Add asset bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba

.gitattributes

@@ -2737,3 +2737,6 @@ dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_b
 dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/mesh/remote_holder_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/3e8adcae201a5253bf949fc2035bfb9e/remote_holder_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="gray_basket">
+   <link name="gray_basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/gray_basket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/gray_basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.365865</scale>
+         <version>v0.1.7</version>
+         <category>gray basket</category>
+         <description>woven gray basket with two vertical handles</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260117183517</generate_time>
+         <gs_model>mesh/gray_basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.902899742126465</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/3dfa72ce7ea15b4c994668be86284dba.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc2e6e2b8532dde95b8fbedb7c19224fa40d5a442496127ec727b3e817613b0
+size 764215

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3579dac6a116b481de50c32762fb720bd7801d4f7670a32015b0869841d0ae23
+size 4306356

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a947b188cf365cf773e25a0cc32bf403cb15bfeef4cf696340d201bc78a79091
+size 4018025

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/3dfa72ce7ea15b4c994668be86284dba.xml

@@ -0,0 +1,164 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="gray_basket">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/gray_basket.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/gray_basket_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/gray_basket_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/gray_basket_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/gray_basket_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/gray_basket_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/gray_basket_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/gray_basket_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/gray_basket_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/gray_basket_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/gray_basket_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/gray_basket_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/gray_basket_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/gray_basket_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/gray_basket_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/gray_basket_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/gray_basket_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/gray_basket_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/gray_basket_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/gray_basket_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/gray_basket_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/gray_basket_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/gray_basket_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/gray_basket_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/gray_basket_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/gray_basket_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/gray_basket_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/gray_basket_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/gray_basket_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/gray_basket_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/gray_basket_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/gray_basket_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/gray_basket_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/gray_basket_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/gray_basket_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/gray_basket_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/gray_basket_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/gray_basket_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/gray_basket_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/gray_basket_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/gray_basket_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/gray_basket_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/gray_basket_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/gray_basket_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/gray_basket_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/gray_basket_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/gray_basket_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/gray_basket_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/gray_basket_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/gray_basket_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/gray_basket_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/gray_basket_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/gray_basket_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/gray_basket_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/gray_basket_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/gray_basket_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/gray_basket_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/gray_basket_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/gray_basket_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/gray_basket_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/gray_basket_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/gray_basket_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/gray_basket_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/gray_basket_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/gray_basket_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/gray_basket_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/gray_basket_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/gray_basket_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/gray_basket_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/gray_basket_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/gray_basket_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/gray_basket_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/gray_basket_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/gray_basket_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/gray_basket_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/gray_basket_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="gray_basket">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_0.obj

@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.15492926 -0.00224215 -0.12258624
+v -0.15228213 -0.00224213 -0.12680072
+v -0.15494230 -0.00227712 -0.12258624
+v -0.12329405 -0.00224215 -0.12258624
+v -0.15494230 -0.00231209 -0.12258624
+v -0.15174749 -0.00224213 -0.12763530
+v -0.13930725 -0.04892172 -0.12694242
+v -0.02172494 -0.11076869 -0.12258664
+v -0.02172494 -0.00224214 -0.12500462
+v -0.14188918 -0.04540095 -0.12344296
+v -0.14051998 -0.05117178 -0.12258642
+v -0.15151276 -0.00224213 -0.12798672
+v -0.14003750 -0.05218604 -0.12258642
+v -0.14028526 -0.05113680 -0.12319650
+v -0.13299586 -0.04243969 -0.13849743
+v -0.13233082 -0.04646179 -0.13763844
+v -0.13379131 -0.04959787 -0.13362897
+v -0.13589075 -0.05127667 -0.12935837
+v -0.13799021 -0.05294382 -0.12503652
+v -0.02172494 -0.12134272 -0.12258668
+v -0.02172494 -0.00224206 -0.14593790
+v -0.14122415 -0.00224208 -0.14111089
+v -0.14121110 -0.00316308 -0.14112797
+v -0.13819886 -0.00920203 -0.14327306
+v -0.13607332 -0.05682602 -0.12258644
+v -0.13342619 -0.01960118 -0.14491057
+v -0.12794935 -0.03333459 -0.14516930
+v -0.12719303 -0.03682040 -0.14469833
+v -0.13017921 -0.04482963 -0.13979326
+v -0.12830143 -0.05001755 -0.13929300
+v -0.13021833 -0.05181293 -0.13577160
+v -0.13214825 -0.05361998 -0.13177676
+v -0.13396083 -0.05535706 -0.12776484
+v -0.10961502 -0.08772036 -0.12258655
+v -0.02172494 -0.12134268 -0.13283856
+v -0.06351837 -0.12134272 -0.12258668
+v -0.02211615 -0.00224206 -0.14594033
+v -0.02172494 -0.11180618 -0.14751720
+v -0.13903341 -0.00224207 -0.14366349
+v -0.13862917 -0.00316307 -0.14413692
+v -0.13517355 -0.00920202 -0.14585250
+v -0.13414339 -0.01522934 -0.14543523
+v -0.12899257 -0.02729562 -0.14557682
+v -0.12393301 -0.03904713 -0.14531818
+v -0.12192485 -0.04374540 -0.14507660
+v -0.11531353 -0.05510052 -0.14485457
+v -0.12624111 -0.05403964 -0.13791423
+v -0.10952374 -0.06120944 -0.14491072
+v -0.09756600 -0.07339230 -0.14500838
+v -0.10694180 -0.08867632 -0.12470478
+v -0.10593771 -0.09154426 -0.12258657
+v -0.05141719 -0.12134268 -0.13327050
+v -0.02172494 -0.11784518 -0.14154326
+v -0.06135372 -0.12134270 -0.12741368
+v -0.06350533 -0.09365431 -0.14747076
+v -0.12995752 -0.00920202 -0.14645527
+v -0.02816674 -0.00224206 -0.14596229
+v -0.02172494 -0.11547853 -0.14565278
+v -0.03329149 -0.11124659 -0.14622137
+v -0.05745474 -0.09969328 -0.14674357
+v -0.13860309 -0.00224207 -0.14411984
+v -0.13814668 -0.00224207 -0.14443221
+v -0.13559084 -0.00224206 -0.14599158
+v -0.13560387 -0.00316306 -0.14597694
+v -0.12995752 -0.01522933 -0.14628935
+v -0.12391998 -0.03333458 -0.14581599
+v -0.11814322 -0.04562238 -0.14564277
+v -0.11629153 -0.05143983 -0.14526698
+v -0.11164927 -0.05724564 -0.14526944
+v -0.09154148 -0.07934966 -0.14503037
+v -0.10291242 -0.09075148 -0.12668146
+v -0.09963936 -0.06939353 -0.14548179
+v -0.09361485 -0.07546747 -0.14558187
+v -0.08749906 -0.08144815 -0.14564290
+v -0.06634807 -0.11458089 -0.13224309
+v -0.06385741 -0.11802009 -0.12984668
+v -0.06135372 -0.12133103 -0.12744785
+v -0.05469024 -0.12134268 -0.13261161
+v -0.05510752 -0.12112117 -0.13301181
+v -0.05141719 -0.12129605 -0.13336812
+v -0.02172494 -0.11768196 -0.14186782
+v -0.06134068 -0.12134270 -0.12744052
+v -0.06989496 -0.09406234 -0.14638970
+v -0.07559347 -0.08762700 -0.14701928
+v -0.11183182 -0.04540086 -0.14639440
+v -0.13080513 -0.00224206 -0.14627954
+v -0.12995752 -0.00224206 -0.14632835
+v -0.02172494 -0.11568839 -0.14553321
+v -0.03932904 -0.11018570 -0.14573574
+v -0.02622377 -0.11523372 -0.14503781
+v -0.06290548 -0.09969328 -0.14578696
+v -0.11183182 -0.05143982 -0.14601861
+v -0.08536049 -0.08520209 -0.14498402
+v -0.07889261 -0.09085634 -0.14471317
+v -0.06231868 -0.11615477 -0.13414657
+v -0.08120070 -0.08738219 -0.14560387
+v -0.05912387 -0.12017687 -0.13145976
+v -0.06131460 -0.12134270 -0.12746737
+v -0.05565521 -0.12134268 -0.13210402
+v -0.05725914 -0.11802007 -0.13495432
+v -0.03025315 -0.11477905 -0.14450094
+v -0.06810847 -0.09767642 -0.14535989
+v -0.07559347 -0.09206879 -0.14550873
+v -0.04388002 -0.10933465 -0.14506953
+v -0.05745474 -0.10338895 -0.14507194
+v -0.06049307 -0.10272443 -0.14451066
+f 1 2 3
+f 1 3 5
+f 1 5 11
+f 1 11 13
+f 1 13 25
+f 1 25 34
+f 1 34 51
+f 1 51 36
+f 1 36 20
+f 1 20 8
+f 1 8 4
+f 1 4 9
+f 1 9 21
+f 1 21 37
+f 1 37 57
+f 1 57 87
+f 1 87 86
+f 1 86 63
+f 1 63 62
+f 1 62 61
+f 1 61 39
+f 1 39 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 4 8 9
+f 5 7 10
+f 5 10 11
+f 6 12 7
+f 7 13 14
+f 7 14 10
+f 7 12 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 13
+f 8 20 35
+f 8 35 53
+f 8 53 81
+f 8 81 88
+f 8 88 58
+f 8 58 38
+f 8 38 21
+f 8 21 9
+f 10 14 11
+f 11 14 13
+f 12 22 23
+f 12 23 24
+f 12 24 15
+f 13 19 25
+f 15 24 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 25
+f 20 36 54
+f 20 54 82
+f 20 82 98
+f 20 98 99
+f 20 99 78
+f 20 78 52
+f 20 52 35
+f 21 38 37
+f 22 39 40
+f 22 40 23
+f 23 40 24
+f 24 40 41
+f 24 41 42
+f 24 42 26
+f 26 42 27
+f 27 42 41
+f 27 41 43
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 30 29
+f 28 45 46
+f 28 46 30
+f 30 47 31
+f 30 46 48
+f 30 48 49
+f 30 49 47
+f 31 47 50
+f 31 50 32
+f 32 50 34
+f 32 34 33
+f 34 50 51
+f 35 52 53
+f 36 51 54
+f 37 38 55
+f 37 55 56
+f 37 56 57
+f 38 58 59
+f 38 59 60
+f 38 60 55
+f 39 61 40
+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 43 65 66
+f 43 66 67
+f 43 67 44
+f 44 67 68
+f 44 68 45
+f 45 68 46
+f 46 68 69
+f 46 69 48
+f 47 49 70
+f 47 70 71
+f 47 71 50
+f 48 69 72
+f 48 72 73
+f 48 73 49
+f 49 73 74
+f 49 74 70
+f 50 71 51
+f 51 71 75
+f 51 75 76
+f 51 76 77
+f 51 77 54
+f 52 78 79
+f 52 79 80
+f 52 80 53
+f 53 80 81
+f 54 77 82
+f 55 60 83
+f 55 83 84
+f 55 84 85
+f 55 85 56
+f 56 85 65
+f 56 65 64
+f 56 64 63
+f 56 63 86
+f 56 86 87
+f 56 87 57
+f 58 88 59
+f 59 89 60
+f 59 88 90
+f 59 90 89
+f 60 91 83
+f 60 89 91
+f 65 85 92
+f 65 92 66
+f 66 92 67
+f 67 92 68
+f 68 92 69
+f 69 92 84
+f 69 84 72
+f 70 74 93
+f 70 93 71
+f 71 93 94
+f 71 94 95
+f 71 95 75
+f 72 84 73
+f 73 84 74
+f 74 84 96
+f 74 96 93
+f 75 95 76
+f 76 95 97
+f 76 97 77
+f 77 97 98
+f 77 98 82
+f 78 99 79
+f 79 99 98
+f 79 98 97
+f 79 97 95
+f 79 95 100
+f 79 100 101
+f 79 101 90
+f 79 90 88
+f 79 88 80
+f 80 88 81
+f 83 91 102
+f 83 102 103
+f 83 103 96
+f 83 96 84
+f 84 92 85
+f 89 90 101
+f 89 101 100
+f 89 100 104
+f 89 104 105
+f 89 105 91
+f 91 105 106
+f 91 106 100
+f 91 100 102
+f 93 96 103
+f 93 103 94
+f 94 103 102
+f 94 102 95
+f 95 102 100
+f 100 106 105
+f 100 105 104
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_1.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.08935763 -0.12134561 -0.03704640
+v -0.08888383 -0.12134561 -0.03918469
+v -0.07788104 -0.13189933 -0.05725183
+v -0.07992892 -0.13454949 -0.03920357
+v -0.08013950 -0.13483131 -0.03704645
+v -0.05673882 -0.12134561 -0.03704640
+v -0.08805730 -0.12134559 -0.04271710
+v -0.07985522 -0.12888470 -0.05725182
+v -0.07485921 -0.13496309 -0.05725185
+v -0.07720718 -0.13756412 -0.03920359
+v -0.07750725 -0.13784852 -0.03704646
+v -0.07924980 -0.13591202 -0.03704645
+v -0.07017381 -0.12134534 -0.11140604
+v -0.05623343 -0.12154210 -0.03704640
+v -0.05588597 -0.12138956 -0.03789418
+v -0.05611761 -0.12134561 -0.03776231
+v -0.08449851 -0.12134554 -0.05679965
+v -0.07502768 -0.12134541 -0.09334835
+v -0.07110563 -0.13798030 -0.05725186
+v -0.07418536 -0.14035382 -0.03920360
+v -0.06871028 -0.12275957 -0.11140604
+v -0.07448544 -0.14059426 -0.03704647
+v -0.06781005 -0.12134532 -0.11596521
+v -0.06762580 -0.12168659 -0.11580507
+v -0.05167438 -0.12414306 -0.03704641
+v -0.04778918 -0.12134557 -0.04770016
+v -0.05594915 -0.12134561 -0.03796012
+v -0.06761527 -0.13946435 -0.06111397
+v -0.06488299 -0.12577680 -0.11140605
+v -0.07301664 -0.14167757 -0.03704647
+v -0.06133472 -0.12134528 -0.12743848
+v -0.04811031 -0.12659149 -0.03704641
+v -0.04686789 -0.12134557 -0.04911313
+v -0.06728360 -0.14528427 -0.03725372
+v -0.06994744 -0.14369939 -0.03704648
+v -0.06186644 -0.12764607 -0.11140606
+v -0.06111362 -0.13918248 -0.07266260
+v -0.06076616 -0.12702297 -0.11478776
+v -0.05564907 -0.12134526 -0.13210128
+v -0.05724947 -0.12197095 -0.12945432
+v -0.03557555 -0.13708064 -0.03704645
+v -0.04569391 -0.12134556 -0.05123257
+v -0.06363531 -0.14599010 -0.03923188
+v -0.06708882 -0.14538251 -0.03704648
+v -0.06731519 -0.14530237 -0.03704648
+v -0.05745479 -0.12931628 -0.11140607
+v -0.05141115 -0.13017464 -0.11140607
+v -0.05745479 -0.13934795 -0.07300171
+v -0.05745479 -0.14736297 -0.03920362
+v -0.05468040 -0.12134526 -0.13260052
+v -0.03557555 -0.13097118 -0.05142100
+v -0.04418826 -0.12266930 -0.05123257
+v -0.03557555 -0.14688725 -0.03704649
+v -0.03557555 -0.12402659 -0.07292630
+v -0.03557555 -0.12134544 -0.08304313
+v -0.06358267 -0.14641928 -0.03704649
+v -0.05141115 -0.12303098 -0.12945432
+v -0.04536751 -0.12774171 -0.11604059
+v -0.04536751 -0.12946365 -0.11140607
+v -0.05141115 -0.14728023 -0.03920362
+v -0.05528582 -0.14775596 -0.03704649
+v -0.05745479 -0.14774303 -0.03704649
+v -0.05141115 -0.12134526 -0.13326932
+v -0.03557555 -0.12983357 -0.05460488
+v -0.05141115 -0.14770166 -0.03704649
+v -0.03942389 -0.12774173 -0.11113289
+v -0.03557555 -0.12705402 -0.10895692
+v -0.03557555 -0.12134529 -0.12659070
+v -0.04676260 -0.12134526 -0.13252516
+v -0.04520431 -0.12221398 -0.12983111
+v -0.04150337 -0.12723756 -0.11514571
+v -0.03557555 -0.12608188 -0.11209369
+v -0.03557555 -0.12443235 -0.11735935
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 22
+f 1 22 30
+f 1 30 35
+f 1 35 45
+f 1 45 44
+f 1 44 56
+f 1 56 62
+f 1 62 61
+f 1 61 65
+f 1 65 53
+f 1 53 41
+f 1 41 32
+f 1 32 25
+f 1 25 14
+f 1 14 6
+f 1 6 16
+f 1 16 27
+f 1 27 26
+f 1 26 33
+f 1 33 42
+f 1 42 55
+f 1 55 68
+f 1 68 69
+f 1 69 63
+f 1 63 50
+f 1 50 39
+f 1 39 31
+f 1 31 23
+f 1 23 13
+f 1 13 18
+f 1 18 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 8 13
+f 3 13 9
+f 4 12 5
+f 6 14 15
+f 6 15 16
+f 7 17 8
+f 8 17 18
+f 8 18 13
+f 9 19 20
+f 9 20 10
+f 9 13 21
+f 9 21 19
+f 10 20 11
+f 11 20 22
+f 13 23 24
+f 13 24 21
+f 14 25 26
+f 14 26 15
+f 15 27 16
+f 15 26 27
+f 19 28 20
+f 19 21 29
+f 19 29 28
+f 20 30 22
+f 20 28 30
+f 21 24 29
+f 23 31 24
+f 24 31 29
+f 25 32 26
+f 26 32 33
+f 28 34 35
+f 28 35 30
+f 28 29 36
+f 28 36 37
+f 28 37 34
+f 29 31 38
+f 29 38 36
+f 31 39 40
+f 31 40 38
+f 32 41 33
+f 33 41 42
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 34 37 43
+f 36 38 46
+f 36 46 37
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 43
+f 38 40 39
+f 38 39 46
+f 39 50 46
+f 41 51 52
+f 41 52 42
+f 41 53 67
+f 41 67 72
+f 41 72 73
+f 41 73 68
+f 41 68 55
+f 41 55 54
+f 41 54 64
+f 41 64 51
+f 42 52 54
+f 42 54 55
+f 43 49 56
+f 43 56 44
+f 46 50 47
+f 47 50 57
+f 47 57 58
+f 47 58 59
+f 47 59 53
+f 47 53 60
+f 47 60 49
+f 47 49 48
+f 49 60 61
+f 49 61 62
+f 49 62 56
+f 50 63 57
+f 51 64 52
+f 52 64 54
+f 53 65 60
+f 53 59 66
+f 53 66 67
+f 57 63 69
+f 57 69 58
+f 58 69 70
+f 58 70 71
+f 58 71 59
+f 59 71 66
+f 60 65 61
+f 66 71 67
+f 67 71 72
+f 68 73 71
+f 68 71 70
+f 68 70 69
+f 71 73 72
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_10.obj

