Add asset bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09

.gitattributes

@@ -2852,5 +2852,5 @@ dataset/bedroom_supplies/storage/d70a4f57344d582086532447853448d7/storage_box_00
 dataset/bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26/d86cdfd81a315184a8cfd74e09300e26.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/d86cdfd81a315184a8cfd74e09300e26/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/mesh/remote_holder_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/ded7fc8373485d3d950fa6fef6e3995b/remote_holder_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/remote_holder_035.usd filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl remote_holder_035_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd remote_holder_035_geometry_Looks_material_0.png

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4595fc8e494e61892c89c287955fa1483de5db9c8b6c90ca951d862dcb22ba
+size 14379864

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mesh/remote_holder_035.mtl

@@ -0,0 +1,6 @@
+newmtl remote_holder_035_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_0.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.03728702 -0.02679399 -0.03039444
+v 0.03579793 -0.02679399 -0.03045204
+v 0.03738190 -0.02679399 -0.03041935
+v 0.03816318 0.02554012 -0.03107072
+v 0.03728702 0.02554012 -0.03087766
+v 0.03581935 0.02554012 -0.03091191
+v 0.03564030 -0.02679399 -0.03045983
+v 0.03874550 -0.02679399 -0.03085138
+v 0.03898731 0.02554013 -0.03181646
+v 0.03888400 -0.02679399 -0.03097204
+v 0.03499523 0.02554012 -0.03116880
+v 0.03455523 -0.02679399 -0.03086773
+v 0.03983822 0.02554013 -0.03264005
+v 0.04002493 -0.02679398 -0.03210000
+v 0.03410147 0.02554013 -0.03199317
+v 0.03361862 -0.02679398 -0.03188282
+v 0.04013206 0.02554013 -0.03357651
+v 0.04053226 -0.02679398 -0.03357670
+v 0.03327734 0.02554013 -0.03312268
+v 0.03301105 -0.02679398 -0.03258030
+v 0.03361173 -0.02679398 -0.03189060
+v 0.04017567 0.02554014 -0.03522213
+v 0.04053226 -0.02679398 -0.03373317
+v 0.03304778 0.02554013 -0.03394705
+v 0.03271568 -0.02679398 -0.03344592
+v 0.03988260 0.02554014 -0.03623177
+v 0.04052767 -0.02679397 -0.03522310
+v 0.03304778 0.02554014 -0.03496914
+v 0.03272869 -0.02679397 -0.03538268
+v 0.03912581 0.02554015 -0.03705614
+v 0.04049476 -0.02679397 -0.03532274
+v 0.04006931 -0.02679397 -0.03649819
+v 0.03936685 -0.02679396 -0.03732100
+v 0.03322607 0.02554014 -0.03579273
+v 0.03273328 -0.02679397 -0.03539358
+v 0.03830168 0.02554015 -0.03781901
+v 0.03928880 -0.02679396 -0.03739028
+v 0.03401117 0.02554015 -0.03687009
+v 0.03362245 -0.02679396 -0.03687417
+v 0.03728702 0.02554015 -0.03809536
+v 0.03854349 -0.02679396 -0.03795932
+v 0.03728702 -0.02679396 -0.03834698
+v 0.03477791 0.02554015 -0.03772248
+v 0.03362933 -0.02679396 -0.03688196
+v 0.03564030 0.02554015 -0.03799883
+v 0.03564030 -0.02679396 -0.03826525
+v 0.03555612 -0.02679396 -0.03823878
+v 0.03458661 -0.02679396 -0.03787836
+f 1 2 7
+f 1 7 12
+f 1 12 16
+f 1 16 21
+f 1 21 20
+f 1 20 25
+f 1 25 29
+f 1 29 35
+f 1 35 39
+f 1 39 44
+f 1 44 48
+f 1 48 47
+f 1 47 46
+f 1 46 42
+f 1 42 41
+f 1 41 37
+f 1 37 33
+f 1 33 32
+f 1 32 31
+f 1 31 27
+f 1 27 23
+f 1 23 18
+f 1 18 14
+f 1 14 10
+f 1 10 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 9 13
+f 4 13 17
+f 4 17 22
+f 4 22 26
+f 4 26 30
+f 4 30 36
+f 4 36 40
+f 4 40 45
+f 4 45 43
+f 4 43 38
+f 4 38 34
+f 4 34 28
+f 4 28 24
+f 4 24 19
+f 4 19 15
+f 4 15 11
+f 4 11 6
+f 4 6 5
+f 4 8 10
+f 4 10 9
+f 6 11 7
+f 7 11 12
+f 9 10 13
+f 10 14 13
+f 11 15 12
+f 12 15 16
+f 13 14 18
+f 13 18 17
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 18 22
+f 18 23 22
+f 19 24 25
+f 19 25 20
+f 22 23 27
+f 22 27 26
+f 24 28 25
+f 25 28 29
+f 26 27 31
+f 26 31 32
+f 26 32 33
+f 26 33 30
+f 28 34 29
+f 29 34 35
+f 30 33 36
+f 33 37 36
+f 34 38 39
+f 34 39 35
+f 36 37 41
+f 36 41 42
+f 36 42 40
+f 38 43 44
+f 38 44 39
+f 40 42 46
+f 40 46 45
+f 43 45 47
+f 43 47 48
+f 43 48 44
+f 45 46 47
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_1.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.02988973 0.03374696 -0.03460660
+v 0.02988973 0.03528525 -0.03444900
+v 0.02988973 0.03253078 -0.03457184
+v 0.00668418 0.03282498 -0.02128315
+v 0.00668418 0.03327071 -0.02128315
+v 0.00145068 0.03374690 -0.01824024
+v 0.02988973 0.03649619 -0.03314887
+v 0.00145068 0.03408032 -0.01815216
+v 0.00162328 0.03481421 -0.01805251
+v 0.00145068 0.03498310 -0.01786479
+v 0.00145068 0.03537136 -0.01766085
+v 0.00145068 0.03556898 -0.01755424
+v 0.00212714 0.03590764 -0.01775818
+v 0.00322673 0.03637862 -0.01808496
+v 0.02988973 0.03154356 -0.03433545
+v 0.00145068 0.03257599 -0.01815913
+v 0.02988973 0.03671296 -0.03283369
+v 0.00145068 0.03627588 -0.01706061
+v 0.00145068 0.03654663 -0.01676396
+v 0.02988973 0.03053195 -0.03358922
+v 0.00145068 0.03181510 -0.01758206
+v 0.02988973 0.03707511 -0.03112103
+v 0.00267833 0.03667025 -0.01716490
+v 0.00145068 0.03870300 -0.01093074
+v 0.02988973 0.02987206 -0.03192755
+v 0.00145068 0.03104901 -0.01674313
+v 0.00322395 0.03115435 -0.01808729
+v 0.00212436 0.03148517 -0.01772111
+v 0.02988973 0.03710036 -0.03027977
+v 0.00145068 0.03071469 -0.01093077
+v 0.00152863 0.03864902 -0.01093074
+v 0.02988973 0.03603651 -0.02632376
+v 0.02988973 0.03618016 -0.02649526
+v 0.02988973 0.03652142 -0.02708622
+v 0.02988973 0.03675125 -0.02775831
+v 0.02988973 0.03695758 -0.02863200
+v 0.02988973 0.03704377 -0.02947327
+v 0.02988973 0.02980937 -0.03018941
+v 0.00145068 0.03067116 -0.01215675
+v 0.00145068 0.03080263 -0.01545227
+v 0.00263657 0.03095409 -0.01093077
+v 0.02988973 0.03005052 -0.02863203
+v 0.00212436 0.03818588 -0.01093074
+v 0.02988973 0.03561342 -0.02594137
+v 0.00325179 0.03110992 -0.01093077
+v 0.02988973 0.03070256 -0.02691243
+v 0.00332138 0.03682780 -0.01093074
+v 0.02832247 0.03466449 -0.02445352
+v 0.02988973 0.03518335 -0.02564704
+v 0.00440984 0.03195263 -0.01093076
+v 0.02988973 0.03119878 -0.02604336
+v 0.00505010 0.03450078 -0.01093075
+v 0.00536189 0.03477239 -0.01121349
+v 0.00850755 0.03462615 -0.01294468
+v 0.01998506 0.03456871 -0.01957049
+v 0.02988973 0.03374692 -0.02511634
+v 0.02988973 0.03425184 -0.02525538
+v 0.02313351 0.03420221 -0.02130168
+v 0.00508073 0.03246191 -0.01093076
+v 0.02988973 0.03207108 -0.02544311
+v 0.00538416 0.03375035 -0.01093076
+v 0.02334229 0.03286328 -0.02118118
+v 0.02852569 0.03265436 -0.02433301
+v 0.02334229 0.03310791 -0.02118118
+v 0.00869963 0.03271874 -0.01283345
+v 0.00554840 0.03261252 -0.01110921
+v 0.01184252 0.03283801 -0.01457160
+v 0.01184252 0.03320887 -0.01457160
+f 1 2 7
+f 1 7 17
+f 1 17 22
+f 1 22 29
+f 1 29 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 44
+f 1 44 49
+f 1 49 57
+f 1 57 56
+f 1 56 60
+f 1 60 51
+f 1 51 46
+f 1 46 42
+f 1 42 38
+f 1 38 25
+f 1 25 20
+f 1 20 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 7
+f 3 15 4
+f 4 16 6
+f 4 6 5
+f 4 15 16
+f 6 16 21
+f 6 21 26
+f 6 26 40
+f 6 40 39
+f 6 39 30
+f 6 30 24
+f 6 24 19
+f 6 19 18
+f 6 18 12
+f 6 12 11
+f 6 11 10
+f 6 10 8
+f 7 14 17
+f 8 10 9
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 14 19 17
+f 15 20 16
+f 16 20 21
+f 17 19 23
+f 17 23 24
+f 17 24 22
+f 19 24 23
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 21 28 26
+f 22 24 29
+f 24 30 41
+f 24 41 45
+f 24 45 50
+f 24 50 59
+f 24 59 61
+f 24 61 52
+f 24 52 47
+f 24 47 43
+f 24 43 31
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 29
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 28 27
+f 30 39 38
+f 30 38 42
+f 30 42 41
+f 31 43 44
+f 31 44 32
+f 41 42 46
+f 41 46 45
+f 43 47 48
+f 43 48 49
+f 43 49 44
+f 45 46 51
+f 45 51 50
+f 47 52 53
+f 47 53 54
+f 47 54 55
+f 47 55 48
+f 48 56 57
+f 48 57 49
+f 48 55 58
+f 48 58 56
+f 50 51 59
+f 51 60 59
+f 52 61 54
+f 52 54 53
+f 54 61 58
+f 54 58 55
+f 56 62 63
+f 56 63 60
+f 56 58 64
+f 56 64 62
+f 58 61 64
+f 59 65 66
+f 59 66 61
+f 59 60 65
+f 60 63 62
+f 60 62 65
+f 61 66 65
+f 61 65 67
+f 61 67 68
+f 61 68 64
+f 62 67 65
+f 62 64 68
+f 62 68 67
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_10.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.01148747 -0.03032643 0.01148433
+v -0.01803412 -0.02626277 0.02622958
+v -0.01636089 -0.02623914 0.02137054
+v -0.01466793 -0.02618305 0.01656858
+v -0.01280567 -0.02530949 0.01148435
+v -0.00736191 -0.03032643 0.01148433
+v -0.02266757 -0.03032655 0.04388327
+v -0.01812124 -0.02530955 0.02597586
+v -0.01968599 -0.02626868 0.03114572
+v -0.01977639 -0.02530956 0.03087931
+v -0.01643650 -0.02530953 0.02116439
+v -0.01471724 -0.02530951 0.01643855
+v -0.01284841 -0.02422937 0.01148435
+v -0.01443782 -0.02366868 0.01553144
+v -0.00771201 -0.00018346 0.01148444
+v -0.00771036 -0.03032644 0.01256588
+v -0.01843024 -0.03032655 0.04388327
+v -0.02406960 -0.02530961 0.04388329
+v -0.02297658 -0.02626282 0.04104461
+v -0.01866693 -0.02366872 0.02739361
+v -0.01815575 -0.02366872 0.02588388
+v -0.01787305 -0.02366871 0.02505924
+v -0.01754103 -0.02366871 0.02409821
+v -0.01922248 -0.02366873 0.02903655
+v -0.02306205 -0.02530960 0.04078771
+v -0.02196244 -0.02366876 0.03727663
+v -0.02032208 -0.02366874 0.03233195
+v -0.01980926 -0.02366873 0.03078733
+v -0.01953477 -0.02366873 0.02996269
+v -0.01696246 -0.02366870 0.02244893
+v -0.01647101 -0.02366870 0.02107558
+v -0.01617351 -0.02366869 0.02025093
+v -0.01577739 -0.02366869 0.01915353
+v -0.01517582 -0.02366868 0.01750741
+v -0.01474847 -0.02366868 0.01635608
+v -0.01329384 -0.02202783 0.01259763
+v -0.01329548 -0.02038700 0.01259447
+v -0.01285334 -0.01929506 0.01148437
+v -0.01392664 -0.02366867 0.01421201
+v -0.01393322 -0.02202783 0.01421202
+v -0.01443946 -0.02202784 0.01552511
+v -0.01475176 -0.02202784 0.01634975
+v -0.01103875 -0.00018346 0.01148444
+v -0.01289443 -0.00018352 0.02677522
+v -0.01738817 -0.03032654 0.04091456
+v -0.01887238 -0.00018653 0.04388338
+v -0.02407125 -0.02528305 0.04388329
+v -0.02406467 -0.02530961 0.04386743
+v -0.02352884 -0.02530961 0.04221814
+v -0.01815904 -0.02202788 0.02586803
+v -0.01787798 -0.02202787 0.02504656
+v -0.01755089 -0.02202787 0.02409822
+v -0.01922905 -0.02202789 0.02903656
+v -0.02415178 -0.02366878 0.04388329
+v -0.02250814 -0.02366876 0.03892275
+v -0.02033030 -0.02202790 0.03233196
+v -0.01953806 -0.02202789 0.02995318
+v -0.01697233 -0.02202786 0.02244894
+v -0.01647759 -0.02202786 0.02105973
+v -0.01618009 -0.02202785 0.02023509
+v -0.01578725 -0.02202785 0.01915354
+v -0.01518403 -0.02202784 0.01750742
+v -0.01329548 -0.01874616 0.01259129
+v -0.01393651 -0.01874616 0.01421203
+v -0.01285334 -0.01710532 0.01148438
+v -0.01444275 -0.01874617 0.01551878
+v -0.01475340 -0.02038701 0.01634342
+v -0.01329384 -0.01710533 0.01259130
+v -0.01471231 -0.01613146 0.01645761
+v -0.01109957 -0.00018346 0.01165254
+v -0.01886910 -0.00018358 0.04386752
+v -0.02207257 -0.00018358 0.04388338
+v -0.01816397 -0.01710537 0.02585854
+v -0.01787962 -0.02038704 0.02504023
+v -0.01923727 -0.01874622 0.02903657
+v -0.01924056 -0.01710539 0.02903658
+v -0.01755582 -0.02038704 0.02409823
+v -0.01697890 -0.02038703 0.02244895
+v -0.02415343 -0.01874627 0.04388331
+v -0.02034345 -0.01710540 0.03233198
+v -0.02033523 -0.02038707 0.03233197
+v -0.01954299 -0.01710539 0.02993417
+v -0.01981913 -0.01710539 0.03075564
+v -0.01647923 -0.02038703 0.02105340
+v -0.01618173 -0.02038702 0.02022875
+v -0.01579054 -0.02038702 0.01915355
+v -0.01518732 -0.02038701 0.01750743
+v -0.01444111 -0.01710534 0.01551879
+v -0.01393157 -0.01710533 0.01421204
+v -0.01475504 -0.01874617 0.01634025
+v -0.01475504 -0.01710534 0.01634343
+v -0.01261830 -0.00018348 0.01585822
+v -0.01518897 -0.01710534 0.01750744
+v -0.01579219 -0.01710535 0.01915356
+v -0.01618173 -0.01710535 0.02022559
+v -0.01648087 -0.01710536 0.02105023
+v -0.02212023 -0.00018358 0.04388338
+v -0.01644307 -0.00018352 0.02671178
+v -0.01788126 -0.01710537 0.02503389
+v -0.01685398 -0.00018352 0.02791386
+v -0.01738817 -0.00018353 0.02949337
+v -0.01755746 -0.01874620 0.02409823
+v -0.01698219 -0.01874619 0.02244895
+v -0.02415178 -0.01710544 0.04388332
+v -0.02414685 -0.01710544 0.04386746
+v -0.02145949 -0.01710541 0.03571619
+v -0.01963339 -0.00018355 0.03625861
+v -0.01799139 -0.00018353 0.03129806
+v -0.01771690 -0.00018353 0.03047342
+v -0.01648087 -0.01874619 0.02105022
+v -0.01618173 -0.01874618 0.02022558
+v -0.01579219 -0.01874618 0.01915355
+v -0.01518897 -0.01874617 0.01750743
+v -0.01304072 -0.00018348 0.01703175
+v -0.01698219 -0.01710536 0.02244896
+v -0.02050946 -0.00018356 0.03892284
+v -0.01570672 -0.00018351 0.02456454
+v -0.01554564 -0.00018351 0.02409830
+v -0.01755746 -0.01710537 0.02409824
+v -0.02014128 -0.00018356 0.03780005
+v -0.01324124 -0.00018348 0.01759314
+v -0.01515445 -0.00018350 0.02297552
+v -0.01497036 -0.00018350 0.02244902
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 38
+f 1 38 65
+f 1 65 43
+f 1 43 15
+f 1 15 6
+f 1 6 16
+f 1 16 45
+f 1 45 17
+f 1 17 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 3 8 11
+f 3 11 4
+f 4 12 5
+f 4 11 12
+f 5 12 14
+f 5 14 13
+f 6 15 16
+f 7 17 46
+f 7 46 72
+f 7 72 97
+f 7 97 104
+f 7 104 79
+f 7 79 54
+f 7 54 47
+f 7 47 18
+f 7 18 19
+f 7 19 9
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 11
+f 8 10 24
+f 8 24 20
+f 9 19 10
+f 10 19 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 24
+f 11 23 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 12
+f 12 34 35
+f 12 35 14
+f 12 33 34
+f 13 36 37
+f 13 37 38
+f 13 14 39
+f 13 39 40
+f 13 40 36
+f 14 41 40
+f 14 40 39
+f 14 35 42
+f 14 42 67
+f 14 67 41
+f 15 43 70
+f 15 70 92
+f 15 92 114
+f 15 114 121
+f 15 121 123
+f 15 123 122
+f 15 122 118
+f 15 118 117
+f 15 117 98
+f 15 98 100
+f 15 100 101
+f 15 101 109
+f 15 109 108
+f 15 108 107
+f 15 107 120
+f 15 120 116
+f 15 116 97
+f 15 97 72
+f 15 72 71
+f 15 71 44
+f 15 44 16
+f 16 44 45
+f 17 45 46
+f 18 47 48
+f 18 48 19
+f 19 48 49
+f 19 49 25
+f 20 50 21
+f 20 24 50
+f 21 50 51
+f 21 51 22
+f 22 51 52
+f 22 52 23
+f 23 52 58
+f 23 58 30
+f 24 29 53
+f 24 53 50
+f 25 49 54
+f 25 54 55
+f 25 55 26
+f 26 55 56
+f 26 56 27
+f 27 56 28
+f 28 56 29
+f 29 57 53
+f 29 56 57
+f 30 58 59
+f 30 59 31
+f 31 59 60
+f 31 60 32
+f 32 60 33
+f 33 60 61
+f 33 61 34
+f 34 62 35
+f 34 61 62
+f 35 62 42
+f 36 40 37
+f 37 63 38
+f 37 40 64
+f 37 64 63
+f 38 63 65
+f 40 41 66
+f 40 66 64
+f 41 67 90
+f 41 90 66
+f 42 62 67
+f 43 65 68
+f 43 68 69
+f 43 69 70
+f 44 71 46
+f 44 46 45
+f 46 71 72
+f 47 54 49
+f 47 49 48
+f 50 73 74
+f 50 74 51
+f 50 53 75
+f 50 75 76
+f 50 76 73
+f 51 74 77
+f 51 77 52
+f 52 77 78
+f 52 78 58
+f 53 57 75
+f 54 79 80
+f 54 80 81
+f 54 81 56
+f 54 56 55
+f 56 81 57
+f 57 82 75
+f 57 81 83
+f 57 83 82
+f 58 78 59
+f 59 78 84
+f 59 84 85
+f 59 85 60
+f 60 85 61
+f 61 85 86
+f 61 86 87
+f 61 87 62
+f 62 87 67
+f 63 68 65
+f 63 64 68
+f 64 66 88
+f 64 88 89
+f 64 89 68
+f 66 90 91
+f 66 91 88
+f 67 87 90
+f 68 89 69
+f 69 92 70
+f 69 89 88
+f 69 88 91
+f 69 91 93
+f 69 93 94
+f 69 94 95
+f 69 95 96
+f 69 96 92
+f 73 98 99
+f 73 99 74
+f 73 76 100
+f 73 100 98
+f 74 99 77
+f 75 82 76
+f 76 82 101
+f 76 101 100
+f 77 99 102
+f 77 102 103
+f 77 103 78
+f 78 103 84
+f 79 104 105
+f 79 105 106
+f 79 106 80
+f 80 106 107
+f 80 107 108
+f 80 108 83
+f 80 83 81
+f 82 83 101
+f 83 108 109
+f 83 109 101
+f 84 103 110
+f 84 110 85
+f 85 111 112
+f 85 112 86
+f 85 110 111
+f 86 112 113
+f 86 113 87
+f 87 113 90
+f 90 113 93
+f 90 93 91
+f 92 96 114
+f 93 113 112
+f 93 112 94
+f 94 112 111
+f 94 111 95
+f 95 111 110
+f 95 110 96
+f 96 110 103
+f 96 103 115
+f 96 115 114
+f 97 116 105
+f 97 105 104
+f 98 117 99
+f 99 117 118
+f 99 118 119
+f 99 119 102
+f 102 119 115
+f 102 115 103
+f 105 116 120
+f 105 120 107
+f 105 107 106
+f 114 115 121
+f 115 119 122
+f 115 122 123
+f 115 123 121
+f 118 122 119
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_11.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.00318610 0.03374573 0.01148472
+v -0.00462956 0.03275204 0.01535350
+v -0.00318815 0.03373887 0.01148472
+v -0.00319429 0.03538698 0.01148473
+v -0.00412179 0.03538697 0.01421152
+v -0.00457018 0.03538696 0.01552664
+v -0.00790957 0.03374568 0.02528184
+v -0.01460473 0.03288814 0.04474897
+v -0.00795462 0.03279227 0.02515532
+v -0.00629209 0.03277173 0.02025441
+v -0.00443300 0.03252677 0.01421151
+v -0.01549742 0.03201440 0.04549475
+v -0.00390476 0.03230834 0.01148472
+v -0.00391295 0.03675755 0.01148474
+v -0.00443505 0.03655881 0.01421152
+v -0.00462956 0.03636092 0.01535351
+v -0.00629004 0.03634207 0.02025775
+v -0.00795462 0.03631806 0.02514867
+v -0.01461702 0.03621949 0.04471568
+v -0.00790957 0.03538693 0.02527852
+v -0.01258595 0.03374563 0.03892248
+v -0.01459450 0.03374561 0.04477560
+v -0.01484224 0.03374560 0.04549475
+v -0.00771916 0.02877141 0.01148471
+v -0.00415250 0.03234088 0.01256345
+v -0.01559365 0.03192017 0.04549475
+v -0.01896376 0.02877128 0.04549474
+v -0.00416274 0.03671814 0.01256346
+v -0.00436543 0.03696314 0.01148474
+v -0.00556319 0.03717471 0.01421153
+v -0.00610577 0.03653566 0.01915238
+v -0.00583346 0.03670528 0.01750765
+v -0.00750213 0.03669070 0.02244851
+v -0.01085380 0.03665382 0.03233356
+v -0.00777649 0.03650823 0.02409657
+v -0.01279684 0.03641995 0.03892249
+v -0.01295244 0.03624605 0.03982476
+v -0.01447165 0.03638567 0.04386668
+v -0.01544009 0.03658867 0.04549476
+v -0.01487500 0.03546652 0.04549476
+v -0.01487090 0.03538685 0.04549476
+v -0.01460269 0.03538686 0.04475230
+v -0.01292992 0.03538687 0.03988802
+v -0.01484429 0.03395375 0.04549475
+v -0.01122644 0.02877141 0.01148471
+v -0.02351114 0.02877128 0.04549474
+v -0.00556319 0.03739829 0.01148474
+v -0.00556319 0.03735631 0.01256347
+v -0.00720934 0.03732461 0.01750766
+v -0.01544828 0.03714976 0.04221862
+v -0.00720934 0.03713015 0.01915239
+v -0.01421162 0.03660753 0.04221861
+v -0.01544828 0.03690049 0.04386669
+v -0.01707396 0.03718144 0.04549477
+v -0.01185296 0.03044437 0.01148471
+v -0.02369951 0.02972212 0.04549474
+v -0.01243444 0.03202395 0.01148472
+v -0.00613034 0.03743342 0.01148474
+v -0.00720934 0.03743855 0.01421153
+v -0.00720934 0.03739057 0.01585960
+v -0.01544828 0.03723200 0.04057056
+v -0.01215394 0.03722004 0.03233357
+v -0.01709648 0.03718573 0.04549477
+v -0.01380009 0.03694762 0.03892250
+v -0.02409876 0.03195100 0.04549475
+v -0.01245901 0.03259273 0.01148472
+v -0.00886983 0.03752250 0.01148474
+v -0.00720934 0.03745825 0.01256347
+v -0.01709648 0.03727482 0.04221862
+v -0.01709648 0.03724827 0.04386669
+v -0.01874468 0.03723970 0.04386669
+v -0.01874468 0.03717288 0.04549477
+v -0.02365242 0.03374731 0.04549475
+v -0.02300133 0.03331730 0.04267140
+v -0.01246720 0.03374573 0.01148472
+v -0.01050574 0.03728094 0.01148474
+v -0.02039288 0.03717460 0.04386669
+v -0.01874468 0.03723286 0.04057056
+v -0.01874468 0.03723799 0.04221862
+v -0.02039288 0.03706923 0.04549477
+v -0.02287029 0.03616123 0.04549476
+v -0.02282730 0.03605416 0.04489880
+v -0.02318560 0.03381670 0.04385335
+v -0.02218849 0.03538686 0.04221861
+v -0.01187958 0.03676441 0.01148474
+v -0.01220717 0.03538698 0.01148473
+v -0.02039288 0.03707781 0.04221862
+v -0.02185066 0.03666920 0.04386668
+v -0.02218235 0.03655355 0.04547479
+v -0.02135108 0.03679254 0.04549477
+v -0.02220897 0.03654241 0.04549476
+v -0.02158244 0.03657241 0.04221861
+v -0.02137156 0.03639082 0.04094677
+v -0.02219668 0.03654755 0.04549476
+f 1 2 3
+f 1 3 13
+f 1 13 24
+f 1 24 45
+f 1 45 55
+f 1 55 57
+f 1 57 66
+f 1 66 75
+f 1 75 86
+f 1 86 85
+f 1 85 76
+f 1 76 67
+f 1 67 58
+f 1 58 47
+f 1 47 29
+f 1 29 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 12
+f 2 12 11
+f 3 11 13
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 12
+f 8 12 9
+f 9 12 10
+f 11 24 25
+f 11 25 13
+f 11 12 26
+f 11 26 27
+f 11 27 24
+f 12 23 44
+f 12 44 41
+f 12 41 40
+f 12 40 39
+f 12 39 54
+f 12 54 63
+f 12 63 72
+f 12 72 80
+f 12 80 90
+f 12 90 94
+f 12 94 91
+f 12 91 81
+f 12 81 73
+f 12 73 65
+f 12 65 56
+f 12 56 46
+f 12 46 27
+f 12 27 26
+f 13 25 24
+f 14 28 15
+f 14 29 30
+f 14 30 28
+f 15 31 17
+f 15 17 16
+f 15 28 30
+f 15 30 32
+f 15 32 33
+f 15 33 34
+f 15 34 31
+f 17 31 35
+f 17 35 36
+f 17 36 18
+f 18 36 37
+f 18 37 19
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 42 43
+f 19 43 20
+f 20 43 22
+f 20 22 21
+f 22 42 44
+f 22 44 23
+f 22 43 42
+f 24 27 46
+f 24 46 45
+f 29 47 48
+f 29 48 30
+f 30 33 32
+f 30 48 49
+f 30 49 50
+f 30 50 51
+f 30 51 52
+f 30 52 34
+f 30 34 33
+f 31 34 35
+f 34 52 35
+f 35 52 36
+f 36 52 38
+f 36 38 37
+f 38 52 39
+f 39 53 54
+f 39 52 53
+f 41 44 42
+f 45 46 55
+f 46 56 57
+f 46 57 55
+f 47 58 59
+f 47 59 60
+f 47 60 48
+f 48 60 49
+f 49 60 61
+f 49 61 62
+f 49 62 50
+f 50 62 61
+f 50 61 63
+f 50 63 54
+f 50 54 53
+f 50 53 64
+f 50 64 51
+f 51 64 52
+f 52 64 53
+f 56 65 57
+f 57 65 66
+f 58 67 68
+f 58 68 59
+f 59 68 67
+f 59 67 69
+f 59 69 70
+f 59 70 60
+f 60 70 61
+f 61 70 63
+f 63 70 71
+f 63 71 72
+f 65 73 74
+f 65 74 75
+f 65 75 66
+f 67 76 77
+f 67 77 78
+f 67 78 79
+f 67 79 71
+f 67 71 69
+f 69 71 70
+f 71 77 72
+f 71 79 77
+f 72 77 80
+f 73 81 82
+f 73 82 83
+f 73 83 74
+f 74 83 82
+f 74 82 84
+f 74 84 85
+f 74 85 86
+f 74 86 75
+f 76 85 87
+f 76 87 77
+f 77 87 88
+f 77 88 89
+f 77 89 90
+f 77 90 80
+f 77 79 78
+f 81 91 88
+f 81 88 92
+f 81 92 82
+f 82 92 93
+f 82 93 85
+f 82 85 84
+f 85 93 92
+f 85 92 87
+f 87 92 88
+f 88 91 89
+f 89 91 94
+f 89 94 90
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_12.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00671054 -0.01351993 0.00871633
+v -0.00683220 -0.01351993 0.00905287
+v -0.00671054 -0.02365523 0.00869627
+v -0.00671054 -0.01351990 -0.00071558
+v -0.00739619 -0.01351994 0.01060421
+v -0.00690953 -0.01382751 0.00926555
+v -0.00750858 -0.02365524 0.01089943
+v -0.00671054 -0.02365520 -0.00125358
+v -0.00671054 -0.01561840 -0.00118724
+v -0.01350629 -0.01590713 0.00004132
+v -0.01215250 -0.01351990 0.00069690
+v -0.00750858 -0.01351994 0.01091323
+v -0.00750858 -0.01382752 0.01091323
+v -0.00751270 -0.02202903 0.01091320
+v -0.00771995 -0.02202903 0.01148119
+v -0.00772098 -0.02365524 0.01148118
+v -0.01386200 -0.02365520 -0.00003002
+v -0.00671054 -0.01807012 -0.00129985
+v -0.01367744 -0.01710868 0.00002881
+v -0.01450126 -0.01710868 0.00022898
+v -0.01395377 -0.01540309 0.00042415
+v -0.01390737 -0.01351990 0.00122986
+v -0.00767767 -0.01351994 0.01137488
+v -0.00771686 -0.01382752 0.01148122
+v -0.01284434 -0.02365524 0.01148118
+v -0.01387025 -0.02365520 -0.00002627
+v -0.01445280 -0.02309163 0.00023772
+v -0.01532302 -0.02365520 0.00072438
+v -0.01533127 -0.02365520 0.00072938
+v -0.01544881 -0.01710868 0.00087579
+v -0.01636852 -0.01607085 0.00173278
+v -0.01547871 -0.01550132 0.00128489
+v -0.01494875 -0.01418667 0.00156890
+v -0.01401254 -0.01351990 0.00130492
+v -0.00771686 -0.01351994 0.01148122
+v -0.01284641 -0.02258466 0.01148119
+v -0.01643142 -0.01710871 0.00699733
+v -0.01642626 -0.01874782 0.00698982
+v -0.01640358 -0.02365523 0.00695727
+v -0.01641905 -0.02365521 0.00166019
+v -0.01641595 -0.01710869 0.00167398
+v -0.01689952 -0.01710869 0.00267485
+v -0.01658505 -0.01571862 0.00267485
+v -0.01525394 -0.01351991 0.00257977
+v -0.01506732 -0.01351991 0.00235458
+v -0.01119361 -0.01351994 0.01148122
+v -0.01284950 -0.02094059 0.01148119
+v -0.01285053 -0.02038793 0.01148120
+v -0.01285259 -0.01874783 0.01148120
+v -0.01285259 -0.01710872 0.01148121
+v -0.01637883 -0.01605500 0.00692977
+v -0.01691808 -0.01710870 0.00596894
+v -0.01691190 -0.01874781 0.00596893
+v -0.01687271 -0.02365522 0.00597767
+v -0.01688199 -0.02365521 0.00267482
+v -0.01689334 -0.02038790 0.00267484
+v -0.01689849 -0.01874780 0.00267484
+v -0.01724390 -0.01874781 0.00432251
+v -0.01724287 -0.01710870 0.00432252
+v -0.01675620 -0.01547951 0.00432252
+v -0.01571483 -0.01351992 0.00432253
+v -0.01610045 -0.01489807 0.00267486
+v -0.01217827 -0.01539321 0.01148121
+v -0.01468789 -0.01351993 0.00683095
+v -0.01261854 -0.01647570 0.01148121
+v -0.01517661 -0.01351992 0.00615411
+v -0.01524157 -0.01351992 0.00604027
+v -0.01659536 -0.01571069 0.00596894
+v -0.01723668 -0.02038791 0.00432251
+v -0.01687684 -0.02365522 0.00596891
+v -0.01688509 -0.02365521 0.00268858
+v -0.01564575 -0.01351992 0.00460402
+v -0.01720987 -0.02365522 0.00432249
+v -0.01720781 -0.02365522 0.00433625
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 9
+f 1 9 4
+f 1 4 11
+f 1 11 22
+f 1 22 34
+f 1 34 45
+f 1 45 44
+f 1 44 61
+f 1 61 72
+f 1 72 67
+f 1 67 66
+f 1 66 64
+f 1 64 46
+f 1 46 35
+f 1 35 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 16
+f 3 16 25
+f 3 25 39
+f 3 39 54
+f 3 54 70
+f 3 70 74
+f 3 74 73
+f 3 73 71
+f 3 71 55
+f 3 55 40
+f 3 40 29
+f 3 29 28
+f 3 28 26
+f 3 26 17
+f 3 17 8
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 8 17 18
+f 9 18 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 10 18 19
+f 12 23 13
+f 13 23 15
+f 13 15 14
+f 15 23 24
+f 15 24 35
+f 15 35 46
+f 15 46 63
+f 15 63 65
+f 15 65 50
+f 15 50 49
+f 15 49 48
+f 15 48 47
+f 15 47 36
+f 15 36 25
+f 15 25 16
+f 17 20 19
+f 17 19 18
+f 17 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 23 35 24
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 26 28 27
+f 29 40 41
+f 29 41 30
+f 30 41 31
+f 31 33 32
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 33
+f 33 44 45
+f 33 45 34
+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 54 39
+f 38 53 54
+f 40 55 56
+f 40 56 57
+f 40 57 42
+f 40 42 41
+f 42 57 58
+f 42 58 59
+f 42 59 43
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 44
+f 44 62 61
+f 46 64 51
+f 46 51 63
+f 50 65 51
+f 51 64 66
+f 51 66 67
+f 51 67 68
+f 51 68 52
+f 51 65 63
+f 52 68 59
+f 52 59 58
+f 52 58 53
+f 53 58 69
+f 53 69 70
+f 53 70 54
+f 55 71 56
+f 56 71 58
+f 56 58 57
+f 58 71 69
+f 59 68 60
+f 60 68 61
+f 61 68 72
+f 67 72 68
+f 69 71 73
+f 69 73 74
+f 69 74 70
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_13.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.01874562 -0.02038715 0.05375069
+v -0.01874562 -0.02202798 0.05374971
+v -0.01730499 -0.02202798 0.05335660
+v -0.01730589 -0.01874631 0.05335661
+v -0.01874562 -0.01874631 0.05374875
+v -0.02039373 -0.00018362 0.05372661
+v -0.02039373 -0.00562553 0.05372659
+v -0.01874562 -0.02366882 0.05374680
+v -0.01730409 -0.02366882 0.05335466
+v -0.01651372 -0.02366881 0.05210675
+v -0.01651282 -0.01874630 0.05210677
+v -0.01759689 -0.00018362 0.05320890
+v -0.01874562 -0.00018362 0.05365417
+v -0.02151552 -0.00018362 0.05348707
+v -0.02204094 -0.00070597 0.05337503
+v -0.02204094 -0.00562553 0.05337501
+v -0.02039373 -0.00726636 0.05371982
+v -0.02039373 -0.02366882 0.05350244
+v -0.02039373 -0.02530965 0.05334307
+v -0.01874562 -0.02530965 0.05355846
+v -0.01743792 -0.02530965 0.05325614
+v -0.01670143 -0.02530964 0.05210675
+v -0.01650474 -0.03032657 0.05030247
+v -0.01647959 -0.03032657 0.05023196
+v -0.01616883 -0.03032657 0.04900627
+v -0.01615176 -0.03032657 0.04893286
+v -0.01632241 -0.02366881 0.05045896
+v -0.01631882 -0.01874630 0.05045898
+v -0.01650384 -0.00018361 0.05045905
+v -0.01682987 -0.00018361 0.05158140
+v -0.01698255 -0.00018361 0.05210684
+v -0.02204094 -0.00018362 0.05337406
+v -0.02304057 -0.00018361 0.05302442
+v -0.02304237 -0.00398468 0.05302441
+v -0.02304147 -0.00562552 0.05302440
+v -0.02303429 -0.00726635 0.05302149
+v -0.02204094 -0.00726636 0.05336824
+v -0.02173107 -0.02366882 0.05311029
+v -0.02153348 -0.02530964 0.05304075
+v -0.02129637 -0.02616547 0.05295767
+v -0.01874562 -0.03032658 0.05233371
+v -0.01768760 -0.02640451 0.05308227
+v -0.01738223 -0.03032658 0.05187395
+v -0.01613021 -0.03032657 0.04784625
+v -0.01657120 -0.00018360 0.04881224
+v -0.01612033 -0.03032656 0.04733144
+v -0.02360192 -0.00018361 0.05264676
+v -0.02386598 -0.00234680 0.05247096
+v -0.02386598 -0.00398468 0.05247193
+v -0.02386598 -0.00562552 0.05247192
+v -0.02385789 -0.00726635 0.05246418
+v -0.02255558 -0.02366881 0.05281183
+v -0.02235798 -0.02530964 0.05271525
+v -0.02257983 -0.03032658 0.05118818
+v -0.02176879 -0.03032658 0.05147022
+v -0.02048354 -0.03032658 0.05190196
+v -0.02040091 -0.03032658 0.05192611
+v -0.01887316 -0.00018653 0.04388434
+v -0.01906357 -0.00018359 0.04499124
+v -0.01843037 -0.03032655 0.04388423
+v -0.02386418 -0.00018361 0.05247001
+v -0.02386508 -0.00070596 0.05247001
+v -0.02479646 -0.00398468 0.05164804
+v -0.02449827 -0.00018361 0.05190883
+v -0.02479646 -0.00562552 0.05164803
+v -0.02479197 -0.00726635 0.05164029
+v -0.02455576 -0.02366881 0.05133695
+v -0.02454138 -0.02465154 0.05131859
+v -0.02368904 -0.02366881 0.05204203
+v -0.02378694 -0.02524177 0.05179091
+v -0.02266605 -0.03032658 0.05113699
+v -0.02207237 -0.00018358 0.04388434
+v -0.02266874 -0.03032655 0.04388423
+v -0.02520512 -0.00562552 0.05045903
+v -0.02479466 -0.00018361 0.05164612
+v -0.02519973 -0.00726635 0.05045902
+v -0.02486831 -0.02366881 0.05045896
+v -0.02472371 -0.02524177 0.05050340
+v -0.02447851 -0.03022919 0.04950080
+v -0.02364862 -0.03032657 0.05036236
+v -0.02212087 -0.00018358 0.04388434
+v -0.02451714 -0.03032656 0.04634335
+v -0.02406986 -0.02530961 0.04388425
+v -0.02519973 -0.00018361 0.05045905
+v -0.02529493 -0.01874629 0.04881217
+v -0.02529583 -0.02038713 0.04881217
+v -0.02529493 -0.02202796 0.04881216
+v -0.02529314 -0.02366880 0.04881215
+v -0.02519704 -0.02530963 0.04881215
+v -0.02471922 -0.03022919 0.04867787
+v -0.02470754 -0.03032657 0.04864890
+v -0.02449019 -0.03032657 0.04939165
+v -0.02446774 -0.03032657 0.04946216
+v -0.02456923 -0.00018359 0.04626716
+v -0.02415338 -0.01710544 0.04388428
+v -0.02467701 -0.03032656 0.04698855
+v -0.02515482 -0.02530962 0.04716437
+v -0.02471293 -0.02530962 0.04573004
+v -0.02415159 -0.02366878 0.04388425
+v -0.02525452 -0.00018360 0.04881224
+v -0.02520691 -0.01710545 0.04716440
+v -0.02520871 -0.01874628 0.04716439
+v -0.02520691 -0.02202795 0.04716438
+v -0.02520512 -0.02366879 0.04716437
+v -0.02468419 -0.03030590 0.04701367
+v -0.02468239 -0.03032656 0.04702526
+v -0.02470754 -0.03032657 0.04855907
+v -0.02467701 -0.00018359 0.04655306
+v -0.02415338 -0.01874627 0.04388427
+v -0.02446774 -0.01874627 0.04482987
+v -0.02474077 -0.01710545 0.04565280
+v -0.02490603 -0.00018359 0.04716446
+v -0.02473718 -0.02366879 0.04565760
+v -0.02446684 -0.02366878 0.04483371
+v -0.02474077 -0.01874628 0.04565376
+v -0.02473898 -0.02202795 0.04565664
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 12
+f 6 12 31
+f 6 31 30
+f 6 30 29
+f 6 29 45
+f 6 45 59
+f 6 59 72
+f 6 72 81
+f 6 81 94
+f 6 94 108
+f 6 108 112
+f 6 112 100
+f 6 100 84
+f 6 84 75
+f 6 75 64
+f 6 64 61
+f 6 61 47
+f 6 47 33
+f 6 33 32
+f 6 32 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 37
+f 7 37 17
+f 7 17 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 8 17 18
+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 27
+f 10 27 28
+f 10 28 11
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 12
+f 14 32 15
+f 15 32 33
+f 15 33 34
+f 15 34 16
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 17 37 18
+f 18 38 39
+f 18 39 19
+f 18 37 38
+f 19 39 40
+f 19 40 41
+f 19 41 20
+f 20 41 42
+f 20 42 21
+f 21 42 43
+f 21 43 22
+f 22 43 23
+f 23 43 41
+f 23 41 57
+f 23 57 56
+f 23 56 55
+f 23 55 54
+f 23 54 71
+f 23 71 80
+f 23 80 93
+f 23 93 92
+f 23 92 91
+f 23 91 107
+f 23 107 106
+f 23 106 96
+f 23 96 82
+f 23 82 73
+f 23 73 60
+f 23 60 46
+f 23 46 44
+f 23 44 26
+f 23 26 25
+f 23 25 24
+f 26 44 29
+f 26 29 28
+f 26 28 27
+f 29 44 46
+f 29 46 45
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 35
+f 35 50 36
+f 36 50 51
+f 36 51 52
+f 36 52 38
+f 36 38 37
+f 38 52 39
+f 39 53 40
+f 39 52 53
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 40 53 54
+f 41 43 42
+f 45 58 59
+f 45 46 58
+f 46 60 58
+f 47 61 62
+f 47 62 48
+f 48 63 49
+f 48 62 64
+f 48 64 63
+f 49 63 65
+f 49 65 50
+f 50 65 66
+f 50 66 51
+f 51 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 52
+f 52 69 70
+f 52 70 53
+f 53 70 71
+f 53 71 54
+f 58 72 59
+f 58 60 73
+f 58 73 83
+f 58 83 99
+f 58 99 109
+f 58 109 95
+f 58 95 81
+f 58 81 72
+f 61 64 62
+f 63 74 65
+f 63 64 75
+f 63 75 74
+f 65 74 76
+f 65 76 66
+f 66 76 77
+f 66 77 67
+f 67 77 68
+f 68 78 79
+f 68 79 80
+f 68 80 70
+f 68 70 69
+f 68 77 78
+f 70 80 71
+f 73 82 83
+f 74 75 84
+f 74 84 85
+f 74 85 86
+f 74 86 87
+f 74 87 88
+f 74 88 76
+f 76 88 77
+f 77 88 89
+f 77 89 78
+f 78 89 90
+f 78 90 79
+f 79 90 91
+f 79 91 92
+f 79 92 93
+f 79 93 80
+f 81 95 94
+f 82 96 97
+f 82 97 98
+f 82 98 83
+f 83 98 99
+f 84 100 85
+f 85 101 102
+f 85 102 86
+f 85 100 101
+f 86 102 103
+f 86 103 87
+f 87 103 104
+f 87 104 88
+f 88 104 97
+f 88 97 89
+f 89 97 105
+f 89 105 106
+f 89 106 90
+f 90 106 107
+f 90 107 91
+f 94 95 108
+f 95 109 110
+f 95 110 111
+f 95 111 112
+f 95 112 108
+f 96 106 105
+f 96 105 97
+f 97 104 98
+f 98 104 113
+f 98 113 114
+f 98 114 99
+f 99 114 110
+f 99 110 109
+f 100 112 101
+f 101 111 102
+f 101 112 111
+f 102 111 115
+f 102 115 103
+f 103 116 104
+f 103 115 116
+f 104 116 113
+f 110 115 111
+f 110 114 115
+f 113 116 114
+f 114 116 115
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_14.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00666632 0.02844100 -0.00081060
+v -0.00572797 0.02844100 -0.00081060
+v -0.00894989 0.02844100 -0.00046889
+v -0.00894989 0.02892955 -0.00050136
+v -0.00894989 0.03536526 -0.00081057
+v -0.00572797 0.03255471 -0.00081058
+v -0.00572797 0.02844098 0.00634488
+v -0.00894989 0.02844096 0.01148137
+v -0.00894989 0.03887535 -0.00081056
+v -0.00883792 0.03875575 -0.00081056
+v -0.00800303 0.03951508 0.00016766
+v -0.00572797 0.03351827 -0.00024988
+v -0.00572797 0.03152906 0.01148139
+v -0.00771758 0.02844096 0.01148137
+v -0.00894989 0.03750219 0.01148141
+v -0.00891898 0.03885842 -0.00081056
+v -0.00894989 0.03963806 -0.00021496
+v -0.00572797 0.03442315 0.00044077
+v -0.00885716 0.03963016 -0.00018127
+v -0.00885716 0.03986598 0.00102795
+v -0.00781725 0.03962678 0.00102795
+v -0.00572797 0.03766920 0.00389037
+v -0.00572797 0.03704639 0.00289412
+v -0.00572797 0.03522084 0.00117834
+v -0.00572797 0.03740854 0.01148141
+v -0.00886978 0.03752250 0.01148141
+v -0.00894989 0.03972491 0.00796805
+v -0.00894989 0.03987387 0.00102795
+v -0.00885716 0.03995736 0.00267515
+v -0.00758164 0.03972267 0.00267515
+v -0.00670985 0.03905698 0.00432353
+v -0.00572797 0.03778992 0.00432353
+v -0.00612917 0.03743336 0.01148141
+v -0.00764472 0.03970800 0.00596953
+v -0.00783712 0.03962675 0.00714386
+v -0.00880134 0.03975763 0.00766364
+v -0.00894989 0.03977568 0.00765883
+v -0.00894989 0.03996413 0.00267515
+v -0.00894989 0.03996751 0.00276779
+v -0.00885716 0.03995283 0.00432354
+v -0.00753338 0.03972041 0.00432354
+v -0.00885716 0.03994155 0.00596953
+v -0.00894989 0.03994268 0.00606217
+v -0.00894989 0.03996299 0.00432354
+v -0.00894989 0.03994719 0.00596953
+f 1 2 7
+f 1 7 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 24
+f 2 24 23
+f 2 23 22
+f 2 22 32
+f 2 32 25
+f 2 25 13
+f 2 13 7
+f 3 8 15
+f 3 15 27
+f 3 27 37
+f 3 37 43
+f 3 43 45
+f 3 45 44
+f 3 44 39
+f 3 39 38
+f 3 38 28
+f 3 28 17
+f 3 17 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 8 14 13
+f 8 13 25
+f 8 25 33
+f 8 33 26
+f 8 26 15
+f 9 17 16
+f 10 16 11
+f 11 18 12
+f 11 16 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 18
+f 15 26 27
+f 16 17 19
+f 17 28 20
+f 17 20 19
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 25 32 31
+f 25 31 34
+f 25 34 35
+f 25 35 27
+f 25 27 33
+f 26 33 27
+f 27 35 36
+f 27 36 37
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 30 41 31
+f 31 41 34
+f 34 41 42
+f 34 42 35
+f 35 42 36
+f 36 42 37
+f 37 42 43
+f 39 44 40
+f 40 44 42
+f 40 42 41
+f 42 44 45
+f 42 45 43
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_15.obj

