Add asset bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d

.gitattributes

@@ -2693,3 +2693,5 @@ dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket.gl
 dataset/bedroom_supplies/storage/0902926853f1508d8df9dc2805690e1f/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0813fed06f2c5725961f31d7033b8968/mesh/remote_holder_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/0813fed06f2c5725961f31d7033b8968/remote_holder_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mesh/storage_bin_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/storage_bin_006.usd filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_006_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_006_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mesh/storage_bin_006.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:861d5068617e31cc9baf0a16558565bf0971cbda1b93986c049a85fd4ff41953
+size 18946612

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mesh/storage_bin_006.mtl

@@ -0,0 +1,6 @@
+newmtl storage_bin_006_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/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_0.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.05977267 -0.04647736 0.05496563
+v 0.05977155 -0.04644287 0.05496563
+v 0.05943227 -0.04644288 0.05609523
+v 0.05942326 -0.04877341 0.05609522
+v 0.05976704 -0.04877340 0.05494831
+v 0.05977267 -0.04647736 0.05323012
+v 0.05977155 -0.04644287 0.05323012
+v 0.05942664 -0.04644288 0.05611254
+v 0.05942664 -0.04647737 0.05611254
+v 0.05924742 -0.05112721 0.05542870
+v 0.05970392 -0.05040124 0.05470160
+v 0.05827470 -0.04877341 0.05727242
+v 0.05808872 -0.05106859 0.05715123
+v 0.05976704 -0.04877340 0.05322578
+v 0.05890702 -0.04644272 0.01358595
+v 0.05829611 -0.04644288 0.05725512
+v 0.05808984 -0.05303527 0.05538109
+v 0.05820143 -0.05316977 0.05308726
+v 0.05938606 -0.05112720 0.05292281
+v 0.05768858 -0.05261624 0.05683961
+v 0.05970392 -0.05040124 0.05357633
+v 0.05827808 -0.04647737 0.05727243
+v 0.05614100 -0.05106859 0.05780043
+v 0.05885179 -0.05106843 0.01358593
+v 0.05885969 -0.05051490 0.01358593
+v 0.05888110 -0.04877325 0.01358594
+v 0.05482788 -0.04644272 0.01358595
+v 0.05827808 -0.04644288 0.05727243
+v 0.05672374 -0.05418286 0.05538108
+v 0.05687816 -0.05431736 0.05308726
+v 0.05800982 -0.05305667 0.01358593
+v 0.05598884 -0.05337498 0.05707764
+v 0.05512206 -0.05456655 0.05659291
+v 0.05617257 -0.04644288 0.05756674
+v 0.05614100 -0.04644288 0.05757106
+v 0.04825774 -0.05336464 0.05751910
+v 0.04924963 -0.05336464 0.05751910
+v 0.05384388 -0.05336464 0.05743254
+v 0.04825774 -0.05007863 0.01358594
+v 0.04825774 -0.04953214 0.05308728
+v 0.05399154 -0.04644287 0.05308729
+v 0.05557518 -0.05476139 0.05538108
+v 0.05572960 -0.05482002 0.05308726
+v 0.05614100 -0.05419736 0.01358592
+v 0.05755896 -0.05333257 0.01358592
+v 0.05384388 -0.05506748 0.05538108
+v 0.05384388 -0.05462173 0.05665783
+v 0.04825774 -0.05112377 0.05735032
+v 0.04825774 -0.05209117 0.05742389
+v 0.05477603 -0.04644288 0.05683531
+v 0.04825774 -0.05392076 0.05716420
+v 0.04825774 -0.05465276 0.05669678
+v 0.04924963 -0.05465190 0.05669678
+v 0.05154675 -0.05465104 0.05669246
+v 0.04825774 -0.05425599 0.01358592
+v 0.04825774 -0.04960888 0.05399615
+v 0.05424514 -0.04644287 0.05538111
+v 0.05399492 -0.04644287 0.05312191
+v 0.05384388 -0.05518042 0.05308726
+v 0.05558532 -0.05423099 0.01358592
+v 0.05154675 -0.05512869 0.05538108
+v 0.04825774 -0.04997705 0.05633326
+v 0.05475574 -0.04644288 0.05682233
+v 0.04825774 -0.05486228 0.05612982
+v 0.04825774 -0.05513645 0.05538108
+v 0.04924963 -0.05513473 0.05538108
+v 0.04869394 -0.05426979 0.01358592
+v 0.04825774 -0.05525112 0.05308726
+v 0.04825774 -0.04971320 0.05518634
+v 0.05154675 -0.05523819 0.05308726
+v 0.05384388 -0.05433445 0.01358592
+v 0.04924963 -0.05524767 0.05308726
+v 0.04825774 -0.04982615 0.05568406
+v 0.04825774 -0.05518646 0.05438998
+v 0.04924963 -0.05428358 0.01358592
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 6
+f 1 6 7
+f 1 7 2
+f 2 7 15
+f 2 15 27
+f 2 27 41
+f 2 41 58
+f 2 58 57
+f 2 57 63
+f 2 63 50
+f 2 50 35
+f 2 35 34
+f 2 34 28
+f 2 28 16
+f 2 16 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 13
+f 4 13 10
+f 5 11 21
+f 5 21 14
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 9 16 12
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 10 13 20
+f 10 20 17
+f 11 19 21
+f 12 16 22
+f 12 22 23
+f 12 23 13
+f 13 23 20
+f 14 21 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 25
+f 15 25 24
+f 15 24 31
+f 15 31 45
+f 15 45 44
+f 15 44 60
+f 15 60 71
+f 15 71 75
+f 15 75 67
+f 15 67 55
+f 15 55 39
+f 15 39 27
+f 16 28 22
+f 17 20 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 31 21
+f 20 23 32
+f 20 32 33
+f 20 33 29
+f 21 31 24
+f 22 28 23
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 32
+f 23 28 34
+f 27 39 40
+f 27 40 41
+f 29 33 42
+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 32 38 33
+f 33 46 42
+f 33 38 47
+f 33 47 46
+f 35 48 49
+f 35 49 36
+f 35 50 48
+f 36 49 48
+f 36 48 62
+f 36 62 73
+f 36 73 69
+f 36 69 56
+f 36 56 40
+f 36 40 39
+f 36 39 55
+f 36 55 68
+f 36 68 74
+f 36 74 65
+f 36 65 64
+f 36 64 52
+f 36 52 51
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 38 54 47
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 42 46 59
+f 42 59 43
+f 43 59 44
+f 44 59 60
+f 46 47 61
+f 46 61 59
+f 47 54 61
+f 48 50 62
+f 50 63 62
+f 52 64 53
+f 53 64 54
+f 54 64 65
+f 54 65 66
+f 54 66 61
+f 55 67 68
+f 56 69 57
+f 57 69 63
+f 59 61 70
+f 59 70 71
+f 59 71 60
+f 61 66 68
+f 61 68 72
+f 61 72 70
+f 62 63 73
+f 63 69 73
+f 65 74 66
+f 66 74 68
+f 67 75 68
+f 68 75 71
+f 68 71 72
+f 70 72 71
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_1.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.05976782 0.04765596 0.05495989
+v 0.05976669 0.04765063 0.05495989
+v 0.05976782 0.04765596 0.05325403
+v 0.05976556 0.04995159 0.05494257
+v 0.05944666 0.04765595 0.05610290
+v 0.05944666 0.04765062 0.05610290
+v 0.05976669 0.04765063 0.05325403
+v 0.05976556 0.04995159 0.05324970
+v 0.05899929 0.04765078 0.01358630
+v 0.05899929 0.04765611 0.01358630
+v 0.05970471 0.05168641 0.05470012
+v 0.05944103 0.04995158 0.05608991
+v 0.05829275 0.04995158 0.05731952
+v 0.05829726 0.04765595 0.05731952
+v 0.05829726 0.04765062 0.05731952
+v 0.05970471 0.05168641 0.05357876
+v 0.05895760 0.04995174 0.01358630
+v 0.05887309 0.05224647 0.01358631
+v 0.05486933 0.04765078 0.01358630
+v 0.05929453 0.05236897 0.05543182
+v 0.05942299 0.05236898 0.05292499
+v 0.05810907 0.05224631 0.05718964
+v 0.05614043 0.05224631 0.05781743
+v 0.05614043 0.04765062 0.05761393
+v 0.05800089 0.05423726 0.01358632
+v 0.04825687 0.05156747 0.01358631
+v 0.05399601 0.04765063 0.05308950
+v 0.04825687 0.05087055 0.05308951
+v 0.05807526 0.05468325 0.05323673
+v 0.05799526 0.05460771 0.05521103
+v 0.05771692 0.05388604 0.05688224
+v 0.05154732 0.05454282 0.05761395
+v 0.04924964 0.05454282 0.05766158
+v 0.04825687 0.05454282 0.05766158
+v 0.05611451 0.05460770 0.05715501
+v 0.05384388 0.05454282 0.05756632
+v 0.04825687 0.05361675 0.05752303
+v 0.04825687 0.05240273 0.05734117
+v 0.05476227 0.04765062 0.05681729
+v 0.05619790 0.05538551 0.01358632
+v 0.05732026 0.05571864 0.05409832
+v 0.04825687 0.05556059 0.01358632
+v 0.05425857 0.04765063 0.05537986
+v 0.04825687 0.05097986 0.05479537
+v 0.05732026 0.05571864 0.05433212
+v 0.05686163 0.05541646 0.05586046
+v 0.05533022 0.05583506 0.05669608
+v 0.05384388 0.05593460 0.05680865
+v 0.05154732 0.05596303 0.05683896
+v 0.04825687 0.05596659 0.05684762
+v 0.04825687 0.05190681 0.05673503
+v 0.04825687 0.05125536 0.05593839
+v 0.05591957 0.05546283 0.01358632
+v 0.05622382 0.05607591 0.05323674
+v 0.04825687 0.05672914 0.05308953
+v 0.05490764 0.05570190 0.01358632
+v 0.05611451 0.05602348 0.05521104
+v 0.05384388 0.05653628 0.05537989
+v 0.05154732 0.05659228 0.05537989
+v 0.04825687 0.05659938 0.05537989
+v 0.05504850 0.05570190 0.01358632
+v 0.05384388 0.05666515 0.05308953
+v 0.04825687 0.05667315 0.05408101
+v 0.04924964 0.05672736 0.05308953
+v 0.05154732 0.05672114 0.05308953
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 15
+f 2 15 24
+f 2 24 39
+f 2 39 43
+f 2 43 27
+f 2 27 19
+f 2 19 9
+f 2 9 7
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 11 12
+f 4 12 5
+f 4 8 16
+f 4 16 11
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 12 13
+f 8 10 17
+f 8 17 18
+f 8 18 16
+f 9 19 26
+f 9 26 42
+f 9 42 56
+f 9 56 61
+f 9 61 53
+f 9 53 40
+f 9 40 25
+f 9 25 18
+f 9 18 17
+f 9 17 10
+f 11 20 12
+f 11 16 21
+f 11 21 20
+f 12 20 22
+f 12 22 13
+f 13 23 14
+f 13 22 23
+f 14 23 15
+f 15 23 24
+f 16 18 21
+f 18 25 21
+f 19 27 28
+f 19 28 26
+f 20 21 29
+f 20 29 30
+f 20 30 31
+f 20 31 22
+f 21 25 29
+f 22 31 23
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 23 31 35
+f 23 35 36
+f 23 36 32
+f 24 34 37
+f 24 37 38
+f 24 38 39
+f 25 40 41
+f 25 41 29
+f 26 28 44
+f 26 44 52
+f 26 52 51
+f 26 51 38
+f 26 38 37
+f 26 37 34
+f 26 34 50
+f 26 50 60
+f 26 60 63
+f 26 63 55
+f 26 55 42
+f 27 43 44
+f 27 44 28
+f 29 41 45
+f 29 45 30
+f 30 45 46
+f 30 46 31
+f 31 47 35
+f 31 46 47
+f 32 36 48
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 35 47 36
+f 36 47 48
+f 38 51 39
+f 39 51 52
+f 39 52 44
+f 39 44 43
+f 40 53 54
+f 40 54 41
+f 41 54 45
+f 42 55 56
+f 45 54 57
+f 45 57 46
+f 46 57 47
+f 47 57 58
+f 47 58 48
+f 48 58 59
+f 48 59 49
+f 49 59 50
+f 50 59 60
+f 53 61 54
+f 54 62 57
+f 54 61 62
+f 55 63 64
+f 55 64 61
+f 55 61 56
+f 57 62 58
+f 58 62 65
+f 58 65 59
+f 59 65 64
+f 59 64 60
+f 60 64 63
+f 61 64 65
+f 61 65 62
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_10.obj

@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.05903495 0.04716346 0.01358629
+v 0.05492486 0.04716346 0.01358629
+v 0.05916546 0.04535261 0.01358629
+v 0.05918236 0.04716353 -0.00599322
+v 0.05488684 0.04716348 0.00726116
+v 0.05483051 0.03846738 0.01358626
+v 0.05922086 0.04305422 0.01358628
+v 0.05923118 0.04305423 0.01184597
+v 0.05924245 0.04305423 0.00955356
+v 0.05922602 0.04535266 0.00038793
+v 0.05919645 0.04716354 -0.00827763
+v 0.05488684 0.04716349 0.00677307
+v 0.05453522 0.00403129 0.01358613
+v 0.05480656 0.03616899 0.01358625
+v 0.05922790 0.04076578 0.01358627
+v 0.05924104 0.04076579 0.01184596
+v 0.05925278 0.04535268 -0.00648531
+v 0.05923588 0.04535267 -0.00190048
+v 0.05925231 0.04076579 0.00955355
+v 0.05925043 0.04305424 0.00726115
+v 0.05920677 0.04716355 -0.01057004
+v 0.05488731 0.04716349 0.00496875
+v 0.05488778 0.04716349 0.00448066
+v 0.05489059 0.04716350 0.00218825
+v 0.05489341 0.04716351 0.00038793
+v 0.05485398 0.03616907 -0.00876975
+v 0.05454273 0.00403130 0.01184582
+v 0.05450142 -0.04740878 -0.02728537
+v 0.05453381 0.00347410 0.01358613
+v 0.05924527 0.03212939 0.01358624
+v 0.05925935 0.04535269 -0.00876971
+v 0.05921382 0.04716356 -0.01285845
+v 0.05925841 0.04076580 0.00726114
+v 0.05924808 0.02983100 0.01358623
+v 0.05924855 0.02927381 0.01358623
+v 0.05925419 0.04305425 0.00496874
+v 0.05496383 0.04716357 -0.01655911
+v 0.05487510 0.03616909 -0.01335458
+v 0.05468873 0.00632979 -0.01564310
+v 0.05467418 0.00403140 -0.01564311
+v 0.05472347 -0.00025690 -0.02728520
+v 0.05450142 -0.05447311 -0.02728540
+v 0.05450142 -0.04705065 -0.01091844
+v 0.05452958 0.00173290 0.01358613
+v 0.05468591 0.00403141 -0.01793152
+v 0.05926311 0.04535270 -0.01106213
+v 0.05922273 0.04716357 -0.01744327
+v 0.05921851 0.04716357 -0.01515086
+v 0.05929174 0.04080572 -0.02713303
+v 0.05928846 0.04305437 -0.02713302
+v 0.05925184 0.02927382 0.01184592
+v 0.05925184 0.02698538 0.01184591
+v 0.05928048 -0.04417514 -0.01793569
+v 0.05929738 0.02698552 -0.02713308
+v 0.05929738 0.03162210 -0.02713306
+v 0.05929644 0.03392050 -0.02713306
+v 0.05924855 0.02754255 0.01358622
+v 0.05926592 0.04535271 -0.01335454
+v 0.05497416 0.04716358 -0.01874750
+v 0.05498167 0.04716358 -0.02022377
+v 0.05926170 -0.00025690 -0.02728520
+v 0.05504223 0.04715367 -0.02713301
+v 0.05787399 0.04716361 -0.02713301
+v 0.05453616 -0.05448305 -0.02728540
+v 0.05450142 -0.05447311 -0.02725340
+v 0.05450142 -0.04713034 0.01358595
+v 0.05927062 0.04535273 -0.01793136
+v 0.05927297 0.04535273 -0.02022377
+v 0.05922320 0.04716358 -0.01793136
+v 0.05927907 -0.00950022 -0.02728523
+v 0.05927156 0.04535276 -0.02713301
+v 0.05927297 0.04535275 -0.02480859
+v 0.05927390 0.04535274 -0.02251618
+v 0.05927578 -0.00744063 -0.02728523
+v 0.05919504 -0.02122118 0.01358604
+v 0.05919222 -0.02351957 0.01358603
+v 0.05917109 -0.03729003 0.01358598
+v 0.05916405 -0.03958842 0.01358597
+v 0.05914058 -0.04187687 0.01358597
+v 0.05926546 -0.04417515 -0.01564328
+v 0.05922508 -0.04646358 -0.02022811
+v 0.05921287 -0.04646357 -0.02252052
+v 0.05926217 -0.04417514 -0.02022810
+v 0.05926780 -0.02351942 -0.02728529
+v 0.05927250 -0.02122103 -0.02728528
+v 0.05927297 -0.02098224 -0.02728528
+v 0.05927578 -0.01892264 -0.02728527
+v 0.05927907 -0.01638545 -0.02728526
+v 0.05928048 -0.01433580 -0.02728525
+v 0.05924808 0.02698537 0.01358622
+v 0.05928048 -0.01179862 -0.02728524
+v 0.05504270 0.04716361 -0.02711300
+v 0.05921992 0.04716361 -0.02713301
+v 0.05927109 0.04539256 -0.02713301
+v 0.05539010 -0.05441340 -0.02728540
+v 0.05614169 -0.05419466 0.01358592
+v 0.05450142 -0.05428421 0.01358592
+v 0.05922461 0.04716358 -0.02022377
+v 0.05908800 -0.04361808 0.01358596
+v 0.05907110 -0.04417526 0.01358596
+v 0.05885186 -0.05106049 0.01358593
+v 0.05905795 -0.04876196 -0.02252053
+v 0.05904762 -0.04876194 -0.02728538
+v 0.05914480 -0.04646355 -0.02728537
+v 0.05921804 -0.03499149 -0.02728533
+v 0.05923071 -0.03269310 -0.02728532
+v 0.05924245 -0.03039470 -0.02728531
+v 0.05925231 -0.02810626 -0.02728530
+v 0.05926076 -0.02580787 -0.02728529
+v 0.05604076 -0.05423431 -0.02728540
+v 0.05755851 -0.05332903 0.01358592
+v 0.05614169 -0.05419458 -0.00877008
+v 0.05821293 -0.05257285 0.01358593
+v 0.05809745 -0.05287119 -0.02728539
+v 0.05885233 -0.05105039 -0.02728539
+v 0.05789183 -0.05311994 -0.02728540
+v 0.05800966 -0.05305037 -0.00648967
+v 0.05800966 -0.05305044 0.01358593
+v 0.05801670 -0.05303039 -0.02728539
+v 0.05800919 -0.05305036 -0.00877007
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 29
+f 1 29 44
+f 1 44 66
+f 1 66 97
+f 1 97 96
+f 1 96 111
+f 1 111 118
+f 1 118 113
+f 1 113 101
+f 1 101 100
+f 1 100 99
+f 1 99 79
+f 1 79 78
+f 1 78 77
+f 1 77 76
+f 1 76 75
+f 1 75 90
+f 1 90 57
+f 1 57 35
+f 1 35 34
+f 1 34 30
+f 1 30 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 32
+f 1 32 48
+f 1 48 47
+f 1 47 69
+f 1 69 98
+f 1 98 93
+f 1 93 63
+f 1 63 92
+f 1 92 60
+f 1 60 59
+f 1 59 37
+f 1 37 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 16
+f 7 16 8
+f 8 16 19
+f 8 19 9
+f 9 17 18
+f 9 18 10
+f 9 19 20
+f 9 20 17
+f 10 18 21
+f 10 21 11
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 15 30 16
+f 16 30 19
+f 17 20 31
+f 17 31 32
+f 17 32 21
+f 17 21 18
+f 19 33 20
+f 19 30 34
+f 19 34 35
+f 19 35 33
+f 20 33 36
+f 20 36 46
+f 20 46 31
+f 25 37 26
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 41 61
+f 28 61 74
+f 28 74 70
+f 28 70 91
+f 28 91 89
+f 28 89 88
+f 28 88 87
+f 28 87 86
+f 28 86 85
+f 28 85 84
+f 28 84 109
+f 28 109 108
+f 28 108 107
+f 28 107 106
+f 28 106 105
+f 28 105 104
+f 28 104 103
+f 28 103 115
+f 28 115 114
+f 28 114 119
+f 28 119 116
+f 28 116 110
+f 28 110 95
+f 28 95 64
+f 28 64 42
+f 28 42 65
+f 28 65 97
+f 28 97 66
+f 28 66 43
+f 28 43 44
+f 28 44 29
+f 28 40 45
+f 28 45 41
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 33 49 50
+f 33 50 36
+f 33 35 51
+f 33 51 52
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 49
+f 35 57 52
+f 35 52 51
+f 36 50 58
+f 36 58 46
+f 37 59 38
+f 38 59 39
+f 39 45 40
+f 39 59 60
+f 39 60 45
+f 41 45 60
+f 41 60 62
+f 41 62 63
+f 41 63 93
+f 41 93 61
+f 42 64 65
+f 43 66 44
+f 46 58 47
+f 47 58 67
+f 47 67 68
+f 47 68 69
+f 49 56 70
+f 49 70 50
+f 50 71 72
+f 50 72 73
+f 50 73 68
+f 50 68 67
+f 50 67 58
+f 50 70 74
+f 50 74 61
+f 50 61 71
+f 52 57 53
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 82
+f 53 82 83
+f 53 83 84
+f 53 84 85
+f 53 85 86
+f 53 86 87
+f 53 87 88
+f 53 88 89
+f 53 89 54
+f 53 57 90
+f 53 90 75
+f 54 89 91
+f 54 91 55
+f 55 91 56
+f 56 91 70
+f 60 92 62
+f 61 93 94
+f 61 94 71
+f 62 92 63
+f 64 95 96
+f 64 96 97
+f 64 97 65
+f 68 73 98
+f 68 98 69
+f 71 94 72
+f 72 94 73
+f 73 94 98
+f 79 99 80
+f 80 99 100
+f 80 100 81
+f 81 100 101
+f 81 101 102
+f 81 102 103
+f 81 103 82
+f 82 104 83
+f 82 103 104
+f 83 104 105
+f 83 105 106
+f 83 106 107
+f 83 107 108
+f 83 108 109
+f 83 109 84
+f 93 98 94
+f 95 110 96
+f 96 110 112
+f 96 112 111
+f 101 113 114
+f 101 114 115
+f 101 115 102
+f 102 115 103
+f 110 116 112
+f 111 112 117
+f 111 117 118
+f 112 116 117
+f 113 118 114
+f 114 118 117
+f 114 117 119
+f 116 119 120
+f 116 120 117
+f 117 120 119
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_11.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.06014348 -0.00025584 -0.03168614
+v 0.06014348 -0.03499435 -0.03168627
+v 0.06012572 -0.00025584 -0.03196277
+v 0.05926149 -0.00025586 -0.02728610
+v 0.05927925 -0.00950514 -0.02728613
+v 0.06013756 -0.04505935 -0.03168631
+v 0.06000141 -0.04505935 -0.03383001
+v 0.05927925 -0.01663177 -0.02728616
+v 0.05999550 -0.00025584 -0.03379109
+v 0.05472130 -0.00025586 -0.02728610
+v 0.05926741 -0.02351720 -0.02728619
+v 0.05926149 -0.02557405 -0.02728619
+v 0.05923189 -0.03246386 -0.02728622
+v 0.05920230 -0.03705999 -0.02728624
+v 0.05914310 -0.04505937 -0.02728627
+v 0.05948051 -0.04505934 -0.03497530
+v 0.05992447 -0.00025584 -0.03394157
+v 0.05472130 -0.00074705 -0.02728610
+v -0.00031745 -0.00025585 -0.03059041
+v -0.00031745 -0.00647466 -0.03058773
+v -0.00031745 -0.02713532 -0.03058600
+v 0.05501726 -0.04505937 -0.02728627
+v 0.05943907 -0.00025583 -0.03493637
+v 0.05833214 -0.04505934 -0.03582502
+v 0.05488704 -0.03517856 -0.02728623
+v -0.00031745 -0.03499436 -0.03058603
+v -0.00031745 -0.04505936 -0.03058878
+v -0.00031745 -0.00025583 -0.03590055
+v 0.05829070 -0.00025583 -0.03578430
+v 0.05698251 -0.04505934 -0.03623682
+v 0.05613603 -0.00025583 -0.03645832
+v -0.00031745 -0.04505934 -0.03589891
+v -0.00031745 -0.02448639 -0.03590424
+v 0.05613603 -0.04505934 -0.03649003
+v -0.00031745 -0.04417783 -0.03589981
+v -0.00031745 -0.03826162 -0.03590339
+v -0.00031745 -0.04055969 -0.03590250
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 23
+f 1 23 29
+f 1 29 31
+f 1 31 28
+f 1 28 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 7 9
+f 4 10 18
+f 4 18 25
+f 4 25 22
+f 4 22 15
+f 4 15 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 8
+f 4 8 5
+f 6 8 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 22
+f 6 22 27
+f 6 27 32
+f 6 32 34
+f 6 34 30
+f 6 30 24
+f 6 24 16
+f 6 16 7
+f 7 16 9
+f 9 16 17
+f 10 19 20
+f 10 20 21
+f 10 21 26
+f 10 26 18
+f 16 23 17
+f 16 24 23
+f 18 26 27
+f 18 27 25
+f 19 28 33
+f 19 33 36
+f 19 36 37
+f 19 37 35
+f 19 35 32
+f 19 32 27
+f 19 27 26
+f 19 26 21
+f 19 21 20
+f 22 25 27
+f 23 24 29
+f 24 30 31
+f 24 31 29
+f 28 31 34
+f 28 34 33
+f 30 34 31
+f 32 35 34
+f 33 34 36
+f 34 35 37
+f 34 37 36
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_12.obj

@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.05288071 -0.05408591 0.01358592
+v -0.03211050 -0.05485679 0.01419694
+v -0.03263520 -0.05485679 0.01494996
+v -0.03342720 -0.05485680 0.01635704
+v -0.05288071 -0.05485693 0.05137033
+v -0.05288071 -0.04963148 0.01358594
+v -0.03099180 -0.05485679 0.01358592
+v -0.05288071 -0.05485695 0.05607348
+v -0.03116010 -0.04919336 0.01358594
+v -0.05288071 -0.04930530 0.02097845
+v -0.02886330 -0.04886241 0.01872369
+v -0.02886330 -0.04897490 0.01643451
+v 0.03107133 -0.05485679 0.01358592
+v -0.05183131 -0.05485695 0.05614663
+v -0.05288071 -0.05484564 0.05610790
+v -0.02886330 -0.04914931 0.01358594
+v -0.05288071 -0.04877622 0.05308723
+v -0.02886330 -0.04882372 0.02101718
+v -0.02656650 -0.04884812 0.01872369
+v -0.02656650 -0.04895586 0.01643451
+v -0.02656650 -0.04912907 0.01358594
+v 0.04825774 -0.05425556 0.01358592
+v 0.03262563 -0.05485679 0.01466167
+v -0.05183131 -0.05465872 0.05670601
+v -0.05288071 -0.05464682 0.05669311
+v -0.04953451 -0.05485695 0.05616384
+v -0.02656650 -0.04881598 0.02101718
+v -0.05288071 -0.04916077 0.05544956
+v 0.04825774 -0.04971318 0.05518708
+v 0.04825774 -0.04960901 0.05399516
+v 0.04825774 -0.04953162 0.05308723
+v 0.02856663 -0.04883444 0.02101718
+v 0.02626983 -0.04883265 0.02101718
+v 0.02626983 -0.04886300 0.01872369
+v 0.02626983 -0.04896776 0.01643451
+v -0.02601210 -0.04912847 0.01358594
+v 0.04825774 -0.05007853 0.01358594
+v 0.04825774 -0.05485693 0.05110785
+v 0.03302163 -0.05485680 0.01542759
+v -0.05288071 -0.05336460 0.05748485
+v -0.04953451 -0.05466051 0.05671032
+v -0.04953451 -0.05336460 0.05754079
+v -0.04723771 -0.05485695 0.05617245
+v -0.05288071 -0.04994535 0.05647797
+v 0.04825774 -0.04997690 0.05633598
+v 0.04825774 -0.04982569 0.05568193
+v 0.03316023 -0.04908444 0.01872369
+v 0.03086343 -0.04892194 0.02101718
+v 0.03086343 -0.04895706 0.01872369
+v 0.02856663 -0.04887193 0.01872369
+v 0.02856663 -0.04898443 0.01643451
+v 0.02626983 -0.04911121 0.01414103
+v 0.02626983 -0.04914693 0.01358594
+v 0.04747564 -0.05003448 0.01358594
+v 0.04825774 -0.05485695 0.05614232
+v -0.05288071 -0.05098291 0.05733856
+v -0.04587151 -0.05485695 0.05617675
+v -0.04723771 -0.05466170 0.05671032
+v -0.04723771 -0.05336460 0.05754509
+v -0.04953451 -0.05112339 0.05736008
+v -0.05288071 -0.05040728 0.05687814
+v 0.04695093 -0.05112399 0.05735147
+v 0.04825774 -0.05112458 0.05734717
+v 0.04463433 -0.04987673 0.01358594
+v 0.03316023 -0.04916122 0.01643451
+v 0.03086343 -0.04905705 0.01643451
+v 0.04282264 -0.04977673 0.01358594
+v 0.04060503 -0.04965767 0.01358594
+v 0.03830823 -0.04953624 0.01358594
