Add asset livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f

.gitattributes

@@ -4954,5 +4954,7 @@ dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/cand
 dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/780767d373a153589d65c9ba262cb39e/houseplant_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/780767d373a153589d65c9ba262cb39e/mesh/houseplant_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/709ce227e8045d39a8c4541403ff906f/houseplant_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/709ce227e8045d39a8c4541403ff906f/mesh/houseplant_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.usd filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_018_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd photo_frame_018_geometry_Looks_material_0.png

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3ac93fe36e527690bfd39f7f7bae45282f9fea08c19001c293e058f960b39d
+size 30004688

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.mtl

@@ -0,0 +1,6 @@
+newmtl photo_frame_018_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f9ed894e776fa1bd4a4d59317dbcfb323c91466f49fa2075f9ff94378ad2d08
+size 39119881

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ce45a3341766e340c6d43abdb96dafc12bc79086fe27096a846119009b6d9cd
+size 37485543

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_0.obj

@@ -0,0 +1,1351 @@
+# https://github.com/mikedh/trimesh
+v -0.09601795 0.06971092 -0.11958559
+v -0.00722398 0.06486573 -0.11893972
+v -0.05653896 0.06487829 -0.11893972
+v -0.09601795 0.06489083 -0.11892914
+v -0.10094719 0.06509795 -0.11869619
+v -0.10432339 0.06595150 -0.11819853
+v -0.10139735 0.07017536 -0.11874912
+v -0.10006938 0.07318790 -0.11809263
+v -0.09601795 0.07369627 -0.11831498
+v 0.09635772 0.06971092 -0.11957499
+v 0.00756376 0.06486573 -0.11893972
+v -0.00722398 0.06241802 -0.11758443
+v -0.06641996 0.06242430 -0.11757385
+v -0.09108870 0.06488456 -0.11892914
+v -0.10094719 0.06264396 -0.11740443
+v -0.09108870 0.06243058 -0.11756325
+v -0.09601795 0.06243685 -0.11755267
+v -0.10432339 0.06884480 -0.11819852
+v -0.10594397 0.06451426 -0.11668442
+v -0.10952273 0.06170881 -0.11350794
+v -0.11031051 0.06480923 -0.11417499
+v -0.10335555 0.07211468 -0.11763735
+v -0.10139735 0.07473811 -0.11703380
+v -0.10094719 0.07951426 -0.11500083
+v -0.10094719 0.08319836 -0.11329610
+v -0.09601795 0.08403309 -0.11368786
+v -0.09601795 0.07951427 -0.11577378
+v -0.09601795 0.07615025 -0.11726673
+v 0.09635772 0.07368372 -0.11830440
+v 0.10022910 0.07317535 -0.11809263
+v 0.10164710 0.07006239 -0.11869617
+v 0.10452811 0.06607074 -0.11811383
+v 0.10128697 0.06517954 -0.11863267
+v 0.09635772 0.06487829 -0.11892914
+v 0.08156998 0.06487201 -0.11892914
+v 0.05690124 0.06241802 -0.11758443
+v -0.08120771 0.06130713 -0.11509618
+v 0.03716175 0.06130086 -0.11510677
+v -0.09601795 0.06130713 -0.11508560
+v -0.10094719 0.06131341 -0.11493737
+v -0.10587645 0.06135106 -0.11435500
+v -0.10983784 0.06971090 -0.11387850
+v -0.10594397 0.07017535 -0.11659970
+v -0.10587645 0.05923598 -0.11023617
+v -0.10959026 0.05696399 -0.10394672
+v -0.11103077 0.06072972 -0.11039499
+v -0.11373173 0.06170251 -0.10884909
+v -0.11278639 0.06480922 -0.11208910
+v -0.10358063 0.08223182 -0.11283022
+v -0.10610153 0.07465024 -0.11447144
+v -0.10094719 0.08565232 -0.11189844
+v -0.09601795 0.08648078 -0.11237490
+v 0.09635772 0.08402681 -0.11368786
+v 0.09635772 0.07951427 -0.11575260
+v 0.09635772 0.07613770 -0.11725615
+v 0.10128697 0.08307911 -0.11324315
+v 0.10128697 0.07951426 -0.11489495
+v 0.10164710 0.07473184 -0.11694910
+v 0.10351525 0.07192640 -0.11757382
+v 0.10452811 0.06866280 -0.11811382
+v 0.11051523 0.06480923 -0.11405852
+v 0.10977248 0.06174018 -0.11344441
+v 0.10619371 0.06458330 -0.11656795
+v 0.10128697 0.06272556 -0.11737267
+v 0.09635772 0.06242430 -0.11757385
+v 0.08156998 0.06130086 -0.11510677
+v -0.09601795 0.05919205 -0.11023617
+v 0.05690124 0.05917949 -0.11023617
+v -0.10094719 0.05919832 -0.11023617
+v -0.10587645 0.05779246 -0.10698556
+v -0.10889251 0.07303727 -0.11312672
+v -0.11231373 0.06971089 -0.11172907
+v -0.11319154 0.07686570 -0.10762079
+v -0.10587645 0.05671923 -0.10451850
+v -0.10887000 0.05234471 -0.09345375
+v -0.11287643 0.05781128 -0.10212554
+v -0.11105328 0.05838869 -0.10548203
+v -0.11350665 0.05715226 -0.09882199
+v -0.11402433 0.06090543 -0.10529144
+v -0.11487964 0.06480920 -0.10529142
+v -0.11406935 0.06480921 -0.10961144
+v -0.11402433 0.06971088 -0.10926200
+v -0.10558384 0.08414604 -0.11005608
+v -0.10432339 0.08733433 -0.10854194
+v -0.10787966 0.07630713 -0.11235376
+v -0.10688931 0.07951425 -0.11158081
+v -0.10898254 0.08279667 -0.10826666
+v -0.10094719 0.08774227 -0.10942077
+v -0.09601795 0.08789918 -0.10989724
+v 0.09635772 0.08790545 -0.10989724
+v 0.09635772 0.08647450 -0.11236432
+v 0.10128697 0.08553307 -0.11179256
+v 0.10383038 0.08208119 -0.11276669
+v 0.10464065 0.07951426 -0.11337023
+v 0.10639628 0.07457492 -0.11434438
+v 0.10619371 0.07006238 -0.11647263
+v 0.11006508 0.06971090 -0.11376203
+v 0.11299111 0.06480922 -0.11188792
+v 0.11402648 0.06174644 -0.10873262
+v 0.11132553 0.06077993 -0.11032088
+v 0.10990753 0.05697027 -0.10393614
+v 0.10621621 0.05925481 -0.11023617
+v 0.10621621 0.06136989 -0.11425970
+v 0.10128697 0.06130713 -0.11490559
+v 0.09635772 0.06130086 -0.11509618
+v 0.09142848 0.05917949 -0.11023617
+v 0.00263451 0.05671295 -0.10452908
+v -0.10999540 0.07951424 -0.10911373
+v -0.11366421 0.07359582 -0.10837258
+v -0.11393430 0.07951422 -0.10435960
+v -0.11359668 0.08248283 -0.10336428
+v -0.11244877 0.07951423 -0.10683725
+v -0.07627845 0.05494306 -0.10034671
+v -0.10094719 0.05494934 -0.10034671
+v -0.10587645 0.05495562 -0.10034671
+v 0.07168898 0.05492423 -0.10034671
+v -0.10877997 0.04247222 -0.06889951
+v -0.10587645 0.05323593 -0.09621728
+v -0.10587645 0.04327558 -0.07185365
+v -0.10756455 0.03792825 -0.05813124
+v -0.10855489 0.03276920 -0.04395352
+v -0.11337160 0.05238233 -0.08386075
+v -0.11368671 0.05669409 -0.09540197
+v -0.10900505 0.03224827 -0.04099939
+v -0.10945521 0.03139469 -0.03605466
+v -0.11431694 0.05990748 -0.09540196
+v -0.11478961 0.06480918 -0.10034667
+v -0.11481210 0.06971085 -0.10034665
+v -0.11481210 0.07461253 -0.10034664
+v -0.11485713 0.06971087 -0.10529140
+v -0.11418189 0.07498284 -0.10570431
+v -0.10094719 0.08802469 -0.10529134
+v -0.10760955 0.08606653 -0.10642428
+v -0.10853238 0.08695146 -0.10313132
+v -0.10592145 0.08732804 -0.10498427
+v -0.09601795 0.08811883 -0.10529134
+v 0.09635772 0.08808117 -0.10529134
+v 0.10128697 0.08792427 -0.10529134
+v 0.10128697 0.08768579 -0.10931488
+v 0.10455062 0.08726528 -0.10841488
+v 0.10583358 0.08402679 -0.10996078
+v 0.10925478 0.08269624 -0.10821372
+v 0.10711653 0.07951425 -0.11150669
+v 0.10815190 0.07618788 -0.11230082
+v 0.10914224 0.07291802 -0.11306319
+v 0.11130301 0.07479457 -0.11029965
+v 0.11251844 0.06971089 -0.11155966
+v 0.11427407 0.06971088 -0.10908201
+v 0.11431908 0.06480921 -0.10942085
+v 0.11501683 0.06480920 -0.10529142
+v 0.11427407 0.06098702 -0.10529144
+v 0.11380140 0.05718992 -0.09872669
+v 0.11319368 0.05786775 -0.10203025
+v 0.11139304 0.05845773 -0.10547144
+v 0.10918727 0.05234471 -0.09345375
+v 0.10621621 0.05779246 -0.10698556
+v 0.10128697 0.05919205 -0.11023617
+v 0.10128697 0.05671923 -0.10451850
+v 0.09142848 0.05671295 -0.10452908
+v -0.11445199 0.07951421 -0.10034662
+v -0.11368671 0.08259580 -0.10034661
+v -0.10094719 0.05322965 -0.09623846
+v 0.07168898 0.05321710 -0.09627022
+v 0.08649922 0.05493051 -0.10034671
+v 0.07661822 0.05321710 -0.09627022
+v -0.10094719 0.04065213 -0.06572304
+v -0.10094719 0.03874416 -0.06105361
+v -0.10427838 0.03778390 -0.05848065
+v -0.10587645 0.04080276 -0.06572304
+v -0.10409831 0.02789887 -0.03394761
+v -0.10742950 0.02850137 -0.03109936
+v -0.10580891 0.02907252 -0.03577937
+v -0.11078318 0.03539888 -0.03605465
+v -0.11337160 0.05229446 -0.08055720
+v -0.10941019 0.03094907 -0.03109935
+v -0.11332659 0.05238230 -0.07732777
+v -0.11451951 0.06480916 -0.09540194
+v -0.11418189 0.05990746 -0.09045723
+v -0.11123334 0.04030057 -0.04099936
+v -0.11069315 0.04030053 -0.03109931
+v -0.11454202 0.07461251 -0.09540191
+v -0.10853238 0.08695146 -0.10254896
+v -0.10587645 0.08708953 -0.10226307
+v -0.10094719 0.08715229 -0.10219955
+v 0.10128697 0.08710836 -0.10229485
+v 0.10621621 0.08702678 -0.10245367
+v 0.10873711 0.08689497 -0.10273956
+v 0.10873711 0.08689497 -0.10290896
+v 0.10619371 0.08722762 -0.10485721
+v 0.10783679 0.08596611 -0.10621251
+v 0.11022264 0.07951424 -0.10902903
+v 0.11389143 0.08238869 -0.10327957
+v 0.11269851 0.07951423 -0.10665725
+v 0.11346378 0.07666485 -0.10748315
+v 0.11395897 0.07340126 -0.10828787
+v 0.11418404 0.07951422 -0.10419017
+v 0.11440912 0.07486360 -0.10561962
+v 0.11499432 0.06971087 -0.10529140
+v 0.11398146 0.05678823 -0.09540197
+v 0.11492680 0.07461253 -0.10034664
+v 0.11492680 0.06971085 -0.10034665
+v 0.11490429 0.06480918 -0.10034667
+v 0.11362135 0.05252667 -0.07796307
+v 0.11366635 0.05245136 -0.08055720
+v 0.11368886 0.05244509 -0.08358545
+v 0.10972746 0.03146373 -0.03605466
+v 0.10929981 0.03228593 -0.04099939
+v 0.10887216 0.03278803 -0.04392176
+v 0.10911975 0.04247222 -0.06889951
+v 0.10797184 0.03792825 -0.05814183
+v 0.10621621 0.04078393 -0.06572304
+v 0.10621621 0.04226511 -0.06938658
+v 0.10621621 0.04326931 -0.07186424
+v 0.10621621 0.04480071 -0.07561249
+v 0.10621621 0.05222546 -0.09375022
+v 0.10621621 0.05323593 -0.09621728
+v 0.10621621 0.05495562 -0.10034671
+v 0.10621621 0.05672550 -0.10450791
+v 0.10128697 0.05493679 -0.10034671
+v -0.11411437 0.07461249 -0.09045718
+v -0.11364170 0.07788864 -0.09045716
+v -0.11391179 0.07958322 -0.09546543
+v -0.11350665 0.08228825 -0.09715954
+v -0.09108870 0.04220236 -0.06952422
+v 0.07168898 0.05220035 -0.09380316
+v 0.09635772 0.05322338 -0.09625964
+v 0.10128697 0.04220236 -0.06953481
+v -0.09601795 0.04064585 -0.06572304
+v -0.10094719 0.03226084 -0.04513941
+v -0.08613695 0.04063958 -0.06572304
+v -0.09601795 0.03226084 -0.04515001
+v -0.10094719 0.03057881 -0.04099940
+v -0.10094719 0.02781729 -0.03414878
+v -0.10094719 0.02666873 -0.03109936
+v -0.10497613 0.02740932 -0.03109936
+v -0.10893752 0.03160805 -0.02766873
+v -0.10472854 0.02723985 -0.02615462
+v -0.11058061 0.03539886 -0.03109933
+v -0.11069315 0.04520221 -0.03109929
+v -0.10999540 0.04520220 -0.02615455
+v -0.11334909 0.06816055 -0.07709476
+v -0.10927514 0.08237610 -0.09205598
+v -0.10587645 0.08612299 -0.09978542
+v -0.11087321 0.08310414 -0.09546541
+v 0.10621621 0.08408950 -0.09540187
+v 0.10621621 0.08605396 -0.09998660
+v -0.10587645 0.08424013 -0.09540187
+v 0.10947986 0.08231962 -0.09217245
+v 0.11114547 0.08298490 -0.09560306
+v 0.11377889 0.08218156 -0.09739248
+v 0.11393645 0.08244517 -0.10034661
+v 0.11458918 0.07951421 -0.10034662
+v 0.11465670 0.07461251 -0.09540191
+v 0.11465670 0.06480916 -0.09540194
+v 0.11364384 0.05501202 -0.07793129
+v 0.11292359 0.05011029 -0.06572301
+v 0.11092039 0.04030053 -0.03109931
+v 0.11146058 0.04030057 -0.04099936
+v 0.11166314 0.04030059 -0.04594410
+v 0.11096539 0.03539888 -0.03605465
+v 0.11069531 0.03539890 -0.04099938
+v 0.10968245 0.03110597 -0.03109935
+v 0.10765673 0.02865827 -0.03109935
+v 0.10612618 0.02912273 -0.03578996
+v 0.10441557 0.02789259 -0.03396878
+v 0.10468567 0.03777135 -0.05851241
+v 0.10128697 0.03873161 -0.06107478
+v 0.10128697 0.04063330 -0.06572304
+v 0.10128697 0.05322338 -0.09624905
+v -0.11343913 0.07267940 -0.08176418
+v -0.11339411 0.07724218 -0.08760891
+v -0.10887000 0.05318549 -0.03231691
+v -0.10900505 0.05812485 -0.04202637
+v -0.10909508 0.06303912 -0.05193699
+v -0.10914011 0.06788435 -0.06190056
+v -0.10920762 0.07273585 -0.07193824
+v -0.10927514 0.07756225 -0.08197594
+v 0.06675973 0.04220236 -0.06953481
+v 0.07168898 0.04063330 -0.06572304
+v -0.03187022 0.03326503 -0.04763825
+v -0.07627845 0.03226084 -0.04516059
+v 0.03716175 0.03225457 -0.04517119
+v -0.07134921 0.03056626 -0.04099940
+v -0.07134921 0.02779846 -0.03418055
+v -0.09601795 0.02656203 -0.03109936
+v -0.09601795 0.02468545 -0.02615463
+v -0.10094719 0.02560177 -0.02615463
+v -0.10916260 0.03583190 -0.02608047
+v -0.10709188 0.03018337 -0.02608049
+v -0.10778963 0.03448252 -0.02437576
+v -0.10837482 0.03775240 -0.02364515
+v -0.09601795 0.02459129 -0.02120989
+v -0.10072211 0.02666870 -0.02145341
+v -0.10378320 0.02767289 -0.02327460
+v -0.10979283 0.04030052 -0.02615457
+v -0.11073816 0.05011018 -0.03605460
+v -0.11321405 0.07143044 -0.07847123
+v -0.10889251 0.04520218 -0.02285100
+v -0.10866743 0.04807039 -0.02322158
+v -0.10911759 0.04898672 -0.02615454
+v -0.10731696 0.06222949 -0.04863344
+v -0.10587645 0.06709982 -0.05862878
+v -0.10587645 0.07778192 -0.08149946
+v -0.10587645 0.07964595 -0.08550183
+v -0.10587645 0.08253301 -0.09170656
+v 0.10621621 0.08245769 -0.09188656
+v -0.10184751 0.06241777 -0.04829462
+v 0.10621621 0.06697430 -0.05889348
+v 0.10621621 0.06335293 -0.05124875
+v 0.10950238 0.07750577 -0.08211359
+v 0.11366635 0.07713549 -0.08782068
+v 0.11411651 0.07947653 -0.09560307
+v 0.10945737 0.07266681 -0.07208648
+v 0.10941235 0.06781531 -0.06204879
+v 0.10936732 0.06297009 -0.05208523
+v 0.10927730 0.05803700 -0.04224872
+v 0.10914224 0.05307879 -0.03251810
+v 0.11386892 0.07768153 -0.09045716
+v 0.11373389 0.07247857 -0.08219831
+v 0.11425156 0.07461249 -0.09045718
+v 0.11375638 0.06926518 -0.08055714
+v 0.11092039 0.04520221 -0.03109929
+v 0.11294611 0.05990737 -0.06572297
+v 0.11294611 0.05501197 -0.06572299
+v 0.11020013 0.04520220 -0.02615455
+v 0.11078534 0.03539886 -0.03109933
+v 0.11121299 0.04520223 -0.03605461
+v 0.10925478 0.03175240 -0.02772167
+v 0.10493326 0.02731516 -0.02615462
+v 0.10520335 0.02742187 -0.03109936
+v 0.10128697 0.02666245 -0.03109936
+v 0.10128697 0.02780473 -0.03418055
+v 0.10128697 0.03055999 -0.04099940
+v 0.10128697 0.03225457 -0.04517119
+v 0.09635772 0.03055371 -0.04099940
+v 0.07661822 0.03055371 -0.04099940
+v -0.10765458 0.05228171 -0.02902396
+v -0.10772209 0.05732777 -0.03873341
+v 0.07661822 0.02779218 -0.03420173
+v 0.09142848 0.02653065 -0.03109936
+v -0.07134921 0.02655576 -0.03109936
+v -0.09108870 0.02461014 -0.02615463
+v -0.09108870 0.02402644 -0.02120989
+v -0.10868995 0.04030051 -0.02316867
+v -0.10450346 0.03049715 -0.02250165
+v -0.10569638 0.03593230 -0.02143221
+v -0.10360314 0.03738208 -0.01854159
+v -0.10659669 0.04030050 -0.02070160
+v -0.09601795 0.02670007 -0.01772634
+v -0.09894398 0.02747204 -0.01834046
+v -0.09108870 0.02622307 -0.01731339
+v -0.10218513 0.03049714 -0.02003457
+v -0.10412082 0.04030049 -0.01802276
+v -0.10652918 0.04520217 -0.02038393
+v -0.10405330 0.04520217 -0.01812862
+v -0.10349060 0.04770008 -0.01868979
+v -0.10542629 0.04857247 -0.02142157
+v -0.10436841 0.05278379 -0.02816630
+v -0.10443593 0.05759765 -0.03822517
+v -0.10403079 0.06241777 -0.04829462
+v -0.10576391 0.06329017 -0.05052875
+v 0.10385287 0.05746585 -0.03850046
+v -0.10094719 0.05284656 -0.02802866
+v 0.10425803 0.05266455 -0.02840983
+v 0.10713904 0.05718970 -0.03894517
+v 0.11094288 0.05011018 -0.03605460
+v 0.10938984 0.04881099 -0.02615454
+v 0.10754419 0.05214991 -0.02922514
+v 0.10893968 0.04796998 -0.02331688
+v 0.10918727 0.04520218 -0.02295688
+v 0.11004256 0.04030052 -0.02615457
+v 0.10943486 0.03587584 -0.02611224
+v 0.10869209 0.03782771 -0.02367692
+v 0.10808438 0.03455784 -0.02442870
+v 0.10477570 0.03049715 -0.02258635
+v 0.10405546 0.02774821 -0.02334872
+v 0.10103937 0.02676284 -0.02150636
+v 0.09635772 0.02464150 -0.02120989
+v 0.10128697 0.02568336 -0.02615463
+v 0.09635772 0.02467290 -0.02615463
+v 0.09635772 0.02653065 -0.03109936
+v -0.10596648 0.05132145 -0.02636630
+v 0.09142848 0.02457876 -0.02615463
+v 0.09142848 0.02400133 -0.02120989
+v -0.10295041 0.03411221 -0.01922984
+v -0.09869639 0.03738206 -0.01359686
+v -0.09108870 0.03028373 -0.01483572
+v -0.09376715 0.03280047 -0.01372394
+v -0.09565782 0.03089881 -0.01526984
+v -0.09707583 0.03411846 -0.01430628
+v -0.09970925 0.03049713 -0.01758868
+v 0.08649922 0.02621680 -0.01730280
+v -0.10150989 0.04030048 -0.01554510
+v -0.09901152 0.04326910 -0.01341684
+v -0.09601795 0.04377119 -0.01292978
+v -0.10094719 0.04783188 -0.01845685
+v -0.10094719 0.04938837 -0.02120980
+v -0.10094719 0.05166036 -0.02556158
+v 0.10128697 0.05147208 -0.02596394
+v 0.09986897 0.04773774 -0.01859450
+v 0.10142202 0.04879842 -0.02076509
+v 0.10315514 0.04753062 -0.01881686
+v 0.10603615 0.05111434 -0.02651453
+v 0.10603615 0.05346163 -0.03096161
+v 0.10621621 0.04860386 -0.02222628
+v 0.09926125 0.04316868 -0.01348037
+v 0.10448310 0.04426075 -0.01803334
+v 0.10441557 0.04030049 -0.01808629
+v 0.10689145 0.04030050 -0.02075454
+v 0.10898470 0.04030051 -0.02323220
+v 0.10392041 0.03744485 -0.01857336
+v 0.10601364 0.03600134 -0.02146397
+v 0.10326768 0.03418125 -0.01926161
+v 0.10245739 0.03049714 -0.02010869
+v 0.09923874 0.02753480 -0.01838281
+v 0.09635772 0.02674400 -0.01775810
+v 0.09142848 0.02621680 -0.01730280
+v -0.09565782 0.03561219 -0.01315216
+v -0.09601795 0.04030046 -0.01217802
+v -0.09905652 0.04030047 -0.01336390
+v -0.09108870 0.03273771 -0.01369217
+v 0.07168898 0.03027746 -0.01483572
+v 0.06675973 0.03273143 -0.01369217
+v -0.09108870 0.03539880 -0.01247451
+v -0.09601795 0.04622518 -0.01583096
+v -0.09108870 0.04030046 -0.01142625
+v -0.09108870 0.04400341 -0.01263330
+v -0.09601795 0.04789464 -0.01830861
+v 0.09165356 0.04657036 -0.01674155
+v 0.09142848 0.04387788 -0.01269684
+v 0.09635772 0.04363311 -0.01301448
+v -0.09108870 0.04645112 -0.01594743
+v 0.09635772 0.04030047 -0.01230508
+v 0.09928376 0.04030047 -0.01344861
+v 0.10175964 0.04030048 -0.01560863
+v 0.09899116 0.03748248 -0.01363921
+v 0.10000402 0.03049713 -0.01765221
+v 0.09739309 0.03421261 -0.01434864
+v 0.09599759 0.03090508 -0.01531219
+v 0.09410693 0.03280675 -0.01372394
+v 0.09142848 0.03028373 -0.01483572
+v 0.07661822 0.03027746 -0.01483572
+v -0.07627845 0.03539880 -0.01246392
+v 0.07661822 0.03273143 -0.01369217
+v -0.08613695 0.04030046 -0.01142625
+v 0.08649922 0.04030046 -0.01147919
+v 0.09142848 0.04030046 -0.01148978
+v 0.09599759 0.03566867 -0.01318393
+v 0.09142848 0.03539880 -0.01248510
+v 0.09142848 0.03273771 -0.01369217
+v 0.08649922 0.03539880 -0.01246392
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 3
+f 2 11 36
+f 2 36 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 15 5
+f 4 14 16
+f 4 16 17
+f 4 17 15
+f 5 15 6
+f 6 18 7
+f 6 15 19
+f 6 19 20
+f 6 20 21
+f 6 21 18
+f 7 18 22
+f 7 22 8
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 9
+f 9 28 55
+f 9 55 29
+f 9 29 10
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 34
+f 10 34 11
+f 11 34 35
+f 11 35 36
+f 12 37 13
+f 12 36 66
+f 12 66 38
+f 12 38 37
+f 13 37 39
+f 13 39 16
+f 13 16 14
+f 15 17 40
+f 15 40 41
+f 15 41 20
+f 15 20 19
+f 16 39 17
+f 17 39 40
+f 18 21 42
+f 18 42 43
+f 18 43 22
+f 20 41 44
+f 20 44 45
+f 20 45 46
+f 20 46 47
+f 20 47 48
+f 20 48 21
+f 21 48 42
+f 22 49 25
+f 22 25 24
+f 22 24 23
+f 22 43 50
+f 22 50 49
+f 25 49 51
+f 25 51 52
+f 25 52 26
+f 26 52 53
+f 26 53 27
+f 27 53 54
+f 27 54 55
+f 27 55 28
+f 29 55 30
+f 30 56 57
+f 30 57 58
+f 30 58 59
+f 30 59 31
+f 30 55 54
+f 30 54 53
+f 30 53 56
+f 31 59 60
+f 31 60 32
+f 32 60 61
+f 32 61 62
+f 32 62 63
+f 32 63 64
+f 32 64 33
+f 33 64 34
+f 34 64 65
+f 34 65 36
+f 34 36 35
+f 36 65 66
+f 37 67 39
+f 37 38 67
+f 38 66 106
+f 38 106 68
+f 38 68 67
+f 39 67 69
+f 39 69 70
+f 39 70 44
+f 39 44 40
+f 40 44 41
+f 42 71 43
+f 42 48 72
+f 42 72 73
+f 42 73 71
+f 43 71 50
+f 44 70 45
+f 45 70 74
+f 45 74 75
+f 45 75 76
+f 45 76 77
+f 45 77 46
+f 46 77 76
+f 46 76 47
+f 47 78 79
+f 47 79 80
+f 47 80 81
+f 47 81 48
+f 47 76 78
+f 48 81 82
+f 48 82 72
+f 49 83 84
+f 49 84 51
+f 49 50 71
+f 49 71 85
+f 49 85 86
+f 49 86 87
+f 49 87 83
+f 51 84 88
+f 51 88 52
+f 52 88 89
+f 52 89 90
+f 52 90 91
+f 52 91 53
+f 53 91 56
+f 56 91 92
+f 56 92 93
+f 56 93 57
+f 57 93 59
+f 57 59 58
+f 59 93 94
+f 59 94 95
+f 59 95 96
+f 59 96 60
+f 60 96 97
+f 60 97 61
+f 61 97 98
+f 61 98 62
+f 62 98 99
+f 62 99 100
+f 62 100 101
+f 62 101 102
+f 62 102 103
+f 62 103 64
+f 62 64 63
+f 64 103 104
+f 64 104 65
+f 65 104 102
+f 65 102 105
+f 65 105 66
+f 66 105 106
+f 67 74 69
+f 67 68 107
+f 67 107 74
+f 68 106 159
+f 68 159 107
+f 69 74 70
+f 71 73 108
+f 71 108 85
+f 72 82 109
+f 72 109 73
+f 73 109 110
+f 73 110 111
+f 73 111 112
+f 73 112 87
+f 73 87 108
+f 74 113 114
+f 74 114 115
+f 74 115 75
+f 74 107 116
+f 74 116 113
+f 75 117 76
+f 75 115 118
+f 75 118 119
+f 75 119 120
+f 75 120 117
+f 76 117 121
+f 76 121 78
+f 78 122 123
+f 78 123 79
+f 78 121 124
+f 78 124 125
+f 78 125 122
+f 79 123 80
+f 80 126 127
+f 80 127 128
+f 80 128 129
+f 80 129 130
+f 80 130 81
+f 80 123 122
+f 80 122 126
+f 81 130 82
+f 82 130 131
+f 82 131 110
+f 82 110 109
+f 83 87 84
+f 84 132 88
+f 84 87 133
+f 84 133 134
+f 84 134 135
+f 84 135 132
+f 85 108 86
+f 86 108 87
+f 87 112 111
+f 87 111 133
+f 88 132 89
+f 89 132 136
+f 89 136 90
+f 90 137 138
+f 90 138 139
+f 90 139 91
+f 90 136 137
+f 91 139 92
+f 92 139 140
+f 92 140 93
+f 93 140 141
+f 93 141 142
+f 93 142 143
+f 93 143 144
+f 93 144 94
+f 94 144 95
+f 95 144 145
+f 95 145 96
+f 96 145 97
+f 97 145 146
+f 97 146 147
+f 97 147 98
+f 98 147 148
+f 98 148 149
+f 98 149 99
+f 99 149 150
+f 99 150 151
+f 99 151 152
+f 99 152 153
+f 99 153 100
+f 100 153 154
+f 100 154 101
+f 101 155 156
+f 101 156 102
+f 101 154 153
+f 101 153 155
+f 102 156 105
+f 102 104 103
+f 105 156 157
+f 105 157 106
+f 106 157 156
+f 106 156 158
+f 106 158 159
+f 107 159 116
+f 110 131 130
+f 110 130 160
+f 110 160 111
+f 111 160 161
+f 111 161 134
+f 111 134 133
+f 113 162 114
+f 113 116 163
+f 113 163 162
+f 114 162 115
+f 115 162 118
+f 116 159 164
+f 116 164 165
+f 116 165 163
+f 117 120 121
+f 118 162 166
+f 118 166 119
+f 119 166 167
+f 119 167 168
+f 119 168 169
+f 119 169 120
+f 120 169 170
+f 120 170 121
+f 121 171 124
+f 121 170 172
+f 121 172 171
+f 122 173 174
+f 122 174 126
+f 122 125 173
+f 124 171 125
+f 125 171 175
+f 125 175 173
+f 126 174 176
+f 126 176 127
+f 127 177 128
+f 127 176 178
+f 127 178 179
+f 127 179 180
+f 127 180 177
+f 128 177 181
+f 128 181 129
+f 129 181 160
+f 129 160 130
+f 132 135 182
+f 132 182 183
+f 132 183 136
+f 134 182 135
+f 134 161 182
+f 136 183 184
+f 136 184 137
+f 137 185 186
+f 137 186 138
+f 137 184 185
+f 138 140 139
+f 138 186 187
+f 138 187 188
+f 138 188 189
+f 138 189 140
+f 140 189 188
+f 140 188 190
+f 140 190 142
+f 140 142 141
+f 142 191 143
+f 142 190 192
+f 142 192 193
+f 142 193 191
+f 143 191 144
+f 144 191 145
+f 145 191 146
+f 146 194 147
+f 146 191 194
+f 147 194 195
+f 147 195 148
+f 148 195 196
+f 148 196 197
+f 148 197 198
+f 148 198 149
+f 149 198 150
+f 150 199 151
+f 150 198 200
+f 150 200 201
+f 150 201 202
+f 150 202 203
+f 150 203 204
+f 150 204 205
+f 150 205 199
+f 151 199 152
+f 152 199 205
+f 152 205 206
+f 152 206 207
+f 152 207 208
+f 152 208 153
+f 153 208 209
+f 153 209 155
+f 155 209 210
+f 155 210 211
+f 155 211 212
+f 155 212 213
+f 155 213 214
+f 155 214 215
+f 155 215 216
+f 155 216 217
+f 155 217 218
+f 155 218 156
+f 156 218 158
+f 158 218 219
+f 158 219 159
+f 159 219 164
+f 160 181 220
+f 160 220 221
+f 160 221 222
+f 160 222 223
+f 160 223 161
+f 161 223 182
+f 162 224 166
+f 162 163 224
+f 163 165 225
+f 163 225 224
+f 164 219 165
+f 165 219 226
+f 165 226 227
+f 165 227 225
+f 166 224 228
+f 166 228 167
+f 167 229 168
+f 167 228 230
+f 167 230 231
+f 167 231 229
+f 168 229 232
+f 168 232 233
+f 168 233 170
+f 168 170 169
+f 170 233 234
+f 170 234 235
+f 170 235 172
+f 171 236 175
+f 171 172 235
+f 171 235 237
+f 171 237 236
+f 173 179 176
+f 173 176 174
+f 173 175 238
+f 173 238 179
+f 175 236 238
+f 176 179 178
+f 177 180 181
+f 179 238 180
+f 180 239 181
+f 180 238 240
+f 180 240 239
+f 181 241 220
+f 181 239 241
+f 182 242 243
+f 182 243 183
+f 182 223 244
+f 182 244 242
+f 183 243 184
+f 184 243 185
+f 185 245 246
+f 185 246 186
+f 185 243 247
+f 185 247 245
+f 186 246 187
+f 187 246 248
+f 187 248 249
+f 187 249 250
+f 187 250 251
+f 187 251 188
+f 188 251 192
+f 188 192 190
+f 191 193 194
+f 192 251 252
+f 192 252 196
+f 192 196 195
+f 192 195 194
+f 192 194 193
+f 196 252 198
+f 196 198 197
+f 198 252 200
+f 200 252 253
+f 200 253 254
+f 200 254 201
+f 201 254 202
+f 202 254 203
+f 203 254 255
+f 203 255 256
+f 203 256 257
+f 203 257 258
+f 203 258 259
+f 203 259 260
+f 203 260 204
+f 204 260 205
+f 205 260 261
+f 205 261 206
+f 206 261 260
+f 206 260 262
+f 206 262 263
+f 206 263 207
+f 207 263 208
+f 208 210 209
+f 208 263 264
+f 208 264 265
+f 208 265 210
+f 210 265 211
+f 211 265 266
+f 211 266 212
+f 212 266 213
+f 213 266 214
+f 214 266 267
+f 214 267 268
+f 214 268 215
+f 215 268 216
+f 216 268 227
+f 216 227 269
+f 216 269 217
+f 217 269 219
+f 217 219 218
+f 219 269 226
+f 220 241 270
+f 220 270 221
+f 221 270 271
+f 221 271 223
+f 221 223 222
+f 223 271 272
+f 223 272 273
+f 223 273 274
+f 223 274 275
+f 223 275 276
+f 223 276 277
+f 223 277 244
+f 224 230 228
+f 224 225 278
+f 224 278 279
+f 224 279 230
+f 225 227 278
+f 226 269 227
+f 227 268 279
+f 227 279 278
+f 229 231 232
+f 230 280 281
+f 230 281 231
+f 230 279 267
+f 230 267 282
+f 230 282 280
+f 231 281 283
+f 231 283 284
+f 231 284 232
+f 232 284 285
+f 232 285 233
+f 233 285 286
+f 233 286 234
+f 234 286 235
+f 235 286 287
+f 235 287 237
+f 236 288 238
+f 236 237 289
+f 236 289 290
+f 236 290 291
+f 236 291 288
+f 237 287 292
+f 237 292 293
+f 237 293 294
+f 237 294 289
+f 238 288 295
+f 238 295 240
+f 239 296 297
+f 239 297 270
+f 239 270 241
+f 239 240 296
+f 240 295 298
+f 240 298 299
+f 240 299 300
+f 240 300 296
+f 242 277 301
+f 242 301 302
+f 242 302 303
+f 242 303 304
+f 242 304 305
+f 242 305 247
+f 242 247 243
+f 242 244 277
+f 245 306 248
+f 245 248 246
+f 245 247 305
+f 245 305 307
+f 245 307 306
+f 248 306 308
+f 248 308 309
+f 248 309 310
+f 248 310 249
+f 249 310 250
+f 250 311 312
+f 250 312 252
+f 250 252 251
+f 250 310 313
+f 250 313 314
+f 250 314 315
+f 250 315 316
+f 250 316 317
+f 250 317 311
+f 252 312 318
+f 252 318 319
+f 252 319 320
+f 252 320 253
+f 253 320 319
+f 253 319 321
+f 253 321 322
+f 253 322 323
+f 253 323 324
+f 253 324 254
+f 254 324 255
+f 255 324 257
+f 255 257 256
+f 257 325 326
+f 257 326 258
+f 257 324 327
+f 257 327 322
+f 257 322 325
+f 258 326 259
+f 259 326 260
+f 260 326 262
+f 262 326 328
+f 262 328 263
+f 263 328 329
+f 263 329 330
+f 263 330 264
+f 264 330 265
+f 265 330 331
+f 265 331 332
+f 265 332 266
+f 266 332 333
+f 266 333 334
+f 266 334 267
+f 267 279 268
+f 267 334 335
+f 267 335 336
+f 267 336 282
+f 270 297 271
+f 271 297 300
+f 271 300 272
+f 272 300 299
+f 272 299 337
+f 272 337 338
+f 272 338 273
+f 273 338 274
+f 274 338 275
+f 275 338 276
+f 276 338 277
+f 277 338 301
+f 280 283 281
+f 280 282 283
+f 282 336 283
+f 283 336 339
+f 283 339 340
+f 283 340 284
+f 284 341 285
+f 284 340 341
+f 285 341 342
+f 285 342 286
+f 286 292 287
+f 286 342 343
+f 286 343 292
+f 288 291 344
+f 288 344 295
+f 289 294 290
+f 290 294 345
+f 290 345 346
+f 290 346 291
+f 291 346 347
+f 291 347 348
+f 291 348 344
+f 292 349 350
+f 292 350 293
+f 292 343 351
+f 292 351 349
+f 293 350 294
+f 294 352 345
+f 294 350 352
+f 295 344 298
+f 296 300 297
+f 298 344 348
+f 298 348 353
+f 298 353 354
+f 298 354 299
+f 299 354 355
+f 299 355 356
+f 299 356 357
+f 299 357 337
+f 301 338 358
+f 301 358 359
+f 301 359 360
+f 301 360 361
+f 301 361 302
+f 302 361 360
+f 302 360 303
+f 303 360 304
+f 304 360 305
+f 305 360 307
+f 306 362 308
+f 306 307 362
+f 307 360 363
+f 307 363 362
+f 308 362 364
+f 308 364 309
+f 309 365 310
+f 309 364 365
+f 310 365 313
+f 311 366 319
+f 311 319 318
+f 311 318 312
+f 311 317 367
+f 311 367 366
+f 313 365 314
+f 314 365 315
+f 315 365 368
+f 315 368 316
+f 316 368 317
+f 317 368 369
+f 317 369 367
+f 319 366 322
+f 319 322 321
+f 322 327 323
+f 322 366 325
+f 323 327 324
+f 325 367 369
+f 325 369 370
+f 325 370 371
+f 325 371 326
+f 325 366 367
+f 326 371 372
+f 326 372 328
+f 328 372 373
+f 328 373 374
+f 328 374 375
+f 328 375 376
+f 328 376 329
+f 329 376 377
+f 329 377 378
+f 329 378 379
+f 329 379 330
+f 330 379 380
+f 330 380 331
+f 331 380 332
+f 332 380 381
+f 332 381 333
+f 333 381 334
+f 334 381 335
+f 335 381 340
+f 335 340 336
+f 336 340 339
+f 337 357 356
+f 337 356 382
+f 337 382 358
+f 337 358 338
+f 340 381 383
+f 340 383 341
+f 341 383 342
+f 342 383 343
+f 343 383 384
+f 343 384 351
+f 345 352 385
+f 345 385 346
+f 346 385 347
+f 347 353 348
+f 347 385 386
+f 347 386 353
+f 349 351 387
+f 349 387 388
+f 349 388 389
+f 349 389 350
+f 350 390 386
+f 350 386 391
+f 350 391 352
+f 350 389 390
+f 351 384 392
+f 351 392 387
+f 352 391 386
+f 352 386 385
+f 353 386 393
+f 353 393 354
+f 354 393 394
+f 354 394 355
+f 355 394 356
+f 356 358 382
+f 356 394 395
+f 356 395 396
+f 356 396 397
+f 356 397 358
+f 358 397 398
+f 358 398 363
+f 358 363 359
+f 359 363 360
+f 362 363 364
+f 363 398 364
+f 364 399 400
+f 364 400 401
+f 364 401 402
+f 364 402 403
+f 364 403 368
+f 364 368 404
+f 364 404 365
+f 364 398 399
+f 365 404 368
+f 368 403 405
+f 368 405 369
+f 369 405 402
+f 369 402 406
+f 369 406 407
+f 369 407 370
+f 370 407 408
+f 370 408 409
+f 370 409 410
+f 370 410 371
+f 371 410 372
+f 372 410 373
+f 373 409 411
+f 373 411 412
+f 373 412 374
+f 373 410 409
+f 374 412 375
+f 375 412 413
+f 375 413 414
+f 375 414 376
+f 376 414 415
+f 376 415 377
+f 377 415 378
+f 378 380 379
+f 378 415 416
+f 378 416 417
+f 378 417 384
+f 378 384 380
+f 380 384 383
+f 380 383 381
+f 384 417 392
+f 386 390 418
+f 386 418 419
+f 386 419 420
+f 386 420 393
+f 387 421 388
+f 387 392 422
+f 387 422 423
+f 387 423 421
+f 388 418 390
+f 388 390 389
+f 388 421 424
+f 388 424 418
+f 392 417 442
+f 392 442 422
+f 393 420 394
+f 394 420 419
+f 394 419 395
+f 395 425 396
+f 395 419 426
+f 395 426 427
+f 395 427 425
+f 396 425 428
+f 396 428 397
+f 397 428 398
+f 398 428 400
+f 398 400 399
+f 400 429 430
+f 400 430 431
+f 400 431 402
+f 400 402 401
+f 400 428 432
+f 400 432 429
+f 402 431 406
+f 402 405 403
+f 406 431 433
+f 406 433 434
+f 406 434 407
+f 407 434 435
+f 407 435 408
+f 408 435 436
+f 408 436 411
+f 408 411 409
+f 411 413 412
+f 411 436 413
+f 413 436 437
+f 413 437 414
+f 414 437 415
+f 415 437 436
+f 415 436 438
+f 415 438 439
+f 415 439 416
+f 416 439 440
+f 416 440 417
+f 417 440 441
+f 417 441 442
+f 418 424 419
+f 419 424 426
+f 421 443 424
+f 421 423 443
+f 422 442 444
+f 422 444 423
+f 423 444 451
+f 423 451 443
+f 424 443 426
+f 425 427 432
+f 425 432 428
+f 426 443 451
+f 426 451 445
+f 426 445 427
+f 427 445 446
+f 427 446 430
+f 427 430 432
+f 429 432 430
+f 430 446 447
+f 430 447 431
+f 431 447 433
+f 433 447 448
+f 433 448 436
+f 433 436 434
+f 434 436 435
+f 436 448 438
+f 438 448 440
+f 438 440 439
+f 440 448 449
+f 440 449 450
+f 440 450 441
+f 441 450 444
+f 441 444 442
+f 444 450 451
+f 445 451 446
+f 446 451 447
+f 447 449 448
+f 447 451 449
+f 449 451 450
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_1.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v 0.00015000 0.00934272 0.12225005
+v 0.00015000 -0.00195744 0.12225001
+v 0.00015000 0.00934272 0.12224107
+v -0.07246987 0.00971919 0.12225006
+v -0.07246987 -0.00300488 0.12225001
+v -0.07246987 -0.01716169 0.05296985
+v -0.07246987 -0.02120259 0.03296654
+v 0.00015000 -0.01777489 0.03057046
+v 0.00015000 0.00875982 0.11729634
+v -0.07246987 0.00971919 0.12224108
+v -0.07246987 -0.02129063 0.03057045
+v 0.00015000 -0.00785917 0.03057050
+v 0.00015000 0.00843497 0.11481052
+v -0.07246987 0.00924557 0.11866041
+v -0.07246987 -0.00886714 0.03057050
+v -0.00229555 -0.00785917 0.03057050
+v 0.00015000 -0.00304408 0.05299682
+v 0.00015000 0.00800993 0.11233367
+v -0.07246987 0.00869911 0.11559126
+v 0.00015000 0.00504378 0.09504952
+v 0.00015000 0.00461571 0.09256369
+v 0.00015000 0.00385975 0.08822919
+v -0.00229555 0.00385975 0.08822919
+v -0.00229555 0.00341953 0.08575233
+v -0.07246987 0.00133986 0.07883329
+v -0.06148625 -0.00851799 0.03057050
+v -0.00722929 -0.00786524 0.03057050
+v -0.00722929 -0.00305319 0.05299682
+v 0.00015000 -0.00200274 0.05794155
+v -0.07246987 0.00709003 0.10732611
+v -0.00722929 0.00341649 0.08577028
+v -0.01216303 0.00341042 0.08580618
+v -0.01709678 0.00340131 0.08585105
+v -0.02203052 0.00339220 0.08590489
+v -0.01709678 0.00281234 0.08267421
+v -0.02203052 0.00279108 0.08267421
+v -0.02203052 0.00186206 0.07772051
+v -0.02696426 0.00182563 0.07772051
+v -0.03189801 0.00178009 0.07772051
+v -0.03682464 0.00172848 0.07772051
+v 0.00015000 0.00341953 0.08575233
+v 0.00015000 0.00313718 0.08421776
+v -0.00229555 0.00284877 0.08267421
+v -0.00722929 0.00284270 0.08267421
+v -0.07246987 0.00214441 0.08273703
+v -0.05655250 -0.00055459 0.06784001
+v -0.05655250 -0.00172952 0.06215041
+v -0.05655250 -0.00260388 0.05794155
+v -0.05655250 -0.00363915 0.05299682
+v -0.06148625 -0.00274050 0.05794155
+v -0.06148625 -0.00378184 0.05299682
+v -0.05655250 -0.00468657 0.04805207
+v -0.05655250 -0.00840262 0.03057050
+v -0.00953265 -0.00787132 0.03057050
+v -0.01216303 -0.00306534 0.05299682
+v -0.00722929 -0.00201488 0.05794155
+v -0.00229555 -0.00200578 0.05794155
+v -0.00229555 -0.00143501 0.06072353
+v 0.00015000 -0.00143501 0.06072353
+v -0.07246987 0.00633710 0.10348518
+v -0.01216303 0.00283055 0.08267421
+v -0.01709678 0.00188635 0.07772051
+v -0.01709678 0.00093002 0.07278474
+v -0.02203052 0.00090269 0.07278474
+v -0.02696426 0.00086626 0.07278474
+v -0.03189801 0.00082072 0.07278474
+v -0.03682464 0.00076000 0.07278474
+v 0.00015000 0.00192582 0.07772051
+v -0.00229555 0.00192582 0.07772051
+v -0.00722929 0.00191671 0.07772051
+v -0.07246987 0.00434550 0.09347008
+v -0.05655250 0.00045639 0.07278474
+v -0.04668501 -0.00162933 0.06169273
+v -0.05161876 -0.00167790 0.06190811
+v -0.05161876 -0.00250369 0.05794155
+v -0.05161876 -0.00354807 0.05299682
+v -0.05161876 -0.00459549 0.04805207
+v -0.05161876 -0.00564594 0.04310734
+v -0.05495295 -0.00625314 0.04054075
+v -0.05392212 -0.00835405 0.03057050
+v -0.01216303 -0.00788042 0.03057050
+v -0.01709678 -0.00308963 0.05299682
+v -0.01709678 -0.00204828 0.05794155
+v -0.01216303 -0.00202703 0.05794155
+v -0.01709678 -0.00789864 0.03057050
+v -0.00722929 -0.00143805 0.06075045
+v -0.00229555 -0.00093407 0.06319141
+v 0.00015000 -0.00118303 0.06196196
+v -0.05655250 0.00323433 0.08666769
+v -0.05655250 0.00244497 0.08267421
+v -0.01216303 0.00190457 0.07772051
+v -0.00722929 0.00096645 0.07278474
+v -0.01216303 -0.00003239 0.06784001
+v -0.01709678 -0.00005364 0.06784001
+v -0.02203052 -0.00008400 0.06784001
+v -0.02696426 -0.00012043 0.06784001
+v -0.03189801 -0.00017205 0.06784001
+v -0.05161876 0.00053533 0.07278474
+v -0.03682464 -0.00023277 0.06784001
+v 0.00015000 0.00098163 0.07278474
+v -0.00229555 0.00097859 0.07278474
+v -0.06148625 0.00236604 0.08267421
+v -0.04175127 -0.00158986 0.06148632
+v -0.05655250 0.00144916 0.07772051
+v -0.03682464 -0.00223955 0.05794155
+v -0.04175127 -0.00232153 0.05794155
+v -0.05161876 -0.00831154 0.03057050
+v -0.04175127 -0.00337198 0.05299682
+v -0.02203052 -0.00311695 0.05299682
+v -0.02203052 -0.00207864 0.05794155
+v -0.02203052 -0.00147144 0.06091198
+v -0.01709678 -0.00145930 0.06084019
+v -0.01216303 -0.00144715 0.06078635
+v -0.02203052 -0.00792596 0.03057050
+v -0.00722929 -0.00094015 0.06321834
+v 0.00015000 -0.00093407 0.06319141
+v -0.00229555 -0.00000203 0.06784001
+v 0.00015000 0.00000101 0.06784001
+v -0.00722929 -0.00001417 0.06784001
+v -0.01216303 -0.00094925 0.06326321
+v -0.01709678 -0.00096140 0.06331705
+v -0.02696426 -0.00149270 0.06101070
+v -0.03189801 -0.00151698 0.06114531
+v -0.03682464 -0.00155039 0.06129787
+v -0.03189801 -0.00217276 0.05794155
+v -0.03189801 -0.00321714 0.05299682
+v -0.03682464 -0.00328697 0.05299682
+v -0.04668501 -0.00822957 0.03057050
+v -0.02696426 -0.00315945 0.05299682
+v -0.02696426 -0.00211811 0.05794155
+v -0.02433388 -0.00794418 0.03057050
+v -0.02696426 -0.00796543 0.03057050
+v -0.03189801 -0.00801704 0.03057050
+v -0.03682464 -0.00807473 0.03057050
+v -0.04175127 -0.00815063 0.03057050
+v -0.04405464 -0.00818706 0.03057050
+f 1 2 8
+f 1 8 12
+f 1 12 17
+f 1 17 29
+f 1 29 59
+f 1 59 88
+f 1 88 116
+f 1 116 118
+f 1 118 100
+f 1 100 68
+f 1 68 42
+f 1 42 41
+f 1 41 22
+f 1 22 21
+f 1 21 20
+f 1 20 18
+f 1 18 13
+f 1 13 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 4 10 14
+f 4 14 19
+f 4 19 30
+f 4 30 60
+f 4 60 71
+f 4 71 45
+f 4 45 25
+f 4 25 15
+f 4 15 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 7 11 8
+f 8 11 15
+f 8 15 26
+f 8 26 53
+f 8 53 80
+f 8 80 107
+f 8 107 128
+f 8 128 136
+f 8 136 135
+f 8 135 134
+f 8 134 133
+f 8 133 132
+f 8 132 131
+f 8 131 114
+f 8 114 85
+f 8 85 81
+f 8 81 54
+f 8 54 27
+f 8 27 16
+f 8 16 12
+f 9 13 10
+f 10 13 14
+f 12 16 17
+f 13 18 14
+f 14 18 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 19
+f 15 25 26
+f 16 27 17
+f 17 28 29
+f 17 27 28
+f 19 24 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 30
+f 22 41 24
+f 22 24 23
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 31
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 50
+f 25 50 51
+f 25 51 26
+f 26 51 49
+f 26 49 52
+f 26 52 53
+f 27 54 55
+f 27 55 28
+f 28 55 84
+f 28 84 56
+f 28 56 57
+f 28 57 29
+f 29 57 58
+f 29 58 59
+f 30 40 60
+f 31 44 61
+f 31 61 32
+f 32 61 33
+f 33 61 35
+f 33 35 34
+f 35 61 91
+f 35 91 62
+f 35 62 36
+f 36 62 37
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 38
+f 38 65 66
+f 38 66 39
+f 39 66 40
+f 40 66 67
+f 40 67 60
+f 42 68 69
+f 42 69 43
+f 43 69 44
+f 44 69 70
+f 44 70 91
+f 44 91 61
+f 45 71 46
+f 46 72 73
+f 46 73 74
+f 46 74 47
+f 46 71 72
+f 47 74 48
+f 48 74 75
+f 48 75 49
+f 49 51 50
+f 49 75 106
+f 49 106 76
+f 49 76 77
+f 49 77 52
+f 52 77 78
+f 52 78 79
+f 52 79 53
+f 53 79 80
+f 54 81 55
+f 55 82 83
+f 55 83 84
+f 55 81 85
+f 55 85 82
+f 56 84 86
+f 56 86 57
+f 57 86 58
+f 58 86 87
+f 58 87 88
+f 58 88 59
+f 60 67 89
+f 60 89 90
+f 60 90 71
+f 62 91 92
+f 62 92 63
+f 63 92 119
+f 63 119 93
+f 63 93 94
+f 63 94 64
+f 64 94 95
+f 64 95 96
+f 64 96 65
+f 65 96 66
+f 66 96 97
+f 66 97 99
+f 66 99 67
+f 67 98 90
+f 67 90 89
+f 67 99 98
+f 68 100 69
+f 69 100 101
+f 69 101 70
+f 70 101 92
+f 70 92 91
+f 71 90 102
+f 71 102 72
+f 72 98 103
+f 72 103 73
+f 72 102 104
+f 72 104 98
+f 73 103 105
+f 73 105 106
+f 73 106 75
+f 73 75 74
+f 76 106 77
+f 77 106 108
+f 77 108 78
+f 78 107 79
+f 78 108 107
+f 79 107 80
+f 82 109 83
+f 82 85 114
+f 82 114 109
+f 83 110 111
+f 83 111 112
+f 83 112 113
+f 83 113 84
+f 83 109 110
+f 84 113 86
+f 86 113 115
+f 86 115 87
+f 87 116 88
+f 87 115 117
+f 87 117 118
+f 87 118 116
+f 90 104 102
+f 90 98 104
+f 92 101 117
+f 92 117 119
+f 93 119 120
+f 93 120 94
+f 94 120 121
+f 94 121 111
+f 94 111 95
+f 95 111 96
+f 96 111 122
+f 96 122 123
+f 96 123 97
+f 97 123 99
+f 98 99 124
+f 98 124 103
+f 99 123 124
+f 100 118 117
+f 100 117 101
+f 103 124 105
+f 105 124 125
+f 105 125 126
+f 105 126 127
+f 105 127 106
+f 106 127 108
+f 107 108 127
+f 107 127 128
+f 109 129 130
+f 109 130 110
+f 109 114 131
+f 109 131 132
+f 109 132 129
+f 110 130 111
+f 111 130 122
+f 111 121 112
+f 112 121 120
+f 112 120 113
+f 113 120 115
+f 115 120 119
+f 115 119 117
+f 122 130 123
+f 123 130 125
+f 123 125 124
+f 125 130 129
+f 125 129 126
+f 126 129 133
+f 126 133 134
+f 126 134 127
+f 127 134 135
+f 127 135 136
+f 127 136 128
+f 129 132 133
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_10.obj