@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
+v 0.04281056 -0.03187242 -0.03357510
+v 0.04277055 -0.03515197 -0.03357511
+v 0.04274593 -0.03187241 -0.03522261
+v 0.04275824 -0.03023210 -0.03357509
+v 0.04236117 -0.03023210 -0.03192758
+v 0.04240118 -0.03187242 -0.03192759
+v 0.04237656 -0.03515197 -0.03192760
+v 0.04216110 -0.03679229 -0.03357512
+v 0.04210569 -0.03679228 -0.03522263
+v 0.04269206 -0.03515196 -0.03522262
+v 0.04272592 -0.03351164 -0.03522261
+v 0.04181328 -0.03688961 -0.03196339
+v 0.04213186 -0.03351163 -0.03687012
+v 0.04215033 -0.03187240 -0.03687012
+v 0.04210108 -0.03023208 -0.03687011
+v 0.04267975 -0.03023209 -0.03522260
+v 0.04199796 -0.02882578 -0.03522260
+v 0.04203644 -0.02880611 -0.03357509
+v 0.04183791 -0.02894280 -0.03192758
+v 0.04158551 -0.02917683 -0.03085581
+v 0.04172402 -0.03023211 -0.03066715
+v 0.04173633 -0.03187243 -0.03064927
+v 0.04173787 -0.03515198 -0.03064440
+v 0.04161629 -0.03640627 -0.03081842
+v 0.04145931 -0.03764307 -0.03253587
+v 0.04149778 -0.03766275 -0.03357512
+v 0.04148239 -0.03765509 -0.03522263
+v 0.04143930 -0.03763322 -0.03611876
+v 0.04169016 -0.03673323 -0.03674977
+v 0.04210724 -0.03515195 -0.03687013
+v 0.04108225 -0.03749981 -0.03143970
+v 0.04154703 -0.03515195 -0.03786384
+v 0.04155165 -0.03187240 -0.03786708
+v 0.04154088 -0.03023208 -0.03785406
+v 0.04146700 -0.02932552 -0.03776623
+v 0.04171017 -0.02907401 -0.03687011
+v 0.04052667 -0.02679506 -0.03522259
+v 0.04053282 -0.02679507 -0.03373284
+v 0.04053128 -0.02679507 -0.03357508
+v 0.04002495 -0.02679507 -0.03209834
+v 0.04000802 -0.02917574 -0.02927823
+v 0.04101915 -0.03023211 -0.02984421
+v 0.04104070 -0.03187243 -0.02982470
+v 0.04104993 -0.03515198 -0.02982146
+v 0.04004803 -0.03640846 -0.02924247
+v 0.04056514 -0.03695414 -0.03030125
+v 0.03728704 -0.03796567 -0.03357512
+v 0.03998339 -0.03764636 -0.03088023
+v 0.04055283 -0.03767150 -0.03196339
+v 0.03728704 -0.03793613 -0.03522263
+v 0.04048819 -0.03766821 -0.03674978
+v 0.03987566 -0.03764961 -0.03778578
+v 0.04097452 -0.03723953 -0.03721818
+v 0.04148239 -0.03614598 -0.03778740
+v 0.03941857 -0.03750201 -0.02978243
+v 0.03976485 -0.03598195 -0.03934545
+v 0.04062208 -0.03515195 -0.03868840
+v 0.04063901 -0.03187240 -0.03869164
+v 0.03981872 -0.03072964 -0.03937959
+v 0.04045433 -0.03020255 -0.03879247
+v 0.03854288 -0.02679505 -0.03795976
+v 0.03928930 -0.02679505 -0.03739053
+v 0.03936779 -0.02679505 -0.03732223
+v 0.04006958 -0.02679506 -0.03649766
+v 0.03968944 -0.02963609 -0.03931128
+v 0.04049589 -0.02679506 -0.03532180
+v 0.03888454 -0.02679508 -0.03097289
+v 0.04019578 -0.03023211 -0.02913999
+v 0.03874602 -0.02679508 -0.03085092
+v 0.03893532 -0.02893953 -0.02902940
+v 0.03893532 -0.03023212 -0.02851221
+v 0.04021732 -0.03187243 -0.02912699
+v 0.04022656 -0.03515198 -0.02911399
+v 0.03893532 -0.03515199 -0.02845206
+v 0.02708953 -0.03351168 -0.02347862
+v 0.02708953 -0.03512575 -0.02398769
+v 0.03889531 -0.03689072 -0.02903756
+v 0.03563875 -0.03791864 -0.03357512
+v 0.03563875 -0.03790442 -0.03522263
+v 0.03831972 -0.03764198 -0.02940512
+v 0.03728704 -0.03765620 -0.02937422
+v 0.03563875 -0.03764855 -0.02939211
+v 0.03474151 -0.03763105 -0.02942789
+v 0.03563875 -0.03778849 -0.03687014
+v 0.03728704 -0.03780489 -0.03687014
+v 0.03893532 -0.03766601 -0.03794516
+v 0.03728704 -0.03752385 -0.03899742
+v 0.03893532 -0.03714002 -0.03876811
+v 0.03893532 -0.03631985 -0.03950484
+v 0.04036969 -0.03661074 -0.03833548
+v 0.03893532 -0.03515194 -0.03970163
+v 0.03979717 -0.03515195 -0.03936660
+v 0.03981410 -0.03187240 -0.03937797
+v 0.03893532 -0.03187239 -0.03971626
+v 0.03905691 -0.03020254 -0.03961541
+v 0.03728704 -0.02679505 -0.03834684
+v 0.03859059 -0.02916367 -0.03951620
+v 0.03893532 -0.03187244 -0.02846181
+v 0.03738246 -0.02679508 -0.03041993
+v 0.02708953 -0.03190635 -0.02407062
+v 0.02708953 -0.03217208 -0.02396328
+v 0.03728704 -0.02679508 -0.03039554
+v 0.02708953 -0.03594482 -0.02449999
+v 0.03150650 -0.03762228 -0.03415736
+v 0.03150650 -0.03762228 -0.03451353
+v 0.03411205 -0.03765730 -0.03038256
+v 0.03305783 -0.03764089 -0.03099896
+v 0.03279312 -0.03765619 -0.03192761
+v 0.03294856 -0.03764852 -0.03687014
+v 0.03313632 -0.03762774 -0.03772398
+v 0.02708953 -0.03624008 -0.02489845
+v 0.02708953 -0.03643801 -0.02531155
+v 0.02708953 -0.03688307 -0.02698509
+v 0.03399201 -0.03764961 -0.03784758
+v 0.03563875 -0.03766382 -0.03812244
+v 0.03728704 -0.03766382 -0.03817448
+v 0.03563875 -0.03746480 -0.03894701
+v 0.03563875 -0.03664463 -0.03966422
+v 0.03728704 -0.03670368 -0.03969838
+v 0.03728704 -0.03515194 -0.04009196
+v 0.03728704 -0.03187239 -0.04008870
+v 0.03728704 -0.03023207 -0.04004152
+v 0.03563875 -0.02679505 -0.03826552
+v 0.03728704 -0.02900182 -0.03964143
+v 0.03563875 -0.02904556 -0.03960728
+v 0.02708953 -0.03171607 -0.02422838
+v 0.03579573 -0.02679508 -0.03045246
+v 0.02708953 -0.03095715 -0.02520256
+v 0.03168041 -0.03759933 -0.03305793
+v 0.02708953 -0.03696398 -0.02863260
+v 0.03180969 -0.03753152 -0.03561133
+v 0.02708953 -0.03673543 -0.03028660
+v 0.03279158 -0.03679227 -0.03805250
+v 0.03445064 -0.03634828 -0.03950972
+v 0.02708953 -0.03616022 -0.03156655
+v 0.03563875 -0.03515194 -0.04002365
+v 0.03563875 -0.03187239 -0.04001063
+v 0.03563875 -0.03023207 -0.03996671
+v 0.03555411 -0.02679505 -0.03823950
+v 0.03453374 -0.02922054 -0.03947066
+v 0.03563875 -0.02679508 -0.03045896
+v 0.02708953 -0.03093528 -0.02530177
+v 0.03455529 -0.02679508 -0.03086718
+v 0.03361803 -0.02679507 -0.03188041
+v 0.03301012 -0.02679507 -0.03257812
+v 0.03161423 -0.03515195 -0.03755320
+v 0.03243914 -0.03515195 -0.03838427
+v 0.03340257 -0.03515195 -0.03920721
+v 0.02708953 -0.03514869 -0.03224312
+v 0.03422748 -0.03515194 -0.03961055
+v 0.03424748 -0.03187239 -0.03960241
+v 0.03429520 -0.03023207 -0.03958126
+v 0.03458607 -0.02679505 -0.03787844
+v 0.03347182 -0.03023208 -0.03917467
+v 0.03273925 -0.02904557 -0.03809639
+v 0.02708953 -0.03092106 -0.02540098
+v 0.03271770 -0.02679507 -0.03343684
+v 0.02708953 -0.03351165 -0.03265132
+v 0.03160961 -0.03351163 -0.03753693
+v 0.03161115 -0.03187240 -0.03752717
+v 0.03243607 -0.03187240 -0.03839239
+v 0.03243299 -0.03351163 -0.03839239
+v 0.02708953 -0.03508198 -0.03226263
+v 0.02708953 -0.03380471 -0.03259278
+v 0.03341642 -0.03351163 -0.03921534
+v 0.03342257 -0.03187240 -0.03921696
+v 0.03362880 -0.02679505 -0.03688311
+v 0.03247300 -0.03023208 -0.03835173
+v 0.03164809 -0.03023208 -0.03749301
+v 0.03134183 -0.02916259 -0.03640497
+v 0.02708953 -0.03056892 -0.02997106
+v 0.03271617 -0.02679507 -0.03344497
+v 0.02708953 -0.03187351 -0.03225937
+v 0.03362265 -0.02679505 -0.03687498
+v 0.03273310 -0.02679506 -0.03539336
+v 0.03291316 -0.02722920 -0.03633827
+v 0.02708953 -0.03091447 -0.03151611
+v 0.02708953 -0.03059407 -0.03027357
+v 0.03272848 -0.02679506 -0.03538360
+v 0.02708953 -0.03084230 -0.03137137
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 7 12
+f 2 12 8
+f 3 11 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 24
+f 7 24 12
+f 8 12 25
+f 8 25 26
+f 8 26 27
+f 8 27 9
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 10 29 30
+f 10 30 11
+f 11 30 13
+f 12 24 31
+f 12 31 25
+f 13 30 32
+f 13 32 14
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 15 35 36
+f 15 36 16
+f 16 36 17
+f 17 37 18
+f 17 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 19 39 40
+f 19 40 20
+f 20 40 41
+f 20 41 42
+f 20 42 21
+f 21 42 43
+f 21 43 22
+f 22 43 44
+f 22 44 23
+f 23 44 24
+f 24 44 45
+f 24 45 46
+f 24 46 31
+f 25 47 26
+f 25 31 48
+f 25 48 49
+f 25 49 47
+f 26 47 27
+f 27 50 28
+f 27 47 50
+f 28 51 52
+f 28 52 53
+f 28 53 54
+f 28 54 29
+f 28 50 51
+f 29 54 30
+f 30 54 32
+f 31 46 55
+f 31 55 48
+f 32 54 56
+f 32 56 57
+f 32 57 58
+f 32 58 33
+f 33 58 34
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 35 61 62
+f 35 62 63
+f 35 63 64
+f 35 64 36
+f 35 60 65
+f 35 65 61
+f 36 64 66
+f 36 66 37
+f 37 66 64
+f 37 64 63
+f 37 63 62
+f 37 62 61
+f 37 61 96
+f 37 96 123
+f 37 123 139
+f 37 139 153
+f 37 153 167
+f 37 167 174
+f 37 174 175
+f 37 175 179
+f 37 179 172
+f 37 172 157
+f 37 157 145
+f 37 145 144
+f 37 144 143
+f 37 143 141
+f 37 141 127
+f 37 127 102
+f 37 102 99
+f 37 99 69
+f 37 69 67
+f 37 67 40
+f 37 40 39
+f 37 39 38
+f 40 67 41
+f 41 68 42
+f 41 67 69
+f 41 69 70
+f 41 70 71
+f 41 71 68
+f 42 68 43
+f 43 68 72
+f 43 72 73
+f 43 73 44
+f 44 73 45
+f 45 55 46
+f 45 73 74
+f 45 74 75
+f 45 75 76
+f 45 76 77
+f 45 77 55
+f 47 78 79
+f 47 79 50
+f 47 49 48
+f 47 48 80
+f 47 80 81
+f 47 81 82
+f 47 82 83
+f 47 83 78
+f 48 55 80
+f 50 79 84
+f 50 84 85
+f 50 85 52
+f 50 52 51
+f 52 85 86
+f 52 86 87
+f 52 87 88
+f 52 88 89
+f 52 89 56
+f 52 56 90
+f 52 90 53
+f 53 90 54
+f 54 90 56
+f 55 77 80
+f 56 89 91
+f 56 91 92
+f 56 92 57
+f 57 92 93
+f 57 93 58
+f 58 93 59
+f 59 94 95
+f 59 95 65
+f 59 65 60
+f 59 93 94
+f 61 65 97
+f 61 97 96
+f 65 95 97
+f 68 71 98
+f 68 98 72
+f 69 99 70
+f 70 100 101
+f 70 101 71
+f 70 99 102
+f 70 102 100
+f 71 101 75
+f 71 75 98
+f 72 98 73
+f 73 98 74
+f 74 98 75
+f 75 101 100
+f 75 100 126
+f 75 126 128
+f 75 128 142
+f 75 142 156
+f 75 156 171
+f 75 171 178
+f 75 178 180
+f 75 180 177
+f 75 177 173
+f 75 173 158
+f 75 158 164
+f 75 164 163
+f 75 163 149
+f 75 149 135
+f 75 135 132
+f 75 132 130
+f 75 130 113
+f 75 113 112
+f 75 112 111
+f 75 111 103
+f 75 103 76
+f 76 103 77
+f 77 103 80
+f 78 104 105
+f 78 105 79
+f 78 83 106
+f 78 106 107
+f 78 107 108
+f 78 108 104
+f 79 105 109
+f 79 109 110
+f 79 110 84
+f 80 103 111
+f 80 111 112
+f 80 112 81
+f 81 112 82
+f 82 112 113
+f 82 113 83
+f 83 113 107
+f 83 107 106
+f 84 110 114
+f 84 114 115
+f 84 115 85
+f 85 115 116
+f 85 116 86
+f 86 116 87
+f 87 116 115
+f 87 115 117
+f 87 117 118
+f 87 118 119
+f 87 119 89
+f 87 89 88
+f 89 119 120
+f 89 120 91
+f 91 120 94
+f 91 94 93
+f 91 93 92
+f 94 120 121
+f 94 121 122
+f 94 122 95
+f 95 122 97
+f 96 97 124
+f 96 124 125
+f 96 125 123
+f 97 122 124
+f 100 102 126
+f 102 127 128
+f 102 128 126
+f 104 108 129
+f 104 129 130
+f 104 130 105
+f 105 131 110
+f 105 110 109
+f 105 130 132
+f 105 132 131
+f 107 113 130
+f 107 130 129
+f 107 129 108
+f 110 133 134
+f 110 134 117
+f 110 117 114
+f 110 131 132
+f 110 132 135
+f 110 135 133
+f 114 117 115
+f 117 134 118
+f 118 134 136
+f 118 136 120
+f 118 120 119
+f 120 136 121
+f 121 136 137
+f 121 137 138
+f 121 138 122
+f 122 138 125
+f 122 125 124
+f 123 125 140
+f 123 140 139
+f 125 138 140
+f 127 141 128
+f 128 141 143
+f 128 143 144
+f 128 144 145
+f 128 145 142
+f 133 146 147
+f 133 147 148
+f 133 148 134
+f 133 135 149
+f 133 149 146
+f 134 148 150
+f 134 150 136
+f 136 150 137
+f 137 150 151
+f 137 151 152
+f 137 152 138
+f 138 152 140
+f 139 140 153
+f 140 152 154
+f 140 154 155
+f 140 155 153
+f 142 145 157
+f 142 157 156
+f 146 158 159
+f 146 159 160
+f 146 160 161
+f 146 161 162
+f 146 162 147
+f 146 149 163
+f 146 163 164
+f 146 164 158
+f 147 162 148
+f 148 162 161
+f 148 161 165
+f 148 165 150
+f 150 165 166
+f 150 166 151
+f 151 166 152
+f 152 166 154
+f 153 155 167
+f 154 166 168
+f 154 168 155
+f 155 168 169
+f 155 169 170
+f 155 170 167
+f 156 157 172
+f 156 172 171
+f 158 173 169
+f 158 169 160
+f 158 160 159
+f 160 169 161
+f 161 166 165
+f 161 169 168
+f 161 168 166
+f 167 170 174
+f 169 173 170
+f 170 175 176
+f 170 176 174
+f 170 173 177
+f 170 177 175
+f 171 172 179
+f 171 179 178
+f 174 176 175
+f 175 177 179
+f 177 180 179
+f 178 179 180
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_16.obj

