Add asset desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a

.gitattributes

@@ -3194,3 +3194,5 @@ dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh
 dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/8ea5a2833892579bae1d08dc199791c2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/sharpener_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/pen_holder_010.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_010_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_010_geometry_Looks_material_0.png

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f61f911e790152cb700493ceb487aa6e1a48dd7ffe6da83ace5ecb2c4d9edf51
+size 18756140

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.mtl

@@ -0,0 +1,6 @@
+newmtl pen_holder_010_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_0.obj

@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
+v 0.02867043 -0.02457638 -0.05068707
+v 0.02862427 -0.02457639 -0.04916890
+v 0.02843109 -0.02595949 -0.05068708
+v 0.02831826 -0.02566684 -0.05158511
+v 0.02837981 -0.02457638 -0.05165355
+v 0.02830116 -0.02361997 -0.05158303
+v 0.02840545 -0.02340416 -0.05068707
+v 0.02816953 -0.02003802 -0.03096126
+v 0.02819175 -0.02086690 -0.03096127
+v 0.02820543 -0.02155029 -0.03096127
+v 0.02838664 -0.02585323 -0.04916890
+v 0.02814046 -0.02196064 -0.03096127
+v 0.02801908 -0.02671644 -0.05068708
+v 0.02801396 -0.02660855 -0.04916891
+v 0.02696086 -0.02703361 -0.05155193
+v 0.02744296 -0.02613769 -0.05171785
+v 0.02741048 -0.02457638 -0.05197710
+v 0.02730620 -0.02309517 -0.05168880
+v 0.02673178 -0.02226956 -0.05148762
+v 0.02775581 -0.02264721 -0.05068706
+v 0.02803789 -0.02250826 -0.04916889
+v 0.02769256 -0.01858297 -0.03096126
+v 0.02771991 -0.01863856 -0.03096126
+v 0.02786009 -0.02298244 -0.03096127
+v 0.02784984 -0.02301841 -0.03096127
+v 0.02726175 -0.02728048 -0.05068708
+v 0.02725662 -0.02732463 -0.04916891
+v 0.02704292 -0.02459934 -0.03096128
+v 0.02659160 -0.02525330 -0.03096128
+v 0.02589580 -0.02717584 -0.05163074
+v 0.02589580 -0.02608865 -0.05195637
+v 0.02589580 -0.02782162 -0.05068708
+v 0.02589580 -0.02457638 -0.05212849
+v 0.02589580 -0.02306411 -0.05190035
+v 0.02589580 -0.02174476 -0.05068706
+v 0.02549576 -0.02068046 -0.04864210
+v 0.02520685 -0.01924667 -0.04546680
+v 0.02650612 -0.02084722 -0.04823352
+v 0.02699847 -0.02207664 -0.05068706
+v 0.02589580 -0.02221887 -0.05154362
+v 0.02676255 -0.02069682 -0.04722141
+v 0.02557782 -0.01551429 -0.03096125
+v 0.02696428 -0.01739768 -0.03096332
+v 0.02696428 -0.01739768 -0.03096125
+v 0.02589580 -0.02797368 -0.04916891
+v 0.02580007 -0.02600044 -0.03096129
+v 0.02491451 -0.02670998 -0.03096129
+v 0.02429052 -0.02705004 -0.03096129
+v 0.02438284 -0.02709737 -0.05159964
+v 0.02438284 -0.02608865 -0.05194807
+v 0.02438284 -0.02457638 -0.05214716
+v 0.02438284 -0.02765977 -0.05068708
+v 0.02438284 -0.02794752 -0.04916891
+v 0.02436916 -0.02298073 -0.05178213
+v 0.02486493 -0.02222868 -0.05153325
+v 0.02438284 -0.02063468 -0.04870639
+v 0.01832754 -0.01199601 -0.03269717
+v 0.01832754 -0.01161345 -0.03194016
+v 0.01923874 -0.01166577 -0.03184268
+v 0.02106969 -0.01302108 -0.03368855
+v 0.02207834 -0.01324833 -0.03316175
+v 0.02377594 -0.01461673 -0.03364292
+v 0.02435548 -0.01442056 -0.03096124
+v 0.02444780 -0.01450067 -0.03096124
+v 0.02547867 -0.01542110 -0.03096125
+v 0.02287500 -0.02757647 -0.03096129
+v 0.02286816 -0.02757811 -0.03096129
+v 0.02135348 -0.02779391 -0.03096129
+v 0.02355027 -0.02692898 -0.05151253
+v 0.02335538 -0.02608865 -0.05167223
+v 0.02322888 -0.02457638 -0.05179044
+v 0.02337932 -0.02342869 -0.05166807
+v 0.02332974 -0.02711862 -0.05068708
+v 0.02282884 -0.02720855 -0.04902166
+v 0.02286816 -0.02739002 -0.04765282
+v 0.01984051 -0.02760917 -0.03096336
+v 0.01857372 -0.02712851 -0.03096336
+v 0.02385629 -0.02241996 -0.05134244
+v 0.02436916 -0.02187228 -0.05077624
+v 0.02338616 -0.02069681 -0.04857365
+v 0.01767278 -0.01324669 -0.03473591
+v 0.01708640 -0.01163307 -0.03189245
+v 0.02438284 -0.02106629 -0.04946547
+v 0.01868142 -0.01317966 -0.03484169
+v 0.01668978 -0.01128321 -0.03096123
+v 0.01832583 -0.01127340 -0.03096123
+v 0.01947979 -0.01154152 -0.03096330
+v 0.01948150 -0.01154152 -0.03096123
+v 0.02148683 -0.01283471 -0.03258518
+v 0.02023542 -0.01187831 -0.03096330
+v 0.02222536 -0.01315024 -0.03214964
+v 0.02135348 -0.01255188 -0.03096331
+v 0.02135348 -0.01255188 -0.03096124
+v 0.01984051 -0.02760917 -0.03096129
+v 0.02210911 -0.02684724 -0.04841813
+v 0.02229716 -0.02649901 -0.04943024
+v 0.02204073 -0.02549029 -0.05005657
+v 0.02261343 -0.02603306 -0.05061241
+v 0.02247154 -0.02457638 -0.05087165
+v 0.02203389 -0.02361344 -0.05004828
+v 0.02225955 -0.02260472 -0.04976205
+v 0.02182874 -0.02702218 -0.04613465
+v 0.02200653 -0.02692245 -0.04765282
+v 0.01857372 -0.02712851 -0.03096129
+v 0.01781638 -0.02668873 -0.03096336
+v 0.01314926 -0.01493390 -0.03309538
+v 0.01466907 -0.01486849 -0.03465296
+v 0.01476138 -0.01337258 -0.03306635
+v 0.01577174 -0.01306523 -0.03344589
+v 0.01681287 -0.01286741 -0.03375906
+v 0.01607604 -0.01172462 -0.03171409
+v 0.01667439 -0.01203525 -0.03242962
+v 0.01652224 -0.01130610 -0.03096123
+v 0.02023542 -0.01187831 -0.03096123
+v 0.01917207 -0.02517968 -0.04353593
+v 0.02036535 -0.02561618 -0.04613464
+v 0.02054656 -0.02541019 -0.04699950
+v 0.01616836 -0.02524184 -0.03247944
+v 0.01554266 -0.02430996 -0.03399761
+v 0.01478532 -0.02352358 -0.03399761
+v 0.01917378 -0.02306413 -0.04520341
+v 0.02146802 -0.02457639 -0.04916890
+v 0.02200141 -0.02457639 -0.05011257
+v 0.01989693 -0.02457640 -0.04613464
+v 0.02042348 -0.02457640 -0.04720483
+v 0.01314584 -0.02003800 -0.03451194
+v 0.01263297 -0.01852737 -0.03390012
+v 0.02037732 -0.02306413 -0.04724630
+v 0.01308943 -0.01852736 -0.03465920
+v 0.01270135 -0.01701511 -0.03372589
+v 0.01286718 -0.01594262 -0.03346042
+v 0.01692570 -0.02581078 -0.03247944
+v 0.01781638 -0.02668873 -0.03096129
+v 0.01667610 -0.02585167 -0.03096128
+v 0.01250133 -0.01546360 -0.03254578
+v 0.01277658 -0.01441237 -0.03208327
+v 0.01368265 -0.01389248 -0.03257481
+v 0.01415791 -0.01437967 -0.03364085
+v 0.01421603 -0.01298021 -0.03205424
+v 0.01527938 -0.01267939 -0.03252918
+v 0.01529819 -0.01191100 -0.03137810
+v 0.01500072 -0.01182599 -0.03096123
+v 0.01554266 -0.01158567 -0.03096123
+v 0.01419039 -0.02276663 -0.03399760
+v 0.01440579 -0.02250340 -0.03506571
+v 0.01292018 -0.02099768 -0.03346873
+v 0.01275777 -0.02003801 -0.03375286
+v 0.01607433 -0.02531705 -0.03151711
+v 0.01535973 -0.02448653 -0.03247944
+v 0.01460240 -0.02375246 -0.03247944
+v 0.01396814 -0.02299551 -0.03247943
+v 0.01182606 -0.01851430 -0.03236743
+v 0.01148243 -0.01800094 -0.03178671
+v 0.01148243 -0.01753990 -0.03178670
+v 0.01188076 -0.01702655 -0.03236742
+v 0.01155253 -0.01653118 -0.03162493
+v 0.01552727 -0.02475793 -0.03096128
+v 0.01162091 -0.01535244 -0.03096125
+v 0.01249108 -0.01394317 -0.03096124
+v 0.01249450 -0.01393826 -0.03096124
+v 0.01320739 -0.01340365 -0.03146315
+v 0.01388267 -0.01256660 -0.03096124
+v 0.01321081 -0.02201131 -0.03247943
+v 0.01274410 -0.02125436 -0.03247943
+v 0.01220558 -0.02003801 -0.03247942
+v 0.01155082 -0.01900967 -0.03157724
+v 0.01548111 -0.02471379 -0.03096128
+v 0.01318345 -0.02213067 -0.03096127
+v 0.01318345 -0.02213067 -0.03096334
+v 0.01126019 -0.01851431 -0.03096126
+v 0.01125677 -0.01843583 -0.03096126
+v 0.01120719 -0.01702656 -0.03096125
+v 0.01122942 -0.01689577 -0.03096125
+v 0.01141063 -0.01602438 -0.03096125
+v 0.01304840 -0.01324671 -0.03096124
+v 0.01374590 -0.01267450 -0.03096124
+v 0.01260391 -0.02137372 -0.03096334
+v 0.01179699 -0.02002003 -0.03096126
+v 0.01174571 -0.01991377 -0.03096126
+v 0.01260391 -0.02137372 -0.03096127
+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 2
+f 2 11 3
+f 2 10 12
+f 2 12 11
+f 3 13 4
+f 3 11 14
+f 3 14 13
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 4 13 15
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 8
+f 8 23 22
+f 8 22 44
+f 8 44 42
+f 8 42 65
+f 8 65 64
+f 8 64 63
+f 8 63 93
+f 8 93 114
+f 8 114 88
+f 8 88 86
+f 8 86 85
+f 8 85 113
+f 8 113 143
+f 8 143 142
+f 8 142 162
+f 8 162 176
+f 8 176 175
+f 8 175 160
+f 8 160 159
+f 8 159 158
+f 8 158 174
+f 8 174 173
+f 8 173 172
+f 8 172 171
+f 8 171 170
+f 8 170 179
+f 8 179 178
+f 8 178 180
+f 8 180 168
+f 8 168 167
+f 8 167 157
+f 8 157 134
+f 8 134 133
+f 8 133 104
+f 8 104 94
+f 8 94 68
+f 8 68 67
+f 8 67 66
+f 8 66 48
+f 8 48 47
+f 8 47 46
+f 8 46 29
+f 8 29 28
+f 8 28 25
+f 8 25 24
+f 8 24 12
+f 8 12 10
+f 8 10 9
+f 11 12 24
+f 11 24 25
+f 11 25 14
+f 13 26 15
+f 13 14 27
+f 13 27 26
+f 14 25 28
+f 14 28 29
+f 14 29 27
+f 15 30 31
+f 15 31 16
+f 15 26 32
+f 15 32 30
+f 16 31 17
+f 17 31 33
+f 17 33 34
+f 17 34 18
+f 18 34 19
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 20
+f 19 34 40
+f 19 40 35
+f 20 39 38
+f 20 38 41
+f 20 41 21
+f 21 41 42
+f 21 42 43
+f 21 43 22
+f 22 43 44
+f 26 27 45
+f 26 45 32
+f 27 29 46
+f 27 46 47
+f 27 47 48
+f 27 48 45
+f 30 32 49
+f 30 49 50
+f 30 50 31
+f 31 50 51
+f 31 51 33
+f 32 52 49
+f 32 45 53
+f 32 53 52
+f 33 51 34
+f 34 54 55
+f 34 55 40
+f 34 51 54
+f 35 40 56
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 36 58 59
+f 36 59 37
+f 37 59 60
+f 37 60 38
+f 38 60 61
+f 38 61 41
+f 40 55 56
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 42
+f 42 44 43
+f 45 48 66
+f 45 66 67
+f 45 67 68
+f 45 68 53
+f 49 52 69
+f 49 69 50
+f 50 69 70
+f 50 70 51
+f 51 71 72
+f 51 72 54
+f 51 70 71
+f 52 73 69
+f 52 53 74
+f 52 74 73
+f 53 75 74
+f 53 68 76
+f 53 76 77
+f 53 77 75
+f 54 72 78
+f 54 78 55
+f 55 78 79
+f 55 79 80
+f 55 80 81
+f 55 81 82
+f 55 82 83
+f 55 83 56
+f 56 83 84
+f 56 84 57
+f 57 84 82
+f 57 82 58
+f 58 82 85
+f 58 85 86
+f 58 86 59
+f 59 86 87
+f 59 87 88
+f 59 88 89
+f 59 89 61
+f 59 61 60
+f 61 89 90
+f 61 90 91
+f 61 91 63
+f 61 63 62
+f 63 91 92
+f 63 92 93
+f 68 94 76
+f 69 73 95
+f 69 95 96
+f 69 96 97
+f 69 97 98
+f 69 98 70
+f 70 98 97
+f 70 97 99
+f 70 99 71
+f 71 99 72
+f 72 99 100
+f 72 100 101
+f 72 101 78
+f 73 74 95
+f 74 75 77
+f 74 77 102
+f 74 102 103
+f 74 103 95
+f 76 94 104
+f 76 104 77
+f 77 104 133
+f 77 133 105
+f 77 105 102
+f 78 80 79
+f 78 101 106
+f 78 106 107
+f 78 107 108
+f 78 108 109
+f 78 109 110
+f 78 110 111
+f 78 111 80
+f 80 111 81
+f 81 111 112
+f 81 112 82
+f 82 84 83
+f 82 112 111
+f 82 111 113
+f 82 113 85
+f 86 88 87
+f 88 114 90
+f 88 90 89
+f 90 114 93
+f 90 93 92
+f 90 92 91
+f 95 115 116
+f 95 116 117
+f 95 117 96
+f 95 103 118
+f 95 118 119
+f 95 119 120
+f 95 120 115
+f 96 117 97
+f 97 121 122
+f 97 122 123
+f 97 123 99
+f 97 117 124
+f 97 124 125
+f 97 125 126
+f 97 126 127
+f 97 127 121
+f 99 123 100
+f 100 123 128
+f 100 128 129
+f 100 129 130
+f 100 130 131
+f 100 131 101
+f 101 131 106
+f 102 105 103
+f 103 105 132
+f 103 132 118
+f 105 133 134
+f 105 134 132
+f 106 131 135
+f 106 135 136
+f 106 136 137
+f 106 137 138
+f 106 138 107
+f 107 138 108
+f 108 138 139
+f 108 139 140
+f 108 140 109
+f 109 140 111
+f 109 111 110
+f 111 141 142
+f 111 142 143
+f 111 143 113
+f 111 140 141
+f 115 120 144
+f 115 144 116
+f 116 144 145
+f 116 145 117
+f 117 145 146
+f 117 146 147
+f 117 147 124
+f 118 132 148
+f 118 148 149
+f 118 149 119
+f 119 149 150
+f 119 150 120
+f 120 150 151
+f 120 151 144
+f 121 123 122
+f 121 127 123
+f 123 127 129
+f 123 129 128
+f 124 147 125
+f 125 147 126
+f 126 147 152
+f 126 152 127
+f 127 152 153
+f 127 153 154
+f 127 154 155
+f 127 155 129
+f 129 155 130
+f 130 155 156
+f 130 156 131
+f 131 156 135
+f 132 134 148
+f 134 157 148
+f 135 156 158
+f 135 158 136
+f 136 158 159
+f 136 159 160
+f 136 160 161
+f 136 161 137
+f 137 161 139
+f 137 139 138
+f 139 161 162
+f 139 162 142
+f 139 142 141
+f 139 141 140
+f 144 151 163
+f 144 163 146
+f 144 146 145
+f 146 163 164
+f 146 164 165
+f 146 165 147
+f 147 165 166
+f 147 166 152
+f 148 157 167
+f 148 167 150
+f 148 150 149
+f 150 167 168
+f 150 168 169
+f 150 169 151
+f 151 169 163
+f 152 166 153
+f 153 166 170
+f 153 170 171
+f 153 171 172
+f 153 172 154
+f 154 172 156
+f 154 156 155
+f 156 172 173
+f 156 173 174
+f 156 174 158
+f 160 175 161
+f 161 175 176
+f 161 176 162
+f 163 169 177
+f 163 177 164
+f 164 177 178
+f 164 178 179
+f 164 179 165
+f 165 179 166
+f 166 179 170
+f 168 180 177
+f 168 177 169
+f 177 180 178
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_1.obj

@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
+v 0.02866802 0.02534075 -0.05068622
+v 0.02841293 0.02415659 -0.05068622
+v 0.02830952 0.02437399 -0.05159117
+v 0.02838191 0.02534075 -0.05165192
+v 0.02831124 0.02639480 -0.05157440
+v 0.02842327 0.02667807 -0.05068621
+v 0.02861287 0.02534074 -0.04916960
+v 0.02822851 0.02231522 -0.03073131
+v 0.02819921 0.02080167 -0.03073131
+v 0.02812510 0.02036193 -0.03073132
+v 0.02804409 0.02325899 -0.04916960
+v 0.02775109 0.02340064 -0.05068622
+v 0.02784416 0.01954505 -0.03073132
+v 0.02772178 0.01926671 -0.03073132
+v 0.02703753 0.01808091 -0.03073132
+v 0.02730123 0.02385190 -0.05169172
+v 0.02740982 0.02534075 -0.05197452
+v 0.02672384 0.02303831 -0.05148225
+v 0.02742361 0.02688065 -0.05170637
+v 0.02692894 0.02779141 -0.05154926
+v 0.02798377 0.02743402 -0.05068621
+v 0.02799238 0.02733684 -0.04916959
+v 0.02837501 0.02658089 -0.04916959
+v 0.02795446 0.02359490 -0.03073130
+v 0.02675659 0.02146710 -0.04719213
+v 0.02567763 0.01594810 -0.03073133
+v 0.02521055 0.01543426 -0.03073133
+v 0.02699444 0.02285056 -0.05068623
+v 0.02589653 0.02382720 -0.05188863
+v 0.02589653 0.02534075 -0.05211696
+v 0.02589653 0.02685265 -0.05194518
+v 0.02647909 0.02162192 -0.04820391
+v 0.02519848 0.02001613 -0.04545556
+v 0.02050694 0.01400966 -0.03472819
+v 0.02546908 0.02145064 -0.04862496
+v 0.02589653 0.02252775 -0.05068623
+v 0.02589653 0.02299219 -0.05153253
+v 0.02589653 0.02793470 -0.05162677
+v 0.02589653 0.02857536 -0.05068621
+v 0.02722712 0.02803681 -0.05068621
+v 0.02723574 0.02807797 -0.04916959
+v 0.02617057 0.02647706 -0.03073129
+v 0.02693584 0.02560089 -0.03073130
+v 0.02709958 0.02536537 -0.03073130
+v 0.02718920 0.02519409 -0.03073130
+v 0.02787346 0.02383700 -0.03073130
+v 0.02207021 0.01401789 -0.03313615
+v 0.02468658 0.01507851 -0.03073133
+v 0.02487962 0.02299878 -0.05152624
+v 0.02437806 0.02374650 -0.05177551
+v 0.02438151 0.02534075 -0.05213162
+v 0.02438151 0.02685265 -0.05193051
+v 0.02106020 0.01377414 -0.03371641
+v 0.01978304 0.01282714 -0.03240507
+v 0.01924012 0.01243187 -0.03184996
+v 0.01993644 0.01361934 -0.03413327
+v 0.01832662 0.01272668 -0.03273186
+v 0.02438151 0.02141111 -0.04868362
+v 0.02438151 0.02785729 -0.05159535
+v 0.02438151 0.02841396 -0.05068621
+v 0.02438151 0.02869723 -0.04916958
+v 0.02589653 0.02872028 -0.04916958
+v 0.02418158 0.02790332 -0.03073129
+v 0.02494167 0.02748994 -0.03073129
+v 0.02594823 0.02668129 -0.03073129
+v 0.02222188 0.01391413 -0.03212437
+v 0.02015533 0.01247304 -0.03073134
+v 0.02148075 0.01358803 -0.03257056
+v 0.02386961 0.02318653 -0.05133561
+v 0.02438151 0.02184261 -0.04944193
+v 0.01832662 0.01343322 -0.03399711
+v 0.01755447 0.01399155 -0.03476380
+v 0.02337495 0.02419612 -0.05166868
+v 0.02323534 0.02534075 -0.05178180
+v 0.02336978 0.02685265 -0.05166029
+v 0.02355593 0.02768930 -0.05150737
+v 0.01955036 0.01220458 -0.03073135
+v 0.01832662 0.01236929 -0.03197355
+v 0.01864031 0.01198225 -0.03073135
+v 0.01832662 0.01190649 -0.03073135
+v 0.01681333 0.01240058 -0.03189185
+v 0.02333876 0.02787541 -0.05068621
+v 0.02302162 0.02805656 -0.04916959
+v 0.01853862 0.02791485 -0.03073129
+v 0.01958310 0.02830683 -0.03073129
+v 0.01985888 0.02840894 -0.03073129
+v 0.02135321 0.02859010 -0.03073128
+v 0.02285960 0.02838259 -0.03073129
+v 0.02392994 0.02799885 -0.03073129
+v 0.02225808 0.02336604 -0.04976661
+v 0.01695467 0.01367038 -0.03400549
+v 0.01569991 0.01379884 -0.03350483
+v 0.01468990 0.01410188 -0.03311520
+v 0.01465371 0.01563026 -0.03465696
+v 0.01681333 0.01283702 -0.03265016
+v 0.02247870 0.02534075 -0.05086428
+v 0.02203402 0.02437398 -0.05004731
+v 0.02204780 0.02623833 -0.05004311
+v 0.02226325 0.02732861 -0.04916959
+v 0.02055692 0.02615761 -0.04698054
+v 0.01681333 0.01189496 -0.03073135
+v 0.01602911 0.01247305 -0.03174103
+v 0.02212192 0.02759706 -0.04837357
+v 0.02198231 0.02770575 -0.04736179
+v 0.01760962 0.02738783 -0.03073129
+v 0.01315248 0.01570272 -0.03308796
+v 0.01286637 0.01671230 -0.03345874
+v 0.01535864 0.01325864 -0.03242812
+v 0.01419696 0.01372802 -0.03210342
+v 0.01318695 0.01416282 -0.03147289
+v 0.01367472 0.01463714 -0.03259570
+v 0.01416249 0.01511146 -0.03364518
+v 0.02200644 0.02534074 -0.05010387
+v 0.01269746 0.01777788 -0.03372267
+v 0.01309043 0.01929144 -0.03466114
+v 0.01262679 0.01929143 -0.03390282
+v 0.02147730 0.02534074 -0.04916960
+v 0.02082407 0.02534074 -0.04794834
+v 0.01314903 0.02080169 -0.03450821
+v 0.01275778 0.02080168 -0.03374989
+v 0.02038973 0.02635690 -0.04613424
+v 0.01292325 0.02175197 -0.03345872
+v 0.01440896 0.02325729 -0.03507798
+v 0.01541897 0.01223423 -0.03073135
+v 0.01501910 0.01271843 -0.03127808
+v 0.01480538 0.02426851 -0.03399707
+v 0.01556203 0.02506070 -0.03399707
+v 0.01641174 0.02662200 -0.03073129
+v 0.01278364 0.01517240 -0.03207618
+v 0.01250270 0.01623139 -0.03254122
+v 0.01154956 0.01728050 -0.03163209
+v 0.01378675 0.01321746 -0.03073134
+v 0.01248718 0.01455478 -0.03073134
+v 0.01227519 0.01479524 -0.03073134
+v 0.01351788 0.01347438 -0.03073134
+v 0.01187704 0.01778282 -0.03236944
+v 0.01148235 0.01828843 -0.03178919
+v 0.01148235 0.01876111 -0.03178919
+v 0.01182189 0.01927660 -0.03236944
+v 0.01155301 0.01977069 -0.03157133
+v 0.01220624 0.02080168 -0.03248046
+v 0.01419868 0.02351256 -0.03399707
+v 0.01158576 0.02075391 -0.03073131
+v 0.01274572 0.02201384 -0.03248046
+v 0.01321625 0.02276979 -0.03248046
+v 0.01399013 0.01309229 -0.03073134
+v 0.01397290 0.02374313 -0.03248045
+v 0.01462096 0.02449909 -0.03248045
+v 0.01537760 0.02523363 -0.03248045
+v 0.01550170 0.02574252 -0.03073130
+v 0.01173571 0.01626597 -0.03127597
+v 0.01148062 0.01626597 -0.03073133
+v 0.01106352 0.01778116 -0.03073132
+v 0.01219073 0.01495005 -0.03073134
+v 0.01107386 0.01816490 -0.03073132
+v 0.01111867 0.01927989 -0.03073132
+v 0.01119623 0.01960928 -0.03073132
+v 0.01253027 0.02218511 -0.03073131
+v 0.01299736 0.02278625 -0.03073131
+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 2
+f 2 11 12
+f 2 12 3
+f 2 10 13
+f 2 13 14
+f 2 14 15
+f 2 15 11
+f 3 16 17
+f 3 17 4
+f 3 12 18
+f 3 18 16
+f 4 17 5
+f 5 17 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 8
+f 8 24 46
+f 8 46 45
+f 8 45 44
+f 8 44 43
+f 8 43 42
+f 8 42 65
+f 8 65 64
+f 8 64 63
+f 8 63 89
+f 8 89 88
+f 8 88 87
+f 8 87 86
+f 8 86 85
+f 8 85 84
+f 8 84 105
+f 8 105 128
+f 8 128 150
+f 8 150 159
+f 8 159 158
+f 8 158 143
+f 8 143 157
+f 8 157 156
+f 8 156 155
+f 8 155 153
+f 8 153 152
+f 8 152 154
+f 8 154 134
+f 8 134 133
+f 8 133 135
+f 8 135 132
+f 8 132 146
+f 8 146 124
+f 8 124 101
+f 8 101 80
+f 8 80 79
+f 8 79 77
+f 8 77 67
+f 8 67 48
+f 8 48 27
+f 8 27 26
+f 8 26 15
+f 8 15 14
+f 8 14 13
+f 8 13 10
+f 8 10 9
+f 8 23 24
+f 11 25 12
+f 11 15 26
+f 11 26 27
+f 11 27 25
+f 12 28 18
+f 12 25 28
+f 16 29 17
+f 16 18 29
+f 17 30 31
+f 17 31 19
+f 17 29 30
+f 18 28 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 29
+f 19 31 20
+f 20 31 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 21 40 41
+f 21 41 22
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 45
+f 22 45 23
+f 23 45 46
+f 23 46 24
+f 25 32 28
+f 25 27 47
+f 25 47 32
+f 27 48 47
+f 29 37 49
+f 29 49 50
+f 29 50 51
+f 29 51 30
+f 30 51 31
+f 31 52 38
+f 31 51 52
+f 32 47 33
+f 33 47 53
+f 33 53 34
+f 34 53 54
+f 34 54 55
+f 34 55 56
+f 34 56 35
+f 35 56 57
+f 35 57 36
+f 36 58 37
+f 36 57 58
+f 37 58 49
+f 38 59 39
+f 38 52 59
+f 39 59 60
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 40 62 41
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 42
+f 47 48 66
+f 47 66 67
+f 47 67 68
+f 47 68 53
+f 48 67 66
+f 49 69 50
+f 49 58 70
+f 49 70 71
+f 49 71 72
+f 49 72 69
+f 50 69 73
+f 50 73 51
+f 51 74 75
+f 51 75 52
+f 51 73 74
+f 52 75 76
+f 52 76 59
+f 53 68 54
+f 54 77 55
+f 54 68 77
+f 55 78 57
+f 55 57 56
+f 55 77 79
+f 55 79 80
+f 55 80 78
+f 57 78 81
+f 57 81 71
+f 57 71 58
+f 58 71 70
+f 59 76 60
+f 60 76 82
+f 60 82 83
+f 60 83 61
+f 61 83 84
+f 61 84 85
+f 61 85 86
+f 61 86 87
+f 61 87 62
+f 62 87 88
+f 62 88 89
+f 62 89 63
+f 67 77 68
+f 69 90 73
+f 69 72 91
+f 69 91 92
+f 69 92 93
+f 69 93 94
+f 69 94 90
+f 71 81 95
+f 71 95 72
+f 72 95 91
+f 73 96 74
+f 73 90 97
+f 73 97 96
+f 74 96 75
+f 75 96 98
+f 75 98 76
+f 76 99 82
+f 76 98 100
+f 76 100 99
+f 78 80 101
+f 78 101 81
+f 81 101 102
+f 81 102 95
+f 82 99 103
+f 82 103 83
+f 83 103 104
+f 83 104 84
+f 84 104 105
+f 90 94 106
+f 90 106 107
+f 90 107 97
+f 91 95 102
+f 91 102 92
+f 92 102 108
+f 92 108 93
+f 93 108 109
+f 93 109 110
+f 93 110 111
+f 93 111 112
+f 93 112 94
+f 94 112 106
+f 96 113 98
+f 96 97 113
+f 97 107 114
+f 97 114 115
+f 97 115 116
+f 97 116 113
+f 98 113 117
+f 98 117 118
+f 98 118 119
+f 98 119 120
+f 98 120 100
+f 99 100 103
+f 100 121 103
+f 100 120 122
+f 100 122 123
+f 100 123 121
+f 101 124 102
+f 102 125 108
+f 102 124 125
+f 103 121 126
+f 103 126 127
+f 103 127 128
+f 103 128 104
+f 104 128 105
+f 106 112 111
+f 106 111 129
+f 106 129 130
+f 106 130 107
+f 107 130 131
+f 107 131 114
+f 108 125 109
+f 109 125 132
+f 109 132 110
+f 110 133 134
+f 110 134 129
+f 110 129 111
+f 110 132 135
+f 110 135 133
+f 113 116 117
+f 114 131 136
+f 114 136 116
+f 114 116 115
+f 116 136 137
+f 116 137 138
+f 116 138 139
+f 116 139 119
+f 116 119 118
+f 116 118 117
+f 119 139 120
+f 120 139 140
+f 120 140 141
+f 120 141 122
+f 121 123 142
+f 121 142 126
+f 122 141 143
+f 122 143 144
+f 122 144 123
+f 123 144 145
+f 123 145 142
+f 124 146 125
+f 125 146 132
+f 126 142 147
+f 126 147 148
+f 126 148 127
+f 127 148 149
+f 127 149 128
+f 128 149 150
+f 129 134 151
+f 129 151 130
+f 130 151 131
+f 131 151 152
+f 131 152 153
+f 131 153 137
+f 131 137 136
+f 134 154 151
+f 137 153 138
+f 138 153 155
+f 138 155 156
+f 138 156 140
+f 138 140 139
+f 140 156 157
+f 140 157 141
+f 141 157 143
+f 142 145 147
+f 143 158 145
+f 143 145 144
+f 145 158 159
+f 145 159 147
+f 147 159 150
+f 147 150 148
+f 148 150 149
+f 151 154 152
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_10.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.02053228 -0.02620827 -0.01848314
+v -0.02076504 -0.02615101 -0.01848314
+v -0.02053228 -0.01960712 -0.01848311
+v -0.02053228 -0.02592992 0.02621951
+v -0.02180440 -0.02537272 -0.01848313
+v -0.02859697 0.00037856 -0.01848304
+v -0.02859572 0.00037851 -0.00516326
+v -0.02053228 -0.01960458 -0.00219220
+v -0.02053228 -0.01962030 0.02621954
+v -0.02068662 -0.02581279 0.02621952
+v -0.02338896 -0.02388902 -0.01848313
+v -0.02079243 -0.02573210 0.02621952
+v -0.02131024 -0.02531562 0.02621952
+v -0.02154923 -0.02512040 0.02621952
+v -0.02239441 -0.02436293 0.02621952
+v -0.02291098 -0.02388659 0.02621952
+v -0.02315122 -0.02366273 0.02621952
+v -0.03307306 0.00037856 -0.01848304
+v -0.02859448 0.00037843 0.01607662
+v -0.02053228 -0.01960458 -0.00213094
+v -0.02859448 0.00037841 0.02138878
+v -0.02859572 0.00037840 0.02442118
+v -0.02859697 0.00037839 0.02621961
+v -0.02491502 -0.02239491 -0.01848312
+v -0.02391300 -0.02290787 0.02621953
+v -0.03307306 -0.00037631 -0.01848304
+v -0.03312907 0.00037853 -0.01123242
+v -0.03324733 0.00037839 0.02621961
+v -0.02636016 -0.02076284 -0.01848312
+v -0.02443081 -0.02238467 0.02621953
+v -0.02467105 -0.02213738 0.02621953
+v -0.02488390 -0.02190051 0.02621953
+v -0.03296975 -0.00188864 -0.01848305
+v -0.03303199 -0.00188866 -0.01275082
+v -0.03304692 -0.00188867 -0.01123243
+v -0.03312534 -0.00037634 -0.01123242
+v -0.03313281 0.00037853 -0.01047542
+v -0.03313903 0.00037852 -0.00895704
+v -0.03324733 -0.00037648 0.02621961
+v -0.02686802 -0.02008867 -0.01848311
+v -0.02532827 -0.02138252 0.02621953
+v -0.02584608 -0.02075781 0.02621953
+v -0.02608507 -0.02046887 0.02621953
+v -0.02667010 -0.01971141 0.02621954
+v -0.03285648 -0.00306258 -0.01848305
+v -0.03285772 -0.00340098 -0.01578759
+v -0.03289009 -0.00340099 -0.01275082
+v -0.03313157 -0.00037634 -0.00971404
+v -0.03317513 -0.00188881 0.02621960
+v -0.03322741 -0.00085282 0.02621961
+v -0.02696884 -0.01995331 -0.01848311
+v -0.02718667 -0.01901641 0.02621954
+v -0.03266603 -0.00491330 -0.01848306
+v -0.03267350 -0.00491331 -0.01730161
+v -0.03269839 -0.00491332 -0.01275083
+v -0.03302078 -0.00340114 0.02621960
+v -0.02710327 -0.01976330 -0.01848311
+v -0.02759993 -0.01844636 0.02621954
+v -0.02796712 -0.01792837 0.02621954
+v -0.03248430 -0.00610286 -0.01848306
+v -0.03249177 -0.00612109 -0.01730161
+v -0.03250048 -0.00621222 -0.01123244
+v -0.03282412 -0.00491347 0.02621959
+v -0.03295855 -0.00388009 0.02621960
+v -0.02800073 -0.01799848 -0.01848311
+v -0.02852353 -0.01701212 0.02621955
+v -0.02916830 -0.01589023 0.02621955
+v -0.02929776 -0.01565076 0.02621955
+v -0.02957285 -0.01513537 0.02621955
+v -0.03233119 -0.00685773 -0.01848307
+v -0.03234240 -0.00689938 -0.01578761
+v -0.03235609 -0.00696708 -0.01123245
+v -0.03258014 -0.00647005 0.02621959
+v -0.02950438 -0.01499987 -0.00971410
+v -0.02948322 -0.01496341 -0.01730164
+v -0.02947202 -0.01493737 -0.01848309
+v -0.03009190 -0.01398746 0.02621956
+v -0.02998610 -0.01398734 -0.00516331
+v -0.03206109 -0.00793796 -0.01848307
+v -0.03208100 -0.00793797 -0.01730162
+v -0.03209594 -0.00793797 -0.01578761
+v -0.03212581 -0.00793799 -0.01123245
+v -0.03242331 -0.00726656 0.02621958
+v -0.02995125 -0.01398731 -0.01275086
+v -0.03089601 -0.01174612 -0.01836493
+v -0.03059353 -0.01255827 -0.01275086
+v -0.03082506 -0.01188929 -0.01848308
+v -0.03098065 -0.01194412 0.02621957
+v -0.03092339 -0.01181123 -0.01123246
+v -0.03163663 -0.00945290 -0.01848307
+v -0.03166775 -0.00945291 -0.01730162
+v -0.03171754 -0.00945293 -0.01123245
+v -0.03223162 -0.00798499 0.02621958
+v -0.03094580 -0.01159254 -0.01848308
+v -0.03091717 -0.01180341 -0.01275085
+v -0.03122462 -0.01096525 -0.01275085
+v -0.03122586 -0.01126734 0.02621957
+v -0.03122960 -0.01096526 -0.01123246
+v -0.03123707 -0.01070753 -0.01848308
+v -0.03133416 -0.01096540 0.02621957
+v -0.03181712 -0.00945307 0.02621958
+v -0.03208972 -0.00850298 0.02621958
+f 1 2 5
+f 1 5 11
+f 1 11 24
+f 1 24 29
+f 1 29 40
+f 1 40 51
+f 1 51 57
+f 1 57 65
+f 1 65 76
+f 1 76 87
+f 1 87 94
+f 1 94 99
+f 1 99 90
+f 1 90 79
+f 1 79 70
+f 1 70 60
+f 1 60 53
+f 1 53 45
+f 1 45 33
+f 1 33 26
+f 1 26 18
+f 1 18 6
+f 1 6 3
+f 1 3 8
+f 1 8 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 23
+f 4 23 28
+f 4 28 39
+f 4 39 50
+f 4 50 49
+f 4 49 56
+f 4 56 64
+f 4 64 63
+f 4 63 73
+f 4 73 83
+f 4 83 93
+f 4 93 102
+f 4 102 101
+f 4 101 100
+f 4 100 97
+f 4 97 88
+f 4 88 77
+f 4 77 69
+f 4 69 68
+f 4 68 67
+f 4 67 66
+f 4 66 59
+f 4 59 58
+f 4 58 52
+f 4 52 44
+f 4 44 43
+f 4 43 42
+f 4 42 41
+f 4 41 32
+f 4 32 31
+f 4 31 30
+f 4 30 25
+f 4 25 17
+f 4 17 16
+f 4 16 15
+f 4 15 14
+f 4 14 13
+f 4 13 12
+f 4 12 10
+f 4 10 5
+f 5 10 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 11
+f 6 18 27
+f 6 27 37
+f 6 37 38
+f 6 38 28
+f 6 28 23
+f 6 23 22
+f 6 22 21
+f 6 21 19
+f 6 19 7
+f 7 19 8
+f 8 19 21
+f 8 21 20
+f 9 21 22
+f 9 22 23
+f 9 20 21
+f 11 17 24
+f 17 25 24
+f 18 26 27
+f 24 25 30
+f 24 30 31
+f 24 31 32
+f 24 32 29
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 27 36 37
+f 28 38 39
+f 29 32 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 40
+f 33 45 46
+f 33 46 34
+f 34 46 47
+f 34 47 35
+f 35 48 36
+f 35 47 49
+f 35 49 48
+f 36 48 38
+f 36 38 37
+f 38 48 39
+f 39 48 50
+f 40 44 51
+f 44 52 51
+f 45 53 46
+f 46 53 47
+f 47 53 54
+f 47 54 55
+f 47 55 56
+f 47 56 49
+f 48 49 50
+f 51 52 58
+f 51 58 59
+f 51 59 57
+f 53 60 61
+f 53 61 54
+f 54 61 55
+f 55 61 62
+f 55 62 63
+f 55 63 64
+f 55 64 56
+f 57 59 66
+f 57 66 67
+f 57 67 68
+f 57 68 69
+f 57 69 65
+f 60 70 61
+f 61 70 71
+f 61 71 72
+f 61 72 62
+f 62 72 73
+f 62 73 63
+f 65 74 75
+f 65 75 76
+f 65 69 74
+f 69 77 78
+f 69 78 74
+f 70 79 80
+f 70 80 81
+f 70 81 71
+f 71 81 82
+f 71 82 72
+f 72 82 83
+f 72 83 73
+f 74 78 84
+f 74 84 75
+f 75 85 76
+f 75 84 86
+f 75 86 85
+f 76 85 87
+f 77 88 89
+f 77 89 86
+f 77 86 78
+f 78 86 84
+f 79 90 91
+f 79 91 80
+f 80 91 81
+f 81 91 92
+f 81 92 82
+f 82 92 93
+f 82 93 83
+f 85 94 87
+f 85 86 95
+f 85 95 96
+f 85 96 94
+f 86 89 95
+f 88 97 89
+f 89 98 96
+f 89 96 95
+f 89 97 98
+f 90 99 91
+f 91 99 94
+f 91 94 96
+f 91 96 92
+f 92 96 98
+f 92 98 100
+f 92 100 101
+f 92 101 102
+f 92 102 93
+f 97 100 98
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_11.obj

