Add asset bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588

.gitattributes

@@ -2780,5 +2780,6 @@ dataset/bedroom_supplies/storage/72e82fe5cde854519099e1bc64d8ccea/mesh/glasses_c
 dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/72470241ed5155b8bce4153f3d51143b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/72470241ed5155b8bce4153f3d51143b/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/glasses_case_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/741dbbe0ce825962aa0e4dfb65a3ced4/mesh/glasses_case_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/782d56af9ed8535ba01608f3bb182588.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/782d56af9ed8535ba01608f3bb182588.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wicker_basket">
+   <link name="wicker_basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wicker_basket.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/wicker_basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.347760</scale>
+         <version>v0.1.7</version>
+         <category>wicker basket</category>
+         <description>cylindrical wicker basket with a solid rim and woven texture</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260120112657</generate_time>
+         <gs_model>mesh/wicker_basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.154906749725342</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/782d56af9ed8535ba01608f3bb182588.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8efdb974ab20dfca118d8891f4e7f236eccf8ed44cf7b5ae19f27b02e8519952
+size 986856

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/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/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mesh/wicker_basket.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1f327d044cf3bfc9544ac6533f60060cdc9e4f63555bcf2462cdd3525059574
+size 3844972

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mesh/wicker_basket_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e6190513f7a91a6d0cecef514ebbb028818230c29235ca8dfca83823f61f13
+size 5654122

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/782d56af9ed8535ba01608f3bb182588.xml

@@ -0,0 +1,114 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wicker_basket">
+  <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/wicker_basket.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wicker_basket_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wicker_basket_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wicker_basket_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wicker_basket_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wicker_basket_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wicker_basket_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wicker_basket_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wicker_basket_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wicker_basket_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wicker_basket_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wicker_basket_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wicker_basket_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wicker_basket_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wicker_basket_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wicker_basket_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wicker_basket_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wicker_basket_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wicker_basket_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/wicker_basket_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wicker_basket_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/wicker_basket_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/wicker_basket_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/wicker_basket_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/wicker_basket_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/wicker_basket_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/wicker_basket_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/wicker_basket_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/wicker_basket_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/wicker_basket_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/wicker_basket_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/wicker_basket_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/wicker_basket_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/wicker_basket_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/wicker_basket_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/wicker_basket_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/wicker_basket_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/wicker_basket_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/wicker_basket_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/wicker_basket_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/wicker_basket_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/wicker_basket_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/wicker_basket_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/wicker_basket_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/wicker_basket_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/wicker_basket_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/wicker_basket_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/wicker_basket_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/wicker_basket_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/wicker_basket_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/wicker_basket_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wicker_basket">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_0.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.00012265 -0.12806342 -0.13518990
+v -0.00012265 -0.13937326 -0.14665499
+v -0.00012265 -0.12806347 -0.12322898
+v 0.05500857 -0.12806337 -0.14866840
+v -0.00012265 -0.14067209 -0.14762767
+v -0.00012265 -0.14048536 -0.12147713
+v 0.04970819 -0.12806347 -0.12147708
+v 0.05940647 -0.12806337 -0.14911796
+v -0.00012265 -0.14223482 -0.14878561
+v -0.00012265 -0.15835165 -0.12147719
+v 0.06993562 -0.12806347 -0.12147708
+v 0.06371124 -0.12806337 -0.14881009
+v 0.05936349 -0.12879284 -0.14916428
+v -0.00012265 -0.14595931 -0.14907989
+v -0.00012265 -0.15751835 -0.13404024
+v 0.00296447 -0.15758655 -0.13404024
+v 0.00296447 -0.15835165 -0.12147719
+v 0.06878242 -0.13224462 -0.12147710
+v 0.07285800 -0.12806341 -0.13830954
+v 0.06437737 -0.12806337 -0.14865206
+v 0.06344622 -0.12879284 -0.14876922
+v 0.05417054 -0.13496376 -0.14913434
+v 0.04244522 -0.14023913 -0.14931146
+v 0.00296447 -0.14595931 -0.14906627
+v 0.00296447 -0.14920935 -0.14865214
+v -0.00012265 -0.14743309 -0.14889189
+v 0.03680102 -0.14433726 -0.14904991
+v -0.00012265 -0.15677403 -0.13717078
+v 0.00296447 -0.15617798 -0.13976730
+v 0.00860867 -0.15611868 -0.13976730
+v 0.00860867 -0.15751538 -0.13404024
+v 0.01424571 -0.15729002 -0.13404024
+v 0.01988991 -0.15693713 -0.13404024
+v 0.02552694 -0.15648344 -0.13404023
+v 0.03680102 -0.15558201 -0.12147718
+v 0.06843145 -0.13324988 -0.12147710
+v 0.07305139 -0.12806341 -0.13976720
+v 0.06655483 -0.12806338 -0.14784013
+v 0.06226438 -0.13172855 -0.14839323
+v 0.05936349 -0.13298586 -0.14876651
+v 0.05259475 -0.13847178 -0.14891911
+v 0.04771695 -0.14032216 -0.14904717
+v 0.01424571 -0.14595931 -0.14901450
+v 0.00860867 -0.14911445 -0.14857858
+v 0.00296447 -0.15207094 -0.14564148
+v -0.00012265 -0.15051708 -0.14729530
+v -0.00012265 -0.14921824 -0.14865759
+v 0.04244522 -0.14375605 -0.14878290
+v 0.01785570 -0.14890984 -0.14843145
+v 0.01424571 -0.14901066 -0.14850229
+v -0.00012265 -0.15613350 -0.13976730
+v -0.00012265 -0.15532692 -0.14139387
+v 0.00296447 -0.15464488 -0.14277796
+v 0.00860867 -0.15458854 -0.14269623
+v 0.01163133 -0.15455592 -0.14264991
+v 0.01380878 -0.15572428 -0.14024410
+v 0.01988991 -0.15583993 -0.13924963
+v 0.02552694 -0.15559973 -0.13871561
+v 0.03117114 -0.15530913 -0.13819521
+v 0.03680102 -0.15489694 -0.13753042
+v 0.03117114 -0.15594967 -0.13404023
+v 0.03990246 -0.15461821 -0.13705362
+v 0.03750296 -0.15542484 -0.12147718
+v 0.06698459 -0.13611145 -0.12147711
+v 0.07218471 -0.12953719 -0.13976721
+v 0.06891135 -0.13314305 -0.14378053
+v 0.07151857 -0.12806339 -0.14429545
+v 0.07072351 -0.12806339 -0.14494390
+v 0.06626116 -0.12879285 -0.14771480
+v 0.05936349 -0.13584745 -0.14773391
+v 0.05635516 -0.13717000 -0.14828972
+v 0.06485727 -0.13434401 -0.14568774
+v 0.05417054 -0.14032217 -0.14735520
+v 0.04935721 -0.14228524 -0.14785926
+v 0.04559680 -0.14324304 -0.14846412
+v 0.00860867 -0.15197605 -0.14555974
+v -0.00012265 -0.15324819 -0.14432551
+v -0.00012265 -0.15207984 -0.14562242
+v 0.04244522 -0.14661763 -0.14653241
+v 0.03680102 -0.14719885 -0.14711547
+v 0.02161611 -0.14847098 -0.14824890
+v 0.03680102 -0.15026207 -0.14424921
+v 0.01979679 -0.15089664 -0.14600384
+v 0.01539174 -0.15444324 -0.14247281
+v 0.01380878 -0.15234672 -0.14493309
+v -0.00012265 -0.15463005 -0.14275889
+v 0.01988991 -0.15421194 -0.14211317
+v 0.03117114 -0.15342909 -0.14106146
+v 0.03680102 -0.15312366 -0.14039666
+v 0.04861229 -0.15033918 -0.14031492
+v 0.05180685 -0.14942883 -0.13877008
+v 0.03951568 -0.15479026 -0.12147718
+v 0.04204411 -0.15276486 -0.13928504
+v 0.05083989 -0.14880016 -0.14258994
+v 0.06470686 -0.13845705 -0.12147712
+v 0.06440602 -0.13965203 -0.13976724
+v 0.06722096 -0.13665702 -0.13976723
+v 0.06936260 -0.13379545 -0.13976722
+v 0.07073067 -0.12858529 -0.14469869
+v 0.06368259 -0.13886916 -0.14377782
+v 0.05959986 -0.14056238 -0.14490581
+v 0.05372645 -0.14520613 -0.14429279
+v 0.05787365 -0.14402295 -0.14343999
+v 0.04707948 -0.14928647 -0.14310489
+v 0.04244522 -0.14979651 -0.14366888
+v 0.05180685 -0.14942884 -0.13577577
+v 0.05369780 -0.14776821 -0.14031491
+v 0.05866155 -0.14465756 -0.13976726
+v 0.06416966 -0.13897302 -0.12147712
+v 0.06148364 -0.14251360 -0.13976725
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 26
+f 1 26 47
+f 1 47 46
+f 1 46 78
+f 1 78 77
+f 1 77 86
+f 1 86 52
+f 1 52 51
+f 1 51 28
+f 1 28 15
+f 1 15 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 19
+f 1 19 37
+f 1 37 67
+f 1 67 68
+f 1 68 38
+f 1 38 20
+f 1 20 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 17
+f 6 17 35
+f 6 35 63
+f 6 63 92
+f 6 92 109
+f 6 109 95
+f 6 95 64
+f 6 64 36
+f 6 36 18
+f 6 18 11
+f 6 11 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 24 25
+f 14 25 26
+f 14 23 27
+f 14 27 24
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 18 36 19
+f 19 36 37
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 23 42 27
+f 24 43 25
+f 24 27 43
+f 25 44 45
+f 25 45 46
+f 25 46 47
+f 25 47 26
+f 25 43 27
+f 25 27 44
+f 27 42 48
+f 27 48 49
+f 27 49 50
+f 27 50 44
+f 28 51 29
+f 29 51 52
+f 29 52 53
+f 29 53 30
+f 30 54 55
+f 30 55 56
+f 30 56 57
+f 30 57 31
+f 30 53 54
+f 31 57 32
+f 32 57 33
+f 33 57 58
+f 33 58 59
+f 33 59 34
+f 34 59 60
+f 34 60 61
+f 34 61 35
+f 35 61 62
+f 35 62 63
+f 36 64 37
+f 37 64 65
+f 37 65 66
+f 37 66 67
+f 38 68 69
+f 38 69 39
+f 39 70 71
+f 39 71 41
+f 39 41 40
+f 39 69 72
+f 39 72 70
+f 41 71 73
+f 41 73 74
+f 41 74 75
+f 41 75 48
+f 41 48 42
+f 44 50 76
+f 44 76 45
+f 45 53 77
+f 45 77 78
+f 45 78 46
+f 45 76 55
+f 45 55 54
+f 45 54 53
+f 48 75 79
+f 48 79 80
+f 48 80 81
+f 48 81 49
+f 49 81 80
+f 49 80 82
+f 49 82 83
+f 49 83 84
+f 49 84 85
+f 49 85 50
+f 50 85 76
+f 52 86 53
+f 53 86 77
+f 55 76 85
+f 55 85 84
+f 55 84 56
+f 56 84 57
+f 57 84 58
+f 58 84 87
+f 58 87 59
+f 59 88 89
+f 59 89 60
+f 59 87 88
+f 60 89 62
+f 60 62 61
+f 62 90 91
+f 62 91 92
+f 62 92 63
+f 62 89 93
+f 62 93 94
+f 62 94 90
+f 64 95 96
+f 64 96 97
+f 64 97 98
+f 64 98 65
+f 65 98 66
+f 66 99 67
+f 66 98 97
+f 66 97 100
+f 66 100 72
+f 66 72 69
+f 66 69 99
+f 67 99 68
+f 68 99 69
+f 70 72 100
+f 70 100 101
+f 70 101 71
+f 71 101 73
+f 73 102 74
+f 73 101 103
+f 73 103 102
+f 74 102 75
+f 75 102 94
+f 75 94 79
+f 79 104 105
+f 79 105 80
+f 79 94 104
+f 80 105 82
+f 82 105 89
+f 82 89 88
+f 82 88 87
+f 82 87 83
+f 83 87 84
+f 89 105 104
+f 89 104 93
+f 90 94 91
+f 91 106 92
+f 91 94 107
+f 91 107 108
+f 91 108 106
+f 92 106 109
+f 93 104 94
+f 94 102 103
+f 94 103 107
+f 95 109 110
+f 95 110 96
+f 96 110 100
+f 96 100 97
+f 100 110 103
+f 100 103 101
+f 103 110 108
+f 103 108 107
+f 106 108 109
+f 108 110 109
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_1.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00012847 -0.11166772 -0.12292990
+v -0.00012847 -0.11166767 -0.13503565
+v -0.00012847 -0.10901960 -0.12290418
+v -0.05959763 -0.11166772 -0.12219949
+v -0.05959763 -0.11166767 -0.13566731
+v -0.05959763 -0.10579386 -0.13601085
+v -0.00012847 -0.08300699 -0.13512751
+v -0.00012847 -0.10589199 -0.12287713
+v -0.00012847 -0.08300704 -0.12274448
+v -0.00012847 -0.08041341 -0.12273501
+v -0.00012847 -0.07727490 -0.12272688
+v -0.00012847 -0.04294747 -0.12264695
+v -0.00016922 -0.00033786 -0.12259810
+v -0.05959763 -0.03150499 -0.12232499
+v -0.05959763 -0.10084635 -0.13601625
+v -0.00012847 -0.07986848 -0.13512750
+v -0.00012847 -0.00033786 -0.12259945
+v -0.00267839 -0.00033786 -0.12258998
+v -0.00581050 -0.00033786 -0.12258322
+v -0.00831967 -0.00033786 -0.12257781
+v -0.01145177 -0.00033786 -0.12257240
+v -0.01396094 -0.00033786 -0.12256834
+v -0.05959763 -0.00033786 -0.12252370
+v -0.05959763 -0.10055211 -0.13601625
+v -0.00012847 -0.05440079 -0.13511389
+v -0.00012847 -0.00033782 -0.13473767
+v -0.05959763 -0.00033782 -0.13441170
+v -0.01647012 -0.00033782 -0.13465381
+v -0.01083467 -0.00033782 -0.13468492
+v -0.00519339 -0.00033782 -0.13471332
+v -0.00012847 -0.03722618 -0.13504756
+v -0.00012847 -0.04294742 -0.13507057
+f 1 2 7
+f 1 7 16
+f 1 16 25
+f 1 25 32
+f 1 32 31
+f 1 31 26
+f 1 26 17
+f 1 17 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 23
+f 4 23 27
+f 4 27 24
+f 4 24 15
+f 4 15 6
+f 4 6 5
+f 6 15 7
+f 7 15 24
+f 7 24 16
+f 12 17 13
+f 13 17 26
+f 13 26 30
+f 13 30 29
+f 13 29 28
+f 13 28 27
+f 13 27 23
+f 13 23 22
+f 13 22 21
+f 13 21 20
+f 13 20 19
+f 13 19 18
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 16 24 25
+f 24 27 28
+f 24 28 29
+f 24 29 30
+f 24 30 26
+f 24 26 31
+f 24 31 32
+f 24 32 25
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_10.obj

@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.08728643 -0.00033375 0.15103916
+v -0.08728643 0.02573207 0.15087958
+v -0.09146382 -0.00033375 0.15058678
+v -0.08580836 -0.00033375 0.15058678
+v -0.08381675 0.03717385 0.15008132
+v -0.08379169 0.04289474 0.15008134
+v -0.08377604 0.04862075 0.15008136
+v -0.08376977 0.05184385 0.15008137
+v -0.08728643 0.04289474 0.15071999
+v -0.09127593 0.02001117 0.15045379
+v -0.09139806 0.00856428 0.15053359
+v -0.09415377 0.00283829 0.14670163
+v -0.09417881 -0.00033374 0.14670162
+v -0.08394827 -0.00033375 0.15000135
+v -0.08152137 0.05184386 0.14670181
+v -0.08530107 0.05184385 0.15032086
+v -0.08728643 0.04862075 0.15064018
+v -0.09105986 0.03144785 0.15034740
+v -0.09117885 0.02573207 0.15040060
+v -0.09384688 0.02001118 0.14670169
+v -0.09396587 0.01428518 0.14670167
+v -0.09406921 0.00856429 0.14670165
+v -0.09563495 0.00283831 0.14172543
+v -0.09564121 -0.00033372 0.14183186
+v -0.08291488 -0.00033374 0.14816520
+v -0.08209756 -0.00033374 0.14670162
+v -0.07986168 0.05184388 0.14098051
+v -0.08728643 0.05184385 0.15056035
+v -0.08879893 0.05184385 0.15034747
+v -0.09068095 0.05184385 0.15008137
+v -0.09074671 0.04862075 0.15013458
+v -0.09369657 0.02573208 0.14670171
+v -0.09526544 0.02573210 0.14098041
+v -0.09538130 0.02001120 0.14098039
+v -0.09549717 0.01428520 0.14098037
+v -0.09561929 0.00870733 0.14063441
+v -0.09576961 0.00689403 0.13850556
+v -0.09578840 0.00283832 0.13887809
+v -0.09572576 -0.00033372 0.14026184
+v -0.08124267 -0.00033373 0.14353494
+v -0.08055687 -0.00033372 0.14098032
+v -0.07295677 0.03144802 0.10396498
+v -0.07298808 0.03461494 0.10393838
+v -0.07283464 0.03483970 0.10087814
+v -0.07602562 0.05184409 0.08368771
+v -0.09272267 0.05184386 0.14670181
+v -0.09285107 0.04862076 0.14670180
+v -0.09349928 0.03144786 0.14670174
+v -0.09510886 0.03144788 0.14098044
+v -0.09524978 0.03144790 0.13525915
+v -0.09540009 0.02573212 0.13525912
+v -0.09578840 0.00797692 0.13525906
+v -0.09584789 0.00283833 0.13525904
+v -0.09553161 0.02001122 0.13525910
+v -0.09566000 0.01428522 0.13525908
+v -0.09573517 0.01084247 0.13525907
+v -0.09586355 -0.00033370 0.13525903
+v -0.09579153 -0.00033371 0.13898452
+v -0.07644211 -0.00033357 0.10087801
+v -0.07307890 0.02839347 0.10385851
+v -0.07265615 0.03144803 0.10087813
+v -0.07579076 0.05184411 0.07793980
+v -0.06689109 0.03144856 -0.04234055
+v -0.06748608 0.03440602 -0.03315986
+v -0.09363707 0.05184387 0.14348192
+v -0.09447318 0.04862078 0.14098050
+v -0.09490532 0.03717388 0.14098046
+v -0.09467985 0.04862080 0.13525921
+v -0.09487713 0.04289479 0.13525919
+v -0.09507129 0.03717390 0.13525917
+v -0.09492097 0.04289481 0.12951128
+v -0.09509633 0.03717392 0.12951126
+v -0.09525604 0.03144792 0.12951124
+v -0.09540009 0.02573214 0.12951121
+v -0.09578213 0.00758363 0.12951115
+v -0.09583536 0.00283835 0.12951113
+v -0.09585415 -0.00033368 0.12951112
+v -0.09552848 0.02001124 0.12951119
+v -0.09565061 0.01428524 0.12951117
+v -0.09572889 0.01044407 0.12951116
+v -0.07552771 -0.00033351 0.08368752
+v -0.07522709 -0.00033349 0.07793961
+v -0.07494213 -0.00033347 0.07221832
+v -0.07469474 -0.00033344 0.06649702
+v -0.06726061 0.02820500 -0.03805626
+v -0.06738586 0.03455927 -0.03661925
+v -0.06509989 0.03682240 -0.12081544
+v -0.06920526 0.05184484 -0.12081539
+v -0.06387548 0.03144884 -0.12081546
+v -0.09434478 0.05184388 0.14098051
+v -0.09455146 0.05184390 0.13525922
+v -0.09459530 0.05184392 0.13201272
+v -0.09474248 0.04862082 0.12951130
+v -0.09473622 0.04862085 0.12379000
+v -0.09507754 0.03717395 0.12378996
+v -0.09523412 0.03144795 0.12378994
+v -0.09536877 0.02573217 0.12378991
+v -0.09576021 0.00636796 0.12557276
+v -0.09573829 0.00426860 0.12174081
+v -0.09577274 0.00255234 0.12371000
+v -0.09575082 0.00045298 0.12064976
+v -0.09576335 -0.00033365 0.12139486
+v -0.09548464 0.02001127 0.12378989
+v -0.07205177 -0.00033317 -0.00795967
+v -0.06390992 0.03165827 -0.12081546
+v -0.08273325 0.05184484 -0.12081539
+v -0.06902989 -0.00033276 -0.12081558
+v -0.09462035 0.05184392 0.12951131
+v -0.09462662 0.05184394 0.12629142
+v -0.09462348 0.05184395 0.12379001
+v -0.09469238 0.04862087 0.11806871
+v -0.09486148 0.04289486 0.11806869
+v -0.09501805 0.03717397 0.11806867
+v -0.09516523 0.03144797 0.11806865
+v -0.09529049 0.02573219 0.11806862
+v -0.09540948 0.02001129 0.11806860
+v -0.09552535 0.01428529 0.11806858
+v -0.09563182 0.00856440 0.11806856
+v -0.09571011 0.00255235 0.11846770
+v -0.09571950 -0.00033363 0.11774920
+v -0.09574456 -0.00033364 0.11979822
+v -0.08300256 0.05184483 -0.11682378
+v -0.08613717 -0.00033276 -0.12081558
+v -0.08769664 0.00283922 -0.10538137
+v -0.08833234 0.00283920 -0.09963346
+v -0.09459530 0.05184396 0.12057012
+v -0.09457338 0.05184397 0.11806872
+v -0.09015486 0.00031063 -0.06315023
+v -0.09015486 -0.00033297 -0.06315023
+v -0.08410484 0.05184477 -0.09963328
+v -0.08790333 -0.00033281 -0.10538138
+v -0.08850770 -0.00033283 -0.09963347
+v -0.08873004 -0.00033285 -0.09646681
+v -0.08921228 0.00283913 -0.08246957
+v -0.08447122 0.05184474 -0.09340638
+v -0.08438980 0.05184475 -0.09497642
+v -0.08942836 -0.00033290 -0.08246958
+f 1 2 3
+f 1 3 13
+f 1 13 24
+f 1 24 39
+f 1 39 58
+f 1 58 57
+f 1 57 77
+f 1 77 102
+f 1 102 121
+f 1 121 120
+f 1 120 129
+f 1 129 137
+f 1 137 133
+f 1 133 132
+f 1 132 131
+f 1 131 123
+f 1 123 107
+f 1 107 104
+f 1 104 84
+f 1 84 83
+f 1 83 82
+f 1 82 81
+f 1 81 59
+f 1 59 41
+f 1 41 40
+f 1 40 26
+f 1 26 25
+f 1 25 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 8 9
+f 3 11 12
+f 3 12 13
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 15 7
+f 7 15 8
+f 8 16 9
+f 8 15 27
+f 8 27 45
+f 8 45 62
+f 8 62 88
+f 8 88 106
+f 8 106 122
+f 8 122 130
+f 8 130 136
+f 8 136 135
+f 8 135 127
+f 8 127 126
+f 8 126 110
+f 8 110 109
+f 8 109 108
+f 8 108 92
+f 8 92 91
+f 8 91 90
+f 8 90 65
+f 8 65 46
+f 8 46 30
+f 8 30 29
+f 8 29 28
+f 8 28 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 23
+f 20 23 21
+f 21 23 22
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 26 40 27
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 30 46 47
+f 30 47 48
+f 30 48 32
+f 30 32 31
+f 32 48 49
+f 32 49 33
+f 33 37 34
+f 33 49 50
+f 33 50 51
+f 33 51 37
+f 34 37 35
+f 35 37 36
+f 37 52 53
+f 37 53 38
+f 37 51 54
+f 37 54 55
+f 37 55 56
+f 37 56 52
+f 38 53 57
+f 38 57 58
+f 38 58 39
+f 41 59 60
+f 41 60 42
+f 42 60 61
+f 42 61 43
+f 43 61 44
+f 44 62 45
+f 44 61 63
+f 44 63 64
+f 44 64 62
+f 46 65 47
+f 47 65 66
+f 47 66 67
+f 47 67 48
+f 48 67 49
+f 49 67 68
+f 49 68 69
+f 49 69 70
+f 49 70 50
+f 50 70 93
+f 50 93 71
+f 50 71 72
+f 50 72 73
+f 50 73 51
+f 51 73 74
+f 51 74 54
+f 52 56 75
+f 52 75 53
+f 53 75 76
+f 53 76 77
+f 53 77 57
+f 54 74 78
+f 54 78 55
+f 55 78 56
+f 56 78 79
+f 56 79 80
+f 56 80 75
+f 59 81 60
+f 60 81 82
+f 60 82 83
+f 60 83 84
+f 60 84 85
+f 60 85 61
+f 61 85 63
+f 62 64 86
+f 62 86 87
+f 62 87 88
+f 63 85 89
+f 63 89 64
+f 64 89 86
+f 65 90 66
+f 66 90 91
+f 66 91 68
+f 66 68 67
+f 68 91 92
+f 68 92 93
+f 68 93 69
+f 69 93 70
+f 71 93 94
+f 71 94 72
+f 72 94 95
+f 72 95 73
+f 73 95 96
+f 73 96 74
+f 74 96 97
+f 74 97 78
+f 75 80 98
+f 75 98 76
+f 76 98 99
+f 76 99 100
+f 76 100 77
+f 77 100 101
+f 77 101 102
+f 78 97 79
+f 79 97 80
+f 80 97 103
+f 80 103 98
+f 84 104 89
+f 84 89 85
+f 86 89 105
+f 86 105 87
+f 87 105 89
+f 87 89 107
+f 87 107 123
+f 87 123 106
+f 87 106 88
+f 89 104 107
+f 92 108 93
+f 93 108 109
+f 93 109 94
+f 94 109 110
+f 94 110 111
+f 94 111 95
+f 95 111 112
+f 95 112 113
+f 95 113 96
+f 96 113 114
+f 96 114 97
+f 97 114 115
+f 97 115 116
+f 97 116 103
+f 98 103 117
+f 98 117 118
+f 98 118 99
+f 99 118 119
+f 99 119 101
+f 99 101 100
+f 101 119 120
+f 101 120 121
+f 101 121 102
+f 103 116 117
+f 106 123 124
+f 106 124 125
+f 106 125 122
+f 110 126 111
+f 111 126 127
+f 111 127 128
+f 111 128 112
+f 112 128 113
+f 113 128 114
+f 114 128 115
+f 115 128 116
+f 116 128 117
+f 117 128 118
+f 118 128 119
+f 119 128 120
+f 120 128 129
+f 122 125 130
+f 123 131 124
+f 124 131 125
+f 125 131 132
+f 125 132 133
+f 125 133 134
+f 125 134 135
+f 125 135 136
+f 125 136 130
+f 127 135 134
+f 127 134 137
+f 127 137 128
+f 128 137 129
+f 133 137 134
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_11.obj

@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v -0.07598810 -0.12272047 0.15100561
+v -0.07572063 -0.12272047 0.15095223
+v -0.08268571 -0.08302402 0.15065880
+v -0.08164474 -0.10589758 0.15137932
+v -0.08164474 -0.11162179 0.15124587
+v -0.08100137 -0.12272047 0.15049851
+v -0.07226881 -0.12272047 0.15009817
+v -0.08266403 -0.08302402 0.15063212
+v -0.08729416 -0.08302403 0.15121928
+v -0.07906763 -0.09259935 0.14921752
+v -0.07942908 -0.08873269 0.14847021
+v -0.08728693 -0.08873269 0.15103243
+v -0.08600379 -0.10589757 0.15060533
+v -0.08537127 -0.11162178 0.15033841
+v -0.08132306 -0.12272047 0.15039175
+v -0.07015796 -0.12272046 0.14697548
+v -0.07289411 -0.11929293 0.14980460
+v -0.07963510 -0.08302401 0.14676211
+v -0.09070260 -0.08302402 0.15015170
+v -0.08656765 -0.10017723 0.15071211
+v -0.09041345 -0.08873269 0.14988477
+v -0.09018935 -0.09221074 0.14967124
+v -0.08485801 -0.11627344 0.14993805
+v -0.08440258 -0.12008958 0.14951100
+v -0.08381704 -0.12272046 0.14833665
+v -0.06986880 -0.12272046 0.14638830
+v -0.07930618 -0.08302401 0.14596143
+v -0.09220623 -0.08302401 0.14670873
+v -0.09156647 -0.08873268 0.14670870
+v -0.09076044 -0.09425093 0.14694890
+v -0.08979538 -0.09602300 0.14903067
+v -0.08938693 -0.10017722 0.14782963
+v -0.08885561 -0.10542345 0.14622824
+v -0.08730862 -0.11162177 0.14670862
+v -0.08572548 -0.11784729 0.14724240
+v -0.08502066 -0.12272045 0.14545416
+v -0.08490500 -0.12272046 0.14580114
+v -0.06842663 -0.12272044 0.14097031
+v -0.07860859 -0.08406935 0.14462692
+v -0.07849654 -0.08302399 0.14246508
+v -0.09326888 -0.08302399 0.14097046
+v -0.09041345 -0.10017721 0.14497384
+v -0.09013875 -0.10319671 0.14398632
+v -0.08510379 -0.12272045 0.14505382
+v -0.06829289 -0.12272043 0.14000950
+v -0.07837003 -0.08302399 0.14134412
+v -0.06608445 -0.12272037 0.12378220
+v -0.09253876 -0.08873266 0.14097043
+v -0.09347490 -0.08302397 0.13525888
+v -0.09171104 -0.09445687 0.14097041
+v -0.09078212 -0.10017720 0.14097039
+v -0.09018574 -0.10344929 0.14097038
+v -0.08961104 -0.10631335 0.14097037
+v -0.08846526 -0.11162175 0.14097035
+v -0.08715320 -0.11734597 0.14097033
+v -0.08572548 -0.12272044 0.14097031
+v -0.06554228 -0.12272036 0.11847095
+v -0.07156399 -0.09445672 0.10085590
+v -0.07121700 -0.09445670 0.09514432
+v -0.07531942 -0.08302380 0.08940610
+v -0.09271948 -0.08873264 0.13525885
+v -0.09355081 -0.08302395 0.12952061
+v -0.09280262 -0.08873262 0.12952058
+v -0.09184117 -0.09445685 0.13525883
+v -0.09087611 -0.10017718 0.13525881
+v -0.09023273 -0.10369410 0.13525880
+v -0.08967972 -0.10655427 0.13525879
+v -0.08861344 -0.11162173 0.13525877
+v -0.08731224 -0.11734595 0.13525875
+v -0.08590982 -0.12272042 0.13525873
+v -0.06550614 -0.12272035 0.11807062
+v -0.07002422 -0.10017705 0.10085588
+v -0.06407841 -0.12272029 0.10080242
+v -0.05682417 -0.12174794 -0.12128199
+v -0.06274829 -0.09937181 -0.12128191
+v -0.06597601 -0.09445611 -0.06526035
+v -0.06876277 -0.08302302 -0.12128184
+v -0.09356165 -0.08302392 0.12378235
+v -0.09281707 -0.08873259 0.12378232
+v -0.09192430 -0.09445683 0.12952056
+v -0.09194237 -0.09445680 0.12378230
+v -0.09094116 -0.10017716 0.12952054
+v -0.09026164 -0.10382621 0.12952053
+v -0.08969417 -0.10669026 0.12952052
+v -0.08865320 -0.11162171 0.12952050
+v -0.08735200 -0.11734593 0.12952048
+v -0.08592789 -0.12272040 0.12952046
+v -0.06408203 -0.12272029 0.10085580
+v -0.05663622 -0.12271947 -0.12128199
+v -0.06890735 -0.08302302 -0.12128184
+v -0.09347490 -0.08302390 0.11807077
+v -0.09274478 -0.08873257 0.11807074
+v -0.09187369 -0.09445678 0.11807072
+v -0.09095924 -0.10017713 0.12378228
+v -0.09089779 -0.10017711 0.11807070
+v -0.09027610 -0.10387281 0.12378227
+v -0.08969417 -0.10673298 0.12378226
+v -0.08866767 -0.11162168 0.12378224
+v -0.08735561 -0.11734590 0.12378222
+v -0.08592789 -0.12272039 0.12917351
+v -0.07104350 -0.12271947 -0.12128199
+v -0.08038329 -0.08430543 -0.12128185
+v -0.08052787 -0.08302302 -0.12125514
+v -0.08348089 -0.10589676 -0.07099866
+v -0.08469536 -0.10964312 -0.02517258
+v -0.09023996 -0.10369792 0.11807069
+v -0.08480017 -0.11005895 -0.01943431
+v -0.08965802 -0.10655809 0.11807068
+v -0.08861344 -0.11162166 0.11807066
+v -0.08731946 -0.11734588 0.11807064
+v -0.08590259 -0.12272037 0.12343522
+v -0.07899895 -0.11050159 -0.12128195
+v -0.07176278 -0.12271949 -0.11735860
+v -0.07934594 -0.11015574 -0.12090828
+v -0.08009414 -0.10017623 -0.12128191
+v -0.08222667 -0.10589667 -0.09392504
+v -0.08288090 -0.11162103 -0.05381056
+v -0.08396524 -0.11292300 -0.01943432
+v -0.08497006 -0.11616029 0.02785969
+v -0.08586645 -0.12272035 0.11807062
+v -0.07940377 -0.10922306 -0.12128194
+v -0.07184591 -0.12271949 -0.11682482
+v -0.08015558 -0.10589659 -0.11682476
+v -0.07810979 -0.11289932 -0.11682478
+v -0.07886160 -0.11452767 -0.09710114
+v -0.08057125 -0.11162088 -0.09392506
+v -0.08003992 -0.10147419 -0.12128191
+v -0.07900618 -0.11469089 -0.09392507
+v -0.08376282 -0.11872125 0.03210333
+v -0.08112787 -0.12272004 0.03191649
+v -0.07975799 -0.10560122 -0.12128193
+v -0.07332062 -0.12271957 -0.09392510
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 25
+f 1 25 37
+f 1 37 36
+f 1 36 44
+f 1 44 56
+f 1 56 70
+f 1 70 87
+f 1 87 100
+f 1 100 111
+f 1 111 120
+f 1 120 130
+f 1 130 132
+f 1 132 122
+f 1 122 113
+f 1 113 101
+f 1 101 89
+f 1 89 73
+f 1 73 88
+f 1 88 71
+f 1 71 57
+f 1 57 47
+f 1 47 45
+f 1 45 38
+f 1 38 26
+f 1 26 16
+f 1 16 7
+f 1 7 2
+f 2 7 3
+f 3 8 18
+f 3 18 27
+f 3 27 40
+f 3 40 46
+f 3 46 60
+f 3 60 77
+f 3 77 90
+f 3 90 103
+f 3 103 91
+f 3 91 78
+f 3 78 62
+f 3 62 49
+f 3 49 41
+f 3 41 28
+f 3 28 19
+f 3 19 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 8
+f 4 9 5
+f 5 9 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 7 16 17
+f 7 17 11
+f 7 11 10
+f 8 11 18
+f 9 19 12
+f 11 17 18
+f 12 20 13
+f 12 19 20
+f 13 20 19
+f 13 19 21
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 16 26 18
+f 16 18 17
+f 18 26 27
+f 19 28 21
+f 21 28 22
+f 22 24 23
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 28 41 29
+f 29 41 42
+f 29 42 30
+f 30 42 31
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 33 43 34
+f 34 43 35
+f 35 43 36
+f 36 43 44
+f 38 40 39
+f 38 45 40
+f 40 45 47
+f 40 47 46
+f 41 48 42
+f 41 49 48
+f 42 48 43
+f 43 48 50
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 44 55 56
+f 46 47 57
+f 46 57 58
+f 46 58 59
+f 46 59 60
+f 48 49 61
+f 48 61 50
+f 49 62 63
+f 49 63 61
+f 50 61 64
+f 50 64 51
+f 51 64 65
+f 51 65 52
+f 52 65 66
+f 52 66 67
+f 52 67 53
+f 53 67 68
+f 53 68 54
+f 54 68 69
+f 54 69 55
+f 55 69 70
+f 55 70 56
+f 57 71 58
+f 58 72 59
+f 58 71 72
+f 59 72 73
+f 59 73 74
+f 59 74 75
+f 59 75 76
+f 59 76 60
+f 60 76 77
+f 61 63 80
+f 61 80 64
+f 62 78 79
+f 62 79 63
+f 63 79 81
+f 63 81 80
+f 64 80 65
+f 65 80 82
+f 65 82 66
+f 66 82 83
+f 66 83 67
+f 67 83 84
+f 67 84 68
+f 68 84 85
+f 68 85 86
+f 68 86 69
+f 69 86 70
+f 70 86 87
+f 71 88 72
+f 72 88 73
+f 73 89 74
+f 74 89 101
+f 74 101 112
+f 74 112 121
+f 74 121 131
+f 74 131 127
+f 74 127 115
+f 74 115 102
+f 74 102 90
+f 74 90 77
+f 74 77 75
+f 75 77 76
+f 78 91 92
+f 78 92 79
+f 79 92 93
+f 79 93 81
+f 80 81 94
+f 80 94 82
+f 81 93 95
+f 81 95 94
+f 82 94 96
+f 82 96 83
+f 83 96 84
+f 84 96 97
+f 84 97 98
+f 84 98 85
+f 85 98 86
+f 86 98 99
+f 86 99 87
+f 87 99 100
+f 90 102 103
+f 91 103 104
+f 91 104 92
+f 92 104 105
+f 92 105 93
+f 93 105 95
+f 94 95 96
+f 95 106 96
+f 95 105 107
+f 95 107 106
+f 96 106 108
+f 96 108 97
+f 97 108 109
+f 97 109 98
+f 98 109 110
+f 98 110 99
+f 99 110 111
+f 99 111 100
+f 101 113 114
+f 101 114 112
+f 102 115 103
+f 103 115 116
+f 103 116 104
+f 104 116 117
+f 104 117 105
+f 105 117 118
+f 105 118 119
+f 105 119 107
+f 106 107 108
+f 107 119 108
+f 108 119 109
+f 109 119 110
+f 110 120 111
+f 110 119 120
+f 112 114 121
+f 113 122 114
+f 114 123 121
+f 114 122 124
+f 114 124 125
+f 114 125 126
+f 114 126 116
+f 114 116 123
+f 115 127 116
+f 116 127 123
+f 116 126 117
+f 117 126 128
+f 117 128 119
+f 117 119 118
+f 119 129 120
+f 119 128 129
+f 120 129 130
+f 121 123 131
+f 122 125 124
+f 122 132 128
+f 122 128 125
+f 123 127 131
+f 125 128 126
+f 128 132 130
+f 128 130 129
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_12.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.06446502 0.12165635 0.01524056
+v -0.04061393 0.14288933 0.01524063
+v -0.07799906 0.12165635 0.01524056
+v -0.06444609 0.12165636 0.01493425
+v -0.04061393 0.13318344 -0.12081508
+v -0.04061393 0.14235564 0.00900786
+v -0.04061393 0.16221447 0.01524071
+v -0.07248098 0.13527796 0.01524061
+v -0.07927449 0.12165648 -0.01945257
+v -0.05990068 0.12165663 -0.05953945
+v -0.05978336 0.12165664 -0.06160373
+v -0.05958656 0.12165665 -0.06527947
+v -0.05758446 0.12165685 -0.12081512
+v -0.04061393 0.15391456 -0.12081500
+v -0.04061393 0.16224635 0.01405542
+v -0.04065178 0.16220253 0.01524071
+v -0.06935483 0.14058720 0.01524063
+v -0.06972952 0.14019292 0.00919430
+v -0.07252640 0.13520629 0.00919429
+v -0.07243178 0.13525818 -0.01945252
+v -0.07244313 0.13505905 -0.02517922
+v -0.07184894 0.13446974 -0.07100613
+v -0.07308275 0.13080943 -0.07100614
+v -0.07270806 0.12165684 -0.11749897
+v -0.07234095 0.12165685 -0.12081512
+v -0.04061393 0.15411770 -0.11992270
+v -0.05753148 0.14273449 -0.12081505
+v -0.05697512 0.14330405 -0.12021574
+v -0.04135194 0.16198348 0.01493439
+v -0.04061393 0.16234594 0.00919439
+v -0.04134816 0.16197550 0.01524070
+v -0.06925264 0.14075448 0.01524063
+v -0.06756089 0.14306857 0.01322964
+v -0.06756846 0.14307257 0.00919432
+v -0.06755710 0.14306462 0.00565175
+v -0.06961219 0.14011336 -0.01945251
+v -0.06920723 0.13903813 -0.06527941
+v -0.06912775 0.13888283 -0.07100611
+v -0.07147047 0.13446976 -0.07673283
+v -0.06987333 0.13446983 -0.09392623
+v -0.06929427 0.13446985 -0.09965294
+v -0.06784096 0.13250634 -0.12081508
+v -0.06401843 0.13920561 -0.11684633
+v -0.04061393 0.15413362 -0.11977621
+v -0.06349235 0.13877546 -0.12081506
+v -0.04149955 0.16205121 0.00919439
+v -0.04061393 0.16185614 -0.01945243
+v -0.04151847 0.16161319 -0.01945243
+v -0.06547932 0.14414395 0.01524064
+v -0.06909747 0.14096159 0.01524063
+v -0.06744735 0.14296912 -0.01945249
+v -0.06805668 0.13787922 -0.09392621
+v -0.06888932 0.13860802 -0.07673281
+v -0.06775012 0.13756060 -0.09965292
+v -0.06757603 0.13736943 -0.10282259
+v -0.06683802 0.13589182 -0.11684634
+v -0.06650875 0.13492000 -0.12081507
+v -0.04142764 0.15589000 -0.09392615
+v -0.04109080 0.15563113 -0.09965286
+v -0.04061393 0.15531650 -0.10608541
+v -0.06435905 0.13775584 -0.12081506
+v -0.04061393 0.16142999 -0.02517913
+v -0.04118541 0.16129457 -0.02517913
+f 1 2 7
+f 1 7 16
+f 1 16 31
+f 1 31 49
+f 1 49 50
+f 1 50 32
+f 1 32 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 24
+f 1 24 25
+f 1 25 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 14
+f 2 14 26
+f 2 26 44
+f 2 44 60
+f 2 60 62
+f 2 62 47
+f 2 47 30
+f 2 30 15
+f 2 15 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 25
+f 5 25 42
+f 5 42 57
+f 5 57 61
+f 5 61 45
+f 5 45 27
+f 5 27 14
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 14 27 28
+f 14 28 26
+f 15 29 16
+f 15 30 29
+f 16 29 31
+f 17 32 18
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 20
+f 18 20 19
+f 20 36 21
+f 21 36 22
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 22 36 37
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 26 28 43
+f 26 43 44
+f 27 45 28
+f 28 45 43
+f 29 33 31
+f 29 30 46
+f 29 46 33
+f 30 47 48
+f 30 48 46
+f 31 33 49
+f 32 50 33
+f 33 46 34
+f 33 50 49
+f 34 46 35
+f 35 46 51
+f 35 51 36
+f 36 51 37
+f 37 51 38
+f 38 43 52
+f 38 52 53
+f 38 53 39
+f 38 51 48
+f 38 48 43
+f 39 53 52
+f 39 52 54
+f 39 54 55
+f 39 55 40
+f 40 55 41
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 43 58 59
+f 43 59 44
+f 43 45 56
+f 43 56 55
+f 43 55 54
+f 43 54 52
+f 43 48 58
+f 44 59 60
+f 45 61 56
+f 46 48 51
+f 47 62 63
+f 47 63 48
+f 48 63 60
+f 48 60 59
+f 48 59 58
+f 56 61 57
+f 60 63 62
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_13.obj

