Add asset bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194

.gitattributes

@@ -2740,3 +2740,5 @@ dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/remote_holder_
 dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mesh/storage_bin_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/storage_bin_009.usd filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_bin_009_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mesh/storage_bin_009.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:591b29116f2949fc41a71edaff351dbbd65c7956c071c71fd1021be500396714
+size 12162124

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mesh/storage_bin_009.mtl

@@ -0,0 +1,6 @@
+newmtl storage_bin_009_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/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_0.obj

@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
+v -0.05648452 -0.05053692 -0.01796394
+v -0.05450687 -0.05448995 -0.01795968
+v -0.05648452 -0.05448995 -0.01795968
+v -0.05846218 -0.05251345 -0.01758348
+v -0.05729090 -0.04972830 -0.01780576
+v -0.05648452 -0.04972830 -0.01795966
+v -0.05450687 -0.04972830 -0.01795966
+v -0.01436362 -0.04972830 -0.01795111
+v -0.01436362 -0.05646542 -0.01795541
+v -0.05450687 -0.05646542 -0.01795541
+v -0.05648452 -0.05646542 -0.01793404
+v -0.05831802 -0.05646543 -0.01755785
+v -0.05865589 -0.05449625 -0.01750654
+v -0.05945326 -0.05384160 -0.01720302
+v -0.05945326 -0.05251345 -0.01720301
+v -0.05866039 -0.05055788 -0.01750653
+v -0.05857480 -0.04972831 -0.01753644
+v -0.01436362 -0.04972834 -0.00751177
+v -0.01436362 -0.05706455 -0.01783999
+v -0.05055606 -0.05842309 -0.01757922
+v -0.05450687 -0.05842099 -0.01757495
+v -0.05648452 -0.05828587 -0.01755357
+v -0.05794412 -0.05792556 -0.01742105
+v -0.05930459 -0.05646543 -0.01702348
+v -0.05944425 -0.05515822 -0.01719019
+v -0.05966499 -0.05449625 -0.01642498
+v -0.05971905 -0.05251345 -0.01624115
+v -0.05945326 -0.05123138 -0.01719873
+v -0.05944875 -0.04972831 -0.01719445
+v -0.01436362 -0.04988452 0.02207064
+v -0.04884870 -0.04972846 0.02365236
+v -0.01436362 -0.05841157 -0.01757922
+v -0.01497629 -0.05841261 -0.01757922
+v -0.05253372 -0.05941711 -0.01718166
+v -0.05253372 -0.05842832 -0.01757495
+v -0.05450687 -0.05940873 -0.01716884
+v -0.05648452 -0.05927361 -0.01701067
+v -0.05784050 -0.05959831 -0.01569827
+v -0.05855228 -0.05853097 -0.01633522
+v -0.05961543 -0.05781872 -0.01569398
+v -0.05970553 -0.05646543 -0.01606590
+v -0.05996231 -0.05646544 -0.01432601
+v -0.05997132 -0.05448997 -0.01432600
+v -0.05996231 -0.05053694 -0.01432599
+v -0.05995781 -0.04972832 -0.01432598
+v -0.05968301 -0.04972831 -0.01634802
+v -0.01436362 -0.05008563 0.02339587
+v -0.05075878 -0.04972846 0.02533240
+v -0.05253372 -0.04972846 0.02566584
+v -0.01436362 -0.05940035 -0.01715601
+v -0.01497629 -0.05940139 -0.01716029
+v -0.05253372 -0.05970306 -0.01622408
+v -0.05450687 -0.05970306 -0.01621126
+v -0.01497629 -0.05970620 -0.01620271
+v -0.02881537 -0.05970620 -0.01620698
+v -0.05648452 -0.05969153 -0.01605309
+v -0.05807025 -0.05969154 -0.01432602
+v -0.05905683 -0.05902956 -0.01432602
+v -0.05648452 -0.05996178 -0.01432602
+v -0.05970553 -0.05804078 -0.01432601
+v -0.06030019 -0.05646547 -0.00666109
+v -0.06033622 -0.05449000 -0.00666108
+v -0.06037226 -0.05053697 -0.00666107
+v -0.06027766 -0.05053696 -0.00857623
+v -0.06033172 -0.04972835 -0.00666106
+v -0.01436362 -0.05017572 0.02398580
+v -0.05450687 -0.04972846 0.02570432
+v -0.01436362 -0.05099586 0.02530247
+v -0.01436362 -0.05949462 -0.01686104
+v -0.01436362 -0.05970620 -0.01619843
+v -0.05450687 -0.05997226 -0.01432602
+v -0.01497629 -0.05998064 -0.01432602
+v -0.03078852 -0.05997750 -0.01432602
+v -0.01436362 -0.05979104 -0.01562132
+v -0.05648452 -0.06031061 -0.00666110
+v -0.05833604 -0.05985498 -0.00666110
+v -0.05932712 -0.05930088 -0.00666110
+v -0.05055606 -0.06030432 -0.00857626
+v -0.05055606 -0.06040698 -0.00666110
+v -0.05450687 -0.06026870 -0.00857626
+v -0.05985870 -0.05831315 -0.00666109
+v -0.06030919 -0.05646547 -0.00474593
+v -0.06034523 -0.05449000 -0.00474592
+v -0.06038577 -0.05053698 -0.00283075
+v -0.06034072 -0.04972836 -0.00283074
+v -0.05648452 -0.04972846 0.02570004
+v -0.05648452 -0.05449011 0.02570430
+v -0.05450687 -0.05646558 0.02570856
+v -0.01436362 -0.05646558 0.02570429
+v -0.01436362 -0.05449011 0.02570002
+v -0.01436362 -0.05251360 0.02567866
+v -0.01436362 -0.05204539 0.02556324
+v -0.01436362 -0.05997959 -0.01432602
+v -0.05450687 -0.06035251 -0.00666110
+v -0.05648452 -0.06031795 -0.00283078
+v -0.05834956 -0.05985917 -0.00283078
+v -0.05933613 -0.05931346 -0.00283078
+v -0.05055606 -0.06042695 0.01249052
+v -0.05450687 -0.06035776 -0.00283078
+v -0.05986771 -0.05832573 -0.00283077
+v -0.06031370 -0.05646548 -0.00283077
+v -0.06034973 -0.05449001 -0.00283076
+v -0.06031820 -0.05449007 0.01440570
+v -0.06034973 -0.05053704 0.01440571
+v -0.06031370 -0.04972842 0.01440572
+v -0.05765580 -0.04972846 0.02552477
+v -0.05846218 -0.05251360 0.02540079
+v -0.05846218 -0.05449011 0.02539651
+v -0.05648452 -0.05646558 0.02568719
+v -0.05450687 -0.05844209 0.02535802
+v -0.05253372 -0.05844209 0.02536230
+v -0.04857841 -0.05844209 0.02536657
+v -0.01436362 -0.05844209 0.02536657
+v -0.01436362 -0.05998181 0.02207060
+v -0.05450687 -0.06036827 0.00866020
+v -0.05648452 -0.06031487 0.01440568
+v -0.05831802 -0.05985505 0.01440568
+v -0.05930459 -0.05927581 0.01440568
+v -0.05984518 -0.05828808 0.01440569
+v -0.05055606 -0.06042380 0.01440568
+v -0.05450687 -0.06036305 0.01440568
+v -0.06027766 -0.05646554 0.01440569
+v -0.06000736 -0.05646557 0.02207061
+v -0.06001187 -0.05449010 0.02207062
+v -0.06000286 -0.05053707 0.02207063
+v -0.05999835 -0.04972845 0.02207064
+v -0.05846218 -0.04972846 0.02540080
+v -0.05952984 -0.05251360 0.02502460
+v -0.05952084 -0.05449011 0.02501604
+v -0.05949380 -0.05573761 0.02498611
+v -0.05858381 -0.05642473 0.02525970
+v -0.05800718 -0.05796446 0.02517420
+v -0.05636289 -0.05855102 0.02524686
+v -0.05561958 -0.05944868 0.02496472
+v -0.05450687 -0.05946230 0.02497754
+v -0.05253372 -0.05946753 0.02498182
+v -0.03276618 -0.05946858 0.02498609
+v -0.02881537 -0.05946963 0.02498609
+v -0.01497629 -0.05947067 0.02498609
+v -0.01436362 -0.05947067 0.02498609
+v -0.01436362 -0.05974720 0.02398576
+v -0.01695395 -0.05998181 0.02207060
+v -0.05648452 -0.05997239 0.02207060
+v -0.05810179 -0.05970006 0.02207060
+v -0.05909286 -0.05907369 0.02207060
+v -0.05972355 -0.05808595 0.02207061
+v -0.05450687 -0.05997658 0.02207060
+v -0.05450687 -0.06027298 0.01632512
+v -0.03078852 -0.05998077 0.02207060
+v -0.05963345 -0.05785867 0.02351981
+v -0.05970553 -0.05642473 0.02408837
+v -0.05981365 -0.05449011 0.02398578
+v -0.05981816 -0.05251360 0.02398579
+v -0.05981816 -0.04972846 0.02398580
+v -0.05992627 -0.04972845 0.02285295
+v -0.05952984 -0.04972846 0.02502461
+v -0.05970103 -0.04972846 0.02441329
+v -0.05932712 -0.05705528 0.02479801
+v -0.05859733 -0.05856988 0.02413966
+v -0.05693501 -0.05928214 0.02476380
+v -0.05787204 -0.05960579 0.02348560
+v -0.05636289 -0.05965607 0.02407126
+v -0.05450687 -0.05973673 0.02398576
+v -0.05253372 -0.05974196 0.02398576
+v -0.04857841 -0.05946858 0.02498182
+v -0.01497629 -0.05974720 0.02398576
+v -0.03276618 -0.05974510 0.02398576
+v -0.04660075 -0.05974301 0.02398576
+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 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 4 11 12
+f 5 17 29
+f 5 29 46
+f 5 46 45
+f 5 45 65
+f 5 65 85
+f 5 85 105
+f 5 105 126
+f 5 126 155
+f 5 155 154
+f 5 154 157
+f 5 157 156
+f 5 156 127
+f 5 127 106
+f 5 106 86
+f 5 86 67
+f 5 67 49
+f 5 49 48
+f 5 48 31
+f 5 31 18
+f 5 18 8
+f 5 8 7
+f 5 7 6
+f 8 18 30
+f 8 30 47
+f 8 47 66
+f 8 66 68
+f 8 68 92
+f 8 92 91
+f 8 91 90
+f 8 90 89
+f 8 89 113
+f 8 113 140
+f 8 140 141
+f 8 141 114
+f 8 114 93
+f 8 93 74
+f 8 74 70
+f 8 70 69
+f 8 69 50
+f 8 50 32
+f 8 32 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 18 31 30
+f 19 32 33
+f 19 33 20
+f 20 34 35
+f 20 35 21
+f 20 33 34
+f 21 35 34
+f 21 34 36
+f 21 36 22
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 40 41
+f 24 41 25
+f 24 39 40
+f 25 41 26
+f 26 41 27
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 27 41 42
+f 28 46 29
+f 30 31 48
+f 30 48 49
+f 30 49 47
+f 32 50 51
+f 32 51 34
+f 32 34 33
+f 34 52 53
+f 34 53 36
+f 34 51 54
+f 34 54 55
+f 34 55 52
+f 36 53 56
+f 36 56 37
+f 37 56 38
+f 38 57 58
+f 38 58 40
+f 38 40 39
+f 38 56 59
+f 38 59 57
+f 40 60 42
+f 40 42 41
+f 40 58 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 43 64 44
+f 44 64 45
+f 45 64 63
+f 45 63 65
+f 47 49 66
+f 49 67 68
+f 49 68 66
+f 50 69 51
+f 51 69 70
+f 51 70 54
+f 52 71 53
+f 52 55 72
+f 52 72 73
+f 52 73 71
+f 53 71 59
+f 53 59 56
+f 54 70 74
+f 54 74 72
+f 54 72 55
+f 57 59 75
+f 57 75 76
+f 57 76 77
+f 57 77 58
+f 58 77 60
+f 59 71 78
+f 59 78 79
+f 59 79 80
+f 59 80 75
+f 60 77 81
+f 60 81 61
+f 61 82 83
+f 61 83 62
+f 61 81 82
+f 62 83 63
+f 63 83 84
+f 63 84 65
+f 65 84 85
+f 67 86 87
+f 67 87 88
+f 67 88 89
+f 67 89 90
+f 67 90 91
+f 67 91 92
+f 67 92 68
+f 71 73 78
+f 72 74 93
+f 72 93 79
+f 72 79 78
+f 72 78 73
+f 75 80 94
+f 75 94 95
+f 75 95 96
+f 75 96 76
+f 76 96 97
+f 76 97 77
+f 77 97 100
+f 77 100 81
+f 79 98 99
+f 79 99 94
+f 79 94 80
+f 79 93 98
+f 81 100 82
+f 82 100 101
+f 82 101 102
+f 82 102 83
+f 83 102 84
+f 84 102 103
+f 84 103 104
+f 84 104 105
+f 84 105 85
+f 86 106 87
+f 87 106 107
+f 87 107 108
+f 87 108 109
+f 87 109 88
+f 88 109 110
+f 88 110 111
+f 88 111 112
+f 88 112 113
+f 88 113 89
+f 93 114 98
+f 94 99 95
+f 95 99 115
+f 95 115 116
+f 95 116 96
+f 96 116 117
+f 96 117 97
+f 97 118 119
+f 97 119 100
+f 97 117 118
+f 98 120 121
+f 98 121 115
+f 98 115 99
+f 98 114 120
+f 100 119 101
+f 101 119 122
+f 101 122 103
+f 101 103 102
+f 103 122 123
+f 103 123 104
+f 104 123 124
+f 104 124 125
+f 104 125 126
+f 104 126 105
+f 106 127 107
+f 107 128 108
+f 107 127 156
+f 107 156 128
+f 108 128 129
+f 108 129 130
+f 108 130 131
+f 108 131 109
+f 109 131 132
+f 109 132 133
+f 109 133 110
+f 110 133 134
+f 110 134 135
+f 110 135 136
+f 110 136 111
+f 111 136 112
+f 112 136 137
+f 112 137 138
+f 112 138 139
+f 112 139 140
+f 112 140 113
+f 114 141 166
+f 114 166 142
+f 114 142 120
+f 115 121 116
+f 116 143 144
+f 116 144 117
+f 116 121 143
+f 117 144 118
+f 118 145 146
+f 118 146 119
+f 118 144 145
+f 119 146 122
+f 120 147 143
+f 120 143 148
+f 120 148 121
+f 120 142 149
+f 120 149 147
+f 121 148 143
+f 122 146 123
+f 123 146 150
+f 123 150 151
+f 123 151 152
+f 123 152 124
+f 124 152 153
+f 124 153 154
+f 124 154 125
+f 125 154 155
+f 125 155 126
+f 128 156 157
+f 128 157 153
+f 128 153 152
+f 128 152 129
+f 129 152 130
+f 130 152 151
+f 130 151 158
+f 130 158 131
+f 131 158 132
+f 132 158 159
+f 132 159 160
+f 132 160 133
+f 133 160 134
+f 134 160 161
+f 134 161 162
+f 134 162 163
+f 134 163 135
+f 135 163 136
+f 136 163 164
+f 136 164 165
+f 136 165 138
+f 136 138 137
+f 138 166 139
+f 138 165 166
+f 139 166 141
+f 139 141 140
+f 142 166 149
+f 143 162 161
+f 143 161 144
+f 143 147 164
+f 143 164 163
+f 143 163 162
+f 144 161 145
+f 145 150 146
+f 145 161 150
+f 147 149 164
+f 149 166 167
+f 149 167 168
+f 149 168 164
+f 150 161 159
+f 150 159 158
+f 150 158 151
+f 153 157 154
+f 159 161 160
+f 164 168 165
+f 165 168 167
+f 165 167 166
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_1.obj