+v 0.03141783 -0.04923443 0.01358594
+v 0.03086343 -0.04921895 0.01358594
+v 0.02912103 -0.04917729 0.01358594
+v 0.02856663 -0.04913145 0.01414103
+v 0.02682423 -0.04915169 0.01358594
+v 0.04825774 -0.05465277 0.05669741
+v 0.03684303 -0.05485695 0.05618105
+v -0.04723771 -0.05112220 0.05736008
+v -0.04494091 -0.05112161 0.05736008
+v 0.02626983 -0.05112399 0.05735577
+v -0.03897120 -0.05485695 0.05618105
+v -0.04264410 -0.05466229 0.05671032
+v -0.03575370 -0.05466289 0.05671032
+v -0.02656650 -0.05466348 0.05671032
+v -0.01736939 -0.05466408 0.05671032
+v -0.00588539 -0.05466467 0.05671032
+v 0.03086343 -0.05466467 0.05671032
+v 0.02856663 -0.05336460 0.05754079
+v 0.03545703 -0.05336460 0.05753649
+v 0.04825774 -0.05209071 0.05742462
+v 0.03601143 -0.04942075 0.01358594
+v 0.03371463 -0.04931658 0.01358594
+v 0.03316023 -0.04929574 0.01358594
+v 0.02856663 -0.04916717 0.01358594
+v 0.04825774 -0.05392058 0.05716643
+v 0.03545703 -0.05466289 0.05671032
+v 0.03545703 -0.05485695 0.05618536
+v -0.01047899 -0.05485695 0.05618966
+v 0.01247912 -0.05485695 0.05619396
+v 0.03086343 -0.05485695 0.05619396
+v 0.03316023 -0.05466408 0.05671032
+v 0.04234743 -0.05336460 0.05752788
+v 0.04825774 -0.05336460 0.05751928
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 15
+f 1 15 25
+f 1 25 40
+f 1 40 56
+f 1 56 61
+f 1 61 44
+f 1 44 28
+f 1 28 17
+f 1 17 10
+f 1 10 6
+f 1 6 9
+f 1 9 16
+f 1 16 21
+f 1 21 36
+f 1 36 53
+f 1 53 74
+f 1 74 93
+f 1 93 72
+f 1 72 71
+f 1 71 70
+f 1 70 92
+f 1 92 91
+f 1 91 90
+f 1 90 69
+f 1 69 68
+f 1 68 67
+f 1 67 64
+f 1 64 54
+f 1 54 37
+f 1 37 22
+f 1 22 13
+f 1 13 7
+f 1 7 2
+f 2 7 13
+f 2 13 23
+f 2 23 39
+f 2 39 38
+f 2 38 55
+f 2 55 76
+f 2 76 96
+f 2 96 99
+f 2 99 98
+f 2 98 97
+f 2 97 80
+f 2 80 57
+f 2 57 43
+f 2 43 26
+f 2 26 14
+f 2 14 8
+f 2 8 5
+f 2 5 4
+f 2 4 3
+f 6 10 11
+f 6 11 12
+f 6 12 9
+f 8 14 15
+f 9 12 16
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 16
+f 13 22 23
+f 14 24 25
+f 14 25 15
+f 14 26 24
+f 17 27 18
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 27
+f 18 27 19
+f 19 27 34
+f 19 34 35
+f 19 35 20
+f 20 36 21
+f 20 35 36
+f 22 37 31
+f 22 31 30
+f 22 30 29
+f 22 29 46
+f 22 46 45
+f 22 45 63
+f 22 63 89
+f 22 89 102
+f 22 102 94
+f 22 94 75
+f 22 75 55
+f 22 55 38
+f 22 38 39
+f 22 39 23
+f 24 40 25
+f 24 26 41
+f 24 41 42
+f 24 42 40
+f 26 43 41
+f 27 33 34
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 31 37 47
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 50
+f 32 50 34
+f 32 34 33
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 37 54 47
+f 40 42 56
+f 41 43 57
+f 41 57 58
+f 41 58 59
+f 41 59 42
+f 42 59 60
+f 42 60 56
+f 44 61 62
+f 44 62 45
+f 45 62 63
+f 47 49 48
+f 47 54 64
+f 47 64 49
+f 49 65 66
+f 49 66 50
+f 49 64 67
+f 49 67 68
+f 49 68 69
+f 49 69 65
+f 50 66 51
+f 51 66 70
+f 51 70 71
+f 51 71 72
+f 51 72 73
+f 51 73 52
+f 52 73 74
+f 52 74 53
+f 55 75 76
+f 56 60 77
+f 56 77 78
+f 56 78 79
+f 56 79 62
+f 56 62 61
+f 57 80 58
+f 58 80 81
+f 58 81 59
+f 59 78 77
+f 59 77 60
+f 59 81 82
+f 59 82 83
+f 59 83 84
+f 59 84 85
+f 59 85 86
+f 59 86 87
+f 59 87 78
+f 62 79 87
+f 62 87 88
+f 62 88 89
+f 62 89 63
+f 65 90 91
+f 65 91 66
+f 65 69 90
+f 66 91 92
+f 66 92 70
+f 72 93 73
+f 73 93 74
+f 75 94 95
+f 75 95 76
+f 76 95 96
+f 78 87 79
+f 80 97 81
+f 81 97 82
+f 82 97 98
+f 82 98 83
+f 83 98 84
+f 84 98 85
+f 85 98 99
+f 85 99 86
+f 86 99 100
+f 86 100 87
+f 87 100 95
+f 87 95 88
+f 88 95 101
+f 88 101 89
+f 89 101 102
+f 94 102 101
+f 94 101 95
+f 95 100 99
+f 95 99 96
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_13.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.00330475 0.05684156 -0.03168542
+v -0.00012321 0.05684061 -0.03168542
+v 0.00789503 0.05604388 -0.02820839
+v 0.03086412 0.05683682 -0.03168542
+v 0.05154397 0.05660851 -0.03397588
+v -0.00012321 0.05654694 -0.03397588
+v -0.00012321 0.05600884 -0.02820839
+v 0.00100371 0.05601831 -0.02820839
+v 0.00330475 0.05603441 -0.02820839
+v 0.00559989 0.05604294 -0.02820839
+v 0.02738306 0.05602589 -0.02820839
+v 0.04694780 0.05682545 -0.03168542
+v 0.04465266 0.05682735 -0.03168542
+v 0.04235162 0.05682924 -0.03168542
+v 0.03316516 0.05683587 -0.03168542
+v 0.04924293 0.05681977 -0.03168542
+v 0.05154397 0.05681029 -0.03168542
+v 0.05383911 0.05655262 -0.03397588
+v 0.05383911 0.05587718 -0.03530348
+v 0.05154397 0.05589992 -0.03532293
+v -0.00012321 0.05618507 -0.03462023
+v -0.00012321 0.05155354 -0.02820841
+v 0.02857488 0.05602399 -0.02820839
+v 0.02968410 0.05602210 -0.02820839
+v 0.03086412 0.05601926 -0.02820839
+v 0.03197334 0.05601641 -0.02820839
+v 0.03427438 0.05600978 -0.02820839
+v 0.03886466 0.05599652 -0.02820839
+v 0.04005648 0.05599273 -0.02820839
+v 0.04116570 0.05598894 -0.02820839
+v 0.05383911 0.05674019 -0.03168542
+v 0.04704220 0.05595957 -0.02820839
+v 0.04825172 0.05594631 -0.02820839
+v 0.05416362 0.05587905 -0.02820839
+v 0.05605165 0.05606854 -0.03388267
+v 0.05523154 0.05579666 -0.03522649
+v 0.05383911 0.05454240 -0.03607184
+v 0.05154397 0.05454240 -0.03611884
+v 0.04924293 0.05454240 -0.03612776
+v -0.00012321 0.05454240 -0.03603212
+v -0.00012321 0.05517900 -0.03564389
+v -0.00012321 0.05583455 -0.03524350
+v -0.00012321 0.04716362 -0.03058480
+v 0.05481263 0.04716835 -0.02820843
+v 0.05532004 0.05580800 -0.02820840
+v 0.05620505 0.05614243 -0.03173080
+v 0.05740867 0.05578718 -0.03305679
+v 0.05675966 0.05537699 -0.03458376
+v 0.05775678 0.05384706 -0.03543073
+v 0.05605165 0.05458408 -0.03567388
+v 0.05614015 0.05224702 -0.03642360
+v 0.05383911 0.05224702 -0.03644711
+v -0.00012321 0.05224702 -0.03636200
+v 0.05831729 0.04716361 -0.02820843
+v -0.00012321 0.04716364 -0.03589761
+v 0.05591005 0.05562611 -0.02820840
+v 0.05646466 0.05540160 -0.02820840
+v 0.05740867 0.05578718 -0.03252429
+v 0.05834679 0.05446566 -0.03385756
+v 0.05970381 0.05355432 -0.03313217
+v 0.05932031 0.05224702 -0.03471426
+v 0.05816979 0.05224702 -0.03570469
+v 0.05835859 0.04995163 -0.03582627
+v 0.05614015 0.04995163 -0.03648764
+v 0.05614015 0.04716364 -0.03647306
+v 0.05933211 0.04716361 -0.02820843
+v 0.05806358 0.05425343 -0.02820840
+v 0.05970381 0.05355432 -0.03242136
+v 0.05987492 0.05224701 -0.03356822
+v 0.05950911 0.04995163 -0.03500605
+v 0.05835269 0.04765626 -0.03582466
+v 0.05835269 0.04716364 -0.03582223
+v 0.06014632 0.04716363 -0.03168546
+v 0.06011682 0.04995162 -0.03168545
+v 0.05931441 0.04765623 -0.02820842
+v 0.05900760 0.05222804 -0.02820841
+v 0.05986312 0.05220627 -0.03166923
+v 0.05999292 0.04995162 -0.03386082
+v 0.05999882 0.04765625 -0.03385677
+v 0.05950321 0.04765626 -0.03500200
+v 0.05949731 0.04716364 -0.03499796
+v 0.05999882 0.04716363 -0.03385273
+v 0.05965661 0.05141524 -0.03035460
+v 0.05920230 0.04995160 -0.02820842
+v 0.05926721 0.04896733 -0.02820842
+v 0.05911970 0.05098704 -0.02820841
+v 0.05960941 0.04716364 -0.03475238
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 21
+f 2 21 42
+f 2 42 41
+f 2 41 40
+f 2 40 53
+f 2 53 55
+f 2 55 43
+f 2 43 22
+f 2 22 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 22
+f 3 22 44
+f 3 44 54
+f 3 54 66
+f 3 66 75
+f 3 75 85
+f 3 85 84
+f 3 84 86
+f 3 86 76
+f 3 76 67
+f 3 67 57
+f 3 57 56
+f 3 56 45
+f 3 45 34
+f 3 34 33
+f 3 33 32
+f 3 32 30
+f 3 30 29
+f 3 29 28
+f 3 28 27
+f 3 27 26
+f 3 26 25
+f 3 25 24
+f 3 24 23
+f 3 23 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 5
+f 5 15 14
+f 5 14 13
+f 5 13 12
+f 5 12 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 6 20 21
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 31 18
+f 17 30 32
+f 17 32 33
+f 17 33 34
+f 17 34 31
+f 18 31 35
+f 18 35 36
+f 18 36 19
+f 19 37 38
+f 19 38 20
+f 19 36 37
+f 20 38 39
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 21
+f 22 43 44
+f 31 34 45
+f 31 45 46
+f 31 46 47
+f 31 47 35
+f 35 47 48
+f 35 48 36
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 40
+f 43 54 44
+f 43 55 65
+f 43 65 72
+f 43 72 81
+f 43 81 87
+f 43 87 82
+f 43 82 73
+f 43 73 66
+f 43 66 54
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 46 58 47
+f 47 59 48
+f 47 58 68
+f 47 68 60
+f 47 60 59
+f 48 59 49
+f 49 59 60
+f 49 60 61
+f 49 61 62
+f 49 62 51
+f 49 51 50
+f 51 62 63
+f 51 63 64
+f 51 64 52
+f 52 64 53
+f 53 64 65
+f 53 65 55
+f 57 67 58
+f 58 67 68
+f 60 68 69
+f 60 69 61
+f 61 69 70
+f 61 70 62
+f 62 70 63
+f 63 71 64
+f 63 70 71
+f 64 71 72
+f 64 72 65
+f 66 73 74
+f 66 74 75
+f 67 76 68
+f 68 76 77
+f 68 77 69
+f 69 77 74
+f 69 74 78
+f 69 78 70
+f 70 78 79
+f 70 79 80
+f 70 80 71
+f 71 80 72
+f 72 80 81
+f 73 82 79
+f 73 79 78
+f 73 78 74
+f 74 77 83
+f 74 83 84
+f 74 84 85
+f 74 85 75
+f 76 86 83
+f 76 83 77
+f 79 82 80
+f 80 82 87
+f 80 87 81
+f 83 86 84
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_14.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.06017276 0.02164543 -0.03053823
+v -0.06017009 0.01476486 -0.03053826
+v -0.06003671 0.02240562 -0.02997612
+v -0.06003671 0.02469729 -0.02997482
+v -0.06003671 0.02699451 -0.02997469
+v -0.06017276 0.02928618 -0.03053820
+v -0.06016920 0.01247319 -0.03053826
+v -0.06016831 0.01018707 -0.03053827
+v -0.06003582 0.01551396 -0.02998388
+v -0.05986687 0.02138463 -0.02934012
+v -0.05986777 0.02367630 -0.02934011
+v -0.05986777 0.02928618 -0.02934009
+v -0.06003671 0.02928618 -0.02997585
+v -0.06003671 0.03158340 -0.02997843
+v -0.06017187 0.03158340 -0.03053819
+v -0.06016297 0.00103148 -0.03053831
+v -0.05986332 0.01551396 -0.02934014
+v -0.05986421 0.01680129 -0.02934014
+v -0.06016208 -0.00025030 -0.03053831
+v -0.06003493 0.01092506 -0.02999364
+v -0.05986510 0.03286519 -0.02934008
+v -0.06003582 0.03387508 -0.02998136
+v -0.06017098 0.03387508 -0.03053819
+v -0.05986243 0.01451517 -0.02934015
+v -0.06003404 -0.00025030 -0.03002652
+v -0.05167034 -0.00025030 -0.03053831
+v -0.05986332 0.03516796 -0.02934007
+v -0.06003493 0.03617230 -0.02998464
+v -0.06016742 0.03846952 -0.03053817
+v -0.05985976 0.01222904 -0.02934016
+v -0.05999136 -0.00025030 -0.02987544
+v -0.05985620 0.00994292 -0.02934016
+v -0.05400624 -0.00025030 -0.02934020
+v -0.05109059 0.04863500 -0.03053813
+v -0.05109059 0.05041063 -0.02934001
+v -0.05986243 0.03617230 -0.02934007
+v -0.06003404 0.03846952 -0.02998943
+v -0.06016475 0.04076674 -0.03053816
+v -0.05983753 -0.00025030 -0.02934020
+v -0.05109059 0.05642557 -0.03053810
+v -0.05109059 0.05603715 -0.02933999
+v -0.05985976 0.03846952 -0.02934006
+v -0.05985798 0.03977904 -0.02934005
+v -0.06003226 0.04076674 -0.02999599
+v -0.06016120 0.04305841 -0.03053815
+v -0.05292765 0.05643112 -0.03053810
+v -0.05109059 0.05607044 -0.02941846
+v -0.05415562 0.05603715 -0.02933999
+v -0.05985620 0.04076674 -0.02934005
+v -0.06003048 0.04305841 -0.03000771
+v -0.06015319 0.04535563 -0.03053814
+v -0.05414673 0.05639783 -0.03053810
+v -0.05585841 0.05588178 -0.02933999
+v -0.05984998 0.04305841 -0.02934004
+v -0.06002782 0.04535563 -0.03003398
+v -0.06012829 0.04765285 -0.03053813
+v -0.05500302 0.05631459 -0.03053810
+v -0.05700724 0.05550446 -0.02934000
+v -0.05617852 0.05600941 -0.03053810
+v -0.05983398 0.04535563 -0.02934003
+v -0.06001715 0.04765285 -0.03010869
+v -0.06007316 0.04995008 -0.03053813
+v -0.05704637 0.05547672 -0.02934000
+v -0.05723132 0.05553221 -0.03053811
+v -0.05978240 0.04765285 -0.02934002
+v -0.05999047 0.04995008 -0.03023972
+v -0.05999314 0.05120966 -0.03053812
+v -0.05847352 0.05435585 -0.02934000
+v -0.05859533 0.05445018 -0.03053811
+v -0.05967303 0.04995008 -0.02934002
+v -0.05994157 0.05137057 -0.03038950
+v -0.05996469 0.05146491 -0.03053812
+v -0.05943295 0.05325718 -0.03053811
+v -0.05944807 0.05235272 -0.02934001
+v -0.05951120 0.05218625 -0.02934001
+v -0.05968815 0.05270785 -0.03053812
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 23
+f 1 23 29
+f 1 29 38
+f 1 38 45
+f 1 45 51
+f 1 51 56
+f 1 56 62
+f 1 62 67
+f 1 67 72
+f 1 72 76
+f 1 76 73
+f 1 73 69
+f 1 69 64
+f 1 64 59
+f 1 59 57
+f 1 57 52
+f 1 52 46
+f 1 46 40
+f 1 40 34
+f 1 34 26
+f 1 26 19
+f 1 19 16
+f 1 16 8
+f 1 8 7
+f 1 7 2
+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 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 8 16 9
+f 9 17 18
+f 9 18 10
+f 9 16 19
+f 9 19 20
+f 9 20 17
+f 10 18 17
+f 10 17 24
+f 10 24 30
+f 10 30 32
+f 10 32 39
+f 10 39 33
+f 10 33 35
+f 10 35 41
+f 10 41 48
+f 10 48 53
+f 10 53 58
+f 10 58 63
+f 10 63 68
+f 10 68 74
+f 10 74 75
+f 10 75 70
+f 10 70 65
+f 10 65 60
+f 10 60 54
+f 10 54 49
+f 10 49 43
+f 10 43 42
+f 10 42 36
+f 10 36 27
+f 10 27 21
+f 10 21 12
+f 10 12 11
+f 12 21 22
+f 12 22 14
+f 12 14 13
+f 14 22 23
+f 14 23 15
+f 17 20 25
+f 17 25 24
+f 19 25 20
+f 19 26 33
+f 19 33 39
+f 19 39 31
+f 19 31 25
+f 21 27 28
+f 21 28 22
+f 22 28 23
+f 23 28 29
+f 24 25 30
+f 25 31 32
+f 25 32 30
+f 26 34 35
+f 26 35 33
+f 27 36 28
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 31 39 32
+f 34 40 47
+f 34 47 41
+f 34 41 35
+f 36 42 37
+f 37 42 43
+f 37 43 44
+f 37 44 38
+f 38 44 45
+f 40 46 47
+f 41 47 48
+f 43 49 44
+f 44 49 50
+f 44 50 45
+f 45 50 51
+f 46 52 48
+f 46 48 47
+f 48 52 53
+f 49 54 50
+f 50 54 55
+f 50 55 51
+f 51 55 56
+f 52 57 53
+f 53 57 59
+f 53 59 58
+f 54 60 55
+f 55 60 61
+f 55 61 56
+f 56 61 62
+f 58 59 64
+f 58 64 63
+f 60 65 61
+f 61 65 66
+f 61 66 62
+f 62 66 67
+f 63 64 68
+f 64 69 68
+f 65 70 66
+f 66 70 71
+f 66 71 67
+f 67 71 72
+f 68 73 74
+f 68 69 73
+f 70 75 71
+f 71 75 72
+f 72 75 76
+f 73 76 74
+f 74 76 75
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_15.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.05108970 0.04863831 -0.03053825
+v -0.02428251 0.04951985 0.01358610
+v -0.02482624 0.04954148 0.01358610
+v -0.02656716 0.04961876 0.01358610
+v -0.02711588 0.04964503 0.01358610
+v -0.02942048 0.04977485 0.01358610
+v -0.03171510 0.04992399 0.01358610
+v -0.05108970 0.05124538 0.01358611
+v -0.05108970 0.05642988 -0.03053822
+v -0.00012911 0.04889022 -0.03053825
+v -0.01509404 0.04935448 0.01358610
+v -0.01738867 0.04934985 0.01358610
+v -0.01968828 0.04937998 0.01358610
+v -0.02197791 0.04944026 0.01358610
+v -0.05108970 0.05534942 0.01358612
+v -0.04947349 0.05644688 -0.03053822
+v -0.00012911 0.05653033 -0.03053822
+v -0.00012911 0.05032737 0.01358610
+v -0.00129637 0.05020759 0.01358610
+v -0.00360097 0.04998658 0.01358610
+v -0.00589560 0.04978490 0.01358610
+v -0.00819022 0.04961258 0.01358610
+v -0.01049482 0.04948430 0.01358610
+v -0.01279443 0.04939775 0.01358610
+v -0.03041814 0.05536333 0.01358612
+v -0.02886178 0.05653188 -0.03053822
+v -0.03115641 0.05652802 -0.03053822
+v -0.03345103 0.05652183 -0.03053822
+v -0.04264948 0.05648783 -0.03053822
+v -0.04723872 0.05646774 -0.03053822
+v -0.01886521 0.05536333 0.01358612
+v -0.00012911 0.05541826 -0.00190232
+v -0.02770948 0.05653265 -0.03053822
+v -0.00012911 0.05442986 0.01358612
+v -0.00012911 0.05517328 0.00268029
+v -0.00012911 0.05532474 0.00039115
+v -0.00012911 0.05535256 -0.00024377
+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 15
+f 1 15 9
+f 1 9 16
+f 1 16 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 33
+f 1 33 17
+f 1 17 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 2
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 24
+f 2 24 23
+f 2 23 22
+f 2 22 21
+f 2 21 20
+f 2 20 19
+f 2 19 18
+f 2 18 34
+f 2 34 31
+f 2 31 25
+f 2 25 15
+f 2 15 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 9 15 16
+f 10 17 32
+f 10 32 37
+f 10 37 36
+f 10 36 35
+f 10 35 34
+f 10 34 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 17 31 32
+f 17 33 31
+f 25 33 26
+f 25 31 33
+f 31 34 35
+f 31 35 36
+f 31 36 37
+f 31 37 32
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_16.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.05933373 0.04716361 -0.02820842
+v 0.05831794 0.04716361 -0.02820842
+v 0.05931890 0.04765589 -0.02820841
+v 0.05918141 0.04716353 -0.00598964
+v 0.05481655 0.04716788 -0.02820842
+v 0.05503909 0.04716361 -0.02719792
+v 0.05926845 0.04896807 -0.02820841
+v 0.05887282 0.05224667 0.01358631
+v 0.05895689 0.04995164 0.01358630
+v 0.05903404 0.04716346 0.01358629
+v 0.04922916 0.05158732 -0.02820840
+v 0.05497975 0.04716358 -0.02022668
+v 0.05496886 0.04716358 -0.01793566
+v 0.05495897 0.04716357 -0.01564464
+v 0.05489271 0.04716351 0.00039248
+v 0.05488974 0.04716350 0.00219257
+v 0.05488677 0.04716349 0.00497043
+v 0.05488677 0.04716348 0.00726554
+v 0.05920317 0.04995179 -0.02820841
+v 0.05800044 0.05423628 0.01358632
+v 0.05912306 0.05098754 -0.02820840
+v 0.05900734 0.05222720 -0.02820840
+v 0.05492435 0.04716346 0.01358629
+v 0.04922916 0.05586599 -0.02820838
+v 0.04922916 0.05164441 -0.00759333
+v 0.05619732 0.05538465 0.01358632
+v 0.05806275 0.05425263 -0.02820839
+v 0.05646833 0.05540101 -0.02820839
+v 0.05066928 0.05144725 0.01358631
+v 0.05416473 0.05587964 -0.02820838
+v 0.04922916 0.05555451 -0.00759332
+v 0.05066928 0.05550409 0.01358632
+v 0.05490853 0.05570203 0.01358632
+v 0.05591939 0.05546314 0.01358632
+v 0.05591444 0.05562539 -0.02820839
+v 0.05531999 0.05580797 -0.02820839
+v 0.05504799 0.05570203 0.01358632
+f 1 2 5
+f 1 5 11
+f 1 11 24
+f 1 24 30
+f 1 30 36
+f 1 36 35
+f 1 35 28
+f 1 28 27
+f 1 27 22
+f 1 22 21
+f 1 21 19
+f 1 19 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 23
+f 1 23 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 6 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 11
+f 7 19 8
+f 8 20 26
+f 8 26 34
+f 8 34 37
+f 8 37 33
+f 8 33 32
+f 8 32 29
+f 8 29 23
+f 8 23 10
+f 8 10 9
+f 8 19 21
+f 8 21 22
+f 8 22 20
+f 11 18 25
+f 11 25 31
+f 11 31 24
+f 18 23 25
+f 20 22 27
+f 20 27 28
+f 20 28 26
+f 23 29 25
+f 24 31 32
+f 24 32 33
+f 24 33 30
+f 25 29 32
+f 25 32 31
+f 26 28 35
+f 26 35 36
+f 26 36 34
+f 30 33 37
+f 30 37 36
+f 34 36 37
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_17.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.05922047 0.04716361 -0.02713455
+v 0.06014563 0.04716363 -0.03168596
+v 0.05787388 0.04716361 -0.02713455
+v 0.05927076 0.04539513 -0.02713455
+v 0.06003227 0.04716363 -0.03339171
+v 0.05927167 0.04535800 -0.02713455
+v 0.05928812 0.04310214 -0.02713456
+v 0.05929178 0.04080914 -0.02713457
+v 0.06014746 0.04535802 -0.03168596
+v 0.05504083 0.04716361 -0.02720220
+v 0.05504266 0.04715897 -0.02713455
+v 0.06000119 0.04716363 -0.03385243
+v 0.05929635 0.03392088 -0.02713460
+v 0.05929727 0.03162325 -0.02713460
+v 0.06014746 0.00403308 -0.03168612
+v 0.05081274 0.04716362 -0.03056251
+v 0.05080908 0.04715898 -0.03056251
+v 0.05478394 0.00174006 -0.02713471
+v 0.05961175 0.04716364 -0.03475284
+v 0.06000119 -0.00025584 -0.03379044
+v 0.05929727 0.02699084 -0.02713462
+v 0.06014654 -0.00025584 -0.03168613
+v 0.05080908 0.04716363 -0.03230208
+v 0.05080908 0.00620073 -0.03056357
+v 0.05080908 -0.00025585 -0.03056542
+v 0.05479400 -0.00025586 -0.02713472
+v 0.05950113 0.04716364 -0.03499783
+v 0.05992714 -0.00025584 -0.03394218
+v 0.05929269 0.02010722 -0.02713465
+v 0.05928812 0.01551659 -0.02713466
+v 0.05928355 0.01321896 -0.02713467
+v 0.05924698 -0.00025586 -0.02713472
+v 0.05080908 0.04716364 -0.03589458
+v 0.05080908 -0.00025583 -0.03589749
+v 0.05835291 0.04716364 -0.03582236
+v 0.05944079 -0.00025583 -0.03493675
+v 0.05829258 -0.00025583 -0.03578414
+v 0.05614059 0.04716364 -0.03647322
+v 0.05080908 0.04535803 -0.03589641
+v 0.05614059 -0.00025583 -0.03645784
+v 0.05080908 0.00174009 -0.03589748
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 27
+f 1 27 35
+f 1 35 38
+f 1 38 33
+f 1 33 23
+f 1 23 16
+f 1 16 10
+f 1 10 3
+f 1 3 11
+f 1 11 18
+f 1 18 26
+f 1 26 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 21
+f 1 21 14
+f 1 14 13
+f 1 13 8
+f 1 8 7
+f 1 7 6
+f 1 6 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 5 9 12
+f 8 13 9
+f 9 13 14
+f 9 14 21
+f 9 21 15
+f 9 15 12
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 12 15 20
+f 12 20 19
+f 15 22 20
+f 15 21 22
+f 16 23 17
+f 17 23 33
+f 17 33 39
+f 17 39 41
+f 17 41 34
+f 17 34 25
+f 17 25 24
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 19 20 27
+f 20 22 32
+f 20 32 26
+f 20 26 25
+f 20 25 34
+f 20 34 40
+f 20 40 37
+f 20 37 36
+f 20 36 28
+f 20 28 27
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 27 28 36
+f 27 36 37
+f 27 37 35
+f 33 38 39
+f 34 41 38
+f 34 38 40
+f 35 37 40
+f 35 40 38
+f 38 41 39
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_18.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05288071 -0.05556509 0.05084018
+v -0.05288071 -0.05556509 0.05619510
+v -0.05288071 -0.05456508 0.05084018
+v -0.05288071 -0.05456508 0.05619510
+v 0.04825774 -0.05556509 0.05084018
+v 0.04825774 -0.05556509 0.05619510
+v 0.04825774 -0.05456508 0.05084018
+v 0.04825774 -0.05456508 0.05619510
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_19.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00032337 -0.05471061 -0.02728540
+v -0.00032337 -0.05045606 -0.02728539
+v 0.00081971 -0.05471286 -0.02728540
+v 0.02627867 -0.05455556 0.01163357
+v -0.00032337 -0.05354797 0.01358592
+v -0.00032337 -0.05036011 -0.02480494
+v 0.05450141 -0.04741828 -0.02728537
+v 0.00329906 -0.05471436 -0.02728540
+v 0.02197469 -0.05417472 0.01358592
+v 0.00771574 -0.05471585 -0.02728540
+v 0.02856483 -0.05464694 -0.01105849
+v 0.03086708 -0.05463720 -0.01105849
+v 0.05384132 -0.05433441 0.01358592
+v -0.00032337 -0.04946211 0.01358594
+v -0.00032337 -0.05027465 -0.02251653
+v 0.05450141 -0.04705698 -0.01091844
+v 0.05450141 -0.05448195 -0.02728540
+v -0.00032337 -0.04954230 0.00496840
+v -0.00032337 -0.04948983 0.00726081
+v 0.01019509 -0.05471436 -0.02728540
+v 0.03086708 -0.05466562 -0.02728540
+v 0.01230951 -0.05471211 -0.02728540
+v 0.01478887 -0.05470686 -0.02728540
+v 0.01690329 -0.05470236 -0.02728540
+v 0.04254471 -0.05461390 -0.02728540
+v 0.03316397 -0.05461920 -0.01105849
+v 0.05450141 -0.05429542 0.01358592
+v -0.00032337 -0.04944711 0.01184563
+v 0.05450141 -0.04713579 0.01358595
