Add asset bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b

.gitattributes

@@ -2798,3 +2798,5 @@ dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_ho
 dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_003.usd filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_003_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 storage_bin_003_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56f8104224b84963912226cfe15adc7973283cfcb38e95fda8f3fd0902e2531
+size 13176852

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.mtl

@@ -0,0 +1,6 @@
+newmtl storage_bin_003_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/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_0.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v 0.00000555 -0.00604844 -0.00985520
+v 0.00000555 -0.03475159 -0.00703473
+v 0.00000555 -0.00604841 -0.01846691
+v -0.05257171 -0.00604845 -0.00703462
+v 0.00000555 -0.04242714 -0.00703476
+v 0.00000555 -0.01182111 -0.01846693
+v -0.00296951 -0.00691431 -0.01846804
+v -0.01481076 -0.00604841 -0.01846915
+v -0.06029273 -0.00604845 -0.00703462
+v 0.00000555 -0.04243071 -0.00898454
+v -0.00492338 -0.04243071 -0.00703476
+v 0.00000555 -0.02945278 -0.01846476
+v -0.00296951 -0.00887418 -0.01846804
+v -0.01481076 -0.02846216 -0.01846699
+v -0.03455011 -0.01083048 -0.01846805
+v -0.03652168 -0.00887418 -0.01846804
+v -0.03652168 -0.00604841 -0.01846803
+v -0.06029273 -0.00604843 -0.01476658
+v -0.06029863 -0.01083052 -0.00703464
+v 0.00000555 -0.04243069 -0.01476672
+v -0.00889014 -0.04243426 -0.01091193
+v -0.00691856 -0.04243425 -0.01283933
+v -0.04044713 -0.04243783 -0.00703476
+v -0.05626103 -0.04244850 -0.01476672
+v 0.00000555 -0.03238189 -0.01846365
+v -0.01086171 -0.03238189 -0.01846477
+v -0.01678824 -0.03238189 -0.01846477
+v -0.05428946 -0.03238189 -0.01846365
+v -0.04047073 -0.02846216 -0.01846587
+v -0.05626103 -0.01279035 -0.01846582
+v -0.05626103 -0.01083048 -0.01846581
+v -0.04924247 -0.00604841 -0.01846579
+v -0.06029273 -0.03433822 -0.01476669
+v -0.06029863 -0.01083052 -0.00705591
+v -0.06013925 -0.00604842 -0.01584221
+v -0.06029273 -0.03433824 -0.00703473
+v 0.00000555 -0.04227032 -0.01572147
+v -0.00691856 -0.04243425 -0.01476672
+v -0.05034041 -0.04243783 -0.00703476
+v -0.05626103 -0.04244494 -0.01283933
+v -0.05823851 -0.04211354 -0.01283932
+v -0.05823851 -0.04210642 -0.01476671
+v -0.05626103 -0.04210284 -0.01669523
+v -0.05428946 -0.04211353 -0.01669523
+v -0.05231198 -0.04211353 -0.01669523
+v -0.02862949 -0.04210997 -0.01669523
+v -0.00691856 -0.04210641 -0.01669523
+v 0.00000555 -0.03336895 -0.01846253
+v -0.01086171 -0.03433820 -0.01846142
+v -0.05428946 -0.03433820 -0.01846254
+v -0.05626103 -0.03238189 -0.01846141
+v -0.05823851 -0.01475022 -0.01828114
+v -0.05823851 -0.01083048 -0.01828113
+v -0.05626103 -0.00691431 -0.01846468
+v -0.05626103 -0.00604841 -0.01846355
+v -0.06001528 -0.03433821 -0.01669521
+v -0.06026322 -0.03629808 -0.01476669
+v -0.06001528 -0.00604842 -0.01669510
+v -0.06026322 -0.03629809 -0.01091190
+v -0.06026322 -0.03627672 -0.00703473
+v 0.00000555 -0.04210284 -0.01669523
+v -0.05231198 -0.04241645 -0.00703476
+v -0.05626103 -0.04239863 -0.01091193
+v -0.05823851 -0.04206723 -0.01091192
+v -0.05946632 -0.04147214 -0.01091192
+v -0.05947812 -0.04148995 -0.01283932
+v -0.05947222 -0.04147926 -0.01476671
+v -0.05938368 -0.04137947 -0.01616581
+v -0.05830344 -0.04166455 -0.01676350
+v -0.05768363 -0.04137590 -0.01779883
+v -0.05626103 -0.04147924 -0.01788054
+v -0.05428946 -0.04149349 -0.01789285
+v -0.00889014 -0.04148993 -0.01789061
+v 0.00000555 -0.04179995 -0.01728732
+v 0.00000555 -0.03433820 -0.01846030
+v -0.00691856 -0.03825793 -0.01843457
+v -0.04639136 -0.03825793 -0.01843233
+v -0.05428946 -0.03825793 -0.01843121
+v -0.05626103 -0.03433820 -0.01846030
+v -0.02073729 -0.03825793 -0.01843457
+v -0.05823851 -0.03433820 -0.01827451
+v -0.05947812 -0.03433820 -0.01787492
+v -0.05948402 -0.01671008 -0.01787821
+v -0.05948402 -0.01279035 -0.01787820
+v -0.05948402 -0.00604841 -0.01787705
+v -0.05823851 -0.00604841 -0.01827887
+v -0.05972014 -0.00604842 -0.01735323
+v -0.05946632 -0.03629806 -0.01786373
+v -0.05998577 -0.03629807 -0.01669521
+v -0.06021008 -0.03825795 -0.01476670
+v -0.06021598 -0.03825795 -0.01283931
+v -0.06021598 -0.03825797 -0.00703474
+v -0.05426585 -0.04219196 -0.00703475
+v -0.05428946 -0.04218839 -0.00703475
+v -0.05932465 -0.04128685 -0.00703475
+v -0.05933646 -0.04128329 -0.00703475
+v -0.05934236 -0.04127260 -0.00703475
+v -0.05982640 -0.04021784 -0.00703475
+v -0.05995626 -0.04021783 -0.01091192
+v -0.05996807 -0.04021782 -0.01283932
+v -0.05995036 -0.04021782 -0.01476671
+v -0.05899998 -0.04091623 -0.01745074
+v -0.05957847 -0.04024275 -0.01676350
+v -0.05830344 -0.04024274 -0.01794993
+v -0.05626103 -0.04021780 -0.01825997
+v -0.05428946 -0.04021780 -0.01827788
+v -0.02862949 -0.04021780 -0.01827900
+v -0.02665791 -0.04021780 -0.01827900
+v 0.00000555 -0.04021780 -0.01827788
+v 0.00000555 -0.04148636 -0.01789061
+v 0.00000555 -0.03532882 -0.01845359
+v 0.00000555 -0.03728869 -0.01844017
+v 0.00000555 -0.03825793 -0.01843345
+v 0.00000555 -0.03924855 -0.01835510
+v -0.05626103 -0.03825793 -0.01842226
+v -0.05626103 -0.03629806 -0.01844240
+v -0.05823851 -0.03629806 -0.01825324
+v -0.05823851 -0.03825793 -0.01820624
+v -0.05942500 -0.03825793 -0.01782904
+v -0.05991493 -0.03825794 -0.01669522
+v -0.05983230 -0.04019646 -0.00703475
+v -0.05933646 -0.03960845 -0.01775518
+f 1 2 5
+f 1 5 10
+f 1 10 20
+f 1 20 37
+f 1 37 61
+f 1 61 74
+f 1 74 110
+f 1 110 109
+f 1 109 114
+f 1 114 113
+f 1 113 112
+f 1 112 111
+f 1 111 75
+f 1 75 48
+f 1 48 25
+f 1 25 12
+f 1 12 6
+f 1 6 3
+f 1 3 8
+f 1 8 17
+f 1 17 32
+f 1 32 55
+f 1 55 86
+f 1 86 85
+f 1 85 87
+f 1 87 58
+f 1 58 35
+f 1 35 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 9
+f 2 9 19
+f 2 19 36
+f 2 36 60
+f 2 60 92
+f 2 92 121
+f 2 121 98
+f 2 98 97
+f 2 97 96
+f 2 96 95
+f 2 95 94
+f 2 94 93
+f 2 93 62
+f 2 62 39
+f 2 39 23
+f 2 23 11
+f 2 11 5
+f 3 6 13
+f 3 13 7
+f 3 7 8
+f 5 11 10
+f 6 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 9 18 34
+f 9 34 19
+f 10 11 21
+f 10 21 22
+f 10 22 38
+f 10 38 20
+f 11 23 24
+f 11 24 21
+f 12 25 14
+f 12 14 13
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 18 33 34
+f 18 35 33
+f 19 34 33
+f 19 33 36
+f 20 38 37
+f 21 24 22
+f 22 24 38
+f 23 39 24
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 37
+f 24 37 38
+f 25 48 26
+f 26 48 49
+f 26 49 50
+f 26 50 27
+f 27 50 28
+f 28 50 79
+f 28 79 51
+f 28 51 30
+f 28 30 29
+f 30 51 52
+f 30 52 53
+f 30 53 31
+f 31 53 54
+f 31 54 32
+f 32 54 55
+f 33 35 56
+f 33 56 89
+f 33 89 57
+f 33 57 59
+f 33 59 36
+f 35 58 56
+f 36 59 60
+f 37 47 61
+f 39 62 40
+f 40 63 64
+f 40 64 41
+f 40 62 63
+f 41 64 65
+f 41 65 66
+f 41 66 42
+f 42 66 67
+f 42 67 68
+f 42 68 69
+f 42 69 43
+f 43 69 70
+f 43 70 71
+f 43 71 72
+f 43 72 44
+f 44 72 45
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 46 74 47
+f 47 74 61
+f 48 75 49
+f 49 75 76
+f 49 76 50
+f 50 77 78
+f 50 78 79
+f 50 76 80
+f 50 80 77
+f 51 79 81
+f 51 81 52
+f 52 81 82
+f 52 82 83
+f 52 83 84
+f 52 84 53
+f 53 84 85
+f 53 85 86
+f 53 86 54
+f 54 86 55
+f 56 58 87
+f 56 87 83
+f 56 83 82
+f 56 82 88
+f 56 88 89
+f 57 89 90
+f 57 90 91
+f 57 91 92
+f 57 92 59
+f 59 92 60
+f 62 93 63
+f 63 93 94
+f 63 94 64
+f 64 95 96
+f 64 96 65
+f 64 94 95
+f 65 96 97
+f 65 97 98
+f 65 98 99
+f 65 99 66
+f 66 99 100
+f 66 100 67
+f 67 100 101
+f 67 101 68
+f 68 102 69
+f 68 101 103
+f 68 103 102
+f 69 102 70
+f 70 102 104
+f 70 104 105
+f 70 105 71
+f 71 105 106
+f 71 106 72
+f 72 106 107
+f 72 107 108
+f 72 108 109
+f 72 109 73
+f 73 109 110
+f 73 110 74
+f 75 111 76
+f 76 111 112
+f 76 112 113
+f 76 113 114
+f 76 114 109
+f 76 109 108
+f 76 108 107
+f 76 107 80
+f 77 106 78
+f 77 80 106
+f 78 106 115
+f 78 115 116
+f 78 116 79
+f 79 116 81
+f 80 107 106
+f 81 117 88
+f 81 88 82
+f 81 116 115
+f 81 115 117
+f 83 87 84
+f 84 87 85
+f 88 117 118
+f 88 118 119
+f 88 119 89
+f 89 120 90
+f 89 119 120
+f 90 120 101
+f 90 101 100
+f 90 100 91
+f 91 100 92
+f 92 100 99
+f 92 99 121
+f 98 121 99
+f 101 120 103
+f 102 122 104
+f 102 103 122
+f 103 120 122
+f 104 122 118
+f 104 118 105
+f 105 118 115
+f 105 115 106
+f 115 118 117
+f 118 122 119
+f 119 122 120
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_1.obj

@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v -0.05626086 0.03452811 -0.01846429
+v -0.05823812 0.03452811 -0.01828201
+v -0.05626086 0.03815199 -0.01843390
+v -0.05428950 0.03815199 -0.01843896
+v 0.00000555 0.03815199 -0.01843896
+v 0.00000555 0.03452811 -0.01845922
+v -0.05948941 0.03452811 -0.01788201
+v -0.05947761 0.03619229 -0.01787188
+v -0.05823812 0.03619229 -0.01826682
+v -0.05626086 0.04011016 -0.01826174
+v -0.05428950 0.04011016 -0.01827186
+v -0.05823812 0.03815199 -0.01821617
+v -0.04639225 0.04011016 -0.01827693
+v 0.00000555 0.04011016 -0.01827693
+v 0.00000555 0.03452807 -0.00716812
+v -0.06002061 0.03452810 -0.01669214
+v -0.05943039 0.03815199 -0.01783643
+v -0.05999110 0.03619228 -0.01669214
+v -0.05828534 0.04012474 -0.01795288
+v -0.05765380 0.04126311 -0.01779591
+v -0.05626086 0.04135983 -0.01787186
+v -0.05428950 0.04136904 -0.01788199
+v -0.05934185 0.03948149 -0.01776047
+v -0.03652364 0.04137287 -0.01788705
+v -0.03454638 0.04137441 -0.01788705
+v -0.02468368 0.04137518 -0.01788705
+v -0.00888918 0.04137518 -0.01788705
+v -0.00099193 0.04137211 -0.01788705
+v 0.00000555 0.04137134 -0.01788199
+v 0.00000555 0.03459164 0.02957101
+v -0.05174562 0.03452792 0.03275581
+v -0.06006193 0.03452810 -0.01640353
+v -0.05990847 0.03815198 -0.01669213
+v -0.06025671 0.03619227 -0.01476303
+v -0.06017998 0.03815197 -0.01476302
+v -0.05626086 0.04197237 -0.01669212
+v -0.05897001 0.04078795 -0.01735541
+v -0.05828534 0.04151257 -0.01670225
+v -0.05428950 0.04198004 -0.01669212
+v -0.05953663 0.04012473 -0.01670225
+v -0.02468368 0.04198388 -0.01669212
+v -0.01678643 0.04198465 -0.01669212
+v -0.01086644 0.04198465 -0.01669212
+v -0.00296919 0.04197851 -0.01669212
+v 0.00000555 0.04167069 -0.01729465
+v -0.00888918 0.04198311 -0.01669212
+v 0.00000555 0.03463463 0.03054823
+v -0.05399439 0.03452792 0.03313556
+v -0.06028622 0.03452809 -0.01476303
+v -0.05983764 0.04011014 -0.01476301
+v -0.06020359 0.03815196 -0.01090987
+v -0.06019178 0.03815197 -0.01283898
+v -0.06026261 0.03619227 -0.01283899
+v -0.05987896 0.04011013 -0.01090986
+v -0.05986125 0.04011014 -0.01283897
+v -0.05823812 0.04189099 -0.01476301
+v -0.05626086 0.04231317 -0.01476300
+v -0.05933004 0.04121166 -0.01606934
+v -0.01086644 0.04230550 -0.01476300
+v -0.01678643 0.04230703 -0.01476300
+v 0.00000555 0.04213356 -0.01574022
+v 0.00000555 0.04197544 -0.01669212
+v -0.00888918 0.04230396 -0.01476300
+v 0.00000555 0.03467760 0.03150012
+v -0.05596575 0.03452792 0.03325202
+v -0.06029212 0.03452804 -0.00126940
+v -0.06026851 0.03619225 -0.00898077
+v -0.05938316 0.04127844 -0.01476301
+v -0.06020949 0.03815195 -0.00898076
+v -0.05988486 0.04011009 -0.00126938
+v -0.05941268 0.04130756 -0.00126938
+v -0.05940678 0.04129685 -0.01090986
+v -0.05939497 0.04128918 -0.01283897
+v -0.05823812 0.04190097 -0.01283897
+v -0.05823812 0.04191627 -0.00126938
+v -0.05823812 0.04191781 0.00065973
+v -0.05823812 0.04193152 0.02764699
+v -0.05823812 0.04193228 0.02957103
+v -0.05626086 0.04231071 0.02957104
+v -0.03849501 0.04235068 0.01607741
+v -0.03652364 0.04235304 0.00065974
+v -0.00888918 0.04236455 0.00065974
+v 0.00000555 0.04229552 -0.01476300
+v 0.00000555 0.03483496 0.03210771
+v -0.05626086 0.03452792 0.03326214
+v 0.00000555 0.03498849 0.03270012
+v -0.06028622 0.03452793 0.02957101
+v -0.06026851 0.03619213 0.02571786
+v -0.06022129 0.03815184 0.02185965
+v -0.05989666 0.04010999 0.02764699
+v -0.05942449 0.04132051 0.02764699
+v -0.05626086 0.04202055 0.03150014
+v -0.05942449 0.04131896 0.02957103
+v -0.05935956 0.04124220 0.03100394
+v -0.05834437 0.04154846 0.03159128
+v -0.05428950 0.04203283 0.03150014
+v -0.01086644 0.04207428 0.03150014
+v -0.00888918 0.04207581 0.03150014
+v -0.00691782 0.04207658 0.03150014
+v -0.01678643 0.04230610 0.02957104
+v -0.00888918 0.04236603 0.01607741
+v -0.01086644 0.04236913 0.00836604
+v -0.00888918 0.04236759 0.00836604
+v -0.00296919 0.04234227 0.00644200
+v -0.00099193 0.04233230 0.00644200
+v 0.00000555 0.04231848 0.00546985
+v -0.05428950 0.03815180 0.03324190
+v -0.05626086 0.03619210 0.03325202
+v -0.05823812 0.03452792 0.03318113
+v 0.00000555 0.03559643 0.03289758
+v 0.00000555 0.03619210 0.03308999
+v 0.00000555 0.03815180 0.03325203
+v -0.00888918 0.03815180 0.03325203
+v -0.06026261 0.03452793 0.02986468
+v -0.06026261 0.03619211 0.02957101
+v -0.06022129 0.03815183 0.02378876
+v -0.05989076 0.04010998 0.02957103
+v -0.06020359 0.03815181 0.02957102
+v -0.05776004 0.04129285 0.03262419
+v -0.05626086 0.04140876 0.03271533
+v -0.05428950 0.04142335 0.03273052
+v -0.05960746 0.04022280 0.03159128
+v -0.05907625 0.04095050 0.03229001
+v -0.00691782 0.04146940 0.03276596
+v -0.00494056 0.04146940 0.03276596
+v -0.00099193 0.04146864 0.03276596
+v 0.00000555 0.04177414 0.03212799
+v 0.00000555 0.04207428 0.03150014
+v -0.01283780 0.04230457 0.02957104
+v -0.01086644 0.04230380 0.02957104
+v 0.00000555 0.04229766 0.02957104
+v -0.00691782 0.04235682 0.01607741
+v -0.00099193 0.04233305 0.00836604
+v 0.00000555 0.04231924 0.00739896
+v -0.05428950 0.04010997 0.03311533
+v -0.05626086 0.03815180 0.03323683
+v -0.00888918 0.04010997 0.03315583
+v -0.05939497 0.03452792 0.03284189
+v -0.05823812 0.03619210 0.03316594
+v 0.00000555 0.04010997 0.03315583
+v -0.06012686 0.03452792 0.03150012
+v -0.06010324 0.03619210 0.03150012
+v -0.06003242 0.03815180 0.03150013
+v -0.05626086 0.04010997 0.03310520
+v -0.05834437 0.04022280 0.03281659
+v -0.05941858 0.03964403 0.03263432
+v 0.00000555 0.04146787 0.03276596
+v 0.00000555 0.04218713 0.03052799
+v 0.00000555 0.04231230 0.01607741
+v 0.00000555 0.04231924 0.00836604
+v -0.05823812 0.03815180 0.03312544
