Add asset bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2

.gitattributes

@@ -2853,3 +2853,5 @@ dataset/bedroom_supplies/storage/d9fd0907a1d55cc9bd40f335fcf56c88/d9fd0907a1d55c
 dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/e19f2b44ea175005b103d90bd21a6ac9.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/e19f2b44ea175005b103d90bd21a6ac9/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.glb filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket_002">
+   <link name="basket_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_002.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/basket_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>e71319c323d5582cbb8082c2d23d41b2</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>basket</category>
+         <name>round wicker basket</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>wicker</material>
+         <description>small round brown woven basket with thick braided rim</description>
+         <min_height>0.0765</min_height>
+         <max_height>0.0765</max_height>
+         <real_height>0.0765</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611131051</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074624 -0.074519 -0.036918</min>
+            <max>0.075376 0.073988 0.039548</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/basket_002.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e959b2a1888f4e417e7a49f7e4ce145e6e90d3b9e7a0c0f1b46893c7b4219aa6
+size 5018179

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91c8f0ad943f6d50e3fd3784dbbee43de98c172932df3791a9c321bcdb63b730
+size 18658440

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mesh/basket_002.mtl

@@ -0,0 +1,6 @@
+newmtl basket_002_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/e71319c323d5582cbb8082c2d23d41b2/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl basket_002_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 basket_002_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/basket_002.xml

@@ -0,0 +1,128 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket_002">
+  <asset>
+    <material name="material_0" texture="texture_0_basket_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_basket_002_geometry_Looks_material_0" type="2d" file="mesh/basket_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/basket_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/basket_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/basket_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_002_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_002_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_002_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_002_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_002_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_002_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_002_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_002_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/basket_002_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/basket_002_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/basket_002_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/basket_002_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_002_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_002_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_002_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/basket_002_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/basket_002_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/basket_002_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/basket_002_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/basket_002_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/basket_002_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/basket_002_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/basket_002_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/basket_002_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/basket_002_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/basket_002_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/basket_002_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket_002">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_0.obj

@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v -0.00023714 0.00024250 -0.03116377
+v -0.00023714 -0.05262333 -0.03073659
+v -0.00023714 0.00024252 -0.03622008
+v -0.05234578 0.00024250 -0.03073640
+v -0.00023714 -0.06184866 -0.03073663
+v -0.00023714 -0.05602339 -0.03725171
+v -0.05786324 0.00024253 -0.03718005
+v -0.06300590 0.00024250 -0.03073640
+v -0.00023714 -0.05993533 -0.03560349
+v -0.00913389 -0.06200099 -0.03073663
+v -0.00023714 -0.05849729 -0.03656409
+v -0.00086999 -0.05849729 -0.03656983
+v -0.00086999 -0.05602339 -0.03725298
+v -0.05538714 -0.01389403 -0.03724198
+v -0.05786324 -0.00150626 -0.03717624
+v -0.05940543 0.00024252 -0.03646820
+v -0.06125482 0.00024252 -0.03413811
+v -0.06123638 -0.00150627 -0.03413812
+v -0.06295675 -0.00150629 -0.03073641
+v -0.00023714 -0.05886290 -0.03632108
+v -0.00086999 -0.05994142 -0.03560795
+v -0.00998178 -0.06197053 -0.03073663
+v -0.00334609 -0.05989877 -0.03556203
+v -0.00334609 -0.05849729 -0.03651370
+v -0.01078052 -0.05602339 -0.03717516
+v -0.00830443 -0.05602339 -0.03722428
+v -0.00582833 -0.05602339 -0.03724533
+v -0.03308383 -0.04610952 -0.03723955
+v -0.05290490 -0.02133400 -0.03723946
+v -0.05538714 -0.01637402 -0.03719032
+v -0.05786324 -0.00398625 -0.03715072
+v -0.06004442 -0.00150627 -0.03616523
+v -0.06005056 0.00024252 -0.03616905
+v -0.06090460 0.00024252 -0.03473769
+v -0.05998298 -0.00398626 -0.03613461
+v -0.05986624 -0.00646016 -0.03607339
+v -0.06107664 -0.00398626 -0.03413812
+v -0.06158660 -0.01389406 -0.03073645
+v -0.06083702 -0.00646016 -0.03413813
+v -0.00711860 -0.05974643 -0.03536812
+v -0.00582833 -0.05980737 -0.03544913
+v -0.01219983 -0.06162320 -0.03073663
+v -0.00582833 -0.05849729 -0.03638039
+v -0.01326276 -0.05602339 -0.03705843
+v -0.02069720 -0.05354340 -0.03714326
+v -0.01821496 -0.05354340 -0.03723256
+v -0.02564940 -0.05106341 -0.03718981
+v -0.03060774 -0.04858951 -0.03716238
+v -0.03803603 -0.04362953 -0.03708837
+v -0.04051827 -0.04114954 -0.03712982
+v -0.04547046 -0.03371567 -0.03722291
+v -0.05290490 -0.02380789 -0.03711253
+v -0.05042880 -0.02628788 -0.03722927
+v -0.05538714 -0.01885401 -0.03697474
+v -0.05786324 -0.01142013 -0.03678016
+v -0.05786324 -0.00894014 -0.03698044
+v -0.05786324 -0.00646015 -0.03709524
+v -0.05970649 -0.00894015 -0.03596624
+v -0.06139613 -0.01555754 -0.03073646
+v -0.01573886 -0.06058732 -0.03132026
+v -0.01771728 -0.05746143 -0.03558881
+v -0.01573886 -0.05770516 -0.03582928
+v -0.01326276 -0.05798545 -0.03604296
+v -0.01078052 -0.05822310 -0.03617308
+v -0.00808938 -0.05868010 -0.03607422
+v -0.01779716 -0.06042891 -0.03073662
+v -0.01821496 -0.06022173 -0.03104024
+v -0.01573886 -0.05602339 -0.03682370
+v -0.02317330 -0.05354340 -0.03682241
+v -0.02813164 -0.05106341 -0.03689193
+v -0.03555993 -0.04610952 -0.03698121
+v -0.04060429 -0.04372704 -0.03623044
+v -0.04310496 -0.04125923 -0.03625021
+v -0.04299437 -0.03867565 -0.03711449
+v -0.04795271 -0.03124177 -0.03719101
+v -0.05290490 -0.02628789 -0.03668837
+v -0.05042880 -0.02876787 -0.03709342
+v -0.05538714 -0.02133401 -0.03653207
+v -0.05727955 -0.01885402 -0.03596947
+v -0.05786324 -0.01389404 -0.03646188
+v -0.05949759 -0.01142014 -0.03579148
+v -0.05932555 -0.02314984 -0.03073649
+v -0.05924568 -0.01389404 -0.03552741
+v -0.05911050 -0.01516145 -0.03536732
+v -0.05932555 -0.02313765 -0.03074924
+v -0.01937006 -0.05722988 -0.03529284
+v -0.02317330 -0.05527392 -0.03583756
+v -0.02069720 -0.05574311 -0.03613289
+v -0.01841157 -0.05625495 -0.03623560
+v -0.01975714 -0.05993535 -0.03073662
+v -0.02563711 -0.05366528 -0.03615649
+v -0.02813164 -0.05292189 -0.03590516
+v -0.03060159 -0.05115482 -0.03615074
+v -0.03308383 -0.04858952 -0.03669546
+v -0.03802374 -0.04614609 -0.03613158
+v -0.04235537 -0.04296537 -0.03577948
+v -0.03983012 -0.04534786 -0.03574249
+v -0.04477617 -0.04050975 -0.03576735
+v -0.04555034 -0.03872440 -0.03619662
+v -0.04547046 -0.03619566 -0.03704879
+v -0.05292334 -0.02860946 -0.03600523
+v -0.05454539 -0.02628789 -0.03573860
+v -0.05541172 -0.02356417 -0.03596439
+v -0.04795271 -0.03371567 -0.03686954
+v -0.05064385 -0.03144895 -0.03629738
+v -0.05796155 -0.01614248 -0.03602304
+v -0.05684945 -0.02133401 -0.03559506
+v -0.05694776 -0.02817075 -0.03082516
+v -0.05689861 -0.02835356 -0.03073650
+v -0.05662827 -0.02257705 -0.03536160
+v -0.05422590 -0.02767717 -0.03544773
+v -0.01988003 -0.05989269 -0.03073662
+v -0.02480150 -0.05495097 -0.03554797
+v -0.02976598 -0.05251363 -0.03558241
+v -0.03308383 -0.05029566 -0.03575590
+v -0.03536332 -0.04851031 -0.03591281
+v -0.03719428 -0.04763896 -0.03563342
+v -0.03968267 -0.04947917 -0.03073658
+v -0.04151977 -0.04772429 -0.03073658
+v -0.04194986 -0.04730994 -0.03073657
+v -0.04711710 -0.03793227 -0.03570547
+v -0.04794657 -0.03612864 -0.03606265
+v -0.05211230 -0.03076650 -0.03575136
+v -0.04993727 -0.03371568 -0.03589999
+v -0.05439793 -0.03288700 -0.03074226
+v -0.05440408 -0.03288091 -0.03073652
+v -0.05161463 -0.03241170 -0.03522896
+v -0.03160923 -0.05453055 -0.03073660
+v -0.03223594 -0.05423198 -0.03073660
+v -0.03500081 -0.05269645 -0.03085906
+v -0.03441097 -0.04988740 -0.03542803
+v -0.03891465 -0.05011897 -0.03073658
+v -0.05034278 -0.03789573 -0.03073654
+v -0.05206930 -0.03593976 -0.03073653
+v -0.04940888 -0.03525729 -0.03557087
+v -0.05219218 -0.03563510 -0.03090684
+v -0.03482878 -0.05283660 -0.03073659
+v -0.03512370 -0.05265989 -0.03073659
+f 1 2 5
+f 1 5 9
+f 1 9 20
+f 1 20 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 33
+f 1 33 34
+f 1 34 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 19
+f 2 19 38
+f 2 38 59
+f 2 59 82
+f 2 82 109
+f 2 109 126
+f 2 126 134
+f 2 134 133
+f 2 133 120
+f 2 120 119
+f 2 119 118
+f 2 118 132
+f 2 132 138
+f 2 138 137
+f 2 137 129
+f 2 129 128
+f 2 128 112
+f 2 112 90
+f 2 90 66
+f 2 66 42
+f 2 42 22
+f 2 22 10
+f 2 10 5
+f 3 6 7
+f 5 10 9
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 9 10 21
+f 9 21 20
+f 10 22 23
+f 10 23 21
+f 11 20 12
+f 12 20 21
+f 12 21 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 14
+f 14 28 29
+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 17 34 18
+f 18 34 32
+f 18 32 35
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 19 37 39
+f 19 39 38
+f 21 23 24
+f 22 40 41
+f 22 41 23
+f 22 42 40
+f 23 41 43
+f 23 43 24
+f 24 43 44
+f 24 44 25
+f 25 44 45
+f 25 45 46
+f 25 46 26
+f 26 46 27
+f 27 46 28
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 28 46 47
+f 29 52 30
+f 29 51 53
+f 29 53 52
+f 30 52 54
+f 30 54 55
+f 30 55 56
+f 30 56 57
+f 30 57 31
+f 31 57 32
+f 32 34 33
+f 32 57 35
+f 35 57 56
+f 35 56 36
+f 36 56 58
+f 36 58 37
+f 37 58 39
+f 38 39 58
+f 38 58 59
+f 40 42 60
+f 40 60 61
+f 40 61 62
+f 40 62 63
+f 40 63 64
+f 40 64 41
+f 41 64 65
+f 41 65 43
+f 42 66 67
+f 42 67 60
+f 43 65 64
+f 43 64 44
+f 44 64 68
+f 44 68 45
+f 45 68 69
+f 45 69 70
+f 45 70 47
+f 45 47 46
+f 47 70 48
+f 48 70 71
+f 48 71 49
+f 49 72 50
+f 49 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 51
+f 51 74 75
+f 51 75 53
+f 52 76 54
+f 52 53 77
+f 52 77 76
+f 53 75 77
+f 54 76 78
+f 54 78 79
+f 54 79 80
+f 54 80 55
+f 55 80 81
+f 55 81 58
+f 55 58 56
+f 58 81 59
+f 59 81 83
+f 59 83 84
+f 59 84 85
+f 59 85 82
+f 60 67 61
+f 61 67 86
+f 61 86 87
+f 61 87 88
+f 61 88 62
+f 62 88 89
+f 62 89 68
+f 62 68 63
+f 63 68 64
+f 66 90 67
+f 67 90 86
+f 68 89 88
+f 68 88 69
+f 69 88 87
+f 69 87 91
+f 69 91 70
+f 70 91 92
+f 70 92 93
+f 70 93 94
+f 70 94 71
+f 71 94 95
+f 71 95 72
+f 72 96 73
+f 72 95 97
+f 72 97 96
+f 73 98 99
+f 73 99 100
+f 73 100 74
+f 73 96 98
+f 74 100 75
+f 75 100 77
+f 76 101 102
+f 76 102 103
+f 76 103 78
+f 76 77 104
+f 76 104 105
+f 76 105 101
+f 77 100 104
+f 78 103 79
+f 79 84 106
+f 79 106 80
+f 79 103 107
+f 79 107 84
+f 80 106 81
+f 81 106 83
+f 82 85 108
+f 82 108 109
+f 83 106 84
+f 84 107 110
+f 84 110 85
+f 85 110 111
+f 85 111 108
+f 86 90 112
+f 86 112 113
+f 86 113 87
+f 87 113 92
+f 87 92 91
+f 92 114 93
+f 92 113 114
+f 93 114 115
+f 93 115 94
+f 94 115 116
+f 94 116 95
+f 95 116 117
+f 95 117 97
+f 96 97 118
+f 96 118 119
+f 96 119 120
+f 96 120 98
+f 97 117 118
+f 98 121 99
+f 98 120 121
+f 99 121 122
+f 99 122 104
+f 99 104 100
+f 101 111 102
+f 101 105 123
+f 101 123 111
+f 102 111 110
+f 102 110 103
+f 103 110 107
+f 104 122 124
+f 104 124 105
+f 105 124 123
+f 108 111 125
+f 108 125 109
+f 109 125 126
+f 111 123 127
+f 111 127 125
+f 112 128 113
+f 113 128 129
+f 113 129 114
+f 114 129 130
+f 114 130 131
+f 114 131 115
+f 115 131 116
+f 116 131 117
+f 117 131 132
+f 117 132 118
+f 120 133 121
+f 121 133 134
+f 121 134 135
+f 121 135 122
+f 122 135 124
+f 123 124 135
+f 123 135 127
+f 125 127 135
+f 125 135 136
+f 125 136 134
+f 125 134 126
+f 129 137 130
+f 130 137 138
+f 130 138 132
+f 130 132 131
+f 134 136 135
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_1.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.00905012 0.06184564 -0.03081701
+v 0.00657188 0.06178535 -0.03081701
+v 0.01152836 0.06173711 -0.03081701
+v 0.00409365 0.05949394 -0.03568773
+v 0.00161541 0.05953615 -0.03573499
+v -0.00086283 0.05954218 -0.03574193
+v -0.00336023 0.05951203 -0.03570537
+v -0.00014746 0.06150796 -0.03081701
+v 0.01334233 0.06148384 -0.03081701
+v 0.00842418 0.05929495 -0.03546212
+v 0.00657188 0.05939746 -0.03558186
+v 0.00409365 0.05797436 -0.03666012
+v 0.00657188 0.05797436 -0.03653408
+v 0.00161541 0.05797436 -0.03671809
+v -0.00086283 0.05797436 -0.03672881
+v -0.00334107 0.05797436 -0.03668910
+v -0.00334107 0.05951203 -0.03570601
+v -0.00336023 0.05797436 -0.03668848
+v -0.00336023 0.06131500 -0.03081701
+v -0.00120135 0.06145972 -0.03081701
+v 0.01007846 0.05917435 -0.03526424
+v 0.02015748 0.05950598 -0.03081702
+v 0.01896307 0.05974116 -0.03105082
+v 0.02015748 0.05672011 -0.03532034
+v 0.01850319 0.05696131 -0.03561653
+v 0.01400660 0.05754623 -0.03607971
+v 0.01152836 0.05780552 -0.03620260
+v 0.00917148 0.05819748 -0.03615345
+v 0.01400660 0.05549602 -0.03708991
+v 0.01152836 0.05549602 -0.03719452
+v 0.00905012 0.05549602 -0.03723486
+v -0.00336023 0.05549602 -0.03722162
+v 0.00657188 0.05549602 -0.03723297
+v -0.00336023 0.05217343 -0.03081705
+v 0.01648484 0.05724473 -0.03587490
+v 0.02070039 0.05928287 -0.03081702
+v 0.02554190 0.05442266 -0.03554596
+v 0.02391955 0.05475431 -0.03583521
+v 0.02144131 0.05523069 -0.03613392
+v 0.01648484 0.05549602 -0.03686872
+v 0.02144131 0.05301766 -0.03713530
+v 0.01896307 0.05301766 -0.03722604
+v 0.03630435 0.04310423 -0.03724750
+v 0.05613025 0.00841327 -0.03725456
+v -0.00336023 0.00024855 -0.03621983
+v 0.05613025 0.00024253 -0.03722812
+v -0.00336023 0.00024250 -0.03116258
+v 0.05232347 0.00024250 -0.03081724
+v 0.01918663 0.05573118 -0.03625428
+v 0.03547401 0.05212518 -0.03081705
+v 0.03042812 0.05195636 -0.03554344
+v 0.02887602 0.05236038 -0.03586988
+v 0.02637862 0.05313222 -0.03614653
+v 0.02391955 0.05301766 -0.03681453
+v 0.02639779 0.05053930 -0.03718697
+v 0.02887602 0.04806095 -0.03722605
+v 0.03382611 0.04558259 -0.03719770
+v 0.03878259 0.04310423 -0.03700047
+v 0.04126083 0.04062588 -0.03702568
+v 0.04373906 0.03566916 -0.03724690
+v 0.05365201 0.01832670 -0.03724318
+v 0.05613025 0.01089162 -0.03722934
+v 0.05860849 0.00097819 -0.03672209
+v -0.00336023 0.00024252 -0.03611270
+v -0.00334107 0.00024252 -0.03621983
+v 0.05860849 0.00024252 -0.03671452
+v 0.06187235 0.00024250 -0.03081724
+v 0.03560814 0.05204679 -0.03081705
+v 0.03129039 0.05059960 -0.03609864
+v 0.03504607 0.04928504 -0.03532163
+v 0.03339178 0.04981569 -0.03578356
+v 0.02887602 0.05053930 -0.03684793
+v 0.03134787 0.04806095 -0.03712900
+v 0.03630435 0.04558259 -0.03683850
+v 0.03868039 0.04554037 -0.03600413
+v 0.04124805 0.04310422 -0.03609741
+v 0.04373906 0.04060778 -0.03610057
+v 0.04373906 0.03814752 -0.03700742
+v 0.04621730 0.03319081 -0.03722422
+v 0.05117377 0.02576177 -0.03720282
+v 0.05365201 0.02080505 -0.03717700
+v 0.05613025 0.01336998 -0.03714489
+v 0.05860849 0.00345654 -0.03668553
+v 0.06017974 0.00097819 -0.03573962
+v 0.06016697 0.00024252 -0.03573269
+v 0.06189152 0.00097817 -0.03081724
+v 0.03855903 0.04983376 -0.03081706
+v 0.03834826 0.04991818 -0.03097587
+v 0.03406244 0.04829611 -0.03631984
+v 0.03779257 0.04701171 -0.03554284
+v 0.03630435 0.04757250 -0.03587747
+v 0.04041133 0.04469013 -0.03564872
+v 0.04291511 0.04227810 -0.03567960
+v 0.04532309 0.03977563 -0.03565062
+v 0.04617898 0.03805706 -0.03601614
+v 0.04621730 0.03566916 -0.03687950
+v 0.04869554 0.03071848 -0.03713601
+v 0.05117377 0.02824012 -0.03688457
+v 0.05365201 0.02328341 -0.03687387
+v 0.05613025 0.01584834 -0.03694511
+v 0.05860849 0.00841326 -0.03642397
+v 0.05860849 0.00593490 -0.03659666
+v 0.06014781 0.00345654 -0.03571315
+v 0.06185958 0.00194298 -0.03081723
+v 0.04121611 0.04742173 -0.03081707
+v 0.04289595 0.04566698 -0.03081707
+v 0.04766081 0.03717064 -0.03555736
+v 0.05035621 0.03734549 -0.03083727
+v 0.05258535 0.03486110 -0.03081711
+v 0.04857418 0.03542192 -0.03580504
+v 0.04869554 0.03319080 -0.03659278
+v 0.05123765 0.03068229 -0.03612204
+v 0.05303884 0.02824011 -0.03590400
+v 0.05377976 0.02578588 -0.03618508
+v 0.05545321 0.02328340 -0.03588133
+v 0.05620690 0.02063017 -0.03603699
+v 0.05613025 0.01832669 -0.03657455
+v 0.05796338 0.01584833 -0.03593807
+v 0.05826358 0.01336997 -0.03612714
+v 0.05877456 0.01072880 -0.03607421
+v 0.05995619 0.00841326 -0.03549445
+v 0.06007755 0.00593490 -0.03563688
+v 0.06180848 0.00345652 -0.03081723
+v 0.05036260 0.03735152 -0.03081710
+v 0.04993466 0.03443299 -0.03536201
+v 0.05284723 0.03451136 -0.03081711
+v 0.05032428 0.03319080 -0.03568531
+v 0.05261729 0.02983205 -0.03557251
+v 0.05509552 0.02497182 -0.03558073
+v 0.05741408 0.01968948 -0.03541123
+v 0.05761847 0.01832669 -0.03562612
+v 0.05987316 0.00979414 -0.03538983
+v 0.06152106 0.00963131 -0.03081720
+v 0.06159770 0.00841324 -0.03081721
+v 0.05429073 0.03248526 -0.03081712
+v 0.05523604 0.03097171 -0.03081713
+v 0.05717137 0.02738382 -0.03081714
+v 0.05767596 0.02632253 -0.03081714
+v 0.05931747 0.02249344 -0.03081716
+v 0.05996258 0.02081708 -0.03081716
+v 0.06014142 0.02020804 -0.03081717
+v 0.06040330 0.01832667 -0.03109634
+v 0.06093344 0.01525133 -0.03081718
+v 0.06138693 0.01097602 -0.03081720
+v 0.06056297 0.01795280 -0.03081717
+f 1 2 8
+f 1 8 20
+f 1 20 19
+f 1 19 34
+f 1 34 48
+f 1 48 67
+f 1 67 86
+f 1 86 104
+f 1 104 123
+f 1 123 134
+f 1 134 133
+f 1 133 144
+f 1 144 143
+f 1 143 145
+f 1 145 141
+f 1 141 140
+f 1 140 139
+f 1 139 138
+f 1 138 137
+f 1 137 136
+f 1 136 135
+f 1 135 126
+f 1 126 109
+f 1 109 124
+f 1 124 106
+f 1 106 105
+f 1 105 87
+f 1 87 68
+f 1 68 50
+f 1 50 36
+f 1 36 22
+f 1 22 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 12 5
+f 4 11 13
+f 4 13 12
+f 5 12 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 16
+f 7 16 18
+f 7 18 32
+f 7 32 45
+f 7 45 64
+f 7 64 47
+f 7 47 34
+f 7 34 19
+f 7 19 20
+f 7 20 8
+f 9 21 10
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 21
+f 10 21 26
+f 10 26 27
+f 10 27 11
+f 11 27 28
+f 11 28 13
+f 12 13 29
+f 12 29 30
+f 12 30 14
+f 13 28 27
+f 13 27 29
+f 14 30 31
+f 14 31 15
+f 15 32 16
+f 15 31 33
+f 15 33 32
+f 16 32 18
+f 21 25 35
+f 21 35 26
+f 22 36 37
+f 22 37 24
+f 22 24 23
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 35
+f 26 35 40
+f 26 40 27
+f 27 40 29
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 33
+f 32 33 44
+f 32 44 46
+f 32 46 45
+f 34 47 48
+f 35 39 49
+f 35 49 40
+f 36 50 37
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 54
+f 38 54 39
+f 39 40 49
+f 39 54 40
+f 40 54 41
+f 41 54 55
+f 41 55 42
+f 42 55 56
+f 42 56 43
+f 43 56 55
+f 43 55 57
+f 43 57 58
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 62
+f 44 62 63
+f 44 63 46
+f 45 46 65
+f 45 65 64
+f 46 63 66
+f 46 66 85
+f 46 85 67
+f 46 67 48
+f 46 48 47
+f 46 47 64
+f 46 64 65
+f 50 68 51
+f 51 69 52
+f 51 68 70
+f 51 70 71
+f 51 71 69
+f 52 69 72
+f 52 72 53
+f 53 72 54
+f 54 72 55
+f 55 72 73
+f 55 73 57
+f 57 73 58
+f 58 73 74
+f 58 74 75
+f 58 75 76
+f 58 76 59
+f 59 76 77
+f 59 77 78
+f 59 78 60
+f 60 78 79
+f 60 79 61
+f 61 80 81
+f 61 81 62
+f 61 79 80
+f 62 81 82
+f 62 82 83
+f 62 83 63
+f 63 83 84
+f 63 84 66
+f 66 84 85
+f 67 85 86
+f 68 87 88
+f 68 88 70
+f 69 71 89
+f 69 89 72
+f 70 88 90
+f 70 90 71
+f 71 90 91
+f 71 91 89
+f 72 89 74
+f 72 74 73
+f 74 91 75
+f 74 89 91
+f 75 91 90
+f 75 90 92
+f 75 92 76
+f 76 93 77
+f 76 92 93
+f 77 93 94
+f 77 94 95
+f 77 95 78
+f 78 95 96
+f 78 96 97
+f 78 97 79
+f 79 97 80
+f 80 98 99
+f 80 99 81
+f 80 97 98
+f 81 99 100
+f 81 100 82
+f 82 100 101
+f 82 101 102
+f 82 102 83
+f 83 102 103
+f 83 103 84
+f 84 103 86
+f 84 86 85
+f 86 103 104
+f 87 105 88
+f 88 92 90
+f 88 105 92
+f 92 105 93
+f 93 105 106
+f 93 106 94
+f 94 107 95
+f 94 106 108
+f 94 108 109
+f 94 109 107
+f 95 107 110
+f 95 110 111
+f 95 111 96
+f 96 111 98
+f 96 98 97
+f 98 112 113
+f 98 113 114
+f 98 114 99
+f 98 111 112
+f 99 114 115
+f 99 115 116
+f 99 116 117
+f 99 117 100
+f 100 117 118
+f 100 118 119
+f 100 119 101
+f 101 120 121
+f 101 121 122
+f 101 122 102
+f 101 119 120
+f 102 122 103
+f 103 122 123
+f 103 123 104
+f 106 124 108
+f 107 125 110
+f 107 109 125
+f 108 124 109
+f 109 126 125
+f 110 125 127
+f 110 127 111
+f 111 127 112
+f 112 127 128
+f 112 128 113
+f 113 128 129
+f 113 129 115
+f 113 115 114
+f 115 129 130
+f 115 130 131
+f 115 131 116
+f 116 131 118
+f 116 118 117
+f 118 131 132
+f 118 132 119
+f 119 132 120
+f 120 132 121
+f 121 132 133
+f 121 133 122
+f 122 133 134
+f 122 134 123
+f 125 126 135
+f 125 135 136
+f 125 136 128
+f 125 128 127
+f 128 136 137
+f 128 137 129
+f 129 137 138
+f 129 138 139
+f 129 139 130
+f 130 139 140
+f 130 140 141
+f 130 141 131
+f 131 141 132
+f 132 141 142
+f 132 142 143
+f 132 143 144
+f 132 144 133
+f 141 145 142
+f 142 145 143
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_10.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.06643659 -0.00150261 -0.02622045
+v -0.06631203 -0.00023101 -0.02622044
+v -0.06300557 0.00024250 -0.03073596
+v -0.06638940 -0.00398235 -0.02622045
+v -0.06625164 0.00024249 -0.02622044
+v -0.05234829 0.00024250 -0.03073596
+v -0.06295839 -0.00150260 -0.03073597
+v -0.06607235 -0.00616921 -0.02622046
+v -0.06161844 -0.01536085 -0.03052337
+v -0.05609448 0.00024249 -0.02622044
+v -0.04731123 -0.02393745 -0.03073605
+v -0.05051389 -0.02469163 -0.02622053
+v -0.04740748 -0.02469162 -0.03027893
+v -0.06158825 -0.01389156 -0.03073601
+v -0.06550806 -0.00848055 -0.02622047
+v -0.06139575 -0.01555123 -0.03073602
+v -0.05933488 -0.02311738 -0.03073604
+v -0.06471542 -0.01141670 -0.02622048
+v -0.04715648 -0.02469162 -0.03073605
+v -0.06048421 -0.02469163 -0.02622053
+v -0.05932544 -0.02314666 -0.03073605
+v -0.06464936 -0.01164613 -0.02622048
+v -0.05817422 -0.02469162 -0.03073605
+v -0.05894233 -0.02469162 -0.02925991
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 18
+f 1 18 22
+f 1 22 20
+f 1 20 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 11
+f 3 11 19
+f 3 19 23
+f 3 23 21
+f 3 21 17
+f 3 17 16
+f 3 16 14
+f 3 14 7
+f 3 7 4
+f 3 5 10
+f 3 10 6
+f 4 7 9
+f 4 9 8
+f 6 10 12
+f 6 12 13
+f 6 13 11
+f 7 14 9
+f 8 9 15
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 11 13 19
+f 12 20 24
+f 12 24 23
+f 12 23 19
+f 12 19 13
+f 17 21 20
+f 17 20 22
+f 17 22 18
+f 20 21 24
+f 21 23 24
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_11.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.03973828 0.04245812 -0.02254323
+v -0.03973828 0.05486236 -0.02254319
+v -0.02289608 0.05308019 -0.02254320
+v -0.02289608 0.05622342 0.02002594
+v -0.03973828 0.04611152 0.02002590
+v -0.03973828 0.05547090 -0.02192232
+v -0.03804004 0.05601996 -0.02240984
+v -0.03804004 0.05588270 -0.02254318
+v -0.02289608 0.06277573 -0.02254316
+v -0.02289608 0.06547284 0.02002597
+v -0.03973828 0.05695322 0.02002594
+v -0.03973828 0.05613435 -0.02121394
+v -0.03654461 0.05662393 -0.02254318
+v -0.03753387 0.05614579 -0.02254318
+v -0.03785373 0.05598336 -0.02254318
+v -0.03935081 0.05677950 -0.02076808
+v -0.03804004 0.05709750 -0.02118477
+v -0.02317143 0.06266133 -0.02254316
+v -0.02335609 0.06497882 -0.01722618
+v -0.02289608 0.06518014 -0.01719285
+v -0.02289608 0.06582746 0.01716330
+v -0.02353086 0.06524407 0.02002597
+v -0.03969706 0.05697839 0.02002594
+v -0.03722720 0.05943775 0.01395476
+v -0.03861546 0.05883835 0.01227550
+v -0.03973828 0.05809941 0.01230049
+v -0.03973828 0.05671314 -0.01947634
+v -0.02446901 0.06210541 -0.02254316
+v -0.03949921 0.05686871 -0.01947634
+v -0.03804004 0.05760308 -0.01947634
+v -0.02499661 0.06449610 -0.01653864
+v -0.02289608 0.06559650 -0.01486354
+v -0.02289608 0.06563997 -0.01459269
+v -0.02317143 0.06552787 -0.01459269
+v -0.03556194 0.06035286 0.01227550
+v -0.03737559 0.05951553 0.01227550
+v -0.02501475 0.06455774 0.02002597
+v -0.03856600 0.05766700 0.02002594
+v -0.03634676 0.05883147 0.02002595
+v -0.03708540 0.05936919 -0.00410878
+v -0.03973828 0.05758244 -0.00234202
+v -0.03973828 0.05756185 -0.00280871
+v -0.02514995 0.06457845 -0.01459269
+f 1 2 8
+f 1 8 15
+f 1 15 14
+f 1 14 13
+f 1 13 28
+f 1 28 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 26
+f 1 26 41
+f 1 41 42
+f 1 42 27
+f 1 27 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 20
+f 3 20 32
+f 3 32 33
+f 3 33 21
+f 3 21 10
+f 3 10 4
+f 4 10 22
+f 4 22 37
+f 4 37 39
+f 4 39 38
+f 4 38 23
+f 4 23 11
+f 4 11 5
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 7 12 16
+f 7 16 17
+f 7 17 13
+f 9 18 16
+f 9 16 19
+f 9 19 20
+f 10 21 22
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 12 27 16
+f 13 17 28
+f 16 27 29
+f 16 29 30
+f 16 30 31
+f 16 31 19
+f 16 18 17
+f 17 18 28
+f 19 31 20
+f 20 31 32
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 24
+f 21 24 37
+f 21 37 22
+f 23 38 24
+f 24 36 25
+f 24 38 39
+f 24 39 37
+f 25 36 40
+f 25 40 26
+f 26 40 41
+f 27 42 40
+f 27 40 29
+f 29 31 30
+f 29 40 31
+f 31 40 43
+f 31 43 34
+f 31 34 33
+f 31 33 32
+f 34 43 40
+f 34 40 35
+f 35 40 36
+f 40 42 41
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_12.obj