+v -0.00032337 -0.04945535 0.00955322
+f 1 2 7
+f 1 7 17
+f 1 17 25
+f 1 25 21
+f 1 21 24
+f 1 24 23
+f 1 23 22
+f 1 22 20
+f 1 20 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 28
+f 1 28 30
+f 1 30 19
+f 1 19 18
+f 1 18 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 5 9 13
+f 5 13 27
+f 5 27 29
+f 5 29 14
+f 6 15 7
+f 7 16 29
+f 7 29 27
+f 7 27 17
+f 7 15 18
+f 7 18 19
+f 7 19 16
+f 10 20 11
+f 11 21 12
+f 11 20 22
+f 11 22 23
+f 11 23 24
+f 11 24 21
+f 12 21 25
+f 12 25 26
+f 12 26 13
+f 13 26 25
+f 13 25 17
+f 13 17 27
+f 14 29 28
+f 16 19 30
+f 16 30 28
+f 16 28 29
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_2.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05614202 0.04764973 0.05761405
+v 0.05829743 0.04764973 0.05731668
+v 0.05476356 0.04764973 0.05682106
+v 0.05477770 -0.04644288 0.05683364
+v 0.05614202 -0.02121582 0.05760948
+v 0.05944445 0.04076042 0.05610131
+v 0.05944615 0.04764973 0.05609704
+v 0.05829064 -0.02580256 0.05731210
+v 0.05829460 -0.04417715 0.05730772
+v 0.05944332 -0.04417715 0.05610531
+v 0.05425993 0.04764974 0.05538163
+v 0.05425427 -0.04644287 0.05540283
+v 0.05475677 -0.04644288 0.05682071
+v 0.05614202 -0.04644288 0.05757060
+v 0.05614202 -0.04417715 0.05759647
+v 0.05614202 -0.03039851 0.05760514
+v 0.05977039 0.03616447 0.05495923
+v 0.05976983 0.03846705 0.05495924
+v 0.05976756 0.04764974 0.05495928
+v 0.05977266 -0.04644287 0.05496324
+v 0.05617428 -0.04644288 0.05756629
+v 0.05827819 -0.04644288 0.05727323
+v 0.05829573 -0.04644288 0.05725599
+v 0.05942691 -0.04644288 0.05610961
+v 0.05399624 0.04764974 0.05308888
+v 0.05424692 -0.04644287 0.05538128
+v 0.05977039 0.03616447 0.05327414
+v 0.05976983 0.03846705 0.05327846
+v 0.05976756 0.04764974 0.05325265
+v 0.05977266 -0.04644287 0.05322644
+v 0.05487108 0.04764989 0.01358630
+v 0.05453551 0.00402982 0.01358613
+v 0.05452985 0.00173645 0.01358613
+v 0.05399171 -0.04644287 0.05308853
+v 0.05924866 0.02927531 0.01358623
+v 0.05922829 0.04076058 0.01358627
+v 0.05922093 0.04305394 0.01358628
+v 0.05916548 0.04534731 0.01358629
+v 0.05899968 0.04764989 0.01358630
+v 0.05924809 0.02983714 0.01358623
+v 0.05924526 0.03213050 0.01358624
+v 0.05890631 -0.04644272 0.01358595
+v 0.05894479 -0.04591773 0.01358595
+v 0.05907098 -0.04417699 0.01358596
+v 0.05914058 -0.04187441 0.01358597
+v 0.05916378 -0.03958103 0.01358597
+v 0.05916548 -0.03902842 0.01358598
+v 0.05917057 -0.03728767 0.01358598
+v 0.05919151 -0.02350903 0.01358603
+v 0.05919434 -0.02121566 0.01358604
+v 0.05924866 0.02698194 0.01358622
+v 0.05453268 0.00117462 0.01358612
+v 0.05454287 -0.00055692 0.01358612
+v 0.05482863 -0.04644272 0.01358595
+f 1 2 7
+f 1 7 19
+f 1 19 29
+f 1 29 39
+f 1 39 31
+f 1 31 25
+f 1 25 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 26
+f 4 26 34
+f 4 34 54
+f 4 54 42
+f 4 42 30
+f 4 30 20
+f 4 20 24
+f 4 24 23
+f 4 23 22
+f 4 22 21
+f 4 21 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 9
+f 5 9 8
+f 6 10 7
+f 7 17 18
+f 7 18 19
+f 7 10 20
+f 7 20 17
+f 9 16 15
+f 9 15 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 10 24 20
+f 11 25 26
+f 11 26 12
+f 14 21 15
+f 17 27 28
+f 17 28 18
+f 17 20 30
+f 17 30 27
+f 18 28 29
+f 18 29 19
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 27 35 29
+f 27 29 28
+f 27 30 35
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 35 40
+f 29 40 41
+f 29 41 36
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 35
+f 31 39 38
+f 31 38 37
+f 31 37 36
+f 31 36 41
+f 31 41 40
+f 31 40 35
+f 31 35 51
+f 31 51 50
+f 31 50 49
+f 31 49 48
+f 31 48 47
+f 31 47 46
+f 31 46 45
+f 31 45 44
+f 31 44 43
+f 31 43 42
+f 31 42 54
+f 31 54 53
+f 31 53 52
+f 31 52 33
+f 31 33 32
+f 33 52 34
+f 34 53 54
+f 34 52 53
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_20.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.05467681 -0.05450978 -0.02733196
+v -0.05413413 -0.05422628 0.01049359
+v -0.05445335 -0.05421762 0.01049359
+v -0.05467681 -0.05421113 0.01049359
+v -0.05467681 -0.04767791 -0.02733194
+v -0.03139464 -0.05468444 -0.02733196
+v -0.03116054 -0.05468588 -0.02733196
+v -0.02909622 -0.05469743 -0.02733196
+v -0.02886212 -0.05469815 -0.02733196
+v -0.02656902 -0.05470465 -0.02733196
+v -0.02427591 -0.05470681 -0.02733196
+v -0.01531632 -0.05471403 -0.02733196
+v -0.00032337 -0.05471980 -0.02733196
+v -0.00032337 -0.05424280 -0.01106335
+v -0.00032337 -0.05421321 -0.01009308
+v -0.00032337 -0.05417280 -0.00877100
+v -0.00032337 -0.05355940 0.01049359
+v -0.05467681 -0.04742183 0.01049362
+v -0.05467681 -0.04756462 -0.02250282
+v -0.00032337 -0.04954225 0.00497198
+v -0.00032337 -0.05027470 -0.02251765
+v -0.00032337 -0.05044718 -0.02733195
+v -0.00032337 -0.04945206 0.01049361
+v -0.05467681 -0.04734669 -0.01229652
+v -0.05467681 -0.04735102 -0.01329641
+v -0.00032337 -0.04948957 0.00726433
+v -0.00032337 -0.04945494 0.00955667
+f 1 2 3
+f 1 3 4
+f 1 4 18
+f 1 18 24
+f 1 24 25
+f 1 25 19
+f 1 19 5
+f 1 5 22
+f 1 22 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 23
+f 2 23 18
+f 2 18 4
+f 2 4 3
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 13 22 21
+f 13 21 20
+f 13 20 26
+f 13 26 27
+f 13 27 23
+f 13 23 17
+f 13 17 16
+f 13 16 15
+f 13 15 14
+f 18 23 24
+f 19 25 20
+f 20 25 26
+f 23 27 24
+f 24 27 25
+f 25 27 26
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_21.obj

@@ -0,0 +1,706 @@
+# https://github.com/mikedh/trimesh
+v 0.02583131 0.05559204 0.01147640
+v 0.02584475 0.05559204 0.01147640
+v 0.02397303 0.05559204 0.01153997
+v -0.00131037 0.06372501 0.01361375
+v 0.02623455 0.05559204 0.01148200
+v -0.00129357 0.06372501 0.01361375
+v 0.00100156 0.06372501 0.01362123
+v 0.00330005 0.06372501 0.01363058
+v 0.00559854 0.06372501 0.01365302
+v 0.02363699 0.05559204 0.01160542
+v -0.00131037 0.06143170 0.01404570
+v -0.00131037 0.06597826 0.01450571
+v 0.00100156 0.06599078 0.01450197
+v 0.01708091 0.06332819 0.01464595
+v 0.02840535 0.05559204 0.01194014
+v 0.00789703 0.06372501 0.01372407
+v 0.01019216 0.06372501 0.01386432
+v 0.01249401 0.06372501 0.01412050
+v 0.00330005 0.06593069 0.01451880
+v 0.02184255 0.05559204 0.01209908
+v -0.00131037 0.05994080 0.01493764
+v -0.00131037 0.06712616 0.01535467
+v 0.00100156 0.06713868 0.01533597
+v 0.01937604 0.06295139 0.01491521
+v 0.01475218 0.06387022 0.01458798
+v 0.01249401 0.06515206 0.01500685
+v 0.01396249 0.06496178 0.01519010
+v 0.02857001 0.05864894 0.01466650
+v 0.02861369 0.05559204 0.01204298
+v 0.02397303 0.06092221 0.01467772
+v 0.02570698 0.06054917 0.01499561
+v 0.00559854 0.06580426 0.01456368
+v 0.00789703 0.06563276 0.01464970
+v 0.01019216 0.06541620 0.01478807
+v 0.02157036 0.05559204 0.01221127
+v -0.00131037 0.05900444 0.01643358
+v -0.00131037 0.06762813 0.01650093
+v -0.00129357 0.06762939 0.01650093
+v 0.00100156 0.06764065 0.01648223
+v 0.00330005 0.06759183 0.01658508
+v 0.00330005 0.06707734 0.01543881
+v 0.02085797 0.06269852 0.01515269
+v 0.00559854 0.06695216 0.01567629
+v 0.00789703 0.06678066 0.01607085
+v 0.01005103 0.06660916 0.01661686
+v 0.01249401 0.06595947 0.01643360
+v 0.01549482 0.06473271 0.01553604
+v 0.02723594 0.06019115 0.01546309
+v 0.02997464 0.05819703 0.01506666
+v 0.03102643 0.05559203 0.01358754
+v 0.02238357 0.06239934 0.01564074
+v 0.01927187 0.05559203 0.01358754
+v 0.00014131 0.05697400 0.02040529
+v 0.00567919 0.05697401 0.01719276
+v -0.00131037 0.05820327 0.01819317
+v -0.00131037 0.06821396 0.01872427
+v -0.00129357 0.06821522 0.01872427
+v 0.00100156 0.06823525 0.01872427
+v 0.00330005 0.06813886 0.01872427
+v 0.00559854 0.06748167 0.01682069
+v 0.01937604 0.06385644 0.01643359
+v 0.00789703 0.06731268 0.01721711
+v 0.00919413 0.06719876 0.01750134
+v 0.01475218 0.06532105 0.01635320
+v 0.01661382 0.06509072 0.01706377
+v 0.01725565 0.06453868 0.01635320
+v 0.02788113 0.06053290 0.01699082
+v 0.02861705 0.05978557 0.01631017
+v 0.02399319 0.06208138 0.01641489
+v 0.02638913 0.06096226 0.01631017
+v 0.03047869 0.05858383 0.01643358
+v 0.03162794 0.05757863 0.01643357
+v 0.03185308 0.05697401 0.01592308
+v 0.03235042 0.05697401 0.01685618
+v 0.03278727 0.05697400 0.01853724
+v 0.03300569 0.05697399 0.02082415
+v 0.03301913 0.05697399 0.02101675
+v 0.03285111 0.05697398 0.02330367
+v 0.03240082 0.05697398 0.02528018
+v 0.03226977 0.05697398 0.02556067
+v 0.03104659 0.05697397 0.02739506
+v 0.03075760 0.05697397 0.02775970
+v 0.03043837 0.05697397 0.02804206
+v 0.02859353 0.05697396 0.02953987
+v 0.02834822 0.05697396 0.02968946
+v 0.02657059 0.05697396 0.03025044
+v 0.02627488 0.05697396 0.03034206
+v 0.02397303 0.05697271 0.03057207
+v 0.02164429 0.06303400 0.01641489
+v 0.02323711 0.06274609 0.01716660
+v 0.02167453 0.05697396 0.03057954
+v 0.01937604 0.05697396 0.03037385
+v 0.01695994 0.05697396 0.03012515
+v 0.01528312 0.05697396 0.02979044
+v 0.01366342 0.05697396 0.02942019
+v 0.00957050 0.05697397 0.02832629
+v 0.00488951 0.05697397 0.02665458
+v 0.00326309 0.05697397 0.02604124
+v 0.00293713 0.05697398 0.02584677
+v 0.00189206 0.05697398 0.02503709
+v -0.00035603 0.05697399 0.02105976
+v -0.00131037 0.05729946 0.02100367
+v -0.00131037 0.05772007 0.01934130
+v -0.00131037 0.06821522 0.01873923
+v -0.00131037 0.06835916 0.02101679
+v 0.00100156 0.06837920 0.02101679
+v 0.00330005 0.06828531 0.02101679
+v 0.00559854 0.06807751 0.02101679
+v 0.00559854 0.06792605 0.01872427
+v 0.01814279 0.06484536 0.01778182
+v 0.00789703 0.06759307 0.01872427
+v 0.00959066 0.06728263 0.01872427
+v 0.01074326 0.06704478 0.01872427
+v 0.01249401 0.06662668 0.01872426
+v 0.01478914 0.06600578 0.01872426
+v 0.02479968 0.06244189 0.01872425
+v 0.02627152 0.06175340 0.01872425
+v 0.02826421 0.06074319 0.01872424
+v 0.02941010 0.06010602 0.01872424
+v 0.03200430 0.05797170 0.01763219
+v 0.03215552 0.05813067 0.01915992
+v 0.03223281 0.05820827 0.02101675
+v 0.03214880 0.05812439 0.02330367
+v 0.03204798 0.05801924 0.02452099
+v 0.03165482 0.05753478 0.02604685
+v 0.03012586 0.05833343 0.02714262
+v 0.02914127 0.05756857 0.02867035
+v 0.02760894 0.05811686 0.02911913
+v 0.02452748 0.06002211 0.02883866
+v 0.02299516 0.06034132 0.02906866
+v 0.01578045 0.06251696 0.02902005
+v 0.02396966 0.05697396 0.03057207
+v 0.02365043 0.06291632 0.01872425
+v 0.02167789 0.06370621 0.01872425
+v -0.00131037 0.06372370 0.02889850
+v 0.00330005 0.06372495 0.02890598
+v -0.00129357 0.06372495 0.02889850
+v -0.00131037 0.06143290 0.02836558
+v -0.00131037 0.05984060 0.02724735
+v -0.00131037 0.05983310 0.02723613
+v -0.00131037 0.05884042 0.02559434
+v -0.00131037 0.05756860 0.02293530
+v -0.00131037 0.05729946 0.02101675
+v -0.00131037 0.06835916 0.02102801
+v 0.00100156 0.06833788 0.02330371
+v 0.00330005 0.06824148 0.02330371
+v 0.00559854 0.06802618 0.02330371
+v 0.00789703 0.06774953 0.02101679
+v 0.01845530 0.06494800 0.01931142
+v 0.01928195 0.06456871 0.01861767
+v 0.01725565 0.06524093 0.01861767
+v 0.00996702 0.06736273 0.02101679
+v 0.01111290 0.06712113 0.02101679
+v 0.01249401 0.06678815 0.02101679
+v 0.01478914 0.06617977 0.02101678
+v 0.01708091 0.06549378 0.02101678
+v 0.02503826 0.06254202 0.02101677
+v 0.02627152 0.06195993 0.02101677
+v 0.02844903 0.06084708 0.02101676
+v 0.02959828 0.06021492 0.02101676
+v 0.03086850 0.05928607 0.02101676
+v 0.03109028 0.05885046 0.01852790
+v 0.03086850 0.05915212 0.02330368
+v 0.02952099 0.06016358 0.02330368
+v 0.02908078 0.05987567 0.02559434
+v 0.03088194 0.05859757 0.02540922
+v 0.02754173 0.06035385 0.02684345
+v 0.02834150 0.05898938 0.02775784
+v 0.02627152 0.05960902 0.02839174
+v 0.02283050 0.06257956 0.02674248
+v 0.02167789 0.06279862 0.02703419
+v 0.01937604 0.06322173 0.02749980
+v 0.02627152 0.06066304 0.02724548
+v 0.01937604 0.06195239 0.02864606
+v 0.01708091 0.06228412 0.02891907
+v 0.01249401 0.06539863 0.02736331
+v 0.01019216 0.06565650 0.02756339
+v 0.01249401 0.06389771 0.02850956
+v 0.01019216 0.06397406 0.02870777
+v 0.01424813 0.06266217 0.02906680
+v 0.01249401 0.06274979 0.02909298
+v 0.00789703 0.06395779 0.02883119
+v 0.02167789 0.06390524 0.02101677
+v 0.02388902 0.06301646 0.02101677
+v 0.01976585 0.06461376 0.02101678
+v -0.00131037 0.06600700 0.02801404
+v 0.00100156 0.06602077 0.02802339
+v -0.00131037 0.06831409 0.02330371
+v -0.00129357 0.06831534 0.02330371
+v -0.00129357 0.06788222 0.02559437
+v 0.00100156 0.06789974 0.02559437
+v 0.00330005 0.06780085 0.02559437
+v 0.00570271 0.06752045 0.02578323
+v 0.00789703 0.06739527 0.02519420
+v 0.00945960 0.06725757 0.02474916
+v 0.00789703 0.06769570 0.02330371
+v 0.00984269 0.06733518 0.02330371
+v 0.01861660 0.06500307 0.02101678
+v 0.01098857 0.06709358 0.02330371
+v 0.01249401 0.06673682 0.02330371
+v 0.01478914 0.06613094 0.02330370
+v 0.01708091 0.06544620 0.02330370
+v 0.01854603 0.06498053 0.02330370
+v 0.02627152 0.06189733 0.02330369
+v 0.02496433 0.06251197 0.02330369
+v 0.02837174 0.06081577 0.02330368
+v 0.02793154 0.06057793 0.02559434
+v 0.02627152 0.06142165 0.02559435
+v 0.02167789 0.06338823 0.02559435
+v 0.01922819 0.06433710 0.02545598
+v 0.01761857 0.06467258 0.02612729
+v 0.01608625 0.06492169 0.02681168
+v 0.02441995 0.06227538 0.02559435
+v 0.02327071 0.06275857 0.02559435
+v 0.01478914 0.06510445 0.02704355
+v 0.01694650 0.06383387 0.02760826
+v 0.00653608 0.06714239 0.02667144
+v 0.00500376 0.06723001 0.02682291
+v 0.00789703 0.06587932 0.02768493
+v 0.00330005 0.06602077 0.02795233
+v 0.01969192 0.06458621 0.02330370
+v 0.02167789 0.06384514 0.02330369
+v 0.02381509 0.06298515 0.02330369
+v -0.00131037 0.06602077 0.02800656
+v 0.00100156 0.06734768 0.02697811
+v -0.00131037 0.06788097 0.02559437
+v -0.00131037 0.06734018 0.02696502
+v 0.00330005 0.06729761 0.02691266
+v 0.00789703 0.06702722 0.02634047
+v 0.01021569 0.06683195 0.02554575
+v 0.01249401 0.06629368 0.02559436
+v 0.01478914 0.06569406 0.02559436
+v 0.01835449 0.06491669 0.02459956
+v 0.01694650 0.06509945 0.02545598
+v 0.00570271 0.06623608 0.02759892
+v -0.00131037 0.06733267 0.02697250
+f 1 2 5
+f 1 5 15
+f 1 15 29
+f 1 29 50
+f 1 50 52
+f 1 52 35
+f 1 35 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 11
+f 3 11 4
+f 4 11 21
+f 4 21 36
+f 4 36 55
+f 4 55 103
+f 4 103 102
+f 4 102 143
+f 4 143 142
+f 4 142 141
+f 4 141 140
+f 4 140 139
+f 4 139 138
+f 4 138 135
+f 4 135 186
+f 4 186 224
+f 4 224 236
+f 4 236 227
+f 4 227 226
+f 4 226 188
+f 4 188 144
+f 4 144 105
+f 4 105 104
+f 4 104 56
+f 4 56 37
+f 4 37 22
+f 4 22 12
+f 4 12 13
+f 4 13 6
+f 5 14 15
+f 5 9 16
+f 5 16 17
+f 5 17 18
+f 5 18 14
+f 6 13 7
+f 7 13 8
+f 8 13 9
+f 9 13 19
+f 9 19 16
+f 10 20 21
+f 10 21 11
+f 12 22 23
+f 12 23 13
+f 13 23 19
+f 14 24 15
+f 14 18 25
+f 14 25 26
+f 14 26 27
+f 14 27 24
+f 15 28 29
+f 15 24 30
+f 15 30 31
+f 15 31 28
+f 16 19 32
+f 16 32 17
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 26
+f 18 26 25
+f 19 23 32
+f 20 35 21
+f 21 35 36
+f 22 37 38
+f 22 38 23
+f 23 39 40
+f 23 40 41
+f 23 41 32
+f 23 38 39
+f 24 42 30
+f 24 27 42
+f 26 34 43
+f 26 43 44
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 42
+f 28 31 48
+f 28 48 49
+f 28 49 29
+f 29 49 50
+f 30 42 31
+f 31 42 51
+f 31 51 48
+f 32 41 33
+f 33 41 34
+f 34 41 43
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 37 56 57
+f 37 57 38
+f 38 57 58
+f 38 58 39
+f 39 58 40
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 60 43
+f 42 61 51
+f 42 47 61
+f 43 60 62
+f 43 62 44
+f 44 62 63
+f 44 63 45
+f 45 63 46
+f 46 64 47
+f 46 63 65
+f 46 65 64
+f 47 64 65
+f 47 65 66
+f 47 66 61
+f 48 67 68
+f 48 68 49
+f 48 51 69
+f 48 69 70
+f 48 70 67
+f 49 71 72
+f 49 72 73
+f 49 73 50
+f 49 68 71
+f 50 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 77
+f 50 77 78
+f 50 78 79
+f 50 79 80
+f 50 80 81
+f 50 81 82
+f 50 82 83
+f 50 83 84
+f 50 84 85
+f 50 85 86
+f 50 86 87
+f 50 87 88
+f 50 88 52
+f 51 61 89
+f 51 89 90
+f 51 90 69
+f 52 88 91
+f 52 91 92
+f 52 92 93
+f 52 93 94
+f 52 94 95
+f 52 95 96
+f 52 96 97
+f 52 97 98
+f 52 98 99
+f 52 99 100
+f 52 100 101
+f 52 101 53
+f 53 101 102
+f 53 102 103
+f 53 103 54
+f 54 103 55
+f 56 104 57
+f 57 104 105
+f 57 105 58
+f 58 105 106
+f 58 106 107
+f 58 107 59
+f 59 107 108
+f 59 108 109
+f 59 109 60
+f 60 109 62
+f 61 66 65
+f 61 65 110
+f 61 110 89
+f 62 109 63
+f 63 109 111
+f 63 111 112
+f 63 112 113
+f 63 113 114
+f 63 114 65
+f 65 114 115
+f 65 115 110
+f 67 70 90
+f 67 90 116
+f 67 116 117
+f 67 117 118
+f 67 118 119
+f 67 119 71
+f 67 71 68
+f 69 90 70
+f 71 119 120
+f 71 120 72
+f 72 120 73
+f 73 120 74
+f 74 120 75
+f 75 120 121
+f 75 121 76
+f 76 121 77
+f 77 121 122
+f 77 122 123
+f 77 123 78
+f 78 123 124
+f 78 124 79
+f 79 124 80
+f 80 124 125
+f 80 125 81
+f 81 125 82
+f 82 126 83
+f 82 125 126
+f 83 127 84
+f 83 126 127
+f 84 128 85
+f 84 127 128
+f 85 128 129
+f 85 129 86
+f 86 129 87
+f 87 129 130
+f 87 130 131
+f 87 131 132
+f 87 132 88
+f 88 132 91
+f 89 110 90
+f 90 133 116
+f 90 110 134
+f 90 134 133
+f 91 135 92
+f 91 132 136
+f 91 136 137
+f 91 137 135
+f 92 135 93
+f 93 135 138
+f 93 138 94
+f 94 138 95
+f 95 138 96
+f 96 138 139
+f 96 139 97
+f 97 139 98
+f 98 139 99
+f 99 139 140
+f 99 140 100
+f 100 140 141
+f 100 141 142
+f 100 142 101
+f 101 142 143
+f 101 143 102
+f 105 144 106
+f 106 145 107
+f 106 144 145
+f 107 145 146
+f 107 146 108
+f 108 146 147
+f 108 147 148
+f 108 148 109
+f 109 148 111
+f 110 149 150
+f 110 150 134
+f 110 115 151
+f 110 151 149
+f 111 148 112
+f 112 148 152
+f 112 152 113
+f 113 153 114
+f 113 152 153
+f 114 153 154
+f 114 154 155
+f 114 155 115
+f 115 155 156
+f 115 156 149
+f 115 149 151
+f 116 133 184
+f 116 184 157
+f 116 157 117
+f 117 157 158
+f 117 158 118
+f 118 158 159
+f 118 159 160
+f 118 160 119
+f 119 160 161
+f 119 161 162
+f 119 162 120
+f 120 162 121
+f 121 162 161
+f 121 161 122
+f 122 161 163
+f 122 163 123
+f 123 163 124
+f 124 163 164
+f 124 164 165
+f 124 165 166
+f 124 166 126
+f 124 126 125
+f 126 165 167
+f 126 167 168
+f 126 168 127
+f 126 166 165
+f 127 168 128
+f 128 168 167
+f 128 167 169
+f 128 169 129
+f 129 170 171
+f 129 171 172
+f 129 172 130
+f 129 169 173
+f 129 173 170
+f 130 172 174
+f 130 174 175
+f 130 175 131
+f 131 175 176
+f 131 176 177
+f 131 177 178
+f 131 178 179
+f 131 179 180
+f 131 180 132
+f 132 180 181
+f 132 181 182
+f 132 182 136
+f 133 134 183
+f 133 183 184
+f 134 185 183
+f 134 150 149
+f 134 149 185
+f 135 137 186
+f 136 182 137
+f 137 182 187
+f 137 187 186
+f 144 188 189
+f 144 189 145
+f 145 189 190
+f 145 190 191
+f 145 191 146
+f 146 191 192
+f 146 192 147
+f 147 193 194
+f 147 194 195
+f 147 195 196
+f 147 196 148
+f 147 192 193
+f 148 196 197
+f 148 197 152
+f 149 156 198
+f 149 198 185
+f 152 197 199
+f 152 199 153
+f 153 199 200
+f 153 200 154
+f 154 200 201
+f 154 201 155
+f 155 201 202
+f 155 202 156
+f 156 202 203
+f 156 203 198
+f 157 204 158
+f 157 184 205
+f 157 205 204
+f 158 204 159
+f 159 204 206
+f 159 206 160
+f 160 206 164
+f 160 164 161
+f 161 164 163
+f 164 206 207
+f 164 207 165
+f 165 207 167
+f 167 207 208
+f 167 208 170
+f 167 170 173
+f 167 173 169
+f 170 209 210
+f 170 210 211
+f 170 211 212
+f 170 212 171
+f 170 208 213
+f 170 213 214
+f 170 214 209
+f 171 212 172
+f 172 212 215
+f 172 215 216
+f 172 216 174
+f 174 216 215
+f 174 215 176
+f 174 176 175
+f 176 215 217
+f 176 217 177
+f 177 217 218
+f 177 218 219
+f 177 219 178
+f 178 219 179
+f 179 182 180
+f 179 219 220
+f 179 220 182
+f 180 182 181
+f 182 220 187
+f 183 185 221
+f 183 221 222
+f 183 222 184
+f 184 222 223
+f 184 223 205
+f 185 198 203
+f 185 203 221
+f 186 187 224
+f 187 220 225
+f 187 225 224
+f 188 226 190
+f 188 190 189
+f 190 226 227
+f 190 227 191
+f 191 225 228
+f 191 228 192
+f 191 227 225
+f 192 228 218
+f 192 218 193
+f 193 217 194
+f 193 218 217
+f 194 229 195
+f 194 217 229
+f 195 197 196
+f 195 229 230
+f 195 230 231
+f 195 231 232
+f 195 232 200
+f 195 200 199
+f 195 199 197
+f 200 232 201
+f 201 232 233
+f 201 233 202
+f 202 233 203
+f 203 233 221
+f 204 205 208
+f 204 208 207
+f 204 207 206
+f 205 223 214
+f 205 214 213
+f 205 213 208
+f 209 214 233
+f 209 233 210
+f 210 233 211
+f 211 233 234
+f 211 234 212
+f 212 234 232
+f 212 232 231
+f 212 231 229
+f 212 229 215
+f 214 223 222
+f 214 222 233
+f 215 229 217
+f 218 228 235
+f 218 235 219
+f 219 235 220
+f 220 228 225
+f 220 235 228
+f 221 233 222
+f 224 225 236
+f 225 227 236
+f 229 231 230
+f 232 234 233
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_22.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.05467681 -0.04767260 -0.02733654
+v -0.05467681 -0.05450910 -0.02733656
+v -0.05002129 -0.05043537 -0.02733655
+v -0.05467681 -0.00025586 -0.02781699
+v -0.05467681 -0.05466620 -0.02810931
+v -0.05413816 -0.05552751 -0.03168634
+v -0.05184094 -0.05558710 -0.03168634
+v -0.05002129 -0.05559794 -0.03168634
+v -0.05002129 -0.05437367 -0.02733656
+v -0.05002129 -0.00025585 -0.03058016
+v -0.05467681 -0.00025583 -0.03623961
+v -0.05467681 -0.05539208 -0.03170421
+v -0.05467681 -0.05536500 -0.03221521
+v -0.05467681 -0.05523498 -0.03394566
+v -0.05413816 -0.05535416 -0.03397603
+v -0.05184094 -0.05540292 -0.03397603
+v -0.05002129 -0.05540292 -0.03397603
+v -0.05002129 -0.00025583 -0.03589835
+v -0.05002129 -0.05106373 -0.03638452
+v -0.05467681 -0.05052743 -0.03646225
+v -0.05467681 -0.05506162 -0.03446649
+v -0.05413816 -0.05468784 -0.03530089
+v -0.05184094 -0.05471492 -0.03532411
+v -0.05002129 -0.05470951 -0.03531965
+v -0.05002129 -0.05336062 -0.03614065
+v -0.05413816 -0.05106373 -0.03644796
+v -0.05467681 -0.05106373 -0.03644260
+v -0.05467681 -0.05465534 -0.03527051
+v -0.05413816 -0.05336062 -0.03607186
+v -0.05184094 -0.05336062 -0.03612367
+v -0.05467681 -0.05282432 -0.03615404
+v -0.05467681 -0.05336604 -0.03597270
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 27
+f 1 27 31
+f 1 31 32
+f 1 32 28
+f 1 28 21
+f 1 21 14
+f 1 14 13
+f 1 13 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 9 8
+f 3 8 17