@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v -0.12063301 0.06242407 -0.00910801
+v -0.12365738 0.06242409 -0.01468693
+v -0.12112160 0.06242407 -0.00770991
+v -0.15007273 -0.00224258 -0.00460564
+v -0.14872444 -0.00224257 -0.00910825
+v -0.15109323 -0.00224251 -0.02333813
+v -0.13498796 0.05114419 -0.02333793
+v -0.13427053 0.05461932 -0.02333792
+v -0.13420868 0.05695507 -0.02333791
+v -0.13414065 0.06242413 -0.02333789
+v -0.12394188 0.06242405 -0.00296391
+v -0.15276313 -0.00224259 -0.00159579
+v -0.17868370 -0.00224251 -0.02333813
+v -0.15536694 0.06242413 -0.02333789
+v -0.12418927 0.06242405 -0.00271512
+v -0.15578133 -0.00224260 0.00081101
+v -0.12474590 0.06242405 -0.00217697
+v -0.12693534 0.06242404 -0.00012983
+v -0.18212864 -0.00224253 -0.01900589
+v -0.18209773 0.00287840 -0.01895719
+v -0.18196784 0.00891082 -0.01881384
+v -0.18174519 0.01494326 -0.01858666
+v -0.17821984 0.00301767 -0.02333811
+v -0.15960972 0.06242411 -0.02031722
+v -0.15946747 0.05768301 -0.02333791
+v -0.15942418 -0.00224261 0.00238760
+v -0.13034317 0.06242403 0.00146839
+v -0.18371196 -0.00224254 -0.01512255
+v -0.18371814 0.00287839 -0.01512253
+v -0.18351404 0.00891081 -0.01512251
+v -0.18303781 0.01494325 -0.01512249
+v -0.18150398 0.01912734 -0.01833244
+v -0.17767558 0.02701445 -0.01999554
+v -0.16807056 0.03907299 -0.02333798
+v -0.16002411 0.06242411 -0.02000352
+v -0.15988186 0.05715763 -0.02333791
+v -0.16057456 0.06242411 -0.01957895
+v -0.16018492 -0.00224261 0.00269048
+v -0.13680630 0.06242403 0.00338572
+v -0.16018492 0.00891074 0.00403184
+v -0.18371196 -0.00224257 -0.00910825
+v -0.18381092 0.00287836 -0.00910823
+v -0.18363774 0.00891078 -0.00910821
+v -0.18303781 0.01494322 -0.00910819
+v -0.18159056 0.02507114 -0.01353505
+v -0.18202352 0.02107695 -0.01537396
+v -0.18117618 0.02315317 -0.01754548
+v -0.17676022 0.03304054 -0.01952498
+v -0.16588731 0.04551687 -0.02333795
+v -0.16453902 0.05717659 -0.01931125
+v -0.16345050 0.06051247 -0.01841342
+v -0.17107019 0.04510541 -0.01968448
+v -0.16993837 0.04932114 -0.01884074
+v -0.16301756 0.06242410 -0.01512231
+v -0.16530594 -0.00224261 0.00333950
+v -0.14205722 0.06242403 0.00366696
+v -0.14205722 0.05717651 0.00396982
+v -0.16018492 0.01494317 0.00428876
+v -0.16622748 -0.00224261 0.00336384
+v -0.18212864 -0.00224258 -0.00498154
+v -0.18219049 0.00287835 -0.00488146
+v -0.18209773 0.00891077 -0.00505451
+v -0.18174519 0.01494321 -0.00555208
+v -0.18141120 0.01827275 -0.00600097
+v -0.18196784 0.02055787 -0.00921634
+v -0.18159056 0.02507113 -0.01129321
+v -0.18068139 0.02705241 -0.01537394
+v -0.17884451 0.03304053 -0.01512242
+v -0.17592527 0.03749682 -0.01878940
+v -0.16876944 0.05334064 -0.01651504
+v -0.16712428 0.05666385 -0.01475455
+v -0.16393291 0.06119609 -0.01512232
+v -0.17502228 0.04152265 -0.01720198
+v -0.16276398 0.06242407 -0.00910801
+v -0.16934463 0.05430911 -0.01250190
+v -0.16934463 0.05430910 -0.01183936
+v -0.14284887 0.06242403 0.00359395
+v -0.14809978 0.05114409 0.00407797
+v -0.16018492 0.02098193 0.00406975
+v -0.16622748 0.01494318 0.00363163
+v -0.16622748 0.00891074 0.00382902
+v -0.17134851 -0.00224261 0.00206579
+v -0.17881976 -0.00224259 -0.00197439
+v -0.17854145 0.00287834 -0.00187431
+v -0.17771268 0.00835373 -0.00172015
+v -0.17831261 0.01494320 -0.00283969
+v -0.17860948 0.02055786 -0.00422425
+v -0.18082365 0.02229227 -0.00728278
+v -0.17698906 0.02701440 -0.00457308
+v -0.17540575 0.03638903 -0.00598198
+v -0.18013095 0.02705238 -0.00921632
+v -0.17803429 0.03304050 -0.00910812
+v -0.17552944 0.04263670 -0.01147162
+v -0.17552944 0.04263671 -0.01319153
+v -0.17642625 0.03933882 -0.01516838
+v -0.17390902 0.04483321 -0.01516836
+v -0.17050119 0.05125809 -0.01475457
+v -0.16231249 0.06242407 -0.00779374
+v -0.16378448 0.06101250 -0.00910802
+v -0.17035894 0.05099222 -0.00954074
+v -0.16850968 0.05290385 -0.00782893
+v -0.16325259 0.06026555 -0.00603327
+v -0.14852653 0.06242403 0.00200924
+v -0.14809978 0.05717651 0.00341274
+v -0.15414234 0.04510533 0.00348301
+v -0.16622748 0.02098193 0.00286635
+v -0.17170104 0.01494319 0.00128973
+v -0.17275247 0.00835372 0.00119776
+v -0.17227005 -0.00224261 0.00177644
+v -0.17625925 -0.00224260 -0.00007599
+v -0.17509032 0.00999317 -0.00018952
+v -0.17471924 0.01494319 -0.00037610
+v -0.17580157 -0.00224260 0.00021337
+v -0.17381625 0.02098194 -0.00081957
+v -0.17056922 0.04510536 -0.00493268
+v -0.16969716 0.04887800 -0.00563848
+v -0.17458935 0.04040855 -0.00746119
+v -0.17611082 0.03866782 -0.00932445
+v -0.17350701 0.04483318 -0.00932443
+v -0.16026531 0.06242406 -0.00474873
+v -0.16419886 0.05717654 -0.00510842
+v -0.14978205 0.06242403 0.00156574
+v -0.15443303 0.05724615 0.00116549
+v -0.15414234 0.05114409 0.00266634
+v -0.17079805 0.02098194 0.00073268
+v -0.15880570 0.05114410 0.00068952
+v -0.17530679 -0.00224260 0.00043241
+v -0.16182389 0.05114410 -0.00079783
+v -0.16638828 0.05099219 -0.00398887
+v -0.16012306 0.06242406 -0.00463245
+v -0.15994989 0.05724616 -0.00184166
+v -0.15664719 0.05930338 -0.00032185
+v -0.15166842 0.06242404 0.00082477
+v -0.15262088 0.06201893 0.00055975
+v -0.15777902 0.05528387 0.00018653
+v -0.15994370 0.06242406 -0.00449453
+v -0.15245389 0.06242404 0.00048674
+v -0.15507625 0.06242404 -0.00085999
+f 1 2 10
+f 1 10 14
+f 1 14 24
+f 1 24 35
+f 1 35 37
+f 1 37 54
+f 1 54 74
+f 1 74 98
+f 1 98 120
+f 1 120 130
+f 1 130 136
+f 1 136 138
+f 1 138 137
+f 1 137 133
+f 1 133 122
+f 1 122 103
+f 1 103 77
+f 1 77 56
+f 1 56 39
+f 1 39 27
+f 1 27 18
+f 1 18 17
+f 1 17 15
+f 1 15 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 6 7
+f 3 11 4
+f 4 12 16
+f 4 16 26
+f 4 26 38
+f 4 38 55
+f 4 55 59
+f 4 59 82
+f 4 82 109
+f 4 109 127
+f 4 127 113
+f 4 113 110
+f 4 110 83
+f 4 83 60
+f 4 60 41
+f 4 41 28
+f 4 28 19
+f 4 19 13
+f 4 13 6
+f 4 6 5
+f 4 11 12
+f 6 13 23
+f 6 23 34
+f 6 34 49
+f 6 49 36
+f 6 36 25
+f 6 25 14
+f 6 14 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 11 15 12
+f 12 15 17
+f 12 17 18
+f 12 18 16
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 14 25 24
+f 16 18 27
+f 16 27 26
+f 19 28 29
+f 19 29 20
+f 20 29 21
+f 21 29 30
+f 21 30 22
+f 22 31 32
+f 22 32 23
+f 22 30 31
+f 23 32 33
+f 23 33 34
+f 24 25 35
+f 25 36 37
+f 25 37 35
+f 26 27 38
+f 27 39 40
+f 27 40 38
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 30 43 31
+f 31 44 66
+f 31 66 45
+f 31 45 46
+f 31 46 47
+f 31 47 32
+f 31 43 44
+f 32 47 48
+f 32 48 33
+f 33 48 34
+f 34 48 49
+f 36 50 51
+f 36 51 37
+f 36 49 52
+f 36 52 53
+f 36 53 50
+f 37 51 54
+f 38 40 55
+f 39 56 57
+f 39 57 40
+f 40 58 59
+f 40 59 55
+f 40 57 58
+f 41 60 61
+f 41 61 42
+f 42 61 62
+f 42 62 43
+f 43 62 63
+f 43 63 44
+f 44 63 64
+f 44 64 65
+f 44 65 66
+f 45 67 47
+f 45 47 46
+f 45 66 68
+f 45 68 67
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 69 49
+f 49 69 52
+f 50 53 51
+f 51 53 70
+f 51 70 71
+f 51 71 72
+f 51 72 54
+f 52 69 53
+f 53 69 73
+f 53 73 70
+f 54 72 75
+f 54 75 76
+f 54 76 74
+f 56 77 78
+f 56 78 57
+f 57 78 58
+f 58 79 80
+f 58 80 81
+f 58 81 59
+f 58 78 79
+f 59 81 82
+f 60 83 61
+f 61 83 84
+f 61 84 62
+f 62 84 85
+f 62 85 86
+f 62 86 63
+f 63 86 87
+f 63 87 64
+f 64 88 66
+f 64 66 65
+f 64 87 89
+f 64 89 90
+f 64 90 88
+f 66 88 91
+f 66 91 92
+f 66 92 93
+f 66 93 68
+f 68 93 94
+f 68 94 95
+f 68 95 73
+f 68 73 69
+f 70 75 71
+f 70 73 96
+f 70 96 97
+f 70 97 75
+f 71 75 72
+f 73 95 94
+f 73 94 96
+f 74 76 99
+f 74 99 98
+f 75 97 96
+f 75 96 94
+f 75 94 93
+f 75 93 76
+f 76 93 100
+f 76 100 101
+f 76 101 102
+f 76 102 99
+f 77 103 104
+f 77 104 78
+f 78 104 105
+f 78 105 80
+f 78 80 79
+f 80 106 107
+f 80 107 108
+f 80 108 109
+f 80 109 81
+f 80 105 106
+f 81 109 82
+f 83 110 84
+f 84 110 85
+f 85 111 112
+f 85 112 86
+f 85 110 113
+f 85 113 111
+f 86 112 114
+f 86 114 87
+f 87 114 89
+f 88 90 91
+f 89 114 115
+f 89 115 90
+f 90 115 116
+f 90 116 117
+f 90 117 118
+f 90 118 92
+f 90 92 91
+f 92 118 93
+f 93 118 117
+f 93 117 119
+f 93 119 100
+f 98 99 102
+f 98 102 120
+f 100 119 116
+f 100 116 101
+f 101 116 102
+f 102 116 121
+f 102 121 120
+f 103 122 123
+f 103 123 104
+f 104 123 124
+f 104 124 105
+f 105 124 106
+f 106 125 107
+f 106 124 126
+f 106 126 125
+f 107 125 114
+f 107 114 112
+f 107 112 111
+f 107 111 108
+f 108 111 113
+f 108 113 127
+f 108 127 109
+f 114 125 128
+f 114 128 115
+f 115 128 129
+f 115 129 116
+f 116 129 121
+f 116 119 117
+f 120 121 130
+f 121 131 132
+f 121 132 130
+f 121 129 131
+f 122 133 123
+f 123 134 132
+f 123 132 135
+f 123 135 126
+f 123 126 124
+f 123 133 134
+f 125 126 128
+f 126 135 128
+f 128 135 132
+f 128 132 131
+f 128 131 129
+f 130 132 136
+f 132 134 137
+f 132 137 138
+f 132 138 136
+f 133 137 134
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_11.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.03557555 -0.12134611 -0.12658475
+v -0.01469987 -0.12134606 -0.13752204
+v -0.01178599 -0.12672956 -0.13225633
+v -0.00950396 -0.12868720 -0.12993292
+v -0.01331961 -0.13339781 -0.11540400
+v -0.03557555 -0.12443212 -0.11736213
+v -0.03557555 -0.12134626 -0.08303852
+v -0.01205591 -0.12134606 -0.13821197
+v -0.00776176 -0.12732092 -0.13309844
+v -0.00306888 -0.13030157 -0.12945607
+v -0.00910522 -0.13133139 -0.12343955
+v -0.03557555 -0.12705252 -0.10895120
+v -0.03557555 -0.12608049 -0.11209641
+v -0.00910522 -0.13400616 -0.11650992
+v -0.00910522 -0.13572931 -0.11140653
+v -0.01189028 -0.15089434 -0.05982479
+v -0.03557555 -0.12402784 -0.07292307
+v -0.00910522 -0.12629822 -0.05333132
+v -0.00709924 -0.12134631 -0.07134029
+v -0.00911135 -0.12134606 -0.13896277
+v -0.00435099 -0.12134606 -0.14014984
+v -0.00306888 -0.12767779 -0.13361589
+v 0.00297973 -0.12758942 -0.13358545
+v 0.00297973 -0.13006366 -0.12945607
+v 0.00297973 -0.13687126 -0.11140653
+v -0.00306888 -0.13685086 -0.11140653
+v -0.03557555 -0.14688739 -0.03703707
+v -0.00785992 -0.15144152 -0.06084954
+v -0.00956531 -0.15189356 -0.05759270
+v -0.00921564 -0.15527191 -0.03703710
+v -0.03557555 -0.12983623 -0.05459958
+v -0.03557555 -0.13097139 -0.05142391
+v -0.00689680 -0.13266058 -0.03703702
+v -0.00528343 -0.13246686 -0.03703702
+v -0.00306888 -0.12585301 -0.05268198
+v -0.00306888 -0.12134631 -0.06996045
+v -0.00306888 -0.12134605 -0.14032231
+v -0.00306888 -0.12486708 -0.13661907
+v 0.00114552 -0.12134605 -0.14063683
+v 0.00297973 -0.12134605 -0.14068757
+v 0.00297973 -0.12509139 -0.13658863
+v 0.00731681 -0.12720197 -0.13305787
+v 0.00920624 -0.12842210 -0.12985176
+v 0.00902220 -0.13383963 -0.11593160
+v 0.00902220 -0.13558316 -0.11140653
+v 0.00732908 -0.15142793 -0.06079881
+v 0.00297973 -0.15305930 -0.05725789
+v -0.00306888 -0.15315786 -0.05725789
+v -0.03557555 -0.13708564 -0.03703703
+v -0.00306888 -0.15406532 -0.05123123
+v -0.00306888 -0.15606380 -0.03703710
+v -0.00306888 -0.13233091 -0.03703702
+v 0.00297973 -0.12592438 -0.05278344
+v 0.00297973 -0.12134631 -0.06948359
+v -0.00098315 -0.12134631 -0.06968651
+v 0.00171602 -0.13237849 -0.03703702
+v 0.00902220 -0.12134606 -0.13964255
+v 0.01134718 -0.12666839 -0.13211430
+v 0.00920624 -0.12493844 -0.13522908
+v 0.01356786 -0.12769480 -0.12810666
+v 0.01270290 -0.13321088 -0.11498803
+v 0.01135331 -0.15066323 -0.05934793
+v 0.00921237 -0.15183918 -0.05730862
+v 0.00917557 -0.15504759 -0.03703710
+v 0.00297973 -0.15395317 -0.05123123
+v -0.00021021 -0.15597882 -0.03703710
+v 0.00902220 -0.12643076 -0.05355453
+v 0.01091163 -0.12134631 -0.07101563
+v 0.00902220 -0.12134631 -0.07050833
+v 0.00542126 -0.12134631 -0.06982855
+v 0.00451949 -0.13278633 -0.03703702
+v 0.01599099 -0.12134607 -0.13706548
+v 0.02110715 -0.12134608 -0.13394053
+v 0.02709442 -0.12134609 -0.12969955
+v 0.02709442 -0.12138346 -0.12958794
+v 0.02709442 -0.15060893 -0.03703708
+v 0.01262315 -0.15124442 -0.05533017
+v 0.01118768 -0.15456838 -0.03703710
+v 0.00523109 -0.15564576 -0.03703710
+v 0.00297973 -0.15587346 -0.03703710
+v 0.01218147 -0.12680122 -0.05413286
+v 0.01261088 -0.12134631 -0.07172584
+v 0.00540899 -0.13295287 -0.03703702
+v 0.02709442 -0.12134626 -0.08495610
+v 0.02709442 -0.13967882 -0.03703704
+v 0.00902220 -0.13385352 -0.03703702
+v 0.02709442 -0.13259934 -0.05362558
+v 0.02709442 -0.12247462 -0.08126299
+v 0.02709442 -0.12245423 -0.08132387
+v 0.02709442 -0.12134964 -0.08493581
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 12
+f 1 12 27
+f 1 27 49
+f 1 49 32
+f 1 32 31
+f 1 31 17
+f 1 17 7
+f 1 7 19
+f 1 19 36
+f 1 36 55
+f 1 55 54
+f 1 54 70
+f 1 70 69
+f 1 69 68
+f 1 68 82
+f 1 82 84
+f 1 84 74
+f 1 74 73
+f 1 73 72
+f 1 72 57
+f 1 57 40
+f 1 40 39
+f 1 39 37
+f 1 37 21
+f 1 21 20
+f 1 20 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 12 13
+f 5 13 6
+f 5 11 14
+f 5 14 15
+f 5 15 16
+f 5 16 12
+f 7 17 18
+f 7 18 19
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 14
+f 10 14 11
+f 12 16 27
+f 14 26 15
+f 15 26 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 27
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 25
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 26
+f 26 48 28
+f 27 30 51
+f 27 51 66
+f 27 66 80
+f 27 80 79
+f 27 79 64
+f 27 64 78
+f 27 78 76
+f 27 76 85
+f 27 85 86
+f 27 86 83
+f 27 83 71
+f 27 71 56
+f 27 56 52
+f 27 52 34
+f 27 34 33
+f 27 33 49
+f 28 48 29
+f 29 48 30
+f 30 50 51
+f 30 48 50
+f 32 49 33
+f 34 52 35
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 35 52 56
+f 35 56 53
+f 37 39 38
+f 40 57 41
+f 41 57 42
+f 42 58 43
+f 42 57 59
+f 42 59 58
+f 43 58 60
+f 43 60 61
+f 43 61 44
+f 44 61 45
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 46 63 47
+f 47 63 64
+f 47 64 65
+f 47 65 50
+f 47 50 48
+f 50 65 51
+f 51 65 66
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 70 54
+f 53 56 67
+f 56 71 67
+f 57 72 59
+f 58 59 72
+f 58 72 73
+f 58 73 74
+f 58 74 60
+f 60 74 61
+f 61 74 75
+f 61 75 76
+f 61 76 62
+f 62 76 77
+f 62 77 63
+f 63 77 76
+f 63 76 78
+f 63 78 64
+f 64 79 65
+f 65 79 80
+f 65 80 66
+f 67 81 82
+f 67 82 68
+f 67 71 83
+f 67 83 81
+f 74 84 90
+f 74 90 89
+f 74 89 88
+f 74 88 87
+f 74 87 85
+f 74 85 76
+f 74 76 75
+f 81 83 86
+f 81 86 85
+f 81 85 87
+f 81 87 88
+f 81 88 89
+f 81 89 82
+f 82 89 90
+f 82 90 84
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_12.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.03319496 0.13576328 0.06311078
+v 0.02847076 0.13735135 0.06912789
+v 0.02850438 0.13731748 0.06311078
+v 0.03319496 0.13591582 0.05709367
+v 0.03940584 0.13734175 0.04647045
+v 0.03853401 0.13706330 0.05709367
+v 0.03849318 0.13708265 0.06311078
+v 0.03839951 0.13723030 0.06912789
+v 0.03319496 0.13594725 0.06912789
+v 0.02740198 0.13794912 0.11577239
+v 0.02571597 0.14011848 0.04647046
+v 0.02642928 0.13952294 0.04647046
+v 0.02855962 0.13748695 0.05709368
+v 0.02873735 0.13772908 0.04647046
+v 0.02487776 0.13906514 0.11577239
+v 0.02484174 0.13908451 0.11573848
+v 0.03319496 0.13634434 0.04647045
+v 0.03447268 0.13649928 0.04647045
+v 0.04102461 0.13829798 0.04647046
+v 0.04189643 0.13890078 0.04727771
+v 0.04122395 0.13976734 0.07514502
+v 0.03670149 0.13823964 0.11124090
+v 0.03319496 0.13744560 0.11124089
+v 0.03345675 0.13779903 0.11577239
+v 0.02328301 0.14313729 0.04647048
+v 0.02479851 0.13912081 0.11577239
+v 0.02248084 0.14168935 0.11577240
+v 0.04255691 0.13978923 0.04647046
+v 0.04327503 0.14278616 0.07514503
+v 0.04271543 0.14392388 0.09920670
+v 0.03646852 0.13842604 0.11551462
+v 0.03607704 0.13835825 0.11577239
+v 0.02285070 0.14670565 0.04647049
+v 0.01953391 0.14774152 0.11577242
+v 0.04360647 0.14143542 0.04647047
+v 0.04406760 0.14768598 0.07514505
+v 0.04394031 0.14768596 0.08115537
+v 0.04343354 0.14768592 0.09318959
+v 0.04311892 0.14768590 0.09920671
+v 0.04249447 0.14428942 0.10414521
+v 0.03947789 0.14165306 0.11124091
+v 0.03669428 0.13879158 0.11577239
+v 0.02279306 0.14768609 0.04647049
+v 0.02005268 0.15356853 0.11577244
+v 0.04368332 0.14737138 0.04647049
+v 0.04398594 0.14768605 0.05709371
+v 0.04311892 0.15221056 0.08115539
+v 0.04303005 0.15219602 0.08717251
+v 0.04285713 0.15200716 0.09318961
+v 0.04266259 0.15161254 0.09920673
+v 0.04245604 0.15114771 0.10522384
+v 0.04231674 0.15083299 0.10875812
+v 0.04231674 0.14897134 0.10875812
+v 0.04255691 0.14725254 0.10578008
+v 0.04224949 0.14495271 0.10816114
+v 0.03850519 0.14128750 0.11577240
+v 0.02364087 0.15163695 0.04647051
+v 0.02066272 0.15462403 0.11577245
+v 0.04308529 0.14845835 0.04647050
+v 0.04257613 0.15111160 0.05261652
+v 0.04284272 0.15148439 0.05709373
+v 0.04298682 0.15177245 0.06311084
+v 0.04305167 0.15212101 0.07514507
+v 0.04105343 0.15522695 0.08115540
+v 0.04115670 0.15521241 0.08717252
+v 0.04118312 0.15502356 0.09318962
+v 0.04103181 0.15462894 0.09920674
+v 0.04078203 0.15416652 0.10522385
+v 0.04067395 0.15319332 0.11095604
+v 0.03945627 0.15359516 0.11577244
+v 0.04107985 0.14758416 0.11577242
+v 0.04195648 0.14725252 0.11095602
+v 0.02558147 0.15394160 0.04647052
+v 0.02414283 0.15672546 0.08428268
+v 0.02283869 0.15781231 0.11577246
+v 0.04191805 0.15027157 0.04647050
+v 0.03958117 0.15450078 0.05709374
+v 0.03886545 0.15333882 0.04647051
+v 0.04015518 0.15478885 0.06311085
+v 0.04064273 0.15497523 0.06912796
+v 0.04094055 0.15513740 0.07514508
+v 0.03803205 0.15816104 0.08115541
+v 0.03813532 0.15825544 0.08717253
+v 0.03816174 0.15832078 0.09318963
+v 0.03801043 0.15833770 0.09920675
+v 0.03776065 0.15817063 0.10522386
+v 0.03738839 0.15783411 0.11124097
+v 0.03765257 0.15627022 0.11577245
+v 0.02627317 0.15465334 0.04647052
+v 0.02655657 0.15836438 0.08664340
+v 0.02739958 0.15852901 0.08115541
+v 0.02929695 0.15713231 0.04647053
+v 0.02379699 0.15831100 0.11577246
+v 0.02715460 0.15936657 0.09920676
+v 0.02715460 0.15910271 0.09318963
+v 0.03623796 0.15674736 0.05398683
+v 0.03655979 0.15696038 0.05709375
+v 0.03713380 0.15734528 0.06311086
+v 0.03455434 0.15628500 0.04647052
+v 0.03761895 0.15770597 0.06912797
+v 0.03791677 0.15799402 0.07514509
+v 0.03319496 0.16018970 0.08717254
+v 0.03319496 0.16039788 0.09318964
+v 0.03319496 0.16049469 0.09920676
+v 0.03319496 0.16030100 0.10522387
+v 0.03319496 0.15985070 0.11124098
+v 0.03319496 0.15933019 0.11577247
+v 0.03423491 0.15882907 0.11577246
+v 0.03688162 0.15737413 0.11577246
+v 0.02786792 0.15834262 0.07514509
+v 0.03319496 0.15995490 0.08115542
+v 0.03319496 0.15960148 0.07514510
+v 0.03108864 0.15713231 0.04647053
+v 0.02715460 0.15976595 0.11577247
+v 0.03177794 0.15712988 0.04647053
+v 0.02865329 0.15983615 0.11577247
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 3
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 10 15
+f 3 15 16
+f 3 16 11
+f 4 14 17
+f 4 17 18
+f 4 18 5
+f 5 18 17
+f 5 17 14
+f 5 14 12
+f 5 12 11
+f 5 11 25
+f 5 25 33
+f 5 33 43
+f 5 43 57
+f 5 57 73
+f 5 73 89
+f 5 89 92
+f 5 92 113
+f 5 113 115
+f 5 115 99
+f 5 99 78
+f 5 78 76
+f 5 76 59
+f 5 59 45
+f 5 45 35
+f 5 35 28
+f 5 28 19
+f 5 19 7
+f 5 7 6
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 32
+f 10 32 42
+f 10 42 56
+f 10 56 71
+f 10 71 70
+f 10 70 88
+f 10 88 109
+f 10 109 108
+f 10 108 107
+f 10 107 116
+f 10 116 114
+f 10 114 93
+f 10 93 75
+f 10 75 58
+f 10 58 44
+f 10 44 34
+f 10 34 27
+f 10 27 26
+f 10 26 15
+f 11 16 26
+f 11 26 27
+f 11 27 25
+f 12 14 13
+f 15 26 16
+f 19 28 20
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 23 32 24
+f 25 27 34
+f 25 34 33
+f 28 35 29
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 41 42
+f 31 42 32
+f 31 40 41
+f 33 34 43
+f 34 44 43
+f 35 45 46
+f 35 46 36
+f 36 47 48
+f 36 48 37
+f 36 46 47
+f 37 48 49
+f 37 49 50
+f 37 50 38
+f 38 50 51
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 40 55 56
+f 40 56 41
+f 41 56 42
+f 43 44 57
+f 44 58 57
+f 45 59 60
+f 45 60 61
+f 45 61 62
+f 45 62 46
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 48
+f 48 66 49
+f 49 67 50
+f 49 66 67
+f 50 67 51
+f 51 68 52
+f 51 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 53
+f 53 72 55
+f 53 55 54
+f 55 72 71
+f 55 71 56
+f 57 58 74
+f 57 74 73
+f 58 75 74
+f 59 76 60
+f 60 77 61
+f 60 76 78
+f 60 78 77
+f 61 77 79
+f 61 79 80
+f 61 80 81
+f 61 81 62
+f 62 81 64
+f 62 64 63
+f 64 82 83
+f 64 83 84
+f 64 84 65
+f 64 81 82
+f 65 84 85
+f 65 85 66
+f 66 85 86
+f 66 86 67
+f 67 86 68
+f 68 86 87
+f 68 87 69
+f 69 87 88
+f 69 88 70
+f 73 74 89
+f 74 75 90
+f 74 90 91
+f 74 91 92
+f 74 92 89
+f 75 93 94
+f 75 94 95
+f 75 95 90
+f 77 96 97
+f 77 97 98
+f 77 98 79
+f 77 78 96
+f 78 99 96
+f 79 98 100
+f 79 100 80
+f 80 100 101
+f 80 101 81
+f 81 101 82
+f 82 101 102
+f 82 102 103
+f 82 103 83
+f 83 103 104
+f 83 104 84
+f 84 104 85
+f 85 104 105
+f 85 105 86
+f 86 106 87
+f 86 105 106
+f 87 106 107
+f 87 107 108
+f 87 108 109
+f 87 109 88
+f 90 95 91
+f 91 110 92
+f 91 95 110
+f 92 110 111
+f 92 111 112
+f 92 112 113
+f 93 114 94
+f 94 103 102
+f 94 102 111
+f 94 111 95
+f 94 114 103
+f 95 111 110
+f 96 99 115
+f 96 115 112
+f 96 112 97
+f 97 112 98
+f 98 112 100
+f 100 112 101
+f 101 112 111
+f 101 111 102
+f 103 114 104
+f 104 114 116
+f 104 116 105
+f 105 116 106
+f 106 116 107
+f 112 115 113
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_13.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.00909366 0.15165074 0.12581559
+v 0.00909366 0.14759987 0.12584620
+v 0.00909366 0.15171249 0.12582580
+v 0.02005536 0.15356983 0.11577244
+v 0.01953248 0.14774171 0.11577242
+v 0.00909366 0.14752210 0.12587685
+v 0.00909366 0.15469745 0.12743612
+v 0.02066278 0.15462201 0.11577245
+v 0.02248190 0.14168942 0.11577240
+v 0.00909366 0.14219946 0.12809312
+v 0.02283884 0.15781284 0.11577246
+v 0.00909366 0.15809184 0.13042183
+v 0.02479886 0.13912075 0.11577239
+v 0.00909366 0.13809598 0.13152140
+v 0.00909366 0.14212627 0.12814079
+v 0.02379693 0.15831148 0.11577246
+v 0.00909366 0.15813759 0.13046949
+v 0.02487713 0.13906585 0.11577239
+v 0.00909366 0.13697288 0.13531736
+v 0.02739760 0.13794964 0.11577239
+v 0.02715025 0.15976622 0.11577247
+v 0.00909366 0.16009324 0.13524254
+v 0.01506764 0.13692713 0.13531736
+v 0.00909366 0.13734112 0.14133642
+v 0.03345613 0.13779867 0.11577239
+v 0.02865001 0.15983712 0.11577247
+v 0.00909366 0.16011611 0.13531745
+v 0.02111051 0.13735715 0.13531736
+v 0.01483908 0.13775512 0.14161220
+v 0.01267241 0.13852823 0.14448216
+v 0.00909366 0.13735942 0.14139431
+v 0.03607679 0.13835907 0.11577239
+v 0.03355319 0.13792676 0.11742015
+v 0.02715025 0.16004525 0.12328610
+v 0.03319312 0.15932934 0.11577247
+v 0.01506764 0.16029223 0.13531745
+v 0.00909366 0.15987592 0.14126502
+v 0.02516205 0.13821032 0.13531737
+v 0.02437930 0.13851453 0.13854819
+v 0.02111051 0.13808451 0.13959335
+v 0.03171841 0.13816691 0.12328602
+v 0.00909366 0.13846190 0.14457748
+v 0.01670204 0.13900628 0.14380126
+v 0.01483908 0.14127302 0.14609928
+v 0.00909366 0.14164814 0.14711040
+v 0.03669360 0.13879137 0.11577239
+v 0.03580439 0.13880966 0.11953091
+v 0.02111051 0.15983705 0.13531745
+v 0.02715025 0.15952372 0.12930178
+v 0.03319312 0.15915779 0.11726702
+v 0.03423575 0.15883070 0.11577246
+v 0.00909366 0.15986448 0.14133311
+v 0.03062882 0.13845281 0.12698326
+v 0.03286437 0.14062577 0.12911446
+v 0.03622082 0.14466061 0.13232146
+v 0.03287376 0.14332710 0.13472160
+v 0.03064760 0.14407046 0.13883759
+v 0.02643638 0.14217425 0.14069982
+v 0.02447010 0.14430146 0.14457750
+v 0.02111051 0.14014767 0.14259949
+v 0.03473985 0.13946840 0.12328602
+v 0.02111051 0.14316466 0.14538435
+v 0.01456042 0.14813959 0.14925182
+v 0.00909366 0.14679464 0.14988846
+v 0.03850333 0.14128685 0.11577240
+v 0.03814953 0.14115418 0.11742016
+v 0.03774876 0.14248311 0.12328603
+v 0.03680006 0.14385549 0.12930172
+v 0.02705632 0.15793400 0.13505529
+v 0.01506764 0.15917828 0.14133310
+v 0.02065025 0.15778759 0.14117650
+v 0.02498045 0.15722949 0.13906573
+v 0.03149611 0.15768928 0.12930177
+v 0.03344987 0.15812618 0.12277542
+v 0.03688147 0.15737596 0.11577246
+v 0.00909366 0.15790651 0.14569081
+v 0.03622082 0.14511807 0.13232146
+v 0.03445492 0.14735281 0.13472161
+v 0.03101393 0.14768674 0.13928358
+v 0.03932053 0.14768680 0.12328605
+v 0.03715386 0.14735282 0.12987368
+v 0.02785160 0.14768673 0.14228972
+v 0.02483330 0.14768672 0.14480901
+v 0.02111051 0.14768671 0.14671550
+v 0.01220589 0.15045208 0.15040935
+v 0.00909366 0.14685868 0.14990548
+v 0.04107703 0.14758389 0.11577242
+v 0.04080776 0.14768682 0.11726698
+v 0.03050358 0.15702136 0.13287645
+v 0.00909366 0.15788592 0.14573506
+v 0.01506764 0.15733469 0.14506439
+v 0.01833017 0.15685435 0.14448563
+v 0.02900695 0.15564667 0.13688688
+v 0.02235979 0.15536529 0.14307618
+v 0.02686846 0.15349426 0.14108456
+v 0.03563532 0.15605843 0.12444360
+v 0.03625526 0.15677896 0.12043316
+v 0.03671239 0.15722271 0.11726702
+v 0.03765170 0.15626889 0.11577245
+v 0.03618951 0.14913921 0.13226021
+v 0.03081981 0.15162553 0.13908955
+v 0.03700044 0.15203500 0.12824637
+v 0.02472997 0.15134416 0.14473073
+v 0.01220589 0.15081119 0.15040935
+v 0.00909366 0.14981620 0.15055233
+v 0.03945516 0.15359500 0.11577244
+v 0.03907631 0.15371851 0.11726700
+v 0.03484317 0.15391517 0.12987371
+v 0.03195324 0.15366812 0.13505527
+v 0.00909366 0.15418729 0.14870714
+v 0.00909366 0.15413697 0.14874459
+v 0.01456042 0.15318088 0.14815901
+v 0.02065025 0.15350111 0.14548992
+v 0.03749827 0.15391520 0.12277541
+v 0.00909366 0.15112456 0.15055234
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 14
+f 1 14 19
+f 1 19 24
+f 1 24 31
+f 1 31 42
+f 1 42 45
+f 1 45 64
+f 1 64 86
+f 1 86 105
+f 1 105 115
+f 1 115 111
+f 1 111 110
+f 1 110 90
+f 1 90 76
+f 1 76 52
+f 1 52 37
+f 1 37 27
+f 1 27 22
+f 1 22 17
+f 1 17 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 11
+f 4 11 16
+f 4 16 21
+f 4 21 26
+f 4 26 35
+f 4 35 51
+f 4 51 75
+f 4 75 99
+f 4 99 106
+f 4 106 87
+f 4 87 65
+f 4 65 46
+f 4 46 32
+f 4 32 25
+f 4 25 20
+f 4 20 18
+f 4 18 13
+f 4 13 9
+f 4 9 5
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 7 12 11
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 12 17
+f 11 17 16
+f 13 18 14
+f 14 18 20
+f 14 20 19
+f 16 17 21
+f 17 22 21
+f 19 23 24
+f 19 20 25
+f 19 25 23
+f 21 22 27
+f 21 27 26
+f 23 28 29
+f 23 29 24
+f 23 25 28
+f 24 29 30
+f 24 30 31
+f 25 32 33
+f 25 33 28
+f 26 34 35
+f 26 27 36
+f 26 36 34
+f 27 37 36
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 28 33 41
+f 28 41 38
+f 29 40 30
+f 30 42 31
+f 30 40 43
+f 30 43 44
+f 30 44 45
+f 30 45 42
+f 32 46 47
+f 32 47 41
+f 32 41 33
+f 34 36 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 36 37 48
+f 37 52 48
+f 38 41 53
+f 38 53 39
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 58
+f 39 58 59
+f 39 59 60
+f 39 60 43
+f 39 43 40
+f 39 53 47
+f 39 47 61
+f 39 61 54
+f 41 47 53
+f 43 60 62
+f 43 62 44
+f 44 62 63
+f 44 63 64
+f 44 64 45
+f 46 65 66
+f 46 66 47
+f 47 67 68
+f 47 68 61
+f 47 66 67
+f 48 69 49
+f 48 52 70
+f 48 70 71
+f 48 71 72
+f 48 72 69
+f 49 69 73
+f 49 73 74
+f 49 74 50
+f 50 74 51
+f 51 74 75
+f 52 76 70
+f 54 61 55
+f 55 77 78
+f 55 78 79
+f 55 79 57
+f 55 57 56
+f 55 61 68
+f 55 68 80
+f 55 80 81
+f 55 81 77
+f 57 79 82
+f 57 82 59
+f 57 59 58
+f 59 82 83
+f 59 83 84
+f 59 84 63
+f 59 63 62
+f 59 62 60
+f 63 85 64
+f 63 84 85
+f 64 85 86
+f 65 87 67
+f 65 67 66
+f 67 87 88
+f 67 88 68
+f 68 88 80
+f 69 72 89
+f 69 89 73
+f 70 76 90
+f 70 90 91
+f 70 91 92
+f 70 92 71
+f 71 92 72
+f 72 93 89
+f 72 92 94
+f 72 94 95
+f 72 95 93
+f 73 89 96
+f 73 96 97
+f 73 97 74
+f 74 97 98
+f 74 98 75
+f 75 98 99
+f 77 81 100
+f 77 100 78
+f 78 100 79
+f 79 100 101
+f 79 101 82
+f 80 88 102
+f 80 102 100
+f 80 100 81
+f 82 101 103
+f 82 103 83
+f 83 103 84
+f 84 103 104
+f 84 104 85
+f 85 104 115
+f 85 115 105
+f 85 105 86
+f 87 106 88
+f 88 106 107
+f 88 107 102
+f 89 108 96
+f 89 93 109
+f 89 109 108
+f 90 110 91
+f 91 110 111
+f 91 111 104
+f 91 104 112
+f 91 112 92
+f 92 103 94
+f 92 112 113
+f 92 113 103
+f 93 95 101
+f 93 101 109
+f 94 103 95
+f 95 103 101
+f 96 102 114
+f 96 114 97
+f 96 108 102
+f 97 114 107
+f 97 107 98
+f 98 107 99
+f 99 107 106
+f 100 102 101
+f 101 102 109
+f 102 107 114
+f 102 108 109
+f 103 113 104
+f 104 113 112
+f 104 111 115
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_14.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.10701930 -0.08042848 -0.12465022
+v 0.10603623 -0.08297942 -0.12465022
+v 0.10698149 -0.08042848 -0.12472640
+v 0.07195650 -0.08042848 -0.12465022
+v 0.10419613 -0.08714854 -0.12465024
+v 0.10341472 -0.08579322 -0.12742499
+v 0.10480109 -0.08042847 -0.12864803
+v 0.04527500 -0.09632215 -0.12465027
+v -0.01514595 -0.08042848 -0.12497232
+v -0.01514595 -0.09366412 -0.12488965
+v 0.10302401 -0.08898482 -0.12465025
+v 0.10407008 -0.08116648 -0.12944237
+v 0.10438518 -0.08042846 -0.12939014
+v 0.10201573 -0.08981630 -0.12545329
+v 0.09678530 -0.08479228 -0.13859141
+v 0.04053610 -0.10031992 -0.12465029
+v -0.02171234 -0.10031992 -0.12487445
+v -0.02171234 -0.08042848 -0.12500714
+v 0.10228040 -0.09014150 -0.12465025
+v 0.10367938 -0.08042846 -0.13049568
+v 0.10115870 -0.09113656 -0.12465025
+v 0.09798263 -0.09176162 -0.12771010
+v 0.09636938 -0.08042843 -0.13938792
+v 0.09717601 -0.08042843 -0.13884821
+v 0.09776837 -0.08042843 -0.13827367
+v 0.10091923 -0.08042845 -0.13429327
+v 0.08910980 -0.09009666 -0.13786021
+v 0.06652441 -0.09676022 -0.14457186
+v 0.07324205 -0.09121243 -0.14495051
+v 0.07955638 -0.08559649 -0.14514634
+v 0.08355167 -0.08042841 -0.14525079
+v 0.07916567 -0.10031992 -0.12465029
+v -0.02171234 -0.10031986 -0.14173837
+v -0.02171234 -0.08042842 -0.14146191
+v 0.09902871 -0.09300205 -0.12465026
+v 0.09405035 -0.09610016 -0.12465027
+v 0.09362184 -0.09598722 -0.12519652
+v 0.06342397 -0.10031986 -0.14224543
+v 0.06341136 -0.09786044 -0.14522474
+v 0.07534683 -0.08761776 -0.14561426
+v 0.06890646 -0.09340117 -0.14537488
+v 0.08156033 -0.08152668 -0.14556853
+v 0.08156033 -0.08042840 -0.14572958
+v 0.07517038 -0.10031991 -0.12917476
+v 0.09178173 -0.09696281 -0.12465028
+v -0.00787375 -0.10031985 -0.14542062
+v -0.02171234 -0.08159874 -0.14152067
+v -0.00740743 -0.08042841 -0.14530085
+v 0.06404153 -0.10031986 -0.14167961
+v 0.05792886 -0.10031984 -0.14566001
+v 0.05743732 -0.10031984 -0.14591246
+v 0.05760117 -0.09999074 -0.14597557
+v 0.06341136 -0.09366404 -0.14638032
+v 0.06944841 -0.08763333 -0.14626713
+v 0.00299042 -0.08042840 -0.14644557
+v 0.06949883 -0.10031988 -0.13557517
+v -0.00390367 -0.08042840 -0.14618224
+v -0.00305923 -0.10031984 -0.14661539
+v 0.00299042 -0.10031984 -0.14688307
+v 0.00181830 -0.08042840 -0.14643904
+v -0.00305923 -0.08042840 -0.14638681
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 31
+f 1 31 43
+f 1 43 55
+f 1 55 60
+f 1 60 61
+f 1 61 57
+f 1 57 48
+f 1 48 34
+f 1 34 18
+f 1 18 9
+f 1 9 4
+f 1 4 8
+f 1 8 16
+f 1 16 32
+f 1 32 45
+f 1 45 36
+f 1 36 35
+f 1 35 21
+f 1 21 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 10
+f 4 10 8
+f 5 11 6
+f 6 12 13
+f 6 13 7
+f 6 11 14
+f 6 14 15
+f 6 15 12
+f 8 10 17
+f 8 17 16
+f 9 18 17
+f 9 17 10
+f 11 19 14
+f 12 15 20
+f 12 20 13
+f 14 19 21
+f 14 21 22
+f 14 22 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 20
+f 15 22 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 23
+f 16 17 33
+f 16 33 46
+f 16 46 58
+f 16 58 59
+f 16 59 51
+f 16 51 50
+f 16 50 38
+f 16 38 49
+f 16 49 56
+f 16 56 44
+f 16 44 32
+f 17 18 34
+f 17 34 47
+f 17 47 33
+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 22 37 27
+f 27 37 38
+f 27 38 28
+f 28 38 39
+f 28 39 29
+f 29 40 30
+f 29 39 41
+f 29 41 40
+f 30 40 42
+f 30 42 31
+f 31 42 43
+f 32 44 45
+f 33 47 46
+f 34 48 47
+f 36 45 38
+f 36 38 37
+f 38 45 49
+f 38 50 39
+f 39 50 51
+f 39 51 41
+f 40 43 42
+f 40 41 52
+f 40 52 53
+f 40 53 43
+f 41 51 52
+f 43 53 54
+f 43 54 55
+f 44 56 45
+f 45 56 49
+f 46 48 57
+f 46 57 58
+f 46 47 48
+f 51 59 52
+f 52 59 53
+f 53 59 54
+f 54 59 55
+f 55 59 60
+f 57 61 58
+f 58 61 59
+f 59 61 60
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_15.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01609215 0.14768366 0.04503770
+v -0.01209138 0.14458796 0.03616734
+v -0.01209138 0.14517171 0.03616734
+v -0.01351835 0.14738520 0.03851738
+v -0.01725212 0.15163257 0.04503772
+v -0.01701575 0.14357626 0.04503769
+v -0.01209138 0.14458796 0.03584133
+v -0.01751913 0.13800290 0.03679558
+v -0.01209138 0.14517171 0.03584133
+v -0.01294931 0.14738522 0.03350829
+v -0.01578137 0.15305897 0.03301588
+v -0.01624973 0.15223219 0.03903359
+v -0.01981717 0.15607546 0.03301589
+v -0.02119599 0.15401775 0.04503773
+v -0.02119599 0.14079220 0.04503768
+v -0.01565443 0.14265982 0.01035096
+v -0.01356212 0.14768379 0.01035098
+v -0.01760667 0.13808746 0.03301583
+v -0.02464524 0.13886926 0.04503767
+v -0.02119599 0.13669277 0.03794681
+v -0.02855847 0.13235822 0.03641181
+v -0.02119599 0.13553057 0.03301582
+v -0.01565443 0.15246473 0.01035100
+v -0.02264485 0.15747014 0.02859432
+v -0.02283745 0.15734863 0.03301590
+v -0.02723655 0.15556298 0.04503773
+v -0.02682071 0.13310311 0.03296148
+v -0.04408883 0.13143646 0.01035092
+v -0.02766551 0.13741649 0.04503766
+v -0.03328148 0.13722366 0.04503766
+v -0.03081273 0.13235822 0.03641181
+v -0.05070281 0.13095044 0.01035092
+v -0.04506495 0.13129910 0.01035092
+v -0.02855847 0.13235822 0.03492776
+v -0.01660867 0.15296924 0.01035100
+v -0.02119599 0.15436655 0.01035101
+v -0.02723655 0.15783731 0.02800002
+v -0.02723655 0.15793237 0.03301590
+v -0.03138615 0.15731693 0.03301590
+v -0.03328148 0.15454340 0.04503773
+v -0.03653375 0.13844399 0.04503767
+v -0.04999370 0.13165833 0.01380465
+v -0.05134626 0.13099271 0.01035092
+v -0.02260107 0.15444844 0.01035101
+v -0.02723655 0.15417901 0.01035101
+v -0.03165754 0.15747014 0.02874374
+v -0.03440643 0.15567133 0.03301589
+v -0.03767183 0.15206576 0.04503772
+v -0.03889745 0.14165331 0.04503768
+v -0.05460290 0.13263038 0.01035093
+v -0.03335590 0.15254926 0.01035100
+v -0.03733041 0.15128931 0.01035100
+v -0.05634066 0.14043046 0.01035096
+v -0.04003553 0.14768366 0.04503770
+v -0.05546521 0.13988104 0.01372657
+v -0.05546521 0.13703095 0.01372656
+v -0.05680464 0.13568913 0.01035094
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 26
+f 1 26 40
+f 1 40 48
+f 1 48 54
+f 1 54 49
+f 1 49 41
+f 1 41 30
+f 1 30 29
+f 1 29 19
+f 1 19 15
+f 1 15 6
+f 1 6 2
+f 2 7 9
+f 2 9 3
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 13 14
+f 5 12 13
+f 6 15 8
+f 7 16 17
+f 7 17 9
+f 7 8 18
+f 7 18 16
+f 8 15 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 18
+f 9 17 10
+f 10 17 23
+f 10 23 11
+f 11 23 13
+f 11 13 12
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 16 18 22
+f 16 22 27
+f 16 27 28
+f 16 28 33
+f 16 33 32
+f 16 32 43
+f 16 43 50
+f 16 50 57
+f 16 57 53
+f 16 53 52
+f 16 52 51
+f 16 51 45
+f 16 45 44
+f 16 44 36
+f 16 36 35
+f 16 35 23
+f 16 23 17
+f 19 29 20
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 27
+f 21 27 22
+f 23 35 24
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 24 35 36
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 27 34 28
+f 28 34 33
+f 30 41 31
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 38 46 39
+f 39 46 47
+f 39 47 40
+f 40 47 48
+f 41 49 50
+f 41 50 42
+f 42 50 43
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 46 53 47
+f 47 53 48
+f 48 53 55
+f 48 55 54
+f 49 54 56
+f 49 56 57
+f 49 57 50
+f 53 57 55
+f 54 55 56
+f 55 57 56
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_16.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.00903010 0.16893665 -0.00833735
+v 0.00903010 0.16893664 -0.00580679
+v 0.01267711 0.16890999 -0.00769585
+v 0.00903010 0.16875769 -0.01134637
+v 0.00660178 0.16882622 -0.00897531
+v 0.00660178 0.16889476 -0.00781281
+v 0.00903010 0.16709355 -0.00279778
+v 0.01267711 0.16890998 -0.00585287
+v 0.00660178 0.16889475 -0.00589894
+v 0.02715605 0.16766097 -0.00910290
+v 0.00903010 0.16608448 -0.01512096
+v 0.00660178 0.16601213 -0.01512096
+v 0.00660178 0.16871960 -0.01053475
+v 0.03924305 0.16450796 -0.01468149
+v 0.02715605 0.16540285 -0.01512096
+v 0.00660178 0.16719257 -0.00312384
+v 0.00660178 0.16586356 -0.00124542
+v 0.03324047 0.15780958 0.01034408
+v 0.03924305 0.16635482 -0.00910291
+v 0.03320410 0.16702884 -0.00910291
+v 0.03780607 0.15756586 0.01034408
+v 0.03851546 0.15752779 0.01034408
+v 0.04529109 0.16308372 0.00030693
+v 0.04868346 0.16292378 0.00012618
+v 0.04529109 0.16447745 -0.00308841
+v 0.00903010 0.16311424 -0.01834264
+v 0.02715605 0.16298858 -0.01827885
+v 0.00660178 0.16422999 -0.01705256
+v 0.03924305 0.16213558 -0.01769051
+v 0.03074850 0.16282864 -0.01817607
+v 0.03294035 0.16448512 -0.01562424
+v 0.04529109 0.16390629 -0.01391240
+v 0.00660178 0.16405475 0.00114336
+v 0.03244013 0.15774485 0.01034408
+v 0.04529109 0.16530001 -0.00910291
+v 0.04128028 0.15594365 0.01034407
+v 0.06075227 0.15102753 0.00613354
+v 0.06087050 0.15705183 0.00034590
+v 0.05301259 0.16208221 -0.00308841
+v 0.04999311 0.16343786 -0.00308841
+v 0.00660178 0.15449674 -0.02585638
+v 0.00660178 0.16306474 -0.01831429
+v 0.03477750 0.16247831 -0.01796696
+v 0.04529109 0.16145776 -0.01692143
+v 0.05735991 0.14876569 -0.02585640
+v 0.04550937 0.15055545 -0.02585640
+v 0.04978393 0.16324750 -0.01292711
+v 0.00660178 0.15894820 0.00535031
+v 0.02894773 0.15702513 0.01034408
+v 0.00660178 0.15740215 0.00653761
+v 0.05081164 0.16367779 -0.00910292
+v 0.05664141 0.14693772 0.01034404
+v 0.08639962 0.13382675 0.00699118
+v 0.07916016 0.14531554 0.00051597
+v 0.06190731 0.15763446 -0.00308843
+v 0.05735991 0.15996496 -0.00308842
+v 0.07213896 0.15052871 -0.00033107
+v 0.07375784 0.15150358 -0.00434310
+v 0.05383112 0.16255823 -0.00910292
+v 0.00660178 0.13357174 -0.02585646
+v 0.06348071 0.14713586 -0.02585641
+v 0.07346680 0.15138556 -0.01302284
+v 0.06740966 0.14530421 -0.02585642
+v 0.06627282 0.14586780 -0.02585641
+v 0.02211752 0.15267258 0.01034406
+v 0.00660178 0.15392923 0.00804743
+v 0.05832395 0.14172836 0.01034402
+v 0.08153390 0.13003397 0.00934097
+v 0.08748190 0.13003397 0.00804025
+v 0.08808216 0.13008347 0.00789140
+v 0.08820039 0.13003397 0.00786304
+v 0.09042862 0.13242161 0.00568691
+v 0.07565866 0.14946628 -0.00263835
+v 0.09914145 0.13003401 -0.00308853
+v 0.08012421 0.14627137 -0.00308847
+v 0.07418530 0.15181584 -0.00910296
+v 0.07720478 0.14966812 -0.00910297
+v 0.03156703 0.13003403 -0.00910304
+v 0.01783387 0.13255493 -0.00599122
+v 0.00660178 0.13436755 -0.00910303
+v 0.04757389 0.13003409 -0.02585647
+v 0.07971494 0.14582967 -0.01352968
+v 0.07425806 0.14022813 -0.02585643
+v 0.06980160 0.14357157 -0.02585642
+v 0.00660178 0.15130170 0.00838412
+v 0.00660178 0.14768791 0.00855068
+v 0.02102615 0.14768790 0.01034404
+v 0.05834214 0.14165220 0.01034402
+v 0.07553133 0.13003397 0.00911060
+v 0.05697792 0.13594400 0.01034400
+v 0.05133004 0.13396383 0.01034399
+v 0.04501825 0.13324793 0.01034399
+v 0.08808216 0.13003397 0.00789494
+v 0.09400288 0.13003399 0.00398215
+v 0.09419387 0.13003399 0.00384038
+v 0.09439396 0.13003399 0.00366317
+v 0.09951433 0.13003403 -0.00910304
+v 0.03667831 0.13003401 -0.00294676
+v 0.00660178 0.13590215 -0.00308851
+v 0.00660178 0.13520910 -0.00550211
+v 0.03924305 0.13003401 -0.00146883
+v 0.04492730 0.13003399 0.00160753
+v 0.08380760 0.13003409 -0.02585647
+v 0.07664089 0.13803091 -0.02585644
+v 0.09800459 0.13003404 -0.01147411
+v 0.09421206 0.13003406 -0.01571297
+v 0.00660178 0.14607711 0.00791981
+v 0.02317252 0.14254327 0.01034402
+v 0.02229942 0.14341912 0.01034403
+v 0.02103524 0.14754319 0.01034404
+v 0.06944691 0.13003397 0.00844075
+v 0.04823781 0.13003399 0.00296850
+v 0.06193459 0.13003397 0.00707623
+v 0.02727428 0.14065831 0.01034402
+v 0.00660178 0.14369711 0.00683173
+v 0.00660178 0.14067737 0.00363840
+v 0.00660178 0.13806128 0.00062936
+v 0.08250705 0.13168677 -0.02585647
+v 0.08014240 0.13437903 -0.02585646
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 9 7
+f 3 8 10
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 10 14
+f 4 14 15
+f 4 15 11
+f 5 13 12
+f 5 12 28
+f 5 28 42
+f 5 42 41
+f 5 41 60
+f 5 60 80
+f 5 80 100
+f 5 100 99
+f 5 99 117
+f 5 117 116
+f 5 116 115
+f 5 115 107
+f 5 107 86
+f 5 86 85
+f 5 85 66
+f 5 66 50
+f 5 50 48
+f 5 48 33
+f 5 33 17
+f 5 17 16
+f 5 16 9
+f 5 9 6
+f 7 9 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 19 20
+f 8 20 10
+f 8 18 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 19
+f 10 20 14
+f 11 26 12
+f 11 15 27
+f 11 27 26
+f 12 26 28
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 14 20 19
+f 14 19 32
+f 14 32 29
+f 15 31 30
+f 15 30 27
+f 17 33 18
+f 18 34 49
+f 18 49 65
+f 18 65 87
+f 18 87 110
+f 18 110 109
+f 18 109 108
+f 18 108 114
+f 18 114 92
+f 18 92 91
+f 18 91 90
+f 18 90 88
+f 18 88 67
+f 18 67 52
+f 18 52 36
+f 18 36 22
+f 18 22 21
+f 18 33 34
+f 19 25 35
+f 19 35 32
+f 22 36 37
+f 22 37 38
+f 22 38 24
+f 22 24 23
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 35
+f 26 41 42
+f 26 42 28
+f 26 27 41
+f 27 30 41
+f 29 43 30
+f 29 32 44
+f 29 44 45
+f 29 45 43
+f 30 43 45
+f 30 45 46
+f 30 46 41
+f 32 35 47
+f 32 47 44
+f 33 48 34
+f 34 48 50
+f 34 50 49
+f 35 40 51
+f 35 51 47
+f 36 52 37
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 38 55 56
+f 38 56 39
+f 38 54 57
+f 38 57 58
+f 38 58 55
+f 39 56 59
+f 39 59 40
+f 40 59 51
+f 41 46 45
+f 41 45 61
+f 41 61 64
+f 41 64 63
+f 41 63 84
+f 41 84 83
+f 41 83 104
+f 41 104 119
+f 41 119 118
+f 41 118 103
+f 41 103 81
+f 41 81 60
+f 44 47 61
+f 44 61 45
+f 47 51 59
+f 47 59 62
+f 47 62 63
+f 47 63 64
+f 47 64 61
+f 49 50 66
+f 49 66 65
+f 52 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 53
+f 53 70 71
+f 53 71 72
+f 53 72 54
+f 54 73 57
+f 54 72 74
+f 54 74 75
+f 54 75 73
+f 55 59 56
+f 55 58 76
+f 55 76 59
+f 57 73 58
+f 58 73 75
+f 58 75 77
+f 58 77 76
+f 59 76 62
+f 60 78 79
+f 60 79 80
+f 60 81 78
+f 62 76 77
+f 62 77 82
+f 62 82 83
+f 62 83 84
+f 62 84 63
+f 65 66 85
+f 65 85 86
+f 65 86 87
+f 67 88 68
+f 68 89 111
+f 68 111 113
+f 68 113 112
+f 68 112 102
+f 68 102 101
+f 68 101 98
+f 68 98 78
+f 68 78 81
+f 68 81 103
+f 68 103 106
+f 68 106 105
+f 68 105 97
+f 68 97 74
+f 68 74 96
+f 68 96 95
+f 68 95 94
+f 68 94 71
+f 68 71 93
+f 68 93 69
+f 68 88 90
+f 68 90 91
+f 68 91 92
+f 68 92 89
+f 69 93 70
+f 70 93 71
+f 71 94 72
+f 72 94 95
+f 72 95 96
+f 72 96 74
+f 74 97 77
+f 74 77 75
+f 77 97 82
+f 78 98 79
+f 79 99 100
+f 79 100 80
+f 79 98 101
+f 79 101 102
+f 79 102 92
+f 79 92 99
+f 82 104 83
+f 82 97 105
+f 82 105 106
+f 82 106 104
+f 86 107 108
+f 86 108 109
+f 86 109 110
+f 86 110 87
+f 89 92 111
+f 92 102 112
+f 92 112 113
+f 92 113 111
+f 92 114 115
+f 92 115 116
+f 92 116 117
+f 92 117 99
+f 103 118 106
+f 104 106 119
+f 106 118 119
+f 107 115 108
+f 108 115 114
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_17.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.08153925 0.12958439 0.00948927
+v 0.08153925 0.13003397 0.00934047
+v 0.07554184 0.13003397 0.00911207
+v 0.07550599 0.12958439 0.00920551
+v 0.08758147 0.12354998 0.00857912
+v 0.10568125 0.11173551 0.00676577
+v 0.10595915 0.11173551 0.00672770
+v 0.10963470 0.11173551 0.00615325
+v 0.10891752 0.11469271 0.00602522
+v 0.08747389 0.13003397 0.00803931
+v 0.06946376 0.13003397 0.00844073
+v 0.06946376 0.12958439 0.00840959
+v 0.09894875 0.11173551 0.00666195
+v 0.09970178 0.11173551 0.00674500
+v 0.11241376 0.11173551 0.00493169
+v 0.11746986 0.11173552 0.00171686
+v 0.11557831 0.11528381 0.00066141
+v 0.11122145 0.11699973 0.00266852
+v 0.10675702 0.11871565 0.00467910
+v 0.10273185 0.12056592 0.00595603
+v 0.09252999 0.12839685 0.00684542
+v 0.08820004 0.13003397 0.00786282
+v 0.08807453 0.13003397 0.00789743
+v 0.06194236 0.13003397 0.00707382
+v 0.06946376 0.12545757 0.00667930
+v 0.08758147 0.11173552 0.00326371
+v 0.06588684 0.12624389 0.00620867
+v 0.12158467 0.11173554 -0.00308981
+v 0.10949126 0.12120180 0.00066490
+v 0.09655516 0.12645704 0.00586262
+v 0.09419744 0.13003399 0.00383823
+v 0.09400022 0.13003399 0.00398357
+v 0.04823529 0.13003399 0.00296964
+v 0.08198748 0.11173552 0.00156113
+v 0.12278594 0.11173556 -0.00757812
+v 0.11978276 0.11347654 -0.00308980
+v 0.11676164 0.11637105 -0.00308979
+v 0.11357917 0.11938736 -0.00308978
+v 0.11055806 0.12202932 -0.00308977
+v 0.10300079 0.12678305 0.00021159
+v 0.09438569 0.13003399 0.00366174
+v 0.04492731 0.13003399 0.00160965
+v 0.08159304 0.11173552 0.00140195
+v 0.12313556 0.11173556 -0.00910421
+v 0.12041926 0.11416078 -0.00910420
+v 0.11739814 0.11679916 -0.00910419
+v 0.11391983 0.11981726 -0.00910418
+v 0.11089872 0.12227652 -0.00910417
+v 0.10671219 0.12504564 -0.00308976
+v 0.10369108 0.12724338 -0.00308975
+v 0.09913700 0.13003401 -0.00308974
+v 0.03924368 0.13003401 -0.00147022
+v 0.03667977 0.13003401 -0.00294440
+v 0.07624109 0.11173554 -0.00293755
+v 0.12147710 0.11173558 -0.01242285
+v 0.11642099 0.11585524 -0.01375514
+v 0.10993949 0.12153322 -0.01333639
+v 0.10677494 0.12529462 -0.00910416
+v 0.09951352 0.13003403 -0.00910414
+v 0.03156987 0.13003403 -0.00910414
+v 0.07534462 0.11173555 -0.00531147
+v 0.11974690 0.11173559 -0.01536084
+v 0.11817808 0.11293029 -0.01550618
+v 0.10892648 0.11173562 -0.02585662
+v 0.08380732 0.13003409 -0.02585655
+v 0.10308148 0.12679564 -0.01246432
+v 0.09799849 0.13003404 -0.01147460
+v 0.04758087 0.13003409 -0.02585655
+v 0.05115780 0.12787038 -0.02585656
+v 0.08744700 0.11173562 -0.02585662
+v 0.07619627 0.11173558 -0.01258550
+v 0.07435850 0.11173557 -0.01020120
+v 0.07404474 0.11173556 -0.00910421
+v 0.11889525 0.11173559 -0.01621559
+v 0.09421537 0.13003406 -0.01571375
+v 0.09421537 0.13003227 -0.01571720
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 23
+f 2 23 22
+f 2 22 32
+f 2 32 31
+f 2 31 41
+f 2 41 51
+f 2 51 59
+f 2 59 67
+f 2 67 75
+f 2 75 65
+f 2 65 68
+f 2 68 60
+f 2 60 53
+f 2 53 52
+f 2 52 42
+f 2 42 33
+f 2 33 24
+f 2 24 11
+f 2 11 3
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 14 13
+f 6 13 26
+f 6 26 34
+f 6 34 43
+f 6 43 54
+f 6 54 61
+f 6 61 73
+f 6 73 72
+f 6 72 71
+f 6 71 70
+f 6 70 64
+f 6 64 74
+f 6 74 62
+f 6 62 55
+f 6 55 44
+f 6 44 35
+f 6 35 28
+f 6 28 16
+f 6 16 15
+f 6 15 8
+f 6 8 7
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 11 24 12
+f 12 24 25
+f 12 25 13
+f 13 25 27
+f 13 27 26
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 24 33 27
+f 24 27 25
+f 26 27 34
+f 27 33 34
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 31
+f 31 40 41
+f 33 42 43
+f 33 43 34
+f 35 44 38
+f 35 38 37
+f 35 37 36
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 42 52 43
+f 43 52 53
+f 43 53 54
+f 44 55 56
+f 44 56 45
+f 45 56 46
+f 46 56 47
+f 47 56 57
+f 47 57 48
+f 48 57 58
+f 48 58 49
+f 49 58 50
+f 50 58 59
+f 50 59 51
+f 53 60 54
+f 54 60 61
+f 55 62 56
+f 56 62 63
+f 56 63 57
+f 57 63 64
+f 57 64 65
+f 57 65 66
+f 57 66 58
+f 58 66 59
+f 59 66 67
+f 60 68 69
+f 60 69 70
+f 60 70 71
+f 60 71 72
+f 60 72 73
+f 60 73 61
+f 62 74 63
+f 63 74 64
+f 64 70 69
+f 64 69 68
+f 64 68 65
+f 65 75 76
+f 65 76 66
+f 66 76 75
+f 66 75 67
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_18.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.11276804 -0.12134749 -0.01512189
+v -0.11188887 -0.12134752 -0.00910865
+v -0.11038172 -0.12134748 -0.01921669
+v -0.11013053 -0.12184726 -0.01905548
+v -0.10350089 -0.12738434 -0.01872018
+v -0.09677258 -0.13292141 -0.01817207
+v -0.11114427 -0.12261010 -0.01512189
+v -0.09725701 -0.13328971 -0.01118189
+v -0.10280115 -0.12687584 -0.00607465
+v -0.10957432 -0.12134753 -0.00552006
+v -0.09292397 -0.12134745 -0.02834778
+v -0.08146788 -0.13595078 -0.02834783
+v -0.07610316 -0.14127743 -0.02834785
+v -0.07547518 -0.14182543 -0.02834785
+v -0.07944939 -0.14553000 -0.01891691
+v -0.08718247 -0.14076014 -0.01512196
+v -0.09019676 -0.13851989 -0.01512195
+v -0.10720595 -0.12562633 -0.01512190
+v -0.09385697 -0.13481537 -0.00914739
+v -0.08285840 -0.14377638 -0.01512197
+v -0.07939556 -0.14542043 -0.01120450
+v -0.08637507 -0.14010694 -0.00910871
+v -0.08939833 -0.13801136 -0.00910871
+v -0.10954741 -0.12134753 -0.00548459
+v -0.09596517 -0.13233838 -0.00717092
+v -0.08507426 -0.13921699 -0.00578128
+v -0.09193715 -0.13378512 -0.00522347
+v -0.06616319 -0.12134745 -0.02834778
+v -0.06989516 -0.14575795 -0.02834787
+v -0.07983514 -0.14573606 -0.01512198
+v -0.06802918 -0.15168961 -0.01932642
+v -0.07557387 -0.14823060 -0.01512198
+v -0.07143819 -0.15046209 -0.01512199
+v -0.06752679 -0.15141345 -0.01140443
+v -0.07532268 -0.14633233 -0.00916033
+v -0.07716175 -0.14429374 -0.00719030
+v -0.09975098 -0.12796747 -0.00510093
+v -0.10520540 -0.12355710 -0.00473979
+v -0.10561807 -0.12134754 -0.00333079
+v -0.06131880 -0.14033058 0.00459113
+v -0.08731703 -0.13584126 -0.00430456
+v -0.07313373 -0.14521002 -0.00585869
+v -0.04317027 -0.15156695 0.00459109
+v -0.09343533 -0.12967288 -0.00300195
+v -0.06383070 -0.12189984 -0.02834778
+v -0.05112763 -0.12134749 -0.01518637
+v -0.06918645 -0.14613059 -0.02834787
+v -0.06441382 -0.14835770 -0.02834787
+v -0.05545170 -0.15742837 -0.01895243
+v -0.06841493 -0.15183431 -0.01512200
+v -0.06349877 -0.15397811 -0.01512201
+v -0.05460841 -0.15709082 -0.01198482
+v -0.10089030 -0.12134755 -0.00095774
+v -0.08766691 -0.13111964 -0.00108674
+v -0.09493350 -0.12541158 -0.00078042
+v -0.06210825 -0.13976066 0.00459114
+v -0.09090547 -0.12701176 -0.00000983
+v -0.05141470 -0.15764321 -0.01108525
+v -0.04536818 -0.15862086 -0.00968593
+v -0.03184874 -0.16338635 -0.01151410
+v -0.02723760 -0.16385982 -0.01077897
+v -0.02120005 -0.16443414 -0.01008898
+v -0.02111931 -0.16443852 -0.01008253
+v -0.02126284 -0.15275503 0.00459109
+v -0.05750608 -0.12394282 -0.02834779
+v -0.04847219 -0.12134751 -0.00971481
+v -0.02111931 -0.13224629 -0.01476081
+v -0.02111931 -0.13232520 -0.01497684
+v -0.06333729 -0.14873472 -0.02834788
+v -0.04829276 -0.15698116 -0.02411124
+v -0.05532610 -0.15737577 -0.01512202
+v -0.05834936 -0.15614823 -0.01512201
+v -0.05141470 -0.15809475 -0.02022279
+v -0.03680079 -0.16318902 -0.01843012
+v -0.04536818 -0.16058929 -0.01512203
+v -0.05141470 -0.15871729 -0.01512202
+v -0.03587676 -0.16295670 -0.01290375
+v -0.09341739 -0.12134756 0.00176675
+v -0.06268240 -0.13682771 0.00459115
+v -0.07557387 -0.12383771 0.00445578
+v -0.08162039 -0.12134757 0.00414948
+v -0.08162039 -0.12383770 0.00386574
+v -0.08766691 -0.12134756 0.00326281
+v -0.02120005 -0.16611759 -0.01512205
+v -0.02111931 -0.16613075 -0.01512205
+v -0.02111931 -0.15274626 0.00459109
+v -0.02111931 -0.13257509 -0.01550239
+v -0.02389138 -0.13278989 -0.01823011
+v -0.02111931 -0.14067681 -0.02834785
+v -0.04831967 -0.12134752 -0.00910865
+v -0.02111931 -0.13167638 -0.00917317
+v -0.05745225 -0.14976937 -0.02834788
+v -0.02372990 -0.16292596 -0.02402098
+v -0.04426474 -0.15748096 -0.02454006
+v -0.02723760 -0.16245687 -0.02345351
+v -0.03328412 -0.16356168 -0.01925875
+v -0.03680079 -0.16318903 -0.01691472
+v -0.03902562 -0.16236922 -0.01499629
+v -0.03363399 -0.16365813 -0.01499629
+v -0.02723760 -0.16496898 -0.01512205
+v -0.06268240 -0.13646822 0.00459115
+v -0.07557387 -0.12134757 0.00414303
+v -0.05745225 -0.13259270 0.00459116
+v -0.05164795 -0.13119418 0.00459117
+v -0.04532333 -0.13188686 0.00459117
+v -0.02111931 -0.16462699 -0.02163503
+v -0.02723760 -0.16416228 -0.02044528
+v -0.02111931 -0.13880931 0.00459114
+v -0.02111931 -0.15590706 -0.02834790
+v -0.02111931 -0.13245238 -0.00541692
+v -0.02111931 -0.13168077 -0.00910868
+v -0.05252712 -0.12134753 -0.00439157
+v -0.02111931 -0.16114165 -0.02533324
+v -0.02111931 -0.16428503 -0.02224119
+v -0.02150507 -0.16454808 -0.02166727
+v -0.06954529 -0.12134756 0.00308225
+v -0.04204888 -0.13268476 0.00459116
+v -0.02111931 -0.13724419 0.00232772
+v -0.05930030 -0.12134755 -0.00035158
+v -0.06006284 -0.12134755 0.00003533
+v -0.06098686 -0.12134755 0.00040934
+v -0.06349877 -0.12134756 0.00137984
+v -0.02111931 -0.13422355 -0.00240869
+f 1 2 10
+f 1 10 24
+f 1 24 39
+f 1 39 53
+f 1 53 78
+f 1 78 83
+f 1 83 81
+f 1 81 102
+f 1 102 116
+f 1 116 122
+f 1 122 121
+f 1 121 120
+f 1 120 119
+f 1 119 112
+f 1 112 90
+f 1 90 66
+f 1 66 46
+f 1 46 28
+f 1 28 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 9 10
+f 2 8 9
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 6 14 15
+f 7 18 8
+f 8 19 9
+f 8 18 17
+f 8 17 16
+f 8 16 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 19
+f 9 24 10
+f 9 19 25
+f 9 25 26
+f 9 26 27
+f 9 27 24
+f 11 28 45
+f 11 45 65
+f 11 65 89
+f 11 89 109
+f 11 109 92
+f 11 92 69
+f 11 69 48
+f 11 48 47
+f 11 47 29
+f 11 29 14
+f 11 14 13
+f 11 13 12
+f 14 29 15
+f 15 30 20
+f 15 20 16
+f 15 29 31
+f 15 31 32
+f 15 32 30
+f 19 23 25
+f 20 30 21
+f 21 30 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 26
+f 21 26 22
+f 22 26 23
+f 23 26 25
+f 24 27 37
+f 24 37 38
+f 24 38 39
+f 26 40 41
+f 26 41 27
+f 26 36 42
+f 26 42 43
+f 26 43 40
+f 27 41 44
+f 27 44 39
+f 27 39 38
+f 27 38 37
+f 28 46 45
+f 29 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 33
+f 31 33 32
+f 33 49 50
+f 33 50 34
+f 34 42 36
+f 34 36 35
+f 34 50 51
+f 34 51 52
+f 34 52 43
+f 34 43 42
+f 39 44 54
+f 39 54 55
+f 39 55 53
+f 40 56 57
+f 40 57 54
+f 40 54 41
+f 40 43 64
+f 40 64 86
+f 40 86 108
+f 40 108 117
+f 40 117 105
+f 40 105 104
+f 40 104 103
+f 40 103 101
+f 40 101 79
+f 40 79 56
+f 41 54 44
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 52 58
+f 45 46 65
+f 46 66 67
+f 46 67 68
+f 46 68 65
+f 48 69 70
+f 48 70 49
+f 49 71 72
+f 49 72 51
+f 49 51 50
+f 49 70 73
+f 49 73 74
+f 49 74 75
+f 49 75 76
+f 49 76 71
+f 51 72 52
+f 52 72 71
+f 52 71 76
+f 52 76 75
+f 52 75 77
+f 52 77 58
+f 53 55 57
+f 53 57 56
+f 53 56 78
+f 54 57 55
+f 56 79 80
+f 56 80 81
+f 56 81 82
+f 56 82 83
+f 56 83 78
+f 58 77 60
+f 58 60 59
+f 60 84 85
+f 60 85 61
+f 60 77 84
+f 61 85 62
+f 62 85 63
+f 63 85 106
+f 63 106 114
+f 63 114 113
+f 63 113 109
+f 63 109 89
+f 63 89 87
+f 63 87 68
+f 63 68 67
+f 63 67 91
+f 63 91 111
+f 63 111 110
+f 63 110 123
+f 63 123 118
+f 63 118 108
+f 63 108 86
+f 63 86 64
+f 65 68 87
+f 65 87 88
+f 65 88 89
+f 66 90 91
+f 66 91 67
+f 69 92 93
+f 69 93 94
+f 69 94 70
+f 70 94 93
+f 70 93 95
+f 70 95 96
+f 70 96 74
+f 70 74 73
+f 74 96 85
+f 74 85 84
+f 74 84 97
+f 74 97 75
+f 75 97 98
+f 75 98 77
+f 77 98 97
+f 77 97 99
+f 77 99 100
+f 77 100 84
+f 79 101 80
+f 80 102 81
+f 80 101 103
+f 80 103 104
+f 80 104 105
+f 80 105 102
+f 81 83 82
+f 84 100 97
+f 85 96 107
+f 85 107 106
+f 87 89 88
+f 90 110 111
+f 90 111 91
+f 90 112 110
+f 92 109 113
+f 92 113 93
+f 93 113 114
+f 93 114 106
+f 93 106 115
+f 93 115 107
+f 93 107 96
+f 93 96 95
+f 97 100 99
+f 102 105 117
+f 102 117 108
+f 102 108 116
+f 106 107 115
+f 108 118 119
+f 108 119 120
+f 108 120 121
+f 108 121 122
+f 108 122 116
+f 110 112 123
+f 112 119 123
+f 118 123 119
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_19.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.09938015 0.06363064 -0.13001878
+v -0.09938015 0.06363062 -0.12476606
+v -0.09413294 0.06363068 -0.14182301
+v -0.09938015 0.06361780 -0.14297252
+v -0.09938015 -0.00223569 -0.12520562
+v -0.02594791 -0.00223569 -0.12500729
+v -0.02594791 0.06363062 -0.12460610
+v -0.08481015 0.06363069 -0.14456134
+v -0.09938015 0.03907672 -0.14634219
+v -0.08249562 0.06363069 -0.14505398
+v -0.08207153 0.06363069 -0.14513289
+v -0.09938015 -0.00223561 -0.14598406
+v -0.02594791 -0.00223561 -0.14595420
+v -0.02594791 0.06363068 -0.14040906
+v -0.09938015 0.03870274 -0.14635285
+v -0.07599770 0.06363070 -0.14567245
+v -0.09938015 0.03304139 -0.14639340
+v -0.09370885 -0.00223561 -0.14598619
+v -0.02815461 -0.00223561 -0.14596274
+v -0.04536979 0.03907672 -0.14601376
+v -0.02594791 0.00287766 -0.14594139
+v -0.02594791 0.03278991 -0.14500931
+v -0.03322932 0.03910251 -0.14511165
+v -0.03520601 0.04297130 -0.14480880
+v -0.03966255 0.04503466 -0.14504551
+v -0.05732337 0.05738903 -0.14517769
+v -0.06375660 0.06321802 -0.14498361
+v -0.06428132 0.06363069 -0.14497295
+v -0.05745275 0.05114093 -0.14588149
+v -0.05141486 0.04510560 -0.14596682
+v -0.06990231 0.06363069 -0.14549118
+v -0.06953572 0.06321157 -0.14551037
+v -0.06349064 0.05717626 -0.14573645
+v -0.03327963 -0.00223561 -0.14597766
+v -0.03419969 -0.00223561 -0.14597979
+v -0.03932471 -0.00223561 -0.14598832
+v -0.04024477 -0.00223561 -0.14598832
+v -0.03932471 0.03907672 -0.14580263
+v -0.03327963 0.03304138 -0.14564910
+v -0.02703329 0.03326706 -0.14508182
+v -0.04536979 0.04510560 -0.14566825
+f 1 2 7
+f 1 7 14
+f 1 14 28
+f 1 28 31
+f 1 31 16
+f 1 16 11
+f 1 11 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 5 12 18
+f 5 18 37
+f 5 37 36
+f 5 36 35
+f 5 35 34
+f 5 34 19
+f 5 19 13
+f 5 13 6
+f 6 13 21
+f 6 21 22
+f 6 22 14
+f 6 14 7
+f 9 11 16
+f 9 16 15
+f 12 17 18
+f 13 19 17
+f 13 17 20
+f 13 20 21
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 15 16 29
+f 15 29 30
+f 15 30 20
+f 15 20 17
+f 16 31 32
+f 16 32 33
+f 16 33 29
+f 17 19 34
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 18
+f 20 30 38
+f 20 38 21
+f 21 39 22
+f 21 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 38
+f 23 38 25
+f 23 25 24
+f 25 38 41
+f 25 41 26
+f 26 41 31
+f 26 31 27
+f 27 31 28
+f 29 41 38
+f 29 38 30
+f 29 33 41
+f 31 41 33
+f 31 33 32
+f 38 40 39
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_2.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v -0.04364981 -0.14193778 0.05709750
+v -0.04359150 -0.14254649 0.06913104
+v -0.04258864 -0.13868987 0.06153092
+v -0.04257697 -0.13869490 0.05709751
+v -0.04331746 -0.14164479 0.05147783
+v -0.04332912 -0.14298082 0.04511422
+v -0.04350987 -0.14679198 0.05107568
+v -0.04362357 -0.14726183 0.07514276
+v -0.04362357 -0.14307437 0.07514277
+v -0.03983075 -0.13742958 0.06337064
+v -0.03932058 -0.13683605 0.05709752
+v -0.04332038 -0.14368053 0.08116457
+v -0.03643151 -0.13880116 0.10869998
+v -0.03661226 -0.13862942 0.10522162
+v -0.03972289 -0.13720982 0.05147785
+v -0.03867046 -0.13679307 0.04511425
+v -0.04241080 -0.13885147 0.05374983
+v -0.04168489 -0.13997029 0.04511424
+v -0.04332912 -0.14646363 0.04511421
+v -0.04330580 -0.14649646 0.04511421
+v -0.04266443 -0.15138871 0.08717628
+v -0.04262362 -0.15136095 0.09207213
+v -0.03327714 -0.13493176 0.06310927
+v -0.03327714 -0.13464635 0.05709753
+v -0.03327714 -0.13438871 0.05107573
+v -0.03327714 -0.13433818 0.04511426
+v -0.03334128 -0.13436596 0.04511426
+v -0.04262362 -0.14946170 0.09207214
+v -0.04279562 -0.14438520 0.08582920
+v -0.03894159 -0.14796916 0.11725512
+v -0.03748976 -0.14320585 0.11725513
+v -0.03768509 -0.14166017 0.11092171
+v -0.03499718 -0.14019028 0.11725515
+v -0.03064462 -0.13862191 0.12710718
+v -0.03126558 -0.13824811 0.12327695
+v -0.03197692 -0.13791976 0.11725515
+v -0.03347539 -0.13793489 0.11092172
+v -0.03327714 -0.13743480 0.10522163
+v -0.03870253 -0.13682338 0.04511425
+v -0.04092400 -0.14947920 0.04511420
+v -0.04118929 -0.14980503 0.05107567
+v -0.03790374 -0.15239628 0.04511419
+v -0.03816903 -0.15257814 0.05107566
+v -0.03646358 -0.15715477 0.11290210
+v -0.03646358 -0.15715478 0.11488256
+v -0.03755682 -0.15430590 0.11703393
+v -0.03716325 -0.15247991 0.12327690
+v -0.02723663 -0.13700550 0.12327696
+v -0.01514977 -0.13626555 0.13531050
+v -0.01386703 -0.13627818 0.13531050
+v -0.02723663 -0.13496706 0.04511425
+v -0.02723663 -0.13486607 0.05709752
+v -0.03657144 -0.15146968 0.12677537
+v -0.03657144 -0.14987603 0.12677538
+v -0.03730901 -0.14790855 0.12351819
+v -0.03683382 -0.14409236 0.12167849
+v -0.03205272 -0.14177892 0.12917810
+v -0.02943185 -0.13965995 0.13111836
+v -0.02423678 -0.13890482 0.13834652
+v -0.02512303 -0.13845778 0.13531049
+v -0.02734741 -0.13785413 0.12917811
+v -0.03784835 -0.15242911 0.04511419
+v -0.03395350 -0.15567203 0.05709745
+v -0.03236174 -0.15873575 0.09920980
+v -0.03197983 -0.15825582 0.08116452
+v -0.03278737 -0.15854888 0.10522155
+v -0.02723663 -0.15999100 0.10522154
+v -0.02723663 -0.15889999 0.11725508
+v -0.02723663 -0.15828880 0.12327688
+v -0.03036475 -0.15706894 0.12642350
+v -0.03527996 -0.15651835 0.11889375
+v -0.02119320 -0.13712931 0.13531050
+v -0.01386703 -0.13757888 0.14144287
+v -0.01386703 -0.13761167 0.12920827
+v -0.02057807 -0.14193774 0.04511423
+v -0.02283160 -0.13741690 0.04511425
+v -0.02287533 -0.13739164 0.04511425
+v -0.03283402 -0.15379829 0.12860503
+v -0.03127433 -0.15210616 0.13355116
+v -0.03163874 -0.14796922 0.13412419
+v -0.03410509 -0.15549801 0.12327689
+v -0.03606418 -0.14585778 0.12568966
+v -0.03484850 -0.14790857 0.12898707
+v -0.03108192 -0.14368325 0.13348081
+v -0.02523964 -0.14193808 0.13932167
+v -0.01922828 -0.14384998 0.14496143
+v -0.01662491 -0.13982922 0.14356407
+v -0.02119320 -0.13833656 0.13926135
+v -0.03327423 -0.15497745 0.04511418
+v -0.03288358 -0.15578819 0.05107565
+v -0.03093324 -0.15735914 0.05709744
+v -0.02723663 -0.16013746 0.09920979
+v -0.01386703 -0.15741248 0.14006553
+v -0.01514977 -0.15737460 0.13966340
+v -0.02101536 -0.15738721 0.13533052
+v -0.02483442 -0.15729628 0.13334002
+v -0.02700341 -0.15754882 0.12877592
+v -0.02886046 -0.15612692 0.13043469
+v -0.01482617 -0.13775315 0.14147303
+v -0.01386703 -0.13817999 0.14278999
+v -0.01386703 -0.13830369 0.12792147
+v -0.01794263 -0.14426642 0.06424523
+v -0.01767734 -0.14360977 0.06913103
+v -0.01794263 -0.14544336 0.06424523
+v -0.02094831 -0.14796890 0.04511421
+v -0.02720747 -0.15434638 0.13545118
+v -0.02555158 -0.15256584 0.13960311
+v -0.02924527 -0.14796923 0.13713007
+v -0.02622502 -0.14796925 0.14026663
+v -0.02275872 -0.14796926 0.14327251
+v -0.01973846 -0.14796926 0.14529316
+v -0.01514977 -0.14796927 0.14741437
+v -0.01386703 -0.14669131 0.14744454
+v -0.01386703 -0.14189012 0.14598686
+v -0.01482617 -0.14188002 0.14567521
+v -0.01386703 -0.14053639 0.14518261
+v -0.02724246 -0.15445212 0.04511418
+v -0.02999451 -0.15716212 0.05308626
+v -0.03060964 -0.15716212 0.05308626
+v -0.02723663 -0.15910948 0.08116452
+v -0.01386703 -0.15745288 0.13542101
+v -0.01386703 -0.15744783 0.13650673
+v -0.02237973 -0.15818260 0.08717626
+v -0.02198325 -0.15836952 0.09319806
+v -0.01386703 -0.15719782 0.14095020
+v -0.01888136 -0.15716244 0.13872847
+v -0.02290740 -0.15658660 0.13735120
+v -0.01386703 -0.14149856 0.12217110
+v -0.01386703 -0.14436511 0.12034143
+v -0.01386703 -0.14796916 0.11823027
+v -0.01945859 -0.14796894 0.05709748
+v -0.02014077 -0.14796892 0.05107568
+v -0.01386703 -0.15326790 0.12378960
+v -0.01386703 -0.15378313 0.12450337
+v -0.01386703 -0.15618247 0.13000240
+v -0.02317269 -0.15182802 0.04511419
+v -0.01386703 -0.15688966 0.13265641
+v -0.02105618 -0.15429589 0.14117138
+v -0.01920496 -0.15200265 0.14499156
+v -0.01386703 -0.15201528 0.14662016
+v -0.01386703 -0.14796927 0.14780644
+v -0.02718999 -0.15441929 0.04511418
+v -0.02430383 -0.15699549 0.06622564
+v -0.02381989 -0.15732636 0.07023681
+v -0.02340008 -0.15759914 0.07514272
+v -0.02319893 -0.15187096 0.04511419
+v -0.01386703 -0.15634164 0.14300104
+v -0.01514977 -0.15612190 0.14267934
+v -0.01514977 -0.15310382 0.14589633
+v -0.01386703 -0.15339679 0.14601698
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 3
+f 3 10 11
+f 3 11 4
+f 3 9 12
+f 3 12 13
+f 3 13 14
+f 3 14 10
+f 4 11 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 6
+f 6 18 39
+f 6 39 16
+f 6 16 27
+f 6 27 26
+f 6 26 51
+f 6 51 77
+f 6 77 76
+f 6 76 75
+f 6 75 105
+f 6 105 136
+f 6 136 146
+f 6 146 142
+f 6 142 117
+f 6 117 89
+f 6 89 62
+f 6 62 42
+f 6 42 40
+f 6 40 20
+f 6 20 19
+f 6 19 7
+f 6 17 18
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 12
+f 8 12 9
+f 10 14 11
+f 11 14 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 16
+f 11 16 15
+f 12 22 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 13
+f 13 32 31
+f 13 31 33
+f 13 33 34
+f 13 34 35
+f 13 35 36
+f 13 36 37
+f 13 37 38
+f 13 38 14
+f 14 38 23
+f 16 39 17
+f 17 39 18
+f 20 40 41
+f 20 41 21
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 22
+f 22 45 46
+f 22 46 47
+f 22 47 30
+f 22 30 28
+f 23 38 48
+f 23 48 24
+f 24 48 49
+f 24 49 25
+f 25 49 50
+f 25 50 26
+f 26 50 52
+f 26 52 51
+f 28 30 29
+f 30 47 53
+f 30 53 54
+f 30 54 55
+f 30 55 56
+f 30 56 31
+f 31 56 34
+f 31 34 33
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 61
+f 34 61 35
+f 34 56 57
+f 35 48 36
+f 35 61 48
+f 36 48 38
+f 36 38 37
+f 40 42 41
+f 42 62 63
+f 42 63 43
+f 43 63 44
+f 44 64 45
+f 44 63 65
+f 44 65 64
+f 45 64 66
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 71
+f 45 71 53
+f 45 53 47
+f 45 47 46
+f 48 61 72
+f 48 72 49
+f 49 72 73
+f 49 73 50
+f 50 73 100
+f 50 100 116
+f 50 116 114
+f 50 114 113
+f 50 113 141
+f 50 141 140
+f 50 140 150
+f 50 150 147
+f 50 147 125
+f 50 125 93
+f 50 93 122
+f 50 122 121
+f 50 121 137
+f 50 137 135
+f 50 135 134
+f 50 134 133
+f 50 133 130
+f 50 130 129
+f 50 129 128
+f 50 128 101
+f 50 101 74
+f 50 74 75
+f 50 75 76
+f 50 76 77
+f 50 77 51
+f 50 51 52
+f 53 78 79
+f 53 79 80
+f 53 80 54
+f 53 71 81
+f 53 81 78
+f 54 82 55
+f 54 80 83
+f 54 83 82
+f 55 82 56
+f 56 82 57
+f 57 82 84
+f 57 84 58
+f 58 84 59
+f 59 85 86
+f 59 86 87
+f 59 87 88
+f 59 88 72
+f 59 72 60
+f 59 84 85
+f 60 72 61
+f 62 89 90
+f 62 90 63
+f 63 90 91
+f 63 91 65
+f 64 92 66
+f 64 65 92
+f 65 91 92
+f 66 92 67
+f 67 92 93
+f 67 93 68
+f 68 93 94
+f 68 94 69
+f 69 94 95
+f 69 95 96
+f 69 96 97
+f 69 97 70
+f 70 97 96
+f 70 96 98
+f 70 98 78
+f 70 78 81
+f 70 81 71
+f 72 88 99
+f 72 99 73
+f 73 99 100
+f 74 101 102
+f 74 102 103
+f 74 103 75
+f 75 103 102
+f 75 102 104
+f 75 104 105
+f 78 98 79
+f 79 98 106
+f 79 106 107
+f 79 107 108
+f 79 108 80
+f 80 84 83
+f 80 108 84
+f 82 83 84
+f 84 108 85
+f 85 108 109
+f 85 109 110
+f 85 110 86
+f 86 110 111
+f 86 111 112
+f 86 112 113
+f 86 113 114
+f 86 114 115
+f 86 115 87
+f 87 115 116
+f 87 116 100
+f 87 100 88
+f 88 100 99
+f 89 117 118
+f 89 118 119
+f 89 119 90
+f 90 119 91
+f 91 119 120
+f 91 120 92
+f 92 121 122
+f 92 122 93
+f 92 120 123
+f 92 123 124
+f 92 124 121
+f 93 125 94
+f 94 125 126
+f 94 126 96
+f 94 96 95
+f 96 126 127
+f 96 127 98
+f 98 127 106
+f 101 128 102
+f 102 128 129
+f 102 129 130
+f 102 130 104
+f 104 131 132
+f 104 132 105
+f 104 130 133
+f 104 133 134
+f 104 134 135
+f 104 135 131
+f 105 132 137
+f 105 137 136
+f 106 127 107
+f 107 138 139
+f 107 139 110
+f 107 110 109
+f 107 109 108
+f 107 127 138
+f 110 139 111
+f 111 139 112
+f 112 140 141
+f 112 141 113
+f 112 139 140
+f 114 116 115
+f 117 142 143
+f 117 143 118
+f 118 143 144
+f 118 144 120
+f 118 120 119
+f 120 144 145
+f 120 145 123
+f 121 124 123
+f 121 123 145
+f 121 145 144
+f 121 144 146
+f 121 146 137
+f 125 147 126
+f 126 147 148
+f 126 148 127
+f 127 148 138
+f 131 135 132
+f 132 135 137
+f 136 137 146
+f 138 148 139
+f 139 148 149
+f 139 149 140
+f 140 149 150
+f 142 146 143
+f 143 146 144
+f 147 150 149
+f 147 149 148
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_20.obj