@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.05428930 -0.02583568 0.01933537
+v 0.06343896 -0.02583568 0.01933537
+v 0.05430823 -0.02583568 0.01960852
+v 0.06039258 0.00023977 0.01933546
+v 0.06745312 -0.02537622 0.02315356
+v 0.06674201 -0.02583569 0.02283749
+v 0.06618239 -0.01869078 0.01933539
+v 0.06948124 -0.02132770 0.02351061
+v 0.05449968 -0.02583569 0.02209024
+v 0.06059245 0.00023976 0.02205131
+v 0.06831360 0.00023977 0.01933546
+v 0.07006190 -0.02312222 0.02520997
+v 0.06769717 -0.02583570 0.02386959
+v 0.07049950 -0.02132770 0.02473196
+v 0.06632756 -0.01824406 0.01933539
+v 0.06974842 -0.01975781 0.02328235
+v 0.07241821 -0.01807561 0.02546751
+v 0.05472059 -0.02583570 0.02449392
+v 0.06080073 0.00023975 0.02449401
+v 0.07353537 0.00023974 0.02699330
+v 0.07496178 -0.00398237 0.02787320
+v 0.07511115 -0.00646100 0.02760785
+v 0.06843141 -0.00370665 0.01933545
+v 0.07045742 -0.02583572 0.02893059
+v 0.06978419 -0.02583571 0.02739122
+v 0.06915935 -0.02583571 0.02625376
+v 0.06810742 -0.02583570 0.02448417
+v 0.07266437 -0.01637043 0.02521194
+v 0.06748047 -0.01389177 0.01933541
+v 0.07060259 -0.02583572 0.02937738
+v 0.07486711 -0.01141572 0.02782245
+v 0.07472615 -0.01267674 0.02813655
+v 0.05598501 -0.02583574 0.03425693
+v 0.06160861 0.00023972 0.03182212
+v 0.07389723 0.00023974 0.02752983
+v 0.07479978 -0.00249672 0.02807416
+v 0.07470931 0.00023973 0.02881166
+v 0.07514481 0.00023973 0.02968183
+v 0.07524790 -0.00160329 0.02928576
+v 0.07561608 -0.00398238 0.02937746
+v 0.07565605 -0.00646101 0.02937745
+v 0.07507118 -0.00893964 0.02750834
+v 0.06849453 -0.00618528 0.01933544
+v 0.06799171 -0.01143101 0.01933542
+v 0.06837250 -0.00893961 0.01933543
+v 0.07292104 -0.01389179 0.02508708
+v 0.07426119 -0.01141572 0.02660110
+v 0.07106123 -0.02583573 0.03182203
+v 0.07533626 -0.00893965 0.02937744
+v 0.07166925 -0.02380636 0.03182203
+v 0.07472615 -0.01267674 0.02818143
+v 0.05617856 -0.02583574 0.03466079
+v 0.06297191 0.00023971 0.03647730
+v 0.06198731 0.00023971 0.03435457
+v 0.06184635 0.00023972 0.03344929
+v 0.07564974 0.00023972 0.03182212
+v 0.07578018 -0.00150375 0.03182211
+v 0.07561397 -0.00398239 0.03182211
+v 0.06849453 -0.00646097 0.01933544
+v 0.06839144 -0.00866392 0.01933543
+v 0.07238035 -0.02078656 0.03347067
+v 0.07050371 -0.02583573 0.03325995
+v 0.07498492 -0.00893965 0.03102021
+v 0.05685811 -0.02583574 0.03589580
+v 0.06388077 0.00023970 0.03789376
+v 0.07520161 0.00023972 0.03388437
+v 0.07517847 -0.00150375 0.03369316
+v 0.07243084 -0.01637047 0.03577097
+v 0.07230461 -0.01787143 0.03557195
+v 0.07203742 -0.01952300 0.03509980
+v 0.07172605 -0.02149877 0.03427645
+v 0.07032067 -0.02583573 0.03372039
+v 0.05704325 -0.02583574 0.03609676
+v 0.06424895 0.00023970 0.03840298
+v 0.07410761 0.00023971 0.03514279
+v 0.07173446 -0.01141576 0.03734352
+v 0.07255076 -0.01389183 0.03601485
+v 0.07139995 -0.01389184 0.03723816
+v 0.07082350 -0.01625561 0.03707621
+v 0.07112856 -0.01875721 0.03616702
+v 0.07037748 -0.02132774 0.03588606
+v 0.06996091 -0.02289507 0.03561096
+v 0.06514098 -0.02583575 0.03820583
+v 0.05858537 -0.02583575 0.03735908
+v 0.05982244 -0.02232073 0.03796001
+v 0.06604564 0.00023970 0.03914437
+v 0.06090382 -0.02142730 0.03847704
+v 0.06109106 -0.02380638 0.03875213
+v 0.07062152 0.00023970 0.03762061
+v 0.07013764 -0.00150377 0.03828005
+v 0.07037537 -0.00398241 0.03846345
+v 0.07053947 -0.00646104 0.03852977
+v 0.07060049 -0.00893968 0.03848879
+v 0.07049529 -0.01141576 0.03834636
+v 0.07016078 -0.01389184 0.03812978
+v 0.06987886 -0.01535196 0.03798149
+v 0.06387657 -0.02583575 0.03878529
+v 0.05959943 -0.02583575 0.03810828
+v 0.06852398 -0.00398241 0.03926533
+v 0.06852398 -0.00150377 0.03908583
+v 0.06865442 0.00023970 0.03875222
+v 0.06109106 -0.02583575 0.03881846
+v 0.06154129 -0.02583575 0.03886528
+v 0.06356940 -0.02132775 0.03901162
+v 0.06356940 -0.02380638 0.03901356
+v 0.05984558 -0.02583575 0.03823900
+v 0.06993357 0.00023970 0.03809081
+v 0.06852398 -0.00646104 0.03924581
+v 0.06356940 -0.02583575 0.03891601
+f 1 2 6
+f 1 6 13
+f 1 13 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 30
+f 1 30 48
+f 1 48 62
+f 1 62 72
+f 1 72 83
+f 1 83 97
+f 1 97 109
+f 1 109 103
+f 1 103 102
+f 1 102 106
+f 1 106 98
+f 1 98 84
+f 1 84 73
+f 1 73 64
+f 1 64 52
+f 1 52 33
+f 1 33 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 23
+f 1 23 43
+f 1 43 59
+f 1 59 60
+f 1 60 45
+f 1 45 44
+f 1 44 29
+f 1 29 15
+f 1 15 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 4
+f 4 10 19
+f 4 19 34
+f 4 34 55
+f 4 55 54
+f 4 54 53
+f 4 53 65
+f 4 65 74
+f 4 74 86
+f 4 86 101
+f 4 101 107
+f 4 107 89
+f 4 89 75
+f 4 75 66
+f 4 66 56
+f 4 56 38
+f 4 38 37
+f 4 37 35
+f 4 35 20
+f 4 20 11
+f 5 12 13
+f 5 13 6
+f 5 8 14
+f 5 14 12
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 14
+f 9 18 19
+f 9 19 10
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 12 14 17
+f 12 17 24
+f 15 28 17
+f 15 17 16
+f 15 29 28
+f 17 30 24
+f 17 28 31
+f 17 31 32
+f 17 32 30
+f 18 33 34
+f 18 34 19
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 22 40 41
+f 28 29 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 31
+f 30 32 48
+f 31 47 42
+f 31 42 41
+f 31 41 49
+f 31 49 32
+f 32 50 48
+f 32 49 51
+f 32 51 50
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 35 37 36
+f 38 56 40
+f 38 40 39
+f 40 56 57
+f 40 57 41
+f 41 57 58
+f 41 58 49
+f 42 59 43
+f 42 47 59
+f 45 60 46
+f 46 60 59
+f 46 59 47
+f 48 50 61
+f 48 61 62
+f 49 58 63
+f 49 63 61
+f 49 61 51
+f 50 51 61
+f 52 64 53
+f 53 64 65
+f 56 66 57
+f 57 66 67
+f 57 67 58
+f 58 67 68
+f 58 68 69
+f 58 69 61
+f 58 61 63
+f 61 69 70
+f 61 70 71
+f 61 71 72
+f 61 72 62
+f 64 73 74
+f 64 74 65
+f 66 75 76
+f 66 76 77
+f 66 77 67
+f 67 77 68
+f 68 77 76
+f 68 76 78
+f 68 78 69
+f 69 78 79
+f 69 79 80
+f 69 80 81
+f 69 81 82
+f 69 82 70
+f 70 82 72
+f 70 72 71
+f 72 82 83
+f 73 84 85
+f 73 85 74
+f 74 85 87
+f 74 87 88
+f 74 88 86
+f 75 89 90
+f 75 90 91
+f 75 91 92
+f 75 92 93
+f 75 93 76
+f 76 93 94
+f 76 94 78
+f 78 94 95
+f 78 95 96
+f 78 96 79
+f 79 96 80
+f 80 96 83
+f 80 83 81
+f 81 83 82
+f 83 96 95
+f 83 95 97
+f 84 98 85
+f 85 98 87
+f 86 99 100
+f 86 100 101
+f 86 88 102
+f 86 102 103
+f 86 103 104
+f 86 104 105
+f 86 105 99
+f 87 98 88
+f 88 98 106
+f 88 106 102
+f 89 107 90
+f 90 100 91
+f 90 107 101
+f 90 101 100
+f 91 100 99
+f 91 99 92
+f 92 99 93
+f 93 99 108
+f 93 108 94
+f 94 108 109
+f 94 109 95
+f 95 109 97
+f 99 105 108
+f 103 109 105
+f 103 105 104
+f 105 109 108
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_13.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.06155531 -0.02077998 -0.02622007
+v -0.06434311 -0.01333898 -0.02590303
+v -0.06465003 -0.01164335 -0.02622003
+v -0.05223363 -0.02077998 -0.02622007
+v -0.06518201 -0.02078000 -0.02087047
+v -0.06666373 -0.01793612 -0.02086741
+v -0.06471482 -0.01141494 -0.02622003
+v -0.06649834 -0.00745369 -0.02534214
+v -0.05609393 0.00024043 -0.02621999
+v -0.06032935 0.00024031 0.00492050
+v -0.05700786 -0.02078010 0.00492042
+v -0.06590497 -0.02078001 -0.01939818
+v -0.06632442 -0.01958648 -0.01992856
+v -0.06680866 -0.01879629 -0.01926100
+v -0.06751627 -0.01637015 -0.01947742
+v -0.06688369 -0.01637014 -0.02114174
+v -0.06550768 -0.00848052 -0.02622002
+v -0.06662622 -0.00580127 -0.02572316
+v -0.06625281 0.00024043 -0.02621999
+v -0.06783682 0.00024031 0.00492050
+v -0.06531331 -0.02078010 0.00492042
+v -0.06603626 -0.02078001 -0.01895315
+v -0.06654949 -0.02011122 -0.01830082
+v -0.06801586 -0.01389256 -0.01947741
+v -0.06898605 -0.01248920 -0.00238000
+v -0.06607206 -0.00616961 -0.02622001
+v -0.06671147 -0.00398218 -0.02586032
+v -0.06638921 -0.00398217 -0.02622000
+v -0.06826821 -0.01141497 -0.01947740
+v -0.06631078 -0.00023080 -0.02621999
+v -0.06653755 0.00024043 -0.02589384
+v -0.06877291 0.00024033 -0.00066991
+v -0.06902356 -0.00024119 -0.00114848
+v -0.06912587 -0.00150262 -0.00094121
+v -0.06927591 -0.00398227 -0.00063944
+v -0.06932366 -0.00645986 -0.00053276
+v -0.06783682 0.00021973 0.00492050
+v -0.06580778 -0.01884988 0.00492043
+v -0.06914974 -0.01092940 -0.00087418
+v -0.06860070 -0.01389262 -0.00238000
+v -0.06777033 -0.01637021 -0.00238001
+v -0.06604478 -0.02078007 -0.00238003
+v -0.06606866 -0.02078002 -0.01759060
+v -0.06654949 -0.02011122 -0.01821547
+v -0.06921623 -0.01124835 -0.00237999
+v -0.06952486 -0.00893744 -0.00237998
+v -0.06672170 -0.00150252 -0.02587556
+v -0.06643525 -0.00150252 -0.02622000
+v -0.06828867 -0.00893738 -0.01947739
+v -0.06965103 -0.00645985 -0.00237997
+v -0.06632442 -0.00035839 -0.02621999
+v -0.06664838 0.00024042 -0.02575971
+v -0.06892466 0.00024034 -0.00159961
+v -0.06904061 -0.00016299 -0.00237995
+v -0.06925204 -0.00150261 -0.00237996
+v -0.06955384 -0.00398226 -0.00237996
+v -0.06926909 -0.00893745 -0.00063031
+v -0.06771576 -0.00401110 0.00492049
+v -0.06630396 -0.01649988 0.00492044
+v -0.06630566 -0.01649165 0.00492044
+v -0.06677968 -0.01384326 0.00492045
+v -0.06712922 -0.01141506 0.00492046
+v -0.06740715 -0.00896834 0.00492047
+v -0.06741055 -0.00893747 0.00492047
+v -0.06606866 -0.02078002 -0.01756316
+v -0.06703032 -0.00150253 -0.02436364
+v -0.06830231 0.00024039 -0.01531655
+v -0.06811646 0.00024039 -0.01703574
+v -0.06894683 0.00024034 -0.00237995
+v -0.06904232 -0.00015270 -0.00366020
+v -0.06760493 -0.00648869 0.00492048
+v -0.06760664 -0.00645988 0.00492048
+f 1 2 3
+f 1 3 7
+f 1 7 17
+f 1 17 26
+f 1 26 28
+f 1 28 48
+f 1 48 51
+f 1 51 30
+f 1 30 19
+f 1 19 9
+f 1 9 4
+f 1 4 11
+f 1 11 21
+f 1 21 42
+f 1 42 65
+f 1 65 43
+f 1 43 22
+f 1 22 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 7 8 17
+f 8 18 17
+f 8 16 18
+f 9 19 31
+f 9 31 52
+f 9 52 68
+f 9 68 67
+f 9 67 69
+f 9 69 53
+f 9 53 32
+f 9 32 20
+f 9 20 10
+f 10 20 37
+f 10 37 58
+f 10 58 72
+f 10 72 71
+f 10 71 64
+f 10 64 63
+f 10 63 62
+f 10 62 61
+f 10 61 60
+f 10 60 59
+f 10 59 38
+f 10 38 21
+f 10 21 11
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 23 15
+f 15 24 16
+f 15 23 25
+f 15 25 24
+f 16 24 18
+f 17 18 26
+f 18 27 28
+f 18 28 26
+f 18 24 29
+f 18 29 27
+f 19 30 31
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 22 43 23
+f 23 43 65
+f 23 65 44
+f 23 44 40
+f 23 40 25
+f 24 25 45
+f 24 45 46
+f 24 46 29
+f 25 40 39
+f 25 39 45
+f 27 47 48
+f 27 48 28
+f 27 29 49
+f 27 49 47
+f 29 46 50
+f 29 50 49
+f 30 51 31
+f 31 51 47
+f 31 47 52
+f 32 53 33
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 34 56 35
+f 35 56 50
+f 35 50 36
+f 36 50 57
+f 36 57 58
+f 36 58 37
+f 38 59 39
+f 39 59 60
+f 39 60 61
+f 39 61 62
+f 39 62 63
+f 39 63 64
+f 39 64 57
+f 39 57 46
+f 39 46 45
+f 40 44 41
+f 41 44 42
+f 42 44 65
+f 46 57 50
+f 47 66 52
+f 47 51 48
+f 47 49 66
+f 49 67 68
+f 49 68 66
+f 49 50 67
+f 50 56 67
+f 52 66 68
+f 53 69 54
+f 54 69 70
+f 54 70 55
+f 55 70 56
+f 56 70 67
+f 57 64 71
+f 57 71 72
+f 57 72 58
+f 67 70 69
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_14.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02272199 -0.05509217 0.00518525
+v -0.00023714 -0.05987304 0.00518523
+v 0.02272199 -0.06434931 0.00518521
+v 0.02272199 -0.05032232 -0.02622896
+v -0.00023714 -0.06760900 0.00518520
+v -0.00023714 -0.05529079 -0.02622898
+v 0.02122734 -0.06507740 0.00518521
+v 0.02272199 -0.06489909 0.00415816
+v 0.02272199 -0.05974848 -0.02622900
+v 0.00161263 -0.06759228 0.00518520
+v -0.00023714 -0.06923603 -0.00238238
+v 0.00161263 -0.06929546 -0.00238238
+v -0.00023714 -0.06567164 -0.02622902
+v 0.01916181 -0.06571262 0.00518521
+v 0.01881793 -0.06677689 0.00239310
+v 0.02143637 -0.06592249 0.00250381
+v 0.02272199 -0.06506067 0.00373073
+v 0.01984957 -0.06075146 -0.02622900
+v 0.02272199 -0.06219466 -0.02311711
+v 0.00409172 -0.06749570 0.00518520
+v -0.00023714 -0.06826457 -0.01703477
+v 0.00161263 -0.06836301 -0.01703477
+v 0.00409172 -0.06910972 -0.00238238
+v 0.01400134 -0.06754398 0.00250380
+v 0.01400134 -0.06725237 0.00392752
+v 0.00888808 -0.06729696 0.00518520
+v 0.00656856 -0.06739354 0.00518520
+v 0.00409172 -0.06823671 -0.01703477
+v 0.00161263 -0.06567164 -0.02622902
+v 0.00161263 -0.06643874 -0.02436557
+v -0.00023714 -0.06575336 -0.02602915
+v 0.01675689 -0.06638499 0.00518521
+v 0.01701311 -0.06703691 0.00313110
+v 0.01789866 -0.06722080 0.00150135
+v 0.02272199 -0.06538943 0.00250381
+v 0.01789866 -0.06722079 0.00112620
+v 0.02272199 -0.06487117 -0.01138906
+v 0.00825426 -0.06485255 -0.02579545
+v 0.00656856 -0.06509771 -0.02610295
+v 0.00656856 -0.06497698 -0.02622902
+v 0.02272199 -0.06321435 -0.02179486
+v -0.00023714 -0.06643317 -0.02436557
+v 0.01630512 -0.06731924 0.00239310
+v 0.00656856 -0.06786709 -0.01703477
+v 0.01536113 -0.06719851 0.00377377
+v 0.01152450 -0.06703321 0.00518520
+v 0.00409172 -0.06618428 -0.02436557
+v 0.00409172 -0.06545432 -0.02622902
+v 0.01633434 -0.06648157 0.00518521
+v 0.01053781 -0.06725973 -0.01603540
+v 0.02026088 -0.06471140 -0.02072477
+v 0.02173080 -0.06447552 -0.01947939
+v 0.02272199 -0.06416534 -0.01947939
+v 0.00563357 -0.06520172 -0.02622902
+v 0.00637078 -0.06503456 -0.02622902
+v 0.01400134 -0.06675089 0.00518520
+f 1 2 5
+f 1 5 10
+f 1 10 20
+f 1 20 27
+f 1 27 26
+f 1 26 46
+f 1 46 56
+f 1 56 49
+f 1 49 32
+f 1 32 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 35
+f 1 35 37
+f 1 37 53
+f 1 53 41
+f 1 41 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 31
+f 2 31 42
+f 2 42 21
+f 2 21 11
+f 2 11 5
+f 3 7 8
+f 4 9 18
+f 4 18 40
+f 4 40 55
+f 4 55 54
+f 4 54 48
+f 4 48 29
+f 4 29 13
+f 4 13 6
+f 5 11 12
+f 5 12 10
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 19 18
+f 10 12 20
+f 11 21 22
+f 11 22 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 20
+f 12 22 28
+f 12 28 23
+f 13 29 30
+f 13 30 31
+f 14 32 33
+f 14 33 15
+f 15 33 34
+f 15 34 16
+f 16 35 17
+f 16 34 36
+f 16 36 37
+f 16 37 35
+f 18 38 39
+f 18 39 40
+f 18 19 41
+f 18 41 38
+f 21 42 22
+f 22 42 30
+f 22 30 28
+f 23 36 34
+f 23 34 43
+f 23 43 24
+f 23 28 44
+f 23 44 36
+f 24 43 45
+f 24 45 25
+f 25 45 26
+f 26 45 46
+f 28 30 47
+f 28 47 44
+f 29 48 30
+f 30 42 31
+f 30 48 47
+f 32 49 45
+f 32 45 33
+f 33 45 34
+f 34 45 43
+f 36 44 50
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 37 52 53
+f 38 41 51
+f 38 51 39
+f 39 47 54
+f 39 54 55
+f 39 55 40
+f 39 51 47
+f 41 53 51
+f 44 47 51
+f 44 51 50
+f 45 49 56
+f 45 56 46
+f 47 48 54
+f 51 53 52
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_15.obj

@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02167447 -0.04738220 -0.03075178
+v 0.02167447 -0.05077865 -0.02622941
+v 0.02167447 -0.05824292 -0.03075182
+v -0.00023714 -0.05262098 -0.03075180
+v -0.00023714 -0.05450452 -0.02755050
+v -0.00023714 -0.05529052 -0.02622942
+v 0.02167447 -0.06005843 -0.02622944
+v 0.02167447 -0.05893224 -0.02926473
+v 0.01822129 -0.05987579 -0.03064557
+v 0.01830923 -0.05975046 -0.03075183
+v -0.00023714 -0.06183810 -0.03075184
+v -0.00023714 -0.06567141 -0.02622946
+v 0.01984922 -0.06075311 -0.02622944
+v 0.02167447 -0.05904145 -0.02901238
+v 0.01731832 -0.05996532 -0.03075183
+v 0.01809046 -0.05981313 -0.03075183
+v 0.00656842 -0.06497673 -0.02622946
+v 0.00637109 -0.06503402 -0.02622946
+v 0.00563327 -0.06520232 -0.02622946
+v 0.00409114 -0.06537420 -0.02643400
+v -0.00023714 -0.06448257 -0.02781839
+v 0.00084815 -0.06184168 -0.03075184
+v -0.00023714 -0.06552102 -0.02659692
+v 0.00161385 -0.06567141 -0.02622946
+v 0.01647969 -0.06007453 -0.03075183
+v 0.00409114 -0.06545477 -0.02622946
+v 0.00161385 -0.06552102 -0.02659294
+v 0.00161385 -0.06448078 -0.02781440
+v 0.00409114 -0.06167696 -0.03075184
+v -0.00023714 -0.06474755 -0.02750804
+v 0.00104118 -0.06184168 -0.03075184
+v 0.00161385 -0.06183989 -0.03075184
+f 1 2 7
+f 1 7 14
+f 1 14 8
+f 1 8 3
+f 1 3 10
+f 1 10 16
+f 1 16 15
+f 1 15 25
+f 1 25 29
+f 1 29 32
+f 1 32 31
+f 1 31 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 24
+f 2 24 26
+f 2 26 19
+f 2 19 18
+f 2 18 17
+f 2 17 13
+f 2 13 7
+f 3 8 9
+f 3 9 10
+f 4 11 21
+f 4 21 30
+f 4 30 23
+f 4 23 12
+f 4 12 6
+f 4 6 5
+f 7 13 9
+f 7 9 14
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 13 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 15
+f 11 22 21
+f 12 23 24
+f 15 20 25
+f 19 26 20
+f 20 26 24
+f 20 24 27
+f 20 27 28
+f 20 28 29
+f 20 29 25
+f 21 22 31
+f 21 31 28
+f 21 28 30
+f 23 30 27
+f 23 27 24
+f 27 30 28
+f 28 31 32
+f 28 32 29
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_16.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00336214 0.06875053 0.02002598
+v -0.00339273 0.06875360 0.02002598
+v -0.00336214 0.06028973 0.02002595
+v -0.00336214 0.06845601 -0.00482129
+v -0.00582324 0.06870603 0.02002598
+v -0.02289608 0.05622504 0.02002594
+v -0.02289608 0.05307963 -0.02254320
+v -0.00336214 0.05739903 -0.02254318
+v -0.00336214 0.06744026 -0.01459268
+v -0.00830156 0.06786682 -0.01459268
+v -0.01077987 0.06796963 -0.01459268
+v -0.01325628 0.06791899 -0.01459268
+v -0.01325628 0.06843752 0.01716331
+v -0.00830156 0.06858328 0.02002598
+v -0.02289608 0.06547301 0.02002597
+v -0.02289608 0.06277564 -0.02254316
+v -0.00336214 0.06561432 -0.02254315
+v -0.00336214 0.06715026 -0.01701782
+v -0.00830156 0.06748783 -0.01703449
+v -0.01077987 0.06760905 -0.01703449
+v -0.01325628 0.06759217 -0.01703449
+v -0.01573459 0.06738963 -0.01703449
+v -0.01573459 0.06769036 -0.01459268
+v -0.01573459 0.06816746 0.01716331
+v -0.01378215 0.06809226 0.02002598
+v -0.01325628 0.06814290 0.02002598
+v -0.01077987 0.06837920 0.02002598
+v -0.02111575 0.06616963 0.02002597
+v -0.02153263 0.06649187 0.01716330
+v -0.02289608 0.06582593 0.01716330
+v -0.02289608 0.06518006 -0.01719285
+v -0.02246964 0.06295363 -0.02254316
+v -0.00336214 0.06601327 -0.02170144
+v -0.00830156 0.06546855 -0.02254315
+v -0.00336214 0.06714719 -0.01703449
+v -0.00336214 0.06675285 -0.01910128
+v -0.00336214 0.06664237 -0.01960548
+v -0.00375989 0.06655798 -0.02003467
+v -0.00336214 0.06624957 -0.02102640
+v -0.01077987 0.06539183 -0.02254315
+v -0.01325628 0.06522918 -0.02254315
+v -0.01712673 0.06668687 -0.01830124
+v -0.01805610 0.06696766 -0.01703033
+v -0.01988615 0.06679274 -0.01621361
+v -0.01821291 0.06721929 -0.01459268
+v -0.01821291 0.06762120 0.01716331
+v -0.01627194 0.06770866 0.02002598
+v -0.01573459 0.06781760 0.02002598
+v -0.01827027 0.06720076 0.02002598
+v -0.02029347 0.06696754 0.01716331
+v -0.02109854 0.06636155 -0.01459269
+v -0.02289608 0.06564038 -0.01459269
+v -0.02289608 0.06559741 -0.01486354
+v -0.02070461 0.06614521 -0.01703034
+v -0.02000471 0.06396021 -0.02254316
+v -0.01573459 0.06492383 -0.02254315
+v -0.01877894 0.06644290 -0.01784288
+v -0.01889559 0.06430086 -0.02254315
+f 1 2 5
+f 1 5 14
+f 1 14 27
+f 1 27 26
+f 1 26 25
+f 1 25 48
+f 1 48 47
+f 1 47 49
+f 1 49 28
+f 1 28 15
+f 1 15 6
+f 1 6 3
+f 1 3 8
+f 1 8 17
+f 1 17 33
+f 1 33 39
+f 1 39 37
+f 1 37 36
+f 1 36 35
+f 1 35 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 6 15 30
+f 6 30 52
+f 6 52 53
+f 6 53 31
+f 6 31 16
+f 6 16 7
+f 7 16 32
+f 7 32 55
+f 7 55 58
+f 7 58 56
+f 7 56 41
+f 7 41 40
+f 7 40 34
+f 7 34 17
+f 7 17 8
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 13 23 24
+f 15 28 29
+f 15 29 30
+f 16 31 32
+f 17 34 33
+f 18 35 19
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 39
+f 20 39 33
+f 20 33 21
+f 21 33 40
+f 21 40 41
+f 21 41 22
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 23
+f 23 44 45
+f 23 45 24
+f 24 46 47
+f 24 47 48
+f 24 48 25
+f 24 45 46
+f 28 49 50
+f 28 50 29
+f 29 50 51
+f 29 51 52
+f 29 52 30
+f 31 53 44
+f 31 44 54
+f 31 54 55
+f 31 55 32
+f 33 34 40
+f 37 39 38
+f 41 56 42
+f 42 57 43
+f 42 56 58
+f 42 58 57
+f 43 57 44
+f 44 57 55
+f 44 55 54
+f 44 53 52
+f 44 52 51
+f 44 51 50
+f 44 50 46
+f 44 46 45
+f 46 50 49
+f 46 49 47
+f 55 57 58
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_17.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02640121 0.06115530 -0.02254317
+v -0.02640121 0.05154503 -0.02254320
+v -0.02640121 0.06098576 -0.02387405
+v -0.03654808 0.05662484 -0.02254318
+v -0.02640121 0.04532585 -0.03082272
+v -0.04399987 0.03806443 -0.02254325
+v -0.02640121 0.06095185 -0.02400131
+v -0.03753637 0.05614557 -0.02254318
+v -0.02640121 0.06085690 -0.02433524
+v -0.02640121 0.05593536 -0.03082268
+v -0.03569762 0.03828601 -0.03082275
+v -0.03601434 0.03806446 -0.03082275
+v -0.05508225 0.03806443 -0.02254325
+v -0.03785603 0.05598280 -0.02254318
+v -0.02640121 0.05998428 -0.02610218
+v -0.03459202 0.05201303 -0.03082270
+v -0.05008506 0.03806446 -0.03082275
+v -0.05591511 0.03862961 -0.02254325
+v -0.05636087 0.03806443 -0.02254731
+v -0.03804078 0.05588333 -0.02254318
+v -0.03472399 0.05194747 -0.03082270
+v -0.03479437 0.05198590 -0.03073192
+v -0.03959800 0.04951043 -0.03070194
+v -0.04951320 0.03930559 -0.03082275
+v -0.05589752 0.03864996 -0.02254325
+v -0.04717883 0.04243441 -0.03082273
+v -0.04939883 0.03970348 -0.03068900
+v -0.04090009 0.05419006 -0.02254319
+v -0.03914638 0.04963250 -0.03082271
+v -0.03948363 0.04944939 -0.03082271
+v -0.03970064 0.04930470 -0.03082271
+v -0.04232828 0.04729267 -0.03082272
+v -0.04128719 0.05393912 -0.02254319
+v -0.04934310 0.03958366 -0.03082274
+v -0.04402333 0.05158347 -0.02254320
+v -0.04917008 0.03981877 -0.03082274
+v -0.04483567 0.04495284 -0.03082272
+v -0.04351892 0.05204917 -0.02254320
+v -0.04173882 0.05356384 -0.02254319
+f 1 2 5
+f 1 5 10
+f 1 10 15
+f 1 15 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 28
+f 1 28 33
+f 1 33 39
+f 1 39 38
+f 1 38 35
+f 1 35 25
+f 1 25 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 7 9
+f 4 9 8
+f 5 6 11
+f 5 11 12
+f 5 12 17
+f 5 17 24
+f 5 24 34
+f 5 34 36
+f 5 36 26
+f 5 26 37
+f 5 37 32
+f 5 32 31
+f 5 31 30
+f 5 30 29
+f 5 29 21
+f 5 21 16
+f 5 16 10
+f 6 12 11
+f 6 13 19
+f 6 19 17
+f 6 17 12
+f 8 9 15
+f 8 15 14
+f 10 16 15
+f 13 18 19
+f 14 15 20
+f 15 16 21
+f 15 21 22
+f 15 22 23
+f 15 23 20
+f 17 19 24
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 19 27 24
+f 20 23 28
+f 21 29 23
+f 21 23 22
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 28
+f 24 27 34
+f 25 35 26
+f 26 36 27
+f 26 35 37
+f 27 36 34
+f 32 37 35
+f 32 35 38
+f 32 38 39
+f 32 39 33
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_18.obj