@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.06358711 0.06578823 -0.13624605
+v -0.06690639 0.06186042 -0.14333339
+v -0.06678153 0.06578826 -0.14348354
+v -0.06946711 0.09276359 -0.14542020
+v -0.06839053 0.09276357 -0.13992695
+v -0.06836461 0.09276357 -0.13976909
+v -0.06781807 0.09276356 -0.13624595
+v -0.06533038 0.03090255 -0.13624618
+v -0.06563663 0.02667398 -0.13624619
+v -0.07237649 -0.00033778 -0.14355181
+v -0.07357086 -0.00033778 -0.14482758
+v -0.07506913 -0.00033777 -0.14641780
+v -0.07663101 -0.00033777 -0.14783090
+v -0.07788663 -0.00033776 -0.14896421
+v -0.07283586 0.07723456 -0.14863408
+v -0.07267096 0.08295771 -0.14875470
+v -0.07226341 0.09276361 -0.14885477
+v -0.07008668 0.09276360 -0.14634045
+v -0.08322009 0.09276356 -0.13624595
+v -0.06840701 -0.00033781 -0.13624629
+v -0.07956158 -0.00033776 -0.14913748
+v -0.07771937 0.02001222 -0.14905398
+v -0.07600437 0.08295771 -0.14893695
+v -0.07423990 0.09276361 -0.14885477
+v -0.07766990 0.02573537 -0.14907578
+v -0.08164644 0.00284278 -0.14935822
+v -0.08164644 0.00856593 -0.14935050
+v -0.08164644 0.01428907 -0.14933636
+v -0.08164644 0.02001222 -0.14931966
+v -0.08347687 0.09276357 -0.13830335
+v -0.08451812 0.08636603 -0.13662844
+v -0.08437677 0.08672145 -0.13624597
+v -0.08645928 -0.00033781 -0.13624629
+v -0.08164644 -0.00033776 -0.14934026
+v -0.07980187 0.06578828 -0.14887797
+v -0.07530000 0.09276361 -0.14883937
+v -0.08489033 -0.00033776 -0.14873832
+v -0.08490211 0.00284278 -0.14875114
+v -0.08486913 0.00856593 -0.14872930
+v -0.08481731 0.01428907 -0.14868308
+v -0.08476313 0.02001222 -0.14862786
+v -0.08164644 0.02573537 -0.14924134
+v -0.08352163 0.09276357 -0.13879878
+v -0.08451812 0.08636604 -0.13846125
+v -0.08520129 0.07723452 -0.13976915
+v -0.08562534 0.07151138 -0.13976917
+v -0.08603995 0.06578824 -0.13976919
+v -0.08460764 0.08413328 -0.13624598
+v -0.08361351 0.09276357 -0.13986791
+v -0.08765130 -0.00033780 -0.13976943
+v -0.08715659 0.00856588 -0.13624626
+v -0.07938961 0.07723456 -0.14868670
+v -0.08465476 0.02573537 -0.14852773
+v -0.07623524 0.09276361 -0.14861605
+v -0.07912812 0.08295771 -0.14854421
+v -0.07891375 0.08634785 -0.14841713
+v -0.08595986 -0.00033777 -0.14694531
+v -0.08679851 0.00284276 -0.14549755
+v -0.08673254 0.00856591 -0.14549753
+v -0.08664303 0.01428905 -0.14549751
+v -0.08654879 0.02001220 -0.14549749
+v -0.08421423 0.08843476 -0.14012975
+v -0.08445216 0.08567344 -0.14228086
+v -0.08470422 0.08344068 -0.14012976
+v -0.08635326 0.06006509 -0.13976921
+v -0.08461000 0.08186409 -0.14290978
+v -0.08579966 0.06227049 -0.13624606
+v -0.08190793 0.09276359 -0.14373886
+v -0.08729322 -0.00033779 -0.14231839
+v -0.08724374 0.01428902 -0.13624624
+v -0.08746519 0.03145847 -0.13976931
+v -0.08453697 0.02966319 -0.14842376
+v -0.08637211 0.02573535 -0.14549747
+v -0.07796201 0.09276360 -0.14806801
+v -0.08220947 0.07723455 -0.14608767
+v -0.08430610 0.03348165 -0.14828256
+v -0.08244504 0.08344070 -0.14509038
+v -0.08101273 0.09276359 -0.14534962
+v -0.07996678 0.09276360 -0.14631350
+v -0.08680322 -0.00033778 -0.14549756
+v -0.08729087 0.03718162 -0.13976929
+v -0.08591980 0.06006508 -0.13624607
+v -0.08478433 0.07723454 -0.14322168
+v -0.08498456 0.07151140 -0.14354257
+v -0.08516360 0.06578826 -0.14381982
+v -0.08722961 0.01649444 -0.13624623
+v -0.08709768 0.02221759 -0.13624621
+v -0.08674668 0.03718161 -0.13624615
+v -0.08578553 0.03152229 -0.14602237
+v -0.08544865 0.05434196 -0.14448854
+v -0.08530731 0.06006511 -0.14415226
+v -0.08656999 0.04290475 -0.13624613
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 19
+f 1 19 32
+f 1 32 48
+f 1 48 67
+f 1 67 82
+f 1 82 92
+f 1 92 88
+f 1 88 87
+f 1 87 86
+f 1 86 70
+f 1 70 51
+f 1 51 33
+f 1 33 20
+f 1 20 9
+f 1 9 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 4
+f 3 14 15
+f 4 18 17
+f 4 17 24
+f 4 24 36
+f 4 36 54
+f 4 54 74
+f 4 74 79
+f 4 79 78
+f 4 78 68
+f 4 68 49
+f 4 49 43
+f 4 43 30
+f 4 30 19
+f 4 19 7
+f 4 7 6
+f 4 6 5
+f 9 20 10
+f 10 20 33
+f 10 33 50
+f 10 50 69
+f 10 69 80
+f 10 80 57
+f 10 57 37
+f 10 37 34
+f 10 34 21
+f 10 21 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 14 21 22
+f 14 22 17
+f 14 17 16
+f 14 16 15
+f 17 23 24
+f 17 22 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 23
+f 19 30 31
+f 19 31 32
+f 21 34 26
+f 21 26 22
+f 22 26 25
+f 23 35 36
+f 23 36 24
+f 23 29 35
+f 26 34 37
+f 26 37 38
+f 26 38 27
+f 27 38 28
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 35
+f 30 43 31
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 31 43 49
+f 31 49 44
+f 33 51 50
+f 35 52 36
+f 35 42 41
+f 35 41 53
+f 35 53 52
+f 36 52 55
+f 36 55 56
+f 36 56 54
+f 37 57 38
+f 38 58 39
+f 38 57 58
+f 39 58 59
+f 39 59 40
+f 40 59 41
+f 41 59 60
+f 41 60 61
+f 41 61 53
+f 44 49 62
+f 44 62 63
+f 44 63 64
+f 44 64 45
+f 45 64 63
+f 45 63 46
+f 46 63 47
+f 47 65 48
+f 47 63 66
+f 47 66 65
+f 48 65 67
+f 49 68 63
+f 49 63 62
+f 50 51 70
+f 50 70 71
+f 50 71 69
+f 52 53 72
+f 52 72 55
+f 53 61 73
+f 53 73 72
+f 54 56 74
+f 55 75 56
+f 55 72 76
+f 55 76 75
+f 56 75 77
+f 56 77 78
+f 56 78 79
+f 56 79 74
+f 57 80 58
+f 58 80 69
+f 58 69 71
+f 58 71 59
+f 59 71 60
+f 60 71 61
+f 61 71 81
+f 61 81 73
+f 63 68 78
+f 63 78 66
+f 65 81 82
+f 65 82 67
+f 65 66 83
+f 65 83 84
+f 65 84 85
+f 65 85 81
+f 66 78 77
+f 66 77 75
+f 66 75 83
+f 70 86 71
+f 71 86 87
+f 71 87 88
+f 71 88 81
+f 72 73 89
+f 72 89 90
+f 72 90 85
+f 72 85 84
+f 72 84 83
+f 72 83 75
+f 72 75 76
+f 73 81 85
+f 73 85 91
+f 73 91 90
+f 73 90 89
+f 81 88 92
+f 81 92 82
+f 85 90 91
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_14.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.07906642 0.11276849 -0.13976824
+v 0.07903280 0.11276850 -0.14067341
+v 0.07884605 0.11356199 -0.13976823
+v 0.07843522 0.11276849 -0.13762514
+v 0.07751643 0.11730104 -0.13976822
+v 0.07690017 0.11276851 -0.14536809
+v 0.07442019 0.12302385 -0.14375018
+v 0.07367321 0.12626997 -0.14290709
+v 0.07357984 0.12609361 -0.13671621
+v 0.07809160 0.11276848 -0.13656974
+v 0.07519332 0.12302383 -0.13976820
+v 0.07374418 0.11276853 -0.14854922
+v 0.07347526 0.11445571 -0.14836668
+v 0.07521199 0.11673601 -0.14565490
+v 0.07253407 0.11827090 -0.14766886
+v 0.07370683 0.12633007 -0.13976819
+v 0.07065167 0.12344466 -0.14690771
+v 0.07059191 0.12840601 -0.14437472
+v 0.06867591 0.13268608 -0.14344842
+v 0.06914651 0.13331926 -0.13976816
+v 0.07196636 0.12919148 -0.13976818
+v 0.07341550 0.12623789 -0.13656969
+v 0.07354249 0.12598541 -0.13656969
+v 0.07365827 0.12572492 -0.13656969
+v 0.06886266 0.13297059 -0.13656966
+v 0.06971048 0.13172825 -0.13656967
+v 0.05696699 0.11276848 -0.13656974
+v 0.07317647 0.11276853 -0.14874291
+v 0.06877302 0.12181360 -0.14886704
+v 0.06760773 0.12562878 -0.14826607
+v 0.06543775 0.12927566 -0.14763156
+v 0.06508293 0.13454159 -0.14471614
+v 0.06325283 0.13819647 -0.14340742
+v 0.06678231 0.13618065 -0.13976815
+v 0.06486257 0.13747108 -0.13656965
+v 0.05722096 0.11276848 -0.13733088
+v 0.04260254 0.12359690 -0.13656970
+v 0.07064794 0.11276853 -0.14906946
+v 0.07065167 0.11673602 -0.14895770
+v 0.06543775 0.12344467 -0.14921594
+v 0.06384668 0.12772073 -0.14894648
+v 0.06211368 0.13153592 -0.14833433
+v 0.06396246 0.13896992 -0.13976814
+v 0.05989142 0.13469789 -0.14748627
+v 0.05902865 0.14013614 -0.14420457
+v 0.05692217 0.14328607 -0.14286604
+v 0.06055996 0.14183131 -0.13976813
+v 0.06361511 0.13870541 -0.13656964
+v 0.06370475 0.11276852 -0.14601872
+v 0.04091436 0.12568484 -0.13656969
+v 0.04091436 0.13347558 -0.14656994
+v 0.06946398 0.11276853 -0.14911416
+v 0.06492607 0.11733315 -0.14915636
+v 0.05989142 0.12927567 -0.14925317
+v 0.05836010 0.13294660 -0.14895143
+v 0.05561868 0.13675777 -0.14806363
+v 0.05858420 0.14338224 -0.13656962
+v 0.05373629 0.13991573 -0.14663448
+v 0.05774384 0.14394730 -0.13976812
+v 0.05372882 0.14407557 -0.14356137
+v 0.04502649 0.14870029 -0.14255437
+v 0.04808911 0.14813522 -0.14159955
+v 0.04808911 0.14997869 -0.13873505
+v 0.05139824 0.14907297 -0.13751450
+v 0.05139824 0.14907296 -0.13656960
+v 0.06651340 0.11276853 -0.14886211
+v 0.04091436 0.15370971 -0.13656959
+v 0.04091436 0.13578395 -0.14912649
+v 0.04244941 0.13558357 -0.14916622
+v 0.04244941 0.13937873 -0.14916621
+v 0.05373629 0.13469790 -0.14914265
+v 0.04808911 0.13854115 -0.14900231
+v 0.05185764 0.13782380 -0.14864969
+v 0.04808911 0.14140254 -0.14732607
+v 0.04808911 0.14527383 -0.14446157
+v 0.04126918 0.14922528 -0.14305476
+v 0.04091436 0.15350534 -0.13809807
+v 0.04286772 0.14644003 -0.14482536
+v 0.04091436 0.13971938 -0.14912524
+v 0.04091436 0.14089359 -0.14875646
+v 0.04091436 0.14247256 -0.14807106
+v 0.04244941 0.14224011 -0.14792207
+v 0.04091436 0.14926135 -0.14308579
+v 0.04091436 0.14948978 -0.14284740
+v 0.04091436 0.14613545 -0.14543626
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 27
+f 1 27 36
+f 1 36 49
+f 1 49 66
+f 1 66 52
+f 1 52 38
+f 1 38 28
+f 1 28 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 9
+f 3 9 4
+f 4 9 10
+f 5 8 11
+f 5 11 9
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 15 8
+f 7 14 13
+f 7 13 15
+f 8 16 11
+f 8 15 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 16
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 9 11 16
+f 9 16 21
+f 9 21 25
+f 9 25 26
+f 9 26 22
+f 10 24 23
+f 10 23 22
+f 10 22 26
+f 10 26 25
+f 10 25 35
+f 10 35 48
+f 10 48 57
+f 10 57 65
+f 10 65 67
+f 10 67 50
+f 10 50 37
+f 10 37 27
+f 12 28 29
+f 12 29 13
+f 13 29 15
+f 15 29 30
+f 15 30 17
+f 17 30 18
+f 18 30 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 19 30 31
+f 20 34 25
+f 20 25 21
+f 25 34 35
+f 27 37 36
+f 28 38 39
+f 28 39 29
+f 29 40 41
+f 29 41 30
+f 29 39 40
+f 30 41 42
+f 30 42 31
+f 31 42 32
+f 32 42 33
+f 33 43 34
+f 33 42 44
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 43
+f 34 43 48
+f 34 48 35
+f 36 37 49
+f 37 50 51
+f 37 51 49
+f 38 52 40
+f 38 40 39
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 42
+f 42 55 56
+f 42 56 44
+f 43 47 57
+f 43 57 48
+f 44 56 45
+f 45 56 58
+f 45 58 46
+f 46 59 47
+f 46 58 60
+f 46 60 61
+f 46 61 62
+f 46 62 63
+f 46 63 64
+f 46 64 59
+f 47 59 64
+f 47 64 65
+f 47 65 57
+f 49 51 66
+f 50 67 77
+f 50 77 84
+f 50 84 83
+f 50 83 85
+f 50 85 81
+f 50 81 80
+f 50 80 79
+f 50 79 68
+f 50 68 51
+f 51 68 66
+f 52 66 68
+f 52 68 53
+f 53 68 69
+f 53 69 54
+f 54 69 70
+f 54 70 71
+f 54 71 55
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 56 73 58
+f 58 73 74
+f 58 74 60
+f 60 74 75
+f 60 75 61
+f 61 76 77
+f 61 77 62
+f 61 75 78
+f 61 78 76
+f 62 77 63
+f 63 77 64
+f 64 77 67
+f 64 67 65
+f 68 79 70
+f 68 70 69
+f 70 79 80
+f 70 80 72
+f 70 72 71
+f 72 80 81
+f 72 81 82
+f 72 82 74
+f 72 74 73
+f 74 82 78
+f 74 78 75
+f 76 83 84
+f 76 84 77
+f 76 78 85
+f 76 85 83
+f 78 82 81
+f 78 81 85
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_15.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.05959763 -0.11244461 -0.13626190
+v -0.05959763 -0.11865385 -0.14582627
+v -0.05959763 -0.14278898 -0.13626201
+v -0.00012847 -0.13279919 -0.13626198
+v -0.00012847 -0.13671484 -0.14379182
+v -0.05959763 -0.12301429 -0.14841246
+v -0.00012847 -0.13791396 -0.14508994
+v -0.00012847 -0.13937034 -0.14665698
+v -0.00012847 -0.14066539 -0.14762837
+v -0.00012847 -0.14223079 -0.14878575
+v -0.05959763 -0.14293722 -0.13976932
+v -0.05782782 -0.14420611 -0.13976932
+v -0.05096980 -0.14897209 -0.13642665
+v -0.05769391 -0.14414943 -0.13626202
+v -0.00012847 -0.15698659 -0.13626207
+v -0.05959763 -0.12495905 -0.14902697
+v -0.00012847 -0.14595896 -0.14908235
+v -0.05959763 -0.13991976 -0.14435858
+v -0.05678573 -0.14340377 -0.14300267
+v -0.05096980 -0.14897209 -0.13719195
+v -0.05071946 -0.14902878 -0.13626204
+v -0.05091158 -0.14894156 -0.13626204
+v -0.05113863 -0.14881948 -0.13626204
+v -0.03367920 -0.15376859 -0.13626205
+v -0.00086783 -0.15697351 -0.13626207
+v -0.00012847 -0.15677293 -0.13717313
+v -0.05959763 -0.12757532 -0.14905839
+v -0.00267839 -0.14595896 -0.14909240
+v -0.00012847 -0.14743280 -0.14889259
+v -0.05959763 -0.13572064 -0.14738457
+v -0.05907949 -0.13586890 -0.14758061
+v -0.05882916 -0.14025552 -0.14452069
+v -0.05378752 -0.14011161 -0.14692088
+v -0.05343822 -0.14405783 -0.14377300
+v -0.04414089 -0.14854911 -0.14213938
+v -0.04780277 -0.14791684 -0.14104608
+v -0.04780277 -0.14949534 -0.13818219
+v -0.02905092 -0.15472352 -0.13727114
+v -0.02955741 -0.15474968 -0.13626206
+v -0.00267839 -0.15692991 -0.13626207
+v -0.00267839 -0.15609706 -0.13976936
+v -0.00012847 -0.15613193 -0.13976936
+v -0.04780277 -0.13883836 -0.14885486
+v -0.05959763 -0.13251135 -0.14877441
+v -0.00831967 -0.14595896 -0.14909742
+v -0.01396094 -0.14595896 -0.14905344
+v -0.00012847 -0.14922058 -0.14865886
+v -0.00267839 -0.14922494 -0.14866389
+v -0.05959763 -0.13518867 -0.14773014
+v -0.05590082 -0.13706366 -0.14826045
+v -0.05213997 -0.13812325 -0.14872040
+v -0.04780277 -0.14169882 -0.14763467
+v -0.04038004 -0.14346043 -0.14858218
+v -0.04780277 -0.14505637 -0.14476952
+v -0.04038004 -0.14914211 -0.14309065
+v -0.04221971 -0.15017556 -0.14004580
+v -0.03652022 -0.15180637 -0.13976935
+v -0.02785746 -0.15502003 -0.13626206
+v -0.03090223 -0.15322787 -0.13941622
+v -0.02524349 -0.15353310 -0.14078723
+v -0.02524349 -0.15505055 -0.13792209
+v -0.02283329 -0.15565229 -0.13626206
+v -0.01069494 -0.15663340 -0.13626207
+v -0.01396094 -0.15577874 -0.13932324
+v -0.00788886 -0.15566535 -0.14023180
+v -0.00572317 -0.15455780 -0.14265462
+v -0.00267839 -0.15461884 -0.14274259
+v -0.00012847 -0.15532524 -0.14139672
+v -0.03652022 -0.14390955 -0.14875811
+v -0.02524349 -0.14498223 -0.14893782
+v -0.03087895 -0.14442409 -0.14886618
+v -0.05907949 -0.13301279 -0.14876184
+v -0.05959763 -0.13281658 -0.14871033
+v -0.00831967 -0.14915082 -0.14861237
+v -0.01396094 -0.14901129 -0.14851561
+v -0.01936353 -0.14626856 -0.14886494
+v -0.00012847 -0.15051565 -0.14729540
+v -0.00267839 -0.15208978 -0.14560774
+v -0.01732009 -0.14888919 -0.14842010
+v -0.02108094 -0.14837902 -0.14819264
+v -0.03087895 -0.14728455 -0.14736828
+v -0.03652022 -0.14677439 -0.14662811
+v -0.04226047 -0.14600695 -0.14562154
+v -0.03652022 -0.14960868 -0.14376421
+v -0.01960222 -0.15399530 -0.14163673
+v -0.03087895 -0.15017118 -0.14450438
+v -0.01960222 -0.15548223 -0.13877158
+v -0.01960222 -0.15600114 -0.13626206
+v -0.01396094 -0.15647643 -0.13626206
+v -0.01660984 -0.15628021 -0.13626206
+v -0.01396094 -0.15429182 -0.14218840
+v -0.00948402 -0.15443571 -0.14244979
+v -0.01396094 -0.15162758 -0.14549840
+v -0.00788886 -0.15245606 -0.14493794
+v -0.00012847 -0.15463193 -0.14275892
+v -0.00012847 -0.15208106 -0.14562407
+v -0.00012847 -0.15324530 -0.14432595
+v -0.01936353 -0.15071186 -0.14596838
+v -0.02524349 -0.15067264 -0.14502212
+f 1 2 6
+f 1 6 16
+f 1 16 27
+f 1 27 44
+f 1 44 73
+f 1 73 49
+f 1 49 30
+f 1 30 18
+f 1 18 11
+f 1 11 3
+f 1 3 14
+f 1 14 23
+f 1 23 22
+f 1 22 21
+f 1 21 24
+f 1 24 39
+f 1 39 58
+f 1 58 62
+f 1 62 88
+f 1 88 90
+f 1 90 89
+f 1 89 63
+f 1 63 40
+f 1 40 25
+f 1 25 15
+f 1 15 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 26
+f 4 26 42
+f 4 42 68
+f 4 68 95
+f 4 95 97
+f 4 97 96
+f 4 96 77
+f 4 77 47
+f 4 47 29
+f 4 29 17
+f 4 17 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 5
+f 6 10 16
+f 10 17 16
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 13 20 24
+f 13 24 21
+f 15 25 26
+f 16 17 28
+f 16 28 27
+f 17 29 28
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 38
+f 20 38 24
+f 24 38 39
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 27 43 44
+f 27 28 45
+f 27 45 46
+f 27 46 43
+f 28 29 47
+f 28 47 48
+f 28 48 45
+f 30 49 31
+f 31 50 32
+f 31 49 50
+f 32 50 33
+f 33 50 51
+f 33 51 52
+f 33 52 34
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 37
+f 35 37 36
+f 37 56 57
+f 37 57 38
+f 38 58 39
+f 38 57 59
+f 38 59 60
+f 38 60 61
+f 38 61 62
+f 38 62 58
+f 40 63 41
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 67
+f 41 67 68
+f 41 68 42
+f 43 69 51
+f 43 51 44
+f 43 46 70
+f 43 70 71
+f 43 71 69
+f 44 72 73
+f 44 51 72
+f 45 48 46
+f 46 48 74
+f 46 74 75
+f 46 75 76
+f 46 76 70
+f 47 77 48
+f 48 77 78
+f 48 78 74
+f 49 73 50
+f 50 73 72
+f 50 72 51
+f 51 69 53
+f 51 53 52
+f 53 69 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 83
+f 53 83 54
+f 54 83 55
+f 55 82 84
+f 55 84 59
+f 55 59 57
+f 55 57 56
+f 55 83 82
+f 59 84 60
+f 60 85 61
+f 60 84 86
+f 60 86 85
+f 61 85 87
+f 61 87 88
+f 61 88 62
+f 63 89 64
+f 64 89 90
+f 64 90 87
+f 64 87 85
+f 64 85 91
+f 64 91 92
+f 64 92 66
+f 64 66 65
+f 66 92 93
+f 66 93 94
+f 66 94 67
+f 67 94 78
+f 67 78 95
+f 67 95 68
+f 69 71 79
+f 70 76 75
+f 70 75 71
+f 71 75 79
+f 74 78 75
+f 75 78 94
+f 75 94 93
+f 75 93 79
+f 77 96 78
+f 78 96 97
+f 78 97 95
+f 79 93 98
+f 79 98 99
+f 79 99 86
+f 79 86 81
+f 79 81 80
+f 81 86 82
+f 82 86 84
+f 85 86 99
+f 85 99 98
+f 85 98 91
+f 87 90 88
+f 91 98 93
+f 91 93 92
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_16.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.06683246 0.03145617 -0.07673295
+v 0.06713395 0.03561302 -0.07673294
+v 0.06714830 0.03579604 -0.11504999
+v 0.06694731 0.03145631 -0.11544969
+v 0.06733493 0.02788874 -0.11483685
+v 0.06733493 0.02788873 -0.11222554
+v 0.06753018 0.02814695 -0.07673297
+v 0.06758474 0.02824854 -0.07246960
+v 0.07133464 0.03145560 0.07794750
+v 0.07226781 0.03717409 0.10086315
+v 0.07044454 0.04965707 -0.12104531
+v 0.07319236 0.04029462 0.10398074
+v 0.06829682 0.03717490 -0.12104535
+v 0.06745266 0.03145633 -0.12104537
+v 0.06771108 0.02980462 -0.12104538
+v 0.07005979 0.02000177 -0.12104542
+v 0.07319811 0.02798083 0.10403398
+v 0.07158157 0.03145558 0.08367641
+v 0.07254920 0.03104913 0.10059666
+v 0.07275593 0.03145551 0.10446034
+v 0.07275018 0.03717408 0.10440708
+v 0.07942593 0.04965611 0.14091224
+v 0.08557336 0.04965707 -0.12104531
+v 0.07697385 0.04965631 0.08836618
+v 0.07937425 0.04965612 0.13995298
+v 0.08522593 0.02000177 -0.12104542
+v 0.07754237 0.02000096 0.10064990
+v 0.07773187 0.02000094 0.10592582
+v 0.08018969 0.02000081 0.14096541
+v 0.07945465 0.04861980 0.14096552
+v 0.08103386 0.04965609 0.14672107
+v 0.08540396 0.03145633 -0.12104537
+v 0.09507158 0.04965620 0.11804990
+v 0.09511753 0.04861989 0.11804990
+v 0.09532425 0.04289841 0.11804988
+v 0.09550801 0.03717403 0.11804986
+v 0.09568891 0.03145546 0.11804984
+v 0.09582673 0.02573108 0.11804981
+v 0.09591000 0.02000961 0.11804979
+v 0.09591000 0.02000090 0.11804979
+v 0.08172009 0.02000079 0.14672096
+v 0.08105682 0.04861978 0.14672107
+v 0.08389078 0.02000078 0.15023824
+v 0.08372712 0.03717391 0.15031825
+v 0.08312415 0.04965608 0.14967879
+v 0.09514049 0.04965618 0.12377880
+v 0.09518931 0.04861987 0.12377880
+v 0.09550227 0.04289836 0.12950769
+v 0.09541901 0.04289839 0.12377878
+v 0.09570614 0.03717398 0.12950767
+v 0.09560851 0.03717401 0.12377876
+v 0.09577792 0.03145544 0.12377874
+v 0.09591287 0.02573106 0.12377871
+v 0.09605357 0.02393418 0.13091986
+v 0.09602485 0.02224475 0.12708282
+v 0.09607941 0.02000086 0.12902797
+v 0.08756604 0.02000078 0.15106427
+v 0.08757178 0.03145533 0.15111762
+v 0.08361227 0.04861977 0.15034494
+v 0.08360079 0.04965608 0.15034494
+v 0.09515198 0.04965617 0.12481800
+v 0.09524960 0.04861984 0.12950771
+v 0.09556832 0.04289834 0.13523659
+v 0.09577792 0.03717396 0.13523657
+v 0.09586406 0.03145541 0.12950765
+v 0.09601336 0.02775139 0.13387759
+v 0.09599040 0.02579781 0.12921452
+v 0.09607653 0.02579778 0.13558293
+v 0.09616554 0.02000954 0.13523650
+v 0.09616267 0.02000083 0.13523650
+v 0.09164900 0.02000078 0.15039812
+v 0.08757178 0.02000949 0.15106427
+v 0.08757178 0.02573096 0.15109094
+v 0.08757178 0.04965607 0.15111768
+v 0.09521228 0.04965615 0.13054691
+v 0.09530703 0.04861982 0.13523661
+v 0.09526108 0.04965613 0.13627581
+v 0.09523524 0.04965611 0.14096552
+v 0.09527545 0.04861980 0.14096552
+v 0.09549366 0.04289832 0.14096550
+v 0.09603634 0.02876736 0.13824756
+v 0.09603634 0.02876736 0.13771463
+v 0.09595307 0.03098514 0.13558295
+v 0.09607366 0.02573100 0.13918015
+v 0.09611386 0.02000952 0.14032591
+v 0.09611386 0.02000081 0.14032591
+v 0.09443990 0.02000950 0.14672096
+v 0.09162891 0.02573096 0.15039814
+v 0.09444277 0.02000079 0.14669432
+v 0.09160594 0.03145534 0.15039817
+v 0.09158009 0.03717391 0.15039819
+v 0.08827524 0.04965608 0.15098444
+v 0.09525822 0.04965613 0.13523661
+v 0.09500841 0.04965611 0.14200472
+v 0.09600475 0.02000951 0.14320368
+v 0.09595881 0.02573099 0.14203128
+v 0.09568317 0.03717394 0.14096548
+v 0.09588416 0.03098512 0.14048582
+v 0.09600475 0.02000080 0.14320368
+v 0.09437961 0.02573097 0.14672098
+v 0.09151980 0.04861977 0.15037159
+v 0.09150831 0.04965608 0.15034494
+v 0.09390584 0.04965609 0.14672107
+v 0.09393168 0.04861978 0.14672107
+v 0.09405228 0.04289830 0.14672105
+v 0.09416713 0.03717392 0.14672103
+v 0.09427911 0.03145535 0.14672101
+v 0.09348663 0.04965609 0.14736059
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 12
+f 2 12 11
+f 3 11 13
+f 3 13 14
+f 3 14 4
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 12
+f 11 23 32
+f 11 32 26
+f 11 26 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 12 24
+f 11 24 25
+f 11 25 22
+f 11 22 31
+f 11 31 45
+f 11 45 60
+f 11 60 74
+f 11 74 92
+f 11 92 102
+f 11 102 108
+f 11 108 103
+f 11 103 94
+f 11 94 78
+f 11 78 77
+f 11 77 93
+f 11 93 75
+f 11 75 61
+f 11 61 46
+f 11 46 33
+f 11 33 23
+f 12 22 25
+f 12 25 24
+f 16 26 40
+f 16 40 56
+f 16 56 70
+f 16 70 86
+f 16 86 99
+f 16 99 89
+f 16 89 71
+f 16 71 57
+f 16 57 43
+f 16 43 41
+f 16 41 29
+f 16 29 28
+f 16 28 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 20
+f 17 20 19
+f 17 19 18
+f 20 29 30
+f 20 30 22
+f 20 22 21
+f 22 30 31
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 32
+f 26 32 40
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 36
+f 36 51 37
+f 37 51 50
+f 37 50 52
+f 37 52 38
+f 38 52 65
+f 38 65 53
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 55 56
+f 39 56 40
+f 41 43 42
+f 43 57 44
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 45 59 60
+f 46 61 47
+f 47 61 75
+f 47 75 62
+f 47 62 63
+f 47 63 48
+f 48 63 64
+f 48 64 50
+f 48 50 49
+f 50 64 65
+f 50 65 52
+f 53 65 66
+f 53 66 67
+f 53 67 54
+f 54 67 66
+f 54 66 68
+f 54 68 69
+f 54 69 55
+f 55 69 56
+f 56 69 70
+f 57 71 72
+f 57 72 73
+f 57 73 58
+f 58 73 71
+f 58 71 74
+f 58 74 60
+f 58 60 59
+f 62 75 76
+f 62 76 63
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 63 79 80
+f 63 80 64
+f 64 80 81
+f 64 81 82
+f 64 82 83
+f 64 83 65
+f 65 83 82
+f 65 82 66
+f 66 82 68
+f 68 82 69
+f 69 82 81
+f 69 81 84
+f 69 84 85
+f 69 85 86
+f 69 86 70
+f 71 87 88
+f 71 88 74
+f 71 73 72
+f 71 89 87
+f 74 88 90
+f 74 90 91
+f 74 91 92
+f 75 93 76
+f 76 93 77
+f 78 94 95
+f 78 95 79
+f 79 95 80
+f 80 95 96
+f 80 96 97
+f 80 97 81
+f 81 97 98
+f 81 98 96
+f 81 96 84
+f 84 96 95
+f 84 95 85
+f 85 95 99
+f 85 99 86
+f 87 95 100
+f 87 100 101
+f 87 101 91
+f 87 91 90
+f 87 90 88
+f 87 89 99
+f 87 99 95
+f 91 101 92
+f 92 101 102
+f 94 103 95
+f 95 103 104
+f 95 104 105
+f 95 105 106
+f 95 106 107
+f 95 107 100
+f 96 98 97
+f 100 107 101
+f 101 107 106
+f 101 106 105
+f 101 105 104
+f 101 104 108
+f 101 108 102
+f 103 108 104
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_17.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.00268253 0.15766692 -0.13613722
+v -0.00268253 0.15707103 -0.13976786
+v -0.00625680 0.15756760 -0.13613722
+v -0.00012796 0.15766692 -0.13613722
+v -0.00268253 0.15472563 -0.14284473
+v -0.00730837 0.15463396 -0.14275983
+v -0.00884323 0.15637582 -0.14033814
+v -0.01396299 0.15654770 -0.13961706
+v -0.00012796 0.15707103 -0.13976786
+v -0.01396299 0.15717033 -0.13613722
+v -0.00012796 0.13027454 -0.13613732
+v -0.00268253 0.15163535 -0.14539190
+v -0.00012796 0.15471417 -0.14283839
+v -0.00012796 0.15163535 -0.14537669
+v -0.00884323 0.15220451 -0.14466070
+v -0.01396299 0.15148638 -0.14494456
+v -0.01106852 0.15449261 -0.14262677
+v -0.01396299 0.15434746 -0.14248231
+v -0.01960322 0.15628795 -0.13928759
+v -0.02524345 0.15603202 -0.13890741
+v -0.01960322 0.15678834 -0.13613722
+v -0.04536665 0.11958268 -0.13613736
+v -0.00012796 0.13895335 -0.14618778
+v -0.00268253 0.14802557 -0.14804299
+v -0.00832276 0.14786131 -0.14793654
+v -0.01396299 0.14769325 -0.14780981
+v -0.00012796 0.14999664 -0.14658565
+v -0.01960322 0.14750225 -0.14762099
+v -0.01960322 0.15116169 -0.14475574
+v -0.01960322 0.15402277 -0.14215282
+v -0.03087837 0.15568823 -0.13849050
+v -0.02524345 0.15637198 -0.13613723
+v -0.05437402 0.11864681 -0.13613736
+v -0.05437402 0.12498784 -0.14459236
+v -0.05437402 0.12670680 -0.14682397
+v -0.00012796 0.14181445 -0.14907580
+v -0.00012796 0.14802176 -0.14803538
+v -0.00012796 0.14672300 -0.14851566
+v -0.00268253 0.14516450 -0.14906946
+v -0.00832276 0.14500024 -0.14907706
+v -0.01396299 0.14483216 -0.14908214
+v -0.01960322 0.14464117 -0.14908214
+v -0.02524345 0.14437759 -0.14905299
+v -0.03087837 0.14407964 -0.14896808
+v -0.02524345 0.14723868 -0.14731432
+v -0.03087837 0.14694073 -0.14696076
+v -0.02524345 0.15077206 -0.14445035
+v -0.03087837 0.15035951 -0.14409552
+v -0.02524345 0.15363314 -0.14177266
+v -0.03651860 0.15279277 -0.14065368
+v -0.03651860 0.15510379 -0.13778844
+v -0.03087837 0.15584101 -0.13613723
+v -0.03087837 0.15322060 -0.14135573
+v -0.05437402 0.14640209 -0.13613726
+v -0.05437402 0.12983912 -0.14889337
+v -0.05343929 0.13006831 -0.14891618
+v -0.01396299 0.14171131 -0.14908215
+v -0.00012796 0.14516067 -0.14907579
+v -0.01960322 0.14163874 -0.14908215
+v -0.05338619 0.13462543 -0.14894151
+v -0.04779906 0.13858665 -0.14887939
+v -0.03651860 0.14357542 -0.14869056
+v -0.03651860 0.14643650 -0.14657426
+v -0.03651860 0.14992787 -0.14370901
+v -0.04215883 0.14938162 -0.14320972
+v -0.04552067 0.14896524 -0.14282195
+v -0.03982732 0.15465303 -0.13717510
+v -0.03982732 0.15465303 -0.13625382
+v -0.03962020 0.15467596 -0.13613723
+v -0.05437402 0.14664657 -0.13982746
+v -0.05145300 0.14928228 -0.13613725
+v -0.05437402 0.13421670 -0.14891236
+v -0.05146893 0.13779593 -0.14858920
+v -0.03970518 0.14316287 -0.14843457
+v -0.04181362 0.14540896 -0.14634236
+v -0.04756007 0.14618438 -0.14438193
+v -0.05343929 0.14453419 -0.14387504
+v -0.05437402 0.14430500 -0.14369509
+v -0.04928082 0.14827384 -0.14180183
+v -0.04756007 0.15005390 -0.13984265
+v -0.05145300 0.14928229 -0.13798235
+v -0.03994417 0.15457281 -0.13613723
+v -0.05337557 0.14725393 -0.13984266
+v -0.05437402 0.13689825 -0.14818622
+v -0.05437402 0.13814354 -0.14752344
+v -0.05338619 0.13989686 -0.14688856
+v -0.04779906 0.14144774 -0.14754245
+v -0.04346533 0.14235687 -0.14804554
+v -0.05437402 0.14086711 -0.14591405
+v -0.05437402 0.13997708 -0.14646910
+f 1 2 3
+f 1 3 10
+f 1 10 21
+f 1 21 32
+f 1 32 52
+f 1 52 69
+f 1 69 82
+f 1 82 71
+f 1 71 54
+f 1 54 33
+f 1 33 22
+f 1 22 11
+f 1 11 4
+f 1 4 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 5
+f 3 8 10
+f 4 11 23
+f 4 23 36
+f 4 36 58
+f 4 58 38
+f 4 38 37
+f 4 37 27
+f 4 27 14
+f 4 14 13
+f 4 13 9
+f 5 12 6
+f 5 9 13
+f 5 13 14
+f 5 14 12
+f 6 12 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 10
+f 10 19 20
+f 10 20 21
+f 11 22 23
+f 12 24 25
+f 12 25 26
+f 12 26 15
+f 12 14 27
+f 12 27 24
+f 15 26 16
+f 16 28 29
+f 16 29 17
+f 16 26 28
+f 17 29 18
+f 18 29 30
+f 18 30 20
+f 18 20 19
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 24 27 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 26
+f 26 43 44
+f 26 44 28
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 31 49 53
+f 31 53 50
+f 33 54 70
+f 33 70 78
+f 33 78 89
+f 33 89 90
+f 33 90 85
+f 33 85 84
+f 33 84 72
+f 33 72 55
+f 33 55 35
+f 33 35 34
+f 35 55 56
+f 35 56 36
+f 36 57 41
+f 36 41 58
+f 36 56 57
+f 38 58 39
+f 39 58 40
+f 40 58 41
+f 41 57 59
+f 41 59 42
+f 42 59 60
+f 42 60 43
+f 43 60 44
+f 44 46 45
+f 44 60 61
+f 44 61 62
+f 44 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 48
+f 46 48 47
+f 48 64 49
+f 49 64 53
+f 50 65 66
+f 50 66 51
+f 50 53 65
+f 51 66 67
+f 51 67 68
+f 51 68 52
+f 52 68 69
+f 53 64 65
+f 54 71 70
+f 55 72 60
+f 55 60 56
+f 56 60 59
+f 56 59 57
+f 60 72 61
+f 61 72 73
+f 61 73 74
+f 61 74 62
+f 62 74 63
+f 63 74 75
+f 63 75 65
+f 63 65 64
+f 65 75 66
+f 66 75 76
+f 66 76 77
+f 66 77 78
+f 66 78 79
+f 66 79 67
+f 67 79 80
+f 67 80 81
+f 67 81 71
+f 67 71 68
+f 68 82 69
+f 68 71 82
+f 70 71 81
+f 70 81 83
+f 70 83 78
+f 72 84 73
+f 73 84 85
+f 73 85 86
+f 73 86 87
+f 73 87 88
+f 73 88 74
+f 74 88 76
+f 74 76 75
+f 76 88 87
+f 76 87 77
+f 77 86 78
+f 77 87 86
+f 78 83 79
+f 78 86 89
+f 79 83 81
+f 79 81 80
+f 85 90 86
+f 86 90 89
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_18.obj

