Add asset bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9

.gitattributes

@@ -2701,7 +2701,8 @@ dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/mesh/pill_orga
 dataset/bedroom_supplies/storage/110689f0f3b9516f95c45ccc7856a971/pill_organizer_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/mesh/pill_organizer_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/07b29b97b1cb561c90ffa670996ebba6/pill_organizer_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/glasses_case_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/mesh/glasses_case_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/mesh/glasses_case_016.obj filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/09fa622500ad53c299a171004a530bfa/mjcf/mesh/glasses_case_016.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/1908aff04338563aa8374bf41e2df4a5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1908aff04338563aa8374bf41e2df4a5/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_005.usd filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_005_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_005_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49cb8a9f177876c00a55633769321578e748db0a6952de7738dee3d4d4532e2c
+size 10767132

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mesh/storage_bin_005.mtl

@@ -0,0 +1,6 @@
+newmtl storage_bin_005_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/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_0.obj

@@ -0,0 +1,805 @@
+# https://github.com/mikedh/trimesh
+v 0.04930764 0.00212382 -0.02931775
+v 0.04930764 0.00984574 -0.02932173
+v 0.05007776 0.00212382 -0.02894914
+v 0.04930764 0.00212378 -0.01969770
+v 0.04930764 0.02261530 -0.02932570
+v 0.05008065 0.01274945 -0.02895310
+v 0.05045762 0.00212382 -0.02863662
+v 0.05149832 0.00212367 0.01160654
+v 0.04930764 0.03439174 0.01160666
+v 0.05008181 0.01472412 -0.02895310
+v 0.04930764 0.02458622 -0.02932168
+v 0.05008297 0.02458622 -0.02895306
+v 0.05008470 0.02261530 -0.02895307
+v 0.05107279 0.02064438 -0.02813571
+v 0.05106701 0.00212381 -0.02813177
+v 0.05521361 0.00212367 0.01160654
+v 0.04930764 0.04054896 0.01160668
+v 0.04930764 0.02563185 -0.02931767
+v 0.05007256 0.02656089 -0.02894905
+v 0.05107221 0.02458621 -0.02813570
+v 0.04930764 0.02656089 -0.02931366
+v 0.05107337 0.02261529 -0.02813571
+v 0.05194640 0.01274944 -0.02715811
+v 0.05194582 0.00212381 -0.02715414
+v 0.05521361 0.00288345 0.01160654
+v 0.05514366 0.00212367 0.01019619
+v 0.04930764 0.04048126 0.01073322
+v 0.04998063 0.03996972 0.01160668
+v 0.04992860 0.03969892 0.00749582
+v 0.05001012 0.02853557 -0.02891299
+v 0.05106180 0.02656088 -0.02811966
+v 0.04930764 0.02759900 -0.02928561
+v 0.05194929 0.02458621 -0.02715807
+v 0.05194929 0.02261529 -0.02715808
+v 0.05267604 0.00212380 -0.02569571
+v 0.05521304 0.00485812 0.01160655
+v 0.05500316 0.02458608 0.00749576
+v 0.05500894 0.00212368 0.00749568
+v 0.05500894 0.00288346 0.00749568
+v 0.04930764 0.03964253 0.00017961
+v 0.04976266 0.03953721 0.00358930
+v 0.04962622 0.03940557 0.00044404
+v 0.05009973 0.03986441 0.01160668
+v 0.05009164 0.03985689 0.01139833
+v 0.05020380 0.03975533 0.01160668
+v 0.05108898 0.03880749 0.01160667
+v 0.04982857 0.03050648 -0.02878877
+v 0.05099936 0.02853556 -0.02803953
+v 0.04930764 0.02853557 -0.02925355
+v 0.04930764 0.02953231 -0.02916139
+v 0.05193483 0.02656088 -0.02714203
+v 0.05267893 0.02458620 -0.02569563
+v 0.05268009 0.02261528 -0.02569564
+v 0.05315823 0.00212380 -0.02374445
+v 0.05316113 0.01274943 -0.02374441
+v 0.05519049 0.02458607 0.01139827
+v 0.05521188 0.00662216 0.01160655
+v 0.05509856 0.02458608 0.00944702
+v 0.05490372 0.02458609 0.00554050
+v 0.05488984 0.02656076 0.00554051
+v 0.05498871 0.02656075 0.00749577
+v 0.05494766 0.00212369 0.00628967
+v 0.05490950 0.00288347 0.00554042
+v 0.04956551 0.03934915 -0.00085813
+v 0.04930764 0.03957483 -0.00065378
+v 0.04998931 0.03784844 -0.01202877
+v 0.04990836 0.03775818 -0.01398003
+v 0.04982684 0.03766415 -0.01593128
+v 0.05189032 0.03782203 0.01160667
+v 0.05174462 0.03762645 0.00749581
+v 0.05167408 0.03753243 0.00554055
+v 0.05162147 0.03746098 0.00407410
+v 0.05157406 0.03739703 0.00277193
+v 0.04930764 0.03050648 -0.02905321
+v 0.04967015 0.03164615 -0.02867257
+v 0.05096987 0.03069829 -0.02758276
+v 0.05173768 0.03016795 -0.02688559
+v 0.05186719 0.02853556 -0.02706190
+v 0.05264829 0.02656087 -0.02569562
+v 0.05312759 0.02656087 -0.02374436
+v 0.05315708 0.02458620 -0.02374437
+v 0.05315997 0.02261528 -0.02374438
+v 0.05333284 0.00880383 -0.02178917
+v 0.05333226 0.00682915 -0.02178917
+v 0.05333053 0.00212379 -0.02178919
+v 0.05333168 0.02261527 -0.02178912
+v 0.05333284 0.01077850 -0.02178916
+v 0.05517719 0.02656074 0.01139828
+v 0.05518818 0.02635387 0.01160663
+v 0.05519974 0.02458607 0.01160662
+v 0.05508411 0.02656075 0.00944703
+v 0.05480196 0.02458610 0.00358924
+v 0.05480543 0.02853544 0.00554051
+v 0.05490603 0.02853543 0.00749577
+v 0.05478809 0.02656077 0.00358925
+v 0.05500374 0.02853543 0.00944703
+v 0.05490892 0.00212369 0.00554042
+v 0.05484590 0.00212369 0.00433841
+v 0.05480659 0.00212370 0.00358916
+v 0.05480659 0.00485815 0.00358917
+v 0.04949786 0.03928522 -0.00226848
+v 0.04930764 0.03926266 -0.00439604
+v 0.04930764 0.03941311 -0.00260905
+v 0.04930764 0.03952970 -0.00120270
+v 0.04974416 0.03757014 -0.01788655
+v 0.05277722 0.03642659 0.01160666
+v 0.05276393 0.03642659 0.01139831
+v 0.05263384 0.03642660 0.00944706
+v 0.05250086 0.03642660 0.00749580
+v 0.05236441 0.03642661 0.00554054
+v 0.05214008 0.03634764 0.00163802
+v 0.05200364 0.03611822 -0.00226849
+v 0.05193368 0.03600539 -0.00421975
+v 0.05160528 0.03547508 -0.01326685
+v 0.05152896 0.03733309 0.00163803
+v 0.04965859 0.03747234 -0.01983780
+v 0.04930764 0.03190944 -0.02880078
+v 0.04930764 0.03300020 -0.02843617
+v 0.04935332 0.03296259 -0.02842014
+v 0.05027145 0.03237583 -0.02772298
+v 0.05158273 0.03148440 -0.02666522
+v 0.05206376 0.03069829 -0.02588793
+v 0.05251416 0.02853555 -0.02569562
+v 0.05299866 0.02853555 -0.02374436
+v 0.05318483 0.02853554 -0.02178910
+v 0.05330567 0.02656086 -0.02178910
+v 0.05333053 0.02458619 -0.02178911
+v 0.05392315 0.02458615 -0.01202882
+v 0.05403705 0.00212375 -0.01007364
+v 0.05345079 0.02458618 -0.01983785
+v 0.05509856 0.02853542 0.01139828
+v 0.05510839 0.02853542 0.01160663
+v 0.05518644 0.02656074 0.01160663
+v 0.05469905 0.02458610 0.00163798
+v 0.05467419 0.03050634 0.00749578
+v 0.05477537 0.03050634 0.00944704
+v 0.05470309 0.02853545 0.00358925
+v 0.05468517 0.02656077 0.00163799
+v 0.05488290 0.03050633 0.01160664
+v 0.05490661 0.03029946 0.01160664
+v 0.05474183 0.00212370 0.00238715
+v 0.05470136 0.00288348 0.00163790
+v 0.05459440 0.02458611 -0.00031728
+v 0.04930764 0.03910845 -0.00617500
+v 0.05284313 0.03631375 0.01160666
+v 0.05345599 0.03519665 0.01139831
+v 0.05218865 0.03445576 -0.01202878
+v 0.05198745 0.03429780 -0.01593129
+v 0.05155556 0.03538481 -0.01456902
+v 0.05041021 0.03642670 -0.01983781
+v 0.05057267 0.03642670 -0.01788656
+v 0.05101728 0.03624990 -0.01393997
+v 0.05097855 0.03653199 -0.01202878
+v 0.05105660 0.03664859 -0.01007352
+v 0.05121386 0.03687801 -0.00617500
+v 0.05144975 0.03722026 -0.00031723
+v 0.05339470 0.03505750 0.00944706
+v 0.05333168 0.03491833 0.00749580
+v 0.05274022 0.03445574 -0.00421975
+v 0.04961234 0.03741969 -0.02085951
+v 0.04930764 0.03788232 -0.01910057
+v 0.04930764 0.03307166 -0.02840011
+v 0.04930764 0.03454233 -0.02755069
+v 0.04991125 0.03445582 -0.02702581
+v 0.04962506 0.03546384 -0.02669326
+v 0.05137979 0.03248115 -0.02619643
+v 0.05159430 0.03348540 -0.02474201
+v 0.05177815 0.03248114 -0.02521880
+v 0.05268067 0.03050646 -0.02374435
+v 0.05287956 0.03050645 -0.02178909
+v 0.05331260 0.02853553 -0.01983784
+v 0.05357105 0.02763281 -0.01703717
+v 0.05355197 0.02939308 -0.01477739
+v 0.05342824 0.02656085 -0.01983784
+v 0.05390291 0.02656082 -0.01202881
+v 0.05402086 0.02656082 -0.01007355
+v 0.05404051 0.02458615 -0.01007356
+v 0.05415326 0.00212374 -0.00812639
+v 0.05378439 0.02656083 -0.01398007
+v 0.05433596 0.03248102 0.00944705
+v 0.05444928 0.03248101 0.01160665
+v 0.05459902 0.02853545 0.00163799
+v 0.05456954 0.03050635 0.00554052
+v 0.05457994 0.02656078 -0.00031727
+v 0.05470136 0.00212370 0.00163790
+v 0.05463545 0.00212371 0.00043189
+v 0.05459440 0.00212371 -0.00031736
+v 0.05448744 0.02458612 -0.00226853
+v 0.05346235 0.03520793 0.01160666
+v 0.05382717 0.03432779 0.01160666
+v 0.05381098 0.03407204 0.00944706
+v 0.05375606 0.03393287 0.00749579
+v 0.05369708 0.03378995 0.00554053
+v 0.05191749 0.03415112 -0.01788656
+v 0.05184753 0.03400443 -0.01983782
+v 0.05177526 0.03385776 -0.02178908
+v 0.05134857 0.03499365 -0.01983781
+v 0.05014830 0.03658093 -0.02162479
+v 0.05359186 0.03353419 0.00216289
+v 0.05326519 0.03477541 0.00554054
+v 0.05287609 0.03445573 -0.00226849
+v 0.05355081 0.03342889 0.00086072
+v 0.04954701 0.03734447 -0.02216168
+v 0.04930764 0.03768674 -0.02113998
+v 0.04930764 0.03568200 -0.02681746
+v 0.04930764 0.03620482 -0.02612831
+v 0.04930764 0.03647186 -0.02569559
+v 0.04985748 0.03578731 -0.02569559
+v 0.05083169 0.03426774 -0.02551529
+v 0.05016044 0.03620857 -0.02374433
+v 0.05114968 0.03462507 -0.02374433
+v 0.05166830 0.03363585 -0.02374434
+v 0.05210828 0.03248114 -0.02374434
+v 0.05231758 0.03248113 -0.02178908
+v 0.05301311 0.03050644 -0.01983783
+v 0.05359359 0.02967517 -0.01347522
+v 0.05245865 0.03248112 -0.01983782
+v 0.05354561 0.03140535 -0.00881944
+v 0.05366239 0.02865587 -0.01406820
+v 0.05379826 0.02853550 -0.01202881
+v 0.05391679 0.02853550 -0.01007355
+v 0.05403358 0.02853549 -0.00812630
+v 0.05414921 0.02853548 -0.00617504
+v 0.05437932 0.02853547 -0.00226852
+v 0.05425097 0.02656080 -0.00617504
+v 0.05413707 0.02656081 -0.00812630
+v 0.05415615 0.02458614 -0.00812631
+v 0.05426889 0.02458613 -0.00617505
+v 0.05426542 0.00212373 -0.00617513
+v 0.05422958 0.03248102 0.00749579
+v 0.05393529 0.03402689 0.01160665
+v 0.05446258 0.03050636 0.00358926
+v 0.05449148 0.02853546 -0.00031727
+v 0.05447183 0.02656079 -0.00226852
+v 0.05452791 0.00212372 -0.00151936
+v 0.05448628 0.00212372 -0.00226861
+v 0.05437874 0.02458613 -0.00421979
+v 0.05386938 0.03422248 0.01160666
+v 0.05386418 0.03420743 0.01139831
+v 0.05126936 0.03484321 -0.02178907
+v 0.05411741 0.03248103 0.00554053
+v 0.05400120 0.03248104 0.00358927
+v 0.05382659 0.03265405 0.00156189
+v 0.05381156 0.03231931 -0.00031725
+v 0.05375085 0.03211621 -0.00226850
+v 0.05358666 0.03157084 -0.00751726
+v 0.05344732 0.03310166 -0.00226850
+v 0.05286221 0.03248110 -0.01398005
+v 0.05272866 0.03248111 -0.01593130
+v 0.05259394 0.03248112 -0.01788657
+v 0.04942386 0.03719779 -0.02374432
+v 0.04930764 0.03731439 -0.02374432
+v 0.04930764 0.03752501 -0.02250225
+v 0.04930764 0.03759271 -0.02199340
+v 0.04930764 0.03706238 -0.02437337
+v 0.05350629 0.03120601 -0.01007354
+v 0.05344443 0.03089758 -0.01202880
+v 0.05341089 0.03040487 -0.01406820
+v 0.05363869 0.02990837 -0.01202880
+v 0.05412030 0.03050638 -0.00226851
+v 0.05423825 0.03050637 -0.00031726
+v 0.05435273 0.03050636 0.00163800
+v 0.05436198 0.02656080 -0.00421978
+v 0.05441921 0.00212372 -0.00347062
+v 0.05437701 0.00212373 -0.00421987
+v 0.05430821 0.00212373 -0.00542588
+v 0.05299346 0.03248109 -0.01202879
+v 0.05338198 0.03289857 -0.00421976
+v 0.04930764 0.03725421 -0.02391260
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 24
+f 1 24 35
+f 1 35 54
+f 1 54 85
+f 1 85 129
+f 1 129 178
+f 1 178 229
+f 1 229 266
+f 1 266 265
+f 1 265 264
+f 1 264 236
+f 1 236 235
+f 1 235 187
+f 1 187 186
+f 1 186 185
+f 1 185 141
+f 1 141 99
+f 1 99 98
+f 1 98 97
+f 1 97 62
+f 1 62 38
+f 1 38 26
+f 1 26 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 27
+f 1 27 40
+f 1 40 65
+f 1 65 104
+f 1 104 103
+f 1 103 102
+f 1 102 144
+f 1 144 161
+f 1 161 204
+f 1 204 254
+f 1 254 253
+f 1 253 252
+f 1 252 269
+f 1 269 255
+f 1 255 207
+f 1 207 206
+f 1 206 205
+f 1 205 163
+f 1 163 162
+f 1 162 118
+f 1 118 117
+f 1 117 74
+f 1 74 50
+f 1 50 49
+f 1 49 32
+f 1 32 21
+f 1 21 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 6 10 7
+f 7 14 15
+f 7 10 14
+f 8 16 25
+f 8 25 36
+f 8 36 57
+f 8 57 90
+f 8 90 89
+f 8 89 133
+f 8 133 132
+f 8 132 140
+f 8 140 139
+f 8 139 181
+f 8 181 231
+f 8 231 238
+f 8 238 190
+f 8 190 189
+f 8 189 145
+f 8 145 106
+f 8 106 69
+f 8 69 46
+f 8 46 45
+f 8 45 43
+f 8 43 28
+f 8 28 17
+f 8 17 9
+f 10 13 14
+f 11 18 12
+f 12 19 20
+f 12 20 13
+f 12 18 21
+f 12 21 19
+f 13 20 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 16 26 25
+f 17 28 29
+f 17 29 27
+f 19 30 31
+f 19 31 20
+f 19 21 32
+f 19 32 30
+f 20 31 33
+f 20 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 24
+f 24 34 35
+f 25 26 37
+f 25 37 36
+f 26 38 39
+f 26 39 37
+f 27 29 41
+f 27 41 42
+f 27 42 40
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 41
+f 30 47 48
+f 30 48 31
+f 30 32 49
+f 30 49 50
+f 30 50 47
+f 31 48 51
+f 31 51 33
+f 33 51 52
+f 33 52 53
+f 33 53 34
+f 34 53 35
+f 35 53 55
+f 35 55 54
+f 36 56 57
+f 36 37 58
+f 36 58 56
+f 37 39 63
+f 37 63 59
+f 37 59 60
+f 37 60 61
+f 37 61 91
+f 37 91 58
+f 38 62 39
+f 39 62 63
+f 40 42 64
+f 40 64 65
+f 41 46 42
+f 42 46 66
+f 42 66 67
+f 42 67 68
+f 42 68 64
+f 43 45 44
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 73
+f 46 73 67
+f 46 67 66
+f 47 50 74
+f 47 74 75
+f 47 75 76
+f 47 76 48
+f 48 76 77
+f 48 77 78
+f 48 78 51
+f 51 78 79
+f 51 79 52
+f 52 79 80
+f 52 80 81
+f 52 81 82
+f 52 82 53
+f 53 82 55
+f 54 55 83
+f 54 83 84
+f 54 84 85
+f 55 82 86
+f 55 86 87
+f 55 87 83
+f 56 88 89
+f 56 89 90
+f 56 90 57
+f 56 58 88
+f 58 91 88
+f 59 63 92
+f 59 92 95
+f 59 95 60
+f 60 93 94
+f 60 94 61
+f 60 95 93
+f 61 94 96
+f 61 96 91
+f 62 97 63
+f 63 97 98
+f 63 98 99
+f 63 99 100
+f 63 100 92
+f 64 101 102
+f 64 102 103
+f 64 103 104
+f 64 104 65
+f 64 68 105
+f 64 105 101
+f 67 73 68
+f 68 73 105
+f 69 106 107
+f 69 107 70
+f 70 107 71
+f 71 107 108
+f 71 108 72
+f 72 108 73
+f 73 108 109
+f 73 109 110
+f 73 110 111
+f 73 111 112
+f 73 112 113
+f 73 113 114
+f 73 114 115
+f 73 115 116
+f 73 116 105
+f 74 117 75
+f 75 117 118
+f 75 118 119
+f 75 119 120
+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 79
+f 79 123 124
+f 79 124 80
+f 80 124 125
+f 80 125 126
+f 80 126 81
+f 81 126 127
+f 81 127 82
+f 82 127 86
+f 83 87 128
+f 83 128 129
+f 83 129 84
+f 84 129 85
+f 86 127 130
+f 86 130 87
+f 87 130 128
+f 88 91 131
+f 88 131 132
+f 88 132 133
+f 88 133 89
+f 91 96 131
+f 92 100 134
+f 92 134 138
+f 92 138 95
+f 93 135 136
+f 93 136 94
+f 93 95 137
+f 93 137 135
+f 94 136 96
+f 95 138 137
+f 96 136 139
+f 96 139 140
+f 96 140 131
+f 99 141 100
+f 100 141 142
+f 100 142 143
+f 100 143 134
+f 101 144 102
+f 101 105 144
+f 105 116 144
+f 106 145 107
+f 107 145 108
+f 108 145 146
+f 108 146 109
+f 109 146 113
+f 109 113 112
+f 109 112 111
+f 109 111 110
+f 113 146 114
+f 114 147 148
+f 114 148 149
+f 114 149 150
+f 114 150 151
+f 114 151 152
+f 114 152 153
+f 114 153 154
+f 114 154 155
+f 114 155 156
+f 114 156 115
+f 114 146 157
+f 114 157 158
+f 114 158 159
+f 114 159 147
+f 115 156 116
+f 116 156 155
+f 116 155 160
+f 116 160 161
+f 116 161 144
+f 118 162 119
+f 119 162 163
+f 119 163 164
+f 119 164 120
+f 120 164 121
+f 121 165 166
+f 121 166 167
+f 121 167 168
+f 121 168 122
+f 121 164 165
+f 122 168 169
+f 122 169 123
+f 123 169 124
+f 124 169 170
+f 124 170 125
+f 125 171 172
+f 125 172 126
+f 125 170 173
+f 125 173 171
+f 126 174 127
+f 126 172 174
+f 127 174 130
+f 128 175 176
+f 128 176 177
+f 128 177 129
+f 128 130 175
+f 129 177 178
+f 130 174 179
+f 130 179 175
+f 131 140 132
+f 134 143 138
+f 135 180 181
+f 135 181 136
+f 135 137 182
+f 135 182 183
+f 135 183 180
+f 136 181 139
+f 137 138 182
+f 138 143 184
+f 138 184 182
+f 141 185 142
+f 142 185 186
+f 142 186 143
+f 143 186 187
+f 143 187 188
+f 143 188 184
+f 145 189 146
+f 146 189 190
+f 146 190 191
+f 146 191 192
+f 146 192 193
+f 146 193 157
+f 147 159 148
+f 148 194 149
+f 148 159 194
+f 149 194 195
+f 149 195 196
+f 149 196 197
+f 149 197 150
+f 150 197 198
+f 150 198 160
+f 150 160 151
+f 151 154 153
+f 151 153 152
+f 151 160 155
+f 151 155 154
+f 157 193 158
+f 158 193 199
+f 158 199 200
+f 158 200 159
+f 159 200 201
+f 159 201 202
+f 159 202 195
+f 159 195 194
+f 160 198 203
+f 160 203 204
+f 160 204 161
+f 163 205 165
+f 163 165 164
+f 165 205 206
+f 165 206 207
+f 165 207 208
+f 165 208 209
+f 165 209 166
+f 166 209 167
+f 167 209 208
+f 167 208 210
+f 167 210 211
+f 167 211 212
+f 167 212 213
+f 167 213 169
+f 167 169 168
+f 169 213 214
+f 169 214 170
+f 170 215 216
+f 170 216 173
+f 170 214 217
+f 170 217 218
+f 170 218 215
+f 171 173 172
+f 172 173 219
+f 172 219 220
+f 172 220 221
+f 172 221 222
+f 172 222 223
+f 172 223 224
+f 172 224 225
+f 172 225 226
+f 172 226 176
+f 172 176 175
+f 172 175 179
+f 172 179 174
+f 173 216 224
+f 173 224 223
+f 173 223 222
+f 173 222 221
+f 173 221 220
+f 173 220 219
+f 176 226 177
+f 177 226 227
+f 177 227 178
+f 178 227 228
+f 178 228 229
+f 180 183 230
+f 180 230 193
+f 180 193 192
+f 180 192 181
+f 181 192 191
+f 181 191 231
+f 182 232 183
+f 182 184 233
+f 182 233 232
+f 183 232 230
+f 184 188 234
+f 184 234 233
+f 187 235 188
+f 188 235 236
+f 188 236 237
+f 188 237 234
+f 190 238 239
+f 190 239 191
+f 191 239 231
+f 193 230 199
+f 195 202 196
+f 196 217 214
+f 196 214 212
+f 196 212 240
+f 196 240 197
+f 196 202 217
+f 197 240 198
+f 198 240 210
+f 198 210 203
+f 199 202 200
+f 199 230 202
+f 200 202 201
+f 202 230 241
+f 202 241 242
+f 202 242 243
+f 202 243 244
+f 202 244 245
+f 202 245 246
+f 202 246 247
+f 202 247 248
+f 202 248 249
+f 202 249 250
+f 202 250 217
+f 203 210 251
+f 203 251 252
+f 203 252 253
+f 203 253 254
+f 203 254 204
+f 207 255 208
+f 208 255 251
+f 208 251 210
+f 210 240 211
+f 211 240 212
+f 212 214 213
+f 215 218 256
+f 215 256 257
+f 215 257 258
+f 215 258 216
+f 216 258 257
+f 216 257 259
+f 216 259 260
+f 216 260 261
+f 216 261 262
+f 216 262 233
+f 216 233 224
+f 217 250 246
+f 217 246 218
+f 218 259 256
+f 218 246 261
+f 218 261 260
+f 218 260 259
+f 224 233 225
+f 225 233 263
+f 225 263 228
+f 225 228 227
+f 225 227 226
+f 228 263 234
+f 228 234 237
+f 228 237 264
+f 228 264 265
+f 228 265 266
+f 228 266 229
+f 230 232 262
+f 230 262 246
+f 230 246 241
+f 231 239 238
+f 232 233 262
+f 233 234 263
+f 236 264 237
+f 241 246 242
+f 242 245 244
+f 242 244 243
+f 242 246 245
+f 246 250 249
+f 246 249 248
+f 246 248 267
+f 246 267 268
+f 246 268 247
+f 246 262 261
+f 247 268 267
+f 247 267 248
+f 251 255 269
+f 251 269 252
+f 256 259 257
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_1.obj