+f 3 17 24
+f 3 24 25
+f 3 25 19
+f 3 19 18
+f 3 18 10
+f 3 10 4
+f 4 10 18
+f 4 18 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 11 18 19
+f 11 19 20
+f 14 21 15
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 25
+f 23 25 24
+f 25 30 26
+f 26 30 27
+f 27 30 31
+f 28 32 29
+f 29 32 31
+f 29 31 30
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_23.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.05364141 0.05027841 0.01358630
+v -0.05364141 0.05027640 0.01484176
+v -0.05364141 0.05547386 0.01358632
+v -0.02022760 0.04939405 0.01358630
+v -0.01966904 0.04929609 0.01414147
+v -0.02197310 0.04935715 0.01414147
+v -0.02197310 0.04904915 0.01643134
+v -0.02197310 0.04885724 0.01830609
+v -0.02339942 0.04879148 0.01970836
+v -0.02495541 0.04882234 0.02101444
+v -0.05364141 0.05027840 0.01713838
+v -0.05364141 0.05550668 0.03082527
+v -0.03311436 0.05556444 0.01651910
+v -0.03243611 0.05556444 0.01550326
+v -0.03204712 0.05556444 0.01507296
+v -0.03135889 0.05556445 0.01439630
+v -0.03117935 0.05556445 0.01423093
+v -0.03042131 0.05556445 0.01378544
+v -0.03007221 0.05556445 0.01358632
+v -0.01966904 0.04937929 0.01358630
+v -0.01737496 0.04934977 0.01358630
+v -0.01737496 0.04926858 0.01414147
+v -0.01966904 0.04900084 0.01643134
+v -0.01966904 0.04883778 0.01808166
+v -0.02197310 0.04877404 0.01945186
+v -0.02197310 0.04872907 0.02101444
+v -0.02380837 0.04877738 0.02101444
+v -0.02375850 0.04878007 0.02277951
+v -0.05364141 0.05033874 0.03082525
+v -0.05364141 0.05029783 0.02330431
+v -0.05364141 0.05028777 0.02101444
+v -0.05364141 0.05028309 0.01943837
+v -0.02576332 0.05556439 0.03034773
+v -0.02660116 0.05556439 0.03027685
+v -0.02835663 0.05556439 0.02993936
+v -0.02876558 0.05556439 0.02976556
+v -0.03002234 0.05556439 0.02908720
+v -0.03225657 0.05556440 0.02749425
+v -0.03315426 0.05556441 0.02559588
+v -0.03377266 0.05556441 0.02330433
+v -0.03392228 0.05556442 0.02101446
+v -0.03381256 0.05556443 0.01932701
+v -0.03376269 0.05556443 0.01872291
+v -0.03329390 0.05556444 0.01700340
+v 0.00264340 0.05556439 0.03082527
+v 0.03108005 0.05556445 0.01358632
+v -0.01508088 0.04935379 0.01358630
+v -0.01737496 0.04899279 0.01643134
+v -0.01508088 0.04927797 0.01414147
+v -0.01737496 0.04884046 0.01818797
+v -0.01966904 0.04876196 0.01922743
+v -0.02189331 0.04876596 0.02344774
+v -0.01966904 0.04871095 0.02101444
+v -0.02261145 0.04880891 0.02430665
+v -0.02441680 0.04882837 0.02344774
+v -0.02426718 0.04896122 0.02559586
+v -0.02591294 0.04944096 0.03082525
+v 0.02891563 0.05556439 0.03082527
+v 0.03254627 0.05556445 0.01430011
+v 0.04825575 0.05556042 0.01358632
+v -0.01277682 0.04939740 0.01358630
+v -0.01508088 0.04903439 0.01643134
+v -0.01277682 0.04932896 0.01414147
+v -0.01737496 0.04877270 0.01933374
+v 0.02856653 0.05001536 0.01872289
+v -0.01597856 0.04879081 0.01961555
+v -0.01980868 0.04876127 0.02341905
+v -0.02107542 0.04880086 0.02447708
+v -0.01737496 0.04874182 0.02101444
+v -0.01737496 0.04877269 0.02271539
+v -0.02426718 0.04939533 0.03082525
+v 0.04825575 0.05539664 0.03082527
+v 0.03082072 0.05556439 0.02981787
+v 0.03338411 0.05556444 0.01643136
+v 0.04825575 0.05555975 0.01382594
+v 0.04825575 0.05156737 0.01358631
+v 0.03378308 0.05556443 0.01869760
+v 0.03392272 0.05556442 0.02101446
+v 0.03381300 0.05556442 0.02294490
+v 0.03378308 0.05556441 0.02330433
+v 0.03353372 0.05556441 0.02511327
+v 0.03342400 0.05556441 0.02555538
+v 0.03292529 0.05556440 0.02721920
+v 0.02800797 0.05052064 0.01358631
+v 0.02856653 0.05020191 0.01643134
+v 0.03086062 0.05015292 0.01872289
+v 0.03086062 0.05008715 0.02101444
+v 0.02856653 0.04997040 0.02101444
+v -0.02065650 0.04880086 0.02447708
+v -0.01913043 0.04881428 0.02425771
+v -0.01605836 0.04879348 0.02232727
+v 0.02856653 0.05007506 0.02330431
+v -0.02197310 0.04939869 0.03082525
+v 0.04825575 0.05143044 0.03082526
+v 0.04825575 0.05551746 0.01872291
+v 0.04825575 0.05553961 0.01643136
+v 0.04825575 0.05555841 0.01414149
+v 0.04825575 0.05156201 0.01414148
+v 0.03086062 0.05065282 0.01358631
+v 0.02856653 0.05053674 0.01358631
+v 0.03086062 0.05015692 0.02330431
+v -0.01980868 0.04890889 0.02538324
+v 0.03610708 0.05084869 0.03082526
+v 0.03840117 0.05091646 0.03082526
+v 0.03775284 0.05089700 0.03082526
+v 0.04172260 0.05106944 0.03082526
+v 0.04054564 0.05100973 0.03082526
+v 0.04005690 0.05098825 0.03082526
+f 1 2 11
+f 1 11 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 12
+f 1 12 3
+f 1 3 19
+f 1 19 46
+f 1 46 60
+f 1 60 76
+f 1 76 99
+f 1 99 100
+f 1 100 84
+f 1 84 61
+f 1 61 47
+f 1 47 21
+f 1 21 20
+f 1 20 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 4 20 5
+f 5 20 21
+f 5 21 22
+f 5 22 23
+f 5 23 7
+f 5 7 6
+f 7 23 8
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 25 26
+f 9 26 27
+f 9 27 10
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 11
+f 12 33 34
+f 12 34 35
+f 12 35 36
+f 12 36 37
+f 12 37 38
+f 12 38 39
+f 12 39 40
+f 12 40 41
+f 12 41 42
+f 12 42 43
+f 12 43 44
+f 12 44 13
+f 12 29 57
+f 12 57 71
+f 12 71 93
+f 12 93 103
+f 12 103 105
+f 12 105 104
+f 12 104 108
+f 12 108 107
+f 12 107 106
+f 12 106 94
+f 12 94 72
+f 12 72 58
+f 12 58 45
+f 12 45 33
+f 13 44 43
+f 13 43 42
+f 13 42 41
+f 13 41 40
+f 13 40 39
+f 13 39 38
+f 13 38 37
+f 13 37 36
+f 13 36 35
+f 13 35 34
+f 13 34 33
+f 13 33 45
+f 13 45 58
+f 13 58 73
+f 13 73 83
+f 13 83 82
+f 13 82 81
+f 13 81 80
+f 13 80 79
+f 13 79 78
+f 13 78 77
+f 13 77 74
+f 13 74 59
+f 13 59 46
+f 13 46 19
+f 13 19 18
+f 13 18 17
+f 13 17 16
+f 13 16 15
+f 13 15 14
+f 21 47 22
+f 22 48 23
+f 22 47 49
+f 22 49 48
+f 23 48 24
+f 24 48 50
+f 24 50 51
+f 24 51 25
+f 25 51 26
+f 26 52 28
+f 26 28 27
+f 26 51 53
+f 26 53 52
+f 28 52 54
+f 28 54 55
+f 28 55 29
+f 29 55 54
+f 29 54 56
+f 29 56 57
+f 46 59 60
+f 47 61 49
+f 48 49 62
+f 48 62 50
+f 49 61 63
+f 49 63 62
+f 50 64 51
+f 50 62 65
+f 50 65 66
+f 50 66 64
+f 51 64 53
+f 52 67 68
+f 52 68 54
+f 52 53 67
+f 53 64 69
+f 53 69 70
+f 53 70 67
+f 54 68 71
+f 54 71 56
+f 56 71 57
+f 58 72 73
+f 59 74 60
+f 60 75 97
+f 60 97 96
+f 60 96 95
+f 60 95 72
+f 60 72 94
+f 60 94 98
+f 60 98 76
+f 60 74 77
+f 60 77 78
+f 60 78 79
+f 60 79 80
+f 60 80 81
+f 60 81 82
+f 60 82 83
+f 60 83 73
+f 60 73 75
+f 61 84 63
+f 62 63 85
+f 62 85 65
+f 63 84 85
+f 64 66 69
+f 65 85 76
+f 65 76 86
+f 65 86 87
+f 65 87 88
+f 65 88 66
+f 66 88 69
+f 67 89 68
+f 67 70 90
+f 67 90 89
+f 68 89 71
+f 69 91 70
+f 69 88 91
+f 70 91 88
+f 70 88 92
+f 70 92 90
+f 71 89 93
+f 72 95 73
+f 73 95 96
+f 73 96 97
+f 73 97 75
+f 76 98 87
+f 76 87 86
+f 76 85 99
+f 84 100 85
+f 85 100 99
+f 87 101 88
+f 87 98 94
+f 87 94 101
+f 88 101 92
+f 89 90 102
+f 89 102 93
+f 90 92 103
+f 90 103 102
+f 92 101 104
+f 92 104 105
+f 92 105 103
+f 93 102 103
+f 94 106 101
+f 101 106 107
+f 101 107 108
+f 101 108 104
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_24.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05002129 -0.05559526 -0.03168655
+v -0.05002129 -0.05555729 -0.03216171
+v -0.04724354 -0.05560610 -0.03168655
+v -0.02909816 -0.05469509 -0.02733655
+v -0.03139430 -0.05468425 -0.02733655
+v -0.03345694 -0.05466798 -0.02733655
+v -0.03599146 -0.05464629 -0.02733655
+v -0.04256369 -0.05458664 -0.02733655
+v -0.04284584 -0.05458121 -0.02733655
+v -0.04711706 -0.05446191 -0.02733655
+v -0.04993859 -0.05438057 -0.02733655
+v -0.05002129 -0.05437515 -0.02733655
+v -0.05002129 -0.05540003 -0.03397635
+v -0.03345694 -0.05563321 -0.03168655
+v -0.02450587 -0.05470594 -0.02733655
+v -0.05002129 -0.05043279 -0.02733654
+v -0.04953969 -0.05540003 -0.03397635
+v -0.00032337 -0.05565490 -0.03168655
+v -0.01049062 -0.05564948 -0.03168655
+v -0.01968007 -0.05564406 -0.03168655
+v -0.05002129 -0.05525903 -0.03425737
+v -0.01761257 -0.05471136 -0.02733655
+v -0.00032337 -0.05044364 -0.02733654
+v -0.05002129 -0.00025585 -0.03058001
+v -0.00032337 -0.05548680 -0.03300654
+v -0.00032337 -0.05536208 -0.03397635
+v -0.00032337 -0.05471678 -0.02733655
+v -0.00152982 -0.05471678 -0.02733655
+v -0.05002129 -0.05471133 -0.03531938
+v -0.00032337 -0.00025585 -0.03059065
+v -0.00559186 -0.00025585 -0.03058888
+v -0.05002129 -0.00025583 -0.03589806
+v -0.04953969 -0.05471133 -0.03531850
+v -0.00032337 -0.05495535 -0.03470771
+v -0.05002129 -0.05336106 -0.03614116
+v -0.04953969 -0.05336106 -0.03614559
+v -0.00032337 -0.00025583 -0.03589983
+v -0.04724354 -0.00025583 -0.03590072
+v -0.04953969 -0.05106723 -0.03639025
+v -0.05002129 -0.05106723 -0.03638493
+v -0.00032337 -0.05465168 -0.03524492
+v -0.04724354 -0.05106723 -0.03639202
+v -0.00032337 -0.05106723 -0.03636011
+v -0.00032337 -0.05203790 -0.03622271
+v -0.00032337 -0.05336106 -0.03603389
+v -0.00032337 -0.05390876 -0.03569969
+v -0.04264639 -0.00025583 -0.03590161
+v -0.04524901 -0.00025583 -0.03590161
+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 12
+f 1 12 16
+f 1 16 24
+f 1 24 32
+f 1 32 40
+f 1 40 35
+f 1 35 29
+f 1 29 21
+f 1 21 13
+f 1 13 2
+f 2 13 3
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 22
+f 4 22 28
+f 4 28 27
+f 4 27 23
+f 4 23 16
+f 4 16 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 13 21 17
+f 14 20 15
+f 15 20 22
+f 16 23 24
+f 17 25 18
+f 17 21 26
+f 17 26 25
+f 18 25 26
+f 18 26 34
+f 18 34 41
+f 18 41 46
+f 18 46 45
+f 18 45 44
+f 18 44 43
+f 18 43 37
+f 18 37 30
+f 18 30 23
+f 18 23 27
+f 18 27 28
+f 18 28 22
+f 18 22 19
+f 19 22 20
+f 21 29 26
+f 23 30 31
+f 23 31 24
+f 24 31 30
+f 24 30 37
+f 24 37 47
+f 24 47 48
+f 24 48 38
+f 24 38 32
+f 26 29 33
+f 26 33 34
+f 29 35 36
+f 29 36 33
+f 32 38 39
+f 32 39 40
+f 33 36 41
+f 33 41 34
+f 35 40 39
+f 35 39 36
+f 36 39 42
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 46
+f 36 46 41
+f 37 43 42
+f 37 42 47
+f 38 48 42
+f 38 42 39
+f 42 48 47
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_25.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.05364141 0.05033948 0.03082525
+v -0.04264672 0.04903845 0.04163698
+v -0.04494661 0.04919612 0.04163698
+v -0.05364141 0.05015106 0.03521883
+v -0.05364141 0.05550705 0.03082527
+v -0.02592425 0.04944116 0.03082525
+v -0.02197406 0.04860588 0.03705409
+v -0.05364141 0.04960440 0.05309026
+v -0.01967856 0.04848459 0.03934422
+v -0.05364141 0.05666159 0.05309029
+v -0.05183749 0.05670687 0.05309029
+v -0.04954199 0.05671496 0.05309029
+v -0.04724210 0.05671900 0.05309029
+v -0.04494661 0.05672142 0.05309029
+v -0.03805572 0.05672870 0.05309029
+v -0.03346033 0.05673356 0.05309029
+v -0.03116483 0.05673517 0.05309029
+v -0.02886934 0.05673598 0.05309029
+v -0.01048779 0.05673598 0.05309029
+v -0.00880237 0.05673517 0.05309029
+v -0.00880237 0.05445348 0.03082527
+v -0.02427395 0.04939507 0.03082525
+v -0.01967417 0.04861234 0.03688844
+v -0.01737867 0.04847651 0.03934422
+v -0.05364141 0.05006447 0.05548030
+v -0.01737867 0.04864791 0.04095599
+v -0.01508317 0.04868915 0.04095336
+v -0.00880237 0.05098463 0.05479143
+v -0.05364141 0.05657831 0.05488611
+v -0.05183749 0.05659852 0.05538042
+v -0.04954199 0.05660095 0.05538042
+v -0.04724210 0.05660337 0.05538042
+v -0.04494661 0.05660499 0.05538042
+v -0.03346033 0.05661308 0.05538042
+v -0.03116483 0.05661389 0.05538042
+v -0.02656945 0.05661470 0.05538042
+v -0.01967856 0.05661550 0.05538042
+v -0.01048779 0.05661631 0.05538042
+v -0.00880237 0.05661631 0.05538042
+v -0.00880237 0.05670364 0.05370292
+v -0.00880237 0.05029824 0.03082525
+v -0.02197406 0.04939831 0.03082525
+v -0.01967856 0.04947350 0.03082525
+v -0.01737867 0.04863256 0.03747478
+v -0.01572837 0.04871988 0.03789021
+v -0.01500856 0.04866167 0.03933633
+v -0.01368744 0.04875788 0.04009620
+v -0.01368744 0.04875788 0.04073776
+v -0.05364141 0.05007660 0.05551711
+v -0.00880237 0.05118030 0.05563018
+v -0.00880237 0.05125226 0.05593782
+v -0.01048779 0.04946780 0.04163698
+v -0.00880237 0.05004592 0.04331448
+v -0.05364141 0.05655486 0.05538042
+v -0.05183749 0.05597673 0.05686072
+v -0.05364141 0.05608750 0.05651628
+v -0.00880237 0.05598157 0.05686335
+v -0.00880237 0.05644651 0.05577744
+v -0.00983820 0.05018342 0.03082525
+v -0.00880237 0.04996750 0.04163698
+v -0.01737867 0.04958993 0.03082525
+v -0.01508317 0.04971931 0.03082525
+v -0.01278768 0.04989315 0.03082525
+v -0.01048779 0.05011470 0.03082525
+v -0.05364141 0.05080107 0.05651626
+v -0.00880237 0.05209317 0.05697113
+v -0.05364141 0.05595328 0.05683443
+v -0.05183749 0.05454232 0.05764688
+v -0.04954199 0.05454232 0.05768631
+v -0.02197406 0.05597915 0.05686335
+v -0.00880237 0.05559670 0.05708420
+v -0.05364141 0.05213198 0.05731294
+v -0.00880237 0.05239961 0.05734712
+v -0.05364141 0.05454232 0.05759955
+v -0.05364141 0.05248613 0.05736816
+v -0.00880237 0.05454232 0.05768368
+v -0.00880237 0.05396985 0.05759429
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 25
+f 1 25 49
+f 1 49 65
+f 1 65 72
+f 1 72 75
+f 1 75 74
+f 1 74 67
+f 1 67 56
+f 1 56 54
+f 1 54 29
+f 1 29 10
+f 1 10 5
+f 1 5 21
+f 1 21 41
+f 1 41 59
+f 1 59 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 43
+f 1 43 42
+f 1 42 22
+f 1 22 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 8
+f 3 8 4
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 6 22 7
+f 7 22 23
+f 7 23 24
+f 7 24 9
+f 8 9 24
+f 8 24 26
+f 8 26 27
+f 8 27 28
+f 8 28 25
+f 10 29 11
+f 11 29 30
+f 11 30 12
+f 12 30 13
+f 13 30 31
+f 13 31 14
+f 14 31 15
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 19 39 40
+f 19 40 20
+f 20 40 39
+f 20 39 58
+f 20 58 57
+f 20 57 71
+f 20 71 76
+f 20 76 77
+f 20 77 73
+f 20 73 66
+f 20 66 51
+f 20 51 50
+f 20 50 28
+f 20 28 53
+f 20 53 60
+f 20 60 41
+f 20 41 21
+f 22 42 23
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 48
+f 24 48 27
+f 24 27 26
+f 25 28 50
+f 25 50 51
+f 25 51 49
+f 27 48 28
+f 28 48 52
+f 28 52 53
+f 29 54 30
+f 30 55 31
+f 30 54 56
+f 30 56 55
+f 31 55 32
+f 32 55 33
+f 33 55 34
+f 34 55 35
+f 35 55 36
+f 36 55 57
+f 36 57 37
+f 37 57 58
+f 37 58 38
+f 38 58 39
+f 41 52 47
+f 41 47 46
+f 41 46 45
+f 41 45 59
+f 41 60 52
+f 43 61 44
+f 44 61 62
+f 44 62 63
+f 44 63 45
+f 45 63 64
+f 45 64 59
+f 47 52 48
+f 49 51 65
+f 51 66 65
+f 52 60 53
+f 55 56 67
+f 55 67 68
+f 55 68 69
+f 55 69 70
+f 55 70 57
+f 57 70 69
+f 57 69 71
+f 65 66 73
+f 65 73 72
+f 67 74 68
+f 68 74 75
+f 68 75 69
+f 69 75 76
+f 69 76 71
+f 72 73 77
+f 72 77 76
+f 72 76 75
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_26.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00879679 0.05029786 0.03082525
+v 0.01249389 0.04972788 0.03934427
+v 0.01019280 0.04972718 0.03934427
+v -0.00879679 0.04996726 0.04163705
+v -0.00879679 0.05445315 0.03082527
+v 0.03610800 0.05084833 0.03082526
+v 0.01249389 0.04988654 0.04163705
+v 0.01478940 0.04978216 0.03934427
+v 0.04825575 0.05086981 0.05309040
+v 0.04825575 0.05097907 0.05479684
+v -0.00879679 0.05004589 0.04331456
+v -0.00879679 0.05673565 0.05309042
+v -0.00653479 0.05472038 0.03082527
+v 0.03776121 0.05089704 0.03082526
+v -0.00879679 0.05098464 0.05479158
+v 0.03840909 0.05091653 0.03082526
+v 0.04005671 0.05098820 0.03082526
+v 0.04054262 0.05100978 0.03082526
+v 0.04172110 0.05106963 0.03082526
+v 0.04825575 0.05143011 0.03082526
+v 0.04825575 0.05125533 0.05594059
+v 0.04694881 0.05125464 0.05594059
+v 0.03086352 0.05124907 0.05594848
+v 0.02627251 0.05124907 0.05594848
+v 0.01608516 0.05648521 0.03082528
+v 0.00392065 0.05566195 0.03082527
+v 0.00035731 0.05540168 0.03082527
+v -0.00194378 0.05520891 0.03082527
+v -0.00423929 0.05497856 0.03082527
+v -0.00879679 0.05661665 0.05538057
+v -0.00588691 0.05661734 0.05538057
+v -0.00818800 0.05673565 0.05309042
+v 0.02166474 0.05683595 0.03082528
+v -0.00359141 0.05125047 0.05593797
+v -0.00879679 0.05125186 0.05593797
+v 0.04825575 0.05539611 0.03082527
+v 0.04825575 0.05190741 0.05673728
+v 0.03086352 0.05239733 0.05734466
+v 0.02856801 0.05239663 0.05734466
+v 0.00560179 0.05239802 0.05734729
+v 0.04694881 0.05240220 0.05734203
+v 0.00100519 0.05239802 0.05734729
+v -0.00588691 0.05239872 0.05734729
+v -0.00818800 0.05239941 0.05734729
+v -0.00879679 0.05209321 0.05697129
+v -0.00879679 0.05644685 0.05577760
+v -0.00588691 0.05598197 0.05686614
+v 0.03546012 0.05661247 0.05538057
+v 0.03086352 0.05673426 0.05309042
+v 0.04694881 0.05673078 0.05309042
+v 0.04825575 0.05672869 0.05309042
+v 0.02368657 0.05683247 0.03082528
+v 0.02397142 0.05682412 0.03082528
+v 0.04825575 0.05240359 0.05734203
+v -0.00588691 0.05454282 0.05768648
+v -0.00879679 0.05240011 0.05734729
+v -0.00879679 0.05598127 0.05686351
+v -0.00879679 0.05559713 0.05708436
+v 0.01708490 0.05597988 0.05686351
+v 0.03776121 0.05661178 0.05538057
+v 0.04235222 0.05660830 0.05538057
+v 0.04465331 0.05660551 0.05538057
+v 0.04694881 0.05660203 0.05538057
+v 0.04825575 0.05667302 0.05407905
+v 0.04825575 0.05454282 0.05766281
+v 0.04694881 0.05454282 0.05766544
+v 0.04465331 0.05454282 0.05766807
+v 0.04235222 0.05454282 0.05767070
+v 0.01708490 0.05454282 0.05768122
+v -0.00879679 0.05454282 0.05768385
+v -0.00879679 0.05397009 0.05759445
+v 0.02397142 0.05597849 0.05686088
+v 0.03776121 0.05597501 0.05685562
+v 0.04005671 0.05597362 0.05685562
+v 0.04235222 0.05597292 0.05685299
+v 0.04465331 0.05597083 0.05685299
+v 0.04694881 0.05596805 0.05685036
+v 0.04825575 0.05632505 0.05601687
+v 0.04825575 0.05659925 0.05538057
+v 0.04825575 0.05596666 0.05684773
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 15
+f 1 15 35
+f 1 35 45
+f 1 45 56
+f 1 56 71
+f 1 71 70
+f 1 70 58
+f 1 58 57
+f 1 57 46
+f 1 46 30
+f 1 30 12
+f 1 12 5
+f 1 5 13
+f 1 13 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 33
+f 1 33 52
+f 1 52 53
+f 1 53 36
+f 1 36 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 14
+f 1 14 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 7 11
+f 3 11 4
+f 5 12 13
+f 6 14 8
+f 7 15 11
+f 7 10 15
+f 8 14 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 36
+f 9 36 51
+f 9 51 64
+f 9 64 79
+f 9 79 78
+f 9 78 80
+f 9 80 65
+f 9 65 54
+f 9 54 37
+f 9 37 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 15
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 12 30 31
+f 12 31 32
+f 12 32 33
+f 12 33 25
+f 15 34 35
+f 15 24 34
+f 21 37 23
+f 21 23 22
+f 23 38 39
+f 23 39 40
+f 23 40 42
+f 23 42 24
+f 23 37 41
+f 23 41 38
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 35
+f 24 35 34
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 49 33
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 36 53 51
+f 37 54 41
+f 38 41 54
+f 38 54 55
+f 38 55 40
+f 38 40 39
+f 40 55 42
+f 42 55 43
+f 43 55 44
+f 44 55 56
+f 44 56 45
+f 46 57 47
+f 47 57 58
+f 47 58 55
+f 47 55 59
+f 47 59 48
+f 48 60 50
+f 48 50 49
+f 48 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 51 53 52
+f 51 63 64
+f 54 65 66
+f 54 66 67
+f 54 67 68
+f 54 68 69
+f 54 69 55
+f 55 69 59
+f 55 58 70
+f 55 70 71
+f 55 71 56
+f 59 69 68
+f 59 68 72
+f 59 72 60
+f 60 72 73
+f 60 73 74
+f 60 74 61
+f 61 74 75
+f 61 75 76
+f 61 76 62
+f 62 76 63
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 63 79 64
+f 65 80 77
+f 65 77 66
+f 66 77 76
+f 66 76 67
+f 67 76 68
+f 68 76 74
+f 68 74 72
+f 72 74 73
+f 74 76 75
+f 77 80 78
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_27.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.01926069 0.05556512 0.01358632
+v 0.01924726 0.05697206 0.01368083
+v 0.01969702 0.05697206 0.01358633
+v 0.03107845 0.05556512 0.01358632
+v 0.00789603 0.05556511 0.01603312
+v 0.00772486 0.05697205 0.01643812
+v 0.02895723 0.05697206 0.01358633
+v 0.03254854 0.05556512 0.01430011
+v 0.00568083 0.05556511 0.01663722
+v 0.00568083 0.05697205 0.01719240
+v 0.03066898 0.05697206 0.01463930
+v 0.03185378 0.05697205 0.01592176
+v 0.03235052 0.05697205 0.01685492
+v 0.03338428 0.05556511 0.01643136
+v 0.00333809 0.05556510 0.01872460
+v 0.00014283 0.05697204 0.02040362
+v 0.03279020 0.05697204 0.01853730
+v 0.03378704 0.05556510 0.01869760
+v 0.00113631 0.05556509 0.02113427
+v -0.00035727 0.05697203 0.02106003
+v 0.03300501 0.05697203 0.02082210
+v 0.03301843 0.05697203 0.02101447
+v 0.03393137 0.05556509 0.02101446
+v 0.00058587 0.05556508 0.02332626
+v 0.00038113 0.05556508 0.02559588
+v 0.00095507 0.05556507 0.02800555
+v 0.00189150 0.05697202 0.02503565
+v 0.03285061 0.05697202 0.02330434
+v 0.03381389 0.05556509 0.02294490
+v 0.00179752 0.05556506 0.02948544
+v 0.00264668 0.05556506 0.03082527
+v 0.00293868 0.05697202 0.02584732
+v 0.03353867 0.05556508 0.02511327
+v 0.03378704 0.05556508 0.02330433
+v 0.03240086 0.05697202 0.02528202
+v 0.00279771 0.05557704 0.03082527
+v 0.01528340 0.05697200 0.02979088
+v 0.01366227 0.05697200 0.02942301
+v 0.00957086 0.05697201 0.02832786
+v 0.00488873 0.05697201 0.02665560
+v 0.00326425 0.05697201 0.02604137
+v 0.02892031 0.05556506 0.03082527
+v 0.03343127 0.05556508 0.02555538
+v 0.03226996 0.05697202 0.02556214
+v 0.03292781 0.05556507 0.02721920
+v 0.00391539 0.05566216 0.03082527
+v 0.01696158 0.05697200 0.03012668
+v 0.03083008 0.05556506 0.02981787
+v 0.02855111 0.05576009 0.03082527
+v 0.03104825 0.05697201 0.02739639
+v 0.03075624 0.05697201 0.02776088
+v 0.01608557 0.05648525 0.03082528
+v 0.01937816 0.05697200 0.03037474
+v 0.03043739 0.05697201 0.02804268
+v 0.02859810 0.05697200 0.02954114
+v 0.02835308 0.05697200 0.02969132
+v 0.02627549 0.05653745 0.03082528
+v 0.02166720 0.05683592 0.03082528
+v 0.02167727 0.05697200 0.03057892
+v 0.02657085 0.05697200 0.03025324
+v 0.02627549 0.05697200 0.03034436
+v 0.02397638 0.05682421 0.03082528
+v 0.02368774 0.05683303 0.03082528
+v 0.02397638 0.05697200 0.03057217
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 23
+f 1 23 29
+f 1 29 34
+f 1 34 33
+f 1 33 43
+f 1 43 45
+f 1 45 48
+f 1 48 42
+f 1 42 31
+f 1 31 30
+f 1 30 26
+f 1 26 25
+f 1 25 24
+f 1 24 19
+f 1 19 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 16
+f 2 16 20
+f 2 20 27
+f 2 27 32
+f 2 32 41
+f 2 41 40
+f 2 40 39
+f 2 39 38
+f 2 38 37
+f 2 37 47