@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v 0.01049094 0.02638136 0.02527074
+v 0.01049094 0.02571373 0.03580272
+v 0.01049094 0.03143550 0.02527076
+v 0.01886668 0.02085685 0.02527072
+v 0.01049094 0.02582886 0.03726444
+v 0.01794040 0.02085681 0.03580271
+v 0.01049094 0.03282212 0.02973493
+v 0.01172372 0.03223047 0.02886726
+v 0.01067143 0.03137180 0.02527076
+v 0.02515147 0.02085685 0.02527072
+v 0.01049094 0.02588276 0.03751904
+v 0.01815324 0.02085680 0.03740636
+v 0.01049094 0.03336965 0.03580275
+v 0.01227030 0.03310996 0.03580275
+v 0.01075657 0.03273760 0.02973493
+v 0.01207789 0.03085120 0.02527075
+v 0.01075657 0.03134118 0.02527076
+v 0.01191954 0.03231499 0.02973493
+v 0.01267555 0.03198548 0.02973493
+v 0.01378403 0.03148203 0.02973493
+v 0.01482780 0.03078013 0.02879995
+v 0.01283390 0.03055721 0.02527075
+v 0.02487903 0.02122189 0.02527072
+v 0.02656984 0.02085683 0.02935885
+v 0.01049094 0.02643766 0.03856376
+v 0.01819751 0.02085680 0.03753805
+v 0.01836778 0.02085680 0.03776191
+v 0.01049094 0.03334148 0.03617001
+v 0.01049094 0.03319815 0.03732007
+v 0.01227030 0.03288456 0.03732007
+v 0.01377211 0.03246441 0.03728057
+v 0.01462688 0.03222555 0.03674943
+v 0.01392876 0.03255261 0.03567399
+v 0.01503554 0.03088670 0.02973492
+v 0.01507810 0.02941311 0.02527075
+v 0.01378403 0.03009173 0.02527075
+v 0.01579325 0.03048369 0.02973492
+v 0.01769861 0.02920730 0.02887603
+v 0.02416729 0.02207322 0.02527072
+v 0.02357304 0.02453167 0.02933545
+v 0.02503398 0.02295394 0.02973489
+v 0.02565037 0.02219692 0.02973489
+v 0.02640809 0.02122799 0.02973489
+v 0.02667201 0.02085683 0.02973489
+v 0.01049094 0.02663855 0.03884615
+v 0.01920382 0.02085680 0.03879199
+v 0.01049094 0.03254770 0.03863986
+v 0.01227030 0.03236518 0.03844526
+v 0.01325959 0.03226229 0.03824480
+v 0.01426931 0.03195360 0.03776049
+v 0.01462688 0.03222555 0.03609392
+v 0.01769861 0.02920727 0.03819358
+v 0.02041447 0.02746539 0.03770487
+v 0.02065285 0.02765404 0.03669381
+v 0.01452982 0.03213858 0.03508286
+v 0.01583412 0.02898928 0.02527075
+v 0.01681319 0.02989327 0.02973492
+v 0.01781950 0.02928815 0.02973492
+v 0.01857722 0.02876509 0.02973492
+v 0.01962270 0.02800930 0.02973491
+v 0.02038041 0.02743725 0.02973491
+v 0.01940304 0.02784516 0.02872531
+v 0.01955629 0.02646589 0.02527074
+v 0.01949669 0.02650998 0.02527074
+v 0.01849378 0.02722045 0.02527074
+v 0.01681319 0.02834740 0.02527074
+v 0.02412302 0.02212590 0.02527072
+v 0.02408386 0.02217122 0.02527072
+v 0.02344874 0.02288291 0.02527072
+v 0.02269272 0.02366811 0.02527073
+v 0.02194182 0.02442390 0.02527073
+v 0.02122837 0.02506699 0.02527073
+v 0.02204909 0.02604081 0.02973491
+v 0.02298900 0.02515517 0.02979928
+v 0.02364285 0.02460272 0.03034797
+v 0.02776176 0.02102953 0.03580271
+v 0.02785200 0.02085681 0.03562420
+v 0.01049094 0.02746048 0.03969187
+v 0.01961078 0.02085680 0.03911536
+v 0.01049094 0.03189970 0.03938609
+v 0.01075657 0.03188500 0.03936268
+v 0.01227030 0.03178823 0.03920465
+v 0.01324426 0.03081316 0.03971383
+v 0.01375678 0.03138278 0.03880959
+v 0.02065285 0.02765404 0.03618316
+v 0.01940475 0.02785003 0.03836769
+v 0.02203377 0.02602730 0.03790679
+v 0.02134246 0.02684189 0.03729957
+v 0.02223980 0.02621717 0.03689573
+v 0.02225342 0.02622943 0.03580273
+v 0.02129137 0.02668146 0.02973491
+v 0.02031401 0.02586199 0.02527073
+v 0.02118410 0.02510619 0.02527073
+v 0.02700404 0.02182574 0.03580271
+v 0.02690018 0.02175224 0.03732003
+v 0.02773281 0.02085680 0.03686645
+v 0.02788606 0.02085681 0.03580271
+v 0.01049094 0.02836572 0.03999621
+v 0.01989854 0.02085680 0.03926753
+v 0.02026122 0.02121325 0.03970502
+v 0.02105129 0.02085679 0.03980598
+v 0.01049094 0.03117697 0.03984405
+v 0.01227030 0.03103243 0.03983820
+v 0.01227030 0.02987853 0.04021863
+v 0.01934345 0.02629678 0.03969041
+v 0.01767307 0.02767607 0.03963481
+v 0.01868279 0.02730492 0.03937875
+v 0.01987981 0.02688232 0.03891931
+v 0.02102405 0.02645849 0.03846133
+v 0.02670436 0.02160279 0.03814380
+v 0.02764938 0.02085680 0.03737124
+v 0.01075657 0.02836572 0.04004889
+v 0.01049094 0.02987853 0.04015132
+v 0.02129648 0.02085679 0.03984987
+v 0.01075657 0.02987853 0.04017620
+v 0.01075657 0.03112920 0.03985576
+v 0.01227030 0.02836572 0.04020691
+v 0.02286981 0.02085679 0.04002838
+v 0.02439716 0.02085679 0.03989084
+v 0.02140546 0.02388119 0.03984550
+v 0.01984575 0.02536705 0.03982794
+v 0.02093380 0.02487829 0.03971527
+v 0.02035317 0.02588766 0.03947239
+v 0.02148378 0.02545280 0.03898661
+v 0.02256161 0.02501917 0.03850083
+v 0.02600794 0.02085680 0.03922656
+v 0.02699893 0.02085680 0.03845400
+v 0.02194352 0.02442139 0.03951189
+v 0.02390337 0.02187595 0.03971234
+v 0.02243391 0.02341203 0.03971820
+v 0.02344363 0.02288408 0.03949871
+f 1 2 5
+f 1 5 11
+f 1 11 25
+f 1 25 45
+f 1 45 78
+f 1 78 98
+f 1 98 113
+f 1 113 102
+f 1 102 80
+f 1 80 47
+f 1 47 29
+f 1 29 28
+f 1 28 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 16
+f 1 16 22
+f 1 22 36
+f 1 36 35
+f 1 35 56
+f 1 56 66
+f 1 66 65
+f 1 65 64
+f 1 64 63
+f 1 63 92
+f 1 92 93
+f 1 93 72
+f 1 72 71
+f 1 71 70
+f 1 70 69
+f 1 69 68
+f 1 68 67
+f 1 67 39
+f 1 39 23
+f 1 23 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 24
+f 4 24 44
+f 4 44 77
+f 4 77 97
+f 4 97 96
+f 4 96 111
+f 4 111 127
+f 4 127 126
+f 4 126 119
+f 4 119 118
+f 4 118 114
+f 4 114 101
+f 4 101 99
+f 4 99 79
+f 4 79 46
+f 4 46 27
+f 4 27 26
+f 4 26 12
+f 4 12 6
+f 5 6 12
+f 5 12 11
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 17 9
+f 8 15 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 16
+f 10 23 24
+f 11 12 26
+f 11 26 27
+f 11 27 25
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 15
+f 15 33 18
+f 18 33 19
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 35 36
+f 21 36 22
+f 21 34 37
+f 21 37 38
+f 21 38 35
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 43 44
+f 24 42 43
+f 25 27 46
+f 25 46 45
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 30 49 31
+f 31 49 50
+f 31 50 32
+f 32 51 33
+f 32 50 52
+f 32 52 53
+f 32 53 54
+f 32 54 85
+f 32 85 51
+f 33 51 55
+f 33 55 34
+f 34 55 37
+f 35 38 56
+f 37 57 38
+f 37 55 57
+f 38 58 59
+f 38 59 60
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 64
+f 38 64 65
+f 38 65 66
+f 38 66 56
+f 38 57 58
+f 39 67 40
+f 40 67 68
+f 40 68 69
+f 40 69 70
+f 40 70 71
+f 40 71 72
+f 40 72 73
+f 40 73 74
+f 40 74 75
+f 40 75 76
+f 40 76 41
+f 41 76 42
+f 42 76 43
+f 43 76 77
+f 43 77 44
+f 45 46 79
+f 45 79 78
+f 47 80 81
+f 47 81 82
+f 47 82 48
+f 48 82 49
+f 49 82 83
+f 49 83 84
+f 49 84 52
+f 49 52 50
+f 51 85 61
+f 51 61 60
+f 51 60 59
+f 51 59 58
+f 51 58 55
+f 52 86 53
+f 52 84 86
+f 53 86 87
+f 53 87 88
+f 53 88 54
+f 54 88 89
+f 54 89 90
+f 54 90 85
+f 55 58 57
+f 61 85 91
+f 61 91 92
+f 61 92 63
+f 61 63 62
+f 72 93 73
+f 73 90 75
+f 73 75 74
+f 73 93 92
+f 73 92 91
+f 73 91 85
+f 73 85 90
+f 75 90 94
+f 75 94 76
+f 76 94 95
+f 76 95 96
+f 76 96 97
+f 76 97 77
+f 78 79 99
+f 78 99 100
+f 78 100 101
+f 78 101 98
+f 80 102 103
+f 80 103 81
+f 81 103 82
+f 82 103 83
+f 83 103 104
+f 83 104 105
+f 83 105 106
+f 83 106 107
+f 83 107 86
+f 83 86 84
+f 86 107 108
+f 86 108 109
+f 86 109 87
+f 87 110 95
+f 87 95 89
+f 87 89 88
+f 87 109 110
+f 89 95 94
+f 89 94 90
+f 95 110 111
+f 95 111 96
+f 98 112 113
+f 98 101 112
+f 99 101 100
+f 101 114 112
+f 102 113 115
+f 102 115 104
+f 102 104 116
+f 102 116 103
+f 103 116 104
+f 104 115 117
+f 104 117 118
+f 104 118 119
+f 104 119 120
+f 104 120 121
+f 104 121 105
+f 105 121 122
+f 105 122 123
+f 105 123 106
+f 106 123 107
+f 107 123 108
+f 108 123 109
+f 109 123 124
+f 109 124 125
+f 109 125 110
+f 110 126 127
+f 110 127 111
+f 110 125 128
+f 110 128 126
+f 112 117 113
+f 112 114 118
+f 112 118 117
+f 113 117 115
+f 119 126 129
+f 119 129 130
+f 119 130 122
+f 119 122 120
+f 120 122 121
+f 122 130 128
+f 122 128 123
+f 123 128 124
+f 124 128 125
+f 126 128 131
+f 126 131 130
+f 126 130 129
+f 128 130 131
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_12.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.00053133 -0.03062724 0.04002456
+v -0.00741397 -0.02911547 0.04012934
+v -0.00741397 -0.03062724 0.04027258
+v -0.00053133 -0.03193068 0.03982827
+v -0.00053133 -0.02942886 0.03979379
+v -0.00892754 -0.02911547 0.04009353
+v -0.01122841 -0.02686116 0.03959088
+v -0.01128420 -0.02691636 0.03961343
+v -0.01128420 -0.02759034 0.03982696
+v -0.00892754 -0.03062724 0.04006567
+v -0.00741397 -0.03192979 0.03989325
+v -0.01128420 -0.02911547 0.03999936
+v -0.00053133 -0.03268745 0.03946487
+v -0.00053133 -0.02901575 0.03957628
+v -0.00053133 -0.02867208 0.03939459
+v -0.01128420 -0.02677747 0.03952722
+v -0.01128420 -0.03033700 0.03974870
+v -0.00892754 -0.03164845 0.03974471
+v -0.00741397 -0.03268656 0.03941447
+v -0.00135864 -0.03268478 0.03946354
+v -0.00053133 -0.03336410 0.03870624
+v -0.00053133 -0.02827766 0.03898080
+v -0.01128420 -0.02613820 0.03886674
+v -0.01128420 -0.03102788 0.03929910
+v -0.00892754 -0.03240433 0.03919829
+v -0.00892754 -0.03314597 0.03843967
+v -0.00741397 -0.03329644 0.03865585
+v -0.00135864 -0.03336143 0.03870492
+v -0.00135864 -0.03405589 0.03732029
+v -0.00053133 -0.03367928 0.03807759
+v -0.00053133 -0.02795447 0.03863597
+v -0.01128420 -0.02538944 0.03786144
+v -0.01128420 -0.03177665 0.03855638
+v -0.00978852 -0.03296523 0.03818900
+v -0.00892754 -0.03369085 0.03732030
+v -0.00741397 -0.03399712 0.03732030
+v -0.00053133 -0.03405855 0.03732029
+v -0.00741397 -0.03421168 0.03580304
+v -0.00053133 -0.02763930 0.03791846
+v -0.00053133 -0.02737665 0.03732032
+v -0.01128420 -0.02518733 0.03701263
+v -0.01128420 -0.03241145 0.03732030
+v -0.01002956 -0.03314864 0.03732030
+v -0.00892754 -0.03389472 0.03580305
+v -0.00053133 -0.03412443 0.03663063
+v -0.00053133 -0.03420100 0.03580304
+v -0.00831600 -0.03293315 0.02892371
+v -0.00741397 -0.03324388 0.02973406
+v -0.00590040 -0.03351009 0.02973406
+v -0.00438683 -0.03371575 0.02973406
+v -0.00287221 -0.03386532 0.02973406
+v -0.00135864 -0.03395525 0.02973406
+v -0.00053133 -0.03396059 0.02973406
+v -0.00053133 -0.02723152 0.03580307
+v -0.01128420 -0.02511699 0.03580308
+v -0.01128420 -0.03247643 0.03667573
+v -0.01014955 -0.03324568 0.03580305
+v -0.01128420 -0.03219418 0.02973406
+v -0.01044216 -0.03245950 0.02973406
+v -0.00931803 -0.03278714 0.02973406
+v -0.01128420 -0.03200365 0.02913591
+v -0.01128420 -0.03174189 0.02852980
+v -0.00971379 -0.03139555 0.02672476
+v -0.00917594 -0.03155937 0.02672476
+v -0.00909910 -0.03157984 0.02672476
+v -0.00741397 -0.03202768 0.02672476
+v -0.00741397 -0.03302664 0.02879771
+v -0.00590040 -0.03315662 0.02863193
+v -0.00438683 -0.03325455 0.02852715
+v -0.00287221 -0.03333023 0.02844492
+v -0.00135864 -0.03337653 0.02838922
+v -0.00053133 -0.03337920 0.02838259
+v -0.00053133 -0.02790101 0.02672478
+v -0.01128420 -0.02578915 0.02672479
+v -0.01128420 -0.03254499 0.03580305
+v -0.01128420 -0.03086046 0.02672477
+v -0.00590040 -0.03227341 0.02672476
+v -0.00438683 -0.03240607 0.02672476
+v -0.00287221 -0.03253160 0.02672476
+v -0.00135864 -0.03263399 0.02672476
+v -0.00131864 -0.03263488 0.02672476
+v -0.00053133 -0.03263221 0.02672476
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 21
+f 1 21 30
+f 1 30 37
+f 1 37 45
+f 1 45 46
+f 1 46 53
+f 1 53 72
+f 1 72 82
+f 1 82 73
+f 1 73 54
+f 1 54 40
+f 1 40 39
+f 1 39 31
+f 1 31 22
+f 1 22 15
+f 1 15 14
+f 1 14 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 4
+f 3 6 12
+f 3 12 10
+f 4 11 13
+f 5 14 7
+f 6 9 12
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 23
+f 8 23 32
+f 8 32 41
+f 8 41 55
+f 8 55 74
+f 8 74 76
+f 8 76 62
+f 8 62 61
+f 8 61 58
+f 8 58 75
+f 8 75 56
+f 8 56 42
+f 8 42 33
+f 8 33 24
+f 8 24 17
+f 8 17 12
+f 8 12 9
+f 10 12 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 13
+f 13 20 28
+f 13 28 21
+f 15 22 23
+f 15 23 16
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 21 28 29
+f 21 29 30
+f 22 31 23
+f 23 31 32
+f 24 33 34
+f 24 34 25
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 27 36 28
+f 28 36 29
+f 29 37 30
+f 29 36 38
+f 29 38 37
+f 31 39 32
+f 32 39 40
+f 32 40 41
+f 33 42 34
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 35 44 38
+f 35 38 36
+f 37 38 45
+f 38 46 45
+f 38 44 47
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 46
+f 40 54 41
+f 41 54 55
+f 42 56 57
+f 42 57 43
+f 43 57 44
+f 44 57 58
+f 44 58 59
+f 44 59 60
+f 44 60 47
+f 47 60 59
+f 47 59 58
+f 47 58 61
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 67
+f 47 67 49
+f 47 49 48
+f 49 67 50
+f 50 67 68
+f 50 68 51
+f 51 68 69
+f 51 69 70
+f 51 70 52
+f 52 70 71
+f 52 71 72
+f 52 72 53
+f 54 73 55
+f 55 73 74
+f 56 75 57
+f 57 75 58
+f 62 76 63
+f 63 76 74
+f 63 74 73
+f 63 73 82
+f 63 82 81
+f 63 81 80
+f 63 80 79
+f 63 79 78
+f 63 78 77
+f 63 77 66
+f 63 66 65
+f 63 65 64
+f 66 77 67
+f 67 77 68
+f 68 77 69
+f 69 77 78
+f 69 78 79
+f 69 79 70
+f 70 79 80
+f 70 80 71
+f 71 80 81
+f 71 81 72
+f 72 81 82
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_13.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01049094 0.02987919 0.04015083
+v 0.00621301 0.03139109 0.04028013
+v 0.00621301 0.02987919 0.04013614
+v 0.01049094 0.02836637 0.03999655
+v 0.01049094 0.03117718 0.03984377
+v -0.00053133 0.03139109 0.04003183
+v 0.00621301 0.03269724 0.03989519
+v -0.00053133 0.03268455 0.03982761
+v -0.00053133 0.03017286 0.03979969
+v 0.01049094 0.02746177 0.03969096
+v 0.00772674 0.03242713 0.03975415
+v 0.01049094 0.03190051 0.03938538
+v 0.00621301 0.03345411 0.03941771
+v 0.00015702 0.03344323 0.03945884
+v -0.00053133 0.03344142 0.03945737
+v -0.00053133 0.03309788 0.03962633
+v -0.00053133 0.02982933 0.03962191
+v -0.00053133 0.02941602 0.03940741
+v 0.01049094 0.02663784 0.03884617
+v 0.00772674 0.03318309 0.03920761
+v 0.01049094 0.03254769 0.03864050
+v 0.00772674 0.03391910 0.03844950
+v 0.00621301 0.03406141 0.03865961
+v 0.00015702 0.03412758 0.03870074
+v -0.00053133 0.03412667 0.03869927
+v -0.00053133 0.02870992 0.03864783
+v 0.01049094 0.02643662 0.03856261
+v 0.00861362 0.03374144 0.03820267
+v 0.01049094 0.03319759 0.03732115
+v 0.00772674 0.03448471 0.03732116
+v 0.00621301 0.03476388 0.03732116
+v 0.00015702 0.03481646 0.03732116
+v -0.00053133 0.03481464 0.03732116
+v -0.00053133 0.02812528 0.03732113
+v 0.01049094 0.02588189 0.03751801
+v 0.01008743 0.02613841 0.03789559
+v 0.00890385 0.03394267 0.03732115
+v 0.01049094 0.03334172 0.03617077
+v 0.00772674 0.03470860 0.03580348
+v 0.00621301 0.03497237 0.03580348
+v -0.00053133 0.03494065 0.03580348
+v -0.00053133 0.02806002 0.03663061
+v 0.01049094 0.02582932 0.03726529
+v 0.01049094 0.03336892 0.03580347
+v 0.01049094 0.03282237 0.02973566
+v 0.00924047 0.03322210 0.02973566
+v 0.00811731 0.03355566 0.02973566
+v 0.00711607 0.03369525 0.02892466
+v 0.00621301 0.03400705 0.02973566
+v 0.00469929 0.03427445 0.02973567
+v 0.00318556 0.03447930 0.02973567
+v 0.00167075 0.03462161 0.02973567
+v 0.00015702 0.03470772 0.02973567
+v -0.00053133 0.03471044 0.02973567
+v -0.00053133 0.03477388 0.03125189
+v -0.00053133 0.02798388 0.03580345
+v 0.01049094 0.02571330 0.03580344
+v 0.01049094 0.03143557 0.02527076
+v 0.00900958 0.03196401 0.02527076
+v 0.00795655 0.03228125 0.02527076
+v 0.00785298 0.03230845 0.02527076
+v 0.00621301 0.03270093 0.02527076
+v 0.00612454 0.03271634 0.02527076
+v 0.00469929 0.03294385 0.02527076
+v 0.00621301 0.03378770 0.02880272
+v 0.00461081 0.03295291 0.02527076
+v 0.00167075 0.03324025 0.02527076
+v 0.00015702 0.03334086 0.02527076
+v -0.00053133 0.03334176 0.02527076
+v -0.00053133 0.02866283 0.02527075
+v 0.01049094 0.02638138 0.02527074
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 27
+f 1 27 35
+f 1 35 43
+f 1 43 57
+f 1 57 71
+f 1 71 58
+f 1 58 45
+f 1 45 44
+f 1 44 38
+f 1 38 29
+f 1 29 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 3 9 4
+f 4 9 10
+f 5 11 7
+f 5 12 11
+f 6 8 16
+f 6 16 15
+f 6 15 25
+f 6 25 33
+f 6 33 41
+f 6 41 55
+f 6 55 54
+f 6 54 69
+f 6 69 70
+f 6 70 56
+f 6 56 42
+f 6 42 34
+f 6 34 26
+f 6 26 18
+f 6 18 17
+f 6 17 9
+f 7 11 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 11 12 20
+f 11 20 13
+f 12 21 22
+f 12 22 20
+f 13 20 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 18 26 19
+f 19 26 27
+f 21 28 22
+f 21 29 28
+f 22 28 30
+f 22 30 31
+f 22 31 23
+f 23 31 24
+f 24 31 32
+f 24 32 25
+f 25 32 33
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 27 36 35
+f 28 29 37
+f 28 37 30
+f 29 38 39
+f 29 39 37
+f 30 37 39
+f 30 39 31
+f 31 39 40
+f 31 40 32
+f 32 40 33
+f 33 40 41
+f 34 42 43
+f 34 43 35
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 41
+f 42 56 43
+f 43 56 57
+f 45 58 59
+f 45 59 48
+f 45 48 46
+f 46 48 47
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 48 63 64
+f 48 64 65
+f 48 65 50
+f 48 50 49
+f 50 65 64
+f 50 64 51
+f 51 64 66
+f 51 66 67
+f 51 67 52
+f 52 67 68
+f 52 68 53
+f 53 68 54
+f 54 68 69
+f 56 70 71
+f 56 71 57
+f 58 71 70
+f 58 70 69
+f 58 69 68
+f 58 68 67
+f 58 67 66
+f 58 66 64
+f 58 64 63
+f 58 63 62
+f 58 62 61
+f 58 61 60
+f 58 60 59
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_14.obj