+v -0.05958384 0.03619210 0.03277100
+v -0.05959565 0.03452792 0.03278113
+v -0.06005013 0.03452792 0.03169252
+v -0.05954253 0.03815180 0.03273557
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 31
+f 1 31 48
+f 1 48 65
+f 1 65 85
+f 1 85 109
+f 1 109 138
+f 1 138 153
+f 1 153 154
+f 1 154 141
+f 1 141 114
+f 1 114 87
+f 1 87 66
+f 1 66 49
+f 1 49 32
+f 1 32 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 4
+f 3 9 12
+f 3 12 10
+f 4 11 13
+f 4 13 14
+f 4 14 5
+f 5 14 29
+f 5 29 45
+f 5 45 62
+f 5 62 61
+f 5 61 83
+f 5 83 106
+f 5 106 134
+f 5 134 150
+f 5 150 149
+f 5 149 131
+f 5 131 148
+f 5 148 128
+f 5 128 127
+f 5 127 147
+f 5 147 140
+f 5 140 112
+f 5 112 111
+f 5 111 110
+f 5 110 86
+f 5 86 84
+f 5 84 64
+f 5 64 47
+f 5 47 30
+f 5 30 15
+f 5 15 6
+f 7 16 8
+f 8 17 9
+f 8 16 18
+f 8 18 17
+f 9 17 12
+f 10 12 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 13
+f 12 17 23
+f 12 23 19
+f 13 22 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 15 30 31
+f 16 32 18
+f 17 18 33
+f 17 33 23
+f 18 32 34
+f 18 34 35
+f 18 35 33
+f 19 23 20
+f 20 36 21
+f 20 23 37
+f 20 37 38
+f 20 38 36
+f 21 36 22
+f 22 36 39
+f 22 39 25
+f 22 25 24
+f 23 33 40
+f 23 40 37
+f 25 39 41
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 27
+f 27 43 28
+f 28 44 45
+f 28 45 29
+f 28 43 46
+f 28 46 44
+f 30 47 48
+f 30 48 31
+f 32 49 34
+f 33 35 50
+f 33 50 40
+f 34 51 52
+f 34 52 35
+f 34 49 53
+f 34 53 51
+f 35 52 54
+f 35 54 55
+f 35 55 50
+f 36 38 56
+f 36 56 57
+f 36 57 39
+f 37 40 58
+f 37 58 38
+f 38 58 56
+f 39 57 41
+f 40 50 58
+f 41 57 42
+f 42 57 43
+f 43 59 63
+f 43 63 46
+f 43 57 60
+f 43 60 59
+f 44 61 62
+f 44 62 45
+f 44 46 63
+f 44 63 61
+f 47 64 48
+f 48 64 65
+f 49 66 67
+f 49 67 53
+f 50 55 68
+f 50 68 58
+f 51 53 69
+f 51 69 54
+f 51 54 52
+f 53 67 69
+f 54 70 71
+f 54 71 72
+f 54 72 73
+f 54 73 68
+f 54 68 55
+f 54 69 70
+f 56 58 68
+f 56 68 73
+f 56 73 72
+f 56 72 74
+f 56 74 57
+f 57 74 75
+f 57 75 76
+f 57 76 77
+f 57 77 78
+f 57 78 79
+f 57 79 80
+f 57 80 81
+f 57 81 82
+f 57 82 60
+f 59 82 63
+f 59 60 82
+f 61 63 83
+f 63 82 83
+f 64 84 65
+f 65 84 86
+f 65 86 85
+f 66 87 88
+f 66 88 67
+f 67 88 116
+f 67 116 89
+f 67 89 69
+f 69 89 90
+f 69 90 70
+f 70 90 91
+f 70 91 71
+f 71 91 76
+f 71 76 75
+f 71 75 74
+f 71 74 72
+f 76 91 77
+f 77 91 78
+f 78 92 79
+f 78 91 93
+f 78 93 94
+f 78 94 95
+f 78 95 92
+f 79 92 96
+f 79 96 97
+f 79 97 98
+f 79 98 99
+f 79 99 100
+f 79 100 101
+f 79 101 80
+f 80 101 102
+f 80 102 81
+f 81 102 82
+f 82 102 103
+f 82 103 104
+f 82 104 105
+f 82 105 83
+f 83 105 106
+f 85 107 108
+f 85 108 109
+f 85 86 110
+f 85 110 111
+f 85 111 112
+f 85 112 113
+f 85 113 107
+f 87 114 115
+f 87 115 88
+f 88 115 116
+f 89 116 90
+f 90 117 93
+f 90 93 91
+f 90 116 118
+f 90 118 117
+f 92 95 119
+f 92 119 120
+f 92 120 121
+f 92 121 96
+f 93 117 94
+f 94 117 122
+f 94 122 123
+f 94 123 95
+f 95 123 119
+f 96 121 124
+f 96 124 97
+f 97 124 98
+f 98 124 99
+f 99 124 125
+f 99 125 126
+f 99 126 127
+f 99 127 128
+f 99 128 100
+f 100 128 129
+f 100 129 101
+f 101 129 130
+f 101 130 131
+f 101 131 132
+f 101 132 133
+f 101 133 104
+f 101 104 103
+f 101 103 102
+f 104 133 105
+f 105 133 106
+f 106 133 134
+f 107 135 136
+f 107 136 108
+f 107 113 137
+f 107 137 135
+f 108 136 109
+f 109 136 139
+f 109 139 138
+f 112 140 137
+f 112 137 113
+f 114 141 142
+f 114 142 115
+f 115 142 118
+f 115 118 116
+f 117 118 143
+f 117 143 122
+f 118 142 143
+f 119 144 120
+f 119 123 145
+f 119 145 144
+f 120 144 121
+f 121 144 135
+f 121 135 124
+f 122 146 123
+f 122 143 146
+f 123 146 145
+f 124 137 140
+f 124 140 125
+f 124 135 137
+f 125 140 126
+f 126 140 147
+f 126 147 127
+f 128 148 130
+f 128 130 129
+f 130 148 131
+f 131 149 133
+f 131 133 132
+f 133 149 150
+f 133 150 134
+f 135 144 136
+f 136 144 151
+f 136 151 139
+f 138 152 153
+f 138 139 152
+f 139 151 152
+f 141 154 142
+f 142 154 152
+f 142 152 155
+f 142 155 143
+f 143 155 146
+f 144 145 151
+f 145 146 151
+f 146 155 151
+f 151 155 152
+f 152 154 153
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_10.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.05625717 -0.04243373 0.01607731
+v 0.05625717 -0.04243276 0.02957383
+v 0.05231022 -0.04243276 0.02957383
+v 0.05030988 -0.04243269 0.01222722
+v 0.05030988 -0.04243269 0.01220024
+v 0.05030988 -0.04243161 -0.00610600
+v 0.05033626 -0.04243161 -0.00610600
+v 0.05625717 -0.04242755 -0.00126930
+v 0.05823211 -0.04212338 0.00065768
+v 0.05823211 -0.04208776 0.02957384
+v 0.05625717 -0.04210921 0.03150081
+v 0.05428419 -0.04211839 0.03150081
+v 0.05231022 -0.04212044 0.03150081
+v 0.05033626 -0.04212145 0.03150081
+v 0.05823211 -0.04211833 0.01607732
+v 0.05030988 -0.04212145 0.03150081
+v 0.05030988 -0.04243174 0.02957383
+v 0.05030988 -0.03468345 -0.00610597
+v 0.05231022 -0.04240609 -0.00610600
+v 0.05328352 -0.04231729 -0.00610600
+v 0.05625717 -0.04227035 -0.00319627
+v 0.05823211 -0.04212236 -0.00126929
+v 0.05949467 -0.04150994 0.00065768
+v 0.05945655 -0.04147024 0.02957384
+v 0.05937642 -0.04137735 0.03109230
+v 0.05837576 -0.04166724 0.03163956
+v 0.05948587 -0.04149979 0.01607732
+v 0.05781289 -0.04138757 0.03261461
+v 0.05625717 -0.04149066 0.03269554
+v 0.05428419 -0.04150087 0.03270710
+v 0.05030988 -0.04151312 0.03269169
+v 0.05254476 -0.03200614 -0.00610596
+v 0.05030988 -0.03469277 0.02957386
+v 0.05428419 -0.04221114 -0.00610600
+v 0.05525749 -0.04206314 -0.00610599
+v 0.05823211 -0.04194577 -0.00319626
+v 0.05949173 -0.04150687 -0.00126929
+v 0.05934026 -0.04129659 -0.00610599
+v 0.05998620 -0.04021875 -0.00126929
+v 0.05999011 -0.04021875 0.00065768
+v 0.05999109 -0.04021876 0.00258466
+v 0.05998425 -0.04021881 0.01607732
+v 0.05993831 -0.04021886 0.02957384
+v 0.05962365 -0.04036789 0.03163956
+v 0.05912919 -0.04112014 0.03237566
+v 0.05837576 -0.04036789 0.03280730
+v 0.05625717 -0.04021887 0.03308093
+v 0.05428419 -0.04021887 0.03308864
+v 0.05231022 -0.04021887 0.03309250
+v 0.05030988 -0.04023622 0.03308864
+v 0.05033626 -0.04150495 0.03270710
+v 0.05030988 -0.04150495 0.03270710
+v 0.06028718 -0.03200614 -0.00610596
+v 0.05255160 -0.03200622 0.01607735
+v 0.05030988 -0.03469378 0.02959699
+v 0.05255746 -0.03200627 0.02957387
+v 0.05959238 -0.04075357 -0.00610599
+v 0.05983864 -0.04021873 -0.00610599
+v 0.06022659 -0.03825999 -0.00610598
+v 0.06022757 -0.03825999 -0.00512708
+v 0.06023245 -0.03826004 0.00836944
+v 0.06023050 -0.03826009 0.02186211
+v 0.06022855 -0.03826010 0.02378908
+v 0.06020802 -0.03826012 0.02957385
+v 0.06002920 -0.03826013 0.03150082
+v 0.05941355 -0.03981365 0.03263388
+v 0.05823211 -0.03826013 0.03311948
+v 0.05625717 -0.03826013 0.03323510
+v 0.05030988 -0.04021887 0.03309250
+v 0.05030988 -0.03828565 0.03323510
+v 0.06028914 -0.03200615 -0.00357006
+v 0.06028914 -0.03238279 -0.00319623
+v 0.06028425 -0.03434253 -0.00610597
+v 0.05030988 -0.03479281 0.03150083
+v 0.05257603 -0.03200627 0.02994385
+v 0.06024418 -0.03726583 -0.00610598
+v 0.06026177 -0.03630128 -0.00319624
+v 0.06026373 -0.03630130 0.00258468
+v 0.06026470 -0.03630132 0.00836945
+v 0.06026373 -0.03630138 0.02378909
+v 0.06025786 -0.03630140 0.02957386
+v 0.06008587 -0.03630141 0.03150083
+v 0.05953375 -0.03826013 0.03273794
+v 0.05823211 -0.03630141 0.03315032
+v 0.05956600 -0.03630141 0.03276108
+v 0.05625717 -0.03434267 0.03326209
+v 0.05823211 -0.03434267 0.03316574
+v 0.05625717 -0.03238292 0.03326595
+v 0.05030988 -0.03826013 0.03323510
+v 0.06029207 -0.03200616 0.00065771
+v 0.06028620 -0.03434254 -0.00319624
+v 0.06027252 -0.03530812 -0.00610597
+v 0.05030988 -0.03479689 0.03151625
+v 0.05266104 -0.03200628 0.03150084
+v 0.06025982 -0.03630127 -0.00610597
+v 0.06026080 -0.03630127 -0.00512707
+v 0.06028718 -0.03434255 0.00065770
+v 0.06028816 -0.03434257 0.00644248
+v 0.06028816 -0.03434264 0.02378909
+v 0.06028620 -0.03434266 0.02957386
+v 0.06010835 -0.03434267 0.03150083
+v 0.05957480 -0.03434267 0.03276878
+v 0.05823211 -0.03238292 0.03316960
+v 0.05823211 -0.03200628 0.03316960
+v 0.05663633 -0.03200628 0.03324668
+v 0.05625717 -0.03200628 0.03326210
+v 0.05428419 -0.03200628 0.03311950
+v 0.05030988 -0.03630141 0.03306168
+v 0.06029207 -0.03238281 0.00258469
+v 0.06029207 -0.03200625 0.02571607
+v 0.05030988 -0.03510820 0.03267629
+v 0.05272945 -0.03200628 0.03173594
+v 0.06029207 -0.03238289 0.02378910
+v 0.06029011 -0.03200627 0.02920389
+v 0.06028914 -0.03238291 0.02957387
+v 0.06011128 -0.03200628 0.03150084
+v 0.05957577 -0.03238292 0.03276879
+v 0.05957577 -0.03200628 0.03276879
+v 0.05326985 -0.03200628 0.03279577
+v 0.05303141 -0.03200628 0.03271869
+v 0.06028914 -0.03200627 0.02957387
+v 0.06014548 -0.03200627 0.03113087
+v 0.05967838 -0.03200628 0.03252599
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 16
+f 2 16 3
+f 2 9 15
+f 2 15 10
+f 3 16 17
+f 3 17 4
+f 4 17 16
+f 4 16 31
+f 4 31 52
+f 4 52 50
+f 4 50 69
+f 4 69 70
+f 4 70 89
+f 4 89 108
+f 4 108 111
+f 4 111 93
+f 4 93 74
+f 4 74 55
+f 4 55 33
+f 4 33 18
+f 4 18 6
+f 4 6 5
+f 6 18 32
+f 6 32 53
+f 6 53 73
+f 6 73 92
+f 6 92 95
+f 6 95 76
+f 6 76 59
+f 6 59 58
+f 6 58 57
+f 6 57 38
+f 6 38 35
+f 6 35 34
+f 6 34 20
+f 6 20 19
+f 6 19 7
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 23
+f 9 23 15
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 10 15 27
+f 10 27 24
+f 11 26 28
+f 11 28 29
+f 11 29 30
+f 11 30 12
+f 12 30 31
+f 12 31 13
+f 13 31 14
+f 14 31 16
+f 15 23 27
+f 18 33 32
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 37 23
+f 22 36 38
+f 22 38 37
+f 23 37 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 27
+f 24 43 25
+f 24 27 42
+f 24 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 28
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 31
+f 31 51 52
+f 32 33 54
+f 32 54 56
+f 32 56 75
+f 32 75 94
+f 32 94 112
+f 32 112 120
+f 32 120 119
+f 32 119 107
+f 32 107 106
+f 32 106 105
+f 32 105 104
+f 32 104 118
+f 32 118 123
+f 32 123 116
+f 32 116 122
+f 32 122 121
+f 32 121 114
+f 32 114 110
+f 32 110 90
+f 32 90 71
+f 32 71 53
+f 33 55 56
+f 33 56 54
+f 35 38 36
+f 37 38 57
+f 37 57 58
+f 37 58 39
+f 39 58 59
+f 39 59 40
+f 40 59 60
+f 40 60 41
+f 41 60 61
+f 41 61 62
+f 41 62 42
+f 42 62 63
+f 42 63 43
+f 43 64 65
+f 43 65 44
+f 43 63 64
+f 44 66 45
+f 44 65 66
+f 45 66 46
+f 46 67 47
+f 46 66 67
+f 47 67 68
+f 47 68 48
+f 48 68 49
+f 49 69 50
+f 49 68 70
+f 49 70 69
+f 50 52 51
+f 53 71 72
+f 53 72 73
+f 55 74 56
+f 56 74 75
+f 59 76 60
+f 60 76 77
+f 60 77 61
+f 61 77 78
+f 61 78 79
+f 61 79 80
+f 61 80 62
+f 62 80 81
+f 62 81 63
+f 63 81 64
+f 64 81 82
+f 64 82 65
+f 65 82 83
+f 65 83 66
+f 66 83 67
+f 67 84 68
+f 67 83 85
+f 67 85 84
+f 68 86 70
+f 68 84 87
+f 68 87 86
+f 70 86 88
+f 70 88 89
+f 71 90 72
+f 72 90 91
+f 72 91 73
+f 73 91 92
+f 74 93 94
+f 74 94 75
+f 76 95 96
+f 76 96 77
+f 77 96 91
+f 77 91 78
+f 78 91 97
+f 78 97 98
+f 78 98 79
+f 79 98 99
+f 79 99 80
+f 80 99 100
+f 80 100 81
+f 81 100 82
+f 82 100 101
+f 82 101 85
+f 82 85 83
+f 84 85 87
+f 85 101 102
+f 85 102 87
+f 86 87 103
+f 86 103 88
+f 87 102 103
+f 88 103 104
+f 88 104 105
+f 88 105 106
+f 88 106 89
+f 89 106 107
+f 89 107 108
+f 90 109 91
+f 90 110 113
+f 90 113 109
+f 91 96 92
+f 91 109 97
+f 92 96 95
+f 93 111 94
+f 94 111 112
+f 97 109 98
+f 98 109 113
+f 98 113 99
+f 99 113 100
+f 100 110 114
+f 100 114 115
+f 100 115 101
+f 100 113 110
+f 101 116 102
+f 101 115 116
+f 102 116 117
+f 102 117 103
+f 103 117 118
+f 103 118 104
+f 107 119 108
+f 108 119 120
+f 108 120 111
+f 111 120 112
+f 114 121 115
+f 115 121 122
+f 115 122 116
+f 116 123 117
+f 117 123 118
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_11.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.05033060 0.03452805 -0.00364117
+v -0.04965537 0.03452807 -0.00705871
+v -0.06029129 0.03452805 -0.00364117
+v -0.05260117 -0.00604491 -0.00364132
+v -0.04965537 -0.00604488 -0.00973774
+v -0.04965537 0.03452811 -0.01846066
+v -0.06029129 0.03452807 -0.00898443
+v -0.06029233 0.03445656 -0.00364117
+v -0.06029754 -0.00604491 -0.00364132
+v -0.04965537 -0.00604485 -0.01846516
+v -0.05429237 0.03452811 -0.01846356
+v -0.04965537 0.03423025 -0.01846211
+v -0.05626596 0.03423025 -0.01846646
+v -0.06029025 0.03452808 -0.01091160
+v -0.06029441 0.03423022 -0.01091160
+v -0.06029546 0.03423021 -0.00705580
+v -0.06029546 0.03423019 -0.00364117
+v -0.06029754 -0.00604487 -0.01476609
+v -0.06029859 -0.00343960 -0.00364131
+v -0.06029962 -0.00103282 -0.01283890
+v -0.05034415 -0.00604485 -0.01846516
+v -0.04965537 -0.00494871 -0.01846516
+v -0.05626596 0.03452811 -0.01846356
+v -0.05823955 0.03423025 -0.01828797
+v -0.05626596 -0.00604485 -0.01846371
+v -0.06028817 0.03452809 -0.01447570
+v -0.06029233 0.03423023 -0.01476594
+v -0.06029546 0.03227227 -0.01476595
+v -0.06029650 0.03227226 -0.01091161
+v -0.06029650 0.03378140 -0.00364118
+v -0.06001932 -0.00604486 -0.01669472
+v -0.06029859 -0.00299078 -0.01476608
+v -0.06030067 0.00288705 -0.01091172
+v -0.06029859 0.02835235 -0.00364120
+v -0.06029962 0.00092910 -0.01476607
+v -0.05823955 0.03452811 -0.01828506
+v -0.05949310 0.03423025 -0.01788454
+v -0.05949102 0.03452811 -0.01788309
+v -0.05842607 0.03452811 -0.01822556
+v -0.05713917 -0.00604485 -0.01838244
+v -0.05823955 -0.00604485 -0.01827941
+v -0.06028712 0.03452809 -0.01476594
+v -0.06006205 0.03452810 -0.01640433
+v -0.06002662 0.03423024 -0.01669457
+v -0.06029754 0.02835237 -0.00898446
+v -0.06029754 0.03227224 -0.00512864
+v -0.06029754 0.03227223 -0.00364118
+v -0.05972131 -0.00604486 -0.01735355
+v -0.05948373 -0.00604485 -0.01787598
+v -0.06002141 0.03452810 -0.01669457
+f 1 2 6
+f 1 6 11
+f 1 11 23
+f 1 23 36
+f 1 36 39
+f 1 39 38
+f 1 38 50
+f 1 50 43
+f 1 43 42
+f 1 42 26
+f 1 26 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 30
+f 1 30 47
+f 1 47 34
+f 1 34 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 22
+f 2 22 12
+f 2 12 6
+f 3 7 8
+f 4 9 18
+f 4 18 31
+f 4 31 48
+f 4 48 49
+f 4 49 41
+f 4 41 40
+f 4 40 25
+f 4 25 21
+f 4 21 10
+f 4 10 5
+f 6 12 13
+f 6 13 11
+f 7 14 27
