Add asset desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb

.gitattributes

@@ -3272,3 +3272,6 @@ dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/mesh
 dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/sharpener_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/mesh/stapler_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/stapler_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="open_notebook">
+   <link name="open_notebook">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/open_notebook.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/open_notebook_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.275000</scale>
+         <version>v0.1.7</version>
+         <category>open notebook</category>
+         <description>spiral-bound notebook with visible pages and metallic coil binding</description>
+         <min_height>0.033</min_height>
+         <max_height>0.034</max_height>
+         <real_height>0.034</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120014014</generate_time>
+         <gs_model>mesh/open_notebook_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object has redundant overlapping geometry and structural inconsistencies.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.589112281799316</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77c546db7259ef42e317e2a2171f7f172d289df426e2689c90fe80b220101701
+size 1002767

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/material.mtl

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

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda35b548c430550c8bd22fddefe3b719c9ebfbe34dfcab5e4f251bde3f5f9ec
+size 2104948

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5156929c34494f4c614c08d38a7c6c4f27cc46efe3344645c16d80ea0071b33
+size 3318025

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/e10016f581985309bd6b12e417f972bb.xml

@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="open_notebook">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/open_notebook.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/open_notebook_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/open_notebook_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/open_notebook_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/open_notebook_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/open_notebook_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/open_notebook_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/open_notebook_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/open_notebook_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/open_notebook_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/open_notebook_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/open_notebook_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/open_notebook_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/open_notebook_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/open_notebook_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/open_notebook_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/open_notebook_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/open_notebook_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/open_notebook_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/open_notebook_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="open_notebook">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_0.obj

@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
+v -0.10213223 -0.12040290 -0.00618004
+v -0.10213223 -0.11903893 -0.00332708
+v -0.10213223 -0.11937989 -0.00961084
+v -0.09766641 -0.11937989 -0.00960504
+v 0.10676567 -0.11901617 -0.00945733
+v 0.11585924 -0.11899344 -0.00944574
+v 0.12492970 -0.11944812 -0.00618004
+v 0.12492970 -0.11853880 -0.00370796
+v -0.10213223 -0.11583356 -0.00231912
+v 0.12492970 -0.10694494 0.00349691
+v 0.11849708 -0.10694494 0.00349691
+v 0.10942664 -0.10687675 0.00349691
+v 0.10676567 -0.10685401 0.00349691
+v 0.10220730 -0.10680855 0.00349691
+v 0.09313686 -0.10671761 0.00349691
+v 0.09130888 -0.10669488 0.00349691
+v 0.07768008 -0.10646755 0.00349691
+v 0.06858650 -0.10630842 0.00349691
+v 0.06405128 -0.10619475 0.00349691
+v 0.06132089 -0.10608109 0.00349691
+v -0.10213223 -0.11931169 -0.00964125
+v 0.11130089 -0.11576533 -0.01094318
+v 0.11585924 -0.11576533 -0.01093159
+v 0.12039447 -0.11576533 -0.01091276
+v 0.12492970 -0.11576533 -0.01089104
+v 0.12492970 -0.11894798 -0.00942257
+v 0.12948805 -0.11885704 -0.00934147
+v 0.12948805 -0.11928898 -0.00618004
+v 0.12948805 -0.11847060 -0.00376009
+v -0.10213223 -0.11576536 -0.00229885
+v 0.12948805 -0.10678581 0.00349691
+v -0.10213223 -0.09505554 0.00349695
+v -0.10213223 -0.11576533 -0.01105758
+v 0.10676567 -0.11576533 -0.01094607
+v 0.11130089 -0.11121871 -0.01122121
+v 0.11585924 -0.11121871 -0.01121542
+v 0.12039447 -0.11121871 -0.01120238
+v 0.12492970 -0.11121871 -0.01118645
+v 0.12948805 -0.11576533 -0.01071291
+v 0.13233413 -0.11853878 -0.00893018
+v 0.13238041 -0.11858425 -0.00618004
+v 0.13203333 -0.11828873 -0.00391214
+v 0.13298203 -0.10569462 0.00349691
+v -0.10213223 0.08444495 0.00349761
+v -0.10213223 -0.11567440 -0.01106047
+v 0.10676567 -0.11121871 -0.01122121
+v 0.11130089 0.10213134 -0.01115815
+v 0.11585924 0.10213134 -0.01115380
+v 0.12039447 0.10213134 -0.01114946
+v -0.00680000 -0.00680563 -0.01129758
+v 0.12492970 -0.09760159 -0.01118495
+v 0.12948805 -0.01587613 -0.01100653
+v 0.12948805 -0.09760159 -0.01101262
+v 0.12948805 -0.10214821 -0.01100974
+v 0.12948805 -0.11121871 -0.01099819
+v 0.13275064 -0.11576534 -0.00940084
+v 0.13323655 -0.11576535 -0.00618003
+v 0.13374562 -0.10669485 -0.00617999
+v 0.13400014 -0.10214823 -0.00617998
+v 0.13302831 -0.10264839 0.00349692
+v -0.09313120 0.10667792 -0.00094685
+v -0.10213223 0.10667792 -0.00099609
+v -0.02952239 0.08585441 0.00349762
+v -0.10213223 -0.11121871 -0.01116039
+v -0.07950239 -0.11121871 -0.01118211
+v -0.07496717 -0.11121871 -0.01118500
+v -0.02952239 -0.11121871 -0.01120528
+v -0.10213223 -0.01135224 -0.01128746
+v 0.10676567 0.10213134 -0.01116104
+v 0.01136403 0.10667796 -0.01108573
+v 0.12039447 0.10667796 -0.01093511
+v 0.12492970 0.10213134 -0.01112484
+v 0.04315686 0.10667796 -0.01104952
+v 0.10220730 0.10667796 -0.01097566
+v 0.10676567 0.10667796 -0.01096842
+v 0.11130089 0.10667796 -0.01096118
+v 0.11585924 0.10667796 -0.01095249
+v -0.10213223 -0.01123858 -0.01128746
+v -0.09313120 0.10213134 -0.01113498
+v 0.01136403 0.10213134 -0.01115236
+v 0.10220730 0.10213134 -0.01116249
+v 0.12948805 0.10213134 -0.01096988
+v 0.13302831 0.00678876 -0.00957272
+v 0.13300517 -0.01135224 -0.00957568
+v 0.13293575 -0.09760159 -0.00954704
+v 0.13291261 -0.10669483 -0.00954272
+v 0.13288947 -0.11121871 -0.00953695
+v 0.13404642 -0.09760161 -0.00617996
+v 0.13423152 -0.01135226 -0.00617964
+v 0.13425466 0.00678874 -0.00617958
+v 0.13418525 0.09306083 -0.00617926
+v 0.13416211 0.10213132 -0.00617922
+v 0.13293575 0.10213131 -0.00271946
+v 0.12948805 0.10213130 -0.00101638
+v 0.11773349 0.00678871 0.00349732
+v -0.08859597 0.11033796 -0.00268468
+v -0.09313120 0.11031523 -0.00268757
+v -0.07950239 0.10667792 -0.00093816
+v -0.03861597 0.11038343 -0.00264992
+v -0.04315119 0.11038343 -0.00265282
+v -0.04768642 0.11038343 -0.00265716
+v -0.10213223 0.11026977 -0.00277736
+v -0.02042880 0.08585441 0.00349762
+v -0.04768642 0.10667792 -0.00092078
+v -0.10213223 -0.10669483 -0.01117774
+v -0.10213223 -0.10214821 -0.01118497
+v 0.00682881 0.10667796 -0.01108718
+v -0.00226478 0.11038346 -0.00964040
+v 0.01136403 0.11036072 -0.00963606
+v 0.12039447 0.10995152 -0.00948111
+v 0.12492970 0.10667796 -0.01088732
+v 0.11585924 0.10997426 -0.00949559
+v 0.12948805 0.10667796 -0.01074395
+v 0.04769208 0.11024706 -0.00959407
+v 0.10676567 0.11001972 -0.00950718
+v -0.10213223 0.07953465 -0.01116113
+v -0.10213223 0.08405854 -0.01115243
+v -0.10213223 0.08860516 -0.01114082
+v -0.09766641 0.10213134 -0.01111615
+v -0.09313120 0.10667796 -0.01106400
+v -0.08859597 0.10667796 -0.01106545
+v 0.00229358 0.10667796 -0.01108718
+v 0.13284320 0.10667795 -0.00944636
+v 0.13295889 0.10213134 -0.00954630
+v 0.13298203 0.09306085 -0.00955213
+v 0.13302831 0.01133538 -0.00957126
+v 0.13300517 -0.01587613 -0.00957136
+v 0.13388445 0.10667794 -0.00617921
+v 0.13279692 0.10667793 -0.00287151
+v 0.12948805 0.10667793 -0.00142331
+v 0.12492970 0.10213130 -0.00070356
+v 0.09771836 0.07491979 0.00349758
+v 0.10706647 0.06157546 0.00349753
+v 0.10794575 0.05891569 0.00349752
+v 0.10866305 0.05673331 0.00349751
+v 0.11319828 0.03856957 0.00349744
+v -0.08859597 0.11174742 -0.00617919
+v -0.09313120 0.11172469 -0.00617919
+v -0.07040880 0.11036069 -0.00267744
+v -0.04768642 0.11181562 -0.00617919
+v -0.03405761 0.11038343 -0.00264702
+v -0.02952239 0.11183836 -0.00617919
+v -0.10213223 0.11154283 -0.00617919
+v 0.01136403 0.08583167 0.00349762
+v -0.01589358 0.10667792 -0.00094396
+v 0.00229358 0.11038343 -0.00265282
+v -0.02498717 0.11038343 -0.00264702
+v -0.02042880 0.11038346 -0.00964474
+v -0.00226478 0.11181562 -0.00617919
+v 0.00682881 0.11179289 -0.00617919
+v 0.11130089 0.11101997 -0.00617919
+v 0.11585924 0.11097450 -0.00617919
+v 0.12039447 0.11092903 -0.00617919
+v 0.12492970 0.10990605 -0.00944780
+v 0.01136403 0.11177015 -0.00617919
+v 0.04769208 0.11152009 -0.00617919
+v 0.07494969 0.11131550 -0.00617919
+v 0.12948805 0.10983785 -0.00938553
+v 0.13240355 0.10951959 -0.00898293
+v -0.10213223 0.10667796 -0.01086705
+v -0.09766641 0.10667796 -0.01099883
+v -0.09313120 0.11036072 -0.00962302
+v -0.08859597 0.11036072 -0.00962737
+v -0.08403761 0.11036072 -0.00963026
+v -0.04315119 0.11038346 -0.00963895
+v -0.02952239 0.11038346 -0.00964474
+v 0.13268123 0.10976965 -0.00617920
+v 0.13235727 0.10947411 -0.00337982
+v 0.12948805 0.10979237 -0.00295695
+v 0.12492970 0.10667792 -0.00119305
+v 0.09547390 0.07596551 0.00349758
+v -0.10213223 0.11022432 -0.00952166
+v -0.04768642 0.11038346 -0.00963606
+v -0.05224478 0.11038346 -0.00963171
+v -0.01135836 0.10667792 -0.00094830
+v 0.07950805 0.08128506 0.00349760
+v 0.12039447 0.10667792 -0.00117277
+v 0.11585924 0.10667792 -0.00116408
+v 0.09767209 0.10667792 -0.00113222
+v 0.01136403 0.11036069 -0.00265571
+v 0.04769208 0.11022430 -0.00270641
+v 0.07041447 0.11013336 -0.00274551
+v 0.11585924 0.10995150 -0.00282951
+v 0.12039447 0.10990603 -0.00284978
+v 0.12492970 0.10986057 -0.00288164
+v 0.12492970 0.11083810 -0.00617919
+v 0.12948805 0.11070170 -0.00617919
+v 0.08184508 0.08051213 0.00349760
+v 0.07494969 0.11011063 -0.00274986
+f 1 2 9
+f 1 9 30
+f 1 30 32
+f 1 32 44
+f 1 44 62
+f 1 62 102
+f 1 102 143
+f 1 143 172
+f 1 172 160
+f 1 160 118
+f 1 118 117
+f 1 117 116
+f 1 116 78
+f 1 78 68
+f 1 68 106
+f 1 106 105
+f 1 105 64
+f 1 64 45
+f 1 45 33
+f 1 33 21
+f 1 21 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 18
+f 2 18 19
+f 2 19 20
+f 2 20 9
+f 3 21 4
+f 4 21 22
+f 4 22 5
+f 5 22 6
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 26
+f 6 26 7
+f 7 26 27
+f 7 27 28
+f 7 28 29
+f 7 29 8
+f 8 29 10
+f 9 20 30
+f 10 29 31
+f 10 31 43
+f 10 43 60
+f 10 60 95
+f 10 95 136
+f 10 136 135
+f 10 135 134
+f 10 134 133
+f 10 133 132
+f 10 132 171
+f 10 171 188
+f 10 188 176
+f 10 176 144
+f 10 144 103
+f 10 103 63
+f 10 63 44
+f 10 44 32
+f 10 32 20
+f 10 20 19
+f 10 19 18
+f 10 18 17
+f 10 17 16
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 20 32 30
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 38 25
+f 25 38 39
+f 25 39 27
+f 25 27 26
+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 29 42 31
+f 31 42 43
+f 33 45 46
+f 33 46 35
+f 33 35 34
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 35 46 50
+f 35 50 47
+f 36 49 37
+f 37 49 51
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 55 56
+f 39 56 40
+f 40 56 57
+f 40 57 41
+f 41 57 42
+f 42 57 43
+f 43 57 58
+f 43 58 59
+f 43 59 60
+f 44 61 62
+f 44 63 61
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 67 68
+f 46 68 50
+f 47 50 69
+f 47 69 70
+f 47 70 48
+f 48 70 49
+f 49 71 72
+f 49 72 51
+f 49 70 73
+f 49 73 74
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 71
+f 50 68 78
+f 50 78 79
+f 50 79 80
+f 50 80 81
+f 50 81 69
+f 51 72 52
+f 52 82 83
+f 52 83 53
+f 52 72 82
+f 53 83 84
+f 53 84 54
+f 54 84 85
+f 54 85 55
+f 55 85 86
+f 55 86 87
+f 55 87 56
+f 56 87 59
+f 56 59 58
+f 56 58 57
+f 59 88 60
+f 59 87 88
+f 60 88 89
+f 60 89 90
+f 60 90 91
+f 60 91 92
+f 60 92 93
+f 60 93 94
+f 60 94 95
+f 61 96 97
+f 61 97 62
+f 61 63 98
+f 61 98 99
+f 61 99 100
+f 61 100 101
+f 61 101 96
+f 62 97 102
+f 63 103 104
+f 63 104 98
+f 64 105 65
+f 65 105 66
+f 66 105 106
+f 66 106 67
+f 67 106 68
+f 69 81 107
+f 69 107 70
+f 70 107 108
+f 70 108 109
+f 70 109 73
+f 71 110 111
+f 71 111 72
+f 71 77 112
+f 71 112 110
+f 72 111 113
+f 72 113 82
+f 73 109 74
+f 74 109 75
+f 75 109 76
+f 76 109 77