@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v 0.01737129 -0.14919061 0.11713718
+v 0.01737129 -0.15382795 0.11786952
+v 0.01737129 -0.14662894 0.11908348
+v 0.02338329 -0.14252291 0.04511423
+v 0.02338329 -0.14603889 0.04511421
+v 0.01737129 -0.15751607 0.12301616
+v 0.01737129 -0.14207262 0.12315667
+v 0.02439309 -0.13953598 0.04511424
+v 0.01737129 -0.13779474 0.12747064
+v 0.01737129 -0.13621017 0.13301860
+v 0.02340530 -0.14606926 0.04511421
+v 0.01737129 -0.15757682 0.12327700
+v 0.02440409 -0.13950560 0.04511424
+v 0.01737129 -0.13610386 0.13531602
+v 0.03319509 -0.13459235 0.04511426
+v 0.03313456 -0.13461766 0.04511426
+v 0.02742523 -0.13703506 0.04511425
+v 0.02726014 -0.14902329 0.04511420
+v 0.02856159 -0.15233931 0.05107346
+v 0.02772239 -0.15335944 0.05709294
+v 0.01737129 -0.15894122 0.12940683
+v 0.01737129 -0.13668607 0.13903806
+v 0.02111056 -0.13623043 0.13531602
+v 0.03319509 -0.13438231 0.06311248
+v 0.03319509 -0.13439748 0.05709301
+v 0.03917407 -0.13527327 0.04511425
+v 0.03303826 -0.15264558 0.04511419
+v 0.02948334 -0.15141030 0.04731129
+v 0.03319509 -0.15453901 0.05107345
+v 0.03011068 -0.15706276 0.06575092
+v 0.01737129 -0.15951078 0.13531593
+v 0.01737129 -0.13740497 0.14125524
+v 0.02055201 -0.13801248 0.14114487
+v 0.02498741 -0.13844279 0.13900796
+v 0.02706203 -0.13789097 0.13494481
+v 0.02715283 -0.13662275 0.12929656
+v 0.02715283 -0.13617976 0.12327708
+v 0.03319509 -0.13461268 0.06913195
+v 0.03923736 -0.13528340 0.04511425
+v 0.03923736 -0.15367075 0.04511419
+v 0.03319509 -0.15563508 0.05709293
+v 0.03033355 -0.15706276 0.06575092
+v 0.03319509 -0.15935368 0.09319971
+v 0.02715283 -0.16023973 0.11725752
+v 0.02715283 -0.15981951 0.11123805
+v 0.02111056 -0.16006258 0.12929647
+v 0.02111056 -0.15966266 0.13531593
+v 0.01737129 -0.15815149 0.14119496
+v 0.01737129 -0.13879214 0.14449571
+v 0.01816647 -0.13888073 0.14438536
+v 0.02219465 -0.14062733 0.14302093
+v 0.02435181 -0.14464956 0.14450573
+v 0.02668507 -0.14260426 0.14077366
+v 0.02901558 -0.14055642 0.13671052
+v 0.03038307 -0.13874906 0.13269754
+v 0.03118926 -0.13817444 0.12929655
+v 0.03252648 -0.13754919 0.12327707
+v 0.03319509 -0.13667838 0.11123814
+v 0.03319509 -0.13632145 0.10522870
+v 0.03923736 -0.13552895 0.05107352
+v 0.04329029 -0.13770079 0.04511424
+v 0.04315547 -0.15191656 0.04511419
+v 0.03923736 -0.15427829 0.05107345
+v 0.03319509 -0.15826265 0.08116077
+v 0.03665921 -0.15724759 0.07691704
+v 0.03702241 -0.15745263 0.08116077
+v 0.03764700 -0.15805513 0.09319972
+v 0.03319509 -0.15973340 0.09920914
+v 0.03319509 -0.15991062 0.10522861
+v 0.02715283 -0.16018912 0.12327699
+v 0.02475353 -0.15742501 0.13886743
+v 0.02111056 -0.15800467 0.14008136
+v 0.02715283 -0.15953354 0.12929647
+v 0.02692445 -0.15807048 0.13492468
+v 0.01737129 -0.15692636 0.14399402
+v 0.01737129 -0.13966797 0.14502743
+v 0.01737129 -0.14211575 0.14615105
+v 0.02055201 -0.14235873 0.14510768
+v 0.02430504 -0.14797063 0.14446558
+v 0.02732617 -0.14797062 0.14154614
+v 0.03036381 -0.14797061 0.13854643
+v 0.03035005 -0.14457866 0.13852638
+v 0.01737129 -0.14561652 0.14709409
+v 0.01737129 -0.14797064 0.14760574
+v 0.02111056 -0.14797064 0.14610087
+v 0.03129382 -0.14231567 0.13494480
+v 0.03429293 -0.14205998 0.12923634
+v 0.03554761 -0.13984507 0.12327707
+v 0.03619146 -0.13894645 0.12018708
+v 0.03657392 -0.13859460 0.11617409
+v 0.03701691 -0.13822753 0.11123813
+v 0.03378391 -0.13750360 0.11780939
+v 0.03750667 -0.13789845 0.10522869
+v 0.03783685 -0.13766301 0.09920922
+v 0.03853297 -0.13723265 0.08718032
+v 0.03967209 -0.13733388 0.08093010
+v 0.04234379 -0.13882227 0.07877312
+v 0.04332882 -0.13772610 0.04511424
+v 0.04530163 -0.14797027 0.04511421
+v 0.04324627 -0.15208111 0.05107346
+v 0.03776256 -0.15820955 0.09920915
+v 0.03758371 -0.15816149 0.10522862
+v 0.03319509 -0.15977901 0.11123805
+v 0.02646220 -0.15308131 0.14065323
+v 0.02413995 -0.15099806 0.14434518
+v 0.02111056 -0.15538733 0.14309110
+v 0.01750061 -0.15684283 0.14413446
+v 0.03040508 -0.15721741 0.13265734
+v 0.02878446 -0.15516201 0.13667034
+v 0.03237240 -0.15844505 0.12327700
+v 0.03112322 -0.15775909 0.12929648
+v 0.01737129 -0.15670108 0.14425486
+v 0.03025375 -0.15113979 0.13841599
+v 0.03252373 -0.14797060 0.13531598
+v 0.03535776 -0.14797058 0.13049038
+v 0.03661244 -0.14415084 0.12719974
+v 0.01737129 -0.15374452 0.14585004
+v 0.02111056 -0.15237002 0.14516783
+v 0.03794416 -0.14135118 0.11780938
+v 0.04255565 -0.14436844 0.10408498
+v 0.04086073 -0.14218899 0.10574034
+v 0.03726179 -0.14286238 0.12327706
+v 0.04085798 -0.14082967 0.09920921
+v 0.04317748 -0.14338119 0.09319977
+v 0.04547773 -0.14193818 0.04511423
+v 0.04286382 -0.14384444 0.09920920
+v 0.04522734 -0.14797029 0.05107348
+v 0.04321876 -0.15237233 0.08116079
+v 0.04078369 -0.15514415 0.09920916
+v 0.03708294 -0.15784763 0.11123806
+v 0.03372888 -0.15870829 0.11764879
+v 0.03119751 -0.15349135 0.13492470
+v 0.03610066 -0.15688577 0.11991613
+v 0.03539353 -0.15585554 0.12327701
+v 0.03418838 -0.15375458 0.12910588
+v 0.03658767 -0.15739202 0.11590315
+v 0.03651339 -0.15157766 0.12696896
+v 0.03673625 -0.14797057 0.12748064
+v 0.03817253 -0.14797055 0.12327704
+v 0.03990046 -0.14797053 0.11725757
+v 0.04352417 -0.14797046 0.09920919
+v 0.04142204 -0.14797051 0.11123810
+v 0.04219521 -0.14797050 0.10793742
+v 0.04277577 -0.14797049 0.10492769
+v 0.04379382 -0.14797044 0.09319976
+v 0.04429734 -0.14797040 0.08116081
+v 0.04291884 -0.15212938 0.09920917
+v 0.04265195 -0.15173705 0.10395452
+v 0.04089650 -0.15385069 0.10567005
+v 0.03787262 -0.15452659 0.11764880
+v 0.03712697 -0.15283823 0.12327702
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 31
+f 1 31 48
+f 1 48 75
+f 1 75 112
+f 1 112 117
+f 1 117 84
+f 1 84 83
+f 1 83 77
+f 1 77 76
+f 1 76 49
+f 1 49 32
+f 1 32 22
+f 1 22 14
+f 1 14 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 13
+f 4 13 17
+f 4 17 16
+f 4 16 15
+f 4 15 26
+f 4 26 39
+f 4 39 61
+f 4 61 98
+f 4 98 125
+f 4 125 99
+f 4 99 62
+f 4 62 40
+f 4 40 27
+f 4 27 18
+f 4 18 11
+f 4 11 5
+f 4 7 9
+f 4 9 10
+f 4 10 8
+f 5 11 6
+f 6 11 12
+f 8 10 13
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 13
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 18 27 28
+f 18 28 19
+f 19 28 27
+f 19 27 29
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 38 39
+f 24 39 26
+f 24 26 25
+f 24 37 38
+f 27 40 29
+f 29 40 41
+f 29 41 30
+f 30 41 40
+f 30 40 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 31 47 48
+f 31 46 47
+f 32 49 50
+f 32 50 33
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 36
+f 36 56 57
+f 36 57 58
+f 36 58 37
+f 37 58 59
+f 37 59 38
+f 38 60 39
+f 38 59 60
+f 39 60 61
+f 40 62 63
+f 40 63 64
+f 40 64 42
+f 42 64 43
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 68
+f 43 68 44
+f 44 68 69
+f 44 69 70
+f 44 70 46
+f 44 46 45
+f 46 70 47
+f 47 71 72
+f 47 72 48
+f 47 70 73
+f 47 73 74
+f 47 74 71
+f 48 72 75
+f 49 76 50
+f 50 76 77
+f 50 77 78
+f 50 78 52
+f 50 52 51
+f 52 79 80
+f 52 80 81
+f 52 81 82
+f 52 82 53
+f 52 78 77
+f 52 77 83
+f 52 83 84
+f 52 84 85
+f 52 85 79
+f 53 82 54
+f 54 82 86
+f 54 86 55
+f 55 86 87
+f 55 87 88
+f 55 88 89
+f 55 89 56
+f 56 89 57
+f 57 89 90
+f 57 90 91
+f 57 91 92
+f 57 92 58
+f 58 92 91
+f 58 91 93
+f 58 93 59
+f 59 93 94
+f 59 94 95
+f 59 95 60
+f 60 95 96
+f 60 96 97
+f 60 97 61
+f 61 97 98
+f 62 99 100
+f 62 100 101
+f 62 101 67
+f 62 67 63
+f 63 67 66
+f 63 66 65
+f 63 65 64
+f 67 101 68
+f 68 101 69
+f 69 101 102
+f 69 102 103
+f 69 103 70
+f 70 103 73
+f 71 104 105
+f 71 105 106
+f 71 106 107
+f 71 107 72
+f 71 74 108
+f 71 108 109
+f 71 109 104
+f 72 107 75
+f 73 103 110
+f 73 110 111
+f 73 111 108
+f 73 108 74
+f 75 107 112
+f 79 85 105
+f 79 105 80
+f 80 113 81
+f 80 105 113
+f 81 113 114
+f 81 114 82
+f 82 114 115
+f 82 115 116
+f 82 116 86
+f 84 117 118
+f 84 118 105
+f 84 105 85
+f 86 116 87
+f 87 116 88
+f 88 116 89
+f 89 119 120
+f 89 120 121
+f 89 121 90
+f 89 116 122
+f 89 122 119
+f 90 121 123
+f 90 123 97
+f 90 97 91
+f 91 97 93
+f 93 97 96
+f 93 96 94
+f 94 96 95
+f 97 124 125
+f 97 125 98
+f 97 123 120
+f 97 120 126
+f 97 126 124
+f 99 125 127
+f 99 127 128
+f 99 128 100
+f 100 128 129
+f 100 129 101
+f 101 129 102
+f 102 129 130
+f 102 130 103
+f 103 130 131
+f 103 131 110
+f 104 109 113
+f 104 113 105
+f 105 118 106
+f 106 118 107
+f 107 118 117
+f 107 117 112
+f 108 132 113
+f 108 113 109
+f 108 111 133
+f 108 133 134
+f 108 134 135
+f 108 135 132
+f 110 131 136
+f 110 136 133
+f 110 133 111
+f 113 132 137
+f 113 137 115
+f 113 115 114
+f 115 137 138
+f 115 138 116
+f 116 139 140
+f 116 140 120
+f 116 120 122
+f 116 138 139
+f 119 122 120
+f 120 141 126
+f 120 123 121
+f 120 140 142
+f 120 142 143
+f 120 143 144
+f 120 144 141
+f 124 126 141
+f 124 141 125
+f 125 141 145
+f 125 145 146
+f 125 146 127
+f 127 146 147
+f 127 147 128
+f 128 147 129
+f 129 147 148
+f 129 148 149
+f 129 149 130
+f 130 136 131
+f 130 149 136
+f 132 135 137
+f 133 136 148
+f 133 148 150
+f 133 150 151
+f 133 151 137
+f 133 137 134
+f 134 137 135
+f 136 149 148
+f 137 151 148
+f 137 148 140
+f 137 140 139
+f 137 139 138
+f 140 148 142
+f 141 144 148
+f 141 148 147
+f 141 147 145
+f 142 148 143
+f 143 148 144
+f 145 147 146
+f 148 151 150
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_21.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.03538412 0.11173346 -0.11927204
+v -0.04998034 0.10161653 -0.11927208
+v -0.02594791 0.11173346 -0.11982361
+v -0.07478053 0.11173346 -0.11927204
+v -0.05181045 0.10072505 -0.11927208
+v -0.02594791 0.08615318 -0.12448903
+v -0.02594791 0.11173357 -0.14966135
+v -0.07484302 0.11173347 -0.12359224
+v -0.10673153 0.09564906 -0.11927210
+v -0.08650214 0.08615316 -0.11927213
+v -0.02594791 0.08615324 -0.14234606
+v -0.02594791 0.11155327 -0.14974455
+v -0.04537383 0.10906912 -0.15075220
+v -0.03328619 0.11148315 -0.14968292
+v -0.03328619 0.11173357 -0.14953809
+v -0.07461984 0.11173348 -0.12426091
+v -0.10565131 0.09534606 -0.12380184
+v -0.11004358 0.09365321 -0.11927211
+v -0.11714975 0.08615316 -0.11927213
+v -0.03091152 0.08615325 -0.14429355
+v -0.03392896 0.08615325 -0.14521182
+v -0.03933001 0.08615326 -0.14601917
+v -0.04088337 0.10828531 -0.15061969
+v -0.04088337 0.10880618 -0.15061969
+v -0.04537383 0.10790717 -0.15075220
+v -0.08552906 0.09085364 -0.15072145
+v -0.06349636 0.10296140 -0.15072757
+v -0.05140872 0.10887380 -0.15071523
+v -0.04537383 0.11173357 -0.14916832
+v -0.07267368 0.11173350 -0.12945933
+v -0.10254460 0.09633021 -0.12604821
+v -0.10619588 0.09274173 -0.12978912
+v -0.10975790 0.09117159 -0.12800188
+v -0.11180226 0.09177007 -0.12284659
+v -0.07009367 0.11173351 -0.13383192
+v -0.11182011 0.09255638 -0.11927211
+v -0.11667659 0.08729758 -0.11927213
+v -0.11629272 0.08615317 -0.12295138
+v -0.08883218 0.08615327 -0.15066600
+v -0.08323473 0.08986949 -0.15072145
+v -0.08794838 0.08741789 -0.15068141
+v -0.08993917 0.08615327 -0.15065984
+v -0.08956422 0.08898802 -0.15012981
+v -0.07886926 0.09656820 -0.15061974
+v -0.06713872 0.10272351 -0.15068443
+v -0.05464935 0.10854824 -0.15057347
+v -0.05170332 0.11173356 -0.14793266
+v -0.06932592 0.11173352 -0.13504601
+v -0.10848128 0.09005223 -0.13201394
+v -0.07852109 0.10238041 -0.14435511
+v -0.08581474 0.09712662 -0.14546754
+v -0.11378413 0.08910813 -0.12445204
+v -0.11486434 0.09037021 -0.12043999
+v -0.11493576 0.09045036 -0.11927212
+v -0.11585528 0.08719742 -0.12284661
+v -0.11572137 0.08920076 -0.11927212
+v -0.11561424 0.08615318 -0.12510532
+v -0.09480458 0.08615327 -0.14903899
+v -0.09254597 0.09180523 -0.14611774
+v -0.08117252 0.09811328 -0.14748898
+v -0.07448592 0.10362249 -0.14595131
+v -0.06904917 0.10518511 -0.14738417
+v -0.06349636 0.10947478 -0.14577873
+v -0.05697939 0.11033373 -0.14774468
+v -0.05333703 0.11173356 -0.14746428
+v -0.06693339 0.10867093 -0.14480807
+v -0.06349636 0.11173354 -0.14091002
+v -0.09976819 0.08615325 -0.14538747
+v -0.10992752 0.08615321 -0.13402614
+v -0.11033817 0.08615321 -0.13355467
+v -0.11273070 0.08615320 -0.13028525
+v -0.11198973 0.08757058 -0.12971518
+v -0.09657220 0.09024009 -0.14426272
+v -0.11390911 0.08615319 -0.12840556
+v -0.09855407 0.08615326 -0.14642283
+v -0.06282681 0.11173354 -0.14154172
+v -0.05730077 0.11173355 -0.14537504
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 29
+f 1 29 47
+f 1 47 65
+f 1 65 77
+f 1 77 76
+f 1 76 67
+f 1 67 48
+f 1 48 35
+f 1 35 30
+f 1 30 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 36
+f 1 36 54
+f 1 54 56
+f 1 56 37
+f 1 37 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 12
+f 3 12 7
+f 4 8 9
+f 5 10 6
+f 6 10 19
+f 6 19 38
+f 6 38 57
+f 6 57 74
+f 6 74 71
+f 6 71 70
+f 6 70 69
+f 6 69 68
+f 6 68 75
+f 6 75 58
+f 6 58 42
+f 6 42 39
+f 6 39 22
+f 6 22 21
+f 6 21 20
+f 6 20 11
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 16 9
+f 9 17 18
+f 9 16 17
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 23
+f 13 23 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 28 15
+f 15 28 29
+f 16 30 17
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 17 30 35
+f 17 35 31
+f 18 34 36
+f 19 37 38
+f 22 39 23
+f 23 39 25
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 28
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 31 35 48
+f 31 48 32
+f 32 49 33
+f 32 48 50
+f 32 50 51
+f 32 51 49
+f 33 49 52
+f 33 52 53
+f 33 53 34
+f 34 53 36
+f 36 53 54
+f 37 55 38
+f 37 56 53
+f 37 53 55
+f 38 55 57
+f 39 42 41
+f 39 41 40
+f 42 58 43
+f 43 58 59
+f 43 59 44
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 44 59 51
+f 44 51 60
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 48 66 50
+f 48 67 66
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 52
+f 49 51 73
+f 49 73 68
+f 50 66 61
+f 50 61 51
+f 51 59 73
+f 51 61 60
+f 52 72 74
+f 52 74 57
+f 52 57 53
+f 53 57 55
+f 53 56 54
+f 58 75 59
+f 59 75 73
+f 61 66 62
+f 62 66 63
+f 63 76 77
+f 63 77 65
+f 63 65 64
+f 63 66 76
+f 66 67 76
+f 68 73 75
+f 71 74 72
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_22.obj