+f 7 27 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 19 20
+f 9 20 18
+f 10 21 13
+f 10 13 22
+f 11 13 23
+f 12 22 13
+f 13 24 36
+f 13 36 23
+f 13 21 25
+f 13 25 24
+f 14 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 30 17
+f 16 29 30
+f 18 20 32
+f 18 32 31
+f 19 33 20
+f 19 34 33
+f 20 35 32
+f 20 33 35
+f 24 37 38
+f 24 38 39
+f 24 39 36
+f 24 25 40
+f 24 40 41
+f 24 41 37
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 35
+f 28 35 33
+f 28 33 29
+f 29 45 34
+f 29 34 46
+f 29 46 30
+f 29 33 45
+f 30 46 47
+f 31 32 35
+f 31 35 44
+f 31 44 37
+f 31 37 48
+f 33 34 45
+f 34 47 46
+f 37 44 38
+f 37 41 49
+f 37 49 48
+f 38 44 50
+f 43 50 44
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_12.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.06028868 0.03374000 0.01853408
+v 0.05196252 0.03374000 0.01853408
+v 0.06029063 0.03227191 0.01853408
+v 0.06028966 0.03374001 0.01656386
+v 0.05259047 0.01517269 0.01853402
+v 0.05033610 0.03374010 -0.00883168
+v 0.05033512 0.03373621 -0.00883168
+v 0.05033512 -0.00604253 -0.00967569
+v 0.05266847 -0.00604263 0.01607841
+v 0.06029161 0.03227192 0.01607855
+v 0.06029063 0.03374002 0.01414817
+v 0.06029258 0.02977576 0.01853407
+v 0.05263240 0.01463919 0.01853401
+v 0.05282643 -0.00604263 0.01663977
+v 0.05302437 -0.00604263 0.01734239
+v 0.05033512 0.03374014 -0.01841839
+v 0.05033512 -0.00603861 -0.01846199
+v 0.05033610 -0.00604250 -0.01846199
+v 0.06029356 0.02835439 0.01853406
+v 0.06029550 0.02639565 0.01414815
+v 0.06029356 0.03031321 0.00258399
+v 0.06029161 0.03227198 0.00065362
+v 0.06028966 0.03374007 0.00113893
+v 0.05428417 -0.00604264 0.01800154
+v 0.05284009 0.01312047 0.01853401
+v 0.05033512 0.03374014 -0.01845823
+v 0.05033512 -0.00298949 -0.01846198
+v 0.05625772 -0.00604250 -0.01846561
+v 0.06029453 0.02639563 0.01853406
+v 0.06029550 0.02639569 0.00258398
+v 0.06029550 0.02443299 0.01607852
+v 0.06029453 0.02835446 0.00065360
+v 0.06028673 0.03374012 -0.01476407
+v 0.05625772 -0.00604264 0.01836372
+v 0.05292784 0.01279336 0.01853401
+v 0.05428417 0.03374014 -0.01846185
+v 0.05231062 0.03031329 -0.01846186
+v 0.05625772 0.03374014 -0.01846185
+v 0.05675404 0.03374014 -0.01842202
+v 0.05823127 0.03374014 -0.01829525
+v 0.05823127 -0.00604250 -0.01828815
+v 0.06029550 0.01998197 0.01853403
+v 0.06028966 0.02639575 -0.01476409
+v 0.06029550 0.02051553 0.00258396
+v 0.06029063 0.00680428 -0.01476417
+v 0.06028868 0.03031327 -0.01476408
+v 0.06028770 0.03227203 -0.01476407
+v 0.06009171 0.03374013 -0.01620914
+v 0.05823127 -0.00604264 0.01813555
+v 0.05980115 0.01264539 0.01853401
+v 0.05833268 0.01031669 0.01853400
+v 0.05746584 0.00989612 0.01853400
+v 0.05625772 0.00940935 0.01853399
+v 0.05426077 0.01079956 0.01853400
+v 0.05347389 0.01170690 0.01853400
+v 0.05854817 0.03374014 -0.01819384
+v 0.05892845 -0.00604250 -0.01806360
+v 0.06029550 0.01659795 0.01853402
+v 0.06029550 0.01855676 0.00643746
+v 0.06029356 -0.00604258 0.00258386
+v 0.06029356 -0.00298956 0.00065349
+v 0.06029063 0.00092801 -0.01476419
+v 0.06002444 0.03374013 -0.01669445
+v 0.05965293 -0.00604263 0.01747639
+v 0.06024285 0.01463919 0.01853401
+v 0.05949107 0.03374014 -0.01788962
+v 0.05948327 -0.00604250 -0.01788252
+v 0.06029550 0.01659795 0.01800525
+v 0.06018825 -0.00604263 0.01607841
+v 0.06028966 -0.00604262 0.01414803
+v 0.06028770 -0.00604252 -0.01476421
+v 0.06028868 -0.00495216 -0.01476421
+v 0.06028966 -0.00298951 -0.01476420
+v 0.06001761 -0.00604251 -0.01669459
+v 0.05962563 0.03374013 -0.01758902
+v 0.05978066 -0.00604251 -0.01722336
+v 0.06016777 -0.00604251 -0.01562256
+f 1 2 5
+f 1 5 13
+f 1 13 25
+f 1 25 35
+f 1 35 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 65
+f 1 65 58
+f 1 58 42
+f 1 42 29
+f 1 29 19
+f 1 19 12
+f 1 12 3
+f 1 3 4
+f 1 4 11
+f 1 11 23
+f 1 23 33
+f 1 33 48
+f 1 48 63
+f 1 63 75
+f 1 75 66
+f 1 66 56
+f 1 56 40
+f 1 40 39
+f 1 39 38
+f 1 38 36
+f 1 36 26
+f 1 26 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 3 11 4
+f 3 12 10
+f 5 9 14
+f 5 14 15
+f 5 15 13
+f 6 16 7
+f 7 16 26
+f 7 26 27
+f 7 27 17
+f 7 17 8
+f 8 17 18
+f 8 18 28
+f 8 28 41
+f 8 41 57
+f 8 57 67
+f 8 67 76
+f 8 76 74
+f 8 74 77
+f 8 77 71
+f 8 71 60
+f 8 60 70
+f 8 70 69
+f 8 69 64
+f 8 64 49
+f 8 49 34
+f 8 34 24
+f 8 24 15
+f 8 15 14
+f 8 14 9
+f 10 12 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 13 15 24
+f 13 24 25
+f 17 27 28
+f 17 28 18
+f 19 29 20
+f 20 30 32
+f 20 32 21
+f 20 29 31
+f 20 31 42
+f 20 42 58
+f 20 58 68
+f 20 68 59
+f 20 59 44
+f 20 44 30
+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 24 34 25
+f 25 34 35
+f 26 36 37
+f 26 37 27
+f 27 37 28
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 37 36
+f 28 36 38
+f 29 42 31
+f 30 43 32
+f 30 44 62
+f 30 62 45
+f 30 45 43
+f 32 43 46
+f 32 46 47
+f 32 47 33
+f 33 47 48
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 40 56 41
+f 41 56 57
+f 43 48 46
+f 43 45 48
+f 44 59 60
+f 44 60 61
+f 44 61 62
+f 45 62 48
+f 46 48 47
+f 48 62 63
+f 49 64 65
+f 49 65 50
+f 56 66 57
+f 57 66 67
+f 58 65 69
+f 58 69 70
+f 58 70 60
+f 58 60 68
+f 59 68 60
+f 60 71 72
+f 60 72 73
+f 60 73 62
+f 60 62 61
+f 62 73 74
+f 62 74 63
+f 63 74 75
+f 64 69 65
+f 66 75 74
+f 66 74 76
+f 66 76 67
+f 71 77 72
+f 72 77 74
+f 72 74 73
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_13.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.05626620 -0.00604504 0.03326993
+v -0.05539276 -0.00604504 0.03320639
+v -0.05823940 -0.00604504 0.03319505
+v -0.05626620 -0.00887140 0.03326992
+v -0.05429226 -0.00604504 0.03312471
+v -0.05589155 -0.03201095 0.03324033
+v -0.05429226 -0.03201095 0.03312234
+v -0.05429226 -0.00887140 0.03312470
+v -0.05960860 -0.00604504 0.03279229
+v -0.05823940 -0.00887140 0.03319504
+v -0.05626620 -0.03201095 0.03326756
+v -0.05304719 -0.00604504 0.03272308
+v -0.05303810 -0.03201095 0.03272184
+v -0.06014220 -0.00604504 0.03150232
+v -0.05960860 -0.01279068 0.03279226
+v -0.05960406 -0.02650311 0.03278767
+v -0.05823940 -0.02454346 0.03318817
+v -0.05823940 -0.03201095 0.03318473
+v -0.05269297 -0.00604504 0.03150232
+v -0.05266950 -0.03201095 0.03150222
+v -0.06022773 -0.00604503 0.03042791
+v -0.06029585 -0.00887139 0.02957473
+v -0.06014220 -0.01279068 0.03150229
+v -0.06013917 -0.02454346 0.03150225
+v -0.05960557 -0.02258382 0.03278882
+v -0.06013463 -0.03201095 0.03150222
+v -0.05960330 -0.02846275 0.03278653
+v -0.05934293 -0.03201095 0.03286026
+v -0.05259760 -0.00604503 0.02957474
+v -0.05256808 -0.03201094 0.02957464
+v -0.06029509 -0.00604503 0.02957474
+v -0.06029585 -0.01083103 0.02957472
+v -0.06029660 -0.01670993 0.02168058
+v -0.06029660 -0.01670994 0.02379195
+v -0.06029433 -0.03201094 0.02957464
+v -0.05960103 -0.03201095 0.03278424
+v -0.05259533 -0.01670993 0.02168058
+v -0.05266723 -0.00604503 0.02872156
+v -0.05256505 -0.03201091 0.02168052
+v -0.06019896 -0.00604502 0.02849919
+v -0.06029660 -0.02258379 0.02379193
+v -0.06012101 -0.00604502 0.02764602
+v -0.05996130 -0.01475029 0.02168059
+v -0.06029660 -0.02668861 0.02168054
+v -0.06029585 -0.03201092 0.02379189
+v -0.05261122 -0.01652439 0.02168058
+v -0.05275579 -0.00604502 0.02764602
+v -0.06029585 -0.03201091 0.02168052
+v -0.06029660 -0.02650307 0.02186320
+v -0.05958665 -0.00604502 0.02635038
+v -0.05942543 -0.01356840 0.02168059
+v -0.05290035 -0.01475029 0.02168059
+v -0.05291170 -0.00604502 0.02713094
+v -0.05823940 -0.00604501 0.02579559
+v -0.05931190 -0.01349215 0.02168059
+v -0.05293365 -0.01462575 0.02168059
+v -0.05310925 -0.00604502 0.02648085
+v -0.05626620 -0.00604501 0.02557095
+v -0.05824848 -0.01308294 0.02168059
+v -0.05325609 -0.01370819 0.02168059
+v -0.05363225 -0.00604502 0.02623125
+v -0.05516570 -0.00604501 0.02576609
+v -0.05429074 -0.01321511 0.02168059
+v -0.05608531 -0.01283894 0.02168059
+v -0.05626620 -0.01280844 0.02168059
+v -0.05429226 -0.00604502 0.02592379
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 29
+f 1 29 38
+f 1 38 47
+f 1 47 53
+f 1 53 57
+f 1 57 61
+f 1 61 66
+f 1 66 62
+f 1 62 58
+f 1 58 54
+f 1 54 50
+f 1 50 42
+f 1 42 40
+f 1 40 31
+f 1 31 21
+f 1 21 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 15
+f 3 15 10
+f 4 10 11
+f 4 11 6
+f 5 8 13
+f 5 13 12
+f 6 11 18
+f 6 18 28
+f 6 28 36
+f 6 36 26
+f 6 26 35
+f 6 35 45
+f 6 45 48
+f 6 48 39
+f 6 39 30
+f 6 30 20
+f 6 20 13
+f 6 13 7
+f 7 13 8
+f 9 14 23
+f 9 23 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 13 20
+f 12 20 19
+f 14 21 22
+f 14 22 32
+f 14 32 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 24
+f 16 24 26
+f 16 26 27
+f 16 27 18
+f 16 18 17
+f 18 27 28
+f 19 20 30
+f 19 30 29
+f 21 31 22
+f 22 31 33
+f 22 33 34
+f 22 34 41
+f 22 41 32
+f 23 32 35
+f 23 35 24
+f 24 35 26
+f 26 36 27
+f 27 36 28
+f 29 37 38
+f 29 30 39
+f 29 39 37
+f 31 40 33
+f 32 41 35
+f 33 40 42
+f 33 42 43
+f 33 43 51
+f 33 51 55
+f 33 55 59
+f 33 59 65
+f 33 65 64
+f 33 64 63
+f 33 63 60
+f 33 60 56
+f 33 56 52
+f 33 52 46
+f 33 46 37
+f 33 37 39
+f 33 39 48
+f 33 48 44
+f 33 44 49
+f 33 49 41
+f 33 41 34
+f 35 41 45
+f 37 46 47
+f 37 47 38
+f 41 49 45
+f 42 50 43
+f 43 50 51
+f 44 48 45
+f 44 45 49
+f 46 52 47
+f 47 52 53
+f 50 54 51
+f 51 54 55
+f 52 56 57
+f 52 57 53
+f 54 58 59
+f 54 59 55
+f 56 60 57
+f 57 60 61
+f 58 62 63
+f 58 63 64
+f 58 64 65
+f 58 65 59
+f 60 63 66
+f 60 66 61
+f 62 66 63
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_14.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.05625865 -0.00604269 0.03327209
+v 0.05823195 -0.00604269 0.03317865
+v 0.05516027 -0.00604269 0.03318991
+v 0.05625865 -0.00887134 0.03327208
+v 0.05882962 -0.00604269 0.03299965
+v 0.05823195 -0.03200628 0.03317180
+v 0.05957576 -0.03042295 0.03277216
+v 0.05428459 -0.00604269 0.03312349
+v 0.05428459 -0.00691441 0.03312348
+v 0.05428459 -0.02650401 0.03312116
+v 0.05428459 -0.03200628 0.03312001
+v 0.05466334 -0.03200628 0.03314815
+v 0.05625865 -0.03200628 0.03326523
+v 0.05957727 -0.01083081 0.03277448
+v 0.05957879 -0.00691441 0.03277449
+v 0.05957879 -0.00604269 0.03277450
+v 0.05957576 -0.03200628 0.03277102
+v 0.05957652 -0.02846348 0.03277217
+v 0.05359374 -0.00604269 0.03289946
+v 0.05327029 -0.03200628 0.03279804
+v 0.05957804 -0.01670921 0.03277333
+v 0.06011511 -0.02062561 0.03150233
+v 0.06011511 -0.01670921 0.03150235
+v 0.06011435 -0.00604269 0.03150239
+v 0.05967878 -0.03200628 0.03252786
+v 0.05304228 -0.00604269 0.03272046
+v 0.05303092 -0.03200628 0.03272036
+v 0.06011132 -0.03042295 0.03150230
+v 0.06014540 -0.03200627 0.03113191
+v 0.06029387 -0.02062560 0.02957389
+v 0.06029236 -0.01670920 0.02957391
+v 0.06028782 -0.00604268 0.02957395
+v 0.06011056 -0.03200628 0.03150229
+v 0.05268777 -0.00604269 0.03150239
+v 0.05266126 -0.03200628 0.03150229
+v 0.05272943 -0.03200628 0.03173645
+v 0.06028933 -0.03200627 0.02957385
+v 0.06029009 -0.03042294 0.02957386
+v 0.06029009 -0.03200627 0.02920348
+v 0.06029539 -0.02846345 0.02379195
+v 0.06029464 -0.01670917 0.02186356
+v 0.06010753 -0.00604267 0.02764665
+v 0.06029464 -0.01670917 0.02177237
+v 0.05258778 -0.00604268 0.02957395
+v 0.05257641 -0.03200627 0.02994423
+v 0.06029161 -0.03200625 0.02571924
+v 0.06029312 -0.03042292 0.02571925
+v 0.06029387 -0.03042292 0.02379194
+v 0.06029464 -0.02846344 0.02177233
+v 0.05957425 -0.00604267 0.02635314
+v 0.06028554 -0.01661768 0.02177237
+v 0.05994467 -0.01474970 0.02177238
+v 0.05267413 -0.00604267 0.02850223
+v 0.05258929 -0.01670917 0.02177237
+v 0.05255748 -0.03200624 0.02177231
+v 0.05255672 -0.03200626 0.02764655
+v 0.05255748 -0.03200627 0.02957385
+v 0.06029236 -0.03200625 0.02379193
+v 0.06029236 -0.03200625 0.02342155
+v 0.06029312 -0.03042291 0.02177232
+v 0.05897885 -0.00604267 0.02610548
+v 0.05991967 -0.01468109 0.02177238
+v 0.05940760 -0.01358826 0.02177238
+v 0.05274382 -0.00604267 0.02764665
+v 0.05291199 -0.01474970 0.02177238
+v 0.06029161 -0.03200624 0.02177231
+v 0.05823195 -0.00604266 0.02579814
+v 0.05823649 -0.01312063 0.02177238
+v 0.05309909 -0.00604267 0.02647923
+v 0.05326650 -0.01373312 0.02177238
+v 0.05735627 -0.00604266 0.02569345
+v 0.05635258 -0.01285377 0.02177238
+v 0.05625865 -0.00604266 0.02557186
+v 0.05428459 -0.00604267 0.02592310
+v 0.05331953 -0.01369246 0.02177238
+v 0.05625865 -0.01284361 0.02177238
+v 0.05428383 -0.01326803 0.02177238
+f 1 2 5
+f 1 5 16
+f 1 16 24
+f 1 24 32
+f 1 32 42
+f 1 42 50
+f 1 50 61
+f 1 61 67
+f 1 67 71
+f 1 71 73
+f 1 73 74
+f 1 74 69
+f 1 69 64
+f 1 64 53
+f 1 53 44
+f 1 44 34
+f 1 34 26
+f 1 26 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 6
+f 5 14 15
+f 5 15 16
+f 5 7 14
+f 6 13 12
+f 6 12 11
+f 6 11 20
+f 6 20 27
+f 6 27 36
+f 6 36 35
+f 6 35 45
+f 6 45 57
+f 6 57 56
+f 6 56 55
+f 6 55 66
+f 6 66 59
+f 6 59 58
+f 6 58 46
+f 6 46 39
+f 6 39 37
+f 6 37 29
+f 6 29 33
+f 6 33 25
+f 6 25 17
+f 6 17 7
+f 7 18 21
+f 7 21 15
+f 7 15 14
+f 7 17 18
+f 8 19 20
+f 8 20 9
+f 9 20 10
+f 10 20 11
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 17 25 18
+f 18 25 22
+f 18 22 21
+f 19 26 27
+f 19 27 20
+f 22 25 28
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 24
+f 24 31 32
+f 24 30 31
+f 25 33 28
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 28 33 29
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 31 41 32
+f 32 41 43
+f 32 43 42
+f 34 44 45
+f 34 45 35
+f 37 39 38
+f 39 46 47
+f 39 47 40
+f 40 47 48
+f 40 48 60
+f 40 60 49
+f 40 49 43
+f 40 43 41
+f 42 43 51
+f 42 51 52
+f 42 52 50
+f 43 49 60
+f 43 60 66
+f 43 66 55
+f 43 55 54
+f 43 54 65
+f 43 65 70
+f 43 70 75
+f 43 75 77
+f 43 77 76
+f 43 76 72
+f 43 72 68
+f 43 68 63
+f 43 63 62
+f 43 62 52
+f 43 52 51
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 57
+f 44 57 45
+f 46 58 48
+f 46 48 47
+f 48 58 59
+f 48 59 60
+f 50 52 62
+f 50 62 63
+f 50 63 61
+f 53 64 54
+f 54 64 65
+f 59 66 60
+f 61 63 67
+f 63 68 67
+f 64 69 65
+f 65 69 70
+f 67 68 71
+f 68 72 73
+f 68 73 71
+f 69 74 70
+f 70 74 75
+f 72 76 73
+f 73 76 77
+f 73 77 74
+f 74 77 75
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_15.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.06029487 -0.03201080 -0.00703472
