Add asset bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119

.gitattributes

@@ -2793,3 +2793,5 @@ dataset/bedroom_supplies/storage/7dd5c17aeb965c03bed3858e52fd4583/glasses_case_0
 dataset/bedroom_supplies/storage/7dd5c17aeb965c03bed3858e52fd4583/mesh/glasses_case_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mesh/remote_holder_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/remote_holder_013.usd filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_013_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd remote_holder_013_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mesh/remote_holder_013.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19d3f50a9a714df970447a00a0240b6361edb0bad5bf6937b602eea5be8efb58
+size 13672904

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mesh/remote_holder_013.mtl

@@ -0,0 +1,6 @@
+newmtl remote_holder_013_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_0.obj

@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.02765270 0.02189449 -0.04331900
+v -0.02765270 0.02189894 -0.04333978
+v -0.02766557 0.02189449 -0.04331900
+v -0.02645210 0.02170750 -0.04331900
+v -0.02765270 0.02198799 -0.04522931
+v -0.02889622 0.02173421 -0.04331900
+v -0.02287089 0.02161848 -0.04792723
+v -0.02588570 0.02061231 -0.04331900
+v -0.02578872 0.02192567 -0.04900838
+v -0.02782262 0.02181881 -0.04729317
+v -0.02879066 0.02170306 -0.04677834
+v -0.02891166 0.02176984 -0.04522931
+v -0.02889707 0.02173421 -0.04333978
+v -0.02954672 0.02062566 -0.04331900
+v -0.02287089 0.02161848 -0.04828039
+v -0.02262459 0.02061233 -0.04767975
+v -0.02211311 0.01876029 -0.04900839
+v -0.02588141 0.02059450 -0.04331900
+v -0.02394706 0.02172978 -0.04894968
+v -0.02458469 0.02165410 -0.05026115
+v -0.02578872 0.02172534 -0.05044993
+v -0.02694212 0.02167636 -0.05030722
+v -0.02733174 0.02174759 -0.04900838
+v -0.02855723 0.02150718 -0.04803742
+v -0.02898203 0.02077704 -0.04729317
+v -0.02950124 0.02061232 -0.04522931
+v -0.02955444 0.02061231 -0.04333978
+v -0.02955273 0.02061231 -0.04331900
+v -0.02328282 0.01959728 -0.05154644
+v -0.02168488 0.01690381 -0.05089794
+v -0.02258597 0.01836407 -0.05215431
+v -0.02243922 0.01876028 -0.04750273
+v -0.02180674 0.01690380 -0.04900840
+v -0.02558877 0.01876027 -0.04331901
+v -0.02578872 0.02087501 -0.05139469
+v -0.02452633 0.01988666 -0.05190231
+v -0.02681340 0.01983324 -0.05187612
+v -0.02749909 0.02041645 -0.05080580
+v -0.02861730 0.01975754 -0.05004529
+v -0.02826459 0.02110205 -0.04900838
+v -0.02978186 0.01876028 -0.04522932
+v -0.02991660 0.01876027 -0.04333979
+v -0.02991488 0.01876027 -0.04331901
+v -0.02231994 0.01690381 -0.05230516
+v -0.02239460 -0.01836503 -0.04900853
+v -0.02291552 -0.01796879 -0.05190426
+v -0.02392303 0.01690381 -0.05254632
+v -0.02391187 0.01889386 -0.05216605
+v -0.02558877 0.01873801 -0.04331901
+v -0.02244180 0.01690379 -0.04750454
+v -0.02244609 0.01504730 -0.04750725
+v -0.02245210 0.01319081 -0.04751088
+v -0.02247784 0.00576486 -0.04752265
+v -0.02248385 0.00390837 -0.04752717
+v -0.02255680 -0.01465207 -0.04757872
+v -0.02256452 -0.01650855 -0.04758415
+v -0.02258511 -0.02022153 -0.04759771
+v -0.02578872 0.01994454 -0.05191225
+v -0.02687604 0.01876030 -0.05189509
+v -0.02780889 0.01876030 -0.05108038
+v -0.02864734 0.01876029 -0.05013561
+v -0.02866794 0.01690380 -0.05020156
+v -0.02981018 0.01690379 -0.04522933
+v -0.03045125 -0.02108078 -0.04429012
+v -0.02999813 0.01319080 -0.04333981
+v -0.02999641 0.01320861 -0.04331903
+v -0.02385952 -0.01658422 -0.05215715
+v -0.02578872 -0.01465205 -0.05248230
+v -0.02270869 -0.02207801 -0.04772597
+v -0.02270869 -0.02207801 -0.04862829
+v -0.02257568 -0.02033282 -0.04915576
+v -0.02304682 -0.01920645 -0.05180039
+v -0.02377027 -0.01849858 -0.05204967
+v -0.02560593 0.01688152 -0.04331902
+v -0.02603073 -0.02022154 -0.04331915
+v -0.02570119 0.00759908 -0.04331905
+v -0.02785180 0.01319083 -0.05122221
+v -0.02784236 0.01504732 -0.05118517
+v -0.02783121 0.01690381 -0.05114633
+v -0.02732745 -0.01465205 -0.05207856
+v -0.02825944 -0.01465205 -0.05154024
+v -0.02823198 -0.01279556 -0.05152127
+v -0.02868167 0.01504731 -0.05024040
+v -0.03025901 -0.01836504 -0.04522946
+v -0.03000499 0.00205188 -0.04522938
+v -0.02986253 0.01319081 -0.04522934
+v -0.03031479 -0.02036845 -0.04504430
+v -0.03045125 -0.02116092 -0.04429012
+v -0.03045125 -0.02108078 -0.04398393
+v -0.03043752 -0.02036846 -0.04334805
+v -0.03043494 -0.02033729 -0.04331915
+v -0.02578872 -0.01650853 -0.05241366
+v -0.02732574 -0.01650853 -0.05206773
+v -0.02627017 -0.02207803 -0.04331916
+v -0.02627360 -0.02209139 -0.04331916
+v -0.02288205 -0.02310197 -0.04792287
+v -0.02288205 -0.02310197 -0.04825616
+v -0.02459327 -0.02315985 -0.05027397
+v -0.02481039 -0.02121431 -0.05186001
+v -0.02439760 -0.02022151 -0.05192955
+v -0.02869540 0.01319082 -0.05027744
+v -0.02825858 -0.01650853 -0.05155561
+v -0.02885931 -0.01836502 -0.05061627
+v -0.02885159 -0.01650853 -0.05061084
+v -0.02877178 0.00019541 -0.05046355
+v -0.02875118 0.00390839 -0.05042019
+v -0.02874088 0.00576488 -0.05039489
+v -0.02977328 -0.02022153 -0.04711990
+v -0.02927982 -0.02022152 -0.04900853
+v -0.03045125 -0.02116092 -0.04398393
+v -0.02886017 -0.02022151 -0.05059549
+v -0.02876663 -0.02157492 -0.05036880
+v -0.02954329 -0.02207802 -0.04711991
+v -0.03007879 -0.02189994 -0.04504431
+v -0.03010626 -0.02189995 -0.04334806
+v -0.03043494 -0.02036401 -0.04331915
+v -0.02578872 -0.01836502 -0.05222400
+v -0.02688806 -0.02133897 -0.05187807
+v -0.02708716 -0.02022151 -0.05193407
+v -0.02725965 -0.01836502 -0.05201264
+v -0.02819250 -0.01836502 -0.05156104
+v -0.02661001 -0.02310199 -0.04331916
+v -0.02764240 -0.02325336 -0.04331917
+v -0.02392303 -0.02320437 -0.04764469
+v -0.02578872 -0.02349375 -0.04900855
+v -0.02395220 -0.02325779 -0.04893449
+v -0.02578872 -0.02324443 -0.05051242
+v -0.02578872 -0.02226944 -0.05145718
+v -0.02578872 -0.02133897 -0.05188259
+v -0.02578872 -0.02022151 -0.05201987
+v -0.03010111 -0.02189995 -0.04331916
+v -0.03010883 -0.02187324 -0.04331916
+v -0.02802001 -0.02022151 -0.05154026
+v -0.02763211 -0.02207800 -0.05100286
+v -0.02837615 -0.02281259 -0.04969048
+v -0.02873745 -0.02312868 -0.04843048
+v -0.02895371 -0.02214924 -0.04903926
+v -0.02894771 -0.02322219 -0.04711992
+v -0.02913393 -0.02322664 -0.04522948
+v -0.02908845 -0.02315987 -0.04333995
+v -0.02908587 -0.02315987 -0.04331917
+v -0.02713264 -0.02316874 -0.05037784
+v -0.02765270 -0.02325336 -0.04331917
+v -0.02765270 -0.02342698 -0.04522948
+v -0.02765270 -0.02347595 -0.04711992
+v -0.02771363 -0.02327560 -0.04903927
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 28
+f 1 28 43
+f 1 43 66
+f 1 66 91
+f 1 91 116
+f 1 116 132
+f 1 132 131
+f 1 131 141
+f 1 141 143
+f 1 143 123
+f 1 123 122
+f 1 122 95
+f 1 95 94
+f 1 94 75
+f 1 75 76
+f 1 76 74
+f 1 74 49
+f 1 49 34
+f 1 34 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 5
+f 4 8 7
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 5 7 9
+f 6 12 13
+f 6 13 14
+f 7 15 9
+f 7 8 16
+f 7 16 17
+f 7 17 15
+f 8 18 16
+f 9 15 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 23 11
+f 11 23 22
+f 11 22 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 14 13
+f 12 26 27
+f 12 27 14
+f 14 27 28
+f 15 29 20
+f 15 20 19
+f 15 17 30
+f 15 30 31
+f 15 31 29
+f 16 18 32
+f 16 32 33
+f 16 33 17
+f 17 33 30
+f 18 34 32
+f 20 35 21
+f 20 29 36
+f 20 36 35
+f 21 35 22
+f 22 35 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 24
+f 24 40 39
+f 24 39 25
+f 25 39 26
+f 26 39 41
+f 26 41 42
+f 26 42 27
+f 27 42 43
+f 27 43 28
+f 29 31 36
+f 30 44 31
+f 30 33 45
+f 30 45 46
+f 30 46 44
+f 31 44 47
+f 31 47 48
+f 31 48 36
+f 32 34 49
+f 32 49 50
+f 32 50 33
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 45
+f 35 36 58
+f 35 58 37
+f 36 48 58
+f 37 59 60
+f 37 60 39
+f 37 39 38
+f 37 58 47
+f 37 47 59
+f 39 60 61
+f 39 61 41
+f 41 61 62
+f 41 62 63
+f 41 63 42
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 43
+f 44 46 67
+f 44 67 68
+f 44 68 47
+f 45 57 69
+f 45 69 70
+f 45 70 71
+f 45 71 46
+f 46 71 72
+f 46 72 73
+f 46 73 67
+f 47 58 48
+f 47 68 59
+f 49 54 53
+f 49 53 51
+f 49 51 50
+f 49 74 57
+f 49 57 56
+f 49 56 55
+f 49 55 54
+f 51 53 52
+f 57 75 69
+f 57 74 76
+f 57 76 75
+f 59 77 78
+f 59 78 79
+f 59 79 60
+f 59 68 80
+f 59 80 81
+f 59 81 82
+f 59 82 77
+f 60 79 61
+f 61 79 62
+f 62 79 83
+f 62 83 84
+f 62 84 85
+f 62 85 86
+f 62 86 63
+f 63 86 64
+f 64 84 87
+f 64 87 88
+f 64 88 110
+f 64 110 89
+f 64 89 65
+f 64 86 85
+f 64 85 84
+f 65 89 90
+f 65 90 66
+f 66 90 91
+f 67 73 92
+f 67 92 68
+f 68 92 93
+f 68 93 80
+f 69 94 95
+f 69 95 96
+f 69 96 97
+f 69 97 70
+f 69 75 94
+f 70 97 72
+f 70 72 71
+f 72 97 98
+f 72 98 99
+f 72 99 100
+f 72 100 73
+f 73 100 92
+f 77 82 78
+f 78 82 79
+f 79 82 101
+f 79 101 83
+f 80 93 102
+f 80 102 81
+f 81 102 103
+f 81 103 104
+f 81 104 105
+f 81 105 106
+f 81 106 107
+f 81 107 101
+f 81 101 82
+f 83 101 84
+f 84 104 103
+f 84 103 87
+f 84 101 107
+f 84 107 106
+f 84 106 105
+f 84 105 104
+f 87 108 109
+f 87 109 88
+f 87 103 108
+f 88 109 111
+f 88 111 112
+f 88 112 113
+f 88 113 114
+f 88 114 115
+f 88 115 110
+f 89 110 90
+f 90 110 116
+f 90 116 91
+f 92 100 99
+f 92 99 117
+f 92 117 118
+f 92 118 119
+f 92 119 120
+f 92 120 93
+f 93 120 121
+f 93 121 102
+f 95 122 96
+f 96 122 123
+f 96 123 124
+f 96 124 125
+f 96 125 126
+f 96 126 97
+f 97 126 98
+f 98 126 125
+f 98 125 127
+f 98 127 128
+f 98 128 99
+f 99 128 129
+f 99 129 130
+f 99 130 117
+f 102 121 111
+f 102 111 103
+f 103 111 109
+f 103 109 108
+f 110 115 131
+f 110 131 132
+f 110 132 116
+f 111 121 133
+f 111 133 112
+f 112 133 134
+f 112 134 135
+f 112 135 136
+f 112 136 137
+f 112 137 113
+f 113 137 136
+f 113 136 114
+f 114 136 138
+f 114 138 139
+f 114 139 115
+f 115 139 140
+f 115 140 141
+f 115 141 131
+f 117 130 118
+f 118 133 119
+f 118 130 129
+f 118 129 128
+f 118 128 142
+f 118 142 134
+f 118 134 133
+f 119 133 120
+f 120 133 121
+f 123 143 144
+f 123 144 124
+f 124 144 125
+f 125 144 145
+f 125 145 146
+f 125 146 142
+f 125 142 127
+f 127 142 128
+f 134 142 135
+f 135 142 136
+f 136 142 146
+f 136 146 138
+f 138 146 145
+f 138 145 139
+f 139 145 144
+f 139 144 141
+f 139 141 140
+f 141 144 143
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_1.obj

@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
+v 0.03892076 0.02183492 -0.04518757
+v 0.03885984 0.02239360 -0.04522507
+v 0.03864398 0.02213947 -0.04417086
+v 0.03864398 0.02183491 -0.04417086
+v 0.03891380 0.02183492 -0.04711683
+v 0.03849602 0.02332195 -0.04522506
+v 0.03676743 0.02531721 -0.04217492
+v 0.03698503 0.02433010 -0.04181240
+v 0.03502493 0.02543912 -0.03818306
+v 0.02195176 0.02548896 -0.00986505
+v 0.02191695 0.02432999 -0.00994422
+v 0.02113883 0.02432998 -0.00836914
+v 0.02178987 0.02338988 -0.01024006
+v 0.02113883 0.02327433 -0.00974421
+v 0.02113883 0.02183481 -0.01750292
+v 0.03874669 0.02183492 -0.04753768
+v 0.03884069 0.02199797 -0.04711683
+v 0.03723396 0.02374451 -0.04664179
+v 0.03756297 0.02412055 -0.04522506
+v 0.03668910 0.02525503 -0.04425418
+v 0.03676743 0.02531722 -0.04299579
+v 0.03585701 0.02564086 -0.04150405
+v 0.03532434 0.02561393 -0.03955812
+v 0.02113883 0.02594726 -0.00953169
+v 0.02224595 0.02574798 -0.01121511
+v 0.02113883 0.02589290 -0.00937335
+v 0.02113883 0.02409348 -0.00865249
+v 0.02113883 0.02183487 -0.03352451
+v 0.03847513 0.02183493 -0.04796270
+v 0.03776489 0.02293171 -0.04720850
+v 0.03594579 0.02504009 -0.04529590
+v 0.03640536 0.02325195 -0.04790019
+v 0.03577520 0.02401185 -0.04720849
+v 0.03452533 0.02517377 -0.04597093
+v 0.03544445 0.02541906 -0.04471254
+v 0.03390039 0.02605755 -0.04333746
+v 0.03594579 0.02556155 -0.04350831
+v 0.03390039 0.02623479 -0.04144570
+v 0.03390039 0.02616330 -0.03955811
+v 0.02113883 0.02641536 -0.01150261
+v 0.02113883 0.02634876 -0.01121510
+v 0.02113883 0.02246798 -0.03389537
+v 0.02149568 0.02183488 -0.03457456
+v 0.03795986 0.02183493 -0.04830855
+v 0.03763086 0.02194706 -0.04840439
+v 0.03570905 0.02245726 -0.04897525
+v 0.03390039 0.02291948 -0.04949611
+v 0.03259656 0.02326076 -0.04980861
+v 0.03516245 0.02354083 -0.04822937
+v 0.03390039 0.02378467 -0.04855022
+v 0.03203429 0.02503569 -0.04763768
+v 0.03390213 0.02477128 -0.04702931
+v 0.03328068 0.02533681 -0.04634178
+v 0.03390213 0.02556254 -0.04529590
+v 0.03203429 0.02594152 -0.04522505
+v 0.03016818 0.02621327 -0.04522505
+v 0.03203429 0.02629013 -0.04333746
+v 0.03203429 0.02640910 -0.04144570
+v 0.03203429 0.02641351 -0.03955811
+v 0.03203429 0.02636894 -0.03766636
+v 0.03016818 0.02647276 -0.04333746
+v 0.02270900 0.02661711 -0.01688204
+v 0.02113883 0.02665039 -0.01340270
+v 0.02113883 0.02250029 -0.03389120
+v 0.02169935 0.02389724 -0.03500374
+v 0.02166802 0.02247337 -0.03507459
+v 0.02169413 0.02183488 -0.03501625
+v 0.03516593 0.02183493 -0.04980862
+v 0.03486129 0.02183493 -0.04996696
+v 0.03390039 0.02199162 -0.05031698
+v 0.03199773 0.02401725 -0.04910858
+v 0.03199773 0.02257430 -0.05050865
+v 0.03135365 0.02348550 -0.05002529
+v 0.03016818 0.02516692 -0.04791269
+v 0.03016818 0.02563451 -0.04697098
+v 0.03203429 0.02547636 -0.04669180
+v 0.02812975 0.02586513 -0.04540422
+v 0.02830556 0.02647423 -0.04333746
+v 0.02863283 0.02554834 -0.04671263
+v 0.03016818 0.02653151 -0.04144570
+v 0.03016818 0.02652270 -0.03955811
+v 0.03016818 0.02650065 -0.03766636
+v 0.02457510 0.02666169 -0.02444073
+v 0.02270900 0.02669252 -0.01877379
+v 0.02457510 0.02662986 -0.02255314
+v 0.02830556 0.02662356 -0.04144570
+v 0.02113883 0.02673364 -0.01529446
+v 0.02113883 0.02440351 -0.03358701
+v 0.02180206 0.02513406 -0.03478290
+v 0.02353064 0.02433009 -0.03885809
+v 0.02533233 0.02433011 -0.04277078
+v 0.02524529 0.02247340 -0.04296246
+v 0.02345231 0.02247338 -0.03902894
+v 0.02349234 0.02183489 -0.03894144
+v 0.03442958 0.02183493 -0.05018364
+v 0.03389169 0.02183494 -0.05041698
+v 0.03265922 0.02183494 -0.05077950
+v 0.03201340 0.02183494 -0.05093784
+v 0.03088016 0.02348550 -0.05002529
+v 0.03022215 0.02412203 -0.04910441
+v 0.02738992 0.02523350 -0.04615427
+v 0.02702436 0.02556155 -0.04489171
+v 0.02643946 0.02624801 -0.04144570
+v 0.02643946 0.02655844 -0.03955811
+v 0.02878428 0.02394821 -0.04854189
+v 0.02830556 0.02662797 -0.03955811
+v 0.02270900 0.02674443 -0.02255314
+v 0.02270900 0.02672240 -0.02066138
+v 0.02113883 0.02676449 -0.01718205
+v 0.02643946 0.02667643 -0.03766636
+v 0.02270900 0.02679978 -0.02822424
+v 0.02113883 0.02575932 -0.03199110
+v 0.02151657 0.02553703 -0.03352450
+v 0.02362464 0.02527950 -0.03864975
+v 0.02545419 0.02532211 -0.04250826
+v 0.02579538 0.02433011 -0.04371666
+v 0.02631239 0.02247341 -0.04522507
+v 0.02569093 0.02247340 -0.04390834
+v 0.02529578 0.02183491 -0.04284996
+v 0.03087842 0.02183494 -0.05075867
+v 0.03022215 0.02241858 -0.05031698
+v 0.02963899 0.02300076 -0.04980029
+v 0.02716188 0.02399619 -0.04654596
+v 0.02641683 0.02575153 -0.04321663
+v 0.02297185 0.02583082 -0.03577878
+v 0.02457510 0.02622205 -0.03766636
+v 0.02270900 0.02658240 -0.03199942
+v 0.02457510 0.02657066 -0.03577877
+v 0.02270900 0.02676111 -0.03010767
+v 0.02457510 0.02672146 -0.03388701
+v 0.02910632 0.02183493 -0.04992946
+v 0.02863109 0.02241858 -0.04910442
+v 0.02113883 0.02681788 -0.02255314
+v 0.02113883 0.02678359 -0.01907381
+v 0.02113883 0.02683649 -0.02474074
+v 0.02113883 0.02683453 -0.02444073
+v 0.02113883 0.02582444 -0.03188693
+v 0.02116842 0.02581220 -0.03199943
+v 0.02521570 0.02554685 -0.04144571
+v 0.02706091 0.02247341 -0.04674181
+v 0.02675454 0.02183492 -0.04591260
+v 0.03025522 0.02183494 -0.05055033
+v 0.02928039 0.02183493 -0.05006280
+v 0.02760055 0.02247342 -0.04768769
+v 0.02113883 0.02613242 -0.03060352
+v 0.02113883 0.02660735 -0.02852009
+v 0.02113883 0.02678803 -0.02663250
+v 0.02792608 0.02183493 -0.04814188
+v 0.02711662 0.02183492 -0.04664597
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 28
+f 1 28 43
+f 1 43 67
+f 1 67 94
+f 1 94 119
+f 1 119 141
+f 1 141 149
+f 1 149 148
+f 1 148 131
+f 1 131 143
+f 1 143 142
+f 1 142 120
+f 1 120 98
+f 1 98 97
+f 1 97 96
+f 1 96 95
+f 1 95 69
+f 1 69 68
+f 1 68 44
+f 1 44 29
+f 1 29 16
+f 1 16 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 22 23
+f 7 23 9
+f 7 9 8
+f 7 21 22
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 25 26
+f 10 26 12
+f 10 12 11
+f 12 26 24
+f 12 24 41
+f 12 41 40
+f 12 40 63
+f 12 63 87
+f 12 87 109
+f 12 109 134
+f 12 134 133
+f 12 133 136
+f 12 136 135
+f 12 135 147
+f 12 147 146
+f 12 146 145
+f 12 145 137
+f 12 137 112
+f 12 112 88
+f 12 88 64
+f 12 64 42
+f 12 42 28
+f 12 28 15
+f 12 15 14
+f 12 14 27
+f 12 27 13
+f 13 27 14
+f 16 29 17
+f 17 29 30
+f 17 30 18
+f 18 31 20
+f 18 20 19
+f 18 30 32
+f 18 32 33
+f 18 33 31
+f 20 31 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 26 25
+f 28 42 43
+f 29 32 30
+f 29 44 32
+f 31 33 34
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 34
+f 34 53 35
+f 34 52 51
+f 34 51 53
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 57
+f 36 57 38
+f 36 38 37
+f 38 58 59
+f 38 59 60
+f 38 60 39
+f 38 57 61
+f 38 61 58
+f 39 60 62
+f 39 62 63
+f 39 63 40
+f 42 64 65
+f 42 65 66
+f 42 66 43
+f 43 66 67
+f 44 68 45
+f 45 68 46
+f 46 68 69
+f 46 69 47
+f 47 69 70
+f 47 70 48
+f 48 71 50
+f 48 50 49
+f 48 70 72
+f 48 72 73
+f 48 73 71
+f 50 71 51
+f 51 71 74
+f 51 74 75
+f 51 75 76
+f 51 76 53
+f 53 76 54
+f 54 76 55
+f 55 76 56
+f 56 77 78
+f 56 78 61
+f 56 61 57
+f 56 76 75
+f 56 75 79
+f 56 79 77
+f 58 80 59
+f 58 61 80
+f 59 80 81
+f 59 81 82
+f 59 82 83
+f 59 83 84
+f 59 84 85
+f 59 85 60
+f 60 85 62
+f 61 78 86
+f 61 86 80
+f 62 85 87
+f 62 87 63
+f 64 88 65
+f 65 89 90
+f 65 90 91
+f 65 91 92
+f 65 92 93
+f 65 93 66
+f 65 88 89
+f 66 93 67
+f 67 93 92
+f 67 92 94
+f 69 95 70
+f 70 95 96
+f 70 96 97
+f 70 97 72
+f 71 73 74
+f 72 97 98
+f 72 98 73
+f 73 98 99
+f 73 99 74
+f 74 79 75
+f 74 99 100
+f 74 100 79
+f 77 79 101
+f 77 101 102
+f 77 102 103
+f 77 103 78
+f 78 103 104
+f 78 104 86
+f 79 100 105
+f 79 105 101
+f 80 86 106
+f 80 106 81
+f 81 106 82
+f 82 106 83
+f 83 107 108
+f 83 108 84
+f 83 106 107
+f 84 108 109
+f 84 109 87
+f 84 87 85
+f 86 104 110
+f 86 110 111
+f 86 111 106
+f 88 112 113
+f 88 113 89
+f 89 114 91
+f 89 91 90
+f 89 113 114
+f 91 114 115
+f 91 115 116
+f 91 116 117
+f 91 117 118
+f 91 118 92
+f 92 118 119
+f 92 119 94
+f 98 120 99
+f 99 120 121
+f 99 121 122
+f 99 122 105
+f 99 105 100
+f 101 105 123
+f 101 123 115
+f 101 115 102
+f 102 115 124
+f 102 124 103
+f 103 124 125
+f 103 125 126
+f 103 126 127
+f 103 127 104
+f 104 127 128
+f 104 128 129
+f 104 129 130
+f 104 130 110
+f 105 122 131
+f 105 131 132
+f 105 132 123
+f 106 111 107
+f 107 111 133
+f 107 133 134
+f 107 134 109
+f 107 109 108
+f 110 130 111
+f 111 129 135
+f 111 135 136
+f 111 136 133
+f 111 130 129
+f 112 137 138