@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.09291901 -0.12134308 -0.02834778
+v -0.08935539 -0.12134304 -0.03703614
+v -0.08014056 -0.13483307 -0.03703619
+v -0.08146901 -0.13594967 -0.02834783
+v -0.06616018 -0.12134308 -0.02834778
+v -0.05674152 -0.12134304 -0.03703614
+v -0.07924790 -0.13591579 -0.03703619
+v -0.07750474 -0.13785116 -0.03703620
+v -0.07803894 -0.13835532 -0.03317726
+v -0.07609897 -0.14127531 -0.02834785
+v -0.06381957 -0.12189797 -0.02834778
+v -0.06269496 -0.12134307 -0.03095216
+v -0.05889937 -0.12134305 -0.03452702
+v -0.05750063 -0.12394160 -0.02834779
+v -0.05623544 -0.12154266 -0.03703614
+v -0.07448234 -0.14059518 -0.03703621
+v -0.07548044 -0.14182344 -0.02834785
+v -0.02111930 -0.14067304 -0.02834785
+v -0.02111930 -0.13756356 -0.03703620
+v -0.07301331 -0.14167790 -0.03703621
+v -0.07092574 -0.14404300 -0.03317728
+v -0.06989250 -0.14576184 -0.02834787
+v -0.02111930 -0.15590559 -0.02834790
+v -0.02111930 -0.15049194 -0.03703624
+v -0.06994873 -0.14370124 -0.03703622
+v -0.06731994 -0.14530164 -0.03703622
+v -0.06918258 -0.14613064 -0.02834787
+v -0.05745143 -0.14977129 -0.02834788
+v -0.05745143 -0.14774115 -0.03703623
+v -0.06708799 -0.14538285 -0.03703622
+v -0.06332755 -0.14873594 -0.02834788
+v -0.06440296 -0.14835699 -0.02834787
+v -0.06358059 -0.14641820 -0.03703623
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 22
+f 1 22 27
+f 1 27 32
+f 1 32 31
+f 1 31 28
+f 1 28 23
+f 1 23 18
+f 1 18 14
+f 1 14 11
+f 1 11 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 6 15
+f 2 15 19
+f 2 19 24
+f 2 24 29
+f 2 29 33
+f 2 33 30
+f 2 30 26
+f 2 26 25
+f 2 25 20
+f 2 20 16
+f 2 16 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 11 14 12
+f 12 14 13
+f 14 18 19
+f 14 19 15
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 18 23 24
+f 18 24 19
+f 20 25 21
+f 21 25 26
+f 21 26 22
+f 22 26 27
+f 23 28 29
+f 23 29 24
+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 28 31 29
+f 29 31 33
+f 30 33 31
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_23.obj

