Add asset desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d

.gitattributes

@@ -3227,3 +3227,6 @@ dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/mesh
 dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/stapler_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/a5174c001bbe586c9beca5dde1430d7d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mesh/notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mesh/notebook_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/a5174c001bbe586c9beca5dde1430d7d.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook">
+   <link name="notebook">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.237340</scale>
+         <version>v0.1.7</version>
+         <category>notebook</category>
+         <description>blue spiral-bound notebook with square shape and metallic rings</description>
+         <min_height>0.066</min_height>
+         <max_height>0.066</max_height>
+         <real_height>0.066</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120003114</generate_time>
+         <gs_model>mesh/notebook_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.018566131591797</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>13</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/a5174c001bbe586c9beca5dde1430d7d.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5256ef0b4a4d5ce610e9cf2e5078c1e32cafa65ff1d46227f77e9ee4df1931
+size 605945

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mesh/material.mtl

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

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mesh/notebook.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f48531c38def5246ea438838535158ba8ab8ad16980520cc7b337fc0f0e6f1
+size 2705752

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mesh/notebook_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0acc3b7bd1ccec2bbacebb8160e317447e0c5870c6535701c318a797fa51d80
+size 2715465

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/a5174c001bbe586c9beca5dde1430d7d.xml

@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/notebook.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/notebook_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/notebook_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/notebook_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/notebook_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/notebook_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_0.obj

@@ -0,0 +1,808 @@
+# https://github.com/mikedh/trimesh
+v 0.00205750 0.11644443 0.00571939
+v 0.00205750 0.11644443 0.00581044
+v 0.00205750 0.11642567 0.00190469
+v -0.09563964 0.11931908 0.00190470
+v 0.00205750 0.11620017 0.00953409
+v -0.09563964 0.11930029 0.00571940
+v -0.09563964 0.11911237 0.00953410
+v 0.00205750 0.11618143 -0.00190546
+v -0.10345451 0.11926274 -0.00572015
+v -0.09954708 0.11935668 -0.00190545
+v -0.09954708 0.11943182 0.00190470
+v -0.08783603 0.11836083 0.01334880
+v 0.00205750 0.11565530 0.01334879
+v -0.09954708 0.11939422 0.00571940
+v -0.09954708 0.11920632 0.00953410
+v -0.09563964 0.11858629 0.01334881
+v 0.00205750 0.11544871 -0.00953487
+v -0.10345451 0.11886821 -0.00953485
+v -0.10736194 0.11922517 -0.00572015
+v -0.10345451 0.11945061 -0.00190545
+v -0.10345451 0.11950697 0.00190470
+v -0.08392859 0.11766564 0.01578419
+v 0.00205750 0.11443404 0.01680842
+v -0.10345451 0.11945058 0.00571940
+v -0.10345451 0.11924389 0.00953410
+v -0.09954708 0.11866145 0.01334881
+v -0.09563964 0.11783474 0.01613926
+v -0.09174347 0.11777838 0.01605277
+v -0.08783603 0.11772202 0.01593442
+v 0.00205750 0.11486627 -0.01325853
+v -0.09954708 0.11796637 -0.01275778
+v -0.10345451 0.11804153 -0.01286248
+v -0.10736194 0.11879305 -0.00953485
+v 0.00205750 0.11484750 -0.01334957
+v -0.10736194 0.11939425 -0.00190545
+v -0.11027844 0.11806031 -0.00953486
+v -0.11062752 0.11830453 -0.00572016
+v -0.10736194 0.11943182 0.00190470
+v 0.00205750 0.11302489 0.01871577
+v -0.08783603 0.11666985 0.01784177
+v -0.10736194 0.11937543 0.00571940
+v -0.10736194 0.11913117 0.00953410
+v -0.10345451 0.11866145 0.01334881
+v -0.09954708 0.11785354 0.01618934
+v -0.09563964 0.11672621 0.01804661
+v -0.09174347 0.11670743 0.01796012
+v 0.00205750 0.11392687 -0.01560743
+v -0.09954708 0.11700816 -0.01466513
+v -0.10345451 0.11704575 -0.01476983
+v -0.10736194 0.11796637 -0.01265308
+v -0.10978298 0.11774090 -0.01209317
+v -0.11075139 0.11837968 -0.00190546
+v -0.11206888 0.11548628 -0.00953487
+v -0.11244048 0.11548626 -0.00572017
+v -0.11076265 0.11839845 0.00190469
+v -0.11070635 0.11836086 0.00571939
+v 0.00205750 0.11298732 0.01873853
+v -0.08392859 0.11464070 0.01978097
+v -0.11054870 0.11822932 0.00953409
+v -0.11003071 0.11789112 0.01334880
+v -0.10736194 0.11849234 0.01334881
+v -0.10736194 0.11775959 0.01591621
+v -0.10345451 0.11785354 0.01617568
+v -0.09954708 0.11674501 0.01809669
+v 0.00205750 0.11157832 -0.01634945
+v -0.09563964 0.11496023 -0.01602168
+v -0.09954708 0.11505418 -0.01601713
+v -0.10736194 0.11685785 -0.01456043
+v -0.10345451 0.11509175 -0.01597616
+v -0.10736194 0.11490387 -0.01589877
+v -0.10991811 0.11432142 -0.01565296
+v -0.11066131 0.11558024 -0.01335867
+v -0.11259813 0.11548625 -0.00190547
+v -0.11263191 0.11548623 0.00190468
+v -0.11213645 0.11157831 -0.01334958
+v -0.11286838 0.11157830 -0.00953488
+v -0.11258687 0.11548622 0.00571938
+v -0.11242922 0.11548620 0.00953408
+v 0.00205750 0.11107090 0.01962164
+v -0.09174347 0.11475343 0.01978553
+v -0.08392859 0.11157819 0.02019976
+v -0.00584745 0.10767019 0.02033176
+v 0.00205750 0.10767019 0.02027714
+v -0.00584745 0.11116484 0.01968537
+v 0.00205750 0.11099574 0.01963985
+v -0.11184367 0.11548619 0.01334879
+v -0.10953524 0.11759050 0.01554749
+v -0.10736194 0.11644438 0.01782356
+v -0.10345451 0.11670743 0.01808303
+v -0.09954708 0.11479101 0.01977187
+v -0.09563964 0.11477222 0.01978553
+v -0.09563964 0.11157832 -0.01673183
+v 0.00205750 0.09590876 -0.01694129
+v -0.02146593 0.09590876 -0.01708240
+v -0.09954708 0.11157832 -0.01673638
+v -0.10345451 0.11157832 -0.01670451
+v -0.10736194 0.11157832 -0.01665444
+v -0.11035726 0.11157832 -0.01593975
+v -0.11298099 0.11157822 0.00953407
+v -0.11294721 0.11157821 0.01334878
+v -0.11050366 0.10767032 -0.01605356
+v -0.11228283 0.10767031 -0.01334959
+v -0.11093156 -0.07243567 -0.01716496
+v -0.11121308 -0.07243568 -0.01335026
+v -0.09174347 0.11157819 0.02020886
+v 0.00205750 0.10757624 0.02028169
+v -0.09174347 0.06851507 0.02255306
+v -0.09174347 0.06458828 0.02274879
+v -0.08783603 0.06458828 0.02273058
+v -0.02928080 0.05190608 0.02293538
+v -0.11184367 0.11157820 0.01716348
+v -0.11041357 0.11539225 0.01695864
+v -0.10977171 0.11403948 0.01937128
+v -0.10736194 0.11449039 0.01962165
+v -0.10345451 0.11475343 0.01974455
+v -0.09563964 0.11157819 0.02019976
+v -0.04879546 0.09590876 -0.01713247
+v -0.08392859 0.09590876 -0.01719165
+v 0.00205750 -0.05676609 -0.02102967
+v -0.04879546 0.09200076 -0.01724174
+v -0.09174347 0.09590876 -0.01720076
+v -0.09563964 0.09590876 -0.01719621
+v -0.10736194 0.09200076 -0.01728726
+v -0.10736194 0.09590876 -0.01717344
+v -0.11116803 -0.07243572 -0.00190616
+v -0.11110047 -0.07243577 0.00953339
+v -0.11187746 0.10767020 0.01716347
+v -0.11102165 -0.07243578 0.01334810
+v -0.11072886 -0.07243579 0.01716280
+v -0.10990684 -0.07243581 0.02058146
+v -0.10736194 0.08809276 -0.01738743
+v -0.10736194 0.08416598 -0.01748758
+v -0.10736194 0.08025799 -0.01757864
+v -0.10735069 -0.07243565 -0.02054266
+v -0.10996315 -0.07243566 -0.01969140
+v -0.11054870 0.10374353 -0.01610821
+v -0.11055996 0.09983553 -0.01616285
+v 0.00205750 0.04100878 0.02316295
+v -0.09563964 0.06458828 0.02273058
+v -0.09563964 0.06195790 0.02285803
+v -0.09174347 0.06203306 0.02286259
+v -0.03708442 0.05245095 0.02295814
+v -0.02928080 0.04893751 0.02306283
+v -0.11004197 0.11157819 0.01948507
+v -0.11016584 0.06458829 0.02025422
+v -0.11017710 0.06851508 0.02017229
+v -0.10736194 0.11157819 0.01997670
+v -0.10345451 0.11157819 0.02009506
+v -0.09954708 0.11157819 0.02016334
+v -0.08002116 0.09200076 -0.01729636
+v 0.00205750 -0.06460088 -0.02123000
+v -0.00195128 -0.06460088 -0.02123455
+v -0.08392859 0.09200076 -0.01730092
+v -0.09174347 0.09200076 -0.01730092
+v -0.11014331 0.06068029 0.02033158
+v -0.10902851 -0.07243581 0.02248426
+v -0.00584745 -0.06852765 -0.02133471
+v -0.00584745 -0.07243565 -0.02142577
+v -0.08002116 -0.07243565 -0.02097966
+v -0.10344325 -0.07243565 -0.02076571
+v -0.02146593 0.04501072 0.02316752
+v -0.02928080 0.04501072 0.02322215
+v -0.02928080 0.04110272 0.02337690
+v 0.00205750 0.03708200 0.02331316
+v -0.09954708 0.06146941 0.02283072
+v -0.09954708 0.05284550 0.02323582
+v -0.09954708 0.04893750 0.02340424
+v -0.09174347 0.06007906 0.02294451
+v -0.03708442 0.04893751 0.02310835
+v -0.09563964 0.05284550 0.02324493
+v -0.03317698 0.04893751 0.02308559
+v -0.10815019 0.04893751 0.02232994
+v -0.10790245 0.05284551 0.02232539
+v -0.10620210 0.04893751 0.02308559
+v -0.10595437 0.05284551 0.02300822
+v -0.10566159 0.05587045 0.02293995
+v -0.10489587 0.05848204 0.02287622
+v -0.10229466 0.05906448 0.02290355
+v 0.00205750 -0.06852765 -0.02132560
+v -0.00194002 -0.07243565 -0.02143032
+v -0.10825154 0.04501073 0.02227985
+v -0.10896095 -0.04502348 0.02238876
+v -0.10893843 -0.03328070 0.02233874
+v -0.10892717 -0.02935392 0.02232509
+v -0.10891591 -0.02544592 0.02230691
+v -0.10708043 -0.07243582 0.02380438
+v -0.10697908 -0.02935393 0.02375902
+v -0.10696782 -0.02544593 0.02375449
+v -0.03317698 0.04501072 0.02324491
+v -0.03317698 0.04110272 0.02339966
+v -0.02928080 0.03717594 0.02352256
+v 0.00205750 0.03317400 0.02344515
+v -0.10345451 0.05284550 0.02318120
+v -0.09563964 0.04893750 0.02339969
+v -0.10345451 0.04893750 0.02334507
+v -0.09954708 0.04501072 0.02354080
+v -0.09563964 0.02543316 0.02422809
+v -0.09174347 0.05284550 0.02323582
+v -0.10635975 0.04110272 0.02320847
+v -0.10630344 0.04501072 0.02314931
+v -0.10688899 -0.00196038 0.02366353
+v -0.10686647 0.00196640 0.02364989
+v -0.10684395 0.00587440 0.02363169
+v -0.10681017 0.00980118 0.02359529
+v -0.10676513 0.01370918 0.02354978
+v -0.10664127 0.02154396 0.02346332
+v -0.10657370 0.02543316 0.02341781
+v -0.10345451 0.00980118 0.02445110
+v -0.10345451 0.01370918 0.02436462
+v -0.10345451 0.01761717 0.02427358
+v -0.10345451 0.02154396 0.02417801
+v -0.10345451 0.02543316 0.02407332
+v -0.10345451 0.04501072 0.02347707
+v -0.10354460 0.05701654 0.02298092
+v 0.00205750 -0.07243565 -0.02140756
+v -0.10694530 -0.02153794 0.02374995
+v -0.10894969 -0.04111548 0.02237513
+v -0.10345451 -0.07243582 0.02485138
+v -0.10345451 -0.02935393 0.02481057
+v -0.10345451 -0.02544593 0.02480603
+v -0.03317698 0.03717594 0.02354077
+v -0.09174347 0.04893750 0.02338604
+v -0.02928080 0.03326795 0.02365455
+v -0.02928080 0.02935995 0.02378200
+v -0.02537337 0.02935995 0.02375469
+v 0.00205750 0.02935995 0.02355895
+v -0.09954708 0.02543316 0.02421443
+v -0.09563964 0.02154396 0.02434189
+v -0.08002116 0.02543316 0.02415526
+v -0.08002116 0.02935995 0.02402327
+v -0.10345451 0.00587440 0.02452391
+v -0.10345451 -0.02153794 0.02479239
+v -0.10345451 -0.00586838 0.02466043
+v -0.10345451 -0.00196038 0.02461948
+v -0.10345451 0.00196640 0.02457397
+v -0.09954708 0.00980118 0.02459221
+v -0.09954708 0.01370918 0.02451029
+v -0.09954708 0.01761717 0.02442381
+v -0.09954708 0.02154396 0.02432823
+v 0.00205750 -0.07243582 0.02497429
+v -0.09954708 -0.07243582 0.02500615
+v -0.09954708 -0.04893148 0.02499714
+v -0.09954708 -0.04111549 0.02499261
+v -0.09954708 -0.02544593 0.02497902
+v -0.03317698 0.03326795 0.02367276
+v -0.02928080 0.02543316 0.02388668
+v -0.02146593 0.02543316 0.02384116
+v -0.01756976 0.02543316 0.02381385
+v 0.00205750 0.01752323 0.02390031
+v -0.01756976 0.02154396 0.02391854
+v 0.00205750 0.00187246 0.02428264
+v 0.00205750 0.00587440 0.02418705
+v -0.09954708 0.00587440 0.02466503
+v -0.09954708 -0.00586838 0.02486073
+v -0.09954708 -0.00196038 0.02480156
+v -0.09954708 0.00196640 0.02473330
+v -0.09954708 -0.02153794 0.02496082
+v -0.09954708 -0.00977637 0.02488803
+v -0.01756976 -0.07243582 0.02506533
+v 0.00205750 -0.06852782 0.02495154
+v -0.09563964 -0.07243582 0.02501980
+v -0.09563964 -0.05285826 0.02500623
+v -0.02146593 -0.07243582 0.02507443
+v 0.00205750 0.01370918 0.02399589
+v 0.00205750 -0.00196038 0.02433724
+v -0.01756976 -0.05285826 0.02494250
+v 0.00205750 -0.06460105 0.02492424
+v -0.01366233 -0.05285826 0.02491974
+v 0.00205750 -0.05686020 0.02486509
+v 0.00205750 -0.06069305 0.02489695
+f 1 2 5
+f 1 5 13
+f 1 13 23
+f 1 23 39
+f 1 39 57
+f 1 57 79
+f 1 79 85
+f 1 85 83
+f 1 83 106
+f 1 106 138
+f 1 138 164
+f 1 164 192
+f 1 192 226
+f 1 226 249
+f 1 249 264
+f 1 264 252
+f 1 252 251
+f 1 251 265
+f 1 265 269
+f 1 269 270
+f 1 270 267
+f 1 267 260
+f 1 260 240
+f 1 240 215
+f 1 215 179
+f 1 179 151
+f 1 151 119
+f 1 119 93
+f 1 93 65
+f 1 65 47
+f 1 47 34
+f 1 34 30
+f 1 30 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 6
+f 5 7 12
+f 5 12 13
+f 6 11 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 12
+f 8 17 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 9 17 18
+f 10 20 11
+f 11 20 21
+f 11 21 14
+f 12 16 22
+f 12 22 13
+f 13 22 23
+f 14 21 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 22
+f 17 30 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 18 30 34
+f 18 34 31
+f 19 35 20
+f 19 33 36
+f 19 36 37
+f 19 37 35
+f 20 35 21
+f 21 35 38
+f 21 38 41
+f 21 41 24
+f 22 29 23
+f 23 29 40
+f 23 40 39
+f 24 41 25
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 26 43 44
+f 26 44 27
+f 27 44 64
+f 27 64 45
+f 27 45 46
+f 27 46 40
+f 27 40 28
+f 28 40 29
+f 31 34 32
+f 32 34 47
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 33 50 51
+f 33 51 36
+f 35 37 52
+f 35 52 38
+f 36 51 53
+f 36 53 37
+f 37 53 54
+f 37 54 52
+f 38 52 55
+f 38 55 56
+f 38 56 41
+f 39 40 46
+f 39 46 58
+f 39 58 57
+f 41 56 59
+f 41 59 42
+f 42 59 60
+f 42 60 61
+f 42 61 43
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 44 63 64
+f 45 64 58
+f 45 58 46
+f 47 65 66
+f 47 66 67
+f 47 67 49
+f 47 49 48
+f 49 68 50
+f 49 67 69
+f 49 69 70
+f 49 70 68
+f 50 68 51
+f 51 68 71
+f 51 71 72
+f 51 72 53
+f 52 54 73
+f 52 73 74
+f 52 74 55
+f 53 72 75
+f 53 75 76
+f 53 76 54
+f 54 76 73
+f 55 74 77
+f 55 77 56
+f 56 77 78
+f 56 78 59
+f 57 58 79
+f 58 80 81
+f 58 81 82
+f 58 82 83
+f 58 83 84
+f 58 84 85
+f 58 85 79
+f 58 64 80
+f 59 78 86
+f 59 86 60
+f 60 87 61
+f 60 86 87
+f 61 87 62
+f 62 87 88
+f 62 88 89
+f 62 89 63
+f 63 89 64
+f 64 89 90
+f 64 90 91
+f 64 91 80
+f 65 92 66
+f 65 93 94
+f 65 94 92
+f 66 92 67
+f 67 92 95
+f 67 95 96
+f 67 96 69
+f 68 70 71
+f 69 96 97
+f 69 97 70
+f 70 97 71
+f 71 97 98
+f 71 98 75
+f 71 75 72
+f 73 76 74
+f 74 76 99
+f 74 99 100
+f 74 100 77
+f 75 98 101
+f 75 101 102
+f 75 102 76
+f 76 102 103
+f 76 103 104
+f 76 104 99
+f 77 100 78
+f 78 100 86
+f 80 91 105
+f 80 105 81
+f 81 105 82
+f 82 106 83
+f 82 105 107
+f 82 107 108
+f 82 108 109
+f 82 109 110
+f 82 110 106
+f 83 85 84
+f 86 100 111
+f 86 111 112
+f 86 112 87
+f 87 112 113
+f 87 113 88
+f 88 113 114
+f 88 114 89
+f 89 114 115
+f 89 115 90
+f 90 115 116
+f 90 116 91
+f 91 116 105
+f 92 94 117
+f 92 117 118
+f 92 118 121
+f 92 121 95
+f 93 119 94
+f 94 120 117
+f 94 119 120
+f 95 121 122
+f 95 122 123
+f 95 123 124
+f 95 124 96
+f 96 124 97
+f 97 124 101
+f 97 101 98
+f 99 104 125
+f 99 125 126
+f 99 126 100
+f 100 127 111
+f 100 126 128
+f 100 128 129
+f 100 129 130
+f 100 130 127
+f 101 124 123
+f 101 123 131
+f 101 131 132
+f 101 132 133
+f 101 133 134
+f 101 134 135
+f 101 135 136
+f 101 136 102
+f 102 136 137
+f 102 137 135
+f 102 135 103
+f 103 135 134
+f 103 134 160
+f 103 160 159
+f 103 159 158
+f 103 158 180
+f 103 180 215
+f 103 215 240
+f 103 240 259
+f 103 259 263
+f 103 263 261
+f 103 261 241
+f 103 241 218
+f 103 218 186
+f 103 186 156
+f 103 156 130
+f 103 130 129
+f 103 129 128
+f 103 128 126
+f 103 126 125
+f 103 125 104
+f 105 116 107
+f 106 110 138
+f 107 139 108
+f 107 116 139
+f 108 139 140
+f 108 140 141
+f 108 141 109
+f 109 141 142
+f 109 142 110
+f 110 142 143
+f 110 143 138
+f 111 144 113
+f 111 113 112
+f 111 127 145
+f 111 145 146
+f 111 146 144
+f 113 144 147
+f 113 147 114
+f 114 147 115
+f 115 147 148
+f 115 148 149
+f 115 149 116
+f 116 149 139
+f 117 120 150
+f 117 150 118
+f 118 150 153
+f 118 153 121
+f 119 151 152
+f 119 152 153
+f 119 153 150
+f 119 150 120
+f 121 153 154
+f 121 154 131
+f 121 131 123
+f 121 123 122
+f 127 155 145
+f 127 130 156
+f 127 156 155
+f 131 154 132
+f 132 154 157
+f 132 157 158
+f 132 158 133
+f 133 158 159
+f 133 159 160
+f 133 160 134
+f 135 137 136
+f 138 143 161
+f 138 161 162
+f 138 162 163
+f 138 163 164
+f 139 165 140
+f 139 149 165
+f 140 165 166
+f 140 166 167
+f 140 167 141
+f 141 168 169
+f 141 169 142
+f 141 167 170
+f 141 170 168
+f 142 169 171
+f 142 171 143
+f 143 171 189
+f 143 189 162
+f 143 162 161
+f 144 146 172
+f 144 172 173
+f 144 173 174
+f 144 174 175
+f 144 175 176
+f 144 176 147
+f 145 155 172
+f 145 172 146
+f 147 176 177
+f 147 177 148
+f 148 177 178
+f 148 178 165
+f 148 165 149
+f 151 179 180
+f 151 180 152
+f 152 180 157
+f 152 157 153
+f 153 157 154
+f 155 181 172
+f 155 156 182
+f 155 182 183
+f 155 183 184
+f 155 184 185
+f 155 185 181
+f 156 186 187
+f 156 187 188
+f 156 188 182
+f 157 180 158
+f 162 189 190
+f 162 190 163
+f 163 190 191
+f 163 191 164
+f 164 191 223
+f 164 223 192
+f 165 178 193
+f 165 193 166
+f 166 193 167
+f 167 194 170
+f 167 193 195
+f 167 195 196
+f 167 196 197
+f 167 197 194
+f 168 170 198
+f 168 198 169
+f 169 198 189
+f 169 189 171
+f 170 194 198
+f 172 199 200
+f 172 200 173
+f 172 181 185
+f 172 185 201
+f 172 201 202
+f 172 202 203
+f 172 203 204
+f 172 204 205
+f 172 205 206
+f 172 206 207
+f 172 207 199
+f 173 200 174
+f 174 200 208
+f 174 208 209
+f 174 209 210
+f 174 210 211
+f 174 211 212
+f 174 212 175
+f 175 213 176
+f 175 212 213
+f 176 213 195
+f 176 195 177
+f 177 195 193
+f 177 193 214
+f 177 214 178
+f 178 214 193
+f 179 215 180
+f 182 188 216
+f 182 216 217
+f 182 217 184
+f 182 184 183
+f 184 217 216
+f 184 216 201
+f 184 201 185
+f 186 218 219
+f 186 219 220
+f 186 220 187
+f 187 220 188
+f 188 220 216
+f 189 198 190
+f 190 221 191
+f 190 198 222
+f 190 222 221
+f 191 221 245
+f 191 245 223
+f 192 224 225
+f 192 225 226
+f 192 223 224
+f 194 222 198
+f 194 197 222
+f 195 213 227
+f 195 227 196
+f 196 227 197
+f 197 227 239
+f 197 239 228
+f 197 228 229
+f 197 229 230
+f 197 230 222
+f 199 207 231
+f 199 231 200
+f 200 231 208
+f 201 216 202
+f 202 216 232
+f 202 232 203
+f 203 232 233
+f 203 233 234
+f 203 234 204
+f 204 234 235
+f 204 235 231
+f 204 231 205
+f 205 231 206
+f 206 231 207
+f 208 231 253
+f 208 253 236
+f 208 236 237
+f 208 237 238
+f 208 238 209
+f 209 238 210
+f 210 238 239
+f 210 239 211
+f 211 239 212
+f 212 239 227
+f 212 227 213
+f 216 220 232
+f 218 241 242
+f 218 242 243
+f 218 243 244
+f 218 244 219
+f 219 244 220
+f 220 244 232
+f 221 222 230
+f 221 230 245
+f 223 245 230
+f 223 230 229
+f 223 229 224
+f 224 229 228
+f 224 228 246
+f 224 246 247
+f 224 247 225
+f 225 247 248
+f 225 248 226
+f 226 248 249
+f 228 250 246
+f 228 239 238
+f 228 238 237
+f 228 237 236
+f 228 236 251
+f 228 251 252
+f 228 252 250
+f 231 235 254
+f 231 254 255
+f 231 255 256
+f 231 256 253
+f 232 257 258
+f 232 258 254
+f 232 254 233
+f 232 244 257
+f 233 254 234
+f 234 254 235
+f 236 253 251
+f 240 260 259
+f 241 261 242
+f 242 261 243
+f 243 261 262
+f 243 262 244
+f 244 262 263
+f 244 263 257
+f 246 250 247
+f 247 250 249
+f 247 249 248
+f 249 250 264
+f 250 252 264
+f 251 256 255
+f 251 255 254
+f 251 254 265
+f 251 253 256
+f 254 258 266
+f 254 266 265
+f 257 263 259
+f 257 259 258
+f 258 259 266
+f 259 260 266
+f 260 267 266
+f 261 263 262
+f 265 266 268
+f 265 268 269
+f 266 267 270
+f 266 270 269
+f 266 269 268
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_1.obj