@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
+v 0.02276741 -0.05646518 -0.01795555
+v -0.01436362 -0.05706350 -0.01783587
+v -0.01436362 -0.05646518 -0.01795128
+v -0.01436362 -0.05509683 -0.01795127
+v -0.01101526 -0.05448987 -0.01795127
+v 0.03373164 -0.04982429 -0.01795125
+v 0.02456196 -0.05646518 -0.01795555
+v 0.03840038 -0.05842214 -0.01757941
+v 0.03642346 -0.05842106 -0.01757941
+v -0.01436362 -0.05841134 -0.01757514
+v -0.01436362 -0.04947113 -0.01794697
+v 0.05619263 -0.04982429 -0.01795125
+v 0.05223880 -0.05646518 -0.01795128
+v 0.05026188 -0.05841998 -0.01757941
+v 0.05619263 -0.05251348 -0.01795126
+v 0.03840038 -0.05941034 -0.01717335
+v 0.03642346 -0.05941034 -0.01717335
+v -0.01436362 -0.05939954 -0.01715198
+v -0.01436362 -0.04947117 -0.00792786
+v 0.02276741 -0.04947113 -0.01794697
+v 0.05738170 -0.04982429 -0.01771616
+v 0.05619263 -0.05448987 -0.01794699
+v 0.05421572 -0.05646518 -0.01794700
+v 0.05421572 -0.05840810 -0.01757514
+v 0.05223880 -0.05841998 -0.01757514
+v 0.05223880 -0.05940818 -0.01716908
+v 0.05805283 -0.05251349 -0.01757939
+v 0.03840038 -0.05970626 -0.01621590
+v -0.01436362 -0.05970518 -0.01619452
+v -0.01436362 -0.05949458 -0.01685705
+v -0.01436362 -0.04988600 0.02206964
+v -0.00560245 -0.04947129 0.02398456
+v 0.02276741 -0.04947117 -0.00793213
+v 0.06013187 -0.04982435 -0.00282854
+v 0.06012458 -0.04982434 -0.00474773
+v 0.06011729 -0.04982434 -0.00666265
+v 0.06001516 -0.04982433 -0.00857756
+v 0.05956288 -0.04982431 -0.01432659
+v 0.05936592 -0.04982430 -0.01604488
+v 0.05924920 -0.04982430 -0.01639111
+v 0.05903764 -0.04982430 -0.01700661
+v 0.05804554 -0.04982430 -0.01757938
+v 0.05805283 -0.05053710 -0.01757939
+v 0.05804554 -0.05448988 -0.01757513
+v 0.05619263 -0.05646518 -0.01792136
+v 0.05619263 -0.05826014 -0.01754521
+v 0.05421572 -0.05939630 -0.01715198
+v 0.05421572 -0.05970086 -0.01619452
+v 0.05223880 -0.05970194 -0.01621162
+v 0.05904494 -0.05251349 -0.01701517
+v 0.03642346 -0.05997950 -0.01432663
+v 0.03049271 -0.05997950 -0.01432663
+v -0.01436362 -0.05997950 -0.01432235
+v 0.03246962 -0.05970733 -0.01620735
+v -0.01436362 -0.05008581 0.02339470
+v -0.00471247 -0.04947129 0.02524122
+v -0.00541278 -0.04947129 0.02429659
+v 0.00533260 -0.04947129 0.02413416
+v 0.05918354 -0.04982445 0.02497194
+v 0.05927108 -0.04982445 0.02461289
+v 0.05941697 -0.04982445 0.02398456
+v 0.05960665 -0.04982444 0.02206964
+v 0.06005163 -0.04982442 0.01562817
+v 0.06013187 -0.04982441 0.01440570
+v 0.06016106 -0.05053721 0.01440569
+v 0.06015376 -0.05053715 -0.00282855
+v 0.06014647 -0.05053714 -0.00666266
+v 0.06004434 -0.05053713 -0.00857757
+v 0.05957017 -0.05448989 -0.01432661
+v 0.05936592 -0.05053710 -0.01604917
+v 0.05791423 -0.05646519 -0.01754521
+v 0.05903035 -0.05448988 -0.01699808
+v 0.05759325 -0.05790050 -0.01740843
+v 0.05619263 -0.05924834 -0.01698528
+v 0.05619263 -0.05968574 -0.01602782
+v 0.05421572 -0.05996763 -0.01432663
+v 0.05619263 -0.05995143 -0.01432663
+v 0.05223880 -0.05996978 -0.01432663
+v 0.03840038 -0.05997842 -0.01432663
+v 0.05936592 -0.05251349 -0.01605772
+v 0.05936592 -0.05448988 -0.01604063
+v 0.05026188 -0.06038237 -0.00857760
+v -0.01436362 -0.05998072 0.02206960
+v 0.05026188 -0.06049901 -0.00666269
+v 0.05026188 -0.06050225 -0.00474777
+v 0.05026188 -0.06050340 0.01440566
+v -0.01436362 -0.05017653 0.02398456
+v -0.00400487 -0.04947129 0.02544212
+v 0.00447181 -0.04947129 0.02527969
+v 0.05918354 -0.05053725 0.02497193
+v 0.05816955 -0.04982445 0.02534808
+v 0.05918354 -0.05251364 0.02496765
+v 0.05941697 -0.05251364 0.02398455
+v 0.05961394 -0.05251363 0.02206963
+v 0.06002975 -0.05053722 0.01632061
+v 0.06014647 -0.05448999 0.01440568
+v 0.06014647 -0.05448993 -0.00282856
+v 0.06002975 -0.05449000 0.01632060
+v 0.06014647 -0.05251353 -0.00474774
+v 0.06013187 -0.05448992 -0.00666267
+v 0.06004434 -0.05448991 -0.00857758
+v 0.05956288 -0.05646520 -0.01432662
+v 0.05890634 -0.05646519 -0.01685277
+v 0.05935862 -0.05646519 -0.01589531
+v 0.05928567 -0.05774822 -0.01560893
+v 0.05821332 -0.05848262 -0.01628000
+v 0.05751301 -0.05959070 -0.01567733
+v 0.05421572 -0.06036508 -0.00857760
+v 0.05772456 -0.05968358 -0.01432663
+v 0.05619263 -0.06043745 -0.00666269
+v 0.05421572 -0.06048497 -0.00666269
+v 0.05026188 -0.06038461 0.01632058
+v -0.00903835 -0.05998072 0.02206960
+v -0.01436362 -0.05990944 0.02265946
+v 0.05421572 -0.06048822 -0.00474777
+v 0.05421572 -0.06048829 0.01248647
+v 0.05421572 -0.06048720 0.01440566
+v 0.05421572 -0.06037381 0.01632058
+v -0.01436362 -0.05099624 0.02529678
+v -0.00310759 -0.04947129 0.02557890
+v 0.00282316 -0.04947129 0.02562591
+v 0.05816955 -0.05053725 0.02534807
+v 0.05619263 -0.04982445 0.02569858
+v 0.05816955 -0.05251364 0.02534380
+v 0.05816955 -0.05449003 0.02533524
+v 0.05917624 -0.05449003 0.02495909
+v 0.05940968 -0.05449003 0.02398454
+v 0.05961394 -0.05449002 0.02206962
+v 0.06009541 -0.05646530 0.01440567
+v 0.06009541 -0.05646524 -0.00282857
+v 0.05960665 -0.05646533 0.02206961
+v 0.06008082 -0.05646523 -0.00666268
+v 0.05997868 -0.05646522 -0.00857759
+v 0.05935862 -0.05793832 -0.01432662
+v 0.05870937 -0.05892759 -0.01432663
+v 0.05903764 -0.05930454 -0.00666269
+v 0.05805283 -0.05990934 -0.00666269
+v 0.05619263 -0.06043962 -0.00474777
+v 0.05026188 -0.05997532 0.02206960
+v 0.03444654 -0.05997855 0.02206960
+v 0.01666158 -0.05997963 0.02206960
+v 0.05421572 -0.05996883 0.02206960
+v 0.05223880 -0.05997315 0.02206960
+v -0.01436362 -0.05974636 0.02398452
+v 0.04037730 -0.05974636 0.02398452
+v 0.05619263 -0.06044178 -0.00282858
+v 0.05619263 -0.06044184 0.01248647
+v 0.05619263 -0.06044077 0.01440566
+v 0.05619263 -0.05995696 0.02206960
+v -0.01436362 -0.05204600 0.02555752
+v -0.00204254 -0.04947129 0.02566011
+v 0.00084624 -0.04947129 0.02569858
+v 0.05619263 -0.05053725 0.02569857
+v 0.05619263 -0.05449003 0.02569429
+v 0.02276741 -0.05646534 0.02570282
+v 0.05826438 -0.05628714 0.02523264
+v 0.05916166 -0.05551062 0.02494627
+v 0.05619263 -0.05646534 0.02567718
+v 0.05934403 -0.05628714 0.02403582
+v 0.05938051 -0.05798164 0.02206961
+v 0.05959935 -0.05832073 0.01440567
+v 0.05959935 -0.05832828 0.01057157
+v 0.05959935 -0.05831959 -0.00282857
+v 0.05959206 -0.05831634 -0.00666268
+v 0.05930756 -0.05779049 0.02343313
+v 0.05905223 -0.05931648 0.01057156
+v 0.05805283 -0.05991367 -0.00282858
+v 0.05026188 -0.05974529 0.02398452
+v 0.05223880 -0.05974204 0.02398452
+v -0.01436362 -0.05946989 0.02498472
+v 0.04433113 -0.05947204 0.02498472
+v 0.04630804 -0.05947204 0.02498472
+v 0.05806013 -0.05991372 0.01057156
+v 0.05805283 -0.05991373 0.01440566
+v 0.05774645 -0.05968804 0.02206960
+v 0.05753490 -0.05959841 0.02346305
+v 0.05603214 -0.05964485 0.02405291
+v 0.05421572 -0.05972477 0.02398452
+v -0.01436362 -0.05251364 0.02567292
+v -0.00113068 -0.04947129 0.02569431
+v -0.00006562 -0.04947129 0.02569858
+v 0.05421572 -0.05646534 0.02569855
+v -0.00706143 -0.05646534 0.02570282
+v -0.00706143 -0.05844173 0.02536942
+v 0.05026188 -0.05844173 0.02536515
+v 0.05766620 -0.05794925 0.02516853
+v 0.05897928 -0.05682822 0.02471117
+v 0.05421572 -0.05844173 0.02534378
+v 0.05603214 -0.05854109 0.02523263
+v 0.05873126 -0.05897092 0.02206960
+v 0.05904494 -0.05930893 0.01440566
+v 0.05825709 -0.05852921 0.02408711
+v 0.05026188 -0.05947097 0.02498472
+v 0.05223880 -0.05946881 0.02498045
+v 0.05421572 -0.05945692 0.02496762
+v -0.01436362 -0.05915237 0.02510440
+v 0.05659385 -0.05926577 0.02474108
+v 0.05527348 -0.05944073 0.02495052
+v -0.01436362 -0.05449003 0.02569429
+v -0.01436362 -0.05585622 0.02569855
+v 0.05223880 -0.05844173 0.02536087
+v -0.01436362 -0.05646534 0.02569855
+v -0.01436362 -0.05783261 0.02547201
+v -0.01101526 -0.05844173 0.02536942
+v -0.01436362 -0.05844173 0.02536087
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 18
+f 2 18 30
+f 2 30 29
+f 2 29 53
+f 2 53 83
+f 2 83 114
+f 2 114 144
+f 2 144 170
+f 2 170 196
+f 2 196 205
+f 2 205 203
+f 2 203 202
+f 2 202 200
+f 2 200 199
+f 2 199 179
+f 2 179 150
+f 2 150 119
+f 2 119 87
+f 2 87 55
+f 2 55 31
+f 2 31 19
+f 2 19 11
+f 2 11 4
+f 2 4 3
+f 2 9 10
+f 4 11 5
+f 5 11 6
+f 6 11 20
+f 6 20 12
+f 7 13 14
+f 7 14 8
+f 7 12 15
+f 7 15 13
+f 8 16 17
+f 8 17 10
+f 8 10 9
+f 8 14 16
+f 10 17 18
+f 11 19 32
+f 11 32 57
+f 11 57 56
+f 11 56 88
+f 11 88 120
+f 11 120 151
+f 11 151 180
+f 11 180 181
+f 11 181 152
+f 11 152 121
+f 11 121 89
+f 11 89 58
+f 11 58 33
+f 11 33 20
+f 12 21 15
+f 12 20 21
+f 13 15 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 16
+f 15 21 27
+f 15 27 22
+f 16 28 17
+f 16 26 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 19 31 32
+f 20 33 64
+f 20 64 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 21
+f 21 42 43
+f 21 43 27
+f 22 27 44
+f 22 44 45
+f 22 45 23
+f 23 45 24
+f 24 45 46
+f 24 46 47
+f 24 47 26
+f 24 26 25
+f 26 47 48
+f 26 48 49
+f 26 49 28
+f 27 43 50
+f 27 50 44
+f 28 51 52
+f 28 52 53
+f 28 53 54
+f 28 54 29
+f 28 49 51
+f 29 54 53
+f 31 55 56
+f 31 56 57
+f 31 57 32
+f 33 58 59
+f 33 59 60
+f 33 60 61
+f 33 61 62
+f 33 62 63
+f 33 63 64
+f 34 64 65
+f 34 65 66
+f 34 66 67
+f 34 67 35
+f 35 67 36
+f 36 67 68
+f 36 68 37
+f 37 68 38
+f 38 68 69
+f 38 69 39
+f 39 70 50
+f 39 50 40
+f 39 69 70
+f 40 50 41
+f 41 50 43
+f 41 43 42
+f 44 71 45
+f 44 50 72
+f 44 72 71
+f 45 71 73
+f 45 73 46
+f 46 73 74
+f 46 74 47
+f 47 74 75
+f 47 75 48
+f 48 76 49
+f 48 75 77
+f 48 77 76
+f 49 76 78
+f 49 78 79
+f 49 79 51
+f 50 70 80
+f 50 80 81
+f 50 81 72
+f 51 79 82
+f 51 82 52
+f 52 82 53
+f 53 82 84
+f 53 84 85
+f 53 85 86
+f 53 86 83
+f 55 87 56
+f 56 87 88
+f 58 89 59
+f 59 90 60
+f 59 89 91
+f 59 91 122
+f 59 122 90
+f 60 90 92
+f 60 92 93
+f 60 93 61
+f 61 93 128
+f 61 128 94
+f 61 94 62
+f 62 94 95
+f 62 95 63
+f 63 95 65
+f 63 65 64
+f 65 96 97
+f 65 97 66
+f 65 95 98
+f 65 98 96
+f 66 97 99
+f 66 99 67
+f 67 99 100
+f 67 100 101
+f 67 101 68
+f 68 101 69
+f 69 101 102
+f 69 102 81
+f 69 81 80
+f 69 80 70
+f 71 72 103
+f 71 103 73
+f 72 81 104
+f 72 104 103
+f 73 103 105
+f 73 105 106
+f 73 106 107
+f 73 107 74
+f 74 107 75
+f 75 107 77
+f 76 77 108
+f 76 108 82
+f 76 82 78
+f 77 107 109
+f 77 109 110
+f 77 110 108
+f 78 82 79
+f 81 102 104
+f 82 108 111
+f 82 111 84
+f 83 86 112
+f 83 112 113
+f 83 113 114
+f 84 111 115
+f 84 115 85
+f 85 115 86
+f 86 115 116
+f 86 116 117
+f 86 117 118
+f 86 118 112
+f 87 119 88
+f 88 119 120
+f 89 121 91
+f 90 122 124
+f 90 124 92
+f 91 123 153
+f 91 153 122
+f 91 121 123
+f 92 124 125
+f 92 125 126
+f 92 126 127
+f 92 127 93
+f 93 127 128
+f 94 128 98
+f 94 98 95
+f 96 129 130
+f 96 130 97
+f 96 98 129
+f 97 130 132
+f 97 132 100
+f 97 100 99
+f 98 128 131
+f 98 131 129
+f 100 132 101
+f 101 133 102
+f 101 132 133
+f 102 134 105
+f 102 105 104
+f 102 133 134
+f 103 104 105
+f 105 134 135
+f 105 135 107
+f 105 107 106
+f 107 135 109
+f 108 110 111
+f 109 135 136
+f 109 136 137
+f 109 137 110
+f 110 137 138
+f 110 138 115
+f 110 115 111
+f 112 139 140
+f 112 140 141
+f 112 141 113
+f 112 118 142
+f 112 142 143
+f 112 143 139
+f 113 141 114
+f 114 141 145
+f 114 145 144
+f 115 138 146
+f 115 146 147
+f 115 147 116
+f 116 147 148
+f 116 148 117
+f 117 148 118
+f 118 148 149
+f 118 149 142
+f 119 150 151
+f 119 151 120
+f 121 152 123
+f 122 153 154
+f 122 154 124
+f 123 152 155
+f 123 155 153
+f 124 154 125
+f 125 156 157
+f 125 157 126
+f 125 154 158
+f 125 158 156
+f 126 157 127
+f 127 157 159
+f 127 159 131
+f 127 131 128
+f 129 131 160
+f 129 160 161
+f 129 161 162
+f 129 162 130
+f 130 162 163
+f 130 163 164
+f 130 164 132
+f 131 159 165
+f 131 165 160
+f 132 164 134
+f 132 134 133
+f 134 136 135
+f 134 164 136
+f 136 164 163
+f 136 163 166
+f 136 166 137
+f 137 167 138
+f 137 166 167
+f 138 167 146
+f 139 168 140
+f 139 143 168
+f 140 168 145
+f 140 145 141
+f 142 169 143
+f 142 149 169
+f 143 169 168
+f 144 145 172
+f 144 172 171
+f 144 171 170
+f 145 168 172
+f 146 167 173
+f 146 173 147
+f 147 173 174
+f 147 174 148
+f 148 174 175
+f 148 175 149
+f 149 175 176
+f 149 176 177
+f 149 177 178
+f 149 178 169
+f 150 179 151
+f 151 179 180
+f 152 181 183
+f 152 183 155
+f 153 155 182
+f 153 182 154
+f 154 182 158
+f 155 183 204
+f 155 204 184
+f 155 184 185
+f 155 185 182
+f 156 158 186
+f 156 186 157
+f 157 187 165
+f 157 165 159
+f 157 186 187
+f 158 182 188
+f 158 188 189
+f 158 189 186
+f 160 165 190
+f 160 190 191
+f 160 191 161
+f 161 191 166
+f 161 166 162
+f 162 166 163
+f 165 187 192
+f 165 192 176
+f 165 176 190
+f 166 191 174
+f 166 174 173
+f 166 173 167
+f 168 193 172
+f 168 169 193
+f 169 194 193
+f 169 178 195
+f 169 195 194
+f 170 171 196
+f 171 172 196
+f 172 193 185
+f 172 185 184
+f 172 184 196
+f 174 191 175
+f 175 191 190
+f 175 190 176
+f 176 197 198
+f 176 198 177
+f 176 192 197
+f 177 198 178
+f 178 198 195
+f 179 199 180
+f 180 199 181
+f 181 199 200
+f 181 200 183
+f 182 201 188
+f 182 185 201
+f 183 200 202
+f 183 202 203
+f 183 203 204
+f 184 204 196
+f 185 193 201
+f 186 189 198
+f 186 198 197
+f 186 197 192
+f 186 192 187
+f 188 195 198
+f 188 198 189
+f 188 201 194
+f 188 194 195
+f 193 194 201
+f 196 204 205
+f 203 205 204
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_10.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02060865 0.05973269 -0.01432673
+v 0.02258652 0.05972950 -0.01049556
+v 0.02653907 0.05972950 -0.01049556
+v 0.02758224 0.05972950 -0.01150368
+v 0.02758224 0.05972951 -0.01432673
+v 0.02758224 0.05958348 -0.01533056
+v 0.02758224 0.05945014 -0.01623332
+v 0.01467823 0.05945014 -0.01622989
+v -0.00500796 0.05944696 -0.01621876
+v -0.00500796 0.05972634 -0.01432673
+v -0.00500796 0.05972315 -0.01049556
+v 0.01928475 0.05972632 -0.00921080
+v 0.02758224 0.05972632 -0.00921080
+v 0.02758224 0.05916123 -0.01719175
+v 0.02653907 0.05916123 -0.01719090
+v -0.00500796 0.05915170 -0.01717634
+v 0.01467823 0.05915805 -0.01718747
+v -0.00500796 0.05971997 -0.00921080
+v 0.02758224 0.04636668 -0.00921085
+v 0.02758224 0.05817386 -0.01758062
+v 0.02653907 0.05817386 -0.01758062
+v 0.02258652 0.05817068 -0.01758148
+v 0.01467823 0.05817068 -0.01758062
+v -0.00500796 0.05816116 -0.01757890
+v -0.00500796 0.02730190 -0.00921092
+v 0.02758224 0.02729872 -0.00924604
+v 0.00855321 0.02729872 -0.00921092
+v 0.02758224 0.05713571 -0.01778018
+v 0.02653907 0.05620231 -0.01796005
+v 0.01467823 0.05620231 -0.01796091
+v -0.00500796 0.05620231 -0.01795748
+v 0.00282058 0.05816434 -0.01757976
+v -0.00500796 0.05808179 -0.01759432
+v -0.00500796 0.02729876 -0.01795331
+v -0.00069493 0.02729872 -0.00921092
+v 0.02758224 0.02729876 -0.01795331
+v 0.02758224 0.05620231 -0.01795920
+v 0.02758224 0.02749243 -0.01795417
+v 0.02258652 0.02729876 -0.01795417
+v 0.00875100 0.02729876 -0.01795417
+v -0.00500796 0.05414502 -0.01795749
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 3
+f 2 11 12
+f 3 13 4
+f 4 13 19
+f 4 19 26
+f 4 26 36
+f 4 36 38
+f 4 38 37
+f 4 37 28
+f 4 28 20
+f 4 20 14
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 16 24
+f 9 24 33
+f 9 33 31
+f 9 31 41
+f 9 41 34
+f 9 34 25
+f 9 25 18
+f 9 18 11
+f 9 11 10
+f 9 15 17
+f 9 17 16
+f 11 18 12
+f 12 18 25
+f 12 25 35
+f 12 35 27
+f 12 27 19
+f 12 19 13
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 17
+f 14 17 15
+f 16 17 24
+f 19 27 26
+f 20 28 29
+f 20 29 30
+f 20 30 22
+f 20 22 21
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 24 32 33
+f 25 34 35
+f 26 27 35
+f 26 35 34
+f 26 34 40
+f 26 40 39
+f 26 39 36
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 34
+f 30 34 41
+f 30 41 31
+f 31 33 32
+f 36 39 38
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_11.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.05955833 0.02729874 -0.01432666
+v 0.05952982 0.02729872 -0.00772885
+v 0.05956150 0.01864690 -0.01432669
+v 0.05936507 0.02729875 -0.01603320
+v 0.05952982 -0.00503019 -0.00772897
+v 0.04940763 0.02729872 -0.00772885
+v 0.05955833 -0.00503017 -0.01432678
+v 0.05936507 0.00678939 -0.01603127
+v 0.05924152 0.02729875 -0.01639373
+v 0.02719585 -0.00503019 -0.00772897
+v 0.02719585 0.02729872 -0.00924611
+v 0.02719585 0.00519126 -0.00772893
+v 0.05936191 -0.00503016 -0.01602430
+v 0.05935557 -0.00503016 -0.01604433
+v 0.05903242 0.00481155 -0.01698670
+v 0.05903242 0.00678939 -0.01698870
+v 0.05903242 0.02729875 -0.01699162
+v 0.02719585 -0.00503015 -0.01794917
+v 0.02719585 0.02729876 -0.01795405
+v 0.05902608 -0.00503016 -0.01698173
+v 0.05900708 -0.00503016 -0.01699475
+v 0.05803763 -0.00503016 -0.01757861
+v 0.05804396 0.00481155 -0.01757958
+v 0.05804396 0.02729875 -0.01757950
+v 0.02719585 0.00218183 -0.01795214
+v 0.02847894 -0.00503015 -0.01795017
+v 0.02719585 0.02705193 -0.01795405
+v 0.03172944 0.02729876 -0.01795505
+v 0.05799961 -0.00503016 -0.01758663
+v 0.05619377 0.00678940 -0.01795714
+v 0.05619377 0.02729876 -0.01795906
+v 0.05734697 0.02729876 -0.01772271
+v 0.03049704 0.00283689 -0.01795314
+v 0.03243277 -0.00503015 -0.01795117
+v 0.05619377 -0.00503015 -0.01795417
+v 0.05619377 0.00283689 -0.01795615
+v 0.05615259 -0.00503015 -0.01795417
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 24
+f 1 24 32
+f 1 32 31
+f 1 31 28
+f 1 28 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 18
+f 5 18 26
+f 5 26 34
+f 5 34 37
+f 5 37 35
+f 5 35 29
+f 5 29 22
+f 5 22 21
+f 5 21 20
+f 5 20 14
+f 5 14 13
+f 5 13 7
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 12 11
+f 10 11 19
+f 10 19 27
+f 10 27 25
+f 10 25 18
+f 14 20 15
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 18 25 26
+f 19 28 27
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 25 27 33
+f 25 33 34
+f 25 34 26
+f 27 28 33
+f 28 31 33
+f 29 35 36
+f 29 36 30
+f 30 36 33
+f 30 33 31
+f 33 36 37
+f 33 37 34
+f 35 37 36
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_12.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00084120 -0.02484037 0.02570709
+v 0.00281810 -0.00503031 0.02562166
+v 0.00088358 -0.00503031 0.02570083
+v 0.00084120 -0.00503031 0.02570083
+v -0.00113435 -0.02286545 0.02570394
+v -0.00113435 -0.04658184 0.02570385
+v -0.00006796 -0.04947026 0.02570384
+v 0.00084120 -0.04947026 0.02570384
+v 0.00281810 -0.04947026 0.02562784
+v 0.00286049 -0.00503031 0.02561850
+v -0.00113435 -0.00503031 0.02569766
+v -0.00204487 -0.04947026 0.02566267
+v -0.00113435 -0.04947026 0.02570067
+v 0.00447100 -0.04947026 0.02528584
+v 0.00466650 -0.00503031 0.02525750
+v -0.00311126 -0.00503031 0.02557417
+v -0.00311126 -0.04947026 0.02558034
+v 0.00532821 -0.04947026 0.02413634
+v 0.00614166 -0.00503031 0.02398767
+v 0.00579304 -0.00503031 0.02438033
+v 0.00471298 -0.00503031 0.02524483
+v -0.00377979 -0.00503031 0.02544433
+v -0.00401221 -0.04947026 0.02544734
+v 0.00573972 -0.04947025 0.02310718
+v 0.00674731 -0.00503030 0.02207184
+v -0.00497332 -0.00503031 0.02520683
+v -0.00471630 -0.04947026 0.02524467
+v 0.00586687 -0.04947025 0.02207168
+v 0.00697290 -0.00503020 -0.00664342
+v 0.00595163 -0.04947024 0.02015585
+v -0.00634321 -0.00503031 0.02398767
+v -0.00541902 -0.04947026 0.02429467
+v -0.00699125 -0.00503020 -0.00664342
+v 0.00596257 -0.04947017 0.00101023
+v 0.00596257 -0.04947017 0.00100073
+v 0.00595983 -0.04947015 -0.00664358
+v -0.00685863 -0.00503030 0.02232200
+v -0.00560768 -0.04947026 0.02398751
+v -0.00699125 -0.00503020 -0.00656426
+v -0.00601510 -0.04947015 -0.00664358
+v -0.00602603 -0.04947017 -0.00091510
+v -0.00602877 -0.04947017 0.00100073
+v -0.00692426 -0.00503030 0.02207184
+v -0.00601100 -0.04947025 0.02207168
+v -0.00694203 -0.00503029 0.02015601
+v -0.00602877 -0.04947024 0.02015585
+v -0.00694066 -0.00503029 0.02032068
+v -0.00602740 -0.04947024 0.02031735
+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 15
+f 2 15 21
+f 2 21 20
+f 2 20 19
+f 2 19 25
+f 2 25 29
+f 2 29 33
+f 2 33 39
+f 2 39 45
+f 2 45 47
+f 2 47 43
+f 2 43 37
+f 2 37 31
+f 2 31 26
+f 2 26 22
+f 2 22 16
+f 2 16 11
+f 2 11 4
+f 2 4 3
+f 2 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 12
+f 7 12 17
+f 7 17 23
+f 7 23 27
+f 7 27 32
+f 7 32 38
+f 7 38 44
+f 7 44 48
+f 7 48 46
+f 7 46 42
+f 7 42 41
+f 7 41 40
+f 7 40 36
+f 7 36 35
+f 7 35 34
+f 7 34 30
+f 7 30 28
+f 7 28 24
+f 7 24 18
+f 7 18 14
+f 7 14 9
+f 7 9 8
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 16 22 23
+f 16 23 17
+f 18 24 19
+f 19 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 25
+f 25 28 30
+f 25 30 29
+f 26 31 27
+f 27 31 32
+f 29 30 34
+f 29 34 35
+f 29 35 36
+f 29 36 40
+f 29 40 33
+f 31 37 38
+f 31 38 32
+f 33 40 41
+f 33 41 42
+f 33 42 46
+f 33 46 39
+f 37 43 38
+f 38 43 44
+f 39 46 45
+f 43 47 44
+f 44 47 48
+f 45 46 47
+f 46 48 47
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_13.obj