@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.02536713 -0.01030189 0.02519314
+v 0.02743071 0.00042448 0.02519318
+v 0.03031726 -0.01030189 0.02519314
+v 0.02459447 -0.01030193 0.03580266
+v 0.03201920 0.00042448 0.02519318
+v 0.02667989 0.00042444 0.03583650
+v 0.03059538 -0.00945982 0.02519315
+v 0.03136519 -0.01030191 0.02874924
+v 0.02473590 -0.01030194 0.03732061
+v 0.02677860 0.00042443 0.03719281
+v 0.02673304 0.00042444 0.03658592
+v 0.03201920 0.00041923 0.02519318
+v 0.03332436 0.00042446 0.02973529
+v 0.03332816 -0.00037456 0.02973529
+v 0.03059823 -0.00945037 0.02519315
+v 0.03271022 -0.00566739 0.02897850
+v 0.03187017 -0.00945039 0.02973526
+v 0.03160819 -0.01030191 0.02981019
+v 0.03106334 -0.00777359 0.02519315
+v 0.02492100 -0.01030194 0.03793779
+v 0.02503491 -0.01030194 0.03823168
+v 0.02765472 0.00042443 0.03897086
+v 0.03201540 -0.00038504 0.02519318
+v 0.03422611 0.00042444 0.03504593
+v 0.03422706 0.00040554 0.03503564
+v 0.03325032 -0.00188755 0.02973528
+v 0.03196130 -0.00188753 0.02519317
+v 0.03422706 0.00035724 0.03503564
+v 0.03275673 -0.00590783 0.02998948
+v 0.03260391 -0.00641706 0.02958391
+v 0.03226409 -0.00793740 0.02973526
+v 0.03120193 -0.00720241 0.02519315
+v 0.03132817 -0.00662493 0.02519316
+v 0.03134146 -0.00656089 0.02519316
+v 0.03161483 -0.00491350 0.02519316
+v 0.03180847 -0.00340996 0.02519317
+v 0.03278331 -0.00465943 0.02887416
+v 0.03310035 -0.00340054 0.02973528
+v 0.03427642 -0.00000289 0.03580270
+v 0.03417485 -0.00075991 0.03580270
+v 0.03273775 -0.00730220 0.03624498
+v 0.03213880 -0.00945041 0.03580267
+v 0.03187966 -0.01030193 0.03580266
+v 0.02536333 -0.01030194 0.03861521
+v 0.02811604 0.00042442 0.03963947
+v 0.02800783 0.00042442 0.03948370
+v 0.03422896 0.00042444 0.03506503
+v 0.03286399 -0.00340054 0.02877278
+v 0.03180942 -0.00340052 0.02519317
+v 0.03427167 0.00042444 0.03586589
+v 0.03429066 -0.00010789 0.03672699
+v 0.03273775 -0.00730220 0.03666525
+v 0.03199641 -0.00945042 0.03732062
+v 0.03172209 -0.01030194 0.03734853
+v 0.02576675 -0.01030194 0.03902960
+v 0.02626318 -0.01030195 0.03948366
+v 0.02651852 -0.01030195 0.03966294
+v 0.02680138 -0.01030195 0.03975699
+v 0.02881276 0.00042442 0.03987018
+v 0.03427832 0.00042444 0.03635375
+v 0.03428306 0.00042444 0.03671083
+v 0.03397267 0.00042443 0.03736915
+v 0.03400494 -0.00051738 0.03726776
+v 0.03268934 -0.00555403 0.03801863
+v 0.03260391 -0.00642444 0.03773209
+v 0.03243875 -0.00785868 0.03723099
+v 0.03146770 -0.01030194 0.03804065
+v 0.02737471 -0.01030195 0.03989659
+v 0.03043876 0.00042442 0.04019492
+v 0.03359204 0.00042443 0.03805833
+v 0.03319527 -0.00037459 0.03874309
+v 0.03277477 -0.00454607 0.03818027
+v 0.03168033 -0.00793743 0.03869604
+v 0.03148004 -0.00945042 0.03847268
+v 0.03135095 -0.01030194 0.03830222
+v 0.02807333 -0.01030195 0.03997888
+v 0.03043876 -0.00037460 0.04020227
+v 0.03115067 0.00042442 0.04003328
+v 0.03319242 0.00042443 0.03872840
+v 0.03290101 0.00042443 0.03908695
+v 0.03257638 -0.00037460 0.03950134
+v 0.03112884 -0.00692423 0.03956155
+v 0.03098456 -0.00793743 0.03945429
+v 0.03076719 -0.00945042 0.03923240
+v 0.03062101 -0.01030194 0.03907075
+v 0.02899691 -0.01030195 0.03992156
+v 0.02892572 -0.00945043 0.04000386
+v 0.03022709 -0.00793744 0.03982165
+v 0.03181891 -0.00037460 0.03988634
+v 0.03180278 0.00042442 0.03988487
+v 0.03255930 0.00042442 0.03948664
+v 0.03123420 -0.00591522 0.03962328
+v 0.03001067 -0.00945043 0.03976287
+v 0.02988442 -0.01030195 0.03970702
+v 0.03011033 -0.01030195 0.03954832
+v 0.02951708 -0.01030195 0.03980695
+f 1 2 5
+f 1 5 12
+f 1 12 23
+f 1 23 27
+f 1 27 49
+f 1 49 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 19
+f 1 19 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 43
+f 1 43 54
+f 1 54 67
+f 1 67 75
+f 1 75 85
+f 1 85 95
+f 1 95 94
+f 1 94 96
+f 1 96 86
+f 1 86 76
+f 1 76 68
+f 1 68 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 44
+f 1 44 21
+f 1 21 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 10
+f 2 10 22
+f 2 22 46
+f 2 46 45
+f 2 45 59
+f 2 59 69
+f 2 69 78
+f 2 78 90
+f 2 90 91
+f 2 91 80
+f 2 80 79
+f 2 79 70
+f 2 70 62
+f 2 62 61
+f 2 61 60
+f 2 60 50
+f 2 50 47
+f 2 47 24
+f 2 24 13
+f 2 13 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 5 13 14
+f 5 14 12
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 15 19
+f 8 19 16
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 12 14 23
+f 13 24 25
+f 13 25 14
+f 14 26 27
+f 14 27 23
+f 14 25 28
+f 14 28 26
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 16 19 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 26
+f 16 26 38
+f 16 38 39
+f 16 39 40
+f 16 40 29
+f 17 31 41
+f 17 41 42
+f 17 42 43
+f 17 43 18
+f 21 44 45
+f 21 45 46
+f 21 46 22
+f 24 47 25
+f 25 47 28
+f 26 37 48
+f 26 48 27
+f 26 28 38
+f 27 48 37
+f 27 37 49
+f 28 47 39
+f 28 39 38
+f 29 31 30
+f 29 40 41
+f 29 41 31
+f 36 49 37
+f 39 50 51
+f 39 51 40
+f 39 47 50
+f 40 51 52
+f 40 52 41
+f 41 52 42
+f 42 52 43
+f 43 52 53
+f 43 53 54
+f 44 55 45
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 50 60 51
+f 51 60 61
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 51 64 65
+f 51 65 52
+f 52 65 66
+f 52 66 53
+f 53 66 65
+f 53 65 67
+f 53 67 54
+f 58 68 59
+f 59 68 69
+f 62 70 71
+f 62 71 63
+f 63 71 64
+f 64 71 72
+f 64 72 73
+f 64 73 74
+f 64 74 75
+f 64 75 65
+f 65 75 67
+f 68 76 77
+f 68 77 69
+f 69 77 78
+f 70 79 71
+f 71 80 81
+f 71 81 73
+f 71 73 72
+f 71 79 80
+f 73 81 82
+f 73 82 83
+f 73 83 74
+f 74 83 84
+f 74 84 75
+f 75 84 85
+f 76 86 87
+f 76 87 77
+f 77 87 88
+f 77 88 89
+f 77 89 90
+f 77 90 78
+f 80 91 81
+f 81 91 90
+f 81 90 89
+f 81 89 92
+f 81 92 82
+f 82 92 93
+f 82 93 94
+f 82 94 83
+f 83 94 95
+f 83 95 84
+f 84 95 85
+f 86 96 87
+f 87 96 93
+f 87 93 88
+f 88 93 92
+f 88 92 89
+f 93 96 94
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_15.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.02743102 0.00042448 0.02517736
+v 0.02518923 0.01155977 0.02518181
+v 0.02525787 0.01134940 0.02517740
+v 0.02745712 0.00042448 0.02517736
+v 0.02667989 0.00042444 0.03583567
+v 0.02440814 0.01155973 0.03580336
+v 0.02567645 0.01155977 0.02517740
+v 0.03201900 0.00042666 0.02517736
+v 0.03201900 0.00042448 0.02518324
+v 0.02673306 0.00042444 0.03658689
+v 0.02677850 0.00042443 0.03719258
+v 0.02452898 0.01155972 0.03714116
+v 0.02990579 0.01155977 0.02517740
+v 0.03202287 0.00113842 0.02517736
+v 0.03332405 0.00042446 0.02973470
+v 0.02454541 0.01155972 0.03732052
+v 0.02765433 0.00042443 0.03897141
+v 0.02493306 0.01155972 0.03836282
+v 0.03017453 0.01155977 0.02518181
+v 0.03060568 0.01021800 0.02517740
+v 0.03197163 0.00265132 0.02517737
+v 0.03332018 0.00113840 0.02973470
+v 0.03422599 0.00042444 0.03504621
+v 0.02800814 0.00042442 0.03948301
+v 0.02811641 0.00042442 0.03963884
+v 0.02567645 0.01155972 0.03913022
+v 0.03128914 0.01155975 0.02899234
+v 0.03132104 0.01135265 0.02880711
+v 0.03101556 0.00876505 0.02517739
+v 0.03182759 0.00416858 0.02517738
+v 0.03277206 0.00567710 0.02888941
+v 0.03286777 0.00416420 0.02876592
+v 0.03324575 0.00265130 0.02973471
+v 0.03422889 0.00042444 0.03506533
+v 0.02881244 0.00042442 0.03987112
+v 0.02643048 0.01155971 0.03970063
+v 0.03139451 0.01155975 0.02949659
+v 0.03144284 0.01155975 0.02973474
+v 0.03186046 0.01021362 0.02973474
+v 0.03271213 0.00644118 0.02897321
+v 0.03121373 0.00801078 0.02517739
+v 0.03163909 0.00567712 0.02517738
+v 0.03311428 0.00416420 0.02973472
+v 0.03426659 0.00100213 0.03594886
+v 0.03427142 0.00042444 0.03586507
+v 0.03043940 0.00042442 0.04019601
+v 0.02740299 0.01155971 0.03994319
+v 0.03171739 0.01155973 0.03580336
+v 0.03226551 0.00870072 0.02973473
+v 0.03213017 0.01021360 0.03580336
+v 0.03274306 0.00807832 0.03624291
+v 0.03258259 0.00739601 0.02973473
+v 0.03275176 0.00663956 0.02973472
+v 0.03422502 0.00189701 0.03655309
+v 0.03291514 0.00567710 0.02973472
+v 0.03138871 0.00718784 0.02517739
+v 0.03427432 0.00113838 0.03668833
+v 0.03428399 0.00042444 0.03671038
+v 0.03427916 0.00042444 0.03635461
+v 0.03115090 0.00042442 0.04003430
+v 0.03178699 0.00113836 0.03988288
+v 0.03043940 0.00113836 0.04018867
+v 0.02892555 0.01021358 0.03999612
+v 0.02904735 0.01155971 0.03987410
+v 0.03170192 0.01155973 0.03597095
+v 0.03274306 0.00807832 0.03667954
+v 0.03422502 0.00189701 0.03656485
+v 0.03394758 0.00113837 0.03744691
+v 0.03397271 0.00042443 0.03736899
+v 0.03180246 0.00042442 0.03988435
+v 0.03022383 0.00870068 0.03981822
+v 0.03255939 0.00042442 0.03948742
+v 0.03254392 0.00113837 0.03947419
+v 0.03124564 0.00672236 0.03963151
+v 0.03000052 0.01021358 0.03975943
+v 0.02966314 0.01155971 0.03971680
+v 0.03155692 0.01155972 0.03736462
+v 0.03198227 0.01021359 0.03732052
+v 0.03243178 0.00862984 0.03723965
+v 0.03260772 0.00718779 0.03775419
+v 0.03269473 0.00633651 0.03803350
+v 0.03319065 0.00113837 0.03871561
+v 0.03359279 0.00042443 0.03805847
+v 0.03290063 0.00042443 0.03908608
+v 0.03174929 0.00721177 0.03896997
+v 0.03113156 0.00773168 0.03956243
+v 0.02982458 0.01147251 0.03968152
+v 0.02995895 0.01155971 0.03952568
+v 0.03140418 0.01155972 0.03779389
+v 0.03131427 0.01131665 0.03825110
+v 0.03147571 0.01021359 0.03846867
+v 0.03167485 0.00870069 0.03869359
+v 0.03319258 0.00042443 0.03872884
+v 0.03098076 0.00870069 0.03945217
+v 0.03075842 0.01021359 0.03922725
+v 0.03053511 0.01155972 0.03898468
+v 0.03096529 0.01155972 0.03853189
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 29
+f 1 29 41
+f 1 41 56
+f 1 56 42
+f 1 42 30
+f 1 30 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 34
+f 1 34 45
+f 1 45 59
+f 1 59 58
+f 1 58 69
+f 1 69 83
+f 1 83 93
+f 1 93 84
+f 1 84 72
+f 1 72 70
+f 1 70 60
+f 1 60 46
+f 1 46 35
+f 1 35 25
+f 1 25 24
+f 1 24 17
+f 1 17 11
+f 1 11 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 12
+f 2 12 16
+f 2 16 18
+f 2 18 26
+f 2 26 36
+f 2 36 47
+f 2 47 64
+f 2 64 76
+f 2 76 88
+f 2 88 96
+f 2 96 97
+f 2 97 89
+f 2 89 77
+f 2 77 65
+f 2 65 48
+f 2 48 38
+f 2 38 37
+f 2 37 27
+f 2 27 19
+f 2 19 13
+f 2 13 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 8 14 15
+f 8 15 9
+f 11 16 12
+f 11 17 18
+f 11 18 16
+f 13 19 20
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 23 33 34
+f 25 35 36
+f 25 36 26
+f 27 37 28
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 30 42 40
+f 30 40 31
+f 31 40 43
+f 31 43 33
+f 31 33 32
+f 33 43 34
+f 34 44 45
+f 34 43 44
+f 35 46 47
+f 35 47 36
+f 38 48 39
+f 39 49 40
+f 39 48 50
+f 39 50 51
+f 39 51 49
+f 40 49 52
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 43
+f 40 42 56
+f 40 56 41
+f 43 55 54
+f 43 54 44
+f 44 54 57
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 46 60 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 48 65 66
+f 48 66 50
+f 49 51 52
+f 50 66 51
+f 51 66 67
+f 51 67 54
+f 51 54 52
+f 52 54 53
+f 54 67 57
+f 57 67 68
+f 57 68 58
+f 58 68 69
+f 60 70 61
+f 61 71 62
+f 61 70 72
+f 61 72 73
+f 61 73 74
+f 61 74 71
+f 62 71 63
+f 63 71 64
+f 64 71 75
+f 64 75 76
+f 65 77 66
+f 66 78 79
+f 66 79 80
+f 66 80 67
+f 66 77 78
+f 67 80 81
+f 67 81 68
+f 68 81 82
+f 68 82 83
+f 68 83 69
+f 71 74 75
+f 72 84 82
+f 72 82 73
+f 73 82 85
+f 73 85 86
+f 73 86 74
+f 74 86 75
+f 75 86 87
+f 75 87 76
+f 76 87 88
+f 77 89 78
+f 78 89 90
+f 78 90 80
+f 78 80 79
+f 80 90 81
+f 81 90 91
+f 81 91 92
+f 81 92 82
+f 82 92 85
+f 82 84 93
+f 82 93 83
+f 85 92 86
+f 86 92 94
+f 86 94 87
+f 87 94 95
+f 87 95 96
+f 87 96 88
+f 89 97 90
+f 90 97 96
+f 90 96 95
+f 90 95 91
+f 91 95 94
+f 91 94 92
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_16.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.03171825 0.01155973 0.03580344
+v 0.03060010 0.01626407 0.03580346
+v 0.03155639 0.01155972 0.03736592
+v 0.03144174 0.01155975 0.02973500
+v 0.02822623 0.02014584 0.03489460
+v 0.02830311 0.02027232 0.03580347
+v 0.02828827 0.02024774 0.03690709
+v 0.02988929 0.01724770 0.03705462
+v 0.03022918 0.01640874 0.03746479
+v 0.03070935 0.01475267 0.03732019
+v 0.03142016 0.01163164 0.02973500
+v 0.03115850 0.01238779 0.02973501
+v 0.03082400 0.01324039 0.02973501
+v 0.02972743 0.01560257 0.02891468
+v 0.02815609 0.01851526 0.02906961
+v 0.03140398 0.01155972 0.03779379
+v 0.03139454 0.01155975 0.02949598
+v 0.02785261 0.02085559 0.03562495
+v 0.02694488 0.02046979 0.02973504
+v 0.02667107 0.02085561 0.02973504
+v 0.02788498 0.02085559 0.03580348
+v 0.02773257 0.02085558 0.03686579
+v 0.02764895 0.02085558 0.03737186
+v 0.02771773 0.02077186 0.03737628
+v 0.02809944 0.01970542 0.03791923
+v 0.02967348 0.01700930 0.03806529
+v 0.02992031 0.01600200 0.03841054
+v 0.03128798 0.01155975 0.02899286
+v 0.02977059 0.01269718 0.02517741
+v 0.02888579 0.01475272 0.02517741
+v 0.02836515 0.01588285 0.02517742
+v 0.02795647 0.01663537 0.02517742
+v 0.02727938 0.01777733 0.02517743
+v 0.02673581 0.01865177 0.02517743
+v 0.02681674 0.02028326 0.02878043
+v 0.02656991 0.02085561 0.02935881
+v 0.03096562 0.01155972 0.03853151
+v 0.02699883 0.02085558 0.03845335
+v 0.02701906 0.02080280 0.03847548
+v 0.02658745 0.01993836 0.03955401
+v 0.02907192 0.01644696 0.03896383
+v 0.02847036 0.01588552 0.03976351
+v 0.02943879 0.01475267 0.03937841
+v 0.03017388 0.01155977 0.02518183
+v 0.03011993 0.01172720 0.02517740
+v 0.02619900 0.01940611 0.02517743
+v 0.02543963 0.02046163 0.02517744
+v 0.02514829 0.02085563 0.02517744
+v 0.03053536 0.01155972 0.03898446
+v 0.02600747 0.02085558 0.03922647
+v 0.02557855 0.02038513 0.03979302
+v 0.02600882 0.01937602 0.03994057
+v 0.02868212 0.01475266 0.03988006
+v 0.02968022 0.01248147 0.03959677
+v 0.02995808 0.01155971 0.03952594
+v 0.02990547 0.01155977 0.02517740
+v 0.01886697 0.02085563 0.02517744
+v 0.02439971 0.02085557 0.03989042
+v 0.02438353 0.01928957 0.04024303
+v 0.02741021 0.01475266 0.04025039
+v 0.02966269 0.01155971 0.03971627
+v 0.02567567 0.01155977 0.02517740
+v 0.01794036 0.02085559 0.03580348
+v 0.02501206 0.01210391 0.02517740
+v 0.02518875 0.01155977 0.02518183
+v 0.02287018 0.02085557 0.04002910
+v 0.02286883 0.02080279 0.04003501
+v 0.02129749 0.02085557 0.03985058
+v 0.02438353 0.01777727 0.04016484
+v 0.02589687 0.01475266 0.04012498
+v 0.02741021 0.01324035 0.04014416
+v 0.02904629 0.01155971 0.03987414
+v 0.02440915 0.01155973 0.03580344
+v 0.02452919 0.01155972 0.03714165
+v 0.02454673 0.01155972 0.03732018
+v 0.01815347 0.02085558 0.03740727
+v 0.02105201 0.02085557 0.03980631
+v 0.02588877 0.01324581 0.03987120
+v 0.02740077 0.01155971 0.03994349
+v 0.02493113 0.01155972 0.03836183
+v 0.01819797 0.02085558 0.03753711
+v 0.02074719 0.02020406 0.03952893
+v 0.02500127 0.01375356 0.03969711
+v 0.01990015 0.02085558 0.03926631
+v 0.02642964 0.01155971 0.03970005
+v 0.02567432 0.01155972 0.03912905
+v 0.01920552 0.02085558 0.03879122
+v 0.01836792 0.02085558 0.03776137
+v 0.01961285 0.02085558 0.03911434
+f 1 2 3
+f 1 3 16
+f 1 16 37
+f 1 37 49
+f 1 49 55
+f 1 55 61
+f 1 61 72
+f 1 72 79
+f 1 79 85
+f 1 85 86
+f 1 86 80
+f 1 80 75
+f 1 75 74
+f 1 74 73
+f 1 73 65
+f 1 65 62
+f 1 62 56
+f 1 56 44
+f 1 44 28
+f 1 28 17
+f 1 17 4
+f 1 4 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 2 4 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 5
+f 3 10 9
+f 3 9 16
+f 4 17 11
+f 5 18 6
+f 5 15 19
+f 5 19 20
+f 5 20 18
+f 6 21 7
+f 6 18 21
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 9
+f 7 9 8
+f 7 21 22
+f 9 26 27
+f 9 27 16
+f 11 17 12
+f 12 17 28
+f 12 28 14
+f 12 14 13
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 20
+f 15 20 19
+f 16 27 37
+f 18 20 36
+f 18 36 48
+f 18 48 57
+f 18 57 63
+f 18 63 76
+f 18 76 81
+f 18 81 88
+f 18 88 87
+f 18 87 89
+f 18 89 84
+f 18 84 77
+f 18 77 68
+f 18 68 66
+f 18 66 58
+f 18 58 50
+f 18 50 38
+f 18 38 23
+f 18 23 22
+f 18 22 21
+f 23 38 24
+f 24 38 25
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 26 40 27
+f 27 41 42
+f 27 42 43
+f 27 43 37
+f 27 40 41
+f 28 44 45
+f 28 45 29
+f 29 45 56
+f 29 56 62
+f 29 62 64
+f 29 64 57
+f 29 57 48
+f 29 48 47
+f 29 47 46
+f 29 46 34
+f 29 34 33
+f 29 33 32
+f 29 32 31
+f 29 31 30
+f 34 46 35
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 37 43 49
+f 38 50 40
+f 38 40 39
+f 40 51 52
+f 40 52 42
+f 40 42 41
+f 40 50 51
+f 42 52 53
+f 42 53 43
+f 43 53 54
+f 43 54 55
+f 43 55 49
+f 44 56 45
+f 50 58 51
+f 51 58 59
+f 51 59 52
+f 52 59 60
+f 52 60 53
+f 53 60 61
+f 53 61 54
+f 54 61 55
+f 57 64 65
+f 57 65 63
+f 58 66 59
+f 59 66 67
+f 59 67 68
+f 59 68 69
+f 59 69 60
+f 60 69 70
+f 60 70 71
+f 60 71 72
+f 60 72 61
+f 62 65 64
+f 63 73 74
+f 63 74 75
+f 63 75 76
+f 63 65 73
+f 66 68 67
+f 68 77 69
+f 69 77 70
+f 70 78 79
+f 70 79 71
+f 70 77 78
+f 71 79 72
+f 75 80 81
+f 75 81 76
+f 77 82 83
+f 77 83 78
+f 77 84 82
+f 78 83 85
+f 78 85 79
+f 80 86 87
+f 80 87 88
+f 80 88 81
+f 82 84 89
+f 82 89 83
+f 83 89 85
+f 85 89 86
+f 86 89 87
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_17.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.03134829 -0.01091815 0.02622094
+v -0.03181716 -0.00945046 0.02622095
+v -0.02632891 -0.01091815 0.02622094
+v -0.03244458 -0.01091816 0.02916023
+v -0.03250683 -0.01053879 0.02882345
+v -0.03208953 -0.00850149 0.02622095
+v -0.02859833 0.00037988 0.02622098
+v -0.02554487 -0.01091818 0.03580274
+v -0.03256325 -0.01091816 0.02973522
+v -0.03260216 -0.01080534 0.02973522
+v -0.03302628 -0.00945047 0.02973523
+v -0.03343289 -0.00793742 0.02973523
+v -0.03388814 -0.00554067 0.02915478
+v -0.03242318 -0.00726495 0.02622095
+v -0.03223252 -0.00798387 0.02622095
+v -0.03324709 0.00037988 0.02622098
+v -0.02787558 0.00037985 0.03543999
+v -0.02783861 0.00037985 0.03619843
+v -0.02783861 0.00037985 0.03664610
+v -0.02566549 -0.01091819 0.03727307
+v -0.03285994 -0.01091818 0.03580274
+v -0.03331032 -0.00945049 0.03580275
+v -0.03393386 -0.00727494 0.03635173
+v -0.03394553 -0.00584372 0.03016649
+v -0.03378211 -0.00637793 0.02969006
+v -0.03403697 -0.00498766 0.02969006
+v -0.03426848 -0.00340052 0.02973525
+v -0.03396693 -0.00453308 0.02889466
+v -0.03258076 -0.00646751 0.02622096
+v -0.03324807 -0.00037553 0.02622098
+v -0.03415467 -0.00037554 0.02865100
+v -0.03415273 0.00037987 0.02865237
+v -0.02567035 -0.01091819 0.03732099
+v -0.02799425 0.00037984 0.03740454
+v -0.03269847 -0.01091819 0.03734973
+v -0.03393386 -0.00727494 0.03664333
+v -0.03548247 -0.00007915 0.03607521
+v -0.03538909 -0.00050054 0.03566314
+v -0.03441440 -0.00188747 0.02973525
+v -0.03404378 -0.00340052 0.02879610
+v -0.03302142 -0.00340051 0.02622097
+v -0.03282492 -0.00491355 0.02622096
+v -0.03322764 -0.00085333 0.02622098
+v -0.03411868 -0.00188747 0.02870027
+v -0.03448638 -0.00037554 0.02973526
+v -0.03432101 0.00037987 0.02919176
+v -0.02608864 -0.01091819 0.03843400
+v -0.02840183 0.00037984 0.03816298
+v -0.03316247 -0.00945050 0.03732100
+v -0.03264399 -0.01091819 0.03750033
+v -0.03250391 -0.01051891 0.03823686
+v -0.03361966 -0.00784234 0.03721832
+v -0.03378892 -0.00642441 0.03769064
+v -0.03548247 -0.00007915 0.03671044
+v -0.03548247 0.00037985 0.03607521
+v -0.03317511 -0.00188746 0.02622097
+v -0.03448638 0.00037987 0.02973526
+v -0.02883957 0.00037984 0.03897481
+v -0.02930941 0.00037983 0.03964426
+v -0.02682209 -0.01091819 0.03919518
+v -0.03194264 -0.01091819 0.03869412
+v -0.03170626 -0.01091819 0.03894875
+v -0.03195918 -0.00945050 0.03921162
+v -0.03266442 -0.00945050 0.03845318
+v -0.03388036 -0.00548098 0.03798361
+v -0.03520135 -0.00050055 0.03725805
+v -0.03548247 0.00037985 0.03671044
+v -0.03000589 0.00037983 0.03987699
+v -0.02757889 -0.01091820 0.03971404
+v -0.03137455 -0.01091819 0.03926774
+v -0.03102436 -0.01069257 0.03968255
+v -0.03216637 -0.00793745 0.03943751
+v -0.03286383 -0.00793745 0.03867907
+v -0.03439299 -0.00037557 0.03873523
+v -0.03519843 0.00037984 0.03725805
+v -0.03085413 0.00037983 0.04004812
+v -0.02861000 -0.01091820 0.03996320
+v -0.03061095 -0.01091820 0.03977291
+v -0.03120238 -0.00945051 0.03976607
+v -0.03230937 -0.00687236 0.03954840
+v -0.03377043 -0.00037558 0.03949367
+v -0.03438910 0.00037984 0.03873112
+v -0.03164012 0.00037983 0.04020419
+v -0.03164012 -0.00037558 0.04020419
+v -0.03012652 -0.00945051 0.04000155
+v -0.03025686 -0.01091820 0.03986600
+v -0.03242999 -0.00586478 0.03961960
+v -0.03140860 -0.00793746 0.03982083
+v -0.03301266 -0.00037558 0.03989205
+v -0.03300683 0.00037983 0.03988932
+v -0.03338620 0.00037983 0.03968944
+v -0.03376460 0.00037983 0.03948956
+v -0.03232688 0.00037983 0.04004812
+f 1 2 6
+f 1 6 15
+f 1 15 14
+f 1 14 29
+f 1 29 42
+f 1 42 41
+f 1 41 56
+f 1 56 43
+f 1 43 30
+f 1 30 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 33
+f 1 33 47
+f 1 47 60
+f 1 60 69
+f 1 69 77
+f 1 77 86
+f 1 86 78
+f 1 78 70
+f 1 70 62
+f 1 62 61
+f 1 61 50
+f 1 50 35
+f 1 35 21
+f 1 21 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 14
+f 5 14 15
+f 5 15 6
+f 7 16 32
+f 7 32 46
+f 7 46 57
+f 7 57 55
+f 7 55 67
+f 7 67 75
+f 7 75 82
+f 7 82 92
+f 7 92 91
+f 7 91 90
+f 7 90 93
+f 7 93 83
+f 7 83 76
+f 7 76 68
+f 7 68 59
+f 7 59 58
+f 7 58 48
+f 7 48 34
+f 7 34 19
+f 7 19 18
+f 7 18 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 9 21 10
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 24 25
+f 12 25 13
+f 12 23 24
+f 13 25 24
+f 13 24 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 16 30 31
+f 16 31 32
+f 19 33 20
+f 19 34 33
+f 21 35 36
+f 21 36 22
+f 22 36 23
+f 23 36 54
+f 23 54 37
+f 23 37 38
+f 23 38 24
+f 24 38 26
+f 26 38 27
+f 27 39 28
+f 27 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 33 34 47
+f 34 48 47
+f 35 49 36
+f 35 50 51
+f 35 51 49
+f 36 49 52
+f 36 52 53
+f 36 53 54
+f 37 54 67
+f 37 67 55
+f 37 55 57
+f 37 57 45
+f 37 45 39
+f 37 39 38
+f 39 45 44
+f 39 44 40
+f 40 44 56
+f 40 56 41
+f 43 56 44
+f 45 57 46
+f 47 48 58
+f 47 58 59
+f 47 59 60
+f 49 51 53
+f 49 53 52
+f 50 61 51
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 51 64 53
+f 53 64 65
+f 53 65 66
+f 53 66 54
+f 54 66 67
+f 59 68 69
+f 59 69 60
+f 62 70 71
+f 62 71 63
+f 63 72 64
+f 63 71 72
+f 64 73 65
+f 64 72 73
+f 65 73 74
+f 65 74 66
+f 66 75 67
+f 66 74 75
+f 68 76 77
+f 68 77 69
+f 70 78 71
+f 71 78 79
+f 71 79 80
+f 71 80 72
+f 72 80 73
+f 73 80 81
+f 73 81 74
+f 74 81 82
+f 74 82 75
+f 76 83 77
+f 77 83 84
+f 77 84 85
+f 77 85 86
+f 78 86 79
+f 79 87 80
+f 79 86 85
+f 79 85 88
+f 79 88 89
+f 79 89 87
+f 80 87 81
+f 81 87 89
+f 81 89 90
+f 81 90 91
+f 81 91 92
+f 81 92 82
+f 83 93 84
+f 84 93 89
+f 84 89 88
+f 84 88 85
+f 89 93 90
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_18.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.03145559 0.01143921 0.02670150
+v -0.03231362 0.01143920 0.02864428
+v -0.03136323 0.01172713 0.02670150
+v -0.02640781 0.01143921 0.02670150
+v -0.03255858 0.01143920 0.02936570
+v -0.03091480 0.01557538 0.02893075
+v -0.03099244 0.01271803 0.02670151
+v -0.02019279 0.02071792 0.02670154
+v -0.01925846 0.02071789 0.03580276
+v -0.02563277 0.01143918 0.03580272
+v -0.03263488 0.01143920 0.02973436
+v -0.03260007 0.01155274 0.02973436
+v -0.03233102 0.01230840 0.02973437
+v -0.03196827 0.01324027 0.02973437
+v -0.03174071 0.01626473 0.03580274
+v -0.02942497 0.02014115 0.03490894
+v -0.02934064 0.01848724 0.02920261
+v -0.02916127 0.01665258 0.02670152
+v -0.02957891 0.01589873 0.02670152
+v -0.03009292 0.01475252 0.02670151
+v -0.02643592 0.02071792 0.02670154
+v -0.01927051 0.02071789 0.03596455
+v -0.02566356 0.01143918 0.03614884
+v -0.03293338 0.01143918 0.03580272
+v -0.03277275 0.01143917 0.03734103
+v -0.03140339 0.01640731 0.03746173
+v -0.03107945 0.01724018 0.03705063
+v -0.02949457 0.02025194 0.03688222
+v -0.02950528 0.02027193 0.03580275
+v -0.02918135 0.02071789 0.03580276
+v -0.02791907 0.02071791 0.02973440
+v -0.02812521 0.02043272 0.02973440
+v -0.02800473 0.02026196 0.02879814
+v -0.02795119 0.01867162 0.02670153
+v -0.02850001 0.01777700 0.02670153
+v -0.02664608 0.02044362 0.02670154
+v -0.02723238 0.02071792 0.02831411
+v -0.01949271 0.02071788 0.03748562
+v -0.02576797 0.01143917 0.03732114
+v -0.03247425 0.01143917 0.03818312
+v -0.03111827 0.01599860 0.03840726
+v -0.03087331 0.01700676 0.03806246
+v -0.02895513 0.02071788 0.03730792
+v -0.02917198 0.02071789 0.03623508
+v -0.02740371 0.01942729 0.02670153
+v -0.01949807 0.02071788 0.03750418
+v -0.02584427 0.01143917 0.03758504
+v -0.03227748 0.01143917 0.03842315
+v -0.03061496 0.01475248 0.03935278
+v -0.02966725 0.01588687 0.03976256
+v -0.03026961 0.01644637 0.03896290
+v -0.02778253 0.01993132 0.03954906
+v -0.02826710 0.02071788 0.03840993
+v -0.02890828 0.02071788 0.03738748
+v -0.01950744 0.02071788 0.03752938
+v -0.02614143 0.01143917 0.03836082
+v -0.03174606 0.01143917 0.03898941
+v -0.03102591 0.01143916 0.03968165
+v -0.02985733 0.01475247 0.03987792
+v -0.02861111 0.01475247 0.04024924
+v -0.02720560 0.01937184 0.03992834
+v -0.02677324 0.02036456 0.03978379
+v -0.02653096 0.02071787 0.03966445
+v -0.02728458 0.02071788 0.03924274
+v -0.02821222 0.02071788 0.03847093
+v -0.01998799 0.02071788 0.03830251
+v -0.02628065 0.01143917 0.03852261
+v -0.03101252 0.01143916 0.03968562
+v -0.03049985 0.01143916 0.03982620
+v -0.03022945 0.01143916 0.03988587
+v -0.02861111 0.01324023 0.04014846
+v -0.02709718 0.01475247 0.04013121
+v -0.02558459 0.01777695 0.04015643
+v -0.02558459 0.01929009 0.04022672
+v -0.02558191 0.02071787 0.03990713
+v -0.02589380 0.02071787 0.03985408
+v -0.02073492 0.02071788 0.03894436
+v -0.02707442 0.01143917 0.03932227
+v -0.02686828 0.01143917 0.03913528
+v -0.02889890 0.01143916 0.03997605
+v -0.02859371 0.01143916 0.03994157
+v -0.02706907 0.01322751 0.03987394
+v -0.02170806 0.02071787 0.03961671
+v -0.02250719 0.02071787 0.03983287
+v -0.02252326 0.02071787 0.03983684
+v -0.02415498 0.02071787 0.04003842
+v -0.02082995 0.02071788 0.03901995
+v -0.02087145 0.02071788 0.03904912
+v -0.02762324 0.01143916 0.03970021
+v -0.02774505 0.01143916 0.03973867
+v -0.02619498 0.01372342 0.03969757
+f 1 2 3
+f 1 3 7
+f 1 7 20
+f 1 20 19
+f 1 19 18
+f 1 18 35
+f 1 35 34
+f 1 34 45
+f 1 45 36
+f 1 36 21
+f 1 21 8
+f 1 8 4
+f 1 4 10
+f 1 10 23
+f 1 23 39
+f 1 39 47
+f 1 47 56
+f 1 56 67
+f 1 67 79
+f 1 79 78
+f 1 78 89
+f 1 89 90
+f 1 90 81
+f 1 81 80
+f 1 80 70
+f 1 70 69
+f 1 69 68
+f 1 68 58
+f 1 58 57
+f 1 57 48
+f 1 48 40
+f 1 40 25
+f 1 25 24
+f 1 24 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 8 21 37
+f 8 37 31
+f 8 31 30
+f 8 30 44
+f 8 44 43
+f 8 43 54
+f 8 54 53
+f 8 53 65
+f 8 65 64
+f 8 64 63
+f 8 63 76
+f 8 76 75
+f 8 75 86
+f 8 86 85
+f 8 85 84
+f 8 84 83
+f 8 83 88
+f 8 88 87
+f 8 87 77
+f 8 77 66
+f 8 66 55
+f 8 55 46
+f 8 46 38
+f 8 38 22
+f 8 22 9
+f 9 22 10
+f 10 22 23
+f 11 24 15
+f 11 15 12
+f 12 15 13
+f 13 15 14
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 21 36 33
+f 21 33 37
+f 22 38 39
+f 22 39 23
+f 25 40 26
+f 26 41 42
+f 26 42 28
+f 26 28 27
+f 26 40 41
+f 28 43 44
+f 28 44 29
+f 28 42 43
+f 29 44 30
+f 31 37 33
+f 31 33 32
+f 33 45 34
+f 33 36 45
+f 38 46 39
+f 39 46 47
+f 40 48 41
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 41 52 42
+f 41 48 49
+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 46 55 47
+f 47 55 56
+f 48 57 49
+f 49 57 58
+f 49 58 59
+f 49 59 50
+f 50 59 60
+f 50 60 61
+f 50 61 52
+f 50 52 51
+f 52 61 62
+f 52 62 63
+f 52 63 64
+f 52 64 65
+f 52 65 53
+f 55 66 56
+f 56 66 67
+f 58 68 60
+f 58 60 59
+f 60 68 69
+f 60 69 70
+f 60 70 71
+f 60 71 72
+f 60 72 73
+f 60 73 74
+f 60 74 61
+f 61 74 62
+f 62 74 75
+f 62 75 76
+f 62 76 63
+f 66 77 78
+f 66 78 79
+f 66 79 67
+f 70 80 71
+f 71 80 81
+f 71 81 72
+f 72 81 82
+f 72 82 83
+f 72 83 84
+f 72 84 85
+f 72 85 73
+f 73 85 74
+f 74 85 86
+f 74 86 75
+f 77 87 78
+f 78 87 88
+f 78 88 89
+f 81 90 82
+f 82 91 83
+f 82 90 91
+f 83 91 89
+f 83 89 88
+f 89 91 90
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_19.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.01649846 -0.02608950 0.04000779
+v -0.02053227 -0.02303636 0.03996359
+v -0.01952654 -0.02457788 0.04000390
+v -0.01498578 -0.02760247 0.03999478
+v -0.01128510 -0.02911409 0.03999867
+v -0.01347129 -0.02760247 0.03999998
+v -0.02053227 -0.02170554 0.03978023
+v -0.02053227 -0.02458332 0.03987645
+v -0.01128510 -0.02758888 0.03982702
+v -0.01801295 -0.02608950 0.03995837
+v -0.01651385 -0.02766092 0.03982182
+v -0.01498578 -0.02872803 0.03975938
+v -0.01346224 -0.02918206 0.03981661
+v -0.01195680 -0.02911409 0.03997787
+v -0.01128510 -0.03033616 0.03974898
+v -0.02053227 -0.02103673 0.03955524
+v -0.01128510 -0.02691463 0.03961374
+v -0.02053227 -0.02546419 0.03968528
+v -0.01941972 -0.02604056 0.03976070
+v -0.01801295 -0.02714437 0.03971778
+v -0.01601958 -0.02848742 0.03966966
+v -0.01295077 -0.02995418 0.03964884
+v -0.01195680 -0.03013225 0.03973208
+v -0.01128510 -0.03102671 0.03929902
+v -0.02046529 -0.02097012 0.03951623
+v -0.02053227 -0.02080291 0.03943950
+v -0.01128510 -0.02677734 0.03952661
+v -0.02053227 -0.02552808 0.03964757
+v -0.02050964 -0.02550361 0.03967878
+v -0.01884307 -0.02689424 0.03962545
+v -0.01702894 -0.02820467 0.03951101
+v -0.01396013 -0.02973124 0.03951620
+v -0.01128510 -0.03177708 0.03855644
+v -0.02053227 -0.02003079 0.03884779
+v -0.01128510 -0.02613707 0.03886727
+v -0.02053227 -0.01952782 0.03836532
+v -0.02053227 -0.02627436 0.03909485
+v -0.01985243 -0.02651089 0.03935365
+v -0.01801295 -0.02790152 0.03921060
+v -0.01801295 -0.02866685 0.03845241
+v -0.01649846 -0.02910456 0.03887506
+v -0.01498578 -0.02948519 0.03927691
+v -0.01498578 -0.03022196 0.03851873
+v -0.01128510 -0.03241054 0.03732099
+v -0.01286115 -0.03144267 0.03816630
+v -0.01128510 -0.02538941 0.03786202
+v -0.01130864 -0.02538397 0.03787632
+v -0.02031682 -0.01931712 0.03798038
+v -0.02053227 -0.01899903 0.03772809
+v -0.02053227 -0.02703017 0.03840951
+v -0.01935454 -0.02748420 0.03875543
+v -0.01885574 -0.02841400 0.03815591
+v -0.01596708 -0.02998679 0.03823913
+v -0.01128510 -0.03247714 0.03667465
+v -0.01387051 -0.03123197 0.03763441
+v -0.01340793 -0.03156774 0.03720525
+v -0.01426973 -0.03140188 0.03662264
+v -0.01128510 -0.02518687 0.03701281
+v -0.02053227 -0.01883183 0.03722610
+v -0.02053227 -0.02708318 0.03835879
+v -0.01986148 -0.02807280 0.03732101
+v -0.01910469 -0.02857305 0.03732101
+v -0.01788531 -0.02934925 0.03721306
+v -0.01697644 -0.02972307 0.03764612
+v -0.02053227 -0.02761198 0.03726769
+v -0.01485905 -0.03092883 0.03720526
+v -0.01128510 -0.03254511 0.03580334
+v -0.01426973 -0.03140188 0.03637554
+v -0.01648307 -0.03012545 0.03721306
+v -0.01729509 -0.02989298 0.03663435
+v -0.01128510 -0.02511753 0.03580337
+v -0.02053227 -0.01865782 0.03580339
+v -0.01999998 -0.02816523 0.03580336
+v -0.02053227 -0.02777781 0.03580075
+v -0.01195680 -0.03198231 0.02973403
+v -0.01128510 -0.03219437 0.02973403
+v -0.01313544 -0.03155275 0.02973403
+v -0.01389224 -0.03123194 0.02973404
+v -0.01729509 -0.02989298 0.03635345
+v -0.01623684 -0.03012270 0.02973404
+v -0.01498578 -0.03072762 0.02973404
+v -0.01924319 -0.02866412 0.03580335
+v -0.01128510 -0.02578767 0.02672346
+v -0.02053227 -0.01962158 0.02672348
+v -0.02053227 -0.02746921 0.02973405
+v -0.01977548 -0.02800888 0.02973405
+v -0.01901869 -0.02851865 0.02973405
+v -0.01293357 -0.03146847 0.02886401
+v -0.01128510 -0.03200406 0.02913581
+v -0.01699364 -0.02972304 0.02973404
+v -0.01801295 -0.02912764 0.02973404
+v -0.01602049 -0.03000987 0.02880160
+v -0.01128510 -0.03086082 0.02672344
+v -0.02053227 -0.02594807 0.02672345
+v -0.02053227 -0.02716608 0.02881071
+v -0.01888924 -0.02843572 0.02888094
+v -0.01195680 -0.03163975 0.02865724
+v -0.01498578 -0.02939407 0.02672344
+v -0.01407962 -0.02980732 0.02672344
+v -0.01332464 -0.03013764 0.02672344
+v -0.01195680 -0.03064469 0.02672344
+v -0.01128510 -0.03174170 0.02852979
+v -0.01635634 -0.02870487 0.02672344
+v -0.01980535 -0.02649861 0.02672345
+v -0.02053227 -0.02711170 0.02869107
+v -0.01905037 -0.02705052 0.02672345
+v -0.01801295 -0.02772477 0.02672345
+v -0.01711132 -0.02827667 0.02672345
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 16
+f 2 16 26
+f 2 26 34
+f 2 34 36
+f 2 36 49
+f 2 49 59
+f 2 59 72
+f 2 72 84
+f 2 84 94
+f 2 94 105
+f 2 105 95
+f 2 95 85
+f 2 85 74
+f 2 74 65
+f 2 65 60
+f 2 60 50
+f 2 50 37
+f 2 37 28
+f 2 28 18
+f 2 18 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 8 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 9 6
+f 5 14 15
+f 5 15 24
+f 5 24 33
+f 5 33 44
+f 5 44 54
+f 5 54 67
+f 5 67 76
+f 5 76 89
+f 5 89 102
+f 5 102 93
+f 5 93 83
+f 5 83 71
+f 5 71 58
+f 5 58 46
+f 5 46 35
+f 5 35 27
+f 5 27 17
+f 5 17 9
+f 7 9 17
+f 7 17 16
+f 8 18 19
+f 8 19 10
+f 10 20 11
+f 10 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 15
+f 13 15 14
+f 15 23 22
+f 15 22 24
+f 16 25 26
+f 16 17 25
+f 17 27 26
+f 17 26 25
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 24
+f 24 32 33
+f 26 27 34
+f 27 35 36
+f 27 36 34
+f 28 37 38
+f 28 38 29
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 31 39 40
+f 32 43 33
+f 32 42 43
+f 33 43 45
+f 33 45 44
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 49
+f 37 50 38
+f 38 50 51
+f 38 51 39
+f 39 51 40
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 41 53 43
+f 41 43 42
+f 43 53 45
+f 44 45 55
+f 44 55 56
+f 44 56 57
+f 44 57 54
+f 45 53 55
+f 46 58 59
+f 46 59 49
+f 46 49 48
+f 46 48 47
+f 50 60 51
+f 51 60 52
+f 52 61 62
+f 52 62 63
+f 52 63 64
+f 52 64 53
+f 52 60 65
+f 52 65 61
+f 53 64 66
+f 53 66 55
+f 54 57 67
+f 55 57 56
+f 55 66 57
+f 57 68 67
+f 57 66 69
+f 57 69 70
+f 57 70 79
+f 57 79 68
+f 58 71 72
+f 58 72 59
+f 61 73 70
+f 61 70 62
+f 61 65 73
+f 62 70 63
+f 63 70 64
+f 64 70 69
+f 64 69 66
+f 65 74 73
+f 67 75 76
+f 67 68 77
+f 67 77 75
+f 68 78 77
+f 68 79 80
+f 68 80 81
+f 68 81 78
+f 70 73 82
+f 70 82 79
+f 71 83 72
+f 72 83 84
+f 73 74 85
+f 73 85 86
+f 73 86 87
+f 73 87 82
+f 75 77 88
+f 75 88 76
+f 76 88 89
+f 77 78 88
+f 78 81 88
+f 79 90 80
+f 79 82 87
+f 79 87 91
+f 79 91 90
+f 80 90 92
+f 80 92 81
+f 81 92 88
+f 83 93 101
+f 83 101 100
+f 83 100 99
+f 83 99 98
+f 83 98 103
+f 83 103 108
+f 83 108 107
+f 83 107 106
+f 83 106 104
+f 83 104 94
+f 83 94 84
+f 85 95 96
+f 85 96 86
+f 86 96 87
+f 87 96 91
+f 88 97 89
+f 88 92 98
+f 88 98 99
+f 88 99 100
+f 88 100 101
+f 88 101 93
+f 88 93 97
+f 89 97 102
+f 90 91 96
+f 90 96 92
+f 92 96 103
+f 92 103 98
+f 93 102 97
+f 94 104 105
+f 95 105 96
+f 96 105 104
+f 96 104 106
+f 96 106 107
+f 96 107 108
+f 96 108 103
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_2.obj