@@ -0,0 +1,694 @@
+# https://github.com/mikedh/trimesh
+v 0.11314419 0.05284061 0.01716682
+v 0.11304632 0.04893227 -0.00571901
+v 0.11304632 0.05284069 -0.00571900
+v 0.11312243 0.05676784 0.01335102
+v 0.11306806 0.09200007 0.01335115
+v 0.11305719 0.09590851 0.01335116
+v 0.11304632 0.08025599 0.01716692
+v 0.11279622 -0.02544072 0.02097782
+v 0.11282885 -0.04894767 0.02097773
+v 0.11282885 -0.05285610 0.02097772
+v 0.11308981 -0.05676450 0.01716642
+v 0.11299195 -0.07243570 -0.01335110
+v 0.11302458 0.04893229 -0.00953483
+v 0.11302458 0.05284071 -0.00953482
+v 0.11299195 0.09590857 -0.00190303
+v 0.11298108 0.09983578 -0.00190301
+v 0.11301370 0.09983575 0.00571955
+v 0.11303545 0.09983572 0.01335118
+v 0.11302458 0.08416442 0.01716694
+v 0.11276360 -0.02153229 0.02097783
+v 0.11092593 -0.02544073 0.02368977
+v 0.11093680 -0.04894768 0.02388956
+v 0.11093680 -0.05285611 0.02391226
+v 0.11299195 0.08809163 0.01716695
+v 0.11289409 0.09983571 0.01716700
+v 0.11091506 -0.06069175 0.02392132
+v 0.11090419 -0.06460018 0.02392584
+v 0.11089331 -0.06852740 0.02392583
+v 0.11280709 -0.06069174 0.02097769
+v 0.11306806 -0.06852737 0.01716638
+v 0.11307894 -0.06460015 0.01716639
+v 0.11304632 -0.07243581 0.01716636
+v 0.11248088 -0.07243569 -0.01716238
+v 0.11299195 -0.06460004 -0.01335107
+v 0.11275272 0.04502387 -0.01335066
+v 0.11274185 0.04893230 -0.01335065
+v 0.11288321 0.09590860 -0.00953466
+v 0.11294845 0.09983579 -0.00571882
+v 0.11295932 0.09590858 -0.00571884
+v 0.11298108 -0.05676439 -0.01335104
+v 0.11297020 -0.04894754 -0.01335101
+v 0.11294845 0.10374421 -0.00190300
+v 0.11300282 0.10374415 0.01335119
+v 0.11270923 -0.01762387 0.02097785
+v 0.11090419 -0.02153230 0.02364890
+v 0.11285059 0.10374414 0.01716701
+v 0.10738107 -0.04894768 0.02483443
+v 0.10738107 -0.05285611 0.02487985
+v 0.10738107 -0.07243584 0.02499333
+v 0.11092593 -0.05676453 0.02391679
+v 0.11295932 0.10767137 0.01335121
+v 0.11086069 -0.07243584 0.02393490
+v 0.11277447 -0.06852739 0.02097766
+v 0.11274185 -0.07243583 0.02097764
+v 0.11064321 -0.07243568 -0.01986979
+v 0.11243739 -0.06852725 -0.01716236
+v 0.11267661 0.05676794 -0.01335062
+v 0.11272011 0.05284072 -0.01335064
+v 0.11286147 0.09983581 -0.00953464
+v 0.11283972 0.10374424 -0.00953463
+v 0.11291583 0.10374422 -0.00571881
+v 0.11286147 0.10767143 -0.00190298
+v 0.11100204 0.10374413 0.02031961
+v 0.11084981 -0.01762388 0.02358533
+v 0.11021913 0.00979150 0.02321293
+v 0.10738107 -0.02544073 0.02446203
+v 0.10738107 -0.02936795 0.02452560
+v 0.11275272 0.10767136 0.01716703
+v 0.00205750 0.00195585 0.02428043
+v 0.00205750 -0.00204653 0.02433946
+v 0.00205750 -0.05295005 0.02482534
+v 0.00205750 -0.05676453 0.02486166
+v 0.00205750 -0.06078571 0.02489800
+v 0.00205750 -0.06460018 0.02492523
+v 0.00205750 -0.06852740 0.02495248
+v 0.00205750 -0.07243584 0.02497517
+v 0.11281797 0.11157979 0.01335122
+v 0.10738107 -0.07243567 -0.02071472
+v 0.11055622 -0.06460002 -0.01980162
+v 0.11227428 -0.05676438 -0.01716232
+v 0.11233952 -0.06069160 -0.01716233
+v 0.11211117 0.10374425 -0.01335045
+v 0.11249175 0.07242045 -0.01335056
+v 0.11276360 0.10767146 -0.00953461
+v 0.11282885 0.10767144 -0.00571879
+v 0.11272011 0.11157985 -0.00190297
+v 0.11091506 0.10767135 0.02024694
+v 0.11008865 0.01369993 0.02315842
+v 0.10738107 -0.02153230 0.02438935
+v 0.11221991 0.11157978 0.01716704
+v 0.00587420 0.00195585 0.02426680
+v 0.10738107 0.10374412 0.02152795
+v 0.00205750 0.00578912 0.02418959
+v 0.00205750 -0.07243567 -0.02140519
+v 0.11207855 0.11548826 0.00190378
+v 0.11205680 0.11548825 0.00571960
+v 0.11198068 0.11548823 0.00953542
+v 0.11170884 0.11548822 0.01335123
+v 0.08005523 -0.07243567 -0.02119169
+v 0.10347738 -0.06852723 -0.02072379
+v 0.10738107 -0.06852723 -0.02065110
+v 0.11051272 -0.06069159 -0.01976526
+v 0.11033874 0.10767148 -0.01588522
+v 0.11202418 0.10767147 -0.01335043
+v 0.11255700 0.11157988 -0.00953460
+v 0.11266574 0.11157986 -0.00571878
+v 0.11203506 0.11548828 -0.00190296
+v 0.11045836 0.11157977 0.01988354
+v 0.10738107 0.10767134 0.02140077
+v 0.10966457 0.02544401 0.02299947
+v 0.10981680 0.02153558 0.02304943
+v 0.11049097 0.11539427 0.01700806
+v 0.10982767 0.11402255 0.01941112
+v 0.00205750 0.03316691 0.02344469
+v 0.00205750 0.02925848 0.02356279
+v 0.00205750 0.01762715 0.02389889
+v 0.00978877 -0.07243567 -0.02141428
+v 0.00205750 -0.07234170 -0.02140519
+v 0.11039312 0.11832565 -0.00190295
+v 0.11040399 0.11834443 0.00190379
+v 0.11038224 0.11830683 0.00571961
+v 0.11029525 0.11821286 0.00953543
+v 0.11002340 0.11796857 0.01335124
+v 0.10964282 0.11766792 0.01563165
+v 0.10347738 -0.05676436 -0.02049662
+v 0.10347738 -0.06069158 -0.02057839
+v 0.10347738 -0.06460001 -0.02065109
+v 0.07615153 -0.07243567 -0.02123712
+v 0.10347738 0.11157990 -0.01648484
+v 0.10738107 -0.06460001 -0.02057841
+v 0.10978418 -0.02153214 -0.01930177
+v 0.11044748 -0.05676437 -0.01971528
+v 0.10738107 0.11157990 -0.01640308
+v 0.11006690 0.11157990 -0.01573531
+v 0.10967544 -0.01762372 -0.01924724
+v 0.11164360 0.11157989 -0.01335042
+v 0.11155661 0.11548831 -0.00953459
+v 0.11190457 0.11548829 -0.00571877
+v 0.10738107 0.11157976 0.02080570
+v 0.10347738 0.11157976 0.02086929
+v 0.00205750 0.10767135 0.02027875
+v 0.00205750 0.10757739 0.02028329
+v 0.00205750 0.04100256 0.02316308
+v 0.00205750 0.03709413 0.02331298
+v 0.10738107 0.11644653 0.01796203
+v 0.10738107 0.11447352 0.01968822
+v 0.04882569 -0.06852723 -0.02135520
+v 0.04492200 -0.07243567 -0.02139612
+v 0.00205750 -0.06843327 -0.02132341
+v 0.04882569 -0.06460001 -0.02127797
+v 0.11029525 0.11825051 -0.00571876
+v 0.10738107 0.11937792 -0.00190294
+v 0.10738107 0.11939670 0.00190380
+v 0.10738107 0.11932152 0.00571962
+v 0.10738107 0.11915239 0.00953544
+v 0.10738107 0.11870141 0.01335125
+v 0.10738107 0.11791220 0.01605411
+v 0.10738107 -0.05676437 -0.02041485
+v 0.10738107 -0.06069158 -0.02050571
+v 0.10738107 0.10767148 -0.01650302
+v 0.06444046 -0.07243567 -0.02132797
+v 0.05663308 -0.06852723 -0.02131886
+v 0.05663308 -0.06460001 -0.02123709
+v 0.06052589 -0.06460001 -0.02120075
+v 0.00205750 0.09590862 -0.01693916
+v 0.05663308 0.11157990 -0.01647576
+v 0.09957369 0.11548833 -0.01602603
+v 0.10347738 0.11548833 -0.01602148
+v 0.05272938 -0.06460001 -0.02126888
+v 0.04101830 -0.06069158 -0.02117801
+v 0.03711461 -0.05676436 -0.02107352
+v 0.10703311 0.11543197 -0.01568987
+v 0.10966457 0.11407905 -0.01549000
+v 0.11031699 0.11543196 -0.01329136
+v 0.10966457 0.11772439 -0.01198307
+v 0.11002340 0.11802504 -0.00953458
+v 0.10347738 0.11466143 0.01978361
+v 0.09957369 0.11460505 0.01976090
+v 0.08394805 0.11157976 0.02060129
+v 0.00205750 0.11107244 0.01962462
+v 0.10347738 0.11661564 0.01815281
+v 0.05272938 -0.06852723 -0.02134613
+v 0.06053677 -0.07243567 -0.02135069
+v 0.00205750 -0.06450606 -0.02122800
+v 0.10738107 0.11924640 -0.00571875
+v 0.10347738 0.11941552 -0.00571875
+v 0.10347738 0.11950946 -0.00190294
+v 0.10347738 0.11952823 0.00190380
+v 0.10347738 0.11945306 0.00571962
+v 0.10347738 0.11928393 0.00953544
+v 0.10347738 0.11885174 0.01335125
+v 0.10347738 0.11800614 0.01624491
+v 0.00205750 0.11157990 -0.01634855
+v 0.00587420 0.11157990 -0.01636672
+v 0.00977789 0.11157990 -0.01637581
+v 0.02929635 -0.05285594 -0.02096903
+v 0.00587420 -0.05676436 -0.02103718
+v 0.00205750 -0.05676436 -0.02102810
+v 0.00205750 0.11392873 -0.01560809
+v 0.09957369 0.11753650 -0.01532645
+v 0.10347738 0.11751772 -0.01531736
+v 0.10549990 0.11748014 -0.01527648
+v 0.03320004 -0.05676436 -0.02107352
+v 0.10810962 0.11669092 -0.01452240
+v 0.10703311 0.11794989 -0.01329135
+v 0.10738107 0.11890819 -0.00953457
+v 0.09176631 0.11447352 0.01969276
+v 0.00205750 0.11298907 0.01873882
+v 0.00205750 0.11439836 0.01685362
+v 0.00205750 0.11302665 0.01871610
+v 0.00205750 -0.06059763 -0.02112804
+v 0.02929635 -0.05676436 -0.02106899
+v 0.10347738 0.11919005 -0.00953457
+v 0.09957369 0.11905851 -0.00953457
+v 0.00205750 0.11642779 0.00190380
+v 0.00205750 0.11644658 0.00571962
+v 0.00205750 0.11644658 0.00581047
+v 0.09957369 0.11917117 0.00953544
+v 0.08786261 0.11770549 0.01573613
+v 0.09176631 0.11778066 0.01588149
+v 0.09567000 0.11785582 0.01601323
+v 0.09957369 0.11793099 0.01613588
+v 0.00205750 0.11620227 0.00953544
+v 0.00205750 0.11565734 0.01335124
+v 0.00205750 0.11484944 -0.01335040
+v 0.09677912 0.11748014 -0.01528557
+v 0.09957369 0.11828811 -0.01335040
+v 0.10347738 0.11832569 -0.01335040
+v 0.00205750 0.11441715 0.01680819
+v 0.00205750 0.11618353 -0.00190294
+v 0.00205750 0.11486823 -0.01325501
+v 0.00205750 0.11545073 -0.00953458
+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 2
+f 2 13 14
+f 2 14 3
+f 2 12 13
+f 3 14 15
+f 3 15 5
+f 3 5 4
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 8 19 24
+f 8 24 25
+f 8 25 20
+f 9 23 10
+f 10 23 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 11
+f 11 31 12
+f 12 32 54
+f 12 54 52
+f 12 52 49
+f 12 49 76
+f 12 76 94
+f 12 94 117
+f 12 117 148
+f 12 148 183
+f 12 183 161
+f 12 161 128
+f 12 128 99
+f 12 99 78
+f 12 78 55
+f 12 55 33
+f 12 33 34
+f 12 34 14
+f 12 14 13
+f 12 31 30
+f 12 30 32
+f 14 35 36
+f 14 36 37
+f 14 37 38
+f 14 38 39
+f 14 39 15
+f 14 34 40
+f 14 40 41
+f 14 41 35
+f 15 39 38
+f 15 38 16
+f 16 38 61
+f 16 61 42
+f 16 42 17
+f 17 42 43
+f 17 43 18
+f 18 43 25
+f 18 25 24
+f 18 24 19
+f 20 44 45
+f 20 45 21
+f 20 25 46
+f 20 46 44
+f 21 47 48
+f 21 48 22
+f 21 45 47
+f 22 48 23
+f 23 48 49
+f 23 49 50
+f 23 50 27
+f 23 27 26
+f 25 43 51
+f 25 51 46
+f 27 49 52
+f 27 52 28
+f 27 50 49
+f 28 53 29
+f 28 52 53
+f 29 53 30
+f 30 53 32
+f 32 53 54
+f 33 41 40
+f 33 40 34
+f 33 55 56
+f 33 56 57
+f 33 57 58
+f 33 58 36
+f 33 36 35
+f 33 35 41
+f 36 58 60
+f 36 60 59
+f 36 59 37
+f 37 59 38
+f 38 59 60
+f 38 60 61
+f 42 61 85
+f 42 85 62
+f 42 62 51
+f 42 51 43
+f 44 46 63
+f 44 63 45
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 47
+f 45 63 64
+f 46 51 68
+f 46 68 63
+f 47 67 69
+f 47 69 70
+f 47 70 48
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 75
+f 48 75 76
+f 48 76 49
+f 48 70 71
+f 51 62 86
+f 51 86 77
+f 51 77 68
+f 52 54 53
+f 55 78 79
+f 55 79 80
+f 55 80 81
+f 55 81 56
+f 56 81 82
+f 56 82 83
+f 56 83 57
+f 57 83 60
+f 57 60 58
+f 60 82 84
+f 60 84 61
+f 60 83 82
+f 61 84 85
+f 62 85 86
+f 63 68 87
+f 63 87 88
+f 63 88 65
+f 63 65 64
+f 65 88 89
+f 65 89 66
+f 66 89 69
+f 66 69 67
+f 68 77 90
+f 68 90 87
+f 69 89 91
+f 69 91 92
+f 69 92 93
+f 69 93 116
+f 69 116 115
+f 69 115 114
+f 69 114 144
+f 69 144 143
+f 69 143 142
+f 69 142 141
+f 69 141 180
+f 69 180 208
+f 69 208 210
+f 69 210 209
+f 69 209 229
+f 69 229 224
+f 69 224 223
+f 69 223 217
+f 69 217 216
+f 69 216 215
+f 69 215 230
+f 69 230 232
+f 69 232 231
+f 69 231 225
+f 69 225 199
+f 69 199 193
+f 69 193 165
+f 69 165 198
+f 69 198 211
+f 69 211 184
+f 69 184 149
+f 69 149 118
+f 69 118 94
+f 69 94 76
+f 69 76 75
+f 69 75 74
+f 69 74 73
+f 69 73 72
+f 69 72 71
+f 69 71 70
+f 77 86 95
+f 77 95 96
+f 77 96 97
+f 77 97 98
+f 77 98 90
+f 78 99 100
+f 78 100 101
+f 78 101 102
+f 78 102 79
+f 79 102 103
+f 79 103 80
+f 80 103 82
+f 80 82 81
+f 82 103 104
+f 82 104 84
+f 84 104 105
+f 84 105 106
+f 84 106 85
+f 85 106 86
+f 86 106 107
+f 86 107 95
+f 87 90 108
+f 87 108 109
+f 87 109 92
+f 87 92 110
+f 87 110 111
+f 87 111 88
+f 88 111 110
+f 88 110 89
+f 89 110 92
+f 89 92 91
+f 90 98 112
+f 90 112 113
+f 90 113 108
+f 92 109 114
+f 92 114 115
+f 92 115 116
+f 92 116 93
+f 94 118 117
+f 95 107 119
+f 95 119 120
+f 95 120 96
+f 96 120 121
+f 96 121 97
+f 97 121 122
+f 97 122 98
+f 98 122 123
+f 98 123 124
+f 98 124 112
+f 99 125 126
+f 99 126 127
+f 99 127 100
+f 99 128 129
+f 99 129 125
+f 100 127 130
+f 100 130 101
+f 101 130 131
+f 101 131 102
+f 102 131 132
+f 102 132 103
+f 103 133 134
+f 103 134 104
+f 103 132 131
+f 103 131 135
+f 103 135 133
+f 104 134 136
+f 104 136 105
+f 105 136 137
+f 105 137 138
+f 105 138 107
+f 105 107 106
+f 107 138 119
+f 108 139 109
+f 108 113 139
+f 109 139 140
+f 109 140 141
+f 109 141 142
+f 109 142 143
+f 109 143 144
+f 109 144 114
+f 112 124 113
+f 113 124 145
+f 113 145 146
+f 113 146 139
+f 117 147 148
+f 117 118 149
+f 117 149 150
+f 117 150 147
+f 119 151 152
+f 119 152 120
+f 119 138 151
+f 120 152 153
+f 120 153 121
+f 121 153 154
+f 121 154 122
+f 122 154 155
+f 122 155 123
+f 123 155 156
+f 123 156 124
+f 124 156 157
+f 124 157 145
+f 125 158 159
+f 125 159 126
+f 125 129 160
+f 125 160 158
+f 126 159 130
+f 126 130 127
+f 128 161 162
+f 128 162 163
+f 128 163 164
+f 128 164 129
+f 129 165 166
+f 129 166 167
+f 129 167 168
+f 129 168 133
+f 129 133 160
+f 129 164 163
+f 129 163 169
+f 129 169 150
+f 129 150 170
+f 129 170 171
+f 129 171 165
+f 130 159 131
+f 131 159 135
+f 133 135 160
+f 133 168 172
+f 133 172 173
+f 133 173 134
+f 134 173 136
+f 135 159 158
+f 135 158 160
+f 136 173 174
+f 136 174 137
+f 137 174 175
+f 137 175 176
+f 137 176 151
+f 137 151 138
+f 139 146 177
+f 139 177 140
+f 140 177 178
+f 140 178 179
+f 140 179 180
+f 140 180 141
+f 145 157 181
+f 145 181 146
+f 146 181 177
+f 147 182 148
+f 147 150 169
+f 147 169 182
+f 148 182 183
+f 149 184 170
+f 149 170 150
+f 151 176 185
+f 151 185 152
+f 152 186 187
+f 152 187 188
+f 152 188 153
+f 152 185 186
+f 153 188 189
+f 153 189 154
+f 154 189 190
+f 154 190 155
+f 155 190 191
+f 155 191 156
+f 156 191 157
+f 157 192 181
+f 157 191 192
+f 161 183 182
+f 161 182 162
+f 162 182 169
+f 162 169 163
+f 165 193 194
+f 165 194 195
+f 165 195 166
+f 165 171 196
+f 165 196 197
+f 165 197 198
+f 166 195 167
+f 167 195 194
+f 167 194 193
+f 167 193 199
+f 167 199 200
+f 167 200 168
+f 168 200 201
+f 168 201 202
+f 168 202 172
+f 170 184 203
+f 170 203 171
+f 171 203 196
+f 172 202 173
+f 173 202 204
+f 173 204 175
+f 173 175 174
+f 175 204 202
+f 175 202 205
+f 175 205 206
+f 175 206 176
+f 176 206 185
+f 177 181 178
+f 178 207 180
+f 178 180 179
+f 178 181 207
+f 180 207 208
+f 181 192 209
+f 181 209 210
+f 181 210 207
+f 184 211 197
+f 184 197 212
+f 184 212 203
+f 185 206 213
+f 185 213 186
+f 186 213 214
+f 186 214 215
+f 186 215 187
+f 187 215 188
+f 188 215 216
+f 188 216 217
+f 188 217 189
+f 189 218 190
+f 189 217 218
+f 190 218 191
+f 191 219 220
+f 191 220 221
+f 191 221 222
+f 191 222 192
+f 191 218 223
+f 191 223 224
+f 191 224 219
+f 192 222 209
+f 196 203 212
+f 196 212 197
+f 197 211 198
+f 199 225 226
+f 199 226 200
+f 200 226 227
+f 200 227 228
+f 200 228 201
+f 201 228 202
+f 202 228 205
+f 205 228 206
+f 206 228 213
+f 207 210 208
+f 209 222 221
+f 209 221 220
+f 209 220 229
+f 213 228 227
+f 213 227 214
+f 214 230 215
+f 214 227 225
+f 214 225 231
+f 214 231 232
+f 214 232 230
+f 217 223 218
+f 219 224 229
+f 219 229 220
+f 225 227 226
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_10.obj

@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.03774936 -0.07243567 -0.02137687
+v 0.03774936 -0.07637799 -0.02150183
+v 0.02923711 -0.09202298 -0.03200292
+v 0.02891942 -0.08810637 -0.03161559
+v 0.02820213 -0.08508535 -0.03107210
+v 0.02930232 -0.07243567 -0.02137687
+v 0.03774936 -0.07243570 -0.01381813
+v 0.03774936 -0.08027746 -0.02155805
+v 0.02925550 -0.09593530 -0.03206540
+v 0.02539146 -0.09202298 -0.03225904
+v 0.02611210 -0.08508535 -0.03107210
+v 0.02539982 -0.07243567 -0.02136438
+v 0.03710397 -0.07243584 0.02483143
+v 0.03774936 -0.07244441 0.02483143
+v 0.03774936 -0.08810641 -0.02160807
+v 0.03774936 -0.09202302 -0.02157684
+v 0.03774936 -0.09593534 -0.02125203
+v 0.02909666 -0.09985192 -0.03181554
+v 0.02539146 -0.09593530 -0.03230278
+v 0.02329308 -0.09202299 -0.03077228
+v 0.02333655 -0.08905338 -0.03068481
+v 0.02504201 -0.08789210 -0.03150315
+v 0.02066968 -0.07243567 -0.02134564
+v 0.02148729 -0.07243584 0.02486892
+v 0.02066968 -0.07244012 0.02487517
+v 0.02928225 -0.09961647 0.03122816
+v 0.03319980 -0.10062347 0.03092830
+v 0.03569779 -0.10127481 0.03062845
+v 0.03774936 -0.09990357 0.02999128
+v 0.03774936 -0.10612112 -0.01940922
+v 0.02831583 -0.10376425 -0.03115338
+v 0.02616561 -0.10376425 -0.03115338
+v 0.02500523 -0.10020758 -0.03164063
+v 0.02335661 -0.09913631 -0.03065361
+v 0.02330812 -0.09593531 -0.03074730
+v 0.02066968 -0.09233583 -0.02245766
+v 0.02066968 -0.08807212 -0.02245139
+v 0.02066968 -0.08419407 -0.02228271
+v 0.02066968 -0.08027746 -0.02208904
+v 0.02066968 -0.07654082 -0.02183915
+v 0.02066968 -0.07243581 0.01516124
+v 0.02066968 -0.09945791 0.02747378
+v 0.02603686 -0.10376448 0.03143430
+v 0.02661371 -0.09985215 0.03107824
+v 0.02959325 -0.10403445 0.03151551
+v 0.03569779 -0.10196900 0.03062845
+v 0.03774936 -0.10084201 0.02967893
+v 0.03774936 -0.10770662 -0.01861587
+v 0.02757010 -0.10588968 -0.03063490
+v 0.02706683 -0.10588968 -0.03063490
+v 0.02340510 -0.10583827 -0.02680555
+v 0.02066968 -0.09592677 -0.02212658
+v 0.02066968 -0.10729095 -0.02060238
+v 0.02066968 -0.09994641 0.02751750
+v 0.02642644 -0.10701689 0.03110945
+v 0.02849306 -0.10701689 0.03110945
+v 0.03774936 -0.10289888 0.02878562
+v 0.03774936 -0.11068909 -0.01641698
+v 0.02782927 -0.10990915 -0.02699297
+v 0.02685615 -0.10990915 -0.02699297
+v 0.02566066 -0.10717095 -0.02816737
+v 0.02406221 -0.10866647 -0.02479406
+v 0.02066968 -0.11099761 -0.01697920
+v 0.02066968 -0.10780517 -0.02024631
+v 0.02066968 -0.10376446 0.02612444
+v 0.02336832 -0.10978080 0.02684906
+v 0.02539146 -0.11061639 0.02776109
+v 0.02848303 -0.11079637 0.02796724
+v 0.03774936 -0.10934369 0.02165788
+v 0.03774936 -0.11173038 -0.01406814
+v 0.02820714 -0.11398006 -0.01999646
+v 0.02663545 -0.11398006 -0.01999646
+v 0.02601345 -0.11069334 -0.02479407
+v 0.02345526 -0.10953208 -0.02284502
+v 0.02066968 -0.11131900 -0.01632952
+v 0.02066968 -0.10703829 0.02490628
+v 0.02066968 -0.10753109 0.02458769
+v 0.02066968 -0.11087348 0.02102069
+v 0.02066968 -0.11131057 0.02051469
+v 0.02372279 -0.11328601 0.02187026
+v 0.02517075 -0.11260898 0.02501246
+v 0.02632612 -0.11404021 0.02388801
+v 0.02813190 -0.11404021 0.02388801
+v 0.03774936 -0.11065922 0.02017111
+v 0.03774936 -0.11196606 -0.01334975
+v 0.02896457 -0.11450286 -0.01716037
+v 0.02594657 -0.11450286 -0.01716037
+v 0.02066968 -0.11259598 -0.01328728
+v 0.02066968 -0.11245040 0.01716635
+v 0.02066968 -0.11332026 0.01334949
+v 0.02066968 -0.11417727 0.00952014
+v 0.02517075 -0.11436587 0.02075206
+v 0.02539146 -0.11522287 0.01716634
+v 0.02885422 -0.11453299 0.02097695
+v 0.03774936 -0.11339740 0.01310586
+v 0.03774936 -0.11198760 0.01716634
+v 0.03774936 -0.11383441 -0.00437921
+v 0.02929396 -0.11570271 -0.00953290
+v 0.02539146 -0.11551845 -0.00953290
+v 0.02508883 -0.11475140 -0.01326230
+v 0.02066968 -0.11397154 -0.00536622
+v 0.02066968 -0.11279738 -0.01228153
+v 0.02066968 -0.11450294 0.00572202
+v 0.02539146 -0.11614416 0.00953262
+v 0.02539146 -0.11579279 0.01334948
+v 0.02929396 -0.11553997 0.01334949
+v 0.03774936 -0.11419442 0.00959510
+v 0.03774936 -0.11406582 -0.00190544
+v 0.02929396 -0.11605412 -0.00571606
+v 0.02539146 -0.11592127 -0.00571606
+v 0.02066968 -0.11404438 -0.00469156
+v 0.02539146 -0.11620841 0.00572201
+v 0.02066968 -0.11444722 0.00190517
+v 0.02929396 -0.11609272 0.00572201
+v 0.02929396 -0.11596847 0.00953262
+v 0.03774936 -0.11443866 0.00572202
+v 0.03774936 -0.11432294 0.00194890
+v 0.03774936 -0.11442580 0.00518479
+v 0.02929396 -0.11607555 -0.00190545
+v 0.02539146 -0.11603270 -0.00190545
+v 0.02066968 -0.11432292 -0.00190544
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 12
+f 1 12 23
+f 1 23 41
+f 1 41 24
+f 1 24 13
+f 1 13 7
+f 1 7 14
+f 1 14 29
+f 1 29 47
+f 1 47 57
+f 1 57 69
+f 1 69 84
+f 1 84 96
+f 1 96 95
+f 1 95 107
+f 1 107 116
+f 1 116 118
+f 1 118 117
+f 1 117 108
+f 1 108 97
+f 1 97 85
+f 1 85 70
+f 1 70 58
+f 1 58 48
+f 1 48 30
+f 1 30 17
+f 1 17 16
+f 1 16 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 6 11 12
+f 7 13 14
+f 8 15 9
+f 9 15 16
+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 23
+f 11 23 12
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 17 30 18
+f 18 31 32
+f 18 32 19
+f 18 30 31
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 21 40 23
+f 21 23 22
+f 23 40 39
+f 23 39 38
+f 23 38 37
+f 23 37 36
+f 23 36 52
+f 23 52 53
+f 23 53 64
+f 23 64 63
+f 23 63 75
+f 23 75 88
+f 23 88 102
+f 23 102 101
+f 23 101 111
+f 23 111 121
+f 23 121 113
+f 23 113 103
+f 23 103 91
+f 23 91 90
+f 23 90 89
+f 23 89 79
+f 23 79 78
+f 23 78 77
+f 23 77 76
+f 23 76 65
+f 23 65 54
+f 23 54 42
+f 23 42 25
+f 23 25 41
+f 24 41 25
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 44 43
+f 26 43 45
+f 26 45 27
+f 27 45 28
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 30 48 31
+f 31 49 50
+f 31 50 32
+f 31 48 49
+f 32 50 51
+f 32 51 34
+f 32 34 33
+f 34 52 36
+f 34 36 35
+f 34 51 53
+f 34 53 52
+f 42 54 43
+f 43 54 55
+f 43 55 45
+f 45 55 56
+f 45 56 46
+f 46 56 57
+f 46 57 47
+f 48 58 49
+f 49 59 60
+f 49 60 50
+f 49 58 59
+f 50 60 61
+f 50 61 51
+f 51 61 60
+f 51 60 62
+f 51 62 63
+f 51 63 64
+f 51 64 53
+f 54 65 66
+f 54 66 55
+f 55 66 67
+f 55 67 68
+f 55 68 56
+f 56 68 57
+f 57 68 69
+f 58 70 71
+f 58 71 59
+f 59 71 72
+f 59 72 60
+f 60 72 73
+f 60 73 74
+f 60 74 62
+f 62 74 63
+f 63 72 75
+f 63 74 73
+f 63 73 72
+f 65 76 66
+f 66 76 77
+f 66 77 78
+f 66 78 79
+f 66 79 80
+f 66 80 81
+f 66 81 67
+f 67 81 82
+f 67 82 68
+f 68 83 84
+f 68 84 69
+f 68 82 83
+f 70 85 71
+f 71 85 86
+f 71 86 87
+f 71 87 72
+f 72 87 88
+f 72 88 75
+f 79 89 80
+f 80 89 90
+f 80 90 91
+f 80 91 92
+f 80 92 82
+f 80 82 81
+f 82 92 93
+f 82 93 83
+f 83 93 94
+f 83 94 95
+f 83 95 96
+f 83 96 84
+f 85 97 86
+f 86 98 87
+f 86 97 98
+f 87 98 99
+f 87 99 100
+f 87 100 101
+f 87 101 102
+f 87 102 88
+f 91 103 104
+f 91 104 105
+f 91 105 93
+f 91 93 92
+f 93 105 94
+f 94 105 106
+f 94 106 107
+f 94 107 95
+f 97 108 98
+f 98 109 110
+f 98 110 99
+f 98 108 109
+f 99 110 111
+f 99 111 101
+f 99 101 100
+f 103 112 104
+f 103 113 112
+f 104 112 114
+f 104 114 115
+f 104 115 105
+f 105 115 106
+f 106 115 107
+f 107 115 116
+f 108 117 109
+f 109 117 118
+f 109 118 116
+f 109 116 119
+f 109 119 112
+f 109 112 120
+f 109 120 110
+f 110 120 113
+f 110 113 121
+f 110 121 111
+f 112 113 120
+f 112 119 114
+f 114 119 116
+f 114 116 115
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_11.obj