@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00500796 0.02730245 -0.00921092
+v -0.00069623 0.02729873 -0.00921092
+v -0.00086058 0.02729873 -0.00801099
+v -0.00500796 0.02730245 -0.00801099
+v -0.00500796 0.04632082 -0.00921085
+v 0.00855121 0.02729873 -0.00921092
+v 0.00533779 0.02729873 -0.00801099
+v -0.00500796 0.04632082 -0.00801092
+v 0.00864073 0.04632082 -0.00921085
+v 0.00864206 0.04632082 -0.00921015
+v 0.00533912 0.03234335 -0.00801097
+v 0.00534046 0.04632082 -0.00801092
+v 0.00534046 0.04618116 -0.00801092
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 13
+f 3 13 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 10
+f 5 10 9
+f 6 9 10
+f 6 10 7
+f 7 10 11
+f 10 12 13
+f 10 13 11
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_14.obj

@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01436362 -0.04947010 -0.01795286
+v -0.00508588 -0.04262750 -0.01795394
+v 0.02061054 -0.04658168 -0.01795395
+v 0.02276190 -0.04947010 -0.01795286
+v -0.01436362 -0.04947014 -0.00793462
+v -0.01436362 -0.01693620 -0.01795274
+v -0.01299359 -0.02088603 -0.01795386
+v 0.01467976 -0.02088603 -0.01795497
+v 0.02276190 -0.02303929 -0.01795386
+v 0.02276190 -0.04947014 -0.00793794
+v -0.00601256 -0.04947015 -0.00664358
+v -0.01436362 -0.00503019 -0.00704978
+v -0.01436362 -0.00503015 -0.01794938
+v 0.02254386 -0.00503015 -0.01795048
+v 0.02258747 -0.00503015 -0.01795048
+v 0.02276190 -0.01891111 -0.01795385
+v 0.00595802 -0.04947015 -0.00664358
+v 0.02276190 -0.00503019 -0.00704646
+v -0.00699012 -0.00503020 -0.00664342
+v 0.02276190 -0.00503016 -0.01669267
+v 0.02276190 -0.00503450 -0.01794938
+v 0.02276190 -0.00722692 -0.01795049
+v 0.00697192 -0.00503020 -0.00664342
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 16
+f 4 16 22
+f 4 22 21
+f 4 21 20
+f 4 20 18
+f 4 18 10
+f 5 11 12
+f 6 13 8
+f 6 8 7
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 18 17
+f 11 17 23
+f 11 23 19
+f 11 19 12
+f 12 19 23
+f 12 23 18
+f 12 18 20
+f 12 20 15
+f 12 15 14
+f 12 14 13
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 18 23
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_15.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02276556 -0.04982332 -0.01795265
+v 0.02385546 -0.04982332 -0.01795376
+v 0.02276556 -0.04982336 -0.00690873
+v 0.02276556 -0.02286675 -0.01795476
+v 0.03176271 -0.04982332 -0.01795486
+v 0.04653487 -0.04982337 -0.00667456
+v 0.04680551 -0.00503020 -0.00667440
+v 0.02276556 -0.00503019 -0.00704555
+v 0.02276556 -0.02088929 -0.01795476
+v 0.05619401 -0.04657871 -0.01795816
+v 0.05619401 -0.04982332 -0.01795707
+v 0.06012569 -0.04982337 -0.00667456
+v 0.05952954 -0.00503020 -0.00667440
+v 0.02276556 -0.00503016 -0.01669213
+v 0.05619401 -0.02088929 -0.01795807
+v 0.02276556 -0.00503454 -0.01795028
+v 0.03445089 -0.00902892 -0.01795361
+v 0.05619401 -0.01297945 -0.01795694
+v 0.05738265 -0.04982332 -0.01771626
+v 0.06001597 -0.04982336 -0.00858001
+v 0.05955880 -0.00503017 -0.01432605
+v 0.02452476 -0.00503015 -0.01794918
+v 0.05804098 -0.00705147 -0.01757914
+v 0.05804464 -0.01495692 -0.01757916
+v 0.05804830 -0.03867327 -0.01758036
+v 0.02847838 -0.00503015 -0.01795028
+v 0.03441065 -0.00503015 -0.01795139
+v 0.05615012 -0.00503015 -0.01795360
+v 0.05619401 -0.00902892 -0.01795582
+v 0.05804830 -0.04657872 -0.01758039
+v 0.05805196 -0.04982333 -0.01757929
+v 0.05956611 -0.04982334 -0.01432621
+v 0.05936495 -0.00507401 -0.01602384
+v 0.05936130 -0.00503016 -0.01602384
+v 0.05619401 -0.00503015 -0.01795360
+v 0.05800075 -0.00503016 -0.01758576
+v 0.05803733 -0.00503016 -0.01757803
+v 0.05902847 -0.00503016 -0.01698264
+v 0.05903213 -0.01297946 -0.01698819
+v 0.05904310 -0.04982333 -0.01700600
+v 0.05868468 -0.04982333 -0.01721477
+v 0.05805196 -0.04855618 -0.01757929
+v 0.05936495 -0.04982333 -0.01604830
+v 0.05936495 -0.01495692 -0.01603160
+v 0.05936495 -0.01297946 -0.01603049
+v 0.05936495 -0.01100639 -0.01602938
+v 0.05935764 -0.00503016 -0.01604483
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 31
+f 1 31 41
+f 1 41 40
+f 1 40 43
+f 1 43 32
+f 1 32 20
+f 1 20 12
+f 1 12 6
+f 1 6 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 15
+f 4 15 10
+f 4 10 5
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 21
+f 7 21 34
+f 7 34 47
+f 7 47 38
+f 7 38 37
+f 7 37 36
+f 7 36 35
+f 7 35 28
+f 7 28 27
+f 7 27 26
+f 7 26 22
+f 7 22 14
+f 7 14 8
+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 10 19 11
+f 10 15 19
+f 12 20 21
+f 12 21 13
+f 14 22 16
+f 15 18 23
+f 15 23 24
+f 15 24 25
+f 15 25 19
+f 16 22 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 23
+f 19 25 30
+f 19 30 31
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 23 29 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 25 42 31
+f 25 31 30
+f 28 35 29
+f 31 42 41
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 47 34
+f 33 46 40
+f 33 40 47
+f 38 47 39
+f 39 47 40
+f 40 46 45
+f 40 45 44
+f 40 44 43
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_16.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05960213 -0.00503030 0.02207067
+v 0.05941550 -0.00503031 0.02398785
+v 0.05960213 -0.00704315 0.02207066
+v 0.05960213 -0.00503030 0.02202948
+v 0.05941550 -0.00704316 0.02398784
+v 0.05918628 -0.00503031 0.02497338
+v 0.05960213 -0.00704315 0.02206432
+v 0.05953074 -0.00704305 -0.00667441
+v 0.05953074 -0.00703832 -0.00667441
+v 0.05952948 -0.00503020 -0.00667440
+v 0.05918628 -0.00507267 0.02497338
+v 0.05918628 -0.00704316 0.02497020
+v 0.05819300 -0.00503031 0.02534097
+v 0.04948770 -0.00704305 -0.00667441
+v 0.04680722 -0.00503020 -0.00667440
+v 0.05817171 -0.00704316 0.02534730
+v 0.05817171 -0.00503031 0.02534731
+v 0.04948770 -0.00704305 -0.00665222
+v 0.04690868 -0.00503029 0.02015666
+v 0.04950900 -0.00704314 0.02016615
+v 0.04951526 -0.00704315 0.02207066
+v 0.05619517 -0.00503031 0.02569906
+v 0.05620143 -0.00704316 0.02569588
+v 0.04692246 -0.00503030 0.02207067
+v 0.04951651 -0.00704315 0.02208017
+v 0.05421863 -0.00503031 0.02569589
+v 0.05421863 -0.00704316 0.02569588
+v 0.04837793 -0.00503031 0.02398785
+v 0.04984969 -0.00704316 0.02398784
+v 0.05071521 -0.00704316 0.02530610
+v 0.05224209 -0.00503031 0.02568321
+v 0.05224209 -0.00507267 0.02568321
+v 0.05224209 -0.00704316 0.02568003
+v 0.05025427 -0.00503031 0.02530295
+v 0.05093942 -0.00503031 0.02543604
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 15
+f 1 15 19
+f 1 19 24
+f 1 24 28
+f 1 28 34
+f 1 34 35
+f 1 35 31
+f 1 31 26
+f 1 26 22
+f 1 22 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 12
+f 3 12 16
+f 3 16 23
+f 3 23 27
+f 3 27 33
+f 3 33 30
+f 3 30 29
+f 3 29 25
+f 3 25 21
+f 3 21 20
+f 3 20 18
+f 3 18 14
+f 3 14 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 6 13 11
+f 8 14 15
+f 8 15 10
+f 8 10 9
+f 11 13 16
+f 11 16 12
+f 13 17 16
+f 14 18 15
+f 15 18 20
+f 15 20 21
+f 15 21 19
+f 16 17 22
+f 16 22 23
+f 19 21 24
+f 21 25 24
+f 22 26 27
+f 22 27 23
+f 24 25 29
+f 24 29 30
+f 24 30 28
+f 26 31 32
+f 26 32 27
+f 27 32 33
+f 28 30 34
+f 30 33 34
+f 31 35 32
+f 32 35 33
+f 33 35 34
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_17.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00893140 0.05620317 0.02570335
+v -0.02796745 0.05620317 0.02570335
+v -0.01102023 0.05422688 0.02570676
+v -0.00893140 0.05225191 0.02570333
+v -0.00893140 0.05818077 0.02536155
+v -0.02796745 0.05309439 0.02570334
+v -0.02796745 0.05818077 0.02536155
+v -0.01695129 0.05225191 0.02570333
+v -0.00893140 0.05073885 0.02534445
+v -0.00893140 0.05920435 0.02498217
+v -0.02683266 0.05920698 0.02498559
+v -0.02796745 0.05225191 0.02569991
+v -0.02796745 0.05920698 0.02498559
+v -0.02796745 0.05065618 0.02532052
+v -0.01497427 0.05065093 0.02532052
+v -0.01102023 0.05064962 0.02532052
+v -0.00893140 0.05064962 0.02532052
+v -0.00893140 0.05922010 0.02492749
+v -0.02288048 0.05948387 0.02398756
+v -0.02796745 0.05948387 0.02398756
+v -0.02796745 0.04975989 0.02398752
+v -0.00893140 0.04974546 0.02398410
+v -0.00893140 0.05948124 0.02398756
+v -0.01299725 0.05972533 0.02207009
+v -0.02796745 0.05958754 0.02317067
+v -0.02796745 0.04959325 0.02289036
+v -0.02796745 0.04946989 0.02207005
+v -0.00893140 0.04946202 0.02207005
+v -0.00893140 0.05972139 0.02207009
+v -0.01102023 0.05972402 0.02207009
+v -0.01299725 0.05972797 0.02015605
+v -0.02485564 0.05972533 0.02207009
+v -0.02796745 0.05972402 0.02207009
+v -0.02796745 0.04638353 -0.00921089
+v -0.00893140 0.04632317 -0.00921089
+v -0.00893140 0.05972272 0.02015605
+v -0.01102023 0.05972666 0.02015605
+v -0.02485564 0.05972797 0.02015605
+v -0.01102023 0.05972802 0.00483345
+v -0.02796745 0.05972533 0.02125321
+v -0.02796745 0.05972413 -0.00921084
+v -0.00893140 0.05972282 -0.00921084
+v -0.00893140 0.05972539 0.00483345
+v -0.00904320 0.05972539 0.00674750
+v -0.02683266 0.05972666 0.02015605
+v -0.02485564 0.05972797 0.01823859
+v -0.01102023 0.05972803 0.00291599
+v -0.02796745 0.05972534 0.01933917
+v -0.02683266 0.05972544 -0.00921084
+v -0.01102023 0.05972544 -0.00921084
+v -0.00893140 0.05972540 0.00281003
+v -0.02288048 0.05972802 0.00674750
+v -0.02485564 0.05972676 -0.00921084
+v -0.01892644 0.05972803 0.00291599
+v -0.01432209 0.05972676 -0.00921084
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 22
+f 1 22 28
+f 1 28 35
+f 1 35 42
+f 1 42 51
+f 1 51 43
+f 1 43 36
+f 1 36 29
+f 1 29 23
+f 1 23 18
+f 1 18 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 13
+f 2 13 20
+f 2 20 25
+f 2 25 33
+f 2 33 40
+f 2 40 48
+f 2 48 41
+f 2 41 34
+f 2 34 27
+f 2 27 26
+f 2 26 21
+f 2 21 14
+f 2 14 12
+f 2 12 6
+f 3 8 4
+f 3 6 8
+f 4 8 9
+f 5 10 11
+f 5 11 13
+f 5 13 7
+f 6 12 8
+f 8 12 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 13
+f 14 21 22
+f 14 22 15
+f 15 22 16
+f 16 22 17
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 23 29 30
+f 23 30 24
+f 24 30 37
+f 24 37 31
+f 24 31 38
+f 24 38 32
+f 24 32 25
+f 25 32 33
+f 27 34 35
+f 27 35 28
+f 29 36 37
+f 29 37 30
+f 31 37 39
+f 31 39 47
+f 31 47 54
+f 31 54 52
+f 31 52 46
+f 31 46 38
+f 32 38 40
+f 32 40 33
+f 34 41 49
+f 34 49 53
+f 34 53 55
+f 34 55 50
+f 34 50 42
+f 34 42 35
+f 36 43 44
+f 36 44 37
+f 37 44 39
+f 38 45 40
+f 38 46 45
+f 39 44 43
+f 39 43 51
+f 39 51 47
+f 40 45 48
+f 41 48 49
+f 42 50 51
+f 45 46 49
+f 45 49 48
+f 46 52 53
+f 46 53 49
+f 47 51 50
+f 47 50 55
+f 47 55 53
+f 47 53 54
+f 52 54 53
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_18.obj

@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00589090 0.00532649 -0.01795039
+v 0.00823495 0.00532649 -0.01795146
+v 0.00589090 0.00532645 -0.00700691
+v 0.00589090 0.01469525 -0.01795143
+v 0.02719584 0.00532649 -0.01795146
+v 0.00800555 0.02729876 -0.01795353
+v 0.00875005 0.02457589 -0.01795354
+v 0.00875005 0.01469525 -0.01795251
+v 0.02061000 0.02655245 -0.01795460
+v 0.02719584 0.00532645 -0.00815046
+v 0.02719584 0.02729872 -0.00924569
+v 0.00589090 0.02729872 -0.00841617
+v 0.00589090 0.02545770 -0.01795247
+v 0.02719584 0.01469525 -0.01795251
+v 0.00589090 0.02729876 -0.01795246
+v 0.02719584 0.02729876 -0.01795353
+v 0.02719584 0.02589861 -0.01795353
+f 1 2 5
+f 1 5 10
+f 1 10 3
+f 1 3 12
+f 1 12 15
+f 1 15 13
+f 1 13 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 3 11 12
+f 4 13 6
+f 5 14 17
+f 5 17 16
+f 5 16 11
+f 5 11 10
+f 5 9 14
+f 6 15 12
+f 6 12 11
+f 6 11 16
+f 6 16 9
+f 6 9 7
+f 6 13 15
+f 7 9 8
+f 9 16 17
+f 9 17 14
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_19.obj