@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v -0.01179343 -0.01700723 -0.02998852
+v -0.01202655 -0.01550103 -0.02998852
+v -0.01183228 -0.01826523 -0.02998853
+v -0.01267292 -0.01807652 -0.03181099
+v -0.01267292 -0.01744072 -0.03181098
+v -0.01274003 -0.01643092 -0.03166128
+v -0.01244157 -0.01447082 -0.02998851
+v -0.01405573 -0.01591752 -0.03347506
+v -0.01184288 -0.01853213 -0.02998853
+v -0.01300317 -0.01855932 -0.03238377
+v -0.01381201 -0.01852702 -0.03393937
+v -0.01305791 -0.01696642 -0.03238376
+v -0.01388266 -0.01701402 -0.03375060
+v -0.01373254 -0.01273342 -0.02998851
+v -0.01433300 -0.01490941 -0.03311490
+v -0.01396919 -0.01439771 -0.03210170
+v -0.02322325 -0.02358278 -0.05006600
+v -0.02345107 -0.02257467 -0.04977744
+v -0.01212191 -0.01972214 -0.02998853
+v -0.01393917 -0.02003833 -0.03380051
+v -0.01432063 -0.02003832 -0.03455987
+v -0.01426765 -0.01852701 -0.03469873
+v -0.02199056 -0.02457558 -0.04801573
+v -0.02261750 -0.02457558 -0.04916996
+v -0.02318087 -0.02457558 -0.05014628
+v -0.01539792 -0.01138361 -0.02998850
+v -0.01486104 -0.01386221 -0.03261589
+v -0.01588005 -0.01332841 -0.03312792
+v -0.01538733 -0.01295101 -0.03211689
+v -0.01583943 -0.01484480 -0.03467267
+v -0.01534317 -0.01433821 -0.03366164
+v -0.02504405 -0.02241486 -0.05134605
+v -0.02155964 -0.02306428 -0.04728891
+v -0.02365947 -0.02457557 -0.05090564
+v -0.02457074 -0.02342297 -0.05167584
+v -0.01221728 -0.01999584 -0.02998853
+v -0.01411048 -0.02101243 -0.03349895
+v -0.02173271 -0.02543239 -0.04703725
+v -0.02160556 -0.02457559 -0.04725854
+v -0.02322679 -0.02552418 -0.05008119
+v -0.01652466 -0.01091271 -0.02998850
+v -0.01689023 -0.01303091 -0.03351411
+v -0.01721518 -0.01170320 -0.03175238
+v -0.02556150 -0.02297586 -0.05179082
+v -0.02605246 -0.02222276 -0.05153698
+v -0.01874280 -0.01322300 -0.03477030
+v -0.01814765 -0.01290001 -0.03401095
+v -0.02454602 -0.02608857 -0.05167369
+v -0.02441710 -0.02457557 -0.05179517
+v -0.02558269 -0.02457557 -0.05215099
+v -0.01660236 -0.02582855 -0.02998855
+v -0.01440011 -0.02203243 -0.03248141
+v -0.01537673 -0.02278383 -0.03399796
+v -0.01559219 -0.02251862 -0.03512398
+v -0.02155434 -0.02564149 -0.04613469
+v -0.02329037 -0.02686549 -0.04846919
+v -0.02347933 -0.02653228 -0.04948022
+v -0.02379369 -0.02605287 -0.05062794
+v -0.01801343 -0.01069001 -0.02998850
+v -0.01801343 -0.01163180 -0.03189992
+v -0.01801343 -0.01206701 -0.03265711
+v -0.02709795 -0.02306426 -0.05190147
+v -0.02709795 -0.02221936 -0.05154132
+v -0.02558269 -0.02064007 -0.04869915
+v -0.02558269 -0.02106677 -0.04945850
+v -0.01952869 -0.01266881 -0.03399793
+v -0.02474382 -0.02693517 -0.05151530
+v -0.02558269 -0.02608857 -0.05194271
+v -0.02709795 -0.02457557 -0.05212495
+v -0.02709795 -0.02608857 -0.05194271
+v -0.01597365 -0.02354033 -0.03399797
+v -0.01675247 -0.02595945 -0.02998856
+v -0.02318087 -0.02694539 -0.04765125
+v -0.02401797 -0.02722759 -0.04905281
+v -0.02451070 -0.02713067 -0.05068652
+v -0.01952869 -0.01072911 -0.02998850
+v -0.01952869 -0.01196501 -0.03273087
+v -0.01952869 -0.01160630 -0.03197151
+v -0.02861145 -0.02457557 -0.05195789
+v -0.02850019 -0.02310166 -0.05168017
+v -0.02792093 -0.02227546 -0.05148057
+v -0.02709795 -0.02175356 -0.05068650
+v -0.02558269 -0.02711027 -0.05159992
+v -0.02558269 -0.02767468 -0.05068652
+v -0.02709795 -0.02717657 -0.05162378
+v -0.02813109 -0.02702527 -0.05154568
+v -0.02862558 -0.02611747 -0.05170189
+v -0.01953223 -0.02727865 -0.02998856
+v -0.02406919 -0.02741969 -0.04765125
+v -0.02558269 -0.02795009 -0.04916997
+v -0.02102806 -0.01109461 -0.02998850
+v -0.02043291 -0.01166920 -0.03184784
+v -0.02111460 -0.01286600 -0.03412159
+v -0.02665997 -0.02068597 -0.04862972
+v -0.02950330 -0.02563127 -0.05156953
+v -0.02956158 -0.02457557 -0.05163462
+v -0.02949094 -0.02363037 -0.05157387
+v -0.02893817 -0.02266986 -0.05068650
+v -0.02818054 -0.02208846 -0.05068650
+v -0.02766838 -0.02086447 -0.04817844
+v -0.02639154 -0.01925627 -0.04544474
+v -0.02166914 -0.01325360 -0.03470955
+v -0.02709795 -0.02781408 -0.05068652
+v -0.02842778 -0.02727008 -0.05068652
+v -0.02918365 -0.02666827 -0.05068652
+v -0.01992959 -0.02742656 -0.02998856
+v -0.02709795 -0.02795179 -0.04916997
+v -0.02111107 -0.02785836 -0.02998856
+v -0.02255393 -0.02805726 -0.02998856
+v -0.02114815 -0.01115071 -0.02998850
+v -0.02223074 -0.01302071 -0.03369852
+v -0.02961280 -0.02591177 -0.05068652
+v -0.02983355 -0.02457557 -0.05068651
+v -0.02958807 -0.02342637 -0.05068651
+v -0.02700082 -0.01409002 -0.02998851
+v -0.02699376 -0.01408492 -0.02998851
+v -0.02324092 -0.01327061 -0.03304981
+v -0.02843308 -0.02730918 -0.04916997
+v -0.02919071 -0.02656459 -0.04916997
+v -0.02403387 -0.02788216 -0.02998856
+v -0.02452659 -0.02769856 -0.02998856
+v -0.02560035 -0.02729736 -0.02998856
+v -0.02956864 -0.02580978 -0.04916996
+v -0.02946268 -0.02263594 -0.02998854
+v -0.02956511 -0.02209024 -0.02998854
+v -0.02978587 -0.02457558 -0.04916996
+v -0.02963575 -0.02155134 -0.02998854
+v -0.02956158 -0.02008934 -0.02998853
+v -0.02952979 -0.01990574 -0.02998853
+v -0.02945385 -0.01950624 -0.02998853
+v -0.02938851 -0.01926823 -0.02998853
+v -0.02613193 -0.02700326 -0.02998856
+v -0.02656637 -0.02671425 -0.02998856
+v -0.02712444 -0.02626885 -0.02998856
+v -0.02798627 -0.02548345 -0.02998855
+v -0.02827414 -0.02505845 -0.02998855
+v -0.02862558 -0.02453825 -0.02998855
+v -0.02911124 -0.02358965 -0.02998855
+v -0.02921191 -0.02338395 -0.02998855
+f 1 2 7
+f 1 7 14
+f 1 14 26
+f 1 26 41
+f 1 41 59
+f 1 59 76
+f 1 76 91
+f 1 91 110
+f 1 110 116
+f 1 116 115
+f 1 115 131
+f 1 131 130
+f 1 130 129
+f 1 129 128
+f 1 128 127
+f 1 127 125
+f 1 125 124
+f 1 124 139
+f 1 139 138
+f 1 138 137
+f 1 137 136
+f 1 136 135
+f 1 135 134
+f 1 134 133
+f 1 133 132
+f 1 132 122
+f 1 122 121
+f 1 121 120
+f 1 120 109
+f 1 109 108
+f 1 108 106
+f 1 106 88
+f 1 88 72
+f 1 72 51
+f 1 51 36
+f 1 36 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 8
+f 7 8 15
+f 7 15 16
+f 7 16 14
+f 8 13 17
+f 8 17 18
+f 8 18 15
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 22 12
+f 11 21 23
+f 11 23 24
+f 11 24 25
+f 11 25 22
+f 12 22 13
+f 13 22 17
+f 14 16 15
+f 14 15 27
+f 14 27 28
+f 14 28 29
+f 14 29 26
+f 15 30 31
+f 15 31 27
+f 15 18 32
+f 15 32 30
+f 17 33 25
+f 17 25 34
+f 17 34 35
+f 17 35 18
+f 17 22 33
+f 18 35 32
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 23
+f 22 25 33
+f 23 39 40
+f 23 40 24
+f 24 40 25
+f 25 40 34
+f 26 29 28
+f 26 28 42
+f 26 42 43
+f 26 43 41
+f 27 31 28
+f 28 31 30
+f 28 30 32
+f 28 32 42
+f 32 35 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 42
+f 34 40 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 44
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 38
+f 38 55 56
+f 38 56 57
+f 38 57 40
+f 38 40 39
+f 38 54 55
+f 40 57 58
+f 40 58 48
+f 41 43 60
+f 41 60 59
+f 42 47 43
+f 43 47 46
+f 43 46 61
+f 43 61 60
+f 44 50 62
+f 44 62 45
+f 45 62 63
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 46
+f 46 66 61
+f 48 67 68
+f 48 68 50
+f 48 50 49
+f 48 58 67
+f 50 69 62
+f 50 68 70
+f 50 70 69
+f 51 71 53
+f 51 53 52
+f 51 72 56
+f 51 56 71
+f 53 71 55
+f 53 55 54
+f 55 71 56
+f 56 73 74
+f 56 74 75
+f 56 75 57
+f 56 72 73
+f 57 75 67
+f 57 67 58
+f 59 60 77
+f 59 77 78
+f 59 78 76
+f 60 61 66
+f 60 66 77
+f 62 69 79
+f 62 79 80
+f 62 80 81
+f 62 81 63
+f 63 81 82
+f 63 82 64
+f 64 82 77
+f 64 77 66
+f 64 66 65
+f 67 83 68
+f 67 75 84
+f 67 84 83
+f 68 83 85
+f 68 85 70
+f 69 70 79
+f 70 85 86
+f 70 86 87
+f 70 87 79
+f 72 88 89
+f 72 89 74
+f 72 74 73
+f 74 89 90
+f 74 90 84
+f 74 84 75
+f 76 78 92
+f 76 92 91
+f 77 93 92
+f 77 92 78
+f 77 82 94
+f 77 94 93
+f 79 87 95
+f 79 95 96
+f 79 96 97
+f 79 97 80
+f 80 97 81
+f 81 98 99
+f 81 99 100
+f 81 100 101
+f 81 101 102
+f 81 102 94
+f 81 94 82
+f 81 97 98
+f 83 84 103
+f 83 103 85
+f 84 90 103
+f 85 103 86
+f 86 95 87
+f 86 103 104
+f 86 104 105
+f 86 105 95
+f 88 106 90
+f 88 90 89
+f 90 107 103
+f 90 106 108
+f 90 108 109
+f 90 109 107
+f 91 92 102
+f 91 102 111
+f 91 111 101
+f 91 101 110
+f 92 93 94
+f 92 94 102
+f 95 105 112
+f 95 112 113
+f 95 113 96
+f 96 113 97
+f 97 113 114
+f 97 114 98
+f 98 114 115
+f 98 115 99
+f 99 115 116
+f 99 116 100
+f 100 116 117
+f 100 117 101
+f 101 117 110
+f 101 111 102
+f 103 107 104
+f 104 107 118
+f 104 118 105
+f 105 118 119
+f 105 119 112
+f 107 109 120
+f 107 120 121
+f 107 121 122
+f 107 122 118
+f 110 117 116
+f 112 119 123
+f 112 123 124
+f 112 124 125
+f 112 125 126
+f 112 126 113
+f 113 127 128
+f 113 128 129
+f 113 129 130
+f 113 130 114
+f 113 126 125
+f 113 125 127
+f 114 130 131
+f 114 131 115
+f 118 122 132
+f 118 132 133
+f 118 133 134
+f 118 134 135
+f 118 135 119
+f 119 135 136
+f 119 136 137
+f 119 137 138
+f 119 138 123
+f 123 138 139
+f 123 139 124
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_20.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.03324455 0.00038099 0.02670146
+v -0.03325805 0.00038316 0.02670146
+v -0.02859901 0.00038099 0.02670146
+v -0.03415283 0.00038098 0.02865240
+v -0.03325709 0.00113870 0.02670146
+v -0.02640833 0.01143921 0.02670150
+v -0.02563215 0.01143918 0.03580325
+v -0.02787585 0.00038096 0.03543972
+v -0.03432061 0.00038098 0.02919169
+v -0.03415187 0.00113869 0.02865505
+v -0.03317609 0.00265195 0.02670147
+v -0.03411330 0.00265194 0.02870925
+v -0.03145595 0.01143921 0.02670150
+v -0.02576810 0.01143917 0.03732065
+v -0.02783825 0.00038096 0.03664650
+v -0.02783825 0.00038096 0.03619842
+v -0.03448645 0.00038098 0.02973494
+v -0.03448741 0.00113869 0.02973494
+v -0.03304303 0.00416412 0.02670148
+v -0.03404966 0.00416411 0.02878724
+v -0.03441124 0.00265194 0.02973495
+v -0.03185128 0.01021389 0.02670150
+v -0.03249922 0.01127467 0.02882956
+v -0.03231409 0.01143920 0.02864451
+v -0.02584427 0.01143917 0.03758500
+v -0.02799445 0.00038095 0.03740520
+v -0.03548151 0.00038096 0.03607549
+v -0.03548151 0.00083559 0.03607549
+v -0.03287912 0.00567738 0.02670148
+v -0.03397928 0.00537645 0.02887845
+v -0.03427240 0.00416411 0.02973496
+v -0.03223792 0.00886192 0.02670149
+v -0.03390310 0.00638312 0.02904631
+v -0.03301989 0.01021388 0.02973498
+v -0.03255900 0.01143920 0.02936488
+v -0.03244523 0.00810638 0.02670149
+v -0.02614221 0.01143917 0.03836088
+v -0.02883910 0.00038095 0.03897547
+v -0.03548151 0.00038096 0.03670995
+v -0.03548151 0.00083559 0.03670995
+v -0.03393107 0.00802949 0.03634913
+v -0.03537738 0.00125990 0.03566310
+v -0.03263903 0.00718847 0.02670149
+v -0.03395614 0.00664615 0.03005747
+v -0.03378547 0.00716572 0.02962526
+v -0.03342293 0.00870063 0.02973497
+v -0.03263517 0.01143920 0.02973498
+v -0.03350007 0.00870063 0.03125236
+v -0.03330626 0.01021386 0.03580325
+v -0.03293311 0.01143918 0.03580325
+v -0.02628202 0.01143917 0.03852214
+v -0.02930963 0.00038094 0.03964429
+v -0.03519803 0.00038095 0.03725716
+v -0.03519514 0.00125989 0.03725716
+v -0.03388479 0.00627484 0.03799473
+v -0.03379029 0.00718843 0.03769205
+v -0.03393107 0.00802949 0.03663463
+v -0.03277306 0.01143917 0.03734047
+v -0.02686922 0.01143917 0.03913544
+v -0.02762419 0.01143916 0.03969984
+v -0.03000578 0.00038094 0.03987692
+v -0.02707460 0.01143917 0.03932181
+v -0.03438907 0.00038095 0.03873094
+v -0.03438521 0.00113866 0.03872565
+v -0.03396578 0.00526709 0.03816524
+v -0.03286369 0.00870060 0.03868074
+v -0.03266603 0.01021385 0.03845473
+v -0.03250308 0.01128114 0.03824060
+v -0.03316452 0.01021385 0.03732065
+v -0.03361866 0.00860101 0.03721225
+v -0.03255804 0.01143917 0.03794849
+v -0.02774569 0.01143916 0.03973817
+v -0.02859515 0.01143916 0.03994172
+v -0.03085332 0.00038094 0.04004743
+v -0.03376426 0.00038094 0.03948964
+v -0.03375847 0.00113865 0.03948435
+v -0.03231699 0.00766577 0.03955311
+v -0.03216657 0.00870060 0.03943944
+v -0.03195637 0.01021385 0.03921343
+v -0.03227842 0.01143917 0.03842301
+v -0.03247512 0.01143917 0.03818244
+v -0.02890081 0.01143916 0.03997609
+v -0.03164012 0.00038094 0.04020472
+v -0.03338629 0.00038094 0.03968922
+v -0.03300157 0.00113865 0.03988617
+v -0.03243462 0.00665694 0.03962316
+v -0.03119851 0.01021384 0.03976064
+v -0.03102688 0.01143050 0.03968265
+v -0.03102591 0.01143916 0.03968134
+v -0.03174618 0.01143917 0.03899005
+v -0.03023044 0.01143916 0.03988621
+v -0.03012728 0.01021384 0.03999724
+v -0.03164012 0.00113865 0.04020339
+v -0.03232759 0.00038094 0.04004743
+v -0.03300736 0.00038094 0.03988881
+v -0.03140967 0.00870059 0.03981615
+v -0.03050042 0.01143916 0.03982541
+v -0.03101242 0.01143916 0.03968530
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 29
+f 1 29 43
+f 1 43 36
+f 1 36 32
+f 1 32 22
+f 1 22 13
+f 1 13 6
+f 1 6 3
+f 1 3 8
+f 1 8 16
+f 1 16 15
+f 1 15 26
+f 1 26 38
+f 1 38 52
+f 1 52 61
+f 1 61 74
+f 1 74 83
+f 1 83 94
+f 1 94 95
+f 1 95 84
+f 1 84 75
+f 1 75 63
+f 1 63 53
+f 1 53 39
+f 1 39 27
+f 1 27 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 12
+f 5 12 11
+f 6 13 24
+f 6 24 35
+f 6 35 47
+f 6 47 50
+f 6 50 58
+f 6 58 71
+f 6 71 81
+f 6 81 80
+f 6 80 90
+f 6 90 89
+f 6 89 98
+f 6 98 97
+f 6 97 91
+f 6 91 82
+f 6 82 73
+f 6 73 72
+f 6 72 60
+f 6 60 62
+f 6 62 59
+f 6 59 51
+f 6 51 37
+f 6 37 25
+f 6 25 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 9 18 10
+f 10 18 12
+f 11 12 20
+f 11 20 19
+f 12 18 21
+f 12 21 20
+f 13 22 23
+f 13 23 24
+f 14 25 26
+f 14 26 15
+f 17 27 18
+f 18 27 28
+f 18 28 21
+f 19 20 30
+f 19 30 29
+f 20 21 30
+f 21 31 30
+f 21 28 31
+f 22 32 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 23 32 36
+f 23 36 33
+f 25 37 26
+f 26 37 38
+f 27 39 40
+f 27 40 28
+f 28 40 57
+f 28 57 41
+f 28 41 42
+f 28 42 31
+f 29 30 33
+f 29 33 43
+f 30 31 33
+f 31 42 33
+f 33 44 45
+f 33 45 46
+f 33 46 34
+f 33 36 43
+f 33 42 44
+f 34 47 35
+f 34 46 48
+f 34 48 41
+f 34 41 49
+f 34 49 50
+f 34 50 47
+f 37 51 52
+f 37 52 38
+f 39 53 40
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 41 57 49
+f 41 48 46
+f 41 46 44
+f 41 44 42
+f 44 46 45
+f 49 57 50
+f 50 57 58
+f 51 59 52
+f 52 60 61
+f 52 59 62
+f 52 62 60
+f 53 63 54
+f 54 63 64
+f 54 64 55
+f 55 64 65
+f 55 65 66
+f 55 66 67
+f 55 67 68
+f 55 68 56
+f 56 69 70
+f 56 70 57
+f 56 68 69
+f 57 70 69
+f 57 69 58
+f 58 69 71
+f 60 72 61
+f 61 73 74
+f 61 72 73
+f 63 75 64
+f 64 75 76
+f 64 76 66
+f 64 66 65
+f 66 76 77
+f 66 77 78
+f 66 78 67
+f 67 78 79
+f 67 79 68
+f 68 79 80
+f 68 80 81
+f 68 81 69
+f 69 81 71
+f 73 82 83
+f 73 83 74
+f 75 84 85
+f 75 85 76
+f 76 85 86
+f 76 86 77
+f 77 86 87
+f 77 87 88
+f 77 88 78
+f 78 88 89
+f 78 89 79
+f 79 90 80
+f 79 89 90
+f 82 91 92
+f 82 92 93
+f 82 93 83
+f 83 93 94
+f 84 95 85
+f 85 95 94
+f 85 94 93
+f 85 93 96
+f 85 96 86
+f 86 96 87
+f 87 96 92
+f 87 92 91
+f 87 91 97
+f 87 97 88
+f 88 97 98
+f 88 98 89
+f 92 96 93
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_21.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.00053133 0.03139104 0.04003158
+v -0.00741411 0.03139104 0.04028632
+v -0.00741411 0.02987900 0.04013022
+v -0.00053133 0.03083708 0.03992702
+v -0.00053133 0.03209825 0.03992113
+v -0.00892745 0.02987900 0.04009635
+v -0.00053133 0.03268475 0.03982837
+v -0.00741411 0.03268903 0.03989758
+v -0.00892745 0.03139104 0.04007133
+v -0.01044176 0.02987900 0.04003598
+v -0.01044176 0.02854505 0.03981068
+v -0.00053133 0.03017268 0.03980038
+v -0.00053133 0.03309743 0.03962663
+v -0.00053133 0.03344163 0.03945729
+v -0.00135785 0.03343906 0.03945582
+v -0.00741411 0.03344591 0.03939987
+v -0.00892745 0.03241076 0.03974885
+v -0.01044176 0.03136278 0.03977830
+v -0.01044176 0.03127631 0.03979891
+v -0.01044176 0.02778903 0.03947789
+v -0.00053133 0.02982934 0.03962221
+v -0.00053133 0.03412659 0.03869896
+v -0.00135785 0.03412573 0.03869749
+v -0.00741411 0.03404953 0.03864153
+v -0.00892745 0.03389712 0.03841917
+v -0.00892745 0.03316679 0.03917752
+v -0.01044176 0.03198182 0.03947349
+v -0.01044176 0.02706813 0.03871955
+v -0.00053133 0.02941667 0.03940722
+v -0.00053133 0.03450246 0.03794651
+v -0.00135785 0.03481154 0.03732069
+v -0.00741411 0.03474048 0.03732069
+v -0.00978016 0.03372503 0.03817768
+v -0.00892745 0.03444852 0.03732069
+v -0.01044176 0.03265736 0.03884178
+v -0.00053133 0.02870945 0.03864887
+v -0.01044176 0.02636605 0.03741048
+v -0.00053133 0.03481411 0.03732069
+v -0.00741411 0.03495368 0.03580253
+v -0.00892745 0.03467542 0.03580253
+v -0.01044176 0.03273784 0.03875638
+v -0.01003141 0.03391425 0.03732068
+v -0.01044176 0.03363856 0.03732068
+v -0.01044176 0.03351526 0.03761518
+v -0.00053133 0.02812553 0.03732066
+v -0.01044176 0.02635577 0.03738398
+v -0.00053133 0.03494084 0.03580253
+v -0.00053133 0.03477390 0.03125246
+v -0.00135785 0.03477476 0.03125246
+v -0.00135785 0.03471482 0.02973430
+v -0.00287216 0.03462406 0.02973430
+v -0.00438647 0.03446824 0.02973430
+v -0.00589980 0.03425162 0.02973430
+v -0.00741411 0.03398449 0.02973429
+v -0.00831629 0.03369595 0.02892441
+v -0.01017207 0.03403241 0.03580253
+v -0.00930773 0.03355297 0.02973429
+v -0.01044176 0.03321562 0.02973429
+v -0.01044176 0.03383635 0.03580252
+v -0.01044176 0.02621879 0.03613528
+v -0.00053133 0.02805961 0.03663152
+v -0.00053133 0.03471054 0.02973430
+v -0.00056529 0.03334151 0.02524313
+v -0.00135785 0.03334236 0.02524313
+v -0.00287216 0.03330897 0.02524313
+v -0.00438647 0.03320452 0.02524313
+v -0.00444758 0.03319767 0.02524313
+v -0.00589980 0.03298618 0.02524313
+v -0.00596092 0.03297505 0.02524313
+v -0.00741411 0.03270107 0.02524313
+v -0.00906035 0.03232007 0.02524313
+v -0.00969770 0.03215140 0.02524313
+v -0.01026908 0.03198016 0.02524313
+v -0.01032438 0.03196047 0.02524313
+v -0.01044176 0.03191851 0.02524313
+v -0.00053133 0.02798426 0.03580250
+v -0.01044176 0.02620766 0.03580250
+v -0.00053133 0.03334065 0.02524313
+v -0.01044176 0.02705961 0.02524311
+v -0.00053133 0.02866327 0.02524312
+v -0.01044176 0.02689180 0.02524458
+v -0.01038743 0.02691235 0.02524311
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 29
+f 1 29 36
+f 1 36 45
+f 1 45 61
+f 1 61 76
+f 1 76 80
+f 1 80 78
+f 1 78 62
+f 1 62 48
+f 1 48 47
+f 1 47 38
+f 1 38 30
+f 1 30 22
+f 1 22 14
+f 1 14 13
+f 1 13 7
+f 1 7 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 6 11
+f 3 11 12
+f 3 12 4
+f 6 10 11
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 18
+f 10 18 27
+f 10 27 35
+f 10 35 41
+f 10 41 44
+f 10 44 43
+f 10 43 59
+f 10 59 58
+f 10 58 75
+f 10 75 79
+f 10 79 81
+f 10 81 77
+f 10 77 60
+f 10 60 46
+f 10 46 37
+f 10 37 28
+f 10 28 20
+f 10 20 11
+f 11 20 12
+f 12 20 21
+f 14 22 23
+f 14 23 15
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 20 28 29
+f 20 29 21
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 24 32 25
+f 25 33 26
+f 25 32 34
+f 25 34 33
+f 26 35 27
+f 26 33 35
+f 28 36 29
+f 28 37 36
+f 30 38 31
+f 31 38 39
+f 31 39 32
+f 32 39 40
+f 32 40 34
+f 33 41 35
+f 33 34 42
+f 33 42 43
+f 33 43 44
+f 33 44 41
+f 34 40 42
+f 36 37 45
+f 37 46 45
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 40 56 42
+f 40 55 57
+f 40 57 58
+f 40 58 56
+f 42 56 43
+f 43 56 59
+f 45 46 60
+f 45 60 61
+f 48 62 50
+f 48 50 49
+f 50 62 63
+f 50 63 64
+f 50 64 65
+f 50 65 51
+f 51 65 66
+f 51 66 52
+f 52 66 67
+f 52 67 55
+f 52 55 53
+f 53 55 54
+f 55 67 68
+f 55 68 69
+f 55 69 70
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 58
+f 55 58 57
+f 56 58 59
+f 58 73 74
+f 58 74 75
+f 60 76 61
+f 60 77 76
+f 62 78 63
+f 63 78 80
+f 63 80 82
+f 63 82 79
+f 63 79 75
+f 63 75 74
+f 63 74 73
+f 63 73 72
+f 63 72 71
+f 63 71 70
+f 63 70 69
+f 63 69 68
+f 63 68 67
+f 63 67 66
+f 63 66 65
+f 63 65 64
+f 76 77 80
+f 77 81 80
+f 79 82 81
+f 80 81 82
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_22.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01950549 -0.01974169 -0.02169229
+v -0.01950549 -0.02732018 -0.02169232
+v -0.01950549 -0.02060445 -0.01848312
+v -0.01929561 -0.01981838 -0.02169229
+v -0.01946277 -0.02736126 -0.02169232
+v -0.01950549 -0.02653550 -0.01848314
+v -0.00053319 -0.02789125 -0.01848314
+v -0.00053319 -0.02733935 -0.02169232
+v -0.01366243 -0.03118611 -0.02169233
+v -0.01890930 -0.02694496 -0.01848314
+v -0.00053319 -0.03255145 -0.01848316
+v -0.00053319 -0.03373053 -0.02169234
+v -0.01346927 -0.03127238 -0.02169233
+v -0.01329840 -0.02998375 -0.01848315
+v -0.01388530 -0.02970986 -0.01848315
+v -0.01474338 -0.02930177 -0.01848315
+v -0.01498482 -0.02918126 -0.01848315
+v -0.01589676 -0.02872250 -0.01848315
+v -0.01615492 -0.02858555 -0.01848315
+v -0.01632394 -0.02849380 -0.01848314
+v -0.01691084 -0.02815829 -0.01848314
+v -0.01801222 -0.02750095 -0.01848314
+v -0.00135783 -0.03257336 -0.01848316
+v -0.00135783 -0.03372779 -0.02169234
+v -0.00749248 -0.03249803 -0.02169234
+v -0.00741448 -0.03192014 -0.01848316
+v -0.00848057 -0.03164899 -0.01848316
+v -0.00877031 -0.03157093 -0.01848316
+v -0.00893932 -0.03152026 -0.01848316
+v -0.01044187 -0.03105191 -0.01848315
+v -0.01195557 -0.03053563 -0.01848315
+v -0.01312938 -0.03005770 -0.01848315
+v -0.00287338 -0.03251585 -0.01848316
+v -0.00438708 -0.03237069 -0.01848316
+v -0.00556275 -0.03223100 -0.01848316
+v -0.00590078 -0.03218581 -0.01848316
+v -0.00707645 -0.03198861 -0.01848316
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 24
+f 1 24 25
+f 1 25 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 10
+f 3 10 22
+f 3 22 21
+f 3 21 20
+f 3 20 19
+f 3 19 18
+f 3 18 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 32
+f 3 32 31
+f 3 31 30
+f 3 30 29
+f 3 29 28
+f 3 28 27
+f 3 27 26
+f 3 26 37
+f 3 37 36
+f 3 36 35
+f 3 35 34
+f 3 34 33
+f 3 33 23
+f 3 23 11
+f 3 11 7
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+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 12
+f 12 23 24
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 37 26
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_23.obj