@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
+v 0.04280692 0.03210589 -0.03357504
+v 0.04279933 0.03046626 -0.03357505
+v 0.04272473 0.03210590 -0.03522219
+v 0.04269818 0.03374673 -0.03522219
+v 0.04277531 0.03374672 -0.03357504
+v 0.04240231 0.03210589 -0.03192790
+v 0.04239978 0.03046626 -0.03192791
+v 0.04187758 0.02898577 -0.03192791
+v 0.04195850 0.02867472 -0.03358824
+v 0.04192689 0.02868558 -0.03517237
+v 0.04271209 0.03046627 -0.03522220
+v 0.04213299 0.03046628 -0.03687081
+v 0.04213931 0.03210591 -0.03687080
+v 0.04210897 0.03374674 -0.03687080
+v 0.04206471 0.03538637 -0.03687079
+v 0.04264887 0.03538636 -0.03522218
+v 0.04272852 0.03538635 -0.03357503
+v 0.04232897 0.03538635 -0.03192789
+v 0.04236691 0.03374672 -0.03192790
+v 0.04170815 0.03538634 -0.03067787
+v 0.04174102 0.03210588 -0.03063978
+v 0.04174229 0.03046625 -0.03064419
+v 0.04161079 0.02929198 -0.03082444
+v 0.03983809 0.02554013 -0.03263866
+v 0.04013143 0.02554013 -0.03357507
+v 0.04017569 0.02554014 -0.03522222
+v 0.04174608 0.02914493 -0.03687081
+v 0.04149067 0.02948491 -0.03779403
+v 0.04156274 0.03046628 -0.03787903
+v 0.04155895 0.03210591 -0.03787462
+v 0.04152354 0.03538637 -0.03783505
+v 0.04146664 0.03630143 -0.03776617
+v 0.04171068 0.03658113 -0.03687079
+v 0.04200149 0.03684515 -0.03522217
+v 0.04203816 0.03686684 -0.03357502
+v 0.04184218 0.03673543 -0.03192789
+v 0.04159309 0.03647742 -0.03084493
+v 0.04102284 0.03538634 -0.02985430
+v 0.04104813 0.03210588 -0.02981621
+v 0.04104813 0.03046625 -0.02981915
+v 0.04004166 0.02930645 -0.02925056
+v 0.04057903 0.02875187 -0.03029542
+v 0.03898714 0.02554013 -0.03181655
+v 0.03988234 0.02554014 -0.03623190
+v 0.03912623 0.02554015 -0.03705548
+v 0.03830184 0.02554015 -0.03781897
+v 0.03976223 0.02964164 -0.03934446
+v 0.04062834 0.03046628 -0.03870260
+v 0.04063846 0.03210591 -0.03869820
+v 0.04062202 0.03374674 -0.03867621
+v 0.04043868 0.03542254 -0.03878611
+v 0.03972429 0.03599279 -0.03932539
+v 0.04058282 0.03660886 -0.03814718
+v 0.04058282 0.03725145 -0.03687078
+v 0.04058282 0.03752391 -0.03522217
+v 0.04058282 0.03754560 -0.03357502
+v 0.04058282 0.03741539 -0.03192788
+v 0.04058030 0.03681017 -0.03028952
+v 0.04002775 0.03648948 -0.02925934
+v 0.04019844 0.03538634 -0.02913771
+v 0.04022500 0.03210588 -0.02911573
+v 0.04022373 0.03046625 -0.02911867
+v 0.03893530 0.03046624 -0.02846655
+v 0.03893530 0.02900746 -0.02899265
+v 0.03816275 0.02554012 -0.03107065
+v 0.03728652 0.02554015 -0.03809447
+v 0.03893530 0.02935592 -0.03949980
+v 0.03893530 0.03046629 -0.03970642
+v 0.03980395 0.03046628 -0.03937084
+v 0.03981407 0.03210591 -0.03937669
+v 0.03979384 0.03489930 -0.03936349
+v 0.03907818 0.03542255 -0.03960529
+v 0.03862552 0.03650036 -0.03953348
+v 0.03907818 0.03691870 -0.03867326
+v 0.03728652 0.03736598 -0.03851793
+v 0.03893530 0.03757938 -0.03687078
+v 0.03815769 0.03785545 -0.03446747
+v 0.03893530 0.03762879 -0.03192788
+v 0.03815769 0.03785545 -0.03416266
+v 0.03893530 0.03742865 -0.03028073
+v 0.03893530 0.03674748 -0.02900288
+v 0.03893530 0.03538633 -0.02849731
+v 0.03893530 0.03374670 -0.02846068
+v 0.03893530 0.03210587 -0.02844017
+v 0.02988973 0.03374669 -0.02511803
+v 0.02988973 0.03206969 -0.02544336
+v 0.03728652 0.02554012 -0.03087721
+v 0.03564026 0.02554015 -0.03799921
+v 0.03564026 0.02908345 -0.03964927
+v 0.03728652 0.02902558 -0.03968737
+v 0.03728652 0.03046629 -0.04008304
+v 0.03728652 0.03210592 -0.04008889
+v 0.03893530 0.03210592 -0.03970788
+v 0.03893530 0.03374675 -0.03968883
+v 0.03728652 0.03538638 -0.04004052
+v 0.03728652 0.03668844 -0.03966684
+v 0.03564026 0.03732982 -0.03851793
+v 0.03564026 0.03763483 -0.03687078
+v 0.03728652 0.03765292 -0.03687078
+v 0.03724100 0.03780241 -0.03509907
+v 0.03775940 0.03785545 -0.03446747
+v 0.03728652 0.03755644 -0.03028073
+v 0.03775940 0.03785545 -0.03416266
+v 0.03724100 0.03783495 -0.03359700
+v 0.03728652 0.03769751 -0.03192788
+v 0.03728652 0.03687527 -0.02880651
+v 0.02988973 0.03603616 -0.02632554
+v 0.02988973 0.03561299 -0.02594453
+v 0.02988973 0.03518258 -0.02564851
+v 0.02988973 0.03425064 -0.02525870
+v 0.02988973 0.03119804 -0.02604566
+v 0.03581980 0.02554012 -0.03091092
+v 0.03477793 0.02554015 -0.03772225
+v 0.03446689 0.02934025 -0.03949980
+v 0.03564026 0.03046629 -0.04000684
+v 0.03564026 0.03210592 -0.04002148
+v 0.03564026 0.03374675 -0.04000536
+v 0.03728652 0.03374675 -0.04006691
+v 0.03564026 0.03538638 -0.03997751
+v 0.03564026 0.03664986 -0.03963606
+v 0.03395733 0.03687409 -0.03861025
+v 0.03399274 0.03754200 -0.03687078
+v 0.03564026 0.03776624 -0.03522217
+v 0.03564026 0.03780481 -0.03357502
+v 0.03564026 0.03767339 -0.03192788
+v 0.03564026 0.03752630 -0.03028073
+v 0.02988973 0.03675108 -0.02775873
+v 0.02988973 0.03652081 -0.02708903
+v 0.02988973 0.03617963 -0.02649846
+v 0.02988973 0.03070254 -0.02691613
+v 0.03410147 0.02554013 -0.03199241
+v 0.03499541 0.02554012 -0.03116883
+v 0.03270431 0.02911238 -0.03813401
+v 0.03401170 0.02554015 -0.03687083
+v 0.03341237 0.03046628 -0.03920525
+v 0.03423677 0.03046629 -0.03960238
+v 0.03420768 0.03210592 -0.03960676
+v 0.03422918 0.03374675 -0.03960237
+v 0.03427090 0.03538638 -0.03959210
+v 0.03448459 0.03644973 -0.03949392
+v 0.03271189 0.03662092 -0.03812227
+v 0.03223521 0.03691267 -0.03694698
+v 0.03234395 0.03741299 -0.03522217
+v 0.03399274 0.03763603 -0.03522217
+v 0.03399274 0.03767098 -0.03357502
+v 0.03399274 0.03760467 -0.03192788
+v 0.03399274 0.03742624 -0.03028073
+v 0.02988973 0.03695725 -0.02863359
+v 0.02988973 0.03005031 -0.02863362
+v 0.03327708 0.02554013 -0.03312079
+v 0.03218084 0.02864580 -0.03706864
+v 0.03131472 0.02927271 -0.03646049
+v 0.03162450 0.03046628 -0.03753319
+v 0.03244889 0.03046628 -0.03838021
+v 0.03322524 0.02554014 -0.03579227
+v 0.03338456 0.03210591 -0.03922722
+v 0.03340479 0.03374674 -0.03921989
+v 0.03344651 0.03538637 -0.03918911
+v 0.03245142 0.03538637 -0.03836407
+v 0.03162829 0.03538637 -0.03752291
+v 0.03131978 0.03651361 -0.03645021
+v 0.02988973 0.03671252 -0.03283352
+v 0.03234395 0.03748050 -0.03357502
+v 0.02988973 0.03707540 -0.03112336
+v 0.02988973 0.03709952 -0.03028073
+v 0.03234395 0.03743107 -0.03192788
+v 0.02988973 0.03704285 -0.02947474
+v 0.02988973 0.02981040 -0.03018990
+v 0.03304822 0.02554013 -0.03394583
+v 0.03118954 0.03046627 -0.03670961
+v 0.03113265 0.02901109 -0.03522220
+v 0.02988973 0.03053136 -0.03358971
+v 0.02988973 0.03154408 -0.03433560
+v 0.03160806 0.03210591 -0.03754783
+v 0.03243246 0.03210591 -0.03840364
+v 0.02988973 0.03253027 -0.03457154
+v 0.02988973 0.03374673 -0.03460524
+v 0.03304822 0.02554014 -0.03496870
+v 0.02988973 0.02987189 -0.03192791
+v 0.03242993 0.03374674 -0.03839632
+v 0.03160553 0.03374674 -0.03754637
+v 0.02988973 0.03528509 -0.03444990
+v 0.02988973 0.03649672 -0.03315006
+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 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 23
+f 7 23 8
+f 8 24 25
+f 8 25 9
+f 8 23 24
+f 9 26 10
+f 9 25 26
+f 10 26 27
+f 10 27 11
+f 11 27 12
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 30
+f 13 30 31
+f 13 31 14
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 36 37
+f 18 37 20
+f 18 20 19
+f 20 37 38
+f 20 38 21
+f 21 38 39
+f 21 39 22
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 65
+f 24 65 87
+f 24 87 112
+f 24 112 132
+f 24 132 131
+f 24 131 150
+f 24 150 169
+f 24 169 178
+f 24 178 155
+f 24 155 134
+f 24 134 113
+f 24 113 88
+f 24 88 66
+f 24 66 46
+f 24 46 45
+f 24 45 44
+f 24 44 26
+f 24 26 25
+f 26 44 27
+f 27 44 28
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 28 44 45
+f 29 47 48
+f 29 48 49
+f 29 49 30
+f 30 49 31
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 54
+f 32 54 33
+f 33 54 34
+f 34 54 55
+f 34 55 35
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 36 57 37
+f 37 58 59
+f 37 59 38
+f 37 57 58
+f 38 59 60
+f 38 60 39
+f 39 60 61
+f 39 61 40
+f 40 61 62
+f 40 62 41
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 41 65 43
+f 41 43 42
+f 46 66 67
+f 46 67 47
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 69 70
+f 48 70 49
+f 49 70 71
+f 49 71 50
+f 50 71 51
+f 51 71 52
+f 52 71 72
+f 52 72 73
+f 52 73 53
+f 53 73 74
+f 53 74 54
+f 54 74 75
+f 54 75 76
+f 54 76 55
+f 55 76 77
+f 55 77 56
+f 56 78 57
+f 56 77 79
+f 56 79 78
+f 57 78 80
+f 57 80 58
+f 58 80 59
+f 59 81 82
+f 59 82 60
+f 59 80 81
+f 60 82 83
+f 60 83 84
+f 60 84 61
+f 61 84 62
+f 62 84 63
+f 63 84 85
+f 63 85 86
+f 63 86 64
+f 64 86 87
+f 64 87 65
+f 66 88 89
+f 66 89 90
+f 66 90 67
+f 67 90 91
+f 67 91 68
+f 68 91 92
+f 68 92 93
+f 68 93 70
+f 68 70 69
+f 70 93 71
+f 71 93 94
+f 71 94 72
+f 72 94 95
+f 72 95 73
+f 73 95 96
+f 73 96 74
+f 74 96 75
+f 75 96 97
+f 75 97 98
+f 75 98 99
+f 75 99 76
+f 76 99 77
+f 77 100 101
+f 77 101 103
+f 77 103 79
+f 77 99 100
+f 78 102 80
+f 78 79 102
+f 79 103 104
+f 79 104 105
+f 79 105 102
+f 80 102 106
+f 80 106 81
+f 81 106 107
+f 81 107 108
+f 81 108 109
+f 81 109 110
+f 81 110 82
+f 82 110 85
+f 82 85 83
+f 83 85 84
+f 85 110 109
+f 85 109 108
+f 85 108 107
+f 85 107 129
+f 85 129 128
+f 85 128 127
+f 85 127 148
+f 85 148 167
+f 85 167 165
+f 85 165 164
+f 85 164 162
+f 85 162 183
+f 85 183 182
+f 85 182 177
+f 85 177 176
+f 85 176 173
+f 85 173 172
+f 85 172 179
+f 85 179 168
+f 85 168 149
+f 85 149 130
+f 85 130 111
+f 85 111 86
+f 86 111 87
+f 87 111 112
+f 88 113 114
+f 88 114 89
+f 89 114 115
+f 89 115 91
+f 89 91 90
+f 91 115 116
+f 91 116 92
+f 92 116 117
+f 92 117 118
+f 92 118 94
+f 92 94 93
+f 94 118 95
+f 95 118 117
+f 95 117 119
+f 95 119 120
+f 95 120 96
+f 96 120 97
+f 97 120 121
+f 97 121 122
+f 97 122 98
+f 98 123 100
+f 98 100 99
+f 98 122 123
+f 100 123 101
+f 101 123 124
+f 101 124 103
+f 102 105 125
+f 102 125 126
+f 102 126 127
+f 102 127 128
+f 102 128 106
+f 103 124 104
+f 104 124 125
+f 104 125 105
+f 106 128 129
+f 106 129 107
+f 111 130 131
+f 111 131 132
+f 111 132 112
+f 113 133 114
+f 113 134 133
+f 114 135 136
+f 114 136 115
+f 114 133 135
+f 115 136 116
+f 116 136 137
+f 116 137 138
+f 116 138 117
+f 117 138 139
+f 117 139 119
+f 119 139 140
+f 119 140 120
+f 120 140 121
+f 121 141 142
+f 121 142 122
+f 121 140 141
+f 122 142 143
+f 122 143 144
+f 122 144 123
+f 123 144 124
+f 124 144 145
+f 124 145 146
+f 124 146 125
+f 125 146 126
+f 126 146 147
+f 126 147 148
+f 126 148 127
+f 130 149 150
+f 130 150 131
+f 133 134 151
+f 133 151 152
+f 133 152 153
+f 133 153 154
+f 133 154 135
+f 134 155 152
+f 134 152 151
+f 135 156 136
+f 135 154 156
+f 136 156 137
+f 137 156 138
+f 138 156 157
+f 138 157 139
+f 139 157 158
+f 139 158 140
+f 140 158 141
+f 141 158 159
+f 141 159 160
+f 141 160 161
+f 141 161 142
+f 142 161 162
+f 142 162 143
+f 143 163 144
+f 143 162 164
+f 143 164 163
+f 144 163 145
+f 145 163 165
+f 145 165 166
+f 145 166 146
+f 146 166 165
+f 146 165 167
+f 146 167 148
+f 146 148 147
+f 149 168 169
+f 149 169 150
+f 152 170 153
+f 152 155 171
+f 152 171 172
+f 152 172 173
+f 152 173 170
+f 153 174 175
+f 153 175 154
+f 153 170 176
+f 153 176 177
+f 153 177 174
+f 154 175 156
+f 155 178 179
+f 155 179 172
+f 155 172 171
+f 156 175 180
+f 156 180 157
+f 157 180 159
+f 157 159 158
+f 159 180 160
+f 160 180 181
+f 160 181 177
+f 160 177 182
+f 160 182 161
+f 161 182 183
+f 161 183 162
+f 163 164 165
+f 168 179 178
+f 168 178 169
+f 170 173 176
+f 174 177 181
+f 174 181 175
+f 175 181 180
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_17.obj