@@ -0,0 +1,805 @@
+# https://github.com/mikedh/trimesh
+v -0.00393277 0.03754602 -0.02976832
+v -0.00875203 0.03840406 -0.02951317
+v 0.00010870 0.03840406 -0.02951317
+v 0.00010870 0.03754602 -0.02976427
+v -0.03445985 0.03754602 -0.02976427
+v -0.03445985 0.03840406 -0.02950912
+v -0.03445985 0.03969110 -0.02884896
+v 0.00010870 0.03969110 -0.02884896
+v 0.00010870 0.03754600 -0.02368519
+v -0.03644246 0.03754602 -0.02976022
+v -0.03644246 0.03840406 -0.02950507
+v -0.03644246 0.03968646 -0.02884491
+v -0.03445985 0.04067776 -0.02789315
+v -0.00479698 0.04067843 -0.02789720
+v -0.00083685 0.04067776 -0.02789720
+v 0.00010870 0.04020631 -0.02835080
+v 0.00010870 0.04024065 0.01160668
+v -0.04636567 0.03754587 0.01160667
+v -0.03841998 0.03754602 -0.02972782
+v -0.03841998 0.03840406 -0.02946052
+v -0.03644246 0.04067312 -0.02788910
+v -0.03841998 0.03964668 -0.02881656
+v -0.03644246 0.04152784 -0.02691305
+v -0.03445985 0.04153182 -0.02691710
+v -0.02259979 0.04153579 -0.02692115
+v -0.02062226 0.04153646 -0.02692115
+v -0.01863965 0.04153712 -0.02692115
+v -0.01468460 0.04153778 -0.02692115
+v -0.00083685 0.04153447 -0.02692115
+v 0.00010870 0.04067776 -0.02789315
+v -0.00677451 0.04153646 -0.02692115
+v -0.00281437 0.04153513 -0.02692115
+v 0.00010870 0.04431729 0.01160669
+v -0.05182546 0.03754587 0.01160667
+v -0.04039751 0.03754602 -0.02960632
+v -0.04039751 0.03840406 -0.02930257
+v -0.03841998 0.04063334 -0.02783240
+v -0.04039751 0.03951075 -0.02871531
+v -0.03644246 0.04204304 -0.02569399
+v -0.03445985 0.04205299 -0.02569399
+v -0.03841998 0.04148805 -0.02685635
+v -0.03248233 0.04205432 -0.02569399
+v -0.02062226 0.04205962 -0.02569399
+v -0.01468460 0.04206161 -0.02569399
+v -0.00083685 0.04205564 -0.02569399
+v 0.00010870 0.04205432 -0.02569399
+v 0.00010870 0.04153314 -0.02691710
+v -0.00677451 0.04205962 -0.02569399
+v -0.00281437 0.04205763 -0.02569399
+v 0.00010870 0.04430801 0.01140014
+v -0.00083685 0.04431796 0.01160669
+v -0.05161704 0.03786814 0.01160667
+v -0.05181530 0.03754587 0.01144872
+v -0.04227844 0.03754602 -0.02935927
+v -0.04219711 0.03843986 -0.02899477
+v -0.04141931 0.03940333 -0.02863431
+v -0.03972139 0.04142307 -0.02675915
+v -0.04038734 0.04062803 -0.02750435
+v -0.03644246 0.04249925 -0.02374187
+v -0.03841998 0.04196414 -0.02569399
+v -0.03841998 0.04242233 -0.02374187
+v -0.03445985 0.04250853 -0.02374187
+v -0.03248233 0.04250985 -0.02374187
+v -0.02852728 0.04251052 -0.02374187
+v -0.01468460 0.04251251 -0.02374187
+v -0.01270708 0.04251251 -0.02374187
+v 0.00010870 0.04250787 -0.02374187
+v -0.00281437 0.04250919 -0.02374187
+v -0.00083685 0.04250853 -0.02374187
+v 0.00010870 0.04417474 0.00851248
+v -0.00083685 0.04430867 0.01140014
+v -0.00896046 0.04431862 0.01160669
+v -0.05140352 0.03758236 0.00553974
+v -0.05080874 0.03885480 0.01160667
+v -0.05137302 0.03754589 0.00476214
+v -0.04371202 0.03754602 -0.02904337
+v -0.04402212 0.03780529 -0.02886517
+v -0.04274105 0.03912084 -0.02839536
+v -0.04219711 0.03995898 -0.02770685
+v -0.04103804 0.04129244 -0.02649995
+v -0.04038734 0.04167768 -0.02578714
+v -0.03644246 0.04265440 -0.02178976
+v -0.03841998 0.04258544 -0.02178976
+v -0.04039751 0.04217765 -0.02374188
+v -0.04039751 0.04235667 -0.02178976
+v -0.03445985 0.04266103 -0.02178976
+v -0.02852728 0.04266236 -0.02178976
+v -0.01468460 0.04266434 -0.02178976
+v -0.01270708 0.04266434 -0.02178976
+v -0.00875203 0.04266368 -0.02178976
+v 0.00010870 0.04258742 -0.02272127
+v -0.00677451 0.04266302 -0.02178976
+v -0.00083685 0.04421850 0.00944803
+v 0.00010870 0.04408324 0.00656037
+v -0.01270708 0.04403816 0.00553976
+v -0.01270708 0.04412965 0.00749592
+v -0.01270708 0.04421983 0.00944803
+v -0.02852728 0.04431000 0.01140014
+v -0.02654975 0.04431928 0.01160669
+v -0.05127643 0.03754590 0.00344993
+v -0.05128660 0.03754590 0.00358763
+v -0.05119001 0.03754590 0.00230783
+v -0.04981744 0.03988723 0.01160668
+v -0.04981235 0.03987927 0.01140013
+v -0.04948192 0.03956765 0.00358764
+v -0.04940058 0.03948808 0.00163553
+v -0.04933958 0.03942907 0.00020182
+v -0.04987844 0.03807442 -0.00812502
+v -0.04413905 0.03754602 -0.02894617
+v -0.04524219 0.03754601 -0.02855737
+v -0.04455082 0.03843985 -0.02810376
+v -0.04435256 0.03966125 -0.02699810
+v -0.04250212 0.04111141 -0.02578714
+v -0.04192767 0.04153446 -0.02519989
+v -0.03644246 0.04345402 -0.00617289
+v -0.03841998 0.04269152 -0.01983765
+v -0.03791670 0.04335788 -0.00754990
+v -0.03961971 0.04336450 -0.00571119
+v -0.03923336 0.04333003 -0.00701125
+v -0.04039751 0.04247403 -0.01983765
+v -0.04250212 0.04164652 -0.02376213
+v -0.04237503 0.04188456 -0.02178977
+v -0.04237503 0.04201584 -0.01983766
+v -0.04237503 0.04214050 -0.01788555
+v -0.04237503 0.04226250 -0.01593344
+v -0.04144981 0.04335189 -0.00155992
+v -0.03445985 0.04345799 -0.00617289
+v -0.02654975 0.04332539 -0.00886210
+v -0.02457731 0.04332539 -0.00887425
+v -0.01270708 0.04276446 -0.01983765
+v -0.00677451 0.04276380 -0.01983765
+v 0.00010870 0.04265970 -0.02178976
+v 0.00010870 0.04403484 0.00553976
+v -0.01270708 0.04394268 0.00358765
+v -0.03445985 0.04403882 0.00553976
+v -0.03445985 0.04413032 0.00749592
+v -0.03445985 0.04422049 0.00944803
+v -0.03445985 0.04431000 0.01140014
+v -0.03466828 0.04431928 0.01160669
+v -0.04979711 0.03798492 -0.01007308
+v -0.04947684 0.03761760 -0.01788556
+v -0.04941075 0.03754598 -0.01937192
+v -0.04878546 0.04077045 0.01160668
+v -0.04866346 0.04087389 0.01160668
+v -0.04927857 0.03937338 -0.00109824
+v -0.04795684 0.03990454 -0.00812501
+v -0.04748406 0.03952463 -0.01788555
+v -0.04733664 0.03940330 -0.02095548
+v -0.04546078 0.03754601 -0.02841156
+v -0.04535911 0.03940332 -0.02668626
+v -0.04435256 0.04034422 -0.02569399
+v -0.04324433 0.04132426 -0.02442634
+v -0.03644246 0.04355348 -0.00422078
+v -0.03851149 0.04339898 -0.00628629
+v -0.03841998 0.04351038 -0.00422078
+v -0.03841998 0.04371127 -0.00031657
+v -0.03841998 0.04381139 0.00163554
+v -0.03841998 0.04391019 0.00358765
+v -0.04039751 0.04258410 -0.01788554
+v -0.04039751 0.04291230 -0.01202922
+v -0.04032633 0.04324117 -0.00628629
+v -0.04122105 0.04331609 -0.00285998
+v -0.04039751 0.04366087 0.00163554
+v -0.04039751 0.04376365 0.00358765
+v -0.04039751 0.04386443 0.00553976
+v -0.04039751 0.04396321 0.00749592
+v -0.04039751 0.04406003 0.00944803
+v -0.03841998 0.04400699 0.00553976
+v -0.04346801 0.04141045 -0.02312628
+v -0.04361035 0.04147145 -0.02178977
+v -0.04377303 0.04154173 -0.01983766
+v -0.04337650 0.04334192 0.00643077
+v -0.04237503 0.04273591 -0.00812500
+v -0.04237503 0.04373909 0.00944803
+v -0.04237503 0.04384385 0.01140014
+v -0.04237503 0.04385446 0.01160669
+v -0.04060594 0.04413428 0.01160669
+v -0.04237503 0.04285392 -0.00617289
+v -0.04237503 0.04296930 -0.00422078
+v -0.04322399 0.04330412 0.00513071
+v -0.03445985 0.04355613 -0.00422078
+v -0.02457731 0.04337512 -0.00789820
+v -0.02259979 0.04332539 -0.00887425
+v -0.00875203 0.04286392 -0.01788554
+v -0.00281437 0.04286193 -0.01788554
+v 0.00010870 0.04286061 -0.01788554
+v -0.01072955 0.04337512 -0.00787795
+v 0.00010870 0.04389295 0.00265615
+v -0.00875203 0.04365359 -0.00226867
+v -0.01072955 0.04365426 -0.00226867
+v -0.03445985 0.04394334 0.00358765
+v -0.03644246 0.04394334 0.00358765
+v -0.03644246 0.04403749 0.00553976
+v -0.03644246 0.04412965 0.00749592
+v -0.03644246 0.04421983 0.00944803
+v -0.03644246 0.04430867 0.01140014
+v -0.03644246 0.04431796 0.01160669
+v -0.04903964 0.03914795 -0.00617291
+v -0.04937008 0.03754598 -0.01983767
+v -0.04856178 0.04095015 0.01160668
+v -0.04732647 0.04136725 0.00451105
+v -0.04865329 0.04086594 0.01140013
+v -0.04725022 0.04131886 0.00321099
+v -0.04704179 0.04118758 -0.00031658
+v -0.04692486 0.04111531 -0.00226868
+v -0.04633008 0.04015854 -0.01983766
+v -0.04649276 0.03990393 -0.02168042
+v -0.04725530 0.03934295 -0.02225554
+v -0.04830252 0.03839939 -0.02172093
+v -0.04837878 0.03851077 -0.01983767
+v -0.04885155 0.03897159 -0.01007308
+v -0.04614199 0.03830260 -0.02717226
+v -0.04743323 0.03754601 -0.02690901
+v -0.04748406 0.03757652 -0.02684016
+v -0.04668085 0.03889671 -0.02569400
+v -0.04568954 0.03961947 -0.02569399
+v -0.04422038 0.04096222 -0.02376213
+v -0.04039751 0.04415616 0.01140014
+v -0.03841998 0.04410048 0.00749592
+v -0.04039751 0.04416611 0.01160669
+v -0.04459657 0.04100862 -0.02178977
+v -0.04475924 0.04108752 -0.01983766
+v -0.04491683 0.04116112 -0.01788555
+v -0.04392553 0.04160870 -0.01788555
+v -0.04435256 0.04243617 -0.00226867
+v -0.04435256 0.04255883 -0.00031657
+v -0.04477450 0.04312374 0.01140014
+v -0.04362560 0.04342943 0.00944803
+v -0.04378319 0.04348446 0.01140014
+v -0.04379844 0.04349043 0.01160669
+v -0.02457731 0.04346065 -0.00617289
+v -0.01468460 0.04346131 -0.00617289
+v -0.02259979 0.04337512 -0.00789820
+v -0.01270708 0.04337512 -0.00788200
+v 0.00010870 0.04332274 -0.00881755
+v -0.01072955 0.04346131 -0.00617289
+v 0.00010870 0.04337247 -0.00784150
+v 0.00010870 0.04345601 -0.00617289
+v -0.01072955 0.04355812 -0.00422078
+v -0.01270708 0.04355812 -0.00422078
+v -0.03841998 0.04428215 0.01140014
+v -0.03665089 0.04431530 0.01160669
+v -0.04923282 0.03754599 -0.02123898
+v -0.04767724 0.04160594 0.01160668
+v -0.04648259 0.04229754 0.01160669
+v -0.04633008 0.04238573 0.01160669
+v -0.04648767 0.04178699 0.00375369
+v -0.04616740 0.04182810 0.00163553
+v -0.04593864 0.04169949 -0.00226868
+v -0.04582172 0.04163319 -0.00422079
+v -0.04537945 0.04138455 -0.01136503
+v -0.04680794 0.04104172 -0.00422079
+v -0.04633008 0.04030840 -0.01788555
+v -0.04529302 0.04134080 -0.01266913
+v -0.04520152 0.04129637 -0.01398134
+v -0.04505918 0.04123007 -0.01593345
+v -0.04612674 0.03990526 -0.02374188
+v -0.04711296 0.03923422 -0.02374189
+v -0.04818052 0.03824755 -0.02374189
+v -0.04911590 0.03754599 -0.02236489
+v -0.04749931 0.03754601 -0.02685636
+v -0.04817035 0.03754600 -0.02569400
+v -0.04782975 0.03791004 -0.02569400
+v -0.03862841 0.04427883 0.01160669
+v -0.04407296 0.04167301 -0.01593345
+v -0.04435256 0.04231086 -0.00422078
+v -0.04478975 0.04313037 0.01160669
+v -0.03841998 0.04429143 0.01160669
+v -0.04888714 0.03754600 -0.02374189
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 34
+f 1 34 53
+f 1 53 75
+f 1 75 101
+f 1 101 100
+f 1 100 102
+f 1 102 142
+f 1 142 199
+f 1 199 243
+f 1 243 260
+f 1 260 269
+f 1 269 262
+f 1 262 261
+f 1 261 213
+f 1 213 149
+f 1 149 110
+f 1 110 109
+f 1 109 76
+f 1 76 54
+f 1 54 35
+f 1 35 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 16
+f 3 16 30
+f 3 30 47
+f 3 47 46
+f 3 46 67
+f 3 67 91
+f 3 91 132
+f 3 132 186
+f 3 186 235
+f 3 235 237
+f 3 237 238
+f 3 238 188
+f 3 188 133
+f 3 133 94
+f 3 94 70
+f 3 70 50
+f 3 50 33
+f 3 33 17
+f 3 17 9
+f 3 9 4
+f 5 10 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 7 12 21
+f 7 21 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 20 22
+f 12 22 21
+f 13 21 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 28 15
+f 15 29 30
+f 15 30 16
+f 15 28 31
+f 15 31 32
+f 15 32 29
+f 17 33 51
+f 17 51 72
+f 17 72 99
+f 17 99 139
+f 17 139 197
+f 17 197 242
+f 17 242 268
+f 17 268 264
+f 17 264 220
+f 17 220 177
+f 17 177 176
+f 17 176 230
+f 17 230 267
+f 17 267 246
+f 17 246 245
+f 17 245 244
+f 17 244 200
+f 17 200 144
+f 17 144 143
+f 17 143 103
+f 17 103 74
+f 17 74 52
+f 17 52 34
+f 17 34 18
+f 19 35 20
+f 20 35 36
+f 20 36 22
+f 21 22 37
+f 21 37 41
+f 21 41 23
+f 22 36 38
+f 22 38 37
+f 23 39 40
+f 23 40 24
+f 23 41 39
+f 24 40 42
+f 24 42 25
+f 25 43 26
+f 25 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 28
+f 28 44 31
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 29 32 48
+f 29 48 49
+f 29 49 45
+f 31 48 32
+f 31 44 48
+f 33 50 71
+f 33 71 51
+f 34 52 53
+f 35 54 36
+f 36 54 55
+f 36 55 56
+f 36 56 38
+f 37 38 57
+f 37 57 41
+f 38 56 58
+f 38 58 57
+f 39 59 40
+f 39 41 60
+f 39 60 61
+f 39 61 59
+f 40 62 63
+f 40 63 42
+f 40 59 62
+f 41 57 60
+f 42 63 43
+f 43 63 44
+f 44 63 64
+f 44 64 65
+f 44 65 66
+f 44 66 48
+f 45 67 46
+f 45 49 67
+f 48 68 69
+f 48 69 49
+f 48 66 68
+f 49 69 67
+f 50 70 71
+f 51 71 72
+f 52 73 53
+f 52 74 73
+f 53 73 75
+f 54 76 77
+f 54 77 55
+f 55 77 56
+f 56 77 78
+f 56 78 79
+f 56 79 80
+f 56 80 58
+f 57 58 80
+f 57 80 81
+f 57 81 60
+f 59 82 62
+f 59 61 83
+f 59 83 82
+f 60 81 84
+f 60 84 61
+f 61 84 85
+f 61 85 83
+f 62 86 63
+f 62 82 86
+f 63 86 87
+f 63 87 64
+f 64 87 88
+f 64 88 65
+f 65 88 89
+f 65 89 66
+f 66 89 90
+f 66 90 68
+f 67 69 91
+f 68 90 92
+f 68 92 69
+f 69 92 91
+f 70 93 71
+f 70 94 95
+f 70 95 96
+f 70 96 93
+f 71 93 96
+f 71 96 97
+f 71 97 72
+f 72 97 98
+f 72 98 99
+f 73 100 101
+f 73 101 75
+f 73 74 100
+f 74 102 100
+f 74 103 104
+f 74 104 105
+f 74 105 106
+f 74 106 107
+f 74 107 108
+f 74 108 102
+f 76 109 77
+f 77 109 110
+f 77 110 78
+f 78 110 111
+f 78 111 112
+f 78 112 79
+f 79 112 80
+f 80 112 113
+f 80 113 114
+f 80 114 81
+f 81 114 84
+f 82 115 86
+f 82 83 116
+f 82 116 117
+f 82 117 115
+f 83 118 119
+f 83 119 116
+f 83 85 120
+f 83 120 118
+f 84 114 121
+f 84 121 122
+f 84 122 85
+f 85 122 123
+f 85 123 124
+f 85 124 125
+f 85 125 126
+f 85 126 120
+f 86 115 127
+f 86 127 128
+f 86 128 129
+f 86 129 87
+f 87 129 88
+f 88 129 130
+f 88 130 89
+f 89 130 131
+f 89 131 90
+f 90 131 92
+f 91 92 132
+f 92 131 132
+f 94 133 95
+f 95 133 134
+f 95 134 191
+f 95 191 135
+f 95 135 136
+f 95 136 96
+f 96 136 137
+f 96 137 97
+f 97 137 98
+f 98 137 138
+f 98 138 139
+f 98 139 99
+f 102 108 140
+f 102 140 141
+f 102 141 142
+f 103 143 104
+f 104 143 105
+f 105 143 106
+f 106 143 144
+f 106 144 107
+f 107 145 141
+f 107 141 140
+f 107 140 108
+f 107 144 146
+f 107 146 147
+f 107 147 148
+f 107 148 145
+f 110 149 150
+f 110 150 111
+f 111 150 112
+f 112 150 113
+f 113 150 151
+f 113 151 152
+f 113 152 114
+f 114 152 121
+f 115 153 127
+f 115 117 153
+f 116 119 154
+f 116 154 117
+f 117 154 155
+f 117 155 156
+f 117 156 157
+f 117 157 158
+f 117 158 153
+f 118 120 159
+f 118 159 160
+f 118 160 161
+f 118 161 162
+f 118 162 163
+f 118 163 164
+f 118 164 165
+f 118 165 166
+f 118 166 119
+f 119 166 167
+f 119 167 168
+f 119 168 158
+f 119 158 157
+f 119 157 156
+f 119 156 155
+f 119 155 154
+f 120 126 162
+f 120 162 159
+f 121 152 169
+f 121 169 122
+f 122 169 170
+f 122 170 123
+f 123 170 171
+f 123 171 124
+f 124 171 172
+f 124 172 125
+f 125 173 126
+f 125 172 173
+f 126 174 175
+f 126 175 176
+f 126 176 177
+f 126 177 167
+f 126 167 166
+f 126 166 165
+f 126 165 164
+f 126 164 162
+f 126 173 178
+f 126 178 179
+f 126 179 180
+f 126 180 172
+f 126 172 174
+f 127 153 181
+f 127 181 182
+f 127 182 128
+f 128 182 129
+f 129 182 233
+f 129 233 183
+f 129 183 130
+f 130 183 184
+f 130 184 131
+f 131 185 186
+f 131 186 132
+f 131 184 187
+f 131 187 185
+f 133 188 189
+f 133 189 190
+f 133 190 134
+f 134 190 191
+f 135 191 192
+f 135 192 193
+f 135 193 194
+f 135 194 136
+f 136 194 195
+f 136 195 137
+f 137 195 138
+f 138 195 139
+f 139 195 196
+f 139 196 197
+f 141 145 198
+f 141 198 199
+f 141 199 142
+f 144 200 201
+f 144 201 202
+f 144 202 147
+f 144 147 146
+f 145 148 198
+f 147 202 201
+f 147 201 148
+f 148 201 203
+f 148 203 204
+f 148 204 205
+f 148 205 206
+f 148 206 207
+f 148 207 208
+f 148 208 209
+f 148 209 210
+f 148 210 211
+f 148 211 198
+f 149 212 150
+f 149 213 212
+f 150 212 214
+f 150 214 215
+f 150 215 216
+f 150 216 151
+f 151 216 152
+f 152 216 217
+f 152 217 169
+f 153 158 192
+f 153 192 181
+f 158 168 192
+f 159 162 160
+f 160 162 161
+f 162 164 163
+f 167 177 218
+f 167 218 168
+f 168 219 193
+f 168 193 192
+f 168 218 220
+f 168 220 219
+f 169 217 221
+f 169 221 170
+f 170 221 222
+f 170 222 223
+f 170 223 171
+f 171 224 225
+f 171 225 172
+f 171 223 224
+f 172 180 179
+f 172 179 178
+f 172 178 173
+f 172 225 226
+f 172 226 227
+f 172 227 228
+f 172 228 176
+f 172 176 175
+f 172 175 174
+f 176 228 229
+f 176 229 230
+f 177 220 218
+f 181 192 182
+f 182 192 231
+f 182 231 232
+f 182 232 236
+f 182 236 233
+f 183 233 234
+f 183 234 184
+f 184 234 187
+f 185 235 186
+f 185 187 235
+f 187 234 236
+f 187 236 237
+f 187 237 235
+f 188 238 239
+f 188 239 189
+f 189 239 190
+f 190 239 191
+f 191 239 240
+f 191 240 192
+f 192 240 232
+f 192 232 231
+f 193 219 194
+f 194 219 241
+f 194 241 195
+f 195 241 242
+f 195 242 196
+f 196 242 197
+f 198 211 199
+f 199 211 210
+f 199 210 243
+f 200 244 201
+f 201 244 245
+f 201 245 246
+f 201 246 247
+f 201 247 248
+f 201 248 249
+f 201 249 250
+f 201 250 251
+f 201 251 203
+f 203 251 204
+f 204 251 205
+f 205 252 253
+f 205 253 206
+f 205 251 254
+f 205 254 252
+f 206 253 255
+f 206 255 256
+f 206 256 223
+f 206 223 222
+f 206 222 207
+f 207 257 208
+f 207 222 221
+f 207 221 257
+f 208 257 258
+f 208 258 259
+f 208 259 260
+f 208 260 209
+f 209 260 243
+f 209 243 210
+f 212 213 214
+f 213 261 214
+f 214 261 262
+f 214 262 263
+f 214 263 215
+f 215 263 258
+f 215 258 216
+f 216 258 257
+f 216 257 217
+f 217 257 221
+f 219 220 264
+f 219 264 241
+f 223 256 224
+f 224 256 265
+f 224 265 266
+f 224 266 225
+f 225 266 267
+f 225 267 227
+f 225 227 226
+f 227 267 228
+f 228 267 229
+f 229 267 230
+f 232 240 239
+f 232 239 236
+f 233 236 234
+f 236 239 238
+f 236 238 237
+f 241 264 268
+f 241 268 242
+f 246 250 249
+f 246 249 248
+f 246 248 247
+f 246 267 250
+f 250 267 251
+f 251 267 254
+f 252 254 253
+f 253 254 255
+f 254 267 266
+f 254 266 255
+f 255 266 265
+f 255 265 256
+f 258 263 259
+f 259 263 269
+f 259 269 260
+f 262 269 263
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_10.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.05653015 0.03248076 0.04327435
+v 0.05850866 0.02853278 0.04287705
+v 0.05653015 0.03445661 0.04327196
+v 0.05455363 0.03505569 0.04326836
+v 0.05653015 -0.00295428 0.04326942
+v 0.05850866 -0.00295428 0.04287814
+v 0.05850866 0.01275204 0.04287940
+v 0.05850866 0.01669258 0.04287941
+v 0.05981139 0.02064056 0.04208127
+v 0.05981139 0.02853279 0.04207889
+v 0.05850866 0.03050864 0.04287346
+v 0.05653015 0.03505569 0.04326236
+v 0.05850866 0.03248076 0.04284587
+v 0.05245651 0.03505569 0.04268504
+v 0.05455363 -0.00295428 0.04321061
+v 0.05981039 -0.00295427 0.04208118
+v 0.05981139 0.00880408 0.04208122
+v 0.06024895 0.02853279 0.04068902
+v 0.06024396 0.03050865 0.04068903
+v 0.05980740 0.03050865 0.04207410
+v 0.05850866 0.03445661 0.04275226
+v 0.05855451 0.03505569 0.04263943
+v 0.05977749 0.03248077 0.04204531
+v 0.05126542 0.03505570 0.04197570
+v 0.05282730 -0.00295428 0.04240405
+v 0.05289806 -0.00295428 0.04243765
+v 0.06024396 -0.00295427 0.04068891
+v 0.06044331 0.03050866 0.03873623
+v 0.06040842 0.03248078 0.03873624
+v 0.06019313 0.03248077 0.04068904
+v 0.05969975 0.03445662 0.04195170
+v 0.05965490 0.03505570 0.04189049
+v 0.05084879 0.03505570 0.04070705
+v 0.05202094 -0.00295427 0.04068891
+v 0.06025194 -0.00295427 0.04060849
+v 0.06019114 0.03050866 0.03678464
+v 0.06016622 0.03248078 0.03678465
+v 0.06043434 -0.00106399 0.03873612
+v 0.06005857 0.03445663 0.03678466
+v 0.06026888 0.03445663 0.03873625
+v 0.06004063 0.03445662 0.04068905
+v 0.05993697 0.03505570 0.04067344
+v 0.05026172 0.03505574 0.03101271
+v 0.05121359 -0.00295424 0.03288014
+v 0.05132522 -0.00295425 0.03439965
+v 0.06043334 -0.00295426 0.03873611
+v 0.05968181 0.02853281 0.03567681
+v 0.05968081 0.03050867 0.03567922
+v 0.05967085 0.03248079 0.03568523
+v 0.06017918 -0.00106399 0.03678453
+v 0.06015825 -0.00295425 0.03673892
+v 0.05967682 -0.00295425 0.03567310
+v 0.05962898 0.03445664 0.03571045
+v 0.05960008 0.03505572 0.03573085
+v 0.05984029 0.03505572 0.03633218
+v 0.05996687 0.03505571 0.03675826
+v 0.06011339 0.03505571 0.03812533
+v 0.06016722 0.03505571 0.03873625
+v 0.06000874 0.03505570 0.04009613
+v 0.05460845 0.03505574 0.03101271
+v 0.05126841 0.01274093 0.03101263
+v 0.05147473 -0.00295424 0.03178192
+v 0.05146377 -0.00295424 0.03182753
+v 0.06017818 -0.00295426 0.03678452
+v 0.05668863 0.01463864 0.03101263
+v 0.05602481 -0.00295424 0.03152627
+v 0.05593809 0.02853283 0.03101268
+v 0.05578061 0.03050869 0.03101269
+v 0.05561117 0.03169940 0.03101270
+v 0.05560120 0.03176638 0.03101270
+v 0.05559223 0.03180731 0.03101270
+v 0.05537693 0.03275244 0.03101270
+v 0.05488554 0.03439341 0.03101271
+v 0.05486561 0.03445666 0.03101271
+v 0.05128436 0.01240976 0.03101263
+v 0.05257513 -0.00295424 0.03134624
+v 0.05638064 0.01236883 0.03101263
+v 0.05455363 -0.00295423 0.03109059
+v 0.05262396 0.00966367 0.03101262
+v 0.05447190 -0.00295423 0.03110019
+v 0.05622913 0.01158742 0.03101262
+v 0.05455064 0.00880784 0.03101261
+v 0.05541680 0.00971204 0.03101262
+v 0.05599789 0.01095485 0.03101262
+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 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 8 9
+f 3 12 4
+f 3 11 13
+f 3 13 12
+f 4 12 22
+f 4 22 32
+f 4 32 42
+f 4 42 59
+f 4 59 58
+f 4 58 57
+f 4 57 56
+f 4 56 55
+f 4 55 54
+f 4 54 60
+f 4 60 43
+f 4 43 33
+f 4 33 24
+f 4 24 14
+f 4 14 15
+f 4 15 5
+f 5 15 26
+f 5 26 25
+f 5 25 34
+f 5 34 45
+f 5 45 44
+f 5 44 63
+f 5 63 62
+f 5 62 76
+f 5 76 80
+f 5 80 78
+f 5 78 66
+f 5 66 52
+f 5 52 51
+f 5 51 64
+f 5 64 46
+f 5 46 35
+f 5 35 27
+f 5 27 16
+f 5 16 6
+f 6 16 7
+f 7 16 17
+f 7 17 9
+f 7 9 8
+f 9 18 10
+f 9 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 13
+f 12 13 21
+f 12 21 22
+f 13 20 23
+f 13 23 21
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 16 27 18
+f 16 18 17
+f 18 28 19
+f 18 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 23
+f 19 23 20
+f 21 31 22
+f 21 23 31
+f 22 31 32
+f 23 30 31
+f 24 33 34
+f 24 34 25
+f 27 35 28
+f 28 36 37
+f 28 37 29
+f 28 35 38
+f 28 38 36
+f 29 39 40
+f 29 40 30
+f 29 37 39
+f 30 40 41
+f 30 41 31
+f 31 41 32
+f 32 41 42
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 35 46 38
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 36 38 50
+f 36 50 51
+f 36 51 52
+f 36 52 47
+f 37 49 53
+f 37 53 39
+f 38 46 64
+f 38 64 50
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 40
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 41
+f 41 59 42
+f 43 60 74
+f 43 74 73
+f 43 73 72
+f 43 72 71
+f 43 71 70
+f 43 70 69
+f 43 69 68
+f 43 68 67
+f 43 67 65
+f 43 65 77
+f 43 77 81
+f 43 81 84
+f 43 84 83
+f 43 83 82
+f 43 82 79
+f 43 79 75
+f 43 75 61
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 47 52 65
+f 47 65 48
+f 48 65 49
+f 49 65 53
+f 50 64 51
+f 52 66 65
+f 53 65 67
+f 53 67 54
+f 54 67 68
+f 54 68 69
+f 54 69 70
+f 54 70 71
+f 54 71 72
+f 54 72 73
+f 54 73 74
+f 54 74 60
+f 61 75 62
+f 62 75 76
+f 65 66 77
+f 66 78 77
+f 75 79 78
+f 75 78 80
+f 75 80 76
+f 77 78 81
+f 78 82 83
+f 78 83 84
+f 78 84 81
+f 78 79 82
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_11.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.05342275 0.00212378 -0.02024579
+v 0.05337525 0.00212379 -0.02104293
+v 0.04923444 0.00212378 -0.02024579
+v 0.05342869 -0.02433364 -0.02024589
+v 0.05333030 0.00212379 -0.02179306
+v 0.04476454 0.00212381 -0.02603142
+v 0.04897150 -0.02871705 -0.02024591
+v 0.05342784 -0.02474421 -0.02024589
+v 0.05333369 -0.02474420 -0.02179316
+v 0.05333369 -0.02277287 -0.02179315
+v 0.05315982 -0.00501282 -0.02374579
+v 0.05322428 0.00212379 -0.02299563
+v 0.05316236 -0.02277286 -0.02374585
+v 0.04476454 0.00212382 -0.03024627
+v 0.04476454 -0.02871702 -0.02598453
+v 0.04986210 -0.02871705 -0.02024591
+v 0.05341172 -0.02630798 -0.02024590
+v 0.05340748 -0.02671855 -0.02024590
+v 0.05331164 -0.02671854 -0.02179317
+v 0.05316151 -0.02474419 -0.02374586
+v 0.05286126 0.00212380 -0.02494833
+v 0.05315812 0.00212380 -0.02374576
+v 0.05268144 -0.02079852 -0.02569757
+v 0.05268144 -0.02277286 -0.02569757
+v 0.04542188 0.00212382 -0.03020808
+v 0.04664071 -0.00896149 -0.03013957
+v 0.04664071 -0.02277284 -0.03014158
+v 0.04476454 -0.00698715 -0.03024729
+v 0.04476454 -0.02871701 -0.03024737
+v 0.05328450 -0.02871101 -0.02024591
+v 0.05318780 -0.02871704 -0.02176968
+v 0.05331334 -0.02828233 -0.02024590
+v 0.05318950 -0.02869289 -0.02179318
+v 0.05313522 -0.02671853 -0.02374587
+v 0.05268059 -0.02474419 -0.02569758
+v 0.05267635 -0.00106715 -0.02569749
+v 0.05267551 0.00212380 -0.02569748
+v 0.05194861 -0.02277285 -0.02716161
+v 0.05222597 0.00212381 -0.02659647
+v 0.05194861 -0.02474418 -0.02716064
+v 0.04664071 0.00212382 -0.03013561
+v 0.04861866 -0.01685283 -0.02965877
+v 0.04664071 -0.02474417 -0.03014159
+v 0.04476454 -0.02671851 -0.03024932
+v 0.04664071 -0.02871701 -0.03011908
+v 0.04476454 -0.02869286 -0.03024835
+v 0.05328789 -0.02869290 -0.02024591
+v 0.05318611 -0.02871704 -0.02179318
+v 0.05300629 -0.02871703 -0.02372238
+v 0.05300714 -0.02869288 -0.02374588
+v 0.05265430 -0.02671853 -0.02569759
+v 0.05193589 -0.02671852 -0.02714890
+v 0.05107160 -0.02277285 -0.02813796
+v 0.05107245 -0.01882416 -0.02813696
+v 0.05194522 0.00212381 -0.02715662
+v 0.05106227 -0.02671852 -0.02812427
+v 0.05107075 -0.02474418 -0.02813698
+v 0.04740068 0.00212382 -0.02994857
+v 0.04861866 -0.01487849 -0.02965778
+v 0.05008262 -0.01487849 -0.02895661
+v 0.05008347 -0.01685283 -0.02895662
+v 0.04861866 -0.02277284 -0.02965879
+v 0.04861866 -0.02474417 -0.02965782
+v 0.04664071 -0.02671851 -0.03013964
+v 0.04861866 -0.02871701 -0.02959223
+v 0.04664071 -0.02869286 -0.03012006
+v 0.04861866 -0.02869286 -0.02959419
+v 0.05300375 -0.02871703 -0.02374588
+v 0.05251944 -0.02869288 -0.02569760
+v 0.05252199 -0.02871703 -0.02567410
+v 0.05186804 -0.02869287 -0.02706469
+v 0.05100035 -0.02869287 -0.02804104
+v 0.05008347 -0.02079850 -0.02895664
+v 0.05008262 -0.02277284 -0.02895664
+v 0.05106736 -0.00106714 -0.02813396
+v 0.05106566 0.00212381 -0.02813297
+v 0.05007329 -0.02671851 -0.02895078
+v 0.05001137 -0.02869286 -0.02891260
+v 0.05008177 -0.02474417 -0.02895567
+v 0.04861866 0.00212382 -0.02964793
+v 0.05007668 0.00212382 -0.02894970
+v 0.05007838 -0.00106713 -0.02895068
+v 0.05045667 0.00212382 -0.02863632
+v 0.04861866 -0.02671851 -0.02964999
+v 0.05000968 -0.02871701 -0.02891162
+v 0.05251520 -0.02871703 -0.02569956
+v 0.05186549 -0.02871702 -0.02706175
+v 0.05101138 -0.02871702 -0.02802439
+v 0.05100035 -0.02871702 -0.02803614
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 21
+f 1 21 37
+f 1 37 39
+f 1 39 55
+f 1 55 76
+f 1 76 83
+f 1 83 81
+f 1 81 80
+f 1 80 58
+f 1 58 41
+f 1 41 25
+f 1 25 14
+f 1 14 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 30
+f 1 30 47
+f 1 47 32
+f 1 32 18
+f 1 18 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 11 12
+f 5 10 13
+f 5 13 11
+f 6 14 28
+f 6 28 44
+f 6 44 46
+f 6 46 29
+f 6 29 15
+f 6 15 7
+f 7 15 29
+f 7 29 45
+f 7 45 65
+f 7 65 85
+f 7 85 89
+f 7 89 88
+f 7 88 87
+f 7 87 86
+f 7 86 70
+f 7 70 68
+f 7 68 49
+f 7 49 48
+f 7 48 31
+f 7 31 16
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 13
+f 9 13 10
+f 11 21 22
+f 11 22 12
+f 11 13 23
+f 11 23 21
+f 13 20 35
+f 13 35 24
+f 13 24 23
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 16 31 30
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 51
+f 20 51 35
+f 21 36 37
+f 21 23 36
+f 23 24 38
+f 23 38 39
+f 23 39 36
+f 24 35 40
+f 24 40 38
+f 25 41 26
+f 26 41 42
+f 26 42 27
+f 27 42 62
+f 27 62 43
+f 27 43 44
+f 27 44 28
+f 29 46 66
+f 29 66 45
+f 30 31 47
+f 31 48 33
+f 31 33 47
+f 32 47 33
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 35 51 52
+f 35 52 40
+f 36 39 37
+f 38 40 53
+f 38 53 54
+f 38 54 55
+f 38 55 39
+f 40 52 56
+f 40 56 57
+f 40 57 53
+f 41 58 59
+f 41 59 42
+f 42 59 60
+f 42 60 61
+f 42 61 73
+f 42 73 62
+f 43 62 63
+f 43 63 64
+f 43 64 46
+f 43 46 44
+f 45 66 67
+f 45 67 65
+f 46 64 66
+f 49 68 50
+f 50 69 51
+f 50 68 70
+f 50 70 69
+f 51 69 71
+f 51 71 52
+f 52 71 72
+f 52 72 56
+f 53 73 61
+f 53 61 54
+f 53 57 79
+f 53 79 74
+f 53 74 73
+f 54 61 60
+f 54 60 75
+f 54 75 55
+f 55 75 76
+f 56 77 57
+f 56 72 78
+f 56 78 77
+f 57 77 79
+f 58 80 59
+f 59 80 81
+f 59 81 60
+f 60 81 82
+f 60 82 83
+f 60 83 75
+f 62 74 63
+f 62 73 74
+f 63 79 84
+f 63 84 64
+f 63 74 79
+f 64 84 66
+f 65 67 85
+f 66 84 67
+f 67 84 77
+f 67 77 78
+f 67 78 85
+f 69 70 86
+f 69 86 71
+f 71 86 87
+f 71 87 88
+f 71 88 72
+f 72 88 89
+f 72 89 85
+f 72 85 78
+f 75 83 76
+f 77 84 79
+f 81 83 82
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_12.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.05300708 0.02064243 -0.02305007
+v -0.05300708 0.02331858 -0.02305006
+v -0.05294442 0.02261550 -0.02374544
+v -0.05294143 -0.00006002 -0.02374552
+v -0.05300410 0.00028600 -0.02305015
+v -0.05300509 0.02458856 -0.02305006
+v -0.05294143 0.02458857 -0.02374543
+v -0.05245704 0.02458857 -0.02569758
+v -0.05245903 0.02261550 -0.02569759
+v -0.05246301 0.00485792 -0.02569765
+v -0.05246301 -0.00006002 -0.02569767
+v -0.05300310 -0.00006003 -0.02305015
+v -0.05299713 0.02529164 -0.02305006
+v -0.05291458 0.02656163 -0.02374542
+v -0.05243118 0.02656163 -0.02569757
+v -0.05167226 0.02656164 -0.02720823
+v -0.05168420 0.02458858 -0.02722023
+v -0.05168917 0.00288487 -0.02722313
+v -0.05168917 -0.00006001 -0.02722314
+v -0.04829642 -0.00006003 -0.02305015
+v -0.05297923 0.02656162 -0.02305005
+v -0.05293746 0.02726471 -0.02305005
+v -0.05279025 0.02853470 -0.02374542
+v -0.05229988 0.02853470 -0.02569757
+v -0.05160463 0.02853471 -0.02712500
+v -0.05074525 0.02853471 -0.02810178
+v -0.05080791 0.02656164 -0.02818500
+v -0.05081587 0.02458858 -0.02819700
+v -0.05081985 0.00288487 -0.02819990
+v -0.05126247 -0.00006001 -0.02770271
+v -0.04284674 -0.00006001 -0.02616173
+v -0.04284674 0.03633123 -0.02305002
+v -0.05285689 0.02853469 -0.02305005
+v -0.05274549 0.02923777 -0.02305004
+v -0.05253761 0.03050775 -0.02305004
+v -0.05246699 0.03050776 -0.02374541
+v -0.05196170 0.03050776 -0.02569756
+v -0.05143156 0.03050777 -0.02688944
+v -0.05056024 0.03050777 -0.02786551
+v -0.04957156 0.03050778 -0.02882325
+v -0.04975657 0.02853472 -0.02894103
+v -0.04981923 0.02656165 -0.02897418
+v -0.04982719 0.02458859 -0.02897842
+v -0.04982719 0.02261552 -0.02897914
+v -0.04983117 0.00091181 -0.02898204
+v -0.05081985 -0.00006001 -0.02819991
+v -0.04284674 -0.00006000 -0.03025291
+v -0.04284674 0.03754599 -0.02305001
+v -0.05233768 0.03121084 -0.02305004
+v -0.05189307 0.03248082 -0.02374540
+v -0.05132015 0.03355202 -0.02483220
+v -0.05148527 0.03232254 -0.02556919
+v -0.05130225 0.03156056 -0.02670748
+v -0.04939451 0.03172622 -0.02869841
+v -0.04831134 0.03050778 -0.02945516
+v -0.04831134 0.02853472 -0.02963218
+v -0.04831134 0.02656165 -0.02967944
+v -0.04831134 0.02458859 -0.02968509
+v -0.04831134 0.00683101 -0.02969009
+v -0.04831134 0.00288488 -0.02969081
+v -0.04983117 -0.00006000 -0.02898204
+v -0.04435562 -0.00006000 -0.03025220
+v -0.04284674 0.02064246 -0.03025424
+v -0.04284674 0.03754602 -0.02923579
+v -0.04899268 0.03754599 -0.02305001
+v -0.05196767 0.03248081 -0.02305003
+v -0.05140968 0.03373607 -0.02374540
+v -0.05088947 0.03472261 -0.02374539
+v -0.04960140 0.03586375 -0.02569754
+v -0.05058511 0.03430665 -0.02556918
+v -0.05103967 0.03287471 -0.02613410
+v -0.04965710 0.03445390 -0.02708619
+v -0.05021709 0.03230046 -0.02758270
+v -0.04908518 0.03304036 -0.02845792
+v -0.04766383 0.03445391 -0.02882464
+v -0.04837997 0.03242195 -0.02905879
+v -0.04633398 0.03248084 -0.02985221
+v -0.04633398 0.03050778 -0.03005533
+v -0.04633398 0.02853472 -0.03012657
+v -0.04633398 0.02656165 -0.03014279
+v -0.04633398 0.02458859 -0.03014421
+v -0.04633398 0.00288488 -0.03014640
+v -0.04734156 -0.00006000 -0.02991439
+v -0.04831134 -0.00006000 -0.02969082
+v -0.04536320 -0.00006000 -0.03019860
+v -0.04435562 0.02064246 -0.03025283
+v -0.04284674 0.02308302 -0.03025424
+v -0.04284674 0.03682085 -0.02954469
+v -0.04371407 0.03754602 -0.02904678
+v -0.04888923 0.03754600 -0.02374538
+v -0.04914585 0.03740611 -0.02305001
+v -0.05144846 0.03381337 -0.02305003
+v -0.05093324 0.03479990 -0.02305002
+v -0.04989980 0.03627603 -0.02374539
+v -0.04917271 0.03726256 -0.02374538
+v -0.04882259 0.03685028 -0.02569753
+v -0.04935473 0.03551773 -0.02674061
+v -0.04865250 0.03445390 -0.02806226
+v -0.04733360 0.03545516 -0.02863281
+v -0.04633398 0.03445391 -0.02940083
+v -0.04435562 0.03248084 -0.03017733
+v -0.04435562 0.03445391 -0.02994811
+v -0.04435562 0.03050778 -0.03023940
+v -0.04435562 0.02853472 -0.03025069
+v -0.04435562 0.02656165 -0.03025210
+v -0.04435562 0.02261552 -0.03025283
+v -0.04633398 -0.00006000 -0.03014641
+v -0.04284674 0.03050778 -0.03025350
+v -0.04284674 0.03647115 -0.02968787
+v -0.04455256 0.03662575 -0.02922945
+v -0.04414078 0.03754602 -0.02894805
+v -0.04817408 0.03754600 -0.02569753
+v -0.04922841 0.03732881 -0.02305001
+v -0.04989980 0.03639381 -0.02305002
+v -0.04750070 0.03754601 -0.02685626
+v -0.04806964 0.03614352 -0.02744304
+v -0.04743406 0.03754601 -0.02691057
+v -0.04633398 0.03693127 -0.02826536
+v -0.04534430 0.03741350 -0.02862575
+v -0.04633398 0.03594475 -0.02886061
+v -0.04284674 0.03248084 -0.03023657
+v -0.04284674 0.03445391 -0.03011808
+v -0.04524384 0.03754601 -0.02855945
+v -0.04546167 0.03754601 -0.02841276
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 20
+f 1 20 32
+f 1 32 48
+f 1 48 65
+f 1 65 91
+f 1 91 113
+f 1 113 114
+f 1 114 93
+f 1 93 92
+f 1 92 66
+f 1 66 49
+f 1 49 35
+f 1 35 34
+f 1 34 33
+f 1 33 22
+f 1 22 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 19
+f 4 19 30
+f 4 30 46
+f 4 46 61
+f 4 61 84
+f 4 84 83
+f 4 83 107
+f 4 107 85
+f 4 85 62
+f 4 62 47
+f 4 47 31
+f 4 31 20
+f 4 20 12
+f 4 12 5
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 29 30
+f 18 30 19
+f 18 28 29
+f 20 31 32
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 61
+f 29 61 46
+f 29 46 30
+f 31 47 63
+f 31 63 87
+f 31 87 108
+f 31 108 121
+f 31 121 122
+f 31 122 109
+f 31 109 88
+f 31 88 64
+f 31 64 48
+f 31 48 32
+f 35 49 36
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 37 52 53
+f 37 53 38
+f 38 53 39
+f 39 53 54
+f 39 54 40
+f 40 54 55
+f 40 55 41
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 43
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 45
+f 45 59 60
+f 45 60 84
+f 45 84 61
+f 47 62 63
+f 48 64 89
+f 48 89 111
+f 48 111 123
+f 48 123 124
+f 48 124 117
+f 48 117 115
+f 48 115 112
+f 48 112 90
+f 48 90 65
+f 49 66 50
+f 50 66 67
+f 50 67 51
+f 51 67 68
+f 51 68 69
+f 51 69 70
+f 51 70 71
+f 51 71 52
+f 52 71 53
+f 53 71 72
+f 53 72 73
+f 53 73 54
+f 54 73 74
+f 54 74 75
+f 54 75 76
+f 54 76 55
+f 55 76 77
+f 55 77 78
+f 55 78 56
+f 56 78 79
+f 56 79 57
+f 57 79 80
+f 57 80 58
+f 58 80 81
+f 58 81 59
+f 59 81 60
+f 60 81 82
+f 60 82 83
+f 60 83 84
+f 62 85 86
+f 62 86 63
+f 63 86 106
+f 63 106 87
+f 64 88 89
+f 65 90 91
+f 66 92 67
+f 67 92 93
+f 67 93 68
+f 68 93 94
+f 68 94 69
+f 69 94 95
+f 69 95 96
+f 69 96 97
+f 69 97 70
+f 70 97 71
+f 71 97 72
+f 72 98 74
+f 72 74 73
+f 72 97 98
+f 74 98 99
+f 74 99 75
+f 75 100 76
+f 75 99 100
+f 76 100 77
+f 77 101 78
+f 77 100 102
+f 77 102 101
+f 78 101 79
+f 79 101 103
+f 79 103 80
+f 80 103 104
+f 80 104 105
+f 80 105 81
+f 81 105 106
+f 81 106 82
+f 82 107 83
+f 82 106 86
+f 82 86 107
+f 85 107 86
+f 87 106 108
+f 88 109 110
+f 88 110 111
+f 88 111 89
+f 90 112 95
+f 90 95 113
+f 90 113 91
+f 93 114 94
+f 94 114 113
+f 94 113 95
+f 95 112 96
+f 96 112 115
+f 96 115 97
+f 97 115 116
+f 97 116 99
+f 97 99 98
+f 99 116 115
+f 99 115 117
+f 99 117 118
+f 99 118 119
+f 99 119 120
+f 99 120 100
+f 100 120 110
+f 100 110 102
+f 101 121 103
+f 101 102 122
+f 101 122 121
+f 102 110 109
+f 102 109 122
+f 103 121 108
+f 103 108 104
+f 104 108 105
+f 105 108 106
+f 110 120 119
+f 110 119 111
+f 111 119 123
+f 117 124 119
+f 117 119 118
+f 119 124 123
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_13.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.04897148 -0.02871705 -0.02024590
+v 0.04923487 0.00212378 -0.02024578
+v 0.04986247 -0.02871705 -0.02024590
+v 0.05119957 -0.02871716 0.01160642
+v 0.05342338 0.00212378 -0.02024578
+v 0.05149779 0.00212367 0.01160654
+v 0.05328528 -0.02871101 -0.02024590
+v 0.05331033 -0.02871705 -0.01983746
+v 0.05508865 -0.02871716 0.01160642
+v 0.05345333 -0.02474421 -0.01983744
+v 0.05342827 -0.02277288 -0.02024587
+v 0.05403694 0.00212375 -0.01007524
+v 0.05403755 0.00090714 -0.01007525
+v 0.05521392 0.00212367 0.01160654
+v 0.05328772 -0.02869290 -0.02024590
+v 0.05331399 -0.02869290 -0.01983746
+v 0.05347105 -0.02871706 -0.01722156
+v 0.05509170 -0.02869301 0.01160642
+v 0.05508009 -0.02871716 0.01142246
+v 0.05343255 -0.02671855 -0.01983745
+v 0.05342827 -0.02474421 -0.02024588
+v 0.05403816 -0.02079857 -0.01007533
+v 0.05403816 -0.02277291 -0.01007533
+v 0.05403632 -0.02474424 -0.01007534
+v 0.05401616 -0.02671858 -0.01007535
+v 0.05408154 0.00212374 -0.00932695
+v 0.05415366 0.00090713 -0.00812345
+v 0.05521453 0.00069876 0.01160653
+v 0.05514364 0.00212367 0.01019725
+v 0.05331339 -0.02828233 -0.02024589
+v 0.05357066 -0.02778422 -0.01703447
+v 0.05345455 -0.02854195 -0.01776718
+v 0.05354988 -0.02871706 -0.01593387
+v 0.05516687 -0.02692696 0.01160643
+v 0.05508192 -0.02869301 0.01140064
+v 0.05507337 -0.02671865 0.00944573
+v 0.05498537 -0.02871715 0.00947067
+v 0.05498720 -0.02869300 0.00944572
+v 0.05340749 -0.02671855 -0.02024589
+v 0.05415427 -0.02079858 -0.00812353
+v 0.05415366 -0.02277292 -0.00812353
+v 0.05415121 -0.02474425 -0.00812354
+v 0.05413166 -0.02671859 -0.00812355
+v 0.05415304 0.00212374 -0.00812344
+v 0.05419643 0.00212374 -0.00737203
+v 0.05426610 0.00090712 -0.00617166
+v 0.05521270 -0.01487864 0.01160648
+v 0.05520293 -0.01487864 0.01140070
+v 0.05510759 -0.01487863 0.00944578
+v 0.05500859 0.00212368 0.00749405
+v 0.05402655 -0.02869294 -0.00812356
+v 0.05390921 -0.02869293 -0.01007536
+v 0.05435532 -0.02671860 -0.00421996
+v 0.05436815 -0.02869296 -0.00226817
+v 0.05425510 -0.02869295 -0.00421997
+v 0.05390616 -0.02871708 -0.01007536
+v 0.05517542 -0.02671866 0.01160643
+v 0.05497926 -0.02671865 0.00749394
+v 0.05499759 -0.02474431 0.00749395
+v 0.05509109 -0.02474431 0.00944574
+v 0.05519131 -0.02495262 0.01160644
+v 0.05498415 -0.02871715 0.00944572
+v 0.05488820 -0.02871715 0.00749393
+v 0.05489065 -0.02869300 0.00749393
+v 0.05437793 -0.01487858 -0.00421991
+v 0.05426304 -0.02474426 -0.00617175
+v 0.05437488 -0.02277293 -0.00421994
+v 0.05426549 0.00212373 -0.00617165
+v 0.05437732 0.00090712 -0.00421986
+v 0.05520965 -0.01685298 0.01160647
+v 0.05519987 -0.01685298 0.01140069
+v 0.05510515 -0.01685297 0.00944577
+v 0.05500676 -0.01685297 0.00749398
+v 0.05500798 -0.01487863 0.00749399
+v 0.05494748 0.00212369 0.00629054
+v 0.05500859 0.00090707 0.00749404
+v 0.05490043 -0.02474430 0.00554215
+v 0.05413777 -0.02871710 -0.00617177
+v 0.05402471 -0.02871709 -0.00809862
+v 0.05437365 -0.02474426 -0.00421995
+v 0.05446532 -0.02671861 -0.00226816
+v 0.05447876 -0.02869297 -0.00031638
+v 0.05425204 -0.02871710 -0.00421997
+v 0.05447571 -0.02871712 -0.00031638
+v 0.05436632 -0.02871711 -0.00224635
+v 0.05488270 -0.02671864 0.00554214
+v 0.05509598 -0.02277298 0.00944575
+v 0.05518948 -0.02277299 0.01140067
+v 0.05519926 -0.02277299 0.01160645
+v 0.05519865 -0.02297828 0.01160645
+v 0.05519314 -0.02474432 0.01160644
+v 0.05478981 -0.02871714 0.00554213
+v 0.05479226 -0.02869299 0.00554213
+v 0.05448854 -0.01487859 -0.00226811
+v 0.05448426 -0.02277294 -0.00226814
+v 0.05437671 0.00212373 -0.00421985
+v 0.05441888 0.00212372 -0.00347156
+v 0.05448671 0.00090711 -0.00226806
+v 0.05490654 -0.01685296 0.00554218
+v 0.05490776 -0.01487862 0.00554219
+v 0.05490837 -0.01093295 0.00554220
+v 0.05490898 0.00090708 0.00554224
+v 0.05490898 0.00212369 0.00554225
+v 0.05478309 -0.02671863 0.00359034
+v 0.05479960 -0.02474429 0.00359035
+v 0.05448304 -0.02474427 -0.00226815
+v 0.05457348 -0.02671862 -0.00031637
+v 0.05458754 -0.02869298 0.00163542
+v 0.05458449 -0.02871713 0.00163542
+v 0.05469021 -0.02871713 0.00361216
+v 0.05469204 -0.02869298 0.00359033
+v 0.05459426 0.00212371 -0.00031626
+v 0.05459609 -0.01487860 -0.00031632
+v 0.05459487 -0.01685294 -0.00031633
+v 0.05459121 -0.02277295 -0.00031635
+v 0.05448610 0.00212372 -0.00226805
+v 0.05452765 0.00212372 -0.00151976
+v 0.05480570 -0.01685295 0.00359038
+v 0.05480693 -0.01487861 0.00359039
+v 0.05480693 0.00212370 0.00359045
+v 0.05467982 -0.02671863 0.00163543
+v 0.05469571 -0.02474429 0.00163544
+v 0.05458999 -0.02474428 -0.00031636
+v 0.05470121 0.00212370 0.00163554
+v 0.05470243 -0.01487861 0.00163548
+v 0.05470182 -0.01685295 0.00163547
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 39
+f 1 39 30
+f 1 30 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 33
+f 1 33 56
+f 1 56 79
+f 1 79 78
+f 1 78 83
+f 1 83 85
+f 1 85 84
+f 1 84 109
+f 1 109 110
+f 1 110 92
+f 1 92 63
+f 1 63 62
+f 1 62 37
+f 1 37 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 29
+f 2 29 50
+f 2 50 75
+f 2 75 103
+f 2 103 120
+f 2 120 124
+f 2 124 112
+f 2 112 117
+f 2 117 116
+f 2 116 97
+f 2 97 96
+f 2 96 68
+f 2 68 45
+f 2 45 44
+f 2 44 26
+f 2 26 12
+f 2 12 5
+f 3 7 8
+f 4 9 18
+f 4 18 34
+f 4 34 57
+f 4 57 61
+f 4 61 91
+f 4 91 90
+f 4 90 89
+f 4 89 70
+f 4 70 47
+f 4 47 28
+f 4 28 14
+f 4 14 6
+f 5 10 11
+f 5 12 13
+f 5 13 10
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 19 18
+f 10 20 39
+f 10 39 21
+f 10 21 11
+f 10 13 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 20
+f 12 26 13
+f 13 26 27
+f 13 27 40
+f 13 40 22
+f 14 28 29
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 18 19 35
+f 18 35 36
+f 18 36 34
+f 19 37 38
+f 19 38 35
+f 20 31 39
+f 20 25 31
+f 22 40 23
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 31
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 40
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 29
+f 30 39 31
+f 31 51 52
+f 31 52 33
+f 31 33 32
+f 31 43 53
+f 31 53 54
+f 31 54 55
+f 31 55 51
+f 33 52 56
+f 34 36 57
+f 35 38 58
+f 35 58 36
+f 36 58 59
+f 36 59 60
+f 36 60 61
+f 36 61 57
+f 37 62 38
+f 38 62 63
+f 38 63 64
+f 38 64 86
+f 38 86 58
+f 40 46 65
+f 40 65 41
+f 41 66 42
+f 41 65 94
+f 41 94 67
+f 41 67 80
+f 41 80 66
+f 42 66 53
+f 42 53 43
+f 45 68 46
+f 46 68 96
+f 46 96 69
+f 46 69 65
+f 47 70 71
+f 47 71 48
+f 48 71 72
+f 48 72 49
+f 49 73 74
+f 49 74 75
+f 49 75 76
+f 49 76 50
+f 49 72 77
+f 49 77 73
+f 50 76 75
+f 51 78 79
+f 51 79 56
+f 51 56 52
+f 51 55 83
+f 51 83 78
+f 53 80 81
+f 53 81 82
+f 53 82 54
+f 53 66 80
+f 54 83 55
+f 54 82 84
+f 54 84 85
+f 54 85 83
+f 58 86 59
+f 59 72 87
+f 59 87 60
+f 59 86 77
+f 59 77 72
+f 60 87 88
+f 60 88 89
+f 60 89 90
+f 60 90 91
+f 60 91 61
+f 63 92 93
+f 63 93 64
+f 64 93 86
+f 65 69 94
+f 67 94 95
+f 67 95 106
+f 67 106 80
+f 69 96 97
+f 69 97 98
+f 69 98 94
+f 70 89 88
+f 70 88 71
+f 71 88 87
+f 71 87 72
+f 73 99 100
+f 73 100 74
+f 73 77 99
+f 74 100 101
+f 74 101 75
+f 75 101 102
+f 75 102 103
+f 77 86 104
+f 77 104 105
+f 77 105 118
+f 77 118 99
+f 80 106 81
+f 81 106 107
+f 81 107 108
+f 81 108 82
+f 82 108 109
+f 82 109 84
+f 86 93 104
+f 92 110 111
+f 92 111 93
+f 93 111 104
+f 94 98 112
+f 94 112 113
+f 94 113 95
+f 95 113 114
+f 95 114 126
+f 95 126 115
+f 95 115 123
+f 95 123 106
+f 97 116 98
+f 98 116 117
+f 98 117 112
+f 99 118 119
+f 99 119 100
+f 100 119 101
+f 101 119 102
+f 102 119 120
+f 102 120 103
+f 104 111 121
+f 104 121 105
+f 105 121 122
+f 105 122 126
+f 105 126 118
+f 106 123 107
+f 107 123 121
+f 107 121 108
+f 108 121 111
+f 108 111 110
+f 108 110 109
+f 112 124 113
+f 113 124 125
+f 113 125 126
+f 113 126 114
+f 115 126 123
+f 118 126 119
+f 119 126 125
+f 119 125 120
+f 120 125 124
+f 121 123 122
+f 122 123 126
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_14.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.05613075 0.03257628 0.04327823
+v -0.05424708 0.03257628 0.04323381
+v -0.05622381 0.03257628 0.04327823
+v -0.05622381 0.03247719 0.04327823
+v -0.05622381 -0.03069129 0.04327444
+v -0.05413701 0.03257628 0.04319295
+v -0.05427035 -0.03069129 0.04320782
+v -0.05424708 -0.03069129 0.04320693
+v -0.05810927 0.03257628 0.04288824
+v -0.05820233 0.03050782 0.04289089
+v -0.05820233 0.01669127 0.04289262
+v -0.05820233 -0.00698453 0.04289342
+v -0.05820233 -0.00895390 0.04289342
+v -0.05820233 -0.02869095 0.04288979
+v -0.05820233 -0.03069129 0.04288090
+v -0.05240637 0.03257628 0.04242274
+v -0.05253612 -0.03069129 0.04239764
+v -0.05820233 0.03257628 0.04286425
+v -0.05820233 0.03247719 0.04286869
+v -0.05951687 0.03050783 0.04209138
+v -0.05951956 0.02853227 0.04209403
+v -0.05951956 0.02656290 0.04209492
+v -0.05952045 0.02261178 0.04209579
+v -0.05952045 0.01669128 0.04209666
+v -0.05951956 -0.01684995 0.04209387
+v -0.05951956 -0.02277045 0.04209296
+v -0.05952045 0.01077078 0.04209664
+v -0.05951956 -0.02671538 0.04209205
+v -0.05951866 -0.02869094 0.04209116
+v -0.05950792 -0.03069128 0.04208050
+v -0.05950882 -0.03066651 0.04208138
+v -0.05232762 0.03257628 0.04231703
+v -0.05175760 -0.03069128 0.04068844
+v -0.05149004 0.03257629 0.04062205
+v -0.05151510 0.03257629 0.04067624
+v -0.05943454 0.03257629 0.04210027
+v -0.05949539 0.03247720 0.04206740
+v -0.05996519 0.03050783 0.04068866
+v -0.05996787 0.02853227 0.04068865
+v -0.05952045 0.02458734 0.04209491
+v -0.05996608 -0.02869094 0.04068844
+v -0.05996787 0.02656290 0.04068865
+v -0.05995714 -0.03069128 0.04068844
+v -0.05951329 -0.03069128 0.04206451
+v -0.05171375 -0.03069127 0.03873762
+v -0.05107572 -0.01092943 0.03420353
+v -0.05102292 -0.00895387 0.03420354
+v -0.05103635 -0.00895387 0.03434834
+v -0.05102740 -0.00698450 0.03436521
+v -0.05101756 0.00703024 0.03420360
+v -0.05102292 0.00898722 0.03420360
+v -0.05143545 0.03257630 0.03896704
+v -0.05102740 -0.00500893 0.03436789
+v -0.05102740 -0.00106400 0.03436791
+v -0.05949181 0.03257629 0.04206207
+v -0.05992940 0.03247720 0.04068867
+v -0.05990524 0.03257629 0.04074908
+v -0.06013074 0.03247721 0.03873785
+v -0.06015490 0.03050784 0.03873784
+v -0.06015669 -0.03066650 0.03873762
+v -0.05995982 -0.03069128 0.04066535
+v -0.05171912 -0.03069126 0.03420346
+v -0.05101577 -0.00698450 0.03420354
+v -0.05101577 -0.00106400 0.03420357
+v -0.05132807 0.03257631 0.03420369
+v -0.05992224 0.03257629 0.04068867
+v -0.06012447 0.03257630 0.03873785
+v -0.05984349 0.03257630 0.03678524
+v -0.05984886 0.03247721 0.03678524
+v -0.05987929 0.03050784 0.03678523
+v -0.05988466 0.02853228 0.03678522
+v -0.05988913 -0.03066650 0.03678501
+v -0.05988913 -0.03069127 0.03678501
+v -0.06015311 -0.03069127 0.03871363
+v -0.06015579 -0.03069127 0.03873762
+v -0.05614059 -0.03069126 0.03420346
+v -0.05584171 0.03257631 0.03420369
+v -0.05934148 0.03257631 0.03570145
+v -0.05934327 0.03247722 0.03570056
+v -0.05936385 0.03050785 0.03568634
+v -0.05937012 0.02853229 0.03568100
+v -0.05937101 0.01077080 0.03567383
+v -0.05937101 0.00880143 0.03567293
+v -0.05937101 -0.00698450 0.03567287
+v -0.05937280 -0.03069126 0.03567990
+v -0.05614506 -0.03066649 0.03420346
+v -0.05584797 0.03254535 0.03420369
+v -0.05591419 0.03210565 0.03420369
+v -0.05614596 0.03050785 0.03420368
+v -0.05618981 0.02986998 0.03420368
+v -0.05625155 0.02853229 0.03420367
+v -0.05685289 0.01077080 0.03420361
+v -0.05689048 0.00880143 0.03420360
+v -0.05689764 0.00682587 0.03420360
+v -0.05690032 0.00091156 0.03420357
+v -0.05690301 -0.00707120 0.03420354
+v -0.05624618 -0.02869092 0.03420346
+v -0.05689585 -0.00905915 0.03420354
+v -0.05685558 -0.01092943 0.03420353
+f 1 2 6
+f 1 6 16
+f 1 16 32
+f 1 32 35
+f 1 35 34
+f 1 34 52
+f 1 52 65
+f 1 65 77
+f 1 77 78
+f 1 78 68
+f 1 68 67
+f 1 67 66
+f 1 66 57
+f 1 57 55
+f 1 55 36
+f 1 36 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 30
+f 5 30 44
+f 5 44 43
+f 5 43 61
+f 5 61 75
+f 5 75 74
+f 5 74 73
+f 5 73 85
+f 5 85 76
+f 5 76 62
+f 5 62 45
+f 5 45 33
+f 5 33 17
+f 5 17 8
+f 5 8 7
+f 6 8 16
+f 8 17 16
+f 9 18 19
+f 9 19 10
+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 11 24 12
+f 12 24 27
+f 12 27 13
+f 13 25 26
+f 13 26 14
+f 13 27 25
+f 14 26 28
+f 14 28 29
+f 14 29 15
+f 15 29 31
+f 15 31 30
+f 16 17 32
+f 17 33 34
+f 17 34 35
+f 17 35 32
+f 18 36 37
+f 18 37 19
+f 19 37 20
+f 20 38 21
+f 20 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 40 23
+f 23 40 39
+f 23 39 24
+f 24 39 42
+f 24 42 27
+f 25 27 26
+f 26 41 28
+f 26 27 41
+f 27 42 41
+f 28 41 29
+f 29 41 43
+f 29 43 31
+f 30 31 44
+f 31 43 44
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 50 51
+f 34 51 52
+f 34 49 53
+f 34 53 54
+f 34 54 50
+f 36 55 37
+f 37 56 38
+f 37 55 57
+f 37 57 56
+f 38 56 58
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 42
+f 41 60 61
+f 41 61 43
+f 41 42 60
+f 45 62 46
+f 46 62 76
+f 46 76 86
+f 46 86 97
+f 46 97 99
+f 46 99 98
+f 46 98 96
+f 46 96 95
+f 46 95 94
+f 46 94 93
+f 46 93 92
+f 46 92 91
+f 46 91 90
+f 46 90 89
+f 46 89 88
+f 46 88 87
+f 46 87 77
+f 46 77 65
+f 46 65 51
+f 46 51 50
+f 46 50 64
+f 46 64 63
+f 46 63 47
+f 47 63 49
+f 47 49 48
+f 49 63 53
+f 50 54 64
+f 51 65 52
+f 53 63 64
+f 53 64 54
+f 56 57 66
+f 56 66 67
+f 56 67 58
+f 58 67 68
+f 58 68 69
+f 58 69 70
+f 58 70 59
+f 59 70 71
+f 59 71 72
+f 59 72 60
+f 60 72 73
+f 60 73 74
+f 60 74 75
+f 60 75 61
+f 68 78 69
+f 69 78 79
+f 69 79 70
+f 70 79 80
+f 70 80 81
+f 70 81 71
+f 71 81 82
+f 71 82 83
+f 71 83 72
+f 72 83 84
+f 72 84 73
+f 73 84 85
+f 76 85 86
+f 77 87 78
+f 78 87 88
+f 78 88 89
+f 78 89 90
+f 78 90 91
+f 78 91 79
+f 79 91 92
+f 79 92 80
+f 80 92 93
+f 80 93 81
+f 81 93 94
+f 81 94 83
+f 81 83 82
+f 83 94 95
+f 83 95 96
+f 83 96 84
+f 84 96 85
+f 85 97 86
+f 85 96 98
+f 85 98 99
+f 85 99 97
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_15.obj

