Add asset desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75

.gitattributes

@@ -3291,6 +3291,4 @@ dataset/desktop_supplies/office_stationery/f2fd29c97f43540db1691502d4c89199/glue
 dataset/desktop_supplies/office_stationery/f2fd29c97f43540db1691502d4c89199/mesh/glue_stick_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/marker_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/mesh/marker_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f77f018e923450cf86a96693cfa8fc52/f77f018e923450cf86a96693cfa8fc52.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f77f018e923450cf86a96693cfa8fc52/mesh/book.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f77f018e923450cf86a96693cfa8fc52/mesh/book_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_39">
+   <link name="pen_holder_39">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_39.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_39_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.135000</scale>
+         <version>v0.1.5</version>
+         <category>pen holder</category>
+         <description>cylindrical pen holder with glossy finish containing pens</description>
+         <min_height>0.12</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.135</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20251014173301</generate_time>
+         <gs_model>mesh/pen_holder_39_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.879215240478516</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d20a001defc49f953a16b161b5d103615e8b8879d8dd74e4827ddce4a617d7
+size 735516

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/material.mtl

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

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549bd218f5c696091f158cfd7618d88966bd22c7fcaa33164e2a23efee684a4b
+size 2417724

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:556935f6b007bcdde4acbbc68f1b7868a35b8d7f878ef24e0d55f9346506b25e
+size 20051050

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/f75ded4719895e249f873bc92917ba75.xml

@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_39">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pen_holder_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_39_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_39_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_39_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_39_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_39_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_39_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_39_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_39_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_39_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_39_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_39_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_39_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_39_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_39_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_39_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_39_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_39_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_39_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_39_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_39_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_39_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_39_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_39_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_39_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_39_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_39_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_39_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_39_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_39_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_39_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_39_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_39_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_39_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_39_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_39_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_39_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_39_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pen_holder_39_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pen_holder_39_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pen_holder_39_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pen_holder_39_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/pen_holder_39_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/pen_holder_39_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/pen_holder_39_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/pen_holder_39_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/pen_holder_39_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/pen_holder_39_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_39">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_0.obj

@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v 0.01251529 -0.01604947 0.01131312
+v 0.01252734 -0.01514451 0.01131312
+v 0.01260205 -0.01719943 0.01131312
+v 0.01306716 -0.01628786 0.01362881
+v 0.01306716 -0.01610687 0.01362881
+v 0.01286955 -0.01523943 0.01236668
+v 0.01300209 -0.01383122 0.01155379
+v 0.01295389 -0.01376721 0.01131313
+v 0.01283340 -0.01815294 0.01131311
+v 0.01527461 -0.02064491 0.02039405
+v 0.01753749 -0.02259613 0.02904181
+v 0.01747724 -0.02111509 0.02929851
+v 0.01747724 -0.02046617 0.02929851
+v 0.02202228 -0.02328704 0.04455108
+v 0.01519749 -0.01384669 0.01601939
+v 0.02176683 -0.02242622 0.04306433
+v 0.02389717 -0.02241962 0.04807543
+v 0.02343688 -0.02161398 0.04585600
+v 0.02398392 -0.02043533 0.04512332
+v 0.01420221 -0.01282032 0.01131313
+v 0.01298522 -0.01851272 0.01131311
+v 0.01301414 -0.01848182 0.01171421
+v 0.01517580 -0.02077514 0.01914796
+v 0.01742181 -0.02296031 0.02756040
+v 0.01973530 -0.02503953 0.03584449
+v 0.02191866 -0.02516096 0.04484522
+v 0.02191866 -0.02476587 0.04484522
+v 0.02843980 -0.02904352 0.06498587
+v 0.02876513 -0.02756248 0.06441898
+v 0.02416949 -0.02281471 0.04919317
+v 0.01720010 -0.01378932 0.01849018
+v 0.02590701 -0.02034263 0.04759947
+v 0.02442975 -0.02081056 0.04660472
+v 0.01640484 -0.01218685 0.01131314
+v 0.01640966 -0.01300794 0.01469843
+v 0.01640966 -0.01243627 0.01247365
+v 0.01482878 -0.02120772 0.01131310
+v 0.01506254 -0.02088328 0.01692318
+v 0.01732783 -0.02305742 0.02582764
+v 0.01966782 -0.02512561 0.03472675
+v 0.02188010 -0.02734388 0.04076466
+v 0.02200300 -0.02716731 0.04224606
+v 0.02833135 -0.03219100 0.06365420
+v 0.02850004 -0.03189966 0.06488424
+v 0.02174273 -0.02561564 0.04362586
+v 0.02794818 -0.03059298 0.06365421
+v 0.02840124 -0.03059299 0.06501795
+v 0.02958931 -0.02833059 0.06540837
+v 0.03024480 -0.02677451 0.06523723
+v 0.02958931 -0.02641252 0.06366491
+v 0.01862676 -0.01402328 0.02000902
+v 0.02528044 -0.01930743 0.04362588
+v 0.02749994 -0.01943767 0.04585066
+v 0.02665166 -0.02065385 0.04908086
+v 0.02743488 -0.02019696 0.04823588
+v 0.01965336 -0.01314919 0.01131313
+v 0.01862676 -0.01376504 0.01889663
+v 0.02669745 -0.01831197 0.04061494
+v 0.01989676 -0.01385553 0.01872549
+v 0.01862676 -0.01312713 0.01469843
+v 0.02185359 -0.02733503 0.03541129
+v 0.02177888 -0.02741009 0.03695152
+v 0.02179816 -0.02741450 0.03917095
+v 0.01554452 -0.02143727 0.01131310
+v 0.03070991 -0.03396999 0.05786763
+v 0.03048338 -0.03408257 0.05920463
+v 0.02911938 -0.03349546 0.06142942
+v 0.02815784 -0.03238523 0.06142942
+v 0.03036770 -0.03420177 0.06318891
+v 0.02966402 -0.03334758 0.06381998
+v 0.02971704 -0.03230799 0.06499120
+v 0.02971704 -0.03059299 0.06543510
+v 0.03193654 -0.02837032 0.06594852
+v 0.03193654 -0.02646329 0.06547254
+v 0.03197510 -0.02529788 0.06346170
+v 0.03126177 -0.02505288 0.06249905
+v 0.02604437 -0.01831197 0.04061494
+v 0.02812892 -0.02051921 0.04937500
+v 0.02896274 -0.02051921 0.04937500
+v 0.02970740 -0.02029187 0.04808614
+v 0.02971704 -0.01978862 0.04585066
+v 0.02749994 -0.01895428 0.04362588
+v 0.02034259 -0.01353987 0.01131313
+v 0.02806627 -0.01856358 0.03917098
+v 0.02971704 -0.01956788 0.04362588
+v 0.02746139 -0.01859008 0.04137436
+v 0.02695531 -0.01820160 0.03917098
+v 0.03022793 -0.03425695 0.06142941
+v 0.01640966 -0.02159619 0.01131310
+v 0.03193654 -0.03400972 0.05773393
+v 0.03193654 -0.03430770 0.05920463
+v 0.03193654 -0.03473591 0.06142941
+v 0.03193654 -0.03443794 0.06344561
+v 0.03193654 -0.03339394 0.06455801
+v 0.03193654 -0.03228371 0.06493237
+v 0.03193654 -0.03059299 0.06540836
+v 0.03415363 -0.02837032 0.06560090
+v 0.03415363 -0.02662663 0.06530141
+v 0.03394638 -0.02563337 0.06346170
+v 0.03306677 -0.02503080 0.06258997
+v 0.03097259 -0.02050375 0.04734810
+v 0.03044241 -0.02069138 0.04883485
+v 0.03109067 -0.02040001 0.04585066
+v 0.02115472 -0.01504740 0.01131312
+v 0.03109067 -0.02036248 0.04362588
+v 0.03095331 -0.02047062 0.04140110
+v 0.03084968 -0.02057436 0.04019779
+v 0.01740976 -0.02152777 0.01131310
+v 0.03193654 -0.03321732 0.05474973
+v 0.03193654 -0.03373382 0.05662154
+v 0.03323547 -0.03399206 0.05784089
+v 0.03436570 -0.03443131 0.06122083
+v 0.03415363 -0.03438717 0.06318891
+v 0.03408615 -0.03268984 0.06434944
+v 0.03478261 -0.03144938 0.06469171
+v 0.03408615 -0.03066141 0.06503399
+v 0.03569596 -0.02837032 0.06506075
+v 0.03553449 -0.02699082 0.06501261
+v 0.03556823 -0.02996835 0.06491099
+v 0.03573451 -0.02677009 0.06365422
+v 0.03305231 -0.02281472 0.05145004
+v 0.03313425 -0.02272863 0.05030022
+v 0.03324269 -0.02258516 0.04807543
+v 0.03091475 -0.02254319 0.03782861
+v 0.03529591 -0.02709229 0.04911828
+v 0.02151138 -0.01726785 0.01131312
+v 0.03304749 -0.02281469 0.04472757
+v 0.03316076 -0.02266682 0.04585065
+v 0.01868941 -0.02137988 0.01131310
+v 0.03193654 -0.03246465 0.05252495
+v 0.03310051 -0.03173186 0.05135908
+v 0.03358731 -0.03198789 0.05252495
+v 0.03433437 -0.03239624 0.05460533
+v 0.03404759 -0.03335638 0.05704938
+v 0.03524531 -0.03391482 0.06033842
+v 0.03551521 -0.03413334 0.06181981
+v 0.03551521 -0.03413334 0.06285198
+v 0.03597068 -0.03281343 0.06327449
+v 0.03626951 -0.03066140 0.06383069
+v 0.03647435 -0.02837031 0.06365422
+v 0.03673702 -0.02837031 0.06142944
+v 0.03578512 -0.02665090 0.06142944
+v 0.03404759 -0.02392935 0.04807542
+v 0.03509348 -0.02534419 0.05252498
+v 0.03545015 -0.02673251 0.05030020
+v 0.03599237 -0.02837027 0.05252497
+v 0.03529591 -0.02735495 0.04911828
+v 0.02107279 -0.01884159 0.01131311
+v 0.03510071 -0.02562229 0.05030021
+v 0.02077637 -0.01962736 0.01131311
+v 0.03519229 -0.03163475 0.05377104
+v 0.03545497 -0.03191506 0.05525245
+v 0.03614901 -0.03302973 0.06122084
+v 0.03569354 -0.03221305 0.05697986
+v 0.03713465 -0.03059298 0.06142943
+v 0.03626710 -0.02837028 0.05474975
+v 0.03563089 -0.02645442 0.05252497
+v 0.03677317 -0.03059297 0.05920465
+v 0.03640205 -0.03059296 0.05697987
+v 0.03562607 -0.03014487 0.05252496
+v 0.03540195 -0.02969239 0.05113448
+v 0.03549593 -0.02820693 0.05035902
+v 0.03584778 -0.03077394 0.05460534
+v 0.03595140 -0.03260374 0.05920464
+f 1 2 8
+f 1 8 20
+f 1 20 34
+f 1 34 56
+f 1 56 83
+f 1 83 104
+f 1 104 126
+f 1 126 148
+f 1 148 150
+f 1 150 129
+f 1 129 108
+f 1 108 89
+f 1 89 64
+f 1 64 37
+f 1 37 21
+f 1 21 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 15 8
+f 7 14 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 15
+f 8 15 20
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 13
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 16
+f 15 31 20
+f 15 19 32
+f 15 32 31
+f 16 30 17
+f 17 30 33
+f 17 33 19
+f 17 19 18
+f 19 33 32
+f 20 31 35
+f 20 35 36
+f 20 36 34
+f 21 37 38
+f 21 38 23
+f 21 23 22
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 44
+f 26 44 46
+f 26 46 27
+f 27 46 28
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 29 49 50
+f 29 50 33
+f 29 33 30
+f 31 51 36
+f 31 36 35
+f 31 32 52
+f 31 52 53
+f 31 53 51
+f 32 33 49
+f 32 49 54
+f 32 54 55
+f 32 55 53
+f 32 53 52
+f 33 50 49
+f 34 36 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 56
+f 36 51 57
+f 37 61 62
+f 37 62 63
+f 37 63 39
+f 37 39 38
+f 37 64 65
+f 37 65 66
+f 37 66 61
+f 39 63 40
+f 40 63 41
+f 41 63 67
+f 41 67 68
+f 41 68 43
+f 41 43 42
+f 43 68 67
+f 43 67 69
+f 43 69 70
+f 43 70 44
+f 44 70 71
+f 44 71 72
+f 44 72 47
+f 44 47 46
+f 47 72 48
+f 48 72 73
+f 48 73 49
+f 49 73 74
+f 49 74 75
+f 49 75 76
+f 49 76 54
+f 51 53 77
+f 51 77 57
+f 53 55 78
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 77
+f 54 76 75
+f 54 75 55
+f 55 75 78
+f 56 60 59
+f 56 59 84
+f 56 84 85
+f 56 85 83
+f 57 77 58
+f 58 77 82
+f 58 82 86
+f 58 86 59
+f 59 86 87
+f 59 87 84
+f 61 66 88
+f 61 88 62
+f 62 88 67
+f 62 67 63
+f 64 89 65
+f 65 90 91
+f 65 91 92
+f 65 92 66
+f 65 89 90
+f 66 92 88
+f 67 88 69
+f 69 93 94
+f 69 94 71
+f 69 71 70
+f 69 88 92
+f 69 92 93
+f 71 94 95
+f 71 95 96
+f 71 96 72
+f 72 96 73
+f 73 97 98
+f 73 98 74
+f 73 96 97
+f 74 98 75
+f 75 98 99
+f 75 99 100
+f 75 100 79
+f 75 79 78
+f 79 100 80
+f 80 101 81
+f 80 100 102
+f 80 102 101
+f 81 101 103
+f 81 103 85
+f 81 85 84
+f 81 84 86
+f 81 86 82
+f 83 85 103
+f 83 103 105
+f 83 105 106
+f 83 106 107
+f 83 107 104
+f 84 87 86
+f 89 108 109
+f 89 109 110
+f 89 110 90
+f 90 111 91
+f 90 110 111
+f 91 111 92
+f 92 112 113
+f 92 113 93
+f 92 111 112
+f 93 113 94
+f 94 113 114
+f 94 114 115
+f 94 115 95
+f 95 115 116
+f 95 116 96
+f 96 116 97
+f 97 117 118
+f 97 118 98
+f 97 116 119
+f 97 119 117
+f 98 118 99
+f 99 118 120
+f 99 120 101
+f 99 101 100
+f 100 101 102
+f 101 120 121
+f 101 121 103
+f 103 121 122
+f 103 122 123
+f 103 123 105
+f 104 124 125
+f 104 125 126
+f 104 107 127
+f 104 127 124
+f 105 123 128
+f 105 128 106
+f 106 128 107
+f 107 128 127
+f 108 129 109
+f 109 111 110
+f 109 129 111
+f 111 129 130
+f 111 130 131
+f 111 131 132
+f 111 132 133
+f 111 133 134
+f 111 134 135
+f 111 135 112
+f 112 135 136
+f 112 136 137
+f 112 137 113
+f 113 137 114
+f 114 137 115
+f 115 119 116
+f 115 137 138
+f 115 138 119
+f 117 119 139
+f 117 139 140
+f 117 140 118
+f 118 140 120
+f 119 138 139
+f 120 140 141
+f 120 141 142
+f 120 142 123
+f 120 123 122
+f 120 122 121
+f 123 143 128
+f 123 142 144
+f 123 144 143
+f 124 127 125
+f 125 127 145
+f 125 145 146
+f 125 146 147
+f 125 147 126
+f 126 147 148
+f 127 128 143
+f 127 143 149
+f 127 149 145
+f 129 150 151
+f 129 151 131
+f 129 131 130
+f 131 151 132
+f 132 151 133
+f 133 151 135
+f 133 135 134
+f 135 151 152
+f 135 152 136
+f 136 153 137
+f 136 152 154
+f 136 154 153
+f 137 153 155
+f 137 155 138
+f 138 155 139
+f 139 155 140
+f 140 155 141
+f 141 155 156
+f 141 156 157
+f 141 157 144
+f 141 144 142
+f 143 144 149
+f 144 157 149
+f 145 149 157
+f 145 157 156
+f 145 156 146
+f 146 156 155
+f 146 155 158
+f 146 158 159
+f 146 159 160
+f 146 160 161
+f 146 161 162
+f 146 162 147
+f 147 162 161
+f 147 161 148
+f 148 161 150
+f 150 161 151
+f 151 161 160
+f 151 160 152
+f 152 160 163
+f 152 163 154
+f 153 164 159
+f 153 159 158
+f 153 158 155
+f 153 154 164
+f 154 163 159
+f 154 159 164
+f 159 163 160
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_1.obj

@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v -0.03737797 -0.00172139 0.06365433
+v -0.03703837 -0.00394123 0.06365433
+v -0.03678093 -0.00394124 0.06588208
+v -0.03692608 -0.00172140 0.06588208
+v -0.03626606 0.00007471 0.06588209
+v -0.03648515 0.00036166 0.06365434
+v -0.03595111 -0.00009986 0.05697661
+v -0.03584704 -0.00030449 0.05524207
+v -0.03584704 -0.00129096 0.05524207
+v -0.03572654 -0.00505114 0.06031823
+v -0.03591277 -0.00525245 0.06179785
+v -0.03614556 -0.00546042 0.06365432
+v -0.03611817 -0.00541928 0.06588207
+v -0.03561425 -0.00190598 0.05460476
+v -0.03571558 -0.00277012 0.05591814
+v -0.03445305 -0.00394119 0.05252663
+v -0.03587443 -0.00519798 0.06708462
+v -0.03597028 -0.00394125 0.06710679
+v -0.03594837 -0.00172141 0.06707354
+v -0.03584430 -0.00040908 0.06704030
+v -0.03530478 0.00118575 0.06588209
+v -0.03545267 0.00147269 0.06365435
+v -0.03397378 0.00202769 0.05252665
+v -0.03532669 0.00046178 0.05460477
+v -0.03488850 0.00049960 0.05252664
+v -0.03373551 0.00001694 0.04862530
+v -0.03449413 -0.00172134 0.05029888
+v -0.03517059 -0.00172135 0.05252663
+v -0.03354655 -0.00509671 0.05127420
+v -0.03370813 -0.00526353 0.05252662
+v -0.03461737 -0.00635014 0.06365432
+v -0.03396009 -0.00549598 0.05475438
+v -0.03058877 -0.00678383 0.04807666
+v -0.02947960 -0.00750338 0.04807665
+v -0.03461737 -0.00624005 0.06588207
+v -0.03368074 -0.00322941 0.04871950
+v -0.03388067 -0.00395787 0.05043742
+v -0.03461737 -0.00552940 0.06728411
+v -0.03461737 -0.00394125 0.06751134
+v -0.03461737 -0.00172141 0.06743375
+v -0.03239904 -0.00172141 0.06792696
+v -0.03455438 0.00039834 0.06721209
+v -0.03377386 0.00168398 0.06707911
+v -0.03419561 0.00177963 0.06588210
+v -0.03413262 0.00203102 0.05475441
+v -0.03434350 0.00185304 0.06365435
+v -0.03000543 0.00362586 0.04792152
+v -0.03206766 0.00252261 0.04807669
+v -0.03373825 0.00185865 0.05079765
+v -0.03345617 0.00149721 0.04931248
+v -0.03408607 0.00065420 0.05015481
+v -0.03148980 -0.00017765 0.04193650
+v -0.03226484 -0.00172132 0.04362670
+v -0.03149801 -0.00333837 0.04195311
+v -0.03332197 -0.00470968 0.04978903
+v -0.03143502 -0.00521234 0.04431940
+v -0.03162399 -0.00542589 0.04584890
+v -0.03239904 -0.00659148 0.06365432
+v -0.02940292 -0.00746001 0.04971144
+v -0.03008485 -0.00661922 0.04583228
+v -0.02928242 -0.00739216 0.04656377
+v -0.01468249 -0.00531899 0.01131315
+v -0.02796237 -0.00739772 0.04623681
+v -0.02783639 -0.00748448 0.04806002
+v -0.02849094 -0.00746001 0.04971144
+v -0.03239904 -0.00635237 0.06588207
+v -0.03239904 -0.00561503 0.06740603
+v -0.03178009 -0.00402346 0.04359899
+v -0.03239904 -0.00394125 0.06788817
+v -0.03061889 -0.00172141 0.06756675
+v -0.03088454 -0.00010880 0.06735618
+v -0.03248942 0.00057851 0.06740051
+v -0.03329185 0.00168398 0.06707911
+v -0.02914822 0.00384496 0.04707918
+v -0.03018070 0.00347572 0.05029890
+v -0.02914822 0.00384496 0.04689077
+v -0.02111292 0.00341464 0.02374871
+v -0.02352570 0.00303872 0.02804906
+v -0.02913179 0.00167742 0.03790216
+v -0.01864263 0.00214684 0.01131318
+v -0.02884149 0.00117362 0.03641698
+v -0.02943030 0.00045962 0.03707644
+v -0.02920025 -0.00030775 0.03552477
+v -0.03159660 -0.00172131 0.04165940
+v -0.03115841 -0.00481976 0.04283977
+v -0.03119402 -0.00172131 0.04054553
+v -0.02915096 -0.00299136 0.03564668
+v -0.02935088 -0.00529908 0.03965330
+v -0.02973704 -0.00559825 0.04139893
+v -0.03032311 -0.00581735 0.04359898
+v -0.01885898 -0.00369303 0.01131316
+v -0.01819622 -0.00427580 0.01131315
+v -0.01598884 -0.00514438 0.01131315
+v -0.01275446 -0.00522668 0.01131315
+v -0.01465237 -0.00538462 0.01247137
+v -0.02674913 -0.00731876 0.04731189
+v -0.02701205 -0.00720978 0.04879152
+v -0.03079143 -0.00553272 0.06588207
+v -0.03104887 -0.00531253 0.06725087
+v -0.03074213 -0.00394125 0.06748363
+v -0.02948782 -0.00194272 0.06565487
+v -0.02918382 -0.00135106 0.06445788
+v -0.02892912 -0.00039015 0.06297825
+v -0.03051482 0.00028380 0.06588209
+v -0.03179105 0.00139483 0.06588210
+v -0.03143776 0.00156054 0.06451331
+v -0.02796237 0.00334559 0.05029890
+v -0.02807739 0.00372817 0.04792152
+v -0.02889352 0.00384496 0.04707918
+v -0.02254251 0.00385835 0.03173982
+v -0.02254251 0.00385836 0.03093627
+v -0.02024202 0.00384059 0.02459105
+v -0.01886994 0.00354589 0.01935970
+v -0.01909177 0.00301207 0.01692136
+v -0.02680117 0.00151061 0.03152369
+v -0.01687344 0.00350476 0.01469915
+v -0.01572045 0.00320560 0.01131318
+v -0.01905617 0.00137056 0.01131318
+v -0.02474168 -0.00028213 0.02444696
+v -0.01951901 -0.00172120 0.01131316
+v -0.02922764 -0.00172129 0.03545826
+v -0.02981646 -0.00172130 0.03695451
+v -0.03067367 -0.00172130 0.03917673
+v -0.01933825 0.00049975 0.01131317
+v -0.01174662 -0.00481741 0.01131315
+v -0.02590288 -0.00661256 0.04806003
+v -0.02394198 -0.00572394 0.04584890
+v -0.02433361 -0.00538363 0.04807666
+v -0.02970965 -0.00371993 0.06565487
+v -0.02458831 -0.00510449 0.04927920
+v -0.01109208 -0.00314587 0.01417821
+v -0.02907154 -0.00283132 0.06476820
+v -0.01123449 -0.00034772 0.01602914
+v -0.00956937 0.00049975 0.01131317
+v -0.02469512 0.00151278 0.04904648
+v -0.01122353 0.00172310 0.01384019
+v -0.02441030 0.00185422 0.04756131
+v -0.02611102 0.00235912 0.05029890
+v -0.02555781 0.00258934 0.04821523
+v -0.02595217 0.00331891 0.04569376
+v -0.02682855 0.00383829 0.04485143
+v -0.02741463 0.00378379 0.04633660
+v -0.02231520 0.00385835 0.03173982
+v -0.02231520 0.00385836 0.03093627
+v -0.01798534 0.00383171 0.02024083
+v -0.01465237 0.00346696 0.01131318
+v -0.01942589 -0.00035771 0.01131317
+v -0.01052517 -0.00372751 0.01131316
+v -0.01074426 -0.00351510 0.01247138
+v -0.00939957 -0.00172120 0.01131316
+v -0.00981859 0.00093794 0.01131317
+v -0.01057173 0.00208901 0.01131318
+v -0.01135499 0.00258391 0.01131318
+v -0.01243403 0.00293757 0.01247140
+v -0.01243403 0.00315445 0.01131318
+v -0.01465237 0.00345249 0.01469915
+v -0.01797987 0.00383171 0.02026854
+v -0.01797987 0.00383171 0.02024083
+v -0.01465237 0.00354146 0.01247140
+v -0.01350212 0.00344472 0.01131318
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 2 9 14
+f 2 14 15
+f 2 15 16
+f 2 16 10
+f 3 13 17
+f 3 17 18
+f 3 18 4
+f 4 18 19
+f 4 19 20
+f 4 20 5
+f 5 20 21
+f 5 21 6
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 24 8
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 9
+f 9 28 14
+f 10 16 29
+f 10 29 30
+f 10 30 11
+f 11 30 12
+f 12 31 13
+f 12 30 32
+f 12 32 33
+f 12 33 34
+f 12 34 31
+f 13 35 17
+f 13 31 35
+f 14 28 15
+f 15 28 16
+f 16 28 36
+f 16 36 37
+f 16 37 29
+f 17 38 39
+f 17 39 18
+f 17 35 38
+f 18 39 19
+f 19 39 40
+f 19 40 20
+f 20 40 41
+f 20 41 42
+f 20 42 43
+f 20 43 21
+f 21 43 44
+f 21 44 22
+f 22 45 23
+f 22 44 46
+f 22 46 47
+f 22 47 45
+f 23 45 47
+f 23 47 48
+f 23 48 49
+f 23 49 24
+f 24 49 25
+f 25 49 50
+f 25 50 51
+f 25 51 26
+f 26 51 52
+f 26 52 53
+f 26 53 27
+f 27 53 54
+f 27 54 36
+f 27 36 28
+f 29 37 55
+f 29 55 56
+f 29 56 57
+f 29 57 30
+f 30 57 33
+f 30 33 32
+f 31 58 35
+f 31 34 59
+f 31 59 58
+f 33 57 56
+f 33 56 60
+f 33 60 61
+f 33 61 34
+f 34 61 62
+f 34 62 63
+f 34 63 64
+f 34 64 65
+f 34 65 59
+f 35 66 67
+f 35 67 38
+f 35 58 66
+f 36 54 68
+f 36 68 37
+f 37 68 56
+f 37 56 55
+f 38 67 69
+f 38 69 39
+f 39 69 41
+f 39 41 40
+f 41 69 70
+f 41 70 71
+f 41 71 72
+f 41 72 43
+f 41 43 42
+f 43 72 73
+f 43 73 109
+f 43 109 74
+f 43 74 44
+f 44 74 75
+f 44 75 46
+f 46 75 47
+f 47 75 74
+f 47 74 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 50
+f 50 52 51
+f 50 79 81
+f 50 81 82
+f 50 82 83
+f 50 83 52
+f 52 84 53
+f 52 83 84
+f 53 84 54
+f 54 85 68
+f 54 84 86
+f 54 86 87
+f 54 87 85
+f 56 88 89
+f 56 89 90
+f 56 90 60
+f 56 68 85
+f 56 85 91
+f 56 91 88
+f 58 59 65
+f 58 65 66
+f 60 90 61
+f 61 90 89
+f 61 89 92
+f 61 92 93
+f 61 93 62
+f 62 93 92
+f 62 92 91
+f 62 91 120
+f 62 120 147
+f 62 147 124
+f 62 124 118
+f 62 118 80
+f 62 80 117
+f 62 117 146
+f 62 146 160
+f 62 160 155
+f 62 155 153
+f 62 153 152
+f 62 152 151
+f 62 151 134
+f 62 134 150
+f 62 150 148
+f 62 148 125
+f 62 125 94
+f 62 94 95
+f 62 95 63
+f 63 95 64
+f 64 96 65
+f 64 95 94
+f 64 94 96
+f 65 96 97
+f 65 97 66
+f 66 98 99
+f 66 99 67
+f 66 97 98
+f 67 99 69
+f 69 99 100
+f 69 100 70
+f 70 101 71
+f 70 100 101
+f 71 73 72
+f 71 101 102
+f 71 102 103
+f 71 103 104
+f 71 104 105
+f 71 105 73
+f 73 105 106
+f 73 106 107
+f 73 107 108
+f 73 108 109
+f 74 109 143
+f 74 143 110
+f 74 110 111
+f 74 111 76
+f 76 111 112
+f 76 112 77
+f 77 112 113
+f 77 113 114
+f 77 114 80
+f 77 80 78
+f 79 80 115
+f 79 115 81
+f 80 114 116
+f 80 116 117
+f 80 118 115
+f 81 115 83
+f 81 83 82
+f 83 119 120
+f 83 120 121
+f 83 121 122
+f 83 122 123
+f 83 123 86
+f 83 86 84
+f 83 115 118
+f 83 118 124
+f 83 124 119
+f 85 87 91
+f 86 123 87
+f 87 122 121
+f 87 121 120
+f 87 120 91
+f 87 123 122
+f 88 91 92
+f 88 92 89
+f 94 125 96
+f 96 125 97
+f 97 125 126
+f 97 126 98
+f 98 126 127
+f 98 127 128
+f 98 128 99
+f 99 129 100
+f 99 128 130
+f 99 130 131
+f 99 131 129
+f 100 129 132
+f 100 132 101
+f 101 132 133
+f 101 133 134
+f 101 134 102
+f 102 134 103
+f 103 135 104
+f 103 134 136
+f 103 136 135
+f 104 135 137
+f 104 137 138
+f 104 138 105
+f 105 138 106
+f 106 138 107
+f 107 138 139
+f 107 139 140
+f 107 140 141
+f 107 141 142
+f 107 142 108
+f 108 142 109
+f 109 142 141
+f 109 141 143
+f 110 143 144
+f 110 144 111
+f 111 144 158
+f 111 158 145
+f 111 145 112
+f 112 145 116
+f 112 116 113
+f 113 116 114
+f 116 146 117
+f 116 145 146
+f 119 124 147
+f 119 147 120
+f 125 148 127
+f 125 127 126
+f 127 148 128
+f 128 148 149
+f 128 149 131
+f 128 131 130
+f 129 131 150
+f 129 150 132
+f 131 149 150
+f 132 150 133
+f 133 150 134
+f 134 151 136
+f 135 136 137
+f 136 151 152
+f 136 152 137
+f 137 139 138
+f 137 152 139
+f 139 152 153
+f 139 153 154
+f 139 154 140
+f 140 154 155
+f 140 155 141
+f 141 155 156
+f 141 156 157
+f 141 157 143
+f 143 157 158
+f 143 158 144
+f 145 158 159
+f 145 159 146
+f 146 159 160
+f 148 150 149
+f 153 155 154
+f 155 160 156
+f 156 160 157
+f 157 160 158
+f 158 160 159
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_10.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02618911 -0.00159980 -0.05664319
+v -0.02619630 -0.00172163 -0.06097274
+v -0.02619809 -0.00172164 -0.05632211
+v -0.02618911 -0.00159980 -0.05632211
+v -0.02618731 -0.00159979 -0.06097274
+v -0.02618192 -0.00159979 -0.06109344
+v -0.02608304 -0.00159978 -0.06319786
+v -0.02609023 -0.00172162 -0.06319786
+v -0.02600035 -0.00394183 -0.06319786
+v -0.02610282 -0.00394184 -0.06097274
+v -0.02610282 -0.00394185 -0.05632211
+v -0.02151334 -0.00159980 -0.05632211
+v -0.02604529 -0.00159978 -0.06330772
+v -0.02570733 -0.00172161 -0.06422609
+v -0.02563182 -0.00394182 -0.06422609
+v -0.02571272 -0.00616318 -0.06319787
+v -0.02539453 -0.00616317 -0.06422610
+v -0.02580620 -0.00616319 -0.06097275
+v -0.02607765 -0.00414154 -0.05632212
+v -0.02132098 -0.00160544 -0.05632211
+v -0.02131918 -0.00159980 -0.05640103
+v -0.02570193 -0.00159977 -0.06422609
+v -0.02505117 -0.00838338 -0.06422611
+v -0.02476534 -0.00992557 -0.06422612
+v -0.02528847 -0.00838339 -0.06319788
+v -0.02537296 -0.00838340 -0.06097276
+v -0.02538015 -0.00838341 -0.05652251
+v -0.02538015 -0.00838341 -0.05632213
+v -0.02576665 -0.00636288 -0.05632212
+v -0.02580440 -0.00616320 -0.05632212
+v -0.01878086 -0.01312393 -0.05632215
+v -0.00783477 -0.01312390 -0.06422613
+v -0.01220673 -0.00159977 -0.06422609
+v -0.02468984 -0.01016700 -0.06422612
+v -0.02484084 -0.01016814 -0.06319789
+v -0.02488039 -0.01029450 -0.06097277
+v -0.02488399 -0.01029564 -0.05652252
+v -0.02488399 -0.01029564 -0.05632214
+v -0.02391504 -0.01312393 -0.05632215
+v -0.02337933 -0.01312390 -0.06422613
+v -0.02449030 -0.01127824 -0.06319789
+v -0.02383414 -0.01312391 -0.06319790
+v -0.02395459 -0.01282495 -0.06319790
+v -0.02453704 -0.01140461 -0.06097277
+v -0.02485343 -0.01039604 -0.05632214
+v -0.02395818 -0.01302465 -0.05632215
+v -0.02391683 -0.01312393 -0.05652253
+v -0.02392043 -0.01312392 -0.06097278
+v -0.02404447 -0.01282496 -0.06097278
+v -0.02449209 -0.01153323 -0.05632214
+v -0.02453524 -0.01140687 -0.05632214
+v -0.02404267 -0.01282497 -0.05632215
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 33
+f 1 33 22
+f 1 22 13
+f 1 13 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 19
+f 3 19 30
+f 3 30 29
+f 3 29 28
+f 3 28 38
+f 3 38 45
+f 3 45 51
+f 3 51 50
+f 3 50 52
+f 3 52 46
+f 3 46 39
+f 3 39 31
+f 3 31 20
+f 3 20 12
+f 3 12 4
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 16 10
+f 9 15 17
+f 9 17 16
+f 10 16 18
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 13 22 14
+f 14 22 33
+f 14 33 32
+f 14 32 40
+f 14 40 34
+f 14 34 24
+f 14 24 23
+f 14 23 17
+f 14 17 15
+f 16 17 23
+f 16 23 24
+f 16 24 25
+f 16 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 24 34 35
+f 24 35 25
+f 25 35 26
+f 26 35 36
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 31 39 47
+f 31 47 48
+f 31 48 42
+f 31 42 40
+f 31 40 32
+f 34 41 35
+f 34 40 42
+f 34 42 43
+f 34 43 41
+f 35 41 44
+f 35 44 36
+f 36 44 45
+f 36 45 37
+f 37 45 38
+f 39 46 47
+f 41 43 44
+f 42 48 49
+f 42 49 43
+f 43 49 44
+f 44 50 51
+f 44 51 45
+f 44 49 50
+f 46 52 47
+f 47 52 48
+f 48 52 49
+f 49 52 50
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_11.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03463894 -0.00159980 -0.05666835
+v 0.02965211 -0.00159980 -0.05666835
+v 0.03463894 -0.00159979 -0.05874710
+v 0.03458189 0.00050125 -0.05666834
+v 0.02901785 -0.00159979 -0.06028493
+v 0.02454895 0.01383103 -0.05666829
+v 0.02321220 0.01383104 -0.06028487
+v 0.03463223 -0.00159979 -0.06028493
+v 0.03461433 -0.00095029 -0.06028492
+v 0.03457853 0.00050126 -0.05874709
+v 0.03435705 0.00272162 -0.05666833
+v 0.03051010 0.01383103 -0.05666829
+v 0.03045976 0.01383104 -0.06028487
+v 0.03457182 0.00050126 -0.06028492
+v 0.03450135 0.00118701 -0.06028492
+v 0.03435033 0.00272163 -0.05874708
+v 0.03395546 0.00494351 -0.05874707
+v 0.03396105 0.00494350 -0.05666832
+v 0.03097880 0.01299273 -0.05666829
+v 0.03096873 0.01297159 -0.05874704
+v 0.03096090 0.01295498 -0.06028487
+v 0.03050451 0.01383103 -0.05716887
+v 0.03047878 0.01383104 -0.05924160
+v 0.03076738 0.01329785 -0.06028487
+v 0.03434362 0.00272163 -0.06028491
+v 0.03394987 0.00494351 -0.06028490
+v 0.03337154 0.00711706 -0.06028489
+v 0.03337265 0.00712310 -0.05874706
+v 0.03337377 0.00712762 -0.05666831
+v 0.03102466 0.01290210 -0.05666829
+v 0.03143296 0.01202756 -0.06028488
+v 0.03303148 0.00822725 -0.06028489
+v 0.03303371 0.00823329 -0.05874706
+v 0.03303483 0.00823781 -0.05666831
+v 0.03167459 0.01160462 -0.05666830
+v 0.03166004 0.01160463 -0.05874705
+v 0.03164662 0.01160463 -0.06028488
+v 0.03290172 0.00858220 -0.06028489
+v 0.03261535 0.00938275 -0.05874706
+v 0.03264891 0.00930721 -0.05666831
+v 0.03173723 0.01145810 -0.05666830
+v 0.03260864 0.00938275 -0.06028489
+v 0.03231332 0.01007000 -0.06028488
+v 0.03262094 0.00938274 -0.05666831
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 29
+f 1 29 34
+f 1 34 40
+f 1 40 44
+f 1 44 41
+f 1 41 35
+f 1 35 30
+f 1 30 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 7 13
+f 5 13 24
+f 5 24 21
+f 5 21 31
+f 5 31 37
+f 5 37 43
+f 5 43 42
+f 5 42 38
+f 5 38 32
+f 5 32 27
+f 5 27 26
+f 5 26 25
+f 5 25 15
+f 5 15 14
+f 5 14 9
+f 5 9 8
+f 6 12 22
+f 6 22 23
+f 6 23 13
+f 6 13 7
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 13 23 24
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 21 24 22
+f 22 24 23
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 28 34 29
+f 30 35 36
+f 30 36 37
+f 30 37 31
+f 32 38 39
+f 32 39 40
+f 32 40 33
+f 33 40 34
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 36 43 37
+f 38 42 39
+f 39 44 40
+f 39 42 41
+f 39 41 44
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_12.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.03464678 -0.00172200 -0.05260921
+v 0.03453615 -0.00394190 -0.05260921
+v 0.03453499 -0.00394187 -0.05874741
+v 0.03464212 -0.00172197 -0.05874741
+v 0.03464328 -0.00159982 -0.05260921
+v 0.03430559 -0.00616339 -0.05260922
+v 0.03430559 -0.00616338 -0.05429655
+v 0.03437313 -0.00545090 -0.06025949
+v 0.03452916 -0.00394187 -0.06025948
+v 0.03456410 -0.00323099 -0.06025948
+v 0.03430326 -0.00616336 -0.05874742
+v 0.03463629 -0.00172197 -0.06025948
+v 0.03463397 -0.00163470 -0.06025948
+v 0.03463862 -0.00159979 -0.05874741
+v 0.02964773 -0.00159982 -0.05260921
+v 0.03421243 -0.00669972 -0.05260922
+v 0.03392132 -0.00838486 -0.05652162
+v 0.03392132 -0.00838485 -0.05874743
+v 0.03429860 -0.00616336 -0.06025949
+v 0.03463280 -0.00159979 -0.06025948
+v 0.02903871 -0.00159979 -0.06025948
+v 0.02275060 -0.01781031 -0.06025805
+v 0.02379979 -0.01781034 -0.05260927
+v 0.03391782 -0.00838488 -0.05260923
+v 0.03392015 -0.00838487 -0.05429656
+v 0.03336586 -0.01045403 -0.05429657
+v 0.03336703 -0.01045718 -0.05874744
+v 0.03391200 -0.00838485 -0.06025950
+v 0.03336004 -0.01045083 -0.06025951
+v 0.02275526 -0.01780238 -0.06025954
+v 0.02275992 -0.01781031 -0.06025954
+v 0.02979794 -0.01781034 -0.05260927
+v 0.03336470 -0.01045245 -0.05260924
+v 0.03327504 -0.01072062 -0.05260924
+v 0.03299557 -0.01156794 -0.05652163
+v 0.03299440 -0.01156158 -0.06025951
+v 0.03311318 -0.01120614 -0.06025951
+v 0.03299557 -0.01156634 -0.05874744
+v 0.02984569 -0.01781031 -0.06025954
+v 0.03013447 -0.01732320 -0.05260926
+v 0.03299324 -0.01156320 -0.05260924
+v 0.03299440 -0.01156477 -0.05429657
+v 0.03287563 -0.01186786 -0.05260924
+v 0.03250416 -0.01282468 -0.05260925
+v 0.03250416 -0.01282466 -0.05652164
+v 0.03250067 -0.01282465 -0.05874745
+v 0.03249601 -0.01282465 -0.06025952
+v 0.03016242 -0.01734856 -0.06025953
+v 0.03068643 -0.01648062 -0.05260926
+v 0.03148176 -0.01504617 -0.05260926
+v 0.03148758 -0.01504614 -0.05874746
+v 0.03148875 -0.01504614 -0.06025953
+v 0.03181363 -0.01433368 -0.06025952
+v 0.03039299 -0.01699312 -0.06025953
+v 0.03086110 -0.01621246 -0.05260926
+v 0.03133271 -0.01532703 -0.05260926
+v 0.03087740 -0.01623940 -0.06025953
+v 0.03107420 -0.01585857 -0.06025953
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 5
+f 1 5 15
+f 1 15 23
+f 1 23 32
+f 1 32 40
+f 1 40 49
+f 1 49 55
+f 1 55 56
+f 1 56 50
+f 1 50 44
+f 1 44 43
+f 1 43 41
+f 1 41 34
+f 1 34 33
+f 1 33 24
+f 1 24 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 7 11
+f 3 11 8
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 5 14 20
+f 5 20 21
+f 5 21 15
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 11
+f 8 11 19
+f 8 19 28
+f 8 28 29
+f 8 29 37
+f 8 37 36
+f 8 36 47
+f 8 47 53
+f 8 53 52
+f 8 52 58
+f 8 58 57
+f 8 57 54
+f 8 54 48
+f 8 48 39
+f 8 39 31
+f 8 31 30
+f 8 30 21
+f 8 21 20
+f 8 20 13
+f 8 13 12
+f 8 12 10
+f 8 10 9
+f 11 18 19
+f 13 20 14
+f 15 21 22
+f 15 22 23
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 28 19
+f 18 27 29
+f 18 29 28
+f 21 30 22
+f 22 30 31
+f 22 31 39
+f 22 39 32
+f 22 32 23
+f 24 33 25
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 27 36 37
+f 27 37 29
+f 27 35 38
+f 27 38 36
+f 32 39 40
+f 34 41 42
+f 34 42 35
+f 35 43 44
+f 35 44 45
+f 35 45 38
+f 35 42 41
+f 35 41 43
+f 36 38 46
+f 36 46 47
+f 38 45 46
+f 39 48 40
+f 40 48 49
+f 44 50 51
+f 44 51 52
+f 44 52 45
+f 45 52 53
+f 45 53 46
+f 46 53 47
+f 48 54 55
+f 48 55 49
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 51 58 52
+f 54 57 55
+f 55 57 56
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_13.obj