+f 112 138 113
+f 113 138 139
+f 113 139 115
+f 113 115 114
+f 115 139 124
+f 115 123 116
+f 116 123 140
+f 116 140 117
+f 117 141 119
+f 117 119 118
+f 117 140 141
+f 120 142 121
+f 121 142 143
+f 121 143 122
+f 122 143 131
+f 123 132 144
+f 123 144 140
+f 124 139 125
+f 125 139 138
+f 125 138 126
+f 126 138 137
+f 126 137 145
+f 126 145 146
+f 126 146 127
+f 127 146 147
+f 127 147 129
+f 127 129 128
+f 129 147 135
+f 131 144 132
+f 131 148 144
+f 140 144 148
+f 140 148 149
+f 140 149 141
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_10.obj

@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.01944673 -0.01465329 0.05682385
+v -0.01937673 -0.01465329 0.05795638
+v -0.01937977 -0.01279866 0.05796646
+v -0.01932905 -0.01094106 0.05788676
+v -0.01932905 -0.01094106 0.05718488
+v -0.01937064 -0.01270964 0.05667816
+v -0.01932905 -0.01465328 0.05577379
+v -0.01936151 -0.01651088 0.05566657
+v -0.01936050 -0.01654353 0.05566749
+v -0.01937876 -0.01654354 0.05684217
+v -0.01937876 -0.01654354 0.05684858
+v -0.01845148 -0.01465330 0.05890107
+v -0.01850830 -0.01279867 0.05891207
+v -0.01932194 -0.01592038 0.05786657
+v -0.01847279 -0.01094107 0.05883145
+v -0.01730812 -0.00351661 0.05959749
+v -0.01723710 -0.00165901 0.05954343
+v -0.01928542 -0.00960870 0.05781345
+v -0.01709202 0.00205025 0.05942434
+v -0.01702303 0.00390785 0.05935653
+v -0.01784683 0.00390786 0.05841184
+v -0.01750696 0.01377154 0.05795556
+v -0.01923977 -0.01203307 0.05595156
+v -0.01928542 -0.00960870 0.05754773
+v -0.01928542 -0.01327048 0.05584434
+v -0.01935542 -0.01654353 0.05565557
+v -0.01742377 0.01276855 0.05584169
+v -0.01937470 -0.01654354 0.05687057
+v -0.01743290 -0.01567409 0.05968266
+v -0.01751914 -0.01465330 0.05973948
+v -0.01757595 -0.01279867 0.05977979
+v -0.01754044 -0.01094107 0.05975873
+v -0.01748566 -0.00908644 0.05972300
+v -0.01743087 -0.00722884 0.05968360
+v -0.01739942 -0.00619915 0.05966162
+v -0.01735783 -0.00496174 0.05963322
+v -0.01846061 -0.01654354 0.05848507
+v -0.01831148 -0.01641595 0.05868574
+v -0.01630374 -0.00165901 0.06013719
+v -0.01609069 0.00390785 0.06000893
+v -0.01570923 0.01377153 0.05977989
+v -0.01694796 0.00576248 0.05927774
+v -0.01664157 0.01377153 0.05890117
+v -0.01750392 0.01377154 0.05678455
+v -0.01742580 0.01377154 0.05617889
+v -0.01827698 -0.01654353 0.05452030
+v -0.01712956 0.01377155 0.05579588
+v -0.01224970 0.01377156 0.05298196
+v -0.01592126 -0.01654352 0.05298185
+v -0.01403729 -0.01465331 0.06175164
+v -0.01496862 -0.01465330 0.06122661
+v -0.01646099 -0.01465330 0.06036438
+v -0.01800611 -0.01654355 0.05889465
+v -0.01667505 -0.01654355 0.05985675
+v -0.01383337 -0.01587589 0.06163710
+v -0.01509645 -0.01279868 0.06128892
+v -0.01646099 -0.01279867 0.06046609
+v -0.01646099 -0.01094107 0.06042945
+v -0.01646099 -0.00908644 0.06036166
+v -0.01646099 -0.00722884 0.06028652
+v -0.01662635 -0.00549587 0.06010969
+v -0.01637475 -0.00351661 0.06017842
+v -0.01828814 -0.01654355 0.05865733
+v -0.01475659 -0.00165901 0.06108188
+v -0.01459629 0.00390785 0.06092155
+v -0.01459629 0.01377153 0.06046161
+v -0.01634939 0.01377153 0.05918614
+v -0.00908236 0.01377156 0.05298196
+v -0.00936439 -0.01654352 0.05298185
+v -0.01273160 -0.01465331 0.06209250
+v -0.01273160 -0.01279868 0.06226935
+v -0.01416512 -0.01279868 0.06183227
+v -0.01455470 -0.01654355 0.06102410
+v -0.01451107 -0.01650200 0.06106350
+v -0.01441267 -0.01654355 0.06108824
+v -0.01259565 -0.01654356 0.06169574
+v -0.01256116 -0.01650201 0.06171407
+v -0.01414686 -0.01094108 0.06182862
+v -0.01507921 -0.01094108 0.06127335
+v -0.01502442 -0.00908644 0.06124129
+v -0.01496355 -0.00722884 0.06120464
+v -0.01482659 -0.00351661 0.06112311
+v -0.01382525 -0.00165902 0.06164265
+v -0.01365076 0.00281287 0.06154004
+v -0.01360713 0.00390784 0.06151530
+v -0.01415092 0.01377153 0.06072825
+v -0.00908236 -0.01596190 0.05298185
+v -0.00908236 0.01377152 0.06168119
+v -0.00933193 -0.01649604 0.05298185
+v -0.01058385 -0.01654355 0.06043584
+v -0.01135590 -0.01465331 0.06188817
+v -0.01252869 -0.01654356 0.06170765
+v -0.01161156 -0.01654356 0.06168383
+v -0.01160548 -0.01651091 0.06168841
+v -0.01124938 -0.01279868 0.06198530
+v -0.01118141 -0.01094108 0.06203112
+v -0.01273160 -0.01094108 0.06231242
+v -0.01273160 -0.00908645 0.06230327
+v -0.01451209 -0.01654355 0.06104426
+v -0.01273160 -0.00722885 0.06227761
+v -0.01273160 -0.00537125 0.06224097
+v -0.01273160 -0.00351662 0.06219609
+v -0.01409309 -0.00908645 0.06179931
+v -0.01403222 -0.00722885 0.06176358
+v -0.01396425 -0.00537125 0.06172510
+v -0.01389526 -0.00351662 0.06168388
+v -0.01228521 0.01377152 0.06182230
+v -0.01292537 0.01377152 0.06145395
+v -0.01321756 0.01377152 0.06128536
+v -0.00908236 -0.01530018 0.05363882
+v -0.00928425 0.01377152 0.06204495
+v -0.00908236 0.01366469 0.06167386
+v -0.01135388 -0.01654356 0.06137962
+v -0.00908236 -0.01457613 0.05411622
+v -0.00908236 -0.01279865 0.05482085
+v -0.00992948 -0.00264420 0.06155193
+v -0.00967180 0.00390784 0.06182318
+v -0.00959266 0.00576247 0.06188733
+v -0.00951759 0.00762007 0.06194048
+v -0.00944048 0.00947767 0.06198630
+v -0.00936845 0.01133230 0.06202112
+v -0.01086589 0.00390784 0.06226757
+v -0.01086589 0.00576247 0.06230606
+v -0.01086589 0.00762007 0.06232807
+v -0.01086589 0.00947767 0.06234090
+v -0.01086589 0.01133230 0.06234182
+v -0.01086589 0.01318990 0.06232809
+v -0.01086589 0.01377152 0.06232076
+v -0.01273160 -0.00165902 0.06214385
+v -0.01267479 0.00390784 0.06199177
+v -0.01259667 0.00576247 0.06196612
+v -0.01230651 0.01318990 0.06183421
+v -0.01185607 0.01377152 0.06198081
+v -0.00930454 0.01318990 0.06204129
+v -0.01035761 0.01377152 0.06224196
+v -0.00908236 0.01200591 0.06150617
+v -0.00908236 0.00712156 0.06060270
+v -0.00908236 0.00747765 0.06069983
+v -0.00908236 0.00889013 0.06102511
+v -0.00908236 0.01040647 0.06129176
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 3
+f 2 11 14
+f 2 14 12
+f 3 13 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 18 24
+f 4 24 5
+f 4 17 19
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 18
+f 5 23 6
+f 5 24 23
+f 6 23 25
+f 6 25 7
+f 7 26 8
+f 7 25 27
+f 7 27 26
+f 8 26 9
+f 9 26 46
+f 9 46 49
+f 9 49 69
+f 9 69 90
+f 9 90 113
+f 9 113 93
+f 9 93 92
+f 9 92 76
+f 9 76 75
+f 9 75 99
+f 9 99 73
+f 9 73 54
+f 9 54 53
+f 9 53 63
+f 9 63 37
+f 9 37 28
+f 9 28 11
+f 9 11 10
+f 11 28 14
+f 12 14 29
+f 12 29 30
+f 12 30 31
+f 12 31 13
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 36
+f 13 36 16
+f 13 16 15
+f 14 28 37
+f 14 37 38
+f 14 38 29
+f 16 36 39
+f 16 39 40
+f 16 40 41
+f 16 41 17
+f 17 41 19
+f 18 22 24
+f 19 41 20
+f 20 42 22
+f 20 22 21
+f 20 41 42
+f 22 42 43
+f 22 43 67
+f 22 67 41
+f 22 41 66
+f 22 66 86
+f 22 86 109
+f 22 109 108
+f 22 108 107
+f 22 107 133
+f 22 133 128
+f 22 128 135
+f 22 135 111
+f 22 111 88
+f 22 88 68
+f 22 68 48
+f 22 48 47
+f 22 47 45
+f 22 45 44
+f 22 44 24
+f 23 24 45
+f 23 45 27
+f 23 27 25
+f 24 44 45
+f 26 27 46
+f 27 45 47
+f 27 47 48
+f 27 48 49
+f 27 49 46
+f 29 50 51
+f 29 51 52
+f 29 52 30
+f 29 38 53
+f 29 53 54
+f 29 54 55
+f 29 55 50
+f 30 52 56
+f 30 56 57
+f 30 57 31
+f 31 57 58
+f 31 58 32
+f 32 58 59
+f 32 59 33
+f 33 59 34
+f 34 59 35
+f 35 59 60
+f 35 60 61
+f 35 61 36
+f 36 61 62
+f 36 62 39
+f 37 63 38
+f 38 63 53
+f 39 62 64
+f 39 64 65
+f 39 65 40
+f 40 65 66
+f 40 66 41
+f 41 67 42
+f 42 67 43
+f 48 68 87
+f 48 87 89
+f 48 89 69
+f 48 69 49
+f 50 55 70
+f 50 70 71
+f 50 71 72
+f 50 72 51
+f 51 72 52
+f 52 72 56
+f 54 73 74
+f 54 74 55
+f 55 74 75
+f 55 75 76
+f 55 76 77
+f 55 77 70
+f 56 72 78
+f 56 78 79
+f 56 79 57
+f 57 79 58
+f 58 79 80
+f 58 80 59
+f 59 80 81
+f 59 81 60
+f 60 81 62
+f 60 62 61
+f 62 82 64
+f 62 81 82
+f 64 82 106
+f 64 106 83
+f 64 83 65
+f 65 84 85
+f 65 85 66
+f 65 83 84
+f 66 85 86
+f 68 88 112
+f 68 112 136
+f 68 136 140
+f 68 140 139
+f 68 139 138
+f 68 138 137
+f 68 137 115
+f 68 115 114
+f 68 114 110
+f 68 110 87
+f 69 89 90
+f 70 91 71
+f 70 77 92
+f 70 92 93
+f 70 93 94
+f 70 94 91
+f 71 91 95
+f 71 95 96
+f 71 96 97
+f 71 97 72
+f 72 97 98
+f 72 98 78
+f 73 99 74
+f 74 99 75
+f 76 92 77
+f 78 98 100
+f 78 100 101
+f 78 101 102
+f 78 102 103
+f 78 103 79
+f 79 103 80
+f 80 103 104
+f 80 104 81
+f 81 104 105
+f 81 105 82
+f 82 105 106
+f 83 106 107
+f 83 107 84
+f 84 107 85
+f 85 107 108
+f 85 108 109
+f 85 109 86
+f 87 110 90
+f 87 90 89
+f 88 111 112
+f 90 91 113
+f 90 110 114
+f 90 114 115
+f 90 115 116
+f 90 116 91
+f 91 94 113
+f 91 116 95
+f 93 113 94
+f 95 116 117
+f 95 117 118
+f 95 118 119
+f 95 119 120
+f 95 120 96
+f 96 120 121
+f 96 121 122
+f 96 122 123
+f 96 123 97
+f 97 123 124
+f 97 124 125
+f 97 125 126
+f 97 126 98
+f 98 126 127
+f 98 127 128
+f 98 128 100
+f 100 128 101
+f 101 128 102
+f 102 129 103
+f 102 128 129
+f 103 129 130
+f 103 130 131
+f 103 131 104
+f 104 131 132
+f 104 132 107
+f 104 107 105
+f 105 107 106
+f 107 132 133
+f 111 134 112
+f 111 135 126
+f 111 126 125
+f 111 125 124
+f 111 124 123
+f 111 123 134
+f 112 134 121
+f 112 121 120
+f 112 120 136
+f 115 137 116
+f 116 137 138
+f 116 138 139
+f 116 139 140
+f 116 140 118
+f 116 118 117
+f 118 140 136
+f 118 136 119
+f 119 136 120
+f 121 134 123
+f 121 123 122
+f 126 135 127
+f 127 135 128
+f 128 133 129
+f 129 133 131
+f 129 131 130
+f 131 133 132
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_11.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03203440 0.00202470 -0.05265989
+v 0.03203440 0.00390955 -0.05264957
+v 0.03241753 0.00576530 -0.05261514
+v 0.03241753 0.00390955 -0.05262203
+v 0.03241753 0.00205379 -0.05262547
+v 0.03241753 0.00204797 -0.05262547
+v 0.03241753 0.00202470 -0.05262203
+v 0.03066638 0.00202470 -0.05217462
+v 0.03203440 0.00576530 -0.05263924
+v 0.03241753 0.01133645 -0.05258415
+v 0.03241753 0.00762300 -0.05260480
+v 0.03241753 0.00202468 -0.04654053
+v 0.03081875 0.01504602 -0.05207819
+v 0.03080108 0.01319026 -0.05209541
+v 0.03203440 0.01319026 -0.05257381
+v 0.03203440 0.01133645 -0.05259447
+v 0.02974774 0.00202470 -0.05102852
+v 0.02913274 0.02061521 -0.05008198
+v 0.03241753 0.01319026 -0.05256348
+v 0.03241753 0.02183491 -0.04302304
+v 0.02113883 0.00202458 -0.01979501
+v 0.03084746 0.01690371 -0.05204378
+v 0.03203440 0.01504602 -0.05253594
+v 0.03241753 0.01466401 -0.05253595
+v 0.02973449 0.00202470 -0.05101132
+v 0.02916366 0.02176125 -0.05003380
+v 0.02792482 0.02183493 -0.04814086
+v 0.03241753 0.02183494 -0.05083572
+v 0.02605994 0.02183485 -0.02835791
+v 0.02248697 0.02183483 -0.02047295
+v 0.02113883 0.02183481 -0.01750276
+v 0.02113883 0.00202462 -0.03095647
+v 0.03095456 0.01875947 -0.05194740
+v 0.03203440 0.01690371 -0.05243613
+v 0.03241753 0.01504602 -0.05252562
+v 0.02919347 0.00202469 -0.05007861
+v 0.02910514 0.02183493 -0.04993055
+v 0.02927959 0.02183493 -0.05006477
+v 0.03106276 0.01976588 -0.05186480
+v 0.02918574 0.00202469 -0.05006484
+v 0.02711549 0.02183492 -0.04664371
+v 0.03241753 0.02047755 -0.05166517
+v 0.03201342 0.02183494 -0.05093553
+v 0.02113883 0.02183487 -0.03353080
+v 0.02149436 0.02183488 -0.03457708
+v 0.02147890 0.00202463 -0.03177560
+v 0.03203440 0.01875947 -0.05217456
+v 0.03241753 0.01875947 -0.05214702
+v 0.03241753 0.01693668 -0.05239483
+v 0.03241753 0.01652170 -0.05244301
+v 0.03025564 0.02183494 -0.05055005
+v 0.03087837 0.02183494 -0.05075656
+v 0.03203440 0.02080332 -0.05153439
+v 0.03203440 0.01987448 -0.05191298
+v 0.02349283 0.02183489 -0.03894117
+v 0.02529478 0.02183491 -0.04285095
+v 0.02675444 0.02183492 -0.04591063
+v 0.02873746 0.00202469 -0.04902545
+v 0.02169310 0.02183488 -0.03502106
+v 0.03241753 0.01986866 -0.05191298
+v 0.02187086 0.00202463 -0.03271863
+v 0.02792813 0.00202468 -0.04711874
+v 0.02705476 0.00202468 -0.04505715
+v 0.02572649 0.00202466 -0.04191488
+v 0.02531796 0.00202466 -0.04094776
+v 0.02473167 0.00202466 -0.03955730
+v 0.02399853 0.00202465 -0.03780891
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 21
+f 1 21 32
+f 1 32 46
+f 1 46 61
+f 1 61 67
+f 1 67 66
+f 1 66 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 58
+f 1 58 40
+f 1 40 36
+f 1 36 25
+f 1 25 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 19
+f 3 19 24
+f 3 24 35
+f 3 35 50
+f 3 50 49
+f 3 49 48
+f 3 48 60
+f 3 60 42
+f 3 42 28
+f 3 28 20
+f 3 20 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 8 17 18
+f 8 18 13
+f 9 16 10
+f 10 16 15
+f 10 15 19
+f 12 20 21
+f 13 22 23
+f 13 23 15
+f 13 15 14
+f 13 18 22
+f 15 23 24
+f 15 24 19
+f 17 25 18
+f 18 26 22
+f 18 25 27
+f 18 27 26
+f 20 28 43
+f 20 43 52
+f 20 52 51
+f 20 51 38
+f 20 38 37
+f 20 37 27
+f 20 27 41
+f 20 41 57
+f 20 57 56
+f 20 56 55
+f 20 55 59
+f 20 59 45
+f 20 45 44
+f 20 44 31
+f 20 31 30
+f 20 30 29
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 44
+f 21 44 32
+f 22 33 34
+f 22 34 23
+f 22 26 33
+f 23 34 35
+f 23 35 24
+f 25 36 27
+f 26 37 38
+f 26 38 39
+f 26 39 33
+f 26 27 37
+f 27 36 40
+f 27 40 41
+f 28 42 43
+f 32 44 45
+f 32 45 46
+f 33 39 34
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 34 39 47
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 47
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 40 58 45
+f 40 45 59
+f 40 59 55
+f 42 53 43
+f 42 60 54
+f 42 54 53
+f 43 53 52
+f 45 61 46
+f 45 58 62
+f 45 62 63
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 61
+f 47 54 60
+f 47 60 48
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_12.obj

@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v 0.00228495 0.02618759 0.03607392
+v 0.00228495 0.02616376 0.03605811
+v 0.00228495 0.02623110 0.03603175
+v 0.00127908 0.02714266 0.03892077
+v 0.00127908 0.02694792 0.03892077
+v -0.00816661 0.02061652 0.06133173
+v -0.00816661 0.01874987 0.06070963
+v -0.00813990 0.01874987 0.06063582
+v 0.00228495 0.02550184 0.03538329
+v 0.00146601 0.02733015 0.03792437
+v 0.00228495 0.02758603 0.03419184
+v -0.00046675 0.02731667 0.04299070
+v -0.00598127 0.02749168 0.05636032
+v -0.00426327 0.02730835 0.05227984
+v -0.00631174 0.02618544 0.05739361
+v -0.00612926 0.02901133 0.05413557
+v -0.00766478 0.02247283 0.06043023
+v -0.00763585 0.02432913 0.06018773
+v -0.00852044 0.02247282 0.06137390
+v -0.00908236 0.02061652 0.06192746
+v -0.00908236 0.01883999 0.06200125
+v -0.00908236 0.01874986 0.06196962
+v 0.00228495 0.01874999 0.02709579
+v 0.00181206 0.02755806 0.03603175
+v 0.00228495 0.02761090 0.03399678
+v -0.00575984 0.02808318 0.05483146
+v -0.00701830 0.02790500 0.05692441
+v -0.00756130 0.02743885 0.05817386
+v -0.00780721 0.02560948 0.05989777
+v -0.00459708 0.02890362 0.04925903
+v -0.00597682 0.02906417 0.05303901
+v -0.00713514 0.02923405 0.05303901
+v -0.00713514 0.02908074 0.05455733
+v -0.00713514 0.02878758 0.05550100
+v 0.00228495 0.02784501 0.03214633
+v -0.00908236 0.02422450 0.06096797
+v -0.00908236 0.02400801 0.06104705
+v -0.00908236 0.02247282 0.06157951
+v -0.00908236 0.01874992 0.04523651
+v 0.00228495 0.01875003 0.01713184
+v -0.00900002 0.02842398 0.05681897
+v -0.00900002 0.02754451 0.05833202
+v -0.00900002 0.02672201 0.05928097
+v -0.00900002 0.02579386 0.06006120
+v -0.00574983 0.02908282 0.05115166
+v 0.00219037 0.02786676 0.03225704
+v 0.00219037 0.02793618 0.03036969
+v 0.00228495 0.02794758 0.02838217
+v 0.00228495 0.02797141 0.02649482
+v -0.00713514 0.02924649 0.05115166
+v -0.00900002 0.02932936 0.05115166
+v -0.00900002 0.02931278 0.05303901
+v -0.00900002 0.02911906 0.05473657
+v -0.00900002 0.02892017 0.05568024
+v 0.00228495 0.02791546 0.03029061
+v -0.00908236 0.02483257 0.06062003
+v -0.00851377 0.01874993 0.04364438
+v -0.00908236 0.02275986 0.03599482
+v -0.00857831 0.02281269 0.03414965
+v -0.00247739 0.02154172 0.01996288
+v 0.00171303 0.01875003 0.01712657
+v 0.00228495 0.01875314 0.01571896
+v -0.00908236 0.02841051 0.05681897
+v -0.00908236 0.02837736 0.05687696
+v -0.00908236 0.02753726 0.05832675
+v -0.00908236 0.02891603 0.05566970
+v -0.00908236 0.02671269 0.05927042
+v -0.00908236 0.02667229 0.05930733
+v -0.00908236 0.02578454 0.06005593
+v -0.00908236 0.02571617 0.06009811
+v -0.00552952 0.02904968 0.04925903
+v 0.00228495 0.02763064 0.01704225
+v 0.00219037 0.02763893 0.01713714
+v -0.00908236 0.02933246 0.05115166
+v -0.00908236 0.02926307 0.04925903
+v -0.00908236 0.02931278 0.05303901
+v -0.00908236 0.02911802 0.05472076
+v -0.00849485 0.01874993 0.04359167
+v -0.00908236 0.02348498 0.03479283
+v -0.00827454 0.02307374 0.03271568
+v 0.00137588 0.02196232 0.01068955
+v -0.00070486 0.02146508 0.01594039
+v 0.00128353 0.01875002 0.01814932
+v -0.00081391 0.01875000 0.02327364
+v -0.00139362 0.01875000 0.02469706
+v -0.00280230 0.01874999 0.02825034
+v -0.00363126 0.01874998 0.03036966
+v -0.00452364 0.01874997 0.03272094
+v -0.00505106 0.01874996 0.03413909
+v -0.00574315 0.01874996 0.03603172
+v -0.00649089 0.01874995 0.03807722
+v -0.00811097 0.01874993 0.04252674
+v -0.00622050 0.02334723 0.02749121
+v 0.00108435 0.02140502 0.01194954
+v 0.00228495 0.02140502 0.00984077
+v 0.00228495 0.02756124 0.01515489
+v -0.00908236 0.02900205 0.04361807
+v -0.00908236 0.02431057 0.03412857
+v -0.00908236 0.02432922 0.03411802
+v 0.00095751 0.02253827 0.01138017
+v 0.00228495 0.02249581 0.00839626
+v 0.00228495 0.02199444 0.00876529
+v -0.00797634 0.02432923 0.03152423
+v -0.00666002 0.02432925 0.02847706
+v -0.00622718 0.02432925 0.02747539
+v -0.00406632 0.02432927 0.02248814
+v -0.00337979 0.02432927 0.02091711
+v 0.00123345 0.02320020 0.01046814
+v 0.00228495 0.02734682 0.01303031
+v 0.00219037 0.02756331 0.01524979
+v -0.00908236 0.02896579 0.04283782
+v -0.00908236 0.02618552 0.03457669
+v -0.00621716 0.02530505 0.02750175
+v 0.00228495 0.02308419 0.00829609
+v -0.00271884 0.02432928 0.01941461
+v -0.00095188 0.02432929 0.01541321
+v -0.00004281 0.02432930 0.01335716
+v 0.00123568 0.02432931 0.01047341
+v 0.00228495 0.02432932 0.00814322
+v 0.00228495 0.02686618 0.01146981
+v 0.00149828 0.02692832 0.01288796
+v 0.00119229 0.02715725 0.01414795
+v 0.00092301 0.02729812 0.01524979
+v -0.00900002 0.02860324 0.03981173
+v -0.00908236 0.02888604 0.04188887
+v -0.00908236 0.02758292 0.03622681
+v -0.00812989 0.02718308 0.03306365
+v -0.00827120 0.02618553 0.03273152
+v 0.00125348 0.02526575 0.01051558
+v 0.00228495 0.02610170 0.00981443
+v 0.00228495 0.02612656 0.00986187
+v -0.00627836 0.02718620 0.02925204
+v -0.00441571 0.02718000 0.02546679
+v -0.00908236 0.02814021 0.03801926
+v -0.00900002 0.02815990 0.03792437
+v -0.00908236 0.02858460 0.03989080
+v -0.00908236 0.02888293 0.04186779
+v -0.00908236 0.02760157 0.03626898
+v -0.00837357 0.02740268 0.03414967
+v 0.00103985 0.02558894 0.01146980
+f 1 2 9
+f 1 9 23
+f 1 23 40
+f 1 40 62
+f 1 62 95
+f 1 95 102
+f 1 102 101
+f 1 101 114
+f 1 114 119
+f 1 119 130
+f 1 130 131
+f 1 131 120
+f 1 120 109
+f 1 109 96
+f 1 96 72
+f 1 72 49
+f 1 49 48
+f 1 48 55
+f 1 55 35
+f 1 35 25