@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.02741073 -0.01398972 0.04024860
+v 0.02868018 -0.01398972 0.03988014
+v 0.02988327 -0.01030195 0.03970623
+v 0.02951643 -0.01030195 0.03980645
+v 0.02899634 -0.01030195 0.03992142
+v 0.02807200 -0.01030195 0.03997890
+v 0.02741073 -0.01247653 0.04014985
+v 0.02589631 -0.01398972 0.04012185
+v 0.02438310 -0.01701441 0.04016900
+v 0.02438310 -0.01852761 0.04023237
+v 0.02601457 -0.01862282 0.03993613
+v 0.02845936 -0.01510677 0.03976222
+v 0.02943679 -0.01398971 0.03937460
+v 0.02983018 -0.01066579 0.03968265
+v 0.03011013 -0.01030195 0.03954706
+v 0.02737332 -0.01030195 0.03989636
+v 0.01955265 -0.02171892 0.03983147
+v 0.01955265 -0.02304849 0.03998623
+v 0.01955265 -0.02335113 0.04001569
+v 0.01955265 -0.02459569 0.03985504
+v 0.01984347 -0.02460079 0.03981967
+v 0.02093312 -0.02411283 0.03971355
+v 0.02558981 -0.01962255 0.03979316
+v 0.02659861 -0.01918899 0.03956176
+v 0.02992068 -0.01521217 0.03839890
+v 0.03135063 -0.01030194 0.03830312
+v 0.03062178 -0.01030194 0.03907100
+v 0.02680013 -0.01030195 0.03975782
+v 0.01955265 -0.02159480 0.03980347
+v 0.02651777 -0.01030195 0.03966349
+v 0.01955265 -0.02486433 0.03981083
+v 0.01955265 -0.02513466 0.03974303
+v 0.01955265 -0.02543900 0.03964133
+v 0.02035029 -0.02512105 0.03947331
+v 0.02194314 -0.02364697 0.03951163
+v 0.02669757 -0.02083140 0.03813653
+v 0.02699924 -0.02003909 0.03847553
+v 0.02965520 -0.01622210 0.03803338
+v 0.03020546 -0.01563042 0.03744531
+v 0.03131201 -0.01055357 0.03825301
+v 0.03146768 -0.01030194 0.03804077
+v 0.01955265 -0.02079740 0.03957944
+v 0.02626194 -0.01030195 0.03948368
+v 0.01955265 -0.02622959 0.03904883
+v 0.01988329 -0.02611398 0.03892208
+v 0.02102845 -0.02569572 0.03846225
+v 0.02148580 -0.02468919 0.03898694
+v 0.02688340 -0.02097591 0.03732002
+v 0.02769310 -0.02001189 0.03735982
+v 0.02255977 -0.02425734 0.03850056
+v 0.02203847 -0.02526557 0.03791839
+v 0.02829524 -0.01948992 0.03688081
+v 0.02987241 -0.01646863 0.03702232
+v 0.03053489 -0.01550290 0.03580343
+v 0.03172229 -0.01030194 0.03734953
+v 0.01955265 -0.02021082 0.03917414
+v 0.02576599 -0.01030194 0.03902826
+v 0.02536295 -0.01030194 0.03861558
+v 0.01955265 -0.02680597 0.03853298
+v 0.01955265 -0.02704230 0.03828095
+v 0.02699321 -0.02105752 0.03580341
+v 0.02774981 -0.02026691 0.03580342
+v 0.02224964 -0.02545939 0.03690732
+v 0.02042510 -0.02670395 0.03772088
+v 0.02066162 -0.02689777 0.03670834
+v 0.02830731 -0.01951032 0.03580342
+v 0.02972036 -0.01482619 0.02892347
+v 0.03114911 -0.01159747 0.02946586
+v 0.03138079 -0.01104150 0.02987707
+v 0.03160765 -0.01030191 0.02981074
+v 0.03188037 -0.01030193 0.03580345
+v 0.02816371 -0.01776417 0.02901041
+v 0.01955265 -0.02001869 0.03902233
+v 0.02503472 -0.01030194 0.03823090
+v 0.01955265 -0.02752176 0.03727578
+v 0.02226050 -0.02546958 0.03580340
+v 0.02211449 -0.02533525 0.03047098
+v 0.02364701 -0.02384075 0.03031328
+v 0.02358064 -0.02377445 0.02930221
+v 0.02504317 -0.02219154 0.02973406
+v 0.02564290 -0.02143494 0.02973406
+v 0.02639830 -0.02046072 0.02973406
+v 0.02822526 -0.01937940 0.03489847
+v 0.01988812 -0.02728373 0.03725662
+v 0.01955265 -0.02757617 0.03678793
+v 0.01955265 -0.02767137 0.03574149
+v 0.02066162 -0.02689777 0.03614238
+v 0.02792479 -0.01581740 0.02519165
+v 0.02833024 -0.01506080 0.02519165
+v 0.02886240 -0.01398966 0.02519166
+v 0.02945851 -0.01267029 0.02519166
+v 0.02975777 -0.01191880 0.02519167
+v 0.03132287 -0.01058924 0.02880557
+v 0.03136511 -0.01030191 0.02874957
+v 0.02695580 -0.01970412 0.02973407
+v 0.02682789 -0.01952220 0.02878343
+v 0.02668188 -0.01781006 0.02519164
+v 0.02705716 -0.01722858 0.02519165
+v 0.02710543 -0.01715037 0.02519165
+v 0.02791996 -0.01582590 0.02519165
+v 0.01955265 -0.01994218 0.03895748
+v 0.02492129 -0.01030194 0.03793760
+v 0.01955265 -0.01901896 0.03813654
+v 0.02041424 -0.02669372 0.02973404
+v 0.02146408 -0.02581811 0.02987260
+v 0.02204088 -0.02526724 0.02945844
+v 0.02284817 -0.02455485 0.02988586
+v 0.02192504 -0.02364011 0.02519162
+v 0.02266475 -0.02288351 0.02519163
+v 0.02342135 -0.02207931 0.02519163
+v 0.02406212 -0.02132271 0.02519163
+v 0.01955265 -0.02735171 0.02973404
+v 0.01965643 -0.02727520 0.02973404
+v 0.03009686 -0.01097007 0.02519167
+v 0.03031769 -0.01030189 0.02519167
+v 0.03009927 -0.01096327 0.02519167
+v 0.02481993 -0.02036038 0.02519164
+v 0.02537863 -0.01960379 0.02519164
+v 0.02628246 -0.01836093 0.02519164
+v 0.02473667 -0.01030194 0.03732006
+v 0.01955265 -0.01867722 0.03745857
+v 0.01955265 -0.02719359 0.02926683
+v 0.02028754 -0.02508189 0.02519162
+v 0.02116723 -0.02432530 0.02519162
+v 0.02536657 -0.01030189 0.02519167
+v 0.02459428 -0.01030193 0.03580345
+v 0.01955265 -0.01864491 0.03736277
+v 0.01955265 -0.01865512 0.03740109
+v 0.01955265 -0.02565147 0.02519162
+v 0.01955748 -0.01938616 0.02519164
+v 0.01955265 -0.01843238 0.03580342
+v 0.01955265 -0.01843918 0.03591102
+v 0.01955265 -0.02547805 0.02519162
+v 0.01955265 -0.01939126 0.02553505
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 3 14 15
+f 3 15 27
+f 3 27 26
+f 3 26 41
+f 3 41 55
+f 3 55 71
+f 3 71 70
+f 3 70 94
+f 3 94 115
+f 3 115 125
+f 3 125 126
+f 3 126 120
+f 3 120 102
+f 3 102 74
+f 3 74 58
+f 3 58 57
+f 3 57 43
+f 3 43 30
+f 3 30 28
+f 3 28 16
+f 3 16 6
+f 3 6 5
+f 3 5 4
+f 6 16 7
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 25 13
+f 12 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 15
+f 13 15 14
+f 16 28 17
+f 17 29 42
+f 17 42 56
+f 17 56 73
+f 17 73 101
+f 17 101 103
+f 17 103 121
+f 17 121 128
+f 17 128 127
+f 17 127 132
+f 17 132 131
+f 17 131 134
+f 17 134 133
+f 17 133 129
+f 17 129 122
+f 17 122 112
+f 17 112 86
+f 17 86 85
+f 17 85 75
+f 17 75 60
+f 17 60 59
+f 17 59 44
+f 17 44 33
+f 17 33 32
+f 17 32 31
+f 17 31 20
+f 17 20 19
+f 17 19 18
+f 17 28 30
+f 17 30 29
+f 20 31 21
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 29 30 42
+f 30 43 42
+f 33 44 34
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 35 47 36
+f 36 48 49
+f 36 49 37
+f 36 47 50
+f 36 50 46
+f 36 46 51
+f 36 51 48
+f 37 49 38
+f 38 49 52
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 41
+f 39 41 40
+f 42 43 57
+f 42 57 58
+f 42 58 56
+f 44 59 45
+f 45 59 46
+f 46 50 47
+f 46 59 60
+f 46 60 51
+f 48 61 62
+f 48 62 52
+f 48 52 49
+f 48 51 63
+f 48 63 61
+f 51 60 64
+f 51 64 65
+f 51 65 63
+f 52 62 66
+f 52 66 54
+f 52 54 53
+f 54 67 68
+f 54 68 69
+f 54 69 70
+f 54 70 71
+f 54 71 55
+f 54 66 72
+f 54 72 67
+f 56 58 74
+f 56 74 73
+f 60 75 64
+f 61 63 76
+f 61 76 77
+f 61 77 78
+f 61 78 62
+f 62 78 79
+f 62 79 80
+f 62 80 81
+f 62 81 82
+f 62 82 83
+f 62 83 66
+f 63 65 76
+f 64 75 84
+f 64 84 65
+f 65 84 75
+f 65 75 85
+f 65 85 86
+f 65 86 87
+f 65 87 76
+f 66 83 72
+f 67 88 89
+f 67 89 90
+f 67 90 91
+f 67 91 92
+f 67 92 68
+f 67 72 88
+f 68 92 93
+f 68 93 70
+f 68 70 69
+f 70 93 94
+f 72 83 95
+f 72 95 96
+f 72 96 97
+f 72 97 98
+f 72 98 99
+f 72 99 100
+f 72 100 88
+f 73 74 101
+f 74 102 103
+f 74 103 101
+f 76 87 77
+f 77 87 104
+f 77 104 105
+f 77 105 106
+f 77 106 107
+f 77 107 78
+f 78 107 79
+f 79 107 106
+f 79 106 108
+f 79 108 109
+f 79 109 110
+f 79 110 111
+f 79 111 80
+f 80 111 96
+f 80 96 81
+f 81 96 82
+f 82 96 95
+f 82 95 83
+f 86 112 87
+f 87 112 113
+f 87 113 104
+f 88 100 99
+f 88 99 98
+f 88 98 97
+f 88 97 119
+f 88 119 118
+f 88 118 117
+f 88 117 111
+f 88 111 110
+f 88 110 109
+f 88 109 108
+f 88 108 124
+f 88 124 123
+f 88 123 129
+f 88 129 133
+f 88 133 130
+f 88 130 125
+f 88 125 115
+f 88 115 116
+f 88 116 114
+f 88 114 92
+f 88 92 91
+f 88 91 90
+f 88 90 89
+f 92 114 93
+f 93 115 94
+f 93 114 116
+f 93 116 115
+f 96 111 117
+f 96 117 118
+f 96 118 119
+f 96 119 97
+f 102 120 121
+f 102 121 103
+f 104 106 105
+f 104 113 122
+f 104 122 123
+f 104 123 106
+f 106 123 124
+f 106 124 108
+f 112 122 113
+f 120 126 127
+f 120 127 128
+f 120 128 121
+f 122 129 123
+f 125 130 126
+f 126 130 131
+f 126 131 132
+f 126 132 127
+f 130 133 134
+f 130 134 131
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_24.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.01050305 -0.02911607 0.04015816
+v 0.00621286 -0.03062773 0.04028602
+v 0.01050305 -0.02935924 0.04012220
+v 0.01050305 -0.02785575 0.04005429
+v 0.00621286 -0.03195067 0.03989711
+v 0.01050305 -0.03040997 0.03984918
+v 0.00621286 -0.02911607 0.04013419
+v -0.00053133 -0.03062773 0.04002498
+v -0.00053133 -0.03193071 0.03982786
+v 0.01050305 -0.02760441 0.04000634
+v 0.00772717 -0.03169025 0.03976526
+v -0.00053133 -0.03268743 0.03946560
+v 0.00015670 -0.03268925 0.03946693
+v 0.00621286 -0.03270739 0.03943364
+v 0.01050305 -0.03054244 0.03977460
+v -0.00053133 -0.02942911 0.03979324
+v 0.01050305 -0.02680866 0.03973998
+v 0.00772717 -0.03244608 0.03922987
+v 0.01050305 -0.03113494 0.03937638
+v -0.00053133 -0.03336342 0.03870646
+v 0.00015670 -0.03336614 0.03870912
+v 0.00621286 -0.03330625 0.03867449
+v 0.00772717 -0.03317015 0.03847073
+v 0.01050305 -0.02668707 0.03969869
+v -0.00053133 -0.02901626 0.03957615
+v 0.01050305 -0.03126197 0.03927383
+v -0.00053133 -0.03367918 0.03807783
+v -0.00053133 -0.03405845 0.03732001
+v 0.00015670 -0.03406118 0.03732001
+v 0.00621286 -0.03401853 0.03732002
+v 0.00862799 -0.03298868 0.03821768
+v 0.00772717 -0.03374995 0.03732002
+v 0.01050305 -0.02603195 0.03900747
+v -0.00053133 -0.02827766 0.03898083
+v -0.00053133 -0.02867236 0.03939502
+v 0.01050305 -0.03178098 0.03863054
+v -0.00053133 -0.03412468 0.03663146
+v 0.00621286 -0.03423084 0.03580306
+v 0.00772717 -0.03396499 0.03580307
+v 0.01050305 -0.03195882 0.03829492
+v 0.00891745 -0.03319193 0.03732002
+v 0.01050305 -0.03243428 0.03732002
+v 0.01050305 -0.02587769 0.03883167
+v -0.00053133 -0.02795464 0.03863589
+v -0.00053133 -0.03420090 0.03580306
+v 0.00015670 -0.03396587 0.02973525
+v 0.00167101 -0.03388149 0.02973525
+v 0.00318532 -0.03373631 0.02973525
+v 0.00469963 -0.03354395 0.02973525
+v 0.01050305 -0.03260576 0.03580307
+v 0.00621286 -0.03327628 0.02973525
+v 0.00716336 -0.03294419 0.02890685
+v 0.00817326 -0.03280808 0.02973525
+v 0.00924041 -0.03249141 0.02973525
+v 0.01050305 -0.03208582 0.02973525
+v 0.01050305 -0.02530787 0.03802859
+v -0.00053133 -0.02763888 0.03791937
+v -0.00053133 -0.03396043 0.02973525
+v -0.00053133 -0.03369820 0.02912394
+v -0.00053133 -0.03337880 0.02838211
+v 0.00015670 -0.03338061 0.02837678
+v 0.00167101 -0.03334160 0.02843538
+v 0.00318532 -0.03327173 0.02850864
+v 0.00469963 -0.03317738 0.02859654
+v 0.00621286 -0.03304581 0.02876967
+v 0.00469963 -0.03234078 0.02668003
+v 0.00619342 -0.03208037 0.02668003
+v 0.00621286 -0.03207674 0.02668003
+v 0.00770773 -0.03172559 0.02668003
+v 0.00772717 -0.03172015 0.02668003
+v 0.00867767 -0.03145157 0.02668003
+v 0.01050305 -0.03168204 0.02856857
+v 0.01050305 -0.02514455 0.03750251
+v -0.00053133 -0.02737665 0.03732004
+v -0.00053133 -0.03262751 0.02668003
+v 0.00015670 -0.03262478 0.02668003
+v 0.00167101 -0.03256036 0.02668003
+v 0.00318532 -0.03248324 0.02668003
+v 0.00468019 -0.03234350 0.02668003
+v 0.01050305 -0.03080190 0.02668004
+v 0.01050305 -0.02510735 0.03734003
+v 0.01050305 -0.02508648 0.03723482
+v 0.01050305 -0.02496942 0.03609610
+v -0.00053133 -0.02723146 0.03580309
+v -0.00053133 -0.02790016 0.02668005
+v 0.01050305 -0.02785933 0.02668005
+v 0.01050305 -0.02496125 0.03580310
+v 0.01050305 -0.02563357 0.02668139
+v 0.00925769 -0.02615168 0.02668005
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 19
+f 1 19 26
+f 1 26 36
+f 1 36 40
+f 1 40 42
+f 1 42 50
+f 1 50 55
+f 1 55 72
+f 1 72 80
+f 1 80 86
+f 1 86 88
+f 1 88 87
+f 1 87 83
+f 1 83 82
+f 1 82 81
+f 1 81 73
+f 1 73 56
+f 1 56 43
+f 1 43 33
+f 1 33 24
+f 1 24 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 4 10 7
+f 5 11 6
+f 5 9 12
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 6 11 15
+f 7 10 16
+f 7 16 8
+f 8 16 25
+f 8 25 35
+f 8 35 34
+f 8 34 44
+f 8 44 57
+f 8 57 74
+f 8 74 84
+f 8 84 85
+f 8 85 75
+f 8 75 60
+f 8 60 59
+f 8 59 58
+f 8 58 45
+f 8 45 37
+f 8 37 28
+f 8 28 27
+f 8 27 20
+f 8 20 12
+f 8 12 9
+f 10 17 16
+f 11 14 18
+f 11 18 19
+f 11 19 15
+f 12 20 21
+f 12 21 13
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 18
+f 16 17 24
+f 16 24 25
+f 18 26 19
+f 18 23 26
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 23
+f 23 31 26
+f 23 30 32
+f 23 32 31
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 26 31 36
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 32
+f 31 40 36
+f 31 32 41
+f 31 41 42
+f 31 42 40
+f 32 39 41
+f 33 43 44
+f 33 44 34
+f 37 45 38
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 39
+f 39 50 42
+f 39 42 41
+f 39 49 51
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 50
+f 43 56 44
+f 44 56 57
+f 45 58 46
+f 46 58 59
+f 46 59 60
+f 46 60 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 48 64 65
+f 48 65 49
+f 49 65 52
+f 49 52 51
+f 52 65 66
+f 52 66 67
+f 52 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 55
+f 52 55 54
+f 52 54 53
+f 56 73 74
+f 56 74 57
+f 60 75 61
+f 61 75 76
+f 61 76 77
+f 61 77 62
+f 62 77 78
+f 62 78 63
+f 63 78 64
+f 64 78 79
+f 64 79 65
+f 65 79 66
+f 66 79 78
+f 66 78 77
+f 66 77 76
+f 66 76 75
+f 66 75 85
+f 66 85 89
+f 66 89 86
+f 66 86 80
+f 66 80 71
+f 66 71 70
+f 66 70 69
+f 66 69 68
+f 66 68 67
+f 71 80 72
+f 73 81 74
+f 74 81 82
+f 74 82 83
+f 74 83 84
+f 83 87 84
+f 84 87 85
+f 85 87 88
+f 85 88 89
+f 86 89 88
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_25.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.01227028 -0.02911511 0.04022023
+v 0.01227028 -0.02760145 0.04020698
+v 0.01075640 -0.02911511 0.04018311
+v 0.01050394 -0.02935791 0.04012214
+v 0.01050394 -0.03040956 0.03984912
+v 0.01075640 -0.03036100 0.03985839
+v 0.01227028 -0.03025556 0.03983586
+v 0.01323583 -0.03004884 0.03971260
+v 0.01934005 -0.02552451 0.03968611
+v 0.01955177 -0.02513603 0.03974310
+v 0.01955177 -0.02486549 0.03981070
+v 0.01955177 -0.02459772 0.03985577
+v 0.01955177 -0.02335322 0.04001614
+v 0.01075640 -0.02760145 0.04005721
+v 0.01955177 -0.02304938 0.03998566
+v 0.01955177 -0.02172024 0.03983191
+v 0.01050394 -0.02911511 0.04015793
+v 0.01050394 -0.02785396 0.04005324
+v 0.01050394 -0.03054275 0.03977357
+v 0.01050394 -0.03113516 0.03937728
+v 0.01050394 -0.03126142 0.03927390
+v 0.01227028 -0.03101169 0.03919702
+v 0.01326240 -0.03150699 0.03825334
+v 0.01375404 -0.03061489 0.03880736
+v 0.01941446 -0.02709643 0.03836999
+v 0.01868543 -0.02653175 0.03938259
+v 0.01767559 -0.02691746 0.03963707
+v 0.01955177 -0.02544126 0.03964105
+v 0.01050394 -0.02760284 0.04000685
+v 0.01955177 -0.02159538 0.03980409
+v 0.01955177 -0.02079901 0.03958009
+v 0.01050394 -0.03178031 0.03863107
+v 0.01227028 -0.03160272 0.03843757
+v 0.01227028 -0.03212438 0.03732026
+v 0.01377441 -0.03169013 0.03725929
+v 0.01427224 -0.03118095 0.03772584
+v 0.01770659 -0.02844776 0.03820167
+v 0.01955177 -0.02704232 0.03828119
+v 0.01955177 -0.02680646 0.03853301
+v 0.01955177 -0.02622930 0.03904859
+v 0.01050394 -0.02680786 0.03974044
+v 0.01955177 -0.02021351 0.03917453
+v 0.01050394 -0.02668577 0.03969936
+v 0.01050394 -0.03195790 0.03829575
+v 0.01050394 -0.03243378 0.03732026
+v 0.01227028 -0.03236023 0.03580269
+v 0.01378415 -0.03189129 0.03580269
+v 0.01460620 -0.03144455 0.03671323
+v 0.01955177 -0.02752097 0.03727522
+v 0.01955177 -0.02002066 0.03902211
+v 0.01050394 -0.02603090 0.03900751
+v 0.01955177 -0.01994435 0.03895717
+v 0.01955177 -0.01902034 0.03813543
+v 0.01050394 -0.03260442 0.03580269
+v 0.01050394 -0.03208551 0.02973506
+v 0.01075640 -0.03200504 0.02973506
+v 0.01197618 -0.03156523 0.02973506
+v 0.01273356 -0.03125168 0.02973507
+v 0.01378415 -0.03077025 0.02973507
+v 0.01454773 -0.03138905 0.03503132
+v 0.01459468 -0.03143345 0.03580269
+v 0.01955177 -0.02767080 0.03574174
+v 0.01955177 -0.02757647 0.03678880
+v 0.01050394 -0.02587690 0.03883123
+v 0.01955177 -0.01867765 0.03745815
+v 0.01050394 -0.02530806 0.03802805
+v 0.01050394 -0.03168176 0.02856871
+v 0.01075640 -0.03165264 0.02864293
+v 0.01176004 -0.03147782 0.02885235
+v 0.01485157 -0.03002799 0.02877814
+v 0.01507214 -0.03014591 0.02973507
+v 0.01582953 -0.02973940 0.02973507
+v 0.01681191 -0.02917196 0.02973507
+v 0.01786161 -0.02854624 0.02973508
+v 0.01861811 -0.02803151 0.02973508
+v 0.01955177 -0.02735168 0.02973508
+v 0.01955177 -0.01865407 0.03740249
+v 0.01050394 -0.02514435 0.03750187
+v 0.01050394 -0.03080076 0.02668004
+v 0.01075640 -0.03071196 0.02668004
+v 0.01218258 -0.03016117 0.02668004
+v 0.01220030 -0.03015423 0.02668004
+v 0.01295679 -0.02984206 0.02668004
+v 0.01377352 -0.02945220 0.02668004
+v 0.01520147 -0.02871965 0.02668004
+v 0.01595797 -0.02830204 0.02668005
+v 0.01771811 -0.02845467 0.02885899
+v 0.01955177 -0.02719352 0.02926721
+v 0.01955177 -0.01864436 0.03736272
+v 0.01050394 -0.02510828 0.03733885
+v 0.01050394 -0.02785807 0.02668005
+v 0.01681191 -0.02773043 0.02668005
+v 0.01779872 -0.02703812 0.02668005
+v 0.01856761 -0.02648593 0.02668005
+v 0.01942952 -0.02709640 0.02871187
+v 0.01955177 -0.02686608 0.02857801
+v 0.01955177 -0.01843901 0.03591010
+v 0.01050394 -0.02508608 0.03723414
+v 0.01050394 -0.02563267 0.02668139
+v 0.01059606 -0.02559383 0.02668006
+v 0.01927627 -0.02595178 0.02668005
+v 0.01955177 -0.02574367 0.02668006
+v 0.01955177 -0.01843207 0.03580274
+v 0.01050394 -0.02496952 0.03609696
+v 0.01050394 -0.02496259 0.03580272
+v 0.01954999 -0.01939768 0.02668008
+v 0.01955177 -0.01957388 0.02668008
+v 0.01955177 -0.01939490 0.02669996
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 2
+f 2 14 3
+f 2 13 15
+f 2 15 16
+f 2 16 14
+f 3 17 4
+f 3 14 18
+f 3 18 17
+f 4 17 18
+f 4 18 29
+f 4 29 41
+f 4 41 43
+f 4 43 51
+f 4 51 64
+f 4 64 66
+f 4 66 78
+f 4 78 90
+f 4 90 98
+f 4 98 104
+f 4 104 105
+f 4 105 99
+f 4 99 91
+f 4 91 79
+f 4 79 67
+f 4 67 55
+f 4 55 54
+f 4 54 45
+f 4 45 44
+f 4 44 32
+f 4 32 21
+f 4 21 20
+f 4 20 19
+f 4 19 5
+f 5 19 7
+f 5 7 6
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 9
+f 9 28 10
+f 9 27 28
+f 10 28 40
+f 10 40 39
+f 10 39 38
+f 10 38 49
+f 10 49 63
+f 10 63 62
+f 10 62 76
+f 10 76 88
+f 10 88 96
+f 10 96 102
+f 10 102 107
+f 10 107 108
+f 10 108 103
+f 10 103 97
+f 10 97 89
+f 10 89 77
+f 10 77 65
+f 10 65 53
+f 10 53 52
+f 10 52 50
+f 10 50 42
+f 10 42 31
+f 10 31 30
+f 10 30 16
+f 10 16 15
+f 10 15 13
+f 10 13 12
+f 10 12 11
+f 14 29 18
+f 14 16 30
+f 14 30 31
+f 14 31 29
+f 21 32 22
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 25
+f 23 25 24
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 40 28
+f 26 28 27
+f 29 31 41
+f 31 42 43
+f 31 43 41
+f 32 44 33
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 35
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 37
+f 37 49 38
+f 37 48 49
+f 42 50 43
+f 43 50 52
+f 43 52 53
+f 43 53 51
+f 45 54 46
+f 46 54 55
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 61
+f 47 61 48
+f 48 61 62
+f 48 62 63
+f 48 63 49
+f 51 53 64
+f 53 65 66
+f 53 66 64
+f 55 67 68
+f 55 68 69
+f 55 69 56
+f 56 69 57
+f 57 69 58
+f 58 69 59
+f 59 70 71
+f 59 71 60
+f 59 69 70
+f 60 71 72
+f 60 72 73
+f 60 73 74
+f 60 74 75
+f 60 75 61
+f 61 75 76
+f 61 76 62
+f 65 77 66
+f 66 77 78
+f 67 79 68
+f 68 79 69
+f 69 79 80
+f 69 80 81
+f 69 81 82
+f 69 82 83
+f 69 83 70
+f 70 72 71
+f 70 83 84
+f 70 84 85
+f 70 85 86
+f 70 86 87
+f 70 87 72
+f 72 87 73
+f 73 87 74
+f 74 87 75
+f 75 87 76
+f 76 87 88
+f 77 89 78
+f 78 89 90
+f 79 91 100
+f 79 100 106
+f 79 106 107
+f 79 107 102
+f 79 102 101
+f 79 101 94
+f 79 94 93
+f 79 93 92
+f 79 92 86
+f 79 86 85
+f 79 85 84
+f 79 84 83
+f 79 83 82
+f 79 82 81
+f 79 81 80
+f 86 92 87
+f 87 92 93
+f 87 93 94
+f 87 94 95
+f 87 95 88
+f 88 95 96
+f 89 97 98
+f 89 98 90
+f 91 99 100
+f 94 101 95
+f 95 101 102
+f 95 102 96
+f 97 103 104
+f 97 104 98
+f 99 105 103
+f 99 103 106
+f 99 106 100
+f 103 108 106
+f 103 105 104
+f 106 108 107
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_26.obj

@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v -0.02637020 0.02071921 0.02524309
+v -0.02791847 0.02071919 0.02973449
+v -0.02757726 0.02118920 0.02973449
+v -0.02603450 0.02115840 0.02524309
+v -0.02018631 0.02071921 0.02524309
+v -0.02918057 0.02071917 0.03580318
+v -0.02895493 0.02102866 0.03580318
+v -0.02682147 0.02216262 0.02973449
+v -0.02621061 0.02291901 0.02973449
+v -0.02527688 0.02209072 0.02524309
+v -0.01925991 0.02071917 0.03580318
+v -0.01044359 0.02689231 0.02524311
+v -0.01044176 0.02689231 0.02524456
+v -0.01044176 0.02620780 0.03580320
+v -0.02917139 0.02071917 0.03623479
+v -0.02807807 0.02173624 0.03732107
+v -0.02819914 0.02182486 0.03580318
+v -0.02483478 0.02459487 0.03042248
+v -0.02475406 0.02451140 0.02941152
+v -0.02461831 0.02284711 0.02524309
+v -0.01927092 0.02071917 0.03596539
+v -0.01044176 0.02621807 0.03613632
+v -0.01044176 0.02705926 0.02524311
+v -0.02895493 0.02071916 0.03730803
+v -0.02888889 0.02077566 0.03736018
+v -0.02788362 0.02158470 0.03811478
+v -0.02320579 0.02599847 0.03785843
+v -0.02343143 0.02620779 0.03684602
+v -0.02342960 0.02620395 0.03580320
+v -0.02323148 0.02602546 0.02973451
+v -0.02417621 0.02513809 0.02984458
+v -0.02312875 0.02440997 0.02524310
+v -0.02386069 0.02365358 0.02524310
+v -0.01949289 0.02071916 0.03748618
+v -0.01044176 0.02635547 0.03738337
+v -0.01044176 0.03191863 0.02524313
+v -0.02890723 0.02071916 0.03738769
+v -0.02818813 0.02080392 0.03845080
+v -0.02728375 0.02071916 0.03924161
+v -0.02311040 0.02438423 0.03948784
+v -0.02265363 0.02542700 0.03896353
+v -0.02374512 0.02499037 0.03847543
+v -0.02219502 0.02644023 0.03844068
+v -0.02252155 0.02682805 0.03725591
+v -0.02058438 0.02783486 0.03834654
+v -0.02159332 0.02744703 0.03766435
+v -0.02183730 0.02764096 0.03665339
+v -0.02183730 0.02764096 0.03632026
+v -0.02247569 0.02666242 0.02973451
+v -0.02237112 0.02508032 0.02524310
+v -0.01949839 0.02071916 0.03750501
+v -0.01044176 0.02636574 0.03740944
+v -0.01998635 0.02071916 0.03830162
+v -0.01950756 0.02071916 0.03752819
+v -0.01044359 0.03321564 0.02973453
+v -0.01044176 0.03321564 0.02973453
+v -0.01195701 0.03138955 0.02524313
+v -0.01288890 0.03221398 0.02888579
+v -0.02826701 0.02071916 0.03840880
+v -0.02821198 0.02071916 0.03847108
+v -0.02653163 0.02071915 0.03966454
+v -0.02210146 0.02485424 0.03970945
+v -0.02152728 0.02586234 0.03945308
+v -0.02105583 0.02686272 0.03889982
+v -0.01983960 0.02728394 0.03935750
+v -0.01934980 0.02824580 0.03875643
+v -0.01885817 0.02917812 0.03815536
+v -0.01985427 0.02883267 0.03732110
+v -0.02107051 0.02800180 0.03722405
+v -0.01909848 0.02933608 0.03732110
+v -0.01730073 0.03066009 0.03664616
+v -0.01923056 0.02942341 0.03580321
+v -0.01998635 0.02891744 0.03580321
+v -0.01974604 0.02874795 0.02973452
+v -0.02080084 0.02799156 0.02973451
+v -0.02155663 0.02741753 0.02973451
+v -0.02143923 0.02586239 0.02524310
+v -0.02147041 0.02583671 0.02524310
+v -0.01044176 0.02706820 0.03871877
+v -0.02073297 0.02071916 0.03894470
+v -0.01044176 0.03383717 0.03580322
+v -0.01195701 0.03271481 0.02973453
+v -0.01405377 0.03056253 0.02524312
+v -0.01308886 0.03229488 0.02973453
+v -0.01600562 0.03076669 0.02880901
+v -0.01498567 0.03146529 0.02973453
+v -0.01384648 0.03198025 0.02973453
+v -0.02589141 0.02071915 0.03985427
+v -0.02103015 0.02535122 0.03981807
+v -0.02051650 0.02627713 0.03968339
+v -0.02258575 0.02386028 0.03983545
+v -0.01883249 0.02764864 0.03961966
+v -0.01801433 0.02865546 0.03920688
+v -0.01801433 0.02943496 0.03844793
+v -0.01598360 0.03075639 0.03825385
+v -0.01699438 0.03049185 0.03765712
+v -0.01788959 0.03011558 0.03721971
+v -0.01649358 0.03089251 0.03721971
+v -0.01425006 0.03215745 0.03659692
+v -0.01730073 0.03066009 0.03635359
+v -0.01898842 0.02926419 0.02973452
+v -0.01888018 0.02919356 0.02888867
+v -0.02058621 0.02783617 0.02872934
+v -0.02071279 0.02643000 0.02524311
+v -0.01044176 0.02778733 0.03947772
+v -0.01044359 0.02706820 0.03872022
+v -0.02082836 0.02071916 0.03902001
+v -0.01044176 0.03363811 0.03732111
+v -0.01425006 0.03215745 0.03645933
+v -0.01498567 0.03009380 0.02524312
+v -0.01696503 0.03046748 0.02973452
+v -0.01620741 0.03087585 0.02973452
+v -0.01628812 0.02941061 0.02524312
+v -0.01701456 0.02901636 0.02524312
+v -0.02557956 0.02071915 0.03990641
+v -0.01952774 0.02534095 0.04000926
+v -0.01801433 0.02685373 0.03995713
+v -0.01941401 0.02681006 0.03975725
+v -0.01801433 0.02789906 0.03971815
+v -0.01601112 0.02925645 0.03967181
+v -0.01702006 0.02896493 0.03950670
+v -0.01650275 0.02987415 0.03887955
+v -0.01498567 0.03025684 0.03929089
+v -0.01498567 0.03099397 0.03853194
+v -0.01287973 0.03221652 0.03818289
+v -0.01388867 0.03200077 0.03760789
+v -0.01484808 0.03169642 0.03718931
+v -0.01801433 0.02985364 0.02973452
+v -0.01892421 0.02771805 0.02524311
+v -0.01968183 0.02718639 0.02524311
+v -0.01704574 0.02899838 0.02524312
+v -0.01708427 0.02897527 0.02524312
+v -0.01805285 0.02832547 0.02524311
+v -0.01044176 0.02854372 0.03981084
+v -0.02170522 0.02071915 0.03961674
+v -0.02086872 0.02071916 0.03904898
+v -0.01044176 0.03351483 0.03761513
+v -0.02415420 0.02071915 0.04003966
+v -0.02104115 0.02382946 0.04002229
+v -0.01044359 0.02987799 0.04003680
+v -0.01498567 0.02836522 0.04000348
+v -0.01651009 0.02842301 0.03982678
+v -0.01498567 0.02950044 0.03976450
+v -0.01297696 0.03073583 0.03965877
+v -0.01398590 0.03050082 0.03951973
+v -0.01343190 0.03136766 0.03885204
+v -0.01044176 0.03273790 0.03875645
+v -0.01044176 0.02987799 0.04003680
+v -0.02252155 0.02071915 0.03983689
+v -0.02250504 0.02071915 0.03983255
+v -0.01044176 0.02988698 0.04003535
+v -0.01195701 0.02987799 0.03999335
+v -0.01347776 0.02994863 0.03982679
+v -0.01195701 0.03091433 0.03974278
+v -0.01044176 0.03198151 0.03947339
+v -0.01044176 0.03265699 0.03884190
+v -0.01044176 0.03127648 0.03979927
+v -0.01044176 0.03136252 0.03977755
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 33
+f 1 33 32
+f 1 32 50
+f 1 50 78
+f 1 78 77
+f 1 77 104
+f 1 104 130
+f 1 130 129
+f 1 129 133
+f 1 133 132
+f 1 132 131
+f 1 131 114
+f 1 114 113
+f 1 113 110
+f 1 110 83
+f 1 83 57
+f 1 57 36
+f 1 36 23
+f 1 23 12
+f 1 12 5
+f 1 5 11
+f 1 11 21
+f 1 21 34
+f 1 34 51
+f 1 51 54
+f 1 54 53
+f 1 53 80
+f 1 80 107
+f 1 107 136
+f 1 136 135
+f 1 135 150
+f 1 150 149
+f 1 149 138
+f 1 138 115
+f 1 115 88
+f 1 88 61
+f 1 61 39
+f 1 39 60
+f 1 60 59
+f 1 59 37
+f 1 37 24
+f 1 24 15
+f 1 15 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 10
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 9
+f 7 9 8
+f 9 19 10
+f 10 19 20
+f 11 14 22
+f 11 22 21
+f 12 23 13
+f 13 23 36
+f 13 36 56
+f 13 56 81
+f 13 81 108
+f 13 108 137
+f 13 137 147
+f 13 147 156
+f 13 156 155
+f 13 155 158
+f 13 158 157
+f 13 157 151
+f 13 151 148
+f 13 148 134
+f 13 134 105
+f 13 105 79
+f 13 79 52
+f 13 52 35
+f 13 35 22
+f 13 22 14
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 30
+f 19 30 32
+f 19 32 33
+f 19 33 20
+f 21 22 34
+f 22 35 34
+f 24 37 25
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 44 28
+f 27 43 45
+f 27 45 46
+f 27 46 44
+f 28 44 47
+f 28 47 48
+f 28 48 29
+f 29 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 32
+f 34 35 51
+f 35 52 53
+f 35 53 54
+f 35 54 51
+f 36 55 56
+f 36 57 58
+f 36 58 55
+f 37 59 38
+f 38 59 60
+f 38 60 39
+f 39 61 40
+f 40 61 62
+f 40 62 63
+f 40 63 41
+f 41 63 43
+f 41 43 42
+f 43 63 64
+f 43 64 45
+f 44 46 47
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 47 69 68
+f 47 68 70
+f 47 70 71
+f 47 71 72
+f 47 72 73
+f 47 73 48
+f 48 73 74
+f 48 74 75
+f 48 75 76
+f 48 76 49
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 52 79 53
+f 53 79 80
+f 55 81 56
+f 55 58 82
+f 55 82 81
+f 57 83 58
+f 58 84 82
+f 58 83 85
+f 58 85 86
+f 58 86 87
+f 58 87 84
+f 61 88 62
+f 62 89 90
+f 62 90 63
+f 62 88 91
+f 62 91 89
+f 63 90 92
+f 63 92 65
+f 63 65 64
+f 65 92 93
+f 65 93 66
+f 66 93 94
+f 66 94 67
+f 67 70 68
+f 67 94 95
+f 67 95 96
+f 67 96 97
+f 67 97 70
+f 70 97 71
+f 71 97 96
+f 71 96 98
+f 71 98 99
+f 71 99 109
+f 71 109 100
+f 71 100 72
+f 72 101 73
+f 72 100 101
+f 73 101 74
+f 74 101 102
+f 74 102 75
+f 75 102 76
+f 76 102 103
+f 76 103 77
+f 77 103 104
+f 79 105 106
+f 79 106 107
+f 79 107 80
+f 81 82 84
+f 81 84 87
+f 81 87 109
+f 81 109 99
+f 81 99 108
+f 83 110 85
+f 85 111 112
+f 85 112 86
+f 85 110 113
+f 85 113 114
+f 85 114 102
+f 85 102 111
+f 86 109 87
+f 86 112 109
+f 88 115 91
+f 89 116 117
+f 89 117 118
+f 89 118 90
+f 89 91 116
+f 90 118 92
+f 91 115 116
+f 92 118 119
+f 92 119 120
+f 92 120 121
+f 92 121 93
+f 93 121 94
+f 94 121 122
+f 94 122 95
+f 95 123 124
+f 95 124 125
+f 95 125 126
+f 95 126 127
+f 95 127 96
+f 95 122 123
+f 96 127 98
+f 98 127 99
+f 99 127 126
+f 99 126 108
+f 100 109 112
+f 100 112 111
+f 100 111 128
+f 100 128 101
+f 101 128 102
+f 102 129 130
+f 102 130 104
+f 102 104 103
+f 102 128 111
+f 102 114 131
+f 102 131 132
+f 102 132 133
+f 102 133 129
+f 105 134 135
+f 105 135 106
+f 106 135 136
+f 106 136 107
+f 108 125 137
+f 108 126 125
+f 115 138 139
+f 115 139 116
+f 116 139 140
+f 116 140 141
+f 116 141 117
+f 117 141 142
+f 117 142 118
+f 118 142 119
+f 119 142 120
+f 120 143 144
+f 120 144 145
+f 120 145 121
+f 120 142 143
+f 121 145 123
+f 121 123 122
+f 123 145 124
+f 124 145 146
+f 124 146 147
+f 124 147 125
+f 125 147 137
+f 134 148 138
+f 134 138 149
+f 134 149 150
+f 134 150 135
+f 138 148 140
+f 138 140 139
+f 140 148 151
+f 140 151 152
+f 140 152 141
+f 141 152 153
+f 141 153 143
+f 141 143 142
+f 143 153 154
+f 143 154 144
+f 144 154 155
+f 144 155 145
+f 145 155 156
+f 145 156 147
+f 145 147 146
+f 151 157 152
+f 152 157 154
+f 152 154 153
+f 154 157 158
+f 154 158 155
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_27.obj

