Add asset bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6

.gitattributes

@@ -2704,6 +2704,5 @@ dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer
 dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/1908aff04338563aa8374bf41e2df4a5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/15f10949038a50bdae77d34a410c7879.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/15f10949038a50bdae77d34a410c7879/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.urdf

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_003">
+   <link name="jewelry_box_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_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/jewelry_box_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>15e7c42e78ca5a0cb0b420caefee57d6</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>ornate jewelry box</name>
+         <color>brown,golden</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>wooden jewelry box with gold accents and intricate carvings</description>
+         <min_height>0.1647</min_height>
+         <max_height>0.1647</max_height>
+         <real_height>0.1647</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427230558</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Lid, box body, and base/feet are mislabeled and merged inconsistently; not fixable by merging alone.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/jewelry_box_003.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92be01ec2e541dd70bb9f9f0dc11165302668ae06937d0bd37dba2b98e72523
+size 4990691

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdf9a42189f1e62837c5debe0fd5c8d339dbc1848fba2b2a106cbd009b856eef
+size 17653516

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mesh/jewelry_box_003.mtl

@@ -0,0 +1,6 @@
+newmtl jewelry_box_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/15e7c42e78ca5a0cb0b420caefee57d6/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_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 jewelry_box_003_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/jewelry_box_003.xml

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_003">
+  <asset>
+    <material name="material_0" texture="texture_0_jewelry_box_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_jewelry_box_003_geometry_Looks_material_0" type="2d" file="mesh/jewelry_box_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/jewelry_box_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/jewelry_box_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/jewelry_box_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/jewelry_box_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/jewelry_box_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/jewelry_box_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/jewelry_box_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/jewelry_box_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/jewelry_box_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/jewelry_box_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/jewelry_box_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/jewelry_box_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/jewelry_box_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/jewelry_box_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/jewelry_box_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/jewelry_box_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/jewelry_box_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/jewelry_box_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/jewelry_box_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/jewelry_box_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/jewelry_box_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/jewelry_box_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/jewelry_box_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/jewelry_box_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/jewelry_box_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/jewelry_box_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/jewelry_box_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="jewelry_box_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" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_0.obj

@@ -0,0 +1,898 @@
+# https://github.com/mikedh/trimesh
+v -0.09943352 -0.10559768 -0.06806638
+v -0.09939466 -0.11602366 -0.06806642
+v -0.09933637 -0.11602367 -0.06489286
+v -0.09933637 0.11147383 -0.06489202
+v -0.09941409 0.10236761 -0.06806767
+v -0.09939466 0.09326138 -0.06806771
+v -0.09937524 -0.11924383 -0.06806643
+v -0.09927808 -0.12058998 -0.06489287
+v -0.09912265 -0.11602368 -0.06226363
+v -0.09914208 -0.09781121 -0.06221221
+v -0.09914208 -0.07051891 -0.06214843
+v -0.09914208 -0.06597898 -0.06214019
+v -0.09914208 -0.06143906 -0.06213402
+v -0.09914208 -0.05233283 -0.06212576
+v -0.09914208 -0.03412036 -0.06211133
+v -0.09914208 -0.02501412 -0.06210512
+v -0.09914208 -0.02047420 -0.06210306
+v -0.09914208 -0.01134157 -0.06209891
+v -0.09914208 0.00681811 -0.06209884
+v -0.09914208 0.02957049 -0.06210287
+v -0.09914208 0.04324304 -0.06210898
+v -0.09914208 0.04778296 -0.06211102
+v -0.09914208 0.06142912 -0.06212329
+v -0.09914208 0.07050895 -0.06213559
+v -0.09914208 0.07504889 -0.06214584
+v -0.09912265 0.10236759 -0.06220941
+v -0.09910321 0.11147382 -0.06224841
+v -0.09931694 0.11604015 -0.06489200
+v -0.09939466 0.11279359 -0.06806764
+v -0.09925865 0.08872144 -0.06806772
+v -0.09933637 -0.12058997 -0.06806643
+v -0.09920037 -0.12288633 -0.06806644
+v -0.09908379 -0.12349342 -0.06489288
+v -0.09898664 -0.12288635 -0.06262722
+v -0.09904493 -0.12058999 -0.06244234
+v -0.09822888 -0.11602369 -0.06002262
+v -0.09826774 -0.09327130 -0.05996091
+v -0.09830660 -0.02047421 -0.05986411
+v -0.09830660 -0.01947121 -0.05986204
+v -0.09826774 0.06596903 -0.05989049
+v -0.09824831 0.09326135 -0.05995201
+v -0.09822888 0.10690750 -0.05998072
+v -0.09822888 0.11147381 -0.06000945
+v -0.09820945 0.11604013 -0.06004846
+v -0.09908379 0.11604014 -0.06228947
+v -0.09902549 0.12058006 -0.06246817
+v -0.09923922 0.12058007 -0.06489199
+v -0.09935580 0.11733351 -0.06806762
+v -0.09937524 0.11604016 -0.06806762
+v -0.09912265 0.08558046 -0.06806774
+v -0.09914208 -0.12375737 -0.06806644
+v -0.09867576 -0.12602733 -0.06806645
+v -0.09855919 -0.12576338 -0.06489289
+v -0.09760713 -0.12468121 -0.06084634
+v -0.09811230 -0.12059000 -0.06020339
+v -0.08991296 -0.11602374 -0.04708599
+v -0.08991296 0.11582892 -0.04708307
+v -0.08991296 0.11604008 -0.04708307
+v -0.09826774 0.06142911 -0.05988434
+v -0.09809287 0.12058005 -0.06022922
+v -0.09898664 0.12287641 -0.06263659
+v -0.09906436 0.12340431 -0.06489198
+v -0.09925865 0.12139832 -0.06806760
+v -0.09929752 0.12058008 -0.06806761
+v -0.09811230 0.08296737 -0.06806775
+v -0.09735454 -0.12853483 -0.06806646
+v -0.09613047 -0.13003935 -0.06473886
+v -0.09546986 -0.12869323 -0.06041499
+v -0.09535328 -0.12512993 -0.05738110
+v -0.09475096 -0.12776943 -0.05790695
+v -0.09587788 -0.12059001 -0.05691275
+v -0.08989353 -0.11618211 -0.04708599
+v -0.08979638 -0.01947126 -0.04708357
+v -0.08983524 0.02027944 -0.04708343
+v -0.08872775 0.12058000 -0.04708306
+v -0.09533385 0.12511996 -0.05738634
+v -0.09585846 0.12058004 -0.05692419
+v -0.09758770 0.12467126 -0.06085158
+v -0.09853975 0.12567427 -0.06489197
+v -0.09910321 0.12358909 -0.06806760
+v -0.09879234 0.12522557 -0.06806759
+v -0.09657735 0.08038067 -0.06806775
+v -0.09663564 -0.12977540 -0.06806647
+v -0.09478982 -0.13220374 -0.06612742
+v -0.09424579 -0.13180782 -0.06314078
+v -0.08868888 -0.12059005 -0.04708600
+v -0.09257483 -0.13112156 -0.06001034
+v -0.08981581 -0.13191341 -0.05824589
+v -0.08649332 -0.12359908 -0.04708601
+v -0.08865003 -0.12066925 -0.04708600
+v -0.08326799 -0.12441731 -0.04708602
+v -0.07889630 -0.12452290 -0.04708602
+v 0.08952055 -0.01947126 -0.04708357
+v -0.08651275 0.12361540 -0.04708305
+v -0.09475096 0.12775945 -0.05790601
+v -0.09546986 0.12868327 -0.06041405
+v -0.09609161 0.13005582 -0.06473173
+v -0.09663564 0.12976549 -0.06806757
+v -0.09863691 0.12588544 -0.06806759
+v -0.09224453 0.07444181 -0.06806778
+v -0.09480925 -0.13223011 -0.06806648
+v -0.09234168 -0.13336509 -0.06806648
+v -0.09257483 -0.13299558 -0.06473887
+v -0.09127304 -0.13257328 -0.06123254
+v -0.08808657 -0.13299560 -0.06001035
+v -0.08684306 -0.13223015 -0.05786794
+v -0.08326799 -0.13238852 -0.05768308
+v -0.07876030 -0.12452290 -0.04708602
+v -0.07876030 -0.13241492 -0.05764816
+v -0.05631897 -0.13244131 -0.05762762
+v -0.02486224 -0.13246771 -0.05761118
+v -0.00688974 -0.13246771 -0.05760091
+v 0.00204793 -0.13246771 -0.05759680
+v 0.00653620 -0.13246771 -0.05759475
+v 0.08957883 0.11604008 -0.04708307
+v 0.07840675 -0.12449650 -0.04708602
+v 0.08277843 -0.12444370 -0.04708602
+v 0.08289501 -0.12441731 -0.04708602
+v 0.08606205 -0.12362546 -0.04708601
+v 0.08615921 -0.12359908 -0.04708601
+v 0.08837420 -0.12059005 -0.04708600
+v 0.08955941 -0.11602374 -0.04708599
+v -0.08641560 0.12364180 -0.04708305
+v -0.08993238 0.13192983 -0.05819768
+v -0.09255540 0.13113800 -0.05998063
+v -0.09426521 0.13179788 -0.06312954
+v -0.09477039 0.13219381 -0.06611618
+v -0.09601389 0.13068932 -0.06806757
+v 0.09187155 0.07544482 -0.06806777
+v 0.07970854 -0.13481682 -0.06806649
+v -0.08326799 -0.13481682 -0.06806649
+v -0.08645447 -0.13465846 -0.06806648
+v -0.08775626 -0.13457926 -0.06806648
+v -0.09094274 -0.13378742 -0.06806648
+v -0.08775626 -0.13442090 -0.06489292
+v -0.08326799 -0.13370826 -0.06041501
+v -0.07876030 -0.13376105 -0.06041501
+v -0.01588571 -0.13386662 -0.06041501
+v 0.02450869 -0.13386662 -0.06041501
+v 0.01102446 -0.13246771 -0.05759680
+v 0.09793362 -0.01947121 -0.05983739
+v 0.09791419 0.04324303 -0.05984127
+v 0.09791419 0.04778295 -0.05984947
+v 0.09791419 0.05686279 -0.05987409
+v 0.09789476 0.07961518 -0.05991509
+v 0.09787533 0.10236758 -0.05997867
+v 0.09785590 0.11147381 -0.06001562
+v 0.09783647 0.11604013 -0.06004230
+v 0.09773932 0.12058005 -0.06022305
+v 0.09548548 0.12058004 -0.05691803
+v 0.09496087 0.12511996 -0.05738223
+v 0.08837420 0.12058000 -0.04708306
+v 0.09793362 -0.02047421 -0.05983740
+v 0.02002042 -0.13246771 -0.05760502
+v 0.07391848 -0.13241492 -0.05766254
+v 0.07840675 -0.13238852 -0.05767075
+v 0.08289501 -0.13236214 -0.05770978
+v 0.08637293 -0.13220377 -0.05788849
+v 0.08936511 -0.13188703 -0.05828491
+v 0.09439741 -0.12774303 -0.05792133
+v 0.09494144 -0.12512993 -0.05740780
+v 0.09548548 -0.12059001 -0.05692918
+v 0.09771989 -0.12059000 -0.06022599
+v 0.09785590 -0.11602369 -0.06003495
+v 0.09787533 -0.10691745 -0.06000615
+v 0.09791419 -0.06597899 -0.05986837
+v 0.09791419 -0.06143907 -0.05985604
+v 0.09791419 -0.05687276 -0.05984780
+v 0.09793362 -0.03412037 -0.05984362
+v -0.08324857 0.12443365 -0.04708304
+v -0.08694021 0.13222017 -0.05786902
+v -0.08816428 0.13301203 -0.05998062
+v -0.09127304 0.13258972 -0.06118431
+v -0.09255540 0.13301205 -0.06473172
+v -0.09325487 0.13301206 -0.06806756
+v -0.09482868 0.13224661 -0.06806756
+v 0.09618494 0.08043345 -0.06806775
+v 0.09447513 -0.13223011 -0.06806648
+v 0.09290132 -0.13299557 -0.06806648
+v 0.09196870 -0.13339149 -0.06806648
+v 0.08738328 -0.13457926 -0.06806648
+v 0.08289501 -0.13479043 -0.06806649
+v 0.08289501 -0.13471124 -0.06489292
+v 0.07840675 -0.13473764 -0.06489292
+v -0.07876030 -0.13473764 -0.06489292
+v -0.08326799 -0.13471124 -0.06489292
+v 0.07391848 -0.13373465 -0.06041501
+v 0.09878853 -0.01134157 -0.06207426
+v 0.09878853 0.03413681 -0.06207820
+v 0.09878853 0.04324304 -0.06208023
+v 0.09876910 0.07504889 -0.06214584
+v 0.09874967 0.09782767 -0.06220532
+v 0.09873023 0.11147382 -0.06225457
+v 0.09871081 0.11604014 -0.06228126
+v 0.09865252 0.12058006 -0.06246201
+v 0.09861366 0.12287641 -0.06263454
+v 0.09721472 0.12467126 -0.06085158
+v 0.09439741 0.12778583 -0.05789779
+v 0.08833533 0.12065917 -0.04708306
+v 0.09878853 -0.05233283 -0.06208058
+v 0.07840675 -0.13370826 -0.06041501
+v 0.08289501 -0.13365548 -0.06041501
+v 0.08767472 -0.13299560 -0.06003295
+v 0.09389223 -0.13178142 -0.06315515
+v 0.09218242 -0.13109516 -0.06003294
+v 0.09090006 -0.13257327 -0.06127157
+v 0.09511631 -0.12866683 -0.06041499
+v 0.09721472 -0.12468121 -0.06086072
+v 0.09861366 -0.12285995 -0.06265187
+v 0.09867195 -0.12058999 -0.06246699
+v 0.09873023 -0.11602368 -0.06227390
+v 0.09874967 -0.10691744 -0.06224716
+v 0.09878853 -0.07508522 -0.06213613
+v 0.09878853 -0.06597898 -0.06210733
+v 0.09878853 -0.06143906 -0.06209499
+v -0.07876030 0.12453922 -0.04708304
+v -0.08324857 0.13237854 -0.05768826
+v -0.08324857 0.13369830 -0.06041403
+v -0.08773682 0.13446377 -0.06489194
+v -0.09232224 0.13340799 -0.06806756
+v 0.09744788 0.08217552 -0.06806775
+v 0.09564091 -0.13069922 -0.06806647
+v 0.09441684 -0.13220374 -0.06614181
+v 0.09218242 -0.13299558 -0.06474708
+v 0.08738328 -0.13444730 -0.06489292
+v 0.09898282 -0.11148375 -0.06489284
+v 0.09898282 -0.08870497 -0.06489276
+v 0.09896339 0.11147383 -0.06489202
+v 0.09894396 0.11604015 -0.06489200
+v 0.09888567 0.12058007 -0.06489199
+v 0.09871081 0.12345710 -0.06489198
+v 0.09816677 0.12572706 -0.06489197
+v 0.09511631 0.12870967 -0.06041405
+v 0.09393110 0.13182428 -0.06305765
+v 0.09220185 0.13116440 -0.05998679
+v 0.08952055 0.13192983 -0.05821001
+v 0.08615921 0.12361540 -0.04708305
+v 0.09573806 -0.13003935 -0.06474707
+v 0.09816677 -0.12568420 -0.06489289
+v 0.09871081 -0.12341424 -0.06489288
+v 0.09888567 -0.12058998 -0.06489287
+v 0.09896339 -0.11602367 -0.06489286
+v 0.07838732 0.12453922 -0.04708304
+v 0.01100503 0.13245774 -0.05760609
+v 0.00202850 0.13245774 -0.05760815
+v -0.00690917 0.13245774 -0.05761226
+v -0.01139744 0.13245774 -0.05761637
+v -0.07427203 0.13243134 -0.05765745
+v -0.07876030 0.13240494 -0.05765950
+v -0.07876030 0.13375109 -0.06041403
+v -0.08324857 0.13472772 -0.06489194
+v -0.08773682 0.13459576 -0.06806756
+v 0.09871081 0.08518453 -0.06806774
+v 0.09828335 -0.12589534 -0.06806645
+v 0.09626266 -0.12977540 -0.06806647
+v 0.09904111 -0.11602366 -0.06806642
+v 0.09906054 -0.10691742 -0.06806638
+v 0.09904111 0.11015410 -0.06806765
+v 0.09902168 0.11604016 -0.06806762
+v 0.09898282 0.11923393 -0.06806761
+v 0.09896339 0.12058008 -0.06806761
+v 0.09874967 0.12369468 -0.06806760
+v 0.09828335 0.12596464 -0.06806759
+v 0.09696213 0.12852493 -0.06806758
+v 0.09628209 0.12976549 -0.06806757
+v 0.09575749 0.13005582 -0.06468654
+v 0.09443627 0.13222020 -0.06604223
+v 0.09220185 0.13303845 -0.06468653
+v 0.09091949 0.13258972 -0.06119664
+v 0.08287559 0.12446004 -0.04708304
+v 0.08777187 0.13303843 -0.05998678
+v 0.08652837 0.13222017 -0.05786902
+v 0.09843879 -0.12526186 -0.06806645
+v 0.09874967 -0.12362538 -0.06806644
+v 0.09896339 -0.12058997 -0.06806643
+v 0.09902168 -0.11734340 -0.06806642
+v 0.08287559 0.13237854 -0.05770058
+v 0.07838732 0.13237854 -0.05768210
+v 0.02448926 0.13245774 -0.05761637
+v 0.02000099 0.13245774 -0.05761020
+v 0.01551273 0.13245774 -0.05760609
+v -0.01590514 0.13385667 -0.06041403
+v 0.07838732 0.13475412 -0.06489194
+v 0.07838732 0.13483331 -0.06806755
+v -0.08006209 0.13480691 -0.06806755
+v -0.08324857 0.13478051 -0.06806755
+v 0.09874967 0.08547487 -0.06806774
+v 0.09902168 0.09194163 -0.06806771
+v 0.09447513 0.13227301 -0.06806756
+v 0.09194926 0.13340799 -0.06806756
+v 0.09055032 0.13383030 -0.06806756
+v 0.08736385 0.13449016 -0.06489194
+v 0.08287559 0.13369830 -0.06041403
+v 0.09884682 0.08716415 -0.06806773
+v 0.07838732 0.13372470 -0.06041403
+v 0.02000099 0.13385667 -0.06041403
+v 0.08287559 0.13472772 -0.06489194
+v 0.08287559 0.13480691 -0.06806755
+v 0.08736385 0.13459576 -0.06806756
+v 0.08606205 0.13467494 -0.06806756
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 4
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 23
+f 4 23 24
+f 4 24 25
+f 4 25 26
+f 4 26 27
+f 4 27 28
+f 4 28 29
+f 4 29 5
+f 5 29 49
+f 5 49 48
+f 5 48 64
+f 5 64 63
+f 5 63 80
+f 5 80 81
+f 5 81 99
+f 5 99 98
+f 5 98 128
+f 5 128 176
+f 5 176 175
+f 5 175 220
+f 5 220 252
+f 5 252 286
+f 5 286 285
+f 5 285 284
+f 5 284 298
+f 5 298 300
+f 5 300 299
+f 5 299 291
+f 5 291 290
+f 5 290 289
+f 5 289 265
+f 5 265 264
+f 5 264 263
+f 5 263 262
+f 5 262 261
+f 5 261 260
+f 5 260 259
+f 5 259 258
+f 5 258 288
+f 5 288 294
+f 5 294 287
+f 5 287 253
+f 5 253 221
+f 5 221 177
+f 5 177 129
+f 5 129 100
+f 5 100 82
+f 5 82 65
+f 5 65 50
+f 5 50 30
+f 5 30 6
+f 6 30 31
+f 6 31 7
+f 7 31 8
+f 8 31 32
+f 8 32 51
+f 8 51 33
+f 8 33 34
+f 8 34 35
+f 8 35 9
+f 9 35 36
+f 9 36 37
+f 9 37 10
+f 10 37 38
+f 10 38 11
+f 11 38 39
+f 11 39 12
+f 12 39 13
+f 13 39 14
+f 14 39 15
+f 15 39 16
+f 16 39 17
+f 17 39 18
+f 18 39 19
+f 19 39 20
+f 20 39 21
+f 21 39 22
+f 22 39 23
+f 23 39 24
+f 24 40 25
+f 24 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 30 50 31
+f 31 50 32
+f 32 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 34
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 36
+f 36 55 56
+f 36 56 37
+f 37 56 38
+f 38 56 39
+f 39 56 57
+f 39 57 58
+f 39 58 59
+f 39 59 40
+f 40 59 58
+f 40 58 41
+f 41 58 42
+f 42 58 43
+f 43 58 44
+f 44 58 60
+f 44 60 46
+f 44 46 45
+f 46 60 61
+f 46 61 47
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 50 65 52
+f 50 52 51
+f 52 66 53
+f 52 65 66
+f 53 66 67
+f 53 67 68
+f 53 68 54
+f 54 69 55
+f 54 68 70
+f 54 70 69
+f 55 69 71
+f 55 71 72
+f 55 72 56
+f 56 72 73
+f 56 73 74
+f 56 74 57
+f 57 74 73
+f 57 73 93
+f 57 93 115
+f 57 115 152
+f 57 152 199
+f 57 199 237
+f 57 237 270
+f 57 270 243
+f 57 243 216
+f 57 216 170
+f 57 170 123
+f 57 123 94
+f 57 94 75
+f 57 75 58
+f 58 75 76
+f 58 76 77
+f 58 77 60
+f 60 77 76
+f 60 76 78
+f 60 78 61
+f 61 78 79
+f 61 79 62
+f 62 80 63
+f 62 79 81
+f 62 81 80
+f 65 82 83
+f 65 83 66
+f 66 83 67
+f 67 84 85
+f 67 85 68
+f 67 83 84
+f 68 85 70
+f 69 70 86
+f 69 86 72
+f 69 72 71
+f 70 85 87
+f 70 87 88
+f 70 88 89
+f 70 89 90
+f 70 90 86
+f 72 86 73
+f 73 86 90
+f 73 90 89
+f 73 89 91
+f 73 91 92
+f 73 92 108
+f 73 108 93
+f 75 94 95
+f 75 95 76
+f 76 95 78
+f 78 95 96
+f 78 96 79
+f 79 96 97
+f 79 97 98
+f 79 98 99
+f 79 99 81
+f 82 100 83
+f 83 100 101
+f 83 101 84
+f 84 101 102
+f 84 102 103
+f 84 103 85
+f 85 103 104
+f 85 104 88
+f 85 88 87
+f 88 91 89
+f 88 104 105
+f 88 105 106
+f 88 106 91
+f 91 106 107
+f 91 107 92
+f 92 107 109
+f 92 109 110
+f 92 110 111
+f 92 111 112
+f 92 112 113
+f 92 113 114
+f 92 114 108
+f 93 108 116
+f 93 116 117
+f 93 117 118
+f 93 118 119
+f 93 119 120
+f 93 120 121
+f 93 121 122
+f 93 122 115
+f 94 123 124
+f 94 124 95
+f 95 124 125
+f 95 125 126
+f 95 126 96
+f 96 126 97
+f 97 126 127
+f 97 127 128