+f 2 47 53
+f 2 53 59
+f 2 59 64
+f 2 64 61
+f 2 61 60
+f 2 60 56
+f 2 56 55
+f 2 55 54
+f 2 54 51
+f 2 51 50
+f 2 50 44
+f 2 44 35
+f 2 35 28
+f 2 28 22
+f 2 22 21
+f 2 21 17
+f 2 17 13
+f 2 13 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 12 13
+f 8 13 14
+f 8 11 12
+f 9 15 16
+f 9 16 10
+f 13 17 14
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 22 28 29
+f 22 29 23
+f 26 30 27
+f 27 31 32
+f 27 30 31
+f 28 33 34
+f 28 34 29
+f 28 35 33
+f 31 36 37
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 31 42 49
+f 31 49 57
+f 31 57 62
+f 31 62 63
+f 31 63 58
+f 31 58 52
+f 31 52 46
+f 31 46 36
+f 33 35 43
+f 35 44 45
+f 35 45 43
+f 36 46 47
+f 36 47 37
+f 42 48 49
+f 44 50 45
+f 45 50 51
+f 45 51 48
+f 46 52 47
+f 47 52 53
+f 48 51 54
+f 48 54 55
+f 48 55 56
+f 48 56 49
+f 49 56 57
+f 52 58 53
+f 53 58 59
+f 56 60 57
+f 57 60 61
+f 57 61 62
+f 58 63 59
+f 59 63 64
+f 61 64 62
+f 62 64 63
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_28.obj

@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00012428 0.05155388 -0.02820840
+v -0.00012428 0.05130131 -0.02017348
+v -0.00012428 0.05600888 -0.02820838
+v 0.04922688 0.05158804 -0.02820840
+v -0.00011434 0.05032352 0.01184349
+v -0.00012428 0.05124028 -0.01793564
+v 0.00100932 0.05601840 -0.02820838
+v -0.00012428 0.05544325 -0.00759332
+v -0.00011434 0.05541804 -0.00189851
+v 0.01928108 0.05559100 0.01358632
+v 0.04922688 0.05586553 -0.02820838
+v 0.05066874 0.05147654 -0.00758924
+v 0.02856363 0.05053741 0.01358631
+v 0.02801175 0.05052118 0.01358631
+v 0.02626661 0.05047414 0.01358631
+v 0.02571473 0.05046798 0.01358631
+v -0.00011434 0.05032687 0.01358630
+v -0.00012428 0.05121282 -0.01481822
+v -0.00012428 0.05121283 -0.01564462
+v 0.00330137 0.05603464 -0.02820838
+v -0.00012428 0.05130575 -0.00759333
+v -0.00011434 0.05443022 0.01358632
+v -0.00011434 0.05517388 0.00268353
+v -0.00011434 0.05532564 0.00039251
+v -0.00011434 0.05537379 -0.00077345
+v 0.00560336 0.05604360 -0.02820838
+v 0.00560833 0.05488210 0.01358632
+v 0.03102473 0.05559100 0.01358632
+v 0.04824742 0.05594672 -0.02820838
+v 0.05066874 0.05550421 0.01358632
+v 0.05066874 0.05550870 0.01184351
+v 0.05066874 0.05551038 0.00955249
+v 0.05066874 0.05550815 0.00726148
+v 0.05066874 0.05548749 -0.00758923
+v 0.05066874 0.05145969 0.00497045
+v 0.05066874 0.05144846 0.01358631
+v -0.00012428 0.05130519 -0.00760970
+v -0.00012428 0.05126265 -0.00981071
+v -0.00012428 0.05122514 -0.01246584
+v -0.00012428 0.05121786 -0.01335360
+v 0.00101429 0.05454333 0.01358632
+v 0.00331131 0.05473651 0.01358632
+v 0.00790038 0.05604360 -0.02820838
+v 0.04924180 0.05556356 0.01358632
+v 0.02856860 0.05602400 -0.02820838
+v 0.02738032 0.05602568 -0.02820838
+v 0.04703925 0.05595960 -0.02820838
+v 0.04116245 0.05598928 -0.02820838
+v 0.03886543 0.05599656 -0.02820838
+v 0.03197436 0.05601672 -0.02820838
+v 0.02967237 0.05602232 -0.02820838
+f 1 2 6
+f 1 6 19
+f 1 19 18
+f 1 18 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 21
+f 1 21 8
+f 1 8 3
+f 1 3 7
+f 1 7 20
+f 1 20 26
+f 1 26 43
+f 1 43 46
+f 1 46 45
+f 1 45 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 29
+f 1 29 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 8 9
+f 3 9 10
+f 3 10 7
+f 4 11 34
+f 4 34 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 16 17
+f 7 10 20
+f 8 21 17
+f 8 17 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 25 10
+f 10 26 20
+f 10 25 24
+f 10 24 27
+f 10 27 42
+f 10 42 41
+f 10 41 22
+f 10 22 17
+f 10 17 16
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 10 13 36
+f 10 36 30
+f 10 30 44
+f 10 44 28
+f 10 28 43
+f 10 43 26
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 34
+f 12 34 33
+f 12 33 32
+f 12 32 31
+f 12 31 30
+f 12 30 36
+f 12 36 35
+f 12 35 13
+f 13 35 36
+f 17 21 37
+f 17 37 38
+f 17 38 39
+f 17 39 40
+f 17 40 18
+f 22 41 23
+f 23 41 42
+f 23 42 24
+f 24 42 27
+f 28 44 45
+f 28 45 46
+f 28 46 43
+f 29 47 44
+f 29 44 30
+f 44 47 48
+f 44 48 49
+f 44 49 50
+f 44 50 51
+f 44 51 45
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_29.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02182684 -0.05423824 0.01358592
+v -0.00838283 -0.06484365 0.01358588
+v -0.02411218 -0.05423823 0.01196774
+v -0.03158839 -0.05423824 0.01358592
+v -0.00980038 -0.06553011 0.01358588
+v -0.02656790 -0.05423823 0.01147356
+v -0.02622488 -0.05423823 0.01152753
+v -0.03052978 -0.05423823 0.01216211
+v -0.02928033 -0.05710128 0.01358591
+v -0.01243329 -0.06519517 0.01358588
+v -0.01278541 -0.06484365 0.01350545
+v -0.02854657 -0.05423823 0.01162967
+v -0.02885552 -0.05423823 0.01169832
+v -0.02547748 -0.05913967 0.01297779
+v -0.02700862 -0.05860797 0.01324453
+v -0.02791958 -0.05836920 0.01358591
+v -0.02863517 -0.05771368 0.01358591
+v -0.01377815 -0.06484365 0.01358588
+v -0.02371009 -0.06097136 0.01358590
+v -0.02424621 -0.06068063 0.01358590
+v -0.02600225 -0.05969460 0.01358590
+v -0.01967779 -0.06254769 0.01350835
+v -0.01938701 -0.06283841 0.01358589
+v -0.02678826 -0.05922590 0.01358590
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 12
+f 1 12 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 16
+f 1 16 24
+f 1 24 21
+f 1 21 20
+f 1 20 19
+f 1 19 23
+f 1 23 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 18 11
+f 11 18 12
+f 12 14 13
+f 12 18 14
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 14 18 22
+f 14 22 23
+f 14 23 19
+f 15 21 24
+f 15 24 16
+f 18 23 22
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_3.obj

@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
+v -0.02424166 0.05536383 0.01183662
+v -0.02206731 0.05536383 0.01218091
+v -0.02656608 0.05536383 0.01191635
+v -0.00589216 0.06372471 0.01366322
+v -0.00359647 0.06372471 0.01362517
+v -0.00131037 0.06372471 0.01361429
+v -0.00131037 0.06144528 0.01404376
+v -0.01885846 0.05536382 0.01358708
+v -0.00131037 0.06143256 0.01404738
+v -0.00131037 0.05994050 0.01493710
+v -0.01529839 0.05556607 0.01453842
+v -0.02883941 0.05536382 0.01235668
+v -0.01738015 0.06316630 0.01475409
+v -0.01278559 0.06372471 0.01424490
+v -0.01048672 0.06372471 0.01394047
+v -0.00819103 0.06372471 0.01375745
+v -0.00359647 0.06589857 0.01453121
+v -0.00131037 0.06597870 0.01450584
+v -0.01981313 0.05556601 0.02970550
+v -0.02115414 0.05556601 0.02997369
+v -0.02197152 0.05556601 0.03009509
+v -0.02344344 0.05556601 0.03026181
+v -0.02427040 0.05556601 0.03032704
+v -0.02576467 0.05556601 0.03034878
+v -0.03041989 0.05536382 0.01358708
+v -0.01283029 0.05556606 0.01649728
+v -0.01203207 0.05556605 0.01872432
+v -0.01161061 0.05556604 0.02101478
+v -0.01194587 0.05556603 0.02330343
+v -0.01278559 0.05556603 0.02559571
+v -0.01516110 0.05556602 0.02767416
+v -0.00131037 0.05900302 0.01643206
+v -0.00131037 0.05820292 0.01819339
+v -0.00131037 0.05771956 0.01934225
+v -0.03118299 0.05556607 0.01423037
+v -0.02995054 0.05793835 0.01535568
+v -0.02841476 0.05842554 0.01485011
+v -0.02557948 0.06036406 0.01519260
+v -0.02427040 0.06066173 0.01490811
+v -0.02197152 0.06117053 0.01454025
+v -0.01927034 0.06284193 0.01502046
+v -0.01398931 0.06488986 0.01526692
+v -0.01278559 0.06504377 0.01510745
+v -0.01488651 0.06380739 0.01467979
+v -0.01048672 0.06531853 0.01485920
+v -0.00819103 0.06555131 0.01469068
+v -0.00589216 0.06574720 0.01458739
+v -0.00131037 0.06712732 0.01535572
+v -0.00131037 0.05983996 0.02724653
+v -0.00131037 0.06143378 0.02836459
+v -0.00131037 0.06371320 0.02889553
+v -0.00131037 0.06372338 0.02889734
+v -0.02659801 0.05556601 0.03027630
+v -0.01048672 0.06275411 0.02908399
+v -0.01278559 0.06265871 0.02906224
+v -0.01400208 0.06258875 0.02903687
+v -0.02836368 0.05556601 0.02993926
+v -0.02876598 0.05556601 0.02976530
+v -0.03003036 0.05556601 0.02908577
+v -0.03226219 0.05556602 0.02749295
+v -0.03315300 0.05556603 0.02559390
+v -0.03376923 0.05556603 0.02330343
+v -0.03392887 0.05556604 0.02101478
+v -0.03381712 0.05556605 0.01932593
+v -0.03376284 0.05556605 0.01872432
+v -0.03329349 0.05556606 0.01700466
+v -0.03312107 0.05556606 0.01651902
+v -0.03243460 0.05556606 0.01550607
+v -0.03205146 0.05556606 0.01507298
+v -0.03135860 0.05556607 0.01439527
+v -0.00131037 0.05729978 0.02100392
+v -0.00131037 0.05729851 0.02101479
+v -0.00131037 0.05756818 0.02293559
+v -0.00131037 0.05884017 0.02559211
+v -0.00131037 0.05983233 0.02723566
+v -0.03224942 0.05565383 0.01536473
+v -0.03138095 0.05707212 0.01612400
+v -0.03051568 0.05834412 0.01688326
+v -0.02886815 0.05914930 0.01641213
+v -0.02711207 0.05995575 0.01594099
+v -0.02406286 0.06176454 0.01663684
+v -0.02197152 0.06231532 0.01583771
+v -0.02080293 0.06257099 0.01529771
+v -0.02643198 0.06061974 0.01659696
+v -0.01552509 0.06462782 0.01576705
+v -0.01488651 0.06516843 0.01649188
+v -0.01278559 0.06573829 0.01643208
+v -0.01048672 0.06629542 0.01643208
+v -0.00589216 0.06689454 0.01580149
+v -0.00359647 0.06704718 0.01550068
+v -0.00131037 0.06762721 0.01650095
+v -0.00359647 0.06755344 0.01664592
+v -0.00589216 0.06383023 0.02886654
+v -0.00131037 0.06600664 0.02801306
+v -0.02598178 0.05827411 0.02919994
+v -0.02124674 0.06041744 0.02910572
+v -0.02427040 0.05866716 0.02933767
+v -0.00819103 0.06391418 0.02878318
+v -0.01048672 0.06390146 0.02863459
+v -0.01278559 0.06380607 0.02839177
+v -0.01552828 0.06230891 0.02895714
+v -0.02751437 0.05784926 0.02894625
+v -0.03166193 0.05727434 0.02559391
+v -0.03013253 0.05808205 0.02685874
+v -0.03210893 0.05778822 0.02330344
+v -0.03223664 0.05791798 0.02101479
+v -0.03207700 0.05776662 0.01872433
+v -0.03092756 0.05863031 0.01872434
+v -0.02779534 0.06032972 0.01746857
+v -0.02315608 0.06259262 0.01753744
+v -0.01989296 0.06331385 0.01621100
+v -0.01736419 0.06434417 0.01649188
+v -0.02197152 0.06284193 0.01698294
+v -0.01658832 0.06498780 0.01729463
+v -0.00919041 0.06714002 0.01779840
+v -0.00765782 0.06728631 0.01728739
+v -0.00833152 0.06677624 0.01648645
+v -0.00589216 0.06742242 0.01694853
+v -0.00131037 0.06763103 0.01651363
+v -0.00359647 0.06807240 0.01872437
+v -0.00131037 0.06821359 0.01872437
+v -0.00131037 0.06602063 0.02800581
+v -0.02277932 0.06013760 0.02895169
+v -0.02427040 0.05981578 0.02864183
+v -0.01738015 0.06204179 0.02879586
+v -0.00359647 0.06602063 0.02789346
+v -0.00819103 0.06580693 0.02763796
+v -0.01048672 0.06556398 0.02748756
+v -0.01278559 0.06528541 0.02724474
+v -0.02668422 0.05918742 0.02800398
+v -0.02886496 0.05849545 0.02733894
+v -0.03051568 0.05835936 0.02559391
+v -0.02585726 0.06051794 0.02706351
+v -0.02738985 0.06010072 0.02626076
+v -0.02873405 0.05955377 0.02553774
+v -0.03095949 0.05867481 0.02330345
+v -0.03108401 0.05874987 0.02101480
+v -0.02935028 0.05989722 0.02101480
+v -0.02915870 0.05977766 0.01872434
+v -0.02800607 0.06044801 0.01872434
+v -0.02656608 0.06118704 0.01872434
+v -0.02452264 0.06216903 0.01872435
+v -0.02337639 0.06269055 0.01872435
+v -0.02197152 0.06327949 0.01872435
+v -0.01967584 0.06418516 0.01872436
+v -0.01508128 0.06573955 0.01872436
+v -0.01278559 0.06640353 0.01872436
+v -0.01813687 0.06474484 0.01872436
+v -0.01699701 0.06512644 0.01872436
+v -0.01044202 0.06696830 0.01862652
+v -0.00964060 0.06723797 0.01932598
+v -0.00833152 0.06740842 0.01862652
+v -0.00589216 0.06781673 0.01872437
+v -0.00359647 0.06822122 0.02101483
+v -0.00131037 0.06821487 0.01873705
+v -0.00589216 0.06797318 0.02101483
+v -0.00131037 0.06733207 0.02697113
+v -0.01967584 0.06177213 0.02843707
+v -0.01738015 0.06343464 0.02765063
+v -0.01967584 0.06301870 0.02729184
+v -0.02118607 0.06272741 0.02694936
+v -0.02427040 0.06090336 0.02749660
+v -0.00359647 0.06726592 0.02687146
+v -0.00581872 0.06621016 0.02755098
+v -0.00500454 0.06719978 0.02678267
+v -0.00653712 0.06710056 0.02656160
+v -0.01451933 0.06505136 0.02697836
+v -0.02788155 0.06038057 0.02473318
+v -0.02271546 0.06240432 0.02624265
+v -0.02414907 0.06199602 0.02552507
+v -0.02660120 0.06078252 0.02553774
+v -0.02924172 0.05982216 0.02330345
+v -0.02809228 0.06049505 0.02330345
+v -0.02819765 0.06055230 0.02101480
+v -0.02656608 0.06139691 0.02101481
+v -0.02474614 0.06227332 0.02101481
+v -0.02359989 0.06279103 0.02101481
+v -0.02197152 0.06347282 0.02101481
+v -0.01967584 0.06436323 0.02101482
+v -0.01839549 0.06483005 0.02101482
+v -0.01508128 0.06591889 0.02101482
+v -0.01278559 0.06656889 0.02101482
+v -0.01725563 0.06522056 0.02101482
+v -0.01098481 0.06701918 0.02101483
+v -0.00983856 0.06728248 0.02101483
+v -0.00819103 0.06760938 0.02101483
+v -0.00359647 0.06817415 0.02330348
+v -0.00131037 0.06831407 0.02330348
+v -0.00131037 0.06835860 0.02102933
+v -0.00131037 0.06835860 0.02101483
+v -0.00589216 0.06792611 0.02330348
+v -0.00131037 0.06733970 0.02696388
+v -0.01604872 0.06481222 0.02657427
+v -0.01967584 0.06383533 0.02559393
+v -0.00131037 0.06788031 0.02559395
+v -0.00359647 0.06773785 0.02559395
+v -0.00581872 0.06746564 0.02571536
+v -0.00819103 0.06733080 0.02497603
+v -0.00819103 0.06695555 0.02612126
+v -0.01278559 0.06607279 0.02559394
+v -0.02330934 0.06266128 0.02471507
+v -0.02656608 0.06130023 0.02330346
+v -0.02195875 0.06295638 0.02552507
+v -0.02466312 0.06223388 0.02330346
+v -0.02351369 0.06275159 0.02330346
+v -0.02197152 0.06339649 0.02330346
+v -0.01967584 0.06429453 0.02330347
+v -0.01830928 0.06479697 0.02330347
+v -0.01716304 0.06519256 0.02330347
+v -0.01508128 0.06586419 0.02330347
+v -0.01278559 0.06651927 0.02330347
+v -0.01087625 0.06699627 0.02330348
+v -0.00973001 0.06725576 0.02330348
+v -0.00819103 0.06755976 0.02330348
+v -0.00949054 0.06720361 0.02456650
+v -0.01520261 0.06534521 0.02572441
+v -0.01677351 0.06506028 0.02504850
+v -0.01747913 0.06459472 0.02572441
+v -0.01034942 0.06672024 0.02543448
+f 1 2 8
+f 1 8 25
+f 1 25 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 18 6
+f 6 18 48
+f 6 48 91
+f 6 91 119
+f 6 119 121
+f 6 121 155
+f 6 155 190
+f 6 190 189
+f 6 189 188
+f 6 188 195
+f 6 195 192
+f 6 192 157
+f 6 157 122
+f 6 122 94
+f 6 94 52
+f 6 52 51
+f 6 51 50
+f 6 50 49
+f 6 49 75
+f 6 75 74
+f 6 74 73
+f 6 73 72
+f 6 72 71
+f 6 71 34
+f 6 34 33
+f 6 33 32
+f 6 32 10
+f 6 10 9
+f 6 9 7
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 11 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 19
+f 10 32 11
+f 11 32 33
+f 11 33 34
+f 11 34 26
+f 12 25 35
+f 12 35 36
+f 12 36 37
+f 12 37 38
+f 12 38 39
+f 12 39 40
+f 12 40 13
+f 13 40 41
+f 13 41 42
+f 13 42 43
+f 13 43 44
+f 13 44 14
+f 14 44 45
+f 14 45 15
+f 15 45 46
+f 15 46 47
+f 15 47 16
+f 16 47 17
+f 17 47 48
+f 17 48 18
+f 19 31 49
+f 19 49 50
+f 19 50 20
+f 20 50 51
+f 20 51 21
+f 21 51 52
+f 21 52 22
+f 22 52 23
+f 23 52 24
+f 24 53 25
+f 24 52 54
+f 24 54 55
+f 24 55 56
+f 24 56 53
+f 25 53 57
+f 25 57 58
+f 25 58 59
+f 25 59 60
+f 25 60 61
+f 25 61 62
+f 25 62 63
+f 25 63 64
+f 25 64 65
+f 25 65 66
+f 25 66 67
+f 25 67 68
+f 25 68 69
+f 25 69 70
+f 25 70 35
+f 26 34 71
+f 26 71 72
+f 26 72 27
+f 27 72 28
+f 28 72 29
+f 29 72 30
+f 30 72 73
+f 30 73 31
+f 31 73 74
+f 31 74 75
+f 31 75 49
+f 35 70 36
+f 36 70 69
+f 36 69 76
+f 36 76 77
+f 36 77 78
+f 36 78 79
+f 36 79 80
+f 36 80 38
+f 36 38 37
+f 38 81 82
+f 38 82 83
+f 38 83 39
+f 38 80 84
+f 38 84 81
+f 39 83 40
+f 40 83 41
+f 41 83 42
+f 42 85 86
+f 42 86 87
+f 42 87 88
+f 42 88 89
+f 42 89 43
+f 42 83 85
+f 43 45 44
+f 43 89 45
+f 45 89 90
+f 45 90 46
+f 46 90 47
+f 47 90 48
+f 48 90 92
+f 48 92 91
+f 52 93 54
+f 52 94 93
+f 53 95 57
+f 53 56 96
+f 53 96 97
+f 53 97 95
+f 54 93 55
+f 55 93 98
+f 55 98 56
+f 56 98 99
+f 56 99 100
+f 56 100 101
+f 56 101 96
+f 57 95 102
+f 57 102 58
+f 58 102 59
+f 59 102 60
+f 60 103 61
+f 60 102 104
+f 60 104 103
+f 61 103 105
+f 61 105 62
+f 62 105 106
+f 62 106 63
+f 63 106 64
+f 64 106 65
+f 65 106 107
+f 65 107 66
+f 66 107 67
+f 67 107 78
+f 67 78 77
+f 67 77 68
+f 68 76 69
+f 68 77 76
+f 78 107 108
+f 78 108 109
+f 78 109 79
+f 79 109 80
+f 80 109 84
+f 81 110 82
+f 81 84 110
+f 82 110 83
+f 83 111 112
+f 83 112 85
+f 83 110 113
+f 83 113 111
+f 84 109 110
+f 85 114 86
+f 85 112 114
+f 86 114 87
+f 87 114 115
+f 87 115 88
+f 88 115 116
+f 88 116 117
+f 88 117 89
+f 89 117 116
+f 89 116 118
+f 89 118 90
+f 90 118 92
+f 91 92 119
+f 92 118 120
+f 92 120 121
+f 92 121 119
+f 93 94 98
+f 94 122 98
+f 95 97 123
+f 95 123 124
+f 95 124 102
+f 96 125 123
+f 96 123 97
+f 96 101 125
+f 98 122 126
+f 98 126 99
+f 99 126 127
+f 99 127 100
+f 100 127 128
+f 100 128 129
+f 100 129 125
+f 100 125 101
+f 102 124 130
+f 102 130 131
+f 102 131 104
+f 103 104 132
+f 103 132 105
+f 104 131 133
+f 104 133 134
+f 104 134 135
+f 104 135 132
+f 105 132 136
+f 105 136 106
+f 106 136 137
+f 106 137 108
+f 106 108 107
+f 108 137 138
+f 108 138 139
+f 108 139 109
+f 109 139 140
+f 109 140 141
+f 109 141 110
+f 110 141 142
+f 110 142 143
+f 110 143 144
+f 110 144 145
+f 110 145 114
+f 110 114 113
+f 111 113 114
+f 111 114 112
+f 114 146 147
+f 114 147 115
+f 114 145 148
+f 114 148 149
+f 114 149 146
+f 115 147 150
+f 115 150 151
+f 115 151 152
+f 115 152 153
+f 115 153 116
+f 116 153 118
+f 118 153 120
+f 120 154 155
+f 120 155 121
+f 120 153 156
+f 120 156 154
+f 122 157 126
+f 123 125 158
+f 123 158 159
+f 123 159 160
+f 123 160 161
+f 123 161 124
+f 124 161 162
+f 124 162 133
+f 124 133 130
+f 125 159 158
+f 125 129 159
+f 126 157 163
+f 126 163 164
+f 126 164 127
+f 127 164 165
+f 127 165 128
+f 128 165 166
+f 128 166 129
+f 129 166 167
+f 129 167 159
+f 130 133 131
+f 132 135 168
+f 132 168 136
+f 133 162 161
+f 133 161 169
+f 133 169 134
+f 134 169 170
+f 134 170 171
+f 134 171 168
+f 134 168 135
+f 136 168 172
+f 136 172 137
+f 137 172 138
+f 138 172 173
+f 138 173 174
+f 138 174 140
+f 138 140 139
+f 140 174 175
+f 140 175 141
+f 141 175 176
+f 141 176 142
+f 142 176 143
+f 143 177 144
+f 143 176 177
+f 144 177 178
+f 144 178 145
+f 145 179 180
+f 145 180 148
+f 145 178 179
+f 146 149 181
+f 146 181 147
+f 147 181 182
+f 147 182 151
+f 147 151 150
+f 148 180 183
+f 148 183 149
+f 149 183 181
+f 151 182 184
+f 151 184 185
+f 151 185 186
+f 151 186 152
+f 152 186 153
+f 153 186 156
+f 154 156 191
+f 154 191 187
+f 154 187 188
+f 154 188 189
+f 154 189 190
+f 154 190 155
+f 156 186 191
+f 157 192 163
+f 159 167 160
+f 160 167 193
+f 160 193 161
+f 161 194 169
+f 161 193 194
+f 163 192 195
+f 163 195 196
+f 163 196 165
+f 163 165 164
+f 165 196 197
+f 165 197 166
+f 166 197 198
+f 166 198 199
+f 166 199 167
+f 167 199 200
+f 167 200 193
+f 168 173 172
+f 168 171 201
+f 168 201 202
+f 168 202 173
+f 169 194 203
+f 169 203 201
+f 169 201 170
+f 170 201 171
+f 173 202 174
+f 174 202 175
+f 175 202 204
+f 175 204 176
+f 176 204 177
+f 177 205 178
+f 177 204 205
+f 178 206 207
+f 178 207 179
+f 178 205 206
+f 179 207 208
+f 179 208 180
+f 180 208 209
+f 180 209 183
+f 181 210 211
+f 181 211 182
+f 181 183 210
+f 182 211 184
+f 183 209 210
+f 184 211 212
+f 184 212 185
+f 185 212 213
+f 185 213 186
+f 186 213 214
+f 186 214 191
+f 187 196 195
+f 187 195 188
+f 187 191 196
+f 191 197 196
+f 191 214 215
+f 191 215 198
+f 191 198 197
+f 193 200 216
+f 193 216 217
+f 193 217 218
+f 193 218 194
+f 194 201 203
+f 194 218 217
+f 194 217 201
+f 198 215 199
+f 199 215 219
+f 199 219 200
+f 200 219 215
+f 200 215 217
+f 200 217 216
+f 201 217 207
+f 201 207 206
+f 201 206 205
+f 201 205 204
+f 201 204 202
+f 207 217 208
+f 208 217 209
+f 209 217 210
+f 210 217 211
+f 211 215 212
+f 211 217 215
+f 212 215 213
+f 213 215 214
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_30.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.05467681 -0.04732409 0.01190921
+v -0.05467681 -0.04742155 0.01049732
+v -0.05467681 -0.04732546 0.01289391
+v -0.00032337 -0.04944652 0.01184844
+v -0.00032337 -0.04945193 0.01049731
+v -0.05467681 -0.05421116 0.01049729
+v -0.05467681 -0.04738772 0.01358595
+v -0.00032337 -0.04946142 0.01358594
+v -0.00032337 -0.04945736 0.01316933
+v -0.00032337 -0.05355940 0.01049729
+v -0.05467681 -0.05421183 0.01184842
+v -0.05413413 -0.05422605 0.01049729
+v -0.05467681 -0.05421049 0.01358592
+v -0.00032337 -0.05354858 0.01358592
+v -0.00032337 -0.05355940 0.01052722
+v -0.02182852 -0.05423824 0.01358592
+v -0.02411630 -0.05423823 0.01196784
+v -0.02622851 -0.05423823 0.01152764
+v -0.02656902 -0.05423823 0.01147383
+v -0.05413413 -0.05422605 0.01184842
+v -0.03052741 -0.05423823 0.01216193
+v -0.03158618 -0.05423824 0.01358592
+v -0.02854821 -0.05423823 0.01162983
+v -0.02885680 -0.05423823 0.01169846
+v -0.05413413 -0.05422402 0.01358592
+f 1 2 6
+f 1 6 11
+f 1 11 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 14
+f 4 14 15
+f 4 15 10
+f 4 10 5
+f 6 12 11
+f 7 13 25
+f 7 25 22
+f 7 22 16
+f 7 16 14
+f 7 14 8
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 12
+f 11 12 20
+f 11 20 13
+f 12 21 22
+f 12 22 20
+f 12 19 23
+f 12 23 24
+f 12 24 21
+f 13 20 25
+f 14 16 15
+f 16 22 21
+f 16 21 24
+f 16 24 23
+f 16 23 19
+f 16 19 18
+f 16 18 17
+f 20 22 25
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_31.obj

@@ -0,0 +1,775 @@
+# https://github.com/mikedh/trimesh
+v -0.03098918 -0.05485904 0.01358592
+v -0.03018380 -0.05596610 0.01358591
+v -0.03211120 -0.05485904 0.01419440
+v -0.02194075 -0.05485904 0.01358592
+v -0.02927862 -0.05710133 0.01358591
+v -0.03069663 -0.05756040 0.01473935
+v -0.03222822 -0.05658427 0.01540299
+v -0.03264123 -0.05485904 0.01494999
+v -0.01982062 -0.05485904 0.01457387
+v 0.00098492 -0.06326972 0.01486637
+v 0.00098492 -0.06483253 0.01396535
+v 0.00098492 -0.06484413 0.01395866
+v 0.00098492 -0.06713946 0.01358754
+v -0.00838359 -0.06484413 0.01358588
+v -0.02863500 -0.05771452 0.01358591
+v -0.02899983 -0.05808410 0.01399212
+v -0.02999795 -0.05909173 0.01530435
+v -0.03262058 -0.05726873 0.01693088
+v -0.03342596 -0.05485905 0.01635417
+v -0.03136089 -0.05818023 0.01611679
+v -0.01749398 -0.05485906 0.01873627
+v 0.00098492 -0.06154120 0.01890507
+v 0.00098492 -0.06228862 0.01643104
+v 0.00098492 -0.06940495 0.01449023