@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
+v -0.04878820 -0.07244013 -0.02105157
+v -0.05269094 -0.07244013 -0.02104531
+v -0.04150854 -0.07244013 -0.02103279
+v -0.05269849 -0.08334331 -0.02973349
+v -0.05694118 -0.07244013 -0.02100775
+v -0.04150854 -0.07662403 -0.02182775
+v -0.04679378 -0.08981177 -0.03057854
+v -0.04859632 -0.08834695 -0.03139226
+v -0.04976426 -0.08514856 -0.03101043
+v -0.04150854 -0.07244030 0.02505569
+v -0.05269849 -0.08530087 -0.03093531
+v -0.05471861 -0.08601760 -0.03057853
+v -0.05489538 -0.08810954 -0.03078510
+v -0.05507065 -0.09202467 -0.03101671
+v -0.05694118 -0.07278506 -0.02107661
+v -0.05694118 -0.07244030 0.02501813
+v -0.04150854 -0.08057050 -0.02224090
+v -0.04150854 -0.08419445 -0.02261022
+v -0.04672427 -0.09202467 -0.03067870
+v -0.04879576 -0.09202466 -0.03214342
+v -0.05269849 -0.08810953 -0.03183668
+v -0.05164840 -0.10078239 0.03101460
+v -0.04954367 -0.10078239 0.03101460
+v -0.04889699 -0.10376577 0.03133383
+v -0.04694487 -0.10376576 0.03032606
+v -0.04150854 -0.09609228 0.02580674
+v -0.05269849 -0.09202466 -0.03248143
+v -0.05269849 -0.09593529 -0.03261289
+v -0.05509332 -0.09593530 -0.03106054
+v -0.05694118 -0.08419445 -0.02279800
+v -0.05694118 -0.08087063 -0.02247250
+v -0.05694118 -0.07662403 -0.02182775
+v -0.05694118 -0.09903535 0.02589437
+v -0.05414143 -0.10376576 0.02916805
+v -0.05218931 -0.10376577 0.03133383
+v -0.04150854 -0.09202470 -0.02264780
+v -0.04670010 -0.09593530 -0.03071627
+v -0.04879576 -0.09593529 -0.03226236
+v -0.04941373 -0.10768088 0.03109595
+v -0.04746312 -0.10768088 0.02991916
+v -0.04150854 -0.10740313 0.02448596
+v -0.04150854 -0.10376574 0.02528718
+v -0.04150854 -0.09985062 0.02581298
+v -0.05269849 -0.09985041 -0.03231246
+v -0.05502079 -0.09985042 -0.03095415
+v -0.05694118 -0.10394027 -0.02150862
+v -0.05694118 -0.09650423 -0.02235362
+v -0.05694118 -0.09279517 -0.02257269
+v -0.05694118 -0.09202470 -0.02259773
+v -0.05694118 -0.09962665 0.02588810
+v -0.05376521 -0.10768088 0.02921810
+v -0.05181309 -0.10768088 0.03109595
+v -0.04150854 -0.09284893 -0.02262277
+v -0.04676054 -0.09881117 -0.03062865
+v -0.04150854 -0.09593533 -0.02250385
+v -0.04843163 -0.10000719 -0.03167399
+v -0.05023416 -0.10994305 0.03069534
+v -0.04872626 -0.11147952 0.02852329
+v -0.04660642 -0.11040444 0.02727766
+v -0.04150854 -0.11143471 0.02086170
+v -0.04721533 -0.11301152 0.02606331
+v -0.04941675 -0.10376554 -0.03127965
+v -0.05023265 -0.10605011 -0.03073509
+v -0.05139305 -0.10605011 -0.03073509
+v -0.05269698 -0.10372971 -0.03126714
+v -0.05485459 -0.10240376 -0.03074134
+v -0.05694118 -0.10749703 -0.02084513
+v -0.05694118 -0.10376574 0.02533099
+v -0.05114677 -0.10994305 0.03069534
+v -0.05694118 -0.10744344 0.02452351
+v -0.05479566 -0.11005055 0.02698347
+v -0.04150854 -0.09657143 -0.02242873
+v -0.04150854 -0.10388652 -0.02126450
+v -0.04150854 -0.10745223 -0.02068864
+v -0.04981715 -0.11403286 0.02721505
+v -0.04875194 -0.11646076 0.02122473
+v -0.04150854 -0.11295325 0.01716236
+v -0.04862804 -0.11477645 0.02479264
+v -0.04880785 -0.10736262 -0.02832520
+v -0.04998486 -0.11004139 -0.02714216
+v -0.04150854 -0.10958002 -0.01918638
+v -0.05170581 -0.11004139 -0.02714216
+v -0.05285110 -0.10764484 -0.02855055
+v -0.05399638 -0.10501533 -0.02996518
+v -0.05494525 -0.10663246 -0.02741757
+v -0.05694118 -0.10953971 -0.01944302
+v -0.05264712 -0.11130034 0.02837307
+v -0.05154565 -0.11403286 0.02721505
+v -0.05694118 -0.11145262 0.02088048
+v -0.05414748 -0.11265763 0.02578791
+v -0.05002414 -0.11777325 0.02011681
+v -0.04150854 -0.11417168 0.01335033
+v -0.04150854 -0.11150176 -0.01718336
+v -0.04984888 -0.11400134 -0.02019417
+v -0.05186899 -0.11400134 -0.02019417
+v -0.05288283 -0.11089699 -0.02492632
+v -0.05430763 -0.10924403 -0.02628462
+v -0.05694118 -0.11173917 -0.01720840
+v -0.05278764 -0.11470926 0.02462363
+v -0.05140967 -0.11777325 0.02011681
+v -0.05476998 -0.11376408 0.02324029
+v -0.05694118 -0.11309211 0.01716235
+v -0.04947719 -0.11802858 0.01716234
+v -0.04150854 -0.11504069 0.00955083
+v -0.04150854 -0.11161375 -0.01692046
+v -0.04150854 -0.11461060 -0.00537801
+v -0.05067234 -0.11749989 -0.00776913
+v -0.05082645 -0.11749989 -0.00776913
+v -0.05298104 -0.11439554 -0.01723970
+v -0.05447233 -0.11341004 -0.01856671
+v -0.05298104 -0.11291728 -0.02127079
+v -0.05492561 -0.11009067 -0.02374327
+v -0.05694118 -0.11190939 -0.01660123
+v -0.05270605 -0.11633085 0.02122473
+v -0.05388608 -0.11667127 0.01716234
+v -0.05193396 -0.11802858 0.01716234
+v -0.05694118 -0.11432846 0.01335033
+v -0.04922184 -0.11816744 0.01335032
+v -0.04150854 -0.11548416 0.00572003
+v -0.04150854 -0.11542592 0.00627713
+v -0.04150854 -0.11468675 -0.00497114
+v -0.04150854 -0.11523775 -0.00190400
+v -0.05030065 -0.11763877 -0.00571603
+v -0.05235702 -0.11641585 -0.00923385
+v -0.05269849 -0.11540345 -0.01334631
+v -0.05119814 -0.11763877 -0.00571603
+v -0.05315026 -0.11670255 -0.00571603
+v -0.05694118 -0.11268885 -0.01354661
+v -0.05694118 -0.11462404 -0.00507755
+v -0.05410215 -0.11706098 0.01335032
+v -0.05694118 -0.11495111 0.00972610
+v -0.05215003 -0.11816744 0.01335032
+v -0.04918256 -0.11819878 0.00953204
+v -0.04150854 -0.11543039 0.00241503
+v -0.04150854 -0.11542142 0.00190176
+v -0.04943186 -0.11803747 0.00190175
+v -0.04974462 -0.11786723 -0.00190401
+v -0.05170581 -0.11786723 -0.00190401
+v -0.05365793 -0.11698029 -0.00190401
+v -0.05694118 -0.11517951 -0.00187896
+v -0.05694118 -0.11543488 0.00572003
+v -0.05411121 -0.11714160 0.00953204
+v -0.05215758 -0.11819878 0.00953204
+v -0.04927472 -0.11814948 0.00572002
+v -0.05197627 -0.11803747 0.00190175
+v -0.05392839 -0.11708334 0.00190175
+v -0.05694118 -0.11535872 0.00190176
+v -0.05405833 -0.11712814 0.00572002
+v -0.05210621 -0.11814948 0.00572002
+f 1 2 5
+f 1 5 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 26
+f 3 26 43
+f 3 43 42
+f 3 42 41
+f 3 41 60
+f 3 60 77
+f 3 77 92
+f 3 92 104
+f 3 104 120
+f 3 120 119
+f 3 119 134
+f 3 134 135
+f 3 135 122
+f 3 122 121
+f 3 121 106
+f 3 106 105
+f 3 105 93
+f 3 93 81
+f 3 81 74
+f 3 74 73
+f 3 73 72
+f 3 72 55
+f 3 55 53
+f 3 53 36
+f 3 36 18
+f 3 18 17
+f 3 17 6
+f 4 9 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 32
+f 5 32 31
+f 5 31 30
+f 5 30 49
+f 5 49 48
+f 5 48 47
+f 5 47 46
+f 5 46 67
+f 5 67 86
+f 5 86 98
+f 5 98 113
+f 5 113 128
+f 5 128 129
+f 5 129 140
+f 5 140 147
+f 5 147 141
+f 5 141 131
+f 5 131 117
+f 5 117 102
+f 5 102 89
+f 5 89 70
+f 5 70 68
+f 5 68 50
+f 5 50 33
+f 5 33 16
+f 6 17 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 7 17 18
+f 8 20 9
+f 9 20 21
+f 9 21 11
+f 10 16 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 11 21 12
+f 12 21 27
+f 12 27 13
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 16 33 34
+f 16 34 35
+f 16 35 22
+f 18 36 37
+f 18 37 19
+f 19 37 38
+f 19 38 20
+f 20 38 28
+f 20 28 27
+f 20 27 21
+f 22 35 24
+f 22 24 23
+f 24 35 52
+f 24 52 39
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 28 38 44
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 33 50 34
+f 34 51 35
+f 34 50 51
+f 35 51 52
+f 36 53 37
+f 37 54 38
+f 37 53 55
+f 37 55 54
+f 38 54 56
+f 38 56 44
+f 39 57 40
+f 39 52 69
+f 39 69 57
+f 40 57 58
+f 40 58 59
+f 40 59 41
+f 41 59 61
+f 41 61 60
+f 44 56 62
+f 44 62 63
+f 44 63 64
+f 44 64 65
+f 44 65 66
+f 44 66 45
+f 45 66 67
+f 45 67 46
+f 50 68 51
+f 51 69 52
+f 51 68 70
+f 51 70 71
+f 51 71 69
+f 54 62 56
+f 54 55 72
+f 54 72 73
+f 54 73 74
+f 54 74 62
+f 57 75 58
+f 57 69 88
+f 57 88 75
+f 58 75 61
+f 58 61 59
+f 60 76 77
+f 60 61 78
+f 60 78 76
+f 61 75 78
+f 62 74 63
+f 63 79 80
+f 63 80 82
+f 63 82 64
+f 63 74 81
+f 63 81 79
+f 64 82 83
+f 64 83 84
+f 64 84 65
+f 65 84 66
+f 66 84 85
+f 66 85 86
+f 66 86 67
+f 69 71 87
+f 69 87 88
+f 70 89 71
+f 71 90 87
+f 71 89 90
+f 75 88 100
+f 75 100 91
+f 75 91 78
+f 76 91 77
+f 76 78 91
+f 77 91 92
+f 79 81 80
+f 80 81 93
+f 80 93 94
+f 80 94 95
+f 80 95 82
+f 82 95 96
+f 82 96 97
+f 82 97 83
+f 83 97 84
+f 84 97 85
+f 85 97 98
+f 85 98 86
+f 87 90 88
+f 88 90 99
+f 88 99 100
+f 89 101 90
+f 89 102 101
+f 90 101 99
+f 91 100 116
+f 91 116 103
+f 91 103 104
+f 91 104 92
+f 93 105 94
+f 94 105 106
+f 94 106 107
+f 94 107 108
+f 94 108 95
+f 95 108 109
+f 95 109 110
+f 95 110 111
+f 95 111 96
+f 96 111 97
+f 97 111 110
+f 97 110 112
+f 97 112 98
+f 98 110 113
+f 98 112 110
+f 99 101 114
+f 99 114 100
+f 100 114 115
+f 100 115 116
+f 101 102 117
+f 101 117 115
+f 101 115 114
+f 103 116 132
+f 103 132 118
+f 103 118 119
+f 103 119 120
+f 103 120 104
+f 106 121 107
+f 107 121 122
+f 107 122 123
+f 107 123 126
+f 107 126 108
+f 108 124 125
+f 108 125 109
+f 108 126 127
+f 108 127 124
+f 109 125 110
+f 110 128 113
+f 110 125 124
+f 110 124 127
+f 110 127 129
+f 110 129 128
+f 115 130 116
+f 115 117 131
+f 115 131 130
+f 116 130 132
+f 118 133 119
+f 118 132 143
+f 118 143 133
+f 119 133 134
+f 122 135 136
+f 122 136 137
+f 122 137 123
+f 123 137 138
+f 123 138 126
+f 126 138 139
+f 126 139 127
+f 127 139 140
+f 127 140 129
+f 130 131 141
+f 130 141 142
+f 130 142 132
+f 132 142 143
+f 133 143 149
+f 133 149 144
+f 133 144 135
+f 133 135 134
+f 135 144 136
+f 136 144 149
+f 136 149 145
+f 136 145 138
+f 136 138 137
+f 138 145 139
+f 139 145 146
+f 139 146 140
+f 140 146 147
+f 141 148 142
+f 141 147 148
+f 142 148 143
+f 143 148 149
+f 145 149 146
+f 146 149 148
+f 146 148 147
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_12.obj

@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v 0.06054002 -0.07244021 -0.02135027
+v 0.05428394 -0.07244021 -0.02135027
+v 0.06444217 -0.07244021 -0.02133081
+v 0.06443464 -0.08058502 -0.02802242
+v 0.06443464 -0.08321488 -0.02992876
+v 0.06211534 -0.08546644 -0.03083003
+v 0.06171925 -0.08810998 -0.03127097
+v 0.06146172 -0.09202514 -0.03169246
+v 0.06141503 -0.09593576 -0.03184808
+v 0.05428394 -0.08811001 -0.02160968
+v 0.05428394 -0.07244031 0.00644700
+v 0.06966812 -0.07244021 -0.02124652
+v 0.06669370 -0.08553025 -0.03080410
+v 0.06443464 -0.08517018 -0.03097268
+v 0.06443464 -0.08810997 -0.03196476
+v 0.06443464 -0.09202514 -0.03277530
+v 0.06443464 -0.09593576 -0.03306709
+v 0.06144515 -0.09985092 -0.03170545
+v 0.05428394 -0.09202518 -0.02151892
+v 0.05428394 -0.09045729 -0.02156430
+v 0.05428394 -0.07244494 0.02488126
+v 0.05662734 -0.07244038 0.02488774
+v 0.06966812 -0.07646477 -0.02193384
+v 0.06724039 -0.09202514 -0.03159519
+v 0.06702503 -0.08810998 -0.03121260
+v 0.06966812 -0.07244032 0.00925461
+v 0.06727503 -0.09593576 -0.03173137
+v 0.06722533 -0.09985092 -0.03161468
+v 0.06443464 -0.09985092 -0.03280775
+v 0.06185479 -0.10376610 -0.03112837
+v 0.05428394 -0.10643247 -0.01958672
+v 0.05428394 -0.10376614 -0.02025457
+v 0.05428394 -0.10220280 -0.02043613
+v 0.05428394 -0.09593580 -0.02114285
+v 0.05428394 -0.09437246 -0.02129848
+v 0.05428394 -0.09985114 0.02853169
+v 0.06443464 -0.10376633 0.03317429
+v 0.06966812 -0.07244494 0.02492017
+v 0.06833979 -0.07244038 0.02491367
+v 0.06966812 -0.08027511 -0.02211541
+v 0.06966812 -0.08379831 -0.02213487
+v 0.06966812 -0.08811001 -0.02213488
+v 0.06966812 -0.09202518 -0.02207006
+v 0.06966812 -0.10376613 -0.02146708
+v 0.06681268 -0.10376610 -0.03103112
+v 0.06966812 -0.10758559 -0.02077331
+v 0.06642563 -0.10577611 -0.03055131
+v 0.06443464 -0.10376609 -0.03164062
+v 0.06231564 -0.10591284 -0.03064209
+v 0.05428394 -0.10838778 -0.01816671
+v 0.05428394 -0.10090400 0.02809726
+v 0.06178100 -0.11074891 0.03118366
+v 0.06130811 -0.10768151 0.03172184
+v 0.06123281 -0.10376633 0.03181911
+v 0.06443464 -0.10768151 0.03294733
+v 0.06741960 -0.10768151 0.03174128
+v 0.06758678 -0.10376633 0.03187099
+v 0.06966812 -0.09833794 0.02841499
+v 0.06683376 -0.10732121 -0.02834671
+v 0.06966812 -0.11162384 -0.01727841
+v 0.06655514 -0.10982346 -0.02690726
+v 0.06443464 -0.10786358 -0.02902107
+v 0.06443464 -0.10590372 -0.03063559
+v 0.06443464 -0.11001489 -0.02711475
+v 0.06213341 -0.10995564 -0.02704342
+v 0.05428394 -0.11047071 -0.01626040
+v 0.05428394 -0.10239441 0.02726081
+v 0.06166955 -0.11446353 0.02781192
+v 0.06443464 -0.11330584 0.03029532
+v 0.06443464 -0.11134600 0.03152082
+v 0.05428394 -0.10705705 0.02390852
+v 0.05428394 -0.10783644 0.02324066
+v 0.06702503 -0.11080816 0.03119014
+v 0.06966812 -0.10785467 0.02479036
+v 0.06966812 -0.10260862 0.02752665
+v 0.06966812 -0.10014284 0.02853169
+v 0.06966812 -0.11527014 -0.00576268
+v 0.06675545 -0.11393465 -0.01991743
+v 0.06443464 -0.11321906 -0.02240083
+v 0.06443464 -0.11163749 -0.02479345
+v 0.06194365 -0.11402580 -0.02012493
+v 0.05428394 -0.11123187 -0.01450322
+v 0.06443464 -0.11486917 0.02838900
+v 0.05428394 -0.10901234 0.02216430
+v 0.05428394 -0.10961398 0.02140566
+v 0.05428394 -0.11046629 0.02025796
+v 0.06220118 -0.11766766 0.02334437
+v 0.06700695 -0.11439516 0.02783785
+v 0.06751449 -0.11190660 0.02890773
+v 0.06966812 -0.10986010 0.02307856
+v 0.06966812 -0.11578063 -0.00190466
+v 0.06652352 -0.11759007 -0.00493273
+v 0.06623737 -0.11744421 -0.00747449
+v 0.06712141 -0.11437221 -0.01716170
+v 0.06443464 -0.11537037 -0.01716170
+v 0.06443464 -0.11419443 -0.02049452
+v 0.06232167 -0.11758551 -0.00827851
+v 0.05428394 -0.11172868 -0.01334904
+v 0.06443464 -0.11682447 0.02539983
+v 0.06654912 -0.11760841 0.02322765
+v 0.05428394 -0.11109070 0.01898061
+v 0.05428394 -0.11196124 0.01716506
+v 0.05428394 -0.11316449 0.01322273
+v 0.06180510 -0.11799126 0.02097768
+v 0.06443464 -0.11837411 0.02097768
+v 0.06443464 -0.11772236 0.02348703
+v 0.06723436 -0.11562576 0.02461526
+v 0.06966812 -0.11156473 0.02112683
+v 0.06670574 -0.11775417 -0.00190466
+v 0.06966812 -0.11599030 0.00190150
+v 0.06685635 -0.11789092 0.00190150
+v 0.06443464 -0.11867486 0.00190149
+v 0.06443464 -0.11832845 -0.00190466
+v 0.06473585 -0.11779061 -0.00600909
+v 0.06363493 -0.11758551 -0.00827851
+v 0.06443464 -0.11630474 -0.01334906
+v 0.06207468 -0.11778149 -0.00571729
+v 0.05428394 -0.11409879 -0.00190464
+v 0.05428394 -0.11375238 -0.00431673
+v 0.06443464 -0.11889369 0.01716503
+v 0.06680213 -0.11785452 0.02097768
+v 0.06966812 -0.11521551 0.01335890
+v 0.05428394 -0.11406693 0.00974077
+v 0.06146624 -0.11832396 0.01716504
+v 0.06443464 -0.11886631 0.00572062
+v 0.06966812 -0.11604045 0.00572062
+v 0.06694220 -0.11800489 0.00953327
+v 0.06691508 -0.11795929 0.00572062
+v 0.06443464 -0.11895749 0.00953326
+v 0.06158521 -0.11825098 0.00190150
+v 0.06179155 -0.11804586 -0.00190466
+v 0.05428394 -0.11430846 0.00190152
+v 0.06443464 -0.11899851 0.01334591
+v 0.06696629 -0.11804137 0.01716504
+v 0.06138943 -0.11842878 0.01334591
+v 0.06966812 -0.11594020 0.00953327
+v 0.06966812 -0.11536592 0.01261322
+v 0.05428394 -0.11421733 0.00791875
+v 0.05428394 -0.11437685 0.00572064
+v 0.06146474 -0.11837405 0.00572063
+v 0.06966812 -0.11596753 0.00865143
+v 0.06695274 -0.11804136 0.01334592
+v 0.06141353 -0.11841965 0.00953327
+f 1 2 11
+f 1 11 22
+f 1 22 39
+f 1 39 26
+f 1 26 12
+f 1 12 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 20
+f 2 20 19
+f 2 19 35
+f 2 35 34
+f 2 34 33
+f 2 33 32
+f 2 32 31
+f 2 31 50
+f 2 50 66
+f 2 66 82
+f 2 82 98
+f 2 98 119
+f 2 119 118
+f 2 118 132
+f 2 132 139
+f 2 139 138
+f 2 138 123
+f 2 123 103
+f 2 103 102
+f 2 102 101
+f 2 101 86
+f 2 86 85
+f 2 85 84
+f 2 84 72
+f 2 72 71
+f 2 71 67
+f 2 67 51
+f 2 51 36
+f 2 36 21
+f 2 21 11
+f 3 12 4
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 21 22
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 12 26 38
+f 12 38 58
+f 12 58 76
+f 12 76 75
+f 12 75 74
+f 12 74 90
+f 12 90 108
+f 12 108 122
+f 12 122 137
+f 12 137 136
+f 12 136 141
+f 12 141 126
+f 12 126 110
+f 12 110 91
+f 12 91 77
+f 12 77 60
+f 12 60 46
+f 12 46 44
+f 12 44 43
+f 12 43 42
+f 12 42 41
+f 12 41 40
+f 12 40 23
+f 13 25 16
+f 13 16 15
+f 13 15 14
+f 16 25 24
+f 16 24 17
+f 17 24 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 23 40 27
+f 23 27 24
+f 26 39 38
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 45 29
+f 28 44 46
+f 28 46 45
+f 29 45 47
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 30 49 31
+f 31 49 50
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 53
+f 37 53 55
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 58
+f 45 59 47
+f 45 46 59
+f 46 60 61
+f 46 61 59
+f 47 62 63
+f 47 63 48
+f 47 59 61
+f 47 61 64
+f 47 64 62
+f 48 63 49
+f 49 63 62
+f 49 62 64
+f 49 64 65
+f 49 65 50
+f 50 65 66
+f 51 67 52
+f 52 68 69
+f 52 69 70
+f 52 70 55
+f 52 55 53
+f 52 67 71
+f 52 71 72
+f 52 72 68
+f 55 70 73
+f 55 73 56
+f 56 73 74
+f 56 74 75
+f 56 75 76
+f 56 76 57
+f 57 76 58
+f 60 77 78
+f 60 78 61
+f 61 79 80
+f 61 80 64
+f 61 78 79
+f 64 80 65
+f 65 80 79
+f 65 79 81
+f 65 81 66
+f 66 81 82
+f 68 83 69
+f 68 72 84
+f 68 84 85
+f 68 85 86
+f 68 86 87
+f 68 87 83
+f 69 83 88
+f 69 88 73
+f 69 73 70
+f 73 88 89
+f 73 89 74
+f 74 89 90
+f 77 91 92
+f 77 92 93
+f 77 93 94
+f 77 94 78
+f 78 94 93
+f 78 93 95
+f 78 95 96
+f 78 96 79
+f 79 96 81
+f 81 96 95
+f 81 95 97
+f 81 97 98
+f 81 98 82
+f 83 87 99
+f 83 99 100
+f 83 100 88
+f 86 101 87
+f 87 101 102
+f 87 102 103
+f 87 103 104
+f 87 104 105
+f 87 105 106
+f 87 106 99
+f 88 100 107
+f 88 107 108
+f 88 108 89
+f 89 108 90
+f 91 109 92
+f 91 110 111
+f 91 111 109
+f 92 109 112
+f 92 112 93
+f 93 112 113
+f 93 113 114
+f 93 114 115
+f 93 115 116
+f 93 116 95
+f 95 116 115
+f 95 115 97
+f 97 117 118
+f 97 118 119
+f 97 119 98
+f 97 115 113
+f 97 113 112
+f 97 112 117
+f 99 106 100
+f 100 106 105
+f 100 105 120
+f 100 120 121
+f 100 121 122
+f 100 122 107
+f 103 123 104
+f 104 124 120
+f 104 120 105
+f 104 123 124
+f 107 122 108
+f 109 111 125
+f 109 125 112
+f 110 126 127
+f 110 127 128
+f 110 128 111
+f 111 128 129
+f 111 129 125
+f 112 125 130
+f 112 130 131
+f 112 131 117
+f 113 115 114
+f 117 131 118
+f 118 131 130
+f 118 130 132
+f 120 133 134
+f 120 134 121
+f 120 124 135
+f 120 135 133
+f 121 134 136
+f 121 136 137
+f 121 137 122
+f 123 138 124
+f 124 138 139
+f 124 139 135
+f 125 140 130
+f 125 129 140
+f 126 141 134
+f 126 134 142
+f 126 142 127
+f 127 142 133
+f 127 133 129
+f 127 129 128
+f 129 143 140
+f 129 133 143
+f 130 140 132
+f 132 140 143
+f 132 143 139
+f 133 135 143
+f 133 142 134
+f 134 141 136
+f 135 139 143
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_13.obj