+f 97 128 98
+f 100 129 130
+f 100 130 131
+f 100 131 132
+f 100 132 133
+f 100 133 134
+f 100 134 102
+f 100 102 101
+f 102 134 103
+f 103 134 135
+f 103 135 104
+f 104 135 105
+f 105 135 136
+f 105 136 106
+f 106 136 107
+f 107 136 137
+f 107 137 109
+f 108 114 116
+f 109 137 138
+f 109 138 110
+f 110 138 111
+f 111 138 112
+f 112 138 113
+f 113 138 114
+f 114 138 139
+f 114 139 140
+f 114 140 116
+f 115 141 142
+f 115 142 143
+f 115 143 144
+f 115 144 145
+f 115 145 146
+f 115 146 147
+f 115 147 148
+f 115 148 149
+f 115 149 150
+f 115 150 151
+f 115 151 152
+f 115 122 153
+f 115 153 141
+f 116 140 154
+f 116 154 155
+f 116 155 156
+f 116 156 117
+f 117 156 157
+f 117 157 158
+f 117 158 159
+f 117 159 118
+f 118 159 119
+f 119 159 120
+f 120 159 160
+f 120 160 121
+f 121 160 161
+f 121 161 122
+f 122 161 162
+f 122 162 163
+f 122 163 164
+f 122 164 165
+f 122 165 166
+f 122 166 167
+f 122 167 168
+f 122 168 169
+f 122 169 153
+f 123 170 124
+f 124 126 125
+f 124 170 171
+f 124 171 172
+f 124 172 173
+f 124 173 126
+f 126 173 174
+f 126 174 127
+f 127 174 175
+f 127 175 176
+f 127 176 128
+f 129 177 178
+f 129 178 179
+f 129 179 180
+f 129 180 181
+f 129 181 182
+f 129 182 130
+f 130 182 183
+f 130 183 184
+f 130 184 185
+f 130 185 131
+f 131 185 186
+f 131 186 132
+f 132 186 133
+f 133 186 135
+f 133 135 134
+f 135 186 136
+f 136 186 137
+f 137 186 185
+f 137 185 138
+f 138 185 184
+f 138 184 139
+f 139 187 155
+f 139 155 154
+f 139 154 140
+f 139 184 187
+f 141 188 189
+f 141 189 190
+f 141 190 142
+f 141 153 188
+f 142 190 143
+f 143 190 144
+f 144 190 191
+f 144 191 145
+f 145 192 146
+f 145 191 192
+f 146 192 193
+f 146 193 147
+f 147 193 194
+f 147 194 148
+f 148 194 195
+f 148 195 149
+f 149 195 196
+f 149 196 197
+f 149 197 151
+f 149 151 150
+f 151 198 152
+f 151 197 198
+f 152 198 199
+f 153 169 200
+f 153 200 188
+f 155 187 201
+f 155 201 156
+f 156 201 157
+f 157 201 202
+f 157 202 158
+f 158 202 203
+f 158 203 159
+f 159 204 205
+f 159 205 160
+f 159 203 206
+f 159 206 204
+f 160 205 204
+f 160 204 207
+f 160 207 208
+f 160 208 161
+f 161 208 163
+f 161 163 162
+f 163 208 209
+f 163 209 210
+f 163 210 164
+f 164 210 211
+f 164 211 165
+f 165 212 213
+f 165 213 166
+f 165 211 212
+f 166 214 215
+f 166 215 167
+f 166 213 214
+f 167 215 169
+f 167 169 168
+f 169 215 200
+f 170 216 217
+f 170 217 171
+f 171 217 218
+f 171 218 172
+f 172 218 219
+f 172 219 173
+f 173 219 174
+f 174 219 220
+f 174 220 175
+f 177 221 222
+f 177 222 178
+f 178 222 223
+f 178 223 179
+f 179 223 180
+f 180 223 224
+f 180 224 225
+f 180 225 181
+f 181 225 183
+f 181 183 182
+f 183 225 202
+f 183 202 201
+f 183 201 187
+f 183 187 184
+f 188 200 226
+f 188 226 227
+f 188 227 189
+f 189 227 190
+f 190 227 228
+f 190 228 191
+f 191 228 192
+f 192 228 193
+f 193 228 229
+f 193 229 194
+f 194 229 230
+f 194 230 195
+f 195 230 196
+f 196 230 231
+f 196 231 232
+f 196 232 197
+f 197 232 233
+f 197 233 198
+f 198 233 234
+f 198 234 235
+f 198 235 236
+f 198 236 237
+f 198 237 199
+f 200 215 226
+f 202 225 203
+f 203 225 206
+f 204 206 224
+f 204 224 223
+f 204 223 238
+f 204 238 207
+f 206 225 224
+f 207 238 239
+f 207 239 208
+f 208 239 209
+f 209 239 240
+f 209 240 241
+f 209 241 210
+f 210 241 242
+f 210 242 211
+f 211 242 226
+f 211 226 212
+f 212 226 213
+f 213 226 214
+f 214 226 215
+f 216 243 281
+f 216 281 244
+f 216 244 245
+f 216 245 246
+f 216 246 247
+f 216 247 248
+f 216 248 249
+f 216 249 217
+f 217 249 250
+f 217 250 218
+f 218 250 251
+f 218 251 219
+f 219 251 252
+f 219 252 220
+f 221 253 254
+f 221 254 255
+f 221 255 222
+f 222 255 238
+f 222 238 223
+f 226 242 256
+f 226 256 257
+f 226 257 227
+f 227 257 258
+f 227 258 228
+f 228 258 259
+f 228 259 229
+f 229 259 260
+f 229 260 230
+f 230 260 261
+f 230 261 231
+f 231 261 262
+f 231 262 263
+f 231 263 232
+f 232 263 264
+f 232 264 265
+f 232 265 266
+f 232 266 233
+f 233 266 234
+f 234 236 235
+f 234 266 267
+f 234 267 268
+f 234 268 269
+f 234 269 236
+f 236 270 237
+f 236 269 271
+f 236 271 272
+f 236 272 270
+f 238 255 239
+f 239 255 254
+f 239 254 273
+f 239 273 240
+f 240 274 275
+f 240 275 241
+f 240 273 274
+f 241 275 276
+f 241 276 242
+f 242 276 256
+f 243 270 277
+f 243 277 278
+f 243 278 279
+f 243 279 280
+f 243 280 281
+f 244 281 296
+f 244 296 282
+f 244 282 245
+f 245 282 246
+f 246 282 247
+f 247 282 248
+f 248 282 250
+f 248 250 249
+f 250 282 251
+f 251 283 284
+f 251 284 285
+f 251 285 286
+f 251 286 252
+f 251 282 283
+f 253 287 274
+f 253 274 273
+f 253 273 254
+f 256 276 288
+f 256 288 257
+f 257 288 258
+f 265 289 267
+f 265 267 266
+f 267 289 290
+f 267 290 268
+f 268 290 291
+f 268 291 292
+f 268 292 269
+f 269 292 271
+f 270 272 277
+f 271 292 293
+f 271 293 272
+f 272 293 277
+f 274 287 275
+f 275 287 294
+f 275 294 288
+f 275 288 276
+f 277 279 278
+f 277 293 295
+f 277 295 296
+f 277 296 279
+f 279 296 280
+f 280 296 281
+f 282 296 283
+f 283 297 298
+f 283 298 284
+f 283 296 295
+f 283 295 293
+f 283 293 297
+f 291 299 292
+f 292 299 300
+f 292 300 297
+f 292 297 293
+f 297 300 298
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_1.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01722208 0.12444465 0.01070410
+v -0.01722208 0.12444465 0.01170410
+v -0.01722208 0.12544465 0.01070410
+v -0.01722208 0.12544465 0.01170410
+v -0.01622208 0.12444465 0.01070410
+v -0.01622208 0.12444465 0.01170410
+v -0.01622208 0.12544465 0.01070410
+v -0.01622208 0.12544465 0.01170410
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_10.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.07858197 -0.13485651 -0.06937550
+v 0.08290485 -0.13484483 -0.06937550
+v 0.07858197 -0.13485651 -0.06920837
+v 0.07858197 -0.13425509 -0.07368638
+v 0.08739640 -0.13465799 -0.06937549
+v 0.08290485 -0.13480979 -0.06806809
+v 0.07858197 -0.13482731 -0.06806809
+v 0.08290485 -0.13409744 -0.07385351
+v 0.07858197 -0.13422590 -0.07385351
+v 0.08739640 -0.13459960 -0.06806808
+v 0.08739640 -0.13371208 -0.07385351
+v 0.09188595 -0.13354277 -0.06937549
+v 0.07858197 -0.09212206 -0.06806793
+v 0.07858197 -0.13283624 -0.07664535
+v 0.07858197 -0.13278370 -0.07675018
+v 0.08290485 -0.13266692 -0.07667007
+v 0.08739640 -0.13240417 -0.07646734
+v 0.09197429 -0.13339096 -0.06806808
+v 0.09000861 -0.13213558 -0.07624185
+v 0.09165706 -0.13265525 -0.07364780
+v 0.09434356 -0.13214144 -0.07201899
+v 0.09451021 -0.13228158 -0.06937549
+v 0.09447607 -0.13225823 -0.06806808
+v 0.09291397 -0.13300560 -0.06806808
+v 0.07861409 -0.08894573 -0.06806792
+v 0.07858197 -0.12514064 -0.07779943
+v 0.07858197 -0.12969494 -0.07781825
+v 0.08290485 -0.12969494 -0.07770353
+v 0.08739640 -0.12969495 -0.07740981
+v 0.09165706 -0.12964240 -0.07674126
+v 0.09462666 -0.12809511 -0.07643566
+v 0.09300231 -0.13112546 -0.07500366
+v 0.09531736 -0.12964241 -0.07364779
+v 0.09647388 -0.12969498 -0.06937548
+v 0.09564463 -0.13071094 -0.06806807
+v 0.07878275 -0.08456661 -0.06806790
+v 0.07947144 -0.08071298 -0.06806789
+v 0.08851277 -0.09328980 -0.07692408
+v 0.09188595 -0.09328979 -0.07771328
+v 0.09188595 -0.09784408 -0.07813460
+v 0.09188595 -0.10239254 -0.07816032
+v 0.09188595 -0.10694099 -0.07817023
+v 0.09188595 -0.11148945 -0.07817025
+v 0.08739640 -0.12514064 -0.07803283
+v 0.09188595 -0.12514064 -0.07772328
+v 0.09522098 -0.12514065 -0.07674817
+v 0.09756213 -0.12493630 -0.07358646
+v 0.09834117 -0.12601651 -0.06937546
+v 0.09627109 -0.12979424 -0.06806807
+v 0.09829499 -0.12592893 -0.06806805
+v 0.08444487 -0.07664915 -0.06806787
+v 0.08915929 -0.09062729 -0.07645432
+v 0.09188595 -0.09018354 -0.07670354
+v 0.09514669 -0.09029447 -0.07654530
+v 0.09594982 -0.09328980 -0.07688255
+v 0.09625101 -0.09784409 -0.07700718
+v 0.09625904 -0.10239255 -0.07702499
+v 0.09623695 -0.10694100 -0.07703589
+v 0.09616266 -0.11148946 -0.07703789
+v 0.09188595 -0.11603790 -0.07813467
+v 0.09188595 -0.12059219 -0.07802985
+v 0.09572495 -0.12059220 -0.07694001
+v 0.09824480 -0.11603791 -0.07509361
+v 0.09797173 -0.12059221 -0.07459024
+v 0.09869857 -0.12327809 -0.07191609
+v 0.09877888 -0.12374520 -0.06937545
+v 0.09845361 -0.12526330 -0.06806805
+v 0.08798872 -0.07569158 -0.06806787
+v 0.09188595 -0.07521279 -0.06806787
+v 0.09819460 -0.09328980 -0.07521713
+v 0.09620884 -0.08038016 -0.06806789
+v 0.09849778 -0.09784409 -0.07567307
+v 0.09850581 -0.10239255 -0.07569188
+v 0.09599801 -0.11603791 -0.07701219
+v 0.09848373 -0.10694100 -0.07562860
+v 0.09840944 -0.11148946 -0.07543478
+v 0.09878490 -0.12059221 -0.07235123
+v 0.09900175 -0.12059223 -0.06937544
+v 0.09892144 -0.12142134 -0.06806804
+v 0.09876282 -0.12365178 -0.06806804
+v 0.09779303 -0.08293757 -0.06806789
+v 0.09808819 -0.08723494 -0.07087854
+v 0.09876483 -0.09027113 -0.07222750
+v 0.09884514 -0.09328981 -0.07297912
+v 0.09885518 -0.09784410 -0.07343307
+v 0.09885518 -0.10239256 -0.07345287
+v 0.09885719 -0.10694101 -0.07338958
+v 0.09885719 -0.11148947 -0.07319478
+v 0.09884313 -0.11603792 -0.07285558
+v 0.09897364 -0.12059223 -0.06806803
+v 0.09908006 -0.11603794 -0.06937543
+v 0.09878691 -0.08546579 -0.06806790
+v 0.09889132 -0.08874721 -0.06938127
+v 0.09907604 -0.09328983 -0.06937534
+v 0.09908608 -0.09784412 -0.06937536
+v 0.09909210 -0.11148949 -0.06937541
+v 0.09905195 -0.11603794 -0.06806802
+v 0.09892144 -0.08874721 -0.06806792
+v 0.09905195 -0.09328983 -0.06806793
+v 0.09905797 -0.09784412 -0.06806795
+v 0.09905998 -0.10694103 -0.06806798
+v 0.09905998 -0.11281490 -0.06806800
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 26
+f 1 26 27
+f 1 27 15
+f 1 15 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 4 8
+f 2 8 5
+f 4 9 8
+f 5 10 6
+f 5 8 11
+f 5 11 12
+f 5 12 10
+f 6 10 18
+f 6 18 24
+f 6 24 23
+f 6 23 35
+f 6 35 49
+f 6 49 50
+f 6 50 67
+f 6 67 80
+f 6 80 79
+f 6 79 90
+f 6 90 97
+f 6 97 102
+f 6 102 101
+f 6 101 100
+f 6 100 99
+f 6 99 98
+f 6 98 92
+f 6 92 81
+f 6 81 71
+f 6 71 69
+f 6 69 68
+f 6 68 51
+f 6 51 37
+f 6 37 36
+f 6 36 25
+f 6 25 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 11
+f 8 9 14
+f 10 12 18
+f 11 17 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 18
+f 13 25 26
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 21
+f 19 21 20
+f 21 32 31
+f 21 31 33
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 23 34 35
+f 25 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 29
+f 29 44 45
+f 29 45 30
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 33
+f 33 47 48
+f 33 48 34
+f 34 49 35
+f 34 48 50
+f 34 50 49
+f 37 51 52
+f 37 52 38
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 40 55 56
+f 40 56 41
+f 41 56 57
+f 41 57 42
+f 42 57 58
+f 42 58 43
+f 43 59 60
+f 43 60 44
+f 43 58 59
+f 44 60 61
+f 44 61 45
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 47 64 65
+f 47 65 48
+f 48 65 66
+f 48 66 67
+f 48 67 50
+f 51 68 53
+f 51 53 52
+f 53 68 69
+f 53 69 54
+f 54 70 55
+f 54 69 71
+f 54 71 70
+f 55 70 72
+f 55 72 56
+f 56 72 73
+f 56 73 57
+f 57 73 58
+f 58 73 59
+f 59 74 60
+f 59 73 75
+f 59 75 74
+f 60 74 61
+f 61 74 62
+f 62 74 76
+f 62 76 63
+f 63 77 65
+f 63 65 64
+f 63 76 77
+f 65 77 78
+f 65 78 66
+f 66 78 79
+f 66 79 80
+f 66 80 67
+f 70 71 81
+f 70 81 82
+f 70 82 83
+f 70 83 84
+f 70 84 72
+f 72 85 73
+f 72 84 85
+f 73 86 87
+f 73 87 88
+f 73 88 75
+f 73 85 86
+f 74 75 76
+f 75 88 89
+f 75 89 76
+f 76 89 77
+f 77 89 78
+f 78 90 79
+f 78 89 91
+f 78 91 97
+f 78 97 90
+f 81 92 83
+f 81 83 82
+f 83 93 84
+f 83 92 93
+f 84 93 94
+f 84 94 85
+f 85 95 96
+f 85 96 86
+f 85 94 95
+f 86 96 87
+f 87 96 88
+f 88 96 91
+f 88 91 89
+f 91 96 97
+f 92 98 93
+f 93 98 94
+f 94 98 99
+f 94 99 95
+f 95 100 96
+f 95 99 100
+f 96 100 101
+f 96 101 102
+f 96 102 97
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_11.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00243217 -0.12474913 -0.03351871
+v 0.00061094 -0.13694521 -0.02730087
+v -0.00097800 -0.13694521 -0.02730087
+v -0.00591404 -0.12474913 -0.03276494
+v 0.00205571 -0.12474913 -0.03351285
+v -0.00243217 -0.13817694 -0.02010633
+v 0.00649031 -0.12474913 -0.03212262
+v 0.01580767 -0.12474915 -0.02821885
+v 0.01580767 -0.13313444 -0.02314486
+v 0.01580767 -0.13327380 -0.02299821
+v 0.01580767 -0.13540988 -0.02047587
+v 0.01580767 -0.13552162 -0.02033802
+v 0.01580767 -0.13665604 -0.01823802
+v 0.00208705 -0.13735930 -0.02447056
+v 0.00205571 -0.13816773 -0.02010633
+v -0.00980959 -0.12474913 -0.03191145
+v -0.00245724 -0.13736060 -0.02446470
+v -0.01620921 -0.13664421 -0.01821749
+v -0.01620921 -0.13544406 -0.02042601
+v -0.01620921 -0.13314365 -0.02314779
+v -0.00243217 -0.13789565 -0.01563063
+v -0.01620921 -0.13664422 -0.01742266
+v 0.01580767 -0.12474922 -0.00694021
+v 0.01580767 -0.13665605 -0.01737280
+v 0.00249133 -0.13761434 -0.01520242
+v -0.01620921 -0.12474915 -0.02824231
+v -0.00243217 -0.13697023 -0.01261847
+v 0.00128475 -0.13711877 -0.01236330
+v -0.01620921 -0.13556895 -0.01521120
+v 0.00516150 -0.12474924 -0.00372862
+v 0.01580767 -0.13332772 -0.01237209
+v 0.01580767 -0.13660742 -0.01724375
+v -0.01620921 -0.12474922 -0.00703407
+v -0.00143869 -0.13299122 -0.00836566
+v -0.01620921 -0.13331326 -0.01236329
+v 0.01580767 -0.13558341 -0.01517308
+v 0.01580767 -0.13547694 -0.01501763
+v 0.00110298 -0.13299122 -0.00836566
+v 0.00215286 -0.12474924 -0.00356144
+v -0.00253559 -0.12474924 -0.00356144
+v 0.00062347 -0.12474924 -0.00355557
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 26
+f 1 26 33
+f 1 33 40
+f 1 40 41
+f 1 41 39
+f 1 39 30
+f 1 30 23
+f 1 23 8
+f 1 8 7
+f 1 7 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 6
+f 3 16 4
+f 3 6 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 16
+f 6 15 21
+f 6 21 22
+f 6 22 18
+f 6 18 17
+f 8 23 31
+f 8 31 37
+f 8 37 36
+f 8 36 32
+f 8 32 24
+f 8 24 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 13 24 15
+f 13 15 14
+f 15 24 25
+f 15 25 21
+f 16 20 26
+f 18 22 29
+f 18 29 35
+f 18 35 33
+f 18 33 26
+f 18 26 20
+f 18 20 19
+f 21 27 22
+f 21 25 28
+f 21 28 27
+f 22 27 29
+f 23 30 31
+f 24 32 28
+f 24 28 25
+f 27 34 35
+f 27 35 29
+f 27 28 34
+f 28 32 36
+f 28 36 37
+f 28 37 31
+f 28 31 38
+f 28 38 34
+f 30 39 38
+f 30 38 31
+f 33 35 34
+f 33 34 40
+f 34 38 41
+f 34 41 40
+f 38 39 41
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_12.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.07877701 0.13485090 -0.06938646
+v -0.06980318 0.13433096 -0.07385318
+v -0.07429625 0.13431295 -0.07385318
+v -0.07877701 0.13424092 -0.07385994
+v -0.07877701 0.13482389 -0.06807346
+v -0.06213008 0.13480813 -0.06806961
+v -0.06082114 0.13483064 -0.06937489
+v -0.06531421 0.13430170 -0.07385318
+v -0.06980318 0.13289939 -0.07681974
+v -0.07429625 0.13287913 -0.07681395
+v -0.07877701 0.13279809 -0.07677632
+v -0.07877701 0.13474961 -0.06806962
+v -0.07560519 0.13481714 -0.06806961
+v -0.07429625 0.13481714 -0.06806961
+v -0.06082114 0.13480589 -0.06806961
+v -0.06082114 0.13411937 -0.07385318
+v -0.05633217 0.13467308 -0.06806962
+v -0.05633217 0.13464157 -0.06937490
+v -0.06531421 0.13287462 -0.07679658
+v -0.06980318 0.12969409 -0.07792436
+v -0.07429625 0.12969409 -0.07792050
+v -0.07877701 0.12968284 -0.07786841
+v -0.07877701 0.11185555 -0.06806970
+v -0.05638962 0.13318749 -0.07396316
+v -0.05791603 0.13234566 -0.07637114
+v -0.06082114 0.13269231 -0.07664415
+v -0.04666899 0.13303441 -0.06806962
+v -0.06531421 0.12969409 -0.07788577
+v -0.06980318 0.12514499 -0.07782405
+v -0.07429625 0.12514499 -0.07783080
+v -0.06531421 0.12514499 -0.07780186
+v -0.07877701 0.12513599 -0.07782212
+v -0.05752212 0.11269964 -0.06806970
+v -0.07877701 0.12231558 -0.07672234
+v -0.06531421 0.12234934 -0.07671269
+v -0.06082114 0.12238761 -0.07666059
+v -0.03714532 0.12969405 -0.06806963
+v -0.05712000 0.12969408 -0.07678598
+v -0.06082114 0.12969409 -0.07766678
+v -0.06082114 0.12514499 -0.07768320
+v -0.06980318 0.12234260 -0.07671848
+v -0.07429625 0.12233809 -0.07672426
+v -0.05320549 0.11287747 -0.06806970
+v -0.05786269 0.12257219 -0.07643870
+v -0.03685810 0.12816793 -0.06806964
+v -0.05707486 0.12514498 -0.07683713
+v -0.04994340 0.11411997 -0.06806969
+v -0.03963190 0.12187888 -0.06806966
+v -0.04375157 0.11694712 -0.06806968
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 32
+f 1 32 34
+f 1 34 23
+f 1 23 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 10 4
+f 3 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 13
+f 6 13 12
+f 6 12 23
+f 6 23 33
+f 6 33 43
+f 6 43 47
+f 6 47 49
+f 6 49 48
+f 6 48 45
+f 6 45 37
+f 6 37 27
+f 6 27 17
+f 6 17 15
+f 6 15 7
+f 7 16 8
+f 7 15 17
+f 7 17 18
+f 7 18 16
+f 8 19 9
+f 8 16 19
+f 9 20 21
+f 9 21 10
+f 9 19 20
+f 10 21 22
+f 10 22 11
+f 16 24 25
+f 16 25 26
+f 16 26 19
+f 16 18 24
+f 17 27 18
+f 18 27 24
+f 19 28 20
+f 19 26 28
+f 20 29 30
+f 20 30 21
+f 20 28 31
+f 20 31 29
+f 21 30 32
+f 21 32 22
+f 23 34 35
+f 23 35 36
+f 23 36 33
+f 24 27 37
+f 24 37 25
+f 25 38 39
+f 25 39 26
+f 25 37 38
+f 26 39 28
+f 28 39 40
+f 28 40 31
+f 29 31 35
+f 29 35 41
+f 29 41 42
+f 29 42 34
+f 29 34 30
+f 30 34 32
+f 31 40 36
+f 31 36 35
+f 33 36 43
+f 34 42 41
+f 34 41 35
+f 36 40 44
+f 36 44 43
+f 37 45 38
+f 38 45 46
+f 38 46 39
+f 39 46 40
+f 40 46 44
+f 43 44 47
+f 44 46 48
+f 44 48 49
+f 44 49 47
+f 45 48 46
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_13.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.09945972 -0.11148901 -0.06937596
+v -0.09923337 -0.11148899 -0.07319879
+v -0.09945170 -0.11604181 -0.06937598
+v -0.09943167 -0.11148901 -0.06806800
+v -0.09945972 -0.10693620 -0.06937594
+v -0.09923137 -0.10693618 -0.07333551
+v -0.09922135 -0.11604179 -0.07291245
+v -0.09886480 -0.10239517 -0.07562345
+v -0.09884477 -0.10693617 -0.07557491
+v -0.09939963 -0.12058871 -0.06937599
+v -0.09938760 -0.11926007 -0.06806803
+v -0.09942366 -0.11604181 -0.06806802
+v -0.09943167 -0.09651375 -0.06806794
+v -0.09945571 -0.09784239 -0.06937591
+v -0.09922535 -0.09784237 -0.07337116
+v -0.09922535 -0.10239518 -0.07338405
+v -0.09917929 -0.12058869 -0.07245764
+v -0.09878668 -0.11148898 -0.07543819
+v -0.09885880 -0.09784236 -0.07561055
+v -0.09661334 -0.09784236 -0.07703247
+v -0.09661734 -0.10239517 -0.07704537
+v -0.09659932 -0.10693617 -0.07705034
+v -0.09654123 -0.11148898 -0.07703946
+v -0.09640702 -0.11604178 -0.07700875
+v -0.09936757 -0.12058871 -0.06806803
+v -0.09909917 -0.12338180 -0.07200581
+v -0.09917929 -0.12386603 -0.06937600
+v -0.09915926 -0.12376564 -0.06806804
+v -0.09942366 -0.09196685 -0.06806793
+v -0.09944770 -0.09329549 -0.06937589
+v -0.09921935 -0.09329547 -0.07298767
+v -0.09865248 -0.11604178 -0.07515184
+v -0.09614061 -0.12058868 -0.07693941
+v -0.09859840 -0.09329546 -0.07522607
+v -0.09635294 -0.09329546 -0.07689373
+v -0.09226265 -0.09784235 -0.07816604
+v -0.09226265 -0.10239516 -0.07818687