+f 1 25 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 2
+f 2 8 9
+f 3 10 4
+f 3 11 10
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 10 16
+f 4 16 12
+f 5 15 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 7 22 39
+f 7 39 57
+f 7 57 78
+f 7 78 92
+f 7 92 91
+f 7 91 90
+f 7 90 89
+f 7 89 88
+f 7 88 87
+f 7 87 86
+f 7 86 85
+f 7 85 84
+f 7 84 83
+f 7 83 61
+f 7 61 40
+f 7 40 23
+f 7 23 8
+f 8 23 9
+f 10 11 24
+f 10 24 16
+f 11 25 16
+f 11 16 24
+f 12 16 26
+f 12 26 13
+f 13 26 16
+f 13 16 27
+f 13 27 28
+f 13 28 29
+f 13 29 18
+f 13 18 15
+f 13 15 14
+f 15 18 17
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 27
+f 16 25 35
+f 16 35 30
+f 18 29 19
+f 19 29 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 38 37
+f 20 37 36
+f 20 36 56
+f 20 56 70
+f 20 70 69
+f 20 69 68
+f 20 68 67
+f 20 67 65
+f 20 65 64
+f 20 64 63
+f 20 63 66
+f 20 66 77
+f 20 77 76
+f 20 76 74
+f 20 74 75
+f 20 75 97
+f 20 97 111
+f 20 111 125
+f 20 125 137
+f 20 137 136
+f 20 136 134
+f 20 134 138
+f 20 138 126
+f 20 126 112
+f 20 112 99
+f 20 99 98
+f 20 98 79
+f 20 79 58
+f 20 58 39
+f 20 39 22
+f 20 22 21
+f 27 34 28
+f 28 34 41
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 36
+f 30 45 31
+f 30 35 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 45
+f 31 45 32
+f 32 45 50
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 54
+f 33 54 34
+f 34 54 41
+f 35 55 46
+f 36 44 56
+f 39 58 59
+f 39 59 60
+f 39 60 57
+f 40 61 62
+f 41 63 64
+f 41 64 65
+f 41 65 42
+f 41 54 66
+f 41 66 63
+f 42 65 43
+f 43 67 68
+f 43 68 69
+f 43 69 44
+f 43 65 67
+f 44 69 70
+f 44 70 56
+f 45 71 50
+f 45 49 71
+f 46 55 47
+f 47 55 48
+f 49 72 73
+f 49 73 51
+f 49 51 50
+f 49 50 71
+f 51 74 52
+f 51 73 75
+f 51 75 74
+f 52 74 76
+f 52 76 53
+f 53 76 77
+f 53 77 54
+f 54 77 66
+f 57 60 78
+f 58 79 59
+f 59 79 80
+f 59 80 60
+f 60 81 82
+f 60 82 62
+f 60 62 83
+f 60 83 84
+f 60 84 85
+f 60 85 86
+f 60 86 87
+f 60 87 88
+f 60 88 89
+f 60 89 90
+f 60 90 91
+f 60 91 92
+f 60 92 78
+f 60 80 93
+f 60 93 81
+f 61 83 62
+f 62 82 94
+f 62 94 95
+f 72 96 73
+f 73 96 75
+f 75 96 97
+f 79 98 80
+f 80 98 99
+f 80 99 93
+f 81 100 101
+f 81 101 102
+f 81 102 94
+f 81 94 82
+f 81 93 100
+f 93 99 103
+f 93 103 104
+f 93 104 105
+f 93 105 106
+f 93 106 107
+f 93 107 108
+f 93 108 100
+f 94 102 95
+f 96 109 110
+f 96 110 111
+f 96 111 97
+f 99 112 113
+f 99 113 103
+f 100 108 101
+f 101 108 114
+f 103 113 104
+f 104 113 105
+f 105 113 106
+f 106 113 107
+f 107 115 108
+f 107 113 115
+f 108 115 116
+f 108 116 117
+f 108 117 118
+f 108 118 119
+f 108 119 114
+f 109 120 121
+f 109 121 122
+f 109 122 123
+f 109 123 124
+f 109 124 125
+f 109 125 110
+f 110 125 111
+f 112 126 127
+f 112 127 128
+f 112 128 113
+f 113 128 129
+f 113 129 115
+f 115 129 116
+f 116 129 117
+f 117 129 118
+f 118 129 119
+f 119 129 130
+f 120 131 121
+f 121 131 130
+f 121 130 132
+f 121 132 133
+f 121 133 122
+f 122 133 134
+f 122 134 135
+f 122 135 123
+f 123 135 124
+f 124 135 136
+f 124 136 137
+f 124 137 125
+f 126 138 127
+f 127 138 139
+f 127 139 132
+f 127 132 140
+f 127 140 129
+f 127 129 128
+f 129 140 130
+f 130 140 132
+f 132 139 133
+f 133 139 134
+f 134 136 135
+f 134 139 138
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_13.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00908271 0.01377159 0.04415736
+v -0.01265764 0.01377155 0.05382318
+v -0.01265764 0.02145263 0.05381076
+v -0.01039964 0.02145265 0.04776340
+v -0.01021276 0.02145266 0.04731176
+v -0.00908271 0.02145267 0.04471749
+v -0.00908271 0.01377152 0.06168066
+v -0.01265764 0.01377152 0.06160775
+v -0.01265764 0.02145261 0.06096588
+v -0.00908271 0.02145260 0.06177493
+v -0.00908271 0.01535586 0.06181224
+v -0.00928394 0.01377152 0.06204517
+v -0.01228422 0.01377152 0.06182290
+v -0.01265764 0.01450015 0.06157753
+v -0.01265764 0.02117289 0.06103523
+v -0.01174667 0.02141650 0.06152599
+v -0.01173197 0.02145260 0.06151888
+v -0.00924369 0.02145260 0.06183360
+v -0.00909985 0.02061569 0.06193851
+v -0.00908271 0.02067133 0.06192073
+v -0.00908271 0.01705825 0.06192427
+v -0.00924089 0.01504756 0.06205229
+v -0.01035729 0.01377152 0.06224254
+v -0.01185516 0.01377152 0.06198116
+v -0.01086615 0.01690410 0.06226211
+v -0.01223733 0.01504756 0.06179624
+v -0.01216593 0.01690410 0.06175713
+v -0.01265764 0.01690410 0.06147263
+v -0.01265764 0.02072398 0.06114370
+v -0.01194440 0.02017881 0.06162911
+v -0.01102118 0.02072547 0.06190828
+v -0.01076011 0.02145260 0.06183005
+v -0.01170012 0.02145260 0.06153132
+v -0.00925909 0.02145260 0.06183894
+v -0.00908271 0.02061569 0.06192607
+v -0.01086615 0.01875990 0.06218566
+v -0.00912365 0.01875990 0.06203096
+v -0.00908271 0.01883885 0.06200074
+v -0.00917510 0.01690410 0.06205407
+v -0.01086615 0.01377152 0.06231900
+v -0.01086615 0.01504756 0.06230300
+v -0.01207354 0.01875990 0.06170379
+v -0.01265764 0.01875990 0.06136773
+v -0.01265764 0.01922610 0.06131972
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 20
+f 1 20 35
+f 1 35 38
+f 1 38 21
+f 1 21 11
+f 1 11 7
+f 1 7 12
+f 1 12 23
+f 1 23 40
+f 1 40 24
+f 1 24 13
+f 1 13 8
+f 1 8 2
+f 2 8 14
+f 2 14 28
+f 2 28 43
+f 2 43 44
+f 2 44 29
+f 2 29 15
+f 2 15 9
+f 2 9 3
+f 3 9 17
+f 3 17 33
+f 3 33 32
+f 3 32 34
+f 3 34 18
+f 3 18 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 7 11 12
+f 8 13 14
+f 9 15 16
+f 9 16 17
+f 10 18 19
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 15 29 16
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 16 29 30
+f 18 34 19
+f 19 35 20
+f 19 34 36
+f 19 36 37
+f 19 37 38
+f 19 38 35
+f 21 38 39
+f 21 39 22
+f 22 39 23
+f 23 39 40
+f 24 40 41
+f 24 41 25
+f 25 36 27
+f 25 27 26
+f 25 41 37
+f 25 37 36
+f 27 42 43
+f 27 43 28
+f 27 36 42
+f 29 44 30
+f 30 44 42
+f 30 42 36
+f 30 36 31
+f 31 36 32
+f 32 36 34
+f 37 41 40
+f 37 40 39
+f 37 39 38
+f 42 44 43
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_14.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.03013894 0.00202466 -0.04145233
+v 0.03320692 0.00202468 -0.04708658
+v 0.03013894 0.00202470 -0.05151625
+v 0.03013894 0.00034282 -0.04158042
+v 0.03320692 -0.02377362 -0.04612059
+v 0.03320692 0.00202470 -0.05255522
+v 0.03066749 0.00202470 -0.05217541
+v 0.03013894 -0.00537438 -0.05184531
+v 0.03013894 -0.00351834 -0.04188847
+v 0.03013894 -0.02377363 -0.04380418
+v 0.03320692 -0.02377360 -0.05147330
+v 0.03013894 -0.00532896 -0.04203864
+v 0.03013894 -0.00655373 -0.04214685
+v 0.03013894 -0.00723049 -0.04220758
+v 0.03013894 -0.00908658 -0.04237982
+v 0.03206274 0.00202470 -0.05265680
+v 0.03320692 -0.00537438 -0.05253096
+v 0.03203511 -0.01279872 -0.05272642
+v 0.03203511 -0.01094263 -0.05272972
+v 0.03203511 -0.00908655 -0.05272971
+v 0.03203511 -0.00723046 -0.05272529
+v 0.03203511 -0.00537438 -0.05271645
+v 0.03013894 -0.00723046 -0.05191488
+v 0.03068821 0.00202470 -0.05218314
+v 0.03053025 -0.00537438 -0.05223726
+v 0.03036958 -0.01279872 -0.05228588
+v 0.03013894 -0.01836697 -0.05225388
+v 0.03013894 -0.01651089 -0.05221191
+v 0.03013894 -0.01465480 -0.05216443
+v 0.03013894 -0.01279872 -0.05211254
+v 0.03013894 -0.01094263 -0.05205180
+v 0.03013894 -0.02377360 -0.05191163
+v 0.03192339 -0.02377360 -0.05198781
+v 0.03302854 -0.02308925 -0.05187297
+v 0.03320692 -0.02326350 -0.05171730
+v 0.03203511 0.00202470 -0.05265901
+v 0.03320692 -0.00723046 -0.05252214
+v 0.03203511 -0.01465480 -0.05271758
+v 0.03022783 -0.01836697 -0.05230356
+v 0.03041282 -0.01094263 -0.05227483
+v 0.03032784 -0.01465480 -0.05229582
+v 0.03028159 -0.01651089 -0.05230245
+v 0.03013894 -0.01909425 -0.05226492
+v 0.03052694 -0.02377360 -0.05201873
+v 0.03013894 -0.02251854 -0.05210704
+v 0.03188285 -0.02377360 -0.05199775
+v 0.03203511 -0.02207914 -0.05234994
+v 0.03320692 -0.02232409 -0.05195799
+v 0.03320692 -0.00908655 -0.05250557
+v 0.03203511 -0.01651089 -0.05270103
+v 0.03203511 -0.01836697 -0.05266240
+v 0.03013894 -0.02026851 -0.05222848
+v 0.03203511 -0.02022305 -0.05257296
+v 0.03013894 -0.02205894 -0.05215452
+v 0.03320692 -0.02022305 -0.05223511
+v 0.03320692 -0.02207914 -0.05200215
+v 0.03320692 -0.01094263 -0.05248350
+v 0.03320692 -0.01279872 -0.05245922
+v 0.03320692 -0.01651089 -0.05240072
+v 0.03320692 -0.01836697 -0.05234441
+f 1 2 6
+f 1 6 16
+f 1 16 36
+f 1 36 24
+f 1 24 7
+f 1 7 3
+f 1 3 8
+f 1 8 23
+f 1 23 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 43
+f 1 43 52
+f 1 52 54
+f 1 54 45
+f 1 45 32
+f 1 32 10
+f 1 10 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 35
+f 2 35 48
+f 2 48 56
+f 2 56 55
+f 2 55 60
+f 2 60 59
+f 2 59 58
+f 2 58 57
+f 2 57 49
+f 2 49 37
+f 2 37 17
+f 2 17 6
+f 3 7 8
+f 4 9 5
+f 5 10 32
+f 5 32 44
+f 5 44 46
+f 5 46 33
+f 5 33 11
+f 5 9 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 10
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 16
+f 7 23 8
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 28
+f 7 28 29
+f 7 29 30
+f 7 30 31
+f 7 31 23
+f 11 33 34
+f 11 34 35
+f 16 22 36
+f 17 37 38
+f 17 38 18
+f 18 38 39
+f 18 39 19
+f 19 39 20
+f 20 39 21
+f 21 39 22
+f 22 39 36
+f 24 36 25
+f 25 36 40
+f 25 40 26
+f 26 41 27
+f 26 40 36
+f 26 36 41
+f 27 41 42
+f 27 42 39
+f 27 39 43
+f 32 45 44
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 35
+f 36 39 42
+f 36 42 41
+f 37 49 50
+f 37 50 38
+f 38 50 39
+f 39 51 43
+f 39 50 51
+f 43 51 52
+f 44 47 46
+f 44 45 53
+f 44 53 47
+f 45 54 53
+f 47 53 55
+f 47 55 56
+f 47 56 48
+f 49 57 50
+f 50 57 58
+f 50 58 59
+f 50 59 51
+f 51 59 60
+f 51 60 53
+f 51 53 54
+f 51 54 52
+f 53 60 55
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_15.obj

@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v 0.03241942 0.00202385 -0.05262505
+v 0.03320801 -0.01650711 -0.05240047
+v 0.03320801 -0.01836459 -0.05234413
+v 0.03320801 -0.02022207 -0.05223427
+v 0.03320801 -0.02207556 -0.05200258
+v 0.03320801 -0.02232270 -0.05195750
+v 0.03320801 -0.02326339 -0.05171736
+v 0.03320801 -0.02377360 -0.05147298
+v 0.03241942 0.00202383 -0.04654446
+v 0.03241942 0.00205175 -0.05262576
+v 0.03383070 -0.01650711 -0.05224130
+v 0.03320801 -0.01279613 -0.05245890
+v 0.03390067 -0.00722768 -0.05240184
+v 0.03390067 -0.00908516 -0.05237227
+v 0.03390067 -0.01093865 -0.05233706
+v 0.03390067 -0.01279613 -0.05230115
+v 0.03373399 -0.01836459 -0.05220187
+v 0.03357046 -0.02022207 -0.05213003
+v 0.03326461 -0.02207556 -0.05198497
+v 0.03576639 -0.02207556 -0.05077293
+v 0.03679398 -0.02316375 -0.05001093
+v 0.03584737 -0.02377361 -0.05024264
+v 0.03372377 -0.02377360 -0.05126593
+v 0.03320801 -0.02377362 -0.04612130
+v 0.03241942 0.00358236 -0.04644516
+v 0.03241942 0.00390525 -0.05262294
+v 0.03390146 0.01133119 -0.05254826
+v 0.03390146 0.00947769 -0.05254404
+v 0.03390146 0.00762021 -0.05253841
+v 0.03390146 0.00576273 -0.05253067
+v 0.03320801 -0.00537418 -0.05253071
+v 0.03320801 -0.00722768 -0.05252156
+v 0.03320801 -0.00908516 -0.05250537
+v 0.03320801 -0.01093865 -0.05248354
+v 0.03407286 -0.01457788 -0.05218425
+v 0.03480876 -0.01515186 -0.05183071
+v 0.03476316 -0.01650711 -0.05180818
+v 0.03390067 -0.00537418 -0.05242226
+v 0.03521996 0.00576273 -0.05203980
+v 0.03519008 0.00390525 -0.05202713
+v 0.03502733 -0.00537418 -0.05194336
+v 0.03499274 -0.00722768 -0.05192576
+v 0.03495264 -0.00908516 -0.05190463
+v 0.03466646 -0.01836459 -0.05176171
+v 0.03450292 -0.02022207 -0.05168212
+v 0.03700862 -0.02207557 -0.05013840
+v 0.03576639 -0.02022207 -0.05106519
+v 0.03794108 -0.02207557 -0.04932357
+v 0.03761637 -0.02377361 -0.04898694
+v 0.03754797 -0.02377361 -0.04905173
+v 0.03562329 -0.02377362 -0.04543112
+v 0.03241942 0.01694745 -0.04593663
+v 0.03241942 0.01133117 -0.04610004
+v 0.03241942 0.00947767 -0.04617048
+v 0.03241942 0.00762019 -0.04624795
+v 0.03241942 0.00576271 -0.04632895
+v 0.03241942 0.00536809 -0.04634867
+v 0.03241942 0.00390523 -0.04642685
+v 0.03241942 0.00576273 -0.05261659
+v 0.03241942 0.01133119 -0.05258558
+v 0.03390146 0.01318867 -0.05253275
+v 0.03527028 0.01318867 -0.05205385
+v 0.03528050 0.01133119 -0.05206090
+v 0.03241942 0.00947769 -0.05259686
+v 0.03526241 0.00947769 -0.05205599
+v 0.03524119 0.00762021 -0.05204895
+v 0.03390146 0.00390525 -0.05251518
+v 0.03484336 -0.01391222 -0.05184831
+v 0.03576639 -0.01650711 -0.05129548
+v 0.03558555 -0.01457788 -0.05144547
+v 0.03576639 -0.01836459 -0.05121168
+v 0.03621296 0.01133119 -0.05160173
+v 0.03763053 0.01133119 -0.05088338
+v 0.03615242 0.00576273 -0.05156020
+v 0.03599124 -0.00351670 -0.05147290
+v 0.03595980 -0.00537418 -0.05145460
+v 0.03612254 0.00390525 -0.05154190
+v 0.03588511 -0.00908516 -0.05141728
+v 0.03584186 -0.01093865 -0.05139828
+v 0.03592599 -0.00722768 -0.05143559
+v 0.03580019 -0.01279613 -0.05137716
+v 0.03724685 -0.02022208 -0.05028135
+v 0.03817931 -0.02022208 -0.04953272
+v 0.03872259 -0.02207557 -0.04837985
+v 0.03862510 -0.02323152 -0.04817986
+v 0.03769107 -0.02377361 -0.04891229
+v 0.03562880 -0.02377362 -0.04543112
+v 0.03903551 0.01694745 -0.04586902
+v 0.03241942 0.01694747 -0.05239401
+v 0.03241942 0.01318867 -0.05256585
+v 0.03241942 0.01466349 -0.05253627
+v 0.03390146 0.01504614 -0.05247852
+v 0.03520424 0.01504614 -0.05202004
+v 0.03613670 0.01504614 -0.05157072
+v 0.03620274 0.01318867 -0.05160031
+v 0.03746385 -0.01465361 -0.05041092
+v 0.03741038 -0.01650711 -0.05038487
+v 0.03735063 -0.01836460 -0.05034826
+v 0.03763053 0.01318867 -0.05089182
+v 0.03888534 0.01133118 -0.05017983
+v 0.03763053 0.00947769 -0.05085311
+v 0.03890657 0.01318866 -0.05018897
+v 0.03763053 0.00576273 -0.05078340
+v 0.03762974 -0.00166321 -0.05062708
+v 0.03762974 -0.00351670 -0.05058553
+v 0.03762974 -0.00537418 -0.05054328
+v 0.03755505 -0.01093865 -0.05045316
+v 0.03751180 -0.01279613 -0.05043275
+v 0.03828309 -0.01836460 -0.04963836
+v 0.03881458 -0.02022208 -0.04858971
+v 0.03872259 -0.02207558 -0.04753404
+v 0.03837508 -0.02377362 -0.04724107
+v 0.03862510 -0.02323152 -0.04776575
+v 0.03741824 -0.02377362 -0.04559099
+v 0.04002930 0.01681990 -0.04727684
+v 0.04002065 0.01694745 -0.04726628
+v 0.03750080 -0.02377362 -0.04564804
+v 0.03857557 -0.00312609 -0.04616559
+v 0.03241942 0.01651698 -0.05244471
+v 0.03252950 0.01694747 -0.05238414
+v 0.03241942 0.01504614 -0.05252500
+v 0.03407364 0.01694747 -0.05223554
+v 0.03435197 0.01694747 -0.05214258
+v 0.03504699 0.01658475 -0.05194468
+v 0.03763053 0.01504614 -0.05083688
+v 0.03857871 -0.00678524 -0.04996720
+v 0.03855670 -0.00802090 -0.04994608
+v 0.03853154 -0.00908517 -0.04992214
+v 0.03848830 -0.01093866 -0.04987707
+v 0.03844427 -0.01279614 -0.04982920
+v 0.03839631 -0.01465362 -0.04977285
+v 0.03834285 -0.01650712 -0.04970878
+v 0.03887669 0.01504613 -0.05016431
+v 0.03995382 0.01308502 -0.04884313
+v 0.03978950 0.01133118 -0.04900934
+v 0.03885232 0.00947768 -0.05016153
+v 0.03980916 0.01504613 -0.04906566
+v 0.03869350 0.00019028 -0.05005944
+v 0.03866362 -0.00166322 -0.05003691
+v 0.03886254 -0.01836460 -0.04869536
+v 0.03881458 -0.02022209 -0.04743121
+v 0.04044364 0.01363509 -0.04810224
+v 0.03834756 -0.02377362 -0.04715445
+v 0.04045150 0.01504613 -0.04799237
+v 0.04044443 0.01614628 -0.04801068
+v 0.04044364 0.01363509 -0.04802196
+v 0.03973918 0.01694746 -0.04885932
+v 0.04044443 0.01614628 -0.04810294
+v 0.03886254 -0.01836461 -0.04739177
+v 0.03498409 0.01694747 -0.05191511
+v 0.03552501 0.01694747 -0.05165242
+v 0.03716823 0.01694747 -0.05084815
+v 0.03763053 0.01690363 -0.05062842
+v 0.03872416 0.01690362 -0.05006079
+v 0.03890028 -0.01650712 -0.04876506
+v 0.03978242 0.01681991 -0.04884382
+v 0.04045150 0.01504613 -0.04812125
+v 0.03964248 0.01694746 -0.04897622
+v 0.03762895 0.01694747 -0.05061856
+v 0.03871788 0.01694746 -0.05005656
+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 24
+f 1 24 9
+f 1 9 25
+f 1 25 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 89
+f 1 89 119
+f 1 119 121
+f 1 121 91
+f 1 91 90
+f 1 90 60
+f 1 60 64
+f 1 64 59
+f 1 59 26
+f 1 26 10
+f 1 10 2
+f 2 11 3
+f 2 10 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 11
+f 3 11 17
+f 3 17 4
+f 4 17 18
+f 4 18 5
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 7 22 23
+f 7 23 8
+f 8 23 22
+f 8 22 50
+f 8 50 49
+f 8 49 86
+f 8 86 112
+f 8 112 143
+f 8 143 117
+f 8 117 114
+f 8 114 87
+f 8 87 51
+f 8 51 24
+f 9 24 25
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 34
+f 10 34 12
+f 11 16 35
+f 11 35 36
+f 11 36 37
+f 11 37 17
+f 12 34 13
+f 13 34 33
+f 13 33 38
+f 13 38 39
+f 13 39 40
+f 13 40 14
+f 14 40 41
+f 14 41 42
+f 14 42 15
+f 15 42 16
+f 16 42 43
+f 16 43 35
+f 17 37 44
+f 17 44 18
+f 18 44 45
+f 18 45 19
+f 19 45 20
+f 20 46 21
+f 20 45 47
+f 20 47 46
+f 21 46 48
+f 21 48 49
+f 21 49 50
+f 21 50 22
+f 24 51 52
+f 24 52 53
+f 24 53 54
+f 24 54 55
+f 24 55 56
+f 24 56 57
+f 24 57 58
+f 24 58 25
+f 26 59 27
+f 27 60 61
+f 27 61 62
+f 27 62 63
+f 27 63 28
+f 27 59 64
+f 27 64 60
+f 28 63 29
+f 29 63 30
+f 30 63 65
+f 30 65 66
+f 30 66 67
+f 30 67 32
+f 30 32 31
+f 32 67 33
+f 33 67 38
+f 35 43 68
+f 35 68 36
+f 36 69 37
+f 36 68 70
+f 36 70 69
+f 37 69 71
+f 37 71 44
+f 38 67 39
+f 39 67 66
+f 39 66 72
+f 39 72 73
+f 39 73 74
+f 39 74 40
+f 40 74 41
+f 41 75 76
+f 41 76 42
+f 41 74 77
+f 41 77 75
+f 42 78 79
+f 42 79 43
+f 42 76 80
+f 42 80 78
+f 43 79 81
+f 43 81 68
+f 44 71 47
+f 44 47 45
+f 46 47 82
+f 46 82 83
+f 46 83 48
+f 47 71 82
+f 48 84 85
+f 48 85 86
+f 48 86 49
+f 48 83 84
+f 51 87 88
+f 51 88 52
+f 52 88 116
+f 52 116 147
+f 52 147 158
+f 52 158 160
+f 52 160 159
+f 52 159 152
+f 52 152 151
+f 52 151 150
+f 52 150 123
+f 52 123 122
+f 52 122 120
+f 52 120 89
+f 60 90 61
+f 61 90 91
+f 61 91 92
+f 61 92 62
+f 62 92 93
+f 62 93 94
+f 62 94 95
+f 62 95 63
+f 63 95 72
+f 63 72 65
+f 65 72 66
+f 68 81 70
+f 69 70 81
+f 69 81 96
+f 69 96 97
+f 69 97 98
+f 69 98 71
+f 71 98 82
+f 72 95 99
+f 72 99 73
+f 73 100 101
+f 73 101 74
+f 73 99 102
+f 73 102 100
+f 74 101 77
+f 75 77 101
+f 75 101 103
+f 75 103 76
+f 76 103 80
+f 78 80 104
+f 78 104 105
+f 78 105 106
+f 78 106 79
+f 79 106 107
+f 79 107 81
+f 80 103 104
+f 81 108 96
+f 81 107 108
+f 82 98 109
+f 82 109 83
+f 83 110 84
+f 83 109 110
+f 84 111 113
+f 84 113 85
+f 84 110 141
+f 84 141 111
+f 85 112 86
+f 85 113 112
+f 87 114 88
+f 88 115 116
+f 88 114 117
+f 88 117 118
+f 88 118 115
+f 89 120 119
+f 91 121 92
+f 92 121 119
+f 92 119 120
+f 92 120 122
+f 92 122 123
+f 92 123 124
+f 92 124 93
+f 93 124 94
+f 94 124 125
+f 94 125 95
+f 95 125 99
+f 96 108 126
+f 96 126 127
+f 96 127 97
+f 97 127 128
+f 97 128 129
+f 97 129 98
+f 98 129 130
+f 98 130 131
+f 98 131 132
+f 98 132 109
+f 99 125 133
+f 99 133 102
+f 100 134 135
+f 100 135 136
+f 100 136 103
+f 100 103 101
+f 100 102 134
+f 102 133 137
+f 102 137 134
+f 103 136 138
+f 103 138 104
+f 104 138 139
+f 104 139 105
+f 105 139 106
+f 106 139 126
+f 106 126 107
+f 107 126 108
+f 109 132 140
+f 109 140 110
+f 110 140 142
+f 110 142 146
+f 110 146 141
+f 111 117 143
+f 111 143 113
+f 111 141 117