@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v 0.04465745 -0.04988717 0.03563448
+v 0.04465745 -0.04910229 0.03563448
+v 0.04663429 -0.04970774 0.03565539
+v 0.04070377 -0.05101037 0.03632303
+v 0.04268061 -0.04999593 0.03564568
+v -0.04037248 -0.05001598 0.03566659
+v 0.04663429 -0.04878201 0.03565539
+v -0.04037248 -0.04922959 0.03566659
+v 0.04743362 -0.04859757 0.03567779
+v 0.04743362 -0.04961451 0.03569347
+v 0.04268061 -0.05098230 0.03649778
+v 0.04070377 -0.05147199 0.03729910
+v 0.03871833 -0.05147400 0.03728716
+v 0.04003336 -0.05100987 0.03631929
+v 0.03871833 -0.05100786 0.03631182
+v 0.04070377 -0.05002400 0.03565763
+v -0.03840423 -0.05100736 0.03628419
+v -0.04037248 -0.05002901 0.03567480
+v -0.04037248 -0.04869482 0.03678531
+v 0.04743362 -0.04744680 0.03616920
+v 0.04743362 -0.04757160 0.03594068
+v 0.04743362 -0.05013829 0.03678531
+v 0.04663429 -0.05039290 0.03678530
+v 0.04451133 -0.05091716 0.03692943
+v 0.04374638 -0.05140132 0.03767624
+v 0.04268061 -0.05143891 0.03747386
+v 0.04070377 -0.05148452 0.03873746
+v 0.04003336 -0.05148652 0.03873746
+v 0.03871833 -0.05148953 0.03873821
+v -0.03840423 -0.05149655 0.03873746
+v -0.03840423 -0.05147851 0.03726176
+v -0.04037248 -0.05147700 0.03727595
+v -0.04037248 -0.05100235 0.03629987
+v -0.04037248 -0.04771246 0.03997269
+v 0.04003336 -0.04637624 0.03872777
+v 0.04743362 -0.04707693 0.03696231
+v 0.04743362 -0.05038287 0.03880616
+v 0.04663429 -0.05069312 0.03873746
+v 0.04374638 -0.05140132 0.03793165
+v 0.04253450 -0.05143239 0.03864486
+v 0.04178673 -0.05139431 0.03976357
+v 0.04070377 -0.05140033 0.03980838
+v 0.04003336 -0.05143039 0.03944842
+v 0.03871833 -0.05140333 0.03982929
+v 0.03673290 -0.05140384 0.03983601
+v -0.03840423 -0.05140534 0.03985244
+v -0.04037248 -0.05149054 0.03873746
+v -0.04037248 -0.04771247 0.04323923
+v 0.04003336 -0.04637626 0.04326389
+v 0.04743362 -0.04637624 0.03867251
+v 0.04743362 -0.05028966 0.03959481
+v 0.04663429 -0.05044102 0.04068812
+v 0.04465745 -0.05092619 0.04068812
+v 0.04451133 -0.05120384 0.03864486
+v 0.04310176 -0.05133967 0.03923334
+v 0.04253450 -0.05122290 0.04052383
+v 0.04070377 -0.05125498 0.04078446
+v 0.04003336 -0.05130510 0.04046259
+v 0.04003336 -0.05140133 0.03981585
+v 0.03476465 -0.05126400 0.04081508
+v 0.01696449 -0.05127402 0.04078222
+v 0.01497906 -0.05127453 0.04078073
+v 0.01102538 -0.05127503 0.04077924
+v 0.00904853 -0.05127503 0.04077998
+v -0.00083567 -0.05127553 0.04077625
+v -0.01665039 -0.05127553 0.04076953
+v -0.03643599 -0.05126701 0.04082031
+v -0.03840423 -0.05126500 0.04082852
+v -0.04037248 -0.05140133 0.03981212
+v -0.04037248 -0.04842920 0.04322504
+v -0.03840423 -0.04842920 0.04322803
+v -0.03840423 -0.04771247 0.04324147
+v 0.04003336 -0.04645545 0.04326389
+v 0.04078112 -0.04637626 0.04326389
+v 0.00013556 -0.04714862 0.04325642
+v 0.04743362 -0.04637626 0.04323626
+v 0.04743362 -0.05014782 0.04068813
+v 0.04743362 -0.04997189 0.04136250
+v 0.04743362 -0.04971026 0.04200401
+v 0.04663429 -0.04984760 0.04214441
+v 0.04465745 -0.05009520 0.04233261
+v 0.04268061 -0.05023052 0.04240281
+v 0.04070377 -0.05026812 0.04242521
+v 0.04003336 -0.05125448 0.04079193
+v 0.03673290 -0.05125949 0.04081209
+v 0.04003336 -0.05026812 0.04242820
+v 0.03673290 -0.05027263 0.04243417
+v 0.03476465 -0.05027714 0.04243417
+v 0.03277921 -0.05027864 0.04243492
+v 0.01696449 -0.05028766 0.04243716
+v 0.01497906 -0.05028816 0.04243791
+v 0.01102538 -0.05028867 0.04243940
+v 0.00707169 -0.05028867 0.04244015
+v 0.00114117 -0.05028867 0.04244015
+v -0.01665039 -0.05028867 0.04243791
+v -0.02852003 -0.05028466 0.04243567
+v -0.03643599 -0.05028015 0.04243567
+v -0.03840423 -0.05027864 0.04243492
+v -0.04037248 -0.05026210 0.04243193
+v -0.04037248 -0.05124846 0.04078894
+v -0.01072847 -0.04842920 0.04323401
+v -0.01467355 -0.04771247 0.04324596
+v 0.00835234 -0.04714862 0.04325717
+v 0.04070377 -0.04645545 0.04326389
+v 0.04671164 -0.04637626 0.04325642
+v -0.00874303 -0.04771247 0.04324670
+v 0.04663429 -0.04645545 0.04325642
+v 0.04743362 -0.04645545 0.04323402
+v 0.04743362 -0.04934389 0.04224075
+v 0.04743362 -0.04847781 0.04272916
+v 0.04663429 -0.04842920 0.04294350
+v 0.04465745 -0.04842920 0.04313244
+v 0.04268061 -0.04842920 0.04319592
+v 0.04070377 -0.04842920 0.04321757
+v 0.04003336 -0.05060040 0.04187928
+v 0.03871833 -0.05125398 0.04080537
+v 0.04003336 -0.04842920 0.04322056
+v 0.03871833 -0.04842920 0.04322579
+v 0.03871833 -0.05026711 0.04243268
+v 0.03673290 -0.04842920 0.04322728
+v 0.01894133 -0.05028616 0.04243716
+v 0.03476465 -0.04842920 0.04322803
+v 0.01102538 -0.04842920 0.04323550
+v 0.00013556 -0.04842920 0.04323550
+v -0.00676619 -0.05028716 0.04244015
+v -0.00676619 -0.04842920 0.04323475
+v 0.01300222 -0.04714862 0.04325717
+v 0.03673290 -0.04714862 0.04325194
+v 0.04003336 -0.04712105 0.04325119
+v 0.04743362 -0.04763779 0.04304731
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 7
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 17 18
+f 6 18 33
+f 6 33 32
+f 6 32 47
+f 6 47 69
+f 6 69 100
+f 6 100 99
+f 6 99 70
+f 6 70 48
+f 6 48 34
+f 6 34 19
+f 6 19 8
+f 6 16 17
+f 7 8 9
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 20
+f 9 20 36
+f 9 36 50
+f 9 50 76
+f 9 76 108
+f 9 108 130
+f 9 130 110
+f 9 110 109
+f 9 109 79
+f 9 79 78
+f 9 78 77
+f 9 77 51
+f 9 51 37
+f 9 37 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 15 14
+f 13 29 30
+f 13 30 31
+f 13 31 15
+f 15 31 17
+f 15 17 16
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 22 37 38
+f 22 38 23
+f 23 38 25
+f 23 25 24
+f 25 39 26
+f 25 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 29 44 45
+f 29 45 30
+f 29 43 44
+f 30 46 47
+f 30 47 32
+f 30 32 31
+f 30 45 46
+f 34 48 49
+f 34 49 35
+f 35 49 74
+f 35 74 105
+f 35 105 76
+f 35 76 50
+f 35 50 36
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 41
+f 39 41 40
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 58
+f 42 58 59
+f 42 59 43
+f 43 59 44
+f 44 60 45
+f 44 59 58
+f 44 58 60
+f 45 60 61
+f 45 61 62
+f 45 62 63
+f 45 63 64
+f 45 64 46
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 48 70 71
+f 48 71 72
+f 48 72 49
+f 49 73 104
+f 49 104 74
+f 49 72 75
+f 49 75 73
+f 51 77 52
+f 52 77 78
+f 52 78 53
+f 53 55 54
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 56
+f 53 56 55
+f 56 81 57
+f 57 81 82
+f 57 82 83
+f 57 83 84
+f 57 84 85
+f 57 85 60
+f 57 60 58
+f 60 85 83
+f 60 83 86
+f 60 86 87
+f 60 87 88
+f 60 88 89
+f 60 89 90
+f 60 90 91
+f 60 91 92
+f 60 92 68
+f 60 68 61
+f 61 68 62
+f 62 68 64
+f 62 64 63
+f 64 68 67
+f 64 67 65
+f 65 67 66
+f 68 93 94
+f 68 94 95
+f 68 95 96
+f 68 96 97
+f 68 97 98
+f 68 98 99
+f 68 99 100
+f 68 100 69
+f 68 92 93
+f 70 99 98
+f 70 98 71
+f 71 98 97
+f 71 97 95
+f 71 95 101
+f 71 101 72
+f 72 101 102
+f 72 102 75
+f 73 75 103
+f 73 103 127
+f 73 127 104
+f 74 104 107
+f 74 107 105
+f 75 102 106
+f 75 106 103
+f 76 105 107
+f 76 107 108
+f 79 109 80
+f 80 109 110
+f 80 110 111
+f 80 111 81
+f 81 112 82
+f 81 111 112
+f 82 112 113
+f 82 113 83
+f 83 114 117
+f 83 117 86
+f 83 85 115
+f 83 115 84
+f 83 113 114
+f 84 115 116
+f 84 116 85
+f 85 116 115
+f 86 117 118
+f 86 118 119
+f 86 119 87
+f 87 119 118
+f 87 118 88
+f 88 118 120
+f 88 120 89
+f 89 92 91
+f 89 91 121
+f 89 121 90
+f 89 120 92
+f 90 121 91
+f 92 120 122
+f 92 122 123
+f 92 123 93
+f 93 123 124
+f 93 124 94
+f 94 124 125
+f 94 125 95
+f 95 125 126
+f 95 126 101
+f 95 97 96
+f 101 126 102
+f 102 126 106
+f 103 106 124
+f 103 124 123
+f 103 123 127
+f 104 127 123
+f 104 123 128
+f 104 128 122
+f 104 122 120
+f 104 120 129
+f 104 129 107
+f 106 126 124
+f 107 113 108
+f 107 129 118
+f 107 118 117
+f 107 117 114
+f 107 114 113
+f 108 113 112
+f 108 112 130
+f 110 130 111
+f 111 130 112
+f 118 129 120
+f 122 128 123
+f 124 126 125
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_16.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00013233 -0.04568059 0.03484444
+v -0.04037248 -0.04771173 0.03997320
+v -0.03841257 -0.04579343 0.03564604
+v -0.04030951 -0.04573883 0.03564604
+v -0.04037248 -0.04573337 0.03564604
+v 0.00013233 -0.04154492 0.03484446
+v 0.01300949 -0.04568362 0.03484444
+v -0.03842832 -0.04771173 0.03997238
+v -0.04037248 -0.04771174 0.04323982
+v 0.02685480 -0.04568604 0.03484444
+v -0.04037248 -0.04151459 0.03564606
+v 0.04003893 -0.04151398 0.03484446
+v -0.01665678 -0.04771173 0.03997238
+v -0.03841257 -0.04771174 0.04324147
+v -0.04037248 -0.04645473 0.04326457
+v 0.02687054 -0.04568604 0.03484444
+v -0.04037248 -0.04154432 0.03856961
+v 0.04003893 -0.04154796 0.03867269
+v 0.04003893 -0.04561810 0.03484444
+v 0.00013233 -0.04771173 0.03997320
+v -0.02060809 -0.04771174 0.04324559
+v -0.02259161 -0.04645473 0.04326869
+v -0.04037248 -0.04642803 0.04326457
+v 0.02884619 -0.04568544 0.03484444
+v -0.04037248 -0.04161895 0.04066185
+v 0.04003893 -0.04161835 0.04068824
+v 0.04003893 -0.04157405 0.03942976
+v 0.03872445 -0.04566906 0.03484444
+v 0.04003893 -0.04714753 0.03997569
+v 0.03478102 -0.04568240 0.03484444
+v 0.03675667 -0.04568059 0.03484444
+v 0.00013233 -0.04771174 0.04324807
+v -0.01270548 -0.04771174 0.04324724
+v -0.00677065 -0.04771174 0.04324807
+v 0.00905031 -0.04645412 0.04326952
+v -0.01270548 -0.04448244 0.04326293
+v -0.01863243 -0.04448244 0.04326210
+v -0.02259161 -0.04448244 0.04326128
+v -0.04037248 -0.04448244 0.04325633
+v -0.04037248 -0.04162017 0.04068907
+v 0.04003893 -0.04194534 0.04128120
+v -0.00677065 -0.04259206 0.04245473
+v -0.00478713 -0.04259206 0.04245473
+v 0.04003893 -0.04714754 0.04324972
+v 0.03802393 -0.04714754 0.04325137
+v 0.03476527 -0.04714754 0.04325220
+v 0.01231683 -0.04714754 0.04325715
+v 0.01300949 -0.04645412 0.04326952
+v -0.01270548 -0.04259267 0.04245473
+v 0.00013233 -0.04448244 0.04326293
+v -0.04037248 -0.04259206 0.04245061
+v -0.04037248 -0.04445696 0.04324561
+v -0.04037248 -0.04257871 0.04242669
+v 0.04003893 -0.04259024 0.04244813
+v 0.01103384 -0.04448184 0.04326210
+v 0.00013233 -0.04259267 0.04245473
+v 0.04003893 -0.04711964 0.04325055
+v 0.04003893 -0.04645412 0.04326457
+v 0.03674093 -0.04645412 0.04326539
+v 0.04003893 -0.04322603 0.04271946
+v 0.02289562 -0.04448184 0.04325963
+v 0.04003893 -0.04514614 0.04325797
+v 0.04003893 -0.04448184 0.04325386
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 12
+f 1 12 19
+f 1 19 28
+f 1 28 31
+f 1 31 30
+f 1 30 24
+f 1 24 16
+f 1 16 10
+f 1 10 7
+f 1 7 2
+f 2 8 13
+f 2 13 20
+f 2 20 32
+f 2 32 34
+f 2 34 33
+f 2 33 21
+f 2 21 14
+f 2 14 9
+f 2 9 15
+f 2 15 23
+f 2 23 39
+f 2 39 52
+f 2 52 51
+f 2 51 53
+f 2 53 40
+f 2 40 25
+f 2 25 17
+f 2 17 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 2 7 10
+f 2 10 8
+f 6 11 12
+f 8 10 16
+f 8 16 13
+f 9 14 15
+f 11 17 18
+f 11 18 12
+f 12 18 27
+f 12 27 26
+f 12 26 41
+f 12 41 54
+f 12 54 60
+f 12 60 63
+f 12 63 62
+f 12 62 58
+f 12 58 57
+f 12 57 44
+f 12 44 29
+f 12 29 19
+f 13 16 20
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 16 24 20
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 19 29 28
+f 20 24 30
+f 20 30 31
+f 20 31 28
+f 20 28 29
+f 20 29 44
+f 20 44 32
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 25 40 26
+f 26 40 42
+f 26 42 43
+f 26 43 41
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 35
+f 32 35 34
+f 35 48 50
+f 35 50 36
+f 36 42 49
+f 36 49 37
+f 36 50 43
+f 36 43 42
+f 37 49 51
+f 37 51 38
+f 38 51 52
+f 38 52 39
+f 40 53 42
+f 41 43 54
+f 42 53 51
+f 42 51 49
+f 43 50 55
+f 43 55 56
+f 43 56 54
+f 44 57 45
+f 45 57 58
+f 45 58 46
+f 46 58 59
+f 46 59 47
+f 47 59 48
+f 48 55 50
+f 48 59 55
+f 54 56 55
+f 54 55 61
+f 54 61 60
+f 55 59 61
+f 58 62 61
+f 58 61 59
+f 60 61 63
+f 61 62 63
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_17.obj

@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v 0.04476369 -0.04334925 0.01160637
+v 0.04476369 -0.04334065 0.01144867
+v 0.04491328 -0.04329625 0.01160637
+v 0.04476369 -0.03893026 0.01160639
+v 0.04501738 -0.04325901 0.01160637
+v 0.04476369 -0.04333779 0.01140056
+v 0.04476369 -0.03892739 0.01157431
+v 0.05119887 -0.02871716 0.01160642
+v 0.04940486 -0.02871706 -0.01569977
+v 0.04664057 -0.04248264 0.01140056
+v 0.04664057 -0.04249553 0.01160637
+v 0.04476369 -0.04322892 0.00962576
+v 0.04483949 -0.04319024 0.00944668
+v 0.04476369 -0.04234507 -0.00408881
+v 0.04476369 -0.04170045 -0.01398115
+v 0.04563896 -0.04151425 -0.01096613
+v 0.04476369 -0.03664689 -0.01569979
+v 0.05508909 -0.02871716 0.01160642
+v 0.05356393 -0.02871706 -0.01569977
+v 0.04664057 -0.04235228 0.00944668
+v 0.04760479 -0.04150571 0.00476647
+v 0.04767554 -0.04155298 0.00606816
+v 0.04784534 -0.04167045 0.00944669
+v 0.04794338 -0.04173778 0.01140057
+v 0.04795349 -0.04174495 0.01160638
+v 0.04572083 -0.04155865 -0.00966444
+v 0.04476369 -0.04319024 0.00900031
+v 0.04476369 -0.04158728 -0.01569981
+v 0.04529229 -0.04135093 -0.01569981
+v 0.04664057 -0.04054305 -0.01569981
+v 0.04753303 -0.04146130 0.00359040
+v 0.05506786 -0.02890194 0.01160642
+v 0.05498397 -0.02871715 0.00944673
+v 0.05354877 -0.02952208 -0.01471882
+v 0.05351845 -0.02920408 -0.01569977
+v 0.05390555 -0.02871708 -0.01007602
+v 0.04664057 -0.04222193 0.00749547
+v 0.04682351 -0.04198414 0.00546676
+v 0.04654355 -0.04201135 0.00359040
+v 0.04785039 -0.03972515 -0.01569981
+v 0.04894297 -0.04099436 0.01160638
+v 0.05486471 -0.03066811 0.01160642
+v 0.05488796 -0.02871715 0.00749552
+v 0.05485460 -0.03066811 0.01140061
+v 0.05358920 -0.02981000 -0.01341713
+v 0.05327082 -0.03065225 -0.01569977
+v 0.05402279 -0.02871709 -0.00812214
+v 0.05413902 -0.02871710 -0.00614688
+v 0.05425222 -0.02871710 -0.00421706
+v 0.05436643 -0.02871711 -0.00224180
+v 0.04883886 -0.03881700 -0.01569980
+v 0.04911378 -0.03907772 -0.01007605
+v 0.04920879 -0.03916797 -0.00812217
+v 0.04955849 -0.03950032 -0.00077442
+v 0.04962015 -0.03955761 0.00052727
+v 0.04812530 -0.03994719 -0.01007606
+v 0.04966765 -0.03960346 0.00163652
+v 0.04983340 -0.03976390 0.00554160
+v 0.05008002 -0.03999883 0.01140057
+v 0.05008810 -0.04000743 0.01160638
+v 0.05482125 -0.03087580 0.01160642
+v 0.05479093 -0.02871714 0.00556570
+v 0.05475555 -0.03066810 0.00944673
+v 0.05433712 -0.03066808 0.00163656
+v 0.05422190 -0.03066807 -0.00031465
+v 0.05410567 -0.03066806 -0.00226585
+v 0.05386916 -0.03066805 -0.00617094
+v 0.05369229 -0.03034287 -0.01007602
+v 0.05372564 -0.03079838 -0.00811145
+v 0.05354169 -0.03154324 -0.00875563
+v 0.05320311 -0.03090578 -0.01569977
+v 0.05447559 -0.02871712 -0.00031465
+v 0.04983239 -0.03783006 -0.01569980
+v 0.05106849 -0.03895604 0.01140058
+v 0.05107759 -0.03896463 0.01160639
+v 0.04990314 -0.03791029 -0.01398114
+v 0.05444021 -0.03264197 0.01160641
+v 0.05468884 -0.02871713 0.00359044
+v 0.05465549 -0.03066810 0.00749552
+v 0.05444729 -0.03066808 0.00359044
+v 0.05358313 -0.03171799 -0.00745393
+v 0.05272504 -0.03264187 -0.01569978
+v 0.05458474 -0.02871713 0.00163656
+v 0.05062479 -0.03674573 -0.01569979
+v 0.05121100 -0.03703368 -0.00617097
+v 0.05128983 -0.03714684 -0.00421709
+v 0.05136766 -0.03726001 -0.00226588
+v 0.05152331 -0.03748492 0.00163653
+v 0.05156980 -0.03755081 0.00280725
+v 0.05161932 -0.03761815 0.00410895
+v 0.05167188 -0.03768690 0.00554161
+v 0.05174263 -0.03778145 0.00749549
+v 0.05181338 -0.03787456 0.00944670
+v 0.05188312 -0.03796911 0.01140058
+v 0.05189020 -0.03797913 0.01160639
+v 0.05437553 -0.03283821 0.01160641
+v 0.05374788 -0.03407580 0.00749550
+v 0.05442909 -0.03264197 0.01140060
+v 0.05455240 -0.03066809 0.00554164
+v 0.05432095 -0.03264196 0.00944672
+v 0.05421179 -0.03264196 0.00749551
+v 0.05374383 -0.03224943 -0.00226586
+v 0.05354371 -0.03356583 0.00096298
+v 0.05350227 -0.03343548 -0.00031466
+v 0.05343860 -0.03323637 -0.00226586
+v 0.05337392 -0.03303582 -0.00421707
+v 0.05330721 -0.03283528 -0.00617095
+v 0.05329104 -0.03248147 -0.00811146
+v 0.05310608 -0.03264189 -0.01007603
+v 0.05410062 -0.03264195 0.00554163
+v 0.05398539 -0.03264194 0.00359043
+v 0.05197610 -0.03448538 -0.01569979
+v 0.05075618 -0.03656525 -0.01569979
+v 0.05160012 -0.03562559 -0.01320599
+v 0.05235815 -0.03658681 0.00554162
+v 0.05178811 -0.03593215 -0.00812216
+v 0.05185886 -0.03604675 -0.00617096
+v 0.05199733 -0.03627308 -0.00226587
+v 0.05249460 -0.03658682 0.00749550
+v 0.05262902 -0.03658682 0.00944671
+v 0.05277557 -0.03658683 0.01160640
+v 0.05267653 -0.03674296 0.01160640
+v 0.05386815 -0.03437662 0.01160640
+v 0.05345982 -0.03536212 0.01160640
+v 0.05368926 -0.03392969 0.00554163
+v 0.05362760 -0.03378214 0.00359043
+v 0.05358515 -0.03368044 0.00226468
+v 0.05381660 -0.03280094 0.00162318
+v 0.05259163 -0.03461434 -0.00617096
+v 0.05245316 -0.03461433 -0.00812216
+v 0.05155060 -0.03553678 -0.01450769
+v 0.05155161 -0.03535772 -0.01569979
+v 0.05150613 -0.03545083 -0.01569979
+v 0.05332641 -0.03506273 0.00749550
+v 0.05339009 -0.03520454 0.00944671
+v 0.05325970 -0.03491662 0.00554162
+v 0.05286149 -0.03461435 -0.00226587
+v 0.05272807 -0.03461434 -0.00421708
+f 1 2 3
+f 1 3 5
+f 1 5 11
+f 1 11 25
+f 1 25 41
+f 1 41 60
+f 1 60 75
+f 1 75 95
+f 1 95 122
+f 1 122 121
+f 1 121 124
+f 1 124 123
+f 1 123 96
+f 1 96 77
+f 1 77 61
+f 1 61 42
+f 1 42 32
+f 1 32 18
+f 1 18 8
+f 1 8 4
+f 1 4 7
+f 1 7 17
+f 1 17 28
+f 1 28 15
+f 1 15 14
+f 1 14 27
+f 1 27 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 8 9
+f 4 9 7
+f 5 10 11
+f 5 6 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 10
+f 7 9 17
+f 8 18 33
+f 8 33 43
+f 8 43 62
+f 8 62 78
+f 8 78 83
+f 8 83 72
+f 8 72 50
+f 8 50 49
+f 8 49 48
+f 8 48 47
+f 8 47 36
+f 8 36 19
+f 8 19 9
+f 9 19 35
+f 9 35 46
+f 9 46 71
+f 9 71 82
+f 9 82 112
+f 9 112 132
+f 9 132 133
+f 9 133 113
+f 9 113 84
+f 9 84 73
+f 9 73 51
+f 9 51 40
+f 9 40 30
+f 9 30 29
+f 9 29 28
+f 9 28 17
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 10 16 26
+f 10 26 20
+f 12 27 13
+f 13 27 14
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 21
+f 16 21 26
+f 18 32 33
+f 19 34 35
+f 19 36 34
+f 20 37 21
+f 20 26 37
+f 21 37 38
+f 21 38 39
+f 21 39 26
+f 21 31 30
+f 21 30 40
+f 21 40 22
+f 22 40 41
+f 22 41 23
+f 23 41 24
+f 24 41 25
+f 26 39 37
+f 32 42 33
+f 33 42 44
+f 33 44 43
+f 34 45 46
+f 34 46 35
+f 34 36 47
+f 34 47 48
+f 34 48 49
+f 34 49 50
+f 34 50 45
+f 37 39 38
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 41
+f 41 55 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 56 55
+f 42 61 44
+f 43 44 62
+f 44 61 63
+f 44 63 62
+f 45 50 64
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 46
+f 46 70 71
+f 50 72 64
+f 51 73 52
+f 52 73 53
+f 53 73 54
+f 54 73 55
+f 55 74 75
+f 55 75 57
+f 55 73 76
+f 55 76 74
+f 57 75 58
+f 58 75 59
+f 59 75 60
+f 61 77 63
+f 62 63 79
+f 62 79 78
+f 63 77 79
+f 64 72 80
+f 64 80 81
+f 64 81 65
+f 65 81 70
+f 65 70 66
+f 66 70 67
+f 67 70 69
+f 67 69 68
+f 70 81 82
+f 70 82 71
+f 72 83 80
+f 73 84 85
+f 73 85 86
+f 73 86 87
+f 73 87 88
+f 73 88 89
+f 73 89 90
+f 73 90 74
+f 73 74 76
+f 74 90 75
+f 75 90 91
+f 75 91 92
+f 75 92 93
+f 75 93 94
+f 75 94 95
+f 77 96 97
+f 77 97 98
+f 77 98 80
+f 77 80 99
+f 77 99 79
+f 78 79 99
+f 78 99 83
+f 80 83 99
+f 80 98 100
+f 80 100 101
+f 80 101 81
+f 81 102 103
+f 81 103 104
+f 81 104 105
+f 81 105 106
+f 81 106 107
+f 81 107 108
+f 81 108 109
+f 81 109 82
+f 81 101 110
+f 81 110 111
+f 81 111 102
+f 82 109 106
+f 82 106 105
+f 82 105 104
+f 82 104 103
+f 82 103 112
+f 84 113 85
+f 85 113 114
+f 85 114 86
+f 86 114 87
+f 87 114 88
+f 88 114 89
+f 89 115 90
+f 89 114 116
+f 89 116 117
+f 89 117 118
+f 89 118 115
+f 90 115 119
+f 90 119 120
+f 90 120 121
+f 90 121 91
+f 91 121 122
+f 91 122 92
+f 92 122 93
+f 93 122 94
+f 94 122 95
+f 96 123 97
+f 97 123 124
+f 97 124 125
+f 97 125 98
+f 98 125 100
+f 100 125 126
+f 100 126 101
+f 101 126 127
+f 101 127 110
+f 102 111 128
+f 102 128 103
+f 103 128 111
+f 103 111 127
+f 103 127 129
+f 103 129 112
+f 106 109 107
+f 107 109 108
+f 110 127 111
+f 112 129 130
+f 112 130 131
+f 112 131 132
+f 113 133 131
+f 113 131 114
+f 114 131 130
+f 114 130 129
+f 114 129 134
+f 114 134 135
+f 114 135 124
+f 114 124 116
+f 115 118 117
+f 115 117 119
+f 116 124 117
+f 117 124 120
+f 117 120 119
+f 120 124 121
+f 124 135 125
+f 125 135 134
+f 125 134 126
+f 126 134 127
+f 127 134 136
+f 127 136 137
+f 127 137 138
+f 127 138 129
+f 129 138 134
+f 131 133 132
+f 134 138 136
+f 136 138 137
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_18.obj

@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v 0.04071219 0.03596262 -0.02515524
+v 0.04071219 0.02993956 -0.02619277
+v 0.04071219 0.03596263 -0.02619275
+v 0.00010870 0.03596262 -0.02538295
+v 0.00114605 0.03134982 -0.02619276
+v 0.00010870 0.03596263 -0.02619275
+v 0.00010870 0.03146950 -0.02619276
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 2
+f 2 4 5
+f 2 5 7
+f 2 7 6
+f 2 6 3
+f 4 6 7
+f 4 7 5
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_19.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.05456680 -0.01279544 0.02822196
+v 0.05264305 -0.01305649 0.02822196
+v 0.05516140 -0.01296397 0.02822196
+v 0.05455254 -0.00296123 0.02359322
+v 0.05148773 -0.01370748 0.02822196
+v 0.05257441 -0.00296123 0.02327119
+v 0.05598421 -0.01340347 0.02822196
+v 0.05462029 -0.00296123 0.02356232
+v 0.05137451 -0.01410732 0.02822196
+v 0.05137808 -0.00296122 0.02254092
+v 0.05132727 -0.00296122 0.02250840
+v 0.05667063 -0.01488058 0.02822196
+v 0.05620975 -0.00296122 0.02283205
+v 0.05120603 -0.01488058 0.02822196
+v 0.05115789 -0.00296122 0.02121865
+v 0.04904069 -0.03671672 0.02822188
+v 0.05675710 -0.01488057 0.02506834
+v 0.05676423 -0.00304053 0.02116335
+v 0.05676334 -0.00296122 0.02116335
+v 0.05582286 -0.02869339 0.02822190
+v 0.05115076 -0.00296122 0.02116335
+v 0.04861814 -0.03671671 0.02324179
+v 0.05377876 -0.03671672 0.02822188
+v 0.05662427 -0.01488056 0.02311501
+v 0.05665547 -0.01093498 0.02116332
+v 0.05676334 -0.00501332 0.02116334
+v 0.05556166 -0.02982022 0.02365004
+v 0.05553224 -0.02951950 0.02234891
+v 0.05517477 -0.02869334 0.01335482
+v 0.05509098 -0.02869333 0.01160642
+v 0.05521221 -0.01508870 0.01160647
+v 0.05521311 -0.01290773 0.01160648
+v 0.05521311 -0.00296118 0.01160652
+v 0.05564992 -0.03064305 0.02822190
+v 0.05563387 -0.03036547 0.02701998
+v 0.05559286 -0.03004823 0.02506828
+v 0.05149664 -0.00296118 0.01160652
+v 0.04765716 -0.03671666 0.01160640
+v 0.05387147 -0.03653828 0.02822188
+v 0.05370477 -0.03671672 0.02701996
+v 0.05359334 -0.03565594 0.01580256
+v 0.05516675 -0.02692542 0.01160643
+v 0.05517566 -0.02671724 0.01160643
+v 0.05520954 -0.01706149 0.01160647
+v 0.05519349 -0.02474445 0.01160644
+v 0.05519884 -0.02277167 0.01160645
+v 0.05552868 -0.03155509 0.02822189
+v 0.05542883 -0.03055380 0.02304501
+v 0.05532454 -0.03066616 0.02116325
+v 0.05523272 -0.03066615 0.01921155
+v 0.05514001 -0.03066614 0.01725985
+v 0.05504640 -0.03066614 0.01530652
+v 0.05495102 -0.03066613 0.01335482
+v 0.05486455 -0.03066612 0.01160642
+v 0.05506780 -0.02889821 0.01160642
+v 0.05269386 -0.03671666 0.01160640
+v 0.05395348 -0.03637966 0.02822188
+v 0.05345694 -0.03671670 0.02311493
+v 0.05355233 -0.03557331 0.01450142
+v 0.05390891 -0.03479346 0.01521379
+v 0.05409701 -0.03461171 0.01725983
+v 0.05469784 -0.03461175 0.02822188
+v 0.05320912 -0.03671669 0.01921153
+v 0.05308521 -0.03671668 0.01728260
+v 0.05307897 -0.03671668 0.01718826
+v 0.05311463 -0.03642258 0.01521379
+v 0.05530582 -0.03254644 0.02822189
+v 0.05483602 -0.03263894 0.01921154
+v 0.05473796 -0.03263893 0.01725984
+v 0.05463812 -0.03263893 0.01530651
+v 0.05482086 -0.03087430 0.01160642
+v 0.05277587 -0.03658448 0.01160640
+v 0.05345962 -0.03536181 0.01160640
+v 0.05386790 -0.03437377 0.01160640
+v 0.05391872 -0.03450266 0.01335480
+v 0.05444022 -0.03263891 0.01160641
+v 0.05453560 -0.03263892 0.01335481
+v 0.05492606 -0.03385172 0.02822189
+v 0.05522291 -0.03263897 0.02701997
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 16
+f 1 16 23
+f 1 23 39
+f 1 39 57
+f 1 57 62
+f 1 62 78
+f 1 78 67
+f 1 67 47
+f 1 47 34
+f 1 34 20
+f 1 20 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 8 13
+f 4 13 19
+f 4 19 33
+f 4 33 37
+f 4 37 21
+f 4 21 15
+f 4 15 11
+f 4 11 10
+f 4 10 6
+f 4 7 8
+f 5 6 10
+f 5 10 11
+f 5 11 9
+f 7 12 13
+f 7 13 8
+f 9 11 14
+f 11 15 16
+f 11 16 14
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 12 20 17
+f 15 21 16
+f 16 22 38
+f 16 38 56
+f 16 56 65
+f 16 65 64
+f 16 64 63
+f 16 63 58
+f 16 58 40
+f 16 40 23
+f 16 21 22
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 17 20 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 24
+f 18 26 31
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 20 34 35
+f 20 35 36
+f 20 36 27
+f 21 37 38
+f 21 38 22
+f 23 40 41
+f 23 41 39
+f 24 30 25
+f 25 30 42
+f 25 42 43
+f 25 43 26
+f 26 44 31
+f 26 43 45
+f 26 45 46
+f 26 46 44
+f 27 36 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 51
+f 27 51 52
+f 27 52 53
+f 27 53 54
+f 27 54 28
+f 28 54 55
+f 28 55 30
+f 28 30 29
+f 30 55 54
+f 30 54 71
+f 30 71 76
+f 30 76 74
+f 30 74 73
+f 30 73 72
+f 30 72 56
+f 30 56 38
+f 30 38 37
+f 30 37 33
+f 30 33 32
+f 30 32 31
+f 30 31 44
+f 30 44 46
+f 30 46 45
+f 30 45 43
+f 30 43 42
+f 34 36 35
+f 34 47 36
+f 39 41 57
+f 40 58 41
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 41 62 57
+f 41 58 63
+f 41 63 64
+f 41 64 65
+f 41 65 66
+f 41 66 59
+f 47 67 68
+f 47 68 69
+f 47 69 70
+f 47 70 71
+f 47 71 54
+f 47 54 53
+f 47 53 52
+f 47 52 51
+f 47 51 50
+f 47 50 49
+f 47 49 48
+f 56 72 65
+f 59 73 74
+f 59 74 75
+f 59 75 60
+f 59 66 72
+f 59 72 73
+f 60 75 61
+f 61 75 74
+f 61 74 62
+f 62 74 76
+f 62 76 77
+f 62 77 70
+f 62 70 69
+f 62 69 78
+f 65 72 66
+f 67 79 68
+f 67 78 79
+f 68 78 69
+f 68 79 78
+f 70 77 71
+f 71 77 76
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_2.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.04037248 -0.04430492 0.01161100
+v -0.04037248 -0.04026337 0.01161101
+v -0.03841572 -0.04442681 0.01161100
+v -0.04030885 -0.04573857 0.03564592
+v -0.04037248 -0.04573308 0.03564592
+v -0.04037248 -0.04034464 0.01335686
+v 0.04088854 -0.04020737 0.01161101
+v -0.03643511 -0.04445261 0.01161100
+v -0.03841572 -0.04579293 0.03564592
+v -0.04037248 -0.04151474 0.03564594
+v -0.04037248 -0.04064060 0.01918736
+v 0.04088854 -0.04059228 0.01903207
+v 0.04088854 -0.04425495 0.01161100
+v -0.04037248 -0.04074163 0.02116616
+v -0.04037248 -0.04084211 0.02311907
+v -0.03758848 -0.04579842 0.03564592
+v -0.03446244 -0.04445371 0.01161100
+v -0.03165458 -0.04581160 0.03564592
+v -0.03248183 -0.04581105 0.03564592
+v -0.03446244 -0.04580940 0.03564592
+v -0.03560786 -0.04580720 0.03564592
+v -0.03643511 -0.04580501 0.03564592
+v -0.04037248 -0.04125393 0.03092365
+v 0.00013871 -0.04155427 0.03564594
+v 0.04088854 -0.04148345 0.03484124
+v 0.04088854 -0.04146697 0.03460360
+v 0.04088854 -0.04133849 0.03269539
+v 0.04088854 -0.04122373 0.03092365
+v 0.04088854 -0.04121274 0.03074483
+v 0.04088854 -0.04079599 0.02293789
+v -0.04037248 -0.04094369 0.02506727
+v 0.04069763 -0.04428405 0.01161100
+v 0.04088854 -0.04556233 0.03484358
+v -0.02237988 -0.04445371 0.01161100
+v -0.02374006 -0.04581599 0.03564592
+v -0.04037248 -0.04114796 0.02894486
+v 0.04088854 -0.04110678 0.02878957
+v 0.04088854 -0.04100190 0.02683901
+v 0.00013871 -0.04581160 0.03564592
+v 0.04088854 -0.04162400 0.03484360
+v 0.04081694 -0.04149058 0.03484360
+v 0.04088854 -0.04089867 0.02488610
+v -0.04037248 -0.04104582 0.02701783
+v 0.04051468 -0.04559966 0.03484358
+v 0.03893178 -0.04440320 0.01161100
+v -0.01187226 -0.04581544 0.03564592
+v -0.01666075 -0.04581599 0.03564592
+v 0.02508336 -0.04444767 0.01161100
+v 0.03674435 -0.04444438 0.01161100
+v 0.03675230 -0.04568037 0.03484358
+v 0.03872496 -0.04566939 0.03484358
+v 0.03872496 -0.04441637 0.01161100
+v 0.02706398 -0.04444712 0.01161100
+v 0.03497054 -0.04444492 0.01161100
+v 0.03695116 -0.04444163 0.01161100
+f 1 2 7
+f 1 7 13
+f 1 13 32
+f 1 32 45
+f 1 45 52
+f 1 52 55
+f 1 55 49
+f 1 49 54
+f 1 54 53
+f 1 53 48
+f 1 48 34
+f 1 34 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 23
+f 1 23 36
+f 1 36 43
+f 1 43 31
+f 1 31 15
+f 1 15 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 16
+f 4 16 22
+f 4 22 21
+f 4 21 20
+f 4 20 19
+f 4 19 18
+f 4 18 35
+f 4 35 47
+f 4 47 46
+f 4 46 39
+f 4 39 24
+f 4 24 10
+f 4 10 5
+f 6 11 7
+f 7 12 30
+f 7 30 42
+f 7 42 38
+f 7 38 37
+f 7 37 29
+f 7 29 28
+f 7 28 27
+f 7 27 26
+f 7 26 25
+f 7 25 40
+f 7 40 33
+f 7 33 13
+f 7 11 14
+f 7 14 15
+f 7 15 12
+f 8 16 9
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 16
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 23
+f 12 15 31
+f 12 31 30
+f 13 33 32
+f 17 34 47
+f 17 47 35
+f 17 35 18
+f 23 29 37
+f 23 37 38
+f 23 38 36
+f 24 39 33
+f 24 33 40
+f 24 40 41
+f 24 41 25
+f 25 41 40
+f 30 31 43
+f 30 43 42
+f 32 44 45
+f 32 33 44
+f 33 39 44
+f 34 46 47
+f 34 48 46
+f 36 38 43
+f 38 42 43
+f 39 46 49
+f 39 49 50
+f 39 50 51
+f 39 51 44
+f 44 51 52
+f 44 52 45
+f 46 48 53
+f 46 53 54
+f 46 54 49
+f 49 55 51
+f 49 51 50
+f 51 55 52
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_20.obj