@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v 0.02327504 0.06959614 0.03441774
+v 0.02327504 0.06954797 0.02704850
+v 0.02327504 0.06936531 0.03585808
+v 0.02349116 0.06934248 0.03581722
+v 0.02514432 0.06912180 0.03545560
+v 0.02415849 0.06943633 0.03449130
+v 0.02556140 0.06921820 0.03382730
+v 0.02556140 0.06921820 0.03285481
+v 0.02327504 0.06954036 0.02693818
+v 0.03135125 0.06735380 0.03182103
+v 0.02327504 0.06923848 0.03598475
+v 0.02639557 0.06762774 0.03625852
+v 0.02887530 0.06706715 0.03582335
+v 0.03024788 0.06672471 0.03555162
+v 0.03118821 0.06706208 0.03416644
+v 0.03286032 0.06678053 0.03328589
+v 0.02639177 0.06886053 0.03449129
+v 0.02327504 0.06805134 0.03696336
+v 0.02336604 0.06950231 0.02693818
+v 0.02327504 0.06944651 0.02668484
+v 0.03276174 0.06671205 0.03050940
+v 0.03292099 0.06679575 0.03182103
+v 0.02327504 0.06719651 0.03751907
+v 0.04126641 0.05704253 0.03818915
+v 0.04255556 0.05676096 0.03795215
+v 0.03752026 0.06414501 0.03298351
+v 0.03786909 0.06435808 0.03135521
+v 0.03416086 0.06622755 0.03182102
+v 0.03786909 0.06435809 0.03018863
+v 0.02327504 0.06913704 0.02591052
+v 0.02327504 0.06045424 0.03918616
+v 0.02391962 0.06045424 0.03921885
+v 0.02639557 0.06045424 0.03916573
+v 0.03135125 0.05797598 0.03955390
+v 0.03383098 0.05797599 0.03937002
+v 0.03878667 0.05759804 0.03855690
+v 0.04126641 0.05550028 0.03888173
+v 0.04352243 0.05545462 0.03832194
+v 0.04550167 0.05459725 0.03814215
+v 0.04715483 0.05393520 0.03771719
+v 0.04811032 0.05463785 0.03608889
+v 0.05259585 0.05192116 0.03565167
+v 0.05403288 0.05109676 0.03426445
+v 0.04211573 0.06144101 0.02937958
+v 0.02791602 0.06682368 0.02549169
+v 0.04087586 0.06225018 0.02937958
+v 0.04045878 0.06193566 0.02793311
+v 0.02390066 0.06385589 0.01868222
+v 0.02377175 0.06388886 0.01868222
+v 0.02327504 0.06401062 0.01868223
+v 0.02629698 0.06299598 0.01868222
+v 0.02327504 0.05789228 0.03863249
+v 0.02639557 0.05797599 0.03922701
+v 0.02887530 0.05797598 0.03948239
+v 0.03631072 0.05550028 0.03944356
+v 0.03878667 0.05550028 0.03931485
+v 0.04871320 0.04368229 0.03889190
+v 0.04374235 0.05302203 0.03886946
+v 0.04628275 0.05307529 0.03835053
+v 0.04803070 0.05228387 0.03811354
+v 0.04968386 0.05122865 0.03782547
+v 0.05515521 0.04954690 0.03569457
+v 0.05556091 0.04985636 0.03426444
+v 0.04366273 0.06020061 0.02937957
+v 0.04746575 0.05674579 0.02814148
+v 0.04331010 0.05980999 0.02761234
+v 0.03125646 0.06054563 0.01868221
+v 0.02841272 0.06198134 0.01868222
+v 0.03935541 0.05560435 0.01868219
+v 0.03639035 0.05754484 0.01868220
+v 0.03515048 0.05833880 0.01868220
+v 0.03435044 0.05880806 0.01868221
+v 0.03311057 0.05951577 0.01868221
+v 0.03185933 0.06022348 0.01868221
+v 0.02327504 0.05592903 0.01868220
+v 0.02327504 0.05724291 0.03814216
+v 0.04495567 0.04368229 0.03822996
+v 0.04619175 0.04368229 0.03851803
+v 0.05117398 0.04368229 0.03864878
+v 0.05342622 0.04368229 0.03801544
+v 0.05365371 0.04806552 0.03698781
+v 0.05799894 0.04558728 0.03580284
+v 0.05754015 0.04701792 0.03560875
+v 0.05604245 0.04793363 0.03598059
+v 0.05801411 0.04746182 0.03426443
+v 0.05680078 0.04870222 0.03426444
+v 0.05943218 0.04647256 0.03182095
+v 0.04489880 0.05912764 0.02937957
+v 0.06036493 0.04485169 0.03013748
+v 0.05010094 0.05199222 0.02558561
+v 0.04867149 0.04802501 0.01868217
+v 0.04629413 0.05028511 0.01868217
+v 0.04523247 0.05119067 0.01868218
+v 0.04621829 0.05735203 0.02756534
+v 0.04440589 0.05186794 0.01868218
+v 0.04360206 0.05252239 0.01868218
+v 0.04257832 0.05332649 0.01868219
+v 0.04064458 0.05469878 0.01868219
+v 0.02327504 0.05532782 0.02937955
+v 0.04212711 0.04368236 0.01868215
+v 0.02327504 0.05657579 0.03732903
+v 0.04449689 0.04390297 0.03814824
+v 0.04429972 0.04368229 0.03772533
+v 0.05654295 0.04368229 0.03676101
+v 0.05857906 0.04368230 0.03589681
+v 0.05969381 0.04386239 0.03537379
+v 0.06041422 0.04502416 0.03374550
+v 0.06066068 0.04523470 0.03182095
+v 0.06198017 0.04368231 0.03164728
+v 0.06078960 0.04368232 0.02958790
+v 0.05260343 0.04368236 0.01868215
+v 0.05096164 0.04561017 0.01868216
+v 0.04265794 0.04368230 0.03427055
+v 0.04212332 0.04405010 0.03598466
+v 0.02327504 0.05548763 0.03118968
+v 0.02327504 0.05636526 0.03661601
+v 0.04281719 0.04368230 0.03627477
+v 0.04349589 0.04368229 0.03700618
+v 0.05948527 0.04368230 0.03549841
+v 0.05999714 0.04368230 0.03514701
+v 0.06082751 0.04368230 0.03419087
+v 0.06201051 0.04368231 0.03182094
+v 0.06189675 0.04382436 0.03182094
+v 0.02327504 0.05586556 0.03426447
+f 1 2 9
+f 1 9 20
+f 1 20 30
+f 1 30 50
+f 1 50 75
+f 1 75 99
+f 1 99 115
+f 1 115 124
+f 1 124 116
+f 1 116 101
+f 1 101 76
+f 1 76 52
+f 1 52 31
+f 1 31 23
+f 1 23 18
+f 1 18 11
+f 1 11 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 8 10
+f 2 10 9
+f 3 11 4
+f 4 11 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 7
+f 5 7 6
+f 5 11 18
+f 5 18 12
+f 7 17 16
+f 7 16 10
+f 7 10 8
+f 9 19 20
+f 9 10 21
+f 9 21 19
+f 10 16 22
+f 10 22 21
+f 12 18 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 26 16
+f 14 16 15
+f 14 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 22
+f 19 21 29
+f 19 29 20
+f 20 29 30
+f 21 22 29
+f 22 28 29
+f 23 31 32
+f 23 32 33
+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 39
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 29 28
+f 27 42 43
+f 27 43 44
+f 27 44 29
+f 29 45 30
+f 29 44 46
+f 29 46 47
+f 29 47 45
+f 30 48 49
+f 30 49 50
+f 30 45 51
+f 30 51 48
+f 31 52 53
+f 31 53 54
+f 31 54 32
+f 32 54 34
+f 32 34 33
+f 34 55 56
+f 34 56 35
+f 34 54 57
+f 34 57 55
+f 35 56 37
+f 35 37 36
+f 37 56 58
+f 37 58 59
+f 37 59 39
+f 37 39 38
+f 39 59 60
+f 39 60 40
+f 40 60 61
+f 40 61 62
+f 40 62 42
+f 40 42 41
+f 42 62 63
+f 42 63 43
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 44 65 66
+f 44 66 47
+f 44 47 46
+f 45 67 68
+f 45 68 51
+f 45 47 67
+f 47 66 69
+f 47 69 70
+f 47 70 71
+f 47 71 72
+f 47 72 73
+f 47 73 74
+f 47 74 67
+f 48 51 68
+f 48 68 67
+f 48 67 74
+f 48 74 73
+f 48 73 72
+f 48 72 71
+f 48 71 70
+f 48 70 69
+f 48 69 98
+f 48 98 97
+f 48 97 96
+f 48 96 95
+f 48 95 93
+f 48 93 92
+f 48 92 91
+f 48 91 112
+f 48 112 111
+f 48 111 100
+f 48 100 75
+f 48 75 50
+f 48 50 49
+f 52 76 77
+f 52 77 78
+f 52 78 53
+f 53 78 57
+f 53 57 54
+f 55 57 56
+f 56 57 79
+f 56 79 58
+f 57 78 77
+f 57 77 103
+f 57 103 118
+f 57 118 117
+f 57 117 113
+f 57 113 100
+f 57 100 111
+f 57 111 110
+f 57 110 109
+f 57 109 122
+f 57 122 121
+f 57 121 120
+f 57 120 119
+f 57 119 105
+f 57 105 104
+f 57 104 80
+f 57 80 79
+f 58 79 60
+f 58 60 59
+f 60 79 61
+f 61 79 80
+f 61 80 81
+f 61 81 82
+f 61 82 83
+f 61 83 84
+f 61 84 62
+f 62 84 83
+f 62 83 85
+f 62 85 86
+f 62 86 63
+f 63 86 87
+f 63 87 88
+f 63 88 64
+f 64 88 65
+f 65 87 89
+f 65 89 90
+f 65 90 91
+f 65 91 92
+f 65 92 93
+f 65 93 94
+f 65 94 66
+f 65 88 87
+f 66 94 93
+f 66 93 95
+f 66 95 96
+f 66 96 97
+f 66 97 98
+f 66 98 69
+f 75 100 99
+f 76 101 102
+f 76 102 77
+f 77 102 103
+f 80 104 82
+f 80 82 81
+f 82 104 105
+f 82 105 106
+f 82 106 83
+f 83 106 107
+f 83 107 85
+f 85 107 108
+f 85 108 86
+f 86 108 87
+f 87 108 89
+f 89 108 109
+f 89 109 110
+f 89 110 111
+f 89 111 112
+f 89 112 91
+f 89 91 90
+f 99 100 113
+f 99 113 114
+f 99 114 115
+f 101 116 117
+f 101 117 118
+f 101 118 103
+f 101 103 102
+f 105 119 106
+f 106 119 120
+f 106 120 121
+f 106 121 107
+f 107 121 122
+f 107 122 123
+f 107 123 108
+f 108 123 109
+f 109 123 122
+f 113 117 114
+f 114 117 116
+f 114 116 124
+f 114 124 115
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_19.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v -0.04730150 -0.03915961 0.01957582
+v -0.04730150 -0.03915961 0.01957386
+v -0.04731987 -0.03915961 0.01999394
+v -0.02691057 -0.05463382 0.03351468
+v -0.02691057 -0.05461576 0.01960897
+v -0.05732241 -0.03915961 0.01957386
+v -0.02691057 -0.05461576 0.01957380
+v -0.04733457 -0.03915961 0.02031829
+v -0.02691057 -0.05498818 0.03489998
+v -0.04741541 -0.03915962 0.02205137
+v -0.04745951 -0.03915962 0.02292280
+v -0.04754035 -0.03915963 0.02449371
+v -0.04761752 -0.03915963 0.02528308
+v -0.04778288 -0.03915964 0.02691261
+v -0.04859866 -0.03915967 0.03426503
+v -0.04890366 -0.03915967 0.03670737
+v -0.05729301 -0.03919864 0.01957386
+v -0.05738487 -0.03915961 0.01965788
+v -0.02691057 -0.06385281 0.01957377
+v -0.02691057 -0.05593112 0.03676591
+v -0.05004650 -0.03915968 0.03822553
+v -0.04902861 -0.03976327 0.03804185
+v -0.05756126 -0.03915961 0.01989821
+v -0.05577536 -0.04115957 0.01957385
+v -0.02691057 -0.06472067 0.02079493
+v -0.02692895 -0.06471767 0.02079884
+v -0.02807546 -0.06342039 0.01957377
+v -0.02691057 -0.05693410 0.03826063
+v -0.05057565 -0.03915968 0.03841310
+v -0.02691057 -0.05840854 0.03903827
+v -0.05229542 -0.04565197 0.01957383
+v -0.05698433 -0.04034577 0.02037103
+v -0.06412061 -0.04000948 0.03048818
+v -0.06431904 -0.03915965 0.02996260
+v -0.02691057 -0.06754345 0.02527710
+v -0.03704540 -0.06482880 0.02800863
+v -0.03060732 -0.06210510 0.01957377
+v -0.05290909 -0.03915968 0.03908328
+v -0.02813057 -0.05850164 0.03931572
+v -0.02691057 -0.06097907 0.03925709
+v -0.05124812 -0.04691921 0.01957383
+v -0.06183127 -0.04267910 0.03032405
+v -0.06199295 -0.04291934 0.03182071
+v -0.06412061 -0.04000948 0.03103136
+v -0.06445133 -0.03915966 0.03146122
+v -0.02691057 -0.06966355 0.03058381
+v -0.02692527 -0.06966355 0.03058772
+v -0.03263209 -0.06753446 0.02997812
+v -0.03556450 -0.06596692 0.02938025
+v -0.03733938 -0.06503001 0.02938025
+v -0.03857775 -0.06425825 0.02938025
+v -0.04005498 -0.06272674 0.02758465
+v -0.03296281 -0.06085587 0.01957378
+v -0.05537482 -0.03915968 0.03915752
+v -0.03060732 -0.05850165 0.03953260
+v -0.02691057 -0.06275981 0.03841301
+v -0.03308407 -0.05850164 0.03945835
+v -0.02813057 -0.06097907 0.03916917
+v -0.05002812 -0.04832759 0.01957382
+v -0.05966687 -0.04547184 0.03182070
+v -0.06090524 -0.04415956 0.03182071
+v -0.04890734 -0.04956481 0.01957382
+v -0.04632770 -0.05692805 0.02639085
+v -0.04676131 -0.05731844 0.02802038
+v -0.06187904 -0.04281124 0.03349518
+v -0.05851668 -0.04662499 0.03426500
+v -0.06400301 -0.03976625 0.03266089
+v -0.06445133 -0.03915966 0.03161362
+v -0.02691057 -0.06966656 0.03059944
+v -0.02691057 -0.06983473 0.03182061
+v -0.02720088 -0.06976566 0.03182061
+v -0.02843925 -0.06934224 0.03182062
+v -0.03060732 -0.06853746 0.03182062
+v -0.03269456 -0.06760654 0.03182062
+v -0.03727691 -0.06500899 0.03114850
+v -0.04035263 -0.06301804 0.02938026
+v -0.03912161 -0.05714724 0.01957379
+v -0.03786118 -0.05791299 0.01957379
+v -0.04431396 -0.05981388 0.02801646
+v -0.04285143 -0.06032438 0.02709619
+v -0.04357902 -0.05929438 0.02638693
+v -0.04356432 -0.05424039 0.01957380
+v -0.04230390 -0.05512025 0.01957380
+v -0.05768620 -0.03915968 0.03853424
+v -0.05175891 -0.04991922 0.03796758
+v -0.05026331 -0.05087416 0.03814928
+v -0.04795192 -0.05106935 0.03864947
+v -0.04299842 -0.05354678 0.03919654
+v -0.03804124 -0.05602421 0.03945054
+v -0.02691057 -0.06773568 0.03571860
+v -0.03060365 -0.06113822 0.03867288
+v -0.02813057 -0.06259765 0.03829773
+v -0.04052167 -0.05602421 0.03906172
+v -0.03556450 -0.05850164 0.03905194
+v -0.03308407 -0.06050760 0.03856737
+v -0.05720481 -0.04786519 0.03226422
+v -0.05727831 -0.04797030 0.03426499
+v -0.04757342 -0.05095217 0.01957381
+v -0.04637547 -0.05202121 0.01957381
+v -0.04546415 -0.05281699 0.01957381
+v -0.06237879 -0.04115661 0.03393481
+v -0.05954193 -0.04538477 0.03426500
+v -0.05917813 -0.04497937 0.03555260
+v -0.05691452 -0.04766100 0.03574798
+v -0.06437416 -0.03915966 0.03212554
+v -0.06284916 -0.03915967 0.03430997
+v -0.06323868 -0.03915966 0.03384495
+v -0.02691057 -0.06983473 0.03350290
+v -0.02727069 -0.06979269 0.03332900
+v -0.03219480 -0.06739333 0.03328603
+v -0.03393660 -0.06686182 0.03182062
+v -0.04159101 -0.06205709 0.02938026
+v -0.05181403 -0.05241166 0.03565614
+v -0.04431396 -0.05981388 0.02838770
+v -0.05594072 -0.04920752 0.03426499
+v -0.04538330 -0.05288606 0.01957381
+v -0.04528409 -0.05296714 0.01957381
+v -0.05832193 -0.03915968 0.03817277
+v -0.04932993 -0.05241467 0.03799883
+v -0.04795192 -0.05292517 0.03823720
+v -0.04564421 -0.05372996 0.03858498
+v -0.02691057 -0.06892785 0.03473385
+v -0.03556450 -0.06000911 0.03819028
+v -0.04052167 -0.05763679 0.03825281
+v -0.04185559 -0.05731247 0.03797927
+v -0.03780607 -0.05852266 0.03849118
+v -0.04493131 -0.05517738 0.03822351
+v -0.04280733 -0.05601220 0.03843648
+v -0.05446349 -0.05010840 0.03580464
+v -0.06122494 -0.04115662 0.03515598
+v -0.05975873 -0.03915968 0.03718411
+v -0.06047163 -0.03915967 0.03668978
+v -0.06065536 -0.03915967 0.03654911
+v -0.02691057 -0.06958248 0.03387804
+v -0.04657758 -0.05467589 0.03780148
+v -0.05469867 -0.05027356 0.03426499
+f 1 2 6
+f 1 6 18
+f 1 18 23
+f 1 23 34
+f 1 34 45
+f 1 45 68
+f 1 68 105
+f 1 105 107
+f 1 107 106
+f 1 106 133
+f 1 133 132
+f 1 132 131
+f 1 131 118
+f 1 118 84
+f 1 84 54
+f 1 54 38
+f 1 38 29
+f 1 29 21
+f 1 21 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 19
+f 2 19 27
+f 2 27 37
+f 2 37 53
+f 2 53 78
+f 2 78 77
+f 2 77 83
+f 2 83 82
+f 2 82 117
+f 2 117 116
+f 2 116 100
+f 2 100 99
+f 2 99 98
+f 2 98 62
+f 2 62 59
+f 2 59 41
+f 2 41 31
+f 2 31 24
+f 2 24 17
+f 2 17 6
+f 3 8 4
+f 4 9 20
+f 4 20 28
+f 4 28 30
+f 4 30 40
+f 4 40 56
+f 4 56 90
+f 4 90 122
+f 4 122 134
+f 4 134 108
+f 4 108 70
+f 4 70 69
+f 4 69 46
+f 4 46 35
+f 4 35 25
+f 4 25 19
+f 4 19 7
+f 4 7 5
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 9
+f 6 17 18
+f 9 16 20
+f 16 21 22
+f 16 22 20
+f 17 23 18
+f 17 24 23
+f 19 25 26
+f 19 26 27
+f 20 22 28
+f 21 29 30
+f 21 30 28
+f 21 28 22
+f 23 24 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 25 35 26
+f 26 35 36
+f 26 36 27
+f 27 36 37
+f 29 38 30
+f 30 39 40
+f 30 38 39
+f 31 41 42
+f 31 42 33
+f 31 33 32
+f 33 43 44
+f 33 44 68
+f 33 68 45
+f 33 45 34
+f 33 42 43
+f 35 46 47
+f 35 47 48
+f 35 48 36
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 36 48 49
+f 38 54 55
+f 38 55 39
+f 39 55 40
+f 40 55 57
+f 40 57 58
+f 40 58 56
+f 41 59 42
+f 42 60 61
+f 42 61 43
+f 42 59 62
+f 42 62 63
+f 42 63 64
+f 42 64 60
+f 43 65 44
+f 43 61 66
+f 43 66 65
+f 44 65 67
+f 44 67 68
+f 46 69 47
+f 47 69 70
+f 47 70 71
+f 47 71 72
+f 47 72 48
+f 48 72 73
+f 48 73 74
+f 48 74 49
+f 49 74 50
+f 50 74 75
+f 50 75 51
+f 51 75 76
+f 51 76 52
+f 52 77 78
+f 52 78 53
+f 52 76 79
+f 52 79 80
+f 52 80 81
+f 52 81 82
+f 52 82 83
+f 52 83 77
+f 54 84 85
+f 54 85 86
+f 54 86 87
+f 54 87 88
+f 54 88 89
+f 54 89 55
+f 55 89 57
+f 56 58 91
+f 56 91 92
+f 56 92 90
+f 57 89 93
+f 57 93 94
+f 57 94 95
+f 57 95 58
+f 58 95 91
+f 60 96 97
+f 60 97 61
+f 60 64 79
+f 60 79 96
+f 61 97 66
+f 62 98 63
+f 63 98 99
+f 63 99 100
+f 63 100 81
+f 63 81 79
+f 63 79 64
+f 65 101 67
+f 65 66 102
+f 65 102 103
+f 65 103 101
+f 66 97 104
+f 66 104 102
+f 67 105 68
+f 67 101 106
+f 67 106 107
+f 67 107 105
+f 70 108 109
+f 70 109 71
+f 71 109 72
+f 72 109 73
+f 73 109 74
+f 74 109 110
+f 74 110 111
+f 74 111 75
+f 75 112 76
+f 75 111 110
+f 75 110 113
+f 75 113 112
+f 76 112 79
+f 79 114 115
+f 79 115 97
+f 79 97 96
+f 79 81 80
+f 79 112 114
+f 81 100 116
+f 81 116 117
+f 81 117 82
+f 84 118 85
+f 85 118 103
+f 85 103 104
+f 85 104 119
+f 85 119 86
+f 86 119 120
+f 86 120 87
+f 87 120 121
+f 87 121 88
+f 88 121 93
+f 88 93 89
+f 90 92 91
+f 90 91 95
+f 90 95 123
+f 90 123 124
+f 90 124 125
+f 90 125 122
+f 93 124 126
+f 93 126 94
+f 93 121 127
+f 93 127 128
+f 93 128 124
+f 94 126 95
+f 95 126 123
+f 97 115 129
+f 97 129 104
+f 101 130 106
+f 101 103 130
+f 102 104 103
+f 103 118 131
+f 103 131 132
+f 103 132 133
+f 103 133 130
+f 104 129 119
+f 106 130 133
+f 108 134 109
+f 109 134 110
+f 110 134 122
+f 110 122 125
+f 110 125 135
+f 110 135 113
+f 112 113 136
+f 112 136 115
+f 112 115 114
+f 113 135 119
+f 113 119 129
+f 113 129 136
+f 115 136 129
+f 119 135 127
+f 119 127 120
+f 120 127 121
+f 123 126 124
+f 124 128 127
+f 124 127 125
+f 125 127 135
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_2.obj