@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
+v 0.00258414 -0.00160271 -0.06767047
+v 0.00258414 -0.00172080 -0.06767047
+v 0.00258414 -0.00160272 -0.06423225
+v 0.01862333 -0.00160271 -0.06772601
+v 0.00258414 -0.00394383 -0.06766353
+v 0.01862333 -0.00394383 -0.06772045
+v 0.00258414 -0.01874338 -0.06418372
+v 0.00309754 -0.00160272 -0.06422739
+v 0.02072334 -0.00160271 -0.06772948
+v 0.00258414 -0.01504718 -0.06761117
+v 0.01862333 -0.00616391 -0.06771074
+v 0.02084395 -0.00172080 -0.06772913
+v 0.02084395 -0.00394383 -0.06771941
+v 0.00987384 -0.00160272 -0.06419511
+v 0.00975322 -0.00160272 -0.06419546
+v 0.00753569 -0.00160272 -0.06420413
+v 0.00531507 -0.00160272 -0.06421385
+v 0.00258414 -0.03174501 -0.06418377
+v 0.01864498 -0.00160272 -0.06418366
+v 0.02084395 -0.00160271 -0.06772913
+v 0.00258414 -0.01726725 -0.06758652
+v 0.02084395 -0.00616391 -0.06769269
+v 0.01862333 -0.00838399 -0.06767119
+v 0.00309754 -0.01726725 -0.06758479
+v 0.02294087 -0.00160271 -0.06759897
+v 0.02306148 -0.00172080 -0.06759099
+v 0.02306148 -0.00394383 -0.06757121
+v 0.00258414 -0.03173320 -0.06437362
+v 0.00309754 -0.03174797 -0.06439792
+v 0.00309754 -0.03175682 -0.06418377
+v 0.03417387 -0.00160272 -0.06418366
+v 0.00258414 -0.01897365 -0.06753378
+v 0.02084395 -0.00838399 -0.06762467
+v 0.01862333 -0.01060702 -0.06761011
+v 0.02306148 -0.00616391 -0.06753304
+v 0.01197075 -0.01726725 -0.06751503
+v 0.00975322 -0.01726725 -0.06753933
+v 0.00753569 -0.01726725 -0.06755876
+v 0.00531507 -0.01726725 -0.06757369
+v 0.00309754 -0.01948733 -0.06751608
+v 0.02306148 -0.00160271 -0.06759134
+v 0.02971716 -0.00172080 -0.06702628
+v 0.02971716 -0.00394383 -0.06701240
+v 0.02971716 -0.00616391 -0.06698464
+v 0.00258414 -0.03154131 -0.06459437
+v 0.00258414 -0.03079144 -0.06543986
+v 0.00309754 -0.03075897 -0.06551066
+v 0.00476764 -0.03175092 -0.06440451
+v 0.00482641 -0.03175682 -0.06418377
+v 0.03417696 -0.00166176 -0.06418366
+v 0.03379655 -0.00160272 -0.06519923
+v 0.00258414 -0.01948733 -0.06751746
+v 0.02084395 -0.01060702 -0.06753097
+v 0.01862333 -0.01282710 -0.06753897
+v 0.02306148 -0.00838399 -0.06746432
+v 0.02749964 -0.01282710 -0.06698780
+v 0.02527901 -0.01504718 -0.06706347
+v 0.01640890 -0.01504718 -0.06751051
+v 0.02749964 -0.01060702 -0.06705339
+v 0.01197075 -0.01948733 -0.06741264
+v 0.00975322 -0.01948733 -0.06745152
+v 0.00753569 -0.01948733 -0.06747999
+v 0.01419137 -0.01726725 -0.06746956
+v 0.00531507 -0.01948733 -0.06750289
+v 0.00753569 -0.02615052 -0.06706975
+v 0.00531507 -0.02615052 -0.06708191
+v 0.02971716 -0.00160271 -0.06702663
+v 0.03155428 -0.00160271 -0.06677916
+v 0.03165943 -0.00172080 -0.06676458
+v 0.03158830 -0.00394383 -0.06675521
+v 0.03141510 -0.00616391 -0.06673092
+v 0.02971716 -0.00838399 -0.06690621
+v 0.00258414 -0.03049031 -0.06576334
+v 0.00309754 -0.02964893 -0.06663661
+v 0.00531507 -0.02964007 -0.06663244
+v 0.00543259 -0.03093315 -0.06525764
+v 0.00258414 -0.02963712 -0.06662931
+v 0.00502744 -0.03173911 -0.06418377
+v 0.00892435 -0.02950722 -0.06655400
+v 0.01040270 -0.02936551 -0.06649048
+v 0.00970064 -0.03013900 -0.06561930
+v 0.01197075 -0.03000024 -0.06517121
+v 0.01197075 -0.03027775 -0.06418376
+v 0.03417696 -0.00172081 -0.06418366
+v 0.03375635 -0.00172081 -0.06531446
+v 0.03375325 -0.00160272 -0.06531272
+v 0.00309754 -0.02615052 -0.06708746
+v 0.00258414 -0.02615052 -0.06708538
+v 0.02084395 -0.01282710 -0.06742825
+v 0.01862333 -0.01504718 -0.06743658
+v 0.02769448 -0.01523317 -0.06678754
+v 0.02527901 -0.01726725 -0.06693782
+v 0.02931819 -0.01282710 -0.06672297
+v 0.02306148 -0.01948733 -0.06695727
+v 0.02306148 -0.01726725 -0.06708048
+v 0.01197075 -0.02615052 -0.06701040
+v 0.00975322 -0.02615052 -0.06705032
+v 0.01640890 -0.02392749 -0.06703990
+v 0.01419137 -0.02392749 -0.06709543
+v 0.01640890 -0.01726725 -0.06739528
+v 0.00531507 -0.02837060 -0.06688441
+v 0.00309754 -0.02837060 -0.06689136
+v 0.03165634 -0.00160271 -0.06676458
+v 0.03276974 -0.00172081 -0.06642687
+v 0.03269861 -0.00394384 -0.06638730
+v 0.03114603 -0.00838400 -0.06666082
+v 0.02988417 -0.01068968 -0.06674830
+v 0.00258414 -0.02935370 -0.06668728
+v 0.00258414 -0.02837060 -0.06688338
+v 0.00753569 -0.02837060 -0.06683339
+v 0.00753569 -0.02956331 -0.06658836
+v 0.00970064 -0.02852412 -0.06673343
+v 0.01197075 -0.02798091 -0.06674037
+v 0.01419137 -0.02756170 -0.06665291
+v 0.01550580 -0.02732552 -0.06656926
+v 0.01197075 -0.02909096 -0.06628362
+v 0.01419137 -0.02966664 -0.06465683
+v 0.01531096 -0.02948656 -0.06432120
+v 0.01531405 -0.02948656 -0.06418376
+v 0.03415222 -0.00277476 -0.06418366
+v 0.03371614 -0.00394384 -0.06527489
+v 0.03370068 -0.00160272 -0.06537311
+v 0.00258414 -0.02785691 -0.06693474
+v 0.02084395 -0.01948733 -0.06707146
+v 0.01862333 -0.02170741 -0.06705585
+v 0.02890685 -0.01461616 -0.06664002
+v 0.02702644 -0.01726726 -0.06668827
+v 0.02522025 -0.01938696 -0.06670910
+v 0.03093263 -0.01000772 -0.06658586
+v 0.03073469 -0.01148679 -0.06651020
+v 0.02299035 -0.02165723 -0.06671501
+v 0.02084395 -0.02170741 -0.06694097
+v 0.01419137 -0.02615052 -0.06690802
+v 0.01862333 -0.02392749 -0.06689031
+v 0.03276665 -0.00160272 -0.06642513
+v 0.03360480 -0.00616392 -0.06514856
+v 0.03252541 -0.00616392 -0.06626097
+v 0.01630993 -0.02621252 -0.06674002
+v 0.01862333 -0.02541247 -0.06665186
+v 0.01977694 -0.02506116 -0.06654842
+v 0.01698725 -0.02699192 -0.06638947
+v 0.01419137 -0.02867174 -0.06576959
+v 0.01822127 -0.02763846 -0.06490638
+v 0.01922333 -0.02736685 -0.06418375
+v 0.01545013 -0.02942161 -0.06418376
+v 0.03410274 -0.00394384 -0.06418366
+v 0.03402542 -0.00506569 -0.06418367
+v 0.02856355 -0.01609818 -0.06652514
+v 0.02654396 -0.01857806 -0.06659145
+v 0.02443777 -0.02088375 -0.06661714
+v 0.03225325 -0.00838400 -0.06599095
+v 0.03340376 -0.00838400 -0.06487854
+v 0.03319964 -0.00998706 -0.06456964
+v 0.03158211 -0.01282711 -0.06522356
+v 0.03042541 -0.01282711 -0.06633597
+v 0.02220478 -0.02301231 -0.06660326
+v 0.02064602 -0.02382417 -0.06667234
+v 0.03391408 -0.00616392 -0.06418367
+v 0.02368313 -0.02236282 -0.06630719
+v 0.02125530 -0.02449138 -0.06618086
+v 0.02064602 -0.02562799 -0.06543324
+v 0.01882436 -0.02665536 -0.06555855
+v 0.02227592 -0.02527962 -0.06469742
+v 0.02234086 -0.02532981 -0.06418374
+v 0.02813675 -0.01726726 -0.06626170
+v 0.02967386 -0.01523318 -0.06594308
+v 0.02965531 -0.01704585 -0.06498443
+v 0.02591613 -0.02006008 -0.06630059
+v 0.03374397 -0.00746585 -0.06418368
+v 0.03337593 -0.00953537 -0.06418369
+v 0.03323057 -0.01008743 -0.06418369
+v 0.03082747 -0.01616313 -0.06431595
+v 0.03109346 -0.01504719 -0.06469045
+v 0.02526046 -0.02170152 -0.06556235
+v 0.02460478 -0.02320716 -0.06482376
+v 0.02297798 -0.02385074 -0.06550231
+v 0.02470685 -0.02329572 -0.06418374
+v 0.02272128 -0.02502573 -0.06418374
+v 0.02887283 -0.01871976 -0.06469809
+v 0.02740376 -0.01938992 -0.06549951
+v 0.02678829 -0.02104022 -0.06481716
+v 0.03089861 -0.01603028 -0.06418371
+v 0.03083057 -0.01616903 -0.06418371
+v 0.02892850 -0.01879062 -0.06418372
+v 0.02514293 -0.02289422 -0.06418373
+v 0.02731716 -0.02065052 -0.06418373
+v 0.02688108 -0.02114355 -0.06418373
+f 1 2 5
+f 1 5 10
+f 1 10 21
+f 1 21 32
+f 1 32 52
+f 1 52 88
+f 1 88 123
+f 1 123 109
+f 1 109 108
+f 1 108 77
+f 1 77 73
+f 1 73 46
+f 1 46 45
+f 1 45 28
+f 1 28 18
+f 1 18 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 19
+f 1 19 31
+f 1 31 51
+f 1 51 86
+f 1 86 122
+f 1 122 135
+f 1 135 103
+f 1 103 68
+f 1 68 67
+f 1 67 41
+f 1 41 25
+f 1 25 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 6
+f 5 6 11
+f 5 11 10
+f 6 9 12
+f 6 12 13
+f 6 13 11
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 18 30
+f 7 30 49
+f 7 49 78
+f 7 78 83
+f 7 83 119
+f 7 119 145
+f 7 145 144
+f 7 144 164
+f 7 164 178
+f 7 178 177
+f 7 177 185
+f 7 185 187
+f 7 187 186
+f 7 186 184
+f 7 184 183
+f 7 183 182
+f 7 182 171
+f 7 171 170
+f 7 170 169
+f 7 169 158
+f 7 158 147
+f 7 147 146
+f 7 146 120
+f 7 120 84
+f 7 84 50
+f 7 50 31
+f 7 31 19
+f 7 19 14
+f 9 20 12
+f 10 11 21
+f 11 13 22
+f 11 22 23
+f 11 23 24
+f 11 24 21
+f 12 20 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 22
+f 18 28 29
+f 18 29 30
+f 21 24 32
+f 22 33 34
+f 22 34 23
+f 22 27 35
+f 22 35 33
+f 23 34 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 40
+f 24 40 32
+f 25 41 26
+f 26 41 67
+f 26 67 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 35
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 31 50 51
+f 32 40 52
+f 33 53 54
+f 33 54 34
+f 33 35 55
+f 33 55 56
+f 33 56 57
+f 33 57 53
+f 34 54 58
+f 34 58 36
+f 35 44 59
+f 35 59 56
+f 35 56 55
+f 36 60 61
+f 36 61 62
+f 36 62 37
+f 36 58 63
+f 36 63 60
+f 37 62 64
+f 37 64 38
+f 38 64 39
+f 39 64 40
+f 40 64 65
+f 40 65 66
+f 40 66 52
+f 42 67 68
+f 42 68 69
+f 42 69 43
+f 43 69 70
+f 43 70 44
+f 44 70 71
+f 44 71 72
+f 44 72 56
+f 44 56 59
+f 46 73 47
+f 47 74 75
+f 47 75 76
+f 47 76 48
+f 47 73 77
+f 47 77 74
+f 48 78 49
+f 48 76 79
+f 48 79 80
+f 48 80 81
+f 48 81 82
+f 48 82 83
+f 48 83 78
+f 50 84 85
+f 50 85 51
+f 51 85 86
+f 52 66 87
+f 52 87 88
+f 53 89 90
+f 53 90 54
+f 53 57 89
+f 54 90 58
+f 56 91 92
+f 56 92 57
+f 56 72 93
+f 56 93 91
+f 57 92 94
+f 57 94 95
+f 57 95 89
+f 58 90 63
+f 60 96 97
+f 60 97 61
+f 60 63 98
+f 60 98 99
+f 60 99 96
+f 61 97 62
+f 62 97 64
+f 63 90 100
+f 63 100 98
+f 64 97 65
+f 65 101 66
+f 65 97 101
+f 66 101 102
+f 66 102 87
+f 68 103 69
+f 69 104 70
+f 69 103 104
+f 70 104 105
+f 70 105 71
+f 71 106 72
+f 71 105 106
+f 72 106 107
+f 72 107 93
+f 74 77 108
+f 74 108 109
+f 74 109 102
+f 74 102 75
+f 75 101 110
+f 75 110 111
+f 75 111 76
+f 75 102 101
+f 76 111 79
+f 79 111 112
+f 79 112 113
+f 79 113 80
+f 80 113 114
+f 80 114 115
+f 80 115 116
+f 80 116 82
+f 80 82 81
+f 82 116 117
+f 82 117 83
+f 83 117 118
+f 83 118 119
+f 84 120 85
+f 85 121 104
+f 85 104 122
+f 85 122 86
+f 85 120 121
+f 87 102 123
+f 87 123 88
+f 89 95 90
+f 90 95 94
+f 90 94 124
+f 90 124 125
+f 90 125 98
+f 90 98 100
+f 91 93 126
+f 91 126 127
+f 91 127 92
+f 92 127 128
+f 92 128 94
+f 93 107 106
+f 93 106 129
+f 93 129 130
+f 93 130 126
+f 94 128 131
+f 94 131 132
+f 94 132 98
+f 94 98 125
+f 94 125 124
+f 96 113 110
+f 96 110 101
+f 96 101 97
+f 96 99 98
+f 96 98 133
+f 96 133 113
+f 98 132 134
+f 98 134 133
+f 102 109 123
+f 103 135 104
+f 104 135 122
+f 104 121 105
+f 105 121 136
+f 105 136 137
+f 105 137 106
+f 106 137 129
+f 110 113 112
+f 110 112 111
+f 113 133 114
+f 114 133 138
+f 114 138 115
+f 115 138 139
+f 115 139 140
+f 115 140 141
+f 115 141 116
+f 116 141 142
+f 116 142 117
+f 117 142 141
+f 117 141 118
+f 118 141 143
+f 118 143 144
+f 118 144 145
+f 118 145 119
+f 120 146 121
+f 121 146 147
+f 121 147 136
+f 126 148 127
+f 126 130 148
+f 127 149 128
+f 127 148 149
+f 128 150 131
+f 128 149 150
+f 129 137 130
+f 130 137 151
+f 130 151 152
+f 130 152 153
+f 130 153 154
+f 130 154 155
+f 130 155 148
+f 131 156 157
+f 131 157 134
+f 131 134 132
+f 131 150 156
+f 133 134 138
+f 134 157 139
+f 134 139 138
+f 136 147 158
+f 136 158 152
+f 136 152 137
+f 137 152 151
+f 139 157 156
+f 139 156 140
+f 140 156 159
+f 140 159 160
+f 140 160 141
+f 141 160 161
+f 141 161 162
+f 141 162 143
+f 143 162 161
+f 143 161 163
+f 143 163 144
+f 144 163 164
+f 148 165 149
+f 148 155 166
+f 148 166 167
+f 148 167 165
+f 149 165 168
+f 149 168 150
+f 150 168 159
+f 150 159 156
+f 152 158 169
+f 152 169 153
+f 153 169 170
+f 153 170 171
+f 153 171 172
+f 153 172 173
+f 153 173 154
+f 154 173 155
+f 155 173 166
+f 159 168 174
+f 159 174 175
+f 159 175 176
+f 159 176 160
+f 160 176 163
+f 160 163 161
+f 163 176 175
+f 163 175 177
+f 163 177 178
+f 163 178 164
+f 165 167 179
+f 165 179 180
+f 165 180 168
+f 166 173 167
+f 167 173 172
+f 167 172 179
+f 168 180 181
+f 168 181 174
+f 171 182 172
+f 172 182 183
+f 172 183 184
+f 172 184 179
+f 174 181 175
+f 175 181 185
+f 175 185 177
+f 179 184 186
+f 179 186 181
+f 179 181 180
+f 181 186 187
+f 181 187 185
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_14.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.03462551 -0.00159834 0.00134709
+v 0.03458130 0.00050627 0.00134710
+v 0.02973408 -0.00159834 0.00134709
+v 0.03463103 -0.00159834 -0.00076545
+v 0.03436137 0.00272112 0.00134143
+v 0.03436027 0.00272780 0.00134711
+v 0.03463545 -0.00159833 -0.00299158
+v 0.03463877 -0.00159832 -0.00521770
+v 0.03458462 0.00050126 -0.00088470
+v 0.02342475 0.01546402 0.00134716
+v 0.02963793 -0.00159817 -0.04539010
+v 0.03460009 0.00050132 -0.01646755
+v 0.03460893 0.00050136 -0.02759248
+v 0.03437685 0.00272119 -0.01868798
+v 0.03395689 0.00494265 0.00134144
+v 0.03395578 0.00494766 0.00134712
+v 0.03466971 -0.00159824 -0.02759249
+v 0.02951747 0.01546402 0.00134716
+v 0.02337943 0.01546423 -0.05666828
+v 0.02963793 -0.00159817 -0.04551503
+v 0.03460672 0.00050138 -0.03203904
+v 0.03437574 0.00272130 -0.04984232
+v 0.03438237 0.00272124 -0.03203903
+v 0.03438237 0.00272123 -0.02981291
+v 0.03397678 0.00494277 -0.03203902
+v 0.03331037 0.00736963 0.00134713
+v 0.03466861 -0.00159823 -0.02981293
+v 0.03035297 0.01414780 0.00134715
+v 0.03035629 0.01414446 0.00134147
+v 0.03037397 0.01417454 -0.00311077
+v 0.02952189 0.01546402 0.00079063
+v 0.02949205 0.01546423 -0.05666828
+v 0.02965120 -0.00159813 -0.05666835
+v 0.02964678 -0.00159814 -0.05441384
+v 0.03459346 0.00050144 -0.04984233
+v 0.03437243 0.00272131 -0.05206844
+v 0.03397457 0.00494284 -0.05206843
+v 0.03397678 0.00494283 -0.04984231
+v 0.03337668 0.00714098 -0.05206842
+v 0.03325732 0.00755336 0.00134713
+v 0.03466640 -0.00159822 -0.03191979
+v 0.03100501 0.01303704 0.00134715
+v 0.03100722 0.01303370 0.00134147
+v 0.02954731 0.01546403 -0.00311076
+v 0.03102159 0.01306377 -0.00311077
+v 0.03102601 0.01307213 -0.00533689
+v 0.03037729 0.01418290 -0.00533689
+v 0.03035629 0.01410291 -0.05666829
+v 0.02949427 0.01546423 -0.05652063
+v 0.03463987 -0.00159813 -0.05666835
+v 0.03458683 0.00050146 -0.05429457
+v 0.03458130 0.00050147 -0.05666834
+v 0.03437243 0.00257601 -0.05666833
+v 0.03435695 0.00272133 -0.05666833
+v 0.03398672 0.00479754 -0.05666832
+v 0.03396131 0.00494286 -0.05652067
+v 0.03341204 0.00698399 -0.05666831
+v 0.03337337 0.00712764 -0.05666831
+v 0.03303961 0.00825175 -0.05206842
+v 0.03304403 0.00826659 0.00039876
+v 0.03277105 0.00900320 0.00134713
+v 0.03169021 0.01160724 0.00134714
+v 0.02954842 0.01546403 -0.00367865
+v 0.03170458 0.01160391 -0.00311078
+v 0.03170789 0.01160392 -0.00533690
+v 0.03169795 0.01160408 -0.04984229
+v 0.03169684 0.01160409 -0.05206841
+v 0.03100501 0.01303720 -0.04316392
+v 0.03037507 0.01414296 -0.04761616
+v 0.03037507 0.01414630 -0.04539004
+v 0.02955063 0.01546404 -0.00533688
+v 0.02952963 0.01546419 -0.04539003
+v 0.03039828 0.01402942 -0.05666829
+v 0.03035739 0.01410458 -0.05652064
+v 0.02951084 0.01546422 -0.05429451
+v 0.03036844 0.01412295 -0.05429452
+v 0.03458572 0.00036283 -0.05666834
+v 0.03396020 0.00494286 -0.05666832
+v 0.03305729 0.00816491 -0.05666831
+v 0.03303519 0.00823841 -0.05652066
+v 0.03262186 0.00938258 -0.05652066
+v 0.03262628 0.00938257 -0.05429454
+v 0.03262959 0.00938256 -0.05206842
+v 0.03270032 0.00918360 0.00134713
+v 0.03168911 0.01160410 -0.05429453
+v 0.03099728 0.01302386 -0.05206840
+v 0.03100059 0.01302886 -0.04984228
+v 0.03037397 0.01413963 -0.04984228
+v 0.02952521 0.01546420 -0.04984227
+v 0.02952742 0.01546420 -0.04814428
+v 0.03097959 0.01299215 -0.05666829
+v 0.02952079 0.01546421 -0.05206839
+v 0.03037176 0.01413296 -0.05206840
+v 0.03099065 0.01301218 -0.05429452
+v 0.03303519 0.00823674 -0.05666831
+v 0.03264838 0.00930741 -0.05666831
+v 0.03262075 0.00938258 -0.05666831
+v 0.03173773 0.01145879 -0.05666830
+v 0.03167584 0.01160411 -0.05652065
+v 0.03102491 0.01290195 -0.05666829
+v 0.03167474 0.01160411 -0.05666830
+f 1 2 6
+f 1 6 16
+f 1 16 26
+f 1 26 40
+f 1 40 61
+f 1 61 84
+f 1 84 62
+f 1 62 42
+f 1 42 28
+f 1 28 18
+f 1 18 10
+f 1 10 3
+f 1 3 11
+f 1 11 20
+f 1 20 34
+f 1 34 33
+f 1 33 50
+f 1 50 41
+f 1 41 27
+f 1 27 17
+f 1 17 8
+f 1 8 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 5 9 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 16
+f 6 14 15
+f 8 17 9
+f 9 17 12
+f 10 18 31
+f 10 31 44
+f 10 44 63
+f 10 63 71
+f 10 71 72
+f 10 72 90
+f 10 90 89
+f 10 89 92
+f 10 92 75
+f 10 75 49
+f 10 49 32
+f 10 32 19
+f 10 19 11
+f 11 19 20
+f 12 17 13
+f 13 17 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 25 26
+f 17 27 21
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 19 32 48
+f 19 48 73
+f 19 73 91
+f 19 91 100
+f 19 100 101
+f 19 101 98
+f 19 98 97
+f 19 97 96
+f 19 96 95
+f 19 95 79
+f 19 79 58
+f 19 58 57
+f 19 57 78
+f 19 78 55
+f 19 55 54
+f 19 54 53
+f 19 53 52
+f 19 52 77
+f 19 77 50
+f 19 50 33
+f 19 33 34
+f 19 34 20
+f 21 27 35
+f 21 35 22
+f 22 35 51
+f 22 51 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 25
+f 23 25 24
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 27 41 35
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 30 44 31
+f 30 43 45
+f 30 45 46
+f 30 46 47
+f 30 47 44
+f 32 49 48
+f 35 50 51
+f 35 41 50
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 39 38
+f 37 56 57
+f 37 57 58
+f 37 58 39
+f 39 58 59
+f 39 59 60
+f 39 60 40
+f 40 60 61
+f 42 62 43
+f 43 62 45
+f 44 47 63
+f 45 62 46
+f 46 62 64
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 70
+f 46 70 47
+f 47 71 63
+f 47 70 72
+f 47 72 71
+f 48 49 74
+f 48 74 73
+f 49 75 76
+f 49 76 74
+f 50 77 51
+f 51 77 52
+f 55 78 56
+f 56 78 57
+f 58 79 80
+f 58 80 59
+f 59 80 81
+f 59 81 82
+f 59 82 83
+f 59 83 60
+f 60 83 61
+f 61 83 84
+f 62 84 64
+f 64 84 65
+f 65 84 83
+f 65 83 66
+f 66 83 67
+f 67 83 82
+f 67 82 81
+f 67 81 85
+f 67 85 86
+f 67 86 87
+f 67 87 68
+f 68 87 88
+f 68 88 69
+f 69 88 89
+f 69 89 90
+f 69 90 70
+f 70 90 72
+f 73 74 76
+f 73 76 91
+f 75 92 76
+f 76 92 93
+f 76 93 86
+f 76 86 94
+f 76 94 91
+f 79 95 80
+f 80 95 81
+f 81 95 96
+f 81 96 97
+f 81 97 98
+f 81 98 85
+f 85 98 99
+f 85 99 94
+f 85 94 86
+f 86 93 87
+f 87 93 88
+f 88 93 92
+f 88 92 89
+f 91 94 100
+f 94 99 101
+f 94 101 100
+f 98 101 99
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_15.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.02570235 -0.00159977 -0.06422609
+v -0.02530632 -0.00159977 -0.06528586
+v -0.02570788 -0.00172161 -0.06422609
+v -0.01220437 -0.00159977 -0.06422609
+v -0.02530909 -0.00172161 -0.06529024
+v -0.02436473 -0.00159977 -0.06633787
+v -0.02431488 -0.00172161 -0.06640261
+v -0.02526478 -0.00394182 -0.06525147
+v -0.02563311 -0.00394182 -0.06422609
+v -0.00783429 -0.01312390 -0.06422613
+v 0.00258413 -0.00159977 -0.06423216
+v -0.02430657 -0.00159977 -0.06639856
+v -0.02424842 -0.00159977 -0.06642082
+v -0.02319882 -0.00159976 -0.06675260
+v -0.02320436 -0.00172160 -0.06675362
+v -0.02314621 -0.00394181 -0.06674552
+v -0.02425673 -0.00394182 -0.06636383
+v -0.02512354 -0.00616317 -0.06509503
+v -0.02539494 -0.00616317 -0.06422610
+v 0.00258413 -0.01312390 -0.06428683
+v 0.00258413 -0.01282494 -0.06428345
+v 0.00258413 -0.01111691 -0.06426996
+v 0.00258413 -0.01060359 -0.06426658
+v 0.00258413 -0.00889556 -0.06425747
+v 0.00258413 -0.00667535 -0.06424836
+v 0.00258413 -0.00445513 -0.06424026
+v 0.00258413 -0.00223379 -0.06423317
+v 0.00258413 -0.00162797 -0.06423216
+v -0.02337883 -0.01312390 -0.06422613
+v 0.00258413 -0.00159976 -0.06767042
+v -0.02130733 -0.00159976 -0.06706518
+v -0.02130733 -0.00172160 -0.06706652
+v -0.02130733 -0.00394181 -0.06705675
+v -0.02130733 -0.00616316 -0.06702303
+v -0.02296342 -0.00616316 -0.06672294
+v -0.02275018 -0.00838338 -0.06667676
+v -0.02253140 -0.01060359 -0.06659517
+v -0.02242616 -0.01175544 -0.06654290
+v -0.02407395 -0.00616317 -0.06620739
+v -0.02491861 -0.00838338 -0.06480405
+v -0.02505154 -0.00838338 -0.06422611
+v 0.00258413 -0.01312389 -0.06761685
+v -0.02468875 -0.01016700 -0.06422612
+v -0.02474414 -0.00985788 -0.06451205
+v -0.02293850 -0.01312390 -0.06538031
+v 0.00258413 -0.00172160 -0.06767042
+v -0.00577940 -0.00616316 -0.06765323
+v -0.01021595 -0.00159976 -0.06764142
+v -0.01908906 -0.00159976 -0.06723916
+v -0.01908906 -0.00172160 -0.06724017
+v -0.01908906 -0.00394181 -0.06723140
+v -0.01908906 -0.00838337 -0.06718051
+v -0.01908906 -0.01060358 -0.06714478
+v -0.02130733 -0.00838337 -0.06696438
+v -0.02130733 -0.01060358 -0.06686357
+v -0.02133226 -0.01262750 -0.06672061
+v -0.02117717 -0.01312389 -0.06670948
+v -0.02211599 -0.01312390 -0.06637230
+v -0.02300220 -0.01262751 -0.06553980
+v -0.02386070 -0.00838338 -0.06591675
+v -0.02476629 -0.00992557 -0.06422612
+v 0.00258413 -0.00394181 -0.06766368
+v 0.00087542 -0.01312389 -0.06761954
+v -0.02225723 -0.01312390 -0.06620742
+v 0.00087542 -0.00394181 -0.06766435
+v -0.00577940 -0.00838337 -0.06764683
+v -0.00799768 -0.00616316 -0.06764480
+v -0.01243146 -0.00159976 -0.06763333
+v -0.01033781 -0.00159976 -0.06764108
+v -0.01686801 -0.00159976 -0.06741281
+v -0.01686801 -0.00172160 -0.06741348
+v -0.01686801 -0.00394181 -0.06739797
+v -0.01464974 -0.00616316 -0.06752409
+v -0.01464974 -0.00838337 -0.06748802
+v -0.01464974 -0.01060358 -0.06744858
+v -0.01686801 -0.01282493 -0.06725538
+v -0.01686801 -0.01312389 -0.06724763
+v -0.01878996 -0.01312389 -0.06709826
+v -0.01908906 -0.01282493 -0.06708308
+v -0.01908906 -0.01312389 -0.06706623
+v -0.02087254 -0.01312389 -0.06676950
+v -0.00356113 -0.01312389 -0.06762527
+v -0.00548031 -0.01312389 -0.06762663
+v -0.00577940 -0.01312389 -0.06762663
+v -0.00799768 -0.00838337 -0.06763537
+v -0.01021595 -0.00616316 -0.06763098
+v -0.01243146 -0.00616316 -0.06761041
+v -0.01464974 -0.00172160 -0.06756488
+v -0.01464974 -0.00159976 -0.06756488
+v -0.01464974 -0.00394181 -0.06755005
+v -0.01243146 -0.00838337 -0.06758715
+v -0.01243146 -0.01060358 -0.06755243
+v -0.01464974 -0.01282493 -0.06740341
+v -0.01243146 -0.01282493 -0.06751265
+v -0.01464974 -0.01312389 -0.06739430
+v -0.00769858 -0.01312389 -0.06761010
+v -0.00799768 -0.01282493 -0.06760875
+v -0.00799768 -0.01312389 -0.06760538
+v -0.00991686 -0.01312389 -0.06757267
+v -0.01021595 -0.01282493 -0.06757065
+v -0.01435064 -0.01312389 -0.06740948
+v -0.01021595 -0.01312389 -0.06756492
+v -0.01213237 -0.01312389 -0.06751468
+v -0.01243146 -0.01312389 -0.06750389
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 41
+f 1 41 61
+f 1 61 43
+f 1 43 29
+f 1 29 10
+f 1 10 4
+f 1 4 11
+f 1 11 30
+f 1 30 48
+f 1 48 69
+f 1 69 68
+f 1 68 89
+f 1 89 70
+f 1 70 49
+f 1 49 31
+f 1 31 14
+f 1 14 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 3 8 9
+f 4 10 11
+f 5 7 8
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 18 9
+f 8 17 18
+f 9 18 19
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 10 29 45
+f 10 45 64
+f 10 64 58
+f 10 58 57
+f 10 57 81
+f 10 81 80
+f 10 80 78
+f 10 78 77
+f 10 77 95
+f 10 95 101
+f 10 101 104
+f 10 104 103
+f 10 103 102
+f 10 102 99
+f 10 99 98
+f 10 98 96
+f 10 96 84
+f 10 84 83
+f 10 83 82
+f 10 82 63
+f 10 63 42
+f 10 42 20
+f 11 28 27
+f 11 27 26
+f 11 26 25
+f 11 25 24
+f 11 24 23
+f 11 23 22
+f 11 22 21
+f 11 21 20
+f 11 20 42
+f 11 42 62
+f 11 62 46
+f 11 46 30
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 17 35 36
+f 17 36 37
+f 17 37 38
+f 17 38 39
+f 17 39 18
+f 18 40 19
+f 18 39 40
+f 19 40 41
+f 29 43 44
+f 29 44 45
+f 30 46 47
+f 30 47 48
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 33 51 52
+f 33 52 34
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 35 54 36
+f 36 54 55
+f 36 55 37
+f 37 55 38
+f 38 55 56
+f 38 56 57
+f 38 57 58
+f 38 58 59
+f 38 59 44
+f 38 44 40
+f 38 40 60
+f 38 60 39
+f 39 60 40
+f 40 44 41
+f 41 44 61
+f 42 63 62
+f 43 61 44
+f 44 59 45
+f 45 59 64
+f 46 62 65
+f 46 65 47
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 49 70 50
+f 50 70 71
+f 50 71 51
+f 51 71 72
+f 51 72 52
+f 52 72 73
+f 52 73 53
+f 53 73 74
+f 53 74 75
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 54
+f 54 79 55
+f 55 79 80
+f 55 80 81
+f 55 81 56
+f 56 81 57
+f 58 64 59
+f 62 63 82
+f 62 82 83
+f 62 83 65
+f 65 83 66
+f 66 83 84
+f 66 84 85
+f 66 85 67
+f 67 85 86
+f 67 86 68
+f 68 87 88
+f 68 88 89
+f 68 86 87
+f 70 89 71
+f 71 89 88
+f 71 88 90
+f 71 90 72
+f 72 90 73
+f 73 90 91
+f 73 91 92
+f 73 92 74
+f 74 92 75
+f 75 93 76
+f 75 92 94
+f 75 94 93
+f 76 93 77
+f 77 93 95
+f 78 80 79
+f 84 96 86
+f 84 86 85
+f 86 96 87
+f 87 91 90
+f 87 90 88
+f 87 96 97
+f 87 97 91
+f 91 97 98
+f 91 98 99
+f 91 99 100
+f 91 100 92
+f 92 100 94
+f 93 94 101
+f 93 101 95
+f 94 100 102
+f 94 102 103
+f 94 103 104
+f 94 104 101
+f 96 98 97
+f 99 102 100
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_16.obj

