 0.11503094 -0.10726009
+v 0.06729784 0.11503094 -0.10626009
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_27.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.12589114 0.14286989 -0.11500423
+v -0.12533585 0.14286991 -0.12037237
+v -0.12570007 0.12391020 -0.10871105
+v -0.12570007 0.12389168 -0.10868033
+v -0.12570007 0.16814530 -0.10868017
+v -0.12577769 0.16182956 -0.11500416
+v -0.12525822 0.16182958 -0.12005610
+v -0.12530002 0.14918567 -0.12030368
+v -0.12374160 0.15550763 -0.12337891
+v -0.12377145 0.14918568 -0.12345120
+v -0.12380131 0.14286992 -0.12351809
+v -0.12512686 0.13834452 -0.11964964
+v -0.12518657 0.12391021 -0.11261926
+v -0.12490594 0.12037881 -0.11217479
+v -0.12520449 0.11932926 -0.10868035
+v -0.12509103 0.17190513 -0.10868016
+v -0.12570007 0.16814530 -0.10871089
+v -0.12565231 0.16814532 -0.11500413
+v -0.12513881 0.16814534 -0.11945439
+v -0.12355651 0.16182959 -0.12320182
+v -0.12526419 0.15550762 -0.12023319
+v -0.12041578 0.16182960 -0.12511527
+v -0.12060088 0.15550764 -0.12514058
+v -0.12063073 0.14918569 -0.12514060
+v -0.12066058 0.14286993 -0.12513883
+v -0.11991422 0.13875202 -0.12490575
+v -0.12153832 0.11923666 -0.11316133
+v -0.12166968 0.11545829 -0.10868037
+v -0.12206376 0.11588428 -0.10868036
+v -0.12519254 0.11927986 -0.10868035
+v -0.12519851 0.11931073 -0.10871107
+v -0.12519851 0.11929838 -0.10868035
+v -0.12155623 0.17386222 -0.10868015
+v -0.12153832 0.17387457 -0.10871087
+v -0.12153832 0.17388693 -0.11500411
+v -0.12509103 0.17190513 -0.10871088
+v -0.12506118 0.17185576 -0.11500412
+v -0.12490594 0.17162736 -0.11871357
+v -0.12294150 0.16814535 -0.12260011
+v -0.11980077 0.16814536 -0.12496346
+v -0.11525688 0.16182960 -0.12585246
+v -0.11525688 0.15550764 -0.12600245
+v -0.11525688 0.14918569 -0.12613617
+v -0.11525688 0.14286993 -0.12602057
+v -0.10897543 0.14286993 -0.12647228
+v -0.11525688 0.13856062 -0.12514064
+v -0.10897543 0.12220626 -0.11757544
+v -0.11533450 0.12374971 -0.11742006
+v -0.11525688 0.11823652 -0.11429966
+v -0.11525688 0.11233436 -0.10868038
+v -0.11529270 0.17499202 -0.10868015
+v -0.11525688 0.17518960 -0.11500411
+v -0.11525688 0.17401661 -0.12129374
+v -0.12129948 0.17257195 -0.12100466
+v -0.11904245 0.17169528 -0.12470507
+v -0.11525688 0.16814536 -0.12555430
+v -0.09641852 0.15550765 -0.12694382
+v -0.10897543 0.14918570 -0.12666016
+v -0.10269996 0.14286994 -0.12681196
+v -0.10269996 0.13841863 -0.12548394
+v -0.10269996 0.11892798 -0.11359678
+v -0.10897543 0.11830443 -0.11442975
+v -0.09641852 0.13877054 -0.12522015
+v -0.09279415 0.13935087 -0.12476482
+v -0.11037264 0.11221089 -0.10868038
+v -0.11525688 0.17499820 -0.10868015
+v -0.09647823 0.17522662 -0.10868015
+v -0.09020276 0.17527601 -0.10868015
+v -0.09641852 0.17525134 -0.11500411
+v -0.10269996 0.17411540 -0.12129374
+v -0.10897543 0.17407835 -0.12129374
+v -0.10897543 0.17207189 -0.12494538
+v -0.11525688 0.17197311 -0.12488756
+v -0.09641852 0.16182961 -0.12661494
+v -0.09641852 0.16814536 -0.12589941
+v -0.09014305 0.15550765 -0.12688418
+v -0.09641852 0.14918570 -0.12713897
+v -0.10269996 0.14918570 -0.12691492
+v -0.09641852 0.14286994 -0.12663309
+v -0.09887854 0.11987256 -0.11258134
+v -0.10013245 0.11412476 -0.10868037
+v -0.10269996 0.11297644 -0.10868038
+v -0.10467037 0.11259984 -0.10868038
+v -0.10897543 0.11223559 -0.10868038
+v -0.09047742 0.14333913 -0.12531770
+v -0.08682320 0.14574690 -0.12460760
+v -0.06885660 0.14671612 -0.10868025
+v -0.09627521 0.11742155 -0.10868036
+v -0.09014305 0.17527601 -0.10868015
+v -0.09014305 0.17527601 -0.10871087
+v -0.07758016 0.17510932 -0.10871087
+v -0.09641852 0.17404131 -0.12129374
+v -0.09641852 0.17206571 -0.12494357
+v -0.10269996 0.17209658 -0.12495984
+v -0.09268667 0.17178788 -0.12475928
+v -0.09168355 0.16814536 -0.12524353
+v -0.08577828 0.15550764 -0.12545497
+v -0.09014305 0.14918569 -0.12653910
+v -0.08985047 0.16207036 -0.12584883
+v -0.08623207 0.16013180 -0.12509359
+v -0.06726832 0.14858060 -0.10868024
+v -0.08622013 0.14918569 -0.12509181
+v -0.06594874 0.15109333 -0.10868024
+v -0.07758016 0.17510932 -0.10868015
+v -0.07565751 0.17452281 -0.10868015
+v -0.07122109 0.17314606 -0.10868015
+v -0.07320345 0.17233114 -0.11285759
+v -0.07215256 0.16814532 -0.11398687
+v -0.07519775 0.15550761 -0.11767831
+v -0.07569931 0.16182957 -0.11788246
+v -0.06490980 0.15540263 -0.10868022
+v -0.06702949 0.16814530 -0.10868017
+v -0.06570393 0.16394096 -0.10868019
+v -0.06533373 0.16219379 -0.10868019
+v -0.07168085 0.16182956 -0.11473675
+v -0.06489188 0.15550758 -0.10868022
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 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 4
+f 4 15 32
+f 4 32 30
+f 4 30 29
+f 4 29 28
+f 4 28 50
+f 4 50 65
+f 4 65 84
+f 4 84 83
+f 4 83 82
+f 4 82 81
+f 4 81 88
+f 4 88 87
+f 4 87 101
+f 4 101 103
+f 4 103 111
+f 4 111 116
+f 4 116 114
+f 4 114 113
+f 4 113 112
+f 4 112 106
+f 4 106 105
+f 4 105 104
+f 4 104 89
+f 4 89 68
+f 4 68 67
+f 4 67 66
+f 4 66 51
+f 4 51 33
+f 4 33 16
+f 4 16 5
+f 5 16 36
+f 5 36 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 9
+f 7 9 21
+f 7 21 8
+f 8 21 9
+f 9 20 22
+f 9 22 23
+f 9 23 10
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 14
+f 11 14 12
+f 12 14 13
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 14 26 27
+f 15 31 32
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 17 36 37
+f 17 37 18
+f 18 37 38
+f 18 38 19
+f 19 38 39
+f 19 39 20
+f 20 39 40
+f 20 40 22
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 23 43 24
+f 24 43 25
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 27
+f 27 49 50
+f 27 50 28
+f 30 32 31
+f 33 51 34
+f 34 51 52
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 38
+f 35 38 37
+f 35 37 36
+f 38 54 55
+f 38 55 39
+f 39 55 40
+f 40 55 56
+f 40 56 41
+f 41 56 57
+f 41 57 58
+f 41 58 42
+f 42 58 43
+f 43 58 44
+f 44 58 45
+f 45 59 46
+f 45 58 59
+f 46 59 60
+f 46 60 47
+f 47 61 62
+f 47 62 49
+f 47 49 48
+f 47 60 63
+f 47 63 64
+f 47 64 61
+f 49 62 65
+f 49 65 50
+f 51 66 52
+f 52 66 67
+f 52 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 71
+f 52 71 53
+f 53 71 72
+f 53 72 73
+f 53 73 55
+f 53 55 54
+f 55 73 56
+f 56 74 57
+f 56 73 75
+f 56 75 74
+f 57 76 77
+f 57 77 78
+f 57 78 58
+f 57 74 76
+f 58 78 59
+f 59 79 60
+f 59 78 77
+f 59 77 79
+f 60 79 63
+f 61 80 81
+f 61 81 82
+f 61 82 62
+f 61 64 80
+f 62 82 83
+f 62 83 84
+f 62 84 65
+f 63 79 64
+f 64 79 85
+f 64 85 86
+f 64 86 87
+f 64 87 88
+f 64 88 81
+f 64 81 80
+f 68 89 90
+f 68 90 69
+f 69 90 91
+f 69 91 92
+f 69 92 70
+f 70 92 93
+f 70 93 94
+f 70 94 72
+f 70 72 71
+f 72 94 75
+f 72 75 73
+f 74 75 76
+f 75 94 93
+f 75 93 95
+f 75 95 96
+f 75 96 76
+f 76 97 98
+f 76 98 77
+f 76 96 99
+f 76 99 100
+f 76 100 97
+f 77 98 79
+f 79 98 85
+f 85 98 86
+f 86 101 87
+f 86 98 102
+f 86 102 103
+f 86 103 101
+f 89 104 91
+f 89 91 90
+f 91 104 105
+f 91 105 106
+f 91 106 107
+f 91 107 95
+f 91 95 92
+f 92 95 93
+f 95 108 100
+f 95 100 96
+f 95 107 108
+f 96 100 99
+f 97 109 102
+f 97 102 98
+f 97 100 110
+f 97 110 109
+f 100 108 110
+f 102 109 103
+f 103 109 111
+f 106 112 107
+f 107 112 108
+f 108 112 113
+f 108 113 114
+f 108 114 115
+f 108 115 110
+f 109 116 111
+f 109 110 115
+f 109 115 116
+f 114 116 115
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_28.obj

@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.12583898 -0.14153424 -0.11500574