@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.04003081 0.03754529 -0.02305000
+v -0.04774333 0.03035189 -0.02305003
+v -0.04899238 0.03754529 -0.02305000
+v -0.04636794 0.03754517 0.01160667
+v -0.05065491 0.03035177 0.01160664
+v -0.05256294 0.03035189 -0.02305003
+v -0.04914456 0.03740656 -0.02305000
+v -0.04911872 0.03754529 -0.02236813
+v -0.05182499 0.03754517 0.01160667
+v -0.05469637 0.03035177 0.01160664
+v -0.05253709 0.03051034 -0.02305003
+v -0.05268210 0.03035189 -0.02189323
+v -0.04922783 0.03733051 -0.02305000
+v -0.04927234 0.03738403 -0.02248686
+v -0.04923645 0.03754529 -0.02123847
+v -0.05181207 0.03754517 0.01139973
+v -0.05243946 0.03658957 0.01160666
+v -0.05467770 0.03051022 0.01160664
+v -0.05468775 0.03035177 0.01141667
+v -0.05266630 0.03051034 -0.02179145
+v -0.05233753 0.03121313 -0.02305003
+v -0.05269071 0.03035189 -0.02179145
+v -0.04989973 0.03639674 -0.02305001
+v -0.04989830 0.03660800 -0.02181857
+v -0.04933407 0.03745516 -0.02118758
+v -0.04939437 0.03752345 -0.01983741
+v -0.04937140 0.03754528 -0.01983741
+v -0.05137705 0.03754519 0.00476082
+v -0.05129379 0.03743675 0.00240311
+v -0.05252848 0.03642972 0.01139972
+v -0.05255289 0.03641141 0.01160666
+v -0.05463176 0.03071796 0.01160664
+v -0.05466766 0.03051022 0.01139970
+v -0.05467914 0.03035177 0.01124365
+v -0.05280270 0.03051033 -0.01983744
+v -0.05322766 0.03135252 -0.01058298
+v -0.05238778 0.03248420 -0.01788680
+v -0.05224852 0.03248420 -0.01983743
+v -0.05210352 0.03248421 -0.02179144
+v -0.05196712 0.03248421 -0.02305002
+v -0.05281562 0.03035188 -0.01999349
+v -0.05093199 0.03480314 -0.02305001
+v -0.05101095 0.03494539 -0.02179143
+v -0.05109422 0.03509889 -0.01983742
+v -0.05117319 0.03524536 -0.01788679
+v -0.05019836 0.03642983 -0.01983742
+v -0.05095209 0.03695230 -0.00616946
+v -0.05103106 0.03706426 -0.00422223
+v -0.05111002 0.03717552 -0.00226821
+v -0.05118754 0.03728747 -0.00031759
+v -0.04941447 0.03754528 -0.01937265
+v -0.05124354 0.03736775 0.00110043
+v -0.05128804 0.03754520 0.00359045
+v -0.05146463 0.03573968 -0.01007411
+v -0.05153355 0.03585305 -0.00812349
+v -0.05160246 0.03596571 -0.00616947
+v -0.05173885 0.03618893 -0.00226822
+v -0.05176469 0.03659805 0.00170766
+v -0.05213366 0.03642974 0.00554106
+v -0.05239927 0.03642973 0.00944571
+v -0.05118898 0.03754520 0.00230473
+v -0.05319177 0.03529736 0.01160666
+v -0.05423121 0.03248409 0.01160665
+v -0.05422116 0.03248409 0.01139971
+v -0.05456859 0.03051023 0.00944569
+v -0.05458008 0.03035178 0.00928964
+v -0.05309270 0.03035187 -0.01591923
+v -0.05293191 0.03051033 -0.01788681
+v -0.05312142 0.03082719 -0.01398217
+v -0.05326786 0.03153349 -0.00928031
+v -0.05379619 0.03051028 -0.00422226
+v -0.05391679 0.03051027 -0.00226824
+v -0.05403595 0.03051026 -0.00031762
+v -0.05151775 0.03395880 -0.02179144
+v -0.05252274 0.03248419 -0.01593278
+v -0.05322622 0.03337705 -0.00081629
+v -0.05144740 0.03381726 -0.02305002
+v -0.05123349 0.03535943 -0.01632968
+v -0.05159241 0.03411231 -0.01983742
+v -0.05128374 0.03545168 -0.01503040
+v -0.05036059 0.03642983 -0.01788679
+v -0.05087169 0.03683963 -0.00812348
+v -0.05132250 0.03551224 -0.01398215
+v -0.05318602 0.03528258 0.01139972
+v -0.05180633 0.03630089 -0.00031760
+v -0.05199871 0.03642975 0.00359044
+v -0.05322622 0.03521568 0.01160666
+v -0.05359663 0.03432839 0.01160666
+v -0.05359807 0.03429600 0.01139972
+v -0.05354207 0.03415869 0.00944571
+v -0.05348465 0.03401855 0.00749507
+v -0.05342578 0.03387561 0.00554105
+v -0.05411348 0.03248410 0.00944570
+v -0.05425849 0.03051025 0.00359042
+v -0.05436329 0.03051024 0.00554104
+v -0.05446666 0.03051023 0.00749506
+v -0.05448676 0.03035178 0.00749506
+v -0.05321617 0.03035186 -0.01398217
+v -0.05330519 0.03165320 -0.00812350
+v -0.05265338 0.03248418 -0.01398216
+v -0.05414937 0.03051025 0.00163640
+v -0.05389238 0.03248411 0.00554105
+v -0.05392971 0.03035182 -0.00242429
+v -0.05404744 0.03035181 -0.00047367
+v -0.05343153 0.03205106 -0.00422225
+v -0.05349470 0.03224682 -0.00226823
+v -0.05350188 0.03262497 -0.00022601
+v -0.05326786 0.03349747 0.00048639
+v -0.05304963 0.03284048 -0.00616948
+v -0.05336836 0.03185319 -0.00616948
+v -0.05225139 0.03445662 -0.00812349
+v -0.05211644 0.03445663 -0.01007411
+v -0.05166276 0.03425878 -0.01788679
+v -0.05164553 0.03460383 -0.01578012
+v -0.05184366 0.03445664 -0.01398215
+v -0.05306112 0.03500513 0.00749508
+v -0.05312429 0.03514527 0.00944571
+v -0.05400437 0.03248410 0.00749507
+v -0.05336548 0.03372914 0.00359043
+v -0.05426997 0.03035180 0.00343098
+v -0.05437621 0.03035179 0.00538499
+v -0.05416086 0.03035180 0.00148035
+v -0.05365980 0.03248412 0.00163641
+v -0.05299651 0.03486149 0.00554106
+v -0.05293191 0.03471502 0.00359044
+v -0.05251699 0.03445661 -0.00422224
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 40
+f 1 40 77
+f 1 77 42
+f 1 42 23
+f 1 23 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 27
+f 1 27 51
+f 1 51 61
+f 1 61 53
+f 1 53 28
+f 1 28 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 19
+f 2 19 34
+f 2 34 66
+f 2 66 97
+f 2 97 121
+f 2 121 120
+f 2 120 122
+f 2 122 104
+f 2 104 103
+f 2 103 98
+f 2 98 67
+f 2 67 41
+f 2 41 22
+f 2 22 12
+f 2 12 6
+f 3 7 8
+f 4 9 17
+f 4 17 31
+f 4 31 62
+f 4 62 87
+f 4 87 88
+f 4 88 63
+f 4 63 32
+f 4 32 18
+f 4 18 10
+f 4 10 5
+f 6 12 11
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 10 18 19
+f 11 12 20
+f 11 20 21
+f 12 22 20
+f 13 23 14
+f 14 24 25
+f 14 25 15
+f 14 23 24
+f 15 25 26
+f 15 26 27
+f 16 28 29
+f 16 29 17
+f 17 30 31
+f 17 29 30
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 20 22 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 40
+f 22 41 35
+f 23 42 43
+f 23 43 24
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 25
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 50
+f 25 50 26
+f 26 51 27
+f 26 50 52
+f 26 52 29
+f 26 29 51
+f 28 53 29
+f 29 52 54
+f 29 54 55
+f 29 55 56
+f 29 56 57
+f 29 57 58
+f 29 58 59
+f 29 59 60
+f 29 60 30
+f 29 53 61
+f 29 61 51
+f 30 60 31
+f 31 60 62
+f 32 63 64
+f 32 64 65
+f 32 65 33
+f 33 65 66
+f 33 66 34
+f 35 41 67
+f 35 67 68
+f 35 68 69
+f 35 69 36
+f 36 70 37
+f 36 69 71
+f 36 71 72
+f 36 72 73
+f 36 73 70
+f 37 74 38
+f 37 70 75
+f 37 75 76
+f 37 76 74
+f 38 74 39
+f 39 74 77
+f 39 77 40
+f 42 77 43
+f 43 77 74
+f 43 74 44
+f 44 74 45
+f 45 78 46
+f 45 74 79
+f 45 79 78
+f 46 78 80
+f 46 80 81
+f 46 81 47
+f 47 81 82
+f 47 82 80
+f 47 80 48
+f 48 80 49
+f 49 80 50
+f 50 80 52
+f 52 80 83
+f 52 83 54
+f 54 83 84
+f 54 84 55
+f 55 84 62
+f 55 62 56
+f 56 62 60
+f 56 60 59
+f 56 59 57
+f 57 59 85
+f 57 85 58
+f 58 86 59
+f 58 85 86
+f 59 86 85
+f 62 84 87
+f 63 88 89
+f 63 89 64
+f 64 89 90
+f 64 90 91
+f 64 91 92
+f 64 92 93
+f 64 93 94
+f 64 94 95
+f 64 95 96
+f 64 96 65
+f 65 96 97
+f 65 97 66
+f 67 98 69
+f 67 69 68
+f 69 98 71
+f 70 99 100
+f 70 100 75
+f 70 73 101
+f 70 101 102
+f 70 102 99
+f 71 103 72
+f 71 98 103
+f 72 103 73
+f 73 103 104
+f 73 104 122
+f 73 122 101
+f 74 76 79
+f 75 100 76
+f 76 105 106
+f 76 106 107
+f 76 107 108
+f 76 108 79
+f 76 100 109
+f 76 109 110
+f 76 110 105
+f 78 79 80
+f 79 111 112
+f 79 112 113
+f 79 113 80
+f 79 108 111
+f 80 82 81
+f 80 113 114
+f 80 114 115
+f 80 115 112
+f 80 112 111
+f 80 111 116
+f 80 116 117
+f 80 117 84
+f 80 84 83
+f 84 117 92
+f 84 92 91
+f 84 91 90
+f 84 90 87
+f 87 90 88
+f 88 90 89
+f 92 118 93
+f 92 117 119
+f 92 119 118
+f 93 118 101
+f 93 101 94
+f 94 101 120
+f 94 120 121
+f 94 121 95
+f 95 121 96
+f 96 121 97
+f 99 110 109
+f 99 109 100
+f 99 102 110
+f 101 122 120
+f 101 118 102
+f 102 118 108
+f 102 108 123
+f 102 123 106
+f 102 106 105
+f 102 105 110
+f 106 123 107
+f 107 123 108
+f 108 119 116
+f 108 116 124
+f 108 124 125
+f 108 125 126
+f 108 126 111
+f 108 118 119
+f 111 126 125
+f 111 125 124
+f 111 124 116
+f 112 115 113
+f 113 115 114
+f 116 119 117
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_21.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05496985 0.03505572 0.03557550
+v 0.05399005 0.03787998 0.03557551
+v 0.05062630 0.03505572 0.03557550
+v 0.05492336 0.03505572 0.03473791
+v 0.05195773 0.03982043 0.03287739
+v 0.05109832 0.04088597 0.03483178
+v 0.05110309 0.04088895 0.03557552
+v 0.05352637 0.03505581 0.01160901
+v 0.05346200 0.03521172 0.01160901
+v 0.05284218 0.03631501 0.01160901
+v 0.05277662 0.03643120 0.01160901
+v 0.05188979 0.03782347 0.01160902
+v 0.05180635 0.03792675 0.01160902
+v 0.05108759 0.03880958 0.01160902
+v 0.05115911 0.03889298 0.01335459
+v 0.05040102 0.03505573 0.03287737
+v 0.04279266 0.04110742 0.03557552
+v 0.04279266 0.04077378 0.03092534
+v 0.05101489 0.04080654 0.03287739
+v 0.05020315 0.03975695 0.01160903
+v 0.05009945 0.03986619 0.01160903
+v 0.05002555 0.04171320 0.03287739
+v 0.05011018 0.04178668 0.03483178
+v 0.05049042 0.04144705 0.03557552
+v 0.04885027 0.03505581 0.01160901
+v 0.05031281 0.03505573 0.03172538
+v 0.04279266 0.04053843 0.02701187
+v 0.04279266 0.03962885 0.01160903
+v 0.04279266 0.04520082 0.03557554
+v 0.04998025 0.03997046 0.01160903
+v 0.04875252 0.04277278 0.03483179
+v 0.04895397 0.04085230 0.01160903
+v 0.04807071 0.04151864 0.01160903
+v 0.04796582 0.04159610 0.01160903
+v 0.04876683 0.04277676 0.03557553
+v 0.04960717 0.04216603 0.03557552
+v 0.05011375 0.04178966 0.03557552
+v 0.04888245 0.03505581 0.01205713
+v 0.05025441 0.03505574 0.03092532
+v 0.04279266 0.04379970 0.01160904
+v 0.04411575 0.04486615 0.03557553
+v 0.04770836 0.04338353 0.03344283
+v 0.04776438 0.04341629 0.03483179
+v 0.04777868 0.04343118 0.03557553
+v 0.04781802 0.04168150 0.01160903
+v 0.04389762 0.04351370 0.01160904
+v 0.04466287 0.04468542 0.03557553
+v 0.04466287 0.04466754 0.03483179
+v 0.04405735 0.04347199 0.01160904
+v 0.04680484 0.04372712 0.03282578
+v 0.04664035 0.04392374 0.03483179
+v 0.04664035 0.04235778 0.01160904
+v 0.04648778 0.04243126 0.01160904
+v 0.04504549 0.04311250 0.01160904
+v 0.04561168 0.04332201 0.01846934
+v 0.04664035 0.04393963 0.03557553
+v 0.04588702 0.04422563 0.03557553
+f 1 2 7
+f 1 7 24
+f 1 24 37
+f 1 37 36
+f 1 36 35
+f 1 35 44
+f 1 44 56
+f 1 56 57
+f 1 57 47
+f 1 47 41
+f 1 41 29
+f 1 29 17
+f 1 17 3
+f 1 3 16
+f 1 16 26
+f 1 26 39
+f 1 39 38
+f 1 38 25
+f 1 25 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 4 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 5
+f 3 17 18
+f 3 18 16
+f 5 19 6
+f 5 15 20
+f 5 20 21
+f 5 21 19
+f 6 19 22
+f 6 22 23
+f 6 23 7
+f 7 23 24
+f 8 25 28
+f 8 28 40
+f 8 40 46
+f 8 46 49
+f 8 49 54
+f 8 54 53
+f 8 53 52
+f 8 52 45
+f 8 45 34
+f 8 34 33
+f 8 33 32
+f 8 32 30
+f 8 30 21
+f 8 21 20
+f 8 20 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 14 20 15
+f 16 18 27
+f 16 27 28
+f 16 28 26
+f 17 29 40
+f 17 40 28
+f 17 28 27
+f 17 27 18
+f 19 21 22
+f 21 30 22
+f 22 31 23
+f 22 30 32
+f 22 32 33
+f 22 33 34
+f 22 34 31
+f 23 31 35
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 25 38 28
+f 26 28 39
+f 28 38 39
+f 29 41 40
+f 31 42 43
+f 31 43 44
+f 31 44 35
+f 31 34 42
+f 34 45 42
+f 40 41 46
+f 41 47 48
+f 41 48 49
+f 41 49 46
+f 42 50 51
+f 42 51 43
+f 42 45 52
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 50
+f 43 51 44
+f 44 51 56
+f 47 57 48
+f 48 57 51
+f 48 51 55
+f 48 55 54
+f 48 54 49
+f 50 55 51
+f 51 57 56
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_22.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.05653086 -0.03066624 0.04327548
+v 0.05455370 -0.03658460 0.04327251
+v 0.05653086 -0.03263903 0.04327547
+v 0.05850913 -0.02671736 0.04288055
+v 0.05850913 -0.00296130 0.04287769
+v 0.05653086 -0.00501340 0.04326968
+v 0.05442427 -0.03671678 0.04327104
+v 0.05455370 -0.03671678 0.04327251
+v 0.05653086 -0.00296130 0.04326821
+v 0.05850913 -0.02869345 0.04288054
+v 0.05653086 -0.03461181 0.04327399
+v 0.05981125 -0.02671735 0.04208034
+v 0.05981013 -0.00296129 0.04208043
+v 0.05257543 -0.03671678 0.04307357
+v 0.05463403 -0.00296130 0.04321369
+v 0.05455370 -0.00296130 0.04321074
+v 0.05640143 -0.03671678 0.04324746
+v 0.05850913 -0.03066624 0.04287022
+v 0.05981125 -0.02869344 0.04208033
+v 0.05653086 -0.03658460 0.04324599
+v 0.06024975 -0.02671735 0.04068919
+v 0.06024417 -0.00296129 0.04068928
+v 0.05244600 -0.03671678 0.04304410
+v 0.05282759 -0.00296130 0.04240464
+v 0.05653086 -0.03671678 0.04323715
+v 0.05850913 -0.03263903 0.04284221
+v 0.05980455 -0.03066623 0.04207001
+v 0.06024863 -0.02869344 0.04068918
+v 0.05850913 -0.03461181 0.04275526
+v 0.06043943 -0.02869343 0.03873656
+v 0.06043273 -0.00296128 0.03873666
+v 0.05069980 -0.03671677 0.04214958
+v 0.05205436 -0.00296129 0.04075855
+v 0.05006046 -0.03671677 0.04089990
+v 0.05067749 -0.03671677 0.04213484
+v 0.05861513 -0.03671678 0.04239715
+v 0.05978223 -0.03263902 0.04204201
+v 0.06023859 -0.03066623 0.04068918
+v 0.06043497 -0.03066622 0.03873656
+v 0.05866199 -0.03671678 0.04237505
+v 0.05867427 -0.03666391 0.04237652
+v 0.05970860 -0.03461180 0.04195210
+v 0.06017388 -0.03066622 0.03678395
+v 0.06017499 -0.02869343 0.03678395
+v 0.06017722 -0.01685340 0.03678400
+v 0.06017834 -0.00304059 0.03678405
+v 0.06017834 -0.00296128 0.03678405
+v 0.06042269 -0.00296128 0.03865561
+v 0.05202200 -0.00296129 0.04068928
+v 0.05003257 -0.03671677 0.04068916
+v 0.06019954 -0.03263902 0.04068917
+v 0.06040707 -0.03263901 0.03873655
+v 0.06015602 -0.03263901 0.03678394
+v 0.05952226 -0.03671677 0.04157779
+v 0.05960148 -0.03605587 0.04180916
+v 0.06005895 -0.03461180 0.04068916
+v 0.05667033 -0.01488058 0.02822196
+v 0.06015826 -0.00296127 0.03673836
+v 0.05132576 -0.00296127 0.03439964
+v 0.04910089 -0.03671673 0.02897493
+v 0.06027541 -0.03461179 0.03873654
+v 0.06005225 -0.03461179 0.03678393
+v 0.05966508 -0.03263900 0.03568900
+v 0.05962491 -0.03461178 0.03571404
+v 0.05968739 -0.03671677 0.04074222
+v 0.05970636 -0.03666390 0.04069358
+v 0.05994960 -0.03658458 0.03873654
+v 0.05598413 -0.01340347 0.02822196
+v 0.05602430 -0.00296126 0.03152598
+v 0.05967624 -0.00296127 0.03567290
+v 0.05582234 -0.02869339 0.02822190
+v 0.05121864 -0.00296126 0.03294218
+v 0.04904176 -0.03671672 0.02822188
+v 0.05973984 -0.03671675 0.03672056
+v 0.05974988 -0.03662423 0.03667782
+v 0.05955908 -0.03599306 0.03575825
+v 0.05969855 -0.03671677 0.04066116
+v 0.05990274 -0.03671676 0.03888833
+v 0.05991724 -0.03671676 0.03873654
+v 0.05516180 -0.01296397 0.02822196
+v 0.05455370 -0.00296125 0.03108977
+v 0.05564940 -0.03064305 0.02822190
+v 0.05121418 -0.00296126 0.03288028
+v 0.05378047 -0.03671672 0.02822188
+v 0.05147415 -0.00296126 0.03178240
+v 0.05120637 -0.01488058 0.02822196
+v 0.05969632 -0.03671675 0.03658351
+v 0.05395453 -0.03637966 0.02822188
+v 0.05469875 -0.03461175 0.02822188
+v 0.05492637 -0.03385172 0.02822189
+v 0.05530574 -0.03254644 0.02822189
+v 0.05552777 -0.03155509 0.02822189
+v 0.05456821 -0.01279544 0.02822196
+v 0.05257543 -0.00296126 0.03134619
+v 0.05264349 -0.01305649 0.02822196
+v 0.05252968 -0.00296126 0.03136387
+v 0.05148754 -0.01370748 0.02822196
+v 0.05137485 -0.01410732 0.02822196
+f 1 2 8
+f 1 8 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 9
+f 2 9 7
+f 3 8 11
+f 3 11 10
+f 4 10 19
+f 4 19 12
+f 4 12 13
+f 4 13 5
+f 5 13 22
+f 5 22 31
+f 5 31 48
+f 5 48 47
+f 5 47 58
+f 5 58 70
+f 5 70 69
+f 5 69 81
+f 5 81 94
+f 5 94 96
+f 5 96 85
+f 5 85 83
+f 5 83 72
+f 5 72 59
+f 5 59 49
+f 5 49 33
+f 5 33 24
+f 5 24 16
+f 5 16 15
+f 5 15 9
+f 5 9 6
+f 7 14 23
+f 7 23 32
+f 7 32 35
+f 7 35 34
+f 7 34 50
+f 7 50 60
+f 7 60 73
+f 7 73 84
+f 7 84 87
+f 7 87 74
+f 7 74 79
+f 7 79 78
+f 7 78 77
+f 7 77 65
+f 7 65 54
+f 7 54 40
+f 7 40 36
+f 7 36 25
+f 7 25 17
+f 7 17 8
+f 7 9 15
+f 7 15 16
+f 7 16 14
+f 8 17 11
+f 10 11 18
+f 10 18 19
+f 11 17 20
+f 11 20 26
+f 11 26 18
+f 12 19 21
+f 12 21 13
+f 13 21 22
+f 14 16 23
+f 16 24 23
+f 17 25 20
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 21
+f 20 29 26
+f 20 25 29
+f 21 28 30
+f 21 30 22
+f 22 30 31
+f 23 24 32
+f 24 33 34
+f 24 34 35
+f 24 35 32
+f 25 36 29
+f 26 29 37
+f 26 37 27
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 30
+f 29 36 40
+f 29 40 41
+f 29 41 42
+f 29 42 37
+f 30 39 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 33 49 34
+f 34 49 50
+f 37 42 51
+f 37 51 38
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 43
+f 40 54 55
+f 40 55 41
+f 41 55 42
+f 42 55 56
+f 42 56 51
+f 43 53 57
+f 43 57 44
+f 44 57 45
+f 45 57 46
+f 46 57 47
+f 47 57 58
+f 49 59 50
+f 50 59 60
+f 51 56 61
+f 51 61 52
+f 52 61 62
+f 52 62 53
+f 53 63 57
+f 53 62 64
+f 53 64 63
+f 54 65 55
+f 55 65 66
+f 55 66 56
+f 56 66 67
+f 56 67 61
+f 57 68 69
+f 57 69 70
+f 57 70 58
+f 57 63 64
+f 57 64 71
+f 57 71 82
+f 57 82 92
+f 57 92 91
+f 57 91 90
+f 57 90 89
+f 57 89 88
+f 57 88 84
+f 57 84 73
+f 57 73 86
+f 57 86 98
+f 57 98 97
+f 57 97 95
+f 57 95 93
+f 57 93 80
+f 57 80 68
+f 59 72 73
+f 59 73 60
+f 61 67 74
+f 61 74 75
+f 61 75 62
+f 62 76 64
+f 62 75 76
+f 64 76 71
+f 65 77 66
+f 66 77 67
+f 67 77 78
+f 67 78 79
+f 67 79 74
+f 68 80 81
+f 68 81 69
+f 71 76 82
+f 72 83 73
+f 73 83 85
+f 73 85 86
+f 74 87 75
+f 75 87 76
+f 76 88 89
+f 76 89 90
+f 76 90 91
+f 76 91 92
+f 76 92 82
+f 76 87 84
+f 76 84 88
+f 80 93 81
+f 81 93 95
+f 81 95 94
+f 85 96 97
+f 85 97 98
+f 85 98 86
+f 94 95 97
+f 94 97 96
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_23.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.03661313 -0.04445097 0.01160637
+v -0.03821297 -0.04442911 0.01160637
+v -0.03661313 -0.04444147 0.01140036
+v -0.03661313 -0.04039738 0.01160638
+v -0.03842122 -0.04442626 0.01160637
+v -0.03842122 -0.04441675 0.01140036
+v -0.03661313 -0.04434924 0.00944667
+v -0.04485935 -0.03871282 0.01160639
+v -0.03661313 -0.03777820 -0.02347072
+v -0.04485935 -0.03473896 -0.02347071
+v -0.04039964 -0.04430363 0.01160637
+v -0.03842122 -0.04432358 0.00944667
+v -0.03661313 -0.04425513 0.00749298
+v -0.04485935 -0.04324174 0.01160637
+v -0.03661313 -0.04262654 -0.02347074
+v -0.04485935 -0.04078988 -0.02347073
+v -0.04237725 -0.04399276 0.01160637
+v -0.04141427 -0.04350027 -0.00140334
+v -0.04039964 -0.04419619 0.00944667
+v -0.03954241 -0.04351072 -0.00552016
+v -0.03842122 -0.04413343 0.00554273
+v -0.03842122 -0.04422946 0.00749298
+v -0.03661313 -0.04416005 0.00554273
+v -0.04477056 -0.04328357 0.01160637
+v -0.04485935 -0.04179667 -0.01065330
+v -0.03842122 -0.04255904 -0.02347074
+v -0.03661313 -0.04276059 -0.02179173
+v -0.03842122 -0.04269975 -0.02179173
+v -0.04426606 -0.04111785 -0.02347073
+v -0.04485935 -0.04096005 -0.02214194
+v -0.04361870 -0.04367904 0.01160637
+v -0.04347018 -0.04353073 0.00783634
+v -0.04336202 -0.04349365 0.00653502
+v -0.04237725 -0.04387677 0.00944667
+v -0.04039964 -0.04389576 0.00358904
+v -0.04039964 -0.04399749 0.00554273
+v -0.04154423 -0.04353070 -0.00031490
+v -0.04300362 -0.04340808 0.00358904
+v -0.04276793 -0.04335009 0.00163535
+v -0.04237725 -0.04286617 -0.00812279
+v -0.04237725 -0.04274827 -0.01007647
+v -0.04237725 -0.04239461 -0.01593410
+v -0.04039964 -0.04248110 -0.02179173
+v -0.04039964 -0.04259994 -0.01983804
+v -0.04039964 -0.04271307 -0.01788436
+v -0.04039964 -0.04282430 -0.01593410
+v -0.04039964 -0.04293459 -0.01398042
+v -0.04039964 -0.04304393 -0.01202673
+v -0.04039964 -0.04315135 -0.01007647
+v -0.03842122 -0.04393664 0.00163535
+v -0.03842122 -0.04403646 0.00358904
+v -0.03842122 -0.04281003 -0.01983804
+v -0.03842122 -0.04312377 -0.01398042
+v -0.03891845 -0.04347648 -0.00681804
+v -0.03661313 -0.04406403 0.00358904
+v -0.04475361 -0.04327787 0.01140036
+v -0.04388588 -0.04360014 0.01160637
+v -0.04485935 -0.04131180 -0.01793242
+v -0.04375108 -0.04169111 -0.01983803
+v -0.04389637 -0.04175386 -0.01788435
+v -0.04435486 -0.04256673 -0.00226859
+v -0.04039964 -0.04232803 -0.02347074
+v -0.03661313 -0.04286422 -0.01983804
+v -0.04390767 -0.04129562 -0.02347073
+v -0.04346291 -0.04156372 -0.02308273
+v -0.04458248 -0.04115779 -0.02179172
+v -0.04485935 -0.04099808 -0.02177112
+v -0.04378175 -0.04363721 0.01160637
+v -0.04177831 -0.04358490 0.00163535
+v -0.04435486 -0.04294225 0.00358904
+v -0.04359368 -0.04162171 -0.02179172
+v -0.04237725 -0.04215313 -0.01983803
+v -0.04237725 -0.04227482 -0.01788436
+v -0.04237725 -0.04202098 -0.02179172
+v -0.03842122 -0.04383586 -0.00031490
+v -0.03759951 -0.04350025 -0.00726440
+v -0.03661313 -0.04396706 0.00163535
+v -0.03842122 -0.04322740 -0.01202673
+v -0.04435486 -0.04269317 -0.00031490
+v -0.04435486 -0.04281867 0.00163535
+v -0.04485935 -0.04128994 -0.01824487
+v -0.04473988 -0.04123290 -0.01983803
+v -0.04247411 -0.04182324 -0.02347073
+v -0.03661313 -0.04316750 -0.01398042
+v -0.04288658 -0.04169870 -0.02347073
+v -0.04485935 -0.04115304 -0.01996164
+v -0.03661313 -0.04326828 -0.01202673
+v -0.03661313 -0.04395850 0.00146711
+v -0.04485935 -0.04116350 -0.01983803
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 23
+f 1 23 55
+f 1 55 77
+f 1 77 88
+f 1 88 87
+f 1 87 84
+f 1 84 63
+f 1 63 27
+f 1 27 15
+f 1 15 9
+f 1 9 4
+f 1 4 8
+f 1 8 14
+f 1 14 24
+f 1 24 57
+f 1 57 68
+f 1 68 31
+f 1 31 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 10
+f 4 10 8
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 22
+f 7 22 13
+f 8 10 16
+f 8 16 30
+f 8 30 67
+f 8 67 86
+f 8 86 89
+f 8 89 81
+f 8 81 58
+f 8 58 25
+f 8 25 14
+f 9 15 26
+f 9 26 62
+f 9 62 83
+f 9 83 85
+f 9 85 64
+f 9 64 29
+f 9 29 16
+f 9 16 10
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 13 22 23
+f 14 25 24
+f 15 27 28
+f 15 28 26
+f 16 29 30
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 18 20 35
+f 18 35 36
+f 18 36 19
+f 18 34 37
+f 18 37 33
+f 18 33 38
+f 18 38 39
+f 18 39 40
+f 18 40 41
+f 18 41 42
+f 18 42 43
+f 18 43 44
+f 18 44 45
+f 18 45 46
+f 18 46 47
+f 18 47 48
+f 18 48 49
+f 18 49 20
+f 19 36 20
+f 20 50 51
+f 20 51 21
+f 20 36 35
+f 20 49 48
+f 20 48 47
+f 20 47 46
+f 20 46 45
+f 20 45 28
+f 20 28 52
+f 20 52 53
+f 20 53 54
+f 20 54 50
+f 21 51 77
+f 21 77 55
+f 21 55 22
+f 22 55 23
+f 24 56 57
+f 24 25 56
+f 25 58 59
+f 25 59 60
+f 25 60 61
+f 25 61 56
+f 26 28 43
+f 26 43 62
+f 27 52 28
+f 27 63 78
+f 27 78 53
+f 27 53 52
+f 28 45 44
+f 28 44 43
+f 29 64 65
+f 29 65 66
+f 29 66 30
+f 30 66 67
+f 31 68 32
+f 32 68 57
+f 32 57 56
+f 32 56 33
+f 33 37 69
+f 33 69 34
+f 33 56 70
+f 33 70 59
+f 33 59 71
+f 33 71 72
+f 33 72 73
+f 33 73 42
+f 33 42 41
+f 33 41 40
+f 33 40 38
+f 34 69 37
+f 38 40 39
+f 42 73 43
+f 43 73 72
+f 43 72 74
+f 43 74 62
+f 50 54 75
+f 50 75 76
+f 50 76 51
+f 51 76 77
+f 53 78 54
+f 54 78 75
+f 56 61 79
+f 56 79 80
+f 56 80 70
+f 58 81 59
+f 59 81 82
+f 59 82 71
+f 59 70 80
+f 59 80 79
+f 59 79 61
+f 59 61 60
+f 62 74 83
+f 63 84 76
+f 63 76 78
+f 64 85 65
+f 65 85 83
+f 65 83 74
+f 65 74 71
+f 65 71 66
+f 66 71 82
+f 66 82 86
+f 66 86 67
+f 71 74 72
+f 75 78 76
+f 76 84 87
+f 76 87 88
+f 76 88 77
+f 81 89 82
+f 82 89 86
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_24.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.05101607 -0.00667170 0.03420354
+v -0.05091931 -0.00667169 0.03287858
+v -0.05690187 -0.00667170 0.03420354
+v -0.05101607 -0.00698644 0.03420353
+v -0.05087624 -0.01093390 0.03287856
+v -0.05117123 -0.00667169 0.03178500
+v -0.05088391 -0.01487896 0.02557646
+v -0.05106858 -0.01379642 0.02557646
+v -0.05690305 -0.00707467 0.03420353
+v -0.05643754 -0.00667169 0.03287858
+v -0.05647058 -0.01487896 0.02557646
+v -0.05102315 -0.00895958 0.03420353
+v -0.05107565 -0.01093391 0.03420352
+v -0.05100840 -0.01288916 0.03292077
+v -0.05097418 -0.01499463 0.03103423
+v -0.05087860 -0.01487898 0.02897459
+v -0.05226863 -0.00667169 0.03134925
+v -0.05114291 -0.01352816 0.02557646
+v -0.05215594 -0.01278898 0.02557646
+v -0.05089394 -0.01529386 0.02557645
+v -0.05689597 -0.00905973 0.03420353
+v -0.05584932 -0.00667169 0.03173264
+v -0.05578206 -0.01311923 0.02557646
+v -0.05619151 -0.01685210 0.02557645
+v -0.05629653 -0.01685211 0.02702217
+v -0.05626408 -0.01885151 0.03420349
+v -0.05684582 -0.01113540 0.03420352
+v -0.05685585 -0.01093391 0.03420352
+v -0.05112109 -0.01142392 0.03420352
+v -0.05117832 -0.01222152 0.03409121
+v -0.05191463 -0.01885151 0.03420349
+v -0.05101371 -0.01641695 0.02897458
+v -0.05099424 -0.01647417 0.02702217
+v -0.05258310 -0.00667168 0.03130618
+v -0.05270286 -0.01270910 0.02557646
+v -0.05102020 -0.01642766 0.02557645
+v -0.05573780 -0.00667169 0.03151561
+v -0.05439675 -0.01259226 0.02557646
+v -0.05566288 -0.01885147 0.02557644
+v -0.05174648 -0.01885149 0.02899906
+v -0.05169397 -0.01885148 0.02704665
+v -0.05169338 -0.01885148 0.02702216
+v -0.05168571 -0.01885147 0.02557644
+v -0.05424571 -0.00667168 0.03107987
+v -0.05424571 -0.01254934 0.02557646
+v -0.05448347 -0.00667168 0.03114911
+f 1 2 6
+f 1 6 17
+f 1 17 34
+f 1 34 44
+f 1 44 46
+f 1 46 37
+f 1 37 22
+f 1 22 10
+f 1 10 3
+f 1 3 9
+f 1 9 21
+f 1 21 28
+f 1 28 27
+f 1 27 26
+f 1 26 31
+f 1 31 29
+f 1 29 13
+f 1 13 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 10 11
+f 3 11 9
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 7
+f 6 8 18
+f 6 18 19
+f 6 19 17
+f 7 16 20
+f 7 20 36
+f 7 36 43
+f 7 43 39
+f 7 39 24
+f 7 24 11
+f 7 11 23
+f 7 23 38
+f 7 38 45
+f 7 45 35
+f 7 35 19
+f 7 19 18
+f 7 18 8
+f 9 11 21
+f 10 22 23
+f 10 23 11
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 21
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 20
+f 17 19 35
+f 17 35 34
+f 20 33 36
+f 22 37 23
+f 23 37 38
+f 24 39 25
+f 25 39 26
+f 26 39 43
+f 26 43 42
+f 26 42 41
+f 26 41 40
+f 26 40 31
+f 29 31 30
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 32 42 33
+f 33 42 43
+f 33 43 36
+f 34 35 44
+f 35 45 44
+f 37 46 38
+f 38 46 44
+f 38 44 45
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_25.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.04485935 -0.04142255 -0.01624705
+v -0.04485935 -0.03633345 -0.01624703
+v -0.04499896 -0.04135995 -0.01624705
+v -0.04485935 -0.04131452 -0.01788764
+v -0.04911629 -0.02888393 -0.01624701
+v -0.04485935 -0.02888390 -0.02583604
+v -0.04523440 -0.04122002 -0.01624705
+v -0.04633395 -0.04044425 -0.01788764
+v -0.04633395 -0.04029818 -0.01984020
+v -0.04488661 -0.04130225 -0.01788764
+v -0.04485935 -0.04128997 -0.01824613
+v -0.05329887 -0.02888393 -0.01624701
+v -0.04485935 -0.02888388 -0.03022554
+v -0.04633395 -0.04056209 -0.01624705
+v -0.04738724 -0.03959975 -0.01984020
+v -0.04733437 -0.03955677 -0.02092663
+v -0.04649339 -0.04005145 -0.02166414
+v -0.04485935 -0.04116355 -0.01984020
+v -0.05327574 -0.02912451 -0.01624701
+v -0.05320717 -0.02888392 -0.01771109
+v -0.05323113 -0.02941665 -0.01651246
+v -0.04485935 -0.03016536 -0.03021733
+v -0.04614312 -0.02888388 -0.03014481
+v -0.04651735 -0.04043935 -0.01624705
+v -0.04748059 -0.03967585 -0.01788764
+v -0.04839013 -0.03898111 -0.01624704
+v -0.04854792 -0.03883381 -0.01624704
+v -0.04846944 -0.03875770 -0.01788763
+v -0.04837609 -0.03866318 -0.01984019
+v -0.04830257 -0.03855393 -0.02169834
+v -0.04725837 -0.03949786 -0.02222925
+v -0.04485935 -0.04099783 -0.02177497
+v -0.04611916 -0.04005757 -0.02374396
+v -0.05316422 -0.02988677 -0.01624701
+v -0.05293291 -0.02888391 -0.02179272
+v -0.05264707 -0.03066742 -0.02179272
+v -0.05278503 -0.03066743 -0.01984016
+v -0.04485935 -0.03213791 -0.03015303
+v -0.04633395 -0.02888388 -0.03012702
+v -0.04755907 -0.03973846 -0.01624705
+v -0.04870901 -0.03867670 -0.01624704
+v -0.04933273 -0.03761000 -0.02116881
+v -0.04927077 -0.03753881 -0.02247006
+v -0.04817452 -0.03839435 -0.02374395
+v -0.04710802 -0.03938001 -0.02374395
+v -0.04485935 -0.04095977 -0.02214442
+v -0.04485935 -0.04075478 -0.02373985
+v -0.04567885 -0.03976912 -0.02569652
+v -0.05304526 -0.03054469 -0.01624701
+v -0.05274290 -0.02888390 -0.02374392
+v -0.05244302 -0.03066741 -0.02374392
+v -0.05208284 -0.03264120 -0.02179273
+v -0.05223154 -0.03264121 -0.01984017
+v -0.05236950 -0.03264121 -0.01788761
+v -0.05248185 -0.03264122 -0.01624702
+v -0.05291308 -0.03066743 -0.01788760
+v -0.04485935 -0.03264117 -0.03010104
+v -0.04633395 -0.03264117 -0.02985611
+v -0.04633395 -0.03066739 -0.03005998
+v -0.04812165 -0.02888388 -0.02967549
+v -0.04954255 -0.03784693 -0.01624704
+v -0.04947482 -0.03777081 -0.01788763
+v -0.04939138 -0.03767630 -0.01984019
+v -0.05034884 -0.03658630 -0.01788762
+v -0.05018444 -0.03658630 -0.01984018
+v -0.04988869 -0.03676305 -0.02180917
+v -0.04988704 -0.03642303 -0.02374394
+v -0.04916255 -0.03740992 -0.02374395
+v -0.04782590 -0.03805679 -0.02569651
+v -0.04666852 -0.03904245 -0.02569651
+v -0.04485935 -0.04052033 -0.02459914
+v -0.04485935 -0.04021101 -0.02569652
+v -0.04535336 -0.03955184 -0.02668032
+v -0.04485935 -0.04001337 -0.02619458
+v -0.05225632 -0.02888390 -0.02569648
+v -0.05194653 -0.03066741 -0.02569648
+v -0.05147317 -0.03248039 -0.02555419
+v -0.05131126 -0.03369313 -0.02480846
+v -0.05186805 -0.03264119 -0.02374393
+v -0.05139717 -0.03386866 -0.02374393
+v -0.05150622 -0.03408961 -0.02179274
+v -0.05158305 -0.03424674 -0.01984018
+v -0.05165492 -0.03439895 -0.01788762
+v -0.05236702 -0.03292231 -0.01624702
+v -0.04485935 -0.03411168 -0.02993275
+v -0.04633395 -0.03461494 -0.02941416
+v -0.04838022 -0.03258470 -0.02905840
+v -0.04831248 -0.03066739 -0.02945519
+v -0.04831248 -0.02888388 -0.02961665
+v -0.05034140 -0.03677657 -0.01624704
+v -0.05048102 -0.03658631 -0.01624703
+v -0.05109812 -0.03569762 -0.01624703
+v -0.05122864 -0.03550614 -0.01624703
+v -0.05116338 -0.03538338 -0.01788762
+v -0.05108242 -0.03523117 -0.01984018
+v -0.05099981 -0.03507650 -0.02179274
+v -0.05087672 -0.03485432 -0.02374394
+v -0.04958882 -0.03600691 -0.02569650
+v -0.04881475 -0.03699380 -0.02569651
+v -0.04748720 -0.03773150 -0.02684588
+v -0.04485935 -0.03967827 -0.02683494
+v -0.04601342 -0.03831455 -0.02741372
+v -0.04535501 -0.03758174 -0.02863150
+v -0.04485935 -0.03821144 -0.02830311
+v -0.05220593 -0.02888390 -0.02581141
+v -0.05142939 -0.03066740 -0.02688826
+v -0.05130134 -0.03171566 -0.02670629
+v -0.05103286 -0.03303151 -0.02610971
+v -0.05057106 -0.03445662 -0.02555420
+v -0.05130712 -0.03534779 -0.01624703
+v -0.05171274 -0.03452048 -0.01624703
+v -0.04485935 -0.03461494 -0.02981918
+v -0.04485935 -0.03608422 -0.02939227
+v -0.04485935 -0.03653593 -0.02922807
+v -0.04614229 -0.03640828 -0.02882716
+v -0.04734841 -0.03563129 -0.02864244
+v -0.04767472 -0.03461494 -0.02883127
+v -0.04939716 -0.03188995 -0.02869990
+v -0.04957395 -0.03066739 -0.02882304
+v -0.04973834 -0.02888388 -0.02892976
+v -0.04961691 -0.02888388 -0.02898997
+v -0.04934842 -0.03566690 -0.02673367
+v -0.04807704 -0.03630641 -0.02744108
+v -0.04667348 -0.03694592 -0.02814850
+v -0.04485935 -0.03772290 -0.02871908
+v -0.05158470 -0.02888389 -0.02710035
+v -0.05072720 -0.02888389 -0.02807595
+v -0.05056280 -0.03066740 -0.02786386
+v -0.05021501 -0.03246074 -0.02758200
+v -0.04964665 -0.03461495 -0.02708121
+v -0.04866358 -0.03461495 -0.02805681
+v -0.04908489 -0.03320581 -0.02845771
+v -0.05063219 -0.02888389 -0.02816899
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 34
+f 1 34 49
+f 1 49 55
+f 1 55 84
+f 1 84 111
+f 1 111 110
+f 1 110 93
+f 1 93 92
+f 1 92 91
+f 1 91 90
+f 1 90 61
+f 1 61 41
+f 1 41 27
+f 1 27 26
+f 1 26 40
+f 1 40 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 32
+f 1 32 46
+f 1 46 47
+f 1 47 71
+f 1 71 72
+f 1 72 74
+f 1 74 101
+f 1 101 104
+f 1 104 125
+f 1 125 114
+f 1 114 113
+f 1 113 112
+f 1 112 85
+f 1 85 57
+f 1 57 38
+f 1 38 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 6 13
+f 5 13 23
+f 5 23 39
+f 5 39 60
+f 5 60 89
+f 5 89 121
+f 5 121 120
+f 5 120 133
+f 5 133 127
+f 5 127 126
+f 5 126 105
+f 5 105 75
+f 5 75 50
+f 5 50 35
+f 5 35 20
+f 5 20 12
+f 7 14 8
+f 8 15 16
+f 8 16 9
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 11
+f 9 11 10
+f 12 20 21
+f 12 21 19
+f 13 22 23
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 32 18
+f 17 31 33
+f 17 33 32
+f 19 21 34
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 34
+f 22 38 23
+f 23 38 39
+f 24 40 25
+f 25 40 26
+f 27 41 28
+f 28 42 29
+f 28 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 33
+f 32 33 46
+f 33 47 46
+f 33 45 48
+f 33 48 47
+f 34 37 49
+f 35 50 36
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 49
+f 38 57 58
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 41 61 62
+f 41 62 63
+f 41 63 42
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 43
+f 43 66 67
+f 43 67 68
+f 43 68 44
+f 44 68 69
+f 44 69 45
+f 45 69 70
+f 45 70 48
+f 47 48 71
+f 48 72 71
+f 48 70 73
+f 48 73 74
+f 48 74 72
+f 49 56 55
+f 50 75 51
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 52 79 80
+f 52 80 81
+f 52 81 53
+f 53 81 82
+f 53 82 54
+f 54 83 55
+f 54 82 83
+f 55 83 84
+f 57 85 58
+f 58 85 86
+f 58 86 87
+f 58 87 88
+f 58 88 59
+f 59 88 60
+f 60 88 89
+f 61 90 62
+f 62 90 63
+f 63 90 64
+f 64 90 91
+f 64 91 92
+f 64 92 65
+f 65 92 93
+f 65 93 94
+f 65 94 66
+f 66 94 95
+f 66 95 96
+f 66 96 67
+f 67 96 97
+f 67 97 78
+f 67 78 98
+f 67 98 68
+f 68 98 99
+f 68 99 69
+f 69 99 100
+f 69 100 70
+f 70 100 73
+f 73 101 74
+f 73 100 102
+f 73 102 103
+f 73 103 104
+f 73 104 101
+f 75 105 106
+f 75 106 76
+f 76 106 107
+f 76 107 77
+f 77 107 78
+f 78 107 108
+f 78 108 109
+f 78 109 98
+f 78 97 80
+f 78 80 79
+f 80 97 96
+f 80 96 81
+f 81 96 95
+f 81 95 94
+f 81 94 82
+f 82 94 93
+f 82 93 83
+f 83 93 110
+f 83 110 111
+f 83 111 84
+f 85 112 86
+f 86 113 114
+f 86 114 115
+f 86 115 116
+f 86 116 117
+f 86 117 87
+f 86 112 113
+f 87 117 118
+f 87 118 88
+f 88 118 119
+f 88 119 120
+f 88 120 121
+f 88 121 89
+f 98 109 122
+f 98 122 99
+f 99 122 100
+f 100 122 123
+f 100 123 116
+f 100 116 124
+f 100 124 103
+f 100 103 102
+f 103 124 116
+f 103 116 115
+f 103 115 114
+f 103 114 125
+f 103 125 104
+f 105 126 106
+f 106 126 127
+f 106 127 128
+f 106 128 107
+f 107 128 118
+f 107 118 129
+f 107 129 130
+f 107 130 108
+f 108 130 122
+f 108 122 109
+f 116 123 122
+f 116 122 131
+f 116 131 132
+f 116 132 117
+f 117 132 118
+f 118 132 129
+f 118 128 119
+f 119 128 133
+f 119 133 120
+f 122 130 131
+f 127 133 128
+f 129 132 130
+f 130 132 131
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_26.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.04037248 -0.04557996 0.03477009
+v -0.04037248 -0.04149516 0.03477011
+v -0.04222169 -0.04534335 0.03477009
+v -0.04039972 -0.04430309 0.01160637
+v -0.04037248 -0.04430532 0.01160637
+v -0.04935132 -0.03632330 0.03092462
+v -0.04935132 -0.03646058 0.03214221
+v -0.04935132 -0.03655545 0.03287685
+v -0.04935132 -0.03668938 0.03387677
+v -0.04935132 -0.03683225 0.03477012
+v -0.04037248 -0.04125295 0.03092460
+v -0.04935132 -0.03417815 0.01160640
+v -0.04236846 -0.04532326 0.03477009
+v -0.04236758 -0.04532326 0.03476555
+v -0.04237813 -0.04399171 0.01160637
+v -0.04037248 -0.04026182 0.01160638
+v -0.04935132 -0.04227306 0.03477010
+v -0.04037248 -0.04114805 0.02897237
+v -0.04037248 -0.04074065 0.02116572
+v -0.04037248 -0.04063908 0.01918629
+v -0.04037248 -0.04034330 0.01335454
+v -0.04935132 -0.04044039 0.01160638
+v -0.04037248 -0.04104312 0.02699293
+v -0.04037248 -0.04094267 0.02506792
+v -0.04037248 -0.04084110 0.02311795
+v -0.04435566 -0.04482773 0.03477010
+v -0.04361914 -0.04367921 0.01160637
+v -0.04847067 -0.04290029 0.03477010
+v -0.04935132 -0.04217930 0.03344141
+v -0.04866666 -0.04102632 0.01160638
+v -0.04935132 -0.04049509 0.01225259
+v -0.04442245 -0.04480318 0.03477010
+v -0.04532684 -0.04348839 0.01833374
+v -0.04491552 -0.04333771 0.01335453
+v -0.04477138 -0.04328412 0.01160637
+v -0.04388632 -0.04359997 0.01160637
+v -0.04378261 -0.04363680 0.01160637
+v -0.04842145 -0.04293489 0.03477010
+v -0.04767702 -0.04176516 0.01160638
+v -0.04935132 -0.04156320 0.02553500
+v -0.04928892 -0.04151186 0.02420404
+v -0.04885211 -0.04117255 0.01530677
+v -0.04875543 -0.04109665 0.01335454
+v -0.04778161 -0.04168927 0.01160638
+v -0.04633845 -0.04406546 0.03477010
+v -0.04633318 -0.04254194 0.01160637
+v -0.04618377 -0.04261337 0.01160637
+v -0.04649666 -0.04388241 0.03284508
+v -0.04738874 -0.04353309 0.03347541
+v -0.04838278 -0.04296056 0.03477010
+v -0.04752673 -0.04185333 0.01160638
+v -0.04638064 -0.04404760 0.03477010
+v -0.04743884 -0.04356211 0.03477010
+f 1 2 10
+f 1 10 17
+f 1 17 28
+f 1 28 38
+f 1 38 50
+f 1 50 53
+f 1 53 52
+f 1 52 45
+f 1 45 32
+f 1 32 26
+f 1 26 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 21
+f 1 21 20
+f 1 20 19
+f 1 19 25
+f 1 25 24
+f 1 24 23
+f 1 23 18
+f 1 18 11
+f 1 11 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 11 12
+f 2 12 6
+f 3 13 14
+f 3 14 4
+f 4 15 27
+f 4 27 37
+f 4 37 36
+f 4 36 35
+f 4 35 47
+f 4 47 46
+f 4 46 51
+f 4 51 39
+f 4 39 44
+f 4 44 30
+f 4 30 22
+f 4 22 12
+f 4 12 16
+f 4 16 5
+f 4 14 15
+f 6 12 22
+f 6 22 31
+f 6 31 40
+f 6 40 29
+f 6 29 17
+f 6 17 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 11 18 12
+f 12 19 20
+f 12 20 21
+f 12 21 16
+f 12 18 23
+f 12 23 24
+f 12 24 25
+f 12 25 19
+f 13 26 14
+f 14 26 15
+f 15 26 27
+f 17 29 28
+f 22 30 31
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 28 29 39
+f 28 39 38
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 39
+f 30 44 43
+f 30 43 31
+f 31 43 42
+f 31 42 41
+f 31 41 40
+f 32 45 33
+f 33 46 47
+f 33 47 34
+f 33 45 48
+f 33 48 49
+f 33 49 46
+f 34 47 35
+f 38 49 50
+f 38 39 49
+f 39 51 49
+f 45 52 48
+f 46 49 51
+f 48 52 49
+f 49 52 53
+f 49 53 50
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_27.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.00011268 0.03851524 -0.01892996
+v 0.00011268 0.04024070 0.01160668
+v 0.00011268 0.04280697 -0.01892994
+v 0.04071964 0.03811348 -0.01892996
+v 0.00011268 0.04431727 0.01160669
+v 0.04071964 0.04007477 0.01160668
+v 0.00011268 0.04286046 -0.01788674
+v 0.01011533 0.04280941 -0.01892994
+v 0.04071964 0.04249821 -0.01892994
+v 0.00011268 0.04431301 0.01150805
+v 0.03456141 0.04432213 0.01160669
+v 0.04071964 0.04380367 0.01160669
+v 0.00011268 0.04291272 -0.01686447
+v 0.01499342 0.04337341 -0.00785234
+v 0.01499342 0.04280941 -0.01892994
+v 0.00011268 0.04332296 -0.00881483
+v 0.04071964 0.04255595 -0.01790468
+v 0.04070374 0.04250246 -0.01892994
+v 0.00011268 0.04430815 0.01140044
+v 0.03476815 0.04431301 0.01140044
+v 0.03476815 0.04432213 0.01160669
+v 0.04071964 0.04415438 0.01160370
+v 0.04070374 0.04415802 0.01160669
+v 0.01499342 0.04345849 -0.00616948
+v 0.02487680 0.04337341 -0.00784636
+v 0.03476815 0.04280576 -0.01892994
+v 0.00011268 0.04337219 -0.00783739
+v 0.04071964 0.04266656 -0.01593187
+v 0.04070374 0.04267082 -0.01593187
+v 0.03988477 0.04336125 -0.00564340
+v 0.03872389 0.04273343 -0.01892994
+v 0.00011268 0.04421820 0.00944856
+v 0.03653730 0.04432152 0.01160669
+v 0.03674800 0.04431180 0.01140044
+v 0.03476815 0.04422124 0.00944856
+v 0.02290092 0.04403891 0.00554181
+v 0.02290092 0.04413007 0.00749369
+v 0.00011268 0.04417505 0.00851596
+v 0.04071964 0.04414465 0.01140044
+v 0.04070374 0.04414769 0.01140044
+v 0.03947925 0.04332661 -0.00694365
+v 0.03872389 0.04390459 0.00358993
+v 0.03872389 0.04400062 0.00554181
+v 0.03872389 0.04409543 0.00749369
+v 0.03872389 0.04418964 0.00944856
+v 0.03872389 0.04428262 0.01140044
+v 0.03872389 0.04429234 0.01160669
+v 0.00011268 0.04345606 -0.00616948
+v 0.02290092 0.04394349 0.00358993
+v 0.03476815 0.04374901 -0.00031682
+v 0.02487680 0.04345789 -0.00616948
+v 0.03476815 0.04345485 -0.00616948
+v 0.03476815 0.04337159 -0.00780750
+v 0.03674800 0.04345059 -0.00616948
+v 0.03674800 0.04285134 -0.01788674
+v 0.03674800 0.04279786 -0.01892994
+v 0.04071964 0.04323239 -0.00582573
+v 0.04071964 0.04335880 -0.00356298
+v 0.04070374 0.04385110 0.00554181
+v 0.04070374 0.04375021 0.00358993
+v 0.04070374 0.04364628 0.00163805
+v 0.04070374 0.04353992 -0.00031682
+v 0.04071964 0.04342992 -0.00227767
+v 0.03815935 0.04335639 -0.00751756
+v 0.03872389 0.04278813 -0.01788674
+v 0.03674800 0.04432091 0.01160669
+v 0.03851715 0.04429539 0.01160669
+v 0.03674800 0.04422003 0.00944856
+v 0.03476815 0.04403587 0.00554181
+v 0.03279226 0.04403648 0.00554181
+v 0.03476815 0.04384564 0.00163805
+v 0.00011268 0.04403466 0.00554181
+v 0.00011268 0.04408328 0.00656109
+v 0.04071964 0.04404498 0.00943063
+v 0.03878352 0.04339528 -0.00624420
+v 0.03872389 0.04370707 -0.00031682
+v 0.03872389 0.04380674 0.00163805
+v 0.03674800 0.04374718 -0.00031682
+v 0.03674800 0.04384381 0.00163805
+v 0.03674800 0.04393863 0.00358993
+v 0.03674800 0.04403283 0.00554181
+v 0.03674800 0.04412643 0.00749369
+v 0.00011268 0.04355270 -0.00421760
+v 0.00011268 0.04393863 0.00358993
+v 0.04071964 0.04384684 0.00552089
+v 0.04071964 0.04374596 0.00356303
+v 0.04071964 0.04364202 0.00160517
+v 0.04071964 0.04353749 -0.00031682
+v 0.04071964 0.04350771 -0.00086084
+f 1 2 5
+f 1 5 10
+f 1 10 19
+f 1 19 32
+f 1 32 38
+f 1 38 73
+f 1 73 72
+f 1 72 84
+f 1 84 83
+f 1 83 48
+f 1 48 27
+f 1 27 16
+f 1 16 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 26
+f 1 26 56
+f 1 56 31
+f 1 31 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 23
+f 2 23 47
+f 2 47 67
+f 2 67 66
+f 2 66 33
+f 2 33 21
+f 2 21 11
+f 2 11 5
+f 3 7 8
+f 4 9 17
+f 4 17 28
+f 4 28 57
+f 4 57 58
+f 4 58 63
+f 4 63 89
+f 4 89 88
+f 4 88 87
+f 4 87 86
+f 4 86 85
+f 4 85 74
+f 4 74 39
+f 4 39 22
+f 4 22 12
+f 4 12 6
+f 5 11 10
+f 7 13 8
+f 8 14 15
+f 8 13 16
+f 8 16 14
+f 9 18 17
+f 10 11 20
+f 10 20 19
+f 11 21 20
+f 12 22 23
+f 14 16 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 16 27 24
+f 17 18 29
+f 17 29 28
+f 18 30 29
+f 18 31 30
+f 19 20 32
+f 20 21 33
+f 20 33 34
+f 20 34 68
+f 20 68 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 32
+f 22 39 23
+f 23 40 30
+f 23 30 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 39 40
+f 24 27 48
+f 24 48 49
+f 24 49 50
+f 24 50 51
+f 24 51 25
+f 25 51 52
+f 25 52 53
+f 25 53 26
+f 26 53 54
+f 26 54 55
+f 26 55 56
+f 28 29 57
+f 29 30 58
+f 29 58 57
+f 30 40 59
+f 30 59 60
+f 30 60 61
+f 30 61 62
+f 30 62 63
+f 30 63 58
+f 30 31 41
+f 31 56 64
+f 31 64 65
+f 31 65 41
+f 33 66 34
+f 34 66 67
+f 34 67 47
+f 34 47 68
+f 35 68 69
+f 35 69 70
+f 35 70 36
+f 36 70 71
+f 36 71 49
+f 36 49 72
+f 36 72 73
+f 36 73 38
+f 36 38 37
+f 39 74 40
+f 40 74 59
+f 41 65 75
+f 41 75 76
+f 41 76 77
+f 41 77 42
+f 42 77 78
+f 42 78 79
+f 42 79 43
+f 43 79 80
+f 43 80 44
+f 44 80 81
+f 44 81 45
+f 45 81 82
+f 45 82 68
+f 45 68 46
+f 46 68 47
+f 48 83 49
+f 49 71 50
+f 49 83 84
+f 49 84 72
+f 50 71 79
+f 50 79 78
+f 50 78 52
+f 50 52 51
+f 52 78 54
+f 52 54 53
+f 54 78 64
+f 54 64 55
+f 55 64 56
+f 59 74 85
+f 59 85 86
+f 59 86 60
+f 60 86 87
+f 60 87 61
+f 61 87 88
+f 61 88 62
+f 62 88 89
+f 62 89 63
+f 64 78 77
+f 64 77 76
+f 64 76 75
+f 64 75 65
+f 68 82 69
+f 69 71 70
+f 69 82 81
+f 69 81 80
+f 69 80 79
+f 69 79 71
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_28.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v 0.04476455 -0.04158811 -0.01569981
+v 0.04529261 -0.04135125 -0.01569981
+v 0.04476455 -0.03664681 -0.01569979
+v 0.04476455 -0.04144069 -0.01788860
+v 0.04664076 -0.04054240 -0.01569981
+v 0.04476455 -0.04130588 -0.01984099
+v 0.04513066 -0.04127313 -0.01788860
+v 0.04655117 -0.04014173 -0.02179338
+v 0.04664076 -0.04037986 -0.01788860
+v 0.04940339 -0.02871831 -0.01569977
+v 0.04476455 -0.02871827 -0.02598435
+v 0.04785022 -0.03972599 -0.01569981
+v 0.04767449 -0.03958361 -0.01932263
+v 0.04774426 -0.03964031 -0.01788860
+v 0.04498594 -0.04120257 -0.01984099
+v 0.04476455 -0.04116224 -0.02179338
+v 0.04754010 -0.03947903 -0.02179338
+v 0.04760816 -0.03953068 -0.02062422
+v 0.04682597 -0.04010395 -0.01992073
+v 0.04483519 -0.04112823 -0.02179338
+v 0.04637975 -0.04002959 -0.02374434
+v 0.05356414 -0.02871831 -0.01569977
+v 0.04476455 -0.02871826 -0.03024657
+v 0.04883915 -0.03881635 -0.01569980
+v 0.04882795 -0.03880627 -0.01593620
+v 0.04476455 -0.04111815 -0.02219639
+v 0.04736868 -0.03934673 -0.02374433
+v 0.04844375 -0.03836024 -0.02374433
+v 0.04878316 -0.03831489 -0.02165808
+v 0.04844806 -0.03879744 -0.01992072
+v 0.04476455 -0.04093545 -0.02369023
+v 0.04606102 -0.03981919 -0.02535353
+v 0.05351848 -0.02920463 -0.01569977
+v 0.05347110 -0.02871831 -0.01722494
+v 0.04620746 -0.02871826 -0.03014831
+v 0.04476455 -0.03066732 -0.03023375
+v 0.04983153 -0.03782985 -0.01569980
+v 0.04966182 -0.03763582 -0.01984098
+v 0.04974280 -0.03772779 -0.01788859
+v 0.04982205 -0.03781977 -0.01593620
+v 0.04961617 -0.03758415 -0.02091757
+v 0.04668900 -0.03911238 -0.02588043
+v 0.04809745 -0.03802510 -0.02569672
+v 0.04943182 -0.03736618 -0.02374433
+v 0.04955070 -0.03750604 -0.02221916
+v 0.04476455 -0.04047055 -0.02533644
+v 0.04485069 -0.04026896 -0.02588044
+v 0.04563460 -0.03953696 -0.02665513
+v 0.05327038 -0.03065225 -0.01569977
+v 0.05312825 -0.03066736 -0.01788856
+v 0.05300334 -0.03066736 -0.01984095
+v 0.05287498 -0.03066735 -0.02179334
+v 0.05318769 -0.02871829 -0.02177055
+v 0.05331173 -0.02871830 -0.01981816
+v 0.04664076 -0.02871826 -0.03011840
+v 0.04664076 -0.03066732 -0.03004435
+v 0.04476455 -0.03264157 -0.03015687
+v 0.05062491 -0.03674634 -0.01569979
+v 0.05075671 -0.03656618 -0.01569979
+v 0.05015112 -0.03674380 -0.02165807
+v 0.05041386 -0.03658633 -0.01984097
+v 0.05056978 -0.03658633 -0.01788858
+v 0.04777183 -0.03771012 -0.02682458
+v 0.04908638 -0.03695798 -0.02569672
+v 0.05016232 -0.03637969 -0.02374432
+v 0.04987201 -0.03597148 -0.02569671
+v 0.04476455 -0.04030928 -0.02587616
+v 0.04476455 -0.04020597 -0.02607411
+v 0.04476455 -0.03910482 -0.02759927
+v 0.04497646 -0.03873945 -0.02784706
+v 0.04563719 -0.03756270 -0.02861890
+v 0.04664076 -0.03816116 -0.02726889
+v 0.05320319 -0.03090549 -0.01569977
+v 0.05325229 -0.03066737 -0.01593617
+v 0.05272509 -0.03264162 -0.01569978
+v 0.05244857 -0.03264161 -0.01984096
+v 0.05231160 -0.03264160 -0.02179335
+v 0.05268116 -0.03066734 -0.02374430
+v 0.05300593 -0.02871828 -0.02372152
+v 0.05318596 -0.02871829 -0.02179334
+v 0.04861862 -0.02871826 -0.02959150
+v 0.04861862 -0.03066732 -0.02941207
+v 0.04664076 -0.03264157 -0.02983787
+v 0.04476455 -0.03461456 -0.02990909
+v 0.05150616 -0.03544992 -0.01569979
+v 0.05134766 -0.03515131 -0.01984097
+v 0.05126841 -0.03500263 -0.02179336
+v 0.05142346 -0.03529242 -0.01788858
+v 0.04964029 -0.03564642 -0.02671634
+v 0.04664076 -0.03708522 -0.02824579
+v 0.04764434 -0.03561743 -0.02863597
+v 0.04836708 -0.03629023 -0.02742125
+v 0.05115125 -0.03477962 -0.02374432
+v 0.05159144 -0.03364068 -0.02473831
+v 0.05084544 -0.03442559 -0.02551301
+v 0.04476455 -0.03879363 -0.02790259
+v 0.04476455 -0.03696803 -0.02915862
+v 0.04485156 -0.03677779 -0.02921843
+v 0.04664076 -0.03609871 -0.02885955
+v 0.04476455 -0.03848118 -0.02817316
+v 0.05197650 -0.03448484 -0.01569979
+v 0.05197823 -0.03444704 -0.01593619
+v 0.05191190 -0.03430592 -0.01788858
+v 0.05184471 -0.03416482 -0.01984097
+v 0.05177407 -0.03401614 -0.02179335
+v 0.05166553 -0.03379313 -0.02374431
+v 0.05210227 -0.03264159 -0.02374431
+v 0.05177493 -0.03264159 -0.02521394
+v 0.05206265 -0.03085379 -0.02588609
+v 0.05251490 -0.02871828 -0.02569954
+v 0.05252179 -0.02871828 -0.02567391
+v 0.05300334 -0.02871828 -0.02374430
+v 0.04863327 -0.02871826 -0.02958438
+v 0.05000898 -0.02871826 -0.02891080
+v 0.04983411 -0.03066732 -0.02879260
+v 0.04967647 -0.03183146 -0.02868011
+v 0.04867634 -0.03254959 -0.02903755
+v 0.04664076 -0.03461456 -0.02939073
+v 0.04476455 -0.03577618 -0.02955022
+v 0.05149755 -0.03543228 -0.01593619
+v 0.05155182 -0.03535669 -0.01569979
+v 0.04894855 -0.03461457 -0.02803075
+v 0.04992629 -0.03461457 -0.02705384
+v 0.05158025 -0.03163618 -0.02666222
+v 0.05138125 -0.03264158 -0.02619085
+v 0.04795962 -0.03461456 -0.02881968
+v 0.04937238 -0.03314679 -0.02843944
+v 0.04476455 -0.03677023 -0.02924121
+v 0.05173616 -0.03032086 -0.02688578
+v 0.05186624 -0.02871827 -0.02706237
+v 0.05100050 -0.02871827 -0.02803643
+v 0.05097293 -0.03085379 -0.02758215
+v 0.05027689 -0.03254960 -0.02773311
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 37
+f 1 37 58
+f 1 58 59
+f 1 59 85
+f 1 85 121
+f 1 121 101
+f 1 101 75
+f 1 75 73
+f 1 73 49
+f 1 49 33
+f 1 33 22
+f 1 22 10
+f 1 10 3
+f 1 3 11
+f 1 11 23
+f 1 23 36
+f 1 36 57
+f 1 57 84
+f 1 84 119
+f 1 119 128
+f 1 128 97
+f 1 97 100
+f 1 100 96
+f 1 96 69
+f 1 69 68
+f 1 68 67
+f 1 67 46
+f 1 46 31
+f 1 31 26
+f 1 26 16
+f 1 16 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 13
+f 5 13 14
+f 5 14 12
+f 6 15 7
+f 6 16 15
+f 7 15 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 8 15 20
+f 8 20 21
+f 8 21 17
+f 9 19 18
+f 9 18 13
+f 10 22 34
+f 10 34 54
+f 10 54 53
+f 10 53 80
+f 10 80 79
+f 10 79 112
+f 10 112 111
+f 10 111 110
+f 10 110 130
+f 10 130 131
+f 10 131 114
+f 10 114 113
+f 10 113 81
+f 10 81 55
+f 10 55 35
+f 10 35 23
+f 10 23 11
+f 12 14 24
+f 13 18 25
+f 13 25 24
+f 13 24 14
+f 15 16 20
+f 16 26 20
+f 17 21 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 25
+f 20 26 31
+f 20 31 21
+f 21 31 32
+f 21 32 27
+f 22 33 34
+f 23 35 36
+f 24 25 38
+f 24 38 39
+f 24 39 40
+f 24 40 37
+f 25 30 29
+f 25 29 41
+f 25 41 38
+f 27 32 42
+f 27 42 43
+f 27 43 28
+f 28 44 45
+f 28 45 29
+f 28 43 44
+f 29 45 41
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 42
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 54
+f 33 54 34
+f 35 55 36
+f 36 55 56
+f 36 56 57
+f 37 40 58
+f 38 41 59
+f 38 59 39
+f 39 59 40
+f 40 59 58
+f 41 45 60
+f 41 60 61
+f 41 61 62
+f 41 62 59
+f 42 48 63
+f 42 63 43
+f 43 64 44
+f 43 63 64
+f 44 65 45
+f 44 64 66
+f 44 66 65
+f 45 65 60
+f 46 67 47
+f 47 67 48
+f 48 67 68
+f 48 68 69
+f 48 69 70
+f 48 70 71
+f 48 71 72
+f 48 72 63
+f 49 73 74
+f 49 74 50
+f 50 74 73
+f 50 73 51
+f 51 73 75
+f 51 75 52
+f 52 76 77
+f 52 77 78
+f 52 78 79
+f 52 79 80
+f 52 80 53
+f 52 75 76
+f 55 81 56
+f 56 81 82
+f 56 82 83
+f 56 83 57
+f 57 83 84
+f 59 62 85
+f 60 86 61
+f 60 65 87
+f 60 87 86
+f 61 86 88
+f 61 88 85
+f 61 85 62
+f 63 89 64
+f 63 72 71
+f 63 71 90
+f 63 90 91
+f 63 91 92
+f 63 92 89
+f 64 89 66
+f 65 93 87
+f 65 66 94
+f 65 94 93
+f 66 95 94
+f 66 89 95
+f 69 96 70
+f 70 96 71
+f 71 97 98
+f 71 98 99
+f 71 99 91
+f 71 91 90
+f 71 96 100
+f 71 100 97
+f 75 101 102
+f 75 102 103
+f 75 103 104
+f 75 104 105
+f 75 105 76
+f 76 105 77
+f 77 105 106
+f 77 106 107
+f 77 107 78
+f 78 107 94
+f 78 94 108
+f 78 108 109
+f 78 109 110
+f 78 110 111
+f 78 111 112
+f 78 112 79
+f 81 113 82
+f 82 114 115
+f 82 115 116
+f 82 116 117
+f 82 117 83
+f 82 113 114
+f 83 117 118
+f 83 118 84
+f 84 118 98
+f 84 98 119
+f 85 120 104
+f 85 104 121
+f 85 88 120
+f 86 87 105
+f 86 105 88
+f 87 93 106
+f 87 106 105
+f 88 105 104
+f 88 104 120
+f 89 92 91
+f 89 91 122
+f 89 122 123
+f 89 123 124
+f 89 124 125
+f 89 125 95
+f 91 99 118
+f 91 118 126
+f 91 126 127
+f 91 127 122
+f 93 94 106
+f 94 95 125
+f 94 125 124
+f 94 124 108
+f 94 107 106
+f 97 128 98
+f 98 128 119
+f 98 118 99
+f 101 121 103
+f 101 103 102
+f 103 121 104
+f 108 124 109
+f 109 124 129
+f 109 129 110
+f 110 129 130
+f 114 131 115
+f 115 131 132
+f 115 132 116
+f 116 126 117
+f 116 132 124
+f 116 124 133
+f 116 133 127
+f 116 127 126
+f 117 126 118
+f 122 127 123
+f 123 127 133
+f 123 133 124
+f 124 132 129
+f 129 132 131
+f 129 131 130
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_29.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.04485935 -0.04324107 0.01159274
+v -0.04485935 -0.04324107 0.01160637
+v -0.04618452 -0.04261422 0.01160637
+v -0.04544156 -0.04157408 -0.01007709
+v -0.04536903 -0.04153332 -0.01123856
+v -0.04485935 -0.04179615 -0.01065510
+v -0.04485935 -0.03871259 0.01160639
+v -0.04633448 -0.04254254 0.01160637
+v -0.04556114 -0.04164156 -0.00812222
+v -0.04731856 -0.04151792 0.00460758
+v -0.04725779 -0.04147997 0.00359061
+v -0.04714115 -0.04140688 0.00163575
+v -0.04678830 -0.04118619 -0.00421795
+v -0.04666970 -0.04111310 -0.00617009
+v -0.04633448 -0.04056211 -0.01624705
+v -0.04523475 -0.04121988 -0.01624705
+v -0.04499853 -0.04135902 -0.01624705
+v -0.04485935 -0.04142367 -0.01624705
+v -0.05091377 -0.02888403 0.01160642
+v -0.04485935 -0.03633441 -0.01624703
+v -0.04911714 -0.02888393 -0.01624701
+v -0.04767827 -0.04176531 0.01160638
+v -0.04766749 -0.04175828 0.01139917
+v -0.04738619 -0.04156430 0.00590810
+v -0.04633448 -0.04226706 0.00749488
+v -0.04615217 -0.04197610 0.00163575
+v -0.04591596 -0.04184256 -0.00226853
+v -0.04579932 -0.04177509 -0.00421795
+v -0.04866725 -0.04102602 0.01160638
+v -0.04755869 -0.03973850 -0.01624705
+v -0.04651777 -0.04043984 -0.01624705
+v -0.05487262 -0.02888403 0.01160642
+v -0.05329849 -0.02888393 -0.01624701
+v -0.04778217 -0.04168941 0.01160638
+v -0.04969936 -0.04014338 0.01160638
+v -0.04956507 -0.03979761 0.00554275
+v -0.04948078 -0.03971748 0.00359061
+v -0.04939453 -0.03963597 0.00163575
+v -0.04912596 -0.03938295 -0.00421794
+v -0.04903481 -0.03929862 -0.00617008
+v -0.04894169 -0.03921006 -0.00812221
+v -0.04838987 -0.03898094 -0.01624704
+v -0.04933474 -0.03957833 0.00029161
+v -0.05465992 -0.03066759 0.01160642
+v -0.05486282 -0.02888403 0.01139921
+v -0.05327594 -0.02912567 -0.01624701
+v -0.05331221 -0.02888393 -0.01602617
+v -0.04981893 -0.04003937 0.01160638
+v -0.04964741 -0.03987492 0.00749489
+v -0.05080693 -0.03900493 0.01160639
+v -0.04971700 -0.03804350 -0.01202922
+v -0.04955625 -0.03786217 -0.01593350
+v -0.04954351 -0.03784671 -0.01624704
+v -0.04870842 -0.03867595 -0.01624704
+v -0.04856238 -0.03884882 -0.01593350
+v -0.04854767 -0.03883336 -0.01624704
+v -0.05422081 -0.03264089 0.01160641
+v -0.05465012 -0.03066759 0.01139921
+v -0.05476872 -0.02888402 0.00944707
+v -0.05342395 -0.02888394 -0.01419945
+v -0.05316421 -0.02988604 -0.01624701
+v -0.05327300 -0.02976095 -0.01520823
+v -0.05414436 -0.02888398 -0.00226849
+v -0.05152930 -0.03812088 0.01160639
+v -0.05153813 -0.03791567 0.00944704
+v -0.05146853 -0.03782431 0.00749490
+v -0.05139895 -0.03773154 0.00554276
+v -0.05128721 -0.03758536 0.00249459
+v -0.05123722 -0.03751508 0.00119407
+v -0.05117743 -0.03743075 -0.00031638
+v -0.05110000 -0.03732111 -0.00226852
+v -0.05102257 -0.03721007 -0.00421794
+v -0.05094415 -0.03709763 -0.00617008
+v -0.05034136 -0.03677573 -0.01624704
+v -0.05366997 -0.03425017 0.01160640
+v -0.05455407 -0.03066758 0.00944707
+v -0.05445311 -0.03066758 0.00749493
+v -0.05421003 -0.03264089 0.01139920
+v -0.05354059 -0.03430498 0.00944705
+v -0.05359548 -0.03443851 0.01139919
+v -0.05467168 -0.02888402 0.00749493
+v -0.05304463 -0.03054521 -0.01624701
+v -0.05307403 -0.03051851 -0.01588985
+v -0.05322302 -0.03148831 -0.01053783
+v -0.05390324 -0.03066754 -0.00226849
+v -0.05402184 -0.03066755 -0.00031635
+v -0.05413652 -0.03066756 0.00163579
+v -0.05424728 -0.02888399 -0.00050448
+v -0.05161262 -0.03801828 0.01160639
+v -0.05160576 -0.03800844 0.01139918
+v -0.05251632 -0.03658750 0.01139919
+v -0.05238792 -0.03658749 0.00944705
+v -0.05225658 -0.03658749 0.00749491
+v -0.05212230 -0.03658748 0.00554277
+v -0.05173220 -0.03633446 -0.00226851
+v -0.05166457 -0.03622342 -0.00421793
+v -0.05159596 -0.03611098 -0.00617007
+v -0.05152637 -0.03599853 -0.00812220
+v -0.05145579 -0.03588467 -0.01007707
+v -0.05127839 -0.03560076 -0.01494924
+v -0.05048152 -0.03658740 -0.01624703
+v -0.05359253 -0.03447224 0.01160640
+v -0.05457269 -0.02888401 0.00554279
+v -0.05447173 -0.02888400 0.00359065
+v -0.05435118 -0.03066757 0.00554279
+v -0.05410712 -0.03264088 0.00944706
+v -0.05348373 -0.03416724 0.00749491
+v -0.05318479 -0.03543921 0.01160640
+v -0.05354450 -0.03458749 0.01160640
+v -0.05248104 -0.03264079 -0.01624702
+v -0.05311030 -0.03094016 -0.01398133
+v -0.05326516 -0.03168228 -0.00923731
+v -0.05436686 -0.02888400 0.00163579
+v -0.05425806 -0.02888399 -0.00031635
+v -0.05388854 -0.03264087 0.00554278
+v -0.05399930 -0.03264088 0.00749492
+v -0.05424532 -0.03066756 0.00359065
+v -0.05254083 -0.03656782 0.01160640
+v -0.05261238 -0.03644273 0.01160640
+v -0.05237518 -0.03461413 -0.00617007
+v -0.05172338 -0.03454382 -0.01593349
+v -0.05171259 -0.03451993 -0.01624703
+v -0.05130681 -0.03534917 -0.01624703
+v -0.05124016 -0.03553047 -0.01593349
+v -0.05109804 -0.03569913 -0.01624703
+v -0.05311716 -0.03529163 0.00944705
+v -0.05305541 -0.03515389 0.00749491
+v -0.05299170 -0.03501333 0.00554277
+v -0.05342591 -0.03402668 0.00554278
+v -0.05236734 -0.03292189 -0.01624702
+v -0.05322498 -0.03353053 -0.00078804
+v -0.05317695 -0.03338575 -0.00226850
+v -0.05311324 -0.03318897 -0.00421792
+v -0.05250260 -0.03264079 -0.01593348
+v -0.05330143 -0.03179753 -0.00812219
+v -0.05377288 -0.03264086 0.00359064
+v -0.05326614 -0.03364999 0.00051520
+v -0.05336416 -0.03388191 0.00359064
+v -0.05336416 -0.03199993 -0.00617006
+v -0.05251044 -0.03461413 -0.00421793
+v -0.05122840 -0.03550658 -0.01624703
+v -0.05292505 -0.03486856 0.00359063
+v -0.05365330 -0.03264086 0.00163578
+v -0.05348766 -0.03239910 -0.00226850
+v -0.05342591 -0.03220232 -0.00421792
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 18
+f 1 18 20
+f 1 20 7
+f 1 7 2
+f 2 7 19
+f 2 19 32
+f 2 32 44
+f 2 44 57
+f 2 57 75
+f 2 75 102
+f 2 102 109
+f 2 109 108
+f 2 108 119
+f 2 119 118
+f 2 118 89
+f 2 89 64
+f 2 64 50
+f 2 50 48
+f 2 48 35
+f 2 35 29
+f 2 29 34
+f 2 34 22
+f 2 22 8
+f 2 8 3
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 9
+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 6
+f 7 20 21
+f 7 21 19
+f 8 22 23
+f 8 23 24
+f 8 24 10
+f 8 10 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 9
+f 9 28 10
+f 10 26 25
+f 10 24 29
+f 10 29 30
+f 10 30 31
+f 10 31 11
+f 10 28 27
+f 10 27 26
+f 11 31 12
+f 12 31 15
+f 12 15 13
+f 13 15 14
+f 15 31 30
+f 15 30 42
+f 15 42 56
+f 15 56 54
+f 15 54 53
+f 15 53 74
+f 15 74 101
+f 15 101 125
+f 15 125 141
+f 15 141 123
+f 15 123 122
+f 15 122 130
+f 15 130 110
+f 15 110 82
+f 15 82 61
+f 15 61 46
+f 15 46 33
+f 15 33 21
+f 15 21 20
+f 15 20 18
+f 15 18 17
+f 15 17 16
+f 19 21 33
+f 19 33 47
+f 19 47 60
+f 19 60 63
+f 19 63 88
+f 19 88 114
+f 19 114 113
+f 19 113 104
+f 19 104 103
+f 19 103 81
+f 19 81 59
+f 19 59 45
+f 19 45 32
+f 22 34 23
+f 23 34 24
+f 24 34 29
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 38 43
+f 30 43 39
+f 32 45 58
+f 32 58 44
+f 33 46 47
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 36 50 37
+f 37 50 38
+f 38 50 51
+f 38 51 52
+f 38 52 43
+f 39 52 53
+f 39 53 40
+f 39 43 52
+f 40 53 41
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 42 55 56
+f 44 58 57
+f 45 59 58
+f 46 60 47
+f 46 61 62
+f 46 62 63
+f 46 63 60
+f 48 50 49
+f 50 64 65
+f 50 65 66
+f 50 66 67
+f 50 67 68
+f 50 68 51
+f 51 68 52
+f 52 68 53
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 53 71 72
+f 53 72 73
+f 53 73 74
+f 54 56 55
+f 57 58 76
+f 57 76 77
+f 57 77 78
+f 57 78 79
+f 57 79 80
+f 57 80 75
+f 58 59 76
+f 59 81 76
+f 61 82 62
+f 62 82 83
+f 62 83 84
+f 62 84 85
+f 62 85 86
+f 62 86 87
+f 62 87 63
+f 63 87 88
+f 64 89 90
+f 64 90 65
+f 65 90 91
+f 65 91 66
+f 66 91 92
+f 66 92 67
+f 67 92 68
+f 68 92 93
+f 68 93 94
+f 68 94 95
+f 68 95 96
+f 68 96 97
+f 68 97 98
+f 68 98 69
+f 69 98 99
+f 69 99 100
+f 69 100 70
+f 70 100 71
+f 71 100 72
+f 72 100 73
+f 73 100 101
+f 73 101 74
+f 75 80 102
+f 76 81 103
+f 76 103 104
+f 76 104 77
+f 77 104 105
+f 77 105 78
+f 78 105 106
+f 78 106 79
+f 79 106 107
+f 79 107 108
+f 79 108 109
+f 79 109 80
+f 80 109 102
+f 82 110 111
+f 82 111 84
+f 82 84 83
+f 84 112 85
+f 84 111 110
+f 84 110 112
+f 85 112 86
+f 86 112 87
+f 87 113 114
+f 87 114 88
+f 87 112 115
+f 87 115 116
+f 87 116 117
+f 87 117 113
+f 89 118 91
+f 89 91 90
+f 91 118 119
+f 91 119 108
+f 91 108 92
+f 92 108 93
+f 93 108 97
+f 93 97 96
+f 93 96 94
+f 94 96 95
+f 97 108 98
+f 98 108 99
+f 99 108 100
+f 100 120 121
+f 100 121 122
+f 100 122 123
+f 100 123 124
+f 100 124 125
+f 100 125 101
+f 100 108 126
+f 100 126 127
+f 100 127 128
+f 100 128 120
+f 104 113 105
+f 105 113 117
+f 105 117 106
+f 106 116 129
+f 106 129 107
+f 106 117 116
+f 107 129 108
+f 108 129 126
+f 110 130 131
+f 110 131 132
+f 110 132 133
+f 110 133 134
+f 110 134 112
+f 112 133 135
+f 112 135 115
+f 112 134 133
+f 115 136 137
+f 115 137 138
+f 115 138 116
+f 115 135 139
+f 115 139 136
+f 116 138 129
+f 120 122 121
+f 120 128 140
+f 120 140 137
+f 120 137 122
+f 122 137 131
+f 122 131 130
+f 123 141 124
+f 124 141 125
+f 126 129 127
+f 127 129 138
+f 127 138 128
+f 128 138 137
+f 128 137 142
+f 128 142 140
+f 131 137 136
+f 131 136 143
+f 131 143 144
+f 131 144 132
+f 132 144 145
+f 132 145 139
+f 132 139 133
+f 133 139 135
+f 136 139 145
+f 136 145 144
+f 136 144 143
+f 137 140 142
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_3.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.04252581 0.04902772 0.03564739
+v -0.02254462 0.04584868 0.03673797
+v -0.02259474 0.04584868 0.03673797
+v -0.03446235 0.04584868 0.03674394
+v -0.03644168 0.04584868 0.03674767
+v -0.03841683 0.04584867 0.03679769
+v -0.04039616 0.04584867 0.03701790
+v -0.04252581 0.04584867 0.03862280
+v -0.04252581 0.04983522 0.03564739
+v 0.00013413 0.04907762 0.03566904
+v 0.00013413 0.04584868 0.03674320
+v -0.04252581 0.04584865 0.04326733
+v -0.04252581 0.05082461 0.03649613
+v -0.04237548 0.05082997 0.03646031
+v -0.04039616 0.05085519 0.03630205
+v -0.04237548 0.04984327 0.03564888
+v 0.00013413 0.04983522 0.03566904
+v 0.00013413 0.04584865 0.04326957
+v -0.04252581 0.04629774 0.04326733
+v -0.02061958 0.04584865 0.04327031
+v -0.01864026 0.04629774 0.04327330
+v -0.04252581 0.05088685 0.03661856
+v -0.04237548 0.05128871 0.03743594
+v -0.04039616 0.05131822 0.03727843
+v -0.03841683 0.05085734 0.03629459
+v -0.04039616 0.04986848 0.03566232
+v 0.00013413 0.05033850 0.03601540
+v 0.00013413 0.04629774 0.04327180
+v -0.00875197 0.04584865 0.04327031
+v -0.02852854 0.04827116 0.04323002
+v -0.03644168 0.04827116 0.04322777
+v -0.03841683 0.04827116 0.04322703
+v -0.04039616 0.04827116 0.04322180
+v -0.04252581 0.04812307 0.04320687
+v -0.00875197 0.04827116 0.04323524
+v -0.00875197 0.04629774 0.04327255
+v -0.04252581 0.05128335 0.03746356
+v -0.04222516 0.05128013 0.03867508
+v -0.04039616 0.05132842 0.03873778
+v -0.04252581 0.05128335 0.03750984
+v -0.04252581 0.05127315 0.03851085
+v -0.03841683 0.05133003 0.03873778
+v -0.03841683 0.05131822 0.03727022
+v 0.00013413 0.05130910 0.03732546
+v 0.00013413 0.05107087 0.03684698
+v 0.00013413 0.05082193 0.03634908
+v 0.00013413 0.04827116 0.04323449
+v -0.03644168 0.05012653 0.04243428
+v -0.03841683 0.05012653 0.04243353
+v -0.04039616 0.05012063 0.04242831
+v -0.04237548 0.04827116 0.04320239
+v -0.04252581 0.04827116 0.04319791
+v -0.00479331 0.05012707 0.04243951
+v -0.01072712 0.05012600 0.04243951
+v -0.04252581 0.05122808 0.03900128
+v -0.04146516 0.05123612 0.03975745
+v -0.04039616 0.05124095 0.03980224
+v -0.03841683 0.05124256 0.03981717
+v -0.00479331 0.05123666 0.03976492
+v 0.00013413 0.05123559 0.03975596
+v -0.00479331 0.05131661 0.03873778
+v -0.00083883 0.05130964 0.03732546
+v -0.00281398 0.05131017 0.03732322
+v -0.00479331 0.05131071 0.03732098
+v -0.00677264 0.05131125 0.03732024
+v 0.00013413 0.05131178 0.03804506
+v 0.00013413 0.05012761 0.04243876
+v -0.03841683 0.05111325 0.04079355
+v -0.04039616 0.05110789 0.04077862
+v -0.04237548 0.05007985 0.04240740
+v -0.04252581 0.04994411 0.04246265
+v -0.00083883 0.05012761 0.04243876
+v -0.04252581 0.05119321 0.03937825
+v -0.04222516 0.05107086 0.04052109
+v 0.00013413 0.05111432 0.04073234
+v 0.00013413 0.05131393 0.03873778
+v -0.00281398 0.05131554 0.03873778
+v -0.04252581 0.05091312 0.04077638
+v -0.04252581 0.05007020 0.04240218
+v -0.04252581 0.05113042 0.03985898
+v -0.04252581 0.05103009 0.04054423
+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 12
+f 1 12 19
+f 1 19 34
+f 1 34 52
+f 1 52 71
+f 1 71 79
+f 1 79 78
+f 1 78 81
+f 1 81 80
+f 1 80 73
+f 1 73 55
+f 1 55 41
+f 1 41 40
+f 1 40 37
+f 1 37 22
+f 1 22 13
+f 1 13 9
+f 1 9 17
+f 1 17 10
+f 1 10 11
+f 1 11 2
+f 2 11 18
+f 2 18 29
+f 2 29 20
+f 2 20 12
+f 2 12 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 10 17 27
+f 10 27 46
+f 10 46 45
+f 10 45 44
+f 10 44 66
+f 10 66 76
+f 10 76 60
+f 10 60 75
+f 10 75 67
+f 10 67 47
+f 10 47 28
+f 10 28 18
+f 10 18 11
+f 12 20 21
+f 12 21 19
+f 13 22 14
+f 14 23 24
+f 14 24 15
+f 14 22 23
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 25
+f 17 25 27
+f 18 28 36
+f 18 36 29
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 21 35
+f 19 35 30
+f 20 29 21
+f 21 29 36
+f 21 36 35
+f 22 37 23
+f 23 38 39
+f 23 39 24
+f 23 37 40
+f 23 40 41
+f 23 41 38
+f 24 39 42
+f 24 42 43
+f 24 43 25
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 27
+f 28 47 35
+f 28 35 36
+f 30 48 31
+f 30 35 48
+f 31 48 49
+f 31 49 32
+f 32 49 33
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 35 47 53
+f 35 53 54
+f 35 54 48
+f 38 41 55
+f 38 55 56
+f 38 56 39
+f 39 57 58
+f 39 58 42
+f 39 56 57
+f 42 58 59
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 43
+f 43 65 64
+f 43 64 63
+f 43 63 62
+f 43 62 44
+f 44 62 66
+f 47 67 53
+f 48 68 49
+f 48 54 53
+f 48 53 68
+f 49 68 50
+f 50 69 70
+f 50 70 51
+f 50 68 69
+f 51 70 71
+f 51 71 52
+f 53 67 72
+f 53 72 68
+f 55 73 56
+f 56 73 74
+f 56 74 69
+f 56 69 57
+f 57 69 68
+f 57 68 58
+f 58 68 75
+f 58 75 59
+f 59 75 60
+f 60 76 77
+f 60 77 61
+f 61 77 66
+f 61 66 62
+f 66 77 76
+f 67 75 68
+f 67 68 72
+f 69 74 78
+f 69 78 79
+f 69 79 70
+f 70 79 71
+f 73 80 74
+f 74 80 81
+f 74 81 78
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_30.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00010870 0.03754600 -0.02368797
+v 0.00010870 -0.00006001 -0.02620327
+v 0.00010870 0.03754602 -0.02976769
+v -0.04002957 0.03754599 -0.02305000
+v -0.04005480 0.03753495 -0.02305000
+v -0.04284673 0.03633123 -0.02305001
+v 0.00010870 -0.00006000 -0.03024983
+v -0.04284673 -0.00006001 -0.02616163
+v 0.00010870 0.03642697 -0.03009797
+v -0.00591246 0.03754602 -0.02976769
+v -0.04284673 0.03754599 -0.02305000
+v -0.01270729 0.03248084 -0.03025748
+v 0.00010870 0.03248084 -0.03025465
+v -0.04237580 -0.00006000 -0.03025266
+v -0.04039538 0.03248084 -0.03025959
+v -0.04284673 -0.00006000 -0.03025266
+v 0.00010870 0.03445391 -0.03025182
+v -0.01270729 0.03445391 -0.03025323
+v -0.03643874 0.03445391 -0.03025394
+v -0.00479400 0.03642697 -0.03009797
+v -0.02852966 0.03642697 -0.03009656
+v -0.02852966 0.03754602 -0.02976557
+v -0.04284673 0.03754602 -0.02923558
+v 0.00010870 0.03351155 -0.03025324
+v -0.04237580 0.03050778 -0.03025749
+v -0.04237580 0.03248084 -0.03025465
+v -0.03841916 0.03445391 -0.03025112
+v -0.04284673 0.02064246 -0.03025469
+v -0.03643874 0.03642697 -0.03009445
+v -0.03446252 0.03642697 -0.03009586
+v -0.03446252 0.03754602 -0.02976416
+v -0.04284673 0.03682085 -0.02954468
+v -0.04227489 0.03754602 -0.02935979
+v -0.04284673 0.02308302 -0.03025469
+v -0.04284673 0.02853472 -0.03025397
+v -0.04284673 0.03050778 -0.03025325
+v -0.04284673 0.03248084 -0.03023630
+v -0.04237580 0.03445391 -0.03017137
+v -0.04039538 0.03445391 -0.03023629
+v -0.03841916 0.03642697 -0.03007610
+v -0.03643874 0.03754602 -0.02976134
+v -0.04284673 0.03647115 -0.02968795
+v -0.04237580 0.03642697 -0.02981428
+v -0.04039538 0.03754602 -0.02960961
+v -0.04284673 0.03445391 -0.03011844
+v -0.04039538 0.03642697 -0.03000553
+v -0.03841916 0.03754602 -0.02972887
+f 1 2 7
+f 1 7 13
+f 1 13 24
+f 1 24 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 22
+f 1 22 31
+f 1 31 41
+f 1 41 47
+f 1 47 44
+f 1 44 33
+f 1 33 23
+f 1 23 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 16
+f 2 16 14
+f 2 14 7
+f 3 9 20
+f 3 20 10
+f 4 11 6
+f 4 6 5
+f 6 11 23
+f 6 23 32
+f 6 32 42
+f 6 42 45
+f 6 45 37
+f 6 37 36
+f 6 36 35
+f 6 35 34
+f 6 34 28
+f 6 28 16
+f 6 16 8
+f 7 12 13
+f 7 14 15
+f 7 15 12
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 10 20 21
+f 10 21 22
+f 12 18 17
+f 12 17 24
+f 12 24 13
+f 12 15 18
+f 14 16 15
+f 15 16 25
+f 15 25 26
+f 15 26 27
+f 15 27 19
+f 15 19 18
+f 16 28 25
+f 19 27 29
+f 19 29 30
+f 19 30 21
+f 19 21 20
+f 21 30 22
+f 22 30 31
+f 23 33 32
+f 25 28 34
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 27 39 29
+f 29 39 40
+f 29 40 41
+f 29 41 31
+f 29 31 30
+f 32 33 43
+f 32 43 42
+f 33 44 43
+f 37 45 38
+f 38 45 43
+f 38 43 46
+f 38 46 40
+f 38 40 39
+f 40 47 41
+f 40 46 47
+f 42 43 45
+f 43 44 46
+f 44 47 46
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_31.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.04279266 0.04903290 0.03565024
+v 0.04279266 0.04981838 0.03565024
+v 0.04279266 0.04585289 0.03871248
+v 0.04151491 0.04585289 0.03770367
+v 0.04070483 0.04585289 0.03707987
+v 0.04044177 0.04585289 0.03704406
+v 0.03872557 0.04585289 0.03681946
+v 0.03869217 0.04585289 0.03681872
+v 0.03674631 0.04585289 0.03677768
+v 0.03479628 0.04585289 0.03675977
+v 0.03282119 0.04585289 0.03675679
+v 0.02491249 0.04585290 0.03675231
+v 0.01898306 0.04585290 0.03675007
+v 0.01894965 0.04585290 0.03675007
+v 0.01697039 0.04585290 0.03675082
+v 0.01103677 0.04585289 0.03675380
+v 0.00013413 0.04907793 0.03566964
+v 0.04267992 0.04982374 0.03565099
+v 0.04070483 0.05084513 0.03630836
+v 0.04279266 0.05075077 0.03645983
+v 0.00013413 0.04983553 0.03566964
+v 0.04279266 0.04585287 0.04326630
+v 0.00111958 0.04585289 0.03676350
+v 0.00013413 0.04585289 0.03676574
+v 0.04070483 0.04985805 0.03566442
+v 0.03872557 0.05085049 0.03629269
+v 0.00312390 0.04983661 0.03566889
+v 0.04070483 0.05131856 0.03728509
+v 0.04267992 0.05081082 0.03650759
+v 0.04279266 0.05080707 0.03653296
+v 0.00013413 0.05033846 0.03601586
+v 0.04279266 0.04629789 0.04326556
+v 0.04267992 0.04629789 0.04326630
+v 0.04070483 0.04629789 0.04326854
+v 0.01301186 0.04629789 0.04327153
+v 0.01301186 0.04585287 0.04326929
+v 0.00013413 0.04585287 0.04327003
+v 0.03872557 0.05131963 0.03726867
+v 0.00013413 0.05082208 0.03634940
+v 0.00013413 0.05107085 0.03684635
+v 0.00013413 0.05130944 0.03732538
+v 0.00509899 0.05131105 0.03731867
+v 0.03872557 0.05132981 0.03873712
+v 0.04083846 0.05130515 0.03892366
+v 0.04267992 0.05128103 0.03833867
+v 0.04267992 0.05128103 0.03748357
+v 0.04279266 0.05127727 0.03750521
+v 0.04279266 0.04827097 0.04320513
+v 0.04267992 0.04827097 0.04320886
+v 0.04070483 0.04827097 0.04322677
+v 0.03872557 0.04827097 0.04322901
+v 0.03477122 0.04827097 0.04322975
+v 0.01301186 0.04827097 0.04323348
+v 0.00114464 0.04827097 0.04323423
+v 0.00013413 0.04726513 0.04325362
+v 0.00013413 0.04629789 0.04327153
+v 0.00013413 0.05131373 0.03873712
+v 0.00509899 0.05131641 0.03873712
+v 0.03872557 0.05124080 0.03980189
+v 0.04027057 0.05123812 0.03977578
+v 0.00013413 0.05123544 0.03975563
+v 0.00509899 0.05123651 0.03976608
+v 0.04159007 0.05122901 0.03969818
+v 0.04267992 0.05118988 0.03931465
+v 0.04279266 0.05127727 0.03829315
+v 0.04279266 0.05006766 0.04241047
+v 0.04267992 0.05007517 0.04241420
+v 0.04070483 0.05011967 0.04243285
+v 0.03872557 0.05012664 0.04243584
+v 0.01894965 0.05012771 0.04243807
+v 0.00013413 0.04918085 0.04284473
+v 0.00013413 0.04827097 0.04323423
+v 0.00013413 0.05127406 0.03925720
+v 0.03872557 0.05111373 0.04077862
+v 0.00013413 0.05111427 0.04073236
+v 0.00509899 0.05111427 0.04074206
+v 0.04083846 0.05113035 0.04053164
+v 0.00013413 0.05117378 0.04025332
+v 0.04267992 0.05102098 0.04068908
+v 0.04279266 0.05119524 0.03916840
+v 0.04279266 0.05100703 0.04068908
+v 0.00312390 0.05012771 0.04243882
+v 0.00013413 0.05012771 0.04243882
+f 1 2 20
+f 1 20 30
+f 1 30 47
+f 1 47 65
+f 1 65 80
+f 1 80 81
+f 1 81 66
+f 1 66 48
+f 1 48 32
+f 1 32 22
+f 1 22 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 21
+f 1 21 2
+f 2 18 19
+f 2 19 20
+f 2 21 18
+f 3 22 36
+f 3 36 37
+f 3 37 24
+f 3 24 23
+f 3 23 16
+f 3 16 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 16 23 17
+f 17 23 24
+f 17 24 37
+f 17 37 56
+f 17 56 55
+f 17 55 72
+f 17 72 71
+f 17 71 83
+f 17 83 75
+f 17 75 78
+f 17 78 61
+f 17 61 73
+f 17 73 57
+f 17 57 41
+f 17 41 40
+f 17 40 39
+f 17 39 31
+f 17 31 21
+f 18 25 26
+f 18 26 19
+f 18 21 27
+f 18 27 25
+f 19 26 28
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 21 31 26
+f 21 26 25
+f 21 25 27
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 26 38 28
+f 26 31 39
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 38
+f 28 38 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 30
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 37
+f 35 37 36
+f 38 42 43
+f 41 57 58
+f 41 58 43
+f 41 43 42
+f 43 59 60
+f 43 60 44
+f 43 58 61
+f 43 61 62
+f 43 62 59
+f 44 63 45
+f 44 60 63
+f 45 63 64
+f 45 64 65
+f 45 65 47
+f 45 47 46
+f 48 66 67
+f 48 67 49
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 51
+f 51 69 52
+f 52 69 53
+f 53 70 71
+f 53 71 54
+f 53 69 70
+f 54 71 72
+f 54 72 55
+f 57 73 58
+f 58 73 61
+f 59 74 60
+f 59 62 75
+f 59 75 76
+f 59 76 74
+f 60 74 77
+f 60 77 63
+f 61 78 62
+f 62 78 75
+f 63 77 79
+f 63 79 64
+f 64 79 80
+f 64 80 65
+f 66 81 79
+f 66 79 67
+f 67 79 74
+f 67 74 68
+f 68 74 69
+f 69 74 70
+f 70 82 71
+f 70 74 82
+f 71 82 83
+f 74 79 77
+f 74 76 83
+f 74 83 82
+f 75 83 76
+f 79 81 80
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_32.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.05306788 -0.02888392 -0.01975188
+v -0.05309710 -0.02869488 -0.01975188
+v -0.04879594 -0.02888392 -0.01975188
+v -0.05320729 -0.02888392 -0.01771065
+v -0.05310562 -0.02859613 -0.01975188
+v -0.05329435 -0.02809956 -0.01751112
+v -0.04907659 -0.00006004 -0.01975177
+v -0.05091456 -0.02888403 0.01160642
+v -0.05331201 -0.02888393 -0.01602547
+v -0.05333514 -0.02873157 -0.01589041
+v -0.05325356 -0.02756630 -0.01881260
+v -0.05321277 -0.02683837 -0.01975187
+v -0.05345751 -0.02869208 -0.01398117
+v -0.05357683 -0.02869209 -0.01202895
+v -0.05417041 -0.02869212 -0.00226785
+v -0.05324017 -0.00006004 -0.01975177
+v -0.05121348 -0.00006015 0.01160653
+v -0.05487236 -0.02888403 0.01160642
+v -0.05342463 -0.02888394 -0.01419910
+v -0.05380818 -0.02671990 -0.01007672
+v -0.05369068 -0.02671990 -0.01202894
+v -0.05357136 -0.02671989 -0.01398116
+v -0.05427391 -0.02671993 -0.00226784
+v -0.05326817 -0.02625151 -0.01905509
+v -0.05321338 -0.02680451 -0.01975187
+v -0.05414423 -0.02888398 -0.00226785
+v -0.05425869 -0.02888399 -0.00031563
+v -0.05428365 -0.02869213 -0.00031563
+v -0.05324199 -0.02079766 -0.01975185
+v -0.05371625 -0.02277270 -0.01202892
+v -0.05383009 -0.00006007 -0.01007662
+v -0.05501421 -0.00006015 0.01160653
+v -0.05486383 -0.02888403 0.01142225
+v -0.05489488 -0.02869217 0.01160642
+v -0.05488575 -0.02869217 0.01140076
+v -0.05383192 -0.02474489 -0.01007671
+v -0.05371503 -0.02474489 -0.01202893
+v -0.05438471 -0.02671994 -0.00031562
+v -0.05440662 -0.02474493 -0.00031561
+v -0.05429522 -0.02474492 -0.00226783
+v -0.05323956 -0.02474486 -0.01975186
+v -0.05359510 -0.02474488 -0.01398115
+v -0.05436766 -0.02888400 0.00163659
+v -0.05439202 -0.02869214 0.00163659
+v -0.05324199 -0.02277267 -0.01975185
+v -0.05383253 -0.02277270 -0.01007670
+v -0.05383192 -0.00896172 -0.01007665
+v -0.05429643 -0.00006010 -0.00226774
+v -0.05501481 -0.00085862 0.01160653
+v -0.05500508 -0.00006015 0.01140087
+v -0.05479200 -0.02869216 0.00944547
+v -0.05476886 -0.02888402 0.00944547
+v -0.05498255 -0.02671998 0.01160643
+v -0.05488331 -0.02671997 0.00944548
+v -0.05479017 -0.02671997 0.00749326
+v -0.05449064 -0.02671995 0.00163660
+v -0.05440785 -0.02277274 -0.00031560
+v -0.05451256 -0.02474494 0.00163661
+v -0.05451560 -0.02277275 0.00163662
+v -0.05440967 -0.01290614 -0.00031557
+v -0.05429643 -0.01290613 -0.00226779
+v -0.05324078 -0.02394639 -0.01975186
+v -0.05447177 -0.02888400 0.00358881
+v -0.05449612 -0.02869214 0.00358881
+v -0.05441028 -0.00006011 -0.00031552
+v -0.05500325 -0.01290618 0.01140082
+v -0.05501238 -0.01290618 0.01160648
+v -0.05496063 -0.00006015 0.01044011
+v -0.05491376 -0.01290617 0.00944553
+v -0.05469520 -0.02869216 0.00749325
+v -0.05467145 -0.02888402 0.00749325
+v -0.05500203 -0.02474497 0.01160644
+v -0.05499290 -0.02474497 0.01140078
+v -0.05490462 -0.02474496 0.00944549
+v -0.05481148 -0.02474496 0.00749327
+v -0.05471529 -0.02474495 0.00554105
+v -0.05469337 -0.02671996 0.00554104
+v -0.05459353 -0.02671995 0.00358882
+v -0.05461545 -0.02474494 0.00358883
+v -0.05461849 -0.02277275 0.00358884
+v -0.05462031 -0.02079774 0.00358884
+v -0.05451743 -0.01290615 0.00163665
+v -0.05441028 -0.00106736 -0.00031552
+v -0.05457283 -0.02888401 0.00554103
+v -0.05459657 -0.02869215 0.00554103
+v -0.05446507 -0.00006011 0.00067901
+v -0.05499960 -0.01882557 0.01140080
+v -0.05491193 -0.01685055 0.00944552
+v -0.05491071 -0.01882556 0.00944551
+v -0.05490828 -0.02277277 0.00944550
+v -0.05500873 -0.01882557 0.01160646
+v -0.05491436 -0.00006014 0.00944558
+v -0.05482000 -0.01290617 0.00749331
+v -0.05500568 -0.02277278 0.01160645
+v -0.05499655 -0.02277278 0.01140079
+v -0.05481452 -0.02277277 0.00749328
+v -0.05471833 -0.02277276 0.00554106
+v -0.05472016 -0.02079775 0.00554106
+v -0.05472077 -0.01882555 0.00554107
+v -0.05472259 -0.01290616 0.00554109
+v -0.05462153 -0.01290615 0.00358887
+v -0.05457100 -0.00006012 0.00263123
+v -0.05451743 -0.00006012 0.00163670
+v -0.05499838 -0.02079777 0.01140079
+v -0.05481818 -0.01685055 0.00749330
+v -0.05481696 -0.01882556 0.00749329
+v -0.05500751 -0.02059180 0.01160645
+v -0.05482000 -0.00006014 0.00749336
+v -0.05472320 -0.00106738 0.00554114
+v -0.05462153 -0.00006012 0.00358892
+v -0.05472320 -0.00006013 0.00554114
+f 1 2 5
+f 1 5 12
+f 1 12 25
+f 1 25 41
+f 1 41 62
+f 1 62 45
+f 1 45 29
+f 1 29 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 33
+f 1 33 52
+f 1 52 71
+f 1 71 84
+f 1 84 63
+f 1 63 43
+f 1 43 27
+f 1 27 26
+f 1 26 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 6 11
+f 5 11 12
+f 6 10 13
+f 6 13 14
+f 6 14 15
+f 6 15 11
+f 7 16 31
+f 7 31 48
+f 7 48 65
+f 7 65 86
+f 7 86 103
+f 7 103 102
+f 7 102 110
+f 7 110 111
+f 7 111 108
+f 7 108 92
+f 7 92 68
+f 7 68 50
+f 7 50 32
+f 7 32 17
+f 7 17 8
+f 8 17 32
+f 8 32 49
+f 8 49 67
+f 8 67 91
+f 8 91 107
+f 8 107 94
+f 8 94 72
+f 8 72 53
+f 8 53 34
+f 8 34 18
+f 9 19 13
+f 9 13 10
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 11 15 23
+f 11 23 20
+f 12 22 24
+f 12 24 25
+f 13 19 14
+f 14 19 15
+f 15 26 27
+f 15 27 28
+f 15 28 23
+f 15 19 26
+f 16 29 30
+f 16 30 31
+f 18 34 35
+f 18 35 33
+f 20 36 37
+f 20 37 21
+f 20 23 36
+f 21 37 24
+f 21 24 22
+f 23 28 38
+f 23 38 39
+f 23 39 40
+f 23 40 36
+f 24 41 25
+f 24 37 42
+f 24 42 41
+f 27 43 28
+f 28 43 44
+f 28 44 38
+f 29 45 30
+f 30 37 36
+f 30 36 46
+f 30 46 47
+f 30 47 31
+f 30 45 37
+f 31 47 48
+f 32 50 49
+f 33 35 51
+f 33 51 52
+f 34 53 35
+f 35 54 55
+f 35 55 51
+f 35 53 54
+f 36 40 46
+f 37 45 42
+f 38 44 56
+f 38 56 58
+f 38 58 39
+f 39 57 40
+f 39 58 59
+f 39 59 57
+f 40 57 60
+f 40 60 61
+f 40 61 46
+f 41 42 62
+f 42 45 62
+f 43 63 64
+f 43 64 44
+f 44 64 56
+f 46 61 48
+f 46 48 47
+f 48 61 83
+f 48 83 65
+f 49 66 67
+f 49 50 68
+f 49 68 69
+f 49 69 66
+f 51 55 77
+f 51 77 70
+f 51 70 52
+f 52 70 71
+f 53 72 73
+f 53 73 74
+f 53 74 54
+f 54 74 75
+f 54 75 55
+f 55 75 76
+f 55 76 77
+f 56 64 78
+f 56 78 79
+f 56 79 58
+f 57 59 82
+f 57 82 60
+f 58 79 80
+f 58 80 59
+f 59 80 81
+f 59 81 82
+f 60 83 61
+f 60 82 83
+f 63 84 64
+f 64 84 85
+f 64 85 78
+f 65 83 86
+f 66 87 91
+f 66 91 67
+f 66 69 88
+f 66 88 89
+f 66 89 90
+f 66 90 87
+f 68 92 69
+f 69 92 93
+f 69 93 105
+f 69 105 88
+f 70 77 85
+f 70 85 84
+f 70 84 71
+f 72 94 95
+f 72 95 73
+f 73 95 90
+f 73 90 74
+f 74 90 75
+f 75 90 96
+f 75 96 97
+f 75 97 76
+f 76 97 80
+f 76 80 79
+f 76 79 78
+f 76 78 77
+f 77 78 85
+f 80 97 98
+f 80 98 81
+f 81 98 99
+f 81 99 100
+f 81 100 101
+f 81 101 82
+f 82 86 83
+f 82 101 102
+f 82 102 103
+f 82 103 86
+f 87 90 104
+f 87 104 91
+f 88 105 106
+f 88 106 89
+f 89 106 96
+f 89 96 90
+f 90 95 104
+f 91 104 107
+f 92 108 93
+f 93 108 111
+f 93 111 109
+f 93 109 100
+f 93 100 99
+f 93 99 98
+f 93 98 105
+f 94 107 104
+f 94 104 95
+f 96 106 98
+f 96 98 97
+f 98 106 105
+f 100 109 101
+f 101 110 102
+f 101 109 111
+f 101 111 110
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_33.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.04907627 -0.00006004 -0.01975177
+v -0.04486017 -0.00006001 -0.02591588
+v -0.05323986 -0.00006004 -0.01975177
+v -0.04879564 -0.02888392 -0.01975188
+v -0.04486017 -0.00006000 -0.03022532
+v -0.04486017 -0.02888390 -0.02583598
+v -0.05321770 -0.00006004 -0.02014158
+v -0.05324232 -0.02195163 -0.01975185
+v -0.05306754 -0.02888392 -0.01975188
+v -0.04536318 -0.00006000 -0.03019865
+v -0.04486017 -0.01437883 -0.03022947
+v -0.04633392 -0.01685041 -0.03015255
+v -0.04486017 -0.02888388 -0.03022543
+v -0.05311677 -0.00006003 -0.02179314
+v -0.05321770 -0.02079766 -0.02015807
+v -0.05321770 -0.02277267 -0.02015705
+v -0.05324068 -0.02394639 -0.01975186
+v -0.05306180 -0.02888392 -0.01984010
+v -0.05309708 -0.02869488 -0.01975188
+v -0.04633392 -0.00501445 -0.03014840
+v -0.04633392 -0.00006000 -0.03014633
+v -0.04486017 -0.02424260 -0.03023054
+v -0.04633392 -0.01882542 -0.03015256
+v -0.04831232 -0.02277263 -0.02969300
+v -0.04831232 -0.00006000 -0.02969087
+v -0.04486017 -0.02818980 -0.03023055
+v -0.04614354 -0.02888388 -0.03014439
+v -0.04633392 -0.02869202 -0.03013413
+v -0.04633392 -0.02671983 -0.03015156
+v -0.05303061 -0.00006003 -0.02275125
+v -0.05294281 -0.01882544 -0.02374533
+v -0.05311759 -0.02079765 -0.02179322
+v -0.05311759 -0.02277266 -0.02179322
+v -0.05321688 -0.02474486 -0.02014065
+v -0.05323986 -0.02474486 -0.01975186
+v -0.05293214 -0.02888391 -0.02179325
+v -0.05296333 -0.02869205 -0.02179325
+v -0.05310529 -0.02859613 -0.01975188
+v -0.04734158 -0.00006000 -0.02991450
+v -0.04831232 -0.02474482 -0.02969301
+v -0.04983120 -0.00006000 -0.02898203
+v -0.04619196 -0.02888388 -0.03014029
+v -0.04633392 -0.02888388 -0.03012695
+v -0.04831232 -0.02869202 -0.02963456
+v -0.04831232 -0.02671983 -0.02968687
+v -0.05294117 -0.00006002 -0.02374526
+v -0.05246688 -0.01882544 -0.02569745
+v -0.05294281 -0.02079764 -0.02374534
+v -0.05294199 -0.02277265 -0.02374534
+v -0.05311513 -0.02474485 -0.02179323
+v -0.05321278 -0.02683837 -0.01975187
+v -0.05277459 -0.02869204 -0.02374537
+v -0.05274259 -0.02888390 -0.02374537
+v -0.05308805 -0.02671986 -0.02179324
+v -0.05290999 -0.02671985 -0.02374536
+v -0.04982956 -0.02474482 -0.02898212
+v -0.04983120 -0.02277263 -0.02898211
+v -0.05081999 -0.00006001 -0.02819934
+v -0.05082163 -0.01882543 -0.02820351
+v -0.04812112 -0.02888388 -0.02967559
+v -0.04975571 -0.02869202 -0.02894111
+v -0.04981971 -0.02671983 -0.02897701
+v -0.04831232 -0.02888388 -0.02961712
+v -0.05270649 -0.00006002 -0.02470337
+v -0.05169144 -0.01882543 -0.02722694
+v -0.05246606 -0.02079764 -0.02569746
+v -0.05246277 -0.00006002 -0.02569738
+v -0.05246360 -0.02277265 -0.02569746
+v -0.05293871 -0.02474484 -0.02374535
+v -0.05242831 -0.02671985 -0.02569748
+v -0.05228881 -0.02869204 -0.02569749
+v -0.05225599 -0.02888390 -0.02569749
+v -0.05245867 -0.02474484 -0.02569747
+v -0.05081835 -0.02474483 -0.02819635
+v -0.05081999 -0.02277264 -0.02819942
+v -0.05082163 -0.02079763 -0.02820250
+v -0.05168898 -0.00006001 -0.02722277
+v -0.05074531 -0.02869203 -0.02809892
+v -0.05080850 -0.02671984 -0.02818200
+v -0.04961621 -0.02888388 -0.02899035
+v -0.04973847 -0.02888388 -0.02892983
+v -0.05169062 -0.02079763 -0.02722592
+v -0.05168898 -0.02277264 -0.02722387
+v -0.05168651 -0.02474483 -0.02722080
+v -0.05167092 -0.02671984 -0.02720543
+v -0.05160199 -0.02869203 -0.02712235
+v -0.05220594 -0.02888390 -0.02581238
+v -0.05063208 -0.02888389 -0.02816868
+v -0.05072726 -0.02888389 -0.02807635
+v -0.05158476 -0.02888389 -0.02709978
+f 1 2 5
+f 1 5 10
+f 1 10 21
+f 1 21 39
+f 1 39 25
+f 1 25 41
+f 1 41 58
+f 1 58 77
+f 1 77 67
+f 1 67 64
+f 1 64 46
+f 1 46 30
+f 1 30 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 35
+f 1 35 51
+f 1 51 38
+f 1 38 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 26
+f 2 26 22
+f 2 22 11
+f 2 11 5
+f 3 7 8
+f 4 9 18
+f 4 18 36
+f 4 36 53
+f 4 53 72
+f 4 72 87
+f 4 87 90
+f 4 90 89
+f 4 89 88
+f 4 88 81
+f 4 81 80
+f 4 80 63
+f 4 63 60
+f 4 60 43
+f 4 43 42
+f 4 42 27
+f 4 27 13
+f 4 13 6
+f 5 11 12
+f 5 12 10
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 9 19 18
+f 10 20 21
+f 10 12 20
+f 11 22 12
+f 12 22 26
+f 12 26 23
+f 12 23 40
+f 12 40 24
+f 12 24 25
+f 12 25 20
+f 13 27 28
+f 13 28 29
+f 13 29 26
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 15 32 33
+f 15 33 16
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 18 19 37
+f 18 37 36
+f 19 38 37
+f 20 25 39
+f 20 39 21
+f 23 26 29
+f 23 29 40
+f 24 40 57
+f 24 57 41
+f 24 41 25
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 40
+f 30 46 31
+f 31 47 48
+f 31 48 33
+f 31 33 32
+f 31 46 47
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 34 51 35
+f 36 37 52
+f 36 52 53
+f 37 38 54
+f 37 54 55
+f 37 55 52
+f 38 51 54
+f 40 45 56
+f 40 56 57
+f 41 57 59
+f 41 59 58
+f 43 60 44
+f 44 61 62
+f 44 62 45
+f 44 60 63
+f 44 63 61
+f 45 62 56
+f 46 64 47
+f 47 65 66
+f 47 66 49
+f 47 49 48
+f 47 64 67
+f 47 67 65
+f 49 66 68
+f 49 68 69
+f 49 69 50
+f 50 69 54
+f 50 54 51
+f 52 55 70
+f 52 70 71
+f 52 71 53
+f 53 71 72
+f 54 69 55
+f 55 69 73
+f 55 73 70
+f 56 74 75
+f 56 75 76
+f 56 76 57
+f 56 62 74
+f 57 76 59
+f 58 59 65
+f 58 65 77
+f 59 76 65
+f 61 78 79
+f 61 79 62
+f 61 63 80
+f 61 80 81
+f 61 81 78
+f 62 79 74
+f 65 76 82
+f 65 82 66
+f 65 67 77
+f 66 82 68
+f 68 82 83
+f 68 83 84
+f 68 84 73
+f 68 73 69
+f 70 73 85
+f 70 85 86
+f 70 86 71
+f 71 86 87
+f 71 87 72
+f 73 84 85
+f 74 84 83
+f 74 83 75
+f 74 79 84
+f 75 83 76
+f 76 83 82
+f 78 86 85
+f 78 85 79
+f 78 81 88
+f 78 88 89
+f 78 89 90
+f 78 90 86
+f 79 85 84
+f 86 90 87
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_34.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.05300360 -0.00006003 -0.02305014
+v -0.04829747 -0.00006003 -0.02305014
+v -0.05311675 -0.00006003 -0.02179156
+v -0.05311746 0.00091044 -0.02179156
+v -0.05300431 0.00161299 -0.02305013
+v -0.04774452 0.03035189 -0.02305003
+v -0.05065516 0.03035177 0.01160664
+v -0.05121380 -0.00006015 0.01160653
+v -0.05321780 -0.00006004 -0.02013947
+v -0.05321851 0.00288411 -0.02015642
+v -0.05311817 0.00288412 -0.02179155
+v -0.05312244 0.02261495 -0.02179148
+v -0.05300787 0.02261495 -0.02305006
+v -0.05256380 0.03035189 -0.02305003
+v -0.05469732 0.03035177 0.01160664
+v -0.05501471 -0.00006015 0.01160653
+v -0.05383053 -0.00006007 -0.01007424
+v -0.05322065 0.02261494 -0.02020045
+v -0.05372022 0.02261491 -0.01202818
+v -0.05360138 0.02458860 -0.01398219
+v -0.05322065 0.02458862 -0.02020044
+v -0.05312102 0.02458863 -0.02179147
+v -0.05300715 0.02331750 -0.02305005
+v -0.05274598 0.02923853 -0.02305003
+v -0.05268193 0.03035189 -0.02189323
+v -0.05488804 0.02874127 0.01160664
+v -0.05468735 0.03035177 0.01139970
+v -0.05480976 0.02853588 0.00944568
+v -0.05499906 0.02261483 0.01139967
+v -0.05491152 0.02261484 0.00944566
+v -0.05501044 -0.00006015 0.01151154
+v -0.05500831 0.02261483 0.01160661
+v -0.05429595 -0.00006010 -0.00226835
+v -0.05372022 0.02458859 -0.01202817
+v -0.05429666 0.00288405 -0.00226834
+v -0.05430022 0.02261488 -0.00226827
+v -0.05358074 0.02656228 -0.01398218
+v -0.05326904 0.02656230 -0.01906398
+v -0.05320926 0.02656230 -0.02003760
+v -0.05346118 0.02656229 -0.01593280
+v -0.05309753 0.02656231 -0.02179146
+v -0.05300502 0.02458863 -0.02305005
+v -0.05285771 0.02853599 -0.02305004
+v -0.05297940 0.02853599 -0.02179146
+v -0.05269118 0.03035189 -0.02179145
+v -0.05491223 0.02853587 0.01160663
+v -0.05467953 0.03035177 0.01124365
+v -0.05471369 0.02853588 0.00749505
+v -0.05480264 0.02656220 0.00749505
+v -0.05489516 0.02656220 0.00944568
+v -0.05499834 0.02458851 0.01139968
+v -0.05491081 0.02458852 0.00944567
+v -0.05481901 0.02458852 0.00749504
+v -0.05491437 0.00091033 0.00944558
+v -0.05491437 -0.00006014 0.00944558
+v -0.05500688 0.02458851 0.01160662
+v -0.05441052 -0.00006011 -0.00031773
+v -0.05381630 0.02656227 -0.01007414
+v -0.05369888 0.02656227 -0.01202816
+v -0.05430022 0.02458856 -0.00226826
+v -0.05416714 0.02656225 -0.00422227
+v -0.05441194 0.02261487 -0.00031765
+v -0.05325837 0.02756849 -0.01889097
+v -0.05298011 0.02656231 -0.02305004
+v -0.05299648 0.02529118 -0.02305005
+v -0.05293741 0.02726486 -0.02305004
+v -0.05313596 0.02834843 -0.01966104
+v -0.05323773 0.02931591 -0.01660110
+v -0.05281643 0.03035188 -0.01999349
+v -0.05327829 0.02963146 -0.01529842
+v -0.05498340 0.02656219 0.01139969
+v -0.05499265 0.02656219 0.01160663
+v -0.05457990 0.03035178 0.00928964
+v -0.05461405 0.02853589 0.00554103
+v -0.05470514 0.02656221 0.00554103
+v -0.05500546 0.02479689 0.01160662
+v -0.05472080 0.02458853 0.00554102
+v -0.05472222 0.02261485 0.00554101
+v -0.05481972 0.00288401 0.00749496
+v -0.05481972 -0.00006014 0.00749495
+v -0.05451798 -0.00006012 0.00163629
+v -0.05441194 0.02458855 -0.00031764
+v -0.05428314 0.02656224 -0.00226825
+v -0.05451941 0.02261486 0.00163637
+v -0.05382982 0.02853594 -0.00812352
+v -0.05328968 0.02790190 -0.01788682
+v -0.05418564 0.02853592 -0.00226825
+v -0.05406822 0.02853593 -0.00422227
+v -0.05394938 0.02853593 -0.00616950
+v -0.05347115 0.02853596 -0.01398218
+v -0.05309255 0.03035187 -0.01591923
+v -0.05331886 0.02983984 -0.01398217
+v -0.05321638 0.03035186 -0.01398217
+v -0.05309753 0.03035187 -0.01584459
+v -0.05405683 0.03035181 -0.00031762
+v -0.05404758 0.03035181 -0.00047367
+v -0.05393941 0.03035182 -0.00226824
+v -0.05447884 0.03035178 0.00733901
+v -0.05451229 0.02853590 0.00359041
+v -0.05460338 0.02656222 0.00359041
+v -0.05462046 0.02458854 0.00359040
+v -0.05462188 0.02261486 0.00359039
+v -0.05462259 0.01472312 0.00359036
+v -0.05472294 0.00091034 0.00554093
+v -0.05472294 -0.00006013 0.00554093
+v -0.05462188 -0.00006012 0.00359031
+v -0.05439416 0.02656223 -0.00031763
+v -0.05451798 0.02458854 0.00163638
+v -0.05429879 0.02853591 -0.00031763
+v -0.05416144 0.03035180 0.00148035
+v -0.05333736 0.03035185 -0.01202815
+v -0.05438419 0.03035179 0.00554104
+v -0.05440696 0.02853590 0.00163639
+v -0.05450019 0.02656222 0.00163639
+v -0.05427033 0.03035180 0.00343098
+f 1 2 8
+f 1 8 16
+f 1 16 31
+f 1 31 55
+f 1 55 80
+f 1 80 105
+f 1 105 106
+f 1 106 81
+f 1 81 57
+f 1 57 33
+f 1 33 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 23
+f 1 23 42
+f 1 42 65
+f 1 65 64
+f 1 64 66
+f 1 66 43
+f 1 43 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 6 14 25
+f 6 25 45
+f 6 45 69
+f 6 69 91
+f 6 91 94
+f 6 94 93
+f 6 93 111
+f 6 111 97
+f 6 97 96
+f 6 96 95
+f 6 95 110
+f 6 110 115
+f 6 115 112
+f 6 112 98
+f 6 98 73
+f 6 73 47
+f 6 47 27
+f 6 27 15
+f 6 15 7
+f 7 15 26
+f 7 26 46
+f 7 46 72
+f 7 72 76
+f 7 76 56
+f 7 56 32
+f 7 32 16
+f 7 16 8
+f 9 17 10
+f 10 18 11
+f 10 17 19
+f 10 19 20
+f 10 20 18
+f 11 18 12
+f 12 18 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 14 24 25
+f 15 27 28
+f 15 28 26
+f 16 29 30
+f 16 30 31
+f 16 32 29
+f 17 33 19
+f 18 20 21
+f 19 34 20
+f 19 33 35
+f 19 35 36
+f 19 36 60
+f 19 60 34
+f 20 34 37
+f 20 37 21
+f 21 38 39
+f 21 39 22
+f 21 37 40
+f 21 40 38
+f 22 39 41
+f 22 41 42
+f 22 42 23
+f 24 43 25
+f 25 43 44
+f 25 44 45
+f 26 28 46
+f 27 47 48
+f 27 48 28
+f 28 48 49
+f 28 49 50
+f 28 50 46
+f 29 32 51
+f 29 51 52
+f 29 52 30
+f 30 52 53
+f 30 53 54
+f 30 54 31
+f 31 54 55
+f 32 56 51
+f 33 57 35
+f 34 58 59
+f 34 59 37
+f 34 60 61
+f 34 61 58
+f 35 57 36
+f 36 57 62
+f 36 62 82
+f 36 82 60
+f 37 59 63
+f 37 63 40
+f 38 63 39
+f 38 40 63
+f 39 63 41
+f 41 63 44
+f 41 44 64
+f 41 64 65
+f 41 65 42
+f 43 66 44
+f 44 66 64
+f 44 63 67
+f 44 67 68
+f 44 68 45
+f 45 68 70
+f 45 70 69
+f 46 71 72
+f 46 50 71
+f 47 73 74
+f 47 74 48
+f 48 74 75
+f 48 75 49
+f 49 75 53
+f 49 53 50
+f 50 53 52
+f 50 52 71
+f 51 56 76
+f 51 76 72
+f 51 72 71
+f 51 71 52
+f 53 75 77
+f 53 77 78
+f 53 78 104
+f 53 104 79
+f 53 79 54
+f 54 79 80
+f 54 80 55
+f 57 81 84
+f 57 84 62
+f 58 63 59
+f 58 61 63
+f 60 82 83
+f 60 83 61
+f 61 83 63
+f 62 84 82
+f 63 85 86
+f 63 86 68
+f 63 68 67
+f 63 83 87
+f 63 87 88
+f 63 88 89
+f 63 89 85
+f 68 90 85
+f 68 85 89
+f 68 89 88
+f 68 88 87
+f 68 87 70
+f 68 86 90
+f 69 70 91
+f 70 92 93
+f 70 93 94
+f 70 94 91
+f 70 87 95
+f 70 95 96
+f 70 96 97
+f 70 97 92
+f 73 98 74
+f 74 98 99
+f 74 99 100
+f 74 100 75
+f 75 100 101
+f 75 101 77
+f 77 101 102
+f 77 102 78
+f 78 102 103
+f 78 103 104
+f 79 104 105
+f 79 105 80
+f 81 106 84
+f 82 107 83
+f 82 84 108
+f 82 108 114
+f 82 114 107
+f 83 107 109
+f 83 109 87
+f 84 106 103
+f 84 103 102
+f 84 102 101
+f 84 101 108
+f 85 90 86
+f 87 109 110
+f 87 110 95
+f 92 111 93
+f 92 97 111
+f 98 112 99
+f 99 113 114
+f 99 114 100
+f 99 112 113
+f 100 114 108
+f 100 108 101
+f 103 105 104
+f 103 106 105
+f 107 114 113
+f 107 113 109
+f 109 113 115
+f 109 115 110
+f 112 115 113
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_35.obj