@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.11116677 -0.07505450 -0.10379364
+v 0.11116677 -0.07457809 -0.10626918
+v 0.11385466 -0.07500005 -0.10371612
+v 0.11116677 -0.07505451 -0.10161268
+v 0.10769477 -0.07500912 -0.10323031
+v 0.08961773 -0.07327593 -0.10529756
+v 0.08961773 -0.07254999 -0.10688419
+v 0.08961773 -0.07127504 -0.10964914
+v 0.11116677 -0.07254090 -0.11024349
+v 0.11610105 -0.07263619 -0.11024349
+v 0.11574078 -0.07415160 -0.10533891
+v 0.11385466 -0.07500005 -0.10237757
+v 0.10769477 -0.07500913 -0.10165920
+v 0.11116677 -0.07466885 -0.09914230
+v 0.08961773 -0.07384309 -0.10035164
+v 0.08961773 -0.06942842 -0.11212469
+v 0.11116677 -0.07041750 -0.11311697
+v 0.11610105 -0.07054454 -0.11323067
+v 0.11902912 -0.07034038 -0.11303428
+v 0.11983089 -0.07118884 -0.11024348
+v 0.12014524 -0.07158358 -0.10529755
+v 0.11574078 -0.07357540 -0.10057904
+v 0.11880660 -0.06536785 -0.06580250
+v 0.11610105 -0.06690140 -0.06580251
+v 0.11116677 -0.06863913 -0.06580251
+v 0.10623603 -0.07394293 -0.09540572
+v 0.10613007 -0.07472330 -0.10014492
+v 0.08961773 -0.07257725 -0.09540572
+v 0.10623603 -0.06845764 -0.06580251
+v 0.08961773 -0.06852553 -0.11284822
+v 0.08961773 -0.06697835 -0.11408341
+v 0.11116677 -0.06755003 -0.11517389
+v 0.11610105 -0.06755003 -0.11534443
+v 0.11610105 -0.06406550 -0.11730316
+v 0.11911036 -0.06105738 -0.11792332
+v 0.12081634 -0.06723243 -0.11386118
+v 0.12365257 -0.06538583 -0.11292573
+v 0.12229627 -0.06840303 -0.11024347
+v 0.12261061 -0.06850740 -0.10529754
+v 0.12116248 -0.06265010 -0.06580249
+v 0.11884899 -0.06534063 -0.06580250
+v 0.08961773 -0.07073972 -0.09205158
+v 0.10162317 -0.06647945 -0.06580250
+v 0.09919312 -0.06480978 -0.06580250
+v 0.09916487 -0.06478710 -0.06580250
+v 0.08961773 -0.06264991 -0.11636255
+v 0.11116677 -0.06390670 -0.11724113
+v 0.11116677 -0.06145665 -0.11806286
+v 0.11610105 -0.06161545 -0.11810422
+v 0.11610105 -0.05774526 -0.11860033
+v 0.11944943 -0.05774527 -0.11808352
+v 0.12191480 -0.05774527 -0.11652274
+v 0.12086579 -0.06267260 -0.11617649
+v 0.12407288 -0.06264992 -0.11353040
+v 0.12493117 -0.06264994 -0.11024345
+v 0.12391042 -0.06595298 -0.11024346
+v 0.12395633 -0.06605735 -0.10529753
+v 0.12334528 -0.05985069 -0.06580248
+v 0.08961773 -0.05408399 -0.06580246
+v 0.08961773 -0.06083960 -0.11672947
+v 0.09902359 -0.05975976 -0.11765457
+v 0.10231193 -0.06047663 -0.11775276
+v 0.11116677 -0.05774526 -0.11851248
+v 0.11116677 -0.05426983 -0.11811452
+v 0.11610105 -0.05417454 -0.11816103
+v 0.11919866 -0.05460557 -0.11796464
+v 0.12440490 -0.05774528 -0.11404719
+v 0.12409054 -0.05409743 -0.11361823
+v 0.12548924 -0.05774530 -0.11024343
+v 0.12557401 -0.05774531 -0.10529750
+v 0.12501241 -0.06264995 -0.10529752
+v 0.12433072 -0.05743694 -0.06580247
+v 0.08961773 -0.02870325 -0.06580237
+v 0.08961773 -0.05774527 -0.11734964
+v 0.09815470 -0.05521809 -0.11769590
+v 0.08961773 -0.05284517 -0.11621262
+v 0.08961773 -0.04304497 -0.11058448
+v 0.08961773 -0.04191070 -0.10987643
+v 0.08961773 -0.03997334 -0.10866192
+v 0.11610105 -0.05172903 -0.11655889
+v 0.11968962 -0.04994595 -0.11358203
+v 0.12108830 -0.05271814 -0.11524618
+v 0.12309804 -0.05073543 -0.11024341
+v 0.12446848 -0.05318548 -0.11024342
+v 0.12464508 -0.04287727 -0.06580242
+v 0.12568703 -0.04789080 -0.06580244
+v 0.12569763 -0.04794525 -0.06580244
+v 0.12552809 -0.05284536 -0.06580245
+v 0.12434132 -0.05740064 -0.06580247
+v 0.09637102 -0.02888020 -0.06580237
+v 0.09637102 -0.02998724 -0.07067594
+v 0.08961773 -0.02981483 -0.07067594
+v 0.08961773 -0.05593949 -0.11693619
+v 0.08961773 -0.03948334 -0.10742156
+v 0.09637102 -0.03996880 -0.10867225
+v 0.10035870 -0.04017297 -0.10837250
+v 0.10364704 -0.04069021 -0.10759727
+v 0.12062914 -0.04945595 -0.11024340
+v 0.12348303 -0.05041783 -0.10764383
+v 0.12127903 -0.03876209 -0.06580240
+v 0.12142385 -0.03886644 -0.06580240
+v 0.12458150 -0.04271393 -0.06580242
+v 0.09644872 -0.02888928 -0.06580237
+v 0.09911895 -0.03072679 -0.07341506
+v 0.08961773 -0.03058613 -0.07399907
+v 0.08961773 -0.03027761 -0.07267085
+v 0.09637102 -0.03125308 -0.07610767
+v 0.08961773 -0.03865305 -0.10529743
+v 0.09637102 -0.03866666 -0.10529743
+v 0.09919666 -0.03561321 -0.09323496
+v 0.10172208 -0.03961038 -0.10569023
+v 0.10383777 -0.03562684 -0.08826836
+v 0.12309451 -0.04112592 -0.06763711
+v 0.10378832 -0.03077218 -0.06828309
+v 0.10402497 -0.03053172 -0.06580237
+v 0.10129823 -0.02959707 -0.06580237
+v 0.09637102 -0.03231929 -0.08056780
+v 0.10137946 -0.02961522 -0.06580237
+v 0.10098034 -0.03047272 -0.07022631
+v 0.10102626 -0.03530923 -0.09013407
+v 0.08961773 -0.03095363 -0.07555985
+v 0.08961773 -0.03117142 -0.07647461
+v 0.08961773 -0.03814489 -0.10347308
+v 0.08961773 -0.03688359 -0.09884758
+v 0.08961773 -0.03590811 -0.09521435
+v 0.08961773 -0.03515950 -0.09241839
+v 0.09637102 -0.03735090 -0.10035151
+v 0.09637102 -0.03619849 -0.09590172
+v 0.09637102 -0.03555877 -0.09343134
+v 0.09637102 -0.03479654 -0.09045965
+v 0.09637102 -0.03354431 -0.08551372
+v 0.08961773 -0.03338097 -0.08551372
+v 0.08961773 -0.03216049 -0.08056780
+v 0.08961773 -0.03464681 -0.09045965
+v 0.08961773 -0.03417495 -0.08864046
+f 1 2 3
+f 1 3 12
+f 1 12 4
+f 1 4 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 4 12 14
+f 4 14 13
+f 5 13 15
+f 5 15 6
+f 6 15 28
+f 6 28 42
+f 6 42 59
+f 6 59 73
+f 6 73 92
+f 6 92 106
+f 6 106 105
+f 6 105 121
+f 6 121 122
+f 6 122 133
+f 6 133 132
+f 6 132 135
+f 6 135 134
+f 6 134 126
+f 6 126 125
+f 6 125 124
+f 6 124 123
+f 6 123 108
+f 6 108 94
+f 6 94 79
+f 6 79 78
+f 6 78 77
+f 6 77 76
+f 6 76 93
+f 6 93 74
+f 6 74 60
+f 6 60 46
+f 6 46 31
+f 6 31 30
+f 6 30 16
+f 6 16 8
+f 6 8 7
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 21 12
+f 11 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 14
+f 13 14 26
+f 13 26 27
+f 13 27 15
+f 14 25 26
+f 15 27 26
+f 15 26 29
+f 15 29 28
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 21
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 22 41 23
+f 23 41 40
+f 23 40 58
+f 23 58 72
+f 23 72 89
+f 23 89 88
+f 23 88 87
+f 23 87 86
+f 23 86 85
+f 23 85 102
+f 23 102 101
+f 23 101 100
+f 23 100 115
+f 23 115 118
+f 23 118 116
+f 23 116 103
+f 23 103 90
+f 23 90 73
+f 23 73 59
+f 23 59 45
+f 23 45 44
+f 23 44 43
+f 23 43 29
+f 23 29 25
+f 23 25 24
+f 25 29 26
+f 28 29 43
+f 28 43 44
+f 28 44 45
+f 28 45 42
+f 31 46 47
+f 31 47 32
+f 32 47 33
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 38 56 39
+f 39 56 57
+f 39 57 58
+f 39 58 40
+f 42 45 59
+f 46 60 61
+f 46 61 62
+f 46 62 48
+f 46 48 47
+f 48 62 63
+f 48 63 50
+f 48 50 49
+f 50 63 64
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 51 66 52
+f 52 67 54
+f 52 54 53
+f 52 66 68
+f 52 68 67
+f 54 69 55
+f 54 67 69
+f 55 69 70
+f 55 70 71
+f 55 71 56
+f 56 71 57
+f 57 71 72
+f 57 72 58
+f 60 74 61
+f 61 74 63
+f 61 63 62
+f 63 74 75
+f 63 75 64
+f 64 75 76
+f 64 76 77
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 65 80 66
+f 65 79 80
+f 66 80 81
+f 66 81 82
+f 66 82 68
+f 67 68 69
+f 68 81 83
+f 68 83 84
+f 68 84 69
+f 68 82 81
+f 69 84 85
+f 69 85 86
+f 69 86 87
+f 69 87 70
+f 70 87 88
+f 70 88 71
+f 71 88 89
+f 71 89 72
+f 73 90 91
+f 73 91 92
+f 74 93 75
+f 75 93 76
+f 79 94 95
+f 79 95 80
+f 80 95 96
+f 80 96 81
+f 81 96 97
+f 81 97 98
+f 81 98 83
+f 83 99 84
+f 83 98 100
+f 83 100 101
+f 83 101 99
+f 84 99 102
+f 84 102 85
+f 90 103 104
+f 90 104 91
+f 91 105 106
+f 91 106 92
+f 91 104 107
+f 91 107 105
+f 94 108 95
+f 95 108 109
+f 95 109 96
+f 96 109 110
+f 96 110 111
+f 96 111 97
+f 97 111 112
+f 97 112 98
+f 98 112 100
+f 99 101 113
+f 99 113 102
+f 100 112 114
+f 100 114 115
+f 101 102 113
+f 103 116 104
+f 104 117 107
+f 104 116 118
+f 104 118 119
+f 104 119 114
+f 104 114 112
+f 104 112 120
+f 104 120 110
+f 104 110 117
+f 105 107 121
+f 107 117 122
+f 107 122 121
+f 108 123 109
+f 109 123 124
+f 109 124 125
+f 109 125 126
+f 109 126 127
+f 109 127 110
+f 110 127 128
+f 110 128 129
+f 110 129 130
+f 110 130 131
+f 110 131 117
+f 110 120 111
+f 111 120 112
+f 114 119 118
+f 114 118 115
+f 117 131 132
+f 117 132 133
+f 117 133 122
+f 126 134 127
+f 127 134 135
+f 127 135 128
+f 128 135 129
+f 129 135 130
+f 130 135 132
+f 130 132 131
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_11.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.07246987 0.02027297 0.15687570
+v -0.07135373 0.01996422 0.15193049
+v -0.07246987 0.01996422 0.15193049
+v -0.07246987 0.01914079 0.16032031
+v -0.05161876 0.01431184 0.17566320
+v 0.00015000 0.02026011 0.15687570
+v -0.06641999 0.01890068 0.14698529
+v -0.07246987 0.01914084 0.14809919
+v 0.00015000 0.02010573 0.15442083
+v 0.00015000 0.01994706 0.15193049
+v -0.01216303 0.01889210 0.14698529
+v -0.07246987 0.00900265 0.17468762
+v -0.05516622 0.01390873 0.17506368
+v -0.05161876 0.01190169 0.17813579
+v 0.00015000 0.00909700 0.17480115
+v 0.00015000 0.01914079 0.16032031
+v 0.00015000 0.01969831 0.15861042
+v -0.07246987 0.01848042 0.14504480
+v -0.04668501 0.01848042 0.14504480
+v 0.00015000 0.01888782 0.14698529
+v -0.00374581 0.01847184 0.14504480
+v -0.07246987 0.00597923 0.17615982
+v -0.05460460 0.00896403 0.17938096
+v -0.05161876 0.00944864 0.17961155
+v -0.04783670 0.00925565 0.17952286
+v 0.00015000 0.00597923 0.17645072
+v -0.07246987 -0.00936931 0.14504470
+v 0.00015000 0.01846755 0.14504480
+v -0.07246987 0.00487278 0.17641169
+v -0.05161876 0.00597922 0.18064386
+v -0.07246987 0.00107743 0.17726662
+v 0.00015000 0.00107743 0.17762492
+v -0.07246987 -0.01527037 0.15625830
+v -0.05161876 -0.01068160 0.14504469
+v -0.05161876 -0.01686140 0.14878018
+v -0.05466147 -0.01653547 0.14906044
+v -0.05161876 -0.01931445 0.15145499
+v -0.05429890 -0.02113279 0.15417236
+v 0.00015000 -0.00926210 0.14504470
+v -0.05161876 0.00107741 0.18128239
+v -0.07246987 -0.00382007 0.17683736
+v -0.05161876 -0.00382008 0.18099503
+v 0.00015000 -0.00382007 0.17713890
+v -0.07246987 -0.01607234 0.15817395
+v -0.04834855 -0.02124429 0.15400562
+v -0.05161876 -0.02129147 0.15393113
+v -0.05161876 -0.02252229 0.15687555
+v -0.05501693 -0.02166029 0.15687555
+v -0.07246987 -0.01629534 0.15873445
+v 0.00015000 -0.01504738 0.15687557
+v -0.07246987 -0.00473782 0.17649680
+v -0.05262115 -0.01084041 0.17900840
+v -0.05509513 -0.00757255 0.17956181
+v -0.05123487 -0.00901349 0.17973919
+v -0.04910213 -0.01120064 0.17914676
+v 0.00015000 -0.00603295 0.17624138
+v -0.04669923 -0.02183612 0.15691457
+v -0.05161876 -0.02353868 0.16182429
+v -0.07246987 -0.01650549 0.16121415
+v 0.00015000 -0.01554485 0.15899342
+v -0.07246987 -0.00813432 0.17522678
+v -0.05482498 -0.01664706 0.17467689
+v -0.05123487 -0.01315192 0.17777741
+v -0.04932962 -0.01120064 0.17914676
+v -0.07246987 -0.01058736 0.17374747
+v -0.05161876 -0.01708020 0.17506002
+v 0.00015000 -0.01066885 0.17377230
+v 0.00015000 -0.00821580 0.17535450
+v 0.00015000 -0.01605090 0.16118222
+v 0.00015000 -0.01608522 0.16432176
+v -0.05161876 -0.02279678 0.16676596
+v -0.05520887 -0.02179756 0.16676596
+v -0.07246987 -0.01630395 0.16497449
+v -0.07246987 -0.01652264 0.16182432
+v 0.00015000 -0.01606807 0.16240966
+v 0.00015000 -0.01608522 0.16365128
+v -0.05446953 -0.02125721 0.16966426
+v -0.05161876 -0.01952894 0.17247743
+v -0.07246987 -0.01112343 0.17319051
+v -0.07246987 -0.01291603 0.17127485
+v -0.04668501 -0.01671568 0.17474784
+v 0.00015000 -0.01277879 0.17129613
+v -0.04800021 -0.02136013 0.16983454
+v 0.00015000 -0.01523181 0.16679436
+v -0.05161876 -0.02147593 0.17000482
+v -0.07246987 -0.01558776 0.16689014
+v -0.07246987 -0.01536906 0.16744710
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 27
+f 1 27 33
+f 1 33 44
+f 1 44 49
+f 1 49 59
+f 1 59 74
+f 1 74 73
+f 1 73 86
+f 1 86 87
+f 1 87 80
+f 1 80 79
+f 1 79 65
+f 1 65 61
+f 1 61 51
+f 1 51 41
+f 1 41 31
+f 1 31 29
+f 1 29 22
+f 1 22 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 16
+f 6 16 15
+f 6 15 26
+f 6 26 32
+f 6 32 43
+f 6 43 56
+f 6 56 68
+f 6 68 67
+f 6 67 82
+f 6 82 84
+f 6 84 70
+f 6 70 76
+f 6 76 75
+f 6 75 69
+f 6 69 60
+f 6 60 50
+f 6 50 39
+f 6 39 28
+f 6 28 20
+f 6 20 10
+f 6 10 9
+f 7 18 8
+f 7 11 19
+f 7 19 18
+f 10 20 11
+f 11 20 21
+f 11 21 19
+f 12 22 23
+f 12 23 14
+f 12 14 13
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 18 19 21
+f 18 21 28
+f 18 28 39
+f 18 39 34
+f 18 34 27
+f 20 28 21
+f 22 29 23
+f 23 30 24
+f 23 29 31
+f 23 31 30
+f 24 30 25
+f 25 30 26
+f 26 30 32
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 33
+f 30 31 40
+f 30 40 32
+f 31 41 42
+f 31 42 40
+f 32 40 42
+f 32 42 43
+f 33 38 44
+f 34 39 35
+f 35 37 36
+f 35 39 37
+f 37 45 46
+f 37 46 38
+f 37 39 45
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 44
+f 39 50 45
+f 41 51 52
+f 41 52 53
+f 41 53 42
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 43 55 56
+f 45 57 47
+f 45 47 46
+f 45 50 57
+f 47 58 48
+f 47 57 58
+f 48 58 49
+f 49 58 59
+f 50 60 57
+f 51 61 52
+f 52 62 63
+f 52 63 64
+f 52 64 54
+f 52 54 53
+f 52 61 65
+f 52 65 62
+f 54 64 55
+f 55 64 66
+f 55 66 67
+f 55 67 68
+f 55 68 56
+f 57 60 69
+f 57 69 58
+f 58 70 71
+f 58 71 72
+f 58 72 73
+f 58 73 74
+f 58 74 59
+f 58 69 75
+f 58 75 76
+f 58 76 70
+f 62 77 78
+f 62 78 66
+f 62 66 63
+f 62 65 79
+f 62 79 80
+f 62 80 77
+f 63 66 64
+f 66 78 81
+f 66 81 67
+f 67 81 78
+f 67 78 83
+f 67 83 82
+f 70 84 83
+f 70 83 71
+f 71 83 85
+f 71 85 77
+f 71 77 72
+f 72 77 73
+f 73 77 86
+f 77 85 78
+f 77 80 87
+f 77 87 86
+f 78 85 83
+f 82 83 84
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_12.obj