@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
+v -0.00961340 -0.00159977 -0.06438814
+v -0.01687092 -0.00159978 -0.06126643
+v -0.00961340 -0.00159976 -0.06764013
+v -0.00961340 0.01977372 -0.06011375
+v -0.02073413 -0.00159979 -0.06011383
+v -0.01021535 -0.00159976 -0.06764087
+v -0.00961340 -0.00010189 -0.06765345
+v -0.00961340 0.02587275 -0.06011372
+v -0.02618741 -0.00159979 -0.06011383
+v -0.01033704 -0.00159976 -0.06764087
+v -0.01021535 0.00050048 -0.06765937
+v -0.01021535 0.00272174 -0.06767490
+v -0.00961340 0.00211936 -0.06766750
+v -0.00961340 0.02585662 -0.06097318
+v -0.01029323 0.02550703 -0.06097318
+v -0.01031270 0.02551241 -0.06011373
+v -0.02618741 -0.00159979 -0.06097328
+v -0.02611277 -0.00035739 -0.06011382
+v -0.01243496 -0.00159976 -0.06763273
+v -0.01243496 0.00050048 -0.06765271
+v -0.00961340 0.00272174 -0.06766972
+v -0.01243496 0.00272174 -0.06766158
+v -0.01021535 0.00494299 -0.06767119
+v -0.00961340 0.00494299 -0.06766675
+v -0.00961340 0.02582974 -0.06171493
+v -0.00961340 0.02575713 -0.06268246
+v -0.01001416 0.02550435 -0.06306370
+v -0.01209260 0.02431574 -0.06319843
+v -0.01219482 0.02439640 -0.06097318
+v -0.01220131 0.02440178 -0.06011373
+v -0.02618254 -0.00159979 -0.06109469
+v -0.02606085 0.00050045 -0.06097327
+v -0.02605436 0.00050045 -0.06011382
+v -0.01465294 -0.00159976 -0.06756463
+v -0.01465294 0.00050048 -0.06756758
+v -0.01243496 0.00494299 -0.06764232
+v -0.01021535 0.00716424 -0.06764454
+v -0.00961340 0.00716424 -0.06764602
+v -0.00961340 0.02567914 -0.06330873
+v -0.01177784 0.02410061 -0.06474188
+v -0.01320241 0.02357890 -0.06319843
+v -0.01330300 0.02364612 -0.06097318
+v -0.01330949 0.02365150 -0.06011373
+v -0.02608357 -0.00159978 -0.06319853
+v -0.02596026 0.00050046 -0.06319852
+v -0.02579476 0.00272171 -0.06097326
+v -0.02589049 0.00186386 -0.06011381
+v -0.01687092 -0.00159976 -0.06741213
+v -0.01687092 0.00050048 -0.06739732
+v -0.01465294 0.00272174 -0.06754831
+v -0.01465294 0.00494299 -0.06750759
+v -0.01243496 0.00716424 -0.06758457
+v -0.01021535 0.00938549 -0.06758975
+v -0.00961340 0.00938549 -0.06760086
+v -0.00961340 0.02467072 -0.06530893
+v -0.01021535 0.02453088 -0.06517124
+v -0.01021535 0.02335302 -0.06628386
+v -0.01247227 0.02271300 -0.06558432
+v -0.01420512 0.02213752 -0.06494325
+v -0.01568486 0.02152707 -0.06368479
+v -0.01482817 0.02230155 -0.06304520
+v -0.01577409 0.02161043 -0.06220130
+v -0.01465294 0.02255432 -0.06097319
+v -0.01465294 0.02255970 -0.06011374
+v -0.02604463 -0.00159978 -0.06330883
+v -0.02524148 0.00050047 -0.06521352
+v -0.02569254 0.00272172 -0.06319851
+v -0.02510357 0.00272173 -0.06504325
+v -0.02578502 0.00272171 -0.06011381
+v -0.02551731 0.00408511 -0.06011380
+v -0.02535830 0.00494296 -0.06097325
+v -0.02525933 0.00494297 -0.06319850
+v -0.01908890 -0.00159976 -0.06723891
+v -0.01908890 0.00050048 -0.06722039
+v -0.02130688 -0.00159976 -0.06706494
+v -0.01908890 0.00272174 -0.06719077
+v -0.01908890 0.00494299 -0.06715449
+v -0.01908890 0.00716424 -0.06711376
+v -0.01687092 0.00938549 -0.06721888
+v -0.01465294 0.00716424 -0.06744170
+v -0.01243496 0.00938549 -0.06749500
+v -0.01687092 0.01160675 -0.06714632
+v -0.01021535 0.01160675 -0.06749869
+v -0.00961340 0.01160675 -0.06752312
+v -0.00961340 0.02352782 -0.06638898
+v -0.01316671 0.02130657 -0.06642674
+v -0.01487684 0.02067730 -0.06570720
+v -0.01641499 0.02004535 -0.06498693
+v -0.01849343 0.01779989 -0.06493882
+v -0.01790933 0.01929775 -0.06319845
+v -0.01659996 0.02066654 -0.06304520
+v -0.01797098 0.01936767 -0.06146696
+v -0.01784767 0.01951556 -0.06011375
+v -0.01578221 0.02161580 -0.06097319
+v -0.01578221 0.02161580 -0.06011374
+v -0.02530638 -0.00159977 -0.06528534
+v -0.02419496 0.00050047 -0.06632615
+v -0.02436532 -0.00159977 -0.06633800
+v -0.02471579 0.00637362 -0.06445177
+v -0.02489102 0.00494298 -0.06472641
+v -0.02399052 0.00272173 -0.06615587
+v -0.02534857 0.00494296 -0.06011380
+v -0.02503867 0.00609661 -0.06011380
+v -0.02485208 0.00682269 -0.06097324
+v -0.02480827 0.00668824 -0.06319850
+v -0.02130688 0.00050048 -0.06703977
+v -0.02319873 -0.00159976 -0.06675255
+v -0.01908890 0.00938549 -0.06703529
+v -0.02130688 0.00272174 -0.06698646
+v -0.01465294 0.01382531 -0.06717518
+v -0.01687092 0.01382531 -0.06700788
+v -0.01465294 0.01604656 -0.06704563
+v -0.01243496 0.01604656 -0.06717813
+v -0.01021535 0.01826782 -0.06715962
+v -0.00961340 0.01766544 -0.06721071
+v -0.00961340 0.02242258 -0.06671471
+v -0.01021535 0.02224240 -0.06669917
+v -0.01168697 0.02180675 -0.06660588
+v -0.01407045 0.01982483 -0.06664587
+v -0.01555019 0.01914985 -0.06647117
+v -0.01704290 0.01847487 -0.06570499
+v -0.01881631 0.01818712 -0.06319845
+v -0.01767082 0.01678339 -0.06642232
+v -0.02051833 0.01538771 -0.06478707
+v -0.01999264 0.01688824 -0.06097321
+v -0.01870274 0.01848292 -0.06082441
+v -0.01798072 0.01937841 -0.06011375
+v -0.01621055 0.02118284 -0.06011374
+v -0.02424850 -0.00159977 -0.06642091
+v -0.02430853 -0.00159977 -0.06639796
+v -0.02234367 0.00806510 -0.06651341
+v -0.02250105 0.00658337 -0.06658078
+v -0.02265357 0.00494298 -0.06664000
+v -0.02288072 0.00272174 -0.06669924
+v -0.02449837 0.00779886 -0.06319849
+v -0.02395483 0.00938547 -0.06319849
+v -0.02241668 0.01271467 -0.06431257
+v -0.02267466 0.01160674 -0.06470492
+v -0.02314032 0.00938548 -0.06524237
+v -0.02484721 0.00680655 -0.06011379
+v -0.02453731 0.00793331 -0.06097324
+v -0.02308516 0.00050048 -0.06673700
+v -0.02130688 0.00494299 -0.06690798
+v -0.02148536 0.00726105 -0.06676065
+v -0.02093857 0.00938549 -0.06672882
+v -0.01908890 0.01160675 -0.06688797
+v -0.01243496 0.01826782 -0.06705376
+v -0.01900777 0.01362361 -0.06668438
+v -0.01690823 0.01604387 -0.06674730
+v -0.01474704 0.01835387 -0.06677319
+v -0.00961340 0.01826782 -0.06717294
+v -0.01021535 0.02048638 -0.06698565
+v -0.00961340 0.02048638 -0.06700785
+v -0.01243009 0.02053479 -0.06675246
+v -0.01619271 0.01767081 -0.06663700
+v -0.01992612 0.01680489 -0.06319846
+v -0.01821598 0.01530434 -0.06660886
+v -0.02021330 0.01274963 -0.06654448
+v -0.01969410 0.01423137 -0.06627132
+v -0.02073251 0.01569426 -0.06319846
+v -0.02110569 0.01347302 -0.06529194
+v -0.02078930 0.01577762 -0.06097321
+v -0.01999264 0.01688824 -0.06011376
+v -0.01876764 0.01841031 -0.06011375
+v -0.01809267 0.01924126 -0.06011375
+v -0.02204675 0.00938548 -0.06635573
+v -0.02045019 0.01160674 -0.06661704
+v -0.02403433 0.00938546 -0.06097324
+v -0.02301863 0.01160673 -0.06319848
+v -0.02245400 0.01278727 -0.06319847
+v -0.02184231 0.01389790 -0.06319847
+v -0.02155837 0.01160674 -0.06581754
+v -0.02453244 0.00791718 -0.06011379
+v -0.02402459 0.00938546 -0.06011379
+v -0.02189747 0.01395974 -0.06097322
+v -0.02078767 0.01577762 -0.06011376
+v -0.02308516 0.01160672 -0.06011378
+v -0.02309165 0.01160672 -0.06097323
+v -0.02248482 0.01284911 -0.06097322
+v -0.02189747 0.01395436 -0.06011377
+v -0.02248320 0.01284373 -0.06011377
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 31
+f 1 31 44
+f 1 44 65
+f 1 65 96
+f 1 96 98
+f 1 98 130
+f 1 130 129
+f 1 129 107
+f 1 107 75
+f 1 75 73
+f 1 73 48
+f 1 48 34
+f 1 34 19
+f 1 19 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 24
+f 1 24 38
+f 1 38 54
+f 1 54 84
+f 1 84 115
+f 1 115 151
+f 1 151 153
+f 1 153 116
+f 1 116 85
+f 1 85 55
+f 1 55 39
+f 1 39 26
+f 1 26 25
+f 1 25 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 16
+f 4 16 30
+f 4 30 43
+f 4 43 64
+f 4 64 95
+f 4 95 128
+f 4 128 93
+f 4 93 127
+f 4 127 165
+f 4 165 164
+f 4 164 163
+f 4 163 176
+f 4 176 180
+f 4 180 181
+f 4 181 177
+f 4 177 174
+f 4 174 173
+f 4 173 140
+f 4 140 103
+f 4 103 102
+f 4 102 70
+f 4 70 69
+f 4 69 47
+f 4 47 33
+f 4 33 18
+f 4 18 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 9 18 17
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 21 13
+f 12 20 22
+f 12 22 23
+f 12 23 24
+f 12 24 21
+f 14 25 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 15 25 26
+f 16 29 30
+f 17 18 32
+f 17 32 31
+f 18 33 32
+f 19 34 20
+f 20 34 22
+f 22 34 35
+f 22 35 50
+f 22 50 36
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 26 39 27
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 31 32 45
+f 31 45 44
+f 32 33 46
+f 32 46 45
+f 33 47 46
+f 34 48 35
+f 35 49 50
+f 35 48 49
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 36 50 51
+f 37 53 54
+f 37 54 38
+f 39 55 56
+f 39 56 40
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 60 61
+f 41 61 62
+f 41 62 42
+f 42 62 63
+f 42 63 43
+f 43 63 64
+f 44 45 65
+f 45 66 65
+f 45 46 67
+f 45 67 68
+f 45 68 66
+f 46 47 69
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 67
+f 48 73 49
+f 49 74 50
+f 49 73 75
+f 49 75 74
+f 50 74 76
+f 50 76 77
+f 50 77 78
+f 50 78 51
+f 51 78 79
+f 51 79 80
+f 51 80 52
+f 52 81 53
+f 52 80 82
+f 52 82 81
+f 53 81 83
+f 53 83 84
+f 53 84 54
+f 55 85 56
+f 56 85 57
+f 57 85 86
+f 57 86 58
+f 58 86 59
+f 59 86 87
+f 59 87 88
+f 59 88 60
+f 60 62 61
+f 60 88 89
+f 60 89 90
+f 60 90 91
+f 60 91 62
+f 62 91 90
+f 62 90 92
+f 62 92 93
+f 62 93 94
+f 62 94 63
+f 63 94 64
+f 64 94 95
+f 65 66 96
+f 66 97 98
+f 66 98 96
+f 66 68 97
+f 67 72 99
+f 67 99 100
+f 67 100 68
+f 68 101 97
+f 68 100 101
+f 70 102 71
+f 71 102 103
+f 71 103 104
+f 71 104 105
+f 71 105 72
+f 72 105 99
+f 74 106 76
+f 74 75 106
+f 75 107 106
+f 76 106 77
+f 77 106 78
+f 78 108 82
+f 78 82 79
+f 78 106 109
+f 78 109 143
+f 78 143 108
+f 79 82 80
+f 81 82 110
+f 81 110 83
+f 82 111 112
+f 82 112 110
+f 82 108 111
+f 83 110 113
+f 83 113 114
+f 83 114 84
+f 84 114 115
+f 85 116 117
+f 85 117 118
+f 85 118 86
+f 86 119 120
+f 86 120 87
+f 86 118 119
+f 87 120 88
+f 88 120 121
+f 88 121 89
+f 89 122 90
+f 89 121 123
+f 89 123 124
+f 89 124 122
+f 90 122 92
+f 92 122 125
+f 92 125 126
+f 92 126 127
+f 92 127 93
+f 93 128 94
+f 94 128 95
+f 97 129 130
+f 97 130 98
+f 97 101 131
+f 97 131 132
+f 97 132 133
+f 97 133 134
+f 97 134 129
+f 99 105 135
+f 99 135 136
+f 99 136 137
+f 99 137 138
+f 99 138 139
+f 99 139 100
+f 100 139 131
+f 100 131 101
+f 103 140 104
+f 104 140 173
+f 104 173 141
+f 104 141 135
+f 104 135 105
+f 106 107 142
+f 106 142 109
+f 107 129 142
+f 108 143 144
+f 108 144 145
+f 108 145 146
+f 108 146 111
+f 109 134 143
+f 109 142 134
+f 110 112 147
+f 110 147 113
+f 111 148 149
+f 111 149 150
+f 111 150 112
+f 111 146 148
+f 112 150 147
+f 113 147 114
+f 114 151 115
+f 114 147 152
+f 114 152 153
+f 114 153 151
+f 116 153 152
+f 116 152 117
+f 117 152 154
+f 117 154 118
+f 118 154 119
+f 119 154 150
+f 119 150 155
+f 119 155 120
+f 120 155 123
+f 120 123 121
+f 122 124 156
+f 122 156 125
+f 123 157 158
+f 123 158 159
+f 123 159 124
+f 123 155 157
+f 124 160 156
+f 124 159 161
+f 124 161 138
+f 124 138 137
+f 124 137 160
+f 125 156 160
+f 125 160 162
+f 125 162 163
+f 125 163 164
+f 125 164 126
+f 126 164 165
+f 126 165 127
+f 129 134 142
+f 131 145 144
+f 131 144 132
+f 131 139 166
+f 131 166 158
+f 131 158 167
+f 131 167 145
+f 132 144 133
+f 133 144 143
+f 133 143 134
+f 135 141 136
+f 136 168 169
+f 136 169 137
+f 136 141 168
+f 137 169 170
+f 137 170 171
+f 137 171 160
+f 138 161 172
+f 138 172 166
+f 138 166 139
+f 141 173 174
+f 141 174 168
+f 145 167 146
+f 146 167 158
+f 146 158 148
+f 147 150 154
+f 147 154 152
+f 148 157 149
+f 148 158 157
+f 149 157 155
+f 149 155 150
+f 158 166 172
+f 158 172 161
+f 158 161 159
+f 160 171 162
+f 162 171 175
+f 162 175 176
+f 162 176 163
+f 168 174 177
+f 168 177 178
+f 168 178 169
+f 169 178 170
+f 170 178 179
+f 170 179 175
+f 170 175 171
+f 175 179 180
+f 175 180 176
+f 177 181 178
+f 178 181 179
+f 179 181 180
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_17.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v 0.00258413 -0.02734111 -0.05260855
+v 0.01960729 -0.02170076 -0.05260853
+v 0.00258413 -0.03175603 -0.05260857
+v 0.00258413 -0.02725628 -0.02773779
+v 0.01960493 -0.02170076 -0.05206855
+v 0.02668218 -0.02170076 -0.05260853
+v 0.00258413 -0.03176002 -0.04176136
+v 0.00297338 -0.03176986 -0.05260857
+v 0.00309841 -0.03177480 -0.05206859
+v 0.00309841 -0.03178870 -0.02981303
+v 0.01958370 -0.02170078 -0.04539294
+v 0.00258413 -0.02729783 -0.00669453
+v 0.01944451 -0.02170096 0.00146869
+v 0.02599333 -0.02243345 -0.05260853
+v 0.02668454 -0.02170077 -0.04984511
+v 0.02599569 -0.02243445 -0.04984511
+v 0.00258413 -0.03176401 -0.02981303
+v 0.00309841 -0.03177381 -0.05260857
+v 0.00431098 -0.03175900 -0.05260857
+v 0.00469787 -0.03175505 -0.05206859
+v 0.00479224 -0.03176698 -0.02981303
+v 0.00309841 -0.03178778 -0.01201492
+v 0.00258413 -0.03176408 -0.01201492
+v 0.00258413 -0.02731564 0.00146867
+v 0.02654772 -0.02170096 0.00146869
+v 0.02488456 -0.02343769 -0.05206856
+v 0.02488220 -0.02343769 -0.05260854
+v 0.02488928 -0.02344759 -0.04539295
+v 0.02488928 -0.02344462 -0.04761639
+v 0.02668218 -0.02170078 -0.04539294
+v 0.02599805 -0.02243150 -0.04316421
+v 0.02599805 -0.02243347 -0.04761638
+v 0.02488692 -0.02345751 -0.03203644
+v 0.00469316 -0.03175406 -0.05260857
+v 0.00553299 -0.03166519 -0.05260857
+v 0.00580664 -0.03163754 -0.05206859
+v 0.00753349 -0.03145190 -0.05206859
+v 0.00590808 -0.03164750 -0.02758959
+v 0.00588921 -0.03165354 0.00146865
+v 0.00479931 -0.03176507 -0.01201492
+v 0.00479460 -0.03176408 -0.00978619
+v 0.00477808 -0.03175525 0.00146865
+v 0.00320221 -0.03177105 0.00146865
+v 0.00309841 -0.03177203 0.00146865
+v 0.00258413 -0.03175228 0.00146865
+v 0.02601220 -0.02229540 0.00146869
+v 0.02655007 -0.02170095 0.00134163
+v 0.02357999 -0.02454759 -0.05260854
+v 0.02456844 -0.02370529 -0.05260854
+v 0.02358706 -0.02455552 -0.04761639
+v 0.02362009 -0.02458132 -0.01201489
+v 0.02362009 -0.02457933 -0.01423833
+v 0.02361065 -0.02456940 -0.02981300
+v 0.02360830 -0.02456840 -0.03203644
+v 0.02358942 -0.02455848 -0.04539295
+v 0.02667982 -0.02170079 -0.04392653
+v 0.02598625 -0.02239904 -0.01201488
+v 0.02599569 -0.02241871 -0.03203643
+v 0.02487748 -0.02347043 -0.01201489
+v 0.00580193 -0.03163655 -0.05260857
+v 0.00711122 -0.03149633 -0.05260857
+v 0.00753349 -0.03145091 -0.05260857
+v 0.00975339 -0.03107765 -0.05260856
+v 0.00753349 -0.03145495 -0.02758959
+v 0.00598122 -0.03164268 0.00146865
+v 0.00484414 -0.03174932 0.00146865
+v 0.02595087 -0.02236157 0.00146869
+v 0.02595323 -0.02236254 0.00134163
+v 0.02656895 -0.02170095 -0.00088710
+v 0.02247122 -0.02543236 -0.05260854
+v 0.02249953 -0.02545810 -0.03203644
+v 0.02362009 -0.02458033 -0.00978616
+v 0.02250896 -0.02547992 -0.00533928
+v 0.02251132 -0.02547892 -0.01201489
+v 0.02250896 -0.02547792 -0.01423833
+v 0.02250188 -0.02546107 -0.02981300
+v 0.02661613 -0.02170091 -0.01201488
+v 0.02598389 -0.02239509 -0.00978615
+v 0.02487512 -0.02346944 -0.00978616
+v 0.02362009 -0.02457837 -0.00756272
+v 0.00975339 -0.03107765 -0.05206858
+v 0.01197093 -0.03052566 -0.05260856
+v 0.01197093 -0.03056931 0.00146866
+v 0.00975339 -0.03107489 0.00146866
+v 0.00766560 -0.03142544 0.00146865
+v 0.00753349 -0.03144716 0.00146865
+v 0.02490815 -0.02338556 0.00146868
+v 0.02484446 -0.02345171 0.00134162
+v 0.02596266 -0.02237242 -0.00088710
+v 0.02660905 -0.02170091 -0.00978615
+v 0.02084345 -0.02653732 -0.05260855
+v 0.02090950 -0.02659079 -0.00978617
+v 0.02092366 -0.02659081 -0.00533929
+v 0.02250660 -0.02547993 -0.00311055
+v 0.02092602 -0.02658886 -0.00088712
+v 0.02092602 -0.02658984 -0.00311056
+v 0.02486805 -0.02346846 -0.00756272
+v 0.02485153 -0.02346059 -0.00088711
+v 0.02361301 -0.02457050 -0.00088711
+v 0.02361537 -0.02457345 -0.00311055
+v 0.02361773 -0.02457640 -0.00533928
+v 0.02250424 -0.02547896 -0.00088711
+v 0.01416016 -0.02985518 -0.05260856
+v 0.01419083 -0.02990277 0.00134160
+v 0.01419083 -0.02990278 0.00146866
+v 0.02484210 -0.02344974 0.00146868
+v 0.02360358 -0.02456161 0.00134162
+v 0.02367671 -0.02449447 0.00146868
+v 0.02057215 -0.02671210 -0.05260855
+v 0.01981253 -0.02730968 -0.00533929
+v 0.01981489 -0.02731068 -0.00311056
+v 0.01981489 -0.02731069 -0.00088712
+v 0.02091658 -0.02658392 0.00134161
+v 0.01980781 -0.02730575 0.00134161
+v 0.02249481 -0.02547402 0.00134162
+v 0.01526657 -0.02947106 -0.05260856
+v 0.01534678 -0.02950482 0.00134160
+v 0.01534678 -0.02950483 0.00146866
+v 0.02360122 -0.02456063 0.00146868
+v 0.01972524 -0.02725619 -0.05206857
+v 0.01972288 -0.02725520 -0.05260855
+v 0.01862355 -0.02794858 -0.00311056
+v 0.01862355 -0.02794462 -0.00533929
+v 0.01861647 -0.02784867 -0.05206857
+v 0.01862355 -0.02795056 -0.00088712
+v 0.01869432 -0.02790515 0.00146867
+v 0.01862355 -0.02794365 0.00134161
+v 0.02100858 -0.02651678 0.00146867
+v 0.02091422 -0.02658295 0.00146867
+v 0.01987150 -0.02726232 0.00146867
+v 0.01980545 -0.02730478 0.00146867
+v 0.02249245 -0.02547206 0.00146868
+v 0.01613236 -0.02907410 -0.05260856
+v 0.01644611 -0.02901109 -0.00088713
+v 0.01645555 -0.02900912 0.00134160
+v 0.01645555 -0.02900913 0.00146866
+v 0.01945631 -0.02739839 -0.05260855
+v 0.01640601 -0.02894770 -0.05260856
+v 0.01808096 -0.02811429 -0.05260855
+v 0.01861411 -0.02784768 -0.05260855
+v 0.01862355 -0.02794169 0.00146867
+f 1 2 6
+f 1 6 14
+f 1 14 27
+f 1 27 49
+f 1 49 48
+f 1 48 70
+f 1 70 91
+f 1 91 109
+f 1 109 121
+f 1 121 137
+f 1 137 140
+f 1 140 139
+f 1 139 138
+f 1 138 133
+f 1 133 116
+f 1 116 103
+f 1 103 82
+f 1 82 63
+f 1 63 62
+f 1 62 61
+f 1 61 60
+f 1 60 35
+f 1 35 34
+f 1 34 19
+f 1 19 18
+f 1 18 8
+f 1 8 3
+f 1 3 7
+f 1 7 17
+f 1 17 23
+f 1 23 45
+f 1 45 24
+f 1 24 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
+f 2 5 11
+f 2 11 13
+f 2 13 25
+f 2 25 47
+f 2 47 69
+f 2 69 90
+f 2 90 77
+f 2 77 56
+f 2 56 30
+f 2 30 15
+f 2 15 6
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 4 11 5
+f 4 12 13
+f 4 13 11
+f 6 15 16
+f 6 16 14
+f 7 10 17
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 17
+f 12 24 13
+f 13 24 45
+f 13 45 44
+f 13 44 43
+f 13 43 42
+f 13 42 66
+f 13 66 39
+f 13 39 65
+f 13 65 86
+f 13 86 85
+f 13 85 84
+f 13 84 83
+f 13 83 105
+f 13 105 118
+f 13 118 136
+f 13 136 141
+f 13 141 126
+f 13 126 131
+f 13 131 130
+f 13 130 129
+f 13 129 128
+f 13 128 132
+f 13 132 119
+f 13 119 108
+f 13 108 106
+f 13 106 87
+f 13 87 67
+f 13 67 46
+f 13 46 25
+f 14 26 27
+f 14 16 28
+f 14 28 29
+f 14 29 26
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 28
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 45
+f 22 45 23
+f 25 46 47
+f 26 48 49
+f 26 49 27
+f 26 29 50
+f 26 50 48
+f 28 33 51
+f 28 51 52
+f 28 52 53
+f 28 53 29
+f 29 53 54
+f 29 54 55
+f 29 55 50
+f 30 56 57
+f 30 57 58
+f 30 58 31
+f 31 58 59
+f 31 59 32
+f 32 59 33
+f 33 59 51
+f 35 60 36
+f 36 60 61
+f 36 61 37
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 38
+f 38 65 39
+f 39 66 41
+f 39 41 40
+f 41 66 42
+f 46 67 68
+f 46 68 47
+f 47 68 69
+f 48 50 70
+f 50 55 76
+f 50 76 71
+f 50 71 70
+f 51 59 72
+f 51 72 73
+f 51 73 74
+f 51 74 52
+f 52 74 53
+f 53 74 75
+f 53 75 54
+f 54 75 76
+f 54 76 55
+f 56 77 57
+f 57 77 78
+f 57 78 79
+f 57 79 59
+f 57 59 58
+f 59 79 80
+f 59 80 72
+f 63 81 64
+f 63 82 83
+f 63 83 81
+f 64 81 84
+f 64 84 85
+f 64 85 86
+f 64 86 65
+f 67 87 88
+f 67 88 68
+f 68 88 89
+f 68 89 69
+f 69 89 78
+f 69 78 90
+f 70 71 92
+f 70 92 91
+f 71 76 93
+f 71 93 92
+f 72 80 94
+f 72 94 73
+f 73 94 95
+f 73 95 96
+f 73 96 74
+f 74 96 93
+f 74 93 75
+f 75 93 76
+f 77 90 78
+f 78 97 79
+f 78 89 98
+f 78 98 97
+f 79 97 99
+f 79 99 100
+f 79 100 101
+f 79 101 80
+f 80 101 102
+f 80 102 94
+f 81 83 84
+f 82 103 104
+f 82 104 83
+f 83 104 105
+f 87 106 88
+f 88 107 99
+f 88 99 98
+f 88 98 89
+f 88 106 108
+f 88 108 107
+f 91 92 110
+f 91 110 109
+f 92 93 110
+f 93 96 111
+f 93 111 110
+f 94 102 95
+f 95 112 96
+f 95 102 115
+f 95 115 113
+f 95 113 114
+f 95 114 112
+f 96 112 111
+f 97 98 99
+f 99 102 100
+f 99 107 115
+f 99 115 102
+f 100 102 101
+f 103 116 117
+f 103 117 104
+f 104 117 118
+f 104 118 105
+f 107 108 119
+f 107 119 115
+f 109 120 121
+f 109 110 120
+f 110 111 122
+f 110 122 123
+f 110 123 124
+f 110 124 120
+f 111 112 125
+f 111 125 122
+f 112 114 126
+f 112 126 127
+f 112 127 125
+f 113 115 128
+f 113 128 129
+f 113 129 130
+f 113 130 114
+f 114 130 131
+f 114 131 126
+f 115 119 132
+f 115 132 128
+f 116 133 134
+f 116 134 117
+f 117 134 135
+f 117 135 136
+f 117 136 118
+f 120 124 137
+f 120 137 121
+f 122 125 135
+f 122 135 134
+f 122 134 138
+f 122 138 123
+f 123 138 139
+f 123 139 124
+f 124 139 140
+f 124 140 137
+f 125 127 136
+f 125 136 135
+f 126 141 127
+f 127 141 136
+f 133 138 134
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_18.obj

@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v -0.02394898 -0.01312710 0.00164247
+v -0.02394638 -0.01312710 0.00137103
+v -0.02313605 -0.01504803 0.00137102
+v -0.02313864 -0.01504803 0.00356788
+v -0.02394638 -0.01312710 0.00356789
+v -0.01892337 -0.01312710 0.00137103
+v -0.02312826 -0.01506445 0.00137102
+v -0.02391781 -0.01312711 0.00579245
+v -0.02394378 -0.01312710 0.00386782
+v -0.02250752 -0.01633048 0.00356788
+v -0.02249713 -0.01631042 0.00579244
+v -0.02310748 -0.01504804 0.00579244
+v -0.01589762 -0.01312711 0.00513403
+v 0.00258413 -0.02482417 0.00448189
+v 0.00258413 -0.02732703 0.00137098
+v -0.02250233 -0.01631953 0.00137102
+v -0.02246077 -0.01624293 0.00700088
+v -0.02386846 -0.01312711 0.00601483
+v -0.02249454 -0.01633412 0.00137102
+v -0.02187640 -0.01743962 0.00356788
+v -0.02186341 -0.01741956 0.00579244
+v -0.01561193 -0.01312711 0.00579245
+v 0.00258413 -0.02433345 0.00579241
+v 0.00258413 -0.03175083 0.00137096
+v -0.02274647 -0.01504805 0.00743851
+v -0.02075181 -0.01917813 0.00579243
+v -0.02055702 -0.01889539 0.00745433
+v -0.02119333 -0.01709303 0.00796953
+v -0.02306852 -0.01312712 0.00806054
+v -0.02185562 -0.01745421 0.00137102
+v -0.02076739 -0.01919454 0.00356787
+v -0.01567166 -0.01312712 0.00801781
+v 0.00258413 -0.02435717 0.00630602
+v 0.00258413 -0.03175812 0.00268860
+v 0.00179718 -0.03171981 0.00137096
+v -0.02175174 -0.01504805 0.00855119
+v -0.02211534 -0.01353028 0.00900387
+v -0.02267634 -0.01312712 0.00853616
+v -0.01996745 -0.02028910 0.00579243
+v -0.01855457 -0.02126691 0.00761101
+v -0.01784293 -0.02046059 0.00909405
+v -0.01981941 -0.01794313 0.00893816
+v -0.02075960 -0.01918724 0.00137101
+v -0.01997264 -0.02029639 0.00137101
+v -0.01997784 -0.02030551 0.00356787
+v -0.01675989 -0.01312712 0.00925790
+v 0.00258413 -0.02494276 0.00920563
+v 0.00258413 -0.02455784 0.00829238
+v 0.00258413 -0.02445021 0.00801777
+v 0.00258413 -0.03176177 0.00356782
+v 0.00172446 -0.03172529 0.00356782
+v 0.00061545 -0.03162678 0.00356782
+v 0.00068817 -0.03161948 0.00137096
+v -0.02035184 -0.01646366 0.00920487
+v -0.02064272 -0.01504805 0.00926739
+v -0.02168940 -0.01312712 0.00916610
+v -0.01885844 -0.02161715 0.00579242
+v -0.01788968 -0.02272629 0.00579242
+v -0.01643005 -0.02345235 0.00761892
+v -0.01713649 -0.02198748 0.00835649
+v -0.01834160 -0.01897930 0.00923176
+v -0.01564829 -0.02270623 0.00910276
+v -0.01636252 -0.02122860 0.00923492
+v -0.01886364 -0.02162261 0.00137100
+v -0.01886883 -0.02162991 0.00356786
+v -0.01694689 -0.01312712 0.00928322
+v 0.00258413 -0.02522004 0.00924361
+v 0.00258413 -0.03175631 0.00579238
+v 0.00174523 -0.03172347 0.00579238
+v 0.00063622 -0.03162679 0.00579238
+v -0.00134285 -0.03134585 0.00579238
+v -0.00134285 -0.03133855 0.00356782
+v -0.00134285 -0.03131848 0.00137096
+v -0.01908440 -0.01722985 0.00930221
+v -0.02124788 -0.01312712 0.00929114
+v -0.01908700 -0.01504805 0.00943199
+v -0.01790007 -0.02273723 0.00356786
+v -0.01678067 -0.02378435 0.00579241
+v -0.01558855 -0.02489532 0.00579241
+v -0.01415749 -0.02551922 0.00753978
+v -0.01700923 -0.01962691 0.00931961
+v -0.01323288 -0.02475121 0.00902361
+v -0.01175507 -0.02530031 0.00922383
+v -0.01416788 -0.02327175 0.00923412
+v -0.01480420 -0.02186526 0.00932118
+v -0.01789488 -0.02273175 0.00137100
+v -0.01908700 -0.01312712 0.00944466
+v 0.00258413 -0.02615041 0.00937022
+v 0.00258413 -0.03172713 0.00696125
+v 0.00185432 -0.03171436 0.00693276
+v -0.00356087 -0.03088614 0.00579239
+v -0.00356087 -0.03086971 0.00356783
+v -0.00353230 -0.03085877 0.00137097
+v -0.01686898 -0.01726816 0.00945178
+v -0.01788189 -0.02274452 0.00137100
+v -0.01678587 -0.02379164 0.00137099
+v -0.01679106 -0.02379346 0.00356785
+v -0.01560154 -0.02490443 0.00356785
+v -0.01447954 -0.02576913 0.00579241
+v -0.01169274 -0.02750400 0.00731739
+v -0.01246151 -0.02615041 0.00817050
+v -0.01064087 -0.02678160 0.00880043
+v -0.00916045 -0.02728509 0.00914468
+v -0.01246930 -0.02397773 0.00931642
+v -0.01002792 -0.02608474 0.00926101
+v -0.01465096 -0.01949009 0.00945414
+v -0.01021752 -0.02393030 0.00945254
+v -0.01243294 -0.02171020 0.00945571
+v -0.00356087 -0.02615041 0.00944699
+v 0.00258413 -0.02837052 0.00942720
+v 0.00258413 -0.03120904 0.00761415
+v 0.00258413 -0.03088068 0.00802487
+v 0.00102061 -0.03096095 0.00781199
+v -0.00134285 -0.03052860 0.00801775
+v -0.00343101 -0.03005977 0.00817365
+v -0.00577889 -0.02988464 0.00761573
+v -0.00577889 -0.03029690 0.00356783
+v -0.00577889 -0.03029143 0.00137097
+v -0.00575032 -0.03029873 0.00137097
+v -0.00727488 -0.02963472 0.00722241
+v -0.00577889 -0.03029509 0.00579239
+v -0.01677028 -0.02380623 0.00137099
+v -0.01559894 -0.02490261 0.00137099
+v -0.01448993 -0.02577459 0.00137099
+v -0.01448993 -0.02577642 0.00356785
+v -0.01299913 -0.02688010 0.00579240
+v -0.01189012 -0.02763169 0.00579240
+v -0.01021752 -0.02853469 0.00579240
+v -0.01002792 -0.02777764 0.00804229
+v -0.00799690 -0.02745657 0.00921037
+v -0.00577889 -0.02888860 0.00872841
+v -0.00408291 -0.02919508 0.00901884
+v -0.00260509 -0.02951067 0.00914863
+v -0.00799690 -0.02615041 0.00937497
+v -0.00577889 -0.02615041 0.00944145
+v 0.00087517 -0.02837052 0.00941771
+v 0.00258413 -0.02973505 0.00926259
+v 0.00087517 -0.02970586 0.00925309
+v -0.00134285 -0.02960006 0.00920007
+v -0.00752161 -0.02973138 0.00356783
+v -0.00752161 -0.02973138 0.00137097
+v -0.00749564 -0.02972045 0.00579239
+v -0.00860465 -0.02927533 0.00579239
+v -0.01300433 -0.02688556 0.00137098
+v -0.01300693 -0.02688738 0.00356784
+v -0.01189792 -0.02763350 0.00356784
+v -0.01021752 -0.02854745 0.00356784
+v -0.00863062 -0.02928444 0.00356783
+v -0.00577889 -0.02777946 0.00927843
+v -0.00134285 -0.02837052 0.00936469
+v -0.00863062 -0.02928262 0.00137097
+v -0.01189532 -0.02763350 0.00137098
+v -0.01187194 -0.02764627 0.00137098
+v -0.01021752 -0.02854380 0.00137098
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 8
+f 1 8 18
+f 1 18 29
+f 1 29 38
+f 1 38 56
+f 1 56 75
+f 1 75 87
+f 1 87 66
+f 1 66 46
+f 1 46 32
+f 1 32 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 15
+f 2 15 24
+f 2 24 35
+f 2 35 53
+f 2 53 73
+f 2 73 93
+f 2 93 119
+f 2 119 118
+f 2 118 141
+f 2 141 151
+f 2 151 154
+f 2 154 153
+f 2 153 152
+f 2 152 144
+f 2 144 124
+f 2 124 123
+f 2 123 122
+f 2 122 96
+f 2 96 95
+f 2 95 86
+f 2 86 64
+f 2 64 44
+f 2 44 43
+f 2 43 30
+f 2 30 19
+f 2 19 16
+f 2 16 7
+f 2 7 3
+f 3 7 4
+f 4 8 9
+f 4 9 5
+f 4 7 10
+f 4 10 11
+f 4 11 12
+f 4 12 8
+f 6 13 14
+f 6 14 15
+f 7 16 10
+f 8 12 17
+f 8 17 18
+f 10 16 19
+f 10 19 20
+f 10 20 11
+f 11 17 12
+f 11 20 21
+f 11 21 17
+f 13 22 23
+f 13 23 14
+f 14 23 33
+f 14 33 49
+f 14 49 48
+f 14 48 47
+f 14 47 67
+f 14 67 88
+f 14 88 110
+f 14 110 137
+f 14 137 112
+f 14 112 111
+f 14 111 89
+f 14 89 68
+f 14 68 50
+f 14 50 34
+f 14 34 24
+f 14 24 15
+f 17 25 18
+f 17 21 26
+f 17 26 27
+f 17 27 28
+f 17 28 25
+f 18 25 29
+f 19 30 20
+f 20 30 31
+f 20 31 21
+f 21 31 26
+f 22 32 23
+f 23 32 33
+f 24 34 35
+f 25 28 36
+f 25 36 37
+f 25 37 38
+f 25 38 29
+f 26 31 39
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 36
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 39
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 33
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 36 42 54
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 39 45 57
+f 39 57 40
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 61 54
+f 41 54 42
+f 41 60 62
+f 41 62 63
+f 41 63 61
+f 44 64 45
+f 45 64 65
+f 45 65 57
+f 46 66 47
+f 47 66 67
+f 50 68 69
+f 50 69 51
+f 51 69 70
+f 51 70 52
+f 52 70 71
+f 52 71 72
+f 52 72 53
+f 53 72 73
+f 54 61 74
+f 54 74 55
+f 55 75 56
+f 55 74 76
+f 55 76 75
+f 57 65 58
+f 58 65 77
+f 58 77 78
+f 58 78 59
+f 59 78 79
+f 59 79 80
+f 59 80 62
+f 59 62 60
+f 61 63 81
+f 61 81 74
+f 62 80 82
+f 62 82 83
+f 62 83 84
+f 62 84 63
+f 63 84 85
+f 63 85 81
+f 64 86 65
+f 65 86 77
+f 66 87 88
+f 66 88 67
+f 68 89 90
+f 68 90 69
+f 69 90 70
+f 70 90 71
+f 71 91 72
+f 71 90 91
+f 72 91 92
+f 72 92 93
+f 72 93 73
+f 74 81 76
+f 75 76 87
+f 76 81 94
+f 76 94 87
+f 77 86 95
+f 77 95 96
+f 77 96 97
+f 77 97 78
+f 78 98 79
+f 78 97 98
+f 79 98 99
+f 79 99 80
+f 80 100 101
+f 80 101 82
+f 80 99 100
+f 81 85 94
+f 82 101 102
+f 82 102 103
+f 82 103 83
+f 83 104 84
+f 83 103 105
+f 83 105 104
+f 84 104 85
+f 85 106 94
+f 85 104 107
+f 85 107 108
+f 85 108 106
+f 87 94 106
+f 87 106 108
+f 87 108 109
+f 87 109 110
+f 87 110 88
+f 89 111 90
+f 90 111 112
+f 90 112 113
+f 90 113 114
+f 90 114 115
+f 90 115 116
+f 90 116 91
+f 91 117 118
+f 91 118 119
+f 91 119 92
+f 91 116 120
+f 91 120 121
+f 91 121 117
+f 92 119 93
+f 96 122 97
+f 97 122 123
+f 97 123 98
+f 98 123 124
+f 98 124 125
+f 98 125 99
+f 99 125 126
+f 99 126 100
+f 100 126 127
+f 100 127 128
+f 100 128 120
+f 100 120 129
+f 100 129 102
+f 100 102 101
+f 102 129 103
+f 103 130 105
+f 103 129 120
+f 103 120 116
+f 103 116 131
+f 103 131 132
+f 103 132 133
+f 103 133 130
+f 104 105 134
+f 104 134 107
+f 105 130 134
+f 107 134 135
+f 107 135 109
+f 107 109 108
+f 109 135 110
+f 110 136 137
+f 110 135 136
+f 112 137 138
+f 112 138 113
+f 113 138 139
+f 113 139 133
+f 113 133 114
+f 114 133 115
+f 115 133 116
+f 116 132 131
+f 116 133 132
+f 117 121 140
+f 117 140 141
+f 117 141 118
+f 120 142 121
+f 120 128 143
+f 120 143 142
+f 121 142 140
+f 124 144 145
+f 124 145 125
+f 125 145 126
+f 126 145 127
+f 127 145 146
+f 127 146 147
+f 127 147 128
+f 128 147 148
+f 128 148 143
+f 130 149 134
+f 130 133 149
+f 133 139 149
+f 134 149 150
+f 134 150 135
+f 135 150 136
+f 136 150 138
+f 136 138 137
+f 138 150 139
+f 139 150 149
+f 140 142 143
+f 140 143 148
+f 140 148 141
+f 141 148 151
+f 144 152 145
+f 145 152 146
+f 146 152 153
+f 146 153 147
+f 147 153 154
+f 147 154 151
+f 147 151 148
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_19.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.01709230 0.02036015 -0.00277405
+v -0.01708951 0.02036014 -0.00054549
+v -0.01692486 0.02052911 -0.00088388
+v -0.01692765 0.02052823 -0.00310940
+v -0.01700858 0.02036025 -0.02980643
+v -0.01708672 0.02036014 0.00133857
+v -0.01691928 0.02052999 0.00133858
+v -0.01581697 0.02165522 -0.00310940
+v -0.01581418 0.02165169 -0.00533491
+v -0.01654533 0.02082291 -0.02980642
+v -0.01013238 0.02036025 -0.02980643
+v -0.01021052 0.02036014 0.00133857
+v -0.01580859 0.02164725 0.00133858
+v -0.01581418 0.02165256 -0.00088388
+v -0.01465047 0.02263448 -0.00310940
+v -0.01465047 0.02263361 -0.00533491
+v -0.01465047 0.02255761 -0.02758700
+v -0.01486535 0.02236831 -0.02980642
+v -0.01576673 0.02160489 -0.02758700
+v -0.01576115 0.02160048 -0.02980642
+v -0.01013238 0.02036024 -0.02746812
+v 0.01141716 0.02339711 -0.02980641
+v 0.01141716 0.02331390 -0.01423391
+v 0.01141716 0.02325635 0.00133859
+v -0.01015749 0.02036018 -0.01192610
+v -0.01465047 0.02261147 0.00133858
+v -0.01465047 0.02262651 -0.00088388
+v -0.01336676 0.02368982 -0.00310939
+v -0.01336955 0.02369160 -0.00533490
+v -0.01336676 0.02368896 -0.00756041
+v -0.01333606 0.02366778 -0.02536148
+v -0.01332769 0.02366073 -0.02980641
+v 0.01141716 0.02827838 -0.02980640
+v 0.01141716 0.02828004 0.00133860
+v -0.01334443 0.02367477 0.00133859
+v -0.01335560 0.02368362 -0.00088387
+v -0.01225607 0.02447093 -0.00310939
+v -0.01225887 0.02447448 -0.00533490
+v -0.01225607 0.02447272 -0.00756041
+v -0.01224770 0.02447096 -0.01201144
+v -0.01222817 0.02445508 -0.02536148
+v -0.01222259 0.02444891 -0.02980641
+v 0.01116321 0.02834826 -0.02980640
+v 0.01121065 0.02836145 -0.00756040
+v 0.01121344 0.02836321 -0.00533489
+v 0.01141716 0.02830307 -0.00756040
+v 0.01141716 0.02828446 0.00085997
+v 0.01117158 0.02835258 0.00133860
+v -0.01223375 0.02445057 0.00133859
+v -0.01224770 0.02446119 -0.00088387
+v -0.01048679 0.02558023 -0.00310939
+v -0.01047842 0.02557137 -0.00088387
+v -0.01048958 0.02558378 -0.00533490
+v -0.01050633 0.02558026 -0.01201144
+v -0.01050633 0.02557761 -0.01423391
+v -0.01048958 0.02556175 -0.02980641
+v 0.00975113 0.02870034 -0.02980639
+v 0.00975113 0.02868697 -0.00310937
+v 0.01121065 0.02836232 -0.00310938
+v 0.01141716 0.02830393 -0.00352094
+v 0.01141716 0.02830483 -0.00533489
+v 0.01141716 0.02830483 -0.00574341
+v 0.01141716 0.02829596 -0.00088386
+v 0.00975113 0.02867988 0.00133861
+v 0.01119670 0.02835965 -0.00088386
+v -0.01046726 0.02556075 0.00133859
+v -0.00935936 0.02617733 0.00133860
+v -0.00937052 0.02618175 -0.00088386
+v -0.00939843 0.02619860 -0.01201143
+v -0.00939564 0.02619861 -0.01423390
+v -0.00938448 0.02619334 -0.02536147
+v -0.00938448 0.02618717 -0.02980640
+v 0.00753255 0.02910991 -0.02980639
+v 0.00753255 0.02907530 0.00133861
+v 0.00975113 0.02868431 -0.00088385
+v 0.01141716 0.02829773 -0.00131677
+v 0.01141716 0.02830305 -0.00310938
+v -0.00799473 0.02682397 0.00133860
+v -0.00799473 0.02684525 -0.01201143
+v -0.00799473 0.02684702 -0.01423390
+v -0.00799473 0.02682751 -0.00088386
+v -0.00799473 0.02683291 -0.02536147
+v -0.00938169 0.02619158 -0.02758698
+v -0.00799473 0.02682850 -0.02758698
+v -0.00800031 0.02682143 -0.02980640
+v 0.00531397 0.02934787 -0.02980639
+v 0.00531397 0.02934963 -0.02758697
+v 0.00531397 0.02935139 -0.02536146
+v 0.00531397 0.02935049 -0.02313595
+v 0.00531397 0.02934068 0.00133861
+v -0.00577614 0.02772716 0.00133860
+v -0.00577614 0.02775286 -0.01423390
+v -0.00577614 0.02774758 -0.02091044
+v -0.00577614 0.02774405 -0.02313596
+v -0.00577614 0.02771754 -0.02980640
+v -0.00577614 0.02773521 -0.02536147
+v 0.00309539 0.02937972 -0.02980639
+v 0.00309539 0.02939296 -0.02536146
+v 0.00309539 0.02939649 -0.02313595
+v 0.00309539 0.02938757 0.00133861
+v -0.00439755 0.02819069 0.00133860
+v -0.00447569 0.02821196 -0.01201143
+v -0.00448686 0.02821463 -0.01423390
+v -0.00448407 0.02821466 -0.02091044
+v -0.00447569 0.02821200 -0.02313596
+v -0.00440035 0.02819346 -0.02980640
+v -0.00445058 0.02820582 -0.02536147
+v 0.00087681 0.02920191 -0.02980639
+v 0.00087681 0.02923196 -0.02313595
+v 0.00087681 0.02923193 -0.01423389
+v 0.00087681 0.02921595 0.00133861
+v -0.00328966 0.02848261 0.00133860
+v -0.00337617 0.02849859 -0.01423390
+v -0.00337617 0.02849773 -0.02091044
+v -0.00336780 0.02849596 -0.02313596
+v -0.00329524 0.02847476 -0.02980640
+v 0.00086843 0.02920102 -0.02980639
+v -0.00134177 0.02892765 -0.02313595
+v -0.00134177 0.02893031 -0.02091043
+v -0.00134177 0.02893204 -0.01423389
+v -0.00134177 0.02890369 0.00133861
+v -0.00135015 0.02888787 -0.02980639
+v -0.00134177 0.02888964 -0.02980639
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 25
+f 1 25 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 10 20
+f 5 20 18
+f 5 18 32
+f 5 32 42
+f 5 42 56
+f 5 56 72
+f 5 72 85
+f 5 85 95
+f 5 95 106
+f 5 106 116
+f 5 116 122
+f 5 122 123
+f 5 123 117
+f 5 117 108
+f 5 108 97
+f 5 97 86
+f 5 86 73
+f 5 73 57
+f 5 57 43
+f 5 43 33
+f 5 33 22
+f 5 22 11
+f 5 9 10
+f 6 12 24
+f 6 24 34
+f 6 34 48
+f 6 48 64
+f 6 64 74
+f 6 74 90
+f 6 90 100
+f 6 100 111
+f 6 111 121
+f 6 121 112
+f 6 112 101
+f 6 101 91
+f 6 91 78
+f 6 78 67
+f 6 67 66
+f 6 66 49
+f 6 49 35
+f 6 35 26
+f 6 26 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 15 16
+f 8 16 9
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 11 22 23
+f 11 23 24
+f 11 24 21
+f 12 25 24
+f 13 26 27
+f 13 27 14
+f 14 27 15
+f 15 28 29
+f 15 29 16
+f 15 27 28
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 18
+f 18 20 19
+f 21 24 25
+f 22 33 46
+f 22 46 62
+f 22 62 61
+f 22 61 60
+f 22 60 77
+f 22 77 76
+f 22 76 63
+f 22 63 47
+f 22 47 34
+f 22 34 24
+f 22 24 23
+f 26 35 36
+f 26 36 28
+f 26 28 27
+f 28 37 38
+f 28 38 29
+f 28 36 37
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 32
+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 34 47 48
+f 35 49 50
+f 35 50 36
+f 36 50 37
+f 37 51 53
+f 37 53 38
+f 37 50 52
+f 37 52 51
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 55 40
+f 40 55 56
+f 40 56 41
+f 41 56 42
+f 43 57 44
+f 44 57 45
+f 45 58 59
+f 45 59 60
+f 45 60 61
+f 45 61 62
+f 45 62 46
+f 45 57 58
+f 47 63 48
+f 48 63 65
+f 48 65 64
+f 49 66 50
+f 50 66 52
+f 51 52 67
+f 51 67 68
+f 51 68 69
+f 51 69 53
+f 52 66 67
+f 53 69 54
+f 54 69 70
+f 54 70 71
+f 54 71 55
+f 55 71 72
+f 55 72 56
+f 57 73 58
+f 58 74 75
+f 58 75 59
+f 58 73 74
+f 59 75 64
+f 59 64 65
+f 59 65 76
+f 59 76 77
+f 59 77 60
+f 63 76 65
+f 64 75 74
+f 67 78 68
+f 68 78 69
+f 69 79 80
+f 69 80 70
+f 69 78 81
+f 69 81 79
+f 70 80 71
+f 71 82 83
+f 71 83 72
+f 71 80 82
+f 72 83 82
+f 72 82 84
+f 72 84 85
+f 73 86 87
+f 73 87 88
+f 73 88 89
+f 73 89 90
+f 73 90 74
+f 78 91 92
+f 78 92 81
+f 79 92 80
+f 79 81 92
+f 80 92 93
+f 80 93 82
+f 82 93 94
+f 82 94 84
+f 84 94 85
+f 85 94 96
+f 85 96 95
+f 86 97 98
+f 86 98 99
+f 86 99 87
+f 87 99 88
+f 88 99 100
+f 88 100 89
+f 89 100 90
+f 91 101 102
+f 91 102 103
+f 91 103 92
+f 92 103 104
+f 92 104 93
+f 93 104 94
+f 94 104 105
+f 94 105 96
+f 95 96 105
+f 95 105 107
+f 95 107 106
+f 97 108 109
+f 97 109 98
+f 98 109 99
+f 99 109 110
+f 99 110 100
+f 100 110 111
+f 101 112 102
+f 102 112 103
+f 103 112 113
+f 103 113 104
+f 104 114 115
+f 104 115 105
+f 104 113 114
+f 105 115 107
+f 106 107 115
+f 106 115 116
+f 108 117 109
+f 109 117 118
+f 109 118 119
+f 109 119 120
+f 109 120 110
+f 110 120 111
+f 111 120 121
+f 112 121 113
+f 113 120 114
+f 113 121 120
+f 114 119 118
+f 114 118 115
+f 114 120 119
+f 115 118 116
+f 116 118 122
+f 117 123 118
+f 118 123 122
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_2.obj