+f 112 113 143
+f 115 144 145
+f 115 145 116
+f 115 118 146
+f 115 146 144
+f 116 145 148
+f 116 148 147
+f 117 141 149
+f 117 149 146
+f 117 146 118
+f 123 150 124
+f 124 150 151
+f 124 151 152
+f 124 152 153
+f 124 153 125
+f 125 153 154
+f 125 154 133
+f 126 139 135
+f 126 135 127
+f 127 135 134
+f 127 134 142
+f 127 142 128
+f 128 142 129
+f 129 142 130
+f 130 142 155
+f 130 155 140
+f 130 140 131
+f 131 140 132
+f 133 154 156
+f 133 156 137
+f 134 137 157
+f 134 157 142
+f 135 139 136
+f 136 139 138
+f 137 156 148
+f 137 148 157
+f 140 155 142
+f 141 146 149
+f 142 157 144
+f 142 144 146
+f 144 157 148
+f 144 148 145
+f 147 148 156
+f 147 156 158
+f 152 159 153
+f 153 159 160
+f 153 160 154
+f 154 160 158
+f 154 158 156
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_16.obj

@@ -0,0 +1,805 @@
+# https://github.com/mikedh/trimesh
+v 0.03013894 -0.02799204 -0.03161689
+v 0.02937878 -0.02817866 -0.02884232
+v 0.02937878 -0.02884105 -0.02884233
+v 0.02967440 -0.02919391 -0.03010254
+v 0.03013894 -0.02961663 -0.03206168
+v 0.03013894 -0.02765510 -0.03168044
+v 0.02960145 -0.02759586 -0.03022961
+v 0.02737087 -0.02672035 -0.02536880
+v 0.00132956 -0.02291865 0.03335266
+v -0.00617992 -0.02186897 0.05025428
+v -0.00794595 -0.02186899 0.05427847
+v 0.02754748 -0.02883399 -0.02499817
+v -0.00618376 -0.02303191 0.05024368
+v 0.02571234 -0.02882339 -0.02115400
+v 0.03013894 -0.03023392 -0.03319481
+v 0.03013894 -0.02963344 -0.03208286
+v 0.02926360 -0.02670795 -0.03094973
+v 0.03013894 -0.02186863 -0.04367886
+v -0.00414514 -0.02186896 0.04500164
+v -0.00844889 -0.02186899 0.05504095
+v -0.00908236 -0.02205294 0.05602581
+v -0.00795363 -0.02208212 0.05425729
+v -0.00805729 -0.02301867 0.05400313
+v 0.00124126 -0.02480059 0.03317262
+v 0.01052829 -0.02652947 0.01234212
+v 0.02385416 -0.02879069 -0.01736279
+v 0.03013894 -0.03049834 -0.03407378
+v 0.02197296 -0.02874648 -0.01361393
+v 0.02006103 -0.02868724 -0.00992862
+v 0.03013894 -0.02186860 -0.05216144
+v -0.00907084 -0.02186900 0.05591992
+v -0.00908236 -0.02186900 0.05593050
+v -0.00908236 -0.02314955 0.05470206
+v -0.00908236 -0.02333439 0.05399253
+v -0.00899789 -0.02355459 0.05303943
+v -0.00783461 -0.02319730 0.05303943
+v -0.00237911 -0.02491293 0.03906066
+v -0.00038272 -0.02501639 0.03557655
+v 0.00892734 -0.02686022 0.01475664
+v 0.01083927 -0.02693715 0.01108191
+v 0.02933655 -0.03046032 -0.03270767
+v 0.03013894 -0.03061065 -0.03534458
+v 0.01811456 -0.02862270 -0.00631744
+v 0.03013894 -0.02206139 -0.05215085
+v 0.02999305 -0.02186860 -0.05214026
+v -0.00908236 -0.02186891 0.03245252
+v -0.00908236 -0.02355901 0.05303943
+v -0.00899789 -0.02388711 0.05114382
+v -0.00430639 -0.02487226 0.04080800
+v 0.00507662 -0.02673908 0.02010458
+v 0.00694248 -0.02676827 0.01826192
+v 0.02270624 -0.02975287 -0.02065627
+v 0.02457210 -0.02998368 -0.02443690
+v 0.02830380 -0.03046917 -0.03245351
+v 0.03013894 -0.03077690 -0.03766378
+v 0.03013894 -0.03064603 -0.03577877
+v 0.01634084 -0.02862005 -0.00422062
+v 0.02999305 -0.02205962 -0.05212967
+v 0.03013894 -0.02251949 -0.05209790
+v 0.02924057 -0.02186860 -0.05183315
+v 0.02925592 -0.02266364 -0.05182256
+v -0.00832603 -0.02186890 0.03071576
+v -0.00908236 -0.02190428 0.03243133
+v -0.00908236 -0.02388445 0.05114382
+v -0.00899789 -0.02406397 0.04925881
+v -0.00443692 -0.02487226 0.04080800
+v 0.00459288 -0.02673908 0.02010458
+v 0.00778710 -0.02745274 0.01146315
+v 0.00965295 -0.02775872 0.00768253
+v 0.00778710 -0.02728737 0.01334817
+v 0.00965295 -0.02757832 0.00956754
+v 0.02084039 -0.02951410 -0.01687565
+v 0.02270624 -0.02986783 -0.02254129
+v 0.02457210 -0.03010306 -0.02632191
+v 0.02830380 -0.03055406 -0.03388316
+v 0.03013894 -0.03077867 -0.03769555
+v 0.01151497 -0.02805408 0.00390190
+v 0.01338082 -0.02833176 0.00013187
+v 0.01524667 -0.02863332 -0.00390292
+v 0.01897454 -0.02926826 -0.01309503
+v 0.03013894 -0.02393802 -0.05188611
+v 0.02964368 -0.02393802 -0.05174844
+v 0.02757051 -0.02579521 -0.04968339
+v 0.02890655 -0.02186860 -0.05130365
+v 0.02850344 -0.02579520 -0.05056236
+v -0.00904012 -0.02208204 0.03225130
+v -0.00908236 -0.02208204 0.03234661
+v -0.00797667 -0.02186890 0.02993210
+v -0.00792292 -0.02208203 0.02973089
+v -0.00908236 -0.02405867 0.04925881
+v -0.00899789 -0.02419220 0.04737379
+v -0.00153832 -0.02576012 0.03035569
+v -0.00153832 -0.02562748 0.03225129
+v 0.00032753 -0.02597502 0.02847066
+v 0.00334898 -0.02671344 0.01980806
+v 0.00400549 -0.02678684 0.01910912
+v 0.00592509 -0.02712819 0.01524377
+v 0.00778710 -0.02757478 0.00956754
+v 0.00965295 -0.02787899 0.00578692
+v 0.01151497 -0.02817878 0.00201689
+v 0.01897454 -0.02938057 -0.01499063
+v 0.02084039 -0.02962553 -0.01876067
+v 0.02270624 -0.02996245 -0.02443690
+v 0.02457210 -0.03019503 -0.02821752
+v 0.02643795 -0.03040726 -0.03168045
+v 0.02830380 -0.03064957 -0.03577877
+v 0.03013894 -0.03086622 -0.03955939
+v 0.01338082 -0.02847060 -0.00175315
+v 0.01524667 -0.02874209 -0.00553378
+v 0.01711252 -0.02900651 -0.00931440
+v 0.03013894 -0.02429000 -0.05179080
+v 0.03013894 -0.02522301 -0.05146251
+v 0.02878754 -0.02715537 -0.05024467
+v 0.02699847 -0.02765062 -0.04855027
+v 0.02548966 -0.02860575 -0.04619931
+v 0.02547047 -0.02765063 -0.04623107
+v 0.02697928 -0.02579521 -0.04874089
+v 0.02877602 -0.02186860 -0.05107067
+v 0.01402581 -0.02579532 -0.02035973
+v -0.00826460 -0.02336437 0.03085342
+v -0.00908236 -0.02297702 0.03292907
+v 0.01331939 -0.02579532 -0.01876065
+v 0.01267441 -0.02579533 -0.01729923
+v 0.01226361 -0.02579533 -0.01635672
+v 0.01166853 -0.02579533 -0.01499061
+v 0.01052829 -0.02682563 -0.01227959
+v -0.00457513 -0.02186887 0.02241321
+v 0.00311863 -0.02300080 0.00483384
+v 0.01805697 -0.02496485 -0.02912824
+v 0.02547815 -0.02665660 -0.04622048
+v 0.01622183 -0.02579530 -0.02529466
+v -0.00908236 -0.02418601 0.04737379
+v -0.00908236 -0.02419131 0.04728907
+v -0.00340417 -0.02575039 0.02847067
+v -0.00340417 -0.02563454 0.03035569
+v -0.00153832 -0.02587862 0.02847066
+v 0.00032753 -0.02622970 0.02469004
+v 0.00032753 -0.02610944 0.02657505
+v 0.00219338 -0.02645344 0.02280502
+v 0.00032753 -0.02634555 0.02280502
+v 0.00219338 -0.02657548 0.02090941
+v 0.00270016 -0.02674969 0.01854785
+v 0.00405924 -0.02691683 0.01712879
+v 0.00592509 -0.02724846 0.01334817
+v 0.00592509 -0.02736165 0.01146315
+v 0.00592509 -0.02747043 0.00956754
+v 0.00778710 -0.02768178 0.00768253
+v 0.00965295 -0.02798421 0.00390190
+v 0.01151497 -0.02828489 0.00013187
+v 0.01338082 -0.02855461 -0.00318279
+v 0.01897454 -0.02947519 -0.01687565
+v 0.01711252 -0.02911528 -0.01121001
+v 0.01711252 -0.02921431 -0.01309503
+v 0.02270624 -0.03004911 -0.02632191
+v 0.01897454 -0.02956274 -0.01876067
+v 0.02457210 -0.03028169 -0.03010254
+v 0.02830380 -0.03073799 -0.03766378
+v 0.02830380 -0.03082023 -0.03955939
+v 0.03013894 -0.03086710 -0.03958057
+v 0.03013894 -0.02564574 -0.05130366
+v 0.03013894 -0.02729421 -0.05039293
+v 0.02830380 -0.02898336 -0.04855028
+v 0.02719043 -0.02876316 -0.04824318
+v 0.02245286 -0.02765065 -0.03955938
+v 0.02366220 -0.02765064 -0.04233396
+v 0.02410755 -0.02765064 -0.04332941
+v 0.02498289 -0.02765063 -0.04522502
+v 0.02651473 -0.02906739 -0.04694061
+v 0.02636884 -0.03000305 -0.04538388
+v 0.02569698 -0.03032320 -0.04398600
+v 0.02524779 -0.02897895 -0.04522503
+v 0.02338194 -0.02897278 -0.04110553
+v 0.02160055 -0.02882687 -0.03713428
+v 0.01983452 -0.02868274 -0.03312068
+v 0.02149689 -0.02765066 -0.03735666
+v 0.02768953 -0.02186861 -0.04886795
+v -0.00250964 -0.02492259 0.01797600
+v -0.00617992 -0.02483948 0.02758111
+v -0.00856790 -0.02372520 0.03225129
+v -0.00908236 -0.02393392 0.03415749
+v 0.00676587 -0.02683628 -0.00292863
+v -0.00908236 -0.02430186 0.04547818
+v -0.00899789 -0.02430805 0.04547818
+v -0.00899789 -0.02442301 0.04359317
+v -0.00899789 -0.02453708 0.04169756
+v -0.00527003 -0.02538339 0.03225129
+v -0.00809568 -0.02487313 0.03708033
+v 0.00032753 -0.02656044 0.01902440
+v 0.00032753 -0.02645875 0.02090941
+v 0.00212428 -0.02667983 0.01910912
+v 0.00145626 -0.02670990 0.01785950
+v 0.00219338 -0.02690887 0.01524377
+v 0.00405924 -0.02702649 0.01524377
+v 0.00405924 -0.02724403 0.01146315
+v 0.00592509 -0.02757654 0.00768253
+v 0.00778710 -0.02788340 0.00390190
+v 0.01239030 -0.02858202 -0.00451713
+v 0.01338082 -0.02860501 -0.00412531
+v 0.01711252 -0.02930805 -0.01499063
+v 0.01711252 -0.02939648 -0.01687565
+v 0.01338082 -0.02867753 -0.00553378
+v 0.02084039 -0.02989259 -0.02443690
+v 0.02084039 -0.02997659 -0.02632191
+v 0.02270624 -0.03013135 -0.02821752
+v 0.02457210 -0.03053106 -0.03577877
+v 0.02643795 -0.03068051 -0.03766378
+v 0.01711252 -0.02947872 -0.01876067
+v 0.02643795 -0.03059562 -0.03577877
+v 0.02643795 -0.03076186 -0.03955939
+v 0.02830380 -0.03087948 -0.04144441
+v 0.03013894 -0.03090336 -0.04144441
+v 0.03013894 -0.02820158 -0.04959868
+v 0.03013894 -0.02900282 -0.04863500
+v 0.02830380 -0.02988632 -0.04711005
+v 0.02694088 -0.03057790 -0.04485438
+v 0.02486771 -0.02962544 -0.04334001
+v 0.02537833 -0.03051246 -0.04272579
+v 0.01783429 -0.02879684 -0.02782569
+v 0.01609514 -0.02866331 -0.02371678
+v 0.00503439 -0.02658602 0.00118028
+v -0.00447531 -0.02500839 0.02335571
+v -0.00637572 -0.02499514 0.02884132
+v -0.00800738 -0.02484746 0.03334206
+v 0.00309560 -0.02675053 0.00664471
+v 0.00123742 -0.02673818 0.01233153
+v -0.00908236 -0.02437257 0.03589425
+v -0.00908236 -0.02441593 0.04359317
+v -0.00908236 -0.02452382 0.04169756
+v -0.00899789 -0.02463348 0.03981254
+v -0.00815711 -0.02490496 0.03603192
+v 0.00108001 -0.02678771 0.01524377
+v 0.00115296 -0.02674703 0.01659929
+v 0.00592509 -0.02765259 0.00578692
+v 0.00778710 -0.02797006 0.00201689
+v 0.00965295 -0.02827869 -0.00175315
+v 0.01103123 -0.02855107 -0.00553377
+v 0.01196415 -0.02860767 -0.00553378
+v 0.01338082 -0.02886324 -0.00931440
+v 0.01338082 -0.02877126 -0.00742939
+v 0.02360846 -0.03044174 -0.03468800
+v 0.01524667 -0.02920811 -0.01499063
+v 0.02355087 -0.03046739 -0.03577877
+v 0.02643795 -0.03079016 -0.04144441
+v 0.02830380 -0.03086002 -0.04332942
+v 0.03013894 -0.03090247 -0.04147618
+v 0.03013894 -0.02982618 -0.04714182
+v 0.02830380 -0.03040986 -0.04607223
+v 0.02830380 -0.03062742 -0.04511913
+v 0.02636884 -0.03065838 -0.04334001
+v 0.02519788 -0.03057703 -0.04144441
+v 0.02373515 -0.03041520 -0.03842626
+v 0.01244405 -0.02858110 -0.01404811
+v -0.00815711 -0.02491115 0.03460227
+v -0.00908236 -0.02440264 0.03602133
+v 0.00114144 -0.02678151 0.01334817
+v 0.01232120 -0.02865185 -0.01309503
+v 0.01071257 -0.02855990 -0.00742938
+v -0.00908236 -0.02460606 0.03981254
+v 0.01338082 -0.02893044 -0.01121001
+v 0.01897454 -0.02977496 -0.02443690
+v 0.02355471 -0.03047092 -0.03716606
+v 0.03013894 -0.03080695 -0.04336119
+v 0.03013894 -0.03081049 -0.04332942
+v 0.03013894 -0.02984121 -0.04711005
+v 0.03013894 -0.03034530 -0.04584984
+v 0.03013894 -0.03057348 -0.04491792
+v 0.03013894 -0.03057702 -0.04489674
+v -0.00882897 -0.02467768 0.03778986
+v -0.00908236 -0.02454680 0.03783222
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 15
+f 1 15 27
+f 1 27 42
+f 1 42 56
+f 1 56 55
+f 1 55 76
+f 1 76 107
+f 1 107 159
+f 1 159 211
+f 1 211 245
+f 1 245 263
+f 1 263 262
+f 1 262 267
+f 1 267 266
+f 1 266 265
+f 1 265 264
+f 1 264 246
+f 1 246 213
+f 1 213 212
+f 1 212 161
+f 1 161 160
+f 1 160 112
+f 1 112 111
+f 1 111 81
+f 1 81 59
+f 1 59 44
+f 1 44 30
+f 1 30 18
+f 1 18 6
+f 1 6 2
+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 13
+f 3 13 12
+f 4 12 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 6 17 8
+f 6 8 7
+f 6 18 17
+f 8 17 18
+f 8 18 9
+f 9 19 10
+f 9 18 19
+f 10 19 18
+f 10 18 30
+f 10 30 45
+f 10 45 60
+f 10 60 84
+f 10 84 118
+f 10 118 176
+f 10 176 127
+f 10 127 88
+f 10 88 62
+f 10 62 46
+f 10 46 32
+f 10 32 31
+f 10 31 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 13
+f 12 13 14
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 26 15
+f 14 25 26
+f 15 26 28
+f 15 28 29
+f 15 29 27
+f 20 31 21
+f 21 31 32
+f 21 32 46
+f 21 46 63
+f 21 63 87
+f 21 87 121
+f 21 121 180
+f 21 180 226
+f 21 226 254
+f 21 254 269
+f 21 269 258
+f 21 258 228
+f 21 228 227
+f 21 227 182
+f 21 182 133
+f 21 133 132
+f 21 132 90
+f 21 90 64
+f 21 64 47
+f 21 47 34
+f 21 34 33
+f 21 33 23
+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 39
+f 23 39 40
+f 23 40 24
+f 24 40 25
+f 25 40 26
+f 26 40 28
+f 27 41 42
+f 27 29 43
+f 27 43 41
+f 28 40 29
+f 29 40 39
+f 29 39 43
+f 30 44 45
+f 34 47 35
+f 35 47 48
+f 35 48 37
+f 35 37 36
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 38 51 39
+f 39 51 43
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 42
+f 41 43 57
+f 41 57 52
+f 43 51 57
+f 44 58 45
+f 44 59 58
+f 45 58 61
+f 45 61 60
+f 46 62 63
+f 47 64 48
+f 48 64 65
+f 48 65 66
+f 48 66 49
+f 49 66 67
+f 49 67 50
+f 50 67 68
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 57
+f 50 57 51
+f 52 72 73
+f 52 73 74
+f 52 74 53
+f 52 57 72
+f 53 74 54
+f 54 75 55
+f 54 74 75
+f 55 75 76
+f 57 71 77
+f 57 77 78
+f 57 78 79
+f 57 79 80
+f 57 80 72
+f 58 59 81
+f 58 81 82
+f 58 82 61
+f 60 61 83
+f 60 83 84
+f 61 82 85
+f 61 85 83
+f 62 86 87
+f 62 87 63
+f 62 88 89
+f 62 89 86
+f 64 90 65
+f 65 90 91
+f 65 91 92
+f 65 92 93
+f 65 93 66
+f 66 93 94
+f 66 94 67
+f 67 95 96
+f 67 96 97
+f 67 97 68
+f 67 94 95
+f 68 97 98
+f 68 98 69
+f 69 98 99
+f 69 99 100
+f 69 100 77
+f 69 77 70
+f 70 77 71
+f 72 80 101
+f 72 101 102
+f 72 102 73
+f 73 102 103
+f 73 103 74
+f 74 103 104
+f 74 104 105
+f 74 105 106
+f 74 106 75
+f 75 106 76
+f 76 106 107
+f 77 100 108
+f 77 108 79
+f 77 79 78
+f 79 108 109
+f 79 109 110
+f 79 110 80
+f 80 110 101
+f 81 111 82
+f 82 111 112
+f 82 112 113
+f 82 113 85
+f 83 85 114
+f 83 114 115
+f 83 115 116
+f 83 116 117
+f 83 117 84
+f 84 117 118
+f 85 113 114
+f 86 89 119
+f 86 119 87
+f 87 120 121
+f 87 119 122
+f 87 122 123
+f 87 123 124
+f 87 124 125
+f 87 125 126
+f 87 126 120
+f 88 127 128
+f 88 128 129
+f 88 129 89
+f 89 129 130
+f 89 130 131
+f 89 131 119
+f 90 132 91
+f 91 132 133
+f 91 133 134
+f 91 134 135
+f 91 135 136
+f 91 136 92
+f 92 136 137
+f 92 137 138
+f 92 138 93
+f 93 138 94
+f 94 138 139
+f 94 139 95
+f 95 139 138
+f 95 138 137
+f 95 137 140
+f 95 140 141
+f 95 141 142
+f 95 142 143
+f 95 143 144
+f 95 144 97
+f 95 97 96
+f 97 144 98
+f 98 144 145
+f 98 145 146
+f 98 146 147
+f 98 147 99
+f 99 147 148
+f 99 148 149
+f 99 149 100
+f 100 149 150
+f 100 150 108
+f 101 151 102
+f 101 110 109
+f 101 109 152
+f 101 152 153
+f 101 153 151
+f 102 151 103
+f 103 154 156
+f 103 156 104
+f 103 151 155
+f 103 155 154
+f 104 156 157
+f 104 157 106
+f 104 106 105
+f 106 157 107
+f 107 158 159
+f 107 157 158
+f 108 150 109
+f 109 150 152
+f 112 160 113
+f 113 160 161
+f 113 161 162
+f 113 162 163
+f 113 163 114
+f 114 163 115
+f 115 164 165
+f 115 165 166
+f 115 166 167
+f 115 167 116
+f 115 163 168
+f 115 168 169
+f 115 169 170
+f 115 170 171
+f 115 171 172
+f 115 172 173
+f 115 173 174
+f 115 174 175
+f 115 175 164
+f 116 167 130
+f 116 130 117
+f 117 130 118
+f 118 130 176
+f 119 131 165
+f 119 165 122
+f 120 177 178
+f 120 178 179
+f 120 179 121
+f 120 126 177
+f 121 179 180
+f 122 165 123
+f 123 165 126
+f 123 126 124
+f 124 126 125
+f 126 165 164
+f 126 164 175
+f 126 175 174
+f 126 174 181
+f 126 181 177
+f 127 176 128
+f 128 176 129
+f 129 176 130
+f 130 167 166
+f 130 166 165
+f 130 165 131
+f 133 182 183
+f 133 183 134
+f 134 136 135
+f 134 183 184
+f 134 184 185
+f 134 185 186
+f 134 186 187
+f 134 187 188
+f 134 188 189
+f 134 189 140
+f 134 140 136
+f 136 140 137
+f 140 189 190
+f 140 190 142
+f 140 142 141
+f 142 191 192
+f 142 192 193
+f 142 193 143
+f 142 190 191
+f 143 193 145
+f 143 145 144
+f 145 194 146
+f 145 193 192
+f 145 192 194
+f 146 194 195
+f 146 195 147
+f 147 195 196
+f 147 196 197
+f 147 197 148
+f 148 197 149
+f 149 197 150
+f 150 197 198
+f 150 198 152
+f 151 153 199
+f 151 199 200
+f 151 200 155
+f 152 198 153
+f 153 198 201
+f 153 201 239
+f 153 239 199
+f 154 155 202
+f 154 202 203
+f 154 203 204
+f 154 204 205
+f 154 205 206
+f 154 206 156
+f 155 207 203
+f 155 203 202
+f 155 200 207
+f 156 206 208
+f 156 208 157
+f 157 208 206
+f 157 206 158
+f 158 209 210
+f 158 210 159
+f 158 206 209
+f 159 210 211
+f 161 212 162
+f 162 212 213
+f 162 213 214
+f 162 214 163
+f 163 214 215
+f 163 215 169
+f 163 169 168
+f 169 215 170
+f 170 174 173
+f 170 173 172
+f 170 172 216
+f 170 216 171
+f 170 215 217
+f 170 217 218
+f 170 218 174
+f 171 216 172
+f 174 218 219
+f 174 219 181
+f 177 181 220
+f 177 220 221
+f 177 221 178
+f 178 222 223
+f 178 223 180
+f 178 180 179
+f 178 221 224
+f 178 224 225
+f 178 225 222
+f 180 223 226
+f 181 224 220
+f 181 219 224
+f 182 227 184
+f 182 184 183
+f 184 227 185
+f 185 227 228
+f 185 228 229
+f 185 229 187
+f 185 187 186
+f 187 229 230
+f 187 230 188
+f 188 230 231
+f 188 231 232
+f 188 232 192
+f 188 192 189
+f 189 192 191
+f 189 191 190
+f 192 232 231
+f 192 231 233
+f 192 233 194
+f 194 233 195
+f 195 233 234
+f 195 234 235
+f 195 235 196
+f 196 235 236
+f 196 236 237
+f 196 237 197
+f 197 237 238
+f 197 238 239
+f 197 239 201
+f 197 201 198
+f 199 239 238
+f 199 238 200
+f 200 238 207
+f 203 207 240
+f 203 240 205
+f 203 205 204
+f 205 240 209
+f 205 209 206
+f 207 238 241
+f 207 241 242
+f 207 242 240
+f 209 243 210
+f 209 240 242
+f 209 242 243
+f 210 243 244
+f 210 244 211
+f 211 244 245
+f 213 246 214
+f 214 246 247
+f 214 247 215
+f 215 247 248
+f 215 248 244
+f 215 244 249
+f 215 249 217
+f 217 249 250
+f 217 250 251
+f 217 251 252
+f 217 252 219
+f 217 219 218
+f 219 252 224
+f 220 224 221
+f 222 225 223
+f 223 253 254
+f 223 254 226
+f 223 225 253
+f 224 252 225
+f 225 255 253
+f 225 252 256
+f 225 256 257
+f 225 257 255
+f 228 258 229
+f 229 258 253
+f 229 253 230
+f 230 253 231
+f 231 253 255
+f 231 255 257
+f 231 257 233
+f 233 236 234
+f 233 257 236
+f 234 236 235
+f 236 257 259
+f 236 259 241
+f 236 241 238
+f 236 238 237
+f 241 259 257
+f 241 257 260
+f 241 260 242
+f 242 261 243
+f 242 260 257
+f 242 257 261
+f 243 250 249
+f 243 249 244
+f 243 261 250
+f 244 248 262
+f 244 262 263
+f 244 263 245
+f 246 264 247
+f 247 264 265
+f 247 265 266
+f 247 266 248
+f 248 266 267
+f 248 267 262
+f 250 261 251
+f 251 261 256
+f 251 256 252
+f 253 258 268
+f 253 268 269
+f 253 269 254
+f 256 261 257
+f 258 269 268
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_17.obj

@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.02113882 0.02432876 -0.00836817
+v 0.02015700 0.02557536 -0.00592296
+v 0.01808633 0.02532981 -0.00071748
+v 0.01808633 0.02509962 -0.00071748
+v 0.02012932 0.02432875 -0.00597091
+v 0.01995584 0.02336377 -0.00636817
+v 0.02113882 0.02409315 -0.00864214
+v 0.02113882 0.02589312 -0.00936816
+v 0.02048366 0.02584618 -0.00742981
+v 0.00324647 0.02723798 0.03352913
+v 0.00332952 0.02618544 0.03370722