@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v 0.03081470 0.04184064 -0.02619323
+v 0.03476853 0.04183675 -0.02619323
+v 0.03278921 0.04152959 -0.02691363
+v 0.01498975 0.04153348 -0.02691921
+v 0.00010870 0.04180565 -0.02628084
+v 0.00010870 0.04184064 -0.02619323
+v 0.03557760 0.04183286 -0.02619323
+v 0.03674785 0.04152182 -0.02690607
+v 0.03476853 0.04152570 -0.02691284
+v 0.03476853 0.04067421 -0.02788931
+v 0.02092772 0.04067421 -0.02789409
+v 0.01696907 0.04067421 -0.02789528
+v 0.01498975 0.04067421 -0.02789568
+v 0.00010870 0.04153348 -0.02692040
+v 0.02685605 0.04067421 -0.02789210
+v 0.00010870 0.03145166 -0.02619326
+v 0.03674785 0.04182120 -0.02619323
+v 0.03674785 0.04067032 -0.02788254
+v 0.03760508 0.04179009 -0.02619323
+v 0.03872717 0.04147516 -0.02684235
+v 0.03872717 0.04063144 -0.02781882
+v 0.03674785 0.03968276 -0.02884945
+v 0.03476853 0.03968665 -0.02885224
+v 0.00010870 0.04020375 -0.02835285
+v 0.00010870 0.04067421 -0.02789648
+v 0.00010870 0.00212769 -0.02620452
+v 0.00312344 0.00212769 -0.02620293
+v 0.00434185 0.00212769 -0.02620253
+v 0.04182378 0.00212769 -0.02619337
+v 0.03872717 0.03964388 -0.02882157
+v 0.03872717 0.04173955 -0.02619323
+v 0.03996485 0.04141295 -0.02674837
+v 0.04070168 0.03950002 -0.02871365
+v 0.03674785 0.03840358 -0.02950734
+v 0.03872717 0.03840358 -0.02946632
+v 0.03476853 0.03840358 -0.02951172
+v 0.03278921 0.03840358 -0.02951252
+v 0.02883538 0.03840358 -0.02951332
+v 0.00010870 0.03907622 -0.02916765
+v 0.01498975 0.03968665 -0.02885184
+v 0.00010870 0.03968665 -0.02885144
+v 0.00010870 0.00212770 -0.03024938
+v 0.04930764 0.00212769 -0.02619337
+v 0.04070168 0.03840358 -0.02930106
+v 0.03930990 0.04168900 -0.02619323
+v 0.04035012 0.04154515 -0.02619323
+v 0.04104361 0.04141684 -0.02619323
+v 0.04127959 0.04127298 -0.02645567
+v 0.04065352 0.04060812 -0.02749944
+v 0.04170338 0.03939115 -0.02862923
+v 0.03674785 0.03642843 -0.03009475
+v 0.03872717 0.03642843 -0.03007961
+v 0.04070168 0.03642843 -0.03000554
+v 0.03476853 0.03642843 -0.03009594
+v 0.03278921 0.03642843 -0.03009634
+v 0.02685605 0.03642843 -0.03009674
+v 0.00114411 0.03642843 -0.03009793
+v 0.00010870 0.03840358 -0.02951371
+v 0.00010870 0.03248202 -0.03025445
+v 0.04070168 0.03248202 -0.03026122
+v 0.04268100 0.00212770 -0.03025336
+v 0.04930764 0.00212770 -0.02931871
+v 0.04930764 0.03616014 -0.02619325
+v 0.04248837 0.03842302 -0.02898127
+v 0.04268100 0.03642843 -0.02979288
+v 0.04184305 0.04119133 -0.02619323
+v 0.04326854 0.04061589 -0.02619323
+v 0.04430395 0.03970997 -0.02706895
+v 0.04248837 0.03992381 -0.02769218
+v 0.04302293 0.03909176 -0.02837038
+v 0.04427024 0.03777760 -0.02885344
+v 0.03872717 0.03445328 -0.03025404
+v 0.04070168 0.03445328 -0.03023771
+v 0.04268100 0.03445328 -0.03016205
+v 0.03674785 0.03445328 -0.03025524
+v 0.00010870 0.03642843 -0.03009793
+v 0.00010870 0.03351236 -0.03025325
+v 0.04268100 0.03248202 -0.03025285
+v 0.04466033 0.02853561 -0.03025248
+v 0.04466033 0.02656046 -0.03025327
+v 0.04466033 0.01077870 -0.03025453
+v 0.04466033 0.00880355 -0.03025454
+v 0.04466033 0.00485714 -0.03025375
+v 0.00010870 0.03445328 -0.03025165
+v 0.04466033 0.00288199 -0.03025296
+v 0.04466033 0.00212770 -0.03025257
+v 0.04861416 0.00212770 -0.02964845
+v 0.04861416 0.01274996 -0.02965358
+v 0.04930764 0.01472511 -0.02932464
+v 0.04930764 0.03568191 -0.02682087
+v 0.04774730 0.03753264 -0.02680015
+v 0.04846968 0.03711661 -0.02619324
+v 0.04482407 0.03659950 -0.02920868
+v 0.04466033 0.03445328 -0.02992669
+v 0.04516599 0.03979162 -0.02619323
+v 0.04561869 0.03937170 -0.02664205
+v 0.04494446 0.03857464 -0.02783356
+v 0.04558979 0.03736935 -0.02859778
+v 0.04466033 0.03248202 -0.03016843
+v 0.00010870 0.03548751 -0.03017121
+v 0.04466033 0.03050687 -0.03023853
+v 0.04663965 0.02656046 -0.03013659
+v 0.04663965 0.00880355 -0.03013984
+v 0.04663965 0.00683229 -0.03013945
+v 0.04542124 0.00212770 -0.03020796
+v 0.04663965 0.00212770 -0.03013628
+v 0.04861416 0.01472511 -0.02965438
+v 0.04930764 0.01669637 -0.02932503
+v 0.04930764 0.03454269 -0.02755441
+v 0.04866232 0.03463601 -0.02811831
+v 0.04760283 0.03540975 -0.02861133
+v 0.04848895 0.03624568 -0.02714383
+v 0.04682266 0.03659949 -0.02828557
+v 0.04663965 0.03798365 -0.02723542
+v 0.04704900 0.03845022 -0.02619324
+v 0.04792549 0.03770760 -0.02619324
+v 0.04628328 0.03605517 -0.02892115
+v 0.04682266 0.03463602 -0.02922182
+v 0.04663965 0.03248202 -0.02982714
+v 0.04623993 0.03911509 -0.02619324
+v 0.04663965 0.03050687 -0.03004260
+v 0.04663965 0.02853561 -0.03012026
+v 0.04861416 0.02656046 -0.02964756
+v 0.04861416 0.02458920 -0.02965274
+v 0.04861416 0.02261405 -0.02965395
+v 0.04861416 0.01669637 -0.02965437
+v 0.04930764 0.02064667 -0.02932541
+v 0.04930764 0.03306911 -0.02840385
+v 0.04930764 0.03299912 -0.02843890
+v 0.04803144 0.03409557 -0.02886779
+v 0.04866232 0.03237315 -0.02902908
+v 0.04861416 0.03050687 -0.02940901
+v 0.04861416 0.02853561 -0.02959499
+v 0.04930764 0.02759858 -0.02928955
+v 0.04930764 0.02656046 -0.02931702
+v 0.04930764 0.02563120 -0.02932142
+v 0.04930764 0.02458920 -0.02932420
+v 0.04930764 0.02365994 -0.02932500
+v 0.04930764 0.02261405 -0.02932541
+v 0.04930764 0.03190658 -0.02880169
+v 0.04930764 0.03050687 -0.02905577
+v 0.04930764 0.02953096 -0.02916330
+v 0.04930764 0.02853561 -0.02925729
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 29
+f 1 29 43
+f 1 43 63
+f 1 63 92
+f 1 92 116
+f 1 116 115
+f 1 115 120
+f 1 120 95
+f 1 95 67
+f 1 67 66
+f 1 66 47
+f 1 47 46
+f 1 46 45
+f 1 45 31
+f 1 31 19
+f 1 19 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 10 15
+f 4 15 11
+f 5 14 25
+f 5 25 24
+f 5 24 41
+f 5 41 39
+f 5 39 58
+f 5 58 76
+f 5 76 100
+f 5 100 84
+f 5 84 77
+f 5 77 59
+f 5 59 42
+f 5 42 26
+f 5 26 16
+f 5 16 6
+f 7 17 8
+f 8 18 10
+f 8 10 9
+f 8 17 19
+f 8 19 20
+f 8 20 21
+f 8 21 18
+f 10 18 22
+f 10 22 23
+f 10 23 15
+f 11 15 23
+f 11 23 12
+f 12 23 13
+f 13 24 25
+f 13 25 14
+f 13 23 24
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 18 21 30
+f 18 30 22
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 30
+f 22 34 23
+f 22 30 35
+f 22 35 34
+f 23 34 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 26 42 61
+f 26 61 86
+f 26 86 105
+f 26 105 106
+f 26 106 87
+f 26 87 62
+f 26 62 43
+f 26 43 29
+f 26 29 28
+f 26 28 27
+f 30 33 44
+f 30 44 35
+f 31 45 32
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 33
+f 32 45 46
+f 33 50 44
+f 33 49 50
+f 34 51 36
+f 34 35 52
+f 34 52 51
+f 35 44 53
+f 35 53 52
+f 36 54 37
+f 36 51 54
+f 37 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 39 41 40
+f 42 59 60
+f 42 60 61
+f 43 62 89
+f 43 89 108
+f 43 108 127
+f 43 127 139
+f 43 139 138
+f 43 138 137
+f 43 137 136
+f 43 136 135
+f 43 135 134
+f 43 134 143
+f 43 143 142
+f 43 142 141
+f 43 141 140
+f 43 140 129
+f 43 129 128
+f 43 128 109
+f 43 109 90
+f 43 90 63
+f 44 50 64
+f 44 64 65
+f 44 65 53
+f 47 66 48
+f 48 50 49
+f 48 66 67
+f 48 67 68
+f 48 68 69
+f 48 69 50
+f 50 69 70
+f 50 70 71
+f 50 71 64
+f 51 52 72
+f 51 72 75
+f 51 75 54
+f 52 53 73
+f 52 73 72
+f 53 65 74
+f 53 74 73
+f 54 75 55
+f 55 75 56
+f 56 75 57
+f 57 76 58
+f 57 75 76
+f 59 77 60
+f 60 75 72
+f 60 72 78
+f 60 78 79
+f 60 79 80
+f 60 80 81
+f 60 81 82
+f 60 82 83
+f 60 83 61
+f 60 77 84
+f 60 84 75
+f 61 83 85
+f 61 85 86
+f 62 87 88
+f 62 88 89
+f 63 90 91
+f 63 91 92
+f 64 71 65
+f 65 71 93
+f 65 93 94
+f 65 94 74
+f 67 95 96
+f 67 96 68
+f 68 96 97
+f 68 97 70
+f 68 70 69
+f 70 97 98
+f 70 98 71
+f 71 98 93
+f 72 73 78
+f 73 74 78
+f 74 94 99
+f 74 99 78
+f 75 84 100
+f 75 100 76
+f 78 99 101
+f 78 101 79
+f 79 101 102
+f 79 102 80
+f 80 102 103
+f 80 103 81
+f 81 103 82
+f 82 103 83
+f 83 103 104
+f 83 104 85
+f 85 104 86
+f 86 104 105
+f 87 104 88
+f 87 106 104
+f 88 107 89
+f 88 104 107
+f 89 107 108
+f 90 109 110
+f 90 110 111
+f 90 111 112
+f 90 112 91
+f 91 112 111
+f 91 111 113
+f 91 113 98
+f 91 98 114
+f 91 114 96
+f 91 96 115
+f 91 115 116
+f 91 116 92
+f 93 98 117
+f 93 117 118
+f 93 118 94
+f 94 118 119
+f 94 119 99
+f 95 120 96
+f 96 120 115
+f 96 114 98
+f 96 98 97
+f 98 113 111
+f 98 111 117
+f 99 119 121
+f 99 121 122
+f 99 122 101
+f 101 122 102
+f 102 122 123
+f 102 123 124
+f 102 124 125
+f 102 125 103
+f 103 125 126
+f 103 126 107
+f 103 107 104
+f 104 106 105
+f 107 126 139
+f 107 139 127
+f 107 127 108
+f 109 128 110
+f 110 128 111
+f 111 128 129
+f 111 129 130
+f 111 130 118
+f 111 118 117
+f 118 130 119
+f 119 130 131
+f 119 131 132
+f 119 132 121
+f 121 132 133
+f 121 133 122
+f 122 133 123
+f 123 133 134
+f 123 134 135
+f 123 135 136
+f 123 136 137
+f 123 137 124
+f 124 137 138
+f 124 138 125
+f 125 138 139
+f 125 139 126
+f 129 140 130
+f 130 140 131
+f 131 140 132
+f 132 140 141
+f 132 141 142
+f 132 142 143
+f 132 143 133
+f 133 143 134
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_36.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.03661313 -0.04262642 -0.02347074
+v -0.03661313 -0.03777784 -0.02347072
+v -0.03644059 -0.04263295 -0.02347074
+v -0.03661313 -0.04276040 -0.02179173
+v -0.03661313 -0.04039799 0.01160638
+v -0.00697973 -0.04039668 0.01160638
+v -0.00500273 -0.04039668 0.01160638
+v -0.00452825 -0.03778438 -0.02347072
+v -0.03644059 -0.04276629 -0.02179173
+v -0.03446359 -0.04264341 -0.02347074
+v -0.03661313 -0.04286367 -0.01983804
+v -0.03661313 -0.04445056 0.01160637
+v 0.00010870 -0.04040061 0.01160638
+v -0.00255485 -0.03778568 -0.02347072
+v -0.03644059 -0.04286890 -0.01983804
+v -0.03446359 -0.04277413 -0.02179173
+v -0.03248300 -0.04264341 -0.02347074
+v -0.03661313 -0.04316758 -0.01398042
+v -0.03661313 -0.04444991 0.01158577
+v -0.03644059 -0.04445318 0.01160637
+v 0.00010870 -0.04444468 0.01160637
+v 0.00010870 -0.03778895 -0.02347072
+v -0.03644059 -0.04317150 -0.01398042
+v -0.03446359 -0.04317477 -0.01398042
+v -0.03644059 -0.04327216 -0.01202673
+v 0.00010870 -0.04264079 -0.02347074
+v -0.00875184 -0.04276955 -0.02179173
+v -0.01270583 -0.04327347 -0.01202673
+v -0.03661313 -0.04326824 -0.01202673
+v -0.03661313 -0.04444141 0.01140036
+v -0.03661313 -0.04434926 0.00944667
+v -0.03644059 -0.04435122 0.00944667
+v -0.03446359 -0.04435252 0.00944667
+v -0.03446359 -0.04444468 0.01140036
+v -0.03446359 -0.04445383 0.01160637
+v -0.00062818 -0.04444534 0.01160637
+v 0.00010870 -0.04444011 0.01149650
+v -0.03248300 -0.04397215 0.00163535
+v -0.03446359 -0.04397215 0.00163535
+v -0.03644059 -0.04387084 -0.00031490
+v -0.03661313 -0.04396757 0.00163535
+v 0.00010870 -0.04276759 -0.02179173
+v -0.00875184 -0.04287020 -0.01983804
+v -0.01072884 -0.04327281 -0.01202673
+v 0.00010870 -0.04386888 -0.00031490
+v -0.01270583 -0.04387084 -0.00031490
+v -0.02061742 -0.04397149 0.00163535
+v -0.03661313 -0.04425515 0.00749298
+v -0.03644059 -0.04425711 0.00749298
+v -0.03446359 -0.04425841 0.00749298
+v -0.03248300 -0.04425841 0.00749298
+v -0.02259442 -0.04435187 0.00944667
+v -0.02259442 -0.04445449 0.01160637
+v -0.01052035 -0.04445056 0.01160637
+v 0.00010870 -0.04438783 0.01037716
+v -0.00875184 -0.04444011 0.01140036
+v -0.03248300 -0.04406952 0.00358904
+v -0.03446359 -0.04406887 0.00358904
+v -0.03644059 -0.04397019 0.00163535
+v -0.03661313 -0.04406430 0.00358904
+v 0.00010870 -0.04396757 0.00163535
+v -0.00875184 -0.04396953 0.00163535
+v -0.00677125 -0.04406625 0.00358904
+v -0.03661313 -0.04415188 0.00537448
+v -0.03644059 -0.04416234 0.00554273
+v -0.03446359 -0.04416429 0.00554273
+v -0.03248300 -0.04416429 0.00554273
+v -0.01270583 -0.04416168 0.00554273
+v -0.00875184 -0.04416103 0.00554273
+v -0.01270583 -0.04434926 0.00944667
+v -0.02040894 -0.04445383 0.01160637
+v -0.00875184 -0.04434795 0.00944667
+v 0.00010870 -0.04434403 0.00944667
+v -0.03644059 -0.04406691 0.00358904
+v 0.00010870 -0.04406430 0.00358904
+v -0.00875184 -0.04425449 0.00749298
+v 0.00010870 -0.04425123 0.00749298
+f 1 2 8
+f 1 8 14
+f 1 14 22
+f 1 22 26
+f 1 26 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 29
+f 1 29 41
+f 1 41 60
+f 1 60 64
+f 1 64 48
+f 1 48 31
+f 1 31 30
+f 1 30 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 3 10 9
+f 4 9 11
+f 5 12 20
+f 5 20 35
+f 5 35 53
+f 5 53 71
+f 5 71 54
+f 5 54 36
+f 5 36 21
+f 5 21 13
+f 5 13 7
+f 5 7 6
+f 7 13 14
+f 7 14 8
+f 9 15 11
+f 9 10 16
+f 9 16 15
+f 10 17 16
+f 11 15 18
+f 12 19 20
+f 13 21 37
+f 13 37 55
+f 13 55 73
+f 13 73 77
+f 13 77 75
+f 13 75 61
+f 13 61 45
+f 13 45 42
+f 13 42 26
+f 13 26 22
+f 13 22 14
+f 15 23 18
+f 15 16 23
+f 16 24 25
+f 16 25 23
+f 16 17 26
+f 16 26 27
+f 16 27 28
+f 16 28 24
+f 18 23 25
+f 18 25 29
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 21 36 37
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 24 28 38
+f 25 40 41
+f 25 41 29
+f 26 42 27
+f 27 42 43
+f 27 43 28
+f 28 43 42
+f 28 42 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 38
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 32 50 33
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 34
+f 34 53 35
+f 36 54 37
+f 37 54 56
+f 37 56 55
+f 38 57 39
+f 38 47 57
+f 39 57 58
+f 39 58 74
+f 39 74 59
+f 39 59 40
+f 40 59 41
+f 41 59 74
+f 41 74 60
+f 42 45 44
+f 45 61 62
+f 45 62 47
+f 45 47 46
+f 47 62 63
+f 47 63 57
+f 48 64 65
+f 48 65 49
+f 49 65 66
+f 49 66 50
+f 50 66 67
+f 50 67 51
+f 51 67 52
+f 52 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 53
+f 53 70 71
+f 54 71 70
+f 54 70 72
+f 54 72 56
+f 55 56 73
+f 56 72 73
+f 57 67 66
+f 57 66 58
+f 57 63 67
+f 58 66 65
+f 58 65 74
+f 60 74 64
+f 61 75 63
+f 61 63 62
+f 63 75 69
+f 63 69 68
+f 63 68 67
+f 64 74 65
+f 69 76 70
+f 69 75 76
+f 70 76 72
+f 72 76 77
+f 72 77 73
+f 75 77 76
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_37.obj