+f 77 114 115
+f 77 115 112
+f 77 109 114
+f 78 116 79
+f 79 116 117
+f 79 117 118
+f 79 118 119
+f 79 119 120
+f 79 120 121
+f 79 121 122
+f 79 122 80
+f 80 122 81
+f 81 122 107
+f 82 113 123
+f 82 123 124
+f 82 124 125
+f 82 125 126
+f 82 126 83
+f 83 126 90
+f 83 90 85
+f 83 85 127
+f 83 127 84
+f 84 127 85
+f 85 90 89
+f 85 89 88
+f 85 88 86
+f 86 88 87
+f 90 126 125
+f 90 125 91
+f 91 125 92
+f 92 128 129
+f 92 129 93
+f 92 125 124
+f 92 124 123
+f 92 123 128
+f 93 129 94
+f 94 129 130
+f 94 130 131
+f 94 131 132
+f 94 132 133
+f 94 133 134
+f 94 134 135
+f 94 135 136
+f 94 136 95
+f 96 137 138
+f 96 138 97
+f 96 101 139
+f 96 139 140
+f 96 140 137
+f 97 138 102
+f 98 104 141
+f 98 141 99
+f 99 141 142
+f 99 142 100
+f 100 142 101
+f 101 142 140
+f 101 140 139
+f 102 138 143
+f 103 144 104
+f 104 144 145
+f 104 145 146
+f 104 146 147
+f 104 147 141
+f 107 122 166
+f 107 166 148
+f 107 148 108
+f 108 149 109
+f 108 148 142
+f 108 142 149
+f 109 149 150
+f 109 150 114
+f 110 151 152
+f 110 152 153
+f 110 153 154
+f 110 154 111
+f 110 112 155
+f 110 155 156
+f 110 156 157
+f 110 157 151
+f 111 154 158
+f 111 158 113
+f 112 115 155
+f 113 158 159
+f 113 159 123
+f 114 150 115
+f 115 150 155
+f 118 160 119
+f 119 161 120
+f 119 160 161
+f 120 161 162
+f 120 162 163
+f 120 163 164
+f 120 164 165
+f 120 165 166
+f 120 166 121
+f 121 166 122
+f 123 159 128
+f 128 167 168
+f 128 168 129
+f 128 159 167
+f 129 168 130
+f 130 168 169
+f 130 169 170
+f 130 170 131
+f 131 170 171
+f 131 171 132
+f 137 162 138
+f 137 140 162
+f 138 162 172
+f 138 172 143
+f 140 142 162
+f 141 147 142
+f 142 148 166
+f 142 166 165
+f 142 165 173
+f 142 173 174
+f 142 174 162
+f 142 147 146
+f 142 146 149
+f 144 175 145
+f 144 176 170
+f 144 170 177
+f 144 177 178
+f 144 178 179
+f 144 179 175
+f 145 175 146
+f 146 175 180
+f 146 180 150
+f 146 150 149
+f 150 180 181
+f 150 181 182
+f 150 182 183
+f 150 183 155
+f 151 157 183
+f 151 183 152
+f 152 183 153
+f 153 183 184
+f 153 184 185
+f 153 185 169
+f 153 169 186
+f 153 186 158
+f 153 158 154
+f 155 183 156
+f 156 183 157
+f 158 187 159
+f 158 186 187
+f 159 187 167
+f 160 172 161
+f 161 172 162
+f 162 174 163
+f 163 174 173
+f 163 173 165
+f 163 165 164
+f 167 187 168
+f 168 187 169
+f 169 187 186
+f 169 185 170
+f 170 185 184
+f 170 184 183
+f 170 183 177
+f 170 176 188
+f 170 188 171
+f 175 179 180
+f 177 183 189
+f 177 189 181
+f 177 181 180
+f 177 180 178
+f 178 180 179
+f 181 189 182
+f 182 189 183
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_1.obj

@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
+v -0.10213223 -0.11940788 0.01042123
+v -0.10213223 -0.11894147 0.01373006
+v -0.10213223 -0.11849835 0.00792942
+v -0.06586705 -0.11849835 0.00795106
+v -0.06132802 -0.11849835 0.00795487
+v 0.12947575 -0.11931459 0.01042123
+v 0.09767904 -0.11898811 0.01397441
+v -0.10213223 -0.11891815 0.01380133
+v -0.10213223 -0.11845170 0.00791288
+v 0.12303174 -0.10695435 0.00349691
+v 0.12493673 -0.10695435 0.00349691
+v 0.12947575 -0.11842838 0.00803378
+v 0.13401478 -0.11831177 0.00812414
+v 0.13401478 -0.11915135 0.01042123
+v 0.13401478 -0.11887150 0.01386878
+v 0.12947575 -0.11894147 0.01394641
+v 0.11585867 -0.11896478 0.01396168
+v 0.12947575 -0.11576980 0.01577773
+v 0.12039770 -0.11576980 0.01578791
+v 0.10675709 -0.11576980 0.01580319
+v 0.10221807 -0.11576980 0.01580573
+v 0.09767904 -0.11576980 0.01580319
+v -0.10213223 -0.11583976 0.01540612
+v -0.10213223 -0.11576977 0.00711622
+v 0.09314002 -0.10672113 0.00349691
+v 0.10221807 -0.10681442 0.00349691
+v 0.10943818 -0.10688439 0.00349691
+v 0.11849272 -0.10693102 0.00349691
+v 0.12947575 -0.10676777 0.00349691
+v 0.13643716 -0.11814853 0.00825650
+v 0.13686049 -0.11849836 0.01042123
+v 0.13690751 -0.11856833 0.01336100
+v 0.13401478 -0.11576980 0.01557920
+v 0.12947575 -0.11122216 0.01615063
+v 0.12493673 -0.11122216 0.01615572
+v 0.12039770 -0.11122216 0.01615954
+v 0.10675709 -0.11122216 0.01616336
+v 0.08403844 -0.11122216 0.01614045
+v 0.07949942 -0.11122216 0.01613536
+v 0.07496039 -0.11122216 0.01612900
+v -0.10213223 -0.11576980 0.01544176
+v -0.10213223 -0.09506055 0.00349695
+v 0.06131979 -0.10606814 0.00349691
+v 0.06404791 -0.10618475 0.00349691
+v 0.06585882 -0.10625471 0.00349691
+v 0.07766499 -0.10646460 0.00349691
+v 0.13297997 -0.10569501 0.00349691
+v 0.13669586 -0.11576977 0.00805924
+v 0.13775418 -0.11576978 0.01042124
+v 0.13735438 -0.11576979 0.01394006
+v 0.13401478 -0.11122216 0.01590756
+v 0.12947575 -0.09307829 0.01619779
+v 0.07949942 -0.00681330 0.01646026
+v 0.07496039 -0.00681330 0.01646408
+v 0.07042136 -0.00681330 0.01645772
+v 0.06131979 -0.00226567 0.01645901
+v 0.05678076 -0.00226567 0.01645010
+v -0.10213223 -0.11122216 0.01577521
+v -0.10213223 0.08444247 0.00349761
+v 0.13302701 -0.10266325 0.00349692
+v 0.13690751 -0.10669783 0.00781748
+v 0.13690751 -0.11122213 0.00789636
+v 0.13808345 -0.11122214 0.01042126
+v 0.13747197 -0.11122215 0.01408134
+v 0.13401478 -0.00681330 0.01604666
+v 0.12947575 -0.01133761 0.01640171
+v 0.07949942 0.00678294 0.01648704
+v 0.07042136 0.00678294 0.01649213
+v 0.06585882 0.00678294 0.01649467
+v 0.06131979 0.00678294 0.01648704
+v -0.00681265 0.00678294 0.01634832
+v -0.00681265 0.01133057 0.01636107
+v -0.10213223 -0.00235896 0.01606195
+v -0.10213223 0.11121517 0.00621986
+v -0.02953131 0.08584174 0.00349762
+v 0.13401478 0.09304797 0.00695410
+v 0.13683696 0.11121516 0.00795445
+v 0.13688402 0.10666753 0.00790989
+v 0.13700160 0.09304797 0.00779530
+v 0.13700160 0.08850034 0.00778639
+v 0.13690751 -0.10215020 0.00779586
+v 0.11774013 0.00678299 0.00349732
+v 0.13813048 0.09304796 0.01042201
+v 0.13749548 0.11121514 0.01413943
+v 0.13401478 0.08850031 0.01606229
+v 0.12947575 0.00678294 0.01640432
+v 0.08403844 0.01133057 0.01648451
+v 0.08403844 0.00678294 0.01648195
+v 0.07949942 0.01133057 0.01648960
+v 0.06585882 0.01133057 0.01649851
+v 0.06131979 0.01133057 0.01649215
+v -0.09312473 0.11121513 0.01612218
+v -0.09766376 0.10214319 0.01611961
+v -0.10213223 0.09304794 0.01611702
+v -0.10213223 0.09295465 0.01611702
+v -0.09766376 0.01133057 0.01610018
+v -0.09766376 0.00678294 0.01609507
+v -0.10213223 0.01576159 0.01608747
+v 0.01136697 0.08584174 0.00349762
+v -0.10213223 0.11576278 0.00688419
+v 0.12493673 0.11121516 0.00713615
+v 0.13401478 0.09759559 0.00706611
+v 0.11320110 0.03856974 0.00349744
+v 0.12947575 0.08850035 0.00637759
+v 0.13803639 0.11121515 0.01042208
+v 0.13401478 0.11121516 0.00740468
+v 0.13662530 0.11396706 0.00811354
+v 0.13709568 0.11464334 0.01359475
+v 0.13401478 0.11121513 0.01604710
+v 0.12947575 0.11121513 0.01634107
+v 0.12947575 0.01133057 0.01640306
+v 0.12493673 0.11121513 0.01637162
+v 0.12039770 0.11121513 0.01637543
+v 0.07042136 0.09759556 0.01638429
+v 0.06585882 0.09759556 0.01637920
+v 0.06131979 0.09759556 0.01637411
+v 0.11585867 0.11121513 0.01637671
+v 0.10675709 0.11121513 0.01637925
+v 0.08857747 0.09304794 0.01639955
+v 0.07496039 0.09759556 0.01638684
+v 0.02498405 0.10666750 0.01631051
+v -0.10213223 0.11564615 0.01516645
+v -0.09766376 0.11121513 0.01610437
+v -0.10213223 0.10666750 0.01610689
+v 0.06131979 0.10666750 0.01636142
+v 0.08403844 0.11121513 0.01635762
+v 0.07949942 0.08129412 0.00349760
+v -0.10213223 0.11583274 0.00690964
+v 0.12493673 0.11466669 0.00777375
+v 0.12947575 0.11466669 0.00780175
+v 0.12947575 0.11121516 0.00720233
+v 0.10866208 0.05673693 0.00349751
+v 0.13714270 0.11473665 0.01042209
+v 0.13401478 0.11445680 0.00790865
+v 0.10706283 0.06158773 0.00349753
+v 0.09770256 0.07492744 0.00349758
+v 0.13401478 0.11636913 0.01042210
+v 0.13401478 0.11538963 0.01427815
+v 0.12947575 0.11555287 0.01442960
+v -0.10213223 0.11576275 0.01513719
+v 0.07496039 0.10666750 0.01637160
+v 0.10221807 0.11121513 0.01637798
+v 0.09314002 0.10666750 0.01638178
+v 0.08403844 0.10666750 0.01637669
+v -0.10213223 0.11121513 0.01608273
+v 0.09767904 0.11121513 0.01637543
+v 0.09546832 0.07597689 0.00349758
+v -0.10213223 0.11835143 0.00792520
+v 0.12947575 0.11674226 0.01042210
+v -0.10213223 0.11849134 0.01335552
+v -0.10213223 0.11844469 0.01339497
+v -0.10213223 0.11884117 0.01042338
+f 1 2 8
+f 1 8 23
+f 1 23 41
+f 1 41 58
+f 1 58 73
+f 1 73 98
+f 1 98 95
+f 1 95 94
+f 1 94 124
+f 1 124 145
+f 1 145 122
+f 1 122 140
+f 1 140 151
+f 1 151 150
+f 1 150 152
+f 1 152 148
+f 1 148 128
+f 1 128 100
+f 1 100 74
+f 1 74 59
+f 1 59 42
+f 1 42 24
+f 1 24 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 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 10
+f 10 28 27
+f 10 27 26
+f 10 26 25
+f 10 25 46
+f 10 46 45
+f 10 45 44
+f 10 44 43
+f 10 43 42
+f 10 42 59
+f 10 59 75
+f 10 75 99
+f 10 99 127
+f 10 127 147
+f 10 147 136
+f 10 136 135
+f 10 135 132
+f 10 132 103
+f 10 103 82
+f 10 82 60
+f 10 60 47
+f 10 47 29
+f 10 29 11
+f 11 29 12
+f 12 29 13
+f 13 30 14
+f 13 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 15 32 33
+f 15 33 18
+f 15 18 16
+f 16 18 17
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 20
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 25
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 32
+f 32 49 50
+f 32 50 33
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 37
+f 37 54 38
+f 38 54 39
+f 39 54 55
+f 39 55 40
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 47 60 61
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 48 63 49
+f 49 63 50
+f 50 63 64
+f 50 64 51
+f 51 64 65
+f 51 65 66
+f 51 66 52
+f 52 66 53
+f 53 67 54
+f 53 66 67
+f 54 67 68
+f 54 68 69
+f 54 69 55
+f 55 69 56
+f 56 69 70
+f 56 70 57
+f 57 70 71
+f 57 71 58
+f 58 71 72
+f 58 72 73
+f 59 74 75
+f 60 76 77
+f 60 77 78
+f 60 78 79
+f 60 79 80
+f 60 80 81
+f 60 81 61
+f 60 82 76
+f 61 81 63
+f 61 63 62
+f 63 83 64
+f 63 81 80
+f 63 80 83
+f 64 83 84
+f 64 84 65
+f 65 84 85
+f 65 85 66
+f 66 85 86
+f 66 86 87
+f 66 87 88
+f 66 88 67
+f 67 88 87
+f 67 87 89
+f 67 89 90
+f 67 90 68
+f 68 90 69
+f 69 90 91
+f 69 91 70
+f 70 91 72
+f 70 72 71
+f 72 92 93
+f 72 93 94
+f 72 94 95
+f 72 95 96
+f 72 96 97
+f 72 97 73
+f 72 91 92
+f 73 97 98
+f 74 99 75
+f 74 100 101
+f 74 101 99
+f 76 102 77
+f 76 82 103
+f 76 103 104
+f 76 104 102
+f 77 105 78
+f 77 102 106
+f 77 106 107
+f 77 107 105
+f 78 105 79
+f 79 105 83
+f 79 83 80
+f 83 105 84
+f 84 105 108
+f 84 108 109
+f 84 109 85
+f 85 109 110
+f 85 110 111
+f 85 111 86
+f 86 111 87
+f 87 111 112
+f 87 112 89
+f 89 112 113
+f 89 113 90
+f 90 114 115
+f 90 115 116
+f 90 116 91
+f 90 113 117
+f 90 117 118
+f 90 118 119
+f 90 119 120
+f 90 120 114
+f 91 116 121
+f 91 121 92
+f 92 122 123
+f 92 123 124
+f 92 124 93
+f 92 121 125
+f 92 125 126
+f 92 126 122
+f 93 124 94
+f 95 98 96
+f 96 98 97
+f 99 101 127
+f 100 128 129
+f 100 129 101
+f 101 129 130
+f 101 130 131
+f 101 131 127
+f 102 104 106
+f 103 132 104
+f 104 132 106
+f 105 133 108
+f 105 107 133
+f 106 131 134
+f 106 134 107
+f 106 132 135
+f 106 135 136
+f 106 136 131
+f 107 134 137
+f 107 137 133
+f 108 133 137
+f 108 137 138
+f 108 138 109
+f 109 138 110
+f 110 138 139
+f 110 139 112
+f 110 112 111
+f 112 139 140
+f 112 140 113
+f 113 140 117
+f 114 125 115
+f 114 120 144
+f 114 144 141
+f 114 141 125
+f 115 125 116
+f 116 125 121
+f 117 140 118
+f 118 142 119
+f 118 140 142
+f 119 142 143
+f 119 143 120
+f 120 143 144
+f 122 145 123
+f 122 126 146
+f 122 146 142
+f 122 142 140
+f 123 145 124
+f 125 141 146
+f 125 146 126
+f 127 131 147
+f 128 148 129
+f 129 148 130
+f 130 148 149
+f 130 149 134
+f 130 134 131
+f 131 136 147
+f 134 149 137
+f 137 149 138
+f 138 149 139
+f 139 149 150
+f 139 150 151
+f 139 151 140
+f 141 144 142
+f 141 142 146
+f 142 144 143
+f 148 152 149
+f 149 152 150
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_10.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.13103650 0.11349411 -0.00873089
+v -0.13231209 0.11349411 -0.00861810
+v -0.13226691 0.11372898 -0.00856531
+v -0.12040072 0.12683455 -0.00393131
+v -0.11098147 0.11349411 -0.00865890
+v -0.13662202 0.11349410 -0.00469928
+v -0.13662202 0.11426364 -0.00469928
+v -0.13149530 0.12221043 -0.00400092
+v -0.12846792 0.12304767 -0.00425290
+v -0.12499913 0.12628607 -0.00237387
+v -0.12351847 0.12728631 -0.00122197
+v -0.12040072 0.12738856 -0.00185551
+v -0.11715091 0.12730842 -0.00121957
+v -0.11572585 0.12665771 -0.00237386
+v -0.11131861 0.12383655 -0.00473765
+v -0.10907328 0.11349411 -0.00848132
+v -0.13717466 0.11349409 -0.00210273
+v -0.13703216 0.11577230 -0.00185315
+v -0.13643433 0.11828261 -0.00035329
+v -0.13239899 0.12312087 -0.00123399
+v -0.12978522 0.12398851 -0.00238107
+v -0.12363317 0.12733465 0.00212331
+v -0.12040072 0.12760821 0.00212331
+v -0.12948979 0.12516697 0.00212330
+v -0.12590282 0.12666045 0.00212331
+v -0.11650789 0.12738578 0.00212331
+v -0.11423824 0.12696854 0.00212331
+v -0.11131861 0.12541568 -0.00202830
+v -0.10847893 0.12317063 -0.00457686
+v -0.10877090 0.11349411 -0.00842372
+v -0.13764040 0.11349407 0.00212326