@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v 0.06190514 0.00024250 -0.03075224
+v 0.06186256 -0.00150775 -0.03075225
+v 0.06015328 -0.00150773 -0.03571643
+v 0.06017153 0.00024252 -0.03573299
+v 0.05260448 0.00024250 -0.03075224
+v 0.06164357 -0.00398119 -0.03075225
+v 0.05987955 -0.00790099 -0.03540046
+v 0.05996471 -0.00646068 -0.03550748
+v 0.06008637 -0.00398117 -0.03564253
+v 0.05860824 -0.00398117 -0.03660771
+v 0.05860824 -0.00150773 -0.03669691
+v 0.05860824 0.00024252 -0.03671473
+v -0.00023105 0.00024250 -0.03116380
+v -0.00023105 -0.05261737 -0.03075243
+v 0.06114478 -0.00894022 -0.03075227
+v 0.05746467 -0.01790413 -0.03547567
+v 0.05768973 -0.01637267 -0.03570565
+v 0.05801820 -0.01389923 -0.03597704
+v 0.05829802 -0.01141971 -0.03614203
+v 0.06104746 -0.00990042 -0.03075228
+v 0.06062166 -0.01389925 -0.03075229
+v 0.06022019 -0.01637269 -0.03092177
+v 0.06007420 -0.01753952 -0.03075230
+v 0.05878464 -0.00881258 -0.03609042
+v 0.05860824 -0.00646068 -0.03644527
+v 0.05613253 -0.01141970 -0.03715564
+v 0.05613253 -0.00894019 -0.03723781
+v 0.05613253 -0.00646067 -0.03726010
+v 0.05613253 0.00024253 -0.03722823
+v -0.00023105 0.00024252 -0.03621972
+v -0.00023105 -0.06183654 -0.03075247
+v 0.05995863 -0.01798923 -0.03075231
+v 0.05990997 -0.01814724 -0.03075231
+v 0.05519576 -0.02328249 -0.03567255
+v 0.05558507 -0.02133170 -0.03598153
+v 0.05625418 -0.01877925 -0.03610830
+v 0.05613253 -0.01637267 -0.03666574
+v 0.05613253 -0.01389922 -0.03698555
+v 0.06026886 -0.01637269 -0.03075230
+v 0.05365073 -0.01885217 -0.03718370
+v 0.05117501 -0.02381120 -0.03723533
+v 0.02887533 -0.04858813 -0.03724370
+v -0.00023105 -0.05602059 -0.03725201
+v -0.00023105 -0.05993435 -0.03560324
+v 0.00085169 -0.06184262 -0.03075247
+v 0.05767148 -0.02311843 -0.03075232
+v 0.05766540 -0.02310020 -0.03081348
+v 0.05483080 -0.02493550 -0.03505713
+v 0.05276871 -0.02818075 -0.03570059
+v 0.05325534 -0.02629073 -0.03603698
+v 0.05386362 -0.02398745 -0.03628097
+v 0.05365073 -0.02133169 -0.03698430
+v 0.05117501 -0.02629072 -0.03702956
+v 0.04869321 -0.02876416 -0.03720668
+v 0.04125998 -0.03867614 -0.03721626
+v 0.03630247 -0.04362909 -0.03719908
+v 0.03382676 -0.04610861 -0.03713284
+v 0.03135104 -0.04858813 -0.03694554
+v 0.02639961 -0.05106764 -0.03704876
+v 0.02391781 -0.05106764 -0.03724116
+v 0.00161204 -0.05602059 -0.03724946
+v -0.00023105 -0.05850012 -0.03656396
+v 0.00161204 -0.05850012 -0.03654803
+v 0.00161204 -0.05992219 -0.03558986
+v 0.00161204 -0.06183654 -0.03075247
+v 0.05233075 -0.03234368 -0.03075236
+v 0.05230642 -0.02983376 -0.03479148
+v 0.05014701 -0.03280553 -0.03557384
+v 0.05063364 -0.03123761 -0.03591976
+v 0.05135749 -0.02891002 -0.03627334
+v 0.04869321 -0.03123760 -0.03689132
+v 0.04621750 -0.03371711 -0.03709520
+v 0.04374178 -0.03619662 -0.03719332
+v 0.04125998 -0.04114959 -0.03668303
+v 0.03878427 -0.04362910 -0.03664482
+v 0.03647887 -0.04629701 -0.03630972
+v 0.03380851 -0.04864891 -0.03614090
+v 0.03135104 -0.05058147 -0.03595807
+v 0.02904565 -0.05126820 -0.03629190
+v 0.02639961 -0.05313999 -0.03604408
+v 0.02408205 -0.05374772 -0.03627089
+v 0.02144210 -0.05354108 -0.03695385
+v 0.01896030 -0.05354108 -0.03717173
+v 0.01648458 -0.05354108 -0.03722142
+v 0.00656956 -0.05602059 -0.03722589
+v 0.00409384 -0.05602059 -0.03723799
+v 0.00905136 -0.05602059 -0.03719149
+v 0.01152707 -0.05602059 -0.03709529
+v 0.00409384 -0.05850012 -0.03644482
+v 0.00409384 -0.05985535 -0.03550640
+v 0.00409384 -0.06167246 -0.03075247
+v 0.00574837 -0.05978849 -0.03542040
+v 0.05026867 -0.03538231 -0.03075237
+v 0.04518950 -0.04251091 -0.03075240
+v 0.04731849 -0.03726015 -0.03464243
+v 0.04498876 -0.03992806 -0.03537318
+v 0.04792677 -0.03560714 -0.03575350
+v 0.04872971 -0.03366242 -0.03609497
+v 0.04638174 -0.03633641 -0.03628674
+v 0.04374178 -0.03867615 -0.03663588
+v 0.04103492 -0.04342248 -0.03571913
+v 0.04352888 -0.04091257 -0.03571593
+v 0.03878427 -0.04544012 -0.03575737
+v 0.03577326 -0.04785887 -0.03577967
+v 0.03296908 -0.05007706 -0.03560766
+v 0.02833395 -0.05265989 -0.03570514
+v 0.02336428 -0.05505432 -0.03565228
+v 0.02144210 -0.05541288 -0.03594979
+v 0.01648458 -0.05602060 -0.03655886
+v 0.01400887 -0.05602059 -0.03690480
+v 0.00905136 -0.05829957 -0.03619445
+v 0.00657564 -0.05871282 -0.03611737
+v 0.01648458 -0.06007414 -0.03075246
+v 0.01648458 -0.06004376 -0.03085057
+v 0.01152707 -0.05806256 -0.03608423
+v 0.01400887 -0.05779516 -0.03590521
+v 0.01648458 -0.05748522 -0.03560960
+v 0.01809654 -0.05981282 -0.03075246
+v 0.01732402 -0.05996475 -0.03075246
+v 0.04511650 -0.04260815 -0.03075240
+v 0.04290844 -0.04533075 -0.03083332
+v 0.04256171 -0.04245619 -0.03541843
+v 0.04550580 -0.03867615 -0.03573950
+v 0.04005558 -0.04489925 -0.03538912
+v 0.03742171 -0.04725114 -0.03501516
+v 0.02998849 -0.05222840 -0.03496294
+v 0.04047530 -0.04771911 -0.03082505
+v 0.03784751 -0.04965167 -0.03075242
+v 0.03755553 -0.04984615 -0.03075242
+v 0.02501881 -0.05471399 -0.03504513
+v 0.02342510 -0.05764324 -0.03085502
+v 0.01831552 -0.05974597 -0.03075246
+v 0.01783497 -0.05729682 -0.03540382
+v 0.01878390 -0.05611176 -0.03604664
+v 0.04292060 -0.04534291 -0.03075241
+v 0.04048746 -0.04773126 -0.03075242
+v 0.02476333 -0.05699906 -0.03075245
+v 0.02347376 -0.05765540 -0.03075245
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 29
+f 1 29 30
+f 1 30 13
+f 1 13 5
+f 1 5 14
+f 1 14 31
+f 1 31 45
+f 1 45 65
+f 1 65 91
+f 1 91 113
+f 1 113 119
+f 1 119 118
+f 1 118 132
+f 1 132 138
+f 1 138 137
+f 1 137 129
+f 1 129 128
+f 1 128 136
+f 1 136 135
+f 1 135 120
+f 1 120 94
+f 1 94 93
+f 1 93 66
+f 1 66 46
+f 1 46 33
+f 1 33 32
+f 1 32 23
+f 1 23 39
+f 1 39 21
+f 1 21 20
+f 1 20 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 14
+f 6 15 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 7 15 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 16
+f 8 19 24
+f 8 24 25
+f 8 25 9
+f 9 25 10
+f 10 25 26
+f 10 26 11
+f 11 26 27
+f 11 27 12
+f 12 27 28
+f 12 28 29
+f 13 30 43
+f 13 43 62
+f 13 62 44
+f 13 44 31
+f 13 31 14
+f 16 23 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 17 35 36
+f 17 36 37
+f 17 37 18
+f 18 37 38
+f 18 38 19
+f 19 25 24
+f 19 38 25
+f 21 39 22
+f 22 39 23
+f 25 38 26
+f 26 38 40
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 30
+f 31 44 45
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 37
+f 35 37 36
+f 37 52 38
+f 38 52 40
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 59
+f 42 59 60
+f 42 60 43
+f 43 61 62
+f 43 60 61
+f 44 62 63
+f 44 63 64
+f 44 64 65
+f 44 65 45
+f 46 66 47
+f 47 66 67
+f 47 67 48
+f 48 67 49
+f 49 67 68
+f 49 68 69
+f 49 69 70
+f 49 70 50
+f 50 70 53
+f 50 53 51
+f 51 53 52
+f 53 70 71
+f 53 71 72
+f 53 72 54
+f 54 72 73
+f 54 73 55
+f 55 74 56
+f 55 73 74
+f 56 74 75
+f 56 75 57
+f 57 75 58
+f 58 75 76
+f 58 76 77
+f 58 77 78
+f 58 78 79
+f 58 79 59
+f 59 79 80
+f 59 80 81
+f 59 81 82
+f 59 82 83
+f 59 83 60
+f 60 83 84
+f 60 84 85
+f 60 85 86
+f 60 86 61
+f 61 86 62
+f 62 86 85
+f 62 85 63
+f 63 85 87
+f 63 87 88
+f 63 88 89
+f 63 89 64
+f 64 89 90
+f 64 90 65
+f 65 90 92
+f 65 92 91
+f 66 93 68
+f 66 68 67
+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 71
+f 69 71 70
+f 71 98 99
+f 71 99 100
+f 71 100 72
+f 72 100 73
+f 73 100 74
+f 74 101 75
+f 74 100 102
+f 74 102 101
+f 75 101 103
+f 75 103 76
+f 76 103 104
+f 76 104 77
+f 77 105 78
+f 77 104 105
+f 78 105 106
+f 78 106 80
+f 78 80 79
+f 80 106 107
+f 80 107 108
+f 80 108 81
+f 81 108 82
+f 82 108 109
+f 82 109 110
+f 82 110 83
+f 83 110 88
+f 83 88 87
+f 83 87 84
+f 84 87 85
+f 88 110 111
+f 88 111 89
+f 89 111 112
+f 89 112 90
+f 90 112 92
+f 91 92 114
+f 91 114 113
+f 92 112 111
+f 92 111 115
+f 92 115 116
+f 92 116 117
+f 92 117 118
+f 92 118 119
+f 92 119 114
+f 94 120 96
+f 94 96 95
+f 96 120 121
+f 96 121 122
+f 96 122 102
+f 96 102 123
+f 96 123 97
+f 97 99 98
+f 97 123 99
+f 99 123 100
+f 100 123 102
+f 101 124 103
+f 101 102 122
+f 101 122 124
+f 103 124 104
+f 104 124 125
+f 104 125 105
+f 105 126 106
+f 105 125 127
+f 105 127 128
+f 105 128 129
+f 105 129 126
+f 106 126 130
+f 106 130 107
+f 107 130 131
+f 107 131 132
+f 107 132 133
+f 107 133 108
+f 108 134 109
+f 108 133 117
+f 108 117 134
+f 109 116 110
+f 109 134 116
+f 110 116 115
+f 110 115 111
+f 113 114 119
+f 116 134 117
+f 117 133 118
+f 118 133 132
+f 120 135 121
+f 121 135 136
+f 121 136 127
+f 121 127 122
+f 122 127 124
+f 124 127 125
+f 126 129 137
+f 126 137 131
+f 126 131 130
+f 127 136 128
+f 131 137 138
+f 131 138 132
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_20.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.04030583 -0.03915763 -0.02622013
+v -0.05246913 -0.03915763 -0.02622013
+v -0.05223207 -0.02077998 -0.02622007
+v -0.05698845 -0.02078010 0.00459408
+v -0.04636100 -0.03915775 0.00459402
+v -0.05360401 -0.03812856 -0.02622013
+v -0.05376037 -0.03915764 -0.02499843
+v -0.05447408 -0.03778854 -0.02583401
+v -0.06155568 -0.02077998 -0.02622007
+v -0.06526797 -0.02078010 0.00459408
+v -0.05618143 -0.03915775 0.00459402
+v -0.05532145 -0.03611718 -0.02622012
+v -0.05403021 -0.03915764 -0.02459119
+v -0.05479436 -0.03863951 -0.02415379
+v -0.05679426 -0.03519606 -0.02574954
+v -0.06518222 -0.02078000 -0.02086870
+v -0.06141445 -0.02132870 -0.02622007
+v -0.06158594 -0.02258267 -0.02558961
+v -0.06512926 -0.02132882 0.00459408
+v -0.06604473 -0.02078007 -0.00238021
+v -0.06477871 -0.02628707 -0.00238023
+v -0.05627474 -0.03903902 0.00459402
+v -0.05915731 -0.03750438 -0.00106806
+v -0.05780303 -0.03915772 -0.00238027
+v -0.05535171 -0.03608120 -0.02622012
+v -0.05454721 -0.03915764 -0.02377371
+v -0.05617386 -0.03689080 -0.02436495
+v -0.05891269 -0.03207644 -0.02502858
+v -0.05927332 -0.03042309 -0.02578270
+v -0.05722803 -0.03371900 -0.02609644
+v -0.05705654 -0.03372979 -0.02622011
+v -0.05709941 -0.03565123 -0.02436494
+v -0.05837551 -0.03355529 -0.02427443
+v -0.06590350 -0.02078001 -0.01939963
+v -0.05956082 -0.02876432 -0.02606626
+v -0.06093024 -0.02319075 -0.02622008
+v -0.06438781 -0.02366583 0.00459407
+v -0.06416841 -0.02784868 -0.00097451
+v -0.06606742 -0.02078002 -0.01756255
+v -0.06426676 -0.02815272 -0.00238023
+v -0.06606742 -0.02078002 -0.01758970
+v -0.05701115 -0.03797755 0.00459402
+v -0.06186588 -0.03299227 -0.00070907
+v -0.06133627 -0.03455027 -0.00238026
+v -0.06020139 -0.03619823 -0.00238026
+v -0.05921027 -0.03756733 -0.00238027
+v -0.05812080 -0.03880690 -0.00238027
+v -0.05831751 -0.03603994 0.00459403
+v -0.05919262 -0.03754394 -0.00377090
+v -0.05775259 -0.03915772 -0.00278750
+v -0.05928593 -0.03517810 -0.01616292
+v -0.05917245 -0.03261977 -0.02339963
+v -0.05940194 -0.02876432 -0.02622010
+v -0.05862771 -0.03073612 -0.02622010
+v -0.05733647 -0.03324404 -0.02622011
+v -0.06603464 -0.02078001 -0.01895318
+v -0.05969953 -0.02778921 -0.02622009
+v -0.06325546 -0.02663792 0.00459406
+v -0.06384560 -0.02939229 -0.00238024
+v -0.06306884 -0.03124175 -0.00238024
+v -0.05969448 -0.03380728 0.00459404
+v -0.06095041 -0.03145767 0.00459404
+v -0.06108407 -0.03119860 0.00459405
+v -0.06221390 -0.02892995 0.00459405
+v -0.06204493 -0.03331070 -0.00238025
+v -0.06140940 -0.03215025 -0.01459429
+v -0.06192136 -0.03071277 -0.01648265
+f 1 2 6
+f 1 6 12
+f 1 12 25
+f 1 25 31
+f 1 31 55
+f 1 55 54
+f 1 54 53
+f 1 53 57
+f 1 57 36
+f 1 36 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 24
+f 1 24 50
+f 1 50 26
+f 1 26 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 16
+f 3 16 34
+f 3 34 56
+f 3 56 41
+f 3 41 39
+f 3 39 20
+f 3 20 10
+f 3 10 4
+f 4 10 19
+f 4 19 37
+f 4 37 58
+f 4 58 64
+f 4 64 63
+f 4 63 62
+f 4 62 61
+f 4 61 48
+f 4 48 42
+f 4 42 22
+f 4 22 11
+f 4 11 5
+f 6 8 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 12
+f 9 17 18
+f 9 18 16
+f 10 20 21
+f 10 21 19
+f 11 22 23
+f 11 23 24
+f 12 15 25
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 25
+f 15 27 32
+f 15 32 33
+f 15 33 28
+f 16 18 35
+f 16 35 29
+f 16 29 34
+f 17 36 18
+f 18 36 35
+f 19 21 38
+f 19 38 37
+f 20 39 21
+f 21 40 38
+f 21 39 41
+f 21 41 40
+f 22 42 23
+f 23 43 44
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 47 24
+f 23 42 48
+f 23 48 43
+f 24 47 49
+f 24 49 50
+f 26 51 27
+f 26 50 49
+f 26 49 51
+f 27 51 32
+f 28 33 52
+f 28 52 34
+f 28 34 29
+f 29 35 53
+f 29 53 54
+f 29 54 55
+f 29 55 30
+f 30 55 31
+f 32 52 33
+f 32 51 52
+f 34 52 56
+f 35 36 57
+f 35 57 53
+f 37 38 58
+f 38 40 59
+f 38 59 60
+f 38 60 58
+f 40 41 56
+f 40 56 59
+f 43 48 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 58
+f 43 58 60
+f 43 60 65
+f 43 65 44
+f 44 49 45
+f 44 65 66
+f 44 66 51
+f 44 51 49
+f 45 49 46
+f 46 49 47
+f 51 66 67
+f 51 67 52
+f 52 67 56
+f 56 67 60
+f 56 60 59
+f 60 67 66
+f 60 66 65
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_21.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.05480825 0.01894565 -0.02254332
+v -0.05480825 0.03965530 -0.02254324
+v -0.03974140 0.04245339 -0.02254323
+v -0.03974140 0.04609458 0.01959736
+v -0.05480530 0.02587555 0.01959729
+v -0.05480825 0.02585639 0.01942403
+v -0.05480825 0.04030691 -0.02199462
+v -0.04402472 0.05158357 -0.02254320
+v -0.03974140 0.05486078 -0.02254319
+v -0.03974140 0.05668896 0.01959740
+v -0.05480825 0.02593304 0.01959729
+v -0.05480825 0.04092019 -0.02140475
+v -0.04471353 0.05226967 -0.02124797
+v -0.04302616 0.05304394 -0.02202346
+v -0.04352175 0.05204736 -0.02254320
+v -0.03982990 0.05481478 -0.02254319
+v -0.03974140 0.05547022 -0.02192445
+v -0.03974140 0.05809569 0.01230035
+v -0.04177686 0.05675032 0.01352546
+v -0.03977975 0.05666597 0.01959740
+v -0.05480825 0.04235358 0.01959735
+v -0.05480825 0.04180560 -0.01947840
+v -0.05428611 0.04198193 -0.02085201
+v -0.04626963 0.05125392 -0.01947836
+v -0.04503065 0.05258397 -0.01947836
+v -0.04374300 0.05382203 -0.01947835
+v -0.04220755 0.05460397 -0.02116546
+v -0.04174146 0.05356523 -0.02254319
+v -0.04089777 0.05419001 -0.02254319
+v -0.04023552 0.05530924 -0.02178007
+v -0.03974140 0.05613333 -0.02121495
+v -0.03974140 0.05758213 -0.00234326
+v -0.04011162 0.05734832 -0.00237626
+v -0.04075028 0.05743259 0.01232098
+v -0.04177686 0.05675032 0.01316247
+v -0.04434184 0.05436619 0.01227559
+v -0.04432414 0.05434703 0.01366570
+v -0.04526075 0.05282148 0.01959738
+v -0.04514717 0.05292497 0.01959738
+v -0.04281229 0.05478397 0.01959739
+v -0.04269577 0.05486830 0.01959739
+v -0.04068685 0.05611402 0.01959740
+v -0.05470648 0.04248007 0.01959735
+v -0.05480825 0.04445410 0.00739160
+v -0.05454571 0.04472241 0.00739160
+v -0.04250402 0.05483777 -0.01947835
+v -0.04276067 0.05581890 0.01232098
+v -0.04128717 0.05393703 -0.02254319
+v -0.04073996 0.05607582 -0.01947834
+v -0.03974140 0.05671210 -0.01947834
+v -0.03974140 0.05756297 -0.00280938
+v -0.04779623 0.05037220 0.01959738
+v -0.04771068 0.05045652 0.01959738
+v -0.05003671 0.04793825 0.01959737
+v -0.04788325 0.05028404 0.01959737
+f 1 2 8
+f 1 8 15
+f 1 15 28
+f 1 28 48
+f 1 48 29
+f 1 29 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 21
+f 1 21 44
+f 1 44 22
+f 1 22 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 3 9 17
+f 3 17 31
+f 3 31 50
+f 3 50 51
+f 3 51 32
+f 3 32 18
+f 3 18 10
+f 3 10 4
+f 4 10 20
+f 4 20 42
+f 4 42 41
+f 4 41 40
+f 4 40 39
+f 4 39 38
+f 4 38 53
+f 4 53 52
+f 4 52 55
+f 4 55 54
+f 4 54 43
+f 4 43 21
+f 4 21 11
+f 4 11 5
+f 5 11 6
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 10 18 19
+f 10 19 20
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 28 15
+f 14 27 28
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 42 20
+f 21 43 44
+f 22 24 23
+f 22 44 24
+f 24 44 25
+f 25 44 45
+f 25 45 26
+f 26 46 27
+f 26 45 36
+f 26 36 47
+f 26 47 35
+f 26 35 46
+f 27 31 30
+f 27 30 29
+f 27 29 48
+f 27 48 28
+f 27 46 49
+f 27 49 50
+f 27 50 31
+f 32 51 33
+f 33 35 34
+f 33 51 49
+f 33 49 46
+f 33 46 35
+f 35 47 36
+f 36 45 37
+f 37 52 53
+f 37 53 38
+f 37 45 52
+f 43 54 44
+f 44 54 55
+f 44 55 45
+f 45 55 52
+f 49 51 50
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_22.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.04636036 -0.03915775 0.00459704
+v -0.05618262 -0.03915775 0.00459704
+v -0.05699167 -0.02078010 0.00459710
+v -0.05794805 -0.02078017 0.02449091
+v -0.05849603 -0.02078021 0.03426259
+v -0.04754420 -0.03915782 0.02449085
+v -0.05627568 -0.03903902 0.00459704
+v -0.06431960 -0.03915784 0.02996191
+v -0.06526822 -0.02078010 0.00459710
+v -0.05872349 -0.02078021 0.03604545
+v -0.04890898 -0.03915786 0.03670545
+v -0.04860138 -0.03915786 0.03426253
+v -0.04778717 -0.03915783 0.02690995
+v -0.04762174 -0.03915782 0.02528021
+v -0.05701235 -0.03797755 0.00459704
+v -0.06444884 -0.03915785 0.03146236
+v -0.06662008 -0.03514768 0.03023070
+v -0.06638486 -0.03472310 0.02860096
+v -0.06190280 -0.03310565 0.01049681
+v -0.05969538 -0.03380728 0.00459706
+v -0.05832026 -0.03603994 0.00459705
+v -0.07255996 -0.02078019 0.02929169
+v -0.06512864 -0.02132882 0.00459710
+v -0.05990992 -0.02078022 0.03721928
+v -0.05005146 -0.03915787 0.03822292
+v -0.06444884 -0.03915785 0.03161207
+v -0.06662008 -0.03514768 0.03077849
+v -0.07140455 -0.02489651 0.03181966
+v -0.07185173 -0.02323954 0.02999938
+v -0.06325724 -0.02663792 0.00459708
+v -0.06221557 -0.02892995 0.00459707
+v -0.06108342 -0.03119860 0.00459707
+v -0.06094901 -0.03145767 0.00459706
+v -0.07194478 -0.02365693 0.03181966
+v -0.07267370 -0.02132892 0.03181967
+v -0.07276675 -0.02078020 0.03181967
+v -0.06438680 -0.02366583 0.00459709
+v -0.06117647 -0.02078022 0.03811071
+v -0.05057876 -0.03915787 0.03841346
+v -0.06437388 -0.03915785 0.03212583
+v -0.06940391 -0.02814926 0.03426257
+v -0.07023364 -0.02628721 0.03426257
+v -0.07174058 -0.02334749 0.03338136
+v -0.06414900 -0.02526522 0.00587639
+v -0.07193185 -0.02078020 0.03375223
+v -0.07192410 -0.02132892 0.03361274
+v -0.06246888 -0.02078022 0.03853941
+v -0.05291026 -0.03867572 0.03908033
+v -0.05291026 -0.03915787 0.03908373
+v -0.06324173 -0.03915785 0.03384404
+v -0.06432218 -0.03811079 0.03330986
+v -0.06709310 -0.03082090 0.03610666
+v -0.06913509 -0.02777685 0.03561333
+v -0.06937548 -0.02078022 0.03754931
+v -0.06282299 -0.02078022 0.03863467
+v -0.06475126 -0.02078022 0.03897832
+v -0.06529924 -0.02078022 0.03907018
+v -0.05538909 -0.03867572 0.03931169
+v -0.05537616 -0.03915787 0.03915518
+v -0.06284884 -0.03915786 0.03431017
+v -0.06427824 -0.03279991 0.03807664
+v -0.06865432 -0.02078022 0.03824680
+v -0.06529924 -0.02132894 0.03909740
+v -0.05786792 -0.03619838 0.03935593
+v -0.06784786 -0.02078022 0.03858023
+v -0.05790411 -0.03873329 0.03864822
+v -0.05768957 -0.03915787 0.03853254
+v -0.06065434 -0.03915786 0.03654894
+v -0.06203721 -0.03546975 0.03822974
+v -0.06284626 -0.03366347 0.03844751
+v -0.06786595 -0.02129116 0.03850879
+v -0.06529924 -0.02380808 0.03889665
+v -0.06034416 -0.03371924 0.03914499
+v -0.06041654 -0.03625775 0.03863803
+v -0.05963851 -0.03794349 0.03827396
+v -0.05832284 -0.03915787 0.03817189
+v -0.06047340 -0.03915786 0.03668844
+v -0.05976000 -0.03915787 0.03718519
+f 1 2 7
+f 1 7 15
+f 1 15 21
+f 1 21 20
+f 1 20 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 37
+f 1 37 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 25
+f 1 25 39
+f 1 39 49
+f 1 49 59
+f 1 59 67
+f 1 67 76
+f 1 76 78
+f 1 78 77
+f 1 77 68
+f 1 68 60
+f 1 60 50
+f 1 50 40
+f 1 40 26
+f 1 26 16
+f 1 16 8
+f 1 8 2
+f 2 8 7
+f 3 9 22
+f 3 22 36
+f 3 36 45
+f 3 45 54
+f 3 54 62
+f 3 62 65
+f 3 65 57
+f 3 57 56
+f 3 56 55
+f 3 55 47
+f 3 47 38
+f 3 38 24
+f 3 24 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 8 15
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 15
+f 9 23 22
+f 10 24 25
+f 10 25 11
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 22 29 34
+f 22 34 35
+f 22 35 36
+f 22 23 37
+f 22 37 29
+f 24 38 25
+f 25 38 39
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 34 29
+f 28 41 42
+f 28 42 43
+f 28 43 34
+f 29 37 44
+f 29 44 30
+f 30 44 37
+f 34 43 35
+f 35 43 36
+f 36 43 46
+f 36 46 45
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 40 50 51
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 41 53 42
+f 42 53 43
+f 43 53 54
+f 43 54 45
+f 43 45 46
+f 47 55 48
+f 48 56 57
+f 48 57 58
+f 48 58 49
+f 48 55 56
+f 49 58 59
+f 50 60 61
+f 50 61 52
+f 50 52 51
+f 52 61 53
+f 53 61 62
+f 53 62 54
+f 57 63 64
+f 57 64 58
+f 57 65 63
+f 58 64 66
+f 58 66 59
+f 59 66 67
+f 60 68 69
+f 60 69 61
+f 61 69 70
+f 61 70 71
+f 61 71 62
+f 62 71 65
+f 63 65 72
+f 63 72 73
+f 63 73 64
+f 64 73 74
+f 64 74 66
+f 65 71 70
+f 65 70 73
+f 65 73 72
+f 66 74 75
+f 66 75 67
+f 67 75 76
+f 68 77 75
+f 68 75 69
+f 69 75 74
+f 69 74 70
+f 70 74 73
+f 75 77 78
+f 75 78 76
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_23.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00336023 0.06379424 -0.02621832
+v 0.00015610 0.06170248 -0.03048782
+v -0.00149631 0.06166910 -0.03040681
+v -0.00336023 0.06132001 -0.03081593
+v -0.00336023 0.05530201 -0.02621835
+v 0.00293715 0.06372609 -0.02621832
+v 0.00904477 0.06191249 -0.03073807
+v 0.00657010 0.06187912 -0.03070071
+v -0.00014829 0.06151055 -0.03081593
+v -0.00120576 0.06146187 -0.03081593
+v -0.00336023 0.05217411 -0.03081597
+v 0.01102727 0.05024090 -0.03081598
+v 0.01400202 0.04990154 -0.03081598
+v 0.01683248 0.05302527 -0.02621836
+v 0.00409147 0.06370384 -0.02621832
+v 0.01152340 0.06353694 -0.02621832
+v 0.01152340 0.06186103 -0.03068541
+v 0.00904477 0.06184435 -0.03081593
+v 0.00657010 0.06178732 -0.03081593
+v 0.01683248 0.04958722 -0.03081598
+v 0.01683248 0.06296949 -0.02621832
+v 0.01407713 0.06341733 -0.02621832
+v 0.01317779 0.06177481 -0.03058189
+v 0.01152340 0.06173725 -0.03081593
+v 0.01683248 0.06031029 -0.03081594
+v 0.01648065 0.06305572 -0.02621832
+v 0.01333789 0.06148552 -0.03081593
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 14
+f 1 14 21
+f 1 21 26
+f 1 26 22
+f 1 22 16
+f 1 16 15
+f 1 15 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 9
+f 3 10 4
+f 4 10 9
+f 4 9 19
+f 4 19 18
+f 4 18 24
+f 4 24 27
+f 4 27 25
+f 4 25 20
+f 4 20 13
+f 4 13 12
+f 4 12 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 7 15 16
+f 8 19 9
+f 13 20 14
+f 14 20 25
+f 14 25 21
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 21 25 23
+f 21 23 26
+f 22 26 23
+f 23 27 24
+f 23 25 27
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_24.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01683248 0.04958802 -0.03081598
+v 0.03740206 0.03699465 -0.03081602
+v 0.01683248 0.05302303 -0.02621836
+v 0.01683248 0.06031006 -0.03081594
+v 0.03740206 0.04146957 -0.02621840
+v 0.03740206 0.05050335 -0.03081597
+v 0.01683248 0.06296704 -0.02621832
+v 0.01863856 0.05992105 -0.03081594
+v 0.03740206 0.05247384 -0.02621836
+v 0.03561209 0.05205178 -0.03081597
+v 0.03558994 0.05209500 -0.03078942
+v 0.03740206 0.05119747 -0.02959039
+v 0.01875534 0.06249412 -0.02621832
+v 0.02015672 0.05950661 -0.03081594
+v 0.01896072 0.06243818 -0.02621832
+v 0.03716850 0.05150767 -0.02925193
+v 0.03639936 0.05319593 -0.02621835
+v 0.03547719 0.05212551 -0.03081597
+v 0.02061981 0.05941507 -0.03072593
+v 0.03235229 0.05414940 -0.03001436
+v 0.02371250 0.06067872 -0.02621833
+v 0.02639645 0.05929811 -0.02621833
+v 0.02820656 0.05827599 -0.02621834
+v 0.03372346 0.05491725 -0.02621835
+v 0.02069834 0.05928794 -0.03081594
+v 0.02145540 0.06169575 -0.02621832
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 25
+f 1 25 18
+f 1 18 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 9
+f 2 9 5
+f 3 5 9
+f 3 9 17
+f 3 17 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 26
+f 3 26 15
+f 3 15 13
+f 3 13 7
+f 4 7 8
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 15
+f 8 15 14
+f 9 12 16
+f 9 16 11
+f 9 11 17
+f 10 18 11
+f 11 16 12
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 17
+f 14 19 25
+f 14 15 26
+f 14 26 19
+f 18 25 19
+f 19 26 21
+f 19 21 20
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_25.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03740441 0.03699318 -0.03081602
+v 0.03740441 0.04146757 -0.02621840
+v 0.03740441 0.05050434 -0.03081597
+v 0.04814570 0.02037446 -0.03081609
+v 0.03740441 0.05247445 -0.02621836
+v 0.05185761 0.02037445 -0.02621848
+v 0.03740441 0.05119561 -0.02959039
+v 0.03824493 0.05006445 -0.03081598
+v 0.06009377 0.02037446 -0.03081609
+v 0.04162345 0.04953342 -0.02621837
+v 0.06138742 0.02037445 -0.02621848
+v 0.04000815 0.04928206 -0.02972228
+v 0.03856423 0.04983821 -0.03081598
+v 0.05996699 0.02081750 -0.03081608
+v 0.06011960 0.02037446 -0.03079134
+v 0.04443379 0.04746275 -0.02621838
+v 0.06021586 0.02037446 -0.03047313
+v 0.06006090 0.02080493 -0.03072787
+v 0.05985664 0.02205864 -0.03048167
+v 0.06124186 0.02092118 -0.02621847
+v 0.04564996 0.04650440 -0.02621838
+v 0.04740614 0.04500247 -0.02621838
+v 0.04246631 0.04678720 -0.03023673
+v 0.04121727 0.04742191 -0.03081599
+v 0.05932133 0.02249226 -0.03081608
+v 0.06038960 0.02328092 -0.02621846
+v 0.05768021 0.02631937 -0.03081606
+v 0.05747595 0.02721488 -0.03060947
+v 0.05834229 0.02815122 -0.02621845
+v 0.05929786 0.02602714 -0.02621845
+v 0.04811283 0.04429235 -0.02621839
+v 0.04290301 0.04566546 -0.03081599
+v 0.05270517 0.03481255 -0.03075572
+v 0.05717543 0.02738455 -0.03081606
+v 0.05523613 0.03096972 -0.03081605
+v 0.05494030 0.03202862 -0.03053204
+v 0.05676221 0.03099171 -0.02621844
+v 0.04965770 0.04251704 -0.02621839
+v 0.05035031 0.03736710 -0.03081602
+v 0.05284839 0.03451405 -0.03081603
+v 0.05259013 0.03486596 -0.03081603
+v 0.05036439 0.03735139 -0.03081602
+v 0.05428995 0.03249051 -0.03081604
+v 0.05559299 0.03307494 -0.02621843
+v 0.05102178 0.04058463 -0.02621840
+v 0.05118144 0.04033955 -0.02621840
+v 0.05304561 0.03735138 -0.02621841
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 24
+f 1 24 32
+f 1 32 39
+f 1 39 42
+f 1 42 41
+f 1 41 40
+f 1 40 43
+f 1 43 35
+f 1 35 34
+f 1 34 27
+f 1 27 25
+f 1 25 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 20
+f 2 20 26
+f 2 26 30
+f 2 30 29
+f 2 29 37
+f 2 37 44
+f 2 44 47
+f 2 47 46
+f 2 46 45
+f 2 45 38
+f 2 38 31
+f 2 31 22
+f 2 22 21
+f 2 21 16
+f 2 16 10
+f 2 10 5
+f 3 7 8
+f 4 9 15
+f 4 15 17
+f 4 17 11
+f 4 11 6
+f 5 10 7
+f 7 10 12
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 10 16 12
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 12 16 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 14 18 15
+f 14 25 19
+f 14 19 18
+f 15 18 17
+f 19 26 20
+f 19 25 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 26
+f 22 31 23
+f 23 32 24
+f 23 31 33
+f 23 33 32
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 31 38 33
+f 32 33 39
+f 33 40 41
+f 33 41 42
+f 33 42 39
+f 33 38 36
+f 33 36 43
+f 33 43 40
+f 35 43 36
+f 36 44 37
+f 36 38 45
+f 36 45 46
+f 36 46 47
+f 36 47 44
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_26.obj