@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.04435566 -0.04988428 0.03563540
+v -0.04633318 -0.04970743 0.03565856
+v -0.04935132 -0.04752861 0.03567127
+v -0.04435566 -0.04910073 0.03563540
+v -0.04037248 -0.05001655 0.03566603
+v -0.04237813 -0.04997947 0.03565408
+v -0.04039972 -0.05100300 0.03629941
+v -0.04772008 -0.04953559 0.03573026
+v -0.04935132 -0.04817589 0.03568022
+v -0.04237813 -0.05096643 0.03648016
+v -0.04935132 -0.04687882 0.03568471
+v -0.04037248 -0.04922948 0.03566603
+v -0.04037248 -0.05002957 0.03567425
+v -0.04039972 -0.05147745 0.03727563
+v -0.04237813 -0.05144388 0.03745639
+v -0.04037248 -0.05100300 0.03629941
+v -0.04037248 -0.05100951 0.03631210
+v -0.04421854 -0.05091884 0.03692159
+v -0.04633318 -0.05040282 0.03678416
+v -0.04835202 -0.04974852 0.03675802
+v -0.04903843 -0.04922498 0.03608953
+v -0.04935132 -0.04888430 0.03598646
+v -0.04346796 -0.05140481 0.03766328
+v -0.04935132 -0.04637282 0.03631063
+v -0.04037248 -0.04637283 0.03874260
+v -0.04037248 -0.05147745 0.03727563
+v -0.04037248 -0.05147795 0.03729580
+v -0.04039972 -0.05149048 0.03873735
+v -0.04346796 -0.05140481 0.03796131
+v -0.04223135 -0.05143587 0.03866192
+v -0.04633318 -0.05071795 0.03873735
+v -0.04935132 -0.04950754 0.03734436
+v -0.04935132 -0.04909822 0.03627402
+v -0.04935132 -0.04637285 0.04306279
+v -0.04037248 -0.04637284 0.04084294
+v -0.04037248 -0.05149048 0.03873735
+v -0.04037248 -0.05148948 0.03875229
+v -0.04039972 -0.05140181 0.03981292
+v -0.04147374 -0.05139380 0.03974943
+v -0.04279297 -0.05134218 0.03926319
+v -0.04421854 -0.05121243 0.03866192
+v -0.04633318 -0.05044091 0.04068906
+v -0.04831159 -0.04997948 0.03873736
+v -0.04935132 -0.04952308 0.03748702
+v -0.04435566 -0.05090332 0.04068906
+v -0.04935132 -0.04645501 0.04306055
+v -0.04831159 -0.04645501 0.04320844
+v -0.04831159 -0.04637285 0.04320994
+v -0.04037248 -0.04642846 0.04326446
+v -0.04037336 -0.04637285 0.04326446
+v -0.04037248 -0.05140181 0.03981367
+v -0.04039972 -0.05124901 0.04078914
+v -0.04223135 -0.05119440 0.04051577
+v -0.04633318 -0.04983320 0.04213959
+v -0.04771569 -0.04958871 0.04188339
+v -0.04834938 -0.04970946 0.04052774
+v -0.04931881 -0.04942539 0.03976961
+v -0.04935132 -0.04944342 0.03941632
+v -0.04935132 -0.04950554 0.03873736
+v -0.04435566 -0.05006667 0.04234126
+v -0.04935132 -0.04823905 0.04225909
+v -0.04834938 -0.04854866 0.04239130
+v -0.04633318 -0.04842893 0.04294029
+v -0.04435566 -0.04842893 0.04314196
+v -0.04237813 -0.04842893 0.04320694
+v -0.04633318 -0.04645501 0.04325774
+v -0.04633318 -0.04637285 0.04325774
+v -0.04037248 -0.04645501 0.04326446
+v -0.04039972 -0.04645501 0.04326521
+v -0.04039972 -0.04637285 0.04326446
+v -0.04037248 -0.05124901 0.04078989
+v -0.04037248 -0.05026256 0.04243163
+v -0.04039972 -0.05026206 0.04243163
+v -0.04237813 -0.05019443 0.04241222
+v -0.04903404 -0.04928561 0.04107149
+v -0.04935132 -0.04939984 0.03980023
+v -0.04935132 -0.04914032 0.04091016
+v -0.04037248 -0.05023751 0.04244284
+v -0.04039972 -0.04842893 0.04322636
+v -0.04435566 -0.04645501 0.04326222
+v -0.04435566 -0.04637285 0.04326147
+v -0.04037248 -0.04842893 0.04322636
+v -0.04237813 -0.04637285 0.04326297
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 8
+f 3 9 22
+f 3 22 33
+f 3 33 32
+f 3 32 44
+f 3 44 59
+f 3 59 58
+f 3 58 76
+f 3 76 77
+f 3 77 61
+f 3 61 46
+f 3 46 34
+f 3 34 24
+f 3 24 11
+f 3 11 4
+f 4 11 12
+f 5 12 25
+f 5 25 35
+f 5 35 49
+f 5 49 68
+f 5 68 82
+f 5 82 78
+f 5 78 72
+f 5 72 71
+f 5 71 51
+f 5 51 37
+f 5 37 36
+f 5 36 27
+f 5 27 26
+f 5 26 17
+f 5 17 16
+f 5 16 13
+f 5 13 6
+f 6 13 7
+f 7 14 15
+f 7 15 10
+f 7 13 16
+f 7 16 17
+f 7 17 14
+f 8 10 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 10 15 23
+f 10 23 18
+f 11 24 25
+f 11 25 12
+f 14 17 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 29 23
+f 15 28 30
+f 15 30 29
+f 18 23 19
+f 19 31 20
+f 19 23 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 23 29 31
+f 24 34 48
+f 24 48 67
+f 24 67 81
+f 24 81 83
+f 24 83 70
+f 24 70 50
+f 24 50 35
+f 24 35 25
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 30
+f 29 30 40
+f 29 40 41
+f 29 41 31
+f 30 39 40
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 31 41 45
+f 31 45 42
+f 34 46 47
+f 34 47 48
+f 35 50 49
+f 37 51 38
+f 38 51 71
+f 38 71 52
+f 38 52 39
+f 39 52 53
+f 39 53 40
+f 40 53 45
+f 40 45 41
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 42 45 54
+f 43 56 57
+f 43 57 58
+f 43 58 59
+f 43 59 44
+f 45 53 52
+f 45 52 60
+f 45 60 54
+f 46 61 62
+f 46 62 63
+f 46 63 47
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 48
+f 48 66 67
+f 49 50 69
+f 49 69 68
+f 50 70 69
+f 52 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 60
+f 54 63 62
+f 54 62 55
+f 54 60 63
+f 55 62 61
+f 55 61 75
+f 55 75 56
+f 56 75 57
+f 57 75 76
+f 57 76 58
+f 60 74 64
+f 60 64 63
+f 61 77 75
+f 64 74 65
+f 65 74 73
+f 65 73 78
+f 65 78 79
+f 65 79 66
+f 66 79 80
+f 66 80 67
+f 67 80 81
+f 68 69 82
+f 69 79 82
+f 69 70 83
+f 69 83 80
+f 69 80 79
+f 72 78 73
+f 75 77 76
+f 78 82 79
+f 80 83 81
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_38.obj