@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v 0.08756440 -0.04867809 0.15057316
+v 0.08757023 -0.04866465 0.15057316
+v 0.08757023 -0.04294365 0.15065320
+v 0.08392394 -0.04867809 0.15009303
+v 0.09103874 -0.04867809 0.15003967
+v 0.09116115 -0.04294365 0.15011973
+v 0.08757023 -0.03721593 0.15070658
+v 0.09126316 -0.03721593 0.15017309
+v 0.08757023 -0.02577393 0.15078665
+v 0.08756440 0.02000078 0.15105354
+v 0.08388896 0.02000078 0.15019998
+v 0.08151640 -0.04867808 0.14667873
+v 0.09331803 -0.04867808 0.14667873
+v 0.09354539 -0.04294364 0.14667875
+v 0.09374941 -0.03721592 0.14667877
+v 0.09393012 -0.03150164 0.14667879
+v 0.09405837 -0.02577392 0.14667882
+v 0.09415456 -0.02006637 0.14667884
+v 0.09133895 -0.03150165 0.15019979
+v 0.09139434 -0.02577393 0.15022650
+v 0.09144679 -0.02006638 0.15025318
+v 0.09162751 0.00283106 0.15035995
+v 0.09165083 0.01427978 0.15038667
+v 0.09164208 0.02000078 0.15038669
+v 0.08172334 0.02000079 0.14667898
+v 0.08151640 -0.04866464 0.14667873
+v 0.07986667 -0.04867806 0.14097046
+v 0.09504354 -0.04867806 0.14094378
+v 0.09504354 -0.04866462 0.14097046
+v 0.09602872 -0.00562605 0.14374473
+v 0.09605495 -0.00180757 0.14387812
+v 0.09472584 -0.00338740 0.14614542
+v 0.09444894 0.00283107 0.14678561
+v 0.09165374 0.00855878 0.15035997
+v 0.09447226 0.00855879 0.14673229
+v 0.09444020 0.02000079 0.14667898
+v 0.08019020 0.02000081 0.14094403
+v 0.07986667 -0.04866462 0.14097046
+v 0.07261197 -0.03150148 0.10458692
+v 0.07262072 -0.03721576 0.10453357
+v 0.07202320 -0.03721575 0.10085253
+v 0.07311330 -0.04043592 0.10402674
+v 0.07765150 -0.04867791 0.10085249
+v 0.09514556 -0.04867804 0.13520884
+v 0.09538748 -0.04294360 0.13523554
+v 0.09562357 -0.03721588 0.13523556
+v 0.09526506 -0.04294362 0.14097048
+v 0.09548075 -0.03721590 0.14097050
+v 0.09568477 -0.03150162 0.14097052
+v 0.09582760 -0.02577390 0.14097055
+v 0.09600540 -0.00861092 0.14323791
+v 0.09612781 -0.00861091 0.14035710
+v 0.09615113 -0.00338738 0.14147744
+v 0.09606078 0.00000083 0.14390479
+v 0.09620068 0.00283109 0.14094397
+v 0.09606661 0.00283108 0.14390480
+v 0.09605203 0.00855880 0.14387816
+v 0.09603454 0.01226972 0.14382482
+v 0.09601997 0.01608148 0.14355810
+v 0.09600248 0.02000080 0.14315799
+v 0.07773602 0.02000094 0.10589415
+v 0.07205235 -0.03150147 0.10085255
+v 0.07107301 -0.03150141 0.08367438
+v 0.07109924 -0.03721569 0.08367436
+v 0.06916096 -0.04867709 -0.12145014
+v 0.07692282 -0.04867785 0.08367432
+v 0.09538456 -0.04294358 0.12952725
+v 0.09562649 -0.03721586 0.12952727
+v 0.09513390 -0.04867802 0.12950055
+v 0.09582468 -0.03150160 0.13523558
+v 0.09596167 -0.01433190 0.14217093
+v 0.09595293 -0.02577388 0.13523561
+v 0.09604620 -0.01822432 0.13851655
+v 0.09608117 -0.01433189 0.13929012
+v 0.09593545 -0.02006635 0.14059714
+v 0.09626772 -0.00288989 0.13520901
+v 0.09627355 0.00283111 0.13520903
+v 0.09611324 0.02000081 0.14027718
+v 0.09616862 0.00855881 0.14094399
+v 0.07754365 0.02000096 0.10061267
+v 0.07006452 0.02000177 -0.12102309
+v 0.06680588 -0.03150086 -0.06524757
+v 0.06717022 -0.03543363 -0.06524758
+v 0.06705654 -0.03556806 -0.07098253
+v 0.06697493 -0.03574283 -0.07671749
+v 0.06698076 -0.03609900 -0.11110050
+v 0.06710026 -0.03588387 -0.11486156
+v 0.06816413 -0.03885526 -0.12145010
+v 0.08569025 -0.04867709 -0.12145014
+v 0.09510184 -0.04867799 0.12376561
+v 0.09506395 -0.04867797 0.11803066
+v 0.09529421 -0.04294353 0.11805736
+v 0.09557110 -0.03721583 0.12379233
+v 0.09577514 -0.03150155 0.12379235
+v 0.09582760 -0.03150158 0.12952729
+v 0.09603746 -0.02006633 0.13523563
+v 0.09594710 -0.02577386 0.12952732
+v 0.09620068 -0.00861089 0.13520899
+v 0.09602580 -0.01104443 0.11611025
+v 0.09606368 -0.00892678 0.11803081
+v 0.09611032 -0.00288982 0.11803083
+v 0.09620360 0.01427983 0.13520907
+v 0.09613364 0.00000092 0.12091165
+v 0.09615405 0.00283116 0.12376580
+v 0.09615988 0.02000083 0.13518241
+v 0.08522099 0.02000177 -0.12102309
+v 0.06853721 -0.00000491 -0.12142328
+v 0.06656979 -0.03150082 -0.07671748
+v 0.06649692 -0.03150069 -0.11110049
+v 0.06691372 -0.03150068 -0.11518164
+v 0.06757245 -0.03150065 -0.12145008
+v 0.06770069 -0.03360485 -0.12145008
+v 0.08569025 -0.04852247 -0.12145014
+v 0.08766351 -0.00000491 -0.12142328
+v 0.08764311 -0.00178642 -0.12142329
+v 0.08762270 -0.00288894 -0.12142329
+v 0.08595549 -0.04867711 -0.11736898
+v 0.08598755 -0.04867711 -0.11683549
+v 0.09571975 -0.03150153 0.11805740
+v 0.09154298 -0.00288932 -0.01942122
+v 0.09585674 -0.02577381 0.11805743
+v 0.09604620 -0.00723266 0.11504330
+v 0.09605495 -0.00288981 0.11498998
+v 0.09604912 -0.00000578 0.11501665
+v 0.09604329 0.00149338 0.11507002
+v 0.09607534 0.00317404 0.11760406
+v 0.09613656 0.01427985 0.12950078
+v 0.09607244 0.02000086 0.12878061
+v 0.09590921 0.02000090 0.11800423
+v 0.08655884 0.01428076 -0.11680858
+v 0.08746531 0.00855976 -0.11680860
+v 0.08760813 0.00433793 -0.12102314
+v 0.06909101 -0.02006538 -0.12145003
+v 0.06828655 -0.02577293 -0.12145005
+v 0.08554452 -0.03712753 -0.12145010
+v 0.08770723 0.00283205 -0.12102315
+v 0.08542502 -0.03181662 -0.12145008
+v 0.08526179 -0.02804520 -0.12145006
+v 0.08479544 -0.02006538 -0.12145003
+v 0.09154007 0.00283168 -0.01942120
+v 0.09602580 0.00531186 0.11541678
+v 0.09605203 0.00855889 0.11941793
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 27
+f 1 27 43
+f 1 43 66
+f 1 66 65
+f 1 65 89
+f 1 89 117
+f 1 117 118
+f 1 118 91
+f 1 91 90
+f 1 90 69
+f 1 69 44
+f 1 44 28
+f 1 28 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 7
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 8
+f 7 8 9
+f 8 16 17
+f 8 17 18
+f 8 18 19
+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 36
+f 10 36 60
+f 10 60 78
+f 10 78 105
+f 10 105 128
+f 10 128 129
+f 10 129 106
+f 10 106 81
+f 10 81 80
+f 10 80 61
+f 10 61 37
+f 10 37 25
+f 10 25 11
+f 11 25 26
+f 11 26 12
+f 12 26 38
+f 12 38 27
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 15
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 20
+f 20 33 21
+f 21 33 22
+f 22 34 23
+f 22 33 34
+f 23 34 33
+f 23 33 24
+f 24 33 35
+f 24 35 36
+f 25 37 38
+f 25 38 26
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 31
+f 31 54 33
+f 31 33 32
+f 31 53 55
+f 31 55 54
+f 33 54 56
+f 33 56 35
+f 35 56 57
+f 35 57 36
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 37 61 62
+f 37 62 39
+f 37 39 38
+f 39 62 41
+f 39 41 40
+f 41 62 63
+f 41 63 64
+f 41 64 42
+f 42 64 65
+f 42 65 66
+f 42 66 43
+f 44 67 68
+f 44 68 45
+f 44 69 67
+f 45 68 46
+f 46 68 95
+f 46 95 70
+f 46 70 49
+f 46 49 48
+f 46 48 47
+f 49 70 50
+f 50 71 51
+f 50 70 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 71
+f 51 71 52
+f 52 74 76
+f 52 76 53
+f 52 71 74
+f 53 76 55
+f 54 55 56
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 58
+f 55 58 57
+f 55 57 56
+f 58 79 59
+f 59 79 78
+f 59 78 60
+f 61 80 63
+f 61 63 62
+f 63 80 81
+f 63 81 82
+f 63 82 64
+f 64 82 83
+f 64 83 84
+f 64 84 65
+f 65 84 85
+f 65 85 86
+f 65 86 87
+f 65 87 88
+f 65 88 112
+f 65 112 111
+f 65 111 134
+f 65 134 133
+f 65 133 139
+f 65 139 138
+f 65 138 137
+f 65 137 135
+f 65 135 113
+f 65 113 89
+f 67 69 90
+f 67 90 91
+f 67 91 68
+f 68 91 92
+f 68 92 93
+f 68 93 119
+f 68 119 94
+f 68 94 95
+f 70 95 72
+f 71 75 74
+f 72 96 73
+f 72 95 97
+f 72 97 96
+f 73 96 98
+f 73 98 76
+f 73 76 74
+f 76 98 99
+f 76 99 100
+f 76 100 101
+f 76 101 77
+f 77 102 78
+f 77 101 103
+f 77 103 104
+f 77 104 102
+f 78 102 105
+f 81 106 114
+f 81 114 107
+f 81 107 108
+f 81 108 82
+f 82 108 84
+f 82 84 83
+f 84 108 85
+f 85 108 109
+f 85 109 86
+f 86 109 87
+f 87 109 110
+f 87 110 111
+f 87 111 112
+f 87 112 88
+f 89 113 114
+f 89 114 115
+f 89 115 116
+f 89 116 117
+f 91 118 92
+f 92 119 93
+f 92 118 116
+f 92 116 120
+f 92 120 119
+f 94 119 121
+f 94 121 95
+f 95 121 97
+f 96 97 98
+f 97 121 99
+f 97 99 98
+f 99 122 100
+f 99 121 120
+f 99 120 122
+f 100 122 101
+f 101 122 123
+f 101 123 124
+f 101 124 125
+f 101 125 126
+f 101 126 103
+f 102 104 127
+f 102 127 105
+f 103 126 104
+f 104 126 127
+f 105 127 128
+f 106 129 130
+f 106 130 131
+f 106 131 132
+f 106 132 114
+f 107 133 134
+f 107 134 111
+f 107 111 110
+f 107 110 109
+f 107 109 108
+f 107 114 139
+f 107 139 133
+f 113 135 114
+f 114 132 136
+f 114 136 120
+f 114 120 115
+f 114 135 137
+f 114 137 138
+f 114 138 139
+f 115 120 116
+f 116 118 117
+f 119 120 121
+f 120 136 140
+f 120 140 123
+f 120 123 122
+f 123 140 124
+f 124 140 125
+f 125 141 126
+f 125 140 141
+f 126 142 127
+f 126 141 142
+f 127 142 128
+f 128 142 129
+f 129 142 141
+f 129 141 140
+f 129 140 136
+f 129 136 132
+f 129 132 131
+f 129 131 130
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_19.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.04218486 -0.16095430 0.01267011
+v -0.04218486 -0.14178294 0.01267018
+v -0.04263073 -0.16071854 0.01267011
+v -0.04218486 -0.16062862 -0.01372435
+v -0.06336545 -0.12272758 0.01267025
+v -0.04218486 -0.13195539 -0.12126890
+v -0.04433593 -0.15981292 0.01267011
+v -0.04409427 -0.15967438 -0.00799441
+v -0.04403641 -0.15962946 -0.01372435
+v -0.04218486 -0.16049014 -0.01945430
+v -0.07648633 -0.12272758 0.01267025
+v -0.05871273 -0.12272731 -0.05955067
+v -0.04218486 -0.13200029 -0.12128202
+v -0.04423383 -0.13066432 -0.12128202
+v -0.05663654 -0.12272708 -0.12128199
+v -0.05869912 -0.12272731 -0.05983913
+v -0.06822580 -0.14353055 0.01267017
+v -0.06834832 -0.14360538 0.00919549
+v -0.06852871 -0.14372510 0.00346555
+v -0.06900181 -0.14412919 -0.01945424
+v -0.04390708 -0.15952466 -0.01945430
+v -0.04218486 -0.16011590 -0.02518424
+v -0.07685392 -0.12273507 0.01267025
+v -0.07676202 -0.12272756 0.00919557
+v -0.04218486 -0.15163942 -0.12128210
+v -0.07103716 -0.12272708 -0.12128199
+v -0.07084656 -0.14024115 0.01267018
+v -0.07102696 -0.14024113 0.00919550
+v -0.07124479 -0.14024111 0.00346556
+v -0.06865465 -0.14381864 -0.00226440
+v -0.06761995 -0.14314863 -0.04600605
+v -0.07139114 -0.14024109 -0.00226439
+v -0.07209228 -0.13985183 -0.01891663
+v -0.06873293 -0.13860914 -0.09393041
+v -0.04218486 -0.15574103 -0.08820052
+v -0.07304189 -0.13622948 0.00919552
+v -0.07298403 -0.13601244 0.01267020
+v -0.07695263 -0.12272746 -0.01948038
+v -0.07328695 -0.13768883 -0.02047696
+v -0.05805924 -0.14285645 -0.12128206
+v -0.04218486 -0.15237666 -0.11646999
+v -0.05732066 -0.14348515 -0.12046912
+v -0.06858998 -0.13480695 -0.12128204
+v -0.07177575 -0.12272710 -0.11726971
+v -0.06759613 -0.13744522 -0.11998396
+v -0.06607132 -0.13831340 -0.12128205
+v -0.07328695 -0.13768883 -0.02258799
+v -0.07109503 -0.13451515 -0.09393039
+v -0.06505704 -0.13893835 -0.12128205
+v -0.04218486 -0.15508237 -0.09393047
+v -0.07331758 -0.12272718 -0.09393035
+v -0.07235776 -0.12879332 -0.09393037
+v -0.07135370 -0.13451518 -0.08820044
+v -0.07184382 -0.12272710 -0.11683701
+v -0.06816453 -0.13585477 -0.12128204
+v -0.07062873 -0.13451513 -0.09966033
+v -0.07153069 -0.12879328 -0.10537714
+v -0.07203782 -0.12879330 -0.09966031
+f 1 2 5
+f 1 5 11
+f 1 11 23
+f 1 23 37
+f 1 37 27
+f 1 27 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 22
+f 1 22 35
+f 1 35 50
+f 1 50 41
+f 1 41 25
+f 1 25 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 6 12
+f 5 12 16
+f 5 16 15
+f 5 15 26
+f 5 26 44
+f 5 44 54
+f 5 54 51
+f 5 51 38
+f 5 38 24
+f 5 24 11
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 12
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 9
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 11 24 23
+f 13 25 40
+f 13 40 49
+f 13 49 46
+f 13 46 55
+f 13 55 43
+f 13 43 26
+f 13 26 15
+f 13 15 14
+f 17 27 18
+f 18 28 19
+f 18 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 31 21
+f 20 30 29
+f 20 29 32
+f 20 32 33
+f 20 33 34
+f 20 34 31
+f 21 31 35
+f 21 35 22
+f 23 36 37
+f 23 24 38
+f 23 38 39
+f 23 39 36
+f 25 41 42
+f 25 42 40
+f 26 43 44
+f 27 37 28
+f 28 37 36
+f 28 36 29
+f 29 36 39
+f 29 39 33
+f 29 33 32
+f 31 34 45
+f 31 45 46
+f 31 46 35
+f 33 39 47
+f 33 47 34
+f 34 48 45
+f 34 47 48
+f 35 46 49
+f 35 49 42
+f 35 42 50
+f 38 47 39
+f 38 51 52
+f 38 52 53
+f 38 53 47
+f 40 42 49
+f 41 50 42
+f 43 54 44
+f 43 55 56
+f 43 56 57
+f 43 57 54
+f 45 48 56
+f 45 56 55
+f 45 55 46
+f 47 53 48
+f 48 53 52
+f 48 52 58
+f 48 58 56
+f 51 54 58
+f 51 58 52
+f 54 57 58
+f 56 58 57
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_2.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00296310 0.15805739 -0.13403763
+v 0.00296310 0.15790661 -0.12107306
+v 0.00860986 0.15794212 -0.13403763
+v 0.00296310 0.15761851 -0.13656957
+v -0.00004433 0.15759635 -0.13656957
+v -0.00012265 0.15803078 -0.13403763
+v 0.01424879 0.15770717 -0.13403763
+v 0.00148288 0.15781795 -0.12107306
+v 0.03621711 0.15522013 -0.12107307
+v 0.01117870 0.15732149 -0.13656957
+v -0.00012265 0.15759192 -0.13656957
+v -0.00012265 0.15771599 -0.12107306
+v 0.01988772 0.15724169 -0.13403763
+v 0.01988772 0.15678952 -0.13656957
+v 0.01699776 0.15702447 -0.13656957
+v 0.01424879 0.15719293 -0.13656957
+v 0.03681234 0.15515806 -0.12107307
+v -0.00012265 0.13225655 -0.13656966
+v -0.00012265 0.13950910 -0.12107313
+v 0.02895700 0.15585856 -0.13656958
+v 0.02292647 0.15652353 -0.13656958
+v 0.03998423 0.15462172 -0.13656958
+v 0.03828472 0.15492754 -0.12107307
+v -0.00012265 0.11277292 -0.13553663
+v 0.05696367 0.11277292 -0.13656974
+v -0.00012265 0.11277287 -0.12273135
+v 0.06170978 0.11277286 -0.12107323
+v 0.03998423 0.15462172 -0.13648310
+v 0.05139523 0.14907143 -0.13656960
+v 0.04068127 0.15371730 -0.12107308
+v 0.05139523 0.14907143 -0.13629197
+v 0.07808616 0.11277292 -0.13656974
+v 0.07987965 0.11277286 -0.12107323
+v 0.05857703 0.14337928 -0.13656962
+v 0.05813062 0.14280734 -0.12107312
+v 0.06405933 0.13886629 -0.12107313
+v 0.05777035 0.14401322 -0.13526041
+v 0.07366117 0.12572210 -0.13656969
+v 0.07970736 0.11376587 -0.12107322
+v 0.07987965 0.11277287 -0.12159812
+v 0.06361291 0.13870232 -0.13656964
+v 0.06706675 0.13543504 -0.12107314
+v 0.06886024 0.13297028 -0.13656966
+v 0.06485817 0.13746991 -0.13656965
+v 0.07354369 0.12598365 -0.13656969
+v 0.07341055 0.12624078 -0.13656969
+v 0.06970609 0.13172900 -0.13656967
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 12
+f 2 12 19
+f 2 19 27
+f 2 27 33
+f 2 33 39
+f 2 39 42
+f 2 42 36
+f 2 36 35
+f 2 35 30
+f 2 30 23
+f 2 23 17
+f 2 17 9
+f 2 9 7
+f 3 7 10
+f 3 10 4
+f 4 10 16
+f 4 16 15
+f 4 15 14
+f 4 14 21
+f 4 21 20
+f 4 20 22
+f 4 22 29
+f 4 29 34
+f 4 34 41
+f 4 41 44
+f 4 44 43
+f 4 43 47
+f 4 47 46
+f 4 46 45
+f 4 45 38
+f 4 38 32
+f 4 32 25
+f 4 25 18
+f 4 18 11
+f 4 11 5
+f 5 11 6
+f 6 12 8
+f 6 11 18
+f 6 18 24
+f 6 24 26
+f 6 26 19
+f 6 19 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 10
+f 7 9 13
+f 9 17 13
+f 13 20 21
+f 13 21 14
+f 13 17 22
+f 13 22 20
+f 17 23 22
+f 18 25 24
+f 19 26 27
+f 22 23 28
+f 22 28 31
+f 22 31 29
+f 23 30 31
+f 23 31 28
+f 24 25 32
+f 24 32 40
+f 24 40 33
+f 24 33 27
+f 24 27 26
+f 29 31 34
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 34
+f 32 38 39
+f 32 39 40
+f 33 40 39
+f 34 37 36
+f 34 36 41
+f 36 42 43
+f 36 43 44
+f 36 44 41
+f 38 45 39
+f 39 45 46
+f 39 46 42
+f 42 46 47
+f 42 47 43
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_20.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.01824758 -0.17378004 0.13523567
+v -0.01960184 -0.17363263 0.13523567
+v -0.01824758 -0.17358758 0.12952050
+v -0.01824758 -0.17371454 0.14097741
+v -0.01960184 -0.17357125 0.14097741
+v -0.02524147 -0.17273187 0.13523568
+v -0.01960184 -0.17344018 0.12952050
+v -0.02524147 -0.17275236 0.14097742
+v -0.01824758 -0.17336646 0.12516102
+v -0.03088110 -0.16817028 0.03212349
+v -0.01824758 -0.17264590 0.14552298
+v -0.01960184 -0.17257222 0.14544322
+v -0.02524147 -0.17219142 0.14488500
+v -0.02894343 -0.17189254 0.14427361
+v -0.02952684 -0.17200717 0.14097742
+v -0.02936049 -0.17197438 0.13523568
+v -0.03700340 -0.16720399 0.03254881
+v -0.01824758 -0.17328865 0.12377875
+v -0.01824758 -0.16739642 0.02858807
+v -0.01824758 -0.17293651 0.11806359
+v -0.03652073 -0.16706476 0.02795010
+v -0.03974238 -0.15480546 -0.12072388
+v -0.03652073 -0.15552201 -0.11684288
+v -0.01824758 -0.16001783 -0.08263166
+v -0.02524147 -0.16968973 0.14772931
+v -0.01824758 -0.16967337 0.14839386
+v -0.01960184 -0.16968973 0.14831411
+v -0.03555073 -0.16634458 0.14977614
+v -0.03931126 -0.16597199 0.14956348
+v -0.04218145 -0.16737228 0.14621413
+v -0.04218145 -0.16879713 0.14097743
+v -0.03652073 -0.17040214 0.14097742
+v -0.03234549 -0.17143804 0.14097742
+v -0.03217913 -0.17140117 0.13523568
+v -0.03987359 -0.16636462 0.02872098
+v -0.03652073 -0.17033662 0.13523568
+v -0.04176440 -0.15605029 -0.08818732
+v -0.04218145 -0.15574322 -0.08818732
+v -0.04218145 -0.15507988 -0.09392907
+v -0.04218145 -0.15238156 -0.11647073
+v -0.04218145 -0.15164455 -0.12128210
+v -0.04052963 -0.15372043 -0.12128210
+v -0.03652073 -0.15507569 -0.12128211
+v -0.03652073 -0.15507978 -0.12125552
+v -0.01824758 -0.15945687 -0.08818734
+v -0.01824758 -0.16681136 0.14982931
+v -0.02524147 -0.16682773 0.14990905
+v -0.03088110 -0.16666395 0.14990905
+v -0.04218145 -0.16242621 0.15006855
+v -0.04216037 -0.16529231 0.14908500
+v -0.04218145 -0.16529641 0.14905842
+v -0.04218145 -0.16879713 0.14095085
+v -0.04218145 -0.16874388 0.13523569
+v -0.04218145 -0.16852275 0.12949394
+v -0.04218145 -0.16410450 0.03220326
+v -0.04218145 -0.13199943 -0.12128202
+v -0.01824758 -0.15560797 -0.12128211
+v -0.01824758 -0.15587821 -0.12024540
+v -0.01824758 -0.15653743 -0.11684288
+v -0.01824758 -0.16628317 0.14982931
+v -0.03088110 -0.16313045 0.15028121
+v -0.03706666 -0.16369139 0.15006855
+v -0.04218145 -0.15693556 0.15020148
+v -0.04216037 -0.13195030 -0.12128202
+v -0.04218145 -0.13195439 -0.12125543
+v -0.01824758 -0.14526132 -0.12128207
+v -0.01824758 -0.16343344 0.14980273
+v -0.02524147 -0.16313045 0.15006855
+v -0.04165428 -0.15689052 0.15017490
+v -0.04218145 -0.15585054 0.15006858
+v -0.04218145 -0.14531133 0.11809028
+v -0.03088110 -0.14583536 0.10086504
+v -0.04100292 -0.13217549 -0.12128203
+v -0.03632392 -0.13452980 -0.12128203
+v -0.01824758 -0.14463898 -0.11833144
+v -0.01824758 -0.16098087 0.14940401
+v -0.02208544 -0.16023568 0.14959008
+v -0.02524147 -0.15997364 0.14972300
+v -0.04218145 -0.15404898 0.14980276
+v -0.04218145 -0.14570852 0.12377885
+v -0.02524147 -0.14731345 0.10086504
+v -0.02524147 -0.14119573 -0.07098861
+v -0.02524147 -0.14047500 -0.09964418
+v -0.02209481 -0.14861548 0.10086503
+v -0.01824758 -0.14426231 -0.11110110
+v -0.01824758 -0.14428688 -0.11187198
+v -0.01824758 -0.16093174 0.14935084
+v -0.03943544 -0.15464267 0.14953693
+v -0.04218145 -0.15181341 0.14679899
+v -0.04218145 -0.14974570 0.14161547
+v -0.01824758 -0.15660798 0.14097747
+v -0.01824758 -0.15355345 0.12380542
+v -0.02228459 -0.14874242 0.10384222
+v -0.02219087 -0.14287447 -0.06527345
+v -0.02207841 -0.14277619 -0.07098861
+v -0.01824758 -0.14435651 -0.10538593
+v -0.01824758 -0.15121546 0.10086502
+v -0.01824758 -0.15114585 0.09964224
+v -0.01824758 -0.15892955 0.14693187
+v -0.04218145 -0.15178884 0.14674582
+v -0.01824758 -0.14454487 -0.09964419
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 20
+f 1 20 19
+f 1 19 24
+f 1 24 45
+f 1 45 59
+f 1 59 58
+f 1 58 57
+f 1 57 66
+f 1 66 75
+f 1 75 86
+f 1 86 85
+f 1 85 96
+f 1 96 101
+f 1 101 98
+f 1 98 97
+f 1 97 92
+f 1 92 91
+f 1 91 99
+f 1 99 87
+f 1 87 76
+f 1 76 67
+f 1 67 60
+f 1 60 46
+f 1 46 26
+f 1 26 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 6
+f 3 7 10
+f 3 10 9
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 8
+f 6 8 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 10
+f 8 14 15
+f 9 10 18
+f 10 19 20
+f 10 20 18
+f 10 17 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 19
+f 11 25 12
+f 11 26 27
+f 11 27 25
+f 12 25 28
+f 12 28 29
+f 12 29 13
+f 13 29 14
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 15
+f 14 29 30
+f 15 33 16
+f 16 33 34
+f 16 34 17
+f 17 35 21
+f 17 34 36
+f 17 36 35
+f 21 35 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 23
+f 22 35 37
+f 23 44 24
+f 24 44 45
+f 25 27 28
+f 26 46 47
+f 26 47 48
+f 26 48 27
+f 27 48 28
+f 28 48 49
+f 28 49 29
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 49
+f 30 49 63
+f 30 63 70
+f 30 70 79
+f 30 79 89
+f 30 89 100
+f 30 100 90
+f 30 90 80
+f 30 80 71
+f 30 71 65
+f 30 65 56
+f 30 56 41
+f 30 41 40
+f 30 40 39
+f 30 39 38
+f 30 38 55
+f 30 55 54
+f 30 54 53
+f 30 53 52
+f 30 52 31
+f 31 52 32
+f 32 52 53
+f 32 53 36
+f 32 36 33
+f 33 36 34
+f 35 36 53
+f 35 53 54
+f 35 54 55
+f 35 55 38
+f 35 38 37
+f 41 56 64
+f 41 64 73
+f 41 73 74
+f 41 74 66
+f 41 66 57
+f 41 57 43
+f 41 43 42
+f 43 57 58
+f 43 58 59
+f 43 59 44
+f 44 59 45
+f 46 60 61
+f 46 61 47
+f 47 61 48
+f 48 61 62
+f 48 62 49
+f 49 62 61
+f 49 61 63
+f 49 51 50
+f 56 65 64
+f 60 67 68
+f 60 68 61
+f 61 68 63
+f 63 68 67
+f 63 67 69
+f 63 69 70
+f 64 71 72
+f 64 72 73
+f 64 65 71
+f 66 74 75
+f 67 76 77
+f 67 77 78
+f 67 78 69
+f 69 78 70
+f 70 78 77
+f 70 77 79
+f 71 80 72
+f 72 80 81
+f 72 81 73
+f 73 82 83
+f 73 83 74
+f 73 81 84
+f 73 84 82
+f 74 83 85
+f 74 85 86
+f 74 86 75
+f 76 87 79
+f 76 79 77
+f 79 87 88
+f 79 88 89
+f 80 90 91
+f 80 91 92
+f 80 92 93
+f 80 93 81
+f 81 93 84
+f 82 94 95
+f 82 95 83
+f 82 84 94
+f 83 96 85
+f 83 95 96
+f 84 93 97
+f 84 97 98
+f 84 98 94
+f 87 99 88
+f 88 99 89
+f 89 99 100
+f 90 100 99
+f 90 99 91
+f 92 97 93
+f 94 101 96
+f 94 96 95
+f 94 98 101
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_21.obj