@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.02796745 0.00488838 -0.01795075
+v -0.00706506 0.00488838 -0.01795075
+v -0.02796745 0.00488833 -0.00678806
+v -0.02796745 0.02700337 -0.01795398
+v -0.00706506 0.00488833 -0.00667210
+v -0.00706506 0.02655306 -0.01795288
+v -0.00706711 0.00488833 -0.00667210
+v -0.00706711 0.02700333 -0.00898032
+v -0.02796745 0.02700333 -0.00924870
+v -0.00706711 0.02700337 -0.01795288
+v -0.00706506 0.02700121 -0.01795288
+v -0.00706506 0.02700333 -0.00898032
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 12
+f 4 12 10
+f 4 10 11
+f 4 11 6
+f 5 12 8
+f 5 8 7
+f 10 12 11
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_2.obj

@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.04764585 -0.04972725 -0.01795506
+v -0.04660324 -0.04972725 -0.01795506
+v -0.04764585 -0.04972730 -0.00671276
+v -0.04764585 -0.04064870 -0.01795613
+v -0.01436362 -0.04972725 -0.01795285
+v -0.03671794 -0.04460389 -0.01795504
+v -0.01436362 -0.04972729 -0.00751262
+v -0.01436362 -0.00503019 -0.00704956
+v -0.04764585 -0.00503020 -0.00667062
+v -0.04764585 -0.01984022 -0.01795495
+v -0.03671794 -0.02088590 -0.01795496
+v -0.01436362 -0.01693509 -0.01795273
+v -0.01436362 -0.00503015 -0.01794937
+v -0.04764585 -0.00503015 -0.01795048
+v -0.04764585 -0.01495749 -0.01795382
+v -0.03474023 -0.00902909 -0.01795159
+v -0.03474023 -0.00503015 -0.01795048
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 9
+f 1 9 14
+f 1 14 15
+f 1 15 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 5 6
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 8
+f 5 8 7
+f 8 13 17
+f 8 17 14
+f 8 14 9
+f 10 15 11
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 12 17 13
+f 14 17 15
+f 15 17 16
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_20.obj

@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.02796745 0.02725738 -0.00924913
+v -0.02796745 0.00551562 -0.00827184
+v -0.02796745 0.02725742 -0.01795364
+v -0.04978310 0.02725738 -0.00801967
+v -0.02796745 0.00551566 -0.01795051
+v -0.04978310 0.00551562 -0.00704558
+v -0.02796745 0.02655298 -0.01795364
+v -0.03078864 0.02725742 -0.01795471
+v -0.04978310 0.02725742 -0.01795684
+v -0.03078864 0.00551566 -0.01795158
+v -0.04978310 0.00551566 -0.01795372
+v -0.03078864 0.02655298 -0.01795471
+v -0.03474386 0.02725742 -0.01795577
+v -0.04730575 0.02725742 -0.01795684
+v -0.04978310 0.02380546 -0.01795685
+v -0.03671934 0.00551566 -0.01795265
+v -0.04857860 0.00551566 -0.01795372
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 17
+f 2 17 16
+f 2 16 10
+f 2 10 5
+f 3 7 12
+f 3 12 8
+f 4 9 15
+f 4 15 11
+f 4 11 6
+f 5 10 12
+f 5 12 7
+f 8 12 13
+f 9 14 15
+f 10 16 13
+f 10 13 12
+f 11 15 17
+f 13 16 15
+f 13 15 14
+f 15 16 17
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_21.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04819777 0.00556375 -0.00772793
+v 0.04941052 0.02729660 -0.00772785
+v 0.05952899 0.00556375 -0.00772793
+v 0.04860425 0.00556364 0.02196518
+v 0.04960147 0.02729649 0.02206997
+v 0.05953011 0.02729660 -0.00772785
+v 0.05953011 0.00678921 -0.00772793
+v 0.05960381 0.00556364 0.02206989
+v 0.04951995 0.00556363 0.02398748
+v 0.04988400 0.02729648 0.02398756
+v 0.04970756 0.02729649 0.02279316
+v 0.05960492 0.02729649 0.02206997
+v 0.05960492 0.00678910 0.02206989
+v 0.05948878 0.00556363 0.02325775
+v 0.05042560 0.00556363 0.02532586
+v 0.05071036 0.02729648 0.02530958
+v 0.05941955 0.02729648 0.02398756
+v 0.05941732 0.00556363 0.02398748
+v 0.05102192 0.00556363 0.02546984
+v 0.05224248 0.02729648 0.02568590
+v 0.05918840 0.02729648 0.02497580
+v 0.05918840 0.02655397 0.02497580
+v 0.05918616 0.00556363 0.02497245
+v 0.05224248 0.00556363 0.02568582
+v 0.05421793 0.02729648 0.02569899
+v 0.05855522 0.02729648 0.02521141
+v 0.05817219 0.02062238 0.02535210
+v 0.05817219 0.00556363 0.02534877
+v 0.05421793 0.00556363 0.02569891
+v 0.05619562 0.00678909 0.02570218
+v 0.05619562 0.02729648 0.02569899
+v 0.05817219 0.02729648 0.02535212
+v 0.05619562 0.00556363 0.02569891
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 18
+f 1 18 23
+f 1 23 28
+f 1 28 33
+f 1 33 29
+f 1 29 24
+f 1 24 19
+f 1 19 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 10
+f 2 10 16
+f 2 16 20
+f 2 20 25
+f 2 25 31
+f 2 31 32
+f 2 32 26
+f 2 26 21
+f 2 21 17
+f 2 17 12
+f 2 12 6
+f 3 7 13
+f 3 13 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 12 17 13
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 22
+f 17 22 18
+f 18 22 23
+f 19 24 20
+f 20 24 29
+f 20 29 25
+f 21 26 22
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 25 29 30
+f 25 30 31
+f 26 32 27
+f 27 32 30
+f 27 30 28
+f 28 30 33
+f 29 33 30
+f 30 32 31
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_22.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02758224 0.02729876 -0.01795309
+v 0.02758224 0.02729872 -0.00924622
+v 0.02758224 0.02749162 -0.01795417
+v 0.02975181 0.02729876 -0.01795417
+v 0.04935256 0.02729872 -0.00780302
+v 0.02758224 0.04939941 -0.00690215
+v 0.03247337 0.02729876 -0.01795525
+v 0.02758224 0.05620387 -0.01795948
+v 0.04935256 0.02729876 -0.01795417
+v 0.04935256 0.04747733 -0.00690216
+v 0.02758224 0.05972335 -0.00690211
+v 0.04433356 0.02729876 -0.01795525
+v 0.04630919 0.05620387 -0.01796164
+v 0.02758224 0.05817415 -0.01758054
+v 0.04935256 0.02853301 -0.01795525
+v 0.04935256 0.06013477 -0.00690211
+v 0.02758224 0.05972657 -0.00858026
+v 0.03049774 0.05817415 -0.01758054
+v 0.04630919 0.05816772 -0.01758162
+v 0.04828695 0.05620387 -0.01796056
+v 0.04935256 0.05513676 -0.01796057
+v 0.02758224 0.05916090 -0.01719185
+v 0.04935256 0.05971694 -0.01432601
+v 0.04630919 0.05972016 -0.01432601
+v 0.03642677 0.05972659 -0.01432601
+v 0.03049774 0.05972980 -0.01432601
+v 0.02758224 0.05972980 -0.01432601
+v 0.02758224 0.05972980 -0.01241184
+v 0.03049774 0.05916090 -0.01719185
+v 0.04935256 0.05915768 -0.01718427
+v 0.04935256 0.05862413 -0.01739756
+v 0.04828695 0.05816772 -0.01758054
+v 0.04935256 0.05620387 -0.01795948
+v 0.02758224 0.05929911 -0.01673713
+v 0.04935256 0.05944374 -0.01622719
+v 0.03247337 0.05945018 -0.01623260
+v 0.03049774 0.05945018 -0.01623476
+v 0.02851997 0.05945018 -0.01623476
+v 0.02758224 0.05945018 -0.01623368
+v 0.03247337 0.05916090 -0.01719077
+v 0.04935256 0.05928947 -0.01674362
+v 0.04935256 0.05816772 -0.01757946
+f 1 2 6
+f 1 6 11
+f 1 11 17
+f 1 17 28
+f 1 28 27
+f 1 27 39
+f 1 39 34
+f 1 34 22
+f 1 22 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 12
+f 1 12 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 5 9 15
+f 5 15 21
+f 5 21 33
+f 5 33 42
+f 5 42 31
+f 5 31 30
+f 5 30 41
+f 5 41 35
+f 5 35 23
+f 5 23 16
+f 5 16 10
+f 5 10 6
+f 6 10 16
+f 6 16 11
+f 7 8 13
+f 7 13 12
+f 8 14 13
+f 9 12 15
+f 11 16 17
+f 12 13 15
+f 13 14 18
+f 13 18 19
+f 13 19 32
+f 13 32 20
+f 13 20 21
+f 13 21 15
+f 14 22 29
+f 14 29 18
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 20 33 21
+f 20 32 42
+f 20 42 33
+f 22 34 29
+f 23 35 24
+f 24 35 25
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 29 34 40
+f 29 40 30
+f 30 40 37
+f 30 37 36
+f 30 36 41
+f 31 42 32
+f 34 39 38
+f 34 38 37
+f 34 37 40
+f 35 41 36
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_23.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.04935256 0.05620317 0.02570637
+v 0.04433356 0.05620317 0.02570637
+v 0.04828695 0.05422697 0.02570955
+v 0.04935256 0.05331831 0.02570636
+v 0.04935256 0.05818062 0.02536482
+v 0.02758224 0.05818062 0.02536482
+v 0.02758224 0.05620317 0.02570318
+v 0.03642677 0.05422697 0.02570636
+v 0.02758224 0.05329100 0.02570317
+v 0.04630919 0.05225200 0.02570316
+v 0.04935256 0.05225200 0.02570316
+v 0.04935256 0.05873425 0.02516053
+v 0.03049774 0.05920720 0.02498496
+v 0.02758224 0.05920596 0.02498496
+v 0.02758224 0.05225200 0.02569997
+v 0.04935256 0.05041483 0.02536161
+v 0.04935256 0.05920596 0.02498496
+v 0.04630919 0.05920720 0.02498496
+v 0.03049774 0.05948526 0.02398583
+v 0.02758224 0.05948402 0.02398583
+v 0.02758224 0.05149479 0.02552121
+v 0.02758224 0.05065440 0.02532011
+v 0.04935256 0.04839393 0.02385492
+v 0.04935256 0.05948030 0.02398583
+v 0.04235579 0.05948278 0.02398583
+v 0.03840453 0.05948402 0.02398583
+v 0.03445113 0.05948526 0.02398583
+v 0.02758224 0.05972485 0.02207057
+v 0.02758224 0.05961065 0.02298032
+v 0.02758224 0.05022862 0.02468806
+v 0.02758224 0.04975692 0.02398579
+v 0.04935256 0.04759204 0.02207052
+v 0.04935256 0.05960816 0.02295478
+v 0.03445113 0.05972361 0.02207057
+v 0.03049774 0.05972485 0.02207057
+v 0.04935256 0.06006499 0.01632477
+v 0.04935256 0.06011961 0.01529052
+v 0.04935256 0.06015686 0.01440950
+v 0.02758224 0.05972610 0.02015530
+v 0.02758224 0.04947018 0.02207053
+v 0.04935256 0.04758707 0.02192687
+v 0.04935256 0.05971616 0.02207057
+v 0.04935256 0.06016065 -0.00283109
+v 0.02758224 0.05972742 -0.00283109
+v 0.04935256 0.04755233 0.02015525
+v 0.02758224 0.04940202 -0.00690107
+v 0.04935256 0.04747919 -0.00690108
+v 0.04935256 0.06015693 -0.00474636
+v 0.02758224 0.05972496 -0.00690103
+v 0.04935256 0.06013460 -0.00690103
+v 0.04935256 0.06014949 -0.00666162
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 16
+f 1 16 23
+f 1 23 32
+f 1 32 41
+f 1 41 45
+f 1 45 47
+f 1 47 50
+f 1 50 51
+f 1 51 48
+f 1 48 43
+f 1 43 38
+f 1 38 37
+f 1 37 36
+f 1 36 42
+f 1 42 33
+f 1 33 24
+f 1 24 17
+f 1 17 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 20
+f 6 20 29
+f 6 29 28
+f 6 28 39
+f 6 39 44
+f 6 44 49
+f 6 49 46
+f 6 46 40
+f 6 40 31
+f 6 31 30
+f 6 30 22
+f 6 22 21
+f 6 21 15
+f 6 15 9
+f 6 9 7
+f 7 9 8
+f 9 15 10
+f 10 15 16
+f 10 16 11
+f 12 17 18
+f 12 18 13
+f 13 19 20
+f 13 20 14
+f 13 18 27
+f 13 27 19
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 19 27 35
+f 19 35 28
+f 19 28 29
+f 19 29 20
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 24 33 34
+f 24 34 25
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 31 40 32
+f 32 40 41
+f 33 42 34
+f 34 42 36
+f 34 36 35
+f 38 43 39
+f 39 43 44
+f 40 45 41
+f 40 46 47
+f 40 47 45
+f 43 48 49
+f 43 49 44
+f 46 49 50
+f 46 50 47
+f 48 51 49
+f 49 51 50
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_24.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00706506 0.00488838 -0.01794980
+v -0.00706506 0.02700121 -0.01794972
+v -0.00508850 0.02700337 -0.01795393
+v -0.00500796 0.00488838 -0.01794980
+v -0.00706506 0.00488833 -0.00666905
+v -0.00553754 0.02700337 -0.01794972
+v -0.00706506 0.02700333 -0.00897658
+v -0.00500796 0.02700337 -0.01794972
+v -0.00500796 0.00488822 0.02514402
+v -0.00701251 0.00488823 0.02200110
+v -0.00701231 0.00488823 0.02207282
+v -0.00510199 0.02700322 0.02207290
+v -0.00500796 0.02700322 0.02280273
+v -0.00597409 0.00488822 0.02435091
+v -0.00504622 0.02700322 0.02250742
+v -0.00639050 0.00488822 0.02398810
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 16
+f 1 16 11
+f 1 11 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 7
+f 3 7 12
+f 3 12 15
+f 3 15 13
+f 3 13 8
+f 3 8 4
+f 4 8 13
+f 4 13 9
+f 5 10 7
+f 7 10 11
+f 7 11 12
+f 9 13 14
+f 11 15 12
+f 11 16 13
+f 11 13 15
+f 13 16 14
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_25.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02758224 0.05620325 0.02570418
+v -0.00310984 0.05620325 0.02570418
+v 0.00084271 0.05225113 0.02571099
+v 0.02758224 0.05329218 0.02570417
+v 0.02758224 0.05817992 0.02536234
+v 0.02258652 0.05817992 0.02536576
+v -0.00500796 0.05620325 0.02570076
+v -0.00500796 0.05430778 0.02570417
+v 0.01467823 0.05817992 0.02536576
+v -0.00500796 0.05817992 0.02535892
+v -0.00500796 0.05628445 0.02568708
+v -0.00113197 0.05027446 0.02570756
+v 0.00084271 0.04734764 0.02570755
+v -0.00500796 0.05422658 0.02570417
+v 0.02758224 0.05225113 0.02570074
+v 0.02758224 0.05872044 0.02516409
+v 0.02456439 0.05920764 0.02498633
+v 0.02060865 0.05920885 0.02498633
+v 0.01467823 0.05920885 0.02498633
+v 0.01270355 0.05920764 0.02498633
+v -0.00500796 0.05822234 0.02534525
+v -0.00113197 0.04734764 0.02570414
+v 0.00282058 0.04734764 0.02561184
+v 0.02758224 0.05065380 0.02532130
+v -0.00500796 0.05225113 0.02570074
+v 0.02758224 0.05920643 0.02498292
+v 0.02758224 0.05935307 0.02445991
+v 0.02456439 0.05948517 0.02398818
+v 0.02060865 0.05948638 0.02398818
+v 0.01467823 0.05948638 0.02398818
+v -0.00500796 0.05921491 0.02494190
+v -0.00500796 0.05920279 0.02497950
+v -0.00208263 0.04734764 0.02563235
+v 0.00356069 0.04734764 0.02541358
+v 0.02758224 0.04975697 0.02398814
+v -0.00500796 0.05000299 0.02531787
+v -0.00441141 0.04734764 0.02517771
+v -0.00310984 0.04734764 0.02555373
+v 0.02758224 0.05948396 0.02398818
+v 0.02758224 0.05961122 0.02297977
+v 0.02758224 0.05972515 0.02207049
+v 0.02258652 0.05972515 0.02207049
+v 0.01467823 0.05972393 0.02207049
+v -0.00500796 0.05972030 0.02207049
+v -0.00500796 0.05947911 0.02398818
+v 0.00419233 0.04734764 0.02523241
+v 0.02758224 0.04962124 0.02307886
+v -0.00500796 0.04734764 0.02410777
+v 0.02456439 0.05972637 0.02015621
+v 0.02758224 0.05972645 -0.00282875
+v 0.02719305 0.05972768 -0.00921080
+v 0.02653907 0.05972766 -0.00282875
+v 0.02258652 0.05972637 0.02015621
+v -0.00500796 0.05972152 0.02015621
+v 0.00465170 0.04734764 0.02458976
+v 0.02758224 0.04947096 0.02207045
+v -0.00500796 0.04734776 -0.00921085
+v 0.02456439 0.05972889 -0.00921080
+v 0.02758224 0.05972647 -0.00921080
+v -0.00500796 0.05972278 0.00483177
+v 0.02758224 0.04734776 -0.00883141
+v -0.00500796 0.05972162 -0.00921080
+v 0.02758224 0.04734776 -0.00921085
+v -0.00500796 0.05972279 0.00283887
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 24
+f 1 24 35
+f 1 35 47
+f 1 47 56
+f 1 56 61
+f 1 61 63
+f 1 63 59
+f 1 59 50
+f 1 50 41
+f 1 41 40
+f 1 40 39
+f 1 39 27
+f 1 27 26
+f 1 26 16
+f 1 16 5
+f 1 5 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 12 13
+f 3 13 4
+f 3 8 14
+f 3 14 12
+f 4 13 15
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 9
+f 7 11 10
+f 7 10 21
+f 7 21 32
+f 7 32 31
+f 7 31 45
+f 7 45 44
+f 7 44 54
+f 7 54 60
+f 7 60 64
+f 7 64 62
+f 7 62 57
+f 7 57 48
+f 7 48 36
+f 7 36 25
+f 7 25 14
+f 7 14 8
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 12 14 22
+f 12 22 13
+f 13 22 33
+f 13 33 38
+f 13 38 37
+f 13 37 48
+f 13 48 57
+f 13 57 63
+f 13 63 61
+f 13 61 55
+f 13 55 46
+f 13 46 34
+f 13 34 23
+f 13 23 24
+f 13 24 15
+f 14 25 22
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 21
+f 22 25 33
+f 23 34 35
+f 23 35 24
+f 25 36 37
+f 25 37 38
+f 25 38 33
+f 27 39 28
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 34 46 35
+f 35 46 47
+f 36 48 37
+f 41 49 53
+f 41 53 42
+f 41 50 51
+f 41 51 52
+f 41 52 49
+f 42 53 43
+f 43 53 54
+f 43 54 44
+f 46 55 56
+f 46 56 47
+f 49 52 58
+f 49 58 53
+f 50 59 51
+f 51 59 63
+f 51 63 57
+f 51 57 62
+f 51 62 58
+f 51 58 52
+f 53 58 60
+f 53 60 54
+f 55 61 56
+f 58 62 64
+f 58 64 60
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_26.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00500796 0.00532649 -0.01794975
+v -0.00500796 0.02729876 -0.01795394
+v 0.00589090 0.00532649 -0.01794975
+v -0.00500796 0.00532633 0.02486403
+v 0.00589090 0.02729876 -0.01794967
+v -0.00500796 0.02729861 0.02279992
+v 0.00589090 0.00532645 -0.00700484
+v -0.00482340 0.00532633 0.02521874
+v -0.00435612 0.02729860 0.02517608
+v -0.00485540 0.02729860 0.02398800
+v -0.00495035 0.02729860 0.02324865
+v 0.00589090 0.02729872 -0.00841508
+v 0.00554951 0.00532634 0.02206904
+v -0.00481593 0.00532633 0.02523156
+v -0.00445320 0.00532633 0.02534268
+v -0.00311111 0.02729860 0.02555217
+v 0.00492541 0.02729861 0.02206912
+v 0.00478139 0.02729860 0.02326575
+v 0.00469391 0.02729860 0.02398800
+v 0.00523159 0.00532633 0.02398792
+v -0.00311111 0.00532633 0.02557773
+v -0.00311111 0.02457573 0.02555643
+v -0.00113425 0.02729860 0.02570175
+v 0.00413381 0.02729860 0.02522310
+v 0.00456268 0.00532633 0.02526575
+v -0.00259583 0.00532633 0.02561619
+v -0.00113425 0.00532633 0.02570167
+v 0.00084154 0.02259917 0.02570600
+v 0.00084154 0.02729860 0.02570175
+v 0.00331448 0.02729860 0.02546242
+v 0.00281840 0.02729860 0.02560345
+v 0.00281840 0.00532633 0.02562047
+v 0.00084154 0.00532633 0.02570167
+v 0.00158619 0.02729860 0.02566756
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 25
+f 1 25 32
+f 1 32 33
+f 1 33 27
+f 1 27 26
+f 1 26 21
+f 1 21 15
+f 1 15 14
+f 1 14 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 10
+f 2 10 9
+f 2 9 16
+f 2 16 23
+f 2 23 29
+f 2 29 34
+f 2 34 31
+f 2 31 30
+f 2 30 24
+f 2 24 19
+f 2 19 18
+f 2 18 17
+f 2 17 12
+f 2 12 5
+f 3 5 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 19 24 20
+f 20 24 25
+f 21 26 23
+f 21 23 22
+f 23 26 27
+f 23 27 28
+f 23 28 29
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 27 33 28
+f 28 33 32
+f 28 32 34
+f 28 34 29
+f 31 34 32
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_27.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05960484 0.00556364 0.02206977
+v 0.05948747 0.00556363 0.02325775
+v 0.05941450 -0.00503031 0.02398752
+v 0.05960167 -0.00503030 0.02206973
+v 0.05960167 -0.00503030 0.02203046
+v 0.05952871 -0.00503019 -0.00772797
+v 0.05952871 0.00556375 -0.00772793
+v 0.05941450 0.00556363 0.02398756
+v 0.05918609 -0.00503031 0.02497259
+v 0.02719585 -0.00503019 -0.00772797
+v 0.04819698 0.00556375 -0.00772793
+v 0.05918609 0.00556363 0.02497263
+v 0.05817093 -0.00503031 0.02534895
+v 0.02719585 0.00518939 -0.00772793
+v 0.02719585 -0.00503019 -0.00704071
+v 0.04860304 0.00556364 0.02196504
+v 0.05817093 0.00556363 0.02534899
+v 0.05619454 -0.00111877 0.02570242
+v 0.05623578 -0.00503031 0.02568931
+v 0.02719585 0.00482633 0.02206977
+v 0.04692168 -0.00503030 0.02206973
+v 0.02719585 -0.00485609 0.02206973
+v 0.04951669 0.00556363 0.02398756
+v 0.05619454 0.00556363 0.02569917
+v 0.05421815 0.00085671 0.02570242
+v 0.04828581 -0.00111877 0.02570569
+v 0.05619454 -0.00309528 0.02569914
+v 0.05619454 -0.00503031 0.02569585
+v 0.02719585 0.00466662 0.02335266
+v 0.05042399 0.00556363 0.02532608
+v 0.04837463 -0.00503031 0.02398752
+v 0.05025268 -0.00503031 0.02530313
+v 0.02719585 -0.00462796 0.02398752
+v 0.05421815 0.00556363 0.02569917
+v 0.02719585 0.00085671 0.02569915
+v 0.02719585 -0.00111877 0.02569915
+v 0.05421815 -0.00503031 0.02569585
+v 0.02719585 0.00458678 0.02398756
+v 0.05102039 0.00556363 0.02547008
+v 0.05093791 -0.00503031 0.02543404
+v 0.02719585 -0.00424220 0.02510023
+v 0.05224176 -0.00503031 0.02568276
+v 0.05224176 0.00556363 0.02568607
+v 0.02719585 0.00283322 0.02555516
+v 0.02719585 -0.00309528 0.02547659
+v 0.02719585 0.00425079 0.02478609
+v 0.02719585 0.00324698 0.02543080
+v 0.02719585 0.00408383 0.02517881
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 16
+f 1 16 23
+f 1 23 30
+f 1 30 39
+f 1 39 43
+f 1 43 34
+f 1 34 24
+f 1 24 17
+f 1 17 12
+f 1 12 8
+f 1 8 2
+f 2 8 3
+f 3 8 12
+f 3 12 9
+f 3 9 13
+f 3 13 19
+f 3 19 28
+f 3 28 37
+f 3 37 42
+f 3 42 40
+f 3 40 32
+f 3 32 31
+f 3 31 21
+f 3 21 15
+f 3 15 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 14
+f 6 14 11
+f 6 11 7
+f 9 12 17
+f 9 17 13
+f 10 15 22
+f 10 22 33
+f 10 33 41
+f 10 41 45
+f 10 45 36
+f 10 36 35
+f 10 35 44
+f 10 44 47
+f 10 47 48
+f 10 48 46
+f 10 46 38
+f 10 38 29
+f 10 29 20
+f 10 20 14
+f 11 14 16
+f 13 17 18
+f 13 18 19
+f 14 20 16
+f 15 21 22
+f 16 20 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 20 29 30
+f 20 30 23
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 24 34 26
+f 24 26 25
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 28
+f 26 28 27
+f 29 38 30
+f 30 38 39
+f 32 40 33
+f 33 40 42
+f 33 42 41
+f 34 43 35
+f 35 43 44
+f 36 42 37
+f 36 45 42
+f 38 46 43
+f 38 43 39
+f 41 42 45
+f 43 47 44
+f 43 46 48
+f 43 48 47
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_28.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00551260 0.04671482 -0.00751928
+v -0.00893102 0.04933854 -0.00751927
+v -0.00500796 0.04671482 -0.00751928
+v -0.00522072 0.04671471 0.02207112
+v -0.00893102 0.04946197 0.02207113
+v -0.00893102 0.05972259 -0.00751923
+v -0.00500796 0.05971876 -0.00751923
+v -0.00500796 0.04671470 0.02361276
+v -0.00893102 0.04947726 0.02217521
+v -0.00505251 0.05972003 -0.00751923
+v -0.00893102 0.05972636 0.00291774
+v -0.00500796 0.05972255 0.00283969
+v -0.00500796 0.04690448 0.02396728
+v -0.00893102 0.04974471 0.02398355
+v -0.00500796 0.05972254 0.00483341
+v -0.00893102 0.05972248 0.02207117
+v -0.00500796 0.05972121 0.02015550
+v -0.00500796 0.05000326 0.02532029
+v -0.00893102 0.05064900 0.02532030
+v -0.00893102 0.05949448 0.02387951
+v -0.00706493 0.05948047 0.02398684
+v -0.00500796 0.05947919 0.02398684
+v -0.00500796 0.05971992 0.02207117
+v -0.00500796 0.05225125 0.02570083
+v -0.00706493 0.05225125 0.02570408
+v -0.00893102 0.05225125 0.02570083
+v -0.00893102 0.05073943 0.02534307
+v -0.00893102 0.05948047 0.02398684
+v -0.00706493 0.05920409 0.02498208
+v -0.00500796 0.05920281 0.02498208
+v -0.00500796 0.05422668 0.02570409
+v -0.00706493 0.05422668 0.02570734
+v -0.00893102 0.05422668 0.02570409
+v -0.00893102 0.05920409 0.02498208
+v -0.00893102 0.05823739 0.02533983
+v -0.00500796 0.05818007 0.02535935
+v -0.00500796 0.05620337 0.02570410
+v -0.00893102 0.05620337 0.02570410
+v -0.00893102 0.05818007 0.02535935
+f 1 2 6
+f 1 6 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 19
+f 2 19 27
+f 2 27 26
+f 2 26 33
+f 2 33 38
+f 2 38 39
+f 2 39 35
+f 2 35 34
+f 2 34 28
+f 2 28 20
+f 2 20 16
+f 2 16 11
+f 2 11 6
+f 3 7 12
+f 3 12 15
+f 3 15 17
+f 3 17 23
+f 3 23 22
+f 3 22 30
+f 3 30 36
+f 3 36 37
+f 3 37 31
+f 3 31 24
+f 3 24 18
+f 3 18 13
+f 3 13 8
+f 4 8 5
+f 5 8 9
+f 6 11 10
+f 7 10 12
+f 8 13 14
+f 8 14 9
+f 10 11 12
+f 11 15 12
+f 11 16 17
+f 11 17 15
+f 13 18 19
+f 13 19 14
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 20 28 21
+f 21 28 34
+f 21 34 29
+f 21 29 30
+f 21 30 22
+f 24 31 32
+f 24 32 25
+f 25 32 33
+f 25 33 26
+f 29 34 35
+f 29 35 30
+f 30 35 36
+f 31 37 32
+f 32 37 38
+f 32 38 33
+f 35 39 36
+f 36 39 38
+f 36 38 37
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_29.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.05421790 -0.04855883 0.02570386
+v 0.05295460 -0.04982348 0.02569436
+v 0.05421790 -0.04982348 0.02570070
+v 0.05619471 -0.04982348 0.02570070
+v 0.05619471 -0.02286384 0.02570080
+v 0.05421790 -0.02484037 0.02570079
+v 0.05224242 -0.04982348 0.02568802
+v 0.05224242 -0.00902807 0.02568183
+v 0.05690823 -0.04982348 0.02557392
+v 0.05817152 -0.04855883 0.02535206
+v 0.05817152 -0.02484037 0.02535215
+v 0.05619471 -0.01100461 0.02569767
+v 0.05421790 -0.01298115 0.02569766
+v 0.05095250 -0.04982348 0.02549152
+v 0.05421790 -0.00704734 0.02569451
+v 0.05224242 -0.00704734 0.02567866
+v 0.05817152 -0.04982348 0.02534889
+v 0.05853760 -0.04982348 0.02521578
+v 0.05918722 -0.04982348 0.02497491
+v 0.05918722 -0.01693422 0.02497503
+v 0.05817152 -0.01495768 0.02534902
+v 0.05817152 -0.00704734 0.02534587
+v 0.05620137 -0.00704734 0.02569451
+v 0.05041070 -0.04982348 0.02535523
+v 0.05071554 -0.00704734 0.02530467
+v 0.05942018 -0.04982348 0.02398606
+v 0.05942018 -0.01693422 0.02398618
+v 0.05918589 -0.00705153 0.02497189
+v 0.05918589 -0.00704734 0.02496872
+v 0.04838996 -0.04982348 0.02397972
+v 0.04984894 -0.00704734 0.02398621
+v 0.04676857 -0.04982347 0.02207175
+v 0.05961320 -0.04982347 0.02207175
+v 0.05960654 -0.01495767 0.02207188
+v 0.05960521 -0.01100460 0.02207189
+v 0.05941618 -0.00704734 0.02397987
+v 0.05941618 -0.00902807 0.02398621
+v 0.05941485 -0.00704734 0.02398621
+v 0.04951748 -0.00704733 0.02208141
+v 0.04673396 -0.04982347 0.02137132
+v 0.04951614 -0.00704733 0.02207190
+v 0.06005649 -0.04982345 0.01563156
+v 0.05960255 -0.00704733 0.02207190
+v 0.04653828 -0.04982337 -0.00667456
+v 0.04950949 -0.00704732 0.02016710
+v 0.06013503 -0.04982344 0.01440818
+v 0.05960255 -0.00704733 0.02206556
+v 0.06012437 -0.04982337 -0.00667456
+v 0.04950683 -0.00704732 0.01824963
+v 0.04948686 -0.00704723 -0.00667441
+v 0.06013503 -0.04982338 -0.00352102
+v 0.05953067 -0.00704723 -0.00667441
+v 0.06013236 -0.04982337 -0.00474757
+v 0.06012571 -0.04982337 -0.00666188
+v 0.06012437 -0.04981500 -0.00667456
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 14
+f 2 14 24
+f 2 24 30
+f 2 30 32
+f 2 32 40
+f 2 40 44
+f 2 44 48
+f 2 48 54
+f 2 54 53
+f 2 53 51
+f 2 51 46
+f 2 46 42
+f 2 42 33
+f 2 33 26
+f 2 26 19
+f 2 19 18
+f 2 18 17
+f 2 17 9
+f 2 9 4
+f 2 4 3
+f 2 6 8
+f 2 8 7
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 8
+f 7 8 14
+f 8 13 15
+f 8 15 16
+f 8 16 14
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 15
+f 12 15 13
+f 14 16 25
+f 14 25 24
+f 15 23 22
+f 15 22 29
+f 15 29 38
+f 15 38 36
+f 15 36 43
+f 15 43 47
+f 15 47 52
+f 15 52 50
+f 15 50 49
+f 15 49 45
+f 15 45 41
+f 15 41 39
+f 15 39 31
+f 15 31 25
+f 15 25 16
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 21
+f 21 28 22
+f 22 28 29
+f 24 25 30
+f 25 31 32
+f 25 32 30
+f 26 33 27
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 27 33 34
+f 28 37 38
+f 28 38 29
+f 31 39 32
+f 32 39 41
+f 32 41 40
+f 33 42 34
+f 34 42 35
+f 35 43 36
+f 35 42 43
+f 36 38 37
+f 40 41 44
+f 41 45 44
+f 42 46 43
+f 43 46 51
+f 43 51 47
+f 44 45 49
+f 44 49 50
+f 44 50 52
+f 44 52 55
+f 44 55 48
+f 47 51 53
+f 47 53 52
+f 48 55 54
+f 52 53 54
+f 52 54 55
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_3.obj