@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v -0.06012459 0.03257814 0.03873856
+v -0.05992133 0.03257813 0.04068805
+v -0.05998851 0.03445852 0.03873857
+v -0.05974390 0.03445852 0.03678590
+v -0.05984210 0.03257814 0.03678589
+v -0.05990410 0.03257813 0.04074837
+v -0.05941317 0.03445851 0.04196840
+v -0.05977491 0.03445851 0.04068806
+v -0.05964400 0.03643227 0.03873857
+v -0.05929259 0.03770661 0.03728916
+v -0.05944073 0.03645609 0.03669780
+v -0.05925298 0.03581526 0.03576115
+v -0.05930638 0.03445853 0.03572385
+v -0.05934083 0.03257815 0.03570320
+v -0.05949069 0.03257813 0.04206126
+v -0.05820048 0.03445850 0.04277011
+v -0.05836757 0.03651465 0.04238195
+v -0.05929776 0.03591045 0.04181600
+v -0.05940284 0.03651466 0.04069441
+v -0.05923747 0.03754914 0.04004750
+v -0.05930120 0.03773408 0.03873858
+v -0.05900837 0.03712987 0.03598739
+v -0.05893775 0.03871912 0.03873858
+v -0.05818326 0.04037979 0.03873859
+v -0.05736676 0.04160652 0.03678592
+v -0.05722378 0.04138498 0.03580086
+v -0.05739777 0.04037980 0.03571752
+v -0.05774745 0.03840604 0.03565083
+v -0.05623675 0.03432853 0.03516900
+v -0.05647619 0.03321715 0.03516899
+v -0.05645724 0.03257815 0.03516899
+v -0.05943212 0.03257813 0.04209857
+v -0.05622297 0.03643225 0.04324716
+v -0.05622297 0.03840601 0.04313128
+v -0.05793004 0.03840601 0.04232481
+v -0.05820048 0.03257812 0.04286297
+v -0.05748217 0.04037978 0.04195334
+v -0.05913756 0.03722689 0.04134928
+v -0.05885506 0.03828518 0.04069442
+v -0.05791970 0.04037978 0.04068808
+v -0.05730992 0.04151862 0.04068808
+v -0.05744600 0.04173285 0.03873859
+v -0.05678281 0.04271973 0.03873860
+v -0.05665189 0.04259156 0.03678593
+v -0.05566314 0.04385491 0.03678593
+v -0.05539442 0.04353817 0.03572626
+v -0.05612134 0.04216313 0.03569211
+v -0.05295870 0.03863308 0.03516981
+v -0.05388372 0.03715001 0.03516901
+v -0.05388372 0.03257815 0.03516899
+v -0.05810746 0.03257812 0.04288678
+v -0.05622297 0.03445850 0.04327335
+v -0.05424718 0.04037977 0.04325750
+v -0.05424718 0.04234803 0.04301303
+v -0.05622297 0.04037977 0.04273917
+v -0.05615407 0.04215945 0.04211051
+v -0.05722206 0.04137947 0.04167870
+v -0.05663466 0.04250367 0.04068809
+v -0.05564591 0.04383293 0.04068809
+v -0.05579233 0.04400505 0.03873860
+v -0.05494482 0.04499376 0.03873861
+v -0.05478979 0.04484179 0.03678593
+v -0.05347547 0.04550460 0.03571674
+v -0.05388372 0.04477589 0.03568736
+v -0.05418000 0.04424675 0.03566672
+v -0.05174946 0.03993854 0.03516982
+v -0.04919316 0.04228031 0.03516903
+v -0.05138254 0.03257815 0.03516979
+v -0.04603913 0.03977375 0.03516902
+v -0.05622297 0.03257812 0.04327731
+v -0.05424718 0.03840601 0.04327733
+v -0.05388372 0.04074229 0.04325988
+v -0.05226795 0.04431995 0.04304240
+v -0.05388372 0.04271056 0.04301858
+v -0.05388372 0.04428700 0.04240183
+v -0.05422134 0.04427967 0.04226768
+v -0.05544781 0.04359674 0.04188747
+v -0.05478118 0.04481981 0.04068809
+v -0.05388372 0.04573162 0.04068810
+v -0.05395779 0.04598796 0.03873861
+v -0.05388372 0.04591289 0.03780752
+v -0.05388372 0.04574628 0.03678515
+v -0.05380104 0.04582684 0.03678515
+v -0.05273304 0.04681372 0.03678515
+v -0.05143422 0.04739597 0.03574135
+v -0.05216287 0.04621684 0.03566832
+v -0.05083132 0.04092542 0.03516982
+v -0.04847140 0.04280213 0.03516903
+v -0.04984257 0.04181342 0.03516982
+v -0.05029044 0.04770173 0.03567468
+v -0.05143078 0.03257814 0.03873777
+v -0.04252681 0.04109020 0.03516982
+v -0.04603913 0.04406731 0.03516903
+v -0.05612995 0.03257812 0.04327731
+v -0.05388372 0.03876854 0.04327733
+v -0.05226795 0.04234803 0.04326862
+v -0.05029044 0.04431995 0.04325989
+v -0.04919316 0.04541669 0.04323371
+v -0.04831120 0.04629554 0.04321227
+v -0.05029044 0.04629554 0.04293287
+v -0.05219388 0.04626258 0.04223197
+v -0.05388372 0.04461107 0.04226133
+v -0.05388372 0.04493150 0.04209465
+v -0.05354437 0.04558331 0.04192082
+v -0.05379242 0.04582133 0.04068810
+v -0.05388372 0.04605754 0.03873861
+v -0.05388372 0.04605754 0.03873782
+v -0.05288980 0.04697484 0.03873782
+v -0.05174429 0.04762849 0.03678515
+v -0.05018191 0.04861536 0.03675579
+v -0.04919316 0.04898888 0.03617317
+v -0.04904502 0.04904381 0.03608665
+v -0.04772725 0.04938437 0.03572469
+v -0.04830087 0.04291382 0.03516903
+v -0.04633541 0.04954183 0.03566119
+v -0.04748264 0.04343198 0.03516903
+v -0.05143422 0.03257814 0.03896875
+v -0.04252681 0.04122934 0.03873859
+v -0.05149107 0.03257813 0.04062058
+v -0.04252681 0.04519151 0.03516984
+v -0.04633541 0.04395380 0.03516903
+v -0.04435618 0.04471364 0.03516983
+v -0.05388372 0.03876670 0.04327733
+v -0.05424718 0.03257812 0.04323207
+v -0.04252681 0.04432179 0.04326545
+v -0.04435618 0.04432179 0.04326941
+v -0.04831120 0.04431995 0.04327179
+v -0.04919316 0.04431995 0.04326703
+v -0.04633541 0.04629554 0.04326228
+v -0.04252681 0.04826930 0.04319720
+v -0.04435618 0.04826930 0.04314084
+v -0.04633541 0.04826930 0.04295828
+v -0.05029044 0.04781340 0.04213911
+v -0.04838700 0.04840479 0.04240264
+v -0.05148590 0.04743440 0.04183668
+v -0.05269687 0.04680821 0.04068810
+v -0.05170639 0.04760101 0.04068810
+v -0.05190104 0.04774567 0.03873783
+v -0.04944810 0.04933309 0.03738763
+v -0.04919316 0.04939535 0.03724078
+v -0.04835599 0.04959309 0.03675659
+v -0.04633541 0.05023026 0.03678595
+v -0.04603913 0.05030532 0.03680263
+v -0.04423043 0.05076123 0.03690821
+v -0.04252681 0.05082349 0.03649704
+v -0.04603913 0.04957113 0.03565722
+v -0.04653695 0.04386225 0.03516903
+v -0.04252681 0.04133186 0.04068887
+v -0.05151518 0.03257813 0.04067455
+v -0.04252681 0.04138313 0.04120323
+v -0.04435618 0.04972676 0.03563817
+v -0.04252681 0.04983295 0.03564849
+v -0.05413694 0.03257812 0.04319159
+v -0.04252681 0.04417531 0.04322338
+v -0.04252681 0.04614723 0.04326704
+v -0.04252681 0.04629554 0.04326704
+v -0.04435618 0.04629554 0.04326704
+v -0.04603913 0.04629554 0.04326307
+v -0.04252681 0.04812099 0.04320673
+v -0.04252681 0.04994095 0.04246138
+v -0.04252681 0.05006728 0.04240105
+v -0.04435618 0.04994827 0.04233835
+v -0.04603913 0.04973589 0.04218436
+v -0.04633541 0.04969744 0.04215658
+v -0.04777720 0.04944843 0.04190416
+v -0.04909497 0.04915182 0.04109214
+v -0.04919316 0.04910605 0.04103895
+v -0.05010612 0.04865930 0.04053967
+v -0.05041619 0.04873255 0.03873783
+v -0.04942743 0.04932394 0.03873783
+v -0.04831120 0.04981097 0.03873862
+v -0.04633541 0.05054335 0.03873863
+v -0.04348628 0.05124826 0.03764085
+v -0.04252681 0.05088391 0.03661848
+v -0.05232652 0.03257812 0.04231527
+v -0.04252681 0.04212099 0.04226847
+v -0.05388372 0.03257812 0.04307887
+v -0.05240575 0.03257812 0.04242084
+v -0.04252681 0.04219606 0.04233038
+v -0.04252681 0.05091136 0.04077623
+v -0.04435618 0.05078136 0.04068891
+v -0.04603913 0.04986039 0.04193750
+v -0.04633541 0.05029799 0.04068890
+v -0.04838700 0.04955646 0.04054047
+v -0.04932407 0.04926534 0.03979036
+v -0.04919316 0.04933675 0.03965542
+v -0.04603913 0.05061475 0.03872990
+v -0.04348628 0.05124826 0.03798376
+v -0.04252681 0.05127938 0.03746384
+v -0.04252681 0.04215761 0.04230577
+v -0.04252681 0.05102854 0.04054365
+v -0.04252681 0.05112924 0.03985784
+v -0.04278691 0.05118051 0.03928395
+v -0.04423043 0.05105052 0.03867592
+v -0.04252681 0.05127023 0.03851161
+v -0.04252681 0.05127938 0.03750988
+v -0.04252681 0.05122629 0.03900216
+v -0.04252681 0.05119150 0.03937682
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 31
+f 1 31 50
+f 1 50 68
+f 1 68 91
+f 1 91 117
+f 1 117 119
+f 1 119 149
+f 1 149 175
+f 1 175 178
+f 1 178 177
+f 1 177 153
+f 1 153 124
+f 1 124 94
+f 1 94 70
+f 1 70 51
+f 1 51 36
+f 1 36 32
+f 1 32 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 22 11
+f 10 21 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 22
+f 11 22 12
+f 12 22 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 13
+f 13 30 14
+f 14 30 31
+f 15 32 16
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 16 32 36
+f 16 36 33
+f 17 35 18
+f 18 35 37
+f 18 37 38
+f 18 38 19
+f 19 38 20
+f 20 39 23
+f 20 23 21
+f 20 38 39
+f 23 40 24
+f 23 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 27
+f 27 47 29
+f 27 29 28
+f 29 47 48
+f 29 48 49
+f 29 49 67
+f 29 67 88
+f 29 88 114
+f 29 114 116
+f 29 116 147
+f 29 147 121
+f 29 121 93
+f 29 93 69
+f 29 69 50
+f 29 50 31
+f 29 31 30
+f 33 36 51
+f 33 51 52
+f 33 52 53
+f 33 53 34
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 37
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 39
+f 39 57 40
+f 40 57 41
+f 41 57 58
+f 41 58 43
+f 41 43 42
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 45
+f 45 60 61
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 65 48
+f 48 65 66
+f 48 66 67
+f 48 67 49
+f 50 69 68
+f 51 70 52
+f 52 71 53
+f 52 70 71
+f 53 72 73
+f 53 73 74
+f 53 74 54
+f 53 71 72
+f 54 74 75
+f 54 75 76
+f 54 76 56
+f 54 56 55
+f 56 76 77
+f 56 77 57
+f 57 77 59
+f 57 59 58
+f 59 77 78
+f 59 78 61
+f 59 61 60
+f 61 78 79
+f 61 79 80
+f 61 80 62
+f 62 80 81
+f 62 81 82
+f 62 82 63
+f 63 82 83
+f 63 83 84
+f 63 84 85
+f 63 85 86
+f 63 86 64
+f 64 86 65
+f 65 87 66
+f 65 86 87
+f 66 87 67
+f 67 87 89
+f 67 89 90
+f 67 90 88
+f 68 69 92
+f 68 92 91
+f 69 93 120
+f 69 120 92
+f 70 94 123
+f 70 123 95
+f 70 95 71
+f 71 95 96
+f 71 96 72
+f 72 96 73
+f 73 75 74
+f 73 96 97
+f 73 97 98
+f 73 98 99
+f 73 99 100
+f 73 100 101
+f 73 101 75
+f 75 101 102
+f 75 102 76
+f 76 102 103
+f 76 103 77
+f 77 103 104
+f 77 104 78
+f 78 104 79
+f 79 104 105
+f 79 105 80
+f 80 105 106
+f 80 106 107
+f 80 107 81
+f 81 83 82
+f 81 107 108
+f 81 108 84
+f 81 84 83
+f 84 108 109
+f 84 109 85
+f 85 109 110
+f 85 110 111
+f 85 111 112
+f 85 112 113
+f 85 113 90
+f 85 90 86
+f 86 90 89
+f 86 89 87
+f 88 90 114
+f 90 113 115
+f 90 115 116
+f 90 116 114
+f 91 92 117
+f 92 118 119
+f 92 119 117
+f 92 120 152
+f 92 152 145
+f 92 145 174
+f 92 174 189
+f 92 189 196
+f 92 196 195
+f 92 195 197
+f 92 197 198
+f 92 198 192
+f 92 192 191
+f 92 191 180
+f 92 180 161
+f 92 161 160
+f 92 160 130
+f 92 130 159
+f 92 159 156
+f 92 156 155
+f 92 155 125
+f 92 125 154
+f 92 154 179
+f 92 179 190
+f 92 190 176
+f 92 176 150
+f 92 150 148
+f 92 148 118
+f 93 121 115
+f 93 115 122
+f 93 122 120
+f 94 124 125
+f 94 125 126
+f 94 126 123
+f 95 123 126
+f 95 126 127
+f 95 127 96
+f 96 127 128
+f 96 128 97
+f 97 128 129
+f 97 129 98
+f 98 129 99
+f 99 129 130
+f 99 130 131
+f 99 131 132
+f 99 132 100
+f 100 133 101
+f 100 132 134
+f 100 134 133
+f 101 133 135
+f 101 135 104
+f 101 104 103
+f 101 103 102
+f 104 135 136
+f 104 136 105
+f 105 136 108
+f 105 108 106
+f 106 108 107
+f 108 136 137
+f 108 137 138
+f 108 138 109
+f 109 138 139
+f 109 139 110
+f 110 139 111
+f 111 139 112
+f 112 139 140
+f 112 140 141
+f 112 141 113
+f 113 141 142
+f 113 142 143
+f 113 143 144
+f 113 144 145
+f 113 145 115
+f 115 145 146
+f 115 146 120
+f 115 120 122
+f 115 121 147
+f 115 147 116
+f 118 148 119
+f 119 148 150
+f 119 150 149
+f 120 146 151
+f 120 151 152
+f 124 153 154
+f 124 154 125
+f 125 155 126
+f 126 155 156
+f 126 156 127
+f 127 156 157
+f 127 157 158
+f 127 158 129
+f 127 129 128
+f 129 158 159
+f 129 159 130
+f 130 160 131
+f 131 160 161
+f 131 161 162
+f 131 162 132
+f 132 162 163
+f 132 163 164
+f 132 164 134
+f 133 134 165
+f 133 165 135
+f 134 164 165
+f 135 165 166
+f 135 166 167
+f 135 167 168
+f 135 168 137
+f 135 137 136
+f 137 168 169
+f 137 169 138
+f 138 169 139
+f 139 169 170
+f 139 170 171
+f 139 171 172
+f 139 172 140
+f 140 172 141
+f 141 172 142
+f 142 172 173
+f 142 173 143
+f 143 173 144
+f 144 173 145
+f 145 173 174
+f 145 152 151
+f 145 151 146
+f 149 150 175
+f 150 176 175
+f 153 177 154
+f 154 177 178
+f 154 178 179
+f 156 159 157
+f 157 159 158
+f 161 180 162
+f 162 180 181
+f 162 181 163
+f 163 181 182
+f 163 182 164
+f 164 182 165
+f 165 182 183
+f 165 183 166
+f 166 183 184
+f 166 184 185
+f 166 185 167
+f 167 185 168
+f 168 185 169
+f 169 185 170
+f 170 185 186
+f 170 186 171
+f 171 186 184
+f 171 184 172
+f 172 183 181
+f 172 181 187
+f 172 187 188
+f 172 188 173
+f 172 184 183
+f 173 188 196
+f 173 196 189
+f 173 189 174
+f 175 176 178
+f 176 190 178
+f 178 190 179
+f 180 191 181
+f 181 191 192
+f 181 192 193
+f 181 193 188
+f 181 188 194
+f 181 194 187
+f 181 183 182
+f 184 186 185
+f 187 194 188
+f 188 195 196
+f 188 193 197
+f 188 197 195
+f 192 198 193
+f 193 198 197
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_39.obj