@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
+v 0.05689116 -0.05774510 -0.12021804
+v 0.05689116 -0.05284109 -0.11946514
+v 0.07004154 -0.05512626 -0.11772690
+v 0.06182430 -0.05774510 -0.11941535
+v 0.05689116 -0.05889214 -0.12009073
+v -0.05654305 -0.05891300 -0.12004090
+v -0.05654305 -0.05774510 -0.12016269
+v 0.05689116 -0.04992135 -0.11817528
+v 0.06010538 -0.05005839 -0.11802582
+v 0.06178237 -0.05288578 -0.11859602
+v -0.05654305 -0.05284109 -0.11938210
+v -0.05654305 -0.04997199 -0.11811991
+v 0.07150890 -0.05345187 -0.11674151
+v 0.07150890 -0.05656827 -0.11762172
+v 0.06188020 -0.05889214 -0.11924374
+v 0.07150890 -0.05774511 -0.11763833
+v 0.00013912 -0.05891301 -0.11769923
+v -0.06030230 -0.05891300 -0.11944304
+v -0.06147619 -0.05774510 -0.11938212
+v -0.06979125 -0.05510541 -0.11773797
+v 0.05689116 -0.03995844 -0.10866462
+v 0.06675744 -0.03996142 -0.10866462
+v 0.07150890 -0.03996738 -0.10865909
+v -0.06147619 -0.03995844 -0.10867016
+v -0.04667678 -0.03995844 -0.10867016
+v 0.07150890 -0.04304503 -0.11058004
+v 0.07150890 -0.05318969 -0.11661419
+v -0.06140631 -0.05284407 -0.11854066
+v -0.05971535 -0.05012096 -0.11795385
+v -0.07125861 -0.03996738 -0.10865909
+v -0.06640932 -0.03996142 -0.10866462
+v 0.07001359 -0.05889215 -0.11772692
+v 0.07150890 -0.05889215 -0.11744458
+v 0.00013912 -0.05891313 -0.08475527
+v -0.07102104 -0.05891301 -0.11761619
+v -0.07125861 -0.05871637 -0.11759959
+v -0.07125861 -0.05774511 -0.11763833
+v -0.07125861 -0.05339229 -0.11674151
+v 0.05689116 -0.03865946 -0.10529327
+v -0.04667678 -0.03865648 -0.10529327
+v 0.06675744 -0.03866244 -0.10529327
+v 0.07150890 -0.03991375 -0.10852623
+v -0.06640932 -0.03865946 -0.10529327
+v -0.06147619 -0.03865648 -0.10529327
+v -0.07125861 -0.05325821 -0.11668062
+v -0.07125861 -0.05318671 -0.11664740
+v -0.07125861 -0.04304503 -0.11058004
+v -0.07125861 -0.03869223 -0.10535969
+v 0.07150890 -0.05889227 -0.08432901
+v -0.05654305 -0.05891315 -0.08003870
+v 0.06154480 -0.05889228 -0.08097981
+v 0.06123736 -0.05889228 -0.08091338
+v 0.05689116 -0.05889229 -0.08003870
+v -0.07125861 -0.05891301 -0.11756084
+v 0.06675744 -0.03738134 -0.10034973
+v -0.05160991 -0.03737240 -0.10034973
+v 0.07150890 -0.03866840 -0.10529327
+v -0.06640932 -0.03737836 -0.10034973
+v -0.07125861 -0.03866840 -0.10529327
+v -0.07125861 -0.03738432 -0.10034973
+v -0.05654305 -0.03737240 -0.10034973
+v 0.07150890 -0.05592192 -0.07193972
+v -0.06640932 -0.05591298 -0.07195080
+v -0.07125861 -0.05591298 -0.07195632
+v -0.06119669 -0.05891314 -0.08098534
+v 0.06675744 -0.05592192 -0.07193972
+v 0.00015309 -0.05591894 -0.07193972
+v -0.04667678 -0.05591596 -0.07193972
+v -0.07125861 -0.05891313 -0.08440097
+v 0.00264062 -0.03622239 -0.09572174
+v 0.06182430 -0.03622537 -0.09571067
+v 0.07150890 -0.03738730 -0.10034973
+v 0.00013912 -0.03429777 -0.08797705
+v -0.06640932 -0.03622835 -0.09570513
+v -0.05654305 -0.03369595 -0.08551912
+v -0.05654305 -0.03492044 -0.09046266
+v -0.07125861 -0.03562057 -0.09321399
+v -0.06640932 -0.03561760 -0.09323613
+v -0.05160991 -0.03369297 -0.08551912
+v -0.03681050 -0.03368999 -0.08551912
+v -0.00229251 -0.03368701 -0.08551912
+v 0.07150890 -0.05278170 -0.06927695
+v -0.07125861 -0.05254335 -0.06932124
+v 0.00757376 -0.03368701 -0.08551912
+v 0.05689116 -0.03492342 -0.09046820
+v 0.06182430 -0.03492640 -0.09046820
+v 0.07150890 -0.03623431 -0.09566084
+v 0.06182430 -0.03370191 -0.08551912
+v -0.06147619 -0.03370489 -0.08551912
+v -0.05654305 -0.03249230 -0.08057005
+v -0.05160991 -0.03248634 -0.08057005
+v -0.04174364 -0.03247741 -0.08057005
+v -0.07125861 -0.03496215 -0.09051249
+v -0.06640932 -0.03372276 -0.08551912
+v -0.03681050 -0.03247443 -0.08057005
+v -0.02695820 -0.03247145 -0.08057005
+v -0.00229251 -0.03246847 -0.08057005
+v 0.00013912 -0.03307328 -0.08302797
+v 0.07150890 -0.05275190 -0.06926034
+v -0.07125861 -0.04071537 -0.06366353
+v 0.00757376 -0.03246847 -0.08057005
+v 0.03223945 -0.03247145 -0.08057005
+v 0.03715861 -0.03369297 -0.08551912
+v 0.05689116 -0.03369893 -0.08551912
+v 0.07150890 -0.03495917 -0.09046820
+v 0.04702489 -0.03248039 -0.08057005
+v 0.05689116 -0.03249230 -0.08057005
+v 0.06182430 -0.03250422 -0.08057005
+v 0.06675744 -0.03372872 -0.08551912
+v -0.06147619 -0.03250720 -0.08057005
+v -0.05654305 -0.03134527 -0.07573170
+v -0.05160991 -0.03133932 -0.07574831
+v -0.04667678 -0.03133634 -0.07577045
+v -0.03681050 -0.03133038 -0.07580367
+v -0.02695820 -0.03132740 -0.07582581
+v -0.07125861 -0.03374958 -0.08551912
+v -0.06640932 -0.03252806 -0.08057005
+v -0.02202506 -0.03132740 -0.07583134
+v 0.00264062 -0.03132442 -0.07584242
+v 0.07150890 -0.04238975 -0.06580593
+v 0.00013912 -0.04032507 -0.06366353
+v -0.07125861 -0.02878011 -0.06366349
+v 0.00757376 -0.03132442 -0.07584242
+v 0.01250690 -0.03132442 -0.07583688
+v 0.03223945 -0.03132740 -0.07582581
+v 0.07150890 -0.03375851 -0.08551912
+v 0.03715861 -0.03133038 -0.07581474
+v 0.05689116 -0.03134230 -0.07573170
+v 0.04209175 -0.03133336 -0.07579813
+v 0.06182430 -0.03135123 -0.07568741
+v 0.06675744 -0.03253699 -0.08057005
+v -0.06147619 -0.03135421 -0.07569849
+v -0.05654305 -0.03016547 -0.07067744
+v -0.05160991 -0.03015356 -0.07067744
+v -0.04174364 -0.03013270 -0.07067744
+v -0.04667678 -0.03075537 -0.07329591
+v -0.06147619 -0.03077325 -0.07322394
+v -0.03681050 -0.03012376 -0.07067744
+v -0.03681050 -0.03074644 -0.07332912
+v -0.03189134 -0.03074346 -0.07334020
+v -0.02695820 -0.03074346 -0.07335127
+v -0.01215879 -0.03010589 -0.07067744
+v -0.01709193 -0.03074048 -0.07335681
+v -0.07125861 -0.03259360 -0.08066417
+v -0.06636740 -0.03125589 -0.07515043
+v -0.06469041 -0.03078219 -0.07318519
+v 0.00015309 -0.03010291 -0.07067744
+v 0.01744004 -0.03073750 -0.07336234
+v 0.07150890 -0.02925083 -0.06580588
+v 0.00013912 -0.02847919 -0.06366348
+v -0.07125861 -0.02921508 -0.06572837
+v -0.06640932 -0.02865200 -0.06366349
+v 0.02237317 -0.03073750 -0.07335681
+v 0.03223945 -0.03074048 -0.07335127
+v 0.07150890 -0.03371084 -0.08531983
+v 0.03715861 -0.03074346 -0.07334020
+v 0.04209175 -0.03074644 -0.07332358
+v 0.05689116 -0.03076133 -0.07325716
+v 0.06182430 -0.03077325 -0.07321287
+v 0.06460530 -0.03078517 -0.07317412
+v 0.07150890 -0.03258466 -0.08057005
+v -0.06147619 -0.03018335 -0.07067744
+v -0.05654305 -0.02902142 -0.06572837
+v -0.04174364 -0.02898270 -0.06572837
+v -0.03681050 -0.02897376 -0.06572837
+v -0.03189134 -0.03011780 -0.07067744
+v -0.01215879 -0.02895588 -0.06572837
+v 0.00015309 -0.02952194 -0.06818630
+v -0.07125861 -0.03142274 -0.07562098
+v -0.06797451 -0.03080006 -0.07310769
+v -0.06636740 -0.03033530 -0.07114799
+v -0.06147619 -0.02904824 -0.06572837
+v 0.00264062 -0.03010291 -0.07067744
+v 0.07150890 -0.03028167 -0.07048368
+v 0.06684129 -0.02916146 -0.06580588
+v 0.06189417 -0.02908995 -0.06580588
+v 0.05696103 -0.02904824 -0.06580588
+v 0.05204187 -0.02902739 -0.06580588
+v 0.04702489 -0.02901249 -0.06580588
+v 0.04216162 -0.02900355 -0.06580588
+v 0.03724246 -0.02899461 -0.06580588
+v 0.03230932 -0.02898865 -0.06580588
+v 0.02244305 -0.02897971 -0.06580588
+v -0.00434682 -0.02847621 -0.06366348
+v -0.07125861 -0.03028465 -0.07058333
+v -0.06147619 -0.02857751 -0.06366348
+v -0.06640932 -0.02911080 -0.06572837
+v 0.01250690 -0.03010589 -0.07067744
+v 0.03223945 -0.03011780 -0.07067744
+v 0.04209175 -0.03012972 -0.07067744
+v 0.06182430 -0.03018931 -0.07067744
+v 0.06646396 -0.03034721 -0.07112031
+v 0.06790338 -0.03080602 -0.07306894
+v 0.07150890 -0.03253699 -0.08036523
+v -0.05654305 -0.02854772 -0.06366348
+v -0.03681050 -0.02850005 -0.06366348
+v -0.03189134 -0.02896780 -0.06572837
+v -0.01421310 -0.02847919 -0.06366348
+v -0.00229251 -0.02895290 -0.06572837
+v 0.00015309 -0.02897078 -0.06580588
+v 0.00764364 -0.02897078 -0.06580588
+v -0.07125861 -0.03082390 -0.07299143
+v 0.07150890 -0.03141678 -0.07549366
+v -0.03189134 -0.02849409 -0.06366348
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 11
+f 2 11 12
+f 2 12 8
+f 3 13 14
+f 3 14 4
+f 3 10 9
+f 3 9 13
+f 4 15 5
+f 4 14 16
+f 4 16 15
+f 5 15 17
+f 5 17 6
+f 6 18 19
+f 6 19 7
+f 6 17 34
+f 6 34 50
+f 6 50 65
+f 6 65 69
+f 6 69 54
+f 6 54 35
+f 6 35 18
+f 7 19 20
+f 7 20 11
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 8 12 24
+f 8 24 25
+f 8 25 21
+f 9 23 26
+f 9 26 27
+f 9 27 13
+f 11 20 28
+f 11 28 29
+f 11 29 12
+f 12 29 30
+f 12 30 31
+f 12 31 24
+f 13 27 26
+f 13 26 23
+f 13 23 42
+f 13 42 57
+f 13 57 72
+f 13 72 87
+f 13 87 105
+f 13 105 126
+f 13 126 155
+f 13 155 161
+f 13 161 194
+f 13 194 203
+f 13 203 174
+f 13 174 149
+f 13 149 120
+f 13 120 99
+f 13 99 82
+f 13 82 62
+f 13 62 49
+f 13 49 33
+f 13 33 16
+f 13 16 14
+f 15 16 32
+f 15 32 17
+f 16 33 32
+f 17 32 33
+f 17 33 49
+f 17 49 34
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 29
+f 20 29 28
+f 21 39 41
+f 21 41 22
+f 21 25 40
+f 21 40 39
+f 22 41 42
+f 22 42 23
+f 24 31 43
+f 24 43 44
+f 24 44 40
+f 24 40 25
+f 29 38 45
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 47 46
+f 30 46 45
+f 30 45 38
+f 30 38 37
+f 30 37 36
+f 30 36 54
+f 30 54 69
+f 30 69 64
+f 30 64 83
+f 30 83 100
+f 30 100 122
+f 30 122 151
+f 30 151 185
+f 30 185 202
+f 30 202 169
+f 30 169 144
+f 30 144 116
+f 30 116 93
+f 30 93 77
+f 30 77 60
+f 30 60 59
+f 30 59 48
+f 30 48 31
+f 31 48 43
+f 34 49 51
+f 34 51 52
+f 34 52 53
+f 34 53 50
+f 35 54 36
+f 39 55 41
+f 39 40 56
+f 39 56 55
+f 40 44 61
+f 40 61 56
+f 41 55 72
+f 41 72 57
+f 41 57 42
+f 43 58 61
+f 43 61 44
+f 43 48 59
+f 43 59 60
+f 43 60 58
+f 49 62 51
+f 50 63 64
+f 50 64 65
+f 50 53 62
+f 50 62 66
+f 50 66 67
+f 50 67 68
+f 50 68 63
+f 51 62 52
+f 52 62 53
+f 55 70 71
+f 55 71 72
+f 55 56 70
+f 56 61 73
+f 56 73 70
+f 58 74 75
+f 58 75 76
+f 58 76 61
+f 58 60 74
+f 60 77 78
+f 60 78 74
+f 61 76 79
+f 61 79 80
+f 61 80 81
+f 61 81 73
+f 62 82 66
+f 63 68 82
+f 63 82 64
+f 64 69 65
+f 64 82 83
+f 66 82 67
+f 67 82 68
+f 70 84 71
+f 70 73 84
+f 71 85 86
+f 71 86 72
+f 71 84 85
+f 72 86 88
+f 72 88 87
+f 73 81 84
+f 74 78 75
+f 75 78 77
+f 75 77 89
+f 75 89 90
+f 75 90 91
+f 75 91 92
+f 75 92 95
+f 75 95 79
+f 75 79 76
+f 77 93 94
+f 77 94 89
+f 79 95 96
+f 79 96 80
+f 80 96 97
+f 80 97 98
+f 80 98 81
+f 81 98 84
+f 82 99 83
+f 83 99 100
+f 84 101 102
+f 84 102 103
+f 84 103 85
+f 84 98 101
+f 85 104 88
+f 85 88 86
+f 85 103 104
+f 87 88 105
+f 88 104 102
+f 88 102 106
+f 88 106 107
+f 88 107 108
+f 88 108 109
+f 88 109 105
+f 89 94 110
+f 89 110 90
+f 90 110 111
+f 90 111 112
+f 90 112 113
+f 90 113 114
+f 90 114 91
+f 91 114 92
+f 92 114 115
+f 92 115 95
+f 93 116 94
+f 94 117 110
+f 94 116 117
+f 95 115 96
+f 96 115 118
+f 96 118 119
+f 96 119 97
+f 97 119 123
+f 97 123 101
+f 97 101 98
+f 99 120 121
+f 99 121 100
+f 100 121 150
+f 100 150 184
+f 100 184 198
+f 100 198 204
+f 100 204 196
+f 100 196 195
+f 100 195 186
+f 100 186 152
+f 100 152 122
+f 101 123 102
+f 102 123 124
+f 102 124 125
+f 102 125 106
+f 102 104 103
+f 105 109 126
+f 106 125 127
+f 106 127 107
+f 107 128 108
+f 107 127 129
+f 107 129 128
+f 108 128 130
+f 108 130 131
+f 108 131 126
+f 108 126 109
+f 110 132 111
+f 110 117 132
+f 111 133 134
+f 111 134 135
+f 111 135 136
+f 111 136 112
+f 111 132 137
+f 111 137 133
+f 112 136 138
+f 112 138 139
+f 112 139 113
+f 113 139 114
+f 114 139 140
+f 114 140 115
+f 115 141 142
+f 115 142 143
+f 115 143 118
+f 115 140 141
+f 116 144 117
+f 117 145 146
+f 117 146 132
+f 117 144 145
+f 118 143 119
+f 119 147 148
+f 119 148 123
+f 119 143 147
+f 120 149 150
+f 120 150 121
+f 122 152 151
+f 123 148 153
+f 123 153 124
+f 124 153 125
+f 125 154 156
+f 125 156 127
+f 125 153 154
+f 126 131 155
+f 127 156 157
+f 127 157 129
+f 128 129 157
+f 128 157 158
+f 128 158 130
+f 130 159 160
+f 130 160 131
+f 130 158 159
+f 131 161 155
+f 131 160 161
+f 132 146 137
+f 133 137 162
+f 133 162 163
+f 133 163 164
+f 133 164 134
+f 134 164 135
+f 135 164 165
+f 135 165 138
+f 135 138 136
+f 137 146 162
+f 138 165 197
+f 138 197 166
+f 138 166 139
+f 139 166 140
+f 140 166 142
+f 140 142 141
+f 142 166 197
+f 142 197 167
+f 142 167 168
+f 142 168 147
+f 142 147 143
+f 144 169 170
+f 144 170 145
+f 145 170 146
+f 146 170 171
+f 146 171 172
+f 146 172 162
+f 147 168 173
+f 147 173 148
+f 148 173 153
+f 149 174 175
+f 149 175 150
+f 150 175 176
+f 150 176 177
+f 150 177 178
+f 150 178 179
+f 150 179 180
+f 150 180 181
+f 150 181 182
+f 150 182 183
+f 150 183 184
+f 151 152 185
+f 152 186 187
+f 152 187 185
+f 153 173 188
+f 153 188 154
+f 154 188 189
+f 154 189 156
+f 156 189 190
+f 156 190 157
+f 157 190 158
+f 158 177 191
+f 158 191 159
+f 158 190 179
+f 158 179 178
+f 158 178 177
+f 159 191 160
+f 160 191 176
+f 160 176 192
+f 160 192 193
+f 160 193 194
+f 160 194 161
+f 162 172 195
+f 162 195 163
+f 163 195 164
+f 164 196 165
+f 164 195 196
+f 165 196 204
+f 165 204 197
+f 167 198 184
+f 167 184 199
+f 167 199 168
+f 167 197 198
+f 168 200 201
+f 168 201 188
+f 168 188 173
+f 168 199 200
+f 169 202 170
+f 170 202 187
+f 170 187 171
+f 171 187 186
+f 171 186 172
+f 172 186 195
+f 174 203 193
+f 174 193 175
+f 175 193 192
+f 175 192 176
+f 176 191 177
+f 179 190 180
+f 180 190 181
+f 181 189 182
+f 181 190 189
+f 182 189 183
+f 183 201 184
+f 183 189 188
+f 183 188 201
+f 184 201 200
+f 184 200 199
+f 185 187 202
+f 193 203 194
+f 197 204 198
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_13.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.08879209 -0.02161614 0.08797209
+v -0.08942613 -0.02153724 0.08797209
+v -0.08122186 -0.02130056 0.08797209
+v -0.08942613 -0.02021759 0.10741228
+v -0.08942613 0.00449515 0.08797219
+v -0.08942613 -0.02019966 0.10756125
+v -0.07767658 -0.01907710 0.08797210
+v -0.07246987 -0.01160357 0.13024149
+v -0.08615471 0.00459198 0.08797219
+v -0.08942613 0.01500262 0.13024159
+v -0.07347237 -0.01178288 0.13024149
+v -0.07818613 -0.01232440 0.13024148
+v -0.08942613 -0.01861456 0.11255578
+v -0.07246987 -0.00915760 0.08797214
+v -0.07246987 0.01310192 0.13024158
+v -0.08122186 0.00452384 0.08797219
+v -0.08615471 0.01501338 0.13024159
+v -0.08942613 -0.01291613 0.13024148
+v -0.07246987 0.00314314 0.08797218
+v -0.07696288 0.01418496 0.13024158
+v -0.07774297 0.00401101 0.08797218
+v -0.08121356 0.01483048 0.13024158
+f 1 2 5
+f 1 5 9
+f 1 9 16
+f 1 16 21
+f 1 21 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 18
+f 2 18 10
+f 2 10 5
+f 3 6 4
+f 3 7 8
+f 3 8 6
+f 5 10 9
+f 6 8 11
+f 6 11 12
+f 6 12 13
+f 7 14 8
+f 8 15 20
+f 8 20 22
+f 8 22 17
+f 8 17 10
+f 8 10 18
+f 8 18 12
+f 8 12 11
+f 8 14 19
+f 8 19 15
+f 9 10 17
+f 9 17 16
+f 12 18 13
+f 15 19 20
+f 16 17 22
+f 16 22 21
+f 19 21 20
+f 20 21 22
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_14.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.08122792 -0.00807184 0.03056699
+v -0.07126561 -0.00893661 0.03056699
+v -0.07870250 -0.01116445 0.01583343
+v -0.08122792 -0.01055375 0.01836680
+v -0.08458957 -0.01111071 0.01556676
+v -0.08353034 -0.00811093 0.03056699
+v -0.07126561 -0.02107763 0.03056694
+v -0.07126561 -0.00942029 0.02816696
+v -0.08122792 -0.01112048 0.01560185
+v -0.07126561 -0.01454532 0.00352797
+v -0.07126561 -0.01565436 -0.00177387
+v -0.07126561 -0.01638721 -0.00527568
+v -0.07746487 -0.01579604 -0.00527568
+v -0.08122792 -0.01544915 -0.00527568
+v -0.08615611 -0.01554198 -0.00527568
+v -0.09602364 -0.01585955 -0.00527568
+v -0.09602364 -0.00888774 0.02825819
+v -0.09602364 -0.00840895 0.03056699
+v -0.08615611 -0.00815978 0.03056699
+v -0.07126561 -0.02161016 0.02845112
+v -0.07785512 -0.03179202 0.03056690
+v -0.07126561 -0.02817645 -0.00527572
+v -0.09893372 -0.01601101 -0.00527568
+v -0.09971978 -0.01592306 -0.00465462
+v -0.10095183 -0.01096903 0.01984402
+v -0.10095183 -0.01025574 0.02331424
+v -0.10095183 -0.00924440 0.02825819
+v -0.10095183 -0.00877538 0.03056699
+v -0.07126561 -0.02677917 0.00386828
+v -0.09929052 -0.05477926 0.00847527
+v -0.07864675 -0.03577383 0.01634212
+v -0.07834570 -0.03605719 0.01341927
+v -0.07794432 -0.03652132 0.00847534
+v -0.10237342 -0.04620001 0.03056685
+v -0.10230652 -0.05593230 0.01217355
+v -0.07772132 -0.03695612 0.00352788
+v -0.07772132 -0.03823127 -0.00527576
+v -0.10026612 -0.01614781 -0.00527568
+v -0.10300338 -0.01617713 -0.00358443
+v -0.10346053 -0.01114493 0.02067210
+v -0.10376157 -0.01088111 0.02331424
+v -0.12329594 -0.02089188 0.00572447
+v -0.10440825 -0.01016293 0.03056698
+v -0.10175461 -0.05620589 0.00847526
+v -0.10230652 -0.05586876 0.00472081
+v -0.10450303 -0.04712830 0.03056685
+v -0.10441383 -0.05500891 0.01546835
+v -0.10599152 -0.05639645 0.01365779
+v -0.10588560 -0.05769603 0.00847526
+v -0.10095183 -0.05282981 -0.00527581
+v -0.10189399 -0.01639698 -0.00527568
+v -0.11958307 -0.02514242 -0.00527571
+v -0.12396493 -0.02492258 -0.00015633
+v -0.12448339 -0.02334939 0.00385776
+v -0.12459489 -0.02315887 0.00825432
+v -0.12329594 -0.02089188 0.00645781
+v -0.12057540 -0.01947023 0.03056695
+v -0.10460895 -0.05495509 -0.00527582
+v -0.10379502 -0.05450560 -0.00527582
+v -0.10588560 -0.04758756 0.03056685
+v -0.10770300 -0.05547306 0.01609643
+v -0.11107024 -0.05651371 0.01386130
+v -0.11081936 -0.05798429 0.00847526
+v -0.10707304 -0.05562444 -0.00527582
+v -0.12202487 -0.02694037 -0.00527572
+v -0.12394263 -0.02935880 -0.00527573
+v -0.12684713 -0.02833771 0.00352792
+v -0.12715933 -0.02833773 0.00847537
+v -0.12283880 -0.02150269 0.03056694
+v -0.12198585 -0.02072586 0.03056694
+v -0.10851694 -0.04779276 0.03056684
+v -0.11081936 -0.04796864 0.03056684
+v -0.10959847 -0.05547306 0.01609643
+v -0.11288764 -0.05523854 0.01580871
+v -0.11575313 -0.05594206 0.01217005
+v -0.11311063 -0.05529221 -0.00527582
+v -0.11112040 -0.05561466 -0.00527582
+v -0.11575313 -0.05654300 0.00847526
+v -0.12477886 -0.03206060 -0.00527574
+v -0.12509662 -0.03323317 -0.00527574
+v -0.12763877 -0.03296938 0.00371738
+v -0.12821298 -0.03442045 0.00549283
+v -0.12793424 -0.03220722 0.00847535
+v -0.12484576 -0.02833781 0.03056692
+v -0.12439976 -0.02611969 0.03056692
+v -0.12383113 -0.02373058 0.03056693
+v -0.11540191 -0.04653712 0.03056685
+v -0.11825625 -0.05532646 0.01101565
+v -0.11537961 -0.05421735 -0.00527582
+v -0.11827855 -0.05533622 0.00591382
+v -0.11828970 -0.05535089 0.00847527
+v -0.12543669 -0.03705870 -0.00527576
+v -0.12820740 -0.03813848 0.00554546
+v -0.12819068 -0.03775740 0.00824725
+v -0.12819068 -0.03465497 0.00847534
+v -0.12544226 -0.03813844 -0.00527576
+v -0.12809591 -0.03557838 0.01098064
+v -0.12482903 -0.03095167 0.03056691
+v -0.12809591 -0.03586664 0.01098064
+v -0.11652804 -0.04590687 0.03056685
+v -0.11774336 -0.04516424 0.03056685
+v -0.12325692 -0.05052380 0.01114549
+v -0.12339072 -0.05068014 0.00847528
+v -0.12075937 -0.05313276 0.00847527
+v -0.11941582 -0.05153020 -0.00527581
+v -0.12336284 -0.05064593 0.00555242
+v -0.12811821 -0.04070348 0.00590335
+v -0.12811821 -0.04070348 0.00644721
+v -0.12798999 -0.03913518 0.00974552
+v -0.12481231 -0.04195907 -0.00527577
+v -0.12468409 -0.03323330 0.03056690
+v -0.12001233 -0.04290703 0.03056686
+v -0.12258793 -0.03958474 0.03056687
+v -0.12373078 -0.03713700 0.03056688
+v -0.12583808 -0.04303889 0.01341924
+v -0.12506317 -0.04794413 0.00847529
+v -0.11995658 -0.05092437 -0.00527581
+v -0.12349106 -0.04607773 -0.00527579
+v -0.12187992 -0.04853037 -0.00527580
+v -0.12738790 -0.04261870 0.00824723
+v -0.12457259 -0.04303882 -0.00527578
+v -0.12379768 -0.04533999 -0.00527579
+v -0.12415447 -0.03551982 0.03056689
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 19
+f 1 19 18
+f 1 18 28
+f 1 28 43
+f 1 43 57
+f 1 57 70
+f 1 70 69
+f 1 69 86
+f 1 86 85
+f 1 85 84
+f 1 84 98
+f 1 98 111
+f 1 111 123
+f 1 123 114
+f 1 114 113
+f 1 113 112
+f 1 112 101
+f 1 101 100
+f 1 100 87
+f 1 87 72
+f 1 72 71
+f 1 71 60
+f 1 60 46
+f 1 46 34
+f 1 34 21
+f 1 21 7
+f 1 7 2
+f 2 7 20
+f 2 20 29
+f 2 29 22
+f 2 22 12
+f 2 12 11
+f 2 11 10
+f 2 10 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 9
+f 4 9 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 9 14
+f 7 21 20
+f 12 22 37
+f 12 37 50
+f 12 50 59
+f 12 59 58
+f 12 58 64
+f 12 64 77
+f 12 77 76
+f 12 76 89
+f 12 89 105
+f 12 105 117
+f 12 117 119
+f 12 119 118
+f 12 118 122
+f 12 122 121
+f 12 121 110
+f 12 110 96
+f 12 96 92
+f 12 92 80
+f 12 80 79
+f 12 79 66
+f 12 66 65
+f 12 65 52
+f 12 52 51
+f 12 51 38
+f 12 38 23
+f 12 23 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 16 23 17
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 20 21 29
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 29
+f 21 34 35
+f 21 35 30
+f 22 29 36
+f 22 36 37
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 26
+f 26 40 27
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 29 33 36
+f 30 37 33
+f 30 33 32
+f 30 32 31
+f 30 35 44
+f 30 44 45
+f 30 45 37
+f 33 37 36
+f 34 46 35
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 44
+f 37 45 50
+f 38 51 39
+f 39 51 42
+f 39 42 40
+f 40 42 41
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 42 51 52
+f 43 56 57
+f 44 49 45
+f 45 49 58
+f 45 58 59
+f 45 59 50
+f 46 60 47
+f 47 60 48
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 48 63 49
+f 49 63 64
+f 49 64 58
+f 52 65 53
+f 53 65 66
+f 53 66 67
+f 53 67 54
+f 54 67 68
+f 54 68 55
+f 55 68 69
+f 55 69 56
+f 56 69 70
+f 56 70 57
+f 60 71 61
+f 61 71 72
+f 61 72 73
+f 61 73 62
+f 62 73 72
+f 62 72 74
+f 62 74 75
+f 62 75 63
+f 63 76 77
+f 63 77 64
+f 63 75 78
+f 63 78 76
+f 66 79 67
+f 67 80 81
+f 67 81 82
+f 67 82 68
+f 67 79 80
+f 68 82 83
+f 68 83 84
+f 68 84 85
+f 68 85 86
+f 68 86 69
+f 72 87 74
+f 74 87 75
+f 75 88 78
+f 75 87 88
+f 76 78 90
+f 76 90 89
+f 78 88 91
+f 78 91 90
+f 80 92 81
+f 81 92 82
+f 82 93 94
+f 82 94 95
+f 82 95 83
+f 82 92 96
+f 82 96 93
+f 83 95 97
+f 83 97 84
+f 84 97 99
+f 84 99 98
+f 87 100 88
+f 88 100 101
+f 88 101 102
+f 88 102 103
+f 88 103 104
+f 88 104 91
+f 89 90 105
+f 90 91 104
+f 90 104 106
+f 90 106 105
+f 93 107 108
+f 93 108 94
+f 93 96 107
+f 94 108 109
+f 94 109 99
+f 94 99 95
+f 95 99 97
+f 96 110 107
+f 98 99 111
+f 99 109 111
+f 101 112 102
+f 102 112 113
+f 102 113 114
+f 102 114 115
+f 102 115 116
+f 102 116 103
+f 103 116 106
+f 103 106 104
+f 105 106 117
+f 106 116 107
+f 106 107 118
+f 106 118 119
+f 106 119 117
+f 107 116 120
+f 107 120 108
+f 107 110 121
+f 107 121 122
+f 107 122 118
+f 108 120 109
+f 109 120 114
+f 109 114 123
+f 109 123 111
+f 114 120 115
+f 115 120 116
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_15.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.07174344 0.02026727 0.15687702
+v 0.05196891 0.01421295 0.17551899
+v 0.07174344 0.01914308 0.16032232
+v 0.07174344 0.01995406 0.15193148
+v 0.07170140 0.01995406 0.15193148
+v 0.00015711 0.02010423 0.15442014
+v 0.00015711 0.02025869 0.15687702
+v 0.00015711 0.01914308 0.16031879
+v 0.04703579 0.01399841 0.17519424
+v 0.05196891 0.01172000 0.17799000
+v 0.05534642 0.01380961 0.17491890
+v 0.07174344 0.00900396 0.17468589
+v 0.07174344 0.01994548 0.15188912
+v 0.00015711 0.01994548 0.15193148
+v 0.00015711 0.00909407 0.17479885
+v 0.04800279 0.00917986 0.17948670
+v 0.05196891 0.00926997 0.17952553
+v 0.05480685 0.00879799 0.17930314
+v 0.07174344 0.00600471 0.17615790
+v 0.07174344 0.01889426 0.14698241
+v 0.07170140 0.01889426 0.14698241
+v 0.00015711 0.01888568 0.14698241
+v 0.00015711 0.00752793 0.17563194
+v 0.04662937 0.00638658 0.18001619
+v 0.05196891 0.00597896 0.18049980
+v 0.00015711 0.00597897 0.17645089
+v 0.00015711 0.00107892 0.17762283
+v 0.05580890 0.00597896 0.17969144
+v 0.07174344 0.00107892 0.17728748
+v 0.07174344 0.00597897 0.17616849
+v 0.07174344 0.01848665 0.14510444
+v 0.06520565 0.01848665 0.14510444
+v 0.00015711 0.01848236 0.14510444
+v 0.00015711 0.01859392 0.14562335
+v 0.05196891 0.00107890 0.18115991
+v 0.04703579 0.00107891 0.18090221
+v 0.00015711 -0.00139256 0.17737925
+v 0.04703579 -0.00382114 0.18060215
+v 0.07174344 -0.00378251 0.17686387
+v 0.05196891 -0.00382114 0.18085985
+v 0.07174344 -0.00933035 0.14510434
+v 0.00015711 -0.00925741 0.14510434
+v 0.00015711 -0.00382113 0.17713921
+v 0.04703579 -0.00787591 0.17967022
+v 0.07174344 -0.00382113 0.17686034
+v 0.05196891 -0.00829641 0.17980435
+v 0.05533240 -0.00736531 0.17949370
+v 0.07174344 -0.01527309 0.15623444
+v 0.05456160 -0.02107420 0.15425761
+v 0.05196891 -0.01923345 0.15150421
+v 0.05196891 -0.01677913 0.14885318
+v 0.05196891 -0.01068194 0.14510433
+v 0.00015711 -0.01504569 0.15687689
+v 0.04794673 -0.01667615 0.14894849
+v 0.04857739 -0.02125870 0.15397873
+v 0.00015711 -0.00821486 0.17535301
+v 0.04703579 -0.01032593 0.17880534
+v 0.05196891 -0.01074643 0.17897479
+v 0.07174344 -0.00817195 0.17524357
+v 0.07174344 -0.01630718 0.15870897
+v 0.05523430 -0.02158910 0.15687687
+v 0.05196891 -0.02253307 0.15687687
+v 0.05196891 -0.02126299 0.15397873
+v 0.00015711 -0.01554771 0.15899138
+v 0.04697272 -0.02194523 0.15679215
+v 0.00015711 -0.01066918 0.17377155
+v 0.04703579 -0.01362552 0.17692031
+v 0.05196891 -0.01362552 0.17730508
+v 0.07174344 -0.01060052 0.17377861
+v 0.07174344 -0.01654747 0.16182244
+v 0.05196891 -0.02356715 0.16182241
+v 0.04703579 -0.02301364 0.16182242
+v 0.00015711 -0.01604974 0.16117998
+v 0.00015711 -0.01278022 0.17129700
+v 0.04822702 -0.02136602 0.16983555
+v 0.04703579 -0.01674918 0.17477405
+v 0.05196891 -0.01701092 0.17498938
+v 0.05507313 -0.01656897 0.17460109
+v 0.07174344 -0.01062198 0.17376449
+v 0.07174344 -0.01654747 0.16184363
+v 0.07174344 -0.01632008 0.16501357
+v 0.05545152 -0.02173931 0.16676797
+v 0.05196891 -0.02276051 0.16676797
+v 0.04676250 -0.02203966 0.16702213
+v 0.00015711 -0.01608408 0.16432169
+v 0.00015711 -0.01608408 0.16365099
+v 0.00015711 -0.01606691 0.16240843
+v 0.00015711 -0.01523022 0.16679623
+v 0.05196891 -0.02144755 0.16995910
+v 0.05196891 -0.01946093 0.17243365
+v 0.05475780 -0.02121584 0.16960610
+v 0.07174344 -0.01290465 0.17129347
+v 0.07174344 -0.01535467 0.16748458
+v 0.07174344 -0.01533321 0.16751988
+f 1 2 3
+f 1 3 12
+f 1 12 19
+f 1 19 30
+f 1 30 29
+f 1 29 39
+f 1 39 45
+f 1 45 59
+f 1 59 69
+f 1 69 79
+f 1 79 92
+f 1 92 94
+f 1 94 93
+f 1 93 81
+f 1 81 80
+f 1 80 70
+f 1 70 60
+f 1 60 48
+f 1 48 41
+f 1 41 31
+f 1 31 20
+f 1 20 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 8 9
+f 3 11 12
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 22
+f 6 22 34
+f 6 34 33
+f 6 33 42
+f 6 42 53
+f 6 53 64
+f 6 64 73
+f 6 73 87
+f 6 87 86
+f 6 86 85
+f 6 85 88
+f 6 88 74
+f 6 74 66
+f 6 66 56
+f 6 56 43
+f 6 43 37
+f 6 37 27
+f 6 27 26
+f 6 26 23
+f 6 23 15
+f 6 15 8
+f 6 8 7
+f 8 15 9
+f 9 15 10
+f 10 16 17
+f 10 17 18
+f 10 18 12
+f 10 12 11
+f 10 15 16
+f 12 18 19
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 23 16
+f 16 24 25
+f 16 25 17
+f 16 23 26
+f 16 26 27
+f 16 27 24
+f 17 25 18
+f 18 25 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 24 27 25
+f 25 35 29
+f 25 29 28
+f 25 27 36
+f 25 36 35
+f 27 37 38
+f 27 38 36
+f 29 35 40
+f 29 40 39
+f 31 41 52
+f 31 52 42
+f 31 42 33
+f 31 33 32
+f 35 36 38
+f 35 38 40
+f 37 43 38
+f 38 44 40
+f 38 43 44
+f 39 40 45
+f 40 44 46
+f 40 46 47
+f 40 47 45
+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 42 52 51
+f 42 51 54
+f 42 54 55
+f 42 55 53
+f 43 56 57
+f 43 57 44
+f 44 57 58
+f 44 58 46
+f 45 47 59
+f 46 58 47
+f 47 58 59
+f 48 60 49
+f 49 61 62
+f 49 62 63
+f 49 63 50
+f 49 60 61
+f 50 63 55
+f 50 55 54
+f 50 54 51
+f 53 55 65
+f 53 65 64
+f 55 63 62
+f 55 62 65
+f 56 66 67
+f 56 67 57
+f 57 67 58
+f 58 67 68
+f 58 68 59
+f 59 68 69
+f 60 70 71
+f 60 71 61
+f 61 71 62
+f 62 71 72
+f 62 72 65
+f 64 65 73
+f 65 72 73
+f 66 74 75
+f 66 75 76
+f 66 76 67
+f 67 76 77
+f 67 77 68
+f 68 77 78
+f 68 78 69
+f 69 78 79
+f 70 80 71
+f 71 80 81
+f 71 81 82
+f 71 82 83
+f 71 83 72
+f 72 83 84
+f 72 84 85
+f 72 85 86
+f 72 86 87
+f 72 87 73
+f 74 88 75
+f 75 84 83
+f 75 83 89
+f 75 89 90
+f 75 90 76
+f 75 88 85
+f 75 85 84
+f 76 90 77
+f 77 90 78
+f 78 90 91
+f 78 91 92
+f 78 92 79
+f 81 93 91
+f 81 91 82
+f 82 91 83
+f 83 91 89
+f 89 91 90
+f 91 93 94
+f 91 94 92
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_16.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.07150890 -0.07504428 -0.10035275
+v 0.08961596 -0.07384157 -0.10035274
+v 0.07150890 -0.07489338 -0.09878483
+v 0.07150890 -0.07449092 -0.10488400
+v 0.08961596 -0.07327449 -0.10529501
+v 0.08961596 -0.07304130 -0.09722704
+v 0.08961596 -0.07257486 -0.09540540
+v 0.07150890 -0.07403823 -0.09577074
+v 0.07150890 -0.07431257 -0.10545231
+v 0.08961596 -0.07254738 -0.10688323
+v 0.08961596 -0.07073650 -0.09204627
+v 0.07150890 -0.07393762 -0.09550689
+v 0.07150890 -0.07397878 -0.09558299
+v 0.07150890 -0.07145897 -0.11061783
+v 0.08961596 -0.07127605 -0.10964867
+v 0.07150890 -0.07154135 -0.09156929
+v 0.08961596 -0.05408155 -0.06580753
+v 0.07150890 -0.07144525 -0.11063306
+v 0.07305992 -0.06977609 -0.11249529
+v 0.08961596 -0.06942854 -0.11212487
+v 0.08157015 -0.05387577 -0.06580753
+v 0.07150890 -0.07140874 -0.09138155
+v 0.08961596 -0.02870570 -0.06580744
+v 0.07150890 -0.06793314 -0.11401754
+v 0.08961596 -0.06852764 -0.11285047
+v 0.08961596 -0.06697737 -0.11408350
+v 0.08146202 -0.05386662 -0.06580753
+v 0.07150890 -0.05592447 -0.07193717
+v 0.08164638 -0.02833529 -0.06580743
+v 0.08961596 -0.02981236 -0.07067360
+v 0.07150890 -0.06788741 -0.11404798
+v 0.08961596 -0.06265126 -0.11636180
+v 0.07651294 -0.05228434 -0.06580752
+v 0.07150890 -0.05278280 -0.06927320
+v 0.08157015 -0.02833529 -0.06580743
+v 0.08157015 -0.02944194 -0.07067360
+v 0.08961596 -0.03058520 -0.07399719
+v 0.08157015 -0.03040228 -0.07480400
+v 0.07150890 -0.06224426 -0.11688951
+v 0.07151777 -0.06225340 -0.11688951
+v 0.08961596 -0.06084033 -0.11673220
+v 0.07150890 -0.04238827 -0.06580749
+v 0.07297839 -0.05111363 -0.06757842
+v 0.07150890 -0.05275536 -0.06925798
+v 0.07663348 -0.02876973 -0.06580744
+v 0.07770235 -0.03050288 -0.07439299
+v 0.08961596 -0.03117054 -0.07647341
+v 0.08157015 -0.03098304 -0.07727513
+v 0.07150890 -0.06222139 -0.11689459
+v 0.07150890 -0.05774438 -0.11764047
+v 0.08961596 -0.05774438 -0.11735125
+v 0.07150890 -0.02924990 -0.06580744
+v 0.07150890 -0.03375885 -0.08551564
+v 0.07150890 -0.03258359 -0.08056829
+v 0.07150890 -0.03144035 -0.07560573
+v 0.07150890 -0.03081842 -0.07286058
+v 0.07150890 -0.03027881 -0.07047571
+v 0.08157015 -0.03178788 -0.08056829
+v 0.07150890 -0.03738979 -0.10035261
+v 0.07150890 -0.03623283 -0.09565897
+v 0.07150890 -0.03491124 -0.09026510
+v 0.08961596 -0.03215830 -0.08056829
+v 0.07150890 -0.05656910 -0.11762526
+v 0.08961596 -0.05593802 -0.11693516
+v 0.08157015 -0.03302259 -0.08551564
+v 0.08961596 -0.03337929 -0.08551564
+v 0.07150890 -0.03861992 -0.10510206
+v 0.07150890 -0.05345028 -0.11674741
+v 0.08961596 -0.05284207 -0.11621461
+v 0.08157015 -0.03433961 -0.09046299
+v 0.07150890 -0.03867023 -0.10529488
+v 0.08961596 -0.03417498 -0.08863628
+v 0.08961596 -0.03464601 -0.09046299
+v 0.08961596 -0.03515818 -0.09241656
+v 0.07150890 -0.05319419 -0.11662056
+v 0.08961596 -0.04304204 -0.11058729
+v 0.08961596 -0.03688220 -0.09884557
+v 0.08961596 -0.03814434 -0.10347324
+v 0.08961596 -0.03865651 -0.10529488
+v 0.08157015 -0.03535938 -0.09401493
+v 0.08157015 -0.03863822 -0.10529488
+v 0.07150890 -0.03996439 -0.10866415
+v 0.07150890 -0.04304204 -0.11058221
+v 0.07170566 -0.03996439 -0.10866415
+v 0.08961596 -0.03997354 -0.10865909
+v 0.08961596 -0.03948423 -0.10742098
+v 0.08650329 -0.03864736 -0.10529488
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 12
+f 1 12 16
+f 1 16 22
+f 1 22 28
+f 1 28 34
+f 1 34 44
+f 1 44 42
+f 1 42 52
+f 1 52 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 61
+f 1 61 60
+f 1 60 59
+f 1 59 67
+f 1 67 71
+f 1 71 82
+f 1 82 83
+f 1 83 75
+f 1 75 68
+f 1 68 63
+f 1 63 50
+f 1 50 49
+f 1 49 39
+f 1 39 31
+f 1 31 24
+f 1 24 18
+f 1 18 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 10
+f 2 10 15
+f 2 15 20
+f 2 20 25
+f 2 25 26
+f 2 26 32
+f 2 32 41
+f 2 41 51
+f 2 51 64
+f 2 64 69
+f 2 69 76
+f 2 76 85
+f 2 85 86
+f 2 86 79
+f 2 79 78
+f 2 78 77
+f 2 77 74
+f 2 74 73
+f 2 73 72
+f 2 72 66
+f 2 66 62
+f 2 62 47
+f 2 47 37
+f 2 37 30
+f 2 30 23
+f 2 23 17
+f 2 17 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 11 17 16
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 17 21
+f 16 21 22
+f 17 23 29
+f 17 29 35
+f 17 35 45
+f 17 45 52
+f 17 52 42
+f 17 42 33
+f 17 33 27
+f 17 27 21
+f 18 24 19
+f 19 25 20
+f 19 24 26
+f 19 26 25
+f 21 27 22
+f 22 27 28
+f 23 30 29
+f 24 31 26
+f 26 31 32
+f 27 33 28
+f 28 33 34
+f 29 30 36
+f 29 36 35
+f 30 37 38
+f 30 38 36
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 35 36 46
+f 35 46 45
+f 36 38 46
+f 37 47 48
+f 37 48 38
+f 38 48 46
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 42 44 43
+f 45 46 52
+f 46 53 54
+f 46 54 55
+f 46 55 56
+f 46 56 57
+f 46 57 52
+f 46 48 58
+f 46 58 59
+f 46 59 60
+f 46 60 61
+f 46 61 53
+f 47 62 48
+f 48 62 58
+f 50 63 51
+f 51 63 64
+f 58 65 59
+f 58 62 66
+f 58 66 65
+f 59 65 67
+f 63 68 69
+f 63 69 64
+f 65 70 71
+f 65 71 67
+f 65 66 72
+f 65 72 73
+f 65 73 74
+f 65 74 70
+f 68 75 69
+f 69 75 76
+f 70 74 77
+f 70 77 78
+f 70 78 79
+f 70 79 80
+f 70 80 71
+f 71 80 81
+f 71 81 82
+f 75 83 76
+f 76 83 82
+f 76 82 84
+f 76 84 85
+f 79 86 87
+f 79 87 80
+f 80 87 81
+f 81 87 86
+f 81 86 85
+f 81 85 84
+f 81 84 82
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_17.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.05655600 -0.05891598 -0.12003818
+v -0.05655600 -0.06265235 -0.11963482
+v -0.06031030 -0.05891598 -0.11944292
+v 0.00015012 -0.05891599 -0.11770413
+v 0.00015012 -0.06024570 -0.11767673
+v -0.05655600 -0.06669864 -0.11839731
+v -0.06020543 -0.06608103 -0.11811926
+v -0.06170156 -0.06278422 -0.11860877
+v -0.06936398 -0.06033801 -0.11770413
+v -0.07103490 -0.05891599 -0.11761798
+v 0.00015012 -0.05891611 -0.08475356
+v 0.00015012 -0.06146112 -0.11726554
+v -0.05655600 -0.06914925 -0.11721073
+v 0.00015012 -0.06269632 -0.11684650
+v -0.07125862 -0.06785472 -0.11399948
+v -0.07125862 -0.06225235 -0.11686217
+v -0.07125862 -0.06214465 -0.11688567
+v -0.07125862 -0.05891599 -0.11756315
+v -0.05655600 -0.05891613 -0.08003850
+v -0.05408808 -0.07000874 -0.08303831
+v 0.00015012 -0.06450088 -0.08820763
+v -0.05383639 -0.07503955 -0.11285208
+v -0.05699645 -0.07294058 -0.11441461
+v -0.05894001 -0.07489889 -0.11270717
+v 0.00015012 -0.06734262 -0.11437151
+v -0.07125862 -0.06986138 -0.11257400
+v -0.07125862 -0.05891611 -0.08439719
+v -0.06120518 -0.05891612 -0.08097837
+v -0.05964613 -0.06647458 -0.08266235
+v -0.05740194 -0.06974280 -0.08312839
+v -0.05607360 -0.06788781 -0.08253704
+v -0.05410906 -0.07000874 -0.08303831
+v -0.05607360 -0.07196704 -0.08435807
+v -0.05655600 -0.07587263 -0.08709156
+v -0.05319320 -0.07561768 -0.08733045
+v 0.00015012 -0.06755590 -0.09024796
+v -0.05655600 -0.07938255 -0.10689560
+v -0.05699645 -0.07660663 -0.11073343
+v -0.05564713 -0.07503955 -0.11285208
+v 0.00015012 -0.06979545 -0.11248393
+v -0.05959020 -0.08018039 -0.10373918
+v -0.07125862 -0.07138890 -0.11054935
+v -0.07125862 -0.07130978 -0.11065509
+v -0.07125862 -0.06612950 -0.08747530
+v -0.05967410 -0.07548361 -0.08745185
+v -0.05655600 -0.07832324 -0.09000520
+v -0.05366861 -0.08004856 -0.09252721
+v 0.00015012 -0.07037795 -0.09250368
+v 0.00015012 -0.06897791 -0.09138365
+v -0.05655600 -0.08046391 -0.10442060
+v 0.00015012 -0.07141309 -0.11000892
+v -0.05324913 -0.08031226 -0.10404073
+v -0.05655600 -0.08136725 -0.10035171
+v -0.06003764 -0.08048810 -0.10035171
+v -0.07125862 -0.07487255 -0.10190248
+v -0.07125862 -0.07432527 -0.10501191
+v -0.07125862 -0.07427252 -0.10521163
+v -0.07125862 -0.07423515 -0.10529387
+v -0.07125862 -0.06853615 -0.08893996
+v -0.05919170 -0.07992328 -0.09273476
+v -0.07125862 -0.06857351 -0.08896346
+v -0.07125862 -0.07135380 -0.09143457
+v -0.05655600 -0.08007273 -0.09247630
+v -0.05655600 -0.08097605 -0.09540951
+v -0.05299045 -0.08049032 -0.09540951
+v 0.00015012 -0.07368351 -0.10035168
+v 0.00015012 -0.07205271 -0.09540947
+v 0.00015012 -0.07341755 -0.10529779
+v -0.05973702 -0.08029691 -0.09540950
+v -0.07125862 -0.07494069 -0.10035169
+v -0.07125862 -0.07387255 -0.09561704
+v -0.07125862 -0.07388134 -0.09563662
+f 1 2 3
+f 1 3 10
+f 1 10 18
+f 1 18 27
+f 1 27 28
+f 1 28 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 5 6
+f 4 11 21
+f 4 21 36
+f 4 36 49
+f 4 49 48
+f 4 48 67
+f 4 67 66
+f 4 66 68
+f 4 68 51
+f 4 51 40
+f 4 40 25
+f 4 25 14
+f 4 14 12
+f 4 12 5
+f 5 12 6
+f 6 13 7
+f 6 12 14
+f 6 14 13
+f 7 13 15
+f 7 15 16
+f 7 16 9
+f 7 9 8
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 11 19 20
+f 11 20 21
+f 13 22 23
+f 13 23 24
+f 13 24 15
+f 13 14 25
+f 13 25 22
+f 15 26 43
+f 15 43 42
+f 15 42 58
+f 15 58 57
+f 15 57 56
+f 15 56 55
+f 15 55 70
+f 15 70 72
+f 15 72 71
+f 15 71 62
+f 15 62 61
+f 15 61 59
+f 15 59 44
+f 15 44 27
+f 15 27 18
+f 15 18 17
+f 15 17 16
+f 15 24 26
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 22 25 40
+f 22 40 37
+f 23 39 24
+f 24 39 38
+f 24 38 37
+f 24 37 41
+f 24 41 42
+f 24 42 43
+f 24 43 26
+f 27 44 29
+f 27 29 28
+f 29 44 30
+f 30 44 45
+f 30 45 33
+f 30 33 32
+f 30 32 31
+f 33 45 34
+f 34 46 35
+f 34 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 37 50 41
+f 37 40 51
+f 37 51 52
+f 37 52 50
+f 41 50 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 42
+f 44 59 45
+f 45 60 46
+f 45 59 61
+f 45 61 62
+f 45 62 60
+f 46 60 63
+f 46 63 47
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 67
+f 47 67 48
+f 50 52 53
+f 51 68 52
+f 52 68 53
+f 53 64 69
+f 53 69 54
+f 53 68 66
+f 53 66 64
+f 54 69 70
+f 54 70 55
+f 60 69 64
+f 60 64 63
+f 60 62 71
+f 60 71 72
+f 60 72 69
+f 64 66 65
+f 69 72 70
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_18.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.08122534 -0.03121614 -0.07795095
+v -0.08122534 -0.03184664 -0.08056855
+v -0.08615768 -0.03128048 -0.07795095
+v -0.07126561 -0.03196246 -0.07795096
+v -0.07126561 -0.03257153 -0.08056855
+v -0.07126561 -0.03259297 -0.08066004
+v -0.07126561 -0.03377251 -0.08560482
+v -0.08122534 -0.03309481 -0.08551333
+v -0.08615768 -0.03315485 -0.08551333
+v -0.08615768 -0.03191527 -0.08056855
+v -0.07126561 -0.03494774 -0.09046209
+v -0.07126561 -0.03562972 -0.09326665
+v -0.07126561 -0.03737970 -0.10035165
+v -0.09602763 -0.03224983 -0.08056855
+v -0.09602763 -0.03162361 -0.07795096
+v -0.07126561 -0.05694302 -0.07795105
+v -0.08122534 -0.03442016 -0.09046209
+v -0.08615768 -0.03445447 -0.09046209
+v -0.07126561 -0.03866645 -0.10529643
+v -0.09602763 -0.03726818 -0.10035165
+v -0.09602763 -0.03615729 -0.09605530
+v -0.09602763 -0.03552249 -0.09358490
+v -0.09602763 -0.03472470 -0.09046209
+v -0.09602763 -0.03346797 -0.08551333
+v -0.09927538 -0.03558682 -0.09334621
+v -0.09844628 -0.03185094 -0.07795096
+v -0.07126561 -0.07135483 -0.09143288
+v -0.10466714 -0.06972926 -0.07795110
+v -0.08122534 -0.03539809 -0.09392702
+v -0.08615768 -0.03720384 -0.10035165
+v -0.08615768 -0.03540238 -0.09394293
+v -0.07126561 -0.03996609 -0.10866192
+v -0.08615768 -0.03861927 -0.10529643
+v -0.09602763 -0.03861498 -0.10529643
+v -0.10095470 -0.03898814 -0.10529643
+v -0.10256536 -0.03586134 -0.09241534
+v -0.10093357 -0.03515362 -0.09064508
+v -0.10095470 -0.03391405 -0.08551333
+v -0.10090717 -0.03209543 -0.07795096
+v -0.07126561 -0.07387261 -0.09561784
+v -0.10703826 -0.07028258 -0.07795110
+v -0.07126561 -0.04002184 -0.10869771
+v -0.11575170 -0.05418490 -0.11816166
+v -0.09602763 -0.03995322 -0.10869374
+v -0.10095470 -0.04012050 -0.10845903
+v -0.10365322 -0.04039501 -0.10806520
+v -0.10372715 -0.03542384 -0.08911749
+v -0.10413378 -0.03500781 -0.08551334
+v -0.10455625 -0.03444164 -0.08056856
+v -0.10468299 -0.03412853 -0.07795097
+v -0.07126561 -0.07388119 -0.09563774
+v -0.10858556 -0.07032546 -0.07795110
+v -0.07126561 -0.04304575 -0.11058732
+v -0.11081936 -0.05427068 -0.11811792
+v -0.11575170 -0.05774496 -0.11859131
+v -0.11886742 -0.05460953 -0.11797073
+v -0.11575170 -0.05174003 -0.11652268
+v -0.11930573 -0.04997287 -0.11354705
+v -0.12021404 -0.04948821 -0.11024523
+v -0.12268021 -0.05078356 -0.11024524
+v -0.11664946 -0.04100419 -0.07795099
+v -0.07126561 -0.07494062 -0.10035179
+v -0.11024375 -0.07032546 -0.07795110
+v -0.07126561 -0.05318979 -0.11664999
+v -0.11081936 -0.05774496 -0.11851970
+v -0.07126561 -0.05325842 -0.11668579
+v -0.07126561 -0.05339568 -0.11674546
+v -0.07126561 -0.05774497 -0.11764054
+v -0.11575170 -0.06151522 -0.11809010
+v -0.11874068 -0.06094475 -0.11790710
+v -0.11909978 -0.05774497 -0.11807416
+v -0.11081936 -0.06143801 -0.11806622
+v -0.12156595 -0.05774497 -0.11655851
+v -0.12375751 -0.05409913 -0.11364254
+v -0.12073157 -0.05272657 -0.11524571
+v -0.12412190 -0.05322843 -0.11024525
+v -0.12308156 -0.05047474 -0.10724973
+v -0.12057314 -0.04336757 -0.07795100
+v -0.07126561 -0.07487198 -0.10190325
+v -0.11081936 -0.07384687 -0.09540701
+v -0.11081936 -0.07463608 -0.09944080
+v -0.11081936 -0.07503069 -0.10191519
+v -0.11081936 -0.07503068 -0.10366555
+v -0.11121015 -0.07019679 -0.07795110
+v -0.11348093 -0.07498779 -0.10243234
+v -0.07126561 -0.05871863 -0.11760475
+v -0.11575170 -0.06396438 -0.11725071
+v -0.11869843 -0.07035107 -0.11302998
+v -0.12047809 -0.06724566 -0.11382957
+v -0.12050450 -0.06260898 -0.11616071
+v -0.11081936 -0.06388717 -0.11722685
+v -0.07126561 -0.06224868 -0.11686484
+v -0.12374695 -0.06264759 -0.11355109
+v -0.12407964 -0.05774498 -0.11408810
+v -0.12516750 -0.05774500 -0.11024526
+v -0.12429088 -0.05284672 -0.10035170
+v -0.12377336 -0.04810718 -0.07795102
+v -0.12301819 -0.04582530 -0.07795101
+v -0.12323470 -0.05029890 -0.10395187
+v -0.12171381 -0.04451279 -0.07795100
+v -0.07126561 -0.07432294 -0.10501014
+v -0.11348093 -0.07498779 -0.10362179
+v -0.11081936 -0.07455457 -0.10613992
+v -0.11293171 -0.06995659 -0.07795110
+v -0.11311654 -0.06997804 -0.07821763
+v -0.11389284 -0.07030401 -0.08151150
+v -0.11537676 -0.07358092 -0.10061036
+v -0.11981798 -0.07159927 -0.10529655
+v -0.11537676 -0.07416424 -0.10528065
+v -0.11575170 -0.06755020 -0.11526168
+v -0.11951169 -0.07120465 -0.11024531
+v -0.12331392 -0.06540987 -0.11293050
+v -0.11575170 -0.07053122 -0.11320501
+v -0.11575170 -0.07262439 -0.11024532
+v -0.07126561 -0.06766600 -0.11409610
+v -0.07126561 -0.06785044 -0.11399665
+v -0.12462886 -0.06264761 -0.11024528
+v -0.12469751 -0.06264762 -0.10529652
+v -0.12520975 -0.05774501 -0.10529650
+v -0.12407437 -0.04997300 -0.07795102
+v -0.07126561 -0.07427147 -0.10521303
+v -0.07126561 -0.07423287 -0.10529656
+v -0.11568833 -0.06854543 -0.07795109
+v -0.11833934 -0.07010666 -0.09246321
+v -0.11919483 -0.06608340 -0.07795108
+v -0.12228415 -0.06857106 -0.10529654
+v -0.12197785 -0.06845954 -0.11024530
+v -0.12358324 -0.06600609 -0.11024529
+v -0.07126561 -0.06985782 -0.11257648
+v -0.07126561 -0.07138908 -0.11055163
+v -0.12364133 -0.06611762 -0.10529653
+v -0.12318190 -0.06025432 -0.07795106
+v -0.12350403 -0.05913483 -0.07795106
+v -0.12379976 -0.05793384 -0.07795105
+v -0.12423807 -0.05515441 -0.07795104
+v -0.12499324 -0.05774503 -0.10035172
+v -0.12443874 -0.05284680 -0.07795103
+v -0.11779541 -0.06971206 -0.08916536
+v -0.12072629 -0.06399883 -0.07795108
+v -0.12180358 -0.06251476 -0.07795107
+v -0.12318718 -0.06516544 -0.09758698
+f 1 2 3
+f 1 3 15
+f 1 15 26
+f 1 26 39
+f 1 39 50
+f 1 50 61
+f 1 61 78
+f 1 78 100
+f 1 100 98
+f 1 98 97
+f 1 97 120
+f 1 120 137
+f 1 137 135
+f 1 135 134
+f 1 134 133
+f 1 133 132
+f 1 132 140
+f 1 140 139
+f 1 139 125
+f 1 125 123
+f 1 123 104
+f 1 104 84
+f 1 84 63
+f 1 63 52
+f 1 52 41
+f 1 41 28
+f 1 28 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 11
+f 2 11 12
+f 2 12 13
+f 2 13 8
+f 3 10 14
+f 3 14 15
+f 4 16 27
+f 4 27 40
+f 4 40 51
+f 4 51 62
+f 4 62 79
+f 4 79 101
+f 4 101 121
+f 4 121 122
+f 4 122 130
+f 4 130 129
+f 4 129 116
+f 4 116 115
+f 4 115 92
+f 4 92 86
+f 4 86 68
+f 4 68 67
+f 4 67 66
+f 4 66 64
+f 4 64 53
+f 4 53 42
+f 4 42 32
+f 4 32 19
+f 4 19 13
+f 4 13 12
+f 4 12 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 8 17 18
+f 8 18 9
+f 8 13 19
+f 8 19 17
+f 9 18 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 10 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 16 28 27
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 17 19 29
+f 18 31 20
+f 19 32 33
+f 19 33 30
+f 19 30 29
+f 20 31 34
+f 20 34 25
+f 20 25 21
+f 21 25 22
+f 22 25 23
+f 23 25 24
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 25 34 35
+f 27 28 41
+f 27 41 40
+f 30 33 34
+f 30 34 31
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 33 44 34
+f 34 44 45
+f 34 45 35
+f 35 45 46
+f 35 46 36
+f 36 46 47
+f 36 47 39
+f 36 39 38
+f 36 38 37
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 40 41 51
+f 41 52 51
+f 42 53 43
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 43 53 54
+f 44 57 45
+f 45 57 46
+f 46 57 58
+f 46 58 59
+f 46 59 47
+f 47 59 60
+f 47 60 61
+f 47 61 48
+f 48 61 49
+f 49 61 50
+f 51 52 62
+f 52 63 62
+f 53 64 54
+f 54 65 55
+f 54 64 66
+f 54 66 67
+f 54 67 68
+f 54 68 65
+f 55 69 70
+f 55 70 71
+f 55 71 56
+f 55 65 72
+f 55 72 69
+f 56 71 73
+f 56 73 74
+f 56 74 75
+f 56 75 58
+f 56 58 57
+f 58 75 74
+f 58 74 60
+f 58 60 59
+f 60 74 76
+f 60 76 77
+f 60 77 78
+f 60 78 61
+f 62 63 80
+f 62 80 81
+f 62 81 82
+f 62 82 83
+f 62 83 79
+f 63 84 85
+f 63 85 80
+f 65 68 86
+f 65 86 72
+f 69 87 70
+f 69 72 91
+f 69 91 87
+f 70 88 89
+f 70 89 90
+f 70 90 73
+f 70 73 71
+f 70 87 88
+f 72 86 92
+f 72 92 91
+f 73 93 94
+f 73 94 74
+f 73 90 93
+f 74 94 95
+f 74 95 76
+f 76 95 96
+f 76 96 97
+f 76 97 98
+f 76 98 99
+f 76 99 77
+f 77 99 98
+f 77 98 100
+f 77 100 78
+f 79 83 101
+f 80 85 81
+f 81 85 82
+f 82 85 102
+f 82 102 83
+f 83 102 103
+f 83 103 101
+f 84 104 85
+f 85 104 105
+f 85 105 106
+f 85 106 107
+f 85 107 108
+f 85 108 109
+f 85 109 102
+f 87 110 88
+f 87 91 110
+f 88 111 112
+f 88 112 89
+f 88 110 113
+f 88 113 114
+f 88 114 111
+f 89 112 90
+f 90 112 93
+f 91 92 115
+f 91 115 116
+f 91 116 110
+f 93 117 95
+f 93 95 94
+f 93 112 117
+f 95 117 118
+f 95 118 119
+f 95 119 97
+f 95 97 96
+f 97 119 120
+f 101 103 121
+f 102 109 114
+f 102 114 103
+f 103 114 122
+f 103 122 121
+f 104 123 105
+f 105 123 106
+f 106 123 107
+f 107 123 124
+f 107 124 108
+f 108 111 109
+f 108 124 125
+f 108 125 126
+f 108 126 127
+f 108 127 111
+f 109 111 114
+f 110 116 113
+f 111 127 112
+f 112 127 128
+f 112 128 117
+f 113 116 129
+f 113 129 130
+f 113 130 114
+f 114 130 122
+f 117 128 131
+f 117 131 118
+f 118 131 132
+f 118 132 133
+f 118 133 134
+f 118 134 135
+f 118 135 136
+f 118 136 119
+f 119 136 135
+f 119 135 137
+f 119 137 120
+f 123 125 138
+f 123 138 124
+f 124 138 125
+f 125 139 126
+f 126 139 140
+f 126 140 141
+f 126 141 131
+f 126 131 128
+f 126 128 127
+f 131 141 132
+f 132 141 140
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_19.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.08122556 -0.01545278 -0.00527568
+v -0.07746539 -0.01579842 -0.00527568
+v -0.08122556 -0.01562080 -0.00610740
+v -0.08210064 -0.01546718 -0.00527568
+v -0.07785785 -0.02080530 -0.02951486
+v -0.08122556 -0.01670090 -0.01131529
+v -0.07126561 -0.01638889 -0.00527568
+v -0.08615781 -0.01780501 -0.01625999
+v -0.08615781 -0.01566400 -0.00587227
+v -0.08615781 -0.01554399 -0.00527568
+v -0.07126561 -0.01654250 -0.00601265
+v -0.07126561 -0.02384400 -0.04099049
+v -0.07126561 -0.02386320 -0.04108173
+v -0.08122556 -0.02117493 -0.03265575
+v -0.08615781 -0.01987400 -0.02614938
+v -0.07126561 -0.02817423 -0.00527572
+v -0.09602761 -0.02329674 -0.04099049
+v -0.09602761 -0.02019564 -0.02614938
+v -0.09602761 -0.01586083 -0.00527568
+v -0.07126561 -0.02387281 -0.04112385
+v -0.08122556 -0.02301351 -0.04112384
+v -0.08602522 -0.02306631 -0.04112384
+v -0.08615781 -0.02121333 -0.03248028
+v -0.08615781 -0.02069009 -0.03000968
+v -0.07126561 -0.03176017 -0.02081871
+v -0.07772526 -0.03823616 -0.00527576
+v -0.07856852 -0.04074684 -0.00804115
+v -0.07824500 -0.04106367 -0.01131538
+v -0.09602761 -0.02332554 -0.04112385
+v -0.09908242 -0.02090611 -0.02899899
+v -0.09892862 -0.01600964 -0.00527568
+v -0.07126561 -0.03574935 -0.04112389
+v -0.07804878 -0.04618576 -0.03604237
+v -0.07775178 -0.04666579 -0.04099057
+v -0.10095455 -0.05282982 -0.00527581
+v -0.07842002 -0.04578732 -0.03218909
+v -0.10379192 -0.05450521 -0.00527582
+v -0.10088031 -0.06164829 -0.04112399
+v -0.10095455 -0.02372399 -0.04112385
+v -0.10095455 -0.02369519 -0.04099049
+v -0.10081666 -0.02057488 -0.02618448
+v -0.10026510 -0.01614886 -0.00527568
+v -0.07774648 -0.04668020 -0.04112393
+v -0.10460866 -0.05495646 -0.00527582
+v -0.10555268 -0.06407257 -0.04112400
+v -0.10432758 -0.02500573 -0.04112385
+v -0.10363281 -0.02081012 -0.02455964
+v -0.10237058 -0.02118935 -0.02785845
+v -0.10189327 -0.01639849 -0.00527568
+v -0.10566405 -0.06413017 -0.04112400
+v -0.10707478 -0.05562374 -0.00527582
+v -0.12056686 -0.03405956 -0.04112389
+v -0.11958041 -0.02514028 -0.00527571
+v -0.11081905 -0.06448541 -0.04112400
+v -0.11112135 -0.05561414 -0.00527582
+v -0.12065172 -0.03411717 -0.04112389
+v -0.12202533 -0.02694048 -0.00527572
+v -0.11311016 -0.05529250 -0.00527582
+v -0.11143425 -0.06438460 -0.04112400
+v -0.12301708 -0.03590777 -0.04112389
+v -0.12394519 -0.02935996 -0.00527573
+v -0.11537475 -0.05421718 -0.00527582
+v -0.11565584 -0.06271882 -0.04112399
+v -0.12403005 -0.03834645 -0.04112390
+v -0.12477784 -0.03206267 -0.00527574
+v -0.11941070 -0.05152887 -0.00527581
+v -0.11573538 -0.06268041 -0.04112399
+v -0.12407247 -0.03849047 -0.04112390
+v -0.12509605 -0.03323880 -0.00527574
+v -0.11995697 -0.05092400 -0.00527581
+v -0.11867352 -0.06067858 -0.04112398
+v -0.12514908 -0.04304138 -0.04112392
+v -0.12543547 -0.03706003 -0.00527576