@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.06007624 0.04637212 -0.00795060
+v -0.05671624 0.04637212 -0.00795060
+v -0.06005778 0.04637212 -0.00853006
+v -0.05984810 0.02725925 -0.00921558
+v -0.05983756 0.02725925 -0.00795067
+v -0.04985777 0.04637212 -0.00796521
+v -0.04986173 0.04637025 -0.00795060
+v -0.06005514 0.04637212 -0.00857959
+v -0.04670876 0.02725925 -0.00921558
+v -0.06002085 0.04637212 -0.00919904
+v -0.06001954 0.04637212 -0.00921551
+v -0.04986700 0.02725925 -0.00795067
+v -0.04982480 0.04637212 -0.00797313
+v -0.04660458 0.04636838 -0.00920399
+v -0.04663623 0.04637212 -0.00919607
+v -0.04660458 0.04633844 -0.00921551
+v -0.04660458 0.04637212 -0.00921551
+f 1 2 6
+f 1 6 13
+f 1 13 15
+f 1 15 17
+f 1 17 11
+f 1 11 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 12
+f 4 12 5
+f 4 8 10
+f 4 10 11
+f 4 11 17
+f 4 17 16
+f 4 16 9
+f 6 7 13
+f 7 14 15
+f 7 15 13
+f 7 12 14
+f 9 16 14
+f 9 14 12
+f 14 16 17
+f 14 17 15
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_30.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.05055668 0.06023639 -0.00667063
+v -0.05055668 0.06011833 -0.00857950
+v -0.05253311 0.06011019 -0.00857950
+v -0.05253311 0.06022553 -0.00667063
+v -0.02796745 0.05972340 -0.00667063
+v -0.02796745 0.05972476 -0.00921521
+v -0.05055668 0.06003419 -0.00921521
+v -0.05450955 0.06001790 -0.00921521
+v -0.05450955 0.06009933 -0.00857950
+v -0.05450955 0.06020789 -0.00667063
+v -0.02796745 0.04942155 -0.00667067
+v -0.02796745 0.04720403 -0.00921526
+v -0.05648599 0.05995954 -0.00921521
+v -0.05648599 0.06003419 -0.00857950
+v -0.05648599 0.06015632 -0.00667063
+v -0.02796745 0.04637348 -0.00921476
+v -0.05014359 0.04637347 -0.00667068
+v -0.03073828 0.04637348 -0.00921526
+v -0.05822729 0.05953749 -0.00921521
+v -0.05827177 0.05957141 -0.00857950
+v -0.05835439 0.05964197 -0.00667063
+v -0.06011475 0.04637347 -0.00667068
+v -0.06001942 0.04637348 -0.00921526
+v -0.05921551 0.05892678 -0.00921521
+v -0.05925999 0.05897292 -0.00857950
+v -0.05836710 0.05963790 -0.00667063
+v -0.05935214 0.05906248 -0.00667063
+v -0.06040392 0.04829786 -0.00667067
+v -0.06005756 0.04637348 -0.00852998
+v -0.06017513 0.04764238 -0.00921525
+v -0.05980335 0.05793880 -0.00921522
+v -0.05983513 0.05798494 -0.00857951
+v -0.05989550 0.05807450 -0.00667064
+v -0.06042933 0.05027517 -0.00667067
+v -0.06033401 0.05027518 -0.00857954
+v -0.06028952 0.04829787 -0.00857954
+v -0.06021008 0.04829787 -0.00921525
+v -0.06020055 0.05620441 -0.00921522
+v -0.06027046 0.05620441 -0.00857951
+v -0.06037531 0.05619626 -0.00667064
+v -0.06041345 0.05422709 -0.00667065
+v -0.06032447 0.05422710 -0.00857952
+v -0.06024503 0.05422710 -0.00921523
+v -0.06025139 0.05027518 -0.00921525
+v -0.06023868 0.04961834 -0.00921525
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 21
+f 1 21 26
+f 1 26 27
+f 1 27 33
+f 1 33 40
+f 1 40 41
+f 1 41 34
+f 1 34 28
+f 1 28 22
+f 1 22 17
+f 1 17 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 8 9
+f 4 9 10
+f 5 11 16
+f 5 16 12
+f 5 12 6
+f 6 12 18
+f 6 18 23
+f 6 23 30
+f 6 30 37
+f 6 37 45
+f 6 45 44
+f 6 44 43
+f 6 43 38
+f 6 38 31
+f 6 31 24
+f 6 24 19
+f 6 19 13
+f 6 13 8
+f 6 8 7
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 17 16
+f 12 16 18
+f 13 19 14
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 16 17 22
+f 16 22 29
+f 16 29 23
+f 16 23 18
+f 19 24 25
+f 19 25 20
+f 20 26 21
+f 20 25 27
+f 20 27 26
+f 22 28 29
+f 23 29 28
+f 23 28 30
+f 24 31 25
+f 25 31 32
+f 25 32 27
+f 27 32 33
+f 28 34 35
+f 28 35 36
+f 28 36 30
+f 30 36 37
+f 31 38 39
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 34 41 42
+f 34 42 35
+f 35 42 43
+f 35 43 44
+f 35 44 45
+f 35 45 37
+f 35 37 36
+f 38 43 42
+f 38 42 39
+f 39 42 40
+f 40 42 41
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_31.obj