+v -0.09226265 -0.10693616 -0.07819084
+v -0.09226265 -0.11148897 -0.07817500
+v -0.09226265 -0.11604177 -0.07813837
+v -0.09226265 -0.12058867 -0.07803136
+v -0.09795340 -0.12499387 -0.07363979
+v -0.09873661 -0.12614538 -0.06937601
+v -0.09838606 -0.12058869 -0.07469605
+v -0.09868452 -0.12603909 -0.06806805
+v -0.09924139 -0.08733728 -0.06806791
+v -0.09925741 -0.08876630 -0.06934318
+v -0.09914123 -0.09030160 -0.07228214
+v -0.09560980 -0.12514148 -0.07674819
+v -0.09226265 -0.12514147 -0.07772717
+v -0.09650517 -0.08037520 -0.06806789
+v -0.09556974 -0.09029569 -0.07653997
+v -0.09226265 -0.09329545 -0.07772210
+v -0.07899825 -0.12514147 -0.07781735
+v -0.07899825 -0.12948170 -0.07783223
+v -0.08777175 -0.12514147 -0.07804426
+v -0.09500287 -0.12808221 -0.07643706
+v -0.09569193 -0.12963526 -0.07363188
+v -0.09685972 -0.12969432 -0.06937603
+v -0.09735649 -0.12855465 -0.06806806
+v -0.09915525 -0.08588463 -0.06806791
+v -0.09907913 -0.08549490 -0.06806790
+v -0.09772505 -0.08243607 -0.06806789
+v -0.08777175 -0.12969429 -0.07741705
+v -0.09203029 -0.12963525 -0.07674821
+v -0.09226265 -0.07452919 -0.06806786
+v -0.09226265 -0.09018940 -0.07669356
+v -0.08954647 -0.09063818 -0.07644782
+v -0.08888345 -0.09329546 -0.07692147
+v -0.07970935 -0.08418987 -0.06806790
+v -0.07906436 -0.08874268 -0.06806792
+v -0.07899825 -0.09309472 -0.06806793
+v -0.07899825 -0.12969428 -0.07782233
+v -0.08328084 -0.12969428 -0.07770441
+v -0.09037775 -0.13213308 -0.07624088
+v -0.09337236 -0.13111151 -0.07497651
+v -0.09470641 -0.13213901 -0.07199198
+v -0.09665341 -0.12979471 -0.06806807
+v -0.09487667 -0.13228074 -0.06937604
+v -0.09484663 -0.13225713 -0.06806808
+v -0.08328084 -0.13265273 -0.07666498
+v -0.08777175 -0.13239882 -0.07646086
+v -0.08777175 -0.07601136 -0.06806787
+v -0.08328084 -0.07976698 -0.06806788
+v -0.07899825 -0.13481992 -0.06806809
+v -0.07899825 -0.13276493 -0.07674425
+v -0.08777175 -0.13370975 -0.07385384
+v -0.09203029 -0.13265274 -0.07363189
+v -0.09226265 -0.13352671 -0.06937604
+v -0.09235078 -0.13337909 -0.06806808
+v -0.08328084 -0.13408177 -0.07385384
+v -0.08197083 -0.13481992 -0.06806809
+v -0.07899825 -0.13482582 -0.06812953
+v -0.07899825 -0.13414082 -0.07398465
+v -0.08777175 -0.13464867 -0.06937604
+v -0.08777175 -0.13458963 -0.06806808
+v -0.09095063 -0.13379244 -0.06806808
+v -0.07899825 -0.13420578 -0.07385384
+v -0.08328084 -0.13484945 -0.06937605
+v -0.08328084 -0.13481402 -0.06806809
+v -0.07899825 -0.13485535 -0.06937605
+v -0.08646173 -0.13467230 -0.06806808
+f 1 2 3
+f 1 3 12
+f 1 12 4
+f 1 4 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 7 10
+f 3 10 11
+f 3 11 12
+f 4 12 11
+f 4 11 25
+f 4 25 28
+f 4 28 45
+f 4 45 60
+f 4 60 78
+f 4 78 80
+f 4 80 90
+f 4 90 97
+f 4 97 96
+f 4 96 102
+f 4 102 100
+f 4 100 92
+f 4 92 85
+f 4 85 72
+f 4 72 71
+f 4 71 70
+f 4 70 84
+f 4 84 83
+f 4 83 66
+f 4 66 51
+f 4 51 63
+f 4 63 62
+f 4 62 61
+f 4 61 46
+f 4 46 29
+f 4 29 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 8
+f 7 17 10
+f 7 9 18
+f 7 18 17
+f 8 16 15
+f 8 15 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 18
+f 10 25 11
+f 10 17 26
+f 10 26 27
+f 10 27 28
+f 10 28 25
+f 13 29 30
+f 13 30 14
+f 14 30 15
+f 15 30 31
+f 15 31 19
+f 17 18 32
+f 17 32 26
+f 18 24 33
+f 18 33 32
+f 19 31 34
+f 19 34 35
+f 19 35 20
+f 20 36 37
+f 20 37 21
+f 20 35 36
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 24 41 33
+f 26 42 43
+f 26 43 27
+f 26 32 44
+f 26 44 42
+f 27 43 28
+f 28 43 45
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 34
+f 32 33 49
+f 32 49 44
+f 33 41 50
+f 33 50 49
+f 34 48 51
+f 34 51 52
+f 34 52 35
+f 35 53 36
+f 35 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 55
+f 37 55 38
+f 38 55 56
+f 38 56 39
+f 39 56 40
+f 40 56 41
+f 41 56 50
+f 42 44 49
+f 42 49 57
+f 42 57 58
+f 42 58 43
+f 43 58 59
+f 43 59 60
+f 43 60 45
+f 46 61 47
+f 47 61 48
+f 48 61 62
+f 48 62 63
+f 48 63 51
+f 49 50 57
+f 50 56 64
+f 50 64 65
+f 50 65 57
+f 51 66 52
+f 52 67 53
+f 52 66 67
+f 53 67 68
+f 53 68 69
+f 53 69 54
+f 54 69 70
+f 54 70 71
+f 54 71 72
+f 54 72 85
+f 54 85 93
+f 54 93 101
+f 54 101 98
+f 54 98 94
+f 54 94 86
+f 54 86 73
+f 54 73 55
+f 55 73 56
+f 56 73 74
+f 56 74 64
+f 57 65 75
+f 57 75 76
+f 57 76 77
+f 57 77 58
+f 58 77 59
+f 59 78 60
+f 59 77 79
+f 59 79 80
+f 59 80 78
+f 64 74 81
+f 64 81 82
+f 64 82 75
+f 64 75 65
+f 66 83 68
+f 66 68 67
+f 68 83 84
+f 68 84 70
+f 68 70 69
+f 73 86 74
+f 74 86 81
+f 75 82 87
+f 75 87 88
+f 75 88 77
+f 75 77 76
+f 77 88 89
+f 77 89 79
+f 79 89 80
+f 80 89 90
+f 81 86 91
+f 81 91 82
+f 82 91 87
+f 85 92 93
+f 86 94 91
+f 87 89 88
+f 87 91 95
+f 87 95 89
+f 89 95 96
+f 89 96 97
+f 89 97 90
+f 91 94 98
+f 91 98 99
+f 91 99 95
+f 92 100 99
+f 92 99 93
+f 93 99 101
+f 95 102 96
+f 95 99 102
+f 98 101 99
+f 99 100 102
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_14.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.07842895 0.11178996 -0.06806970
+v 0.07842895 0.11473206 -0.06806969
+v 0.07842895 0.12225012 -0.07677745
+v 0.07858060 0.09329432 -0.06806977
+v 0.08159545 0.13482085 -0.06806961
+v 0.07842895 0.13483248 -0.06807456
+v 0.07842895 0.12513408 -0.07787433
+v 0.07869991 0.08874163 -0.06806978
+v 0.08290371 0.13482085 -0.06806961
+v 0.07842895 0.13486155 -0.06937439
+v 0.07842895 0.12968095 -0.07784857
+v 0.08290371 0.12513989 -0.07796640
+v 0.09188559 0.10694078 -0.07818228
+v 0.09188559 0.10239391 -0.07817537
+v 0.09188559 0.09784122 -0.07815162
+v 0.09188559 0.09329436 -0.07772101
+v 0.08852698 0.09329435 -0.07691715
+v 0.07937324 0.08418894 -0.06806980
+v 0.08608841 0.13469875 -0.06806962
+v 0.08290371 0.13484992 -0.06937439
+v 0.07842895 0.13422199 -0.07386195
+v 0.07842895 0.12969258 -0.07784758
+v 0.08739667 0.12513989 -0.07805649
+v 0.09624711 0.10694077 -0.07704579
+v 0.09624914 0.10239390 -0.07704185
+v 0.09188559 0.11148765 -0.07817137
+v 0.09624914 0.09784121 -0.07702207
+v 0.09597616 0.09329435 -0.07689537
+v 0.09517746 0.09030574 -0.07655284
+v 0.09188559 0.09020107 -0.07669936
+v 0.08916999 0.09063716 -0.07644098
+v 0.08290371 0.07994443 -0.06806982
+v 0.08739667 0.13462898 -0.06806962
+v 0.08739667 0.13467549 -0.06937440
+v 0.08290371 0.13409989 -0.07385303
+v 0.07842895 0.13276839 -0.07675960
+v 0.08290371 0.12969258 -0.07773472
+v 0.08739667 0.12969257 -0.07746941
+v 0.09188559 0.12513989 -0.07774761
+v 0.09188559 0.12059302 -0.07803770
+v 0.09188559 0.11604034 -0.07813176
+v 0.09849157 0.10694077 -0.07563409
+v 0.09849562 0.10239390 -0.07563906
+v 0.09849562 0.09784121 -0.07564403
+v 0.09619252 0.11148764 -0.07703587
+v 0.09822061 0.09329435 -0.07523419
+v 0.09747449 0.08220041 -0.06806981
+v 0.09621678 0.08044447 -0.06806981
+v 0.09188559 0.07546151 -0.06806983
+v 0.08739667 0.07639182 -0.06806983
+v 0.09057733 0.13384985 -0.06806962
+v 0.09188559 0.13358238 -0.06937440
+v 0.08739667 0.13375683 -0.07385303
+v 0.08739667 0.13243697 -0.07650121
+v 0.08290371 0.13266955 -0.07668139
+v 0.09170158 0.12966350 -0.07677247
+v 0.09007991 0.13216370 -0.07627154
+v 0.09465173 0.12812268 -0.07644084
+v 0.09525632 0.12513988 -0.07676458
+v 0.09577193 0.12059301 -0.07695466
+v 0.09604288 0.11604033 -0.07701111
+v 0.09884947 0.10694076 -0.07339478
+v 0.09843697 0.11148764 -0.07550142
+v 0.09884542 0.11604032 -0.07293539
+v 0.09885351 0.11148763 -0.07326210
+v 0.09884340 0.09784120 -0.07340471
+v 0.09884138 0.09329434 -0.07299587
+v 0.09884744 0.10239389 -0.07339974
+v 0.09876656 0.09023014 -0.07225934
+v 0.09811345 0.08719501 -0.07090308
+v 0.09873421 0.08522973 -0.06806980
+v 0.09197860 0.13343702 -0.06806962
+v 0.09450614 0.13228577 -0.06806962
+v 0.09453243 0.13230902 -0.06937440
+v 0.09433426 0.13214041 -0.07202059
+v 0.09170158 0.13268698 -0.07364811
+v 0.09307454 0.13115780 -0.07500537
+v 0.09532507 0.12966349 -0.07364812
+v 0.09758570 0.12495381 -0.07361349
+v 0.09801841 0.12059300 -0.07467476
+v 0.09828936 0.11604033 -0.07517372
+v 0.09907998 0.11604030 -0.06937446
+v 0.09908200 0.11148761 -0.06937448
+v 0.09879487 0.12059300 -0.07243643
+v 0.09901123 0.12059298 -0.06937445
+v 0.09906785 0.09784118 -0.06937453
+v 0.09906178 0.09329432 -0.06937455
+v 0.09888384 0.08872419 -0.06939634
+v 0.09878072 0.08549137 -0.06806980
+v 0.09629969 0.12979720 -0.06806963
+v 0.09650188 0.12969254 -0.06937441
+v 0.09834598 0.12606435 -0.06937443
+v 0.09870995 0.12331414 -0.07196222
+v 0.09904965 0.11604030 -0.06806968
+v 0.09905370 0.11016193 -0.06806971
+v 0.09900112 0.11926730 -0.06806967
+v 0.09904560 0.09651550 -0.06806976
+v 0.09904156 0.09196863 -0.06806977
+v 0.09897888 0.12059298 -0.06806967
+v 0.09878678 0.12379091 -0.06937444
+v 0.09876858 0.12369788 -0.06806966
+v 0.09886767 0.08717755 -0.06806979
+v 0.09699324 0.12854710 -0.06806964
+v 0.09829947 0.12597713 -0.06806965
+f 1 2 6
+f 1 6 10
+f 1 10 21
+f 1 21 36
+f 1 36 22
+f 1 22 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 32
+f 1 32 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 71
+f 1 71 89
+f 1 89 102
+f 1 102 98
+f 1 98 97
+f 1 97 95
+f 1 95 94
+f 1 94 96
+f 1 96 99
+f 1 99 101
+f 1 101 104
+f 1 104 103
+f 1 103 90
+f 1 90 73
+f 1 73 72
+f 1 72 51
+f 1 51 33
+f 1 33 19
+f 1 19 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 11 22 23
+f 11 23 12
+f 12 23 13
+f 13 24 25
+f 13 25 14
+f 13 23 26
+f 13 26 24
+f 14 25 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 16 28 29
+f 17 31 18
+f 18 31 32
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 22 37 23
+f 22 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 26
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 24 26 45
+f 24 45 42
+f 25 44 27
+f 26 41 45
+f 27 44 28
+f 28 44 46
+f 28 46 29
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 29 46 47
+f 30 49 50
+f 30 50 31
+f 31 50 32
+f 33 51 52
+f 33 52 34
+f 34 52 53
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 37
+f 37 55 54
+f 37 54 38
+f 38 56 39
+f 38 54 57
+f 38 57 56
+f 39 56 58
+f 39 58 59
+f 39 59 60
+f 39 60 40
+f 40 60 61
+f 40 61 41
+f 41 61 45
+f 42 62 43
+f 42 45 61
+f 42 61 63
+f 42 63 64
+f 42 64 65
+f 42 65 62
+f 43 62 44
+f 44 66 67
+f 44 67 46
+f 44 62 68
+f 44 68 66
+f 46 67 69
+f 46 69 70
+f 46 70 47
+f 47 70 69
+f 47 69 71
+f 51 72 52
+f 52 72 73
+f 52 73 74
+f 52 74 75
+f 52 75 76
+f 52 76 53
+f 53 76 57
+f 53 57 54
+f 56 57 58
+f 57 76 75
+f 57 75 77
+f 57 77 58
+f 58 77 78
+f 58 78 79
+f 58 79 59
+f 59 79 80
+f 59 80 81
+f 59 81 60
+f 60 81 63
+f 60 63 61
+f 62 65 82
+f 62 82 83
+f 62 83 68
+f 63 81 84
+f 63 84 64
+f 64 84 85
+f 64 85 82
+f 64 82 65
+f 66 86 87
+f 66 87 67
+f 66 68 83
+f 66 83 86
+f 67 87 88
+f 67 88 69
+f 69 88 89
+f 69 89 71
+f 73 90 91
+f 73 91 74
+f 74 91 75
+f 75 91 78
+f 75 78 77
+f 78 91 92
+f 78 92 79
+f 79 93 80
+f 79 92 93
+f 80 93 81
+f 81 93 84
+f 82 94 95
+f 82 95 83
+f 82 85 96
+f 82 96 94
+f 83 95 97
+f 83 97 98
+f 83 98 86
+f 84 93 85
+f 85 99 96
+f 85 93 100
+f 85 100 101
+f 85 101 99
+f 86 98 87
+f 87 98 102
+f 87 102 88
+f 88 102 89
+f 90 103 91
+f 91 103 104
+f 91 104 92
+f 92 104 101
+f 92 101 100
+f 92 100 93
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_15.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.07857996 -0.11950878 -0.07027378
+v 0.07857996 -0.13473526 -0.07027383
+v 0.07857996 -0.12229919 -0.07673133
+v 0.06493647 -0.12235440 -0.07670373
+v 0.06053341 -0.11965651 -0.07027378
+v 0.07857996 -0.13425775 -0.07368726
+v 0.07750848 -0.13475019 -0.07027383
+v 0.07391974 -0.13430252 -0.07385439
+v 0.07857996 -0.12514482 -0.07779902
+v 0.06942811 -0.12514482 -0.07779753
+v 0.06493647 -0.12514482 -0.07778409
+v 0.06044769 -0.12238723 -0.07665896
+v 0.06044769 -0.11965800 -0.07027378
+v 0.07857996 -0.13422939 -0.07385439
+v 0.07841138 -0.13423388 -0.07385439
+v 0.07301684 -0.13475317 -0.07027383
+v 0.06942811 -0.13432639 -0.07385439
+v 0.06942811 -0.13288192 -0.07680748
+v 0.07391974 -0.13285506 -0.07679405
+v 0.07857996 -0.12969456 -0.07781844
+v 0.07841138 -0.12969456 -0.07782291
+v 0.07391974 -0.12969456 -0.07787514
+v 0.06942811 -0.12969456 -0.07789603
+v 0.06493647 -0.12969456 -0.07786619
+v 0.06044769 -0.12514482 -0.07767143
+v 0.05750470 -0.12256928 -0.07644333
+v 0.05610749 -0.11985348 -0.07027378
+v 0.07857996 -0.13283865 -0.07664557
+v 0.07841138 -0.13278941 -0.07675375
+v 0.06493647 -0.13473676 -0.07027383
+v 0.06493647 -0.13430401 -0.07385439
+v 0.06493647 -0.13286402 -0.07678509
+v 0.07857996 -0.12980647 -0.07778038
+v 0.06044769 -0.12969456 -0.07762370
+v 0.05671323 -0.12514483 -0.07683207
+v 0.05446742 -0.12514483 -0.07539357
+v 0.05186444 -0.12106366 -0.07027378
+v 0.05204730 -0.12092489 -0.07027378
+v 0.05595605 -0.11987586 -0.07027378
+v 0.07857996 -0.13278493 -0.07675077
+v 0.06044769 -0.13469348 -0.07027383
+v 0.06044769 -0.13409659 -0.07385439
+v 0.06044769 -0.13265660 -0.07661199
+v 0.05762471 -0.13230892 -0.07634041
+v 0.05680467 -0.12969457 -0.07675524
+v 0.05455885 -0.12969457 -0.07549879
+v 0.04939004 -0.12969459 -0.07027382
+v 0.04944718 -0.12854260 -0.07027381
+v 0.04963862 -0.12514485 -0.07027380
+v 0.04985292 -0.12435697 -0.07027380
+v 0.05597606 -0.13434879 -0.07027383
+v 0.05605892 -0.13316247 -0.07394467
+v 0.05297592 -0.13265810 -0.07251215
+v 0.05188444 -0.13323410 -0.07027383
+f 1 2 6
+f 1 6 14
+f 1 14 28
+f 1 28 40
+f 1 40 33
+f 1 33 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 27
+f 1 27 39
+f 1 39 38
+f 1 38 37
+f 1 37 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 54
+f 1 54 51
+f 1 51 41
+f 1 41 30
+f 1 30 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 6 8 15
+f 6 15 14
+f 7 16 17
+f 7 17 8
+f 8 18 19
+f 8 19 15
+f 8 17 18
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 23 11
+f 11 24 25
+f 11 25 12
+f 11 23 24
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 14 15 29
+f 14 29 28
+f 15 19 29
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 18 23 22
+f 18 22 19
+f 18 31 32
+f 18 32 23
+f 19 22 21
+f 19 21 29
+f 20 33 21
+f 21 33 29
+f 23 32 24
+f 24 32 34
+f 24 34 25
+f 25 34 35
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 28 29 40
+f 29 33 40
+f 30 41 31
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 32 43 34
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 35 45 46
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 41 51 42
+f 42 44 43
+f 42 51 52
+f 42 52 44
+f 44 52 53
+f 44 53 46
+f 44 46 45
+f 46 53 47
+f 47 53 54
+f 51 54 52
+f 52 54 53
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_16.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01672789 0.12494198 0.01127851
+v -0.01758671 0.12494196 0.01569835
+v -0.01672789 0.12494212 -0.02764237
+v -0.01672789 0.13651782 -0.01678949
+v -0.02267293 0.13192420 0.01343295
+v -0.02043277 0.12494195 0.01898801
+v -0.02040220 0.12494212 -0.02720846
+v -0.01672789 0.13305061 -0.02309131
+v -0.01672789 0.13665518 -0.01717799
+v -0.02566908 0.13297643 0.01428060
+v -0.02489364 0.12494194 0.02221207
+v -0.02226715 0.13256320 0.01044603
+v -0.02678916 0.13670525 0.00950254
+v -0.02467407 0.12494212 -0.02653741
+v -0.01672789 0.13333607 -0.02276840
+v -0.01965177 0.13263617 -0.02277345
+v -0.02267571 0.13652859 -0.01787931
+v -0.01672789 0.13665519 -0.01821232
+v -0.02938508 0.13714240 0.00676788
+v -0.02938508 0.13598622 0.01245415
+v -0.02938508 0.13371097 0.01485074
+v -0.02940176 0.12494193 0.02390231
+v -0.02938508 0.13697517 0.01021395
+v -0.02939342 0.12494210 -0.02306612
+v -0.02805377 0.13288220 -0.01858569
+v -0.02264792 0.13196733 -0.02234459
+v -0.01672789 0.13565312 -0.02004383
+v -0.02040220 0.13660264 -0.01805086
+v -0.02446006 0.13433813 -0.01920124
+v -0.02566908 0.13591587 -0.01660281
+v -0.02732002 0.13659307 -0.01361588
+v -0.03282315 0.13699669 0.00676788
+v -0.03272587 0.13694173 0.01011809
+v -0.03408219 0.13567331 0.01146523
+v -0.03387374 0.13335982 0.01457324
+v -0.03685600 0.12494193 0.02315053
+v -0.03382372 0.12494193 0.02360967
+v -0.03298991 0.12494193 0.02372067
+v -0.03277034 0.12494209 -0.02008928
+v -0.02918497 0.13431901 -0.01542722
+v -0.03385151 0.12494209 -0.01897927
+v -0.03218945 0.13272214 -0.01424658
+v -0.03284538 0.13340889 -0.01114360
+v -0.03506887 0.13594326 0.00676788
+v -0.03747579 0.13333834 0.01124322
+v -0.03678373 0.13250824 0.01390724
+v -0.04187552 0.12494195 0.01916965
+v -0.03671981 0.12494208 -0.01563412
+v -0.03894329 0.12494206 -0.01114363
+v -0.04084159 0.12494204 -0.00669856
+v -0.03754249 0.13366800 0.00676787
+v -0.04512180 0.12494197 0.01350357
+v -0.04381273 0.12494196 0.01667718
+v -0.04410734 0.12494200 0.00676784
+v -0.04511625 0.12494198 0.01124319
+f 1 2 6
+f 1 6 11
+f 1 11 22
+f 1 22 38
+f 1 38 37
+f 1 37 36
+f 1 36 47
+f 1 47 53
+f 1 53 52
+f 1 52 55
+f 1 55 54
+f 1 54 50
+f 1 50 49
+f 1 49 48
+f 1 48 41
+f 1 41 39
+f 1 39 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 27
+f 1 27 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 7 8
+f 4 9 5
+f 5 10 11
+f 5 11 6
+f 5 9 12
+f 5 12 13
+f 5 13 10
+f 7 14 8
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 9 18 19
+f 9 19 13
+f 9 13 12
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 10 13 20
+f 13 19 23
+f 13 23 20
+f 14 24 25
+f 14 25 26
+f 14 26 16
+f 15 17 27
+f 16 26 17
+f 17 28 27
+f 17 26 29
+f 17 29 25
+f 17 25 30
+f 17 30 31
+f 17 31 28
+f 18 27 28
+f 18 28 19
+f 19 32 33
+f 19 33 23
+f 19 28 31
+f 19 31 32
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 20 23 33
+f 20 33 34
+f 21 38 22
+f 24 39 25
+f 25 40 30
+f 25 29 26
+f 25 39 41
+f 25 41 42
+f 25 42 40
+f 30 40 31
+f 31 40 42
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 44 33
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 35
+f 35 46 36
+f 36 46 47
+f 41 48 42
+f 42 49 50
+f 42 50 43
+f 42 48 49
+f 43 50 51
+f 43 51 44
+f 44 51 45
+f 45 52 53
+f 45 53 46
+f 45 51 52
+f 46 53 47
+f 50 54 51
+f 51 54 55
+f 51 55 52
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_17.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.04113866 -0.12661593 0.01124570
+v 0.04085599 -0.12661594 0.01268076
+v 0.03704742 -0.13329574 0.01124568
+v 0.03711436 -0.13365271 0.00676549
+v 0.03747390 -0.12661587 -0.00613692
+v 0.03637794 -0.13249022 0.01389704
+v 0.03834917 -0.12661595 0.01585277
+v 0.03834917 -0.12661698 0.01585277
+v 0.03367028 -0.13559093 0.01138567
+v 0.03228918 -0.13692319 0.00998999
+v 0.03468937 -0.13592732 0.00676548
+v 0.03251234 -0.13337076 -0.01114653
+v 0.03644985 -0.13292536 0.00228530
+v 0.03182055 -0.13268868 -0.01423103
+v 0.03353143 -0.12661584 -0.01494854
+v 0.03559689 -0.13149535 -0.00396246
+v 0.03349671 -0.13328649 0.01456207
+v 0.03519520 -0.12661596 0.01789598
+v 0.03276525 -0.12661596 0.01937042
+v 0.02900379 -0.13589443 0.01232634
+v 0.02900379 -0.13695199 0.01008625
+v 0.02900379 -0.13712584 0.00676548