+v -0.12565934 -0.12882086 -0.10864159
+v -0.12562341 -0.12256949 -0.10864157
+v -0.12561742 -0.12256949 -0.10871200
+v -0.12534196 -0.14153422 -0.12025558
+v -0.12579108 -0.16680615 -0.11500583
+v -0.12582102 -0.16680617 -0.10871216
+v -0.12582102 -0.16680617 -0.10864173
+v -0.12582102 -0.16673182 -0.10864173
+v -0.12561742 -0.12250753 -0.10864157
+v -0.12510244 -0.11845560 -0.10871199
+v -0.12478506 -0.11924863 -0.11199698
+v -0.12505453 -0.12256948 -0.11245389
+v -0.12513238 -0.13736458 -0.11949708
+v -0.12359341 -0.14153421 -0.12340151
+v -0.12372515 -0.14784753 -0.12343946
+v -0.12532400 -0.14784754 -0.12029353
+v -0.12531202 -0.15416707 -0.12019423
+v -0.12528209 -0.16048660 -0.12006784
+v -0.12521621 -0.16680613 -0.11975362
+v -0.12500064 -0.17051729 -0.11905836
+v -0.12520424 -0.17085188 -0.11500585
+v -0.12525214 -0.17091385 -0.10871218
+v -0.12525214 -0.17091385 -0.10864175
+v -0.12510244 -0.11843701 -0.10864156
+v -0.12161729 -0.11516573 -0.10864154
+v -0.11741957 -0.11288574 -0.10864153
+v -0.12153946 -0.11835026 -0.11287465
+v -0.11965317 -0.13767434 -0.12482458
+v -0.12045559 -0.14153420 -0.12507561
+v -0.12058733 -0.14784752 -0.12513523
+v -0.12050350 -0.15416705 -0.12513165
+v -0.12039570 -0.16048658 -0.12511722
+v -0.12364730 -0.15416706 -0.12334016
+v -0.12353951 -0.16048659 -0.12321377
+v -0.12320418 -0.16680612 -0.12289955
+v -0.11932981 -0.17056684 -0.12477594
+v -0.12147358 -0.17170065 -0.12121104
+v -0.12153946 -0.17345404 -0.11500586
+v -0.12153946 -0.17351601 -0.10871219
+v -0.12153946 -0.17351601 -0.10864176
+v -0.11525782 -0.11198738 -0.10864153
+v -0.11525782 -0.11748287 -0.11396724
+v -0.11529375 -0.12259424 -0.11713847
+v -0.10269457 -0.13755662 -0.12513881
+v -0.10269457 -0.14153420 -0.12651132
+v -0.11525782 -0.14153420 -0.12573297
+v -0.10897619 -0.12140468 -0.11714209
+v -0.11525782 -0.14784752 -0.12612127
+v -0.11525782 -0.15416705 -0.12604725
+v -0.11525782 -0.16048658 -0.12590822
+v -0.12006037 -0.16680611 -0.12502153
+v -0.11525782 -0.16680611 -0.12566986
+v -0.11525782 -0.17095097 -0.12499265
+v -0.11525782 -0.17357173 -0.12129592
+v -0.11525782 -0.17499055 -0.11500586
+v -0.12146760 -0.17353460 -0.10864176
+v -0.11070080 -0.11186966 -0.10864153
+v -0.10871272 -0.11186966 -0.10873364
+v -0.10897619 -0.11753244 -0.11399614
+v -0.09641893 -0.13789737 -0.12484986
+v -0.09641893 -0.14153420 -0.12624224
+v -0.09641893 -0.14784751 -0.12709105
+v -0.10269457 -0.14784751 -0.12694477
+v -0.10897619 -0.14784751 -0.12670278
+v -0.10269457 -0.11812721 -0.11316179
+v -0.09318530 -0.13830009 -0.12450673
+v -0.10897619 -0.15416705 -0.12649513
+v -0.09641893 -0.16048657 -0.12676062
+v -0.09641893 -0.16680611 -0.12610508
+v -0.10897619 -0.17105630 -0.12504683
+v -0.10897619 -0.17370803 -0.12129592
+v -0.10269457 -0.17376998 -0.12129592
+v -0.09641893 -0.17516403 -0.11500586
+v -0.11525782 -0.17478611 -0.10864176
+v -0.10808995 -0.11186966 -0.10864153
+v -0.10290416 -0.11281759 -0.10864153
+v -0.09164633 -0.14153420 -0.12519300
+v -0.08951453 -0.14722177 -0.12595332
+v -0.09014330 -0.15416704 -0.12681839
+v -0.09641893 -0.15416704 -0.12696467
+v -0.09908369 -0.11887689 -0.11234192
+v -0.08700547 -0.14469396 -0.12443451
+v -0.09670636 -0.11655974 -0.10864155
+v -0.08958040 -0.16101320 -0.12591364
+v -0.09126309 -0.16680611 -0.12539896
+v -0.09256851 -0.17069695 -0.12484998
+v -0.09641893 -0.17108108 -0.12505405
+v -0.10269457 -0.17109348 -0.12505224
+v -0.09641893 -0.17376998 -0.12129592
+v -0.07758004 -0.17482948 -0.10871219
+v -0.07758004 -0.17483568 -0.10864176
+v -0.09007144 -0.17497198 -0.10864176
+v -0.09014330 -0.17497198 -0.10864176
+v -0.08623299 -0.14890698 -0.12507203
+v -0.08622701 -0.15925985 -0.12506304
+v -0.08584376 -0.15416705 -0.12538086
+v -0.06776537 -0.14738292 -0.10864166
+v -0.06466947 -0.15416711 -0.10864169
+v -0.08711924 -0.16347287 -0.12437138
+v -0.07301702 -0.17135992 -0.11303919
+v -0.07750818 -0.17482948 -0.10864176
+v -0.07107086 -0.17245657 -0.10880789
+v -0.07540033 -0.15416708 -0.11753409
+v -0.07530452 -0.16048661 -0.11788989
+v -0.07201100 -0.16680615 -0.11416788
+v -0.06509463 -0.16048664 -0.10864171
+v -0.07167567 -0.16048662 -0.11474576
+v -0.06768752 -0.16907376 -0.10864174
+v -0.07072354 -0.17232646 -0.10864175
+v -0.06620843 -0.16650877 -0.10864173
+v -0.07107684 -0.17250613 -0.10864175
+v -0.07090318 -0.17243798 -0.10864175
+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 8
+f 2 8 24
+f 2 24 41
+f 2 41 57
+f 2 57 75
+f 2 75 94
+f 2 94 93
+f 2 93 92
+f 2 92 102
+f 2 102 112
+f 2 112 113
+f 2 113 110
+f 2 110 109
+f 2 109 111
+f 2 111 107
+f 2 107 99
+f 2 99 98
+f 2 98 84
+f 2 84 77
+f 2 77 76
+f 2 76 58
+f 2 58 42
+f 2 42 27
+f 2 27 26
+f 2 26 25
+f 2 25 10
+f 2 10 3
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 24
+f 7 24 8
+f 10 25 11
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 15
+f 12 15 14
+f 12 14 13
+f 15 30 31
+f 15 31 16
+f 15 29 30
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 19
+f 16 19 18
+f 16 18 17
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 21
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 21 36 37
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 29 44 48
+f 29 48 45
+f 30 47 49
+f 30 49 31
+f 31 49 32
+f 32 49 33
+f 33 35 34
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 35
+f 35 52 36
+f 36 52 37
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 55 39
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 40 57 41
+f 42 58 59
+f 42 59 43
+f 43 60 48
+f 43 48 44
+f 43 59 60
+f 45 61 62
+f 45 62 46
+f 45 48 61
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 65 49
+f 48 60 66
+f 48 66 67
+f 48 67 61
+f 49 65 50
+f 50 65 51
+f 51 53 52
+f 51 65 68
+f 51 68 53
+f 53 68 69
+f 53 69 70
+f 53 70 54
+f 54 71 55
+f 54 70 71
+f 55 72 56
+f 55 71 72
+f 56 72 73
+f 56 73 74
+f 56 74 75
+f 56 75 57
+f 58 76 59
+f 59 76 60
+f 60 76 77
+f 60 77 66
+f 61 67 62
+f 62 78 79
+f 62 79 63
+f 62 67 78
+f 63 79 80
+f 63 80 81
+f 63 81 64
+f 64 81 69
+f 64 69 68
+f 64 68 65
+f 66 77 82
+f 66 82 67
+f 67 83 78
+f 67 82 84
+f 67 84 83
+f 69 81 80
+f 69 80 70
+f 70 80 85
+f 70 85 86
+f 70 86 87
+f 70 87 88
+f 70 88 89
+f 70 89 71
+f 71 89 73
+f 71 73 72
+f 73 89 90
+f 73 90 74
+f 74 91 92
+f 74 92 93
+f 74 93 94
+f 74 94 75
+f 74 90 91
+f 77 84 82
+f 78 83 79
+f 79 83 95
+f 79 95 80
+f 80 96 85
+f 80 95 97
+f 80 97 96
+f 83 84 98
+f 83 98 99
+f 83 99 95
+f 85 96 86
+f 86 96 100
+f 86 100 87
+f 87 101 90
+f 87 90 88
+f 87 100 101
+f 88 90 89
+f 90 101 91
+f 91 102 92
+f 91 101 103
+f 91 103 102
+f 95 99 104
+f 95 104 97
+f 96 97 105
+f 96 105 106
+f 96 106 100
+f 97 104 105
+f 99 107 108
+f 99 108 105
+f 99 105 104
+f 100 106 101
+f 101 109 110
+f 101 110 103
+f 101 106 111
+f 101 111 109
+f 102 103 112
+f 103 110 113
+f 103 113 112
+f 105 108 106
+f 106 108 107
+f 106 107 111
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_3.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01858945 -0.17525874 0.05487962
+v 0.03548499 -0.17471761 0.00453969
+v 0.03548499 -0.17471763 0.01083218
+v 0.01858945 -0.17519514 0.06746460
+v 0.01858945 -0.17442045 -0.03948685
+v 0.02292092 -0.17452652 -0.03948685
+v 0.03548499 -0.17456901 -0.02060937
+v 0.04176104 -0.17426148 -0.00173190
+v 0.05929813 -0.17216165 0.09263458
+v 0.01858945 -0.17499371 0.09269729
+v 0.01858945 -0.17505733 0.08642570