+v -0.13724765 0.11576537 0.00212327
+v -0.13644822 0.11831576 0.00212327
+v -0.13498841 0.12058430 0.00212328
+v -0.13271875 0.12335020 0.00212329
+v -0.12310833 0.12723518 0.00433830
+v -0.12040072 0.12733188 0.00443909
+v -0.11694931 0.12728215 0.00437669
+v -0.13239899 0.12306145 0.00471984
+v -0.11131861 0.12573066 0.00212330
+v -0.10213223 0.11851052 0.01335420
+v -0.10806880 0.12355884 -0.00202831
+v -0.10213223 0.11836548 0.00792351
+v -0.10662636 0.11349410 -0.00621834
+v -0.10798537 0.12030525 -0.00512642
+v -0.13730325 0.11349407 0.00329915
+v -0.13636481 0.11816101 0.00427826
+v -0.12855481 0.11884072 0.01323901
+v -0.12494699 0.11951630 0.01363977
+v -0.12040072 0.11998880 0.01349818
+v -0.11586141 0.12005097 0.01351258
+v -0.11131861 0.11959782 0.01378136
+v -0.10677582 0.11898855 0.01372616
+v -0.13217654 0.11851192 0.00942098
+v -0.10213223 0.11884073 0.01047447
+v -0.10804794 0.12360441 0.00212329
+v -0.10222955 0.11851742 0.01336620
+v -0.10213223 0.11845802 0.01339499
+v -0.10213223 0.11884211 0.01042168
+v -0.10213223 0.11577226 0.00688201
+v -0.10213223 0.11349406 0.00655323
+v -0.13670542 0.11349406 0.00518536
+v -0.12879116 0.11576533 0.01330139
+v -0.12494699 0.11576533 0.01411012
+v -0.13106082 0.11576534 0.01159756
+v -0.11131861 0.11576532 0.01541559
+v -0.10677582 0.11576532 0.01548518
+v -0.10222955 0.11576532 0.01514681
+v -0.10213223 0.11576532 0.01513722
+v -0.10213223 0.11349402 0.01561476
+v -0.13282650 0.11349404 0.00974013
+v -0.12922216 0.11349403 0.01303741
+v -0.11131861 0.11349402 0.01556437
+v -0.13102259 0.11349404 0.01160475
+v -0.10904548 0.11349402 0.01573475
+v -0.10677582 0.11349402 0.01576834
+v -0.10450268 0.11349402 0.01578514
+v -0.10213223 0.11566724 0.01516600
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 30
+f 1 30 44
+f 1 44 61
+f 1 61 70
+f 1 70 77
+f 1 77 76
+f 1 76 75
+f 1 75 73
+f 1 73 72
+f 1 72 74
+f 1 74 71
+f 1 71 62
+f 1 62 46
+f 1 46 31
+f 1 31 17
+f 1 17 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 4 9 8
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 10
+f 10 21 20
+f 10 20 11
+f 11 22 23
+f 11 23 12
+f 11 20 24
+f 11 24 25
+f 11 25 22
+f 12 23 13
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 13 23 26
+f 14 28 29
+f 14 29 15
+f 15 29 16
+f 16 29 30
+f 17 31 18
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 35 24
+f 20 34 35
+f 22 36 23
+f 22 25 36
+f 23 36 37
+f 23 37 38
+f 23 38 26
+f 24 36 25
+f 24 35 39
+f 24 39 36
+f 26 38 27
+f 27 40 28
+f 27 38 41
+f 27 41 40
+f 28 40 42
+f 28 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 30 45 44
+f 31 46 47
+f 31 47 32
+f 32 47 33
+f 33 47 34
+f 34 47 39
+f 34 39 35
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 36 39 48
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 41
+f 39 47 54
+f 39 54 48
+f 40 41 55
+f 40 55 56
+f 40 56 42
+f 41 53 57
+f 41 57 58
+f 41 58 69
+f 41 69 78
+f 41 78 70
+f 41 70 61
+f 41 61 60
+f 41 60 43
+f 41 43 59
+f 41 59 55
+f 42 56 59
+f 42 59 43
+f 43 60 44
+f 44 60 61
+f 46 62 47
+f 47 62 54
+f 48 63 64
+f 48 64 49
+f 48 54 65
+f 48 65 63
+f 49 64 66
+f 49 66 67
+f 49 67 50
+f 50 67 52
+f 50 52 51
+f 52 67 68
+f 52 68 53
+f 53 68 69
+f 53 69 58
+f 53 58 57
+f 54 62 65
+f 55 59 56
+f 62 71 65
+f 63 65 72
+f 63 72 64
+f 64 73 66
+f 64 72 73
+f 65 71 74
+f 65 74 72
+f 66 73 75
+f 66 75 67
+f 67 76 77
+f 67 77 70
+f 67 70 78
+f 67 78 68
+f 67 75 76
+f 68 78 69
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_11.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.12494583 0.07036402 -0.01439108
+v -0.12494583 0.06699133 -0.01346405
+v -0.12800419 0.06751256 -0.01287550
+v -0.12879413 0.07036402 -0.01322618
+v -0.12852848 0.07329047 -0.01303101
+v -0.12494583 0.07362482 -0.01332986
+v -0.11131779 0.07783525 -0.01209785
+v -0.12026916 0.07061826 -0.01395501
+v -0.11586164 0.06954532 -0.01368666
+v -0.11615873 0.06543021 -0.01362569
+v -0.12040199 0.06636841 -0.01388489
+v -0.13403003 0.06484922 -0.00445895
+v -0.11582669 0.06484925 -0.01340002
+v -0.13735054 0.06484921 -0.00224502
+v -0.13250260 0.06734600 -0.00898437
+v -0.13106255 0.07036401 -0.01180208
+v -0.13296048 0.07390702 -0.00949056
+v -0.13423276 0.07783523 -0.00626114
+v -0.11586164 0.07783525 -0.01175020
+v -0.10693472 0.07783525 -0.01165872
+v -0.10213223 0.07783525 -0.01115861
+v -0.11103817 0.06572261 -0.01307373
+v -0.11112904 0.06484925 -0.01296395
+v -0.13747288 0.06484919 0.00234139
+v -0.13783988 0.07036396 0.00211880
+v -0.13772103 0.07036398 -0.00202849
+v -0.13686819 0.07036399 -0.00519080
+v -0.13662353 0.06722522 -0.00462361
+v -0.13321913 0.07036401 -0.00972843
+v -0.13548756 0.07036400 -0.00726750
+v -0.13673188 0.07371505 -0.00503222
+v -0.13695907 0.07381674 -0.00202848
+v -0.13422577 0.07783522 -0.00282438
+v -0.10213223 0.07783515 0.01607325
+v -0.10213223 0.07490243 -0.01115862
+v -0.10213223 0.06484924 -0.01115256
+v -0.10979385 0.06484925 -0.01276268
+v -0.13717578 0.07036395 0.00626914
+v -0.13502618 0.06484916 0.01016636
+v -0.13638584 0.06771207 0.00848916
+v -0.13647672 0.07286452 0.00861116
+v -0.13671439 0.07307428 0.00626915
+v -0.13691713 0.07327262 0.00211881
+v -0.13419431 0.07783522 -0.00207725
+v -0.10213223 0.06582420 0.01607625
+v -0.11629505 0.07783515 0.01649713
+v -0.11663758 0.07734571 0.01676243
+v -0.10213223 0.06484914 0.01607625
+v -0.13649770 0.07036394 0.00865079
+v -0.13254105 0.06484915 0.01309691
+v -0.13468365 0.07036393 0.01072749
+v -0.13219852 0.07324333 0.01280724
+v -0.12891995 0.07783516 0.01348424
+v -0.11916816 0.07783515 0.01639650
+v -0.11872426 0.07734571 0.01676243
+v -0.11663758 0.07621301 0.01676243
+v -0.12175466 0.07245133 0.01674717
+v -0.11605388 0.06484914 0.01632631
+v -0.13182452 0.06484915 0.01350554
+v -0.13241173 0.07036392 0.01295665
+v -0.12948968 0.07036392 0.01433197
+v -0.12322267 0.07318231 0.01674717
+v -0.12736107 0.07783516 0.01423137
+v -0.12335549 0.07783515 0.01559144
+v -0.12174766 0.07620919 0.01642089
+v -0.12322267 0.07245133 0.01674717
+v -0.12040199 0.06484914 0.01635071
+v -0.12948968 0.06484915 0.01458506
+v -0.12490389 0.07783515 0.01511267
+v -0.12881859 0.06484915 0.01484426
+v -0.12434465 0.06484914 0.01604881
+v -0.12288363 0.06484914 0.01617079
+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 13
+f 2 13 12
+f 3 12 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 16 5
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 7
+f 7 19 18
+f 7 18 33
+f 7 33 44
+f 7 44 53
+f 7 53 63
+f 7 63 69
+f 7 69 64
+f 7 64 54
+f 7 54 46
+f 7 46 34
+f 7 34 21
+f 7 21 20
+f 7 20 9
+f 7 9 8
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 13
+f 10 13 11
+f 12 13 23
+f 12 23 37
+f 12 37 36
+f 12 36 48
+f 12 48 58
+f 12 58 67
+f 12 67 72
+f 12 72 71
+f 12 71 70
+f 12 70 68
+f 12 68 59
+f 12 59 50
+f 12 50 39
+f 12 39 24
+f 12 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 16
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 21 34 45
+f 21 45 48
+f 21 48 36
+f 21 36 35
+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 24 38 25
+f 24 39 40
+f 24 40 38
+f 25 38 41
+f 25 41 42
+f 25 42 43
+f 25 43 32
+f 25 32 26
+f 26 32 31
+f 26 31 27
+f 27 31 30
+f 27 30 28
+f 28 30 29
+f 32 43 42
+f 32 42 44
+f 32 44 33
+f 34 46 47
+f 34 47 45
+f 38 49 41
+f 38 40 49
+f 39 49 40
+f 39 50 49
+f 41 44 42
+f 41 49 51
+f 41 51 52
+f 41 52 53
+f 41 53 44
+f 45 47 56
+f 45 56 48
+f 46 54 55
+f 46 55 47
+f 47 55 56
+f 48 56 57
+f 48 57 58
+f 49 50 51
+f 50 59 60
+f 50 60 51
+f 51 60 52
+f 52 60 61
+f 52 61 62
+f 52 62 63
+f 52 63 53
+f 54 64 55
+f 55 64 65
+f 55 65 62
+f 55 62 66
+f 55 66 56
+f 56 66 57
+f 57 67 58
+f 57 66 67
+f 59 68 61
+f 59 61 60
+f 61 68 62
+f 62 65 64
+f 62 64 69
+f 62 69 63
+f 62 68 70
+f 62 70 66
+f 66 71 72
+f 66 72 67
+f 66 70 71
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_12.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.12494455 -0.04767843 -0.01431341
+v -0.12494455 -0.05126353 -0.01378308
+v -0.12851998 -0.05076933 -0.01319880
+v -0.12981629 -0.04736047 -0.01317481
+v -0.13179247 -0.04537751 -0.01242874
+v -0.12948870 -0.04511254 -0.01277331
+v -0.11106905 -0.03978111 -0.01157178
+v -0.10213223 -0.03978111 -0.01120324
+v -0.11586330 -0.04814552 -0.01368120
+v -0.11586330 -0.05182182 -0.01368121
+v -0.12040040 -0.05175650 -0.01398683
+v -0.13442385 -0.05237027 -0.00610660
+v -0.12040040 -0.05237024 -0.01257558
+v -0.13254278 -0.05087534 -0.00937255
+v -0.13154941 -0.04866068 -0.01213811
+v -0.13461054 -0.05237027 -0.00593881
+v -0.13179247 -0.04563508 -0.01242874
+v -0.13690023 -0.04424988 -0.00524065
+v -0.13417374 -0.03978113 -0.00595675
+v -0.10213223 -0.03978121 0.01580525
+v -0.10213223 -0.04313945 -0.01120325
+v -0.11225264 -0.04892810 -0.01304299
+v -0.11225264 -0.05096775 -0.01304300
+v -0.10213575 -0.05237025 -0.01119729
+v -0.11596545 -0.05237024 -0.01295610
+v -0.13634015 -0.05237027 -0.00415902
+v -0.13303947 -0.04736048 -0.01058603
+v -0.13690023 -0.04691313 -0.00524066
+v -0.13753782 -0.04812707 -0.00243914
+v -0.13748146 -0.04289792 -0.00225635
+v -0.13704818 -0.03978114 -0.00225634
+v -0.10213223 -0.05237035 0.01578424
+v -0.10223086 -0.03978121 0.01580525
+v -0.11606408 -0.05237035 0.01629660
+v -0.10213223 -0.05221866 -0.01119729
+v -0.10213223 -0.05237035 0.01544266
+v -0.13710455 -0.05237028 -0.00272979
+v -0.13721727 -0.05237028 -0.00239421
+v -0.13811905 -0.04313950 0.00211822
+v -0.13723841 -0.03978116 0.00201037
+v -0.10559142 -0.03978121 0.01579027
+v -0.10677501 -0.03978121 0.01576930
+v -0.12040040 -0.05237035 0.01611083
+v -0.13733351 -0.05237030 0.00169272
+v -0.13765760 -0.04810983 0.00251072
+v -0.13718909 -0.04718676 0.00627106
+v -0.13669239 -0.04630313 0.00887483
+v -0.13716795 -0.04272295 0.00662763
+v -0.13626264 -0.04093103 0.00824863
+v -0.13670650 -0.03978117 0.00423361
+v -0.12040040 -0.03978120 0.01449588
+v -0.12948870 -0.03978120 0.01335729
+v -0.12948870 -0.04313954 0.01368687
+v -0.13252164 -0.04313954 0.01299473
+v -0.13235257 -0.04603326 0.01286588
+v -0.12472262 -0.05237034 0.01451981
+v -0.13732295 -0.05237030 0.00183954
+v -0.13669239 -0.04395784 0.00887484
+v -0.13610061 -0.05237030 0.00389199
+v -0.13396592 -0.05237031 0.00679239
+v -0.13230325 -0.05237032 0.00869204
+v -0.13507201 -0.04272297 0.01032205
+v -0.13218700 -0.04046273 0.01279099
+v -0.13318389 -0.04006218 0.01042093
+v -0.13261324 -0.03978119 0.01042093
+v -0.13039752 -0.03978120 0.01314156
+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 13
+f 2 13 12
+f 3 14 15
+f 3 15 4
+f 3 12 16
+f 3 16 14
+f 4 15 17
+f 4 17 5
+f 5 17 28
+f 5 28 18
+f 5 18 19
+f 5 19 6
+f 6 19 7
+f 7 19 31
+f 7 31 40
+f 7 40 50
+f 7 50 65
+f 7 65 66
+f 7 66 52
+f 7 52 51
+f 7 51 42
+f 7 42 41
+f 7 41 33
+f 7 33 20
+f 7 20 8
+f 8 20 32
+f 8 32 36
+f 8 36 35
+f 8 35 21
+f 8 21 23
+f 8 23 22
+f 8 22 9
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 13
+f 12 13 25
+f 12 25 24
+f 12 24 36
+f 12 36 32
+f 12 32 34
+f 12 34 43
+f 12 43 56
+f 12 56 61
+f 12 61 60
+f 12 60 59
+f 12 59 57
+f 12 57 44
+f 12 44 38
+f 12 38 37
+f 12 37 26
+f 12 26 16
+f 14 16 26
+f 14 26 15
+f 15 26 27
+f 15 27 17
+f 17 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 20 33 34
+f 20 34 32
+f 21 35 23
+f 23 35 24
+f 24 35 36
+f 26 37 28
+f 26 28 27
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 29 39 30
+f 30 39 31
+f 31 39 40
+f 33 41 34
+f 34 41 42
+f 34 42 43
+f 38 44 39
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 39 44 45
+f 40 48 49
+f 40 49 50
+f 42 51 43
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 44 57 45
+f 45 57 46
+f 46 57 47
+f 47 58 48
+f 47 57 59
+f 47 59 60
+f 47 60 61
+f 47 61 55
+f 47 55 54
+f 47 54 58
+f 48 58 49
+f 49 58 62
+f 49 62 63
+f 49 63 64
+f 49 64 50
+f 50 64 65
+f 52 66 63
+f 52 63 54
+f 52 54 53
+f 54 63 62
+f 54 62 58
+f 55 61 56
+f 63 65 64
+f 63 66 65
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_13.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.11600403 -0.10216909 -0.01250162
+v -0.11429896 -0.10527363 -0.01280813
+v -0.11429896 -0.10657297 -0.01302825
+v -0.11563635 -0.10647131 -0.01317871
+v -0.11606607 -0.10216909 -0.01250162
+v -0.11429896 -0.10216910 -0.01200565
+v -0.11429896 -0.10231540 -0.01210596
+v -0.11429896 -0.10343868 -0.01249605
+v -0.11429896 -0.10864598 -0.01308120
+v -0.11586156 -0.11043877 -0.01330133
+v -0.12040456 -0.10766651 -0.01332640
+v -0.12405137 -0.10837321 -0.01292238
+v -0.13416454 -0.10216912 -0.00519582
+v -0.11429896 -0.10216920 0.01504420
+v -0.11429896 -0.11003210 -0.01310071
+v -0.12029655 -0.11157198 -0.01327626
+v -0.12174195 -0.11372680 -0.01263262
+v -0.12531753 -0.11122482 -0.01288617
+v -0.12707544 -0.10970231 -0.01226759
+v -0.13429553 -0.10216912 -0.00507322
+v -0.13201828 -0.10857408 -0.00849209
+v -0.12040226 -0.10216919 0.01475163
+v -0.12040685 -0.10670203 0.01513893
+v -0.11429896 -0.10372643 0.01502191
+v -0.11429896 -0.11694543 -0.00745560