@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v -0.00193359 -0.07244010 -0.02142595
+v -0.00583681 -0.07244010 -0.02142595
+v 0.00480579 -0.07244010 -0.02140700
+v -0.00584461 -0.08056079 -0.02812042
+v -0.00974159 -0.07244010 -0.02134385
+v 0.00480579 -0.07644489 -0.02187436
+v -0.00304745 -0.09202399 -0.03158768
+v -0.00329082 -0.08810810 -0.03121504
+v -0.00359815 -0.08548121 -0.03082347
+v -0.00584461 -0.08488116 -0.03114556
+v -0.00584461 -0.08292543 -0.03002770
+v 0.00480579 -0.07244027 0.02497410
+v -0.01113158 -0.07244010 -0.02130595
+v 0.00480579 -0.08027634 -0.02215225
+v -0.00296633 -0.09593545 -0.03171400
+v -0.00584461 -0.09593545 -0.03313498
+v -0.00584461 -0.09202399 -0.03293288
+v -0.00584461 -0.08810809 -0.03223184
+v -0.00853724 -0.08513007 -0.03105082
+v -0.01113158 -0.07244027 0.02501831
+v -0.00584461 -0.10089611 0.03091689
+v -0.00358099 -0.10114502 0.03076532
+v -0.00347803 -0.10376747 0.03086636
+v 0.00480579 -0.09986046 0.02615500
+v -0.00906141 -0.08810809 -0.03153081
+v -0.01021584 -0.08810810 -0.02860673
+v -0.01113158 -0.07635155 -0.02176700
+v 0.00480579 -0.09202403 -0.02243019
+v -0.00307866 -0.09985134 -0.03151823
+v 0.00480579 -0.09220627 -0.02242387
+v 0.00480579 -0.09594882 -0.02219021
+v -0.00584461 -0.09985134 -0.03278134
+v -0.00915813 -0.09985134 -0.03177717
+v -0.00921273 -0.09593545 -0.03193504
+v -0.00922989 -0.09202399 -0.03185293
+v -0.01113158 -0.09872258 0.02770862
+v -0.00854660 -0.10376747 0.03103056
+v -0.00823303 -0.10125614 0.03079690
+v -0.00584461 -0.10376748 0.03138423
+v -0.00365119 -0.10639881 0.03072740
+v 0.00480579 -0.10363410 0.02574448
+v -0.01024392 -0.09202400 -0.02860675
+v -0.01113158 -0.08027634 -0.02207647
+v -0.00350923 -0.10376725 -0.03095616
+v 0.00480579 -0.10718536 -0.02040296
+v -0.00385243 -0.10578076 -0.03055198
+v -0.00584461 -0.10376724 -0.03173928
+v -0.00822055 -0.10614079 -0.03079828
+v -0.00878372 -0.10376725 -0.03129720
+v -0.01005204 -0.10376725 -0.02860679
+v -0.01017996 -0.09985135 -0.02860678
+v -0.01113158 -0.09930485 0.02770862
+v -0.00825175 -0.10768337 0.03084107
+v -0.01012068 -0.10376747 0.02860540
+v -0.00972443 -0.10768337 0.02860538
+v -0.00613789 -0.10769670 0.03090423
+v -0.00503027 -0.10901237 0.03016531
+v 0.00480579 -0.10750555 0.02452558
+v 0.00480579 -0.10709663 0.02470241
+v 0.00480579 -0.10376745 0.02572553
+v -0.01113158 -0.10376728 -0.02176710
+v -0.01113158 -0.09593549 -0.02205127
+v -0.01113158 -0.09202403 -0.02208283
+v 0.00480579 -0.10755429 -0.02020087
+v -0.00372763 -0.10983446 -0.02692057
+v -0.00584461 -0.10803874 -0.02914995
+v -0.00584461 -0.10607857 -0.03075408
+v 0.00480579 -0.11133241 -0.01703050
+v -0.00837187 -0.11008337 -0.02720477
+v -0.00898497 -0.10754092 -0.02853103
+v -0.01035624 -0.10768317 -0.02479225
+v -0.01113158 -0.10764762 -0.02089558
+v -0.01113158 -0.10376746 0.02659076
+v -0.00784146 -0.10968355 0.03054425
+v -0.00855752 -0.11123034 0.02832749
+v -0.01113158 -0.10773224 0.02485397
+v -0.01007076 -0.11159925 0.02479081
+v -0.00763397 -0.10968355 0.03054425
+v -0.00608173 -0.11150147 0.02851696
+v -0.00452949 -0.11331496 0.02638862
+v 0.00480579 -0.11096363 0.02107729
+v -0.00584461 -0.11323478 -0.02233553
+v -0.00584461 -0.11175464 -0.02479226
+v -0.00584461 -0.11011893 -0.02724266
+v -0.00367147 -0.11378595 -0.01968302
+v 0.00480579 -0.11158576 -0.01638631
+v -0.00847795 -0.11402597 -0.02027036
+v -0.00901617 -0.11092789 -0.02479226
+v -0.01113158 -0.11159021 -0.01715681
+v -0.01113158 -0.10772763 -0.02083242
+v -0.00799434 -0.11368833 0.02686860
+v -0.01113158 -0.11180814 0.02105834
+v -0.00861212 -0.11427060 0.02479080
+v -0.00713320 -0.11368833 0.02686860
+v -0.00583681 -0.11439950 0.02498658
+v -0.00354823 -0.11401279 0.02384347
+v 0.00480579 -0.11125699 0.02074888
+v -0.00584461 -0.11407930 -0.02042825
+v 0.00480579 -0.11249252 -0.01334855
+v 0.00480579 -0.11425715 -0.00514472
+v -0.00584461 -0.11500828 -0.01716313
+v -0.00897561 -0.11450157 -0.01716313
+v -0.01113158 -0.11172355 -0.01685366
+v -0.00783210 -0.11748856 -0.00403320
+v -0.00807858 -0.11763086 0.01631537
+v -0.00584461 -0.11599962 0.02097622
+v -0.00931258 -0.11511954 0.02097623
+v -0.01113158 -0.11371940 0.01720587
+v 0.00480579 -0.11253708 0.01716167
+v -0.00584461 -0.11627953 -0.00953401
+v -0.00584461 -0.11572391 -0.01334857
+v 0.00480579 -0.11449718 -0.00190486
+v -0.00773694 -0.11748856 -0.00403320
+v -0.01113158 -0.11499944 -0.00518893
+v -0.01113158 -0.11291922 -0.01336750
+v -0.01113158 -0.11556838 -0.00190486
+v -0.00818467 -0.11769304 0.00190338
+v -0.00831103 -0.11778197 0.01334708
+v -0.00714724 -0.11763086 0.01631537
+v -0.01113158 -0.11504395 0.01325236
+v -0.01113158 -0.11577734 0.00953252
+v -0.00584617 -0.11692413 0.01742059
+v 0.00480579 -0.11443500 0.00977252
+v 0.00480579 -0.11473279 0.00571796
+v -0.00673071 -0.11779972 0.00571795
+v -0.00709732 -0.11769304 0.00190338
+v -0.01113158 -0.11579953 0.00190338
+v -0.00834535 -0.11779972 0.00571795
+v -0.00667455 -0.11778197 0.01334708
+v -0.01113158 -0.11591956 0.00571795
+v -0.00839527 -0.11784419 0.00953252
+v 0.00480579 -0.11449722 0.00936832
+v 0.00480579 -0.11468834 0.00651371
+v -0.00657315 -0.11784419 0.00953252
+v -0.01113158 -0.11583509 0.00298333
+f 1 2 5
+f 1 5 13
+f 1 13 20
+f 1 20 12
+f 1 12 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 12 24
+f 3 24 41
+f 3 41 60
+f 3 60 59
+f 3 59 58
+f 3 58 81
+f 3 81 97
+f 3 97 109
+f 3 109 123
+f 3 123 132
+f 3 132 133
+f 3 133 124
+f 3 124 112
+f 3 112 100
+f 3 100 99
+f 3 99 86
+f 3 86 68
+f 3 68 64
+f 3 64 45
+f 3 45 31
+f 3 31 30
+f 3 30 28
+f 3 28 14
+f 3 14 6
+f 4 11 13
+f 4 13 5
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 14 15
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 19 11
+f 10 18 19
+f 11 19 13
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 13 19 25
+f 13 25 26
+f 13 26 27
+f 13 27 43
+f 13 43 63
+f 13 63 62
+f 13 62 61
+f 13 61 72
+f 13 72 90
+f 13 90 89
+f 13 89 103
+f 13 103 115
+f 13 115 114
+f 13 114 116
+f 13 116 127
+f 13 127 135
+f 13 135 130
+f 13 130 121
+f 13 121 120
+f 13 120 108
+f 13 108 92
+f 13 92 76
+f 13 76 73
+f 13 73 52
+f 13 52 36
+f 13 36 20
+f 14 28 15
+f 15 29 16
+f 15 28 30
+f 15 30 31
+f 15 31 29
+f 16 29 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 17 35 25
+f 17 25 18
+f 18 25 19
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 21 38 39
+f 21 39 22
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 25 35 26
+f 26 35 42
+f 26 42 43
+f 26 43 27
+f 29 44 32
+f 29 31 45
+f 29 45 44
+f 32 44 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 42
+f 34 42 35
+f 36 52 37
+f 37 53 39
+f 37 39 38
+f 37 52 54
+f 37 54 55
+f 37 55 53
+f 39 53 56
+f 39 56 40
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 42 51 61
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 44 45 46
+f 45 64 46
+f 46 65 66
+f 46 66 67
+f 46 67 47
+f 46 64 68
+f 46 68 65
+f 47 67 48
+f 48 67 66
+f 48 66 69
+f 48 69 70
+f 48 70 49
+f 49 70 50
+f 50 70 71
+f 50 71 72
+f 50 72 61
+f 50 61 51
+f 52 55 54
+f 52 73 55
+f 53 55 74
+f 53 74 56
+f 55 75 74
+f 55 73 76
+f 55 76 77
+f 55 77 75
+f 56 78 57
+f 56 74 78
+f 57 78 79
+f 57 79 80
+f 57 80 58
+f 58 80 81
+f 65 82 83
+f 65 83 84
+f 65 84 66
+f 65 68 85
+f 65 85 82
+f 66 84 69
+f 68 86 85
+f 69 84 83
+f 69 83 82
+f 69 82 87
+f 69 87 88
+f 69 88 70
+f 70 88 71
+f 71 88 89
+f 71 89 90
+f 71 90 72
+f 74 75 91
+f 74 91 94
+f 74 94 78
+f 75 77 91
+f 76 92 77
+f 77 92 93
+f 77 93 91
+f 78 94 79
+f 79 94 80
+f 80 94 95
+f 80 95 96
+f 80 96 97
+f 80 97 81
+f 82 85 98
+f 82 98 87
+f 85 86 99
+f 85 99 100
+f 85 100 101
+f 85 101 98
+f 87 102 103
+f 87 103 89
+f 87 89 88
+f 87 98 101
+f 87 101 104
+f 87 104 102
+f 91 93 105
+f 91 105 106
+f 91 106 94
+f 92 107 93
+f 92 108 107
+f 93 107 105
+f 94 106 95
+f 95 106 96
+f 96 106 109
+f 96 109 97
+f 100 110 111
+f 100 111 101
+f 100 112 113
+f 100 113 110
+f 101 111 113
+f 101 113 104
+f 102 114 115
+f 102 115 103
+f 102 104 116
+f 102 116 114
+f 104 113 126
+f 104 126 117
+f 104 117 116
+f 105 118 129
+f 105 129 119
+f 105 119 106
+f 105 107 120
+f 105 120 121
+f 105 121 118
+f 106 119 122
+f 106 122 109
+f 107 108 120
+f 109 122 123
+f 110 113 111
+f 112 124 125
+f 112 125 126
+f 112 126 113
+f 116 117 127
+f 117 126 125
+f 117 125 128
+f 117 128 127
+f 118 121 130
+f 118 130 131
+f 118 131 134
+f 118 134 129
+f 119 129 132
+f 119 132 123
+f 119 123 122
+f 124 133 129
+f 124 129 134
+f 124 134 125
+f 125 134 131
+f 125 131 128
+f 127 128 135
+f 128 130 135
+f 128 131 130
+f 129 133 132
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_14.obj