+v 0.01858945 -0.17432497 -0.04381423
+v 0.01858945 -0.17213975 -0.09611925
+v 0.05929813 -0.17224582 -0.09611925
+v 0.02920495 -0.17451594 -0.03319435
+v 0.04176104 -0.17421903 -0.00802439
+v 0.05929813 -0.17147222 0.09761004
+v 0.01858945 -0.17443156 0.09892706
+v 0.01858945 -0.17113207 -0.10241174
+v 0.02292092 -0.17114267 -0.10241174
+v 0.02920495 -0.17112145 -0.10241174
+v 0.05929813 -0.17201246 -0.09728996
+v 0.05929813 -0.17128130 0.09892707
+v 0.05929813 -0.17042215 0.10158204
+v 0.01858945 -0.17258597 0.10461331
+v 0.01858945 -0.17040017 -0.10462771
+v 0.02292092 -0.17007135 -0.10565205
+v 0.05929813 -0.17113208 -0.10170097
+v 0.02920495 -0.17005015 -0.10563114
+v 0.05929813 -0.17018880 0.10227191
+v 0.01858945 -0.17214048 0.10475964
+v 0.01858945 -0.17006075 -0.10565205
+v 0.02292092 -0.16680441 -0.10627921
+v 0.02920495 -0.16680441 -0.10625830
+v 0.05929813 -0.16839546 -0.10485766
+v 0.03423775 -0.17000772 -0.10558933
+v 0.03842577 -0.16994408 -0.10554752
+v 0.05929813 -0.16680518 0.10310815
+v 0.01858945 -0.16680519 0.10624394
+v 0.01858945 -0.16782269 -0.10607016
+v 0.01858945 -0.16680441 -0.10625830
+v 0.01858945 -0.16048267 -0.10692724
+v 0.02920495 -0.16048267 -0.10692724
+v 0.05929813 -0.16523459 -0.10604925
+v 0.03599106 -0.16741962 -0.10604925
+v 0.05929813 -0.16048267 -0.10680183
+v 0.05929813 -0.16179872 0.10394438
+v 0.01858945 -0.16638092 0.10630666
+v 0.05929813 -0.16048344 0.10415343
+v 0.01858945 -0.15612323 -0.10713627
+v 0.05929813 -0.15416094 -0.10721990
+v 0.05929813 -0.15916742 -0.10690634
+v 0.05929813 -0.13520712 0.10549146
+v 0.04804108 -0.07201094 0.10561713
+v 0.02920495 -0.07201094 0.10555442
+v 0.01858945 -0.15843632 0.10620216
+v 0.05929813 -0.15547698 0.10488514
+v 0.05929813 -0.15416172 0.10507329
+v 0.01858945 -0.15416094 -0.10721990
+v 0.02920495 -0.09097537 -0.10726147
+v 0.04176104 -0.09097537 -0.10724056
+v 0.05929813 -0.09097537 -0.10703151
+v 0.05929813 -0.07201094 0.10517813
+v 0.04804108 -0.06689839 0.10544990
+v 0.02920495 -0.06689839 0.10536628
+v 0.01858945 -0.09097615 0.10530348
+v 0.01858945 -0.09097537 -0.10719875
+v 0.02292092 -0.09097537 -0.10724056
+v 0.01858945 -0.07397244 -0.10717778
+v 0.02292092 -0.07201016 -0.10717777
+v 0.04804108 -0.07201016 -0.10709415
+v 0.05929813 -0.07201016 -0.10688512
+v 0.05929813 -0.06701507 0.10492727
+v 0.05929813 -0.06689839 0.10490636
+v 0.01858945 -0.06689838 0.10411196
+v 0.01858945 -0.07201093 0.10440462
+v 0.01858945 -0.07201016 -0.10715687
+v 0.02025510 -0.06689761 -0.10707324
+v 0.02412433 -0.06689761 -0.10707324
+v 0.04804108 -0.06689761 -0.10686420
+v 0.05929813 -0.06689761 -0.10665515
+v 0.01858945 -0.06689761 -0.10705233
+v 0.01858945 -0.06765070 -0.10707324
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 18
+f 1 18 25
+f 1 25 31
+f 1 31 39
+f 1 39 48
+f 1 48 56
+f 1 56 66
+f 1 66 76
+f 1 76 75
+f 1 75 82
+f 1 82 83
+f 1 83 77
+f 1 77 69
+f 1 69 67
+f 1 67 59
+f 1 59 50
+f 1 50 42
+f 1 42 41
+f 1 41 40
+f 1 40 32
+f 1 32 26
+f 1 26 19
+f 1 19 13
+f 1 13 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 14
+f 7 14 16
+f 7 16 8
+f 8 16 14
+f 8 14 9
+f 9 17 18
+f 9 18 10
+f 9 14 22
+f 9 22 28
+f 9 28 35
+f 9 35 44
+f 9 44 46
+f 9 46 52
+f 9 52 51
+f 9 51 62
+f 9 62 72
+f 9 72 81
+f 9 81 74
+f 9 74 73
+f 9 73 63
+f 9 63 53
+f 9 53 58
+f 9 58 57
+f 9 57 49
+f 9 49 47
+f 9 47 38
+f 9 38 30
+f 9 30 24
+f 9 24 23
+f 9 23 17
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 19 26 20
+f 20 26 27
+f 20 27 21
+f 21 28 22
+f 21 27 29
+f 21 29 28
+f 24 30 25
+f 25 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 29
+f 28 29 36
+f 28 36 37
+f 28 37 35
+f 29 34 36
+f 30 38 39
+f 30 39 31
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 34 44 45
+f 34 45 37
+f 34 37 36
+f 34 43 46
+f 34 46 44
+f 35 37 44
+f 37 45 44
+f 38 47 39
+f 39 47 49
+f 39 49 48
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 43 52 46
+f 48 53 54
+f 48 54 55
+f 48 55 56
+f 48 49 57
+f 48 57 58
+f 48 58 53
+f 50 59 51
+f 51 59 60
+f 51 60 61
+f 51 61 62
+f 53 63 54
+f 54 64 55
+f 54 63 64
+f 55 64 65
+f 55 65 66
+f 55 66 56
+f 59 67 68
+f 59 68 60
+f 60 68 69
+f 60 69 70
+f 60 70 61
+f 61 70 71
+f 61 71 62
+f 62 71 72
+f 63 73 64
+f 64 73 74
+f 64 74 81
+f 64 81 80
+f 64 80 79
+f 64 79 78
+f 64 78 82
+f 64 82 75
+f 64 75 65
+f 65 75 76
+f 65 76 66
+f 67 69 68
+f 69 77 70
+f 70 77 78
+f 70 78 79
+f 70 79 71
+f 71 79 80
+f 71 80 81
+f 71 81 72
+f 77 83 78
+f 78 83 82
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_4.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v 0.02025840 -0.06689761 -0.10706791
+v 0.02413199 -0.06689761 -0.10706791
+v 0.01858946 -0.06689761 -0.10704651
+v 0.10457087 -0.03407885 -0.11061954
+v 0.11085516 -0.03407885 -0.11059815
+v 0.11085516 -0.06689761 -0.10657580
+v 0.01858946 -0.05936275 -0.10717486
+v 0.01858946 -0.06689838 0.10411128
+v 0.10457087 -0.02776881 -0.11064091
+v 0.10457087 -0.00249587 -0.11066222
+v 0.10457087 0.02910898 -0.11068349
+v 0.11085516 0.02910898 -0.11059791
+v 0.11712914 -0.03407885 -0.11046977
+v 0.11202959 -0.06689761 -0.10649022
+v 0.01858946 0.00382508 -0.10717463
+v 0.02921093 -0.06689839 0.10537365
+v 0.01858946 -0.04672160 0.10774870
+v 0.10457087 0.03542995 -0.11059789
+v 0.11085516 0.03542995 -0.11053370
+v 0.01858946 0.02910896 -0.10708895
+v 0.01858946 0.04173997 -0.10704611
+v 0.11712914 -0.02776881 -0.11046974
+v 0.11712914 0.02910898 -0.11044814
+v 0.12285712 -0.01512688 -0.10796636
+v 0.12284681 -0.02776882 -0.10796640
+v 0.12282621 -0.03407886 -0.10796643
+v 0.12017857 -0.06689761 -0.10550600
+v 0.11703642 -0.06689761 -0.10604091
+v 0.06689605 -0.06689839 0.10550203
+v 0.02921093 -0.04040063 0.10779151
+v 0.03548492 0.03542914 0.10789877
+v 0.02921093 0.04173918 0.10783460
+v 0.02292664 0.04173918 0.10766344
+v 0.01858946 0.04173919 0.10740669
+v 0.10457087 0.04173998 -0.10907875
+v 0.11085516 0.04173998 -0.10907875
+v 0.01858946 0.04482390 -0.10696052
+v 0.01986692 0.04482390 -0.10698192
+v 0.11712914 0.03542995 -0.11036253
+v 0.12280561 0.03542994 -0.10788059
+v 0.12284681 0.02910897 -0.10794479
+v 0.12285712 0.02278800 -0.10794482
+v 0.12383582 0.02910896 -0.10567682
+v 0.12383582 -0.02402874 -0.10569840
+v 0.12383582 -0.02776883 -0.10569841
+v 0.12383582 -0.03407887 -0.10565565
+v 0.12041551 -0.06689761 -0.10490691
+v 0.09080725 -0.06689839 0.10483875
+v 0.04805349 -0.02144865 0.10783437
+v 0.05432747 -0.00249668 0.10768467
+v 0.04805349 0.02278720 0.10770616
+v 0.09200230 0.04482312 0.10481777
+v 0.02292664 0.04482312 0.10744949
+v 0.01858946 0.04482312 0.10734251
+v 0.10457087 0.04482391 -0.10815870
+v 0.02292664 0.04482390 -0.10702471
+v 0.10779542 0.04482391 -0.10815870
+v 0.11085516 0.04482391 -0.10813731
+v 0.11407972 0.04482391 -0.10794474
+v 0.11712914 0.04173998 -0.10869362
+v 0.12121908 0.04482390 -0.10640423
+v 0.12181660 0.04173997 -0.10693914
+v 0.12383582 0.04173996 -0.10242457
+v 0.12383582 0.03542993 -0.10556981
+v 0.12383582 -0.04039985 -0.10276720
+v 0.12141482 -0.06689762 -0.10236078
+v 0.09200230 -0.06689838 0.10477457
+v 0.09200230 -0.06568449 0.10479597
+v 0.05432747 0.00382429 0.10762050
+v 0.11085516 -0.06689838 0.10361918
+v 0.11085516 -0.05304255 0.10366203
+v 0.11085516 -0.02776960 0.10368352
+v 0.11712914 -0.00249666 0.10325569
+v 0.11712914 0.01646625 0.10325576
+v 0.11085516 0.03542916 0.10368375