+v -0.12188214 -0.04852853 -0.00527580
+v -0.12094872 -0.05788467 -0.04112397
+v -0.12080553 -0.05806229 -0.04112397
+v -0.12515439 -0.04317100 -0.04112392
+v -0.12544608 -0.03814015 -0.00527576
+v -0.12348909 -0.04608026 -0.00527579
+v -0.12302769 -0.05502834 -0.04112396
+v -0.12508545 -0.04794274 -0.04112394
+v -0.12481496 -0.04196139 -0.00527577
+v -0.12379670 -0.04534097 -0.00527579
+v -0.12387095 -0.05291130 -0.04112395
+v -0.12505893 -0.04807715 -0.04112394
+v -0.12457100 -0.04304151 -0.00527578
+v -0.12388155 -0.05287770 -0.04112395
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 31
+f 1 31 42
+f 1 42 49
+f 1 49 53
+f 1 53 57
+f 1 57 61
+f 1 61 65
+f 1 65 69
+f 1 69 73
+f 1 73 78
+f 1 78 82
+f 1 82 86
+f 1 86 83
+f 1 83 79
+f 1 79 74
+f 1 74 70
+f 1 70 66
+f 1 66 62
+f 1 62 58
+f 1 58 55
+f 1 55 51
+f 1 51 44
+f 1 44 37
+f 1 37 35
+f 1 35 26
+f 1 26 16
+f 1 16 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 3 6 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 7 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 8
+f 7 16 25
+f 7 25 32
+f 7 32 20
+f 7 20 13
+f 7 13 12
+f 7 12 11
+f 8 15 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 10
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 17
+f 16 26 27
+f 16 27 28
+f 16 28 25
+f 17 24 23
+f 17 23 22
+f 17 22 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 19 30 31
+f 20 32 43
+f 20 43 38
+f 20 38 45
+f 20 45 50
+f 20 50 54
+f 20 54 59
+f 20 59 63
+f 20 63 67
+f 20 67 71
+f 20 71 76
+f 20 76 75
+f 20 75 80
+f 20 80 84
+f 20 84 87
+f 20 87 85
+f 20 85 81
+f 20 81 77
+f 20 77 72
+f 20 72 68
+f 20 68 64
+f 20 64 60
+f 20 60 56
+f 20 56 52
+f 20 52 46
+f 20 46 39
+f 20 39 29
+f 20 29 22
+f 20 22 21
+f 25 28 33
+f 25 33 34
+f 25 34 32
+f 26 35 27
+f 27 36 33
+f 27 33 28
+f 27 35 37
+f 27 37 38
+f 27 38 36
+f 29 39 30
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 32 34 43
+f 33 36 38
+f 33 38 34
+f 34 38 43
+f 37 44 38
+f 38 44 45
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 40 48 41
+f 41 48 49
+f 41 49 42
+f 44 50 45
+f 44 51 50
+f 46 52 53
+f 46 53 47
+f 47 49 48
+f 47 53 49
+f 50 51 54
+f 51 55 54
+f 52 56 53
+f 53 56 57
+f 54 55 58
+f 54 58 59
+f 56 60 57
+f 57 60 61
+f 58 62 63
+f 58 63 59
+f 60 64 61
+f 61 64 65
+f 62 66 67
+f 62 67 63
+f 64 68 65
+f 65 68 69
+f 66 70 71
+f 66 71 67
+f 68 72 69
+f 69 72 73
+f 70 74 75
+f 70 75 76
+f 70 76 71
+f 72 77 73
+f 73 77 78
+f 74 79 80
+f 74 80 75
+f 77 81 78
+f 78 81 82
+f 79 83 80
+f 80 83 84
+f 81 85 82
+f 82 85 86
+f 83 86 84
+f 84 86 87
+f 85 87 86
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_2.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v 0.00015012 -0.00786290 0.03057050
+v 0.00015012 -0.01777687 0.03057046
+v 0.00015012 -0.00834203 0.02825524
+v -0.00229683 -0.00786290 0.03057050
+v -0.07125862 -0.02107617 0.03057045
+v -0.07125862 -0.02111797 0.03040442
+v -0.07125862 -0.02161640 0.02842123
+v 0.00015012 -0.03845343 -0.05583222
+v 0.00015012 -0.00885010 0.02580162
+v -0.00229683 -0.00834203 0.02825524
+v -0.00723266 -0.00786933 0.03057050
+v -0.07125862 -0.00893694 0.03057050
+v -0.07125862 -0.02677427 0.00385729
+v 0.00015012 -0.04032173 -0.06366353
+v 0.00015012 -0.00936783 0.02331110
+v -0.00229683 -0.00936783 0.02331110
+v -0.00723266 -0.00937426 0.02331110
+v -0.01216149 -0.00788220 0.03057050
+v -0.06642066 -0.00869577 0.03057050
+v -0.07125862 -0.00940321 0.02825524
+v -0.07125862 -0.04071083 -0.06366353
+v 0.00015012 -0.02847513 -0.06366348
+v 0.00015012 -0.01040326 0.01836694
+v -0.00229683 -0.01040326 0.01836694
+v -0.00723266 -0.01040647 0.01836694
+v -0.01216149 -0.00938712 0.02331110
+v -0.01446861 -0.00789185 0.03057050
+v -0.06379195 -0.00860251 0.03057050
+v -0.06642066 -0.00917168 0.02825524
+v -0.06642066 -0.01327805 0.00846942
+v -0.07125862 -0.01456108 0.00343303
+v -0.07125862 -0.02877419 -0.06366349
+v -0.01216149 -0.02847513 -0.06366348
+v -0.01216149 -0.02597980 -0.05293580
+v 0.00015012 -0.02597980 -0.05292658
+v 0.00015012 -0.01072482 0.01684496
+v -0.00723266 -0.01105282 0.01531375
+v -0.01216149 -0.01105925 0.01534142
+v -0.01216149 -0.01041934 0.01836694
+v -0.01709732 -0.00940963 0.02331110
+v -0.01709732 -0.00838384 0.02825524
+v -0.01939745 -0.00791436 0.03057050
+v -0.06148484 -0.00852212 0.03057050
+v -0.06148484 -0.00899803 0.02825524
+v -0.06148484 -0.01085024 0.01926169
+v -0.06148484 -0.01206253 0.01341357
+v -0.06642066 -0.01534569 -0.00142810
+v -0.06960868 -0.01604350 -0.00406621
+v -0.07125862 -0.02384462 -0.04099052
+v -0.07125862 -0.02566467 -0.04947673
+v -0.06642066 -0.02555855 -0.04987337
+v -0.06642066 -0.02610521 -0.05234545
+v -0.06642066 -0.02864556 -0.06366349
+v -0.01709732 -0.02847835 -0.06366348
+v -0.01709732 -0.02597980 -0.05292658
+v -0.01216149 -0.02541062 -0.05045449
+v -0.00723266 -0.02541062 -0.05045449
+v 0.00015012 -0.02569360 -0.05168131
+v 0.00015012 -0.01131649 0.01407771
+v -0.00229683 -0.01105282 0.01530452
+v -0.01216149 -0.01159304 0.01286013
+v -0.00229683 -0.01563831 -0.00593871
+v -0.00723266 -0.01617532 -0.00841079
+v -0.01216149 -0.01617532 -0.00839234
+v -0.01709732 -0.01618175 -0.00837389
+v -0.01709732 -0.01106890 0.01538754
+v -0.02202616 -0.01618818 -0.00833699
+v -0.01709732 -0.01044185 0.01836694
+v -0.02202616 -0.00943536 0.02331110
+v -0.02202616 -0.00793043 0.03057050
+v -0.05655600 -0.00840314 0.03057050
+v -0.05655600 -0.00990163 0.02331109
+v -0.05655600 -0.01130686 0.01650366
+v -0.06148484 -0.01517204 -0.00142810
+v -0.06642066 -0.01596953 -0.00440750
+v -0.07125862 -0.02386391 -0.04108276
+v -0.07125862 -0.02490578 -0.04600845
+v -0.07125862 -0.02488970 -0.04593466
+v -0.06642066 -0.02470640 -0.04593466
+v -0.06148484 -0.02457778 -0.04593466
+v -0.06148484 -0.02549745 -0.05015932
+v -0.06148484 -0.02604089 -0.05263141
+v -0.06148484 -0.02677405 -0.05583218
+v -0.06148484 -0.02857160 -0.06366348
+v -0.03189782 -0.02848800 -0.06366348
+v -0.02202616 -0.02598301 -0.05291735
+v -0.02202616 -0.02541384 -0.05044527
+v -0.01216149 -0.02439127 -0.04593466
+v -0.00723266 -0.02439127 -0.04593466
+v 0.00015012 -0.02489934 -0.04817613
+v 0.00015012 -0.02541384 -0.05045449
+v 0.00015012 -0.01563831 -0.00593871
+v -0.00229683 -0.01617211 -0.00841079
+v -0.01216149 -0.01681202 -0.01131639
+v -0.01709732 -0.01682167 -0.01131639
+v -0.02202616 -0.01108176 0.01545211
+v -0.02696199 -0.01619783 -0.00828165
+v -0.03681967 -0.02334619 -0.04099052
+v -0.04668434 -0.02446201 -0.04593466
+v -0.02202616 -0.01047079 0.01836694
+v -0.02433328 -0.00794651 0.03057050
+v -0.02696199 -0.00947073 0.02331110
+v -0.05162017 -0.00831632 0.03057050
+v -0.05162017 -0.00981159 0.02331109
+v -0.05162017 -0.01075055 0.01876358
+v -0.05162017 -0.01126184 0.01629151
+v -0.05655600 -0.01507236 -0.00142810
+v -0.05655600 -0.01583447 -0.00505319
+v -0.06148484 -0.01588592 -0.00481337
+v -0.06642066 -0.02366454 -0.04099052
+v -0.05655600 -0.02451668 -0.04593466
+v -0.05162017 -0.01579266 -0.00523768
+v -0.05162017 -0.01632003 -0.00771897
+v -0.04668434 -0.01576051 -0.00539449
+v -0.05655600 -0.02546851 -0.05026079
+v -0.05655600 -0.02602160 -0.05273286
+v -0.05655600 -0.02854266 -0.06366348
+v -0.03681967 -0.02849443 -0.06366348
+v -0.03189782 -0.02598944 -0.05288046
+v -0.02696199 -0.02541705 -0.05042682
+v -0.02696199 -0.02440735 -0.04593466
+v -0.01709732 -0.02439448 -0.04593466
+v -0.01216149 -0.02330117 -0.04099052
+v 0.00015012 -0.02439448 -0.04593466
+v -0.00723266 -0.02330117 -0.04099052
+v 0.00015012 -0.01617532 -0.00841079
+v 0.00015012 -0.02276094 -0.03849998
+v -0.00229683 -0.02330438 -0.04099052
+v -0.01709732 -0.02330760 -0.04099052
+v -0.02202616 -0.02331403 -0.04099052
+v -0.03189782 -0.02333332 -0.04099052
+v -0.02696199 -0.01110105 0.01554435
+v -0.02696199 -0.01050616 0.01836694
+v -0.03189782 -0.01621391 -0.00821708
+v -0.03681967 -0.01570262 -0.00566199
+v -0.03189782 -0.01688276 -0.01131639
+v -0.05162017 -0.02448452 -0.04593466
+v -0.03681967 -0.02442664 -0.04593466
+v -0.04175550 -0.02444272 -0.04593466
+v -0.02696199 -0.00796902 0.03057050
+v -0.03189782 -0.00951253 0.02331110
+v -0.04899145 -0.00827130 0.03057050
+v -0.04175550 -0.00964438 0.02331109
+v -0.04157373 -0.01076342 0.01792418
+v -0.03981193 -0.01116858 0.01584875
+v -0.05162017 -0.01498554 -0.00142810
+v -0.04175550 -0.01573157 -0.00553285
+v -0.03681967 -0.01623320 -0.00813406
+v -0.03681967 -0.01114929 0.01576573
+v -0.04175550 -0.02543636 -0.05035303
+v -0.03681967 -0.02599588 -0.05285278
+v -0.04175550 -0.02850407 -0.06366348
+v -0.03189782 -0.02542348 -0.05040837
+v -0.03189782 -0.02441699 -0.04593466
+v 0.00015012 -0.02330760 -0.04099052
+v -0.03189782 -0.01112356 0.01564582
+v -0.03189782 -0.01054796 0.01836694
+v -0.03189782 -0.00801726 0.03057050
+v -0.03681967 -0.00956720 0.02331109
+v -0.03681967 -0.01059942 0.01836694
+v -0.04668434 -0.00823271 0.03057050
+v -0.04175550 -0.00815232 0.03057050
+v -0.03681967 -0.00807835 0.03057050
+f 1 2 8
+f 1 8 14
+f 1 14 22
+f 1 22 35
+f 1 35 58
+f 1 58 91
+f 1 91 90
+f 1 90 124
+f 1 124 155
+f 1 155 127
+f 1 127 126
+f 1 126 92
+f 1 92 59
+f 1 59 36
+f 1 36 23
+f 1 23 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 27
+f 1 27 42
+f 1 42 70
+f 1 70 101
+f 1 101 140
+f 1 140 158
+f 1 158 163
+f 1 163 162
+f 1 162 161
+f 1 161 142
+f 1 142 103
+f 1 103 71
+f 1 71 43
+f 1 43 28
+f 1 28 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 4 10 11
+f 5 12 20
+f 5 20 31
+f 5 31 49
+f 5 49 76
+f 5 76 78
+f 5 78 77
+f 5 77 50
+f 5 50 32
+f 5 32 21
+f 5 21 13
+f 5 13 7
+f 5 7 6
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 11 17 26
+f 11 26 18
+f 12 19 20
+f 13 21 14
+f 14 21 32
+f 14 32 53
+f 14 53 84
+f 14 84 117
+f 14 117 152
+f 14 152 118
+f 14 118 85
+f 14 85 54
+f 14 54 33
+f 14 33 22
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 17 25 39
+f 17 39 26
+f 18 26 27
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 22 33 34
+f 22 34 35
+f 23 36 24
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 26 39 68
+f 26 68 40
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 47 48
+f 30 48 31
+f 30 46 47
+f 31 48 49
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 33 54 55
+f 33 55 34
+f 34 55 56
+f 34 56 57
+f 34 57 58
+f 34 58 35
+f 36 59 60
+f 36 60 37
+f 37 61 38
+f 37 60 59
+f 37 59 62
+f 37 62 63
+f 37 63 64
+f 37 64 65
+f 37 65 61
+f 38 66 39
+f 38 61 67
+f 38 67 66
+f 39 66 68
+f 40 68 69
+f 40 69 42
+f 40 42 41
+f 42 69 70
+f 43 71 44
+f 44 71 45
+f 45 72 73
+f 45 73 46
+f 45 71 72
+f 46 73 74
+f 46 74 75
+f 46 75 47
+f 47 75 76
+f 47 76 48
+f 48 76 49
+f 50 77 51
+f 51 77 78
+f 51 78 79
+f 51 79 80
+f 51 80 81
+f 51 81 82
+f 51 82 52
+f 52 82 53
+f 53 83 84
+f 53 82 83
+f 54 85 55
+f 55 86 87
+f 55 87 56
+f 55 85 86
+f 56 87 88
+f 56 88 89
+f 56 89 57
+f 57 89 90
+f 57 90 91
+f 57 91 58
+f 59 92 62
+f 61 65 67
+f 62 92 93
+f 62 93 63
+f 63 93 94
+f 63 94 64
+f 64 94 95
+f 64 95 65
+f 65 95 67
+f 66 96 68
+f 66 67 97
+f 66 97 96
+f 67 95 98
+f 67 98 99
+f 67 99 97
+f 68 96 100
+f 68 100 69
+f 69 101 70
+f 69 100 133
+f 69 133 102
+f 69 102 101
+f 71 103 104
+f 71 104 72
+f 72 104 73
+f 73 104 105
+f 73 105 106
+f 73 106 107
+f 73 107 74
+f 74 107 108
+f 74 108 109
+f 74 109 79
+f 74 79 110
+f 74 110 75
+f 75 110 76
+f 76 110 79
+f 76 79 78
+f 79 109 80
+f 80 111 81
+f 80 109 108
+f 80 108 112
+f 80 112 113
+f 80 113 114
+f 80 114 111
+f 81 111 82
+f 82 111 115
+f 82 115 116
+f 82 116 83
+f 83 116 84
+f 84 116 117
+f 85 118 86
+f 86 119 120
+f 86 120 87
+f 86 118 119
+f 87 120 121
+f 87 121 122
+f 87 122 88
+f 88 122 123
+f 88 123 125
+f 88 125 89
+f 89 124 90
+f 89 125 124
+f 92 126 93
+f 93 126 127
+f 93 127 128
+f 93 128 125
+f 93 125 123
+f 93 123 94
+f 94 123 129
+f 94 129 130
+f 94 130 131
+f 94 131 95
+f 95 131 98
+f 96 132 133
+f 96 133 100
+f 96 97 134
+f 96 134 135
+f 96 135 132
+f 97 136 134
+f 97 99 137
+f 97 137 136
+f 98 131 138
+f 98 138 139
+f 98 139 99
+f 99 139 115
+f 99 115 137
+f 101 102 141
+f 101 141 140
+f 102 133 157
+f 102 157 141
+f 103 142 104
+f 104 143 105
+f 104 142 143
+f 105 143 106
+f 106 143 144
+f 106 144 145
+f 106 145 146
+f 106 146 107
+f 107 146 108
+f 108 146 112
+f 111 137 115
+f 111 114 147
+f 111 147 135
+f 111 135 148
+f 111 148 134
+f 111 134 136
+f 111 136 137
+f 112 146 145
+f 112 145 114
+f 112 114 113
+f 114 145 149
+f 114 149 147
+f 115 139 116
+f 116 139 150
+f 116 150 151
+f 116 151 117
+f 117 151 152
+f 118 152 119
+f 119 151 150
+f 119 150 153
+f 119 153 120
+f 119 152 151
+f 120 153 138
+f 120 138 154
+f 120 154 121
+f 121 154 131
+f 121 131 130
+f 121 130 129
+f 121 129 122
+f 122 129 123
+f 124 125 128
+f 124 128 155
+f 127 155 128
+f 131 154 138
+f 132 156 157
+f 132 157 133
+f 132 135 156
+f 134 148 135
+f 135 147 149
+f 135 149 156
+f 138 153 150
+f 138 150 139
+f 140 141 158
+f 141 159 158
+f 141 157 160
+f 141 160 159
+f 142 161 143
+f 143 161 162
+f 143 162 159
+f 143 159 144
+f 144 159 145
+f 145 159 160
+f 145 160 149
+f 149 160 157
+f 149 157 156
+f 158 159 163
+f 159 162 163
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_20.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v 0.08157076 -0.02110706 -0.03278718
+v 0.09637385 -0.02170880 -0.03278718
+v 0.08157076 -0.02112663 -0.03289707
+v 0.08143634 -0.02111195 -0.03278718
+v 0.09637385 -0.02238879 -0.03604830
+v 0.10106178 -0.02246707 -0.03278718
+v 0.10003122 -0.02559798 -0.04970039
+v 0.08157076 -0.02392488 -0.04594154
+v 0.07850148 -0.02573005 -0.05406363
+v 0.09637385 -0.02342590 -0.04099331
+v 0.09637385 -0.02448259 -0.04594154
+v 0.07132678 -0.02218822 -0.03278718
+v 0.11786998 -0.03069565 -0.03278721
+v 0.11826204 -0.03087177 -0.03317183
+v 0.12457421 -0.03477071 -0.05583159
+v 0.10332453 -0.02606763 -0.04777412
+v 0.10130261 -0.02414505 -0.04099331
+v 0.10152664 -0.02521151 -0.04605144
+v 0.10129701 -0.02959480 -0.06580237
+v 0.09645226 -0.02889033 -0.06580237
+v 0.09637385 -0.02886098 -0.06572480
+v 0.09637385 -0.02598934 -0.05288718
+v 0.09637385 -0.02545121 -0.05041467
+v 0.08157076 -0.02500113 -0.05088331
+v 0.07671481 -0.02876314 -0.06580237
+v 0.07132678 -0.02924746 -0.06579591
+v 0.07132678 -0.02914961 -0.06534665
+v 0.07132678 -0.02486417 -0.04556340
+v 0.07132678 -0.02380749 -0.04061517
+v 0.08157076 -0.02571537 -0.05413150
+v 0.08157076 -0.02626328 -0.05660725
+v 0.08157076 -0.02833263 -0.06580236
+v 0.07132678 -0.03398316 -0.03278722
+v 0.11879412 -0.03124357 -0.03278721
+v 0.12099526 -0.03304877 -0.03278722
+v 0.12214344 -0.03413482 -0.03278723
+v 0.12357166 -0.03556821 -0.03278723
+v 0.12675295 -0.03814139 -0.05583160
+v 0.12403093 -0.03524524 -0.05904746
+v 0.10137542 -0.02961926 -0.06580237
+v 0.09637385 -0.02888055 -0.06580237
+v 0.07177485 -0.02924746 -0.06580237
+v 0.07170763 -0.02925724 -0.06580237
+v 0.07132678 -0.03109668 -0.06580237
+v 0.07132678 -0.03645855 -0.04140059
+v 0.07798620 -0.04638472 -0.03604839
+v 0.07730290 -0.04418327 -0.03278726
+v 0.12432778 -0.03798983 -0.03278724
+v 0.12787873 -0.04311671 -0.05112902
+v 0.12628808 -0.03814141 -0.05088336
+v 0.12850042 -0.04479961 -0.05294219
+v 0.12814756 -0.04311670 -0.05577667
+v 0.12671934 -0.04304330 -0.06077662
+v 0.12492707 -0.03817073 -0.06072812
+v 0.12399172 -0.03982426 -0.06433830
+v 0.12142653 -0.03887029 -0.06580240
+v 0.12127531 -0.03876266 -0.06580240
+v 0.10401903 -0.03052920 -0.06580237
+v 0.07132678 -0.04238774 -0.06580242
+v 0.07651318 -0.05228452 -0.06580245
+v 0.07840067 -0.04602271 -0.03278727
+v 0.12512870 -0.04304340 -0.03278726
+v 0.12813637 -0.04794037 -0.05017236
+v 0.12853963 -0.04794036 -0.05264809
+v 0.12850042 -0.04479960 -0.05408955
+v 0.12710020 -0.04794033 -0.06077664
+v 0.12569998 -0.04794031 -0.06580244
+v 0.12820358 -0.04794034 -0.05672044
+v 0.12464702 -0.04287695 -0.06580242
+v 0.12457982 -0.04271551 -0.06580242
+v 0.10083214 -0.06885913 -0.05088347
+v 0.09740441 -0.06640817 -0.05088346
+v 0.09791409 -0.06600704 -0.04705998
+v 0.10162186 -0.06648150 -0.06580250
+v 0.10362137 -0.07006748 -0.05353698
+v 0.10329092 -0.07024851 -0.04784861
+v 0.10348135 -0.06039581 -0.03278732
+v 0.12460782 -0.04794043 -0.03278728
+v 0.12797394 -0.05267595 -0.05106118
+v 0.12851163 -0.05092945 -0.05282586
+v 0.12853963 -0.04794035 -0.05424794
+v 0.12552637 -0.05284223 -0.06580245
+v 0.12851163 -0.05092944 -0.05381163
+v 0.10329652 -0.07023872 -0.05088348
+v 0.10623138 -0.06845793 -0.06580251
+v 0.10623138 -0.07095786 -0.05088348
+v 0.10623138 -0.07060076 -0.04710524
+v 0.10623138 -0.06928967 -0.04462950
+v 0.10642180 -0.06140848 -0.03278733
+v 0.12377889 -0.05105672 -0.03278729
+v 0.12656812 -0.05774909 -0.05088343
+v 0.12782832 -0.05267594 -0.05560863
+v 0.12433897 -0.05740170 -0.06580247
+v 0.11116574 -0.06863893 -0.06580251
+v 0.11116574 -0.07108016 -0.05088348
+v 0.11116574 -0.07045885 -0.05469081
+v 0.11116574 -0.07062032 -0.04708585
+v 0.11116574 -0.06929945 -0.04461334
+v 0.11107052 -0.06162373 -0.03278733
+v 0.10926705 -0.06154546 -0.03278733
+v 0.12339243 -0.05189327 -0.03278729
+v 0.12408134 -0.06110022 -0.04740578
+v 0.12454621 -0.06181446 -0.05088345
+v 0.12614806 -0.05774907 -0.05583167
+v 0.12432778 -0.05743595 -0.06580247
+v 0.11602169 -0.06693158 -0.06580251
+v 0.11411739 -0.07020446 -0.05391513
+v 0.11440864 -0.07035612 -0.05088348
+v 0.11418461 -0.07027786 -0.04782599
+v 0.11403338 -0.06081653 -0.03278732
+v 0.12242909 -0.05350768 -0.03278730
+v 0.11987509 -0.05694685 -0.03278731
+v 0.11963425 -0.06610977 -0.04695979
+v 0.12280994 -0.06426542 -0.05088346
+v 0.12427737 -0.06137414 -0.05583169
+v 0.12334762 -0.05985266 -0.06580248
+v 0.11610011 -0.06690223 -0.06580251
+v 0.11885013 -0.06534164 -0.06580250
+v 0.11687302 -0.06911842 -0.05088347
+v 0.11452066 -0.06064041 -0.03278732
+v 0.12033996 -0.06666746 -0.05088346
+v 0.11626253 -0.06772418 -0.04574455
+v 0.11681702 -0.05934889 -0.03278732
+v 0.11878852 -0.05790571 -0.03278731
+v 0.12237307 -0.06382510 -0.05583169
+v 0.12116329 -0.06265096 -0.06580249
+v 0.11990310 -0.06621247 -0.05583170
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 33
+f 1 33 47
+f 1 47 61
+f 1 61 77
+f 1 77 89
+f 1 89 100
+f 1 100 99
+f 1 99 110
+f 1 110 120
+f 1 120 123
+f 1 123 124
+f 1 124 112
+f 1 112 111
+f 1 111 101
+f 1 101 90
+f 1 90 78
+f 1 78 62
+f 1 62 48
+f 1 48 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 4
+f 3 5 10
+f 3 10 11
+f 3 11 8
+f 4 9 12
+f 5 7 10
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 16
+f 7 16 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 11
+f 7 11 10
+f 8 24 9
+f 8 11 23
+f 8 23 22
+f 8 22 24
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 12
+f 9 24 30
+f 9 30 31
+f 9 31 32
+f 9 32 25
+f 12 29 28
+f 12 28 27
+f 12 27 26
+f 12 26 44
+f 12 44 59
+f 12 59 45
+f 12 45 33
+f 13 34 14
+f 14 34 15
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 38
+f 15 38 39
+f 15 39 16
+f 16 40 19
+f 16 18 17
+f 16 39 40
+f 19 40 58
+f 19 58 57
+f 19 57 56
+f 19 56 70
+f 19 70 69
+f 19 69 67
+f 19 67 82
+f 19 82 93
+f 19 93 105
+f 19 105 116
+f 19 116 126
+f 19 126 118
+f 19 118 117
+f 19 117 106
+f 19 106 94
+f 19 94 85
+f 19 85 74
+f 19 74 60
+f 19 60 59
+f 19 59 44
+f 19 44 43
+f 19 43 42
+f 19 42 25
+f 19 25 32
+f 19 32 41
+f 19 41 20
+f 20 41 21
+f 21 41 32
+f 21 32 31
+f 21 31 22
+f 22 31 30
+f 22 30 24
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 33 45 46
+f 33 46 47
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 38 50 49
+f 38 49 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 58
+f 39 58 40
+f 45 59 60
+f 45 60 46
+f 46 61 47
+f 46 60 61
+f 48 62 51
+f 48 51 49
+f 51 63 64
+f 51 64 81
+f 51 81 65
+f 51 65 52
+f 51 62 63
+f 52 66 67
+f 52 67 53
+f 52 65 68
+f 52 68 66
+f 53 67 69
+f 53 69 54
+f 54 69 70
+f 54 70 55
+f 55 70 56
+f 60 71 72
+f 60 72 73
+f 60 73 61
+f 60 74 75
+f 60 75 71
+f 61 73 76
+f 61 76 77
+f 62 78 79
+f 62 79 80
+f 62 80 63
+f 63 80 64
+f 64 80 83
+f 64 83 81
+f 65 81 68
+f 66 68 82
+f 66 82 67
+f 68 81 83
+f 68 83 82
+f 71 75 84
+f 71 84 76
+f 71 76 72
+f 72 76 73
+f 74 85 75
+f 75 85 86
+f 75 86 84
+f 76 84 86
+f 76 86 87
+f 76 87 88
+f 76 88 77
+f 77 88 89
+f 78 90 79
+f 79 91 80
+f 79 90 91
+f 80 91 83
+f 82 83 92
+f 82 92 93
+f 83 91 92
+f 85 94 86
+f 86 95 87
+f 86 94 96
+f 86 96 95
+f 87 95 97
+f 87 97 88
+f 88 97 98
+f 88 98 99
+f 88 99 100
+f 88 100 89
+f 90 101 102
+f 90 102 91
+f 91 102 103
+f 91 103 104
+f 91 104 92
+f 92 104 93
+f 93 104 105
+f 94 106 107
+f 94 107 96
+f 95 96 107
+f 95 107 108
+f 95 108 109
+f 95 109 97
+f 97 109 98
+f 98 109 110
+f 98 110 99
+f 101 111 102
+f 102 111 112
+f 102 112 113
+f 102 113 114
+f 102 114 103
+f 103 114 115
+f 103 115 104
+f 104 115 116
+f 104 116 105
+f 106 117 107
+f 107 117 118
+f 107 118 119
+f 107 119 108
+f 108 119 109
+f 109 120 110
+f 109 119 121
+f 109 121 113
+f 109 113 122
+f 109 122 123
+f 109 123 120
+f 112 124 113
+f 113 121 114
+f 113 124 123
+f 113 123 122
+f 114 121 125
+f 114 125 115
+f 115 125 116
+f 116 125 126
+f 118 126 125
+f 118 125 127
+f 118 127 119
+f 119 127 121
+f 121 127 125
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_21.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.11107171 -0.06162503 -0.03278411
+v 0.10926416 -0.06154549 -0.03278411
+v 0.11403672 -0.06081379 -0.03278410
+v 0.11417942 -0.05065504 0.01712022
+v 0.11298496 -0.05029982 0.02042399
+v 0.11127255 -0.05092016 0.01860788
+v 0.11116684 -0.05201239 0.01341716
+v 0.10969755 -0.05052251 0.02141576
+v 0.10812783 -0.05052251 0.02141576
+v 0.10642599 -0.06140764 -0.03278411
+v 0.11451768 -0.06063882 -0.03278410
+v 0.11491936 -0.05103148 0.01341716
+v 0.11738756 -0.04967413 0.01341717
+v 0.11593412 -0.04935072 0.01860789
+v 0.11842347 -0.04539535 0.03033531
+v 0.11542674 -0.04639217 0.03300794
+v 0.11520475 -0.04646639 0.03300794
+v 0.11116684 -0.04764348 0.03300793
+v 0.11116684 -0.04874631 0.02825515
+v 0.11127255 -0.04991277 0.02316103
+v 0.11096600 -0.04763287 0.03300794
+v 0.10623572 -0.04736246 0.03300794
+v 0.10638370 -0.04968477 0.02316103
+v 0.10484042 -0.05011423 0.01961254
+v 0.10638370 -0.05081412 0.01812487
+v 0.10623572 -0.05176318 0.01341716
+v 0.10348212 -0.06039493 -0.03278410
+v 0.10360896 -0.05048537 0.01631520
+v 0.11681675 -0.05934510 -0.03278410
+v 0.11809050 -0.05008238 0.00945007
+v 0.12025744 -0.04279200 0.03300795
+v 0.11788437 -0.04507193 0.03300794
+v 0.11860316 -0.05042171 0.00615274
+v 0.11887799 -0.04576649 0.02703798
+v 0.10277390 -0.04611115 0.03300794
+v 0.07903264 -0.04553300 -0.02842410
+v 0.07861511 -0.04582991 -0.03109674
+v 0.07839841 -0.04602078 -0.03278405
+v 0.07793331 -0.03174761 0.03300799
+v 0.07881594 -0.03586732 0.01677895
+v 0.11878814 -0.05790822 -0.03278409
+v 0.12040014 -0.04263294 0.03300795
+v 0.11981348 -0.04671025 0.01836317
+v 0.11931138 -0.04617475 0.02330916
+v 0.11987162 -0.05694322 -0.03278409
+v 0.07776947 -0.04176320 -0.01625875
+v 0.07133206 -0.03212916 -0.02076034
+v 0.07133206 -0.03309944 -0.02652423
+v 0.07730437 -0.04418093 -0.03278404
+v 0.07133206 -0.02040629 0.03300804
+v 0.07133206 -0.02211887 0.02852573
+v 0.07133206 -0.02214538 0.02845489
+v 0.07133206 -0.02216129 0.02839693
+v 0.07760562 -0.03222478 0.02825521
+v 0.12051114 -0.04248978 0.03300795
+v 0.12227640 -0.04359788 0.01836318
+v 0.12208084 -0.04267533 0.02347018
+v 0.12022573 -0.04722453 0.01341718
+v 0.12080710 -0.05569191 -0.03278408
+v 0.12269393 -0.04407505 0.01341719
+v 0.07133206 -0.02715053 0.00387303
+v 0.07133206 -0.03398488 -0.03278400
+v 0.07133206 -0.00839160 0.03300808
+v 0.12287892 -0.03940392 0.03300797
+v 0.12343386 -0.04042191 0.02522189
+v 0.12242967 -0.05350742 -0.03278408
+v 0.12303747 -0.04456283 0.00847120
+v 0.07133206 -0.02218758 -0.03278396
+v 0.07133206 -0.00936188 0.02825530
+v 0.08157483 -0.00745842 0.03300808
+v 0.07865738 -0.01105853 0.01529782
+v 0.12398881 -0.03704976 0.03300797
+v 0.12361356 -0.04080365 0.02192456
+v 0.12339158 -0.05189557 -0.03278407
+v 0.12330702 -0.04505061 0.00352520
+v 0.07897450 -0.01604777 -0.00900711
+v 0.07804430 -0.02069768 -0.03000828
+v 0.08143741 -0.02111124 -0.03278396
+v 0.07133206 -0.01040109 0.02330929
+v 0.08157483 -0.01042758 0.01836330
+v 0.09637348 -0.00797803 0.03300808
+v 0.12402581 -0.03694902 0.03300797
+v 0.12344972 -0.04536343 0.00040819
+v 0.12377740 -0.04114298 0.01836319
+v 0.12377740 -0.05105783 -0.03278407
+v 0.07985185 -0.01604777 -0.00900711
+v 0.08157483 -0.02110594 -0.03278396
+v 0.08157483 -0.01105853 0.01529782
+v 0.10129932 -0.00874154 0.03300808
+v 0.09975602 -0.01096310 0.01980589
+v 0.09942835 -0.01594704 -0.00453125
+v 0.09637348 -0.00895891 0.02825530
+v 0.12497187 -0.03323751 0.03300799
+v 0.12467061 -0.03813666 0.01836320
+v 0.12396767 -0.04162546 0.01341720
+v 0.12461247 -0.04794016 -0.03278406
+v 0.12411566 -0.04211324 0.00847121
+v 0.09637348 -0.01586220 -0.00491765
+v 0.09900024 -0.02094688 -0.02879110
+v 0.08157483 -0.02060754 -0.03042044
+v 0.09637348 -0.02171038 -0.03278396
+v 0.10141559 -0.00878396 0.03300808
+v 0.10388380 -0.01106386 0.02518336
+v 0.10129932 -0.00966940 0.02825529
+v 0.10136274 -0.01064499 0.02344454
+v 0.10365125 -0.02103174 -0.02348446
+v 0.10010486 -0.02067118 -0.02615066
+v 0.12513570 -0.03323749 0.02825521
+v 0.12520441 -0.02833832 0.03300801
+v 0.12491901 -0.03813664 0.01341721
+v 0.12513042 -0.04304096 -0.03278404
+v 0.12517798 -0.03813660 0.00352523
+v 0.12508814 -0.03813662 0.00847122
+v 0.10106148 -0.02246859 -0.03278396
+v 0.10449688 -0.01034280 0.03300807
+v 0.10415334 -0.01077755 0.02825529
+v 0.12044771 -0.01957914 0.02825526
+v 0.11990862 -0.02008283 0.02330926
+v 0.11921096 -0.02058651 0.01836326
+v 0.11874058 -0.02088343 0.01542014
+v 0.10379923 -0.01605310 0.00089131
+v 0.10304344 -0.01147212 0.02188604
+v 0.11894670 -0.03054909 -0.02986662
+v 0.11786851 -0.03069754 -0.03278399
+v 0.12525727 -0.03323748 0.02330921
+v 0.12412094 -0.02334369 0.03300802
+v 0.12532069 -0.03323746 0.01836322
+v 0.12531540 -0.03323744 0.01341723
+v 0.12524141 -0.03323742 0.00847124
+v 0.12513042 -0.02833830 0.02825523
+v 0.12432706 -0.03798270 -0.03278402
+v 0.12508814 -0.03323740 0.00352525
+v 0.11619310 -0.01662055 0.03300805
+v 0.12126692 -0.01947842 0.03300804
+v 0.12326474 -0.02140840 0.03237691
+v 0.12291591 -0.02188027 0.02825525
+v 0.12350786 -0.02587274 0.01086054
+v 0.12036843 -0.02459489 0.00352528
+v 0.11973421 -0.02511978 -0.00141427
+v 0.11947523 -0.03017795 -0.02615069
+v 0.12099737 -0.03305170 -0.03278400
+v 0.11879872 -0.03124366 -0.03278399
+v 0.12366641 -0.02226205 0.03300803
+v 0.12499829 -0.02833829 0.02330923
+v 0.12479217 -0.02833827 0.01836324
+v 0.12416322 -0.02432987 0.02825524
+v 0.12403638 -0.02481236 0.02330924
+v 0.12386725 -0.02524711 0.01836325
+v 0.12357128 -0.03556492 -0.03278401
+v 0.12413152 -0.02931911 0.00352526
+v 0.12450677 -0.02833825 0.01341725
+v 0.12486087 -0.03323738 -0.00141430
+v 0.12237153 -0.02048582 0.03300803
+v 0.12363999 -0.02566066 0.01341726
+v 0.12324359 -0.02633401 0.00755677
+v 0.12009360 -0.02966896 -0.02120470
+v 0.12214427 -0.03413334 -0.03278401
+f 1 2 10
+f 1 10 27
+f 1 27 38
+f 1 38 49
+f 1 49 62
+f 1 62 68
+f 1 68 78
+f 1 78 87
+f 1 87 101
+f 1 101 114
+f 1 114 124
+f 1 124 142
+f 1 142 141
+f 1 141 157
+f 1 157 149
+f 1 149 131
+f 1 131 111
+f 1 111 96
+f 1 96 85
+f 1 85 74
+f 1 74 66
+f 1 66 59
+f 1 59 45
+f 1 45 41
+f 1 41 29
+f 1 29 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 4 11 12
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 8
+f 5 8 6
+f 6 8 7
+f 8 20 19
+f 8 19 18
+f 8 18 9
+f 9 18 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 10
+f 10 26 28
+f 10 28 27
+f 11 29 30
+f 11 30 13
+f 11 13 12
+f 13 30 15
+f 13 15 14
+f 15 31 32
+f 15 32 16
+f 15 30 33
+f 15 33 34
+f 15 34 31
+f 16 32 31
+f 16 31 42
+f 16 42 55
+f 16 55 64
+f 16 64 72
+f 16 72 82
+f 16 82 93
+f 16 93 109
+f 16 109 126
+f 16 126 143
+f 16 143 153
+f 16 153 134
+f 16 134 133
+f 16 133 115
+f 16 115 102
+f 16 102 89
+f 16 89 81
+f 16 81 70
+f 16 70 63
+f 16 63 50
+f 16 50 39
+f 16 39 35
+f 16 35 22
+f 16 22 21
+f 16 21 18
+f 16 18 17
+f 22 35 28
+f 22 28 24
+f 22 24 23
+f 24 28 26
+f 24 26 25
+f 27 36 37
+f 27 37 38
+f 27 28 36
+f 28 35 39
+f 28 39 40
+f 28 40 36
+f 29 41 33
+f 29 33 30
+f 31 34 42
+f 33 43 44
+f 33 44 34
+f 33 41 45
+f 33 45 43
+f 34 44 42
+f 36 40 37
+f 37 40 38
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 40 39
+f 38 39 46
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 46
+f 42 44 43
+f 42 43 56
+f 42 56 57
+f 42 57 55
+f 43 58 56
+f 43 45 58
+f 45 59 60
+f 45 60 58
+f 46 54 53
+f 46 53 61
+f 46 61 47
+f 47 61 53
+f 47 53 52
+f 47 52 51
+f 47 51 50
+f 47 50 63
+f 47 63 69
+f 47 69 79
+f 47 79 68
+f 47 68 62
+f 47 62 48
+f 48 62 49
+f 55 57 64
+f 56 58 60
+f 56 60 65
+f 56 65 64
+f 56 64 57
+f 59 66 60
+f 60 67 65
+f 60 66 67
+f 63 70 71
+f 63 71 69
+f 64 65 72
+f 65 73 72
+f 65 67 73
+f 66 74 67
+f 67 75 73
+f 67 74 75
+f 68 76 77
+f 68 77 78
+f 68 79 76
+f 69 71 76
+f 69 76 79
+f 70 80 71
+f 70 81 80
+f 71 80 76
+f 72 73 82
+f 73 75 83
+f 73 83 84
+f 73 84 82
+f 74 85 83
+f 74 83 75
+f 76 86 87
+f 76 87 78
+f 76 78 77
+f 76 80 86
+f 80 81 88
+f 80 88 86
+f 81 89 90
+f 81 90 91
+f 81 91 92
+f 81 92 88
+f 82 84 94
+f 82 94 93
+f 83 85 84
+f 84 85 95
+f 84 95 94
+f 85 96 97
+f 85 97 95
+f 86 98 99
+f 86 99 100
+f 86 100 87
+f 86 88 98
+f 87 100 99
+f 87 99 101
+f 88 92 98
+f 89 102 103
+f 89 103 104
+f 89 104 90
+f 90 104 105
+f 90 105 106
+f 90 106 91
+f 91 106 107
+f 91 107 99
+f 91 99 92
+f 92 99 98
+f 93 108 109
+f 93 94 110
+f 93 110 108
+f 94 95 97
+f 94 97 110
+f 96 111 112
+f 96 112 113
+f 96 113 110
+f 96 110 97
+f 99 107 106
+f 99 106 114
+f 99 114 101
+f 102 115 116
+f 102 116 103
+f 103 105 104
+f 103 116 117
+f 103 117 118
+f 103 118 119
+f 103 119 120
+f 103 120 121
+f 103 121 106
+f 103 106 122
+f 103 122 105
+f 105 122 106
+f 106 123 124
+f 106 124 114
+f 106 121 120
+f 106 120 123
+f 108 125 109
+f 108 110 113
+f 108 113 125
+f 109 125 127
+f 109 127 128
+f 109 128 129
+f 109 129 130
+f 109 130 126
+f 111 131 132
+f 111 132 129
+f 111 129 128
+f 111 128 127
+f 111 127 112
+f 112 127 125
+f 112 125 113
+f 115 133 116
+f 116 133 117
+f 117 133 134
+f 117 134 135
+f 117 135 136
+f 117 136 137
+f 117 137 118
+f 118 137 138
+f 118 138 139
+f 118 139 119
+f 119 139 123
+f 119 123 120
+f 123 140 141
+f 123 141 142
+f 123 142 124
+f 123 139 140
+f 126 130 144
+f 126 144 145
+f 126 145 146
+f 126 146 147
+f 126 147 148
+f 126 148 135
+f 126 135 143
+f 129 132 144
+f 129 144 130
+f 131 149 150
+f 131 150 151
+f 131 151 145
+f 131 145 152
+f 131 152 132
+f 132 152 145
+f 132 145 144
+f 134 153 135
+f 135 153 143
+f 135 148 154
+f 135 154 137
+f 135 137 136
+f 137 155 138
+f 137 154 149
+f 137 149 155
+f 138 155 156
+f 138 156 140
+f 138 140 139
+f 140 156 141
+f 141 156 155
+f 141 155 157
+f 145 151 147
+f 145 147 146
+f 147 151 148
+f 148 151 150
+f 148 150 149
+f 148 149 154
+f 149 157 155
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_22.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.08076354 -0.02124101 0.08893425
+v 0.07882378 -0.02116880 0.08893425
+v 0.08845066 -0.02073551 0.08893425
+v 0.08845066 -0.01976239 0.10740919
+v 0.07837400 -0.02059108 0.08893425
+v 0.07902331 -0.02102781 0.09033534
+v 0.07689055 -0.01222117 0.12592034
+v 0.08845066 0.00464628 0.08893435
+v 0.08845066 -0.01821151 0.11234379
+v 0.08156987 -0.01325281 0.12592033
+v 0.07867003 -0.01636831 0.11125044
+v 0.07718004 -0.01861033 0.08893426
+v 0.07174345 -0.00472802 0.12592036
+v 0.08156987 0.00485949 0.08893435
+v 0.08845066 0.01386902 0.12592043
+v 0.08845066 -0.01354855 0.12592033
+v 0.07174345 -0.00856904 0.09263073
+v 0.07174345 -0.00898513 0.08893430
+v 0.07174345 0.01084631 0.12592042
+v 0.07715551 0.00421299 0.08893435
+v 0.07896770 0.00849425 0.10466863
+v 0.07903149 0.01337727 0.12453744
+v 0.08156987 0.01384495 0.12592043
+v 0.08650271 0.01388965 0.12592043
+v 0.07174345 0.00330171 0.08893434
+v 0.07859807 0.01354921 0.12592043
+f 1 2 5
+f 1 5 12
+f 1 12 18
+f 1 18 25
+f 1 25 20
+f 1 20 14
+f 1 14 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 15
+f 3 15 16
+f 3 16 9
+f 3 9 4
+f 4 9 10
+f 4 10 7
+f 4 7 11
+f 4 11 6
+f 5 7 13
+f 5 13 12
+f 6 11 7
+f 7 10 16
+f 7 16 15
+f 7 15 24
+f 7 24 23
+f 7 23 26
+f 7 26 19
+f 7 19 13
+f 8 14 15
+f 9 16 10
+f 12 17 18
+f 12 13 17
+f 13 19 25
+f 13 25 18
+f 13 18 17
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 19 26 25
+f 20 25 21
+f 21 25 22
+f 22 26 23
+f 22 25 26
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_23.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.08845627 -0.02073627 0.08893425
+v 0.09844745 -0.03120323 0.08893422
+v 0.09869473 -0.03580383 0.10963929
+v 0.09389259 -0.03080191 0.10984205
+v 0.09389259 -0.03080191 0.10993256
+v 0.08845627 -0.01976373 0.10740919
+v 0.08845627 0.00464380 0.08893435
+v 0.10130321 -0.03333368 0.08893421
+v 0.10516805 -0.03539208 0.08893420
+v 0.10623696 -0.03858268 0.11235458
+v 0.10112771 -0.03671983 0.11213375
+v 0.09869473 -0.03580384 0.11033803
+v 0.08845627 -0.01820966 0.11234379
+v 0.09655690 -0.03303014 0.11178258
+v 0.09441907 -0.02998886 0.11323075
+v 0.08845627 -0.01354744 0.12592033
+v 0.08845627 0.01387045 0.12592043
+v 0.09637343 0.01382414 0.12592043
+v 0.09637343 0.00451515 0.08893435
+v 0.10700675 -0.03583978 0.08893420
+v 0.10757311 -0.03595299 0.08893420
+v 0.11116674 -0.03870103 0.11235458
+v 0.10623696 -0.03685364 0.11622118
+v 0.10265530 -0.03630301 0.11556589
+v 0.09936879 -0.03526351 0.11363260
+v 0.09770559 -0.03199582 0.11593881
+v 0.09967989 -0.02515681 0.12592029
+v 0.09766171 0.01379326 0.12592043
+v 0.09914543 0.00425785 0.08893435
+v 0.09908959 0.01338673 0.12450847
+v 0.11050066 -0.03596328 0.08893420
+v 0.11597686 -0.03665292 0.10756480
+v 0.11888845 -0.03593762 0.10931707
+v 0.11642756 -0.03689479 0.11248129
+v 0.11499968 -0.03637505 0.11567812
+v 0.11116674 -0.03691024 0.11630806
+v 0.11235132 -0.03565967 0.08893420
+v 0.11116674 -0.02937138 0.12592027
+v 0.10923631 -0.02925817 0.12592027
+v 0.10623696 -0.02905233 0.12592027
+v 0.10216871 -0.02722550 0.12592028
+v 0.10036591 -0.02580521 0.12592029
+v 0.09994712 0.01352567 0.12592043
+v 0.10062117 0.00403658 0.08893434
+v 0.11888845 -0.03593763 0.11091729
+v 0.11338035 -0.03531489 0.08893420
+v 0.11587316 -0.03428054 0.08893420
+v 0.11673866 -0.03371448 0.08893421
+v 0.11956251 -0.03176414 0.08893421
+v 0.12369459 -0.03103863 0.10923020
+v 0.11828619 -0.03548480 0.11421548
+v 0.11611247 -0.02764233 0.12592028
+v 0.10226044 0.01275892 0.12592043
+v 0.10373619 0.00841061 0.10992546
+v 0.10372421 0.00350139 0.09016889
+v 0.10199321 0.00367636 0.08893434
+v 0.12369459 -0.03103864 0.11068561
+v 0.12106218 -0.03326171 0.11244874
+v 0.12203138 -0.02849644 0.08893423
+v 0.12248208 -0.02784804 0.08893423
+v 0.12358291 -0.02604694 0.08893423
+v 0.12473159 -0.02854795 0.10751052
+v 0.12718850 -0.02342768 0.10740917
+v 0.12323990 -0.03039025 0.11398380
+v 0.11994939 -0.03221709 0.11628999
+v 0.11939899 -0.02518769 0.12592029
+v 0.11887251 -0.02617572 0.12525413
+v 0.11779561 -0.02649477 0.12592028
+v 0.12486720 -0.00027583 0.10740926
+v 0.12428887 -0.00075440 0.10387574
+v 0.12081090 0.00171045 0.12592039
+v 0.10318577 0.00330584 0.08893434
+v 0.12465182 -0.02858400 0.11234014
+v 0.12689734 -0.02342770 0.11235463
+v 0.12433274 -0.02342762 0.08893424
+v 0.12826141 -0.02017027 0.10740919
+v 0.12415725 -0.02712255 0.11593158
+v 0.12316810 -0.02041220 0.12592031
+v 0.12081090 -0.02355641 0.12592029
+v 0.12152485 0.00120100 0.12592038
+v 0.12461992 -0.00039421 0.11235472
+v 0.12753151 -0.00416106 0.10719201
+v 0.12839701 -0.00650249 0.10539629
+v 0.12379031 -0.01059350 0.08893429
+v 0.12363077 -0.01033106 0.08893429
+v 0.12180404 -0.00808225 0.08893430
+v 0.11945084 -0.00599298 0.08893431
+v 0.11927534 -0.00584889 0.08893431
+v 0.12873205 -0.01744291 0.11096805
+v 0.12804204 -0.01885806 0.11251395
+v 0.12550536 -0.01362463 0.12592033
+v 0.12430483 -0.01795756 0.12592031
+v 0.12507460 -0.01852863 0.08893426
+v 0.12859245 -0.01690255 0.10455631
+v 0.12877991 -0.01772077 0.10740919
+v 0.12379829 -0.01913085 0.12592031
+v 0.12387008 -0.00083682 0.12592038
+v 0.12852066 -0.00601878 0.10869086
+v 0.12852066 -0.00601878 0.11014987
+v 0.12881979 -0.00837564 0.10719200
+v 0.12864828 -0.00977019 0.10448393
+v 0.12454812 -0.01330544 0.08893428
+v 0.12919870 -0.01362456 0.10740921
+v 0.12891552 -0.01362458 0.11153284
+v 0.12585236 -0.00872563 0.12592035
+v 0.12871609 -0.01362455 0.10431014
+v 0.12498686 -0.00382664 0.12592037
+v 0.12875598 -0.00872558 0.11092101
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 16
+f 1 16 17
+f 1 17 7
+f 1 7 19
+f 1 19 29
+f 1 29 44
+f 1 44 56
+f 1 56 72
+f 1 72 88
+f 1 88 87
+f 1 87 86
+f 1 86 85
+f 1 85 84
+f 1 84 102
+f 1 102 93
+f 1 93 75
+f 1 75 61
+f 1 61 60
+f 1 60 59
+f 1 59 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 37
+f 1 37 31
+f 1 31 21
+f 1 21 20
+f 1 20 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 5
+f 3 5 4
+f 3 8 9
+f 5 13 6
+f 5 12 14
+f 5 14 15
+f 5 15 16
+f 5 16 13
+f 7 17 18
+f 7 18 19
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 12
+f 12 25 14
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 42
+f 16 42 41
+f 16 41 40
+f 16 40 39
+f 16 39 38
+f 16 38 52
+f 16 52 68
+f 16 68 66
+f 16 66 79
+f 16 79 78
+f 16 78 96
+f 16 96 92
+f 16 92 91
+f 16 91 105
+f 16 105 107
+f 16 107 97
+f 16 97 80
+f 16 80 71
+f 16 71 53
+f 16 53 43
+f 16 43 28
+f 16 28 18
+f 16 18 17
+f 18 28 19
+f 19 28 30
+f 19 30 29
+f 21 31 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 22 31 37
+f 22 37 32
+f 23 36 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 26 25
+f 24 40 41
+f 24 41 42
+f 24 42 26
+f 26 42 27
+f 28 43 30
+f 29 30 44
+f 30 43 44
+f 32 37 33
+f 33 45 34
+f 33 37 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 57
+f 33 57 45
+f 34 45 51
+f 34 51 35
+f 35 38 36
+f 35 51 52
+f 35 52 38
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 45 57 58
+f 45 58 51
+f 49 59 50
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 57
+f 51 58 64
+f 51 64 65
+f 51 65 66
+f 51 66 67
+f 51 67 68
+f 51 68 52
+f 53 69 70
+f 53 70 54
+f 53 71 69
+f 54 70 55
+f 55 72 56
+f 55 70 72
+f 57 73 64
+f 57 64 58
+f 57 63 74
+f 57 74 73
+f 61 75 76
+f 61 76 63
+f 61 63 62
+f 63 76 74
+f 64 73 77
+f 64 77 78
+f 64 78 79
+f 64 79 66
+f 64 66 65
+f 66 68 67
+f 69 71 80
+f 69 80 81
+f 69 81 82
+f 69 82 70
+f 70 82 83
+f 70 83 84
+f 70 84 85
+f 70 85 86
+f 70 86 87
+f 70 87 88
+f 70 88 72
+f 73 74 77
+f 74 76 89
+f 74 89 90
+f 74 90 91
+f 74 91 92
+f 74 92 77
+f 75 93 94
+f 75 94 76
+f 76 94 95
+f 76 95 89
+f 77 92 96
+f 77 96 78
+f 80 97 81
+f 81 97 82
+f 82 98 83
+f 82 97 99
+f 82 99 98
+f 83 98 100
+f 83 100 101
+f 83 101 102
+f 83 102 84
+f 89 95 103
+f 89 103 104
+f 89 104 91
+f 89 91 90
+f 91 104 105
+f 93 102 101
+f 93 101 106
+f 93 106 94
+f 94 106 103
+f 94 103 95
+f 97 107 99
+f 98 99 100
+f 99 105 108
+f 99 108 100
+f 99 107 105
+f 100 108 103
+f 100 103 101
+f 101 103 106
+f 103 108 104
+f 104 108 105
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_24.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.08937668 -0.05730614 -0.07795105
+v -0.08937668 -0.03143503 -0.07795096
+v -0.07126738 -0.05694360 -0.07795105
+v -0.07126738 -0.05667842 -0.07561893
+v -0.08937668 -0.05432200 -0.05583382
+v -0.08937668 -0.03112621 -0.07666774
+v -0.08615517 -0.03104901 -0.07699215
+v -0.08615517 -0.03128062 -0.07795095
+v -0.07126738 -0.03196205 -0.07795096
+v -0.07126738 -0.05666499 -0.07555045
+v -0.08122271 -0.04797429 -0.04113105
+v -0.08937668 -0.05264696 -0.05105064
+v -0.07126738 -0.05591309 -0.07194955
+v -0.08937668 -0.03053878 -0.07419506
+v -0.08615517 -0.03046157 -0.07451586
+v -0.08122271 -0.03101208 -0.07712191
+v -0.08122271 -0.03121348 -0.07795095
+v -0.08122271 -0.03043807 -0.07464562
+v -0.07126738 -0.03142162 -0.07560803
+v -0.07784339 -0.04672890 -0.04113104
+v -0.08937668 -0.04864901 -0.04113105
+v -0.07126738 -0.03574870 -0.04113100
+v -0.07774410 -0.04667855 -0.04113104
+v -0.08937668 -0.02972308 -0.07066985
+v -0.08615517 -0.02957202 -0.07066985
+v -0.08122271 -0.02952167 -0.07066985
+v -0.07126738 -0.03083082 -0.07301999
+v -0.08937668 -0.02320422 -0.04113096
+v -0.07126738 -0.02387223 -0.04113096
+v -0.08937668 -0.02898794 -0.06744022
+v -0.08937668 -0.02859856 -0.06572448
+v -0.08615517 -0.02845086 -0.06572447
+v -0.08122271 -0.02840386 -0.06572447
+v -0.07857386 -0.02585271 -0.05350881
+v -0.07126738 -0.03028031 -0.07057974
+v -0.08615517 -0.02306994 -0.04113095
+v -0.08937668 -0.02421796 -0.04593936
+v -0.08122271 -0.02301288 -0.04113095
+v -0.07126738 -0.02489268 -0.04593936
+v -0.08937668 -0.02748411 -0.06077910
+v -0.08937668 -0.02668519 -0.05722506
+v -0.08937668 -0.02633945 -0.05567873
+v -0.08615517 -0.02734648 -0.06077910
+v -0.08615517 -0.02633944 -0.05626626
+v -0.08615517 -0.02578893 -0.05379356
+v -0.08122271 -0.02511086 -0.05088834
+v -0.08122271 -0.02403333 -0.04593936
+v -0.07126738 -0.02921286 -0.06572448
+v -0.08602041 -0.02306659 -0.04113095
+v -0.08615517 -0.02409040 -0.04593936
+v -0.08937668 -0.02458385 -0.04765510
+v -0.08937668 -0.02556403 -0.05217874
+v -0.08615517 -0.02515114 -0.05088834
+v -0.08937668 -0.02534584 -0.05118391
+f 1 2 8
+f 1 8 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 28
+f 1 28 37
+f 1 37 51
+f 1 51 54
+f 1 54 52
+f 1 52 42
+f 1 42 41
+f 1 41 40
+f 1 40 31
+f 1 31 30
+f 1 30 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 19
+f 3 19 27
+f 3 27 35
+f 3 35 48
+f 3 48 39
+f 3 39 29
+f 3 29 22
+f 3 22 13
+f 3 13 10
+f 3 10 4
+f 4 10 5
+f 5 11 12
+f 5 10 13
+f 5 13 11
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 17 16
+f 9 16 18
+f 9 18 19
+f 11 20 23
+f 11 23 22
+f 11 22 29
+f 11 29 38
+f 11 38 49
+f 11 49 36
+f 11 36 28
+f 11 28 21
+f 11 21 12
+f 11 13 20
+f 13 22 23
+f 13 23 20
+f 14 24 15
+f 15 18 16
+f 15 24 25
+f 15 25 18
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 26 32 33
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 28 36 37
+f 29 39 34
+f 29 34 38
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 33 46 34
+f 34 46 47
+f 34 47 38
+f 34 39 48
+f 34 48 35
+f 36 49 50
+f 36 50 37
+f 37 50 51
+f 38 47 49
+f 42 52 45
+f 42 45 44
+f 42 44 43
+f 45 52 53
+f 45 53 46
+f 46 53 47
+f 47 53 50
+f 47 50 49
+f 50 53 51
+f 51 53 54
+f 52 54 53
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_25.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.11116587 -0.02937356 0.12592027
+v 0.10924206 -0.02925681 0.12592027
+v 0.11611094 -0.02764182 0.12592028
+v 0.11401729 -0.01623489 0.16495418
+v 0.11116587 -0.01577278 0.16811654
+v 0.10623712 -0.01569981 0.16804836
+v 0.09338778 -0.01612300 0.16444547
+v 0.10623712 -0.02905251 0.12592027
+v 0.11779632 -0.02649382 0.12592028
+v 0.11896237 -0.01146778 0.17457761
+v 0.11610115 -0.01335030 0.17171418
+v 0.11610115 -0.01182288 0.17489228
+v 0.11116587 -0.01397295 0.17171418
+v 0.09338778 -0.01277144 0.17124743
+v 0.09338778 -0.01425508 0.16863050
+v 0.09338778 -0.01522309 0.16691557
+v 0.09338778 -0.01578250 0.16542093
+v 0.09338778 -0.01616677 0.16181804
+v 0.09756528 -0.02272875 0.12592030
+v 0.09967854 -0.02516096 0.12592029
+v 0.10036771 -0.02580307 0.12592029
+v 0.10216740 -0.02722348 0.12592028
+v 0.11940004 -0.02519015 0.12592029
+v 0.11945230 -0.01187638 0.17171419
+v 0.12192157 -0.00942957 0.17171420
+v 0.12370819 -0.00657417 0.17450422
+v 0.12077839 -0.00841292 0.17553211
+v 0.11610115 -0.00872425 0.17712114
+v 0.11116587 -0.01182775 0.17480313
+v 0.09338778 -0.01194448 0.17222815
+v 0.09338778 -0.01583099 0.12592032
+v 0.12081105 -0.02355570 0.12592029
+v 0.12316927 -0.02041328 0.12592031
+v 0.12396623 -0.00697790 0.17171420
+v 0.12533478 -0.00382575 0.17171422
+v 0.12424713 -0.00382576 0.17517027
+v 0.12082084 -0.00396198 0.17787636
+v 0.11903422 -0.00241997 0.17931856
+v 0.11610115 -0.00510513 0.17889376
+v 0.11116587 -0.00872425 0.17679600
+v 0.09338778 -0.01060191 0.17372278
+v 0.09338778 0.01383715 0.12592043
+v 0.12379965 -0.01912907 0.12592031
+v 0.12575286 -0.00382573 0.16676354
+v 0.12641263 0.00107759 0.17171423
+v 0.12430592 -0.01795675 0.12592031
+v 0.12472400 0.00107757 0.17566849
+v 0.12159821 0.00107757 0.17813859
+v 0.11913221 0.00107756 0.17935528
+v 0.11610115 0.00107756 0.17949688
+v 0.11610115 -0.00265832 0.17937100
+v 0.11247563 -0.00204054 0.17926611
+v 0.09338778 -0.00382577 0.17701628
+v 0.09338778 -0.00637960 0.17601460
+v 0.09338778 -0.00815024 0.17529611
+v 0.09338778 0.01404145 0.12669136
+v 0.09367847 0.01383715 0.12592043
+v 0.12675559 0.00107761 0.16676355
+v 0.12550789 -0.01362741 0.12592033
+v 0.12633425 0.00598095 0.16676357
+v 0.12596516 0.00598093 0.17171425
+v 0.12438758 0.00598092 0.17520700
+v 0.12070980 0.00569877 0.17770333
+v 0.11885131 0.00387947 0.17923991
+v 0.11610115 0.00393298 0.17925566
+v 0.11310274 0.00371408 0.17918748
+v 0.11236785 0.00107756 0.17927138
+v 0.09338778 0.00107757 0.17750926
+v 0.09636984 0.01382742 0.12592043
+v 0.09338778 0.01495595 0.13018934
+v 0.09636984 0.01416306 0.12720005
+v 0.12585084 -0.00872406 0.12592035
+v 0.12461621 0.00974602 0.16676359
+v 0.12442350 0.00957088 0.17171427
+v 0.12498856 -0.00382558 0.12592037
+v 0.12386824 -0.00083396 0.12592038
+v 0.12383885 0.00886553 0.17456720
+v 0.12103315 0.00970221 0.17537484
+v 0.11610115 0.00638465 0.17841656
+v 0.11134225 0.00560148 0.17832216
+v 0.09338778 0.00598091 0.17640797
+v 0.09338778 0.00301361 0.17707924
+v 0.09766000 0.01379337 0.12592043
+v 0.09338778 0.01546184 0.13214550
+v 0.09636984 0.01544725 0.13214550
+v 0.12403808 0.00902124 0.16181813
+v 0.12103315 0.01183772 0.16676359
+v 0.12103315 0.01167718 0.17171427
+v 0.12152636 0.00119937 0.12592038
+v 0.11610115 0.01025674 0.17594123
+v 0.11610115 0.01256250 0.17171428
+v 0.11116587 0.01004271 0.17573670
+v 0.09338778 0.00911848 0.17479795
+v 0.09994637 0.01352096 0.12592043
+v 0.09902529 0.01827830 0.14433344
+v 0.09338778 0.01667307 0.13709095
+v 0.09636984 0.01665848 0.13709095
+v 0.12362001 0.00854940 0.15895995
+v 0.10381032 0.01337015 0.12951807
+v 0.10370580 0.01819072 0.14955683
+v 0.12081105 0.00171013 0.12592039
+v 0.10406508 0.01855555 0.15285030
+v 0.10413041 0.01862849 0.15687273
+v 0.10130512 0.01967921 0.15687273
+v 0.10395403 0.01843877 0.15956309
+v 0.10130512 0.01885711 0.16000362
+v 0.09636984 0.01916357 0.16032878
+v 0.09338778 0.01915871 0.16032878
+v 0.10096216 0.01368148 0.12759862
+v 0.10226212 0.01275725 0.12592043
+v 0.09636984 0.01829776 0.14423380
+v 0.09636984 0.01890581 0.14698185
+v 0.09636984 0.02000028 0.15193254
+v 0.10175912 0.01913441 0.15149725
+v 0.10016194 0.01857016 0.14698185
+v 0.10130512 0.01470299 0.13214549
+v 0.09636984 0.01773836 0.14176370
+v 0.09338778 0.01774323 0.14176370
+v 0.11889050 0.00369967 0.12881004
+v 0.09636984 0.02032131 0.15687273
+v 0.09338778 0.01961597 0.15895999
+v 0.09338778 0.01829776 0.14423380
+v 0.09338778 0.01890581 0.14698185
+v 0.09338778 0.01999055 0.15193254
+v 0.09338778 0.02030672 0.15687273
+f 1 2 8
+f 1 8 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 31
+f 1 31 42
+f 1 42 57
+f 1 57 69
+f 1 69 83
+f 1 83 94
+f 1 94 110
+f 1 110 101
+f 1 101 89
+f 1 89 76
+f 1 76 75
+f 1 75 72
+f 1 72 59
+f 1 59 46
+f 1 46 43
+f 1 43 33
+f 1 33 32
+f 1 32 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 16
+f 7 16 15
+f 7 15 14
+f 7 14 30
+f 7 30 41
+f 7 41 55
+f 7 55 54
+f 7 54 53
+f 7 53 68
+f 7 68 82
+f 7 82 81
+f 7 81 93
+f 7 93 108
+f 7 108 121
+f 7 121 125
+f 7 125 124
+f 7 124 123
+f 7 123 122
+f 7 122 118
+f 7 118 96
+f 7 96 84
+f 7 84 70
+f 7 70 56
+f 7 56 42
+f 7 42 31
+f 7 31 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 9 23 10
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 12
+f 10 12 11
+f 10 23 24
+f 12 29 13
+f 12 28 29
+f 13 29 14
+f 14 29 30
+f 18 31 19
+f 23 32 25
+f 23 25 24
+f 25 32 26
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 28
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 30
+f 33 43 34
+f 34 43 35
+f 35 44 45
+f 35 45 36
+f 35 43 46
+f 35 46 44
+f 36 47 37
+f 36 45 47
+f 37 48 38
+f 37 47 48
+f 38 49 50
+f 38 50 51
+f 38 51 39
+f 38 48 49
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 40 55 41
+f 42 56 57
+f 44 58 45
+f 44 46 59
+f 44 59 58
+f 45 58 60
+f 45 60 61
+f 45 61 47
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 48 63 64
+f 48 64 49
+f 49 64 50
+f 50 64 65
+f 50 65 66
+f 50 66 67
+f 50 67 52
+f 50 52 51
+f 52 67 68
+f 52 68 53
+f 56 69 57
+f 56 70 71
+f 56 71 69
+f 58 59 72
+f 58 72 60
+f 60 73 74
+f 60 74 61
+f 60 72 75
+f 60 75 76
+f 60 76 73
+f 61 74 77
+f 61 77 62
+f 62 77 63
+f 63 77 78
+f 63 78 64
+f 64 79 65
+f 64 78 79
+f 65 79 66
+f 66 68 67
+f 66 79 80
+f 66 80 81
+f 66 81 82
+f 66 82 68
+f 69 71 83
+f 70 84 85
+f 70 85 71
+f 71 85 83
+f 73 86 87
+f 73 87 88
+f 73 88 74
+f 73 76 86
+f 74 88 77
+f 76 89 86
+f 77 88 78
+f 78 90 79
+f 78 88 91
+f 78 91 90
+f 79 90 92
+f 79 92 93
+f 79 93 81
+f 79 81 80
+f 83 85 95
+f 83 95 94
+f 84 96 97
+f 84 97 85
+f 85 97 95
+f 86 98 99
+f 86 99 100
+f 86 100 87
+f 86 89 101
+f 86 101 98
+f 87 100 102
+f 87 102 103
+f 87 103 88
+f 88 103 104
+f 88 104 105
+f 88 105 106
+f 88 106 91
+f 90 107 108
+f 90 108 92
+f 90 91 107
+f 91 106 107
+f 92 108 93
+f 94 109 99
+f 94 99 110
+f 94 95 109
+f 95 111 112
+f 95 112 113
+f 95 113 114
+f 95 114 115
+f 95 115 100
+f 95 100 99
+f 95 99 116
+f 95 116 109
+f 95 97 117
+f 95 117 111
+f 96 118 117
+f 96 117 97
+f 98 101 119
+f 98 119 99
+f 99 119 101
+f 99 101 110
+f 99 109 116
+f 100 114 102
+f 100 115 114
+f 102 114 104
+f 102 104 103
+f 104 114 113
+f 104 113 120
+f 104 120 106
+f 104 106 105
+f 106 120 107
+f 107 120 108
+f 108 120 121
+f 111 122 123
+f 111 123 112
+f 111 117 118
+f 111 118 122
+f 112 123 113
+f 113 123 124
+f 113 124 120
+f 120 124 125
+f 120 125 121
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_26.obj