+v -0.06029639 -0.02650296 -0.00703470
+v -0.05254662 -0.03201080 -0.00703472
+v -0.06029639 -0.03201082 -0.00319796
+v -0.06029715 -0.02258367 -0.00703468
+v -0.06029715 -0.03201083 -0.00126975
+v -0.05257622 -0.00604489 -0.00703462
+v -0.05256408 -0.03201090 0.01993501
+v -0.06029791 -0.01279053 -0.00703465
+v -0.06029943 -0.02258370 0.00065851
+v -0.06030018 -0.01083092 -0.00126967
+v -0.06029715 -0.03201083 0.00102387
+v -0.06029639 -0.00604489 -0.00703462
+v -0.05259748 -0.00604497 0.01415046
+v -0.05256560 -0.03201091 0.02168052
+v -0.06029791 -0.00885091 -0.00703463
+v -0.06030094 -0.00887128 0.00065856
+v -0.06029639 -0.03201091 0.02168052
+v -0.06030018 -0.00887128 -0.00126966
+v -0.06029715 -0.00604490 -0.00620262
+v -0.05268021 -0.00604498 0.01607867
+v -0.05259520 -0.01670993 0.02168058
+v -0.06030018 -0.00604492 -0.00041797
+v -0.06030018 -0.00604493 0.00151024
+v -0.06029715 -0.02258378 0.02168056
+v -0.06029715 -0.02062668 0.02168056
+v -0.05303468 -0.00604498 0.01734354
+v -0.05261114 -0.01652439 0.02168058
+v -0.06029639 -0.01670993 0.02168058
+v -0.06029943 -0.00604493 0.00343846
+v -0.05373527 -0.00604499 0.01771176
+v -0.05325632 -0.01370819 0.02168059
+v -0.05293373 -0.01462575 0.02168059
+v -0.05290033 -0.01475029 0.02168059
+v -0.05996089 -0.01475029 0.02168059
+v -0.06019089 -0.00604498 0.01607867
+v -0.06024857 -0.00604498 0.01500213
+v -0.06029335 -0.00604497 0.01415046
+v -0.06029487 -0.00604497 0.01307392
+v -0.05429241 -0.00604499 0.01800408
+v -0.05429089 -0.01321511 0.02168059
+v -0.05942577 -0.01356840 0.02168059
+v -0.05965804 -0.00604498 0.01747003
+v -0.05539301 -0.00604499 0.01820646
+v -0.05608525 -0.01283894 0.02168059
+v -0.05626666 -0.00604499 0.01836386
+v -0.05931192 -0.01349215 0.02168059
+v -0.05823940 -0.00604499 0.01813338
+v -0.05903031 -0.00604499 0.01776516
+v -0.05626666 -0.01280844 0.02168059
+v -0.05824851 -0.01308294 0.02168059
+f 1 2 5
+f 1 5 9
+f 1 9 16
+f 1 16 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 18
+f 1 18 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 5 6 10
+f 5 10 11
+f 5 11 9
+f 6 12 10
+f 7 13 20
+f 7 20 23
+f 7 23 24
+f 7 24 30
+f 7 30 39
+f 7 39 38
+f 7 38 37
+f 7 37 36
+f 7 36 43
+f 7 43 49
+f 7 49 48
+f 7 48 46
+f 7 46 44
+f 7 44 40
+f 7 40 31
+f 7 31 27
+f 7 27 21
+f 7 21 14
+f 7 14 15
+f 7 15 8
+f 9 11 19
+f 9 19 16
+f 10 17 11
+f 10 12 18
+f 10 18 17
+f 11 17 19
+f 13 16 20
+f 14 21 22
+f 14 22 15
+f 15 22 28
+f 15 28 34
+f 15 34 33
+f 15 33 32
+f 15 32 41
+f 15 41 45
+f 15 45 50
+f 15 50 51
+f 15 51 47
+f 15 47 42
+f 15 42 35
+f 15 35 29
+f 15 29 26
+f 15 26 25
+f 15 25 18
+f 16 19 23
+f 16 23 20
+f 17 24 23
+f 17 23 19
+f 17 18 25
+f 17 25 26
+f 17 26 24
+f 21 27 28
+f 21 28 22
+f 24 26 29
+f 24 29 30
+f 27 31 32
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 31 40 32
+f 32 40 41
+f 35 42 43
+f 35 43 36
+f 40 44 41
+f 41 44 46
+f 41 46 45
+f 42 47 48
+f 42 48 49
+f 42 49 43
+f 45 46 50
+f 46 48 51
+f 46 51 50
+f 47 51 48
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_16.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.06029693 0.02097023 -0.00364122
+v -0.06029791 0.02594824 -0.00364120
+v -0.05262707 0.02097023 -0.00364122
+v -0.06029693 0.02097017 0.01266947
+v -0.06029791 0.02639679 -0.00127136
+v -0.06029791 0.03227328 -0.00364118
+v -0.05033081 0.03452672 -0.00364117
+v -0.05260061 0.02097023 -0.00363761
+v -0.06029595 0.02097015 0.01800521
+v -0.06029693 0.02835420 0.02378893
+v -0.06029791 0.02835429 0.00065774
+v -0.06029595 0.03423210 -0.00364117
+v -0.06029791 0.03227327 0.00065776
+v -0.06029105 0.03452672 -0.00364117
+v -0.05029847 0.03452671 0.00065777
+v -0.05259963 0.02097023 -0.00319687
+v -0.06029497 0.02097014 0.02230776
+v -0.06029399 0.02247772 0.02764350
+v -0.06029399 0.02639668 0.02957263
+v -0.06029497 0.03227316 0.02957265
+v -0.06029497 0.03423198 0.02957266
+v -0.06029595 0.03227318 0.02378895
+v -0.06029693 0.03227323 0.01222516
+v -0.06029595 0.03423209 0.00065777
+v -0.06029203 0.03452671 -0.00127133
+v -0.05029749 0.03452670 0.00258688
+v -0.05028671 0.03452661 0.02770136
+v -0.05259767 0.02097021 0.00214248
+v -0.06029301 0.02097012 0.02809146
+v -0.06029301 0.02247771 0.02957261
+v -0.06013718 0.02097010 0.03150171
+v -0.06013718 0.02639667 0.03150173
+v -0.06013620 0.03227315 0.03150175
+v -0.06013424 0.03423197 0.03150176
+v -0.06013033 0.03452659 0.03150176
+v -0.06026655 0.03452660 0.02986528
+v -0.06029007 0.03452660 0.02957266
+v -0.06029105 0.03452663 0.02215247
+v -0.06029203 0.03452671 -0.00097872
+v -0.05028965 0.03452660 0.02957266
+v -0.05259767 0.02097011 0.02957261
+v -0.05259571 0.02097015 0.01993431
+v -0.05259571 0.02097019 0.00792618
+v -0.06029203 0.02097011 0.02957261
+v -0.06025675 0.02097011 0.03001695
+v -0.05960502 0.02097010 0.03278778
+v -0.05960502 0.02247770 0.03278778
+v -0.05960403 0.02639667 0.03278780
+v -0.05960208 0.03227315 0.03278421
+v -0.05959914 0.03423197 0.03278422
+v -0.06005094 0.03452659 0.03169323
+v -0.05269469 0.02097010 0.03150171
+v -0.05267215 0.02097011 0.03105737
+v -0.05056700 0.03452659 0.03150176
+v -0.05928944 0.02097010 0.03288171
+v -0.05823981 0.02247770 0.03318878
+v -0.05823981 0.03227315 0.03318520
+v -0.05823981 0.03423197 0.03318160
+v -0.05939430 0.03452659 0.03284202
+v -0.05959718 0.03452659 0.03278061
+v -0.05296715 0.02097010 0.03244098
+v -0.05102665 0.03452659 0.03220260
+v -0.05304849 0.02097010 0.03271914
+v -0.05823981 0.02097010 0.03318878
+v -0.05626599 0.02097010 0.03326464
+v -0.05626599 0.03452659 0.03326108
+v -0.05794187 0.03452659 0.03319244
+v -0.05823981 0.03452659 0.03317799
+v -0.05174894 0.03452659 0.03275532
+v -0.05429217 0.02097010 0.03312014
+v -0.05596805 0.03452659 0.03325385
+v -0.05399522 0.03452659 0.03313464
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 43
+f 1 43 42
+f 1 42 41
+f 1 41 53
+f 1 53 52
+f 1 52 61
+f 1 61 63
+f 1 63 70
+f 1 70 65
+f 1 65 64
+f 1 64 55
+f 1 55 46
+f 1 46 31
+f 1 31 45
+f 1 45 44
+f 1 44 29
+f 1 29 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 5 11
+f 2 11 13
+f 2 13 6
+f 2 4 5
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 6 13 24
+f 6 24 12
+f 7 14 25
+f 7 25 39
+f 7 39 38
+f 7 38 37
+f 7 37 36
+f 7 36 35
+f 7 35 51
+f 7 51 60
+f 7 60 59
+f 7 59 68
+f 7 68 67
+f 7 67 66
+f 7 66 71
+f 7 71 72
+f 7 72 69
+f 7 69 62
+f 7 62 54
+f 7 54 40
+f 7 40 27
+f 7 27 26
+f 7 26 15
+f 7 15 8
+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 13
+f 10 13 11
+f 12 24 39
+f 12 39 25
+f 12 25 14
+f 13 23 21
+f 13 21 24
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 24
+f 21 23 22
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 29 44 30
+f 30 45 31
+f 30 44 45
+f 31 46 47
+f 31 47 32
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 40 52 53
+f 40 53 41
+f 40 54 52
+f 46 55 47
+f 47 55 48
+f 48 50 49
+f 48 55 56
+f 48 56 57
+f 48 57 50
+f 50 57 58
+f 50 58 59
+f 50 59 60
+f 50 60 51
+f 52 54 61
+f 54 62 63
+f 54 63 61
+f 55 64 56
+f 56 64 65
+f 56 65 66
+f 56 66 57
+f 57 66 58
+f 58 66 67
+f 58 67 68
+f 58 68 59
+f 62 69 63
+f 63 69 70
+f 65 71 66
+f 65 70 72
+f 65 72 71
+f 69 72 70
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_17.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.05625882 0.00092610 0.03327320
+v 0.05428457 0.00092610 0.03312542
+v 0.05625882 -0.00604269 0.03327318
+v 0.05823157 -0.00103415 0.03317923
+v 0.05823157 0.00092610 0.03317847
+v 0.05823157 0.00680249 0.03317622
+v 0.05625882 0.00875838 0.03327020
+v 0.05304153 0.00092610 0.03272150
+v 0.05428457 -0.00103415 0.03312542
+v 0.05428457 0.00288345 0.03312468
+v 0.05304304 0.00680249 0.03272076
+v 0.05304228 0.00288345 0.03272151
+v 0.05428457 -0.00604269 0.03312389
+v 0.05823157 -0.00604269 0.03317845
+v 0.05823157 -0.00299294 0.03317922
+v 0.05957939 0.00288345 0.03277531
+v 0.05957788 0.00680249 0.03277456
+v 0.05823157 0.00875838 0.03317547
+v 0.05428457 0.00875838 0.03312166
+v 0.05268648 0.00092610 0.03150213
+v 0.05304153 -0.00103415 0.03272150
+v 0.05304304 0.00875838 0.03272001
+v 0.05268799 0.00875838 0.03150216
+v 0.05304228 -0.00299294 0.03272149
+v 0.05304228 -0.00604269 0.03272072
+v 0.05359332 -0.00604269 0.03289957
+v 0.05882934 -0.00604269 0.03299960
+v 0.05957939 -0.00299294 0.03277529
+v 0.05957864 -0.00604269 0.03277528
+v 0.06011536 0.00092610 0.03150213
+v 0.05957788 0.00875838 0.03277382
+v 0.05258924 0.00875839 0.02957497
+v 0.05258698 -0.00299293 0.02957493
+v 0.05268648 -0.00299294 0.03150212
+v 0.05268799 -0.00604269 0.03150211
+v 0.05268723 -0.00495174 0.03150211
+v 0.06011460 -0.00495174 0.03150211
+v 0.06011536 -0.00103415 0.03150213
+v 0.06011385 -0.00604269 0.03150211
+v 0.06028722 0.00092611 0.02957494
+v 0.06028647 0.00875839 0.02957497
+v 0.06011310 0.00680249 0.03150215
+v 0.06011234 0.00875838 0.03150216
+v 0.05273623 0.00875840 0.02764777
+v 0.05258773 -0.00604268 0.02957492
+v 0.06028722 -0.00604268 0.02957492
+v 0.06011761 0.00875840 0.02764777
+v 0.05308902 0.00875840 0.02646479
+v 0.05274377 -0.00604267 0.02764772
+v 0.05267442 -0.00604267 0.02850257
+v 0.06020732 -0.00604268 0.02872007
+v 0.05958542 0.00875840 0.02633595
+v 0.06010707 -0.00604267 0.02764772
+v 0.05428457 0.00875840 0.02589186
+v 0.05309882 -0.00604267 0.02647913
+v 0.05294127 -0.00604267 0.02699674
+v 0.05823157 0.00875841 0.02575772
+v 0.05957412 -0.00604267 0.02635333
+v 0.05625882 0.00875841 0.02553188
+v 0.05428457 -0.00495172 0.02591606
+v 0.05428457 -0.00604267 0.02592288
+v 0.05897860 -0.00604267 0.02610476
+v 0.05823157 -0.00495171 0.02579404
+v 0.05625882 -0.00495171 0.02556063
+v 0.05625882 -0.00604266 0.02557200
+v 0.05823157 -0.00604266 0.02579708
+v 0.05735563 -0.00604266 0.02569401
+f 1 2 9
+f 1 9 3
+f 1 3 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 21
+f 2 21 9
+f 2 7 10
+f 2 10 11
+f 2 11 12
+f 2 12 8
+f 3 9 13
+f 3 13 26
+f 3 26 25
+f 3 25 35
+f 3 35 45
+f 3 45 50
+f 3 50 49
+f 3 49 56
+f 3 56 55
+f 3 55 61
+f 3 61 65
+f 3 65 67
+f 3 67 66
+f 3 66 62
+f 3 62 58
+f 3 58 53
+f 3 53 51
+f 3 51 46
+f 3 46 39
+f 3 39 29
+f 3 29 27
+f 3 27 14
+f 3 14 15
+f 4 15 28
+f 4 28 16
+f 4 16 17
+f 4 17 5
+f 5 17 6
+f 6 17 31
+f 6 31 18
+f 6 18 7
+f 7 18 31
+f 7 31 43
+f 7 43 41
+f 7 41 47
+f 7 47 52
+f 7 52 57
+f 7 57 59
+f 7 59 54
+f 7 54 48
+f 7 48 44
+f 7 44 32
+f 7 32 23
+f 7 23 22
+f 7 22 19
+f 7 19 10
+f 8 20 34
+f 8 34 21
+f 8 12 11
+f 8 11 22
+f 8 22 23
+f 8 23 20
+f 9 21 24
+f 9 24 25
+f 9 25 26
+f 9 26 13
+f 10 19 22
+f 10 22 11
+f 14 27 15
+f 15 27 29
+f 15 29 28
+f 16 30 31
+f 16 31 17
+f 16 28 38
+f 16 38 30
+f 20 23 32
+f 20 32 33
+f 20 33 34
+f 21 34 25
+f 21 25 24
+f 25 34 36
+f 25 36 35
+f 28 29 37
+f 28 37 38
+f 29 39 37
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 30 38 46
+f 30 46 40
+f 31 42 43
+f 32 44 33
+f 33 45 34
+f 33 44 45
+f 34 45 36
+f 35 36 45
+f 37 39 46
+f 37 46 38
+f 40 47 41
+f 40 46 47
+f 41 43 42
+f 44 48 49
+f 44 49 50
+f 44 50 45
+f 46 51 47
+f 47 51 53
+f 47 53 52
+f 48 54 55
+f 48 55 56
+f 48 56 49
+f 52 53 58
+f 52 58 57
+f 54 59 60
+f 54 60 55
+f 55 60 61
+f 57 58 62
+f 57 62 63
+f 57 63 64
+f 57 64 59
+f 59 64 60
+f 60 64 61
+f 61 64 65
+f 62 66 63
+f 63 66 64
+f 64 66 67
+f 64 67 65
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_18.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.05254492 -0.03200614 -0.00610596
+v 0.05257452 -0.00604255 -0.00610586
+v 0.06028710 -0.03200614 -0.00610596
+v 0.05255175 -0.03200622 0.01644826
+v 0.06028785 -0.00604255 -0.00610586
+v 0.05258514 -0.00604262 0.01415064
+v 0.06028785 -0.03138602 -0.00610596
+v 0.06028938 -0.03200615 -0.00319970
+v 0.05255782 -0.03200624 0.02177231
+v 0.06029013 -0.02062547 -0.00610592
+v 0.06029013 -0.00604256 -0.00405374
+v 0.05258970 -0.01670917 0.02177237
+v 0.05262157 -0.00604263 0.01500478
+v 0.06028861 -0.03042281 -0.00610595
+v 0.06029392 -0.03042283 0.00065622
+v 0.06029165 -0.03200616 0.00028781
+v 0.06029165 -0.03200624 0.02177231
+v 0.06029013 -0.02846334 -0.00610594
+v 0.06029317 -0.02258495 -0.00319966
+v 0.06029165 -0.02650387 -0.00512627
+v 0.06029089 -0.00604256 -0.00319960
+v 0.05291150 -0.01474970 0.02177238
+v 0.05302458 -0.00604263 0.01734071
+v 0.05282649 -0.00604263 0.01663938
+v 0.05266787 -0.00604263 0.01607723
+v 0.06029241 -0.03200617 0.00221440
+v 0.06029241 -0.02846335 -0.00319968
+v 0.06029620 -0.02650389 0.00065623
+v 0.06029545 -0.02846337 0.00258555
+v 0.06029469 -0.03042290 0.01800646
+v 0.06029392 -0.03042290 0.01993305
+v 0.06029317 -0.03042291 0.02177232
+v 0.06029241 -0.03200623 0.01800645
+v 0.06029317 -0.02650388 -0.00319968
+v 0.06029620 -0.02062549 0.00065625
+v 0.06029317 -0.00604257 0.00065631
+v 0.05326669 -0.01373312 0.02177238
+v 0.05358394 -0.00604263 0.01763542
+v 0.06029696 -0.02258497 0.00258557
+v 0.06029620 -0.02650391 0.00451214
+v 0.06029545 -0.02650396 0.01800647
+v 0.06029469 -0.02846344 0.02177233
+v 0.06029696 -0.02062550 0.00258557
+v 0.06029317 -0.00604259 0.00451222
+v 0.05331982 -0.01369246 0.02177238
+v 0.05428446 -0.00604264 0.01800382
+v 0.06029696 -0.02062551 0.00451216
+v 0.06029545 -0.02062556 0.01993308
+v 0.06029469 -0.01857715 0.02177236
+v 0.06028938 -0.00604262 0.01415064
+v 0.06029392 -0.01670917 0.02177237
+v 0.05428370 -0.01326803 0.02177238
+v 0.05625852 -0.00604264 0.01836404
+v 0.06023321 -0.00604263 0.01522309
+v 0.06018767 -0.00604263 0.01607723
+v 0.06028558 -0.01661768 0.02177237
+v 0.05625852 -0.01284361 0.02177238
+v 0.05823183 -0.00604264 0.01813754
+v 0.05635264 -0.01285377 0.02177238
+v 0.05823638 -0.01312063 0.02177238
+v 0.05965336 -0.00604263 0.01747715
+v 0.05994480 -0.01474970 0.02177238
+v 0.05940746 -0.01358826 0.02177238
+v 0.05991976 -0.01468109 0.02177238
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 33
+f 1 33 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 25
+f 2 25 24
+f 2 24 23
+f 2 23 38
+f 2 38 46
+f 2 46 53
+f 2 53 58
+f 2 58 61
+f 2 61 55
+f 2 55 54
+f 2 54 50
+f 2 50 44
+f 2 44 36
+f 2 36 21
+f 2 21 11
+f 2 11 5
+f 3 7 8
+f 4 9 6
+f 5 11 10
+f 6 9 12
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 32
+f 9 32 42
+f 9 42 49