@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v 0.00198687 0.01262279 0.01131874
+v 0.00163255 0.01262279 0.01131874
+v 0.00228788 0.01263509 0.01131874
+v 0.00217459 0.01266217 0.01151191
+v 0.00043406 0.01293049 0.01131874
+v 0.00175473 0.01266217 0.01151191
+v 0.00176584 0.02374177 0.04709832
+v 0.00342528 0.01301911 0.01131874
+v 0.00609773 0.02394855 0.04644156
+v 0.00461933 0.02369254 0.04715351
+v 0.00309539 0.02321006 0.04585103
+v -0.00096548 0.01425237 0.01247221
+v -0.00116319 0.01407022 0.01131874
+v 0.00096721 0.02359654 0.04563579
+v -0.00023683 0.02381809 0.04475276
+v 0.00309539 0.02974804 0.06587943
+v 0.00185803 0.03038805 0.06711016
+v 0.00401620 0.01335142 0.01131874
+v 0.00648427 0.02377623 0.04495696
+v 0.00656979 0.03039298 0.06710464
+v 0.00531355 0.02980466 0.06587943
+v -0.00185629 0.01493917 0.01131874
+v -0.00042010 0.02366793 0.04362688
+v 0.00161477 0.03016652 0.06587943
+v -0.00082775 0.02488150 0.04563579
+v 0.00531355 0.03027236 0.06723709
+v 0.00309539 0.03026990 0.06724813
+v 0.00309539 0.03159178 0.06769518
+v 0.00158034 0.03159178 0.06733092
+v 0.00089390 0.03159179 0.06587944
+v 0.00484037 0.01401852 0.01131874
+v 0.00717626 0.02478550 0.04576273
+v 0.00680527 0.03022314 0.06587943
+v 0.00754392 0.03159179 0.06587944
+v 0.00683304 0.03159178 0.06723710
+v 0.00531355 0.03159178 0.06759584
+v -0.00223506 0.01542410 0.01131875
+v -0.00137756 0.02493074 0.04362688
+v -0.00194071 0.02715111 0.04585104
+v 0.00309539 0.03381216 0.06768414
+v 0.00143372 0.03381216 0.06739164
+v 0.00061844 0.03381217 0.06587944
+v 0.00047737 0.03159180 0.06365529
+v 0.00536131 0.01490224 0.01131874
+v 0.00764832 0.02493074 0.04362688
+v 0.00704630 0.02997452 0.06365528
+v 0.00792601 0.03159180 0.06365529
+v 0.00854914 0.02652833 0.04362689
+v 0.00782049 0.03381217 0.06587944
+v 0.00821258 0.03381218 0.06365529
+v 0.00691079 0.03381216 0.06721502
+v 0.00531355 0.03381216 0.06750754
+v -0.00249719 0.01704384 0.01395683
+v -0.00257383 0.01642598 0.01131875
+v -0.00192960 0.02514737 0.04120405
+v -0.00245387 0.02602863 0.04033206
+v -0.00228615 0.02715112 0.04362689
+v 0.00511583 0.03608177 0.06712121
+v 0.00424390 0.03715011 0.06699429
+v 0.00309539 0.03603500 0.06724264
+v 0.00198132 0.03715011 0.06699429
+v 0.00174029 0.03603500 0.06714329
+v 0.00114382 0.03603501 0.06587945
+v 0.00028077 0.03381218 0.06365529
+v 0.00592112 0.01604689 0.01131875
+v 0.00583337 0.01604688 0.01247222
+v 0.00874574 0.02780836 0.04510046
+v 0.00875573 0.02764098 0.04362689
+v 0.00718959 0.03608178 0.06603398
+v 0.00667309 0.03537529 0.06707706
+v 0.00775385 0.03603502 0.06365530
+v 0.00819148 0.03381218 0.06143114
+v 0.00874574 0.02937149 0.04512806
+v 0.00867687 0.03056538 0.04489627
+v 0.00867687 0.03056538 0.04455961
+v -0.00256717 0.01678537 0.01247222
+v -0.00258494 0.01731955 0.01131875
+v -0.00248275 0.02591048 0.03917860
+v -0.00252052 0.02567663 0.03695444
+v -0.00258383 0.01882604 0.01692605
+v -0.00245387 0.02615171 0.04033206
+v -0.00210954 0.02937150 0.04362690
+v -0.00239945 0.02699605 0.04120406
+v -0.00194849 0.02937149 0.04585105
+v 0.00572230 0.03685472 0.06687287
+v 0.00511583 0.03752429 0.06603399
+v 0.00309539 0.03715257 0.06699980
+v 0.00309539 0.03755875 0.06587946
+v 0.00179138 0.03730028 0.06587946
+v 0.00089724 0.03603502 0.06365530
+v 0.00603331 0.01711524 0.01131875
+v 0.00868909 0.02788715 0.04216437
+v 0.00868909 0.02848286 0.04216437
+v 0.00875351 0.02928288 0.04374280
+v 0.00682304 0.03743567 0.06538827
+v 0.00684415 0.03742091 0.06365531
+v 0.00816815 0.03381219 0.05920147
+v 0.00762611 0.03160418 0.04359932
+v 0.00674085 0.03293345 0.04412362
+v 0.00704519 0.03311314 0.04585106
+v 0.00726845 0.03332237 0.04807521
+v 0.00595333 0.01826973 0.01131876
+v 0.00541240 0.01947346 0.01131876
+v 0.00491257 0.02041134 0.01131876
+v -0.00259161 0.01809742 0.01131876
+v -0.00248275 0.02634127 0.03917860
+v -0.00252052 0.02642742 0.03695445
+v -0.00258383 0.02012577 0.01692605
+v -0.00118541 0.03159186 0.04585106
+v -0.00193738 0.02937151 0.04139724
+v -0.00228615 0.02753761 0.03695445
+v -0.00250608 0.02625266 0.03473030
+v -0.00238279 0.02745392 0.03917860
+v 0.00531355 0.03776799 0.06365531
+v 0.00309539 0.03768676 0.06365531
+v 0.00174029 0.03733721 0.06365531
+v -0.00047675 0.03310821 0.04807521
+v 0.00658534 0.03722152 0.06222589
+v 0.00715071 0.03124972 0.04139724
+v 0.00629655 0.03264544 0.04263902
+v 0.00546016 0.03325100 0.04347790
+v 0.00672530 0.03076479 0.03917861
+v 0.00320425 0.02241755 0.01131877
+v 0.00420280 0.02126306 0.01131877
+v -0.00257383 0.01978115 0.01469638
+v -0.00251163 0.01953992 0.01310691
+v -0.00241055 0.01920515 0.01162231
+v -0.00231503 0.01948085 0.01131876
+v -0.00253163 0.02411355 0.02805233
+v -0.00043566 0.03295314 0.04585106
+v -0.00091439 0.03172234 0.04368211
+v -0.00165303 0.02937152 0.03917861
+v -0.00209955 0.02736285 0.03473030
+v -0.00247053 0.02609759 0.03333952
+v -0.00249275 0.02394370 0.02641871
+v 0.00531355 0.03383932 0.04585106
+v 0.00309539 0.03370394 0.04362691
+v 0.00309539 0.03414948 0.04585107
+v 0.00191356 0.03719690 0.06230316
+v -0.00032569 0.03278576 0.04446580
+v 0.00481704 0.03292854 0.04192155
+v 0.00194355 0.02259725 0.01131877
+v -0.00243388 0.02147719 0.01822302
+v -0.00151641 0.02141814 0.01131877
+v -0.00084996 0.03117833 0.04139724
+v -0.00098992 0.02904413 0.03473031
+v 0.00309539 0.03302701 0.04163456
+v 0.00087835 0.02272279 0.01131877
+v 0.00151148 0.03290885 0.04193259
+v 0.00087835 0.03367439 0.04585106
+v 0.00081393 0.03314515 0.04368211
+v 0.00003197 0.03254698 0.04298119
+v -0.00089106 0.02221816 0.01131877
+v -0.00001802 0.03038817 0.03613213
+f 1 2 5
+f 1 5 13
+f 1 13 22
+f 1 22 37
+f 1 37 54
+f 1 54 77
+f 1 77 105
+f 1 105 128
+f 1 128 144
+f 1 144 153
+f 1 153 148
+f 1 148 142
+f 1 142 123
+f 1 123 124
+f 1 124 104
+f 1 104 103
+f 1 103 102
+f 1 102 91
+f 1 91 65
+f 1 65 44
+f 1 44 31
+f 1 31 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 6
+f 5 12 13
+f 5 7 14
+f 5 14 15
+f 5 15 12
+f 6 11 7
+f 7 11 16
+f 7 16 17
+f 7 17 15
+f 7 15 14
+f 8 18 9
+f 9 19 20
+f 9 20 10
+f 9 18 19
+f 10 20 21
+f 10 21 11
+f 11 21 16
+f 12 15 13
+f 13 15 23
+f 13 23 22
+f 15 17 24
+f 15 24 25
+f 15 25 23
+f 16 21 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 24
+f 18 31 19
+f 19 32 33
+f 19 33 20
+f 19 31 32
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 26
+f 20 26 21
+f 22 23 37
+f 23 25 38
+f 23 38 37
+f 24 30 39
+f 24 39 38
+f 24 38 25
+f 26 36 28
+f 26 28 27
+f 28 36 40
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 39
+f 31 44 45
+f 31 45 32
+f 32 45 33
+f 33 46 47
+f 33 47 34
+f 33 45 48
+f 33 48 46
+f 34 49 35
+f 34 47 50
+f 34 50 49
+f 35 49 51
+f 35 51 36
+f 36 52 40
+f 36 51 52
+f 37 53 54
+f 37 38 55
+f 37 55 56
+f 37 56 53
+f 38 39 55
+f 39 57 56
+f 39 56 55
+f 39 43 42
+f 39 42 57
+f 40 52 58
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 41
+f 41 62 42
+f 42 62 63
+f 42 63 64
+f 42 64 57
+f 44 65 66
+f 44 66 48
+f 44 48 45
+f 46 48 47
+f 47 48 67
+f 47 67 50
+f 48 68 67
+f 48 66 65
+f 48 65 68
+f 49 69 70
+f 49 70 51
+f 49 50 71
+f 49 71 69
+f 50 72 71
+f 50 67 73
+f 50 73 74
+f 50 74 75
+f 50 75 72
+f 51 70 52
+f 52 70 58
+f 53 76 54
+f 53 56 76
+f 54 76 78
+f 54 78 79
+f 54 79 80
+f 54 80 77
+f 56 57 81
+f 56 81 106
+f 56 106 78
+f 56 78 76
+f 57 82 83
+f 57 83 81
+f 57 64 84
+f 57 84 82
+f 58 70 85
+f 58 85 59
+f 59 85 86
+f 59 86 87
+f 59 87 60
+f 60 87 61
+f 61 86 88
+f 61 88 89
+f 61 89 63
+f 61 63 62
+f 61 87 86
+f 63 89 90
+f 63 90 64
+f 64 90 82
+f 64 82 84
+f 65 91 68
+f 67 68 73
+f 68 92 93
+f 68 93 94
+f 68 94 73
+f 68 91 92
+f 69 71 95
+f 69 95 70
+f 70 95 85
+f 71 96 95
+f 71 72 97
+f 71 97 75
+f 71 75 96
+f 72 75 97
+f 73 94 74
+f 74 94 75
+f 75 98 99
+f 75 99 100
+f 75 100 101
+f 75 101 96
+f 75 94 93
+f 75 93 102
+f 75 102 103
+f 75 103 104
+f 75 104 98
+f 77 80 105
+f 78 106 107
+f 78 107 79
+f 79 107 108
+f 79 108 80
+f 80 108 105
+f 81 83 106
+f 82 109 110
+f 82 110 111
+f 82 111 112
+f 82 112 113
+f 82 113 83
+f 82 90 109
+f 83 113 107
+f 83 107 106
+f 85 95 86
+f 86 95 114
+f 86 114 88
+f 88 114 115
+f 88 115 89
+f 89 115 116
+f 89 116 90
+f 90 116 117
+f 90 117 109
+f 91 102 93
+f 91 93 92
+f 95 96 114
+f 96 118 114
+f 96 101 100
+f 96 100 99
+f 96 99 118
+f 98 119 99
+f 98 104 119
+f 99 120 121
+f 99 121 118
+f 99 119 122
+f 99 122 123
+f 99 123 120
+f 104 124 122
+f 104 122 119
+f 105 125 126
+f 105 126 127
+f 105 127 128
+f 105 108 125
+f 107 113 112
+f 107 112 129
+f 107 129 108
+f 108 129 125
+f 109 117 130
+f 109 130 131
+f 109 131 110
+f 110 132 133
+f 110 133 111
+f 110 131 132
+f 111 133 134
+f 111 134 112
+f 112 134 135
+f 112 135 129
+f 114 118 136
+f 114 136 137
+f 114 137 138
+f 114 138 115
+f 115 139 116
+f 115 138 139
+f 116 139 140
+f 116 140 130
+f 116 130 117
+f 118 121 136
+f 120 141 121
+f 120 123 141
+f 121 141 137
+f 121 137 136
+f 122 124 123
+f 123 142 141
+f 125 129 135
+f 125 135 126
+f 126 143 128
+f 126 128 127
+f 126 135 143
+f 128 143 144
+f 130 140 131
+f 131 140 145
+f 131 145 132
+f 132 145 146
+f 132 146 144
+f 132 144 133
+f 133 144 135
+f 133 135 134
+f 135 144 143
+f 137 141 147
+f 137 147 148
+f 137 148 149
+f 137 149 150
+f 137 150 139
+f 137 139 138
+f 139 150 140
+f 140 150 151
+f 140 151 152
+f 140 152 153
+f 140 153 144
+f 140 144 146
+f 140 146 145
+f 141 142 148
+f 141 148 147
+f 148 153 149
+f 149 151 150
+f 149 153 151
+f 151 153 154
+f 151 154 152
+f 152 154 153
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_20.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.00493820 0.02036010 0.01131325
+v 0.00521722 0.02036011 0.00775240
+v 0.01141716 0.02096289 0.00566003
+v 0.01141716 0.02099381 0.00782173
+v 0.01141716 0.02179367 0.00865751
+v 0.01141716 0.02207207 0.00893480
+v 0.01141716 0.02318304 0.00920820
+v 0.01141716 0.02506646 0.00925213
+v 0.01141716 0.02620835 0.00919063
+v 0.00491308 0.02040960 0.01131325
+v -0.00193140 0.02036010 0.01131325
+v 0.00510840 0.02036012 0.00657391
+v 0.01141716 0.02104155 0.00546866
+v 0.00301292 0.02036012 0.00567760
+v 0.00298502 0.02036012 0.00566686
+v -0.01021008 0.02036014 0.00133955
+v 0.01141716 0.02723889 0.00819180
+v 0.00975138 0.02748547 0.00847299
+v 0.00753313 0.02766754 0.00882058
+v 0.00531209 0.02779393 0.00896509
+v 0.00320266 0.02241587 0.01131326
+v 0.00420157 0.02126160 0.01131326
+v -0.00151844 0.02141627 0.01131326
+v -0.01399087 0.02036011 0.00916619
+v 0.01141716 0.02325643 0.00133957
+v -0.01708525 0.02036014 0.00133955
+v 0.01141716 0.02787435 0.00743706
+v 0.00975138 0.02845502 0.00735992
+v 0.00753313 0.02865477 0.00770752
+v 0.00531209 0.02878469 0.00785203
+v 0.00309384 0.02880413 0.00786374
+v 0.00309384 0.02780895 0.00897680
+v 0.00087559 0.02272079 0.01131326
+v 0.00194147 0.02259617 0.01131326
+v -0.00089343 0.02221701 0.01131326
+v -0.01337701 0.02139949 0.00909590
+v -0.01501768 0.02036011 0.00875611
+v 0.01141716 0.02828006 0.00133958
+v -0.01708804 0.02036013 0.00168226
+v -0.01691784 0.02052984 0.00133956
+v 0.01141716 0.02821994 0.00665303
+v 0.01104047 0.02831273 0.00704553
+v 0.00753313 0.02906045 0.00579382
+v 0.00531209 0.02932648 0.00579382
+v 0.00309384 0.02936714 0.00579382
+v 0.00087559 0.02872017 0.00777782
+v 0.00087559 0.02773029 0.00889088
+v -0.00355812 0.02627287 0.00921992
+v -0.00492813 0.02612085 0.00916915
+v -0.00938416 0.02396875 0.00919257
+v -0.01086299 0.02341902 0.00895531
+v -0.01263480 0.02281802 0.00828356
+v -0.01465216 0.02206942 0.00744680
+v -0.01485584 0.02059079 0.00867215
+v -0.01576826 0.02160719 0.00692053
+v -0.01632073 0.02048915 0.00747023
+v -0.01637374 0.02036011 0.00753271
+v 0.01141716 0.02828006 0.00134251
+v 0.01117162 0.02835253 0.00133958
+v -0.01707967 0.02036013 0.00356764
+v -0.01691226 0.02053071 0.00356765
+v -0.01581011 0.02164699 0.00134249
+v -0.01581011 0.02164699 0.00133956
+v 0.01141716 0.02825706 0.00579381
+v 0.01112976 0.02834014 0.00579381
+v 0.00975138 0.02865743 0.00579382
+v 0.00753313 0.02907548 0.00356768
+v 0.00531209 0.02934417 0.00356768
+v 0.00309384 0.02938836 0.00356768
+v 0.00087559 0.02919568 0.00579382
+v -0.00134266 0.02855931 0.00754153
+v -0.00134266 0.02759153 0.00865460
+v -0.00295263 0.02839050 0.00720956
+v -0.00571219 0.02673865 0.00817227
+v -0.00640696 0.02571960 0.00901585
+v -0.00799462 0.02535547 0.00857941
+v -0.01003429 0.02482429 0.00799163
+v -0.01188981 0.02419855 0.00747220
+v -0.01578500 0.02162310 0.00579379
+v -0.01703224 0.02036012 0.00597734
+v -0.01681460 0.02036012 0.00654364
+v -0.01330446 0.02364970 0.00579380
+v -0.01465216 0.02256260 0.00579379
+v 0.01117162 0.02835253 0.00134251
+v 0.00975138 0.02867955 0.00133959
+v -0.01707688 0.02036013 0.00384103
+v -0.01580174 0.02163902 0.00356765
+v -0.01465216 0.02261212 0.00134249
+v -0.01465216 0.02261212 0.00133956
+v 0.00975138 0.02867070 0.00356768
+v 0.00975138 0.02867955 0.00134252
+v 0.00753313 0.02907461 0.00133959
+v 0.00531209 0.02934064 0.00133959
+v 0.00309384 0.02938837 0.00133959
+v 0.00087559 0.02921602 0.00134252
+v 0.00087559 0.02921513 0.00356768
+v -0.00134266 0.02890314 0.00356768
+v -0.00134266 0.02887927 0.00579382
+v -0.00324561 0.02846829 0.00579381
+v -0.00435613 0.02818017 0.00579381
+v -0.00577637 0.02769230 0.00579381
+v -0.00920280 0.02609434 0.00702698
+v -0.00799462 0.02638335 0.00746635
+v -0.01219394 0.02440714 0.00579380
+v -0.01465216 0.02259443 0.00356765
+v -0.01704898 0.02036012 0.00523334
+v -0.01332958 0.02366562 0.00356766
+v -0.01221906 0.02443543 0.00356766
+v -0.01334353 0.02367447 0.00134250
+v -0.01334353 0.02367447 0.00133957
+v 0.00087559 0.02921602 0.00133959
+v -0.00134266 0.02890315 0.00133959
+v -0.00329025 0.02848245 0.00134251
+v -0.00329025 0.02848156 0.00356767
+v -0.00439798 0.02819078 0.00356767
+v -0.00577637 0.02772324 0.00356767
+v -0.00799462 0.02680849 0.00356767
+v -0.00799462 0.02676075 0.00579381
+v -0.00928650 0.02613854 0.00579381
+v -0.01039423 0.02551633 0.00579380
+v -0.01044446 0.02554551 0.00356766
+v -0.01223301 0.02445047 0.00134250
+v -0.01046957 0.02556054 0.00134250
+v -0.01223301 0.02445047 0.00133957
+v -0.00329025 0.02848245 0.00133958
+v -0.00439798 0.02819079 0.00133958
+v -0.00577637 0.02772767 0.00134251
+v -0.00799462 0.02682441 0.00134251
+v -0.00935905 0.02617745 0.00134251
+v -0.00933394 0.02616507 0.00356767
+v -0.01046957 0.02556054 0.00133957
+v -0.00577637 0.02772767 0.00133958
+v -0.00799462 0.02682441 0.00133958
+v -0.00935905 0.02617745 0.00133958
+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 21
+f 1 21 34
+f 1 34 33
+f 1 33 35
+f 1 35 23
+f 1 23 11
+f 1 11 24
+f 1 24 37
+f 1 37 57
+f 1 57 81
+f 1 81 80
+f 1 80 106
+f 1 106 86
+f 1 86 60
+f 1 60 39
+f 1 39 26
+f 1 26 16
+f 1 16 15
+f 1 15 14
+f 1 14 12
+f 1 12 2
+f 2 12 3
+f 3 13 25
+f 3 25 38
+f 3 38 58
+f 3 58 64
+f 3 64 41
+f 3 41 27
+f 3 27 17
+f 3 17 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 3 12 14
+f 3 14 15
+f 3 15 16
+f 3 16 13
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 11 23 24
+f 13 16 25
+f 16 26 40
+f 16 40 63
+f 16 63 89
+f 16 89 110
+f 16 110 124
+f 16 124 131
+f 16 131 134
+f 16 134 133
+f 16 133 132
+f 16 132 126
+f 16 126 125
+f 16 125 112
+f 16 112 111
+f 16 111 94
+f 16 94 93
+f 16 93 92
+f 16 92 85
+f 16 85 59
+f 16 59 38
+f 16 38 25
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 23 35 24
+f 24 36 37
+f 24 35 36
+f 26 39 40
+f 27 41 42
+f 27 42 28
+f 28 43 29
+f 28 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 32
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 33 49 35
+f 35 49 50
+f 35 50 36
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 53
+f 37 53 55
+f 37 55 56
+f 37 56 57
+f 38 59 84
+f 38 84 58
+f 39 60 61
+f 39 61 62
+f 39 62 63
+f 39 63 40
+f 41 64 42
+f 42 64 65
+f 42 65 66
+f 42 66 43
+f 43 67 68
+f 43 68 44
+f 43 66 67
+f 44 68 69
+f 44 69 45
+f 45 69 70
+f 45 70 46
+f 46 70 71
+f 46 71 72
+f 46 72 47
+f 47 72 49
+f 47 49 48
+f 49 72 73
+f 49 73 74
+f 49 74 75
+f 49 75 50
+f 50 75 76
+f 50 76 51
+f 51 76 77
+f 51 77 78
+f 51 78 52
+f 52 78 53
+f 53 78 55
+f 55 79 80
+f 55 80 81
+f 55 81 56
+f 55 78 82
+f 55 82 83
+f 55 83 79
+f 56 81 57
+f 58 84 64
+f 59 85 91
+f 59 91 84
+f 60 86 61
+f 61 79 87
+f 61 87 62
+f 61 86 79
+f 62 87 88
+f 62 88 89
+f 62 89 63
+f 64 84 65
+f 65 84 90
+f 65 90 66
+f 66 90 67
+f 67 90 91
+f 67 91 85
+f 67 85 92
+f 67 92 68
+f 68 93 94
+f 68 94 69
+f 68 92 93
+f 69 94 111
+f 69 111 95
+f 69 95 96
+f 69 96 70
+f 70 96 97
+f 70 97 98
+f 70 98 73
+f 70 73 71
+f 71 73 72
+f 73 98 99
+f 73 99 100
+f 73 100 101
+f 73 101 102
+f 73 102 103
+f 73 103 74
+f 74 103 75
+f 75 103 76
+f 76 103 77
+f 77 103 102
+f 77 102 78
+f 78 102 104
+f 78 104 82
+f 79 83 105
+f 79 105 87
+f 79 86 106
+f 79 106 80
+f 82 107 83
+f 82 104 108
+f 82 108 107
+f 83 107 105
+f 84 91 90
+f 87 105 88
+f 88 105 109
+f 88 109 110
+f 88 110 89
+f 95 111 112
+f 95 112 97
+f 95 97 96
+f 97 112 125
+f 97 125 113
+f 97 113 114
+f 97 114 99
+f 97 99 98
+f 99 114 100
+f 100 115 116
+f 100 116 101
+f 100 114 115
+f 101 116 117
+f 101 117 118
+f 101 118 102
+f 102 118 119
+f 102 119 120
+f 102 120 104
+f 104 120 121
+f 104 121 108
+f 105 107 109
+f 107 108 122
+f 107 122 109
+f 108 121 123
+f 108 123 122
+f 109 122 124
+f 109 124 110
+f 113 125 126
+f 113 126 115
+f 113 115 114
+f 115 126 132
+f 115 132 127
+f 115 127 116
+f 116 127 128
+f 116 128 117
+f 117 128 129
+f 117 129 130
+f 117 130 118
+f 118 130 119
+f 119 130 121
+f 119 121 120
+f 121 130 123
+f 122 123 131
+f 122 131 124
+f 123 130 129
+f 123 129 134
+f 123 134 131
+f 127 132 133
+f 127 133 128
+f 128 133 134
+f 128 134 129
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_21.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.02656911 -0.02170095 -0.00080250
+v 0.01956405 -0.02170095 -0.00080250
+v 0.02657059 -0.02170095 -0.00088871
+v 0.02696699 -0.02126021 -0.00080250
+v 0.01956405 -0.02170095 -0.00088871
+v 0.02978913 -0.00160001 -0.00080243
+v 0.02963679 -0.00159984 -0.04539234
+v 0.02661053 -0.02170091 -0.00978843
+v 0.02807485 -0.01991831 -0.00080249
+v 0.02699214 -0.02128771 -0.01201463
+v 0.02809999 -0.01995762 -0.01201462
+v 0.01958623 -0.02170078 -0.04539241
+v 0.03463026 -0.00160001 -0.00080243
+v 0.02964714 -0.00159982 -0.05260846
+v 0.02661940 -0.02170091 -0.01201463
+v 0.02892977 -0.01880858 -0.00088870
+v 0.02892977 -0.01880662 -0.00080249
+v 0.02896231 -0.01884790 -0.01201462
+v 0.02703503 -0.02131907 -0.04316620
+v 0.02814436 -0.02003029 -0.04539240
+v 0.02814288 -0.02002440 -0.04316619
+v 0.02902000 -0.01892057 -0.04539240
+v 0.02899781 -0.01889110 -0.03204027
+v 0.01960694 -0.02170076 -0.05206593
+v 0.03463174 -0.00164133 -0.00080243
+v 0.03463174 -0.00160001 -0.00088864
+v 0.03464357 -0.00159982 -0.05260846
+v 0.01960990 -0.02170076 -0.05260853
+v 0.02668004 -0.02170079 -0.04316620
+v 0.03005833 -0.01726595 -0.00978841
+v 0.03003319 -0.01726597 -0.00533601
+v 0.03001988 -0.01726598 -0.00310982
+v 0.03000065 -0.01726599 -0.00088869
+v 0.02896823 -0.01875152 -0.00080249
+v 0.03006721 -0.01726595 -0.01201461
+v 0.02703651 -0.02132103 -0.04539241
+v 0.02814584 -0.02003422 -0.04761859
+v 0.02902296 -0.01892253 -0.04761859
+v 0.03012933 -0.01732091 -0.04539239
+v 0.03011158 -0.01731505 -0.03648759
+v 0.03463322 -0.00172200 -0.00080243
+v 0.03463766 -0.00172199 -0.00310977
+v 0.03467316 -0.00172190 -0.02758781
+v 0.03463470 -0.00160000 -0.00298806
+v 0.03466872 -0.00159990 -0.02981401
+v 0.03464653 -0.00172181 -0.05260846
+v 0.02668300 -0.02170076 -0.05260853
+v 0.02668300 -0.02170078 -0.04539241
+v 0.03082007 -0.01614442 -0.00978841
+v 0.03081564 -0.01613459 -0.00756221
+v 0.03080085 -0.01610903 -0.00310982
+v 0.03080824 -0.01612280 -0.00533601
+v 0.03002875 -0.01722270 -0.00080248
+v 0.02999917 -0.01726599 -0.00080248
+v 0.03082451 -0.01615032 -0.01201461
+v 0.02703947 -0.02132299 -0.04984480
+v 0.02814880 -0.02003617 -0.05206592
+v 0.02902443 -0.01892645 -0.05206592
+v 0.03013229 -0.01732091 -0.04761858
+v 0.03086001 -0.01620925 -0.03871379
+v 0.03084078 -0.01617783 -0.02314054
+v 0.03451785 -0.00386274 -0.00080243
+v 0.03451933 -0.00394340 -0.00310977
+v 0.03454299 -0.00394331 -0.02758781
+v 0.03454447 -0.00394330 -0.02981401
+v 0.03453708 -0.00394322 -0.05206586
+v 0.03467168 -0.00172189 -0.02981401
+v 0.03466872 -0.00159991 -0.02746611
+v 0.03452229 -0.00394339 -0.00533596
+v 0.03461991 -0.00225896 -0.05260846
+v 0.02668448 -0.02170076 -0.05225356
+v 0.02704095 -0.02132101 -0.05260853
+v 0.02668596 -0.02170077 -0.04984480
+v 0.03141911 -0.01501307 -0.00533601
+v 0.03141763 -0.01499931 -0.00310982
+v 0.03141172 -0.01497768 -0.00088869
+v 0.03081120 -0.01604608 -0.00080248
+v 0.03078753 -0.01608740 -0.00080248
+v 0.03141911 -0.01502487 -0.00756221
+v 0.02788108 -0.02034705 -0.05260852
+v 0.02814880 -0.02003617 -0.05260852
+v 0.02902443 -0.01892645 -0.05260852
+v 0.02986605 -0.01771048 -0.05260852
+v 0.03013377 -0.01732286 -0.05206591
+v 0.03068547 -0.01648073 -0.05260851
+v 0.03086149 -0.01621117 -0.05206591
+v 0.03148124 -0.01504637 -0.04539239
+v 0.03147976 -0.01504638 -0.04316618
+v 0.03147384 -0.01504640 -0.03871379
+v 0.03146940 -0.01504641 -0.03648759
+v 0.03451341 -0.00394341 -0.00080243
+v 0.03429598 -0.00608219 -0.00080244
+v 0.03429302 -0.00616285 -0.00310978
+v 0.03429450 -0.00616284 -0.00533597
+v 0.03430486 -0.00616267 -0.05206587
+v 0.03430486 -0.00616267 -0.05260847
+v 0.03448087 -0.00447841 -0.05260847
+v 0.03453560 -0.00394322 -0.05260846
+v 0.03246189 -0.01282512 -0.00310981
+v 0.03245597 -0.01282513 -0.00088868
+v 0.03144870 -0.01489897 -0.00080247
+v 0.03141024 -0.01497768 -0.00080248
+v 0.03013377 -0.01732286 -0.05260851
+v 0.03086149 -0.01621117 -0.05260851
+v 0.03133185 -0.01532772 -0.05260851
+v 0.03148124 -0.01504635 -0.05260851
+v 0.03250478 -0.01282494 -0.05206590
+v 0.03250330 -0.01282495 -0.04984477
+v 0.03428711 -0.00616286 -0.00080244
+v 0.03389958 -0.00838427 -0.00080245
+v 0.03390254 -0.00838426 -0.00310979
+v 0.03391881 -0.00838408 -0.05260848
+v 0.03421167 -0.00669982 -0.05260847
+v 0.03298105 -0.01152652 -0.00080246
+v 0.03247520 -0.01277791 -0.00080247
+v 0.03245449 -0.01282513 -0.00080247
+v 0.03250478 -0.01282494 -0.05260850
+v 0.03299437 -0.01156568 -0.05260849
+v 0.03337154 -0.01034203 -0.00080246
+v 0.03336414 -0.01045399 -0.05206589
+v 0.03336414 -0.01045399 -0.05260849
+v 0.03335083 -0.01041680 -0.00080246
+v 0.03327540 -0.01072355 -0.05260849
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 28
+f 1 28 47
+f 1 47 71
+f 1 71 73
+f 1 73 48
+f 1 48 29
+f 1 29 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 34
+f 1 34 54
+f 1 54 53
+f 1 53 78
+f 1 78 77
+f 1 77 102
+f 1 102 101
+f 1 101 116
+f 1 116 115
+f 1 115 114
+f 1 114 122
+f 1 122 119
+f 1 119 110
+f 1 110 109
+f 1 109 92
+f 1 92 91
+f 1 91 62
+f 1 62 41
+f 1 41 25
+f 1 25 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 5 7 12
+f 6 13 26
+f 6 26 44
+f 6 44 68
+f 6 68 45
+f 6 45 27
+f 6 27 14
+f 6 14 7
+f 7 14 12
+f 8 15 10
+f 9 16 17
+f 9 11 18
+f 9 18 16
+f 10 15 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 18
+f 12 14 24
+f 13 25 26
+f 14 27 46
+f 14 46 70
+f 14 70 98
+f 14 98 97
+f 14 97 96
+f 14 96 113
+f 14 113 112
+f 14 112 121
+f 14 121 123
+f 14 123 118
+f 14 118 117
+f 14 117 106
+f 14 106 105
+f 14 105 104
+f 14 104 85
+f 14 85 103
+f 14 103 83
+f 14 83 82
+f 14 82 81
+f 14 81 80
+f 14 80 72
+f 14 72 47
+f 14 47 28
+f 14 28 24
+f 15 29 19
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 16 18 30
+f 18 35 30
+f 18 23 35
+f 19 29 36
+f 19 36 37
+f 19 37 20
+f 20 37 22
+f 20 22 21
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 35
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 27 45 67
+f 27 67 46
+f 29 48 36
+f 30 49 50
+f 30 50 31
+f 30 35 49
+f 31 50 32
+f 32 51 33
+f 32 50 52
+f 32 52 51
+f 33 51 53
+f 33 53 54
+f 33 54 34
+f 35 55 49
+f 35 40 55
+f 36 48 56
+f 36 56 57
+f 36 57 37
+f 37 57 58
+f 37 58 38
+f 38 59 39
+f 38 58 59
+f 39 59 60
+f 39 60 40
+f 40 60 61
+f 40 61 55
+f 41 62 63
+f 41 63 42
+f 42 63 43
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 45
+f 43 45 68
+f 43 68 44
+f 43 63 69
+f 43 69 64
+f 46 66 70
+f 46 67 66
+f 47 72 71
+f 48 73 56
+f 49 74 75
+f 49 75 50
+f 49 55 74
+f 50 75 52
+f 51 52 75
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 53
+f 55 61 79
+f 55 79 74
+f 56 73 72
+f 56 72 80
+f 56 80 57
+f 57 80 81
+f 57 81 82
+f 57 82 58
+f 58 82 83
+f 58 83 59
+f 59 83 84
+f 59 84 60
+f 60 84 85
+f 60 85 86
+f 60 86 87
+f 60 87 88
+f 60 88 89
+f 60 89 90
+f 60 90 79
+f 60 79 61
+f 62 91 63
+f 63 91 92
+f 63 92 93
+f 63 93 69
+f 64 69 93
+f 64 93 94
+f 64 94 65
+f 65 94 95
+f 65 95 96
+f 65 96 66
+f 66 96 97
+f 66 97 98
+f 66 98 70
+f 71 72 73
+f 74 79 99
+f 74 99 100
+f 74 100 75
+f 75 100 76
+f 76 100 101
+f 76 101 102
+f 76 102 77
+f 79 90 99
+f 83 103 84
+f 84 103 85
+f 85 104 86
+f 86 104 105
+f 86 105 87
+f 87 105 106
+f 87 106 117
+f 87 117 107
+f 87 107 88
+f 88 107 108
+f 88 108 99
+f 88 99 89
+f 89 99 90
+f 92 109 93
+f 93 109 110
+f 93 110 111
+f 93 111 94
+f 94 111 112
+f 94 112 113
+f 94 113 95
+f 95 113 96
+f 99 114 115
+f 99 115 100
+f 99 108 114
+f 100 115 116
+f 100 116 101
+f 107 117 118
+f 107 118 114
+f 107 114 108
+f 110 119 111
+f 111 119 120
+f 111 120 112
+f 112 120 121
+f 114 118 123
+f 114 123 122
+f 119 122 120
+f 120 123 121
+f 120 122 123
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_22.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.03462629 -0.00159835 0.00146323
+v 0.03462489 -0.00159834 0.00134709
+v 0.03458033 0.00050627 0.00134710
+v 0.03458451 0.00050125 0.00356791
+v 0.03461932 -0.00159835 0.00368875
+v 0.02973445 -0.00159834 0.00134709
+v 0.03436032 0.00272780 0.00134711
+v 0.03437424 0.00272111 0.00356792
+v 0.03457755 0.00050124 0.00579264
+v 0.03437424 0.00272110 0.00579265
+v 0.03460540 -0.00159836 0.00579263
+v 0.02602485 -0.00159836 0.00550149
+v 0.02342506 0.01546402 0.00134716
+v 0.03395510 0.00494766 0.00134712
+v 0.03397738 0.00494264 0.00356793
+v 0.03398434 0.00494263 0.00579266
+v 0.03385484 0.00050123 0.00801816
+v 0.03388965 -0.00159837 0.00801815
+v 0.03351229 0.00494262 0.00774666
+v 0.02593712 -0.00159836 0.00565844
+v 0.02041031 0.01546400 0.00579270
+v 0.02951722 0.01546402 0.00134716
+v 0.03331038 0.00736963 0.00134713
+v 0.03339114 0.00716250 0.00356794
+v 0.03339810 0.00716249 0.00579267
+v 0.03305137 0.00828828 0.00692191
+v 0.03321987 0.00716248 0.00725307
+v 0.03357495 0.00251564 0.00820023
+v 0.03304859 0.00163705 0.00913250
+v 0.03309454 0.00050123 0.00916231
+v 0.03311543 -0.00159837 0.00917564
+v 0.03251666 0.00494262 0.00885942
+v 0.03280490 0.00311863 0.00906265
+v 0.03068274 0.01036783 0.00910820
+v 0.02587585 -0.00159837 0.00771916
+v 0.02040196 0.01546400 0.00589001
+v 0.02953115 0.01546400 0.00579270
+v 0.03035272 0.01414780 0.00134715
+v 0.03325746 0.00755336 0.00134713
+v 0.03305137 0.00828830 0.00188311
+v 0.03305973 0.00831001 0.00356794
+v 0.03305973 0.00831000 0.00579267
+v 0.03262388 0.00941910 0.00579267
+v 0.03168673 0.01160388 0.00579268
+v 0.03093896 0.01292008 0.00716363
+v 0.03125366 0.01160387 0.00763838
+v 0.03186915 0.00932722 0.00801505
+v 0.03097517 0.00888625 0.00919529
+v 0.03114505 0.00716248 0.00924316
+v 0.03140684 0.00494262 0.00925649
+v 0.03193599 0.00050123 0.00927688
+v 0.03193599 -0.00159837 0.00928393
+v 0.02875414 0.01316562 0.00917727
+v 0.02834474 0.01464720 0.00907682
+v 0.02587585 -0.00159837 0.00780627
+v 0.02086705 0.01546399 0.00813122
+v 0.03036525 0.01413609 0.00579269
+v 0.02915239 0.01546399 0.00744536
+v 0.03100580 0.01303704 0.00134715
+v 0.03277009 0.00900320 0.00134713
+v 0.03270046 0.00918360 0.00134713
+v 0.03262388 0.00941911 0.00356794
+v 0.03168951 0.01160724 0.00134714
+v 0.03169091 0.01160389 0.00356795
+v 0.03099884 0.01302532 0.00579269
+v 0.02908277 0.01546399 0.00762820
+v 0.02895466 0.01546399 0.00778201
+v 0.02971774 0.00716248 0.00933969
+v 0.02971774 0.00494262 0.00936243
+v 0.02971774 0.00272109 0.00936321
+v 0.02971774 0.00050123 0.00936006
+v 0.02971774 -0.00159837 0.00934906
+v 0.02743405 0.01546399 0.00914039
+v 0.02699263 0.01546399 0.00919532
+v 0.02756216 0.01387384 0.00922199
+v 0.02816093 0.01546399 0.00862404
+v 0.02687288 -0.00159837 0.00891903
+v 0.02172204 0.01546399 0.00881159
+v 0.02528265 0.01546399 0.00925967
+v 0.02323568 0.01546399 0.00921416
+v 0.02806346 -0.00159837 0.00924626
+v 0.02797991 -0.00159837 0.00923998
+v 0.02227625 0.01523014 0.00906584
+v 0.02250462 0.01546399 0.00911450
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 31
+f 1 31 52
+f 1 52 72
+f 1 72 81
+f 1 81 82
+f 1 82 77
+f 1 77 55
+f 1 55 35
+f 1 35 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 22
+f 2 22 38
+f 2 38 59
+f 2 59 63
+f 2 63 61
+f 2 61 60
+f 2 60 39
+f 2 39 23
+f 2 23 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 9
+f 5 9 11
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 10
+f 9 17 18
+f 9 18 11
+f 9 10 17
+f 10 16 19
+f 10 19 17
+f 12 20 21
+f 12 21 13
+f 13 21 36
+f 13 36 56
+f 13 56 78
+f 13 78 84
+f 13 84 80
+f 13 80 79
+f 13 79 74
+f 13 74 73
+f 13 73 76
+f 13 76 67
+f 13 67 66
+f 13 66 58
+f 13 58 37
+f 13 37 22
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 19
+f 17 19 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 19 32 33
+f 19 33 29
+f 19 29 28
+f 19 27 34
+f 19 34 32
+f 20 35 36
+f 20 36 21
+f 22 37 38
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 27 47 34
+f 29 33 48
+f 29 48 49
+f 29 49 30
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 51 52
+f 32 34 33
+f 33 34 48
+f 34 53 48
+f 34 47 46
+f 34 46 45
+f 34 45 54
+f 34 54 53
+f 35 55 36
+f 36 55 56
+f 37 57 38
+f 37 58 45
+f 37 45 57
+f 38 57 59
+f 39 60 40
+f 40 60 61
+f 40 61 41
+f 41 61 62
+f 41 62 43
+f 41 43 42
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 44 64 59
+f 44 59 65
+f 44 65 45
+f 45 65 57
+f 45 58 66
+f 45 66 67
+f 45 67 54
+f 48 53 68
+f 48 68 49
+f 49 68 50
+f 50 68 51
+f 51 68 69
+f 51 69 52
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 53 54 73
+f 53 73 74
+f 53 74 75
+f 53 75 68
+f 54 67 76
+f 54 76 73
+f 55 77 56
+f 56 77 78
+f 57 65 59
+f 59 64 63
+f 61 63 62
+f 68 75 79
+f 68 79 69
+f 69 79 80
+f 69 80 70
+f 70 80 71
+f 71 80 72
+f 72 80 81
+f 74 79 75
+f 77 82 83
+f 77 83 78
+f 78 83 84
+f 80 84 82
+f 80 82 81
+f 82 84 83
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_23.obj