+v -0.12494756 -0.11372929 -0.01261869
+v -0.12732131 -0.11358546 -0.01246265
+v -0.11782628 -0.12728567 -0.00020278
+v -0.12040685 -0.12749891 -0.00052321
+v -0.12732131 -0.11272750 -0.01246264
+v -0.12909532 -0.11122483 -0.01105275
+v -0.13228944 -0.11123972 -0.00874287
+v -0.13744369 -0.10216913 -0.00211133
+v -0.12494985 -0.10670202 0.01485751
+v -0.12494526 -0.10216919 0.01420272
+v -0.11429896 -0.11577759 0.01441444
+v -0.11429896 -0.10670202 0.01493552
+v -0.11429896 -0.11886966 -0.00579773
+v -0.12386524 -0.12746172 -0.00046191
+v -0.13220901 -0.11392520 -0.00867043
+v -0.12856450 -0.12397779 -0.00111390
+v -0.11429896 -0.12331819 -0.00162379
+v -0.11429896 -0.12386373 -0.00103309
+v -0.11429896 -0.12401499 0.00049382
+v -0.11782628 -0.12728567 0.00056347
+v -0.11429896 -0.12019380 -0.00456895
+v -0.12083427 -0.12742702 0.00201515
+v -0.13632000 -0.11353838 -0.00413148
+v -0.13632000 -0.11325570 -0.00413148
+v -0.13700249 -0.11154226 -0.00235099
+v -0.13744829 -0.10216913 -0.00209462
+v -0.12494985 -0.11926400 0.01298782
+v -0.12040685 -0.11998806 0.01345871
+v -0.12901489 -0.10216919 0.01319964
+v -0.13205965 -0.10856920 0.01274266
+v -0.13205965 -0.10959826 0.01274266
+v -0.12753273 -0.11838371 0.01263117
+v -0.11586385 -0.11967066 0.01362310
+v -0.11429896 -0.11948965 0.01365375
+v -0.12359178 -0.12738238 0.00212104
+v -0.12586213 -0.12655418 0.00212105
+v -0.12878739 -0.12428280 0.00212105
+v -0.13248476 -0.11929866 -0.00120305
+v -0.13670606 -0.11401697 -0.00202778
+v -0.11429896 -0.12401500 0.00152477
+v -0.11429896 -0.12150808 0.01046338
+v -0.11960717 -0.12674759 0.00333031
+v -0.12263584 -0.12713443 0.00420522
+v -0.12270708 -0.12713443 0.00420522
+v -0.13777230 -0.11124224 0.00212110
+v -0.13759765 -0.10216915 0.00232174
+v -0.12520263 -0.12169158 0.01059991
+v -0.12040685 -0.12225694 0.01176460
+v -0.12933430 -0.10216919 0.01309097
+v -0.13596382 -0.11124226 0.00776902
+v -0.13644869 -0.10216916 0.00529477
+v -0.13348436 -0.11116540 0.01061388
+v -0.13299490 -0.11577757 0.00946589
+v -0.13213777 -0.11841841 0.00882224
+v -0.12922400 -0.11932846 0.01029063
+v -0.11577882 -0.12198418 0.01048567
+v -0.12688011 -0.12249994 0.00818972
+v -0.12796474 -0.12345956 0.00542288
+v -0.13673592 -0.11405420 0.00516656
+v -0.13701857 -0.11440382 0.00212109
+v -0.13690828 -0.11124225 0.00569319
+v -0.13746207 -0.10216915 0.00294310
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 20
+f 1 20 33
+f 1 33 51
+f 1 51 71
+f 1 71 87
+f 1 87 76
+f 1 76 74
+f 1 74 54
+f 1 54 35
+f 1 35 22
+f 1 22 14
+f 1 14 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 6
+f 2 6 14
+f 2 14 24
+f 2 24 37
+f 2 37 36
+f 2 36 59
+f 2 59 66
+f 2 66 65
+f 2 65 44
+f 2 44 43
+f 2 43 42
+f 2 42 46
+f 2 46 38
+f 2 38 25
+f 2 25 15
+f 2 15 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 9 15 10
+f 10 16 11
+f 10 15 17
+f 10 17 16
+f 11 16 18
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 13 19 21
+f 13 21 20
+f 14 22 23
+f 14 23 24
+f 15 25 17
+f 16 17 26
+f 16 26 27
+f 16 27 18
+f 17 25 28
+f 17 28 29
+f 17 29 26
+f 18 27 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 21
+f 20 21 33
+f 21 32 33
+f 22 34 23
+f 22 35 34
+f 23 34 36
+f 23 36 37
+f 23 37 24
+f 25 38 28
+f 26 29 39
+f 26 39 27
+f 27 40 32
+f 27 32 30
+f 27 39 41
+f 27 41 40
+f 28 42 43
+f 28 43 44
+f 28 44 65
+f 28 65 45
+f 28 45 29
+f 28 38 46
+f 28 46 42
+f 29 45 47
+f 29 47 39
+f 30 32 31
+f 32 40 48
+f 32 48 49
+f 32 49 33
+f 33 49 48
+f 33 48 50
+f 33 50 51
+f 34 52 53
+f 34 53 36
+f 34 35 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 52
+f 36 58 59
+f 36 53 58
+f 39 47 60
+f 39 60 61
+f 39 61 41
+f 40 41 48
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 48
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 47
+f 47 68 69
+f 47 69 60
+f 48 64 50
+f 50 64 70
+f 50 70 51
+f 51 70 71
+f 52 57 72
+f 52 72 73
+f 52 73 53
+f 53 73 58
+f 54 74 55
+f 55 75 56
+f 55 74 76
+f 55 76 75
+f 56 75 77
+f 56 77 78
+f 56 78 57
+f 57 78 79
+f 57 79 80
+f 57 80 72
+f 58 73 59
+f 59 73 81
+f 59 81 66
+f 60 69 61
+f 61 69 82
+f 61 82 83
+f 61 83 62
+f 62 83 79
+f 62 79 84
+f 62 84 85
+f 62 85 63
+f 63 85 64
+f 64 85 70
+f 66 81 67
+f 67 81 68
+f 68 81 73
+f 68 73 69
+f 69 73 72
+f 69 72 82
+f 70 85 84
+f 70 84 86
+f 70 86 87
+f 70 87 71
+f 72 80 82
+f 75 78 77
+f 75 76 86
+f 75 86 84
+f 75 84 78
+f 76 87 86
+f 78 84 79
+f 79 82 80
+f 79 83 82
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_14.obj

@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.13398439 -0.02422139 0.00195323
+v -0.13394698 -0.02422139 0.00203718
+v -0.13394387 -0.02215493 0.00195035
+v -0.13394387 -0.02215491 -0.00179538
+v -0.13394387 -0.02422137 -0.00161881
+v -0.12042165 -0.02422143 0.01455382
+v -0.12044971 -0.02215497 0.01466962
+v -0.12425352 -0.02215487 -0.01315414
+v -0.12370477 -0.02303385 -0.01278362
+v -0.11585709 -0.02422134 -0.01003947
+v -0.12011922 -0.02422143 0.01464066
+v -0.11719466 -0.02422144 0.01547723
+v -0.11891572 -0.02215498 0.01510672
+v -0.12258546 -0.02215487 -0.01340019
+v -0.12040295 -0.02215487 -0.01364914
+v -0.12040295 -0.02321632 -0.01305574
+v -0.11149831 -0.02422134 -0.01177918
+v -0.10677473 -0.02422144 0.01590564
+v -0.10677473 -0.02215498 0.01592302
+v -0.11586021 -0.02215487 -0.01361151
+v -0.11586021 -0.02334093 -0.01313679
+v -0.10752926 -0.02422134 -0.01182260
+v -0.10213534 -0.02422144 0.01589406
+v -0.10213534 -0.02215498 0.01591434
+v -0.11117093 -0.02215487 -0.01287915
+v -0.10213534 -0.02422134 -0.01123497
+v -0.11131747 -0.02307977 -0.01276915
+v -0.10213534 -0.02215488 -0.01124654
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 22
+f 1 22 26
+f 1 26 23
+f 1 23 18
+f 1 18 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 19
+f 3 19 24
+f 3 24 28
+f 3 28 25
+f 3 25 20
+f 3 20 15
+f 3 15 14
+f 3 14 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 12 18 19
+f 12 19 13
+f 15 20 21
+f 15 21 16
+f 16 21 17
+f 17 21 22
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 21 27 22
+f 22 27 26
+f 23 26 28
+f 23 28 24
+f 25 28 26
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_15.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.12040185 0.10668476 -0.01377814
+v -0.12040185 0.10359961 -0.01283007
+v -0.12326229 0.10380455 -0.01264647
+v -0.12484363 0.10662637 -0.01319123
+v -0.12801683 0.10810063 -0.01279393
+v -0.12494553 0.10994621 -0.01320928
+v -0.12040185 0.10992638 -0.01335074
+v -0.11586168 0.10964540 -0.01308287
+v -0.11586168 0.10668476 -0.01340192
+v -0.11586168 0.10395660 -0.01272172
+v -0.10213574 0.10223773 -0.01062088
+v -0.11156749 0.10223773 -0.01115963
+v -0.11181347 0.10223773 -0.01115963
+v -0.12489985 0.10223773 -0.01060583
+v -0.12923620 0.10223773 -0.00984435
+v -0.12801683 0.10956057 -0.01279393
+v -0.12938028 0.10223773 -0.00977513
+v -0.13253942 0.10812815 -0.00913101
+v -0.13272567 0.11122323 -0.00914605
+v -0.13231101 0.11349302 -0.00861933
+v -0.13103540 0.11349302 -0.00873069
+v -0.11098064 0.11349302 -0.00865846
+v -0.10907250 0.11349302 -0.00848088
+v -0.10877380 0.11349302 -0.00842369
+v -0.11252331 0.10929503 -0.01272771
+v -0.11327181 0.10428055 -0.01250200
+v -0.10213223 0.10668475 -0.01086466
+v -0.10213223 0.10224103 -0.01062088
+v -0.10213223 0.10223773 -0.01028077
+v -0.13169605 0.10223772 -0.00740040
+v -0.13287677 0.10223771 -0.00610920
+v -0.13687929 0.10223770 -0.00163665
+v -0.13662277 0.11217079 -0.00470059
+v -0.13662277 0.11349301 -0.00470058
+v -0.10662320 0.11349301 -0.00621751
+v -0.10213223 0.11022496 -0.00952229
+v -0.10213223 0.10223767 0.00645969
+v -0.13693200 0.10223770 -0.00144101
+v -0.13734315 0.11088384 -0.00238907
+v -0.13717448 0.11349300 -0.00210313
+v -0.10213223 0.11349297 0.00655303
+v -0.10213223 0.11154605 -0.00617840
+v -0.10213223 0.10658769 0.01610608
+v -0.10213574 0.10223763 0.01610607
+v -0.13761021 0.10223768 0.00211957
+v -0.13803191 0.11122319 0.00211960
+v -0.13763834 0.11349298 0.00211961
+v -0.10213223 0.11349293 0.01561251
+v -0.10213223 0.10668465 0.01610608
+v -0.12072514 0.10223763 0.01696687
+v -0.13760319 0.10223768 0.00220685
+v -0.13740640 0.10668469 0.00627008
+v -0.13685470 0.11079125 0.00602932
+v -0.13730449 0.11349298 0.00329644
+v -0.10213223 0.11122314 0.01608202
+v -0.10450421 0.11349293 0.01578406
+v -0.12220808 0.10470905 0.01686454
+v -0.12096410 0.10223763 0.01696988
+v -0.13739938 0.10223768 0.00375088
+v -0.13657709 0.10404247 0.00880432
+v -0.13653140 0.10668468 0.00872908
+v -0.13633461 0.10898973 0.00839501
+v -0.13709364 0.10237539 0.00613463
+v -0.13670359 0.11349297 0.00518358
+v -0.10223062 0.11122314 0.01608202
+v -0.12494553 0.10476304 0.01687959
+v -0.10677431 0.11349293 0.01576902
+v -0.12298117 0.10223763 0.01692473
+v -0.13709364 0.10223767 0.00602026
+v -0.13574777 0.10223766 0.00798264
+v -0.13214585 0.10223764 0.01274413
+v -0.13262376 0.10334498 0.01328590
+v -0.13492196 0.10668467 0.01080283
+v -0.13708311 0.10223767 0.00607745
+v -0.13264836 0.10668466 0.01325882
+v -0.13208260 0.10952631 0.01272008
+v -0.13282758 0.11349295 0.00974040
+v -0.12746863 0.10458454 0.01673813
+v -0.12746863 0.10410194 0.01673813
+v -0.12467144 0.10241061 0.01688561
+v -0.10904791 0.11349293 0.01573290
+v -0.11131799 0.11349293 0.01556435
+v -0.12443599 0.10223763 0.01688561
+v -0.12947164 0.10223764 0.01467943
+v -0.13102135 0.11349295 0.01160346
+v -0.12922215 0.11349294 0.01303613
+v -0.12656551 0.10223763 0.01637394
+v -0.12456601 0.10223763 0.01687658
+v -0.12936974 0.10223764 0.01473963
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 3 14 15
+f 3 15 5
+f 3 5 4
+f 5 16 6
+f 5 15 17
+f 5 17 18
+f 5 18 19
+f 5 19 16
+f 6 16 20
+f 6 20 21
+f 6 21 7
+f 7 22 23
+f 7 23 8
+f 7 21 22
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 26 10
+f 9 25 27
+f 9 27 28
+f 9 28 11
+f 9 11 26
+f 10 26 11
+f 11 28 29
+f 11 29 37
+f 11 37 44
+f 11 44 50
+f 11 50 58
+f 11 58 68
+f 11 68 83
+f 11 83 88
+f 11 88 87
+f 11 87 89
+f 11 89 84
+f 11 84 71
+f 11 71 70
+f 11 70 74
+f 11 74 69
+f 11 69 59
+f 11 59 51
+f 11 51 45
+f 11 45 38
+f 11 38 32
+f 11 32 31
+f 11 31 30
+f 11 30 17
+f 11 17 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 16 19 20
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 40
+f 20 40 47
+f 20 47 54
+f 20 54 64
+f 20 64 77
+f 20 77 85
+f 20 85 86
+f 20 86 82
+f 20 82 81
+f 20 81 67
+f 20 67 56
+f 20 56 48
+f 20 48 41
+f 20 41 35
+f 20 35 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 24 35 36
+f 24 36 25
+f 25 36 27
+f 27 36 42
+f 27 42 41
+f 27 41 48
+f 27 48 55
+f 27 55 49
+f 27 49 43
+f 27 43 37
+f 27 37 29
+f 27 29 28
+f 32 38 39
+f 32 39 33
+f 33 39 34
+f 34 39 40
+f 35 41 42
+f 35 42 36
+f 37 43 44
+f 38 45 39
+f 39 45 46
+f 39 46 40
+f 40 46 47
+f 43 49 50
+f 43 50 44
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 46 53 54
+f 46 54 47
+f 48 56 55
+f 49 55 50
+f 50 55 57
+f 50 57 58
+f 51 59 52
+f 52 60 61
+f 52 61 62
+f 52 62 53
+f 52 59 63
+f 52 63 60
+f 53 62 64
+f 53 64 54
+f 55 56 65
+f 55 65 66
+f 55 66 57
+f 56 67 66
+f 56 66 65
+f 57 66 58
+f 58 66 68
+f 59 69 63
+f 60 70 71
+f 60 71 72
+f 60 72 73
+f 60 73 61
+f 60 63 74
+f 60 74 70
+f 61 73 62
+f 62 73 75
+f 62 75 76
+f 62 76 77
+f 62 77 64
+f 63 69 74
+f 66 78 79
+f 66 79 80
+f 66 80 68
+f 66 67 81
+f 66 81 82
+f 66 82 78
+f 68 80 83
+f 71 84 72
+f 72 78 75
+f 72 75 73
+f 72 84 79
+f 72 79 78
+f 75 78 76
+f 76 85 77
+f 76 78 86
+f 76 86 85
+f 78 82 86
+f 79 87 88
+f 79 88 80
+f 79 84 89
+f 79 89 87
+f 80 88 83
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_16.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.11586043 0.08333390 -0.01360885
+v -0.11131711 0.08269933 -0.01307649
+v -0.11586043 0.07997269 -0.01360887
+v -0.12040024 0.08026259 -0.01353452
+v -0.12072301 0.08424501 -0.01334118
+v -0.12043884 0.09148444 -0.01198790
+v -0.10213223 0.09148444 -0.01109267
+v -0.10869987 0.08206076 -0.01255303
+v -0.11131711 0.08020113 -0.01307650
+v -0.10213223 0.08862019 -0.01114027
+v -0.10213223 0.07783785 -0.01115815
+v -0.10693516 0.07783785 -0.01165781
+v -0.11131711 0.07783785 -0.01209799
+v -0.11586043 0.07783785 -0.01175001
+v -0.12494707 0.08085708 -0.01301998
+v -0.12480323 0.08414081 -0.01292777
+v -0.12622061 0.08575728 -0.01224667
+v -0.12093702 0.09148444 -0.01185108
+v -0.10213223 0.09148434 0.01610915
+v -0.10869987 0.08095593 -0.01255303
+v -0.10213223 0.08408069 -0.01115218
+v -0.10213223 0.07954117 -0.01116113
+v -0.10213223 0.07944365 -0.01116113
+v -0.10213223 0.07783775 0.01607341
+v -0.13423019 0.07783783 -0.00626266
+v -0.12753624 0.08144489 -0.01257385
+v -0.12753624 0.08273140 -0.01257385
+v -0.12922727 0.08414080 -0.01136930
+v -0.13243040 0.08673919 -0.00883232
+v -0.12512951 0.09148444 -0.01061085
+v -0.10223046 0.09148434 0.01610915
+v -0.12149836 0.08672708 0.01677535
+v -0.12149836 0.08599631 0.01677535
+v -0.11629547 0.07783775 0.01649574
+v -0.13422668 0.07783782 -0.00282451
+v -0.13697022 0.08055779 -0.00202742