@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
+v 0.07629030 0.11891712 0.15114178
+v 0.08179993 0.11891713 0.15054145
+v 0.07629030 0.12302305 0.15142279
+v 0.04532428 0.15735880 0.15101419
+v 0.04532428 0.15242498 0.15027333
+v 0.07266288 0.11891713 0.15010717
+v 0.08082054 0.12302306 0.15054146
+v 0.07629030 0.12874647 0.15119289
+v 0.08415776 0.11891713 0.14894482
+v 0.07999832 0.12874648 0.15022216
+v 0.06501307 0.14591194 0.15114188
+v 0.04808917 0.15735880 0.15106528
+v 0.04532428 0.16272331 0.15029893
+v 0.04532428 0.14981212 0.14799975
+v 0.07190113 0.11891713 0.14911089
+v 0.07064765 0.14019332 0.15101412
+v 0.07637091 0.13434548 0.15043932
+v 0.08436331 0.11891713 0.14872770
+v 0.08428270 0.11902719 0.14884265
+v 0.07943002 0.13235472 0.14985176
+v 0.07045419 0.14552911 0.15024775
+v 0.06480349 0.15151096 0.15028610
+v 0.05937043 0.15163538 0.15096307
+v 0.05422353 0.15786606 0.15046495
+v 0.04808917 0.16201027 0.15029893
+v 0.04532428 0.16548931 0.14884282
+v 0.04532428 0.14825686 0.14504919
+v 0.07080887 0.11891714 0.14674789
+v 0.07442822 0.14019332 0.15009446
+v 0.08541123 0.11891714 0.14612202
+v 0.08512910 0.12154916 0.14502355
+v 0.08206191 0.12874649 0.14670960
+v 0.07366647 0.14336130 0.14973684
+v 0.08001848 0.13434549 0.14646694
+v 0.07830956 0.13616875 0.14821683
+v 0.06844702 0.14952498 0.14994122
+v 0.06278020 0.15498999 0.14985184
+v 0.05937043 0.15621985 0.15014562
+v 0.05267584 0.16104361 0.15001790
+v 0.05643625 0.16011523 0.14951976
+v 0.04863732 0.16507777 0.14711848
+v 0.04532428 0.16594394 0.14805090
+v 0.04532428 0.14717535 0.14082135
+v 0.07032522 0.11891715 0.14453817
+v 0.08610850 0.11891716 0.14252005
+v 0.08629390 0.11891716 0.14098730
+v 0.08538705 0.12239619 0.14098731
+v 0.08456483 0.12525790 0.14098732
+v 0.08335167 0.12874651 0.14098733
+v 0.07928090 0.13767140 0.14439774
+v 0.07440001 0.14443326 0.14670966
+v 0.07231626 0.14729497 0.14670967
+v 0.06949495 0.15073572 0.14670968
+v 0.06682275 0.15359743 0.14670969
+v 0.06400949 0.15604759 0.14670970
+v 0.05966062 0.15910550 0.14724617
+v 0.05797186 0.16114890 0.14568788
+v 0.05422353 0.16240748 0.14724619
+v 0.04712186 0.16665220 0.14548354
+v 0.04532428 0.16687710 0.14612219
+v 0.04532428 0.14661547 0.13724494
+v 0.06956749 0.11891716 0.14098730
+v 0.08640675 0.11891718 0.13707879
+v 0.08546363 0.12255891 0.13525227
+v 0.08460917 0.12541585 0.13525228
+v 0.08346452 0.12874653 0.13525229
+v 0.08116716 0.13446996 0.13525231
+v 0.08103415 0.13446994 0.14098735
+v 0.07943002 0.13795854 0.14098737
+v 0.07790249 0.14082025 0.14098738
+v 0.07508116 0.14540951 0.14098739
+v 0.07309817 0.14827123 0.14098740
+v 0.07027686 0.15155884 0.14098742
+v 0.06775379 0.15442055 0.14098743
+v 0.06493650 0.15685635 0.14098744
+v 0.06148239 0.15971806 0.14098745
+v 0.05866510 0.16157961 0.14098745
+v 0.05373181 0.16436476 0.14098746
+v 0.05072106 0.16586740 0.14098747
+v 0.04789974 0.16694890 0.14098747
+v 0.04532428 0.16780551 0.14098748
+v 0.04532428 0.14429457 0.12212179
+v 0.04532428 0.14370598 0.11806000
+v 0.06788276 0.11891725 0.11805991
+v 0.08644303 0.11891718 0.13525226
+v 0.08546766 0.12257329 0.12952999
+v 0.08461320 0.12543500 0.12953000
+v 0.08646720 0.11891720 0.13129264
+v 0.08649543 0.11891725 0.11805991
+v 0.08461723 0.12544939 0.12379496
+v 0.08346452 0.12874655 0.12953001
+v 0.08345646 0.12874658 0.12379497
+v 0.08115506 0.13446998 0.12953003
+v 0.07949048 0.13806384 0.13525233
+v 0.07793876 0.14092555 0.13525234
+v 0.07511744 0.14544303 0.13525235
+v 0.07311430 0.14830474 0.13525236
+v 0.07029297 0.15151101 0.13525238
+v 0.06770139 0.15437272 0.13525239
+v 0.06488813 0.15678938 0.13525240
+v 0.06135341 0.15965108 0.13525241
+v 0.05853210 0.16146478 0.13525241
+v 0.05373181 0.16411593 0.13525242
+v 0.05037848 0.16572863 0.13525243
+v 0.04756118 0.16681971 0.13525243
+v 0.04532428 0.16757104 0.13525244
+v 0.04532428 0.14259609 0.02093468
+v 0.05573898 0.13051738 0.07224347
+v 0.05577123 0.13057000 0.07796574
+v 0.05585184 0.13068483 0.08370078
+v 0.05855628 0.12770829 0.07796573
+v 0.05856434 0.12765568 0.07224346
+v 0.06812862 0.11891760 0.02093460
+v 0.08547168 0.12258768 0.12379495
+v 0.08539511 0.12237716 0.11233765
+v 0.08547168 0.12258770 0.11805992
+v 0.08354512 0.11891756 0.03213645
+v 0.08461723 0.12544941 0.11805993
+v 0.08344033 0.12874660 0.11805994
+v 0.08113894 0.13447001 0.12379499
+v 0.07947839 0.13803517 0.12379501
+v 0.07947033 0.13801605 0.11805998
+v 0.07792666 0.14091121 0.12953006
+v 0.07790249 0.14089689 0.12379502
+v 0.07787427 0.14087776 0.11805999
+v 0.07510534 0.14537606 0.12953007
+v 0.07508519 0.14531866 0.12379503
+v 0.07505698 0.14526126 0.11806000
+v 0.07295711 0.14812296 0.11806001
+v 0.07018415 0.15133877 0.12379506
+v 0.07013579 0.15124309 0.11806003
+v 0.06761272 0.15428659 0.12953011
+v 0.06751196 0.15420049 0.12379507
+v 0.06739507 0.15410001 0.11806004
+v 0.06479543 0.15665540 0.12953012
+v 0.06469467 0.15652144 0.12379507
+v 0.06457778 0.15638746 0.11806004
+v 0.06113577 0.15951711 0.12953013
+v 0.06090603 0.15938316 0.12379509
+v 0.06067227 0.15924918 0.11806005
+v 0.05831445 0.16131167 0.12953013
+v 0.05808471 0.16115856 0.12379509
+v 0.05785095 0.16100066 0.11806006
+v 0.05373181 0.16380968 0.12953014
+v 0.05373181 0.16318284 0.11806007
+v 0.04532428 0.16227391 0.02889229
+v 0.04716619 0.16667618 0.12953015
+v 0.04532428 0.16730307 0.12953015
+v 0.04532428 0.15961801 0.02093475
+v 0.05587199 0.13080949 0.02093464
+v 0.08074799 0.11891760 0.02093460
+v 0.08255363 0.11891758 0.02638864
+v 0.07399294 0.13840401 0.02820246
+v 0.07937763 0.13783901 0.11233771
+v 0.08083666 0.13447005 0.11233769
+v 0.08111476 0.13447003 0.11805996
+v 0.07768484 0.14070072 0.11233772
+v 0.07486352 0.14503635 0.11233773
+v 0.06967229 0.14508928 0.03213654
+v 0.06680260 0.14795100 0.03213655
+v 0.06372735 0.14997527 0.02795982
+v 0.04648908 0.16136469 0.02746172
+v 0.04532428 0.16193416 0.02705298
+v 0.06825759 0.14375418 0.02093469
+v 0.08134853 0.11891760 0.02271004
+v 0.07062750 0.14019858 0.02093467
+v 0.06843896 0.14361540 0.02093469
+v 0.06912817 0.14450548 0.02640150
+v 0.07249361 0.14114128 0.03213653
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 28
+f 1 28 44
+f 1 44 62
+f 1 62 84
+f 1 84 113
+f 1 113 151
+f 1 151 165
+f 1 165 152
+f 1 152 117
+f 1 117 89
+f 1 89 88
+f 1 88 85
+f 1 85 63
+f 1 63 46
+f 1 46 45
+f 1 45 30
+f 1 30 18
+f 1 18 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 10
+f 2 10 7
+f 3 8 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 26
+f 4 26 42
+f 4 42 60
+f 4 60 81
+f 4 81 106
+f 4 106 148
+f 4 148 146
+f 4 146 163
+f 4 163 149
+f 4 149 107
+f 4 107 83
+f 4 83 82
+f 4 82 61
+f 4 61 43
+f 4 43 27
+f 4 27 14
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 7 10 8
+f 8 16 11
+f 8 10 17
+f 8 17 16
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 17
+f 11 16 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 14 27 28
+f 14 28 15
+f 16 17 29
+f 16 29 21
+f 17 20 29
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 20 33 29
+f 20 32 34
+f 20 34 35
+f 20 35 33
+f 21 29 33
+f 21 33 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 27 43 28
+f 28 43 44
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 32 50 34
+f 33 35 50
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 36
+f 34 50 35
+f 36 53 54
+f 36 54 37
+f 37 40 39
+f 37 39 38
+f 37 54 55
+f 37 55 56
+f 37 56 40
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 41 58 59
+f 41 59 42
+f 42 59 60
+f 43 61 62
+f 43 62 44
+f 46 63 47
+f 47 63 64
+f 47 64 48
+f 48 64 65
+f 48 65 66
+f 48 66 49
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 51
+f 51 71 72
+f 51 72 52
+f 52 72 53
+f 53 72 73
+f 53 73 74
+f 53 74 54
+f 54 74 55
+f 55 57 56
+f 55 74 75
+f 55 75 76
+f 55 76 57
+f 57 59 58
+f 57 76 77
+f 57 77 78
+f 57 78 59
+f 59 78 79
+f 59 79 80
+f 59 80 81
+f 59 81 60
+f 61 82 62
+f 62 82 83
+f 62 83 84
+f 63 85 64
+f 64 86 87
+f 64 87 65
+f 64 85 88
+f 64 88 89
+f 64 89 86
+f 65 87 66
+f 66 87 90
+f 66 90 118
+f 66 118 91
+f 66 91 67
+f 67 91 92
+f 67 92 93
+f 67 93 94
+f 67 94 69
+f 67 69 68
+f 69 94 70
+f 70 94 95
+f 70 95 71
+f 71 95 96
+f 71 96 72
+f 72 96 97
+f 72 97 73
+f 73 97 98
+f 73 98 74
+f 74 98 99
+f 74 99 75
+f 75 99 100
+f 75 100 76
+f 76 100 101
+f 76 101 77
+f 77 101 102
+f 77 102 78
+f 78 102 103
+f 78 103 79
+f 79 103 104
+f 79 104 105
+f 79 105 80
+f 80 105 106
+f 80 106 81
+f 83 107 108
+f 83 108 109
+f 83 109 110
+f 83 110 84
+f 84 110 109
+f 84 109 111
+f 84 111 112
+f 84 112 113
+f 86 114 90
+f 86 90 87
+f 86 89 114
+f 89 115 116
+f 89 116 114
+f 89 117 115
+f 90 114 116
+f 90 116 118
+f 91 118 92
+f 92 118 119
+f 92 119 120
+f 92 120 93
+f 93 120 121
+f 93 121 94
+f 94 121 95
+f 95 121 122
+f 95 122 123
+f 95 123 96
+f 96 123 124
+f 96 124 125
+f 96 125 126
+f 96 126 97
+f 97 126 127
+f 97 127 128
+f 97 128 129
+f 97 129 98
+f 98 130 99
+f 98 129 130
+f 99 130 131
+f 99 131 132
+f 99 132 100
+f 100 132 133
+f 100 133 134
+f 100 134 135
+f 100 135 101
+f 101 135 136
+f 101 136 137
+f 101 137 138
+f 101 138 102
+f 102 138 139
+f 102 139 140
+f 102 140 141
+f 102 141 103
+f 103 141 142
+f 103 142 143
+f 103 143 144
+f 103 144 104
+f 104 144 145
+f 104 145 146
+f 104 146 105
+f 105 146 147
+f 105 147 148
+f 105 148 106
+f 107 149 164
+f 107 164 167
+f 107 167 166
+f 107 166 151
+f 107 151 113
+f 107 113 150
+f 107 150 108
+f 108 112 111
+f 108 111 109
+f 108 150 112
+f 112 150 113
+f 115 118 116
+f 115 117 118
+f 117 152 153
+f 117 153 154
+f 117 154 155
+f 117 155 156
+f 117 156 119
+f 117 119 118
+f 119 156 120
+f 120 156 122
+f 120 122 121
+f 122 156 154
+f 122 154 125
+f 122 125 124
+f 122 124 123
+f 125 154 157
+f 125 157 128
+f 125 128 127
+f 125 127 126
+f 128 157 158
+f 128 158 129
+f 129 131 130
+f 129 158 159
+f 129 159 131
+f 131 134 133
+f 131 133 132
+f 131 159 134
+f 134 137 136
+f 134 136 135
+f 134 159 160
+f 134 160 137
+f 137 140 139
+f 137 139 138
+f 137 160 161
+f 137 161 140
+f 140 143 142
+f 140 142 141
+f 140 161 146
+f 140 146 143
+f 143 145 144
+f 143 146 145
+f 146 148 147
+f 146 161 162
+f 146 162 163
+f 149 163 162
+f 149 162 161
+f 149 161 164
+f 151 153 165
+f 151 166 153
+f 152 165 153
+f 153 166 167
+f 153 167 168
+f 153 168 159
+f 153 159 169
+f 153 169 157
+f 153 157 154
+f 154 156 155
+f 157 169 158
+f 158 169 159
+f 159 168 160
+f 160 168 161
+f 161 168 167
+f 161 167 164
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_22.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.08074781 0.11892158 0.02092070
+v 0.07139093 0.14018852 -0.00226506
+v 0.07122308 0.14018850 0.00347580
+v 0.07063024 0.14019241 0.02092077
+v 0.06813031 0.11892158 0.02092070
+v 0.08180493 0.11892173 -0.01936260
+v 0.06843745 0.14361869 0.02092079
+v 0.07182663 0.14018858 -0.01944593
+v 0.05587352 0.13080599 0.02092074
+v 0.06799103 0.11892159 0.02004498
+v 0.07626936 0.11892209 -0.11692938
+v 0.07164807 0.13447175 -0.09392419
+v 0.07187306 0.13447172 -0.08819724
+v 0.06825531 0.14375415 0.02092079
+v 0.06911600 0.14409294 -0.01944591
+v 0.06943028 0.13883823 -0.08819722
+v 0.06767318 0.11892160 0.01648648
+v 0.04532382 0.14259080 0.02092078
+v 0.04532382 0.14213265 0.02033697
+v 0.04532382 0.13096986 -0.12105774
+v 0.05637708 0.12572256 -0.03664076
+v 0.07559081 0.11892210 -0.12105778
+v 0.07481584 0.12067906 -0.12105778
+v 0.06768747 0.13695787 -0.11684592
+v 0.06886958 0.13824864 -0.09965114
+v 0.06924814 0.13859125 -0.09392417
+v 0.04532382 0.15961464 0.02092085
+v 0.06788389 0.14308906 -0.04588444
+v 0.04532382 0.15864666 -0.01944586
+v 0.06755176 0.11892161 0.01492964
+v 0.04532382 0.14916500 -0.12105767
+v 0.05859844 0.11892210 -0.12105778
+v 0.06706606 0.13543996 -0.12105772
+v 0.06486612 0.13937618 -0.11684591
+v 0.06780889 0.13730050 -0.11387124
+v 0.06405900 0.13887023 -0.12105771
+v 0.04532382 0.15417282 -0.08422165
+v 0.04532382 0.15421266 -0.08372123
+v 0.04532382 0.15455527 -0.07881440
+v 0.04532382 0.14937615 -0.12039046
+v 0.05754490 0.14347180 -0.12043218
+v 0.05813774 0.14281045 -0.12105770
+v 0.06016983 0.14224072 -0.11684590
+v 0.04532382 0.15361507 -0.08928140
+v 0.04532382 0.14950364 -0.11973714
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 14
+f 1 14 27
+f 1 27 18
+f 1 18 9
+f 1 9 5
+f 1 5 10
+f 1 10 17
+f 1 17 30
+f 1 30 32
+f 1 32 22
+f 1 22 11
+f 1 11 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 4
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 8
+f 7 8 15
+f 7 15 14
+f 8 13 12
+f 8 12 16
+f 8 16 15
+f 9 17 10
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 17
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 25 26
+f 12 26 16
+f 12 24 25
+f 14 15 27
+f 15 16 26
+f 15 26 28
+f 15 28 29
+f 15 29 27
+f 17 21 30
+f 18 27 29
+f 18 29 39
+f 18 39 38
+f 18 38 37
+f 18 37 44
+f 18 44 45
+f 18 45 40
+f 18 40 31
+f 18 31 20
+f 18 20 19
+f 20 31 42
+f 20 42 36
+f 20 36 33
+f 20 33 23
+f 20 23 22
+f 20 22 32
+f 20 32 21
+f 21 32 30
+f 23 33 24
+f 24 34 35
+f 24 35 25
+f 24 33 36
+f 24 36 34
+f 25 35 34
+f 25 34 26
+f 26 34 37
+f 26 37 38
+f 26 38 28
+f 28 38 39
+f 28 39 29
+f 31 40 41
+f 31 41 42
+f 34 36 41
+f 34 41 43
+f 34 43 37
+f 36 42 41
+f 37 43 41
+f 37 41 44
+f 40 45 41
+f 41 45 44
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_23.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.05914592 -0.11779832 -0.12147703
+v 0.06288463 -0.10017902 -0.12147697
+v 0.07565912 -0.11779832 -0.12147703
+v 0.06847975 -0.11779920 0.11804678
+v 0.06677562 -0.10017976 0.07795796
+v 0.06656180 -0.10017974 0.07221959
+v 0.06701536 -0.09601204 0.07795798
+v 0.06692789 -0.09590730 0.07221961
+v 0.06441057 -0.09453031 -0.12147695
+v 0.07924557 -0.11100371 -0.12147701
+v 0.07965054 -0.11058785 -0.12099882
+v 0.07659218 -0.11779834 -0.11762488
+v 0.06854455 -0.11779921 0.11937511
+v 0.06731991 -0.09646085 0.08366978
+v 0.06947113 -0.09445634 0.10085832
+v 0.07204028 -0.08987873 0.10085834
+v 0.06786743 -0.08723307 -0.12147692
+v 0.07954039 -0.11018992 -0.12147700
+v 0.07696476 -0.11734357 -0.11682790
+v 0.07666670 -0.11779834 -0.11730608
+v 0.07974774 -0.10926542 -0.12147700
+v 0.08497028 -0.10465204 -0.08704676
+v 0.08455234 -0.10629458 -0.08864076
+v 0.08470786 -0.10846972 -0.08486832
+v 0.08487956 -0.10912794 -0.08104274
+v 0.07003809 -0.11779929 0.14097371
+v 0.06763741 -0.09696649 0.08842519
+v 0.07761272 -0.08723404 0.14097382
+v 0.07411698 -0.08723389 0.10085835
+v 0.08132228 -0.08723307 -0.12147692
+v 0.08364197 -0.11127014 -0.08274301
+v 0.08371972 -0.11226049 -0.07673897
+v 0.07671205 -0.11779834 -0.11682790
+v 0.08070996 -0.10017902 -0.12147697
+v 0.08495084 -0.10017915 -0.08702019
+v 0.08531694 -0.10017917 -0.08245073
+v 0.08515495 -0.10629461 -0.08274299
+v 0.08543033 -0.10589671 -0.07673895
+v 0.08496704 -0.10939723 -0.07673896
+v 0.07185237 -0.11779931 0.14634014
+v 0.07192689 -0.11734454 0.14628701
+v 0.07837407 -0.08723406 0.14564953
+v 0.08175641 -0.08723309 -0.11682779
+v 0.08089786 -0.11596445 -0.07673899
+v 0.08492168 -0.11485166 -0.02331369
+v 0.08326291 -0.11774485 -0.01943499
+v 0.08322403 -0.11779870 -0.01943499
+v 0.08479857 -0.09695089 -0.08587781
+v 0.08339574 -0.08723317 -0.09392743
+v 0.08490548 -0.09624482 -0.08245071
+v 0.09219177 -0.08723395 0.11804689
+v 0.09202654 -0.08873290 0.11804688
+v 0.09131055 -0.09445640 0.11804686
+v 0.09067555 -0.09924942 0.11804685
+v 0.09025438 -0.10210968 0.11804683
+v 0.08961938 -0.10589742 0.11804682
+v 0.08568952 -0.11162042 -0.01943497
+v 0.07597662 -0.11779932 0.14886398
+v 0.07897667 -0.10183154 0.14963445
+v 0.07952419 -0.09801388 0.14950163
+v 0.08059656 -0.08723407 0.14851871
+v 0.07893779 -0.08723406 0.14639339
+v 0.08844658 -0.11162092 0.11804680
+v 0.08703403 -0.11734443 0.11804678
+v 0.08690119 -0.11779920 0.11804678
+v 0.09224037 -0.08723402 0.13523544
+v 0.09208486 -0.08873297 0.13523543
+v 0.09137534 -0.09445647 0.13523541
+v 0.09068851 -0.09936014 0.12378524
+v 0.09027058 -0.10222339 0.12378522
+v 0.08966798 -0.10589744 0.12378521
+v 0.07664078 -0.11779932 0.14912963
+v 0.07873044 -0.10589754 0.14971414
+v 0.08341842 -0.08723407 0.14992675
+v 0.08002312 -0.09445652 0.14926255
+v 0.08849193 -0.11162094 0.12378519
+v 0.08853081 -0.11162097 0.12952356
+v 0.08709559 -0.11734448 0.12952354
+v 0.08696599 -0.11779925 0.12952354
+v 0.09222093 -0.08723402 0.13674975
+v 0.09198443 -0.08873299 0.14097381
+v 0.09128139 -0.09445649 0.14097379
+v 0.09070471 -0.09949483 0.13523539
+v 0.09028354 -0.10230121 0.12952359
+v 0.08970037 -0.10589747 0.12952358
+v 0.08063544 -0.11779931 0.14835919
+v 0.07917754 -0.11466680 0.14958126
+v 0.07899287 -0.11466680 0.14958126
+v 0.07874340 -0.11162104 0.14968754
+v 0.08594545 -0.08723407 0.14992675
+v 0.08970685 -0.10589749 0.13523537
+v 0.08852433 -0.11162099 0.13523535
+v 0.08706643 -0.11734450 0.13523533
+v 0.08694007 -0.11779926 0.13475714
+v 0.09214642 -0.08723404 0.14097382
+v 0.09053300 -0.09822330 0.14416176
+v 0.09065935 -0.09909991 0.14097378
+v 0.09029002 -0.10235509 0.13523538
+v 0.08258579 -0.11162104 0.14889055
+v 0.08153934 -0.11779931 0.14790756
+v 0.08140651 -0.11688079 0.14822637
+v 0.07976718 -0.11162104 0.14968754
+v 0.08375860 -0.10589754 0.14939534
+v 0.08450051 -0.10290564 0.14955475
+v 0.08506423 -0.09909097 0.14971417
+v 0.08876732 -0.08723407 0.14846557
+v 0.08540766 -0.09445652 0.14984700
+v 0.09021874 -0.10196017 0.14097377
+v 0.08952867 -0.10589751 0.14097375
+v 0.08826838 -0.11162101 0.14097373
+v 0.08693683 -0.11779927 0.13523533
+v 0.08674245 -0.11734452 0.14097371
+v 0.09121336 -0.08723405 0.14559640
+v 0.09112912 -0.08873300 0.14543699
+v 0.09077923 -0.09445650 0.14471967
+v 0.08639255 -0.11162103 0.14602136
+v 0.08560204 -0.11734453 0.14517122
+v 0.08553724 -0.11779930 0.14506495
+v 0.08533962 -0.11779930 0.14522435
+v 0.08705023 -0.10589753 0.14652616
+v 0.08663877 -0.11779929 0.14049551
+v 0.08660961 -0.11779929 0.14097371
+f 1 2 9
+f 1 9 17
+f 1 17 30
+f 1 30 34
+f 1 34 21
+f 1 21 18
+f 1 18 10
+f 1 10 3
+f 1 3 12
+f 1 12 20
+f 1 20 33
+f 1 33 47
+f 1 47 65
+f 1 65 79
+f 1 79 94
+f 1 94 111
+f 1 111 121
+f 1 121 122
+f 1 122 118
+f 1 118 119
+f 1 119 100
+f 1 100 86
+f 1 86 72
+f 1 72 58
+f 1 58 40
+f 1 40 26
+f 1 26 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 3 11 12
+f 4 13 5
+f 5 7 6
+f 5 13 14
+f 5 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 10 18 11
+f 11 19 20
+f 11 20 12
+f 11 18 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 19
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 26
+f 15 26 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 28
+f 17 28 42
+f 17 42 62
+f 17 62 61
+f 17 61 74
+f 17 74 90
+f 17 90 106
+f 17 106 113
+f 17 113 95
+f 17 95 80
+f 17 80 66
+f 17 66 51
+f 17 51 49
+f 17 49 43
+f 17 43 30
+f 19 25 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 21 34 22
+f 22 30 35
+f 22 35 36
+f 22 36 37
+f 22 37 24
+f 22 24 23
+f 22 34 30
+f 24 37 25
+f 25 38 39
+f 25 39 32
+f 25 32 31
+f 25 37 38
+f 26 40 41
+f 26 41 42
+f 26 42 28
+f 30 43 35
+f 32 44 33
+f 32 39 45
+f 32 45 46
+f 32 46 47
+f 32 47 44
+f 33 44 47
+f 35 43 36
+f 36 38 37
+f 36 43 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 45
+f 40 42 41
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 42
+f 43 49 48
+f 45 57 63
+f 45 63 64
+f 45 64 65
+f 45 65 46
+f 46 65 47
+f 49 51 50
+f 51 66 67
+f 51 67 52
+f 52 67 68
+f 52 68 53
+f 53 68 69
+f 53 69 54
+f 54 69 70
+f 54 70 55
+f 55 70 71
+f 55 71 56
+f 56 71 63
+f 56 63 57
+f 58 72 73
+f 58 73 59
+f 59 73 74
+f 59 74 60
+f 60 74 75
+f 60 75 61
+f 61 75 74
+f 63 71 76
+f 63 76 64
+f 64 76 77
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 66 80 67
+f 67 80 81
+f 67 81 82
+f 67 82 68
+f 68 83 69
+f 68 82 83
+f 69 83 84
+f 69 84 70
+f 70 84 85
+f 70 85 71
+f 71 85 77
+f 71 77 76
+f 72 86 87
+f 72 87 88
+f 72 88 89
+f 72 89 73
+f 73 89 74
+f 74 89 102
+f 74 102 90
+f 77 85 91
+f 77 91 92
+f 77 92 78
+f 78 92 93
+f 78 93 94
+f 78 94 79
+f 80 95 81
+f 81 95 96
+f 81 96 82
+f 82 96 97
+f 82 97 83
+f 83 98 84
+f 83 97 98
+f 84 98 85
+f 85 98 91
+f 86 99 87
+f 86 100 101
+f 86 101 99
+f 87 102 89
+f 87 89 88
+f 87 99 103
+f 87 103 104
+f 87 104 105
+f 87 105 102
+f 90 102 107
+f 90 107 106
+f 91 98 108
+f 91 108 109
+f 91 109 92
+f 92 109 110
+f 92 110 93
+f 93 111 94
+f 93 110 112
+f 93 112 111
+f 95 113 114
+f 95 114 115
+f 95 115 96
+f 96 115 116
+f 96 116 117
+f 96 117 118
+f 96 118 110
+f 96 110 109
+f 96 109 108
+f 96 108 97
+f 97 108 98
+f 99 101 100
+f 99 100 117
+f 99 117 116
+f 99 116 103
+f 100 119 117
+f 102 105 107
+f 103 116 104
+f 104 120 106
+f 104 106 105
+f 104 116 120
+f 105 106 107
+f 106 120 115
+f 106 115 114
+f 106 114 113
+f 110 118 112
+f 111 112 121
+f 112 118 122
+f 112 122 121
+f 115 120 116
+f 117 119 118
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_24.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.04142008 -0.16234996 0.00781148
+v 0.04228760 -0.16188330 -0.00226329
+v 0.04218530 -0.16207086 0.00781148
+v 0.04142008 -0.14285229 0.00781156
+v 0.04142008 -0.16217112 -0.00316192
+v 0.04297506 -0.16162167 0.00392586
+v 0.04258632 -0.16192260 0.00781149
+v 0.04142008 -0.16197920 -0.01371764
+v 0.04211164 -0.16173500 -0.01371764
+v 0.06764203 -0.11779880 0.00781165
+v 0.04142008 -0.13289146 -0.12147710
+v 0.04483287 -0.15994264 -0.01945115
+v 0.04527481 -0.16026979 0.00614080
+v 0.04528708 -0.16028289 0.00781149
+v 0.04142008 -0.16183091 -0.01945115
+v 0.04201343 -0.16163031 -0.01945115
+v 0.08244303 -0.11779880 0.00781165
+v 0.05914691 -0.11779832 -0.12147704
+v 0.04142008 -0.15311305 -0.12147717
+v 0.06235918 -0.14893130 -0.02255201
+v 0.04185384 -0.15626611 -0.09392344
+v 0.06952029 -0.14437861 0.00781155
+v 0.04142008 -0.15605239 -0.09965694
+v 0.04142008 -0.15589976 -0.10177062
+v 0.04155103 -0.15600006 -0.09965694
+v 0.07378831 -0.13819919 0.00781157
+v 0.08322461 -0.11779870 -0.01945099
+v 0.07565839 -0.11779832 -0.12147704
+v 0.06416787 -0.13897494 -0.12147712
+v 0.04142008 -0.15390239 -0.11919896
+v 0.06935661 -0.14430002 -0.01945109
+v 0.06066097 -0.14240701 -0.11684476
+v 0.06907835 -0.13856077 -0.09392338
+v 0.07166044 -0.14186236 0.00781156
+v 0.04142008 -0.15557267 -0.10498543
+v 0.07233972 -0.14105559 0.00781156
+v 0.07369010 -0.13794179 -0.01945107
+v 0.07363281 -0.13778478 -0.02518458
+v 0.07354279 -0.13755798 -0.02988023
+v 0.07346504 -0.13735302 -0.03370256
+v 0.07254432 -0.13409959 -0.08259557
+v 0.07354688 -0.13191041 -0.08077298
+v 0.07671005 -0.11779834 -0.11684467
+v 0.07666504 -0.11779834 -0.11732563
+v 0.07442668 -0.12120857 -0.12092015
+v 0.07476632 -0.12002238 -0.12147705
+v 0.06471211 -0.13846036 -0.12147712
+v 0.06472848 -0.13955060 -0.11684475
+v 0.04142008 -0.15422511 -0.11684481
+v 0.07217604 -0.14079819 -0.01945108
+v 0.06937297 -0.13879191 -0.08818987
+v 0.06864868 -0.13822931 -0.09965688
+v 0.06798167 -0.13756642 -0.10957977
+v 0.07143947 -0.13451819 -0.09392336
+v 0.07201236 -0.13451821 -0.08818985
+v 0.07228243 -0.14095525 -0.00226322
+v 0.06754792 -0.13687736 -0.11684474
+v 0.06843589 -0.13324906 -0.12147710
+v 0.06698730 -0.13610983 -0.12147711
+v 0.06774433 -0.13722625 -0.11338944
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 22
+f 1 22 34
+f 1 34 36
+f 1 36 26
+f 1 26 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 30
+f 1 30 49
+f 1 49 35
+f 1 35 24
+f 1 24 23
+f 1 23 15
+f 1 15 8
+f 1 8 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 4 10 11
+f 6 9 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 12
+f 10 17 27
+f 10 27 43
+f 10 43 44
+f 10 44 28
+f 10 28 18
+f 10 18 11
+f 11 18 28
+f 11 28 46
+f 11 46 58
+f 11 58 59
+f 11 59 47
+f 11 47 29
+f 11 29 19
+f 12 20 13
+f 12 16 21
+f 12 21 20
+f 13 20 14
+f 14 20 22
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 21
+f 17 26 27
+f 19 29 30
+f 20 31 22
+f 20 21 25
+f 20 25 32
+f 20 32 33
+f 20 33 31
+f 22 31 34
+f 24 35 32
+f 24 32 25
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 28 44 45
+f 28 45 46
+f 29 47 48
+f 29 48 32
+f 29 32 30
+f 30 32 49
+f 31 50 36
+f 31 36 34
+f 31 33 51
+f 31 51 50
+f 32 35 49
+f 32 48 33
+f 33 48 52
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 51
+f 36 56 37
+f 36 50 56
+f 37 56 50
+f 37 50 38
+f 38 50 39
+f 39 50 40
+f 40 50 55
+f 40 55 41
+f 41 55 42
+f 42 55 43
+f 43 55 44
+f 44 57 45
+f 44 55 54
+f 44 54 57
+f 45 57 58
+f 45 58 46
+f 47 59 57
+f 47 57 48
+f 48 57 60
+f 48 60 53
+f 48 53 52
+f 50 51 55
+f 53 60 54
+f 54 60 57
+f 57 59 58
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_25.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.07534788 -0.08302345 -0.00248726
+v -0.07505076 -0.08300726 -0.00248726
+v -0.08305370 -0.08300726 -0.00248726
+v -0.08299318 -0.08302343 -0.00798744
+v -0.07492971 -0.08302343 -0.00798744
+v -0.07277010 -0.07050251 -0.00248722
+v -0.07337534 -0.08302335 -0.03059283
+v -0.06351266 -0.06622860 -0.12128178
+v -0.08703730 -0.07155469 -0.00248722
+v -0.08319951 -0.08302339 -0.01945293
+v -0.07225290 -0.06583245 -0.00248720
+v -0.07304796 -0.08302333 -0.03663954
+v -0.06876175 -0.08302301 -0.12128184
+v -0.06298170 -0.03150666 -0.12128166
+v -0.07072329 -0.03150710 -0.00248708
+v -0.08711157 -0.07132807 -0.00248722
+v -0.08878700 -0.06583235 -0.03090673
+v -0.08670166 -0.07155452 -0.04809336
+v -0.08492170 -0.07561747 -0.07100111
+v -0.08207982 -0.08302318 -0.07673387
+v -0.06890756 -0.08302301 -0.12128184
+v -0.06300921 -0.03062445 -0.12128165
+v -0.07234093 -0.00033830 -0.00248696
+v -0.08881725 -0.06583245 -0.00248720
+v -0.08895481 -0.06011009 -0.03663946
+v -0.08882001 -0.06011004 -0.04809332
+v -0.08854490 -0.06583228 -0.04809334
+v -0.08883101 -0.06559773 -0.00248720
+v -0.08914463 -0.06011021 -0.00248718
+v -0.09106215 -0.00288775 -0.01945264
+v -0.08630275 -0.07155444 -0.07100109
+v -0.08483092 -0.07541511 -0.07673385
+v -0.08379650 -0.07828028 -0.07673386
+v -0.08457506 -0.07469471 -0.09249017
+v -0.08188724 -0.08302316 -0.08246662
+v -0.08052820 -0.08302301 -0.12125858
+v -0.08053095 -0.08300682 -0.12128184
+v -0.06808223 -0.00033786 -0.12128154
+v -0.07204931 -0.00033828 -0.00798714
+v -0.09090809 -0.00033830 -0.00248696
+v -0.09015428 -0.00064564 -0.06315173
+v -0.08960132 -0.00288752 -0.08246633
+v -0.08767830 -0.06583220 -0.07100107
+v -0.08610467 -0.07155442 -0.07673383
+v -0.09090534 -0.00288781 -0.00248697
+v -0.09108416 -0.00033824 -0.01945263
+v -0.08555170 -0.07155438 -0.08819932
+v -0.08513078 -0.07203997 -0.09421115
+v -0.08442925 -0.07426574 -0.09630425
+v -0.08495747 -0.07075306 -0.09965318
+v -0.08272358 -0.07155425 -0.12128180
+v -0.08609367 -0.00033786 -0.12128154
+v -0.09015428 -0.00033808 -0.06315173
+v -0.08942800 -0.00033801 -0.08246632
+v -0.08905109 -0.00288748 -0.09392019
+v -0.08743070 -0.06583218 -0.07673381
+v -0.08623397 -0.06583212 -0.09392042
+v -0.08576628 -0.06583209 -0.09965316
+v -0.08447602 -0.06307207 -0.11974683
+v -0.08394231 -0.06458558 -0.12128178
+v -0.08643755 -0.00288737 -0.12128155
+v -0.08790389 -0.00033792 -0.10538567
+v -0.08873198 -0.00033796 -0.09647840
+v -0.08864669 -0.00288745 -0.09965293
+v -0.08644306 -0.01433185 -0.12128159
+v -0.08411838 -0.06112958 -0.12128176
+v -0.08660538 -0.00872292 -0.12128157
+v -0.08806896 -0.00288743 -0.10538568
+v -0.08850638 -0.00033794 -0.09965292
+f 1 2 6
+f 1 6 11
+f 1 11 15
+f 1 15 23
+f 1 23 40
+f 1 40 45
+f 1 45 29
+f 1 29 28
+f 1 28 24
+f 1 24 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 35
+f 1 35 36
+f 1 36 21
+f 1 21 13
+f 1 13 12
+f 1 12 7
+f 1 7 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 6 8 11
+f 7 12 8
+f 8 13 21
+f 8 21 37
+f 8 37 51
+f 8 51 60
+f 8 60 66
+f 8 66 65
+f 8 65 67
+f 8 67 61
+f 8 61 52
+f 8 52 38
+f 8 38 22
+f 8 22 14
+f 8 14 15
+f 8 15 11
+f 8 12 13
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 14 22 15
+f 15 22 23
+f 16 24 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 17 24 28
+f 17 28 29
+f 17 29 30
+f 17 30 25
+f 18 27 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 21 36 37
+f 22 38 39
+f 22 39 23
+f 23 39 38
+f 23 38 52
+f 23 52 62
+f 23 62 69
+f 23 69 63
+f 23 63 54
+f 23 54 53
+f 23 53 46
+f 23 46 40
+f 25 30 26
+f 26 30 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 31
+f 29 45 30
+f 30 45 46
+f 30 46 41
+f 31 44 34
+f 31 34 32
+f 32 34 33
+f 34 44 47
+f 34 47 48
+f 34 48 49
+f 34 49 37
+f 34 37 36
+f 34 36 35
+f 37 50 51
+f 37 49 48
+f 37 48 50
+f 40 46 45
+f 41 46 53
+f 41 53 42
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 42 53 54
+f 43 56 44
+f 44 56 47
+f 47 56 48
+f 48 57 50
+f 48 56 57
+f 50 58 59
+f 50 59 51
+f 50 57 58
+f 51 59 60
+f 52 61 62
+f 54 63 55
+f 55 63 64
+f 55 64 57
+f 55 57 56
+f 57 64 59
+f 57 59 58
+f 59 65 66
+f 59 66 60
+f 59 64 65
+f 61 67 68
+f 61 68 69
+f 61 69 62
+f 63 69 64
+f 64 69 68
+f 64 68 67
+f 64 67 65
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_26.obj