+v -0.00129698 -0.06713946 0.01358921
+v -0.00980161 -0.06553024 0.01358588
+v -0.02791911 -0.05836915 0.01358591
+v -0.02846636 -0.05967177 0.01477277
+v -0.03049356 -0.05951434 0.01683224
+v -0.02589535 -0.06170857 0.01497336
+v -0.02742694 -0.06120310 0.01563200
+v -0.02899983 -0.06035955 0.01623212
+v -0.03288560 -0.05766317 0.01872288
+v -0.03368409 -0.05566118 0.01872289
+v -0.03203204 -0.05881000 0.01872287
+v -0.03399041 -0.05485906 0.01872289
+v -0.01706375 -0.05485907 0.02101472
+v 0.00098492 -0.06139371 0.02101469
+v 0.00098492 -0.06941987 0.01449692
+v -0.00129698 -0.06939501 0.01449859
+v -0.00359608 -0.06713946 0.01361095
+v -0.01243457 -0.06519547 0.01358588
+v -0.02678677 -0.05922596 0.01358590
+v -0.02645292 -0.06017227 0.01410913
+v -0.03088593 -0.05983420 0.01872287
+v -0.02800172 -0.06160085 0.01715820
+v -0.02944038 -0.06098270 0.01872287
+v -0.02404367 -0.06250406 0.01473264
+v -0.02312472 -0.06369896 0.01528261
+v -0.02662501 -0.06211958 0.01640930
+v -0.03219036 -0.05898071 0.02101470
+v -0.03299229 -0.05783222 0.02101471
+v -0.03390780 -0.05566119 0.02101472
+v -0.03417626 -0.05485907 0.02101472
+v -0.01746644 -0.05485908 0.02343694
+v 0.00098492 -0.06139868 0.02168669
+v 0.00098492 -0.07056009 0.01530264
+v -0.00129698 -0.07054186 0.01535112
+v -0.00359608 -0.06930220 0.01453202
+v -0.00589175 -0.06713946 0.01366277
+v -0.00819086 -0.06713946 0.01378647
+v -0.01378030 -0.06484413 0.01358588
+v -0.02600204 -0.05969497 0.01358590
+v -0.03104080 -0.05996017 0.02101470
+v -0.02960558 -0.06110700 0.02101470
+v -0.02829427 -0.06179973 0.01872286
+v -0.02474924 -0.06329624 0.01643104
+v -0.02528960 -0.06361777 0.01805420
+v -0.02370982 -0.06097273 0.01358590
+v -0.02197173 -0.06254880 0.01401049
+v -0.02197173 -0.06399561 0.01500344
+v -0.02424330 -0.06068271 0.01358590
+v -0.02359969 -0.06397241 0.01643104
+v -0.01857125 -0.06601418 0.01526087
+v -0.02010284 -0.06562306 0.01602147
+v -0.02084626 -0.06600424 0.01754936
+v -0.03290280 -0.05770794 0.02330320
+v -0.03093411 -0.05988229 0.02330319
+v -0.03208366 -0.05885643 0.02330319
+v -0.03401106 -0.05485908 0.02330321
+v -0.03410054 -0.05485907 0.02224673
+v -0.03371162 -0.05566120 0.02330321
+v -0.01915635 -0.05485909 0.02790860
+v 0.00098492 -0.06151967 0.02318783
+v 0.00098492 -0.06151470 0.02314938
+v 0.00098492 -0.06150641 0.02306079
+v 0.00098492 -0.07056837 0.01530933
+v -0.00359608 -0.07096944 0.01665835
+v -0.00359608 -0.07045071 0.01551327
+v -0.00589175 -0.06915139 0.01460056
+v -0.00129698 -0.07105230 0.01649620
+v -0.00819086 -0.06892766 0.01472593
+v -0.01048652 -0.06713946 0.01403053
+v -0.01508129 -0.06484413 0.01369120
+v -0.01938351 -0.06284048 0.01358589
+v -0.02950921 -0.06103078 0.02330319
+v -0.02845603 -0.06190747 0.02101469
+v -0.02835966 -0.06184616 0.02330318
+v -0.02638064 -0.06305098 0.01877970
+v -0.02549266 -0.06374041 0.01958209
+v -0.02216447 -0.06548220 0.01872285
+v -0.02442227 -0.06423262 0.01877969
+v -0.01737696 -0.06484413 0.01412081
+v -0.01947300 -0.06485242 0.01470756
+v -0.01947300 -0.06623791 0.01664332
+v -0.01737696 -0.06626443 0.01503018
+v -0.01362198 -0.06817361 0.01548821
+v -0.01522240 -0.06793165 0.01632403
+v -0.01737696 -0.06707981 0.01643102
+v -0.01608285 -0.06822997 0.01798732
+v -0.01721519 -0.06785211 0.01873956
+v -0.01967262 -0.06673842 0.01872284
+v -0.02101491 -0.06609042 0.01872285
+v -0.03256551 -0.05720578 0.02559503
+v -0.03385962 -0.05485908 0.02444160
+v -0.03052454 -0.05954586 0.02559502
+v -0.03167409 -0.05835427 0.02559503
+v -0.01994452 -0.05485910 0.02991624
+v 0.00098492 -0.06222402 0.02559501
+v 0.00098492 -0.07105727 0.01644605
+v -0.00129698 -0.07163567 0.01872283
+v -0.00359608 -0.07148320 0.01872283
+v -0.00589175 -0.07082360 0.01697429
+v -0.00589175 -0.07029990 0.01582921
+v 0.00098492 -0.07106059 0.01645441
+v -0.01048652 -0.06864427 0.01493656
+v -0.01282693 -0.06730022 0.01454540
+v -0.01508129 -0.06673674 0.01467411
+v -0.02807399 -0.06165060 0.02510856
+v -0.02669728 -0.06305596 0.02101469
+v -0.02551675 -0.06375699 0.02271141
+v -0.02639785 -0.06312060 0.02340682
+v -0.02537908 -0.06367248 0.02423930
+v -0.02554773 -0.06377522 0.02101469
+v -0.02234344 -0.06558165 0.02101468
+v -0.02427083 -0.06451271 0.02101468
+v -0.01209039 -0.06842883 0.01513716
+v -0.01048652 -0.06953921 0.01643101
+v -0.01282693 -0.06880835 0.01632403
+v -0.01455126 -0.06852164 0.01701442
+v -0.01278563 -0.06951601 0.01872283
+v -0.01522240 -0.06865423 0.01873956
+v -0.01634786 -0.06833603 0.01951353
+v -0.01967262 -0.06692073 0.02101467
+v -0.02119389 -0.06618158 0.02101468
+v -0.03231770 -0.05682462 0.02675181
+v -0.03324354 -0.05485909 0.02663647
+v -0.03356019 -0.05485908 0.02559504
+v -0.03015627 -0.05923098 0.02689388
+v -0.02884839 -0.06080705 0.02576051
+v -0.02046423 -0.05485910 0.03014024
+v 0.00098492 -0.06322668 0.02721483
+v 0.00098492 -0.06223064 0.02560671
+v -0.00129698 -0.07177655 0.02101466
+v -0.00359608 -0.07163071 0.02101466
+v 0.00098492 -0.07164893 0.01870612
+v 0.00098492 -0.07165225 0.01872283
+v -0.00589175 -0.07118986 0.01872283
+v -0.00751627 -0.07068438 0.01730862
+v -0.00824592 -0.07013914 0.01649954
+v -0.02500737 -0.06344377 0.02559501
+v -0.02675579 -0.06226876 0.02576050
+v -0.02764721 -0.06135561 0.02663644
+v -0.02226428 -0.06554023 0.02330317
+v -0.02447390 -0.06429064 0.02340681
+v -0.02095640 -0.06606061 0.02465386
+v -0.02386126 -0.06413154 0.02559500
+v -0.02111817 -0.06614348 0.02330317
+v -0.00904786 -0.07052033 0.01810600
+v -0.01031787 -0.07027173 0.01881143
+v -0.00944022 -0.07061147 0.01963388
+v -0.01278563 -0.06968341 0.02101466
+v -0.01643047 -0.06837085 0.02101467
+v -0.01757314 -0.06787863 0.02101467
+v -0.01508129 -0.06887797 0.02101467
+v -0.01967262 -0.06684119 0.02330316
+v -0.01749053 -0.06783887 0.02330316
+v -0.03292001 -0.05485909 0.02736531
+v -0.03101671 -0.05773612 0.02727169
+v -0.03111308 -0.05485910 0.02928770
+v -0.02993599 -0.05670696 0.02899014
+v -0.02886560 -0.05973977 0.02740374
+v -0.02763689 -0.05904538 0.02900016
+v -0.02904802 -0.05815045 0.02862071
+v -0.02192010 -0.05485910 0.03057821
+v 0.00098492 -0.06484418 0.02816599
+v -0.00129698 -0.07173181 0.02330315
+v 0.00098492 -0.07178815 0.02101466
+v 0.00098492 -0.07174673 0.02328643
+v -0.00359608 -0.07157603 0.02330315
+v -0.00589175 -0.07128601 0.02330315
+v -0.00589175 -0.07133737 0.02101466
+v -0.00824592 -0.07077058 0.01881143
+v -0.02337941 -0.06384650 0.02693399
+v -0.02611562 -0.06185611 0.02726164
+v -0.01964164 -0.06638378 0.02548968
+v -0.02038507 -0.06577557 0.02618174
+v -0.02182029 -0.06529164 0.02548968
+v -0.01623428 -0.06828965 0.02445325
+v -0.00953315 -0.07063469 0.02101466
+v -0.01068270 -0.07032312 0.02101466
+v -0.00819086 -0.07092305 0.02101466
+v -0.01278563 -0.06962873 0.02330315
+v -0.01508129 -0.06881666 0.02330316
+v -0.01634442 -0.06833440 0.02330316
+v -0.03053486 -0.05485910 0.02958526
+v -0.02894132 -0.05485910 0.03033582
+v -0.02479742 -0.06105731 0.02878786
+v -0.02326583 -0.06147495 0.02907203
+v -0.02610530 -0.05952765 0.02923419
+v -0.02299049 -0.05485910 0.03066347
+v 0.00098492 -0.06713951 0.02856049
+v 0.00098492 -0.06486075 0.02816933
+v -0.00129698 -0.07120314 0.02559498
+v 0.00098492 -0.07174507 0.02330315
+v 0.00098492 -0.07122966 0.02559498
+v -0.00361674 -0.07097278 0.02578387
+v -0.00589175 -0.07089820 0.02529073
+v -0.00773998 -0.07073247 0.02487282
+v -0.00927157 -0.07056840 0.02425264
+v -0.00838015 -0.07081865 0.02341515
+v -0.01885348 -0.06614514 0.02692730
+v -0.02197173 -0.06422104 0.02731010
+v -0.01714980 -0.06754719 0.02536764
+v -0.01278563 -0.06911497 0.02559499
+v -0.01488511 -0.06847692 0.02536764
+v -0.01398681 -0.06830789 0.02676514
+v -0.01551840 -0.06799964 0.02598114
+v -0.00949529 -0.07062474 0.02272476
+v -0.01035229 -0.07034467 0.02341515
+v -0.02656650 -0.05485910 0.03060329
+v -0.02197173 -0.06171360 0.02915394
+v -0.02197173 -0.06286208 0.02845519
+v -0.01737696 -0.06646334 0.02723321
+v -0.01967262 -0.06326481 0.02886308
+v -0.01810317 -0.06354157 0.02900517
+v -0.01657502 -0.06375536 0.02905197
+v -0.00589175 -0.06713951 0.02853207
+v -0.00359608 -0.06713951 0.02854878
+v 0.00098492 -0.06943484 0.02772131
+v -0.00129698 -0.07066288 0.02683367
+v -0.00286643 -0.07061979 0.02678352
+v 0.00098492 -0.07067945 0.02685373
+v -0.00439802 -0.07054687 0.02667486
+v -0.00589175 -0.07043749 0.02643581
+v -0.00838015 -0.07028501 0.02562005
+v -0.01048652 -0.06977291 0.02559498
+v -0.01964164 -0.06494362 0.02763440
+v -0.01278563 -0.06848522 0.02695738
+v -0.01488511 -0.06719586 0.02740705
+v -0.01278563 -0.06713951 0.02792860
+v -0.01048652 -0.06713951 0.02828132
+v -0.00819086 -0.06713951 0.02846186
+v -0.00129698 -0.06943484 0.02769623
+v 0.00098492 -0.06944478 0.02771462
+v -0.00361674 -0.06964365 0.02743546
+v -0.00589175 -0.06928900 0.02752908
+v -0.00819086 -0.06907355 0.02743547
+v -0.01048652 -0.06880010 0.02725493
+f 1 2 3
+f 1 3 8
+f 1 8 19
+f 1 19 36
+f 1 36 54
+f 1 54 81
+f 1 81 80
+f 1 80 115
+f 1 115 148
+f 1 148 147
+f 1 147 178
+f 1 178 180
+f 1 180 206
+f 1 206 207
+f 1 207 231
+f 1 231 211
+f 1 211 185
+f 1 185 151
+f 1 151 118
+f 1 118 83
+f 1 83 55
+f 1 55 37
+f 1 37 21
+f 1 21 9
+f 1 9 4
+f 1 4 14
+f 1 14 26
+f 1 26 42
+f 1 42 62
+f 1 62 95
+f 1 95 69
+f 1 69 72
+f 1 72 63
+f 1 63 43
+f 1 43 27
+f 1 27 15
+f 1 15 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 16
+f 5 16 6
+f 6 17 7
+f 6 16 17
+f 7 18 19
+f 7 19 8
+f 7 17 20
+f 7 20 18
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 23 22
+f 10 22 38
+f 10 38 56
+f 10 56 86
+f 10 86 85
+f 10 85 84
+f 10 84 119
+f 10 119 153
+f 10 153 152
+f 10 152 186
+f 10 186 213
+f 10 213 212
+f 10 212 240
+f 10 240 255
+f 10 255 243
+f 10 243 216
+f 10 216 215
+f 10 215 189
+f 10 189 188
+f 10 188 157
+f 10 157 156
+f 10 156 125
+f 10 125 120
+f 10 120 87
+f 10 87 57
+f 10 57 39
+f 10 39 24
+f 10 24 13
+f 10 13 12
+f 10 12 11
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 29 20
+f 17 28 30
+f 17 30 31
+f 17 31 32
+f 17 32 29
+f 18 33 34
+f 18 34 19
+f 18 20 29
+f 18 29 35
+f 18 35 33
+f 19 34 36
+f 21 37 38
+f 21 38 22
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 27 43 28
+f 28 43 44
+f 28 44 30
+f 29 45 35
+f 29 32 46
+f 29 46 47
+f 29 47 45
+f 30 44 48
+f 30 48 49
+f 30 49 31
+f 31 50 46
+f 31 46 32
+f 31 49 50
+f 33 35 51
+f 33 51 52
+f 33 52 53
+f 33 53 34
+f 34 53 36
+f 35 45 51
+f 36 53 54
+f 37 55 56
+f 37 56 38
+f 39 57 40
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 60 42
+f 42 60 61
+f 42 61 62
+f 43 63 48
+f 43 48 44
+f 45 64 51
+f 45 47 65
+f 45 65 64
+f 46 66 47
+f 46 50 67
+f 46 67 68
+f 46 68 66
+f 47 66 65
+f 48 69 70
+f 48 70 71
+f 48 71 49
+f 48 63 72
+f 48 72 69
+f 49 73 67
+f 49 67 50
+f 49 71 74
+f 49 74 75
+f 49 75 76
+f 49 76 73
+f 51 77 52
+f 51 64 78
+f 51 78 79
+f 51 79 77
+f 52 77 53
+f 53 80 81
+f 53 81 54
+f 53 77 82
+f 53 82 80
+f 55 83 84
+f 55 84 85
+f 55 85 86
+f 55 86 56
+f 57 87 58
+f 58 88 89
+f 58 89 90
+f 58 90 59
+f 58 87 91
+f 58 91 88
+f 59 90 61
+f 59 61 60
+f 61 92 93
+f 61 93 94
+f 61 94 62
+f 61 90 92
+f 62 94 95
+f 64 65 96
+f 64 96 78
+f 65 66 97
+f 65 97 98
+f 65 98 96
+f 66 68 99
+f 66 99 100
+f 66 100 97
+f 67 73 68
+f 68 73 76
+f 68 76 101
+f 68 101 102
+f 68 102 100
+f 68 100 99
+f 69 95 103
+f 69 103 70
+f 70 103 104
+f 70 104 71
+f 71 104 74
+f 74 105 76
+f 74 76 75
+f 74 104 106
+f 74 106 107
+f 74 107 108
+f 74 108 109
+f 74 109 105
+f 76 105 109
+f 76 109 110
+f 76 110 111
+f 76 111 112
+f 76 112 113
+f 76 113 101
+f 77 79 114
+f 77 114 115
+f 77 115 82
+f 78 116 79
+f 78 96 116
+f 79 116 117
+f 79 117 114
+f 80 82 115
+f 83 118 84
+f 84 118 119
+f 87 120 91
+f 88 91 121
+f 88 121 122
+f 88 122 123
+f 88 123 89
+f 89 123 124
+f 89 124 92
+f 89 92 90
+f 91 120 125
+f 91 125 121
+f 92 126 93
+f 92 124 126
+f 93 126 127
+f 93 127 94
+f 94 127 128
+f 94 128 103
+f 94 103 95
+f 96 98 129
+f 96 129 116
+f 97 100 130
+f 97 130 131
+f 97 131 98
+f 98 131 132
+f 98 132 133
+f 98 133 129
+f 100 134 130
+f 100 102 101
+f 100 101 135
+f 100 135 136
+f 100 136 134
+f 101 113 135
+f 103 128 104
+f 104 128 106
+f 106 128 137
+f 106 137 107
+f 107 137 138
+f 107 138 139
+f 107 139 140
+f 107 140 108
+f 108 140 109
+f 109 140 110
+f 110 140 141
+f 110 141 142
+f 110 142 143
+f 110 143 111
+f 111 143 112
+f 112 144 113
+f 112 143 144
+f 113 144 145
+f 113 145 135
+f 114 146 147
+f 114 147 148
+f 114 148 115
+f 114 117 146
+f 116 149 117
+f 116 129 150
+f 116 150 149
+f 117 149 146
+f 118 151 152
+f 118 152 153
+f 118 153 119
+f 121 154 155
+f 121 155 122
+f 121 125 156
+f 121 156 157
+f 121 157 154
+f 122 155 192
+f 122 192 158
+f 122 158 123
+f 123 158 159
+f 123 159 124
+f 124 159 160
+f 124 160 137
+f 124 137 126
+f 126 137 127
+f 127 137 128
+f 129 133 161
+f 129 161 162
+f 129 162 163
+f 129 163 150
+f 130 134 131
+f 131 133 132
+f 131 134 136
+f 131 136 164
+f 131 164 165
+f 131 165 133
+f 133 165 164
+f 133 164 166
+f 133 166 167
+f 133 167 161
+f 135 145 168
+f 135 168 164
+f 135 164 136
+f 137 160 138
+f 138 160 159
+f 138 159 169
+f 138 169 139
+f 139 169 140
+f 140 169 141
+f 141 169 170
+f 141 170 171
+f 141 171 172
+f 141 172 143
+f 141 143 142
+f 143 173 174
+f 143 174 144
+f 143 172 175
+f 143 175 173
+f 144 176 168
+f 144 168 145
+f 144 174 177
+f 144 177 176
+f 146 178 147
+f 146 149 179
+f 146 179 180
+f 146 180 178
+f 149 181 179
+f 149 150 163
+f 149 163 182
+f 149 182 183
+f 149 183 184
+f 149 184 181
+f 151 185 186
+f 151 186 152
+f 154 187 155
+f 154 157 188
+f 154 188 189
+f 154 189 187
+f 155 190 191
+f 155 191 192
+f 155 187 190
+f 158 192 171
+f 158 171 193
+f 158 193 169
+f 158 169 159
+f 161 163 162
+f 161 167 194
+f 161 194 163
+f 163 194 195
+f 163 195 182
+f 164 168 166
+f 166 196 197
+f 166 197 198
+f 166 198 167
+f 166 168 176
+f 166 176 199
+f 166 199 196
+f 167 198 194
+f 169 193 171
+f 169 171 170
+f 171 200 201
+f 171 201 172
+f 171 192 202
+f 171 202 200
+f 172 203 175
+f 172 201 203
+f 173 175 204
+f 173 204 205
+f 173 205 174
+f 174 205 177
+f 175 203 204
+f 176 177 199
+f 177 205 199
+f 179 181 180
+f 180 181 206
+f 181 184 183
+f 181 183 206
+f 182 195 183
+f 183 207 206
+f 183 195 208
+f 183 208 209
+f 183 209 210
+f 183 210 207
+f 185 211 212
+f 185 212 213
+f 185 213 186
+f 187 214 190
+f 187 189 215
+f 187 215 216
+f 187 216 214
+f 190 217 218
+f 190 218 191
+f 190 214 217
+f 191 218 219
+f 191 219 220
+f 191 220 221
+f 191 221 202
+f 191 202 192
+f 194 198 197
+f 194 197 222
+f 194 222 223
+f 194 223 208
+f 194 208 195
+f 196 199 224
+f 196 224 197
+f 197 224 222
+f 199 204 203
+f 199 203 220
+f 199 220 225
+f 199 225 226
+f 199 226 227
+f 199 227 228
+f 199 228 224
+f 199 205 204
+f 200 202 229
+f 200 229 201
+f 201 229 203
+f 202 221 229
+f 203 229 230
+f 203 230 220
+f 207 210 209
+f 207 209 232
+f 207 232 231
+f 208 223 233
+f 208 233 209
+f 209 233 234
+f 209 234 235
+f 209 235 236
+f 209 236 232
+f 211 231 237
+f 211 237 238
+f 211 238 239
+f 211 239 212
+f 212 239 240
+f 214 241 242
+f 214 242 217
+f 214 216 241
+f 216 243 241
+f 217 242 244
+f 217 244 218
+f 218 244 245
+f 218 245 219
+f 219 246 247
+f 219 247 220
+f 219 245 246
+f 220 229 221
+f 220 247 225
+f 220 230 229
+f 222 224 228
+f 222 228 227
+f 222 227 234
+f 222 234 248
+f 222 248 223
+f 223 248 233
+f 225 227 226
+f 225 247 227
+f 227 247 246
+f 227 246 245
+f 227 245 249
+f 227 249 250
+f 227 250 234
+f 231 232 236
+f 231 236 237
+f 233 248 234
+f 234 250 235
+f 235 250 251
+f 235 251 236
+f 236 251 252
+f 236 252 237
+f 237 252 253
+f 237 253 238
+f 238 253 254
+f 238 254 240
+f 238 240 239
+f 240 254 255
+f 241 254 256
+f 241 256 242
+f 241 243 254
+f 242 256 257
+f 242 257 244
+f 243 255 254
+f 244 257 258
+f 244 258 259
+f 244 259 245
+f 245 259 249
+f 249 259 251
+f 249 251 250
+f 251 259 252
+f 252 259 258
+f 252 258 257
+f 252 257 253
+f 253 257 254
+f 254 257 256
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_32.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.05983492 0.04527254 -0.02933571
+v -0.05983407 0.04536004 -0.02933571
+v -0.05420822 0.04527254 -0.02933571
+v -0.05939407 0.04527238 0.01358209
+v -0.05939407 0.04535988 0.01358209
+v -0.05978270 0.04765615 -0.02933570
+v -0.05108970 0.05041506 -0.02933569
+v -0.05108970 0.05124353 0.01358211
+v -0.05518923 0.04527238 0.01358209
+v -0.05924083 0.04995210 0.01358210
+v -0.05967313 0.04995226 -0.02933570
+v -0.05108970 0.05604148 -0.02933567
+v -0.05108970 0.05534975 0.01358212
+v -0.05909445 0.05224610 0.01358211
+v -0.05951134 0.05218722 -0.02933569
+v -0.05406184 0.05604148 -0.02933567
+v -0.05524573 0.05569764 0.01358212
+v -0.05845157 0.05373361 0.01358212
+v -0.05944799 0.05235695 -0.02933569
+v -0.05415601 0.05603937 -0.02933567
+v -0.05532106 0.05569764 0.01358212
+v -0.05824698 0.05420591 0.01358212
+v -0.05847383 0.05435893 -0.02933568
+v -0.05585865 0.05588545 -0.02933567
+v -0.05646900 0.05535396 0.01358212
+v -0.05700745 0.05550698 -0.02933568
+v -0.05704597 0.05547958 -0.02933568
+f 1 2 6
+f 1 6 11
+f 1 11 15
+f 1 15 19
+f 1 19 23
+f 1 23 27
+f 1 27 26
+f 1 26 24
+f 1 24 20
+f 1 20 16
+f 1 16 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 13
+f 4 13 17
+f 4 17 21
+f 4 21 25
+f 4 25 22
+f 4 22 18
+f 4 18 14
+f 4 14 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 10 14 11
+f 11 14 15
+f 12 16 21
+f 12 21 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 25 26
+f 22 26 27
+f 22 27 23
+f 24 26 25
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_33.obj

@@ -0,0 +1,742 @@
+# https://github.com/mikedh/trimesh
+v 0.02538316 -0.05417658 0.01163873
+v 0.02393315 -0.05417658 0.01196610
+v 0.02871198 -0.05417658 0.01163873
+v 0.02627019 -0.05455753 0.01163873
+v 0.00098492 -0.06713928 0.01358806
+v 0.00098492 -0.06484323 0.01395823
+v 0.02196270 -0.05417659 0.01358625
+v 0.00098492 -0.06326943 0.01486783
+v 0.00098492 -0.06229035 0.01643217
+v 0.03073153 -0.05417658 0.01223582
+v 0.02857778 -0.05429897 0.01163873
+v 0.00559682 -0.06713928 0.01363828
+v 0.00329905 -0.06713928 0.01359736
+v 0.00100456 -0.06713928 0.01358806
+v 0.00100456 -0.06942154 0.01449579
+v 0.00098492 -0.06941982 0.01449579
+v 0.02189723 -0.05485754 0.02989933
+v 0.02397570 -0.05485754 0.03057269
+v 0.02627347 -0.05485754 0.03064151
+v 0.03156619 -0.05417659 0.01358625
+v 0.00098492 -0.06154224 0.01890611
+v 0.01724605 -0.05485750 0.01893776
+v 0.01710203 -0.05485750 0.02000918
+v 0.01703330 -0.05485751 0.02101363
+v 0.01712167 -0.05485753 0.02678552
+v 0.01725260 -0.05485753 0.02771185
+v 0.03263325 -0.05485748 0.01466139
+v 0.03208008 -0.05691566 0.01521197
+v 0.03076754 -0.05779132 0.01472648
+v 0.02993942 -0.05930996 0.01508175
+v 0.02872180 -0.05810677 0.01358624
+v 0.02861706 -0.05800679 0.01346347
+v 0.02694120 -0.05880489 0.01310632
+v 0.02540935 -0.05924618 0.01293892
+v 0.01479117 -0.06484323 0.01365317
+v 0.00789459 -0.06713928 0.01374431
+v 0.00329905 -0.06936293 0.01451253
+v 0.00100456 -0.07056785 0.01531050
+v 0.00098492 -0.07056785 0.01531050
+v 0.00098492 -0.06322639 0.02721332
+v 0.00098492 -0.06484328 0.02816568
+v 0.00100456 -0.06713933 0.02856001
+v 0.00098492 -0.06713933 0.02855815
+v 0.02751400 -0.05485754 0.03057455
+v 0.00329905 -0.06713933 0.02856373
+v 0.00559682 -0.06713933 0.02855443
+v 0.01708567 -0.06378145 0.02905668
+v 0.01827383 -0.06370905 0.02903621
+v 0.02856796 -0.05485754 0.03042574
+v 0.02969393 -0.05485754 0.03005558
+v 0.03042713 -0.05485754 0.02975052
+v 0.03269544 -0.05485753 0.02745516
+v 0.03442367 -0.05485751 0.02313043
+v 0.03432548 -0.05485751 0.02101363
+v 0.03422401 -0.05485750 0.01952183
+v 0.03379522 -0.05485750 0.01778822
+v 0.03336317 -0.05485749 0.01643220
+v 0.03302275 -0.05485749 0.01542589
+v 0.00098492 -0.06139401 0.02101360
+v 0.00098492 -0.06139918 0.02168510
+v 0.00098492 -0.06150778 0.02305971
+v 0.00098492 -0.06151986 0.02318620
+v 0.00098492 -0.06222488 0.02559317
+v 0.00098492 -0.06223177 0.02560619
+v 0.03153346 -0.05852048 0.01643219
+v 0.03238121 -0.05737418 0.01643219
+v 0.03038458 -0.05970470 0.01643218
+v 0.02898693 -0.06085273 0.01643218
+v 0.02744199 -0.06141812 0.01526775
+v 0.02835521 -0.06014598 0.01475995
+v 0.02735362 -0.05919619 0.01358623
+v 0.02621782 -0.06010806 0.01370156
+v 0.02389387 -0.06259889 0.01454045
+v 0.02167466 -0.06254890 0.01381873
+v 0.01708567 -0.06484323 0.01398613
+v 0.01019236 -0.06713928 0.01395264
+v 0.00559682 -0.06920952 0.01456647
+v 0.00329905 -0.07051096 0.01541281
+v 0.00100456 -0.07105912 0.01645446
+v 0.00098492 -0.07105912 0.01645632
+v 0.00098492 -0.06715484 0.02855443
+v 0.02328179 -0.06159572 0.02912550
+v 0.02627347 -0.05968407 0.02928548
+v 0.00098492 -0.06943365 0.02772109
+v 0.00100456 -0.06943365 0.02772109
+v 0.00789459 -0.06713933 0.02849862
+v 0.01019236 -0.06713933 0.02836098
+v 0.01249013 -0.06713933 0.02807638
+v 0.01708567 -0.06492774 0.02852096
+v 0.01980895 -0.06337465 0.02891531
+v 0.02762202 -0.05926175 0.02912365
+v 0.02980195 -0.05694157 0.02908646
+v 0.03071517 -0.05775690 0.02778253
+v 0.03214554 -0.05704326 0.02691014
+v 0.03244340 -0.05752418 0.02559319
+v 0.03197861 -0.05906177 0.02419996
+v 0.03264307 -0.05816197 0.02338339
+v 0.03290165 -0.05795856 0.02101362
+v 0.03396870 -0.05580903 0.02101363
+v 0.03261033 -0.05811713 0.01880010
+v 0.03382795 -0.05549529 0.01888940
+v 0.03191315 -0.05898591 0.01808953
+v 0.02950736 -0.06124748 0.01872383
+v 0.02783805 -0.06169220 0.01643217
+v 0.02523587 -0.06376244 0.01741617
+v 0.02460415 -0.06339528 0.01588902
+v 0.02307230 -0.06383139 0.01514126
+v 0.02627347 -0.06176287 0.01494037
+v 0.02167466 -0.06418648 0.01484736
+v 0.01930815 -0.06492597 0.01459252
+v 0.01708567 -0.06639806 0.01491432
+v 0.01479117 -0.06685830 0.01461670
+v 0.01267015 -0.06734958 0.01449579
+v 0.01019236 -0.06873203 0.01486037
+v 0.00789459 -0.06899232 0.01467622
+v 0.00559682 -0.07035927 0.01570484
+v 0.00559682 -0.07087123 0.01685067