+v -0.13654570 0.08084235 -0.00449301
+v -0.13247952 0.08053376 -0.00887100
+v -0.13280229 0.08398448 -0.00915354
+v -0.13507219 0.08398447 -0.00668794
+v -0.13646500 0.08643592 -0.00439187
+v -0.12947636 0.09148442 -0.00624179
+v -0.10519502 0.09148434 0.01610618
+v -0.10677379 0.09148434 0.01610023
+v -0.12494707 0.08665627 0.01676345
+v -0.12494707 0.08597227 0.01676345
+v -0.11916530 0.07783775 0.01639760
+v -0.13419160 0.07783782 -0.00207799
+v -0.13704740 0.08095454 0.00211858
+v -0.13797361 0.08398444 0.00211859
+v -0.13752453 0.08398446 -0.00202741
+v -0.13660535 0.08398447 -0.00461197
+v -0.13685795 0.08680463 -0.00202740
+v -0.13076744 0.09148441 -0.00202738
+v -0.11131711 0.09148434 0.01601100
+v -0.12730118 0.08631561 0.01667720
+v -0.11586043 0.09148434 0.01588311
+v -0.12031604 0.09148434 0.01571359
+v -0.12730118 0.08613526 0.01667720
+v -0.12335779 0.07783775 0.01559159
+v -0.12892205 0.07783776 0.01348588
+v -0.13664745 0.08137134 0.00470909
+v -0.13715615 0.08402852 0.00616347
+v -0.13672112 0.08557018 0.00910493
+v -0.13672112 0.08681928 0.00910494
+v -0.13711054 0.08722141 0.00627055
+v -0.13722633 0.08721207 0.00211860
+v -0.13034995 0.09148439 0.00157435
+v -0.12518915 0.09148435 0.01432167
+v -0.13277422 0.08697290 0.01326879
+v -0.12736082 0.07783776 0.01423240
+v -0.12490146 0.07783775 0.01511275
+v -0.13277422 0.08480734 0.01326878
+v -0.12909395 0.09148438 0.00593449
+v -0.13028680 0.09148439 0.00211862
+f 1 2 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 8 20
+f 2 20 9
+f 2 7 10
+f 2 10 8
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 30
+f 6 30 42
+f 6 42 54
+f 6 54 68
+f 6 68 75
+f 6 75 74
+f 6 74 69
+f 6 69 58
+f 6 58 57
+f 6 57 55
+f 6 55 44
+f 6 44 43
+f 6 43 31
+f 6 31 19
+f 6 19 7
+f 7 19 24
+f 7 24 11
+f 7 11 23
+f 7 23 22
+f 7 22 21
+f 7 21 10
+f 8 10 21
+f 8 21 22
+f 8 22 23
+f 8 23 20
+f 9 20 11
+f 11 24 34
+f 11 34 47
+f 11 47 60
+f 11 60 72
+f 11 72 71
+f 11 71 61
+f 11 61 48
+f 11 48 35
+f 11 35 25
+f 11 25 14
+f 11 14 13
+f 11 13 12
+f 11 20 23
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 19 31 32
+f 19 32 33
+f 19 33 24
+f 24 33 34
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 27 39 28
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 34
+f 34 46 47
+f 35 48 36
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 36 48 49
+f 37 52 40
+f 37 40 38
+f 37 51 52
+f 38 40 39
+f 40 52 41
+f 41 52 51
+f 41 51 53
+f 41 53 42
+f 42 53 54
+f 44 55 45
+f 45 56 59
+f 45 59 46
+f 45 55 57
+f 45 57 58
+f 45 58 56
+f 46 59 47
+f 47 59 60
+f 48 61 49
+f 49 62 50
+f 49 61 62
+f 50 62 63
+f 50 63 64
+f 50 64 65
+f 50 65 66
+f 50 66 67
+f 50 67 51
+f 51 67 53
+f 53 67 54
+f 54 67 66
+f 54 66 68
+f 56 69 70
+f 56 70 73
+f 56 73 59
+f 56 58 69
+f 59 71 72
+f 59 72 60
+f 59 73 61
+f 59 61 71
+f 61 73 64
+f 61 64 62
+f 62 64 63
+f 64 73 70
+f 64 70 65
+f 65 74 66
+f 65 70 69
+f 65 69 74
+f 66 74 75
+f 66 75 68
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_17.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.12040044 -0.03405744 -0.01485716
+v -0.11149710 -0.02422154 -0.01178020
+v -0.10752989 -0.02422154 -0.01182345
+v -0.11586246 -0.03405744 -0.01439068
+v -0.11586246 -0.03784072 -0.01359057
+v -0.12040044 -0.03749194 -0.01376357
+v -0.12494547 -0.03405744 -0.01452043
+v -0.12494547 -0.03060771 -0.01360290
+v -0.11585893 -0.02422154 -0.01004094
+v -0.12863083 -0.03088643 -0.01315186
+v -0.10213575 -0.02422154 -0.01123649
+v -0.10213575 -0.03977959 -0.01120566
+v -0.11106727 -0.03977959 -0.01157019
+v -0.13417647 -0.03977961 -0.00595390
+v -0.12494547 -0.03703045 -0.01332180
+v -0.12794026 -0.03662684 -0.01276572
+v -0.12882108 -0.03405744 -0.01323529
+v -0.13394393 -0.02422157 -0.00161958
+v -0.13109360 -0.03405745 -0.01185130
+v -0.13308777 -0.03028331 -0.00956831
+v -0.10213575 -0.02422164 0.01589351
+v -0.10213575 -0.03977969 0.01580695
+v -0.13705146 -0.03977962 -0.00225603
+v -0.13547656 -0.03405746 -0.00707219
+v -0.13320404 -0.03405745 -0.00977840
+v -0.13671677 -0.02656557 -0.00096776
+v -0.13699509 -0.02626553 0.00211843
+v -0.13398269 -0.02422159 0.00195162
+v -0.13680483 -0.03058490 -0.00515991
+v -0.10631436 -0.02422164 0.01590278
+v -0.12040044 -0.02712763 0.01670289
+v -0.11797995 -0.02717333 0.01667199
+v -0.11797995 -0.02730888 0.01667199
+v -0.10559209 -0.03977969 0.01579150
+v -0.12040044 -0.02742006 0.01670289
+v -0.12299005 -0.02741854 0.01669362
+v -0.13723819 -0.03977964 0.00201025
+v -0.13812254 -0.02952031 0.00211842
+v -0.13748836 -0.03405748 -0.00202741
+v -0.13672733 -0.03405747 -0.00499620
+v -0.13731572 -0.02925071 -0.00222201
+v -0.13692111 -0.02650314 0.00627041
+v -0.13394393 -0.02422159 0.00203503
+v -0.13661458 -0.02688087 0.00883451
+v -0.10677591 -0.02422164 0.01590278
+v -0.12299005 -0.02716266 0.01669362
+v -0.10677591 -0.03977969 0.01576987
+v -0.12949051 -0.02952035 0.01475663
+v -0.13039952 -0.03977968 0.01314399
+v -0.12949051 -0.03977968 0.01335715
+v -0.12040044 -0.03859778 0.01488326
+v -0.13771738 -0.02952032 0.00627040
+v -0.13670619 -0.03977965 0.00423453
+v -0.13397917 -0.02637522 0.01029882
+v -0.12042158 -0.02422163 0.01455276
+v -0.13678722 -0.02952033 0.00913416
+v -0.13515242 -0.02952034 0.01121015
+v -0.13242540 -0.02671183 0.01298340
+v -0.11719425 -0.02422164 0.01547645
+v -0.12012210 -0.02422163 0.01463926
+v -0.12949051 -0.02623968 0.01367849
+v -0.12040044 -0.03977968 0.01449709
+v -0.13287990 -0.02952035 0.01328614
+v -0.13258747 -0.03242939 0.01306370
+v -0.13663924 -0.03229077 0.00891172
+v -0.13261213 -0.03977967 0.01041925
+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 2
+f 2 9 18
+f 2 18 28
+f 2 28 43
+f 2 43 55
+f 2 55 60
+f 2 60 59
+f 2 59 45
+f 2 45 30
+f 2 30 21
+f 2 21 11
+f 2 11 3
+f 2 8 10
+f 2 10 9
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 13 6
+f 5 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 10
+f 7 10 8
+f 9 10 18
+f 10 17 19
+f 10 19 20
+f 10 20 18
+f 11 21 22
+f 11 22 12
+f 12 22 34
+f 12 34 47
+f 12 47 62
+f 12 62 50
+f 12 50 49
+f 12 49 66
+f 12 66 53
+f 12 53 37
+f 12 37 23
+f 12 23 14
+f 12 14 13
+f 14 23 24
+f 14 24 25
+f 14 25 19
+f 14 19 16
+f 14 16 15
+f 16 19 17
+f 18 20 26
+f 18 26 27
+f 18 27 28
+f 19 25 20
+f 20 25 24
+f 20 24 29
+f 20 29 26
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 35
+f 22 35 36
+f 22 36 34
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 29
+f 26 29 41
+f 26 41 38
+f 26 38 27
+f 27 38 42
+f 27 42 28
+f 28 42 44
+f 28 44 43
+f 29 40 39
+f 29 39 41
+f 30 45 31
+f 31 35 33
+f 31 33 32
+f 31 45 46
+f 31 46 36
+f 31 36 35
+f 34 36 47
+f 36 46 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 47
+f 37 52 38
+f 37 53 52
+f 38 52 42
+f 38 41 39
+f 42 52 44
+f 43 44 54
+f 43 54 55
+f 44 52 56
+f 44 56 57
+f 44 57 58
+f 44 58 54
+f 45 59 46
+f 46 59 60
+f 46 60 55
+f 46 55 61
+f 46 61 58
+f 46 58 48
+f 47 51 62
+f 48 58 63
+f 48 63 49
+f 49 63 64
+f 49 64 65
+f 49 65 66
+f 50 62 51
+f 52 53 65
+f 52 65 56
+f 53 66 65
+f 54 58 55
+f 55 58 61
+f 56 65 57
+f 57 63 58
+f 57 65 64
+f 57 64 63
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_18.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.12494511 0.09710319 -0.01312428
+v -0.12489996 0.10223772 -0.01060489
+v -0.11181441 0.10223772 -0.01115886
+v -0.11156784 0.10223772 -0.01116181
+v -0.10213570 0.10223772 -0.01062257
+v -0.12040267 0.09632322 -0.01300054
+v -0.12494511 0.09409910 -0.01312429
+v -0.12767821 0.09660321 -0.01267935
+v -0.12923403 0.10223772 -0.00984466
+v -0.10213223 0.10223772 -0.01028076
+v -0.10213223 0.10214299 -0.01062257
+v -0.10213223 0.09316123 -0.01106756
+v -0.12040267 0.09416015 -0.01300054
+v -0.10213223 0.09148445 -0.01109113
+v -0.12043740 0.09148445 -0.01198985
+v -0.12093748 0.09148445 -0.01185136
+v -0.12513264 0.09148445 -0.01061083
+v -0.12767821 0.09488959 -0.01267935
+v -0.12937989 0.10223772 -0.00977394
+v -0.13258529 0.09760315 -0.00898721
+v -0.13248805 0.10055567 -0.00882219
+v -0.10213223 0.10223766 0.00645905
+v -0.10213223 0.09148435 0.01610923
+v -0.12947713 0.09148443 -0.00624097
+v -0.13213382 0.09500220 -0.00866604
+v -0.13169625 0.10223771 -0.00739896
+v -0.13657555 0.09927465 -0.00461147
+v -0.13657555 0.10029357 -0.00461146
+v -0.13401262 0.10135563 -0.00606709
+v -0.13287700 0.10223770 -0.00611128
+v -0.10213223 0.10214289 0.01610632
+v -0.10213570 0.10223762 0.01610632
+v -0.10213223 0.09296639 0.01611512
+v -0.11586024 0.09949983 0.01683119
+v -0.12040267 0.09929458 0.01689600
+v -0.10223294 0.09148435 0.01610923
+v -0.13068219 0.09148442 -0.00230133
+v -0.13638454 0.09521690 -0.00017385
+v -0.13273114 0.09443168 -0.00617908
+v -0.13571082 0.09624845 -0.00294073
+v -0.13688809 0.09769786 -0.00174439
+v -0.13760696 0.10214294 0.00211866
+v -0.13761044 0.10223767 0.00211866
+v -0.13693325 0.10223769 -0.00144087
+v -0.13687768 0.10223769 -0.00163535
+v -0.10213223 0.09760306 0.01611220
+v -0.11586024 0.10025138 0.01683119
+v -0.12072217 0.10223762 0.01696674
+v -0.12057631 0.10199236 0.01697852
+v -0.10213223 0.09306429 0.01611512
+v -0.12443461 0.10223762 0.01688718
+v -0.12456657 0.10223762 0.01687834
+v -0.12297603 0.09959877 0.01673689
+v -0.12031933 0.09148435 0.01571438
+v -0.11586024 0.09148435 0.01588234
+v -0.11131781 0.09148435 0.01600905
+v -0.10973768 0.09148435 0.01604146
+v -0.10677537 0.09148435 0.01609744
+v -0.10519524 0.09148435 0.01610628
+v -0.13076554 0.09148442 -0.00202729
+v -0.13638454 0.09521690 0.00053334
+v -0.13700270 0.09739154 0.00199488
+v -0.13709299 0.10223766 0.00602000
+v -0.13739860 0.10223767 0.00375110
+v -0.13760350 0.10223767 0.00220706
+v -0.12096179 0.10223762 0.01696969
+v -0.12297950 0.10223762 0.01692254
+v -0.12656691 0.10223762 0.01637152
+v -0.12519168 0.09148436 0.01432063
+v -0.13035227 0.09148440 0.00157350
+v -0.13603031 0.09573792 0.00329729
+v -0.13028628 0.09148440 0.00211862
+v -0.13313052 0.09422429 0.00627044
+v -0.13233871 0.09461688 0.01042224
+v -0.13677003 0.09876305 0.00465864
+v -0.13708258 0.10223766 0.00607894
+v -0.12947365 0.10223763 0.01468016
+v -0.13194282 0.09510211 0.01266168
+v -0.12909164 0.09148439 0.00593451
+v -0.12948754 0.09292853 0.01042223
+v -0.12939725 0.09148439 0.00496507
+v -0.13574902 0.10223765 0.00798246
+v -0.13214772 0.10223763 0.01274422
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 7
+f 1 7 18
+f 1 18 8
+f 1 8 9
+f 1 9 2
+f 2 9 19
+f 2 19 26
+f 2 26 30
+f 2 30 45
+f 2 45 44
+f 2 44 43
+f 2 43 65
+f 2 65 64
+f 2 64 63
+f 2 63 76
+f 2 76 82
+f 2 82 83
+f 2 83 77
+f 2 77 68
+f 2 68 52
+f 2 52 51
+f 2 51 67
+f 2 67 66
+f 2 66 48
+f 2 48 32
+f 2 32 22
+f 2 22 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 14
+f 6 14 13
+f 7 13 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 8 19 9
+f 8 18 20
+f 8 20 21
+f 8 21 19
+f 10 22 31
+f 10 31 46
+f 10 46 50
+f 10 50 33
+f 10 33 23
+f 10 23 14
+f 10 14 12
+f 10 12 11
+f 13 14 15
+f 14 23 36
+f 14 36 59
+f 14 59 58
+f 14 58 57
+f 14 57 56
+f 14 56 55
+f 14 55 54
+f 14 54 69
+f 14 69 79
+f 14 79 81
+f 14 81 72
+f 14 72 70
+f 14 70 60
+f 14 60 37
+f 14 37 24
+f 14 24 17
+f 14 17 16
+f 14 16 15
+f 17 24 25
+f 17 25 18
+f 18 25 20
+f 19 21 26
+f 20 25 27
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 21 30 26
+f 22 32 31
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 38
+f 25 38 40
+f 25 40 27
+f 27 40 38
+f 27 38 41
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 30
+f 31 32 47
+f 31 47 46
+f 32 48 49
+f 32 49 47
+f 33 50 47
+f 33 47 34
+f 34 47 49
+f 34 49 35
+f 35 49 51
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 59
+f 35 59 36
+f 37 60 38
+f 38 61 62
+f 38 62 41
+f 38 60 61
+f 41 62 42
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 43
+f 46 47 50
+f 48 66 49
+f 49 66 67
+f 49 67 51
+f 52 68 53
+f 53 68 54
+f 54 68 69
+f 60 70 61
+f 61 71 62
+f 61 70 72
+f 61 72 73
+f 61 73 74
+f 61 74 71
+f 62 71 75
+f 62 75 63
+f 63 75 76
+f 68 77 78
+f 68 78 69
+f 69 78 74
+f 69 74 80
+f 69 80 79
+f 71 74 78
+f 71 78 75
+f 72 81 73
+f 73 81 79
+f 73 79 74
+f 74 79 80
+f 75 78 76
+f 76 78 82
+f 77 83 78
+f 78 83 82
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_2.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.12494611 -0.01589737 -0.01475677
+v -0.12510798 -0.02078238 -0.01372961
+v -0.12856015 -0.01949835 -0.01316961
+v -0.12912320 -0.01589737 -0.01342639
+v -0.12841939 -0.01301116 -0.01300252
+v -0.12453086 -0.01144179 -0.01321289
+v -0.11627170 -0.00757972 -0.01295918
+v -0.11597258 -0.00757972 -0.01299322
+v -0.12040304 -0.01589737 -0.01465467
+v -0.12040304 -0.02043855 -0.01460210
+v -0.12425285 -0.02215487 -0.01315415
+v -0.13287096 -0.01892056 -0.00946930
+v -0.13139649 -0.01589738 -0.01205889
+v -0.12273615 -0.00903352 -0.01244869
+v -0.13274428 -0.01311105 -0.00934243
+v -0.13381759 -0.00757976 -0.00177471
+v -0.12040304 -0.00852562 -0.01272714
+v -0.11905173 -0.00757973 -0.01211145
+v -0.11393154 -0.00757972 -0.01286946
+v -0.11253096 -0.00764820 -0.01278902