@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v -0.11082007 -0.02699020 0.13024143
+v -0.11405527 -0.02626300 0.13024143
+v -0.10589156 -0.02648996 0.13024143
+v -0.09478619 -0.01611476 0.16442023
+v -0.10589156 -0.01642510 0.16546179
+v -0.11082007 -0.01574886 0.16809463
+v -0.11375863 -0.01626762 0.16502781
+v -0.11565897 -0.02547559 0.13024144
+v -0.11870259 -0.01152928 0.17466230
+v -0.10479462 -0.02612405 0.13024143
+v -0.09478619 -0.01614718 0.16275662
+v -0.09478619 -0.01528104 0.16678304
+v -0.10589156 -0.01565160 0.16793551
+v -0.10282940 -0.02529495 0.13024144
+v -0.10067877 -0.02376181 0.13024144
+v -0.09843236 -0.02179328 0.13024145
+v -0.09810482 -0.02145515 0.13024145
+v -0.11082007 -0.01391930 0.17171119
+v -0.11575476 -0.01186740 0.17495644
+v -0.11575476 -0.01344685 0.17171119
+v -0.11649326 -0.02495219 0.13024144
+v -0.11575476 -0.00872239 0.17722283
+v -0.12048242 -0.00845374 0.17564119
+v -0.12339626 -0.00663805 0.17456106
+v -0.12169678 -0.00951905 0.17171121
+v -0.11923097 -0.01197392 0.17171120
+v -0.09478619 -0.01616107 0.16179221
+v -0.09478619 -0.01461869 0.16799820
+v -0.09478619 -0.01278449 0.17128203
+v -0.09478619 -0.01645740 0.13024147
+v -0.11082007 -0.01179792 0.17478285
+v -0.11956469 -0.02262238 0.13024145
+v -0.11082007 -0.00872239 0.17676473
+v -0.11575476 -0.00522999 0.17892502
+v -0.11869950 -0.00258058 0.17932527
+v -0.12048242 -0.00405349 0.17793651
+v -0.12502468 -0.00382188 0.17171123
+v -0.12366509 -0.00706880 0.17171121
+v -0.12392774 -0.00382189 0.17522169
+v -0.12211702 -0.01947272 0.13024146
+v -0.12111586 -0.02071869 0.13024145
+v -0.09478619 -0.01063996 0.17375576
+v -0.09478619 0.01498818 0.13024159
+v -0.09478619 -0.01002393 0.17415598
+v -0.09478619 -0.00818972 0.17532294
+v -0.11221982 -0.00205255 0.17926257
+v -0.11575476 -0.00278438 0.17937831
+v -0.09478619 -0.00382190 0.17707336
+v -0.11575476 0.00107858 0.17950369
+v -0.11879220 0.00107858 0.17936384
+v -0.12125800 0.00107859 0.17812458
+v -0.12436342 0.00107859 0.17565086
+v -0.12601347 0.00107861 0.17171124
+v -0.12542329 -0.00382186 0.16676380
+v -0.12358475 -0.01702248 0.13024147
+v -0.09602527 0.01498355 0.13024159
+v -0.09478619 0.01547914 0.13214631
+v -0.09478619 0.00107859 0.17757487
+v -0.11214566 0.00107858 0.17927222
+v -0.09478619 -0.00259909 0.17719874
+v -0.11282855 0.00370483 0.17918544
+v -0.11575476 0.00392716 0.17925778
+v -0.11850174 0.00388084 0.17924331
+v -0.12036191 0.00570117 0.17764240
+v -0.12398645 0.00597909 0.17514457
+v -0.12550362 0.00597910 0.17171126
+v -0.12587443 0.00597912 0.16676383
+v -0.12635337 0.00107863 0.16676381
+v -0.12466315 -0.01362734 0.13024148
+v -0.12419657 -0.01519753 0.13024147
+v -0.10089816 0.01459910 0.13024158
+v -0.09602527 0.01547451 0.13214631
+v -0.09602527 0.01668341 0.13708892
+v -0.09478619 0.01638234 0.13584965
+v -0.09478619 0.00597908 0.17648028
+v -0.11103945 0.00559463 0.17827891
+v -0.11575476 0.00637740 0.17838981
+v -0.12068635 0.00963361 0.17532301
+v -0.12344571 0.00879525 0.17451288
+v -0.12400190 0.00946224 0.17171127
+v -0.12419966 0.00965217 0.16676385
+v -0.12368363 -0.00047291 0.13024153
+v -0.12411931 -0.00166792 0.13024152
+v -0.12478675 -0.00382173 0.13024152
+v -0.12508648 -0.00570226 0.13024151
+v -0.12533367 -0.00872222 0.13024150
+v -0.12517300 -0.01060738 0.13024149
+v -0.10390161 0.01377000 0.13024158
+v -0.10095687 0.01505765 0.13214631
+v -0.09884333 0.01828137 0.14429791
+v -0.09602527 0.01774872 0.14172775
+v -0.09478619 0.01668341 0.13708892
+v -0.09478619 0.00674333 0.17609933
+v -0.11082007 0.00998562 0.17569913
+v -0.11575476 0.01020795 0.17591612
+v -0.09478619 0.00916116 0.17484079
+v -0.11575476 0.01247757 0.17171129
+v -0.12068635 0.01153267 0.17171128
+v -0.12068635 0.01169944 0.16676385
+v -0.10401594 0.01878158 0.15193123
+v -0.10363588 0.01841104 0.14866669
+v -0.12363728 0.00896204 0.16182123
+v -0.12118075 0.00208387 0.13024154
+v -0.11885091 0.00387176 0.13024154
+v -0.12324485 0.00852203 0.15903407
+v -0.10213106 0.01798030 0.14537322
+v -0.10067568 0.01861948 0.14700790
+v -0.09602527 0.01892055 0.14698379
+v -0.09602527 0.01830453 0.14420147
+v -0.10095687 0.01967089 0.15193123
+v -0.09602527 0.02001365 0.15193123
+v -0.09478619 0.01816557 0.14358424
+v -0.09478619 0.01774872 0.14173257
+v -0.09478619 0.01916136 0.16033125
+v -0.09602527 0.01916599 0.16033607
+v -0.10095687 0.01902240 0.16017694
+v -0.10386145 0.01865649 0.15978636
+v -0.10095687 0.02001826 0.15687384
+v -0.10418589 0.01896220 0.15687384
+v -0.11964813 0.00329278 0.13024154
+v -0.09478619 0.01876770 0.14628942
+v -0.09478619 0.01830453 0.14420629
+v -0.09478619 0.02000901 0.15193123
+v -0.09478619 0.01892055 0.14698379
+v -0.09602527 0.02032859 0.15687384
+v -0.09478619 0.02024523 0.15563457
+v -0.09478619 0.01945316 0.15946810
+v -0.09478619 0.02031933 0.15687384
+f 1 2 8
+f 1 8 21
+f 1 21 32
+f 1 32 41
+f 1 41 40
+f 1 40 55
+f 1 55 70
+f 1 70 69
+f 1 69 87
+f 1 87 86
+f 1 86 85
+f 1 85 84
+f 1 84 83
+f 1 83 82
+f 1 82 103
+f 1 103 120
+f 1 120 104
+f 1 104 88
+f 1 88 71
+f 1 71 56
+f 1 56 43
+f 1 43 30
+f 1 30 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 4
+f 4 11 27
+f 4 27 30
+f 4 30 43
+f 4 43 57
+f 4 57 74
+f 4 74 92
+f 4 92 113
+f 4 113 112
+f 4 112 122
+f 4 122 121
+f 4 121 124
+f 4 124 123
+f 4 123 126
+f 4 126 128
+f 4 128 127
+f 4 127 114
+f 4 114 96
+f 4 96 93
+f 4 93 75
+f 4 75 58
+f 4 58 60
+f 4 60 48
+f 4 48 45
+f 4 45 44
+f 4 44 42
+f 4 42 29
+f 4 29 28
+f 4 28 12
+f 4 12 13
+f 4 13 5
+f 4 10 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 11
+f 5 13 6
+f 6 13 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 9
+f 8 9 21
+f 9 20 19
+f 9 19 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 21
+f 11 17 27
+f 12 28 13
+f 13 28 29
+f 13 29 18
+f 17 30 27
+f 18 29 31
+f 18 31 19
+f 19 31 22
+f 21 26 32
+f 22 31 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 24 37 38
+f 24 38 25
+f 24 36 39
+f 24 39 37
+f 25 38 40
+f 25 40 41
+f 25 41 32
+f 25 32 26
+f 29 42 31
+f 31 42 44
+f 31 44 33
+f 33 45 34
+f 33 44 45
+f 34 46 47
+f 34 47 35
+f 34 45 48
+f 34 48 46
+f 35 47 49
+f 35 49 50
+f 35 50 51
+f 35 51 36
+f 36 51 52
+f 36 52 39
+f 37 39 53
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 55 40
+f 39 52 53
+f 43 56 72
+f 43 72 57
+f 46 58 59
+f 46 59 49
+f 46 49 47
+f 46 48 60
+f 46 60 58
+f 49 59 61
+f 49 61 62
+f 49 62 63
+f 49 63 50
+f 50 63 51
+f 51 64 65
+f 51 65 52
+f 51 63 64
+f 52 65 66
+f 52 66 53
+f 53 66 67
+f 53 67 68
+f 53 68 54
+f 54 68 69
+f 54 69 70
+f 54 70 55
+f 56 71 72
+f 57 72 73
+f 57 73 74
+f 58 61 59
+f 58 75 61
+f 61 76 77
+f 61 77 62
+f 61 75 76
+f 62 77 63
+f 63 77 78
+f 63 78 64
+f 64 78 79
+f 64 79 65
+f 65 79 66
+f 66 79 80
+f 66 80 67
+f 67 80 81
+f 67 81 82
+f 67 82 83
+f 67 83 84
+f 67 84 85
+f 67 85 68
+f 68 85 86
+f 68 86 87
+f 68 87 69
+f 71 88 89
+f 71 89 90
+f 71 90 72
+f 72 90 73
+f 73 90 91
+f 73 91 92
+f 73 92 74
+f 75 93 77
+f 75 77 76
+f 77 94 95
+f 77 95 78
+f 77 93 96
+f 77 96 94
+f 78 95 97
+f 78 97 98
+f 78 98 79
+f 79 98 80
+f 80 98 81
+f 81 98 99
+f 81 99 100
+f 81 100 101
+f 81 101 102
+f 81 102 82
+f 82 102 103
+f 88 104 105
+f 88 105 102
+f 88 102 101
+f 88 101 89
+f 89 101 106
+f 89 106 107
+f 89 107 90
+f 90 108 109
+f 90 109 91
+f 90 107 110
+f 90 110 111
+f 90 111 108
+f 91 109 112
+f 91 112 113
+f 91 113 92
+f 94 96 114
+f 94 114 95
+f 95 115 97
+f 95 114 115
+f 97 115 116
+f 97 116 117
+f 97 117 98
+f 98 117 118
+f 98 118 119
+f 98 119 99
+f 99 119 100
+f 100 119 118
+f 100 118 110
+f 100 110 101
+f 101 110 106
+f 102 105 103
+f 103 105 120
+f 104 120 105
+f 106 110 107
+f 108 121 109
+f 108 111 121
+f 109 121 122
+f 109 122 112
+f 110 118 111
+f 111 123 124
+f 111 124 121
+f 111 118 125
+f 111 125 126
+f 111 126 123
+f 114 127 115
+f 115 127 125
+f 115 125 116
+f 116 125 118
+f 116 118 117
+f 125 128 126
+f 125 127 128
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_27.obj