@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.03023441 0.01570128 -0.02482908
+v 0.03012357 0.01570128 -0.02584919
+v 0.03004968 0.01570128 -0.02337566
+v 0.03170888 0.01021330 -0.02337568
+v 0.03052662 0.01475172 -0.02489224
+v 0.03003960 0.01570129 -0.02636582
+v 0.03181972 0.01021330 -0.02489225
+v 0.03159804 0.01021331 -0.02640882
+v 0.02982801 0.01570127 -0.02234327
+v 0.03212536 0.00870149 -0.02337569
+v 0.03276352 0.00671565 -0.02397479
+v 0.02976083 0.01570129 -0.02717980
+v 0.03122523 0.01104772 -0.02722017
+v 0.03223620 0.00870149 -0.02489226
+v 0.03202460 0.00870150 -0.02640883
+v 0.02977427 0.01570127 -0.02224766
+v 0.03133271 0.01021329 -0.02239241
+v 0.03120843 0.01100733 -0.02259064
+v 0.03154430 0.00870148 -0.02207928
+v 0.03248138 0.00720762 -0.02343183
+v 0.03306916 0.00113943 -0.02196967
+v 0.03355953 0.00113944 -0.02337572
+v 0.03377448 0.00113944 -0.02489229
+v 0.03276352 0.00671565 -0.02445107
+v 0.02974068 0.01563848 -0.02728594
+v 0.02972724 0.01570129 -0.02725611
+v 0.03135286 0.01021331 -0.02744910
+v 0.03237726 0.00718969 -0.02640883
+v 0.02938802 0.01570127 -0.02177050
+v 0.02957946 0.01510761 -0.02177050
+v 0.03063745 0.01141107 -0.02177052
+v 0.03096325 0.01021329 -0.02177052
+v 0.03134278 0.00870148 -0.02177053
+v 0.03166186 0.00737360 -0.02177053
+v 0.03204139 0.00567786 -0.02177054
+v 0.03295832 0.00113943 -0.02177056
+v 0.03296168 0.00095401 -0.02177056
+v 0.03307252 0.00042465 -0.02196616
+v 0.03356624 0.00042466 -0.02337572
+v 0.03368044 0.00042466 -0.02417655
+v 0.03378120 0.00042466 -0.02489229
+v 0.03356624 0.00113945 -0.02640886
+v 0.02972389 0.01258945 -0.02872796
+v 0.02967351 0.01570129 -0.02734909
+v 0.03103714 0.00904244 -0.02850256
+v 0.03184995 0.00718969 -0.02792628
+v 0.03150400 0.00860281 -0.02796838
+v 0.03121515 0.00803607 -0.02870693
+v 0.03269298 0.00465954 -0.02701757
+v 0.02199551 0.01570127 -0.02177050
+v 0.03296504 0.00042465 -0.02177056
+v 0.03356624 0.00042467 -0.02640886
+v 0.03298855 0.00042467 -0.02768860
+v 0.03298855 0.00113945 -0.02768334
+v 0.02846101 0.01570130 -0.02892180
+v 0.02874314 0.01570130 -0.02859989
+v 0.03253176 0.00113945 -0.02844206
+v 0.02860208 0.01475174 -0.02903583
+v 0.02986159 0.01172663 -0.02883059
+v 0.03129576 0.00718970 -0.02877622
+v 0.02572031 0.01570130 -0.03057871
+v 0.02671113 0.00042465 -0.02177056
+v -0.00053133 0.01570127 -0.02250905
+v -0.00053133 0.00567786 -0.02250558
+v -0.00053133 0.00042465 -0.02250560
+v 0.03253176 0.00042467 -0.02844733
+v 0.03213208 0.00042468 -0.02879906
+v 0.03177270 0.00113946 -0.02910869
+v 0.03140996 0.00567789 -0.02887008
+v 0.02539452 0.01570130 -0.03073133
+v -0.00053133 0.01570130 -0.02927002
+v -0.00053133 0.00042468 -0.02927096
+v 0.03177606 0.00042468 -0.02910781
+v 0.03043929 0.00042468 -0.02970163
+v 0.03043929 0.00113946 -0.02970075
+v 0.02520979 0.01543213 -0.03073133
+v 0.01179512 0.01570130 -0.03073133
+v -0.00053133 0.00718970 -0.02927093
+v 0.01219144 0.01494764 -0.03073134
+v 0.01227541 0.01479361 -0.03073134
+v 0.01248701 0.01455286 -0.03073134
+v 0.01351813 0.01347321 -0.03073134
+v 0.01378683 0.01321601 -0.03073134
+v 0.01399171 0.01309040 -0.03073134
+v 0.01541916 0.01223206 -0.03073135
+v 0.01680966 0.01189411 -0.03073135
+v 0.02892451 0.00042468 -0.02976478
+v 0.02963656 0.00042468 -0.02973759
+v 0.02468583 0.01507624 -0.03073133
+v 0.01832444 0.01190457 -0.03073135
+v 0.01954701 0.01220215 -0.03073135
+v 0.02015493 0.01247132 -0.03073134
+f 1 2 6
+f 1 6 12
+f 1 12 26
+f 1 26 44
+f 1 44 56
+f 1 56 55
+f 1 55 61
+f 1 61 70
+f 1 70 77
+f 1 77 71
+f 1 71 63
+f 1 63 50
+f 1 50 29
+f 1 29 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 11 7
+f 6 8 13
+f 6 13 12
+f 7 11 14
+f 7 14 15
+f 7 15 8
+f 8 15 13
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 17
+f 10 17 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 14
+f 12 25 26
+f 12 13 25
+f 13 15 27
+f 13 27 25
+f 14 24 15
+f 15 24 28
+f 15 28 27
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 21 35 36
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 28
+f 25 43 44
+f 25 44 26
+f 25 27 45
+f 25 45 43
+f 27 28 46
+f 27 46 47
+f 27 47 48
+f 27 48 45
+f 28 42 49
+f 28 49 46
+f 29 50 62
+f 29 62 51
+f 29 51 37
+f 29 37 36
+f 29 36 35
+f 29 35 34
+f 29 34 33
+f 29 33 32
+f 29 32 31
+f 29 31 30
+f 37 51 38
+f 38 51 62
+f 38 62 65
+f 38 65 72
+f 38 72 87
+f 38 87 88
+f 38 88 74
+f 38 74 73
+f 38 73 67
+f 38 67 66
+f 38 66 53
+f 38 53 52
+f 38 52 41
+f 38 41 40
+f 38 40 39
+f 41 52 42
+f 42 52 53
+f 42 53 54
+f 42 54 49
+f 43 55 56
+f 43 56 44
+f 43 45 48
+f 43 48 55
+f 46 48 47
+f 46 49 54
+f 46 54 57
+f 46 57 48
+f 48 58 59
+f 48 59 55
+f 48 57 60
+f 48 60 61
+f 48 61 58
+f 50 63 64
+f 50 64 65
+f 50 65 62
+f 53 66 57
+f 53 57 54
+f 55 59 58
+f 55 58 61
+f 57 66 67
+f 57 67 68
+f 57 68 69
+f 57 69 60
+f 60 69 61
+f 61 69 70
+f 63 71 78
+f 63 78 72
+f 63 72 65
+f 63 65 64
+f 67 73 68
+f 68 73 74
+f 68 74 75
+f 68 75 70
+f 68 70 69
+f 70 75 74
+f 70 74 76
+f 70 76 89
+f 70 89 92
+f 70 92 91
+f 70 91 90
+f 70 90 86
+f 70 86 85
+f 70 85 84
+f 70 84 83
+f 70 83 82
+f 70 82 81
+f 70 81 80
+f 70 80 79
+f 70 79 77
+f 71 77 78
+f 72 78 77
+f 72 77 79
+f 72 79 80
+f 72 80 81
+f 72 81 82
+f 72 82 83
+f 72 83 84
+f 72 84 85
+f 72 85 86
+f 72 86 87
+f 74 88 76
+f 76 88 87
+f 76 87 89
+f 86 90 87
+f 87 90 91
+f 87 91 92
+f 87 92 89
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_28.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.00053133 0.00038117 -0.02250571
+v -0.00053133 -0.00491328 -0.02250573
+v -0.00053133 0.00038120 -0.02927022
+v -0.02800117 0.00038117 -0.02169222
+v -0.02076819 -0.01822609 -0.02169229
+v -0.02066712 -0.01849775 -0.02169229
+v -0.00053133 -0.00793842 -0.02250656
+v -0.00053133 -0.01783799 -0.02927273
+v -0.01179350 -0.01700455 -0.02998554
+v -0.01202595 -0.01550030 -0.02998554
+v -0.01244369 -0.01446913 -0.02998553
+v -0.01373397 -0.01273203 -0.02998553
+v -0.01539820 -0.01138116 -0.02998552
+v -0.01652677 -0.01091178 -0.02998552
+v -0.03012357 0.00038120 -0.02975491
+v -0.03408537 0.00038117 -0.02169222
+v -0.00053133 -0.01849775 -0.02251147
+v -0.02910280 -0.01849775 -0.02169229
+v -0.00053133 -0.01849772 -0.02927273
+v -0.01184066 -0.01849772 -0.02998555
+v -0.01801245 -0.01068817 -0.02998552
+v -0.01952507 -0.01072698 -0.02998552
+v -0.02084567 -0.01104853 -0.02998552
+v -0.02102759 -0.01109288 -0.02998552
+v -0.02114887 -0.01114832 -0.02998552
+v -0.02699388 -0.01408290 -0.02998553
+v -0.02700062 -0.01408660 -0.02998553
+v -0.02858062 -0.01752938 -0.02998554
+v -0.02898152 -0.01849772 -0.02998555
+v -0.03088157 0.00038120 -0.02971919
+v -0.03426055 0.00038117 -0.02199992
+v -0.03408874 0.00023518 -0.02169222
+v -0.03034255 -0.01550033 -0.02169228
+v -0.03100958 -0.01501616 -0.02237182
+v -0.02943969 -0.01849775 -0.02237101
+v -0.02909269 -0.01849772 -0.02952928
+v -0.03092536 -0.01631897 -0.02574108
+v -0.03108707 -0.01539867 -0.02631101
+v -0.03240767 -0.01023173 -0.02718619
+v -0.03252895 -0.00945004 -0.02740457
+v -0.03274456 -0.00793840 -0.02777073
+v -0.03239419 -0.00718072 -0.02868489
+v -0.03248515 -0.00617357 -0.02877013
+v -0.03258622 -0.00491325 -0.02885375
+v -0.03294332 -0.00037462 -0.02909405
+v -0.03163956 -0.00037462 -0.02967616
+v -0.03163956 0.00038120 -0.02968265
+v -0.03409211 -0.00007343 -0.02169222
+v -0.03449974 0.00038117 -0.02269163
+v -0.03426392 -0.00037465 -0.02199342
+v -0.03040655 -0.01534140 -0.02169228
+v -0.03112412 -0.01528411 -0.02337529
+v -0.02978668 -0.01849774 -0.02340128
+v -0.02977994 -0.01849774 -0.02337367
+v -0.03179790 -0.01055330 -0.02169226
+v -0.03210447 -0.00945006 -0.02169225
+v -0.03251547 -0.00945006 -0.02241563
+v -0.03239756 -0.01020773 -0.02261536
+v -0.03330379 -0.00793841 -0.02337526
+v -0.03287931 -0.00945005 -0.02337526
+v -0.02980689 -0.01849773 -0.02642063
+v -0.03006630 -0.01849774 -0.02489187
+v -0.03092536 -0.01631897 -0.02533920
+v -0.03118140 -0.01561859 -0.02485695
+v -0.03166652 -0.01398683 -0.02489266
+v -0.03299385 -0.00945005 -0.02489264
+v -0.03319262 -0.00793840 -0.02640922
+v -0.03276477 -0.00945004 -0.02640922
+v -0.03355309 -0.00642675 -0.02640921
+v -0.03472883 -0.00037463 -0.02640919
+v -0.03288268 -0.00657644 -0.02807842
+v -0.03370132 -0.00037463 -0.02840152
+v -0.03371142 0.00038119 -0.02841451
+v -0.03333074 0.00038120 -0.02876037
+v -0.03295343 0.00038120 -0.02909892
+v -0.03229986 0.00038120 -0.02939038
+v -0.03409211 -0.00037465 -0.02169222
+v -0.03473220 0.00038118 -0.02337523
+v -0.03473893 -0.00037464 -0.02337523
+v -0.03366763 -0.00639719 -0.02345968
+v -0.03318925 -0.00491328 -0.02169224
+v -0.03283888 -0.00649699 -0.02169224
+v -0.03273108 -0.00793842 -0.02208925
+v -0.03394725 -0.00587422 -0.02402150
+v -0.03341496 -0.00793841 -0.02489264
+v -0.03376532 -0.00639719 -0.02489182
+v -0.03394725 -0.00587422 -0.02438603
+v -0.03494780 -0.00037464 -0.02489261
+v -0.03473220 0.00038119 -0.02640919
+v -0.03417296 0.00038119 -0.02765541
+v -0.03416959 -0.00037463 -0.02764323
+v -0.03325325 -0.00491326 -0.02792660
+v -0.03494106 0.00038118 -0.02489261
+v -0.03284562 -0.00646743 -0.02169224
+f 1 2 7
+f 1 7 17
+f 1 17 19
+f 1 19 8
+f 1 8 3
+f 1 3 15
+f 1 15 30
+f 1 30 47
+f 1 47 76
+f 1 76 75
+f 1 75 74
+f 1 74 73
+f 1 73 90
+f 1 90 89
+f 1 89 93
+f 1 93 78
+f 1 78 49
+f 1 49 31
+f 1 31 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 4 16 32
+f 4 32 48
+f 4 48 77
+f 4 77 81
+f 4 81 94
+f 4 94 82
+f 4 82 56
+f 4 56 55
+f 4 55 51
+f 4 51 33
+f 4 33 18
+f 4 18 6
+f 4 6 5
+f 6 17 7
+f 6 18 35
+f 6 35 54
+f 6 54 53
+f 6 53 62
+f 6 62 61
+f 6 61 36
+f 6 36 29
+f 6 29 20
+f 6 20 19
+f 6 19 17
+f 8 19 9
+f 9 20 29
+f 9 29 28
+f 9 28 27
+f 9 27 26
+f 9 26 25
+f 9 25 24
+f 9 24 23
+f 9 23 22
+f 9 22 21
+f 9 21 14
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 9 19 20
+f 14 21 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 21 22
+f 16 31 32
+f 18 33 34
+f 18 34 35
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 31 48 32
+f 31 49 50
+f 31 50 48
+f 33 51 34
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 34 51 55
+f 34 55 56
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 52
+f 36 61 37
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 66
+f 37 66 67
+f 37 67 68
+f 37 68 39
+f 37 39 38
+f 39 68 67
+f 39 67 40
+f 40 67 69
+f 40 69 41
+f 41 69 70
+f 41 70 71
+f 41 71 42
+f 42 71 72
+f 42 72 43
+f 43 72 44
+f 44 72 45
+f 45 72 73
+f 45 73 74
+f 45 74 75
+f 45 75 46
+f 46 75 76
+f 46 76 47
+f 48 50 77
+f 49 78 79
+f 49 79 50
+f 50 79 80
+f 50 80 81
+f 50 81 77
+f 52 64 62
+f 52 62 53
+f 52 60 64
+f 56 82 83
+f 56 83 57
+f 57 83 59
+f 57 59 58
+f 59 83 80
+f 59 80 84
+f 59 84 60
+f 60 84 66
+f 60 66 65
+f 60 65 64
+f 62 64 63
+f 66 84 85
+f 66 85 67
+f 67 85 69
+f 69 85 86
+f 69 86 87
+f 69 87 88
+f 69 88 70
+f 70 88 89
+f 70 89 90
+f 70 90 91
+f 70 91 92
+f 70 92 71
+f 71 92 72
+f 72 91 73
+f 72 92 91
+f 73 91 90
+f 78 93 88
+f 78 88 79
+f 79 88 84
+f 79 84 80
+f 80 83 81
+f 81 83 94
+f 82 94 83
+f 84 87 85
+f 84 88 87
+f 85 87 86
+f 88 93 89
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_29.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.02998979 0.01209130 0.02517740
+v 0.02977078 0.01269698 0.02517741
+v 0.02501563 0.01209130 0.02517740
+v 0.02991134 0.01209143 -0.01123156
+v 0.02973155 0.01260016 -0.01123155
+v 0.02944606 0.01345107 0.02517741
+v 0.02501454 0.01209130 0.02368325
+v 0.01886577 0.02085563 0.02517744
+v 0.01886359 0.02085563 0.02366248
+v 0.01885923 0.02085565 0.01961704
+v 0.02986993 0.01209145 -0.01734134
+v 0.02970976 0.01254442 -0.01730387
+v 0.02940248 0.01332767 -0.01275067
+v 0.02939812 0.01335598 -0.01123155
+v 0.02941774 0.01336367 -0.00364843
+v 0.02888491 0.01475251 0.02517741
+v 0.02501345 0.01209131 0.02216413
+v 0.02514857 0.02085563 0.02517744
+v 0.01885814 0.02085566 0.01759433
+v 0.02676231 0.01209145 -0.01734134
+v 0.02970976 0.01254356 -0.01734133
+v 0.02829760 0.01575641 -0.01730386
+v 0.02876940 0.01475265 -0.01275067
+v 0.02880318 0.01475261 -0.00364843
+v 0.02836515 0.01588237 0.02517742
+v 0.02832920 0.01581554 -0.00061018
+v 0.02501237 0.01209134 0.01305357
+v 0.02544059 0.02046185 0.02517744
+v 0.02542207 0.02042253 -0.01734130
+v 0.02508537 0.02085578 -0.01734130
+v 0.02501237 0.01209134 0.01304108
+v 0.01885923 0.02085574 -0.00668248
+v 0.02501127 0.01210260 -0.01734134
+v 0.02501454 0.01209145 -0.01733718
+v 0.02829760 0.01575555 -0.01734132
+v 0.02788572 0.01651136 -0.01730386
+v 0.02789988 0.01650364 -0.01578474
+v 0.02795654 0.01663561 0.02517742
+v 0.02790424 0.01653708 -0.00971658
+v 0.02791623 0.01657135 -0.00061018
+v 0.02795327 0.01664161 0.02517742
+v 0.02619570 0.01941092 0.02517743
+v 0.02615974 0.01936560 -0.01734131
+v 0.02673507 0.01865168 0.02517743
+v 0.01886250 0.02085578 -0.01734130
+v 0.01886032 0.02085576 -0.01072792
+v 0.02788463 0.01651136 -0.01734132
+v 0.02717310 0.01777762 -0.01578473
+v 0.02714368 0.01780422 -0.01734131
+v 0.02720143 0.01777759 -0.00819745
+v 0.02727988 0.01777747 0.02517743
+v 0.02669257 0.01859176 -0.01426977
+v 0.02667841 0.01858234 -0.01734131
+v 0.02669911 0.01860204 -0.00819745
+f 1 2 6
+f 1 6 16
+f 1 16 25
+f 1 25 38
+f 1 38 41
+f 1 41 51
+f 1 51 44
+f 1 44 42
+f 1 42 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 7
+f 1 7 17
+f 1 17 27
+f 1 27 31
+f 1 31 34
+f 1 34 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 7 10 17
+f 8 18 30
+f 8 30 45
+f 8 45 46
+f 8 46 32
+f 8 32 19
+f 8 19 10
+f 8 10 9
+f 10 19 17
+f 11 20 33
+f 11 33 45
+f 11 45 30
+f 11 30 29
+f 11 29 43
+f 11 43 53
+f 11 53 49
+f 11 49 47
+f 11 47 35
+f 11 35 21
+f 11 21 12
+f 12 21 35
+f 12 35 22
+f 12 22 13
+f 13 23 14
+f 13 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 16
+f 16 24 26
+f 16 26 25
+f 17 19 27
+f 18 28 29
+f 18 29 30
+f 19 31 27
+f 19 32 31
+f 20 34 33
+f 22 35 36
+f 22 36 37
+f 22 37 26
+f 22 26 24
+f 22 24 23
+f 25 26 38
+f 26 37 39
+f 26 39 40
+f 26 40 41
+f 26 41 38
+f 28 42 29
+f 29 42 44
+f 29 44 43
+f 31 32 34
+f 32 46 34
+f 33 34 45
+f 34 46 45
+f 35 47 36
+f 36 48 37
+f 36 47 49
+f 36 49 48
+f 37 48 39
+f 39 50 40
+f 39 48 50
+f 40 50 41
+f 41 50 51
+f 43 52 53
+f 43 44 54
+f 43 54 52
+f 44 51 54
+f 48 49 53
+f 48 53 52
+f 48 52 50
+f 50 52 51
+f 51 52 54
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_3.obj

@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
+v -0.01196509 0.01776569 -0.03027295
+v -0.01205948 0.01684052 -0.03027296
+v -0.01267654 0.01822745 -0.03180538
+v -0.01267654 0.01885316 -0.03180538
+v -0.01201228 0.01930653 -0.03027295
+v -0.01241783 0.01582835 -0.03027296
+v -0.01274122 0.01721863 -0.03165343
+v -0.01305936 0.01774562 -0.03237897
+v -0.01381452 0.01929149 -0.03393707
+v -0.01300168 0.01933164 -0.03237897
+v -0.01273772 0.01986198 -0.03162560
+v -0.01338275 0.02080221 -0.03247955
+v -0.01237413 0.02043581 -0.03027294
+v -0.01281638 0.01485800 -0.03027297
+v -0.01405575 0.01668661 -0.03347693
+v -0.01388269 0.01777909 -0.03375087
+v -0.01426901 0.01929150 -0.03469473
+v -0.01432495 0.02080222 -0.03454918
+v -0.02156361 0.02382706 -0.04728585
+v -0.02318754 0.02534115 -0.05013668
+v -0.02262642 0.02534115 -0.04916928
+v -0.02199362 0.02534115 -0.04800498
+v -0.01394562 0.02080221 -0.03378939
+v -0.01411693 0.02176754 -0.03348975
+v -0.01357678 0.02229787 -0.03027294
+v -0.01394213 0.02203522 -0.03247955
+v -0.01440011 0.02279142 -0.03247955
+v -0.01352784 0.01404994 -0.03027297
+v -0.01437739 0.01415200 -0.03148436
+v -0.01397359 0.01516083 -0.03209646
+v -0.01433718 0.01567779 -0.03310880
+v -0.02344450 0.02333353 -0.04978568
+v -0.02322250 0.02434068 -0.05006605
+v -0.02161255 0.02534114 -0.04724519
+v -0.02366126 0.02534116 -0.05089647
+v -0.02323474 0.02627134 -0.05007032
+v -0.02108289 0.02534114 -0.04613440
+v -0.02174016 0.02618433 -0.04702045
+v -0.01559578 0.02327493 -0.03510992
+v -0.01694876 0.02639507 -0.03027292
+v -0.01527239 0.02392237 -0.03234042
+v -0.01538252 0.02353256 -0.03399698
+v -0.01583002 0.02449120 -0.03275135
+v -0.01425503 0.01328872 -0.03027297
+v -0.01538776 0.01371869 -0.03210717
+v -0.01486160 0.01463048 -0.03260799
+v -0.01534581 0.01510896 -0.03366313
+v -0.01583701 0.01560753 -0.03467547
+v -0.02505795 0.02317461 -0.05134807
+v -0.02456850 0.02418343 -0.05167553
+v -0.02441817 0.02534116 -0.05178896
+v -0.02455801 0.02685355 -0.05166268
+v -0.02380810 0.02680671 -0.05062037
+v -0.02348646 0.02728016 -0.04946249
+v -0.02329767 0.02762313 -0.04845015
+v -0.02156535 0.02639011 -0.04613439
+v -0.01797312 0.02704252 -0.03027292
+v -0.02319453 0.02769674 -0.04765183
+v -0.01599084 0.02428876 -0.03399698
+v -0.01506962 0.01255092 -0.03027297
+v -0.01589120 0.01410014 -0.03311952
+v -0.02458073 0.02146144 -0.04857644
+v -0.02557187 0.02264259 -0.05078091
+v -0.02606832 0.02299894 -0.05152572
+v -0.02557187 0.02373841 -0.05177612
+v -0.01690157 0.01379733 -0.03350904
+v -0.01814618 0.01366683 -0.03400772
+v -0.01874051 0.01398639 -0.03477180
+v -0.02558236 0.02534116 -0.05213568
+v -0.02558236 0.02685355 -0.05192807
+v -0.02475379 0.02768839 -0.05150644
+v -0.02452480 0.02788413 -0.05068672
+v -0.02402311 0.02798283 -0.04904086
+v -0.01961453 0.02798777 -0.03027292
+v -0.01587197 0.01208416 -0.03027298
+v -0.02709792 0.02298723 -0.05153642
+v -0.02709792 0.02382708 -0.05188955
+v -0.02558236 0.02183285 -0.04945609
+v -0.01722496 0.01247230 -0.03174547
+v -0.01801332 0.01283702 -0.03264866
+v -0.01952888 0.01343094 -0.03399702
+v -0.02709792 0.02534116 -0.05211214
+v -0.02709792 0.02685355 -0.05193235
+v -0.02709792 0.02793766 -0.05161987
+v -0.02558236 0.02786573 -0.05159419
+v -0.02558236 0.02843287 -0.05068672
+v -0.02558236 0.02871393 -0.04916926
+v -0.02406856 0.02816686 -0.04765183
+v -0.02109338 0.02852983 -0.03027292
+v -0.01656070 0.01189009 -0.03027298
+v -0.02558236 0.02140456 -0.04869629
+v -0.02709792 0.02252214 -0.05068674
+v -0.02793698 0.02303240 -0.05148719
+v -0.02850859 0.02386222 -0.05168623
+v -0.02861173 0.02534116 -0.05194948
+v -0.01713231 0.01173951 -0.03027298
+v -0.01801332 0.01240036 -0.03188887
+v -0.01952888 0.01272995 -0.03272999
+v -0.02862396 0.02687363 -0.05169050
+v -0.02812752 0.02778375 -0.05154068
+v -0.02709792 0.02857843 -0.05068672
+v -0.02709792 0.02872062 -0.04916926
+v -0.02255475 0.02871721 -0.03027291
+v -0.02178036 0.02862854 -0.03027291
+v -0.02666266 0.02145140 -0.04862781
+v -0.02170345 0.01401148 -0.03472685
+v -0.02639520 0.02001762 -0.04545167
+v -0.02767303 0.02162539 -0.04818691
+v -0.02819394 0.02284837 -0.05068674
+v -0.02895085 0.02342723 -0.05068673
+v -0.02949799 0.02438754 -0.05157708
+v -0.02955917 0.02534116 -0.05162844
+v -0.02949274 0.02638344 -0.05155780
+v -0.01801332 0.01163077 -0.03027298
+v -0.01952888 0.01237025 -0.03197020
+v -0.02043961 0.01243048 -0.03185462
+v -0.02113533 0.01362334 -0.03413186
+v -0.02917460 0.02740899 -0.05068672
+v -0.02841769 0.02802968 -0.05068672
+v -0.02842469 0.02807317 -0.04916927
+v -0.02550720 0.02798443 -0.03027292
+v -0.02403884 0.02852314 -0.03027292
+v -0.02317006 0.02865029 -0.03027291
+v -0.02098151 0.01283367 -0.03240895
+v -0.02224010 0.01378060 -0.03371451
+v -0.02324872 0.01402987 -0.03307885
+v -0.02794922 0.02147314 -0.04717671
+v -0.02922529 0.02330342 -0.04916928
+v -0.02959238 0.02418343 -0.05068673
+v -0.02644240 0.01542181 -0.03027296
+v -0.02982137 0.02534116 -0.05068673
+v -0.02959762 0.02665279 -0.05068672
+v -0.01861640 0.01163244 -0.03027298
+v -0.01952888 0.01165754 -0.03027298
+v -0.02092382 0.01199047 -0.03027298
+v -0.02918159 0.02730860 -0.04916927
+v -0.02790202 0.02615081 -0.03027292
+v -0.02754192 0.02649210 -0.03027292
+v -0.02712764 0.02687188 -0.03027292
+v -0.02627284 0.02756952 -0.03027292
+v -0.02368748 0.01363169 -0.03027297
+v -0.02557537 0.01482622 -0.03027297
+v -0.02643017 0.01541177 -0.03027296
+v -0.02477302 0.01554563 -0.03463695
+v -0.02713812 0.01626835 -0.03027296
+v -0.02835127 0.01795976 -0.03027295
+v -0.02930220 0.01998577 -0.03027295
+v -0.02935115 0.02013467 -0.03027295
+v -0.02952595 0.02231460 -0.03027294
+v -0.02977068 0.02534115 -0.04916928
+v -0.02938961 0.02035886 -0.03027295
+v -0.02949449 0.02098121 -0.03027294
+v -0.02952071 0.02132585 -0.03027294
+v -0.02955742 0.02655240 -0.04916927
+v -0.02914138 0.02399932 -0.03027293
+v -0.02847188 0.02531765 -0.03027293
+v -0.02815724 0.02578275 -0.03027293
+v -0.02940709 0.02319962 -0.03027293
+v -0.02923054 0.02374001 -0.03027293
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 25
+f 1 25 40
+f 1 40 57
+f 1 57 74
+f 1 74 89
+f 1 89 104
+f 1 104 103
+f 1 103 123
+f 1 123 122
+f 1 122 121
+f 1 121 140
+f 1 140 139
+f 1 139 138
+f 1 138 137
+f 1 137 157
+f 1 157 156
+f 1 156 155
+f 1 155 159
+f 1 159 158
+f 1 158 149
+f 1 149 153
+f 1 153 152
+f 1 152 151
+f 1 151 148
+f 1 148 147
+f 1 147 146
+f 1 146 145
+f 1 145 130
+f 1 130 143
+f 1 143 142
+f 1 142 141
+f 1 141 135
+f 1 135 134
+f 1 134 133
+f 1 133 114
+f 1 114 96
+f 1 96 90
+f 1 90 75
+f 1 75 60
+f 1 60 44
+f 1 44 28
+f 1 28 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 18 10
+f 9 17 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 18
+f 10 18 23
+f 10 23 11
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 24 26
+f 13 26 27
+f 13 27 25
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 33 17
+f 17 33 19
+f 18 22 34
+f 18 34 23
+f 19 33 20
+f 20 33 35
+f 20 35 36
+f 20 36 21
+f 21 36 22
+f 22 36 34
+f 23 34 37
+f 23 37 38
+f 23 38 24
+f 24 39 27
+f 24 27 26
+f 24 38 39
+f 25 27 41
+f 25 41 40
+f 27 39 42
+f 27 42 43
+f 27 43 41
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 49 50
+f 32 50 33
+f 32 48 49
+f 33 50 35
+f 34 36 38
+f 34 38 37
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 42
+f 40 41 43
+f 40 43 55
+f 40 55 58
+f 40 58 57
+f 42 59 43
+f 42 56 55
+f 42 55 59
+f 43 59 55
+f 44 60 45
+f 45 61 46
+f 45 60 61
+f 46 61 47
+f 47 61 48
+f 48 61 49
+f 49 62 63
+f 49 63 64
+f 49 64 65
+f 49 65 50
+f 49 61 66
+f 49 66 67
+f 49 67 68
+f 49 68 62
+f 50 65 69
+f 50 69 51
+f 51 69 52
+f 52 69 70
+f 52 70 71
+f 52 71 53
+f 53 71 54
+f 54 71 72
+f 54 72 55
+f 55 72 73
+f 55 73 58
+f 57 58 74
+f 58 73 74
+f 60 75 61
+f 61 75 66
+f 62 64 63
+f 62 68 64
+f 64 76 77
+f 64 77 65
+f 64 68 78
+f 64 78 76
+f 65 77 69
+f 66 75 79
+f 66 79 67
+f 67 79 68
+f 68 79 80
+f 68 80 81
+f 68 81 78
+f 69 82 83
+f 69 83 70
+f 69 77 82
+f 70 83 84
+f 70 84 85
+f 70 85 71
+f 71 86 72
+f 71 85 86
+f 72 86 73
+f 73 87 88
+f 73 88 74
+f 73 86 87
+f 74 88 87
+f 74 87 89
+f 75 90 79
+f 76 78 91
+f 76 91 92
+f 76 92 93
+f 76 93 77
+f 77 93 94
+f 77 94 95
+f 77 95 82
+f 78 81 91
+f 79 90 96
+f 79 96 97
+f 79 97 80
+f 80 97 81
+f 81 97 98
+f 81 98 91
+f 82 95 83
+f 83 95 99
+f 83 99 100
+f 83 100 84
+f 84 100 101
+f 84 101 85
+f 85 101 86
+f 86 101 87
+f 87 101 102
+f 87 102 103
+f 87 103 104
+f 87 104 89
+f 91 98 92
+f 92 105 93
+f 92 98 105
+f 93 105 106
+f 93 106 107
+f 93 107 108
+f 93 108 109
+f 93 109 110
+f 93 110 111
+f 93 111 94
+f 94 111 95
+f 95 111 112
+f 95 112 113
+f 95 113 99
+f 96 114 97
+f 97 114 98
+f 98 114 115
+f 98 115 116
+f 98 116 117
+f 98 117 105
+f 99 113 100
+f 100 113 118
+f 100 118 119
+f 100 119 101
+f 101 119 102
+f 102 119 120
+f 102 120 121
+f 102 121 122
+f 102 122 123
+f 102 123 103
+f 105 117 106
+f 106 117 116
+f 106 116 124
+f 106 124 125
+f 106 125 107
+f 107 125 126
+f 107 126 108
+f 108 127 109
+f 108 126 127
+f 109 127 110
+f 110 128 129
+f 110 129 111
+f 110 127 130
+f 110 130 128
+f 111 129 131
+f 111 131 112
+f 112 131 113
+f 113 131 132
+f 113 132 118
+f 114 133 115
+f 115 133 134
+f 115 134 116
+f 116 134 135
+f 116 135 124
+f 118 132 136
+f 118 136 120
+f 118 120 119
+f 120 136 137
+f 120 137 138
+f 120 138 139
+f 120 139 140
+f 120 140 121
+f 124 135 125
+f 125 135 126
+f 126 135 141
+f 126 141 142
+f 126 142 143
+f 126 143 144
+f 126 144 127
+f 127 144 143
+f 127 143 130
+f 128 130 145
+f 128 145 146
+f 128 146 129
+f 129 146 147
+f 129 147 148
+f 129 148 131
+f 131 149 150
+f 131 150 132
+f 131 148 151
+f 131 151 152
+f 131 152 153
+f 131 153 149
+f 132 150 154
+f 132 154 136
+f 136 154 155
+f 136 155 156
+f 136 156 157
+f 136 157 137
+f 149 158 150
+f 150 158 154
+f 154 158 159
+f 154 159 155
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_30.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.00053470 0.01707929 -0.02250946
+v -0.00053470 0.01626367 -0.02250868
+v -0.00053470 0.01707932 -0.02927029
+v -0.02121056 0.01707929 -0.02226736
+v -0.00053470 0.00567697 -0.02250559
+v -0.00053470 0.00719055 -0.02927110
+v -0.01203476 0.01707932 -0.03027004
+v -0.03006299 0.01707929 -0.02226736
+v -0.02705492 0.00038280 -0.02226742
+v -0.00053470 0.00038280 -0.02250561
+v -0.00053470 0.00182610 -0.02927112
+v -0.00053470 0.00038283 -0.02927035
+v -0.01206171 0.01683904 -0.03027004
+v -0.02741871 0.01707932 -0.03027004
+v -0.03024152 0.01707929 -0.02262856
+v -0.03078385 0.01685373 -0.02337523
+v -0.03052784 0.01645000 -0.02226736
+v -0.03435109 0.00038280 -0.02226742
+v -0.01713131 0.01173775 -0.03027006
+v -0.01656203 0.01188812 -0.03027006
+v -0.01587149 0.01208263 -0.03027006
+v -0.01506978 0.01255010 -0.03027005
+v -0.01425798 0.01328726 -0.03027005
+v -0.01353038 0.01404731 -0.03027005
+v -0.01281626 0.01485639 -0.03027005
+v -0.01241877 0.01582728 -0.03027004
+v -0.03012362 0.00038283 -0.02975534
+v -0.02713576 0.01626697 -0.03027004
+v -0.03163945 0.00038283 -0.02968325
+v -0.03163945 0.00113961 -0.02968953
+v -0.03296327 0.00113961 -0.02910347
+v -0.03257926 0.00567700 -0.02884959
+v -0.03246473 0.00719055 -0.02875008
+v -0.03240073 0.00796858 -0.02869132
+v -0.02955771 0.01626370 -0.02883545
+v -0.02862464 0.01707932 -0.02934707
+v -0.03059521 0.01707930 -0.02337993
+v -0.03081079 0.01707930 -0.02431230
+v -0.03086469 0.01699103 -0.02424022
+v -0.03115101 0.01609859 -0.02337523
+v -0.03102301 0.01582072 -0.02236608
+v -0.03090848 0.01591388 -0.02226736
+v -0.03434772 0.00113958 -0.02226742
+v -0.03449930 0.00038280 -0.02269129
+v -0.01801049 0.01162824 -0.03027006
+v -0.02644185 0.01542029 -0.03027004
+v -0.02642837 0.01540885 -0.03027004
+v -0.02557614 0.01482533 -0.03027005
+v -0.02368641 0.01363051 -0.03027005
+v -0.02092424 0.01198946 -0.03027006
+v -0.01952631 0.01165602 -0.03027006
+v -0.01861345 0.01162987 -0.03027006
+v -0.03229967 0.00038283 -0.02939023
+v -0.03295316 0.00038283 -0.02909876
+v -0.03372118 0.00113960 -0.02842652
+v -0.03301042 0.00719054 -0.02792662
+v -0.03268368 0.00856516 -0.02794620
+v -0.03253210 0.01021438 -0.02740166
+v -0.03093880 0.01563113 -0.02728255
+v -0.03090511 0.01254846 -0.02871010
+v -0.02937918 0.01704336 -0.02869520
+v -0.02933539 0.01707932 -0.02873281
+v -0.03094890 0.01707930 -0.02523448
+v -0.03120154 0.01639771 -0.02480434
+v -0.03289926 0.01021437 -0.02337525
+v -0.03240746 0.01100383 -0.02259175
+v -0.03252873 0.01021436 -0.02239509
+v -0.03245462 0.01021436 -0.02226738
+v -0.03410856 0.00236873 -0.02226741
+v -0.03410856 0.00238017 -0.02226976
+v -0.03366728 0.00716438 -0.02345126
+v -0.03472836 0.00113959 -0.02337529
+v -0.03473510 0.00038281 -0.02337529
+v -0.03333043 0.00038283 -0.02876108
+v -0.03371107 0.00038282 -0.02841398
+v -0.03417256 0.00038282 -0.02765556
+v -0.03417593 0.00113960 -0.02766731
+v -0.03405803 0.00239980 -0.02746672
+v -0.03473510 0.00113960 -0.02640901
+v -0.03355612 0.00719054 -0.02640898
+v -0.03320243 0.00870246 -0.02640898
+v -0.03241083 0.01101038 -0.02719325
+v -0.03110385 0.01618687 -0.02632981
+v -0.03094217 0.01707930 -0.02578920
+v -0.03068953 0.01663962 -0.02678346
+v -0.03092195 0.01707930 -0.02583229
+v -0.03169671 0.01475176 -0.02489288
+v -0.03300369 0.01021437 -0.02489289
+v -0.03395024 0.00664297 -0.02400834
+v -0.03330685 0.00870245 -0.02337526
+v -0.03281842 0.00870244 -0.02226739
+v -0.03261294 0.00959978 -0.02226738
+v -0.03286221 0.00849159 -0.02226739
+v -0.03493721 0.00113959 -0.02489293
+v -0.03494058 0.00038281 -0.02489293
+v -0.03473173 0.00038282 -0.02640901
+v -0.03395024 0.00664297 -0.02438599
+v -0.03341465 0.00870245 -0.02489290
+f 1 2 5
+f 1 5 10
+f 1 10 12
+f 1 12 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 36
+f 1 36 62
+f 1 62 86
+f 1 86 84
+f 1 84 63
+f 1 63 38
+f 1 38 37
+f 1 37 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 17
+f 4 17 42
+f 4 42 68
+f 4 68 92
+f 4 92 91
+f 4 91 93
+f 4 93 69
+f 4 69 43
+f 4 43 18
+f 4 18 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 26
+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 22
+f 7 22 21
+f 7 21 20
+f 7 20 19
+f 7 19 45
+f 7 45 52
+f 7 52 51
+f 7 51 50
+f 7 50 49
+f 7 49 48
+f 7 48 47
+f 7 47 46
+f 7 46 28
+f 7 28 14
+f 8 15 16
+f 8 16 17
+f 9 18 44
+f 9 44 73
+f 9 73 95
+f 9 95 96
+f 9 96 76
+f 9 76 75
+f 9 75 74
+f 9 74 54
+f 9 54 53
+f 9 53 29
+f 9 29 27
+f 9 27 12
+f 9 12 10
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 12 27 19
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 36
+f 15 37 16
+f 16 37 38
+f 16 38 39
+f 16 39 40
+f 16 40 41
+f 16 41 17
+f 17 41 42
+f 18 43 44
+f 19 27 45
+f 27 29 28
+f 27 28 46
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 51
+f 27 51 52
+f 27 52 45
+f 29 53 31
+f 29 31 30
+f 31 53 54
+f 31 54 55
+f 31 55 32
+f 32 55 33
+f 33 55 34
+f 34 55 56
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 35 61 62
+f 35 62 36
+f 35 60 59
+f 35 59 61
+f 38 63 39
+f 39 63 64
+f 39 64 40
+f 40 64 65
+f 40 65 41
+f 41 65 66
+f 41 66 67
+f 41 67 68
+f 41 68 42
+f 43 69 70
+f 43 70 71
+f 43 71 72
+f 43 72 73
+f 43 73 44
+f 54 74 55
+f 55 75 76
+f 55 76 77
+f 55 77 56
+f 55 74 75
+f 56 58 57
+f 56 77 78
+f 56 78 79
+f 56 79 80
+f 56 80 58
+f 58 80 81
+f 58 81 82
+f 58 82 59
+f 59 83 84
+f 59 84 85
+f 59 85 61
+f 59 82 83
+f 61 85 62
+f 62 85 86
+f 63 84 64
+f 64 84 87
+f 64 87 65
+f 65 87 88
+f 65 88 89
+f 65 89 90
+f 65 90 66
+f 66 90 67
+f 67 90 91
+f 67 91 92
+f 67 92 68
+f 69 93 70
+f 70 93 71
+f 71 89 72
+f 71 93 91
+f 71 91 90
+f 71 90 89
+f 72 94 73
+f 72 89 94
+f 73 94 95
+f 76 96 77
+f 77 96 79
+f 77 79 78
+f 79 96 95
+f 79 95 94
+f 79 94 97
+f 79 97 80
+f 80 97 98
+f 80 98 81
+f 81 98 88
+f 81 88 84
+f 81 84 83
+f 81 83 82
+f 84 86 85
+f 84 88 87
+f 88 98 89
+f 89 97 94
+f 89 98 97
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_31.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02742584 0.00042463 -0.01734138
+v 0.02501547 0.01209145 -0.01733718
+v 0.02525219 0.01136398 -0.01734134
+v 0.03188498 0.00042463 -0.01734138
+v 0.02742584 0.00042463 -0.01730392
+v 0.02501342 0.01209134 0.01304108
+v 0.02676304 0.01209145 -0.01734134
+v 0.03188087 0.00113839 -0.01734138
+v 0.03192547 0.00113837 -0.00971664
+v 0.03193301 0.00113836 -0.00819752
+v 0.03192066 0.00042461 -0.00971664
+v 0.02742859 0.00042449 0.02062833
+v 0.02501479 0.01209131 0.02216413
+v 0.02986983 0.01209145 -0.01734134
+v 0.03187950 0.00117493 -0.01734138
+v 0.03187744 0.00265153 -0.00819751
+v 0.03196320 0.00042456 0.00242384
+v 0.03197144 0.00265141 0.02517737
+v 0.03202290 0.00113824 0.02517736
+v 0.02742996 0.00042448 0.02366240
+v 0.02501547 0.01209130 0.02368325
+v 0.02999882 0.01172600 -0.01734134
+v 0.02991237 0.01209143 -0.01123156
+v 0.03003175 0.01172599 -0.01275068
+v 0.03181500 0.00265156 -0.01734137
+v 0.03183147 0.00265156 -0.01578479
+v 0.03172374 0.00416472 -0.01426982
+v 0.03175737 0.00416468 -0.00364846
+v 0.03201878 0.00042676 0.02517736
+v 0.03198722 0.00042450 0.01910920
+v 0.03182804 0.00416458 0.02517738
+v 0.02743064 0.00042448 0.02446566
+v 0.02501685 0.01209130 0.02517740
+v 0.03047499 0.01021398 -0.01730388
+v 0.03046333 0.01024938 -0.01734134
+v 0.03052645 0.01021396 -0.01123156
+v 0.03004136 0.01172598 -0.01123156
+v 0.02998921 0.01209130 0.02517740
+v 0.03012027 0.01172585 0.02517740
+v 0.03181226 0.00268810 -0.01734137
+v 0.03169081 0.00416473 -0.01734136
+v 0.03151653 0.00567675 -0.01734136
+v 0.03155016 0.00567673 -0.00971662
+v 0.03163935 0.00567660 0.02517738
+v 0.02745740 0.00042448 0.02517736
+v 0.03198996 0.00042448 0.02437826
+v 0.02743133 0.00042448 0.02517736
+v 0.03088461 0.00870081 -0.01734135
+v 0.03047431 0.01021398 -0.01734134
+v 0.03093676 0.00870079 -0.01123157
+v 0.03052988 0.01021396 -0.00971660
+v 0.03101429 0.00877146 0.02517739
+v 0.03094705 0.00870078 -0.00819749
+v 0.03060604 0.01021839 0.02517740
+v 0.03151173 0.00570645 -0.01734136
+v 0.03132511 0.00703230 -0.00971661
+v 0.03138892 0.00718863 0.02517739
+v 0.03163867 0.00568117 0.02517738
+v 0.03114808 0.00770840 -0.01578477
+v 0.03113848 0.00768670 -0.01734135
+v 0.03117073 0.00781914 -0.00819749
+v 0.03060742 0.01021383 0.02517740
+v 0.03121327 0.00801088 0.02517739
+v 0.03130589 0.00693069 -0.01734135
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 22
+f 1 22 35
+f 1 35 49
+f 1 49 48
+f 1 48 60
+f 1 60 64
+f 1 64 55
+f 1 55 42
+f 1 42 41
+f 1 41 40
+f 1 40 25
+f 1 25 15
+f 1 15 8
+f 1 8 4
+f 1 4 11
+f 1 11 17
+f 1 17 30
+f 1 30 46
+f 1 46 45
+f 1 45 47
+f 1 47 32
+f 1 32 20
+f 1 20 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 13
+f 2 13 21
+f 2 21 33
+f 2 33 38
+f 2 38 23
+f 2 23 14
+f 2 14 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 17 11
+f 10 16 18
+f 10 18 19
+f 10 19 17
+f 12 20 21
+f 12 21 13
+f 14 23 24
+f 14 24 22
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 17 19 29
+f 17 29 30
+f 18 31 44
+f 18 44 58
+f 18 58 57
+f 18 57 63
+f 18 63 52
+f 18 52 62
+f 18 62 54
+f 18 54 39
+f 18 39 38
+f 18 38 33
+f 18 33 47
+f 18 47 45
+f 18 45 29
+f 18 29 19
+f 18 28 31
+f 20 32 21
+f 21 32 33
+f 22 34 35
+f 22 24 36
+f 22 36 34
+f 23 37 24
+f 23 38 39
+f 23 39 37
+f 24 37 36
+f 25 40 26
+f 26 40 27
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 31
+f 29 45 46
+f 29 46 30
+f 32 47 33
+f 34 48 49
+f 34 49 35
+f 34 36 50
+f 34 50 48
+f 36 37 51
+f 36 51 52
+f 36 52 53
+f 36 53 50
+f 37 39 54
+f 37 54 51
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 48 59 60
+f 48 50 59
+f 50 53 61
+f 50 61 59
+f 51 54 62
+f 51 62 52
+f 52 63 53
+f 53 63 61
+f 55 64 56
+f 56 64 61
+f 56 61 57
+f 57 61 63
+f 59 64 60
+f 59 61 64
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_32.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.00053133 -0.03463431 -0.02489275
+v -0.00053133 -0.03456910 -0.02603981
+v 0.00015728 -0.03456910 -0.02603400
+v 0.00015728 -0.03463088 -0.02489275
+v 0.00015728 -0.03446958 -0.02371007
+v -0.00053133 -0.03454508 -0.02424725
+v -0.00053133 -0.03442153 -0.02638509
+v -0.00053133 -0.03423621 -0.02679871
+v 0.00015728 -0.03422935 -0.02679216
+v 0.00118516 -0.03449361 -0.02585009
+v 0.00117172 -0.03449018 -0.02489275
+v 0.00098697 -0.03443527 -0.02394486
+v -0.00053133 -0.03446958 -0.02371443
+v 0.00015728 -0.03435292 -0.02295117
+v -0.00053133 -0.03440781 -0.02330009
+v -0.00053133 -0.03365281 -0.02792686
+v 0.00015728 -0.03364252 -0.02792686
+v 0.00470212 -0.03312432 -0.02756704
+v 0.00621371 -0.03299392 -0.02733806
+v 0.00702660 -0.03291155 -0.02719559
+v 0.01075854 -0.03235904 -0.02640907
+v 0.01227013 -0.03224237 -0.02489274
+v 0.02437626 -0.02942146 -0.02186370
+v 0.00015392 -0.03383472 -0.02186371
+v 0.00015056 -0.03383472 -0.02186371
+v -0.00053133 -0.03383129 -0.02186371
+v -0.00053133 -0.03434605 -0.02295554
+v -0.00053133 -0.03306597 -0.02885367
+v 0.00015728 -0.03306597 -0.02885440
+v 0.00123555 -0.03298704 -0.02877807
+v 0.00621371 -0.03247572 -0.02809696
+v 0.01075854 -0.03125057 -0.02851419
+v 0.02275719 -0.02814138 -0.02928980
+v 0.01201484 -0.03159032 -0.02756050
+v 0.01242129 -0.03188202 -0.02655882
+v 0.02437962 -0.02912289 -0.02489273
+v 0.02437962 -0.02941802 -0.02337567
+v 0.02588785 -0.02887924 -0.02186370
+v -0.00053133 -0.02703295 -0.02186369
+v -0.00053133 -0.03232471 -0.02928982
+v -0.00010809 -0.03233500 -0.02928982
+v 0.00015728 -0.03233843 -0.02928982
+v 0.00036218 -0.03230069 -0.02928982
+v 0.02288147 -0.02811393 -0.02928980
+v 0.02332151 -0.02829239 -0.02850183
+v 0.02392279 -0.02847084 -0.02748997
+v 0.02440986 -0.02865272 -0.02643087
+v 0.02534704 -0.02846741 -0.02593947
+v 0.02566951 -0.02862528 -0.02489273
+v 0.02604573 -0.02876255 -0.02352396
+v 0.02678809 -0.02845027 -0.02311688
+v 0.02677129 -0.02843654 -0.02186369
+v 0.02655967 0.00042465 -0.02186359
+v -0.00053133 0.00042465 -0.02250618
+v -0.00053133 -0.02635343 -0.02928980
+v 0.02438298 -0.02758543 -0.02928980
+v 0.02440986 -0.02808991 -0.02796827
+v 0.02493051 -0.02827180 -0.02695133
+v 0.02542430 -0.02703292 -0.02928980
+v 0.02586770 -0.02794235 -0.02643086
+v 0.02642866 -0.02822033 -0.02489272
+v 0.02665037 -0.02835760 -0.02412874
+v 0.02733898 -0.02791490 -0.02352395
+v 0.02834670 -0.02705010 -0.02337566
+v 0.02752709 -0.02782912 -0.02186369
+v 0.03301582 0.00042465 -0.02186359
+v -0.00053133 0.00042468 -0.02927080
+v 0.00935109 -0.01258516 -0.02928975
+v 0.02617337 -0.02642550 -0.02928980
+v 0.02674442 -0.02692997 -0.02734095
+v 0.02698963 -0.02714961 -0.02640905
+v 0.02747334 -0.02738298 -0.02484111
+v 0.02822913 -0.02691626 -0.02430101
+v 0.02836685 -0.02707413 -0.02186369
+v 0.02900172 -0.02608920 -0.02337566
+v 0.03307293 0.00042465 -0.02196608
+v 0.03302254 -0.00037495 -0.02186359
+v 0.02593824 0.00042468 -0.02928970
+v 0.01234403 -0.00952402 -0.02928973
+v 0.01147403 -0.01016920 -0.02928974
+v 0.02695604 -0.02566364 -0.02928979
+v 0.02802087 -0.02666917 -0.02531215
+v 0.02857176 -0.02613381 -0.02484111
+v 0.02903531 -0.02608921 -0.02186369
+v 0.02957612 -0.02506310 -0.02337565
+v 0.03307629 -0.00037495 -0.02196172
+v 0.03357343 -0.00037494 -0.02337556
+v 0.03333158 0.00042465 -0.02270826
+v 0.03009342 -0.02306239 -0.02186367
+v 0.03136651 0.00042468 -0.02928970
+v 0.02772527 -0.02456547 -0.02928979
+v 0.02818546 -0.02535822 -0.02720937
+v 0.02834670 -0.02559845 -0.02640904
+v 0.02940817 -0.02454833 -0.02491306
+v 0.02958956 -0.02506654 -0.02186368
+v 0.02975416 -0.02402671 -0.02442095
+v 0.02984149 -0.02430468 -0.02337565
+v 0.03378505 -0.00037494 -0.02489262
+v 0.03368092 0.00042466 -0.02417661
+v 0.03356336 0.00042466 -0.02337556
+v 0.02983478 -0.02431155 -0.02186368
+v 0.03011358 -0.02306238 -0.02337564
+v 0.03177632 0.00042468 -0.02910797
+v 0.03177968 -0.00037492 -0.02910651
+v 0.03136651 -0.00037492 -0.02928970
+v 0.02783612 -0.02438016 -0.02928979
+v 0.02824593 -0.02397178 -0.02889653
+v 0.02839037 -0.02451401 -0.02779962
+v 0.02888751 -0.02457578 -0.02640904
+v 0.02962315 -0.02356685 -0.02543280
+v 0.02985157 -0.02306238 -0.02491305
+v 0.03356671 -0.00037493 -0.02640895
+v 0.03356671 0.00042467 -0.02640895
+v 0.03366749 0.00042466 -0.02569367
+v 0.03377834 0.00042466 -0.02489262
+v 0.03213239 0.00042468 -0.02879903
+v 0.03253548 -0.00037493 -0.02845302
+v 0.02872964 -0.02154895 -0.02928978
+v 0.02816867 -0.02378303 -0.02928979
+v 0.02843739 -0.02302118 -0.02928978
+v 0.02891774 -0.02306237 -0.02792682
+v 0.02945184 -0.02306237 -0.02636978
+v 0.02973400 -0.02255791 -0.02583768
+v 0.03298895 -0.00037493 -0.02769413
+v 0.02870276 -0.02170338 -0.02928978
+v 0.03298895 0.00042467 -0.02768831
+v 0.03253212 0.00042467 -0.02844721
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 15
+f 1 15 27
+f 1 27 26
+f 1 26 39
+f 1 39 54
+f 1 54 67
+f 1 67 55
+f 1 55 40
+f 1 40 28
+f 1 28 16
+f 1 16 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 6
+f 5 12 14
+f 5 14 15
+f 5 15 13
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 22 23
+f 12 23 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 14 23 24
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 23
+f 23 37 38
+f 23 38 52
+f 23 52 65
+f 23 65 74
+f 23 74 84
+f 23 84 95
+f 23 95 101
+f 23 101 89
+f 23 89 77
+f 23 77 66
+f 23 66 53
+f 23 53 39
+f 23 39 26
+f 23 26 25
+f 23 25 24
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 33
+f 29 33 30
+f 30 32 31
+f 30 33 32
+f 33 44 34
+f 33 43 42
+f 33 42 41
+f 33 41 40
+f 33 40 55
+f 33 55 68
+f 33 68 80
+f 33 80 79
+f 33 79 78
+f 33 78 90
+f 33 90 105
+f 33 105 118
+f 33 118 125
+f 33 125 120
+f 33 120 119
+f 33 119 106
+f 33 106 91
+f 33 91 81
+f 33 81 69
+f 33 69 59
+f 33 59 56
+f 33 56 44
+f 34 44 35
+f 35 44 45
+f 35 45 46
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 37 50 38
+f 38 50 51
+f 38 51 52
+f 39 53 54
+f 44 56 45
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 46 58 48
+f 46 48 47
+f 48 58 59
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 49
+f 49 62 50
+f 50 62 51
+f 51 62 63
+f 51 63 64
+f 51 64 65
+f 51 65 52
+f 53 66 76
+f 53 76 88
+f 53 88 100
+f 53 100 99
+f 53 99 115
+f 53 115 114
+f 53 114 113
+f 53 113 126
+f 53 126 127
+f 53 127 116
+f 53 116 103
+f 53 103 90
+f 53 90 78
+f 53 78 67
+f 53 67 54
+f 55 67 68
+f 56 59 58
+f 56 58 57
+f 59 69 70
+f 59 70 61
+f 59 61 60
+f 61 70 71
+f 61 71 62
+f 62 71 72
+f 62 72 73
+f 62 73 63
+f 63 73 64
+f 64 74 65
+f 64 73 75
+f 64 75 74
+f 66 77 76
+f 67 78 79
+f 67 79 80
+f 67 80 68
+f 69 81 70
+f 70 82 71
+f 70 81 82
+f 71 82 73
+f 71 73 72
+f 73 82 83
+f 73 83 75
+f 74 75 84
+f 75 85 84
+f 75 83 85
+f 76 77 86
+f 76 86 87
+f 76 87 88
+f 77 89 86
+f 81 91 92
+f 81 92 82
+f 82 92 93
+f 82 93 83
+f 83 93 94
+f 83 94 85
+f 84 85 95
+f 85 94 96
+f 85 96 97
+f 85 97 95
+f 86 89 87
+f 87 98 99
+f 87 99 100
+f 87 100 88
+f 87 89 98
+f 89 101 102
+f 89 102 98
+f 90 103 104
+f 90 104 105
+f 91 106 92
+f 92 106 107
+f 92 107 108
+f 92 108 109
+f 92 109 93
+f 93 109 94
+f 94 109 110
+f 94 110 96
+f 95 97 101
+f 96 110 111
+f 96 111 102
+f 96 102 97
+f 97 102 101
+f 98 102 112
+f 98 112 113
+f 98 113 114
+f 98 114 115
+f 98 115 99
+f 102 111 112
+f 103 116 117
+f 103 117 104
+f 104 117 118
+f 104 118 105
+f 106 119 107
+f 107 110 109
+f 107 109 108
+f 107 119 120
+f 107 120 121
+f 107 121 110
+f 110 121 122
+f 110 122 123
+f 110 123 111
+f 111 123 112
+f 112 124 113
+f 112 123 125
+f 112 125 118
+f 112 118 124
+f 113 124 126
+f 116 127 117
+f 117 127 126
+f 117 126 124
+f 117 124 118
+f 120 125 121
+f 121 125 123
+f 121 123 122
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_33.obj