+f 9 49 51
+f 9 51 56
+f 9 56 62
+f 9 62 64
+f 9 64 63
+f 9 63 60
+f 9 60 59
+f 9 59 57
+f 9 57 52
+f 9 52 45
+f 9 45 37
+f 9 37 22
+f 9 22 12
+f 10 11 19
+f 10 19 20
+f 10 20 18
+f 11 21 19
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 14 18 15
+f 15 26 16
+f 15 18 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 26
+f 17 31 32
+f 17 33 30
+f 17 30 31
+f 18 20 34
+f 18 34 28
+f 18 28 27
+f 19 34 20
+f 19 21 35
+f 19 35 28
+f 19 28 34
+f 21 36 35
+f 22 37 23
+f 23 37 38
+f 26 30 33
+f 28 35 43
+f 28 43 39
+f 28 39 40
+f 28 40 30
+f 28 30 29
+f 30 41 42
+f 30 42 31
+f 30 40 41
+f 31 42 32
+f 35 36 43
+f 36 44 47
+f 36 47 43
+f 37 45 46
+f 37 46 38
+f 39 43 47
+f 39 47 41
+f 39 41 40
+f 41 48 42
+f 41 47 48
+f 42 48 49
+f 44 50 51
+f 44 51 49
+f 44 49 48
+f 44 48 47
+f 45 52 46
+f 46 52 53
+f 50 54 51
+f 51 54 55
+f 51 55 56
+f 52 57 53
+f 53 57 59
+f 53 59 60
+f 53 60 58
+f 55 61 62
+f 55 62 56
+f 58 60 63
+f 58 63 61
+f 61 63 64
+f 61 64 62
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_19.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.05625756 0.00876327 0.03327033
+v 0.05625756 0.00875838 0.03327033
+v 0.05823189 0.01072199 0.03317516
+v 0.05823189 0.03373751 0.03317199
+v 0.05773505 0.03373751 0.03319579
+v 0.05625756 0.03373751 0.03326501
+v 0.05428405 0.03373751 0.03313305
+v 0.05428405 0.00875838 0.03312215
+v 0.05823189 0.00875838 0.03317515
+v 0.05957720 0.00876327 0.03277387
+v 0.05957884 0.03373751 0.03277288
+v 0.05924027 0.03373751 0.03287347
+v 0.05257732 0.03373751 0.03276098
+v 0.05304316 0.00875838 0.03271979
+v 0.05957720 0.00875838 0.03277387
+v 0.06011403 0.03031403 0.03150198
+v 0.05997860 0.03373751 0.03182215
+v 0.05204703 0.03373751 0.03150199
+v 0.05268827 0.00875838 0.03150190
+v 0.06011240 0.00875838 0.03150190
+v 0.06029269 0.02639417 0.02957455
+v 0.06011321 0.03373751 0.03150199
+v 0.06029269 0.01660059 0.02957451
+v 0.05203560 0.03373752 0.03129541
+v 0.05258956 0.00875839 0.02957448
+v 0.06028617 0.00875839 0.02957448
+v 0.06029025 0.01268316 0.02957450
+v 0.06029188 0.01464188 0.02957450
+v 0.06029433 0.02639419 0.02571971
+v 0.06029106 0.03031404 0.02957456
+v 0.06029596 0.01660061 0.02379225
+v 0.06029678 0.01660062 0.02222176
+v 0.06028617 0.03373752 0.02957457
+v 0.06028861 0.03227276 0.02957457
+v 0.05196299 0.03373752 0.02957457
+v 0.05258793 0.01660062 0.02222176
+v 0.05273641 0.00875840 0.02764706
+v 0.05196218 0.03373753 0.02764715
+v 0.05196381 0.03373755 0.02222182
+v 0.06011811 0.00875840 0.02764706
+v 0.06029351 0.02835291 0.02222180
+v 0.06029351 0.02835290 0.02571971
+v 0.06029188 0.03031406 0.02571972
+v 0.06026088 0.01623627 0.02222176
+v 0.06028780 0.03373754 0.02427687
+v 0.06028943 0.03227278 0.02571973
+v 0.05286531 0.01464191 0.02222175
+v 0.05308967 0.00875840 0.02646487
+v 0.06028698 0.03373755 0.02222182
+v 0.05958536 0.00875840 0.02633616
+v 0.06000226 0.01464191 0.02222175
+v 0.06028780 0.03346611 0.02222182
+v 0.06029188 0.03031406 0.02379230
+v 0.06028780 0.03373754 0.02379231
+v 0.05321938 0.01356107 0.02222175
+v 0.05428405 0.00875840 0.02589161
+v 0.05343395 0.01340212 0.02222175
+v 0.05823189 0.00875841 0.02575750
+v 0.05946381 0.01340701 0.02222175
+v 0.05990272 0.01437047 0.02222175
+v 0.05625756 0.00875841 0.02553252
+v 0.05429221 0.01300598 0.02222175
+v 0.05661164 0.01262939 0.02222175
+v 0.05823679 0.01285681 0.02222175
+v 0.05625756 0.01259760 0.02222175
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 14
+f 2 14 19
+f 2 19 25
+f 2 25 37
+f 2 37 48
+f 2 48 56
+f 2 56 61
+f 2 61 58
+f 2 58 50
+f 2 50 40
+f 2 40 26
+f 2 26 20
+f 2 20 15
+f 2 15 9
+f 2 7 8
+f 3 9 15
+f 3 15 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 17
+f 4 17 22
+f 4 22 33
+f 4 33 45
+f 4 45 54
+f 4 54 49
+f 4 49 39
+f 4 39 38
+f 4 38 35
+f 4 35 24
+f 4 24 18
+f 4 18 13
+f 4 13 7
+f 4 7 6
+f 4 6 5
+f 7 13 8
+f 8 13 14
+f 10 15 11
+f 11 16 17
+f 11 15 16
+f 13 18 14
+f 14 18 19
+f 15 20 16
+f 16 21 22
+f 16 22 17
+f 16 20 23
+f 16 23 21
+f 18 24 19
+f 19 24 25
+f 20 26 27
+f 20 27 28
+f 20 28 23
+f 21 29 30
+f 21 30 22
+f 21 23 31
+f 21 31 32
+f 21 32 29
+f 22 30 34
+f 22 34 33
+f 23 28 31
+f 24 35 25
+f 25 36 37
+f 25 35 38
+f 25 38 39
+f 25 39 36
+f 26 40 32
+f 26 32 27
+f 27 32 28
+f 28 32 31
+f 29 41 42
+f 29 42 30
+f 29 32 41
+f 30 43 46
+f 30 46 34
+f 30 42 43
+f 32 40 44
+f 32 44 51
+f 32 51 60
+f 32 60 59
+f 32 59 64
+f 32 64 63
+f 32 63 65
+f 32 65 62
+f 32 62 57
+f 32 57 55
+f 32 55 47
+f 32 47 36
+f 32 36 39
+f 32 39 49
+f 32 49 52
+f 32 52 41
+f 33 34 45
+f 34 46 45
+f 36 47 37
+f 37 47 48
+f 40 50 51
+f 40 51 44
+f 41 52 53
+f 41 53 43
+f 41 43 42
+f 43 53 54
+f 43 54 45
+f 43 45 46
+f 47 55 48
+f 48 55 57
+f 48 57 56
+f 49 54 52
+f 50 58 59
+f 50 59 60
+f 50 60 51
+f 52 54 53
+f 56 57 62
+f 56 62 61
+f 58 61 63
+f 58 63 64
+f 58 64 59
+f 61 65 63
+f 61 62 65
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_2.obj

@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
+v 0.05625435 0.03374098 -0.01846532
+v 0.05428340 0.03815119 -0.01843998
+v 0.05625435 0.03619279 -0.01845012
+v 0.05823120 0.03423354 -0.01829314
+v 0.05823120 0.03374098 -0.01829315
+v 0.00000555 0.03374098 -0.01846026
+v 0.00000555 0.03423354 -0.01846025
+v 0.00000555 0.03619279 -0.01845012
+v 0.00000555 0.03815119 -0.01843998
+v 0.03651534 0.04011044 -0.01827287
+v 0.05428340 0.04011044 -0.01826781
+v 0.05625435 0.03815119 -0.01843492
+v 0.00000555 0.03912110 -0.01835896
+v 0.05823120 0.03619279 -0.01827795
+v 0.05947632 0.03619279 -0.01788298
+v 0.05948813 0.03423354 -0.01789311
+v 0.05948813 0.03374098 -0.01788806
+v 0.00000555 0.03374094 -0.00887969
+v 0.03651534 0.04136929 -0.01788296
+v 0.03848629 0.04136844 -0.01788296
+v 0.00000555 0.04011044 -0.01827287
+v 0.00000555 0.04073479 -0.01808045
+v 0.01875319 0.04137182 -0.01788296
+v 0.05428340 0.04136337 -0.01787790
+v 0.05625435 0.04011044 -0.01825768
+v 0.05823120 0.03815119 -0.01823237
+v 0.05943502 0.03815119 -0.01784246
+v 0.05999561 0.03619278 -0.01669301
+v 0.06002512 0.03423353 -0.01669301
+v 0.06002512 0.03374097 -0.01669302
+v 0.05962385 0.03374097 -0.01758930
+v 0.00000555 0.03459159 0.02957422
+v 0.05257210 0.03374079 0.03275930
+v 0.04441095 0.04197505 -0.01669299
+v 0.05428340 0.04197167 -0.01669299
+v 0.02073004 0.04197843 -0.01669299
+v 0.00000555 0.04137098 -0.01788296
+v 0.00690978 0.04137182 -0.01788296
+v 0.05625435 0.04196660 -0.01669299
+v 0.05625435 0.04135662 -0.01786777
+v 0.05765880 0.04126199 -0.01779182
+v 0.05828431 0.04013916 -0.01795892
+v 0.05934060 0.03950467 -0.01776650
+v 0.05991300 0.03815118 -0.01669300
+v 0.06017855 0.03815117 -0.01476372
+v 0.06025526 0.03619277 -0.01476373
+v 0.06028477 0.03423352 -0.01476373
+v 0.06028477 0.03374096 -0.01476374
+v 0.00000555 0.03463467 0.03054646
+v 0.05428340 0.03374079 0.03312895
+v 0.00000555 0.03467775 0.03149844
+v 0.05625435 0.04230960 -0.01476370
+v 0.01480538 0.04197843 -0.01669299
+v 0.00000555 0.04167089 -0.01729557
+v 0.05823120 0.04191336 -0.01476371
+v 0.05828431 0.04151798 -0.01672337
+v 0.05897474 0.04081082 -0.01738672
+v 0.05954123 0.04013915 -0.01672337
+v 0.05985989 0.04011042 -0.01476371
+v 0.06023165 0.03815115 -0.00898095
+v 0.05988350 0.04011042 -0.01283443
+v 0.05990120 0.04011041 -0.01091022
+v 0.06024346 0.03815114 -0.00512745
+v 0.06027297 0.03619275 -0.00705168
+v 0.06029067 0.03374086 0.01415012
+v 0.05625435 0.03374079 0.03326060
+v 0.00000555 0.03498866 0.03269854
+v 0.00000555 0.03483490 0.03210609
+v 0.03848629 0.04235771 0.00066040
+v 0.03651534 0.04237120 0.00836739
+v 0.04046315 0.04235938 0.00644317
+v 0.05625435 0.04231040 0.00066040
+v 0.05823120 0.04201544 0.02764497
+v 0.05823120 0.04200794 0.00066039
+v 0.05823120 0.04200202 -0.00126889
+v 0.05823120 0.04192942 -0.01283443
+v 0.00888073 0.04197758 -0.01669299
+v 0.01677634 0.04230200 -0.01476370
+v 0.00000555 0.04197505 -0.01669299
+v 0.05948813 0.04139203 -0.00126889
+v 0.05941732 0.04131942 -0.01283443
+v 0.05939961 0.04130252 -0.01476371
+v 0.05932880 0.04122396 -0.01610053
+v 0.05998971 0.04011037 -0.00126889
+v 0.06000151 0.04011037 0.00066039
+v 0.06024936 0.03815112 0.00066038
+v 0.06027297 0.03619263 0.02571567
+v 0.06028477 0.03423336 0.02957422
+v 0.06028477 0.03374080 0.02957421
+v 0.05773552 0.03374079 0.03319478
+v 0.05625435 0.03423335 0.03326568
+v 0.00000555 0.03815100 0.03325050
+v 0.00000555 0.03619260 0.03309351
+v 0.01282853 0.04230116 -0.01476370
+v 0.00000555 0.04229524 -0.01476370
+v 0.00493293 0.04233405 0.00258461
+v 0.03848629 0.04236525 0.01607944
+v 0.00493293 0.04233402 0.01029160
+v 0.05625435 0.04231030 0.02764498
+v 0.05823120 0.04200614 0.02957424
+v 0.05949993 0.04140376 0.02764497
+v 0.05625435 0.04230860 0.02957425
+v 0.05949403 0.04139879 0.00066039
+v 0.06000151 0.04011027 0.02764497
+v 0.06024936 0.03815103 0.02571568
+v 0.06026707 0.03619261 0.02957422
+v 0.06009593 0.03619260 0.03149844
+v 0.06010774 0.03423335 0.03149844
+v 0.06010774 0.03374079 0.03149843
+v 0.05823120 0.03374079 0.03316946
+v 0.05823120 0.03423335 0.03316947
+v 0.05625435 0.03619260 0.03325555
+v 0.00690978 0.03815100 0.03325050
+v 0.00000555 0.03914034 0.03320492
+v 0.00000555 0.04231798 0.00547094
+v 0.00000555 0.04231883 0.00644317
+v 0.01085758 0.04233400 0.01607944
+v 0.00000555 0.04229762 0.02957425
+v 0.01282853 0.04230015 0.02957425
+v 0.00000555 0.04231882 0.00836739
+v 0.00000555 0.04231287 0.01607944
+v 0.05625435 0.04199261 0.03149846
+v 0.05837873 0.04156764 0.03165037
+v 0.05939371 0.04128969 0.03110855
+v 0.05949403 0.04139614 0.02957424
+v 0.05999561 0.04011026 0.02957424
+v 0.05428340 0.04200106 0.03149846
+v 0.00000555 0.04218694 0.03052622
+v 0.00000555 0.04207372 0.03149846
+v 0.00493293 0.04207372 0.03149846
+v 0.00690978 0.04207203 0.03149846
+v 0.00888073 0.04206949 0.03149846
+v 0.06024346 0.03815101 0.02957423
+v 0.06004872 0.03815100 0.03149845
+v 0.05953533 0.03815100 0.03273906
+v 0.05956484 0.03619260 0.03276437
+v 0.05997791 0.03374079 0.03182251
+v 0.05924028 0.03374079 0.03287070
+v 0.05957664 0.03423335 0.03276943
+v 0.05823120 0.03619260 0.03315934
+v 0.05625435 0.03815100 0.03324037
+v 0.00690978 0.04011025 0.03315430
+v 0.00000555 0.04011025 0.03315430
+v 0.05625435 0.04138261 0.03269856
+v 0.05782403 0.04127954 0.03261754
+v 0.05428340 0.04139191 0.03270363
+v 0.05913997 0.04102101 0.03239474
+v 0.05964156 0.04026486 0.03165037
+v 0.00493293 0.04146795 0.03276439
+v 0.00888073 0.04146372 0.03275933
+v 0.01085758 0.04145950 0.03275933
+v 0.00000555 0.04177379 0.03212636
+v 0.05941141 0.03971485 0.03263273
+v 0.05823120 0.03815100 0.03312390
+v 0.05957664 0.03374079 0.03276942
+v 0.05625435 0.04011025 0.03308341
+v 0.05428340 0.04011025 0.03309353
+v 0.00000555 0.04146795 0.03276439
+v 0.05837873 0.04026486 0.03280996
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 31
+f 1 31 30
+f 1 30 48
+f 1 48 65
+f 1 65 89
+f 1 89 109
+f 1 109 137
+f 1 137 155
+f 1 155 138
+f 1 138 110
+f 1 110 90
+f 1 90 66
+f 1 66 50
+f 1 50 33
+f 1 33 18
+f 1 18 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 9 13
+f 2 13 10
+f 3 12 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 6 18 32
+f 6 32 49
+f 6 49 51
+f 6 51 68
+f 6 68 67
+f 6 67 93
+f 6 93 92
+f 6 92 114
+f 6 114 143
+f 6 143 158
+f 6 158 152
+f 6 152 129
+f 6 129 128
+f 6 128 118
+f 6 118 121
+f 6 121 120
+f 6 120 116
+f 6 116 115
+f 6 115 95
+f 6 95 79
+f 6 79 54
+f 6 54 37
+f 6 37 22
+f 6 22 21
+f 6 21 13
+f 6 13 9
+f 6 9 8
+f 6 8 7
+f 10 19 20
+f 10 20 11
+f 10 13 21
+f 10 21 22
+f 10 22 23
+f 10 23 19
+f 11 24 25
+f 11 25 12
+f 11 20 24
+f 12 25 26
+f 12 26 14
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 18 33 32
+f 19 34 35
+f 19 35 20
+f 19 23 36
+f 19 36 34
+f 20 35 24
+f 22 37 38
+f 22 38 23
+f 23 38 53
+f 23 53 36
+f 24 35 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 28
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 28 44 45
+f 29 47 48
+f 29 48 30
+f 32 33 49
+f 33 50 51
+f 33 51 49
+f 34 52 35
+f 34 36 52
+f 35 52 39
+f 36 53 52
+f 37 54 38
+f 38 54 53
+f 39 52 55
+f 39 55 56
+f 39 56 41
+f 39 41 40
+f 41 56 57
+f 41 57 43
+f 41 43 42
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 45
+f 45 60 46
+f 45 59 61
+f 45 61 62
+f 45 62 60
+f 46 60 63
+f 46 63 64
+f 46 64 47
+f 47 65 48
+f 47 64 65
+f 50 66 67
+f 50 67 68
+f 50 68 51
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 75
+f 52 75 76
+f 52 76 55
+f 52 53 77
+f 52 77 78
+f 52 78 69
+f 53 54 77
+f 54 79 77
+f 55 76 80
+f 55 80 81
+f 55 81 82
+f 55 82 83
+f 55 83 56
+f 56 83 57
+f 57 83 58
+f 58 83 59
+f 59 83 82
+f 59 82 81
+f 59 81 61
+f 60 62 84
+f 60 84 85
+f 60 85 63
+f 61 81 62
+f 62 81 84
+f 63 85 86
+f 63 86 64
+f 64 86 105
+f 64 105 87
+f 64 87 65
+f 65 88 89
+f 65 87 88
+f 66 90 91
+f 66 91 92
+f 66 92 93
+f 66 93 67
+f 69 78 94
+f 69 94 95
+f 69 95 96
+f 69 96 70
+f 70 97 71
+f 70 96 98
+f 70 98 97
+f 71 97 99
+f 71 99 72
+f 72 99 73
+f 73 100 101
+f 73 101 74
+f 73 99 102
+f 73 102 100
+f 74 101 103
+f 74 103 75
+f 75 103 80
+f 75 80 76
+f 77 79 94
+f 77 94 78
+f 79 95 94
+f 80 103 85
+f 80 85 84
+f 80 84 81
+f 85 103 101
+f 85 101 104
+f 85 104 105
+f 85 105 86
+f 87 105 133
+f 87 133 106
+f 87 106 88
+f 88 106 107
+f 88 107 108
+f 88 108 109
+f 88 109 89
+f 90 110 111
+f 90 111 91
+f 91 111 140
+f 91 140 112
+f 91 112 113
+f 91 113 92
+f 92 113 114
+f 95 115 96
+f 96 115 116
+f 96 116 120
+f 96 120 98
+f 97 102 99
+f 97 98 117
+f 97 117 118
+f 97 118 119
+f 97 119 102
+f 98 120 121
+f 98 121 118
+f 98 118 117
+f 100 102 122
+f 100 122 123
+f 100 123 124
+f 100 124 125
+f 100 125 101
+f 101 125 126
+f 101 126 104
+f 102 127 122
+f 102 119 128
+f 102 128 129
+f 102 129 130
+f 102 130 131
+f 102 131 132
+f 102 132 127
+f 104 126 133
+f 104 133 105
+f 106 133 107
+f 107 133 134
+f 107 134 135
+f 107 135 136
+f 107 136 137
+f 107 137 108
+f 108 137 109
+f 110 138 111
+f 111 138 139
+f 111 139 136
+f 111 136 140
+f 112 140 141
+f 112 141 113
+f 113 141 114
+f 114 142 143
+f 114 141 142
+f 118 128 119
+f 122 144 145
+f 122 145 123
+f 122 127 146
+f 122 146 144
+f 123 147 124