@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
+v 0.06966812 -0.07243567 -0.02124623
+v 0.07615855 -0.07243567 -0.02123992
+v 0.07874547 -0.08567770 -0.03075604
+v 0.07747333 -0.08567770 -0.03075604
+v 0.07616388 -0.08836645 -0.03116677
+v 0.07411530 -0.08984526 -0.03058546
+v 0.07396960 -0.09202315 -0.03074975
+v 0.06966812 -0.07646430 -0.02193498
+v 0.06966812 -0.07243578 0.00925453
+v 0.08006026 -0.07243567 -0.02118937
+v 0.08004961 -0.08843815 -0.03114150
+v 0.08005316 -0.09202314 -0.03207670
+v 0.07614967 -0.09202314 -0.03209566
+v 0.08781928 -0.07243567 -0.02099348
+v 0.07614967 -0.09593526 -0.03246216
+v 0.07386122 -0.09593527 -0.03087613
+v 0.06966812 -0.08027783 -0.02211193
+v 0.06966812 -0.07244480 0.02491880
+v 0.07224617 -0.07243584 0.02492512
+v 0.08202711 -0.08996177 -0.03054754
+v 0.08213372 -0.09202315 -0.03073080
+v 0.08005316 -0.09593526 -0.03248111
+v 0.08781928 -0.07243568 -0.02038688
+v 0.08781928 -0.07248944 -0.02099980
+v 0.07614967 -0.09985187 -0.03224733
+v 0.07393763 -0.09985188 -0.03078768
+v 0.06966812 -0.10376403 -0.02146749
+v 0.06966812 -0.09202318 -0.02206775
+v 0.06966812 -0.09143165 -0.02208038
+v 0.06966812 -0.08810657 -0.02213722
+v 0.06966812 -0.08419444 -0.02213721
+v 0.06966812 -0.09833743 0.02841300
+v 0.07622606 -0.10376423 0.03159132
+v 0.07686036 -0.10063183 0.03117430
+v 0.08005316 -0.10376423 0.03207154
+v 0.07614967 -0.07243584 0.02493775
+v 0.08222611 -0.09593527 -0.03089510
+v 0.08216570 -0.09985188 -0.03078768
+v 0.08005316 -0.09985187 -0.03225366
+v 0.08395843 -0.07243584 0.02495040
+v 0.08781928 -0.07244032 0.02495039
+v 0.08781928 -0.08027335 -0.02106301
+v 0.07746978 -0.10611218 -0.03078140
+v 0.07616210 -0.10356235 -0.03126162
+v 0.07407621 -0.10212387 -0.03062974
+v 0.06966812 -0.10758653 -0.02077246
+v 0.06966812 -0.10682472 -0.02091145
+v 0.06966812 -0.10014337 0.02852672
+v 0.07658141 -0.10768084 0.03140806
+v 0.08039074 -0.10800349 0.03144597
+v 0.08229007 -0.10691005 0.03087729
+v 0.08239312 -0.10376422 0.03099104
+v 0.08223677 -0.10128161 0.03078884
+v 0.08005316 -0.07243584 0.02494407
+v 0.08781928 -0.08810657 -0.02108832
+v 0.08781928 -0.08816035 -0.02108832
+v 0.08781928 -0.09207695 -0.02108202
+v 0.08781928 -0.09598460 -0.02105043
+v 0.08781928 -0.09990120 -0.02096199
+v 0.08207509 -0.10211939 -0.03062974
+v 0.08781928 -0.10376403 -0.02065870
+v 0.08006915 -0.10356235 -0.03126162
+v 0.07877746 -0.10611218 -0.03078140
+v 0.08781928 -0.07631659 0.02500093
+v 0.07486686 -0.10473195 -0.02986515
+v 0.07718373 -0.11010497 -0.02721129
+v 0.07602529 -0.10761788 -0.02853824
+v 0.07389143 -0.10651549 -0.02731870
+v 0.06966812 -0.11162415 -0.01727818
+v 0.07458080 -0.10912358 -0.02620028
+v 0.07463055 -0.10768083 0.02989787
+v 0.06966812 -0.10260805 0.02752835
+v 0.07733297 -0.11027099 0.03092782
+v 0.07931403 -0.11027099 0.03092782
+v 0.08191695 -0.10952262 0.03041601
+v 0.08781928 -0.10699966 0.02365492
+v 0.08781928 -0.10376420 0.02479863
+v 0.08781928 -0.10371043 0.02480494
+v 0.08781928 -0.09985208 0.02517144
+v 0.08138038 -0.10473195 -0.02965033
+v 0.08781928 -0.10381781 -0.02064606
+v 0.08781928 -0.10705775 -0.01974880
+v 0.08781928 -0.10903846 -0.01857984
+v 0.08020240 -0.10748792 -0.02843081
+v 0.07902265 -0.11010497 -0.02721129
+v 0.07794773 -0.11360932 -0.02297140
+v 0.07626515 -0.11143591 -0.02458269
+v 0.07421124 -0.11354212 -0.01902216
+v 0.06966812 -0.11527192 -0.00576537
+v 0.07506763 -0.11295058 -0.02098099
+v 0.06966812 -0.10785558 0.02479230
+v 0.07596133 -0.11161088 0.02859618
+v 0.07719084 -0.11407107 0.02737034
+v 0.08005316 -0.11396800 0.02723764
+v 0.08039074 -0.11158399 0.02935444
+v 0.08203599 -0.11359158 0.02674477
+v 0.08781928 -0.10893106 0.02227741
+v 0.08162557 -0.10885919 -0.02602968
+v 0.08781928 -0.11062483 -0.01669053
+v 0.07993767 -0.11135076 -0.02450054
+v 0.07825155 -0.11360932 -0.02297140
+v 0.07763324 -0.11765145 -0.00872257
+v 0.07702026 -0.11407538 -0.02098100
+v 0.07576766 -0.11468932 -0.01751198
+v 0.06966812 -0.11578280 -0.00190460
+v 0.06966812 -0.10985868 0.02307359
+v 0.07458791 -0.11294628 0.02596125
+v 0.07849673 -0.11761122 0.01952872
+v 0.07599331 -0.11463570 0.02472908
+v 0.07775050 -0.11761122 0.01952872
+v 0.08005316 -0.11503005 0.02479228
+v 0.08100016 -0.11676874 0.01716549
+v 0.08781928 -0.11194692 0.01716551
+v 0.08781928 -0.11192899 0.01721606
+v 0.08781928 -0.11049053 0.02034385
+v 0.08781928 -0.11212606 -0.01334790
+v 0.08192939 -0.11350179 -0.01885787
+v 0.07913280 -0.11407538 -0.02098100
+v 0.07858557 -0.11765145 -0.00872257
+v 0.07719616 -0.11787552 -0.00572115
+v 0.07690122 -0.11806823 -0.00190460
+v 0.06966812 -0.11599343 0.00190563
+v 0.06966812 -0.11156156 0.02112739
+v 0.07397494 -0.11379323 0.02341477
+v 0.07904752 -0.11785320 0.01716549
+v 0.06966812 -0.11521822 0.01336159
+v 0.07723525 -0.11785320 0.01716549
+v 0.08145145 -0.11711379 0.01334894
+v 0.08781928 -0.11287005 0.01340583
+v 0.08039785 -0.11471621 -0.01741719
+v 0.08781928 -0.11291926 -0.00953135
+v 0.07995188 -0.11680897 -0.00980940
+v 0.08005316 -0.11596201 -0.01334792
+v 0.08100904 -0.11695687 -0.00572115
+v 0.07905818 -0.11787552 -0.00572115
+v 0.07941886 -0.11806823 -0.00190460
+v 0.07673954 -0.11817132 0.00190563
+v 0.07667558 -0.11821166 0.00572217
+v 0.06966812 -0.11603825 0.00572217
+v 0.07949881 -0.11808174 0.01334894
+v 0.06966812 -0.11536610 0.01261598
+v 0.06966812 -0.11594417 0.00953240
+v 0.07681239 -0.11808174 0.01334894
+v 0.08781928 -0.11337193 0.00981043
+v 0.08781928 -0.11287901 0.01334896
+v 0.08156872 -0.11722581 0.00953240
+v 0.08781928 -0.11369905 0.00572218
+v 0.08781928 -0.11359599 0.00785793
+v 0.08781928 -0.11338084 -0.00595493
+v 0.08781928 -0.11360491 -0.00402770
+v 0.08137149 -0.11713613 -0.00190460
+v 0.07958765 -0.11817132 0.00190563
+v 0.07963207 -0.11821166 0.00572217
+v 0.07670045 -0.11818031 0.00953240
+v 0.06966812 -0.11596657 0.00865409
+v 0.07961608 -0.11818031 0.00953240
+v 0.08158470 -0.11724371 0.00572217
+v 0.08781928 -0.11378867 0.00194987
+v 0.08781928 -0.11372142 -0.00190459
+v 0.08154029 -0.11722578 0.00190563
+v 0.08781928 -0.11378867 0.00190564
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 17
+f 1 17 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 47
+f 1 47 46
+f 1 46 69
+f 1 69 89
+f 1 89 105
+f 1 105 122
+f 1 122 139
+f 1 139 155
+f 1 155 142
+f 1 142 141
+f 1 141 126
+f 1 126 123
+f 1 123 106
+f 1 106 91
+f 1 91 72
+f 1 72 48
+f 1 48 32
+f 1 32 18
+f 1 18 9
+f 1 9 19
+f 1 19 36
+f 1 36 54
+f 1 54 40
+f 1 40 23
+f 1 23 14
+f 1 14 10
+f 1 10 2
+f 2 10 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 10 14
+f 3 14 11
+f 4 13 5
+f 5 13 6
+f 6 13 7
+f 7 13 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 18 19
+f 11 14 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 15
+f 14 23 41
+f 14 41 64
+f 14 64 79
+f 14 79 78
+f 14 78 77
+f 14 77 76
+f 14 76 97
+f 14 97 115
+f 14 115 114
+f 14 114 113
+f 14 113 129
+f 14 129 145
+f 14 145 144
+f 14 144 148
+f 14 148 147
+f 14 147 158
+f 14 158 161
+f 14 161 159
+f 14 159 150
+f 14 150 149
+f 14 149 131
+f 14 131 116
+f 14 116 99
+f 14 99 83
+f 14 83 82
+f 14 82 81
+f 14 81 61
+f 14 61 59
+f 14 59 58
+f 14 58 57
+f 14 57 56
+f 14 56 55
+f 14 55 42
+f 14 42 24
+f 14 24 21
+f 14 21 20
+f 15 22 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 21 37 22
+f 21 24 37
+f 22 37 38
+f 22 38 39
+f 22 39 25
+f 23 40 41
+f 24 42 37
+f 25 39 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 32 48 33
+f 33 48 49
+f 33 49 35
+f 33 35 34
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 41
+f 35 41 40
+f 35 40 54
+f 35 54 36
+f 37 42 55
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 38 60 39
+f 38 59 61
+f 38 61 60
+f 39 60 62
+f 39 62 63
+f 39 63 43
+f 41 53 52
+f 41 52 64
+f 43 65 44
+f 43 63 85
+f 43 85 66
+f 43 66 67
+f 43 67 65
+f 44 65 45
+f 45 65 68
+f 45 68 46
+f 46 68 70
+f 46 70 69
+f 48 71 49
+f 48 72 71
+f 49 73 50
+f 49 71 73
+f 50 74 75
+f 50 75 51
+f 50 73 74
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 52 79 64
+f 60 80 63
+f 60 63 62
+f 60 61 81
+f 60 81 82
+f 60 82 83
+f 60 83 80
+f 63 80 84
+f 63 84 85
+f 65 67 70
+f 65 70 68
+f 66 85 101
+f 66 101 86
+f 66 86 87
+f 66 87 70
+f 66 70 67
+f 69 88 89
+f 69 70 87
+f 69 87 90
+f 69 90 88
+f 71 72 91
+f 71 91 73
+f 73 91 92
+f 73 92 93
+f 73 93 74
+f 74 93 94
+f 74 94 95
+f 74 95 75
+f 75 95 96
+f 75 96 97
+f 75 97 76
+f 80 83 98
+f 80 98 84
+f 83 99 98
+f 84 98 85
+f 85 98 100
+f 85 100 101
+f 86 101 119
+f 86 119 102
+f 86 102 103
+f 86 103 88
+f 86 88 90
+f 86 90 87
+f 88 104 89
+f 88 103 104
+f 89 104 102
+f 89 102 105
+f 91 106 107
+f 91 107 92
+f 92 107 93
+f 93 108 94
+f 93 107 109
+f 93 109 110
+f 93 110 108
+f 94 108 111
+f 94 111 96
+f 94 96 95
+f 96 111 108
+f 96 108 112
+f 96 112 113
+f 96 113 114
+f 96 114 115
+f 96 115 97
+f 98 99 100
+f 99 116 117
+f 99 117 101
+f 99 101 100
+f 101 117 118
+f 101 118 119
+f 102 119 135
+f 102 135 120
+f 102 120 105
+f 102 104 103
+f 105 121 122
+f 105 120 121
+f 106 123 107
+f 107 123 124
+f 107 124 109
+f 108 110 127
+f 108 127 125
+f 108 125 112
+f 109 124 126
+f 109 126 110
+f 110 126 127
+f 112 125 128
+f 112 128 129
+f 112 129 113
+f 116 130 117
+f 116 131 132
+f 116 132 133
+f 116 133 130
+f 117 130 118
+f 118 130 133
+f 118 133 119
+f 119 133 132
+f 119 132 134
+f 119 134 135
+f 120 135 136
+f 120 136 121
+f 121 136 152
+f 121 152 137
+f 121 137 122
+f 122 137 138
+f 122 138 139
+f 123 126 124
+f 125 140 128
+f 125 127 143
+f 125 143 140
+f 126 141 127
+f 127 141 142
+f 127 142 143
+f 128 144 145
+f 128 145 129
+f 128 140 146
+f 128 146 147
+f 128 147 148
+f 128 148 144
+f 131 149 134
+f 131 134 132
+f 134 149 150
+f 134 150 151
+f 134 151 136
+f 134 136 135
+f 136 151 152
+f 137 152 153
+f 137 153 138
+f 138 153 156
+f 138 156 154
+f 138 154 139
+f 139 154 155
+f 140 156 146
+f 140 143 154
+f 140 154 156
+f 142 155 154
+f 142 154 143
+f 146 156 153
+f 146 153 157
+f 146 157 158
+f 146 158 147
+f 150 159 151
+f 151 159 160
+f 151 160 152
+f 152 160 153
+f 153 160 157
+f 157 160 161
+f 157 161 158
+f 159 161 160
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_2.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v 0.08787115 -0.07243566 -0.02099234
+v 0.08782174 -0.07248828 -0.02099687
+v 0.08782174 -0.07243566 -0.02099234
+v 0.10348653 -0.07243566 -0.02077950
+v 0.10738482 -0.08810615 -0.02089729
+v 0.10738482 -0.09202479 -0.02093807
+v 0.08782174 -0.07639882 -0.02103311
+v 0.08782174 -0.07243567 -0.02039004
+v 0.10738976 -0.07243566 -0.02071610
+v 0.10738482 -0.07636239 -0.02076592
+v 0.10738482 -0.08027698 -0.02081122
+v 0.11065068 -0.07243567 -0.01986925
+v 0.11068280 -0.07636240 -0.01989643
+v 0.11070750 -0.08027699 -0.01992361
+v 0.11075197 -0.08810616 -0.01997346
+v 0.11077173 -0.09202480 -0.01999612
+v 0.10738482 -0.09593533 -0.02095166
+v 0.08782174 -0.08419157 -0.02107842
+v 0.08782174 -0.08027293 -0.02106029
+v 0.08782174 -0.07243988 0.02495020
+v 0.08786374 -0.07243583 0.02495020
+v 0.11248372 -0.07243568 -0.01716568
+v 0.11073220 -0.08419158 -0.01994628
+v 0.11251583 -0.07636241 -0.01716569
+v 0.11256277 -0.08419159 -0.01716572
+v 0.11258254 -0.08810617 -0.01716573
+v 0.11260229 -0.09202481 -0.01716575
+v 0.11261712 -0.09593535 -0.01716576
+v 0.11078161 -0.09593534 -0.02000066
+v 0.11075691 -0.09984992 -0.01997351
+v 0.10738482 -0.09984991 -0.02089281
+v 0.08782174 -0.09598795 -0.02105129
+v 0.08782174 -0.09207336 -0.02108298
+v 0.08782174 -0.08810615 -0.02109202
+v 0.08782174 -0.07631803 0.02500001
+v 0.10738482 -0.07243583 0.02499096
+v 0.11299756 -0.07243569 -0.01334808
+v 0.11259242 -0.09984993 -0.01716578
+v 0.11300744 -0.09984994 -0.01334818
+v 0.11299756 -0.10376453 -0.01334819
+v 0.11051481 -0.10376451 -0.01981502
+v 0.11234291 -0.10376452 -0.01716579
+v 0.08782174 -0.09989849 -0.02096527
+v 0.10738482 -0.10376450 -0.02058488
+v 0.10347912 -0.10376450 -0.02060752
+v 0.08782174 -0.09985008 0.02517200
+v 0.10347912 -0.08027715 0.02505887
+v 0.10347912 -0.07636256 0.02502718
+v 0.11087055 -0.07243583 0.02393580
+v 0.10738482 -0.07636256 0.02502265
+v 0.11304203 -0.10768320 -0.00190446
+v 0.11305685 -0.07243580 0.01716556
+v 0.11294815 -0.10768317 -0.00953514
+v 0.11271347 -0.10768316 -0.01334821
+v 0.11302226 -0.10768319 -0.00571754
+v 0.10998120 -0.10655370 -0.01947991
+v 0.11100395 -0.10778841 -0.01734243
+v 0.08782174 -0.10376450 -0.02066186
+v 0.10738482 -0.10701924 -0.01970181
+v 0.10347912 -0.10705973 -0.01971993
+v 0.08782174 -0.10381712 -0.02064828
+v 0.08782174 -0.10376467 0.02480065
+v 0.10347912 -0.09985008 0.02506332
+v 0.10347912 -0.09593550 0.02506787
+v 0.10347912 -0.08419174 0.02506338
+v 0.10738482 -0.08027715 0.02502717
+v 0.11087055 -0.07244392 0.02393580
+v 0.11274311 -0.07243582 0.02097863
+v 0.11304697 -0.10768322 0.00190861
+v 0.11140168 -0.11159781 0.00190860
+v 0.11274311 -0.07244391 0.02097863
+v 0.11299756 -0.10376464 0.01716545
+v 0.11304203 -0.10768325 0.00953475
+v 0.11304944 -0.10768323 0.00572168
+v 0.11111512 -0.11131439 -0.00953515
+v 0.11136710 -0.11159779 -0.00190447
+v 0.11089031 -0.11091766 -0.01334822
+v 0.11025789 -0.11032257 -0.01619217
+v 0.10738482 -0.10897451 -0.01859685
+v 0.10347912 -0.10901904 -0.01861496
+v 0.08782174 -0.10705567 -0.01975163
+v 0.08782174 -0.10700321 0.02365943
+v 0.10347912 -0.10698297 0.02360509
+v 0.10347912 -0.10376467 0.02468744
+v 0.10738482 -0.09985008 0.02499086
+v 0.10738482 -0.09593550 0.02502258
+v 0.11075691 -0.09593550 0.02392666
+v 0.10954148 -0.11365024 0.00190859
+v 0.11296050 -0.10768326 0.01334783
+v 0.11130534 -0.11159782 0.00572167
+v 0.11259736 -0.09593549 0.02097855
+v 0.11262206 -0.10768327 0.01716543
+v 0.11255536 -0.09985007 0.02097853
+v 0.11226632 -0.10376466 0.02097852
+v 0.11085572 -0.11193378 -0.00555452
+v 0.10941301 -0.11358948 -0.00417331
+v 0.10950936 -0.11363807 -0.00190448
+v 0.10738482 -0.11218474 -0.01334822
+v 0.10738482 -0.11065451 -0.01669032
+v 0.08782174 -0.10903524 -0.01857873
+v 0.10347912 -0.11063832 -0.01670843
+v 0.08782174 -0.10893418 0.02227820
+v 0.10347912 -0.10894228 0.02228273
+v 0.10738482 -0.10885727 0.02225556
+v 0.10738482 -0.10689795 0.02353716
+v 0.10738482 -0.10376467 0.02457422
+v 0.11044070 -0.10376467 0.02367756
+v 0.11071985 -0.09985008 0.02390400
+v 0.10738482 -0.11373120 0.00190859
+v 0.10944760 -0.11360572 0.00572166
+v 0.11111265 -0.11125376 0.01334782
+v 0.11083349 -0.11190145 0.00921774
+v 0.11079396 -0.11083275 0.01716542
+v 0.11088784 -0.10772782 0.02109171
+v 0.11014178 -0.11023768 0.01989617
+v 0.10990462 -0.10644861 0.02327903
+v 0.10738482 -0.11369475 -0.00190448
+v 0.10738482 -0.11359353 -0.00421859
+v 0.10738482 -0.11341136 -0.00612966
+v 0.10738482 -0.11298223 -0.00953516
+v 0.08782174 -0.11212806 -0.01334822
+v 0.08782174 -0.11062618 -0.01669485
+v 0.08782174 -0.11049272 0.02034902
+v 0.10347912 -0.11052105 0.02037619
+v 0.10738482 -0.11054535 0.02034902
+v 0.08782174 -0.11379192 0.00190859
+v 0.10936361 -0.11356929 0.00773688
+v 0.10738482 -0.11364620 0.00572166
+v 0.10738482 -0.11203507 0.01716542
+v 0.08782174 -0.11372308 -0.00186373
+v 0.08782174 -0.11360569 -0.00402839
+v 0.08782174 -0.11338303 -0.00595304
+v 0.08782174 -0.11291746 -0.00953515
+v 0.08782174 -0.11192981 0.01721523
+v 0.08782174 -0.11369882 0.00572166
+v 0.08782174 -0.11359763 0.00785463
+v 0.10738482 -0.11288112 0.01334782
+v 0.10738482 -0.11334666 0.00967059
+v 0.08782174 -0.11337094 0.00981098
+v 0.08782174 -0.11194601 0.01716542
+v 0.08782174 -0.11287302 0.01340669
+f 1 2 3
+f 1 3 8
+f 1 8 21
+f 1 21 36
+f 1 36 49
+f 1 49 68
+f 1 68 52
+f 1 52 37
+f 1 37 22
+f 1 22 12
+f 1 12 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 19
+f 2 19 18
+f 2 18 34
+f 2 34 33
+f 2 33 32
+f 2 32 43
+f 2 43 58
+f 2 58 61
+f 2 61 81
+f 2 81 100
+f 2 100 122
+f 2 122 121
+f 2 121 133
+f 2 133 132
+f 2 132 131
+f 2 131 130
+f 2 130 126
+f 2 126 135
+f 2 135 136
+f 2 136 139
+f 2 139 141
+f 2 141 140
+f 2 140 134
+f 2 134 123
+f 2 123 102
+f 2 102 82
+f 2 82 62
+f 2 62 46
+f 2 46 35
+f 2 35 20
+f 2 20 8
+f 2 8 3
+f 2 4 5
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+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 7
+f 8 20 21
+f 9 12 10
+f 10 12 11
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 22
+f 15 22 16
+f 16 22 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 20 35 36
+f 20 36 21
+f 22 37 24
+f 24 37 25
+f 25 37 26
+f 26 37 27
+f 27 37 28
+f 28 38 29
+f 28 37 39
+f 28 39 40
+f 28 40 38
+f 29 38 30
+f 30 41 31
+f 30 38 42
+f 30 42 41
+f 31 43 32
+f 31 41 44
+f 31 44 45
+f 31 45 43
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 47
+f 36 47 50
+f 36 50 49
+f 37 51 39
+f 37 52 51
+f 38 40 42
+f 39 51 40
+f 40 53 54
+f 40 54 42
+f 40 51 55
+f 40 55 53
+f 41 56 44
+f 41 42 56
+f 42 54 57
+f 42 57 56
+f 43 45 58
+f 44 56 59
+f 44 59 60
+f 44 60 45
+f 45 60 61
+f 45 61 58
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 65 66
+f 47 66 50
+f 49 50 66
+f 49 66 67
+f 49 67 71
+f 49 71 68
+f 51 52 69
+f 51 69 70
+f 51 70 55
+f 52 68 71
+f 52 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 69
+f 53 75 54
+f 53 55 76
+f 53 76 75
+f 54 75 77
+f 54 77 78
+f 54 78 57
+f 55 70 76
+f 56 57 78
+f 56 78 79
+f 56 79 59
+f 59 79 80
+f 59 80 60
+f 60 80 81
+f 60 81 61
+f 62 82 83
+f 62 83 84
+f 62 84 63
+f 63 85 86
+f 63 86 64
+f 63 84 85
+f 64 86 66
+f 64 66 65
+f 66 86 67
+f 67 86 87
+f 67 87 71
+f 69 74 70
+f 70 88 76
+f 70 74 73
+f 70 73 89
+f 70 89 90
+f 70 90 88
+f 71 87 91
+f 71 91 72
+f 72 92 89
+f 72 89 73
+f 72 91 93
+f 72 93 94
+f 72 94 92
+f 75 76 95
+f 75 95 96
+f 75 96 77
+f 76 97 95
+f 76 88 97
+f 77 98 78
+f 77 96 98
+f 78 98 99
+f 78 99 79
+f 79 99 80
+f 80 100 81
+f 80 99 101
+f 80 101 100
+f 82 102 103
+f 82 103 83
+f 83 103 104
+f 83 104 105
+f 83 105 84
+f 84 105 106
+f 84 106 85
+f 85 106 107
+f 85 107 108
+f 85 108 87
+f 85 87 86
+f 87 108 93
+f 87 93 91
+f 88 109 97
+f 88 90 110
+f 88 110 109
+f 89 92 111
+f 89 111 90
+f 90 112 110
+f 90 111 112
+f 92 113 111
+f 92 94 114
+f 92 114 115
+f 92 115 113
+f 93 108 94
+f 94 108 107
+f 94 107 116
+f 94 116 114
+f 95 97 96
+f 96 97 117
+f 96 117 118
+f 96 118 119
+f 96 119 120
+f 96 120 98
+f 97 109 117
+f 98 120 121
+f 98 121 122
+f 98 122 99
+f 99 122 101
+f 100 101 122
+f 102 123 124
+f 102 124 103
+f 103 125 104
+f 103 124 125
+f 104 116 105
+f 104 125 115
+f 104 115 116
+f 105 116 106
+f 106 116 107
+f 109 126 117
+f 109 110 127
+f 109 127 128
+f 109 128 126
+f 110 112 127
+f 111 113 127
+f 111 127 112
+f 113 115 129
+f 113 129 127
+f 114 116 115
+f 115 125 129
+f 117 130 118
+f 117 126 130
+f 118 130 131
+f 118 131 119
+f 119 131 132
+f 119 132 120
+f 120 133 121
+f 120 132 133
+f 123 134 129
+f 123 129 125
+f 123 125 124
+f 126 128 135
+f 127 136 135
+f 127 135 128
+f 127 129 137
+f 127 137 138
+f 127 138 139
+f 127 139 136
+f 129 134 140
+f 129 140 141
+f 129 141 137
+f 137 141 139
+f 137 139 138
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_3.obj

@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
+v -0.08794989 -0.07243566 -0.02079799
+v -0.08794989 -0.07255502 -0.02080253
+v -0.10344949 -0.07243566 -0.02076624
+v -0.08794989 -0.07243583 0.02492621
+v -0.08794989 -0.07636227 -0.02091139
+v -0.10345635 -0.07636227 -0.02089325
+v -0.10345635 -0.07244389 -0.02076624
+v -0.10736208 -0.07244389 -0.02054399
+v -0.10735294 -0.07243566 -0.02054399
+v -0.09174599 -0.07243583 0.02501693
+v -0.08794989 -0.07243995 0.02501693
+v -0.08794989 -0.08027653 -0.02100211
+v -0.10345635 -0.08027653 -0.02099304
+v -0.10736208 -0.07636227 -0.02067554
+v -0.10997275 -0.07244390 -0.01969128
+v -0.10996819 -0.07243567 -0.01969128
+v -0.09564944 -0.07243583 0.02502146
+v -0.08794989 -0.09985213 0.02516650
+v -0.08794989 -0.08419080 -0.02105203
+v -0.10345635 -0.08419080 -0.02105203
+v -0.10736208 -0.08419080 -0.02082524
+v -0.10736208 -0.08027653 -0.02076172
+v -0.11002301 -0.07636228 -0.01975479
+v -0.11093206 -0.07243568 -0.01716491
+v -0.09955518 -0.07243583 0.02500786
+v -0.09564944 -0.09985213 0.02514383
+v -0.08794989 -0.10365526 0.02502589
+v -0.08794989 -0.08810917 -0.02107471
+v -0.10345635 -0.09202344 -0.02115184
+v -0.10736208 -0.08810917 -0.02087515
+v -0.11005041 -0.08027654 -0.01979109
+v -0.11098688 -0.07636229 -0.01716492
+v -0.11121985 -0.07243569 -0.01335040
+v -0.10345635 -0.09985213 0.02498508
+v -0.09955518 -0.09985213 0.02512115
+v -0.10345635 -0.07243583 0.02485364
+v -0.10345635 -0.07636244 0.02487631
+v -0.08794989 -0.10376639 0.02502135
+v -0.08794989 -0.08821618 -0.02107471
+v -0.10345635 -0.09593358 -0.02116999
+v -0.10736208 -0.09202344 -0.02091599
+v -0.11007098 -0.08419081 -0.01982286
+v -0.11101885 -0.08027655 -0.01716493
+v -0.11126782 -0.09202347 -0.01335047
+v -0.11128381 -0.10768054 -0.00572151
+v -0.11126096 -0.10376629 -0.00190699
+v -0.11117874 -0.08027662 0.00190761
+v -0.11116275 -0.08027663 0.00572212
+v -0.11115133 -0.07243575 0.00190763
+v -0.11104398 -0.08419082 -0.01716495
+v -0.11105769 -0.08810919 -0.01716496
+v -0.10709713 -0.07636244 0.02381950
+v -0.10719306 -0.09985213 0.02387837
+v -0.10715423 -0.10376639 0.02379218
+v -0.10345635 -0.10376639 0.02478550
+v -0.09955518 -0.10376639 0.02488982
+v -0.10708342 -0.07243583 0.02380136
+v -0.08794989 -0.10791938 0.02410513
+v -0.08794989 -0.09213456 -0.02105206
+v -0.10345635 -0.09985196 -0.02112012
+v -0.10736208 -0.09593358 -0.02092507
+v -0.11008011 -0.09202345 -0.01985917
+v -0.11008011 -0.08810918 -0.01984554
+v -0.11127238 -0.09593361 -0.01335048
+v -0.11029938 -0.11120790 -0.00572152
+v -0.11028796 -0.11133963 -0.00190702
+v -0.11027425 -0.11134376 0.00190749
+v -0.11126553 -0.10768055 -0.00190701
+v -0.11127238 -0.09985199 -0.01335050
+v -0.11127010 -0.10376625 -0.01335051
+v -0.11125183 -0.10768052 -0.00953602
+v -0.11124041 -0.10376631 0.00190752
+v -0.11117189 -0.08419090 0.00572210
+v -0.11113991 -0.08027665 0.00953663
+v -0.11112621 -0.07636239 0.00953664
+v -0.11113077 -0.07243576 0.00572214
+v -0.11105997 -0.09202346 -0.01716498
+v -0.10914593 -0.09985212 0.02265827
+v -0.10910710 -0.10376638 0.02264466
+v -0.10652383 -0.10671752 0.02341571
+v -0.10345635 -0.10724024 0.02371960
+v -0.10903858 -0.07243582 0.02248602
+v -0.08794989 -0.10798934 0.02408245
+v -0.08794989 -0.09593358 -0.02096589
+v -0.10345635 -0.10376622 -0.02089788
+v -0.10736208 -0.09985196 -0.02087520
+v -0.08794989 -0.10376622 -0.02075728
+v -0.11005955 -0.09985197 -0.01983199
+v -0.11007554 -0.09593359 -0.01985918
+v -0.11105769 -0.09593360 -0.01716499
+v -0.10786458 -0.11329881 -0.00190703
+v -0.10812039 -0.11330295 0.00190748
+v -0.11027197 -0.11096504 -0.00953603
+v -0.11026055 -0.11128203 0.00572200
+v -0.11121529 -0.10768058 0.00572201
+v -0.11103712 -0.09985198 -0.01716501
+v -0.11090694 -0.10376624 -0.01716502
+v -0.11104170 -0.10768051 -0.01335053
+v -0.11121300 -0.10376632 0.00572203
+v -0.11114904 -0.08419092 0.00953661
+v -0.11107596 -0.08027666 0.01335114
+v -0.11110565 -0.07243578 0.00953665
+v -0.11001159 -0.09985212 0.02075329
+v -0.11002301 -0.10376638 0.02073513
+v -0.10993393 -0.07636243 0.02060370
+v -0.10994992 -0.08027669 0.02062637
+v -0.10985627 -0.10768063 0.02018176
+v -0.10956391 -0.10992793 0.01947873
+v -0.10764074 -0.10788644 0.02208675
+v -0.10345635 -0.10919531 0.02249042
+v -0.10990880 -0.07243582 0.02058103
+v -0.08794989 -0.10803874 0.02404163
+v -0.08794989 -0.10783690 -0.01995902
+v -0.10345635 -0.10730182 -0.01989097
+v -0.10736208 -0.10699725 -0.01972769
+v -0.10736208 -0.10376622 -0.02060760
+v -0.10992936 -0.10376623 -0.01968686
+v -0.10736208 -0.11263611 -0.00953603
+v -0.10704460 -0.11318356 -0.00541764
+v -0.10553255 -0.11356635 -0.00394355
+v -0.10591171 -0.11360751 -0.00190703
+v -0.10616981 -0.11364457 0.00190748
+v -0.10585460 -0.11361165 0.00572199
+v -0.10780747 -0.11324122 0.00572199
+v -0.11023771 -0.11112153 0.00953651
+v -0.11006412 -0.11054521 -0.01335054
+v -0.11117645 -0.10768060 0.00953652
+v -0.11117874 -0.10376634 0.00953654
+v -0.10964842 -0.10635516 -0.01940112
+v -0.11013493 -0.10766815 -0.01717865
+v -0.10969867 -0.11005952 -0.01591773
+v -0.11111478 -0.10376635 0.01335105
+v -0.11108966 -0.08810930 0.01335111
+v -0.11108281 -0.08419093 0.01335112
+v -0.11090009 -0.10376636 0.01716555
+v -0.11088638 -0.09985210 0.01716556
+v -0.11087039 -0.09593372 0.01716558
+v -0.11080644 -0.08027667 0.01716564
+v -0.11105540 -0.07636240 0.01335115
+v -0.11102571 -0.07243579 0.01335116
+v -0.11069224 -0.10768062 0.01716553
+v -0.11077675 -0.07636241 0.01716565
+v -0.10736208 -0.11035600 0.02012732
+v -0.10989510 -0.11038067 0.01716552
+v -0.10736208 -0.11164427 0.01716552
+v -0.08794989 -0.11090342 0.02132928
+v -0.10345635 -0.11064001 0.02058089
+v -0.11073106 -0.07243580 0.01716566
+v -0.08794989 -0.10958205 -0.01906095
+v -0.10345635 -0.10926101 -0.01874799
+v -0.10736208 -0.10895232 -0.01846224
+v -0.10736208 -0.11182938 -0.01335054
+v -0.10345635 -0.11218335 -0.01335054
+v -0.10345635 -0.11296539 -0.00953603
+v -0.10345635 -0.11339758 -0.00593018
+v -0.08794989 -0.11437719 -0.00190703
+v -0.08794989 -0.11448011 0.00190748
+v -0.08794989 -0.11448011 0.00201180
+v -0.08794989 -0.11440603 0.00572199
+v -0.10553940 -0.11357050 0.00776305
+v -0.10704916 -0.11310128 0.00923714
+v -0.10736208 -0.11248803 0.01335102
+v -0.11016233 -0.11084166 0.01335102
+v -0.11106682 -0.10768061 0.01335103
+v -0.10736208 -0.11046700 -0.01655273
+v -0.10345635 -0.11216700 0.01716552
+v -0.08794989 -0.11097339 0.02121135
+v -0.08794989 -0.11070161 -0.01734647
+v -0.10345635 -0.11065221 -0.01684301
+v -0.08794989 -0.11219982 -0.01335054
+v -0.08794989 -0.11222451 -0.01324168
+v -0.08794989 -0.11356221 -0.00723192
+v -0.08794989 -0.11393678 -0.00548568
+v -0.08794989 -0.11075511 -0.01722401
+v -0.08794989 -0.11440192 0.00579002
+v -0.08794989 -0.11404796 0.00939589
+v -0.10345635 -0.11294078 0.01335102
+v -0.08794989 -0.11237691 0.01716552
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 24
+f 1 24 33
+f 1 33 49
+f 1 49 76
+f 1 76 102
+f 1 102 140
+f 1 140 148
+f 1 148 111
+f 1 111 82
+f 1 82 57
+f 1 57 36
+f 1 36 25
+f 1 25 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 27
+f 1 27 38
+f 1 38 58
+f 1 58 83
+f 1 83 112
+f 1 112 146
+f 1 146 167
+f 1 167 178
+f 1 178 176
+f 1 176 175
+f 1 175 159
+f 1 159 158
+f 1 158 157
+f 1 157 156
+f 1 156 173
+f 1 173 172
+f 1 172 171
+f 1 171 170
+f 1 170 174
+f 1 174 168
+f 1 168 149
+f 1 149 113
+f 1 113 87
+f 1 87 84
+f 1 84 59
+f 1 59 39
+f 1 39 28
+f 1 28 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 6 7
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 17 11
+f 11 17 18
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 19 28 29
+f 19 29 20
+f 20 29 21
+f 21 29 30
+f 21 30 23
+f 21 23 22
+f 23 31 32
+f 23 32 24
+f 23 30 31
+f 24 32 33
+f 25 34 35
+f 25 35 26
+f 25 36 37
+f 25 37 34
+f 26 35 38
+f 26 38 27
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 30
+f 30 41 31
+f 31 42 32
+f 31 41 42
+f 32 43 33
+f 32 42 43
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 43 50
+f 33 50 51
+f 33 51 44
+f 34 37 52
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 38
+f 36 57 37
+f 37 57 52
+f 38 56 58
+f 39 59 40
+f 40 60 86
+f 40 86 61
+f 40 61 41
+f 40 59 60
+f 41 61 62
+f 41 62 63
+f 41 63 42
+f 42 63 50
+f 42 50 43
+f 44 64 45
+f 44 51 64
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 46
+f 45 64 69
+f 45 69 70
+f 45 70 71
+f 45 71 65
+f 46 68 72
+f 46 72 48
+f 46 48 47
+f 48 73 100
+f 48 100 74
+f 48 74 75
+f 48 75 76
+f 48 76 49
+f 48 72 73
+f 50 63 51
+f 51 63 62
+f 51 62 77
+f 51 77 64
+f 52 57 78
+f 52 78 53
+f 53 78 79
+f 53 79 54
+f 54 80 55
+f 54 79 80
+f 55 80 81
+f 55 81 58
+f 55 58 56
+f 57 82 78
+f 58 81 83
+f 59 84 60
+f 60 85 86
+f 60 84 87
+f 60 87 85
+f 61 86 88
+f 61 88 89
+f 61 89 62
+f 62 89 90
+f 62 90 77
+f 64 77 69
+f 65 91 92
+f 65 92 66
+f 65 71 93
+f 65 93 91
+f 66 92 67
+f 67 92 94
+f 67 94 95
+f 67 95 68
+f 68 95 72
+f 69 77 70
+f 70 77 90
+f 70 90 96
+f 70 96 97
+f 70 97 98
+f 70 98 71
+f 71 98 93
+f 72 95 99
+f 72 99 100
+f 72 100 73
+f 74 100 101
+f 74 101 75
+f 75 102 76
+f 75 101 102
+f 78 103 104
+f 78 104 79
+f 78 82 105
+f 78 105 106
+f 78 106 103
+f 79 104 107
+f 79 107 108
+f 79 108 109
+f 79 109 80
+f 80 109 110
+f 80 110 81
+f 81 110 83
+f 82 111 105
+f 83 110 112
+f 85 87 113
+f 85 113 114
+f 85 114 115
+f 85 115 116
+f 85 116 86
+f 86 116 117
+f 86 117 88
+f 88 117 97
+f 88 97 96
+f 88 96 89
+f 89 96 90
+f 91 93 118
+f 91 118 119
+f 91 119 120
+f 91 120 121
+f 91 121 122
+f 91 122 92
+f 92 122 123
+f 92 123 124
+f 92 124 125
+f 92 125 94
+f 93 98 126
+f 93 126 118
+f 94 125 127
+f 94 127 95
+f 95 127 128
+f 95 128 99
+f 97 117 129
+f 97 129 130
+f 97 130 98
+f 98 130 131
+f 98 131 126
+f 99 128 100
+f 100 128 132
+f 100 132 133
+f 100 133 134
+f 100 134 101
+f 101 134 135
+f 101 135 136
+f 101 136 137
+f 101 137 138
+f 101 138 139
+f 101 139 102
+f 102 139 140
+f 103 106 138
+f 103 138 137
+f 103 137 136
+f 103 136 135
+f 103 135 104
+f 104 135 141
+f 104 141 107
+f 105 111 142
+f 105 142 138
+f 105 138 106
+f 107 141 108
+f 108 143 109
+f 108 141 144
+f 108 144 145
+f 108 145 143
+f 109 143 110
+f 110 146 112
+f 110 143 147
+f 110 147 146
+f 111 148 142
+f 113 149 114
+f 114 149 150
+f 114 150 115
+f 115 150 151
+f 115 151 129
+f 115 129 116
+f 116 129 117
+f 118 126 152
+f 118 152 153
+f 118 153 154
+f 118 154 120
+f 118 120 119
+f 120 154 155
+f 120 155 156
+f 120 156 121
+f 121 156 157
+f 121 157 122
+f 122 157 158
+f 122 158 123
+f 123 158 159
+f 123 159 160
+f 123 160 124
+f 124 160 161
+f 124 161 162
+f 124 162 163
+f 124 163 125
+f 125 163 164
+f 125 164 127
+f 126 131 152
+f 127 164 132
+f 127 132 128
+f 129 151 131
+f 129 131 130
+f 131 165 152
+f 131 151 165
+f 132 164 135
+f 132 135 133
+f 133 135 134
+f 135 164 141
+f 138 142 140
+f 138 140 139
+f 140 142 148
+f 141 164 163
+f 141 163 144
+f 143 145 166
+f 143 166 147
+f 144 163 162
+f 144 162 145
+f 145 162 166
+f 146 147 167
+f 147 166 167
+f 149 168 169
+f 149 169 150
+f 150 169 165
+f 150 165 151
+f 152 165 153
+f 153 170 171
+f 153 171 172
+f 153 172 173
+f 153 173 154
+f 153 165 169
+f 153 169 168
+f 153 168 174
+f 153 174 170
+f 154 173 156
+f 154 156 155
+f 159 175 160
+f 160 175 176
+f 160 176 177
+f 160 177 162
+f 160 162 161
+f 162 177 166
+f 166 177 176
+f 166 176 178
+f 166 178 167
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_4.obj