+v 0.00329905 -0.07099707 0.01655863
+v 0.00098492 -0.07164866 0.01870705
+v 0.02481691 -0.06125269 0.02894694
+v 0.00098492 -0.07067821 0.02685243
+v 0.00100456 -0.07067821 0.02685243
+v 0.00290627 -0.07064028 0.02680964
+v 0.00352490 -0.06966464 0.02746254
+v 0.00559682 -0.06935264 0.02755555
+v 0.00789459 -0.06915785 0.02747557
+v 0.01019236 -0.06889929 0.02733048
+v 0.01249013 -0.06859246 0.02707379
+v 0.01471589 -0.06724965 0.02752021
+v 0.02167466 -0.06302817 0.02863629
+v 0.01708567 -0.06661013 0.02737513
+v 0.02840431 -0.06012362 0.02780484
+v 0.03009326 -0.05945308 0.02712776
+v 0.02915386 -0.05847227 0.02865491
+v 0.02627347 -0.06083209 0.02855446
+v 0.03169385 -0.05867220 0.02559318
+v 0.03054496 -0.05985815 0.02559318
+v 0.02920951 -0.06100445 0.02559318
+v 0.02959247 -0.06130956 0.02330339
+v 0.03107522 -0.05999433 0.02338338
+v 0.03208335 -0.05918070 0.02267282
+v 0.03209972 -0.05919794 0.02101361
+v 0.03206044 -0.05915484 0.01961668
+v 0.03103594 -0.05992880 0.01880009
+v 0.02966775 -0.06136643 0.02101360
+v 0.02835848 -0.06205248 0.01872382
+v 0.02659424 -0.06319705 0.01872382
+v 0.02544535 -0.06388139 0.01872382
+v 0.02397570 -0.06470190 0.01872381
+v 0.02219509 -0.06566376 0.01872381
+v 0.02076144 -0.06610676 0.01729153
+v 0.02389387 -0.06410891 0.01656609
+v 0.02158301 -0.06529659 0.01648983
+v 0.02002498 -0.06574649 0.01576439
+v 0.01849640 -0.06610848 0.01516358
+v 0.01355391 -0.06825456 0.01533841
+v 0.01201879 -0.06848727 0.01507986
+v 0.00811062 -0.07022654 0.01644888
+v 0.00748872 -0.07072299 0.01722269
+v 0.00559682 -0.07128667 0.01872379
+v 0.00329905 -0.07152972 0.01872379
+v 0.00100456 -0.07165211 0.01872379
+v 0.00098492 -0.07165211 0.01872379
+v 0.01880081 -0.06624814 0.02704590
+v 0.02167466 -0.06441579 0.02749232
+v 0.02335707 -0.06398312 0.02709240
+v 0.00098492 -0.07122808 0.02559314
+v 0.00100456 -0.07122808 0.02559314
+v 0.00352490 -0.07101089 0.02582193
+v 0.00443812 -0.07058168 0.02673710
+v 0.00559682 -0.07050066 0.02657713
+v 0.01390087 -0.06838044 0.02685244
+v 0.00789459 -0.07030415 0.02609536
+v 0.02765147 -0.06156469 0.02695476
+v 0.02627347 -0.06199735 0.02741049
+v 0.02806062 -0.06184565 0.02559317
+v 0.02844358 -0.06210421 0.02330339
+v 0.03086573 -0.06030977 0.02101361
+v 0.02851887 -0.06215419 0.02101360
+v 0.02676772 -0.06330049 0.02101360
+v 0.02561883 -0.06398310 0.02101359
+v 0.02397570 -0.06490359 0.02101359
+v 0.02239148 -0.06576375 0.02101359
+v 0.02124260 -0.06635327 0.02101359
+v 0.02104948 -0.06624811 0.01872381
+v 0.01938016 -0.06703760 0.01872380
+v 0.01601206 -0.06831834 0.01749799
+v 0.01930815 -0.06641358 0.01648983
+v 0.01690237 -0.06751851 0.01661444
+v 0.01479117 -0.06800634 0.01583692
+v 0.01479117 -0.06855450 0.01698460
+v 0.01267015 -0.06893889 0.01623498
+v 0.01019236 -0.06972321 0.01643214
+v 0.00902056 -0.07057819 0.01761703
+v 0.00811062 -0.07085745 0.01851918
+v 0.00789459 -0.07107466 0.02101357
+v 0.00559682 -0.07144354 0.02101357
+v 0.00329905 -0.07167452 0.02101357
+v 0.00098492 -0.07178657 0.02099683
+v 0.01543271 -0.06809085 0.02624790
+v 0.02033266 -0.06589822 0.02651019
+v 0.02488892 -0.06356080 0.02637999
+v 0.00098492 -0.07174348 0.02330336
+v 0.00100456 -0.07174348 0.02330336
+v 0.00329905 -0.07162972 0.02330336
+v 0.00559682 -0.07095572 0.02543131
+v 0.00789459 -0.07076094 0.02494768
+v 0.01471589 -0.06862348 0.02552804
+v 0.01005489 -0.07005937 0.02543503
+v 0.01249013 -0.06933194 0.02559315
+v 0.00919404 -0.07062131 0.02456450
+v 0.02617527 -0.06305228 0.02560619
+v 0.02534716 -0.06382797 0.02485285
+v 0.02669898 -0.06325051 0.02330339
+v 0.02555010 -0.06394691 0.02330339
+v 0.02397570 -0.06482431 0.02330338
+v 0.02231620 -0.06572238 0.02330338
+v 0.02116732 -0.06632226 0.02330338
+v 0.01938016 -0.06717379 0.02330337
+v 0.01938016 -0.06723412 0.02101358
+v 0.01738025 -0.06792533 0.01872380
+v 0.01623137 -0.06840799 0.01872380
+v 0.01479117 -0.06895959 0.01872380
+v 0.01249013 -0.06974563 0.01872379
+v 0.00936097 -0.07066612 0.01914417
+v 0.01015308 -0.07038686 0.01851918
+v 0.00789459 -0.07101606 0.02330336
+v 0.00559682 -0.07140046 0.02330336
+v 0.00955409 -0.07071267 0.02101357
+v 0.00100456 -0.07178657 0.02101357
+v 0.00098492 -0.07178657 0.02101357
+v 0.01616263 -0.06838043 0.02472076
+v 0.01699402 -0.06772712 0.02552804
+v 0.01949145 -0.06658082 0.02568616
+v 0.02088910 -0.06617746 0.02498305
+v 0.02166156 -0.06552243 0.02568616
+v 0.02406080 -0.06427960 0.02560618
+v 0.00942971 -0.07067992 0.02330336
+v 0.01057859 -0.07038688 0.02330336
+v 0.01249013 -0.06984390 0.02330336
+v 0.01752427 -0.06799086 0.02330337
+v 0.01759301 -0.06802015 0.02101358
+v 0.01644412 -0.06849074 0.02101358
+v 0.01479117 -0.06912336 0.02101358
+v 0.01249013 -0.06989905 0.02101357
+v 0.01070298 -0.07041445 0.02101357
+v 0.01479117 -0.06906993 0.02330337
+v 0.01637539 -0.06846489 0.02330337
+f 1 2 7
+f 1 7 20
+f 1 20 10
+f 1 10 3
+f 1 3 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 39
+f 5 39 80
+f 5 80 119
+f 5 119 163
+f 5 163 199
+f 5 199 231
+f 5 231 203
+f 5 203 167
+f 5 167 121
+f 5 121 84
+f 5 84 81
+f 5 81 43
+f 5 43 41
+f 5 41 40
+f 5 40 64
+f 5 64 63
+f 5 63 62
+f 5 62 61
+f 5 61 60
+f 5 60 59
+f 5 59 21
+f 5 21 9
+f 5 9 8
+f 5 8 6
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 9 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 17
+f 10 20 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 11
+f 11 33 34
+f 11 34 35
+f 11 35 36
+f 11 36 12
+f 12 36 37
+f 12 37 13
+f 13 37 15
+f 13 15 14
+f 15 37 38
+f 15 38 39
+f 15 39 16
+f 17 26 40
+f 17 40 41
+f 17 41 18
+f 18 42 19
+f 18 41 43
+f 18 43 42
+f 19 44 20
+f 19 42 45
+f 19 45 46
+f 19 46 47
+f 19 47 48
+f 19 48 44
+f 20 44 49
+f 20 49 50
+f 20 50 51
+f 20 51 52
+f 20 52 53
+f 20 53 54
+f 20 54 55
+f 20 55 56
+f 20 56 57
+f 20 57 58
+f 20 58 27
+f 21 59 22
+f 22 59 23
+f 23 59 24
+f 24 59 25
+f 25 59 60
+f 25 60 26
+f 26 60 61
+f 26 61 62
+f 26 62 63
+f 26 63 64
+f 26 64 40
+f 27 58 28
+f 28 65 30
+f 28 30 29
+f 28 58 66
+f 28 66 65
+f 30 67 68
+f 30 68 69
+f 30 69 70
+f 30 70 31
+f 30 65 67
+f 31 70 71
+f 31 71 32
+f 32 71 33
+f 33 71 72
+f 33 72 73
+f 33 73 74
+f 33 74 34
+f 34 74 75
+f 34 75 35
+f 35 75 76
+f 35 76 36
+f 36 76 77
+f 36 77 37
+f 37 77 78
+f 37 78 38
+f 38 78 79
+f 38 79 39
+f 39 79 80
+f 42 43 81
+f 42 81 45
+f 44 82 83
+f 44 83 49
+f 44 48 82
+f 45 81 84
+f 45 84 85
+f 45 85 46
+f 46 85 86
+f 46 86 47
+f 47 86 48
+f 48 86 87
+f 48 87 88
+f 48 88 89
+f 48 89 90
+f 48 90 82
+f 49 83 91
+f 49 91 50
+f 50 91 51
+f 51 91 92
+f 51 92 93
+f 51 93 94
+f 51 94 52
+f 52 94 53
+f 53 94 95
+f 53 95 96
+f 53 96 97
+f 53 97 98
+f 53 98 99
+f 53 99 54
+f 54 99 55
+f 55 99 100
+f 55 100 101
+f 55 101 56
+f 56 101 66
+f 56 66 57
+f 57 66 58
+f 65 66 102
+f 65 102 67
+f 66 101 100
+f 66 100 102
+f 67 103 68
+f 67 102 103
+f 68 103 104
+f 68 104 69
+f 69 104 105
+f 69 105 106
+f 69 106 107
+f 69 107 108
+f 69 108 70
+f 70 108 72
+f 70 72 71
+f 72 108 73
+f 73 108 107
+f 73 107 109
+f 73 109 74
+f 74 109 110
+f 74 110 75
+f 75 111 112
+f 75 112 113
+f 75 113 76
+f 75 110 111
+f 76 113 114
+f 76 114 115
+f 76 115 77
+f 77 115 78
+f 78 115 116
+f 78 116 117
+f 78 117 118
+f 78 118 79
+f 79 119 80
+f 79 118 119
+f 82 90 120
+f 82 120 83
+f 83 120 91
+f 84 121 122
+f 84 122 85
+f 85 122 123
+f 85 123 124
+f 85 124 125
+f 85 125 86
+f 86 125 87
+f 87 125 126
+f 87 126 88
+f 88 126 127
+f 88 127 128
+f 88 128 129
+f 88 129 89
+f 89 129 90
+f 90 130 120
+f 90 129 131
+f 90 131 130
+f 91 132 133
+f 91 133 134
+f 91 134 92
+f 91 120 135
+f 91 135 132
+f 92 134 93
+f 93 134 133
+f 93 133 94
+f 94 133 136
+f 94 136 95
+f 95 136 96
+f 96 136 137
+f 96 137 138
+f 96 138 139
+f 96 139 140
+f 96 140 141
+f 96 141 97
+f 97 141 98
+f 98 141 142
+f 98 142 143
+f 98 143 100
+f 98 100 99
+f 100 143 102
+f 102 143 144
+f 102 144 103
+f 103 144 143
+f 103 143 145
+f 103 145 146
+f 103 146 104
+f 104 146 105
+f 105 147 148
+f 105 148 149
+f 105 149 150
+f 105 150 151
+f 105 151 152
+f 105 152 106
+f 105 146 147
+f 106 152 153
+f 106 153 107
+f 107 153 154
+f 107 154 155
+f 107 155 109
+f 109 155 110
+f 110 155 111
+f 111 155 156
+f 111 156 157
+f 111 157 112
+f 112 157 114
+f 112 114 113
+f 114 157 116
+f 114 116 115
+f 116 157 158
+f 116 158 159
+f 116 159 117
+f 117 159 160
+f 117 160 161
+f 117 161 118
+f 118 161 162
+f 118 162 119
+f 119 162 163
+f 120 130 131
+f 120 131 164
+f 120 164 165
+f 120 165 166
+f 120 166 135
+f 121 167 168
+f 121 168 122
+f 122 168 123
+f 123 168 169
+f 123 169 170
+f 123 170 125
+f 123 125 124
+f 125 170 126
+f 126 170 127
+f 127 170 171
+f 127 171 128
+f 128 172 131
+f 128 131 129
+f 128 171 173
+f 128 173 172
+f 131 172 164
+f 132 135 174
+f 132 174 133
+f 133 174 138
+f 133 138 137
+f 133 137 136
+f 135 166 175
+f 135 175 174
+f 138 174 176
+f 138 176 139
+f 139 176 177
+f 139 177 145
+f 139 145 141
+f 139 141 140
+f 141 145 178
+f 141 178 142
+f 142 178 143
+f 143 178 145
+f 145 177 179
+f 145 179 146
+f 146 179 180
+f 146 180 147
+f 147 180 148
+f 148 180 181
+f 148 181 182
+f 148 182 149
+f 149 182 183
+f 149 183 150
+f 150 183 184
+f 150 184 185
+f 150 185 151
+f 151 185 186
+f 151 186 187
+f 151 187 188
+f 151 188 154
+f 151 154 153
+f 151 153 152
+f 154 188 189
+f 154 189 155
+f 155 189 190
+f 155 190 156
+f 156 190 191
+f 156 191 192
+f 156 192 193
+f 156 193 157
+f 157 193 158
+f 158 193 194
+f 158 194 159
+f 159 194 160
+f 160 194 195
+f 160 195 196
+f 160 196 197
+f 160 197 161
+f 161 197 198
+f 161 198 162
+f 162 199 163
+f 162 198 199
+f 164 172 200
+f 164 200 201
+f 164 201 166
+f 164 166 165
+f 166 201 202
+f 166 202 174
+f 166 174 175
+f 167 203 204
+f 167 204 168
+f 168 204 205
+f 168 205 169
+f 169 205 206
+f 169 206 170
+f 170 206 171
+f 171 206 207
+f 171 207 173
+f 172 208 200
+f 172 173 209
+f 172 209 210
+f 172 210 208
+f 173 207 211
+f 173 211 209
+f 174 202 212
+f 174 212 176
+f 176 212 213
+f 176 213 177
+f 177 213 214
+f 177 214 179
+f 179 214 180
+f 180 214 215
+f 180 215 181
+f 181 215 182
+f 182 215 216
+f 182 216 183
+f 183 217 218
+f 183 218 184
+f 183 216 217
+f 184 218 219
+f 184 219 220
+f 184 220 185
+f 185 220 186
+f 186 220 221
+f 186 221 187
+f 187 222 223
+f 187 223 224
+f 187 224 194
+f 187 194 191
+f 187 191 190
+f 187 190 189
+f 187 189 188
+f 187 221 222
+f 191 194 192
+f 192 194 193
+f 194 225 195
+f 194 224 226
+f 194 226 225
+f 195 225 196
+f 196 227 228
+f 196 228 197
+f 196 225 229
+f 196 229 227
+f 197 228 198
+f 198 205 204
+f 198 204 230
+f 198 230 199
+f 198 228 205
+f 199 230 231
+f 200 208 232
+f 200 232 233
+f 200 233 201
+f 201 234 235
+f 201 235 236
+f 201 236 202
+f 201 233 234
+f 202 236 237
+f 202 237 213
+f 202 213 212
+f 203 231 230
+f 203 230 204
+f 205 228 206
+f 206 228 207
+f 207 228 211
+f 208 210 232
+f 209 211 210
+f 210 211 232
+f 211 238 239
+f 211 239 240
+f 211 240 232
+f 211 228 227
+f 211 227 238
+f 213 237 235
+f 213 235 217
+f 213 217 216
+f 213 216 215
+f 213 215 214
+f 217 235 218
+f 218 235 219
+f 219 235 232
+f 219 232 241
+f 219 241 220
+f 220 241 242
+f 220 242 221
+f 221 242 222
+f 222 243 223
+f 222 242 243
+f 223 243 244
+f 223 244 224
+f 224 245 246
+f 224 246 225
+f 224 225 226
+f 224 244 245
+f 225 246 229
+f 227 229 238
+f 229 246 239
+f 229 239 238
+f 232 240 247
+f 232 247 248
+f 232 248 241
+f 232 235 234
+f 232 234 233
+f 235 237 236
+f 239 246 240
+f 240 246 245
+f 240 245 247
+f 241 248 242
+f 242 248 243
+f 243 248 244
+f 244 248 247
+f 244 247 245
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_34.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.05518941 0.04527238 0.01358209
+v -0.05939446 0.04527238 0.01358209
+v -0.05512112 0.04361453 0.01358208
+v -0.05420815 0.04527254 -0.02933571
+v -0.05983459 0.04527254 -0.02933571
+v -0.05985009 0.04306208 -0.02933572
+v -0.05985640 0.04076694 -0.02933573
+v -0.05986042 0.03846735 -0.02933574
+v -0.05986271 0.03617221 -0.02933575
+v -0.05986615 0.03158193 -0.02933576
+v -0.05986673 0.03056138 -0.02933577
+v -0.05986788 0.02826178 -0.02933578
+v -0.05986845 0.02596665 -0.02933578
+v -0.05939963 0.02010609 0.01358199
+v -0.05503160 0.04131939 0.01358207
+v -0.05501095 0.04076678 0.01358207
+v -0.05496045 0.03902426 0.01358206
+v -0.05494495 0.03846719 0.01358206
+v -0.05491798 0.03617205 0.01358205
+v -0.05400960 0.00174069 -0.02933587
+v -0.05986788 0.02367151 -0.02933579
+v -0.05986730 0.02240138 -0.02933580
+v -0.05986500 0.01781111 -0.02933581
+v -0.05986443 0.01680393 -0.02933582
+v -0.05938585 -0.00025156 0.01358192
+v -0.05493233 0.00174053 0.01358193
+v -0.05400673 -0.00025140 -0.02933588
+v -0.05986271 0.01451324 -0.02933583
+v -0.05985640 0.00994525 -0.02933584
+v -0.05983746 -0.00025140 -0.02933588
+v -0.05494667 -0.00025156 0.01358192
+v -0.05986042 0.01222702 -0.02933584
+f 1 2 14
+f 1 14 25
+f 1 25 31
+f 1 31 26
+f 1 26 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 3 15 4
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 27
+f 4 27 30
+f 4 30 29
+f 4 29 32
+f 4 32 28
+f 4 28 24
+f 4 24 23
+f 4 23 22
+f 4 22 21
+f 4 21 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 13 21 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 21 22
+f 19 26 27
+f 19 27 20
+f 24 28 25
+f 25 29 30
+f 25 30 27
+f 25 27 31
+f 25 28 32
+f 25 32 29
+f 26 31 27
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_4.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.05643637 0.05224142 0.05781635
+v -0.05364141 0.05454119 0.05759989
+v -0.05413862 0.05454119 0.05758690
+v -0.05641426 0.05461375 0.05716694
+v -0.05807519 0.05389926 0.05689851
+v -0.05846310 0.05224142 0.05720157
+v -0.05861093 0.04994724 0.05732278
+v -0.05861725 0.04765306 0.05732278
+v -0.05861851 0.04535888 0.05732277
+v -0.05862041 0.04076493 0.05732275
+v -0.05862104 0.03847075 0.05732274
+v -0.05862231 0.03387680 0.05732272
+v -0.05862231 0.03158262 0.05732272
+v -0.05862104 -0.00035732 0.05732260
+v -0.05843404 -0.00035732 0.05734858
+v -0.05643637 -0.00035732 0.05760835
+v -0.05364141 0.05248145 0.05736608
+v -0.05364141 0.05595342 0.05683358
+v -0.05413862 0.05594226 0.05682925
+v -0.05507111 -0.00035732 0.05681172
+v -0.05460171 -0.00035731 0.05537866
+v -0.05563402 0.05584178 0.05670370
+v -0.05966030 0.05244797 0.05546111
+v -0.05716481 0.05542872 0.05585510
+v -0.05835254 0.05461376 0.05520568
+v -0.05976013 0.04994724 0.05617114
+v -0.05976581 0.04765306 0.05619278
+v -0.05976707 0.04535888 0.05619711
+v -0.05976960 0.03847075 0.05620573
+v -0.05977086 0.03387680 0.05620571
+v -0.05977086 0.02928285 0.05620570
+v -0.05967168 -0.00035732 0.05630084
+v -0.05364141 0.05212979 0.05731413
+v -0.05364141 0.05608739 0.05651320
+v -0.05413862 0.05653954 0.05537887
+v -0.05458275 -0.00035731 0.05518383
+v -0.05641426 0.05602600 0.05520569
+v -0.05840940 0.05470308 0.05321412
+v -0.05976581 0.05244798 0.05287208
+v -0.06001157 0.05182279 0.05475108
+v -0.05761778 0.05571341 0.05432680
+v -0.06008296 0.04994725 0.05502815
+v -0.06008991 0.04765307 0.05504547
+v -0.06009117 0.04535889 0.05504979
+v -0.06009244 0.04305912 0.05505411
+v -0.06009370 0.03847076 0.05505842
+v -0.06009433 0.03387681 0.05506273
+v -0.06009496 0.03158263 0.05506273
+v -0.06009560 0.01781195 0.05506268
+v -0.05976960 -0.00035732 0.05620559
+v -0.05364141 0.05079570 0.05651318
+v -0.05438059 -0.00035731 0.05308836
+v -0.05364141 0.05655070 0.05537887
+v -0.05413862 0.05664560 0.05308857
+v -0.05654504 0.05606507 0.05321413
+v -0.05824766 0.05420643 0.01358632
+v -0.05761778 0.05571341 0.05405837
+v -0.05909424 0.05224158 0.01358631
+v -0.06001157 0.05182279 0.05348686
+v -0.06009117 0.04765307 0.05308854
+v -0.05939433 0.04535904 0.01358629
+v -0.06009370 0.03847076 0.05310149
+v -0.06009433 0.03617099 0.05505841
+v -0.06009496 0.03158263 0.05310580
+v -0.06009560 0.01781195 0.05311008
+v -0.06009496 0.00403569 0.05505829
+v -0.06006653 -0.00035731 0.05515786
+v -0.05364141 0.05007564 0.05551306
+v -0.05494728 -0.00035716 0.01358612
+v -0.05364141 0.05027674 0.01358630
+v -0.05364141 0.04960117 0.05308854
+v -0.05364141 0.05005889 0.05547842
+v -0.05364141 0.05665676 0.05308857
+v -0.05532066 0.05569681 0.01358632
+v -0.05646986 0.05535073 0.01358632
+v -0.05912961 0.05168897 0.01358631
+v -0.05924081 0.04994740 0.01358630
+v -0.06009433 0.03617099 0.05310148
+v -0.05939938 0.02010628 0.01358619
+v -0.06009496 0.00403569 0.05311002
+v -0.06009433 -0.00035731 0.05505828
+v -0.05938675 -0.00035716 0.01358612
+v -0.05364141 0.05547354 0.01358632
+v -0.05524548 0.05569681 0.01358632
+v -0.06009433 -0.00035731 0.05311001
+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 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 16
+f 1 16 2
+f 2 17 33
+f 2 33 51
+f 2 51 68
+f 2 68 72
+f 2 72 71
+f 2 71 70
+f 2 70 83
+f 2 83 73
+f 2 73 53
+f 2 53 34
+f 2 34 18
+f 2 18 19
+f 2 19 3
+f 2 16 20
+f 2 20 21
+f 2 21 17
+f 3 19 22
+f 3 22 4
+f 4 22 5
+f 5 23 6
+f 5 22 24
+f 5 24 25
+f 5 25 23
+f 6 23 26
+f 6 26 7
+f 7 26 27
+f 7 27 8
+f 8 27 28
+f 8 28 29
+f 8 29 9
+f 9 29 10
+f 10 29 11
+f 11 29 30
+f 11 30 12
+f 12 30 31
+f 12 31 13
+f 13 31 14
+f 14 32 50
+f 14 50 67
+f 14 67 81
+f 14 81 85
+f 14 85 82
+f 14 82 69
+f 14 69 52
+f 14 52 36
+f 14 36 21
+f 14 21 20
+f 14 20 16
+f 14 16 15
+f 14 31 32
+f 17 21 33
+f 18 34 19
+f 19 34 35
+f 19 35 22
+f 21 36 33
+f 22 35 37
+f 22 37 24
+f 23 25 38
+f 23 38 39
+f 23 39 40
+f 23 40 26
+f 24 37 41
+f 24 41 25
+f 25 41 38
+f 26 40 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 30 49 31
+f 31 49 50
+f 31 50 32
+f 33 36 52
+f 33 52 51
+f 34 53 35
+f 35 53 73
+f 35 73 54
+f 35 54 37
+f 37 54 55
+f 37 55 41
+f 38 56 39
+f 38 41 57
+f 38 57 56
+f 39 56 58
+f 39 58 59
+f 39 59 40
+f 40 59 42
+f 41 55 57
+f 42 60 43
+f 42 59 61
+f 42 61 60
+f 43 60 44
+f 44 60 45
+f 45 60 46
+f 46 62 78
+f 46 78 63
+f 46 63 48
+f 46 48 47
+f 46 60 62
+f 48 63 78
+f 48 78 64
+f 48 64 65
+f 48 65 49
+f 49 65 80
+f 49 80 66
+f 49 66 67
+f 49 67 50
+f 51 52 68
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 68
+f 54 73 74
+f 54 74 55
+f 55 74 75
+f 55 75 57
+f 56 57 75
+f 56 75 74
+f 56 74 84
+f 56 84 83
+f 56 83 70
+f 56 70 69
+f 56 69 82
+f 56 82 79
+f 56 79 61
+f 56 61 77
+f 56 77 76
+f 56 76 58
+f 58 76 59
+f 59 76 77
+f 59 77 61
+f 60 61 78
+f 60 78 62
+f 61 79 78
+f 64 78 79
+f 64 79 65
+f 65 79 80
+f 66 80 85
+f 66 85 81
+f 66 81 67
+f 73 84 74
+f 73 83 84
+f 79 82 85
+f 79 85 80
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_5.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.05643621 -0.05106767 0.05781664
+v -0.05862177 -0.03040143 0.05732315
+v -0.05862106 -0.03499631 0.05732313
+v -0.05862035 -0.03728839 0.05732312
+v -0.05861894 -0.03958583 0.05732311
+v -0.05861330 -0.04647279 0.05732309
+v -0.05861330 -0.04877024 0.05731875
+v -0.05841486 -0.05106767 0.05715421
+v -0.05800741 -0.05265119 0.05683816
+v -0.05630769 -0.05339732 0.05709359
+v -0.05413838 -0.05335975 0.05746593
+v -0.05288071 -0.05335975 0.05748758
+v -0.05643621 -0.00036290 0.05760901
+v -0.05843464 -0.00036290 0.05734924
+v -0.05862106 -0.00036290 0.05732326
+v -0.05862247 -0.01893031 0.05732319
+v -0.05862247 -0.02122239 0.05732318
+v -0.05977139 -0.02122239 0.05620615
+v -0.05977068 -0.02810935 0.05620613
+v -0.05976998 -0.03269887 0.05620611
+v -0.05976927 -0.03728839 0.05620176
+v -0.05976786 -0.03958583 0.05619743
+v -0.05976503 -0.04188327 0.05619309
+v -0.05976221 -0.04647279 0.05618008
+v -0.05976221 -0.04877024 0.05617142
+v -0.05959485 -0.05119113 0.05546569
+v -0.05843534 -0.05309135 0.05537909
+v -0.05708941 -0.05423470 0.05537909
+v -0.05545606 -0.05457289 0.05660435
+v -0.05413838 -0.05463193 0.05667362
+v -0.05288071 -0.05464267 0.05669095
+v -0.05288071 -0.05098179 0.05734038
+v -0.05507121 -0.00036290 0.05681237
+v -0.05976998 -0.00036290 0.05620623
+v -0.06009481 -0.02581727 0.05506314
+v -0.06006656 -0.00036289 0.05515848
+v -0.06009410 -0.03499630 0.05505877
+v -0.06009340 -0.03958582 0.05505442
+v -0.06008704 -0.04647278 0.05503275
+v -0.06008139 -0.04877023 0.05502842
+v -0.06001219 -0.05050941 0.05475565
+v -0.06009198 -0.04188326 0.05504576
+v -0.05972549 -0.05119112 0.05286796
+v -0.05853985 -0.05320944 0.05308876
+v -0.05722781 -0.05435816 0.05308876
+v -0.05594120 -0.05476612 0.05537909
+v -0.05413838 -0.05507209 0.05537909
+v -0.05288071 -0.05509893 0.05537909
+v -0.05288071 -0.05040206 0.05687713
+v -0.05438059 -0.00036289 0.05308896
+v -0.05458255 -0.00036289 0.05518446
+v -0.05460162 -0.00036289 0.05537929
+v -0.06009410 -0.00036289 0.05505890
+v -0.06009481 -0.02581727 0.05309752
+v -0.06009410 -0.03499630 0.05309748
+v -0.06009340 -0.03958582 0.05309746
+v -0.06008987 -0.04418071 0.05503276
+v -0.06008987 -0.04418071 0.05310612
+v -0.06001219 -0.05050941 0.05348709
+v -0.05956378 -0.03554904 0.01358599
+v -0.05954471 -0.03784648 0.01358598
+v -0.05952988 -0.03958567 0.01358597
+v -0.05950164 -0.04188311 0.01358597
+v -0.06009198 -0.04188326 0.05309746
+v -0.05911043 -0.05106751 0.01358593
+v -0.05827292 -0.05302678 0.01358593
+v -0.05607960 -0.05480906 0.05308876
+v -0.05687897 -0.05389101 0.01358592
+v -0.05643621 -0.05416477 0.01358592
+v -0.05413838 -0.05516334 0.05308876
+v -0.05288071 -0.05520092 0.05308876
+v -0.05288071 -0.04994043 0.05647882
+v -0.05494693 -0.00036274 0.01358612
+v -0.05288071 -0.04915671 0.05544838
+v -0.05288071 -0.04877559 0.05308878
+v -0.05288071 -0.04930152 0.02097649
+v -0.05288071 -0.04962893 0.01358594
+v -0.06009410 -0.00036289 0.05311060
+v -0.05966335 -0.02122223 0.01358604
+v -0.05966193 -0.02178049 0.01358604
+v -0.05965699 -0.02351967 0.01358603
+v -0.05965346 -0.02407793 0.01358603
+v -0.05964146 -0.02581712 0.01358603
+v -0.05963722 -0.02637001 0.01358602
+v -0.05962381 -0.02810919 0.01358602
+v -0.05943809 -0.04418056 0.01358596
+v -0.05413838 -0.05422381 0.01358592
+v -0.05288071 -0.05408425 0.01358592
+v -0.05938724 -0.00036274 0.01358612
+v -0.05951859 -0.00744831 0.01358609