+v -0.10213574 -0.00757973 -0.01127610
+v -0.11586349 -0.02043855 -0.01429889
+v -0.11586349 -0.02215487 -0.01361205
+v -0.12040304 -0.02215487 -0.01364608
+v -0.12258483 -0.02215487 -0.01339857
+v -0.13394427 -0.02215491 -0.00179642
+v -0.13666448 -0.01855391 -0.00486866
+v -0.13560174 -0.01589739 -0.00731283
+v -0.13333196 -0.01589738 -0.00998288
+v -0.13665393 -0.01322947 -0.00485007
+v -0.13707973 -0.01270588 -0.00202843
+v -0.13725568 -0.01254611 0.00212050
+v -0.13381759 -0.00757978 0.00188229
+v -0.11245354 -0.00757972 -0.01274880
+v -0.10213574 -0.00757983 0.01604619
+v -0.10213574 -0.01126204 -0.01128539
+v -0.10213574 -0.01135905 -0.01128539
+v -0.10213574 -0.01589738 -0.01127303
+v -0.10213574 -0.02043856 -0.01125449
+v -0.10213574 -0.02215488 -0.01124521
+v -0.11117262 -0.02215487 -0.01287879
+v -0.13394427 -0.02215493 0.00195030
+v -0.13712900 -0.01932293 0.00212048
+v -0.13694248 -0.01905184 -0.00202845
+v -0.13772019 -0.01589741 -0.00202844
+v -0.13683691 -0.01589740 -0.00523682
+v -0.13807913 -0.01589743 0.00212049
+v -0.13689674 -0.01298697 0.00626943
+v -0.13651317 -0.01338646 0.00869505
+v -0.12934138 -0.00757982 0.01371957
+v -0.10213574 -0.01145617 0.01603071
+v -0.10601372 -0.00757983 0.01605238
+v -0.12494611 -0.01692042 0.01685057
+v -0.12203587 -0.01752106 0.01676085
+v -0.12203587 -0.01835710 0.01676084
+v -0.10213574 -0.02215498 0.01591619
+v -0.13273021 -0.01890923 0.01337920
+v -0.13658354 -0.01852971 0.00891160
+v -0.13697064 -0.01900051 0.00626941
+v -0.12044879 -0.02215497 0.01466935
+v -0.13756184 -0.01589744 0.00626942
+v -0.13666800 -0.01589745 0.00903227
+v -0.13531669 -0.01589746 0.01110519
+v -0.13250499 -0.01280867 0.01312862
+v -0.12930619 -0.01574197 0.01584815
+v -0.12766984 -0.01715155 0.01680107
+v -0.12864109 -0.00757982 0.01394852
+v -0.13304340 -0.01589747 0.01363601
+v -0.10213574 -0.01589748 0.01599047
+v -0.10677383 -0.00757983 0.01605238
+v -0.12494611 -0.01850406 0.01685056
+v -0.10677383 -0.02215498 0.01592238
+v -0.12930619 -0.01927018 0.01468793
+v -0.12766984 -0.01842559 0.01680106
+v -0.11892153 -0.02215498 0.01510559
+v -0.12494611 -0.01465197 0.01644838
+v -0.12494611 -0.00757982 0.01492929
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 5
+f 5 14 6
+f 5 13 15
+f 5 15 16
+f 5 16 14
+f 6 14 17
+f 6 17 7
+f 7 17 18
+f 7 18 16
+f 7 16 33
+f 7 33 50
+f 7 50 67
+f 7 67 77
+f 7 77 70
+f 7 70 52
+f 7 52 35
+f 7 35 21
+f 7 21 34
+f 7 34 19
+f 7 19 8
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 24
+f 11 24 23
+f 11 23 41
+f 11 41 40
+f 11 40 56
+f 11 56 72
+f 11 72 75
+f 11 75 60
+f 11 60 42
+f 11 42 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 15
+f 14 16 18
+f 14 18 17
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 19 34 20
+f 20 34 21
+f 21 35 51
+f 21 51 69
+f 21 69 56
+f 21 56 40
+f 21 40 39
+f 21 39 38
+f 21 38 37
+f 21 37 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 28 46 30
+f 28 30 29
+f 30 46 45
+f 30 45 31
+f 31 45 47
+f 31 47 32
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 51
+f 42 57 58
+f 42 58 59
+f 42 59 43
+f 42 60 57
+f 43 59 47
+f 43 47 44
+f 44 47 45
+f 47 59 61
+f 47 61 48
+f 48 61 49
+f 49 61 62
+f 49 62 63
+f 49 63 64
+f 49 64 50
+f 50 65 66
+f 50 66 67
+f 50 64 68
+f 50 68 65
+f 51 55 69
+f 52 70 53
+f 53 70 66
+f 53 66 74
+f 53 74 71
+f 53 71 55
+f 53 55 54
+f 55 56 69
+f 55 71 56
+f 56 71 72
+f 57 68 63
+f 57 63 58
+f 57 60 73
+f 57 73 74
+f 57 74 68
+f 58 63 62
+f 58 62 61
+f 58 61 59
+f 60 75 74
+f 60 74 73
+f 63 68 64
+f 65 74 66
+f 65 68 74
+f 66 70 76
+f 66 76 77
+f 66 77 67
+f 70 77 76
+f 71 74 72
+f 72 74 75
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_3.obj

@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.13820189 -0.07491674 0.00211732
+v -0.13763698 -0.08278489 0.00211730
+v -0.13746397 -0.08278489 0.00294310
+v -0.13683551 -0.08278490 0.00586796
+v -0.13671899 -0.07365751 0.00905605
+v -0.13671899 -0.07175225 0.00905606
+v -0.13662720 -0.05848090 0.00889818
+v -0.13664837 -0.05844815 0.00877974
+v -0.13708619 -0.05774855 0.00626943
+v -0.13758400 -0.05651905 0.00231479
+v -0.13809243 -0.06130005 -0.00202481
+v -0.13797593 -0.07491672 -0.00202486
+v -0.13714621 -0.08278487 -0.00197553
+v -0.13580454 -0.08278491 0.00748008
+v -0.13508075 -0.06130010 0.01101038
+v -0.13381322 -0.08278492 0.01007593
+v -0.13274695 -0.07378256 0.01327060
+v -0.13261278 -0.05791827 0.01321802
+v -0.13396504 -0.05237511 0.00678928
+v -0.13609758 -0.05237510 0.00389074
+v -0.13731921 -0.05237510 0.00183446
+v -0.13732981 -0.05237510 0.00168970
+v -0.13784176 -0.05676016 -0.00202150
+v -0.13793708 -0.05844811 -0.00202150
+v -0.13793708 -0.05844811 -0.00202479
+v -0.13756636 -0.05844811 -0.00349544
+v -0.13708266 -0.06130004 -0.00598603
+v -0.13689199 -0.07491671 -0.00522937
+v -0.13515489 -0.08278486 -0.00625918
+v -0.13264809 -0.05844817 0.01322789
+v -0.13281050 -0.06130011 0.01329038
+v -0.12948811 -0.08278492 0.01193481
+v -0.12948811 -0.07453573 0.01388255
+v -0.12948811 -0.07037987 0.01476101
+v -0.13229855 -0.05237512 0.00868764
+v -0.12337647 -0.05414942 0.01679761
+v -0.12964699 -0.05654588 0.01431032
+v -0.12823472 -0.05391126 0.01346150
+v -0.13721328 -0.05237508 -0.00239326
+v -0.13617526 -0.06130003 -0.00805877
+v -0.13710031 -0.05237508 -0.00272884
+v -0.13677902 -0.05676015 -0.00513060
+v -0.13559623 -0.07491670 -0.00730210
+v -0.13337189 -0.08278485 -0.00845035
+v -0.10799319 -0.08278494 0.01560651
+v -0.12494057 -0.07037988 0.01565590
+v -0.12337647 -0.05495917 0.01679761
+v -0.12471813 -0.05237514 0.01452090
+v -0.12039655 -0.05382792 0.01683051
+v -0.12039655 -0.05237515 0.01610671
+v -0.13448405 -0.06130002 -0.01032890
+v -0.13634120 -0.05237507 -0.00415672
+v -0.13208671 -0.05864752 -0.01266154
+v -0.13220322 -0.06407157 -0.01283922
+v -0.13332952 -0.07491669 -0.00998021
+v -0.13270458 -0.08278485 -0.00925971
+v -0.10677863 -0.08278494 0.01578746
+v -0.12039655 -0.05494726 0.01683051
+v -0.11768851 -0.05394997 0.01673839
+v -0.10213223 -0.05237515 0.01578099
+v -0.11606791 -0.05237515 0.01629424
+v -0.13233739 -0.06130001 -0.01292475
+v -0.13460763 -0.05237507 -0.00593664
+v -0.12039655 -0.05237504 -0.01257268
+v -0.13112989 -0.05844807 -0.01290170
+v -0.12735557 -0.06329755 -0.01662606
+v -0.13441697 -0.05237507 -0.00610444
+v -0.13131349 -0.07491669 -0.01205623
+v -0.12735557 -0.06370539 -0.01662606
+v -0.12904677 -0.07491668 -0.01341173
+v -0.12822412 -0.07799190 -0.01300377
+v -0.13190665 -0.08278484 -0.00956897
+v -0.10213223 -0.08278494 0.01575785
+v -0.11768851 -0.05463170 0.01673839
+v -0.10213223 -0.07955492 0.01576444
+v -0.10213223 -0.05237515 0.01543883
+v -0.11597258 -0.05237504 -0.01295103
+v -0.12494057 -0.06055873 -0.01592527
+v -0.12948458 -0.05810869 -0.01331296
+v -0.12494057 -0.06282719 -0.01678070
+v -0.12494057 -0.06398523 -0.01678071
+v -0.12494057 -0.07491668 -0.01472775
+v -0.12494057 -0.07844738 -0.01367824
+v -0.12015646 -0.08278483 -0.01308275
+v -0.12994004 -0.08278484 -0.01031581
+v -0.10213223 -0.08278484 -0.01118439
+v -0.10213223 -0.05666487 -0.01119088
+v -0.10213576 -0.05237505 -0.01119415
+v -0.12146989 -0.06285100 -0.01677741
+v -0.12146989 -0.06398821 -0.01677742
+v -0.11586666 -0.07945657 -0.01406975
+v -0.11904076 -0.08278483 -0.01313210
+v -0.10799672 -0.08278484 -0.01206283
+v -0.11131911 -0.08226088 -0.01281296
+v -0.10213223 -0.06583990 -0.01119091
+v -0.11131911 -0.08278483 -0.01250041
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 2 13 29
+f 2 29 44
+f 2 44 56
+f 2 56 72
+f 2 72 85
+f 2 85 84
+f 2 84 92
+f 2 92 96
+f 2 96 93
+f 2 93 86
+f 2 86 73
+f 2 73 57
+f 2 57 45
+f 2 45 32
+f 2 32 16
+f 2 16 14
+f 2 14 4
+f 2 4 3
+f 4 14 5
+f 5 15 6
+f 5 14 16
+f 5 16 17
+f 5 17 15
+f 6 15 7
+f 7 15 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 9
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 28
+f 12 28 13
+f 13 28 29
+f 15 30 18
+f 15 17 31
+f 15 31 30
+f 16 32 17
+f 17 33 34
+f 17 34 31
+f 17 32 33
+f 18 35 19
+f 18 30 36
+f 18 36 37
+f 18 37 38
+f 18 38 35
+f 19 35 48
+f 19 48 50
+f 19 50 61
+f 19 61 60
+f 19 60 76
+f 19 76 88
+f 19 88 77
+f 19 77 64
+f 19 64 67
+f 19 67 63
+f 19 63 52
+f 19 52 41
+f 19 41 39
+f 19 39 22
+f 19 22 21
+f 19 21 20
+f 22 39 23
+f 23 39 26
+f 23 26 25
+f 23 25 24
+f 26 39 27
+f 27 40 28
+f 27 39 41
+f 27 41 42
+f 27 42 40
+f 28 40 43
+f 28 43 29
+f 29 43 44
+f 30 31 36
+f 31 34 36
+f 32 45 46
+f 32 46 33
+f 33 46 34
+f 34 46 47
+f 34 47 36
+f 35 38 48
+f 36 47 58
+f 36 58 49
+f 36 49 50
+f 36 50 48
+f 36 48 38
+f 36 38 37
+f 40 51 43
+f 40 42 52
+f 40 52 53
+f 40 53 51
+f 41 52 42
+f 43 51 54
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 45 57 46
+f 46 57 47
+f 47 57 58
+f 49 58 74
+f 49 74 59
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 51 53 62
+f 51 62 54
+f 52 63 53
+f 53 64 65
+f 53 65 66
+f 53 66 62
+f 53 63 67
+f 53 67 64
+f 54 68 55
+f 54 62 69
+f 54 69 68
+f 55 68 56
+f 56 68 70
+f 56 70 71
+f 56 71 72
+f 57 73 58
+f 58 73 74
+f 59 74 60
+f 60 74 75
+f 60 75 73
+f 60 73 86
+f 60 86 95
+f 60 95 87
+f 60 87 76
+f 62 66 69
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 65 79 66
+f 66 78 80
+f 66 80 81
+f 66 81 69
+f 66 79 78
+f 68 69 70
+f 69 81 82
+f 69 82 71
+f 69 71 70
+f 71 82 83
+f 71 83 84
+f 71 84 85
+f 71 85 72
+f 73 75 74
+f 76 87 88
+f 77 88 89
+f 77 89 80
+f 77 80 78
+f 80 89 90
+f 80 90 81
+f 81 90 91
+f 81 91 82
+f 82 91 84
+f 82 84 83
+f 84 91 92
+f 86 93 94
+f 86 94 91
+f 86 91 90
+f 86 90 95
+f 87 95 88
+f 88 95 90
+f 88 90 89
+f 91 94 92
+f 92 94 96
+f 93 96 94
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_4.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.12040107 0.02042065 -0.01493879
+v -0.11586472 0.02042065 -0.01450877
+v -0.11572009 0.00690622 -0.01421801
+v -0.11586472 0.00690622 -0.01422729
+v -0.12022117 0.00690622 -0.01383130
+v -0.12494447 0.01588478 -0.01395192
+v -0.12868007 0.01588478 -0.01315994
+v -0.12858130 0.02601717 -0.01317227
+v -0.12842256 0.02949787 -0.01302995
+v -0.12532543 0.02953624 -0.01347545
+v -0.11131779 0.03490254 -0.01229364
+v -0.10764921 0.03490253 -0.01186980
+v -0.10213223 0.03490253 -0.01115516
+v -0.10213223 0.03413788 -0.01115825
+v -0.10213223 0.00690621 -0.01123879
+v -0.12925152 0.00690620 -0.00731909
+v -0.12840140 0.01280148 -0.01291245
+v -0.13095177 0.01588477 -0.01177397
+v -0.13069426 0.02949786 -0.01188529
+v -0.12779114 0.03103540 -0.01266799
+v -0.12745250 0.03186036 -0.01246999
+v -0.11576595 0.03490253 -0.01173368
+v -0.10213223 0.03490243 0.01606310
+v -0.10213223 0.00690611 0.01545973
+v -0.13444398 0.00690618 -0.00335608
+v -0.13289541 0.01262332 -0.00944134
+v -0.13313528 0.01588477 -0.00969810
+v -0.13573856 0.02949785 -0.00765622
+v -0.13346686 0.02949786 -0.00980943
+v -0.13310000 0.03103538 -0.00938250
+v -0.13282133 0.03219744 -0.00906074
+v -0.13402773 0.03490251 -0.00610317
+v -0.10223099 0.03490243 0.01606310
+v -0.12252813 0.00915349 0.01666627
+v -0.10213223 0.03404185 0.01606619
+v -0.10213223 0.01125013 0.01607848
+v -0.10213575 0.00690611 0.01606300
+v -0.13696965 0.00690618 -0.00142561
+v -0.13668745 0.01292204 -0.00486887
+v -0.13540698 0.01588476 -0.00683335
+v -0.13704020 0.02949784 -0.00558036
+v -0.13696612 0.03103537 -0.00538855
+v -0.13688146 0.03264965 -0.00518745
+v -0.13578089 0.03490250 -0.00286099
+v -0.10677792 0.03490243 0.01602288
+v -0.12283855 0.00915349 0.01666627
+v -0.10213223 0.01588467 0.01608778
+v -0.10213223 0.02949776 0.01607855
+v -0.10213223 0.03103529 0.01607545
+v -0.12252813 0.00901646 0.01666627
+v -0.10213223 0.01578600 0.01608778
+v -0.10233329 0.00690611 0.01606300
+v -0.13698729 0.00690617 -0.00132971
+v -0.13723069 0.01138450 -0.00199794
+v -0.13808787 0.02949783 -0.00202571
+v -0.13776687 0.03103536 -0.00202571
+v -0.13725539 0.03343896 -0.00202570
+v -0.13605251 0.03490250 -0.00202569
+v -0.11800237 0.03490243 0.01543817
+v -0.12494447 0.02496189 0.01601975
+v -0.12283855 0.00901646 0.01666627
+v -0.12948433 0.02496189 0.01515351
+v -0.12461288 0.00690611 0.01581860
+v -0.13718131 0.00690616 0.00211975
+v -0.13787623 0.01134611 0.00211976
+v -0.13816900 0.02949781 0.00211674
+v -0.13776334 0.03103534 0.00211983
+v -0.13720246 0.03314569 0.00211984
+v -0.13357974 0.03490245 0.01000566
+v -0.12089844 0.03490243 0.01500815
+v -0.12948433 0.01134606 0.01502044
+v -0.12948433 0.00690612 0.01466156
+v -0.12225299 0.03490244 0.01459669
+v -0.13271551 0.02827541 0.01313335
+v -0.13319172 0.02496190 0.01352314
+v -0.13729419 0.01134610 0.00626840
+v -0.13633118 0.00690614 0.00804107
+v -0.13762224 0.02496193 0.00626845
+v -0.13762224 0.02949780 0.00626847
+v -0.13718483 0.03103259 0.00626847
+v -0.13680739 0.03235636 0.00626848
+v -0.13646169 0.03206583 0.00854543
+v -0.13324111 0.03490245 0.01050374
+v -0.13287777 0.01134607 0.01337769
+v -0.12956194 0.00690612 0.01462753
+v -0.13279664 0.03490245 0.01102039
+v -0.13680033 0.02949779 0.00908372