+v 0.11085516 0.04482313 0.10366238
+v 0.11712914 0.04482391 -0.10766660
+v 0.12224929 0.04482389 -0.10407205
+v 0.12383582 0.04177276 -0.10240317
+v 0.12383582 -0.04088103 -0.10244626
+v 0.12256866 -0.06689765 -0.09611313
+v 0.11712914 -0.06689838 0.10316986
+v 0.11712914 -0.04040061 0.10321275
+v 0.12062156 -0.05936352 0.10239963
+v 0.12066277 -0.00881763 0.10244261
+v 0.12067307 -0.00249666 0.10244263
+v 0.12068338 0.01014528 0.10244268
+v 0.12067307 0.02278722 0.10244272
+v 0.12064216 0.04482313 0.10242141
+v 0.11883930 0.04482313 0.10282793
+v 0.11712914 0.02910819 0.10323441
+v 0.11712914 0.04173920 0.10321305
+v 0.11712914 0.04482313 0.10319167
+v 0.12291893 0.04482389 -0.10240316
+v 0.12369159 0.04482386 -0.09611272
+v 0.12383582 0.04415677 -0.09611272
+v 0.12383582 -0.04169030 -0.10111971
+v 0.12383582 -0.04351662 -0.09611304
+v 0.12258925 -0.06689767 -0.08982268
+v 0.12061125 -0.06689838 0.10237820
+v 0.12063186 -0.05304255 0.10239966
+v 0.12178569 -0.06689836 0.09893344
+v 0.12184751 -0.01512764 0.09893363
+v 0.12185781 -0.00249664 0.09893368
+v 0.12185781 0.02278724 0.09893377
+v 0.12182690 0.04482315 0.09893385
+v 0.12366068 0.04482384 -0.08982227
+v 0.12262016 0.04482317 0.09264340
+v 0.12383582 0.04394897 -0.08982227
+v 0.12383582 -0.04356037 -0.09296782
+v 0.12259957 -0.06689774 -0.07095134
+v 0.12179600 -0.05936350 0.09893347
+v 0.12262016 -0.06689834 0.09264299
+v 0.12263047 -0.02144859 0.09264316
+v 0.12263047 0.04173924 0.09264339
+v 0.12221838 0.04482316 0.09587420
+v 0.12383582 0.01646643 0.05376665
+v 0.12383582 0.02267805 0.05237593
+v 0.12383582 0.02861627 0.04820372
+v 0.12383582 0.03322032 0.04229842
+v 0.12383582 0.03687295 0.03622195
+v 0.12383582 0.03743069 0.03406095
+v 0.12383582 0.03910392 0.02657232
+v 0.12383582 0.03939919 0.02342710
+v 0.12383582 -0.04356038 -0.08982259
+v 0.12383582 -0.03862870 0.02342682
+v 0.12383582 -0.03763355 0.02971727
+v 0.12383582 -0.03592757 0.03831850
+v 0.12383582 -0.03148761 0.04499408
+v 0.12383582 -0.02810842 0.04903796
+v 0.12383582 -0.02391996 0.05231157
+v 0.12383582 -0.01863792 0.05340278
+v 0.12383582 -0.01512748 0.05376653
+v 0.12383582 -0.01336680 0.05380933
+v 0.12383582 -0.00881745 0.05383075
+v 0.12383582 0.01014546 0.05383082
+f 1 2 6
+f 1 6 14
+f 1 14 28
+f 1 28 27
+f 1 27 47
+f 1 47 66
+f 1 66 81
+f 1 81 99
+f 1 99 111
+f 1 111 113
+f 1 113 102
+f 1 102 100
+f 1 100 82
+f 1 82 70
+f 1 70 67
+f 1 67 48
+f 1 48 29
+f 1 29 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 4
+f 3 8 17
+f 3 17 34
+f 3 34 54
+f 3 54 37
+f 3 37 21
+f 3 21 20
+f 3 20 15
+f 3 15 7
+f 4 7 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 22
+f 5 22 13
+f 5 13 6
+f 6 13 14
+f 7 15 11
+f 7 11 10
+f 7 10 9
+f 8 16 17
+f 11 18 19
+f 11 19 12
+f 11 15 20
+f 11 20 21
+f 11 21 18
+f 12 19 23
+f 12 23 22
+f 13 22 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 18 35 36
+f 18 36 19
+f 18 21 37
+f 18 37 38
+f 18 38 35
+f 19 36 39
+f 19 39 23
+f 22 23 24
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 25
+f 25 45 46
+f 25 46 26
+f 26 46 27
+f 27 46 47
+f 29 48 30
+f 30 49 31
+f 30 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 53 54
+f 32 54 33
+f 32 52 53
+f 33 54 34
+f 35 55 57
+f 35 57 36
+f 35 38 56
+f 35 56 55
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 39
+f 37 54 53
+f 37 53 52
+f 37 52 76
+f 37 76 93
+f 37 93 90
+f 37 90 89
+f 37 89 106
+f 37 106 116
+f 37 116 108
+f 37 108 107
+f 37 107 95
+f 37 95 94
+f 37 94 78
+f 37 78 61
+f 37 61 77
+f 37 77 59
+f 37 59 58
+f 37 58 57
+f 37 57 55
+f 37 55 56
+f 37 56 38
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 40 62 63
+f 40 63 64
+f 40 64 41
+f 41 64 43
+f 41 43 42
+f 43 64 63
+f 43 63 79
+f 43 79 96
+f 43 96 109
+f 43 109 124
+f 43 124 123
+f 43 123 122
+f 43 122 121
+f 43 121 120
+f 43 120 119
+f 43 119 118
+f 43 118 117
+f 43 117 136
+f 43 136 135
+f 43 135 134
+f 43 134 133
+f 43 133 132
+f 43 132 131
+f 43 131 130
+f 43 130 129
+f 43 129 128
+f 43 128 127
+f 43 127 126
+f 43 126 125
+f 43 125 110
+f 43 110 98
+f 43 98 97
+f 43 97 80
+f 43 80 65
+f 43 65 46
+f 43 46 45
+f 43 45 44
+f 46 65 66
+f 46 66 47
+f 48 67 68
+f 48 68 49
+f 49 68 50
+f 50 69 51
+f 50 68 70
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 69
+f 51 69 52
+f 52 69 76
+f 59 77 60
+f 60 77 61
+f 61 78 63
+f 61 63 62
+f 63 78 79
+f 65 80 81
+f 65 81 66
+f 67 70 68
+f 70 82 71
+f 71 82 83
+f 71 83 73
+f 71 73 72
+f 73 83 84
+f 73 84 85
+f 73 85 86
+f 73 86 87
+f 73 87 74
+f 74 87 88
+f 74 88 89
+f 74 89 90
+f 74 90 91
+f 74 91 75
+f 75 91 92
+f 75 92 76
+f 76 92 93
+f 78 94 79
+f 79 94 95
+f 79 95 96
+f 80 97 81
+f 81 97 98
+f 81 98 99
+f 82 100 84
+f 82 84 83
+f 84 101 86
+f 84 86 85
+f 84 100 102
+f 84 102 101
+f 86 101 103
+f 86 103 104
+f 86 104 87
+f 87 104 105
+f 87 105 88
+f 88 105 106
+f 88 106 89
+f 90 93 92
+f 90 92 91
+f 95 107 96
+f 96 107 108
+f 96 108 109
+f 98 110 99
+f 99 110 111
+f 101 102 112
+f 101 112 103
+f 102 113 112
+f 103 112 113
+f 103 113 104
+f 104 113 114
+f 104 114 115
+f 104 115 105
+f 105 115 116
+f 105 116 106
+f 108 116 115
+f 108 115 117
+f 108 117 118
+f 108 118 119
+f 108 119 120
+f 108 120 121
+f 108 121 122
+f 108 122 123
+f 108 123 124
+f 108 124 109
+f 110 125 113
+f 110 113 111
+f 113 126 127
+f 113 127 128
+f 113 128 129
+f 113 129 130
+f 113 130 131
+f 113 131 132
+f 113 132 133
+f 113 133 134
+f 113 134 114
+f 113 125 126
+f 114 134 135
+f 114 135 136
+f 114 136 115
+f 115 136 117
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_5.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.02732907 0.05373430 -0.10709450
+v -0.04616885 0.05373430 -0.10705278
+v -0.02732907 0.05440146 -0.10711534
+v -0.02029277 0.05402023 -0.10653149
+v -0.02660295 0.05373430 -0.10703194
+v -0.06060847 0.05458016 -0.10646893
+v -0.04616885 0.05440146 -0.10707364
+v -0.06060847 0.05373430 -0.10615614
+v -0.06060847 0.05374621 -0.10617700
+v -0.02732907 0.06071562 -0.10713618
+v -0.02029277 0.07335585 -0.10699017
+v -0.02029277 0.05373430 -0.10638551
+v -0.02070713 0.05373430 -0.10651063
+v -0.06060847 0.07335585 -0.10694845
+v -0.06060847 0.15549950 -0.10717753
+v -0.04616885 0.07335585 -0.10711527
+v -0.06060847 0.05373353 0.10474422
+v -0.02732907 0.08599609 -0.10713608
+v -0.02732907 0.11127656 -0.10711513
+v -0.02029277 0.09231025 -0.10696924
+v -0.02029277 0.05373352 0.10572427
+v -0.06060847 0.15775116 -0.10696900
+v -0.02029277 0.15549950 -0.10680220
+v -0.04616885 0.05373352 0.10543235
+v -0.06060847 0.05883250 0.10497361
+v -0.02029277 0.13021904 -0.10688568
+v -0.02029277 0.13654433 0.10582884
+v -0.02732907 0.13654433 0.10584969
+v -0.04616885 0.13654433 0.10578713
+v -0.04616885 0.07335507 0.10562008
+v -0.06060847 0.16181366 -0.10653110
+v -0.02029277 0.16182557 -0.10619747
+v -0.06060847 0.07335507 0.10536986
+v -0.02029277 0.15646372 0.10528675
+v -0.06060847 0.13654433 0.10557861
+v -0.02029277 0.16292085 0.10507825
+v -0.06060847 0.15549872 0.10486970
+v -0.02732907 0.16549494 -0.10569697
+v -0.02105046 0.16559025 -0.10571783
+v -0.02029277 0.16560216 -0.10571783
+v -0.02029277 0.16513753 -0.10578039
+v -0.06060847 0.16631698 -0.10509226
+v -0.02029277 0.16849636 0.10428588
+v -0.06060847 0.15993056 0.10426500
+v -0.06060847 0.16813972 -0.10409135
+v -0.02029277 0.16837799 -0.10404963
+v -0.02029277 0.16992599 0.10384799
+v -0.06060847 0.16776964 0.10284708