+f 123 145 147
+f 124 147 148
+f 124 148 126
+f 124 126 125
+f 126 134 133
+f 126 148 134
+f 127 132 149
+f 127 149 150
+f 127 150 151
+f 127 151 146
+f 129 152 130
+f 130 152 149
+f 130 149 131
+f 131 149 132
+f 134 148 153
+f 134 153 135
+f 135 153 154
+f 135 154 140
+f 135 140 136
+f 136 139 137
+f 137 139 155
+f 138 155 139
+f 140 154 141
+f 141 154 156
+f 141 156 157
+f 141 157 142
+f 142 151 149
+f 142 149 158
+f 142 158 143
+f 142 157 151
+f 144 146 157
+f 144 157 156
+f 144 156 145
+f 145 156 159
+f 145 159 147
+f 146 151 157
+f 147 159 153
+f 147 153 148
+f 149 151 150
+f 149 152 158
+f 153 159 154
+f 154 159 156
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_20.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05196180 0.03374000 0.01853408
+v 0.05196343 0.03373999 0.02222074
+v 0.06028916 0.03374000 0.01853408
+v 0.05259094 0.01517609 0.01853402
+v 0.06028753 0.03373999 0.02222074
+v 0.05258768 0.01660041 0.02222068
+v 0.06029080 0.03227280 0.01853408
+v 0.05263256 0.01464018 0.01853401
+v 0.06029161 0.02995051 0.02222073
+v 0.05283982 0.01312058 0.01853401
+v 0.05286594 0.01464017 0.02222067
+v 0.06029488 0.02639447 0.01853406
+v 0.06029325 0.02835469 0.02222072
+v 0.05292713 0.01279189 0.01853401
+v 0.05322008 0.01356120 0.02222067
+v 0.06029814 0.01660042 0.01993564
+v 0.06029569 0.01802475 0.01853403
+v 0.06029651 0.01660041 0.02222068
+v 0.05347386 0.01170578 0.01853400
+v 0.05426049 0.01080068 0.01853400
+v 0.05343469 0.01340400 0.02222067
+v 0.06024265 0.01464018 0.01853401
+v 0.06029569 0.01660042 0.01853402
+v 0.06026060 0.01623837 0.02222068
+v 0.05625808 0.00940732 0.01853399
+v 0.05429232 0.01300624 0.02222067
+v 0.05980119 0.01264659 0.01853401
+v 0.06000192 0.01464017 0.02222067
+v 0.05746578 0.00989321 0.01853400
+v 0.05823690 0.01285618 0.02222067
+v 0.05661141 0.01262991 0.02222067
+v 0.05625808 0.01259657 0.02222067
+v 0.05946336 0.01340639 0.02222067
+v 0.05833319 0.01031717 0.01853400
+v 0.05990237 0.01437102 0.02222067
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 23
+f 1 23 22
+f 1 22 27
+f 1 27 34
+f 1 34 29
+f 1 29 25
+f 1 25 20
+f 1 20 19
+f 1 19 14
+f 1 14 10
+f 1 10 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 15
+f 2 15 21
+f 2 21 26
+f 2 26 32
+f 2 32 31
+f 2 31 30
+f 2 30 33
+f 2 33 35
+f 2 35 28
+f 2 28 24
+f 2 24 18
+f 2 18 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 6 10 11
+f 7 9 13
+f 7 13 12
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 13 16
+f 13 18 16
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 16 18 22
+f 16 22 23
+f 16 23 17
+f 18 24 22
+f 20 25 21
+f 21 25 26
+f 22 24 28
+f 22 28 27
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 27 33 34
+f 27 28 35
+f 27 35 33
+f 29 34 33
+f 29 33 30
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_21.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.05259614 0.02097014 0.01841265
+v -0.05259539 0.02097017 0.01222349
+v -0.06029583 0.02097014 0.01841265
+v -0.05259539 0.02010543 0.01841264
+v -0.05259539 0.02097018 0.00792109
+v -0.05259312 0.01659896 0.01841263
+v -0.06029583 0.02092783 0.01841265
+v -0.06029658 0.02097016 0.01459597
+v -0.06030186 0.00092571 0.00065679
+v -0.06029884 0.00092567 0.01222341
+v -0.05259916 0.02097022 -0.00171561
+v -0.05259463 0.01659901 0.00644016
+v -0.05259840 0.01659904 -0.00364124
+v -0.05259916 0.01900544 -0.00364123
+v -0.05259463 0.01072051 0.00836575
+v -0.05259463 0.01463951 0.00644015
+v -0.05262859 0.01463946 0.01841262
+v -0.05268065 -0.00604498 0.01607894
+v -0.05259765 -0.00604497 0.01415116
+v -0.05259765 -0.00604494 0.00644008
+v -0.06029356 0.01659896 0.01841263
+v -0.06029734 0.00092566 0.01415118
+v -0.06029583 -0.00299334 0.01415117
+v -0.06029734 0.02097021 0.00110157
+v -0.06030035 0.00876105 0.00065682
+v -0.06029960 0.00288521 -0.00319874
+v -0.06029960 0.00092572 -0.00319875
+v -0.06029884 -0.00344018 -0.00364131
+v -0.06029960 -0.00604492 -0.00127100
+v -0.06030035 -0.00604492 0.00065677
+v -0.06030035 -0.00604493 0.00150948
+v -0.06029960 0.01072054 -0.00127094
+v -0.06029809 -0.00103383 0.01222341
+v -0.05259992 0.02097022 -0.00363906
+v -0.05259690 0.01072055 -0.00319871
+v -0.05259765 0.01312695 -0.00364125
+v -0.05259992 0.02096494 -0.00364122
+v -0.05292136 0.01273286 0.01841262
+v -0.05429243 -0.00604499 0.01800455
+v -0.05303455 -0.00604498 0.01734397
+v -0.05260067 -0.00604491 -0.00364132
+v -0.06028602 0.01504935 0.01841263
+v -0.06029356 -0.00604497 0.01415116
+v -0.06029507 -0.00604496 0.01222339
+v -0.06029734 0.02097021 -0.00127090
+v -0.06029884 0.00288521 -0.00364129
+v -0.06029734 0.01659904 -0.00364124
+v -0.06029809 0.01072055 -0.00364126
+v -0.06029809 -0.00604491 -0.00364132
+v -0.06029960 -0.00604493 0.00343725
+v -0.06029658 0.02097022 -0.00364122
+v -0.05262633 0.02097022 -0.00364122
+v -0.05259765 0.01072055 -0.00364126
+v -0.05426526 0.01039521 0.01841261
+v -0.05626639 -0.00604499 0.01836506
+v -0.06025206 0.01463946 0.01841262
+v -0.06024828 -0.00604498 0.01500387
+v -0.06019019 -0.00604498 0.01607894
+v -0.05965746 -0.00604498 0.01747133
+v -0.05626639 0.00876891 0.01841260
+v -0.05736657 -0.00604499 0.01823553
+v -0.05830299 0.00980022 0.01841261
+v -0.05935412 0.01133662 0.01841261
+v -0.05982271 0.01260857 0.01841262
+v -0.05989892 0.01282277 0.01841262
+v -0.05903040 -0.00604499 0.01776492
+v -0.05823961 -0.00604499 0.01813191
+f 1 2 5
+f 1 5 11
+f 1 11 34
+f 1 34 52
+f 1 52 51
+f 1 51 45
+f 1 45 24
+f 1 24 8
+f 1 8 3
+f 1 3 7
+f 1 7 21
+f 1 21 42
+f 1 42 56
+f 1 56 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 60
+f 1 60 54
+f 1 54 38
+f 1 38 17
+f 1 17 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 5 6 12
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 6 15 16
+f 6 16 12
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 15
+f 7 10 22
+f 7 22 23
+f 7 23 21
+f 8 24 25
+f 8 25 9
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 31
+f 9 31 10
+f 9 25 32
+f 9 32 26
+f 10 31 33
+f 10 33 23
+f 10 23 22
+f 11 14 34
+f 12 16 35
+f 12 35 13
+f 13 35 36
+f 13 36 53
+f 13 53 41
+f 13 41 49
+f 13 49 28
+f 13 28 46
+f 13 46 48
+f 13 48 47
+f 13 47 51
+f 13 51 52
+f 13 52 37
+f 13 37 14
+f 14 37 34
+f 15 35 16
+f 15 20 35
+f 17 38 39
+f 17 39 40
+f 17 40 18
+f 18 40 39
+f 18 39 55
+f 18 55 61
+f 18 61 67
+f 18 67 66
+f 18 66 59
+f 18 59 58
+f 18 58 57
+f 18 57 43
+f 18 43 44
+f 18 44 50
+f 18 50 31
+f 18 31 30
+f 18 30 29
+f 18 29 49
+f 18 49 41
+f 18 41 20
+f 18 20 19
+f 20 41 35
+f 21 23 43
+f 21 43 42
+f 23 33 44
+f 23 44 43
+f 24 45 25
+f 25 45 32
+f 26 46 28
+f 26 28 27
+f 26 32 47
+f 26 47 48
+f 26 48 46
+f 28 49 29
+f 31 50 33
+f 32 45 51
+f 32 51 47
+f 33 50 44
+f 34 37 52
+f 35 53 36
+f 35 41 53
+f 38 54 55
+f 38 55 39
+f 42 43 57
+f 42 57 58
+f 42 58 59
+f 42 59 56
+f 54 60 55
+f 55 60 62
+f 55 62 63
+f 55 63 64
+f 55 64 65
+f 55 65 61
+f 56 59 66
+f 56 66 67
+f 56 67 65
+f 61 65 67
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_22.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06029588 0.02096895 0.01841265
+v -0.06029513 0.02051756 0.02186308
+v -0.06029513 0.02096894 0.02230797
+v -0.05259610 0.02096895 0.01841265
+v -0.06029362 0.01659847 0.01841263
+v -0.06029437 0.01659847 0.01993586
+v -0.06029437 0.01659846 0.02186306
+v -0.06029437 0.02096893 0.02379093
+v -0.06029362 0.01659845 0.02379091
+v -0.05259610 0.02096894 0.02141883
+v -0.05259535 0.02051757 0.01993588
+v -0.05258931 0.01659846 0.02186306
+v -0.05259007 0.01659847 0.01993586
+v -0.05259535 0.02010560 0.01841264
+v -0.06028608 0.01505090 0.01841263
+v -0.06029362 0.02078742 0.02494277
+v -0.06029362 0.02096893 0.02494277
+v -0.06029211 0.01659845 0.02494275
+v -0.05259686 0.02096893 0.02379093
+v -0.05259082 0.01659845 0.02379091
+v -0.05260440 0.01542822 0.02494275
+v -0.05259761 0.02096893 0.02494277
+v -0.05262854 0.01464012 0.01841262
+v -0.05259384 0.01659847 0.01841263
+v -0.06025212 0.01464012 0.01841262
+v -0.06020309 0.01464010 0.02494274
+v -0.05259309 0.01659845 0.02494275
+v -0.05267532 0.01464010 0.02494274
+v -0.05292126 0.01273550 0.01841262
+v -0.05284733 0.01343404 0.02494274
+v -0.05989829 0.01282625 0.01841262
+v -0.05974590 0.01278563 0.02494274
+v -0.05298766 0.01293370 0.02494274
+v -0.05426567 0.01039741 0.01841261
+v -0.05982285 0.01261131 0.01841262
+v -0.05935359 0.01133838 0.01841261
+v -0.05830341 0.00980155 0.01841261
+v -0.05881115 0.01160703 0.02494273
+v -0.05433583 0.01126074 0.02494273
+v -0.05622192 0.00880684 0.01841260
+v -0.05626644 0.00877102 0.01841260
+v -0.05800768 0.01108759 0.02494273
+v -0.05626644 0.01068756 0.02494273
+v -0.05670175 0.01075563 0.02494273
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 22
+f 1 22 19
+f 1 19 10
+f 1 10 4
+f 1 4 14
+f 1 14 24
+f 1 24 23
+f 1 23 29
+f 1 29 34
+f 1 34 40
+f 1 40 41
+f 1 41 37
+f 1 37 36
+f 1 36 35
+f 1 35 31
+f 1 31 25
+f 1 25 15
+f 1 15 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 7 9
+f 3 9 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 6
+f 6 15 7
+f 7 15 9
+f 8 16 17
+f 8 9 16
+f 9 15 18
+f 9 18 16
+f 10 19 12
+f 10 12 11
+f 12 20 21
+f 12 21 13
+f 12 19 22
+f 12 22 20
+f 13 21 23
+f 13 23 24
+f 13 24 14
+f 15 25 26
+f 15 26 18
+f 16 18 26
+f 16 26 32
+f 16 32 38
+f 16 38 42
+f 16 42 44
+f 16 44 43
+f 16 43 39
+f 16 39 33
+f 16 33 30
+f 16 30 28
+f 16 28 21
+f 16 21 27
+f 16 27 22
+f 16 22 17
+f 20 27 21
+f 20 22 27
+f 21 28 23
+f 23 28 30
+f 23 30 29
+f 25 31 26
+f 26 31 32
+f 29 30 33
+f 29 33 34
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 32 37 38
+f 33 39 34
+f 34 39 40
+f 37 41 42
+f 37 42 38
+f 39 43 41
+f 39 41 40
+f 41 43 44
+f 41 44 42
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_23.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.05626614 -0.00103391 0.03327240
+v -0.05429193 -0.00103391 0.03312645
+v -0.05626614 0.00288508 0.03327159
+v -0.05823959 0.00484458 0.03319659
+v -0.05823959 0.00092559 0.03319657
+v -0.05823959 -0.00299341 0.03319575
+v -0.05823959 -0.00604504 0.03319492
+v -0.05626614 -0.00604504 0.03327075
+v -0.05539290 -0.00604504 0.03320633
+v -0.05429193 0.00680407 0.03312484
+v -0.05429193 -0.00604504 0.03312480
+v -0.05304693 -0.00604504 0.03272364
+v -0.05304693 0.01267992 0.03272371
+v -0.05429193 0.01072042 0.03312404
+v -0.05429193 0.02097009 0.03312082
+v -0.05626614 0.02097009 0.03326433
+v -0.05823959 0.00876093 0.03319579
+v -0.05960901 0.01072042 0.03279382
+v -0.05960901 0.00680407 0.03279380
+v -0.05960977 -0.00103391 0.03279297
+v -0.05960826 -0.00604504 0.03279213
+v -0.05269326 -0.00604504 0.03150223
+v -0.05269176 0.01072042 0.03150229
+v -0.05269176 0.01267992 0.03150230
+v -0.05269251 0.01659891 0.03150231
+v -0.05304844 0.02097009 0.03272211
+v -0.05304844 0.01855841 0.03272292
+v -0.05823959 0.02097009 0.03318931
+v -0.05823959 0.01267992 0.03319418
+v -0.05960524 0.02097009 0.03278979
+v -0.06014366 0.01072042 0.03150229
+v -0.06014442 0.00092559 0.03150225
+v -0.05960977 0.00288508 0.03279298
+v -0.06014442 -0.00103391 0.03150225
+v -0.05990612 -0.00604504 0.03207299
+v -0.05259749 -0.00604503 0.02957473
+v -0.05259523 0.01072043 0.02957479
+v -0.05259523 0.01659892 0.02957481
+v -0.05259674 0.02097010 0.02957483
+v -0.05269326 0.01855841 0.03150232
+v -0.05269402 0.02051526 0.03150233
+v -0.05269477 0.02097009 0.03150233
+v -0.06013688 0.02097009 0.03150233
+v -0.06025678 0.02097010 0.03001920
+v -0.06029222 0.02097010 0.02957483
+v -0.06029448 0.01463942 0.02957480
+v -0.06029523 0.01072043 0.02957479
+v -0.06029674 0.00092560 0.02957475
+v -0.06029523 -0.00604503 0.02957473
+v -0.06014366 -0.00299341 0.03150224
+v -0.06014215 -0.00604504 0.03150223
+v -0.05275585 -0.00604502 0.02764722
+v -0.05260503 0.01542747 0.02494275
+v -0.05259297 0.01659894 0.02494275
+v -0.05259749 0.02097012 0.02494277
+v -0.05267215 0.02097010 0.03105796
+v -0.06029297 0.02097011 0.02809250
+v -0.06029373 0.02097012 0.02494277
+v -0.06029373 0.02078766 0.02494277
+v -0.06019871 -0.00604502 0.02850008
+v -0.06029222 0.01659894 0.02494275
+v -0.05291195 -0.00604502 0.02713110
+v -0.05267592 0.01463944 0.02494274
+v -0.05310877 -0.00604502 0.02648044
+v -0.06012104 -0.00604502 0.02764722
+v -0.06020323 0.01463944 0.02494274
+v -0.05284710 0.01343096 0.02494274
+v -0.05363286 -0.00604502 0.02623094
+v -0.05982318 -0.00604502 0.02692400
+v -0.05974626 0.01278308 0.02494274
+v -0.05823959 -0.00604501 0.02579472
+v -0.05958639 -0.00604502 0.02635080
+v -0.05298736 0.01293117 0.02494274
+v -0.05429193 -0.00604502 0.02592355
+v -0.05881119 0.01160368 0.02494273
+v -0.05626614 -0.00604501 0.02557050
+v -0.05433567 0.01125991 0.02494273
+v -0.05516592 -0.00604501 0.02576537
+v -0.05800808 0.01108538 0.02494273
+v -0.05626614 0.01068608 0.02494273
+v -0.05670200 0.01075483 0.02494273
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 12
+f 2 12 13
+f 2 13 10
+f 3 10 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 19 20
+f 5 20 6
+f 6 21 7
+f 6 20 21
+f 7 21 35
+f 7 35 51
+f 7 51 49
+f 7 49 60
+f 7 60 65
+f 7 65 69
+f 7 69 72
+f 7 72 71
+f 7 71 76
+f 7 76 78
+f 7 78 74
+f 7 74 68
+f 7 68 64
+f 7 64 62
+f 7 62 52
+f 7 52 36
+f 7 36 22
+f 7 22 12
+f 7 12 11
+f 7 11 9
+f 7 9 8
+f 10 13 14
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 15
+f 15 27 26
+f 15 26 42
+f 15 42 56
+f 15 56 39
+f 15 39 55
+f 15 55 58
+f 15 58 57
+f 15 57 45
+f 15 45 44
+f 15 44 43
+f 15 43 30
+f 15 30 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 20
+f 18 20 19
+f 20 33 32
+f 20 32 34
+f 20 34 21
+f 21 34 35
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 42
+f 28 30 29
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 48 34
+f 34 49 50
+f 34 50 35
+f 34 48 49
+f 35 50 51
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 38
+f 38 54 39
+f 39 56 41
+f 39 41 40
+f 39 54 55
+f 41 56 42
+f 45 57 46
+f 46 57 58
+f 46 58 47
+f 47 58 48
+f 48 58 59
+f 48 59 49
+f 49 51 50
+f 49 59 61
+f 49 61 60
+f 52 62 53
+f 53 63 67
+f 53 67 73
+f 53 73 77
+f 53 77 80
+f 53 80 81
+f 53 81 79
+f 53 79 75
+f 53 75 70
+f 53 70 66
+f 53 66 61
+f 53 61 59
+f 53 59 58
+f 53 58 55