@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.08942998 0.01500303 0.13024159
+v -0.08942998 0.00449299 0.08797219
+v -0.09602391 0.01498201 0.13024159
+v -0.08942998 -0.01291387 0.13024148
+v -0.09602391 0.00440370 0.08797219
+v -0.08942998 -0.02153827 0.08797209
+v -0.09905272 0.01340629 0.12444015
+v -0.10090087 0.01459858 0.13024158
+v -0.09843538 -0.02179055 0.13024145
+v -0.09754024 -0.03179120 0.11579162
+v -0.09419119 -0.02977949 0.11235298
+v -0.09280218 -0.02733183 0.11235299
+v -0.08942998 -0.01861273 0.11255578
+v -0.10081213 0.00407804 0.08797218
+v -0.08942998 -0.02021471 0.10741228
+v -0.09273273 -0.02734757 0.10741225
+v -0.09431466 -0.02979522 0.10741224
+v -0.09678014 -0.03248974 0.10741223
+v -0.09828490 -0.03100322 0.08797206
+v -0.10080056 0.01382648 0.12706776
+v -0.10234390 0.01312791 0.12533809
+v -0.10372133 0.01358487 0.12863604
+v -0.10390267 0.01376870 0.13024158
+v -0.10067709 -0.02376022 0.13024144
+v -0.10257926 -0.03616650 0.11541919
+v -0.09916075 -0.03516327 0.11235296
+v -0.09665668 -0.03271037 0.11235297
+v -0.08942998 -0.02019896 0.10756125
+v -0.10323131 0.00360007 0.08797218
+v -0.09970478 -0.03493740 0.10741222
+v -0.10092402 -0.03300441 0.08797205
+v -0.10369432 0.00375238 0.08909770
+v -0.12390824 -0.00075954 0.10391163
+v -0.12447928 -0.00027107 0.10741235
+v -0.11884994 0.00387304 0.13024154
+v -0.10283005 -0.02529394 0.13024144
+v -0.10588973 -0.03671802 0.11607299
+v -0.10588973 -0.03832526 0.11235295
+v -0.10162624 -0.03670750 0.11235296
+v -0.10338179 -0.02590848 0.12973246
+v -0.10479395 -0.02612383 0.13024143
+v -0.10588973 -0.02649151 0.13024143
+v -0.11876892 -0.00593317 0.08797215
+v -0.10217027 -0.03639758 0.10741222
+v -0.10460489 -0.03505288 0.08797204
+v -0.12126913 -0.00826002 0.08797214
+v -0.12336422 -0.01077070 0.08797213
+v -0.12800196 -0.00676313 0.10575300
+v -0.12712225 -0.00418417 0.10740405
+v -0.12368446 -0.00047601 0.13024153
+v -0.12118039 0.00208720 0.13024154
+v -0.11964862 0.00329001 0.13024154
+v -0.11082071 -0.02698524 0.13024143
+v -0.11082071 -0.03689660 0.11628401
+v -0.11082071 -0.03865616 0.11235295
+v -0.10749094 -0.03590903 0.08797204
+v -0.10502545 -0.03525772 0.08797204
+v -0.12388895 -0.01264058 0.08797212
+v -0.12403943 -0.01322360 0.08797212
+v -0.12827204 -0.01003016 0.10452814
+v -0.12845339 -0.00852796 0.10740404
+v -0.12816401 -0.00605406 0.10905096
+v -0.12816401 -0.00605406 0.11013097
+v -0.12411660 -0.00166832 0.13024152
+v -0.11405401 -0.02626565 0.13024143
+v -0.11476780 -0.03640286 0.11570057
+v -0.11614910 -0.03695436 0.11264261
+v -0.11863001 -0.03599840 0.10921224
+v -0.11240263 -0.03559913 0.08797204
+v -0.11045802 -0.03588277 0.08797204
+v -0.11015321 -0.03590903 0.08797204
+v -0.12462976 -0.01818194 0.08797210
+v -0.12464519 -0.01852860 0.08797210
+v -0.12834921 -0.01362285 0.10433365
+v -0.12884309 -0.01362286 0.10741230
+v -0.12840708 -0.00872758 0.11095442
+v -0.12508504 -0.00570747 0.13024151
+v -0.12478795 -0.00382709 0.13024152
+v -0.11565908 -0.02547253 0.13024144
+v -0.11805897 -0.03556772 0.11448401
+v -0.11863001 -0.03599841 0.11118605
+v -0.11542372 -0.03433854 0.08797204
+v -0.12342595 -0.03113987 0.10900949
+v -0.11920876 -0.03175958 0.08797205
+v -0.12824889 -0.01700544 0.10454467
+v -0.12401627 -0.02308775 0.08797209
+v -0.12858071 -0.01362288 0.11161648
+v -0.12843795 -0.01795615 0.10741228
+v -0.12839551 -0.01765153 0.11101233
+v -0.12533198 -0.00872765 0.13024150
+v -0.11649248 -0.02495253 0.13024144
+v -0.12293208 -0.03045706 0.11419851
+v -0.12077912 -0.03335117 0.11269228
+v -0.11956373 -0.02262044 0.13024145
+v -0.12342595 -0.03113988 0.11090055
+v -0.12696792 -0.02342923 0.10741226
+v -0.12448314 -0.02859766 0.10737913
+v -0.12322532 -0.02602913 0.08797207
+v -0.12167811 -0.02848204 0.08797207
+v -0.11938240 -0.03154423 0.08797205
+v -0.12395069 -0.02342916 0.08797208
+v -0.12797495 -0.02040380 0.10741228
+v -0.12664768 -0.02342925 0.11235300
+v -0.12774344 -0.01898040 0.11253922
+v -0.12466062 -0.01362295 0.13024148
+v -0.12516993 -0.01061328 0.13024149
+v -0.12384266 -0.02719004 0.11599854
+v -0.12439054 -0.02862919 0.11247297
+v -0.12111480 -0.02071904 0.13024145
+v -0.12211797 -0.01947420 0.13024146
+v -0.12358414 -0.01702130 0.13024147
+v -0.12328319 -0.02585055 0.08797208
+v -0.12419376 -0.01519869 0.13024147
+f 1 2 3
+f 1 3 8
+f 1 8 23
+f 1 23 35
+f 1 35 52
+f 1 52 51
+f 1 51 50
+f 1 50 64
+f 1 64 78
+f 1 78 77
+f 1 77 90
+f 1 90 106
+f 1 106 105
+f 1 105 113
+f 1 113 111
+f 1 111 110
+f 1 110 109
+f 1 109 94
+f 1 94 91
+f 1 91 79
+f 1 79 65
+f 1 65 53
+f 1 53 42
+f 1 42 41
+f 1 41 36
+f 1 36 24
+f 1 24 9
+f 1 9 4
+f 1 4 13
+f 1 13 28
+f 1 28 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 19
+f 2 19 31
+f 2 31 45
+f 2 45 57
+f 2 57 56
+f 2 56 71
+f 2 71 70
+f 2 70 69
+f 2 69 82
+f 2 82 84
+f 2 84 100
+f 2 100 99
+f 2 99 98
+f 2 98 112
+f 2 112 101
+f 2 101 86
+f 2 86 73
+f 2 73 72
+f 2 72 59
+f 2 59 58
+f 2 58 47
+f 2 47 46
+f 2 46 43
+f 2 43 29
+f 2 29 14
+f 2 14 5
+f 3 7 8
+f 3 5 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 7
+f 6 15 12
+f 6 12 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 7 20 8
+f 7 14 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 9 24 10
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 11 27 17
+f 11 17 16
+f 11 16 12
+f 12 15 28
+f 12 28 13
+f 14 29 21
+f 14 21 20
+f 17 27 18
+f 18 27 26
+f 18 26 30
+f 18 30 19
+f 19 30 31
+f 21 29 22
+f 22 29 32
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 24 36 25
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 25 36 40
+f 25 40 41
+f 25 41 42
+f 25 42 37
+f 26 39 30
+f 29 43 33
+f 29 33 32
+f 30 39 44
+f 30 44 31
+f 31 44 45
+f 33 43 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 36 41 40
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 37 42 53
+f 38 44 39
+f 38 55 56
+f 38 56 57
+f 38 57 44
+f 44 57 45
+f 47 58 48
+f 48 58 59
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 49
+f 49 62 63
+f 49 63 50
+f 50 63 64
+f 53 65 54
+f 54 66 55
+f 54 65 66
+f 55 66 67
+f 55 67 68
+f 55 68 69
+f 55 69 70
+f 55 70 71
+f 55 71 56
+f 59 72 60
+f 60 72 73
+f 60 73 74
+f 60 74 75
+f 60 75 61
+f 61 75 76
+f 61 76 63
+f 61 63 62
+f 63 76 77
+f 63 77 78
+f 63 78 64
+f 65 79 66
+f 66 80 67
+f 66 79 80
+f 67 80 81
+f 67 81 68
+f 68 82 69
+f 68 81 95
+f 68 95 83
+f 68 83 84
+f 68 84 82
+f 73 85 74
+f 73 86 85
+f 74 85 75
+f 75 87 76
+f 75 85 88
+f 75 88 89
+f 75 89 87
+f 76 90 77
+f 76 87 90
+f 79 91 80
+f 80 92 93
+f 80 93 81
+f 80 91 94
+f 80 94 92
+f 81 93 95
+f 83 95 96
+f 83 96 97
+f 83 97 98
+f 83 98 99
+f 83 99 100
+f 83 100 84
+f 85 86 101
+f 85 101 102
+f 85 102 88
+f 87 89 90
+f 88 102 89
+f 89 102 103
+f 89 103 104
+f 89 104 105
+f 89 105 106
+f 89 106 90
+f 92 107 108
+f 92 108 95
+f 92 95 93
+f 92 94 109
+f 92 109 110
+f 92 110 111
+f 92 111 107
+f 95 108 103
+f 95 103 96
+f 96 103 102
+f 96 102 98
+f 96 98 97
+f 98 102 112
+f 101 112 102
+f 103 111 113
+f 103 113 105
+f 103 105 104
+f 103 108 111
+f 107 111 108
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_28.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.07246987 -0.01652295 0.16181907
+v -0.07246987 -0.01650491 0.16120744
+v -0.07246987 -0.01630296 0.16497451
+v -0.09478619 -0.01611540 0.16441848
+v -0.09478619 -0.01614786 0.16275968
+v -0.09478619 -0.01616227 0.16179127
+v -0.09478619 -0.01645792 0.13024147
+v -0.07246987 -0.01629571 0.15872849
+v -0.07246987 -0.01558522 0.16688816
+v -0.09478619 -0.01527865 0.16678159
+v -0.09478619 0.01498901 0.13024159
+v -0.07246987 -0.01160328 0.13024149
+v -0.07246987 -0.01536883 0.16744883
+v -0.09478619 -0.01462224 0.16800023
+v -0.09478619 0.01515853 0.13090419
+v -0.08615544 0.01550476 0.13214598
+v -0.08615544 0.01501426 0.13024159
+v -0.07246987 0.01310270 0.13024158
+v -0.07246987 -0.01291627 0.17127614
+v -0.09478619 -0.01278282 0.17128541
+v -0.09478619 0.01547591 0.13214598
+v -0.09478619 0.01668415 0.13708997
+v -0.08615544 0.01669857 0.13708997
+v -0.07246987 0.01671661 0.13708997
+v -0.08121640 0.01483031 0.13024158
+v -0.07696328 0.01418471 0.13024158
+v -0.07246987 0.01333714 0.13054277
+v -0.07246987 -0.01112735 0.17318980
+v -0.09478619 -0.01064045 0.17375509
+v -0.09478619 0.01748121 0.14056513
+v -0.09478619 0.01774811 0.14173279
+v -0.07246987 0.01695464 0.13814178
+v -0.07246987 0.01472571 0.13245178
+v -0.07246987 -0.01058635 0.17374583
+v -0.09478619 -0.01002731 0.17415821
+v -0.09478619 0.01816648 0.14358620
+v -0.07246987 0.01775532 0.14174669
+v -0.09478619 0.01876879 0.14629219
+v -0.07246987 -0.00813378 0.17522857
+v -0.09478619 -0.00818788 0.17532587
+v -0.09478619 0.01973898 0.15068943
+v -0.07246987 0.01843698 0.14484190
+v -0.07246987 -0.00473627 0.17649818
+v -0.09478619 -0.00382016 0.17707274
+v -0.09478619 0.02000947 0.15193122
+v -0.07246987 0.01914028 0.14809927
+v -0.07246987 -0.00382016 0.17683643
+v -0.09478619 0.00108136 0.17757781
+v -0.07246987 0.01996259 0.15193122
+v -0.09478619 0.02032324 0.15687057
+v -0.07246987 0.02003472 0.15304790
+v -0.07246987 0.00108136 0.17726736
+v -0.09478619 0.00597927 0.17647968
+v -0.09478619 0.01945401 0.15946999
+v -0.07246987 0.01914023 0.16031793
+v -0.07246987 0.02027274 0.15687057
+v -0.07246987 0.00487201 0.17641018
+v -0.09478619 0.00674390 0.17609973
+v -0.07246987 0.00597927 0.17615533
+v -0.07246987 0.00900532 0.17468651
+v -0.09478619 0.01916547 0.16033183
+v -0.09478619 0.00916040 0.17483941
+f 1 2 8
+f 1 8 12
+f 1 12 18
+f 1 18 27
+f 1 27 33
+f 1 33 24
+f 1 24 32
+f 1 32 37
+f 1 37 42
+f 1 42 46
+f 1 46 49
+f 1 49 51
+f 1 51 56
+f 1 56 55
+f 1 55 60
+f 1 60 59
+f 1 59 57
+f 1 57 52
+f 1 52 47
+f 1 47 43
+f 1 43 39
+f 1 39 34
+f 1 34 28
+f 1 28 19
+f 1 19 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 14
+f 4 14 20
+f 4 20 29
+f 4 29 35
+f 4 35 40
+f 4 40 44
+f 4 44 48
+f 4 48 53
+f 4 53 58
+f 4 58 62
+f 4 62 61
+f 4 61 54
+f 4 54 50
+f 4 50 45
+f 4 45 41
+f 4 41 38
+f 4 38 36
+f 4 36 31
+f 4 31 30
+f 4 30 22
+f 4 22 21
+f 4 21 15
+f 4 15 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 7 11 17
+f 7 17 25
+f 7 25 26
+f 7 26 18
+f 7 18 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 17
+f 13 19 20
+f 13 20 14
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 18 26 27
+f 19 28 29
+f 19 29 20
+f 22 30 23
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 33 25
+f 25 33 26
+f 26 33 27
+f 28 34 29
+f 29 34 35
+f 31 36 32
+f 32 36 38
+f 32 38 37
+f 34 39 40
+f 34 40 35
+f 37 38 41
+f 37 41 42
+f 39 43 44
+f 39 44 40
+f 41 45 42
+f 42 45 46
+f 43 47 44
+f 44 47 48
+f 45 49 46
+f 45 50 51
+f 45 51 49
+f 47 52 48
+f 48 52 53
+f 50 54 55
+f 50 55 56
+f 50 56 51
+f 52 57 53
+f 53 57 59
+f 53 59 60
+f 53 60 58
+f 54 61 55
+f 55 61 62
+f 55 62 60
+f 58 60 62
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_29.obj