+v 0.03244291 -0.13698901 0.00676548
+v 0.02691849 -0.13658463 -0.01358351
+v 0.03596386 -0.13224738 -0.00098297
+v 0.02879799 -0.13429663 -0.01539921
+v 0.02768715 -0.13287075 -0.01861934
+v 0.03322893 -0.12661583 -0.01551732
+v 0.02900379 -0.13361879 0.01482458
+v 0.02914760 -0.12661596 0.01955855
+v 0.02451582 -0.13269906 0.01406330
+v 0.02641763 -0.13669377 0.00946497
+v 0.01580767 -0.13665664 -0.01736805
+v 0.01580767 -0.13665663 -0.01823434
+v 0.02002537 -0.13660313 -0.01805933
+v 0.02229911 -0.13652905 -0.01787995
+v 0.02529192 -0.13590460 -0.01657177
+v 0.02381659 -0.13396330 -0.01974377
+v 0.02234126 -0.13202303 -0.02237325
+v 0.02421827 -0.12661580 -0.02347141
+v 0.02891452 -0.12661582 -0.01988813
+v 0.02925918 -0.12661582 -0.01957311
+v 0.02451582 -0.12661595 0.01736658
+v 0.02226440 -0.13197789 0.01349016
+v 0.01580767 -0.13660726 -0.01724117
+v 0.01580767 -0.13552189 -0.02033443
+v 0.01580767 -0.13540974 -0.02047443
+v 0.01580767 -0.13327402 -0.02299891
+v 0.02002537 -0.13251067 -0.02268827
+v 0.02002537 -0.12661580 -0.02456083
+v 0.02370005 -0.12661580 -0.02375142
+v 0.02046425 -0.12661595 0.01535837
+v 0.01580767 -0.13558260 -0.01516733
+v 0.01580767 -0.13313513 -0.02314329
+v 0.01580767 -0.12661580 -0.02513835
+v 0.02033035 -0.12661594 0.01487273
+v 0.01580767 -0.13547767 -0.01501420
+v 0.01580767 -0.12661585 -0.01017521
+v 0.01939061 -0.12661593 0.01124570
+v 0.01580767 -0.13332754 -0.01236720
+v 0.01580767 -0.13301069 -0.01224032
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 28
+f 1 28 42
+f 1 42 41
+f 1 41 40
+f 1 40 51
+f 1 51 50
+f 1 50 55
+f 1 55 58
+f 1 58 59
+f 1 59 56
+f 1 56 52
+f 1 52 43
+f 1 43 30
+f 1 30 19
+f 1 19 18
+f 1 18 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 12 14
+f 5 14 15
+f 5 13 16
+f 5 16 12
+f 6 17 9
+f 6 8 18
+f 6 18 19
+f 6 19 17
+f 7 18 8
+f 9 17 10
+f 10 17 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 12 24 14
+f 12 16 25
+f 12 25 13
+f 13 25 16
+f 14 24 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 17 29 20
+f 17 19 29
+f 19 30 29
+f 20 29 31
+f 20 31 32
+f 20 32 21
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 24
+f 22 24 23
+f 24 35 36
+f 24 36 37
+f 24 37 26
+f 26 37 27
+f 27 36 38
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 27 37 36
+f 29 30 31
+f 30 43 44
+f 30 44 31
+f 31 44 32
+f 32 44 33
+f 33 45 53
+f 33 53 57
+f 33 57 60
+f 33 60 61
+f 33 61 58
+f 33 58 55
+f 33 55 54
+f 33 54 48
+f 33 48 47
+f 33 47 46
+f 33 46 34
+f 33 44 45
+f 34 46 35
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 39
+f 36 39 38
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 43 52 44
+f 44 52 53
+f 44 53 45
+f 48 54 49
+f 49 54 50
+f 50 54 55
+f 52 56 53
+f 53 56 57
+f 56 59 57
+f 57 59 60
+f 58 61 59
+f 59 61 60
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_18.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01104822 0.12494213 -0.02858252
+v 0.01104822 0.12494213 -0.02841979
+v 0.01104822 0.13360970 -0.02356435
+v 0.02295484 0.12494213 -0.02725919
+v 0.01205539 0.12494206 -0.00743553
+v 0.01104822 0.12494435 -0.00739485
+v 0.01104822 0.13588712 -0.02080521
+v 0.01553419 0.13546572 -0.02048694
+v 0.02236733 0.13654801 -0.01791207
+v 0.01553419 0.13319059 -0.02318387
+v 0.02002594 0.13252048 -0.02270287
+v 0.02236733 0.13204612 -0.02238700
+v 0.02579113 0.12494212 -0.02585688
+v 0.01745013 0.12494205 -0.00413557
+v 0.01104822 0.13334715 -0.01232202
+v 0.02482448 0.13352558 -0.00413554
+v 0.01104822 0.13670229 -0.01856536
+v 0.02002594 0.13661247 -0.01806522
+v 0.02696327 0.13660094 -0.01364773
+v 0.02535990 0.13594351 -0.01663181
+v 0.02771286 0.13290964 -0.01862519
+v 0.02386362 0.13399424 -0.01976187
+v 0.03166341 0.12494211 -0.02271487
+v 0.04061508 0.12494205 -0.00413557
+v 0.01104822 0.13561883 -0.01511704
+v 0.02900366 0.13529410 -0.00413553
+v 0.01104822 0.13670344 -0.01735689
+v 0.01553419 0.13665853 -0.01824709
+v 0.02696327 0.13660094 -0.01242730
+v 0.02867952 0.13583411 -0.01102021
+v 0.03313365 0.13367526 -0.00666974
+v 0.03252876 0.13342543 -0.01114944
+v 0.03183127 0.13272195 -0.01426035
+v 0.02883580 0.13433274 -0.01544728
+v 0.03605676 0.12494210 -0.01822798
+v 0.04061219 0.12494205 -0.00459503
+v 0.03555607 0.13164883 -0.00413555
+v 0.02900366 0.13549905 -0.00666973
+v 0.02451480 0.13658252 -0.01266421
+v 0.03357645 0.13359006 -0.00413554
+v 0.04049931 0.12494206 -0.00934515
+f 1 2 6
+f 1 6 15
+f 1 15 25
+f 1 25 27
+f 1 27 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 13
+f 1 13 23
+f 1 23 35
+f 1 35 41
+f 1 41 36
+f 1 36 24
+f 1 24 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 6
+f 6 14 16
+f 6 16 15
+f 7 17 18
+f 7 18 9
+f 7 9 8
+f 9 12 11
+f 9 11 10
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 12
+f 12 22 21
+f 12 21 23
+f 12 23 13
+f 14 24 37
+f 14 37 40
+f 14 40 26
+f 14 26 16
+f 15 16 25
+f 16 26 25
+f 17 27 19
+f 17 19 28
+f 17 28 18
+f 18 28 19
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 19 27 29
+f 20 34 21
+f 21 34 33
+f 21 33 35
+f 21 35 23
+f 24 36 37
+f 25 26 27
+f 26 38 29
+f 26 29 39
+f 26 39 27
+f 26 40 38
+f 27 39 29
+f 29 38 40
+f 29 40 30
+f 30 40 31
+f 31 40 37
+f 31 37 32
+f 32 37 41
+f 32 41 33
+f 33 41 35
+f 36 41 37
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_19.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.07886446 -0.11148515 -0.06806896
+v -0.07899825 -0.11148515 -0.06811995
+v -0.07899825 -0.11148515 -0.06806896
+v -0.05633429 -0.11284845 -0.06806896
+v -0.07899825 -0.12228399 -0.07673931
+v -0.06082248 -0.12240522 -0.07664407
+v -0.06531068 -0.12235719 -0.07670083
+v -0.07899825 -0.11295824 -0.06806896
+v -0.05185015 -0.11412025 -0.06806897
+v -0.05788712 -0.12258821 -0.07642759
+v -0.07899825 -0.12498542 -0.07776876
+v -0.06980293 -0.12514553 -0.07780628
+v -0.07429518 -0.12514553 -0.07781782
+v -0.06082248 -0.12514553 -0.07764561
+v -0.06531068 -0.12514553 -0.07777453
+v -0.07899825 -0.13471838 -0.07028761
+v -0.07899419 -0.13482133 -0.06806905
+v -0.04735385 -0.11663183 -0.06806898
+v -0.05709246 -0.12514554 -0.07681533
+v -0.04286160 -0.11953913 -0.06806899
+v -0.04158042 -0.12059820 -0.06806899
+v -0.03803689 -0.12514100 -0.06806901
+v -0.07899825 -0.12514553 -0.07781686
+v -0.06980293 -0.12969291 -0.07789673
+v -0.06082248 -0.12969291 -0.07762928
+v -0.06531068 -0.12969291 -0.07785921
+v -0.07899825 -0.13420829 -0.07385406
+v -0.07899419 -0.13485335 -0.06937556
+v -0.07899419 -0.13482362 -0.06812966
+v -0.07747381 -0.13482133 -0.06806905
+v -0.05714111 -0.12969292 -0.07676243
+v -0.03757875 -0.12969524 -0.06806903
+v -0.07899825 -0.12948018 -0.07783131
+v -0.07429518 -0.12969291 -0.07788230
+v -0.06980293 -0.13287243 -0.07680286
+v -0.06531068 -0.13285870 -0.07678457
+v -0.05795604 -0.13233260 -0.07635740
+v -0.06082248 -0.13267799 -0.07662776
+v -0.07899825 -0.13276492 -0.07674417
+v -0.07878337 -0.13276949 -0.07674801
+v -0.07878337 -0.13421286 -0.07385406
+v -0.07878337 -0.13485335 -0.06937556
+v -0.07429518 -0.13427691 -0.07385406
+v -0.06980293 -0.13430893 -0.07385406
+v -0.05950481 -0.13480989 -0.06806905
+v -0.04391168 -0.13206500 -0.06806904
+v -0.07899825 -0.12969291 -0.07782169
+v -0.07878337 -0.12969291 -0.07782650
+v -0.07429518 -0.13283811 -0.07678649
+v -0.06531068 -0.13429750 -0.07385406
+v -0.06082248 -0.13411221 -0.07385406
+v -0.05640727 -0.13317895 -0.07395219
+v -0.07429112 -0.13484878 -0.06937556
+v -0.06173877 -0.13472524 -0.07028761
+v -0.06081438 -0.13483277 -0.06937556
+v -0.05502473 -0.13464977 -0.06806904
+v -0.04661595 -0.13302800 -0.06806904
+v -0.06082248 -0.13468865 -0.07028761
+v -0.05725058 -0.13453539 -0.07028761
+v -0.05633429 -0.13464291 -0.06937555
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 30
+f 1 30 45
+f 1 45 56
+f 1 56 57
+f 1 57 46
+f 1 46 32
+f 1 32 22
+f 1 22 21
+f 1 21 20
+f 1 20 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 5 11
+f 2 11 23
+f 2 23 33
+f 2 33 47
+f 2 47 39
+f 2 39 27
+f 2 27 16
+f 2 16 8
+f 2 8 3
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 4 9 10
+f 4 10 6
+f 5 7 12
+f 5 12 13
+f 5 13 11
+f 6 10 14
+f 6 14 15
+f 6 15 7
+f 7 15 12
+f 8 16 17
+f 9 18 10
+f 10 19 14
+f 10 18 20
+f 10 20 21
+f 10 21 22
+f 10 22 19
+f 11 13 23
+f 12 15 24
+f 12 24 13
+f 13 24 23
+f 14 19 25
+f 14 25 26
+f 14 26 15
+f 15 26 24
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 19 31 25
+f 19 22 32
+f 19 32 31
+f 23 24 34
+f 23 34 33
+f 24 35 34
+f 24 26 36
+f 24 36 35
+f 25 31 37
+f 25 37 38
+f 25 38 26
+f 26 38 36
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 28 42 29
+f 28 41 43
+f 28 43 44
+f 28 44 42
+f 29 42 30
+f 30 42 45
+f 31 32 37
+f 32 46 37
+f 33 34 48
+f 33 48 47
+f 34 35 49
+f 34 49 48
+f 35 36 50
+f 35 50 44
+f 35 44 43
+f 35 43 49
+f 36 38 51
+f 36 51 50
+f 37 51 38
+f 37 46 52
+f 37 52 51
+f 39 47 40
+f 40 48 49
+f 40 49 41
+f 40 47 48
+f 41 49 43
+f 42 53 45
+f 42 44 53
+f 44 50 54
+f 44 54 53
+f 45 55 56
+f 45 53 55
+f 46 57 52
+f 50 51 58
+f 50 58 54
+f 51 52 59
+f 51 59 58
+f 52 60 59
+f 52 57 60
+f 53 54 55
+f 54 58 55
+f 55 58 60
+f 55 60 56
+f 56 60 57
+f 58 59 60
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_2.obj

@@ -0,0 +1,967 @@
+# https://github.com/mikedh/trimesh
+v -0.08991693 -0.11603635 -0.04708392
+v -0.08986363 -0.07963031 -0.04708378
+v -0.08989916 -0.11619685 -0.04708392
+v -0.08993470 -0.11603638 -0.03802179
+v -0.09098307 -0.10238533 -0.01113819
+v -0.09066323 -0.10238525 -0.03353727
+v -0.09076985 -0.09783782 -0.03802172
+v -0.09084092 -0.07054443 -0.03802162
+v -0.09039669 -0.03365689 -0.04170225
+v -0.08977478 -0.03365687 -0.04708361
+v -0.08995247 -0.11603643 -0.02458001
+v -0.08872641 -0.12059268 -0.04708393
+v -0.08892187 -0.12059299 0.03810944
+v -0.08998801 -0.11603664 0.03363662
+v -0.08998801 -0.11603671 0.05155123
+v -0.09094754 -0.10238535 -0.00666536
+v -0.09094754 -0.08873424 0.00677647
+v -0.09089423 -0.05233713 0.01124943
+v -0.09089423 -0.05233707 -0.00666517
+v -0.09085869 -0.04323324 -0.02906422
+v -0.09094754 -0.09328156 -0.02009545
+v -0.09091200 -0.09783787 -0.02457994
+v -0.09076985 -0.03413839 -0.03802149
+v -0.09075208 -0.03365690 -0.03798654
+v 0.07798256 -0.03365687 -0.04708361
+v -0.08867310 -0.12068184 -0.04708393
+v -0.08668297 -0.12366918 0.03810943
+v -0.08892187 -0.12059302 0.04706674
+v -0.08979255 -0.11148933 0.05602408
+v -0.08981032 -0.10238558 0.05602411
+v -0.08998801 -0.08418700 0.05155135
+v -0.09089423 -0.10238536 -0.00218089
+v -0.08888633 -0.12059304 0.05155122
+v -0.08977478 -0.11603673 0.05602406
+v -0.09087646 -0.04778972 0.01124944
+v -0.09082315 -0.03365698 -0.01562240
+v -0.08997024 -0.03365723 0.05155154
+v 0.08944359 -0.03365687 -0.04707197
+v 0.08944359 -0.03392437 -0.04708361
+v -0.08652305 -0.12361537 -0.04708394
+v -0.08666520 -0.12366916 0.03363660
+v -0.08327132 -0.12456975 0.03810942
+v -0.08668297 -0.12366921 0.04706673
+v -0.08666520 -0.12365140 0.05155121
+v -0.08858425 -0.10694192 0.06050857
+v -0.08981032 -0.07963069 0.05602420
+v -0.08995247 -0.03365723 0.05201746
+v -0.08847764 -0.12059306 0.05602405
+v -0.08840657 -0.11603674 0.06050853
+v -0.08856649 -0.11148934 0.06050855
+v -0.09078761 -0.03868595 0.00229218
+v -0.09078761 -0.03413849 -0.01113794
+v -0.09076985 -0.03365700 -0.01113793
+v 0.09001220 -0.03365689 -0.04176048
+v 0.09050973 -0.07054443 -0.03802162
+v 0.08956797 -0.11583127 -0.04708392
+v -0.08336016 -0.12441786 -0.04708395
+v -0.07888237 -0.12453377 -0.04708395
+v -0.07877575 -0.12466783 0.03810942
+v -0.08327132 -0.12456978 0.04706672
+v -0.08327132 -0.12443570 -0.04708395
+v -0.08327132 -0.12455196 0.05155120
+v -0.08636313 -0.12346417 0.05602404
+v -0.08652305 -0.11148935 0.06387482
+v -0.08654081 -0.09783819 0.06387487
+v -0.08654081 -0.05233732 0.06388668
+v -0.08858425 -0.03365726 0.06050884
+v -0.08966816 -0.03365725 0.05649028
+v -0.08979255 -0.03365725 0.05602437
+v -0.08590113 -0.12313427 0.05878461
+v -0.08684289 -0.12053065 0.06036875
+v -0.08598998 -0.11897028 0.06321085
+v -0.08638089 -0.11603675 0.06365349
+v 0.09031427 -0.03365690 -0.03842916
+v 0.09034980 -0.03413839 -0.03802149
+v 0.09045642 -0.03868582 -0.03353703
+v 0.09047419 -0.04323324 -0.02906422
+v 0.09054526 -0.08418669 -0.03353720
+v 0.09040311 -0.09783782 -0.03802172
+v 0.08956797 -0.11603635 -0.04708392
+v -0.07877575 -0.12453377 -0.04708395
+v -0.00242226 -0.12474781 -0.03351405
+v -0.00590499 -0.12474781 -0.03275693
+v -0.00979641 -0.12474781 -0.03190663
+v -0.02745882 -0.12474783 -0.02715425
+v -0.03245191 -0.12474784 -0.02314734
+v -0.03687640 -0.12474786 -0.01866287
+v -0.03993267 -0.12474788 -0.01271075
+v -0.04130089 -0.12474789 -0.00974051
+v -0.07877575 -0.12466788 0.05155120
+v -0.04481915 -0.12474795 0.00479618
+v -0.04567206 -0.12474796 0.00843035
+v -0.04574314 -0.12474797 0.01124916
+v -0.07877575 -0.12448065 0.05602403
+v -0.08327132 -0.12425774 0.05602403
+v -0.08401761 -0.11148936 0.06611123
+v -0.08415977 -0.10694194 0.06611125
+v -0.08415977 -0.07054481 0.06612303
+v -0.08654081 -0.03365727 0.06388675
+v -0.08327132 -0.12341960 0.05948349
+v -0.08327132 -0.12206431 0.06173155
+v -0.08327132 -0.11979060 0.06395632
+v -0.08144110 -0.11439614 0.06746239
+v -0.08307586 -0.11596543 0.06595979
+v -0.08177872 -0.11148937 0.06774195
+v 0.09047419 -0.03365698 -0.01562240
+v 0.09050973 -0.05233705 -0.01113800
+v 0.09050973 -0.05233707 -0.00666517
+v 0.09049196 -0.05233713 0.01124943
+v 0.09052750 -0.10238533 -0.01113819
+v 0.09029650 -0.10238525 -0.03353727
+v 0.08963904 -0.11831930 0.04410816
+v 0.08837744 -0.12059268 -0.04708393
+v 0.00205553 -0.12474781 -0.03351405
+v 0.07840902 -0.12452486 -0.04708395
+v -0.07428019 -0.12467679 0.05155120
+v -0.06980240 -0.12450741 0.05602403
+v -0.07428019 -0.12449849 0.05602403
+v -0.04478361 -0.12474799 0.01572199
+v -0.07877575 -0.12358010 0.05993776
+v -0.08190310 -0.10694195 0.06790504
+v -0.08192087 -0.09783821 0.06791672
+v -0.08392877 -0.03365728 0.06630954
+v -0.08415977 -0.03365728 0.06612317
+v -0.07877575 -0.12255471 0.06217418
+v -0.07877575 -0.12028102 0.06453873
+v -0.07877575 -0.11739208 0.06677515
+v -0.07877575 -0.11511838 0.06798655
+v -0.07877575 -0.11148937 0.06898828
+v 0.09020766 -0.03365718 0.03810976
+v 0.09049196 -0.08873424 0.00677647
+v 0.09050973 -0.10238535 -0.00666536
+v 0.08963904 -0.11831932 0.04993216
+v 0.08855513 -0.12060193 0.04706674
+v 0.08876836 -0.12013827 0.04260556
+v 0.08631624 -0.12366921 0.04706673
+v 0.08629847 -0.12366918 0.03810943
+v 0.08615632 -0.12362429 -0.04708394
+v 0.02435566 -0.12474783 -0.02722414
+v 0.08278020 -0.12445352 -0.04708395
+v 0.07840902 -0.12465889 0.03363659
+v 0.03961924 -0.12474789 -0.01113827
+v 0.03693612 -0.12474787 -0.01563439
+v 0.03348893 -0.12474786 -0.01973448
+v 0.03313355 -0.12474786 -0.02009557
+v 0.02901114 -0.12474784 -0.02369480
+v -0.04284679 -0.12474800 0.01823796
+v -0.03835123 -0.12474801 0.02187213
+v -0.03383790 -0.12474802 0.02422502
+v -0.02937787 -0.12474802 0.02449293
+v 0.02899337 -0.12467679 0.05155120
+v -0.03387343 -0.12359793 0.05998435
+v -0.05631571 -0.12359793 0.05997271
+v -0.06980240 -0.12359793 0.05996105
+v 0.02002001 -0.12450741 0.05602403
+v -0.07428019 -0.12256363 0.06219747
+v -0.07877575 -0.10694195 0.06919797
+v -0.08192087 -0.03365729 0.06791696
+v -0.07877575 -0.03413878 0.06925646
+v -0.07428019 -0.12028994 0.06459696
+v -0.07428019 -0.11782007 0.06683339
+v -0.07428019 -0.11554637 0.06845246
+v -0.07428019 -0.11148938 0.06975705
+v 0.08963904 -0.09328183 0.05390421
+v 0.08963904 -0.09783816 0.05389254
+v 0.08963904 -0.10694190 0.05384592
+v 0.08963904 -0.11148932 0.05382261
+v 0.08963904 -0.11409292 0.05379930
+v 0.08963904 -0.03365724 0.05386949
+v 0.08963904 -0.03868614 0.05388112
+v 0.08963904 -0.06598845 0.05390431
+v 0.08962128 -0.11712453 0.05291404
+v 0.08811090 -0.12059306 0.05602405
+v 0.08875059 -0.12013830 0.05146968
+v 0.08628070 -0.12365140 0.05155121
+v 0.08288681 -0.12454305 0.05155120
+v 0.08288681 -0.12456978 0.04706672
+v 0.08288681 -0.12456977 0.04259390
+v 0.08288681 -0.12456081 0.03363659
+v 0.08288681 -0.12444461 -0.04708395
+v 0.07840902 -0.12465896 0.05155120
+v 0.04532310 -0.12474797 0.01124916
+v 0.04457680 -0.12474795 0.00677634
+v 0.04096969 -0.12474791 -0.00670038
+v 0.02901114 -0.12474802 0.02439974
+v 0.03302694 -0.12474802 0.02417843
+v 0.07391346 -0.12466788 0.05155120
+v -0.03835123 -0.12258147 0.06222076
+v 0.02449781 -0.12359793 0.05998435
+v -0.06081127 -0.12257255 0.06220912
+v 0.04248006 -0.12449849 0.05602403
+v 0.03798450 -0.12359793 0.05997271
+v -0.06530684 -0.09783822 0.07137617
+v -0.06793665 -0.04323361 0.07188888
+v -0.07877575 -0.03365729 0.06925647
+v -0.06980240 -0.11784682 0.06683339
+v -0.05631571 -0.12029885 0.06460861
+v -0.06530684 -0.11785574 0.06684504
+v -0.06980240 -0.11557311 0.06849906
+v -0.06980240 -0.11148938 0.06981529
+v -0.02488231 -0.10488225 0.07180711
+v -0.02937787 -0.10479308 0.07176054
+v -0.03167008 -0.10469500 0.07171395
+v -0.06530684 -0.10238563 0.07110825
+v 0.08947912 -0.08873443 0.05615229
+v 0.08946135 -0.11148933 0.05605902
+v 0.08946135 -0.11577815 0.05559308
+v 0.08949689 -0.03365725 0.05588459
+v 0.08947912 -0.07509220 0.05615234
+v 0.08805760 -0.11603674 0.06050853
+v 0.08647616 -0.12053957 0.06038039
+v 0.08553440 -0.12314319 0.05879626
+v 0.08597862 -0.12345526 0.05602404
+v 0.08288681 -0.12425774 0.05602403
+v 0.07840902 -0.12447173 0.05602403
+v 0.04423919 -0.12474799 0.01748084
+v 0.04525203 -0.12474798 0.01402138
+v 0.03347116 -0.12474802 0.02412019
+v 0.07391346 -0.12448065 0.05602403
+v 0.06492233 -0.12448957 0.05602403
+v 0.03691836 -0.12474802 0.02359603
+v -0.03387343 -0.12030777 0.06462026
+v 0.02899337 -0.12258147 0.06222076
+v 0.06492233 -0.12358901 0.05993776
+v 0.06044454 -0.12358901 0.05994941
+v 0.03798450 -0.12258147 0.06220912
+v -0.03668094 -0.10053992 0.07183043
+v -0.06081127 -0.08234135 0.07174897
+v -0.06308571 -0.08192228 0.07171403
+v -0.05912322 -0.06598851 0.07184222
+v -0.01613995 -0.07481584 0.07191207
+v -0.06669282 -0.04323361 0.07188888
+v -0.00691783 -0.03365730 0.07184234
+v -0.06090012 -0.03365730 0.07183068
+v -0.06783004 -0.04026442 0.07184231
+v -0.06368985 -0.03570809 0.07181903
+v -0.06274809 -0.03365730 0.07163267
+v -0.02038674 -0.11788248 0.06686833
+v -0.06081127 -0.11558203 0.06851071
+v -0.06530684 -0.11557311 0.06851071
+v -0.06081127 -0.11148938 0.06983859
+v -0.00864142 -0.10062016 0.07184209
+v -0.02937787 -0.11148938 0.06986188
+v 0.02002001 -0.10490900 0.07181877
+v 0.08827083 -0.04323357 0.06050880
+v 0.08825306 -0.09328185 0.06050862
+v 0.08823529 -0.10694192 0.06050857
+v 0.08821752 -0.11148934 0.06050855
+v 0.08947912 -0.03365725 0.05611755
+v 0.08827083 -0.03365726 0.06050884
+v 0.08615632 -0.11148935 0.06388646
+v 0.08601416 -0.11603675 0.06366513