+v -0.05955531 -0.00974575 0.01358608
+v -0.05958708 -0.01204320 0.01358608
+v -0.05959414 -0.01259608 0.01358607
+v -0.05961533 -0.01433527 0.01358607
+v -0.05963793 -0.01663271 0.01358606
+v -0.05965558 -0.01893015 0.01358605
+v -0.05965770 -0.01948305 0.01358605
+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 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 16
+f 1 16 17
+f 1 17 2
+f 2 17 18
+f 2 18 19
+f 2 19 3
+f 3 19 20
+f 3 20 4
+f 4 20 5
+f 5 20 6
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 8
+f 8 26 9
+f 8 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 10 29 11
+f 11 29 30
+f 11 30 31
+f 11 31 12
+f 12 31 48
+f 12 48 71
+f 12 71 88
+f 12 88 77
+f 12 77 76
+f 12 76 75
+f 12 75 74
+f 12 74 72
+f 12 72 49
+f 12 49 32
+f 12 32 33
+f 12 33 13
+f 13 33 52
+f 13 52 51
+f 13 51 50
+f 13 50 73
+f 13 73 89
+f 13 89 78
+f 13 78 53
+f 13 53 36
+f 13 36 34
+f 13 34 15
+f 13 15 14
+f 15 34 16
+f 16 34 18
+f 16 18 17
+f 18 35 19
+f 18 34 36
+f 18 36 35
+f 19 35 20
+f 20 37 38
+f 20 38 21
+f 20 35 37
+f 21 38 22
+f 22 38 25
+f 22 25 23
+f 23 25 24
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 25 38 42
+f 25 42 39
+f 26 43 44
+f 26 44 27
+f 26 41 43
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 30 48 31
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 35 36 53
+f 35 53 78
+f 35 78 54
+f 35 54 55
+f 35 55 37
+f 37 55 56
+f 37 56 38
+f 38 56 64
+f 38 64 42
+f 39 57 58
+f 39 58 40
+f 39 42 57
+f 40 59 41
+f 40 58 60
+f 40 60 61
+f 40 61 62
+f 40 62 63
+f 40 63 59
+f 41 59 43
+f 42 64 58
+f 42 58 57
+f 43 65 66
+f 43 66 44
+f 43 59 65
+f 44 66 45
+f 45 67 46
+f 45 66 68
+f 45 68 69
+f 45 69 67
+f 46 67 70
+f 46 70 47
+f 47 70 71
+f 47 71 48
+f 49 72 50
+f 50 72 74
+f 50 74 75
+f 50 75 76
+f 50 76 77
+f 50 77 73
+f 54 78 79
+f 54 79 55
+f 55 79 56
+f 56 79 64
+f 58 64 79
+f 58 79 80
+f 58 80 81
+f 58 81 82
+f 58 82 83
+f 58 83 84
+f 58 84 85
+f 58 85 60
+f 59 63 86
+f 59 86 65
+f 60 85 84
+f 60 84 83
+f 60 83 82
+f 60 82 81
+f 60 81 80
+f 60 80 79
+f 60 79 97
+f 60 97 96
+f 60 96 95
+f 60 95 94
+f 60 94 93
+f 60 93 92
+f 60 92 91
+f 60 91 90
+f 60 90 89
+f 60 89 73
+f 60 73 77
+f 60 77 88
+f 60 88 87
+f 60 87 69
+f 60 69 68
+f 60 68 66
+f 60 66 65
+f 60 65 86
+f 60 86 63
+f 60 63 62
+f 60 62 61
+f 67 69 70
+f 69 87 71
+f 69 71 70
+f 71 87 88
+f 78 89 90
+f 78 90 91
+f 78 91 92
+f 78 92 93
+f 78 93 94
+f 78 94 95
+f 78 95 96
+f 78 96 97
+f 78 97 79
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_6.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.05494652 -0.00025601 0.01358612
+v -0.05467681 -0.00025586 -0.02781373
+v -0.05938617 -0.00025601 0.01358612
+v -0.05467681 -0.04738535 0.01358595
+v -0.05467681 -0.00025583 -0.03623786
+v -0.06044972 -0.00025584 -0.03168256
+v -0.05951848 -0.00745063 0.01358609
+v -0.05467681 -0.05420755 0.01358592
+v -0.05643583 -0.00025583 -0.03645852
+v -0.05467681 -0.05052641 -0.03645871
+v -0.06031741 -0.00025584 -0.03354096
+v -0.06045141 -0.00515120 -0.03168258
+v -0.05966379 -0.02122457 0.01358604
+v -0.05965587 -0.01893071 0.01358605
+v -0.05963835 -0.01663146 0.01358606
+v -0.05962082 -0.01489352 0.01358607
+v -0.05961516 -0.01433760 0.01358607
+v -0.05959424 -0.01259427 0.01358607
+v -0.05958746 -0.01204374 0.01358608
+v -0.05955523 -0.00974449 0.01358608
+v -0.05952752 -0.00800655 0.01358609
+v -0.05469377 -0.05420755 0.01358592
+v -0.05467681 -0.05539479 -0.03170237
+v -0.05861664 -0.00025583 -0.03579655
+v -0.05643583 -0.04877228 -0.03650773
+v -0.05866074 -0.04647302 -0.03585066
+v -0.05467681 -0.05106614 -0.03643910
+v -0.06045198 -0.00745046 -0.03168259
+v -0.06029706 -0.00025584 -0.03382046
+v -0.06029706 -0.01663129 -0.03382052
+v -0.06045254 -0.02122440 -0.03168264
+v -0.06045254 -0.01663129 -0.03168262
+v -0.05965700 -0.02351843 0.01358603
+v -0.06045198 -0.02351826 -0.03168265
+v -0.06045028 -0.02810598 -0.03168266
+v -0.06044915 -0.03040523 -0.03168267
+v -0.06044689 -0.03499295 -0.03168269
+v -0.06044519 -0.03729220 -0.03168270
+v -0.06044180 -0.04187992 -0.03168271
+v -0.06043954 -0.04417917 -0.03168272
+v -0.06043501 -0.04647303 -0.03168273
+v -0.05643583 -0.05416437 0.01358592
+v -0.05649237 -0.05493602 -0.03176121
+v -0.05766956 -0.05457980 -0.03300179
+v -0.05633970 -0.05487125 -0.03385008
+v -0.05467681 -0.05536780 -0.03221233
+v -0.05876817 -0.00025583 -0.03568868
+v -0.05643583 -0.05106614 -0.03642439
+v -0.05866074 -0.04877228 -0.03585067
+v -0.05980967 -0.04647302 -0.03501217
+v -0.05976500 -0.00025583 -0.03496787
+v -0.05467681 -0.05282566 -0.03614979
+v -0.05983567 -0.00025583 -0.03481586
+v -0.06029253 -0.04647303 -0.03386476
+v -0.05965361 -0.02407435 0.01358603
+v -0.06028744 -0.04877229 -0.03385987
+v -0.06041014 -0.04877229 -0.03168274
+v -0.05952979 -0.03958623 0.01358597
+v -0.05954448 -0.03784290 0.01358598
+v -0.05956371 -0.03554904 0.01358599
+v -0.05956823 -0.03499312 0.01358599
+v -0.05958689 -0.03269926 0.01358600
+v -0.05962364 -0.02810615 0.01358602
+v -0.05964173 -0.02581769 0.01358603
+v -0.05766956 -0.05457980 -0.03258009
+v -0.05827286 -0.05303094 0.01358593
+v -0.05998607 -0.05235071 -0.03309984
+v -0.05861720 -0.05325745 -0.03381576
+v -0.05704139 -0.05416959 -0.03452676
+v -0.05550967 -0.05461217 -0.03522305
+v -0.05467681 -0.05523287 -0.03394325
+v -0.05845662 -0.05106614 -0.03570358
+v -0.05467681 -0.05337078 -0.03596838
+v -0.05633970 -0.05338698 -0.03566436
+v -0.05803256 -0.05264215 -0.03541428
+v -0.05980910 -0.04877228 -0.03500728
+v -0.06016022 -0.05106615 -0.03354606
+v -0.06014722 -0.05100677 -0.03169746
+v -0.05911081 -0.05106632 0.01358593
+v -0.05943818 -0.04417934 0.01358596
+v -0.05948625 -0.04243601 0.01358596
+v -0.05950151 -0.04188009 0.01358597
+v -0.05952300 -0.04014215 0.01358597
+v -0.05998607 -0.05235071 -0.03247220
+v -0.05890896 -0.05154128 0.01358593
+v -0.05960498 -0.05106614 -0.03468856
+v -0.05467681 -0.05465535 -0.03526718
+v -0.05467681 -0.05506015 -0.03446302
+f 1 2 5
+f 1 5 9
+f 1 9 24
+f 1 24 47
+f 1 47 51
+f 1 51 53
+f 1 53 29
+f 1 29 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 33
+f 1 33 55
+f 1 55 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 60
+f 1 60 59
+f 1 59 58
+f 1 58 83
+f 1 83 82
+f 1 82 81
+f 1 81 80
+f 1 80 79
+f 1 79 85
+f 1 85 66
+f 1 66 42
+f 1 42 22
+f 1 22 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 23
+f 2 23 46
+f 2 46 71
+f 2 71 88
+f 2 88 87
+f 2 87 73
+f 2 73 52
+f 2 52 27
+f 2 27 10
+f 2 10 5
+f 3 6 7
+f 5 10 9
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 8 22 23
+f 9 10 25
+f 9 25 26
+f 9 26 24
+f 10 27 48
+f 10 48 25
+f 11 28 12
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 28
+f 12 28 13
+f 13 28 32
+f 13 32 31
+f 13 31 34
+f 13 34 35
+f 13 35 36
+f 13 36 37
+f 13 37 38
+f 13 38 39
+f 13 39 40
+f 13 40 41
+f 13 41 33
+f 22 42 23
+f 23 43 44
+f 23 44 45
+f 23 45 46
+f 23 42 43
+f 24 26 47
+f 25 48 49
+f 25 49 26
+f 26 49 50
+f 26 50 51
+f 26 51 47
+f 27 52 48
+f 29 53 50
+f 29 50 54
+f 29 54 30
+f 30 54 31
+f 31 54 34
+f 33 41 55
+f 34 54 35
+f 35 54 36
+f 36 54 37
+f 37 54 38
+f 38 54 39
+f 39 54 40
+f 40 54 41
+f 41 54 56
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 55
+f 42 65 43
+f 42 66 65
+f 43 65 44
+f 44 65 84
+f 44 84 67
+f 44 67 68
+f 44 68 69
+f 44 69 45
+f 45 70 71
+f 45 71 46
+f 45 69 70
+f 48 72 49
+f 48 52 73
+f 48 73 74
+f 48 74 75
+f 48 75 72
+f 49 76 50
+f 49 72 76
+f 50 76 54
+f 50 53 51
+f 54 76 56
+f 56 76 77
+f 56 77 57
+f 57 77 78
+f 57 78 79
+f 57 79 80
+f 57 80 81
+f 57 81 82
+f 57 82 83
+f 57 83 58
+f 65 66 84
+f 66 85 84
+f 67 84 77
+f 67 77 86
+f 67 86 75
+f 67 75 68
+f 68 75 69
+f 69 75 70
+f 70 87 88
+f 70 88 71
+f 70 75 74
+f 70 74 73
+f 70 73 87
+f 72 75 86
+f 72 86 76
+f 76 86 77
+f 77 84 78
+f 78 84 79
+f 79 84 85
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_7.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.00012911 0.05684120 -0.03168555
+v -0.02886696 0.05683561 -0.03168555
+v -0.03115795 0.05652821 -0.03053822
+v -0.00012911 0.05653380 -0.03055807
+v -0.00012911 0.05654498 -0.03397612
+v -0.05183598 0.05661764 -0.03397612
+v -0.04724217 0.05681325 -0.03168555
+v -0.05183598 0.05680208 -0.03168555
+v -0.03575766 0.05651144 -0.03053822
+v -0.00012911 0.05652821 -0.03053822
+v -0.00012911 0.05583519 -0.03524373
+v -0.05183598 0.05590785 -0.03533716
+v -0.05413288 0.05589108 -0.03531964
+v -0.05413288 0.05657293 -0.03397612
+v -0.05413288 0.05674060 -0.03168555
+v -0.05414469 0.05639966 -0.03053822
+v -0.05292243 0.05642761 -0.03053822
+v -0.04724217 0.05646673 -0.03053822
+v -0.04494527 0.05647791 -0.03053822
+v -0.00012911 0.04888807 -0.03053825
+v -0.00012911 0.05453855 -0.03603199
+v -0.04953907 0.05453855 -0.03615869
+v -0.05183598 0.05453855 -0.03614001
+v -0.05413288 0.05453855 -0.03609155
+v -0.05554999 0.05580725 -0.03524024
+v -0.05635892 0.05608110 -0.03387511
+v -0.05650064 0.05614258 -0.03173226
+v -0.05500086 0.05631582 -0.03053822
+v -0.00012911 -0.00025026 -0.03059039
+v -0.05166474 -0.00025026 -0.03053843
+v -0.00012911 0.05224707 -0.03636248
+v -0.05413288 0.05224707 -0.03644072
+v -0.05643569 0.05224707 -0.03642845
+v -0.05635892 0.05458326 -0.03568399
+v -0.05805355 0.05384552 -0.03543001
+v -0.05707929 0.05537689 -0.03457169
+v -0.05769337 0.05577929 -0.03304484
+v -0.05769337 0.05577929 -0.03252694
+v -0.05617588 0.05601402 -0.03053822
+v -0.00012911 -0.00025024 -0.03590023
+v -0.06016151 -0.00025026 -0.03053843
+v -0.05643569 -0.00025024 -0.03646076
+v -0.05643569 0.04995000 -0.03650262
+v -0.05867354 0.04995000 -0.03584925
+v -0.05848459 0.05224707 -0.03571437
+v -0.05963009 0.05224707 -0.03472818
+v -0.05999027 0.05354370 -0.03313301
+v -0.05863811 0.05446029 -0.03385177
+v -0.05859088 0.05444911 -0.03053823
+v -0.05764614 0.05519803 -0.03053823
+v -0.05722691 0.05552778 -0.03053823
+v -0.05999027 0.05354370 -0.03243702
+v -0.06016741 0.01018437 -0.03053839
+v -0.06039179 -0.00025025 -0.03146680
+v -0.05861450 -0.00025024 -0.03579980
+v -0.05866764 0.04765292 -0.03584808
+v -0.05982495 0.04995000 -0.03503182
+v -0.06016151 0.05224706 -0.03358261
+v -0.05942933 0.05325865 -0.03053823
+v -0.06014379 0.05217999 -0.03167798
+v -0.05974228 0.05290096 -0.03090959
+v -0.06017332 0.02394444 -0.03053834
+v -0.06044493 -0.00025025 -0.03168576
+v -0.05876802 -0.00025024 -0.03569062
+v -0.05976590 0.00173943 -0.03497068
+v -0.06029731 -0.00025025 -0.03382452
+v -0.06029141 0.04765291 -0.03388098
+v -0.06027960 0.04994999 -0.03388623
+v -0.06039179 0.04994999 -0.03168558
+v -0.05968323 0.05270534 -0.03053824
+v -0.05999027 0.05120750 -0.03053824
+v -0.05996075 0.05146459 -0.03053824
+v -0.05988399 0.05181111 -0.03053824
+v -0.06017332 0.02699602 -0.03053833
+v -0.06045083 0.02469896 -0.03168567
+v -0.05975999 -0.00025024 -0.03497010
+v -0.06029731 0.00173942 -0.03382510
+v -0.06029731 0.00403649 -0.03382510
+v -0.06044493 0.03847021 -0.03168562
+v -0.06043902 0.04535584 -0.03168559
+v -0.06042131 0.04765291 -0.03168558
+v -0.06012608 0.04765290 -0.03053825
+v -0.06007294 0.04994998 -0.03053825
+v -0.06016741 0.03847020 -0.03053829
+v -0.06016151 0.04233219 -0.03053827
+v -0.06014970 0.04535583 -0.03053826
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 29
+f 1 29 40
+f 1 40 31
+f 1 31 21
+f 1 21 11
+f 1 11 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 19
+f 3 19 18
+f 3 18 17
+f 3 17 16
+f 3 16 28
+f 3 28 39
+f 3 39 51
+f 3 51 50
+f 3 50 49
+f 3 49 59
+f 3 59 70
+f 3 70 73
+f 3 73 72
+f 3 72 71
+f 3 71 83
+f 3 83 82
+f 3 82 86
+f 3 86 85
+f 3 85 84
+f 3 84 74
+f 3 74 62
+f 3 62 53
+f 3 53 41
+f 3 41 30
+f 3 30 20
+f 3 20 10
+f 3 10 4
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 8
+f 6 8 7
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 11 21 12
+f 12 22 23
+f 12 23 13
+f 12 21 22
+f 13 24 25
+f 13 25 14
+f 13 23 24
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 20 30 29
+f 21 31 22
+f 22 32 33
+f 22 33 23
+f 22 31 32
+f 23 33 24
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 29 30 41
+f 29 41 54
+f 29 54 63
+f 29 63 66
+f 29 66 76
+f 29 76 64
+f 29 64 55
+f 29 55 42
+f 29 42 40
+f 31 40 42
+f 31 42 43
+f 31 43 32
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 35
+f 33 35 34
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 48 37
+f 37 48 47
+f 37 47 52
+f 37 52 38
+f 38 49 50
+f 38 50 51
+f 38 51 39
+f 38 52 49
+f 41 53 54
+f 42 55 56
+f 42 56 44
+f 42 44 43
+f 44 56 55
+f 44 55 57
+f 44 57 45
+f 45 57 46
+f 46 57 58
+f 46 58 47
+f 47 58 52
+f 49 52 59
+f 52 58 60
+f 52 60 61
+f 52 61 59
+f 53 62 54
+f 54 62 63
+f 55 64 57
+f 57 65 66
+f 57 66 67
+f 57 67 68
+f 57 68 58
+f 57 64 65
+f 58 68 69
+f 58 69 60
+f 59 61 70
+f 60 71 72
+f 60 72 73
+f 60 73 70
+f 60 70 61
+f 60 69 71
+f 62 74 75
+f 62 75 63
+f 63 75 66
+f 64 76 65
+f 65 76 66
+f 66 75 77
+f 66 77 67
+f 67 77 78
+f 67 78 75
+f 67 75 79
+f 67 79 80
+f 67 80 68
+f 68 80 81
+f 68 81 69
+f 69 81 82
+f 69 82 83
+f 69 83 71
+f 74 79 75
+f 74 84 79
+f 75 78 77
+f 79 84 80
+f 80 84 85
+f 80 85 86
+f 80 86 81
+f 81 86 82
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_8.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.06014108 -0.04505935 -0.03168577
+v 0.06013516 -0.04647753 -0.03168577
+v 0.05999311 -0.04877339 -0.03384172
+v 0.05999903 -0.04647753 -0.03384081
+v 0.05999903 -0.04505935 -0.03382997
+v 0.05914676 -0.04505937 -0.02728627
+v 0.06011149 -0.04877339 -0.03168578
+v 0.05914084 -0.04647755 -0.02728627
+v 0.05985107 -0.05106821 -0.03351206
+v 0.05949595 -0.04877338 -0.03498788
+v 0.05949004 -0.04647752 -0.03498607
+v 0.05947820 -0.04505934 -0.03497523
+v 0.05501557 -0.04505937 -0.02728627
+v 0.05964984 -0.05018743 -0.03037162
+v 0.05983923 -0.05099871 -0.03172282
+v 0.05904614 -0.04877341 -0.02728628
+v 0.05886858 -0.05085556 -0.02728629
+v 0.05885083 -0.05106305 -0.02728629
+v 0.05967351 -0.05233804 -0.03251041
+v 0.05967351 -0.05233804 -0.03307130
+v 0.05928288 -0.05106820 -0.03465732
+v 0.05813467 -0.05106820 -0.03568877
+v 0.05834774 -0.04877338 -0.03583870
+v 0.05834183 -0.04647752 -0.03583507
+v 0.05832999 -0.04505934 -0.03582514
+v -0.00031745 -0.04505936 -0.03058928
+v -0.00031745 -0.05045406 -0.02728629
+v 0.05809325 -0.05287753 -0.02728629
+v 0.05801630 -0.05303315 -0.02728629
+v 0.05737709 -0.05458514 -0.03259532
+v 0.05737709 -0.05458514 -0.03299634
+v 0.05831223 -0.05324269 -0.03379748
+v 0.05771445 -0.05261607 -0.03540156
+v 0.05614010 -0.05106820 -0.03640411
+v 0.05614010 -0.04877338 -0.03651248
+v 0.05614010 -0.04505934 -0.03649080
+v 0.05698055 -0.04505934 -0.03623700
+v -0.00031745 -0.04505934 -0.03589920
+v -0.00031745 -0.05471069 -0.02728630
+v 0.05789201 -0.05312444 -0.02728630
+v 0.05603949 -0.05423970 -0.02728630
+v 0.05618154 -0.05493995 -0.03177341
+v 0.05384369 -0.05552403 -0.03168580
+v 0.05602765 -0.05486940 -0.03384625
+v 0.05672013 -0.05414630 -0.03452365
+v 0.05518721 -0.05460588 -0.03521460
+v 0.05602765 -0.05337444 -0.03564363
+v 0.05384369 -0.05336406 -0.03604284
+v 0.05154135 -0.05336406 -0.03609884
+v 0.05384369 -0.05106820 -0.03643934
+v -0.00031745 -0.05106820 -0.03635985
+v -0.00031745 -0.05565475 -0.03168580
+v 0.00081892 -0.05471277 -0.02728630
+v 0.05538844 -0.05442125 -0.02728630
+v 0.05505108 -0.05452707 -0.02751933
+v 0.05154135 -0.05558420 -0.03168580
+v 0.05384369 -0.05534455 -0.03397632
+v 0.05384369 -0.05468058 -0.03528686
+v 0.05154135 -0.05470236 -0.03530764
+v 0.04924493 -0.05336406 -0.03611329
+v -0.00031745 -0.05204028 -0.03622257
+v 0.00330473 -0.05565786 -0.03168580
+v 0.00312126 -0.05471484 -0.02728630
+v -0.00031745 -0.05536738 -0.03397632
+v 0.05453025 -0.05448246 -0.02728630
+v 0.04254508 -0.05461421 -0.02728630
+v 0.04924493 -0.05559976 -0.03168580
+v 0.05154135 -0.05539020 -0.03397632
+v -0.00031745 -0.05495758 -0.03470791
+v -0.00031745 -0.05465568 -0.03524441
+v -0.00031745 -0.05336406 -0.03603471
+v 0.00560115 -0.05565682 -0.03168580
+v 0.01001051 -0.05471484 -0.02728630
+v 0.04694852 -0.05561014 -0.03168580
+v 0.03068419 -0.05466608 -0.02728630
+v 0.04235568 -0.05561947 -0.03168580
+v 0.03316409 -0.05563607 -0.03168580
+v 0.03086767 -0.05563918 -0.03168580
+v 0.01249041 -0.05471173 -0.02728630
+v 0.02857717 -0.05467335 -0.02728630
+v 0.01690569 -0.05470239 -0.02728630
+v 0.01478683 -0.05470758 -0.02728630
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 25
+f 1 25 37
+f 1 37 36
+f 1 36 38
+f 1 38 26
+f 1 26 13
+f 1 13 6
+f 1 6 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 27
+f 6 27 39
+f 6 39 53
+f 6 53 63
+f 6 63 73
+f 6 73 79
+f 6 79 82
+f 6 82 81
+f 6 81 80
+f 6 80 75
+f 6 75 66
+f 6 66 65
+f 6 65 54
+f 6 54 41
+f 6 41 40
+f 6 40 29
+f 6 29 28
+f 6 28 18
+f 6 18 17
+f 6 17 16
+f 6 16 8
+f 7 14 15
+f 7 15 9
+f 7 8 16
+f 7 16 17
+f 7 17 18
+f 7 18 14
+f 9 15 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 13 26 27
+f 14 18 15
+f 15 18 19
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 26 38 51
+f 26 51 61
+f 26 61 71
+f 26 71 70
+f 26 70 69
+f 26 69 64
+f 26 64 52
+f 26 52 39
+f 26 39 27
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 36
+f 36 51 38
+f 39 52 53
+f 41 54 42
+f 42 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 44 46 45
+f 44 57 46
+f 46 57 58
+f 46 58 48
+f 46 48 47
+f 48 58 49
+f 49 58 59
+f 49 59 60
+f 49 60 50
+f 50 60 51
+f 51 60 61
+f 52 62 63
+f 52 63 53
+f 52 64 62
+f 54 65 55
+f 55 65 56
+f 56 65 66
+f 56 66 67
+f 56 67 68
+f 56 68 57
+f 57 68 58
+f 58 68 59
+f 59 68 64
+f 59 64 69
+f 59 69 70
+f 59 70 71
+f 59 71 60
+f 60 71 61
+f 62 72 73
+f 62 73 63
+f 62 64 68
+f 62 68 72
+f 66 74 67
+f 66 75 74
+f 67 74 68
+f 68 74 76
+f 68 76 77
+f 68 77 78
+f 68 78 72
+f 72 78 73
+f 73 78 79
+f 74 75 80
+f 74 80 81
+f 74 81 82
+f 74 82 76
+f 76 82 79
+f 76 79 77
+f 77 79 78
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/mesh/storage_bin_006_collision_9.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.05080908 0.04716363 -0.03230294
+v 0.05080908 0.04716364 -0.03589524
+v 0.05045007 0.04716362 -0.03056693
+v 0.05080908 0.04715898 -0.03056274
+v 0.05080908 0.04535803 -0.03589629
+v 0.04465122 0.04535803 -0.03590100
+v 0.04465122 0.04716364 -0.03589890
+v 0.00076341 0.04716362 -0.03058418
+v 0.05080908 0.02227026 -0.03056336
+v -0.00012911 0.03158148 -0.03058162
+v 0.05080908 0.00174009 -0.03589749
+v 0.04694982 -0.00025583 -0.03590064
+v 0.04465122 -0.00025583 -0.03590221
+v 0.04235262 0.03846976 -0.03590259
+v 0.04235262 0.04076740 -0.03590206
+v 0.04235262 0.04535803 -0.03590100
+v 0.04284624 0.04716364 -0.03589943
+v -0.00012911 0.04716362 -0.03058470
+v 0.05080908 0.00620073 -0.03056394
+v -0.00012911 0.00403307 -0.03058800
+v 0.05080908 -0.00025583 -0.03589750
+v 0.04235262 -0.00025583 -0.03590325
+v 0.04005402 -0.00025583 -0.03590378
+v 0.03546180 -0.00025583 -0.03590430
+v 0.00100274 0.04076740 -0.03590154
+v 0.00789854 0.04535803 -0.03590047
+v 0.00789854 0.04716364 -0.03589943
+v -0.00012911 0.04716364 -0.03589786
+v 0.05080908 -0.00025585 -0.03056553
+v 0.00100274 0.00403307 -0.03058748
+v -0.00012911 0.00174007 -0.03058905
+v 0.00759439 -0.00025583 -0.03590221
+v 0.00299719 -0.00025583 -0.03590169
+v -0.00012911 -0.00025583 -0.03590064
+v -0.00012911 0.04076740 -0.03590102
+v 0.00100274 0.04535803 -0.03589995
+v 0.00330134 0.04716364 -0.03589890
+v -0.00012911 0.04535803 -0.03589943
+v 0.00100274 0.04716364 -0.03589838
+v -0.00012911 0.00060750 -0.03058958
+v -0.00012911 -0.00025585 -0.03059011
+f 1 2 7
+f 1 7 17
+f 1 17 27
+f 1 27 37
+f 1 37 39
+f 1 39 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 29
+f 1 29 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 10
+f 4 10 9
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 27
+f 6 27 17
+f 6 17 7
+f 8 18 10
+f 9 10 19
+f 10 18 28
+f 10 28 38
+f 10 38 35
+f 10 35 34
+f 10 34 41
+f 10 41 40
+f 10 40 31
+f 10 31 20
+f 10 20 19
+f 11 21 12
+f 12 21 29
+f 12 29 41
+f 12 41 34
+f 12 34 33
+f 12 33 32
+f 12 32 24
+f 12 24 23
+f 12 23 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 19 20 30
+f 19 30 29
+f 20 31 29
+f 20 29 30
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 38
+f 25 38 36
+f 25 36 26
+f 26 36 27
+f 27 36 37
+f 28 39 36
+f 28 36 38
+f 29 31 40
+f 29 40 41
+f 36 39 37
+

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/mjcf/storage_bin_006.xml

@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_006">
+  <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_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_006_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_bin_006_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_bin_006_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_bin_006_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_bin_006_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_bin_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_006">
+      <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/0756d375c9b95c2bbb8d1fce9e84255d/storage_bin_006.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_006">
+   <link name="storage_bin_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0500" />
+         <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>0756d375c9b95c2bbb8d1fce9e84255d</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>gray fabric bin</name>
+         <color>gray,beige</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>square gray fabric storage bin with side handles</description>
+         <min_height>0.0939</min_height>
+         <max_height>0.0939</max_height>
+         <real_height>0.0939</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135408</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060149 -0.071463 -0.036072</min>
+            <max>0.059851 0.068007 0.057788</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/0756d375c9b95c2bbb8d1fce9e84255d/storage_bin_006.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e3d0215273070da9291c45133c909c44cccf7337c9400eb375ed1bec1ec43c4
+size 4641840