@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
+v 0.04833370 -0.16662836 0.13525119
+v 0.05042489 -0.16579192 0.13525119
+v 0.05019800 -0.16568201 0.14098214
+v 0.04833370 -0.16642763 0.14098214
+v 0.04833370 -0.16643716 0.12952023
+v 0.05019044 -0.16569631 0.12952023
+v 0.05372997 -0.16395650 0.12952024
+v 0.05372997 -0.16408558 0.13525120
+v 0.05372997 -0.16381794 0.14098215
+v 0.05745481 -0.16083065 0.14452065
+v 0.05372997 -0.16190130 0.14542262
+v 0.04833370 -0.16362199 0.14586665
+v 0.04833370 -0.16614556 0.12378927
+v 0.04982740 -0.16555288 0.12378927
+v 0.05372997 -0.16343547 0.11805832
+v 0.05372997 -0.16370315 0.12378928
+v 0.05796910 -0.16116035 0.11805833
+v 0.05813548 -0.16127986 0.12378929
+v 0.05826028 -0.16138505 0.12952025
+v 0.05831322 -0.16142330 0.13525121
+v 0.05810901 -0.16126559 0.14098216
+v 0.06357714 -0.15578810 0.14499247
+v 0.05934936 -0.15758048 0.14589443
+v 0.06093006 -0.15938718 0.14098216
+v 0.05372997 -0.15740364 0.14797589
+v 0.04833370 -0.16343080 0.14611643
+v 0.04833370 -0.16349772 0.14607480
+v 0.04833370 -0.16583964 0.11805831
+v 0.04944547 -0.16539991 0.11805831
+v 0.05763254 -0.16094046 0.11234126
+v 0.04833370 -0.15937723 0.03213561
+v 0.06079013 -0.15930584 0.11805833
+v 0.06737382 -0.14847958 0.03213565
+v 0.06095653 -0.15940145 0.12378929
+v 0.06108131 -0.15947318 0.12952025
+v 0.06113047 -0.15950665 0.13525121
+v 0.06442043 -0.15652416 0.14098218
+v 0.06723769 -0.15393358 0.14098218
+v 0.06901502 -0.15020545 0.14496473
+v 0.06527884 -0.15194048 0.14622747
+v 0.05937205 -0.15168238 0.14858648
+v 0.04833370 -0.15740365 0.14885010
+v 0.04833370 -0.16570582 0.11615724
+v 0.06455279 -0.15026718 0.03213565
+v 0.04833370 -0.15920037 0.03048433
+v 0.06441665 -0.15644282 0.11805835
+v 0.06952175 -0.14437854 0.00782420
+v 0.07014570 -0.14562133 0.03213567
+v 0.06723769 -0.15396695 0.11805835
+v 0.06450740 -0.15653843 0.12378931
+v 0.06457926 -0.15661494 0.12952026
+v 0.06458682 -0.15664363 0.13525122
+v 0.06740786 -0.15412474 0.13525123
+v 0.06997553 -0.15126172 0.13525124
+v 0.06978646 -0.15107534 0.14098220
+v 0.07412390 -0.14403490 0.14457621
+v 0.07079613 -0.14594677 0.14593609
+v 0.07260372 -0.14762920 0.14098221
+v 0.06501035 -0.14596113 0.14860037
+v 0.05937205 -0.14596113 0.14915542
+v 0.05372997 -0.15168238 0.14909990
+v 0.04833370 -0.15715510 0.14890561
+v 0.04833370 -0.15539089 0.00782416
+v 0.07166211 -0.14186443 0.00782421
+v 0.07233900 -0.14106144 0.00782421
+v 0.07296296 -0.14199834 0.03213568
+v 0.07272473 -0.14787287 0.11805838
+v 0.06990368 -0.15110871 0.11805836
+v 0.06732844 -0.15405301 0.12378931
+v 0.06740029 -0.15411517 0.12952027
+v 0.06997932 -0.15125214 0.12952028
+v 0.07280036 -0.14794939 0.12952030
+v 0.07279658 -0.14793030 0.13525126
+v 0.07991346 -0.13342404 0.14485379
+v 0.07531131 -0.14023985 0.14551983
+v 0.07463819 -0.14476617 0.14098222
+v 0.07903236 -0.13723821 0.14324411
+v 0.07064865 -0.14023986 0.14810083
+v 0.07485374 -0.14506728 0.13525127
+v 0.07064865 -0.13451860 0.14907221
+v 0.07346969 -0.12593909 0.14958567
+v 0.07346591 -0.12593909 0.14958567
+v 0.07346591 -0.12589129 0.14958567
+v 0.07663864 -0.11779932 0.14914165
+v 0.04833370 -0.15168237 0.14803141
+v 0.04833370 -0.13980917 0.00782422
+v 0.07378734 -0.13819842 0.00782422
+v 0.07922522 -0.13758222 0.11234134
+v 0.07935379 -0.13781167 0.11805841
+v 0.07764831 -0.14066991 0.11805840
+v 0.07482727 -0.14500985 0.11805839
+v 0.07276632 -0.14791591 0.12378934
+v 0.06994528 -0.15118999 0.12378932
+v 0.07485374 -0.14505767 0.12378935
+v 0.07487643 -0.14508637 0.12952031
+v 0.08087020 -0.12879255 0.14571413
+v 0.07680502 -0.13500611 0.14639406
+v 0.08504882 -0.12113551 0.14436816
+v 0.07774285 -0.13981922 0.14119039
+v 0.07767478 -0.14069866 0.13525128
+v 0.07924791 -0.13763013 0.13942809
+v 0.08030296 -0.13500609 0.14119040
+v 0.08297274 -0.12879253 0.14098228
+v 0.07572728 -0.12822378 0.14869757
+v 0.07769369 -0.14076078 0.12952032
+v 0.07572728 -0.12362095 0.14921102
+v 0.07346969 -0.12589129 0.14958567
+v 0.08063574 -0.11779931 0.14836458
+v 0.07597686 -0.11779932 0.14886412
+v 0.04833370 -0.15141471 0.14793428
+v 0.05577579 -0.13073736 0.00782425
+v 0.04833370 -0.13981396 0.01494282
+v 0.08244332 -0.11779880 0.00782430
+v 0.08368367 -0.11782757 0.03213577
+v 0.08093070 -0.13451848 0.11805843
+v 0.07938404 -0.13786904 0.12378937
+v 0.07767478 -0.14072728 0.12378936
+v 0.08553663 -0.11779930 0.14507587
+v 0.08533999 -0.11779930 0.14524238
+v 0.08153953 -0.11779931 0.14792054
+v 0.08440595 -0.12492578 0.14098229
+v 0.08535134 -0.12206275 0.14098230
+v 0.08660682 -0.11779929 0.14098232
+v 0.07940295 -0.13790253 0.12952033
+v 0.07936136 -0.13783564 0.13525129
+v 0.08096095 -0.13451855 0.13525131
+v 0.08338493 -0.12879251 0.13525133
+v 0.08461015 -0.12550888 0.13525134
+v 0.07185118 -0.11779931 0.14633863
+v 0.04833370 -0.14765311 0.14533940
+v 0.06777467 -0.11779906 0.07796955
+v 0.06764231 -0.11779880 0.00921194
+v 0.06764609 -0.11779880 0.00782430
+v 0.05603672 -0.13105314 0.09514849
+v 0.04833370 -0.14102361 0.11805840
+v 0.08369502 -0.11779889 0.03213577
+v 0.08333955 -0.12879244 0.11805845
+v 0.08098364 -0.13451850 0.12378939
+v 0.08663707 -0.11779929 0.14049666
+v 0.08552907 -0.12265063 0.13525135
+v 0.08101768 -0.13451853 0.12952035
+v 0.08343787 -0.12879249 0.12952037
+v 0.08464041 -0.12559967 0.12952038
+v 0.04833370 -0.14743802 0.14495087
+v 0.07003604 -0.11779929 0.14098232
+v 0.06780871 -0.11779907 0.08114725
+v 0.06847804 -0.11779920 0.11805849
+v 0.06799022 -0.11779912 0.09514854
+v 0.06794862 -0.11779911 0.09217899
+v 0.04833370 -0.14145858 0.12281801
+v 0.06854233 -0.11779921 0.11937675
+v 0.08690178 -0.11779920 0.11805849
+v 0.08552529 -0.12257409 0.11805847
+v 0.08458368 -0.12543233 0.11805846
+v 0.08461394 -0.12552794 0.12378942
+v 0.08339249 -0.12879246 0.12378941
+v 0.08693581 -0.11779927 0.13525137
+v 0.08555176 -0.12273665 0.12952039
+v 0.08554041 -0.12266492 0.12378943
+v 0.04833370 -0.14576513 0.14098221
+v 0.04833370 -0.14446982 0.13563981
+v 0.04833370 -0.14569821 0.14071857
+v 0.04833370 -0.14151594 0.12337307
+v 0.08693581 -0.11779922 0.12378945
+v 0.08693959 -0.11779927 0.13476570
+v 0.08696228 -0.11779924 0.12903474
+v 0.08696228 -0.11779925 0.12952041
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 27
+f 1 27 26
+f 1 26 42
+f 1 42 62
+f 1 62 85
+f 1 85 110
+f 1 110 130
+f 1 130 144
+f 1 144 160
+f 1 160 162
+f 1 162 161
+f 1 161 163
+f 1 163 150
+f 1 150 135
+f 1 135 112
+f 1 112 86
+f 1 86 63
+f 1 63 45
+f 1 45 31
+f 1 31 43
+f 1 43 28
+f 1 28 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 10
+f 10 22 23
+f 10 23 11
+f 10 21 24
+f 10 24 22
+f 11 23 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 13 28 29
+f 13 29 14
+f 14 29 15
+f 15 30 17
+f 15 17 16
+f 15 29 31
+f 15 31 30
+f 17 32 18
+f 17 30 33
+f 17 33 32
+f 18 32 34
+f 18 34 19
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 24
+f 20 24 21
+f 22 24 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 25
+f 24 36 37
+f 25 41 42
+f 25 42 26
+f 28 43 29
+f 29 43 31
+f 30 31 44
+f 30 44 33
+f 31 45 44
+f 32 46 34
+f 32 33 46
+f 33 44 47
+f 33 47 48
+f 33 48 49
+f 33 49 46
+f 34 46 35
+f 35 46 50
+f 35 50 51
+f 35 51 36
+f 36 51 52
+f 36 52 37
+f 37 52 53
+f 37 53 38
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 39 56 57
+f 39 57 40
+f 39 55 58
+f 39 58 56
+f 40 57 59
+f 40 59 41
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 41 62 42
+f 44 45 47
+f 45 63 47
+f 46 49 50
+f 47 63 86
+f 47 86 111
+f 47 111 133
+f 47 133 113
+f 47 113 87
+f 47 87 65
+f 47 65 64
+f 47 64 48
+f 48 64 65
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 49 68 69
+f 49 69 50
+f 50 69 51
+f 51 69 70
+f 51 70 52
+f 52 70 53
+f 53 70 71
+f 53 71 54
+f 54 71 72
+f 54 72 73
+f 54 73 55
+f 55 73 58
+f 56 74 75
+f 56 75 57
+f 56 58 76
+f 56 76 77
+f 56 77 74
+f 57 75 78
+f 57 78 59
+f 58 73 79
+f 58 79 76
+f 59 78 80
+f 59 80 81
+f 59 81 60
+f 60 81 61
+f 61 81 82
+f 61 82 83
+f 61 83 62
+f 62 83 84
+f 62 84 85
+f 65 87 88
+f 65 88 66
+f 66 88 89
+f 66 89 90
+f 66 90 91
+f 66 91 67
+f 67 91 92
+f 67 92 71
+f 67 71 93
+f 67 93 68
+f 68 93 70
+f 68 70 69
+f 70 93 71
+f 71 92 72
+f 72 92 94
+f 72 94 95
+f 72 95 73
+f 73 95 79
+f 74 96 97
+f 74 97 75
+f 74 77 98
+f 74 98 96
+f 75 97 78
+f 76 99 77
+f 76 79 100
+f 76 100 99
+f 77 99 101
+f 77 101 102
+f 77 102 103
+f 77 103 98
+f 78 104 80
+f 78 97 104
+f 79 95 105
+f 79 105 100
+f 80 104 81
+f 81 104 106
+f 81 106 84
+f 81 84 107
+f 81 107 83
+f 81 83 82
+f 83 107 84
+f 84 106 108
+f 84 108 120
+f 84 120 119
+f 84 119 118
+f 84 118 123
+f 84 123 139
+f 84 139 157
+f 84 157 165
+f 84 165 167
+f 84 167 166
+f 84 166 164
+f 84 164 152
+f 84 152 136
+f 84 136 113
+f 84 113 133
+f 84 133 132
+f 84 132 131
+f 84 131 146
+f 84 146 149
+f 84 149 148
+f 84 148 147
+f 84 147 151
+f 84 151 145
+f 84 145 129
+f 84 129 109
+f 84 109 85
+f 85 109 110
+f 86 112 111
+f 87 113 114
+f 87 114 115
+f 87 115 88
+f 88 115 89
+f 89 115 116
+f 89 116 90
+f 90 116 117
+f 90 117 91
+f 91 117 94
+f 91 94 92
+f 94 117 95
+f 95 117 105
+f 96 98 118
+f 96 118 119
+f 96 119 120
+f 96 120 104
+f 96 104 97
+f 98 103 121
+f 98 121 122
+f 98 122 123
+f 98 123 118
+f 99 100 101
+f 100 105 124
+f 100 124 125
+f 100 125 101
+f 101 125 126
+f 101 126 102
+f 102 126 103
+f 103 126 127
+f 103 127 128
+f 103 128 121
+f 104 120 108
+f 104 108 106
+f 105 117 116
+f 105 116 124
+f 109 129 110
+f 110 129 130
+f 111 131 132
+f 111 132 133
+f 111 112 134
+f 111 134 131
+f 112 135 134
+f 113 136 114
+f 114 136 137
+f 114 137 115
+f 115 137 156
+f 115 156 138
+f 115 138 116
+f 116 138 124
+f 121 128 122
+f 122 139 123
+f 122 128 140
+f 122 140 139
+f 124 138 141
+f 124 141 126
+f 124 126 125
+f 126 141 127
+f 127 141 142
+f 127 142 143
+f 127 143 128
+f 128 143 140
+f 129 144 130
+f 129 145 144
+f 131 134 146
+f 134 135 147
+f 134 147 148
+f 134 148 149
+f 134 149 146
+f 135 150 145
+f 135 145 151
+f 135 151 147
+f 136 152 153
+f 136 153 154
+f 136 154 137
+f 137 154 155
+f 137 155 143
+f 137 143 156
+f 138 156 142
+f 138 142 141
+f 139 140 157
+f 140 143 158
+f 140 158 157
+f 142 156 143
+f 143 155 153
+f 143 153 159
+f 143 159 158
+f 144 145 160
+f 145 161 162
+f 145 162 160
+f 145 150 163
+f 145 163 161
+f 152 164 159
+f 152 159 153
+f 153 155 154
+f 157 158 165
+f 158 159 164
+f 158 164 166
+f 158 166 167
+f 158 167 165
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_27.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.08820719 0.02001513 -0.13976873
+v 0.08819192 0.02573288 -0.13976871
+v 0.08788657 0.02001512 -0.13672312
+v 0.08777664 0.01428633 -0.13672314
+v 0.08778275 0.00001405 -0.13976880
+v 0.08763618 0.00001406 -0.14260766
+v 0.08746519 0.00001407 -0.14549725
+v 0.08774916 0.02573287 -0.13672310
+v 0.08743770 0.00283983 -0.14549724
+v 0.08732473 0.00856862 -0.14549722
+v 0.08803009 0.03146167 -0.13976868
+v 0.08721175 0.04594368 -0.13672302
+v 0.08769115 0.01160407 -0.13672315
+v 0.08748656 0.00588632 -0.13672317
+v 0.08724534 0.00001404 -0.13687794
+v 0.08640868 0.00001408 -0.14717418
+v 0.08532163 0.00283985 -0.14885617
+v 0.08526057 0.00856864 -0.14881682
+v 0.08514454 0.01428638 -0.14871533
+v 0.08713541 0.01428636 -0.14549720
+v 0.08769725 0.04290820 -0.13976864
+v 0.08712319 0.04862594 -0.13672301
+v 0.08721785 0.00015754 -0.13672319
+v 0.08720259 0.00001404 -0.13672319
+v 0.08533996 0.00001409 -0.14886886
+v 0.08192921 0.00283985 -0.14966165
+v 0.08192921 0.00001409 -0.14968195
+v 0.08192921 0.00856864 -0.14960201
+v 0.08017040 0.07723681 -0.14907154
+v 0.07999329 0.08295456 -0.14902712
+v 0.08497659 0.02001517 -0.14856436
+v 0.08579798 0.06006147 -0.14430846
+v 0.08687891 0.02001515 -0.14549718
+v 0.08750489 0.04862595 -0.13976862
+v 0.08719954 0.05435474 -0.13976860
+v 0.08684838 0.06006145 -0.13976858
+v 0.08676288 0.05435473 -0.13672299
+v 0.06868317 0.00001404 -0.13672319
+v 0.07628941 0.08868334 -0.14926049
+v 0.07991085 0.00001409 -0.14943206
+v 0.06651519 0.11275749 -0.14886211
+v 0.06946486 0.11275749 -0.14911327
+v 0.07545886 0.10012988 -0.14914122
+v 0.07470770 0.10584763 -0.14907143
+v 0.07966046 0.08868334 -0.14881145
+v 0.08299182 0.07723680 -0.14631260
+v 0.08311701 0.07150801 -0.14666018
+v 0.08468346 0.02823856 -0.14833346
+v 0.08484223 0.02441938 -0.14844637
+v 0.08563920 0.06579026 -0.14407505
+v 0.08543462 0.07150800 -0.14379595
+v 0.08521171 0.07723679 -0.14344837
+v 0.08494300 0.08295454 -0.14297902
+v 0.08477506 0.08602313 -0.14268217
+v 0.08644837 0.06579024 -0.13976856
+v 0.08590180 0.06579023 -0.13672295
+v 0.07145268 0.00001406 -0.14175017
+v 0.06472584 0.03146166 -0.13672307
+v 0.07791387 0.00001409 -0.14917456
+v 0.06370903 0.11275748 -0.14601818
+v 0.07651842 0.00001408 -0.14793272
+v 0.07509549 0.00001408 -0.14661731
+v 0.07065267 0.11275749 -0.14906886
+v 0.07065267 0.11156538 -0.14910312
+v 0.07317790 0.11275749 -0.14874287
+v 0.07393517 0.11156538 -0.14867818
+v 0.07932458 0.09278953 -0.14854379
+v 0.08281472 0.08295455 -0.14584324
+v 0.08477506 0.08602313 -0.14242848
+v 0.08278724 0.08823076 -0.14495402
+v 0.08102843 0.09457770 -0.14599794
+v 0.08082690 0.10012986 -0.14493113
+v 0.08015818 0.10584761 -0.14408124
+v 0.07956581 0.11047259 -0.14328842
+v 0.08214906 0.10012984 -0.13976843
+v 0.08594760 0.07150798 -0.13976854
+v 0.08476896 0.08025017 -0.13685989
+v 0.08483003 0.07921259 -0.13672290
+v 0.08556286 0.07006198 -0.13672293
+v 0.07256721 0.00001407 -0.14375182
+v 0.05761121 0.10636638 -0.13672280
+v 0.05722036 0.11275744 -0.13733038
+v 0.07374280 0.11275749 -0.14854880
+v 0.07884518 0.09659768 -0.14824189
+v 0.08315366 0.09440106 -0.13976845
+v 0.08413688 0.08823075 -0.14021879
+v 0.08450635 0.08405833 -0.13860910
+v 0.08491858 0.08246885 -0.14021881
+v 0.08540713 0.07723677 -0.13976852
+v 0.07752607 0.10584762 -0.14694546
+v 0.08086660 0.10584759 -0.13976841
+v 0.07719935 0.11206208 -0.14531798
+v 0.07690011 0.11275747 -0.14536872
+v 0.07903145 0.11275746 -0.14067409
+v 0.07963604 0.11069334 -0.13976839
+v 0.07952000 0.10917006 -0.13672279
+v 0.08061315 0.10389384 -0.13672281
+v 0.08468040 0.08038263 -0.13672289
+v 0.08472010 0.08011772 -0.13672290
+v 0.05709211 0.11188544 -0.13672278
+v 0.05701577 0.11275744 -0.13672278
+v 0.07938565 0.10971092 -0.13672279
+v 0.07906503 0.11275745 -0.13976839
+v 0.07814288 0.11275744 -0.13672278
+v 0.07843601 0.11275745 -0.13762593
+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 11
+f 2 11 12
+f 2 12 8
+f 3 8 12
+f 3 12 22
+f 3 22 37
+f 3 37 56
+f 3 56 79
+f 3 79 78
+f 3 78 99
+f 3 99 98
+f 3 98 97
+f 3 97 96
+f 3 96 102
+f 3 102 104
+f 3 104 101
+f 3 101 100
+f 3 100 81
+f 3 81 58
+f 3 58 38
+f 3 38 24
+f 3 24 23
+f 3 23 14
+f 3 14 13
+f 3 13 4
+f 4 13 5
+f 5 14 15
+f 5 15 24
+f 5 24 38
+f 5 38 57
+f 5 57 80
+f 5 80 62
+f 5 62 61
+f 5 61 59
+f 5 59 40
+f 5 40 27
+f 5 27 25
+f 5 25 16
+f 5 16 7
+f 5 7 6
+f 5 13 14
+f 7 16 17
+f 7 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 12
+f 12 21 22
+f 14 23 15
+f 15 23 24
+f 16 25 17
+f 17 26 18
+f 17 25 27
+f 17 27 26
+f 18 26 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 19 30 31
+f 20 33 32
+f 20 32 34
+f 20 34 21
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 26 27 39
+f 26 39 29
+f 26 29 28
+f 27 40 41
+f 27 41 42
+f 27 42 39
+f 29 39 30
+f 30 39 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 32
+f 32 49 50
+f 32 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 35 52 53
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 38 58 57
+f 39 42 43
+f 40 59 41
+f 41 60 82
+f 41 82 101
+f 41 101 104
+f 41 104 105
+f 41 105 103
+f 41 103 94
+f 41 94 93
+f 41 93 83
+f 41 83 65
+f 41 65 63
+f 41 63 42
+f 41 59 61
+f 41 61 62
+f 41 62 60
+f 42 63 64
+f 42 64 43
+f 43 64 44
+f 44 64 63
+f 44 63 65
+f 44 65 66
+f 44 66 67
+f 44 67 45
+f 45 67 68
+f 45 68 46
+f 46 52 51
+f 46 51 50
+f 46 50 47
+f 46 68 52
+f 47 50 48
+f 48 50 49
+f 52 68 53
+f 53 68 54
+f 54 69 55
+f 54 68 70
+f 54 70 71
+f 54 71 72
+f 54 72 73
+f 54 73 74
+f 54 74 75
+f 54 75 69
+f 55 69 76
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 56
+f 57 58 80
+f 58 81 82
+f 58 82 80
+f 60 62 80
+f 60 80 82
+f 65 83 66
+f 66 83 84
+f 66 84 67
+f 67 70 68
+f 67 84 71
+f 67 71 70
+f 69 75 85
+f 69 85 86
+f 69 86 87
+f 69 87 77
+f 69 77 88
+f 69 88 89
+f 69 89 76
+f 71 84 72
+f 72 84 73
+f 73 84 90
+f 73 90 74
+f 74 91 75
+f 74 90 92
+f 74 92 93
+f 74 93 94
+f 74 94 95
+f 74 95 91
+f 75 91 96
+f 75 96 97
+f 75 97 85
+f 76 89 77
+f 77 98 99
+f 77 99 78
+f 77 89 88
+f 77 87 85
+f 77 85 97
+f 77 97 98
+f 81 100 82
+f 82 100 101
+f 83 93 92
+f 83 92 90
+f 83 90 84
+f 85 87 86
+f 91 95 102
+f 91 102 96
+f 94 103 95
+f 95 103 102
+f 102 103 105
+f 102 105 104
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_28.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.00012265 -0.17472435 0.13525944
+v 0.00296327 -0.17469418 0.13525944
+v -0.00012265 -0.17457691 0.14096469
+v -0.00012265 -0.17461373 0.12952765
+v 0.00296327 -0.17459363 0.12952765
+v 0.00860427 -0.17443613 0.13525944
+v 0.00296327 -0.17454004 0.14096469
+v -0.00012265 -0.17308888 0.14587388
+v -0.00012265 -0.17180147 0.02908855
+v 0.00105934 -0.17180147 0.02908855
+v 0.00860427 -0.17430539 0.12952765
+v 0.01424349 -0.17405071 0.13525944
+v 0.00860427 -0.17426521 0.14096469
+v 0.00860427 -0.17289447 0.14563505
+v 0.00296327 -0.17306207 0.14582081
+v -0.00012265 -0.16878895 0.14881940
+v -0.00012265 -0.16393182 -0.08246915
+v 0.00296327 -0.16393516 -0.08246915
+v 0.01795403 -0.17294800 0.11806405
+v 0.01795403 -0.17324295 0.12379584
+v 0.01795403 -0.17341055 0.12756397
+v 0.01795403 -0.17349100 0.12952765
+v 0.01424349 -0.17389316 0.12952765
+v 0.00860427 -0.16280907 -0.08246915
+v 0.01171849 -0.16608703 -0.02252413
+v 0.01795403 -0.17361166 0.13329578
+v 0.01795403 -0.17366530 0.13525944
+v 0.01795403 -0.17356811 0.13902757
+v 0.01424349 -0.17387310 0.14096469
+v 0.01795403 -0.17290788 0.14361832
+v 0.01795403 -0.17249900 0.14513087
+v 0.01424349 -0.17267664 0.14536970
+v 0.01795403 -0.16885261 0.14786410
+v 0.01424349 -0.16885261 0.14812946
+v 0.00860427 -0.16885262 0.14842136
+v 0.00274562 -0.16833314 0.14884594
+v -0.00012265 -0.16685179 0.14940321
+v -0.00012265 -0.16332183 -0.08817441
+v 0.00296327 -0.16335534 -0.08817441
+v 0.00860427 -0.16233649 -0.08817441
+v 0.01795403 -0.16758869 0.03211367
+v 0.01350563 -0.16096909 -0.08817440
+v 0.01795403 -0.15948104 -0.08817440
+v 0.01795403 -0.17350445 0.14096469
+v 0.01795403 -0.17015969 0.14690880
+v 0.01795403 -0.16508892 0.14879288
+v 0.00072138 -0.16607761 0.14958896
+v -0.00012265 -0.16614128 0.14961550
+v -0.00012265 -0.16258449 -0.09390620
+v 0.00296327 -0.16262805 -0.09390620
+v 0.00860427 -0.16161591 -0.09390619
+v 0.01795403 -0.15684668 -0.11683337
+v 0.01795403 -0.15907885 -0.09390618
+v 0.01795403 -0.16312831 0.14908478
+v -0.00012265 -0.16582624 0.14961550
+v -0.00012265 -0.15950774 -0.11683338
+v 0.00296327 -0.15937033 -0.11683338
+v 0.00296327 -0.15835146 -0.12147718
+v 0.01795403 -0.15569375 -0.12147717
+v -0.00012265 -0.16468674 0.14924400
+v 0.01795403 -0.16013879 0.14730689
+v -0.00012265 -0.16317523 0.14871328
+v -0.00012265 -0.15835146 -0.12147718
+v 0.01795403 -0.14541478 -0.12147713
+v 0.01795403 -0.15870101 0.14635159
+v -0.00012265 -0.16118779 0.14735996
+v -0.00012265 -0.14048477 -0.12147712
+v 0.00312959 -0.14052499 -0.12147712
+v 0.01795403 -0.14469423 -0.11680679
+v 0.01795403 -0.15727326 0.14276922
+v -0.00012265 -0.15927076 0.14579432
+v -0.00012265 -0.14247240 -0.06657395
+v 0.01795403 -0.14447976 -0.11110151
+v 0.00106465 -0.14255618 -0.06675970
+v 0.01795403 -0.15293637 0.11806413
+v 0.01795403 -0.15665994 0.14096475
+v -0.00012265 -0.15861386 0.14361838
+v -0.00012265 -0.14835792 0.02518783
+v -0.00012265 -0.15051973 0.05817219
+v -0.00012265 -0.15344573 0.10102796
+v -0.00012265 -0.15502771 0.12329174
+v 0.01795403 -0.15314752 0.12016050
+v -0.00012265 -0.15781955 0.14096475
+v 0.01795403 -0.15354971 0.12379592
+v -0.00012265 -0.15741066 0.13839076
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 37
+f 1 37 48
+f 1 48 55
+f 1 55 60
+f 1 60 62
+f 1 62 66
+f 1 66 71
+f 1 71 77
+f 1 77 83
+f 1 83 85
+f 1 85 81
+f 1 81 80
+f 1 80 79
+f 1 79 78
+f 1 78 72
+f 1 72 67
+f 1 67 63
+f 1 63 56
+f 1 56 49
+f 1 49 38
+f 1 38 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 11 6
+f 5 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 10 18 24
+f 10 24 25
+f 10 25 19
+f 11 23 12
+f 12 23 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 15 35 16
+f 16 36 37
+f 16 35 36
+f 17 38 39
+f 17 39 18
+f 18 39 40
+f 18 40 24
+f 19 25 41
+f 19 41 43
+f 19 43 53
+f 19 53 52
+f 19 52 59
+f 19 59 64
+f 19 64 69
+f 19 69 73
+f 19 73 75
+f 19 75 82
+f 19 82 84
+f 19 84 76
+f 19 76 70
+f 19 70 65
+f 19 65 61
+f 19 61 54
+f 19 54 46
+f 19 46 33
+f 19 33 45
+f 19 45 31
+f 19 31 30
+f 19 30 44
+f 19 44 28
+f 19 28 27
+f 19 27 26
+f 19 26 22
+f 19 22 21
+f 19 21 20
+f 22 26 23
+f 24 40 42
+f 24 42 25
+f 25 42 43
+f 25 43 41
+f 28 44 29
+f 29 44 30
+f 31 45 32
+f 32 45 33
+f 33 46 34
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 35 48 36
+f 36 48 37
+f 38 49 50
+f 38 50 39
+f 39 50 51
+f 39 51 40
+f 40 51 52
+f 40 52 42
+f 42 52 53
+f 42 53 43
+f 46 54 47
+f 47 54 48
+f 48 54 55
+f 49 56 50
+f 50 56 57
+f 50 57 52
+f 50 52 51
+f 52 57 58
+f 52 58 59
+f 54 60 55
+f 54 61 62
+f 54 62 60
+f 56 63 58
+f 56 58 57
+f 58 63 67
+f 58 67 68
+f 58 68 64
+f 58 64 59
+f 61 65 62
+f 62 65 66
+f 64 68 69
+f 65 70 71
+f 65 71 66
+f 67 72 68
+f 68 73 69
+f 68 72 74
+f 68 74 75
+f 68 75 73
+f 70 76 71
+f 71 76 77
+f 72 75 74
+f 72 78 75
+f 75 78 79
+f 75 79 80
+f 75 80 81
+f 75 81 82
+f 76 83 77
+f 76 84 83
+f 81 85 84
+f 81 84 82
+f 83 84 85
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_29.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00296609 0.15762149 -0.13656957
+v 0.00296609 0.15706811 -0.13976807
+v -0.00011863 0.15707123 -0.13976807
+v -0.00004232 0.15759648 -0.13656957
+v 0.01117596 0.15732134 -0.13656957
+v 0.01424462 0.15719629 -0.13656957
+v 0.01424462 0.15658350 -0.13959527
+v 0.00891865 0.15637404 -0.14032125
+v 0.00724374 0.15461069 -0.14274157
+v 0.00296609 0.15470448 -0.14283108
+v -0.00011863 0.15471698 -0.14283978
+v -0.00011863 0.15758397 -0.13663421
+v -0.00011863 0.15759335 -0.13656957
+v 0.01699597 0.15702745 -0.13656957
+v 0.01988790 0.15630837 -0.13923230
+v 0.01424462 0.15431054 -0.14246063
+v 0.01100727 0.15446061 -0.14259985
+v 0.00891865 0.15218765 -0.14459504
+v 0.00296609 0.15163739 -0.14535955
+v -0.00011863 0.15163739 -0.14537695
+v -0.00011863 0.13225614 -0.13656966
+v 0.01988790 0.15678671 -0.13656957
+v 0.01988790 0.15394161 -0.14209764
+v 0.02552315 0.15590504 -0.13873257
+v 0.01988790 0.15107774 -0.14451673
+v 0.01424462 0.15144980 -0.14477032
+v 0.00860536 0.14781681 -0.14786939
+v 0.00296609 0.14801377 -0.14802726
+v -0.00011863 0.14999598 -0.14658526
+v -0.00011863 0.13895629 -0.14618750
+v 0.04091063 0.12568423 -0.13656969
+v 0.02292443 0.15652096 -0.13656958
+v 0.03116241 0.15543920 -0.13820052
+v 0.03116241 0.15294738 -0.14106588
+v 0.03680570 0.14966769 -0.14344643
+v 0.02552315 0.14706332 -0.14705516
+v 0.01988790 0.14733220 -0.14738209
+v 0.02552315 0.14419945 -0.14906650
+v 0.01988790 0.14447146 -0.14914482
+v 0.01424462 0.14469343 -0.14915104
+v 0.00860536 0.14495606 -0.14912866
+v 0.00296609 0.14515303 -0.14908391
+v -0.00011863 0.14672566 -0.14851456
+v -0.00011863 0.14802003 -0.14803596
+v -0.00011863 0.14181393 -0.14907646
+v 0.02676025 0.13709916 -0.14856184
+v 0.04091063 0.13348178 -0.14656915
+v 0.04091063 0.15370710 -0.13656959
+v 0.02895330 0.15585814 -0.13656958
+v 0.03998682 0.15462317 -0.13710162
+v 0.03680570 0.15493895 -0.13756406
+v 0.03680570 0.15252843 -0.14042941
+v 0.04091063 0.14948947 -0.14284725
+v 0.04091063 0.14926124 -0.14308593
+v 0.03700653 0.14553133 -0.14665613
+v 0.03116241 0.14662873 -0.14666856
+v 0.03116241 0.14376486 -0.14884026
+v 0.04091063 0.13972229 -0.14912495
+v 0.03116241 0.14019439 -0.14926915
+v -0.00011863 0.14515929 -0.14907645
+v 0.04091063 0.13578914 -0.14912744
+v 0.04091063 0.15350389 -0.13809860
+v 0.03998682 0.15462317 -0.13656958
+v 0.04091063 0.14613787 -0.14543664
+v 0.03525932 0.14336779 -0.14857921
+v 0.04091063 0.14089786 -0.14875698
+v 0.04091063 0.14247048 -0.14807079
+v 0.03901883 0.14275812 -0.14825353
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 21
+f 1 21 31
+f 1 31 48
+f 1 48 63
+f 1 63 49
+f 1 49 32
+f 1 32 22
+f 1 22 14
+f 1 14 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 12 4
+f 3 11 20
+f 3 20 29
+f 3 29 44
+f 3 44 43
+f 3 43 60
+f 3 60 45
+f 3 45 30
+f 3 30 21
+f 3 21 13
+f 3 13 12
+f 4 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 7 9 8
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 11
+f 11 19 20
+f 14 22 15
+f 15 23 16
+f 15 22 24
+f 15 24 23
+f 16 23 25
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 21 30 31
+f 22 32 24
+f 23 24 33
+f 23 33 34
+f 23 34 35
+f 23 35 25
+f 24 32 33
+f 25 35 36
+f 25 36 26
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 31 47 61
+f 31 61 58
+f 31 58 66
+f 31 66 67
+f 31 67 64
+f 31 64 54
+f 31 54 53
+f 31 53 62
+f 31 62 48
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 33 51 52
+f 33 52 34
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 36
+f 36 56 57
+f 36 57 38
+f 36 38 37
+f 38 57 58
+f 38 58 59
+f 38 59 39
+f 39 59 40
+f 40 59 41
+f 41 60 42
+f 41 59 60
+f 42 60 43
+f 45 60 59
+f 45 59 61
+f 45 61 46
+f 46 61 47
+f 48 62 50
+f 48 50 63
+f 49 63 50
+f 50 62 53
+f 50 53 52
+f 50 52 51
+f 54 64 55
+f 55 64 65
+f 55 65 56
+f 56 65 57
+f 57 65 58
+f 58 61 59
+f 58 65 66
+f 64 67 68
+f 64 68 65
+f 65 68 66
+f 66 68 67
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_3.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.05436010 0.11630140 -0.13575625
+v -0.05436010 0.03717946 -0.13484824
+v -0.05436010 0.11630135 -0.12256972
+v -0.04115869 0.11630140 -0.13575472
+v 0.07812746 0.11275062 -0.13672125
+v 0.05701635 0.11275062 -0.13672125
+v 0.05708598 0.11188290 -0.13672125
+v 0.05760122 0.10635692 -0.13672127
+v 0.06471717 0.03147081 -0.13672154
+v 0.06867202 0.00001613 -0.13672166
+v -0.05436010 -0.00033782 -0.13438579
+v -0.00013406 0.11630135 -0.12276270
+v -0.05436010 0.03145934 -0.12249957
+v 0.06170925 0.11275056 -0.12107324
+v 0.07988208 0.11275056 -0.12107324
+v -0.00013406 0.11630140 -0.13555559
+v 0.07988208 0.11275057 -0.12160016
+v 0.07938076 0.10970219 -0.13672126
+v 0.08719299 0.00001613 -0.13672166
+v -0.00013406 -0.00033782 -0.13473655
+v -0.01081494 -0.00033782 -0.13468448
+v -0.01646871 -0.00033782 -0.13465231
+v -0.02522788 -0.00033782 -0.13460176
+v -0.03086772 -0.00033782 -0.13456500
+v -0.03337431 -0.00033782 -0.13454662
+v -0.05436010 -0.00033786 -0.12254257
+v 0.06964681 0.00001607 -0.12107365
+v 0.08120500 0.10768127 -0.12107325
+v 0.08166455 0.10584310 -0.12258047
+v 0.07950609 0.10916557 -0.13672126
+v 0.08720691 0.00016456 -0.13672166
+v 0.08762468 0.00001608 -0.12258086
+v -0.00013406 -0.00033786 -0.12260077
+v 0.08766646 0.00001607 -0.12107365
+v -0.01394819 -0.00033786 -0.12256861
+v 0.08144174 0.10587734 -0.12107326
+v 0.08660811 0.06172661 -0.12107342
+v 0.08683092 0.06005970 -0.12258064
+v 0.08482565 0.07920657 -0.13672137
+v 0.08471424 0.08010854 -0.13672137
+v 0.08467247 0.08038255 -0.13672136
+v 0.08060621 0.10389079 -0.13672128
+v 0.08748543 0.00589604 -0.13672164
+v -0.00266851 -0.00033786 -0.12259159
+v 0.08768038 0.01160470 -0.13672162
+v 0.08776393 0.01428776 -0.13672161
+v 0.08787534 0.02001925 -0.13672159
+v 0.08770823 0.00284756 -0.12107364
+v -0.00830835 -0.00033786 -0.12257934
+v 0.08773608 0.02573932 -0.13672157
+v 0.08720691 0.04594795 -0.13672149
+v 0.08710944 0.04863102 -0.13672148
+v 0.08676130 0.05436251 -0.13672146
+v 0.08589792 0.06577982 -0.13672142
+f 1 2 11
+f 1 11 26
+f 1 26 13
+f 1 13 3
+f 1 3 12
+f 1 12 16
+f 1 16 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 3 13 14
+f 3 14 15
+f 3 15 12
+f 4 16 5
+f 5 17 18
+f 5 18 30
+f 5 30 42
+f 5 42 41
+f 5 41 40
+f 5 40 39
+f 5 39 54
+f 5 54 53
+f 5 53 52
+f 5 52 51
+f 5 51 50
+f 5 50 47
+f 5 47 46
+f 5 46 45
+f 5 45 43
+f 5 43 31
+f 5 31 19
+f 5 19 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 5 16 17
+f 10 19 20
+f 10 20 21
+f 10 21 22
+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 22
+f 11 22 21
+f 11 21 20
+f 11 20 33
+f 11 33 44
+f 11 44 49
+f 11 49 35
+f 11 35 26
+f 12 15 17
+f 12 17 16
+f 13 26 27
+f 13 27 14
+f 14 27 34
+f 14 34 48
+f 14 48 37
+f 14 37 36
+f 14 36 28
+f 14 28 15
+f 15 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 19 31 32
+f 19 32 20
+f 20 32 34
+f 20 34 33
+f 26 35 34
+f 26 34 27
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 31 43 32
+f 32 43 34
+f 33 34 44
+f 34 43 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 35 49
+f 34 49 44
+f 37 48 38
+f 38 48 47
+f 38 47 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 39
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_30.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.08567043 -0.08547838 -0.13976822
+v 0.08562611 -0.08547837 -0.14132380
+v 0.08513062 -0.08547839 -0.13612955
+v 0.08499365 -0.08725820 -0.13612956
+v 0.08519507 -0.08894630 -0.13976695
+v 0.08485669 -0.09209326 -0.14167550
+v 0.08485669 -0.09209326 -0.14284732
+v 0.08535218 -0.08547836 -0.14373417
+v 0.08513062 -0.08873370 -0.14336583
+v 0.06895235 -0.08547839 -0.13612955
+v 0.08495336 -0.08751246 -0.13612956
+v 0.08463915 -0.09099704 -0.13785585
+v 0.08421616 -0.09418153 -0.13976697
+v 0.08297539 -0.10017953 -0.13976956
+v 0.08265312 -0.08873369 -0.14623184
+v 0.08154529 -0.10590243 -0.13976958
+v 0.07912420 -0.11453054 -0.14266515
+v 0.07959552 -0.11162115 -0.14336463
+v 0.08045358 -0.10590241 -0.14441193
+v 0.08400265 -0.08547836 -0.14536163
+v 0.08293511 -0.08547835 -0.14659891
+v 0.06116535 -0.09639066 -0.13612959
+v 0.07153862 -0.08547835 -0.14578389
+v 0.08204482 -0.10017954 -0.13612961
+v 0.07956732 -0.11025401 -0.13612964
+v 0.07936590 -0.09261008 -0.14850875
+v 0.07758935 -0.10590240 -0.14727665
+v 0.07949884 -0.11050411 -0.13612965
+v 0.07893889 -0.11397202 -0.13862987
+v 0.07976472 -0.11188792 -0.14023165
+v 0.07912420 -0.11453054 -0.14244952
+v 0.07550261 -0.12306697 -0.13976964
+v 0.07379455 -0.12653487 -0.14312210
+v 0.07459218 -0.12306695 -0.14398459
+v 0.07642513 -0.11679801 -0.14454289
+v 0.07613105 -0.11202128 -0.14661441
+v 0.08171852 -0.08547835 -0.14768857
+v 0.04451978 -0.12805629 -0.13612971
+v 0.07243293 -0.08547835 -0.14767575
+v 0.07983320 -0.08873368 -0.14875517
+v 0.07876163 -0.09642814 -0.14823153
+v 0.07414100 -0.11037901 -0.14872059
+v 0.07476944 -0.10590239 -0.14901193
+v 0.07823390 -0.10017950 -0.14790169
+v 0.07393152 -0.12510521 -0.13612970
+v 0.07366564 -0.12630982 -0.13658533
+v 0.07806471 -0.11679802 -0.14023167
+v 0.07386303 -0.12667244 -0.13976966
+v 0.07304929 -0.12805628 -0.13976966
+v 0.07151847 -0.12805626 -0.14429650
+v 0.07062415 -0.12343374 -0.14709190
+v 0.07256184 -0.11734404 -0.14786325
+v 0.07323862 -0.11419290 -0.14829321
+v 0.08011519 -0.08547834 -0.14889377
+v 0.05164208 -0.12805626 -0.14553891
+v 0.07208649 -0.12805629 -0.13612971
+v 0.07302109 -0.08547834 -0.14868841
+v 0.06872675 -0.12177063 -0.14878995
+v 0.06974193 -0.11734403 -0.14902224
+v 0.07541399 -0.10017949 -0.14911586
+v 0.07314194 -0.12675999 -0.13612971
+v 0.07286398 -0.12805628 -0.13831162
+v 0.07072084 -0.12805626 -0.14494337
+v 0.06754239 -0.12558452 -0.14826244
+v 0.07017700 -0.12805626 -0.14532328
+v 0.06655542 -0.12805625 -0.14784018
+v 0.07601423 -0.08547834 -0.14912864
+v 0.07628817 -0.08873368 -0.14924161
+v 0.05501793 -0.12805624 -0.14866931
+v 0.06438408 -0.12805624 -0.14865391
+v 0.06371536 -0.12805624 -0.14881050
+v 0.06539925 -0.12343373 -0.14907231
+v 0.05941297 -0.12805624 -0.14911725
+f 1 2 8
+f 1 8 20
+f 1 20 21
+f 1 21 37
+f 1 37 54
+f 1 54 67
+f 1 67 57
+f 1 57 39
+f 1 39 23
+f 1 23 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 22
+f 3 22 38
+f 3 38 56
+f 3 56 61
+f 3 61 45
+f 3 45 28
+f 3 28 25
+f 3 25 24
+f 3 24 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 13
+f 7 15 9
+f 7 14 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 15
+f 8 9 20
+f 9 15 21
+f 9 21 20
+f 10 23 22
+f 11 24 12
+f 12 24 14
+f 12 14 13
+f 14 24 25
+f 14 25 16
+f 15 26 21
+f 15 19 27
+f 15 27 26
+f 16 25 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 18 34 35
+f 18 35 36
+f 18 36 27
+f 18 27 19
+f 21 26 37
+f 22 23 39
+f 22 39 38
+f 26 40 37
+f 26 27 41
+f 26 41 42
+f 26 42 43
+f 26 43 40
+f 27 36 42
+f 27 42 44
+f 27 44 41
+f 28 45 46
+f 28 46 29
+f 29 46 32
+f 29 32 47
+f 29 47 31
+f 29 31 30
+f 31 47 32
+f 32 46 48
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 34 52 36
+f 34 36 35
+f 36 52 53
+f 36 53 42
+f 37 40 54
+f 38 55 69
+f 38 69 73
+f 38 73 71
+f 38 71 70
+f 38 70 66
+f 38 66 65
+f 38 65 63
+f 38 63 50
+f 38 50 49
+f 38 49 62
+f 38 62 56
+f 38 39 57
+f 38 57 55
+f 40 43 54
+f 41 44 42
+f 42 53 58
+f 42 58 59
+f 42 59 43
+f 43 60 54
+f 43 59 60
+f 45 61 46
+f 46 61 62
+f 46 62 48
+f 48 62 49
+f 50 63 51
+f 51 64 58
+f 51 58 52
+f 51 63 65
+f 51 65 66
+f 51 66 64
+f 52 58 53
+f 54 60 68
+f 54 68 67
+f 55 57 69
+f 56 62 61
+f 57 67 69
+f 58 64 70
+f 58 70 71
+f 58 71 72
+f 58 72 59
+f 59 72 60
+f 60 72 68
+f 64 66 70
+f 67 68 73
+f 67 73 69
+f 68 72 73
+f 71 73 72
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_31.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00012796 0.15803219 -0.13403746
+v -0.00012796 0.15779521 -0.12081500
+v -0.00012796 0.15766864 -0.13613721
+v -0.00268253 0.15766455 -0.13613721
+v -0.00268253 0.15800768 -0.13403746
+v -0.00012796 0.13960539 -0.12081507
+v -0.00832276 0.15785654 -0.13403746
+v -0.01396299 0.15754608 -0.13403746
+v -0.00268253 0.15762774 -0.12081500
+v -0.00012796 0.13027565 -0.13613731
+v -0.00625680 0.15756652 -0.13613721
+v -0.00012796 0.11630543 -0.12276042
+v -0.05437402 0.12519404 -0.12081512
+v -0.01396299 0.15717029 -0.13613721
+v -0.01960322 0.15678632 -0.13613721
+v -0.02524345 0.15637374 -0.13613722
+v -0.01960322 0.15712126 -0.13403746
+v -0.03651860 0.15529528 -0.12081501
+v -0.00012796 0.11630548 -0.13555693
+v -0.04536665 0.11958152 -0.13613735
+v -0.05436871 0.11630543 -0.12256844
+v -0.05437402 0.14367389 -0.12081505
+v -0.05437402 0.11635036 -0.12256844
+v -0.02524345 0.15663107 -0.13403746
+v -0.03087837 0.15584271 -0.13613722
+v -0.03087837 0.15597751 -0.13403747
+v -0.03962020 0.15467444 -0.13613722
+v -0.03981670 0.15480919 -0.12081501
+v -0.04117631 0.11630548 -0.13575490
+v -0.05437402 0.11865018 -0.13613735
+v -0.05437402 0.11630543 -0.12273493
+v -0.05145300 0.14928244 -0.13582378
+v -0.05437402 0.14631276 -0.13398050
+v -0.03994417 0.15457233 -0.13613722
+v -0.05145300 0.14928244 -0.13613724
+v -0.05437402 0.11630548 -0.13575641
+v -0.05437402 0.14639855 -0.13613725
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 18
+f 2 18 28
+f 2 28 22
+f 2 22 13
+f 2 13 6
+f 3 10 20
+f 3 20 30
+f 3 30 37
+f 3 37 35
+f 3 35 34
+f 3 34 27
+f 3 27 25
+f 3 25 16
+f 3 16 15
+f 3 15 14
+f 3 14 11
+f 3 11 4
+f 4 11 7
+f 4 7 5
+f 6 13 12
+f 7 11 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 12 13 21
+f 12 21 31
+f 12 31 36
+f 12 36 29
+f 12 29 19
+f 13 22 33
+f 13 33 37
+f 13 37 30
+f 13 30 36
+f 13 36 31
+f 13 31 23
+f 13 23 21
+f 16 24 17
+f 16 25 24
+f 17 24 18
+f 18 26 27
+f 18 27 28
+f 18 24 26
+f 19 29 30
+f 19 30 20
+f 21 23 31
+f 22 32 33
+f 22 28 32
+f 24 25 26
+f 25 27 26
+f 27 34 28
+f 28 34 35
+f 28 35 32
+f 29 36 30
+f 32 35 37
+f 32 37 33
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_32.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.05959763 -0.11166768 -0.13566683
+v -0.05959763 -0.11244626 -0.13625917
+v -0.05959763 -0.11166773 -0.12219980
+v -0.00012847 -0.11166768 -0.13503490
+v -0.05959763 -0.14278819 -0.13625928
+v -0.00012847 -0.13279940 -0.13625925
+v -0.05959763 -0.11223563 -0.12210303
+v -0.00012847 -0.11166773 -0.12292996
+v -0.05838089 -0.14365838 -0.13625929
+v -0.05959763 -0.14270118 -0.13403799
+v -0.00012847 -0.15699050 -0.13625934
+v -0.05959763 -0.11721400 -0.12128197
+v -0.00012847 -0.14054867 -0.12128206
+v -0.05769391 -0.14414843 -0.13625929
+v -0.05113863 -0.14881994 -0.13625931
+v -0.05761241 -0.14411180 -0.13403800
+v -0.05959763 -0.14178524 -0.12128206
+v -0.00012847 -0.15751720 -0.13403805
+v -0.00267839 -0.15693096 -0.13625934
+v -0.00012847 -0.15839658 -0.12128212
+v -0.05091158 -0.14893902 -0.13625931
+v -0.04052558 -0.15372050 -0.12128210
+v -0.05805486 -0.14285694 -0.12128206
+v -0.00267839 -0.15845155 -0.12128212
+v -0.00267839 -0.15745766 -0.13403805
+v -0.00831967 -0.15725157 -0.13403805
+v -0.01069494 -0.15663328 -0.13625934
+v -0.05071946 -0.14902603 -0.13625931
+v -0.03652022 -0.15507615 -0.12128211
+v -0.01960222 -0.15645924 -0.13403804
+v -0.01396094 -0.15698594 -0.13403805
+v -0.01396094 -0.15647755 -0.13625933
+v -0.03367920 -0.15376624 -0.13625932
+v -0.03280594 -0.15437079 -0.13518022
+v -0.03600208 -0.15375252 -0.13357764
+v -0.03090223 -0.15483337 -0.13357765
+v -0.02524349 -0.15567608 -0.13403804
+v -0.02785746 -0.15502115 -0.13625933
+v -0.02283329 -0.15565317 -0.13625933
+v -0.01960222 -0.15600124 -0.13625933
+v -0.01660984 -0.15628062 -0.13625933
+v -0.02955741 -0.15475093 -0.13625933
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 19
+f 2 19 27
+f 2 27 32
+f 2 32 41
+f 2 41 40
+f 2 40 39
+f 2 39 38
+f 2 38 42
+f 2 42 33
+f 2 33 28
+f 2 28 21
+f 2 21 15
+f 2 15 14
+f 2 14 9
+f 2 9 5
+f 3 7 8
+f 4 8 13
+f 4 13 20
+f 4 20 18
+f 4 18 11
+f 4 11 6
+f 5 9 10
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 11 18 25
+f 11 25 19
+f 12 17 23
+f 12 23 22
+f 12 22 29
+f 12 29 24
+f 12 24 20
+f 12 20 13
+f 15 21 22
+f 15 22 23
+f 15 23 17
+f 15 17 16
+f 18 20 24
+f 18 24 25
+f 19 25 26
+f 19 26 27
+f 21 28 22
+f 22 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 26
+f 24 26 25
+f 26 31 27
+f 27 31 32
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 29 35 34
+f 29 34 36
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 41
+f 31 41 32
+f 33 42 34
+f 34 42 38
+f 34 38 37
+f 34 37 36
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_33.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.08757165 0.04965607 0.15114342
+v 0.09150938 0.04965608 0.15034404
+v 0.09146384 0.05434516 0.15034406
+v 0.08757165 0.06006934 0.15111681
+v 0.08253563 0.08295880 0.15061063
+v 0.08182309 0.08701877 0.15053069
+v 0.08360177 0.04965608 0.15034404
+v 0.09348629 0.04965609 0.14735968
+v 0.09390685 0.04965609 0.14672019
+v 0.09138617 0.06006935 0.15031744
+v 0.08757165 0.08295880 0.15087708
+v 0.08785292 0.08701877 0.15061065
+v 0.07952742 0.08701877 0.14935828
+v 0.07936938 0.08688343 0.14927834
+v 0.08312496 0.04965608 0.14967789
+v 0.09500781 0.04965611 0.14200385
+v 0.09379166 0.05434517 0.14672021
+v 0.09125759 0.06579355 0.15023752
+v 0.09107007 0.07151042 0.15013095
+v 0.09087185 0.07723461 0.14999773
+v 0.09066559 0.08295880 0.14983788
+v 0.09050486 0.08666032 0.14970466
+v 0.09003340 0.08701877 0.14983790
+v 0.07928366 0.08701877 0.14911847
+v 0.08103287 0.04965609 0.14672019
+v 0.09523550 0.04965611 0.14099129
+v 0.09359612 0.06006936 0.14672023
+v 0.09328538 0.06579356 0.14672025
+v 0.09137009 0.08701878 0.14693350
+v 0.09062540 0.08701877 0.14919841
+v 0.09286214 0.07151043 0.14672027
+v 0.09239604 0.07723462 0.14672029
+v 0.09190851 0.08295881 0.14672031
+v 0.07822824 0.08701878 0.14674697
+v 0.07942563 0.04965611 0.14091135
+v 0.09505335 0.05434519 0.14099131
+v 0.09525961 0.04965613 0.13627495
+v 0.09479083 0.06006938 0.14099133
+v 0.09442652 0.06579358 0.14099135
+v 0.09284607 0.08295883 0.14099141
+v 0.09163529 0.08701879 0.14530809
+v 0.09394703 0.07151045 0.14099137
+v 0.09341664 0.07723464 0.14099139
+v 0.07725050 0.08701880 0.14240367
+v 0.07700406 0.08701880 0.14099143
+v 0.07438426 0.06579377 0.08940474
+v 0.07481017 0.06006957 0.08940472
+v 0.07442444 0.06006959 0.08367583
+v 0.07568076 0.05434538 0.08940470
+v 0.07937205 0.04965612 0.13995209
+v 0.09525693 0.04965613 0.13523577
+v 0.09503460 0.05434521 0.13523579
+v 0.09474529 0.06006940 0.13523581
+v 0.09438098 0.06579360 0.13523583
+v 0.09390417 0.07151047 0.13523585
+v 0.09233443 0.08701880 0.14099143
+v 0.09336574 0.07723466 0.13523587
+v 0.09319430 0.07723473 0.11804922
+v 0.09278178 0.08295885 0.13523589
+v 0.09228354 0.08701882 0.13523591
+v 0.09375952 0.07151054 0.11804920
+v 0.07441373 0.08701895 0.10086259
+v 0.07185286 0.06579396 0.03784476
+v 0.07215020 0.06006976 0.03784474
+v 0.07536467 0.05434540 0.08367581
+v 0.07697459 0.04965631 0.08836548
+v 0.09521139 0.04965615 0.13054607
+v 0.09485780 0.05434528 0.11804914
+v 0.09468903 0.06006942 0.12950691
+v 0.09428187 0.06579365 0.12377805
+v 0.09433277 0.06579362 0.12950693
+v 0.09257016 0.08295892 0.11804924
+v 0.09028252 0.06666834 -0.01941746
+v 0.09219514 0.08701885 0.12785496
+v 0.09422562 0.06579367 0.11804918
+v 0.07030991 0.08701961 -0.08006364
+v 0.06903215 0.07151127 -0.08246184
+v 0.06789637 0.06579454 -0.12107188
+v 0.07293239 0.05612684 0.03784473
+v 0.06801959 0.06455826 -0.12107188
+v 0.07044384 0.04965707 -0.12107194
+v 0.09520068 0.04965615 0.12950687
+v 0.09456314 0.06006947 0.11804916
+v 0.09463011 0.06006945 0.12377803
+v 0.09513906 0.04965618 0.12377799
+v 0.09506941 0.04965620 0.11804912
+v 0.09040307 0.06317531 -0.02240182
+v 0.09206388 0.08701889 0.11804926
+v 0.09212013 0.08701887 0.12212608
+v 0.08661534 0.06173456 -0.12107189
+v 0.08607960 0.06607983 -0.12107188
+v 0.08580637 0.06796351 -0.12107187
+v 0.08953248 0.07151104 -0.01941744
+v 0.06939914 0.08701976 -0.12107180
+v 0.06890893 0.07151129 -0.08819072
+v 0.08557331 0.04965707 -0.12107194
+v 0.08613585 0.05429860 -0.12107192
+v 0.08663409 0.06017276 -0.12107190
+v 0.09040307 0.06277297 -0.02240182
+v 0.08543938 0.07017272 -0.12107186
+v 0.08065517 0.08701975 -0.11683510
+v 0.08025604 0.08701976 -0.12107180
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 25
+f 1 25 35
+f 1 35 50
+f 1 50 66
+f 1 66 81
+f 1 81 96
+f 1 96 86
+f 1 86 85
+f 1 85 82
+f 1 82 67
+f 1 67 51
+f 1 51 37
+f 1 37 26
+f 1 26 16
+f 1 16 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 6
+f 4 6 5
+f 4 10 11
+f 6 11 12
+f 6 12 23
+f 6 23 30
+f 6 30 29
+f 6 29 41
+f 6 41 56
+f 6 56 60
+f 6 60 74
+f 6 74 89
+f 6 89 88
+f 6 88 101
+f 6 101 102
+f 6 102 94
+f 6 94 76
+f 6 76 62
+f 6 62 45
+f 6 45 44
+f 6 44 34
+f 6 34 24
+f 6 24 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 9 16 17
+f 9 17 10
+f 10 18 11
+f 10 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 27 19
+f 19 27 20
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 22 29 30
+f 22 30 23
+f 22 28 31
+f 22 31 32
+f 22 32 33
+f 22 33 29
+f 24 34 25
+f 25 34 35
+f 26 36 27
+f 26 37 36
+f 27 36 38
+f 27 38 28
+f 28 38 39
+f 28 39 31
+f 29 33 40
+f 29 40 41
+f 31 39 32
+f 32 39 42
+f 32 42 33
+f 33 42 43
+f 33 43 40
+f 34 44 35
+f 35 44 45
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 50
+f 36 37 38
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 42
+f 40 56 41
+f 40 43 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 56
+f 42 55 43
+f 43 55 61
+f 43 61 57
+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 48 65 49
+f 49 65 50
+f 50 65 66
+f 51 67 52
+f 52 67 68
+f 52 68 84
+f 52 84 69
+f 52 69 53
+f 53 69 75
+f 53 75 70
+f 53 70 71
+f 53 71 54
+f 54 71 61
+f 54 61 55
+f 57 61 58
+f 58 72 59
+f 58 61 73
+f 58 73 72
+f 59 74 60
+f 59 72 74
+f 61 71 70
+f 61 70 75
+f 61 75 73
+f 62 76 77
+f 62 77 63
+f 63 77 78
+f 63 78 64
+f 64 79 65
+f 64 78 80
+f 64 80 81
+f 64 81 79
+f 65 79 66
+f 66 79 81
+f 67 82 68
+f 68 83 84
+f 68 82 85
+f 68 85 86
+f 68 86 87
+f 68 87 83
+f 69 84 75
+f 72 88 89
+f 72 89 74
+f 72 73 88
+f 73 87 90
+f 73 90 91
+f 73 91 92
+f 73 92 93
+f 73 93 88
+f 73 75 83
+f 73 83 87
+f 75 84 83
+f 76 94 77
+f 77 94 95
+f 77 95 78
+f 78 95 94
+f 78 94 102
+f 78 102 100
+f 78 100 92
+f 78 92 91
+f 78 91 90
+f 78 90 98
+f 78 98 97
+f 78 97 96
+f 78 96 81
+f 78 81 80
+f 86 96 97
+f 86 97 98
+f 86 98 99
+f 86 99 87
+f 87 99 98
+f 87 98 90
+f 88 93 100
+f 88 100 101
+f 92 100 93
+f 100 102 101
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_34.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.05437933 0.11913660 -0.13624586
+v -0.05437933 0.12474881 -0.14427203
+v -0.05437933 0.14640631 -0.13624576
+v -0.05950765 0.10013746 -0.13624593
+v -0.05437933 0.12498617 -0.14459194
+v -0.05437933 0.14664896 -0.13982673
+v -0.05809679 0.14438615 -0.13976847
+v -0.05776482 0.14419626 -0.13624577
+v -0.06499369 0.09425100 -0.13624595
+v -0.06946665 0.09276359 -0.14542034
+v -0.07008480 0.09276360 -0.14634039
+v -0.05437933 0.12670571 -0.14682384
+v -0.05437933 0.14430705 -0.14369539
+v -0.05718960 0.14362135 -0.14315601
+v -0.06091851 0.14231851 -0.13976848
+v -0.06058654 0.14202839 -0.13624578
+v -0.06781827 0.09276356 -0.13624596
+v -0.06836487 0.09276357 -0.13976866
+v -0.06839062 0.09276357 -0.13992737
+v -0.07225975 0.09276361 -0.14885501
+v -0.05437933 0.12983355 -0.14889331
+v -0.05437933 0.14086803 -0.14591367
+v -0.05907552 0.14037220 -0.14448401
+v -0.06336247 0.13858938 -0.14357886
+v -0.06410367 0.13945440 -0.13976849
+v -0.06376598 0.13916429 -0.13624579
+v -0.08322038 0.09276356 -0.13624596
+v -0.07423725 0.09276361 -0.14885501
+v -0.07216245 0.09440928 -0.14887112
+v -0.05437933 0.13421148 -0.14891190
+v -0.05437933 0.13997661 -0.14646918
+v -0.05523214 0.13663252 -0.14806872
+v -0.05943038 0.13462288 -0.14753307
+v -0.06503661 0.13479167 -0.14488329
+v -0.06859095 0.13310379 -0.14365203
+v -0.06692253 0.13662720 -0.13976850
+v -0.06658484 0.13612084 -0.13624580
+v -0.08294565 0.09440923 -0.13624595
+v -0.08347794 0.09276357 -0.13830303
+v -0.07529610 0.09276361 -0.14884013
+v -0.07493838 0.09440928 -0.14887112
+v -0.05777913 0.13281371 -0.14881147
+v -0.05437933 0.13689625 -0.14818652
+v -0.06898015 0.11730108 -0.14883632
+v -0.05437933 0.13813578 -0.14752314
+v -0.06153951 0.13118384 -0.14823738
+v -0.06497365 0.12906345 -0.14765213
+v -0.06902880 0.13376310 -0.13976851
+v -0.06701983 0.12520771 -0.14819400
+v -0.07022216 0.12318754 -0.14692678
+v -0.07042535 0.12841993 -0.14448034
+v -0.07339874 0.12629954 -0.14295149
+v -0.06866535 0.13325672 -0.13624581
+v -0.08253642 0.09661402 -0.13624595
+v -0.08232464 0.10013220 -0.13976863
+v -0.08338637 0.09440924 -0.13976865
+v -0.08361531 0.09276357 -0.13986785
+v -0.07623477 0.09276361 -0.14861570
+v -0.07444043 0.10013224 -0.14884382
+v -0.06325944 0.12737032 -0.14874949
+v -0.06824754 0.12138890 -0.14864411
+v -0.07384232 0.10585519 -0.14864045
+v -0.07338730 0.10928368 -0.14845072
+v -0.07185052 0.12927441 -0.13976853
+v -0.07335296 0.12617292 -0.13651119
+v -0.07417429 0.12301874 -0.14382814
+v -0.07179614 0.11730107 -0.14772532
+v -0.07347315 0.12641556 -0.13976854
+v -0.07929402 0.11032276 -0.14339420
+v -0.07748250 0.11730104 -0.13976857
+v -0.07512154 0.12301872 -0.13976855
+v -0.07308681 0.12644193 -0.13624584
+v -0.08175229 0.10013219 -0.13624593
+v -0.08099964 0.10585515 -0.13976861
+v -0.07987782 0.10585517 -0.14412828
+v -0.08190968 0.09276359 -0.14373898
+v -0.08053316 0.10013222 -0.14471355
+v -0.07796043 0.09276360 -0.14806765
+v -0.07725929 0.10013223 -0.14757907
+v -0.07666117 0.10585518 -0.14699255
+v -0.07351035 0.12553998 -0.13624584
+v -0.07927112 0.11049152 -0.13624589
+v -0.07535048 0.11730106 -0.14485981
+v -0.07954585 0.11105063 -0.13976859
+v -0.07865298 0.11391475 -0.13976858
+v -0.08124003 0.10233697 -0.13624592
+v -0.07933694 0.11028580 -0.13624589
+v -0.08101394 0.09276359 -0.14534967
+v -0.08103398 0.09440926 -0.14511035
+v -0.07996654 0.09276360 -0.14631311
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 30
+f 1 30 43
+f 1 43 45
+f 1 45 31
+f 1 31 22
+f 1 22 13
+f 1 13 6
+f 1 6 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 37
+f 1 37 53
+f 1 53 72
+f 1 72 81
+f 1 81 82
+f 1 82 87
+f 1 87 86
+f 1 86 73
+f 1 73 54
+f 1 54 38
+f 1 38 27
+f 1 27 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 14
+f 6 14 7
+f 7 15 8
+f 7 14 15
+f 8 15 16
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 18
+f 10 18 17
+f 10 17 27
+f 10 27 39
+f 10 39 57
+f 10 57 76
+f 10 76 88
+f 10 88 90
+f 10 90 78
+f 10 78 58
+f 10 58 40
+f 10 40 28
+f 10 28 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 20 28 41
+f 20 41 29
+f 20 29 21
+f 21 29 30
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 25 36 26
+f 26 36 37
+f 27 38 39
+f 28 40 41
+f 29 41 30
+f 30 42 43
+f 30 41 44
+f 30 44 42
+f 31 45 32
+f 32 43 42
+f 32 42 33
+f 32 45 43
+f 33 42 46
+f 33 46 34
+f 34 46 47
+f 34 47 35
+f 35 48 36
+f 35 47 49
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 48
+f 36 48 37
+f 37 48 53
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 57
+f 40 58 59
+f 40 59 41
+f 41 59 44
+f 42 44 60
+f 42 60 46
+f 44 61 60
+f 44 59 62
+f 44 62 63
+f 44 63 61
+f 46 60 49
+f 46 49 47
+f 48 64 65
+f 48 65 53
+f 48 52 64
+f 49 60 61
+f 49 61 50
+f 50 66 51
+f 50 61 67
+f 50 67 66
+f 51 66 52
+f 52 68 64
+f 52 66 69
+f 52 69 70
+f 52 70 71
+f 52 71 68
+f 53 65 72
+f 54 73 55
+f 55 73 74
+f 55 74 69
+f 55 69 56
+f 56 69 75
+f 56 75 57
+f 57 75 77
+f 57 77 76
+f 58 78 59
+f 59 78 62
+f 61 63 67
+f 62 78 79
+f 62 79 63
+f 63 79 80
+f 63 80 67
+f 64 68 65
+f 65 81 72
+f 65 68 71
+f 65 71 70
+f 65 70 82
+f 65 82 81
+f 66 67 83
+f 66 83 69
+f 67 80 83
+f 69 80 75
+f 69 74 84
+f 69 84 85
+f 69 85 70
+f 69 83 80
+f 70 85 82
+f 73 86 74
+f 74 86 87
+f 74 87 84
+f 75 80 77
+f 76 77 89
+f 76 89 88
+f 77 80 79
+f 77 79 90
+f 77 90 89
+f 78 90 79
+f 82 85 87
+f 84 87 85
+f 88 89 90
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_35.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.00267890 -0.17474711 0.13524162
+v -0.00832003 -0.17456616 0.13524162
+v -0.00267890 -0.17463315 0.12950925
+v -0.00012442 -0.17461305 0.12950925
+v -0.00012442 -0.17472366 0.13524162
+v -0.00267890 -0.17460640 0.14097400
+v -0.00832003 -0.17447236 0.14097400
+v -0.01395940 -0.17423776 0.13524162
+v -0.00832003 -0.17440865 0.12950925
+v -0.01395940 -0.17416070 0.14097400
+v -0.00060161 -0.17180121 0.02908653
+v -0.00012442 -0.17180121 0.02908653
+v -0.00012442 -0.17457623 0.14097400
+v -0.00267890 -0.17310853 0.14593675
+v -0.00832003 -0.17304821 0.14593675
+v -0.01395940 -0.17287731 0.14577752
+v -0.01824524 -0.17377869 0.13524162
+v -0.01395940 -0.17405344 0.12950925
+v -0.01824524 -0.17371168 0.14097400
+v -0.01824524 -0.17264608 0.14553868
+v -0.01824524 -0.17358765 0.12950925
+v -0.01824524 -0.17336648 0.12515689
+v -0.01824524 -0.17328939 0.12377687
+v -0.01824524 -0.17302130 0.11942451
+v -0.01824524 -0.17293752 0.11807103
+v -0.01824524 -0.16739467 0.02858231
+v -0.00832003 -0.16281684 -0.08245592
+v -0.00267890 -0.16392936 -0.08245592
+v -0.00012442 -0.16393272 -0.08245592
+v -0.00012442 -0.17308841 0.14588367
+v -0.00832003 -0.16948948 0.14880296
+v -0.01395940 -0.16962017 0.14864372
+v -0.01824524 -0.16967044 0.14840487
+v -0.01824524 -0.16001542 -0.08264168
+v -0.01824524 -0.15945579 -0.08818828
+v -0.01824524 -0.15654369 -0.11682361
+v -0.00832003 -0.16215332 -0.08818829
+v -0.00267890 -0.16329601 -0.08818829
+v -0.00012442 -0.16332282 -0.08818829
+v -0.00012442 -0.16878912 0.14880296
+v -0.00267890 -0.16919124 0.14880296
+v -0.01395940 -0.16675844 0.14978490
+v -0.01824524 -0.16680870 0.14981144
+v -0.01824524 -0.15589359 -0.12019402
+v -0.00832003 -0.15868831 -0.11682361
+v -0.00267890 -0.15962658 -0.11682362
+v -0.00012442 -0.16258558 -0.09392066
+v -0.00012442 -0.16685226 0.14938682
+v -0.00012442 -0.16614186 0.14959913
+v -0.00267890 -0.16633287 0.14965221
+v -0.00832003 -0.16662775 0.14970528
+v -0.01395940 -0.16457360 0.14978491
+v -0.01824524 -0.16628594 0.14981144
+v -0.01824524 -0.15588018 -0.12024710
+v -0.01824524 -0.15561210 -0.12125557
+v -0.00267890 -0.15845372 -0.12125558
+v -0.00012442 -0.15839676 -0.12125558
+v -0.00012442 -0.15950930 -0.11682362
+v -0.00012442 -0.16582352 0.14959913
+v -0.00267890 -0.16561910 0.14965221
+v -0.01824524 -0.16343427 0.14978491
+v -0.01824524 -0.14526093 -0.12125553
+v -0.00012442 -0.14055281 -0.12125552
+v -0.00012442 -0.16468754 0.14922760
+v -0.01824524 -0.16098136 0.14938684
+v -0.00296628 -0.14051260 -0.12125552
+v -0.01824524 -0.14463767 -0.11830973
+v -0.00035326 -0.14054946 -0.12125552
+v -0.00267890 -0.14229888 -0.06618756
+v -0.00012442 -0.14247313 -0.06658565
+v -0.00012442 -0.16317624 0.14872336
+v -0.01824524 -0.16093109 0.14936030
+v -0.01824524 -0.14428584 -0.11186081
+v -0.01824524 -0.14426239 -0.11111772
+v -0.01824524 -0.14435623 -0.10538535
+v -0.00633322 -0.14257700 -0.06690411
+v -0.01824524 -0.15114606 0.09965320
+v -0.01824524 -0.15121308 0.10087399
+v -0.00012442 -0.14835778 0.02521196
+v -0.00012442 -0.16118576 0.14734335
+v -0.00012442 -0.15927235 0.14577757
+v -0.01824524 -0.15892720 0.14691874
+v -0.01824524 -0.14454390 -0.09965298
+v -0.01824524 -0.15355885 0.12380349
+v -0.00012442 -0.15502993 0.12327271
+v -0.00012442 -0.15344818 0.10100668
+v -0.00012442 -0.15052263 0.05817311
+v -0.00012442 -0.15861555 0.14362794
+v -0.01824524 -0.15661166 0.14097406
+v -0.00012442 -0.15781801 0.14097406
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 8
+f 3 9 11
+f 3 11 12
+f 3 12 4
+f 4 12 29
+f 4 29 39
+f 4 39 47
+f 4 47 58
+f 4 58 57
+f 4 57 63
+f 4 63 70
+f 4 70 79
+f 4 79 87
+f 4 87 86
+f 4 86 85
+f 4 85 90
+f 4 90 88
+f 4 88 81
+f 4 81 80
+f 4 80 71
+f 4 71 64
+f 4 64 59
+f 4 59 49
+f 4 49 48
+f 4 48 40
+f 4 40 30
+f 4 30 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 10
+f 8 17 18
+f 8 18 11
+f 8 11 9
+f 8 10 19
+f 8 19 17
+f 10 16 20
+f 10 20 19
+f 11 18 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 12
+f 13 30 14
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 33 20
+f 17 21 18
+f 17 19 20
+f 17 20 33
+f 17 33 43
+f 17 43 53
+f 17 53 61
+f 17 61 65
+f 17 65 72
+f 17 72 82
+f 17 82 89
+f 17 89 84
+f 17 84 78
+f 17 78 77
+f 17 77 83
+f 17 83 75
+f 17 75 74
+f 17 74 73
+f 17 73 67
+f 17 67 62
+f 17 62 55
+f 17 55 54
+f 17 54 44
+f 17 44 36
+f 17 36 35
+f 17 35 34
+f 17 34 26
+f 17 26 25
+f 17 25 24
+f 17 24 23
+f 17 23 22
+f 17 22 21
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 29
+f 30 40 41
+f 30 41 31
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 32 43 33
+f 36 44 45
+f 36 45 37
+f 37 45 38
+f 38 45 46
+f 38 46 39
+f 39 46 47
+f 40 48 41
+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 42 51 50
+f 42 50 60
+f 42 60 52
+f 42 52 53
+f 42 53 43
+f 44 54 45
+f 45 54 55
+f 45 55 56
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 46 58 47
+f 49 59 60
+f 49 60 50
+f 52 61 53
+f 52 60 61
+f 55 62 66
+f 55 66 68
+f 55 68 63
+f 55 63 57
+f 55 57 56
+f 59 64 65
+f 59 65 60
+f 60 65 61
+f 62 67 66
+f 63 68 69
+f 63 69 70
+f 64 71 65
+f 65 71 72
+f 66 69 68
+f 66 67 73
+f 66 73 74
+f 66 74 75
+f 66 75 76
+f 66 76 69
+f 69 77 78
+f 69 78 70
+f 69 76 77
+f 70 78 79
+f 71 80 72
+f 72 80 81
+f 72 81 82
+f 75 83 76
+f 76 83 77
+f 78 84 85
+f 78 85 86
+f 78 86 87
+f 78 87 79
+f 81 88 89
+f 81 89 82
+f 84 89 90
+f 84 90 85
+f 88 90 89
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_36.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.08823244 -0.04293850 -0.13976943
+v 0.08794310 -0.04293848 -0.14549710
+v 0.08815592 -0.02577696 -0.13976936
+v 0.08773028 -0.04293851 -0.13613076
+v 0.08822287 -0.04866180 -0.13976945
+v 0.08556862 -0.04293846 -0.14900471
+v 0.08553754 -0.03722352 -0.14900332
+v 0.08536059 -0.00289207 -0.14888168
+v 0.08534146 0.00000305 -0.14886938
+v 0.08746725 0.00000303 -0.14549694
+v 0.08806505 -0.05438510 -0.13976947
+v 0.08777093 -0.04866178 -0.14549712
+v 0.08763703 0.00000302 -0.14260785
+v 0.08778289 0.00000301 -0.13976927
+v 0.08766094 -0.03722357 -0.13613074
+v 0.08768724 -0.03931542 -0.13613074
+v 0.08772550 -0.04503036 -0.13613077
+v 0.08770637 -0.04866181 -0.13613078
+v 0.08764898 -0.05075366 -0.13613079
+v 0.08192920 -0.04293846 -0.15007787
+v 0.08192920 -0.03722352 -0.15007513
+v 0.08544189 -0.04866176 -0.14889141
+v 0.08192920 -0.04866176 -0.14994546
+v 0.08192920 -0.03150022 -0.15003005
+v 0.08192920 0.00000305 -0.14968176
+v 0.08747921 -0.05647697 -0.13613081
+v 0.08788810 -0.06010841 -0.13976949
+v 0.08754377 -0.05438511 -0.13613080
+v 0.08732617 -0.05438508 -0.14549714
+v 0.08760355 -0.06583171 -0.13976951
+v 0.08552558 -0.08300161 -0.14401311
+v 0.08586036 -0.07727830 -0.14440084
+v 0.08724725 0.00000300 -0.13687881
+v 0.08703444 0.00000300 -0.13613060
+v 0.07767284 -0.04293846 -0.14943479
+v 0.07768002 -0.03722352 -0.14943477
+v 0.07601574 -0.08547834 -0.14912910
+v 0.07302194 -0.08547834 -0.14868946
+v 0.07768480 -0.03150022 -0.14940881
+v 0.08514299 -0.05438506 -0.14866477
+v 0.08032948 -0.08300159 -0.14899939
+v 0.07791436 0.00000305 -0.14917521
+v 0.07991102 0.00000305 -0.14943191
+v 0.08717552 -0.06220027 -0.13613083
+v 0.08651794 -0.06583169 -0.14510806
+v 0.08644860 -0.06014185 -0.14599688
+v 0.08644142 -0.07155502 -0.13613086
+v 0.08598948 -0.07727833 -0.13613088
+v 0.08713726 -0.07155501 -0.13976953
+v 0.08535341 -0.08547836 -0.14373322
+v 0.08400477 -0.08547836 -0.14536208
+v 0.08315111 -0.08300160 -0.14687762
+v 0.08490626 -0.05825917 -0.14848319
+v 0.06775649 0.00000300 -0.13613060
+v 0.08011666 -0.08547834 -0.14889426
+v 0.07243609 -0.08547835 -0.14767500
+v 0.06380621 -0.06583172 -0.13613084
+v 0.06396642 -0.03150027 -0.13613072
+v 0.07509751 0.00000304 -0.14661654
+v 0.07651789 0.00000304 -0.14793274
+v 0.08659206 -0.07727832 -0.13976955
+v 0.08546819 -0.08274225 -0.13613090
+v 0.08562840 -0.08547837 -0.14132336
+v 0.08293590 -0.08547835 -0.14659910
+v 0.08171878 -0.08547835 -0.14768865
+v 0.07256522 0.00000303 -0.14375201
+v 0.07154178 -0.08547835 -0.14578398
+v 0.06895449 -0.08547839 -0.13613091
+v 0.08600861 -0.08300163 -0.13976957
+v 0.08512864 -0.08547839 -0.13613091
+v 0.08566906 -0.08547838 -0.13976822
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 5 11
+f 2 11 12
+f 2 12 6
+f 3 10 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 17 5
+f 4 16 15
+f 4 15 34
+f 4 34 54
+f 4 54 58
+f 4 58 57
+f 4 57 68
+f 4 68 70
+f 4 70 62
+f 4 62 48
+f 4 48 47
+f 4 47 44
+f 4 44 26
+f 4 26 28
+f 4 28 19
+f 4 19 18
+f 4 18 17
+f 5 17 18
+f 5 18 19
+f 5 19 11
+f 6 20 21
+f 6 21 7
+f 6 12 22
+f 6 22 23
+f 6 23 20
+f 7 21 8
+f 8 21 9
+f 9 21 24
+f 9 24 25
+f 9 25 43
+f 9 43 42
+f 9 42 60
+f 9 60 59
+f 9 59 66
+f 9 66 54
+f 9 54 34
+f 9 34 33
+f 9 33 14
+f 9 14 13
+f 9 13 10
+f 11 26 27
+f 11 27 12
+f 11 19 28
+f 11 28 26
+f 12 29 22
+f 12 27 30
+f 12 30 31
+f 12 31 32
+f 12 32 29
+f 14 33 15
+f 15 33 34
+f 20 35 36
+f 20 36 21
+f 20 23 37
+f 20 37 38
+f 20 38 35
+f 21 36 39
+f 21 39 24
+f 22 29 40
+f 22 40 41
+f 22 41 23
+f 23 41 37
+f 24 39 42
+f 24 42 43
+f 24 43 25
+f 26 44 30
+f 26 30 27
+f 29 32 45
+f 29 45 46
+f 29 46 40
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 30 44 47
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 32
+f 31 49 50
+f 32 53 45
+f 35 38 36
+f 36 38 39
+f 37 41 55
+f 37 55 65
+f 37 65 64
+f 37 64 51
+f 37 51 50
+f 37 50 63
+f 37 63 71
+f 37 71 70
+f 37 70 68
+f 37 68 67
+f 37 67 56
+f 37 56 38
+f 38 56 57
+f 38 57 58
+f 38 58 59
+f 38 59 60
+f 38 60 42
+f 38 42 39
+f 40 46 53
+f 40 53 41
+f 41 53 55
+f 45 53 46
+f 48 61 49
+f 48 62 61
+f 49 61 50
+f 50 61 63
+f 51 64 52
+f 52 64 65
+f 52 65 53
+f 53 65 55
+f 54 66 58
+f 56 67 57
+f 57 67 68
+f 58 66 59
+f 61 62 69
+f 61 69 63
+f 62 70 69
+f 63 69 71
+f 69 70 71
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_37.obj