+v 0.08562324 -0.11898812 0.06321085
+v 0.08288681 -0.12207322 0.06173155
+v 0.08288681 -0.12342852 0.05949514
+v 0.07840902 -0.12357118 0.05993776
+v 0.07391346 -0.12358010 0.05993776
+v 0.02449781 -0.12030777 0.06462026
+v 0.04695785 -0.12257255 0.06220912
+v 0.06492233 -0.12028994 0.06462026
+v 0.05145341 -0.12029885 0.06462026
+v 0.07391346 -0.12256363 0.06217418
+v -0.04153188 -0.09610842 0.07181881
+v 0.03631421 -0.10054883 0.07185373
+v 0.01580875 -0.07478908 0.07190042
+v 0.06746330 -0.04323361 0.07184230
+v 0.06055115 -0.03365730 0.07181904
+v -0.03387343 -0.11559986 0.06852235
+v 0.01552445 -0.11788248 0.06686833
+v 0.02002001 -0.11560878 0.06852235
+v 0.02899337 -0.11148938 0.06986188
+v 0.02449781 -0.10490900 0.07181877
+v 0.08617408 -0.09328186 0.06389819
+v 0.08617408 -0.03365727 0.06389841
+v 0.08379304 -0.10238561 0.06613456
+v 0.08379304 -0.10694194 0.06612290
+v 0.08365088 -0.11148936 0.06612288
+v 0.08139422 -0.11148937 0.06774195
+v 0.08105661 -0.11438722 0.06745074
+v 0.08269136 -0.11595651 0.06595979
+v 0.08288681 -0.11979060 0.06395632
+v 0.07840902 -0.12027210 0.06453873
+v 0.07840902 -0.12255471 0.06217418
+v 0.06941790 -0.11786465 0.06685668
+v 0.06044454 -0.11787357 0.06685668
+v 0.07391346 -0.12028102 0.06460861
+v 0.02785615 -0.10482875 0.07178382
+v 0.06492233 -0.09783822 0.07136453
+v 0.06275451 -0.08195795 0.07171403
+v 0.04130730 -0.09611734 0.07184211
+v 0.05872094 -0.06598851 0.07184222
+v 0.06051561 -0.05218577 0.07185391
+v 0.06305659 -0.05605553 0.07184225
+v 0.06741000 -0.04667538 0.07181899
+v 0.07840902 -0.10694195 0.06920962
+v 0.07840902 -0.06144108 0.06924472
+v 0.07840902 -0.03365729 0.06924483
+v 0.06733892 -0.04056758 0.07178406
+v 0.06321651 -0.03573484 0.07181903
+v 0.03348893 -0.11560878 0.06852235
+v 0.04248006 -0.11559986 0.06852235
+v 0.05145341 -0.11148938 0.06985023
+v 0.06044454 -0.11148938 0.06983859
+v 0.06941790 -0.11148938 0.06979199
+v 0.07391346 -0.11148938 0.06975705
+v 0.08381080 -0.04323359 0.06614643
+v 0.08381080 -0.03365728 0.06614647
+v 0.08155414 -0.09328188 0.06791674
+v 0.08155414 -0.10694195 0.06790504
+v 0.07840902 -0.11148937 0.06898828
+v 0.07840902 -0.11510946 0.06797490
+v 0.07840902 -0.11739208 0.06677515
+v 0.07391346 -0.11782899 0.06684504
+v 0.06941790 -0.11559094 0.06849906
+v 0.06492233 -0.11559094 0.06851071
+v 0.06044454 -0.11559986 0.06851071
+v 0.06044454 -0.10238563 0.07117814
+v 0.06044454 -0.08222544 0.07173732
+v 0.08155414 -0.04323360 0.06792857
+v 0.08155414 -0.03868619 0.06792859
+v 0.08155414 -0.03365729 0.06791696
+v 0.07391346 -0.11555529 0.06844082
+v 0.08178514 -0.03365729 0.06774224
+f 1 2 10
+f 1 10 25
+f 1 25 39
+f 1 39 56
+f 1 56 80
+f 1 80 113
+f 1 113 138
+f 1 138 180
+f 1 180 140
+f 1 140 115
+f 1 115 81
+f 1 81 58
+f 1 58 61
+f 1 61 57
+f 1 57 40
+f 1 40 26
+f 1 26 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 4
+f 3 12 13
+f 3 13 11
+f 4 11 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 7
+f 5 7 6
+f 5 11 14
+f 7 22 8
+f 8 22 21
+f 8 21 20
+f 8 20 23
+f 8 23 9
+f 9 23 24
+f 9 24 36
+f 9 36 53
+f 9 53 37
+f 9 37 47
+f 9 47 69
+f 9 69 68
+f 9 68 67
+f 9 67 99
+f 9 99 124
+f 9 124 123
+f 9 123 158
+f 9 158 195
+f 9 195 237
+f 9 237 234
+f 9 234 233
+f 9 233 267
+f 9 267 297
+f 9 297 321
+f 9 321 323
+f 9 323 307
+f 9 307 274
+f 9 274 250
+f 9 250 249
+f 9 249 208
+f 9 208 169
+f 9 169 130
+f 9 130 106
+f 9 106 74
+f 9 74 54
+f 9 54 38
+f 9 38 25
+f 9 25 10
+f 11 13 14
+f 12 26 13
+f 13 26 27
+f 13 27 43
+f 13 43 28
+f 13 28 15
+f 13 15 14
+f 15 29 30
+f 15 30 46
+f 15 46 31
+f 15 31 18
+f 15 18 17
+f 15 17 32
+f 15 32 16
+f 15 28 33
+f 15 33 34
+f 15 34 29
+f 16 32 17
+f 18 35 36
+f 18 36 19
+f 18 31 37
+f 18 37 35
+f 19 36 20
+f 20 36 23
+f 23 36 24
+f 25 38 39
+f 26 40 27
+f 27 41 42
+f 27 42 60
+f 27 60 43
+f 27 40 41
+f 28 43 44
+f 28 44 33
+f 29 34 50
+f 29 50 45
+f 29 45 30
+f 30 45 67
+f 30 67 46
+f 31 46 47
+f 31 47 37
+f 33 44 48
+f 33 48 34
+f 34 48 49
+f 34 49 50
+f 35 51 36
+f 35 37 51
+f 36 51 52
+f 36 52 53
+f 37 53 51
+f 38 54 39
+f 39 54 55
+f 39 55 56
+f 40 57 42
+f 40 42 41
+f 42 58 59
+f 42 59 90
+f 42 90 60
+f 42 57 61
+f 42 61 58
+f 43 60 62
+f 43 62 44
+f 44 62 63
+f 44 63 48
+f 45 50 64
+f 45 64 65
+f 45 65 66
+f 45 66 99
+f 45 99 67
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 48 63 70
+f 48 70 71
+f 48 71 49
+f 49 71 72
+f 49 72 73
+f 49 73 64
+f 49 64 50
+f 51 53 52
+f 54 74 55
+f 55 74 75
+f 55 75 76
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 80
+f 55 80 56
+f 58 81 114
+f 58 114 82
+f 58 82 83
+f 58 83 84
+f 58 84 85
+f 58 85 86
+f 58 86 87
+f 58 87 88
+f 58 88 89
+f 58 89 59
+f 59 89 91
+f 59 91 92
+f 59 92 93
+f 59 93 90
+f 60 90 62
+f 62 90 94
+f 62 94 95
+f 62 95 63
+f 63 95 70
+f 64 73 96
+f 64 96 97
+f 64 97 65
+f 65 97 98
+f 65 98 66
+f 66 98 124
+f 66 124 99
+f 70 72 71
+f 70 95 100
+f 70 100 101
+f 70 101 72
+f 72 101 102
+f 72 102 103
+f 72 103 104
+f 72 104 73
+f 73 104 103
+f 73 103 105
+f 73 105 96
+f 74 106 75
+f 75 106 76
+f 76 106 77
+f 77 106 78
+f 78 106 107
+f 78 107 108
+f 78 108 109
+f 78 109 110
+f 78 110 79
+f 79 110 111
+f 79 111 80
+f 80 111 110
+f 80 110 112
+f 80 112 113
+f 81 115 114
+f 82 114 139
+f 82 139 146
+f 82 146 145
+f 82 145 144
+f 82 144 143
+f 82 143 142
+f 82 142 184
+f 82 184 183
+f 82 183 182
+f 82 182 217
+f 82 217 216
+f 82 216 221
+f 82 221 218
+f 82 218 186
+f 82 186 185
+f 82 185 150
+f 82 150 149
+f 82 149 148
+f 82 148 147
+f 82 147 119
+f 82 119 93
+f 82 93 92
+f 82 92 91
+f 82 91 89
+f 82 89 88
+f 82 88 87
+f 82 87 86
+f 82 86 85
+f 82 85 84
+f 82 84 83
+f 90 93 116
+f 90 116 117
+f 90 117 118
+f 90 118 94
+f 93 119 116
+f 94 118 120
+f 94 120 95
+f 95 120 100
+f 96 105 121
+f 96 121 97
+f 97 121 122
+f 97 122 98
+f 98 122 123
+f 98 123 124
+f 100 120 125
+f 100 125 101
+f 101 125 126
+f 101 126 102
+f 102 126 127
+f 102 127 103
+f 103 127 128
+f 103 128 129
+f 103 129 105
+f 105 129 121
+f 106 109 108
+f 106 108 107
+f 106 130 109
+f 109 130 131
+f 109 131 110
+f 110 131 132
+f 110 132 133
+f 110 133 112
+f 112 133 134
+f 112 134 135
+f 112 135 113
+f 113 135 134
+f 113 134 136
+f 113 136 137
+f 113 137 138
+f 114 115 139
+f 115 140 141
+f 115 141 142
+f 115 142 143
+f 115 143 144
+f 115 144 145
+f 115 145 146
+f 115 146 139
+f 116 119 147
+f 116 147 148
+f 116 148 149
+f 116 149 150
+f 116 150 151
+f 116 151 155
+f 116 155 117
+f 117 152 153
+f 117 153 154
+f 117 154 118
+f 117 155 189
+f 117 189 152
+f 118 154 120
+f 120 154 156
+f 120 156 125
+f 121 129 157
+f 121 157 122
+f 122 158 123
+f 122 157 159
+f 122 159 195
+f 122 195 158
+f 125 156 160
+f 125 160 126
+f 126 160 161
+f 126 161 127
+f 127 161 162
+f 127 162 128
+f 128 162 163
+f 128 163 129
+f 129 163 157
+f 130 164 165
+f 130 165 166
+f 130 166 167
+f 130 167 168
+f 130 168 131
+f 130 169 170
+f 130 170 171
+f 130 171 164
+f 131 168 172
+f 131 172 132
+f 132 172 133
+f 133 172 173
+f 133 173 174
+f 133 174 134
+f 134 174 175
+f 134 175 136
+f 136 175 176
+f 136 176 177
+f 136 177 178
+f 136 178 137
+f 137 178 138
+f 138 178 179
+f 138 179 180
+f 140 180 179
+f 140 179 141
+f 141 179 178
+f 141 178 177
+f 141 177 181
+f 141 181 182
+f 141 182 183
+f 141 183 184
+f 141 184 142
+f 150 185 151
+f 151 185 186
+f 151 186 187
+f 151 187 155
+f 152 188 153
+f 152 189 223
+f 152 223 188
+f 153 188 154
+f 154 188 190
+f 154 190 156
+f 155 187 191
+f 155 191 192
+f 155 192 189
+f 156 190 160
+f 157 163 193
+f 157 193 194
+f 157 194 159
+f 159 194 195
+f 160 196 161
+f 160 190 197
+f 160 197 198
+f 160 198 196
+f 161 196 199
+f 161 199 162
+f 162 199 200
+f 162 200 163
+f 163 200 201
+f 163 201 202
+f 163 202 203
+f 163 203 204
+f 163 204 193
+f 164 171 209
+f 164 209 205
+f 164 205 165
+f 165 205 166
+f 166 205 167
+f 167 205 168
+f 168 205 206
+f 168 206 207
+f 168 207 172
+f 169 208 170
+f 170 208 171
+f 171 208 209
+f 172 207 173
+f 173 210 211
+f 173 211 212
+f 173 212 213
+f 173 213 175
+f 173 175 174
+f 173 207 210
+f 175 213 176
+f 176 214 215
+f 176 215 181
+f 176 181 177
+f 176 213 214
+f 181 215 219
+f 181 219 187
+f 181 187 216
+f 181 216 217
+f 181 217 182
+f 186 218 187
+f 187 219 220
+f 187 220 191
+f 187 218 221
+f 187 221 216
+f 188 222 190
+f 188 223 258
+f 188 258 222
+f 189 192 223
+f 190 222 197
+f 191 220 192
+f 192 220 224
+f 192 224 225
+f 192 225 226
+f 192 226 223
+f 193 204 202
+f 193 202 227
+f 193 227 228
+f 193 228 229
+f 193 229 194
+f 194 229 228
+f 194 228 230
+f 194 230 227
+f 194 227 231
+f 194 231 232
+f 194 232 233
+f 194 233 234
+f 194 234 235
+f 194 235 195
+f 195 235 236
+f 195 236 237
+f 196 198 199
+f 197 222 238
+f 197 238 198
+f 198 238 239
+f 198 239 240
+f 198 240 199
+f 199 240 241
+f 199 241 200
+f 200 241 201
+f 201 242 227
+f 201 227 202
+f 201 241 243
+f 201 243 244
+f 201 244 242
+f 202 204 203
+f 205 245 246
+f 205 246 247
+f 205 247 206
+f 205 209 250
+f 205 250 245
+f 206 247 248
+f 206 248 207
+f 207 248 210
+f 208 249 209
+f 209 249 250
+f 210 248 251
+f 210 251 252
+f 210 252 253
+f 210 253 211
+f 211 253 212
+f 212 253 254
+f 212 254 255
+f 212 255 214
+f 212 214 213
+f 214 255 256
+f 214 256 215
+f 215 256 257
+f 215 257 219
+f 219 257 224
+f 219 224 220
+f 222 258 269
+f 222 269 238
+f 223 226 259
+f 223 259 260
+f 223 260 261
+f 223 261 258
+f 224 257 225
+f 225 257 262
+f 225 262 226
+f 226 262 259
+f 227 230 263
+f 227 263 228
+f 227 242 231
+f 228 263 230
+f 231 242 264
+f 231 264 265
+f 231 265 266
+f 231 266 232
+f 232 266 267
+f 232 267 233
+f 234 237 236
+f 234 236 235
+f 238 268 239
+f 238 269 300
+f 238 300 270
+f 238 270 268
+f 239 268 240
+f 240 268 243
+f 240 243 241
+f 242 244 264
+f 243 268 270
+f 243 270 300
+f 243 300 271
+f 243 271 272
+f 243 272 244
+f 244 272 264
+f 245 250 274
+f 245 274 273
+f 245 273 246
+f 246 273 247
+f 247 273 251
+f 247 251 248
+f 251 273 275
+f 251 275 276
+f 251 276 277
+f 251 277 252
+f 252 277 278
+f 252 278 279
+f 252 279 280
+f 252 280 253
+f 253 281 254
+f 253 280 279
+f 253 279 281
+f 254 281 282
+f 254 282 283
+f 254 283 255
+f 255 283 256
+f 256 283 262
+f 256 262 257
+f 258 261 269
+f 259 262 260
+f 260 284 285
+f 260 285 261
+f 260 262 283
+f 260 283 286
+f 260 286 284
+f 261 285 269
+f 264 272 287
+f 264 287 288
+f 264 288 289
+f 264 289 290
+f 264 290 291
+f 264 291 292
+f 264 292 265
+f 265 292 266
+f 266 292 293
+f 266 293 289
+f 266 289 294
+f 266 294 295
+f 266 295 296
+f 266 296 297
+f 266 297 298
+f 266 298 299
+f 266 299 267
+f 267 299 297
+f 269 285 300
+f 271 300 301
+f 271 301 302
+f 271 302 272
+f 272 302 303
+f 272 303 304
+f 272 304 305
+f 272 305 287
+f 273 306 275
+f 273 274 307
+f 273 307 306
+f 275 306 308
+f 275 308 309
+f 275 309 276
+f 276 309 277
+f 277 309 278
+f 278 309 310
+f 278 310 279
+f 279 310 311
+f 279 311 312
+f 279 312 281
+f 281 312 282
+f 282 312 313
+f 282 313 286
+f 282 286 283
+f 284 314 315
+f 284 315 316
+f 284 316 285
+f 284 286 313
+f 284 313 314
+f 285 316 300
+f 287 317 288
+f 287 305 317
+f 288 294 289
+f 288 317 305
+f 288 305 295
+f 288 295 294
+f 289 293 291
+f 289 291 318
+f 289 318 290
+f 290 318 291
+f 291 293 292
+f 295 305 310
+f 295 310 309
+f 295 309 308
+f 295 308 296
+f 296 308 319
+f 296 319 320
+f 296 320 297
+f 297 320 321
+f 297 299 298
+f 300 316 301
+f 301 316 315
+f 301 315 302
+f 302 315 303
+f 303 315 314
+f 303 314 304
+f 304 314 305
+f 305 322 311
+f 305 311 310
+f 305 314 322
+f 306 319 308
+f 306 307 320
+f 306 320 319
+f 307 323 320
+f 311 322 312
+f 312 322 313
+f 313 322 314
+f 320 323 321
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_20.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04532334 -0.12474799 0.01124200
+v 0.04113653 -0.12661575 0.01124199
+v 0.04458075 -0.12474797 0.00676521
+v 0.04526843 -0.12474800 0.01402390
+v 0.04085625 -0.12661576 0.01267930
+v 0.03747272 -0.12661569 -0.00613454
+v 0.04097183 -0.12474793 -0.00670636
+v 0.04425135 -0.12474801 0.01749096
+v 0.03834822 -0.12661577 0.01585272
+v 0.03353152 -0.12661566 -0.01494902
+v 0.03962536 -0.12474791 -0.01114709
+v 0.03692372 -0.12474804 0.02360082
+v 0.03519295 -0.12661578 0.01789793
+v 0.03322813 -0.12661565 -0.01551571
+v 0.03695262 -0.12474789 -0.01563934
+v 0.03347084 -0.12474804 0.02412629
+v 0.03276581 -0.12661578 0.01937130
+v 0.02926381 -0.12661564 -0.01957521
+v 0.03314144 -0.12474788 -0.02010067
+v 0.03349106 -0.12474788 -0.01974005
+v 0.03304031 -0.12474804 0.02417781
+v 0.02901532 -0.12474804 0.02440448
+v 0.02915112 -0.12661578 0.01955676
+v 0.02891708 -0.12661564 -0.01988946
+v 0.02901821 -0.12474786 -0.02370168
+v 0.02451646 -0.12474803 0.02308566
+v 0.02451646 -0.12661577 0.01736216
+v 0.02421884 -0.12661562 -0.02346986
+v 0.02436043 -0.12474785 -0.02722541
+v 0.02004360 -0.12474802 0.01957223
+v 0.02046546 -0.12661577 0.01535816
+v 0.02370163 -0.12661562 -0.02375320
+v 0.01580767 -0.12661562 -0.02513384
+v 0.02002337 -0.12474785 -0.02775603
+v 0.02002337 -0.12661562 -0.02456201
+v 0.01674963 -0.12474801 0.01570334
+v 0.02033254 -0.12661576 0.01487391
+v 0.01580767 -0.12474785 -0.02821453
+v 0.01580767 -0.12661567 -0.01017344
+v 0.01595793 -0.12474799 0.01124200
+v 0.01939058 -0.12661575 0.01124199
+v 0.01580767 -0.12474792 -0.00693819
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 20
+f 1 20 19
+f 1 19 25
+f 1 25 29
+f 1 29 34
+f 1 34 38
+f 1 38 42
+f 1 42 40
+f 1 40 36
+f 1 36 30
+f 1 30 26
+f 1 26 22
+f 1 22 21
+f 1 21 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 2 5 9
+f 2 9 13
+f 2 13 17
+f 2 17 23
+f 2 23 27
+f 2 27 31
+f 2 31 37
+f 2 37 41
+f 2 41 39
+f 2 39 33
+f 2 33 35
+f 2 35 32
+f 2 32 28
+f 2 28 24
+f 2 24 18
+f 2 18 14
+f 2 14 10
+f 2 10 6
+f 2 6 3
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 33 34
+f 29 32 35
+f 29 35 33
+f 30 36 31
+f 31 36 37
+f 33 38 34
+f 33 39 42
+f 33 42 38
+f 36 40 41
+f 36 41 37
+f 39 41 40
+f 39 40 42
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_21.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01745074 0.12494323 -0.00413557
+v 0.01634538 0.12494317 0.01124604
+v 0.02188892 0.13255896 0.00760551
+v 0.02482358 0.13352505 -0.00413554
+v 0.04061336 0.12494323 -0.00413557
+v 0.01665443 0.12494316 0.01434765
+v 0.02188892 0.13255895 0.01047616
+v 0.02642177 0.13670084 0.00948904
+v 0.02648581 0.13666853 0.00676963
+v 0.02673361 0.13653685 0.00448741
+v 0.02900839 0.13529433 -0.00413553
+v 0.03555707 0.13164924 -0.00413555
+v 0.03562946 0.13158698 -0.00405856
+v 0.04475362 0.12494318 0.00898031
+v 0.01751757 0.12494314 0.01825217
+v 0.02228429 0.13195083 0.01346228
+v 0.02527742 0.13294919 0.01425145
+v 0.02900839 0.13596582 0.01244768
+v 0.02900839 0.13697975 0.01020945
+v 0.02900839 0.13717130 0.00676963
+v 0.02900839 0.13671163 0.00399247
+v 0.03186508 0.13675951 0.00385498
+v 0.03357743 0.13358969 -0.00413554
+v 0.03646475 0.13296479 0.00229042
+v 0.04478703 0.12494317 0.01124604
+v 0.03714969 0.13371175 0.00676962
+v 0.02275484 0.12494313 0.02196147
+v 0.02570063 0.12494312 0.02344629
+v 0.02900839 0.13369018 0.01482888
+v 0.03345213 0.12494312 0.02365251
+v 0.03349668 0.13337774 0.01458141
+v 0.03371664 0.13569289 0.01147155
+v 0.03236625 0.13695341 0.01012971
+v 0.03255002 0.13702407 0.00676963
+v 0.03479417 0.13598739 0.00676963
+v 0.04362876 0.12494315 0.01572523
+v 0.03710792 0.13336219 0.01124607
+v 0.02901952 0.12494312 0.02395497
+v 0.03641742 0.13253261 0.01392149
+v 0.03798776 0.12494313 0.02047940
+v 0.04247884 0.12494315 0.01727055
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 23
+f 1 23 12
+f 1 12 5
+f 1 5 14
+f 1 14 25
+f 1 25 36
+f 1 36 41
+f 1 41 40
+f 1 40 30
+f 1 30 38
+f 1 38 28
+f 1 28 27
+f 1 27 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 16 8
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 8 16 17
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 14
+f 14 24 26
+f 14 26 25
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 20
+f 20 33 34
+f 20 34 22
+f 20 22 21
+f 22 34 35
+f 22 35 23
+f 23 35 24
+f 24 35 26
+f 25 26 37
+f 25 37 36
+f 26 35 37
+f 28 38 29
+f 29 38 30
+f 30 39 31
+f 30 40 39
+f 31 39 32
+f 32 39 37
+f 32 37 33
+f 33 37 35
+f 33 35 34
+f 36 37 39
+f 36 39 41
+f 39 40 41
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_22.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.07943405 -0.11148335 -0.06859339
+v -0.07943405 -0.11148335 -0.06759339
+v -0.07943405 -0.09309181 -0.06859339
+v -0.07943405 -0.09309181 -0.06759339
+v -0.07843405 -0.11148335 -0.06859339
+v -0.07843405 -0.11148335 -0.06759339
+v -0.07843405 -0.09309181 -0.06859339
+v -0.07843405 -0.09309181 -0.06759339
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_23.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.07857996 -0.11128959 -0.06806800
+v 0.07857996 -0.11605684 -0.06806802
+v 0.07857996 -0.11128959 -0.06810190
+v 0.07849492 -0.11128959 -0.06806908
+v 0.05284671 -0.11289098 -0.06806800
+v 0.07857591 -0.13482589 -0.06806831
+v 0.07857591 -0.13486051 -0.06932598
+v 0.07857996 -0.11605684 -0.06855814
+v 0.04899584 -0.11605684 -0.06806802
+v 0.07857591 -0.11951113 -0.07027377
+v 0.06043913 -0.11965881 -0.07027377
+v 0.05611449 -0.11985495 -0.07027377
+v 0.05596062 -0.11987802 -0.07027377
+v 0.05204900 -0.12092562 -0.07027377
+v 0.04337947 -0.11695446 -0.06806824
+v 0.04972066 -0.11427547 -0.06806801
+v 0.07391923 -0.13482589 -0.06806831
+v 0.07840989 -0.13486281 -0.06937521
+v 0.07857591 -0.13486051 -0.06937521
+v 0.07857591 -0.13473358 -0.07027382
+v 0.03934232 -0.12196400 -0.06806826
+v 0.03805870 -0.12521062 -0.06806827
+v 0.03721239 -0.12890720 -0.06806828
+v 0.03740271 -0.12969405 -0.06806829
+v 0.04639214 -0.13303297 -0.06806830
+v 0.05596062 -0.13467129 -0.06806830
+v 0.06043913 -0.13481435 -0.06806831
+v 0.05186273 -0.12106407 -0.07027377
+v 0.06043913 -0.13484434 -0.06937521
+v 0.07301218 -0.13475204 -0.07027382
+v 0.07751095 -0.13474973 -0.07027382
+v 0.04985428 -0.12435453 -0.07027379
+v 0.04964372 -0.12514600 -0.07027379
+v 0.04944935 -0.12854031 -0.07027380
+v 0.04939266 -0.12969404 -0.07027381
+v 0.05188298 -0.13323141 -0.07027382
+v 0.05597681 -0.13434823 -0.07027382
+v 0.05596062 -0.13463898 -0.06937520
+v 0.06043913 -0.13469204 -0.07027382
+v 0.06492980 -0.13473358 -0.07027382
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 9
+f 1 9 2
+f 2 6 7
+f 2 7 19
+f 2 19 8
+f 2 9 17
+f 2 17 6
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 5
+f 3 5 4
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 8 19 20
+f 8 20 10
+f 9 16 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 17
+f 10 20 31
+f 10 31 30
+f 10 30 40
+f 10 40 39
+f 10 39 37
+f 10 37 36
+f 10 36 35
+f 10 35 34
+f 10 34 33
+f 10 33 32
+f 10 32 28
+f 10 28 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 14 28 15
+f 15 21 16
+f 15 28 21