+v 0.00506800 0.02514736 0.02960446
+v 0.02113882 0.01875016 -0.01893669
+v 0.02113882 0.02327442 -0.00973804
+v 0.00228495 0.01874999 0.02709074
+v 0.02113882 0.02594728 -0.00952570
+v 0.00346240 0.02738512 0.03225516
+v 0.00228495 0.02758641 0.03418667
+v 0.00228495 0.02623057 0.03602913
+v 0.00228495 0.02618724 0.03607708
+v 0.02113882 0.02634809 -0.01121063
+v 0.02113882 0.02641489 -0.01149830
+v 0.00327415 0.02508957 0.03354282
+v 0.02113882 0.01875020 -0.02998465
+v 0.00228495 0.02550209 0.03538529
+v 0.00228495 0.01875003 0.01712498
+v 0.02084354 0.02650877 -0.01121063
+v 0.00228495 0.02783105 0.03225516
+v 0.00228495 0.02616467 0.03605653
+v 0.02113882 0.02665050 -0.01339556
+v 0.01058058 0.02153855 -0.01027229
+v 0.01989863 0.02152959 -0.03108053
+v 0.02113882 0.02091306 -0.03258738
+v 0.01955905 0.01875019 -0.02621067
+v 0.00310806 0.02152856 0.00670032
+v 0.00228495 0.01875274 0.01571402
+v 0.00247689 0.01875003 0.01524142
+v 0.00228495 0.02784459 0.03214557
+v 0.02113882 0.02673356 -0.01528598
+v 0.02084354 0.02670015 -0.01310104
+v 0.01054736 0.02247373 -0.01034764
+v 0.00305085 0.02247367 0.00657019
+v 0.00481886 0.02247368 0.00256334
+v 0.01410922 0.02247376 -0.01828600
+v 0.01767293 0.02247379 -0.02622436
+v 0.01809925 0.02247379 -0.02716957
+v 0.01988018 0.02247380 -0.03111477
+v 0.02113513 0.02247381 -0.03388875
+v 0.02113882 0.02246840 -0.03389560
+v 0.02113882 0.02156210 -0.03336820
+v 0.01610793 0.01875016 -0.01795724
+v 0.00677880 0.01875007 0.00470716
+v 0.00298256 0.01875004 0.01399484
+v 0.00247873 0.01875003 0.01523457
+v 0.00228495 0.02140487 0.00983046
+v 0.00228495 0.02199434 0.00876197
+v 0.00228495 0.02249533 0.00839211
+v 0.01228769 0.01875012 -0.00868326
+v 0.00405666 0.02786087 0.02469351
+v 0.00228495 0.02791591 0.03028256
+v 0.02113882 0.02676425 -0.01717639
+v 0.01053814 0.02400741 -0.01036817
+v 0.00228495 0.02432870 0.00813869
+v 0.00228495 0.02308388 0.00828937
+v 0.01988202 0.02359946 -0.03111476
+v 0.02113882 0.02440377 -0.03358737
+v 0.00228495 0.02797189 0.02648803
+v 0.00228495 0.02794752 0.02837844
+v 0.02113882 0.02678321 -0.01906680
+v 0.02113882 0.02681753 -0.02254626
+v 0.02113882 0.02682023 -0.02284763
+v 0.02113882 0.02683649 -0.02473804
+v 0.00657026 0.02432874 -0.00145036
+v 0.01058612 0.02524500 -0.01025858
+v 0.00228495 0.02610157 0.00980994
+v 0.00306561 0.02535868 0.00660444
+v 0.02113882 0.02575871 -0.03199148
+v 0.01997983 0.02483705 -0.03090929
+v 0.01969193 0.02550685 -0.02964901
+v 0.00228495 0.02763071 0.01703597
+v 0.02084354 0.02684823 -0.02443667
+v 0.02113882 0.02678776 -0.02662845
+v 0.01240765 0.02712620 -0.00850515
+v 0.00668284 0.02551396 -0.00120378
+v 0.01240581 0.02532174 -0.01414215
+v 0.00228495 0.02610789 0.00981679
+v 0.00282754 0.02568363 0.00768664
+v 0.02113882 0.02582460 -0.03188874
+v 0.01422180 0.02538314 -0.01802571
+v 0.01604149 0.02543370 -0.02190243
+v 0.01936712 0.02578126 -0.02821750
+v 0.01576097 0.02570902 -0.02065585
+v 0.00305823 0.02715050 0.01035103
+v 0.00228495 0.02756120 0.01514556
+v 0.02113882 0.02660722 -0.02851886
+v 0.02084354 0.02678595 -0.02632708
+v 0.02084354 0.02657833 -0.02821749
+v 0.01049938 0.02714514 -0.00484076
+v 0.00638755 0.02584525 0.00013184
+v 0.01030744 0.02561058 -0.00899831
+v 0.00460847 0.02576851 0.00390581
+v 0.00228495 0.02612685 0.00985103
+v 0.02113882 0.02613241 -0.03060105
+v 0.00675850 0.02715865 0.00270719
+v 0.01396712 0.02565574 -0.01687503
+v 0.00228495 0.02686615 0.01146062
+v 0.00228495 0.02734637 0.01302227
+v 0.00278878 0.02727236 0.01146062
+v 0.00862248 0.02715415 -0.00108048
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 13
+f 1 13 24
+f 1 24 33
+f 1 33 50
+f 1 50 49
+f 1 49 66
+f 1 66 77
+f 1 77 88
+f 1 88 103
+f 1 103 95
+f 1 95 82
+f 1 82 72
+f 1 72 71
+f 1 71 70
+f 1 70 69
+f 1 69 61
+f 1 61 39
+f 1 39 30
+f 1 30 22
+f 1 22 21
+f 1 21 16
+f 1 16 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 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 15
+f 6 15 13
+f 8 16 9
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 16 21
+f 10 21 22
+f 10 22 17
+f 11 20 12
+f 12 20 23
+f 12 23 15
+f 13 15 26
+f 13 26 37
+f 13 37 54
+f 13 54 53
+f 13 53 52
+f 13 52 58
+f 13 58 51
+f 13 51 34
+f 13 34 24
+f 15 23 25
+f 15 25 29
+f 15 29 20
+f 15 20 19
+f 15 19 18
+f 15 18 28
+f 15 28 38
+f 15 38 60
+f 15 60 68
+f 15 68 67
+f 15 67 80
+f 15 80 94
+f 15 94 107
+f 15 107 106
+f 15 106 102
+f 15 102 86
+f 15 86 75
+f 15 75 63
+f 15 63 64
+f 15 64 57
+f 15 57 56
+f 15 56 55
+f 15 55 36
+f 15 36 26
+f 17 22 27
+f 17 27 18
+f 18 27 28
+f 20 29 23
+f 22 30 27
+f 23 29 25
+f 24 31 32
+f 24 32 33
+f 24 34 35
+f 24 35 31
+f 26 36 37
+f 27 30 38
+f 27 38 28
+f 30 39 40
+f 30 40 38
+f 31 41 32
+f 31 35 42
+f 31 42 43
+f 31 43 41
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 32 41 44
+f 34 51 35
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 35 36 55
+f 35 55 56
+f 35 56 57
+f 35 57 42
+f 35 51 58
+f 35 58 52
+f 36 54 37
+f 38 59 60
+f 38 40 59
+f 39 61 59
+f 39 59 40
+f 41 62 44
+f 41 43 63
+f 41 63 62
+f 42 57 64
+f 42 64 63
+f 42 63 43
+f 44 62 45
+f 45 62 65
+f 45 65 46
+f 46 65 47
+f 47 65 48
+f 48 65 66
+f 48 66 49
+f 59 67 68
+f 59 68 60
+f 59 61 69
+f 59 69 70
+f 59 70 71
+f 59 71 72
+f 59 72 67
+f 62 63 73
+f 62 73 74
+f 62 74 65
+f 63 75 76
+f 63 76 74
+f 63 74 73
+f 65 74 66
+f 66 74 78
+f 66 78 79
+f 66 79 77
+f 67 72 81
+f 67 81 82
+f 67 82 83
+f 67 83 80
+f 72 82 81
+f 74 84 85
+f 74 85 78
+f 74 76 84
+f 75 86 87
+f 75 87 76
+f 76 87 84
+f 77 79 88
+f 78 85 89
+f 78 89 90
+f 78 90 79
+f 79 91 88
+f 79 90 92
+f 79 92 93
+f 79 93 91
+f 80 83 94
+f 82 95 96
+f 82 96 83
+f 83 96 95
+f 83 95 97
+f 83 97 98
+f 83 98 94
+f 84 99 100
+f 84 100 89
+f 84 89 85
+f 84 87 101
+f 84 101 99
+f 86 102 87
+f 87 102 101
+f 88 97 103
+f 88 91 93
+f 88 93 104
+f 88 104 97
+f 89 100 90
+f 90 105 92
+f 90 100 105
+f 92 105 93
+f 93 101 102
+f 93 102 106
+f 93 106 107
+f 93 107 108
+f 93 108 104
+f 93 105 100
+f 93 100 99
+f 93 99 101
+f 94 98 107
+f 95 103 97
+f 97 104 109
+f 97 109 98
+f 98 109 107
+f 104 108 109
+f 107 109 108
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_18.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03013894 -0.01673475 -0.04314623
+v 0.03013510 -0.01673475 -0.04313562
+v 0.03013894 -0.01673626 -0.04314623
+v 0.03013894 -0.01673472 -0.05221226
+v 0.03013894 -0.01836899 -0.04330529
+v -0.00860245 -0.01673510 0.05124660
+v -0.00792292 -0.02095840 0.05433221
+v -0.00618760 -0.02113778 0.05023924
+v -0.00617992 -0.02186897 0.05024985
+v -0.00414514 -0.02186896 0.04500109
+v 0.03013894 -0.01909612 -0.05226530
+v 0.02922905 -0.02092484 -0.05184117
+v 0.02925592 -0.01968710 -0.05181995
+v 0.02929431 -0.01836896 -0.05177753
+v 0.02934038 -0.01673472 -0.05171390
+v 0.03013894 -0.02186863 -0.04367642
+v -0.00908236 -0.01673510 0.05215850
+v -0.00908236 -0.02020310 0.05606060
+v -0.00844889 -0.02186899 0.05504265
+v -0.00794595 -0.02186899 0.05427919
+v 0.02999305 -0.02027356 -0.05220168
+v 0.03013894 -0.02027004 -0.05222288
+v 0.02890655 -0.02186860 -0.05131098
+v 0.02877602 -0.02186860 -0.05107771
+v 0.02922905 -0.02142536 -0.05184117
+v 0.02878370 -0.01836896 -0.05083381
+v 0.02888352 -0.01673472 -0.05088682
+v 0.03013894 -0.02186860 -0.05215927
+v -0.00908236 -0.01673505 0.03783310
+v -0.00908236 -0.02186900 0.05593335
+v 0.03011974 -0.02186860 -0.05215927
+v 0.02999305 -0.02186860 -0.05213806
+v 0.02924057 -0.02186860 -0.05184117
+v 0.02768953 -0.02186861 -0.04886156
+v 0.02882209 -0.01673472 -0.05077018
+v -0.00903245 -0.01673505 0.03767405
+v -0.00908236 -0.01957887 0.03415366
+v -0.00908236 -0.02186891 0.03244648
+v -0.00457513 -0.02186887 0.02241552
+v 0.02800818 -0.01673473 -0.04899939
+v -0.00844505 -0.01673504 0.03624257
+v -0.00672508 -0.01673503 0.03210718
+v -0.00908236 -0.02018492 0.03341141
+v -0.00823773 -0.02081458 0.03091957
+v -0.00832603 -0.02186890 0.03071810
+v -0.00797667 -0.02186890 0.02993344
+f 1 2 3
+f 1 3 5
+f 1 5 16
+f 1 16 28
+f 1 28 22
+f 1 22 11
+f 1 11 4
+f 1 4 15
+f 1 15 27
+f 1 27 35
+f 1 35 40
+f 1 40 42
+f 1 42 41
+f 1 41 36
+f 1 36 29
+f 1 29 17
+f 1 17 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 10 16
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 9
+f 7 9 8
+f 9 20 19
+f 9 19 30
+f 9 30 38
+f 9 38 45
+f 9 45 46
+f 9 46 39
+f 9 39 34
+f 9 34 24
+f 9 24 23
+f 9 23 33
+f 9 33 32
+f 9 32 31
+f 9 31 28
+f 9 28 16
+f 9 16 10
+f 11 21 12
+f 11 22 21
+f 12 23 24
+f 12 24 13
+f 12 21 25
+f 12 25 23
+f 13 24 26
+f 13 26 27
+f 13 27 14
+f 14 27 15
+f 17 29 37
+f 17 37 43
+f 17 43 38
+f 17 38 30
+f 17 30 18
+f 18 30 19
+f 21 22 31
+f 21 31 32
+f 21 32 33
+f 21 33 25
+f 22 28 31
+f 23 25 33
+f 24 34 26
+f 26 34 35
+f 26 35 27
+f 29 36 37
+f 34 39 40
+f 34 40 35
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 38 43 44
+f 38 44 45
+f 39 46 40
+f 40 46 45
+f 40 45 44
+f 40 44 43
+f 40 43 42
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_19.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.02113882 0.01875016 -0.01893920
+v 0.02113882 0.01133367 -0.01928297
+v 0.02113882 0.01875020 -0.02998480
+v -0.00544162 0.01874992 0.04708236
+v 0.00499178 0.01597823 0.02564043
+v 0.00642279 0.01319010 0.02279881
+v 0.00697178 0.01088984 0.02209604
+v 0.00747134 0.00947858 0.02091202
+v 0.00817644 0.00762201 0.01902526
+v 0.00866038 0.00390886 0.01784887
+v 0.00866818 0.00205228 0.01786415
+v 0.02113882 0.01019091 -0.01933644
+v 0.01955950 0.01875019 -0.02621127
+v 0.02113882 0.00202462 -0.03095498
+v -0.00401841 0.00202440 0.02861185
+v -0.00544162 0.01874996 0.03520413
+v -0.00544162 0.01498929 0.04635667
+v -0.00234282 0.00202436 0.04088729
+v -0.00234022 0.00205220 0.04088729
+v -0.00161430 0.00202436 0.03982550
+v -0.00160390 0.00205220 0.03981023
+v -0.00076871 0.00390879 0.03852692
+v -0.00025094 0.00762194 0.03754154
+v 0.00054002 0.00947853 0.03602907
+v 0.00161458 0.01133348 0.03389024
+v 0.00295714 0.01319007 0.03094170
+v 0.00331099 0.01504665 0.02978062
+v 0.00392502 0.01504666 0.02847440
+v 0.00319390 0.01607317 0.02955910
+v 0.00467175 0.01504666 0.02672513
+v 0.00571769 0.01319009 0.02469322
+v 0.00516090 0.01319008 0.02603000
+v 0.00476542 0.01319008 0.02697720
+v 0.00585039 0.01133351 0.02469321
+v 0.00700821 0.00947858 0.02216478
+v 0.00751297 0.00762200 0.02091202
+v 0.00818944 0.00205228 0.01902524
+v 0.00866038 0.00202444 0.01787943
+v 0.00866818 0.00202444 0.01785651
+v 0.02113882 0.00202458 -0.01978716
+v 0.02113882 0.00576557 -0.01957326
+v 0.02113882 0.00842110 -0.01942812
+v 0.01610686 0.01875016 -0.01795380
+v -0.00467928 0.00202440 0.03019306
+v -0.00505394 0.01874996 0.03414235
+v -0.00544162 0.01319006 0.03397428
+v -0.00544162 0.01319001 0.04599000
+v -0.00544162 0.01270540 0.04589070
+v -0.00544162 0.01120409 0.04557750
+v -0.00544162 0.00665598 0.04462264
+v -0.00544162 0.00205219 0.04363723
+v -0.00544162 0.00202435 0.04362959
+v -0.00081554 0.00202437 0.03847345
+v -0.00079993 0.00205221 0.03845817
+v 0.00115666 0.00947853 0.03484507
+v 0.00238473 0.01133348 0.03224791
+v 0.00340465 0.01319007 0.03000214
+v 0.00411235 0.01319008 0.02847439
+v 0.00745312 0.00576542 0.02091201
+v 0.00818684 0.00202444 0.01902524
+v 0.01228735 0.01875012 -0.00868038
+v -0.00467147 0.00212918 0.03018542
+v -0.00544162 0.00205059 0.03204164
+v -0.00424217 0.00576539 0.02964308
+v -0.00231940 0.01319008 0.02600708
+v -0.00544162 0.00202439 0.03204164
+v -0.00452317 0.01874997 0.03271391
+v -0.00434884 0.01425752 0.03127780
+v -0.00544162 0.01133348 0.03357705
+v -0.00080253 0.00202437 0.03845053
+v 0.00677925 0.01875007 0.00471795
+v -0.00544162 0.00350933 0.03224788
+v -0.00541820 0.00390881 0.03224788
+v -0.00457260 0.00762197 0.03072016
+v -0.00270448 0.01319008 0.02695428
+v -0.00225956 0.01504666 0.02615986
+v -0.00416151 0.01874997 0.03175906
+v -0.00438787 0.01319007 0.03117086
+v -0.00493686 0.01133348 0.03224791
+v -0.00363073 0.01874998 0.03036118
+v -0.00400280 0.01494351 0.03052921
+v -0.00544162 0.00941305 0.03321802
+v -0.00081294 0.01875000 0.02326479
+v -0.00544162 0.00576538 0.03259164
+v -0.00530372 0.00576538 0.03224789
+v -0.00413289 0.00947855 0.02991809
+v -0.00451536 0.00947855 0.03086529
+v -0.00407565 0.01133349 0.03006323
+v -0.00331591 0.01319008 0.02847439
+v -0.00264203 0.01504666 0.02710707
+v -0.00138794 0.01875000 0.02468560
+v -0.00445552 0.01133349 0.03101044
+v -0.00318582 0.01504666 0.02847440
+v -0.00401581 0.01319007 0.03023130
+v -0.00506435 0.00947854 0.03224790
+v -0.00280075 0.01874999 0.02824525
+v -0.00304012 0.01690324 0.02847440
+v -0.00544162 0.00762196 0.03290483
+v -0.00256918 0.01690324 0.02728276
+f 1 2 12
+f 1 12 42
+f 1 42 41
+f 1 41 40
+f 1 40 14
+f 1 14 3
+f 1 3 13
+f 1 13 43
+f 1 43 61
+f 1 61 71
+f 1 71 83
+f 1 83 91
+f 1 91 96
+f 1 96 80
+f 1 80 77
+f 1 77 67
+f 1 67 45
+f 1 45 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 11
+f 1 11 2
+f 2 11 12
+f 3 14 15
+f 3 15 13
+f 4 16 46
+f 4 46 69
+f 4 69 82
+f 4 82 98
+f 4 98 84
+f 4 84 72
+f 4 72 63
+f 4 63 66
+f 4 66 52
+f 4 52 51
+f 4 51 50
+f 4 50 49
+f 4 49 48
+f 4 48 47
+f 4 47 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 23
+f 4 23 24
+f 4 24 25
+f 4 25 26
+f 4 26 27
+f 4 27 28
+f 4 28 29
+f 4 29 5
+f 5 29 28
+f 5 28 30
+f 5 30 31
+f 5 31 6
+f 6 31 7
+f 7 31 32
+f 7 32 33
+f 7 33 34
+f 7 34 35
+f 7 35 8
+f 8 35 36
+f 8 36 9
+f 9 36 10
+f 10 36 11
+f 11 36 37
+f 11 37 38
+f 11 38 39
+f 11 39 40
+f 11 40 41
+f 11 41 42
+f 11 42 12
+f 13 15 43
+f 14 40 39
+f 14 39 38
+f 14 38 60
+f 14 60 70
+f 14 70 53
+f 14 53 20
+f 14 20 18
+f 14 18 52
+f 14 52 66
+f 14 66 44
+f 14 44 15
+f 15 44 43
+f 16 45 46
+f 17 47 18
+f 18 47 48
+f 18 48 49
+f 18 49 50
+f 18 50 51
+f 18 51 52
+f 18 20 19
+f 20 53 54
+f 20 54 21
+f 21 54 22
+f 22 54 55
+f 22 55 24
+f 22 24 23
+f 24 55 25
+f 25 56 57
+f 25 57 26
+f 25 55 56
+f 26 57 27
+f 27 57 28
+f 28 58 33
+f 28 33 30
+f 28 57 58
+f 30 33 32
+f 30 32 31
+f 33 58 34
+f 34 58 56
+f 34 56 35
+f 35 59 37
+f 35 37 36
+f 35 56 55
+f 35 55 59
+f 37 60 38
+f 37 59 55
+f 37 55 54
+f 37 54 60
+f 43 44 62
+f 43 62 63
+f 43 63 64
+f 43 64 65
+f 43 65 61
+f 44 63 62
+f 44 66 63
+f 45 67 46
+f 46 67 68
+f 46 68 69
+f 53 70 54
+f 54 70 60
+f 56 58 57
+f 61 65 71
+f 63 72 64
+f 64 72 65
+f 65 72 73
+f 65 73 74
+f 65 74 75
+f 65 75 76
+f 65 76 71
+f 67 77 68
+f 68 78 79
+f 68 79 69
+f 68 77 80
+f 68 80 81
+f 68 81 78
+f 69 79 82
+f 71 76 83
+f 72 84 73
+f 73 84 85
+f 73 85 74
+f 74 86 75
+f 74 85 87
+f 74 87 86
+f 75 86 87
+f 75 87 88
+f 75 88 89
+f 75 89 90
+f 75 90 76
+f 76 90 91
+f 76 91 83
+f 78 92 79
+f 78 81 93
+f 78 93 94
+f 78 94 92
+f 79 92 95
+f 79 95 82
+f 80 96 97
+f 80 97 81
+f 81 97 93
+f 82 95 98
+f 84 98 95
+f 84 95 92
+f 84 92 87
+f 84 87 85
+f 87 92 88
+f 88 92 89
+f 89 92 90
+f 90 92 94
+f 90 94 93
+f 90 93 99
+f 90 99 91
+f 91 99 96
+f 93 97 99
+f 96 99 97
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_2.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.00908336 -0.02020368 0.05606036
+v -0.00914182 -0.02022578 0.05682196
+v -0.00908336 -0.02205270 0.05602299
+v -0.00908336 -0.01654430 0.05242193
+v -0.00961352 -0.02022578 0.05835666
+v -0.00992092 -0.01734218 0.05968157
+v -0.00992092 -0.01759629 0.05968157
+v -0.00975361 -0.02137560 0.05800603
+v -0.00908336 -0.02314884 0.05470670
+v -0.01058412 -0.01654433 0.06043455
+v -0.00908336 -0.01654425 0.03803199
+v -0.01000458 -0.01883449 0.05957235
+v -0.01135415 -0.01654434 0.06138008
+v -0.01161117 -0.01654434 0.06168185
+v -0.01124832 -0.01973256 0.05998620
+v -0.01086633 -0.02157210 0.05828193
+v -0.00986751 -0.02304231 0.05593964
+v -0.00914787 -0.02315673 0.05475269
+v -0.00908336 -0.02333350 0.05399396
+v -0.00908336 -0.01957937 0.03416362
+v -0.00985843 -0.01951387 0.03531033
+v -0.01935583 -0.01654431 0.05565514
+v -0.01179158 -0.01745110 0.06154964
+v -0.01252835 -0.01654434 0.06170772
+v -0.01273194 -0.01976650 0.06002356
+v -0.01273194 -0.02069377 0.05919010
+v -0.01273194 -0.02151528 0.05824457
+v -0.01086633 -0.02250016 0.05687943
+v -0.01086633 -0.02303916 0.05593677
+v -0.01086633 -0.02331299 0.05493087
+v -0.00908336 -0.02355841 0.05304268
+v -0.00908336 -0.02018544 0.03341926
+v -0.01005497 -0.02075050 0.03482462
+v -0.01176537 -0.01943576 0.03892578
+v -0.01936087 -0.01654431 0.05566664
+v -0.00908336 -0.02208181 0.03235014
+v -0.01592294 -0.02022574 0.04745858
+v -0.01674840 -0.02022575 0.04926344
+v -0.01728662 -0.02022576 0.05045901
+v -0.01182484 -0.01745110 0.06154964
+v -0.01259487 -0.01654434 0.06169335
+v -0.01306858 -0.01711412 0.06143469
+v -0.01256060 -0.01818974 0.06101795
+v -0.01397770 -0.01948792 0.05981663
+v -0.01530107 -0.02105046 0.05764678
+v -0.01405833 -0.02130062 0.05795717
+v -0.01464594 -0.02174492 0.05693979
+v -0.01256463 -0.02248516 0.05664089
+v -0.01183088 -0.02301548 0.05589079
+v -0.01256463 -0.02316147 0.05491075
+v -0.01273194 -0.02350869 0.05304268
+v -0.01086633 -0.02366337 0.05304268
+v -0.00908336 -0.02388354 0.05115161
+v -0.00908336 -0.02190346 0.03243348
+v -0.01937901 -0.01654432 0.05683922
+v -0.01768071 -0.02022576 0.05140454
+v -0.01932962 -0.01778409 0.05569824
+v -0.00908336 -0.02297672 0.03293355
+v -0.01005094 -0.02319060 0.03481599
+v -0.01369448 -0.02130531 0.04258720
+v -0.01181476 -0.02303119 0.03883093
+v -0.01757689 -0.02144581 0.05161433
+v -0.01441311 -0.01654433 0.06108694
+v -0.01451289 -0.01654433 0.06104383
+v -0.01459756 -0.01839414 0.06017588
+v -0.01521943 -0.01902942 0.05949475
+v -0.01758496 -0.01948475 0.05791694
+v -0.01646115 -0.01982488 0.05823021
+v -0.01646115 -0.02075215 0.05732777
+v -0.01753053 -0.02127142 0.05604023
+v -0.01646115 -0.02149634 0.05638223
+v -0.01473362 -0.02276215 0.05491076
+v -0.01307463 -0.02288999 0.05552579
+v -0.01544621 -0.02299574 0.05392500
+v -0.01420448 -0.02309518 0.05426412
+v -0.01473362 -0.02324433 0.05319500
+v -0.01459554 -0.02349685 0.05115161
+v -0.01273194 -0.02370125 0.05115161
+v -0.01086633 -0.02383146 0.05115161
+v -0.00908336 -0.02405794 0.04926342
+v -0.01937901 -0.01654432 0.05684496
+v -0.01826126 -0.02022576 0.05304270
+v -0.01849509 -0.02022577 0.05493089
+v -0.01932962 -0.01778410 0.05624430
+v -0.00908336 -0.02393241 0.03416073
+v -0.01030191 -0.02346917 0.03603743
+v -0.01200424 -0.02322771 0.03981669
+v -0.01378822 -0.02312986 0.04420237
+v -0.01549761 -0.02297836 0.04838974
+v -0.01775227 -0.02162653 0.05304269
+v -0.01569314 -0.02312357 0.04965141
+v -0.01455422 -0.01654433 0.06102371
+v -0.01587254 -0.01779122 0.05984537
+v -0.01648131 -0.01839414 0.05918149
+v -0.01795082 -0.01836966 0.05823883
+v -0.01918852 -0.01715908 0.05750310
+v -0.01892042 -0.01838939 0.05685358
+v -0.01792563 -0.02015239 0.05672999
+v -0.01771800 -0.02149554 0.05493088
+v -0.01646115 -0.02220421 0.05493088
+v -0.01576873 -0.02312989 0.05266620
+v -0.01273194 -0.02381803 0.04926342
+v -0.01583122 -0.02318513 0.05115161