@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v 0.04492190 -0.07244008 -0.02139364
+v 0.04101682 -0.07244008 -0.02139364
+v 0.05428082 -0.07244008 -0.02134905
+v 0.04491381 -0.08085664 -0.02784679
+v 0.03774936 -0.07244008 -0.02138090
+v 0.05428082 -0.08811006 -0.02161028
+v 0.04828483 -0.09593395 -0.03201302
+v 0.04819744 -0.09202419 -0.03184738
+v 0.04782684 -0.08811002 -0.03134410
+v 0.04731868 -0.08545192 -0.03085996
+v 0.05428082 -0.07244018 0.00644462
+v 0.04557895 -0.08545192 -0.03085996
+v 0.04453187 -0.08416489 -0.02989803
+v 0.03774936 -0.07244011 -0.01381933
+v 0.04297664 -0.08616842 -0.03050323
+v 0.04268210 -0.08877787 -0.03086635
+v 0.04250570 -0.09202420 -0.03114028
+v 0.04246524 -0.09593396 -0.03124221
+v 0.03774936 -0.07637637 -0.02150194
+v 0.05428082 -0.09045856 -0.02156569
+v 0.05428082 -0.09202423 -0.02152111
+v 0.04818611 -0.09984813 -0.03182830
+v 0.04491381 -0.09593395 -0.03274560
+v 0.04491381 -0.09202419 -0.03247167
+v 0.05272235 -0.07244025 0.02488028
+v 0.05428082 -0.07244467 0.02488028
+v 0.04453187 -0.08772523 -0.03138869
+v 0.03774936 -0.07244467 0.02482932
+v 0.04101034 -0.07244025 0.02484207
+v 0.04252188 -0.09984814 -0.03110846
+v 0.03774936 -0.09202423 -0.02157845
+v 0.03774936 -0.08811006 -0.02161028
+v 0.03774936 -0.08027728 -0.02155929
+v 0.05428082 -0.09437274 -0.02129817
+v 0.04762131 -0.10376674 -0.03119129
+v 0.04491381 -0.09984813 -0.03242073
+v 0.05428082 -0.09593399 -0.02114527
+v 0.05428082 -0.10220110 -0.02043820
+v 0.05428082 -0.10376678 -0.02025347
+v 0.05428082 -0.10642930 -0.01958458
+v 0.04491381 -0.09984837 0.03171553
+v 0.04881727 -0.07244025 0.02487392
+v 0.04783331 -0.09984836 0.03104665
+v 0.05428082 -0.09984835 0.02853037
+v 0.03774936 -0.09990143 0.02998917
+v 0.04164150 -0.09984836 0.03118043
+v 0.04270800 -0.10265220 -0.03082180
+v 0.03774936 -0.10611971 -0.01940622
+v 0.03774936 -0.09593399 -0.02124720
+v 0.04705974 -0.10592506 -0.03065618
+v 0.04622305 -0.10592506 -0.03065618
+v 0.04491866 -0.10388173 -0.03123587
+v 0.05428082 -0.10838860 -0.01816402
+v 0.04491381 -0.10376697 0.03233344
+v 0.04783817 -0.10376697 0.03137789
+v 0.04743520 -0.10700887 0.03105937
+v 0.05428082 -0.10090539 0.02809720
+v 0.03774936 -0.10084349 0.02967702
+v 0.04238756 -0.10768114 0.03105298
+v 0.04171109 -0.10376697 0.03146708
+v 0.04362074 -0.10526165 -0.03020389
+v 0.04256720 -0.10691136 -0.02766214
+v 0.03774936 -0.10770749 -0.01861632
+v 0.04717464 -0.10990560 -0.02699963
+v 0.04576991 -0.10990560 -0.02699963
+v 0.04316599 -0.10952082 -0.02659831
+v 0.05428082 -0.11047176 -0.01625930
+v 0.04281157 -0.10981735 0.03063892
+v 0.04525690 -0.10806150 0.03127595
+v 0.04678462 -0.10962274 0.03049877
+v 0.05428082 -0.10239588 0.02725630
+v 0.03774936 -0.10290009 0.02878518
+v 0.03774936 -0.11068847 -0.01641857
+v 0.04491381 -0.11299273 -0.02189068
+v 0.04728307 -0.11390826 -0.01990950
+v 0.04464678 -0.11091843 -0.02511404
+v 0.04280348 -0.11370923 -0.01945085
+v 0.05428082 -0.11123248 -0.01450747
+v 0.04418231 -0.10981735 0.03063892
+v 0.04283908 -0.11366075 0.02683583
+v 0.04533781 -0.11164839 0.02867048
+v 0.04649008 -0.11348384 0.02658738
+v 0.05428082 -0.10901237 0.02216641
+v 0.05428082 -0.10783592 0.02324298
+v 0.05428082 -0.10705308 0.02391187
+v 0.03774936 -0.10934408 0.02165678
+v 0.03774936 -0.11173226 -0.01406792
+v 0.04491381 -0.11393922 -0.01998595
+v 0.05428082 -0.11173226 -0.01334807
+v 0.04768928 -0.11434171 -0.01716390
+v 0.04491381 -0.11565086 -0.01334808
+v 0.04491381 -0.11483706 -0.01716390
+v 0.04245877 -0.11404980 -0.01716390
+v 0.03774936 -0.11196667 -0.01334807
+v 0.04388777 -0.11366075 0.02683583
+v 0.04507888 -0.11435070 0.02510946
+v 0.03774936 -0.11065764 0.02016612
+v 0.04235843 -0.11418705 0.02479096
+v 0.04286174 -0.11753951 0.01583428
+v 0.04491381 -0.11586771 0.02097512
+v 0.04725880 -0.11404110 0.02404562
+v 0.05428082 -0.11196236 0.01716570
+v 0.05428082 -0.11109108 0.01898125
+v 0.05428082 -0.11046746 0.02025531
+v 0.05428082 -0.10961387 0.02140196
+v 0.05428082 -0.11375352 -0.00431499
+v 0.05428082 -0.11409850 -0.00190701
+v 0.04692704 -0.11752176 0.00309368
+v 0.04491381 -0.11626564 -0.00953229
+v 0.04292647 -0.11749965 0.00363515
+v 0.04206389 -0.11447440 -0.01334808
+v 0.03774936 -0.11383312 -0.00438506
+v 0.03774936 -0.11198447 0.01716570
+v 0.03774936 -0.11339534 0.01310781
+v 0.04187778 -0.11497873 0.02097513
+v 0.04327280 -0.11753951 0.01583428
+v 0.03774936 -0.11419585 0.00959777
+v 0.03774936 -0.11443908 0.00571825
+v 0.04278406 -0.11760584 0.01334987
+v 0.04470989 -0.11681859 0.01712747
+v 0.05428082 -0.11406759 0.00973792
+v 0.05428082 -0.11316535 0.01322248
+v 0.05428082 -0.11430639 0.00190244
+v 0.05428082 -0.11437274 0.00571825
+v 0.04692704 -0.11752177 0.00507484
+v 0.04451569 -0.11761910 0.00953406
+v 0.04491381 -0.11752619 0.00313827
+v 0.04491381 -0.11665045 -0.00571646
+v 0.04285850 -0.11755274 0.00571824
+v 0.03774936 -0.11432409 0.00194703
+v 0.03774936 -0.11406312 -0.00190701
+v 0.04377772 -0.11760584 0.01334986
+v 0.04685907 -0.11746871 0.00761660
+v 0.04646580 -0.11739796 0.00953406
+v 0.04572945 -0.11714587 0.01334986
+v 0.03774936 -0.11442582 0.00518315
+v 0.04278082 -0.11761910 0.00953406
+v 0.05428082 -0.11421795 0.00792237
+f 1 2 5
+f 1 5 14
+f 1 14 29
+f 1 29 42
+f 1 42 25
+f 1 25 11
+f 1 11 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 11 26
+f 3 26 44
+f 3 44 57
+f 3 57 71
+f 3 71 85
+f 3 85 84
+f 3 84 83
+f 3 83 105
+f 3 105 104
+f 3 104 103
+f 3 103 102
+f 3 102 122
+f 3 122 121
+f 3 121 138
+f 3 138 124
+f 3 124 123
+f 3 123 107
+f 3 107 106
+f 3 106 89
+f 3 89 78
+f 3 78 67
+f 3 67 53
+f 3 53 40
+f 3 40 39
+f 3 39 38
+f 3 38 37
+f 3 37 34
+f 3 34 21
+f 3 21 20
+f 3 20 6
+f 4 10 12
+f 4 12 13
+f 4 13 5
+f 5 13 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 33
+f 5 33 32
+f 5 32 31
+f 5 31 49
+f 5 49 48
+f 5 48 63
+f 5 63 73
+f 5 73 87
+f 5 87 94
+f 5 94 112
+f 5 112 131
+f 5 131 130
+f 5 130 136
+f 5 136 118
+f 5 118 117
+f 5 117 114
+f 5 114 113
+f 5 113 97
+f 5 97 86
+f 5 86 72
+f 5 72 58
+f 5 58 45
+f 5 45 28
+f 5 28 14
+f 6 20 7
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 8
+f 8 23 24
+f 8 24 9
+f 9 24 10
+f 10 24 12
+f 11 25 26
+f 12 15 13
+f 12 24 27
+f 12 27 15
+f 14 28 29
+f 15 27 24
+f 15 24 16
+f 16 24 17
+f 17 24 23
+f 17 23 18
+f 18 23 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 21 34 22
+f 22 35 36
+f 22 36 23
+f 22 34 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 35
+f 23 36 30
+f 25 41 26
+f 25 42 41
+f 26 41 43
+f 26 43 44
+f 28 45 46
+f 28 46 41
+f 28 41 29
+f 29 41 42
+f 30 36 47
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 35 50 36
+f 35 40 50
+f 36 50 51
+f 36 51 52
+f 36 52 47
+f 40 53 50
+f 41 46 54
+f 41 54 43
+f 43 54 55
+f 43 55 44
+f 44 55 56
+f 44 56 57
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 46 60 54
+f 47 52 61
+f 47 61 62
+f 47 62 63
+f 47 63 48
+f 50 64 65
+f 50 65 51
+f 50 53 64
+f 51 61 52
+f 51 65 66
+f 51 66 61
+f 53 67 64
+f 54 60 59
+f 54 59 68
+f 54 68 69
+f 54 69 56
+f 54 56 55
+f 56 69 70
+f 56 70 57
+f 57 70 71
+f 58 72 68
+f 58 68 59
+f 61 66 62
+f 62 66 73
+f 62 73 63
+f 64 74 65
+f 64 67 75
+f 64 75 74
+f 65 74 76
+f 65 76 66
+f 66 76 74
+f 66 74 77
+f 66 77 73
+f 67 78 75
+f 68 79 69
+f 68 72 80
+f 68 80 95
+f 68 95 79
+f 69 79 70
+f 70 79 81
+f 70 81 82
+f 70 82 83
+f 70 83 84
+f 70 84 85
+f 70 85 71
+f 72 86 80
+f 73 77 87
+f 74 75 88
+f 74 88 77
+f 75 78 89
+f 75 89 90
+f 75 90 91
+f 75 91 92
+f 75 92 88
+f 77 88 92
+f 77 92 91
+f 77 91 93
+f 77 93 94
+f 77 94 87
+f 79 95 81
+f 80 96 95
+f 80 86 97
+f 80 97 98
+f 80 98 99
+f 80 99 100
+f 80 100 96
+f 81 95 82
+f 82 95 96
+f 82 96 100
+f 82 100 101
+f 82 101 102
+f 82 102 103
+f 82 103 104
+f 82 104 105
+f 82 105 83
+f 89 106 90
+f 90 106 107
+f 90 107 108
+f 90 108 109
+f 90 109 91
+f 91 109 93
+f 93 109 110
+f 93 110 111
+f 93 111 112
+f 93 112 94
+f 97 113 98
+f 98 113 114
+f 98 114 115
+f 98 115 99
+f 99 116 100
+f 99 115 114
+f 99 114 117
+f 99 117 118
+f 99 118 119
+f 99 119 132
+f 99 132 116
+f 100 116 120
+f 100 120 121
+f 100 121 101
+f 101 121 122
+f 101 122 102
+f 107 123 108
+f 108 123 124
+f 108 124 125
+f 108 125 126
+f 108 126 127
+f 108 127 128
+f 108 128 109
+f 109 128 110
+f 110 127 129
+f 110 129 130
+f 110 130 131
+f 110 131 112
+f 110 112 111
+f 110 128 127
+f 116 132 133
+f 116 133 134
+f 116 134 135
+f 116 135 120
+f 118 136 137
+f 118 137 119
+f 119 137 126
+f 119 126 132
+f 120 135 121
+f 121 135 134
+f 121 134 133
+f 121 133 138
+f 124 138 133
+f 124 133 125
+f 125 133 132
+f 125 132 126
+f 126 137 127
+f 127 137 129
+f 129 136 130
+f 129 137 136
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_5.obj