+f 17 27 18
+f 18 27 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 20
+f 21 28 32
+f 21 32 22
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 29 27
+f 26 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 37 39 38
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_24.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01104822 0.12494477 -0.00739421
+v 0.01104822 0.13334660 -0.01232261
+v 0.01104006 0.13334272 -0.01231692
+v 0.00654575 0.12494218 -0.00561861
+v 0.01103735 0.12494219 -0.00739137
+v 0.01104822 0.12494226 -0.02841685
+v 0.01104822 0.13561806 -0.01511689
+v 0.00205688 0.13695383 -0.01268113
+v 0.00234508 0.13436099 -0.01022262
+v 0.00104001 0.13292068 -0.00836735
+v 0.00219826 0.12494217 -0.00398814
+v 0.01104822 0.12494226 -0.02857904
+v 0.01104822 0.13670345 -0.01735915
+v -0.00162993 0.13708933 -0.01245918
+v 0.00205688 0.13786112 -0.01562907
+v -0.00145048 0.13292068 -0.00836735
+v -0.00257882 0.12494217 -0.00397675
+v 0.00887583 0.12494228 -0.03134773
+v 0.01104822 0.13360991 -0.02356238
+v 0.01104822 0.13670218 -0.01856565
+v 0.00205688 0.13809861 -0.02010222
+v -0.00284527 0.13758622 -0.01523070
+v -0.01672789 0.13665442 -0.01718273
+v -0.01672789 0.13651632 -0.01679574
+v -0.01672789 0.13567356 -0.01505998
+v -0.01672789 0.13535347 -0.01459332
+v -0.01672789 0.13345241 -0.01224293
+v -0.00243744 0.13812571 -0.02010222
+v -0.00519438 0.12494218 -0.00412188
+v 0.00508571 0.12494228 -0.03240910
+v 0.00052614 0.13688933 -0.02725869
+v 0.01104006 0.13361637 -0.02356238
+v 0.01104822 0.13588782 -0.02080507
+v 0.00203512 0.13727780 -0.02441033
+v -0.01672789 0.13665443 -0.01821850
+v -0.01672789 0.12494219 -0.00691332
+v -0.00092574 0.13688933 -0.02725869
+v -0.00242928 0.13730361 -0.02446724
+v 0.00205416 0.12494228 -0.03304650
+v -0.01672789 0.13565292 -0.02004247
+v -0.01672789 0.12494226 -0.02764002
+v -0.01672789 0.13304978 -0.02309002
+v -0.01672789 0.13333501 -0.02276563
+v -0.00243200 0.12494228 -0.03304365
+v -0.00683659 0.12494228 -0.03149285
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 19
+f 1 19 33
+f 1 33 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 11 17
+f 4 17 29
+f 4 29 36
+f 4 36 41
+f 4 41 45
+f 4 45 44
+f 4 44 39
+f 4 39 30
+f 4 30 18
+f 4 18 12
+f 4 12 6
+f 4 6 5
+f 7 13 8
+f 8 14 10
+f 8 10 9
+f 8 13 15
+f 8 15 14
+f 10 16 17
+f 10 17 11
+f 10 14 16
+f 12 18 19
+f 13 20 21
+f 13 21 15
+f 14 15 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 16
+f 15 21 28
+f 15 28 22
+f 16 29 17
+f 16 27 29
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 20 33 31
+f 20 31 34
+f 20 34 21
+f 21 34 31
+f 21 31 28
+f 22 28 23
+f 23 28 35
+f 23 35 40
+f 23 40 43
+f 23 43 42
+f 23 42 41
+f 23 41 36
+f 23 36 27
+f 23 27 26
+f 23 26 25
+f 23 25 24
+f 27 36 29
+f 28 31 37
+f 28 37 38
+f 28 38 35
+f 30 39 31
+f 31 33 32
+f 31 39 37
+f 35 38 37
+f 35 37 40
+f 37 42 43
+f 37 43 40
+f 37 39 44
+f 37 44 45
+f 37 45 41
+f 37 41 42
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_25.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.07803890 -0.11128913 -0.06858485
+v 0.07803890 -0.11128913 -0.06758485
+v 0.07803890 -0.09211844 -0.06858485
+v 0.07803890 -0.09211844 -0.06758485
+v 0.07903890 -0.11128913 -0.06858485
+v 0.07903890 -0.11128913 -0.06758485
+v 0.07903890 -0.09211844 -0.06858485
+v 0.07903890 -0.09211844 -0.06758485
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_3.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.00402930 0.03316311 0.07230341
+v -0.00583169 0.03296980 0.07230341
+v -0.00692353 0.01649312 0.08390658
+v -0.00692353 0.01421848 0.08550802
+v -0.00242620 0.01651890 0.08397990
+v 0.00460141 0.03306645 0.07230341
+v -0.01032902 0.01398006 0.08535403
+v -0.01590085 0.03025699 0.07230340
+v -0.00692353 0.01137034 0.08651551
+v -0.00242620 0.01424426 0.08551242
+v 0.00114393 0.01401873 0.08535990
+v 0.00564125 0.03288603 0.07230341
+v -0.01331857 0.01350967 0.08508126
+v -0.01165482 0.01174408 0.08603303
+v -0.02038084 0.02872982 0.07230340
+v -0.01141219 0.00682106 0.08716812
+v -0.00692353 0.00682106 0.08716078
+v -0.00242620 0.01137034 0.08646272
+v 0.00240907 0.01179563 0.08598756
+v 0.00414214 0.01359344 0.08512086
+v 0.01963582 0.02934842 0.07230340
+v 0.00654245 0.02704155 0.07600639
+v -0.02468753 0.02702223 0.07230339
+v -0.01590085 0.01275575 0.08465742
+v -0.01864777 0.00955966 0.08535402
+v -0.01590085 0.01048111 0.08573678
+v -0.01590085 0.00682106 0.08672522
+v -0.01141219 0.00227178 0.08728395
+v -0.01590085 0.00227178 0.08723995
+v -0.00242620 0.00682106 0.08704492
+v 0.00205379 0.00682106 0.08692467
+v 0.00654245 0.00682106 0.08659030
+v 0.00654245 0.01068730 0.08577052
+v 0.00654245 0.01296195 0.08483634
+v 0.02247806 0.01834895 0.07627327
+v 0.04095262 0.01026851 0.07230333
+v 0.01101378 0.01131236 0.08412653
+v -0.02687987 0.02504400 0.07230338
+v -0.02163732 0.00772319 0.08461195
+v -0.02271183 0.00468819 0.08519122
+v -0.02024220 0.00645378 0.08564730
+v -0.02971344 0.02243429 0.07230337
+v -0.03145518 0.02055271 0.07230337
+v -0.02039818 0.00227178 0.08628084
+v -0.01141219 -0.00227105 0.08728393
+v -0.02039818 -0.00227105 0.08628229
+v -0.01590085 -0.00227105 0.08723407
+v 0.00205379 -0.00682033 0.08692314
+v 0.00654245 -0.00227105 0.08679117
+v 0.00654245 0.00227178 0.08678973
+v 0.01103978 0.00227178 0.08620751
+v 0.01101378 0.00658910 0.08567077
+v 0.00949734 0.00975941 0.08540535
+v 0.03571008 0.00445625 0.07617790
+v 0.04285034 0.00420495 0.07230331
+v 0.01249556 0.00795517 0.08484366
+v -0.03902871 0.01174413 0.07230333
+v -0.04201827 0.00768457 0.07230332
+v -0.04416728 0.00314174 0.07230330
+v -0.04321409 0.00229761 0.07311870
+v -0.03915003 0.00227182 0.07561620
+v -0.02289380 0.00227179 0.08529093
+v -0.02290247 -0.00227104 0.08529531
+v -0.01141219 -0.00682033 0.08717538
+v -0.00692353 -0.00682033 0.08715632
+v -0.02024220 -0.00645947 0.08565314
+v -0.01590085 -0.00682033 0.08673543
+v -0.02272049 -0.00470033 0.08519704
+v 0.00654245 -0.00682033 0.08659317
+v -0.00242620 -0.01137605 0.08646410
+v 0.01103978 -0.00227105 0.08622216
+v 0.01393401 -0.00227104 0.08543316
+v 0.01391668 0.00227179 0.08542145
+v 0.01349208 0.00492017 0.08523962
+v 0.03614335 0.00142125 0.07632601
+v 0.03777244 0.00267133 0.07532290
+v 0.04219177 0.00227183 0.07287526
+v 0.04319695 0.00227183 0.07230330
+v -0.04474786 0.00134393 0.07230329
+v -0.04532844 -0.00234833 0.07230328
+v -0.00692353 -0.01137605 0.08651690
+v -0.01168082 -0.01175623 0.08603735
+v -0.01864777 -0.00958468 0.08536274
+v -0.01590085 -0.01051258 0.08575283
+v -0.04161100 -0.01069941 0.07230325
+v -0.02164599 -0.00773533 0.08465002
+v 0.00654245 -0.01063502 0.08577337
+v 0.00947135 -0.00970712 0.08539941
+v 0.01099645 -0.00661412 0.08567807
+v 0.00237441 -0.01178201 0.08598895
+v -0.00242620 -0.01426284 0.08552112
+v 0.00110060 -0.01402442 0.08535980
+v 0.01351807 -0.00495164 0.08525571
+v 0.03614335 -0.00104026 0.07632600
+v 0.04305831 -0.00227100 0.07230328
+v -0.00692353 -0.01423062 0.08551378
+v -0.01335323 -0.01353469 0.08509142
+v -0.01036368 -0.01397931 0.08534953
+v -0.01590085 -0.01278722 0.08467639
+v -0.02910687 -0.02439880 0.07230320
+v -0.02387299 -0.02889652 0.07230318
+v 0.00654245 -0.01290965 0.08479958
+v 0.00409015 -0.01357336 0.08511195
+v 0.01246956 -0.00798664 0.08482893
+v 0.01099645 -0.01127939 0.08408685
+v 0.02252139 -0.01840613 0.07630393
+v 0.02707937 -0.01395351 0.07632302
+v -0.00242620 -0.01654392 0.08401644
+v 0.00654245 -0.02703430 0.07600326
+v 0.00237441 -0.01569335 0.08406190
+v 0.03556277 -0.00407526 0.07609868
+v 0.03777244 -0.00244499 0.07522609
+v 0.04157653 -0.00538977 0.07230327
+v -0.00692353 -0.01650526 0.08392991
+v -0.00692353 -0.03266611 0.07230317
+v 0.01589238 -0.02990819 0.07230318
+v 0.01740882 -0.02258167 0.07605901
+v 0.01103978 -0.02631904 0.07557356
+v 0.02001710 -0.01936625 0.07674096
+v 0.02024240 -0.02714383 0.07230319
+v 0.02853515 -0.02079030 0.07230321
+v 0.03349174 -0.01637634 0.07230323
+v -0.00242620 -0.01964335 0.08177703
+v 0.00464474 -0.03245347 0.07230317
+v 0.00654245 -0.03236325 0.07230317
+v 0.00816288 -0.03194441 0.07230317
+v 0.04076199 -0.00682028 0.07230326
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 21
+f 1 21 36
+f 1 36 55
+f 1 55 78
+f 1 78 95
+f 1 95 113
+f 1 113 127
+f 1 127 122
+f 1 122 121
+f 1 121 120
+f 1 120 116
+f 1 116 126
+f 1 126 125
+f 1 125 124
+f 1 124 115
+f 1 115 101
+f 1 101 100
+f 1 100 85
+f 1 85 80
+f 1 80 79
+f 1 79 59
+f 1 59 58
+f 1 58 57
+f 1 57 43
+f 1 43 42
+f 1 42 38
+f 1 38 23
+f 1 23 15
+f 1 15 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 8 13
+f 7 13 14
+f 7 14 9
+f 8 15 13
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 21
+f 13 15 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 16
+f 16 28 17
+f 16 27 29
+f 16 29 28
+f 17 28 30
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 35 36
+f 21 34 37
+f 21 37 35
+f 23 38 25
+f 23 25 24
+f 25 39 40
+f 25 40 41
+f 25 41 27
+f 25 27 26
+f 25 38 42
+f 25 42 43
+f 25 43 39
+f 27 41 44
+f 27 44 29
+f 28 29 45
+f 28 45 30
+f 29 44 46
+f 29 46 47
+f 29 47 45
+f 30 48 31
+f 30 45 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 33 53 34
+f 34 53 37
+f 35 37 36
+f 36 54 55
+f 36 37 53
+f 36 53 56
+f 36 56 54
+f 39 43 57
+f 39 57 58
+f 39 58 40
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 44
+f 40 44 41
+f 44 62 63
+f 44 63 46
+f 45 47 64
+f 45 64 65
+f 45 65 48
+f 46 66 67
+f 46 67 47
+f 46 63 68
+f 46 68 66
+f 47 67 64
+f 48 69 49
+f 48 65 70
+f 48 70 69
+f 49 69 71
+f 49 71 50
+f 50 71 51
+f 51 71 72
+f 51 72 73
+f 51 73 74
+f 51 74 52
+f 52 74 56
+f 52 56 53
+f 54 75 76
+f 54 76 55
+f 54 56 74
+f 54 74 73
+f 54 73 75
+f 55 77 78
+f 55 76 77
+f 59 79 60
+f 60 79 61
+f 61 79 80
+f 61 80 62
+f 62 80 63
+f 63 80 68
+f 64 81 65
+f 64 67 82
+f 64 82 81
+f 65 81 70
+f 66 83 67
+f 66 68 83
+f 67 84 82
+f 67 83 84
+f 68 80 85
+f 68 85 86
+f 68 86 83
+f 69 87 88
+f 69 88 89
+f 69 89 71
+f 69 70 90
+f 69 90 87
+f 70 81 91
+f 70 91 92
+f 70 92 90
+f 71 89 93
+f 71 93 72
+f 72 93 94
+f 72 94 75
+f 72 75 73
+f 75 94 78
+f 75 78 77
+f 75 77 76
+f 78 94 95
+f 81 96 91
+f 81 82 96
+f 82 84 97
+f 82 97 98
+f 82 98 96
+f 83 99 84
+f 83 86 100
+f 83 100 101
+f 83 101 99
+f 84 99 97
+f 85 100 86
+f 87 102 88
+f 87 90 103
+f 87 103 102
+f 88 104 93
+f 88 93 89
+f 88 102 105
+f 88 105 106
+f 88 106 107
+f 88 107 104
+f 90 92 103
+f 91 108 92
+f 91 96 108
+f 92 109 110
+f 92 110 103
+f 92 108 109
+f 93 104 111
+f 93 111 94
+f 94 111 112
+f 94 112 95
+f 95 112 111
+f 95 111 113
+f 96 114 108
+f 96 98 114
+f 97 99 101
+f 97 101 98
+f 98 115 114
+f 98 101 115
+f 102 103 116
+f 102 116 117
+f 102 117 105
+f 103 110 109
+f 103 109 118
+f 103 118 116
+f 104 107 111
+f 105 117 119
+f 105 119 106
+f 106 119 117
+f 106 117 120
+f 106 120 121
+f 106 121 122
+f 106 122 107
+f 107 122 111
+f 108 123 124
+f 108 124 125
+f 108 125 109
+f 108 114 115
+f 108 115 123
+f 109 125 126
+f 109 126 116
+f 109 116 118
+f 111 122 127
+f 111 127 113
+f 115 124 123
+f 116 120 117
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_4.obj

@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
+v -0.08984222 0.02027122 -0.04708342
+v -0.08984222 0.02502920 -0.04708340
+v -0.08982373 -0.02522770 -0.04708358
+v -0.09047081 -0.02957484 -0.04190660
+v -0.09047081 0.01592409 -0.04191811
+v -0.08978675 0.03404151 -0.04708336
+v -0.09047081 0.02957509 -0.04189469
+v -0.08980524 -0.02978024 -0.04708360
+v -0.09039685 -0.03365688 -0.04169625
+v -0.09074813 -0.03365689 -0.03799171
+v -0.09080358 0.01592408 -0.03801490
+v -0.08976827 -0.03365686 -0.04708361
+v -0.09037837 0.03404149 -0.04169600
+v 0.08945294 0.03404151 -0.04708336
+v -0.09074813 0.03404148 -0.03809663
+v -0.09082207 -0.03365697 -0.01562422
+v -0.09087754 -0.02957493 -0.01562421
+v -0.09085905 -0.01137132 -0.03353916
+v -0.09091451 0.01137152 -0.03353908
+v 0.07799048 -0.03365686 -0.04708361
+v 0.09041431 0.03404148 -0.03801483
+v 0.09703296 0.01137141 -0.00218486
+v 0.09710692 0.00682549 -0.00218487
+v 0.08952689 0.02523463 -0.04708340
+v -0.09085905 0.03404140 -0.01568240
+v -0.09076661 -0.03365699 -0.01114838
+v -0.08997163 -0.03365722 0.05154838
+v -0.09069266 -0.00682556 0.01125426
+v -0.09080358 -0.00682551 -0.00218493
+v -0.09085905 0.03404140 -0.01562397
+v 0.08947143 -0.02957482 -0.04708360
+v 0.08945294 -0.03365686 -0.04707193
+v 0.09043280 0.03404140 -0.01562397
+v 0.09313203 0.02502889 0.03810940
+v 0.09705145 0.01137134 0.01571848
+v 0.09771702 0.00682534 0.03810934
+v 0.09795735 0.00227280 0.03810932
+v 0.09708843 -0.00682551 -0.00218493
+v 0.08956387 -0.02047636 -0.04708357
+v 0.08956387 -0.02026430 -0.04708356
+v -0.08997163 0.03404115 0.05154863
+v -0.08980524 -0.03365724 0.05602422
+v -0.09063720 0.00682544 0.01125432
+v 0.08954538 -0.02502227 -0.04708358
+v 0.09703296 -0.01137143 -0.00218494
+v 0.09000758 -0.03365688 -0.04176637
+v 0.09043280 0.03404140 -0.01553047
+v 0.09002607 0.03404120 0.03810944
+v 0.08963782 0.03404114 0.05395600
+v 0.08947143 0.03404113 0.05614133
+v 0.09649681 0.00227278 0.04259684
+v 0.08825124 0.03404112 0.06051199
+v 0.09649681 -0.00227314 0.04259682
+v 0.09793887 -0.00227312 0.03810930
+v -0.08980524 0.03404113 0.05602447
+v -0.08858505 -0.03365725 0.06051174
+v 0.09768004 -0.00682566 0.03810928
+v 0.09705145 -0.01137150 0.01571840
+v 0.09311354 -0.02502258 0.03810922
+v 0.09048826 -0.03365697 -0.01562422
+v 0.09032188 -0.03365689 -0.03842410
+v 0.08826972 -0.01592420 0.06051180
+v 0.08618060 0.03404111 0.06390100
+v 0.08826972 -0.03365725 0.06051174
+v -0.08858505 0.03404112 0.06051199
+v -0.08838168 -0.03365725 0.06086232
+v 0.08839914 -0.03365725 0.06005598
+v 0.08947143 -0.03365724 0.05611770
+v 0.09021095 -0.03365717 0.03810919
+v 0.08948992 -0.03365724 0.05588398
+v 0.08963782 -0.03365723 0.05387395
+v 0.08640245 -0.03365726 0.06355016
+v 0.08375869 0.03404110 0.06617982
+v 0.08405449 -0.03365727 0.06591079
+v 0.08618060 -0.03365726 0.06390075
+v -0.08653289 0.03404111 0.06387763
+v -0.08653289 -0.03365726 0.06387738
+v 0.08155863 0.03404109 0.06792107
+v 0.08179898 -0.03365728 0.06773385
+v 0.08379566 -0.03365727 0.06614451
+v -0.08629256 -0.03365727 0.06411110
+v -0.08416645 0.03404110 0.06612139
+v 0.07839721 0.03404109 0.06925330
+v 0.08155863 -0.03365728 0.06792082
+v -0.08416645 -0.03365727 0.06612114
+v -0.08192942 0.01592369 0.06792100
+v -0.08196639 0.03404109 0.06788602
+v 0.06760031 0.02047622 0.07188267
+v 0.07839721 -0.03365728 0.06924137
+v 0.07872999 -0.03365728 0.06911283
+v 0.07832326 0.03404109 0.06926500
+v 0.06743392 0.02346487 0.07182424
+v -0.08191093 -0.03365728 0.06792082
+v -0.08192942 -0.01137169 0.06792090
+v -0.08191093 0.03404109 0.06792107
+v -0.07878649 0.03404109 0.06925330
+v 0.04319635 0.00227267 0.07230330
+v 0.06758182 -0.02047679 0.07187081
+v 0.06059341 0.03404108 0.07182428
+v 0.04095932 0.01026447 0.07230333
+v 0.04284508 0.00420766 0.07230331
+v 0.06743392 -0.02343229 0.07182406
+v 0.06055644 -0.03365729 0.07181235
+v 0.06251615 0.03404108 0.07167236
+v -0.08159664 -0.03365728 0.06806106
+v -0.07878649 -0.03365728 0.06925305
+v -0.06798959 0.01592368 0.07188265
+v -0.06798959 0.02047622 0.07187097
+v -0.06780470 0.02342511 0.07181256
+v -0.06122303 0.03404108 0.07176585
+v 0.04304844 -0.00227325 0.07230328
+v 0.04156941 -0.00538780 0.07230327
+v 0.04075595 -0.00682579 0.07230326
+v 0.03349023 -0.01637487 0.07230323
+v 0.01962434 0.02934936 0.07230340
+v -0.00435440 0.03404108 0.07190609
+v -0.00402162 0.03315972 0.07230341
+v 0.00459372 0.03306694 0.07230341
+v 0.00564752 0.03288802 0.07230341
+v 0.02851699 -0.02078825 0.07230321
+v 0.02023444 -0.02714325 0.07230319
+v 0.01588979 -0.02990659 0.07230318
+v 0.00816187 -0.03194099 0.07230317
+v 0.00653494 -0.03236510 0.07230317
+v 0.00464918 -0.03245124 0.07230317
+v -0.00692421 -0.03266330 0.07230317
+v -0.00692421 -0.03365729 0.07184740
+v -0.06782319 -0.02358471 0.07181238
+v -0.06795261 -0.02047679 0.07184744
+v -0.06797110 -0.01592424 0.07187083
+v -0.06273903 -0.03365729 0.07162536
+v -0.04532348 -0.00234614 0.07230328
+v -0.06092722 0.03404108 0.07180091
+v -0.04473187 0.00134493 0.07230329
+v -0.04415874 0.00314076 0.07230330
+v -0.04201415 0.00768668 0.07230332
+v -0.03901912 0.01174885 0.07230333
+v -0.03145759 0.02054910 0.07230337
+v -0.02970125 0.02243772 0.07230337
+v -0.00551914 0.03404108 0.07190609
+v -0.00583343 0.03296754 0.07230341
+v -0.02385909 -0.02889270 0.07230318
+v -0.06090874 -0.03365729 0.07182403
+v -0.04160742 -0.01069579 0.07230325
+v -0.02687260 0.02504201 0.07230338
+v -0.02467255 0.02702339 0.07230339
+v -0.02036488 0.02872645 0.07230340
+v -0.01589082 0.03025722 0.07230340
+v -0.02909115 -0.02439980 0.07230320
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 40
+f 1 40 39
+f 1 39 44
+f 1 44 31
+f 1 31 20
+f 1 20 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 12
+f 4 12 9
+f 5 11 7
+f 6 7 13
+f 6 13 15
+f 6 15 25
+f 6 25 30
+f 6 30 41
+f 6 41 55
+f 6 55 65
+f 6 65 76
+f 6 76 82
+f 6 82 87
+f 6 87 95
+f 6 95 96
+f 6 96 110
+f 6 110 133
+f 6 133 140
+f 6 140 116
+f 6 116 99
+f 6 99 104
+f 6 104 91
+f 6 91 83
+f 6 83 78
+f 6 78 73
+f 6 73 63
+f 6 63 52
+f 6 52 50
+f 6 50 49
+f 6 49 48
+f 6 48 47
+f 6 47 33
+f 6 33 21
+f 6 21 14
+f 7 11 15
+f 7 15 13
+f 9 12 20
+f 9 20 32
+f 9 32 46
+f 9 46 61
+f 9 61 60
+f 9 60 69
+f 9 69 71
+f 9 71 70
+f 9 70 68
+f 9 68 67
+f 9 67 64
+f 9 64 72
+f 9 72 75
+f 9 75 74
+f 9 74 80
+f 9 80 79
+f 9 79 84
+f 9 84 90
+f 9 90 89
+f 9 89 103
+f 9 103 127
+f 9 127 143
+f 9 143 131
+f 9 131 106
+f 9 106 105
+f 9 105 93
+f 9 93 85
+f 9 85 81
+f 9 81 77
+f 9 77 66
+f 9 66 56
+f 9 56 42
+f 9 42 27
+f 9 27 26
+f 9 26 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 15
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 15 19 25
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 19
+f 17 19 18
+f 19 30 25
+f 20 31 32
+f 21 33 34
+f 21 34 22
+f 22 35 36
+f 22 36 37
+f 22 37 23
+f 22 34 35
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 27 41 28
+f 27 42 55
+f 27 55 41
+f 28 43 30
+f 28 30 29
+f 28 41 43
+f 30 43 41
+f 31 44 32
+f 32 44 38
+f 32 38 45
+f 32 45 46
+f 33 47 34
+f 34 36 35
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 36
+f 36 51 37
+f 36 50 52
+f 36 52 51
+f 37 51 53
+f 37 53 54
+f 37 54 38
+f 38 54 45
+f 38 44 39
+f 42 56 65
+f 42 65 55
+f 45 54 57
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 61
+f 45 61 46
+f 51 52 62
+f 51 62 64
+f 51 64 53
+f 52 63 62
+f 53 64 57
+f 53 57 54
+f 56 66 65
+f 57 59 58
+f 57 64 67
+f 57 67 68
+f 57 68 59
+f 59 69 60
+f 59 68 70
+f 59 70 71
+f 59 71 69
+f 62 63 72
+f 62 72 64
+f 63 73 74
+f 63 74 75
+f 63 75 72
+f 65 66 76
+f 66 77 76
+f 73 78 79
+f 73 79 80
+f 73 80 74
+f 76 77 81