@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00902851 -0.03177101 -0.02186371
+v 0.01075604 -0.03163814 -0.02186371
+v 0.00902851 -0.03122944 -0.01735049
+v 0.00902851 -0.02529219 -0.02186368
+v 0.01226998 -0.03142534 -0.02186371
+v 0.00929693 -0.03113373 -0.01735049
+v 0.00902851 -0.02622789 -0.01735048
+v 0.01738874 -0.02026924 -0.02186366
+v 0.01196638 -0.03008658 -0.01735049
+v 0.01193037 -0.03010234 -0.01735049
+v 0.01075604 -0.03059214 -0.01735049
+v 0.01738874 -0.02799789 -0.02186369
+v 0.01738874 -0.02726265 -0.01735048
+v 0.01678316 -0.02765787 -0.01735048
+v 0.01583715 -0.02824337 -0.01735048
+v 0.01508018 -0.02863408 -0.01735049
+v 0.01504172 -0.02865210 -0.01735049
+v 0.01378310 -0.02923985 -0.01735049
+v 0.01738874 -0.02144702 -0.01735046
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 11
+f 3 11 10
+f 3 10 9
+f 3 9 18
+f 3 18 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 13
+f 3 13 19
+f 3 19 7
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 9
+f 7 19 8
+f 8 19 13
+f 8 13 12
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_34.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02239399 0.01517230 -0.02177050
+v 0.02341329 0.01517228 -0.01734132
+v 0.02956117 0.01517230 -0.02177050
+v 0.02671230 0.00042465 -0.02177056
+v 0.02742633 0.00042463 -0.01734138
+v 0.02855015 0.01517228 -0.01734132
+v 0.02958187 0.01510734 -0.02177050
+v 0.02970915 0.01254207 -0.01734133
+v 0.02999890 0.01172645 -0.01734134
+v 0.03296574 0.00042465 -0.02177056
+v 0.03188435 0.00042463 -0.01734138
+v 0.03064049 0.01141032 -0.02177052
+v 0.03046354 0.01024966 -0.01734134
+v 0.03047388 0.01021357 -0.01734134
+v 0.03188435 0.00044195 -0.01734138
+v 0.03296056 0.00113922 -0.02177056
+v 0.03188124 0.00113920 -0.01734138
+v 0.03088471 0.00870069 -0.01734135
+v 0.03096542 0.01021359 -0.02177052
+v 0.03181501 0.00265208 -0.01734137
+v 0.03204268 0.00567785 -0.02177054
+v 0.03130588 0.00693230 -0.01734135
+v 0.03151181 0.00570670 -0.01734136
+v 0.03151595 0.00567783 -0.01734136
+v 0.03168670 0.00420104 -0.01734136
+v 0.03169083 0.00416496 -0.01734136
+v 0.03113824 0.00768874 -0.01734135
+v 0.03134313 0.00870071 -0.02177053
+v 0.03166290 0.00737406 -0.02177053
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 28
+f 1 28 29
+f 1 29 21
+f 1 21 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 15
+f 2 15 17
+f 2 17 20
+f 2 20 26
+f 2 26 25
+f 2 25 24
+f 2 24 23
+f 2 23 22
+f 2 22 27
+f 2 27 18
+f 2 18 14
+f 2 14 13
+f 2 13 9
+f 2 9 8
+f 2 8 6
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 4 11 5
+f 7 9 13
+f 7 13 14
+f 7 14 12
+f 10 15 11
+f 10 16 17
+f 10 17 15
+f 12 14 18
+f 12 18 19
+f 16 20 17
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 20
+f 18 27 19
+f 19 27 28
+f 21 29 27
+f 21 27 22
+f 27 29 28
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_35.obj