@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.08594672 -0.08723407 0.14990789
+v 0.08757046 -0.06011732 0.15038738
+v 0.08756511 -0.04868187 0.15060049
+v 0.08341763 -0.08723407 0.14990789
+v 0.08876689 -0.08723407 0.14846974
+v 0.08917550 -0.08300710 0.14894915
+v 0.08987520 -0.07728183 0.14937529
+v 0.09028381 -0.07408141 0.14953509
+v 0.09049212 -0.07026582 0.14966827
+v 0.09062832 -0.06584260 0.14977481
+v 0.08757046 -0.05439582 0.15049393
+v 0.09078055 -0.06011732 0.14988136
+v 0.09091141 -0.05439582 0.14998792
+v 0.09104227 -0.04868187 0.15006783
+v 0.08392505 -0.04868187 0.15009446
+v 0.08390903 -0.05439582 0.15009444
+v 0.08382357 -0.06584260 0.15004114
+v 0.08060012 -0.08723407 0.14849638
+v 0.09121319 -0.08723405 0.14559344
+v 0.09145087 -0.08300709 0.14607284
+v 0.09170192 -0.07728182 0.14649898
+v 0.09166720 -0.07193017 0.14727135
+v 0.09235888 -0.06584259 0.14671208
+v 0.09271942 -0.06011731 0.14671210
+v 0.09304524 -0.05439581 0.14671212
+v 0.09331764 -0.04868186 0.14671214
+v 0.08152149 -0.04868186 0.14671214
+v 0.07837549 -0.08723405 0.14564670
+v 0.07894166 -0.08723406 0.14639241
+v 0.09214524 -0.08723404 0.14098602
+v 0.09260191 -0.08300707 0.14098604
+v 0.09309331 -0.07728180 0.14098606
+v 0.09354198 -0.07156030 0.14098608
+v 0.09397461 -0.06584257 0.14098610
+v 0.09438056 -0.06011729 0.14098612
+v 0.09475444 -0.05439579 0.14098614
+v 0.09504554 -0.04868184 0.14095953
+v 0.07986570 -0.04868184 0.14098616
+v 0.07761704 -0.08723404 0.14098602
+v 0.09222001 -0.08723402 0.13675146
+v 0.09268470 -0.08300705 0.13526006
+v 0.09317343 -0.07728178 0.13526008
+v 0.09365414 -0.07156028 0.13526010
+v 0.09409212 -0.06584255 0.13526012
+v 0.09447670 -0.06011727 0.13526014
+v 0.09484524 -0.05439577 0.13526016
+v 0.09514969 -0.04868182 0.13523355
+v 0.07764908 -0.04868169 0.10087767
+v 0.07532831 -0.05439560 0.08939905
+v 0.07443632 -0.06011710 0.08939903
+v 0.07411852 -0.08723389 0.10087753
+v 0.09224138 -0.08723402 0.13526004
+v 0.09266333 -0.08300698 0.11805549
+v 0.09317877 -0.07728171 0.11805551
+v 0.09365147 -0.07156026 0.12950749
+v 0.09364345 -0.07156023 0.12378151
+v 0.09363277 -0.07156021 0.11805553
+v 0.09407610 -0.06584253 0.12950751
+v 0.09405473 -0.06584250 0.12378153
+v 0.09482655 -0.05439575 0.12950755
+v 0.09513634 -0.04868180 0.12950757
+v 0.07502653 -0.05439558 0.08367308
+v 0.07692267 -0.04868163 0.08367310
+v 0.07408914 -0.06011708 0.08367306
+v 0.07205679 -0.06584219 0.03783856
+v 0.06786658 -0.08723307 -0.12147693
+v 0.09219331 -0.08723395 0.11805547
+v 0.09042535 -0.06340769 -0.02248396
+v 0.09402802 -0.06584248 0.11805555
+v 0.09476512 -0.05439570 0.11805559
+v 0.09510429 -0.04868177 0.12378159
+v 0.06915917 -0.04868087 -0.12147679
+v 0.07262563 -0.06011691 0.03783858
+v 0.06831525 -0.06584160 -0.12147685
+v 0.08132386 -0.08723307 -0.12147693
+v 0.08339627 -0.08723318 -0.09391232
+v 0.08773336 -0.06584171 -0.09391224
+v 0.08780547 -0.06011643 -0.09391222
+v 0.09042535 -0.06251700 -0.02248396
+v 0.09506423 -0.04868175 0.11805561
+v 0.07106332 -0.04868087 -0.12147679
+v 0.08438173 -0.07314821 -0.12147688
+v 0.08476897 -0.07453331 -0.11974576
+v 0.08175918 -0.08723309 -0.11684288
+v 0.08501199 -0.07155934 -0.12054473
+v 0.08530577 -0.06777770 -0.12147686
+v 0.08550340 -0.06531700 -0.12147685
+v 0.08581051 -0.06011632 -0.12147683
+v 0.08584256 -0.05921054 -0.12147683
+v 0.08585858 -0.05439482 -0.12147681
+v 0.08617639 -0.05439484 -0.11684276
+v 0.08595740 -0.04868089 -0.11737538
+v 0.08598944 -0.04868089 -0.11684274
+v 0.08569301 -0.04868087 -0.12145015
+v 0.08569568 -0.04874125 -0.12147679
+v 0.08490784 -0.07033275 -0.12147687
+f 1 2 3
+f 1 3 4
+f 1 4 18
+f 1 18 29
+f 1 29 28
+f 1 28 39
+f 1 39 51
+f 1 51 66
+f 1 66 75
+f 1 75 84
+f 1 84 76
+f 1 76 67
+f 1 67 52
+f 1 52 40
+f 1 40 30
+f 1 30 19
+f 1 19 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 12
+f 2 12 13
+f 2 13 11
+f 3 11 13
+f 3 13 14
+f 3 14 26
+f 3 26 37
+f 3 37 47
+f 3 47 61
+f 3 61 71
+f 3 71 80
+f 3 80 93
+f 3 93 92
+f 3 92 94
+f 3 94 81
+f 3 81 72
+f 3 72 63
+f 3 63 48
+f 3 48 38
+f 3 38 27
+f 3 27 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 16
+f 4 16 15
+f 4 15 18
+f 5 19 6
+f 6 19 7
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 10
+f 10 26 12
+f 12 26 13
+f 13 26 14
+f 15 27 28
+f 15 28 29
+f 15 29 18
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 24
+f 21 24 23
+f 21 23 22
+f 24 36 25
+f 25 36 37
+f 25 37 26
+f 27 38 28
+f 28 38 39
+f 30 40 31
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 34
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 36 45 46
+f 36 46 47
+f 36 47 37
+f 38 48 49
+f 38 49 50
+f 38 50 39
+f 39 50 51
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 42 54 43
+f 43 54 55
+f 43 55 44
+f 44 55 56
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 46 60 61
+f 46 61 47
+f 48 62 49
+f 48 63 62
+f 49 62 64
+f 49 64 50
+f 50 64 51
+f 51 64 65
+f 51 65 66
+f 52 67 53
+f 53 67 68
+f 53 68 54
+f 54 57 56
+f 54 56 55
+f 54 68 57
+f 57 69 59
+f 57 59 58
+f 57 68 69
+f 59 69 60
+f 60 69 70
+f 60 70 61
+f 61 70 71
+f 62 63 72
+f 62 72 64
+f 64 72 73
+f 64 73 65
+f 65 73 72
+f 65 72 74
+f 65 74 66
+f 66 74 72
+f 66 72 81
+f 66 81 95
+f 66 95 90
+f 66 90 89
+f 66 89 88
+f 66 88 87
+f 66 87 86
+f 66 86 96
+f 66 96 82
+f 66 82 75
+f 67 76 77
+f 67 77 68
+f 68 77 78
+f 68 78 79
+f 68 79 80
+f 68 80 70
+f 68 70 69
+f 70 80 71
+f 75 82 83
+f 75 83 84
+f 76 84 83
+f 76 83 77
+f 77 83 85
+f 77 85 86
+f 77 86 87
+f 77 87 88
+f 77 88 89
+f 77 89 78
+f 78 89 90
+f 78 90 91
+f 78 91 92
+f 78 92 93
+f 78 93 80
+f 78 80 79
+f 81 94 95
+f 82 96 83
+f 83 96 85
+f 85 96 86
+f 90 95 91
+f 91 95 92
+f 92 95 94
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_38.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.08728744 0.05184737 0.15058666
+v -0.09068051 0.05184737 0.15008189
+v -0.08530188 0.05184737 0.15032100
+v -0.08310245 0.08778871 0.15000233
+v -0.08610535 0.08778871 0.15000233
+v -0.09049555 0.06007007 0.14992253
+v -0.09063138 0.05434550 0.15002877
+v -0.09272099 0.05184738 0.14670797
+v -0.08376719 0.05184737 0.15008189
+v -0.08028163 0.08778872 0.14819582
+v -0.08892618 0.08778871 0.14888654
+v -0.08933658 0.08295782 0.14923188
+v -0.08977011 0.07863712 0.14947097
+v -0.09012849 0.07482308 0.14960378
+v -0.09262273 0.05434551 0.14670798
+v -0.09363718 0.05184739 0.14349343
+v -0.08152152 0.05184738 0.14670797
+v -0.07824116 0.08778873 0.14532664
+v -0.07854751 0.08778872 0.14577827
+v -0.09118630 0.08778872 0.14601738
+v -0.09141173 0.08295783 0.14636272
+v -0.09131346 0.07693067 0.14721282
+v -0.09184526 0.07151220 0.14670804
+v -0.09211116 0.06579114 0.14670802
+v -0.09237417 0.06007008 0.14670800
+v -0.09424412 0.05434553 0.14096964
+v -0.09434527 0.05184740 0.14096963
+v -0.07985966 0.05184740 0.14096963
+v -0.07752150 0.08778874 0.14096976
+v -0.09230191 0.08778874 0.14096976
+v -0.09275856 0.08295785 0.14096974
+v -0.09314585 0.07723679 0.14096972
+v -0.09344065 0.07151222 0.14096970
+v -0.09399556 0.06007010 0.14096966
+v -0.09445222 0.05434555 0.13525787
+v -0.09455337 0.05184742 0.13525786
+v -0.07476715 0.06007029 0.08940433
+v -0.07523536 0.06007027 0.09514268
+v -0.07482785 0.06579133 0.09514270
+v -0.07534230 0.06579131 0.10088103
+v -0.07602438 0.05184761 0.08369254
+v -0.07537120 0.05434574 0.08369255
+v -0.07448969 0.08778889 0.10088111
+v -0.09231925 0.08778876 0.13525799
+v -0.09279614 0.08295787 0.13525797
+v -0.09321521 0.07723681 0.13525795
+v -0.09354758 0.07151224 0.13525793
+v -0.09386262 0.06579118 0.13525791
+v -0.09417186 0.06007012 0.13525789
+v -0.09452736 0.05434557 0.12951954
+v -0.09459383 0.05184744 0.13201676
+v -0.07440299 0.06007031 0.08369257
+v -0.07451571 0.06579135 0.08940435
+v -0.07579028 0.05184763 0.07795420
+v -0.07511398 0.05434576 0.07795421
+v -0.06510237 0.06604545 -0.12081534
+v -0.07000123 0.08778946 -0.05543542
+v -0.09227590 0.08778878 0.12951966
+v -0.09277013 0.08295789 0.12951964
+v -0.09321232 0.07723683 0.12951962
+v -0.09357938 0.07151226 0.12951960
+v -0.09391464 0.06579120 0.12951958
+v -0.09424123 0.06007014 0.12951956
+v -0.09425568 0.06007017 0.12378122
+v -0.09453602 0.05434560 0.12378120
+v -0.09462851 0.05184746 0.12630499
+v -0.09462274 0.05184744 0.12951953
+v -0.06539428 0.06068328 -0.12081536
+v -0.06920643 0.05184836 -0.12081539
+v -0.06840585 0.08778970 -0.12081526
+v -0.06906192 0.08778960 -0.09390352
+v -0.09221232 0.08778881 0.12378132
+v -0.09267186 0.08295794 0.11806953
+v -0.09272677 0.08295792 0.12378130
+v -0.09314007 0.07723688 0.11806951
+v -0.09317764 0.07723686 0.12378128
+v -0.09353025 0.07151231 0.11806949
+v -0.09355914 0.07151229 0.12378126
+v -0.09391175 0.06579123 0.12378124
+v -0.09388285 0.06579125 0.11806947
+v -0.09421233 0.06007019 0.11806945
+v -0.09448401 0.05434562 0.11806943
+v -0.09457359 0.05184749 0.11806942
+v -0.09462274 0.05184747 0.12378119
+v -0.08273251 0.05184836 -0.12081539
+v -0.07998105 0.08778970 -0.12081526
+v -0.09212850 0.08778883 0.11806955
+v -0.08841461 0.06579188 -0.05381495
+v -0.08861692 0.06579186 -0.04807661
+v -0.08856491 0.06007082 -0.05381497
+v -0.08447240 0.05184826 -0.09339889
+v -0.08309089 0.05434649 -0.12081538
+v -0.08300418 0.05184835 -0.11683043
+v -0.08461402 0.05648567 -0.10538031
+v -0.08449841 0.05705216 -0.10843544
+v -0.08258800 0.07151318 -0.12081532
+v -0.08456200 0.06914166 -0.10330809
+v -0.08475275 0.06994386 -0.09964192
+v -0.08002729 0.08778970 -0.12023080
+v -0.08028452 0.08778969 -0.11683030
+v -0.08764582 0.06579194 -0.07100339
+v -0.08745218 0.06007088 -0.07100341
+v -0.08481055 0.05545474 -0.09964198
+v -0.08410534 0.05184829 -0.09964199
+v -0.08439147 0.05186235 -0.09499288
+v -0.08438858 0.05184827 -0.09496631
+v -0.08347529 0.05830830 -0.12081537
+v -0.08705911 0.06007090 -0.07671518
+v -0.08625853 0.06007094 -0.08819186
+v -0.08584813 0.06007096 -0.09390362
+v -0.08537702 0.06007099 -0.09964196
+v -0.08361401 0.06007106 -0.12081536
+v -0.08285100 0.06975394 -0.12081532
+v -0.08339436 0.06579212 -0.12081534
+v -0.08587125 0.06579202 -0.09390360
+v -0.08502731 0.07093956 -0.09390358
+v -0.08635391 0.06579200 -0.08819184
+v -0.08723831 0.06579196 -0.07671516
+v -0.08352153 0.06403288 -0.12081534
+f 1 2 8
+f 1 8 16
+f 1 16 27
+f 1 27 36
+f 1 36 51
+f 1 51 67
+f 1 67 66
+f 1 66 84
+f 1 84 83
+f 1 83 91
+f 1 91 106
+f 1 106 104
+f 1 104 93
+f 1 93 85
+f 1 85 69
+f 1 69 54
+f 1 54 41
+f 1 41 28
+f 1 28 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 19
+f 4 19 18
+f 4 18 29
+f 4 29 43
+f 4 43 57
+f 4 57 71
+f 4 71 70
+f 4 70 86
+f 4 86 99
+f 4 99 100
+f 4 100 87
+f 4 87 72
+f 4 72 58
+f 4 58 44
+f 4 44 30
+f 4 30 20
+f 4 20 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 8
+f 6 8 7
+f 8 15 16
+f 8 14 15
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 13 12
+f 11 20 13
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 34
+f 15 34 26
+f 15 26 16
+f 16 26 27
+f 17 28 18
+f 18 28 29
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 24
+f 21 24 23
+f 21 23 22
+f 24 34 25
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 28 41 42
+f 28 42 37
+f 29 40 39
+f 29 39 43
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 33
+f 33 49 35
+f 33 35 34
+f 35 49 50
+f 35 50 36
+f 36 50 51
+f 37 39 38
+f 37 42 52
+f 37 52 39
+f 39 52 53
+f 39 53 43
+f 41 54 55
+f 41 55 42
+f 42 55 52
+f 43 53 56
+f 43 56 57
+f 44 58 74
+f 44 74 59
+f 44 59 45
+f 45 59 60
+f 45 60 46
+f 46 60 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 48
+f 48 63 49
+f 49 63 50
+f 50 63 64
+f 50 64 65
+f 50 65 66
+f 50 66 67
+f 50 67 51
+f 52 55 68
+f 52 68 56
+f 52 56 53
+f 54 69 68
+f 54 68 55
+f 56 68 69
+f 56 69 85
+f 56 85 92
+f 56 92 107
+f 56 107 112
+f 56 112 119
+f 56 119 114
+f 56 114 113
+f 56 113 96
+f 56 96 86
+f 56 86 70
+f 56 70 71
+f 56 71 57
+f 58 72 73
+f 58 73 74
+f 59 74 75
+f 59 75 76
+f 59 76 60
+f 60 76 77
+f 60 77 78
+f 60 78 61
+f 61 78 79
+f 61 79 64
+f 61 64 62
+f 62 64 63
+f 64 79 80
+f 64 80 81
+f 64 81 65
+f 65 81 82
+f 65 82 83
+f 65 83 84
+f 65 84 66
+f 72 87 73
+f 73 75 74
+f 73 87 88
+f 73 88 89
+f 73 89 75
+f 75 77 76
+f 75 89 77
+f 77 80 79
+f 77 79 78
+f 77 89 80
+f 80 89 81
+f 81 89 82
+f 82 89 83
+f 83 89 90
+f 83 90 91
+f 85 93 94
+f 85 94 95
+f 85 95 92
+f 86 96 97
+f 86 97 98
+f 86 98 99
+f 87 100 101
+f 87 101 88
+f 88 101 90
+f 88 90 89
+f 90 101 102
+f 90 102 103
+f 90 103 104
+f 90 104 105
+f 90 105 91
+f 91 105 106
+f 92 95 107
+f 93 104 103
+f 93 103 94
+f 94 103 102
+f 94 102 95
+f 95 102 108
+f 95 108 109
+f 95 109 110
+f 95 110 111
+f 95 111 112
+f 95 112 107
+f 96 113 97
+f 97 113 114
+f 97 114 115
+f 97 115 98
+f 98 116 99
+f 98 115 117
+f 98 117 116
+f 99 116 100
+f 100 116 118
+f 100 118 101
+f 101 118 109
+f 101 109 108
+f 101 108 102
+f 104 106 105
+f 109 118 110
+f 110 118 117
+f 110 117 111
+f 111 117 112
+f 112 117 115
+f 112 115 119
+f 114 119 115
+f 116 117 118
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_39.obj