@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
+v 0.05541557 -0.01874979 -0.00083318
+v 0.05541557 -0.02202996 -0.00083615
+v 0.05706381 -0.01874979 -0.00113432
+v 0.05541557 -0.01710971 -0.00089044
+v 0.05376819 -0.01874979 -0.00109483
+v 0.04991450 -0.03218361 -0.00143057
+v 0.04991450 -0.03253622 -0.00142662
+v 0.04991450 -0.03351053 -0.00141971
+v 0.05541557 -0.02367004 -0.00085492
+v 0.05706381 -0.02202996 -0.00113927
+v 0.04991450 -0.03382138 -0.00142267
+v 0.05789486 -0.01874978 -0.00143842
+v 0.05789313 -0.01786363 -0.00144040
+v 0.05717387 -0.01723498 -0.00122120
+v 0.05634455 -0.01306633 -0.00141865
+v 0.05584713 -0.01306633 -0.00140187
+v 0.05541557 -0.01306633 -0.00138805
+v 0.05449873 -0.01306633 -0.00141471
+v 0.05362088 -0.01702852 -0.00120441
+v 0.04991450 -0.03160599 -0.00148784
+v 0.04991363 -0.01874976 -0.00797164
+v 0.05297354 -0.01642536 -0.00146310
+v 0.05721287 -0.02353317 -0.00120740
+v 0.04991450 -0.03441756 -0.00143157
+v 0.05047258 -0.03441524 -0.00143157
+v 0.05211995 -0.03439204 -0.00143157
+v 0.05306453 -0.03436189 -0.00143552
+v 0.05471104 -0.03281923 -0.00143452
+v 0.05627175 -0.03118147 -0.00143352
+v 0.05788880 -0.02289522 -0.00144436
+v 0.05789053 -0.02202995 -0.00144238
+v 0.05831342 -0.01874978 -0.00226877
+v 0.05820424 -0.01723497 -0.00214535
+v 0.05803439 -0.01306633 -0.00274564
+v 0.05779607 -0.01677101 -0.00151345
+v 0.05672758 -0.01306633 -0.00165068
+v 0.05405850 -0.01306633 -0.00164377
+v 0.04991450 -0.03150624 -0.00150364
+v 0.04991450 -0.01306632 -0.00515573
+v 0.04991450 -0.01306631 -0.00792423
+v 0.04991450 -0.01486182 -0.00795780
+v 0.04991450 -0.01710040 -0.00797262
+v 0.04991450 -0.02203225 -0.00797362
+v 0.04991450 -0.02369089 -0.00797363
+v 0.04991450 -0.03351051 -0.00793417
+v 0.04991450 -0.03515291 -0.00781866
+v 0.04991450 -0.03637079 -0.00704459
+v 0.04991450 -0.03676284 -0.00556458
+v 0.04991450 -0.03662367 -0.00391670
+v 0.04991450 -0.03637081 -0.00300638
+v 0.04991450 -0.03623163 -0.00252258
+v 0.04991450 -0.03557977 -0.00197757
+v 0.04991450 -0.03523876 -0.00169815
+v 0.04991450 -0.03469593 -0.00151056
+v 0.05367547 -0.01306633 -0.00184519
+v 0.05314252 -0.01306633 -0.00228653
+v 0.05268150 -0.01306633 -0.00266961
+v 0.05786107 -0.02398784 -0.00146510
+v 0.05047258 -0.03523644 -0.00171592
+v 0.05047258 -0.03622235 -0.00253936
+v 0.05211995 -0.03521092 -0.00198843
+v 0.05211995 -0.03609476 -0.00281187
+v 0.05356888 -0.03503694 -0.00228463
+v 0.05416336 -0.03391417 -0.00151450
+v 0.05580986 -0.03227408 -0.00152338
+v 0.05674491 -0.03178461 -0.00215133
+v 0.05799106 -0.02990327 -0.00284443
+v 0.05821377 -0.02353316 -0.00211576
+v 0.05830476 -0.02202995 -0.00226878
+v 0.05875105 -0.01874978 -0.00391664
+v 0.05870599 -0.01710970 -0.00391663
+v 0.05836282 -0.01306633 -0.00391662
+v 0.05757076 -0.01306633 -0.00230430
+v 0.05716780 -0.01306633 -0.00192121
+v 0.05133223 -0.01306631 -0.00795089
+v 0.05541557 -0.01472030 -0.00961949
+v 0.05541557 -0.01554150 -0.01029582
+v 0.05376819 -0.01571780 -0.01011613
+v 0.05376819 -0.01710967 -0.01055154
+v 0.05268063 -0.01710967 -0.00993742
+v 0.05268150 -0.01874975 -0.00993842
+v 0.05268410 -0.02367000 -0.00993646
+v 0.05376819 -0.02367000 -0.01055256
+v 0.05541557 -0.02531008 -0.01058317
+v 0.05047258 -0.03515291 -0.00780978
+v 0.05541557 -0.02367000 -0.01091689
+v 0.05047258 -0.03636152 -0.00703570
+v 0.05047258 -0.03674197 -0.00556457
+v 0.05047258 -0.03660279 -0.00391670
+v 0.05805778 -0.02859028 -0.00269238
+v 0.05297354 -0.03598573 -0.00305475
+v 0.05211995 -0.03635225 -0.00391670
+v 0.05496148 -0.03461706 -0.00261243
+v 0.05538524 -0.03348501 -0.00206741
+v 0.05651180 -0.03305585 -0.00262130
+v 0.05787580 -0.03099589 -0.00315248
+v 0.05812798 -0.03036259 -0.00378734
+v 0.05838362 -0.02859028 -0.00391668
+v 0.05873199 -0.02367003 -0.00391666
+v 0.05874238 -0.02202995 -0.00391665
+v 0.05876145 -0.02202994 -0.00556452
+v 0.05876665 -0.01874977 -0.00556451
+v 0.05872505 -0.01710969 -0.00556450
+v 0.05854307 -0.01306632 -0.00556449
+v 0.05844688 -0.01306632 -0.00468280
+v 0.05371533 -0.01306631 -0.00797162
+v 0.05541557 -0.01388519 -0.00879506
+v 0.05646240 -0.01306631 -0.00789658
+v 0.05714614 -0.01306631 -0.00782253
+v 0.05706381 -0.01568765 -0.01014377
+v 0.05541557 -0.01710967 -0.01091390
+v 0.05541557 -0.01874975 -0.01091884
+v 0.05376819 -0.01874975 -0.01055550
+v 0.05376819 -0.02202992 -0.01055551
+v 0.05706381 -0.02367000 -0.01061970
+v 0.05720766 -0.02545855 -0.01017145
+v 0.05211995 -0.03515291 -0.00765476
+v 0.05541557 -0.02202992 -0.01091885
+v 0.05211995 -0.03623857 -0.00688267
+v 0.05211995 -0.03649839 -0.00556457
+v 0.05315205 -0.03606460 -0.00391670
+v 0.05397618 -0.03565632 -0.00391670
+v 0.05525439 -0.03483512 -0.00391670
+v 0.05607851 -0.03416702 -0.00391670
+v 0.05672931 -0.03334814 -0.00391669
+v 0.05761323 -0.03183797 -0.00378735
+v 0.05797979 -0.03126961 -0.00425139
+v 0.05833856 -0.03023035 -0.00556455
+v 0.05854047 -0.02859027 -0.00556455
+v 0.05875105 -0.02367002 -0.00556453
+v 0.05870686 -0.02202993 -0.00721140
+v 0.05869992 -0.02367001 -0.00721141
+v 0.05870859 -0.01874976 -0.00721139
+v 0.05868866 -0.01710968 -0.00721138
+v 0.05870945 -0.02038985 -0.00721139
+v 0.05821463 -0.01306631 -0.00700699
+v 0.05857860 -0.01710968 -0.00885925
+v 0.05541557 -0.01306631 -0.00798051
+v 0.05808551 -0.01598458 -0.00988805
+v 0.05706381 -0.01710967 -0.01061078
+v 0.05706381 -0.01874975 -0.01061869
+v 0.05706381 -0.02202992 -0.01061969
+v 0.05819644 -0.02367000 -0.01000163
+v 0.05809418 -0.02501083 -0.00989598
+v 0.05785240 -0.02610345 -0.00964225
+v 0.05556636 -0.03366129 -0.00727167
+v 0.05376819 -0.03351051 -0.00790356
+v 0.05375780 -0.03522946 -0.00712851
+v 0.05320145 -0.03608547 -0.00662991
+v 0.05332277 -0.03613883 -0.00556457
+v 0.05414689 -0.03574214 -0.00556457
+v 0.05537224 -0.03492326 -0.00556457
+v 0.05619636 -0.03428764 -0.00556457
+v 0.05682377 -0.03346644 -0.00556456
+v 0.05764702 -0.03220448 -0.00556456
+v 0.05802918 -0.03138560 -0.00556456
+v 0.05798413 -0.03127889 -0.00659928
+v 0.05811498 -0.03023034 -0.00683032
+v 0.05858380 -0.02367001 -0.00885928
+v 0.05858033 -0.01874976 -0.00885926
+v 0.05818864 -0.01710967 -0.00999469
+v 0.05819384 -0.01874975 -0.00999963
+v 0.05819557 -0.02202992 -0.01000162
+v 0.05663745 -0.03321589 -0.00686883
+v 0.05511833 -0.03473303 -0.00686588
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 9
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 10 12
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 4 14 15
+f 5 19 6
+f 6 20 21
+f 6 21 7
+f 6 19 22
+f 6 22 20
+f 7 21 8
+f 8 21 11
+f 9 23 10
+f 9 11 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 23
+f 10 23 30
+f 10 30 31
+f 10 31 12
+f 11 21 24
+f 12 32 13
+f 12 31 32
+f 13 33 34
+f 13 34 35
+f 13 35 14
+f 13 32 33
+f 14 35 15
+f 15 35 36
+f 15 36 74
+f 15 74 73
+f 15 73 34
+f 15 34 72
+f 15 72 105
+f 15 105 104
+f 15 104 136
+f 15 136 109
+f 15 109 108
+f 15 108 138
+f 15 138 106
+f 15 106 75
+f 15 75 40
+f 15 40 39
+f 15 39 57
+f 15 57 56
+f 15 56 55
+f 15 55 37
+f 15 37 18
+f 15 18 17
+f 15 17 16
+f 18 37 22
+f 18 22 19
+f 20 38 21
+f 20 22 38
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 46
+f 21 46 47
+f 21 47 48
+f 21 48 49
+f 21 49 50
+f 21 50 51
+f 21 51 52
+f 21 52 53
+f 21 53 54
+f 21 54 24
+f 21 38 39
+f 22 37 55
+f 22 55 56
+f 22 56 57
+f 22 57 39
+f 22 39 38
+f 23 29 58
+f 23 58 30
+f 24 54 25
+f 25 54 26
+f 26 54 53
+f 26 53 27
+f 27 53 59
+f 27 59 60
+f 27 60 61
+f 27 61 62
+f 27 62 63
+f 27 63 64
+f 27 64 28
+f 28 64 65
+f 28 65 29
+f 29 65 66
+f 29 66 67
+f 29 67 58
+f 30 58 68
+f 30 68 69
+f 30 69 31
+f 31 69 32
+f 32 70 71
+f 32 71 33
+f 32 69 100
+f 32 100 70
+f 33 71 34
+f 34 71 72
+f 34 73 35
+f 35 73 74
+f 35 74 36
+f 40 75 76
+f 40 76 77
+f 40 77 78
+f 40 78 79
+f 40 79 80
+f 40 80 41
+f 41 80 42
+f 42 80 81
+f 42 81 43
+f 43 81 44
+f 44 82 45
+f 44 81 82
+f 45 82 83
+f 45 83 46
+f 46 84 85
+f 46 85 47
+f 46 83 86
+f 46 86 84
+f 47 85 87
+f 47 87 48
+f 48 87 88
+f 48 88 89
+f 48 89 49
+f 49 89 60
+f 49 60 50
+f 50 60 51
+f 51 60 52
+f 52 59 53
+f 52 60 59
+f 58 67 90
+f 58 90 68
+f 60 89 62
+f 60 62 61
+f 62 91 63
+f 62 89 92
+f 62 92 91
+f 63 93 64
+f 63 91 93
+f 64 93 94
+f 64 94 65
+f 65 94 95
+f 65 95 66
+f 66 95 96
+f 66 96 67
+f 67 96 97
+f 67 97 98
+f 67 98 90
+f 68 99 69
+f 68 90 99
+f 69 99 100
+f 70 100 101
+f 70 101 102
+f 70 102 103
+f 70 103 71
+f 71 104 105
+f 71 105 72
+f 71 103 104
+f 75 106 107
+f 75 107 76
+f 76 107 108
+f 76 108 109
+f 76 109 110
+f 76 110 77
+f 77 110 111
+f 77 111 78
+f 78 111 79
+f 79 111 112
+f 79 112 113
+f 79 113 80
+f 80 113 81
+f 81 113 114
+f 81 114 82
+f 82 114 83
+f 83 114 86
+f 84 86 115
+f 84 115 116
+f 84 116 117
+f 84 117 85
+f 85 117 87
+f 86 114 118
+f 86 118 115
+f 87 119 88
+f 87 117 119
+f 88 120 89
+f 88 119 120
+f 89 120 92
+f 90 98 99
+f 91 92 121
+f 91 121 122
+f 91 122 93
+f 92 120 121
+f 93 122 123
+f 93 123 124
+f 93 124 95
+f 93 95 94
+f 95 124 125
+f 95 125 126
+f 95 126 96
+f 96 127 97
+f 96 126 127
+f 97 127 128
+f 97 128 98
+f 98 128 129
+f 98 129 99
+f 99 129 130
+f 99 130 101
+f 99 101 100
+f 101 131 135
+f 101 135 102
+f 101 130 132
+f 101 132 131
+f 102 133 134
+f 102 134 103
+f 102 135 133
+f 103 134 104
+f 104 134 137
+f 104 137 136
+f 106 138 107
+f 107 138 108
+f 109 136 139
+f 109 139 110
+f 110 139 140
+f 110 140 111
+f 111 140 141
+f 111 141 112
+f 112 141 142
+f 112 142 115
+f 112 115 118
+f 112 118 114
+f 112 114 113
+f 115 142 143
+f 115 143 144
+f 115 144 116
+f 116 144 145
+f 116 145 146
+f 116 146 147
+f 116 147 117
+f 117 147 148
+f 117 148 119
+f 119 148 149
+f 119 149 120
+f 120 149 150
+f 120 150 121
+f 121 150 151
+f 121 151 122
+f 122 151 123
+f 123 152 153
+f 123 153 124
+f 123 151 152
+f 124 153 125
+f 125 154 155
+f 125 155 126
+f 125 153 154
+f 126 155 127
+f 127 156 128
+f 127 155 156
+f 128 156 157
+f 128 157 158
+f 128 158 159
+f 128 159 129
+f 129 159 132
+f 129 132 130
+f 131 132 159
+f 131 159 135
+f 133 160 137
+f 133 137 134
+f 133 135 159
+f 133 159 160
+f 136 137 139
+f 137 161 139
+f 137 160 162
+f 137 162 161
+f 139 161 140
+f 140 161 141
+f 141 161 162
+f 141 162 163
+f 141 163 142
+f 142 163 143
+f 143 163 159
+f 143 159 144
+f 144 159 158
+f 144 158 157
+f 144 157 145
+f 145 157 164
+f 145 164 146
+f 146 164 165
+f 146 165 148
+f 146 148 147
+f 148 165 149
+f 149 165 152
+f 149 152 151
+f 149 151 150
+f 152 165 153
+f 153 165 164
+f 153 164 154
+f 154 164 157
+f 154 157 155
+f 155 157 156
+f 159 163 160
+f 160 163 162
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_18.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.01945311 0.03374680 0.00136444
+v -0.01945311 0.03350158 0.00128924
+v -0.01945311 0.03542472 0.00098192
+v -0.01976931 0.03503098 0.00054382
+v -0.02957638 0.03483140 -0.01609103
+v -0.02993979 0.03425390 -0.01662722
+v -0.02993979 0.03374687 -0.01660107
+v -0.01974672 0.03258352 0.00049477
+v -0.01945311 0.03231826 0.00077267
+v -0.01945311 0.03626403 0.00025284
+v -0.02993979 0.03538195 -0.01709801
+v -0.02993979 0.03281776 -0.01709802
+v -0.02951992 0.03282743 -0.01617605
+v -0.01945311 0.03151143 -0.00006430
+v -0.01945311 0.03665916 -0.00079010
+v -0.02993979 0.03645890 -0.01825866
+v -0.02964927 0.03637876 -0.01761458
+v -0.02993979 0.03612249 -0.01782056
+v -0.02993979 0.03234665 -0.01743151
+v -0.01945311 0.03146515 -0.00012315
+v -0.01945311 0.03742249 -0.00556673
+v -0.02039348 0.03752129 -0.00721452
+v -0.02204219 0.03737208 -0.00886231
+v -0.02698525 0.03747987 -0.01709800
+v -0.02863294 0.03731409 -0.01874253
+v -0.02993979 0.03716143 -0.02039032
+v -0.02993979 0.03668064 -0.01887331
+v -0.02993979 0.03166347 -0.01831098
+v -0.01969437 0.03114462 -0.00114322
+v -0.01945311 0.03102926 -0.00099283
+v -0.02942342 0.03130910 -0.01796769
+v -0.01945311 0.03752197 -0.00721452
+v -0.02039348 0.03758760 -0.00886231
+v -0.02204219 0.03757587 -0.01051010
+v -0.02533757 0.03756829 -0.01545021
+v -0.02863294 0.03755932 -0.02039032
+v -0.02993979 0.03747851 -0.02203811
+v -0.02993979 0.03107216 -0.01952068
+v -0.02039348 0.03061413 -0.00721455
+v -0.01945311 0.03057543 -0.00627296
+v -0.02976219 0.03111913 -0.01906623
+v -0.02993979 0.03095404 -0.02000455
+v -0.02993979 0.03062661 -0.02169812
+v -0.02863294 0.03055476 -0.02039035
+v -0.01945311 0.03735757 -0.00886231
+v -0.02039348 0.03739350 -0.01051010
+v -0.02204219 0.03752198 -0.01215790
+v -0.02533757 0.03753375 -0.01709800
+v -0.02863294 0.03754275 -0.02203811
+v -0.02698525 0.03758419 -0.01874253
+v -0.02993979 0.03751927 -0.02368590
+v -0.02204219 0.03055128 -0.01051013
+v -0.02039348 0.03055058 -0.00886234
+v -0.01945311 0.03058995 -0.00792075
+v -0.02993979 0.03053130 -0.02334591
+v -0.01945311 0.03696107 -0.01046107
+v -0.02993979 0.03667308 -0.02985532
+v -0.02993979 0.03693626 -0.02857697
+v -0.02993979 0.03715386 -0.02705014
+v -0.02698525 0.03053680 -0.01874256
+v -0.02993979 0.03055617 -0.02653687
+v -0.01945311 0.03084555 -0.00960777
+v -0.02993979 0.03071990 -0.02867508
+v -0.01945311 0.03649272 -0.01184077
+v -0.02993979 0.03609973 -0.03122848
+v -0.01945311 0.03111081 -0.01075534
+v -0.02993979 0.03081316 -0.02895952
+v -0.01945311 0.03121996 -0.01113133
+v -0.01945311 0.03590901 -0.01269082
+v -0.01964920 0.03607964 -0.01286410
+v -0.02993979 0.03538685 -0.03161101
+v -0.01945311 0.03529560 -0.01315835
+v -0.01945311 0.03504830 -0.01334471
+v -0.02993979 0.03145904 -0.03038171
+v -0.02947372 0.03130707 -0.02942051
+v -0.01953319 0.03126071 -0.01139288
+v -0.01945311 0.03145966 -0.01153346
+v -0.02993979 0.03508636 -0.03175813
+v -0.01945311 0.03374686 -0.01354416
+v -0.02993979 0.03385193 -0.03203277
+v -0.02993979 0.03205520 -0.03141158
+v -0.01945311 0.03195633 -0.01220042
+v -0.01945311 0.03276111 -0.01321394
+v -0.02993979 0.03374693 -0.03200989
+v -0.01945311 0.03271897 -0.01319106
+f 1 2 9
+f 1 9 14
+f 1 14 20
+f 1 20 30
+f 1 30 40
+f 1 40 54
+f 1 54 62
+f 1 62 66
+f 1 66 68
+f 1 68 77
+f 1 77 82
+f 1 82 85
+f 1 85 83
+f 1 83 79
+f 1 79 73
+f 1 73 72
+f 1 72 69
+f 1 69 64
+f 1 64 56
+f 1 56 45
+f 1 45 32
+f 1 32 21
+f 1 21 15
+f 1 15 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 7 8
+f 3 10 11
+f 3 11 5
+f 3 5 4
+f 5 11 6
+f 6 11 18
+f 6 18 16
+f 6 16 27
+f 6 27 26
+f 6 26 37
+f 6 37 51
+f 6 51 59
+f 6 59 58
+f 6 58 57
+f 6 57 65
+f 6 65 71
+f 6 71 78
+f 6 78 80
+f 6 80 84
+f 6 84 81
+f 6 81 74
+f 6 74 67
+f 6 67 63
+f 6 63 61
+f 6 61 55
+f 6 55 43
+f 6 43 42
+f 6 42 38
+f 6 38 28
+f 6 28 19
+f 6 19 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 13
+f 13 19 14
+f 14 19 20
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 18 17
+f 19 28 20
+f 20 29 30
+f 20 28 31
+f 20 31 29
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 24
+f 22 24 23
+f 24 36 25
+f 25 36 37
+f 25 37 26
+f 28 38 31
+f 29 31 30
+f 30 39 40
+f 30 31 41
+f 30 41 38
+f 30 38 42
+f 30 42 43
+f 30 43 44
+f 30 44 39
+f 31 38 41
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 35
+f 35 50 36
+f 36 50 49
+f 36 49 51
+f 36 51 37
+f 39 44 40
+f 40 44 52
+f 40 52 53
+f 40 53 54
+f 43 55 44
+f 44 55 52
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 46 58 59
+f 46 59 47
+f 47 59 48
+f 48 59 49
+f 49 59 51
+f 52 55 60
+f 52 60 53
+f 53 60 55
+f 53 55 61
+f 53 61 54
+f 54 61 63
+f 54 63 62
+f 56 64 57
+f 57 64 65
+f 62 63 66
+f 63 67 68
+f 63 68 66
+f 64 69 70
+f 64 70 65
+f 65 70 69
+f 65 69 72
+f 65 72 73
+f 65 73 71
+f 67 74 75
+f 67 75 76
+f 67 76 68
+f 68 76 77
+f 71 73 78
+f 73 79 80
+f 73 80 78
+f 74 81 75
+f 75 81 76
+f 76 81 77
+f 77 81 82
+f 79 83 84
+f 79 84 80
+f 81 84 83
+f 81 83 85
+f 81 85 82
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_19.obj