@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.04715530 -0.02469163 -0.03073605
+v -0.05817529 -0.02469163 -0.03073605
+v -0.04740378 -0.02469163 -0.03027893
+v -0.04569508 -0.02630542 -0.03073606
+v -0.05702499 -0.02806320 -0.03073606
+v -0.05940098 -0.02876387 -0.02622055
+v -0.05969693 -0.02778927 -0.02622054
+v -0.05894309 -0.02469163 -0.02925991
+v -0.05051127 -0.02469164 -0.02622053
+v -0.03306411 -0.04130894 -0.03073611
+v -0.05689935 -0.02835295 -0.03073606
+v -0.05862760 -0.03073765 -0.02622055
+v -0.06048427 -0.02469164 -0.02622053
+v -0.03651780 -0.04262949 -0.02622060
+v -0.03196406 -0.04262948 -0.03073612
+v -0.05733770 -0.03324526 -0.02622056
+v -0.05440331 -0.03288878 -0.03073608
+v -0.04856525 -0.04262949 -0.02622060
+v -0.04564483 -0.04262948 -0.03073612
+v -0.05705570 -0.03372992 -0.02622056
+v -0.05206920 -0.03594427 -0.03073609
+v -0.05535259 -0.03608125 -0.02622057
+v -0.05089099 -0.04062059 -0.02622059
+v -0.04576209 -0.04262948 -0.03055486
+v -0.05233444 -0.03930005 -0.02622058
+v -0.05360480 -0.03812878 -0.02622058
+v -0.04906502 -0.03979173 -0.03016316
+v -0.04810457 -0.04020791 -0.03073611
+v -0.05153035 -0.03728763 -0.02999869
+v -0.05034375 -0.03789873 -0.03073610
+v -0.04960387 -0.03869421 -0.03073610
+f 1 2 8
+f 1 8 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 19
+f 1 19 28
+f 1 28 31
+f 1 31 30
+f 1 30 21
+f 1 21 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 16
+f 6 16 20
+f 6 20 22
+f 6 22 26
+f 6 26 25
+f 6 25 23
+f 6 23 18
+f 6 18 14
+f 6 14 9
+f 6 9 13
+f 6 13 7
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 11 17 16
+f 14 18 24
+f 14 24 19
+f 14 19 15
+f 16 17 20
+f 17 21 22
+f 17 22 20
+f 18 23 24
+f 19 24 23
+f 19 23 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 21 29 22
+f 21 30 29
+f 22 29 26
+f 26 29 27
+f 27 29 30
+f 27 30 31
+f 27 31 28
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_27.obj

@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04814567 0.02037446 -0.03081609
+v 0.05185871 0.02037445 -0.02621848
+v 0.06009430 0.02037446 -0.03081609
+v 0.05232520 0.00024250 -0.03081616
+v 0.05527335 0.00024249 -0.02621855
+v 0.06138572 0.02037445 -0.02621848
+v 0.06012002 0.02037446 -0.03079134
+v 0.06014232 0.02020695 -0.03081609
+v 0.06187108 0.00024250 -0.03081616
+v 0.06560813 0.00024249 -0.02621855
+v 0.06451222 0.01059815 -0.02621851
+v 0.06021607 0.02037446 -0.03047313
+v 0.06013546 0.02037446 -0.03074318
+v 0.06509362 0.00841272 -0.02621852
+v 0.06056593 0.01794664 -0.03081609
+v 0.06530457 0.00729143 -0.02621852
+v 0.06187965 0.00053415 -0.03081616
+v 0.06554811 0.00097753 -0.02650076
+v 0.06551209 0.00024249 -0.02646295
+v 0.06566301 0.00097753 -0.02621855
+v 0.06093810 0.01524491 -0.03081610
+v 0.06543148 0.00593367 -0.02636121
+v 0.06548808 0.00593367 -0.02621853
+v 0.06188994 0.00097754 -0.03081616
+v 0.06554982 0.00345462 -0.02649985
+v 0.06566473 0.00345462 -0.02621854
+v 0.06138915 0.01096864 -0.03081612
+v 0.06550180 0.00575631 -0.02621853
+v 0.06152464 0.00962861 -0.03081612
+v 0.06181105 0.00345463 -0.03081615
+v 0.06159667 0.00841273 -0.03081613
+f 1 2 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 21
+f 1 21 27
+f 1 27 29
+f 1 29 31
+f 1 31 30
+f 1 30 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 26
+f 2 26 28
+f 2 28 23
+f 2 23 16
+f 2 16 14
+f 2 14 11
+f 2 11 6
+f 3 7 8
+f 4 9 19
+f 4 19 10
+f 4 10 5
+f 6 11 12
+f 7 13 11
+f 7 11 14
+f 7 14 8
+f 8 14 16
+f 8 16 15
+f 9 17 18
+f 9 18 19
+f 10 19 20
+f 11 13 12
+f 15 16 22
+f 15 22 21
+f 16 23 22
+f 17 24 18
+f 18 25 26
+f 18 26 20
+f 18 20 19
+f 18 24 25
+f 21 22 27
+f 22 23 28
+f 22 28 26
+f 22 26 25
+f 22 25 29
+f 22 29 27
+f 24 30 25
+f 25 30 31
+f 25 31 29
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_28.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00336248 0.06561508 -0.02254315
+v -0.00830177 0.06546810 -0.02254315
+v -0.00336248 0.05739811 -0.02254318
+v -0.00336248 0.06420885 -0.02563530
+v -0.00582310 0.06435980 -0.02583550
+v -0.00830177 0.06451275 -0.02603164
+v -0.01078043 0.06459617 -0.02616052
+v -0.01078043 0.06521785 -0.02436602
+v -0.01325910 0.06518210 -0.02436602
+v -0.01078043 0.06539064 -0.02254315
+v -0.00336248 0.05214061 -0.03082270
+v -0.02639895 0.05154869 -0.02254320
+v -0.02639895 0.04532591 -0.03082272
+v -0.00336248 0.06131495 -0.03082266
+v -0.01325910 0.06459220 -0.02618078
+v -0.01573551 0.06447899 -0.02604056
+v -0.01573551 0.06493581 -0.02436602
+v -0.01325910 0.06522777 -0.02254315
+v -0.02639895 0.06115602 -0.02254317
+v -0.02639895 0.05593429 -0.03082268
+v -0.00715152 0.06111236 -0.03082267
+v -0.00957831 0.06095743 -0.03082267
+v -0.01078043 0.06082634 -0.03082267
+v -0.01195323 0.06069724 -0.03082267
+v -0.01314182 0.06050457 -0.03082267
+v -0.01422440 0.06032184 -0.03082267
+v -0.01573551 0.06334486 -0.02726122
+v -0.01754658 0.06431611 -0.02581037
+v -0.01573551 0.06492388 -0.02254315
+v -0.01830890 0.06442138 -0.02428983
+v -0.01954710 0.06420289 -0.02342500
+v -0.01954710 0.06420288 -0.02298003
+v -0.02446834 0.06210742 -0.02254316
+v -0.02472546 0.06186511 -0.02436603
+v -0.02639895 0.06098721 -0.02387405
+v -0.02639895 0.05998418 -0.02610218
+v -0.02447060 0.06172806 -0.02563693
+v -0.02598170 0.05621634 -0.03082268
+v -0.01617981 0.05985310 -0.03082267
+v -0.01846001 0.05929100 -0.03082267
+v -0.02069058 0.06259804 -0.02655444
+v -0.02316924 0.06205779 -0.02601625
+v -0.01919977 0.06409961 -0.02505334
+v -0.01889529 0.06430021 -0.02254315
+v -0.02050113 0.06374606 -0.02428984
+v -0.02316924 0.06262385 -0.02436603
+v -0.02316924 0.06265959 -0.02254316
+v -0.02247007 0.06295355 -0.02254316
+v -0.02000494 0.06396057 -0.02254316
+v -0.02639895 0.06085810 -0.02433524
+v -0.02559378 0.05639311 -0.03082268
+v -0.02073569 0.05843891 -0.03082268
+v -0.02180699 0.05800194 -0.03082268
+v -0.02319405 0.05741601 -0.03082268
+f 1 2 10
+f 1 10 18
+f 1 18 29
+f 1 29 44
+f 1 44 49
+f 1 49 48
+f 1 48 47
+f 1 47 33
+f 1 33 19
+f 1 19 12
+f 1 12 3
+f 1 3 11
+f 1 11 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 12 13
+f 3 13 11
+f 4 14 5
+f 5 14 6
+f 6 14 7
+f 7 15 8
+f 7 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 13 20
+f 11 20 38
+f 11 38 51
+f 11 51 54
+f 11 54 53
+f 11 53 52
+f 11 52 40
+f 11 40 39
+f 11 39 26
+f 11 26 25
+f 11 25 24
+f 11 24 23
+f 11 23 22
+f 11 22 21
+f 11 21 14
+f 12 19 35
+f 12 35 50
+f 12 50 36
+f 12 36 20
+f 12 20 13
+f 14 21 15
+f 15 22 16
+f 15 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 29 18
+f 17 28 30
+f 17 30 31
+f 17 31 32
+f 17 32 29
+f 19 33 34
+f 19 34 35
+f 20 36 37
+f 20 37 38
+f 26 39 28
+f 26 28 27
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 30
+f 28 39 40
+f 29 32 44
+f 30 43 31
+f 31 43 45
+f 31 45 46
+f 31 46 33
+f 31 33 32
+f 32 33 47
+f 32 47 48
+f 32 48 49
+f 32 49 44
+f 33 46 34
+f 34 46 37
+f 34 37 35
+f 35 37 50
+f 36 50 37
+f 37 46 43
+f 37 43 42
+f 37 42 38
+f 38 42 51
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 51
+f 41 51 42
+f 43 46 45
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_29.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02167447 -0.06005615 -0.02622944
+v 0.02167447 -0.05904026 -0.02901238
+v 0.02974327 -0.05784323 -0.02622943
+v 0.02167447 -0.05077607 -0.02622941
+v 0.02167447 -0.05893254 -0.02926473
+v 0.02167447 -0.05829853 -0.03063184
+v 0.02167447 -0.05824223 -0.03075182
+v 0.03096905 -0.05745646 -0.02622943
+v 0.03821526 -0.03993667 -0.02622937
+v 0.03821526 -0.03505060 -0.03075174
+v 0.02167447 -0.04738324 -0.03075178
+v 0.02347186 -0.05765963 -0.03075182
+v 0.03138520 -0.05729979 -0.02622943
+v 0.03821526 -0.05232561 -0.02622941
+v 0.03821526 -0.04916533 -0.03075179
+v 0.02507493 -0.05721655 -0.03030511
+v 0.03230980 -0.05688120 -0.02622943
+v 0.02476403 -0.05700358 -0.03075182
+v 0.03787522 -0.05267811 -0.02622941
+v 0.03770034 -0.04992174 -0.03058355
+v 0.03784931 -0.04965247 -0.03075179
+v 0.03347243 -0.05623739 -0.02622943
+v 0.03755946 -0.04984830 -0.03075179
+v 0.03754327 -0.05299389 -0.02622941
+v 0.03574426 -0.05470009 -0.02622942
+v 0.03531516 -0.05504770 -0.02622942
+v 0.03430636 -0.05570619 -0.02622942
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 17
+f 1 17 22
+f 1 22 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 19
+f 1 19 14
+f 1 14 9
+f 1 9 4
+f 1 4 11
+f 1 11 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 7 12 8
+f 7 11 10
+f 7 10 15
+f 7 15 21
+f 7 21 23
+f 7 23 18
+f 7 18 12
+f 8 12 13
+f 9 14 15
+f 9 15 10
+f 12 16 17
+f 12 17 13
+f 12 18 16
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 16 18 17
+f 17 18 22
+f 18 23 22
+f 19 24 20
+f 20 23 21
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 22
+f 20 22 23
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_3.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v -0.06298445 0.00097783 -0.03082370
+v -0.06126273 0.00097785 -0.03413789
+v -0.06125689 0.00024252 -0.03413789
+v -0.06294943 0.00024250 -0.03082370
+v -0.06279769 0.00343490 -0.03082369
+v -0.06114600 0.00345883 -0.03413788
+v -0.06000207 0.00345883 -0.03614738
+v -0.06005460 0.00097785 -0.03617063
+v -0.06090087 0.00024252 -0.03473779
+v -0.05221054 0.00024250 -0.03082370
+v -0.06250587 0.00593381 -0.03082368
+v -0.06226658 0.00593382 -0.03135699
+v -0.05975111 0.00841482 -0.03600100
+v -0.06091254 0.00593383 -0.03413787
+v -0.05990285 0.00593383 -0.03609523
+v -0.05786597 0.00841483 -0.03701548
+v -0.05786597 0.00593384 -0.03711411
+v -0.05786597 0.00345884 -0.03716312
+v -0.05786597 0.00097786 -0.03718197
+v -0.05940676 0.00024252 -0.03646838
+v -0.06004876 0.00024252 -0.03616938
+v -0.00336023 0.00024250 -0.03116291
+v -0.00336023 0.05213989 -0.03082351
+v -0.06207398 0.00841480 -0.03082367
+v -0.05915580 0.01481755 -0.03542872
+v -0.05931338 0.01337081 -0.03560335
+v -0.05955267 0.01088982 -0.03584206
+v -0.05786597 0.01088983 -0.03684021
+v -0.05538551 0.01832681 -0.03706381
+v -0.05538551 0.01584582 -0.03721897
+v -0.05538551 0.01337082 -0.03724034
+v -0.05786597 0.00024253 -0.03718009
+v -0.00336023 0.00024252 -0.03611284
+v -0.00336023 0.06131654 -0.03082347
+v -0.05946513 0.02080776 -0.03082362
+v -0.05938342 0.02117243 -0.03082362
+v -0.05911494 0.02218874 -0.03082362
+v -0.05671620 0.02227843 -0.03547015
+v -0.05697884 0.02080778 -0.03573084
+v -0.05738738 0.01832680 -0.03605184
+v -0.05800020 0.01572625 -0.03609268
+v -0.05786597 0.01337081 -0.03655753
+v -0.05538551 0.02080778 -0.03669632
+v -0.05290506 0.02576377 -0.03684519
+v -0.05290506 0.02328279 -0.03716618
+v -0.05290506 0.02080779 -0.03722838
+v -0.04795000 0.03071976 -0.03723714
+v -0.01821959 0.05301872 -0.03722890
+v -0.00336023 0.05549372 -0.03722135
+v -0.00336023 0.00024850 -0.03622025
+v -0.00509362 0.00024252 -0.03622025
+v -0.00336023 0.05951112 -0.03570494
+v -0.00582317 0.05942144 -0.03561197
+v -0.00715386 0.06111327 -0.03082348
+v -0.05897487 0.02258928 -0.03082362
+v -0.05846711 0.02375505 -0.03082361
+v -0.05695549 0.02711484 -0.03082360
+v -0.05432914 0.02737192 -0.03555430
+v -0.05470266 0.02576376 -0.03586337
+v -0.05547306 0.02317517 -0.03608134
+v -0.05299844 0.02821486 -0.03613284
+v -0.05043045 0.03071975 -0.03673021
+v -0.05043045 0.02823878 -0.03716303
+v -0.04546954 0.03566977 -0.03714855
+v -0.04299493 0.03814478 -0.03720319
+v -0.04051448 0.04062576 -0.03720946
+v -0.03308479 0.04558175 -0.03722075
+v -0.02564928 0.05053774 -0.03722827
+v -0.02069421 0.05301872 -0.03718178
+v -0.01078407 0.05549372 -0.03721004
+v -0.00830362 0.05549372 -0.03722386
+v -0.00336023 0.05551166 -0.03721758
+v -0.00336023 0.05797470 -0.03668865
+v -0.00582317 0.05797470 -0.03657433
+v -0.00830362 0.05929590 -0.03545933
+v -0.00958178 0.06095784 -0.03082348
+v -0.00830362 0.05797470 -0.03638148
+v -0.05684460 0.02733005 -0.03082360
+v -0.05675706 0.02749147 -0.03082360
+v -0.05176113 0.03210074 -0.03545880
+v -0.05216384 0.03071975 -0.03578357
+v -0.05040126 0.03303335 -0.03596887
+v -0.04805505 0.03573553 -0.03621133
+v -0.04795000 0.03318879 -0.03703549
+v -0.04299493 0.04062575 -0.03662841
+v -0.03803986 0.04310675 -0.03717428
+v -0.03061018 0.04806273 -0.03720567
+v -0.02812973 0.05053774 -0.03701595
+v -0.02317466 0.05301872 -0.03695313
+v -0.01573914 0.05549372 -0.03694998
+v -0.01325869 0.05549372 -0.03713215
+v -0.01055062 0.05813014 -0.03605170
+v -0.01325869 0.05761003 -0.03611702
+v -0.00957011 0.05921818 -0.03536511
+v -0.01078407 0.06082632 -0.03082348
+v -0.04951414 0.03930453 -0.03082356
+v -0.04933905 0.03957954 -0.03082355
+v -0.04955499 0.03495237 -0.03568744
+v -0.04730216 0.03764857 -0.03580427
+v -0.04567965 0.03834803 -0.03632376
+v -0.04480420 0.04062575 -0.03574207
+v -0.04299493 0.04247902 -0.03575023
+v -0.04075376 0.04333989 -0.03635138
+v -0.03555941 0.04558175 -0.03709072
+v -0.03073274 0.05071110 -0.03625964
+v -0.02812973 0.05258230 -0.03601842
+v -0.02579518 0.05321600 -0.03625963
+v -0.03308479 0.04806273 -0.03687399
+v -0.02317466 0.05489589 -0.03595308
+v -0.01821959 0.05549371 -0.03661894
+v -0.01573914 0.05732905 -0.03594114
+v -0.01422752 0.06031817 -0.03082348
+v -0.01314196 0.06050349 -0.03082348
+v -0.01195135 0.06069479 -0.03082348
+v -0.01821959 0.05701220 -0.03566161
+v -0.01966701 0.05680894 -0.03544803
+v -0.04916979 0.03981269 -0.03082355
+v -0.04663681 0.03930455 -0.03515161
+v -0.04424391 0.04187521 -0.03536894
+v -0.04173428 0.04432630 -0.03532433
+v -0.04008259 0.04501381 -0.03583377
+v -0.03817410 0.04573718 -0.03626783
+v -0.02998569 0.05211001 -0.03568173
+v -0.03308479 0.04996980 -0.03589971
+v -0.02506564 0.05452524 -0.03564842
+v -0.03549521 0.04808664 -0.03607999
+v -0.02057164 0.05559535 -0.03608123
+v -0.01573914 0.05995947 -0.03082348
+v -0.02074090 0.05843501 -0.03082349
+v -0.01846472 0.05928990 -0.03082348
+v -0.01618270 0.05985186 -0.03082348
+v -0.04717376 0.04243117 -0.03082354
+v -0.04716792 0.04241921 -0.03087442
+v -0.04481587 0.04493009 -0.03093032
+v -0.04231791 0.04727955 -0.03088572
+v -0.03908457 0.04666979 -0.03498763
+v -0.03743288 0.04727957 -0.03574519
+v -0.03471897 0.05194858 -0.03082351
+v -0.02671733 0.05417252 -0.03492918
+v -0.03461975 0.04949751 -0.03555422
+v -0.03948144 0.04944368 -0.03082352
+v -0.03914293 0.04962901 -0.03082352
+v -0.02180895 0.05799859 -0.03082349
+v -0.04483338 0.04494802 -0.03082353
+v -0.04232958 0.04729151 -0.03082353
+v -0.03969739 0.04930021 -0.03082352
+v -0.02598778 0.05621707 -0.03082349
+v -0.02559675 0.05639044 -0.03082349
+v -0.02489638 0.05668935 -0.03082349
+v -0.02319800 0.05741272 -0.03082349
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 23
+f 1 23 34
+f 1 34 54
+f 1 54 76
+f 1 76 95
+f 1 95 114
+f 1 114 113
+f 1 113 112
+f 1 112 128
+f 1 128 131
+f 1 131 130
+f 1 130 129
+f 1 129 143
+f 1 143 150
+f 1 150 149
+f 1 149 148
+f 1 148 147
+f 1 147 138
+f 1 138 142
+f 1 142 141
+f 1 141 146
+f 1 146 145
+f 1 145 144
+f 1 144 132
+f 1 132 117
+f 1 117 97
+f 1 97 96
+f 1 96 79
+f 1 79 78
+f 1 78 57
+f 1 57 56
+f 1 56 55
+f 1 55 37
+f 1 37 36
+f 1 36 35
+f 1 35 24
+f 1 24 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 21
+f 3 21 20
+f 3 20 32
+f 3 32 51
+f 3 51 33
+f 3 33 22
+f 3 22 10
+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 13
+f 6 13 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 10 22 23
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 15
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 32 20
+f 19 31 32
+f 22 33 50
+f 22 50 49
+f 22 49 72
+f 22 72 73
+f 22 73 52
+f 22 52 34
+f 22 34 23
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 28
+f 28 42 29
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 29 42 43
+f 30 45 46
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 50 51
+f 32 49 50
+f 33 51 50
+f 34 52 53
+f 34 53 54
+f 37 55 38
+f 38 55 56
+f 38 56 57
+f 38 57 58
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 43
+f 39 43 40
+f 40 43 42
+f 40 42 41
+f 43 60 44
+f 44 59 61
+f 44 61 62
+f 44 62 63
+f 44 63 45
+f 44 60 59
+f 45 63 47
+f 45 47 46
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 67
+f 47 67 68
+f 47 68 48
+f 48 68 69
+f 48 69 70
+f 48 70 71
+f 48 71 49
+f 49 71 72
+f 52 73 74
+f 52 74 53
+f 53 75 76
+f 53 76 54
+f 53 74 77
+f 53 77 75
+f 57 78 58
+f 58 78 79
+f 58 79 80
+f 58 80 81
+f 58 81 61
+f 58 61 59
+f 61 81 62
+f 62 81 82
+f 62 82 83
+f 62 83 84
+f 62 84 63
+f 63 84 64
+f 64 84 85
+f 64 85 65
+f 65 85 66
+f 66 85 86
+f 66 86 87
+f 66 87 67
+f 67 87 68
+f 68 88 69
+f 68 87 88
+f 69 89 90
+f 69 90 91
+f 69 91 70
+f 69 88 89
+f 70 91 73
+f 70 73 71
+f 71 73 72
+f 73 91 74
+f 74 91 90
+f 74 90 77
+f 75 77 92
+f 75 92 93
+f 75 93 94
+f 75 94 76
+f 76 94 95
+f 77 90 93
+f 77 93 92
+f 79 96 80
+f 80 82 81
+f 80 96 97
+f 80 97 98
+f 80 98 82
+f 82 98 83
+f 83 99 100
+f 83 100 84
+f 83 98 99
+f 84 100 85
+f 85 100 101
+f 85 101 102
+f 85 102 103
+f 85 103 104
+f 85 104 86
+f 86 104 87
+f 87 104 88
+f 88 105 106
+f 88 106 107
+f 88 107 89
+f 88 104 108
+f 88 108 105
+f 89 107 109
+f 89 109 110
+f 89 110 90
+f 90 110 111
+f 90 111 93
+f 93 111 94
+f 94 112 113
+f 94 113 114
+f 94 114 95
+f 94 111 115
+f 94 115 116
+f 94 116 112
+f 97 117 98
+f 98 117 118
+f 98 118 99
+f 99 118 119
+f 99 119 101
+f 99 101 100
+f 101 119 102
+f 102 119 120
+f 102 120 121
+f 102 121 103
+f 103 121 122
+f 103 122 104
+f 104 122 108
+f 105 123 106
+f 105 108 124
+f 105 124 123
+f 106 125 109
+f 106 109 107
+f 106 123 125
+f 108 122 126
+f 108 126 124
+f 109 125 116
+f 109 116 115
+f 109 115 127
+f 109 127 110
+f 110 127 115
+f 110 115 111
+f 112 116 128
+f 116 129 130
+f 116 130 131
+f 116 131 128
+f 116 125 129
+f 117 132 133
+f 117 133 118
+f 118 133 119
+f 119 133 134
+f 119 134 120
+f 120 134 135
+f 120 135 136
+f 120 136 137
+f 120 137 121
+f 121 137 122
+f 122 137 126
+f 123 138 139
+f 123 139 125
+f 123 124 140
+f 123 140 141
+f 123 141 142
+f 123 142 138
+f 124 126 140
+f 125 139 129
+f 126 137 140
+f 129 139 143
+f 132 144 134
+f 132 134 133
+f 134 144 145
+f 134 145 135
+f 135 145 146
+f 135 146 136
+f 136 146 140
+f 136 140 137
+f 138 147 139
+f 139 147 148
+f 139 148 149
+f 139 149 150
+f 139 150 143
+f 140 146 141
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_30.obj