@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.04061392 0.13318007 -0.12081508
+v -0.04061392 0.15391630 -0.12081500
+v -0.03650782 0.13475093 -0.12081508
+v -0.02668407 0.14260471 0.03210541
+v -0.02717514 0.14276416 0.03784291
+v -0.04061392 0.14416737 0.09513829
+v -0.03996377 0.15467383 -0.12081500
+v -0.04061392 0.15411964 -0.11991188
+v -0.01706321 0.14230226 -0.12081505
+v -0.02386213 0.14373302 0.03210542
+v -0.02524083 0.14677484 0.09513830
+v -0.03088009 0.14564253 0.10087580
+v -0.03088009 0.14533156 0.09513829
+v -0.04061392 0.14426305 0.09670549
+v -0.03982083 0.15480938 -0.12081500
+v -0.04061392 0.15413160 -0.11977906
+v -0.04061392 0.15531568 -0.10607281
+v -0.01706321 0.15593371 -0.12081500
+v -0.01706321 0.15181040 0.09513832
+v -0.02184943 0.14831382 0.09513830
+v -0.02215837 0.14856897 0.10087582
+v -0.02524083 0.14719346 0.10087581
+v -0.04061392 0.14459395 0.10087580
+v -0.04061392 0.14663122 0.12379928
+v -0.03652166 0.15572239 -0.11683062
+v -0.03652166 0.15529580 -0.12081500
+v -0.04061392 0.16613981 0.02915706
+v -0.04006983 0.16653452 0.02849300
+v -0.03652166 0.16787413 0.03210551
+v -0.02524083 0.15581809 -0.12081500
+v -0.01706321 0.15664737 -0.11683061
+v -0.01706321 0.15348084 0.12021336
+v -0.02239353 0.14875635 0.10377114
+v -0.01706321 0.15381574 0.12366647
+v -0.01706321 0.15644707 0.14098525
+v -0.04061392 0.14991641 0.14098523
+v -0.01706321 0.15931856 -0.09411965
+v -0.03088009 0.15620482 -0.11683062
+v -0.03088009 0.15567854 -0.12081500
+v -0.04061392 0.16628332 0.03210550
+v -0.04022430 0.16658634 0.03210550
+v -0.04061392 0.16924527 0.13524779
+v -0.03652166 0.17042541 0.13524780
+v -0.03253544 0.17143411 0.13524780
+v -0.02971351 0.17198829 0.13524780
+v -0.02524083 0.17277374 0.13524780
+v -0.01960157 0.17362297 0.13524781
+v -0.01706321 0.17389806 0.13524781
+v -0.01706321 0.17379441 0.13267125
+v -0.01706321 0.17366286 0.12951030
+v -0.03088009 0.16821701 0.03210551
+v -0.02524083 0.15640018 -0.11683062
+v -0.01706321 0.15707700 0.14356183
+v -0.01706321 0.15793419 0.14669621
+v -0.04061392 0.15008785 0.14156962
+v -0.01706321 0.16502762 -0.01942580
+v -0.04061392 0.16922132 0.14098530
+v -0.03652166 0.17047323 0.14098531
+v -0.03276138 0.17147396 0.14098531
+v -0.02993944 0.17203612 0.14098531
+v -0.02524083 0.17283353 0.14098531
+v -0.01960157 0.17363889 0.14098532
+v -0.01706321 0.17390602 0.13840876
+v -0.01706321 0.17322831 0.12122280
+v -0.01706321 0.16850805 0.03210551
+v -0.04061392 0.15171053 0.14669619
+v -0.01706321 0.15862792 0.14818371
+v -0.04061392 0.16816876 0.14443843
+v -0.02927315 0.17191251 0.14438531
+v -0.02524083 0.17223147 0.14504939
+v -0.01706321 0.17390601 0.14098532
+v -0.01706321 0.15962864 0.15001653
+v -0.04061392 0.15248400 0.14807744
+v -0.04061392 0.16741122 0.14611186
+v -0.03602828 0.16775011 0.14712126
+v -0.02524083 0.16966785 0.14791812
+v -0.01706321 0.17064464 0.14890094
+v -0.01960157 0.17261821 0.14576657
+v -0.01706321 0.17334384 0.14361501
+v -0.01706321 0.16114767 0.15025560
+v -0.04061392 0.15397910 0.14977745
+v -0.03852975 0.15426218 0.14972432
+v -0.04061392 0.16438908 0.14884779
+v -0.03757988 0.16507086 0.14927279
+v -0.03381961 0.16597191 0.14959156
+v -0.01706321 0.16906978 0.14967126
+v -0.01706321 0.17274578 0.14603219
+v -0.01706321 0.16308136 0.15054779
+v -0.04061392 0.15474062 0.14988370
+v -0.04061392 0.16249527 0.14964466
+v -0.04061392 0.16166998 0.14983059
+v -0.03602828 0.16312920 0.14988373
+v -0.02524083 0.16680519 0.14991030
+v -0.01706321 0.16778200 0.15009625
+v -0.01960157 0.16744310 0.15006969
+v -0.01706321 0.16538184 0.15033531
+v -0.01960157 0.16308136 0.15052124
+v -0.04061392 0.15733215 0.15006965
+v -0.04061392 0.15881530 0.15004309
+v -0.02524083 0.16308136 0.15038841
+f 1 2 7
+f 1 7 15
+f 1 15 26
+f 1 26 39
+f 1 39 30
+f 1 30 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 23
+f 1 23 24
+f 1 24 36
+f 1 36 55
+f 1 55 66
+f 1 66 73
+f 1 73 81
+f 1 81 89
+f 1 89 98
+f 1 98 99
+f 1 99 91
+f 1 91 90
+f 1 90 83
+f 1 83 74
+f 1 74 68
+f 1 68 57
+f 1 57 42
+f 1 42 40
+f 1 40 27
+f 1 27 17
+f 1 17 16
+f 1 16 8
+f 1 8 2
+f 2 8 7
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 6 12 14
+f 7 8 16
+f 7 16 17
+f 7 17 15
+f 9 18 31
+f 9 31 37
+f 9 37 56
+f 9 56 65
+f 9 65 64
+f 9 64 50
+f 9 50 49
+f 9 49 48
+f 9 48 63
+f 9 63 71
+f 9 71 79
+f 9 79 87
+f 9 87 77
+f 9 77 86
+f 9 86 94
+f 9 94 96
+f 9 96 88
+f 9 88 80
+f 9 80 72
+f 9 72 67
+f 9 67 54
+f 9 54 53
+f 9 53 35
+f 9 35 34
+f 9 34 32
+f 9 32 19
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 23 14
+f 12 22 24
+f 12 24 23
+f 15 25 26
+f 15 17 27
+f 15 27 28
+f 15 28 29
+f 15 29 25
+f 18 30 31
+f 19 32 20
+f 20 32 21
+f 21 33 22
+f 21 32 34
+f 21 34 33
+f 22 33 34
+f 22 34 35
+f 22 35 24
+f 24 35 36
+f 25 37 38
+f 25 38 26
+f 25 29 37
+f 26 38 39
+f 27 40 28
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 37
+f 30 39 31
+f 31 39 52
+f 31 52 37
+f 35 53 36
+f 36 53 54
+f 36 54 55
+f 37 52 38
+f 37 51 56
+f 38 52 39
+f 40 42 41
+f 42 57 58
+f 42 58 43
+f 43 58 59
+f 43 59 44
+f 44 59 60
+f 44 60 45
+f 45 60 46
+f 46 60 61
+f 46 61 47
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 50 64 51
+f 51 64 65
+f 51 65 56
+f 54 66 55
+f 54 67 66
+f 57 68 69
+f 57 69 58
+f 58 69 59
+f 59 69 60
+f 60 69 61
+f 61 69 62
+f 62 69 70
+f 62 70 71
+f 62 71 63
+f 66 67 72
+f 66 72 73
+f 68 74 69
+f 69 74 75
+f 69 75 76
+f 69 76 77
+f 69 77 70
+f 70 78 79
+f 70 79 71
+f 70 77 78
+f 72 80 81
+f 72 81 82
+f 72 82 73
+f 73 82 81
+f 74 83 84
+f 74 84 85
+f 74 85 75
+f 75 85 76
+f 76 85 77
+f 77 85 86
+f 77 87 78
+f 78 87 79
+f 80 88 81
+f 81 88 89
+f 83 90 84
+f 84 90 85
+f 85 90 91
+f 85 91 92
+f 85 92 93
+f 85 93 86
+f 86 93 95
+f 86 95 94
+f 88 96 97
+f 88 97 98
+f 88 98 89
+f 91 99 100
+f 91 100 92
+f 92 100 93
+f 93 100 95
+f 94 95 100
+f 94 100 97
+f 94 97 96
+f 97 100 98
+f 98 100 99
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_4.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.05959763 -0.14293968 -0.13976999
+v -0.05959763 -0.14288384 -0.13851876
+v -0.05998842 -0.14260467 -0.13851876
+v -0.06060372 -0.14215798 -0.13851876
+v -0.06065084 -0.14217194 -0.13976998
+v -0.06313698 -0.13836121 -0.14360478
+v -0.05959763 -0.13991062 -0.14435816
+v -0.05959763 -0.11513399 -0.13851866
+v -0.06388809 -0.13929647 -0.13851875
+v -0.06390195 -0.13931042 -0.13976997
+v -0.05959763 -0.13570905 -0.14738476
+v -0.06855825 -0.13291731 -0.14359818
+v -0.06450061 -0.13429924 -0.14551066
+v -0.05959763 -0.11865153 -0.14582643
+v -0.06969739 -0.00033780 -0.13851824
+v -0.06609429 -0.13702119 -0.13851874
+v -0.06672345 -0.13639305 -0.13976996
+v -0.05959763 -0.13517862 -0.14773020
+v -0.07351944 -0.12653820 -0.14310907
+v -0.07040969 -0.12857617 -0.14463116
+v -0.06749673 -0.12586818 -0.14834425
+v -0.06624673 -0.12878554 -0.14763914
+v -0.06210317 -0.13185644 -0.14845831
+v -0.05959763 -0.12300663 -0.14841223
+v -0.07237476 -0.00033778 -0.14355383
+v -0.08721398 -0.00033780 -0.13851824
+v -0.05959763 -0.12494690 -0.14902743
+v -0.06670959 -0.13633722 -0.13851874
+v -0.06884096 -0.13353152 -0.13976995
+v -0.05959763 -0.13280563 -0.14871054
+v -0.07351944 -0.12653821 -0.14162209
+v -0.07884371 -0.11453375 -0.14267149
+v -0.07436478 -0.12306249 -0.14402143
+v -0.07044295 -0.12360687 -0.14716868
+v -0.06342800 -0.12878553 -0.14886296
+v -0.07237200 -0.11852591 -0.14782664
+v -0.06861091 -0.12205745 -0.14894079
+v -0.07506600 -0.00033777 -0.14641706
+v -0.08764913 -0.00033780 -0.13976946
+v -0.08741908 -0.00985762 -0.13851828
+v -0.05959763 -0.12757112 -0.14905815
+v -0.07036812 -0.10589330 -0.14972151
+v -0.08164581 -0.00033776 -0.14934060
+v -0.07956156 -0.00033776 -0.14913774
+v -0.07788473 -0.00033776 -0.14896447
+v -0.06836424 -0.13408987 -0.13851873
+v -0.05959763 -0.13249854 -0.14877415
+v -0.06874672 -0.13347569 -0.13851873
+v -0.07106657 -0.12956727 -0.13851872
+v -0.07300947 -0.12549133 -0.13851870
+v -0.07347510 -0.12450026 -0.13851870
+v -0.07446179 -0.12323001 -0.13973482
+v -0.07884371 -0.11453375 -0.14256731
+v -0.08234703 -0.10017028 -0.13976983
+v -0.08468904 -0.08760745 -0.14302669
+v -0.07932320 -0.11161638 -0.14338536
+v -0.07674006 -0.11161637 -0.14624859
+v -0.07330880 -0.11471518 -0.14843962
+v -0.06526004 -0.12360686 -0.14924235
+v -0.07391855 -0.11161636 -0.14881903
+v -0.07044295 -0.11690670 -0.14910856
+v -0.07036812 -0.11161636 -0.14961626
+v -0.08729159 -0.00033779 -0.14231906
+v -0.08779048 -0.00861529 -0.13976949
+v -0.08786532 -0.01433835 -0.13976951
+v -0.08747729 -0.01433835 -0.13851829
+v -0.07600558 -0.08872412 -0.14948897
+v -0.08164581 -0.00289219 -0.14932745
+v -0.08488029 -0.00289219 -0.14872871
+v -0.08489137 -0.00033776 -0.14873857
+v -0.08000779 -0.07727800 -0.14912047
+v -0.07425946 -0.12271354 -0.13851869
+v -0.07600004 -0.11849802 -0.13851868
+v -0.07730824 -0.11679506 -0.14030283
+v -0.07826167 -0.11309601 -0.13874785
+v -0.07920679 -0.11041595 -0.13851865
+v -0.07934814 -0.11135117 -0.14030281
+v -0.08092519 -0.10589334 -0.13976985
+v -0.08200889 -0.10017028 -0.13851861
+v -0.08320900 -0.09444721 -0.13851859
+v -0.08350833 -0.09444721 -0.13976981
+v -0.08272674 -0.08919873 -0.14516068
+v -0.08089193 -0.10017026 -0.14511576
+v -0.08021289 -0.10589332 -0.14444576
+v -0.08426776 -0.09042712 -0.13976979
+v -0.08470290 -0.08756559 -0.13976978
+v -0.08526554 -0.08300110 -0.13976976
+v -0.08586421 -0.07727804 -0.13976974
+v -0.08633815 -0.07156894 -0.13976972
+v -0.08494681 -0.08300108 -0.14342913
+v -0.08263805 -0.08300107 -0.14629235
+v -0.07754382 -0.10589331 -0.14731009
+v -0.07870236 -0.09697371 -0.14831015
+v -0.07472509 -0.10589330 -0.14922585
+v -0.08680378 -0.00033778 -0.14549811
+v -0.08791243 -0.02006141 -0.13976953
+v -0.08749115 -0.01558068 -0.13851830
+v -0.07981932 -0.08300106 -0.14907333
+v -0.08482208 -0.00861525 -0.14867829
+v -0.08674835 -0.00861527 -0.14549814
+v -0.08680656 -0.00289221 -0.14549812
+v -0.08595844 -0.00033777 -0.14694563
+v -0.07659316 -0.11703236 -0.13851867
+v -0.07809815 -0.11330539 -0.13851866
+v -0.08022675 -0.10713566 -0.13851863
+v -0.08058706 -0.10579562 -0.13851863
+v -0.08464469 -0.08710496 -0.13851856
+v -0.07913473 -0.09316298 -0.14858867
+v -0.08105546 -0.09482408 -0.14603908
+v -0.08498838 -0.08432718 -0.13851855
+v -0.08551498 -0.07912059 -0.13851853
+v -0.08601664 -0.07306252 -0.13851851
+v -0.08611643 -0.07156894 -0.13851850
+v -0.08670401 -0.06584588 -0.13976970
+v -0.08521011 -0.07727802 -0.14381510
+v -0.08704491 -0.06012282 -0.13976968
+v -0.08282652 -0.07727801 -0.14667943
+v -0.07948950 -0.08872412 -0.14884855
+v -0.08788194 -0.02578447 -0.13976955
+v -0.08752718 -0.02006141 -0.13851831
+v -0.08459481 -0.01907031 -0.14847546
+v -0.08472507 -0.01433831 -0.14859167
+v -0.08662363 -0.01433833 -0.14549816
+v -0.08750501 -0.04867670 -0.13976964
+v -0.08639636 -0.06718592 -0.13851849
+v -0.08734702 -0.05439977 -0.13976966
+v -0.08540689 -0.07156892 -0.14407937
+v -0.08672064 -0.06125348 -0.13851846
+v -0.08717241 -0.04998882 -0.13851842
+v -0.08745788 -0.02715242 -0.13851834
+v -0.08553993 -0.06584586 -0.14423506
+v -0.08705322 -0.05439977 -0.13851844
+v -0.08699780 -0.05560021 -0.13851844
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 18
+f 1 18 30
+f 1 30 47
+f 1 47 41
+f 1 41 27
+f 1 27 24
+f 1 24 14
+f 1 14 8
+f 1 8 2
+f 2 8 15
+f 2 15 26
+f 2 26 40
+f 2 40 66
+f 2 66 97
+f 2 97 120
+f 2 120 130
+f 2 130 129
+f 2 129 132
+f 2 132 133
+f 2 133 128
+f 2 128 125
+f 2 125 113
+f 2 113 112
+f 2 112 111
+f 2 111 110
+f 2 110 107
+f 2 107 80
+f 2 80 79
+f 2 79 106
+f 2 106 105
+f 2 105 76
+f 2 76 104
+f 2 104 103
+f 2 103 73
+f 2 73 72
+f 2 72 51
+f 2 51 50
+f 2 50 49
+f 2 49 48
+f 2 48 46
+f 2 46 28
+f 2 28 16
+f 2 16 9
+f 2 9 4
+f 2 4 3
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 6 11 7
+f 6 10 12
+f 6 12 13
+f 6 13 11
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 12
+f 11 13 18
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 12 17 19
+f 13 22 23
+f 13 23 18
+f 14 24 15
+f 15 25 38
+f 15 38 45
+f 15 45 44
+f 15 44 43
+f 15 43 70
+f 15 70 102
+f 15 102 95
+f 15 95 63
+f 15 63 39
+f 15 39 26
+f 15 24 27
+f 15 27 25
+f 16 28 17
+f 17 28 29
+f 17 29 19
+f 18 23 30
+f 19 29 31
+f 19 31 53
+f 19 53 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 21
+f 21 35 23
+f 21 23 22
+f 21 34 36
+f 21 36 37
+f 21 37 35
+f 23 35 30
+f 25 27 38
+f 26 39 40
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 38
+f 28 46 29
+f 29 46 31
+f 30 35 47
+f 31 46 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 56
+f 32 56 33
+f 33 56 57
+f 33 57 58
+f 33 58 36
+f 33 36 34
+f 35 37 59
+f 35 59 47
+f 36 58 37
+f 37 58 60
+f 37 60 61
+f 37 61 62
+f 37 62 59
+f 39 63 64
+f 39 64 40
+f 40 65 66
+f 40 64 65
+f 41 59 62
+f 41 62 42
+f 41 47 59
+f 42 62 67
+f 42 67 43
+f 43 68 69
+f 43 69 70
+f 43 67 71
+f 43 71 68
+f 51 72 52
+f 52 72 73
+f 52 73 74
+f 52 74 53
+f 53 74 75
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 54
+f 54 78 79
+f 54 79 80
+f 54 80 81
+f 54 81 55
+f 55 82 83
+f 55 83 84
+f 55 84 56
+f 55 81 85
+f 55 85 86
+f 55 86 87
+f 55 87 88
+f 55 88 89
+f 55 89 90
+f 55 90 91
+f 55 91 82
+f 56 84 57
+f 57 84 92
+f 57 92 58
+f 58 92 60
+f 60 92 93
+f 60 93 94
+f 60 94 61
+f 61 94 62
+f 62 94 67
+f 63 95 65
+f 63 65 64
+f 65 96 97
+f 65 97 66
+f 65 95 96
+f 67 94 98
+f 67 98 71
+f 68 71 69
+f 69 99 100
+f 69 100 101
+f 69 101 70
+f 69 71 99
+f 70 101 102
+f 71 98 99
+f 73 103 74
+f 74 104 75
+f 74 103 104
+f 75 104 76
+f 76 105 78
+f 76 78 77
+f 78 105 106
+f 78 106 79
+f 80 107 81
+f 81 107 85
+f 82 91 108
+f 82 108 109
+f 82 109 83
+f 83 109 93
+f 83 93 84
+f 84 93 92
+f 85 107 86
+f 86 107 110
+f 86 110 87
+f 87 110 88
+f 88 110 111
+f 88 111 89
+f 89 111 112
+f 89 112 113
+f 89 113 114
+f 89 114 90
+f 90 115 91
+f 90 114 116
+f 90 116 115
+f 91 115 117
+f 91 117 118
+f 91 118 108
+f 93 109 108
+f 93 108 94
+f 94 108 118
+f 94 118 98
+f 95 102 101
+f 95 101 96
+f 96 119 120
+f 96 120 97
+f 96 101 119
+f 98 117 121
+f 98 121 122
+f 98 122 99
+f 98 118 117
+f 99 122 123
+f 99 123 100
+f 100 119 101
+f 100 123 124
+f 100 124 119
+f 113 125 114
+f 114 125 116
+f 115 116 126
+f 115 126 127
+f 115 127 117
+f 116 125 128
+f 116 128 126
+f 117 127 121
+f 119 124 129
+f 119 129 130
+f 119 130 120
+f 121 127 122
+f 122 127 131
+f 122 131 123
+f 123 131 126
+f 123 126 124
+f 124 126 132
+f 124 132 129
+f 126 128 133
+f 126 133 132
+f 126 131 127
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_40.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00267930 0.13910305 -0.12081507
+v -0.01706090 0.14230246 -0.12081506
+v -0.00201610 0.13919725 -0.12081507
+v -0.00012431 0.14838671 0.03082356
+v -0.01706090 0.15180917 0.09515107
+v -0.01706090 0.15593743 -0.12081501
+v -0.00012431 0.13960896 -0.12081507
+v -0.00012431 0.15453049 0.12060575
+v -0.01706090 0.15348380 0.12020718
+v -0.00267930 0.15762960 -0.12081500
+v -0.01706090 0.15665267 -0.11682941
+v -0.00267930 0.16318398 -0.09392550
+v -0.00267930 0.15885422 -0.11682941
+v -0.00012431 0.15779358 -0.12081500
+v -0.00012431 0.15716809 0.14098543
+v -0.01706090 0.15381873 0.12366137
+v -0.00091020 0.15774474 -0.12081500
+v -0.01706090 0.15931818 -0.09411150
+v -0.00267930 0.16386081 -0.08818624
+v -0.00012431 0.16381197 -0.08818624
+v -0.00012431 0.16311071 -0.09392550
+v -0.00012431 0.15900774 -0.11682941
+v -0.00012431 0.15821575 -0.11943332
+v -0.00012431 0.15770887 0.14356278
+v -0.01706090 0.15645285 0.14098542
+v -0.01706090 0.15977172 -0.08818625
+v -0.01573118 0.16557366 -0.01942144
+v -0.01291090 0.16654709 -0.01942144
+v -0.00831986 0.16794966 -0.01942143
+v -0.00012431 0.16920221 -0.01942143
+v -0.00267930 0.16916733 -0.01942143
+v -0.00012431 0.15837177 0.14669811
+v -0.01706090 0.15707736 0.14356278
+v -0.01706090 0.16502938 -0.01942144
+v -0.01706090 0.16850772 0.03212559
+v -0.00681604 0.17198277 0.02880428
+v -0.00267930 0.17233166 0.02835258
+v -0.00012431 0.17232468 0.02837915
+v -0.01706090 0.15793216 0.14669811
+v -0.00012431 0.15974643 0.14999288
+v -0.01706090 0.17306054 0.11805504
+v -0.01706090 0.17322800 0.12121694
+v -0.01706090 0.17366408 0.12950698
+v -0.01706090 0.17390132 0.13524623
+v -0.01395876 0.17423626 0.13524623
+v -0.00831986 0.17457121 0.13524623
+v -0.00267930 0.17474565 0.13524623
+v -0.00012431 0.17473867 0.13524623
+v -0.01706090 0.15862995 0.14818607
+v -0.00012431 0.16125716 0.15028516
+v -0.01706090 0.15963129 0.15001946
+v -0.01706090 0.17390829 0.13840813
+v -0.01395876 0.17423274 0.14098549
+v -0.00831986 0.17455025 0.14098549
+v -0.00267930 0.17473517 0.14098549
+v -0.00012431 0.17474215 0.14098549
+v -0.00012431 0.16308191 0.15063059
+v -0.01706090 0.16114552 0.15025859
+v -0.01706090 0.17390478 0.14098549
+v -0.01706090 0.17334655 0.14361598
+v -0.01395876 0.17290342 0.14635276
+v -0.00267930 0.17328722 0.14669817
+v -0.00012431 0.17330116 0.14669817
+v -0.01395876 0.16308191 0.15055088
+v -0.00012431 0.16880384 0.15028519
+v -0.00267930 0.16880384 0.15028519
+v -0.01706090 0.16308191 0.15052431
+v -0.01706090 0.17274642 0.14603389
+v -0.00832152 0.17280573 0.14725615
+v -0.01020005 0.17154271 0.14951465
+v -0.00644133 0.17169972 0.14959436
+v -0.00267930 0.17176949 0.14964751
+v -0.00012431 0.17247079 0.14831897
+v -0.00012431 0.17176949 0.14964751
+v -0.01395876 0.16819677 0.15012576
+v -0.01706090 0.16538464 0.15033832
+v -0.00832152 0.16930277 0.15007263
+v -0.01706090 0.17064254 0.14890353
+v -0.01395876 0.17105774 0.14922237
+v -0.01706090 0.16906901 0.14967406
+v -0.01706090 0.16778157 0.15009920
+f 1 2 6
+f 1 6 10
+f 1 10 17
+f 1 17 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 16
+f 2 16 25
+f 2 25 33
+f 2 33 39
+f 2 39 49
+f 2 49 51
+f 2 51 58
+f 2 58 67
+f 2 67 76
+f 2 76 81
+f 2 81 80
+f 2 80 78
+f 2 78 68
+f 2 68 60
+f 2 60 59
+f 2 59 52
+f 2 52 44
+f 2 44 43
+f 2 43 42
+f 2 42 41
+f 2 41 35
+f 2 35 34
+f 2 34 26
+f 2 26 18
+f 2 18 11
+f 2 11 6
+f 3 7 4
+f 4 8 9
+f 4 9 5
+f 4 7 14
+f 4 14 23
+f 4 23 22
+f 4 22 21
+f 4 21 20
+f 4 20 30
+f 4 30 38
+f 4 38 48
+f 4 48 56
+f 4 56 63
+f 4 63 73
+f 4 73 74
+f 4 74 65
+f 4 65 57
+f 4 57 50
+f 4 50 40
+f 4 40 32
+f 4 32 24
+f 4 24 15
+f 4 15 8
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 8 15 16
+f 8 16 9
+f 10 13 17
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 13 14 17
+f 15 24 25
+f 15 25 16
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 30 20
+f 19 29 31
+f 19 31 30
+f 24 32 25
+f 25 32 33
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 29
+f 29 36 31
+f 30 37 38
+f 30 31 37
+f 31 36 37
+f 32 39 33
+f 32 40 39
+f 35 41 36
+f 36 41 42
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 37 48 38
+f 39 40 49
+f 40 50 51
+f 40 51 49
+f 44 52 45
+f 45 52 53
+f 45 53 46
+f 46 53 54
+f 46 54 55
+f 46 55 47
+f 47 55 56
+f 47 56 48
+f 50 57 51
+f 51 57 58
+f 52 59 53
+f 53 59 60
+f 53 60 61
+f 53 61 54
+f 54 61 62
+f 54 62 55
+f 55 62 63
+f 55 63 56
+f 57 64 58
+f 57 65 66
+f 57 66 64
+f 58 64 67
+f 60 68 61
+f 61 69 62
+f 61 68 70
+f 61 70 69
+f 62 69 71
+f 62 71 72
+f 62 72 73
+f 62 73 63
+f 64 66 67
+f 65 74 72
+f 65 72 66
+f 66 75 76
+f 66 76 67
+f 66 72 71
+f 66 71 77
+f 66 77 75
+f 68 78 79
+f 68 79 70
+f 69 70 71
+f 70 79 80
+f 70 80 81
+f 70 81 75
+f 70 75 77
+f 70 77 71
+f 72 74 73
+f 75 81 76
+f 78 80 79
+