@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.01103803 -0.00017768 0.01148460
+v -0.01631951 0.01639822 0.02149956
+v -0.01427833 0.01733912 0.01585952
+v -0.01262081 0.01733914 0.01148466
+v -0.00771302 -0.00017768 0.01148460
+v -0.02342127 -0.00017781 0.04549463
+v -0.01847861 0.01733908 0.02739263
+v -0.01805509 0.01733908 0.02619404
+v -0.01730439 0.01733909 0.02409650
+v -0.01671313 0.01733910 0.02244844
+v -0.01604215 0.01733910 0.02060727
+v -0.01550570 0.01733911 0.01915231
+v -0.01460718 0.01733912 0.01673182
+v -0.01428664 0.01898000 0.01585953
+v -0.01262912 0.01898002 0.01148467
+v -0.00771136 0.00011706 0.01148460
+v -0.01896523 0.02876845 0.04549474
+v -0.01914959 -0.00017781 0.04549463
+v -0.02467521 0.01733901 0.04549469
+v -0.02445930 0.01733902 0.04484879
+v -0.02412713 0.01733902 0.04386661
+v -0.02245466 0.01733904 0.03892242
+v -0.02189330 0.01733904 0.03727435
+v -0.02076725 0.01733906 0.03398156
+v -0.02019924 0.01733906 0.03233349
+v -0.01974251 0.01733907 0.03100838
+v -0.01905492 0.01733907 0.02903737
+v -0.01848525 0.02062083 0.02739265
+v -0.01805675 0.01897996 0.02618739
+v -0.01731436 0.02062084 0.02409652
+v -0.01671977 0.02062085 0.02244846
+v -0.01604381 0.01897998 0.02060395
+v -0.01550902 0.01897999 0.01915232
+v -0.01491610 0.01898000 0.01754754
+v -0.01461050 0.01898000 0.01672518
+v -0.01461216 0.02062087 0.01671853
+v -0.01428996 0.02062087 0.01585954
+v -0.01263078 0.01977920 0.01148467
+v -0.00771302 0.00995946 0.01148464
+v -0.02351096 0.02876845 0.04549474
+v -0.00771800 0.02876858 0.01148471
+v -0.02467853 0.02390251 0.04549472
+v -0.02446262 0.02390252 0.04484216
+v -0.02413045 0.02062077 0.04386663
+v -0.02245633 0.01897992 0.03892243
+v -0.02245633 0.02226166 0.03892244
+v -0.02020256 0.02390256 0.03233352
+v -0.02020256 0.02062081 0.03233351
+v -0.01974417 0.02062082 0.03100174
+v -0.01945850 0.02062082 0.03017605
+v -0.01906488 0.02226169 0.02903739
+v -0.01848691 0.02226170 0.02739265
+v -0.01805841 0.02062083 0.02618407
+v -0.01776444 0.02062084 0.02535838
+v -0.01731436 0.02226171 0.02409652
+v -0.01671977 0.02226172 0.02244846
+v -0.01634608 0.02062085 0.02142633
+v -0.01551068 0.02062086 0.01915233
+v -0.01461382 0.02226174 0.01671853
+v -0.01428996 0.02226174 0.01585954
+v -0.01263078 0.02142007 0.01148468
+v -0.01122736 0.02876858 0.01148471
+v -0.01794880 0.02639648 0.02648707
+v -0.01962293 0.02642763 0.03134469
+v -0.02372189 0.02824416 0.04549473
+v -0.02462040 0.02502760 0.04549472
+v -0.02357407 0.02390252 0.04221857
+v -0.02280178 0.02226165 0.03993458
+v -0.02245466 0.02390254 0.03892245
+v -0.01969766 0.02554344 0.03113160
+v -0.01946016 0.02390257 0.03017606
+v -0.01974417 0.02226169 0.03099841
+v -0.01946016 0.02226169 0.03017605
+v -0.01906322 0.02390257 0.02903740
+v -0.01848691 0.02390258 0.02739266
+v -0.01805841 0.02390258 0.02618408
+v -0.01776444 0.02226171 0.02535838
+v -0.01731103 0.02390259 0.02409653
+v -0.01671645 0.02390260 0.02244847
+v -0.01604215 0.02390260 0.02060730
+v -0.01604381 0.02226172 0.02060396
+v -0.01461216 0.02390262 0.01672187
+v -0.01550736 0.02390261 0.01915234
+v -0.01262579 0.02390264 0.01148469
+v -0.01262912 0.02226176 0.01148468
+v -0.01197807 0.02705686 0.01148470
+v -0.01303768 0.02643620 0.01322598
+v -0.01625806 0.02625764 0.02166274
+v -0.01801025 0.02554345 0.02631726
+v -0.02448920 0.02630005 0.04549473
+v -0.02458553 0.02554338 0.04549472
+v -0.02302932 0.02554340 0.04090012
+v -0.02280012 0.02390253 0.03993792
+v -0.02136515 0.02554342 0.03601253
+v -0.01631951 0.02516372 0.02149959
+v -0.01258593 0.02554351 0.01148469
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 38
+f 1 38 61
+f 1 61 85
+f 1 85 84
+f 1 84 96
+f 1 96 86
+f 1 86 62
+f 1 62 41
+f 1 41 39
+f 1 39 16
+f 1 16 5
+f 1 5 18
+f 1 18 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 2 6 7
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 5 16 17
+f 5 17 18
+f 6 18 17
+f 6 17 40
+f 6 40 65
+f 6 65 90
+f 6 90 91
+f 6 91 66
+f 6 66 42
+f 6 42 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 6 27 7
+f 7 28 29
+f 7 29 8
+f 7 27 51
+f 7 51 28
+f 8 29 30
+f 8 30 9
+f 9 30 10
+f 10 31 11
+f 10 30 31
+f 11 32 33
+f 11 33 12
+f 11 31 32
+f 12 33 34
+f 12 34 13
+f 13 34 35
+f 13 35 14
+f 14 35 36
+f 14 36 37
+f 14 37 38
+f 14 38 15
+f 16 39 17
+f 17 39 41
+f 17 41 62
+f 17 62 40
+f 19 42 43
+f 19 43 20
+f 20 43 44
+f 20 44 21
+f 21 44 45
+f 21 45 22
+f 22 45 23
+f 23 45 46
+f 23 46 24
+f 24 46 47
+f 24 47 48
+f 24 48 49
+f 24 49 25
+f 25 49 26
+f 26 49 50
+f 26 50 51
+f 26 51 27
+f 28 51 52
+f 28 52 53
+f 28 53 29
+f 29 53 54
+f 29 54 30
+f 30 54 77
+f 30 77 55
+f 30 55 56
+f 30 56 31
+f 31 56 57
+f 31 57 32
+f 32 58 33
+f 32 57 58
+f 33 58 59
+f 33 59 36
+f 33 36 34
+f 34 36 35
+f 36 59 37
+f 37 59 60
+f 37 60 61
+f 37 61 38
+f 40 62 63
+f 40 63 64
+f 40 64 65
+f 42 66 43
+f 43 66 67
+f 43 67 68
+f 43 68 44
+f 44 68 45
+f 45 68 46
+f 46 68 69
+f 46 69 47
+f 47 70 71
+f 47 71 72
+f 47 72 48
+f 47 69 70
+f 48 72 49
+f 49 72 73
+f 49 73 50
+f 50 73 51
+f 51 73 71
+f 51 71 74
+f 51 74 75
+f 51 75 52
+f 52 75 76
+f 52 76 53
+f 53 76 77
+f 53 77 54
+f 55 77 76
+f 55 76 78
+f 55 78 79
+f 55 79 56
+f 56 79 80
+f 56 80 81
+f 56 81 57
+f 57 81 58
+f 58 81 59
+f 59 82 60
+f 59 81 83
+f 59 83 82
+f 60 82 84
+f 60 84 85
+f 60 85 61
+f 62 86 87
+f 62 87 88
+f 62 88 63
+f 63 88 89
+f 63 89 70
+f 63 70 64
+f 64 70 90
+f 64 90 65
+f 66 91 92
+f 66 92 93
+f 66 93 67
+f 67 93 68
+f 68 93 69
+f 69 93 92
+f 69 92 94
+f 69 94 70
+f 70 74 71
+f 70 94 90
+f 70 89 75
+f 70 75 74
+f 71 73 72
+f 75 89 76
+f 76 89 95
+f 76 95 78
+f 78 95 79
+f 79 95 80
+f 80 83 81
+f 80 95 83
+f 82 96 84
+f 82 83 95
+f 82 95 96
+f 86 96 87
+f 87 96 88
+f 88 95 89
+f 88 96 95
+f 90 92 91
+f 90 94 92
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_2.obj

@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.00317377 -0.03515262 0.01148114
+v -0.00628287 -0.03614117 0.02028281
+v -0.00462187 -0.03616281 0.01537611
+v -0.00442163 -0.03639038 0.01421242
+v -0.00389888 -0.03661656 0.01148114
+v -0.00320960 -0.03351276 0.01148115
+v -0.00413706 -0.03351277 0.01421243
+v -0.01647861 -0.03032953 0.05023092
+v -0.00410545 -0.03515263 0.01421242
+v -0.01294161 -0.03603514 0.03985364
+v -0.00776259 -0.03633318 0.02409781
+v -0.00609105 -0.03636387 0.01915511
+v -0.01278352 -0.03623688 0.03892189
+v -0.00748014 -0.03653771 0.02245024
+v -0.00556198 -0.03710175 0.01421241
+v -0.00414339 -0.03656770 0.01256485
+v -0.01417471 -0.03646449 0.04221702
+v -0.01250107 -0.03648402 0.03727433
+v -0.01082953 -0.03650424 0.03233163
+v -0.00556198 -0.03734887 0.01148113
+v -0.00556198 -0.03729792 0.01256484
+v -0.00392839 -0.03219124 0.01148115
+v -0.00445324 -0.03237416 0.01421243
+v -0.00464084 -0.03256056 0.01532014
+v -0.01616664 -0.03032953 0.04900325
+v -0.01650390 -0.03032953 0.05029891
+v -0.01626782 -0.03351290 0.04964307
+v -0.01626993 -0.03187235 0.04964307
+v -0.01627203 -0.03084822 0.04963908
+v -0.00623017 -0.03515266 0.02043077
+v -0.00418133 -0.03221290 0.01256486
+v -0.01460682 -0.03600164 0.04473635
+v -0.01445716 -0.03619781 0.04386459
+v -0.00721033 -0.03705500 0.01915510
+v -0.01544786 -0.03709488 0.04221701
+v -0.01380162 -0.03713186 0.03727432
+v -0.01215538 -0.03716675 0.03233162
+v -0.01587997 -0.03637235 0.04715971
+v -0.01544786 -0.03680167 0.04386458
+v -0.00721033 -0.03742078 0.01148113
+v -0.01544786 -0.03719540 0.04056945
+v -0.00721033 -0.03734470 0.01585997
+v -0.00721033 -0.03739426 0.01421241
+v -0.00721033 -0.03741101 0.01256484
+v -0.00736209 -0.03032939 0.01148116
+v -0.01657767 -0.03187236 0.05046685
+v -0.01626993 -0.03434365 0.04963906
+v -0.01738077 -0.03032954 0.05187049
+v -0.01598115 -0.03351290 0.04881129
+v -0.01292264 -0.03515273 0.03990563
+v -0.01459839 -0.03515274 0.04476834
+v -0.01606336 -0.03499569 0.04881128
+v -0.01612027 -0.03614617 0.04826342
+v -0.01709621 -0.03713329 0.04551214
+v -0.01709621 -0.03682821 0.04715970
+v -0.00826426 -0.03746057 0.01148113
+v -0.01709621 -0.03719960 0.04386458
+v -0.01709621 -0.03722403 0.04221701
+v -0.01148718 -0.03032939 0.01148116
+v -0.01740185 -0.03187236 0.05179050
+v -0.01765268 -0.03351291 0.05151058
+v -0.01789298 -0.03435065 0.05129462
+v -0.01874456 -0.03032954 0.05233437
+v -0.01709621 -0.03627183 0.04857934
+v -0.01874456 -0.03712700 0.04551214
+v -0.01874456 -0.03719820 0.04386458
+v -0.01874456 -0.03626625 0.04859933
+v -0.01874456 -0.03680797 0.04715970
+v -0.00878490 -0.03744661 0.01148113
+v -0.01874456 -0.03719750 0.04221701
+v -0.01218489 -0.03165929 0.01148115
+v -0.02451589 -0.03032952 0.04633995
+v -0.01874456 -0.03187236 0.05213841
+v -0.01797308 -0.03435065 0.05129462
+v -0.01874456 -0.03583830 0.04942312
+v -0.02039923 -0.03032954 0.05192648
+v -0.02039291 -0.03701949 0.04551214
+v -0.02039291 -0.03712769 0.04386458
+v -0.02039291 -0.03614198 0.04828742
+v -0.02039291 -0.03660691 0.04715971
+v -0.01037212 -0.03720227 0.01148113
+v -0.01874456 -0.03719400 0.04056945
+v -0.01251582 -0.03351276 0.01148115
+v -0.02450957 -0.03090266 0.04636394
+v -0.02467609 -0.03032952 0.04698778
+v -0.02051306 -0.03198126 0.05163054
+v -0.02004300 -0.03299701 0.05144259
+v -0.01861176 -0.03353106 0.05156256
+v -0.01907128 -0.03408955 0.05112267
+v -0.02286543 -0.03433388 0.04963506
+v -0.02204126 -0.03448607 0.04977902
+v -0.02039291 -0.03477508 0.05007095
+v -0.01861176 -0.03489168 0.05052682
+v -0.02039291 -0.03559536 0.04911120
+v -0.02145738 -0.03603308 0.04808347
+v -0.02176724 -0.03032954 0.05147060
+v -0.02156277 -0.03150655 0.05139860
+v -0.02202018 -0.03623342 0.04717171
+v -0.02294975 -0.03606727 0.04662786
+v -0.02219302 -0.03642191 0.04540418
+v -0.02187685 -0.03652453 0.04386459
+v -0.02039291 -0.03701809 0.04221701
+v -0.01050703 -0.03716737 0.01148113
+v -0.01235562 -0.03485523 0.01148114
+v -0.02298980 -0.03322596 0.04269690
+v -0.02408589 -0.03187234 0.04551216
+v -0.02370858 -0.03351289 0.04551216
+v -0.02459599 -0.03123287 0.04745965
+v -0.02468241 -0.03032952 0.04702377
+v -0.02114120 -0.03260049 0.05125464
+v -0.02204126 -0.03351291 0.05041086
+v -0.02051306 -0.03353106 0.05095472
+v -0.02312470 -0.03467316 0.04881128
+v -0.02255558 -0.03587880 0.04772756
+v -0.02202018 -0.03538314 0.04870331
+v -0.02317318 -0.03351290 0.04987501
+v -0.02257876 -0.03032954 0.05118667
+v -0.02208342 -0.03198126 0.05108668
+v -0.02392147 -0.03351289 0.04715972
+v -0.02294975 -0.03606727 0.04588005
+v -0.02324063 -0.03526026 0.04717171
+v -0.02160704 -0.03641422 0.04221702
+v -0.01166214 -0.03673384 0.01148114
+v -0.01201204 -0.03630939 0.01148114
+v -0.02286122 -0.03431920 0.04305680
+v -0.02320690 -0.03366926 0.04371263
+v -0.02284224 -0.03590042 0.04478034
+v -0.02459599 -0.03123288 0.04837941
+v -0.02470770 -0.03032953 0.04855536
+v -0.02371912 -0.03351290 0.04881129
+v -0.02355681 -0.03187235 0.05023091
+v -0.02430721 -0.03181720 0.04888327
+v -0.02266519 -0.03032954 0.05113469
+v -0.02138571 -0.03620059 0.04091336
+v -0.01190665 -0.03657048 0.01148114
+v -0.02273053 -0.03527351 0.04371262
+v -0.02448849 -0.03032953 0.04939114
+v -0.02470770 -0.03032953 0.04864734
+v -0.02364745 -0.03032953 0.05035889
+v -0.02446741 -0.03032953 0.04945913
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 20
+f 1 20 40
+f 1 40 56
+f 1 56 69
+f 1 69 81
+f 1 81 103
+f 1 103 123
+f 1 123 135
+f 1 135 124
+f 1 124 104
+f 1 104 83
+f 1 83 71
+f 1 71 59
+f 1 59 45
+f 1 45 22
+f 1 22 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 12
+f 2 12 4
+f 2 4 3
+f 2 10 13
+f 2 13 11
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 4 12 17
+f 4 17 18
+f 4 18 19
+f 4 19 14
+f 5 16 15
+f 5 15 21
+f 5 21 20
+f 6 22 23
+f 6 23 24
+f 6 24 8
+f 6 8 7
+f 8 25 45
+f 8 45 59
+f 8 59 72
+f 8 72 85
+f 8 85 109
+f 8 109 129
+f 8 129 138
+f 8 138 137
+f 8 137 140
+f 8 140 139
+f 8 139 133
+f 8 133 117
+f 8 117 96
+f 8 96 76
+f 8 76 63
+f 8 63 48
+f 8 48 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 9
+f 8 24 23
+f 8 23 31
+f 8 31 22
+f 8 22 25
+f 9 30 32
+f 9 32 10
+f 10 32 33
+f 10 33 13
+f 11 13 17
+f 11 17 12
+f 13 33 17
+f 14 19 15
+f 15 19 18
+f 15 18 17
+f 15 17 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 21
+f 17 33 38
+f 17 38 39
+f 17 39 35
+f 17 35 34
+f 20 21 41
+f 20 41 42
+f 20 42 43
+f 20 43 44
+f 20 44 40
+f 21 37 41
+f 22 45 25
+f 22 31 23
+f 26 46 47
+f 26 47 27
+f 26 48 46
+f 27 47 49
+f 27 49 28
+f 28 49 30
+f 28 30 29
+f 30 49 50
+f 30 50 32
+f 32 50 51
+f 32 51 47
+f 32 47 52
+f 32 52 53
+f 32 53 38
+f 32 38 33
+f 35 39 54
+f 35 54 41
+f 35 41 36
+f 36 41 37
+f 38 53 55
+f 38 55 54
+f 38 54 39
+f 40 44 56
+f 41 54 57
+f 41 57 43
+f 41 43 42
+f 43 56 44
+f 43 57 58
+f 43 58 56
+f 46 48 60
+f 46 60 47
+f 47 60 61
+f 47 61 62
+f 47 62 53
+f 47 53 52
+f 47 51 50
+f 47 50 49
+f 48 63 60
+f 53 62 64
+f 53 64 55
+f 54 65 66
+f 54 66 57
+f 54 55 65
+f 55 64 67
+f 55 67 68
+f 55 68 65
+f 56 58 66
+f 56 66 70
+f 56 70 69
+f 57 66 58
+f 59 71 72
+f 60 63 73
+f 60 73 61
+f 61 73 62
+f 62 73 74
+f 62 74 75
+f 62 75 64
+f 63 76 73
+f 64 75 67
+f 65 68 77
+f 65 77 78
+f 65 78 66
+f 66 78 70
+f 67 75 79
+f 67 79 80
+f 67 80 68
+f 68 80 77
+f 69 70 82
+f 69 82 78
+f 69 78 81
+f 70 78 82
+f 71 83 72
+f 72 84 85
+f 72 83 84
+f 73 76 86
+f 73 86 87
+f 73 87 88
+f 73 88 74
+f 74 88 89
+f 74 89 90
+f 74 90 91
+f 74 91 92
+f 74 92 93
+f 74 93 75
+f 75 94 95
+f 75 95 79
+f 75 93 92
+f 75 92 94
+f 76 96 97
+f 76 97 86
+f 77 80 98
+f 77 98 99
+f 77 99 100
+f 77 100 78
+f 78 100 101
+f 78 101 102
+f 78 102 81
+f 79 95 80
+f 80 95 98
+f 81 102 103
+f 83 104 84
+f 84 105 106
+f 84 106 107
+f 84 107 108
+f 84 108 109
+f 84 109 85
+f 84 104 105
+f 86 97 110
+f 86 110 87
+f 87 110 111
+f 87 111 90
+f 87 90 112
+f 87 112 89
+f 87 89 88
+f 89 112 90
+f 90 113 114
+f 90 114 115
+f 90 115 94
+f 90 94 91
+f 90 111 116
+f 90 116 113
+f 91 94 92
+f 94 115 95
+f 95 114 98
+f 95 115 114
+f 96 117 97
+f 97 117 118
+f 97 118 110
+f 98 114 99
+f 99 119 120
+f 99 120 100
+f 99 114 113
+f 99 113 121
+f 99 121 119
+f 100 120 101
+f 101 120 122
+f 101 122 102
+f 102 122 123
+f 102 123 103
+f 104 124 125
+f 104 125 105
+f 105 125 126
+f 105 126 106
+f 106 126 107
+f 107 126 125
+f 107 125 127
+f 107 127 120
+f 107 120 119
+f 107 119 108
+f 108 128 138
+f 108 138 129
+f 108 129 109
+f 108 119 128
+f 110 118 116
+f 110 116 111
+f 113 116 130
+f 113 130 121
+f 116 118 131
+f 116 131 132
+f 116 132 130
+f 117 133 131
+f 117 131 118
+f 119 121 130
+f 119 130 128
+f 120 127 122
+f 122 127 134
+f 122 134 135
+f 122 135 123
+f 124 135 127
+f 124 127 136
+f 124 136 125
+f 125 136 127
+f 127 135 134
+f 128 130 132
+f 128 132 137
+f 128 137 138
+f 131 133 139
+f 131 139 140
+f 131 140 132
+f 132 140 137
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_20.obj

@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.02879133 -0.02727990 -0.00791169
+v 0.02879133 -0.02727991 -0.00515762
+v 0.02879133 -0.02366418 -0.00791323
+v 0.04991367 -0.02366961 -0.00797386
+v 0.04991367 -0.02530374 -0.00796736
+v 0.04991367 -0.02693244 -0.00794541
+v 0.04991367 -0.02727990 -0.00793736
+v 0.04991367 -0.02727991 -0.00493830
+v 0.04991367 0.02818285 -0.00481498
+v 0.02879133 0.02818285 -0.00504946
+v 0.02879133 -0.01218183 -0.00791410
+v 0.04991367 0.02389937 -0.00797522
+v 0.04991367 0.02818286 -0.00793376
+v 0.02879133 0.02818286 -0.00791273
+v 0.02879133 -0.01028710 -0.00791410
+v 0.04991367 0.02583753 -0.00796161
+v 0.04991367 0.02773768 -0.00794459
+f 1 2 10
+f 1 10 14
+f 1 14 15
+f 1 15 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 4 11 12
+f 4 12 16
+f 4 16 17
+f 4 17 13
+f 4 13 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 14
+f 12 14 16
+f 13 17 14
+f 14 17 16
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_21.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00145068 0.03252408 -0.00110435
+v 0.00145068 0.03112455 -0.00113803
+v 0.00586360 0.03377229 -0.00143620
+v 0.00586360 0.03459835 -0.00143811
+v 0.00145068 0.03396685 -0.00132366
+v 0.00586360 0.03222484 -0.00151699
+v 0.00586360 0.03245696 -0.00150257
+v 0.00586360 0.03365395 -0.00144004
+v 0.00145068 0.03097777 -0.00123710
+v 0.00586360 0.03082189 -0.00235383
+v 0.00586360 0.03536297 -0.00186903
+v 0.00145068 0.03704128 -0.00244325
+v 0.00145068 0.03543921 -0.00170839
+v 0.00145068 0.03461997 -0.00143138
+v 0.00145068 0.03000721 -0.00217492
+v 0.00586360 0.02787378 -0.00507976
+v 0.00586360 0.03541873 -0.00190077
+v 0.00145068 0.03744065 -0.00277509
+v 0.00145068 0.02937912 -0.00282033
+v 0.00145068 0.02787378 -0.00455747
+v 0.00586360 0.02787379 -0.00791053
+v 0.00586360 0.03635289 -0.00272412
+v 0.00145068 0.03822689 -0.00349841
+v 0.00145068 0.02787379 -0.00797690
+v 0.00145068 0.03071497 -0.01092981
+v 0.00263685 0.03095391 -0.01092981
+v 0.00325067 0.03110979 -0.01092981
+v 0.00440789 0.03195293 -0.01092980
+v 0.00507830 0.03246154 -0.01092980
+v 0.00538240 0.03374956 -0.01092980
+v 0.00586360 0.03374614 -0.00811635
+v 0.00586360 0.03663735 -0.00391684
+v 0.00186407 0.03949218 -0.00756902
+v 0.00145068 0.03909393 -0.00558085
+v 0.00145068 0.03872869 -0.00438044
+v 0.00145068 0.03859669 -0.00403514
+v 0.00145068 0.03870254 -0.01092978
+v 0.00504935 0.03450053 -0.01092979
+v 0.00586360 0.03652586 -0.00696499
+v 0.00586360 0.03536982 -0.00780566
+v 0.00586360 0.03519005 -0.00785856
+v 0.00586360 0.03431619 -0.00804420
+v 0.00586360 0.03679665 -0.00556450
+v 0.00186407 0.03949218 -0.00809323
+v 0.00145068 0.03949787 -0.00845682
+v 0.00145068 0.03949673 -0.00814421
+v 0.00178113 0.03949218 -0.00756902
+v 0.00145068 0.03947284 -0.00732087
+v 0.00145068 0.03947056 -0.00729489
+v 0.00145068 0.03876056 -0.01083552
+v 0.00152757 0.03864906 -0.01092978
+v 0.00332064 0.03682739 -0.01092978
+v 0.00212325 0.03818596 -0.01092978
+v 0.00223901 0.03832933 -0.01050656
+v 0.00149604 0.03943187 -0.00919169
+v 0.00145068 0.03943415 -0.00924363
+v 0.00145068 0.03894148 -0.01050656
+v 0.00145068 0.03939091 -0.00938118
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
+f 1 13 12
+f 1 12 18
+f 1 18 23
+f 1 23 36
+f 1 36 35
+f 1 35 34
+f 1 34 49
+f 1 49 48
+f 1 48 46
+f 1 46 45
+f 1 45 56
+f 1 56 58
+f 1 58 57
+f 1 57 50
+f 1 50 37
+f 1 37 25
+f 1 25 24
+f 1 24 20
+f 1 20 19
+f 1 19 15
+f 1 15 9
+f 1 9 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 10
+f 2 10 6
+f 3 8 7
+f 3 7 6
+f 3 6 10
+f 3 10 16
+f 3 16 21
+f 3 21 31
+f 3 31 42
+f 3 42 41
+f 3 41 40
+f 3 40 39
+f 3 39 43
+f 3 43 32
+f 3 32 22
+f 3 22 17
+f 3 17 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 15 19 16
+f 16 19 20
+f 16 20 24
+f 16 24 21
+f 17 22 18
+f 18 22 23
+f 21 24 25
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 25 37 51
+f 25 51 53
+f 25 53 52
+f 25 52 38
+f 25 38 30
+f 25 30 29
+f 25 29 28
+f 25 28 27
+f 25 27 26
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 32 43 33
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 33 43 44
+f 37 50 51
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 44
+f 39 44 43
+f 44 55 56
+f 44 56 45
+f 46 48 47
+f 50 57 51
+f 51 57 54
+f 51 54 53
+f 54 57 55
+f 55 57 58
+f 55 58 56
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_22.obj