@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.02861036 -0.01399077 0.04025280
+v -0.02709714 -0.01399077 0.04013741
+v -0.02861036 -0.01247745 0.04015664
+v -0.03025511 -0.01092122 0.03986544
+v -0.03060989 -0.01092122 0.03977203
+v -0.02987500 -0.01399077 0.03987916
+v -0.02720212 -0.01860500 0.03993684
+v -0.02558513 -0.01852744 0.04023080
+v -0.02558513 -0.01701576 0.04017037
+v -0.02706577 -0.01245764 0.03987779
+v -0.02860795 -0.01092122 0.03996159
+v -0.02053261 -0.02303440 0.03996430
+v -0.02053261 -0.02170261 0.03978023
+v -0.03137494 -0.01092121 0.03926790
+v -0.03087295 -0.01170181 0.03959208
+v -0.03063161 -0.01399076 0.03936130
+v -0.02965658 -0.01511462 0.03976102
+v -0.02800700 -0.01815282 0.03971568
+v -0.02777531 -0.01916280 0.03954535
+v -0.02676650 -0.01959848 0.03978711
+v -0.02210617 -0.02408564 0.03970604
+v -0.02102616 -0.02458402 0.03981456
+v -0.02053261 -0.02458237 0.03987638
+v -0.02104185 -0.02306245 0.04001925
+v -0.02757862 -0.01092122 0.03971159
+v -0.02053261 -0.02103589 0.03955495
+v -0.02619573 -0.01294943 0.03969921
+v -0.03170559 -0.01092121 0.03894784
+v -0.03110343 -0.01521693 0.03838737
+v -0.03194210 -0.01092121 0.03869371
+v -0.03025753 -0.01566911 0.03894782
+v -0.02818560 -0.02003745 0.03843818
+v -0.02787427 -0.02081144 0.03810437
+v -0.02311498 -0.02362355 0.03949175
+v -0.03085847 -0.01622361 0.03803846
+v -0.02151971 -0.02509396 0.03945329
+v -0.02053261 -0.02546198 0.03968407
+v -0.02682201 -0.01092121 0.03919509
+v -0.02654085 -0.01194110 0.03947807
+v -0.02053261 -0.02080318 0.03943819
+v -0.03232101 -0.01152852 0.03787501
+v -0.03264441 -0.01092121 0.03749863
+v -0.03137977 -0.01563280 0.03744916
+v -0.02887946 -0.02000609 0.03736124
+v -0.02806493 -0.02095666 0.03732002
+v -0.02321152 -0.02523753 0.03786535
+v -0.02220271 -0.02567321 0.03844091
+v -0.02374851 -0.02422920 0.03847937
+v -0.02265885 -0.02466158 0.03896702
+v -0.03107568 -0.01647776 0.03702745
+v -0.02948885 -0.01947800 0.03688458
+v -0.02105029 -0.02609074 0.03889832
+v -0.02053261 -0.02627227 0.03909476
+v -0.02053261 -0.02552634 0.03964697
+v -0.02608833 -0.01092121 0.03843409
+v -0.02053261 -0.02002920 0.03884616
+v -0.03269750 -0.01092121 0.03734753
+v -0.03170317 -0.01550242 0.03580215
+v -0.02894341 -0.02025693 0.03580214
+v -0.02818680 -0.02104907 0.03580213
+v -0.02343476 -0.02544217 0.03685571
+v -0.02252611 -0.02606268 0.03726230
+v -0.02159090 -0.02668154 0.03766890
+v -0.02058088 -0.02706606 0.03834062
+v -0.02950092 -0.01950109 0.03580214
+v -0.02053261 -0.02702975 0.03840930
+v -0.02567080 -0.01092121 0.03732006
+v -0.02053261 -0.01952751 0.03836400
+v -0.02053261 -0.01900106 0.03772800
+v -0.03285920 -0.01092120 0.03580217
+v -0.03248995 -0.01197245 0.03686401
+v -0.02936094 -0.01775836 0.02905338
+v -0.03256235 -0.01092118 0.02973475
+v -0.03233790 -0.01156314 0.02973475
+v -0.03198433 -0.01247741 0.02973474
+v -0.03091519 -0.01481258 0.02893252
+v -0.02759310 -0.02044834 0.02973471
+v -0.02683649 -0.02142532 0.02973471
+v -0.02623555 -0.02218115 0.02973471
+v -0.02476698 -0.02375719 0.02935007
+v -0.02484541 -0.02383805 0.03036246
+v -0.02942369 -0.01937402 0.03490652
+v -0.02331892 -0.02533652 0.03045586
+v -0.02343838 -0.02544546 0.03580212
+v -0.02184190 -0.02687957 0.03665652
+v -0.02106839 -0.02724099 0.03722522
+v -0.02053261 -0.02761066 0.03726780
+v -0.02053261 -0.02708256 0.03835711
+v -0.02566598 -0.01092121 0.03727198
+v -0.02053261 -0.01883273 0.03722525
+v -0.02916786 -0.01589516 0.02621955
+v -0.02852227 -0.01701571 0.02621955
+v -0.02796718 -0.01793163 0.02621954
+v -0.02802028 -0.01951757 0.02877591
+v -0.02813974 -0.01969085 0.02973472
+v -0.03244410 -0.01092118 0.02916193
+v -0.03098035 -0.01194270 0.02621957
+v -0.03009100 -0.01399072 0.02621956
+v -0.02957211 -0.01513767 0.02621955
+v -0.02929698 -0.01565422 0.02621955
+v -0.02663859 -0.02116952 0.02866188
+v -0.02532810 -0.02138075 0.02621953
+v -0.02488403 -0.02189894 0.02621953
+v -0.02467044 -0.02213823 0.02621953
+v -0.02443151 -0.02238413 0.02621953
+v -0.02391383 -0.02290727 0.02621953
+v -0.02315118 -0.02366311 0.02621952
+v -0.02323324 -0.02525896 0.02944348
+v -0.02400192 -0.02458398 0.02988030
+v -0.02404295 -0.02454768 0.02990228
+v -0.02400192 -0.02459224 0.02993250
+v -0.02266005 -0.02580685 0.02986382
+v -0.02159452 -0.02667821 0.02973606
+v -0.02184190 -0.02687957 0.03630212
+v -0.02053261 -0.02777898 0.03580074
+v -0.02554531 -0.01092120 0.03580217
+v -0.02053261 -0.01865944 0.03580214
+v -0.02759913 -0.01844817 0.02621954
+v -0.02718644 -0.01901917 0.02621954
+v -0.02666996 -0.01971230 0.02621954
+v -0.02608471 -0.02046813 0.02621953
+v -0.03134719 -0.01092117 0.02621957
+v -0.03133392 -0.01096407 0.02621957
+v -0.03122531 -0.01126608 0.02621957
+v -0.02291105 -0.02388590 0.02621952
+v -0.02154987 -0.02512032 0.02621952
+v -0.02060864 -0.02708253 0.02871818
+v -0.02239337 -0.02436449 0.02621952
+v -0.02083671 -0.02725086 0.02973606
+v -0.02053261 -0.02746870 0.02973606
+v -0.02632967 -0.01092117 0.02621957
+v -0.02053261 -0.01962153 0.02621954
+v -0.02130974 -0.02531506 0.02621952
+v -0.02079206 -0.02573258 0.02621952
+v -0.02053261 -0.02592897 0.02621951
+v -0.02053261 -0.02711224 0.02869208
+v -0.02053261 -0.02716670 0.02881159
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 12
+f 2 12 13
+f 2 13 10
+f 3 11 4
+f 4 11 25
+f 4 25 38
+f 4 38 55
+f 4 55 67
+f 4 67 89
+f 4 89 116
+f 4 116 131
+f 4 131 122
+f 4 122 96
+f 4 96 73
+f 4 73 70
+f 4 70 57
+f 4 57 42
+f 4 42 30
+f 4 30 28
+f 4 28 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 16 17
+f 6 17 7
+f 6 15 16
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 7 17 18
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 9 24 12
+f 10 25 11
+f 10 13 25
+f 12 24 23
+f 12 23 37
+f 12 37 54
+f 12 54 53
+f 12 53 66
+f 12 66 88
+f 12 88 87
+f 12 87 115
+f 12 115 130
+f 12 130 137
+f 12 137 136
+f 12 136 135
+f 12 135 132
+f 12 132 117
+f 12 117 90
+f 12 90 69
+f 12 69 68
+f 12 68 56
+f 12 56 40
+f 12 40 26
+f 12 26 13
+f 13 26 27
+f 13 27 25
+f 14 28 16
+f 14 16 15
+f 16 29 17
+f 16 28 30
+f 16 30 29
+f 17 29 31
+f 17 31 19
+f 17 19 18
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 19 31 29
+f 19 29 35
+f 19 35 32
+f 20 34 21
+f 21 34 36
+f 21 36 37
+f 21 37 22
+f 22 37 23
+f 25 27 26
+f 25 26 39
+f 25 39 38
+f 26 40 38
+f 26 38 39
+f 29 30 41
+f 29 41 42
+f 29 42 43
+f 29 43 35
+f 30 42 41
+f 32 35 44
+f 32 44 33
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 33 44 45
+f 34 48 49
+f 34 49 36
+f 35 43 50
+f 35 50 51
+f 35 51 44
+f 36 49 47
+f 36 47 52
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 38 40 55
+f 40 56 55
+f 42 57 43
+f 43 58 50
+f 43 57 58
+f 44 51 45
+f 45 51 59
+f 45 59 60
+f 45 60 61
+f 45 61 46
+f 46 61 62
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 47 64 52
+f 47 49 48
+f 50 58 51
+f 51 65 59
+f 51 58 65
+f 52 64 66
+f 52 66 53
+f 55 56 68
+f 55 68 69
+f 55 69 67
+f 57 70 71
+f 57 71 58
+f 58 72 65
+f 58 71 70
+f 58 70 73
+f 58 73 74
+f 58 74 75
+f 58 75 76
+f 58 76 72
+f 59 77 78
+f 59 78 79
+f 59 79 80
+f 59 80 81
+f 59 81 60
+f 59 65 82
+f 59 82 77
+f 60 81 83
+f 60 83 84
+f 60 84 61
+f 61 84 85
+f 61 85 62
+f 62 85 63
+f 63 85 86
+f 63 86 87
+f 63 87 64
+f 64 87 88
+f 64 88 66
+f 65 72 82
+f 67 69 90
+f 67 90 89
+f 72 91 92
+f 72 92 93
+f 72 93 94
+f 72 94 77
+f 72 77 95
+f 72 95 82
+f 72 76 91
+f 73 96 74
+f 74 96 76
+f 74 76 75
+f 76 96 97
+f 76 97 98
+f 76 98 99
+f 76 99 100
+f 76 100 91
+f 77 82 95
+f 77 94 78
+f 78 94 79
+f 79 94 101
+f 79 101 80
+f 80 101 102
+f 80 102 103
+f 80 103 104
+f 80 104 105
+f 80 105 106
+f 80 106 107
+f 80 107 108
+f 80 108 109
+f 80 109 110
+f 80 110 81
+f 81 110 111
+f 81 111 83
+f 83 111 109
+f 83 109 108
+f 83 108 112
+f 83 112 113
+f 83 113 114
+f 83 114 84
+f 84 114 85
+f 85 114 115
+f 85 115 87
+f 85 87 86
+f 89 90 116
+f 90 117 116
+f 91 100 99
+f 91 99 98
+f 91 98 97
+f 91 97 124
+f 91 124 123
+f 91 123 122
+f 91 122 131
+f 91 131 132
+f 91 132 135
+f 91 135 134
+f 91 134 133
+f 91 133 126
+f 91 126 128
+f 91 128 125
+f 91 125 107
+f 91 107 106
+f 91 106 105
+f 91 105 104
+f 91 104 103
+f 91 103 102
+f 91 102 121
+f 91 121 120
+f 91 120 119
+f 91 119 118
+f 91 118 93
+f 91 93 92
+f 93 118 94
+f 94 118 119
+f 94 119 120
+f 94 120 121
+f 94 121 101
+f 96 122 123
+f 96 123 124
+f 96 124 97
+f 101 121 102
+f 107 125 108
+f 108 126 127
+f 108 127 113
+f 108 113 112
+f 108 125 128
+f 108 128 126
+f 109 111 110
+f 113 127 129
+f 113 129 114
+f 114 129 130
+f 114 130 115
+f 116 117 132
+f 116 132 131
+f 126 133 127
+f 127 134 135
+f 127 135 136
+f 127 136 137
+f 127 137 130
+f 127 130 129
+f 127 133 134
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_36.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.03409443 -0.00037569 -0.02169222
+v -0.03285630 -0.00306236 -0.01848305
+v -0.03296949 -0.00188801 -0.01848305
+v -0.03307275 -0.00037570 -0.01848304
+v -0.03307275 0.00038116 -0.01848304
+v -0.03408847 0.00038117 -0.02169222
+v -0.03319090 -0.00491262 -0.02169224
+v -0.03248397 -0.00610117 -0.01848306
+v -0.03266566 -0.00491263 -0.01848306
+v -0.03282254 -0.00340032 -0.01848305
+v -0.02859880 0.00038116 -0.01848304
+v -0.02800307 0.00038117 -0.02169222
+v -0.03284836 -0.00646611 -0.02169224
+v -0.03233106 -0.00685804 -0.01848307
+v -0.02471959 -0.01412564 -0.01848309
+v -0.02395209 -0.01412563 -0.02169227
+v -0.03210468 -0.00944954 -0.02169225
+v -0.03206100 -0.00793724 -0.01848307
+v -0.02982402 -0.01412564 -0.01848309
+v -0.03074443 -0.01412563 -0.02169227
+v -0.03179788 -0.01055431 -0.02169226
+v -0.03163703 -0.00944955 -0.01848307
+v -0.03082485 -0.01188770 -0.01848308
+v -0.03094598 -0.01158950 -0.01848308
+v -0.03123690 -0.01070484 -0.01848308
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 16
+f 1 16 20
+f 1 20 21
+f 1 21 17
+f 1 17 13
+f 1 13 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 9
+f 2 9 8
+f 2 8 14
+f 2 14 18
+f 2 18 22
+f 2 22 25
+f 2 25 24
+f 2 24 23
+f 2 23 19
+f 2 19 15
+f 2 15 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 8
+f 11 15 16
+f 11 16 12
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 20 25 22
+f 20 22 21
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_37.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00053133 0.03454502 -0.02177043
+v 0.00012694 0.03334333 -0.01734126
+v 0.00015740 0.03334333 -0.01734126
+v 0.00015740 0.03454414 -0.02177043
+v -0.00053133 0.02796235 -0.02177046
+v -0.00053133 0.03334245 -0.01734126
+v 0.00167088 0.03329650 -0.01734126
+v 0.00170679 0.03329385 -0.01734126
+v 0.00318545 0.03317545 -0.01734126
+v 0.00322135 0.03317103 -0.01734126
+v 0.00470001 0.03295632 -0.01734126
+v 0.00473592 0.03295014 -0.01734126
+v 0.00629074 0.03328592 -0.02177044
+v 0.01058419 0.02551925 -0.02177047
+v -0.00053133 0.02865594 -0.01734127
+v 0.00621240 0.03264177 -0.01734126
+v 0.01058419 0.03233342 -0.02177044
+v 0.01058419 0.02634715 -0.01734128
+v 0.00624505 0.03263382 -0.01734126
+v 0.00924045 0.03178912 -0.01734126
+v 0.01058419 0.03134203 -0.01734126
+v 0.00746693 0.03230071 -0.01734126
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 17
+f 1 17 14
+f 1 14 5
+f 1 5 15
+f 1 15 6
+f 1 6 2
+f 2 6 15
+f 2 15 18
+f 2 18 21
+f 2 21 20
+f 2 20 22
+f 2 22 19
+f 2 19 16
+f 2 16 12
+f 2 12 11
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 12 16 13
+f 13 16 17
+f 14 17 21
+f 14 21 18
+f 14 18 15
+f 16 19 17
+f 17 20 21
+f 17 19 22
+f 17 22 20
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_38.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01058419 0.02551868 -0.02177047
+v 0.01934734 0.01925560 -0.02177049
+v 0.01058419 0.02634571 -0.01734128
+v 0.01058419 0.03233355 -0.02177044
+v 0.01934734 0.02037966 -0.01734131
+v 0.01934734 0.02815347 -0.02177046
+v 0.01058419 0.03134260 -0.01734126
+v 0.01075575 0.03233099 -0.02177044
+v 0.01934734 0.02654543 -0.01734128
+v 0.01255624 0.03199940 -0.02177044
+v 0.01573434 0.02896642 -0.01734127
+v 0.01575235 0.02895618 -0.01734127
+v 0.01681172 0.02831477 -0.01734128
+v 0.01773298 0.02772456 -0.01734128
+v 0.01934734 0.02697177 -0.01824220
+v 0.01075575 0.03128499 -0.01734127
+v 0.01226974 0.03212743 -0.02177044
+v 0.01157751 0.03224137 -0.02177044
+v 0.01852386 0.02716509 -0.01734128
+v 0.01271665 0.03047714 -0.01734127
+v 0.01378459 0.02997783 -0.01734127
+v 0.01381290 0.02996375 -0.01734127
+v 0.01499578 0.02936843 -0.01734127
+v 0.01193263 0.03081001 -0.01734127
+v 0.01267204 0.03049634 -0.01734127
+v 0.01269006 0.03048866 -0.01734127
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 18
+f 1 18 17
+f 1 17 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 15
+f 2 15 9
+f 2 9 5
+f 3 5 9
+f 3 9 19
+f 3 19 14
+f 3 14 13
+f 3 13 12
+f 3 12 11
+f 3 11 23
+f 3 23 22
+f 3 22 21
+f 3 21 20
+f 3 20 26
+f 3 26 25
+f 3 25 24
+f 3 24 16
+f 3 16 7
+f 4 7 8
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 15 19
+f 10 17 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 14 19 15
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 20
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_39.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02175643 -0.01533415 -0.02186365
+v 0.02927419 -0.01533415 -0.02186365
+v 0.02278660 -0.01533417 -0.01735044
+v 0.02742563 0.00042463 -0.01735038
+v 0.02656202 0.00042465 -0.02186359
+v 0.02829476 -0.01493310 -0.01735043
+v 0.02827050 -0.01498401 -0.01735044
+v 0.02808079 -0.01533417 -0.01735044
+v 0.03103561 -0.00944928 -0.02186362
+v 0.03046538 -0.00944930 -0.01735041
+v 0.02997677 -0.01096255 -0.01735042
+v 0.02969772 -0.01175234 -0.01735042
+v 0.03188489 0.00042463 -0.01735038
+v 0.03301762 0.00042465 -0.02186359
+v 0.03125400 -0.00861938 -0.02186362
+v 0.03090546 -0.00790828 -0.01735041
+v 0.03047862 -0.00940457 -0.01735041
+v 0.03188820 -0.00033122 -0.01735038
+v 0.03302424 -0.00037440 -0.02186359
+v 0.03142164 -0.00793757 -0.02186362
+v 0.03115032 -0.00697503 -0.01735041
+v 0.03188820 -0.00037442 -0.01735038
+v 0.03208893 -0.00490490 -0.02186361
+v 0.03182091 -0.00184293 -0.01735039
+v 0.03181871 -0.00188767 -0.01735039
+v 0.03168635 -0.00340092 -0.01735039
+v 0.03153304 -0.00486789 -0.01735040
+v 0.03152753 -0.00491263 -0.01735040
+v 0.03132348 -0.00618061 -0.01735040
+v 0.03131686 -0.00621918 -0.01735040
+v 0.03131245 -0.00624077 -0.01735040
+v 0.03163782 -0.00704289 -0.02186362
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 19
+f 1 19 23
+f 1 23 32
+f 1 32 20
+f 1 20 15
+f 1 15 9
+f 1 9 2
+f 2 6 7
+f 2 7 8
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 6
+f 3 8 7
+f 3 7 6
+f 3 6 12
+f 3 12 11
+f 3 11 10
+f 3 10 17
+f 3 17 16
+f 3 16 21
+f 3 21 31
+f 3 31 30
+f 3 30 29
+f 3 29 28
+f 3 28 27
+f 3 27 26
+f 3 26 25
+f 3 25 24
+f 3 24 22
+f 3 22 18
+f 3 18 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 19 22 24
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 23
+f 20 32 21
+f 21 32 31
+f 23 31 32
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_4.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.03307914 0.00038314 -0.01734158
+v -0.03307914 0.00113960 -0.01734158
+v -0.02859719 0.00038314 -0.01734158
+v -0.03312908 0.00038312 -0.01123263
+v -0.03313420 0.00113958 -0.01123263
+v -0.03301255 0.00265253 -0.01734157
+v -0.02018650 0.02071808 -0.01734150
+v -0.02017625 0.02071802 0.00090774
+v -0.02859591 0.00038310 -0.00668002
+v -0.03313292 0.00038312 -0.01047386
+v -0.03314829 0.00113957 -0.00819756
+v -0.03305353 0.00265252 -0.01275016
+v -0.03286401 0.00412763 -0.01734156
+v -0.03291139 0.00416545 -0.01426768
+v -0.02634854 0.02071808 -0.01734150
+v -0.02017753 0.02071800 0.00469727
+v -0.02859463 0.00038300 0.02214454
+v -0.02859463 0.00038304 0.01152179
+v -0.03313933 0.00038311 -0.00895633
+v -0.03306761 0.00265251 -0.00971508
+v -0.03325842 0.00038298 0.02670146
+v -0.03325714 0.00113944 0.02670146
+v -0.03292419 0.00416545 -0.01275015
+v -0.03286017 0.00416546 -0.01734156
+v -0.03273211 0.00567638 -0.01426768
+v -0.03270906 0.00567639 -0.01578522
+v -0.02660849 0.02039757 -0.01734151
+v -0.02638183 0.02071803 -0.00212733
+v -0.02018650 0.02071793 0.02366216
+v -0.02859591 0.00038299 0.02442085
+v -0.03317646 0.00265237 0.02670147
+v -0.03304328 0.00416530 0.02670148
+v -0.02859847 0.00038298 0.02670146
+v -0.03274492 0.00567638 -0.01275015
+v -0.03287937 0.00567823 0.02670148
+v -0.03268729 0.00564056 -0.01734156
+v -0.03250289 0.00698229 -0.01734155
+v -0.02735761 0.01933454 -0.01734151
+v -0.02791209 0.01861786 -0.00819749
+v -0.02793258 0.01864570 -0.00060981
+v -0.02737810 0.01940217 -0.00060981
+v -0.02663026 0.02040947 -0.00212734
+v -0.02643689 0.02071792 0.02669723
+v -0.02019162 0.02071792 0.02670154
+v -0.02859719 0.00038298 0.02593838
+v -0.03252466 0.00706389 -0.01123260
+v -0.03263863 0.00718916 0.02669718
+v -0.03263863 0.00718916 0.02670149
+v -0.03235691 0.00773875 -0.01734155
+v -0.02786856 0.01860197 -0.01734151
+v -0.02842688 0.01777580 -0.00819749
+v -0.02788008 0.01858405 -0.01734151
+v -0.02844993 0.01777577 -0.00060981
+v -0.02849987 0.01777766 0.02670153
+v -0.02795179 0.01867148 0.02670153
+v -0.02740371 0.01942596 0.02670153
+v -0.02664819 0.02044320 0.02670154
+v -0.02643689 0.02071792 0.02670154
+v -0.03237099 0.00782035 -0.01123260
+v -0.03244526 0.00810886 0.02670149
+v -0.03212000 0.00870225 -0.01730275
+v -0.03212512 0.00868035 -0.01734155
+v -0.02837181 0.01777583 -0.01578517
+v -0.02910557 0.01652567 -0.01578518
+v -0.02911326 0.01656945 -0.00971503
+v -0.02837565 0.01774597 -0.01734151
+v -0.02916064 0.01665292 0.02670152
+v -0.03215842 0.00870223 -0.00971506
+v -0.03223782 0.00886333 0.02670149
+v -0.03169870 0.01021518 -0.01730274
+v -0.03174224 0.01021516 -0.00971505
+v -0.03170766 0.01017934 -0.01734154
+v -0.02909021 0.01652169 -0.01730272
+v -0.02950511 0.01576523 -0.01734152
+v -0.02953328 0.01581299 -0.00971503
+v -0.02909021 0.01651970 -0.01734152
+v -0.02957938 0.01589646 0.02670152
+v -0.03185109 0.01021502 0.02670150
+v -0.03119416 0.01172611 -0.01734154
+v -0.03169742 0.01021518 -0.01734154
+v -0.03124026 0.01172609 -0.01123259
+v -0.03123002 0.01172610 -0.01275013
+v -0.03136319 0.01172595 0.02669719
+v -0.02995202 0.01475197 -0.01734153
+v -0.03061791 0.01333657 -0.01275012
+v -0.02999300 0.01475196 -0.01275012
+v -0.03002373 0.01475192 -0.00364490
+v -0.03009288 0.01475181 0.02669720
+v -0.03009288 0.01475181 0.02670151
+v -0.03136319 0.01172595 0.02670150
+v -0.03089963 0.01251841 -0.01734153
+v -0.03092012 0.01257613 -0.01426765
+v -0.03093037 0.01259204 -0.01123258
+v -0.03099311 0.01271732 0.02670151
+v -0.03094573 0.01262187 -0.00212736
+v -0.02996739 0.01471613 -0.01734153
+v -0.03060510 0.01333259 -0.01426765
+v -0.03062559 0.01337436 -0.00364490
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 36
+f 1 36 37
+f 1 37 49
+f 1 49 62
+f 1 62 72
+f 1 72 80
+f 1 80 79
+f 1 79 91
+f 1 91 96
+f 1 96 84
+f 1 84 74
+f 1 74 76
+f 1 76 66
+f 1 66 52
+f 1 52 50
+f 1 50 38
+f 1 38 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 30
+f 1 30 45
+f 1 45 33
+f 1 33 21
+f 1 21 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 20
+f 5 20 12
+f 5 12 6
+f 6 12 14
+f 6 14 13
+f 7 15 28
+f 7 28 43
+f 7 43 58
+f 7 58 44
+f 7 44 29
+f 7 29 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 11
+f 11 19 21
+f 11 21 22
+f 11 22 20
+f 12 20 23
+f 12 23 14
+f 13 14 24
+f 14 23 34
+f 14 34 25
+f 14 25 26
+f 14 26 24
+f 15 27 28
+f 16 29 17
+f 17 29 30
+f 20 22 31
+f 20 31 32
+f 20 32 23
+f 21 33 44
+f 21 44 58
+f 21 58 57
+f 21 57 56
+f 21 56 55
+f 21 55 54
+f 21 54 67
+f 21 67 77
+f 21 77 89
+f 21 89 94
+f 21 94 90
+f 21 90 78
+f 21 78 69
+f 21 69 60
+f 21 60 48
+f 21 48 35
+f 21 35 32
+f 21 32 31
+f 21 31 22
+f 23 32 35
+f 23 35 34
+f 24 26 36
+f 25 34 37
+f 25 37 26
+f 26 37 36
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 29 44 33
+f 29 33 45
+f 29 45 30
+f 34 46 37
+f 34 35 47
+f 34 47 46
+f 35 48 47
+f 37 46 49
+f 38 50 39
+f 39 51 40
+f 39 50 52
+f 39 52 51
+f 40 51 53
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 41
+f 41 56 42
+f 42 56 57
+f 42 57 43
+f 43 57 58
+f 46 59 49
+f 46 47 59
+f 47 48 60
+f 47 60 59
+f 49 61 62
+f 49 59 61
+f 51 52 63
+f 51 63 64
+f 51 64 65
+f 51 65 53
+f 52 66 63
+f 53 65 67
+f 53 67 54
+f 59 68 61
+f 59 60 68
+f 60 69 68
+f 61 70 62
+f 61 68 71
+f 61 71 70
+f 62 70 72
+f 63 66 64
+f 64 66 73
+f 64 73 74
+f 64 74 75
+f 64 75 65
+f 65 75 67
+f 66 76 73
+f 67 75 77
+f 68 69 71
+f 69 78 71
+f 70 79 80
+f 70 80 72
+f 70 71 81
+f 70 81 82
+f 70 82 79
+f 71 78 83
+f 71 83 81
+f 73 76 74
+f 74 84 85
+f 74 85 86
+f 74 86 75
+f 75 86 87
+f 75 87 77
+f 77 88 89
+f 77 87 88
+f 78 90 83
+f 79 82 92
+f 79 92 91
+f 81 93 92
+f 81 92 82
+f 81 83 93
+f 83 90 94
+f 83 94 95
+f 83 95 93
+f 84 96 97
+f 84 97 85
+f 85 97 92
+f 85 92 93
+f 85 93 95
+f 85 95 94
+f 85 94 98
+f 85 98 87
+f 85 87 86
+f 87 98 94
+f 87 94 88
+f 88 94 89
+f 91 92 97
+f 91 97 96
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_40.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.00053133 0.01570130 -0.02927002
+v 0.01147810 0.01626598 -0.03073133
+v 0.01179357 0.01570130 -0.03073133
+v -0.00053133 0.01570127 -0.02250905
+v -0.00053133 0.03139104 -0.02981992
+v 0.01106046 0.01778080 -0.03073132
+v 0.01777857 0.01570130 -0.03073133
+v 0.00167159 0.01570127 -0.02250817
+v 0.01777857 0.02086052 -0.02177048
+v -0.00053133 0.02796050 -0.02177046
+v -0.00053133 0.03290393 -0.02941205
+v 0.00015697 0.03290393 -0.02941205
+v 0.00015697 0.03139104 -0.02981642
+v 0.01777857 0.02745945 -0.03073129
+v 0.01760828 0.02738814 -0.03073129
+v 0.01641092 0.02662109 -0.03073129
+v 0.01550036 0.02574227 -0.03073130
+v 0.01299451 0.02278779 -0.03073131
+v 0.01252847 0.02218649 -0.03073131
+v 0.01158385 0.02075455 -0.03073131
+v 0.01119489 0.01960976 -0.03073132
+v 0.01111602 0.01928020 -0.03073132
+v 0.01107300 0.01816432 -0.03073132
+v 0.01777857 0.01570127 -0.02250642
+v 0.01776064 0.01570127 -0.02250642
+v 0.01777857 0.02844039 -0.02177046
+v -0.00053133 0.03454399 -0.02177043
+v -0.00053133 0.03383286 -0.02885683
+v 0.00015697 0.03383286 -0.02885858
+v 0.00121452 0.03375384 -0.02877964
+v 0.00772829 0.03232382 -0.02883402
+v 0.01226857 0.03109424 -0.02902964
+v 0.01241734 0.03190946 -0.02801478
+v 0.01302140 0.03214458 -0.02716395
+v 0.01777857 0.02841344 -0.02903052
+v 0.01777857 0.02890485 -0.02240111
+v 0.01314328 0.03222358 -0.02248092
+v 0.01255536 0.03199809 -0.02177044
+v 0.00015697 0.03454399 -0.02177043
+v -0.00053133 0.03459795 -0.02185815
+v -0.00053133 0.03410074 -0.02843492
+v -0.00053133 0.03441681 -0.02792618
+v 0.00015697 0.03441102 -0.02792618
+v 0.00621367 0.03375576 -0.02732008
+v 0.01075395 0.03201931 -0.02852439
+v 0.00873923 0.03220819 -0.02874543
+v 0.01201225 0.03235272 -0.02756831
+v 0.01241734 0.03265530 -0.02655873
+v 0.01339244 0.03237778 -0.02615349
+v 0.01777857 0.02898197 -0.02783761
+v 0.01777857 0.02926141 -0.02314756
+v 0.01760828 0.02914576 -0.02257391
+v 0.01328847 0.03232573 -0.02337560
+v 0.01226857 0.03279791 -0.02337560
+v 0.01226857 0.03241245 -0.02218357
+v 0.01777857 0.02935006 -0.02338351
+v 0.01226857 0.03212721 -0.02177044
+v 0.00015697 0.03459602 -0.02185815
+v -0.00053133 0.03511638 -0.02299228
+v -0.00053133 0.03468277 -0.02741217
+v 0.00015697 0.03499498 -0.02678853
+v 0.00703282 0.03367674 -0.02719553
+v 0.01075395 0.03312941 -0.02640874
+v 0.01226857 0.03301183 -0.02489217
+v 0.01347489 0.03243944 -0.02489217
+v 0.01777857 0.02950231 -0.02487113
+v 0.01777857 0.02932502 -0.02630349
+v 0.01777857 0.02930960 -0.02640875
+v 0.01777857 0.02917854 -0.02722975
+v 0.01777857 0.02915927 -0.02731834
+v 0.01605781 0.03063553 -0.02412907
+v 0.01075395 0.03332212 -0.02489217
+v 0.00095999 0.03518770 -0.02402643
+v 0.00015697 0.03511060 -0.02299491
+v -0.00053133 0.03517999 -0.02340629
+v -0.00053133 0.03500077 -0.02679204
+v 0.00015697 0.03533611 -0.02603068
+v 0.00115537 0.03525323 -0.02584999
+v 0.00112848 0.03524552 -0.02489216
+v 0.00015697 0.03539006 -0.02489216
+v 0.00015697 0.03522624 -0.02375364
+v -0.00053133 0.03531490 -0.02437290
+v -0.00053133 0.03533225 -0.02603419
+v -0.00053133 0.03538620 -0.02489216
+f 1 2 3
+f 1 3 7
+f 1 7 24
+f 1 24 25
+f 1 25 8
+f 1 8 4
+f 1 4 10
+f 1 10 27
+f 1 27 40
+f 1 40 59
+f 1 59 75
+f 1 75 82
+f 1 82 84
+f 1 84 83
+f 1 83 76
+f 1 76 60
+f 1 60 42
+f 1 42 41
+f 1 41 28
+f 1 28 11
+f 1 11 5
+f 1 5 2
+f 2 6 23
+f 2 23 22
+f 2 22 21
+f 2 21 20
+f 2 20 19
+f 2 19 18
+f 2 18 17
+f 2 17 16
+f 2 16 15
+f 2 15 14
+f 2 14 7
+f 2 7 3
+f 2 5 6
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 23
+f 5 23 6
+f 7 14 35
+f 7 35 50
+f 7 50 70
+f 7 70 69
+f 7 69 68
+f 7 68 67
+f 7 67 66
+f 7 66 56
+f 7 56 51
+f 7 51 36
+f 7 36 26
+f 7 26 9
+f 7 9 24
+f 8 25 9
+f 9 25 24
+f 9 26 38
+f 9 38 57
+f 9 57 39
+f 9 39 27
+f 9 27 10
+f 11 28 29
+f 11 29 12
+f 12 29 14
+f 12 14 13
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 26 36 37
+f 26 37 38
+f 27 39 40
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 31 46 32
+f 32 46 45
+f 32 45 33
+f 33 45 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 36 51 52
+f 36 52 37
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 37 52 51
+f 37 51 56
+f 37 56 53
+f 38 55 57
+f 39 58 40
+f 39 57 55
+f 39 55 58
+f 40 58 59
+f 42 60 43
+f 43 60 61
+f 43 61 44
+f 44 62 45
+f 44 61 62
+f 45 62 47
+f 47 63 48
+f 47 62 63
+f 48 63 64
+f 48 64 49
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 68
+f 49 68 69
+f 49 69 70
+f 49 70 50
+f 53 65 64
+f 53 64 54
+f 53 56 71
+f 53 71 65
+f 54 64 72
+f 54 72 73
+f 54 73 74
+f 54 74 55
+f 55 74 58
+f 56 66 71
+f 58 74 59
+f 59 74 75
+f 60 76 61
+f 61 76 77
+f 61 77 78
+f 61 78 62
+f 62 78 63
+f 63 78 64
+f 64 78 72
+f 65 71 66
+f 72 78 79
+f 72 79 73
+f 73 79 80
+f 73 80 81
+f 73 81 74
+f 74 81 75
+f 75 81 80
+f 75 80 82
+f 76 83 77
+f 77 83 80
+f 77 80 78
+f 78 80 79
+f 80 83 84
+f 80 84 82
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_41.obj

@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.01778158 0.01570130 -0.03073133
+v 0.02539716 0.01570130 -0.03073133
+v 0.01778158 0.01570127 -0.02250642
+v 0.01778158 0.02745900 -0.03073129
+v 0.02567759 0.01594733 -0.03073133
+v 0.02572270 0.01570130 -0.03057871
+v 0.02199904 0.01570127 -0.02177050
+v 0.01798763 0.02047370 -0.02177048
+v 0.01778158 0.02086073 -0.02177048
+v 0.01778158 0.02841435 -0.02903052
+v 0.01790350 0.02754964 -0.03073129
+v 0.02845997 0.01570130 -0.02892180
+v 0.02703708 0.01808104 -0.03073132
+v 0.02938906 0.01570127 -0.02177050
+v 0.01778158 0.02844166 -0.02177046
+v 0.01778158 0.02898266 -0.02783761
+v 0.01853874 0.02791509 -0.03073129
+v 0.02874284 0.01570130 -0.02859989
+v 0.02772109 0.01926659 -0.03073132
+v 0.02784424 0.01954572 -0.03073132
+v 0.02812467 0.02036294 -0.03073132
+v 0.02977557 0.01570127 -0.02224766
+v 0.03010599 0.02231677 -0.02177048
+v 0.02127845 0.03000129 -0.02177045
+v 0.01778158 0.02890494 -0.02240111
+v 0.01778158 0.02915963 -0.02731834
+v 0.01985800 0.02840859 -0.03073129
+v 0.01958244 0.02830644 -0.03073129
+v 0.02967315 0.01570129 -0.02734909
+v 0.02819905 0.02080321 -0.03073131
+v 0.02979629 0.01570127 -0.02228363
+v 0.02982800 0.01570127 -0.02234327
+v 0.03012794 0.02231677 -0.02185820
+v 0.03010477 0.02370232 -0.02177047
+v 0.02135527 0.03003295 -0.02177045
+v 0.01778158 0.02926033 -0.02314756
+v 0.01778158 0.02917833 -0.02722975
+v 0.02135527 0.02978693 -0.02640875
+v 0.02054811 0.02913950 -0.02874895
+v 0.02135527 0.02859132 -0.03073128
+v 0.02972679 0.01570129 -0.02725611
+v 0.02822831 0.02231680 -0.03073131
+v 0.03004990 0.01570128 -0.02337566
+v 0.03023645 0.01570128 -0.02482908
+v 0.03012550 0.02382749 -0.02185819
+v 0.03010355 0.02382749 -0.02177047
+v 0.02276962 0.03032502 -0.02177045
+v 0.02286960 0.03037969 -0.02185817
+v 0.02135527 0.03006604 -0.02185817
+v 0.01778158 0.02934954 -0.02338351
+v 0.01778158 0.02930926 -0.02640875
+v 0.02135527 0.03004734 -0.02489218
+v 0.02286960 0.03017827 -0.02489218
+v 0.02135527 0.02941141 -0.02792620
+v 0.02135527 0.02916108 -0.02881123
+v 0.02286229 0.02838270 -0.03073129
+v 0.02227582 0.02915676 -0.02879018
+v 0.02976215 0.01570129 -0.02717980
+v 0.02914520 0.02231679 -0.02792623
+v 0.03004137 0.01570129 -0.02636582
+v 0.02795519 0.02359444 -0.03073130
+v 0.02821490 0.02321316 -0.03035062
+v 0.02973167 0.02331242 -0.02582109
+v 0.03012672 0.01570128 -0.02584919
+v 0.03012062 0.02382750 -0.02337563
+v 0.03014501 0.02231678 -0.02337564
+v 0.02985116 0.02508642 -0.02185819
+v 0.02984263 0.02506197 -0.02177047
+v 0.02286960 0.03033941 -0.02177045
+v 0.02286960 0.03039985 -0.02337561
+v 0.02135527 0.03013943 -0.02337561
+v 0.01778158 0.02950349 -0.02487113
+v 0.02438272 0.03013654 -0.02177045
+v 0.02438272 0.03017395 -0.02185817
+v 0.01778158 0.02932509 -0.02630349
+v 0.02438272 0.03016820 -0.02337561
+v 0.02438272 0.02986606 -0.02489218
+v 0.02286960 0.02979413 -0.02640875
+v 0.02281595 0.02932221 -0.02795163
+v 0.02328538 0.02904453 -0.02847353
+v 0.02390477 0.02922725 -0.02746219
+v 0.02393037 0.02799998 -0.03073129
+v 0.02995236 0.02231678 -0.02489221
+v 0.02787228 0.02383760 -0.03073130
+v 0.02962316 0.02432100 -0.02542989
+v 0.02888915 0.02382751 -0.02792622
+v 0.02944149 0.02382176 -0.02635877
+v 0.02984994 0.02382175 -0.02491150
+v 0.02975240 0.02478141 -0.02441767
+v 0.02984141 0.02504615 -0.02337563
+v 0.02958292 0.02584322 -0.02185819
+v 0.02954756 0.02581157 -0.02177047
+v 0.02589584 0.02960131 -0.02177045
+v 0.02589584 0.02962721 -0.02185817
+v 0.02603849 0.02951212 -0.02349929
+v 0.02564101 0.02937544 -0.02489218
+v 0.02532034 0.02921862 -0.02591404
+v 0.02439735 0.02940566 -0.02641489
+v 0.02491311 0.02902726 -0.02692451
+v 0.02418276 0.02790358 -0.03073129
+v 0.02823684 0.02471956 -0.02886563
+v 0.02718827 0.02519436 -0.03073130
+v 0.02886721 0.02534111 -0.02640877
+v 0.02939759 0.02530801 -0.02491150
+v 0.02956463 0.02580294 -0.02337563
+v 0.02901108 0.02685324 -0.02185818
+v 0.02897450 0.02685324 -0.02177046
+v 0.02675055 0.02918838 -0.02177045
+v 0.02677737 0.02920709 -0.02307651
+v 0.02676030 0.02919558 -0.02185817
+v 0.02663716 0.02911214 -0.02408785
+v 0.02639818 0.02896394 -0.02489218
+v 0.02585316 0.02868339 -0.02641489
+v 0.02494115 0.02749066 -0.03073129
+v 0.02709926 0.02536414 -0.03073130
+v 0.02817710 0.02610942 -0.02718853
+v 0.02837340 0.02527061 -0.02778763
+v 0.02833438 0.02633674 -0.02640876
+v 0.02855264 0.02688635 -0.02481413
+v 0.02896597 0.02685325 -0.02337562
+v 0.02835267 0.02782011 -0.02185818
+v 0.02834170 0.02780859 -0.02177046
+v 0.02749796 0.02855244 -0.02177046
+v 0.02751747 0.02857690 -0.02185818
+v 0.02832463 0.02778990 -0.02337562
+v 0.02733336 0.02865605 -0.02349929
+v 0.02821368 0.02766185 -0.02425627
+v 0.02746261 0.02811938 -0.02481413
+v 0.02696636 0.02788919 -0.02640876
+v 0.02673226 0.02767912 -0.02731309
+v 0.02594827 0.02668206 -0.03073129
+v 0.02693588 0.02560154 -0.03073130
+v 0.02670544 0.02615547 -0.03033746
+v 0.02800152 0.02741294 -0.02526761
+v 0.02617018 0.02647775 -0.03073129
+f 1 2 6
+f 1 6 12
+f 1 12 18
+f 1 18 29
+f 1 29 41
+f 1 41 58
+f 1 58 60
+f 1 60 64
+f 1 64 44
+f 1 44 43
+f 1 43 32
+f 1 32 31
+f 1 31 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 25
+f 1 25 36
+f 1 36 50
+f 1 50 72
+f 1 72 75
+f 1 75 51
+f 1 51 37
+f 1 37 26
+f 1 26 16
+f 1 16 10
+f 1 10 4
+f 1 4 11
+f 1 11 17
+f 1 17 28
+f 1 28 27
+f 1 27 40
+f 1 40 56
+f 1 56 82
+f 1 82 100
+f 1 100 114
+f 1 114 131
+f 1 131 135
+f 1 135 132
+f 1 132 115
+f 1 115 102
+f 1 102 84
+f 1 84 61
+f 1 61 42
+f 1 42 30
+f 1 30 21
+f 1 21 20
+f 1 20 19
+f 1 19 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 12 6
+f 5 13 12
+f 7 14 23
+f 7 23 34
+f 7 34 46
+f 7 46 68
+f 7 68 92
+f 7 92 107
+f 7 107 122
+f 7 122 123
+f 7 123 108
+f 7 108 93
+f 7 93 73
+f 7 73 69
+f 7 69 47
+f 7 47 35
+f 7 35 24
+f 7 24 15
+f 7 15 9
+f 7 9 8
+f 10 16 17
+f 10 17 11
+f 12 13 19
+f 12 19 20
+f 12 20 21
+f 12 21 18
+f 14 22 23
+f 15 24 25
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 18 21 29
+f 21 30 29
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 24 35 25
+f 25 35 36
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 29 30 41
+f 30 42 41
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 35 47 48
+f 35 48 49
+f 35 49 50
+f 35 50 36
+f 37 51 52
+f 37 52 38
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 55 40
+f 39 54 55
+f 40 55 57
+f 40 57 56
+f 41 42 58
+f 42 59 60
+f 42 60 58
+f 42 61 62
+f 42 62 63
+f 42 63 59
+f 44 64 65
+f 44 65 66
+f 44 66 45
+f 45 66 65
+f 45 65 67
+f 45 67 68
+f 45 68 46
+f 47 69 48
+f 48 70 71
+f 48 71 72
+f 48 72 49
+f 48 69 73
+f 48 73 74
+f 48 74 70
+f 49 72 50
+f 51 75 52
+f 52 75 72
+f 52 72 70
+f 52 70 53
+f 53 70 76
+f 53 76 77
+f 53 77 78
+f 53 78 54
+f 54 78 57
+f 54 57 55
+f 56 57 79
+f 56 79 80
+f 56 80 81
+f 56 81 82
+f 57 78 79
+f 59 63 60
+f 60 83 64
+f 60 63 83
+f 61 84 85
+f 61 85 86
+f 61 86 62
+f 62 86 87
+f 62 87 63
+f 63 87 85
+f 63 85 88
+f 63 88 65
+f 63 65 83
+f 64 83 65
+f 65 88 89
+f 65 89 90
+f 65 90 67
+f 67 90 91
+f 67 91 68
+f 68 91 92
+f 70 74 76
+f 70 72 71
+f 73 93 74
+f 74 93 94
+f 74 94 76
+f 76 94 95
+f 76 95 77
+f 77 95 96
+f 77 96 97
+f 77 97 98
+f 77 98 81
+f 77 81 78
+f 78 81 79
+f 79 81 80
+f 81 98 99
+f 81 99 100
+f 81 100 82
+f 84 101 85
+f 84 102 101
+f 85 101 103
+f 85 103 104
+f 85 104 89
+f 85 89 88
+f 85 87 86
+f 89 104 105
+f 89 105 90
+f 90 105 91
+f 91 105 106
+f 91 106 107
+f 91 107 92
+f 93 108 94
+f 94 109 95
+f 94 108 110
+f 94 110 109
+f 95 109 111
+f 95 111 96
+f 96 111 97
+f 97 111 112
+f 97 112 113
+f 97 113 114
+f 97 114 100
+f 97 100 99
+f 97 99 98
+f 101 102 115
+f 101 115 116
+f 101 116 117
+f 101 117 103
+f 103 117 116
+f 103 116 118
+f 103 118 104
+f 104 118 119
+f 104 119 105
+f 105 119 120
+f 105 120 106
+f 106 120 121
+f 106 121 122
+f 106 122 107
+f 108 123 124
+f 108 124 110
+f 109 124 121
+f 109 121 125
+f 109 125 126
+f 109 126 111
+f 109 110 124
+f 111 126 127
+f 111 127 128
+f 111 128 129
+f 111 129 112
+f 112 129 130
+f 112 130 114
+f 112 114 113
+f 114 130 131
+f 115 132 116
+f 116 132 133
+f 116 133 134
+f 116 134 118
+f 118 134 127
+f 118 127 119
+f 119 127 120
+f 120 127 125
+f 120 125 121
+f 121 124 122
+f 122 124 123
+f 125 127 126
+f 127 129 128
+f 127 134 129
+f 129 134 130
+f 130 134 133
+f 130 133 135
+f 130 135 131
+f 132 135 133
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_42.obj

@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00902851 -0.02529179 -0.02186368
+v 0.00902851 -0.02622873 -0.01735048
+v 0.00902851 -0.03177078 -0.02186371
+v -0.00053133 -0.02703430 -0.02186369
+v -0.00053133 -0.02789260 -0.01735048
+v 0.00902851 -0.03122956 -0.01735049
+v 0.00854378 -0.03140439 -0.01735050
+v 0.00772030 -0.03216228 -0.02186371
+v -0.00053133 -0.03383368 -0.02186371
+v -0.00053133 -0.03254376 -0.01735050
+v 0.00768194 -0.03160684 -0.01735050
+v 0.00629793 -0.03256298 -0.02186371
+v 0.00014897 -0.03383703 -0.02186371
+v 0.00015272 -0.03383703 -0.02186371
+v 0.00314064 -0.03239987 -0.01735050
+v 0.00621277 -0.03194061 -0.01735050
+v 0.00616786 -0.03194982 -0.01735050
+v 0.00469870 -0.03222838 -0.01735050
+v 0.00465378 -0.03223424 -0.01735050
+v 0.00318555 -0.03239653 -0.01735050
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 12
+f 1 12 14
+f 1 14 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 20
+f 2 20 19
+f 2 19 18
+f 2 18 17
+f 2 17 16
+f 2 16 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 12
+f 12 16 14
+f 14 16 17
+f 14 17 18
+f 14 18 19
+f 14 19 20
+f 14 20 15
+

dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_43.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01738998 -0.02799724 -0.02186369
+v 0.02135566 -0.02930129 -0.02186370
+v 0.01738998 -0.02726208 -0.01735048
+v 0.01738998 -0.02026940 -0.02186366
+v 0.02286349 -0.02961158 -0.02186370
+v 0.02286971 -0.02961158 -0.02185751
+v 0.02135566 -0.02929989 -0.02185751
+v 0.02286971 -0.02894768 -0.02041717
+v 0.02438252 -0.02884005 -0.02051968
+v 0.02589657 -0.02760171 -0.02015295
+v 0.01776725 -0.02701608 -0.01735048
+v 0.01738998 -0.02144628 -0.01735046
+v 0.02278754 -0.01533417 -0.01735044
+v 0.02175658 -0.01533415 -0.02186365
+v 0.02286971 -0.02961158 -0.02186370
+v 0.02438252 -0.02942009 -0.02185751
+v 0.02589657 -0.02856051 -0.02083468
+v 0.01855167 -0.02645701 -0.01735048
+v 0.01781705 -0.02698254 -0.01735048
+v 0.01779464 -0.02699791 -0.01735048
+v 0.02667601 -0.02837322 -0.02107636
+v 0.02727242 -0.02751224 -0.02075427
+v 0.02741063 -0.02608940 -0.02000715
+v 0.01954527 -0.02571064 -0.01735047
+v 0.02808050 -0.01533417 -0.01735044
+v 0.02927456 -0.01533415 -0.02186365
+v 0.02438252 -0.02942009 -0.02186370
+v 0.02589657 -0.02887919 -0.02185751
+v 0.02677189 -0.02843891 -0.02185750
+v 0.02752891 -0.02783092 -0.02185750
+v 0.02825855 -0.02694897 -0.02097828
+v 0.02187985 -0.02357357 -0.01735047
+v 0.02112905 -0.02432972 -0.01735047
+v 0.02029482 -0.02507888 -0.01735047
+v 0.02853994 -0.02608939 -0.02069595
+v 0.02901682 -0.02455193 -0.02048785
+v 0.02792984 -0.02362387 -0.01959625
+v 0.02787257 -0.01571854 -0.01735044
+v 0.02712550 -0.01701839 -0.01735044
+v 0.02665360 -0.01782905 -0.01735045
+v 0.02616427 -0.01855725 -0.01735045
+v 0.02541472 -0.01965304 -0.01735045
+v 0.02482578 -0.02040360 -0.01735045
+v 0.02407622 -0.02126598 -0.01735046
+v 0.02976762 -0.02065237 -0.02097384
+v 0.02974646 -0.02403199 -0.02098887
+v 0.02983486 -0.02306339 -0.02086029
+v 0.02985229 -0.02155248 -0.02084924
+v 0.03010878 -0.02155248 -0.02186367
+v 0.03010754 -0.02155248 -0.02185748
+v 0.02589035 -0.02888058 -0.02186370
+v 0.02589657 -0.02887779 -0.02186370
+v 0.02677313 -0.02843891 -0.02186369
+v 0.02752891 -0.02783092 -0.02186369
+v 0.02836936 -0.02707477 -0.02185750
+v 0.02903550 -0.02608939 -0.02185750
+v 0.02959082 -0.02506768 -0.02185749
+v 0.02983610 -0.02431153 -0.02185749
+v 0.03009384 -0.02306339 -0.02185748
+v 0.03009384 -0.02306339 -0.02186367
+v 0.02836936 -0.02707477 -0.02186369
+v 0.02903550 -0.02608939 -0.02186369
+v 0.02959082 -0.02506768 -0.02186368
+v 0.02983610 -0.02431153 -0.02186368
+v 0.02983735 -0.02430594 -0.02186368
+f 1 2 3
+f 1 3 12
+f 1 12 4
+f 1 4 14
+f 1 14 26
+f 1 26 49
+f 1 49 60
+f 1 60 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 27
+f 1 27 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 20
+f 3 20 19
+f 3 19 18
+f 3 18 24
+f 3 24 34
+f 3 34 33
+f 3 33 32
+f 3 32 44
+f 3 44 43
+f 3 43 42
+f 3 42 41
+f 3 41 40
+f 3 40 39
+f 3 39 38
+f 3 38 25
+f 3 25 13
+f 3 13 12
+f 4 12 13
+f 4 13 14
+f 5 15 6
+f 6 15 27
+f 6 27 16
+f 6 16 9
+f 6 9 8
+f 9 16 17
+f 9 17 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 17 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 18
+f 13 25 26
+f 13 26 14
+f 16 27 28
+f 16 28 21
+f 16 21 17
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 21 28 29
+f 22 31 23
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 23 31 35
+f 23 35 36
+f 23 36 37
+f 23 37 25
+f 23 25 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 32
+f 25 45 26
+f 25 37 36
+f 25 36 46
+f 25 46 47
+f 25 47 48
+f 25 48 45
+f 26 45 50
+f 26 50 49
+f 27 51 28
+f 28 51 52
+f 28 52 53
+f 28 53 29
+f 29 53 30
+f 30 53 54
+f 30 54 61
+f 30 61 55
+f 30 55 31
+f 31 55 56
+f 31 56 57
+f 31 57 46
+f 31 46 35
+f 35 46 36
+f 45 48 50
+f 46 57 58
+f 46 58 59
+f 46 59 47
+f 47 59 48
+f 48 59 50
+f 49 50 59
+f 49 59 60
+f 55 61 62
+f 55 62 56
+f 56 62 63
+f 56 63 57
+f 57 63 64
+f 57 64 58
+f 58 64 65
+f 58 65 59
+f 59 65 60
+