+v -0.01273194 -0.02388747 0.04737235
+v -0.01086633 -0.02395061 0.04926342
+v -0.00908336 -0.02419051 0.04728900
+v -0.00908336 -0.02418498 0.04737235
+v -0.01937498 -0.01654432 0.05686796
+v -0.00908336 -0.02440196 0.03602306
+v -0.01641882 -0.02263746 0.05319501
+v -0.01086633 -0.02422995 0.04170489
+v -0.01667483 -0.01654433 0.05985688
+v -0.01711629 -0.01691366 0.05950338
+v -0.01828746 -0.01654433 0.05865556
+v -0.01846082 -0.01654432 0.05848313
+v -0.01800626 -0.01654433 0.05889410
+v -0.01086633 -0.02425837 0.04359595
+v -0.00908336 -0.02452273 0.04170489
+v -0.01086633 -0.02417394 0.04548415
+v -0.00908336 -0.02441541 0.04359595
+v -0.00908336 -0.02430178 0.04548415
+v -0.00908336 -0.02454560 0.03783653
+v -0.00908336 -0.02460559 0.03981669
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 31
+f 1 31 53
+f 1 53 80
+f 1 80 107
+f 1 107 106
+f 1 106 121
+f 1 121 120
+f 1 120 118
+f 1 118 123
+f 1 123 122
+f 1 122 109
+f 1 109 85
+f 1 85 58
+f 1 58 36
+f 1 36 54
+f 1 54 32
+f 1 32 20
+f 1 20 11
+f 1 11 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 3 8 9
+f 4 10 6
+f 4 11 22
+f 4 22 35
+f 4 35 55
+f 4 55 81
+f 4 81 108
+f 4 108 115
+f 4 115 114
+f 4 114 116
+f 4 116 112
+f 4 112 92
+f 4 92 64
+f 4 64 63
+f 4 63 41
+f 4 41 24
+f 4 24 14
+f 4 14 13
+f 4 13 10
+f 5 7 12
+f 5 12 8
+f 6 10 13
+f 6 13 7
+f 7 13 14
+f 7 14 12
+f 8 12 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 18 19
+f 9 17 18
+f 11 20 21
+f 11 21 22
+f 12 14 23
+f 12 23 15
+f 14 24 23
+f 15 23 25
+f 15 25 26
+f 15 26 16
+f 16 27 28
+f 16 28 17
+f 16 26 27
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 17 19 18
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 33
+f 22 33 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 35
+f 23 24 40
+f 23 40 25
+f 24 41 42
+f 24 42 40
+f 25 40 43
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 28
+f 28 49 29
+f 29 49 30
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 31
+f 31 52 53
+f 32 54 33
+f 33 54 36
+f 35 39 56
+f 35 56 57
+f 35 57 55
+f 36 58 59
+f 36 59 60
+f 36 60 39
+f 36 39 38
+f 36 38 37
+f 39 60 59
+f 39 59 61
+f 39 61 62
+f 39 62 56
+f 40 42 43
+f 41 63 42
+f 42 63 64
+f 42 64 65
+f 42 65 44
+f 42 44 43
+f 44 65 66
+f 44 66 67
+f 44 67 68
+f 44 68 45
+f 45 68 69
+f 45 69 70
+f 45 70 71
+f 45 71 46
+f 46 71 47
+f 47 71 72
+f 47 72 48
+f 48 72 73
+f 48 73 49
+f 49 73 74
+f 49 74 75
+f 49 75 50
+f 50 75 76
+f 50 76 51
+f 51 76 77
+f 51 77 78
+f 51 78 52
+f 52 78 79
+f 52 79 80
+f 52 80 53
+f 55 57 84
+f 55 84 81
+f 56 62 82
+f 56 82 57
+f 57 82 83
+f 57 83 84
+f 58 85 59
+f 59 85 86
+f 59 86 61
+f 61 86 87
+f 61 87 88
+f 61 88 89
+f 61 89 62
+f 62 90 82
+f 62 89 91
+f 62 91 90
+f 64 92 93
+f 64 93 65
+f 65 93 66
+f 66 93 94
+f 66 94 67
+f 67 94 95
+f 67 95 96
+f 67 96 97
+f 67 97 98
+f 67 98 70
+f 67 70 69
+f 67 69 68
+f 70 98 97
+f 70 97 83
+f 70 83 99
+f 70 99 100
+f 70 100 71
+f 71 100 72
+f 72 74 73
+f 72 100 74
+f 74 100 101
+f 74 101 76
+f 74 76 75
+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 78 105 79
+f 79 105 106
+f 79 106 107
+f 79 107 80
+f 81 84 96
+f 81 96 108
+f 82 90 83
+f 83 97 84
+f 83 90 99
+f 84 97 96
+f 85 109 89
+f 85 89 88
+f 85 88 86
+f 86 88 87
+f 89 109 91
+f 90 110 99
+f 90 91 103
+f 90 103 110
+f 91 109 111
+f 91 111 103
+f 92 112 113
+f 92 113 93
+f 93 113 94
+f 94 113 95
+f 95 114 115
+f 95 115 96
+f 95 113 116
+f 95 116 114
+f 96 115 108
+f 99 110 101
+f 99 101 100
+f 101 110 103
+f 102 104 117
+f 102 117 118
+f 102 118 119
+f 102 119 120
+f 102 120 105
+f 103 111 104
+f 104 111 117
+f 105 120 121
+f 105 121 106
+f 109 122 111
+f 111 122 123
+f 111 123 117
+f 112 116 113
+f 117 123 118
+f 118 120 119
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_20.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00909532 0.00712232 0.05682983
+v -0.00909532 0.00712232 0.06197211
+v -0.00909532 0.01874874 0.05682983
+v -0.00909532 0.01874874 0.06197211
+v -0.00809532 0.00712232 0.05682983
+v -0.00809532 0.00712232 0.06197211
+v -0.00809532 0.01874874 0.05682983
+v -0.00809532 0.01874874 0.06197211
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_21.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04002099 0.01694745 -0.04726550
+v 0.03973967 0.01694746 -0.04885867
+v 0.03990117 0.01876064 -0.04711903
+v 0.03905646 0.02063506 -0.04511007
+v 0.03864416 0.02183444 -0.04417458
+v 0.03864416 0.02126656 -0.04417458
+v 0.03903637 0.01694745 -0.04586888
+v 0.03964292 0.01694746 -0.04897490
+v 0.03859281 0.01789281 -0.04997275
+v 0.03916661 0.01861139 -0.04907316
+v 0.03890613 0.02061642 -0.04842209
+v 0.03946207 0.02061641 -0.04711902
+v 0.03892250 0.02183445 -0.04519134
+v 0.03771238 0.02183444 -0.04358116
+v 0.03577290 0.02183444 -0.04274110
+v 0.03241864 0.01694745 -0.04593597
+v 0.03871858 0.01694746 -0.05005686
+v 0.03759032 0.01861139 -0.05023355
+v 0.03818497 0.01913046 -0.04974596
+v 0.03762977 0.01694747 -0.05061910
+v 0.03716834 0.01694747 -0.05084872
+v 0.03483070 0.01782488 -0.05184184
+v 0.03576621 0.01876066 -0.05108211
+v 0.03861885 0.02161152 -0.04811876
+v 0.03891431 0.02183445 -0.04711902
+v 0.03241864 0.02183444 -0.04302458
+v 0.03241864 0.01694747 -0.05239464
+v 0.03694135 0.01992176 -0.05007575
+v 0.03759032 0.02057097 -0.04934813
+v 0.03570741 0.01708526 -0.05154136
+v 0.03552507 0.01694747 -0.05165286
+v 0.03498401 0.01694747 -0.05191461
+v 0.03408572 0.01708526 -0.05221794
+v 0.03356699 0.01876066 -0.05206863
+v 0.03314799 0.01986005 -0.05191554
+v 0.03449952 0.01876066 -0.05169065
+v 0.03796095 0.02183446 -0.04831058
+v 0.03847522 0.02183446 -0.04796568
+v 0.03874686 0.02183445 -0.04754140
+v 0.03625814 0.02115941 -0.04972611
+v 0.03501527 0.02166223 -0.05004361
+v 0.03241864 0.02183447 -0.05083830
+v 0.03241864 0.01876066 -0.05214895
+v 0.03252804 0.01694747 -0.05238425
+v 0.03382226 0.02053414 -0.05125786
+v 0.03568880 0.02057097 -0.05033749
+v 0.03435142 0.01694747 -0.05214234
+v 0.03407307 0.01694747 -0.05223589
+v 0.03241864 0.01987010 -0.05191554
+v 0.03241864 0.02047817 -0.05166702
+v 0.03265977 0.02183447 -0.05077972
+v 0.03389222 0.02183447 -0.05041875
+v 0.03516635 0.02183446 -0.04981210
+v 0.03443030 0.02183446 -0.05018724
+v 0.03486270 0.02183446 -0.04996896
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 27
+f 1 27 44
+f 1 44 48
+f 1 48 47
+f 1 47 32
+f 1 32 31
+f 1 31 21
+f 1 21 20
+f 1 20 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 13
+f 3 13 5
+f 3 5 4
+f 5 14 6
+f 5 13 25
+f 5 25 39
+f 5 39 38
+f 5 38 37
+f 5 37 53
+f 5 53 55
+f 5 55 54
+f 5 54 52
+f 5 52 51
+f 5 51 42
+f 5 42 26
+f 5 26 15
+f 5 15 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 9
+f 9 18 19
+f 9 19 11
+f 9 11 10
+f 9 17 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 18
+f 11 24 12
+f 11 19 24
+f 12 24 25
+f 12 25 13
+f 15 26 16
+f 16 26 42
+f 16 42 50
+f 16 50 49
+f 16 49 43
+f 16 43 27
+f 18 28 19
+f 18 23 28
+f 19 28 29
+f 19 29 24
+f 21 30 22
+f 21 31 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 28
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 24 29 40
+f 24 40 41
+f 24 41 37
+f 27 43 34
+f 27 34 44
+f 28 40 29
+f 28 36 35
+f 28 35 45
+f 28 45 46
+f 28 46 40
+f 32 47 33
+f 33 47 48
+f 33 48 34
+f 34 48 44
+f 34 43 35
+f 35 43 49
+f 35 49 50
+f 35 50 42
+f 35 42 51
+f 35 51 52
+f 35 52 45
+f 37 41 53
+f 40 46 41
+f 41 54 55
+f 41 55 53
+f 41 46 45
+f 41 45 52
+f 41 52 54
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_22.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00544162 0.00202439 0.03204503
+v -0.00552857 0.00202439 0.03225609
+v -0.00544162 0.00206041 0.03204988
+v -0.00544162 0.00202435 0.04363657
+v -0.00544162 0.00350933 0.03225609
+v -0.00605957 0.00202439 0.03356129
+v -0.00544162 0.00573587 0.04442746
+v -0.00612622 0.01874990 0.05048772
+v -0.00616684 0.01730427 0.05032031
+v -0.00672457 0.01318999 0.05115243
+v -0.00908236 0.00202431 0.05354445
+v -0.00544162 0.00390881 0.03231432
+v -0.00605886 0.00205223 0.03356372
+v -0.00642985 0.00202438 0.03449046
+v -0.00544162 0.00762192 0.04482776
+v -0.00544162 0.01133343 0.04560653
+v -0.00544162 0.01319001 0.04599470
+v -0.00544162 0.01498929 0.04635619
+v -0.00544162 0.01874992 0.04708158
+v -0.00641524 0.01874990 0.05143144
+v -0.00755208 0.01318999 0.05296952
+v -0.00908236 0.00204887 0.05355172
+v -0.00908236 0.00202436 0.04157930
+v -0.00600255 0.00390881 0.03370928
+v -0.00544162 0.00576538 0.03260060
+v -0.00637461 0.00390880 0.03465300
+v -0.00703604 0.00202438 0.03603584
+v -0.00544162 0.01874996 0.03520862
+v -0.00892840 0.01874988 0.05682692
+v -0.00892876 0.01874333 0.05682692
+v -0.00906383 0.01689658 0.05682691
+v -0.00908236 0.01665919 0.05682691
+v -0.00908236 0.01318997 0.05614033
+v -0.00908236 0.01219947 0.05594139
+v -0.00908236 0.00205875 0.04158658
+v -0.00805671 0.00282660 0.03890097
+v -0.00872776 0.00202436 0.04059676
+v -0.00594411 0.00576538 0.03386455
+v -0.00544162 0.00762196 0.03291114
+v -0.00631224 0.00576537 0.03481071
+v -0.00703426 0.00205222 0.03603584
+v -0.00779477 0.00202437 0.03803731
+v -0.00544162 0.01319006 0.03398104
+v -0.00550398 0.01319005 0.03414600
+v -0.00610555 0.01133347 0.03535658
+v -0.00624204 0.01643005 0.03687529
+v -0.00648901 0.01874995 0.03807376
+v -0.00908236 0.01874988 0.05682692
+v -0.00908236 0.00899062 0.04309801
+v -0.00820995 0.00762193 0.04036388
+v -0.00787175 0.00762194 0.03942016
+v -0.00719036 0.00947852 0.03792573
+v -0.00733433 0.00762194 0.03792573
+v -0.00779477 0.00214553 0.03805914
+v -0.00786141 0.00202437 0.03821683
+v -0.00831579 0.00202437 0.03945653
+v -0.00838778 0.00202436 0.03965546
+v -0.00646513 0.00933773 0.03591213
+v -0.00664082 0.00762195 0.03603586
+v -0.00544162 0.00941305 0.03322409
+v -0.00624560 0.00762195 0.03498054
+v -0.00587212 0.00933773 0.03432551
+v -0.00690811 0.00390880 0.03603584
+v -0.00677732 0.00576537 0.03603585
+v -0.00544162 0.01133348 0.03358316
+v -0.00565544 0.01133347 0.03414599
+v -0.00616328 0.00986327 0.03519889
+v -0.00645159 0.01133347 0.03630273
+v -0.00811194 0.01874993 0.04253036
+v -0.00908236 0.01874992 0.04523780
+v -0.00849255 0.01874993 0.04358811
+v -0.00620854 0.00862555 0.03507758
+f 1 2 3
+f 1 3 5
+f 1 5 12
+f 1 12 25
+f 1 25 39
+f 1 39 60
+f 1 60 65
+f 1 65 43
+f 1 43 28
+f 1 28 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 7
+f 1 7 4
+f 1 4 11
+f 1 11 23
+f 1 23 37
+f 1 37 57
+f 1 57 56
+f 1 56 55
+f 1 55 42
+f 1 42 27
+f 1 27 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 6 13 12
+f 6 14 13
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 28
+f 8 28 47
+f 8 47 69
+f 8 69 71
+f 8 71 70
+f 8 70 48
+f 8 48 29
+f 8 29 20
+f 8 20 9
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 34
+f 11 34 33
+f 11 33 32
+f 11 32 48
+f 11 48 70
+f 11 70 49
+f 11 49 35
+f 11 35 23
+f 12 13 24
+f 12 24 25
+f 13 14 24
+f 14 26 24
+f 14 27 26
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 23 35 36
+f 23 36 37
+f 24 26 38
+f 24 38 25
+f 25 38 39
+f 26 40 38
+f 26 27 41
+f 26 41 40
+f 27 42 41
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 29 48 32
+f 29 32 31
+f 29 31 30
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 36 53 58
+f 36 58 59
+f 36 59 54
+f 38 40 60
+f 38 60 39
+f 40 61 62
+f 40 62 60
+f 40 41 63
+f 40 63 64
+f 40 64 61
+f 41 42 63
+f 42 55 54
+f 42 54 63
+f 43 65 66
+f 43 66 44
+f 44 66 45
+f 45 67 68
+f 45 68 46
+f 45 66 67
+f 46 68 47
+f 47 68 69
+f 49 71 50
+f 49 70 71
+f 50 71 51
+f 51 71 52
+f 52 68 67
+f 52 67 58
+f 52 58 53
+f 52 71 69
+f 52 69 68
+f 54 59 64
+f 54 64 63
+f 58 67 59
+f 59 67 64
+f 60 62 65
+f 61 64 72
+f 61 72 62
+f 62 72 67
+f 62 67 66
+f 62 66 65
+f 64 67 72
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_3.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.00908236 0.02145335 0.06177473
+v -0.00908236 0.02247333 0.06158205
+v -0.00925947 0.02145335 0.06183985
+v -0.00908236 0.02145342 0.04471907
+v -0.00945372 0.02247333 0.06171774
+v -0.00908236 0.02400798 0.06105017
+v -0.00985365 0.02343423 0.06156306
+v -0.01076042 0.02145335 0.06182900
+v -0.01039396 0.02247333 0.06171774
+v -0.00908236 0.02242911 0.03792666
+v -0.01653243 0.02145338 0.05507729
+v -0.00913949 0.02416424 0.06101489
+v -0.00908236 0.02422566 0.06096876
+v -0.00908236 0.02483360 0.06062412
+v -0.00908236 0.02571598 0.06010038
+v -0.00997770 0.02343423 0.06156306
+v -0.01170066 0.02145335 0.06153049
+v -0.01132685 0.02247333 0.06135410
+v -0.01173249 0.02145335 0.06151963
+v -0.00908236 0.02275019 0.03605420
+v -0.01726046 0.02145337 0.05676251
+v -0.01005279 0.02322598 0.03670008
+v -0.00908236 0.02276030 0.03599722
+v -0.00908236 0.02578440 0.06005424
+v -0.01086652 0.02557138 0.05991313
+v -0.01070655 0.02416424 0.06085479
+v -0.01260253 0.02425131 0.05997283
+v -0.01384557 0.02357962 0.05974759
+v -0.01273149 0.02247334 0.06068110
+v -0.01511555 0.02247334 0.05944636
+v -0.01529511 0.02145336 0.05953591
+v -0.01635940 0.02145336 0.05859154
+v -0.01726455 0.02232642 0.05670009
+v -0.01742043 0.02357341 0.05599182
+v -0.01742043 0.02284807 0.05599181
+v -0.01742043 0.02284808 0.05577743
+v -0.01182390 0.02336823 0.04070008
+v -0.00908236 0.02432992 0.03411663
+v -0.00908236 0.02431126 0.03412477
+v -0.00908236 0.02348486 0.03479234
+v -0.00908236 0.02667222 0.05930798
+v -0.01086652 0.02649963 0.05905018
+v -0.01329139 0.02696298 0.05761192
+v -0.01189409 0.02531328 0.05970146
+v -0.01313795 0.02481728 0.05941381
+v -0.01451892 0.02425131 0.05906645
+v -0.01597988 0.02432984 0.05815465
+v -0.01630309 0.02247335 0.05850199
+v -0.01696256 0.02424744 0.05670010
+v -0.01742043 0.02357342 0.05577744
+v -0.01670220 0.02618557 0.05493077
+v -0.01616434 0.02618558 0.05115329
+v -0.01565178 0.02478855 0.04990498
+v -0.01531469 0.02618559 0.04884121
+v -0.01184839 0.02432990 0.04064309
+v -0.01011809 0.02432992 0.03654811
+v -0.01005116 0.02618564 0.03670823
+v -0.00908236 0.02618564 0.03457254
+v -0.01470011 0.02618560 0.04737581
+v -0.01398106 0.02618560 0.04569331
+v -0.01184022 0.02571216 0.04066209
+v -0.00908236 0.02671264 0.05926999
+v -0.01086652 0.02736180 0.05810581
+v -0.01204917 0.02719466 0.05786700
+v -0.01459564 0.02664735 0.05730527
+v -0.01459564 0.02571910 0.05813836
+v -0.01459564 0.02747142 0.05636090
+v -0.01566810 0.02540502 0.05787514
+v -0.01602885 0.02608760 0.05673539
+v -0.01664996 0.02618558 0.05304203
+v -0.01567789 0.02724596 0.05604882
+v -0.01590316 0.02751030 0.05493077
+v -0.01600763 0.02773654 0.05304203
+v -0.01562892 0.02731285 0.04994841
+v -0.01569667 0.02618559 0.04978558
+v -0.01178146 0.02694983 0.04079779
+v -0.00908236 0.02758345 0.03623062
+v -0.00996383 0.02715274 0.03691175
+v -0.00908236 0.02753672 0.05832562
+v -0.01086652 0.02812990 0.05682223
+v -0.01269476 0.02764945 0.05691721
+v -0.01273149 0.02865156 0.05509632
+v -0.01441935 0.02838024 0.05475167
+v -0.01581991 0.02758805 0.05115329
+v -0.01486253 0.02866478 0.05304204
+v -0.01503311 0.02851630 0.05115329
+v -0.01367336 0.02897654 0.04829577
+v -0.01407247 0.02805064 0.04755220
+v -0.01386353 0.02743803 0.04597283
+v -0.00908236 0.02760133 0.03627403
+v -0.00908236 0.02841132 0.05682223
+v -0.01086652 0.02880938 0.05537583
+v -0.01367989 0.02897497 0.05399998
+v -0.01392964 0.02907760 0.05304204
+v -0.01410022 0.02917245 0.05115330
+v -0.01385292 0.02907372 0.04926185
+v -0.01202386 0.02906362 0.04593484
+v -0.01155293 0.02893847 0.04467297
+v -0.00908236 0.02814007 0.03802166
+v -0.00908236 0.02891588 0.05566891
+v -0.01273149 0.02902239 0.05414924
+v -0.01273149 0.02923775 0.05304204
+v -0.01273149 0.02939557 0.05115330
+v -0.01273149 0.02927896 0.04926185
+v -0.00997689 0.02898356 0.04255085
+v -0.00908236 0.02858475 0.03989683
+v -0.00908236 0.02911801 0.05472454
+v -0.01086652 0.02908847 0.05443146
+v -0.01086652 0.02930305 0.05304204
+v -0.00908236 0.02931316 0.05304204
+v -0.01086652 0.02938857 0.05115330
+v -0.01086652 0.02933960 0.04926185
+v -0.01086652 0.02925642 0.04737582
+v -0.00967572 0.02898356 0.04255085
+v -0.00908236 0.02888639 0.04189142
+v -0.00908236 0.02933182 0.05115330
+v -0.00908236 0.02926264 0.04926185
+v -0.00908236 0.02900222 0.04362548
+v -0.00908236 0.02896568 0.04284393
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 19
+f 1 19 31
+f 1 31 32
+f 1 32 21
+f 1 21 11
+f 1 11 4
+f 1 4 10
+f 1 10 20
+f 1 20 23
+f 1 23 40
+f 1 40 39
+f 1 39 38
+f 1 38 58
+f 1 58 77
+f 1 77 90
+f 1 90 99
+f 1 99 106
+f 1 106 115
+f 1 115 119
+f 1 119 118
+f 1 118 117
+f 1 117 116
+f 1 116 110
+f 1 110 107
+f 1 107 100
+f 1 100 91
+f 1 91 79
+f 1 79 62
+f 1 62 41
+f 1 41 24
+f 1 24 15
+f 1 15 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 9
+f 3 9 8
+f 4 11 10
+f 5 7 16
+f 5 16 9
+f 6 12 7
+f 6 13 12
+f 7 12 14
+f 7 14 15
+f 7 15 16
+f 8 9 17
+f 9 16 18
+f 9 18 19
+f 9 19 17
+f 10 11 20
+f 11 21 22
+f 11 22 23
+f 11 23 20
+f 12 13 14
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 24 41 25
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 28 46 30
+f 28 30 29
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 32
+f 32 48 33
+f 33 49 34
+f 33 48 49
+f 34 50 36
+f 34 36 35
+f 34 49 51
+f 34 51 50
+f 36 50 52
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 38 57 58
+f 38 56 59
+f 38 59 60
+f 38 60 61
+f 38 61 57
+f 41 62 42
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 43 65 66
+f 43 66 44
+f 43 64 67
+f 43 67 65
+f 44 66 68
+f 44 68 45
+f 45 68 46
+f 46 68 47
+f 47 68 49
+f 47 49 48
+f 49 68 69
+f 49 69 51
+f 50 51 70
+f 50 70 52
+f 51 69 71
+f 51 71 72
+f 51 72 73
+f 51 73 70
+f 52 70 74
+f 52 74 75
+f 52 75 53
+f 53 75 54
+f 54 75 74
+f 54 74 59
+f 54 59 55
+f 55 59 56
+f 57 61 76
+f 57 76 58
+f 58 76 78
+f 58 78 77
+f 59 74 76
+f 59 76 60
+f 60 76 61
+f 62 79 63
+f 63 80 81
+f 63 81 64
+f 63 79 80
+f 64 81 67
+f 65 68 66
+f 65 67 71
+f 65 71 68
+f 67 82 83
+f 67 83 71
+f 67 81 82
+f 68 71 69
+f 70 73 84
+f 70 84 74
+f 71 83 72
+f 72 83 85
+f 72 85 73
+f 73 85 86
+f 73 86 84
+f 74 87 88
+f 74 88 89
+f 74 89 76
+f 74 84 87
+f 76 89 78
+f 77 78 87
+f 77 87 90
+f 78 89 87
+f 79 91 80
+f 80 91 82
+f 80 82 81
+f 82 91 92
+f 82 92 93
+f 82 93 83
+f 83 93 85
+f 84 86 87
+f 85 94 95
+f 85 95 86
+f 85 93 94
+f 86 95 96
+f 86 96 87
+f 87 89 88
+f 87 96 97
+f 87 97 98
+f 87 98 90
+f 90 98 99
+f 91 100 92
+f 92 100 93
+f 93 100 101
+f 93 101 102
+f 93 102 94
+f 94 102 103
+f 94 103 95
+f 95 103 104
+f 95 104 96
+f 96 104 97
+f 97 104 105
+f 97 105 98
+f 98 105 99
+f 99 105 106
+f 100 107 108
+f 100 108 101
+f 101 108 102
+f 102 109 103
+f 102 108 107
+f 102 107 109
+f 103 109 110
+f 103 110 111
+f 103 111 112
+f 103 112 113
+f 103 113 104
+f 104 113 105
+f 105 114 115
+f 105 115 106
+f 105 113 114
+f 107 110 109
+f 110 116 111
+f 111 116 112
+f 112 117 113
+f 112 116 117
+f 113 117 114
+f 114 118 119
+f 114 119 115
+f 114 117 118
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_4.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.03837575 -0.02377362 -0.04723954