@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v 0.04743363 -0.05001710 0.03658608
+v 0.04743363 -0.04961309 0.03569265
+v 0.04743485 -0.05013751 0.03678572
+v 0.04743485 -0.05038367 0.03880602
+v 0.04743485 -0.05028869 0.03959551
+v 0.04743485 -0.05014823 0.04068858
+v 0.04743485 -0.04997164 0.04136257
+v 0.04743485 -0.04971077 0.04200439
+v 0.04743485 -0.04934422 0.04224115
+v 0.04743485 -0.04847733 0.04272869
+v 0.04743485 -0.04763318 0.04304714
+v 0.04743485 -0.04645325 0.04323358
+v 0.04743485 -0.04566261 0.04325915
+v 0.04743363 -0.03921976 0.03658612
+v 0.04802008 -0.04954486 0.03572070
+v 0.04743363 -0.04368933 0.03484462
+v 0.04773297 -0.04355555 0.03484462
+v 0.04853689 -0.04970807 0.03658690
+v 0.04865540 -0.04974554 0.03678654
+v 0.04972568 -0.04948066 0.03743743
+v 0.04881668 -0.04984052 0.03892565
+v 0.04844526 -0.04977498 0.04068858
+v 0.04806040 -0.04959973 0.04189384
+v 0.04867984 -0.04855358 0.04239294
+v 0.05059802 -0.04645325 0.04290525
+v 0.04861997 -0.04645325 0.04320223
+v 0.05059802 -0.04447866 0.04325009
+v 0.05190166 -0.04318234 0.04325834
+v 0.05257607 -0.04250943 0.04326164
+v 0.05190166 -0.04250943 0.04326411
+v 0.04861997 -0.04447866 0.04326246
+v 0.04743485 -0.04447866 0.04325916
+v 0.04743485 -0.03962112 0.04152512
+v 0.04743485 -0.03950473 0.04068861
+v 0.04743363 -0.03904184 0.03484464
+v 0.04743485 -0.04368936 0.04325174
+v 0.04743485 -0.04251077 0.04314202
+v 0.04743485 -0.04171745 0.04296714
+v 0.04743485 -0.04056026 0.04238142
+v 0.04743485 -0.04001443 0.04210093
+v 0.04743485 -0.03976426 0.04178993
+v 0.05059680 -0.04784586 0.03567285
+v 0.05173916 -0.04754619 0.03574216
+v 0.04933838 -0.04919034 0.03613565
+v 0.04871649 -0.04291743 0.03484462
+v 0.04947277 -0.04929068 0.03658608
+v 0.05197130 -0.04772145 0.03658608
+v 0.05202628 -0.04776159 0.03678489
+v 0.05216434 -0.04787263 0.03873756
+v 0.04972568 -0.04948066 0.03840016
+v 0.04960594 -0.04940976 0.03970111
+v 0.04943490 -0.04932147 0.04068858
+v 0.05059802 -0.04794622 0.04211906
+v 0.05176604 -0.04757565 0.04181713
+v 0.05190166 -0.04688133 0.04217763
+v 0.05190166 -0.04641846 0.04242100
+v 0.05190166 -0.04515157 0.04297949
+v 0.05257607 -0.04447866 0.04301745
+v 0.05190166 -0.04447866 0.04309747
+v 0.05455168 -0.04053618 0.04324020
+v 0.05455168 -0.03856428 0.04326908
+v 0.05257607 -0.04053618 0.04327155
+v 0.05059802 -0.04251077 0.04326741
+v 0.05455168 -0.03671812 0.04327239
+v 0.05067744 -0.03671677 0.04213395
+v 0.05006166 -0.03671677 0.04089900
+v 0.05003234 -0.03671677 0.04068863
+v 0.04743485 -0.03932947 0.03873760
+v 0.04988451 -0.03671676 0.03873761
+v 0.04967314 -0.03671675 0.03484465
+v 0.05442218 -0.03671812 0.04327074
+v 0.05257607 -0.03671812 0.04307358
+v 0.05244657 -0.03671812 0.04304388
+v 0.05069943 -0.03671677 0.04214963
+v 0.05009465 -0.04192612 0.03484463
+v 0.05246856 -0.04637027 0.03566791
+v 0.05375997 -0.04565723 0.03572071
+v 0.05301591 -0.04694821 0.03678490
+v 0.05315397 -0.04709537 0.03873757
+v 0.05190166 -0.04804520 0.03876643
+v 0.05197374 -0.04773217 0.04068858
+v 0.05190166 -0.04779237 0.04060361
+v 0.05047096 -0.04897096 0.03892565
+v 0.05059802 -0.04862983 0.04068858
+v 0.05296338 -0.04692548 0.04068859
+v 0.05381740 -0.04571477 0.04190045
+v 0.05248567 -0.04640241 0.04220321
+v 0.05450648 -0.04441578 0.04223622
+v 0.05455168 -0.04250943 0.04297703
+v 0.05652851 -0.03856428 0.04311234
+v 0.05652851 -0.03671812 0.04323692
+v 0.05639900 -0.03671812 0.04324682
+v 0.05190166 -0.03671678 0.04276174
+v 0.05427190 -0.03671675 0.03484465
+v 0.05107696 -0.04103916 0.03484463
+v 0.05568915 -0.04367729 0.03572815
+v 0.05506238 -0.04496828 0.03678490
+v 0.05401533 -0.04590472 0.03658609
+v 0.05202017 -0.04004518 0.03484463
+v 0.05407397 -0.04595958 0.03678490
+v 0.05422425 -0.04610808 0.03873757
+v 0.05405320 -0.04594086 0.04068859
+v 0.05504161 -0.04492815 0.04068859
+v 0.05572336 -0.04371477 0.04186086
+v 0.05616320 -0.04250942 0.04218177
+v 0.05671911 -0.04072347 0.04249527
+v 0.05822678 -0.03856428 0.04231048
+v 0.05861408 -0.03671812 0.04239711
+v 0.05969535 -0.03671675 0.03658613
+v 0.05866051 -0.03671812 0.04237484
+v 0.05858598 -0.03671675 0.03570673
+v 0.05807772 -0.03856291 0.03564897
+v 0.05771119 -0.04053615 0.03571661
+v 0.05426701 -0.03672745 0.03484465
+v 0.05589686 -0.04392479 0.03658692
+v 0.05301714 -0.03879033 0.03484464
+v 0.05374287 -0.03780973 0.03484464
+v 0.05642100 -0.04232211 0.03569185
+v 0.05752914 -0.04153950 0.03579993
+v 0.05594328 -0.04398098 0.03678491
+v 0.05521266 -0.04511008 0.03873757
+v 0.05591152 -0.04394086 0.04068860
+v 0.05750715 -0.04150474 0.04161009
+v 0.05785780 -0.04018968 0.04202091
+v 0.05952063 -0.03671811 0.04157876
+v 0.05969535 -0.03671675 0.03658448
+v 0.05968558 -0.03671811 0.04074225
+v 0.05969657 -0.03671811 0.04066058
+v 0.05990183 -0.03671810 0.03889023
+v 0.05991527 -0.03671810 0.03873761
+v 0.05870571 -0.03671675 0.03574220
+v 0.05933859 -0.03731207 0.03595833
+v 0.05763422 -0.04170137 0.03658693
+v 0.05693170 -0.04272747 0.03678491
+v 0.05946688 -0.03758498 0.03658612
+v 0.05960372 -0.03787930 0.03726011
+v 0.05823655 -0.04053616 0.03678492
+v 0.05606546 -0.04412279 0.03873758
+v 0.05705510 -0.04283717 0.03873758
+v 0.05701722 -0.04241042 0.04085029
+v 0.05762322 -0.04168668 0.04030831
+v 0.05805695 -0.04072346 0.04085030
+v 0.05914800 -0.03844119 0.04069439
+v 0.05944244 -0.03737630 0.04134776
+v 0.05973811 -0.03671809 0.03672142
+v 0.05954263 -0.03770406 0.04004598
+v 0.05961227 -0.03789669 0.03873760
+v 0.05765988 -0.04174151 0.03678492
+v 0.05924085 -0.03888532 0.03873760
+v 0.05846380 -0.04053616 0.03873759
+v 0.05773074 -0.04185121 0.03873759
+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 32
+f 1 32 14
+f 1 14 35
+f 1 35 16
+f 1 16 2
+f 2 15 3
+f 2 16 17
+f 2 17 15
+f 3 15 18
+f 3 18 19
+f 3 19 4
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 5
+f 5 22 6
+f 6 22 7
+f 7 22 23
+f 7 23 8
+f 8 23 24
+f 8 24 9
+f 9 24 10
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 14 33 34
+f 14 34 35
+f 14 32 36
+f 14 36 37
+f 14 37 38
+f 14 38 39
+f 14 39 40
+f 14 40 41
+f 14 41 33
+f 15 17 42
+f 15 42 43
+f 15 43 44
+f 15 44 18
+f 16 35 70
+f 16 70 94
+f 16 94 114
+f 16 114 117
+f 16 117 116
+f 16 116 99
+f 16 99 95
+f 16 95 75
+f 16 75 45
+f 16 45 17
+f 17 45 42
+f 18 44 19
+f 19 44 46
+f 19 46 20
+f 20 47 48
+f 20 48 49
+f 20 49 50
+f 20 50 21
+f 20 46 43
+f 20 43 47
+f 21 50 51
+f 21 51 22
+f 22 51 52
+f 22 52 23
+f 23 53 24
+f 23 52 54
+f 23 54 53
+f 24 53 25
+f 25 55 56
+f 25 56 57
+f 25 57 26
+f 25 53 55
+f 26 57 58
+f 26 58 59
+f 26 59 27
+f 27 59 28
+f 28 59 58
+f 28 58 29
+f 29 60 61
+f 29 61 62
+f 29 62 30
+f 29 58 60
+f 30 63 31
+f 30 62 63
+f 31 63 32
+f 32 63 62
+f 32 62 64
+f 32 64 36
+f 33 41 65
+f 33 65 66
+f 33 66 67
+f 33 67 34
+f 34 68 35
+f 34 67 68
+f 35 68 69
+f 35 69 70
+f 36 64 71
+f 36 71 37
+f 37 71 72
+f 37 72 73
+f 37 73 38
+f 38 73 74
+f 38 74 39
+f 39 74 40
+f 40 74 65
+f 40 65 41
+f 42 45 75
+f 42 75 43
+f 43 76 77
+f 43 77 78
+f 43 78 47
+f 43 46 44
+f 43 75 76
+f 47 78 48
+f 48 78 79
+f 48 79 49
+f 49 80 50
+f 49 79 81
+f 49 81 82
+f 49 82 80
+f 50 80 83
+f 50 83 51
+f 51 83 84
+f 51 84 52
+f 52 84 54
+f 53 54 55
+f 54 85 86
+f 54 86 87
+f 54 87 55
+f 54 84 81
+f 54 81 85
+f 55 87 56
+f 56 87 58
+f 56 58 57
+f 58 87 88
+f 58 88 89
+f 58 89 60
+f 60 90 91
+f 60 91 92
+f 60 92 61
+f 60 89 90
+f 61 92 64
+f 61 64 62
+f 64 92 93
+f 64 93 71
+f 65 74 93
+f 65 93 109
+f 65 109 126
+f 65 126 131
+f 65 131 111
+f 65 111 94
+f 65 94 70
+f 65 70 69
+f 65 69 67
+f 65 67 66
+f 67 69 68
+f 71 93 72
+f 72 93 73
+f 73 93 74
+f 75 95 77
+f 75 77 76
+f 77 96 97
+f 77 97 98
+f 77 98 78
+f 77 95 99
+f 77 99 96
+f 78 98 100
+f 78 100 101
+f 78 101 79
+f 79 101 102
+f 79 102 85
+f 79 85 81
+f 80 82 83
+f 81 84 82
+f 82 84 83
+f 85 102 86
+f 86 102 103
+f 86 103 104
+f 86 104 88
+f 86 88 87
+f 88 104 105
+f 88 105 89
+f 89 105 106
+f 89 106 90
+f 90 106 107
+f 90 107 108
+f 90 108 91
+f 91 108 93
+f 91 93 92
+f 93 108 110
+f 93 110 109
+f 94 111 112
+f 94 112 113
+f 94 113 114
+f 96 115 97
+f 96 99 116
+f 96 116 117
+f 96 117 118
+f 96 118 119
+f 96 119 115
+f 97 115 120
+f 97 120 121
+f 97 121 101
+f 97 101 100
+f 97 100 98
+f 101 121 102
+f 102 121 103
+f 103 121 122
+f 103 122 104
+f 104 122 123
+f 104 123 105
+f 105 123 124
+f 105 124 106
+f 106 124 107
+f 107 125 110
+f 107 110 108
+f 107 124 125
+f 109 110 125
+f 109 125 127
+f 109 127 128
+f 109 128 129
+f 109 129 130
+f 109 130 126
+f 111 131 132
+f 111 132 112
+f 112 132 113
+f 113 119 118
+f 113 118 117
+f 113 117 114
+f 113 132 119
+f 115 119 120
+f 119 133 134
+f 119 134 120
+f 119 132 135
+f 119 135 136
+f 119 136 137
+f 119 137 133
+f 120 138 121
+f 120 134 138
+f 121 138 122
+f 122 139 140
+f 122 140 123
+f 122 138 139
+f 123 140 141
+f 123 141 142
+f 123 142 143
+f 123 143 144
+f 123 144 124
+f 124 144 125
+f 125 144 127
+f 126 130 145
+f 126 145 136
+f 126 136 135
+f 126 135 132
+f 126 132 131
+f 127 144 146
+f 127 146 128
+f 128 146 129
+f 129 146 147
+f 129 147 130
+f 130 147 136
+f 130 136 145
+f 133 148 134
+f 133 137 148
+f 134 148 139
+f 134 139 138
+f 136 147 149
+f 136 149 150
+f 136 150 148
+f 136 148 137
+f 139 148 151
+f 139 151 141
+f 139 141 140
+f 141 151 150
+f 141 150 142
+f 142 150 149
+f 142 149 143
+f 143 146 144
+f 143 149 146
+f 146 149 147
+f 148 150 151
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_4.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.04252582 0.04519265 0.03516825
+v -0.04435588 0.04470361 0.03483151
+v -0.04435588 0.04471472 0.03516824
+v -0.04252582 0.04108765 0.03516823
+v -0.04252582 0.04381576 0.01160900
+v -0.04380276 0.04348973 0.01160900
+v -0.04633481 0.04394781 0.03483151
+v -0.04534330 0.04333657 0.01824894
+v -0.04633481 0.04395399 0.03516824
+v -0.05138115 0.03257755 0.03516820
+v -0.04252582 0.04104813 0.03467467
+v -0.04252582 0.03964654 0.01160899
+v -0.04479291 0.04313036 0.01160900
+v -0.04741373 0.04338962 0.03338544
+v -0.04747655 0.04342543 0.03483151
+v -0.04748201 0.04343160 0.03516824
+v -0.04653694 0.04386384 0.03516824
+v -0.04633481 0.04238568 0.01160900
+v -0.05645753 0.03257755 0.03516820
+v -0.05108752 0.03257757 0.03092453
+v -0.04252582 0.04077152 0.03077927
+v -0.04252582 0.04078140 0.03092456
+v -0.05000177 0.03257764 0.01160896
+v -0.04252582 0.04042699 0.02507569
+v -0.05084442 0.03257758 0.02692765
+v -0.04846534 0.04279930 0.03483151
+v -0.04767868 0.04160519 0.01160899
+v -0.04830145 0.04291292 0.03516824
+v -0.05647665 0.03321479 0.03516820
+v -0.05419863 0.03257764 0.01160896
+v -0.04252582 0.04053318 0.02689078
+v -0.04252582 0.04065173 0.02882580
+v -0.04974911 0.04173725 0.03287803
+v -0.04983925 0.04181257 0.03483150
+v -0.04847216 0.04280054 0.03516824
+v -0.04777291 0.04167063 0.01335488
+v -0.04866746 0.04087286 0.01160899
+v -0.04876170 0.04094324 0.01335488
+v -0.04886276 0.04102103 0.01530835
+v -0.05623628 0.03432749 0.03516821
+v -0.05359635 0.03433005 0.01160897
+v -0.05082803 0.04092093 0.03483150
+v -0.04982013 0.03988613 0.01160899
+v -0.05066005 0.04107530 0.03516823
+v -0.04984061 0.04181380 0.03516823
+v -0.05295855 0.03863132 0.03516822
+v -0.05161742 0.03786820 0.01160898
+v -0.05243958 0.03659126 0.01160897
+v -0.05255294 0.03641219 0.01160897
+v -0.05319209 0.03529825 0.01160897
+v -0.05322623 0.03521675 0.01160897
+v -0.05167887 0.03984776 0.03287803
+v -0.05174853 0.03993420 0.03483150
+v -0.05082939 0.04092216 0.03516823
+v -0.05081028 0.03885493 0.01160898
+v -0.05174989 0.03993543 0.03516823
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 16
+f 1 16 28
+f 1 28 35
+f 1 35 45
+f 1 45 44
+f 1 44 54
+f 1 54 56
+f 1 56 46
+f 1 46 40
+f 1 40 29
+f 1 29 19
+f 1 19 10
+f 1 10 4
+f 1 4 11
+f 1 11 22
+f 1 22 21
+f 1 21 32
+f 1 32 31
+f 1 31 24
+f 1 24 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 9
+f 4 10 11
+f 5 12 23
+f 5 23 30
+f 5 30 41
+f 5 41 51
+f 5 51 50
+f 5 50 49
+f 5 49 48
+f 5 48 47
+f 5 47 55
+f 5 55 43
+f 5 43 37
+f 5 37 27
+f 5 27 18
+f 5 18 13
+f 5 13 6
+f 6 13 8
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 7 8 14
+f 8 13 18
+f 8 18 14
+f 10 19 30
+f 10 30 23
+f 10 23 25
+f 10 25 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 12 24 25
+f 12 25 23
+f 14 26 15
+f 14 18 27
+f 14 27 26
+f 15 26 28
+f 15 28 16
+f 19 29 30
+f 20 25 24
+f 20 24 31
+f 20 31 32
+f 20 32 21
+f 26 33 34
+f 26 34 35
+f 26 35 28
+f 26 27 36
+f 26 36 33
+f 27 37 38
+f 27 38 39
+f 27 39 33
+f 27 33 36
+f 29 40 30
+f 30 40 41
+f 33 42 34
+f 33 39 43
+f 33 43 42
+f 34 42 44
+f 34 44 45
+f 34 45 35
+f 37 43 38
+f 38 43 39
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 42 52 53
+f 42 53 56
+f 42 56 54
+f 42 54 44
+f 42 43 55
+f 42 55 52
+f 46 56 53
+f 46 53 52
+f 46 52 55
+f 46 55 47
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_40.obj

@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v -0.06015536 -0.03069311 0.03873911
+v -0.05995546 -0.03069312 0.04068804
+v -0.06001152 -0.03069127 0.03768736
+v -0.06001152 -0.03069311 0.03768736
+v -0.05986979 -0.03264512 0.03678573
+v -0.05999248 -0.03264512 0.03768735
+v -0.06013103 -0.03264512 0.03873910
+v -0.05950701 -0.03069312 0.04208000
+v -0.05991633 -0.03264513 0.04068803
+v -0.05948057 -0.03264513 0.04204979
+v -0.05172684 -0.03069127 0.03768736
+v -0.05988777 -0.03069127 0.03678574
+v -0.05820080 -0.03069313 0.04288036
+v -0.05622297 -0.03069313 0.04327477
+v -0.05960115 -0.03264511 0.03619945
+v -0.05957259 -0.03371788 0.03619945
+v -0.05976191 -0.03461924 0.03678572
+v -0.05993325 -0.03370683 0.03768735
+v -0.05999248 -0.03461924 0.03873909
+v -0.05820080 -0.03264514 0.04285193
+v -0.05976720 -0.03461925 0.04068802
+v -0.05940654 -0.03461925 0.04196006
+v -0.05820080 -0.03461926 0.04276398
+v -0.05171520 -0.03069311 0.03873911
+v -0.05171943 -0.03069310 0.03420434
+v -0.05173953 -0.03069126 0.03619946
+v -0.05424725 -0.03069313 0.04320637
+v -0.05253701 -0.03069313 0.04239624
+v -0.05175751 -0.03069312 0.04068804
+v -0.05961489 -0.03069126 0.03619946
+v -0.05961489 -0.03069310 0.03619946
+v -0.05960855 -0.03173269 0.03619945
+v -0.05622297 -0.03461926 0.04327386
+v -0.05622297 -0.03264514 0.04327831
+v -0.05029053 -0.04250653 0.04325873
+v -0.04935133 -0.04250653 0.04324896
+v -0.05936317 -0.03264511 0.03568513
+v -0.05932192 -0.03461554 0.03571088
+v -0.05952288 -0.03461554 0.03619944
+v -0.05986873 -0.03461924 0.03768734
+v -0.05947422 -0.03540261 0.03619944
+v -0.05934836 -0.03629659 0.03619944
+v -0.05944673 -0.03662837 0.03668801
+v -0.05929653 -0.03787810 0.03727428
+v -0.05939701 -0.03751314 0.03768733
+v -0.05964874 -0.03659336 0.03873909
+v -0.05622297 -0.03659338 0.04324366
+v -0.05940442 -0.03665235 0.04067381
+v -0.05929653 -0.03603670 0.04181527
+v -0.05835839 -0.03665236 0.04237934
+v -0.05791417 -0.03856750 0.04231626
+v -0.05622297 -0.03856750 0.04311751
+v -0.04935133 -0.03674265 0.03420432
+v -0.05614047 -0.03069310 0.03420434
+v -0.04935133 -0.04053424 0.04300913
+v -0.04935133 -0.03866519 0.04232870
+v -0.04935133 -0.03762743 0.04161006
+v -0.04935133 -0.03752605 0.04150702
+v -0.04935133 -0.03731776 0.04038510
+v -0.04935133 -0.03714449 0.03873642
+v -0.05937163 -0.03069310 0.03567981
+v -0.05424725 -0.04053240 0.04324275
+v -0.05424725 -0.03856750 0.04326941
+v -0.05424725 -0.03659338 0.04327208
+v -0.05226942 -0.04053240 0.04326585
+v -0.04935133 -0.04448064 0.04325606
+v -0.05925529 -0.03599613 0.03575707
+v -0.05901626 -0.03731221 0.03597114
+v -0.05915481 -0.03709287 0.03619943
+v -0.05817224 -0.04053238 0.03873907
+v -0.05893693 -0.03888636 0.03873908
+v -0.05930394 -0.03789838 0.03873908
+v -0.05722669 -0.04154063 0.03579880
+v -0.05728275 -0.04162726 0.03619942
+v -0.05736207 -0.04174893 0.03678570
+v -0.05773754 -0.04118858 0.03768732
+v -0.05923625 -0.03771038 0.04001468
+v -0.05912202 -0.03735463 0.04131604
+v -0.05747841 -0.04053239 0.04194761
+v -0.05622297 -0.04053240 0.04272398
+v -0.05424725 -0.04250653 0.04298958
+v -0.04935133 -0.04223185 0.03420429
+v -0.05584644 -0.03268566 0.03420433
+v -0.05226942 -0.04448064 0.04303754
+v -0.05226942 -0.04250653 0.04325873
+v -0.05029053 -0.04448064 0.04325251
+v -0.04935133 -0.04645292 0.04306063
+v -0.05740015 -0.04053237 0.03571796
+v -0.05790465 -0.04053239 0.04068800
+v -0.05739697 -0.04180607 0.03768732
+v -0.05743716 -0.04186321 0.03873907
+v -0.05730390 -0.04166231 0.04068800
+v -0.05883963 -0.03844768 0.04067380
+v -0.05538635 -0.04368802 0.03572684
+v -0.05550270 -0.04382810 0.03619941
+v -0.05564337 -0.04399954 0.03678569
+v -0.05698343 -0.04202909 0.03619942
+v -0.05401880 -0.03658966 0.03420432
+v -0.05341381 -0.03779515 0.03420431
+v -0.05270412 -0.03878313 0.03420431
+v -0.05663228 -0.04273691 0.03678569
+v -0.05708285 -0.04226135 0.03768731
+v -0.05722246 -0.04153697 0.04167845
+v -0.05614047 -0.04232035 0.04209505
+v -0.05421235 -0.04442166 0.04225406
+v -0.04935133 -0.04817449 0.03568063
+v -0.05029053 -0.04785745 0.03567796
+v -0.05096849 -0.04765838 0.03572504
+v -0.05141166 -0.04752935 0.03575614
+v -0.04978708 -0.04192218 0.03420430
+v -0.05096955 -0.04448064 0.04317878
+v -0.05218904 -0.04641053 0.04222740
+v -0.05029053 -0.04645292 0.04292738
+v -0.04935133 -0.04823719 0.04225848
+v -0.05675815 -0.04284935 0.03873906
+v -0.05660478 -0.04264844 0.04068799
+v -0.05077600 -0.04103189 0.03420430
+v -0.05346247 -0.04565661 0.03572327
+v -0.05511454 -0.04426864 0.03619941
+v -0.05238576 -0.03919970 0.03420431
+v -0.05171520 -0.04004576 0.03420430
+v -0.05108378 -0.04071301 0.03420430
+v -0.05477502 -0.04498752 0.03678568
+v -0.05531761 -0.04452302 0.03768731
+v -0.05576923 -0.04414515 0.03873906
+v -0.05669045 -0.04279221 0.03768731
+v -0.05561587 -0.04395899 0.04068799
+v -0.05542866 -0.04372490 0.04187120
+v -0.05353121 -0.04573036 0.04191739
+v -0.04935133 -0.04888230 0.03598709
+v -0.04935133 -0.04909611 0.03627490
+v -0.05096849 -0.04796989 0.03611234
+v -0.05154281 -0.04762888 0.03619940
+v -0.05270729 -0.04695795 0.03678568
+v -0.05045764 -0.04132129 0.03420430
+v -0.05147511 -0.04758835 0.04183122
+v -0.05029053 -0.04794779 0.04213501
+v -0.04935133 -0.04913853 0.04090916
+v -0.05360842 -0.04579854 0.03619940
+v -0.05405158 -0.04535616 0.03619940
+v -0.05493473 -0.04513129 0.03873905
+v -0.05378717 -0.04597181 0.03678568
+v -0.05394688 -0.04613033 0.03873905
+v -0.05476445 -0.04494513 0.04068798
+v -0.05377553 -0.04596445 0.04068798
+v -0.05268085 -0.04695243 0.04068798
+v -0.04935133 -0.04950533 0.03734441
+v -0.04943171 -0.04948689 0.03739149
+v -0.05017102 -0.04876434 0.03675902
+v -0.05171626 -0.04775792 0.03678567
+v -0.05225144 -0.04746300 0.03768730
+v -0.05287229 -0.04711647 0.03873905
+v -0.05336516 -0.04650267 0.03768730
+v -0.05169194 -0.04774872 0.04068797
+v -0.05010438 -0.04879384 0.04052719
+v -0.04935133 -0.04939843 0.03979967
+v -0.04935133 -0.04952191 0.03748743
+v -0.04941267 -0.04947583 0.03873638
+v -0.05040159 -0.04887678 0.03873638
+v -0.05096955 -0.04849891 0.03873904
+v -0.05188337 -0.04788880 0.03873904
+v -0.05179453 -0.04781875 0.03768729
+v -0.04935133 -0.04944265 0.03941504
+v -0.04935133 -0.04950348 0.03873638
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 3 11 26
+f 3 26 30
+f 3 30 12
+f 3 12 4
+f 3 8 13
+f 3 13 14
+f 3 14 11
+f 4 12 5
+f 5 12 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 9
+f 8 10 20
+f 8 20 13
+f 9 19 21
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 20
+f 11 24 25
+f 11 25 26
+f 11 14 27
+f 11 27 28
+f 11 28 29
+f 11 29 24
+f 12 30 31
+f 12 31 32
+f 12 32 15
+f 13 20 33
+f 13 33 34
+f 13 34 14
+f 14 34 35
+f 14 35 36
+f 14 36 27
+f 15 32 37
+f 15 37 16
+f 16 37 38
+f 16 38 39
+f 16 39 17
+f 17 40 18
+f 17 39 41
+f 17 41 42
+f 17 42 43
+f 17 43 40
+f 18 40 19
+f 19 43 44
+f 19 44 45
+f 19 45 46
+f 19 46 21
+f 19 40 43
+f 20 23 47
+f 20 47 33
+f 21 46 48
+f 21 48 49
+f 21 49 22
+f 22 49 50
+f 22 50 23
+f 23 50 51
+f 23 51 52
+f 23 52 47
+f 24 53 25
+f 24 29 53
+f 25 54 30
+f 25 30 26
+f 25 53 82
+f 25 82 110
+f 25 110 135
+f 25 135 117
+f 25 117 122
+f 25 122 121
+f 25 121 120
+f 25 120 100
+f 25 100 99
+f 25 99 98
+f 25 98 83
+f 25 83 54
+f 27 55 28
+f 27 36 55
+f 28 55 56
+f 28 56 57
+f 28 57 29
+f 29 57 58
+f 29 58 59
+f 29 59 60
+f 29 60 53
+f 30 54 61
+f 30 61 31
+f 31 61 37
+f 31 37 32
+f 33 47 62
+f 33 62 63
+f 33 63 34
+f 34 63 64
+f 34 64 65
+f 34 65 66
+f 34 66 35
+f 35 66 36
+f 36 66 87
+f 36 87 114
+f 36 114 138
+f 36 138 156
+f 36 156 163
+f 36 163 164
+f 36 164 157
+f 36 157 147
+f 36 147 131
+f 36 131 130
+f 36 130 106
+f 36 106 82
+f 36 82 53
+f 36 53 60
+f 36 60 59
+f 36 59 58
+f 36 58 57
+f 36 57 56
+f 36 56 55
+f 37 61 54
+f 37 54 38
+f 38 54 67
+f 38 67 41
+f 38 41 39
+f 41 67 42
+f 42 67 68
+f 42 68 69
+f 42 69 43
+f 43 69 44
+f 44 70 71
+f 44 71 72
+f 44 72 45
+f 44 69 68
+f 44 68 73
+f 44 73 74
+f 44 74 75
+f 44 75 76
+f 44 76 70
+f 45 72 46
+f 46 72 77
+f 46 77 48
+f 47 52 62
+f 48 77 78
+f 48 78 49
+f 49 78 79
+f 49 79 51
+f 49 51 50
+f 51 79 80
+f 51 80 52
+f 52 80 81
+f 52 81 62
+f 54 83 67
+f 62 81 84
+f 62 84 85
+f 62 85 63
+f 63 85 65
+f 63 65 64
+f 65 85 66
+f 66 85 86
+f 66 86 87
+f 67 88 73
+f 67 73 68
+f 67 83 88
+f 70 89 71
+f 70 76 90
+f 70 90 91
+f 70 91 92
+f 70 92 89
+f 71 93 77
+f 71 77 72
+f 71 89 93
+f 73 94 95
+f 73 95 96
+f 73 96 97
+f 73 97 74
+f 73 88 83
+f 73 83 98
+f 73 98 99
+f 73 99 100
+f 73 100 94
+f 74 97 101
+f 74 101 75
+f 75 90 76
+f 75 101 102
+f 75 102 90
+f 77 93 78
+f 78 93 103
+f 78 103 79
+f 79 103 104
+f 79 104 80
+f 80 104 81
+f 81 104 105
+f 81 105 84
+f 82 106 107
+f 82 107 108
+f 82 108 109
+f 82 109 110
+f 84 111 85
+f 84 105 112
+f 84 112 113
+f 84 113 87
+f 84 87 111
+f 85 111 86
+f 86 111 87
+f 87 113 114
+f 89 92 103
+f 89 103 93
+f 90 102 115
+f 90 115 91
+f 91 115 92
+f 92 115 116
+f 92 116 103
+f 94 117 118
+f 94 118 119
+f 94 119 95
+f 94 100 120
+f 94 120 121
+f 94 121 122
+f 94 122 117
+f 95 119 123
+f 95 123 96
+f 96 123 124
+f 96 124 125
+f 96 125 101
+f 96 101 97
+f 101 125 126
+f 101 126 102
+f 102 126 115
+f 103 116 127
+f 103 127 128
+f 103 128 104
+f 104 128 105
+f 105 128 129
+f 105 129 112
+f 106 130 107
+f 107 130 109
+f 107 109 108
+f 109 130 131
+f 109 131 132
+f 109 132 133
+f 109 133 134
+f 109 134 118
+f 109 118 110
+f 110 118 135
+f 112 136 137
+f 112 137 113
+f 112 129 136
+f 113 137 114
+f 114 137 138
+f 115 126 125
+f 115 125 127
+f 115 127 116
+f 117 135 118
+f 118 139 140
+f 118 140 119
+f 118 134 139
+f 119 140 123
+f 123 141 124
+f 123 140 139
+f 123 139 142
+f 123 142 143
+f 123 143 141
+f 124 141 125
+f 125 141 127
+f 127 141 144
+f 127 144 128
+f 128 144 129
+f 129 144 145
+f 129 145 146
+f 129 146 136
+f 131 147 148
+f 131 148 149
+f 131 149 132
+f 132 149 133
+f 133 150 134
+f 133 149 150
+f 134 150 151
+f 134 151 152
+f 134 152 153
+f 134 153 142
+f 134 142 139
+f 136 146 154
+f 136 154 155
+f 136 155 138
+f 136 138 137
+f 138 155 156
+f 141 143 145
+f 141 145 144
+f 142 153 143
+f 143 153 152
+f 143 152 145
+f 145 152 146
+f 146 152 154
+f 147 157 148
+f 148 157 158
+f 148 158 159
+f 148 159 160
+f 148 160 161
+f 148 161 162
+f 148 162 150
+f 148 150 149
+f 150 162 151
+f 151 162 161
+f 151 161 152
+f 152 161 154
+f 154 161 160
+f 154 160 159
+f 154 159 156
+f 154 156 155
+f 156 159 163
+f 157 164 158
+f 158 163 159
+f 158 164 163
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_41.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.05078291 0.03257635 0.02557663
+v -0.05000250 0.03257640 0.01160665
+v -0.05492324 0.03257635 0.02557663
+v -0.05088713 0.01471959 0.02557656
+v -0.05419940 0.03257640 0.01160665
+v -0.05084392 -0.00667164 0.02116369
+v -0.05121124 -0.00667160 0.01160651
+v -0.05490418 0.03257635 0.02516092
+v -0.05496265 0.03244573 0.02557663
+v -0.05114514 0.01337879 0.02557656
+v -0.05101995 -0.00667164 0.02251201
+v -0.05099135 -0.00667164 0.02229732
+v -0.05423244 0.03248036 0.01160665
+v -0.05420385 0.03257640 0.01168733
+v -0.05501094 -0.00667160 0.01160651
+v -0.05480631 0.03257635 0.02320819
+v -0.05483109 0.03248032 0.02311520
+v -0.05492833 0.03248031 0.02506793
+v -0.05473323 0.03248032 0.02116383
+v -0.05521621 0.03135466 0.02557663
+v -0.05187789 0.01275642 0.02557656
+v -0.05424579 -0.00667165 0.02356906
+v -0.05226873 -0.00667165 0.02327505
+v -0.05463218 0.03071696 0.01160664
+v -0.05432714 0.03248035 0.01335426
+v -0.05429981 0.03257639 0.01344588
+v -0.05645545 -0.00667164 0.02116369
+v -0.05649358 -0.00501198 0.02116369
+v -0.05501221 -0.00501194 0.01160651
+v -0.05470781 0.03257636 0.02125545
+v -0.05463345 0.03248033 0.01921110
+v -0.05453241 0.03248034 0.01725973
+v -0.05467857 0.03050951 0.01160664
+v -0.05476627 0.03050950 0.01335425
+v -0.05486097 0.03050949 0.01530699
+v -0.05495375 0.03050949 0.01725972
+v -0.05508339 0.03031354 0.01940253
+v -0.05523528 0.02952213 0.02018062
+v -0.05525625 0.02967195 0.02116382
+v -0.05534268 0.03039420 0.02557662
+v -0.05216259 0.01264885 0.02557656
+v -0.05588350 -0.00667164 0.02280601
+v -0.05424579 0.01240297 0.02557656
+v -0.05577419 0.01296003 0.02557656
+v -0.05598581 0.01334806 0.02557656
+v -0.05646372 0.01471959 0.02557656
+v -0.05443072 0.03248034 0.01530700
+v -0.05440403 0.03257638 0.01539862
+v -0.05636394 -0.00667164 0.02143035
+v -0.05649358 -0.00106259 0.02116371
+v -0.05501476 -0.00106255 0.01160653
+v -0.05649422 0.01471959 0.02506786
+v -0.05460740 0.03257637 0.01930272
+v -0.05450635 0.03257638 0.01735135
+v -0.05488829 0.02874227 0.01160664
+v -0.05550156 0.02853476 0.02557661
+v -0.05491244 0.02853481 0.01160663
+v -0.05499252 0.02853480 0.01335424
+v -0.05533569 0.03028279 0.02506792
+v -0.05644274 0.01523439 0.02557657
+v -0.05649295 0.00288296 0.02116372
+v -0.05501476 -0.00085509 0.01160653
+v -0.05639953 0.01077789 0.02116375
+v -0.05649231 0.00485765 0.02116373
+v -0.05498425 0.02676758 0.01160663
+v -0.05500777 0.02282203 0.01160661
+v -0.05499252 0.02656012 0.01160663
+v -0.05500586 0.02479672 0.01160662
+v -0.05500713 0.02458927 0.01160662
+f 1 2 5
+f 1 5 14
+f 1 14 26
+f 1 26 48
+f 1 48 54
+f 1 54 53
+f 1 53 30
+f 1 30 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 40
+f 1 40 56
+f 1 56 60
+f 1 60 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 41
+f 1 41 21
+f 1 21 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 15
+f 2 15 29
+f 2 29 51
+f 2 51 62
+f 2 62 66
+f 2 66 69
+f 2 69 68
+f 2 68 67
+f 2 67 65
+f 2 65 57
+f 2 57 55
+f 2 55 33
+f 2 33 24
+f 2 24 13
+f 2 13 5
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 5 13 14
+f 6 12 11
+f 6 11 23
+f 6 23 22
+f 6 22 42
+f 6 42 49
+f 6 49 27
+f 6 27 15
+f 6 15 7
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 17
+f 9 17 19
+f 9 19 20
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 15 27 28
+f 15 28 29
+f 16 30 19
+f 16 19 17
+f 19 31 20
+f 19 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 21 41 22
+f 22 41 43
+f 22 43 44
+f 22 44 45
+f 22 45 46
+f 22 46 42
+f 24 47 25
+f 24 33 47
+f 25 47 48
+f 25 48 26
+f 27 49 46
+f 27 46 28
+f 28 50 62
+f 28 62 51
+f 28 51 29
+f 28 46 52
+f 28 52 50
+f 30 53 31
+f 31 53 54
+f 31 54 32
+f 32 54 47
+f 32 47 33
+f 33 55 38
+f 33 38 34
+f 34 38 35
+f 35 38 36
+f 36 38 37
+f 38 56 39
+f 38 55 57
+f 38 57 58
+f 38 58 52
+f 38 52 56
+f 39 56 59
+f 39 59 40
+f 40 59 56
+f 42 46 49
+f 46 60 52
+f 47 54 48
+f 50 61 62
+f 50 52 61
+f 52 60 56
+f 52 58 57
+f 52 57 63
+f 52 63 64
+f 52 64 61
+f 57 65 63
+f 61 64 66
+f 61 66 62
+f 63 65 67
+f 63 67 64
+f 64 67 68
+f 64 68 69
+f 64 69 66
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_42.obj

@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.04743362 -0.04448134 0.04326018
+v 0.04003965 -0.04637626 0.04326347
+v 0.04078520 -0.04637626 0.04326347
+v 0.04743362 -0.04566324 0.04325935
+v 0.04743362 -0.04368934 0.04325276
+v 0.04268454 -0.04448134 0.04325854
+v 0.04003965 -0.04514625 0.04325853
+v 0.04003965 -0.04637624 0.03872717
+v 0.04671847 -0.04637626 0.04325688
+v 0.04743362 -0.04637626 0.04323710
+v 0.04003965 -0.04448134 0.04325524
+v 0.04743362 -0.04250815 0.04314315
+v 0.04003965 -0.04561869 0.03484444
+v 0.04743362 -0.04637624 0.03867194
+v 0.04743362 -0.04171687 0.04296761
+v 0.04003965 -0.04322548 0.04272034
+v 0.04003965 -0.04151435 0.03484446
+v 0.04052534 -0.04560002 0.03484444
+v 0.04154885 -0.04549591 0.03484444
+v 0.04257380 -0.04531855 0.03484444
+v 0.04466206 -0.04478720 0.03484445
+v 0.04663958 -0.04404689 0.03484445
+v 0.04743362 -0.04369003 0.03484445
+v 0.04743362 -0.04056010 0.04238244
+v 0.04003965 -0.04259001 0.04244836
+v 0.04003965 -0.04154811 0.03867279
+v 0.04743362 -0.03904140 0.03484447
+v 0.04743362 -0.04001437 0.04210139
+v 0.04743362 -0.03976377 0.04179068
+v 0.04003965 -0.04194448 0.04128215
+v 0.04003965 -0.04157396 0.03943021
+v 0.04003965 -0.04161848 0.04068874
+v 0.04743362 -0.03932719 0.03873709
+v 0.04743362 -0.03962017 0.04152529
+v 0.04743362 -0.03950240 0.04068874
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 23
+f 1 23 27
+f 1 27 33
+f 1 33 35
+f 1 35 34
+f 1 34 29
+f 1 29 28
+f 1 28 24
+f 1 24 15
+f 1 15 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 16
+f 2 16 25
+f 2 25 30
+f 2 30 32
+f 2 32 31
+f 2 31 26
+f 2 26 17
+f 2 17 13
+f 2 13 8
+f 2 8 14
+f 2 14 10
+f 2 10 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 5 11 6
+f 5 12 11
+f 6 11 7
+f 8 13 14
+f 11 12 15
+f 11 15 16
+f 13 17 27
+f 13 27 23
+f 13 23 22
+f 13 22 21
+f 13 21 20
+f 13 20 19
+f 13 19 18
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 15 24 25
+f 15 25 16
+f 17 26 27
+f 24 28 25
+f 25 28 29
+f 25 29 30
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 29 34 32
+f 29 32 30
+f 32 34 35
+f 32 35 33
+

dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/mjcf/mesh/storage_bin_005_collision_43.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.04935132 -0.04637188 0.03631005
+v -0.04638064 -0.04404740 0.03477010
+v -0.04633845 -0.04406608 0.03477010
+v -0.04442245 -0.04480293 0.03477010
+v -0.04435566 -0.04482814 0.03477010
+v -0.04236846 -0.04532404 0.03477009
+v -0.04037248 -0.04557993 0.03477009
+v -0.04037248 -0.04559114 0.03481915
+v -0.04037248 -0.04637189 0.03874307
+v -0.04935132 -0.04637191 0.04306280
+v -0.04935132 -0.04227392 0.03477010
+v -0.04845924 -0.04290897 0.03477010
+v -0.04842145 -0.04293512 0.03477010
+v -0.04838278 -0.04296127 0.03477010
+v -0.04743884 -0.04356270 0.03477010
+v -0.04037248 -0.04149598 0.03477011
+v -0.04037248 -0.04637190 0.04084265
+v -0.04831159 -0.04637191 0.04320998
+v -0.04935132 -0.04448076 0.04325739
+v -0.04935132 -0.03683207 0.03477012
+v -0.04037248 -0.04154455 0.03856931
+v -0.04037336 -0.04637191 0.04326403
+v -0.04037248 -0.04448076 0.04325655
+v -0.04633318 -0.04637191 0.04325738
+v -0.04831159 -0.04448076 0.04326071
+v -0.04935132 -0.04250742 0.04324990
+v -0.04935132 -0.03714306 0.03873728
+v -0.04037248 -0.04161927 0.04068884
+v -0.04039972 -0.04637191 0.04326486
+v -0.04237813 -0.04448076 0.04326071
+v -0.04037248 -0.04259054 0.04245081
+v -0.04935132 -0.03866348 0.04232943
+v -0.04935132 -0.04053502 0.04300960
+v -0.04831159 -0.04250742 0.04323826
+v -0.04435566 -0.04637191 0.04326153
+v -0.04935132 -0.03731771 0.04038535
+v -0.04037248 -0.04257747 0.04242753
+v -0.04935132 -0.03752597 0.04150790
+v -0.04931441 -0.03759135 0.04156444
+v -0.04935132 -0.03762777 0.04161017
+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 17
+f 1 17 22
+f 1 22 29
+f 1 29 35
+f 1 35 24
+f 1 24 18
+f 1 18 10
+f 1 10 19
+f 1 19 26
+f 1 26 33
+f 1 33 32
+f 1 32 40
+f 1 40 38
+f 1 38 36
+f 1 36 27
+f 1 27 20
+f 1 20 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 2
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 20
+f 2 20 16
+f 2 16 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 7 16 21
+f 7 21 28
+f 7 28 37
+f 7 37 31
+f 7 31 23
+f 7 23 17
+f 7 17 9
+f 7 9 8
+f 10 18 19
+f 16 20 21
+f 17 23 22
+f 18 24 19
+f 19 24 25
+f 19 25 26
+f 20 27 28
+f 20 28 21
+f 22 23 29
+f 23 30 29
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 26
+f 23 26 30
+f 24 35 25
+f 25 35 29
+f 25 29 30
+f 25 30 26
+f 26 34 33
+f 27 36 28
+f 28 36 38
+f 28 38 37
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 38 40 39
+