@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.06440648 -0.07244015 -0.02102009
+v -0.06830873 -0.07244015 -0.02098224
+v -0.05694270 -0.07244015 -0.02100747
+v -0.06441399 -0.08060347 -0.02819345
+v -0.07227401 -0.07244015 -0.02093176
+v -0.05694270 -0.07278609 -0.02107687
+v -0.06191806 -0.08810638 -0.03115870
+v -0.06221223 -0.08554999 -0.03077384
+v -0.06441399 -0.08288579 -0.03009877
+v -0.05694270 -0.07244032 0.02502297
+v -0.06719659 -0.08501086 -0.03106405
+v -0.06777443 -0.08810637 -0.03154355
+v -0.07227401 -0.07249855 -0.02094438
+v -0.07227401 -0.07244032 0.02501035
+v -0.05694270 -0.07662291 -0.02182765
+v -0.06171244 -0.09202405 -0.03149940
+v -0.06441399 -0.09202405 -0.03284322
+v -0.06441399 -0.08810637 -0.03218706
+v -0.06441399 -0.08484463 -0.03112084
+v -0.06703900 -0.10076271 0.03100380
+v -0.06441399 -0.10076271 0.03099118
+v -0.06441399 -0.10376388 0.03152113
+v -0.06231579 -0.10145459 0.03065681
+v -0.06224074 -0.10376387 0.03073881
+v -0.05694270 -0.09903298 0.02589352
+v -0.06797253 -0.09202405 -0.03185902
+v -0.07227401 -0.07643870 -0.02131031
+v -0.07227401 -0.09985065 0.02530678
+v -0.06745024 -0.10376387 0.03129401
+v -0.05694270 -0.08086857 -0.02247119
+v -0.06168842 -0.09593276 -0.03154988
+v -0.06441399 -0.09593276 -0.03293156
+v -0.05694270 -0.08419321 -0.02279296
+v -0.06719059 -0.10768156 0.03106686
+v -0.06440799 -0.10761866 0.03105424
+v -0.06231279 -0.10627083 0.03067571
+v -0.05694270 -0.09962603 0.02588721
+v -0.06799955 -0.09593276 -0.03189688
+v -0.07227401 -0.08027552 -0.02155007
+v -0.07227401 -0.10369646 0.02514273
+v -0.07227401 -0.10376385 0.02513642
+v -0.06184001 -0.09985045 -0.03129755
+v -0.05694270 -0.09202409 -0.02259741
+v -0.05694270 -0.09279236 -0.02257217
+v -0.05694270 -0.09650337 -0.02235768
+v -0.05694270 -0.10393890 -0.02150599
+v -0.06441399 -0.09985044 -0.03249626
+v -0.06791700 -0.09985044 -0.03171394
+v -0.06669230 -0.10994591 0.03070725
+v -0.06570473 -0.10994591 0.03070725
+v -0.06899312 -0.10768156 0.02860635
+v -0.06310224 -0.10888112 0.03010159
+v -0.05694270 -0.10376385 0.02533200
+v -0.05694270 -0.10744342 0.02451813
+v -0.07227401 -0.10376368 -0.02134196
+v -0.07227401 -0.09600917 -0.02143656
+v -0.07227401 -0.09210047 -0.02148072
+v -0.07227401 -0.10714240 0.02398187
+v -0.06213868 -0.10280220 -0.03090009
+v -0.05694270 -0.10749716 -0.02084356
+v -0.06430743 -0.10397032 -0.03129125
+v -0.06668480 -0.10599655 -0.03069821
+v -0.06734368 -0.10376365 -0.03119661
+v -0.06892409 -0.10376365 -0.02860992
+v -0.07227401 -0.10764093 -0.02060383
+v -0.06762584 -0.11139257 0.02846124
+v -0.06684689 -0.11388605 0.02709217
+v -0.06534152 -0.11388605 0.02709217
+v -0.06422338 -0.11164417 0.02859373
+v -0.06274053 -0.11333793 0.02643604
+v -0.05694270 -0.11145545 0.02087782
+v -0.07227401 -0.10906530 0.02244246
+v -0.06293414 -0.10541249 -0.03028182
+v -0.05694270 -0.10953689 -0.01944297
+v -0.06242835 -0.10968063 -0.02674248
+v -0.06553664 -0.10599655 -0.03069821
+v -0.06691743 -0.11003106 -0.02712102
+v -0.06761833 -0.10745221 -0.02847744
+v -0.07227401 -0.10949645 -0.01920323
+v -0.07227401 -0.11101066 0.02050559
+v -0.06757181 -0.11453299 0.02479570
+v -0.06666978 -0.11764647 0.01952768
+v -0.06581430 -0.11764647 0.01952768
+v -0.06419036 -0.11460488 0.02501651
+v -0.06447403 -0.11645139 0.02087149
+v -0.06216270 -0.11399836 0.02389351
+v -0.05694270 -0.11309079 0.01716181
+v -0.05694270 -0.11173835 -0.01720959
+v -0.06441399 -0.11308167 -0.02206122
+v -0.06441399 -0.11144629 -0.02479301
+v -0.06441399 -0.10995918 -0.02704531
+v -0.06235181 -0.11367023 -0.01937990
+v -0.06704950 -0.11397124 -0.02020638
+v -0.06768887 -0.11086672 -0.02479301
+v -0.07227401 -0.11088922 -0.01720959
+v -0.07227401 -0.11279876 0.01762869
+v -0.07227401 -0.11284369 0.01747727
+v -0.07227401 -0.11399382 0.01335118
+v -0.06705701 -0.11789356 0.01716180
+v -0.06503085 -0.11789356 0.01716180
+v -0.06253491 -0.11742630 0.01495996
+v -0.06307972 -0.11705790 0.01716180
+v -0.05694270 -0.11433078 0.01335118
+v -0.05694270 -0.11190907 -0.01660393
+v -0.06441399 -0.11395327 -0.02015591
+v -0.05694270 -0.11269083 -0.01354407
+v -0.05694270 -0.11462274 -0.00507740
+v -0.06360953 -0.11704434 -0.00572093
+v -0.06621803 -0.11750709 -0.00781552
+v -0.06441399 -0.11480241 -0.01716544
+v -0.06643265 -0.11750709 -0.00781552
+v -0.06759882 -0.11446545 -0.01716544
+v -0.07227401 -0.11207082 -0.01334849
+v -0.07227401 -0.11464078 0.00970458
+v -0.06734968 -0.11813166 0.01335117
+v -0.06441399 -0.11833383 0.00953422
+v -0.06406729 -0.11805079 0.01355306
+v -0.06236981 -0.11755659 0.01241744
+v -0.05694270 -0.11543597 0.00571729
+v -0.05694270 -0.11495077 0.00972350
+v -0.05694270 -0.11517986 -0.00187874
+v -0.06283508 -0.11735435 -0.00264214
+v -0.06555915 -0.11766884 -0.00572093
+v -0.06669680 -0.11766884 -0.00572093
+v -0.07227401 -0.11458232 -0.00190398
+v -0.07227401 -0.11398028 -0.00470517
+v -0.07227401 -0.11483394 0.00571729
+v -0.06740071 -0.11820802 0.00953422
+v -0.06737669 -0.11819453 0.00571728
+v -0.06441399 -0.11829786 0.00571728
+v -0.06235031 -0.11757003 0.00571728
+v -0.06232779 -0.11759251 0.00953422
+v -0.06240584 -0.11752060 0.00190665
+v -0.05694270 -0.11535959 0.00190666
+v -0.06245087 -0.11748016 -0.00010592
+v -0.06424740 -0.11784407 -0.00158223
+v -0.06441399 -0.11816307 0.00190665
+v -0.06707352 -0.11792942 -0.00190399
+v -0.06729114 -0.11811365 0.00190665
+v -0.07227401 -0.11481147 0.00190666
+f 1 2 5
+f 1 5 14
+f 1 14 10
+f 1 10 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 25
+f 3 25 37
+f 3 37 53
+f 3 53 54
+f 3 54 71
+f 3 71 87
+f 3 87 103
+f 3 103 120
+f 3 120 119
+f 3 119 134
+f 3 134 121
+f 3 121 107
+f 3 107 106
+f 3 106 104
+f 3 104 88
+f 3 88 74
+f 3 74 60
+f 3 60 46
+f 3 46 45
+f 3 45 44
+f 3 44 43
+f 3 43 33
+f 3 33 30
+f 3 30 15
+f 3 15 6
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 27
+f 5 27 39
+f 5 39 57
+f 5 57 56
+f 5 56 55
+f 5 55 65
+f 5 65 79
+f 5 79 95
+f 5 95 113
+f 5 113 126
+f 5 126 125
+f 5 125 140
+f 5 140 127
+f 5 127 114
+f 5 114 98
+f 5 98 97
+f 5 97 96
+f 5 96 80
+f 5 80 72
+f 5 72 58
+f 5 58 41
+f 5 41 40
+f 5 40 28
+f 5 28 14
+f 6 15 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 15 16
+f 8 18 19
+f 8 19 9
+f 9 19 11
+f 10 14 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 11 19 18
+f 11 18 12
+f 12 18 17
+f 12 17 26
+f 12 26 13
+f 13 26 27
+f 14 28 29
+f 14 29 20
+f 15 30 16
+f 16 31 32
+f 16 32 17
+f 16 30 33
+f 16 33 31
+f 17 32 26
+f 20 29 22
+f 20 22 21
+f 22 29 34
+f 22 34 35
+f 22 35 36
+f 22 36 24
+f 22 24 23
+f 24 36 37
+f 24 37 25
+f 26 32 38
+f 26 38 39
+f 26 39 27
+f 28 40 29
+f 29 40 41
+f 29 41 34
+f 31 42 32
+f 31 33 43
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 42
+f 32 42 47
+f 32 47 48
+f 32 48 38
+f 34 49 50
+f 34 50 35
+f 34 41 51
+f 34 51 49
+f 35 50 52
+f 35 52 36
+f 36 53 37
+f 36 52 54
+f 36 54 53
+f 38 48 55
+f 38 55 56
+f 38 56 57
+f 38 57 39
+f 41 58 51
+f 42 59 47
+f 42 46 60
+f 42 60 59
+f 47 59 61
+f 47 61 62
+f 47 62 63
+f 47 63 48
+f 48 63 64
+f 48 64 65
+f 48 65 55
+f 49 51 66
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 52
+f 51 58 66
+f 52 69 70
+f 52 70 54
+f 54 70 71
+f 58 72 66
+f 59 73 61
+f 59 60 73
+f 60 74 75
+f 60 75 73
+f 61 73 76
+f 61 76 62
+f 62 76 77
+f 62 77 78
+f 62 78 63
+f 63 78 64
+f 64 78 65
+f 65 78 79
+f 66 72 80
+f 66 80 67
+f 67 81 82
+f 67 82 83
+f 67 83 68
+f 67 80 81
+f 68 70 69
+f 68 83 84
+f 68 84 70
+f 70 84 83
+f 70 83 85
+f 70 85 86
+f 70 86 87
+f 70 87 71
+f 73 75 76
+f 74 88 75
+f 75 89 90
+f 75 90 91
+f 75 91 76
+f 75 88 92
+f 75 92 89
+f 76 91 77
+f 77 91 90
+f 77 90 89
+f 77 89 93
+f 77 93 94
+f 77 94 79
+f 77 79 78
+f 79 94 95
+f 80 96 81
+f 81 96 82
+f 82 96 97
+f 82 97 98
+f 82 98 99
+f 82 99 100
+f 82 100 83
+f 83 100 101
+f 83 101 102
+f 83 102 85
+f 85 102 86
+f 86 102 87
+f 87 102 101
+f 87 101 103
+f 88 104 92
+f 89 92 105
+f 89 105 93
+f 92 104 106
+f 92 106 107
+f 92 107 108
+f 92 108 109
+f 92 109 110
+f 92 110 105
+f 93 105 109
+f 93 109 111
+f 93 111 112
+f 93 112 113
+f 93 113 95
+f 93 95 94
+f 98 114 99
+f 99 114 115
+f 99 115 100
+f 100 115 116
+f 100 116 117
+f 100 117 101
+f 101 117 118
+f 101 118 119
+f 101 119 120
+f 101 120 103
+f 105 110 109
+f 107 121 122
+f 107 122 108
+f 108 122 109
+f 109 122 123
+f 109 123 124
+f 109 124 111
+f 111 113 112
+f 111 124 125
+f 111 125 126
+f 111 126 113
+f 114 127 115
+f 115 127 128
+f 115 128 116
+f 116 128 129
+f 116 129 130
+f 116 130 131
+f 116 131 132
+f 116 132 118
+f 116 118 117
+f 118 132 119
+f 119 132 131
+f 119 131 133
+f 119 133 134
+f 121 134 135
+f 121 135 122
+f 122 135 136
+f 122 136 123
+f 123 136 137
+f 123 137 138
+f 123 138 124
+f 124 138 125
+f 125 138 139
+f 125 139 140
+f 127 140 128
+f 128 140 129
+f 129 140 139
+f 129 139 130
+f 130 137 135
+f 130 135 133
+f 130 133 131
+f 130 139 137
+f 133 135 134
+f 135 137 136
+f 137 139 138
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_6.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v -0.07611892 -0.07243567 -0.02099688
+v -0.08002370 -0.07243567 -0.02097802
+v -0.07227704 -0.07243567 -0.02092772
+v -0.08003138 -0.08062378 -0.02812696
+v -0.08794989 -0.07243567 -0.02079568
+v -0.07227704 -0.07249799 -0.02094030
+v -0.07729726 -0.08810841 -0.03123301
+v -0.07769157 -0.08536568 -0.03084318
+v -0.08003138 -0.08299694 -0.03003208
+v -0.07227704 -0.07243568 -0.02021094
+v -0.08245710 -0.08533896 -0.03089348
+v -0.08286982 -0.08810840 -0.03130846
+v -0.08307235 -0.09202214 -0.03159771
+v -0.08794989 -0.07255588 -0.02080197
+v -0.08794989 -0.07243584 0.02492086
+v -0.07227704 -0.07635831 -0.02129869
+v -0.07705177 -0.09202214 -0.03154112
+v -0.08003138 -0.09202214 -0.03262257
+v -0.08003138 -0.08810840 -0.03202524
+v -0.08003138 -0.08495605 -0.03104438
+v -0.07612659 -0.07243584 0.02500889
+v -0.07227704 -0.07244029 0.02500889
+v -0.08003138 -0.09593588 -0.03268546
+v -0.08309536 -0.09593588 -0.03163544
+v -0.08794989 -0.08027650 -0.02100319
+v -0.08794989 -0.07636276 -0.02090887
+v -0.08794989 -0.07244029 0.02501517
+v -0.08783941 -0.07243584 0.02501517
+v -0.07227704 -0.07643845 -0.02130498
+v -0.07705023 -0.09593588 -0.03155999
+v -0.07227704 -0.08027650 -0.02154392
+v -0.08393463 -0.07243584 0.02501517
+v -0.08003138 -0.10083386 0.03096307
+v -0.08003138 -0.10376806 0.03154780
+v -0.07772073 -0.10114553 0.03080588
+v -0.07750746 -0.10376805 0.03100078
+v -0.07227704 -0.09984984 0.02530430
+v -0.07725583 -0.09984963 -0.03131480
+v -0.08003138 -0.09984963 -0.03225164
+v -0.08300331 -0.09984963 -0.03145313
+v -0.08794989 -0.10376786 -0.02075807
+v -0.08794989 -0.09593592 -0.02096553
+v -0.08794989 -0.09213349 -0.02105354
+v -0.08794989 -0.08821975 -0.02107238
+v -0.08794989 -0.08810844 -0.02107238
+v -0.08794989 -0.08419024 -0.02105351
+v -0.08794989 -0.09984984 0.02516598
+v -0.08265196 -0.10376805 0.03106366
+v -0.08235430 -0.10117224 0.03081845
+v -0.07227704 -0.08035220 -0.02154393
+v -0.07227704 -0.09209788 -0.02148109
+v -0.07227704 -0.09600716 -0.02143709
+v -0.07227704 -0.10376786 -0.02134281
+v -0.08003138 -0.10768179 0.03123969
+v -0.07774834 -0.10768179 0.03080585
+v -0.08253842 -0.10768179 0.03095046
+v -0.07227704 -0.10376803 0.02513453
+v -0.07227704 -0.10369234 0.02514082
+v -0.07763787 -0.10272594 -0.03092498
+v -0.07227704 -0.10764153 -0.02060090
+v -0.08003138 -0.10340273 -0.03121421
+v -0.08260439 -0.10301535 -0.03103816
+v -0.08794989 -0.10783745 -0.01995329
+v -0.08794989 -0.10365672 0.02502764
+v -0.08794989 -0.10376803 0.02502135
+v -0.08220394 -0.10991249 0.03066752
+v -0.08003138 -0.10988577 0.03065495
+v -0.07804139 -0.10969432 0.03054806
+v -0.08794989 -0.10791775 0.02410336
+v -0.07227704 -0.10714302 0.02398390
+v -0.07749365 -0.10669313 -0.02769321
+v -0.08003138 -0.10535737 -0.03025223
+v -0.07227704 -0.10949823 -0.01920507
+v -0.08277930 -0.10693356 -0.02790070
+v -0.08794989 -0.10958282 -0.01906046
+v -0.08293273 -0.11136844 0.02847946
+v -0.08239880 -0.11388856 0.02712134
+v -0.08003138 -0.11184042 0.02908935
+v -0.08794989 -0.10798899 0.02407821
+v -0.08794989 -0.10803797 0.02404048
+v -0.07790023 -0.11372827 0.02692643
+v -0.07227704 -0.10906649 0.02244345
+v -0.07753047 -0.11054900 -0.02381383
+v -0.08003138 -0.10932010 -0.02639170
+v -0.08003138 -0.10736100 -0.02834082
+v -0.07227704 -0.11089187 -0.01720565
+v -0.07784654 -0.11379043 -0.01965151
+v -0.08287596 -0.11080279 -0.02408420
+v -0.08264736 -0.11407985 -0.02011678
+v -0.08794989 -0.11070041 -0.01734397
+v -0.08003138 -0.11393308 0.02718422
+v -0.08794989 -0.11090091 0.02133055
+v -0.08794989 -0.11097215 0.02121109
+v -0.08293887 -0.11448963 0.02479496
+v -0.08198914 -0.11747278 0.01908589
+v -0.08003138 -0.11513524 0.02479496
+v -0.08040574 -0.11666690 0.02060746
+v -0.07753201 -0.11420022 0.02479496
+v -0.07227704 -0.11279765 0.01763349
+v -0.07227704 -0.11100777 0.02050689
+v -0.08003138 -0.11314926 -0.02219795
+v -0.08003138 -0.11119461 -0.02448031
+v -0.07227704 -0.11206734 -0.01335140
+v -0.07227704 -0.11397748 -0.00470607
+v -0.07227704 -0.11457858 -0.00190184
+v -0.08003138 -0.11607013 -0.01335142
+v -0.08003138 -0.11522415 -0.01716165
+v -0.08003138 -0.11412882 -0.02028654
+v -0.08215331 -0.11757064 -0.00832769
+v -0.08318743 -0.11465868 -0.01716165
+v -0.08794989 -0.11220091 -0.01335140
+v -0.08794989 -0.11075384 -0.01722451
+v -0.08794989 -0.11237467 0.01716193
+v -0.08794989 -0.11404878 0.00939054
+v -0.08220548 -0.11761971 0.01716191
+v -0.08195845 -0.11747278 0.01908589
+v -0.07940692 -0.11707650 0.01716191
+v -0.07227704 -0.11399091 0.01335168
+v -0.07227704 -0.11284218 0.01747630
+v -0.07227704 -0.11458303 -0.00185154
+v -0.07936856 -0.11694285 -0.00571837
+v -0.08164699 -0.11757064 -0.00832769
+v -0.08022009 -0.11678699 -0.00957262
+v -0.08231288 -0.11767305 -0.00571837
+v -0.08794989 -0.11437377 -0.00190184
+v -0.08794989 -0.11393741 -0.00548573
+v -0.08794989 -0.11356340 -0.00722737
+v -0.08794989 -0.11440052 0.00578779
+v -0.08251847 -0.11784678 0.01335167
+v -0.08135701 -0.11761971 0.01716191
+v -0.08060827 -0.11784678 0.01335167
+v -0.07865818 -0.11723678 0.01335167
+v -0.07227704 -0.11464097 0.00970492
+v -0.07227704 -0.11481013 0.00190211
+v -0.08132018 -0.11767305 -0.00571837
+v -0.08244483 -0.11776658 -0.00190185
+v -0.08794989 -0.11437822 -0.00179495
+v -0.08794989 -0.11440497 0.00571863
+v -0.08261360 -0.11791800 0.00953515
+v -0.08051468 -0.11791800 0.00953515
+v -0.07856459 -0.11727239 0.00953515
+v -0.07227704 -0.11483240 0.00571863
+v -0.08085989 -0.11785564 0.00190210
+v -0.07910159 -0.11708088 -0.00190185
+v -0.08105322 -0.11776658 -0.00190185
+v -0.08255069 -0.11785564 0.00190210
+v -0.08794989 -0.11448065 0.00190211
+v -0.08794989 -0.11448065 0.00200900
+v -0.08260439 -0.11790462 0.00571862
+v -0.08067731 -0.11790462 0.00571862
+f 1 2 5
+f 1 5 15
+f 1 15 28
+f 1 28 32
+f 1 32 21
+f 1 21 10
+f 1 10 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 22
+f 3 22 37
+f 3 37 58
+f 3 58 57
+f 3 57 70
+f 3 70 82
+f 3 82 100
+f 3 100 99
+f 3 99 119
+f 3 119 118
+f 3 118 133
+f 3 133 142
+f 3 142 134
+f 3 134 120
+f 3 120 105
+f 3 105 104
+f 3 104 103
+f 3 103 86
+f 3 86 73
+f 3 73 60
+f 3 60 53
+f 3 53 52
+f 3 52 51
+f 3 51 50
+f 3 50 31
+f 3 31 29
+f 3 29 16
+f 3 16 6
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 26
+f 5 26 25
+f 5 25 46
+f 5 46 45
+f 5 45 44
+f 5 44 43
+f 5 43 42
+f 5 42 41
+f 5 41 63
+f 5 63 75
+f 5 75 90
+f 5 90 112
+f 5 112 111
+f 5 111 127
+f 5 127 126
+f 5 126 125
+f 5 125 137
+f 5 137 147
+f 5 147 148
+f 5 148 138
+f 5 138 128
+f 5 128 114
+f 5 114 113
+f 5 113 93
+f 5 93 92
+f 5 92 80
+f 5 80 79
+f 5 79 69
+f 5 69 65
+f 5 65 64
+f 5 64 47
+f 5 47 27
+f 5 27 15
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 20 11
+f 10 21 22
+f 11 20 19
+f 11 19 12
+f 12 19 18
+f 12 18 13
+f 13 18 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 15 27 28
+f 16 29 17
+f 17 30 23
+f 17 23 18
+f 17 29 31
+f 17 31 30
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 23 30 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 25
+f 27 47 48
+f 27 48 49
+f 27 49 34
+f 27 34 33
+f 27 33 28
+f 28 33 32
+f 30 31 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 38
+f 34 54 55
+f 34 55 36
+f 34 36 35
+f 34 49 48
+f 34 48 56
+f 34 56 54
+f 36 55 57
+f 36 57 58
+f 36 58 37
+f 38 59 39
+f 38 53 60
+f 38 60 59
+f 39 59 61
+f 39 61 62
+f 39 62 40
+f 40 62 63
+f 40 63 41
+f 47 64 48
+f 48 64 65
+f 48 65 56
+f 54 66 67
+f 54 67 68
+f 54 68 55
+f 54 56 66
+f 55 68 57
+f 56 65 69
+f 56 69 66
+f 57 68 70
+f 59 71 72
+f 59 72 61
+f 59 60 73
+f 59 73 71
+f 61 72 62
+f 62 72 74
+f 62 74 75
+f 62 75 63
+f 66 76 77
+f 66 77 78
+f 66 78 67
+f 66 69 79
+f 66 79 80
+f 66 80 76
+f 67 78 68
+f 68 78 81
+f 68 81 82
+f 68 82 70
+f 71 83 84
+f 71 84 85
+f 71 85 72
+f 71 73 83
+f 72 85 74
+f 73 86 87
+f 73 87 83
+f 74 85 88
+f 74 88 75
+f 75 89 90
+f 75 88 89
+f 76 80 77
+f 77 91 78
+f 77 80 92
+f 77 92 93
+f 77 93 94
+f 77 94 95
+f 77 95 96
+f 77 96 91
+f 78 91 81
+f 81 91 96
+f 81 96 97
+f 81 97 98
+f 81 98 99
+f 81 99 100
+f 81 100 82
+f 83 101 102
+f 83 102 84
+f 83 87 101
+f 84 102 88
+f 84 88 85
+f 86 103 87
+f 87 103 104
+f 87 104 105
+f 87 105 106
+f 87 106 107
+f 87 107 108
+f 87 108 101
+f 88 102 101
+f 88 101 89
+f 89 108 107
+f 89 107 109
+f 89 109 110
+f 89 110 111
+f 89 111 112
+f 89 112 90
+f 89 101 108
+f 93 113 95
+f 93 95 94
+f 95 113 114
+f 95 114 115
+f 95 115 130
+f 95 130 116
+f 95 116 96
+f 96 116 97
+f 97 116 117
+f 97 117 98
+f 98 117 118
+f 98 118 119
+f 98 119 99
+f 105 120 121
+f 105 121 122
+f 105 122 123
+f 105 123 106
+f 106 123 122
+f 106 122 107
+f 107 122 109
+f 109 122 135
+f 109 135 124
+f 109 124 125
+f 109 125 126
+f 109 126 127
+f 109 127 111
+f 109 111 110
+f 114 128 129
+f 114 129 115
+f 115 129 131
+f 115 131 130
+f 116 130 117
+f 117 130 131
+f 117 131 132
+f 117 132 133
+f 117 133 118
+f 120 134 135
+f 120 135 121
+f 121 135 122
+f 124 135 145
+f 124 145 136
+f 124 136 125
+f 125 136 137
+f 128 138 129
+f 129 138 139
+f 129 139 140
+f 129 140 131
+f 131 140 132
+f 132 140 141
+f 132 141 142
+f 132 142 133
+f 134 142 141
+f 134 141 143
+f 134 143 144
+f 134 144 135
+f 135 144 145
+f 136 145 143
+f 136 143 146
+f 136 146 137
+f 137 146 147
+f 138 148 139
+f 139 148 147
+f 139 147 149
+f 139 149 150
+f 139 150 140
+f 140 150 141
+f 141 150 143
+f 143 145 144
+f 143 150 149
+f 143 149 146
+f 146 149 147
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_7.obj

@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v -0.02633155 -0.07243566 -0.02106391
+v -0.02633155 -0.07749497 -0.02188233
+v -0.03118158 -0.09367224 -0.03055121
+v -0.03362369 -0.08810877 -0.03160882
+v -0.03433671 -0.08514637 -0.03104222
+v -0.03708036 -0.08312978 -0.02986497
+v -0.03707293 -0.07243566 -0.02105132
+v -0.02633155 -0.07243579 0.01366801
+v -0.02633155 -0.08028339 -0.02201454
+v -0.03115633 -0.09593420 -0.03057011
+v -0.03317805 -0.09593419 -0.03216914
+v -0.03283788 -0.09223117 -0.03174734
+v -0.02633155 -0.08046185 -0.02202085
+v -0.03708036 -0.09202148 -0.03288681
+v -0.03708036 -0.08810877 -0.03216282
+v -0.03708036 -0.08508836 -0.03106110
+v -0.03921645 -0.08573528 -0.03072115
+v -0.04150555 -0.07243566 -0.02103244
+v -0.02927277 -0.07243583 0.02506275
+v -0.02633155 -0.07244029 0.02506905
+v -0.02633155 -0.08810881 -0.02212160
+v -0.02633155 -0.09202152 -0.02215939
+v -0.03117564 -0.09809802 -0.03055123
+v -0.03289284 -0.09958368 -0.03164664
+v -0.03708036 -0.09985136 -0.03260355
+v -0.03708036 -0.09593419 -0.03300014
+v -0.03959227 -0.09202148 -0.03137591
+v -0.03945264 -0.08810878 -0.03106741
+v -0.04150555 -0.07296658 -0.02113316
+v -0.04150555 -0.07243569 -0.01480625
+v -0.03708036 -0.07243583 0.02506275
+v -0.03632426 -0.10065912 0.03105591
+v -0.03408864 -0.10065912 0.03105591
+v -0.03361032 -0.10376431 0.03131401
+v -0.02633155 -0.09983820 0.02612029
+v -0.02633155 -0.09998971 -0.02196426
+v -0.03396683 -0.10376408 -0.03130040
+v -0.02633155 -0.10376411 -0.02183207
+v -0.02633155 -0.10392027 -0.02180059
+v -0.02633155 -0.10760098 -0.02082482
+v -0.03470510 -0.10608852 -0.03076530
+v -0.03597517 -0.10608852 -0.03076530
+v -0.03719771 -0.10392469 -0.03136965
+v -0.03933380 -0.10272902 -0.03089120
+v -0.03952840 -0.09985137 -0.03122485
+v -0.03957890 -0.09593419 -0.03139480
+v -0.04150555 -0.09202152 -0.02265043
+v -0.04150555 -0.08419164 -0.02261263
+v -0.04150555 -0.08056893 -0.02224119
+v -0.04150555 -0.07662052 -0.02182567
+v -0.04150555 -0.07244029 0.02505646
+v -0.04098563 -0.07243583 0.02505646
+v -0.03700162 -0.10376431 0.03131401
+v -0.03437533 -0.10768148 0.03091109
+v -0.03165842 -0.10376430 0.02977793
+v -0.02633155 -0.10373306 0.02549074
+v -0.03104344 -0.10595914 -0.02689990
+v -0.02633155 -0.10954173 -0.01908098
+v -0.03456844 -0.11003246 -0.02713914
+v -0.03333699 -0.10732881 -0.02829119
+v -0.03634356 -0.11003246 -0.02713914
+v -0.03894758 -0.10955509 -0.02661662
+v -0.03857770 -0.10533899 -0.03016094
+v -0.03935014 -0.10694512 -0.02761758
+v -0.04150555 -0.10958189 -0.01918800
+v -0.04150555 -0.10745375 -0.02068631
+v -0.04150555 -0.10388458 -0.02126548
+v -0.04150555 -0.09656777 -0.02243010
+v -0.04150555 -0.09593423 -0.02249935
+v -0.04150555 -0.09284689 -0.02261896
+v -0.04150555 -0.09609055 0.02580554
+v -0.03895352 -0.10376430 0.03036970
+v -0.03808007 -0.10768148 0.03001084
+v -0.03612669 -0.10768148 0.03091109
+v -0.03511212 -0.10964899 0.03052077
+v -0.02633155 -0.10748962 0.02459048
+v -0.02633155 -0.10376428 0.02548444
+v -0.02633155 -0.11152264 -0.01720495
+v -0.03435899 -0.11400767 -0.02021418
+v -0.03708036 -0.11298598 -0.02188247
+v -0.03741904 -0.11098277 -0.02512461
+v -0.03905454 -0.11357936 -0.01913136
+v -0.04150555 -0.11150479 -0.01718606
+v -0.04150555 -0.09985157 0.02581811
+v -0.03930409 -0.11034051 0.02729750
+v -0.04150555 -0.10376428 0.02528299
+v -0.04150555 -0.10711039 0.02455270
+v -0.04150555 -0.10740485 0.02448345
+v -0.03515965 -0.10964899 0.03052077
+v -0.03495614 -0.11365092 0.02681274
+v -0.03373361 -0.11101865 0.02809072
+v -0.02633155 -0.11147817 0.02085726
+v -0.02633155 -0.11165202 -0.01689647
+v -0.03708036 -0.11470366 -0.01716089
+v -0.03708036 -0.11391398 -0.01997495
+v -0.02633155 -0.11521231 -0.00557729
+v -0.03476452 -0.11764828 -0.00506107
+v -0.03569590 -0.11764828 -0.00506107
+v -0.04150555 -0.11161187 -0.01692166
+v -0.03708036 -0.11550674 -0.01334586
+v -0.03703134 -0.11696121 -0.00608723
+v -0.03819000 -0.11713968 -0.00190706
+v -0.04150555 -0.11523910 -0.00190705
+v -0.04150555 -0.11468586 -0.00497293
+v -0.04150555 -0.11461001 -0.00537583
+v -0.03806670 -0.11295047 0.02602582
+v -0.03661392 -0.11129972 0.02832995
+v -0.04150555 -0.11143355 0.02086356
+v -0.03924319 -0.11385168 0.02348245
+v -0.03546417 -0.11365092 0.02681274
+v -0.03476006 -0.11766175 0.01636230
+v -0.03418965 -0.11424428 0.02479190
+v -0.02633155 -0.11508746 0.01313905
+v -0.02633155 -0.11542646 -0.00455743
+v -0.02633155 -0.11579677 -0.00190706
+v -0.03441692 -0.11784905 -0.00190706
+v -0.03623810 -0.11784905 -0.00190706
+v -0.03853611 -0.11726908 0.00190168
+v -0.04150555 -0.11542203 0.00190169
+v -0.03689170 -0.11428444 0.02476672
+v -0.04150555 -0.11295043 0.01716184
+v -0.04150555 -0.11417286 0.01334680
+v -0.04051475 -0.11519454 0.01334680
+v -0.03947938 -0.11425766 0.02097687
+v -0.03834151 -0.11715313 0.01334679
+v -0.03709967 -0.11687207 0.01744512
+v -0.03708036 -0.11583256 0.02097686
+v -0.03581177 -0.11766175 0.01636230
+v -0.03440652 -0.11785358 0.01334679
+v -0.02633155 -0.11578790 0.00953175
+v -0.02633155 -0.11583248 -0.00115790
+v -0.03421490 -0.11797846 0.00190168
+v -0.03658421 -0.11797846 0.00190168
+v -0.03862672 -0.11730925 0.00571672
+v -0.04150555 -0.11543096 0.00241162
+v -0.04150555 -0.11503838 0.00955065
+v -0.03638813 -0.11785358 0.01334679
+v -0.04150555 -0.11542650 0.00627702
+v -0.04150555 -0.11548451 0.00571673
+v -0.03860444 -0.11729588 0.00953175
+v -0.03420302 -0.11798295 0.00953175
+v -0.02633155 -0.11595742 0.00571672
+v -0.02633155 -0.11593956 0.00190168
+v -0.03417182 -0.11800970 0.00571672
+v -0.03667482 -0.11800970 0.00571672
+v -0.03665106 -0.11798295 0.00953175
+v -0.02633155 -0.11594402 0.00246827
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 30
+f 1 30 52
+f 1 52 31
+f 1 31 19
+f 1 19 8
+f 1 8 20
+f 1 20 35
+f 1 35 56
+f 1 56 77
+f 1 77 76
+f 1 76 92
+f 1 92 113
+f 1 113 130
+f 1 130 142
+f 1 142 147
+f 1 147 143
+f 1 143 131
+f 1 131 115
+f 1 115 114
+f 1 114 96
+f 1 96 93
+f 1 93 78
+f 1 78 58
+f 1 58 40
+f 1 40 39
+f 1 39 38
+f 1 38 36
+f 1 36 22
+f 1 22 21
+f 1 21 13
+f 1 13 9
+f 1 9 2
+f 2 9 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 9 13
+f 3 13 10
+f 4 12 11
+f 4 11 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 8 19 20
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 10 13 21
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 17
+f 15 17 16
+f 17 28 18
+f 18 29 50
+f 18 50 49
+f 18 49 48
+f 18 48 47
+f 18 47 70
+f 18 70 69
+f 18 69 68
+f 18 68 67
+f 18 67 66
+f 18 66 65
+f 18 65 83
+f 18 83 99
+f 18 99 105
+f 18 105 104
+f 18 104 103
+f 18 103 119
+f 18 119 135
+f 18 135 139
+f 18 139 138
+f 18 138 136
+f 18 136 122
+f 18 122 121
+f 18 121 108
+f 18 108 88
+f 18 88 87
+f 18 87 86
+f 18 86 84
+f 18 84 71
+f 18 71 51
+f 18 51 30
+f 18 28 27
+f 18 27 29
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 22 36 23
+f 23 37 24
+f 23 36 38
+f 23 38 39
+f 23 39 40
+f 23 40 37
+f 24 37 25
+f 25 37 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 29
+f 30 51 52
+f 31 52 32
+f 32 53 34
+f 32 34 33
+f 32 52 51
+f 32 51 53
+f 34 53 74
+f 34 74 54
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 37 40 57
+f 37 57 41
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 40 41 57
+f 41 60 59
+f 41 59 61
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 43 63 44
+f 44 63 62
+f 44 62 64
+f 44 64 65
+f 44 65 66
+f 44 66 45
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 46
+f 46 69 70
+f 46 70 47
+f 51 71 72
+f 51 72 53
+f 53 72 73
+f 53 73 74
+f 54 74 89
+f 54 89 75
+f 54 75 76
+f 54 76 55
+f 55 76 77
+f 55 77 56
+f 58 78 59
+f 59 78 79
+f 59 79 61
+f 61 79 80
+f 61 80 81
+f 61 81 62
+f 62 81 80
+f 62 80 82
+f 62 82 83
+f 62 83 65
+f 62 65 64
+f 71 84 72
+f 72 85 73
+f 72 84 86
+f 72 86 87
+f 72 87 88
+f 72 88 85
+f 73 89 74
+f 73 85 89
+f 75 89 110
+f 75 110 90
+f 75 90 91
+f 75 91 76
+f 76 91 90
+f 76 90 92
+f 78 93 79
+f 79 94 95
+f 79 95 80
+f 79 93 96
+f 79 96 97
+f 79 97 98
+f 79 98 94
+f 80 95 82
+f 82 99 83
+f 82 95 94
+f 82 94 100
+f 82 100 101
+f 82 101 102
+f 82 102 103
+f 82 103 104
+f 82 104 105
+f 82 105 99
+f 85 106 107
+f 85 107 89
+f 85 88 108
+f 85 108 109
+f 85 109 106
+f 89 107 110
+f 90 110 128
+f 90 128 111
+f 90 111 112
+f 90 112 92
+f 92 112 113
+f 94 98 100
+f 96 114 97
+f 97 114 115
+f 97 115 116
+f 97 116 117
+f 97 117 98
+f 98 101 100
+f 98 117 102
+f 98 102 101
+f 102 117 133
+f 102 133 118
+f 102 118 103
+f 103 118 119
+f 106 110 107
+f 106 109 120
+f 106 120 110
+f 108 121 109
+f 109 121 122
+f 109 122 123
+f 109 123 124
+f 109 124 125
+f 109 125 126
+f 109 126 127
+f 109 127 120
+f 110 120 127
+f 110 127 128
+f 111 128 137
+f 111 137 129
+f 111 129 130
+f 111 130 113
+f 111 113 112
+f 115 131 116
+f 116 131 132
+f 116 132 133
+f 116 133 117
+f 118 133 134
+f 118 134 119
+f 119 134 135
+f 122 136 123
+f 123 125 124
+f 123 136 125
+f 125 137 128
+f 125 128 126
+f 125 136 138
+f 125 138 139
+f 125 139 140
+f 125 140 137
+f 126 128 127
+f 129 141 130
+f 129 137 146
+f 129 146 141
+f 130 141 142
+f 131 143 132
+f 132 143 144
+f 132 144 145
+f 132 145 133
+f 133 145 134
+f 134 139 135
+f 134 145 140
+f 134 140 139
+f 137 140 146
+f 140 145 146
+f 141 146 145
+f 141 145 144
+f 141 144 142
+f 142 144 147
+f 143 147 144
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_8.obj