dataset/bedroom_supplies/storage/782d56af9ed8535ba01608f3bb182588/mjcf/mesh/wicker_basket_collision_41.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00012265 0.13951145 -0.12107161
+v -0.00012265 0.15771335 -0.12107154
+v 0.00342260 0.14028078 -0.12107160
+v 0.01922471 0.14382385 -0.11111592
+v 0.01922471 0.14383419 -0.11074327
+v 0.01922471 0.15145783 0.08940811
+v 0.01922471 0.15175106 0.09513128
+v -0.00012265 0.14838760 0.03081878
+v 0.00147953 0.15781685 -0.12107154
+v -0.00012265 0.15900707 -0.11683906
+v 0.01922471 0.14470016 -0.12107159
+v 0.01922471 0.14404122 -0.11774417
+v 0.01922471 0.14400671 -0.11694558
+v 0.01922471 0.15368637 0.12430617
+v -0.00012265 0.15453162 0.12060606
+v 0.00296429 0.15790655 -0.12107154
+v 0.00296429 0.15919336 -0.11683906
+v -0.00012265 0.16310896 -0.09391973
+v 0.01922471 0.15598493 -0.12107155
+v 0.01922471 0.15576663 0.14096992
+v -0.00012265 0.15716730 0.14096993
+v 0.00712125 0.15748910 -0.12107154
+v 0.00296429 0.16301927 -0.09391973
+v -0.00012265 0.16381273 -0.08819655
+v 0.00296429 0.16375753 -0.08819655
+v 0.01922471 0.15661971 -0.11683906
+v 0.01922471 0.15733977 0.14671973
+v -0.00012265 0.15837131 0.14671973
+v -0.00012265 0.15770893 0.14357864
+v 0.00296429 0.16924270 -0.01943859
+v -0.00012265 0.16920129 -0.01943859
+v 0.00860412 0.16807661 -0.01943859
+v 0.01336521 0.16660004 -0.01943860
+v 0.01922471 0.15900696 -0.08819657
+v 0.01922471 0.15939939 0.15015363
+v -0.00012265 0.15974783 0.14999392
+v -0.00012265 0.17232333 0.02836988
+v 0.00296429 0.17231641 0.02839649
+v 0.00689588 0.17196107 0.02884902
+v 0.01922471 0.16465426 -0.01943861
+v 0.01922471 0.16812472 0.03212320
+v 0.01922471 0.16308047 0.15087238
+v -0.00012265 0.16125890 0.15028674
+v -0.00012265 0.17473787 0.13524683
+v 0.00296429 0.17472754 0.13524683
+v 0.00860412 0.17451018 0.13524683
+v 0.01424205 0.17411344 0.13524683
+v 0.01922471 0.17354075 0.13524683
+v 0.01922471 0.17333032 0.12952364
+v 0.01922471 0.17305781 0.12380046
+v 0.01922471 0.17279562 0.11871615
+v -0.00012265 0.16567483 0.15047309
+v -0.00012265 0.16308047 0.15060617
+v 0.01922471 0.16805875 0.15028677
+v 0.00296429 0.16880393 0.15031339
+v -0.00012265 0.16880393 0.15028677
+v -0.00012265 0.17474477 0.14096999
+v 0.00296429 0.17475167 0.14096999
+v 0.00860412 0.17455502 0.14096999
+v 0.01424205 0.17415826 0.14096999
+v 0.01922471 0.17354765 0.13591230
+v 0.01922471 0.17091875 0.14890256
+v 0.01424205 0.17122579 0.14927523
+v 0.01025364 0.17148453 0.14948820
+v 0.00649439 0.17170189 0.14959467
+v 0.00296429 0.17177088 0.14964791
+v -0.00012265 0.17177088 0.14964791
+v -0.00012265 0.17329922 0.14671979
+v 0.00296429 0.17331647 0.14671979
+v 0.01424205 0.17289556 0.14642697
+v 0.01922471 0.17259887 0.14605428
+v 0.01922471 0.17357867 0.14096999
+v 0.00846587 0.17284038 0.14722555
+v -0.00012265 0.17247124 0.14831693
+f 1 2 9
+f 1 9 16
+f 1 16 22
+f 1 22 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 15
+f 1 15 21
+f 1 21 29
+f 1 29 28
+f 1 28 36
+f 1 36 43
+f 1 43 53
+f 1 53 52
+f 1 52 56
+f 1 56 67
+f 1 67 74
+f 1 74 68
+f 1 68 57
+f 1 57 44
+f 1 44 37
+f 1 37 31
+f 1 31 24
+f 1 24 18
+f 1 18 10
+f 1 10 2
+f 2 10 9
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 11
+f 4 11 19
+f 4 19 26
+f 4 26 34
+f 4 34 40
+f 4 40 41
+f 4 41 51
+f 4 51 50
+f 4 50 49
+f 4 49 48
+f 4 48 61
+f 4 61 72
+f 4 72 71
+f 4 71 62
+f 4 62 54
+f 4 54 42
+f 4 42 35
+f 4 35 27
+f 4 27 20
+f 4 20 14
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 7 14 8
+f 8 14 15
+f 9 10 16
+f 10 17 16
+f 10 18 17
+f 14 20 15
+f 15 20 21
+f 16 17 22
+f 17 18 23
+f 17 23 19
+f 17 19 22
+f 18 24 25
+f 18 25 23
+f 19 23 26
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 23 25 26
+f 24 30 25
+f 24 31 30
+f 25 30 32
+f 25 32 26
+f 26 32 33
+f 26 33 34
+f 27 35 36
+f 27 36 28
+f 30 37 38
+f 30 38 39
+f 30 39 32
+f 30 31 37
+f 32 39 33
+f 33 40 34
+f 33 39 41
+f 33 41 40
+f 35 42 36
+f 36 42 43
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 41
+f 42 52 53
+f 42 53 43
+f 42 54 55
+f 42 55 56
+f 42 56 52
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 45 59 46
+f 46 59 60
+f 46 60 47
+f 47 60 61
+f 47 61 48
+f 54 62 63
+f 54 63 64
+f 54 64 65
+f 54 65 66
+f 54 66 55
+f 55 66 67
+f 55 67 56
+f 57 68 69
+f 57 69 58
+f 58 69 59
+f 59 69 70
+f 59 70 60
+f 60 70 71
+f 60 71 72
+f 60 72 61
+f 62 71 63
+f 63 71 70
+f 63 70 64
+f 64 70 65
+f 65 70 73
+f 65 73 69
+f 65 69 66
+f 66 69 67
+f 67 69 74
+f 68 74 69
+f 69 73 70
+