+v -0.06060847 0.16182480 0.10399392
+v -0.06060847 0.16945021 -0.10325724
+v -0.02029277 0.16875923 -0.10382025
+v -0.02029277 0.17195129 0.10249259
+v -0.06060847 0.17092673 0.10163765
+v -0.06060847 0.17207118 -0.10104689
+v -0.02029277 0.17148741 -0.10106775
+v -0.02029277 0.17373833 0.09926050
+v -0.06060847 0.17162963 0.09942730
+v -0.02029277 0.17185673 -0.10069239
+v -0.06060847 0.17263110 -0.09612575
+v -0.02029277 0.17234517 -0.09666790
+v -0.02029277 0.17454847 0.09262946
+v -0.06060847 0.17192749 0.09848895
+v -0.02105046 0.17496594 -0.03949084
+v -0.02029277 0.17240474 -0.09612575
+v -0.06060847 0.17248744 0.09262945
+v -0.03989024 0.17541851 -0.00172729
+v -0.03989024 0.17541853 -0.00802469
+v -0.02029277 0.17456038 0.09144088
+v -0.06060847 0.17232064 0.09438105
+v -0.02029277 0.17494211 -0.03949084
+v -0.02029277 0.17491828 -0.04024152
+v -0.02029277 0.17507302 -0.00247797
+v -0.02029277 0.17507302 -0.00172729
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 21
+f 1 21 24
+f 1 24 17
+f 1 17 8
+f 1 8 2
+f 2 6 7
+f 2 8 9
+f 2 9 6
+f 3 7 10
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 20
+f 4 20 26
+f 4 26 23
+f 4 23 32
+f 4 32 41
+f 4 41 40
+f 4 40 46
+f 4 46 51
+f 4 51 55
+f 4 55 58
+f 4 58 60
+f 4 60 64
+f 4 64 71
+f 4 71 70
+f 4 70 72
+f 4 72 73
+f 4 73 68
+f 4 68 61
+f 4 61 56
+f 4 56 52
+f 4 52 47
+f 4 47 43
+f 4 43 36
+f 4 36 34
+f 4 34 27
+f 4 27 21
+f 4 21 12
+f 6 14 7
+f 6 9 8
+f 6 8 17
+f 6 17 25
+f 6 25 33
+f 6 33 35
+f 6 35 37
+f 6 37 44
+f 6 44 49
+f 6 49 48
+f 6 48 53
+f 6 53 57
+f 6 57 62
+f 6 62 69
+f 6 69 65
+f 6 65 59
+f 6 59 54
+f 6 54 50
+f 6 50 45
+f 6 45 42
+f 6 42 31
+f 6 31 22
+f 6 22 15
+f 6 15 14
+f 7 14 15
+f 7 15 16
+f 7 16 10
+f 10 15 18
+f 10 18 11
+f 10 16 15
+f 11 18 19
+f 11 19 20
+f 15 19 18
+f 15 22 23
+f 15 23 19
+f 17 24 25
+f 19 23 26
+f 19 26 20
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 24
+f 22 31 32
+f 22 32 23
+f 24 30 33
+f 24 33 25
+f 27 34 28
+f 28 34 29
+f 29 35 30
+f 29 34 36
+f 29 36 37
+f 29 37 35
+f 30 35 33
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 31 42 38
+f 36 43 44
+f 36 44 37
+f 38 42 39
+f 39 42 40
+f 40 42 45
+f 40 45 46
+f 43 47 48
+f 43 48 49
+f 43 49 44
+f 45 50 51
+f 45 51 46
+f 47 52 53
+f 47 53 48
+f 50 54 51
+f 51 54 55
+f 52 56 53
+f 53 56 57
+f 54 58 55
+f 54 59 60
+f 54 60 58
+f 56 61 62
+f 56 62 57
+f 59 63 64
+f 59 64 60
+f 59 65 66
+f 59 66 67
+f 59 67 63
+f 61 68 66
+f 61 66 65
+f 61 65 69
+f 61 69 62
+f 63 70 71
+f 63 71 64
+f 63 67 72
+f 63 72 70
+f 66 73 72
+f 66 72 67
+f 66 68 73
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_6.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.10870857 -0.11186966 -0.10872832
+v -0.11525636 -0.11186966 -0.10853577
+v -0.11525636 -0.03408223 -0.11046097
+v -0.10897709 -0.03408223 -0.11054655
+v -0.02029277 -0.10992457 -0.10695259
+v -0.02733629 -0.11186967 -0.10701679
+v -0.11894337 -0.11186967 -0.10733770
+v -0.12153563 -0.03408224 -0.10900616
+v -0.11525636 -0.02777689 -0.11050373
+v -0.10897709 -0.02777689 -0.11056792
+v -0.02029277 -0.09095995 -0.10708089
+v -0.02029277 -0.11073503 -0.10686703
+v -0.02029277 -0.11186967 -0.10673866
+v -0.12000713 -0.11186967 -0.10693121
+v -0.12153563 -0.02777690 -0.10902753
+v -0.12530526 -0.03408225 -0.10656723
+v -0.11525636 -0.02145535 -0.11052511
+v -0.10897709 -0.01513380 -0.11061066
+v -0.02029277 -0.04040379 -0.10716629
+v -0.02029277 -0.11187045 0.10485018
+v -0.12187645 -0.11186968 -0.10462064
+v -0.12153563 -0.01513381 -0.10904888
+v -0.12531559 -0.02777691 -0.10656720
+v -0.12531559 -0.00881228 -0.10658852
+v -0.12285758 -0.11186968 -0.10299467
+v -0.12373545 -0.11186969 -0.10053434
+v -0.12433445 -0.11186970 -0.09805260
+v -0.12580099 -0.03408226 -0.10241675
+v -0.10897709 0.02910080 -0.11063189
+v -0.11525636 0.02910080 -0.11052492
+v -0.02029277 0.00381460 -0.10712334
+v -0.02029277 -0.04672612 0.10750330
+v -0.02733629 -0.11187045 0.10555618
+v -0.12153563 0.01645770 -0.10904876
+v -0.12531559 0.01645769 -0.10658843
+v -0.12318807 -0.11187040 0.09263408
+v -0.12565639 -0.03408231 -0.08981555
+v -0.12568738 0.03542226 -0.08981529
+v -0.12579066 0.03542231 -0.10241649
+v -0.11525636 0.03542234 -0.11048211
+v -0.10897709 0.03542234 -0.11056769
+v -0.02029277 0.04174387 -0.10708041
+v -0.12153563 0.02910079 -0.10902732
+v -0.02029277 0.04250491 0.10765339
+v -0.02733629 -0.04040458 0.10784563
+v -0.04617409 -0.11187045 0.10549200
+v -0.12531559 0.02910078 -0.10656699
+v -0.12186611 -0.11187042 0.09892398
+v -0.12189710 -0.09728225 0.09892403
+v -0.12195907 -0.06567452 0.09892415
+v -0.12196940 -0.05936918 0.09892417
+v -0.12200037 -0.04040454 0.09892424
+v -0.12319840 -0.09096068 0.09263416
+v -0.12320873 0.03542159 0.09263462
+v -0.12320873 0.05372166 0.09263469
+v -0.12525361 0.04025260 -0.09610517
+v -0.12524329 0.04000949 -0.10241647
+v -0.12503674 0.03939355 -0.10611768
+v -0.12527428 0.03542232 -0.10648139
+v -0.10897709 0.05372239 -0.10669526
+v -0.12153563 0.03542233 -0.10894172
+v -0.11914993 0.05372239 -0.10596786
+v -0.11869550 0.05372239 -0.10605343
+v -0.11525636 0.05372239 -0.10652411
+v -0.11459538 0.05372239 -0.10654550
+v -0.02733629 0.05372239 -0.10710175
+v -0.04617409 0.05372239 -0.10703757
+v -0.02073686 0.05372239 -0.10652411
+v -0.02029277 0.05372239 -0.10637435
+v -0.02733629 0.04174308 0.10776035
+v -0.02029277 0.04806463 0.10720413
+v -0.03989483 0.02909999 0.10786729
+v -0.04617409 -0.01513461 0.10793130
+v -0.08384970 -0.11187045 0.10523528
+v -0.12020335 -0.11187043 0.10155546
+v -0.11947008 -0.10992534 0.10273216
+v -0.11953205 -0.08463917 0.10277504
+v -0.11957336 -0.05936920 0.10281792
+v -0.11960434 -0.04040456 0.10283938
+v -0.12201071 0.00381385 0.09892440
+v -0.11961467 -0.02777768 0.10283943
+v -0.12321905 0.05372168 0.08634479
+v -0.12201071 0.05372164 0.09892459
+v -0.12323971 0.05372233 -0.09047844
+v -0.12321905 0.05372235 -0.09610512
+v -0.12306414 0.05372236 -0.09678974
+v -0.12154595 0.05372238 -0.10241642
+v -0.12128777 0.05372238 -0.10280151
+v -0.02029277 0.05372161 0.10572795
+v -0.09012897 0.05372161 0.10495776
+v -0.02029277 0.04882646 0.10701158
+v -0.06502222 0.05372161 0.10536426
+v -0.04617409 0.01645690 0.10784584
+v -0.09012897 -0.09728228 0.10495720
+v -0.09012897 -0.10992535 0.10489298
+v -0.08578098 -0.11187045 0.10512831
+v -0.11525636 0.05372162 0.10360992
+v -0.11525636 -0.04672611 0.10360955
+v -0.11525636 -0.05936920 0.10358811
+v -0.11525636 -0.11187044 0.10341677
+v -0.11947008 -0.11187044 0.10271075
+v -0.11654733 -0.11187044 0.10320282
+v -0.11961467 -0.01513459 0.10283947
+v -0.11961467 0.05372162 0.10281834
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 20
+f 1 20 33
+f 1 33 46
+f 1 46 74
+f 1 74 96
+f 1 96 100
+f 1 100 102
+f 1 102 101
+f 1 101 75
+f 1 75 48
+f 1 48 36
+f 1 36 27
+f 1 27 26
+f 1 26 25
+f 1 25 21
+f 1 21 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 12 6
+f 5 11 19
+f 5 19 31
+f 5 31 42
+f 5 42 69
+f 5 69 89
+f 5 89 91
+f 5 91 71
+f 5 71 44
+f 5 44 32
+f 5 32 20
+f 5 20 13
+f 5 13 12
+f 6 12 13
+f 7 14 8
+f 8 15 9
+f 8 14 16
+f 8 16 15
+f 9 15 17
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 14 21 16
+f 15 22 17
+f 15 16 22
+f 16 23 24
+f 16 24 22
+f 16 21 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 23
+f 17 29 18
+f 17 22 34
+f 17 34 30
+f 17 30 29
+f 18 29 19
+f 19 29 31
+f 20 32 33
+f 22 24 35