@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v -0.01380148 -0.04007741 0.00432011
+v -0.01215347 -0.04007628 0.00432011
+v -0.01215347 -0.03995579 0.00596868
+v -0.01380148 -0.03994565 0.00596868
+v -0.01544848 -0.03973396 0.00761726
+v -0.01709650 -0.03971593 0.00596868
+v -0.01544848 -0.03992538 0.00432011
+v -0.01709650 -0.03975983 0.00267398
+v -0.01380148 -0.04002785 0.00267398
+v -0.01215347 -0.04003122 0.00267398
+v -0.01050545 -0.03992651 0.00432011
+v -0.00911153 -0.03977448 0.00571355
+v -0.00911153 -0.03976210 0.00596868
+v -0.01050545 -0.03975647 0.00761726
+v -0.00911153 -0.03979474 0.00267398
+v -0.01215347 -0.03978913 0.00761726
+v -0.01380148 -0.03977900 0.00761726
+v -0.01711978 -0.03952112 0.00762462
+v -0.01380148 -0.03956729 0.00926339
+v -0.01530069 -0.03944905 0.00925113
+v -0.01658529 -0.03940738 0.00869179
+v -0.01809563 -0.03938486 0.00708001
+v -0.01826974 -0.03947043 0.00596869
+v -0.01838211 -0.03949971 0.00432011
+v -0.01709650 -0.03974971 0.00432011
+v -0.01834567 -0.03950759 0.00267398
+v -0.01816244 -0.03942199 0.00133943
+v -0.01724024 -0.03956388 0.00088312
+v -0.01544848 -0.03980374 0.00102540
+v -0.01380148 -0.03976996 -0.00062317
+v -0.01215347 -0.03978009 -0.00062317
+v -0.01050545 -0.03981951 0.00102540
+v -0.00911153 -0.03978348 0.00241884
+v -0.00911153 -0.03978800 0.00432011
+v -0.00911153 -0.03958531 0.00766388
+v -0.00911153 -0.03946707 0.00833117
+v -0.00930386 -0.03941865 0.00873105
+v -0.01061073 -0.03947382 0.00927321
+v -0.01215347 -0.03958869 0.00926339
+v -0.01215347 -0.03934433 0.01018091
+v -0.01380148 -0.03932406 0.01016128
+v -0.01465181 -0.03926550 0.01009995
+v -0.01690517 -0.03843330 0.00895674
+v -0.01772918 -0.03843330 0.00822813
+v -0.01830315 -0.03843330 0.00740384
+v -0.01889838 -0.03843329 0.00596869
+v -0.01915955 -0.03843329 0.00432012
+v -0.01945210 -0.03694002 -0.00791910
+v -0.01945210 -0.03663484 -0.00970996
+v -0.01678572 -0.03943100 -0.00025763
+v -0.01554971 -0.03955600 -0.00073357
+v -0.01506685 -0.03940509 -0.00162163
+v -0.01380148 -0.03950419 -0.00175412
+v -0.01215347 -0.03951207 -0.00176393
+v -0.01083546 -0.03941523 -0.00163635
+v -0.01037386 -0.03956726 -0.00075810
+v -0.00911153 -0.03965622 0.00072611
+v -0.00911153 -0.03969676 0.00102540
+v -0.00911153 -0.03937022 0.00865009
+v -0.00911153 -0.03739617 0.01147868
+v -0.01013192 -0.03903691 0.00983010
+v -0.01123127 -0.03929141 0.01012449
+v -0.01037082 -0.03720248 0.01147868
+v -0.01050545 -0.03716644 0.01147868
+v -0.01166149 -0.03673402 0.01147869
+v -0.01190545 -0.03657073 0.01147869
+v -0.01488362 -0.03843331 0.01019318
+v -0.01570763 -0.03843331 0.00978103
+v -0.01705094 -0.03679256 0.00907450
+v -0.01787495 -0.03679256 0.00839004
+v -0.01588984 -0.03679257 0.00989879
+v -0.01840944 -0.03679256 0.00756576
+v -0.01915044 -0.03679255 0.00596869
+v -0.01944805 -0.03679255 0.00432012
+v -0.01945210 -0.03694229 -0.00627053
+v -0.01945210 -0.03630151 -0.01098565
+v -0.01945210 -0.03609656 -0.01158669
+v -0.00973611 -0.03916748 -0.00139594
+v -0.00911153 -0.03933866 -0.00054711
+v -0.00911153 -0.03943551 -0.00029198
+v -0.01945210 -0.03605264 -0.01166765
+v -0.00911153 -0.02857312 0.01147872
+v -0.01201175 -0.03630947 0.01147869
+v -0.01506584 -0.03679257 0.01026923
+v -0.01235491 -0.03485454 0.01147869
+v -0.01684646 -0.03351334 0.00894204
+v -0.01767047 -0.03351334 0.00812021
+v -0.01822925 -0.03351334 0.00729592
+v -0.01565499 -0.03351335 0.00976633
+v -0.01251486 -0.03351335 0.01147870
+v -0.01881132 -0.03351333 0.00596871
+v -0.01912513 -0.03351333 0.00432014
+v -0.01945210 -0.03205388 0.00079974
+v -0.01945210 -0.03351332 0.00139342
+v -0.01945210 -0.03374416 0.00133945
+v -0.01945210 -0.03520134 0.00099108
+v -0.01945210 -0.03526779 0.00092729
+v -0.01945210 -0.03551665 0.00068442
+v -0.01945210 -0.03603016 0.00001223
+v -0.01945210 -0.03642655 -0.00078998
+v -0.00911153 -0.03868552 -0.00101078
+v -0.01945210 -0.03545692 -0.01241834
+v -0.01945210 -0.03465401 -0.01326961
+v -0.01124848 -0.02857312 0.01147872
+v -0.00911153 -0.02857308 -0.00058878
+v -0.01613887 -0.02857311 0.00833611
+v -0.01614798 -0.02857311 0.00832875
+v -0.01680293 -0.02857311 0.00751428
+v -0.01812296 -0.03231291 0.00712664
+v -0.01218485 -0.03165978 0.01147870
+v -0.01475911 -0.03254828 0.01014904
+v -0.01532397 -0.02857311 0.00889055
+v -0.01795695 -0.02857310 0.00520823
+v -0.01879108 -0.03187259 0.00432014
+v -0.01945210 -0.03123745 -0.00001964
+v -0.01945210 -0.03124421 -0.00001228
+v -0.00911153 -0.03840399 -0.00109173
+v -0.01945210 -0.03449635 -0.01333831
+v -0.00911153 -0.02859222 -0.00059124
+v -0.01945210 -0.03351326 -0.01358117
+v -0.01939440 -0.03238265 -0.01324262
+v -0.01945210 -0.03233986 -0.01328678
+v -0.01945210 -0.03220810 -0.01315676
+v -0.01945210 -0.03152906 -0.01246740
+v -0.01945210 -0.03090296 -0.01163574
+v -0.01002056 -0.02857308 -0.00125851
+v -0.01681002 -0.02857311 0.00750446
+v -0.01768666 -0.02857310 0.00593194
+v -0.01770489 -0.02857310 0.00588778
+v -0.01774133 -0.02857310 0.00579701
+v -0.01806020 -0.02857310 0.00439866
+v -0.01945210 -0.03077462 -0.00096413
+v -0.00911153 -0.03679253 -0.00130271
+v -0.01945210 -0.03054711 -0.01050725
+v -0.01084457 -0.02857307 -0.00166575
+v -0.01002968 -0.02857308 -0.00126342
+v -0.01805817 -0.02857310 0.00431525
+v -0.01945210 -0.03002798 -0.00721009
+v -0.01945210 -0.03012709 -0.00556396
+v -0.01945210 -0.03070141 -0.00141553
+v -0.01945210 -0.03023969 -0.00894208
+v -0.01531587 -0.02857307 -0.00217357
+v -0.01380148 -0.02857307 -0.00215885
+v -0.01215347 -0.02857307 -0.00200675
+v -0.01800958 -0.02857309 0.00277461
+v -0.01795290 -0.02857309 0.00256118
+v -0.01762188 -0.02857309 0.00152101
+v -0.01754089 -0.02857308 0.00128304
+v -0.01683026 -0.02857308 -0.00052990
+v -0.01681204 -0.02857308 -0.00055934
+v -0.01539078 -0.02857307 -0.00212205
+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 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 2 10 15
+f 2 15 11
+f 3 14 16
+f 3 16 17
+f 3 17 4
+f 4 17 5
+f 5 18 6
+f 5 17 19
+f 5 19 20
+f 5 20 21
+f 5 21 18
+f 6 18 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 7
+f 7 25 8
+f 8 25 24
+f 8 24 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 9
+f 9 29 30
+f 9 30 31
+f 9 31 10
+f 10 32 33
+f 10 33 15
+f 10 31 32
+f 11 34 12
+f 11 15 34
+f 12 34 15
+f 12 15 33
+f 12 33 58
+f 12 58 57
+f 12 57 80
+f 12 80 79
+f 12 79 101
+f 12 101 117
+f 12 117 133
+f 12 133 119
+f 12 119 105
+f 12 105 82
+f 12 82 60
+f 12 60 59
+f 12 59 36
+f 12 36 35
+f 12 35 13
+f 13 35 14
+f 14 35 36
+f 14 36 37
+f 14 37 38
+f 14 38 39
+f 14 39 16
+f 16 39 17
+f 17 39 19
+f 18 21 22
+f 19 39 40
+f 19 40 41
+f 19 41 20
+f 20 41 42
+f 20 42 21
+f 21 42 43
+f 21 43 44
+f 21 44 22
+f 22 44 45
+f 22 45 46
+f 22 46 23
+f 23 46 47
+f 23 47 24
+f 24 47 26
+f 26 47 48
+f 26 48 27
+f 27 48 49
+f 27 49 50
+f 27 50 28
+f 28 50 51
+f 28 51 29
+f 29 51 30
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 30 54 31
+f 31 54 55
+f 31 55 56
+f 31 56 57
+f 31 57 58
+f 31 58 32
+f 32 58 33
+f 36 59 37
+f 37 59 60
+f 37 60 61
+f 37 61 62
+f 37 62 38
+f 38 62 40
+f 38 40 39
+f 40 62 60
+f 40 60 41
+f 41 60 63
+f 41 63 42
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 67
+f 42 67 68
+f 42 68 43
+f 43 69 70
+f 43 70 44
+f 43 68 71
+f 43 71 69
+f 44 70 45
+f 45 70 72
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 46 74 47
+f 47 74 75
+f 47 75 48
+f 48 75 100
+f 48 100 99
+f 48 99 98
+f 48 98 97
+f 48 97 96
+f 48 96 95
+f 48 95 94
+f 48 94 93
+f 48 93 116
+f 48 116 115
+f 48 115 132
+f 48 132 140
+f 48 140 139
+f 48 139 138
+f 48 138 141
+f 48 141 134
+f 48 134 125
+f 48 125 124
+f 48 124 123
+f 48 123 122
+f 48 122 120
+f 48 120 118
+f 48 118 103
+f 48 103 102
+f 48 102 81
+f 48 81 77
+f 48 77 76
+f 48 76 49
+f 49 76 52
+f 49 52 51
+f 49 51 50
+f 52 76 53
+f 53 76 77
+f 53 77 54
+f 54 77 55
+f 55 78 79
+f 55 79 80
+f 55 80 56
+f 55 77 81
+f 55 81 78
+f 56 80 57
+f 60 82 104
+f 60 104 110
+f 60 110 90
+f 60 90 85
+f 60 85 83
+f 60 83 66
+f 60 66 65
+f 60 65 64
+f 60 64 63
+f 60 62 61
+f 66 83 67
+f 67 84 71
+f 67 71 68
+f 67 83 85
+f 67 85 84
+f 69 71 86
+f 69 86 70
+f 70 87 88
+f 70 88 72
+f 70 86 87
+f 71 89 86
+f 71 84 90
+f 71 90 89
+f 72 88 73
+f 73 91 92
+f 73 92 74
+f 73 88 91
+f 74 92 93
+f 74 93 94
+f 74 94 95
+f 74 95 96
+f 74 96 97
+f 74 97 98
+f 74 98 99
+f 74 99 100
+f 74 100 75
+f 78 101 79
+f 78 81 102
+f 78 102 103
+f 78 103 101
+f 82 105 126
+f 82 126 136
+f 82 136 135
+f 82 135 144
+f 82 144 143
+f 82 143 142
+f 82 142 151
+f 82 151 150
+f 82 150 149
+f 82 149 148
+f 82 148 147
+f 82 147 146
+f 82 146 145
+f 82 145 137
+f 82 137 131
+f 82 131 113
+f 82 113 130
+f 82 130 129
+f 82 129 128
+f 82 128 127
+f 82 127 108
+f 82 108 107
+f 82 107 106
+f 82 106 112
+f 82 112 104
+f 84 85 90
+f 86 89 106
+f 86 106 107
+f 86 107 87
+f 87 107 108
+f 87 108 109
+f 87 109 88
+f 88 109 91
+f 89 90 110
+f 89 110 111
+f 89 111 112
+f 89 112 106
+f 91 113 92
+f 91 109 113
+f 92 113 114
+f 92 114 115
+f 92 115 116
+f 92 116 93
+f 101 103 118
+f 101 118 117
+f 104 112 111
+f 104 111 110
+f 105 119 120
+f 105 120 121
+f 105 121 122
+f 105 122 123
+f 105 123 124
+f 105 124 125
+f 105 125 126
+f 108 127 109
+f 109 127 128
+f 109 128 129
+f 109 129 130
+f 109 130 113
+f 113 131 132
+f 113 132 115
+f 113 115 114
+f 117 118 120
+f 117 120 133
+f 119 133 120
+f 120 122 121
+f 125 134 135
+f 125 135 136
+f 125 136 126
+f 131 137 138
+f 131 138 139
+f 131 139 140
+f 131 140 132
+f 134 141 142
+f 134 142 143
+f 134 143 144
+f 134 144 135
+f 137 145 138
+f 138 145 146
+f 138 146 147
+f 138 147 148
+f 138 148 149
+f 138 149 141
+f 141 149 150
+f 141 150 151
+f 141 151 142
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_23.obj