@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.00893102 0.04631996 -0.00921089
+v -0.00893102 0.04933709 -0.00751944
+v -0.00893102 0.05972406 -0.00921084
+v -0.00879545 0.02700333 -0.00921096
+v -0.00893102 0.05972085 -0.00751940
+v -0.00539892 0.02700333 -0.00751952
+v -0.00618277 0.05972085 -0.00751940
+v -0.00500796 0.05972085 -0.00857947
+v -0.00500796 0.05972085 -0.00921084
+v -0.00500796 0.02700333 -0.00921096
+v -0.00500796 0.02700333 -0.00751952
+v -0.00500796 0.05971765 -0.00751940
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 12
+f 2 12 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 7 12 8
+f 8 12 11
+f 8 11 10
+f 8 10 9
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_32.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05983682 0.02725925 -0.00795067
+v -0.06011588 0.04637211 -0.00661291
+v -0.06011487 0.04637211 -0.00666233
+v -0.06007573 0.04637212 -0.00795060
+v -0.04986791 0.02725925 -0.00795067
+v -0.05998639 0.02725914 0.02207162
+v -0.06010785 0.04637204 0.01254311
+v -0.05671695 0.04637212 -0.00795060
+v -0.04986088 0.04637025 -0.00795060
+v -0.05014094 0.04637201 0.02207169
+v -0.05015098 0.02853146 0.02207162
+v -0.05015198 0.02725914 0.02207162
+v -0.05992515 0.02725914 0.02275365
+v -0.05998739 0.02853146 0.02207162
+v -0.06010584 0.04637204 0.01440797
+v -0.05014094 0.04637211 -0.00670846
+v -0.05039190 0.04637200 0.02392008
+v -0.05032263 0.02725913 0.02330717
+v -0.05981373 0.02725913 0.02398590
+v -0.05981473 0.03050916 0.02398591
+v -0.05999241 0.04637201 0.02207169
+v -0.05041699 0.02725913 0.02398590
+v -0.05040194 0.04637200 0.02398927
+v -0.05952965 0.02725913 0.02502377
+v -0.05953066 0.02853145 0.02502377
+v -0.05953066 0.03050916 0.02502707
+v -0.05981373 0.03841251 0.02398594
+v -0.05981172 0.04637200 0.02398597
+v -0.05108152 0.04637200 0.02524459
+v -0.05111465 0.02725913 0.02527417
+v -0.05915121 0.02725913 0.02515885
+v -0.05846460 0.02725913 0.02540267
+v -0.05846460 0.04637200 0.02540274
+v -0.05952865 0.04637200 0.02502384
+v -0.05980469 0.04637200 0.02401233
+v -0.05110662 0.04637200 0.02527754
+v -0.05111063 0.04236606 0.02527753
+v -0.05249590 0.04637200 0.02564985
+v -0.05253404 0.02725913 0.02565308
+v -0.05648708 0.02725913 0.02569920
+v -0.05648708 0.03050916 0.02570251
+v -0.05648708 0.04631961 0.02570586
+v -0.05648708 0.04637200 0.02570586
+v -0.05253404 0.04637200 0.02565974
+v -0.05253404 0.04631961 0.02565974
+v -0.05451157 0.02725913 0.02570250
+v -0.05578441 0.02725913 0.02570250
+v -0.05451157 0.04637200 0.02570916
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 12
+f 1 12 18
+f 1 18 22
+f 1 22 30
+f 1 30 39
+f 1 39 46
+f 1 46 47
+f 1 47 40
+f 1 40 32
+f 1 32 31
+f 1 31 24
+f 1 24 19
+f 1 19 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 15
+f 2 15 21
+f 2 21 28
+f 2 28 35
+f 2 35 34
+f 2 34 33
+f 2 33 43
+f 2 43 48
+f 2 48 44
+f 2 44 38
+f 2 38 36
+f 2 36 29
+f 2 29 23
+f 2 23 17
+f 2 17 10
+f 2 10 16
+f 2 16 8
+f 2 8 4
+f 2 4 3
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 9 16 10
+f 10 17 11
+f 11 17 12
+f 12 17 18
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 17 22 18
+f 17 23 22
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 20 27 21
+f 20 26 27
+f 21 27 28
+f 22 23 29
+f 22 29 30
+f 24 31 26
+f 24 26 25
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 27 35 28
+f 27 34 35
+f 29 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 36 38 37
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 40 47 41
+f 41 48 42
+f 41 47 48
+f 42 48 43
+f 44 48 45
+f 45 48 46
+f 46 48 47
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_33.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00539789 0.02700333 -0.00751929
+v -0.00551260 0.04671249 -0.00751922
+v -0.00500722 0.02730404 -0.00800769
+v -0.00086030 0.02730006 -0.00800769
+v -0.00500722 0.02700333 -0.00751929
+v -0.00510137 0.02700322 0.02207159
+v -0.00522041 0.04671238 0.02207166
+v -0.00500722 0.04734776 -0.00800762
+v -0.00500722 0.04734764 0.02410444
+v 0.00533843 0.02730006 -0.00800769
+v -0.00500722 0.02700322 0.02280088
+v 0.00554296 0.04734776 -0.00800762
+v -0.00485463 0.02729994 0.02398557
+v -0.00435466 0.02729994 0.02517356
+v -0.00441202 0.04734764 0.02517363
+v 0.00518801 0.04734765 0.02206835
+v 0.00492504 0.02729995 0.02206828
+v 0.00469345 0.02729994 0.02398557
+v 0.00413396 0.02729994 0.02522306
+v 0.00281803 0.02729994 0.02559926
+v 0.00084089 0.02729994 0.02570486
+v -0.00113301 0.02729994 0.02569826
+v -0.00236561 0.02729994 0.02560586
+v -0.00311015 0.02729994 0.02554976
+v -0.00388716 0.02729994 0.02531546
+v -0.00311015 0.04734764 0.02555313
+v 0.00509710 0.04734765 0.02283065
+v 0.00493261 0.04734764 0.02396254
+v 0.00464908 0.04734764 0.02458954
+v 0.00419132 0.04734764 0.02522643
+v 0.00355608 0.04734764 0.02541123
+v 0.00281803 0.02853263 0.02560256
+v 0.00281803 0.04734764 0.02560923
+v 0.00186788 0.04734764 0.02565543
+v 0.00084089 0.04734764 0.02570493
+v -0.00113301 0.04631807 0.02570493
+v -0.00113301 0.04734764 0.02570493
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 8
+f 3 8 12
+f 3 12 10
+f 3 10 4
+f 5 10 11
+f 6 11 9
+f 6 9 7
+f 8 9 15
+f 8 15 26
+f 8 26 37
+f 8 37 35
+f 8 35 34
+f 8 34 33
+f 8 33 31
+f 8 31 30
+f 8 30 29
+f 8 29 28
+f 8 28 27
+f 8 27 16
+f 8 16 12
+f 9 11 13
+f 9 13 14
+f 9 14 15
+f 10 12 16
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 14
+f 11 14 13
+f 14 25 15
+f 15 25 24
+f 15 24 26
+f 16 27 17
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 37
+f 21 37 36
+f 21 36 22
+f 22 36 23
+f 23 36 24
+f 24 36 26
+f 26 36 37
+f 31 33 32
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_34.obj