@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.01372400 -0.02170098 0.00799114
+v 0.01453327 -0.02170099 0.01002565
+v 0.01378733 -0.02170097 0.00586699
+v 0.00258413 -0.02433486 0.00579322
+v 0.00258413 -0.02435855 0.00630582
+v 0.00258413 -0.02445132 0.00801821
+v 0.01463179 -0.02170099 0.01009568
+v 0.00258413 -0.02455987 0.00829178
+v 0.00258413 -0.02494375 0.00920586
+v 0.01944522 -0.02170096 0.00147398
+v 0.00258413 -0.02482631 0.00448232
+v 0.01497896 -0.02170099 0.01027588
+v 0.00258413 -0.02522205 0.00924414
+v 0.01640516 -0.02170099 0.01101256
+v 0.02654809 -0.02170096 0.00147398
+v 0.00258413 -0.02731513 0.00147396
+v 0.00258413 -0.02615166 0.00937018
+v 0.01557243 -0.02737831 0.00919091
+v 0.01983227 -0.02510658 0.00916198
+v 0.01693530 -0.02170099 0.01090985
+v 0.00258413 -0.02837206 0.00942713
+v 0.00258413 -0.02973490 0.00926279
+v 0.00309785 -0.02974378 0.00926560
+v 0.00531691 -0.02972306 0.00925719
+v 0.00753362 -0.02964411 0.00922265
+v 0.00909822 -0.02955727 0.00917596
+v 0.02652932 -0.02170096 0.00264390
+v 0.02595227 -0.02236116 0.00147398
+v 0.00258413 -0.03175199 0.00147394
+v 0.01380844 -0.02973884 0.00737114
+v 0.01635121 -0.02800693 0.00814331
+v 0.01705258 -0.02689574 0.00896869
+v 0.01057603 -0.02932832 0.00908819
+v 0.01197174 -0.02903522 0.00889119
+v 0.02068142 -0.02564639 0.00800887
+v 0.02131242 -0.02452435 0.00874462
+v 0.02370272 -0.02235822 0.00887067
+v 0.02222257 -0.02304408 0.00921614
+v 0.01868286 -0.02170099 0.01052798
+v 0.01821606 -0.02765068 0.00748506
+v 0.00258413 -0.03088063 0.00802472
+v 0.00309785 -0.03085398 0.00809381
+v 0.00530987 -0.03098721 0.00783985
+v 0.00753362 -0.03063096 0.00801819
+v 0.00980428 -0.03017207 0.00821519
+v 0.02651290 -0.02170096 0.00356825
+v 0.02593351 -0.02234241 0.00356825
+v 0.02490842 -0.02338550 0.00147397
+v 0.00258413 -0.03175791 0.00268867
+v 0.00309785 -0.03177173 0.00147394
+v 0.00309785 -0.03178258 0.00356821
+v 0.01528625 -0.02947831 0.00672969
+v 0.01197174 -0.03002404 0.00777916
+v 0.00975268 -0.03110463 0.00579320
+v 0.01197174 -0.03058062 0.00579320
+v 0.02223195 -0.02526547 0.00726098
+v 0.02296616 -0.02384934 0.00806582
+v 0.02455422 -0.02317335 0.00738703
+v 0.02523213 -0.02170098 0.00811252
+v 0.02516646 -0.02170098 0.00816947
+v 0.02404051 -0.02170098 0.00902473
+v 0.01969622 -0.02723915 0.00644773
+v 0.00258413 -0.03120925 0.00761390
+v 0.00309785 -0.03173524 0.00698178
+v 0.00456627 -0.03173524 0.00697991
+v 0.02647302 -0.02170097 0.00480632
+v 0.02643784 -0.02170097 0.00579323
+v 0.02588894 -0.02230097 0.00579323
+v 0.02482398 -0.02343090 0.00356824
+v 0.02484274 -0.02344965 0.00147397
+v 0.00258413 -0.03176087 0.00356821
+v 0.00320341 -0.03177074 0.00147394
+v 0.00477973 -0.03175495 0.00147394
+v 0.00487122 -0.03175890 0.00356821
+v 0.00482665 -0.03175595 0.00579319
+v 0.00309785 -0.03177667 0.00579319
+v 0.00258413 -0.03175694 0.00579319
+v 0.01440426 -0.02980791 0.00591085
+v 0.01532847 -0.02949607 0.00524699
+v 0.01620343 -0.02907469 0.00591085
+v 0.01882361 -0.02775330 0.00574093
+v 0.00753362 -0.03147370 0.00356821
+v 0.00975268 -0.03109969 0.00356822
+v 0.01197174 -0.03058653 0.00356822
+v 0.00753362 -0.03146976 0.00579319
+v 0.01419079 -0.02990955 0.00356822
+v 0.02241257 -0.02541151 0.00579322
+v 0.02352210 -0.02449473 0.00579322
+v 0.02477941 -0.02338354 0.00579322
+v 0.02626191 -0.02170097 0.00651311
+v 0.01975721 -0.02727468 0.00496503
+v 0.02063451 -0.02665593 0.00574093
+v 0.00258413 -0.03172635 0.00696124
+v 0.00593618 -0.03166121 0.00579319
+v 0.02357840 -0.02454110 0.00356824
+v 0.02367692 -0.02449472 0.00147397
+v 0.00484542 -0.03174903 0.00147394
+v 0.00598075 -0.03166614 0.00356821
+v 0.01534724 -0.02950494 0.00356822
+v 0.01645677 -0.02900165 0.00356822
+v 0.01862422 -0.02792105 0.00356823
+v 0.00753362 -0.03144706 0.00147394
+v 0.00766498 -0.03142535 0.00147394
+v 0.00975268 -0.03107502 0.00147395
+v 0.00588926 -0.03165429 0.00147394
+v 0.01197174 -0.03056876 0.00147395
+v 0.01419079 -0.02990264 0.00147395
+v 0.01534724 -0.02950494 0.00147395
+v 0.02089254 -0.02656710 0.00356823
+v 0.02246887 -0.02545591 0.00356824
+v 0.01978301 -0.02729144 0.00356823
+v 0.02360186 -0.02456084 0.00147397
+v 0.01645677 -0.02900856 0.00147395
+v 0.01862422 -0.02794178 0.00147396
+v 0.01869459 -0.02790428 0.00147396
+v 0.01980647 -0.02730526 0.00147396
+v 0.02091600 -0.02658289 0.00147396
+v 0.02249233 -0.02547269 0.00147397
+f 1 2 7
+f 1 7 12
+f 1 12 14
+f 1 14 20
+f 1 20 39
+f 1 39 61
+f 1 61 60
+f 1 60 59
+f 1 59 90
+f 1 90 67
+f 1 67 66
+f 1 66 46
+f 1 46 27
+f 1 27 15
+f 1 15 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 4 11 16
+f 4 16 29
+f 4 29 49
+f 4 49 71
+f 4 71 77
+f 4 77 93
+f 4 93 63
+f 4 63 41
+f 4 41 22
+f 4 22 21
+f 4 21 17
+f 4 17 13
+f 4 13 9
+f 4 9 8
+f 4 8 6
+f 4 6 5
+f 4 10 11
+f 7 9 12
+f 9 13 14
+f 9 14 12
+f 10 15 28
+f 10 28 48
+f 10 48 70
+f 10 70 96
+f 10 96 112
+f 10 112 118
+f 10 118 117
+f 10 117 116
+f 10 116 115
+f 10 115 114
+f 10 114 113
+f 10 113 108
+f 10 108 107
+f 10 107 106
+f 10 106 104
+f 10 104 103
+f 10 103 102
+f 10 102 105
+f 10 105 97
+f 10 97 73
+f 10 73 72
+f 10 72 50
+f 10 50 29
+f 10 29 16
+f 10 16 11
+f 13 17 14
+f 14 18 19
+f 14 19 20
+f 14 17 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 18
+f 15 27 28
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 18 26 33
+f 18 33 34
+f 18 34 30
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 20
+f 19 32 40
+f 19 40 35
+f 22 41 42
+f 22 42 23
+f 23 42 24
+f 24 42 43
+f 24 43 25
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 33
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 29 50 51
+f 29 51 49
+f 30 52 40
+f 30 40 31
+f 30 34 53
+f 30 53 54
+f 30 54 55
+f 30 55 52
+f 31 40 32
+f 33 45 53
+f 33 53 34
+f 35 56 36
+f 35 40 56
+f 36 56 57
+f 36 57 37
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 61
+f 37 61 38
+f 38 61 39
+f 40 52 62
+f 40 62 56
+f 41 63 42
+f 42 64 65
+f 42 65 43
+f 42 63 64
+f 43 65 44
+f 44 65 45
+f 45 65 53
+f 46 66 47
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 69 70
+f 49 51 71
+f 50 72 51
+f 51 72 73
+f 51 73 74
+f 51 74 75
+f 51 75 76
+f 51 76 77
+f 51 77 71
+f 52 55 78
+f 52 78 79
+f 52 79 80
+f 52 80 81
+f 52 81 62
+f 53 65 54
+f 54 82 83
+f 54 83 84
+f 54 84 55
+f 54 65 85
+f 54 85 82
+f 55 84 86
+f 55 86 78
+f 56 62 87
+f 56 87 88
+f 56 88 89
+f 56 89 58
+f 56 58 57
+f 58 89 68
+f 58 68 90
+f 58 90 59
+f 62 81 91
+f 62 91 92
+f 62 92 87
+f 63 93 64
+f 64 76 65
+f 64 93 76
+f 65 76 75
+f 65 75 94
+f 65 94 85
+f 67 90 68
+f 68 89 69
+f 69 89 95
+f 69 95 96
+f 69 96 70
+f 73 97 98
+f 73 98 74
+f 74 98 75
+f 75 98 94
+f 76 93 77
+f 78 86 79
+f 79 86 99
+f 79 99 100
+f 79 100 80
+f 80 100 101
+f 80 101 81
+f 81 101 91
+f 82 102 103
+f 82 103 104
+f 82 104 83
+f 82 85 98
+f 82 98 105
+f 82 105 102
+f 83 104 106
+f 83 106 84
+f 84 106 107
+f 84 107 86
+f 85 94 98
+f 86 107 108
+f 86 108 99
+f 87 92 109
+f 87 109 110
+f 87 110 95
+f 87 95 88
+f 88 95 89
+f 91 101 111
+f 91 111 109
+f 91 109 92
+f 95 112 96
+f 95 110 112
+f 97 105 98
+f 99 108 113
+f 99 113 100
+f 100 113 114
+f 100 114 101
+f 101 114 115
+f 101 115 116
+f 101 116 111
+f 109 111 117
+f 109 117 118
+f 109 118 110
+f 110 118 112
+f 111 116 117
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_24.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01317015 -0.03015728 -0.05260931
+v 0.01317015 -0.02552263 -0.05260929
+v 0.01197020 -0.03052528 -0.05260931
+v 0.01197020 -0.03056927 -0.06025958
+v 0.01317015 -0.03019838 -0.06025958
+v 0.01317015 -0.02443086 -0.06025956
+v 0.00258413 -0.02585235 -0.06025956
+v 0.00258413 -0.02734243 -0.05260930
+v 0.00975166 -0.03107728 -0.05260931
+v 0.00975166 -0.03113209 -0.06025958
+v 0.01046251 -0.03095314 -0.06025958
+v 0.00258413 -0.03178006 -0.06025959
+v 0.00258413 -0.03175628 -0.05260932
+v 0.00753415 -0.03145106 -0.05260932
+v 0.00753415 -0.03150875 -0.06025959
+v 0.00824396 -0.03138897 -0.06025959
+v 0.00274889 -0.03178728 -0.06025959
+v 0.00309706 -0.03180171 -0.06025959
+v 0.00297272 -0.03176999 -0.05260932
+v 0.00580056 -0.03163722 -0.05260932
+v 0.00469180 -0.03175412 -0.05260932
+v 0.00655078 -0.03161049 -0.06025959
+v 0.00363900 -0.03179377 -0.06025959
+v 0.00431047 -0.03175917 -0.05260932
+v 0.00309706 -0.03177432 -0.05260932
+v 0.00491666 -0.03176996 -0.06025959
+v 0.00602542 -0.03166461 -0.06025959
+f 1 2 8
+f 1 8 13
+f 1 13 19
+f 1 19 25
+f 1 25 24
+f 1 24 21
+f 1 21 20
+f 1 20 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 16
+f 4 16 15
+f 4 15 22
+f 4 22 27
+f 4 27 26
+f 4 26 23
+f 4 23 18
+f 4 18 17
+f 4 17 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 18 23 21
+f 18 21 24
+f 18 24 25
+f 18 25 19
+f 21 23 26
+f 21 26 27
+f 21 27 22
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_25.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.01640724 -0.02169989 0.01101187
+v 0.01498070 -0.02169989 0.01027540
+v 0.01693642 -0.02169989 0.01090988
+v 0.01740767 -0.02152594 0.01131191
+v 0.01640724 -0.02159377 0.01131191
+v 0.01554228 -0.02143622 0.01131191
+v 0.01463315 -0.02169989 0.01009513
+v 0.01868399 -0.02169989 0.01052800
+v 0.01868694 -0.02137824 0.01131191
+v 0.01482754 -0.02120647 0.01131191
+v 0.01453399 -0.02169989 0.01002635
+v 0.02013998 -0.02169989 0.01009039
+v 0.02013998 -0.02002707 0.01131192
+v 0.01298375 -0.01851179 0.01131192
+v 0.01372304 -0.02169988 0.00799127
+v 0.02013998 -0.02169985 -0.00080132
+v 0.02013998 -0.01342549 0.01131194
+v 0.01283256 -0.01815075 0.01131192
+v 0.01073448 -0.01637069 0.00519721
+v 0.01378685 -0.02169987 0.00586606
+v 0.01056071 -0.01657527 0.00356772
+v 0.01049493 -0.01659167 0.00134289
+v 0.01956171 -0.02169985 -0.00080132
+v 0.02013998 -0.02124363 -0.00080132
+v 0.01965302 -0.01314869 0.01131194
+v 0.02013998 -0.01252506 0.00885704
+v 0.01260184 -0.01719673 0.01131193
+v 0.01011007 -0.01504686 0.00356772
+v 0.01062550 -0.01504687 0.00546760
+v 0.01064612 -0.01639364 0.00006207
+v 0.01032017 -0.01504576 0.00124564
+v 0.01197055 -0.01673062 -0.00017630
+v 0.01418938 -0.01504685 -0.00075149
+v 0.01640724 -0.01319241 -0.00022136
+v 0.01768552 -0.01356987 0.00001109
+v 0.02013998 -0.01494074 0.00403262
+v 0.01640429 -0.01218701 0.01131195
+v 0.02013998 -0.01240800 0.00810752
+v 0.01640724 -0.01118592 0.00579257
+v 0.01640233 -0.01151524 0.00784662
+v 0.01640233 -0.01194413 0.01017582
+v 0.01251544 -0.01604905 0.01131193
+v 0.01096127 -0.01504687 0.00658002
+v 0.01067361 -0.01345173 0.00521501
+v 0.01041147 -0.01306879 0.00356773
+v 0.01044878 -0.01326463 0.00192401
+v 0.01064612 -0.01578534 0.00006207
+v 0.01201473 -0.01504576 -0.00016682
+v 0.01418938 -0.01330948 -0.00014783
+v 0.01418938 -0.01219900 0.00057798
+v 0.01640724 -0.01208194 0.00068353
+v 0.02013998 -0.01392108 0.00481653
+v 0.01758832 -0.01164214 0.00223948
+v 0.02013998 -0.01290360 0.00569650
+v 0.01420116 -0.01281938 0.01131194
+v 0.01565912 -0.01164872 0.00938954
+v 0.01507594 -0.01164872 0.00938954
+v 0.02013998 -0.01283905 0.00597282
+v 0.01640724 -0.01096491 0.00356774
+v 0.01418938 -0.01085114 0.00579257
+v 0.01418938 -0.01052400 0.00356774
+v 0.01252722 -0.01514426 0.01131193
+v 0.01142173 -0.01504688 0.00801738
+v 0.01105454 -0.01195832 0.00356774
+v 0.01295332 -0.01376684 0.01131194
+v 0.01133828 -0.01275700 0.00588981
+v 0.01244475 -0.01138503 0.00209836
+v 0.01187433 -0.01275479 0.00126937
+v 0.01130490 -0.01430508 0.00044040
+v 0.01278347 -0.01372632 0.00010952
+v 0.01418938 -0.01110057 0.00169039
+v 0.01640724 -0.01129313 0.00179713
+v 0.01359639 -0.01194740 0.00870643
+v 0.01290619 -0.01158964 0.00722282
+v 0.01427774 -0.01144522 0.00798538
+v 0.01250955 -0.01133690 0.00579257
+v 0.01216298 -0.01118372 0.00356774
+f 1 2 7
+f 1 7 11
+f 1 11 15
+f 1 15 20
+f 1 20 23
+f 1 23 16
+f 1 16 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 13
+f 4 13 17
+f 4 17 25
+f 4 25 37
+f 4 37 55
+f 4 55 65
+f 4 65 62
+f 4 62 42
+f 4 42 27
+f 4 27 18
+f 4 18 14
+f 4 14 10
+f 4 10 6
+f 4 6 5
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 12 16 24
+f 12 24 36
+f 12 36 52
+f 12 52 54
+f 12 54 58
+f 12 58 38
+f 12 38 26
+f 12 26 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 15 19 21
+f 15 21 22
+f 15 22 20
+f 16 23 24
+f 17 26 25
+f 18 27 19
+f 19 28 21
+f 19 27 29
+f 19 29 28
+f 20 22 30
+f 20 30 23
+f 21 28 22
+f 22 28 31
+f 22 31 30
+f 23 30 32
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 25 26 37
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 37
+f 27 42 43
+f 27 43 29
+f 28 29 44
+f 28 44 45
+f 28 45 46
+f 28 46 31
+f 29 43 44
+f 30 31 47
+f 30 47 33
+f 30 33 32
+f 31 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 35 52 36
+f 35 51 53
+f 35 53 54
+f 35 54 52
+f 37 41 56
+f 37 56 57
+f 37 57 55
+f 38 58 53
+f 38 53 59
+f 38 59 39
+f 39 60 56
+f 39 56 40
+f 39 59 61
+f 39 61 60
+f 40 56 41
+f 42 62 63
+f 42 63 43
+f 43 63 44
+f 44 64 45
+f 44 63 62
+f 44 62 65
+f 44 65 66
+f 44 66 64
+f 45 64 46
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 46 64 67
+f 47 69 48
+f 48 69 70
+f 48 70 49
+f 49 70 50
+f 50 68 67
+f 50 67 71
+f 50 71 51
+f 50 70 68
+f 51 71 72
+f 51 72 53
+f 53 72 59
+f 53 58 54
+f 55 57 73
+f 55 73 74
+f 55 74 65
+f 56 60 57
+f 57 60 75
+f 57 75 74
+f 57 74 73
+f 59 72 61
+f 60 76 74
+f 60 74 75
+f 60 61 76
+f 61 72 71
+f 61 71 67
+f 61 67 77
+f 61 77 76
+f 64 66 76
+f 64 76 77
+f 64 77 67
+f 65 74 66
+f 66 74 76
+f 68 70 69
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_26.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01864936 -0.00160103 -0.06418327
+v 0.01294577 -0.01452212 -0.06418331
+v 0.02361612 -0.00160104 -0.06168957
+v 0.03417392 -0.00160103 -0.06418327
+v 0.01890418 -0.01452213 -0.06171112
+v 0.03143891 -0.01452212 -0.06418331
+v 0.02528090 -0.00160105 -0.06108842
+v 0.01915687 -0.01452213 -0.06161086
+v 0.03454340 -0.00160104 -0.06319839
+v 0.03417816 -0.00172120 -0.06418327
+v 0.03154296 -0.01429190 -0.06418331
+v 0.03149200 -0.01452213 -0.06395092
+v 0.02082165 -0.01452214 -0.06117143
+v 0.02136950 -0.01452214 -0.06104045
+v 0.02903941 -0.00160105 -0.06025949
+v 0.03463046 -0.00160105 -0.06097319
+v 0.03454552 -0.00172121 -0.06319839
+v 0.03415268 -0.00277487 -0.06418327
+v 0.03323323 -0.01008354 -0.06418330
+v 0.03241357 -0.01282461 -0.06319843
+v 0.03165763 -0.01452213 -0.06319843
+v 0.02499424 -0.01452214 -0.06025953
+v 0.03463258 -0.00160105 -0.06025949
+v 0.03463683 -0.00172122 -0.06025949
+v 0.03463258 -0.00172122 -0.06097319
+v 0.03445421 -0.00394239 -0.06319839
+v 0.03410384 -0.00394238 -0.06418327
+v 0.03337762 -0.00953456 -0.06418330
+v 0.03382780 -0.00838224 -0.06319841
+v 0.03331180 -0.01033653 -0.06319842
+v 0.03295293 -0.01144712 -0.06319842
+v 0.03299328 -0.01155971 -0.06097322
+v 0.03249427 -0.01282462 -0.06097323
+v 0.03167674 -0.01452213 -0.06267296
+v 0.03172770 -0.01452214 -0.06025953
+v 0.03452853 -0.00394240 -0.06025949
+v 0.03452641 -0.00394240 -0.06097319
+v 0.03422700 -0.00616358 -0.06319840
+v 0.03402528 -0.00506436 -0.06418328
+v 0.03374498 -0.00746517 -0.06418329
+v 0.03390636 -0.00838225 -0.06097321
+v 0.03335639 -0.01044912 -0.06097322
+v 0.03249639 -0.01282462 -0.06025953
+v 0.03311219 -0.01120553 -0.06025952
+v 0.03299328 -0.01156224 -0.06025952
+v 0.03172770 -0.01452214 -0.06044775
+v 0.03172558 -0.01452214 -0.06097323
+v 0.03437140 -0.00545145 -0.06025950
+v 0.03429495 -0.00616359 -0.06097320
+v 0.03391273 -0.00616357 -0.06418328
+v 0.03391061 -0.00838225 -0.06025951
+v 0.03353688 -0.00978630 -0.06025952
+v 0.03335851 -0.01045165 -0.06025952
+v 0.03429708 -0.00616359 -0.06025950
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 23
+f 1 23 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 27
+f 1 27 39
+f 1 39 50
+f 1 50 40
+f 1 40 28
+f 1 28 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 21
+f 2 21 34
+f 2 34 47
+f 2 47 46
+f 2 46 35
+f 2 35 22
+f 2 22 14
+f 2 14 13
+f 2 13 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 9 10
+f 6 11 12
+f 7 8 13
+f 7 13 14
+f 7 14 15
+f 9 16 25
+f 9 25 17
+f 9 17 10
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 14 22 15
+f 15 22 35
+f 15 35 43
+f 15 43 45
+f 15 45 44
+f 15 44 53
+f 15 53 52
+f 15 52 51
+f 15 51 54
+f 15 54 48
+f 15 48 36
+f 15 36 24
+f 15 24 23
+f 16 23 24
+f 16 24 25
+f 17 26 18
+f 17 25 26
+f 18 26 27
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 24 36 37
+f 24 37 25
+f 25 37 26
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 28 40 38
+f 28 38 29
+f 29 41 30
+f 29 38 41
+f 30 41 42
+f 30 42 31
+f 31 42 32
+f 32 43 33
+f 32 42 44
+f 32 44 45
+f 32 45 43
+f 33 43 46
+f 33 46 47
+f 33 47 34
+f 35 46 43
+f 36 48 37
+f 37 48 49
+f 37 49 38
+f 38 50 39
+f 38 49 41
+f 38 40 50
+f 41 49 51
+f 41 51 42
+f 42 51 52
+f 42 52 53
+f 42 53 44
+f 48 54 49
+f 49 54 51
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_27.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01152202 -0.02124073 -0.06007390
+v -0.01152202 -0.02789184 -0.06007392
+v -0.01152202 -0.02210823 -0.05655135
+v 0.00258413 -0.02597016 -0.06007392
+v -0.01152202 -0.02789700 -0.05874745
+v -0.01021441 -0.02860460 -0.06007393
+v -0.01152202 -0.02790423 -0.05655137
+v 0.00258413 -0.02733690 -0.05655137
+v 0.00258413 -0.03177853 -0.06007394
+v -0.00871625 -0.02931634 -0.06007393
+v -0.01021441 -0.02860771 -0.05655138
+v -0.01023788 -0.02859533 -0.05655138
+v 0.00258413 -0.03175688 -0.05655139
+v 0.00149055 -0.03173417 -0.06007394
+v 0.00165072 -0.03172387 -0.05655139
+v -0.00869692 -0.02931222 -0.05655138
+v -0.00871764 -0.02930294 -0.05655138
+v -0.00760610 -0.02977329 -0.06007393
+v 0.00054195 -0.03165476 -0.05655139
+v 0.00082915 -0.03169291 -0.06007394
+v -0.00758815 -0.02975989 -0.05655138
+v -0.00687152 -0.03001982 -0.06007393
+v -0.00580141 -0.03036229 -0.05655138
+v -0.00134145 -0.03139894 -0.05655139
+v 0.00038177 -0.03166403 -0.06007394
+v -0.00577793 -0.03038394 -0.06007393
+v -0.00577793 -0.03036951 -0.05655138
+v -0.00137045 -0.03139379 -0.05655139
+v -0.00134145 -0.03141441 -0.06007394
+v -0.00488042 -0.03061500 -0.06007393
+v -0.00358938 -0.03094096 -0.05655138
+v -0.00356038 -0.03094818 -0.05655138
+v -0.00356038 -0.03095333 -0.06007393
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 25
+f 1 25 29
+f 1 29 33
+f 1 33 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 7 12
+f 3 12 11
+f 3 11 17
+f 3 17 16
+f 3 16 21
+f 3 21 23
+f 3 23 27
+f 3 27 31
+f 3 31 32
+f 3 32 28
+f 3 28 24
+f 3 24 19
+f 3 19 15
+f 3 15 13
+f 3 13 8
+f 3 8 4
+f 4 8 13
+f 4 13 9
+f 5 6 7
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 9 13 15
+f 9 15 14
+f 10 16 17
+f 10 17 11
+f 10 18 16
+f 14 15 19
+f 14 19 20
+f 16 18 21
+f 18 22 23
+f 18 23 21
+f 19 24 25
+f 19 25 20
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 25
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 30 33 31
+f 31 33 32
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_28.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v -0.01013536 -0.02865788 -0.04527343
+v -0.01021525 -0.02861835 -0.04538769
+v -0.01021525 -0.02861682 -0.04983807
+v -0.01013536 -0.02865636 -0.04761288
+v -0.01013536 -0.02864735 -0.01635201
+v -0.01021525 -0.02861388 -0.02092266
+v -0.01197001 -0.02767264 -0.04761287
+v -0.01197001 -0.02767263 -0.04983806
+v -0.01196731 -0.02767273 -0.02092265
+v -0.01197001 -0.02767110 -0.05206325
+v -0.01152320 -0.02790523 -0.05654971
+v -0.01021525 -0.02860767 -0.05654370
+v -0.01013536 -0.02864873 -0.05429446
+v -0.01021525 -0.02861237 -0.01869146
+v -0.01013536 -0.02864584 -0.01412682
+v -0.01308299 -0.02694588 -0.04316250
+v -0.01196324 -0.02767123 -0.01646626
+v -0.01307757 -0.02694745 -0.02981137
+v -0.01307893 -0.02694129 -0.05206325
+v -0.01307757 -0.02693976 -0.05429445
+v -0.01197001 -0.02766805 -0.05429445
+v -0.01196731 -0.02766652 -0.05654971
+v -0.01152320 -0.02789153 -0.06006791
+v -0.01013536 -0.02864416 -0.05654370
+v -0.01021525 -0.02860783 -0.01424109
+v -0.01013536 -0.02863977 -0.01190163
+v -0.01021525 -0.02860480 -0.01201590
+v -0.01455206 -0.02583597 -0.04093730
+v -0.01455342 -0.02583601 -0.02981136
+v -0.01455342 -0.02583600 -0.03203655
+v -0.01307080 -0.02693231 -0.01424108
+v -0.01196324 -0.02766820 -0.01424108
+v -0.01454665 -0.02582985 -0.05206324
+v -0.01454394 -0.02582832 -0.05429444
+v -0.01307622 -0.02693671 -0.05654369
+v -0.01195377 -0.02765891 -0.06006791
+v -0.01152320 -0.02123962 -0.06006789
+v -0.01013536 -0.02317515 -0.05654368
+v -0.01013536 -0.02863217 -0.00967645
+v -0.01195783 -0.02766669 -0.01201589
+v -0.01021525 -0.02854403 0.00136531
+v -0.01566504 -0.02495109 -0.03871211
+v -0.01565556 -0.02494648 -0.05206324
+v -0.01565150 -0.02494054 -0.01424107
+v -0.01566233 -0.02495112 -0.02981136
+v -0.01566504 -0.02495110 -0.03648693
+v -0.01453988 -0.02581936 -0.01201588
+v -0.01306539 -0.02692928 -0.01201589
+v -0.01565285 -0.02494495 -0.05429444
+v -0.01454259 -0.02581463 -0.05654970
+v -0.01452905 -0.02582527 -0.05651361
+v -0.01306810 -0.02692606 -0.05874482
+v -0.01306268 -0.02691997 -0.06006791
+v -0.01271200 -0.01977088 -0.06006788
+v -0.01013536 -0.02309630 0.00136533
+v -0.01013536 -0.02311140 -0.02759218
+v -0.01013536 -0.02311291 -0.02981135
+v -0.01013536 -0.02857900 0.00136531
+v -0.01189825 -0.02763329 0.00136531
+v -0.01680780 -0.02384270 -0.03648693
+v -0.01680645 -0.02384269 -0.03871211
+v -0.01680103 -0.02383503 -0.05429444
+v -0.01564744 -0.02493902 -0.01201588
+v -0.01680239 -0.02382911 -0.01201588
+v -0.01680780 -0.02384271 -0.03203655
+v -0.01449249 -0.02577532 0.00136532
+v -0.01558651 -0.02491475 0.00136532
+v -0.01299363 -0.02689588 0.00136531
+v -0.01679697 -0.02381981 -0.05654970
+v -0.01678208 -0.02379243 -0.06006790
+v -0.01565285 -0.02491605 -0.05654970
+v -0.01563661 -0.02492973 -0.05654970
+v -0.01449520 -0.02580853 -0.06006790
+v -0.01811711 -0.01312505 -0.06006786
+v -0.01892137 -0.01312528 0.00136536
+v -0.01791536 -0.02275102 -0.03426173
+v -0.01790724 -0.02274183 -0.05429443
+v -0.01790318 -0.02273726 -0.05654969
+v -0.01788828 -0.02272357 -0.06006789
+v -0.01678885 -0.02379266 0.00136532
+v -0.01789641 -0.02273140 0.00136533
+v -0.01790859 -0.02274351 -0.01201587
+v -0.01791536 -0.02275103 -0.03203654
+v -0.01744147 -0.02315689 -0.06006790
+v -0.01630818 -0.02424096 -0.06006790
+v -0.01560411 -0.02490387 -0.06006790
+v -0.02391893 -0.01312505 -0.06006786
+v -0.02394737 -0.01312528 0.00136536
+v -0.01886857 -0.02164111 -0.03426173
+v -0.01886180 -0.02163039 -0.05429443
+v -0.01886180 -0.02162582 -0.05654367
+v -0.01885503 -0.02161213 -0.06006789
+v -0.01846508 -0.02206066 -0.06006789
+v -0.01886451 -0.02162148 0.00136533
+v -0.01887263 -0.02163511 -0.01201587
+v -0.02311602 -0.01504688 -0.06006787
+v -0.02393654 -0.01312510 -0.04761282
+v -0.02396768 -0.01312523 -0.00979065
+v -0.02393789 -0.01315112 0.00136536
+v -0.01997613 -0.02029396 -0.04761284
+v -0.01998290 -0.02030929 -0.01201586
+v -0.01998290 -0.02030928 -0.01424105
+v -0.01997342 -0.02029242 -0.05206322
+v -0.01997342 -0.02028937 -0.05429442
+v -0.01996936 -0.02028936 -0.05654968
+v -0.01996665 -0.02028631 -0.05874479
+v -0.01996394 -0.02028479 -0.06006788
+v -0.01997342 -0.02029870 0.00136534
+v -0.02249860 -0.01631645 -0.06006787
+v -0.02316341 -0.01504858 -0.01201585
+v -0.02313498 -0.01504863 0.00136535
+v -0.02315935 -0.01504858 -0.00979066
+v -0.02075738 -0.01917792 -0.05654968
+v -0.02075873 -0.01917335 -0.06006788
+v -0.02076144 -0.01918726 0.00136534
+v -0.02076550 -0.01919785 -0.01201586
+v -0.02076550 -0.01919784 -0.01424105
+v -0.02043919 -0.01962187 -0.06006788
+v -0.02224541 -0.01676497 -0.06006787
+v -0.02252027 -0.01634854 -0.01424104
+v -0.02252027 -0.01634855 -0.01201585
+v -0.02312821 -0.01506383 0.00136535
+v -0.02077227 -0.01915663 -0.05654366
+v -0.02141948 -0.01813641 -0.06006788
+v -0.02187035 -0.01743267 0.00136535
+v -0.02187577 -0.01745999 -0.01201585
+v -0.02186765 -0.01742636 -0.06006787
+v -0.02250266 -0.01632123 0.00136535
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 24
+f 1 24 38
+f 1 38 57
+f 1 57 56
+f 1 56 55
+f 1 55 58
+f 1 58 39
+f 1 39 26
+f 1 26 15
+f 1 15 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 5 14 6
+f 5 15 14
+f 6 14 9
+f 7 9 16
+f 7 16 8
+f 8 16 10
+f 9 14 17
+f 9 17 18
+f 9 18 16
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 10 16 19
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 14 15 25
+f 14 25 17
+f 15 26 27
+f 15 27 25
+f 16 28 19
+f 16 18 29
+f 16 29 30
+f 16 30 28
+f 17 31 18
+f 17 25 27
+f 17 27 32
+f 17 32 31
+f 18 31 29
+f 19 28 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 22
+f 20 22 21
+f 22 35 36
+f 22 36 23
+f 23 36 53
+f 23 53 73
+f 23 73 86
+f 23 86 85
+f 23 85 70
+f 23 70 84
+f 23 84 79
+f 23 79 93
+f 23 93 92
+f 23 92 107
+f 23 107 118
+f 23 118 114
+f 23 114 124
+f 23 124 127
+f 23 127 119
+f 23 119 109
+f 23 109 96
+f 23 96 87
+f 23 87 74
+f 23 74 54
+f 23 54 37
+f 23 37 38
+f 23 38 24
+f 26 39 27
+f 27 40 32
+f 27 39 41
+f 27 41 40
+f 28 30 42
+f 28 42 43
+f 28 43 33
+f 29 44 45
+f 29 45 46
+f 29 46 42
+f 29 42 30
+f 29 31 47
+f 29 47 44
+f 31 32 40
+f 31 40 48
+f 31 48 47
+f 33 43 49
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 39 58 41
+f 40 41 59
+f 40 59 48
+f 41 58 55
+f 41 55 75
+f 41 75 88
+f 41 88 99
+f 41 99 111
+f 41 111 122
+f 41 122 128
+f 41 128 125
+f 41 125 115
+f 41 115 108
+f 41 108 94
+f 41 94 81
+f 41 81 80
+f 41 80 67
+f 41 67 66
+f 41 66 68
+f 41 68 59
+f 42 46 65
+f 42 65 60
+f 42 60 61
+f 42 61 62
+f 42 62 43
+f 43 62 49
+f 44 47 63
+f 44 63 64
+f 44 64 45
+f 45 64 65
+f 45 65 46
+f 47 48 66
+f 47 66 67
+f 47 67 63
+f 48 59 68
+f 48 68 66
+f 49 62 69
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 50 72 73
+f 50 73 53
+f 50 53 51
+f 51 53 52
+f 54 74 55
+f 55 74 75
+f 60 65 83
+f 60 83 76
+f 60 76 61
+f 61 76 62
+f 62 76 77
+f 62 77 78
+f 62 78 79
+f 62 79 69
+f 63 67 80
+f 63 80 81
+f 63 81 64
+f 64 81 82
+f 64 82 65
+f 65 82 83
+f 69 79 84
+f 69 84 70
+f 70 85 71
+f 71 85 86
+f 71 86 72
+f 72 86 73
+f 74 87 97
+f 74 97 98
+f 74 98 88
+f 74 88 75
+f 76 83 89
+f 76 89 90
+f 76 90 77
+f 77 90 91
+f 77 91 78
+f 78 92 93
+f 78 93 79
+f 78 91 92
+f 81 94 82
+f 82 94 95
+f 82 95 83
+f 83 95 89
+f 87 96 97
+f 88 98 99
+f 89 100 90
+f 89 95 101
+f 89 101 102
+f 89 102 100
+f 90 100 103
+f 90 103 104
+f 90 104 91
+f 91 104 105
+f 91 105 106
+f 91 106 107
+f 91 107 92
+f 94 108 95
+f 95 108 101
+f 96 109 110
+f 96 110 97
+f 97 110 98
+f 98 110 99
+f 99 110 112
+f 99 112 111
+f 100 102 113
+f 100 113 114
+f 100 114 103
+f 101 108 115
+f 101 115 116
+f 101 116 117
+f 101 117 102
+f 102 117 113
+f 103 114 104
+f 104 114 118
+f 104 118 105
+f 105 118 106
+f 106 118 107
+f 109 119 120
+f 109 120 110
+f 110 120 121
+f 110 121 112
+f 111 112 122
+f 112 121 122
+f 113 123 114
+f 113 117 123
+f 114 123 124
+f 115 125 126
+f 115 126 116
+f 116 126 117
+f 117 126 123
+f 119 127 120
+f 120 126 121
+f 120 127 126
+f 121 126 125
+f 121 125 128
+f 121 128 122
+f 123 126 124
+f 124 126 127
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_29.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02275030 -0.01781031 -0.06025805
+v 0.02379825 -0.01781034 -0.05260927
+v 0.02275846 -0.01781031 -0.06025954
+v 0.01651969 -0.02201093 -0.06025955
+v 0.02979707 -0.01781034 -0.05260927
+v 0.01317015 -0.02443017 -0.06025956
+v 0.01317015 -0.02552158 -0.05260929
+v 0.02984604 -0.01781031 -0.06025954
+v 0.02902498 -0.01892719 -0.05260927
+v 0.02905273 -0.01896233 -0.06025954
+v 0.02940857 -0.01844695 -0.06025954
+v 0.01317015 -0.03019875 -0.06025958
+v 0.01317015 -0.03015754 -0.05260931
+v 0.02881277 -0.01919640 -0.05260927
+v 0.02845203 -0.01971660 -0.06025954
+v 0.02814841 -0.02003798 -0.05260927
+v 0.01425728 -0.02986527 -0.06025958
+v 0.01415934 -0.02985438 -0.05260931
+v 0.02816800 -0.02007312 -0.06025954
+v 0.02703843 -0.02132339 -0.05260928
+v 0.01533135 -0.02949662 -0.06025958
+v 0.01526769 -0.02947118 -0.05260931
+v 0.02705965 -0.02133912 -0.06025955
+v 0.02599374 -0.02243296 -0.05260928
+v 0.01560885 -0.02936687 -0.06025958
+v 0.01640869 -0.02894732 -0.05260931
+v 0.01613446 -0.02907465 -0.05260931
+v 0.02600680 -0.02244991 -0.06025955
+v 0.02488375 -0.02343704 -0.05260929
+v 0.01637441 -0.02900307 -0.06025958
+v 0.01808346 -0.02811423 -0.05260930
+v 0.02525429 -0.02313021 -0.06025955
+v 0.02489844 -0.02345035 -0.06025956
+v 0.02456871 -0.02370625 -0.05260929
+v 0.01714487 -0.02861502 -0.06025958
+v 0.01861723 -0.02784745 -0.05260930
+v 0.02359095 -0.02455992 -0.06025956
+v 0.02357952 -0.02454661 -0.05260929
+v 0.01877067 -0.02778072 -0.06025957
+v 0.01945788 -0.02739877 -0.05260930
+v 0.02247117 -0.02543185 -0.05260929
+v 0.02248096 -0.02543424 -0.06025956
+v 0.01910693 -0.02759882 -0.06025957
+v 0.01972559 -0.02725567 -0.05260930
+v 0.02084536 -0.02653657 -0.05260930
+v 0.02069846 -0.02663840 -0.06025957
+v 0.01958521 -0.02733325 -0.06025957
+v 0.01972395 -0.02725443 -0.06013600
+v 0.01986923 -0.02716469 -0.06025957
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 13
+f 2 13 18
+f 2 18 22
+f 2 22 27
+f 2 27 26
+f 2 26 31
+f 2 31 36
+f 2 36 40
+f 2 40 44
+f 2 44 45
+f 2 45 41
+f 2 41 38
+f 2 38 34
+f 2 34 29
+f 2 29 24
+f 2 24 20
+f 2 20 16
+f 2 16 14
+f 2 14 9
+f 2 9 5
+f 3 8 11
+f 3 11 10
+f 3 10 15
+f 3 15 19
+f 3 19 23
+f 3 23 28
+f 3 28 32
+f 3 32 33
+f 3 33 37
+f 3 37 42
+f 3 42 46
+f 3 46 49
+f 3 49 47
+f 3 47 43
+f 3 43 39
+f 3 39 35
+f 3 35 30
+f 3 30 25
+f 3 25 21
+f 3 21 17
+f 3 17 12
+f 3 12 6
+f 3 6 4
+f 5 9 10
+f 5 10 11
+f 5 11 8
+f 6 12 13
+f 6 13 7
+f 9 14 10
+f 10 14 16
+f 10 16 15
+f 12 17 18
+f 12 18 13
+f 15 16 19
+f 16 20 19
+f 17 21 18
+f 18 21 22
+f 19 20 23
+f 20 24 23
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 24 28
+f 24 29 28
+f 25 30 26
+f 26 30 31
+f 28 29 32
+f 29 33 32
+f 29 34 33
+f 30 35 36
+f 30 36 31
+f 33 34 38
+f 33 38 37
+f 35 39 36
+f 36 39 40
+f 37 38 41
+f 37 41 42
+f 39 43 44
+f 39 44 40
+f 41 45 42
+f 42 45 46
+f 43 47 44
+f 44 47 48
+f 44 48 49
+f 44 49 46
+f 44 46 45
+f 47 49 48
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_3.obj