@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v -0.01113307 -0.07243567 -0.02130666
+v -0.01113307 -0.07634879 -0.02176484
+v -0.01841912 -0.09202363 -0.03177460
+v -0.01860807 -0.08810603 -0.03140550
+v -0.01903658 -0.08536148 -0.03092187
+v -0.02146328 -0.08302435 -0.02999280
+v -0.02146328 -0.08070066 -0.02808376
+v -0.02633155 -0.07243567 -0.02106485
+v -0.01113307 -0.07243578 0.00860792
+v -0.01113307 -0.08027534 -0.02207666
+v -0.01842656 -0.09593676 -0.03183825
+v -0.02146328 -0.09593676 -0.03321911
+v -0.02146328 -0.09202363 -0.03309820
+v -0.02146328 -0.08810603 -0.03233457
+v -0.02146328 -0.08498539 -0.03113823
+v -0.02388105 -0.08538387 -0.03093460
+v -0.02429914 -0.08810603 -0.03143732
+v -0.02448958 -0.09202363 -0.03183824
+v -0.02513977 -0.08810604 -0.02860559
+v -0.02633155 -0.07749496 -0.02188574
+v -0.02633155 -0.07243580 0.01366686
+v -0.01365499 -0.07243584 0.02503198
+v -0.01113307 -0.07244031 0.02501926
+v -0.01113307 -0.09202367 -0.02208307
+v -0.01849946 -0.09984988 -0.03164736
+v -0.01113307 -0.09593680 -0.02205126
+v -0.01113307 -0.10376752 -0.02176494
+v -0.02146328 -0.09984988 -0.03280551
+v -0.02443453 -0.09984988 -0.03167282
+v -0.02449702 -0.09593676 -0.03189552
+v -0.02524839 -0.09202364 -0.02860561
+v -0.02633155 -0.08028430 -0.02201302
+v -0.02633155 -0.07244031 0.02506380
+v -0.02536742 -0.07243584 0.02507017
+v -0.01755913 -0.07243584 0.02506380
+v -0.02146328 -0.10016352 0.03119170
+v -0.01887143 -0.10058886 0.03101989
+v -0.01113307 -0.09872183 0.02770454
+v -0.01898897 -0.10376749 -0.03104285
+v -0.01113307 -0.10764931 -0.02089316
+v -0.01944127 -0.10580465 -0.03057196
+v -0.02146328 -0.10376748 -0.03160919
+v -0.02354479 -0.10586733 -0.03061650
+v -0.02399115 -0.10376749 -0.03108102
+v -0.02497909 -0.10376749 -0.02860565
+v -0.02528410 -0.09984989 -0.02860564
+v -0.02526922 -0.09593677 -0.02860562
+v -0.02633155 -0.08045891 -0.02201939
+v -0.02633155 -0.09983667 0.02612004
+v -0.02402834 -0.10376771 0.03107079
+v -0.02384534 -0.10083511 0.03091172
+v -0.02146328 -0.07243584 0.02507017
+v -0.02146328 -0.10376772 0.03178986
+v -0.01861105 -0.10376771 0.03123624
+v -0.01113307 -0.09930836 0.02770454
+v -0.01113307 -0.10772990 -0.02083589
+v -0.01937432 -0.10977151 -0.02685572
+v -0.02146328 -0.10989240 -0.02698935
+v -0.02146328 -0.10784628 -0.02889838
+v -0.02146328 -0.10588971 -0.03063560
+v -0.02363555 -0.10984315 -0.02693208
+v -0.02405810 -0.10737618 -0.02836384
+v -0.02516358 -0.10768064 -0.02479396
+v -0.02633155 -0.10760006 -0.02082317
+v -0.02633155 -0.10391975 -0.02179675
+v -0.02633155 -0.10376752 -0.02182857
+v -0.02633155 -0.09998872 -0.02196219
+v -0.02633155 -0.09202367 -0.02215943
+v -0.02633155 -0.08810607 -0.02212123
+v -0.02633155 -0.10373187 0.02549004
+v -0.02380219 -0.10665107 0.03085442
+v -0.02633155 -0.10376769 0.02548368
+v -0.02633155 -0.10749278 0.02459279
+v -0.02146328 -0.10731370 0.03110896
+v -0.01894879 -0.10691523 0.03096896
+v -0.01113307 -0.10376770 0.02659092
+v -0.01113307 -0.11158932 -0.01715783
+v -0.02146328 -0.11298173 -0.02183497
+v -0.02146328 -0.11128036 -0.02479397
+v -0.01927910 -0.11377421 -0.01957595
+v -0.02373672 -0.11381451 -0.01970958
+v -0.02412803 -0.11052370 -0.02479397
+v -0.02633155 -0.11152216 -0.01720237
+v -0.02633155 -0.10954320 -0.01907958
+v -0.02443453 -0.10784650 0.02886265
+v -0.02409976 -0.11089103 0.02776176
+v -0.02146328 -0.10927027 0.03030715
+v -0.02633155 -0.11147753 0.02085742
+v -0.01950376 -0.11355947 0.02670542
+v -0.01113307 -0.10773455 0.02485368
+v -0.01113307 -0.11172364 -0.01685238
+v -0.02146328 -0.11391300 -0.01993230
+v -0.01113307 -0.11291908 -0.01336521
+v -0.01113307 -0.11500103 -0.00518819
+v -0.02146328 -0.11562781 -0.01334613
+v -0.02146328 -0.11476818 -0.01716420
+v -0.02348676 -0.11752173 -0.00415732
+v -0.02412506 -0.11420852 -0.01716420
+v -0.02633155 -0.11165200 -0.01689693
+v -0.02229053 -0.11350127 0.02663542
+v -0.02399561 -0.11419971 0.02409004
+v -0.02117910 -0.11195661 0.02806085
+v -0.02633155 -0.11509065 0.01313855
+v -0.01968826 -0.11355947 0.02670542
+v -0.02117910 -0.11435641 0.02513365
+v -0.02146328 -0.11620999 0.02097831
+v -0.01942640 -0.11753524 0.01567755
+v -0.01113307 -0.11371614 0.01720479
+v -0.01113307 -0.11180884 0.02106105
+v -0.01113307 -0.11556518 -0.00190465
+v -0.02146328 -0.11636658 -0.00953444
+v -0.02307612 -0.11752173 -0.00415732
+v -0.02633155 -0.11542637 -0.00455821
+v -0.02633155 -0.11521594 -0.00557636
+v -0.02146328 -0.11813068 0.00571875
+v -0.02366084 -0.11765158 -0.00190466
+v -0.02633155 -0.11579351 -0.00190466
+v -0.02439436 -0.11486233 0.02097832
+v -0.02355967 -0.11758449 0.01582391
+v -0.02633155 -0.11578461 0.00953682
+v -0.02146328 -0.11716812 0.01790476
+v -0.02146328 -0.11760240 0.01599573
+v -0.02146328 -0.11796057 0.01334853
+v -0.01927463 -0.11766507 0.01334853
+v -0.01113307 -0.11578013 0.00953682
+v -0.01113307 -0.11504587 0.01325309
+v -0.02165075 -0.11707848 -0.00554455
+v -0.01113307 -0.11580249 0.00190705
+v -0.01936539 -0.11759339 0.00305883
+v -0.02129961 -0.11783517 0.00183069
+v -0.02246907 -0.11765158 -0.00190466
+v -0.01925232 -0.11769190 0.00571875
+v -0.01918685 -0.11774565 0.00953682
+v -0.02146328 -0.11817098 0.00953682
+v -0.02393461 -0.11790681 0.00571875
+v -0.02386766 -0.11783517 0.00190705
+v -0.02633155 -0.11583382 -0.00115377
+v -0.02376797 -0.11776357 0.01334853
+v -0.02391824 -0.11789788 0.00953682
+v -0.02633155 -0.11595921 0.00571875
+v -0.01113307 -0.11591891 0.00571875
+v -0.01113307 -0.11583831 0.00298247
+v -0.02633155 -0.11594129 0.00190705
+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 21
+f 1 21 34
+f 1 34 52
+f 1 52 35
+f 1 35 22
+f 1 22 9
+f 1 9 23
+f 1 23 38
+f 1 38 55
+f 1 55 76
+f 1 76 90
+f 1 90 109
+f 1 109 108
+f 1 108 126
+f 1 126 125
+f 1 125 141
+f 1 141 142
+f 1 142 128
+f 1 128 110
+f 1 110 94
+f 1 94 93
+f 1 93 91
+f 1 91 77
+f 1 77 56
+f 1 56 40
+f 1 40 27
+f 1 27 26
+f 1 26 24
+f 1 24 10
+f 1 10 2
+f 2 10 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 10 11
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 8
+f 6 8 7
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 32
+f 8 32 48
+f 8 48 69
+f 8 69 68
+f 8 68 67
+f 8 67 66
+f 8 66 65
+f 8 65 64
+f 8 64 84
+f 8 84 83
+f 8 83 99
+f 8 99 114
+f 8 114 113
+f 8 113 117
+f 8 117 137
+f 8 137 143
+f 8 143 140
+f 8 140 120
+f 8 120 103
+f 8 103 88
+f 8 88 73
+f 8 73 72
+f 8 72 70
+f 8 70 49
+f 8 49 33
+f 8 33 21
+f 9 22 23
+f 10 24 11
+f 11 25 12
+f 11 24 26
+f 11 26 27
+f 11 27 25
+f 12 25 28
+f 12 28 29
+f 12 29 30
+f 12 30 18
+f 12 18 13
+f 13 18 17
+f 13 17 14
+f 14 17 16
+f 14 16 15
+f 18 30 31
+f 18 31 19
+f 19 31 20
+f 20 31 32
+f 21 33 34
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 25 39 28
+f 25 27 40
+f 25 40 39
+f 28 39 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 30 47 31
+f 31 47 48
+f 31 48 32
+f 33 49 50
+f 33 50 51
+f 33 51 36
+f 33 36 34
+f 34 36 52
+f 35 52 36
+f 36 51 53
+f 36 53 37
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 39 40 41
+f 40 56 41
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 42
+f 41 56 57
+f 42 60 43
+f 43 60 59
+f 43 59 61
+f 43 61 62
+f 43 62 44
+f 44 62 45
+f 45 62 63
+f 45 63 64
+f 45 64 46
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 48
+f 46 48 47
+f 49 70 50
+f 50 71 53
+f 50 53 51
+f 50 70 72
+f 50 72 73
+f 50 73 71
+f 53 71 74
+f 53 74 75
+f 53 75 54
+f 54 75 55
+f 55 75 76
+f 56 77 57
+f 57 78 79
+f 57 79 58
+f 57 77 80
+f 57 80 78
+f 58 79 61
+f 58 61 59
+f 61 79 78
+f 61 78 81
+f 61 81 82
+f 61 82 62
+f 62 82 63
+f 63 82 83
+f 63 83 84
+f 63 84 64
+f 71 85 86
+f 71 86 87
+f 71 87 74
+f 71 73 85
+f 73 88 86
+f 73 86 85
+f 74 87 75
+f 75 87 89
+f 75 89 90
+f 75 90 76
+f 77 91 80
+f 78 80 92
+f 78 92 81
+f 80 91 93
+f 80 93 94
+f 80 94 95
+f 80 95 96
+f 80 96 92
+f 81 92 96
+f 81 96 97
+f 81 97 98
+f 81 98 99
+f 81 99 83
+f 81 83 82
+f 86 100 87
+f 86 88 101
+f 86 101 100
+f 87 100 102
+f 87 102 89
+f 88 103 101
+f 89 102 104
+f 89 104 105
+f 89 105 106
+f 89 106 107
+f 89 107 108
+f 89 108 109
+f 89 109 90
+f 94 110 111
+f 94 111 95
+f 95 111 112
+f 95 112 97
+f 95 97 96
+f 97 113 114
+f 97 114 98
+f 97 112 115
+f 97 115 116
+f 97 116 117
+f 97 117 113
+f 98 114 99
+f 100 105 104
+f 100 104 102
+f 100 101 106
+f 100 106 105
+f 101 103 118
+f 101 118 119
+f 101 119 106
+f 103 120 119
+f 103 119 118
+f 106 119 121
+f 106 121 107
+f 107 121 122
+f 107 122 123
+f 107 123 124
+f 107 124 125
+f 107 125 126
+f 107 126 108
+f 110 112 127
+f 110 127 111
+f 110 128 129
+f 110 129 130
+f 110 130 131
+f 110 131 112
+f 111 127 112
+f 112 131 115
+f 115 131 130
+f 115 130 129
+f 115 129 132
+f 115 132 133
+f 115 133 134
+f 115 134 135
+f 115 135 136
+f 115 136 116
+f 116 136 117
+f 117 136 137
+f 119 122 121
+f 119 120 138
+f 119 138 123
+f 119 123 122
+f 120 139 138
+f 120 140 139
+f 123 138 134
+f 123 134 124
+f 124 134 133
+f 124 133 141
+f 124 141 125
+f 128 142 132
+f 128 132 129
+f 132 142 141
+f 132 141 133
+f 134 139 135
+f 134 138 139
+f 135 140 143
+f 135 143 136
+f 135 139 140
+f 136 143 137
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mjcf/mesh/notebook_collision_9.obj

@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.00978059 -0.07243567 -0.02141368
+v 0.00480579 -0.07243567 -0.02140744
+v 0.01368403 -0.07243567 -0.02139495
+v 0.00977282 -0.08341706 -0.02972965
+v 0.00772328 -0.08591402 -0.03062244
+v 0.00755404 -0.08810857 -0.03085968
+v 0.00740343 -0.09202249 -0.03110942
+v 0.00480579 -0.07644462 -0.02187569
+v 0.00480579 -0.07243580 0.01232451
+v 0.02066801 -0.07243567 -0.02134501
+v 0.01221364 -0.08535242 -0.03089713
+v 0.00977282 -0.08537402 -0.03087840
+v 0.00977282 -0.08810856 -0.03170875
+v 0.00977282 -0.09202248 -0.03230187
+v 0.00977282 -0.09593639 -0.03237680
+v 0.00739101 -0.09593640 -0.03113441
+v 0.00480579 -0.09202252 -0.02243139
+v 0.00480579 -0.08027645 -0.02215040
+v 0.00480579 -0.07244015 0.02497321
+v 0.00586938 -0.07243584 0.02497321
+v 0.02066801 -0.07654398 -0.02183823
+v 0.01294185 -0.09202248 -0.03170877
+v 0.01268411 -0.08810856 -0.03136538
+v 0.02066801 -0.07243581 0.01515892
+v 0.01296825 -0.09593639 -0.03175248
+v 0.01285490 -0.09985031 -0.03158394
+v 0.00977282 -0.09985031 -0.03201472
+v 0.00749038 -0.09985032 -0.03094713
+v 0.00480579 -0.09594507 -0.02218792
+v 0.00480579 -0.09220828 -0.02242515
+v 0.00480579 -0.09985917 0.02615932
+v 0.00772173 -0.10152238 0.03062320
+v 0.01006939 -0.10007086 0.03091039
+v 0.01156928 -0.09783310 0.03056078
+v 0.01182702 -0.09783310 0.03056078
+v 0.00977282 -0.07243584 0.02495448
+v 0.02066801 -0.08027645 -0.02209421
+v 0.02066801 -0.08419037 -0.02228152
+v 0.02066801 -0.08807404 -0.02245010
+v 0.01758127 -0.07243584 0.02489205
+v 0.02066801 -0.07244015 0.02487332
+v 0.02066801 -0.09233356 -0.02245636
+v 0.01231612 -0.10376424 -0.03102830
+v 0.02066801 -0.09592779 -0.02212548
+v 0.02066801 -0.10728938 -0.02060219
+v 0.01183324 -0.10584215 -0.03059129
+v 0.01143109 -0.10584215 -0.03059129
+v 0.00998709 -0.10367784 -0.03104079
+v 0.00765651 -0.10231272 -0.03070366
+v 0.00480579 -0.10718571 -0.02040240
+v 0.00774191 -0.10598925 0.03059821
+v 0.00768757 -0.10376446 0.03065440
+v 0.00480579 -0.10363484 0.02574726
+v 0.00977282 -0.10376447 0.03140359
+v 0.01238133 -0.09985054 0.03092911
+v 0.01283161 -0.10376446 0.03125998
+v 0.02066801 -0.09945741 0.02747663
+v 0.02066801 -0.10780347 -0.02024634
+v 0.01204595 -0.10993320 -0.02700771
+v 0.00882879 -0.10492199 -0.02992327
+v 0.01088299 -0.10993320 -0.02700771
+v 0.00985512 -0.10753992 -0.02846861
+v 0.00828069 -0.10924200 -0.02631472
+v 0.00754472 -0.10663273 -0.02738229
+v 0.00480579 -0.10755291 -0.02020263
+v 0.00743914 -0.11038268 0.02742664
+v 0.00977282 -0.10879725 0.03007377
+v 0.00977282 -0.10684030 0.03094158
+v 0.00480579 -0.10376444 0.02572228
+v 0.00480579 -0.10709515 0.02470464
+v 0.00480579 -0.10750555 0.02452358
+v 0.01242947 -0.10694398 0.03100401
+v 0.02066801 -0.09994557 0.02752033
+v 0.02066801 -0.11099596 -0.01697491
+v 0.01240618 -0.11407611 -0.02017768
+v 0.00977282 -0.11290969 -0.02186333
+v 0.00965792 -0.11086633 -0.02494747
+v 0.00779005 -0.11358795 -0.01914755
+v 0.00752454 -0.11017945 -0.02377374
+v 0.00480579 -0.11133292 -0.01703110
+v 0.00977282 -0.11309995 0.02603440
+v 0.00977282 -0.11113868 0.02816958
+v 0.00480579 -0.11096154 0.02107732
+v 0.00480579 -0.11125530 0.02074643
+v 0.00763944 -0.11376091 0.02334983
+v 0.01269187 -0.11089676 0.02792610
+v 0.02066801 -0.10376445 0.02612809
+v 0.02066801 -0.10753147 0.02458601
+v 0.02066801 -0.10703900 0.02490442
+v 0.02066801 -0.11131564 -0.01633187
+v 0.02066801 -0.11259868 -0.01328519
+v 0.01292943 -0.11459451 -0.01716222
+v 0.00977282 -0.11558812 -0.01334763
+v 0.00977282 -0.11481051 -0.01716222
+v 0.00977282 -0.11396811 -0.01995917
+v 0.00480579 -0.11249500 -0.01334762
+v 0.00480579 -0.11158780 -0.01638805
+v 0.00480579 -0.11425760 -0.00514408
+v 0.00977282 -0.11412379 0.02412399
+v 0.01239375 -0.11410651 0.02408029
+v 0.00480579 -0.11253831 0.01716284
+v 0.00732114 -0.11411946 0.02097742
+v 0.00977282 -0.11512169 0.02097742
+v 0.02066801 -0.11131146 0.02051544
+v 0.02066801 -0.11087082 0.02102113
+v 0.02066801 -0.11279740 -0.01228004
+v 0.02066801 -0.11396816 -0.00536884
+v 0.01323065 -0.11500060 -0.01334763
+v 0.00977282 -0.11616269 -0.00953305
+v 0.00480579 -0.11449521 -0.00190387
+v 0.00977282 -0.11581719 0.01716282
+v 0.01280056 -0.11456010 0.02097742
+v 0.02066801 -0.11417989 0.00952117
+v 0.02066801 -0.11332023 0.01334824
+v 0.02066801 -0.11244759 0.01716284
+v 0.00480579 -0.11443478 0.00977090
+v 0.00689881 -0.11453416 0.01716283
+v 0.02066801 -0.11404160 -0.00469457
+v 0.02066801 -0.11432241 -0.00190387
+v 0.00977282 -0.11633120 -0.00571846
+v 0.00480579 -0.11473283 0.00571907
+v 0.00977282 -0.11626215 0.01334823
+v 0.00639108 -0.11478902 0.01334824
+v 0.02066801 -0.11450388 0.00571907
+v 0.00480579 -0.11449957 0.00937133
+v 0.02066801 -0.11444771 0.00190448
+v 0.00977282 -0.11656452 0.00571906
+v 0.00977282 -0.11654726 0.00953365
+v 0.00480579 -0.11468963 0.00651195
+f 1 2 9
+f 1 9 20
+f 1 20 36
+f 1 36 40
+f 1 40 24
+f 1 24 10
+f 1 10 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 18
+f 2 18 17
+f 2 17 30
+f 2 30 29
+f 2 29 50
+f 2 50 65
+f 2 65 80
+f 2 80 97
+f 2 97 96
+f 2 96 98
+f 2 98 110
+f 2 110 121
+f 2 121 129
+f 2 129 125
+f 2 125 116
+f 2 116 101
+f 2 101 84
+f 2 84 83
+f 2 83 71
+f 2 71 70
+f 2 70 69
+f 2 69 53
+f 2 53 31
+f 2 31 19
+f 2 19 9
+f 3 10 4
+f 4 11 12
+f 4 12 5
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 10 24 41
+f 10 41 57
+f 10 57 73
+f 10 73 87
+f 10 87 89
+f 10 89 88
+f 10 88 105
+f 10 105 104
+f 10 104 115
+f 10 115 114
+f 10 114 113
+f 10 113 124
+f 10 124 126
+f 10 126 119
+f 10 119 118
+f 10 118 107
+f 10 107 106
+f 10 106 91
+f 10 91 90
+f 10 90 74
+f 10 74 58
+f 10 58 45
+f 10 45 44
+f 10 44 42
+f 10 42 39
+f 10 39 38
+f 10 38 37
+f 10 37 21
+f 11 23 13
+f 11 13 12
+f 13 23 14
+f 14 23 22
+f 14 22 15
+f 15 22 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 25
+f 24 40 41
+f 25 39 42
+f 25 42 26
+f 26 43 27
+f 26 42 44
+f 26 44 45
+f 26 45 43
+f 27 43 46
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 28
+f 28 49 50
+f 28 50 29
+f 31 51 52
+f 31 52 32
+f 31 53 51
+f 32 52 54
+f 32 54 33
+f 33 54 55
+f 33 55 34
+f 34 55 35
+f 35 55 41
+f 35 41 36
+f 36 41 40
+f 41 55 56
+f 41 56 57
+f 43 45 46
+f 45 58 46
+f 46 59 61
+f 46 61 47
+f 46 58 59
+f 47 60 48
+f 47 61 62
+f 47 62 60
+f 48 60 49
+f 49 60 63
+f 49 63 64
+f 49 64 65
+f 49 65 50
+f 51 66 67
+f 51 67 68
+f 51 68 54
+f 51 54 52
+f 51 53 69
+f 51 69 70
+f 51 70 71
+f 51 71 66
+f 54 56 55
+f 54 68 72
+f 54 72 56
+f 56 72 73
+f 56 73 57
+f 58 74 59
+f 59 74 75
+f 59 75 61
+f 60 62 63
+f 61 75 76
+f 61 76 77
+f 61 77 63
+f 61 63 62
+f 63 77 78
+f 63 78 79
+f 63 79 80
+f 63 80 64
+f 64 80 65
+f 66 81 82
+f 66 82 67
+f 66 71 83
+f 66 83 84
+f 66 84 85
+f 66 85 81
+f 67 82 86
+f 67 86 72
+f 67 72 68
+f 72 87 73
+f 72 86 88
+f 72 88 89
+f 72 89 87
+f 74 90 75
+f 75 90 91
+f 75 91 92
+f 75 92 93
+f 75 93 94
+f 75 94 95
+f 75 95 76
+f 76 95 78
+f 76 78 77
+f 78 96 97
+f 78 97 80
+f 78 80 79
+f 78 95 94
+f 78 94 93
+f 78 93 98
+f 78 98 96
+f 81 99 100
+f 81 100 86
+f 81 86 82
+f 81 85 99
+f 84 101 85
+f 85 101 102
+f 85 102 103
+f 85 103 99
+f 86 100 104
+f 86 104 105
+f 86 105 88
+f 91 106 92
+f 92 106 107
+f 92 107 108
+f 92 108 109
+f 92 109 93
+f 93 109 98
+f 98 109 110
+f 99 103 100
+f 100 103 111
+f 100 111 112
+f 100 112 113
+f 100 113 114
+f 100 114 115
+f 100 115 104
+f 101 116 102
+f 102 117 111
+f 102 111 103
+f 102 116 117
+f 107 118 108
+f 108 118 119
+f 108 119 109
+f 109 119 120
+f 109 120 110
+f 110 120 121
+f 111 122 113
+f 111 113 112
+f 111 117 123
+f 111 123 122
+f 113 122 124
+f 116 125 117
+f 117 125 123
+f 119 126 120
+f 120 126 127
+f 120 127 121
+f 121 127 128
+f 121 128 129
+f 122 128 124
+f 122 123 125
+f 122 125 128
+f 124 128 127
+f 124 127 126
+f 125 129 128
+

dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:223867ddda965de3d24daf1c94f02119179bca389c752d4397d6efd082614fc0
+size 288844