+v -0.13546694 0.02496191 0.01144109
+v -0.13638763 0.00814768 0.00850203
+v -0.13659927 0.01134609 0.00884544
+v -0.13690616 0.02496192 0.00936213
+v -0.13527293 0.00690613 0.00987562
+v -0.13659927 0.03103258 0.00876507
+v -0.13692732 0.03103532 0.00763278
+v -0.13255677 0.00690612 0.01312709
+v -0.13514947 0.01134608 0.01091511
+v -0.13509303 0.00690613 0.01013549
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 3
+f 3 15 24
+f 3 24 37
+f 3 37 52
+f 3 52 63
+f 3 63 72
+f 3 72 85
+f 3 85 95
+f 3 95 97
+f 3 97 92
+f 3 92 77
+f 3 77 64
+f 3 64 53
+f 3 53 38
+f 3 38 25
+f 3 25 16
+f 3 16 5
+f 3 5 4
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 9
+f 9 20 10
+f 9 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 32
+f 11 32 44
+f 11 44 58
+f 11 58 69
+f 11 69 83
+f 11 83 86
+f 11 86 73
+f 11 73 70
+f 11 70 59
+f 11 59 45
+f 11 45 33
+f 11 33 23
+f 11 23 13
+f 11 13 12
+f 13 23 35
+f 13 35 49
+f 13 49 48
+f 13 48 47
+f 13 47 51
+f 13 51 36
+f 13 36 24
+f 13 24 15
+f 13 15 14
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 21
+f 19 21 20
+f 21 31 32
+f 21 32 22
+f 23 33 46
+f 23 46 34
+f 23 34 35
+f 24 36 37
+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 27 40 28
+f 28 40 39
+f 28 39 41
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 30
+f 30 43 31
+f 31 43 32
+f 32 43 44
+f 33 45 46
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 34 46 61
+f 34 61 50
+f 34 50 51
+f 34 51 47
+f 36 51 50
+f 36 50 37
+f 37 50 61
+f 37 61 52
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 41
+f 41 55 42
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 45 59 60
+f 45 60 46
+f 46 60 62
+f 46 62 61
+f 52 61 63
+f 53 64 65
+f 53 65 54
+f 54 65 55
+f 55 65 66
+f 55 66 56
+f 56 66 57
+f 57 66 67
+f 57 67 68
+f 57 68 58
+f 58 68 69
+f 59 70 60
+f 60 70 62
+f 61 62 71
+f 61 71 72
+f 61 72 63
+f 62 70 73
+f 62 73 74
+f 62 74 75
+f 62 75 71
+f 64 76 65
+f 64 77 76
+f 65 78 66
+f 65 76 78
+f 66 78 79
+f 66 79 67
+f 67 79 68
+f 68 79 80
+f 68 80 81
+f 68 81 69
+f 69 81 82
+f 69 82 83
+f 71 75 84
+f 71 84 85
+f 71 85 72
+f 73 86 74
+f 74 86 87
+f 74 87 88
+f 74 88 75
+f 75 88 84
+f 76 77 89
+f 76 89 90
+f 76 90 91
+f 76 91 78
+f 77 92 89
+f 78 91 79
+f 79 91 87
+f 79 87 93
+f 79 93 94
+f 79 94 80
+f 80 94 81
+f 81 94 82
+f 82 86 83
+f 82 94 93
+f 82 93 86
+f 84 95 85
+f 84 88 96
+f 84 96 95
+f 86 93 87
+f 87 91 88
+f 88 91 90
+f 88 90 96
+f 89 92 90
+f 90 92 97
+f 90 97 96
+f 95 96 97
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_5.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.13824452 -0.09761969 0.00212020
+v -0.13772646 -0.08400089 0.00212025
+v -0.13762333 -0.08854047 -0.00203004
+v -0.13792102 -0.09761967 -0.00203007
+v -0.13744985 -0.10216307 -0.00209650
+v -0.13759988 -0.10216309 0.00232241
+v -0.13690836 -0.10087121 0.00627046
+v -0.13641374 -0.10003653 0.00848897
+v -0.13703494 -0.09754003 0.00655118
+v -0.13636920 -0.08602315 0.00843770
+v -0.13688023 -0.08430633 0.00617393
+v -0.13683803 -0.08278490 0.00587210
+v -0.13746392 -0.08278489 0.00294729
+v -0.13763738 -0.08278489 0.00212026
+v -0.13714980 -0.08278487 -0.00197568
+v -0.13679349 -0.08523963 -0.00502124
+v -0.13744751 -0.10216307 -0.00211159
+v -0.13681224 -0.09761966 -0.00503638
+v -0.13680287 -0.10066250 -0.00501526
+v -0.13746392 -0.10216309 0.00294420
+v -0.13645124 -0.10216310 0.00529551
+v -0.13641374 -0.09900075 0.00848898
+v -0.12933440 -0.10216313 0.01309199
+v -0.13189422 -0.10006311 0.01258491
+v -0.13212394 -0.08698307 0.01277813
+v -0.13381173 -0.08278492 0.01007670
+v -0.13580894 -0.08278491 0.00748090
+v -0.13212394 -0.08567791 0.01277814
+v -0.13515492 -0.08278486 -0.00625876
+v -0.13337103 -0.08278485 -0.00845011
+v -0.13270529 -0.08278485 -0.00925903
+v -0.13310614 -0.08854044 -0.00967258
+v -0.13537762 -0.08854045 -0.00695302
+v -0.13549014 -0.09761965 -0.00711302
+v -0.13287407 -0.10078958 -0.00953981
+v -0.13416804 -0.10216306 -0.00519335
+v -0.13321866 -0.09761964 -0.00988993
+v -0.12901794 -0.10216313 0.01320065
+v -0.12494849 -0.08854054 0.01531356
+v -0.12948911 -0.08501015 0.01346633
+v -0.12948911 -0.08278492 0.01193301
+v -0.13191062 -0.08278484 -0.00956992
+v -0.12863584 -0.08526426 -0.01317388
+v -0.13097296 -0.08854044 -0.01174922
+v -0.13122378 -0.09761964 -0.01196356
+v -0.12861240 -0.10055623 -0.01305019
+v -0.12987121 -0.10118037 -0.01068679
+v -0.11606416 -0.10216303 -0.01250085
+v -0.12494380 -0.10216313 0.01420275
+v -0.12494849 -0.10215933 0.01420275
+v -0.12040553 -0.10215933 0.01475209
+v -0.12040553 -0.08854054 0.01555201
+v -0.11429901 -0.08278493 0.01410322
+v -0.12494849 -0.08470094 0.01405190
+v -0.12938362 -0.08278492 0.01195414
+v -0.12994388 -0.08278484 -0.01031547
+v -0.12015236 -0.08278483 -0.01308332
+v -0.12494849 -0.08506317 -0.01338215
+v -0.12494849 -0.08854043 -0.01427863
+v -0.12494849 -0.09307813 -0.01448992
+v -0.12870148 -0.08854043 -0.01323427
+v -0.12895230 -0.09761963 -0.01328863
+v -0.12494849 -0.09761963 -0.01453522
+v -0.12494849 -0.10074025 -0.01334599
+v -0.11600321 -0.10216303 -0.01250085
+v -0.12040084 -0.10216313 0.01475209
+v -0.11429901 -0.10216314 0.01504488
+v -0.11429901 -0.09010369 0.01509624
+v -0.11429901 -0.08854054 0.01507209
+v -0.11997889 -0.08278493 0.01345125
+v -0.11429901 -0.08278483 -0.01270602
+v -0.11903654 -0.08278483 -0.01313463
+v -0.12040553 -0.09307812 -0.01528376
+v -0.12040553 -0.09761963 -0.01453220
+v -0.11429901 -0.10216304 -0.01200584
+v -0.11586022 -0.09307813 -0.01491853
+v -0.11429901 -0.09200062 -0.01428467
+v -0.11614854 -0.08278483 -0.01289618
+v -0.11665723 -0.08278483 -0.01293844
+v -0.11429901 -0.09317109 -0.01443257
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 17 5
+f 4 16 18
+f 4 18 19
+f 4 19 17
+f 5 17 36
+f 5 36 48
+f 5 48 65
+f 5 65 75
+f 5 75 67
+f 5 67 66
+f 5 66 49
+f 5 49 38
+f 5 38 23
+f 5 23 21
+f 5 21 20
+f 5 20 6
+f 6 20 7
+f 7 20 21
+f 7 21 8
+f 8 22 9
+f 8 21 23
+f 8 23 24
+f 8 24 25
+f 8 25 28
+f 8 28 22
+f 9 22 10
+f 10 26 27
+f 10 27 12
+f 10 12 11
+f 10 22 28
+f 10 28 26
+f 12 27 26
+f 12 26 41
+f 12 41 55
+f 12 55 70
+f 12 70 53
+f 12 53 71
+f 12 71 78
+f 12 78 79
+f 12 79 72
+f 12 72 57
+f 12 57 56
+f 12 56 42
+f 12 42 31
+f 12 31 30
+f 12 30 29
+f 12 29 15
+f 12 15 14
+f 12 14 13
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 18
+f 17 19 35
+f 17 35 36
+f 18 34 19
+f 19 34 37
+f 19 37 35
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 28
+f 26 28 40
+f 26 40 41
+f 28 39 40
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 37 33
+f 32 44 45
+f 32 45 37
+f 33 37 34
+f 35 37 45
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 36 47 48
+f 38 49 50
+f 38 50 39
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 40
+f 39 50 51
+f 40 55 41
+f 40 54 55
+f 42 56 43
+f 43 57 58
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 45
+f 43 45 44
+f 43 56 57
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 48
+f 46 48 47
+f 48 64 65
+f 49 66 51
+f 49 51 50
+f 51 66 67
+f 51 67 52
+f 52 67 68
+f 52 68 69
+f 52 69 53
+f 53 70 54
+f 53 69 68
+f 53 68 67
+f 53 67 75
+f 53 75 80
+f 53 80 77
+f 53 77 71
+f 54 70 55
+f 57 72 59
+f 57 59 58
+f 59 73 60
+f 59 72 73
+f 60 73 63
+f 60 63 62
+f 60 62 61
+f 63 73 74
+f 63 74 64
+f 64 74 65
+f 65 74 76
+f 65 76 75
+f 71 77 76
+f 71 76 78
+f 72 79 76
+f 72 76 73
+f 73 76 74
+f 75 76 80
+f 76 79 78
+f 76 77 80
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_6.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.12040089 0.04207919 -0.01374225
+v -0.11989187 0.05181155 -0.01339510
+v -0.11586181 0.05181155 -0.01355968
+v -0.11586181 0.03858408 -0.01373627
+v -0.12494699 0.03945951 -0.01354177
+v -0.12526997 0.04323430 -0.01336820
+v -0.12821878 0.04312342 -0.01291636
+v -0.12757988 0.04549156 -0.01249444
+v -0.13284914 0.04600124 -0.00927174
+v -0.12392544 0.05181154 -0.01033099
+v -0.11209153 0.05181155 -0.01295224
+v -0.11586181 0.03572775 -0.01287450
+v -0.12026398 0.03830441 -0.01356571
+v -0.10214275 0.05181154 -0.01115687
+v -0.10213223 0.04775874 -0.01115688
+v -0.10213223 0.03490692 -0.01115693
+v -0.10896718 0.03622422 -0.01243464
+v -0.11131922 0.03573438 -0.01278174
+v -0.13402516 0.03490690 -0.00610594
+v -0.12819070 0.04021745 -0.01299717
+v -0.11866319 0.03621429 -0.01255732
+v -0.13049009 0.04312341 -0.01170748
+v -0.13316509 0.04312341 -0.00963382
+v -0.13543989 0.04312340 -0.00722802
+v -0.13660889 0.04577782 -0.00487008
+v -0.13411995 0.05181150 -0.00126735
+v -0.11576352 0.03490692 -0.01173444
+v -0.11131922 0.03490693 -0.01229400
+v -0.10213223 0.05181145 0.01422973
+v -0.10213223 0.03490682 0.01606394
+v -0.10764371 0.03490692 -0.01187209
+v -0.13578392 0.03490689 -0.00285930
+v -0.13666506 0.04014626 -0.00473545
+v -0.13680197 0.04312339 -0.00515436
+v -0.13581552 0.05181149 0.00194638
+v -0.13772173 0.04312338 -0.00202742
+v -0.13703016 0.04638515 -0.00202741
+v -0.13691430 0.05181148 0.00627024
+v -0.10213223 0.05181144 0.01607298
+v -0.11763111 0.04966340 0.01673127
+v -0.11802428 0.03627541 0.01666539
+v -0.12040089 0.03624893 0.01668335
+v -0.10223052 0.03490682 0.01606394
+v -0.13605423 0.03490689 -0.00202745
+v -0.13699504 0.03934860 -0.00202744
+v -0.13799554 0.04312336 0.00211990
+v -0.13691781 0.05181148 0.00633607
+v -0.10222350 0.05181144 0.01607298
+v -0.12040089 0.05030219 0.01682703
+v -0.11763111 0.05017311 0.01673127
+v -0.12040089 0.04894353 0.01682703
+v -0.12278453 0.03626714 0.01667437
+v -0.10677311 0.03490682 0.01602804
+v -0.13648954 0.04046726 0.00864907
+v -0.13672825 0.04026868 0.00627020
+v -0.13700908 0.03958357 0.00211989
+v -0.13358284 0.03490684 0.01000755
+v -0.13755672 0.04312335 0.00627021
+v -0.13672825 0.05181147 0.00886455
+v -0.10638345 0.05181144 0.01605203
+v -0.10677311 0.05181144 0.01604904
+v -0.11092604 0.05181144 0.01597124
+v -0.12374640 0.05018304 0.01680010
+v -0.12089938 0.03490682 0.01501066
+v -0.11799971 0.03490682 0.01544155
+v -0.12742892 0.04504132 0.01670134
+v -0.12916311 0.04336658 0.01571986
+v -0.12948959 0.03858398 0.01436733
+v -0.13183461 0.03610166 0.01255698
+v -0.12948959 0.03560685 0.01312851
+v -0.13279649 0.03490684 0.01102193
+v -0.12455733 0.03535200 0.01462764
+v -0.13542234 0.04312333 0.01138104
+v -0.13678443 0.04312334 0.00930738
+v -0.13324232 0.03490684 0.01050427
+v -0.13670016 0.05181147 0.00912787
+v -0.11608999 0.05181144 0.01568099
+v -0.12937374 0.05181145 0.01406815
+v -0.13259287 0.05181145 0.01333504
+v -0.12677597 0.04911398 0.01650984
+v -0.12742892 0.04608721 0.01670134
+v -0.12225444 0.03490683 0.01459473
+v -0.12916311 0.04762459 0.01580964
+v -0.13324583 0.04766101 0.01362827
+v -0.13315105 0.04312332 0.01357140
+v -0.13551712 0.04766102 0.01119255
+v -0.13660187 0.05181147 0.00930741
+v -0.13294041 0.05181145 0.01314951
+v -0.13521171 0.05181146 0.01120452
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 26
+f 2 26 35
+f 2 35 38
+f 2 38 47
+f 2 47 59
+f 2 59 76
+f 2 76 87
+f 2 87 89
+f 2 89 88
+f 2 88 79
+f 2 79 78
+f 2 78 77
+f 2 77 62
+f 2 62 61
+f 2 61 60
+f 2 60 48
+f 2 48 39
+f 2 39 29
+f 2 29 14
+f 2 14 11
+f 2 11 3
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 12
+f 5 19 20
+f 5 20 7
+f 5 7 6
+f 5 13 12
+f 5 12 21
+f 5 21 19
+f 7 20 22
+f 7 22 8
+f 8 22 9
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 10
+f 12 27 19
+f 12 19 21
+f 12 18 28
+f 12 28 27
+f 14 29 15
+f 15 29 39
+f 15 39 30
+f 15 30 16
+f 16 30 43
+f 16 43 53
+f 16 53 65
+f 16 65 64
+f 16 64 82
+f 16 82 71
+f 16 71 75
+f 16 75 57
+f 16 57 44
+f 16 44 32
+f 16 32 19
+f 16 19 27
+f 16 27 28
+f 16 28 31
+f 16 31 18
+f 16 18 17
+f 18 31 28
+f 19 32 33
+f 19 33 24
+f 19 24 23
+f 19 23 20
+f 20 23 22
+f 24 33 34
+f 24 34 25
+f 25 35 26
+f 25 34 36
+f 25 36 37
+f 25 37 38
+f 25 38 35
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 32 44 33
+f 33 44 45
+f 33 45 36
+f 33 36 34
+f 36 45 46
+f 36 46 38
+f 36 38 37
+f 38 46 47
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 40 50 49
+f 40 49 51
+f 40 51 41
+f 41 51 42
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 44 54 55
+f 44 55 56
+f 44 56 46
+f 44 46 45
+f 44 57 54
+f 46 56 58
+f 46 58 59
+f 46 59 47
+f 48 60 49
+f 49 60 61
+f 49 61 62
+f 49 62 63
+f 49 63 51
+f 51 63 52
+f 52 64 65
+f 52 65 53
+f 52 63 66
+f 52 66 67
+f 52 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 64
+f 54 73 74
+f 54 74 58
+f 54 58 55
+f 54 57 75
+f 54 75 73
+f 55 58 56
+f 58 74 76
+f 58 76 59
+f 62 77 63
+f 63 77 78
+f 63 78 79
+f 63 79 80
+f 63 80 81
+f 63 81 66
+f 64 72 82
+f 66 81 83
+f 66 83 84
+f 66 84 85
+f 66 85 67
+f 67 85 69
+f 67 69 68
+f 69 85 73
+f 69 73 71
+f 69 71 70
+f 71 73 75
+f 71 82 72
+f 73 84 86
+f 73 86 74
+f 73 85 84
+f 74 86 87
+f 74 87 76
+f 79 88 84
+f 79 84 83
+f 79 83 80
+f 80 83 81
+f 84 88 89
+f 84 89 86
+f 86 89 87
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_7.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.12494530 0.00226128 -0.01463268
+v -0.12948957 -0.00115514 -0.01311561