+v 0.03704864 -0.02778745 -0.04518103
+v 0.03776218 -0.02579484 -0.04711775
+v 0.03769123 -0.02377361 -0.04891072
+v 0.03834753 -0.02377362 -0.04715369
+v 0.03685513 -0.02765066 -0.04401500
+v 0.03673339 -0.02862638 -0.04418872
+v 0.03673339 -0.02862638 -0.04452015
+v 0.03702284 -0.02716978 -0.04711776
+v 0.03675596 -0.02678172 -0.04811407
+v 0.03710105 -0.02579483 -0.04843951
+v 0.03657375 -0.02849725 -0.04578002
+v 0.03760819 -0.02382177 -0.04897461
+v 0.03761705 -0.02377361 -0.04898459
+v 0.03750095 -0.02377362 -0.04564623
+v 0.03123385 -0.02829979 -0.03267815
+v 0.03687287 -0.02624782 -0.04401899
+v 0.03123385 -0.02887209 -0.03267816
+v 0.03495074 -0.02890836 -0.04027333
+v 0.03522970 -0.02928524 -0.04145134
+v 0.03464274 -0.03021349 -0.04145134
+v 0.03443230 -0.03036215 -0.04333815
+v 0.03587714 -0.02907305 -0.04518104
+v 0.03587714 -0.02805965 -0.04714770
+v 0.03427912 -0.02835486 -0.04779861
+v 0.03576506 -0.02706298 -0.04837563
+v 0.03302457 -0.02675380 -0.04997892
+v 0.03426702 -0.02630852 -0.04968741
+v 0.03572878 -0.02573202 -0.04933800
+v 0.03632622 -0.02440734 -0.04977326
+v 0.03754852 -0.02377361 -0.04905048
+v 0.03532968 -0.02882807 -0.04653875
+v 0.03741871 -0.02377362 -0.04559033
+v 0.03013974 -0.02765489 -0.03169182
+v 0.03013974 -0.02799200 -0.03162194
+v 0.03013974 -0.02961679 -0.03206919
+v 0.03114516 -0.03045849 -0.03474068
+v 0.03308261 -0.03050803 -0.03834858
+v 0.03334465 -0.02952045 -0.03769968
+v 0.03308987 -0.02891047 -0.03647375
+v 0.03371070 -0.03064831 -0.04145134
+v 0.03334304 -0.03060224 -0.03956053
+v 0.03350107 -0.03054849 -0.04333815
+v 0.03307294 -0.03045218 -0.04433247
+v 0.03377681 -0.03002643 -0.04506923
+v 0.03303666 -0.02860193 -0.04809412
+v 0.03203528 -0.02792424 -0.04925814
+v 0.03203528 -0.02699668 -0.05019456
+v 0.03365265 -0.02755363 -0.04889076
+v 0.03188128 -0.02563151 -0.05115093
+v 0.03374778 -0.02573202 -0.05028839
+v 0.03508296 -0.02507108 -0.05007076
+v 0.03375101 -0.02380013 -0.05124278
+v 0.03584569 -0.02377361 -0.05024247
+v 0.03375504 -0.02898162 -0.04714771
+v 0.03013974 -0.02377363 -0.04380334
+v 0.03013974 -0.02963354 -0.03209315
+v 0.03013974 -0.03023446 -0.03320527
+v 0.03013974 -0.03049827 -0.03408379
+v 0.03203528 -0.03082907 -0.03956053
+v 0.03203528 -0.03088560 -0.04145134
+v 0.03203528 -0.03071949 -0.04333815
+v 0.03203528 -0.03050452 -0.04452615
+v 0.03017038 -0.03034399 -0.04584592
+v 0.03203528 -0.03019323 -0.04547255
+v 0.03017038 -0.02984078 -0.04711777
+v 0.03203528 -0.02944016 -0.04711777
+v 0.03203528 -0.02875408 -0.04831175
+v 0.03017038 -0.02822575 -0.04958559
+v 0.03017038 -0.02729818 -0.05040021
+v 0.03115645 -0.02490426 -0.05185974
+v 0.03239971 -0.02432707 -0.05162813
+v 0.03372360 -0.02377360 -0.05126474
+v 0.03013974 -0.02377360 -0.05191165
+v 0.03013974 -0.03061064 -0.03534965
+v 0.03017038 -0.03086676 -0.03956053
+v 0.03017038 -0.03064624 -0.03578092
+v 0.03017038 -0.03077744 -0.03767172
+v 0.03017038 -0.03090375 -0.04145134
+v 0.03013974 -0.03081092 -0.04333815
+v 0.03017038 -0.03080952 -0.04333815
+v 0.03013974 -0.03080673 -0.04336810
+v 0.03017038 -0.03057641 -0.04490151
+v 0.03013974 -0.03034538 -0.04584991
+v 0.03013974 -0.02984147 -0.04711777
+v 0.03017038 -0.02900325 -0.04863919
+v 0.03013974 -0.02900325 -0.04863919
+v 0.03013974 -0.02821807 -0.04958359
+v 0.03013974 -0.02820202 -0.04959956
+v 0.03029697 -0.02563151 -0.05138054
+v 0.03100245 -0.02490426 -0.05185974
+v 0.03013974 -0.02729469 -0.05039622
+v 0.03057755 -0.02393832 -0.05200749
+v 0.03188370 -0.02377360 -0.05199750
+v 0.03188128 -0.02380013 -0.05199151
+v 0.03192401 -0.02377360 -0.05198752
+v 0.03052675 -0.02377360 -0.05201747
+v 0.03013974 -0.02393832 -0.05188769
+v 0.03013974 -0.03064624 -0.03578092
+v 0.03013974 -0.03086607 -0.03956053
+v 0.03013974 -0.03086676 -0.03959248
+v 0.03013974 -0.03077674 -0.03767172
+v 0.03013974 -0.03090306 -0.04145134
+v 0.03013974 -0.03090236 -0.04148129
+v 0.03013974 -0.03057711 -0.04490550
+v 0.03013974 -0.02564616 -0.05130866
+v 0.03013974 -0.02522252 -0.05147039
+v 0.03013974 -0.02429008 -0.05179185
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 31
+f 1 31 54
+f 1 54 73
+f 1 73 96
+f 1 96 94
+f 1 94 97
+f 1 97 74
+f 1 74 56
+f 1 56 33
+f 1 33 15
+f 1 15 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 8 12
+f 3 12 9
+f 4 13 14
+f 4 11 13
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 12
+f 9 12 10
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 10 12 24
+f 11 30 31
+f 11 31 13
+f 12 23 32
+f 12 32 24
+f 13 31 14
+f 15 33 34
+f 15 34 16
+f 16 34 35
+f 16 35 18
+f 16 18 17
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 19
+f 19 21 20
+f 19 40 39
+f 19 39 38
+f 19 38 21
+f 21 41 22
+f 21 38 42
+f 21 42 41
+f 22 43 44
+f 22 44 45
+f 22 45 32
+f 22 32 23
+f 22 41 43
+f 24 32 25
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 26
+f 25 32 46
+f 26 49 27
+f 27 48 50
+f 27 50 51
+f 27 51 28
+f 27 49 48
+f 28 51 52
+f 28 52 29
+f 29 52 30
+f 30 52 53
+f 30 53 54
+f 30 54 31
+f 32 55 46
+f 32 45 55
+f 33 56 34
+f 34 56 74
+f 34 74 98
+f 34 98 108
+f 34 108 107
+f 34 107 106
+f 34 106 92
+f 34 92 89
+f 34 89 88
+f 34 88 87
+f 34 87 85
+f 34 85 84
+f 34 84 105
+f 34 105 82
+f 34 82 80
+f 34 80 104
+f 34 104 103
+f 34 103 101
+f 34 101 100
+f 34 100 102
+f 34 102 99
+f 34 99 75
+f 34 75 59
+f 34 59 58
+f 34 58 57
+f 34 57 36
+f 34 36 35
+f 36 57 37
+f 37 42 38
+f 37 57 58
+f 37 58 59
+f 37 59 60
+f 37 60 42
+f 41 42 60
+f 41 60 61
+f 41 61 43
+f 43 62 44
+f 43 61 62
+f 44 62 63
+f 44 63 64
+f 44 64 65
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 55
+f 46 55 68
+f 46 68 47
+f 47 69 48
+f 47 68 69
+f 48 69 70
+f 48 70 71
+f 48 71 50
+f 50 71 52
+f 50 52 51
+f 52 71 72
+f 52 72 53
+f 53 72 73
+f 53 73 54
+f 55 67 68
+f 59 75 60
+f 60 76 61
+f 60 75 77
+f 60 77 78
+f 60 78 76
+f 61 76 79
+f 61 79 80
+f 61 80 81
+f 61 81 62
+f 62 81 82
+f 62 82 83
+f 62 83 63
+f 63 83 64
+f 64 83 84
+f 64 84 66
+f 64 66 65
+f 66 84 85
+f 66 85 86
+f 66 86 67
+f 67 86 68
+f 68 86 69
+f 69 86 87
+f 69 87 88
+f 69 88 89
+f 69 89 70
+f 70 90 91
+f 70 91 71
+f 70 89 92
+f 70 92 90
+f 71 91 93
+f 71 93 94
+f 71 94 95
+f 71 95 96
+f 71 96 72
+f 72 96 73
+f 74 97 93
+f 74 93 98
+f 75 99 77
+f 76 100 101
+f 76 101 79
+f 76 78 102
+f 76 102 100
+f 77 99 78
+f 78 99 102
+f 79 101 103
+f 79 103 104
+f 79 104 80
+f 80 82 81
+f 82 105 83
+f 83 105 84
+f 85 87 86
+f 90 92 106
+f 90 106 107
+f 90 107 108
+f 90 108 91
+f 91 108 93
+f 93 97 94
+f 93 108 98
+f 94 96 95
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_5.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v -0.01171660 0.01504328 0.02567327
+v -0.01193244 0.01504328 0.02567327
+v -0.01173178 0.01133395 0.02567202
+v -0.01077949 0.01689998 0.02500665
+v -0.01171226 0.01689998 0.02567082
+v -0.01194763 0.01133395 0.02567202
+v -0.01192268 0.01689998 0.02567082
+v -0.01368736 -0.01650848 0.02564746
+v -0.01363639 -0.01650848 0.02564746
+v -0.01174046 0.00947724 0.02566957
+v -0.01175673 0.00762054 0.02566223
+v -0.01179036 0.00445105 0.02564509
+v -0.00978488 0.01689998 0.02406115
+v -0.00981200 0.01875669 0.02399878
+v -0.01101810 0.01867490 0.02500544
+v -0.01174046 0.01800419 0.02565982
+v -0.01187821 0.01800419 0.02565982
+v -0.01285546 0.01689998 0.02542007
+v -0.01367760 -0.01522024 0.02564379
+v -0.01462014 -0.01650848 0.02533556
+v -0.01368194 -0.01745319 0.02564501
+v -0.01364398 -0.01745319 0.02564501
+v -0.01177734 0.00576383 0.02565243
+v -0.01270361 -0.01650848 0.02522914
+v -0.01151378 -0.01650848 0.02428365
+v -0.01143785 -0.01279915 0.02439496
+v -0.01139555 -0.01094245 0.02444512
+v -0.01135217 -0.00908574 0.02449161
+v -0.00983152 0.01504328 0.02397186
+v -0.00908313 0.01690000 0.01902666
+v -0.00924040 0.01875671 0.01902667
+v -0.00988575 0.01973412 0.02384589
+v -0.01086625 0.01987317 0.02419693
+v -0.01273181 0.02004493 0.02441710
+v -0.01259189 0.01867490 0.02532835
+v -0.01459737 0.01875669 0.02453085
+v -0.01459737 0.01689998 0.02464215
+v -0.01459737 0.00947724 0.02483293
+v -0.01459737 0.00762054 0.02487697
+v -0.01459737 0.00576383 0.02491854
+v -0.01459737 0.00205041 0.02499926
+v -0.01459737 0.00019780 0.02503839
+v -0.01459737 -0.00165891 0.02507508
+v -0.01459737 -0.00722903 0.02518025
+v -0.01459737 -0.01279915 0.02528175
+v -0.01640218 -0.01650848 0.02439006
+v -0.01609306 -0.01836519 0.02413074
+v -0.01568416 -0.01933444 0.02382251
+v -0.01498675 -0.01933444 0.02382251
+v -0.01290643 -0.01805437 0.02470807
+v -0.01162115 -0.01783762 0.02408671
+v -0.01081419 -0.01465584 0.01902655
+v -0.00991395 0.01191468 0.02379449
+v -0.00987925 0.01319066 0.02387033
+v -0.00990853 0.00249621 0.01802485
+v -0.00947251 0.01690001 0.01727756
+v -0.00955494 0.01875672 0.01743902
+v -0.00977729 0.01984047 0.01781086
+v -0.00972631 0.01988955 0.01902667
+v -0.01086625 0.02042938 0.01902668
+v -0.01273181 0.02081381 0.01902668
+v -0.01459737 0.02094467 0.02091523
+v -0.01273181 0.02036394 0.02280499
+v -0.01459737 0.02051935 0.02280500
+v -0.01459737 0.01995087 0.02409297
+v -0.01559630 0.01976684 0.02381776
+v -0.01565488 0.01875669 0.02387769
+v -0.01569718 0.01689998 0.02391805
+v -0.01580889 0.01133395 0.02401832
+v -0.01584685 0.00947724 0.02405012
+v -0.01596182 0.00390712 0.02413572
+v -0.01599762 0.00205041 0.02416262
+v -0.01611367 -0.00351562 0.02423477
+v -0.01619285 -0.00722903 0.02428123
+v -0.01733496 -0.01650848 0.02367819
+v -0.01702584 -0.01836519 0.02351794
+v -0.01760503 -0.01944076 0.02221162
+v -0.01636856 -0.01948984 0.02282686
+v -0.01646075 -0.01987426 0.02091508
+v -0.01479368 -0.01942849 0.02280485
+v -0.01386199 -0.01921583 0.02280485
+v -0.01162115 -0.01783762 0.02342009
+v -0.01110813 -0.01650846 0.01902654
+v -0.01141399 -0.01650845 0.01741688
+v -0.01127082 -0.01465583 0.01720039
+v -0.00986840 0.00390714 0.01794045
+v -0.01010159 0.01690001 0.01633206
+v -0.00981634 0.00576385 0.01783405
+v -0.01188797 -0.01465583 0.01625612
+v -0.01032936 0.01875672 0.01649353
+v -0.01499868 0.02044167 0.01317757
+v -0.01646075 0.02127596 0.01317757
+v -0.01646075 0.02128414 0.01335738
+v -0.01459737 0.02107555 0.01902668
+v -0.01646075 0.02126369 0.01524715
+v -0.01646075 0.02110828 0.01713691
+v -0.01646075 0.02075247 0.01902668
+v -0.01592386 0.02005312 0.02280499
+v -0.01740980 0.01972596 0.02003088
+v -0.01636639 0.01875670 0.02280499
+v -0.01644990 0.01689999 0.02280498
+v -0.01704645 -0.00351562 0.02325625
+v -0.01729157 -0.01465586 0.02362193
+v -0.01762998 -0.00351561 0.02231075
+v -0.01766685 -0.00537232 0.02237557
+v -0.01785341 -0.01465585 0.02267766
+v -0.01789246 -0.01650847 0.02273269
+v -0.01781111 -0.01836518 0.02257367
+v -0.01852913 -0.01836518 0.02091508
+v -0.01927427 -0.01931806 0.01816421
+v -0.01788812 -0.01960435 0.02091508
+v -0.01832631 -0.02025458 0.01524700
+v -0.01832631 -0.02047542 0.01335722
+v -0.01646075 -0.02006647 0.01902653
+v -0.01505725 -0.01961660 0.01902653
+v -0.01163309 -0.01760449 0.01777893
+v -0.01159187 -0.01764539 0.01902654
+v -0.01217865 -0.01650845 0.01647260
+v -0.01450083 0.01875673 0.01317756
+v -0.01453229 0.01890805 0.01317756
+v -0.01179903 -0.01187077 0.01619130
+v -0.01582625 -0.01828336 0.01317742
+v -0.01573297 -0.01650844 0.01317743
+v -0.01564620 -0.01465582 0.01317744
+v -0.01547483 -0.00993635 0.01317745
+v -0.01541626 -0.00827186 0.01317746
+v -0.01808443 0.02050711 0.01317757
+v -0.01805190 0.02051938 0.01335738
+v -0.01786859 0.02045393 0.01524715
+v -0.01768746 0.02028217 0.01713690
+v -0.01654969 0.02026170 0.02076355
+v -0.01876992 0.01875673 0.01317756
+v -0.01765275 0.01875671 0.01902667
+v -0.01743475 0.01875671 0.02012751
+v -0.01717226 0.01875670 0.02107178
+v -0.01750741 0.01995498 0.01902667
+v -0.01725253 0.01504329 0.02135432
+v -0.01729049 0.01319067 0.02149375
+v -0.01741305 0.00710116 0.02189859
+v -0.01744017 0.00576384 0.02195485
+v -0.01747813 0.00390713 0.02202945
+v -0.01751609 0.00205042 0.02210161
+v -0.01863759 -0.01650847 0.02091509
+v -0.01927427 -0.01869643 0.01816421
+v -0.02016366 -0.01836515 0.01317742
+v -0.01936972 -0.01945301 0.01713676
+v -0.01840874 -0.01966977 0.01888709
+v -0.01832631 -0.01998057 0.01713676
+v -0.01954217 -0.01966976 0.01524700
+v -0.01971246 -0.01983334 0.01335723
+v -0.01832631 -0.02048768 0.01317741
+v -0.01972873 -0.01984561 0.01317742
+v -0.01847382 -0.02042634 0.01317741
+v -0.01646075 -0.02005419 0.01713676
+v -0.01679698 -0.02000101 0.01317742
+v -0.01665164 -0.01993967 0.01317742
+v -0.01815385 0.02034761 0.01317756
+v -0.01780026 0.01504330 0.01902666
+v -0.01925800 -0.01745726 0.01807860
+v -0.01905192 -0.01650846 0.01902654
+v -0.01754538 0.01319067 0.02054948
+v -0.01979272 -0.01836516 0.01524700
+v -0.01941419 -0.01819339 0.01732391
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 8 19 20
+f 9 22 10
+f 10 22 11
+f 11 23 12
+f 11 22 23
+f 12 23 22
+f 12 22 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 29 30
+f 13 30 14
+f 13 28 27
+f 13 27 26
+f 13 26 25
+f 13 25 29
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 15 32 33
+f 15 33 16
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 17 35 18
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 41
+f 18 41 42
+f 18 42 43
+f 18 43 44
+f 18 44 45
+f 18 45 20
+f 18 20 19
+f 20 45 46
+f 20 46 21
+f 21 47 48
+f 21 48 49
+f 21 49 22
+f 21 46 47
+f 22 49 50
+f 22 50 51
+f 22 51 24
+f 24 51 25
+f 25 51 52
+f 25 52 30
+f 25 30 53
+f 25 53 54
+f 25 54 29
+f 29 54 30
+f 30 55 56
+f 30 56 57
+f 30 57 31
+f 30 54 53
+f 30 52 55
+f 31 57 58
+f 31 58 59
+f 31 59 32
+f 32 59 60
+f 32 60 61
+f 32 61 62
+f 32 62 33
+f 33 62 63
+f 33 63 34
+f 34 63 62
+f 34 62 64
+f 34 64 65
+f 34 65 35
+f 35 65 66
+f 35 66 36
+f 36 67 37
+f 36 66 67
+f 37 67 68
+f 37 68 69
+f 37 69 70
+f 37 70 71
+f 37 71 72
+f 37 72 73
+f 37 73 38
+f 38 73 74
+f 38 74 46
+f 38 46 39
+f 39 46 40
+f 40 46 41
+f 41 46 42
+f 42 46 43
+f 43 46 44
+f 44 46 45
+f 46 75 76
+f 46 76 47
+f 46 74 73
+f 46 73 72
+f 46 72 75
+f 47 76 48
+f 48 77 78
+f 48 78 79
+f 48 79 49
+f 48 76 77
+f 49 79 80
+f 49 80 81
+f 49 81 51
+f 49 51 50
+f 51 81 82
+f 51 82 83
+f 51 83 52
+f 52 83 84
+f 52 84 85
+f 52 85 55
+f 55 86 56
+f 55 85 86
+f 56 87 57
+f 56 86 88
+f 56 88 85
+f 56 85 89
+f 56 89 87
+f 57 90 58
+f 57 87 90
+f 58 91 92
+f 58 92 60
+f 58 60 59
+f 58 90 91
+f 60 92 61
+f 61 92 93
+f 61 93 94
+f 61 94 62
+f 62 94 95
+f 62 95 96
+f 62 96 97
+f 62 97 64
+f 64 97 98
+f 64 98 66
+f 64 66 65
+f 66 98 99
+f 66 99 100
+f 66 100 67
+f 67 100 101
+f 67 101 102
+f 67 102 103
+f 67 103 75
+f 67 75 68
+f 68 75 69
+f 69 75 70
+f 70 75 71
+f 71 75 72
+f 75 103 104
+f 75 104 105
+f 75 105 106
+f 75 106 107
+f 75 107 108
+f 75 108 76
+f 76 108 77
+f 77 109 110
+f 77 110 111
+f 77 111 79
+f 77 79 78
+f 77 108 109
+f 79 111 112
+f 79 112 113
+f 79 113 114
+f 79 114 80
+f 80 114 81
+f 81 114 115
+f 81 115 116
+f 81 116 117
+f 81 117 82
+f 82 117 83
+f 83 117 116
+f 83 116 84
+f 84 118 89
+f 84 89 85
+f 84 116 118
+f 85 88 86
+f 87 119 120
+f 87 120 90
+f 87 89 121
+f 87 121 122
+f 87 122 123
+f 87 123 124
+f 87 124 125
+f 87 125 126
+f 87 126 119
+f 89 118 122
+f 89 122 121
+f 90 120 91
+f 91 120 119
+f 91 119 126
+f 91 126 125
+f 91 125 124
+f 91 124 123
+f 91 123 122
+f 91 122 156
+f 91 156 155
+f 91 155 151
+f 91 151 153
+f 91 153 152
+f 91 152 145
+f 91 145 132
+f 91 132 157
+f 91 157 127
+f 91 127 92
+f 92 127 93
+f 93 127 95
+f 93 95 94
+f 95 127 128
+f 95 128 96
+f 96 128 129
+f 96 129 130
+f 96 130 97
+f 97 130 131
+f 97 131 98
+f 98 131 99
+f 99 132 133
+f 99 133 134
+f 99 134 135
+f 99 135 100
+f 99 131 136
+f 99 136 132
+f 100 135 137
+f 100 137 138
+f 100 138 139
+f 100 139 101
+f 101 139 140
+f 101 140 141
+f 101 141 142
+f 101 142 104
+f 101 104 102
+f 102 104 103
+f 104 143 105
+f 104 142 143
+f 105 143 106
+f 106 143 107
+f 107 143 109
+f 107 109 108
+f 109 143 110
+f 110 144 145
+f 110 145 146
+f 110 146 111
+f 110 143 144
+f 111 147 148
+f 111 148 112
+f 111 146 147
+f 112 148 149
+f 112 149 150
+f 112 150 113
+f 113 151 114
+f 113 150 152
+f 113 152 153
+f 113 153 151
+f 114 151 154
+f 114 154 115
+f 115 154 155
+f 115 155 156
+f 115 156 116
+f 116 156 118
+f 118 156 122
+f 127 129 128
+f 127 157 129
+f 129 157 132
+f 129 132 130
+f 130 136 131
+f 130 132 136
+f 132 158 133
+f 132 145 159
+f 132 159 160
+f 132 160 158
+f 133 158 134
+f 134 161 138
+f 134 138 137
+f 134 137 135
+f 134 158 160
+f 134 160 143
+f 134 143 161
+f 138 161 143
+f 138 143 139
+f 139 143 140
+f 140 143 141
+f 141 143 142
+f 143 160 144
+f 144 162 145
+f 144 160 159
+f 144 159 163
+f 144 163 162
+f 145 152 150
+f 145 150 149
+f 145 149 146
+f 145 162 159
+f 146 149 147
+f 147 149 148
+f 151 155 154
+f 159 162 163
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_6.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.03013894 0.00202283 -0.04145099
+v 0.03013894 0.00019573 -0.04158755
+v 0.03013894 0.00202287 -0.05151327
+v 0.00867012 0.00202261 0.01786185
+v 0.03013894 -0.00351723 -0.04188165
+v 0.03013894 -0.00537366 -0.05183892
+v 0.02934038 -0.01673289 -0.05171291
+v 0.02973198 0.00202287 -0.05100911
+v 0.00866244 0.00202261 0.01788286
+v 0.03013894 -0.01673292 -0.04314212
+v 0.03013894 -0.01335784 -0.04279549
+v 0.03013894 -0.01155461 -0.04261692
+v 0.03013894 -0.00994603 -0.04245937
+v 0.03013894 -0.00908481 -0.04237533
+v 0.03013894 -0.00723018 -0.04219678
+v 0.03013894 -0.00532780 -0.04202871
+v 0.03013894 -0.00723014 -0.05191245
+v 0.02888352 -0.01673289 -0.05088314
+v 0.02893727 -0.01094126 -0.05056802
+v 0.02918298 0.00202286 -0.05006381
+v 0.03013894 -0.01094126 -0.05204900
+v 0.03013894 -0.01279774 -0.05211203
+v 0.02944020 -0.01673289 -0.05177593
+v 0.00863557 0.00019551 0.01771480
+v 0.03013510 -0.01673292 -0.04313162
+v 0.00817870 0.00202261 0.01904874
+v 0.00811727 0.00019551 0.01901722
+v 0.03013894 -0.01673289 -0.05220657
+v 0.02882209 -0.01673289 -0.05076760
+v 0.02800818 -0.01673290 -0.04900303
+v 0.02897182 -0.00908478 -0.05049449
+v 0.02873763 0.00202286 -0.04902397
+v 0.03013894 -0.01651070 -0.05220657
+v 0.00801361 -0.00166097 0.01901721
+v 0.00715747 -0.00537393 0.02057171
+v 0.00580991 -0.00908505 0.02279842
+v 0.00512269 -0.01037413 0.02401681
+v 0.00355246 -0.01285679 0.02668467
+v 0.00306488 -0.01351602 0.02738840
+v 0.00334514 -0.01400630 0.02612799
+v -0.00786917 -0.01591796 0.05071650
+v -0.00860245 -0.01673327 0.05125217
+v -0.00080120 0.00202254 0.03844857
+v 0.00720738 -0.00351746 0.02064524
+v -0.00672508 -0.01673320 0.03211493
+v 0.02744766 0.00202285 -0.04598848
+v -0.00828380 -0.01094165 0.05342640
+v -0.00834907 -0.01279813 0.05327935
+v 0.00520716 -0.00908506 0.02418488
+v 0.00394022 -0.01094155 0.02657965
+v 0.00324148 -0.01227836 0.02777703
+v -0.00811488 -0.01528812 0.05197691
+v -0.00908236 -0.01625767 0.05276467
+v -0.00908236 -0.01651108 0.05246007
+v -0.00908236 -0.01673327 0.05215547
+v -0.00081271 0.00202254 0.03846958