@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v -0.02796745 0.05620421 0.02570392
+v -0.04857940 0.05620421 0.02571026
+v -0.05451030 0.05422663 0.02571659
+v -0.02796745 0.05422663 0.02570391
+v -0.02796745 0.05704767 0.02555809
+v -0.03078987 0.05818043 0.02536471
+v -0.05451030 0.05620421 0.02571026
+v -0.05253333 0.05818043 0.02536788
+v -0.05648727 0.05422663 0.02571025
+v -0.05648727 0.05027555 0.02571023
+v -0.05451030 0.05027555 0.02571340
+v -0.05451030 0.04829797 0.02571023
+v -0.02796745 0.05225177 0.02570073
+v -0.02796745 0.05818043 0.02536154
+v -0.02796745 0.05920725 0.02498429
+v -0.03276684 0.05920725 0.02498746
+v -0.05451030 0.05818043 0.02535837
+v -0.05648727 0.05620421 0.02569441
+v -0.03474381 0.05920725 0.02498746
+v -0.05253333 0.05920725 0.02498429
+v -0.05451030 0.05919910 0.02497795
+v -0.05846423 0.05422663 0.02540274
+v -0.05846423 0.05225177 0.02540907
+v -0.05648727 0.04637201 0.02570705
+v -0.05445944 0.04637201 0.02570705
+v -0.05253333 0.04637201 0.02565950
+v -0.02796745 0.05065585 0.02532030
+v -0.02796745 0.05948433 0.02398883
+v -0.03078987 0.05948569 0.02398883
+v -0.05635377 0.05829181 0.02524741
+v -0.05560685 0.05918416 0.02496210
+v -0.05800654 0.05770641 0.02517766
+v -0.05858501 0.05616618 0.02526326
+v -0.03474381 0.05948569 0.02398883
+v -0.05253333 0.05948161 0.02398883
+v -0.05451030 0.05947346 0.02398883
+v -0.05949722 0.05548299 0.02499061
+v -0.05952582 0.05422663 0.02502231
+v -0.05953218 0.05225177 0.02502864
+v -0.05846423 0.04637201 0.02540271
+v -0.05249519 0.04637201 0.02564999
+v -0.05110305 0.04637201 0.02527907
+v -0.02796745 0.04975942 0.02398879
+v -0.02796745 0.05958756 0.02317090
+v -0.02796745 0.05972474 0.02207083
+v -0.05692589 0.05902389 0.02476871
+v -0.05635377 0.05939197 0.02407126
+v -0.05859773 0.05830811 0.02414099
+v -0.05932558 0.05680048 0.02479089
+v -0.03672077 0.05972474 0.02207083
+v -0.04660243 0.05971932 0.02207083
+v -0.05451030 0.05971388 0.02207083
+v -0.05648727 0.05970845 0.02207083
+v -0.05970063 0.05616618 0.02408710
+v -0.05981505 0.05422663 0.02398881
+v -0.05952899 0.04829797 0.02502546
+v -0.05982141 0.05225177 0.02398880
+v -0.05950039 0.04637201 0.02503179
+v -0.05108080 0.04637201 0.02524737
+v -0.02796745 0.04947013 0.02207079
+v -0.02796745 0.05972611 0.02125291
+v -0.05055636 0.06024634 0.01440834
+v -0.05055636 0.06013088 0.01632317
+v -0.05786987 0.05934308 0.02349110
+v -0.05963070 0.05759232 0.02351328
+v -0.05253333 0.06013088 0.01632317
+v -0.05809554 0.05943680 0.02207083
+v -0.05451030 0.06012273 0.01632317
+v -0.05648727 0.06004124 0.01632317
+v -0.05999940 0.05620422 0.02207082
+v -0.06000894 0.05422664 0.02207081
+v -0.05952582 0.04637201 0.02502228
+v -0.05981505 0.04829797 0.02398879
+v -0.05981188 0.04637201 0.02398878
+v -0.05040062 0.04637201 0.02398878
+v -0.05038791 0.04637201 0.02391903
+v -0.05013999 0.04637202 0.02207078
+v -0.02796745 0.04942133 -0.00667067
+v -0.02796745 0.05972612 0.01933808
+v -0.05253333 0.06023547 0.01440834
+v -0.02796745 0.05972349 -0.00667063
+v -0.05055636 0.06023961 -0.00474629
+v -0.05908402 0.05880387 0.02207083
+v -0.05971970 0.05781508 0.02207082
+v -0.05648727 0.06015126 0.01440834
+v -0.05834663 0.05962970 0.01440834
+v -0.05933512 0.05904566 0.01440834
+v -0.05451030 0.06021917 0.01440834
+v -0.06036810 0.05620425 0.01440833
+v -0.06041577 0.05422667 0.01440832
+v -0.06000258 0.05027556 0.02207079
+v -0.06042848 0.05027559 0.01440830
+v -0.05998669 0.04637202 0.02212150
+v -0.05013999 0.04637203 0.02008620
+v -0.05014317 0.04637212 -0.00667068
+v -0.05253333 0.06022875 -0.00474629
+v -0.05451030 0.06021516 -0.00283146
+v -0.05054683 0.06023554 -0.00667063
+v -0.05055636 0.06023554 -0.00667063
+v -0.05253333 0.06022603 -0.00666112
+v -0.05988816 0.05805687 0.01440833
+v -0.05648727 0.06016219 -0.00283146
+v -0.05836252 0.05964334 -0.00283146
+v -0.05935101 0.05906338 -0.00283146
+v -0.05989451 0.05807595 -0.00283147
+v -0.06037763 0.05620431 -0.00283147
+v -0.06041895 0.05422673 -0.00283148
+v -0.06043802 0.05027565 -0.00283150
+v -0.05999622 0.04829798 0.02207079
+v -0.06039670 0.04829801 0.01440830
+v -0.05998986 0.04637202 0.02207078
+v -0.06011382 0.04637212 -0.00667068
+v -0.05451030 0.06020837 -0.00667063
+v -0.05648727 0.06015676 -0.00666112
+v -0.05253333 0.06022467 -0.00667063
+v -0.05836252 0.05964064 -0.00666112
+v -0.05935101 0.05906339 -0.00666112
+v -0.05989451 0.05807460 -0.00667064
+v -0.06037763 0.05620432 -0.00474630
+v -0.06037446 0.05620432 -0.00667064
+v -0.06041260 0.05422674 -0.00667065
+v -0.06042848 0.05027566 -0.00667067
+v -0.06042848 0.05026751 -0.00667067
+v -0.06040306 0.04829129 -0.00667067
+v -0.06040623 0.04829807 -0.00283150
+v -0.06010747 0.04637205 0.01254102
+v -0.06010429 0.04637205 0.01440829
+v -0.06011382 0.04637212 -0.00661362
+v -0.05648727 0.06015540 -0.00667063
+v -0.05835617 0.05964199 -0.00667063
+v -0.05836570 0.05963792 -0.00667063
+v -0.05935101 0.05906203 -0.00667063
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 27
+f 1 27 43
+f 1 43 60
+f 1 60 78
+f 1 78 81
+f 1 81 79
+f 1 79 61
+f 1 61 45
+f 1 45 44
+f 1 44 28
+f 1 28 15
+f 1 15 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 7 8 17
+f 7 17 18
+f 7 18 9
+f 8 16 19
+f 8 19 20
+f 8 20 21
+f 8 21 17
+f 9 18 22
+f 9 22 23
+f 9 23 10
+f 10 24 11
+f 10 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 15 28 29
+f 15 29 16
+f 16 29 34
+f 16 34 19
+f 17 30 18
+f 17 21 31
+f 17 31 30
+f 18 30 32
+f 18 32 33
+f 18 33 22
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 31
+f 22 33 37
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 24 40 58
+f 24 58 72
+f 24 72 74
+f 24 74 93
+f 24 93 111
+f 24 111 127
+f 24 127 126
+f 24 126 128
+f 24 128 112
+f 24 112 95
+f 24 95 94
+f 24 94 77
+f 24 77 76
+f 24 76 75
+f 24 75 59
+f 24 59 42
+f 24 42 41
+f 24 41 26
+f 24 26 25
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 28 44 29
+f 29 44 45
+f 29 45 50
+f 29 50 34
+f 30 31 46
+f 30 46 32
+f 31 36 47
+f 31 47 46
+f 32 46 48
+f 32 48 49
+f 32 49 33
+f 33 49 37
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 36 53 47
+f 37 49 54
+f 37 54 55
+f 37 55 38
+f 38 55 39
+f 39 56 40
+f 39 55 57
+f 39 57 56
+f 40 56 58
+f 42 59 60
+f 42 60 43
+f 45 61 62
+f 45 62 63
+f 45 63 66
+f 45 66 50
+f 46 47 64
+f 46 64 48
+f 47 53 64
+f 48 64 65
+f 48 65 49
+f 49 65 54
+f 50 66 51
+f 51 66 52
+f 52 66 53
+f 53 67 64
+f 53 66 68
+f 53 68 69
+f 53 69 67
+f 54 65 70
+f 54 70 55
+f 55 70 71
+f 55 71 57
+f 56 72 58
+f 56 57 73
+f 56 73 74
+f 56 74 72
+f 57 71 73
+f 59 75 60
+f 60 75 76
+f 60 76 77
+f 60 77 78
+f 61 79 62
+f 62 80 68
+f 62 68 66
+f 62 66 63
+f 62 79 81
+f 62 81 82
+f 62 82 96
+f 62 96 80
+f 64 67 83
+f 64 83 65
+f 65 83 84
+f 65 84 70
+f 67 69 85
+f 67 85 86
+f 67 86 87
+f 67 87 83
+f 68 80 88
+f 68 88 85
+f 68 85 69
+f 70 84 89
+f 70 89 90
+f 70 90 71
+f 71 91 73
+f 71 90 92
+f 71 92 91
+f 73 91 74
+f 74 91 93
+f 77 94 78
+f 78 95 112
+f 78 112 124
+f 78 124 123
+f 78 123 122
+f 78 122 121
+f 78 121 120
+f 78 120 118
+f 78 118 132
+f 78 132 131
+f 78 131 130
+f 78 130 129
+f 78 129 113
+f 78 113 115
+f 78 115 99
+f 78 99 98
+f 78 98 81
+f 78 94 95
+f 80 96 97
+f 80 97 88
+f 81 98 82
+f 82 98 99
+f 82 99 100
+f 82 100 96
+f 83 87 84
+f 84 87 101
+f 84 101 89
+f 85 88 102
+f 85 102 103
+f 85 103 86
+f 86 103 104
+f 86 104 87
+f 87 104 101
+f 88 97 102
+f 89 101 105
+f 89 105 106
+f 89 106 90
+f 90 106 107
+f 90 107 108
+f 90 108 92
+f 91 109 93
+f 91 92 109
+f 92 110 111
+f 92 111 109
+f 92 108 125
+f 92 125 110
+f 93 109 111
+f 96 100 97
+f 97 100 113
+f 97 113 114
+f 97 114 102
+f 99 115 100
+f 100 115 113
+f 101 104 105
+f 102 114 116
+f 102 116 103
+f 103 116 117
+f 103 117 104
+f 104 117 105
+f 105 117 118
+f 105 118 119
+f 105 119 106
+f 106 119 107
+f 107 119 120
+f 107 120 121
+f 107 121 108
+f 108 121 122
+f 108 122 123
+f 108 123 124
+f 108 124 125
+f 110 126 127
+f 110 127 111
+f 110 125 126
+f 112 128 125
+f 112 125 124
+f 113 129 114
+f 114 129 130
+f 114 130 116
+f 116 130 131
+f 116 131 117
+f 117 131 132
+f 117 132 118
+f 118 120 119
+f 125 128 126
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_4.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.05648774 -0.04972725 -0.01796073
+v -0.05648774 -0.00503015 -0.01796057
+v -0.05531969 -0.04972725 -0.01796073
+v -0.05729294 -0.04972725 -0.01780684
+v -0.05845726 -0.03867549 -0.01758451
+v -0.05055804 -0.00503015 -0.01795202
+v -0.04764911 -0.00996101 -0.01795204
+v -0.05055804 -0.02879189 -0.01795639
+v -0.05451076 -0.04460389 -0.01796071
+v -0.05845726 -0.03669790 -0.01758450
+v -0.05844981 -0.01693510 -0.01758443
+v -0.05844981 -0.00503016 -0.01758012
+v -0.05055804 -0.04972725 -0.01795646
+v -0.05845850 -0.04855908 -0.01758028
+v -0.05857655 -0.04972726 -0.01753753
+v -0.05944886 -0.04972726 -0.01719555
+v -0.04764911 -0.00503015 -0.01794775
+v -0.04764911 -0.04972725 -0.01795218
+v -0.05847093 -0.00503016 -0.01757157
+v -0.05948614 -0.04972726 -0.01706303
+v -0.05970981 -0.00503016 -0.01622075
+v -0.05943892 -0.00503016 -0.01717829
+v -0.04764911 -0.00503020 -0.00666667
+v -0.04764911 -0.04972730 -0.00670957
+v -0.05968371 -0.04972726 -0.01634915
+v -0.05971353 -0.04855908 -0.01623373
+v -0.05996081 -0.04972727 -0.01432719
+v -0.05994341 -0.00503017 -0.01432703
+v -0.04779823 -0.00503030 0.02091406
+v -0.04787651 -0.04972739 0.02015299
+v -0.06033111 -0.04972730 -0.00666255
+v -0.06033732 -0.04972730 -0.00474746
+v -0.06033981 -0.04972731 -0.00396091
+v -0.06034229 -0.04972731 -0.00283237
+v -0.05998691 -0.00503030 0.02207251
+v -0.04782556 -0.00503030 0.02207251
+v -0.04794858 -0.04972740 0.02207235
+v -0.06031371 -0.04972737 0.01440772
+v -0.06000057 -0.04972740 0.02207235
+v -0.05980921 -0.00503031 0.02398761
+v -0.04885319 -0.04972741 0.02365401
+v -0.04901225 -0.00503031 0.02398761
+v -0.05992726 -0.04972740 0.02285464
+v -0.05981792 -0.04972741 0.02398745
+v -0.05952590 -0.00503031 0.02502210
+v -0.04942603 -0.00503031 0.02443218
+v -0.05076307 -0.04972741 0.02532972
+v -0.05970111 -0.04972741 0.02441065
+v -0.05953087 -0.04658164 0.02502622
+v -0.05846472 -0.00503031 0.02539827
+v -0.05059532 -0.00503031 0.02527858
+v -0.05063384 -0.00503031 0.02528713
+v -0.05249277 -0.00503031 0.02565903
+v -0.05253502 -0.04972741 0.02566315
+v -0.05953087 -0.04972741 0.02502621
+v -0.05846472 -0.04460405 0.02540241
+v -0.05648774 -0.00503031 0.02570178
+v -0.05446851 -0.00503031 0.02570178
+v -0.05451076 -0.04972741 0.02570162
+v -0.05846472 -0.04972741 0.02540239
+v -0.05648774 -0.04972741 0.02570162
+f 1 2 9
+f 1 9 3
+f 1 3 13
+f 1 13 18
+f 1 18 24
+f 1 24 30
+f 1 30 37
+f 1 37 41
+f 1 41 47
+f 1 47 54
+f 1 54 59
+f 1 59 61
+f 1 61 60
+f 1 60 55
+f 1 55 48
+f 1 48 44
+f 1 44 43
+f 1 43 39
+f 1 39 38
+f 1 38 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 27
+f 1 27 25
+f 1 25 20
+f 1 20 16
+f 1 16 15
+f 1 15 4
+f 1 4 5
+f 1 5 10
+f 1 10 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 10 11
+f 2 11 12
+f 2 12 19
+f 2 19 22
+f 2 22 21
+f 2 21 28
+f 2 28 35
+f 2 35 40
+f 2 40 45
+f 2 45 50
+f 2 50 57
+f 2 57 58
+f 2 58 53
+f 2 53 52
+f 2 52 51
+f 2 51 46
+f 2 46 42
+f 2 42 36
+f 2 36 29
+f 2 29 23
+f 2 23 17
+f 2 17 6
+f 3 9 13
+f 4 14 5
+f 4 15 14
+f 5 14 15
+f 5 15 16
+f 5 16 10
+f 6 17 7
+f 7 17 23
+f 7 23 24
+f 7 24 18
+f 7 18 13
+f 7 13 8
+f 8 13 9
+f 10 16 11
+f 11 16 12
+f 12 16 19
+f 16 20 21
+f 16 21 22
+f 16 22 19
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 23 29 24
+f 24 29 30
+f 25 27 26
+f 27 31 28
+f 28 31 32
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 29 36 30
+f 30 36 37
+f 34 38 35
+f 35 38 39
+f 35 39 40
+f 36 41 37
+f 36 42 41
+f 39 43 40
+f 40 43 44
+f 40 44 45
+f 41 42 46
+f 41 46 47
+f 44 48 49
+f 44 49 45
+f 45 49 50
+f 46 51 47
+f 47 51 52
+f 47 52 53
+f 47 53 54
+f 48 55 49
+f 49 55 60
+f 49 60 56
+f 49 56 50
+f 50 56 57
+f 53 58 54
+f 54 58 59
+f 56 60 61
+f 56 61 57
+f 57 61 59
+f 57 59 58
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_5.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.04978310 0.00403743 -0.01795499
+v -0.03474297 -0.00502912 -0.01795074
+v -0.04978310 -0.00502912 -0.01795074
+v -0.04978310 0.00551566 -0.01795070
+v -0.02796135 0.00551566 -0.01795070
+v 0.02719584 0.00283275 -0.01795071
+v 0.02719584 -0.00503015 -0.01794647
+v -0.00500933 -0.00503015 -0.01794647
+v -0.04978310 -0.00502928 0.02466402
+v -0.04978310 0.00551562 -0.00704379
+v -0.02796135 0.00551562 -0.00827039
+v 0.02719584 0.00532572 -0.01794643
+v 0.02719584 -0.00503019 -0.00703955
+v -0.00500933 -0.00503031 0.02513414
+v -0.04978310 -0.00474850 0.02512987
+v -0.00497165 -0.00503031 0.02520680
+v -0.00311047 -0.00503031 0.02557435
+v -0.00113627 -0.00503031 0.02569829
+v -0.04978310 0.00546080 0.02206982
+v 0.00456030 0.00532556 0.02526667
+v 0.02719584 0.00532568 -0.00814645
+v 0.02719584 -0.00485585 0.02206550
+v 0.00613514 -0.00503031 0.02398020
+v -0.04978310 -0.00470102 0.02520680
+v 0.00087561 -0.00503031 0.02569829
+v 0.00083794 -0.00111796 0.02570686
+v -0.04978310 -0.00111796 0.02570259
+v -0.04978310 -0.00232263 0.02562137
+v -0.04978310 -0.00309478 0.02553590
+v -0.04978310 -0.00422616 0.02535638
+v -0.04978310 0.00527601 0.02370671
+v -0.00113627 0.00532556 0.02569833
+v 0.00083794 0.00532556 0.02569833
+v 0.00281968 0.00532556 0.02561713
+v 0.02719584 0.00458541 0.02398024
+v 0.02719584 0.00466593 0.02335198
+v 0.02719584 0.00482594 0.02206554
+v 0.02719584 -0.00462772 0.02398020
+v 0.00466579 -0.00503031 0.02525808
+v 0.00471100 -0.00503031 0.02524099
+v 0.00578852 -0.00503031 0.02438194
+v 0.00285736 -0.00503031 0.02561709
+v 0.02719584 -0.00424165 0.02509995
+v 0.02719584 -0.00309375 0.02547606
+v 0.02719584 -0.00111796 0.02569831
+v 0.02719584 0.00085577 0.02569831
+v -0.04978310 0.00085680 0.02569831
+v -0.04978310 0.00523472 0.02398451
+v -0.04978310 0.00450489 0.02526240
+v -0.04978310 0.00283362 0.02560002
+v 0.02719584 0.00283259 0.02555729
+v 0.02719584 0.00408372 0.02518120
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 24
+f 1 24 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 47
+f 1 47 50
+f 1 50 49
+f 1 49 48
+f 1 48 31
+f 1 31 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 14
+f 3 14 9
+f 4 10 11
+f 4 11 5
+f 5 11 21
+f 5 21 12
+f 5 12 6
+f 6 12 21
+f 6 21 37
+f 6 37 36
+f 6 36 35
+f 6 35 52
+f 6 52 51
+f 6 51 46
+f 6 46 45
+f 6 45 44
+f 6 44 43
+f 6 43 38
+f 6 38 22
+f 6 22 13
+f 6 13 7
+f 7 13 23
+f 7 23 41
+f 7 41 40
+f 7 40 39
+f 7 39 42
+f 7 42 25
+f 7 25 18
+f 7 18 17
+f 7 17 16
+f 7 16 14
+f 7 14 8
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 13 22 23
+f 15 18 24
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 24
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 33
+f 26 33 32
+f 26 32 27
+f 27 32 47
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 47
+f 33 46 51
+f 33 51 52
+f 33 52 34
+f 34 52 35
+f 38 43 42
+f 38 42 39
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_6.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.05054660 0.06002799 -0.00921722
+v -0.02486412 0.05973064 -0.01432571
+v -0.05187128 0.06002799 -0.00921722
+v -0.01037379 0.05972092 -0.00921208
+v -0.00501561 0.05971769 -0.00921208
+v -0.00501561 0.05972094 -0.01241185
+v -0.00501561 0.05972094 -0.01432571
+v -0.00707562 0.05972417 -0.01432571
+v -0.01102802 0.05972741 -0.01432571
+v -0.02288521 0.05944620 -0.01623184
+v -0.03276351 0.05944620 -0.01623270
+v -0.03473700 0.05944620 -0.01623184
+v -0.05252550 0.05943974 -0.01623356
+v -0.05054660 0.05971448 -0.01432485
+v -0.02090631 0.05944620 -0.01623099
+v -0.02797305 0.05972092 -0.00921208
+v -0.05450440 0.05970801 -0.01432485
+v -0.05450440 0.06001183 -0.00921722
+v -0.04659961 0.04637142 -0.00920355
+v -0.00501561 0.02700980 -0.00921220
+v -0.00501561 0.05971125 -0.01440206
+v -0.00707562 0.05944297 -0.01621983
+v -0.03276351 0.05915853 -0.01719092
+v -0.05252550 0.05915853 -0.01719177
+v -0.05450440 0.05943651 -0.01622155
+v -0.02090631 0.05915530 -0.01718834
+v -0.03079542 0.05915853 -0.01719006
+v -0.05647791 0.05995365 -0.00921722
+v -0.05647791 0.05969185 -0.01432485
+v -0.00880581 0.02700980 -0.00921220
+v -0.05821890 0.05953344 -0.00921722
+v -0.05920836 0.05892254 -0.00921722
+v -0.05979770 0.05793345 -0.00921723
+v -0.06019240 0.05620092 -0.00921723
+v -0.06023566 0.05422274 -0.00921724
+v -0.06025188 0.05026960 -0.00921726
+v -0.05984096 0.02726192 -0.00921734
+v -0.00501561 0.02700984 -0.01795281
+v -0.00501561 0.05943974 -0.01621812
+v -0.00501561 0.05943004 -0.01625672
+v -0.05054660 0.05816944 -0.01757953
+v -0.02288521 0.05915530 -0.01718920
+v -0.00905452 0.05815974 -0.01757868
+v -0.02090631 0.05816620 -0.01757868
+v -0.03079542 0.05816944 -0.01757868
+v -0.05252550 0.05816944 -0.01757953
+v -0.05450440 0.05815974 -0.01757868
+v -0.05450440 0.05914883 -0.01717977
+v -0.05647791 0.05942358 -0.01605856
+v -0.00905452 0.05914883 -0.01717891
+v -0.00501561 0.05815651 -0.01757782
+v -0.00707562 0.05815974 -0.01757782
+v -0.05805670 0.05942034 -0.01432485
+v -0.05783502 0.05932984 -0.01569998
+v -0.02797305 0.02700980 -0.00924908
+v -0.05904615 0.05875771 -0.01432485
+v -0.05969497 0.05777185 -0.01432486
+v -0.05995450 0.05620094 -0.01432486
+v -0.05996531 0.05422276 -0.01432487
+v -0.05993828 0.02726194 -0.01432497
+v -0.00905452 0.05620096 -0.01795870
+v -0.00501561 0.05414197 -0.01795699
+v -0.02797305 0.02700984 -0.01795281
+v -0.05647791 0.02726196 -0.01796567
+v -0.00501561 0.05914560 -0.01717548
+v -0.05450440 0.05620096 -0.01796213
+v -0.01498042 0.05620096 -0.01795956
+v -0.05647791 0.05620096 -0.01793983
+v -0.05647791 0.05802398 -0.01755637
+v -0.05647791 0.05901307 -0.01701677
+v -0.00707562 0.05914560 -0.01717805
+v -0.00501561 0.05620096 -0.01795698
+v -0.05854872 0.05826317 -0.01633994
+v -0.05960846 0.05754883 -0.01570428
+v -0.05971660 0.05422277 -0.01624130
+v -0.05965171 0.05600378 -0.01630134
+v -0.05971660 0.05224782 -0.01624131
+v -0.05970579 0.03051367 -0.01623110
+v -0.05978689 0.02726195 -0.01555169
+v -0.05647791 0.05224783 -0.01796644
+v -0.05647791 0.05422278 -0.01796643
+v -0.05970038 0.02726195 -0.01622853
+v -0.05943544 0.02726195 -0.01718675
+v -0.05879744 0.02726195 -0.01744410
+v -0.05844599 0.02726195 -0.01758479
+v -0.05718079 0.02726196 -0.01783099
+v -0.05845681 0.05224782 -0.01759242
+v -0.05845681 0.05422277 -0.01758812
+v -0.05854332 0.05600378 -0.01748603
+v -0.05794856 0.05765873 -0.01742255
+v -0.05926243 0.05653065 -0.01698075
+v -0.05944626 0.05521509 -0.01719952
+v -0.05945166 0.05224782 -0.01720725
+v -0.05945166 0.05026963 -0.01720554
+v -0.05943544 0.02853548 -0.01718846
+v -0.05845140 0.02853548 -0.01758479
+v -0.05944626 0.05422277 -0.01720380
+f 1 2 3
+f 1 3 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 2 9 15
+f 2 15 10
+f 3 14 17
+f 3 17 18
+f 3 18 16
+f 4 16 19
+f 4 19 5
+f 5 19 20
+f 5 20 38
+f 5 38 62
+f 5 62 72
+f 5 72 51
+f 5 51 65
+f 5 65 40
+f 5 40 39
+f 5 39 21
+f 5 21 7
+f 5 7 6
+f 7 21 8
+f 8 21 9
+f 9 21 22
+f 9 22 15
+f 10 23 11
+f 10 15 23
+f 11 23 24
+f 11 24 12
+f 12 24 13
+f 13 24 25
+f 13 25 17
+f 13 17 14
+f 15 22 26
+f 15 26 27
+f 15 27 23
+f 16 18 28
+f 16 28 19
+f 17 25 29
+f 17 29 18
+f 18 29 28
+f 19 30 20
+f 19 28 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 30
+f 20 30 55
+f 20 55 63
+f 20 63 38
+f 21 39 22
+f 22 39 40
+f 22 40 26
+f 23 41 24
+f 23 27 26
+f 23 26 42
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 41
+f 24 41 46
+f 24 46 47
+f 24 47 48
+f 24 48 25
+f 25 48 49
+f 25 49 29
+f 26 40 50
+f 26 50 51
+f 26 51 52
+f 26 52 43
+f 26 43 42
+f 28 29 53
+f 28 53 31
+f 29 49 54
+f 29 54 53
+f 30 37 55
+f 31 53 32
+f 32 56 57
+f 32 57 33
+f 32 53 56
+f 33 57 34
+f 34 58 35
+f 34 57 58
+f 35 58 59
+f 35 59 36
+f 36 59 60
+f 36 60 37
+f 37 60 55
+f 38 61 62
+f 38 63 64
+f 38 64 61
+f 40 65 50
+f 41 45 66
+f 41 66 46
+f 43 52 51
+f 43 51 61
+f 43 61 67
+f 43 67 44
+f 44 67 66
+f 44 66 45
+f 46 66 47
+f 47 66 68
+f 47 68 69
+f 47 69 48
+f 48 69 70
+f 48 70 49
+f 49 70 54
+f 50 65 71
+f 50 71 51
+f 51 72 61
+f 51 71 65
+f 53 54 56
+f 54 73 74
+f 54 74 56
+f 54 70 73
+f 55 60 63
+f 56 74 57
+f 57 74 58
+f 58 75 59
+f 58 74 76
+f 58 76 75
+f 59 75 77
+f 59 77 78
+f 59 78 79
+f 59 79 60
+f 60 79 63
+f 61 72 62
+f 61 64 80
+f 61 80 81
+f 61 81 67
+f 63 79 82
+f 63 82 83
+f 63 83 84
+f 63 84 85
+f 63 85 86
+f 63 86 64
+f 64 86 87
+f 64 87 80
+f 66 81 68
+f 66 67 81
+f 68 81 88
+f 68 88 89
+f 68 89 90
+f 68 90 69
+f 69 90 70
+f 70 90 73
+f 73 90 91
+f 73 91 74
+f 74 91 92
+f 74 92 76
+f 75 76 92
+f 75 92 93
+f 75 93 77
+f 77 93 94
+f 77 94 78
+f 78 82 79
+f 78 94 83
+f 78 83 82
+f 80 87 81
+f 81 87 88
+f 83 94 95
+f 83 95 84
+f 84 95 94
+f 84 94 96
+f 84 96 85
+f 85 96 86
+f 86 96 87
+f 87 96 93
+f 87 93 88
+f 88 93 97
+f 88 97 92
+f 88 92 89
+f 89 92 90
+f 90 92 91
+f 92 97 93
+f 93 96 94
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_7.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.05648718 -0.00503015 -0.01795849
+v -0.05648718 0.00283631 -0.01796273
+v -0.04978524 0.00085784 -0.01795419
+v -0.04978524 -0.00503015 -0.01794994
+v -0.05845052 -0.00503016 -0.01758228
+v -0.05648718 0.02725741 -0.01796692
+v -0.05126124 0.02725741 -0.01795837
+v -0.04978524 0.02725741 -0.01795409
+v -0.04978524 -0.00503031 0.02466884
+v -0.05847150 -0.00503016 -0.01757373
+v -0.05944518 0.00481160 -0.01718893
+v -0.05845552 0.00283630 -0.01758225
+v -0.05845651 0.00481160 -0.01758224
+v -0.05845751 0.00679007 -0.01758224
+v -0.05718823 0.02725741 -0.01783011
+v -0.04978524 0.02725737 -0.00801869
+v -0.04978524 -0.00474903 0.02513056
+v -0.05059514 -0.00503031 0.02527591
+v -0.05943919 -0.00503016 -0.01717614
+v -0.05944019 -0.00309278 -0.01718041
+v -0.05944618 0.00679007 -0.01718893
+v -0.05970982 -0.00503016 -0.01621851
+v -0.05970982 -0.00309278 -0.01622277
+v -0.05845751 0.00876538 -0.01758223
+v -0.05845552 0.02725740 -0.01758216
+v -0.05015174 0.02725726 0.02206969
+v -0.04978524 0.00450805 0.02526740
+v -0.04978524 -0.00470162 0.02520751
+v -0.05063409 -0.00503031 0.02528874
+v -0.05944418 -0.00503016 -0.01715904
+v -0.05971082 0.00283630 -0.01622703
+v -0.05971082 0.00679007 -0.01623129
+v -0.05944618 0.00876538 -0.01718892
+v -0.05971481 -0.00503016 -0.01618003
+v -0.05944518 0.01074384 -0.01718891
+v -0.05880704 0.02725740 -0.01744108
+v -0.05032251 0.02725725 0.02330520
+v -0.05041738 0.02725725 0.02398495
+v -0.04978524 0.00283615 0.02560085
+v -0.04978524 -0.00422755 0.02535714
+v -0.05249258 -0.00503031 0.02566067
+v -0.05994650 0.00085782 -0.01432461
+v -0.05971082 0.00876538 -0.01623128
+v -0.05971082 0.02725740 -0.01622694
+v -0.05944418 0.02725740 -0.01718457
+v -0.05994450 -0.00503017 -0.01432463
+v -0.05111444 0.02725725 0.02527176
+v -0.04978524 0.00085768 0.02570345
+v -0.04978524 -0.00309293 0.02553671
+v -0.04978524 -0.00232177 0.02562649
+v -0.04978524 -0.00111763 0.02570345
+v -0.05446891 -0.00503031 0.02570343
+v -0.05994650 0.01864506 -0.01432454
+v -0.05998645 -0.00503030 0.02206957
+v -0.05998745 0.00876524 0.02206962
+v -0.05979470 0.02725740 -0.01555147
+v -0.05253452 0.02725725 0.02565224
+v -0.05451185 0.02725725 0.02570355
+v -0.05451185 -0.00111763 0.02570772
+v -0.05451185 -0.00503031 0.02570343
+v -0.05994550 0.02725739 -0.01432451
+v -0.05998645 0.02725726 0.02206969
+v -0.05998345 -0.00503030 0.02211232
+v -0.05992553 0.02725726 0.02275371
+v -0.05648718 0.02725725 0.02569927
+v -0.05648718 0.00876523 0.02570348
+v -0.05648718 -0.00309293 0.02570344
+v -0.05648718 -0.00503031 0.02569915
+v -0.05980969 -0.00503031 0.02398483
+v -0.05981068 0.00283615 0.02398486
+v -0.05981368 0.02655246 0.02398495
+v -0.05981368 0.02725725 0.02398495
+v -0.05776146 0.02725725 0.02550689
+v -0.05846450 0.02725725 0.02540001
+v -0.05846450 -0.00309293 0.02539990
+v -0.05842156 -0.00503031 0.02540417
+v -0.05980369 -0.00503031 0.02401047
+v -0.05971281 0.02725725 0.02435688
+v -0.05915058 0.02725725 0.02516061
+v -0.05952707 0.00283615 0.02502371
+v -0.05950310 -0.00503031 0.02502796
+v -0.05846450 -0.00503031 0.02539562
+v -0.05952607 -0.00503031 0.02501940
+v -0.05952707 -0.00309293 0.02501941
+v -0.05952807 0.00876523 0.02502373
+v -0.05953006 0.02655246 0.02502380
+v -0.05953006 0.02725725 0.02502380
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 29
+f 1 29 41
+f 1 41 52
+f 1 52 60
+f 1 60 68
+f 1 68 76
+f 1 76 82
+f 1 82 81
+f 1 81 83
+f 1 83 77
+f 1 77 69
+f 1 69 63
+f 1 63 54
+f 1 54 46
+f 1 46 34
+f 1 34 22
+f 1 22 30
+f 1 30 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 16
+f 3 16 27
+f 3 27 39
+f 3 39 48
+f 3 48 51
+f 3 51 50
+f 3 50 49
+f 3 49 40
+f 3 40 28
+f 3 28 17
+f 3 17 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 25
+f 6 25 36
+f 6 36 45
+f 6 45 44
+f 6 44 56
+f 6 56 61
+f 6 61 62
+f 6 62 64
+f 6 64 72
+f 6 72 78
+f 6 78 87
+f 6 87 79
+f 6 79 74
+f 6 74 73
+f 6 73 65
+f 6 65 58
+f 6 58 57
+f 6 57 47
+f 6 47 38
+f 6 38 37
+f 6 37 26
+f 6 26 16
+f 6 16 8
+f 6 8 7
+f 9 17 18
+f 10 19 20
+f 10 20 11
+f 11 21 14
+f 11 14 13
+f 11 13 12
+f 11 20 22
+f 11 22 23
+f 11 23 21
+f 14 21 33
+f 14 33 24
+f 14 24 15
+f 15 24 25
+f 16 26 27
+f 17 28 18
+f 18 28 29
+f 19 30 20
+f 20 30 22
+f 21 23 31
+f 21 31 32
+f 21 32 43
+f 21 43 33
+f 22 34 23
+f 23 34 31
+f 24 33 25
+f 25 33 35
+f 25 35 36
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 28 40 29
+f 29 40 41
+f 31 34 42
+f 31 42 32
+f 32 42 53
+f 32 53 43
+f 33 43 44
+f 33 44 45
+f 33 45 35
+f 34 46 42
+f 35 45 36
+f 38 47 39
+f 39 47 48
+f 40 49 41
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 42 46 54
+f 42 54 55
+f 42 55 53
+f 43 53 56
+f 43 56 44
+f 47 57 48
+f 48 58 59
+f 48 59 51
+f 48 57 58
+f 51 59 52
+f 52 59 60
+f 53 61 56
+f 53 55 62
+f 53 62 61
+f 54 63 55
+f 55 63 64
+f 55 64 62
+f 58 65 66
+f 58 66 59
+f 59 66 67
+f 59 67 60
+f 60 67 68
+f 63 69 70
+f 63 70 71
+f 63 71 64
+f 64 71 72
+f 65 73 66
+f 66 73 74
+f 66 74 75
+f 66 75 67
+f 67 75 76
+f 67 76 68
+f 69 77 70
+f 70 77 71
+f 71 77 78
+f 71 78 72
+f 74 79 75
+f 75 79 80
+f 75 80 81
+f 75 81 82
+f 75 82 76
+f 77 83 84
+f 77 84 80
+f 77 80 85
+f 77 85 78
+f 78 85 86
+f 78 86 87
+f 79 87 86
+f 79 86 85
+f 79 85 80
+f 80 84 83
+f 80 83 81
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_8.obj