@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00660178 0.13310666 -0.02676002
+v 0.00660178 0.13436799 -0.00910342
+v 0.00297959 0.13212386 -0.02676002
+v 0.00660178 0.15423313 -0.02675994
+v 0.00660178 0.13520762 -0.00550017
+v -0.03297119 0.12936884 -0.00910343
+v -0.00306386 0.13200391 -0.02676003
+v 0.00623763 0.15429504 -0.02675994
+v 0.00660178 0.16306288 -0.01831481
+v 0.00660178 0.13590022 -0.00308832
+v -0.03297119 0.12942300 -0.00891092
+v -0.03297119 0.13068442 -0.01420317
+v -0.03297119 0.13486720 -0.02676001
+v 0.00297959 0.15484448 -0.02675994
+v -0.00306386 0.16309769 -0.01843105
+v 0.00660178 0.16423140 -0.01705077
+v 0.00234425 0.15486383 -0.02675994
+v -0.00306386 0.15496443 -0.02675994
+v -0.03297119 0.13128801 -0.00411992
+v 0.00660178 0.13805929 0.00063116
+v -0.02720280 0.13953345 0.01034756
+v -0.03297119 0.14816604 -0.02675997
+v -0.00746861 0.16311318 -0.01846374
+v 0.00660178 0.16601129 -0.01512202
+v -0.00365659 0.15492960 -0.02675994
+v -0.03297119 0.13915039 0.01034756
+v 0.00660178 0.14067881 0.00363871
+v -0.02119034 0.14047757 0.01034757
+v -0.03297119 0.15386165 -0.01986220
+v -0.03032912 0.15675975 -0.01815864
+v -0.01149757 0.16253665 -0.01788983
+v -0.01674298 0.15280921 -0.02675995
+v -0.00933201 0.16428170 -0.01557969
+v -0.00306386 0.16545797 -0.01512202
+v 0.00297959 0.16589908 -0.01512202
+v -0.00964967 0.15412478 -0.02675994
+v 0.00660178 0.16871979 -0.01053441
+v -0.03297119 0.15263883 0.01034761
+v 0.00660178 0.14369685 0.00683514
+v -0.01564664 0.14265986 0.01034757
+v -0.03297119 0.15641151 -0.01632071
+v -0.01873422 0.16296612 -0.01262300
+v -0.01514689 0.16362004 -0.01381803
+v 0.00302995 0.16866948 -0.00933575
+v 0.00660178 0.16882811 -0.00897253
+v -0.02723379 0.15417882 0.01034762
+v 0.00507930 0.16887067 -0.00595409
+v -0.01357792 0.16338011 -0.00511504
+v -0.01541419 0.16381735 -0.00912873
+v -0.01760688 0.16252113 -0.00714187
+v -0.02092691 0.16166989 -0.00912874
+v -0.02723379 0.15912774 -0.00910333
+v -0.03297119 0.15679067 -0.00910333
+v 0.00660178 0.14607648 0.00791758
+v 0.00660178 0.14768611 0.00854960
+v -0.01355855 0.14768610 0.01034759
+v -0.03297119 0.15682165 -0.01512205
+v -0.03167340 0.15730533 -0.01512205
+v -0.01873422 0.16296611 -0.01114829
+v -0.00306386 0.16730361 -0.00910330
+v 0.00507930 0.16887068 -0.00749055
+v 0.00660178 0.16889389 -0.00781745
+v -0.02259660 0.15444580 0.01034762
+v 0.00297959 0.16402239 0.00108165
+v -0.00165372 0.16373220 0.00083466
+v 0.00302995 0.16733841 -0.00360400
+v 0.00660178 0.16719138 -0.00312454
+v 0.00660178 0.16889388 -0.00589960
+v 0.00660178 0.15130005 0.00838253
+v -0.01565051 0.15246471 0.01034761
+v -0.02119034 0.15436454 0.01034762
+v 0.00660178 0.15894583 0.00534958
+v 0.00660178 0.16405335 0.00114340
+v 0.00660178 0.16586419 -0.00124301
+v 0.00660178 0.15392732 0.00804837
+v -0.01660351 0.15296772 0.01034761
+v 0.00660178 0.15740197 0.00653735
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 22
+f 1 22 32
+f 1 32 36
+f 1 36 25
+f 1 25 18
+f 1 18 17
+f 1 17 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 24
+f 1 24 37
+f 1 37 45
+f 1 45 62
+f 1 62 68
+f 1 68 67
+f 1 67 74
+f 1 74 73
+f 1 73 72
+f 1 72 77
+f 1 77 75
+f 1 75 69
+f 1 69 55
+f 1 55 54
+f 1 54 39
+f 1 39 27
+f 1 27 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 19
+f 6 19 26
+f 6 26 38
+f 6 38 53
+f 6 53 57
+f 6 57 41
+f 6 41 29
+f 6 29 22
+f 6 22 13
+f 6 13 12
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 15 16
+f 9 14 17
+f 9 17 18
+f 9 18 15
+f 10 19 11
+f 10 20 21
+f 10 21 19
+f 15 23 24
+f 15 24 16
+f 15 18 23
+f 18 25 23
+f 19 21 26
+f 20 27 28
+f 20 28 21
+f 21 28 40
+f 21 40 56
+f 21 56 70
+f 21 70 76
+f 21 76 71
+f 21 71 63
+f 21 63 46
+f 21 46 38
+f 21 38 26
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 23 31 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 23 25 36
+f 23 36 32
+f 23 32 31
+f 24 35 37
+f 27 39 28
+f 28 39 40
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 31 43 33
+f 33 43 44
+f 33 44 34
+f 34 44 37
+f 34 37 35
+f 37 44 45
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 39 54 40
+f 40 54 55
+f 40 55 56
+f 41 57 58
+f 41 58 42
+f 42 58 57
+f 42 57 59
+f 42 59 60
+f 42 60 43
+f 43 60 44
+f 44 60 47
+f 44 47 61
+f 44 61 45
+f 45 61 62
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 47 66 67
+f 47 67 68
+f 47 68 62
+f 47 62 61
+f 47 60 49
+f 47 49 48
+f 49 59 51
+f 49 51 50
+f 49 60 59
+f 51 59 52
+f 52 59 53
+f 53 59 57
+f 55 69 70
+f 55 70 56
+f 63 71 72
+f 63 72 73
+f 63 73 64
+f 64 73 74
+f 64 74 66
+f 64 66 65
+f 66 74 67
+f 69 75 70
+f 70 75 76
+f 71 76 75
+f 71 75 77
+f 71 77 72
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_24.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02057882 -0.14193947 0.04511422
+v -0.01783851 -0.14670383 0.03670169
+v -0.01789021 -0.14193943 0.03658692
+v -0.01813027 -0.13884674 0.03609831
+v -0.02283164 -0.13741799 0.04511424
+v -0.02094813 -0.14796811 0.04511420
+v -0.01774249 -0.14841734 0.03317538
+v -0.01777203 -0.14135954 0.03258376
+v -0.01824845 -0.15072640 0.03528881
+v -0.01813027 -0.13884674 0.03430278
+v -0.01998422 -0.13646453 0.03258378
+v -0.02345208 -0.13233225 0.03301649
+v -0.02375123 -0.13255951 0.03653985
+v -0.02287595 -0.13739187 0.04511424
+v -0.02317510 -0.15182874 0.04511418
+v -0.01808964 -0.15117827 0.03127681
+v -0.01808964 -0.15117827 0.02985510
+v -0.01789021 -0.14796805 0.02955783
+v -0.01787913 -0.14298423 0.02956373
+v -0.01818197 -0.13896166 0.03029079
+v -0.02320095 -0.15187053 0.04511418
+v -0.02347794 -0.15750208 0.03118260
+v -0.02366259 -0.13247591 0.02925765
+v -0.02723755 -0.13107846 0.03301650
+v -0.02723755 -0.13205539 0.03739935
+v -0.02723755 -0.13496787 0.04511424
+v -0.02318987 -0.15237716 0.01504638
+v -0.02193420 -0.14796800 0.01504640
+v -0.02347794 -0.15750207 0.02836568
+v -0.02194898 -0.14788964 0.01504640
+v -0.02295720 -0.14319054 0.01504641
+v -0.02724125 -0.15445125 0.04511417
+v -0.02723755 -0.15775807 0.03178013
+v -0.02723755 -0.13190907 0.02835106
+v -0.02301629 -0.14314091 0.01504641
+v -0.02733357 -0.14025197 0.01504642
+v -0.03975361 -0.13447408 0.01504645
+v -0.04521207 -0.13346583 0.01504645
+v -0.03327953 -0.13115943 0.03301650
+v -0.03327953 -0.13200576 0.03757892
+v -0.03327953 -0.13433836 0.04511425
+v -0.02723755 -0.15378245 0.01504638
+v -0.02723755 -0.15775805 0.02783290
+v -0.03322414 -0.15497367 0.04511417
+v -0.03327584 -0.15497628 0.04511417
+v -0.03152529 -0.15752559 0.03119437
+v -0.05140547 -0.13533346 0.01504644
+v -0.03683603 -0.13249422 0.03677827
+v -0.03866783 -0.13679370 0.04511424
+v -0.03152529 -0.15752559 0.02874833
+v -0.03263323 -0.15242157 0.01504638
+v -0.03784795 -0.15242951 0.04511418
+v -0.03790334 -0.15239556 0.04511418
+v -0.03824311 -0.15310337 0.03301642
+v -0.05547162 -0.13774177 0.01504643
+v -0.03870475 -0.13682243 0.04511424
+v -0.03269971 -0.15239284 0.01504638
+v -0.05541992 -0.14023629 0.01504642
+v -0.05133160 -0.14295023 0.01504641
+v -0.04489077 -0.14654443 0.01504640
+v -0.03932151 -0.14922701 0.01504639
+v -0.04089479 -0.14950662 0.04511419
+v -0.05547162 -0.14018666 0.01504643
+v -0.05465174 -0.13862205 0.01837553
+v -0.04168512 -0.13996997 0.04511423
+v -0.04092433 -0.14947789 0.04511419
+v -0.05465174 -0.13932208 0.01837553
+v -0.04330641 -0.14649230 0.04511420
+v -0.04332857 -0.14646095 0.04511420
+v -0.04332857 -0.14298168 0.04511421
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 26
+f 1 26 41
+f 1 41 49
+f 1 49 56
+f 1 56 65
+f 1 65 70
+f 1 70 69
+f 1 69 68
+f 1 68 66
+f 1 66 62
+f 1 62 53
+f 1 53 52
+f 1 52 45
+f 1 45 44
+f 1 44 32
+f 1 32 21
+f 1 21 15
+f 1 15 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 6 15 9
+f 7 9 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 10
+f 9 15 21
+f 9 21 22
+f 9 22 16
+f 10 20 11
+f 11 20 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 16 22 29
+f 16 29 17
+f 17 27 28
+f 17 28 18
+f 17 29 27
+f 18 28 19
+f 19 28 20
+f 20 28 30
+f 20 30 31
+f 20 31 23
+f 21 32 22
+f 22 32 33
+f 22 33 43
+f 22 43 29
+f 23 34 24
+f 23 31 35
+f 23 35 36
+f 23 36 37
+f 23 37 34
+f 24 34 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 26
+f 27 29 42
+f 27 42 51
+f 27 51 57
+f 27 57 61
+f 27 61 60
+f 27 60 59
+f 27 59 58
+f 27 58 63
+f 27 63 55
+f 27 55 47
+f 27 47 38
+f 27 38 37
+f 27 37 36
+f 27 36 35
+f 27 35 31
+f 27 31 30
+f 27 30 28
+f 29 43 42
+f 32 44 33
+f 33 44 45
+f 33 45 46
+f 33 46 50
+f 33 50 43
+f 34 37 38
+f 38 47 48
+f 38 48 39
+f 39 48 40
+f 40 48 41
+f 41 48 49
+f 42 43 50
+f 42 50 51
+f 45 52 46
+f 46 52 53
+f 46 53 54
+f 46 54 50
+f 47 55 48
+f 48 55 49
+f 49 55 56
+f 50 57 51
+f 50 54 58
+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 57
+f 53 62 63
+f 53 63 58
+f 53 58 54
+f 55 63 67
+f 55 67 64
+f 55 64 56
+f 56 64 65
+f 62 66 63
+f 63 66 68
+f 63 68 69
+f 63 69 67
+f 64 67 69
+f 64 69 70
+f 64 70 65
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_25.obj

@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.07916701 -0.10032186 -0.12465029
+v 0.06739497 -0.11623564 -0.12465035
+v 0.06701969 -0.11561422 -0.12752045
+v 0.06589383 -0.11369649 -0.13153348
+v 0.07517716 -0.10032185 -0.12917569
+v 0.04053258 -0.10032186 -0.12465029
+v 0.06505438 -0.11924803 -0.12465036
+v 0.06444208 -0.11997026 -0.12465036
+v 0.06436308 -0.12006285 -0.12465036
+v 0.06200273 -0.12134270 -0.12747411
+v 0.06163733 -0.12134270 -0.12828785
+v 0.06367176 -0.11810602 -0.12983879
+v 0.06403717 -0.10032180 -0.14167847
+v 0.06949853 -0.10032182 -0.13557661
+v 0.06009669 -0.12059576 -0.13215482
+v 0.06186447 -0.11657307 -0.13387038
+v -0.02171507 -0.10032186 -0.12487518
+v -0.00305954 -0.10134862 -0.12465029
+v 0.06304958 -0.12134271 -0.12465037
+v 0.06105466 -0.12134270 -0.12930096
+v 0.06342486 -0.10032180 -0.14224646
+v 0.05930662 -0.12134269 -0.13137124
+v 0.05735120 -0.12134268 -0.13328154
+v 0.05624510 -0.12134268 -0.13394690
+v 0.05779562 -0.11827061 -0.13515937
+v 0.05575131 -0.10370866 -0.14527421
+v 0.05978067 -0.10220042 -0.14386003
+v -0.02171507 -0.10032180 -0.14173875
+v -0.02171507 -0.10597831 -0.12465031
+v -0.00910357 -0.10239390 -0.12465030
+v -0.02171507 -0.12134271 -0.12465037
+v 0.05793387 -0.10032178 -0.14565905
+v 0.05564267 -0.12134268 -0.13411382
+v 0.04527300 -0.10966758 -0.14526728
+v 0.04857154 -0.10890215 -0.14465988
+v 0.05088250 -0.10572515 -0.14564052
+v 0.05744008 -0.10032178 -0.14591407
+v -0.02171507 -0.10268807 -0.14407564
+v -0.00787896 -0.10032179 -0.14542026
+v -0.02171507 -0.12134268 -0.13283874
+v 0.05131704 -0.12134267 -0.13499015
+v 0.02716064 -0.11541046 -0.14523485
+v 0.03119000 -0.11501128 -0.14476422
+v 0.03923884 -0.11084043 -0.14596048
+v 0.04527300 -0.10573337 -0.14646817
+v 0.01507257 -0.11176637 -0.14788237
+v 0.00902854 -0.11176637 -0.14810029
+v 0.00298450 -0.11176637 -0.14824635
+v 0.00298450 -0.10573337 -0.14760879
+v 0.00298450 -0.10032178 -0.14688081
+v -0.02171507 -0.10292881 -0.14428661
+v -0.00305954 -0.10032178 -0.14661421
+v -0.02171507 -0.11785289 -0.14154174
+v -0.02166569 -0.12134268 -0.13288742
+v 0.00298450 -0.12134265 -0.14068630
+v 0.01507257 -0.11629730 -0.14609032
+v 0.02111661 -0.11591252 -0.14577734
+v 0.02716064 -0.11176637 -0.14699445
+v 0.02111661 -0.11176637 -0.14754621
+v 0.00902854 -0.11653392 -0.14625492
+v 0.00298450 -0.11665944 -0.14634766
+v -0.00305954 -0.11176637 -0.14833213
+v -0.00910357 -0.11176637 -0.14824635
+v -0.01514761 -0.11176637 -0.14804698
+v -0.02171507 -0.10545559 -0.14618997
+v -0.02171507 -0.10589798 -0.14649831
+v -0.02171507 -0.11769033 -0.14186863
+v -0.01470319 -0.12134266 -0.13753105
+v -0.01806099 -0.12134267 -0.13563002
+v -0.02025344 -0.12134268 -0.13404659
+v 0.00115746 -0.12134265 -0.14063993
+v 0.00298450 -0.11967596 -0.14277742
+v -0.00305954 -0.11664298 -0.14638475
+v -0.00910357 -0.11646808 -0.14633143
+v -0.01514761 -0.11620676 -0.14608105
+v -0.02119164 -0.11176637 -0.14761808
+v -0.02171507 -0.11113673 -0.14748594
+v -0.02171507 -0.11569854 -0.14553391
+v -0.01205646 -0.12134266 -0.13821264
+v -0.02119164 -0.11575409 -0.14559188
+v -0.00305954 -0.12134265 -0.14032696
+v -0.00305954 -0.11965950 -0.14264296
+v -0.00435328 -0.12134266 -0.14015076
+v -0.02171507 -0.11548247 -0.14565215
+v -0.02171507 -0.11181369 -0.14751608
+v -0.00911345 -0.12134266 -0.13896378
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
+f 1 13 21
+f 1 21 32
+f 1 32 37
+f 1 37 50
+f 1 50 52
+f 1 52 39
+f 1 39 28
+f 1 28 17
+f 1 17 6
+f 1 6 18
+f 1 18 30
+f 1 30 29
+f 1 29 31
+f 1 31 19
+f 1 19 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 13 14
+f 4 14 5
+f 4 12 15
+f 4 15 16
+f 4 16 13
+f 6 17 18
+f 9 19 10
+f 10 19 31
+f 10 31 40
+f 10 40 54
+f 10 54 70
+f 10 70 69
+f 10 69 68
+f 10 68 79
+f 10 79 86
+f 10 86 83
+f 10 83 81
+f 10 81 71
+f 10 71 55
+f 10 55 41
+f 10 41 33
+f 10 33 24
+f 10 24 23
+f 10 23 22
+f 10 22 20
+f 10 20 11
+f 11 20 15
+f 11 15 12
+f 13 16 21
+f 15 20 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 21
+f 17 28 38
+f 17 38 51
+f 17 51 65
+f 17 65 66
+f 17 66 77
+f 17 77 85
+f 17 85 84
+f 17 84 78
+f 17 78 67
+f 17 67 53
+f 17 53 40
+f 17 40 31
+f 17 31 29
+f 17 29 30
+f 17 30 18
+f 21 27 32
+f 24 26 25
+f 24 33 34
+f 24 34 35
+f 24 35 26
+f 26 36 37
+f 26 37 32
+f 26 32 27
+f 26 35 34
+f 26 34 36
+f 28 39 38
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 34 44 36
+f 36 44 45
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 38 39 52
+f 38 52 51
+f 40 53 54
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 44 43
+f 42 57 44
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 45 59 46
+f 46 59 56
+f 46 56 60
+f 46 60 47
+f 47 60 48
+f 48 60 61
+f 48 61 62
+f 48 62 49
+f 49 62 63
+f 49 63 50
+f 50 63 64
+f 50 64 52
+f 51 52 65
+f 52 64 66
+f 52 66 65
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 70 54
+f 55 71 72
+f 55 72 56
+f 56 59 57
+f 56 72 60
+f 57 59 58
+f 60 72 61
+f 61 72 73
+f 61 73 62
+f 62 73 63
+f 63 73 74
+f 63 74 64
+f 64 74 75
+f 64 75 76
+f 64 76 77
+f 64 77 66
+f 67 78 68
+f 68 78 80
+f 68 80 79
+f 71 81 82
+f 71 82 72
+f 72 82 73
+f 73 82 74
+f 74 82 75
+f 75 80 76
+f 75 82 81
+f 75 81 83
+f 75 83 80
+f 76 80 84
+f 76 84 85
+f 76 85 77
+f 78 84 80
+f 79 80 86
+f 80 83 86
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_26.obj

@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.04018807 0.14768652 0.05709393
+v -0.04014644 0.14768654 0.05107345
+v -0.03890027 0.14165357 0.04504108
+v -0.04009648 0.14768650 0.06310847
+v -0.03784560 0.15274683 0.07514351
+v -0.03794829 0.15270456 0.06912897
+v -0.03802323 0.15261296 0.06310849
+v -0.03800935 0.15250491 0.05709395
+v -0.04003542 0.14768656 0.04504110
+v -0.03653282 0.13844442 0.04504107
+v -0.03653282 0.13844442 0.04505888
+v -0.03847562 0.14194953 0.05709391
+v -0.03837016 0.14224553 0.06310845
+v -0.03823139 0.14254621 0.06912893
+v -0.03988000 0.14768648 0.06912895
+v -0.03770683 0.15273976 0.08115806
+v -0.03516175 0.15575625 0.08115807
+v -0.03504518 0.15576332 0.07514352
+v -0.03787058 0.15234048 0.05107347
+v -0.03481204 0.15572106 0.06912898
+v -0.03767075 0.15206564 0.04504112
+v -0.03327722 0.13722514 0.04504106
+v -0.03284980 0.13727208 0.05709389
+v -0.03638294 0.13857128 0.04893003
+v -0.03798437 0.14283280 0.07514347
+v -0.03953029 0.14768645 0.07514349
+v -0.03745426 0.15256354 0.08717260
+v -0.03514787 0.15558003 0.08717261
+v -0.03214207 0.15796928 0.08115808
+v -0.03196999 0.15799744 0.09319310
+v -0.03212819 0.15803269 0.08717262
+v -0.03442903 0.15562946 0.06310850
+v -0.03202550 0.15779546 0.07514353
+v -0.03327722 0.15454414 0.04504113
+v -0.03396831 0.15552142 0.05709396
+v -0.03285258 0.15554257 0.05113879
+v -0.02766250 0.13741544 0.04504106
+v -0.02723508 0.13674585 0.05709389
+v -0.02723508 0.13671764 0.06310843
+v -0.02609438 0.13762669 0.09920756
+v -0.03239741 0.13742947 0.06310843
+v -0.03614981 0.13873573 0.05294369
+v -0.03765964 0.14310765 0.08115803
+v -0.03732659 0.14343183 0.08717257
+v -0.03906957 0.14768643 0.08115804
+v -0.03707958 0.15211010 0.09319308
+v -0.03498967 0.15512660 0.09319309
+v -0.03162028 0.15782122 0.09920763
+v -0.02723508 0.15993795 0.09319311
+v -0.02723508 0.15983931 0.08717263
+v -0.02723508 0.15954088 0.10522812
+v -0.02723508 0.15985571 0.09920764
+v -0.03178959 0.15756996 0.06912899
+v -0.02723508 0.15556139 0.04504113
+v -0.03055729 0.15685817 0.05318719
+v -0.03094585 0.15703906 0.05709397
+v -0.03140657 0.15729980 0.06310851
+v -0.02464560 0.13886730 0.04504107
+v -0.02387680 0.13837158 0.05252807
+v -0.02356040 0.13811079 0.05709390
+v -0.01752381 0.13817404 0.10569710
+v -0.02086267 0.13741991 0.10569709
+v -0.02119295 0.13737292 0.10522803
+v -0.02119295 0.13737763 0.10569709
+v -0.02539774 0.13778640 0.10569710
+v -0.02575022 0.13781695 0.10522804
+v -0.03189505 0.13772546 0.06912892
+v -0.03541986 0.13922668 0.06310844
+v -0.03586949 0.13893304 0.05709390
+v -0.02571137 0.13783809 0.10569710
+v -0.02876990 0.13948495 0.10522804
+v -0.03692138 0.14388523 0.09319305
+v -0.03491751 0.13952972 0.06912892
+v -0.03437352 0.13981630 0.07514346
+v -0.03848118 0.14768641 0.08717258
+v -0.03663551 0.15134892 0.09920761
+v -0.03463996 0.15436541 0.09920762
+v -0.03100414 0.15738893 0.10569717
+v -0.02723508 0.15950563 0.10569718
+v -0.02119295 0.16071787 0.10569718
+v -0.02723508 0.15951747 0.08115809
+v -0.02119295 0.16070143 0.10522812
+v -0.02119295 0.16044303 0.09920764
+v -0.02119572 0.15401790 0.04504113
+v -0.02723508 0.15643532 0.05026600
+v -0.02415712 0.15675950 0.05389967
+v -0.02723508 0.15902179 0.07514353
+v -0.02723508 0.15846974 0.06912899
+v -0.02723508 0.15787539 0.06310851
+v -0.02723508 0.15726694 0.05709397
+v -0.02723508 0.15684642 0.05327625
+v -0.02119295 0.14079137 0.04504108
+v -0.01701313 0.14357764 0.04504109
+v -0.01725182 0.13846300 0.10569710
+v -0.02849514 0.13937687 0.10569710
+v -0.02872827 0.13952019 0.10569710
+v -0.03655502 0.14432922 0.09759857
+v -0.03236410 0.14230175 0.10569711
+v -0.03271103 0.14250144 0.10522805
+v -0.03770128 0.14768639 0.09319306
+v -0.03635519 0.15081561 0.10250284
+v -0.03406545 0.15325886 0.10569715
+v -0.01471506 0.15823702 0.10569717
+v -0.01470674 0.15823466 0.10568529
+v -0.02119295 0.15996379 0.09319311
+v -0.01581969 0.15840854 0.09920763
+v -0.01724904 0.15163336 0.04504112
+v -0.01802894 0.15685339 0.07730473
+v -0.02119295 0.15937180 0.08717263
+v -0.02372970 0.15696153 0.05709397
+v -0.01609168 0.14768656 0.04504110
+v -0.01183416 0.14961980 0.10569714
+v -0.01283054 0.14661740 0.10569713
+v -0.01492322 0.14218429 0.10569711
+v -0.01519522 0.14163925 0.10569711
+v -0.03264720 0.14253668 0.10569711
+v -0.03617201 0.14596432 0.10161223
+v -0.03672154 0.14786021 0.09944510
+v -0.03635519 0.14998396 0.10250284
+v -0.03540599 0.14783669 0.10569713
+v -0.01193685 0.15328941 0.10569715
+v -0.01239757 0.15499500 0.10398720
+v -0.01643029 0.15802563 0.09319310
+v -0.01193685 0.15327766 0.10568527
+v -0.01209782 0.15097302 0.10191504
+v -0.01209782 0.15062767 0.10191504
+v -0.01184248 0.15010376 0.10569714
+v -0.03511179 0.14717888 0.10569713
+v -0.03563357 0.14786020 0.10479465
+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 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 21
+f 3 21 34
+f 3 34 54
+f 3 54 84
+f 3 84 107
+f 3 107 111
+f 3 111 93
+f 3 93 92
+f 3 92 58
+f 3 58 37
+f 3 37 22
+f 3 22 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 8 19 9
+f 8 18 20
+f 8 20 19
+f 9 19 21
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 14
+f 11 14 13
+f 11 13 12
+f 14 25 15
+f 14 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 29 18
+f 17 28 30
+f 17 30 31
+f 17 31 29
+f 18 29 20
+f 19 20 32
+f 19 32 21
+f 20 29 33
+f 20 33 32
+f 21 32 35
+f 21 35 36
+f 21 36 34
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 24 42 25
+f 25 42 43
+f 25 43 26
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 28 48 30
+f 29 31 49
+f 29 49 50
+f 29 50 33
+f 30 48 51
+f 30 51 52
+f 30 52 31
+f 31 52 49
+f 32 33 53
+f 32 53 35
+f 33 50 53
+f 34 36 55
+f 34 55 54
+f 35 56 36
+f 35 53 57
+f 35 57 56
+f 36 56 55
+f 37 58 59
+f 37 59 60
+f 37 60 38
+f 38 60 61
+f 38 61 62
+f 38 62 63
+f 38 63 39
+f 39 63 64
+f 39 64 40
+f 40 64 65
+f 40 65 66
+f 40 66 41
+f 41 67 68
+f 41 68 69
+f 41 69 42
+f 41 66 70
+f 41 70 67
+f 42 69 44
+f 42 44 43
+f 44 71 72
+f 44 72 45
+f 44 69 68
+f 44 68 73
+f 44 73 74
+f 44 74 71
+f 45 72 75
+f 45 75 76
+f 45 76 46
+f 46 76 77
+f 46 77 47
+f 47 77 78
+f 47 78 48
+f 48 78 79
+f 48 79 51
+f 49 52 80
+f 49 80 50
+f 50 81 53
+f 50 80 82
+f 50 82 83
+f 50 83 81
+f 51 79 80
+f 51 80 52
+f 53 81 57
+f 54 55 85
+f 54 85 86
+f 54 86 84
+f 55 56 81
+f 55 81 87
+f 55 87 88
+f 55 88 89
+f 55 89 90
+f 55 90 91
+f 55 91 85
+f 56 57 81
+f 58 92 59
+f 59 92 60
+f 60 92 93
+f 60 93 61
+f 61 94 115
+f 61 115 114
+f 61 114 113
+f 61 113 112
+f 61 112 127
+f 61 127 121
+f 61 121 103
+f 61 103 80
+f 61 80 79
+f 61 79 78
+f 61 78 102
+f 61 102 120
+f 61 120 128
+f 61 128 116
+f 61 116 98
+f 61 98 96
+f 61 96 95
+f 61 95 70
+f 61 70 65
+f 61 65 64
+f 61 64 62
+f 61 93 94
+f 62 64 63
+f 65 70 66
+f 67 73 68
+f 67 70 95
+f 67 95 71
+f 67 71 73
+f 71 95 96
+f 71 96 72
+f 71 74 73
+f 72 97 75
+f 72 96 98
+f 72 98 99
+f 72 99 97
+f 75 97 100
+f 75 100 101
+f 75 101 76
+f 76 101 77
+f 77 101 102
+f 77 102 78
+f 80 103 104
+f 80 104 82
+f 81 83 105
+f 81 105 87
+f 82 104 106
+f 82 106 83
+f 83 106 105
+f 84 86 108
+f 84 108 107
+f 85 91 86
+f 86 91 90
+f 86 90 89
+f 86 89 88
+f 86 88 87
+f 86 87 105
+f 86 105 109
+f 86 109 110
+f 86 110 108
+f 93 111 112
+f 93 112 113
+f 93 113 114
+f 93 114 115
+f 93 115 94
+f 97 99 116
+f 97 116 117
+f 97 117 100
+f 98 116 99
+f 100 117 118
+f 100 118 119
+f 100 119 101
+f 101 119 120
+f 101 120 102
+f 103 121 104
+f 104 122 107
+f 104 107 106
+f 104 121 122
+f 105 106 109
+f 106 123 109
+f 106 107 123
+f 107 108 123
+f 107 122 111
+f 108 110 123
+f 109 123 110
+f 111 122 121
+f 111 121 124
+f 111 124 125
+f 111 125 126
+f 111 126 112
+f 112 126 125
+f 112 125 127
+f 116 128 117
+f 117 128 120
+f 117 120 129
+f 117 129 119
+f 117 119 118
+f 119 129 120
+f 121 127 124
+f 124 127 125
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_27.obj