+f 22 35 34
+f 23 28 24
+f 24 28 35
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 35
+f 29 30 40
+f 29 40 41
+f 29 41 42
+f 29 42 31
+f 30 34 43
+f 30 43 40
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 34 35 47
+f 34 47 43
+f 35 39 47
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 37 53 38
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 56 57
+f 39 57 58
+f 39 58 59
+f 39 59 47
+f 39 55 56
+f 40 60 41
+f 40 43 61
+f 40 61 62
+f 40 62 63
+f 40 63 64
+f 40 64 65
+f 40 65 60
+f 41 66 42
+f 41 60 67
+f 41 67 66
+f 42 66 68
+f 42 68 69
+f 43 47 61
+f 44 70 45
+f 44 71 70
+f 45 70 72
+f 45 72 73
+f 45 73 74
+f 45 74 46
+f 47 59 61
+f 48 75 76
+f 48 76 77
+f 48 77 78
+f 48 78 79
+f 48 79 49
+f 49 79 50
+f 50 79 51
+f 51 79 52
+f 52 80 53
+f 52 79 81
+f 52 81 80
+f 53 80 54
+f 54 80 83
+f 54 83 55
+f 55 82 56
+f 55 83 104
+f 55 104 97
+f 55 97 90
+f 55 90 92
+f 55 92 89
+f 55 89 69
+f 55 69 68
+f 55 68 66
+f 55 66 67
+f 55 67 60
+f 55 60 65
+f 55 65 64
+f 55 64 63
+f 55 63 62
+f 55 62 88
+f 55 88 87
+f 55 87 86
+f 55 86 85
+f 55 85 84
+f 55 84 82
+f 56 84 85
+f 56 85 57
+f 56 82 84
+f 57 85 58
+f 58 62 61
+f 58 61 59
+f 58 85 86
+f 58 86 87
+f 58 87 88
+f 58 88 62
+f 70 71 90
+f 70 90 72
+f 71 91 92
+f 71 92 90
+f 72 93 73
+f 72 90 93
+f 73 94 95
+f 73 95 96
+f 73 96 74
+f 73 93 97
+f 73 97 98
+f 73 98 99
+f 73 99 100
+f 73 100 94
+f 75 101 76
+f 76 101 102
+f 76 102 100
+f 76 100 99
+f 76 99 77
+f 77 99 78
+f 78 99 98
+f 78 98 79
+f 79 98 81
+f 80 81 103
+f 80 103 83
+f 81 98 97
+f 81 97 103
+f 83 103 104
+f 89 92 91
+f 90 97 93
+f 94 100 95
+f 95 100 96
+f 97 104 103
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_7.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.12383742 -0.03873231 0.01713165
+v 0.12383742 -0.03871697 0.01083881
+v 0.13960523 -0.01264423 0.00454605
+v 0.12383742 -0.03867107 0.02128767
+v 0.12383742 -0.03834936 -0.00802992
+v 0.13938505 -0.01231483 -0.03136824
+v 0.14017577 -0.00880798 0.00454607
+v 0.13930148 -0.01221554 0.03433414
+v 0.12383742 -0.03863279 0.02342449
+v 0.12383742 -0.03449772 -0.02690844
+v 0.12706941 -0.03164924 -0.03104485
+v 0.12733941 -0.03206273 -0.02690843
+v 0.13345786 -0.01255982 -0.04323838
+v 0.13712538 -0.00880781 -0.03949402
+v 0.13891576 -0.00880783 -0.03573008
+v 0.13959237 -0.00880784 -0.03258366
+v 0.13968238 -0.00248300 -0.03314235
+v 0.14025453 -0.00248314 0.00454609
+v 0.13969684 -0.00248325 0.03601030
+v 0.13945576 -0.00870089 0.03626513
+v 0.13898969 -0.01073771 0.03852937
+v 0.12383742 -0.03592986 0.03831364
+v 0.12706941 -0.03171839 0.03479476
+v 0.12732816 -0.03212420 0.02971735
+v 0.12383742 -0.03763738 0.02971733
+v 0.12383742 -0.03301987 -0.03294642
+v 0.12383742 -0.03259872 -0.03352473
+v 0.12559565 -0.02982680 -0.03524006
+v 0.12383742 -0.02722334 -0.03987637
+v 0.12566797 -0.02331818 -0.04159169
+v 0.12383742 -0.02161061 -0.04417939
+v 0.12383742 -0.02110524 -0.04449305
+v 0.13418751 -0.00880780 -0.04416954
+v 0.12383742 -0.02814987 -0.03896478
+v 0.13468733 -0.00248295 -0.04498308
+v 0.13781646 -0.00248297 -0.03949400
+v 0.13910862 -0.00248299 -0.03628876
+v 0.13971452 0.00382652 -0.03309332
+v 0.14023363 0.00382638 0.00454611
+v 0.13970969 0.00382627 0.03601032
+v 0.13922434 0.00382626 0.03931358
+v 0.13921148 -0.00248326 0.03929395
+v 0.13917612 -0.00652625 0.03923513
+v 0.12383742 -0.02392344 0.05232064
+v 0.12383742 -0.02811191 0.04903699
+v 0.12383742 -0.03148872 0.04499857
+v 0.12383742 -0.01510965 -0.04565947
+v 0.13467286 0.00382657 -0.04495366
+v 0.13778915 0.00382655 -0.03949398
+v 0.12969871 -0.00248295 -0.04612011
+v 0.12969871 0.00382657 -0.04610048
+v 0.13909416 0.00382653 -0.03623974
+v 0.13959397 0.01014370 -0.03231894
+v 0.14000863 0.01014356 0.00454614
+v 0.13943808 0.01016643 0.03621619
+v 0.13919380 0.00807600 0.03926459
+v 0.12383742 0.01646822 0.05377148
+v 0.12383742 0.01014338 0.05383027
+v 0.12383742 -0.00880816 0.05383020
+v 0.12383742 -0.01337184 0.05382038
+v 0.12383742 -0.01512534 0.05377136
+v 0.12383742 -0.01863999 0.05339888
+v 0.12383742 -0.00880779 -0.04602211
+v 0.12383742 0.01604744 -0.04570836
+v 0.13402518 0.01014374 -0.04399304
+v 0.13682967 0.01014373 -0.03949395
+v 0.13878236 0.01014371 -0.03546536
+v 0.12383742 -0.00248295 -0.04628674
+v 0.12383742 0.00382657 -0.04628672
+v 0.12383742 0.00972261 -0.04608085
+v 0.13934487 0.01358177 -0.03108388
+v 0.13945897 0.01373478 0.00454615
+v 0.13925487 0.01346667 0.03425582
+v 0.13897362 0.01228746 0.03845105
+v 0.12383742 0.02268587 0.05237963
+v 0.12383742 0.02191284 -0.04434587
+v 0.13326018 0.01368902 -0.04304224
+v 0.12702441 0.03287023 -0.03093678
+v 0.12728959 0.03322245 -0.02690819
+v 0.12731691 0.03328369 -0.02061534
+v 0.12383742 0.03944760 0.01083909
+v 0.12383742 0.03947822 0.01355423
+v 0.12383742 0.03947821 0.01713194
+v 0.12383742 0.03944757 0.01988627
+v 0.12383742 0.03939395 0.02342477
+v 0.12706781 0.03296188 0.03439311
+v 0.12731851 0.03332178 0.02971759
+v 0.12635584 0.03173671 0.03858834
+v 0.12383742 0.03322219 0.04230328
+v 0.12677369 0.02623117 0.04584176
+v 0.12383742 0.02862020 0.04820403
+v 0.12383742 0.02216553 -0.04421844
+v 0.12383742 0.02531262 -0.04210121
+v 0.12383742 0.02769401 -0.03995458
+v 0.12383742 0.03196670 -0.03607299
+v 0.12547189 0.03097126 -0.03513202
+v 0.12383742 0.03418727 -0.03283835
+v 0.12383742 0.03548132 -0.02736887
+v 0.12383742 0.03913373 -0.00802964
+v 0.12383742 0.03911062 0.02657119
+v 0.12383742 0.03742601 0.03406967
+v 0.12383742 0.03686704 0.03622610
+v 0.12383742 0.02865083 0.04817463
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 25
+f 1 25 22
+f 1 22 46
+f 1 46 45
+f 1 45 44
+f 1 44 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 58
+f 1 58 57
+f 1 57 75
+f 1 75 91
+f 1 91 103
+f 1 103 89
+f 1 89 102
+f 1 102 101
+f 1 101 100
+f 1 100 85
+f 1 85 84
+f 1 84 83
+f 1 83 82
+f 1 82 81
+f 1 81 99
+f 1 99 98
+f 1 98 97
+f 1 97 95
+f 1 95 94
+f 1 94 93
+f 1 93 92
+f 1 92 76
+f 1 76 64
+f 1 64 70
+f 1 70 69
+f 1 69 68
+f 1 68 63
+f 1 63 47
+f 1 47 32
+f 1 32 31
+f 1 31 29
+f 1 29 34
+f 1 34 27
+f 1 27 26
+f 1 26 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 7
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 11
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 9 24 25
+f 10 26 11
+f 11 26 27
+f 11 27 28
+f 11 28 13
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 14
+f 13 28 34
+f 13 34 29
+f 14 33 35
+f 14 35 36
+f 14 36 15
+f 15 37 16
+f 15 36 37
+f 16 37 17
+f 17 37 38
+f 17 38 18
+f 18 38 39
+f 18 39 40
+f 18 40 19
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 20
+f 20 43 21
+f 21 43 44
+f 21 44 45
+f 21 45 46
+f 21 46 22
+f 22 25 23
+f 23 25 24
+f 27 34 28
+f 29 31 30
+f 32 47 33
+f 33 47 35
+f 35 48 49
+f 35 49 36
+f 35 47 50
+f 35 50 51
+f 35 51 48
+f 36 49 37
+f 37 52 38
+f 37 49 52
+f 38 52 53
+f 38 53 39
+f 39 53 54
+f 39 54 40
+f 40 55 56
+f 40 56 41
+f 40 54 55
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 42
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 44
+f 47 63 50
+f 48 51 64
+f 48 64 65
+f 48 65 66
+f 48 66 49
+f 49 66 67
+f 49 67 52
+f 50 68 69
+f 50 69 51
+f 50 63 68
+f 51 69 70
+f 51 70 64
+f 52 67 53
+f 53 67 71
+f 53 71 54
+f 54 71 72
+f 54 72 73
+f 54 73 55
+f 55 73 74
+f 55 74 56
+f 56 74 75
+f 56 75 57
+f 64 76 65
+f 65 76 77
+f 65 77 66
+f 66 77 71
+f 66 71 67
+f 71 77 78
+f 71 78 79
+f 71 79 80
+f 71 80 81