@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v 0.01141903 0.02820433 -0.05666824
+v 0.01141903 0.02819307 -0.05734611
+v 0.01141903 0.02321624 -0.05666825
+v 0.01213856 0.02802141 -0.05666824
+v 0.01141903 0.02816916 -0.05874813
+v 0.01141903 0.01383105 -0.06381715
+v 0.02454826 0.01383103 -0.05666829
+v 0.01227873 0.02797779 -0.05666824
+v 0.01206941 0.02800172 -0.05874813
+v 0.01141903 0.02811147 -0.06052243
+v 0.01141903 0.01383107 -0.06766058
+v 0.03051015 0.01383103 -0.05666829
+v 0.01419065 0.02736571 -0.05666824
+v 0.01419065 0.02732773 -0.05874813
+v 0.01176852 0.02800594 -0.06085168
+v 0.01419065 0.02725316 -0.06097327
+v 0.01141903 0.02808474 -0.06107764
+v 0.01141903 0.01437983 -0.06764658
+v 0.01197036 0.01383107 -0.06765843
+v 0.03050454 0.01383103 -0.05716970
+v 0.03039801 0.01403084 -0.05666829
+v 0.01433456 0.02730943 -0.05666824
+v 0.01637917 0.02647786 -0.05874813
+v 0.01629880 0.02644127 -0.06097327
+v 0.01197036 0.02776112 -0.06319733
+v 0.01608014 0.02635545 -0.06319733
+v 0.01419065 0.02707447 -0.06319733
+v 0.01141903 0.02797500 -0.06243446
+v 0.01141903 0.01604722 -0.06756265
+v 0.01419065 0.01383107 -0.06762077
+v 0.03047837 0.01383104 -0.05924205
+v 0.03034194 0.01408432 -0.05874818
+v 0.03035690 0.01410401 -0.05666829
+v 0.01667633 0.02638779 -0.05666824
+v 0.01751361 0.02603884 -0.05743542
+v 0.01748931 0.02602900 -0.05874813
+v 0.01740708 0.02599523 -0.06097327
+v 0.01141903 0.02790042 -0.06319733
+v 0.01571383 0.02620772 -0.06459934
+v 0.01419065 0.02649054 -0.06498562
+v 0.01719028 0.02590096 -0.06319733
+v 0.01141903 0.01660161 -0.06750885
+v 0.01419065 0.02270973 -0.06683634
+v 0.01197036 0.01604722 -0.06754651
+v 0.01862749 0.02048936 -0.06688368
+v 0.02084591 0.01826900 -0.06693534
+v 0.01640907 0.01383107 -0.06749918
+v 0.03044660 0.01383104 -0.06097332
+v 0.03031578 0.01405899 -0.06097332
+v 0.02923180 0.01582769 -0.05874817
+v 0.02931964 0.01573481 -0.05666828
+v 0.01836210 0.02559420 -0.05666825
+v 0.01862749 0.02542536 -0.05874814
+v 0.01862749 0.02536064 -0.06097328
+v 0.01862749 0.02518054 -0.06319734
+v 0.01141903 0.02730242 -0.06455846
+v 0.01862749 0.02443198 -0.06509861
+v 0.01724074 0.02366794 -0.06649417
+v 0.02007591 0.02403519 -0.06466176
+v 0.01419065 0.02531141 -0.06609820
+v 0.01197036 0.02570117 -0.06642423
+v 0.01197036 0.02683246 -0.06531165
+v 0.01141903 0.02270973 -0.06690413
+v 0.01197036 0.02270973 -0.06689229
+v 0.01419065 0.02420122 -0.06664480
+v 0.01646327 0.02284059 -0.06671583
+v 0.01141903 0.02332322 -0.06683956
+v 0.01141903 0.02472184 -0.06668677
+v 0.01197036 0.02459099 -0.06668570
+v 0.01862749 0.02216659 -0.06667387
+v 0.02081227 0.02051891 -0.06671905
+v 0.02314843 0.01835201 -0.06674489
+v 0.02306246 0.01604722 -0.06693320
+v 0.02528088 0.01383107 -0.06689125
+v 0.03042605 0.01383105 -0.06139403
+v 0.03024476 0.01396473 -0.06319738
+v 0.02913648 0.01568840 -0.06319737
+v 0.02920563 0.01578547 -0.06097331
+v 0.02924675 0.01584878 -0.05666828
+v 0.02844311 0.01693787 -0.05874817
+v 0.02851039 0.01688720 -0.05666828
+v 0.01841443 0.02556606 -0.05666825
+v 0.01845368 0.02554355 -0.05666825
+v 0.02054127 0.02434050 -0.05666825
+v 0.02052072 0.02432643 -0.05874814
+v 0.02047399 0.02429548 -0.06097328
+v 0.02034317 0.02420966 -0.06319734
+v 0.01141903 0.02690422 -0.06535253
+v 0.01862749 0.02327677 -0.06621118
+v 0.02152807 0.02127732 -0.06640379
+v 0.02005162 0.02176557 -0.06659855
+v 0.01576242 0.02395077 -0.06658993
+v 0.01141903 0.02580248 -0.06646189
+v 0.02145144 0.02348079 -0.06319734
+v 0.02252608 0.02206669 -0.06492001
+v 0.02080293 0.02265766 -0.06553224
+v 0.01141903 0.02513975 -0.06661791
+v 0.02246627 0.01979848 -0.06664267
+v 0.02463610 0.01766816 -0.06664053
+v 0.02533882 0.01606410 -0.06672338
+v 0.02726195 0.01383106 -0.06666852
+v 0.03032325 0.01383105 -0.06319738
+v 0.03031204 0.01383105 -0.06332435
+v 0.02892529 0.01539010 -0.06478338
+v 0.02833285 0.01679858 -0.06319737
+v 0.02841134 0.01689566 -0.06097331
+v 0.02845806 0.01695897 -0.05666828
+v 0.02730306 0.01823379 -0.06097330
+v 0.02714794 0.01848425 -0.05865562
+v 0.02061603 0.02429265 -0.05666825
+v 0.02162899 0.02359757 -0.05874814
+v 0.02158040 0.02356802 -0.06097328
+v 0.02323627 0.02062443 -0.06569257
+v 0.02394647 0.01914841 -0.06646406
+v 0.02289426 0.02236920 -0.06319735
+v 0.02400440 0.02144897 -0.06319735
+v 0.02478375 0.01997155 -0.06498027
+v 0.02611629 0.01681547 -0.06643502
+v 0.02662838 0.01533523 -0.06660825
+v 0.02733484 0.01383106 -0.06665776
+v 0.02942243 0.01383106 -0.06522024
+v 0.02810670 0.01427007 -0.06626717
+v 0.02690685 0.01775822 -0.06495122
+v 0.02722457 0.01813671 -0.06319736
+v 0.02742828 0.01818172 -0.05666827
+v 0.02635739 0.01934397 -0.06097330
+v 0.02637981 0.01936789 -0.05933672
+v 0.02639476 0.01938336 -0.05785294
+v 0.02164955 0.02360881 -0.05666825
+v 0.02302695 0.02248738 -0.05874815
+v 0.02299705 0.02245784 -0.06097329
+v 0.02544909 0.01845331 -0.06570764
+v 0.02410532 0.02154042 -0.06097329
+v 0.02516127 0.02034019 -0.06319736
+v 0.02626955 0.01924689 -0.06319736
+v 0.02826556 0.01383106 -0.06635218
+v 0.02892529 0.01383106 -0.06571411
+v 0.02734231 0.01828303 -0.05666827
+v 0.02524911 0.02043024 -0.06097329
+v 0.02549581 0.02024591 -0.05865562
+v 0.02413710 0.02156715 -0.05874815
+v 0.02414831 0.02157840 -0.05666826
+v 0.02529583 0.02046259 -0.05666826
+v 0.02639663 0.01938618 -0.05666827
+v 0.02644896 0.01932567 -0.05666827
+v 0.02174113 0.02353565 -0.05666825
+v 0.02303817 0.02249863 -0.05666826
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 28
+f 1 28 38
+f 1 38 56
+f 1 56 88
+f 1 88 93
+f 1 93 97
+f 1 97 68
+f 1 68 67
+f 1 67 63
+f 1 63 42
+f 1 42 29
+f 1 29 18
+f 1 18 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 21
+f 1 21 33
+f 1 33 51
+f 1 51 79
+f 1 79 81
+f 1 81 107
+f 1 107 125
+f 1 125 138
+f 1 138 145
+f 1 145 144
+f 1 144 143
+f 1 143 142
+f 1 142 147
+f 1 147 146
+f 1 146 129
+f 1 129 110
+f 1 110 84
+f 1 84 83
+f 1 83 82
+f 1 82 52
+f 1 52 34
+f 1 34 22
+f 1 22 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 19
+f 6 19 30
+f 6 30 47
+f 6 47 74
+f 6 74 101
+f 6 101 120
+f 6 120 136
+f 6 136 137
+f 6 137 121
+f 6 121 103
+f 6 103 102
+f 6 102 75
+f 6 75 48
+f 6 48 31
+f 6 31 20
+f 6 20 12
+f 6 12 7
+f 8 13 14
+f 8 14 9
+f 9 15 10
+f 9 14 16
+f 9 16 15
+f 10 15 17
+f 11 18 19
+f 12 20 21
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 16
+f 15 16 25
+f 15 25 17
+f 16 24 26
+f 16 26 27
+f 16 27 25
+f 17 25 28
+f 18 29 30
+f 18 30 19
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 37 26
+f 25 38 28
+f 25 27 39
+f 25 39 40
+f 25 40 38
+f 26 39 27
+f 26 37 41
+f 26 41 39
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 34 52 35
+f 35 52 53
+f 35 53 36
+f 36 53 54
+f 36 54 37
+f 37 54 55
+f 37 55 41
+f 38 40 56
+f 39 57 58
+f 39 58 40
+f 39 41 59
+f 39 59 57
+f 40 58 60
+f 40 60 61
+f 40 61 62
+f 40 62 56
+f 41 55 59
+f 42 63 64
+f 42 64 43
+f 43 65 66
+f 43 66 45
+f 43 45 44
+f 43 64 67
+f 43 67 68
+f 43 68 69
+f 43 69 65
+f 45 66 70
+f 45 70 71
+f 45 71 46
+f 46 71 72
+f 46 72 73
+f 46 73 47
+f 47 73 74
+f 48 75 49
+f 49 75 76
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 50 79 51
+f 50 78 80
+f 50 80 81
+f 50 81 79
+f 52 82 53
+f 53 82 83
+f 53 83 84
+f 53 84 85
+f 53 85 86
+f 53 86 54
+f 54 86 87
+f 54 87 55
+f 55 87 59
+f 56 62 88
+f 57 89 58
+f 57 59 89
+f 58 89 90
+f 58 90 91
+f 58 91 70
+f 58 70 92
+f 58 92 93
+f 58 93 61
+f 58 61 60
+f 59 87 94
+f 59 94 95
+f 59 95 96
+f 59 96 89
+f 61 93 62
+f 62 93 88
+f 63 67 64
+f 65 92 66
+f 65 69 97
+f 65 97 93
+f 65 93 92
+f 66 92 70
+f 68 97 69
+f 70 91 71
+f 71 91 98
+f 71 98 72
+f 72 98 99
+f 72 99 100
+f 72 100 73
+f 73 100 74
+f 74 100 101
+f 75 102 76
+f 76 102 103
+f 76 103 77
+f 77 104 105
+f 77 105 106
+f 77 106 78
+f 77 103 104
+f 78 106 80
+f 80 107 81
+f 80 106 108
+f 80 108 109
+f 80 109 107
+f 84 110 85
+f 85 110 111
+f 85 111 112
+f 85 112 86
+f 86 112 87
+f 87 112 94
+f 89 96 90
+f 90 96 95
+f 90 95 113
+f 90 113 114
+f 90 114 98
+f 90 98 91
+f 94 112 115
+f 94 115 95
+f 95 115 116
+f 95 116 117
+f 95 117 113
+f 98 114 99
+f 99 118 119
+f 99 119 100
+f 99 114 118
+f 100 119 101
+f 101 119 120
+f 103 121 104
+f 104 122 118
+f 104 118 123
+f 104 123 105
+f 104 121 122
+f 105 123 124
+f 105 124 108
+f 105 108 106
+f 107 109 125
+f 108 124 126
+f 108 126 127
+f 108 127 109
+f 109 127 128
+f 109 128 125
+f 110 129 111
+f 111 129 130
+f 111 130 131
+f 111 131 112
+f 112 131 115
+f 113 117 114
+f 114 117 132
+f 114 132 118
+f 115 131 133
+f 115 133 116
+f 116 133 134
+f 116 134 117
+f 117 134 135
+f 117 135 123
+f 117 123 132
+f 118 132 123
+f 118 122 136
+f 118 136 119
+f 119 136 120
+f 121 137 122
+f 122 137 136
+f 123 135 124
+f 124 135 126
+f 125 128 138
+f 126 135 134
+f 126 134 139
+f 126 139 127
+f 127 139 140
+f 127 140 128
+f 128 140 141
+f 128 141 142
+f 128 142 143
+f 128 143 144
+f 128 144 145
+f 128 145 138
+f 129 146 130
+f 130 147 142
+f 130 142 141
+f 130 141 133
+f 130 133 131
+f 130 146 147
+f 133 141 139
+f 133 139 134
+f 139 141 140
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_30.obj