@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.05073239 -0.02113961 -0.02622886
+v 0.05526750 0.00024040 -0.02622878
+v 0.06005125 -0.02113961 -0.02622886
+v 0.05627289 -0.02113978 0.01933538
+v 0.06039179 0.00024023 0.01933546
+v 0.06560436 0.00024040 -0.02622878
+v 0.06066025 -0.01966389 -0.02622885
+v 0.06324762 -0.02113963 -0.02210328
+v 0.06516293 -0.02113978 0.01933538
+v 0.06831425 0.00024023 0.01933546
+v 0.06548545 -0.00150324 -0.02622879
+v 0.06635571 0.00024039 -0.02436447
+v 0.06472689 -0.00527311 -0.02622880
+v 0.06497193 -0.00576711 -0.02580956
+v 0.06517734 -0.01637130 -0.02121571
+v 0.06491248 -0.01801866 -0.02086337
+v 0.06437374 -0.02113964 -0.01965024
+v 0.06618274 -0.01869282 0.01933539
+v 0.06512689 -0.02113976 0.01227507
+v 0.06616472 -0.01884979 0.01227508
+v 0.06701877 -0.01695544 0.01227509
+v 0.06843137 -0.00370547 0.01933545
+v 0.06908542 -0.00646010 0.01227513
+v 0.06897551 -0.00398175 0.01227514
+v 0.06909983 0.00024027 0.00739135
+v 0.06530707 -0.00280103 -0.02622879
+v 0.06620976 -0.00150325 -0.02436448
+v 0.06665841 -0.01141460 -0.01947625
+v 0.06764399 0.00024036 -0.01668420
+v 0.06771066 -0.00150328 -0.01681355
+v 0.06764038 -0.00398164 -0.01664407
+v 0.06507824 -0.00398160 -0.02622879
+v 0.06519536 -0.00398160 -0.02609499
+v 0.06551968 -0.01389295 -0.02164386
+v 0.06630886 -0.01389296 -0.01947626
+v 0.06444041 -0.02113964 -0.01947629
+v 0.06632688 -0.01824278 0.01933539
+v 0.06750705 -0.01571626 0.01227509
+v 0.06500797 -0.02113971 -0.00060567
+v 0.06849624 -0.00618382 0.01933544
+v 0.06849624 -0.00646012 0.01933544
+v 0.06900614 -0.00893846 0.01227512
+v 0.06908182 -0.00150333 -0.00238071
+v 0.06913947 -0.00150337 0.00739134
+v 0.06905479 0.00024031 -0.00238070
+v 0.06512329 -0.00376600 -0.02622879
+v 0.06743138 -0.01338225 -0.01135444
+v 0.06772147 0.00024036 -0.01602410
+v 0.06797192 -0.00150329 -0.01459243
+v 0.06755390 -0.01141463 -0.01171124
+v 0.06655931 -0.01637134 -0.00970422
+v 0.06498094 -0.02041123 -0.01140352
+v 0.06495932 -0.02113970 -0.00229604
+v 0.06748003 -0.01389310 0.01933541
+v 0.06808903 -0.01389308 0.01227510
+v 0.06839173 -0.00866218 0.01933543
+v 0.06837371 -0.00893848 0.01933543
+v 0.06867642 -0.01141472 0.01227511
+v 0.06883317 -0.00398169 -0.00238071
+v 0.06786561 0.00024035 -0.01459242
+v 0.06762057 -0.01322327 0.01933541
+v 0.06799173 -0.01142730 0.01933542
+f 1 2 6
+f 1 6 11
+f 1 11 26
+f 1 26 46
+f 1 46 32
+f 1 32 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 36
+f 1 36 53
+f 1 53 39
+f 1 39 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 25
+f 2 25 45
+f 2 45 60
+f 2 60 48
+f 2 48 29
+f 2 29 12
+f 2 12 6
+f 3 7 8
+f 4 9 18
+f 4 18 37
+f 4 37 54
+f 4 54 61
+f 4 61 62
+f 4 62 57
+f 4 57 56
+f 4 56 41
+f 4 41 40
+f 4 40 22
+f 4 22 10
+f 4 10 5
+f 6 12 11
+f 7 13 14
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 14 15
+f 9 19 20
+f 9 20 21
+f 9 21 18
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 11 12 27
+f 11 27 26
+f 12 28 27
+f 12 29 30
+f 12 30 31
+f 12 31 28
+f 13 32 14
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 15 35 16
+f 16 35 36
+f 16 36 17
+f 18 21 38
+f 18 38 37
+f 19 39 20
+f 20 39 21
+f 21 39 38
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 25
+f 23 25 24
+f 25 44 45
+f 26 27 33
+f 26 33 46
+f 27 28 34
+f 27 34 33
+f 28 35 34
+f 28 31 47
+f 28 47 35
+f 29 48 49
+f 29 49 30
+f 30 49 31
+f 31 50 47
+f 31 49 43
+f 31 43 50
+f 32 46 33
+f 35 47 36
+f 36 47 51
+f 36 51 52
+f 36 52 53
+f 37 38 55
+f 37 55 54
+f 38 39 53
+f 38 53 52
+f 38 52 51
+f 38 51 55
+f 41 56 42
+f 42 56 57
+f 42 57 58
+f 42 58 47
+f 42 47 59
+f 42 59 43
+f 43 45 44
+f 43 59 47
+f 43 47 50
+f 43 49 45
+f 45 49 60
+f 47 58 55
+f 47 55 51
+f 48 60 49
+f 54 55 58
+f 54 58 61
+f 57 62 58
+f 58 62 61
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_31.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.03601167 0.03806220 -0.03082275
+v -0.04778289 0.02188657 -0.03081957
+v -0.04790637 0.02188657 -0.03082281
+v -0.05008345 0.03806220 -0.03082275
+v -0.04400321 0.03806217 -0.02254325
+v -0.05370206 0.02188654 -0.02254331
+v -0.05919709 0.02188657 -0.03082281
+v -0.05675694 0.02749064 -0.03082279
+v -0.05687774 0.02741305 -0.03073930
+v -0.05909239 0.03452301 -0.02254326
+v -0.05847229 0.03547629 -0.02254326
+v -0.05833001 0.03567106 -0.02254326
+v -0.05706565 0.03733375 -0.02254325
+v -0.05635964 0.03806217 -0.02254731
+v -0.05508185 0.03806217 -0.02254325
+v -0.06343580 0.02188654 -0.02254331
+v -0.05929104 0.02188657 -0.03070447
+v -0.05911923 0.02218586 -0.03082281
+v -0.05684552 0.02732912 -0.03082279
+v -0.05695558 0.02711218 -0.03082279
+v -0.06177682 0.02492849 -0.02584537
+v -0.05952727 0.03369483 -0.02254327
+v -0.05651534 0.03786898 -0.02254325
+v -0.06329352 0.02265296 -0.02254331
+v -0.06336063 0.02188655 -0.02329953
+v -0.05922124 0.02240755 -0.03061775
+v -0.06226807 0.02188656 -0.02636331
+v -0.06208016 0.02328164 -0.02618579
+v -0.05897696 0.02258807 -0.03082281
+v -0.05847229 0.02375195 -0.03082280
+v -0.05892327 0.02406074 -0.03010630
+v -0.06316467 0.02188655 -0.02436618
+v -0.06278616 0.02328163 -0.02436617
+v -0.06091512 0.03054046 -0.02254328
+v -0.06012858 0.03245019 -0.02254327
+v -0.06312440 0.02328162 -0.02254330
+v -0.06250162 0.02550013 -0.02254330
+f 1 2 3
+f 1 3 7
+f 1 7 18
+f 1 18 29
+f 1 29 30
+f 1 30 20
+f 1 20 19
+f 1 19 8
+f 1 8 4
+f 1 4 14
+f 1 14 15
+f 1 15 5
+f 1 5 6
+f 1 6 2
+f 2 6 16
+f 2 16 25
+f 2 25 32
+f 2 32 27
+f 2 27 17
+f 2 17 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 23
+f 5 23 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 22
+f 5 22 35
+f 5 35 34
+f 5 34 37
+f 5 37 36
+f 5 36 24
+f 5 24 16
+f 5 16 6
+f 7 17 18
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 13 23 14
+f 14 23 15
+f 16 24 25
+f 17 26 18
+f 17 27 28
+f 17 28 26
+f 18 26 29
+f 20 30 31
+f 20 31 21
+f 21 28 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 21 31 26
+f 21 26 28
+f 24 36 32
+f 24 32 25
+f 26 31 29
+f 27 32 28
+f 29 31 30
+f 32 36 33
+f 33 36 37
+f 33 37 34
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_32.obj

@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
+v -0.06777833 0.01336725 0.03914661
+v -0.06777833 0.01584880 0.03898063
+v -0.06978753 0.01584880 0.03846883
+v -0.07025680 0.00024748 0.03875925
+v -0.06777833 0.01089093 0.03910708
+v -0.06034489 0.03071193 0.03904589
+v -0.06034489 0.03318825 0.03896290
+v -0.06965148 0.01832511 0.03833644
+v -0.07175926 0.00345675 0.03809728
+v -0.07186968 0.00098043 0.03820991
+v -0.07183616 0.00024748 0.03819607
+v -0.06777833 0.00024748 0.03869997
+v -0.06034489 0.02823561 0.03895696
+v -0.05844216 0.03071193 0.03842343
+v -0.05833766 0.03318825 0.03843135
+v -0.05832189 0.03566980 0.03836614
+v -0.05850920 0.03814611 0.03819819
+v -0.06034489 0.03566980 0.03871196
+v -0.06211551 0.03566980 0.03827524
+v -0.06931234 0.02080667 0.03810525
+v -0.07055059 0.02080667 0.03688602
+v -0.07089170 0.01832511 0.03707176
+v -0.07405831 0.00768691 0.03559560
+v -0.07410563 0.00593307 0.03568056
+v -0.07404648 0.00345676 0.03560744
+v -0.07397944 0.00219504 0.03549678
+v -0.07316511 0.00121079 0.03646899
+v -0.07295217 0.00024749 0.03655396
+v -0.06643952 0.00024748 0.03834230
+v -0.06034489 0.02575930 0.03871982
+v -0.05862159 0.02823561 0.03832264
+v -0.06402415 0.00435199 0.03796292
+v -0.05480826 0.03872725 0.03661931
+v -0.05480826 0.04120356 0.03665489
+v -0.05480826 0.04366941 0.03632688
+v -0.05882074 0.03984236 0.03803418
+v -0.05963506 0.03984236 0.03803418
+v -0.06041587 0.03825082 0.03823573
+v -0.06181186 0.03749693 0.03808160
+v -0.06906193 0.02212597 0.03795309
+v -0.07017793 0.02293746 0.03659356
+v -0.07150885 0.02209981 0.03550871
+v -0.07388282 0.00933604 0.03537231
+v -0.07435999 0.01089095 0.03385075
+v -0.07435407 0.00847221 0.03444158
+v -0.07439351 0.00593307 0.03426372
+v -0.07434618 0.00024750 0.03345352
+v -0.07411548 0.00024749 0.03406807
+v -0.07385127 0.00024749 0.03475970
+v -0.06503762 0.00024748 0.03789176
+v -0.05886017 0.02575930 0.03813886
+v -0.06467285 0.00024748 0.03768230
+v -0.05902777 0.02420964 0.03799856
+v -0.05480826 0.03615670 0.03619643
+v -0.05480826 0.04547560 0.03588227
+v -0.05786839 0.04310398 0.03693155
+v -0.06041587 0.04065384 0.03755005
+v -0.06128738 0.03914606 0.03784842
+v -0.05780529 0.04574784 0.03593563
+v -0.05973759 0.04503060 0.03587239
+v -0.06968894 0.02575931 0.03607980
+v -0.06928671 0.02746603 0.03571226
+v -0.06978556 0.02826704 0.03435866
+v -0.07077142 0.02575931 0.03426379
+v -0.07401690 0.01723096 0.03071475
+v -0.07399324 0.01466040 0.03307021
+v -0.07415295 0.01336727 0.03334489
+v -0.07461039 0.01089095 0.03182133
+v -0.07445068 0.01336727 0.03182134
+v -0.07494953 0.00098046 0.02937888
+v -0.07462419 0.00024750 0.03193985
+v -0.06317630 0.00024749 0.03646109
+v -0.05480826 0.03438191 0.03557001
+v -0.05649606 0.04692056 0.03553053
+v -0.05480826 0.04885239 0.03464527
+v -0.05693773 0.04692056 0.03553053
+v -0.06047700 0.04320346 0.03636442
+v -0.06187496 0.04243910 0.03583879
+v -0.05859004 0.04667973 0.03537245
+v -0.05964887 0.04752263 0.03374417
+v -0.06138991 0.04409347 0.03510567
+v -0.06938332 0.03023030 0.03360776
+v -0.06948980 0.03091613 0.03194194
+v -0.07035933 0.02823563 0.03182139
+v -0.07401690 0.01723096 0.03038475
+v -0.07412337 0.01563417 0.03164548
+v -0.06911517 0.03218309 0.03120685
+v -0.07414704 0.01584883 0.03007846
+v -0.07439547 0.00345679 0.02741073
+v -0.07438167 0.00098047 0.02758461
+v -0.07491996 0.00024751 0.02937888
+v -0.06215889 0.00024749 0.03426370
+v -0.05480826 0.03131401 0.03418083
+v -0.05480826 0.03306784 0.03501275
+v -0.05480826 0.05041777 0.03382323
+v -0.06896729 0.03187943 0.03283711
+v -0.05730250 0.04981571 0.03347149
+v -0.05895482 0.04917176 0.03252100
+v -0.06171722 0.04462749 0.03347739
+v -0.07359692 0.01816285 0.02949356
+v -0.06911517 0.03218309 0.03036900
+v -0.07152660 0.02458139 0.02803920
+v -0.07180067 0.02328302 0.02749578
+v -0.06657754 0.03695772 0.03066148
+v -0.06658149 0.03697343 0.02937902
+v -0.07372903 0.01584883 0.02885923
+v -0.07423773 0.00593310 0.02751744
+v -0.07362452 0.00593310 0.02629624
+v -0.06870899 0.00345682 0.01895910
+v -0.06864787 0.00024755 0.01895909
+v -0.07413915 0.00024752 0.02727239
+v -0.07433040 0.00024752 0.02763401
+v -0.06145695 0.00024752 0.02696610
+v -0.05480826 0.02774352 0.02951730
+v -0.05480826 0.02896858 0.03182140
+v -0.05480826 0.02939264 0.03229368
+v -0.05480826 0.03092136 0.03396543
+v -0.05480826 0.05162190 0.03280754
+v -0.05480826 0.05195696 0.03246172
+v -0.05538992 0.05151720 0.03263364
+v -0.05538992 0.05244908 0.03141244
+v -0.05679971 0.05193603 0.03089076
+v -0.05915790 0.04937072 0.03089272
+v -0.05975140 0.04823464 0.03175231
+v -0.07221868 0.02080671 0.02701558
+v -0.06655783 0.03694203 0.02812817
+v -0.06931826 0.02758648 0.02535966
+v -0.07129788 0.02328302 0.02627457
+v -0.05915790 0.04937072 0.03047380
+v -0.06862421 0.00593313 0.01895911
+v -0.06835408 0.01088053 0.01895913
+v -0.06099753 0.00024755 0.01895909
+v -0.06128541 0.00024753 0.02515405
+v -0.05480826 0.02707864 0.02765585
+v -0.05480826 0.05314016 0.03091053
+v -0.05480826 0.05358516 0.02960830
+v -0.05480826 0.05372652 0.02903524
+v -0.05677802 0.05192032 0.02937907
+v -0.06802677 0.01336732 0.01895914
+v -0.06441258 0.03984764 0.02743260
+v -0.06400443 0.03920894 0.02580234
+v -0.06096796 0.03264384 0.01895921
+v -0.06224564 0.02994241 0.01895920
+v -0.06459398 0.02469659 0.01895918
+v -0.06535901 0.02275428 0.01895917
+v -0.06638628 0.02010520 0.01895916
+v -0.06669979 0.01921519 0.01895916
+v -0.06969683 0.02575935 0.02508103
+v -0.06693443 0.01831995 0.01895916
+v -0.06757327 0.01584887 0.01895915
+v -0.05665577 0.05181039 0.02812229
+v -0.05480826 0.02582219 0.01895918
+v -0.05480826 0.02604207 0.02205173
+v -0.05480826 0.02627241 0.02449415
+v -0.06111584 0.00024754 0.02205163
+v -0.06122823 0.00024753 0.02449405
+v -0.05480826 0.02685876 0.02693656
+v -0.05480826 0.05314540 0.02747810
+v -0.06187496 0.04225067 0.02542098
+v -0.05962915 0.03534528 0.01895922
+v -0.05984013 0.03492121 0.01895922
+v -0.05480826 0.05281558 0.02710659
+v -0.05957591 0.04480552 0.02520559
+v -0.05480826 0.04208840 0.01895924
+v -0.05480826 0.02654465 0.02571338
+v -0.05590060 0.04071673 0.01895924
+v -0.05760418 0.03847601 0.01895923
+v -0.05779938 0.03818807 0.01895923
+v -0.05942606 0.03569081 0.01895922
+v -0.05480826 0.05244387 0.02681414
+v -0.05633635 0.04643371 0.02350619
+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 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 28
+f 4 28 49
+f 4 49 48
+f 4 48 47
+f 4 47 71
+f 4 71 91
+f 4 91 112
+f 4 112 111
+f 4 111 110
+f 4 110 132
+f 4 132 155
+f 4 155 156
+f 4 156 133
+f 4 133 113
+f 4 113 92
+f 4 92 72
+f 4 72 52
+f 4 52 50
+f 4 50 29
+f 4 29 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 12 29 13
+f 13 30 31
+f 13 31 14
+f 13 29 32
+f 13 32 30
+f 14 31 33
+f 14 33 15
+f 15 33 34
+f 15 34 16
+f 16 34 17
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 19 39 20
+f 20 39 40
+f 20 40 21
+f 21 40 41
+f 21 41 42
+f 21 42 22
+f 22 42 23
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 23 42 43
+f 24 45 46
+f 24 46 25
+f 25 46 47
+f 25 47 26
+f 26 47 48
+f 26 48 49
+f 26 49 28
+f 26 28 27
+f 29 50 32
+f 30 32 31
+f 31 32 51
+f 31 51 33
+f 32 50 52
+f 32 52 53
+f 32 53 51
+f 33 54 73
+f 33 73 94
+f 33 94 93
+f 33 93 117
+f 33 117 116
+f 33 116 115
+f 33 115 114
+f 33 114 134
+f 33 134 157
+f 33 157 165
+f 33 165 154
+f 33 154 153
+f 33 153 152
+f 33 152 164
+f 33 164 170
+f 33 170 162
+f 33 162 158
+f 33 158 137
+f 33 137 136
+f 33 136 135
+f 33 135 119
+f 33 119 118
+f 33 118 95
+f 33 95 75
+f 33 75 55
+f 33 55 35
+f 33 35 34
+f 33 51 54
+f 35 55 36
+f 36 55 56
+f 36 56 37
+f 37 57 58
+f 37 58 38
+f 37 56 59
+f 37 59 60
+f 37 60 57
+f 38 58 39
+f 39 58 61
+f 39 61 40
+f 40 61 41
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 67
+f 42 67 44
+f 42 44 43
+f 44 68 45
+f 44 67 69
+f 44 69 68
+f 45 70 46
+f 45 68 70
+f 46 70 71
+f 46 71 47
+f 51 53 54
+f 52 72 53
+f 53 72 54
+f 54 72 73
+f 55 74 56
+f 55 75 74
+f 56 74 76
+f 56 76 59
+f 57 60 58
+f 58 60 77
+f 58 77 78
+f 58 78 62
+f 58 62 61
+f 59 76 79
+f 59 79 60
+f 60 79 80
+f 60 80 81
+f 60 81 78
+f 60 78 77
+f 62 82 63
+f 62 78 82
+f 63 82 64
+f 64 82 83
+f 64 83 84
+f 64 84 65
+f 65 85 69
+f 65 69 86
+f 65 86 66
+f 65 84 83
+f 65 83 87
+f 65 87 101
+f 65 101 85
+f 66 86 67
+f 67 86 69
+f 68 69 88
+f 68 88 70
+f 69 85 88
+f 70 89 90
+f 70 90 91
+f 70 91 71
+f 70 88 89
+f 72 92 93
+f 72 93 94
+f 72 94 73
+f 74 75 76
+f 75 95 76
+f 76 95 79
+f 78 81 96
+f 78 96 82
+f 79 95 97
+f 79 97 80
+f 80 97 98
+f 80 98 99
+f 80 99 81
+f 81 99 96
+f 82 96 83
+f 83 96 87
+f 85 100 88
+f 85 101 102
+f 85 102 103
+f 85 103 100
+f 87 96 104
+f 87 104 105
+f 87 105 101
+f 88 100 106
+f 88 106 107
+f 88 107 89
+f 89 107 108
+f 89 108 109
+f 89 109 110
+f 89 110 111
+f 89 111 90
+f 90 111 112
+f 90 112 91
+f 92 113 114
+f 92 114 115
+f 92 115 116
+f 92 116 117
+f 92 117 93
+f 95 118 97
+f 96 99 104
+f 97 118 119
+f 97 119 120
+f 97 120 121
+f 97 121 122
+f 97 122 98
+f 98 123 124
+f 98 124 99
+f 98 122 123
+f 99 124 104
+f 100 125 106
+f 100 103 125
+f 101 105 126
+f 101 126 102
+f 102 126 127
+f 102 127 103
+f 103 127 128
+f 103 128 125
+f 104 124 123
+f 104 123 105
+f 105 123 129
+f 105 129 126
+f 106 125 107
+f 107 125 108
+f 108 130 109
+f 108 125 131
+f 108 131 130
+f 109 130 131
+f 109 131 139
+f 109 139 150
+f 109 150 149
+f 109 149 147
+f 109 147 146
+f 109 146 145
+f 109 145 144
+f 109 144 143
+f 109 143 142
+f 109 142 161
+f 109 161 160
+f 109 160 169
+f 109 169 168
+f 109 168 167
+f 109 167 166
+f 109 166 164
+f 109 164 152
+f 109 152 132
+f 109 132 110
+f 113 133 114
+f 114 133 134
+f 119 121 120
+f 119 135 121
+f 121 135 122
+f 122 135 136
+f 122 136 137
+f 122 137 138
+f 122 138 129
+f 122 129 123
+f 125 139 131
+f 125 128 139
+f 126 129 140
+f 126 140 141
+f 126 141 127
+f 127 142 143
+f 127 143 144
+f 127 144 145
+f 127 145 146
+f 127 146 147
+f 127 147 148
+f 127 148 128
+f 127 141 142
+f 128 148 147
+f 128 147 149
+f 128 149 150
+f 128 150 139
+f 129 138 151
+f 129 151 140
+f 132 152 153
+f 132 153 154
+f 132 154 155
+f 133 156 134
+f 134 156 157
+f 137 158 151
+f 137 151 138
+f 140 159 141
+f 140 151 159
+f 141 159 160
+f 141 160 161
+f 141 161 142
+f 151 158 162
+f 151 162 163
+f 151 163 159
+f 154 165 156
+f 154 156 155
+f 156 165 157
+f 159 164 166
+f 159 166 167
+f 159 167 168
+f 159 168 169
+f 159 169 160
+f 159 163 164
+f 162 170 163
+f 163 170 171
+f 163 171 164
+f 164 171 170
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_33.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05527419 0.00024249 -0.02621855
+v 0.04985036 0.02492451 -0.02621846
+v 0.06560673 0.00024249 -0.02621855
+v 0.05917521 0.00024238 0.00248707
+v 0.05972229 0.02492451 -0.02621846
+v 0.05452782 0.02491715 0.00248716
+v 0.05446578 0.02492441 0.00121148
+v 0.06566313 0.00097696 -0.02621855
+v 0.06641702 0.00097695 -0.02436404
+v 0.06635686 0.00024248 -0.02436404
+v 0.06795111 0.00024238 0.00248707
+v 0.06284876 0.02492450 -0.02316976
+v 0.06416476 0.02327918 -0.02254315
+v 0.06039158 0.02327920 -0.02621846
+v 0.06318716 0.02492440 0.00248716
+v 0.06566313 0.00345579 -0.02621854
+v 0.06641890 0.00345578 -0.02436403
+v 0.06728182 0.01336627 -0.02067182
+v 0.06764466 0.00024245 -0.01668467
+v 0.06844931 0.00024239 0.00078429
+v 0.06819739 0.00024963 0.00248707
+v 0.06380756 0.02492449 -0.02222564
+v 0.06495437 0.02489791 -0.02094434
+v 0.06523073 0.02327918 -0.02132367
+v 0.06456521 0.02080035 -0.02293374
+v 0.06124135 0.02091875 -0.02621847
+v 0.06368160 0.02492440 0.00248716
+v 0.06550145 0.00575584 -0.02621853
+v 0.06721978 0.01584509 -0.02024190
+v 0.06737582 0.01584509 -0.01901961
+v 0.06743222 0.01336626 -0.01944953
+v 0.06548829 0.00593462 -0.02621853
+v 0.06772175 0.00024245 -0.01602435
+v 0.06905655 0.00024240 -0.00237962
+v 0.06904527 0.00097687 -0.00237962
+v 0.06818235 0.00097685 0.00248707
+v 0.06492053 0.02492449 -0.02096963
+v 0.06494873 0.02492449 -0.02092186
+v 0.06496565 0.02492449 -0.02085161
+v 0.06582481 0.02327917 -0.01947759
+v 0.06651478 0.02080034 -0.01947760
+v 0.06557665 0.02080035 -0.02171144
+v 0.06498069 0.01027861 -0.02582794
+v 0.06451257 0.01059995 -0.02621851
+v 0.06427944 0.02332258 0.00248716
+v 0.06503897 0.02492441 -0.00083692
+v 0.06704494 0.01818863 -0.01937083
+v 0.06731378 0.01727537 -0.01848573
+v 0.06530593 0.00729001 -0.02621852
+v 0.06520065 0.00841104 -0.02610051
+v 0.06786463 0.00024244 -0.01459412
+v 0.06773491 0.01336623 -0.00971052
+v 0.06876891 0.00345570 -0.00237961
+v 0.06791350 0.00345568 0.00248708
+v 0.06818047 0.00099618 0.00248707
+v 0.06524765 0.02492448 -0.01947759
+v 0.06544693 0.02492442 -0.00239077
+v 0.06592257 0.02327911 -0.00237953
+v 0.06731378 0.01727537 -0.01815698
+v 0.06509349 0.00841104 -0.02621852
+v 0.06501265 0.02058040 0.00248715
+v 0.06743410 0.01532803 -0.00971051
+v 0.06642078 0.02080028 -0.00237954
+f 1 2 5
+f 1 5 14
+f 1 14 26
+f 1 26 44
+f 1 44 60
+f 1 60 49
+f 1 49 32
+f 1 32 28
+f 1 28 16
+f 1 16 8
+f 1 8 3
+f 1 3 10
+f 1 10 19
+f 1 19 33
+f 1 33 51
+f 1 51 34
+f 1 34 20
+f 1 20 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 15
+f 2 15 27
+f 2 27 46
+f 2 46 57
+f 2 57 56
+f 2 56 39
+f 2 39 38
+f 2 38 37
+f 2 37 22
+f 2 22 12
+f 2 12 5
+f 3 8 9
+f 3 9 10
+f 4 11 21
+f 4 21 36
+f 4 36 55
+f 4 55 54
+f 4 54 61
+f 4 61 45
+f 4 45 27
+f 4 27 15
+f 4 15 6
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 21
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 16 28 18
+f 16 18 17
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 18 28 32
+f 18 32 29
+f 19 31 33
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 22 37 23
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 42 25
+f 24 41 29
+f 24 29 42
+f 25 43 44
+f 25 44 26
+f 25 42 43
+f 27 45 46
+f 29 41 47
+f 29 47 48
+f 29 48 30
+f 29 32 49
+f 29 49 50
+f 29 50 42
+f 30 48 35
+f 30 35 31
+f 31 35 34
+f 31 34 51
+f 31 51 33
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 35 48 52
+f 39 56 40
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 41 59 48
+f 41 48 47
+f 41 58 59
+f 42 50 43
+f 43 50 60
+f 43 60 44
+f 45 61 46
+f 46 58 57
+f 46 61 58
+f 48 59 52
+f 49 60 50
+f 52 62 63
+f 52 63 53
+f 52 59 62
+f 53 63 54
+f 54 63 61
+f 58 61 63
+f 58 63 59
+f 59 63 62
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_34.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.04795257 0.05054035 0.03958864
+v -0.04795257 0.05301951 0.03928141
+v -0.04989512 0.05301951 0.03852802
+v -0.04998804 0.05054036 0.03862782
+v -0.05480825 0.04120918 0.03665527
+v -0.05480825 0.03873397 0.03662004
+v -0.04795257 0.04806121 0.03918356
+v -0.04547610 0.04806121 0.03928336
+v -0.03974140 0.05650053 0.03854565
+v -0.04957947 0.05491325 0.03823059
+v -0.03974140 0.05797388 0.03822864
+v -0.03974140 0.05808781 0.03819538
+v -0.04721066 0.05695628 0.03803883
+v -0.04800273 0.05564403 0.03841258
+v -0.05480825 0.04547992 0.03588233
+v -0.05480825 0.04367655 0.03632653
+v -0.05480825 0.03616052 0.03619539
+v -0.03974140 0.05376993 0.03842040
+v -0.03974140 0.05559688 0.03853781
+v -0.04547610 0.04577458 0.03852800
+v -0.04381380 0.04612818 0.03825795
+v -0.05480825 0.05041858 0.03382374
+v -0.05480825 0.04885093 0.03464561
+v -0.04886116 0.05656732 0.03780987
+v -0.04965027 0.05742776 0.03617981
+v -0.05014439 0.05564403 0.03688036
+v -0.03974140 0.05822533 0.03814254
+v -0.03974140 0.05892468 0.03782554
+v -0.04547610 0.06019766 0.03616417
+v -0.04739799 0.05973404 0.03595087
+v -0.05480825 0.03438858 0.03556919
+v -0.03974140 0.05316881 0.03823646
+v -0.05480825 0.03307239 0.03501344
+v -0.05480825 0.03132010 0.03418177
+v -0.05480825 0.03092721 0.03396651
+v -0.04299814 0.04386121 0.03605257
+v -0.04174589 0.04432875 0.03550465
+v -0.03974140 0.05203728 0.03777854
+v -0.03974140 0.05207657 0.03779811
+v -0.05480825 0.05162083 0.03280813
+v -0.04908240 0.05910542 0.03426406
+v -0.05480825 0.05314133 0.03090998
+v -0.05480825 0.05195479 0.03246176
+v -0.03974140 0.05953759 0.03734807
+v -0.04299814 0.06151777 0.03541666
+v -0.04051871 0.06448019 0.03332479
+v -0.04206006 0.06429553 0.03318976
+v -0.04547610 0.06143919 0.03499006
+v -0.04547610 0.06220534 0.03376898
+v -0.04680357 0.06176923 0.03322106
+v -0.04766938 0.06051590 0.03412708
+v -0.05480825 0.02939886 0.03229339
+v -0.05480825 0.02897454 0.03182179
+v -0.05480825 0.02774873 0.02952052
+v -0.04151137 0.04392407 0.03426400
+v -0.03974140 0.04913774 0.03602128
+v -0.05480825 0.05372281 0.02903532
+v -0.05480825 0.05358530 0.02960867
+v -0.03974140 0.06453126 0.03336979
+v -0.03974140 0.06499095 0.03280622
+v -0.03974140 0.06556850 0.03180626
+v -0.04051871 0.06535241 0.03182192
+v -0.04244060 0.06455876 0.03182192
+v -0.04680357 0.06176923 0.03270641
+v -0.05423154 0.05432395 0.02853827
+v -0.04367958 0.06387513 0.03182191
+v -0.05480825 0.02708082 0.02765563
+v -0.04223558 0.04217178 0.03182183
+v -0.04125030 0.04341332 0.03182184
+v -0.03974140 0.04845411 0.03482368
+v -0.03974140 0.04890594 0.03566121
+v -0.05423154 0.05432395 0.02801971
+v -0.05480825 0.05314920 0.02747961
+v -0.03974140 0.06591032 0.03060280
+v -0.03974140 0.06600462 0.02937976
+v -0.04564277 0.06249215 0.03186496
+v -0.04051871 0.06553315 0.02937976
+v -0.04222525 0.06447234 0.02937976
+v -0.05480825 0.02685687 0.02693746
+v -0.05480825 0.02654650 0.02571247
+v -0.05480825 0.02627147 0.02449531
+v -0.05480825 0.02620075 0.02375561
+v -0.05480825 0.02603968 0.02205119
+v -0.05480825 0.02587074 0.01960903
+v -0.04215741 0.04223073 0.02937968
+v -0.03974140 0.04609289 0.01959932
+v -0.03974140 0.04609289 0.01960910
+v -0.03974140 0.04614396 0.02096912
+v -0.03974140 0.04618325 0.02199060
+v -0.03974140 0.04631289 0.02466367
+v -0.03974140 0.04637967 0.02596106
+v -0.03974140 0.04655255 0.02767331
+v -0.03974140 0.04822231 0.03426402
+v -0.05203825 0.05458720 0.02545622
+v -0.05369022 0.05351852 0.02639160
+v -0.05480825 0.05281525 0.02710584
+v -0.04941133 0.05686990 0.02554038
+v -0.03974140 0.06487310 0.02749922
+v -0.04051871 0.06466487 0.02776731
+v -0.04177243 0.06418161 0.02814890
+v -0.05480825 0.02593361 0.01959925
+v -0.05480530 0.02587467 0.01959925
+v -0.03974140 0.05668919 0.01959936
+v -0.05420351 0.05186838 0.02567538
+v -0.04514717 0.05292528 0.01959934
+v -0.04526075 0.05281920 0.01959934
+v -0.04771068 0.05045792 0.01959934
+v -0.04779623 0.05037149 0.01959934
+v -0.04788325 0.05028112 0.01959933
+v -0.04997624 0.04800235 0.01959933
+v -0.05003671 0.04793556 0.01959933
+v -0.05470648 0.04248221 0.01959931
+v -0.05480825 0.04235649 0.01959931
+v -0.05480825 0.05244200 0.02681427
+v -0.04068685 0.05611164 0.01959936
+v -0.04269577 0.05487010 0.01959935
+v -0.04281229 0.05478366 0.01959935
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 3
+f 2 9 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 10
+f 3 10 15
+f 3 15 16
+f 3 16 5
+f 3 5 4
+f 5 16 15
+f 5 15 23
+f 5 23 22
+f 5 22 40
+f 5 40 43
+f 5 43 42
+f 5 42 58
+f 5 58 57
+f 5 57 73
+f 5 73 96
+f 5 96 114
+f 5 114 113
+f 5 113 101
+f 5 101 84
+f 5 84 83
+f 5 83 82
+f 5 82 81
+f 5 81 80
+f 5 80 79
+f 5 79 67
+f 5 67 54
+f 5 54 53
+f 5 53 52
+f 5 52 35
+f 5 35 34
+f 5 34 33
+f 5 33 31
+f 5 31 17
+f 5 17 6
+f 6 17 7
+f 7 17 8
+f 8 18 19
+f 8 19 9
+f 8 17 20
+f 8 20 21
+f 8 21 18
+f 9 19 18
+f 9 18 32
+f 9 32 39
+f 9 39 38
+f 9 38 56
+f 9 56 71
+f 9 71 70
+f 9 70 93
+f 9 93 92
+f 9 92 91
+f 9 91 90
+f 9 90 89
+f 9 89 88
+f 9 88 87
+f 9 87 86
+f 9 86 103
+f 9 103 98
+f 9 98 75
+f 9 75 74
+f 9 74 61
+f 9 61 60
+f 9 60 59
+f 9 59 44
+f 9 44 28
+f 9 28 27
+f 9 27 12
+f 9 12 11
+f 10 22 23
+f 10 23 15
+f 10 14 24
+f 10 24 25
+f 10 25 26
+f 10 26 22
+f 12 27 13
+f 13 24 14
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 24
+f 17 31 20
+f 18 21 32
+f 20 31 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 32
+f 22 26 25
+f 22 25 40
+f 24 30 25
+f 25 30 41
+f 25 41 42
+f 25 42 43
+f 25 43 40
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 41
+f 35 52 37
+f 35 37 36
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 41 51 50
+f 41 50 57
+f 41 57 58
+f 41 58 42
+f 44 59 45
+f 45 59 46
+f 46 59 60
+f 46 60 47
+f 47 49 48
+f 47 60 61
+f 47 61 62
+f 47 62 63
+f 47 63 50
+f 47 50 49
+f 50 64 72
+f 50 72 65
+f 50 65 57
+f 50 63 66
+f 50 66 64
+f 54 67 68
+f 54 68 55
+f 55 68 69
+f 55 69 70
+f 55 70 71
+f 55 71 56
+f 57 65 72
+f 57 72 73
+f 61 74 62
+f 62 74 63
+f 63 74 75
+f 63 75 66
+f 64 66 76
+f 64 76 72
+f 66 75 77
+f 66 77 78
+f 66 78 76
+f 67 79 68
+f 68 79 80
+f 68 80 81
+f 68 81 82
+f 68 82 83
+f 68 83 84
+f 68 84 69
+f 69 84 85
+f 69 85 86
+f 69 86 87
+f 69 87 88
+f 69 88 89
+f 69 89 90
+f 69 90 91
+f 69 91 92
+f 69 92 93
+f 69 93 70
+f 72 94 95
+f 72 95 96
+f 72 96 73
+f 72 76 78
+f 72 78 97
+f 72 97 94
+f 75 98 99
+f 75 99 100
+f 75 100 77
+f 77 100 78
+f 78 100 97
+f 84 101 102
+f 84 102 85
+f 85 102 86
+f 86 102 101
+f 86 101 113
+f 86 113 112
+f 86 112 111
+f 86 111 110
+f 86 110 109
+f 86 109 108
+f 86 108 107
+f 86 107 106
+f 86 106 105
+f 86 105 117
+f 86 117 116
+f 86 116 115
+f 86 115 103
+f 94 104 95
+f 94 97 105
+f 94 105 106
+f 94 106 107
+f 94 107 108
+f 94 108 109
+f 94 109 110
+f 94 110 111
+f 94 111 112
+f 94 112 113
+f 94 113 104
+f 95 104 96
+f 96 104 114
+f 97 100 99
+f 97 99 98
+f 97 98 115
+f 97 115 116
+f 97 116 117
+f 97 117 105
+f 98 103 115
+f 104 113 114
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_35.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.05352642 0.04368238 0.01233999
+v 0.05187688 0.04605516 0.01227847
+v 0.05340796 0.04368238 0.01402772
+v 0.05190946 0.04368247 -0.01222873
+v 0.04995785 0.04685675 -0.01585908
+v 0.05063603 0.04769186 0.01227848
+v 0.05335169 0.04368238 0.01462985
+v 0.05175250 0.04368248 -0.01460649
+v 0.05145043 0.04368249 -0.01700622
+v 0.04972686 0.04368252 -0.02436365
+v 0.04955213 0.04390187 -0.02436365
+v 0.04767456 0.04955434 -0.01622387
+v 0.04960544 0.04893203 0.01227848
+v 0.05260540 0.04368236 0.01868215
+v 0.04964394 0.04368252 -0.02457022
+v 0.04792332 0.04481092 -0.02599864
+v 0.04831423 0.04521165 -0.02436364
+v 0.04521950 0.05197985 -0.01618870
+v 0.04836755 0.05020806 0.01227848
+v 0.04804178 0.04988326 0.01471778
+v 0.05096179 0.04561012 0.01868216
+v 0.04212477 0.04368236 0.01868215
+v 0.04849489 0.04368253 -0.02621839
+v 0.04810989 0.04429418 -0.02621839
+v 0.04740211 0.04500496 -0.02621838
+v 0.04537054 0.04712465 -0.02588875
+v 0.03775661 0.05690472 -0.02093541
+v 0.04027090 0.05451717 -0.02099695
+v 0.03792245 0.05704180 -0.01947623
+v 0.04277333 0.05443694 0.00080285
+v 0.04583549 0.05245430 0.01227849
+v 0.04707338 0.05144824 0.01227849
+v 0.04669431 0.05112132 0.01471779
+v 0.04629451 0.05028397 0.01868217
+v 0.04866961 0.04802508 0.01868217
+v 0.02327504 0.05592593 0.01868220
+v 0.02327504 0.05062582 -0.02621836
+v 0.03478033 0.04368253 -0.02621839
+v 0.04564596 0.04650667 -0.02621838
+v 0.04443175 0.04746633 -0.02621838
+v 0.04162132 0.04953751 -0.02621837
+v 0.03640026 0.05319898 -0.02621835
+v 0.03630845 0.05740880 -0.02147601
+v 0.03323149 0.05950951 -0.02112878
+v 0.03488399 0.05911720 -0.01947622
+v 0.03630845 0.05818285 -0.01947623
+v 0.03524529 0.05935125 -0.00387794
+v 0.03382971 0.06032989 -0.00237920
+v 0.04410896 0.05369237 0.01227850
+v 0.04278518 0.05443268 0.01387833
+v 0.04545642 0.05215480 0.01471779
+v 0.04523431 0.05119090 0.01868218
+v 0.02327504 0.06401027 0.01868223
+v 0.02327504 0.06086360 -0.02621833
+v 0.03372605 0.05491793 -0.02621835
+v 0.02768762 0.05925220 -0.02562060
+v 0.02382291 0.06215438 -0.02428447
+v 0.02327504 0.06240537 -0.02426689
+v 0.03135392 0.06062734 -0.01947622
+v 0.03364313 0.05971197 -0.01947622
+v 0.02458697 0.06138665 -0.02504922
+v 0.02327504 0.06172833 -0.02556345
+v 0.02327504 0.06194558 -0.02515470
+v 0.03091266 0.06212477 -0.00237919
+v 0.03215055 0.06141821 -0.00237919
+v 0.04287106 0.05448118 0.01227850
+v 0.03186033 0.06022436 0.01868221
+v 0.03311007 0.05951569 0.01868221
+v 0.03434796 0.05880701 0.01868221
+v 0.03515052 0.05833879 0.01868220
+v 0.03639137 0.05754575 0.01868220
+v 0.03935284 0.05560112 0.01868219
+v 0.04064108 0.05469630 0.01868219
+v 0.04257788 0.05332746 0.01868219
+v 0.04360254 0.05252177 0.01868218
+v 0.04440806 0.05186794 0.01868218
+v 0.02377256 0.06388794 0.01868222
+v 0.02327504 0.06481598 0.01455082
+v 0.02371333 0.06068010 -0.02621833
+v 0.02327504 0.06131706 -0.02592385
+v 0.02820884 0.05827568 -0.02621834
+v 0.02639642 0.05929861 -0.02621833
+v 0.02327504 0.06295163 -0.02191989
+v 0.02524441 0.06421918 -0.01105515
+v 0.02327504 0.06135925 -0.02588869
+v 0.02887517 0.06308022 -0.00237919
+v 0.02327504 0.06522726 0.01228733
+v 0.02391767 0.06492565 0.01227854
+v 0.02526514 0.06423386 0.01364543
+v 0.03125619 0.06054495 0.01868221
+v 0.02389991 0.06385630 0.01868222
+v 0.02327504 0.06513446 0.01280156
+v 0.02327504 0.06469796 -0.01201768
+v 0.02327504 0.06474857 -0.01147269
+v 0.02327504 0.06488567 -0.00976298
+v 0.02555537 0.06429719 -0.00397461
+v 0.02676069 0.06388802 -0.00237919
+v 0.02629573 0.06299788 0.01868222
+v 0.02841022 0.06198127 0.01868222
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 22
+f 1 22 38
+f 1 38 23
+f 1 23 15
+f 1 15 10
+f 1 10 9
+f 1 9 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 6
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 35
+f 14 35 34
+f 14 34 52
+f 14 52 76
+f 14 76 75
+f 14 75 74
+f 14 74 73
+f 14 73 72
+f 14 72 71
+f 14 71 70
+f 14 70 69
+f 14 69 68
+f 14 68 67
+f 14 67 90
+f 14 90 99
+f 14 99 98
+f 14 98 91
+f 14 91 77
+f 14 77 53
+f 14 53 36
+f 14 36 22
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 18
+f 18 28 27
+f 18 27 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 22 36 37
+f 22 37 38
+f 23 38 37
+f 23 37 54
+f 23 54 79
+f 23 79 82
+f 23 82 81
+f 23 81 55
+f 23 55 42
+f 23 42 41
+f 23 41 40
+f 23 40 39
+f 23 39 25
+f 23 25 24
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 29
+f 29 46 30
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 30 46 47
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 33
+f 33 51 52
+f 33 52 34
+f 36 53 78
+f 36 78 92
+f 36 92 87
+f 36 87 95
+f 36 95 94
+f 36 94 93
+f 36 93 83
+f 36 83 58
+f 36 58 63
+f 36 63 62
+f 36 62 85
+f 36 85 80
+f 36 80 54
+f 36 54 37
+f 42 55 43
+f 43 55 56
+f 43 56 44
+f 44 57 58
+f 44 58 59
+f 44 59 60
+f 44 60 45
+f 44 56 61
+f 44 61 62
+f 44 62 63
+f 44 63 57
+f 45 60 64
+f 45 64 65
+f 45 65 48
+f 45 48 46
+f 46 48 47
+f 48 65 49
+f 49 66 50
+f 49 65 66
+f 50 67 68
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 51
+f 50 66 64
+f 50 64 67
+f 51 74 75
+f 51 75 76
+f 51 76 52
+f 53 77 78
+f 54 80 79
+f 55 81 56
+f 56 81 82
+f 56 82 62
+f 56 62 61
+f 57 63 58
+f 58 83 59
+f 59 83 84
+f 59 84 60
+f 60 84 64
+f 62 82 85
+f 64 86 87
+f 64 87 88
+f 64 88 89
+f 64 89 67
+f 64 66 65
+f 64 84 86
+f 67 89 90
+f 77 91 78
+f 78 91 92
+f 79 80 82
+f 80 85 82
+f 83 93 84
+f 84 93 94
+f 84 94 95
+f 84 95 96
+f 84 96 97
+f 84 97 86
+f 86 97 87
+f 87 92 91
+f 87 91 98
+f 87 98 89
+f 87 89 88
+f 87 97 96
+f 87 96 95
+f 89 98 99
+f 89 99 90
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_36.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.04246943 -0.05576971 0.00739115
+v 0.04316251 -0.05529178 0.00739115
+v 0.04246943 -0.05457323 0.01933526
+v 0.04246943 -0.05359353 -0.01459262
+v 0.04439983 -0.05427830 0.00739115
+v 0.04371786 -0.05361059 0.01933526
+v 0.04364900 -0.05366482 0.01933526
+v 0.04246943 -0.05334608 -0.01709027
+v 0.04316029 -0.05286476 -0.01703673
+v 0.04246943 -0.04302157 0.01933530
+v 0.04571490 -0.05304110 0.00739116
+v 0.04505070 -0.05237679 0.01933527
+v 0.04387780 -0.05347501 0.01933526
+v 0.04377561 -0.05356314 0.01933526
+v 0.04439983 -0.05175976 -0.01703673
+v 0.04246943 -0.05301389 -0.01947640
+v 0.04283152 -0.05255629 -0.02109987
+v 0.04297813 -0.05267493 -0.01947640
+v 0.04421767 -0.05162416 -0.01947640
+v 0.05627098 -0.02114187 0.01933538
+v 0.05073304 -0.02114170 -0.02622886
+v 0.04246943 -0.03521860 -0.02622891
+v 0.04695222 -0.05173612 0.00739116
+v 0.04629468 -0.05114637 0.01933527
+v 0.04621249 -0.05122772 0.01933527
+v 0.04553719 -0.05038358 -0.01947640
+v 0.04246943 -0.05265458 -0.02127828
+v 0.04246943 -0.05227834 -0.02177781
+v 0.04246943 -0.05165127 -0.02250926
+v 0.04372230 -0.05105131 -0.02196067
+v 0.04535281 -0.05020731 -0.02119799
+v 0.06516325 -0.02114187 0.01933538
+v 0.06005181 -0.02114170 -0.02622886
+v 0.04246943 -0.04766172 -0.02622896
+v 0.04800294 -0.05049893 0.00739116
+v 0.05797924 -0.03813717 0.01471913
+v 0.04877821 -0.04833303 0.01933528
+v 0.04637465 -0.05106163 0.01933527
+v 0.04677451 -0.04899046 -0.01947639
+v 0.04246943 -0.05046491 -0.02367334
+v 0.04461531 -0.04941754 -0.02282592
+v 0.04764085 -0.04760073 -0.02097497
+v 0.05253682 -0.03757097 -0.02571601
+v 0.05486040 -0.03492033 -0.02552422
+v 0.06513881 -0.02122661 0.01933538
+v 0.06319953 -0.02876500 0.01471916
+v 0.06387706 -0.02628722 0.01471917
+v 0.06485891 -0.02279252 -0.00095801
+v 0.06485891 -0.02279251 -0.00142186
+v 0.06512770 -0.02114185 0.01227507
+v 0.05997850 -0.02154506 -0.02622886
+v 0.06324840 -0.02114172 -0.02210328
+v 0.06229320 -0.02230773 -0.02310234
+v 0.04369120 -0.04653638 -0.02622895
+v 0.04246943 -0.04851252 -0.02549305
+v 0.05921878 -0.03661525 0.01471914
+v 0.05737280 -0.03744222 -0.01093083
+v 0.05550460 -0.04022517 0.01933531
+v 0.05535799 -0.04040481 0.01933531
+v 0.05787039 -0.03551691 -0.01947634
+v 0.05765269 -0.03527285 -0.02105521
+v 0.05992075 -0.03258492 -0.02081436
+v 0.05219028 -0.03724895 -0.02622892
+v 0.05302108 -0.03621174 -0.02622891
+v 0.05437613 -0.03447289 -0.02622891
+v 0.05506476 -0.03340179 -0.02622890
+v 0.05532911 -0.03326620 -0.02606388
+v 0.05976302 -0.02975462 -0.02304885
+v 0.06032726 -0.03124265 -0.02132280
+v 0.06157124 -0.03126314 0.01933535
+v 0.06244869 -0.03030387 0.01616423
+v 0.06256865 -0.03060215 0.01471916
+v 0.06242648 -0.03020551 -0.00162706
+v 0.06372378 -0.02628716 -0.00238080
+v 0.06495887 -0.02114179 -0.00229604
+v 0.06500775 -0.02114180 -0.00060567
+v 0.06318398 -0.02628710 -0.01947631
+v 0.06389038 -0.02380932 -0.01947630
+v 0.06440575 -0.02133154 -0.01947629
+v 0.06444129 -0.02114173 -0.01947629
+v 0.05749942 -0.02787339 -0.02622888
+v 0.06211327 -0.02380931 -0.02293733
+v 0.06171341 -0.02628709 -0.02250917
+v 0.06437243 -0.02114173 -0.01965024
+v 0.06305291 -0.02380931 -0.02171973
+v 0.06013178 -0.03537467 0.01471914
+v 0.05865011 -0.03622547 0.01933533
+v 0.05910993 -0.03398482 -0.01947633
+v 0.06003182 -0.03274763 -0.01947633
+v 0.05968750 -0.03472042 -0.00238083
+v 0.06244647 -0.02779884 -0.02090354
+v 0.06198665 -0.02928348 -0.01947632
+v 0.06092926 -0.03124266 -0.01947632
+v 0.05525581 -0.03306961 -0.02622890
+v 0.05551127 -0.03252050 -0.02622890
+v 0.05734392 -0.02992748 -0.02555542
+v 0.06041834 -0.03356804 0.01933534
+v 0.06203552 -0.03184273 0.01471915
+v 0.06107587 -0.03372056 0.01471915
+v 0.06046276 -0.03347984 -0.00238082
+v 0.06255533 -0.02804290 -0.01947631
+v 0.06270416 -0.02628709 -0.02128711
+v 0.05683078 -0.02950717 -0.02622889
+v 0.06000072 -0.03517808 0.01618651
+f 1 2 3
+f 1 3 10
+f 1 10 22
+f 1 22 34
+f 1 34 55
+f 1 55 40
+f 1 40 29
+f 1 29 28
+f 1 28 27
+f 1 27 16
+f 1 16 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 7 6
+f 3 6 14
+f 3 14 13
+f 3 13 12
+f 3 12 25
+f 3 25 24
+f 3 24 38
+f 3 38 37
+f 3 37 59
+f 3 59 58
+f 3 58 87
+f 3 87 97
+f 3 97 70
+f 3 70 45
+f 3 45 32
+f 3 32 20
+f 3 20 10
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 9 15
+f 5 15 11
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 15
+f 10 20 21
+f 10 21 22
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 11 15 26
+f 11 26 23
+f 15 19 26
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 17 19 18
+f 19 31 26
+f 20 32 50
+f 20 50 76
+f 20 76 75
+f 20 75 80
+f 20 80 84
+f 20 84 52
+f 20 52 33
+f 20 33 21
+f 21 33 51
+f 21 51 81
+f 21 81 103
+f 21 103 95
+f 21 95 94
+f 21 94 66
+f 21 66 65
+f 21 65 64
+f 21 64 63
+f 21 63 54
+f 21 54 34
+f 21 34 22
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 23 26 39
+f 23 39 35
+f 26 31 39
+f 29 40 41
+f 29 41 30
+f 30 41 31
+f 31 42 39
+f 31 41 43
+f 31 43 44
+f 31 44 42
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 33 52 53
+f 33 53 51
+f 34 54 55
+f 35 56 36
+f 35 39 57
+f 35 57 56
+f 36 56 58
+f 36 58 59
+f 36 59 37
+f 39 42 60
+f 39 60 57
+f 40 55 41
+f 41 55 54
+f 41 54 43
+f 42 44 61
+f 42 61 62
+f 42 62 60
+f 43 54 63
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 44 65 66
+f 44 66 67
+f 44 67 68
+f 44 68 69
+f 44 69 62
+f 44 62 61
+f 45 70 71
+f 45 71 72
+f 45 72 46
+f 46 72 73
+f 46 73 74
+f 46 74 49
+f 46 49 48
+f 46 48 47
+f 49 75 76
+f 49 76 50
+f 49 74 77
+f 49 77 78
+f 49 78 79
+f 49 79 80
+f 49 80 75
+f 51 53 82
+f 51 82 83
+f 51 83 81
+f 52 84 85
+f 52 85 53
+f 53 85 82
+f 56 86 87
+f 56 87 58
+f 56 57 86
+f 57 60 88
+f 57 88 89
+f 57 89 90
+f 57 90 86
+f 60 62 88
+f 62 69 91
+f 62 91 92
+f 62 92 93
+f 62 93 89
+f 62 89 88
+f 66 94 67
+f 67 94 95
+f 67 95 96
+f 67 96 68
+f 68 83 91
+f 68 91 69
+f 68 96 83
+f 70 97 98
+f 70 98 72
+f 70 72 71
+f 72 98 73
+f 73 98 99
+f 73 99 86
+f 73 86 100
+f 73 100 93
+f 73 93 92
+f 73 92 101
+f 73 101 77
+f 73 77 74
+f 77 101 91
+f 77 91 78
+f 78 91 102
+f 78 102 79
+f 79 102 85
+f 79 85 84
+f 79 84 80
+f 81 83 96
+f 81 96 103
+f 82 85 102
+f 82 102 83
+f 83 102 91
+f 86 99 97
+f 86 97 104
+f 86 104 87
+f 86 90 100
+f 87 104 97
+f 89 93 100
+f 89 100 90
+f 91 101 92
+f 95 103 96
+f 97 99 98
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_37.obj