@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.12816181 -0.04794397 -0.05583380
+v -0.12811625 -0.04794398 -0.05327822
+v -0.12810486 -0.04538873 -0.05330343
+v -0.12811625 -0.04532777 -0.05583379
+v -0.12810866 -0.04537934 -0.05837496
+v -0.12813143 -0.04794397 -0.05843625
+v -0.12812385 -0.05059299 -0.05841463
+v -0.12812764 -0.05062113 -0.05583381
+v -0.12810486 -0.05049455 -0.05330706
+v -0.12515512 -0.04317579 -0.04113103
+v -0.12759995 -0.04287567 -0.05583378
+v -0.12515131 -0.04304451 -0.04113103
+v -0.12407695 -0.03849195 -0.04113101
+v -0.12403139 -0.03834660 -0.04113101
+v -0.12588781 -0.03814025 -0.05583376
+v -0.12697735 -0.04346172 -0.06032139
+v -0.12377324 -0.04810330 -0.07795102
+v -0.12407695 -0.04996934 -0.07795102
+v -0.12444140 -0.05284341 -0.07795103
+v -0.12423640 -0.05515486 -0.07795104
+v -0.12379982 -0.05793516 -0.07795105
+v -0.12350370 -0.05913074 -0.07795106
+v -0.12318102 -0.06025599 -0.07795106
+v -0.12764171 -0.05307323 -0.05583381
+v -0.12506020 -0.04807531 -0.04113105
+v -0.12508298 -0.04794403 -0.04113105
+v -0.12615735 -0.05774770 -0.05583383
+v -0.12474890 -0.05816500 -0.05047034
+v -0.12696217 -0.05241686 -0.05134981
+v -0.12388334 -0.05287637 -0.04113106
+v -0.12302157 -0.03590856 -0.04113100
+v -0.12390612 -0.03503643 -0.05583375
+v -0.12365177 -0.03525679 -0.05928326
+v -0.12466918 -0.03794801 -0.06086925
+v -0.12301778 -0.04582467 -0.07795101
+v -0.12413389 -0.06170951 -0.05583385
+v -0.12180674 -0.06251117 -0.07795107
+v -0.12379982 -0.06119848 -0.05184005
+v -0.12302916 -0.05502841 -0.04113107
+v -0.12387195 -0.05290919 -0.04113106
+v -0.12065266 -0.03411754 -0.04113100
+v -0.12056914 -0.03406128 -0.04113100
+v -0.10433222 -0.02500303 -0.04113096
+v -0.10468907 -0.03412678 -0.07795097
+v -0.11665133 -0.04100486 -0.07795099
+v -0.12057293 -0.04336788 -0.07795100
+v -0.12171563 -0.04451189 -0.07795100
+v -0.10388805 -0.02547655 -0.04593936
+v -0.10356156 -0.02577661 -0.04892028
+v -0.10369064 -0.03056353 -0.06919922
+v -0.10244544 -0.03099017 -0.07249734
+v -0.10091172 -0.03209664 -0.07795096
+v -0.12235341 -0.06415693 -0.05583386
+v -0.12072479 -0.06399744 -0.07795108
+v -0.12308991 -0.06007793 -0.04854194
+v -0.11931635 -0.06619177 -0.05088849
+v -0.12201554 -0.06275976 -0.05047036
+v -0.12094877 -0.05788373 -0.04113108
+v -0.10095727 -0.02372306 -0.04113096
+v -0.10095727 -0.02471232 -0.04593936
+v -0.10095727 -0.02555625 -0.04990791
+v -0.10086237 -0.03031972 -0.07077799
+v -0.09915781 -0.03069948 -0.07352462
+v -0.09845169 -0.03185284 -0.07795096
+v -0.11919487 -0.06608383 -0.07795108
+v -0.11988580 -0.06664185 -0.05583386
+v -0.12080831 -0.05806658 -0.04113108
+v -0.11855708 -0.06543693 -0.04801570
+v -0.11410777 -0.07039739 -0.05221136
+v -0.11575159 -0.06877984 -0.05069386
+v -0.09602583 -0.02332454 -0.04113096
+v -0.09602583 -0.02433724 -0.04593936
+v -0.09602583 -0.02537338 -0.05071171
+v -0.09602583 -0.03121990 -0.07627125
+v -0.09602583 -0.03162310 -0.07795096
+v -0.09602583 -0.02592662 -0.05318802
+v -0.09602583 -0.02652675 -0.05583372
+v -0.09602583 -0.02877721 -0.06572448
+v -0.09602583 -0.02990713 -0.07066985
+v -0.09602583 -0.03063384 -0.07379856
+v -0.11568705 -0.06854531 -0.07795109
+v -0.11656021 -0.06909395 -0.05583387
+v -0.11867477 -0.06067809 -0.04113109
+v -0.11534158 -0.06619179 -0.04619543
+v -0.11573641 -0.06268010 -0.04113110
+v -0.11409259 -0.07037862 -0.05583388
+v -0.11082015 -0.07109596 -0.05583388
+v -0.11045190 -0.07063650 -0.05069387
+v -0.11185275 -0.06977851 -0.04891324
+v -0.08938225 -0.02320263 -0.04113096
+v -0.08938225 -0.02421534 -0.04593936
+v -0.08938225 -0.02534525 -0.05118391
+v -0.08938225 -0.02633921 -0.05567873
+v -0.08938225 -0.03074167 -0.07505292
+v -0.08938225 -0.03112613 -0.07666774
+v -0.08938225 -0.03143556 -0.07795096
+v -0.08938225 -0.03120583 -0.07699935
+v -0.08938225 -0.02786765 -0.06249123
+v -0.08938225 -0.02859905 -0.06572448
+v -0.08938225 -0.02898819 -0.06744022
+v -0.08938225 -0.02972428 -0.07066985
+v -0.08938225 -0.03054007 -0.07419506
+v -0.11293470 -0.06995656 -0.07795110
+v -0.11565668 -0.06271761 -0.04113110
+v -0.11121117 -0.07020037 -0.07795110
+v -0.11024311 -0.07032227 -0.07795110
+v -0.10859171 -0.07032227 -0.07795110
+v -0.10704660 -0.07028476 -0.07795110
+v -0.10556222 -0.07073495 -0.05613306
+v -0.10631010 -0.07055680 -0.05093176
+v -0.10823105 -0.07003169 -0.04837978
+v -0.10856892 -0.07003169 -0.04837978
+v -0.11143895 -0.06438204 -0.04113111
+v -0.11342444 -0.06517439 -0.04333346
+v -0.08938225 -0.04864731 -0.04113105
+v -0.08938225 -0.05730221 -0.07795105
+v -0.10292757 -0.07026610 -0.05468404
+v -0.10590390 -0.07001752 -0.07795110
+v -0.10292757 -0.07026611 -0.05260785
+v -0.10494342 -0.06958628 -0.04931334
+v -0.10566853 -0.06413355 -0.04113111
+v -0.11082015 -0.06448987 -0.04113111
+v -0.09710019 -0.05785560 -0.04113108
+v -0.09844410 -0.06514624 -0.04836534
+v -0.09306469 -0.06092186 -0.05230864
+v -0.08938225 -0.05264659 -0.05105064
+v -0.08938225 -0.05432038 -0.05583382
+v -0.09289007 -0.06117971 -0.05583384
+v -0.09484897 -0.06363181 -0.05583385
+v -0.09731659 -0.06620113 -0.05583386
+v -0.09806446 -0.06555403 -0.07795108
+v -0.10467009 -0.06972683 -0.07795110
+v -0.10317813 -0.06900948 -0.07795109
+v -0.10088893 -0.06768731 -0.07795109
+v -0.10115468 -0.06832506 -0.05093175
+v -0.09781770 -0.06576511 -0.05088849
+v -0.10095727 -0.06604645 -0.04728039
+v -0.10088514 -0.06164862 -0.04113110
+v -0.09716853 -0.05793061 -0.04113108
+v -0.10080542 -0.06158767 -0.04113110
+v -0.09930966 -0.06651518 -0.07795108
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 11 4
+f 3 10 12
+f 3 12 13
+f 3 13 14
+f 3 14 11
+f 4 11 5
+f 5 11 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 9
+f 9 25 26
+f 9 26 10
+f 9 24 27
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 25
+f 10 26 25
+f 10 25 30
+f 10 30 40
+f 10 40 39
+f 10 39 58
+f 10 58 67
+f 10 67 83
+f 10 83 85
+f 10 85 104
+f 10 104 113
+f 10 113 122
+f 10 122 121
+f 10 121 138
+f 10 138 140
+f 10 140 139
+f 10 139 123
+f 10 123 115
+f 10 115 90
+f 10 90 71
+f 10 71 59
+f 10 59 43
+f 10 43 42
+f 10 42 41
+f 10 41 31
+f 10 31 14
+f 10 14 13
+f 10 13 12
+f 11 14 15
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 16
+f 16 35 17
+f 16 34 35
+f 17 35 47
+f 17 47 46
+f 17 46 45
+f 17 45 44
+f 17 44 52
+f 17 52 64
+f 17 64 75
+f 17 75 96
+f 17 96 116
+f 17 116 131
+f 17 131 141
+f 17 141 134
+f 17 134 133
+f 17 133 132
+f 17 132 118
+f 17 118 108
+f 17 108 107
+f 17 107 106
+f 17 106 105
+f 17 105 103
+f 17 103 81
+f 17 81 65
+f 17 65 54
+f 17 54 37
+f 17 37 23
+f 17 23 22
+f 17 22 21
+f 17 21 20
+f 17 20 19
+f 17 19 18
+f 23 36 27
+f 23 27 24
+f 23 37 36
+f 27 36 38
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 30
+f 28 30 29
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 35
+f 33 35 34
+f 33 43 48
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 44
+f 36 37 53
+f 36 53 38
+f 37 54 53
+f 38 55 39
+f 38 53 56
+f 38 56 57
+f 38 57 55
+f 39 55 58
+f 43 59 48
+f 48 59 49
+f 49 59 60
+f 49 60 61
+f 49 61 62
+f 49 62 51
+f 49 51 50
+f 51 62 63
+f 51 63 52
+f 52 63 64
+f 53 54 65
+f 53 65 66
+f 53 66 56
+f 55 67 58
+f 55 57 67
+f 56 68 57
+f 56 66 69
+f 56 69 70
+f 56 70 68
+f 57 68 67
+f 59 71 60
+f 60 71 72
+f 60 72 61
+f 61 72 73
+f 61 73 63
+f 61 63 62
+f 63 74 75
+f 63 75 64
+f 63 73 76
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 63 79 80
+f 63 80 74
+f 65 81 82
+f 65 82 66
+f 66 82 69
+f 67 68 83
+f 68 70 84
+f 68 84 85
+f 68 85 83
+f 69 86 87
+f 69 87 88
+f 69 88 89
+f 69 89 70
+f 69 82 86
+f 70 89 84
+f 71 90 91
+f 71 91 72
+f 72 91 92
+f 72 92 73
+f 73 92 93
+f 73 93 76
+f 74 80 94
+f 74 94 95
+f 74 95 75
+f 75 95 97
+f 75 97 96
+f 76 93 98
+f 76 98 99
+f 76 99 100
+f 76 100 77
+f 77 100 78
+f 78 100 101
+f 78 101 79
+f 79 102 80
+f 79 101 102
+f 80 102 94
+f 81 103 86
+f 81 86 82
+f 84 89 85
+f 85 89 104
+f 86 103 87
+f 87 103 105
+f 87 105 106
+f 87 106 107
+f 87 107 108
+f 87 108 109
+f 87 109 110
+f 87 110 88
+f 88 110 111
+f 88 111 112
+f 88 112 89
+f 89 112 113
+f 89 113 114
+f 89 114 104
+f 90 115 126
+f 90 126 127
+f 90 127 116
+f 90 116 96
+f 90 96 97
+f 90 97 95
+f 90 95 94
+f 90 94 102
+f 90 102 101
+f 90 101 100
+f 90 100 99
+f 90 99 98
+f 90 98 93
+f 90 93 92
+f 90 92 91
+f 104 114 113
+f 108 117 109
+f 108 118 117
+f 109 117 119
+f 109 119 110
+f 110 119 120
+f 110 120 111
+f 111 120 121
+f 111 121 122
+f 111 122 112
+f 112 122 113
+f 115 123 124
+f 115 124 125
+f 115 125 126
+f 116 127 128
+f 116 128 129
+f 116 129 130
+f 116 130 131
+f 117 118 132
+f 117 132 133
+f 117 133 134
+f 117 134 130
+f 117 130 119
+f 119 135 120
+f 119 130 136
+f 119 136 135
+f 120 135 137
+f 120 137 138
+f 120 138 121
+f 123 139 124
+f 124 137 135
+f 124 135 136
+f 124 136 125
+f 124 139 140
+f 124 140 138
+f 124 138 137
+f 125 136 129
+f 125 129 128
+f 125 128 127
+f 125 127 126
+f 129 136 130
+f 130 134 141
+f 130 141 131
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_3.obj