@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.15892233 -0.07037293 -0.00876507
+v -0.15879240 -0.07037293 -0.00831515
+v -0.15874908 -0.07037290 -0.01528588
+v -0.15766636 -0.07335178 -0.01374814
+v -0.15766636 -0.07335179 -0.01028743
+v -0.15709252 -0.07243869 -0.00627510
+v -0.15580407 -0.07037295 -0.00335367
+v -0.15855420 -0.07037290 -0.01591454
+v -0.15698424 -0.07224404 -0.01776047
+v -0.15572828 -0.07544746 -0.01550162
+v -0.15248009 -0.08059188 -0.01512259
+v -0.15042291 -0.08361068 -0.01512260
+v -0.15574993 -0.07544749 -0.00861101
+v -0.14523665 -0.09082088 -0.01167424
+v -0.15027134 -0.08345602 -0.00910719
+v -0.15242595 -0.08044222 -0.00910718
+v -0.15165722 -0.07932453 -0.00545231
+v -0.15269665 -0.07508825 -0.00330438
+v -0.15125661 -0.07275306 0.00004848
+v -0.15513278 -0.07037295 -0.00260174
+v -0.15742815 -0.07037289 -0.01824428
+v -0.15173302 -0.07953405 -0.01865726
+v -0.14452205 -0.09009734 -0.01665729
+v -0.14703398 -0.08790685 -0.01483910
+v -0.14523665 -0.09082087 -0.01264496
+v -0.14446791 -0.08996764 -0.00766499
+v -0.14691488 -0.08782704 -0.00944618
+v -0.13930331 -0.09696823 -0.01131679
+v -0.13266619 -0.10240207 -0.00696242
+v -0.13856705 -0.09620482 -0.00731062
+v -0.14615697 -0.08594592 -0.00488531
+v -0.14793264 -0.08138032 -0.00316264
+v -0.14970832 -0.07677478 -0.00143997
+v -0.15199287 -0.07037296 0.00064634
+v -0.14418641 -0.08343111 -0.00087297
+v -0.14015866 -0.08605072 0.00076030
+v -0.15295650 -0.07556721 -0.01938760
+v -0.14609201 -0.07037286 -0.02619190
+v -0.14636269 -0.08607560 -0.01910721
+v -0.12858430 -0.09859483 -0.02619200
+v -0.13870781 -0.09631955 -0.01716271
+v -0.13280695 -0.10251681 -0.01752637
+v -0.12689524 -0.10869909 -0.01788695
+v -0.13930331 -0.09696822 -0.01315039
+v -0.14044017 -0.09218310 -0.00452786
+v -0.13333748 -0.10307069 -0.01097167
+v -0.13453931 -0.09838036 -0.00458027
+v -0.12995937 -0.10573023 -0.00904872
+v -0.12657044 -0.10838477 -0.00712577
+v -0.12863844 -0.10436306 -0.00451557
+v -0.13853457 -0.09007744 -0.00051860
+v -0.14785685 -0.07508826 0.00098530
+v -0.14806257 -0.07037297 0.00264326
+v -0.13450682 -0.09209330 0.00093285
+v -0.13631497 -0.08789195 0.00195599
+v -0.13199489 -0.07037286 -0.02619190
+v -0.12548770 -0.10213755 -0.02619202
+v -0.12297578 -0.10465238 -0.02619202
+v -0.11656604 -0.11621364 -0.01926140
+v -0.11038365 -0.12134310 -0.01921520
+v -0.12059378 -0.11451215 -0.01678373
+v -0.12102686 -0.11489637 -0.01277140
+v -0.12725255 -0.10902843 -0.01387770
+v -0.13333748 -0.10307068 -0.01351404
+v -0.12725255 -0.10902844 -0.01113502
+v -0.12254268 -0.11018109 -0.00468817
+v -0.12102686 -0.11489638 -0.01175445
+v -0.12022565 -0.11420281 -0.00774520
+v -0.11619791 -0.11583447 -0.00499636
+v -0.12608320 -0.10194305 -0.00050632
+v -0.12995937 -0.08763249 0.00412548
+v -0.13601181 -0.08159988 0.00369407
+v -0.14205343 -0.07037297 0.00385435
+v -0.12205546 -0.10365952 0.00030723
+v -0.11183452 -0.10573027 0.00327795
+v -0.12005241 -0.07037291 -0.01237062
+v -0.11969512 -0.07107147 -0.01313796
+v -0.05112599 -0.12134311 -0.01518438
+v -0.05317234 -0.12134311 -0.01670672
+v -0.05500215 -0.12134310 -0.01797945
+v -0.06826556 -0.12133807 -0.02619209
+v -0.11868818 -0.10812025 -0.02619204
+v -0.11276566 -0.12134311 -0.01512274
+v -0.11616542 -0.10991656 -0.02619204
+v -0.10839144 -0.12134310 -0.02010272
+v -0.11416237 -0.12025036 -0.01512273
+v -0.11829839 -0.11681243 -0.01491625
+v -0.11955436 -0.10768125 -0.00067584
+v -0.11188864 -0.12134314 -0.00910733
+v -0.11371846 -0.11996596 -0.00910732
+v -0.11808185 -0.11658292 -0.00949252
+v -0.10954996 -0.12134315 -0.00548329
+v -0.11166127 -0.11782539 -0.00393319
+v -0.12995937 -0.08159989 0.00449838
+v -0.10579289 -0.10573028 0.00504375
+v -0.13601181 -0.07037297 0.00315482
+v -0.11552661 -0.10922807 0.00017470
+v -0.11183452 -0.11047051 0.00100058
+v -0.10623682 -0.11225187 0.00224557
+v -0.09976210 -0.11176289 0.00445821
+v -0.11912126 -0.07037293 -0.00910714
+v -0.04847330 -0.12134313 -0.00971442
+v -0.05245774 -0.11987115 -0.01374831
+v -0.06827639 -0.12134307 -0.02617052
+v -0.06833052 -0.12134307 -0.02619209
+v -0.09455418 -0.12134307 -0.02619209
+v -0.11183452 -0.11348931 -0.00083919
+v -0.10561966 -0.12134316 -0.00332920
+v -0.09976210 -0.10573028 0.00528720
+v -0.08766804 -0.11780047 0.00442737
+v -0.09372049 -0.11176289 0.00486191
+v -0.12962373 -0.07037297 0.00160165
+v -0.09976210 -0.09969767 0.00380186
+v -0.10451527 -0.11613886 0.00075711
+v -0.09964300 -0.11801003 0.00146897
+v -0.09342815 -0.12134318 0.00176479
+v -0.09372049 -0.11780046 0.00336420
+v -0.08766804 -0.12134318 0.00326248
+v -0.12109183 -0.07037295 -0.00385598
+v -0.04831089 -0.12134314 -0.00910733
+v -0.10623682 -0.11801002 -0.00120900
+v -0.10157026 -0.12016060 -0.00045400
+v -0.10089897 -0.12134317 -0.00095940
+v -0.08162642 -0.11780047 0.00455064
+v -0.07558480 -0.11780046 0.00369702
+v -0.08162642 -0.12134319 0.00414692
+v -0.12679781 -0.07037296 0.00070181
+v -0.06350156 -0.12134318 0.00137958
+v -0.12293247 -0.07037295 -0.00187755
+v -0.05295579 -0.12006577 -0.00511964
+v -0.05253353 -0.12134315 -0.00439238
+v -0.07558480 -0.12134319 0.00414384
+v -0.06955401 -0.12134318 0.00308375
+v -0.12568259 -0.07087193 0.00050150
+v -0.12510875 -0.07037296 -0.00028741
+v -0.06350156 -0.11976641 0.00065540
+v -0.06042661 -0.12078930 -0.00005954
+v -0.06098963 -0.12134317 0.00041194
+v -0.05930058 -0.12134317 -0.00035231
+v -0.06005849 -0.12134317 0.00003598
+f 1 2 7
+f 1 7 20
+f 1 20 34
+f 1 34 53
+f 1 53 73
+f 1 73 96
+f 1 96 112
+f 1 112 127
+f 1 127 135
+f 1 135 129
+f 1 129 119
+f 1 119 101
+f 1 101 76
+f 1 76 56
+f 1 56 38
+f 1 38 21
+f 1 21 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 13 6
+f 5 12 14
+f 5 14 15
+f 5 15 16
+f 5 16 13
+f 6 13 16
+f 6 16 15
+f 6 15 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 8 21 9
+f 9 21 22
+f 9 22 11
+f 9 11 10
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 14
+f 14 26 27
+f 14 27 15
+f 14 25 44
+f 14 44 28
+f 14 28 29
+f 14 29 30
+f 14 30 26
+f 15 27 26
+f 15 26 17
+f 17 19 18
+f 17 26 31
+f 17 31 32
+f 17 32 33
+f 17 33 19
+f 19 34 20
+f 19 33 35
+f 19 35 36
+f 19 36 34
+f 21 37 22
+f 21 38 37
+f 22 39 23
+f 22 37 38
+f 22 38 40
+f 22 40 39
+f 23 25 24
+f 23 39 41
+f 23 41 25
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 26 30 45
+f 26 45 31
+f 28 44 64
+f 28 64 46
+f 28 46 29
+f 29 47 45
+f 29 45 30
+f 29 46 48
+f 29 48 49
+f 29 49 50
+f 29 50 47
+f 31 45 51
+f 31 51 35
+f 31 35 32
+f 32 35 33
+f 34 52 53
+f 34 36 52
+f 35 51 36
+f 36 51 54
+f 36 54 55
+f 36 55 53
+f 36 53 52
+f 38 56 81
+f 38 81 105
+f 38 105 106
+f 38 106 84
+f 38 84 82
+f 38 82 58
+f 38 58 57
+f 38 57 40
+f 39 42 41
+f 39 40 57
+f 39 57 43
+f 39 43 42
+f 43 57 58
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 45 47 51
+f 46 64 63
+f 46 63 65
+f 46 65 48
+f 47 50 51
+f 48 65 49
+f 49 66 50
+f 49 65 67
+f 49 67 68
+f 49 68 69
+f 49 69 66
+f 50 66 70
+f 50 70 51
+f 51 70 54
+f 53 55 71
+f 53 71 72
+f 53 72 73
+f 54 70 74
+f 54 74 75
+f 54 75 55
+f 55 75 71
+f 56 76 77
+f 56 77 78
+f 56 78 79
+f 56 79 80
+f 56 80 81
+f 58 82 60
+f 58 60 59
+f 60 83 61
+f 60 82 84
+f 60 84 85
+f 60 85 106
+f 60 106 105
+f 60 105 104
+f 60 104 80
+f 60 80 79
+f 60 79 78
+f 60 78 102
+f 60 102 120
+f 60 120 131
+f 60 131 139
+f 60 139 140
+f 60 140 138
+f 60 138 128
+f 60 128 133
+f 60 133 132
+f 60 132 126
+f 60 126 118
+f 60 118 116
+f 60 116 123
+f 60 123 108
+f 60 108 92
+f 60 92 89
+f 60 89 83
+f 61 83 86
+f 61 86 87
+f 61 87 62
+f 62 87 86
+f 62 86 83
+f 62 83 67
+f 62 67 65
+f 62 65 63
+f 66 69 88
+f 66 88 70
+f 67 83 89
+f 67 89 90
+f 67 90 91
+f 67 91 68
+f 68 91 90
+f 68 90 92
+f 68 92 69
+f 69 92 93
+f 69 93 88
+f 70 88 74
+f 71 94 73
+f 71 73 72
+f 71 75 95
+f 71 95 94
+f 73 94 96
+f 74 88 97
+f 74 97 75
+f 75 97 98
+f 75 98 99
+f 75 99 100
+f 75 100 95
+f 76 101 102
+f 76 102 103
+f 76 103 78
+f 76 78 77
+f 78 103 102
+f 80 104 81
+f 81 104 105
+f 84 106 85
+f 88 93 107
+f 88 107 97
+f 89 92 90
+f 92 108 93
+f 93 108 107
+f 94 95 109
+f 94 109 96
+f 95 100 110
+f 95 110 111
+f 95 111 109
+f 96 109 113
+f 96 113 112
+f 97 107 114
+f 97 114 98
+f 98 114 99
+f 99 114 115
+f 99 115 116
+f 99 116 100
+f 100 116 117
+f 100 117 118
+f 100 118 110
+f 101 119 120
+f 101 120 102
+f 107 108 121
+f 107 121 122
+f 107 122 114
+f 108 123 121
+f 109 111 124
+f 109 124 125
+f 109 125 113
+f 110 118 126
+f 110 126 124
+f 110 124 111
+f 112 113 125
+f 112 125 128
+f 112 128 127
+f 114 122 115
+f 115 122 116
+f 116 122 123
+f 116 118 117
+f 119 129 130
+f 119 130 120
+f 120 130 131
+f 121 123 122
+f 124 126 132
+f 124 132 125
+f 125 132 133
+f 125 133 128
+f 127 134 135
+f 127 128 136
+f 127 136 137
+f 127 137 134
+f 128 138 136
+f 129 135 130
+f 130 137 131
+f 130 135 134
+f 130 134 137
+f 131 137 139
+f 136 138 137
+f 137 138 140
+f 137 140 139
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_28.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.03296484 0.11173609 -0.14952674
+v -0.03296484 0.11634403 -0.14693121
+v -0.02015450 0.11471496 -0.15062861
+v -0.02015450 0.11400409 -0.15062861
+v -0.01514093 0.11373752 -0.15072655
+v -0.02265811 0.11173609 -0.14974712
+v -0.03296484 0.11173598 -0.12008230
+v -0.03296484 0.11895476 -0.14145856
+v -0.01822278 0.12054999 -0.14450707
+v -0.00910431 0.12131588 -0.14571912
+v -0.00306134 0.12174325 -0.14628230
+v -0.01514093 0.11492230 -0.15072655
+v -0.00306134 0.11852319 -0.14929410
+v 0.00297528 0.11875169 -0.14948998
+v -0.00910431 0.11369943 -0.15080000
+v 0.00297528 0.11348787 -0.15093467
+v 0.00297528 0.11173609 -0.15012664
+v -0.00918056 0.11173590 -0.09806937
+v -0.03296484 0.13486004 -0.02677822
+v -0.00876753 0.12739207 -0.12955833
+v -0.03296484 0.14815499 -0.02677818
+v -0.01674222 0.15280526 -0.02677816
+v -0.00728061 0.15115085 -0.04374697
+v -0.00536161 0.15054156 -0.04776269
+v -0.00652445 0.12665159 -0.13266806
+v -0.00910431 0.12301264 -0.14148303
+v -0.00306134 0.12388429 -0.14148302
+v 0.00297528 0.12189558 -0.14647819
+v -0.00306134 0.11550623 -0.15086122
+v -0.00910431 0.11518464 -0.15080000
+v 0.00902461 0.11850627 -0.14923287
+v 0.00660361 0.11679679 -0.15031028
+v 0.00297528 0.11573895 -0.15093466
+v 0.00902461 0.12166708 -0.14622108
+v 0.00660361 0.11353441 -0.15088570
+v 0.00659725 0.11244272 -0.15043272
+v 0.00660361 0.11173609 -0.15013889
+v 0.00656548 0.11173609 -0.15013889
+v -0.00555859 0.11173589 -0.09581665
+v -0.00184130 0.11410540 -0.08290026
+v -0.00622579 0.12651584 -0.04206978
+v -0.00306134 0.12630003 -0.04143314
+v -0.00306134 0.12945237 -0.03318133
+v -0.00306134 0.13157228 -0.02778216
+v -0.00306134 0.13200810 -0.02677824
+v 0.00660361 0.13356100 -0.02586000
+v -0.00306134 0.13005356 -0.12343681
+v -0.00306134 0.12831027 -0.12944814
+v -0.00323290 0.15159516 -0.04554669
+v -0.00133296 0.15096469 -0.04904820
+v 0.00660361 0.15448933 -0.02585992
+v -0.00964443 0.15412121 -0.02677815
+v -0.00306134 0.15308457 -0.03920481
+v 0.00297528 0.12408740 -0.14148302
+v 0.01825746 0.11453724 -0.15051842
+v 0.01506758 0.11486729 -0.15064085
+v 0.00902461 0.11548930 -0.15084898
+v 0.01506758 0.12121008 -0.14558446
+v 0.03193834 0.11648789 -0.14679653
+v 0.00660361 0.11559086 -0.15088570
+v 0.00659725 0.12382929 -0.14148303
+v 0.00902461 0.12365581 -0.14148303
+v 0.00902461 0.11356403 -0.15084898
+v 0.00902461 0.11173609 -0.15008992
+v -0.00306134 0.11173589 -0.09449440
+v 0.00173619 0.11410540 -0.08290026
+v 0.00297528 0.12625773 -0.04132295
+v 0.00297528 0.12938044 -0.03318133
+v 0.00297528 0.13154265 -0.02792908
+v 0.00297528 0.13212658 -0.02677823
+v 0.03193834 0.13953991 -0.02585998
+v 0.00297528 0.12844144 -0.12944814
+v 0.00297528 0.15106201 -0.04932979
+v 0.00297528 0.15212408 -0.04522837
+v 0.00902461 0.15422276 -0.02585992
+v 0.00297528 0.15484054 -0.02677815
+v 0.00233985 0.15486170 -0.02677815
+v -0.00306134 0.15495902 -0.02677815
+v -0.00365229 0.15492940 -0.02677815
+v 0.00297528 0.15336384 -0.03920481
+v 0.01825746 0.11443992 -0.15051842
+v 0.03193834 0.11263313 -0.14863300
+v 0.03193834 0.11173609 -0.14898805
+v 0.01506758 0.11405911 -0.15064085
+v 0.01957281 0.12082081 -0.14496006
+v 0.02360146 0.12043998 -0.14406632
+v 0.03193834 0.11714375 -0.14567017
+v 0.00660361 0.12714665 -0.13217833
+v 0.00763936 0.12677429 -0.13296188
+v 0.01166801 0.12652464 -0.13228852
+v 0.01506758 0.12274607 -0.14148303
+v 0.02421783 0.11173609 -0.14947777
+v 0.01338368 0.11173609 -0.14995525
+v 0.00139305 0.11173589 -0.09492291
+v 0.00772197 0.12000809 -0.06531928
+v 0.00647652 0.12645660 -0.04191062
+v 0.00297528 0.12163714 -0.05726336
+v 0.00297528 0.11173589 -0.09531469
+v 0.03193834 0.11173598 -0.11923753
+v 0.03193834 0.11412242 -0.10808414
+v 0.00785541 0.13202504 -0.02901871
+v 0.03193834 0.13700536 -0.03318131
+v 0.03193834 0.15091806 -0.02585994
+v 0.00660361 0.15093085 -0.04891353
+v 0.00701664 0.15091392 -0.04886456
+v 0.00660361 0.12792945 -0.12972973
+v 0.00297528 0.15415086 -0.03318124
+v 0.00660361 0.15282645 -0.03920481
+v 0.00659725 0.15215369 -0.04281650
+v 0.03193834 0.11910709 -0.14155652
+v 0.01104529 0.15047385 -0.04724848
+v 0.00939952 0.12753170 -0.12995010
+v 0.00902461 0.12258073 -0.05726336
+v 0.03193834 0.11650464 -0.09922018
+v 0.03193834 0.12647362 -0.06611505
+v 0.03193834 0.12738335 -0.06320120
+v 0.03193834 0.13657800 -0.03443010
+v 0.00902461 0.15134127 -0.04522837
+v 0.00902461 0.15246679 -0.03920481
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 38
+f 1 38 37
+f 1 37 64
+f 1 64 93
+f 1 93 92
+f 1 92 83
+f 1 83 99
+f 1 99 98
+f 1 98 94
+f 1 94 65
+f 1 65 39
+f 1 39 18
+f 1 18 7
+f 1 7 19
+f 1 19 21
+f 1 21 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 12 5
+f 3 5 4
+f 3 11 13
+f 3 13 14
+f 3 14 12
+f 5 12 30
+f 5 30 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 7 18 19
+f 8 20 9
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 20
+f 9 20 25
+f 9 25 26
+f 9 26 27
+f 9 27 10
+f 10 27 11
+f 11 27 28
+f 11 28 14
+f 11 14 13
+f 12 14 29
+f 12 29 30
+f 14 31 32
+f 14 32 33
+f 14 33 29
+f 14 28 34
+f 14 34 31
+f 15 30 33
+f 15 33 16
+f 16 33 60
+f 16 60 35
+f 16 35 36
+f 16 36 37
+f 16 37 38
+f 16 38 17
+f 18 39 40
+f 18 40 19
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 44
+f 19 44 45
+f 19 45 46
+f 19 46 51
+f 19 51 21
+f 20 47 48
+f 20 48 25
+f 20 24 49
+f 20 49 50
+f 20 50 47
+f 21 51 22
+f 22 51 52
+f 22 52 53
+f 22 53 23
+f 23 53 49
+f 23 49 24
+f 25 48 27
+f 25 27 26
+f 27 48 54
+f 27 54 28
+f 28 54 34
+f 29 33 30
+f 31 55 56
+f 31 56 57
+f 31 57 32
+f 31 34 58
+f 31 58 59
+f 31 59 55
+f 32 57 60
+f 32 60 33
+f 34 54 61
+f 34 61 62
+f 34 62 58
+f 35 63 36
+f 35 60 57
+f 35 57 63
+f 36 63 64
+f 36 64 37
+f 39 65 40
+f 40 65 66
+f 40 66 67
+f 40 67 42
+f 40 42 41
+f 42 67 43
+f 43 67 68
+f 43 68 44
+f 44 69 45
+f 44 68 69
+f 45 69 70
+f 45 70 46
+f 46 70 71
+f 46 71 103
+f 46 103 75
+f 46 75 51
+f 47 72 48
+f 47 50 73
+f 47 73 72
+f 48 72 54
+f 49 53 50
+f 50 53 74
+f 50 74 73
+f 51 75 76
+f 51 76 77
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 52 79 53
+f 53 79 78
+f 53 78 80
+f 53 80 74
+f 54 72 61
+f 55 81 84
+f 55 84 56
+f 55 59 82
+f 55 82 83
+f 55 83 81
+f 56 84 63
+f 56 63 57
+f 58 85 59
+f 58 62 85
+f 59 85 86
+f 59 86 87
+f 59 87 110
+f 59 110 103
+f 59 103 71
+f 59 71 102
+f 59 102 117
+f 59 117 116
+f 59 116 115
+f 59 115 114
+f 59 114 100
+f 59 100 99
+f 59 99 83
+f 59 83 82
+f 61 72 62
+f 62 72 88
+f 62 88 89
+f 62 89 90
+f 62 90 91
+f 62 91 85
+f 63 84 92
+f 63 92 93
+f 63 93 64
+f 65 94 66
+f 66 95 96
+f 66 96 97
+f 66 97 67
+f 66 94 98
+f 66 98 99
+f 66 99 100
+f 66 100 95
+f 67 97 96
+f 67 96 68
+f 68 101 69
+f 68 96 101
+f 69 101 70
+f 70 101 71
+f 71 101 96
+f 71 96 102
+f 72 73 104
+f 72 104 105
+f 72 105 106
+f 72 106 90
+f 72 90 88
+f 73 74 104
+f 74 105 104
+f 74 80 105
+f 75 103 107
+f 75 107 76
+f 76 107 77
+f 77 107 78
+f 78 107 80
+f 80 107 103
+f 80 103 108
+f 80 108 109
+f 80 109 105
+f 81 83 84
+f 83 92 84
+f 85 91 90
+f 85 90 86
+f 86 110 87
+f 86 90 111
+f 86 111 110
+f 88 90 89
+f 90 106 112
+f 90 112 105
+f 90 105 111
+f 95 113 96
+f 95 100 114
+f 95 114 113
+f 96 113 114
+f 96 114 115
+f 96 115 116
+f 96 116 117
+f 96 117 102
+f 103 110 111
+f 103 111 118
+f 103 118 119
+f 103 119 108
+f 105 109 118
+f 105 118 111
+f 105 112 106
+f 108 119 109
+f 109 119 118
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_29.obj

@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.07092458 -0.12134312 -0.01512677
+v 0.07158907 -0.12134314 -0.01123941
+v 0.07108621 -0.12134312 -0.01695228
+v 0.05517437 -0.12467693 -0.03703700
+v 0.05145681 -0.12551367 -0.03703700
+v 0.07633928 -0.12134315 -0.00710756
+v 0.03556292 -0.13236895 -0.01022482
+v 0.05024457 -0.13161070 0.00459117
+v 0.07990418 -0.12134304 -0.03703699
+v 0.05744621 -0.12428470 -0.03703700
+v 0.05081029 -0.12571849 -0.03703700
+v 0.07817112 -0.12134316 -0.00589734
+v 0.04915803 -0.12636783 -0.03703700
+v 0.03556292 -0.13235587 -0.01225000
+v 0.03556292 -0.13293114 -0.00837894
+v 0.04754171 -0.13243873 0.00459116
+v 0.05133110 -0.13139280 0.00459117
+v 0.09573522 -0.12134304 -0.03703699
+v 0.08346010 -0.12134316 -0.00413295
+v 0.04753273 -0.12744863 -0.03703701
+v 0.03556292 -0.13235586 -0.01363543
+v 0.03556292 -0.13328849 -0.00741321
+v 0.03556292 -0.13519733 -0.00321210
+v 0.03556292 -0.13786010 0.00195067
+v 0.03556292 -0.13943772 0.00459114
+v 0.05556947 -0.13169787 0.00459117
+v 0.09612134 -0.12134317 -0.00192441
+v 0.09007807 -0.12134317 -0.00244598
+v 0.12237768 -0.12134309 -0.02504892
+v 0.09569930 -0.12139533 -0.03703699
+v 0.04524293 -0.12943153 -0.03703702
+v 0.03556292 -0.13831319 -0.03703705
+v 0.03556292 -0.15233748 0.00459109
+v 0.05682661 -0.13185911 0.00459117
+v 0.10216461 -0.12134317 -0.00240931
+v 0.12334748 -0.12134309 -0.02436842
+v 0.12212626 -0.12184425 -0.02489407
+v 0.09518746 -0.12204903 -0.03703699
+v 0.03556292 -0.14968328 -0.03703709
+v 0.03556292 -0.16188587 -0.00723402
+v 0.03937027 -0.15247258 0.00459109
+v 0.05899967 -0.13560702 0.00459115
+v 0.10888134 -0.12134316 -0.00417777
+v 0.05916131 -0.13590336 0.00459115
+v 0.05702417 -0.14229223 0.00459113
+v 0.12526014 -0.12134310 -0.02232287
+v 0.11556217 -0.12743124 -0.02462923
+v 0.07347479 -0.13975134 -0.03703705
+v 0.03556292 -0.16275741 -0.02384293
+v 0.05141191 -0.14886398 -0.03703709
+v 0.03556292 -0.16426970 -0.01024531
+v 0.04403068 -0.16335016 -0.01159407
+v 0.04573681 -0.16118422 -0.00939366
+v 0.05112457 -0.15910545 -0.00879058
+v 0.04279150 -0.15136564 0.00459109
+v 0.10590012 -0.12415408 -0.00429595
+v 0.11043482 -0.12235857 -0.00509868
+v 0.11085686 -0.12134316 -0.00483789
+v 0.10400542 -0.12777124 -0.00547766
+v 0.12728054 -0.12134311 -0.01918935
+v 0.12351810 -0.12357441 -0.02070110
+v 0.11958502 -0.12586672 -0.02225769
+v 0.11198829 -0.13169341 -0.02167501
+v 0.10859400 -0.13279162 -0.02403433
+v 0.09069766 -0.14500717 -0.02420551
+v 0.06946989 -0.14264507 -0.03703706
+v 0.07117601 -0.14144661 -0.03703706
+v 0.03924456 -0.16229111 -0.02326023
+v 0.03924456 -0.16421301 -0.02025302
+v 0.03556292 -0.16296224 -0.02352102
+v 0.05737437 -0.14800108 -0.03703708
+v 0.03556292 -0.16541150 -0.01346034
+v 0.04805355 -0.16300586 -0.01294690
+v 0.05737437 -0.15832971 -0.01050607
+v 0.06166661 -0.15751040 -0.01150440
+v 0.07550418 -0.15165756 -0.01128842
+v 0.08758174 -0.14591369 -0.01112133
+v 0.09815970 -0.13986475 -0.01127614
+v 0.10590012 -0.12981950 -0.00766584
+v 0.10803726 -0.12638103 -0.00639040
+v 0.11216788 -0.12415407 -0.00716869
+v 0.12008788 -0.12134314 -0.00975211
+v 0.11531972 -0.12134315 -0.00717683
+v 0.12087810 -0.12689959 -0.01824401
+v 0.12728054 -0.12134312 -0.01704600
+v 0.11766340 -0.12815905 -0.02060740
+v 0.11012950 -0.13390729 -0.02002065
+v 0.06711723 -0.14419216 -0.03703707
+v 0.10321522 -0.13925895 -0.01885120
+v 0.09171235 -0.14561295 -0.02114126
+v 0.08758174 -0.14763072 -0.02114127
+v 0.08010173 -0.15170112 -0.01969473
+v 0.07789275 -0.15065953 -0.02370433
+v 0.06309437 -0.14619251 -0.03703708
+v 0.05968213 -0.15678256 -0.02386735
+v 0.04528783 -0.16350266 -0.01902243
+v 0.03556292 -0.16586035 -0.01512693
+v 0.03556292 -0.16447013 -0.02106391
+v 0.04854743 -0.16311045 -0.01695651
+v 0.05086416 -0.16229985 -0.01502505
+v 0.05737437 -0.16015570 -0.01512691
+v 0.06357927 -0.15794619 -0.01524100
+v 0.06569845 -0.15666930 -0.01330954
+v 0.07857520 -0.15100822 -0.01208707
+v 0.09083235 -0.14507695 -0.01197703
+v 0.10917768 -0.13321005 -0.01176102
+v 0.10571154 -0.13438670 -0.01084827
+v 0.11141360 -0.12974977 -0.01045708
+v 0.11577768 -0.12765355 -0.01141872
+v 0.12229686 -0.12134314 -0.01109679
+v 0.12087810 -0.12689959 -0.01800360
+v 0.12533198 -0.12134313 -0.01385136
+v 0.11980054 -0.12589726 -0.01399806
+v 0.11778910 -0.12829417 -0.01565244
+v 0.10321522 -0.13925896 -0.01700124
+v 0.09182011 -0.14566526 -0.01512686
+v 0.08758174 -0.14789657 -0.01512686
+v 0.08275969 -0.15019761 -0.01512687
+v 0.07974255 -0.15153553 -0.01512688
+v 0.06694662 -0.15719660 -0.01731507
+v 0.06694662 -0.15719659 -0.01862308
+v 0.07572867 -0.15262937 -0.02147542
+v 0.06916458 -0.15533571 -0.02083162
+v 0.06341764 -0.15623345 -0.02279974
+v 0.07386091 -0.15153550 -0.02461302
+v 0.05754498 -0.15868702 -0.02157324
+v 0.04854743 -0.16311044 -0.01826044
+v 0.06916458 -0.15580639 -0.01524099
+v 0.07550418 -0.15330053 -0.01512688
+v 0.09483726 -0.14385668 -0.01512685
+v 0.10219154 -0.13858784 -0.01299571
+v 0.11011156 -0.13389423 -0.01512681
+v 0.11313768 -0.13163678 -0.01512680
+v 0.12212626 -0.12187481 -0.01136980
+v 0.09997358 -0.14066225 -0.01504942
+v 0.10542420 -0.13711481 -0.01504940
+v 0.06341764 -0.15781107 -0.01979255
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 28
+f 1 28 27
+f 1 27 35
+f 1 35 43
+f 1 43 58
+f 1 58 83
+f 1 83 82
+f 1 82 110
+f 1 110 112
+f 1 112 85
+f 1 85 60
+f 1 60 46
+f 1 46 36
+f 1 36 29
+f 1 29 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 18
+f 4 18 30
+f 4 30 38
+f 4 38 48
+f 4 48 67
+f 4 67 66
+f 4 66 88
+f 4 88 94
+f 4 94 71
+f 4 71 50
+f 4 50 39
+f 4 39 32
+f 4 32 31
+f 4 31 20
+f 4 20 13
+f 4 13 11
+f 4 11 5
+f 5 11 7
+f 6 8 12
+f 7 11 13
+f 7 13 14
+f 7 14 21
+f 7 21 32
+f 7 32 39
+f 7 39 49
+f 7 49 70
+f 7 70 98
+f 7 98 97
+f 7 97 72
+f 7 72 51
+f 7 51 40
+f 7 40 33
+f 7 33 25
+f 7 25 24
+f 7 24 23
+f 7 23 22
+f 7 22 15
+f 7 15 16
+f 7 16 8
+f 8 16 25
+f 8 25 33
+f 8 33 41
+f 8 41 55
+f 8 55 45
+f 8 45 44
+f 8 44 42
+f 8 42 34
+f 8 34 26
+f 8 26 17
+f 8 17 12
+f 12 17 19
+f 13 20 21
+f 13 21 14
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 17 26 27
+f 17 27 28
+f 17 28 19
+f 18 29 30
+f 20 31 21
+f 21 31 32
+f 26 34 27
+f 27 34 35
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 33 40 41
+f 34 42 35
+f 35 42 44
+f 35 44 45
+f 35 45 43
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 38
+f 39 50 49
+f 40 51 41
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 51 52
+f 43 56 57
+f 43 57 58
+f 43 45 56
+f 45 55 59
+f 45 59 56
+f 46 60 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 67
+f 47 67 48
+f 49 68 69
+f 49 69 70
+f 49 50 71
+f 49 71 68
+f 51 72 52
+f 52 72 73
+f 52 73 74
+f 52 74 54
+f 52 54 53
+f 54 74 55
+f 55 74 75
+f 55 75 76
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 59
+f 56 59 57
+f 57 59 80
+f 57 80 81
+f 57 81 82
+f 57 82 83
+f 57 83 58
+f 59 79 80
+f 60 84 61
+f 60 85 111
+f 60 111 84
+f 61 84 62
+f 62 84 86
+f 62 86 63
+f 63 87 64
+f 63 86 87
+f 64 87 65
+f 65 88 66
+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 88
+f 68 71 95
+f 68 95 96
+f 68 96 69
+f 69 97 98
+f 69 98 70
+f 69 96 97
+f 71 94 95
+f 72 97 73
+f 73 99 100
+f 73 100 101
+f 73 101 102
+f 73 102 103
+f 73 103 75
+f 73 75 74
+f 73 97 99
+f 75 103 104
+f 75 104 76
+f 76 104 77
+f 77 104 105
+f 77 105 78
+f 78 105 106
+f 78 106 107
+f 78 107 79
+f 79 107 106
+f 79 106 108
+f 79 108 80
+f 80 108 109
+f 80 109 81
+f 81 109 82
+f 82 109 110
+f 84 89 87
+f 84 87 86
+f 84 111 115
+f 84 115 89
+f 85 112 113
+f 85 113 114
+f 85 114 111
+f 89 115 116
+f 89 116 90
+f 90 116 117
+f 90 117 92
+f 90 92 91
+f 92 118 119
+f 92 119 120
+f 92 120 121
+f 92 121 122
+f 92 122 93
+f 92 117 118
+f 93 122 123
+f 93 123 124
+f 93 124 125
+f 93 125 94
+f 94 125 95
+f 95 125 124
+f 95 124 126
+f 95 126 127
+f 95 127 96
+f 96 127 97
+f 97 127 99
+f 99 127 121
+f 99 121 120
+f 99 120 100
+f 100 120 101
+f 101 120 102
+f 102 120 103
+f 103 120 128
+f 103 128 129
+f 103 129 104
+f 104 129 119
+f 104 119 118
+f 104 118 117
+f 104 117 105
+f 105 117 116
+f 105 116 130
+f 105 130 131
+f 105 131 106
+f 106 132 133
+f 106 133 114
+f 106 114 113
+f 106 113 112
+f 106 112 109
+f 106 109 108
+f 106 131 132
+f 109 112 134
+f 109 134 110
+f 110 134 112
+f 111 114 133
+f 111 133 132
+f 111 132 115
+f 115 131 135
+f 115 135 130
+f 115 130 116
+f 115 132 136
+f 115 136 131
+f 119 129 120
+f 120 129 128
+f 121 127 137
+f 121 137 123
+f 121 123 122
+f 123 137 124
+f 124 137 126
+f 126 137 127
+f 130 135 131
+f 131 136 132
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_3.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.04368163 0.14736950 0.04647049
+v 0.04360630 0.14143577 0.04647047
+v 0.04885951 0.14364562 0.03680683
+v 0.04885951 0.14541634 0.03680683
+v 0.04308296 0.14845874 0.04647050
+v 0.05472328 0.13813112 0.01992988
+v 0.05283609 0.14165255 0.02700172
+v 0.04255566 0.13979052 0.04647046
+v 0.05422373 0.14165256 0.02344106
+v 0.05456866 0.14490886 0.01929698
+v 0.05664615 0.14693338 0.01034758
+v 0.04974760 0.14623755 0.03301634
+v 0.04191734 0.15026937 0.04647050
+v 0.05040573 0.13734411 0.02700170
+v 0.05698315 0.13594413 0.01034754
+v 0.05835096 0.14165261 0.01034756
+v 0.04910929 0.13808545 0.03106448
+v 0.04102133 0.13829924 0.04647046
+v 0.05833114 0.14172959 0.01034756
+v 0.04127507 0.15594376 0.01034761
+v 0.03758791 0.15794535 0.03301638
+v 0.03744121 0.15779991 0.03757770
+v 0.04324155 0.15189184 0.03744685
+v 0.03886454 0.15333747 0.04647051
+v 0.03662845 0.13229712 0.03662645
+v 0.05132158 0.13396242 0.01034753
+v 0.03940373 0.13734404 0.04647045
+v 0.03851168 0.15752914 0.01034762
+v 0.03319900 0.16051731 0.03301639
+v 0.03332587 0.15882642 0.03936334
+v 0.03455492 0.15628294 0.04647052
+v 0.03662845 0.13229712 0.03512016
+v 0.04500980 0.13324672 0.01034753
+v 0.03447563 0.13650002 0.04647045
+v 0.03319900 0.13634319 0.04647045
+v 0.03319900 0.13208895 0.03701894
+v 0.03323865 0.15781142 0.01034762
+v 0.02715286 0.16121305 0.03301639
+v 0.03177964 0.15712980 0.04647053
+v 0.03319900 0.13208896 0.03445540
+v 0.02927000 0.13222013 0.03483728
+v 0.02727180 0.14065747 0.01034756
+v 0.02873873 0.13772896 0.04647046
+v 0.02927000 0.13222013 0.03675021
+v 0.03243382 0.15774584 0.01034762
+v 0.02699030 0.15908875 0.03945527
+v 0.02929775 0.15713266 0.04647053
+v 0.03108979 0.15713266 0.04647053
+v 0.02894886 0.15702444 0.01034762
+v 0.02212564 0.15864110 0.03301638
+v 0.02252210 0.15823333 0.03772975
+v 0.02296615 0.13722717 0.03301630
+v 0.02721629 0.13408779 0.03290667
+v 0.02317231 0.14254224 0.01034756
+v 0.02642732 0.13952534 0.04647046
+v 0.02309698 0.13729844 0.03768724
+v 0.02627666 0.15465195 0.04647052
+v 0.02211771 0.15267321 0.01034760
+v 0.01905300 0.15365116 0.03295625
+v 0.01785171 0.15159531 0.03644266
+v 0.02364411 0.15163519 0.04647051
+v 0.02558284 0.15394196 0.04647052
+v 0.01802615 0.14454097 0.03615268
+v 0.01802615 0.14454097 0.03574605
+v 0.02229215 0.14342046 0.01034757
+v 0.02571764 0.14011844 0.04647046
+v 0.02328332 0.14313805 0.04647048
+v 0.02101949 0.14768329 0.01034758
+v 0.01785171 0.15159531 0.03492575
+v 0.01786360 0.14768320 0.03643556
+v 0.02279170 0.14768316 0.04647049
+v 0.02285117 0.14670228 0.04647049
+v 0.01786360 0.14768320 0.03498937
+v 0.02103138 0.14754072 0.01034758
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 24
+f 1 24 31
+f 1 31 39
+f 1 39 48
+f 1 48 47
+f 1 47 57
+f 1 57 62
+f 1 62 61
+f 1 61 71
+f 1 71 72
+f 1 72 67
+f 1 67 66
+f 1 66 55
+f 1 55 43
+f 1 43 35
+f 1 35 34
+f 1 34 27
+f 1 27 18
+f 1 18 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 15
+f 6 15 16
+f 6 16 9
+f 6 9 7
+f 6 8 17
+f 6 17 14
+f 8 18 17
+f 9 16 19
+f 9 19 10
+f 10 19 11
+f 11 19 16
+f 11 16 15
+f 11 15 26
+f 11 26 33
+f 11 33 42
+f 11 42 54
+f 11 54 65
+f 11 65 74
+f 11 74 68
+f 11 68 58
+f 11 58 49
+f 11 49 45
+f 11 45 37
+f 11 37 28
+f 11 28 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 13
+f 11 13 12
+f 13 23 22
+f 13 22 24
+f 14 17 18
+f 14 18 25
+f 14 25 15
+f 15 25 26
+f 18 27 25
+f 20 28 29
+f 20 29 21
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 24
+f 25 32 33
+f 25 33 26
+f 25 27 34
+f 25 34 35
+f 25 35 36
+f 25 36 40
+f 25 40 32
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 29 39 30
+f 30 39 31
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 35 43 44
+f 35 44 36
+f 36 44 41
+f 36 41 40
+f 37 45 38
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 38 45 49
+f 38 49 50
+f 38 50 51
+f 38 51 46
+f 41 44 52
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 43 55 56
+f 43 56 44
+f 44 56 52
+f 46 51 47
+f 47 51 57
+f 49 58 50
+f 50 58 59
+f 50 59 60
+f 50 60 51
+f 51 60 61
+f 51 61 62
+f 51 62 57
+f 52 56 63
+f 52 63 64
+f 52 64 65
+f 52 65 54
+f 52 54 53
+f 55 66 56
+f 56 66 67
+f 56 67 63
+f 58 68 69
+f 58 69 59
+f 59 69 60
+f 60 69 73
+f 60 73 70
+f 60 70 71
+f 60 71 61
+f 63 72 70
+f 63 70 73
+f 63 73 64
+f 63 67 72
+f 64 73 68
+f 64 68 74
+f 64 74 65
+f 68 73 69
+f 70 72 71
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_30.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.02709442 -0.12134270 -0.12969996
+v 0.03893347 -0.12134269 -0.13352695
+v 0.03924255 -0.12144581 -0.13344063
+v 0.04528302 -0.12436787 -0.12945060
+v 0.02709442 -0.12135416 -0.12967119
+v 0.02709442 -0.12134287 -0.08495586
+v 0.04392576 -0.12134269 -0.13472587
+v 0.04528302 -0.12201017 -0.13422713
+v 0.02709442 -0.12138566 -0.12958487
+v 0.05133021 -0.12218205 -0.13445731
+v 0.05133021 -0.12462569 -0.12945060
+v 0.05133021 -0.13051569 -0.11139950
+v 0.04528302 -0.12988544 -0.11139950
+v 0.02709442 -0.15060646 -0.03703708
+v 0.02709442 -0.12134860 -0.08492708
+v 0.04606243 -0.12134299 -0.05214352
+v 0.05026859 -0.12134268 -0.13502322
+v 0.05133021 -0.12134268 -0.13498485
+v 0.05607389 -0.12169504 -0.13380510
+v 0.05780070 -0.12276934 -0.12986301
+v 0.05737067 -0.12985107 -0.11139950
+v 0.05737067 -0.13725082 -0.08733459
+v 0.05133021 -0.14641526 -0.05725585
+v 0.04754063 -0.14519486 -0.06055530
+v 0.05133021 -0.14753253 -0.05123242
+v 0.05141084 -0.14886469 -0.03703708
+v 0.02709442 -0.13967743 -0.03703704
+v 0.02709442 -0.12247445 -0.08126315
+v 0.02709442 -0.13259858 -0.05363023
+v 0.04915322 -0.12636780 -0.03703699
+v 0.05081284 -0.12571751 -0.03703699
+v 0.05157209 -0.12134301 -0.04728065
+v 0.05564387 -0.12134269 -0.13411203
+v 0.05736396 -0.12134269 -0.13327756
+v 0.05931250 -0.12134270 -0.13136888
+v 0.05624859 -0.12134269 -0.13393938
+v 0.06106618 -0.12134271 -0.12929712
+v 0.06144917 -0.12164636 -0.12813656
+v 0.06656240 -0.12698060 -0.10860839
+v 0.06302144 -0.12777126 -0.11092952
+v 0.06226218 -0.13970596 -0.07398330
+v 0.05917811 -0.14473650 -0.05952901
+v 0.05724973 -0.14563892 -0.05741889
+v 0.05515337 -0.14506595 -0.06041142
+v 0.05737067 -0.14680775 -0.05123242
+v 0.05737067 -0.14799954 -0.03703707
+v 0.05145115 -0.12551411 -0.03703699
+v 0.05274122 -0.12134301 -0.04657088
+v 0.06163730 -0.12134271 -0.12828042
+v 0.07265662 -0.13310843 -0.07259252
+v 0.07249536 -0.13893827 -0.05431124
+v 0.06957928 -0.14024172 -0.05668993
+v 0.06720072 -0.12165214 -0.11580195
+v 0.06779871 -0.12373197 -0.11092950
+v 0.09573673 -0.12134304 -0.03703698
+v 0.09519248 -0.12204776 -0.03703698
+v 0.06320285 -0.14371952 -0.05741889
+v 0.06105946 -0.14525504 -0.05551979
+v 0.06173809 -0.14556445 -0.05123241
+v 0.06308191 -0.14619474 -0.03703707
+v 0.05518025 -0.12467761 -0.03703699
+v 0.05737067 -0.12147193 -0.04406752
+v 0.05737067 -0.12134302 -0.04442240
+v 0.06731494 -0.12134275 -0.11596501
+v 0.07277085 -0.13920756 -0.05123239
+v 0.06945162 -0.14141056 -0.05123240
+v 0.06476168 -0.14413780 -0.05123241
+v 0.06751652 -0.12134276 -0.11549503
+v 0.06918957 -0.12134277 -0.11128438
+v 0.07989981 -0.12134304 -0.03703698
+v 0.07346964 -0.13974905 -0.03703704
+v 0.06710665 -0.14419228 -0.03703706
+v 0.05744459 -0.12428227 -0.03703699
+v 0.07116498 -0.14144499 -0.03703705
+v 0.06946505 -0.14263959 -0.03703705
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 27
+f 1 27 29
+f 1 29 28
+f 1 28 15
+f 1 15 6
+f 1 6 16
+f 1 16 32
+f 1 32 48
+f 1 48 63
+f 1 63 70
+f 1 70 55
+f 1 55 69
+f 1 69 68
+f 1 68 64
+f 1 64 49
+f 1 49 37
+f 1 37 35
+f 1 35 34
+f 1 34 36
+f 1 36 33
+f 1 33 18
+f 1 18 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 4
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 9
+f 6 15 16
+f 7 17 10
+f 7 10 8
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 14
+f 12 14 13
+f 14 24 23
+f 14 23 25
+f 14 25 26
+f 14 26 46
+f 14 46 60
+f 14 60 72
+f 14 72 75
+f 14 75 74
+f 14 74 71
+f 14 71 56
+f 14 56 55
+f 14 55 70
+f 14 70 73
+f 14 73 61
+f 14 61 47
+f 14 47 31
+f 14 31 30
+f 14 30 27
+f 15 28 16
+f 16 29 27
+f 16 27 30
+f 16 30 31
+f 16 31 32
+f 16 28 29
+f 18 33 19
+f 19 34 35
+f 19 35 20
+f 19 33 36
+f 19 36 34
+f 20 35 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 21
+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 43
+f 23 43 45
+f 23 45 25
+f 25 45 26
+f 26 45 46
+f 31 47 32
+f 32 47 48
+f 37 49 38
+f 38 49 39
+f 39 50 51
+f 39 51 52
+f 39 52 41
+f 39 41 40
+f 39 49 53
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 50
+f 41 52 57
+f 41 57 58
+f 41 58 42
+f 42 58 43
+f 43 58 45
+f 45 58 59
+f 45 59 46
+f 46 59 60
+f 47 61 48
+f 48 61 62
+f 48 62 63
+f 49 64 53
+f 50 56 51
+f 51 56 65
+f 51 65 66
+f 51 66 52
+f 52 66 67
+f 52 67 57
+f 53 64 68
+f 53 68 69
+f 53 69 54
+f 54 69 55
+f 56 71 65
+f 57 67 58
+f 58 67 59
+f 59 67 60
+f 60 67 72
+f 61 73 62
+f 62 73 70
+f 62 70 63
+f 65 71 74
+f 65 74 75
+f 65 75 66
+f 66 75 72
+f 66 72 67
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_31.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.05164195 -0.13119265 0.00459117
+v -0.05745093 -0.13259463 0.00459116
+v -0.04520611 -0.13346151 0.01503840
+v -0.04308173 -0.13272071 0.01308216
+v -0.04205088 -0.13272071 0.01308216
+v -0.04531756 -0.13188480 0.00459117
+v -0.06267483 -0.13646667 0.00459115
+v -0.05548675 -0.13770283 0.01496369
+v -0.05140514 -0.13533450 0.01504350
+v -0.04520611 -0.13346594 0.01504351
+v -0.03975236 -0.13447430 0.01504351
+v -0.00252339 -0.13965540 0.00459114
+v -0.06267483 -0.13682712 0.00459115
+v -0.05546585 -0.13774264 0.01504349
+v -0.02732645 -0.14025028 0.01504348
+v 0.00662192 -0.14303209 0.00459112
+v -0.00055224 -0.14032763 0.00459113
+v -0.06210368 -0.13975712 0.00459114
+v -0.06101015 -0.13947627 0.00668857
+v -0.05546585 -0.14018836 0.01504349
+v -0.02301500 -0.14313827 0.01504347
+v 0.00611346 -0.14488739 0.00597235
+v 0.00751346 -0.14347877 0.00459112
+v -0.06130965 -0.14032763 0.00459113
+v -0.05541710 -0.14023701 0.01504348
+v -0.02295928 -0.14318913 0.01504347
+v 0.00611346 -0.14515275 0.00597235
+v 0.00848162 -0.14748791 0.00459111
+v -0.02194932 -0.14788820 0.01504346
+v -0.02193539 -0.14797002 0.01504346
+v -0.05132852 -0.14294810 0.01504347
+v -0.04315835 -0.15156780 0.00459109
+v -0.04278919 -0.15134668 0.00688087
+v 0.00491544 -0.14917515 0.00552522
+v -0.02318913 -0.15237719 0.01504344
+v 0.00409355 -0.15076288 0.00459110
+v -0.04488572 -0.14654372 0.01504346
+v -0.00911246 -0.15354472 0.00459109
+v -0.02722894 -0.15378138 0.01504344
+v -0.03932052 -0.14922826 0.01504345
+v -0.03262697 -0.15242142 0.01504344
+v -0.03269662 -0.15239266 0.01504344
+v 0.00088956 -0.15134445 0.00624550
+v 0.00203185 -0.15226437 0.00459109
+v -0.00306667 -0.15330369 0.00459109
+v -0.00108159 -0.15292998 0.00459109
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 17
+f 1 17 16
+f 1 16 23
+f 1 23 28
+f 1 28 36
+f 1 36 44
+f 1 44 46
+f 1 46 45
+f 1 45 38
+f 1 38 32
+f 1 32 24
+f 1 24 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 5
+f 3 5 4
+f 3 9 10
+f 5 11 12
+f 5 12 6
+f 7 13 20
+f 7 20 14
+f 7 14 8
+f 8 14 9
+f 9 14 20
+f 9 20 25
+f 9 25 31
+f 9 31 37
+f 9 37 40
+f 9 40 42
+f 9 42 41
+f 9 41 39
+f 9 39 35
+f 9 35 30
+f 9 30 29
+f 9 29 26
+f 9 26 21
+f 9 21 15
+f 9 15 11
+f 9 11 10
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 20
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 18 24 25
+f 18 25 20
+f 18 20 19
+f 21 26 22
+f 22 27 28
+f 22 28 23
+f 22 26 29
+f 22 29 30
+f 22 30 27
+f 24 31 25
+f 24 32 33
+f 24 33 31
+f 27 34 28
+f 27 30 35
+f 27 35 34
+f 28 34 36
+f 31 33 37
+f 32 38 39
+f 32 39 33
+f 33 40 37
+f 33 39 41
+f 33 41 42
+f 33 42 40
+f 34 43 36
+f 34 35 43
+f 35 39 43
+f 36 43 44
+f 38 45 39
+f 39 45 46
+f 39 46 44
+f 39 44 43
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_32.obj