@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.02691057 -0.05461452 0.01957185
+v -0.04730277 -0.03915960 0.01957191
+v -0.02691057 -0.06385401 0.01957182
+v -0.02691057 -0.04888815 -0.02622017
+v -0.05732057 -0.03915960 0.01957191
+v -0.04030829 -0.03915943 -0.02622013
+v -0.02807480 -0.06342055 0.01957182
+v -0.02721839 -0.06487806 0.01393297
+v -0.02691057 -0.06495411 0.01408985
+v -0.02691057 -0.05952180 -0.02622021
+v -0.05729315 -0.03920016 0.01957191
+v -0.05804288 -0.03915958 0.01227458
+v -0.05246558 -0.03915943 -0.02622013
+v -0.03060744 -0.06210497 0.01957182
+v -0.02848929 -0.06419619 0.01227448
+v -0.02725191 -0.06489327 0.01227448
+v -0.02691057 -0.06505550 0.01227448
+v -0.03296331 -0.06085783 0.01957183
+v -0.04399906 -0.05463225 0.01716033
+v -0.02766335 -0.05930380 -0.02622021
+v -0.02691057 -0.05995527 -0.02583921
+v -0.02734030 -0.05989950 -0.02578094
+v -0.05576929 -0.04116973 0.01957190
+v -0.04932340 -0.04998589 0.01674796
+v -0.05780211 -0.03915952 -0.00238281
+v -0.04940264 -0.05007458 0.00738875
+v -0.05233453 -0.03930138 -0.02622013
+v -0.05376086 -0.03915944 -0.02500092
+v -0.04412401 -0.05471334 0.00738873
+v -0.03940616 -0.05733686 -0.00158950
+v -0.03438050 -0.05977025 -0.01587935
+v -0.02691057 -0.06470567 0.00613810
+v -0.03786098 -0.05791488 0.01957184
+v -0.03912273 -0.05714682 0.01957184
+v -0.04055210 -0.05623682 0.01957184
+v -0.04230148 -0.05511895 0.01957185
+v -0.04675113 -0.05234077 0.01844230
+v -0.04547414 -0.05353213 0.01716033
+v -0.03082078 -0.05791218 -0.02622020
+v -0.02691057 -0.06015805 -0.02542235
+v -0.03225015 -0.05752942 -0.02587954
+v -0.02691057 -0.06224677 -0.02074275
+v -0.02692581 -0.06224424 -0.02073827
+v -0.02899215 -0.05959025 -0.02495618
+v -0.05229796 -0.04565133 0.01957188
+v -0.04686694 -0.05244469 0.01716034
+v -0.04832375 -0.05091618 0.01740238
+v -0.04918930 -0.04982874 0.01837507
+v -0.04820489 -0.05131412 0.00738874
+v -0.05775335 -0.03915952 -0.00278623
+v -0.05228881 -0.04569177 -0.00970706
+v -0.05131050 -0.04693131 -0.00970706
+v -0.04936911 -0.05003655 0.00580647
+v -0.04287445 -0.04821388 -0.02622017
+v -0.05195966 -0.04016324 -0.02578535
+v -0.05402905 -0.03915944 -0.02458855
+v -0.04694009 -0.04759032 -0.02331109
+v -0.04686085 -0.04996547 -0.02090855
+v -0.04927768 -0.04745598 -0.02084578
+v -0.04547414 -0.05369940 0.00738873
+v -0.04691266 -0.05248267 0.00580646
+v -0.03746477 -0.05776014 -0.01459290
+v -0.03731239 -0.05764606 -0.01647998
+v -0.04413011 -0.05223670 -0.01947868
+v -0.04249653 -0.05273098 -0.02128956
+v -0.02691057 -0.06225438 -0.02072482
+v -0.02691057 -0.06243690 -0.01947872
+v -0.04353885 -0.05425204 0.01957185
+v -0.04757401 -0.05095167 0.01957186
+v -0.04890586 -0.04956512 0.01957187
+v -0.04356018 -0.05423683 0.01957185
+v -0.04528214 -0.05296434 0.01957186
+v -0.04537967 -0.05288322 0.01957186
+v -0.04545891 -0.05281478 0.01957186
+v -0.04637322 -0.05202138 0.01957186
+v -0.03254883 -0.05695654 -0.02622020
+v -0.03489861 -0.05528355 -0.02604090
+v -0.03506928 -0.05498697 -0.02622019
+v -0.05124955 -0.04691875 0.01957188
+v -0.04696447 -0.05253084 0.00738874
+v -0.05003046 -0.04832812 0.01957187
+v -0.05007008 -0.04825450 -0.00970707
+v -0.05454716 -0.03915944 -0.02377275
+v -0.05417535 -0.03994525 -0.02319902
+v -0.05352618 -0.04393260 -0.00970705
+v -0.04074410 -0.05010994 -0.02622017
+v -0.04601359 -0.04924051 -0.02253565
+v -0.04547414 -0.05118981 -0.01947868
+v -0.04756182 -0.05049276 -0.00970708
+v -0.04880224 -0.04949403 -0.00970707
+v -0.03736115 -0.05302754 -0.02622018
+v -0.04014676 -0.05063465 -0.02622018
+f 1 2 5
+f 1 5 11
+f 1 11 23
+f 1 23 45
+f 1 45 79
+f 1 79 81
+f 1 81 70
+f 1 70 69
+f 1 69 75
+f 1 75 74
+f 1 74 73
+f 1 73 72
+f 1 72 71
+f 1 71 68
+f 1 68 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 18
+f 1 18 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 32
+f 1 32 67
+f 1 67 66
+f 1 66 42
+f 1 42 40
+f 1 40 21
+f 1 21 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 28
+f 2 28 56
+f 2 56 83
+f 2 83 50
+f 2 50 25
+f 2 25 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 4 10 20
+f 4 20 39
+f 4 39 76
+f 4 76 78
+f 4 78 91
+f 4 91 92
+f 4 92 86
+f 4 86 54
+f 4 54 27
+f 4 27 13
+f 4 13 6
+f 5 12 11
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 14 18
+f 8 18 19
+f 8 19 15
+f 10 21 22
+f 10 22 20
+f 11 12 24
+f 11 24 23
+f 12 25 26
+f 12 26 24
+f 13 27 28
+f 15 19 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 32 17
+f 16 31 32
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 29
+f 20 22 39
+f 21 40 22
+f 22 41 39
+f 22 40 42
+f 22 42 43
+f 22 43 44
+f 22 44 41
+f 23 24 45
+f 24 46 47
+f 24 47 48
+f 24 48 45
+f 24 26 49
+f 24 49 46
+f 25 50 51
+f 25 51 52
+f 25 52 26
+f 26 52 53
+f 26 53 49
+f 27 54 55
+f 27 55 28
+f 28 55 57
+f 28 57 58
+f 28 58 59
+f 28 59 56
+f 29 38 60
+f 29 60 61
+f 29 61 62
+f 29 62 30
+f 30 62 31
+f 31 62 63
+f 31 63 64
+f 31 64 65
+f 31 65 41
+f 31 41 43
+f 31 43 66
+f 31 66 67
+f 31 67 32
+f 36 68 37
+f 37 69 70
+f 37 70 48
+f 37 48 47
+f 37 47 46
+f 37 46 38
+f 37 68 71
+f 37 71 72
+f 37 72 73
+f 37 73 74
+f 37 74 75
+f 37 75 69
+f 38 46 60
+f 39 41 76
+f 41 65 58
+f 41 58 77
+f 41 77 78
+f 41 78 76
+f 41 44 43
+f 42 66 43
+f 45 48 79
+f 46 49 80
+f 46 80 60
+f 48 70 81
+f 48 81 79
+f 49 53 82
+f 49 82 61
+f 49 61 80
+f 50 83 84
+f 50 84 85
+f 50 85 51
+f 51 85 59
+f 51 59 52
+f 52 59 82
+f 52 82 53
+f 54 86 87
+f 54 87 57
+f 54 57 55
+f 56 59 83
+f 57 87 58
+f 58 87 77
+f 58 65 64
+f 58 64 88
+f 58 88 89
+f 58 89 90
+f 58 90 82
+f 58 82 59
+f 59 84 83
+f 59 85 84
+f 60 80 61
+f 61 82 90
+f 61 90 89
+f 61 89 88
+f 61 88 64
+f 61 64 62
+f 62 64 63
+f 77 87 78
+f 78 87 91
+f 86 92 87
+f 87 92 91
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_38.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.04246364 -0.04108686 -0.00120554
+v 0.04246943 -0.04116819 -0.00120554
+v 0.04246943 -0.04108106 -0.00121779
+v 0.04246943 -0.03521716 -0.02622891
+v 0.02272424 -0.05469644 -0.00120559
+v 0.04246943 -0.05324719 -0.00120559
+v 0.04246943 -0.04766502 -0.02622896
+v 0.02272424 -0.05031955 -0.02622896
+v 0.02272424 -0.06478019 -0.00120563
+v 0.04163834 -0.05397327 -0.00120559
+v 0.04192632 -0.05432468 -0.00238132
+v 0.04246943 -0.05384256 -0.00238132
+v 0.04246943 -0.04851308 -0.02549658
+v 0.04176591 -0.04851598 -0.02622896
+v 0.02272424 -0.05974402 -0.02622900
+v 0.02272424 -0.06488471 -0.01006522
+v 0.02307213 -0.06482662 -0.01023424
+v 0.02274550 -0.06477438 -0.00120563
+v 0.03879524 -0.05598014 -0.00120560
+v 0.04068742 -0.05525115 -0.00238132
+v 0.04232834 -0.05464705 -0.00482340
+v 0.04246943 -0.05442632 -0.00447803
+v 0.04246943 -0.05046478 -0.02367667
+v 0.03801440 -0.05280274 -0.02601097
+v 0.03823087 -0.05230900 -0.02622897
+v 0.02273003 -0.05974402 -0.02622900
+v 0.02272424 -0.06219528 -0.02311579
+v 0.02272424 -0.06487018 -0.01139037
+v 0.02307213 -0.06482662 -0.01128504
+v 0.02280541 -0.06475696 -0.00120563
+v 0.02639457 -0.06335123 -0.00971005
+v 0.03593280 -0.05767045 -0.00120560
+v 0.03786171 -0.05742648 -0.00321413
+v 0.03872759 -0.05652324 -0.00239112
+v 0.04108943 -0.05552415 -0.00482340
+v 0.04169439 -0.05420847 -0.01459418
+v 0.04246943 -0.05359275 -0.01459418
+v 0.04246943 -0.05451635 -0.00482340
+v 0.04039171 -0.05501585 -0.01648759
+v 0.04246943 -0.05164974 -0.02250829
+v 0.03787523 -0.05267785 -0.02622897
+v 0.03554625 -0.05515812 -0.02599874
+v 0.03574532 -0.05469925 -0.02622898
+v 0.02398054 -0.05941003 -0.02622900
+v 0.02974406 -0.05784171 -0.02622899
+v 0.02272424 -0.06226208 -0.02303006
+v 0.02272424 -0.06416441 -0.01947839
+v 0.02391676 -0.06379266 -0.01947838
+v 0.02619356 -0.06277615 -0.01947838
+v 0.02802583 -0.06246542 -0.01153487
+v 0.03789263 -0.05744099 -0.00482341
+v 0.03913154 -0.05676138 -0.00482341
+v 0.04246943 -0.05334588 -0.01709260
+v 0.03984086 -0.05469347 -0.01947835
+v 0.04126338 -0.05382218 -0.01947835
+v 0.04246943 -0.05265464 -0.02127867
+v 0.04246943 -0.05301478 -0.01947834
+v 0.02743247 -0.06208202 -0.01947838
+v 0.04246943 -0.05227998 -0.02177836
+v 0.03269347 -0.05731894 -0.02566807
+v 0.03430734 -0.05570704 -0.02622898
+v 0.03531431 -0.05504776 -0.02622898
+v 0.03096944 -0.05745543 -0.02622899
+v 0.03135213 -0.05758322 -0.02598160
+v 0.02272424 -0.06321469 -0.02179554
+v 0.02391676 -0.06297073 -0.02167062
+v 0.02578575 -0.06256703 -0.02119053
+v 0.03138692 -0.05729860 -0.02622899
+v 0.03231079 -0.05688038 -0.02622899
+v 0.03347238 -0.05623562 -0.02622899
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 18
+f 1 18 30
+f 1 30 32
+f 1 32 19
+f 1 19 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 38
+f 2 38 37
+f 2 37 53
+f 2 53 57
+f 2 57 56
+f 2 56 59
+f 2 59 40
+f 2 40 23
+f 2 23 13
+f 2 13 7
+f 2 7 4
+f 2 4 3
+f 4 7 14
+f 4 14 25
+f 4 25 41
+f 4 41 43
+f 4 43 62
+f 4 62 61
+f 4 61 70
+f 4 70 69
+f 4 69 68
+f 4 68 63
+f 4 63 45
+f 4 45 44
+f 4 44 26
+f 4 26 15
+f 4 15 8
+f 4 8 5
+f 5 8 15
+f 5 15 27
+f 5 27 46
+f 5 46 65
+f 5 65 47
+f 5 47 28
+f 5 28 16
+f 5 16 9
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 9 16 17
+f 9 17 18
+f 10 19 20
+f 10 20 11
+f 11 21 22
+f 11 22 12
+f 11 20 21
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 15 26 27
+f 16 28 29
+f 16 29 17
+f 17 30 18
+f 17 29 31
+f 17 31 30
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 33
+f 20 33 35
+f 20 35 21
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 21 35 39
+f 21 39 36
+f 23 40 24
+f 24 41 25
+f 24 40 42
+f 24 42 43
+f 24 43 41
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 28 47 29
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 31
+f 30 31 33
+f 30 33 32
+f 31 50 51
+f 31 51 33
+f 33 51 52
+f 33 52 35
+f 35 52 39
+f 36 53 37
+f 36 39 53
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 53
+f 39 52 50
+f 39 50 58
+f 39 58 54
+f 40 59 42
+f 42 60 61
+f 42 61 62
+f 42 62 43
+f 42 59 56
+f 42 56 60
+f 45 63 64
+f 45 64 65
+f 45 65 46
+f 47 65 66
+f 47 66 48
+f 48 66 67
+f 48 67 49
+f 49 67 58
+f 49 58 50
+f 50 52 51
+f 54 58 56
+f 54 56 55
+f 56 58 60
+f 58 67 60
+f 60 67 66
+f 60 66 64
+f 60 64 68
+f 60 68 69
+f 60 69 70
+f 60 70 61
+f 63 68 64
+f 64 66 65
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_39.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.05480825 0.04209292 0.01895924
+v -0.05480825 0.04445598 0.00738926
+v -0.05578732 0.04345624 0.00738926
+v -0.05679779 0.04206699 0.00885581
+v -0.05589943 0.04071665 0.01895924
+v -0.05480825 0.02582009 0.01895918
+v -0.05480825 0.04180309 -0.01947606
+v -0.05569615 0.04100676 -0.01947606
+v -0.05699061 0.03976899 -0.01947606
+v -0.05692634 0.04221847 0.00738926
+v -0.05905937 0.03931013 0.00801080
+v -0.05760496 0.03847481 0.01895923
+v -0.06099808 0.00024664 0.01895909
+v -0.05802050 0.00024679 -0.02254339
+v -0.05480825 0.01894324 -0.02254332
+v -0.05480825 0.04092022 -0.02140574
+v -0.05680825 0.03957424 -0.02092637
+v -0.05914905 0.03696886 -0.02076388
+v -0.05822977 0.03832780 -0.01947607
+v -0.05923724 0.03709003 -0.01947607
+v -0.05912215 0.03940968 0.00612986
+v -0.05912215 0.03940968 0.00638174
+v -0.05832544 0.04039210 0.00727550
+v -0.05967073 0.03834934 0.00727549
+v -0.05962887 0.03535008 0.01895922
+v -0.05942559 0.03569198 0.01895922
+v -0.05779928 0.03818917 0.01895923
+v -0.06864679 0.00024664 0.01895909
+v -0.06686354 0.00024679 -0.02254339
+v -0.05480825 0.03965647 -0.02254324
+v -0.05480825 0.04030566 -0.02199481
+v -0.05590093 0.03864808 -0.02254325
+v -0.05706684 0.03733240 -0.02254325
+v -0.05757656 0.03780414 -0.02165763
+v -0.05840915 0.03567049 -0.02247420
+v -0.05847491 0.03547574 -0.02254326
+v -0.05954068 0.03567049 -0.02125545
+v -0.06167969 0.03217357 -0.02085327
+v -0.06121781 0.03367533 -0.01947609
+v -0.06011019 0.03567048 -0.01947608
+v -0.06162737 0.03452784 0.00605673
+v -0.06114158 0.03547996 0.00753954
+v -0.06157356 0.03440232 0.00845766
+v -0.05984113 0.03492162 0.01895922
+v -0.07007878 0.00024666 0.01227628
+v -0.06870957 0.00345793 0.01895910
+v -0.06796368 0.00024678 -0.01775777
+v -0.06904739 0.00437990 -0.01590525
+v -0.06906533 0.00593361 -0.01596619
+v -0.06905187 0.00752194 -0.01592555
+v -0.06861540 0.00837453 -0.01685993
+v -0.06661989 0.00261847 -0.02254338
+v -0.05833142 0.03567049 -0.02254326
+v -0.05909524 0.03451928 -0.02254326
+v -0.05952873 0.03369265 -0.02254327
+v -0.06031497 0.03314301 -0.02192983
+v -0.06239120 0.03071506 -0.01947610
+v -0.06179927 0.03243323 -0.01947609
+v -0.06013111 0.03244622 -0.02254327
+v -0.06091736 0.03053763 -0.02254328
+v -0.06191586 0.03071507 -0.02118235
+v -0.06818641 0.01089336 -0.01703460
+v -0.06758103 0.01336891 -0.01703459
+v -0.06162737 0.03452783 0.00682860
+v -0.06671406 0.02007274 -0.00405895
+v -0.06671855 0.02009006 -0.00237708
+v -0.06096818 0.03264083 0.01895921
+v -0.06067371 0.03323808 0.01895921
+v -0.06625218 0.02128881 0.01716355
+v -0.06459299 0.02469051 0.01895918
+v -0.06224471 0.02994023 0.01895920
+v -0.07000853 0.00097808 0.01227628
+v -0.06830300 0.00024677 -0.01531621
+v -0.06870658 0.00354882 0.01895910
+v -0.06862587 0.00591617 0.01895911
+v -0.06835382 0.01088025 0.01895913
+v -0.06811765 0.00024677 -0.01703464
+v -0.06905187 0.00752194 -0.01562899
+v -0.06771406 0.01584866 0.01716353
+v -0.06716249 0.01832428 -0.00237708
+v -0.06841361 0.01089335 -0.01459304
+v -0.06618043 0.00534504 -0.02254337
+v -0.06660943 0.01725102 -0.01601490
+v -0.06250331 0.02549565 -0.02254330
+v -0.06312363 0.02327977 -0.02254330
+v -0.06329404 0.02264790 -0.02254331
+v -0.06416100 0.01773576 -0.02254332
+v -0.06783514 0.01336890 -0.01459303
+v -0.06363485 0.02080423 -0.02254331
+v -0.06671855 0.02004671 0.01716354
+v -0.06721780 0.01832421 0.01716354
+v -0.06661092 0.01976106 0.01862604
+v -0.06535981 0.02274729 0.01895917
+v -0.06802796 0.01336878 0.01895914
+v -0.06757355 0.01584865 0.01895915
+v -0.06693379 0.01831555 0.01895916
+v -0.06638671 0.02010729 0.01895916
+v -0.06669912 0.01921574 0.01895916
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 27
+f 1 27 26
+f 1 26 25
+f 1 25 44
+f 1 44 68
+f 1 68 67
+f 1 67 71
+f 1 71 70
+f 1 70 93
+f 1 93 97
+f 1 97 98
+f 1 98 96
+f 1 96 95
+f 1 95 94
+f 1 94 76
+f 1 76 75
+f 1 75 74
+f 1 74 46
+f 1 46 28
+f 1 28 13
+f 1 13 6
+f 1 6 15
+f 1 15 30
+f 1 30 31
+f 1 31 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 9 17 18
+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 11
+f 11 22 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 11 23 22
+f 13 28 45
+f 13 45 73
+f 13 73 77
+f 13 77 47
+f 13 47 29
+f 13 29 14
+f 14 29 52
+f 14 52 82
+f 14 82 87
+f 14 87 89
+f 14 89 86
+f 14 86 85
+f 14 85 84
+f 14 84 60
+f 14 60 59
+f 14 59 55
+f 14 55 54
+f 14 54 36
+f 14 36 53
+f 14 53 33
+f 14 33 32
+f 14 32 30
+f 14 30 15
+f 16 31 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 18 20 19
+f 18 34 33
+f 18 33 35
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 20
+f 20 40 21
+f 21 24 22
+f 21 40 39
+f 21 39 41
+f 21 41 24
+f 24 41 42
+f 24 42 25
+f 25 42 43
+f 25 43 44
+f 28 46 45
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 30 32 31
+f 33 53 35
+f 35 53 36
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 38 57 58
+f 38 58 39
+f 38 56 59
+f 38 59 60
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 57
+f 39 58 41
+f 41 64 42
+f 41 58 65
+f 41 65 66
+f 41 66 64
+f 42 64 43
+f 43 67 68
+f 43 68 44
+f 43 64 69
+f 43 69 70
+f 43 70 71
+f 43 71 67
+f 45 72 50
+f 45 50 49
+f 45 49 48
+f 45 48 73
+f 45 46 74
+f 45 74 75
+f 45 75 76
+f 45 76 72
+f 47 77 48
+f 48 77 73
+f 50 72 78
+f 50 78 79
+f 50 79 80
+f 50 80 81
+f 50 81 62
+f 50 62 51
+f 51 62 52
+f 52 62 82
+f 55 59 56
+f 57 65 58
+f 57 63 83
+f 57 83 65
+f 60 84 61
+f 61 84 85
+f 61 85 86
+f 61 86 62
+f 62 87 82
+f 62 81 88
+f 62 88 63
+f 62 86 89
+f 62 89 87
+f 63 88 83
+f 64 66 90
+f 64 90 69
+f 65 83 88
+f 65 88 81
+f 65 81 80
+f 65 80 66
+f 66 80 91
+f 66 91 90
+f 69 90 92
+f 69 92 70
+f 70 92 93
+f 72 76 94
+f 72 94 79
+f 72 79 78
+f 79 94 95
+f 79 95 91
+f 79 91 80
+f 90 91 92
+f 91 95 96
+f 91 96 92
+f 92 97 93
+f 92 96 98
+f 92 98 97
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_4.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.03195698 -0.04263123 -0.03073612
+v -0.04564311 -0.04263123 -0.03073612
+v -0.03651272 -0.04263124 -0.02622060
+v -0.00023714 -0.05262912 -0.03073615
+v -0.04445569 -0.04425319 -0.03073612
+v -0.04422388 -0.04486452 -0.03042710
+v -0.04576138 -0.04263123 -0.03055486
+v -0.04856673 -0.04263124 -0.02622060
+v -0.00023714 -0.05529554 -0.02622064
+v -0.00023714 -0.05523012 -0.02632895
+v -0.00023714 -0.05504514 -0.02663930
+v -0.00023714 -0.05450374 -0.02755045
+v -0.00023714 -0.06184876 -0.03073619
+v -0.04412453 -0.04465924 -0.03073612
+v -0.04189634 -0.04750160 -0.03063091
+v -0.04526465 -0.04591124 -0.02622061
+v -0.00023714 -0.06567467 -0.02622068
+v -0.00023714 -0.06448359 -0.02781840
+v -0.00913099 -0.06200666 -0.03073619
+v -0.04194838 -0.04731436 -0.03073613
+v -0.04152261 -0.04772718 -0.03073614
+v -0.03939849 -0.04993791 -0.03059334
+v -0.04287561 -0.04821445 -0.02622062
+v -0.00045002 -0.06567693 -0.02622068
+v -0.00023714 -0.06552128 -0.02659690
+v -0.00023714 -0.06474752 -0.02750805
+v -0.00087106 -0.06448359 -0.02781972
+v -0.00937226 -0.06222548 -0.03048287
+v -0.00976965 -0.06222548 -0.03048287
+v -0.00998253 -0.06197057 -0.03073619
+v -0.03968233 -0.04948448 -0.03073614
+v -0.03735479 -0.05303068 -0.02622063
+v -0.04014122 -0.05063272 -0.02622063
+v -0.04073730 -0.05010936 -0.02622062
+v -0.03891122 -0.05012289 -0.03073614
+v -0.03512187 -0.05266296 -0.03073615
+v -0.03254833 -0.05695584 -0.02622065
+v -0.03506510 -0.05498649 -0.02622064
+v -0.00087106 -0.06567467 -0.02622068
+v -0.00087106 -0.06552128 -0.02659822
+v -0.01142542 -0.06219615 -0.03017164
+v -0.01220127 -0.06162317 -0.03073619
+v -0.00334526 -0.06539946 -0.02646692
+v -0.03503198 -0.05272162 -0.03073615
+v -0.03179140 -0.05476541 -0.03042581
+v -0.03081686 -0.05791232 -0.02622065
+v -0.03482856 -0.05284343 -0.03073615
+v -0.00305668 -0.06552128 -0.02622068
+v -0.01779777 -0.06043208 -0.03073618
+v -0.00553561 -0.06519644 -0.02622068
+v -0.00582418 -0.06514230 -0.02622068
+v -0.00334526 -0.06549646 -0.02622068
+v -0.03223610 -0.05423303 -0.03073616
+v -0.03160217 -0.05453080 -0.03073616
+v -0.01986039 -0.05992001 -0.03071673
+v -0.02766144 -0.05930417 -0.02622066
+v -0.01975631 -0.05993806 -0.03073618
+v -0.00598503 -0.06510169 -0.02622068
+v -0.01987458 -0.05989294 -0.03073618
+v -0.00808549 -0.06455577 -0.02622068
+v -0.02564613 -0.05992002 -0.02622066
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 13
+f 1 13 19
+f 1 19 30
+f 1 30 42
+f 1 42 49
+f 1 49 57
+f 1 57 59
+f 1 59 54
+f 1 54 53
+f 1 53 47
+f 1 47 44
+f 1 44 36
+f 1 36 35
+f 1 35 31
+f 1 31 21
+f 1 21 20
+f 1 20 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 16
+f 3 16 23
+f 3 23 34
+f 3 34 33
+f 3 33 32
+f 3 32 38
+f 3 38 37
+f 3 37 46
+f 3 46 56
+f 3 56 61
+f 3 61 60
+f 3 60 58
+f 3 58 51
+f 3 51 50
+f 3 50 52
+f 3 52 48
+f 3 48 39
+f 3 39 24
+f 3 24 17
+f 3 17 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 17
+f 4 17 25
+f 4 25 26
+f 4 26 18
+f 4 18 13
+f 5 14 6
+f 6 8 7
+f 6 14 15
+f 6 15 8
+f 8 15 16
+f 13 18 19
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 17 24 25
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 21 31 22
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 22 31 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 32
+f 24 39 40
+f 24 40 25
+f 25 40 26
+f 26 40 27
+f 27 40 28
+f 28 40 29
+f 29 41 42
+f 29 42 30
+f 29 40 43
+f 29 43 41
+f 36 44 37
+f 37 45 46
+f 37 44 47
+f 37 47 45
+f 39 48 40
+f 40 48 43
+f 41 49 42
+f 41 43 50
+f 41 50 51
+f 41 51 49
+f 43 48 52
+f 43 52 50
+f 45 47 53
+f 45 53 54
+f 45 54 55
+f 45 55 46
+f 46 55 56
+f 49 55 57
+f 49 51 55
+f 51 58 55
+f 54 59 55
+f 55 59 57
+f 55 58 60
+f 55 60 61
+f 55 61 56
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_40.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00336023 0.05961219 0.00008406
+v -0.00336023 0.05966955 0.00249291
+v -0.00336023 0.06708165 0.00008409
+v 0.02327504 0.05527055 0.00008404
+v -0.00336023 0.06027836 0.01959193
+v 0.02327504 0.05531878 0.00187538
+v 0.02327504 0.05533703 0.00250819
+v -0.00336023 0.06845319 0.01227746
+v -0.00335762 0.06709729 0.00008409
+v 0.02327504 0.06396949 0.00008407
+v -0.00336023 0.06027967 0.01961487
+v 0.02327504 0.05595106 0.01961486
+v -0.00336023 0.06858877 0.01961490
+v -0.00334458 0.06845450 0.01227746
+v -0.00088598 0.06719899 0.00008409
+v 0.02327504 0.06522890 0.01229083
+v 0.02279009 0.06410899 0.00008408
+v 0.01794068 0.06674003 0.00592460
+v 0.02012031 0.06662528 0.01155097
+v 0.02121273 0.06620284 0.01233098
+v 0.02327504 0.06454830 0.01961489
+v -0.00100852 0.06854965 0.01961490
+v 0.00904749 0.06851708 0.01227746
+v -0.00086512 0.06850144 0.01227746
+v 0.00904749 0.06826938 0.00739285
+v 0.00657064 0.06820810 0.00739285
+v -0.00086512 0.06719899 0.00008409
+v 0.00904749 0.06792649 0.00495150
+v 0.02023503 0.06666569 0.01317982
+v 0.02023503 0.06666569 0.01353923
+v 0.02116580 0.06452490 0.00008408
+v 0.01400119 0.06742452 0.00495150
+v 0.01400119 0.06779740 0.00739285
+v 0.01648065 0.06772567 0.01227746
+v 0.01916086 0.06697469 0.01233099
+v 0.02142131 0.06537491 0.01961489
+v -0.00079734 0.06854183 0.01961490
+v 0.01152434 0.06845710 0.01227746
+v 0.01152434 0.06814552 0.00739285
+v 0.00161433 0.06718856 0.00008409
+v 0.00409118 0.06705297 0.00008409
+v 0.01152434 0.06778959 0.00495150
+v 0.01648065 0.06688861 0.01961490
+v 0.01918954 0.06618587 0.01961298
+v 0.01893925 0.06496950 0.00008408
+v 0.01647804 0.06541670 0.00008408
+v 0.01400119 0.06819504 0.01227746
+v 0.01393862 0.06740492 0.01961490
+v 0.01457217 0.06727975 0.01961490
+v 0.01918693 0.06618587 0.01961489
+v 0.00904749 0.06798250 0.01961490
+v 0.01152434 0.06776738 0.01961490
+v 0.00678965 0.06677656 0.00008409
+v 0.00884152 0.06651189 0.00008408
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 27
+f 1 27 40
+f 1 40 41
+f 1 41 53
+f 1 53 54
+f 1 54 46
+f 1 46 45
+f 1 45 31
+f 1 31 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 16
+f 4 16 21
+f 4 21 12
+f 4 12 7
+f 4 7 6
+f 5 7 12
+f 5 12 11
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 16
+f 11 12 21
+f 11 21 36
+f 11 36 50
+f 11 50 43
+f 11 43 49
+f 11 49 48
+f 11 48 52
+f 11 52 51
+f 11 51 37
+f 11 37 22
+f 11 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 25
+f 15 25 28
+f 15 28 27
+f 16 20 29
+f 16 29 30
+f 16 30 21
+f 17 31 18
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 18 31 32
+f 19 29 20
+f 19 35 29
+f 21 30 36
+f 22 37 38
+f 22 38 23
+f 23 25 24
+f 23 38 25
+f 25 38 39
+f 25 39 28
+f 27 28 40
+f 28 41 40
+f 28 39 42
+f 28 42 41
+f 29 35 30
+f 30 35 34
+f 30 34 43
+f 30 43 44
+f 30 44 36
+f 31 45 32
+f 32 45 46
+f 32 46 42
+f 32 42 33
+f 33 42 39
+f 33 39 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 43
+f 36 44 50
+f 37 51 38
+f 38 51 52
+f 38 52 47
+f 38 47 39
+f 41 42 53
+f 42 46 54
+f 42 54 53
+f 43 50 44
+f 47 52 48
+