+v -0.00829916 -0.00908517 0.05351044
+v -0.00898637 -0.01094165 0.05492839
+v -0.00844505 -0.01673321 0.03624278
+v -0.00401845 0.00202257 0.02860686
+v 0.02572386 0.00202283 -0.04191314
+v 0.02705222 0.00202285 -0.04505367
+v -0.00908236 -0.01268061 0.05483385
+v -0.00908236 -0.01279813 0.05481285
+v -0.00801506 -0.01405046 0.05220799
+v 0.00332211 -0.01094155 0.02794509
+v -0.00844505 -0.01466378 0.05291172
+v -0.00908236 -0.01457565 0.05410912
+v -0.00908236 -0.01529914 0.05363645
+v -0.00908236 -0.01673322 0.03782880
+v -0.00908236 0.00202248 0.05354199
+v -0.00908236 -0.01094165 0.05507544
+v -0.00908236 -0.01116017 0.05505443
+v -0.00908236 -0.01211871 0.05492839
+v -0.00903245 -0.01673322 0.03767125
+v -0.00551574 0.00202256 0.03222004
+v -0.00467879 0.00202257 0.03019287
+v -0.00461352 0.00202257 0.03003532
+v -0.00908236 -0.00042523 0.04106391
+v -0.00908236 0.00202253 0.04156809
+v -0.00838746 0.00202253 0.03964596
+v -0.00831451 0.00202254 0.03944639
+v -0.00809952 0.00158734 0.03877417
+v -0.00775399 0.00202254 0.03792339
+v -0.00702454 0.00202255 0.03600127
+v -0.00642947 0.00202255 0.03448877
+v -0.00604938 0.00202256 0.03353296
+v -0.00908236 0.00019543 0.04118995
+f 1 2 5
+f 1 5 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 28
+f 1 28 33
+f 1 33 22
+f 1 22 21
+f 1 21 17
+f 1 17 6
+f 1 6 3
+f 1 3 8
+f 1 8 20
+f 1 20 32
+f 1 32 46
+f 1 46 62
+f 1 62 61
+f 1 61 60
+f 1 60 78
+f 1 78 77
+f 1 77 76
+f 1 76 87
+f 1 87 86
+f 1 86 85
+f 1 85 84
+f 1 84 82
+f 1 82 81
+f 1 81 80
+f 1 80 71
+f 1 71 56
+f 1 56 43
+f 1 43 26
+f 1 26 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 25
+f 4 25 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 6 17 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 7 17 21
+f 7 21 22
+f 7 22 23
+f 7 23 28
+f 7 28 10
+f 7 10 25
+f 7 25 42
+f 7 42 55
+f 7 55 70
+f 7 70 75
+f 7 75 59
+f 7 59 45
+f 7 45 30
+f 7 30 29
+f 7 29 18
+f 9 24 25
+f 9 26 27
+f 9 27 24
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 30 32
+f 20 31 30
+f 22 33 23
+f 23 33 28
+f 24 27 34
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 26 43 27
+f 27 43 44
+f 27 44 35
+f 27 35 34
+f 30 45 32
+f 32 45 46
+f 35 44 47
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 36 50 37
+f 37 50 51
+f 37 51 38
+f 38 51 39
+f 39 51 52
+f 39 52 41
+f 39 41 40
+f 41 52 42
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 43 56 57
+f 43 57 58
+f 43 58 47
+f 43 47 44
+f 45 59 60
+f 45 60 61
+f 45 61 62
+f 45 62 46
+f 47 58 48
+f 48 58 63
+f 48 63 64
+f 48 64 65
+f 48 65 51
+f 48 51 50
+f 48 50 66
+f 48 66 49
+f 49 66 50
+f 51 65 52
+f 52 65 67
+f 52 67 68
+f 52 68 69
+f 52 69 53
+f 53 69 68
+f 53 68 64
+f 53 64 63
+f 53 63 74
+f 53 74 73
+f 53 73 72
+f 53 72 71
+f 53 71 80
+f 53 80 88
+f 53 88 79
+f 53 79 70
+f 53 70 55
+f 53 55 54
+f 56 71 57
+f 57 71 58
+f 58 72 73
+f 58 73 74
+f 58 74 63
+f 58 71 72
+f 59 75 76
+f 59 76 77
+f 59 77 78
+f 59 78 60
+f 64 68 67
+f 64 67 65
+f 70 79 75
+f 75 79 81
+f 75 81 82
+f 75 82 83
+f 75 83 84
+f 75 84 85
+f 75 85 86
+f 75 86 87
+f 75 87 76
+f 79 88 81
+f 80 81 88
+f 82 84 83
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_7.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.02765303 -0.02325646 -0.04331364
+v -0.02908652 -0.02315921 -0.04331364
+v -0.02660950 -0.02310175 -0.04331363
+v -0.02661262 -0.02307082 -0.03955862
+v -0.02664694 -0.02304431 -0.03766729
+v -0.02669529 -0.02301780 -0.03655572
+v -0.02765303 -0.02313270 -0.03955862
+v -0.02863729 -0.02303547 -0.03816501
+v -0.02976193 -0.02208073 -0.04144442
+v -0.03010042 -0.02189950 -0.04331363
+v -0.02626946 -0.02208072 -0.04331363
+v -0.02102685 -0.02127196 -0.01463399
+v -0.01923615 -0.02117034 -0.00295972
+v -0.01920028 -0.02119686 -0.00176520
+v -0.01918468 -0.02120129 0.00012613
+v -0.01921587 -0.02117478 0.00153633
+v -0.02698542 -0.02301780 -0.03655572
+v -0.02392190 -0.02219573 -0.01877058
+v -0.02762496 -0.02305315 -0.03758987
+v -0.02894458 -0.02192605 -0.03577596
+v -0.02904597 -0.02225312 -0.03758987
+v -0.02822862 -0.02298685 -0.03690412
+v -0.02115631 -0.02116593 0.00129300
+v -0.02301252 -0.02117475 -0.00448053
+v -0.02493736 -0.02125428 -0.01363302
+v -0.02876520 -0.02159898 -0.03388463
+v -0.03010822 -0.02187298 -0.04331363
+v -0.02602924 -0.02022430 -0.04331362
+v -0.02114071 -0.02090951 -0.01588381
+v -0.01737839 -0.01934489 0.00475492
+v -0.01728636 -0.01954822 0.00579460
+v -0.01711945 -0.01980459 0.00768593
+v -0.01695567 -0.01991952 0.00957173
+v -0.01679033 -0.01995930 0.01146306
+v -0.01665306 -0.01993721 0.01317190
+v -0.01679813 -0.01999909 0.01317190
+v -0.01832833 -0.02061347 0.01146305
+v -0.02019233 -0.02117920 0.00158610
+v -0.02205790 -0.02172725 -0.00932499
+v -0.02680292 -0.02129404 -0.02305649
+v -0.01832833 -0.02048972 0.01317189
+v -0.01847495 -0.02042784 0.01317189
+v -0.01972906 -0.01984439 0.01317190
+v -0.02120155 -0.01948193 0.00716609
+v -0.02864353 -0.02131609 -0.03263481
+v -0.03030008 -0.02022431 -0.04144441
+v -0.03043578 -0.02036575 -0.04331362
+v -0.02600741 -0.01838556 -0.04331362
+v -0.01813491 0.01133027 -0.00554221
+v -0.01822226 0.00761743 -0.00554222
+v -0.01737839 0.00612344 -0.00089686
+v -0.01739710 0.00488582 -0.00080837
+v -0.01744390 0.00204815 -0.00052634
+v -0.01564853 -0.01465525 0.01317192
+v -0.01573432 -0.01651167 0.01317191
+v -0.01582791 -0.01828411 0.01317190
+v -0.02016426 -0.01836809 0.01317190
+v -0.02964339 -0.02022432 -0.03766728
+v -0.02999747 -0.02022431 -0.03955861
+v -0.02983993 0.01318682 -0.04144429
+v -0.02999591 0.01320893 -0.04331350
+v -0.02572196 0.00574347 -0.04331353
+v -0.01811307 0.01875595 -0.00554218
+v -0.01774027 0.01875594 -0.00365638
+v -0.01728792 0.01875594 -0.00136135
+v -0.01699779 0.01875593 0.00012628
+v -0.01663122 0.01875592 0.00201208
+v -0.01626778 0.01875592 0.00390341
+v -0.01450049 0.01875588 0.01317204
+v -0.02570012 0.00759989 -0.04331352
+v -0.02560497 0.01688199 -0.04331349
+v -0.02558781 0.01873841 -0.04331348
+v -0.01541767 -0.00827271 0.01317194
+v -0.01547538 -0.00993464 0.01317193
+v -0.01877132 0.01875588 0.01317204
+v -0.02941409 0.01875608 -0.03955847
+v -0.02944529 0.01689966 -0.03955848
+v -0.02947493 0.01504324 -0.03955848
+v -0.02950300 0.01318682 -0.03955849
+v -0.02981185 0.01504324 -0.04144428
+v -0.02991480 0.01875609 -0.04331348
+v -0.02996939 0.01504325 -0.04331349
+v -0.01731443 0.01991840 -0.00123415
+v -0.02558781 0.01875609 -0.04331348
+v -0.01546759 0.01985649 0.00829992
+v -0.01453324 0.01890616 0.01317204
+v -0.01815519 0.02034709 0.01317204
+v -0.01926111 0.01968852 0.01052307
+v -0.02866069 0.02009533 -0.03635649
+v -0.02975414 0.01875608 -0.04144427
+v -0.02955292 0.02061251 -0.04331347
+v -0.02940629 0.02061250 -0.04144426
+v -0.01718029 0.02019244 0.00012628
+v -0.01918468 0.01993612 -0.01065209
+v -0.02485781 0.02154069 -0.03671594
+v -0.02588106 0.02059483 -0.04331347
+v -0.02106740 0.01991847 -0.01999814
+v -0.01534436 0.02010400 0.00957187
+v -0.01499964 0.02043992 0.01317205
+v -0.01516498 0.02034710 0.01146320
+v -0.01808655 0.02050622 0.01317205
+v -0.01935158 0.01991836 0.00957187
+v -0.02673429 0.02155393 -0.02907872
+v -0.02864509 0.02159374 -0.03825886
+v -0.02879016 0.02067437 -0.03764501
+v -0.02914268 0.02061250 -0.03955846
+v -0.02954668 0.02062577 -0.04331347
+v -0.02873556 0.02166005 -0.03955846
+v -0.02588418 0.02061251 -0.04331347
+v -0.02644416 0.02169542 -0.04331347
+v -0.02645196 0.02170868 -0.04331347
+v -0.02293921 0.02157601 -0.02583249
+v -0.02111264 0.02154946 -0.01607168
+v -0.01646276 0.02119575 0.01146321
+v -0.01646276 0.02127973 0.01317205
+v -0.01953408 0.02028082 0.00768607
+v -0.01832833 0.02113830 0.00768608
+v -0.02299224 0.02154502 -0.01213971
+v -0.02491240 0.02158484 -0.02121477
+v -0.02680916 0.02161139 -0.03010734
+v -0.02889623 0.02173078 -0.04331347
+v -0.02883071 0.02170425 -0.04144426
+v -0.02498883 0.02162904 -0.02254755
+v -0.02692927 0.02167328 -0.03199867
+v -0.02765303 0.02189874 -0.04331347
+v -0.02109704 0.02155830 -0.01499329
+v -0.02114539 0.02154942 -0.00588504
+v -0.02093326 0.02155385 -0.00743350
+v -0.02094729 0.02154942 -0.00588504
+v -0.02303747 0.02157155 -0.01310196
+v -0.02765303 0.02179707 -0.03955846
+v -0.02392190 0.02171303 -0.02443888
+v -0.02205790 0.02161576 -0.01499329
+f 1 2 10
+f 1 10 27
+f 1 27 47
+f 1 47 61
+f 1 61 82
+f 1 82 81
+f 1 81 91
+f 1 91 107
+f 1 107 121
+f 1 121 125
+f 1 125 111
+f 1 111 110
+f 1 110 109
+f 1 109 96
+f 1 96 84
+f 1 84 72
+f 1 72 71
+f 1 71 70
+f 1 70 62
+f 1 62 48
+f 1 48 28
+f 1 28 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 2
+f 2 9 10
+f 2 8 9
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 17 7
+f 6 16 18
+f 6 18 17
+f 7 17 19
+f 7 19 8
+f 8 20 21
+f 8 21 9
+f 8 19 22
+f 8 22 18
+f 8 18 23
+f 8 23 24
+f 8 24 25
+f 8 25 20
+f 9 21 20
+f 9 20 26
+f 9 26 10
+f 10 26 27
+f 11 28 29
+f 11 29 12
+f 12 30 31
+f 12 31 13
+f 12 29 30
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 14
+f 14 35 15
+f 15 35 36
+f 15 36 37
+f 15 37 16
+f 16 37 38
+f 16 38 39
+f 16 39 18
+f 17 18 19
+f 18 22 19
+f 18 39 38
+f 18 38 23
+f 20 25 40
+f 20 40 26
+f 23 38 37
+f 23 37 41
+f 23 41 42
+f 23 42 43
+f 23 43 24
+f 24 43 44
+f 24 44 25
+f 25 44 40
+f 26 45 46
+f 26 46 27
+f 26 40 45
+f 27 46 47
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 53
+f 28 53 54
+f 28 54 29
+f 29 54 55
+f 29 55 30
+f 30 55 56
+f 30 56 31
+f 31 56 32
+f 32 56 33
+f 33 56 34
+f 34 56 35
+f 35 56 55
+f 35 55 54
+f 35 54 74
+f 35 74 73
+f 35 73 69
+f 35 69 86
+f 35 86 99
+f 35 99 115
+f 35 115 101
+f 35 101 87
+f 35 87 75
+f 35 75 57
+f 35 57 43
+f 35 43 42
+f 35 42 41
+f 35 41 36
+f 36 41 37
+f 40 44 45
+f 43 57 44
+f 44 57 45
+f 45 58 59
+f 45 59 46
+f 45 57 58
+f 46 59 60
+f 46 60 61
+f 46 61 47
+f 48 62 49
+f 49 63 64
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 68
+f 49 68 69
+f 49 69 51
+f 49 51 50
+f 49 62 70
+f 49 70 71
+f 49 71 72
+f 49 72 63
+f 51 69 52
+f 52 69 53
+f 53 69 73
+f 53 73 74
+f 53 74 54
+f 57 75 76
+f 57 76 77
+f 57 77 78
+f 57 78 79
+f 57 79 59
+f 57 59 58
+f 59 79 60
+f 60 79 78
+f 60 78 80
+f 60 80 81
+f 60 81 82
+f 60 82 61
+f 63 83 64
+f 63 72 84
+f 63 84 83
+f 64 83 65
+f 65 83 66
+f 66 83 67
+f 67 83 85
+f 67 85 68
+f 68 85 69
+f 69 85 86
+f 75 87 88
+f 75 88 76
+f 76 89 90
+f 76 90 77
+f 76 88 89
+f 77 90 78
+f 78 90 80
+f 80 90 81
+f 81 90 92
+f 81 92 91
+f 83 93 85
+f 83 84 94
+f 83 94 95
+f 83 95 93
+f 84 96 97
+f 84 97 94
+f 85 93 98
+f 85 98 86
+f 86 98 100
+f 86 100 99
+f 87 101 88
+f 88 101 102
+f 88 102 103
+f 88 103 104
+f 88 104 105
+f 88 105 89
+f 89 105 106
+f 89 106 90
+f 90 106 92
+f 91 92 107
+f 92 106 104
+f 92 104 108
+f 92 108 107
+f 93 95 98
+f 94 97 96
+f 94 96 109
+f 94 109 95
+f 95 109 110
+f 95 110 111
+f 95 111 112
+f 95 112 113
+f 95 113 100
+f 95 100 98
+f 99 114 115
+f 99 100 113
+f 99 113 114
+f 101 116 102
+f 101 115 117
+f 101 117 118
+f 101 118 116
+f 102 116 103
+f 103 119 120
+f 103 120 104
+f 103 116 118
+f 103 118 119
+f 104 106 105
+f 104 120 108
+f 107 108 122
+f 107 122 121
+f 108 120 119
+f 108 119 123
+f 108 123 124
+f 108 124 122
+f 111 125 113
+f 111 113 112
+f 113 125 126
+f 113 126 115
+f 113 115 114
+f 115 127 118
+f 115 118 117
+f 115 126 128
+f 115 128 129
+f 115 129 127
+f 118 127 130
+f 118 130 123
+f 118 123 119
+f 121 122 125
+f 122 124 131
+f 122 131 125
+f 123 125 124
+f 123 130 125
+f 124 125 131
+f 125 132 126
+f 125 130 127
+f 125 127 129
+f 125 129 132
+f 126 133 128
+f 126 132 133
+f 128 133 132
+f 128 132 129
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_8.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01265764 0.01377152 0.06160764
+v -0.01265764 0.01426780 0.06158780
+v -0.01292540 0.01377152 0.06145423
+v -0.01265764 0.01377155 0.05382412
+v -0.01265764 0.01450015 0.06157788
+v -0.01321738 0.01377152 0.06128479
+v -0.01317038 0.01504756 0.06125733
+v -0.01265764 0.02145263 0.05381118
+v -0.01657582 0.01377155 0.05551012
+v -0.01653309 0.02145263 0.05507968
+v -0.01265764 0.01504756 0.06155422
+v -0.01459655 0.01690411 0.06032846
+v -0.01415028 0.01377153 0.06072839
+v -0.01265764 0.01690410 0.06147256
+v -0.01309916 0.01690411 0.06121688
+v -0.01552566 0.01964870 0.05965606
+v -0.01265764 0.02145261 0.06096655
+v -0.01712986 0.01377155 0.05579557
+v -0.01726090 0.02145262 0.05676491
+v -0.01738054 0.01400765 0.05592990
+v -0.01459655 0.01377153 0.06046202
+v -0.01265764 0.01875990 0.06136877
+v -0.01300659 0.01875991 0.06116804
+v -0.01556553 0.01841101 0.05968354
+v -0.01544305 0.02061570 0.05960951
+v -0.01640633 0.02061570 0.05866462
+v -0.01664181 0.01377153 0.05890119
+v -0.01634984 0.01377153 0.05918588
+v -0.01267378 0.02145261 0.06095892
+v -0.01265764 0.02117289 0.06103524
+v -0.01742611 0.01377154 0.05617872
+v -0.01739573 0.01788014 0.05775177
+v -0.01739573 0.01788014 0.05777085
+v -0.01635981 0.02145261 0.05859135
+v -0.01750398 0.01377154 0.05678473
+v -0.01570939 0.01377153 0.05977968
+v -0.01265764 0.01922610 0.06131992
+v -0.01451062 0.02061570 0.06013157
+v -0.01529540 0.02145261 0.05953624
+v -0.01750777 0.01377154 0.05795630
+v -0.01265764 0.02072398 0.06114362
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 21
+f 1 21 36
+f 1 36 28
+f 1 28 27
+f 1 27 40
+f 1 40 35
+f 1 35 31
+f 1 31 18
+f 1 18 9
+f 1 9 4
+f 1 4 8
+f 1 8 17
+f 1 17 30
+f 1 30 41
+f 1 41 37
+f 1 37 22
+f 1 22 14
+f 1 14 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 6
+f 4 9 10
+f 4 10 8
+f 5 11 7
+f 6 7 12
+f 6 12 13
+f 7 11 14
+f 7 14 15
+f 7 15 16
+f 7 16 12
+f 8 10 19
+f 8 19 34
+f 8 34 39
+f 8 39 29
+f 8 29 17
+f 9 18 10
+f 10 18 20
+f 10 20 19
+f 12 21 13
+f 12 16 21
+f 14 22 23
+f 14 23 15
+f 15 23 16
+f 16 24 21
+f 16 23 22
+f 16 22 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 24
+f 17 29 30
+f 18 31 20
+f 19 32 33
+f 19 33 34
+f 19 20 31
+f 19 31 35
+f 19 35 32
+f 21 24 36
+f 22 37 25
+f 24 28 36
+f 25 37 38
+f 25 38 39
+f 25 39 34
+f 25 34 26
+f 26 34 33
+f 26 33 40
+f 26 40 27
+f 29 39 30
+f 30 39 41
+f 32 35 40
+f 32 40 33
+f 37 41 38
+f 38 41 39
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/mesh/remote_holder_013_collision_9.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00908303 0.01377156 0.05298104
+v -0.00908303 0.01377159 0.04415583
+v -0.01224908 0.01377156 0.05298104
+v -0.00908303 -0.01596190 0.05298093
+v -0.01040930 0.01377157 0.04782935
+v -0.00908303 0.00947774 0.04320597
+v -0.01592195 -0.01654352 0.05298093
+v -0.01195450 0.01377156 0.05214389
+v -0.00909508 -0.01598861 0.05298093
+v -0.00908303 -0.01625864 0.05276433
+v -0.01092682 0.01377157 0.04926362
+v -0.00908303 0.00898812 0.04309766
+v -0.00908303 -0.00354918 0.04045152
+v -0.00908303 -0.00537117 0.04010319
+v -0.00908303 -0.00690829 0.03981486
+v -0.00908303 -0.01654347 0.03802930
+v -0.00936422 -0.01654352 0.05298093
+v -0.01155147 0.01377156 0.05100818
+v -0.01113973 0.01377157 0.04985636
+v -0.00908303 0.00205626 0.04158433
+v -0.00908303 0.00019272 0.04119355
+v -0.00908303 -0.00165894 0.04082473
+v -0.00933208 -0.01649604 0.05298093
+v -0.00908303 -0.01651087 0.05246723
+v -0.00934815 -0.01654352 0.05296337
+v -0.00908303 -0.01654352 0.05242332
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 18
+f 1 18 8
+f 1 8 3
+f 1 3 7
+f 1 7 17
+f 1 17 23
+f 1 23 9
+f 1 9 4
+f 1 4 10
+f 1 10 24
+f 1 24 26
+f 1 26 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 22
+f 1 22 21
+f 1 21 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 7
+f 4 9 10
+f 5 7 11
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 26
+f 7 26 25
+f 7 25 17
+f 7 8 18
+f 7 18 19
+f 7 19 11
+f 7 12 20
+f 7 20 21
+f 7 21 22
+f 7 22 13
+f 9 23 10
+f 10 23 25
+f 10 25 24
+f 17 25 23
+f 24 25 26
+

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mjcf/remote_holder_013.xml

@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="remote_holder_013">
+  <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/remote_holder_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/remote_holder_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/remote_holder_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/remote_holder_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/remote_holder_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/remote_holder_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/remote_holder_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/remote_holder_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/remote_holder_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/remote_holder_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/remote_holder_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/remote_holder_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/remote_holder_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/remote_holder_013_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/remote_holder_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/remote_holder_013_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/remote_holder_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/remote_holder_013_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/remote_holder_013_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/remote_holder_013_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/remote_holder_013_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/remote_holder_013_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/remote_holder_013_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/remote_holder_013_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="remote_holder_013">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/remote_holder_013.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_holder_013">
+   <link name="remote_holder_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_013.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/remote_holder_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>84f973a56f1c51bf863f643b5513b119</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>remote_holder</category>
+         <name>gray remote holder</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>gray plastic angled remote holder with fold-out rear stand</description>
+         <min_height>0.1145</min_height>
+         <max_height>0.1145</max_height>
+         <real_height>0.1145</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518171544</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030171 -0.030753 -0.052350</min>
+            <max>0.040379 0.029247 0.062149</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/remote_holder_013.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ee8f2248a025f9ebca828044ff5f1d45adb9d0609fe3990291b1d3a50678a6f
+size 4842212

dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd747dbe37f573cf10fd68171385b1b2b57d837a529f2f487a802cd1790178c
+size 304533