@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.01294541 -0.01452212 -0.06418331
+v 0.00258413 -0.01874597 -0.06418333
+v 0.01890200 -0.01452213 -0.06171112
+v 0.03143995 -0.01452212 -0.06418331
+v 0.00258413 -0.03174413 -0.06418338
+v 0.00258413 -0.02235555 -0.06171576
+v 0.01915590 -0.01452213 -0.06161086
+v 0.03149130 -0.01452213 -0.06395092
+v 0.03090077 -0.01602991 -0.06418332
+v 0.00266687 -0.03174751 -0.06418338
+v 0.00258413 -0.03177290 -0.06363486
+v 0.00258413 -0.02585174 -0.06025957
+v 0.02499553 -0.01452214 -0.06025953
+v 0.02136680 -0.01452214 -0.06104045
+v 0.02081907 -0.01452214 -0.06117143
+v 0.03165676 -0.01452213 -0.06319843
+v 0.03142283 -0.01504673 -0.06319844
+v 0.03085513 -0.01620591 -0.06319844
+v 0.03083230 -0.01616698 -0.06418332
+v 0.00309763 -0.03175936 -0.06418338
+v 0.00309763 -0.03181014 -0.06319850
+v 0.00258413 -0.03178475 -0.06319850
+v 0.00258413 -0.03177969 -0.06025960
+v 0.03172522 -0.01452214 -0.06025953
+v 0.03167672 -0.01452213 -0.06267296
+v 0.03148844 -0.01504674 -0.06097324
+v 0.03087795 -0.01624315 -0.06097324
+v 0.03016475 -0.01735496 -0.06097324
+v 0.03014193 -0.01731603 -0.06319844
+v 0.02903506 -0.01893382 -0.06319845
+v 0.02892950 -0.01879335 -0.06418333
+v 0.00482356 -0.03175597 -0.06418338
+v 0.00309763 -0.03180845 -0.06097330
+v 0.00258413 -0.03178815 -0.06097330
+v 0.00507461 -0.03177968 -0.06319850
+v 0.00309763 -0.03180168 -0.06025960
+v 0.03148844 -0.01504674 -0.06025954
+v 0.03172808 -0.01452214 -0.06044775
+v 0.03172522 -0.01452214 -0.06097323
+v 0.03107479 -0.01586071 -0.06025954
+v 0.03087510 -0.01623977 -0.06025954
+v 0.03039298 -0.01699451 -0.06025954
+v 0.03016190 -0.01735158 -0.06025954
+v 0.02940877 -0.01844646 -0.06025955
+v 0.02905503 -0.01896767 -0.06097325
+v 0.02817067 -0.02007779 -0.06097325
+v 0.02813643 -0.02004393 -0.06319845
+v 0.02731483 -0.02065313 -0.06418334
+v 0.00502896 -0.03173905 -0.06418338
+v 0.00497761 -0.03177461 -0.06097330
+v 0.00363966 -0.03179322 -0.06025960
+v 0.00618434 -0.03167983 -0.06319850
+v 0.02905217 -0.01896260 -0.06025955
+v 0.02816781 -0.02007271 -0.06025955
+v 0.02741468 -0.02093237 -0.06025956
+v 0.02706094 -0.02134190 -0.06097326
+v 0.02702670 -0.02130635 -0.06319846
+v 0.02688121 -0.02114727 -0.06418334
+v 0.01197261 -0.03027864 -0.06418337
+v 0.00975316 -0.03112647 -0.06319849
+v 0.00753370 -0.03152584 -0.06319850
+v 0.00491770 -0.03176953 -0.06025960
+v 0.00608734 -0.03167138 -0.06097330
+v 0.00753370 -0.03152077 -0.06097330
+v 0.02705809 -0.02133851 -0.06025956
+v 0.02634489 -0.02209326 -0.06025956
+v 0.02601112 -0.02245201 -0.06097326
+v 0.02597403 -0.02241647 -0.06319846
+v 0.02514387 -0.02289705 -0.06418334
+v 0.01531321 -0.02948836 -0.06418337
+v 0.01197261 -0.03055787 -0.06319849
+v 0.01197261 -0.03057819 -0.06097329
+v 0.00975316 -0.03114340 -0.06097329
+v 0.00602743 -0.03166461 -0.06025960
+v 0.00753370 -0.03150893 -0.06025960
+v 0.00655234 -0.03161046 -0.06025960
+v 0.00824689 -0.03138878 -0.06025960
+v 0.02600541 -0.02245032 -0.06025956
+v 0.02525228 -0.02313060 -0.06025956
+v 0.02490139 -0.02345213 -0.06097327
+v 0.02486430 -0.02343351 -0.06319847
+v 0.02470740 -0.02329642 -0.06418335
+v 0.01418922 -0.02988774 -0.06319849
+v 0.01545015 -0.02942236 -0.06418337
+v 0.01534174 -0.02950191 -0.06319849
+v 0.01197261 -0.03056804 -0.06025959
+v 0.01418922 -0.02989791 -0.06097329
+v 0.01046350 -0.03095218 -0.06025959
+v 0.00975316 -0.03113155 -0.06025959
+v 0.02489853 -0.02344875 -0.06025957
+v 0.02359482 -0.02456394 -0.06097327
+v 0.02357770 -0.02454362 -0.06319847
+v 0.02272187 -0.02502759 -0.06418335
+v 0.01922151 -0.02736797 -0.06418336
+v 0.01969793 -0.02723937 -0.06384035
+v 0.01882498 -0.02774028 -0.06313856
+v 0.01645147 -0.02896208 -0.06319849
+v 0.01645432 -0.02897563 -0.06097329
+v 0.01534745 -0.02950361 -0.06097329
+v 0.01425769 -0.02986575 -0.06025959
+v 0.02401132 -0.02420349 -0.06025957
+v 0.02358911 -0.02455886 -0.06025957
+v 0.02283598 -0.02515284 -0.06025957
+v 0.02247938 -0.02543375 -0.06025957
+v 0.02248509 -0.02543714 -0.06097327
+v 0.02246797 -0.02542359 -0.06319847
+v 0.02234245 -0.02532881 -0.06418335
+v 0.02063078 -0.02666739 -0.06313856
+v 0.01975213 -0.02727153 -0.06235687
+v 0.01883924 -0.02775044 -0.06091604
+v 0.01637445 -0.02900271 -0.06025959
+v 0.01714469 -0.02861518 -0.06025959
+v 0.01560990 -0.02936654 -0.06025959
+v 0.01533318 -0.02949684 -0.06025959
+v 0.02069640 -0.02663864 -0.06025958
+v 0.02063078 -0.02668602 -0.06091604
+v 0.01975213 -0.02727153 -0.06161975
+v 0.01876792 -0.02778090 -0.06025958
+v 0.01986624 -0.02716492 -0.06025958
+v 0.01958382 -0.02733246 -0.06025958
+v 0.01910455 -0.02759983 -0.06025958
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 14
+f 1 14 13
+f 1 13 24
+f 1 24 38
+f 1 38 39
+f 1 39 25
+f 1 25 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 31
+f 1 31 48
+f 1 48 58
+f 1 58 69
+f 1 69 82
+f 1 82 93
+f 1 93 107
+f 1 107 94
+f 1 94 84
+f 1 84 70
+f 1 70 59
+f 1 59 49
+f 1 49 32
+f 1 32 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 22
+f 2 22 34
+f 2 34 23
+f 2 23 12
+f 2 12 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 9 17 18
+f 9 18 19
+f 9 16 17
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 12 23 36
+f 12 36 51
+f 12 51 62
+f 12 62 74
+f 12 74 76
+f 12 76 75
+f 12 75 77
+f 12 77 89
+f 12 89 88
+f 12 88 86
+f 12 86 100
+f 12 100 114
+f 12 114 113
+f 12 113 111
+f 12 111 112
+f 12 112 118
+f 12 118 121
+f 12 121 120
+f 12 120 119
+f 12 119 115
+f 12 115 104
+f 12 104 103
+f 12 103 102
+f 12 102 101
+f 12 101 90
+f 12 90 79
+f 12 79 78
+f 12 78 66
+f 12 66 65
+f 12 65 55
+f 12 55 54
+f 12 54 53
+f 12 53 44
+f 12 44 43
+f 12 43 42
+f 12 42 41
+f 12 41 40
+f 12 40 37
+f 12 37 24
+f 12 24 13
+f 16 25 17
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 20 32 21
+f 21 33 34
+f 21 34 22
+f 21 32 35
+f 21 35 33
+f 23 34 36
+f 24 37 38
+f 25 39 26
+f 26 40 27
+f 26 39 38
+f 26 38 37
+f 26 37 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 43 44
+f 28 44 45
+f 28 45 30
+f 28 30 29
+f 28 42 43
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 32 49 35
+f 33 36 34
+f 33 35 50
+f 33 50 51
+f 33 51 36
+f 35 49 52
+f 35 52 50
+f 44 53 45
+f 45 53 54
+f 45 54 46
+f 46 54 55
+f 46 55 56
+f 46 56 47
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 49 59 60
+f 49 60 61
+f 49 61 52
+f 50 62 51
+f 50 52 63
+f 50 63 62
+f 52 61 64
+f 52 64 63
+f 55 65 56
+f 56 65 66
+f 56 66 67
+f 56 67 57
+f 57 67 68
+f 57 68 58
+f 58 68 69
+f 59 70 60
+f 60 70 71
+f 60 71 72
+f 60 72 73
+f 60 73 61
+f 61 73 64
+f 62 63 74
+f 63 64 75
+f 63 75 76
+f 63 76 74
+f 64 73 77
+f 64 77 75
+f 66 78 67
+f 67 78 79
+f 67 79 80
+f 67 80 81
+f 67 81 68
+f 68 81 69
+f 69 81 82
+f 70 83 71
+f 70 84 85
+f 70 85 83
+f 71 83 72
+f 72 86 73
+f 72 83 87
+f 72 87 86
+f 73 86 88
+f 73 88 89
+f 73 89 77
+f 79 90 80
+f 80 90 91
+f 80 91 92
+f 80 92 81
+f 81 92 93
+f 81 93 82
+f 83 85 87
+f 84 94 95
+f 84 95 96
+f 84 96 97
+f 84 97 85
+f 85 97 98
+f 85 98 99
+f 85 99 87
+f 86 87 100
+f 87 99 100
+f 90 101 91
+f 91 102 103
+f 91 103 104
+f 91 104 105
+f 91 105 106
+f 91 106 92
+f 91 101 102
+f 92 106 107
+f 92 107 93
+f 94 107 95
+f 95 107 106
+f 95 106 108
+f 95 108 109
+f 95 109 96
+f 96 109 97
+f 97 109 110
+f 97 110 98
+f 98 111 99
+f 98 110 112
+f 98 112 111
+f 99 111 113
+f 99 113 114
+f 99 114 100
+f 104 115 105
+f 105 115 116
+f 105 116 109
+f 105 109 106
+f 106 109 108
+f 109 116 117
+f 109 117 110
+f 110 118 112
+f 110 117 118
+f 115 119 117
+f 115 117 116
+f 117 120 121
+f 117 121 118
+f 117 119 120
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_31.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.00082410 0.02874330 -0.06011297
+v 0.00002066 0.02886517 -0.06011297
+v -0.00082410 0.02346033 -0.06011299
+v -0.00082410 0.02876866 -0.05926453
+v 0.00087861 0.02898846 -0.06011297
+v -0.00082410 0.02878416 -0.05874538
+v 0.01002240 0.02228031 -0.06011300
+v -0.00082410 0.02442960 -0.02980938
+v 0.00309655 0.02915613 -0.06011297
+v 0.00087861 0.02902791 -0.05874538
+v 0.00309655 0.02919910 -0.05874538
+v -0.00082410 0.02882642 -0.05652044
+v 0.00087861 0.02907088 -0.05652044
+v 0.01141716 0.02218309 -0.06011300
+v 0.01141716 0.02339681 -0.02980938
+v -0.00082410 0.02896228 -0.02980936
+v 0.00531450 0.02911527 -0.06011297
+v 0.00531450 0.02916317 -0.05874538
+v 0.00309655 0.02924418 -0.05652044
+v 0.00531450 0.02921459 -0.05652044
+v -0.00082410 0.02884895 -0.05481466
+v 0.00087861 0.02909975 -0.05429551
+v 0.01141716 0.02812335 -0.06011298
+v 0.01141716 0.02827823 -0.02980937
+v 0.00086902 0.02920111 -0.02980936
+v -0.00082410 0.02896228 -0.02981826
+v 0.00753245 0.02889758 -0.06011297
+v 0.00753245 0.02894830 -0.05874538
+v 0.00753245 0.02900184 -0.05652044
+v 0.00309655 0.02927305 -0.05429551
+v 0.00531450 0.02924628 -0.05429551
+v 0.00753245 0.02903423 -0.05429551
+v -0.00082410 0.02885529 -0.05429551
+v 0.00087861 0.02912158 -0.05207057
+v 0.00309655 0.02931953 -0.04984267
+v 0.00309655 0.02929700 -0.05207057
+v 0.01131171 0.02815223 -0.06011298
+v 0.01141716 0.02816914 -0.05874539
+v 0.01141716 0.02827893 -0.03031072
+v 0.01116912 0.02834726 -0.02981827
+v 0.01116313 0.02834867 -0.02980937
+v 0.00309655 0.02938005 -0.02980936
+v 0.00309655 0.02935754 -0.04094590
+v 0.00087861 0.02918352 -0.03871800
+v 0.00087861 0.02917860 -0.04094590
+v -0.00082410 0.02894329 -0.03701221
+v 0.00985105 0.02850025 -0.06011298
+v 0.00975160 0.02857211 -0.05874539
+v 0.00975160 0.02861718 -0.05652044
+v 0.00531450 0.02927163 -0.05207057
+v 0.00753245 0.02905818 -0.05207057
+v 0.00975160 0.02864324 -0.05429551
+v -0.00082410 0.02887642 -0.05207057
+v 0.00087861 0.02913989 -0.04984267
+v 0.00531450 0.02929558 -0.04984267
+v 0.00309655 0.02933431 -0.04761774
+v 0.01098220 0.02824241 -0.06011298
+v 0.01089113 0.02826988 -0.06002695
+v 0.01095943 0.02828679 -0.05874539
+v 0.01141716 0.02820788 -0.05652045
+v 0.01141716 0.02828529 -0.03649307
+v 0.00975160 0.02870517 -0.03426813
+v 0.00975160 0.02870021 -0.02980936
+v 0.01118230 0.02835010 -0.03649307
+v 0.00975160 0.02870728 -0.03649306
+v 0.00531450 0.02934834 -0.02980936
+v 0.00531450 0.02934834 -0.02981826
+v 0.00531450 0.02932936 -0.04094590
+v 0.00531450 0.02932374 -0.04317083
+v 0.00309655 0.02935051 -0.04317083
+v -0.00082410 0.02893695 -0.03923715
+v 0.00309655 0.02934277 -0.04539280
+v 0.00087861 0.02915185 -0.04761774
+v 0.01078808 0.02828961 -0.06011298
+v 0.01103372 0.02830580 -0.05652045
+v 0.00975160 0.02866718 -0.05207057
+v 0.00753245 0.02907789 -0.04984267
+v -0.00082410 0.02889402 -0.04984267
+v 0.00531450 0.02930966 -0.04761774
+v 0.01112479 0.02832973 -0.05207058
+v 0.01141716 0.02824801 -0.05268170
+v 0.01141716 0.02828600 -0.03871801
+v 0.00753245 0.02910952 -0.02980936
+v 0.01118350 0.02835011 -0.03871801
+v 0.00975160 0.02870729 -0.03871800
+v 0.00753245 0.02911024 -0.03204319
+v 0.00752406 0.02911093 -0.02980936
+v 0.00753245 0.02910814 -0.03871800
+v 0.00753245 0.02910674 -0.04094590
+v 0.00753245 0.02910112 -0.04317083
+v 0.00753245 0.02909549 -0.04539280
+v 0.00753245 0.02908915 -0.04761774
+v 0.00975160 0.02868478 -0.04984267
+v 0.01115714 0.02833959 -0.04984268
+v 0.01141716 0.02825435 -0.05207058
+v 0.01141716 0.02828600 -0.03918673
+v 0.01118110 0.02834871 -0.04094591
+v 0.00975160 0.02870519 -0.04094590
+v 0.00975160 0.02870167 -0.04317083
+v 0.00975160 0.02869746 -0.04539280
+v 0.00975160 0.02869253 -0.04761774
+v 0.01116433 0.02834310 -0.04761775
+v 0.01141716 0.02827477 -0.04812800
+v 0.01141716 0.02827055 -0.04984268
+v 0.01141716 0.02826774 -0.05037963
+v 0.01141716 0.02828390 -0.04142056
+v 0.01141716 0.02828180 -0.04317084
+v 0.01117032 0.02834521 -0.04539281
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 27
+f 1 27 47
+f 1 47 74
+f 1 74 57
+f 1 57 37
+f 1 37 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 46
+f 1 46 71
+f 1 71 78
+f 1 78 53
+f 1 53 33
+f 1 33 21
+f 1 21 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 5 6 10
+f 5 10 11
+f 5 11 9
+f 6 12 13
+f 6 13 10
+f 7 14 15
+f 7 15 8
+f 8 15 24
+f 8 24 41
+f 8 41 63
+f 8 63 83
+f 8 83 87
+f 8 87 66
+f 8 66 42
+f 8 42 25
+f 8 25 16
+f 9 11 18
+f 9 18 17
+f 10 13 19
+f 10 19 11
+f 11 19 20
+f 11 20 18
+f 12 21 13
+f 13 21 22
+f 13 22 30
+f 13 30 19
+f 14 23 38
+f 14 38 60
+f 14 60 81
+f 14 81 95
+f 14 95 105
+f 14 105 104
+f 14 104 103
+f 14 103 107
+f 14 107 106
+f 14 106 96
+f 14 96 82
+f 14 82 61
+f 14 61 39
+f 14 39 24
+f 14 24 15
+f 16 25 26
+f 17 18 28
+f 17 28 27
+f 18 20 29
+f 18 29 28
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 29
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 30
+f 23 37 38
+f 24 39 40
+f 24 40 41
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 46
+f 27 28 48
+f 27 48 47
+f 28 29 48
+f 29 49 48
+f 29 32 49
+f 30 36 50
+f 30 50 31
+f 31 50 32
+f 32 50 51
+f 32 51 76
+f 32 76 52
+f 32 52 49
+f 33 53 34
+f 34 53 54
+f 34 54 35
+f 35 55 36
+f 35 54 56
+f 35 56 55
+f 36 55 50
+f 37 57 38
+f 38 57 58
+f 38 58 59
+f 38 59 60
+f 39 61 40
+f 40 62 63
+f 40 63 41
+f 40 61 64
+f 40 64 65
+f 40 65 62
+f 42 66 67
+f 42 67 68
+f 42 68 43
+f 43 68 69
+f 43 69 70
+f 43 70 45
+f 43 45 44
+f 45 71 46
+f 45 70 72
+f 45 72 56
+f 45 56 73
+f 45 73 71
+f 47 58 74
+f 47 48 58
+f 48 49 59
+f 48 59 58
+f 49 75 59
+f 49 52 75
+f 50 55 51
+f 51 55 77
+f 51 77 76
+f 52 76 75
+f 53 78 54
+f 54 73 56
+f 54 78 73
+f 55 56 79
+f 55 79 77
+f 56 72 79
+f 57 74 58
+f 59 75 60
+f 60 75 80
+f 60 80 81
+f 61 82 64
+f 62 83 63
+f 62 65 83
+f 64 82 84
+f 64 84 65
+f 65 84 85
+f 65 85 86
+f 65 86 83
+f 66 87 86
+f 66 86 67
+f 67 86 88
+f 67 88 89
+f 67 89 68
+f 68 89 90
+f 68 90 69
+f 69 90 91
+f 69 91 92
+f 69 92 79
+f 69 79 70
+f 70 79 72
+f 71 73 78
+f 75 76 80
+f 76 77 93
+f 76 93 94
+f 76 94 80
+f 77 79 92
+f 77 92 93
+f 80 94 95
+f 80 95 81
+f 82 96 84
+f 83 86 87
+f 84 96 97
+f 84 97 85
+f 85 97 98
+f 85 98 89
+f 85 89 88
+f 85 88 86
+f 89 99 100
+f 89 100 101
+f 89 101 90
+f 89 98 99
+f 90 101 91
+f 91 101 92
+f 92 101 93
+f 93 101 94
+f 94 101 102
+f 94 102 103
+f 94 103 104
+f 94 104 105
+f 94 105 95
+f 96 106 97
+f 97 106 107
+f 97 107 103
+f 97 103 108
+f 97 108 98
+f 98 108 99
+f 99 108 102
+f 99 102 100
+f 100 102 101
+f 102 108 103
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_32.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.01896016 -0.01312414 0.00041254
+v -0.02138098 -0.00160001 0.00041258
+v -0.02394862 -0.01312414 0.00041254
+v -0.01878120 -0.01312393 -0.05632215
+v -0.02623137 -0.00160001 0.00041258
+v -0.02133058 -0.00159985 -0.04304366
+v -0.02401436 -0.01296958 0.00041254
+v -0.02396761 -0.01312410 -0.00978927
+v -0.02391648 -0.01312393 -0.05632215
+v -0.02132108 -0.00160544 -0.05632211
+v -0.02132619 -0.00159984 -0.04749758
+v -0.02623941 -0.00172185 0.00041258
+v -0.02623357 -0.00160001 -0.00088694
+v -0.02407500 -0.01282518 0.00041254
+v -0.02408960 -0.01282515 -0.00756231
+v -0.02409326 -0.01282514 -0.00978927
+v -0.02406258 -0.01282501 -0.04761980
+v -0.02393693 -0.01312397 -0.04731435
+v -0.02395885 -0.01302465 -0.05632215
+v -0.02393255 -0.01312396 -0.04954131
+v -0.02151393 -0.00159980 -0.05632211
+v -0.02133058 -0.00159981 -0.05429508
+v -0.02612546 -0.00394206 0.00041258
+v -0.02624160 -0.00172185 -0.00088694
+v -0.02612984 -0.00394206 -0.00088694
+v -0.02623503 -0.00160000 -0.00311390
+v -0.02454981 -0.01143754 0.00041255
+v -0.02455930 -0.01147248 -0.00978926
+v -0.02454323 -0.01142383 -0.04984119
+v -0.02453666 -0.01140687 -0.05632214
+v -0.02405819 -0.01282500 -0.04984120
+v -0.02404212 -0.01282497 -0.05632215
+v -0.02618901 -0.00159980 -0.05632211
+v -0.02595014 -0.00523606 0.00041257
+v -0.02582961 -0.00616341 -0.00088695
+v -0.02624306 -0.00172184 -0.00311390
+v -0.02614226 -0.00394202 -0.00978923
+v -0.02585664 -0.00616337 -0.00978924
+v -0.02585079 -0.00616338 -0.00756228
+v -0.02623576 -0.00159998 -0.00756227
+v -0.02469006 -0.01097387 0.00041255
+v -0.02490117 -0.01036237 -0.00978926
+v -0.02488802 -0.01031372 -0.04984119
+v -0.02488802 -0.01030694 -0.05206815
+v -0.02488656 -0.01030129 -0.05429511
+v -0.02488510 -0.01029564 -0.05632214
+v -0.02485369 -0.01039604 -0.05632214
+v -0.02619777 -0.00172164 -0.05632211
+v -0.02619485 -0.00159982 -0.05206812
+v -0.02582450 -0.00616341 0.00041257
+v -0.02557321 -0.00745627 0.00041256
+v -0.02542711 -0.00838358 -0.00978925
+v -0.02541981 -0.00838359 -0.00756229
+v -0.02624379 -0.00172182 -0.00756227
+v -0.02585664 -0.00616337 -0.01201620
+v -0.02624306 -0.00172181 -0.00978923
+v -0.02612911 -0.00394195 -0.02981519
+v -0.02623576 -0.00159998 -0.00768444
+v -0.02488510 -0.01032631 0.00041255
+v -0.02542638 -0.00838358 -0.01201621
+v -0.02539059 -0.00838343 -0.05206814
+v -0.02538767 -0.00838342 -0.05429510
+v -0.02538109 -0.00838341 -0.05632213
+v -0.02610354 -0.00394185 -0.05632211
+v -0.02620362 -0.00172166 -0.05206812
+v -0.02621457 -0.00159988 -0.03661270
+v -0.02539205 -0.00838362 0.00041256
+v -0.02509840 -0.00951516 0.00041256
+v -0.02612619 -0.00394193 -0.03426356
+v -0.02607724 -0.00414154 -0.05632212
+v -0.02581062 -0.00616321 -0.05429509
+v -0.02623503 -0.00159997 -0.00991140
+v -0.02622480 -0.00172172 -0.03426356
+v -0.02576825 -0.00636288 -0.05632212
+v -0.02622261 -0.00172172 -0.03649052
+v -0.02621823 -0.00159989 -0.03203660
+v -0.02580550 -0.00616320 -0.05632212
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 34
+f 1 34 50
+f 1 50 51
+f 1 51 67
+f 1 67 68
+f 1 68 59
+f 1 59 41
+f 1 41 27
+f 1 27 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 22
+f 2 22 21
+f 2 21 33
+f 2 33 49
+f 2 49 66
+f 2 66 76
+f 2 76 72
+f 2 72 58
+f 2 58 40
+f 2 40 26
+f 2 26 13
+f 2 13 5
+f 3 7 8
+f 4 9 19
+f 4 19 32
+f 4 32 30
+f 4 30 47
+f 4 47 46
+f 4 46 63
+f 4 63 74
+f 4 74 77
+f 4 77 70
+f 4 70 64
+f 4 64 48
+f 4 48 33
+f 4 33 21
+f 4 21 10
+f 4 10 11
+f 4 11 6
+f 5 13 24
+f 5 24 12
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 9 20 19
+f 10 21 22
+f 10 22 11
+f 12 24 25
+f 12 25 23
+f 13 26 36
+f 13 36 24
+f 14 27 28
+f 14 28 15
+f 15 28 16
+f 16 28 17
+f 17 29 30
+f 17 30 31
+f 17 31 20
+f 17 20 18
+f 17 28 29
+f 19 20 31
+f 19 31 32
+f 23 25 35
+f 23 35 34
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 35
+f 26 40 54
+f 26 54 36
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 32 31
+f 33 48 65
+f 33 65 49
+f 34 35 50
+f 35 51 50
+f 35 39 52
+f 35 52 53
+f 35 53 51
+f 36 54 37
+f 37 55 38
+f 37 54 56
+f 37 56 57
+f 37 57 55
+f 38 52 39
+f 38 55 52
+f 40 58 54
+f 41 59 42
+f 42 59 52
+f 42 52 60
+f 42 60 43
+f 43 60 44
+f 44 61 62
+f 44 62 45
+f 44 60 61
+f 45 62 46
+f 46 62 63
+f 48 64 65
+f 49 65 66
+f 51 53 67
+f 52 59 68
+f 52 68 53
+f 52 55 60
+f 53 68 67
+f 54 58 72
+f 54 72 56
+f 55 57 69
+f 55 69 64
+f 55 64 70
+f 55 70 71
+f 55 71 61
+f 55 61 60
+f 56 72 73
+f 56 73 69
+f 56 69 57
+f 61 71 62
+f 62 71 74
+f 62 74 63
+f 64 69 75
+f 64 75 65
+f 65 75 66
+f 66 75 73
+f 66 73 76
+f 69 73 75
+f 70 77 71
+f 71 77 74
+f 72 76 73
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_33.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.01013536 -0.02317714 -0.05654570
+v 0.00258413 -0.02733728 -0.05654571
+v -0.01013536 -0.02864480 -0.05654572
+v -0.01013536 -0.02316528 -0.05153929
+v 0.00258413 -0.02725763 -0.02773761
+v 0.00258413 -0.03175705 -0.05654573
+v -0.00869732 -0.02931256 -0.05654572
+v -0.00871724 -0.02932023 -0.04539328
+v -0.01013536 -0.02864820 -0.05429481
+v -0.01013536 -0.02311615 -0.02981273
+v -0.01013536 -0.02311192 -0.02759018
+v -0.01013536 -0.02309675 0.00136533
+v 0.00258413 -0.02729928 -0.00669143
+v 0.00168769 -0.03172566 -0.05654573
+v 0.00258413 -0.03176479 -0.02981277
+v -0.00760292 -0.02975377 -0.05654572
+v -0.01013536 -0.02865672 -0.04749676
+v -0.01013536 -0.02865416 -0.04972498
+v -0.00760790 -0.02976654 -0.04539328
+v -0.00761039 -0.02976824 -0.04316506
+v -0.00871973 -0.02932024 -0.04316506
+v -0.01013536 -0.02858138 0.00136531
+v 0.00258413 -0.02732901 0.00136531
+v 0.00165034 -0.03172396 -0.05654573
+v 0.00258413 -0.03176401 -0.01201537
+v -0.00758798 -0.02975971 -0.05654572
+v -0.01013536 -0.02865756 -0.04539328
+v -0.00580132 -0.03036214 -0.05654572
+v -0.00577767 -0.03037745 -0.04761583
+v -0.00577767 -0.03037915 -0.04539328
+v -0.00577767 -0.03038000 -0.04316506
+v -0.00759047 -0.02976327 -0.01423791
+v -0.01013536 -0.02865756 -0.04527421
+v -0.00869981 -0.02931102 -0.01423791
+v -0.01013536 -0.02864834 -0.01634706
+v -0.01013536 -0.02865002 -0.02079783
+v -0.01013536 -0.02865087 -0.02302605
+v -0.00862884 -0.02928223 0.00136530
+v -0.01013536 -0.02863224 -0.00967374
+v 0.00258413 -0.03175133 0.00136529
+v 0.00163665 -0.03172311 -0.05654573
+v 0.00174995 -0.03172583 -0.01201537
+v 0.00258413 -0.03176231 -0.00978715
+v 0.00179850 -0.03172079 0.00136529
+v -0.00577767 -0.03036977 -0.05654572
+v -0.00356022 -0.03095440 -0.05206659
+v -0.00356022 -0.03095441 -0.04984405
+v -0.00356022 -0.03094849 -0.04316506
+v -0.00577767 -0.03036648 -0.02981276
+v -0.00577767 -0.03034618 -0.01423791
+v -0.00758549 -0.02976073 -0.01201536
+v -0.00869483 -0.02930848 -0.01201536
+v -0.01013536 -0.02864157 -0.01189629
+v -0.01013536 -0.02864581 -0.01412451
+v -0.00751950 -0.02973278 0.00136530
+v -0.00868238 -0.02930509 -0.00978714
+v 0.00054224 -0.03165439 -0.05651738
+v 0.00054224 -0.03165439 -0.05654573
+v 0.00068916 -0.03161982 0.00136529
+v -0.00356022 -0.03094844 -0.05654572
+v -0.00137141 -0.03139305 -0.05654573
+v -0.00134153 -0.03139985 -0.05429482
+v -0.00134153 -0.03139986 -0.05206660
+v -0.00356022 -0.03093072 -0.02981276
+v -0.00134153 -0.03139732 -0.04984406
+v -0.00577767 -0.03034194 -0.01201536
+v -0.00577767 -0.03029278 0.00136530
+v -0.00134153 -0.03139899 -0.05654573
+v -0.00134153 -0.03131945 0.00136529
+v -0.00134153 -0.03138462 -0.04094252
+v -0.00356022 -0.03089431 -0.01201536
+v -0.00356022 -0.03085278 0.00136530
+v -0.00574778 -0.03030042 0.00136530
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 41
+f 1 41 58
+f 1 58 68
+f 1 68 61
+f 1 61 60
+f 1 60 45
+f 1 45 28
+f 1 28 26
+f 1 26 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 27
+f 1 27 33
+f 1 33 37
+f 1 37 36
+f 1 36 35
+f 1 35 54
+f 1 54 53
+f 1 53 39
+f 1 39 22
+f 1 22 12
+f 1 12 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 13
+f 2 13 23
+f 2 23 40
+f 2 40 43
+f 2 43 25
+f 2 25 15
+f 2 15 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 15 14
+f 7 16 8
+f 8 17 18
+f 8 18 9
+f 8 16 19
+f 8 19 20
+f 8 20 21
+f 8 21 17
+f 12 22 38
+f 12 38 55
+f 12 55 67
+f 12 67 73
+f 12 73 72
+f 12 72 69
+f 12 69 59
+f 12 59 44
+f 12 44 40
+f 12 40 23
+f 12 23 13
+f 14 15 25
+f 14 25 24
+f 16 26 19
+f 17 21 27
+f 19 26 28
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 33 27
+f 21 32 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 33
+f 22 39 38
+f 24 25 42
+f 24 42 41
+f 25 43 44
+f 25 44 42
+f 28 45 29
+f 29 45 46
+f 29 46 30
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 50 51
+f 32 51 52
+f 32 52 34
+f 32 49 50
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 38 39 56
+f 38 56 51
+f 38 51 55
+f 39 53 56
+f 40 44 43
+f 41 57 58
+f 41 42 57
+f 42 44 57
+f 44 59 57
+f 45 60 46
+f 46 60 61
+f 46 61 62
+f 46 62 63
+f 46 63 47
+f 47 63 48
+f 48 64 50
+f 48 50 49
+f 48 63 65
+f 48 65 64
+f 50 66 51
+f 50 64 66
+f 51 66 67
+f 51 67 55
+f 51 56 52
+f 52 56 53
+f 57 63 62
+f 57 62 58
+f 57 59 63
+f 58 62 68
+f 59 69 70
+f 59 70 65
+f 59 65 63
+f 61 68 62
+f 64 65 70
+f 64 70 69
+f 64 69 71
+f 64 71 66
+f 66 71 72
+f 66 72 73
+f 66 73 67
+f 69 72 71
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_34.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.01194154 0.01769182 -0.06011302
+v -0.01194154 0.02455304 -0.06011299
+v -0.00128556 0.02291910 -0.06011300
+v -0.01194154 0.01896488 -0.02980940
+v -0.01031120 0.02551399 -0.06011299
+v -0.01194154 0.02457070 -0.05874540
+v -0.01034058 0.02552171 -0.05874540
+v -0.00082519 0.02345971 -0.06011299
+v -0.00082519 0.02442826 -0.02980938
+v -0.01194154 0.02462906 -0.02980938
+v -0.00920217 0.02608769 -0.06011298
+v -0.00923156 0.02610313 -0.05874539
+v -0.01194154 0.02458613 -0.05652046
+v -0.01043853 0.02555698 -0.04984269
+v -0.01042112 0.02554816 -0.05207059
+v -0.01037323 0.02553053 -0.05652046
+v -0.00926421 0.02612078 -0.05652045
+v -0.00082519 0.02874326 -0.06011297
+v -0.00082519 0.02896269 -0.02980936
+v -0.01049622 0.02555691 -0.02980938
+v -0.01194154 0.02463016 -0.03017427
+v -0.00799629 0.02662057 -0.06011298
+v -0.00799629 0.02665146 -0.05874539
+v -0.01194154 0.02461259 -0.05207059
+v -0.00932951 0.02615495 -0.04984268
+v -0.01194154 0.02462472 -0.04984269
+v -0.01048316 0.02556686 -0.03649308
+v -0.00937957 0.02618689 -0.03426814
+v -0.00937413 0.02618248 -0.03649307
+v -0.00931101 0.02614613 -0.05207058
+v -0.00799629 0.02668234 -0.05652045
+v -0.00799629 0.02672866 -0.05207058
+v -0.00134106 0.02866823 -0.06011297
+v -0.00082519 0.02876863 -0.05926453
+v -0.00134106 0.02888988 -0.02980936
+v -0.00082519 0.02894287 -0.03701221
+v -0.01048860 0.02556132 -0.02980938
+v -0.01048969 0.02556464 -0.03204321
+v -0.01194154 0.02463901 -0.03426815
+v -0.01194154 0.02463459 -0.03204321
+v -0.00577824 0.02750870 -0.06011298
+v -0.00577824 0.02754290 -0.05874539
+v -0.00799629 0.02674740 -0.04984268
+v -0.00799629 0.02681245 -0.03426814
+v -0.00799629 0.02680362 -0.03649307
+v -0.01194154 0.02462802 -0.04761776
+v -0.01048860 0.02556796 -0.03426815
+v -0.00938066 0.02618909 -0.03204320
+v -0.00800173 0.02682125 -0.02980937
+v -0.00799629 0.02681905 -0.03204320
+v -0.00577824 0.02757378 -0.05652045
+v -0.00577824 0.02761789 -0.05207058
+v -0.00284842 0.02835932 -0.06011298
+v -0.00134106 0.02870905 -0.05874538
+v -0.00082519 0.02878408 -0.05874538
+v -0.00134106 0.02887666 -0.03426813
+v -0.00329355 0.02847615 -0.02981827
+v -0.00329791 0.02847395 -0.02980937
+v -0.00082519 0.02893625 -0.03923715
+v -0.00938393 0.02618687 -0.02980937
+v -0.01194154 0.02464011 -0.03649308
+v -0.00395744 0.02808571 -0.06011298
+v -0.00403689 0.02810446 -0.05874539
+v -0.00411525 0.02812211 -0.05652045
+v -0.00577824 0.02763664 -0.04984268
+v -0.00577824 0.02770278 -0.03426814
+v -0.00578804 0.02771380 -0.02980937
+v -0.00577824 0.02771050 -0.03204320
+v -0.01194154 0.02463352 -0.04317085
+v -0.01194154 0.02463572 -0.04094592
+v -0.00937957 0.02618908 -0.02981827
+v -0.00799629 0.02682346 -0.02981827
+v -0.00421320 0.02814636 -0.05207058
+v -0.00416749 0.02813423 -0.05429552
+v -0.00424694 0.02815517 -0.04984268
+v -0.00292787 0.02838028 -0.05874539
+v -0.00134106 0.02875207 -0.05652044
+v -0.00082519 0.02882599 -0.05652044
+v -0.00134106 0.02886343 -0.03871800
+v -0.00440258 0.02819372 -0.02981827
+v -0.00440258 0.02819372 -0.02980937
+v -0.00326634 0.02846845 -0.03426814
+v -0.00437537 0.02818712 -0.03426814
+v -0.00438952 0.02819042 -0.03204320
+v -0.00082519 0.02892964 -0.04094590
+v -0.00300623 0.02840123 -0.05652045
+v -0.00305847 0.02841556 -0.05429552
+v -0.00435795 0.02818270 -0.03649307
+v -0.00313792 0.02843540 -0.04984268
+v -0.00310309 0.02842659 -0.05207058
+v -0.00324893 0.02846404 -0.03649307
+v -0.00134106 0.02878075 -0.05429551
+v -0.00082519 0.02884804 -0.05481466
+v -0.00134106 0.02881824 -0.04984267
+v -0.00082519 0.02889326 -0.04984267
+v -0.00134106 0.02880170 -0.05207057
+v -0.00082519 0.02887672 -0.05207057
+v -0.00082519 0.02885466 -0.05429551
+f 1 2 5
+f 1 5 11
+f 1 11 22
+f 1 22 41
+f 1 41 62
+f 1 62 53
+f 1 53 33
+f 1 33 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 21
+f 1 21 40
+f 1 40 39
+f 1 39 61
+f 1 61 70
+f 1 70 69
+f 1 69 46
+f 1 46 26
+f 1 26 24
+f 1 24 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 4
+f 4 9 19
+f 4 19 35
+f 4 35 58
+f 4 58 81
+f 4 81 67
+f 4 67 49
+f 4 49 60
+f 4 60 37
+f 4 37 20
+f 4 20 10
+f 5 7 12
+f 5 12 11
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 12
+f 8 18 34
+f 8 34 55
+f 8 55 78
+f 8 78 93
+f 8 93 98
+f 8 98 97
+f 8 97 95
+f 8 95 85
+f 8 85 59
+f 8 59 36
+f 8 36 19
+f 8 19 9
+f 10 20 21
+f 11 12 23
+f 11 23 22
+f 12 17 23
+f 13 24 14
+f 14 25 15
+f 14 24 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 25
+f 15 25 30
+f 15 30 16
+f 16 30 17
+f 17 31 23
+f 17 30 32
+f 17 32 31
+f 18 33 34
+f 19 36 35
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 22 23 42
+f 22 42 41
+f 23 31 51
+f 23 51 42
+f 25 43 30
+f 25 29 44
+f 25 44 45
+f 25 45 43
+f 26 46 47
+f 26 47 27
+f 27 47 28
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 44
+f 28 44 29
+f 30 43 32
+f 31 32 51
+f 32 43 65
+f 32 65 52
+f 32 52 51
+f 33 53 54
+f 33 54 34
+f 34 54 55
+f 35 56 57
+f 35 57 58
+f 35 36 56
+f 36 59 79
+f 36 79 56
+f 37 60 38
+f 38 47 39
+f 38 60 47
+f 39 47 61
+f 41 42 63
+f 41 63 62
+f 42 51 64
+f 42 64 63
+f 43 45 66
+f 43 66 65
+f 44 50 67
+f 44 67 68
+f 44 68 66
+f 44 66 45
+f 46 69 47
+f 47 60 48
+f 47 69 70
+f 47 70 61
+f 48 60 71
+f 48 71 49
+f 49 67 72
+f 49 72 50
+f 49 71 60
+f 50 72 67
+f 51 52 73
+f 51 73 74
+f 51 74 64
+f 52 65 75
+f 52 75 73
+f 53 62 76
+f 53 76 54
+f 54 76 77
+f 54 77 55
+f 55 77 78
+f 56 79 57
+f 57 80 81
+f 57 81 58
+f 57 79 82
+f 57 82 83
+f 57 83 84
+f 57 84 80
+f 59 85 79
+f 62 63 76
+f 63 64 86
+f 63 86 76
+f 64 74 87
+f 64 87 86
+f 65 66 83
+f 65 83 88
+f 65 88 75
+f 66 68 80
+f 66 80 84
+f 66 84 83
+f 67 81 80
+f 67 80 68
+f 73 75 89
+f 73 89 90
+f 73 90 87
+f 73 87 74
+f 75 88 91
+f 75 91 89
+f 76 86 77
+f 77 86 92
+f 77 92 93
+f 77 93 78
+f 79 91 82
+f 79 85 94
+f 79 94 89
+f 79 89 91
+f 82 91 88
+f 82 88 83
+f 85 95 94
+f 86 87 92
+f 87 90 96
+f 87 96 92
+f 89 94 90
+f 90 94 96
+f 92 96 97
+f 92 97 98
+f 92 98 93
+f 94 95 97
+f 94 97 96
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_35.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01675435 0.00051404 0.00530385
+v -0.01601919 -0.00160003 0.00420476
+v -0.01675435 -0.00128570 0.00580046
+v -0.01675435 0.00252368 0.00578315
+v -0.01016109 0.00050059 -0.00835090
+v -0.01675435 -0.00160003 0.00593134
+v -0.01161916 -0.00128150 -0.00485541
+v -0.01130676 -0.00159999 -0.00518264
+v -0.01675435 0.00253927 0.00578892
+v -0.01016109 0.00099416 -0.00811799
+v -0.01016109 -0.00159998 -0.00731535
+v -0.01675435 -0.00160005 0.01131316
+v -0.01675435 0.00274812 0.00815069
+v -0.01016109 0.00365115 -0.00144267
+v -0.01016109 0.00335344 -0.00329436
+v -0.01016109 0.00282507 -0.00515567
+v -0.01016109 0.00280532 -0.00522496
+v -0.01016109 0.00189611 -0.00714787
+v -0.01016109 -0.00160005 0.01131316
+v -0.01675435 0.00266966 0.01131318
+v -0.01571776 0.00320636 0.01131318
+v -0.01465212 0.00339808 0.01024298
+v -0.01016109 0.00366465 -0.00088254
+v -0.01465212 0.00346718 0.01131318
+v -0.01016109 0.00146169 0.01131318
+v -0.01016109 0.00370777 0.00132909
+v -0.01349935 0.00344484 0.01131318
+v -0.01057224 0.00208984 0.01131318
+v -0.01016109 0.00219011 0.01004280
+v -0.01016109 0.00366152 0.00231075
+v -0.01243371 0.00315441 0.01131318
+v -0.01243371 0.00335443 0.01024298
+v -0.01021530 0.00359762 0.00356574
+v -0.01135323 0.00258445 0.01131318
+v -0.01016109 0.00219635 0.01002547
+v -0.01018368 0.00220154 0.01006012
+v -0.01021530 0.00281618 0.00801787
+v -0.01016109 0.00359190 0.00350607
+v -0.01021530 0.00331860 0.00579277
+v -0.01016109 0.00279956 0.00795051
+v -0.01016109 0.00329990 0.00574272
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 20
+f 1 20 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 11
+f 2 11 19
+f 2 19 12
+f 2 12 6
+f 4 9 5
+f 5 10 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 23
+f 5 23 26
+f 5 26 30
+f 5 30 38
+f 5 38 41
+f 5 41 40
+f 5 40 35
+f 5 35 29
+f 5 29 25
+f 5 25 19
+f 5 19 11
+f 5 11 7
+f 5 9 10
+f 7 11 8
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 12 19 25
+f 12 25 28
+f 12 28 34
+f 12 34 31
+f 12 31 27
+f 12 27 24
+f 12 24 21
+f 12 21 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 24
+f 14 24 23
+f 21 24 22
+f 23 24 26
+f 24 27 26
+f 25 29 28
+f 26 27 30
+f 27 31 32
+f 27 32 33
+f 27 33 30
+f 28 29 35
+f 28 35 36
+f 28 36 37
+f 28 37 34
+f 30 33 38
+f 31 34 37
+f 31 37 39
+f 31 39 32
+f 32 39 38
+f 32 38 33
+f 35 40 36
+f 36 40 37
+f 37 40 41
+f 37 41 39
+f 38 39 41
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_36.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02623874 -0.00172113 0.00041364
+v -0.02623145 -0.00160036 0.00041364
+v -0.02612515 -0.00394156 0.00041364
+v -0.02623770 -0.00172113 0.00134194
+v -0.02138015 -0.00160036 0.00041364
+v -0.02622936 -0.00160036 0.00134194
+v -0.02595527 -0.00519720 0.00041363
+v -0.02612202 -0.00394156 0.00134194
+v -0.02622728 -0.00172114 0.00356773
+v -0.02621998 -0.00160037 0.00356773
+v -0.02108105 -0.00519720 0.00041363
+v -0.01559298 -0.00160037 0.00342475
+v -0.02595215 -0.00519720 0.00134193
+v -0.02610743 -0.00394157 0.00356773
+v -0.02619601 -0.00172115 0.00579352
+v -0.02618976 -0.00160038 0.00579352
+v -0.01884559 -0.00519722 0.00579351
+v -0.01559298 -0.00168523 0.00342155
+v -0.01559298 -0.00172114 0.00342048
+v -0.01559298 -0.00299686 0.00442881
+v -0.01559298 -0.00436378 0.00804383
+v -0.01559298 -0.00489759 0.00956646
+v -0.01559298 -0.00516168 0.01078712
+v -0.01559298 -0.00517682 0.01107201
+v -0.01559298 -0.00518949 0.01131316
+v -0.01559298 -0.00160040 0.01131317
+v -0.02594381 -0.00519721 0.00259994
+v -0.02593651 -0.00519721 0.00356772
+v -0.02606366 -0.00394158 0.00579352
+v -0.02533206 -0.00394159 0.00796488
+v -0.02540397 -0.00172116 0.00801077
+v -0.02540188 -0.00160039 0.00800863
+v -0.01862153 -0.00519722 0.00675808
+v -0.02040259 -0.00519724 0.00966036
+v -0.01955531 -0.00519724 0.00958673
+v -0.01897378 -0.00519723 0.00886010
+v -0.01873408 -0.00519723 0.00805557
+v -0.01598901 -0.00514513 0.01131316
+v -0.02363749 -0.00519723 0.00917807
+v -0.02315496 -0.00519723 0.00925702
+v -0.01950946 -0.00160040 0.01131317
+v -0.02588649 -0.00519722 0.00579351
+v -0.02555821 -0.00519723 0.00693414
+v -0.02524035 -0.00519723 0.00787845
+v -0.02443058 -0.00394159 0.00907778
+v -0.02459003 -0.00172116 0.00912366
+v -0.02458274 -0.00160039 0.00912152
+v -0.01819632 -0.00427576 0.01131316
+v -0.02426383 -0.00519723 0.00899134
+v -0.01951779 -0.00172117 0.01131317
+v -0.02484849 -0.00519723 0.00836180
+v -0.01885706 -0.00369336 0.01131317
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 16
+f 2 16 32
+f 2 32 47
+f 2 47 41
+f 2 41 26
+f 2 26 12
+f 2 12 5
+f 3 7 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 6
+f 5 12 11
+f 7 11 17
+f 7 17 33
+f 7 33 37
+f 7 37 36
+f 7 36 35
+f 7 35 34
+f 7 34 40
+f 7 40 39
+f 7 39 49
+f 7 49 51
+f 7 51 44
+f 7 44 43
+f 7 43 42
+f 7 42 28
+f 7 28 27
+f 7 27 13
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 12 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 17
+f 12 26 25
+f 12 25 24
+f 12 24 23
+f 12 23 22
+f 12 22 21
+f 12 21 20
+f 12 20 19
+f 12 19 18
+f 13 27 14
+f 14 28 29
+f 14 29 15
+f 14 27 28
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 17 25 33
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 33
+f 25 26 41
+f 25 41 50
+f 25 50 52
+f 25 52 48
+f 25 48 38
+f 25 38 39
+f 25 39 40
+f 25 40 34
+f 28 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 31 46 32
+f 32 46 47
+f 38 48 39
+f 39 48 49
+f 41 47 46
+f 41 46 50
+f 44 51 45
+f 45 51 49
+f 45 49 50
+f 45 50 46
+f 48 52 49
+f 49 52 50
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_37.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02046703 -0.00160005 0.01014938
+v -0.02046703 0.00050027 0.01003206
+v -0.02277335 0.00573815 0.00923030
+v -0.02446582 0.00050028 0.00909730
+v -0.02458328 -0.00160004 0.00912076
+v -0.02046703 -0.00160002 0.00373125
+v -0.02046703 0.00573815 0.00930461
+v -0.02051277 0.00573815 0.00930852
+v -0.02130790 0.00573815 0.00932025
+v -0.02229560 0.00573815 0.00926159
+v -0.02393103 0.00573815 0.00847154
+v -0.02395644 0.00494155 0.00872186
+v -0.02421000 0.00272056 0.00899953
+v -0.02522988 0.00272056 0.00788878
+v -0.02535525 0.00050028 0.00798263
+v -0.02540156 -0.00160004 0.00800609
+v -0.02046703 0.00573817 0.00210035
+v -0.02134630 -0.00159990 -0.02980651
+v -0.02047720 0.00573829 -0.02980648
+v -0.02462394 0.00573815 0.00774017
+v -0.02501416 0.00494155 0.00761110
+v -0.02584374 0.00272057 0.00579242
+v -0.02608995 0.00050029 0.00579241
+v -0.02619047 -0.00160003 0.00579240
+v -0.02621928 -0.00159990 -0.02980651
+v -0.02509717 0.00573829 -0.02980648
+v -0.02490517 0.00573815 0.00742337
+v -0.02541737 0.00494156 0.00579243
+v -0.02542754 0.00494157 0.00356701
+v -0.02584882 0.00272058 0.00356700
+v -0.02610238 0.00050030 0.00356699
+v -0.02622040 -0.00160002 0.00356698
+v -0.02610464 0.00050039 -0.02091264
+v -0.02607301 0.00050042 -0.02980650
+v -0.02623565 -0.00159997 -0.00978946
+v -0.02531516 0.00494169 -0.02980648
+v -0.02534509 0.00494166 -0.02313804
+v -0.02512202 0.00573827 -0.02411191
+v -0.02519544 0.00573816 0.00579243
+v -0.02520165 0.00573816 0.00488506
+v -0.02520786 0.00573817 0.00356701
+v -0.02512597 0.00573826 -0.02313804
+v -0.02581719 0.00272067 -0.02091263
+v -0.02610464 0.00050038 -0.01868722
+v -0.02610407 0.00050035 -0.00978945
+v -0.02623396 -0.00160001 -0.00088386
+v -0.02623000 -0.00160001 0.00134156
+v -0.02623622 -0.00159998 -0.00768137
+v -0.02580985 0.00272067 -0.02313805
+v -0.02577540 0.00272070 -0.02980649
+v -0.02531742 0.00493307 -0.02980648
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 24
+f 1 24 32
+f 1 32 47
+f 1 47 46
+f 1 46 48
+f 1 48 35
+f 1 35 25
+f 1 25 18
+f 1 18 6
+f 1 6 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 17
+f 3 17 19
+f 3 19 26
+f 3 26 38
+f 3 38 42
+f 3 42 41
+f 3 41 40
+f 3 40 39
+f 3 39 27
+f 3 27 20
+f 3 20 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 6 18 19
+f 6 19 17
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 18 25 34
+f 18 34 50
+f 18 50 51
+f 18 51 36
+f 18 36 26
+f 18 26 19
+f 20 27 21
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 24
+f 25 33 34
+f 25 35 33
+f 26 36 37
+f 26 37 38
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 37
+f 29 37 43
+f 29 43 30
+f 30 43 33
+f 30 33 44
+f 30 44 45
+f 30 45 31
+f 31 46 47
+f 31 47 32
+f 31 45 48
+f 31 48 46
+f 33 43 49
+f 33 49 34
+f 33 35 48
+f 33 48 44
+f 34 49 50
+f 36 51 37
+f 37 42 38
+f 37 51 49
+f 37 49 43
+f 44 48 45
+f 49 51 50
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_38.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02496819 -0.01619767 -0.00080130
+v 0.02414292 -0.00721424 0.00465763
+v 0.02496819 -0.00661300 0.00453193
+v 0.02496819 -0.02170095 -0.00080132
+v 0.02013998 -0.02124373 -0.00080132
+v 0.02178200 -0.01138943 0.00454970
+v 0.02013998 -0.01290342 0.00569650
+v 0.02496819 -0.00459156 0.00579259
+v 0.02496819 -0.00514758 0.00544392
+v 0.02496819 -0.02170098 0.00832096
+v 0.02013998 -0.02170095 -0.00080132
+v 0.02013998 -0.01493825 0.00403262
+v 0.02013998 -0.01392000 0.00481653
+v 0.02013998 -0.01283978 0.00597282
+v 0.02385744 -0.00659124 0.00746003
+v 0.02496819 -0.00561820 0.00814313
+v 0.02013998 -0.01240770 0.00810752
+v 0.02013998 -0.01252493 0.00885704
+v 0.02404036 -0.02170098 0.00902541
+v 0.02496819 -0.02138277 0.00851901
+v 0.02446386 -0.02087532 0.00921872
+v 0.02013998 -0.02170099 0.01009039
+v 0.02013998 -0.01342429 0.01131194
+v 0.02496819 -0.00811863 0.00910018
+v 0.02297735 -0.02170098 0.00931953
+v 0.02077524 -0.01962595 0.01131192
+v 0.02013998 -0.02002622 0.01131192
+v 0.02496819 -0.01992237 0.00926617
+v 0.02034134 -0.01353818 0.01131194
+v 0.02496819 -0.00866627 0.00922589
+v 0.02107065 -0.01884049 0.01131192
+v 0.02496819 -0.01942832 0.00933970
+v 0.02115289 -0.01504547 0.01131193
+v 0.02496819 -0.00889237 0.00924130
+v 0.02151116 -0.01726621 0.01131193
+v 0.02496819 -0.01726620 0.00948321
+v 0.02496819 -0.01087864 0.00933735
+v 0.02496819 -0.01535864 0.00948083
+v 0.02496819 -0.01313957 0.00942866
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 16
+f 1 16 24
+f 1 24 30
+f 1 30 34
+f 1 34 37
+f 1 37 39
+f 1 39 38
+f 1 38 36
+f 1 36 32
+f 1 32 28
+f 1 28 20
+f 1 20 10
+f 1 10 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 6
+f 4 10 19
+f 4 19 25
+f 4 25 22
+f 4 22 11
+f 5 11 22
+f 5 22 27
+f 5 27 23
+f 5 23 18
+f 5 18 17
+f 5 17 14
+f 5 14 7
+f 5 7 13
+f 5 13 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 14 8
+f 8 15 16
+f 8 14 17
+f 8 17 18
+f 8 18 15
+f 10 20 21
+f 10 21 19
+f 15 18 23
+f 15 23 16
+f 16 23 24
+f 19 21 26
+f 19 26 27
+f 19 27 25
+f 20 28 21
+f 21 28 26
+f 22 25 27
+f 23 29 24
+f 23 27 26
+f 23 26 31
+f 23 31 35
+f 23 35 33
+f 23 33 29
+f 24 29 30
+f 26 28 31
+f 28 32 31
+f 29 33 30
+f 30 33 35
+f 30 35 34
+f 31 32 35
+f 32 36 35
+f 34 35 37
+f 35 36 38
+f 35 38 39
+f 35 39 37
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_39.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00266864 0.02035972 0.00801811
+v -0.00257408 0.01627430 0.00782375
+v -0.00258346 0.01627429 0.01010138
+v -0.00257664 0.01627429 0.01083180
+v -0.00257408 0.01642389 0.01131324
+v -0.00258516 0.01731945 0.01131324
+v -0.00259112 0.01809661 0.01131325
+v -0.00231512 0.01947855 0.01131325
+v -0.00193009 0.02035971 0.01131325
+v -0.00241394 0.02035972 0.00733724
+v -0.00131846 0.01627433 0.00090447
+v -0.00211153 0.01627432 0.00356827
+v -0.00249060 0.01627431 0.00579255
+v -0.00250679 0.01627429 0.01131324
+v 0.00493920 0.02035971 0.01131325
+v -0.00126224 0.02035973 0.00602630
+v -0.00001088 0.01627433 -0.00073928
+v 0.00594523 0.01627429 0.01131324
+v 0.00541282 0.01947174 0.01131325
+v 0.00521775 0.02035972 0.00775262
+v -0.00109017 0.02035973 0.00592467
+v 0.00092530 0.01627434 -0.00166278
+v 0.00603382 0.01711386 0.01131324
+v 0.00600997 0.01627429 0.01047103
+v 0.00595375 0.01826780 0.01131325
+v 0.00510957 0.02035973 0.00657379
+v 0.00095852 0.02035973 0.00538988
+v 0.00204633 0.01718269 0.00017787
+v 0.00142107 0.01627434 -0.00141508
+v 0.00097556 0.02035973 0.00538988
+v 0.00298677 0.02035973 0.00566553
+v 0.00593927 0.01627430 0.00824548
+v 0.00584897 0.01826780 0.01024366
+v 0.00566327 0.01627431 0.00601993
+v 0.00514620 0.01627432 0.00380201
+v 0.00457716 0.01627432 0.00189149
+v 0.00451924 0.01627432 0.00172635
+v 0.00380454 0.01627433 0.00053736
+v 0.00322102 0.01627433 -0.00021338
+v 0.00284706 0.01627433 -0.00060082
+v 0.00301403 0.02035973 0.00567697
+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 15
+f 1 15 20
+f 1 20 26
+f 1 26 41
+f 1 41 31
+f 1 31 30
+f 1 30 27
+f 1 27 21
+f 1 21 16
+f 1 16 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 2
+f 2 13 12
+f 2 12 11
+f 2 11 17
+f 2 17 22
+f 2 22 29
+f 2 29 40
+f 2 40 39
+f 2 39 38
+f 2 38 37
+f 2 37 36
+f 2 36 35
+f 2 35 34
+f 2 34 32
+f 2 32 24
+f 2 24 18
+f 2 18 14
+f 2 14 4
+f 2 4 3
+f 4 14 5
+f 5 14 18
+f 5 18 23
+f 5 23 25
+f 5 25 19
+f 5 19 15
+f 5 15 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 10 16 17
+f 10 17 11
+f 15 19 20
+f 16 21 22
+f 16 22 17
+f 18 24 23
+f 19 25 20
+f 20 25 26
+f 21 27 22
+f 22 28 29
+f 22 27 30
+f 22 30 31
+f 22 31 28
+f 23 24 32
+f 23 32 25
+f 25 32 33
+f 25 33 26
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 28
+f 26 28 41
+f 26 33 32
+f 26 32 34
+f 28 40 29
+f 28 31 41
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_4.obj