@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
+v -0.03522653 -0.04003555 -0.03357534
+v -0.03687346 -0.04000968 -0.03357534
+v -0.03522653 -0.04001973 -0.03522207
+v -0.03357844 -0.03987024 -0.03357534
+v -0.03357844 -0.03977967 -0.03192632
+v -0.03522653 -0.03969343 -0.03027959
+v -0.03687346 -0.03968481 -0.03027959
+v -0.03852155 -0.03975667 -0.03192632
+v -0.03852155 -0.03984580 -0.03357534
+v -0.03687346 -0.03998379 -0.03522207
+v -0.03357844 -0.03984867 -0.03522207
+v -0.03687346 -0.03981990 -0.03687109
+v -0.03522653 -0.03985153 -0.03687109
+v -0.03357844 -0.03975665 -0.03687109
+v -0.03193035 -0.03968336 -0.03357534
+v -0.03179503 -0.03951229 -0.03179577
+v -0.03357844 -0.03960143 -0.03027959
+v -0.03522653 -0.03947205 -0.02911152
+v -0.03687346 -0.03946487 -0.02912526
+v -0.03814683 -0.03938868 -0.02926497
+v -0.03862680 -0.03951230 -0.03016965
+v -0.04021937 -0.03948786 -0.03191945
+v -0.04016964 -0.03963448 -0.03357534
+v -0.04016964 -0.03960141 -0.03522207
+v -0.03852155 -0.03981129 -0.03522207
+v -0.03852155 -0.03972072 -0.03687109
+v -0.03193035 -0.03966179 -0.03522207
+v -0.03687346 -0.03958415 -0.03851782
+v -0.03522653 -0.03959709 -0.03851782
+v -0.03366865 -0.03945909 -0.03852239
+v -0.03244733 -0.03939727 -0.03797730
+v -0.03191069 -0.03949215 -0.03685506
+v -0.03083741 -0.03945911 -0.03357533
+v -0.03093919 -0.03938579 -0.03225840
+v -0.03235712 -0.03938149 -0.03027958
+v -0.03272375 -0.03927511 -0.02942758
+v -0.03357844 -0.03937861 -0.02927642
+v -0.02998850 -0.03650505 -0.01998005
+v -0.02998850 -0.03627504 -0.01918531
+v -0.03924556 -0.03912417 -0.02954668
+v -0.03970355 -0.03940162 -0.03064373
+v -0.02998850 -0.03604360 -0.01873412
+v -0.04109488 -0.03934698 -0.03246453
+v -0.04117238 -0.03941023 -0.03357533
+v -0.04113189 -0.03937572 -0.03522206
+v -0.04015114 -0.03945621 -0.03676802
+v -0.03959021 -0.03939584 -0.03793608
+v -0.03839665 -0.03944615 -0.03849720
+v -0.03087442 -0.03943466 -0.03522206
+v -0.03098892 -0.03935416 -0.03629392
+v -0.03687346 -0.03935415 -0.03945455
+v -0.03522653 -0.03936709 -0.03946829
+v -0.03427700 -0.03929952 -0.03939042
+v -0.03211193 -0.03843269 -0.03829565
+v -0.03128847 -0.03843269 -0.03746656
+v -0.03311466 -0.03843269 -0.03912016
+v -0.03031696 -0.03843271 -0.03357533
+v -0.02998850 -0.03689317 -0.02174818
+v -0.03948381 -0.03803022 -0.02934055
+v -0.04014304 -0.03846004 -0.03029103
+v -0.04080228 -0.03888985 -0.03136747
+v -0.02998850 -0.03511210 -0.01746987
+v -0.02998850 -0.03450259 -0.01715610
+v -0.02998850 -0.03351213 -0.01667284
+v -0.04157717 -0.03843271 -0.03357533
+v -0.04122673 -0.03837953 -0.03191944
+v -0.04149968 -0.03843270 -0.03522206
+v -0.04104168 -0.03929953 -0.03614963
+v -0.04070050 -0.03843269 -0.03725127
+v -0.03987703 -0.03843269 -0.03822007
+v -0.03886967 -0.03843269 -0.03904458
+v -0.03776401 -0.03928227 -0.03937210
+v -0.03038057 -0.03843270 -0.03522206
+v -0.03080965 -0.03843270 -0.03664434
+v -0.03687346 -0.03843268 -0.03980039
+v -0.03522653 -0.03843268 -0.03983016
+v -0.03393813 -0.03843268 -0.03953471
+v -0.03111614 -0.03679248 -0.03767956
+v -0.03284056 -0.03679248 -0.03929423
+v -0.03193960 -0.03679248 -0.03847201
+v -0.03006599 -0.03679250 -0.03357533
+v -0.02998850 -0.03685865 -0.02813814
+v -0.02998850 -0.03695927 -0.02658531
+v -0.02998850 -0.03697797 -0.02339720
+v -0.04103822 -0.03779590 -0.03103538
+v -0.02998850 -0.03312256 -0.01672093
+v -0.03611476 -0.03255327 -0.02444156
+v -0.03615062 -0.03351210 -0.02440263
+v -0.03611939 -0.03450112 -0.02443699
+v -0.04180270 -0.03679250 -0.03357533
+v -0.04142682 -0.03679250 -0.03192631
+v -0.04172405 -0.03679249 -0.03522206
+v -0.04117469 -0.03843270 -0.03642676
+v -0.04085664 -0.03679248 -0.03746885
+v -0.04003201 -0.03679248 -0.03838269
+v -0.03911949 -0.03679248 -0.03920491
+v -0.03804505 -0.03843268 -0.03950494
+v -0.03012960 -0.03679249 -0.03522206
+v -0.03069284 -0.03679248 -0.03685734
+v -0.03687346 -0.03679247 -0.04003629
+v -0.03522653 -0.03679247 -0.04006835
+v -0.03366403 -0.03679247 -0.03965610
+v -0.03117397 -0.03187327 -0.03758564
+v -0.03199859 -0.03187327 -0.03841702
+v -0.03293540 -0.03187327 -0.03924153
+v -0.03375886 -0.03187326 -0.03963317
+v -0.02998850 -0.03351207 -0.03218051
+v -0.02998850 -0.03515229 -0.03183469
+v -0.02998850 -0.03651507 -0.02988105
+v -0.02998850 -0.03661570 -0.02961996
+v -0.02998850 -0.03679970 -0.02866720
+v -0.04105788 -0.03679251 -0.03100331
+v -0.02998850 -0.03190498 -0.01741031
+v -0.03937971 -0.02936914 -0.02942755
+v -0.04095725 -0.02975727 -0.03117964
+v -0.04101161 -0.03085123 -0.03107428
+v -0.04175875 -0.03187329 -0.03357531
+v -0.04136205 -0.03187329 -0.03192629
+v -0.04167894 -0.03187328 -0.03522204
+v -0.04125681 -0.03187328 -0.03659394
+v -0.04128340 -0.03679249 -0.03664663
+v -0.04083003 -0.03187327 -0.03741616
+v -0.04000657 -0.03187327 -0.03835747
+v -0.03907092 -0.03187327 -0.03917969
+v -0.03824629 -0.03187326 -0.03960340
+v -0.03829602 -0.03679247 -0.03962403
+v -0.03029845 -0.03023163 -0.03522203
+v -0.02998850 -0.03322313 -0.03221716
+v -0.03075876 -0.03187327 -0.03676113
+v -0.03078074 -0.03023163 -0.03670386
+v -0.03687346 -0.03187326 -0.04001108
+v -0.03522653 -0.03187326 -0.04004314
+v -0.03203675 -0.03023162 -0.03837578
+v -0.03121329 -0.03023162 -0.03752608
+v -0.03301520 -0.03023162 -0.03920029
+v -0.03383867 -0.03023161 -0.03959194
+v -0.02998850 -0.03126527 -0.01809740
+v -0.03765067 -0.02534982 -0.03115213
+v -0.03841399 -0.02534981 -0.03195374
+v -0.03923399 -0.02534981 -0.03316760
+v -0.03924440 -0.02534981 -0.03318364
+v -0.04117006 -0.02916356 -0.03227898
+v -0.04124755 -0.03027620 -0.03180947
+v -0.04168125 -0.03023164 -0.03357530
+v -0.04160724 -0.03023163 -0.03522203
+v -0.04122442 -0.03023163 -0.03652063
+v -0.04078146 -0.03023162 -0.03734514
+v -0.03995799 -0.03023162 -0.03830708
+v -0.03898764 -0.03023162 -0.03913159
+v -0.03816418 -0.03023161 -0.03956216
+v -0.03091374 -0.02915780 -0.03643819
+v -0.03074026 -0.02893067 -0.03522203
+v -0.03021518 -0.03023164 -0.03357530
+v -0.02998850 -0.03110854 -0.03102848
+v -0.02998850 -0.03183304 -0.03151632
+v -0.02998850 -0.03220393 -0.03174306
+v -0.03687346 -0.03023161 -0.03992403
+v -0.03522653 -0.03023161 -0.03995381
+v -0.03230623 -0.02893929 -0.03811927
+v -0.03251904 -0.02534980 -0.03640610
+v -0.03408154 -0.02920809 -0.03947971
+v -0.03408154 -0.02534979 -0.03788335
+v -0.02998850 -0.03081820 -0.01884175
+v -0.03762407 -0.02534982 -0.03113381
+v -0.03944795 -0.02534981 -0.03398753
+v -0.04129844 -0.02899968 -0.03357530
+v -0.04126490 -0.02904280 -0.03522203
+v -0.04112495 -0.02922105 -0.03631680
+v -0.03972321 -0.02906148 -0.03807117
+v -0.03795368 -0.02923110 -0.03946139
+v -0.03250632 -0.02534980 -0.03637403
+v -0.03210268 -0.02534980 -0.03522201
+v -0.03069862 -0.02889043 -0.03357530
+v -0.02998850 -0.03024604 -0.02698608
+v -0.02998850 -0.03029635 -0.02738001
+v -0.02998850 -0.03046884 -0.02869694
+v -0.02998850 -0.03065860 -0.02984897
+v -0.03687346 -0.02905859 -0.03958965
+v -0.03522653 -0.02904134 -0.03960568
+v -0.03406073 -0.02534979 -0.03786732
+v -0.03325692 -0.02534979 -0.03723061
+v -0.03522653 -0.02534979 -0.03819025
+v -0.03522653 -0.02534982 -0.03072385
+v -0.03680407 -0.02534982 -0.03085439
+v -0.02998850 -0.03073195 -0.01908452
+v -0.03417291 -0.02534982 -0.03096891
+v -0.03420529 -0.02534982 -0.03095975
+v -0.03944795 -0.02534980 -0.03486930
+v -0.03926290 -0.02534980 -0.03568923
+v -0.03925134 -0.02534980 -0.03571443
+v -0.03849611 -0.02534979 -0.03686874
+v -0.03775013 -0.02534979 -0.03773448
+v -0.03772469 -0.02534979 -0.03774364
+v -0.03687346 -0.02534979 -0.03804138
+v -0.03210268 -0.02534980 -0.03518307
+v -0.02998850 -0.03001173 -0.02369033
+v -0.02998850 -0.03041713 -0.02033045
+v -0.03212581 -0.02534981 -0.03357528
+v -0.03254217 -0.02534981 -0.03244158
+v -0.03255836 -0.02534981 -0.03242096
+v -0.03334944 -0.02534981 -0.03161707
+v -0.03336911 -0.02534981 -0.03160103
+v -0.02998850 -0.03006493 -0.02204360
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 8
+f 3 11 4
+f 3 10 12
+f 3 12 13
+f 3 13 14
+f 3 14 11
+f 4 15 5
+f 4 11 27
+f 4 27 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 22 23
+f 8 23 9
+f 8 21 22
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 25 26
+f 10 26 12
+f 11 14 27
+f 12 26 28
+f 12 28 13
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 27
+f 15 27 33
+f 15 33 34
+f 15 34 16
+f 16 34 35
+f 16 35 17
+f 17 35 36
+f 17 36 37
+f 17 37 18
+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 19 39 20
+f 20 40 41
+f 20 41 21
+f 20 39 42
+f 20 42 40
+f 21 41 22
+f 22 43 23
+f 22 41 43
+f 23 43 44
+f 23 44 24
+f 24 44 45
+f 24 45 46
+f 24 46 26
+f 24 26 25
+f 26 46 47
+f 26 47 48
+f 26 48 28
+f 27 49 33
+f 27 32 50
+f 27 50 49
+f 28 48 51
+f 28 51 52
+f 28 52 29
+f 29 52 30
+f 30 52 53
+f 30 53 31
+f 31 54 55
+f 31 55 50
+f 31 50 32
+f 31 53 56
+f 31 56 54
+f 33 57 58
+f 33 58 34
+f 33 49 57
+f 34 58 35
+f 35 58 38
+f 35 38 36
+f 36 38 37
+f 38 58 84
+f 38 84 83
+f 38 83 82
+f 38 82 111
+f 38 111 110
+f 38 110 109
+f 38 109 108
+f 38 108 107
+f 38 107 128
+f 38 128 156
+f 38 156 155
+f 38 155 154
+f 38 154 177
+f 38 177 176
+f 38 176 175
+f 38 175 174
+f 38 174 196
+f 38 196 203
+f 38 203 197
+f 38 197 185
+f 38 185 163
+f 38 163 137
+f 38 137 113
+f 38 113 86
+f 38 86 64
+f 38 64 63
+f 38 63 62
+f 38 62 42
+f 38 42 39
+f 40 59 60
+f 40 60 61
+f 40 61 43
+f 40 43 41
+f 40 42 62
+f 40 62 63
+f 40 63 64
+f 40 64 59
+f 43 65 44
+f 43 61 66
+f 43 66 65
+f 44 65 45
+f 45 67 68
+f 45 68 46
+f 45 65 67
+f 46 68 47
+f 47 68 69
+f 47 69 70
+f 47 70 71
+f 47 71 72
+f 47 72 48
+f 48 72 51
+f 49 50 73
+f 49 73 57
+f 50 74 73
+f 50 55 74
+f 51 72 75
+f 51 75 76
+f 51 76 52
+f 52 76 53
+f 53 76 77
+f 53 77 56
+f 54 78 55
+f 54 56 79
+f 54 79 80
+f 54 80 78
+f 55 78 74
+f 56 77 79
+f 57 73 98
+f 57 98 81
+f 57 81 82
+f 57 82 83
+f 57 83 84
+f 57 84 58
+f 59 85 60
+f 59 64 85
+f 60 85 61
+f 61 85 66
+f 64 86 87
+f 64 87 88
+f 64 88 89
+f 64 89 85
+f 65 66 90
+f 65 90 67
+f 66 91 90
+f 66 85 91
+f 67 92 93
+f 67 93 68
+f 67 90 92
+f 68 93 69
+f 69 94 70
+f 69 93 94
+f 70 94 95
+f 70 95 96
+f 70 96 71
+f 71 96 97
+f 71 97 72
+f 72 97 75
+f 73 74 98
+f 74 78 99
+f 74 99 98
+f 75 97 100
+f 75 100 101
+f 75 101 76
+f 76 101 77
+f 77 101 102
+f 77 102 79
+f 78 103 99
+f 78 80 104
+f 78 104 103
+f 79 105 104
+f 79 104 80
+f 79 102 106
+f 79 106 105
+f 81 107 108
+f 81 108 109
+f 81 109 110
+f 81 110 111
+f 81 111 82
+f 81 98 107
+f 85 89 88
+f 85 88 112
+f 85 112 91
+f 86 113 114
+f 86 114 115
+f 86 115 87
+f 87 115 116
+f 87 116 88
+f 88 116 112
+f 90 117 92
+f 90 91 117
+f 91 118 117
+f 91 112 116
+f 91 116 118
+f 92 119 120
+f 92 120 121
+f 92 121 93
+f 92 117 119
+f 93 121 94
+f 94 122 123
+f 94 123 95
+f 94 121 120
+f 94 120 122
+f 95 123 96
+f 96 124 125
+f 96 125 126
+f 96 126 97
+f 96 123 124
+f 97 126 100
+f 98 127 128
+f 98 128 107
+f 98 99 129
+f 98 129 130
+f 98 130 127
+f 99 103 129
+f 100 126 131
+f 100 131 132
+f 100 132 101
+f 101 132 102
+f 102 132 106
+f 103 104 133
+f 103 133 134
+f 103 134 130
+f 103 130 129
+f 104 105 133
+f 105 135 133
+f 105 106 136
+f 105 136 135
+f 106 132 136
+f 113 137 138
+f 113 138 114
+f 114 138 139
+f 114 139 115
+f 115 139 140
+f 115 140 141
+f 115 141 142
+f 115 142 143
+f 115 143 116
+f 116 143 118
+f 117 144 145
+f 117 145 119
+f 117 118 144
+f 118 143 144
+f 119 145 146
+f 119 146 120
+f 120 146 122
+f 122 147 148
+f 122 148 123
+f 122 146 147
+f 123 148 124
+f 124 149 150
+f 124 150 125
+f 124 148 149
+f 125 150 131
+f 125 131 126
+f 127 130 151
+f 127 151 152
+f 127 152 153
+f 127 153 154
+f 127 154 155
+f 127 155 156
+f 127 156 128
+f 130 134 151
+f 131 157 132
+f 131 150 157
+f 132 157 158
+f 132 158 136
+f 133 159 134
+f 133 135 159
+f 134 159 160
+f 134 160 151
+f 135 136 161
+f 135 161 162
+f 135 162 159
+f 136 158 161
+f 137 163 164
+f 137 164 138
+f 138 164 184
+f 138 184 183
+f 138 183 187
+f 138 187 186
+f 138 186 202
+f 138 202 201
+f 138 201 200
+f 138 200 199
+f 138 199 198
+f 138 198 195
+f 138 195 172
+f 138 172 171
+f 138 171 160
+f 138 160 181
+f 138 181 180
+f 138 180 162
+f 138 162 182
+f 138 182 194
+f 138 194 193
+f 138 193 192
+f 138 192 191
+f 138 191 190
+f 138 190 189
+f 138 189 188
+f 138 188 165
+f 138 165 141
+f 138 141 140
+f 138 140 139
+f 141 165 142
+f 142 165 166
+f 142 166 144
+f 142 144 143
+f 144 166 167
+f 144 167 145
+f 145 167 168
+f 145 168 146
+f 146 168 147
+f 147 169 148
+f 147 168 169
+f 148 169 149
+f 149 170 150
+f 149 169 170
+f 150 170 157
+f 151 160 171
+f 151 171 172
+f 151 172 152
+f 152 172 173
+f 152 173 153
+f 153 173 174
+f 153 174 175
+f 153 175 176
+f 153 176 177
+f 153 177 154
+f 157 170 178
+f 157 178 158
+f 158 178 179
+f 158 179 161
+f 159 162 180
+f 159 180 181
+f 159 181 160
+f 161 179 182
+f 161 182 162
+f 163 183 184
+f 163 184 164
+f 163 185 186
+f 163 186 187
+f 163 187 183
+f 165 188 166
+f 166 188 167
+f 167 188 168
+f 168 188 189
+f 168 189 190
+f 168 190 191
+f 168 191 169
+f 169 191 192
+f 169 192 170
+f 170 192 193
+f 170 193 194
+f 170 194 178
+f 172 195 196
+f 172 196 174
+f 172 174 173
+f 178 194 182
+f 178 182 179
+f 185 197 198
+f 185 198 199
+f 185 199 200
+f 185 200 201
+f 185 201 202
+f 185 202 186
+f 195 198 196
+f 196 198 203
+f 197 203 198
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_24.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.02879112 -0.02696740 -0.00515665
+v 0.04991367 -0.03043654 -0.00224066
+v 0.04991367 -0.02728119 -0.00493681
+v 0.02879112 -0.02696739 -0.00791087
+v 0.00620535 -0.02696740 -0.00515469
+v 0.04991367 -0.03085364 -0.00193406
+v 0.04991367 -0.02728118 -0.00793761
+v 0.02741347 -0.02696739 -0.00791152
+v 0.00620535 -0.02696739 -0.00790630
+v 0.00620535 -0.03183172 -0.00165095
+v 0.04991367 -0.03150827 -0.00150352
+v 0.04991367 -0.03351171 -0.00793437
+v 0.00620535 -0.03351171 -0.00804396
+v 0.02245906 -0.02696739 -0.00791217
+v 0.02247190 -0.02696739 -0.00791217
+v 0.00620535 -0.03265048 -0.00143894
+v 0.00762579 -0.03263021 -0.00143633
+v 0.04991367 -0.03160868 -0.00148786
+v 0.04991367 -0.03515214 -0.00781826
+v 0.04881840 -0.03515214 -0.00783457
+v 0.00620535 -0.03514249 -0.00789393
+v 0.04717120 -0.03515214 -0.00783848
+v 0.00620535 -0.03351173 -0.00143176
+v 0.00762579 -0.03351173 -0.00142785
+v 0.00927298 -0.03262345 -0.00143502
+v 0.04387682 -0.03351173 -0.00137957
+v 0.04991367 -0.03218510 -0.00143111
+v 0.04991367 -0.03637063 -0.00704458
+v 0.04881840 -0.03639091 -0.00706088
+v 0.04717120 -0.03639574 -0.00706545
+v 0.00620535 -0.03529600 -0.00780000
+v 0.00620535 -0.03426677 -0.00143569
+v 0.04387682 -0.03455450 -0.00140307
+v 0.04991367 -0.03441836 -0.00143177
+v 0.04991367 -0.03382070 -0.00142328
+v 0.04991367 -0.03351173 -0.00142002
+v 0.04991367 -0.03253655 -0.00142589
+v 0.00620535 -0.03439132 -0.00143699
+v 0.04991367 -0.03676265 -0.00556376
+v 0.04881840 -0.03680030 -0.00556376
+v 0.04717120 -0.03680706 -0.00556376
+v 0.04552401 -0.03680899 -0.00556376
+v 0.04387682 -0.03639767 -0.00706610
+v 0.00620535 -0.03640925 -0.00707002
+v 0.04387682 -0.03537520 -0.00166205
+v 0.04881840 -0.03524388 -0.00166466
+v 0.04991367 -0.03469547 -0.00151071
+v 0.00620535 -0.03521106 -0.00166596
+v 0.00762579 -0.03521781 -0.00166596
+v 0.04991367 -0.03662362 -0.00391657
+v 0.04881840 -0.03666031 -0.00391657
+v 0.04717120 -0.03666417 -0.00391657
+v 0.04552401 -0.03666610 -0.00391657
+v 0.04387682 -0.03680995 -0.00556376
+v 0.00620535 -0.03683023 -0.00556310
+v 0.00620535 -0.03646815 -0.00685931
+v 0.04552401 -0.03625382 -0.00248597
+v 0.04717120 -0.03625382 -0.00248662
+v 0.04881840 -0.03625189 -0.00248858
+v 0.00620535 -0.03610996 -0.00237507
+v 0.00620535 -0.03625479 -0.00248988
+v 0.04991367 -0.03557989 -0.00197779
+v 0.04991367 -0.03523906 -0.00169923
+v 0.04991367 -0.03637065 -0.00300654
+v 0.04991367 -0.03623258 -0.00252250
+v 0.00620535 -0.03667479 -0.00391722
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 6 11
+f 2 11 18
+f 2 18 27
+f 2 27 37
+f 2 37 36
+f 2 36 35
+f 2 35 34
+f 2 34 47
+f 2 47 63
+f 2 63 62
+f 2 62 65
+f 2 65 64
+f 2 64 50
+f 2 50 39
+f 2 39 28
+f 2 28 19
+f 2 19 12
+f 2 12 7
+f 2 7 3
+f 2 5 6
+f 4 7 8
+f 5 9 13
+f 5 13 21
+f 5 21 31
+f 5 31 44
+f 5 44 56
+f 5 56 55
+f 5 55 66
+f 5 66 61
+f 5 61 60
+f 5 60 48
+f 5 48 38
+f 5 38 32
+f 5 32 23
+f 5 23 16
+f 5 16 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 9
+f 7 9 14
+f 7 14 15
+f 7 15 8
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 19 20
+f 12 20 13
+f 13 20 22
+f 13 22 21
+f 16 23 24
+f 16 24 17
+f 17 25 18
+f 17 24 26
+f 17 26 25
+f 18 25 27
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 22
+f 21 22 31
+f 22 30 31
+f 23 32 24
+f 24 32 26
+f 25 26 27
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 26 32 38
+f 26 38 33
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 31 43 44
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 33 38 48
+f 33 48 49
+f 33 49 45
+f 39 50 40
+f 40 50 51
+f 40 51 41
+f 41 51 52
+f 41 52 53
+f 41 53 42
+f 42 53 54
+f 42 54 43
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 45 49 60
+f 45 60 61
+f 45 61 57
+f 46 59 62
+f 46 62 63
+f 46 63 47
+f 48 60 49
+f 50 64 51
+f 51 64 65
+f 51 65 59
+f 51 59 52
+f 52 58 53
+f 52 59 58
+f 53 58 66
+f 53 66 55
+f 53 55 54
+f 57 61 66
+f 57 66 58
+f 59 65 62
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_25.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00586360 0.03679779 -0.00556303
+v 0.00586360 0.03652528 -0.00696533
+v 0.00586360 0.03663619 -0.00391704
+v 0.04552419 0.03661959 -0.00391704
+v 0.04717132 0.03675498 -0.00556369
+v 0.00586360 0.03536971 -0.00780578
+v 0.04717132 0.03648510 -0.00693174
+v 0.00586360 0.03635232 -0.00272420
+v 0.04222992 0.03634969 -0.00272552
+v 0.04387705 0.03634969 -0.00272618
+v 0.04552419 0.03634969 -0.00272816
+v 0.04717132 0.03634882 -0.00273079
+v 0.04717132 0.03661784 -0.00391704
+v 0.04881846 0.03675149 -0.00556370
+v 0.00586360 0.03518978 -0.00785782
+v 0.04717132 0.03538630 -0.00770435
+v 0.04881846 0.03648248 -0.00692647
+v 0.04881846 0.03538630 -0.00769908
+v 0.00586360 0.03541773 -0.00190088
+v 0.00927429 0.03543258 -0.00190022
+v 0.01092143 0.03543694 -0.00190022
+v 0.01256856 0.03543869 -0.00190022
+v 0.01586714 0.03544131 -0.00189956
+v 0.04387705 0.03544917 -0.00190285
+v 0.01586714 0.03635057 -0.00272355
+v 0.04881846 0.03634620 -0.00273474
+v 0.04881846 0.03661435 -0.00391704
+v 0.04991367 0.03666851 -0.00500515
+v 0.04991367 0.03671481 -0.00556370
+v 0.04991367 0.03655409 -0.00643379
+v 0.04991367 0.03646414 -0.00689485
+v 0.00586360 0.03431546 -0.00804422
+v 0.04991367 0.03575752 -0.00740597
+v 0.04991367 0.03538630 -0.00766812
+v 0.04991367 0.03430149 -0.00785189
+v 0.00586360 0.03536270 -0.00186926
+v 0.00927429 0.03461241 -0.00143454
+v 0.01092143 0.03461678 -0.00143389
+v 0.01256856 0.03461853 -0.00143323
+v 0.01422001 0.03543957 -0.00189956
+v 0.01586714 0.03462115 -0.00143257
+v 0.04387705 0.03462901 -0.00143059
+v 0.04991367 0.03461328 -0.00143389
+v 0.04881846 0.03543258 -0.00191076
+v 0.04991367 0.03543345 -0.00195818
+v 0.04991367 0.03632524 -0.00278217
+v 0.04991367 0.03657592 -0.00391704
+v 0.00586360 0.03374597 -0.00811602
+v 0.04991367 0.03374597 -0.00792962
+v 0.00586360 0.03459756 -0.00143784
+v 0.04387705 0.03374595 -0.00138713
+v 0.04991367 0.03374595 -0.00142072
+v 0.00586360 0.02787554 -0.00790988
+v 0.04991367 0.02818387 -0.00793359
+v 0.00586360 0.03377216 -0.00143587
+v 0.00762716 0.03374595 -0.00142797
+v 0.00927429 0.03374595 -0.00142402
+v 0.01092143 0.03374595 -0.00142204
+v 0.04387705 0.03257903 -0.00140294
+v 0.04991367 0.03223576 -0.00143060
+v 0.00927429 0.03278953 -0.00143455
+v 0.00586360 0.02787553 -0.00507829
+v 0.02740140 0.02787554 -0.00791186
+v 0.04991367 0.02818386 -0.00481417
+v 0.02878982 0.02787554 -0.00791186
+v 0.00586360 0.03365249 -0.00143982
+v 0.00654488 0.03285242 -0.00143982
+v 0.00762716 0.03280612 -0.00143653
+v 0.04983606 0.03149333 -0.00145234
+v 0.04991367 0.03156670 -0.00144904
+v 0.01092143 0.03277555 -0.00143324
+v 0.00586360 0.03082253 -0.00235406
+v 0.00598002 0.02787553 -0.00507829
+v 0.04991367 0.02867211 -0.00417723
+v 0.04991367 0.03057447 -0.00215580
+v 0.02878982 0.02787553 -0.00508290
+v 0.00586360 0.03245587 -0.00150306
+v 0.00586360 0.03222528 -0.00151689
+v 0.00762716 0.03198858 -0.00153006
+v 0.04991367 0.03135970 -0.00153796
+f 1 2 6
+f 1 6 15
+f 1 15 32
+f 1 32 48
+f 1 48 53
+f 1 53 62
+f 1 62 72
+f 1 72 78
+f 1 78 77
+f 1 77 66
+f 1 66 55
+f 1 55 50
+f 1 50 36
+f 1 36 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 27
+f 5 27 14
+f 5 14 7
+f 6 7 16
+f 6 16 15
+f 7 14 17
+f 7 17 18
+f 7 18 16
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 24 10
+f 9 25 24
+f 10 24 11
+f 11 24 12
+f 12 26 27
+f 12 27 13
+f 12 24 26
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 17
+f 15 16 32
+f 16 18 32
+f 17 31 33
+f 17 33 34
+f 17 34 18
+f 18 34 35
+f 18 35 32
+f 19 36 20
+f 20 37 38
+f 20 38 21
+f 20 36 37
+f 21 38 39
+f 21 39 41
+f 21 41 40
+f 21 40 23
+f 21 23 22
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 26
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 28
+f 28 47 46
+f 28 46 45
+f 28 45 43
+f 28 43 52
+f 28 52 60
+f 28 60 70
+f 28 70 80
+f 28 80 75
+f 28 75 74
+f 28 74 64
+f 28 64 54
+f 28 54 49
+f 28 49 35
+f 28 35 34
+f 28 34 33
+f 28 33 31
+f 28 31 30
+f 28 30 29
+f 32 35 49
+f 32 49 48
+f 36 50 37
+f 37 50 51
+f 37 51 38
+f 38 51 39
+f 39 51 41
+f 41 51 42
+f 42 51 43
+f 43 45 44
+f 43 51 52
+f 48 49 54
+f 48 54 53
+f 50 55 56
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 51 59 60
+f 51 60 52
+f 51 58 61
+f 51 61 59
+f 53 54 63
+f 53 63 65
+f 53 65 76
+f 53 76 73
+f 53 73 62
+f 54 64 76
+f 54 76 65
+f 54 65 63
+f 55 66 67
+f 55 67 56
+f 56 67 68
+f 56 68 57
+f 57 68 61
+f 57 61 58
+f 59 69 70
+f 59 70 60
+f 59 61 71
+f 59 71 69
+f 61 68 69
+f 61 69 71
+f 62 73 74
+f 62 74 75
+f 62 75 72
+f 64 74 76
+f 66 77 67
+f 67 77 78
+f 67 78 68
+f 68 78 79
+f 68 79 69
+f 69 80 70
+f 69 79 80
+f 72 79 78
+f 72 75 80
+f 72 80 79
+f 73 76 74
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_26.obj