+f 76 81 82
+f 78 83 90
+f 78 90 84
+f 78 84 79
+f 81 85 82
+f 82 86 87
+f 82 85 94
+f 82 94 86
+f 83 88 89
+f 83 89 90
+f 83 91 92
+f 83 92 88
+f 85 93 94
+f 86 95 87
+f 86 94 106
+f 86 106 96
+f 86 96 95
+f 88 97 98
+f 88 98 89
+f 88 92 99
+f 88 99 100
+f 88 100 101
+f 88 101 97
+f 89 98 102
+f 89 102 103
+f 91 104 92
+f 92 104 99
+f 93 105 94
+f 94 105 106
+f 96 106 107
+f 96 107 108
+f 96 108 109
+f 96 109 110
+f 97 101 100
+f 97 100 115
+f 97 115 119
+f 97 119 118
+f 97 118 117
+f 97 117 141
+f 97 141 148
+f 97 148 147
+f 97 147 146
+f 97 146 145
+f 97 145 139
+f 97 139 138
+f 97 138 137
+f 97 137 136
+f 97 136 135
+f 97 135 134
+f 97 134 132
+f 97 132 144
+f 97 144 149
+f 97 149 142
+f 97 142 126
+f 97 126 125
+f 97 125 124
+f 97 124 123
+f 97 123 122
+f 97 122 121
+f 97 121 120
+f 97 120 114
+f 97 114 113
+f 97 113 112
+f 97 112 111
+f 97 111 98
+f 98 103 102
+f 98 111 112
+f 98 112 113
+f 98 113 114
+f 98 114 103
+f 99 115 100
+f 99 116 117
+f 99 117 118
+f 99 118 119
+f 99 119 115
+f 103 114 120
+f 103 120 121
+f 103 121 122
+f 103 122 123
+f 103 123 124
+f 103 124 125
+f 103 125 126
+f 103 126 127
+f 106 128 129
+f 106 129 130
+f 106 130 107
+f 106 131 128
+f 107 130 132
+f 107 132 108
+f 108 133 109
+f 108 132 134
+f 108 134 135
+f 108 135 136
+f 108 136 137
+f 108 137 138
+f 108 138 139
+f 108 139 133
+f 109 133 110
+f 116 140 117
+f 117 140 133
+f 117 133 141
+f 126 142 143
+f 126 143 127
+f 128 131 143
+f 128 143 129
+f 129 143 144
+f 129 144 132
+f 129 132 130
+f 133 139 145
+f 133 145 146
+f 133 146 147
+f 133 147 148
+f 133 148 141
+f 142 149 143
+f 143 149 144
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_5.obj

@@ -0,0 +1,913 @@
+# https://github.com/mikedh/trimesh
+v -0.08992851 0.11583966 -0.04708306
+v -0.09044378 0.07054057 -0.04181801
+v -0.09087020 0.07054056 -0.03802052
+v -0.08992851 0.11603541 -0.04708306
+v -0.08978638 0.03405041 -0.04708336
+v -0.09085243 0.04323295 -0.02906275
+v -0.09097680 0.09328345 -0.02010469
+v -0.09094127 0.09783918 -0.02457779
+v -0.09078136 0.09783923 -0.03802042
+v -0.09037270 0.03405039 -0.04173660
+v -0.09074583 0.03405038 -0.03809055
+v -0.09072806 0.10238602 -0.03353564
+v -0.09095904 0.10238594 -0.01114678
+v -0.08998182 0.11603510 0.03811576
+v -0.08891575 0.12059084 0.03363101
+v -0.08873808 0.12059113 -0.04708305
+v 0.08945415 0.03405041 -0.04708336
+v -0.09087020 0.03405030 -0.01562014
+v -0.09092351 0.08873655 0.00676892
+v -0.09088797 0.05233533 0.01125354
+v -0.09090574 0.10238592 -0.00666202
+v -0.08996405 0.11603505 0.05154675
+v -0.08998182 0.11603507 0.04707364
+v -0.08889799 0.12059079 0.04707365
+v -0.08667702 0.12366056 0.04258889
+v -0.08667702 0.12366060 0.03363102
+v -0.08653489 0.12362530 -0.04708304
+v 0.08957854 0.11603541 -0.04708306
+v 0.09048469 0.07054056 -0.03802052
+v 0.09041361 0.03413935 -0.03802065
+v 0.09041361 0.03405038 -0.03800900
+v -0.09078136 0.03868602 0.00229562
+v -0.08996405 0.03405005 0.05154645
+v -0.09079914 0.09783907 0.00676895
+v -0.09085243 0.10238591 -0.00218890
+v -0.08998182 0.11148824 0.05154673
+v -0.09081690 0.04778851 0.01125353
+v -0.08998182 0.06143770 0.05154655
+v -0.08978638 0.11148822 0.05603149
+v -0.08975084 0.11603503 0.05603151
+v -0.08886245 0.12059077 0.05154676
+v -0.08664149 0.12365163 0.05154677
+v -0.08665926 0.12366055 0.04707366
+v -0.08326562 0.12455034 0.04707367
+v -0.08326562 0.12455039 0.03363103
+v -0.08644604 0.12365199 -0.04708304
+v 0.08956076 0.11620447 -0.04708306
+v 0.08963183 0.11832187 0.03137114
+v 0.08964961 0.11834855 0.03811576
+v 0.09053798 0.10238594 -0.01114678
+v 0.09032478 0.10238602 -0.03353564
+v 0.09037808 0.09783923 -0.03802042
+v 0.09052022 0.08418098 -0.03353571
+v 0.09052022 0.05233541 -0.01114697
+v 0.09043138 0.03405030 -0.01562014
+v -0.08980414 0.03405003 0.05603121
+v -0.08982191 0.07963383 0.05603137
+v -0.08980414 0.10238569 0.05603146
+v -0.08857817 0.11148821 0.06050460
+v -0.08840049 0.11603502 0.06050462
+v -0.08847156 0.12059075 0.05603152
+v -0.08637497 0.12347366 0.05603153
+v -0.08326562 0.12454142 0.05154678
+v -0.07878817 0.12464819 0.05154678
+v -0.07878817 0.12464821 0.04707367
+v -0.07878817 0.12455068 -0.04708303
+v -0.08326562 0.12446170 -0.04708303
+v 0.08838810 0.12059113 -0.04708305
+v 0.08835256 0.12068901 -0.04708305
+v 0.08964961 0.11835743 0.04258887
+v 0.08860131 0.12063527 0.04707365
+v 0.09039585 0.09783907 0.00676895
+v 0.09048469 0.08873655 0.00676892
+v 0.09050245 0.08418084 0.00676890
+v 0.09052022 0.05233539 -0.00666221
+v 0.09050245 0.09783918 -0.02457779
+v 0.08964961 0.11836632 0.04707364
+v 0.08963183 0.11832179 0.05380660
+v 0.09043138 0.03405030 -0.01553860
+v -0.08861370 0.03405002 0.06042278
+v -0.08859594 0.03868581 0.06050433
+v -0.08859594 0.10238568 0.06050457
+v -0.08653489 0.11148820 0.06387108
+v -0.08639274 0.11603501 0.06364978
+v -0.08600185 0.11896242 0.06320714
+v -0.08683694 0.12052845 0.06038814
+v -0.08591301 0.12316222 0.05881557
+v -0.08326562 0.12427447 0.05603154
+v -0.07878817 0.12447022 0.05603154
+v -0.02939397 0.12494192 0.02389269
+v -0.03298304 0.12494192 0.02371796
+v -0.03381813 0.12494192 0.02361312
+v -0.03685640 0.12494192 0.02314717
+v -0.04186689 0.12494194 0.01916330
+v -0.04380357 0.12494195 0.01667047
+v -0.04511838 0.12494196 0.01350202
+v -0.06979771 0.12448801 0.05603154
+v 0.07840265 0.12465709 0.05154678
+v -0.04510061 0.12494197 0.01125381
+v -0.04410562 0.12494199 0.00676905
+v -0.04083636 0.12494203 -0.00669688
+v -0.03893522 0.12494205 -0.01114670
+v -0.03671426 0.12494207 -0.01563146
+v -0.03385366 0.12494208 -0.01897465
+v -0.03276983 0.12494208 -0.02008128
+v -0.02937620 0.12494209 -0.02306335
+v -0.02466776 0.12494211 -0.02653467
+v -0.00242260 0.12494213 -0.03303467
+v 0.00205486 0.12494213 -0.03304631
+v 0.07840265 0.12455958 -0.04708303
+v 0.08618490 0.12362530 -0.04708304
+v 0.08634481 0.12367836 0.04258889
+v 0.08634481 0.12368724 0.04707366
+v 0.08632705 0.12366943 0.05154677
+v 0.08856578 0.12061746 0.05154676
+v 0.08964961 0.11148823 0.05391142
+v 0.09002273 0.03405010 0.03811546
+v 0.09044915 0.05233533 0.01125354
+v 0.09044915 0.04778851 0.01125353
+v 0.08847693 0.12013696 0.05558887
+v 0.08808605 0.11603502 0.06050462
+v 0.08943639 0.11603503 0.05610140
+v 0.08945415 0.11148822 0.05614798
+v 0.09041361 0.03868602 0.00229562
+v -0.08857817 0.03405002 0.06050432
+v -0.08653489 0.03405001 0.06388246
+v -0.08653489 0.10694139 0.06388272
+v -0.08417178 0.10694138 0.06611927
+v -0.08401187 0.11148819 0.06611929
+v -0.08175537 0.11148818 0.06773846
+v -0.08141779 0.11437998 0.06744726
+v -0.08305242 0.11595493 0.06595623
+v -0.08326562 0.11978102 0.06395266
+v -0.08326562 0.12205887 0.06173940
+v -0.08326562 0.12343806 0.05950285
+v -0.07878817 0.12358042 0.05993385
+v -0.07429294 0.12358932 0.05994550
+v 0.02900845 0.12494192 0.02395093
+v -0.06530249 0.12358932 0.05995715
+v -0.00242260 0.12359822 0.05998045
+v 0.03798114 0.12448801 0.05603154
+v 0.07390742 0.12447911 0.05603154
+v 0.07840265 0.12447022 0.05603154
+v 0.08289788 0.12456811 0.05154678
+v 0.08289788 0.12457703 0.04707367
+v 0.08289788 0.12457704 0.04258890
+v 0.07840265 0.12464826 0.03363103
+v 0.04475063 0.12494198 0.00898231
+v 0.04478617 0.12494197 0.01125381
+v 0.04361350 0.12494195 0.01571528
+v 0.04247637 0.12494195 0.01726456
+v 0.03798114 0.12494193 0.02047961
+v 0.03345038 0.12494192 0.02364807
+v 0.00507536 0.12494213 -0.03240563
+v 0.07850926 0.12455958 -0.04708303
+v 0.08289788 0.12447060 -0.04708303
+v 0.08289788 0.12456818 0.03363103
+v 0.08604276 0.12349145 0.05603153
+v 0.08964961 0.04778835 0.05392284
+v 0.08947193 0.09783888 0.05613628
+v 0.08947193 0.08873636 0.05614790
+v 0.08947193 0.07508702 0.05615949
+v 0.08964961 0.03413901 0.05391114
+v 0.08963183 0.03405004 0.05394609
+v 0.08558080 0.12317112 0.05883887
+v 0.08652249 0.12053734 0.06039979
+v 0.08565187 0.11898020 0.06323043
+v 0.08602500 0.11603501 0.06368473
+v 0.08614937 0.11148820 0.06388274
+v 0.08822819 0.11148821 0.06050460
+v 0.08824595 0.10694140 0.06050458
+v -0.08417178 0.03405000 0.06611901
+v -0.08193305 0.10238565 0.06793646
+v -0.08191528 0.10694137 0.06791317
+v -0.07878817 0.11148818 0.06897323
+v -0.07878817 0.11510072 0.06797145
+v -0.07878817 0.11736967 0.06677164
+v -0.07878817 0.12027039 0.06453509
+v -0.07878817 0.12254826 0.06217041
+v -0.07429294 0.12255715 0.06218206
+v -0.06530249 0.12256605 0.06219371
+v -0.05183457 0.12257495 0.06220536
+v -0.03387143 0.12258385 0.06221700
+v -0.02488097 0.12258385 0.06222866
+v -0.05183457 0.12358932 0.05996880
+v -0.03834889 0.12358932 0.05998045
+v 0.02001800 0.12359822 0.05998045
+v 0.07390742 0.12358042 0.05995715
+v 0.05594428 0.12358932 0.05996880
+v 0.07840265 0.12357153 0.05994550
+v 0.08289788 0.12429226 0.05603154
+v 0.04048638 0.12494204 -0.00934114
+v 0.00887765 0.12494213 -0.03134560
+v 0.02294967 0.12494211 -0.02725690
+v 0.02577473 0.12494210 -0.02584740
+v 0.03165584 0.12494209 -0.02271389
+v 0.03604446 0.12494208 -0.01821748
+v 0.08947193 0.04323263 0.05615937
+v 0.08826373 0.08873635 0.06050452
+v 0.08947193 0.03405003 0.05614770
+v 0.08289788 0.12345585 0.05953780
+v 0.08289788 0.12207667 0.06177435
+v 0.08289788 0.11979880 0.06398760
+v 0.08268467 0.11596382 0.06599118
+v 0.08105004 0.11439779 0.06744726
+v 0.08138763 0.11148818 0.06773846
+v 0.08364412 0.11148819 0.06613094
+v 0.08378626 0.10694138 0.06613092
+v 0.08616714 0.10694139 0.06389436
+v -0.08196859 0.03404999 0.06788961
+v -0.08193305 0.09783884 0.06793644
+v -0.07878817 0.03413896 0.06925252
+v -0.07878817 0.06143764 0.06924097
+v -0.07878817 0.10694137 0.06920618
+v -0.07429294 0.11148817 0.06975370
+v -0.07429294 0.11553671 0.06843740
+v -0.07429294 0.11780567 0.06682989
+v -0.07429294 0.12027929 0.06459334
+v -0.06979771 0.12255715 0.06219371
+v -0.05632980 0.12029708 0.06460498
+v -0.04284412 0.12257495 0.06221700
+v -0.04733934 0.12029708 0.06461664
+v -0.03834889 0.12030598 0.06461664
+v 0.02899068 0.12030598 0.06461664
+v 0.06941220 0.12029708 0.06461664
+v 0.01102754 0.12258385 0.06221700
+v 0.06493474 0.12257495 0.06220536
+v 0.07840265 0.12256605 0.06218206
+v 0.06941220 0.12257495 0.06219371
+v 0.08826373 0.04323262 0.06050435
+v 0.08618490 0.07963381 0.06390591
+v 0.08824595 0.03405002 0.06050432
+v 0.07840265 0.12028819 0.06455839
+v 0.07840265 0.11740527 0.06679493
+v 0.07840265 0.11512742 0.06798310
+v 0.07840265 0.11148818 0.06898488
+v 0.08154753 0.10694137 0.06791317
+v 0.08380403 0.08873633 0.06614251
+v -0.08191528 0.03404999 0.06792457
+v -0.07878817 0.03404999 0.06925252
+v -0.06791434 0.04323258 0.07188517
+v -0.06530249 0.09783883 0.07139611
+v -0.06979771 0.11148817 0.06980029
+v -0.06979771 0.11556341 0.06849564
+v -0.06530249 0.10238564 0.07109327
+v -0.03179261 0.10476138 0.07174560
+v -0.02937620 0.10485035 0.07179220
+v -0.02488097 0.10492154 0.07182715
+v -0.06979771 0.11784127 0.06682989
+v -0.04733934 0.11786796 0.06685318
+v 0.06493474 0.11786796 0.06685318
+v 0.06941220 0.11785905 0.06685318
+v 0.07390742 0.12029708 0.06460498
+v 0.07390742 0.12256605 0.06219371
+v 0.08618490 0.05689084 0.06390583
+v 0.08616714 0.03405001 0.06390575
+v 0.08821042 0.03405002 0.06057422
+v 0.08376849 0.03405000 0.06617725
+v 0.07390742 0.11783236 0.06685318
+v 0.07390742 0.11555451 0.06843740
+v 0.07390742 0.11148817 0.06974204
+v 0.07840265 0.10694137 0.06920618
+v 0.07840265 0.06143764 0.06925262
+v 0.08154753 0.09328313 0.06792478
+v 0.08156530 0.04323259 0.06792460
+v -0.06093163 0.03404998 0.07180359
+v -0.06361456 0.03575836 0.07180359
+v -0.06782550 0.04028738 0.07183856
+v -0.00434152 0.03404998 0.07190843
+v -0.01589052 0.07508697 0.07192023
+v -0.03682087 0.10061497 0.07185043
+v -0.06080726 0.08228535 0.07174552
+v -0.06315259 0.08198282 0.07172222
+v -0.06530249 0.11148817 0.06982358
+v -0.06080726 0.11148817 0.06983524
+v -0.06080726 0.11557230 0.06850729
+v -0.02038575 0.10494823 0.07183880
+v -0.04733934 0.11559010 0.06850729
+v -0.03834889 0.11559900 0.06850729
+v 0.02001800 0.11559900 0.06850729
+v 0.06043951 0.11559010 0.06850729
+v 0.06493474 0.11559010 0.06849564
+v 0.06941220 0.11558120 0.06848400
+v 0.08613160 0.03405001 0.06394070
+v 0.08156530 0.03404999 0.06792457
+v 0.06493474 0.11148817 0.06981194
+v 0.02451322 0.10495713 0.07183880
+v 0.02899068 0.10483256 0.07178055
+v 0.06043951 0.10238564 0.07117481
+v 0.06493474 0.10238564 0.07100008
+v 0.06493474 0.09783883 0.07134952
+v 0.06743998 0.04323258 0.07182692
+v 0.07840265 0.03404999 0.06925252
+v 0.06058165 0.03404998 0.07182689
+v 0.01571821 0.07482893 0.07189692
+v 0.03638205 0.10061497 0.07185043
+v 0.00827355 0.10070395 0.07185043
+v 0.02001800 0.11148817 0.06984688
+v 0.02451322 0.11148817 0.06984688
+v 0.06043951 0.11148817 0.06983524
+v 0.05944452 0.08249889 0.07176882
+v 0.05921354 0.06143763 0.07182699
+v 0.06324681 0.03573167 0.07181524
+v 0.06735115 0.04048314 0.07179196
+v 0.06251833 0.03404998 0.07166381
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 27
+f 1 27 46
+f 1 46 67
+f 1 67 66
+f 1 66 110
+f 1 110 155
+f 1 155 156
+f 1 156 111
+f 1 111 69
+f 1 69 68
+f 1 68 47
+f 1 47 28
+f 1 28 17
+f 1 17 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 5 10
+f 3 10 11
+f 3 11 6
+f 4 9 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 17 31
+f 5 31 55
+f 5 55 79
+f 5 79 117
+f 5 117 164
+f 5 164 200
+f 5 200 232
+f 5 232 257
+f 5 257 256
+f 5 256 284
+f 5 284 258
+f 5 258 285
+f 5 285 293
+f 5 293 305
+f 5 305 294
+f 5 294 269
+f 5 269 266
+f 5 266 240
+f 5 240 239
+f 5 239 210
+f 5 210 172
+f 5 172 126
+f 5 126 125
+f 5 125 80
+f 5 80 56
+f 5 56 33
+f 5 33 18
+f 5 18 11
+f 5 11 10
+f 6 18 7
+f 6 11 18
+f 7 19 13
+f 7 13 8
+f 7 18 20
+f 7 20 19
+f 8 13 12
+f 8 12 9
+f 13 19 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 23 24
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 18 32 20
+f 18 33 32
+f 19 34 35
+f 19 35 21
+f 19 20 36
+f 19 36 22
+f 19 22 34
+f 20 32 37
+f 20 37 33
+f 20 33 38
+f 20 38 36
+f 21 35 22
+f 22 35 34
+f 22 36 39
+f 22 39 40
+f 22 40 41
+f 22 41 24
+f 22 24 23
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 29
+f 29 52 53
+f 29 53 54
+f 29 54 31
+f 29 31 30
+f 31 54 55
+f 32 33 37
+f 33 56 38
+f 36 38 57
+f 36 57 58
+f 36 58 39
+f 38 56 57
+f 39 58 82
+f 39 82 59
+f 39 59 40
+f 40 59 60
+f 40 60 61
+f 40 61 41
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 43 63 44
+f 44 63 64
+f 44 64 65
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 47 68 48
+f 48 68 69
+f 48 69 49
+f 49 70 50
+f 49 69 71
+f 49 71 70
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 54
+f 50 54 53
+f 50 53 76
+f 50 76 52
+f 50 52 51
+f 50 70 77
+f 50 77 78
+f 50 78 72
+f 52 76 53
+f 54 75 79
+f 54 79 55
+f 56 80 81
+f 56 81 57
+f 57 81 82
+f 57 82 58
+f 59 82 83
+f 59 83 60
+f 60 83 84
+f 60 84 85
+f 60 85 86
+f 60 86 61
+f 61 86 87
+f 61 87 62
+f 62 87 88
+f 62 88 63
+f 63 88 89
+f 63 89 64
+f 64 90 91
+f 64 91 92
+f 64 92 93
+f 64 93 94
+f 64 94 95
+f 64 95 96
+f 64 96 65
+f 64 89 97
+f 64 97 98
+f 64 98 90
+f 65 96 99
+f 65 99 66
+f 66 99 100
+f 66 100 101
+f 66 101 102
+f 66 102 103
+f 66 103 104
+f 66 104 105
+f 66 105 106
+f 66 106 107
+f 66 107 108
+f 66 108 109
+f 66 109 110
+f 69 111 71
+f 70 71 77
+f 71 111 112
+f 71 112 113
+f 71 113 114
+f 71 114 115
+f 71 115 78
+f 71 78 77
+f 72 78 73
+f 73 78 74
+f 74 78 116
+f 74 116 117
+f 74 117 118
+f 74 118 119
+f 74 119 75
+f 75 119 79
+f 78 115 120
+f 78 120 121
+f 78 121 122
+f 78 122 123
+f 78 123 116
+f 79 119 124
+f 79 124 117
+f 80 125 81
+f 81 125 126
+f 81 126 127
+f 81 127 82
+f 82 127 83
+f 83 127 128
+f 83 128 129
+f 83 129 84
+f 84 129 130
+f 84 130 131
+f 84 131 132
+f 84 132 85
+f 85 132 131
+f 85 131 133
+f 85 133 134
+f 85 134 87
+f 85 87 86
+f 87 134 135
+f 87 135 88
+f 88 135 136
+f 88 136 89
+f 89 136 137
+f 89 137 97
+f 90 98 138
+f 90 138 153
+f 90 153 152
+f 90 152 151
+f 90 151 150
+f 90 150 149
+f 90 149 148
+f 90 148 192
+f 90 192 197
+f 90 197 196
+f 90 196 195
+f 90 195 194
+f 90 194 193
+f 90 193 154
+f 90 154 109
+f 90 109 108
+f 90 108 107
+f 90 107 106
+f 90 106 105
+f 90 105 104
+f 90 104 103
+f 90 103 102
+f 90 102 101
+f 90 101 100
+f 90 100 99
+f 90 99 96
+f 90 96 95
+f 90 95 94
+f 90 94 93
+f 90 93 92
+f 90 92 91
+f 97 137 139
+f 97 139 140
+f 97 140 187
+f 97 187 141
+f 97 141 98
+f 98 141 142
+f 98 142 143
+f 98 143 144
+f 98 144 145
+f 98 145 146
+f 98 146 147
+f 98 147 148
+f 98 148 149
+f 98 149 150
+f 98 150 151
+f 98 151 152
+f 98 152 153
+f 98 153 138
+f 109 154 155
+f 109 155 110
+f 111 156 157
+f 111 157 113
+f 111 113 112
+f 113 157 146
+f 113 146 145
+f 113 145 144
+f 113 144 114
+f 114 144 158
+f 114 158 115
+f 115 158 120
+f 116 159 117
+f 116 123 160
+f 116 160 161
+f 116 161 162
+f 116 162 159
+f 117 124 119
+f 117 119 118
+f 117 159 163
+f 117 163 164
+f 120 158 165
+f 120 165 166
+f 120 166 121
+f 121 166 167
+f 121 167 168
+f 121 168 169
+f 121 169 170
+f 121 170 122
+f 122 170 123
+f 123 170 171
+f 123 171 160
+f 126 172 128
+f 126 128 127
+f 128 172 211
+f 128 211 173
+f 128 173 174
+f 128 174 129
+f 129 174 130
+f 130 174 175
+f 130 175 131
+f 131 175 176
+f 131 176 177
+f 131 177 133
+f 133 177 178
+f 133 178 134
+f 134 178 179
+f 134 179 135
+f 135 179 136
+f 136 179 180
+f 136 180 137
+f 137 180 181
+f 137 181 182
+f 137 182 183
+f 137 183 184
+f 137 184 139
+f 139 184 185
+f 139 185 140
+f 140 185 186
+f 140 186 184
+f 140 184 187
+f 141 187 142
+f 142 188 143
+f 142 187 189
+f 142 189 188
+f 143 188 190
+f 143 190 191
+f 143 191 144
+f 144 191 158
+f 146 157 147
+f 147 157 155
+f 147 155 148
+f 148 155 192
+f 154 193 155
+f 155 157 156
+f 155 193 194
+f 155 194 195
+f 155 195 196
+f 155 196 197
+f 155 197 192
+f 158 191 165
+f 159 198 163
+f 159 162 198
+f 160 171 199
+f 160 199 161
+f 161 199 162
+f 162 199 230
+f 162 230 198
+f 163 198 200
+f 163 200 164
+f 165 167 166
+f 165 191 201
+f 165 201 202
+f 165 202 167
+f 167 202 203
+f 167 203 204
+f 167 204 168
+f 168 204 205
+f 168 205 206
+f 168 206 207
+f 168 207 169
+f 169 207 208
+f 169 208 209
+f 169 209 170
+f 170 209 171
+f 171 209 199
+f 172 210 211
+f 173 211 240
+f 173 240 212
+f 173 212 213
+f 173 213 214
+f 173 214 174
+f 174 214 175
+f 175 214 215
+f 175 215 176
+f 176 215 216
+f 176 216 177
+f 177 216 217
+f 177 217 178
+f 178 217 218
+f 178 218 179
+f 179 218 180
+f 180 218 219
+f 180 219 181
+f 181 220 182
+f 181 219 218
+f 181 218 220
+f 182 220 222
+f 182 222 221
+f 182 221 184
+f 182 184 183
+f 184 186 185
+f 184 221 222
+f 184 222 223
+f 184 223 224
+f 184 224 225
+f 184 225 226
+f 184 226 187
+f 187 226 227
+f 187 227 189
+f 188 228 190
+f 188 189 227
+f 188 227 229
+f 188 229 228
+f 190 228 201
+f 190 201 191
+f 198 230 200
+f 199 209 231