@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
+v 0.07174344 0.00959519 0.12219044
+v 0.00015711 0.00875941 0.11729308
+v 0.00015711 0.00933530 0.12219043
+v 0.07174344 -0.00308947 0.12219039
+v 0.07174344 0.00877123 0.11686532
+v 0.00264469 0.00843455 0.11480513
+v 0.00015711 0.00843455 0.11481385
+v 0.00015711 -0.00196129 0.12219039
+v 0.07174344 -0.01724760 0.05296408
+v 0.07174344 0.00876827 0.11684787
+v 0.06183515 0.00843160 0.11482259
+v 0.00757781 0.00843455 0.11480513
+v 0.00015711 0.00800928 0.11233463
+v 0.00015711 0.00461594 0.09256193
+v 0.00015711 -0.01725344 0.03300806
+v 0.07174344 -0.01806567 0.04811037
+v 0.07174344 0.00802700 0.11284969
+v 0.07015980 0.00842274 0.11489242
+v 0.03224343 0.00382742 0.08845897
+v 0.02237718 0.00339918 0.08587499
+v 0.01744406 0.00384809 0.08831057
+v 0.01251093 0.00385400 0.08827565
+v 0.00757781 0.00385695 0.08824073
+v 0.00757781 0.00461299 0.09256193
+v 0.00264469 0.00461594 0.09256193
+v 0.00015711 0.00424088 0.09040570
+v 0.00015711 -0.00735083 0.03300809
+v 0.07174344 -0.02057596 0.03300804
+v 0.07174344 0.00311861 0.08797884
+v 0.06676828 0.00314519 0.08713206
+v 0.06183515 0.00321903 0.08673923
+v 0.06183515 0.00370041 0.08920973
+v 0.05690203 0.00374176 0.08898275
+v 0.05690203 0.00441512 0.09256193
+v 0.05196891 0.00445646 0.09256193
+v 0.04210266 0.00380378 0.08862484
+v 0.03716954 0.00381559 0.08852881
+v 0.03224343 0.00337556 0.08597975
+v 0.02237718 0.00280558 0.08267120
+v 0.01744406 0.00282330 0.08267120
+v 0.01251093 0.00341395 0.08579642
+v 0.00757781 0.00341690 0.08577024
+v 0.00264469 0.00385991 0.08822327
+v 0.00015711 0.00385991 0.08822327
+v 0.00015711 -0.00304491 0.05299905
+v 0.00264469 -0.00304196 0.05299905
+v 0.00264469 -0.00410811 0.04804931
+v 0.00284089 -0.00735083 0.03300809
+v 0.07174344 -0.00839927 0.03300809
+v 0.07174344 0.00205542 0.08267120
+v 0.06676828 0.00225625 0.08267120
+v 0.06183515 0.00241278 0.08267120
+v 0.05690203 0.00251615 0.08267120
+v 0.05690203 0.00326628 0.08651226
+v 0.05196891 0.00329581 0.08637258
+v 0.05196891 0.00376539 0.08884308
+v 0.04703579 0.00378606 0.08872959
+v 0.03716954 0.00336079 0.08605831
+v 0.03224343 0.00275242 0.08267120
+v 0.02731030 0.00278195 0.08267120
+v 0.02237718 0.00187823 0.07772148
+v 0.01744406 0.00189891 0.07772148
+v 0.01251093 0.00283511 0.08267120
+v 0.00757781 0.00284397 0.08267120
+v 0.00264469 0.00341987 0.08575278
+v 0.00015711 0.00341987 0.08575278
+v 0.00015711 -0.00251922 0.05548700
+v 0.00264469 -0.00200240 0.05794877
+v 0.00757781 -0.00304786 0.05299905
+v 0.00757781 -0.00411402 0.04804931
+v 0.00777401 -0.00735674 0.03300809
+v 0.06676828 -0.00819549 0.03300809
+v 0.06183515 -0.00371828 0.05299905
+v 0.06676828 -0.00392206 0.05299905
+v 0.07174344 -0.00415833 0.05295539
+v 0.07174344 0.00204656 0.08262756
+v 0.06676828 0.00124326 0.07772147
+v 0.06183515 0.00141751 0.07772148
+v 0.05690203 0.00152974 0.07772148
+v 0.05196891 0.00159766 0.07772148
+v 0.05196891 0.00257522 0.08267120
+v 0.03716954 0.00176601 0.07772148
+v 0.04703579 0.00331944 0.08625910
+v 0.04210266 0.00334011 0.08615434
+v 0.03224343 0.00181031 0.07772148
+v 0.02731030 0.00184870 0.07772148
+v 0.02237718 0.00091841 0.07278921
+v 0.01744406 0.00094204 0.07278921
+v 0.00757781 0.00192253 0.07772148
+v 0.01251093 0.00095976 0.07278921
+v 0.00757781 0.00097453 0.07278921
+v 0.00264469 0.00284988 0.08267120
+v 0.00015711 0.00284988 0.08267120
+v 0.00015711 -0.00200240 0.05794877
+v 0.00264469 -0.00143241 0.06071607
+v 0.00757781 -0.00200830 0.05794877
+v 0.01251093 -0.00202012 0.05794877
+v 0.01251093 -0.00306263 0.05299905
+v 0.01251093 -0.00412878 0.04804931
+v 0.01270714 -0.00737151 0.03300809
+v 0.06183515 -0.00799466 0.03300809
+v 0.05690203 -0.00356765 0.05299905
+v 0.05690203 -0.00251333 0.05794877
+v 0.06183515 -0.00266690 0.05794877
+v 0.05913735 -0.00627584 0.04065529
+v 0.06676828 -0.00287364 0.05794877
+v 0.07174344 -0.00311581 0.05790512
+v 0.07174344 0.00103653 0.07772147
+v 0.06183515 0.00040453 0.07278921
+v 0.05690203 -0.00168345 0.06197314
+v 0.05690203 0.00052857 0.07278921
+v 0.05196891 -0.00162439 0.06171125
+v 0.04703579 -0.00158599 0.06151047
+v 0.03716954 -0.00152396 0.06119620
+v 0.03716954 0.00079437 0.07278921
+v 0.03224343 0.00084753 0.07278921
+v 0.02731030 0.00088888 0.07278921
+v 0.01744406 -0.00004436 0.06783949
+v 0.02237718 -0.00146194 0.06086448
+v 0.01251093 -0.00002369 0.06783949
+v 0.00264469 0.00192844 0.07772148
+v 0.00264469 0.00098339 0.07278921
+v 0.00757781 -0.00000597 0.06783949
+v 0.00015711 0.00239212 0.08020944
+v 0.00015711 -0.00143241 0.06071607
+v 0.00757781 -0.00143831 0.06073353
+v 0.00264469 -0.00093330 0.06318658
+v 0.01251093 -0.00144127 0.06076845
+v 0.01744406 -0.00145013 0.06080337
+v 0.01744406 -0.00203784 0.05794877
+v 0.01744406 -0.00308035 0.05299905
+v 0.01744406 -0.00414650 0.04804931
+v 0.01764026 -0.00738923 0.03300809
+v 0.05709824 -0.00786176 0.03300809
+v 0.05196891 -0.00239815 0.05794877
+v 0.07174344 -0.00000599 0.07274556
+v 0.04703579 -0.00232136 0.05794877
+v 0.03716954 -0.00219436 0.05794877
+v 0.03224343 -0.00213825 0.05794877
+v 0.03224343 -0.00149738 0.06105653
+v 0.02731030 -0.00147671 0.06095177
+v 0.02237718 -0.00206146 0.05794877
+v 0.00015711 0.00145887 0.07527717
+v 0.00015711 0.00192549 0.07772148
+v 0.00015711 0.00098043 0.07278921
+v 0.00264469 0.00000289 0.06783949
+v 0.00015711 0.00049314 0.07032745
+v 0.01251093 -0.00094511 0.06323896
+v 0.00015711 -0.00046373 0.06552613
+v 0.02237718 -0.00310693 0.05299905
+v 0.02257338 -0.00741285 0.03300809
+v 0.05196891 -0.00777612 0.03300809
+v 0.04703579 -0.00338750 0.05299905
+v 0.03716954 -0.00754871 0.03300809
+v 0.03716954 -0.00324869 0.05299905
+v 0.03224343 -0.00318962 0.05299905
+v 0.02731030 -0.00209690 0.05794877
+v 0.02731030 -0.00314532 0.05299905
+v 0.00015711 -0.00000006 0.06783949
+v 0.02750651 -0.00744829 0.03300809
+v 0.03736574 -0.00755166 0.03300809
+v 0.03224343 -0.00748964 0.03300809
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 28
+f 1 28 49
+f 1 49 75
+f 1 75 107
+f 1 107 136
+f 1 136 108
+f 1 108 76
+f 1 76 50
+f 1 50 29
+f 1 29 17
+f 1 17 10
+f 1 10 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 14
+f 2 14 26
+f 2 26 44
+f 2 44 66
+f 2 66 93
+f 2 93 124
+f 2 124 144
+f 2 144 143
+f 2 143 145
+f 2 145 147
+f 2 147 159
+f 2 159 149
+f 2 149 125
+f 2 125 94
+f 2 94 67
+f 2 67 45
+f 2 45 27
+f 2 27 15
+f 2 15 8
+f 2 8 3
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 13 7
+f 6 12 25
+f 6 25 14
+f 6 14 13
+f 8 15 9
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 14 25 26
+f 15 27 48
+f 15 48 71
+f 15 71 100
+f 15 100 133
+f 15 133 151
+f 15 151 160
+f 15 160 162
+f 15 162 154
+f 15 154 161
+f 15 161 152
+f 15 152 134
+f 15 134 101
+f 15 101 72
+f 15 72 49
+f 15 49 28
+f 15 28 16
+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 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 19 37 38
+f 19 38 20
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 21
+f 21 41 22
+f 22 41 23
+f 23 41 42
+f 23 42 65
+f 23 65 43
+f 23 43 24
+f 24 43 25
+f 25 43 26
+f 26 43 44
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 29 50 51
+f 29 51 30
+f 30 51 52
+f 30 52 31
+f 31 52 53
+f 31 53 54
+f 31 54 32
+f 32 54 33
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 34 56 57
+f 34 57 35
+f 35 57 36
+f 36 57 58
+f 36 58 37
+f 37 58 38
+f 38 58 59
+f 38 59 60
+f 38 60 39
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 40 62 89
+f 40 89 63
+f 40 63 41
+f 41 63 64
+f 41 64 42
+f 42 64 65
+f 43 65 66
+f 43 66 44
+f 45 67 46
+f 46 67 68
+f 46 68 96
+f 46 96 69
+f 46 69 70
+f 46 70 47
+f 47 70 71
+f 47 71 48
+f 49 72 73
+f 49 73 74
+f 49 74 75
+f 50 76 51
+f 51 76 77
+f 51 77 78
+f 51 78 52
+f 52 78 79
+f 52 79 53
+f 53 79 80
+f 53 80 81
+f 53 81 54
+f 54 81 55
+f 55 81 82
+f 55 82 83
+f 55 83 56
+f 56 83 57
+f 57 83 84
+f 57 84 58
+f 58 84 85
+f 58 85 86
+f 58 86 59
+f 59 86 61
+f 59 61 60
+f 61 86 117
+f 61 117 87
+f 61 87 88
+f 61 88 62
+f 62 88 90
+f 62 90 91
+f 62 91 89
+f 63 89 64
+f 64 92 65
+f 64 89 121
+f 64 121 92
+f 65 92 93
+f 65 93 66
+f 67 94 68
+f 68 94 125
+f 68 125 95
+f 68 95 96
+f 69 96 97
+f 69 97 98
+f 69 98 99
+f 69 99 70
+f 70 99 100
+f 70 100 71
+f 72 101 73
+f 73 102 103
+f 73 103 104
+f 73 104 74
+f 73 101 105
+f 73 105 102
+f 74 104 106
+f 74 106 75
+f 75 106 107
+f 76 108 77
+f 77 108 104
+f 77 104 109
+f 77 109 78
+f 78 109 110
+f 78 110 111
+f 78 111 79
+f 79 111 112
+f 79 112 113
+f 79 113 80
+f 80 113 114
+f 80 114 115
+f 80 115 81
+f 81 115 82
+f 82 85 83
+f 82 115 116
+f 82 116 85
+f 83 85 84
+f 85 116 117
+f 85 117 86
+f 87 118 88
+f 87 117 119
+f 87 119 118
+f 88 118 120
+f 88 120 123
+f 88 123 90
+f 89 91 122
+f 89 122 121
+f 90 123 91
+f 91 123 146
+f 91 146 122
+f 92 121 124
+f 92 124 93
+f 95 126 96
+f 95 125 127
+f 95 127 126
+f 96 126 128
+f 96 128 97
+f 97 128 129
+f 97 129 130
+f 97 130 131
+f 97 131 98
+f 98 131 132
+f 98 132 99
+f 99 132 133
+f 99 133 100
+f 101 134 105
+f 102 135 103
+f 102 105 134
+f 102 134 135
+f 103 135 110
+f 103 110 109
+f 103 109 104
+f 104 108 106
+f 106 136 107
+f 106 108 136
+f 110 112 111
+f 110 135 112
+f 112 135 113
+f 113 135 137
+f 113 137 138
+f 113 138 114
+f 114 138 139
+f 114 139 140
+f 114 140 115
+f 115 140 116
+f 116 140 141
+f 116 141 117
+f 117 141 119
+f 118 119 129
+f 118 129 120
+f 119 141 142
+f 119 142 129
+f 120 129 123
+f 121 122 143
+f 121 143 144
+f 121 144 124
+f 122 145 143
+f 122 146 147
+f 122 147 145
+f 123 129 148
+f 123 148 128
+f 123 128 127
+f 123 127 146
+f 125 149 127
+f 126 127 128
+f 127 149 146
+f 128 148 129
+f 129 142 130
+f 130 142 131
+f 131 142 150
+f 131 150 151
+f 131 151 132
+f 132 151 133
+f 134 152 135
+f 135 153 137
+f 135 152 153
+f 137 153 154
+f 137 154 155
+f 137 155 138
+f 138 155 156
+f 138 156 139
+f 139 157 141
+f 139 141 140
+f 139 156 158
+f 139 158 157
+f 141 157 142
+f 142 157 150
+f 146 159 147
+f 146 149 159
+f 150 157 158
+f 150 158 160
+f 150 160 151
+f 152 161 153
+f 153 161 154
+f 154 162 156
+f 154 156 155
+f 156 162 158
+f 158 162 160
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_4.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.07132677 -0.00839052 0.03299842
+v 0.07132677 -0.02040672 0.03299838
+v 0.07132677 -0.00928898 0.02861695
+v 0.06677069 -0.01018057 0.02330694
+v 0.06696575 -0.00820534 0.03299842
+v 0.06183144 -0.02000892 0.03299838
+v 0.07132677 -0.02044101 0.03291132
+v 0.07132677 -0.01039662 0.02330694
+v 0.06677069 -0.01093157 0.01967023
+v 0.06183144 -0.00799615 0.03299842
+v 0.06183144 -0.01083212 0.01918662
+v 0.00015711 -0.01725864 0.03299839
+v 0.07132677 -0.02214534 0.02845247
+v 0.07132677 -0.02388717 -0.04098369
+v 0.06183144 -0.01134993 0.01671056
+v 0.05710120 -0.00786584 0.03299842
+v 0.05689917 -0.01128477 0.01640105
+v 0.05689917 -0.00985822 0.02330694
+v 0.00015711 -0.00735488 0.03299842
+v 0.00015711 -0.04175362 -0.06580241
+v 0.07132677 -0.02215906 0.02839444
+v 0.07132677 -0.02494336 -0.04593582
+v 0.06677069 -0.02371913 -0.04098369
+v 0.06183144 -0.02356481 -0.04098369
+v 0.05196689 -0.00977249 0.02330694
+v 0.05689917 -0.00786241 0.03299842
+v 0.05196689 -0.01124362 0.01619793
+v 0.05196689 -0.01072924 0.01867400
+v 0.05689917 -0.01583535 -0.00506141
+v 0.05196689 -0.01630858 -0.00775026
+v 0.00284617 -0.00735488 0.03299842
+v 0.00264414 -0.00936441 0.02330695
+v 0.00015711 -0.00936784 0.02330695
+v 0.00015711 -0.02896584 -0.06580237
+v 0.07099935 -0.04238118 -0.06580242
+v 0.07132677 -0.04238118 -0.06580242
+v 0.06677069 -0.02477533 -0.04593582
+v 0.07132677 -0.02922646 -0.06572499
+v 0.06183144 -0.02461758 -0.04593582
+v 0.05689917 -0.01716246 -0.01131927
+v 0.04703462 -0.00969705 0.02330694
+v 0.04230438 -0.00762922 0.03299842
+v 0.05196689 -0.00778011 0.03299842
+v 0.04703462 -0.01120933 0.01603351
+v 0.04703462 -0.01069152 0.01850957
+v 0.05196689 -0.01706987 -0.01131927
+v 0.04703462 -0.01627771 -0.00790501
+v 0.04053488 -0.01116475 0.01583039
+v 0.05689917 -0.02347222 -0.04098369
+v 0.05689917 -0.02452842 -0.04593582
+v 0.00777845 -0.00736174 0.03299842
+v 0.00757642 -0.00937469 0.02330695
+v 0.00757642 -0.01041032 0.01836449
+v 0.00264414 -0.01040346 0.01836449
+v 0.00015711 -0.01040346 0.01836449
+v 0.00015711 -0.00988222 0.02085023
+v 0.00015711 -0.02597899 -0.05292877
+v 0.00272078 -0.02896584 -0.06580237
+v 0.07132677 -0.03109199 -0.06580237
+v 0.07132677 -0.02924361 -0.06579270
+v 0.06684732 -0.02915788 -0.06580237
+v 0.06183144 -0.02606815 -0.05252254
+v 0.06183144 -0.02551261 -0.05004647
+v 0.03717007 -0.00755378 0.03299842
+v 0.03717007 -0.00955987 0.02330694
+v 0.04215111 -0.01075324 0.01790023
+v 0.04703462 -0.01700814 -0.01131927
+v 0.04210235 -0.01625371 -0.00803075
+v 0.03224476 -0.01112017 0.01562728
+v 0.03717007 -0.01114760 0.01574335
+v 0.03717007 -0.01059207 0.01836449
+v 0.05689917 -0.02546803 -0.05023024
+v 0.05196689 -0.02448727 -0.04593582
+v 0.05196689 -0.02342078 -0.04098369
+v 0.03717007 -0.01622970 -0.00813714
+v 0.01271072 -0.00737545 0.03299842
+v 0.01250869 -0.00938841 0.02330695
+v 0.01744097 -0.01043775 0.01836449
+v 0.01744097 -0.01106873 0.01538548
+v 0.00757642 -0.01105501 0.01532744
+v 0.00264414 -0.01105158 0.01530810
+v 0.00015711 -0.01105158 0.01530810
+v 0.00015711 -0.02541316 -0.05045270
+v 0.00264414 -0.02597899 -0.05292877
+v 0.01250869 -0.02895212 -0.06572499
+v 0.01751760 -0.02897270 -0.06580237
+v 0.06190111 -0.02908244 -0.06580237
+v 0.05689917 -0.02602700 -0.05270631
+v 0.03243982 -0.00749548 0.03299842
+v 0.03224476 -0.00950843 0.02330695
+v 0.02731249 -0.01109959 0.01552089
+v 0.02731249 -0.01049605 0.01836449
+v 0.03224476 -0.01054063 0.01836449
+v 0.05196689 -0.02545432 -0.05028828
+v 0.04703462 -0.02446669 -0.04593582
+v 0.02731249 -0.01685725 -0.01131927
+v 0.02731249 -0.01619884 -0.00828222
+v 0.03224476 -0.01621256 -0.00822419
+v 0.01764300 -0.00739260 0.03299842
+v 0.01744097 -0.00940556 0.02330695
+v 0.02237325 -0.01046518 0.01836449
+v 0.02237325 -0.01108245 0.01544351
+v 0.02237325 -0.01618855 -0.00833058
+v 0.01744097 -0.01618169 -0.00836927
+v 0.01250869 -0.01617826 -0.00838862
+v 0.00757642 -0.01563988 -0.00592222
+v 0.00264414 -0.01563988 -0.00594157
+v 0.00015711 -0.01590392 -0.00716993
+v 0.00015711 -0.02490220 -0.04817976
+v 0.00757642 -0.02541316 -0.05045270
+v 0.01744097 -0.02598241 -0.05290943
+v 0.02738912 -0.02897956 -0.06580237
+v 0.05697580 -0.02904471 -0.06580237
+v 0.05689917 -0.02902414 -0.06572499
+v 0.05196689 -0.02601671 -0.05276434
+v 0.02750755 -0.00745090 0.03299842
+v 0.02237325 -0.00943299 0.02330695
+v 0.02257527 -0.00741660 0.03299842
+v 0.04703462 -0.02544746 -0.05032696
+v 0.04210235 -0.02444955 -0.04593582
+v 0.04210235 -0.02336934 -0.04098369
+v 0.03717007 -0.02335220 -0.04098369
+v 0.01744097 -0.01682296 -0.01131927
+v 0.00264414 -0.01617484 -0.00840796
+v 0.01250869 -0.01681610 -0.01131927
+v 0.00264414 -0.01680924 -0.01131927
+v 0.00015711 -0.01649032 -0.00985878
+v 0.00015711 -0.02439811 -0.04593582
+v 0.00264414 -0.02439811 -0.04593582
+v 0.01250869 -0.02440154 -0.04593582
+v 0.01744097 -0.02440497 -0.04593582
+v 0.01744097 -0.02541658 -0.05043336
+v 0.02731249 -0.02598927 -0.05289008
+v 0.03224476 -0.02896584 -0.06572499
+v 0.03232139 -0.02898641 -0.06580237
+v 0.05204353 -0.02902414 -0.06580237
+v 0.03717007 -0.02599613 -0.05285139
+v 0.04711125 -0.02901042 -0.06580237
+v 0.04210235 -0.02544060 -0.05035598
+v 0.03717007 -0.02443583 -0.04593582
+v 0.03224476 -0.02334191 -0.04098369
+v 0.02731249 -0.02333162 -0.04098369
+v 0.02237325 -0.02332133 -0.04098369
+v 0.01744097 -0.02331447 -0.04098369
+v 0.00757642 -0.02222399 -0.03604123
+v 0.00015711 -0.01680924 -0.01131927
+v 0.00015711 -0.02330762 -0.04098369
+v 0.00757642 -0.02330762 -0.04098369
+v 0.02731249 -0.02441869 -0.04593582
+v 0.03224476 -0.02542687 -0.05040434
+v 0.02731249 -0.02542344 -0.05041401
+v 0.03224476 -0.02599270 -0.05287074
+v 0.03717007 -0.02897270 -0.06572499
+v 0.04217898 -0.02900013 -0.06580237
+v 0.03224476 -0.02442554 -0.04593582
+v 0.00015711 -0.02276237 -0.03849795
+v 0.00015711 -0.02222399 -0.03604123
+f 1 2 7
+f 1 7 13
+f 1 13 21
+f 1 21 36
+f 1 36 59
+f 1 59 60
+f 1 60 38
+f 1 38 22
+f 1 22 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 26
+f 1 26 43
+f 1 43 42
+f 1 42 64
+f 1 64 89
+f 1 89 116
+f 1 116 118
+f 1 118 99
+f 1 99 76
+f 1 76 51
+f 1 51 31
+f 1 31 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 10 5
+f 4 9 11
+f 4 11 10
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 15 11
+f 9 14 15
+f 10 11 16
+f 11 15 17
+f 11 17 18
+f 11 18 16
+f 12 19 33
+f 12 33 56
+f 12 56 55
+f 12 55 82
+f 12 82 108
+f 12 108 127
+f 12 127 146
+f 12 146 157
+f 12 157 156
+f 12 156 147
+f 12 147 128
+f 12 128 109
+f 12 109 83
+f 12 83 57
+f 12 57 34
+f 12 34 20
+f 12 20 13
+f 13 20 21
+f 14 22 37
+f 14 37 23
+f 14 23 15
+f 15 23 24
+f 15 24 17
+f 16 18 25
+f 16 25 26
+f 17 27 28
+f 17 28 18
+f 17 24 29
+f 17 29 30
+f 17 30 27
+f 18 28 25
+f 19 31 32
+f 19 32 33
+f 20 34 58
+f 20 58 86
+f 20 86 112
+f 20 112 135
+f 20 135 154
+f 20 154 138
+f 20 138 136
+f 20 136 113
+f 20 113 87
+f 20 87 61
+f 20 61 59
+f 20 59 36
+f 20 36 35
+f 20 35 21
+f 21 35 36
+f 22 38 37
+f 23 37 39
+f 23 39 24
+f 24 39 40
+f 24 40 29
+f 25 28 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 27 44 45
+f 27 45 28
+f 27 30 44
+f 28 45 41
+f 29 40 30
+f 30 46 47
+f 30 47 48
+f 30 48 44
+f 30 40 39
+f 30 39 49
+f 30 49 50
+f 30 50 46
+f 31 51 32
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 56
+f 32 56 33
+f 32 51 52
+f 34 57 84
+f 34 84 58
+f 37 38 39
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 39
+f 39 63 50
+f 39 50 49
+f 41 64 42
+f 41 45 65
+f 41 65 64
+f 44 48 66
+f 44 66 45
+f 45 66 65
+f 46 50 47
+f 47 50 67
+f 47 67 68
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 48 70 71
+f 48 71 66
+f 50 63 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 68
+f 50 68 67
+f 51 76 77
+f 51 77 52
+f 52 77 78
+f 52 78 53
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 54
+f 54 81 82
+f 54 82 55
+f 57 83 110
+f 57 110 84
+f 58 85 86
+f 58 84 85
+f 59 61 60
+f 61 87 88
+f 61 88 62
+f 62 88 72
+f 62 72 63
+f 64 65 89
+f 65 66 71
+f 65 71 93
+f 65 93 90
+f 65 90 89
+f 68 75 69
+f 69 91 92
+f 69 92 93
+f 69 93 71
+f 69 71 70
+f 69 75 91
+f 72 88 94
+f 72 94 73
+f 73 94 95
+f 73 95 96
+f 73 96 97
+f 73 97 98
+f 73 98 75
+f 73 75 74
+f 75 98 91
+f 76 99 100
+f 76 100 77
+f 77 100 78
+f 78 100 117
+f 78 117 101
+f 78 101 102
+f 78 102 79
+f 79 102 98
+f 79 98 97
+f 79 97 103
+f 79 103 104
+f 79 104 80
+f 80 104 105
+f 80 105 81
+f 81 105 106
+f 81 106 107
+f 81 107 108
+f 81 108 82
+f 83 109 110
+f 84 110 111
+f 84 111 86
+f 84 86 85
+f 86 111 112
+f 87 113 114
+f 87 114 88
+f 88 115 94
+f 88 114 115
+f 89 90 116
+f 90 93 92
+f 90 92 116
+f 91 102 92
+f 91 98 102
+f 92 102 101
+f 92 101 117
+f 92 117 118
+f 92 118 116
+f 94 115 119
+f 94 119 120
+f 94 120 95
+f 95 120 122
+f 95 122 121
+f 95 121 96
+f 96 103 97
+f 96 121 103
+f 99 118 100
+f 100 118 117
+f 103 121 122
+f 103 122 123
+f 103 123 104
+f 104 123 105
+f 105 124 108
+f 105 108 107
+f 105 107 106
+f 105 123 125
+f 105 125 124
+f 108 124 126
+f 108 126 127
+f 109 128 129
+f 109 129 110
+f 110 129 130
+f 110 130 131
+f 110 131 132
+f 110 132 111
+f 111 132 151
+f 111 151 133
+f 111 133 134
+f 111 134 112
+f 112 134 135
+f 113 136 114
+f 114 136 115
+f 115 137 139
+f 115 139 119
+f 115 136 138
+f 115 138 137
+f 119 139 140
+f 119 140 120
+f 120 140 122
+f 122 140 155
+f 122 155 141
+f 122 141 123
+f 123 141 142
+f 123 142 143
+f 123 143 144
+f 123 144 125
+f 124 125 126
+f 125 144 145
+f 125 145 126
+f 126 146 127
+f 126 145 157
+f 126 157 146
+f 128 147 148
+f 128 148 129
+f 129 148 130
+f 130 148 144
+f 130 144 131
+f 131 144 149
+f 131 149 150
+f 131 150 151
+f 131 151 132
+f 133 151 150
+f 133 150 152
+f 133 152 153
+f 133 153 134
+f 134 153 154
+f 134 154 135
+f 137 152 150
+f 137 150 139
+f 137 138 154
+f 137 154 153
+f 137 153 152
+f 139 150 140
+f 140 150 155
+f 141 155 142
+f 142 155 143
+f 143 155 149
+f 143 149 144
+f 144 148 145
+f 145 148 156
+f 145 156 157
+f 147 156 148
+f 149 155 150
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_5.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.11082050 -0.04796913 0.03057597
+v -0.11370193 -0.04078652 0.06135355
+v -0.11540412 -0.04653876 0.03057598
+v -0.10588824 -0.04758838 0.03057598
+v -0.10818005 -0.04063217 0.06556173
+v -0.10872865 -0.04063217 0.06556173
+v -0.11015398 -0.03590894 0.08796228
+v -0.11045648 -0.03588321 0.08796228
+v -0.11239965 -0.03560022 0.08796228
+v -0.11350197 -0.03578544 0.08574864
+v -0.11652696 -0.04590589 0.03057598
+v -0.11542463 -0.03433965 0.08796228
+v -0.10450393 -0.04712531 0.03057598
+v -0.10501664 -0.03526064 0.08796228
+v -0.10748789 -0.03590894 0.08796228
+v -0.11774720 -0.04516498 0.03057598
+v -0.11920843 -0.03176189 0.08796229
+v -0.11803945 -0.03555901 0.07470288
+v -0.10237106 -0.04619917 0.03057598
+v -0.10359130 -0.04053439 0.06016807
+v -0.10387842 -0.03554876 0.08448449
+v -0.10459621 -0.03505483 0.08796228
+v -0.11819839 -0.04057552 0.05045387
+v -0.12000825 -0.04290623 0.03057599
+v -0.11846500 -0.03590888 0.07140488
+v -0.11938275 -0.03154579 0.08796229
+v -0.07785331 -0.03178740 0.03057603
+v -0.07798661 -0.03155588 0.03321106
+v -0.07839165 -0.03110827 0.03815525
+v -0.07867365 -0.03085101 0.04095321
+v -0.07873516 -0.02590140 0.06544941
+v -0.07843267 -0.02126049 0.08663639
+v -0.10309910 -0.03587805 0.08119212
+v -0.10092009 -0.03300703 0.08796229
+v -0.12258718 -0.03958756 0.03057600
+v -0.12167456 -0.02847924 0.08796231
+v -0.07247499 -0.02129629 0.03057607
+v -0.07247499 -0.02120369 0.03296389
+v -0.07247499 -0.01716476 0.05296539
+v -0.07802251 -0.02660626 0.05794324
+v -0.07845831 -0.02614836 0.06288742
+v -0.07807890 -0.02163092 0.08266981
+v -0.07247499 -0.01216369 0.07695594
+v -0.07247499 -0.00916407 0.08796238
+v -0.07767899 -0.01907891 0.08796234
+v -0.08122694 -0.02130679 0.08796233
+v -0.12373052 -0.03713329 0.03057601
+v -0.12322806 -0.02603011 0.08796231
+v -0.07247499 -0.00887058 0.03057612
+v -0.07777640 -0.02207855 0.07772562
+v -0.07247499 0.00314330 0.08796242
+v -0.12415094 -0.03551769 0.03057602
+v -0.12328446 -0.02585003 0.08796232
+v -0.12394585 -0.02343177 0.08796232
+v -0.08122694 -0.00807307 0.03057612
+v -0.07836602 -0.00620025 0.04026224
+v -0.08122694 0.00452222 0.08796243
+v -0.07854547 0.00358580 0.08487231
+v -0.07247499 0.00029290 0.07389396
+v -0.07774564 0.00401285 0.08796242
+v -0.07247499 0.00313301 0.08789500
+v -0.12468416 -0.03323321 0.03057603
+v -0.12401763 -0.02308704 0.08796233
+v -0.08615920 -0.00816054 0.03057612
+v -0.08615920 0.00459426 0.08796243
+v -0.08157045 0.00452737 0.08796243
+v -0.07247499 0.00214515 0.08274294
+v -0.07247499 0.00133736 0.07883253
+v -0.12482771 -0.03094359 0.03057604
+v -0.12464314 -0.01853352 0.08796234
+v -0.09602372 -0.00840751 0.03057612
+v -0.09602372 0.00440388 0.08796243
+v -0.12484823 -0.02832981 0.03057605
+v -0.12463289 -0.01818879 0.08796234
+v -0.10095085 -0.00877797 0.03057612
+v -0.09904357 0.00359609 0.08485545
+v -0.10080730 0.00407973 0.08796242
+v -0.12440216 -0.02611737 0.03057605
+v -0.12403814 -0.01322879 0.08796236
+v -0.10441164 -0.01016203 0.03057611
+v -0.10356567 -0.00615911 0.04498169
+v -0.10317601 -0.00142557 0.06552254
+v -0.10233517 0.00331824 0.08579372
+v -0.10322728 0.00360123 0.08796242
+v -0.12383306 -0.02372484 0.03057606
+v -0.12388946 -0.01264224 0.08796236
+v -0.12057736 -0.01946974 0.03057608
+v -0.11850601 -0.01590929 0.03977340
+v -0.11876749 -0.00593287 0.08796239
+v -0.12316141 -0.02097216 0.03559891
+v -0.12284353 -0.02150210 0.03057607
+v -0.12336137 -0.01076938 0.08796237
+v -0.11899309 -0.01558000 0.04310511
+v -0.12198731 -0.02072518 0.03057607
+v -0.12126952 -0.00825851 0.08796238
+f 1 2 3
+f 1 3 11
+f 1 11 16
+f 1 16 24
+f 1 24 35
+f 1 35 47
+f 1 47 52
+f 1 52 62
+f 1 62 69
+f 1 69 73
+f 1 73 78
+f 1 78 85
+f 1 85 91
+f 1 91 94
+f 1 94 87
+f 1 87 80
+f 1 80 75
+f 1 75 71
+f 1 71 64
+f 1 64 55
+f 1 55 49
+f 1 49 37
+f 1 37 27
+f 1 27 19
+f 1 19 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 3
+f 3 10 12
+f 3 12 11
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 7
+f 5 7 6
+f 7 15 14
+f 7 14 22
+f 7 22 34
+f 7 34 46
+f 7 46 45
+f 7 45 44
+f 7 44 51
+f 7 51 60
+f 7 60 57
+f 7 57 66
+f 7 66 65
+f 7 65 72
+f 7 72 77
+f 7 77 84
+f 7 84 89
+f 7 89 95
+f 7 95 92
+f 7 92 86
+f 7 86 79
+f 7 79 74
+f 7 74 70
+f 7 70 63
+f 7 63 54
+f 7 54 53
+f 7 53 48
+f 7 48 36
+f 7 36 26
+f 7 26 17
+f 7 17 12
+f 7 12 9
+f 7 9 8
+f 9 12 10
+f 11 12 16
+f 12 17 18
+f 12 18 16
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 16 23 17
+f 16 17 24
+f 16 18 23
+f 17 25 18
+f 17 26 24
+f 17 23 25
+f 18 25 23
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 21
+f 19 21 20
+f 21 33 32
+f 21 32 22
+f 22 32 34
+f 24 26 35
+f 26 36 35
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 30
+f 30 41 31
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 34
+f 35 36 48
+f 35 48 47
+f 37 49 59
+f 37 59 68
+f 37 68 67
+f 37 67 61
+f 37 61 51
+f 37 51 44
+f 37 44 43
+f 37 43 39
+f 37 39 38
+f 39 43 42
+f 39 42 50
+f 39 50 40
+f 40 50 42
+f 40 42 41
+f 47 48 53
+f 47 53 54
+f 47 54 52
+f 49 55 56
+f 49 56 57
+f 49 57 58
+f 49 58 59
+f 51 61 60
+f 52 54 62
+f 54 63 62
+f 55 64 65
+f 55 65 66
+f 55 66 57
+f 55 57 56
+f 57 60 58
+f 58 60 61
+f 58 61 67
+f 58 67 68
+f 58 68 59
+f 62 63 70
+f 62 70 69
+f 64 71 72
+f 64 72 65
+f 69 70 73
+f 70 74 73
+f 71 75 76
+f 71 76 72
+f 72 76 77
+f 73 74 79
+f 73 79 78
+f 75 80 81
+f 75 81 82
+f 75 82 83
+f 75 83 77
+f 75 77 76
+f 77 83 84
+f 78 79 85
+f 79 86 85
+f 80 87 88
+f 80 88 81
+f 81 88 84
+f 81 84 82
+f 82 84 83
+f 84 88 89
+f 85 90 91
+f 85 86 92
+f 85 92 90
+f 87 93 88
+f 87 94 89
+f 87 89 93
+f 88 93 89
+f 89 94 91
+f 89 91 95
+f 90 92 91
+f 91 92 95
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_6.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v 0.12523802 -0.02833195 0.03815940
+v 0.12522754 -0.02833197 0.04310276
+v 0.12497094 -0.03323552 0.03300799
+v 0.12520660 -0.02833193 0.03321057
+v 0.12507568 -0.01853525 0.08893426
+v 0.12514899 -0.02833199 0.04805160
+v 0.12402830 -0.03695176 0.03300797
+v 0.12520136 -0.02833193 0.03300801
+v 0.12499713 -0.02833200 0.05299496
+v 0.12478765 -0.02833202 0.05794379
+v 0.12474575 -0.03323554 0.03815938
+v 0.12490809 -0.02342841 0.04805161
+v 0.12454675 -0.01331298 0.08893428
+v 0.12501808 -0.02342842 0.05299497
+v 0.12433204 -0.02342856 0.08893424
+v 0.12399165 -0.03704942 0.03300797
+v 0.12445772 -0.03323556 0.04310274
+v 0.12402307 -0.03692606 0.03321053
+v 0.12411733 -0.02334097 0.03300802
+v 0.12445772 -0.02342837 0.03815941
+v 0.12471957 -0.02342839 0.04310277
+v 0.12379265 -0.01059391 0.08893429
+v 0.12358317 -0.02604483 0.08893423
+v 0.12287619 -0.03940356 0.03300797
+v 0.12384502 -0.03640694 0.03815937
+v 0.12366696 -0.02225642 0.03300803
+v 0.12349938 -0.02098171 0.03567953
+v 0.12361459 -0.02079153 0.03815942
+v 0.12363030 -0.01033177 0.08893429
+v 0.12247819 -0.02784898 0.08893423
+v 0.12350462 -0.03569764 0.04562642
+v 0.12362506 -0.03593408 0.04310273
+v 0.12040439 -0.04263149 0.03300795
+v 0.12286572 -0.03937785 0.03321053
+v 0.12237345 -0.02048825 0.03300803
+v 0.12180264 -0.00808044 0.08893430
+v 0.12202782 -0.02849662 0.08893423
+v 0.12025776 -0.04279083 0.03300795
+v 0.12039916 -0.04259551 0.03321051
+v 0.12245201 -0.03885873 0.03815936
+v 0.11956126 -0.03176568 0.08893421
+v 0.12126324 -0.01947567 0.03300804
+v 0.11945129 -0.00599359 0.08893431
+v 0.11788546 -0.04507300 0.03300794
+v 0.11998545 -0.04201985 0.03815935
+v 0.11673859 -0.03371889 0.08893421
+v 0.11845104 -0.03560523 0.07488695
+v 0.11865528 -0.04066293 0.05089275
+v 0.11897996 -0.04096104 0.04805155
+v 0.11951413 -0.04148016 0.04310271
+v 0.11619395 -0.01662295 0.03300805
+v 0.11782262 -0.01627858 0.03663209
+v 0.11880191 -0.01594450 0.03992766
+v 0.11928894 -0.01562583 0.04310280
+v 0.11927323 -0.00584967 0.08893431
+v 0.11559172 -0.04630147 0.03300794
+v 0.11586927 -0.03427916 0.08893420
+v 0.10449480 -0.01034184 0.03300807
+v 0.10346838 -0.00640463 0.04601521
+v 0.10388209 -0.00126469 0.06978496
+v 0.10318035 0.00330472 0.08893434
+v 0.11542414 -0.04638885 0.03300794
+v 0.11537700 -0.04637343 0.03321050
+v 0.11338175 -0.03531230 0.08893420
+v 0.11393687 -0.03583144 0.08599993
+v 0.10141552 -0.00878441 0.03300808
+v 0.10130031 -0.00874329 0.03300808
+v 0.10198634 0.00367480 0.08893434
+v 0.11520942 -0.04646595 0.03300794
+v 0.11430869 -0.04581319 0.03815933
+v 0.11371168 -0.04552536 0.04079250
+v 0.11235010 -0.03566182 0.08893420
+v 0.09657142 -0.00800827 0.03300808
+v 0.10017962 -0.00595230 0.04408275
+v 0.10061952 0.00403461 0.08893434
+v 0.11116657 -0.04764816 0.03300793
+v 0.11050148 -0.03596509 0.08893420
+v 0.09637242 -0.00797743 0.03300808
+v 0.09898561 0.00356174 0.08500921
+v 0.10014296 0.00385986 0.08762049
+v 0.09914272 0.00426077 0.08893435
+v 0.10762121 -0.04574637 0.04180527
+v 0.10623344 -0.04736546 0.03300794
+v 0.10756884 -0.03595481 0.08893420
+v 0.08157305 -0.00746342 0.03300808
+v 0.09637242 0.00451263 0.08893435
+v 0.10433246 -0.04534031 0.03996587
+v 0.10340553 -0.04570524 0.03667030
+v 0.10280329 -0.04609073 0.03321050
+v 0.10277187 -0.04611129 0.03300794
+v 0.10700326 -0.03583659 0.08893420
+v 0.10515988 -0.03539454 0.08893420
+v 0.07663991 -0.00792603 0.03300808
+v 0.07834190 -0.00608079 0.03971420
+v 0.08157305 0.00486215 0.08893435
+v 0.10383496 -0.03566694 0.08505287
+v 0.07882369 -0.02117209 0.08893425
+v 0.07894414 -0.02597792 0.06584332
+v 0.07889177 -0.03091740 0.04129621
+v 0.07793342 -0.03173977 0.03300799
+v 0.07847282 -0.03122579 0.03815939
+v 0.07794914 -0.03171921 0.03321055
+v 0.10130031 -0.03333339 0.08893421
+v 0.07174345 -0.00840405 0.03300808
+v 0.07174345 -0.00836807 0.03317232
+v 0.07857231 0.00370567 0.08431944
+v 0.07715837 0.00421451 0.08893435
+v 0.07837856 -0.02059640 0.08893425
+v 0.07863516 -0.02130572 0.08762040
+v 0.07853566 -0.02627603 0.06288715
+v 0.07174345 -0.02058077 0.03300803
+v 0.07798056 -0.02677974 0.05794379
+v 0.07764016 -0.02726288 0.05299496
+v 0.07174345 -0.01725525 0.05296215
+v 0.07174345 -0.01807250 0.04811184
+v 0.07174345 -0.00415846 0.05295672
+v 0.07174345 0.00103801 0.07772281
+v 0.07174345 0.00205573 0.08267165
+v 0.07174345 0.00311969 0.08798180
+v 0.07174345 0.00329958 0.08893434
+v 0.07174345 -0.00310477 0.05794388
+v 0.07717932 -0.01861749 0.08893426
+v 0.07805911 -0.02178886 0.08267156
+v 0.07768205 -0.02227715 0.07772273
+v 0.07174345 -0.01204335 0.07748737
+v 0.07174345 -0.00899022 0.08893430
+v 0.07174345 -0.01203821 0.07750927
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 7 16
+f 3 16 24
+f 3 24 33
+f 3 33 38
+f 3 38 44
+f 3 44 56
+f 3 56 62
+f 3 62 69
+f 3 69 76
+f 3 76 83
+f 3 83 90
+f 3 90 100
+f 3 100 111
+f 3 111 104
+f 3 104 93
+f 3 93 85
+f 3 85 78
+f 3 78 73
+f 3 73 67
+f 3 67 66
+f 3 66 58
+f 3 58 51
+f 3 51 42
+f 3 42 35
+f 3 35 26
+f 3 26 19
+f 3 19 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 7
+f 4 8 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 13 22
+f 5 22 29
+f 5 29 36
+f 5 36 43
+f 5 43 55
+f 5 55 61
+f 5 61 68
+f 5 68 75
+f 5 75 81
+f 5 81 86
+f 5 86 95
+f 5 95 107
+f 5 107 120
+f 5 120 126
+f 5 126 122
+f 5 122 108
+f 5 108 97
+f 5 97 103
+f 5 103 92
+f 5 92 91
+f 5 91 84
+f 5 84 77
+f 5 77 72
+f 5 72 64
+f 5 64 57
+f 5 57 46
+f 5 46 41
+f 5 41 37
+f 5 37 30
+f 5 30 23
+f 5 23 15
+f 5 15 9
+f 5 9 6
+f 5 14 13
+f 7 11 17
+f 7 17 18
+f 7 18 16
+f 8 19 20
+f 8 20 21
+f 8 21 12
+f 9 15 10
+f 10 15 11
+f 11 15 17
+f 12 21 13
+f 13 21 20
+f 13 20 22
+f 15 23 17
+f 16 18 25
+f 16 25 24
+f 17 23 18
+f 18 23 25
+f 19 26 27
+f 19 27 28
+f 19 28 22
+f 19 22 20
+f 22 28 27
+f 22 27 29
+f 23 30 31
+f 23 31 32
+f 23 32 25
+f 24 25 32
+f 24 32 31
+f 24 31 34
+f 24 34 33
+f 26 35 27
+f 27 35 36
+f 27 36 29
+f 30 37 34
+f 30 34 31
+f 33 34 39
+f 33 39 38
+f 34 40 39
+f 34 37 41
+f 34 41 40
+f 35 42 36
+f 36 42 43
+f 38 39 45
+f 38 45 44
+f 39 40 41
+f 39 41 45
+f 41 46 47
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 41 50 45
+f 42 51 52
+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 43 54 55
+f 44 45 50
+f 44 50 49
+f 44 49 48
+f 44 48 47
+f 44 47 46
+f 44 46 57
+f 44 57 56
+f 51 58 52
+f 52 58 59
+f 52 59 53
+f 53 59 60
+f 53 60 61
+f 53 61 55
+f 53 55 54
+f 56 57 63
+f 56 63 62
+f 57 64 65
+f 57 65 63
+f 58 66 59
+f 59 66 67
+f 59 67 68
+f 59 68 61
+f 59 61 60
+f 62 63 69
+f 63 70 71
+f 63 71 69
+f 63 65 70
+f 64 72 65
+f 65 72 71
+f 65 71 70
+f 67 73 74
+f 67 74 68
+f 68 74 75
+f 69 71 76
+f 71 72 76
+f 72 77 76
+f 73 78 74
+f 74 78 79
+f 74 79 80
+f 74 80 75
+f 75 80 79
+f 75 79 81
+f 76 82 83
+f 76 77 84
+f 76 84 82
+f 78 85 79
+f 79 86 81
+f 79 85 86
+f 82 84 83
+f 83 87 88
+f 83 88 89
+f 83 89 90
+f 83 84 91
+f 83 91 92
+f 83 92 87
+f 85 93 94
+f 85 94 95
+f 85 95 86
+f 87 92 88
+f 88 92 96
+f 88 96 97
+f 88 97 89
+f 89 97 98
+f 89 98 99
+f 89 99 90
+f 90 99 101
+f 90 101 102
+f 90 102 100
+f 92 103 96
+f 93 104 94
+f 94 104 105
+f 94 105 106
+f 94 106 95
+f 95 106 107
+f 96 103 97
+f 97 108 109
+f 97 109 98
+f 98 109 110
+f 98 110 99
+f 99 110 101
+f 100 102 112
+f 100 112 113
+f 100 113 114
+f 100 114 115
+f 100 115 111
+f 101 110 112
+f 101 112 102
+f 104 111 115
+f 104 115 114
+f 104 114 125
+f 104 125 127
+f 104 127 126
+f 104 126 120
+f 104 120 119
+f 104 119 118
+f 104 118 117
+f 104 117 121
+f 104 121 116
+f 104 116 105
+f 105 116 106
+f 106 117 118
+f 106 118 119
+f 106 119 120
+f 106 120 107
+f 106 116 121
+f 106 121 117
+f 108 122 123
+f 108 123 109
+f 109 123 112
+f 109 112 110
+f 112 123 124
+f 112 124 113
+f 113 124 114
+f 114 124 125
+f 122 126 127
+f 122 127 123
+f 123 127 125
+f 123 125 124
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_7.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.07174344 0.01848573 0.14510091
+v 0.07174344 0.01829917 0.14422630
+v -0.06296952 0.01848277 0.14504260
+v 0.07170109 0.01848573 0.14510091
+v 0.07174344 -0.00933010 0.14510081
+v 0.07174344 0.01671785 0.13708583
+v 0.06676035 0.01674154 0.13708583
+v 0.05689297 0.01674450 0.13708583
+v -0.01215042 0.01675042 0.13708583
+v -0.06147318 0.01830213 0.14420835
+v -0.06641392 0.01830213 0.14420835
+v -0.07246987 0.01847981 0.14504260
+v 0.00014498 0.01848277 0.14510091
+v 0.07174344 -0.01159253 0.13575587
+v 0.05196634 -0.01068047 0.14510080
+v 0.07174344 0.01670008 0.13704323
+v 0.07174344 0.01474857 0.13259837
+v 0.06676035 0.01477522 0.13260958
+v -0.07246987 0.01472488 0.13245260
+v -0.06147318 0.01675042 0.13708583
+v -0.06641392 0.01674746 0.13708583
+v -0.07246987 0.01843539 0.14483852
+v -0.07246987 -0.00937156 0.14504250
+v 0.00014498 -0.00925903 0.14510081
+v 0.07174344 -0.01171986 0.13214527
+v 0.07170109 -0.01159253 0.13575587
+v -0.07246987 -0.01167248 0.13492835
+v -0.05160580 -0.01068343 0.14504249
+v 0.07174344 0.00959292 0.12219044
+v -0.07246987 0.00971730 0.12225098
+v -0.07246987 0.01671488 0.13708583
+v -0.07246987 0.01695474 0.13813762
+v -0.07246987 0.01775429 0.14174373
+v -0.07246987 0.01829917 0.14421732
+v -0.07246987 -0.01158661 0.13573793
+v 0.07174344 -0.01130526 0.12944966
+v -0.07246987 -0.01176131 0.13214527
+v -0.07246987 -0.01174650 0.13114284
+v 0.07174344 -0.00308456 0.12219039
+v 0.00014498 0.00933232 0.12219043
+v -0.07246987 -0.00299868 0.12225093
+v -0.07246987 -0.01142370 0.12909758
+v 0.00014498 -0.00195629 0.12219039
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 24
+f 1 24 15
+f 1 15 5
+f 1 5 14
+f 1 14 25
+f 1 25 36
+f 1 36 39
+f 1 39 29
+f 1 29 17
+f 1 17 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 5 15 14
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 11
+f 9 11 10
+f 11 21 22
+f 11 22 12
+f 11 20 21
+f 12 22 34
+f 12 34 33
+f 12 33 32
+f 12 32 31
+f 12 31 19
+f 12 19 30
+f 12 30 41
+f 12 41 42
+f 12 42 38
+f 12 38 37
+f 12 37 27
+f 12 27 35
+f 12 35 23
+f 12 23 24
+f 12 24 13
+f 14 15 26
+f 14 26 27
+f 14 27 25
+f 15 24 28
+f 15 28 27
+f 15 27 26
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 31 21
+f 19 21 20
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 23 35 28
+f 23 28 24
+f 25 27 37
+f 25 37 38
+f 25 38 36
+f 27 28 35
+f 29 39 43
+f 29 43 40
+f 29 40 30
+f 30 40 43
+f 30 43 41
+f 36 38 42
+f 36 42 39
+f 39 42 41
+f 39 41 43
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_8.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.07174344 -0.01655048 0.16181723
+v 0.09338778 -0.01615360 0.16026177
+v 0.09338778 -0.01616803 0.16181723
+v 0.09338778 -0.01612475 0.16444335
+v 0.07174344 -0.01631959 0.16500897
+v 0.07174344 -0.01630513 0.15870125
+v 0.09338778 -0.01583236 0.12592032
+v 0.09338778 -0.01578200 0.16542309
+v 0.07174344 -0.01631237 0.16502917
+v 0.07174344 -0.01130436 0.12945044
+v 0.07689181 -0.01222077 0.12592034
+v 0.08157195 -0.01325265 0.12592033
+v 0.09338778 0.01383607 0.12592043
+v 0.09338778 -0.01522276 0.16691795
+v 0.07174344 -0.01535266 0.16748357
+v 0.07174344 -0.00472699 0.12592036
+v 0.08650210 0.01388659 0.12592043
+v 0.09338778 0.01404172 0.12669312
+v 0.09338778 -0.01425583 0.16863503
+v 0.07174344 -0.01533462 0.16751893
+v 0.07174344 0.01084867 0.12592042
+v 0.08650210 0.01422212 0.12719814
+v 0.09338778 0.01417522 0.12719814
+v 0.08157195 0.01384329 0.12592043
+v 0.07174344 0.01671881 0.13709151
+v 0.09338778 -0.01277296 0.17125104
+v 0.07174344 -0.01290285 0.17129145
+v 0.07859734 0.01355104 0.12592043
+v 0.07174344 0.01475247 0.13259681
+v 0.08157195 0.01548489 0.13214230
+v 0.08650210 0.01550654 0.13214230
+v 0.09338778 0.01546324 0.13214230
+v 0.09338778 0.01495453 0.13018786
+v 0.07174344 0.01670438 0.13704606
+v 0.07174344 0.01829547 0.14420727
+v 0.09338778 0.01829908 0.14423252
+v 0.08157195 0.01671160 0.13709151
+v 0.09338778 -0.01194673 0.17222574
+v 0.07174344 -0.01288481 0.17131165
+v 0.08650210 0.01670077 0.13709151
+v 0.09143648 0.01668273 0.13709151
+v 0.09338778 0.01667191 0.13709151
+v 0.09338778 0.01890521 0.14698489
+v 0.07174344 0.01995511 0.15192400
+v 0.09338778 0.01999119 0.15192400
+v 0.09338778 0.01774346 0.14176297
+v 0.09143648 0.01774707 0.14176297
+v 0.09338778 -0.01060457 0.17372566
+v 0.07174344 -0.01062261 0.17376605
+v 0.07174344 0.02026538 0.15687321
+v 0.09338778 0.02030867 0.15687321
+v 0.09338778 -0.00815115 0.17529628
+v 0.07174344 -0.00816919 0.17524073
+v 0.07174344 0.01914329 0.16031745
+v 0.09338778 0.01961594 0.15895895
+v 0.09338778 -0.00637964 0.17601342
+v 0.07174344 -0.00813672 0.17525588
+v 0.09338778 0.01915772 0.16032755
+v 0.07174344 0.00901563 0.17466507
+v 0.09338778 0.00912026 0.17480142
+v 0.09338778 -0.00382158 0.17701843
+v 0.07174344 -0.00382158 0.17686187
+v 0.07174344 0.00900120 0.17468526
+v 0.09338778 0.00598131 0.17640738
+v 0.09338778 0.00108167 0.17750830
+v 0.07174344 0.00108167 0.17728610
+v 0.07174344 0.00598131 0.17617002
+v 0.09338778 0.00301555 0.17707904
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 20
+f 1 20 27
+f 1 27 39
+f 1 39 49
+f 1 49 53
+f 1 53 57
+f 1 57 62
+f 1 62 66
+f 1 66 67
+f 1 67 63
+f 1 63 59
+f 1 59 54
+f 1 54 50
+f 1 50 44
+f 1 44 35
+f 1 35 25
+f 1 25 34
+f 1 34 29
+f 1 29 21
+f 1 21 16
+f 1 16 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 18
+f 2 18 23
+f 2 23 33
+f 2 33 32
+f 2 32 42
+f 2 42 46
+f 2 46 36
+f 2 36 43
+f 2 43 45
+f 2 45 51
+f 2 51 55
+f 2 55 58
+f 2 58 60
+f 2 60 64
+f 2 64 68
+f 2 68 65
+f 2 65 61
+f 2 61 56
+f 2 56 52
+f 2 52 48
+f 2 48 38
+f 2 38 26
+f 2 26 19
+f 2 19 14
+f 2 14 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 12 11
+f 7 11 16
+f 7 16 21
+f 7 21 28
+f 7 28 24
+f 7 24 17
+f 7 17 13
+f 8 14 9
+f 9 14 15
+f 10 16 11
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 17 22 23
+f 17 23 18
+f 17 24 25
+f 17 25 22
+f 19 26 20
+f 20 26 27
+f 21 29 28
+f 22 25 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 24 28 34
+f 24 34 25
+f 25 31 30
+f 25 35 36
+f 25 36 37
+f 25 37 31
+f 26 38 27
+f 27 38 39
+f 28 29 34
+f 31 37 40
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 35 43 36
+f 35 44 45
+f 35 45 43
+f 36 46 47
+f 36 47 37
+f 37 47 46
+f 37 46 40
+f 38 48 39
+f 39 48 49
+f 40 46 41
+f 41 46 42
+f 44 50 51
+f 44 51 45
+f 48 52 49
+f 49 52 53
+f 50 54 51
+f 51 54 55
+f 52 56 57
+f 52 57 53
+f 54 58 55
+f 54 59 60
+f 54 60 58
+f 56 61 57
+f 57 61 62
+f 59 63 60
+f 60 63 64
+f 61 65 62
+f 62 65 66
+f 63 67 64
+f 64 67 66
+f 64 66 68
+f 65 68 66
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_9.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.05689771 -0.05889618 -0.12009314
+v 0.06189149 -0.05889618 -0.11924997
+v 0.05689771 -0.06265169 -0.11970096
+v 0.00015711 -0.06024534 -0.11767733
+v 0.00015711 -0.05889619 -0.11770479
+v 0.07001426 -0.05889619 -0.11773224
+v 0.06974885 -0.06035593 -0.11770871
+v 0.06208706 -0.06280651 -0.11866171
+v 0.06061337 -0.06614844 -0.11817542
+v 0.05689771 -0.06675666 -0.11843819
+v 0.00015711 -0.06146179 -0.11726556
+v 0.00015711 -0.05889631 -0.08473857
+v 0.07150890 -0.05889619 -0.11744595
+v 0.07150890 -0.06224696 -0.11689300
+v 0.07150890 -0.06790677 -0.11403798
+v 0.05689771 -0.06920726 -0.11721853
+v 0.00015711 -0.06269594 -0.11684594
+v 0.00015711 -0.06450081 -0.08820542
+v 0.05443224 -0.07001024 -0.08304049
+v 0.05689771 -0.05889633 -0.08003248
+v 0.07150890 -0.05889631 -0.08432679
+v 0.07150890 -0.06793553 -0.11401837
+v 0.05945397 -0.07496219 -0.11277129
+v 0.05689771 -0.07245408 -0.11489295
+v 0.05414589 -0.07504845 -0.11286149
+v 0.00015711 -0.06734278 -0.11437134
+v 0.00015711 -0.06500278 -0.11561844
+v 0.00015711 -0.06603795 -0.08923291
+v 0.05352428 -0.07560811 -0.08733875
+v 0.05689771 -0.07586467 -0.08710345
+v 0.05642976 -0.07196761 -0.08438173
+v 0.05446716 -0.07001024 -0.08304049
+v 0.00015711 -0.06755520 -0.09024865
+v 0.05775678 -0.06965636 -0.08315815
+v 0.05996382 -0.06638744 -0.08269144
+v 0.06124195 -0.05889632 -0.08091095
+v 0.07150890 -0.06617509 -0.08746420
+v 0.06154926 -0.05889632 -0.08097369
+v 0.07150890 -0.07144555 -0.11063391
+v 0.06976282 -0.07009861 -0.11280264
+v 0.06006161 -0.08026595 -0.10392775
+v 0.05689771 -0.07946087 -0.10706908
+v 0.05689771 -0.07715845 -0.11024569
+v 0.05689771 -0.07505509 -0.11286541
+v 0.07150890 -0.07145882 -0.11061823
+v 0.00015711 -0.06979560 -0.11248106
+v 0.00015711 -0.06856144 -0.11343404
+v 0.05402017 -0.08004039 -0.09253900
+v 0.05689771 -0.07831525 -0.08997810
+v 0.00015711 -0.06897733 -0.09138204
+v 0.00015711 -0.07037735 -0.09250367
+v 0.05999875 -0.07548204 -0.08745641
+v 0.07150890 -0.06630116 -0.08753872
+v 0.05689771 -0.08148904 -0.10035113
+v 0.05689771 -0.08054241 -0.10459447
+v 0.07150890 -0.07431197 -0.10545329
+v 0.07150890 -0.07449332 -0.10488464
+v 0.06052955 -0.08059771 -0.10035113
+v 0.00015711 -0.07141239 -0.11001036
+v 0.05689771 -0.08104008 -0.09540972
+v 0.05689771 -0.08009126 -0.09245272
+v 0.00015711 -0.07205163 -0.09540968
+v 0.00015711 -0.07287216 -0.09789609
+v 0.00015711 -0.07368164 -0.10035110
+v 0.05958667 -0.07995192 -0.09268802
+v 0.07150890 -0.07141023 -0.09138205
+v 0.07150890 -0.06871636 -0.08900155
+v 0.07150890 -0.06861020 -0.08891526
+v 0.05351031 -0.08032787 -0.10408464
+v 0.06018034 -0.08036329 -0.09540972
+v 0.00015711 -0.07341843 -0.10529643
+v 0.00015711 -0.07240987 -0.10766908
+v 0.07150890 -0.07504849 -0.10035111
+v 0.07150890 -0.07489589 -0.09879025
+v 0.07150890 -0.07403997 -0.09577834
+v 0.07150890 -0.07398025 -0.09559010
+v 0.07150890 -0.07393822 -0.09551166
+v 0.07150890 -0.07154072 -0.09156637
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 20
+f 1 20 36
+f 1 36 38
+f 1 38 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 17
+f 4 17 27
+f 4 27 26
+f 4 26 47
+f 4 47 46
+f 4 46 59
+f 4 59 72
+f 4 72 71
+f 4 71 64
+f 4 64 63
+f 4 63 62
+f 4 62 51
+f 4 51 50
+f 4 50 33
+f 4 33 28
+f 4 28 18
+f 4 18 12
+f 4 12 5
+f 4 10 11
+f 6 13 7
+f 7 13 14
+f 7 14 9
+f 7 9 8
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 12 18 19
+f 12 19 20
+f 13 21 37
+f 13 37 53
+f 13 53 68
+f 13 68 67
+f 13 67 66
+f 13 66 78
+f 13 78 77
+f 13 77 76
+f 13 76 75
+f 13 75 74
+f 13 74 73
+f 13 73 57
+f 13 57 56
+f 13 56 45
+f 13 45 39
+f 13 39 22
+f 13 22 15
+f 13 15 14
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 18 28 19
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 19 28 33
+f 19 33 29
+f 20 32 34
+f 20 34 35
+f 20 35 36
+f 21 38 35
+f 21 35 34
+f 21 34 37
+f 22 39 40
+f 22 40 23
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 23 40 39
+f 23 39 45
+f 23 45 41
+f 24 44 25
+f 25 44 43
+f 25 43 42
+f 25 42 46
+f 25 46 47
+f 25 47 26
+f 29 48 49
+f 29 49 30
+f 29 33 50
+f 29 50 51
+f 29 51 48
+f 30 49 52
+f 30 52 31
+f 31 52 34
+f 31 34 32
+f 34 52 37
+f 35 38 36
+f 37 52 53
+f 41 54 55
+f 41 55 42
+f 41 45 56
+f 41 56 57
+f 41 57 58
+f 41 58 54
+f 42 55 59
+f 42 59 46
+f 48 60 61
+f 48 61 49
+f 48 51 62
+f 48 62 63
+f 48 63 64
+f 48 64 60
+f 49 61 65
+f 49 65 52
+f 52 65 66
+f 52 66 67
+f 52 67 68
+f 52 68 53
+f 54 69 55
+f 54 58 70
+f 54 70 60
+f 54 60 64
+f 54 64 71
+f 54 71 69
+f 55 69 71
+f 55 71 72
+f 55 72 59
+f 57 73 58
+f 58 73 70
+f 60 70 65
+f 60 65 61
+f 65 70 74
+f 65 74 75
+f 65 75 76
+f 65 76 77
+f 65 77 78
+f 65 78 66
+f 70 73 74
+

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/photo_frame_018.xml

@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_018">
+  <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/photo_frame_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_018_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_018_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_018_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_018_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_018_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_018_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_018_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_018_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_018_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_018_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_018_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_018_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_018_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_018_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/photo_frame_018_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/photo_frame_018_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/photo_frame_018_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/photo_frame_018_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/photo_frame_018_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_018">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_018">
+   <link name="photo_frame_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_018.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>7341ab069aea5dfe879ddc6ffe0e7d0f</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>bamboo frame</name>
+         <color>beige,brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular bamboo-style wooden photo frame with rear stand</description>
+         <min_height>0.3000</min_height>
+         <max_height>0.3000</max_height>
+         <real_height>0.3000</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201447</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.128203 -0.080781 -0.118934</min>
+            <max>0.128555 0.087983 0.181066</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc52a2ad5337946e136aa5e220de66cbda041d494203f45b3067b50849af5e81
+size 44405674

dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfa8ea0106bd19151b369e85ee80dd4a35fd2229c2795841846e2c2af6d34fd
+size 394942