+f 53 55 54
+f 53 62 64
+f 53 64 63
+f 60 61 65
+f 61 66 65
+f 63 64 67
+f 64 68 67
+f 65 66 69
+f 66 70 71
+f 66 71 72
+f 66 72 69
+f 67 68 74
+f 67 74 73
+f 70 75 76
+f 70 76 71
+f 73 74 78
+f 73 78 76
+f 73 76 77
+f 75 79 76
+f 76 80 77
+f 76 79 81
+f 76 81 80
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_3.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.06028828 -0.00604611 -0.00610707
+v 0.06029121 -0.02062851 -0.01476758
+v 0.06028828 -0.00604608 -0.01476752
+v 0.05257485 -0.00604611 -0.00610707
+v 0.06029022 -0.02550954 -0.00610714
+v 0.06002250 -0.01670945 -0.01669519
+v 0.06029121 -0.02650353 -0.01476760
+v 0.06002445 -0.02650352 -0.01669523
+v 0.06001761 -0.00604607 -0.01669515
+v 0.05030988 -0.00604609 -0.00968040
+v 0.05030988 -0.03468012 -0.00610718
+v 0.06029022 -0.02846308 -0.00610715
+v 0.05948703 -0.01670944 -0.01788832
+v 0.06029022 -0.02846305 -0.01476760
+v 0.06002151 -0.03238209 -0.01669525
+v 0.05948801 -0.02846303 -0.01788836
+v 0.05948801 -0.02650351 -0.01788957
+v 0.05948312 -0.00604606 -0.01788586
+v 0.05030988 -0.00604606 -0.01846185
+v 0.05030988 -0.04242915 -0.00610721
+v 0.06028436 -0.03434166 -0.00610718
+v 0.06028729 -0.03238210 -0.01476762
+v 0.05823143 -0.01474992 -0.01829368
+v 0.05948605 -0.01474992 -0.01788831
+v 0.06028436 -0.03434163 -0.01476763
+v 0.06001663 -0.03434162 -0.01669526
+v 0.05948312 -0.03434161 -0.01788476
+v 0.05948605 -0.03238208 -0.01788717
+v 0.05823143 -0.02846303 -0.01829252
+v 0.05823143 -0.00604606 -0.01828881
+v 0.05143455 -0.00604606 -0.01846306
+v 0.05030988 -0.00688688 -0.01846307
+v 0.05030988 -0.04243271 -0.00705711
+v 0.05033626 -0.04242915 -0.00610721
+v 0.06027264 -0.03530361 -0.00610718
+v 0.05625763 -0.01279039 -0.01846793
+v 0.05625763 -0.00887134 -0.01846670
+v 0.05625763 -0.00604606 -0.01846548
+v 0.05735592 -0.00604606 -0.01836746
+v 0.06025994 -0.03629761 -0.00705708
+v 0.06025798 -0.03629761 -0.00898472
+v 0.06022574 -0.03825714 -0.00705709
+v 0.06021890 -0.03825714 -0.00898473
+v 0.06024137 -0.03629759 -0.01476763
+v 0.05997462 -0.03629758 -0.01669526
+v 0.05946358 -0.03629757 -0.01786782
+v 0.05823143 -0.03434161 -0.01828529
+v 0.05823143 -0.03238208 -0.01828891
+v 0.05625763 -0.03238208 -0.01846437
+v 0.05625763 -0.03042256 -0.01846557
+v 0.05340834 -0.00604606 -0.01846427
+v 0.05030988 -0.01474992 -0.01846309
+v 0.05033626 -0.04243271 -0.00705711
+v 0.05030988 -0.04243627 -0.00898475
+v 0.05231005 -0.04240422 -0.00610721
+v 0.05231005 -0.04243627 -0.00898475
+v 0.05625763 -0.04243625 -0.01283881
+v 0.06025994 -0.03629762 -0.00610718
+v 0.05428482 -0.03042256 -0.01846436
+v 0.05030988 -0.02846303 -0.01846193
+v 0.06024431 -0.03726313 -0.00610719
+v 0.06022671 -0.03825715 -0.00610719
+v 0.05992381 -0.04021665 -0.01091237
+v 0.06016125 -0.03825712 -0.01476764
+v 0.05988570 -0.03825711 -0.01669527
+v 0.05941766 -0.03825710 -0.01783153
+v 0.05823143 -0.03825710 -0.01821270
+v 0.05823143 -0.03629757 -0.01825988
+v 0.05625763 -0.03825710 -0.01842930
+v 0.05625763 -0.03434161 -0.01846196
+v 0.05030988 -0.03238208 -0.01846074
+v 0.05428482 -0.03434161 -0.01846196
+v 0.05030988 -0.04243625 -0.01476766
+v 0.05625763 -0.04243981 -0.01476766
+v 0.05625763 -0.04239351 -0.01091238
+v 0.05328327 -0.04231514 -0.00610721
+v 0.05823143 -0.04207997 -0.01283880
+v 0.05823143 -0.04205504 -0.01091237
+v 0.05983880 -0.04021667 -0.00610720
+v 0.05990329 -0.04021664 -0.01283880
+v 0.05944892 -0.04146006 -0.01091237
+v 0.05944306 -0.04146005 -0.01283880
+v 0.05987788 -0.04021664 -0.01476765
+v 0.05954370 -0.04024157 -0.01674369
+v 0.05933069 -0.03960382 -0.01775772
+v 0.05829201 -0.04024156 -0.01795617
+v 0.05625763 -0.04021662 -0.01826595
+v 0.05428482 -0.03825710 -0.01843535
+v 0.05428482 -0.04021662 -0.01827684
+v 0.05030988 -0.03434161 -0.01845833
+v 0.05030988 -0.03825710 -0.01843293
+v 0.05030988 -0.04243269 -0.01479186
+v 0.05428482 -0.04210846 -0.01669528
+v 0.05625763 -0.04209778 -0.01669528
+v 0.05823143 -0.04206216 -0.01476765
+v 0.05525706 -0.04206219 -0.00610720
+v 0.05428482 -0.04220826 -0.00610721
+v 0.05934046 -0.04129619 -0.00610720
+v 0.05959256 -0.04075109 -0.00610720
+v 0.05942743 -0.04144223 -0.01476765
+v 0.05935121 -0.04135316 -0.01613381
+v 0.05899065 -0.04091137 -0.01741890
+v 0.05767446 -0.04137809 -0.01780128
+v 0.05625763 -0.04147784 -0.01787994
+v 0.05030988 -0.04019168 -0.01827684
+v 0.05030988 -0.04021662 -0.01827442
+v 0.05428482 -0.04148497 -0.01788841
+v 0.05030988 -0.04148497 -0.01788720
+v 0.05030988 -0.04210490 -0.01669528
+v 0.05030988 -0.04209778 -0.01671101
+v 0.05829201 -0.04164886 -0.01674369
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 30
+f 1 30 39
+f 1 39 38
+f 1 38 51
+f 1 51 31
+f 1 31 19
+f 1 19 10
+f 1 10 4
+f 1 4 11
+f 1 11 20
+f 1 20 34
+f 1 34 55
+f 1 55 76
+f 1 76 97
+f 1 97 96
+f 1 96 98
+f 1 98 99
+f 1 99 79
+f 1 79 62
+f 1 62 61
+f 1 61 58
+f 1 58 35
+f 1 35 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 12
+f 2 12 7
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 4 10 11
+f 6 13 9
+f 6 8 13
+f 7 12 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 13
+f 9 13 18
+f 10 19 32
+f 10 32 52
+f 10 52 60
+f 10 60 71
+f 10 71 90
+f 10 90 91
+f 10 91 105
+f 10 105 106
+f 10 106 108
+f 10 108 110
+f 10 110 109
+f 10 109 92
+f 10 92 73
+f 10 73 54
+f 10 54 33
+f 10 33 20
+f 10 20 11
+f 12 21 22
+f 12 22 14
+f 13 23 24
+f 13 24 18
+f 13 17 23
+f 14 22 15
+f 15 22 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 16 28 17
+f 17 28 29
+f 17 29 23
+f 18 24 23
+f 18 23 30
+f 19 31 32
+f 20 33 53
+f 20 53 34
+f 21 25 22
+f 21 35 25
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 30
+f 23 29 36
+f 25 35 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 48 29
+f 29 48 49
+f 29 49 50
+f 29 50 36
+f 31 51 32
+f 32 51 37
+f 32 37 36
+f 32 36 52
+f 33 54 56
+f 33 56 53
+f 34 53 56
+f 34 56 57
+f 34 57 55
+f 35 58 40
+f 36 50 59
+f 36 59 60
+f 36 60 52
+f 37 51 38
+f 40 58 61
+f 40 61 41
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 43 63 64
+f 43 64 44
+f 44 64 45
+f 45 64 65
+f 45 65 66
+f 45 66 46
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 48 70 49
+f 49 71 50
+f 49 70 72
+f 49 72 71
+f 50 71 59
+f 54 73 74
+f 54 74 56
+f 55 75 76
+f 55 57 75
+f 56 74 57
+f 57 74 77
+f 57 77 78
+f 57 78 75
+f 59 71 60
+f 62 79 63
+f 63 80 64
+f 63 79 81
+f 63 81 82
+f 63 82 80
+f 64 80 83
+f 64 83 65
+f 65 83 84
+f 65 84 85
+f 65 85 66
+f 66 85 67
+f 67 85 86
+f 67 86 87
+f 67 87 69
+f 67 69 68
+f 69 88 70
+f 69 87 89
+f 69 89 88
+f 70 88 72
+f 71 72 90
+f 72 88 91
+f 72 91 90
+f 73 92 74
+f 74 93 94
+f 74 94 95
+f 74 95 77
+f 74 92 93
+f 75 78 96
+f 75 96 97
+f 75 97 76
+f 77 95 82
+f 77 82 81
+f 77 81 78
+f 78 81 98
+f 78 98 96
+f 79 99 81
+f 80 82 100
+f 80 100 83
+f 81 99 98
+f 82 95 100
+f 83 100 101
+f 83 101 84
+f 84 101 102
+f 84 102 85
+f 85 102 103
+f 85 103 86
+f 86 103 87
+f 87 103 104
+f 87 104 89
+f 88 89 105
+f 88 105 91
+f 89 106 105
+f 89 104 107
+f 89 107 108
+f 89 108 106
+f 92 109 93
+f 93 109 110
+f 93 110 108
+f 93 108 107
+f 93 107 94
+f 94 107 104
+f 94 104 103
+f 94 103 111
+f 94 111 95
+f 95 111 101
+f 95 101 100
+f 101 111 102
+f 102 111 103
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_4.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.05030988 -0.00604253 -0.00968032
+v 0.05030988 -0.03399476 -0.00878566
+v 0.05030988 -0.00604250 -0.01846213
+v 0.00001048 -0.00604253 -0.00985473
+v 0.00001048 -0.03405532 -0.00878567
+v 0.05030988 -0.04243457 -0.00878570
+v 0.05030988 -0.00688684 -0.01846309
+v 0.04550891 -0.00604250 -0.01846308
+v 0.00001048 -0.00604250 -0.01846687
+v 0.00001048 -0.04242745 -0.00878570
+v 0.05030988 -0.04243812 -0.01476756
+v 0.01282784 -0.04243101 -0.00878570
+v 0.00001048 -0.04243101 -0.00898474
+v 0.01480239 -0.04243455 -0.01284059
+v 0.05030988 -0.01474951 -0.01846311
+v 0.04638539 -0.01083065 -0.01846405
+v 0.04441084 -0.00691534 -0.01846404
+v 0.03453807 -0.00604250 -0.01846497
+v 0.00001048 -0.01182105 -0.01846689
+v 0.01085821 -0.00604250 -0.01846687
+v 0.01085821 -0.01083065 -0.01846784
+v 0.05030988 -0.04210322 -0.01669547
+v 0.01480239 -0.04243455 -0.01476756
+v 0.00888366 -0.04210678 -0.01669547
+v 0.01085821 -0.04210678 -0.01669547
+v 0.00001048 -0.04243099 -0.01476756
+v 0.05030988 -0.02846199 -0.01846221
+v 0.01282784 -0.02846199 -0.01846695
+v 0.00001048 -0.02846199 -0.01846505
+v 0.00888366 -0.02846199 -0.01846695
+v 0.05030988 -0.04209610 -0.01671064
+v 0.00888366 -0.04149044 -0.01789166
+v 0.00001048 -0.04210322 -0.01669547
+v 0.00001048 -0.04180040 -0.01728693
+v 0.05030988 -0.03238086 -0.01846033
+v 0.01480239 -0.03238086 -0.01846507
+v 0.00001048 -0.03238086 -0.01846318
+v 0.00888366 -0.03042142 -0.01846601
+v 0.05030988 -0.04148332 -0.01788786
+v 0.00001048 -0.04148688 -0.01789071
+v 0.00001048 -0.04085986 -0.01808217
+v 0.00001048 -0.04021859 -0.01827743
+v 0.00888366 -0.04021859 -0.01827838
+v 0.05030988 -0.04021859 -0.01827459
+v 0.05030988 -0.04146907 -0.01789260
+v 0.05030988 -0.03434029 -0.01845845
+v 0.01480239 -0.03434029 -0.01846129
+v 0.01282784 -0.03238086 -0.01846507
+v 0.00001048 -0.03337126 -0.01846223
+v 0.00001048 -0.03924600 -0.01835514
+v 0.00001048 -0.03825916 -0.01843381
+v 0.00098544 -0.03825916 -0.01843381
+v 0.05030988 -0.03825916 -0.01843287
+v 0.05030988 -0.03823422 -0.01843381
+v 0.00001048 -0.03434029 -0.01846129
+f 1 2 6
+f 1 6 11
+f 1 11 22
+f 1 22 31
+f 1 31 39
+f 1 39 45
+f 1 45 44
+f 1 44 53
+f 1 53 54
+f 1 54 46
+f 1 46 35
+f 1 35 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 20
+f 1 20 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 12
+f 2 12 6
+f 3 7 8
+f 4 9 19
+f 4 19 29
+f 4 29 37
+f 4 37 49
+f 4 49 55
+f 4 55 51
+f 4 51 50
+f 4 50 42
+f 4 42 41
+f 4 41 40
+f 4 40 34
+f 4 34 33
+f 4 33 26
+f 4 26 13
+f 4 13 10
+f 4 10 5
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 20 21
+f 9 21 19
+f 10 13 12
+f 11 14 23
+f 11 23 24
+f 11 24 25
+f 11 25 22
+f 13 26 23
+f 13 23 14
+f 15 27 16
+f 16 27 28
+f 16 28 21
+f 16 21 17
+f 17 21 18
+f 18 21 20
+f 19 21 30
+f 19 30 29
+f 21 28 30
+f 22 25 31
+f 23 26 24
+f 24 32 25
+f 24 26 33
+f 24 33 34
+f 24 34 32
+f 25 32 31
+f 27 35 36
+f 27 36 28
+f 28 36 48
+f 28 48 38
+f 28 38 30
+f 29 30 38
+f 29 38 37
+f 31 32 39
+f 32 34 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 39
+f 35 46 36
+f 36 47 55
+f 36 55 48
+f 36 46 47
+f 37 38 48
+f 37 48 49
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 46 54 47
+f 47 52 51
+f 47 51 55
+f 47 54 52
+f 48 55 49
+f 52 54 53
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_5.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.05030411 -0.04243889 -0.00703476
+v -0.04046969 -0.04246034 0.00451524
+v -0.04046969 -0.04246418 0.01222444
+v -0.05030411 -0.04243889 -0.00699533
+v -0.05030411 -0.03466881 -0.00703473
+v -0.04242476 -0.04243812 -0.00703476
+v -0.02270668 -0.04247104 0.00258695
+v -0.02270668 -0.04247334 0.00451524
+v -0.02270668 -0.04247794 0.01029616
+v -0.03849493 -0.04246267 0.01607707
+v -0.05030411 -0.04243750 0.02957113
+v -0.05030411 -0.03469189 0.02957116
+v 0.00000555 -0.03475520 -0.00703473
+v -0.00494366 -0.04243124 -0.00703476
+v -0.00691350 -0.04245956 0.00065867
+v -0.00494366 -0.04246875 0.00451524
+v -0.00888826 -0.04247032 0.01607707
+v -0.02270668 -0.04247642 0.01222444
+v -0.02270668 -0.04247489 0.01414879
+v -0.04244446 -0.04243750 0.02957113
+v -0.00494366 -0.04220052 0.03149942
+v -0.01086303 -0.04219823 0.03149942
+v -0.03257557 -0.04218676 0.03149943
+v -0.04244446 -0.04218141 0.03149943
+v -0.05030411 -0.04217606 0.03149943
+v -0.05030411 -0.03479204 0.03149945
+v 0.00000555 -0.03485855 0.03149945
+v 0.00000555 -0.03481956 0.03052939
+v 0.00000555 -0.03478133 0.02957116
+v 0.00000555 -0.04242895 -0.00703476
+v -0.00096952 -0.04242971 -0.00703476
+v -0.00099414 -0.04246263 0.00644353
+v -0.00296890 -0.04246646 0.00644353
+v -0.00099414 -0.04246264 0.00836787
+v 0.00000555 -0.04242909 0.02957113
+v -0.01876208 -0.04243367 0.02957113
+v -0.00296890 -0.04220052 0.03149942
+v 0.00000555 -0.04188938 0.03214219
+v -0.00494366 -0.04158436 0.03276918
+v -0.00691350 -0.04158359 0.03276918
+v -0.05030411 -0.04216383 0.03152703
+v -0.05030411 -0.03510701 0.03267456
+v 0.00000555 -0.03512841 0.03267456
+v 0.00000555 -0.03499233 0.03208306
+v 0.00000555 -0.04244046 0.00644353
+v 0.00000555 -0.04243971 0.00934187
+v 0.00000555 -0.04219976 0.03149942
+v 0.00000555 -0.04158436 0.03276918
+v -0.01086303 -0.04021902 0.03315957
+v 0.00000555 -0.04089557 0.03296635
+v -0.05030411 -0.04021902 0.03313197
+v -0.05030411 -0.04152932 0.03275341
+v -0.05030411 -0.04155607 0.03274552
+v -0.04244446 -0.04156142 0.03274946
+v -0.01283779 -0.04158053 0.03276524
+v -0.03455033 -0.04156678 0.03275341
+v -0.05030411 -0.03627817 0.03305706
+v -0.01283779 -0.03630187 0.03306495
+v 0.00000555 -0.03630187 0.03306495
+v 0.00000555 -0.04021902 0.03315957
+v -0.00494366 -0.03826044 0.03325028
+v -0.05030411 -0.03826044 0.03323845
+v -0.05030411 -0.03630187 0.03306101
+v 0.00000555 -0.03727198 0.03315564
+v 0.00000555 -0.03826044 0.03324633
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 25
+f 1 25 41
+f 1 41 53
+f 1 53 52
+f 1 52 51
+f 1 51 62
+f 1 62 63
+f 1 63 57
+f 1 57 42
+f 1 42 26
+f 1 26 12
+f 1 12 5
+f 1 5 13
+f 1 13 30
+f 1 30 31
+f 1 31 14
+f 1 14 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 4
+f 3 9 10
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 20 37
+f 11 37 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 19 17
+f 11 17 20
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 28
+f 13 28 27
+f 13 27 44
+f 13 44 43
+f 13 43 59
+f 13 59 64
+f 13 64 65
+f 13 65 60
+f 13 60 50
+f 13 50 48
+f 13 48 38
+f 13 38 47
+f 13 47 35
+f 13 35 46
+f 13 46 45
+f 13 45 30
+f 14 31 15
+f 15 31 30
+f 15 30 16
+f 16 30 32
+f 16 32 33
+f 16 33 17
+f 17 19 18
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 20
+f 20 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 22 39 40
+f 22 40 23
+f 23 41 24
+f 23 40 41
+f 24 41 25
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 30 45 32