@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00500796 0.04632278 -0.00921085
+v -0.00500796 0.04632278 -0.00801092
+v -0.00500796 0.04734776 -0.00921085
+v 0.00863616 0.04632278 -0.00921085
+v -0.00500796 0.04734776 -0.00801092
+v 0.00534396 0.04632278 -0.00801092
+v 0.02758224 0.04734776 -0.00921085
+v 0.00864254 0.04632278 -0.00921015
+v 0.02758224 0.04636863 -0.00921085
+v 0.00554494 0.04734776 -0.00801092
+v 0.02758224 0.04734776 -0.00883288
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 11
+f 3 11 7
+f 4 9 8
+f 6 8 9
+f 6 9 11
+f 6 11 10
+f 7 11 9
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/mesh/storage_bin_009_collision_9.obj

@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v 0.05545018 0.02729876 -0.01795748
+v 0.05619493 0.05224806 -0.01796166
+v 0.05619493 0.02729876 -0.01795748
+v 0.04935575 0.02729876 -0.01795320
+v 0.05421881 0.02853366 -0.01795748
+v 0.05619493 0.05422775 -0.01795738
+v 0.05805257 0.05422774 -0.01757691
+v 0.05806420 0.05224805 -0.01757692
+v 0.05734908 0.02729876 -0.01772236
+v 0.04935575 0.05027159 -0.01795740
+v 0.04935575 0.05620422 -0.01795737
+v 0.05224270 0.05620422 -0.01795737
+v 0.04935575 0.02729872 -0.00780029
+v 0.05421881 0.05620422 -0.01795309
+v 0.05619493 0.05620422 -0.01791889
+v 0.05791716 0.05620421 -0.01754270
+v 0.05904063 0.05422774 -0.01699980
+v 0.05905332 0.05224805 -0.01701691
+v 0.05804728 0.02853365 -0.01757701
+v 0.05804622 0.02729875 -0.01757701
+v 0.04935575 0.05816779 -0.01757690
+v 0.05224270 0.05817101 -0.01757690
+v 0.04960117 0.02729861 0.02207278
+v 0.04935575 0.04839169 0.02385549
+v 0.05421881 0.05816134 -0.01757262
+v 0.05619493 0.05800335 -0.01754270
+v 0.05759239 0.05763578 -0.01740590
+v 0.05890522 0.05620421 -0.01683734
+v 0.05935164 0.05620421 -0.01587976
+v 0.05936645 0.05422774 -0.01604222
+v 0.05903428 0.02729875 -0.01699135
+v 0.05936645 0.05224805 -0.01605933
+v 0.05936539 0.02729875 -0.01603377
+v 0.05924163 0.02729875 -0.01639286
+v 0.04935575 0.05862241 -0.01739734
+v 0.05224270 0.05916086 -0.01718787
+v 0.04988363 0.02729860 0.02398794
+v 0.04935575 0.05041330 0.02536027
+v 0.05421881 0.05914796 -0.01717077
+v 0.05619493 0.05899319 -0.01699123
+v 0.05750988 0.05932852 -0.01567455
+v 0.05821019 0.05820970 -0.01626878
+v 0.05927759 0.05746812 -0.01558907
+v 0.05955053 0.05620420 -0.01432369
+v 0.05956745 0.05422773 -0.01432370
+v 0.05936645 0.03051011 -0.01603376
+v 0.05956110 0.02729874 -0.01432380
+v 0.04935575 0.05915763 -0.01718360
+v 0.04935575 0.05928983 -0.01674328
+v 0.04935575 0.05944136 -0.01622602
+v 0.05224270 0.05944136 -0.01623029
+v 0.05421881 0.05943814 -0.01621319
+v 0.05070983 0.02729860 0.02530888
+v 0.04935575 0.05224790 0.02570226
+v 0.05619493 0.05942202 -0.01603365
+v 0.05619493 0.05968962 -0.01432368
+v 0.05771087 0.05941879 -0.01432368
+v 0.05869893 0.05863529 -0.01432368
+v 0.05934635 0.05764544 -0.01432369
+v 0.05997473 0.05620418 -0.00857821
+v 0.06004773 0.05422771 -0.00857822
+v 0.05956216 0.03051010 -0.01432379
+v 0.06005302 0.05224802 -0.00857823
+v 0.06005090 0.05027155 -0.00857824
+v 0.06014611 0.05027154 -0.00666309
+v 0.06015669 0.05027153 -0.00282849
+v 0.05960553 0.02729861 0.02207278
+v 0.04935575 0.05957034 -0.01534966
+v 0.05421881 0.05971219 -0.01432368
+v 0.05224270 0.02729860 0.02568508
+v 0.04935575 0.05331513 0.02570655
+v 0.05421881 0.06009264 -0.00857820
+v 0.05619493 0.06015066 -0.00666305
+v 0.05803670 0.05963478 -0.00666305
+v 0.05902582 0.05902540 -0.00666305
+v 0.05959707 0.05803878 -0.00666306
+v 0.06008369 0.05620417 -0.00666306
+v 0.06013870 0.05422770 -0.00666307
+v 0.06014505 0.05224801 -0.00666308
+v 0.06015563 0.05224800 -0.00282848
+v 0.06016198 0.05027147 0.01440794
+v 0.06003186 0.05027146 0.01632310
+v 0.06003397 0.05224793 0.01632311
+v 0.05960659 0.03050997 0.02207279
+v 0.05941934 0.02729860 0.02398794
+v 0.04935575 0.05971542 -0.01432368
+v 0.05026552 0.05971542 -0.01432368
+v 0.05026552 0.06010231 -0.00857820
+v 0.05421881 0.02729860 0.02569790
+v 0.05421881 0.05422759 0.02571082
+v 0.04935575 0.05620406 0.02570656
+v 0.05026552 0.06022482 -0.00666305
+v 0.05224270 0.06021515 -0.00666305
+v 0.05421881 0.06020548 -0.00666305
+v 0.05421881 0.06021515 -0.00474789
+v 0.05619493 0.06015712 -0.00474789
+v 0.05619493 0.06016355 -0.00282845
+v 0.05804728 0.05963800 -0.00282845
+v 0.05903534 0.05903506 -0.00282845
+v 0.05960130 0.05804844 -0.00282846
+v 0.06009533 0.05620416 -0.00282846
+v 0.06015139 0.05422769 -0.00282847
+v 0.06015880 0.05224794 0.01440795
+v 0.06003186 0.05422762 0.01632312
+v 0.05960871 0.05422760 0.02207288
+v 0.05941934 0.05224790 0.02398803
+v 0.05918873 0.02729860 0.02497544
+v 0.04935575 0.06014744 -0.00666305
+v 0.05619493 0.02729860 0.02569790
+v 0.05619493 0.04631849 0.02570652
+v 0.05619493 0.05422759 0.02570655
+v 0.05421881 0.05620406 0.02570656
+v 0.04935575 0.05726807 0.02552274
+v 0.04935575 0.06015066 -0.00577814
+v 0.05026552 0.06023127 -0.00474789
+v 0.05421881 0.06022159 -0.00282845
+v 0.05421881 0.06021508 0.01440798
+v 0.05619493 0.06015382 0.01440798
+v 0.05803776 0.05963149 0.01440798
+v 0.05902582 0.05902855 0.01440798
+v 0.05960130 0.05803871 0.01440797
+v 0.06009744 0.05620410 0.01440797
+v 0.06015457 0.05422763 0.01440796
+v 0.05960130 0.05620407 0.02207289
+v 0.05940983 0.05422759 0.02398804
+v 0.05918873 0.05224790 0.02497553
+v 0.05817211 0.05027143 0.02535599
+v 0.05855506 0.02729860 0.02521056
+v 0.05693968 0.02729860 0.02556965
+v 0.05817211 0.02729860 0.02535163
+v 0.05817211 0.05224790 0.02535600
+v 0.05817211 0.05422759 0.02534318
+v 0.05619493 0.05620406 0.02568519
+v 0.05421881 0.05818053 0.02535174
+v 0.05224270 0.05818053 0.02536457
+v 0.04935575 0.05818053 0.02536457
+v 0.04935575 0.06015711 -0.00386298
+v 0.05026552 0.06023771 -0.00282845
+v 0.05026552 0.06023442 0.01440798
+v 0.05224270 0.06022475 0.01440798
+v 0.05421881 0.06012156 0.01632314
+v 0.05619493 0.05969594 0.02207290
+v 0.05773838 0.05942188 0.02207290
+v 0.05872643 0.05869320 0.02207290
+v 0.05937598 0.05770658 0.02207289
+v 0.05930298 0.05751634 0.02342376
+v 0.05934212 0.05602995 0.02403080
+v 0.05916651 0.05525291 0.02494989
+v 0.05917815 0.05422759 0.02496272
+v 0.05826203 0.05602995 0.02523632
+v 0.05766327 0.05767755 0.02517220
+v 0.05603731 0.05827403 0.02524059
+v 0.05527352 0.05917683 0.02495419
+v 0.05421881 0.05919295 0.02497128
+v 0.05224270 0.05920585 0.02498411
+v 0.04935575 0.05920585 0.02498411
+v 0.04935575 0.06016033 -0.00282845
+v 0.04935575 0.06015705 0.01440798
+v 0.04935575 0.06011834 0.01528861
+v 0.05026552 0.06013446 0.01632314
+v 0.05224270 0.06012801 0.01632314
+v 0.05421881 0.05971206 0.02207290
+v 0.05421881 0.05946701 0.02398806
+v 0.05603731 0.05937996 0.02404790
+v 0.05752998 0.05933159 0.02345369
+v 0.05825568 0.05825469 0.02407782
+v 0.05898033 0.05657163 0.02470196
+v 0.05659164 0.05899627 0.02473189
+v 0.05224270 0.05947669 0.02398806
+v 0.05026552 0.05947991 0.02398806
+v 0.04935575 0.05935416 0.02444547
+v 0.04935575 0.06006352 0.01632314
+v 0.04935575 0.05971529 0.02207290
+v 0.05026552 0.05971529 0.02207290
+v 0.04935575 0.05947991 0.02398806
+f 1 2 3
+f 1 3 9
+f 1 9 20
+f 1 20 31
+f 1 31 34
+f 1 34 33
+f 1 33 47
+f 1 47 67
+f 1 67 85
+f 1 85 107
+f 1 107 128
+f 1 128 130
+f 1 130 129
+f 1 129 109
+f 1 109 89
+f 1 89 70
+f 1 70 53
+f 1 53 37
+f 1 37 23
+f 1 23 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 10
+f 2 10 11
+f 2 11 12
+f 2 12 6
+f 4 10 5
+f 4 13 24
+f 4 24 38
+f 4 38 54
+f 4 54 71
+f 4 71 91
+f 4 91 113
+f 4 113 136
+f 4 136 156
+f 4 156 171
+f 4 171 175
+f 4 175 173
+f 4 173 172
+f 4 172 159
+f 4 159 158
+f 4 158 157
+f 4 157 137
+f 4 137 114
+f 4 114 108
+f 4 108 86
+f 4 86 68
+f 4 68 50
+f 4 50 49
+f 4 49 48
+f 4 48 35
+f 4 35 21
+f 4 21 11
+f 4 11 10
+f 6 12 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 11 21 22
+f 11 22 12
+f 12 22 14
+f 13 23 24
+f 14 22 25
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 31 20
+f 18 20 19
+f 18 30 32
+f 18 32 33
+f 18 33 34
+f 18 34 31
+f 21 35 36
+f 21 36 22
+f 22 36 25
+f 23 37 38
+f 23 38 24
+f 25 36 39
+f 25 39 26
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 28 43 29
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 32
+f 32 45 46
+f 32 46 33
+f 33 46 62
+f 33 62 47
+f 35 48 36
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 39
+f 37 53 54
+f 37 54 38
+f 39 52 55
+f 39 55 40
+f 40 55 41
+f 41 43 42
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 43
+f 43 58 59
+f 43 59 44
+f 44 59 60
+f 44 60 61
+f 44 61 45
+f 45 62 46
+f 45 61 63
+f 45 63 62
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 67
+f 50 68 51
+f 51 68 69
+f 51 69 52
+f 52 69 56
+f 52 56 55
+f 53 70 54
+f 54 70 71
+f 56 69 72
+f 56 72 73
+f 56 73 57
+f 57 73 74
+f 57 74 75
+f 57 75 58
+f 58 75 59
+f 59 75 76
+f 59 76 77
+f 59 77 60
+f 60 77 61
+f 61 77 78
+f 61 78 79
+f 61 79 63
+f 63 79 65
+f 63 65 64
+f 65 79 80
+f 65 80 66
+f 66 80 81
+f 66 81 67
+f 67 81 82
+f 67 82 83
+f 67 83 84
+f 67 84 85
+f 68 86 87
+f 68 87 69
+f 69 87 88
+f 69 88 72
+f 70 89 71
+f 71 90 91
+f 71 89 90
+f 72 88 92
+f 72 92 93
+f 72 93 94
+f 72 94 73
+f 73 94 95
+f 73 95 96
+f 73 96 74
+f 74 96 97
+f 74 97 98
+f 74 98 99
+f 74 99 75
+f 75 99 76
+f 76 99 100
+f 76 100 101
+f 76 101 77
+f 77 101 102
+f 77 102 78
+f 78 102 79
+f 79 102 80
+f 80 102 123
+f 80 123 103
+f 80 103 81
+f 81 103 104
+f 81 104 83
+f 81 83 82
+f 83 104 105
+f 83 105 84
+f 84 105 85
+f 85 105 106
+f 85 106 126
+f 85 126 107
+f 86 88 87
+f 86 108 92
+f 86 92 88
+f 89 109 90
+f 90 110 111
+f 90 111 112
+f 90 112 91
+f 90 109 110
+f 91 112 113
+f 92 108 114
+f 92 114 137
+f 92 137 115
+f 92 115 95
+f 92 95 93
+f 93 95 94
+f 95 115 138
+f 95 138 116
+f 95 116 97
+f 95 97 96
+f 97 116 117
+f 97 117 118
+f 97 118 119
+f 97 119 98
+f 98 119 120
+f 98 120 99
+f 99 120 121
+f 99 121 100
+f 100 121 122
+f 100 122 101
+f 101 122 123
+f 101 123 102
+f 103 123 104
+f 104 123 122
+f 104 122 124
+f 104 124 105
+f 105 124 106
+f 106 125 126
+f 106 124 125
+f 107 126 131
+f 107 131 127
+f 107 127 128
+f 109 129 110
+f 110 129 130
+f 110 130 127
+f 110 127 131
+f 110 131 111
+f 111 131 132
+f 111 132 133
+f 111 133 112
+f 112 133 134
+f 112 134 135
+f 112 135 113
+f 113 135 136
+f 115 137 138
+f 116 138 139
+f 116 139 140
+f 116 140 117
+f 117 140 141
+f 117 141 118
+f 118 141 142
+f 118 142 143
+f 118 143 119
+f 119 143 120
+f 120 143 144
+f 120 144 145
+f 120 145 121
+f 121 145 122
+f 122 145 124
+f 124 145 146
+f 124 146 147
+f 124 147 125
+f 125 147 148
+f 125 148 149
+f 125 149 126
+f 126 149 132
+f 126 132 131
+f 127 130 128
+f 132 149 148
+f 132 148 150
+f 132 150 133
+f 133 150 151
+f 133 151 152
+f 133 152 134
+f 134 152 153
+f 134 153 154
+f 134 154 155
+f 134 155 135
+f 135 155 156
+f 135 156 136
+f 137 157 138
+f 138 157 158
+f 138 158 139
+f 139 158 159
+f 139 159 160
+f 139 160 161
+f 139 161 141
+f 139 141 140
+f 141 161 162
+f 141 162 142
+f 142 162 163
+f 142 163 164
+f 142 164 165
+f 142 165 143
+f 143 165 144
+f 144 165 146
+f 144 146 145
+f 146 165 166
+f 146 166 167
+f 146 167 148
+f 146 148 147
+f 148 167 151
+f 148 151 150
+f 151 167 166
+f 151 166 168
+f 151 168 153
+f 151 153 152
+f 153 168 165
+f 153 165 164
+f 153 164 163
+f 153 163 154
+f 154 163 155
+f 155 163 169
+f 155 169 170
+f 155 170 171
+f 155 171 156
+f 159 172 160
+f 160 172 173
+f 160 173 174
+f 160 174 162
+f 160 162 161
+f 162 174 170
+f 162 170 169
+f 162 169 163
+f 165 168 166
+f 170 174 173
+f 170 173 175
+f 170 175 171
+

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mjcf/storage_bin_009.xml

@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_009">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/storage_bin_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_009_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_009_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_009_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_009_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_009_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_009_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_009_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_bin_009_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_bin_009_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_bin_009_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_bin_009_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_bin_009_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_009">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/storage_bin_009.urdf

@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_009">
+   <link name="storage_bin_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_009.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.5000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>41f4deee977c5517aa6f70dacdd99194</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>divided bin</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>square brown storage bin with four compartments and solid base</description>
+         <min_height>0.0435</min_height>
+         <max_height>0.0435</max_height>
+         <real_height>0.0435</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>3.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135522</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060148 -0.060207 -0.017685</min>
+            <max>0.059852 0.059942 0.025781</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/storage_bin_009.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ee0ecb15ac2ccf6587f5df370703cea23d41d16b8a2868915444ae7a69b602
+size 4332931