@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.03555395 -0.15233865 0.00459109
+v 0.03555395 -0.13943962 0.00459114
+v 0.02881374 -0.15386202 0.00459108
+v 0.02572378 -0.16349403 -0.00563670
+v 0.02975127 -0.16282596 -0.00625200
+v 0.03555395 -0.16188624 -0.00723402
+v 0.03555395 -0.13786118 0.00195067
+v -0.01514465 -0.13725918 0.00264340
+v -0.01514465 -0.13847789 0.00459114
+v 0.02341602 -0.15486046 0.00459108
+v 0.02110826 -0.16379136 -0.00539629
+v 0.02110826 -0.16629481 -0.00910845
+v 0.02750453 -0.16501738 -0.00859910
+v 0.03319072 -0.16455854 -0.00985413
+v 0.03555395 -0.16427221 -0.01024531
+v 0.03555395 -0.13519620 -0.00321210
+v -0.02111930 -0.13245414 -0.00541656
+v -0.02111930 -0.13422345 -0.00240935
+v -0.02111930 -0.13724083 0.00232556
+v -0.02111930 -0.13880826 0.00459114
+v 0.01506149 -0.16382807 -0.00547371
+v -0.00910342 -0.15354266 0.00459109
+v 0.00298458 -0.16365922 -0.00567745
+v 0.00902026 -0.16376200 -0.00559188
+v 0.00902026 -0.16668024 -0.00910845
+v 0.01506149 -0.16661417 -0.00910845
+v 0.02110826 -0.16828433 -0.01512694
+v 0.02714949 -0.16760891 -0.01512694
+v 0.00946961 -0.16900013 -0.01497210
+v 0.01506149 -0.16874684 -0.01512694
+v 0.03555395 -0.16541014 -0.01346034
+v 0.03555395 -0.13328738 -0.00741321
+v -0.02111930 -0.13167960 -0.00910832
+v 0.03555395 -0.13292766 -0.00837894
+v 0.03555395 -0.13236602 -0.01022482
+v -0.02111930 -0.15274610 0.00459109
+v 0.00298458 -0.16653341 -0.00910845
+v -0.00168087 -0.16340594 -0.00584859
+v 0.00298458 -0.16894141 -0.01393710
+v 0.00775543 -0.16917631 -0.01832159
+v 0.02714949 -0.16591668 -0.02114134
+v 0.03555395 -0.16447039 -0.02106391
+v 0.03319072 -0.16642693 -0.01512693
+v 0.00775543 -0.16917632 -0.01687096
+v 0.03555395 -0.16586163 -0.01512693
+v -0.02111930 -0.13167593 -0.00917351
+v 0.03555395 -0.13235501 -0.01225000
+v -0.02111930 -0.16443740 -0.01008231
+v -0.01514465 -0.16489624 -0.00966262
+v -0.00343942 -0.16537345 -0.00854612
+v -0.00910342 -0.16793561 -0.01512694
+v -0.00262394 -0.16868444 -0.01553442
+v -0.00032173 -0.16911391 -0.01780409
+v 0.00298458 -0.16917265 -0.01694023
+v 0.00298458 -0.16917264 -0.01831751
+v 0.00298458 -0.16722713 -0.02132471
+v 0.00946961 -0.16757218 -0.02065237
+v 0.01506149 -0.16695917 -0.02114134
+v 0.02110826 -0.16654804 -0.02114134
+v 0.02714949 -0.16348663 -0.02452342
+v 0.03108267 -0.16320398 -0.02427893
+v 0.03511015 -0.16281488 -0.02391220
+v 0.03313524 -0.16463925 -0.02159771
+v 0.03555395 -0.16296171 -0.02352102
+v -0.00306219 -0.13232921 -0.03703703
+v -0.00528119 -0.13246870 -0.03703703
+v -0.00689552 -0.13266325 -0.03703703
+v -0.02111930 -0.13224855 -0.01476415
+v 0.03555395 -0.13235500 -0.01363543
+v -0.02111930 -0.16612960 -0.01512693
+v -0.01514465 -0.16712069 -0.01512693
+v -0.00032173 -0.16911391 -0.01819119
+v -0.00262394 -0.16742535 -0.02057494
+v -0.00306219 -0.15606064 -0.03703711
+v -0.00020523 -0.15597988 -0.03703711
+v 0.00298458 -0.15587343 -0.03703711
+v 0.02110826 -0.16382066 -0.02477198
+v 0.00523687 -0.15564584 -0.03703711
+v 0.00917559 -0.15504751 -0.03703711
+v 0.03555395 -0.14968454 -0.03703709
+v 0.03555395 -0.16275614 -0.02384293
+v 0.00171975 -0.13238061 -0.03703703
+v -0.01020183 -0.13317716 -0.03703703
+v -0.01025175 -0.13319184 -0.03703703
+v -0.01829563 -0.13635603 -0.03703704
+v -0.02111930 -0.13756370 -0.03703705
+v 0.03555395 -0.13831254 -0.03703705
+v 0.00452124 -0.13278438 -0.03703703
+v -0.02111930 -0.16462824 -0.02163438
+v -0.01514465 -0.16585794 -0.02114134
+v -0.00910342 -0.16656273 -0.02114134
+v -0.00921437 -0.15527142 -0.03703711
+v -0.01514465 -0.16363346 -0.02466604
+v -0.01968805 -0.16330309 -0.02438487
+v -0.02111930 -0.15049210 -0.03703709
+v -0.02111930 -0.16428686 -0.02224153
+v -0.01543866 -0.15318277 -0.03703710
+v -0.02095288 -0.15059855 -0.03703709
+f 1 2 9
+f 1 9 20
+f 1 20 36
+f 1 36 22
+f 1 22 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 31
+f 1 31 45
+f 1 45 42
+f 1 42 64
+f 1 64 81
+f 1 81 80
+f 1 80 87
+f 1 87 69
+f 1 69 47
+f 1 47 35
+f 1 35 34
+f 1 34 32
+f 1 32 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 6
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 10 21 11
+f 10 22 23
+f 10 23 24
+f 10 24 21
+f 11 21 25
+f 11 25 26
+f 11 26 12
+f 12 27 28
+f 12 28 14
+f 12 14 13
+f 12 26 29
+f 12 29 30
+f 12 30 27
+f 14 28 15
+f 15 28 31
+f 16 32 17
+f 17 33 46
+f 17 46 68
+f 17 68 86
+f 17 86 95
+f 17 95 96
+f 17 96 89
+f 17 89 70
+f 17 70 48
+f 17 48 36
+f 17 36 20
+f 17 20 19
+f 17 19 18
+f 17 32 34
+f 17 34 35
+f 17 35 33
+f 21 24 37
+f 21 37 25
+f 22 36 23
+f 23 37 24
+f 23 36 38
+f 23 38 37
+f 25 37 39
+f 25 39 26
+f 26 39 29
+f 27 30 40
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 31
+f 29 39 44
+f 29 44 30
+f 30 44 40
+f 31 43 45
+f 33 35 46
+f 35 47 46
+f 36 48 49
+f 36 49 50
+f 36 50 38
+f 37 38 50
+f 37 50 49
+f 37 49 39
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 44
+f 39 49 48
+f 39 48 51
+f 40 44 54
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 41
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 41 62 63
+f 41 63 42
+f 42 45 43
+f 42 63 62
+f 42 62 64
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 47 69
+f 46 69 65
+f 48 70 71
+f 48 71 51
+f 51 72 53
+f 51 53 52
+f 51 71 72
+f 53 72 55
+f 53 55 54
+f 55 72 56
+f 56 72 73
+f 56 73 74
+f 56 74 57
+f 57 74 75
+f 57 75 76
+f 57 76 58
+f 58 76 59
+f 59 76 77
+f 59 77 60
+f 60 77 76
+f 60 76 78
+f 60 78 61
+f 61 78 79
+f 61 79 62
+f 62 79 80
+f 62 80 81
+f 62 81 64
+f 65 82 88
+f 65 88 87
+f 65 87 80
+f 65 80 79
+f 65 79 78
+f 65 78 76
+f 65 76 75
+f 65 75 74
+f 65 74 92
+f 65 92 97
+f 65 97 98
+f 65 98 95
+f 65 95 86
+f 65 86 85
+f 65 85 84
+f 65 84 83
+f 65 83 67
+f 65 67 66
+f 65 69 82
+f 67 83 68
+f 68 83 84
+f 68 84 85
+f 68 85 86
+f 69 87 88
+f 69 88 82
+f 70 89 90
+f 70 90 72
+f 70 72 71
+f 72 90 91
+f 72 91 73
+f 73 91 74
+f 74 91 93
+f 74 93 94
+f 74 94 92
+f 89 96 90
+f 90 96 94
+f 90 94 91
+f 91 94 93
+f 92 94 97
+f 94 96 95
+f 94 95 98
+f 94 98 97
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_33.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.10421410 -0.06549331 -0.11677493
+v 0.10933544 -0.05136245 -0.11105171
+v 0.10892344 -0.04988825 -0.11677487
+v 0.12147217 -0.06549331 -0.11677493
+v 0.11370146 -0.06549341 -0.08919633
+v 0.11433662 -0.05142647 -0.08959523
+v 0.11462273 -0.04798789 -0.09011749
+v 0.10903216 -0.04952946 -0.11677487
+v 0.12335476 -0.06458749 -0.11677493
+v 0.12483681 -0.06549333 -0.11292322
+v 0.13069059 -0.06549357 -0.04539117
+v 0.13190942 -0.05142663 -0.04639213
+v 0.11976124 -0.04093310 -0.08952265
+v 0.11928630 -0.04025461 -0.09335261
+v 0.11274013 -0.04492931 -0.11126204
+v 0.11150987 -0.04534846 -0.11677486
+v 0.13235002 -0.04670213 -0.04737862
+v 0.12660496 -0.03603458 -0.07783691
+v 0.12859056 -0.06174568 -0.11677492
+v 0.13010121 -0.06549335 -0.10641664
+v 0.13192086 -0.06549358 -0.04267103
+v 0.13258463 -0.05922740 -0.04267101
+v 0.13308247 -0.05575329 -0.04267099
+v 0.13315113 -0.05539451 -0.04267099
+v 0.12166672 -0.03723519 -0.09335260
+v 0.11418212 -0.04159017 -0.11677484
+v 0.11398185 -0.04186370 -0.11677484
+v 0.13402091 -0.05142664 -0.04267098
+v 0.13506234 -0.04775361 -0.04267097
+v 0.13606372 -0.04526348 -0.04267096
+v 0.13454162 -0.04497218 -0.04531131
+v 0.13735692 -0.04084446 -0.04521699
+v 0.13903352 -0.03041142 -0.06196577
+v 0.13987469 -0.02920720 -0.06279269
+v 0.13274485 -0.03016270 -0.07801823
+v 0.13348301 -0.02920714 -0.07904826
+v 0.12912844 -0.06131941 -0.11677492
+v 0.13416967 -0.06146863 -0.10984038
+v 0.13047315 -0.06549335 -0.10591613
+v 0.15502701 -0.06549358 -0.04267103
+v 0.12947177 -0.02920707 -0.09683435
+v 0.12533463 -0.02920700 -0.11677480
+v 0.11642521 -0.03903610 -0.11677483
+v 0.13834114 -0.04177516 -0.04267094
+v 0.14897295 -0.02920727 -0.04327295
+v 0.14799445 -0.02920726 -0.04506462
+v 0.13411245 -0.02920715 -0.07720582
+v 0.13160042 -0.05925910 -0.11677491
+v 0.13819809 -0.05962502 -0.10712748
+v 0.14599169 -0.06147580 -0.09143771
+v 0.13608088 -0.06228211 -0.10522701
+v 0.13197809 -0.05893229 -0.11677491
+v 0.14203767 -0.06533002 -0.08765129
+v 0.14186600 -0.06549342 -0.08749170
+v 0.15566217 -0.06482576 -0.04267103
+v 0.15491256 -0.06549358 -0.04325858
+v 0.13800925 -0.02920700 -0.11677480
+v 0.14942500 -0.02920727 -0.04267090
+v 0.13470184 -0.05626100 -0.11677490
+v 0.13520539 -0.05564645 -0.11677489
+v 0.13968585 -0.05560386 -0.10975330
+v 0.14450393 -0.06549344 -0.08131154
+v 0.14270716 -0.06549343 -0.08568553
+v 0.14486442 -0.05392722 -0.10197732
+v 0.14695302 -0.05740846 -0.09340345
+v 0.14905877 -0.05746176 -0.08733209
+v 0.15162231 -0.06134443 -0.07331069
+v 0.14692440 -0.06549347 -0.07481222
+v 0.14491020 -0.06549345 -0.08028877
+v 0.15452917 -0.06549357 -0.04521708
+v 0.15541611 -0.06455577 -0.04521708
+v 0.15778509 -0.06153991 -0.04521707
+v 0.15795104 -0.06180634 -0.04267102
+v 0.13929102 -0.03936291 -0.11677483
+v 0.14026379 -0.02920702 -0.11126923
+v 0.16141294 -0.02920727 -0.04267090
+v 0.13782614 -0.05209065 -0.11677488
+v 0.13857575 -0.05376377 -0.11376460
+v 0.14529931 -0.04990605 -0.10305086
+v 0.14841217 -0.05142646 -0.09335265
+v 0.13844987 -0.05077986 -0.11677488
+v 0.13947413 -0.04973905 -0.11573034
+v 0.13926242 -0.04861298 -0.11677487
+v 0.15037488 -0.05142648 -0.08733207
+v 0.15895241 -0.05142659 -0.05725094
+v 0.15724721 -0.05486161 -0.06052962
+v 0.15780226 -0.05621148 -0.05725096
+v 0.15704121 -0.06040316 -0.05404483
+v 0.15519295 -0.06315261 -0.05171640
+v 0.15264085 -0.06549354 -0.05382723
+v 0.15404851 -0.06549357 -0.04744397
+v 0.15899819 -0.05981707 -0.04267101
+v 0.13980601 -0.04539819 -0.11677486
+v 0.14513908 -0.04188506 -0.10268089
+v 0.14533364 -0.04539824 -0.10310887
+v 0.14182023 -0.02920704 -0.10723617
+v 0.16266611 -0.04539846 -0.04267096
+v 0.16066335 -0.04539843 -0.05123034
+v 0.15940447 -0.02920724 -0.05123028
+v 0.15913553 -0.04539841 -0.05725092
+v 0.16040584 -0.05142661 -0.05123036
+v 0.15839737 -0.05801960 -0.05171638
+v 0.15972491 -0.05746191 -0.04521705
+v 0.16011974 -0.05746192 -0.04267100
+v 0.15814559 -0.02920722 -0.05650372
+v 0.16250016 -0.04725274 -0.04267096
+v 0.16197372 -0.05150479 -0.04267098
+v 0.16098951 -0.05489009 -0.04267099
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 27
+f 1 27 26
+f 1 26 43
+f 1 43 42
+f 1 42 57
+f 1 57 74
+f 1 74 93
+f 1 93 83
+f 1 83 81
+f 1 81 77
+f 1 77 60
+f 1 60 59
+f 1 59 52
+f 1 52 48
+f 1 48 37
+f 1 37 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 39
+f 1 39 54
+f 1 54 63
+f 1 63 62
+f 1 62 69
+f 1 69 68
+f 1 68 90
+f 1 90 91
+f 1 91 70
+f 1 70 56
+f 1 56 40
+f 1 40 21
+f 1 21 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 7 12 17
+f 7 17 18
+f 7 18 13
+f 9 19 10
+f 10 19 20
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 17
+f 13 18 14
+f 14 18 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 16
+f 17 24 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 25
+f 19 37 38
+f 19 38 39
+f 19 39 20
+f 21 40 55
+f 21 55 73
+f 21 73 92
+f 21 92 104
+f 21 104 108
+f 21 108 107
+f 21 107 106
+f 21 106 97
+f 21 97 76
+f 21 76 58
+f 21 58 44
+f 21 44 30
+f 21 30 29
+f 21 29 28
+f 21 28 24
+f 21 24 23
+f 21 23 22
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 25 36 41
+f 30 44 31
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 34
+f 34 47 35
+f 34 46 45
+f 34 45 58
+f 34 58 76
+f 34 76 99
+f 34 99 105
+f 34 105 96
+f 34 96 75
+f 34 75 57
+f 34 57 42
+f 34 42 41
+f 34 41 36
+f 34 36 47
+f 35 47 36
+f 37 48 38
+f 38 49 50
+f 38 50 51
+f 38 51 39
+f 38 48 52
+f 38 52 49
+f 39 51 50
+f 39 50 53
+f 39 53 54
+f 40 56 55
+f 44 58 45
+f 49 52 59
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 50 62 63
+f 50 63 53
+f 50 61 64
+f 50 64 65
+f 50 65 66
+f 50 66 67
+f 50 67 68
+f 50 68 69
+f 50 69 62
+f 53 63 54
+f 55 56 70
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 57 75 74
+f 60 77 78
+f 60 78 61
+f 61 78 64
+f 64 79 80
+f 64 80 66
+f 64 66 65
+f 64 78 77
+f 64 77 81
+f 64 81 82
+f 64 82 83
+f 64 83 79
+f 66 80 84
+f 66 84 85
+f 66 85 86
+f 66 86 87
+f 66 87 67
+f 67 87 88
+f 67 88 89
+f 67 89 90
+f 67 90 68
+f 70 91 71
+f 71 91 90
+f 71 90 89
+f 71 89 88
+f 71 88 72
+f 72 92 73
+f 72 88 92
+f 74 75 94
+f 74 94 95
+f 74 95 93
+f 75 96 94
+f 76 97 98
+f 76 98 99
+f 79 95 84
+f 79 84 80
+f 79 83 93
+f 79 93 95
+f 81 83 82
+f 84 95 100
+f 84 100 85
+f 85 100 98
+f 85 98 101
+f 85 101 87
+f 85 87 86
+f 87 101 102
+f 87 102 88
+f 88 102 103
+f 88 103 104
+f 88 104 92
+f 94 96 105
+f 94 105 95
+f 95 105 100
+f 97 106 101
+f 97 101 98
+f 98 100 105
+f 98 105 99
+f 101 106 107
+f 101 107 108
+f 101 108 102
+f 102 108 103
+f 103 108 104
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_34.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02594791 0.07907675 -0.14218639
+v -0.02594791 0.03279762 -0.14500878
+v -0.02594791 0.07907669 -0.12450380
+v -0.00305374 0.07907677 -0.14588174
+v -0.02594791 0.00287619 -0.14594180
+v -0.02594791 0.07527979 -0.12452301
+v -0.02119093 0.07527979 -0.12451234
+v -0.02119093 0.07907669 -0.12449525
+v 0.00298546 0.03907007 -0.14626189
+v -0.00305374 0.06924623 -0.14595650
+v 0.00298546 0.07907677 -0.14587107
+v 0.06944608 0.05717895 -0.14612732
+v -0.02594791 -0.00223410 -0.14595462
+v -0.00305374 0.06321259 -0.14600135
+v -0.00305374 0.05717895 -0.14604407
+v -0.00305374 0.05114531 -0.14608038
+v 0.00298546 0.03304439 -0.14630033
+v -0.02594791 -0.00223418 -0.12500791
+v -0.02119093 0.06321251 -0.12458284
+v -0.02119093 0.06924615 -0.12454652
+v 0.00298546 0.05717887 -0.12467466
+v 0.00298546 0.06321251 -0.12464688
+v 0.00902467 0.07907669 -0.12462975
+v 0.03922069 0.07907677 -0.14575792
+v 0.07404645 0.06321259 -0.14601203
+v 0.07404645 -0.00223410 -0.14598879
+v 0.00298546 0.02701075 -0.14630462
+v -0.00305374 -0.00223410 -0.14611901
+v -0.02119093 -0.00223418 -0.12500364
+v -0.02027086 -0.00223418 -0.12500577
+v 0.01599374 -0.00223418 -0.12510184
+v 0.02203294 -0.00223418 -0.12512319
+v 0.03319128 -0.00223418 -0.12516802
+v 0.05736767 -0.00223418 -0.12527049
+v 0.06340688 -0.00223418 -0.12530464
+v 0.02715207 0.07907669 -0.12475143
+v 0.04155024 0.07907676 -0.14558927
+v 0.07404645 0.07366399 -0.14488267
+v 0.07404645 0.07058349 -0.14537156
+v 0.07404645 0.06929398 -0.14554875
+v 0.07404645 -0.00223418 -0.12538150
+v 0.06432695 -0.00223418 -0.12531105
+v 0.07036616 -0.00223418 -0.12535375
+v 0.03094982 0.07907669 -0.12478132
+v 0.07404645 0.07907675 -0.14283111
+v 0.07404645 0.07650570 -0.14388571
+v 0.07404645 0.07907669 -0.12516131
+v 0.03319128 0.07907669 -0.12480053
+f 1 2 5
+f 1 5 13
+f 1 13 18
+f 1 18 6
+f 1 6 3
+f 1 3 8
+f 1 8 23
+f 1 23 36
+f 1 36 44
+f 1 44 48
+f 1 48 47
+f 1 47 45
+f 1 45 37
+f 1 37 24
+f 1 24 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 4 11 12
+f 4 12 9
+f 5 10 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 13
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 9 17 15
+f 9 15 14
+f 9 14 10
+f 9 12 17
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 12 27 17
+f 13 17 27
+f 13 27 28
+f 13 28 26
+f 13 26 41
+f 13 41 43
+f 13 43 42
+f 13 42 35
+f 13 35 34
+f 13 34 33
+f 13 33 32
+f 13 32 31
+f 13 31 30
+f 13 30 29
+f 13 29 18
+f 15 17 16
+f 18 29 19
+f 19 29 21
+f 19 21 20
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 39
+f 25 39 38
+f 25 38 46
+f 25 46 45
+f 25 45 47
+f 25 47 41
+f 25 41 26
+f 26 28 27
+f 35 42 36
+f 36 42 43
+f 36 43 41
+f 36 41 44
+f 37 45 46
+f 37 46 38
+f 41 47 48
+f 41 48 44
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_35.obj

@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00306084 0.11173588 -0.09450858
+v 0.00297780 0.10019220 -0.12410699
+v 0.00898323 0.10039367 -0.12410699
+v 0.00140033 0.11173588 -0.09493163
+v -0.00555158 0.11173588 -0.09583566
+v -0.01911223 0.10149157 -0.12410699
+v -0.01424147 0.10035971 -0.12410699
+v -0.00821943 0.10020918 -0.12410699
+v -0.00306084 0.10017296 -0.12410699
+v 0.01506615 0.10177114 -0.12410699
+v 0.00297780 0.11173588 -0.09533439
+v -0.00917698 0.11173589 -0.09807835
+v -0.02594791 0.10549155 -0.12410697
+v 0.03059725 0.10545759 -0.12410697
+v 0.03059725 0.11173597 -0.11947089
+v -0.01026736 0.11173590 -0.09942281
+v -0.02594791 0.11173597 -0.11982149
+v -0.02594791 0.11173599 -0.12410695
+v -0.01394258 0.11173591 -0.10418927
+v 0.03059725 0.11173599 -0.12410695
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 15
+f 1 15 20
+f 1 20 18
+f 1 18 17
+f 1 17 19
+f 1 19 16
+f 1 16 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 13
+f 2 13 18
+f 2 18 20
+f 2 20 14
+f 2 14 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 6 12 13
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 13 17 18
+f 13 16 19
+f 13 19 17
+f 14 20 15
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_36.obj