+f 71 81 82
+f 71 82 72
+f 72 82 83
+f 72 83 84
+f 72 84 85
+f 72 85 73
+f 73 86 74
+f 73 85 87
+f 73 87 86
+f 74 86 88
+f 74 88 89
+f 74 89 90
+f 74 90 75
+f 75 90 91
+f 76 92 77
+f 77 92 93
+f 77 93 94
+f 77 94 95
+f 77 95 96
+f 77 96 78
+f 78 96 95
+f 78 95 97
+f 78 97 98
+f 78 98 99
+f 78 99 79
+f 79 99 80
+f 80 99 81
+f 85 100 87
+f 86 101 102
+f 86 102 88
+f 86 87 100
+f 86 100 101
+f 88 102 89
+f 89 103 90
+f 90 103 91
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_8.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00407549 0.09231377 0.15404245
+v -0.00220116 0.09231377 0.15403360
+v 0.00352697 0.09175682 0.15402771
+v 0.00407549 0.09175682 0.15402771
+v 0.00892859 0.09175683 0.15322293
+v 0.00893382 0.09231378 0.15322883
+v 0.00407549 0.15428229 0.15141020
+v -0.00751137 0.09231378 0.15321998
+v -0.00749569 0.09175683 0.15321409
+v -0.00265304 0.09175682 0.15395401
+v -0.00220116 0.09175682 0.15401886
+v -0.00220116 0.15428229 0.15139546
+v 0.01206822 0.09175684 0.14942899
+v 0.01207344 0.09231379 0.14942899
+v 0.01093983 0.15428230 0.14925824
+v 0.00994466 0.15428230 0.14959430
+v 0.00412511 0.15428229 0.15140136
+v -0.01065099 0.09231379 0.15079976
+v -0.00874684 0.15428230 0.15023990
+v -0.00948082 0.15428230 0.14979476
+v -0.01063794 0.09175684 0.15079092
+v 0.01353094 0.09175685 0.14628358
+v 0.01353094 0.09231380 0.14628358
+v 0.01352833 0.09863000 0.14623938
+v 0.01355968 0.15428231 0.14566181
+v -0.01195961 0.09231380 0.14765436
+v -0.01076592 0.09175684 0.15051676
+v -0.01214245 0.15428231 0.14739517
+v 0.01356229 0.09175686 0.14327084
+v 0.01391491 0.15428234 0.13751383
+v 0.01380520 0.15428233 0.14252230
+v 0.01378953 0.15428232 0.14294385
+v -0.01195961 0.09175685 0.14764552
+v -0.01271187 0.15428232 0.14298217
+v 0.01356490 0.09175686 0.14298194
+v 0.01392274 0.15428235 0.13669431
+v -0.01198834 0.09175685 0.14724460
+v -0.01276150 0.15428235 0.13669431
+v -0.01229133 0.09175686 0.14298194
+v 0.01353617 0.09175688 0.13970978
+v 0.01376341 0.15428237 0.13156792
+v 0.01352311 0.10149436 0.13346027
+v -0.01269097 0.15428235 0.13585416
+v -0.01195961 0.10495236 0.13239315
+v -0.01229917 0.10495235 0.13669413
+v -0.01227566 0.09175687 0.14243363
+v 0.01353094 0.09175688 0.13938846
+v 0.01071781 0.15428239 0.12591091
+v 0.01315743 0.09175689 0.13624305
+v 0.01028945 0.09175690 0.13207178
+v 0.01001518 0.09175691 0.13168856
+v 0.01160067 0.10495237 0.13025297
+v 0.01185665 0.11127469 0.13023825
+v -0.01226260 0.15428237 0.13094002
+v -0.01026181 0.11127470 0.12912101
+v -0.01005807 0.10495238 0.12924480
+v -0.01174542 0.09175690 0.13337181
+v -0.01204842 0.09175689 0.13639929
+v -0.01207715 0.09175689 0.13669408
+v -0.01074764 0.15428238 0.12806877
+v 0.00984279 0.15428239 0.12490863
+v 0.00460311 0.09175691 0.12990803
+v 0.00786289 0.10117613 0.12697784
+v 0.00846104 0.10495238 0.12670961
+v -0.00823489 0.15428239 0.12472880
+v -0.00691583 0.10495238 0.12665950
+v -0.00624454 0.10104760 0.12691004
+v -0.00848303 0.09175691 0.13149105
+v 0.00478334 0.15428239 0.12402720
+v 0.00407549 0.09175691 0.12974884
+v 0.00407549 0.10077218 0.12678623
+v 0.00407549 0.10495239 0.12610823
+v -0.00220116 0.15428239 0.12392697
+v -0.00220116 0.10495239 0.12605812
+v -0.00220116 0.10068038 0.12673612
+v -0.00220116 0.09175691 0.12972820
+v 0.00407549 0.15428239 0.12393287
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 7 12
+f 2 12 8
+f 3 11 10
+f 3 10 9
+f 3 9 21
+f 3 21 27
+f 3 27 33
+f 3 33 37
+f 3 37 39
+f 3 39 46
+f 3 46 59
+f 3 59 58
+f 3 58 57
+f 3 57 68
+f 3 68 76
+f 3 76 70
+f 3 70 62
+f 3 62 51
+f 3 51 50
+f 3 50 49
+f 3 49 47
+f 3 47 40
+f 3 40 35
+f 3 35 29
+f 3 29 22
+f 3 22 13
+f 3 13 5
+f 3 5 4
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 16
+f 7 16 15
+f 7 15 25
+f 7 25 32
+f 7 32 31
+f 7 31 30
+f 7 30 36
+f 7 36 41
+f 7 41 48
+f 7 48 61
+f 7 61 69
+f 7 69 77
+f 7 77 73
+f 7 73 65
+f 7 65 60
+f 7 60 54
+f 7 54 43
+f 7 43 38
+f 7 38 34
+f 7 34 28
+f 7 28 20
+f 7 20 19
+f 7 19 12
+f 8 18 9
+f 8 12 19
+f 8 19 20
+f 8 20 18
+f 9 18 21
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 18 26 27
+f 18 27 21
+f 18 20 28
+f 18 28 26
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 23 32 25
+f 23 25 24
+f 26 33 27
+f 26 28 33
+f 28 34 33
+f 29 35 36
+f 29 36 30
+f 33 34 37
+f 34 38 39
+f 34 39 37
+f 35 40 36
+f 36 40 42
+f 36 42 41
+f 38 43 44
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 40 47 42
+f 41 42 48
+f 42 47 49
+f 42 49 50
+f 42 50 51
+f 42 51 52
+f 42 52 53
+f 42 53 48
+f 43 54 44
+f 44 55 56
+f 44 56 57
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 44 54 60
+f 44 60 55
+f 45 59 46
+f 48 53 52
+f 48 52 61
+f 51 62 63
+f 51 63 64
+f 51 64 52
+f 52 64 61
+f 55 60 65
+f 55 65 56
+f 56 66 67
+f 56 67 57
+f 56 65 66
+f 57 67 68
+f 61 64 69
+f 62 70 63
+f 63 71 72
+f 63 72 64
+f 63 70 71
+f 64 72 69
+f 65 73 66
+f 66 74 67
+f 66 73 74
+f 67 74 75
+f 67 75 76
+f 67 76 68
+f 69 72 77
+f 70 76 75
+f 70 75 71
+f 71 75 72
+f 72 75 74
+f 72 74 77
+f 73 77 74
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_9.obj

@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.00220099 0.15428239 0.12393233
+v 0.00407739 0.15428239 0.12393233
+v -0.00823520 0.15428239 0.12473272
+v -0.00220099 0.15510418 0.10806911
+v 0.00407739 0.15509646 0.10806911
+v 0.00478317 0.15428239 0.12402682
+v -0.01074722 0.15428238 0.12806766
+v -0.00843255 0.15547454 0.10806911
+v 0.01028553 0.15558256 0.10806911
+v 0.00984401 0.15428239 0.12491058
+v -0.01226246 0.15428237 0.13094128
+v -0.01250999 0.15657404 0.10806912
+v 0.01481453 0.15731475 0.10806912
+v 0.01376423 0.15428237 0.13156936
+v 0.01071703 0.15428239 0.12591107
+v -0.01269061 0.15428235 0.13585477
+v -0.01406202 0.15752307 0.10806912
+v 0.01696196 0.16168187 0.10806913
+v 0.01392144 0.15428235 0.13668851
+v -0.01276086 0.15428235 0.13668851
+v -0.01547692 0.16168958 0.10806913
+v 0.01783833 0.16815153 0.10806916
+v 0.01654385 0.16815136 0.15556436
+v 0.01570428 0.16183219 0.14298046
+v 0.01379099 0.15428232 0.14294153
+v 0.01380437 0.15428233 0.14251911
+v 0.01391475 0.15428234 0.13751113
+v -0.01271068 0.15428232 0.14298044
+v -0.01590841 0.16342176 0.10806914
+v 0.01782495 0.17435500 0.10806918
+v 0.01735332 0.18078591 0.15556440
+v 0.01730649 0.17446671 0.15556438
+v 0.01560059 0.17446669 0.16101145
+v 0.01482122 0.16815134 0.16018325
+v 0.01386793 0.16461368 0.15916051
+v 0.01466067 0.16335216 0.15556434
+v 0.01356019 0.15428231 0.14565951
+v -0.01214205 0.15428231 0.14739369
+v -0.01477783 0.16815136 0.15556436
+v -0.01440320 0.16183219 0.14298046
+v -0.01633321 0.16815153 0.10806916
+v -0.01552375 0.17446671 0.15556438
+v 0.01573438 0.18006466 0.10806920
+v 0.01669437 0.18710518 0.13668863
+v 0.01688837 0.18710515 0.14298056
+v 0.01677465 0.18710513 0.14927249
+v 0.01552031 0.18763749 0.15602020
+v 0.01476436 0.18588214 0.16001656
+v 0.01550358 0.18078589 0.16085584
+v 0.01035578 0.17446668 0.16407960
+v 0.01035578 0.16815133 0.16257330
+v 0.01035578 0.16401183 0.15991643
+v 0.01093779 0.15428230 0.14925569
+v -0.00947950 0.15428230 0.14979485
+v -0.01204839 0.16458281 0.15917163
+v -0.01284448 0.16328272 0.15556434
+v -0.01303514 0.16815134 0.16019993
+v -0.01383122 0.17446669 0.16103368
+v -0.01624959 0.16999173 0.10806916
+v -0.01552375 0.18078591 0.15556440
+v 0.01331267 0.18105612 0.10806921
+v 0.01419907 0.19085890 0.13269226