+f 32 45 34
+f 32 34 33
+f 34 45 46
+f 34 46 35
+f 35 47 37
+f 35 37 36
+f 37 47 38
+f 38 48 39
+f 39 49 40
+f 39 48 50
+f 39 50 49
+f 40 49 51
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 56
+f 40 56 55
+f 40 55 41
+f 41 56 54
+f 41 54 53
+f 41 55 56
+f 42 57 58
+f 42 58 59
+f 42 59 43
+f 49 50 60
+f 49 60 61
+f 49 61 62
+f 49 62 51
+f 57 63 58
+f 58 61 59
+f 58 63 61
+f 59 61 64
+f 60 65 61
+f 61 65 64
+f 61 63 62
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_6.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00001048 -0.04243069 -0.00878475
+v 0.00493455 -0.04245148 0.00258782
+v 0.00493455 -0.04246064 0.01029845
+v 0.00493455 -0.04246564 0.01607526
+v 0.00001048 -0.04244070 0.00644314
+v 0.00001048 -0.03405882 -0.00878472
+v 0.01480239 -0.04243318 -0.00878475
+v 0.01677694 -0.04246642 0.00258782
+v 0.00001048 -0.04242917 0.02957093
+v 0.00001048 -0.04243988 0.00934388
+v 0.03848718 -0.04247477 0.01607526
+v 0.00001048 -0.03478186 0.02957096
+v 0.05030988 -0.03469223 0.02957096
+v 0.05030988 -0.03399658 -0.00878471
+v 0.05030988 -0.04243567 -0.00878475
+v 0.03453807 -0.04246310 0.00258782
+v 0.00001048 -0.04220011 0.03150064
+v 0.01480239 -0.04243249 0.02957093
+v 0.04046173 -0.04246145 0.00451342
+v 0.05030988 -0.04243249 0.02957093
+v 0.00001048 -0.03481921 0.03052553
+v 0.05030988 -0.03479266 0.03150067
+v 0.00001048 -0.03485823 0.03150067
+v 0.00098544 -0.04220011 0.03150064
+v 0.00001048 -0.04188887 0.03214252
+v 0.05030988 -0.04212210 0.03150065
+v 0.01085821 -0.04219181 0.03150065
+v 0.00888366 -0.04219513 0.03150065
+v 0.05030988 -0.03479681 0.03151713
+v 0.00001048 -0.03499185 0.03208082
+v 0.00001048 -0.03512880 0.03267332
+v 0.00493455 -0.04158262 0.03276793
+v 0.00098544 -0.04158428 0.03276793
+v 0.00001048 -0.04158428 0.03276793
+v 0.05030988 -0.04150460 0.03271032
+v 0.00888366 -0.04157930 0.03276381
+v 0.05030988 -0.03510805 0.03267332
+v 0.00001048 -0.03630154 0.03306419
+v 0.05030988 -0.03512299 0.03268154
+v 0.00888366 -0.04021898 0.03315470
+v 0.00493455 -0.04021898 0.03315881
+v 0.00001048 -0.04089541 0.03296543
+v 0.05030988 -0.04023641 0.03308886
+v 0.00001048 -0.03826026 0.03324934
+v 0.01677694 -0.03630154 0.03306419
+v 0.05030988 -0.03630154 0.03306008
+v 0.05030988 -0.04021898 0.03309298
+v 0.05030988 -0.03826026 0.03323699
+v 0.00001048 -0.04021898 0.03315881
+v 0.05030988 -0.03632727 0.03306419
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 17
+f 1 17 25
+f 1 25 34
+f 1 34 42
+f 1 42 49
+f 1 49 44
+f 1 44 38
+f 1 38 31
+f 1 31 30
+f 1 30 23
+f 1 23 21
+f 1 21 12
+f 1 12 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 8
+f 1 8 2
+f 2 8 3
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 9
+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 8 16 11
+f 9 11 18
+f 9 18 17
+f 11 16 19
+f 11 19 15
+f 11 15 20
+f 11 20 18
+f 12 21 13
+f 13 22 29
+f 13 29 37
+f 13 37 39
+f 13 39 46
+f 13 46 50
+f 13 50 48
+f 13 48 47
+f 13 47 43
+f 13 43 35
+f 13 35 26
+f 13 26 20
+f 13 20 15
+f 13 15 14
+f 13 21 23
+f 13 23 22
+f 15 19 16
+f 17 18 20
+f 17 20 24
+f 17 24 25
+f 20 26 27
+f 20 27 28
+f 20 28 24
+f 22 23 30
+f 22 30 31
+f 22 31 29
+f 24 28 32
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 26 35 36
+f 26 36 27
+f 27 36 28
+f 28 36 32
+f 29 31 37
+f 31 38 39
+f 31 39 37
+f 32 36 40
+f 32 40 41
+f 32 41 33
+f 33 42 34
+f 33 41 42
+f 35 43 36
+f 36 43 40
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 40 43 47
+f 40 47 48
+f 40 48 41
+f 41 44 49
+f 41 49 42
+f 41 48 44
+f 44 48 50
+f 44 50 45
+f 45 50 46
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_7.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.05033512 0.03374014 -0.01842022
+v 0.05033512 0.03374014 -0.01845983
+v 0.05017254 0.03374010 -0.00884296
+v 0.05033512 0.03373621 -0.00883447
+v 0.05033512 0.03031329 -0.01846078
+v 0.04688161 0.03374014 -0.01846077
+v 0.00001048 0.03374010 -0.00888445
+v 0.05033512 -0.00604253 -0.00967861
+v 0.05033512 -0.00603861 -0.01846280
+v 0.04441341 -0.00495214 -0.01846374
+v 0.00888318 -0.00604250 -0.01846751
+v 0.01282935 0.03227205 -0.01846360
+v 0.02122418 0.03374014 -0.01846172
+v 0.00001048 0.03374014 -0.01846172
+v 0.00001048 -0.00604253 -0.00985496
+v 0.04945819 -0.00604250 -0.01846186
+v 0.04441341 -0.00604250 -0.01846374
+v 0.00001048 -0.00604250 -0.01846657
+v 0.00001048 -0.00495214 -0.01846657
+v 0.00001048 0.03227205 -0.01846266
+v 0.01085380 0.03227205 -0.01846360
+f 1 2 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 7 14 20
+f 7 20 19
+f 7 19 18
+f 7 18 15
+f 7 15 8
+f 8 16 9
+f 8 15 18
+f 8 18 11
+f 8 11 17
+f 8 17 16
+f 9 16 17
+f 9 17 10
+f 10 17 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 14
+f 12 14 13
+f 14 21 20
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_8.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00000556 0.03452807 -0.00716901
+v 0.00000556 -0.00604488 -0.00985456
+v 0.00000556 0.03452811 -0.01846021
+v -0.04965537 0.03452807 -0.00705730
+v -0.04965537 -0.00604488 -0.00973838
+v 0.00000556 -0.00604485 -0.01846706
+v 0.00000556 0.03423025 -0.01846132
+v -0.04639358 0.03423025 -0.01846244
+v -0.04965537 0.03442485 -0.01846132
+v -0.04965537 0.03452811 -0.01846021
+v -0.04965537 -0.00604485 -0.01846482
+v 0.00000556 -0.00494871 -0.01846706
+v -0.01086385 -0.00604485 -0.01846817
+v -0.01481106 -0.00494871 -0.01846929
+v 0.00000556 0.03324134 -0.01846245
+v -0.04965537 0.03423025 -0.01846244
+v -0.02271033 0.03227229 -0.01846357
+v -0.04965537 -0.00367386 -0.01846481
+v -0.04924218 -0.00604485 -0.01846594
+v -0.03652070 -0.00604485 -0.01846817
+v -0.01678466 0.01855866 -0.01846585
+v -0.01481106 0.01855866 -0.01846585
+v -0.03652070 -0.00494871 -0.01846817
+v -0.04639358 0.03227229 -0.01846357
+v -0.00494304 0.02835241 -0.01846359
+f 1 2 6
+f 1 6 12
+f 1 12 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 19
+f 2 19 20
+f 2 20 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 16
+f 4 16 18
+f 4 18 11
+f 4 11 5
+f 6 13 14
+f 6 14 12
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 24
+f 8 24 16
+f 11 18 19
+f 12 14 15
+f 13 20 14
+f 14 21 22
+f 14 22 15
+f 14 20 23
+f 14 23 24
+f 14 24 21
+f 15 22 25
+f 15 25 17
+f 16 19 18
+f 16 24 19
+f 17 25 22
+f 17 22 21
+f 17 21 24
+f 19 24 23
+f 19 23 20
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_9.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.05034422 -0.04243924 -0.00703476
+v -0.05626534 -0.04243728 0.01415017
+v -0.05626534 -0.04243519 -0.00127104
+v -0.05231825 -0.04241883 -0.00703476
+v -0.05030411 -0.04243822 -0.00703476
+v -0.05030411 -0.04243822 -0.00699531
+v -0.05030411 -0.04243734 0.02957138
+v -0.05626534 -0.04243836 0.02957138
+v -0.05823937 -0.04210956 0.00065810
+v -0.05823937 -0.04210649 -0.00127103
+v -0.05626534 -0.04227696 -0.00319622
+v -0.05427076 -0.04219221 -0.00703475
+v -0.05030411 -0.03466895 -0.00703473
+v -0.05030411 -0.04243224 0.02961083
+v -0.05030411 -0.04217603 0.03150052
+v -0.05231825 -0.04217603 0.03150052
+v -0.05429228 -0.04217399 0.03150052
+v -0.05626534 -0.04216378 0.03150052
+v -0.05823937 -0.04209946 0.02957139
+v -0.05948170 -0.04148993 0.00065810
+v -0.05823937 -0.04193499 -0.00319621
+v -0.05947876 -0.04148687 -0.00127103
+v -0.05934083 -0.04128472 -0.00703475
+v -0.05429228 -0.04218915 -0.00703475
+v -0.05254715 -0.03201080 -0.00703472
+v -0.05030411 -0.03469257 0.02957141
+v -0.05030411 -0.04155641 0.03274321
+v -0.05034422 -0.04155641 0.03274321
+v -0.05429228 -0.04155436 0.03274321
+v -0.05626534 -0.04154212 0.03273532
+v -0.05782461 -0.04142064 0.03263669
+v -0.05838512 -0.04169217 0.03163860
+v -0.05938779 -0.04138388 0.03108629
+v -0.05946996 -0.04147780 0.02957139
+v -0.05996787 -0.04021904 0.00065810
+v -0.05996396 -0.04021904 -0.00127103
+v -0.05932910 -0.04128779 -0.00703475
+v -0.05982994 -0.04021901 -0.00703475
+v -0.05934671 -0.04127248 -0.00703475
+v -0.06029459 -0.03201080 -0.00703472
+v -0.05256769 -0.03201094 0.02957142
+v -0.05030411 -0.03479160 0.03150054
+v -0.05030411 -0.04021916 0.03312983
+v -0.05429228 -0.04021916 0.03312983
+v -0.05626534 -0.04021916 0.03311799
+v -0.05914128 -0.04111236 0.03236843
+v -0.05838512 -0.04036310 0.03282211
+v -0.05995026 -0.04021915 0.02957139
+v -0.05963332 -0.04036310 0.03163860
+v -0.06021927 -0.03826011 -0.00703474
+v -0.06022122 -0.03826023 0.02378795
+v -0.05983483 -0.04019758 -0.00703475
+v -0.06029459 -0.03238339 -0.00703472
+v -0.06029655 -0.03201082 -0.00283324
+v -0.05266943 -0.03201095 0.03150055
+v -0.05030411 -0.03510702 0.03267616
+v -0.05030411 -0.04018037 0.03313377
+v -0.05429228 -0.03826026 0.03324030
+v -0.05626534 -0.03826026 0.03323635
+v -0.05823937 -0.03826026 0.03312194
+v -0.05942300 -0.03980574 0.03263669
+v -0.06004124 -0.03826026 0.03150053
+v -0.06021242 -0.03826025 0.02957140
+v -0.06026427 -0.03630122 -0.00319619
+v -0.06026329 -0.03627977 -0.00703473
+v -0.06026525 -0.03630134 0.02957141
+v -0.06029362 -0.03434230 -0.00703473
+v -0.06029753 -0.03238342 0.00065813
+v -0.06029655 -0.03201084 0.00258726
+v -0.05303821 -0.03201095 0.03271957
+v -0.05030411 -0.03630135 0.03306278
+v -0.05030411 -0.03826026 0.03323635
+v -0.05231825 -0.03826026 0.03324030
+v -0.05626534 -0.03434245 0.03326398
+v -0.05823937 -0.03434245 0.03318113
+v -0.05823937 -0.03630135 0.03316140
+v -0.05958636 -0.03630135 0.03277085
+v -0.05954822 -0.03826026 0.03273927
+v -0.06010580 -0.03630135 0.03150054
+v -0.06029459 -0.03434232 -0.00319619
+v -0.06029362 -0.03434244 0.02957141
+v -0.06029459 -0.03434241 0.02186278
+v -0.06029655 -0.03238350 0.02186279
+v -0.06029557 -0.03201092 0.02415486
+v -0.05405653 -0.03201095 0.03304701
+v -0.05429228 -0.03201095 0.03312196
+v -0.05589068 -0.03201095 0.03324032
+v -0.05626534 -0.03201095 0.03326399
+v -0.05626534 -0.03238354 0.03326793
+v -0.05823937 -0.03201095 0.03318114
+v -0.05960104 -0.03238354 0.03278269
+v -0.05960006 -0.03434245 0.03278268
+v -0.06013319 -0.03434245 0.03150054
+v -0.06029459 -0.03238353 0.02957142
+v -0.06029459 -0.03201093 0.02800918
+v -0.05786471 -0.03201095 0.03319692
+v -0.05960104 -0.03201095 0.03278269
+v -0.06003341 -0.03201095 0.03174514
+v -0.06013417 -0.03238354 0.03150055
+v -0.06013417 -0.03201095 0.03150055
+v -0.06029362 -0.03201094 0.02957142
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 24
+f 1 24 37
+f 1 37 23
+f 1 23 39
+f 1 39 38
+f 1 38 52
+f 1 52 50
+f 1 50 65
+f 1 65 67
+f 1 67 53
+f 1 53 40
+f 1 40 25
+f 1 25 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 26
+f 5 26 42
+f 5 42 56
+f 5 56 71
+f 5 71 72
+f 5 72 57
+f 5 57 43
+f 5 43 27
+f 5 27 15
+f 5 15 14
+f 5 14 7
+f 5 7 6
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 20 10
+f 9 19 20
+f 10 21 11
+f 10 20 22
+f 10 22 23
+f 10 23 21
+f 11 21 24
+f 11 24 12
+f 13 25 26
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 35 36
+f 20 36 22
+f 20 34 35
+f 21 23 37
+f 21 37 24
+f 22 36 38
+f 22 38 39
+f 22 39 23
+f 25 40 54
+f 25 54 69
+f 25 69 84
+f 25 84 95
+f 25 95 101
+f 25 101 100
+f 25 100 98
+f 25 98 97
+f 25 97 90
+f 25 90 96
+f 25 96 88
+f 25 88 87
+f 25 87 86
+f 25 86 85
+f 25 85 70
+f 25 70 55
+f 25 55 41
+f 25 41 26
+f 26 41 42
+f 27 43 44
+f 27 44 28
+f 28 44 29
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 46 32
+f 31 45 47
+f 31 47 46
+f 32 46 33
+f 33 48 34
+f 33 46 49
+f 33 49 48
+f 34 48 35
+f 35 50 36
+f 35 48 51
+f 35 51 50
+f 36 50 52
+f 36 52 38
+f 40 53 54
+f 41 55 42
+f 42 55 56
+f 43 57 44
+f 44 57 58
+f 44 58 59
+f 44 59 45
+f 45 59 60
+f 45 60 47
+f 46 47 61
+f 46 61 49
+f 47 60 61
+f 48 49 62
+f 48 62 63
+f 48 63 51
+f 49 61 62
+f 50 64 65
+f 50 51 64
+f 51 63 66
+f 51 66 64
+f 53 67 54
+f 54 67 68
+f 54 68 69
+f 55 70 56
+f 56 70 71
+f 57 72 73
+f 57 73 58
+f 58 73 74
+f 58 74 59
+f 59 74 75
+f 59 75 76
+f 59 76 60
+f 60 76 77
+f 60 77 78
+f 60 78 61
+f 61 78 62
+f 62 79 63
+f 62 78 79
+f 63 79 66
+f 64 80 67
+f 64 67 65
+f 64 66 80
+f 66 79 81
+f 66 81 82
+f 66 82 80
+f 67 80 68
+f 68 80 82
+f 68 82 83
+f 68 83 84
+f 68 84 69
+f 70 85 71
+f 71 85 86
+f 71 86 72
+f 72 87 88
+f 72 88 89
+f 72 89 74
+f 72 74 73
+f 72 86 87
+f 74 89 75
+f 75 89 90
+f 75 90 97
+f 75 97 91
+f 75 91 92
+f 75 92 77
+f 75 77 76
+f 77 92 93
+f 77 93 79
+f 77 79 78
+f 79 93 81
+f 81 93 99
+f 81 99 94
+f 81 94 83
+f 81 83 82
+f 83 94 95
+f 83 95 84
+f 88 96 89
+f 89 96 90
+f 91 97 98
+f 91 98 92
+f 92 98 93
+f 93 98 99
+f 94 99 100
+f 94 100 101
+f 94 101 95
+f 98 100 99
+

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/storage_bin_003.xml

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_003">
+  <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/storage_bin_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_003.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_003">
+   <link name="storage_bin_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_003.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/storage_bin_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.5000" />
+         <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>9a1c2febe4705074a73bb85170f1323b</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>wooden crate</name>
+         <color>brown,black</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rectangular wooden storage bin with side handles and printed lettering</description>
+         <min_height>0.0515</min_height>
+         <max_height>0.0515</max_height>
+         <real_height>0.0515</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>3.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135254</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060004 -0.042269 -0.018062</min>
+            <max>0.059996 0.042158 0.033423</max>
+         </aabb>
+         <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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_003.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb557d6d2af7e4bcd81e462d968247970e9d01e75bbaf2333d98562282069952
+size 4324082

dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e39096294aa636016e715e8b42328ac9c34e8fe43091fd92203f0ac812582ef
+size 330384