dataset/bedroom_supplies/storage/e71319c323d5582cbb8082c2d23d41b2/mjcf/mesh/basket_002_collision_41.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02691057 -0.04888725 -0.02622017
+v -0.02691057 -0.05952146 -0.02622021
+v -0.02691057 -0.05284999 -0.01439553
+v -0.00023714 -0.05907952 -0.01439556
+v -0.00023714 -0.05529699 -0.02622019
+v -0.02691057 -0.05995586 -0.02584057
+v -0.02564687 -0.05991981 -0.02622021
+v -0.02691057 -0.06220756 -0.01439557
+v -0.00023714 -0.06803114 -0.01439559
+v -0.00023714 -0.06567511 -0.02622023
+v -0.01821351 -0.06548353 -0.02169571
+v -0.02069129 -0.06513070 -0.02131953
+v -0.02223175 -0.06484427 -0.02093410
+v -0.02691057 -0.06015883 -0.02542388
+v -0.02564687 -0.06012278 -0.02601187
+v -0.00808303 -0.06455592 -0.02622023
+v -0.00779844 -0.06491254 -0.02586836
+v -0.02565209 -0.06262299 -0.01439557
+v -0.02691057 -0.06241811 -0.01703806
+v -0.02377221 -0.06435297 -0.01948148
+v -0.02243019 -0.06494102 -0.01778464
+v -0.00023714 -0.06811081 -0.01459468
+v -0.00086899 -0.06799700 -0.01439559
+v -0.00023714 -0.06575288 -0.02603041
+v -0.00086899 -0.06567511 -0.02622023
+v -0.01555034 -0.06693280 -0.01929630
+v -0.01821351 -0.06643201 -0.01948148
+v -0.00582456 -0.06517052 -0.02618667
+v -0.00553214 -0.06519708 -0.02622023
+v -0.02069129 -0.06570928 -0.01948148
+v -0.02253201 -0.06499034 -0.01948148
+v -0.02691057 -0.06225306 -0.02072574
+v -0.02691057 -0.06224737 -0.02074311
+v -0.00598383 -0.06510223 -0.02622023
+v -0.02061558 -0.06522747 -0.01699756
+v -0.02062602 -0.06423918 -0.01439558
+v -0.02691057 -0.06243897 -0.01948147
+v -0.02564687 -0.06323568 -0.01948147
+v -0.01821351 -0.06600331 -0.01703807
+v -0.00023714 -0.06823031 -0.01641768
+v -0.00086899 -0.06807098 -0.01459468
+v -0.00086899 -0.06823221 -0.01703808
+v -0.00339899 -0.06764038 -0.01439559
+v -0.00023714 -0.06643199 -0.02436598
+v -0.00086899 -0.06643009 -0.02436598
+v -0.00305435 -0.06552145 -0.02622023
+v -0.01459996 -0.06718889 -0.01835759
+v -0.00334677 -0.06549679 -0.02622023
+v -0.01325793 -0.06700678 -0.01982178
+v -0.01459996 -0.06718889 -0.01822217
+v -0.00582456 -0.06514206 -0.02622023
+v -0.01806729 -0.06503778 -0.01439558
+v -0.01555034 -0.06666535 -0.01726031
+v -0.01573572 -0.06559548 -0.01439558
+v -0.00023714 -0.06826635 -0.01703808
+v -0.01325793 -0.06723631 -0.01860066
+v -0.00353998 -0.06761762 -0.01439559
+v -0.00334677 -0.06621764 -0.02436598
+v -0.01325793 -0.06601281 -0.01439558
+f 1 2 6
+f 1 6 14
+f 1 14 33
+f 1 33 32
+f 1 32 37
+f 1 37 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 25
+f 1 25 46
+f 1 46 48
+f 1 48 29
+f 1 29 51
+f 1 51 34
+f 1 34 16
+f 1 16 7
+f 1 7 2
+f 2 7 6
+f 3 8 18
+f 3 18 36
+f 3 36 52
+f 3 52 54
+f 3 54 59
+f 3 59 57
+f 3 57 43
+f 3 43 23
+f 3 23 9
+f 3 9 4
+f 4 9 22
+f 4 22 40
+f 4 40 55
+f 4 55 44
+f 4 44 24
+f 4 24 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 7 15
+f 6 15 16
+f 6 16 17
+f 6 17 11
+f 7 16 15
+f 8 19 20
+f 8 20 21
+f 8 21 18
+f 9 23 22
+f 10 24 25
+f 11 26 27
+f 11 27 12
+f 11 17 28
+f 11 28 29
+f 11 29 26
+f 12 27 13
+f 13 27 30
+f 13 30 31
+f 13 31 20
+f 13 20 32
+f 13 32 33
+f 13 33 14
+f 16 34 17
+f 17 34 28
+f 18 21 35
+f 18 35 36
+f 19 37 38
+f 19 38 20
+f 20 31 21
+f 20 38 32
+f 21 31 30
+f 21 30 27
+f 21 27 39
+f 21 39 35
+f 22 23 41
+f 22 41 42
+f 22 42 40
+f 23 43 41
+f 24 44 25
+f 25 45 46
+f 25 44 45
+f 26 47 27
+f 26 29 48
+f 26 48 49
+f 26 49 47
+f 27 50 39
+f 27 47 50
+f 28 34 51
+f 28 51 29
+f 32 38 37
+f 35 39 36
+f 36 39 52
+f 39 50 53
+f 39 53 54
+f 39 54 52
+f 40 42 55
+f 41 43 50
+f 41 50 42
+f 42 56 49
+f 42 49 55
+f 42 50 47
+f 42 47 56
+f 43 57 50
+f 44 55 45
+f 45 58 48
+f 45 48 46
+f 45 55 49
+f 45 49 58
+f 47 49 56
+f 48 58 49
+f 50 57 59
+f 50 59 54
+f 50 54 53
+