+f 199 231 255
+f 199 255 230
+f 200 230 232
+f 201 228 202
+f 202 228 233
+f 202 233 203
+f 203 233 234
+f 203 234 205
+f 203 205 204
+f 205 234 235
+f 205 235 236
+f 205 236 206
+f 206 236 237
+f 206 237 207
+f 207 237 208
+f 208 237 238
+f 208 238 209
+f 209 238 231
+f 210 239 211
+f 211 239 240
+f 212 240 241
+f 212 241 213
+f 213 241 214
+f 214 241 242
+f 214 242 215
+f 215 243 244
+f 215 244 216
+f 215 242 245
+f 215 245 246
+f 215 246 247
+f 215 247 248
+f 215 248 243
+f 216 244 217
+f 217 244 249
+f 217 249 218
+f 218 249 250
+f 218 250 220
+f 220 250 222
+f 222 250 223
+f 223 250 251
+f 223 251 224
+f 224 251 225
+f 225 227 226
+f 225 251 252
+f 225 252 253
+f 225 253 228
+f 225 228 254
+f 225 254 227
+f 227 254 228
+f 227 228 229
+f 228 253 233
+f 230 255 256
+f 230 256 257
+f 230 257 232
+f 231 238 258
+f 231 258 255
+f 233 253 259
+f 233 259 234
+f 234 259 260
+f 234 260 235
+f 235 260 261
+f 235 261 236
+f 236 261 262
+f 236 262 237
+f 237 262 263
+f 237 263 264
+f 237 264 238
+f 238 264 265
+f 238 265 258
+f 240 266 267
+f 240 267 268
+f 240 268 241
+f 241 268 266
+f 241 266 269
+f 241 269 270
+f 241 270 271
+f 241 271 272
+f 241 272 273
+f 241 273 242
+f 242 273 271
+f 242 271 247
+f 242 247 246
+f 242 246 245
+f 243 248 274
+f 243 274 244
+f 244 274 275
+f 244 275 276
+f 244 276 249
+f 247 271 248
+f 248 277 274
+f 248 271 277
+f 249 276 250
+f 250 276 278
+f 250 278 279
+f 250 279 280
+f 250 280 251
+f 251 280 281
+f 251 281 252
+f 252 281 282
+f 252 282 283
+f 252 283 259
+f 252 259 253
+f 255 258 284
+f 255 284 256
+f 258 265 285
+f 259 283 260
+f 260 283 261
+f 261 283 286
+f 261 286 287
+f 261 287 288
+f 261 288 289
+f 261 289 290
+f 261 290 291
+f 261 291 262
+f 262 291 292
+f 262 292 263
+f 263 293 285
+f 263 285 265
+f 263 265 264
+f 263 292 293
+f 266 268 267
+f 269 294 292
+f 269 292 295
+f 269 295 270
+f 270 277 271
+f 270 295 296
+f 270 296 287
+f 270 287 297
+f 270 297 277
+f 271 273 272
+f 274 277 275
+f 275 279 278
+f 275 278 276
+f 275 277 298
+f 275 298 279
+f 277 297 287
+f 277 287 298
+f 279 298 299
+f 279 299 280
+f 280 299 281
+f 281 300 282
+f 281 299 300
+f 282 300 283
+f 283 300 286
+f 286 300 287
+f 287 296 288
+f 287 300 299
+f 287 299 298
+f 288 296 291
+f 288 291 289
+f 289 291 290
+f 291 296 301
+f 291 301 292
+f 292 301 302
+f 292 302 296
+f 292 296 295
+f 292 294 303
+f 292 303 304
+f 292 304 293
+f 293 304 303
+f 293 303 305
+f 294 305 303
+f 296 302 301
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_6.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.09945676 0.10239586 -0.06937483
+v -0.09943045 0.10239586 -0.06806973
+v -0.09945676 0.10694131 -0.06937482
+v -0.09923205 0.10239588 -0.07332583
+v -0.09945474 0.09784452 -0.06937485
+v -0.09942843 0.09784452 -0.06806975
+v -0.09943045 0.10694131 -0.06806972
+v -0.09945474 0.11149265 -0.06937480
+v -0.09923003 0.10694133 -0.07335456
+v -0.09923003 0.09784454 -0.07327630
+v -0.09885146 0.10694134 -0.07559415
+v -0.09944259 0.09329317 -0.06937487
+v -0.09942235 0.09329317 -0.06806977
+v -0.09942640 0.11149265 -0.06806970
+v -0.09942235 0.11281668 -0.06806970
+v -0.09941020 0.11603809 -0.06806968
+v -0.09943652 0.11603809 -0.06937478
+v -0.09922598 0.11149267 -0.07321183
+v -0.09883931 0.10239589 -0.07556443
+v -0.09881704 0.09784455 -0.07551589
+v -0.09921990 0.09329319 -0.07290867
+v -0.09660634 0.10694134 -0.07704393
+v -0.09659419 0.10239589 -0.07703602
+v -0.09879679 0.11149268 -0.07545142
+v -0.09636948 0.11603812 -0.07701714
+v -0.09655168 0.11149268 -0.07704292
+v -0.09913893 0.09029639 -0.07224870
+v -0.09925635 0.08876546 -0.06935209
+v -0.09928874 0.08875956 -0.06806978
+v -0.09932720 0.12058944 -0.06806967
+v -0.09935352 0.12058944 -0.06937477
+v -0.09920573 0.11603811 -0.07280948
+v -0.09657193 0.09784455 -0.07701027
+v -0.09631077 0.09329320 -0.07687850
+v -0.09855589 0.09329320 -0.07514727
+v -0.09226188 0.10694135 -0.07819247
+v -0.09226188 0.10239590 -0.07818356
+v -0.09226188 0.11149269 -0.07819245
+v -0.09914905 0.12058946 -0.07231696
+v -0.09861460 0.11603812 -0.07504808
+v -0.09610630 0.12058947 -0.07694479
+v -0.09226188 0.11603813 -0.07815477
+v -0.09226188 0.12058948 -0.07803981
+v -0.09915512 0.08560907 -0.06806980
+v -0.09661241 0.08041345 -0.06806981
+v -0.09813885 0.08297875 -0.06806981
+v -0.09927861 0.12141695 -0.06806966
+v -0.09914500 0.12370445 -0.06937476
+v -0.09907212 0.12327888 -0.07192452
+v -0.09226188 0.09784456 -0.07813701
+v -0.09554351 0.09031413 -0.07654058
+v -0.09226188 0.09329321 -0.07770397
+v -0.07878916 0.12969217 -0.07786932
+v -0.07878916 0.12514083 -0.07782475
+v -0.08777164 0.12514083 -0.07803583
+v -0.09835142 0.12058946 -0.07455556
+v -0.09563461 0.12514082 -0.07676937
+v -0.09226188 0.12514083 -0.07775538
+v -0.09226188 0.07446714 -0.06806984
+v -0.09912880 0.12362170 -0.06806966
+v -0.09882918 0.12523536 -0.06806965
+v -0.09871987 0.12598013 -0.06937475
+v -0.09797082 0.12493392 -0.07359133
+v -0.07877702 0.12513491 -0.07782178
+v -0.09226188 0.09019592 -0.07670013
+v -0.08889521 0.09329320 -0.07691714
+v -0.08953494 0.09062741 -0.07645437
+v -0.07877702 0.12968035 -0.07786833
+v -0.08328141 0.12969217 -0.07772861
+v -0.08328141 0.13267714 -0.07668015
+v -0.07878916 0.13280717 -0.07677330
+v -0.07877702 0.13279536 -0.07677627
+v -0.09503740 0.12813170 -0.07645918
+v -0.09205538 0.12966261 -0.07677530
+v -0.08777164 0.12969216 -0.07743825
+v -0.09177196 0.07459126 -0.06806984
+v -0.09867128 0.12589737 -0.06806965
+v -0.09686547 0.12969213 -0.06937473
+v -0.09572773 0.12966260 -0.07366662
+v -0.07877702 0.12230952 -0.07672280
+v -0.07897541 0.08893097 -0.06806978
+v -0.07911915 0.08452739 -0.06806980
+v -0.07975077 0.08061441 -0.06806981
+v -0.08470662 0.07653593 -0.06806983
+v -0.08821297 0.07553700 -0.06806983
+v -0.08777164 0.13241706 -0.07648096
+v -0.08328141 0.13408982 -0.07385291
+v -0.07878916 0.13424350 -0.07385291
+v -0.07877702 0.13423759 -0.07385985
+v -0.09473777 0.13216287 -0.07205034
+v -0.09341581 0.13116396 -0.07503515
+v -0.09041962 0.13215698 -0.07625998
+v -0.09665696 0.12979853 -0.06806963
+v -0.09603747 0.13070289 -0.06806963
+v -0.09489973 0.13229881 -0.06937472
+v -0.07877702 0.11185321 -0.06806970
+v -0.08777164 0.13372925 -0.07385291
+v -0.08777164 0.13466315 -0.06937472
+v -0.08328141 0.13483456 -0.06937471
+v -0.07877702 0.13484639 -0.06938660
+v -0.09226188 0.13356964 -0.06937472
+v -0.09205538 0.13268894 -0.07366661
+v -0.09485924 0.13226335 -0.06806962
+v -0.09328017 0.13302584 -0.06806962
+v -0.07877702 0.13474591 -0.06806962
+v -0.08777164 0.13460995 -0.06806962
+v -0.08328141 0.13480501 -0.06806961
+v -0.07878916 0.13484639 -0.06937471
+v -0.07878916 0.13482275 -0.06806961
+v -0.07877702 0.13482275 -0.06807356
+v -0.09235298 0.13341596 -0.06806962
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 29
+f 2 29 44
+f 2 44 46
+f 2 46 45
+f 2 45 59
+f 2 59 76
+f 2 76 85
+f 2 85 84
+f 2 84 83
+f 2 83 82
+f 2 82 81
+f 2 81 96
+f 2 96 105
+f 2 105 109
+f 2 109 107
+f 2 107 106
+f 2 106 111
+f 2 111 104
+f 2 104 103
+f 2 103 94
+f 2 94 93
+f 2 93 77
+f 2 77 61
+f 2 61 60
+f 2 60 47
+f 2 47 30
+f 2 30 16
+f 2 16 15
+f 2 15 14
+f 2 14 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 5
+f 4 9 11
+f 4 11 10
+f 5 10 12
+f 5 12 13
+f 5 13 6
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 11
+f 10 11 19
+f 10 19 20
+f 10 20 21
+f 10 21 12
+f 11 22 23
+f 11 23 19
+f 11 18 24
+f 11 24 25
+f 11 25 26
+f 11 26 22
+f 12 21 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 16 30 31
+f 16 31 17
+f 17 31 32
+f 17 32 18
+f 18 32 24
+f 19 23 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 27
+f 22 36 37
+f 22 37 23
+f 22 26 38
+f 22 38 36
+f 23 37 33
+f 24 32 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 42 26
+f 25 41 43
+f 25 43 42
+f 26 42 38
+f 27 44 28
+f 27 35 45
+f 27 45 46
+f 27 46 44
+f 28 44 29
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 39
+f 31 39 32
+f 33 37 50
+f 33 50 34
+f 34 51 35
+f 34 50 52
+f 34 52 51
+f 35 51 45
+f 36 38 53
+f 36 53 37
+f 37 53 54
+f 37 54 50
+f 38 42 55
+f 38 55 53
+f 39 49 40
+f 40 49 56
+f 40 56 57
+f 40 57 41
+f 41 57 58
+f 41 58 43
+f 42 43 55
+f 43 58 55
+f 45 51 59
+f 47 60 48
+f 48 60 61
+f 48 61 62
+f 48 62 49
+f 49 62 63
+f 49 63 56
+f 50 54 64
+f 50 64 52
+f 51 52 65
+f 51 65 59
+f 52 64 66
+f 52 66 67
+f 52 67 65
+f 53 68 54
+f 53 55 69
+f 53 69 70
+f 53 70 71
+f 53 71 72
+f 53 72 68
+f 54 68 64
+f 55 58 69
+f 56 63 57
+f 57 73 58
+f 57 63 73
+f 58 73 74
+f 58 74 75
+f 58 75 69
+f 59 65 76
+f 61 77 62
+f 62 77 78
+f 62 78 79
+f 62 79 63
+f 63 79 73
+f 64 68 72
+f 64 72 89
+f 64 89 100
+f 64 100 110
+f 64 110 105
+f 64 105 96
+f 64 96 80
+f 64 80 81
+f 64 81 82
+f 64 82 83
+f 64 83 66
+f 65 67 84
+f 65 84 85
+f 65 85 76
+f 66 83 67
+f 67 83 84
+f 69 75 70
+f 70 86 87
+f 70 87 71
+f 70 75 86
+f 71 87 88
+f 71 88 89
+f 71 89 72
+f 73 79 90
+f 73 90 91
+f 73 91 92
+f 73 92 74
+f 74 92 75
+f 75 92 86
+f 77 93 78
+f 78 90 79
+f 78 93 94
+f 78 94 95
+f 78 95 90
+f 80 96 81
+f 86 97 87
+f 86 92 97
+f 87 97 98
+f 87 98 99
+f 87 99 88
+f 88 99 100
+f 88 100 89
+f 90 92 91
+f 90 95 101
+f 90 101 102
+f 90 102 92
+f 92 102 97
+f 94 103 95
+f 95 104 101
+f 95 103 104
+f 97 102 101
+f 97 101 98
+f 98 106 107
+f 98 107 99
+f 98 101 106
+f 99 108 100
+f 99 107 109
+f 99 109 108
+f 100 108 110
+f 101 104 111
+f 101 111 106
+f 105 110 109
+f 108 109 110
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_7.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01620921 -0.12474811 -0.00703077
+v -0.01620921 -0.12678857 -0.01017994
+v -0.01620921 -0.12474804 -0.02824373
+v -0.01628438 -0.12474818 0.01124470
+v -0.01620921 -0.12678852 -0.02508425
+v -0.01669494 -0.12474819 0.01475524
+v -0.01983484 -0.12678865 0.01130148
+v -0.01910335 -0.12474804 -0.02801141
+v -0.01931441 -0.12678852 -0.02469190
+v -0.02747064 -0.12474804 -0.02715443
+v -0.02337952 -0.12474804 -0.02766036
+v -0.01749581 -0.12474821 0.01864265
+v -0.02096821 -0.12678867 0.01523535
+v -0.02333904 -0.12678852 -0.02382975
+v -0.03246673 -0.12474805 -0.02314312
+v -0.02397511 -0.12678852 -0.02365422
+v -0.02924876 -0.12678854 -0.01981844
+v -0.02245142 -0.12474822 0.02263331
+v -0.02130359 -0.12678867 0.01553994
+v -0.03688745 -0.12474807 -0.01867234
+v -0.03316063 -0.12678855 -0.01593620
+v -0.02562602 -0.12474823 0.02392395
+v -0.03002940 -0.12678868 0.01934475
+v -0.03994062 -0.12474809 -0.01271991
+v -0.03354227 -0.12678855 -0.01547157
+v -0.02938754 -0.12474823 0.02449699
+v -0.03035900 -0.12678868 0.01934475
+v -0.03761605 -0.12678859 -0.00677781
+v -0.04131686 -0.12474810 -0.00974111
+v -0.03385164 -0.12474823 0.02422338
+v -0.03366660 -0.12678868 0.01925698
+v -0.04113471 -0.12678865 0.01005214
+v -0.04568843 -0.12474817 0.00842078
+v -0.04483551 -0.12474816 0.00479150
+v -0.03836489 -0.12474822 0.02187441
+v -0.03870316 -0.12678867 0.01577742
+v -0.04133420 -0.12678865 0.01124469
+v -0.04574626 -0.12474818 0.01124470
+v -0.04285500 -0.12474821 0.01824513
+v -0.04478347 -0.12474820 0.01572064
+v -0.03879857 -0.12678867 0.01561738
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 11
+f 1 11 10
+f 1 10 15
+f 1 15 20
+f 1 20 24
+f 1 24 29
+f 1 29 34
+f 1 34 33
+f 1 33 38
+f 1 38 40
+f 1 40 39
+f 1 39 35
+f 1 35 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 13
+f 2 13 19
+f 2 19 23
+f 2 23 27
+f 2 27 31
+f 2 31 36
+f 2 36 41
+f 2 41 37
+f 2 37 32
+f 2 32 28
+f 2 28 25
+f 2 25 21
+f 2 21 17
+f 2 17 16
+f 2 16 14
+f 2 14 9
+f 2 9 5
+f 3 5 8
+f 5 9 10
+f 5 10 11
+f 5 11 8
+f 6 12 7
+f 7 12 13
+f 9 14 10
+f 10 14 16
+f 10 16 17
+f 10 17 15
+f 12 18 19
+f 12 19 13
+f 15 17 21
+f 15 21 20
+f 18 22 23
+f 18 23 19
+f 20 21 25
+f 20 25 24
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 25 28
+f 26 30 31
+f 26 31 27
+f 28 32 33
+f 28 33 34
+f 28 34 29
+f 30 35 31
+f 31 35 36
+f 32 37 33
+f 33 37 38
+f 35 39 36
+f 36 39 40
+f 36 40 41
+f 37 41 40
+f 37 40 38
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_8.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01620921 -0.12678957 -0.01018139
+v -0.01620921 -0.13331422 -0.01236059
+v -0.01620921 -0.12678952 -0.02508771
+v -0.01983467 -0.12678965 0.01130165
+v -0.01620921 -0.13556910 -0.01520529
+v -0.01620921 -0.13314419 -0.02314778
+v -0.01931324 -0.12678952 -0.02469189
+v -0.02096855 -0.12678967 0.01523375
+v -0.02265585 -0.13195539 0.01346777
+v -0.01620921 -0.13664404 -0.01741927
+v -0.02040038 -0.13250623 -0.02268671
+v -0.01620921 -0.13544408 -0.02042489
+v -0.02079146 -0.13512511 -0.01978114
+v -0.01938702 -0.12678952 -0.02467884
+v -0.02130306 -0.12678967 0.01554258
+v -0.03002730 -0.12678968 0.01934854
+v -0.02564919 -0.13294834 0.01425506
+v -0.02680029 -0.13670313 0.00948780
+v -0.01620921 -0.13664503 -0.01754976
+v -0.02938042 -0.13696013 0.01014460
+v -0.02900656 -0.13700311 0.00640389
+v -0.02270504 -0.13201726 -0.02236918
+v -0.01620921 -0.13664502 -0.01821526
+v -0.01955428 -0.13660603 -0.01807607
+v -0.02254762 -0.13651405 -0.01755411
+v -0.02447842 -0.13345620 -0.02009866
+v -0.02333716 -0.12678952 -0.02383066
+v -0.03035443 -0.12678968 0.01934854
+v -0.02938042 -0.13365830 0.01482486
+v -0.02938042 -0.13593318 0.01238469
+v -0.03267384 -0.13692512 0.01004021
+v -0.03283372 -0.13698810 0.00676491
+v -0.02397420 -0.12678952 -0.02365667
+v -0.02806699 -0.13289023 -0.01860237
+v -0.02731927 -0.13659305 -0.01362201
+v -0.02489163 -0.13606807 -0.01668418
+v -0.03366507 -0.12678968 0.01925720
+v -0.03387167 -0.13332033 0.01456823
+v -0.03405123 -0.13562419 0.01141906
+v -0.03747008 -0.13330831 0.01124508
+v -0.03507934 -0.13595115 0.00676491
+v -0.02924514 -0.12678954 -0.01982026
+v -0.03316330 -0.12678955 -0.01593600
+v -0.02918857 -0.13431516 -0.01542711
+v -0.03220898 -0.13270626 -0.01424400
+v -0.03288783 -0.13338223 -0.01114703
+v -0.03870235 -0.12678967 0.01578181
+v -0.03677893 -0.13249837 0.01391143
+v -0.03961487 -0.12969650 0.01124509
+v -0.03752420 -0.13367627 0.00676492
+v -0.03354454 -0.12678955 -0.01547059
+v -0.03761520 -0.12678959 -0.00677994
+v -0.03599432 -0.13156436 -0.00403531
+v -0.03684288 -0.13295230 0.00228476
+v -0.03879828 -0.12678967 0.01562087
+v -0.04133659 -0.12678965 0.01124510
+v -0.04113491 -0.12678965 0.01005329
+f 1 2 5
+f 1 5 10
+f 1 10 19
+f 1 19 23
+f 1 23 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 27
+f 1 27 33
+f 1 33 42
+f 1 42 43
+f 1 43 51
+f 1 51 52
+f 1 52 57
+f 1 57 56
+f 1 56 55
+f 1 55 47
+f 1 47 37
+f 1 37 28
+f 1 28 16
+f 1 16 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 7
+f 6 12 13
+f 6 13 11
+f 7 11 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 20
+f 10 20 21
+f 10 21 19
+f 11 13 22
+f 11 22 14
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 26 22
+f 13 25 26
+f 14 22 27
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 18
+f 18 30 20
+f 19 21 23
+f 20 31 32
+f 20 32 21
+f 20 30 31
+f 21 32 23
+f 22 33 27
+f 22 26 34
+f 22 34 33
+f 23 32 24
+f 24 32 35
+f 24 35 25
+f 25 36 26
+f 25 35 36
+f 26 36 34
+f 28 37 29
+f 29 38 30
+f 29 37 38
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 35
+f 33 34 42
+f 34 43 42
+f 34 36 44
+f 34 44 45
+f 34 45 43
+f 35 46 45
+f 35 45 44
+f 35 44 36
+f 35 41 46
+f 37 47 48
+f 37 48 38
+f 38 48 39
+f 39 48 40
+f 40 48 49
+f 40 49 50
+f 40 50 41
+f 41 50 46
+f 43 45 51
+f 45 46 52
+f 45 52 51
+f 46 53 52
+f 46 50 54
+f 46 54 53
+f 47 55 48
+f 48 56 49
+f 48 55 56
+f 49 56 50
+f 50 56 57
+f 50 57 52
+f 50 52 54
+f 52 53 54
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/mjcf/mesh/jewelry_box_003_collision_9.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.07841061 0.13486159 -0.06937433
+v 0.07841061 0.13483223 -0.06806960
+v 0.07842693 0.13483223 -0.06807442
+v 0.07842693 0.13485933 -0.06937433
+v 0.07841061 0.13422713 -0.07385226
+v 0.07391720 0.13429487 -0.07385226
+v 0.06942788 0.13433099 -0.07385226
+v 0.06044516 0.13483675 -0.06937433
+v 0.05913509 0.13480965 -0.06806960
+v 0.07842693 0.11473909 -0.06806968
+v 0.07842693 0.13422036 -0.07386190
+v 0.07841061 0.13278208 -0.07675660
+v 0.07391720 0.13285659 -0.07680574
+v 0.06942788 0.13289498 -0.07681634
+v 0.06493448 0.13431519 -0.07385226
+v 0.06044516 0.13411424 -0.07385226
+v 0.05595584 0.13463354 -0.06937434
+v 0.05464985 0.13463805 -0.06806961
+v 0.07842693 0.11179477 -0.06806969
+v 0.07842693 0.13277305 -0.07675949
+v 0.07842693 0.12969552 -0.07784742
+v 0.07391720 0.12969552 -0.07790524
+v 0.06942788 0.12969552 -0.07791391
+v 0.06493448 0.13287917 -0.07679225
+v 0.06044516 0.13268499 -0.07663422
+v 0.05756791 0.13233728 -0.07636344
+v 0.05602522 0.13317495 -0.07395344
+v 0.04666702 0.13301688 -0.06806961
+v 0.05011972 0.13373037 -0.06806961
+v 0.06493448 0.12234828 -0.07671616
+v 0.07841061 0.12226248 -0.07678651
+v 0.07842693 0.12225345 -0.07677687
+v 0.05595584 0.11282212 -0.06806969
+v 0.06044516 0.12237085 -0.07667666
+v 0.07842693 0.12967972 -0.07784838
+v 0.07841061 0.12514358 -0.07787731
+v 0.07391720 0.12514358 -0.07786382
+v 0.06942788 0.12514358 -0.07783587
+v 0.06493448 0.12514358 -0.07779733
+v 0.06493448 0.12969552 -0.07787344
+v 0.06044516 0.12969552 -0.07764313
+v 0.05677208 0.12969551 -0.07677106
+v 0.03673338 0.12969548 -0.06806962
+v 0.04357755 0.13204372 -0.06806961
+v 0.07842693 0.12513229 -0.07787442
+v 0.05146652 0.11408204 -0.06806968
+v 0.05744956 0.12254698 -0.07646177
+v 0.06044516 0.12514358 -0.07768555
+v 0.05668229 0.12514357 -0.07684528
+v 0.03810466 0.12514354 -0.06806964
+v 0.04697311 0.11677573 -0.06806967
+v 0.04257358 0.12059611 -0.06806966
+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 3
+f 2 9 18
+f 2 18 29
+f 2 29 28
+f 2 28 44
+f 2 44 43
+f 2 43 50
+f 2 50 52
+f 2 52 51
+f 2 51 46
+f 2 46 33
+f 2 33 19
+f 2 19 10
+f 3 10 19
+f 3 19 32
+f 3 32 45
+f 3 45 35
+f 3 35 21
+f 3 21 20
+f 3 20 11
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 16
+f 11 20 12
+f 12 20 21
+f 12 21 13
+f 13 22 14
+f 13 21 22
+f 14 23 24
+f 14 24 15
+f 14 22 23
+f 15 24 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 16 24 25
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 19 30 31
+f 19 31 32
+f 19 33 34
+f 19 34 30
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 25
+f 25 41 26
+f 25 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 28
+f 30 39 38
+f 30 38 31
+f 30 34 39
+f 31 45 32
+f 31 38 37
+f 31 37 45
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 39
+f 35 45 36
+f 36 45 37
+f 39 48 40
+f 40 48 41
+f 41 48 49
+f 41 49 42
+f 42 49 43
+f 43 49 50
+f 46 51 47
+f 47 49 48
+f 47 51 52
+f 47 52 50
+f 47 50 49
+

dataset/bedroom_supplies/storage/15e7c42e78ca5a0cb0b420caefee57d6/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff9d99c7c0cdfe311fdee48fb96114dc9c8aad13ad847d57c13d50365dca95f9
+size 603062