@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.08193890 -0.08214198 -0.12258653
+v -0.02173083 -0.11077510 -0.12258664
+v -0.08193890 -0.09896423 -0.12258659
+v -0.08193890 -0.11656194 -0.02620458
+v -0.08152631 -0.11666938 -0.02620458
+v -0.06996212 -0.12010750 -0.02620459
+v -0.06149821 -0.11488117 -0.04879280
+v -0.05754329 -0.11549127 -0.05097236
+v -0.05141344 -0.11780125 -0.05123656
+v -0.02173083 -0.12133889 -0.12258668
+v -0.02173083 -0.12002283 -0.09300686
+v -0.06827052 -0.11688391 -0.12258666
+v -0.07322155 -0.11577499 -0.11530257
+v -0.07377559 -0.11681487 -0.11140577
+v -0.08193890 -0.10069097 -0.11856714
+v -0.08193890 -0.12133924 -0.02620460
+v -0.06825873 -0.12133924 -0.02620460
+v -0.06817031 -0.12133924 -0.02628009
+v -0.06269471 -0.12133923 -0.03096002
+v -0.05889892 -0.12133921 -0.03453601
+v -0.05744898 -0.11765547 -0.04521681
+v -0.05191443 -0.11987720 -0.04571689
+v -0.04819527 -0.12068300 -0.04805686
+v -0.04720506 -0.12000764 -0.05123657
+v -0.06351399 -0.12133889 -0.12258668
+v -0.02173083 -0.12133901 -0.08889305
+v -0.06493446 -0.12027598 -0.12258667
+v -0.06781078 -0.12133891 -0.11596307
+v -0.07173034 -0.11983091 -0.11140578
+v -0.07870304 -0.11494622 -0.09679984
+v -0.08193890 -0.10876067 -0.09925302
+v -0.08193890 -0.10087900 -0.11812368
+v -0.08193890 -0.12133911 -0.06274770
+v -0.05611102 -0.12133920 -0.03776290
+v -0.04778857 -0.12133916 -0.04769832
+v -0.04686910 -0.12133916 -0.04911363
+v -0.07017430 -0.12133893 -0.11140579
+v -0.07502513 -0.12133900 -0.09334654
+v -0.07939854 -0.12133906 -0.07529671
+v -0.07704091 -0.11852634 -0.09334653
+v -0.08193890 -0.11094405 -0.09334650
+f 1 2 10
+f 1 10 25
+f 1 25 27
+f 1 27 12
+f 1 12 3
+f 1 3 15
+f 1 15 32
+f 1 32 31
+f 1 31 41
+f 1 41 33
+f 1 33 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 26
+f 2 26 10
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 4 16 17
+f 4 17 6
+f 4 6 5
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 8
+f 6 8 7
+f 8 21 9
+f 9 21 20
+f 9 20 22
+f 9 22 23
+f 9 23 24
+f 9 24 11
+f 10 26 36
+f 10 36 35
+f 10 35 34
+f 10 34 20
+f 10 20 19
+f 10 19 18
+f 10 18 17
+f 10 17 16
+f 10 16 33
+f 10 33 39
+f 10 39 38
+f 10 38 37
+f 10 37 28
+f 10 28 25
+f 11 24 26
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 20 34 23
+f 20 23 22
+f 23 34 35
+f 23 35 36
+f 23 36 26
+f 23 26 24
+f 25 28 27
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 41 31
+f 30 40 39
+f 30 39 41
+f 33 41 39
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_37.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.08650714 0.08615316 -0.11927213
+v -0.08701113 0.08491636 -0.11927214
+v -0.07773591 0.06363062 -0.12505997
+v -0.07773591 0.08615318 -0.12429987
+v -0.11714865 0.08615316 -0.11927213
+v -0.08897159 0.08223331 -0.11927215
+v -0.07773591 0.06363069 -0.14551860
+v -0.09254574 0.07807978 -0.11927216
+v -0.09448309 0.07612648 -0.11927217
+v -0.09879242 0.07212065 -0.11927219
+v -0.10574652 0.06660024 -0.11927221
+v -0.10968594 0.06363060 -0.11927222
+v -0.07773591 0.08615325 -0.14383541
+v -0.11628864 0.08615317 -0.12295216
+v -0.11828610 0.08131399 -0.12344450
+v -0.11919236 0.08131398 -0.11927215
+v -0.09622624 0.07777125 -0.15070320
+v -0.09037259 0.08397729 -0.15063855
+v -0.08884213 0.08615327 -0.15066624
+v -0.07773591 0.06536575 -0.14569397
+v -0.11126264 0.06363071 -0.14913709
+v -0.10870571 0.06601172 -0.15053708
+v -0.12496740 0.06363060 -0.11927222
+v -0.07773591 0.07207665 -0.14528164
+v -0.08164759 0.08615326 -0.14751852
+v -0.11561358 0.08615318 -0.12510603
+v -0.11536390 0.08508394 -0.12741683
+v -0.12131003 0.06363066 -0.13547543
+v -0.12281273 0.06363064 -0.13080154
+v -0.12323813 0.06363064 -0.12938615
+v -0.12339996 0.06363063 -0.12868153
+v -0.09764110 0.07964518 -0.15070320
+v -0.10885829 0.06601172 -0.15053708
+v -0.08665510 0.08615327 -0.14982624
+v -0.08995183 0.08615327 -0.15066008
+v -0.08538820 0.08615327 -0.14930931
+v -0.11183136 0.06363071 -0.14877708
+v -0.10885829 0.06630053 -0.15053708
+v -0.11391204 0.08615319 -0.12840759
+v -0.11273298 0.08615320 -0.13028454
+v -0.11422183 0.08329599 -0.13142916
+v -0.11535002 0.07927475 -0.13316150
+v -0.11875772 0.06363068 -0.14161703
+v -0.11617768 0.08129639 -0.12943839
+v -0.09585634 0.08366864 -0.15038932
+v -0.09182444 0.08496497 -0.15063855
+v -0.09481138 0.08615327 -0.14903853
+v -0.11614531 0.06363070 -0.14584168
+v -0.11133199 0.06848090 -0.14727244
+v -0.10977842 0.07368825 -0.14566932
+v -0.10707354 0.07032178 -0.14968168
+v -0.10166838 0.07681443 -0.15019551
+v -0.11033789 0.08615321 -0.13355533
+v -0.11512809 0.06664002 -0.14486627
+v -0.11849879 0.06363068 -0.14213087
+v -0.11019456 0.08602755 -0.13389072
+v -0.10840517 0.07770729 -0.14379851
+v -0.09969867 0.08151912 -0.14905394
+v -0.09975416 0.08575642 -0.14592159
+v -0.09856123 0.08615326 -0.14642312
+v -0.10398949 0.08131408 -0.14577699
+v -0.10572340 0.07524913 -0.14793395
+v -0.10993100 0.08615321 -0.13402610
+v -0.10278732 0.08434545 -0.14452158
+v -0.09977727 0.08615325 -0.14538927
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 25
+f 1 25 36
+f 1 36 34
+f 1 34 19
+f 1 19 35
+f 1 35 47
+f 1 47 60
+f 1 60 65
+f 1 65 63
+f 1 63 53
+f 1 53 40
+f 1 40 39
+f 1 39 26
+f 1 26 14
+f 1 14 5
+f 1 5 16
+f 1 16 23
+f 1 23 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 20
+f 3 20 24
+f 3 24 13
+f 3 13 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 23
+f 3 23 31
+f 3 31 30
+f 3 30 29
+f 3 29 28
+f 3 28 43
+f 3 43 55
+f 3 55 48
+f 3 48 37
+f 3 37 21
+f 3 21 7
+f 5 14 15
+f 5 15 16
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 21 22
+f 7 22 17
+f 13 24 25
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 23
+f 17 32 19
+f 17 19 18
+f 17 22 33
+f 17 33 32
+f 19 34 20
+f 19 32 35
+f 20 34 36
+f 20 36 25
+f 20 25 24
+f 21 37 38
+f 21 38 33
+f 21 33 22
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 43
+f 32 45 46
+f 32 46 35
+f 32 33 38
+f 32 38 45
+f 35 46 45
+f 35 45 47
+f 37 48 38
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 45
+f 40 53 41
+f 41 54 55
+f 41 55 42
+f 41 53 56
+f 41 56 57
+f 41 57 50
+f 41 50 54
+f 42 55 43
+f 45 52 58
+f 45 58 59
+f 45 59 60
+f 45 60 47
+f 48 54 50
+f 48 50 49
+f 48 55 54
+f 50 57 61
+f 50 61 58
+f 50 58 62
+f 50 62 51
+f 51 62 52
+f 52 62 58
+f 53 63 56
+f 56 63 64
+f 56 64 57
+f 57 64 61
+f 58 61 59
+f 59 61 64
+f 59 64 65
+f 59 65 60
+f 63 65 64
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_38.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.03059725 0.11173372 -0.12410985
+v 0.07007004 0.11173372 -0.12410985
+v 0.03059725 0.10545560 -0.12410987
+v 0.03059725 0.11173370 -0.11946690
+v 0.07023110 0.11173371 -0.12358126
+v 0.07389737 0.10743312 -0.12374557
+v 0.07389737 0.10728084 -0.12410987
+v 0.03169925 0.10395311 -0.12410988
+v 0.05429025 0.11173349 -0.06382295
+v 0.03788317 0.11173363 -0.09965936
+v 0.03545877 0.11173365 -0.10538805
+v 0.07163827 0.11173369 -0.11741685
+v 0.07389737 0.10897195 -0.11741686
+v 0.07389737 0.08851466 -0.12410993
+v 0.03451359 0.10074586 -0.12410989
+v 0.05791413 0.11012645 -0.06383724
+v 0.05754962 0.11173348 -0.06020144
+v 0.04217249 0.09630889 -0.12410991
+v 0.07389737 0.11173364 -0.10454517
+v 0.06500507 0.08924203 -0.12410993
+v 0.07389737 0.10565995 -0.06928736
+v 0.06029191 0.10844214 -0.06621586
+v 0.07389737 0.11152887 -0.05152270
+v 0.07389737 0.11173345 -0.05113698
+v 0.06018595 0.09016261 -0.12410993
+v 0.06341142 0.10812391 -0.06565871
+v 0.07389737 0.11075151 -0.05345131
+f 1 2 7
+f 1 7 14
+f 1 14 20
+f 1 20 25
+f 1 25 18
+f 1 18 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 9
+f 1 9 17
+f 1 17 24
+f 1 24 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 6
+f 6 12 13
+f 6 13 19
+f 6 19 24
+f 6 24 23
+f 6 23 27
+f 6 27 21
+f 6 21 14
+f 6 14 7
+f 8 15 9
+f 9 16 17
+f 9 15 18
+f 9 18 16
+f 12 19 13
+f 14 21 20
+f 16 22 17
+f 16 18 22
+f 17 22 23
+f 17 23 24
+f 18 25 22
+f 20 21 26
+f 20 26 22
+f 20 22 25
+f 21 27 26
+f 22 26 27
+f 22 27 23
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_39.obj

@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.05990315 -0.09347261 -0.12465005
+v 0.05990315 -0.09850322 -0.12242460
+v 0.05990315 -0.12133999 -0.12465016
+v -0.00305979 -0.10134860 -0.12465008
+v 0.05990315 -0.12134000 -0.12242469
+v -0.02172494 -0.11098147 -0.12242465
+v -0.02172494 -0.12133999 -0.12465016
+v -0.00910039 -0.10239345 -0.12465009
+v -0.02172494 -0.12134000 -0.12242469
+v -0.02172494 -0.10597815 -0.12465010
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 10
+f 1 10 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 6
+f 6 8 10
+f 6 10 7
+f 6 7 9
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_4.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.04547753 -0.14193871 0.04511422
+v 0.05447958 -0.13952851 0.02429736
+v 0.05447958 -0.13863803 0.02429736
+v 0.04332806 -0.13772481 0.04511423
+v 0.04529989 -0.14796908 0.04511420
+v 0.05504359 -0.14169760 0.02054095
+v 0.05916047 -0.13590311 0.00459512
+v 0.05517683 -0.13747355 0.02098523
+v 0.04328809 -0.13769944 0.04511423
+v 0.05343149 -0.13325202 0.01721694
+v 0.05480822 -0.13252137 0.01320271
+v 0.04317706 -0.15187601 0.04511418
+v 0.05440408 -0.14500580 0.01824426
+v 0.05390668 -0.14354959 0.02225452
+v 0.05614498 -0.14193859 0.01496387
+v 0.05701987 -0.14229120 0.00459510
+v 0.05899171 -0.13560629 0.00459512
+v 0.05598954 -0.13552007 0.01511065
+v 0.03923783 -0.13528425 0.04511424
+v 0.05681558 -0.13185919 0.00459514
+v 0.05547882 -0.13210021 0.00894652
+v 0.03712832 -0.13231596 0.03720479
+v 0.04315486 -0.15191660 0.04511418
+v 0.05443517 -0.14502861 0.01496386
+v 0.03627120 -0.15704882 0.03008460
+v 0.05440408 -0.14500070 0.01167552
+v 0.04278181 -0.15136593 0.00459506
+v 0.03917566 -0.13527156 0.04511424
+v 0.05556320 -0.13169429 0.00459514
+v 0.03319798 -0.13125802 0.03301604
+v 0.03768790 -0.13195062 0.03301604
+v 0.03319798 -0.13213837 0.03751815
+v 0.03319798 -0.13459165 0.04511425
+v 0.03923783 -0.15366964 0.04511418
+v 0.03627120 -0.15704882 0.02989420
+v 0.03319798 -0.15715537 0.03042970
+v 0.03936218 -0.15247204 0.00459506
+v 0.05132198 -0.13139238 0.00459514
+v 0.05132198 -0.13155476 0.00894653
+v 0.03319798 -0.13176286 0.02699866
+v 0.02953410 -0.13249097 0.02699865
+v 0.02900561 -0.13219417 0.03301603
+v 0.02942751 -0.13245803 0.03683193
+v 0.02742459 -0.13703474 0.04511424
+v 0.03304254 -0.15264725 0.04511418
+v 0.02968509 -0.15717060 0.03048920
+v 0.03319798 -0.15715537 0.02963241
+v 0.02342319 -0.15486187 0.00459505
+v 0.05023392 -0.13161056 0.00459514
+v 0.03013364 -0.13285375 0.02390071
+v 0.01546924 -0.14247640 0.00459510
+v 0.02598569 -0.13406899 0.03301603
+v 0.02256162 -0.13765881 0.03793463
+v 0.02739350 -0.13706012 0.04511424
+v 0.02726027 -0.14902192 0.04511419
+v 0.02277479 -0.15199014 0.03699846
+v 0.02746456 -0.15561799 0.03270258
+v 0.02205978 -0.15276136 0.03301596
+v 0.01681932 -0.15294392 0.00459506
+v 0.02123818 -0.15476800 0.00459505
+v 0.02968509 -0.15717060 0.02961654
+v 0.02111383 -0.14039608 0.00459510
+v 0.01379051 -0.14796893 0.00459508
+v 0.01800509 -0.14455936 0.03617343
+v 0.01888442 -0.14153528 0.03301600
+v 0.02190434 -0.13708544 0.03301602
+v 0.02440467 -0.13950576 0.04511423
+v 0.02340543 -0.14606889 0.04511420
+v 0.02338322 -0.14603591 0.04511420
+v 0.01800509 -0.14527985 0.03617343
+v 0.01903541 -0.14832674 0.03301598
+v 0.01614872 -0.15243906 0.00459506
+v 0.02338322 -0.14252221 0.04511422
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 28
+f 1 28 33
+f 1 33 44
+f 1 44 54
+f 1 54 67
+f 1 67 73
+f 1 73 69
+f 1 69 68
+f 1 68 55
+f 1 55 45
+f 1 45 34
+f 1 34 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 7
+f 6 14 13
+f 6 13 15
+f 7 15 16
+f 7 16 27
+f 7 27 37
+f 7 37 48
+f 7 48 60
+f 7 60 59
+f 7 59 72
+f 7 72 63
+f 7 63 51
+f 7 51 62
+f 7 62 49
+f 7 49 38
+f 7 38 29
+f 7 29 20
+f 7 20 17
+f 7 17 18
+f 7 18 8
+f 8 18 11
+f 8 11 10
+f 9 11 19
+f 11 18 17
+f 11 17 20
+f 11 20 21
+f 11 21 22
+f 11 22 19
+f 12 23 13
+f 13 24 16
+f 13 16 15
+f 13 23 25
+f 13 25 24
+f 16 24 26
+f 16 26 27
+f 19 22 28
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 21 31 22
+f 22 31 30
+f 22 30 32
+f 22 32 33
+f 22 33 28
+f 23 34 25
+f 24 25 35
+f 24 35 26
+f 25 36 47
+f 25 47 35
+f 25 34 36
+f 26 35 27
+f 27 35 37
+f 29 38 39
+f 29 39 30
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 32
+f 30 39 38
+f 30 38 40
+f 32 43 33
+f 33 43 44
+f 34 45 46
+f 34 46 36
+f 35 47 48
+f 35 48 37
+f 36 46 61
+f 36 61 47
+f 38 49 41
+f 38 41 40
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 42 51 52
+f 42 52 43
+f 43 52 53
+f 43 53 44
+f 44 53 54
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 46 57 58
+f 46 58 59
+f 46 59 60
+f 46 60 61
+f 47 61 48
+f 48 61 60
+f 49 62 50
+f 50 62 51
+f 51 63 64
+f 51 64 65
+f 51 65 66
+f 51 66 52
+f 52 66 53
+f 53 66 65
+f 53 65 64
+f 53 64 67
+f 53 67 54
+f 55 68 56
+f 56 68 69
+f 56 69 70
+f 56 70 71
+f 56 71 58
+f 56 58 57
+f 58 71 72
+f 58 72 59
+f 63 72 71
+f 63 71 70
+f 63 70 64
+f 64 70 69
+f 64 69 73
+f 64 73 67
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_40.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.11510685 -0.00585029 -0.12464994
+v 0.11514197 -0.00316067 -0.12464993
+v 0.11663495 -0.02920697 -0.12465003
+v 0.14454499 -0.00224245 -0.03804751
+v 0.11532348 -0.00261958 -0.12464993
+v 0.13606718 -0.02920697 -0.12465003
+v 0.13411752 -0.02920715 -0.07720719
+v 0.14520073 -0.00477107 -0.03681109
+v 0.14517732 -0.00224246 -0.03631823
+v 0.11545228 -0.00224213 -0.12464993
+v 0.14526514 -0.01853559 -0.12464999
+v 0.13641262 -0.02920698 -0.12369893
+v 0.13987868 -0.02920720 -0.06279363
+v 0.14558130 -0.00536760 -0.03631824
+v 0.14537637 -0.00448337 -0.03631824
+v 0.17491405 -0.00224246 -0.03631823
+v 0.14904737 -0.00224213 -0.12464993
+v 0.13656484 -0.02920698 -0.12327526
+v 0.14648295 -0.01643193 -0.12464998
+v 0.15719145 -0.01241737 -0.10268810
+v 0.15576287 -0.01633437 -0.09936789
+v 0.15274177 -0.01995045 -0.09936790
+v 0.15197479 -0.02920730 -0.03631833
+v 0.17491405 -0.00224245 -0.03741632
+v 0.17319859 -0.00919483 -0.03631825
+v 0.14931669 -0.00322930 -0.12464993
+v 0.15604976 -0.00224219 -0.11016720
+v 0.14182834 -0.02920704 -0.10723617
+v 0.14693962 -0.01522833 -0.12464998
+v 0.15651814 -0.00919457 -0.10701993
+v 0.15763642 -0.00919458 -0.10401098
+v 0.15910598 -0.00919460 -0.09936786
+v 0.16929341 -0.00680072 -0.06661525
+v 0.15771252 -0.01332009 -0.09936788
+v 0.14840919 -0.01115035 -0.12464996
+v 0.16347370 -0.01860707 -0.06687469
+v 0.15814579 -0.02920722 -0.05649905
+v 0.16336245 -0.02920730 -0.03631833
+v 0.17324542 -0.00316094 -0.05123329
+v 0.17293512 -0.00224240 -0.05129381
+v 0.17188125 -0.00919477 -0.05123331
+v 0.16949832 -0.01827461 -0.03631829
+v 0.15115511 -0.00666327 -0.12071583
+v 0.14905907 -0.00891472 -0.12464995
+v 0.15702751 -0.00464147 -0.10825635
+v 0.15749591 -0.00224220 -0.10657895
+v 0.14985534 -0.00888305 -0.12300714
+v 0.16929341 -0.00576077 -0.06661525
+v 0.16946320 -0.01270526 -0.05480429
+v 0.16471492 -0.01521271 -0.06904493
+v 0.16769503 -0.00896508 -0.06888927
+v 0.16982620 -0.01327011 -0.05123333
+v 0.16935195 -0.01851744 -0.03656903
+v 0.16936367 -0.01854120 -0.03631829
+v 0.17130161 -0.00224238 -0.05725118
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 26
+f 1 26 44
+f 1 44 35
+f 1 35 29
+f 1 29 19
+f 1 19 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 18
+f 3 18 28
+f 3 28 37
+f 3 37 38
+f 3 38 23
+f 3 23 13
+f 3 13 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 16
+f 4 16 24
+f 4 24 40
+f 4 40 55
+f 4 55 46
+f 4 46 27
+f 4 27 17
+f 4 17 10
+f 4 10 5
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 14
+f 9 14 23
+f 9 23 38
+f 9 38 54
+f 9 54 42
+f 9 42 25
+f 9 25 16
+f 11 18 12
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 18
+f 13 23 14
+f 16 25 24
+f 17 27 26
+f 18 22 28
+f 19 29 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 20 29 35
+f 20 35 30
+f 21 34 36
+f 21 36 37
+f 21 37 22
+f 22 37 28
+f 24 39 40
+f 24 25 41
+f 24 41 39
+f 25 42 41
+f 26 43 44
+f 26 27 45
+f 26 45 43
+f 27 46 45
+f 30 45 31
+f 30 35 47
+f 30 47 45
+f 31 45 32
+f 32 45 33
+f 33 48 39
+f 33 39 41
+f 33 41 49
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 33 45 48
+f 34 51 50
+f 34 50 36
+f 35 44 47
+f 36 50 49
+f 36 49 38
+f 36 38 37
+f 38 49 52
+f 38 52 53
+f 38 53 54
+f 39 55 40
+f 39 48 46
+f 39 46 55
+f 41 52 49
+f 41 42 53
+f 41 53 52
+f 42 54 53
+f 43 47 44
+f 43 45 47
+f 45 46 48
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_41.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.07405282 0.07907111 -0.14283251
+v 0.07405282 0.07650147 -0.14388494
+v 0.07405282 0.07907105 -0.12516239
+v 0.07549851 0.07907112 -0.14332989
+v 0.07405282 0.07366132 -0.14488211
+v 0.07405282 0.02150733 -0.12537404
+v 0.08328742 0.07907105 -0.12410997
+v 0.09587195 0.07907113 -0.14748671
+v 0.07405282 0.07058449 -0.14537229
+v 0.08372686 0.07739739 -0.12410998
+v 0.07405282 0.02150739 -0.14171542
+v 0.12457566 0.02150733 -0.12411018
+v 0.11988831 0.02326551 -0.12411017
+v 0.11346866 0.02868096 -0.12411015
+v 0.10852018 0.03563481 -0.12411013
+v 0.11477424 0.07907105 -0.12410997
+v 0.07405282 0.06320800 -0.14601147
+v 0.07405282 0.06929403 -0.14554770
+v 0.09961038 0.07907113 -0.14668178
+v 0.10571796 0.06924332 -0.14761651
+v 0.11175548 0.05717832 -0.14834459
+v 0.11779937 0.04511333 -0.14865700
+v 0.07405282 0.02691157 -0.14346464
+v 0.07555583 0.02687776 -0.14384188
+v 0.08154240 0.02473638 -0.14433445
+v 0.07550488 0.02150739 -0.14196051
+v 0.13707104 0.02150733 -0.12411018
+v 0.13666345 0.05090625 -0.12411007
+v 0.11458954 0.07907105 -0.12555164
+v 0.07405282 0.05717832 -0.14595382
+v 0.10174389 0.07907113 -0.14617479
+v 0.10564791 0.07507576 -0.14616279
+v 0.11232866 0.06376589 -0.14686685
+v 0.11779937 0.05114301 -0.14820765
+v 0.12384326 0.03907801 -0.14808035
+v 0.12384326 0.03304833 -0.14810440
+v 0.11779937 0.03907802 -0.14838311
+v 0.07760654 0.02879373 -0.14472849
+v 0.08154240 0.02775685 -0.14499041
+v 0.12384326 0.02150741 -0.14734517
+v 0.13607116 0.02150734 -0.12893018
+v 0.13910902 0.03907793 -0.12411012
+v 0.13756143 0.04871978 -0.12411008
+v 0.13367015 0.04954819 -0.13354824
+v 0.13447261 0.05139088 -0.12925444
+v 0.13239642 0.05356609 -0.13112381
+v 0.13309060 0.05437755 -0.12711355
+v 0.10926532 0.07292874 -0.14508395
+v 0.11237325 0.07907107 -0.12973970
+v 0.08758629 0.03304833 -0.14582416
+v 0.10368635 0.07907112 -0.14534583
+v 0.11060274 0.06924332 -0.14598982
+v 0.11790127 0.05705998 -0.14650166
+v 0.12275422 0.05114301 -0.14601391
+v 0.12442281 0.04567121 -0.14674438
+v 0.12802749 0.03907801 -0.14577609
+v 0.12833956 0.03304833 -0.14603800
+v 0.12909106 0.02150741 -0.14632638
+v 0.12866436 0.02150741 -0.14646574
+v 0.12384326 0.02701301 -0.14782811
+v 0.13605842 0.02150734 -0.12899024
+v 0.13593741 0.02150735 -0.12946119
+v 0.13410323 0.02150737 -0.13604244
+v 0.13312881 0.02150738 -0.13922373
+v 0.13230089 0.02150739 -0.14165055
+v 0.13863773 0.03907793 -0.12548932
+v 0.13898802 0.04511324 -0.12411009
+v 0.13856769 0.04511324 -0.12533550
+v 0.13691182 0.04511326 -0.12946110
+v 0.13427518 0.04511327 -0.13438683
+v 0.12753073 0.04403135 -0.14525706
+v 0.12682381 0.04805490 -0.14444009
+v 0.11472329 0.06614957 -0.14429106
+v 0.11109951 0.07907108 -0.13208964
+v 0.11595882 0.06213168 -0.14566546
+v 0.12141679 0.05497494 -0.14510564
+v 0.13229452 0.02152429 -0.14166496
+v 0.13228815 0.02150739 -0.14167457
+v 0.13719204 0.03907795 -0.12946113
+f 1 2 5
+f 1 5 9
+f 1 9 18
+f 1 18 17
+f 1 17 30
+f 1 30 23
+f 1 23 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 29
+f 1 29 49
+f 1 49 74
+f 1 74 51
+f 1 51 31
+f 1 31 19
+f 1 19 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 5
+f 5 8 9
+f 6 10 7
+f 6 11 26
+f 6 26 40
+f 6 40 59
+f 6 59 58
+f 6 58 78
+f 6 78 65
+f 6 65 64
+f 6 64 63
+f 6 63 62
+f 6 62 61
+f 6 61 41
+f 6 41 27
+f 6 27 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 10
+f 7 10 15
+f 7 15 14
+f 7 14 13
+f 7 13 12
+f 7 12 27
+f 7 27 42
+f 7 42 67
+f 7 67 43
+f 7 43 28
+f 7 28 16
+f 8 17 18
+f 8 18 9
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 17
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 16 28 29
+f 17 22 30
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 30
+f 23 30 38
+f 23 38 24
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 27 41 42
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 29 48 49
+f 29 47 46
+f 29 46 48
+f 30 50 38
+f 30 37 50
+f 31 51 32
+f 32 51 48
+f 32 48 52
+f 32 52 33
+f 33 52 53
+f 33 53 34
+f 34 53 54
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 36 58 59
+f 36 59 60
+f 36 60 37
+f 37 60 39
+f 37 39 50
+f 38 50 39
+f 39 60 40
+f 40 60 59
+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 43 67 68
+f 43 68 44
+f 44 46 45
+f 44 68 69
+f 44 69 70
+f 44 70 71
+f 44 71 72
+f 44 72 73
+f 44 73 46
+f 46 73 48
+f 48 51 74
+f 48 74 49
+f 48 73 75
+f 48 75 52
+f 52 75 54
+f 52 54 53
+f 54 75 76
+f 54 76 72
+f 54 72 55
+f 55 72 71
+f 55 71 56
+f 56 71 70
+f 56 70 77
+f 56 77 58
+f 56 58 57
+f 58 77 78
+f 65 78 77
+f 65 77 79
+f 65 79 66
+f 66 79 68
+f 66 68 67
+f 68 79 69
+f 69 79 77
+f 69 77 70
+f 72 76 73
+f 73 76 75
+

dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mjcf/mesh/gray_basket_collision_42.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.17868700 -0.00224481 -0.02335722
+v -0.17822008 0.00301294 -0.02335720
+v -0.17858385 -0.00315632 -0.03318784
+v -0.17679761 -0.00904370 -0.02623261
+v -0.16508657 -0.02701590 -0.02623268
+v -0.15108980 -0.00224481 -0.02335722
+v -0.17656958 0.00837405 -0.02335718
+v -0.17829067 -0.00315630 -0.03920084
+v -0.17673788 -0.00940547 -0.03269245
+v -0.17698763 -0.00846103 -0.03920086
+v -0.17533712 -0.01227634 -0.03005025
+v -0.15314751 -0.02701590 -0.02623268
+v -0.17533712 -0.01227634 -0.03036110
+v -0.17419696 -0.01073043 -0.04522358
+v -0.17014669 -0.01324885 -0.05725930
+v -0.15843566 -0.02701579 -0.05750220
+v -0.15101379 -0.00179845 -0.02335722
+v -0.16786095 0.02097574 -0.02335713
+v -0.17002725 0.00692231 -0.06119340
+v -0.17306767 0.00287210 -0.05725924
+v -0.17658586 0.00205917 -0.03920082
+v -0.17782375 -0.00224475 -0.04019167
+v -0.17024442 0.00104910 -0.07528852
+v -0.17489734 -0.00315623 -0.05725926
+v -0.17632525 -0.00771392 -0.04522357
+v -0.17306767 -0.00918925 -0.05725928
+v -0.13903129 -0.02701575 -0.06929506
+v -0.13873810 -0.00692922 -0.05366508
+v -0.14509583 -0.00599427 -0.03622835
+v -0.16974492 -0.01280717 -0.06085350
+v -0.14891807 -0.02701566 -0.09365789
+v -0.14495467 -0.00224477 -0.03591749
+v -0.14494381 -0.00197225 -0.03589806
+v -0.15093778 0.00287198 -0.02335720
+v -0.15372845 0.02097574 -0.02335713
+v -0.14754988 0.02097604 -0.10539228
+v -0.16280625 0.00535311 -0.09436689
+v -0.17612979 0.00107248 -0.04376643
+v -0.17050503 -0.00224462 -0.07546338
+v -0.16456536 0.00315414 -0.09275437
+v -0.16394642 0.00112906 -0.09935994
+v -0.16331119 0.00007659 -0.10266271
+v -0.16633531 -0.00315610 -0.09333723
+v -0.17053761 -0.00263931 -0.07547310
+v -0.17006525 -0.00734733 -0.07359830
+v -0.16463051 -0.00815072 -0.09333725
+v -0.13344452 -0.02701568 -0.08732433
+v -0.13206004 -0.02701566 -0.09333732
+v -0.13229351 -0.00918915 -0.08307922
+v -0.13848293 -0.00315624 -0.05314050
+v -0.16230133 -0.01116723 -0.09333726
+v -0.14734357 -0.02701564 -0.09936004
+v -0.14494381 0.00031597 -0.03589805
+v -0.15117123 0.00567235 -0.02335719
+v -0.15314751 0.01876739 -0.02335714
+v -0.13860238 0.00113360 -0.05335420
+v -0.13488329 0.02097597 -0.08719787
+v -0.14331502 0.02097609 -0.11925422
+v -0.15683944 0.00544245 -0.11329957
+v -0.16211131 0.00414557 -0.09935992
+v -0.15788730 0.00107745 -0.11741835
+v -0.15745838 0.00037736 -0.11925430
+v -0.15746924 -0.00099933 -0.11925430
+v -0.16331119 -0.00124372 -0.10266271
+v -0.16421245 -0.00321715 -0.09982622
+v -0.16310487 -0.00526573 -0.10213817
+v -0.16388670 -0.00723447 -0.09813599
+v -0.12573489 -0.02701555 -0.12258633
+v -0.12322655 -0.00314189 -0.12258624
+v -0.13087646 -0.00315612 -0.08732424
+v -0.14083925 -0.02701555 -0.12258633
+v -0.15129068 0.00672484 -0.02335719
+v -0.12323198 -0.00304792 -0.12258624
+v -0.12330256 -0.00224445 -0.12258624
+v -0.13366169 0.02097599 -0.09333714
+v -0.13019780 0.02097609 -0.11925422
+v -0.15493918 -0.00224445 -0.12258624
+v -0.15454285 0.00520284 -0.11925428
+v -0.15609019 0.00409396 -0.11741833
+v -0.15500433 -0.00224445 -0.12251824
+v -0.15746924 -0.00108861 -0.11925430
+v -0.15784930 -0.00224447 -0.11767093
+v -0.15796874 -0.00260157 -0.11716580
+v -0.15753982 -0.00671287 -0.11499958
+v -0.15228968 -0.00764316 -0.12232398
+v -0.15269687 -0.00659537 -0.12258625
+v -0.15493918 -0.00231023 -0.12258624
+v -0.15674715 -0.00224446 -0.11973031
+v -0.15631280 -0.00423668 -0.11901148
+v -0.15448312 -0.00332983 -0.12258624
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 17
+f 1 17 34
+f 1 34 54
+f 1 54 72
+f 1 72 55
+f 1 55 35
+f 1 35 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 9
+f 4 9 11
+f 4 11 5
+f 5 11 13
+f 5 13 10
+f 5 10 14
+f 5 14 15
+f 5 15 16
+f 5 16 31
+f 5 31 52
+f 5 52 71
+f 5 71 68
+f 5 68 48
+f 5 48 47
+f 5 47 27
+f 5 27 12
+f 6 12 17
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 20
+f 8 20 23
+f 8 23 24
+f 8 24 25
+f 8 25 10
+f 9 13 11
+f 9 10 13
+f 10 25 26
+f 10 26 15
+f 10 15 14
+f 12 27 28
+f 12 28 29
+f 12 29 17
+f 15 26 30
+f 15 30 16
+f 16 30 31
+f 17 32 33
+f 17 33 34
+f 17 29 32
+f 18 35 57
+f 18 57 75
+f 18 75 76
+f 18 76 58
+f 18 58 36
+f 18 36 19
+f 19 23 20
+f 19 36 37
+f 19 37 23
+f 20 22 38
+f 20 38 21
+f 21 38 22
+f 23 39 24
+f 23 37 40
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 39
+f 24 39 44
+f 24 44 43
+f 24 43 45
+f 24 45 25
+f 25 45 26
+f 26 45 46
+f 26 46 30
+f 27 47 28
+f 28 47 48
+f 28 48 49
+f 28 49 50
+f 28 50 29
+f 29 50 32
+f 30 46 51
+f 30 51 31
+f 31 51 52
+f 32 50 33
+f 33 50 53
+f 33 53 34
+f 34 53 54
+f 35 55 56
+f 35 56 57
+f 36 58 37
+f 37 58 59
+f 37 59 60
+f 37 60 41
+f 37 41 40
+f 39 43 44
+f 41 60 59
+f 41 59 61
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 81
+f 42 81 64
+f 42 64 43
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 45
+f 45 67 46
+f 46 67 51
+f 48 68 49
+f 49 68 69
+f 49 69 70
+f 49 70 50
+f 50 70 56
+f 50 56 53
+f 51 67 71
+f 51 71 52
+f 53 56 55
+f 53 55 72
+f 53 72 54
+f 56 70 73
+f 56 73 74
+f 56 74 57
+f 57 74 75
+f 58 76 74
+f 58 74 77
+f 58 77 78
+f 58 78 59
+f 59 78 79
+f 59 79 61
+f 61 79 62
+f 62 77 80
+f 62 80 63
+f 62 79 78
+f 62 78 77
+f 63 80 81
+f 64 81 65
+f 65 81 66
+f 66 81 82
+f 66 82 83
+f 66 83 84
+f 66 84 67
+f 67 84 71
+f 68 71 86
+f 68 86 90
+f 68 90 87
+f 68 87 77
+f 68 77 74
+f 68 74 73
+f 68 73 69
+f 69 73 70
+f 71 85 86
+f 71 84 85
+f 74 76 75
+f 77 87 80
+f 80 87 81
+f 81 87 88
+f 81 88 84
+f 81 84 82
+f 82 84 83
+f 84 88 89
+f 84 89 85
+f 85 89 86
+f 86 89 90
+f 87 90 89
+f 87 89 88
+