+v 0.01485467 0.19146457 0.13668864
+v 0.01507209 0.19168446 0.14298057
+v 0.01483795 0.19143752 0.14927250
+v 0.01293470 0.19009495 0.15842137
+v 0.01429273 0.19093985 0.15422489
+v 0.01064678 0.18763747 0.16090033
+v 0.01035578 0.18078588 0.16384618
+v 0.00407739 0.16815133 0.16351820
+v 0.00407739 0.18078587 0.16474661
+v 0.00407739 0.17446667 0.16485219
+v 0.00407739 0.16357975 0.16047782
+v 0.00412757 0.15428229 0.15140118
+v 0.00994435 0.15428230 0.14959475
+v -0.00874697 0.15428230 0.15023950
+v -0.00848272 0.16400411 0.15990532
+v -0.00848272 0.16815133 0.16255106
+v -0.00848272 0.17446668 0.16409072
+v -0.00848272 0.18078588 0.16391288
+v -0.01368070 0.18078589 0.16090586
+v -0.01579803 0.17439358 0.10806918
+v -0.01500863 0.18710515 0.14298056
+v -0.01287793 0.18589758 0.16006659
+v -0.01361715 0.18764521 0.15603131
+v -0.01484473 0.18710513 0.14927249
+v 0.01035578 0.18225979 0.10806921
+v 0.01035578 0.19129099 0.13194746
+v 0.01035578 0.19291128 0.13668865
+v 0.01035578 0.19339735 0.14298058
+v 0.01035578 0.19296911 0.14927251
+v 0.01064678 0.19139121 0.15602021
+v 0.00874688 0.19055404 0.15912726
+v 0.00407739 0.18710508 0.16231213
+v -0.00220099 0.17446667 0.16484108
+v -0.00220099 0.16815133 0.16347373
+v -0.00220099 0.16359518 0.16045559
+v -0.00220099 0.18078587 0.16476884
+v -0.00220099 0.15428229 0.15139562
+v 0.00407739 0.15428229 0.15140674
+v -0.00220099 0.18710508 0.16231213
+v -0.00880049 0.18764519 0.16093368
+v -0.01504208 0.17691663 0.10806919
+v -0.01487483 0.18710518 0.13668863
+v -0.01319569 0.19169603 0.14298057
+v -0.01110513 0.19011039 0.15844360
+v -0.01236616 0.19091284 0.15424712
+v -0.01291472 0.19143367 0.14927250
+v -0.00220099 0.18209390 0.10806921
+v -0.00220099 0.19141060 0.13161396
+v 0.00407739 0.19142601 0.13160284
+v 0.00407739 0.19316205 0.13668865
+v 0.00407739 0.19369054 0.14298058
+v 0.00407739 0.19332789 0.14927251
+v 0.00407739 0.19207406 0.15556445
+v 0.00407739 0.19070450 0.15937183
+v -0.00220099 0.19070063 0.15937183
+v -0.00691731 0.19054631 0.15912726
+v -0.01359708 0.17977531 0.10806920
+v -0.01300838 0.19145687 0.13668864
+v -0.00848272 0.19340892 0.14298058
+v -0.00880049 0.19136806 0.15603132
+v -0.00848272 0.19296138 0.14927251
+v -0.00848272 0.18195887 0.10806921
+v -0.00848272 0.19127171 0.13196968
+v -0.00848272 0.19288429 0.13668865
+v -0.00220099 0.19313890 0.13668865
+v -0.00220099 0.19369440 0.14298058
+v -0.00220099 0.19332403 0.14927251
+v -0.00220099 0.19206248 0.15556445
+v -0.01235278 0.19085506 0.13270338
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 14
+f 1 14 19
+f 1 19 27
+f 1 27 26
+f 1 26 25
+f 1 25 37
+f 1 37 53
+f 1 53 75
+f 1 75 74
+f 1 74 100
+f 1 100 99
+f 1 99 76
+f 1 76 54
+f 1 54 38
+f 1 38 28
+f 1 28 20
+f 1 20 16
+f 1 16 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 12
+f 4 12 17
+f 4 17 21
+f 4 21 29
+f 4 29 41
+f 4 41 59
+f 4 59 82
+f 4 82 103
+f 4 103 119
+f 4 119 124
+f 4 124 109
+f 4 109 87
+f 4 87 61
+f 4 61 43
+f 4 43 30
+f 4 30 22
+f 4 22 18
+f 4 18 13
+f 4 13 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 14
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 20 28 21
+f 21 28 29
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 25
+f 23 25 24
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 40 39
+f 29 39 42
+f 29 42 41
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 33
+f 31 33 32
+f 33 50 34
+f 33 49 50
+f 34 50 51
+f 34 51 35
+f 35 51 52
+f 35 52 53
+f 35 53 37
+f 35 37 36
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 55
+f 39 55 57
+f 39 57 58
+f 39 58 42
+f 41 42 60
+f 41 60 59
+f 42 58 60
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 44 63 64
+f 44 64 45
+f 45 64 46
+f 46 64 65
+f 46 65 47
+f 47 66 48
+f 47 65 67
+f 47 67 66
+f 48 68 69
+f 48 69 49
+f 48 66 68
+f 49 69 50
+f 50 70 51
+f 50 69 71
+f 50 71 72
+f 50 72 70
+f 51 70 52
+f 52 70 73
+f 52 73 74
+f 52 74 75
+f 52 75 53
+f 54 76 55
+f 55 77 78
+f 55 78 57
+f 55 76 77
+f 57 78 79
+f 57 79 58
+f 58 79 80
+f 58 80 81
+f 58 81 60
+f 59 60 83
+f 59 83 82
+f 60 81 84
+f 60 84 85
+f 60 85 86
+f 60 86 83
+f 61 87 62
+f 62 87 88
+f 62 88 89
+f 62 89 63
+f 63 89 90
+f 63 90 64
+f 64 90 65
+f 65 90 91
+f 65 91 67
+f 66 67 92
+f 66 92 93
+f 66 93 68
+f 67 91 92
+f 68 93 94
+f 68 94 69
+f 69 94 71
+f 70 72 95
+f 70 95 96
+f 70 96 97
+f 70 97 73
+f 71 98 72
+f 71 94 98
+f 72 98 95
+f 73 97 99
+f 73 99 100
+f 73 100 74
+f 76 99 77
+f 77 97 96
+f 77 96 78
+f 77 99 97
+f 78 96 79
+f 79 95 98
+f 79 98 80
+f 79 96 95
+f 80 98 101
+f 80 101 102
+f 80 102 84
+f 80 84 81
+f 82 83 104
+f 82 104 103
+f 83 86 105
+f 83 105 104
+f 84 102 106
+f 84 106 85
+f 85 107 108
+f 85 108 86
+f 85 106 107
+f 86 108 105
+f 87 109 110
+f 87 110 111
+f 87 111 88
+f 88 111 89
+f 89 111 112
+f 89 112 113
+f 89 113 90
+f 90 113 114
+f 90 114 91
+f 91 114 115
+f 91 115 92
+f 92 115 93
+f 93 116 94
+f 93 115 116
+f 94 101 98
+f 94 116 101
+f 101 116 117
+f 101 117 118
+f 101 118 102
+f 102 118 106
+f 103 104 120
+f 103 120 119
+f 104 105 120
+f 105 121 120
+f 105 108 121
+f 106 118 122
+f 106 122 107
+f 107 122 123
+f 107 123 108
+f 108 123 121
+f 109 124 110
+f 110 125 126
+f 110 126 127
+f 110 127 112
+f 110 112 111
+f 110 124 125
+f 112 127 128
+f 112 128 113
+f 113 128 114
+f 114 128 129
+f 114 129 115
+f 115 129 130
+f 115 130 117
+f 115 117 116
+f 117 130 118
+f 118 130 122
+f 119 120 131
+f 119 131 124
+f 120 126 131
+f 120 121 126
+f 121 128 126
+f 121 123 129
+f 121 129 128
+f 122 130 123
+f 123 130 129
+f 124 131 125
+f 125 131 126
+f 126 128 127
+

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/storage_bin_008.xml

@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_008">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/storage_bin_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_008_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_008_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_008_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_008_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/storage_bin_008.urdf

@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_008">
+   <link name="storage_bin_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_008.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="9.0000" />
+         <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>4cf402c944ef550ead21521ea792ef35</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>ornate chest</name>
+         <color>brown,golden</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>dark wooden ornate storage bin with gold trim and top handle</description>
+         <min_height>0.2934</min_height>
+         <max_height>0.2934</max_height>
+         <real_height>0.2934</real_height>
+         <min_mass>6.0</min_mass>
+         <max_mass>12.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609185750</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.125076 -0.191342 -0.126056</min>
+            <max>0.139787 0.192699 0.167320</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/4cf402c944ef550ead21521ea792ef35/storage_bin_008.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b834a4cef7719994124baf863f8750a88be8e1488be88a580e1589c4e6d4990
+size 5014053

dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e33e7af2ce2cc4fe9ae97e1d7ddb941703064d901ab25d42f038238df7cdfa55
+size 1118019