+v -0.13195928 -0.00052431 -0.01254441
+v -0.12966597 0.00217623 -0.01332136
+v -0.12827235 0.00525101 -0.01298661
+v -0.12494530 0.00576418 -0.01364380
+v -0.12022462 0.00690110 -0.01383113
+v -0.11586029 0.00680187 -0.01426415
+v -0.11245561 -0.00757830 -0.01275019
+v -0.11393392 -0.00757830 -0.01286996
+v -0.11597319 -0.00757830 -0.01299280
+v -0.11626956 -0.00757830 -0.01295902
+v -0.13265785 -0.00477147 -0.00882852
+v -0.11905327 -0.00757831 -0.01211143
+v -0.13195928 0.00060552 -0.01254441
+v -0.13568501 -0.00337371 -0.00787650
+v -0.13634125 -0.00034713 -0.00830950
+v -0.13129951 0.00363210 -0.01191177
+v -0.12925318 0.00690108 -0.00732368
+v -0.13237560 0.00514042 -0.00914479
+v -0.13697278 0.00690106 -0.00142736
+v -0.13445015 0.00690106 -0.00335902
+v -0.11586029 0.00690110 -0.01422728
+v -0.11571211 0.00690110 -0.01421807
+v -0.10213223 0.00690109 -0.01124534
+v -0.10213223 -0.00672066 -0.01127610
+v -0.10213223 -0.00757831 -0.01127611
+v -0.13381861 -0.00757834 -0.00177444
+v -0.13668347 -0.00493875 -0.00510647
+v -0.13634125 0.00009091 -0.00830950
+v -0.13694809 -0.00202700 -0.00636557
+v -0.13682461 0.00115836 -0.00617823
+v -0.13742439 0.00268086 -0.00239475
+v -0.13698690 0.00690105 -0.00133830
+v -0.10213223 0.00690099 0.01546006
+v -0.10213223 -0.00757841 0.01604656
+v -0.13381861 -0.00757836 0.00188004
+v -0.13702923 -0.00542502 0.00211959
+v -0.13702218 -0.00539807 -0.00202933
+v -0.13808769 -0.00227792 -0.00202932
+v -0.13780190 0.00226122 0.00211962
+v -0.13718448 0.00690104 0.00211964
+v -0.10213575 0.00690099 0.01606505
+v -0.10213223 0.00680176 0.01606504
+v -0.10601320 -0.00757841 0.01605270
+v -0.10213223 -0.00691497 0.01604963
+v -0.11796660 -0.00010622 0.01667922
+v -0.12040102 -0.00027208 0.01674064
+v -0.13644710 -0.00471907 0.00863932
+v -0.13670817 -0.00499692 0.00626851
+v -0.12934138 -0.00757840 0.01372181
+v -0.13817589 -0.00227794 0.00211960
+v -0.13764666 -0.00227795 0.00626852
+v -0.13679639 0.00135961 0.00921362
+v -0.13633771 0.00690102 0.00804360
+v -0.12040102 0.00022975 0.01674064
+v -0.11796660 0.00005822 0.01667922
+v -0.12461718 0.00690099 0.01581937
+v -0.12494530 0.00025668 0.01673449
+v -0.10213223 0.00216336 0.01606503
+v -0.10677528 -0.00757841 0.01605270
+v -0.10213223 -0.00237439 0.01606194
+v -0.12494530 -0.00030894 0.01673449
+v -0.13258376 -0.00537828 0.01309227
+v -0.13548390 -0.00227797 0.01129268
+v -0.13678226 -0.00227796 0.00921668
+v -0.12864281 -0.00757840 0.01394600
+v -0.12909088 -0.00191225 0.01567499
+v -0.13255906 0.00690100 0.01312917
+v -0.13509934 0.00690101 0.01013495
+v -0.13516284 0.00690101 0.01004589
+v -0.13527927 0.00690101 0.00987391
+v -0.12948957 0.00690100 0.01466160
+v -0.12731269 0.00009224 0.01667615
+v -0.12731269 -0.00015726 0.01667615
+v -0.12494530 -0.00757840 0.01492872
+v -0.13321177 -0.00227798 0.01360207
+v -0.12956365 0.00690100 0.01462782
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 13 3
+f 2 12 14
+f 2 14 13
+f 3 15 4
+f 3 13 16
+f 3 16 17
+f 3 17 30
+f 3 30 15
+f 4 15 18
+f 4 18 5
+f 5 19 7
+f 5 7 6
+f 5 18 20
+f 5 20 21
+f 5 21 22
+f 5 22 19
+f 7 23 8
+f 7 19 22
+f 7 22 21
+f 7 21 34
+f 7 34 42
+f 7 42 55
+f 7 55 72
+f 7 72 71
+f 7 71 70
+f 7 70 69
+f 7 69 78
+f 7 78 73
+f 7 73 58
+f 7 58 43
+f 7 43 35
+f 7 35 25
+f 7 25 24
+f 7 24 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 9
+f 9 27 36
+f 9 36 45
+f 9 45 61
+f 9 61 76
+f 9 76 67
+f 9 67 51
+f 9 51 37
+f 9 37 28
+f 9 28 14
+f 9 14 12
+f 9 12 11
+f 9 11 10
+f 13 28 29
+f 13 29 16
+f 13 14 28
+f 15 30 18
+f 16 29 31
+f 16 31 17
+f 17 31 30
+f 18 30 20
+f 20 30 21
+f 21 30 32
+f 21 32 33
+f 21 33 34
+f 25 35 44
+f 25 44 60
+f 25 60 62
+f 25 62 46
+f 25 46 36
+f 25 36 27
+f 25 27 26
+f 28 37 38
+f 28 38 39
+f 28 39 29
+f 29 39 40
+f 29 40 31
+f 30 31 40
+f 30 40 32
+f 32 40 33
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 35 43 44
+f 36 46 47
+f 36 47 48
+f 36 48 45
+f 37 49 50
+f 37 50 38
+f 37 51 49
+f 38 50 52
+f 38 52 39
+f 39 52 40
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 43 56 57
+f 43 57 44
+f 43 58 59
+f 43 59 56
+f 44 57 47
+f 44 47 60
+f 45 48 61
+f 46 62 47
+f 47 57 56
+f 47 56 48
+f 47 62 60
+f 48 56 59
+f 48 59 63
+f 48 63 61
+f 49 64 65
+f 49 65 66
+f 49 66 53
+f 49 53 50
+f 49 51 64
+f 50 53 52
+f 51 67 68
+f 51 68 64
+f 53 66 54
+f 54 65 69
+f 54 69 70
+f 54 70 71
+f 54 71 72
+f 54 72 55
+f 54 66 65
+f 58 73 74
+f 58 74 59
+f 59 74 75
+f 59 75 63
+f 61 63 75
+f 61 75 76
+f 64 77 65
+f 64 68 77
+f 65 77 69
+f 67 76 68
+f 68 76 75
+f 68 75 77
+f 69 77 74
+f 69 74 78
+f 73 78 74
+f 74 77 75
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_8.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.10677367 -0.08400382 0.01578896
+v -0.10213223 -0.08278897 0.01575939
+v -0.10677367 -0.08278897 0.01578602
+v -0.11429548 -0.09010231 0.01509666
+v -0.10677367 -0.11123918 0.01578295
+v -0.10213223 -0.11123918 0.01577407
+v -0.10213223 -0.10669861 0.01577409
+v -0.10213223 -0.08278887 -0.01118629
+v -0.10798940 -0.08278897 0.01560851
+v -0.11429548 -0.08854036 0.01507004
+v -0.11429548 -0.10216207 0.01504632
+v -0.11429548 -0.10371999 0.01502265
+v -0.11429548 -0.10669860 0.01493685
+v -0.11131629 -0.11577975 0.01499894
+v -0.10677367 -0.11577975 0.01546341
+v -0.10213223 -0.11133605 0.01576816
+v -0.10799416 -0.08278887 -0.01206791
+v -0.10213223 -0.08844340 -0.01118927
+v -0.11429548 -0.09317365 -0.01443472
+v -0.11429548 -0.09200320 -0.01428384
+v -0.11131629 -0.08278896 0.01482156
+v -0.11253202 -0.08278896 0.01452867
+v -0.11429548 -0.08278896 0.01410265
+v -0.11429548 -0.11577974 0.01441612
+v -0.11429548 -0.11948888 0.01365282
+v -0.10213223 -0.11577975 0.01543975
+v -0.11131629 -0.08278886 -0.01250280
+v -0.10213223 -0.08854026 -0.01118928
+v -0.11429548 -0.11002825 -0.01310051
+v -0.10213223 -0.10216197 -0.01118341
+v -0.10213223 -0.10669851 -0.01117750
+v -0.10213223 -0.11123908 -0.01115977
+v -0.10213223 -0.11568278 -0.01105919
+v -0.10213223 -0.11577965 -0.01105624
+v -0.11429548 -0.08278886 -0.01270694
+v -0.11225577 -0.08278886 -0.01257085
+v -0.11429548 -0.12151094 0.01046359
+v -0.10213223 -0.11893594 0.01380075
+v -0.10222987 -0.11577965 -0.01105624
+v -0.10677367 -0.11935157 -0.00957406
+v -0.11040777 -0.11889147 -0.00911550
+v -0.11343697 -0.11757571 -0.00808003
+v -0.11429548 -0.11694608 -0.00745579
+v -0.10213223 -0.11931928 -0.00964211
+v -0.11429548 -0.12401730 0.00152311
+v -0.10213223 -0.11894805 0.01372974
+v -0.10222987 -0.11939596 -0.00960957
+v -0.11429548 -0.12386393 -0.00103299
+v -0.11429548 -0.12331905 -0.00162469
+v -0.11429548 -0.12019512 -0.00457130
+v -0.11429548 -0.11887129 -0.00579611
+v -0.10213223 -0.11939596 -0.00960957
+v -0.11429548 -0.12401729 0.00049356
+v -0.10213223 -0.12040096 -0.00618071
+v -0.10213223 -0.11940412 0.01041923
+v -0.10213223 -0.12038078 -0.00625171
+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 17
+f 2 17 27
+f 2 27 36
+f 2 36 35
+f 2 35 23
+f 2 23 22
+f 2 22 21
+f 2 21 9
+f 2 9 3
+f 2 7 6
+f 2 6 16
+f 2 16 26
+f 2 26 38
+f 2 38 46
+f 2 46 55
+f 2 55 54
+f 2 54 56
+f 2 56 52
+f 2 52 44
+f 2 44 34
+f 2 34 33
+f 2 33 32
+f 2 32 31
+f 2 31 30
+f 2 30 28
+f 2 28 18
+f 2 18 8
+f 3 9 10
+f 3 10 4
+f 4 10 23
+f 4 23 35
+f 4 35 20
+f 4 20 19
+f 4 19 29
+f 4 29 43
+f 4 43 51
+f 4 51 50
+f 4 50 49
+f 4 49 48
+f 4 48 53
+f 4 53 45
+f 4 45 37
+f 4 37 25
+f 4 25 24
+f 4 24 13
+f 4 13 12
+f 4 12 11
+f 4 11 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 11 12
+f 8 18 19
+f 8 19 20
+f 8 20 17
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 13 24 14
+f 14 25 15
+f 14 24 25
+f 15 26 16
+f 15 25 26
+f 17 20 27
+f 18 28 19
+f 19 28 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 29
+f 20 35 36
+f 20 36 27
+f 25 37 38
+f 25 38 26
+f 29 34 39
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 34 44 39
+f 37 45 38
+f 38 45 46
+f 39 44 40
+f 40 44 47
+f 40 47 48
+f 40 48 41
+f 41 48 49
+f 41 49 42
+f 42 49 50
+f 42 50 51
+f 42 51 43
+f 44 52 47
+f 45 53 54
+f 45 54 55
+f 45 55 46
+f 47 52 48
+f 48 52 56
+f 48 56 54
+f 48 54 53
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_9.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.12460229 0.05709631 -0.01369605
+v -0.12494701 0.05340426 -0.01350425
+v -0.12903439 0.05674408 -0.01333641
+v -0.12855249 0.05978399 -0.01309064
+v -0.11582602 0.06484924 -0.01340231
+v -0.12040234 0.05600771 -0.01366308
+v -0.11586120 0.05220335 -0.01367509
+v -0.12830274 0.05396706 -0.01296179
+v -0.12010335 0.05210508 -0.01351325
+v -0.11989230 0.05181155 -0.01339637
+v -0.13130321 0.05674407 -0.01205369
+v -0.13302681 0.06004559 -0.00951223
+v -0.13734986 0.06484920 -0.00224450
+v -0.13402930 0.06484921 -0.00445928
+v -0.11113010 0.06484924 -0.01296175
+v -0.11209390 0.05181155 -0.01295281
+v -0.11586120 0.05181155 -0.01355820
+v -0.10979343 0.06484924 -0.01276395
+v -0.10214278 0.05181154 -0.01115461
+v -0.12968514 0.05345402 -0.01054022
+v -0.13281927 0.05387515 -0.00929347
+v -0.12392341 0.05181154 -0.01033044
+v -0.13350519 0.05674407 -0.00997977
+v -0.13577752 0.05674406 -0.00749826
+v -0.13682575 0.06006983 -0.00509466
+v -0.13695941 0.05674405 -0.00542134
+v -0.13781066 0.05674404 -0.00202874
+v -0.13806744 0.05674402 0.00211910
+v -0.13747298 0.06484918 0.00234091
+v -0.10213223 0.06484923 -0.01115157
+v -0.10213223 0.05684106 -0.01115459
+v -0.10213223 0.05220334 -0.01115461
+v -0.10213223 0.05181145 0.01422994
+v -0.13412076 0.05181150 -0.00126753
+v -0.13665690 0.05406657 -0.00487290
+v -0.13686093 0.05367222 -0.00202875
+v -0.13695941 0.05289754 0.00211908
+v -0.13691369 0.05181148 0.00626992
+v -0.13691721 0.05181148 0.00633585
+v -0.13788102 0.05674401 0.00626994
+v -0.13667801 0.05993706 0.00896425
+v -0.13502477 0.06484915 0.01016606
+v -0.10213223 0.06484913 0.01607614
+v -0.10213223 0.05181144 0.01607309
+v -0.13581622 0.05181149 0.00194525
+v -0.13673077 0.05181147 0.00886532
+v -0.13696645 0.05674399 0.00955764
+v -0.13669912 0.05181147 0.00912905
+v -0.13530265 0.05674399 0.01163456
+v -0.13254139 0.06484914 0.01309713
+v -0.10213223 0.05664570 0.01607611
+v -0.11605466 0.06484913 0.01632489
+v -0.12040234 0.06402981 0.01692129
+v -0.11675816 0.06392389 0.01685235
+v -0.10222368 0.05181144 0.01607309
+v -0.11675816 0.06235671 0.01685235
+v -0.12049028 0.06101797 0.01688830
+v -0.13660063 0.05181147 0.00930887
+v -0.13521119 0.05181146 0.01120597
+v -0.13293887 0.05181145 0.01315102
+v -0.13303032 0.05674398 0.01325594
+v -0.13282630 0.06128216 0.01336385
+v -0.12948816 0.06128215 0.01526994
+v -0.13182732 0.06484914 0.01350472
+v -0.12040234 0.06484913 0.01635186
+v -0.12288572 0.06484913 0.01617204
+v -0.12434551 0.06484913 0.01604917
+v -0.12343095 0.06381796 0.01680440
+v -0.12409224 0.06128215 0.01679541
+v -0.10638493 0.05181144 0.01605211
+v -0.12380381 0.05894159 0.01668751
+v -0.13259063 0.05181145 0.01333683
+v -0.12636106 0.06128215 0.01647473
+v -0.12881982 0.06484914 0.01484437
+v -0.12948816 0.06484914 0.01458363
+v -0.10677538 0.05181144 0.01604912
+v -0.12937208 0.05181145 0.01406810
+v -0.11608984 0.05181144 0.01568049
+v -0.11092608 0.05181144 0.01597119
+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 3
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 3 8 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 15 7
+f 5 7 6
+f 5 14 13
+f 5 13 29
+f 5 29 42
+f 5 42 50
+f 5 50 64
+f 5 64 75
+f 5 75 74
+f 5 74 67
+f 5 67 66
+f 5 66 65
+f 5 65 52
+f 5 52 43
+f 5 43 30
+f 5 30 18
+f 5 18 15
+f 7 16 17
+f 7 17 9
+f 7 15 18
+f 7 18 19
+f 7 19 16
+f 8 20 21
+f 8 21 11
+f 8 10 20
+f 9 17 10
+f 10 17 16
+f 10 16 19
+f 10 19 33
+f 10 33 44
+f 10 44 55
+f 10 55 70
+f 10 70 76
+f 10 76 79
+f 10 79 78
+f 10 78 77
+f 10 77 72
+f 10 72 60
+f 10 60 59
+f 10 59 58
+f 10 58 48
+f 10 48 46
+f 10 46 39
+f 10 39 38
+f 10 38 45
+f 10 45 34
+f 10 34 22
+f 10 22 20
+f 11 21 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 20 22 21
+f 21 34 35
+f 21 35 24
+f 21 24 23
+f 21 22 34
+f 24 35 26
+f 24 26 25
+f 26 35 27
+f 27 35 36
+f 27 36 37
+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 42
+f 30 43 51
+f 30 51 44
+f 30 44 33
+f 30 33 32
+f 30 32 31
+f 34 45 35
+f 35 38 36
+f 35 45 38
+f 36 38 37
+f 39 46 40
+f 40 47 41
+f 40 46 48
+f 40 48 47
+f 41 47 42
+f 42 49 50
+f 42 47 49
+f 43 52 53
+f 43 53 54
+f 43 54 56
+f 43 56 51
+f 44 51 56
+f 44 56 57
+f 44 57 55
+f 47 58 59
+f 47 59 49
+f 47 48 58
+f 49 59 60
+f 49 60 61
+f 49 61 62
+f 49 62 50
+f 50 62 63
+f 50 63 64
+f 52 65 53
+f 53 65 66
+f 53 66 67
+f 53 67 68
+f 53 68 69
+f 53 69 57
+f 53 57 56
+f 53 56 54
+f 55 57 71
+f 55 71 70
+f 57 69 71
+f 60 72 61
+f 61 72 63
+f 61 63 62
+f 63 73 74
+f 63 74 75
+f 63 75 64
+f 63 72 73
+f 67 74 68
+f 68 74 73
+f 68 73 69
+f 69 73 71
+f 70 71 76
+f 71 73 72
+f 71 72 77
+f 71 77 78
+f 71 78 79
+f 71 79 76
+

dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06e2255476e9918b611cc5f7dad3903c8dbbd1232b0c701c5da773c29a6fef47
+size 311258