@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
+v 0.01141716 0.02820490 -0.05666824
+v 0.01213962 0.02802138 -0.05666824
+v 0.01141716 0.02321723 -0.05666825
+v 0.01141716 0.02820741 -0.05651980
+v 0.01214494 0.02802264 -0.05651980
+v 0.01227807 0.02797739 -0.05666824
+v 0.02337941 0.01546548 -0.05666828
+v 0.01141716 0.02096325 0.00565857
+v 0.01141716 0.02824762 -0.05267963
+v 0.01141716 0.02825390 -0.05206650
+v 0.01223547 0.02804147 -0.05206650
+v 0.01418983 0.02736776 -0.05651980
+v 0.01418983 0.02736524 -0.05666824
+v 0.02949100 0.01546548 -0.05666828
+v 0.02040083 0.01546525 0.00588444
+v 0.01141716 0.02099341 0.00782068
+v 0.01141716 0.02826773 -0.05038199
+v 0.01418983 0.02738911 -0.05429315
+v 0.01226742 0.02804523 -0.04983985
+v 0.01418983 0.02740670 -0.05206650
+v 0.01433361 0.02730993 -0.05666824
+v 0.02932060 0.01573447 -0.05666828
+v 0.02949278 0.01546548 -0.05655211
+v 0.02086590 0.01546524 0.00813046
+v 0.02171971 0.01546524 0.00880813
+v 0.01141716 0.02179410 0.00865326
+v 0.01141716 0.02827023 -0.04983985
+v 0.01640868 0.02651677 -0.05429315
+v 0.01418983 0.02741423 -0.04983985
+v 0.01141716 0.02827525 -0.04761320
+v 0.01141716 0.02827776 -0.04588997
+v 0.01141716 0.02828403 -0.04141731
+v 0.01229227 0.02804646 -0.04093970
+v 0.01640868 0.02653185 -0.05206650
+v 0.01662879 0.02640743 -0.05662307
+v 0.01664654 0.02639989 -0.05666824
+v 0.02924782 0.01584886 -0.05666828
+v 0.02951053 0.01546547 -0.05429319
+v 0.02250252 0.01546524 0.00911147
+v 0.01141716 0.02207063 0.00893078
+v 0.01753763 0.02605044 -0.05429315
+v 0.01752520 0.02604416 -0.05594539
+v 0.01640868 0.02653687 -0.04983985
+v 0.01418983 0.02741673 -0.04316635
+v 0.01640868 0.02658320 -0.00311247
+v 0.01640868 0.02658071 -0.00756577
+v 0.01141716 0.02830527 -0.00533912
+v 0.01232600 0.02804382 -0.00533912
+v 0.01418983 0.02743041 -0.00533912
+v 0.01754828 0.02605546 -0.05206650
+v 0.01667494 0.02638732 -0.05666824
+v 0.02845791 0.01696002 -0.05666828
+v 0.02845968 0.01696128 -0.05651984
+v 0.02925847 0.01586016 -0.05429319
+v 0.02951763 0.01546546 -0.05258287
+v 0.01312656 0.02163949 0.00912440
+v 0.01197098 0.02197133 0.00900823
+v 0.02323385 0.01546524 0.00920828
+v 0.01141716 0.02318180 0.00920831
+v 0.01864705 0.02545840 -0.05429316
+v 0.01840919 0.02556903 -0.05662308
+v 0.01836126 0.02559417 -0.05666825
+v 0.01755183 0.02605796 -0.04983985
+v 0.01760153 0.02608421 -0.00756577
+v 0.01418983 0.02742915 -0.00311247
+v 0.01640868 0.02657061 0.00356748
+v 0.01760153 0.02608416 0.00578767
+v 0.01760331 0.02608543 -0.00088582
+v 0.01760331 0.02608545 -0.00533912
+v 0.01141716 0.02830400 -0.00351908
+v 0.01232245 0.02804129 -0.00311247
+v 0.01865770 0.02546342 -0.05206651
+v 0.02734316 0.01828361 -0.05666827
+v 0.02735736 0.01826853 -0.05651983
+v 0.02846501 0.01697007 -0.05429319
+v 0.02847033 0.01697760 -0.05206654
+v 0.02926202 0.01586644 -0.05206654
+v 0.02951940 0.01546546 -0.05206654
+v 0.02528052 0.01546524 0.00925992
+v 0.02303327 0.01600197 0.00922765
+v 0.01141716 0.02506600 0.00924704
+v 0.02054994 0.02434724 -0.05429316
+v 0.02054106 0.02434097 -0.05651981
+v 0.02054106 0.02433971 -0.05666825
+v 0.01841452 0.02556526 -0.05666825
+v 0.01866125 0.02546467 -0.04983986
+v 0.01418983 0.02738638 0.00578767
+v 0.01640868 0.02656432 0.00578767
+v 0.01757490 0.02607032 0.00698813
+v 0.01871096 0.02547201 0.00578766
+v 0.01870918 0.02547328 0.00356747
+v 0.01871273 0.02547077 -0.00088583
+v 0.01871273 0.02546953 -0.00311248
+v 0.01141716 0.02829771 -0.00131824
+v 0.01230825 0.02803500 -0.00088582
+v 0.02055348 0.02435226 -0.05206651
+v 0.02639704 0.01938724 -0.05666827
+v 0.02737511 0.01826851 -0.05206653
+v 0.02738221 0.01826850 -0.04983988
+v 0.02847388 0.01698136 -0.04983989
+v 0.02926379 0.01587145 -0.04983989
+v 0.02952473 0.01546545 -0.04983989
+v 0.02528052 0.01604722 0.00925992
+v 0.02306167 0.01826829 0.00926638
+v 0.01640868 0.02270917 0.00925994
+v 0.02699169 0.01546524 0.00919538
+v 0.01141716 0.02609295 0.00919542
+v 0.02165936 0.02361443 -0.05429316
+v 0.02165048 0.02360941 -0.05651981
+v 0.02061384 0.02429194 -0.05666825
+v 0.02055348 0.02435476 -0.04983986
+v 0.01224257 0.02801612 0.00578767
+v 0.01141716 0.02821975 0.00665252
+v 0.01640868 0.02629909 0.00738183
+v 0.01843404 0.02478695 0.00800786
+v 0.02031030 0.02417858 0.00754317
+v 0.02170374 0.02365066 0.00578766
+v 0.02059431 0.02436085 0.00578766
+v 0.01141716 0.02829519 -0.00088582
+v 0.02540300 0.02035762 -0.05666827
+v 0.02528052 0.02047829 -0.05651982
+v 0.02640414 0.01939476 -0.05206653
+v 0.02847566 0.01698386 -0.04761324
+v 0.02640769 0.01939726 -0.04983988
+v 0.02645917 0.01945363 0.00578764
+v 0.02926557 0.01587396 -0.04761324
+v 0.02952650 0.01546545 -0.04814248
+v 0.02678223 0.01604722 0.00918247
+v 0.02643787 0.01722123 0.00915020
+v 0.02509413 0.01808477 0.00918248
+v 0.02285754 0.02030081 0.00917602
+v 0.02084282 0.02048936 0.00925348
+v 0.01781632 0.02391461 0.00916314
+v 0.01640868 0.02407802 0.00918895
+v 0.02743369 0.01546524 0.00913729
+v 0.01141716 0.02620733 0.00918896
+v 0.02304214 0.02250326 -0.05429317
+v 0.02304037 0.02249950 -0.05651982
+v 0.02174101 0.02353650 -0.05666825
+v 0.02166113 0.02361567 -0.05206651
+v 0.02306167 0.02256966 0.00578765
+v 0.02304392 0.02250576 -0.05206652
+v 0.02164871 0.02360941 -0.05666825
+v 0.01141716 0.02825621 0.00578767
+v 0.01141716 0.02787408 0.00743346
+v 0.01418983 0.02671012 0.00787233
+v 0.01304136 0.02599993 0.00912442
+v 0.01929495 0.02345079 0.00902760
+v 0.02285754 0.02200024 0.00781423
+v 0.02419062 0.02161686 0.00694293
+v 0.02198242 0.02162315 0.00913731
+v 0.02424210 0.02148889 -0.05666826
+v 0.02414979 0.02158065 -0.05651982
+v 0.02746031 0.01826830 0.00578764
+v 0.02849873 0.01701388 -0.00533916
+v 0.02528052 0.02049460 -0.04983987
+v 0.02531425 0.02056103 0.00356746
+v 0.02531247 0.02056353 0.00578765
+v 0.02643432 0.01942722 0.00700746
+v 0.02415157 0.02158316 -0.05429317
+v 0.02952828 0.01546544 -0.04591582
+v 0.02850051 0.01701387 -0.00311251
+v 0.02926734 0.01590397 -0.00533916
+v 0.02954958 0.01546529 -0.00533916
+v 0.02570831 0.01870195 0.00849189
+v 0.02422967 0.01943350 0.00914375
+v 0.02816147 0.01546524 0.00862097
+v 0.02895493 0.01546524 0.00778194
+v 0.02904368 0.01558340 0.00758832
+v 0.02684791 0.01808477 0.00785294
+v 0.02084282 0.02189466 0.00916958
+v 0.01156094 0.02619350 0.00918251
+v 0.01141716 0.02723805 0.00818858
+v 0.02303859 0.02249824 -0.05666826
+v 0.02420305 0.02162945 0.00578765
+v 0.02420482 0.02162946 0.00356746
+v 0.02346106 0.02091422 0.00842736
+v 0.02494858 0.02017135 0.00771741
+v 0.02414802 0.02157940 -0.05666826
+v 0.02850051 0.01701258 0.00578763
+v 0.02926557 0.01590396 -0.00311251
+v 0.02954781 0.01546528 -0.00368047
+v 0.02908273 0.01546524 0.00762704
+v 0.02915196 0.01546524 0.00743987
+v 0.02953005 0.01546525 0.00578763
+v 0.02925492 0.01590268 0.00578763
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 36
+f 1 36 51
+f 1 51 62
+f 1 62 85
+f 1 85 84
+f 1 84 110
+f 1 110 143
+f 1 143 139
+f 1 139 174
+f 1 174 179
+f 1 179 152
+f 1 152 120
+f 1 120 97
+f 1 97 73
+f 1 73 52
+f 1 52 37
+f 1 37 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 40
+f 1 40 59
+f 1 59 81
+f 1 81 107
+f 1 107 136
+f 1 136 173
+f 1 173 145
+f 1 145 113
+f 1 113 144
+f 1 144 119
+f 1 119 94
+f 1 94 70
+f 1 70 47
+f 1 47 32
+f 1 32 31
+f 1 31 30
+f 1 30 27
+f 1 27 17
+f 1 17 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 23
+f 7 23 38
+f 7 38 55
+f 7 55 78
+f 7 78 102
+f 7 102 127
+f 7 127 161
+f 7 161 164
+f 7 164 182
+f 7 182 185
+f 7 185 184
+f 7 184 183
+f 7 183 168
+f 7 168 167
+f 7 167 135
+f 7 135 106
+f 7 106 79
+f 7 79 58
+f 7 58 39
+f 7 39 25
+f 7 25 24
+f 7 24 15
+f 7 15 8
+f 8 15 16
+f 10 17 11
+f 11 18 12
+f 11 17 19
+f 11 19 20
+f 11 20 18
+f 12 18 21
+f 12 21 13
+f 14 22 23
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 17 27 19
+f 18 20 28
+f 18 28 21
+f 19 29 20
+f 19 27 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 29
+f 20 29 34
+f 20 34 28
+f 21 28 35
+f 21 35 36
+f 22 37 23
+f 23 37 38
+f 25 39 40
+f 25 40 26
+f 28 41 42
+f 28 42 36
+f 28 36 35
+f 28 34 41
+f 29 43 34
+f 29 33 44
+f 29 44 45
+f 29 45 46
+f 29 46 43
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 33 49 44
+f 34 43 50
+f 34 50 41
+f 36 42 51
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 39 56 57
+f 39 57 40
+f 39 58 56
+f 40 57 59
+f 41 60 61
+f 41 61 62
+f 41 62 42
+f 41 50 72
+f 41 72 60
+f 42 62 51
+f 43 63 50
+f 43 46 64
+f 43 64 63
+f 44 49 45
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 46
+f 45 49 65
+f 46 69 64
+f 47 70 48
+f 48 70 71
+f 48 71 65
+f 48 65 49
+f 50 63 72
+f 52 73 53
+f 53 74 75
+f 53 75 54
+f 53 73 74
+f 54 75 76
+f 54 76 77
+f 54 77 78
+f 54 78 55
+f 56 58 59
+f 56 59 57
+f 58 79 80
+f 58 80 59
+f 59 80 79
+f 59 79 81
+f 60 82 83
+f 60 83 84
+f 60 84 61
+f 60 72 82
+f 61 84 85
+f 61 85 62
+f 63 86 72
+f 63 64 86
+f 64 69 86
+f 65 71 87
+f 65 87 88
+f 65 88 66
+f 66 88 67
+f 67 88 89
+f 67 89 90
+f 67 90 68
+f 68 90 91
+f 68 91 69
+f 69 91 92
+f 69 92 93
+f 69 93 86
+f 70 94 71
+f 71 94 95
+f 71 95 87
+f 72 96 82
+f 72 86 96
+f 73 97 74
+f 74 97 98
+f 74 98 76
+f 74 76 75
+f 76 98 99
+f 76 99 100
+f 76 100 77
+f 77 100 101
+f 77 101 102
+f 77 102 78
+f 79 103 104
+f 79 104 105
+f 79 105 81
+f 79 106 103
+f 81 105 107
+f 82 108 109
+f 82 109 83
+f 82 96 108
+f 83 109 110
+f 83 110 84
+f 86 111 96
+f 86 93 111
+f 87 112 113
+f 87 113 89
+f 87 89 88
+f 87 95 112
+f 89 114 115
+f 89 115 116
+f 89 116 117
+f 89 117 118
+f 89 118 90
+f 89 113 114
+f 90 118 91
+f 91 118 92
+f 92 118 111
+f 92 111 93
+f 94 119 112
+f 94 112 95
+f 96 111 108
+f 97 120 121
+f 97 121 122
+f 97 122 99
+f 97 99 98
+f 99 123 100
+f 99 122 124
+f 99 124 125
+f 99 125 123
+f 100 123 126
+f 100 126 101
+f 101 126 102
+f 102 126 127
+f 103 106 128
+f 103 128 129
+f 103 129 130
+f 103 130 104
+f 104 130 131
+f 104 131 132
+f 104 132 105
+f 105 132 133
+f 105 133 134
+f 105 134 107
+f 106 135 129
+f 106 129 128
+f 107 134 136
+f 108 137 138
+f 108 138 139
+f 108 139 109
+f 108 111 117
+f 108 117 140
+f 108 140 141
+f 108 141 142
+f 108 142 137
+f 109 139 143
+f 109 143 110
+f 111 118 117
+f 112 144 113
+f 112 119 144
+f 113 145 114
+f 114 145 146
+f 114 146 147
+f 114 147 148
+f 114 148 115
+f 115 148 116
+f 116 149 150
+f 116 150 117
+f 116 148 151
+f 116 151 149
+f 117 150 141
+f 117 141 140
+f 120 152 153
+f 120 153 121
+f 121 153 124
+f 121 124 122
+f 123 125 154
+f 123 154 155
+f 123 155 126
+f 124 153 156
+f 124 156 125
+f 125 157 158
+f 125 158 150
+f 125 150 159
+f 125 159 154
+f 125 156 160
+f 125 160 157
+f 126 161 127
+f 126 155 162
+f 126 162 163
+f 126 163 164
+f 126 164 161
+f 129 165 166
+f 129 166 130
+f 129 135 167
+f 129 167 168
+f 129 168 169
+f 129 169 170
+f 129 170 159
+f 129 159 165
+f 130 166 131
+f 131 166 151
+f 131 151 132
+f 132 151 171
+f 132 171 133
+f 133 136 134
+f 133 171 151
+f 133 151 148
+f 133 148 147
+f 133 147 136
+f 136 147 172
+f 136 172 173
+f 137 153 138
+f 137 142 160
+f 137 160 153
+f 138 153 179
+f 138 179 174
+f 138 174 139
+f 141 150 175
+f 141 175 176
+f 141 176 142
+f 142 176 160
+f 145 173 147
+f 145 147 146
+f 147 173 172
+f 149 151 150
+f 150 158 175
+f 150 151 177
+f 150 177 178
+f 150 178 159
+f 151 166 165
+f 151 165 177
+f 152 179 153
+f 153 160 156
+f 154 159 180
+f 154 180 162
+f 154 162 155
+f 157 176 158
+f 157 160 176
+f 158 176 175
+f 159 178 165
+f 159 170 169
+f 159 169 180
+f 162 180 163
+f 163 180 181
+f 163 181 164
+f 164 181 182
+f 165 178 177
+f 168 183 169
+f 169 183 184
+f 169 184 185
+f 169 185 186
+f 169 186 180
+f 180 186 181
+f 181 186 182
+f 182 186 185
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_40.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.01015908 0.00050045 -0.00834793
+v -0.00943648 -0.00124280 -0.00933410
+v -0.01015908 -0.00159998 -0.00731424
+v -0.01015908 0.00099422 -0.00811624
+v -0.00694538 0.00178066 -0.01543233
+v -0.00694538 0.00110642 -0.01543234
+v -0.00956280 0.00050046 -0.00964897
+v -0.00685709 -0.00037428 -0.01528679
+v -0.00933596 -0.00159998 -0.00914104
+v -0.00969862 -0.00159998 -0.00841626
+v -0.00721432 -0.00120644 -0.01380159
+v -0.01015908 -0.00160005 0.01131317
+v -0.01015908 0.00189656 -0.00714788
+v -0.00938350 0.00204632 -0.00931033
+v -0.00666829 0.00339983 -0.01423526
+v -0.00519863 0.00480159 -0.01557193
+v -0.00509676 0.00480159 -0.01572936
+v -0.00582616 0.00260091 -0.01605612
+v -0.00456295 0.00135080 -0.01751163
+v -0.00480744 -0.00012990 -0.01768094
+v -0.00480744 -0.00116633 -0.01768094
+v -0.00475039 -0.00159995 -0.01761857
+v -0.00515516 -0.00159995 -0.01698885
+v -0.00539150 -0.00159995 -0.01660566
+v -0.00657729 -0.00159996 -0.01457094
+v -0.00679325 -0.00159996 -0.01417587
+v -0.00940931 -0.00160005 0.01131317
+v -0.01015908 0.00146224 0.01131319
+v -0.00975839 0.00244861 -0.00755779
+v -0.01015908 0.00280514 -0.00522602
+v -0.00594704 0.00480158 -0.01409267
+v -0.00688426 0.00382593 -0.01310651
+v -0.00588999 0.00480158 -0.01423525
+v -0.00357005 0.00480159 -0.01695911
+v -0.00423832 0.00272059 -0.01728289
+v -0.00272248 0.00433414 -0.01772250
+v -0.00312996 0.00272060 -0.01793044
+v -0.00371810 0.00056628 -0.01807303
+v -0.00146742 -0.00159994 -0.01899090
+v -0.00389196 -0.00159994 -0.01805522
+v -0.00411743 -0.00159994 -0.01796314
+v 0.00260200 0.00480156 -0.00789047
+v -0.00956687 0.00050038 0.01131318
+v -0.00924224 -0.00160005 0.01092701
+v -0.01015908 0.00219037 0.01004185
+v -0.00981680 0.00093839 0.01131318
+v 0.00159415 0.00480155 -0.00669339
+v -0.01015908 0.00335342 -0.00329526
+v -0.00605435 0.00480157 -0.01194210
+v -0.01015908 0.00365107 -0.00144470
+v -0.01015908 0.00366484 -0.00088626
+v -0.01015908 0.00370745 0.00132669
+v -0.00325085 0.00480159 -0.01717892
+v -0.00187626 0.00480160 -0.01796905
+v -0.00146470 0.00480160 -0.01813836
+v -0.00134110 0.00272060 -0.01861364
+v -0.00134110 0.00050049 -0.01886019
+v -0.00134110 -0.00159994 -0.01903248
+v 0.00196225 -0.00159995 -0.01544126
+v 0.00232083 -0.00159995 -0.01640665
+v 0.00301492 0.00480156 -0.00923903
+v -0.00879401 -0.00160005 0.00987549
+v -0.01015908 0.00219664 0.01002403
+v 0.00098292 0.00480155 -0.00641715
+v -0.01015908 0.00329951 0.00574368
+v -0.01015908 0.00279945 0.00795069
+v -0.00563735 0.00480157 -0.00994005
+v -0.01015908 0.00366170 0.00230989
+v -0.00930880 0.00386474 0.00050389
+v -0.00526654 0.00480156 -0.00826771
+v 0.00087698 0.00480160 -0.01857501
+v 0.00087698 0.00272060 -0.01890771
+v 0.00087698 0.00050049 -0.01896415
+v 0.00087698 -0.00159994 -0.01880079
+v 0.00237381 -0.00159995 -0.01660566
+v 0.00308555 0.00480156 -0.00947963
+v -0.01015908 0.00359215 0.00350696
+v -0.00164128 0.00480156 -0.00681221
+v -0.00358363 0.00480156 -0.00733500
+v 0.00256261 0.00480160 -0.01803440
+v 0.00269844 0.00272060 -0.01822451
+v 0.00262509 0.00050049 -0.01821858
+v 0.00233578 -0.00159994 -0.01793640
+v 0.00235208 -0.00159994 -0.01784135
+v 0.00293342 0.00050048 -0.01646010
+v 0.00364245 0.00480157 -0.01212923
+v -0.00355103 0.00480156 -0.00732015
+v 0.00336128 0.00480159 -0.01657296
+v 0.00339931 0.00480159 -0.01646008
+v 0.00329608 0.00272059 -0.01646009
+v 0.00371443 0.00480158 -0.01437486
+f 1 2 3
+f 1 3 12
+f 1 12 28
+f 1 28 45
+f 1 45 63
+f 1 63 66
+f 1 66 65
+f 1 65 77
+f 1 77 68
+f 1 68 52
+f 1 52 51
+f 1 51 50
+f 1 50 48
+f 1 48 30
+f 1 30 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 9
+f 3 10 9
+f 3 9 26
+f 3 26 25
+f 3 25 24
+f 3 24 23
+f 3 23 22
+f 3 22 41
+f 3 41 40
+f 3 40 39
+f 3 39 58
+f 3 58 74
+f 3 74 83
+f 3 83 84
+f 3 84 75
+f 3 75 60
+f 3 60 59
+f 3 59 62
+f 3 62 44
+f 3 44 27
+f 3 27 12
+f 4 13 14
+f 4 14 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 5 14 15
+f 6 21 8
+f 6 8 7
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 11
+f 9 11 26
+f 11 25 26
+f 12 27 43
+f 12 43 46
+f 12 46 28
+f 13 29 14
+f 13 30 29
+f 14 29 31
+f 14 31 32
+f 14 32 15
+f 15 32 33
+f 15 33 16
+f 16 33 31
+f 16 31 49
+f 16 49 67
+f 16 67 70
+f 16 70 79
+f 16 79 87
+f 16 87 78
+f 16 78 64
+f 16 64 47
+f 16 47 42
+f 16 42 61
+f 16 61 76
+f 16 76 86
+f 16 86 91
+f 16 91 89
+f 16 89 88
+f 16 88 80
+f 16 80 71
+f 16 71 55
+f 16 55 54
+f 16 54 53
+f 16 53 34
+f 16 34 17
+f 17 34 18
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 21
+f 21 41 22
+f 27 42 43
+f 27 44 42
+f 28 46 42
+f 28 42 47
+f 28 47 45
+f 29 30 31
+f 30 48 31
+f 31 33 32
+f 31 48 50
+f 31 50 51
+f 31 51 52
+f 31 52 49
+f 34 53 36
+f 34 36 35
+f 36 54 37
+f 36 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 42 59 60
+f 42 60 61
+f 42 46 43
+f 42 44 62
+f 42 62 59
+f 45 47 63
+f 47 64 65
+f 47 65 66
+f 47 66 63
+f 49 52 67
+f 52 68 69
+f 52 69 70
+f 52 70 67
+f 55 71 56
+f 56 71 72
+f 56 72 57
+f 57 72 58
+f 58 72 73
+f 58 73 74
+f 60 75 76
+f 60 76 61
+f 64 77 65
+f 64 78 77
+f 68 77 69
+f 69 77 70
+f 70 77 79
+f 71 80 72
+f 72 80 81
+f 72 81 73
+f 73 81 82
+f 73 82 74
+f 74 82 83
+f 75 84 85
+f 75 85 86
+f 75 86 76
+f 77 78 87
+f 77 87 79
+f 80 88 81
+f 81 88 82
+f 82 88 89
+f 82 89 90
+f 82 90 83
+f 83 90 85
+f 83 85 84
+f 85 90 91
+f 85 91 86
+f 89 91 90
+

dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_41.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.00605560 0.00480269 -0.01194117
+v -0.00594695 0.00480270 -0.01409457
+v -0.00563751 0.00480269 -0.00993991
+v -0.00250654 0.01627389 0.01131323
+v -0.00257622 0.01627389 0.01083048
+v -0.00258331 0.01627389 0.01009902
+v -0.00257386 0.01627390 0.00782274
+v -0.00249119 0.01627391 0.00579223
+v -0.00434780 0.00765621 -0.01423500
+v -0.00472692 0.00616040 -0.01541118
+v -0.00589025 0.00480270 -0.01423501
+v -0.00249591 0.01500159 -0.00002429
+v -0.00526666 0.00480268 -0.00826635
+v -0.00223490 0.01542380 0.01131323
+v 0.00594507 0.01627389 0.01131323
+v -0.00211207 0.01627392 0.00356568
+v -0.00250181 0.01278035 -0.00662201
+v -0.00308880 0.00945747 -0.01403897
+v -0.00284550 0.00876460 -0.01576227
+v -0.00231048 0.01476690 -0.00150769
+v -0.00067591 0.00868151 -0.01791567
+v -0.00505053 0.00494309 -0.01570669
+v -0.00509777 0.00480271 -0.01572717
+v -0.00519816 0.00480271 -0.01557210
+v -0.00131840 0.01627393 0.00090319
+v -0.00358366 0.00480268 -0.00733301
+v 0.00043310 0.01292965 0.01131322
+v -0.00116368 0.01406835 0.01131322
+v -0.00185578 0.01493754 0.01131322
+v 0.00601003 0.01627389 0.01047060
+v 0.00592145 0.01604593 0.01131323
+v -0.00246284 0.01050522 -0.01316706
+v -0.00138572 0.00921155 -0.01648787
+v -0.00147902 0.01561923 -0.00081426
+v -0.00194200 0.01448728 -0.00311103
+v 0.00044019 0.00868151 -0.01791567
+v 0.00087718 0.00494310 -0.01855351
+v 0.00087718 0.00480272 -0.01857691
+v -0.00101369 0.00716324 -0.01802977
+v -0.00325060 0.00480271 -0.01717837
+v -0.00357067 0.00480271 -0.01695894
+v -0.00134084 0.01025030 -0.01468556
+v -0.00001098 0.01627393 -0.00074111
+v -0.00083181 0.01530256 -0.00311102
+v -0.00355059 0.00480268 -0.00732131
+v 0.00163069 0.01262195 0.01131322
+v 0.00118307 0.01273537 0.01131322
+v 0.00594862 0.01604594 0.00801584
+v 0.00593917 0.01627390 0.00824406
+v 0.00600294 0.01604593 0.01024239
+v 0.00536163 0.01490049 0.01131322
+v 0.00532384 0.01382468 0.00801583
+v 0.00428569 0.00814242 -0.00380447
+v 0.00435774 0.00794590 -0.00533175
+v -0.00043143 0.01503643 -0.00446860
+v 0.00042838 0.01072083 -0.01367908
+v 0.00087718 0.01360800 -0.00755827
+v 0.00207004 0.01498365 -0.00432524
+v 0.00204642 0.01275902 -0.00875200
+v 0.00105906 0.00910711 -0.01662538
+v 0.00192005 0.00815145 -0.01747972
+v 0.00105906 0.00731147 -0.01805026
+v 0.00255309 0.00494310 -0.01802393
+v 0.00256254 0.00480272 -0.01803564
+v -0.00146367 0.00480272 -0.01813804
+v -0.00187586 0.00480272 -0.01797127
+v 0.00087718 0.01454793 -0.00559797
+v 0.00092442 0.01627394 -0.00166567
+v -0.00163965 0.00480268 -0.00681222
+v 0.00198618 0.01262195 0.01131322
+v 0.00098347 0.00480267 -0.00641723
+v 0.00554588 0.01382470 0.00356567
+v 0.00431876 0.00882409 -0.00934303
+v 0.00529786 0.01382471 0.00133913
+v 0.00568878 0.01604595 0.00579223
+v 0.00566280 0.01627391 0.00602044
+v 0.00556241 0.01382469 0.00579222
+v 0.00438254 0.00764383 -0.00755829
+v 0.00484079 0.01401782 0.01131322
+v 0.00308456 0.00480268 -0.00948056
+v 0.00397271 0.00653320 -0.00755830
+v 0.00410145 0.00840744 -0.00232401
+v 0.00369753 0.00494307 -0.01200846
+v 0.00087718 0.01504766 -0.00448323
+v 0.00142046 0.01627394 -0.00141698
+v 0.00284717 0.01627393 -0.00060360
+v 0.00322038 0.01627393 -0.00021447
+v 0.00380501 0.01627393 0.00053454
+v 0.00226964 0.00859054 -0.01599633
+v 0.00266529 0.00731146 -0.01662538
+v 0.00224129 0.00667025 -0.01776061
+v 0.00407547 0.01477588 -0.00179734
+v 0.00442388 0.01525314 -0.00031395
+v 0.00340581 0.00494309 -0.01646155
+v 0.00336093 0.00480271 -0.01657273
+v 0.00228735 0.01263318 0.01131322
+v 0.00159407 0.00480267 -0.00669226
+v 0.00431876 0.00773929 -0.00934303
+v 0.00402350 0.00716321 -0.01200845
+v 0.00359123 0.00716322 -0.01423500
+v 0.00415578 0.01030418 -0.00850332
+v 0.00434120 0.01083535 -0.00701993
+v 0.00518684 0.01604596 0.00356568
+v 0.00514550 0.01627392 0.00379975
+v 0.00371525 0.00480270 -0.01437544
+v 0.00374359 0.00494308 -0.01423501
+v 0.00401523 0.01334852 0.01131322
+v 0.00426562 0.01266239 0.00929734
+v 0.00301488 0.00480268 -0.00923772
+v 0.00364320 0.00480269 -0.01212842
+v 0.00260269 0.00480268 -0.00788892
+v 0.00286371 0.00520696 -0.00755830
+v 0.00451954 0.01627392 0.00172535
+v 0.00429396 0.01286008 -0.00447154
+v 0.00457741 0.01627392 0.00188919
+v 0.00460103 0.01601452 0.00153224
+v 0.00339872 0.00480271 -0.01646155
+v 0.00342471 0.01301724 0.01131322
+v 0.00204642 0.00601774 -0.00414388
+v 0.00365265 0.01290943 0.01078073
+f 1 2 11
+f 1 11 24
+f 1 24 23
+f 1 23 41
+f 1 41 40
+f 1 40 66
+f 1 66 65
+f 1 65 38
+f 1 38 64
+f 1 64 95
+f 1 95 117
+f 1 117 105
+f 1 105 110
+f 1 110 80
+f 1 80 109
+f 1 109 111
+f 1 111 97
+f 1 97 71
+f 1 71 69
+f 1 69 45
+f 1 45 26
+f 1 26 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 11
+f 2 8 12
+f 2 12 9
+f 3 13 4
+f 4 14 29
+f 4 29 28
+f 4 28 27
+f 4 27 47
+f 4 47 46
+f 4 46 70
+f 4 70 96
+f 4 96 118
+f 4 118 107
+f 4 107 79
+f 4 79 51
+f 4 51 31
+f 4 31 15
+f 4 15 30
+f 4 30 49
+f 4 49 76
+f 4 76 104
+f 4 104 115
+f 4 115 113
+f 4 113 88
+f 4 88 87
+f 4 87 86
+f 4 86 85
+f 4 85 68
+f 4 68 43
+f 4 43 25
+f 4 25 16
+f 4 16 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 13 14
+f 8 16 12
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 9 12 20
+f 9 20 17
+f 10 19 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 12 16 25
+f 12 25 20
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 15 31 30
+f 17 32 18
+f 17 20 32
+f 18 32 19
+f 19 33 21
+f 19 32 33
+f 20 25 34
+f 20 34 35
+f 20 35 32
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 23
+f 21 23 22
+f 21 33 42
+f 21 42 36
+f 25 43 44
+f 25 44 34
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 30 48 49
+f 30 31 50
+f 30 50 48
+f 31 51 52
+f 31 52 53
+f 31 53 54
+f 31 54 50
+f 32 42 33
+f 32 35 44
+f 32 44 55
+f 32 55 42
+f 34 44 35
+f 36 42 56
+f 36 56 57
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 61
+f 36 61 62
+f 36 62 37
+f 37 62 63
+f 37 63 38
+f 38 63 64
+f 38 65 39
+f 39 65 66
+f 39 66 40
+f 42 55 67
+f 42 67 56
+f 43 68 55
+f 43 55 44
+f 45 69 46
+f 46 69 71
+f 46 71 70
+f 48 72 73
+f 48 73 74
+f 48 74 75
+f 48 75 49
+f 48 50 72
+f 49 75 76
+f 50 54 77
+f 50 77 78
+f 50 78 72
+f 51 79 53
+f 51 53 52
+f 53 80 81
+f 53 81 54
+f 53 79 82
+f 53 82 80
+f 54 81 83
+f 54 83 78
+f 54 78 77
+f 55 84 67
+f 55 68 84
+f 56 67 57
+f 57 67 58
+f 58 67 84
+f 58 84 68
+f 58 68 85
+f 58 85 86
+f 58 86 87
+f 58 87 88
+f 58 88 59
+f 59 61 60
+f 59 88 61
+f 61 89 90
+f 61 90 91
+f 61 91 62
+f 61 88 92
+f 61 92 93
+f 61 93 89
+f 62 91 63
+f 63 91 94
+f 63 94 64
+f 64 94 95
+f 70 71 96
+f 71 97 96
+f 72 78 98
+f 72 98 73
+f 73 98 99
+f 73 99 100
+f 73 100 101
+f 73 101 102
+f 73 102 75
+f 73 75 74
+f 75 103 76
+f 75 102 103
+f 76 103 104
+f 78 83 105
+f 78 105 106
+f 78 106 98
+f 79 107 108
+f 79 108 82
+f 80 82 109
+f 80 110 81
+f 81 110 83
+f 82 108 111
+f 82 111 112
+f 82 112 109
+f 83 110 105
+f 88 113 92
+f 89 93 114
+f 89 114 101
+f 89 101 90
+f 90 94 91
+f 90 101 100
+f 90 100 94
+f 92 113 93
+f 93 113 115
+f 93 115 116
+f 93 116 103
+f 93 103 114
+f 94 117 95
+f 94 100 99
+f 94 99 106
+f 94 106 105
+f 94 105 117
+f 96 97 119
+f 96 119 118
+f 97 111 119
+f 98 106 99
+f 101 114 102
+f 102 114 103
+f 103 116 104
+f 104 116 115
+f 107 118 120
+f 107 120 108
+f 108 120 111
+f 109 112 111
+f 111 120 119
+f 118 119 120
+