@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00771774 0.02844096 0.01148137
+v -0.00760505 0.02844096 0.01117586
+v -0.00792267 0.02844096 0.01120681
+v -0.00792267 0.02843655 0.01148137
+v -0.00771222 0.00913986 0.01148130
+v -0.00750863 0.02844096 0.01091341
+v -0.00771177 0.00750059 0.01148130
+v -0.00792267 0.02844100 0.00016805
+v -0.00792267 0.00593403 0.01148129
+v -0.00639801 0.02844097 0.00788388
+v -0.00750311 0.00750059 0.01091334
+v -0.00771162 0.00593403 0.01148129
+v -0.00779983 0.02844100 0.00006307
+v -0.00639801 0.02571550 -0.00226797
+v -0.00642159 0.02565821 -0.00226797
+v -0.00792267 0.01734066 0.00020031
+v -0.00792267 0.00593407 0.00027564
+v -0.00639801 0.02844100 -0.00102977
+v -0.00750296 0.00593403 0.01091333
+v -0.00688459 0.00593404 0.00921486
+v -0.00639801 0.00593404 0.00787438
+v -0.00639801 0.02543348 -0.00226797
+v -0.00639801 0.02062142 -0.00211186
+v -0.00639801 0.01898215 -0.00205804
+v -0.00639801 0.00593407 -0.00102043
+f 1 2 6
+f 1 6 10
+f 1 10 18
+f 1 18 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 12
+f 1 12 7
+f 1 7 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 16
+f 3 16 17
+f 3 17 9
+f 3 9 4
+f 6 7 11
+f 6 11 10
+f 7 12 19
+f 7 19 11
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 17 25
+f 9 25 21
+f 9 21 20
+f 9 20 19
+f 9 19 12
+f 10 11 19
+f 10 19 20
+f 10 20 21
+f 10 21 25
+f 10 25 24
+f 10 24 23
+f 10 23 22
+f 10 22 14
+f 10 14 18
+f 13 18 14
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 17
+f 15 17 16
+f 17 24 25
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_27.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00145068 -0.03206078 -0.00113216
+v 0.00145068 -0.03191143 -0.00115518
+v 0.00145068 -0.03351195 -0.00129713
+v 0.00620535 -0.03439185 -0.00143718
+v 0.00620535 -0.03426740 -0.00143622
+v 0.00620535 -0.03351194 -0.00143142
+v 0.00620535 -0.03338873 -0.00143238
+v 0.00620535 -0.03265194 -0.00143909
+v 0.00620535 -0.03183176 -0.00165107
+v 0.00145068 -0.03174092 -0.00124150
+v 0.00145068 -0.03445284 -0.00142375
+v 0.00145068 -0.03506517 -0.00154365
+v 0.00145068 -0.03527301 -0.00159257
+v 0.00620535 -0.03509753 -0.00163381
+v 0.00620535 -0.02696547 -0.00515584
+v 0.00145068 -0.03014163 -0.00212201
+v 0.00620535 -0.03521203 -0.00166642
+v 0.00145068 -0.03657732 -0.00218533
+v 0.00620535 -0.02696546 -0.00790673
+v 0.00145068 -0.02696547 -0.00470024
+v 0.00620535 -0.03611061 -0.00237429
+v 0.00145068 -0.03682251 -0.00234840
+v 0.00145068 -0.03778207 -0.00307641
+v 0.00484634 -0.03224742 -0.01093004
+v 0.00332909 -0.03124305 -0.01093003
+v 0.00292930 -0.03099289 -0.01093003
+v 0.00282179 -0.03095555 -0.01093003
+v 0.00145068 -0.03072531 -0.01093003
+v 0.00145068 -0.02696546 -0.00804773
+v 0.00620535 -0.03351192 -0.00804391
+v 0.00542346 -0.03351191 -0.01093004
+v 0.00523776 -0.03268800 -0.01093004
+v 0.00620535 -0.03625622 -0.00249035
+v 0.00145068 -0.03836702 -0.00353777
+v 0.00145068 -0.03840934 -0.00357134
+v 0.00145068 -0.03916476 -0.01093006
+v 0.00620535 -0.03514356 -0.00789429
+v 0.00620535 -0.03529664 -0.00779933
+v 0.00620535 -0.03641053 -0.00707037
+v 0.00494268 -0.03481124 -0.01093005
+v 0.00145068 -0.03931911 -0.00444993
+v 0.00186164 -0.03925813 -0.00473001
+v 0.00620535 -0.03661715 -0.00371712
+v 0.00153772 -0.03914112 -0.01093006
+v 0.00145068 -0.03921828 -0.01084854
+v 0.00620535 -0.03682996 -0.00556449
+v 0.00198730 -0.03934896 -0.00996227
+v 0.00171318 -0.03905773 -0.01093006
+v 0.00145068 -0.03946473 -0.00514245
+v 0.00204362 -0.03938134 -0.00556449
+v 0.00620535 -0.03667565 -0.00391663
+v 0.00163871 -0.03909382 -0.01093006
+v 0.00145068 -0.03946222 -0.01028838
+v 0.00620535 -0.03680880 -0.00533429
+v 0.00225073 -0.03951450 -0.00721139
+v 0.00216602 -0.03946098 -0.00885922
+v 0.00145068 -0.03955309 -0.00556450
+v 0.00145068 -0.03951200 -0.00995460
+v 0.00145068 -0.03968003 -0.00721139
+v 0.00145068 -0.03965763 -0.00829237
+v 0.00145068 -0.03963273 -0.00885923
+f 1 2 10
+f 1 10 16
+f 1 16 20
+f 1 20 29
+f 1 29 28
+f 1 28 36
+f 1 36 45
+f 1 45 53
+f 1 53 58
+f 1 58 61
+f 1 61 60
+f 1 60 59
+f 1 59 57
+f 1 57 49
+f 1 49 41
+f 1 41 35
+f 1 35 34
+f 1 34 23
+f 1 23 22
+f 1 22 18
+f 1 18 13
+f 1 13 12
+f 1 12 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 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 17
+f 4 17 21
+f 4 21 33
+f 4 33 43
+f 4 43 51
+f 4 51 54
+f 4 54 46
+f 4 46 39
+f 4 39 38
+f 4 38 37
+f 4 37 30
+f 4 30 19
+f 4 19 15
+f 4 15 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 9 15 16
+f 9 16 10
+f 13 17 14
+f 13 18 17
+f 15 19 29
+f 15 29 20
+f 15 20 16
+f 17 18 22
+f 17 22 23
+f 17 23 21
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 30 31
+f 19 31 32
+f 19 32 24
+f 21 23 34
+f 21 34 35
+f 21 35 33
+f 24 32 31
+f 24 31 40
+f 24 40 48
+f 24 48 52
+f 24 52 44
+f 24 44 36
+f 24 36 28
+f 24 28 27
+f 24 27 26
+f 24 26 25
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 33 35 41
+f 33 41 42
+f 33 42 43
+f 36 44 45
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 41 49 50
+f 41 50 42
+f 42 50 51
+f 42 51 43
+f 44 52 45
+f 45 52 53
+f 46 54 55
+f 46 55 56
+f 46 56 47
+f 47 56 53
+f 47 53 52
+f 47 52 48
+f 49 57 50
+f 50 57 55
+f 50 55 51
+f 51 55 54
+f 53 56 58
+f 55 57 59
+f 55 59 60
+f 55 60 61
+f 55 61 56
+f 56 61 58
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_28.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.01945311 -0.03351198 0.00139460
+v -0.01945311 -0.03520105 0.00098989
+v -0.01945311 -0.03205347 0.00079907
+v -0.01975215 -0.03232742 0.00051282
+v -0.02955117 -0.03251526 -0.01612902
+v -0.02998734 -0.03312372 -0.01671796
+v -0.02998734 -0.03351191 -0.01666861
+v -0.02954395 -0.03449136 -0.01613890
+v -0.01945311 -0.03526782 0.00092738
+v -0.02998734 -0.03511289 -0.01746485
+v -0.01945311 -0.03124335 -0.00001360
+v -0.02998734 -0.03190406 -0.01740891
+v -0.02998734 -0.03450375 -0.01715228
+v -0.01945311 -0.03551698 0.00068390
+v -0.02998734 -0.03604414 -0.01873158
+v -0.02953776 -0.03603657 -0.01779387
+v -0.01953148 -0.03589141 0.00011141
+v -0.01945311 -0.03123715 -0.00002018
+v -0.02998734 -0.03126462 -0.01809655
+v -0.01945311 -0.03603045 0.00001270
+v -0.02998734 -0.03627610 -0.01918234
+v -0.02983989 -0.03621347 -0.01874474
+v -0.01945311 -0.03642622 -0.00079011
+v -0.01945311 -0.03077462 -0.00096447
+v -0.01970368 -0.03089645 -0.00111582
+v -0.02955838 -0.03097003 -0.01776095
+v -0.02998734 -0.03081860 -0.01883684
+v -0.02998734 -0.03650530 -0.01997856
+v -0.02369011 -0.03690867 -0.01215776
+v -0.02039352 -0.03691901 -0.00721259
+v -0.01945311 -0.03694242 -0.00627488
+v -0.02998734 -0.03689418 -0.02174541
+v -0.02863344 -0.03697128 -0.02039314
+v -0.01945311 -0.03070165 -0.00141852
+v -0.02698464 -0.03006768 -0.01709633
+v -0.02863344 -0.03022804 -0.01874472
+v -0.02998734 -0.03073119 -0.01908032
+v -0.02987598 -0.03078212 -0.01874472
+v -0.02533686 -0.03697955 -0.01544797
+v -0.02204233 -0.03698508 -0.01050937
+v -0.02039352 -0.03698715 -0.00886098
+v -0.01945311 -0.03693966 -0.00791998
+v -0.02998734 -0.03697745 -0.02339380
+v -0.02698464 -0.03699399 -0.01874475
+v -0.01945311 -0.03012691 -0.00556417
+v -0.02039352 -0.03002986 -0.00721256
+v -0.02863344 -0.02998508 -0.02039311
+v -0.02998734 -0.03006491 -0.02203821
+v -0.02998734 -0.03041732 -0.02032730
+v -0.02369011 -0.03699195 -0.01380287
+v -0.02998734 -0.03695955 -0.02658201
+v -0.02039352 -0.03680405 -0.01050937
+v -0.01945311 -0.03663542 -0.00971313
+v -0.02998734 -0.03685906 -0.02813498
+v -0.02998734 -0.03679985 -0.02866470
+v -0.01945311 -0.03002779 -0.00721256
+v -0.02039352 -0.02996309 -0.00886095
+v -0.02204233 -0.02997547 -0.01050934
+v -0.02533686 -0.02998027 -0.01544794
+v -0.02698464 -0.02996443 -0.01874472
+v -0.02998734 -0.03001190 -0.02368660
+v -0.01945311 -0.03630091 -0.01098973
+v -0.02998734 -0.03661539 -0.02961885
+v -0.01945311 -0.03023979 -0.00894321
+v -0.02039352 -0.03015443 -0.01050934
+v -0.02204233 -0.03002916 -0.01215773
+v -0.02998734 -0.03024522 -0.02698338
+v -0.02533686 -0.03001262 -0.01709633
+v -0.02863344 -0.02999814 -0.02203821
+v -0.01945311 -0.03609648 -0.01159184
+v -0.02998734 -0.03651559 -0.02988207
+v -0.01945311 -0.03054607 -0.01050934
+v -0.02998734 -0.03065819 -0.02984586
+v -0.02998734 -0.03046822 -0.02869758
+v -0.02998734 -0.03029615 -0.02737821
+v -0.01945311 -0.03605243 -0.01167080
+v -0.02998734 -0.03515275 -0.03183645
+v -0.01945311 -0.03090192 -0.01163788
+v -0.02998734 -0.03110902 -0.03103033
+v -0.01945311 -0.03545705 -0.01242097
+v -0.02998734 -0.03351185 -0.03218191
+v -0.01945311 -0.03351192 -0.01358240
+v -0.01945311 -0.03449687 -0.01333894
+v -0.01945311 -0.03465449 -0.01327313
+v -0.01945311 -0.03152825 -0.01247031
+v -0.02998734 -0.03183172 -0.03151400
+v -0.01945311 -0.03220829 -0.01316126
+v -0.01945311 -0.03233907 -0.01328957
+v -0.02998734 -0.03322414 -0.03221810
+v -0.02998734 -0.03220340 -0.03174102
+f 1 2 9
+f 1 9 14
+f 1 14 20
+f 1 20 23
+f 1 23 31
+f 1 31 42
+f 1 42 53
+f 1 53 62
+f 1 62 70
+f 1 70 76
+f 1 76 80
+f 1 80 84
+f 1 84 83
+f 1 83 82
+f 1 82 88
+f 1 88 87
+f 1 87 85
+f 1 85 78
+f 1 78 72
+f 1 72 64
+f 1 64 56
+f 1 56 45
+f 1 45 34
+f 1 34 24
+f 1 24 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 3 12 5
+f 3 5 4
+f 5 12 6
+f 6 12 19
+f 6 19 27
+f 6 27 37
+f 6 37 49
+f 6 49 48
+f 6 48 61
+f 6 61 67
+f 6 67 75
+f 6 75 74
+f 6 74 73
+f 6 73 79
+f 6 79 86
+f 6 86 90
+f 6 90 89
+f 6 89 81
+f 6 81 77
+f 6 77 71
+f 6 71 63
+f 6 63 55
+f 6 55 54
+f 6 54 51
+f 6 51 43
+f 6 43 32
+f 6 32 28
+f 6 28 21
+f 6 21 15
+f 6 15 10
+f 6 10 13
+f 6 13 7
+f 7 13 8
+f 8 13 10
+f 9 10 14
+f 10 15 16
+f 10 16 17
+f 10 17 14
+f 11 18 12
+f 12 18 19
+f 14 17 20
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 16 23 20
+f 16 20 17
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 21 28 23
+f 21 23 22
+f 23 29 30
+f 23 30 31
+f 23 28 32
+f 23 32 33
+f 23 33 29
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 27
+f 24 27 26
+f 24 26 25
+f 27 38 37
+f 29 33 30
+f 30 33 39
+f 30 39 40
+f 30 40 31
+f 31 40 41
+f 31 41 42
+f 32 43 33
+f 33 43 44
+f 33 44 39
+f 34 45 46
+f 34 46 35
+f 35 47 48
+f 35 48 36
+f 35 46 47
+f 36 48 49
+f 36 49 37
+f 39 44 40
+f 40 50 41
+f 40 44 50
+f 41 50 51
+f 41 51 42
+f 42 52 53
+f 42 51 54
+f 42 54 55
+f 42 55 52
+f 43 51 44
+f 44 51 50
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 46 58 59
+f 46 59 47
+f 47 59 60
+f 47 60 61
+f 47 61 48
+f 52 55 53
+f 53 55 63
+f 53 63 62
+f 56 64 65
+f 56 65 57
+f 57 65 66
+f 57 66 67
+f 57 67 68
+f 57 68 69
+f 57 69 60
+f 57 60 58
+f 58 60 59
+f 60 69 61
+f 61 69 67
+f 62 63 70
+f 63 71 70
+f 64 72 65
+f 65 72 73
+f 65 73 74
+f 65 74 75
+f 65 75 67
+f 65 67 66
+f 67 69 68
+f 70 71 76
+f 71 77 76
+f 72 78 73
+f 73 78 79
+f 76 77 80
+f 77 81 82
+f 77 82 83
+f 77 83 84
+f 77 84 80
+f 78 85 79
+f 79 85 87
+f 79 87 88
+f 79 88 86
+f 81 89 82
+f 82 89 88
+f 86 88 90
+f 88 89 90
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_29.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00572766 0.02844100 -0.00081060
+v -0.00572766 0.03255544 -0.00081058
+v 0.00009357 0.02844100 -0.00081060
+v -0.00572766 0.02844098 0.00634488
+v -0.00572766 0.03351724 -0.00024988
+v -0.00517353 0.03321250 -0.00081058
+v 0.00055459 0.02981736 -0.00081059
+v 0.00012952 0.02844100 0.00017483
+v -0.00226549 0.02844098 0.00477229
+v -0.00563134 0.03154692 0.01148139
+v -0.00572766 0.03152862 0.01148139
+v -0.00572766 0.03442323 0.00044077
+v -0.00396832 0.03381924 -0.00081058
+v 0.00076520 0.03059522 -0.00081059
+v 0.00013723 0.02844100 0.00102790
+v -0.00094727 0.02844098 0.00414421
+v -0.00390411 0.03230831 0.01148139
+v -0.00572766 0.03740927 0.01148141
+v -0.00220128 0.03463187 -0.00081057
+v -0.00572766 0.03522031 0.00117834
+v 0.00083133 0.03177940 -0.00081058
+v -0.00013438 0.02844099 0.00268953
+v 0.00006660 0.02844099 0.00146708
+v -0.00296216 0.03272561 0.01045987
+v -0.00318689 0.03373867 0.01148139
+v -0.00572766 0.03778998 0.00432353
+v -0.00556071 0.03739828 0.01148141
+v -0.00148213 0.03443695 -0.00081057
+v -0.00572766 0.03704599 0.00289412
+v -0.00572766 0.03766919 0.00389037
+v -0.00073923 0.03374601 0.00432351
+v -0.00019730 0.03210701 0.00267512
+v 0.00038893 0.03313929 -0.00081058
+v -0.00137362 0.03628458 0.00543167
+v -0.00128437 0.03538684 0.00566991
+v -0.00289859 0.03538682 0.01064637
+v -0.00289667 0.03374599 0.01065118
+v -0.00318368 0.03374599 0.01148139
+v -0.00156625 0.03616380 0.00366536
+v -0.00391310 0.03735437 0.00761791
+v -0.00214606 0.03663508 0.00597673
+v -0.00137362 0.03628458 0.00476389
+v -0.00436385 0.03696268 0.01148141
+v -0.00391310 0.03721069 0.00926510
+v -0.00153286 0.03538684 0.00649410
+v -0.00188986 0.03538683 0.00761790
+v -0.00243179 0.03538683 0.00926509
+v -0.00250242 0.03671926 0.00761790
+v -0.00276439 0.03658199 0.00926509
+v -0.00296473 0.03638065 0.01045266
+v -0.00318946 0.03538682 0.01147057
+v -0.00319331 0.03538682 0.01148140
+v -0.00391246 0.03675678 0.01148141
+f 1 2 6
+f 1 6 13
+f 1 13 19
+f 1 19 28
+f 1 28 33
+f 1 33 21
+f 1 21 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 23
+f 1 23 22
+f 1 22 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
+f 1 11 18
+f 1 18 26
+f 1 26 30
+f 1 30 29
+f 1 29 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 17 25
+f 10 25 38
+f 10 38 52
+f 10 52 53
+f 10 53 43
+f 10 43 27
+f 10 27 18
+f 10 18 11
+f 10 16 17
+f 12 19 13
+f 12 20 19
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 16 22 24
+f 16 24 17
+f 17 24 25
+f 18 27 26
+f 19 20 29
+f 19 29 30
+f 19 30 28
+f 21 31 32
+f 21 32 22
+f 21 33 34
+f 21 34 35
+f 21 35 31
+f 22 32 31
+f 22 31 36
+f 22 36 37
+f 22 37 38
+f 22 38 24
+f 24 38 25
+f 26 39 30
+f 26 27 40
+f 26 40 41
+f 26 41 42
+f 26 42 39
+f 27 43 44
+f 27 44 40
+f 28 30 39
+f 28 39 33
+f 31 35 45
+f 31 45 46
+f 31 46 47
+f 31 47 36
+f 33 39 42
+f 33 42 34
+f 34 45 35
+f 34 42 41
+f 34 41 48
+f 34 48 49
+f 34 49 50
+f 34 50 45
+f 36 47 50
+f 36 50 51
+f 36 51 38
+f 36 38 37
+f 38 51 52
+f 40 44 48
+f 40 48 41
+f 43 53 44
+f 44 53 49
+f 44 49 48
+f 45 50 46
+f 46 50 47
+f 49 53 50
+f 50 53 52
+f 50 52 51
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_3.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.02708702 -0.03351278 -0.03264923
+v 0.02151805 -0.03259806 -0.02951959
+v 0.02469028 -0.03249707 -0.03123324
+v 0.02708702 -0.03187349 -0.03226015
+v 0.02708702 -0.03380648 -0.03259182
+v 0.02160840 -0.03435685 -0.02946645
+v 0.00679629 -0.03433752 -0.02122139
+v 0.00673857 -0.03351282 -0.02125327
+v 0.00672100 -0.03262838 -0.02126391
+v 0.02708702 -0.03091415 -0.03151388
+v 0.00148331 -0.03240791 -0.01813214
+v 0.02708702 -0.03508139 -0.03226229
+v 0.02478565 -0.03448644 -0.03118010
+v 0.02708702 -0.03514955 -0.03224315
+v 0.00155358 -0.03465058 -0.01809388
+v 0.00145319 -0.03408170 -0.01815129
+v 0.00145319 -0.03351283 -0.01826609
+v 0.00362657 -0.03351283 -0.01949923
+v 0.02708702 -0.03084178 -0.03136930
+v 0.00277830 -0.03186597 -0.01839578
+v 0.00339568 -0.03100930 -0.01798118
+v 0.00145319 -0.03267467 -0.01814915
+v 0.00145319 -0.03237341 -0.01808112
+v 0.00145319 -0.03177341 -0.01753045
+v 0.02708702 -0.03616022 -0.03156492
+v 0.00844264 -0.03597597 -0.02122139
+v 0.00210822 -0.03574372 -0.01777497
+v 0.00145319 -0.03540459 -0.01759637
+v 0.00145319 -0.03475072 -0.01797695
+v 0.00145319 -0.03453781 -0.01805774
+v 0.02708702 -0.03059438 -0.03027223
+v 0.00145319 -0.03155798 -0.01731784
+v 0.00145319 -0.03101183 -0.01662047
+v 0.00145319 -0.03095966 -0.01652267
+v 0.02708702 -0.03673584 -0.03028500
+v 0.00145319 -0.03916455 -0.01093103
+v 0.01586124 -0.03632098 -0.02493146
+v 0.00432928 -0.03634709 -0.01839792
+v 0.00145319 -0.03633953 -0.01678632
+v 0.00637467 -0.03619225 -0.01980328
+v 0.00320494 -0.03613755 -0.01808751
+v 0.02708702 -0.03056830 -0.02997032
+v 0.00277830 -0.03091421 -0.01704994
+v 0.00145319 -0.03091337 -0.01604854
+v 0.02708702 -0.03696389 -0.02863090
+v 0.00153852 -0.03914099 -0.01093103
+v 0.00145319 -0.03072489 -0.01093100
+v 0.00266536 -0.03648427 -0.01717540
+v 0.02708702 -0.03688311 -0.02698316
+v 0.02708702 -0.03643880 -0.02530990
+v 0.02574936 -0.03083424 -0.02533540
+v 0.02708702 -0.03092092 -0.02539918
+v 0.00432928 -0.03083679 -0.01709884
+v 0.00145319 -0.03084017 -0.01418607
+v 0.00171420 -0.03905768 -0.01093103
+v 0.02708702 -0.03623936 -0.02489744
+v 0.02676829 -0.03607442 -0.02440206
+v 0.00145319 -0.03076612 -0.01215564
+v 0.00282347 -0.03095547 -0.01093100
+v 0.02658257 -0.03104883 -0.02450834
+v 0.02708702 -0.03095710 -0.02520145
+v 0.02708702 -0.03093522 -0.02529925
+v 0.00494415 -0.03481218 -0.01093102
+v 0.02708702 -0.03594482 -0.02449773
+v 0.02708702 -0.03512602 -0.02398534
+v 0.02526499 -0.03469853 -0.02267140
+v 0.02007247 -0.03443599 -0.01952050
+v 0.00293139 -0.03099334 -0.01093100
+v 0.02534028 -0.03238602 -0.02262887
+v 0.02708702 -0.03171531 -0.02422558
+v 0.00333043 -0.03124243 -0.01093100
+v 0.00865094 -0.03254258 -0.01286364
+v 0.00858318 -0.03448650 -0.01290192
+v 0.00543605 -0.03464640 -0.01116914
+v 0.00542601 -0.03351286 -0.01093101
+v 0.02708702 -0.03351281 -0.02347506
+v 0.02321961 -0.03389908 -0.02125115
+v 0.01172529 -0.03419281 -0.01463895
+v 0.02014274 -0.03256864 -0.01947797
+v 0.02329239 -0.03268140 -0.02121075
+v 0.02708702 -0.03217142 -0.02396194
+v 0.02708702 -0.03190634 -0.02406825
+v 0.01180058 -0.03264945 -0.01459429
+v 0.00484878 -0.03224637 -0.01093101
+v 0.00550130 -0.03244328 -0.01113724
+v 0.00524029 -0.03268817 -0.01093101
+v 0.02329239 -0.03280510 -0.02121075
+v 0.01180058 -0.03309967 -0.01459429
+v 0.02631404 -0.03351282 -0.02302433
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 31
+f 1 31 42
+f 1 42 52
+f 1 52 62
+f 1 62 61
+f 1 61 70
+f 1 70 82
+f 1 82 81
+f 1 81 76
+f 1 76 65
+f 1 65 64
+f 1 64 56
+f 1 56 50
+f 1 50 49
+f 1 49 45
+f 1 45 35
+f 1 35 25
+f 1 25 14
+f 1 14 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 4 3
+f 2 9 4
+f 4 9 11
+f 4 11 10
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 14 15
+f 8 18 9
+f 9 18 17
+f 9 17 11
+f 10 11 20
+f 10 20 21
+f 10 21 19
+f 11 17 22
+f 11 22 23
+f 11 23 24
+f 11 24 21
+f 11 21 20
+f 12 14 13
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+f 16 30 29
+f 16 29 28
+f 16 28 39
+f 16 39 36
+f 16 36 47
+f 16 47 58
+f 16 58 54
+f 16 54 44
+f 16 44 34
+f 16 34 33
+f 16 33 32
+f 16 32 24
+f 16 24 23
+f 16 23 22
+f 16 22 17
+f 19 21 31
+f 21 24 32
+f 21 32 33
+f 21 33 34
+f 21 34 31
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 27
+f 27 41 39
+f 27 39 28
+f 31 34 43
+f 31 43 42
+f 34 44 43
+f 35 45 36
+f 36 46 55
+f 36 55 63
+f 36 63 75
+f 36 75 86
+f 36 86 84
+f 36 84 71
+f 36 71 68
+f 36 68 59
+f 36 59 47
+f 36 39 48
+f 36 48 38
+f 36 38 37
+f 36 45 49
+f 36 49 50
+f 36 50 46
+f 38 48 39
+f 39 41 40
+f 42 51 52
+f 42 43 53
+f 42 53 47
+f 42 47 51
+f 43 44 53
+f 44 54 53
+f 46 50 56
+f 46 56 57
+f 46 57 55
+f 47 53 58
+f 47 59 60
+f 47 60 61
+f 47 61 62
+f 47 62 52
+f 47 52 51
+f 53 54 58
+f 55 57 64
+f 55 64 65
+f 55 65 66
+f 55 66 67
+f 55 67 63
+f 56 64 57
+f 59 68 60
+f 60 69 70
+f 60 70 61
+f 60 68 71
+f 60 71 72
+f 60 72 69
+f 63 67 73
+f 63 73 74
+f 63 74 75
+f 65 76 66
+f 66 76 77
+f 66 77 67
+f 67 77 78
+f 67 78 73
+f 69 79 80
+f 69 80 76
+f 69 76 81
+f 69 81 82
+f 69 82 70
+f 69 72 83
+f 69 83 79
+f 71 84 72
+f 72 84 85
+f 72 85 86
+f 72 86 83
+f 73 78 75
+f 73 75 74
+f 75 78 77
+f 75 77 87
+f 75 87 88
+f 75 88 83
+f 75 83 86
+f 76 80 87
+f 76 87 89
+f 76 89 77
+f 77 89 87
+f 79 83 80
+f 80 83 88
+f 80 88 87
+f 84 86 85
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_30.obj

@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.00639801 0.02844097 0.00788488
+v -0.00081112 0.02226287 0.00405858
+v -0.00081035 0.02390215 0.00405859
+v -0.00094787 0.02844098 0.00414267
+v -0.00639801 0.02844103 -0.00695696
+v -0.00639801 0.00593404 0.00787407
+v -0.00081342 0.01898213 0.00405857
+v 0.00001401 0.02390215 0.00332159
+v 0.00073772 0.02554362 0.00245044
+v 0.00052952 0.02688765 0.00221969
+v -0.00013427 0.02844099 0.00268836
+v 0.00078459 0.02390215 0.00249873
+v -0.00639801 0.02840357 -0.00695696
+v -0.00586176 0.02844103 -0.00757053
+v -0.00474622 0.02478793 -0.00969029
+v -0.00475390 0.02390220 -0.00969745
+v -0.00527556 0.02390219 -0.00885849
+v -0.00528324 0.02226291 -0.00885850
+v -0.00528862 0.02062144 -0.00885850
+v -0.00639801 0.00593407 -0.00102173
+v -0.00095709 0.00593406 0.00406030
+v -0.00081496 0.01734065 0.00405856
+v 0.00001247 0.02226287 0.00332158
+v 0.00078612 0.02062140 0.00249694
+v 0.00136003 0.02554363 0.00102654
+v 0.00143762 0.02390216 0.00102654
+v 0.00145068 0.02844101 -0.00395711
+v 0.00143839 0.02226288 0.00102653
+v -0.00639801 0.02656820 -0.00689435
+v -0.00528632 0.01898217 -0.00885851
+v -0.00503740 0.02844103 -0.00840233
+v -0.00459257 0.02588078 -0.00958116
+v -0.00399101 0.02541808 -0.00993536
+v -0.00391264 0.02390220 -0.01006773
+v -0.00476005 0.02226292 -0.00970282
+v -0.00476543 0.02062145 -0.00970819
+v -0.00476543 0.01898218 -0.00970820
+v -0.00638495 0.01651885 -0.00475139
+v -0.00636344 0.01734068 -0.00564401
+v -0.00624205 0.00593409 -0.00556355
+v -0.00639801 0.02577280 -0.00676020
+v -0.00018882 0.00593406 0.00267397
+v 0.00076077 0.01734065 0.00247545
+v 0.00078536 0.01898213 0.00249514
+v 0.00000940 0.01734065 0.00329831
+v 0.00001094 0.01898213 0.00331978
+v 0.00143839 0.01898214 0.00102652
+v 0.00145068 0.02844103 -0.00799984
+v 0.00145068 0.00593409 -0.00485876
+v -0.00603308 0.01734069 -0.00721101
+v -0.00475390 0.01734070 -0.00969748
+v -0.00474161 0.01650785 -0.00968674
+v -0.00524790 0.01734069 -0.00885852
+v -0.00480000 0.02844103 -0.00854722
+v -0.00395029 0.02844103 -0.00903915
+v -0.00349393 0.02655059 -0.00984948
+v -0.00226546 0.02554367 -0.01026450
+v -0.00226546 0.02390220 -0.01038256
+v -0.00391264 0.02062145 -0.01008026
+v -0.00391264 0.01898218 -0.01008206
+v -0.00549068 0.00593410 -0.00715739
+v 0.00141227 0.01734066 0.00102651
+v -0.00116913 0.02652855 -0.00982623
+v 0.00062940 0.02844103 -0.00816799
+v 0.00145068 0.02554366 -0.00825744
+v 0.00096744 0.02554366 -0.00863667
+v -0.00010891 0.02554366 -0.00946132
+v -0.00093327 0.02554367 -0.00995503
+v 0.00145068 0.00593410 -0.00791764
+v -0.00391264 0.01734070 -0.01006597
+v -0.00378050 0.01585787 -0.00984237
+v -0.00391264 0.00593410 -0.00792658
+v -0.00398332 0.00593410 -0.00789260
+v -0.00339790 0.02844103 -0.00894434
+v -0.00226546 0.02662771 -0.00991567
+v -0.00083186 0.02390220 -0.01001228
+v -0.00082879 0.02226292 -0.01001586
+v -0.00226546 0.02226292 -0.01038615
+v -0.00226546 0.02062145 -0.01038973
+v -0.00226546 0.01898218 -0.01038795
+v -0.00226546 0.01734070 -0.01037901
+v -0.00233998 0.02844103 -0.00874578
+v 0.00145068 0.02390219 -0.00830932
+v 0.00098818 0.02390219 -0.00870465
+v -0.00000750 0.02390219 -0.00952751
+v 0.00103044 0.00593410 -0.00791943
+v -0.00104621 0.01599668 -0.00989961
+v -0.00084415 0.01734070 -0.01001052
+v -0.00001980 0.01734069 -0.00951144
+v 0.00098357 0.01734069 -0.00868858
+v 0.00145068 0.01636242 -0.00826821
+v -0.00000520 0.02226292 -0.00953109
+v -0.00083032 0.02062145 -0.01001586
+v -0.00083570 0.01898218 -0.01001408
+v 0.00145068 0.02226291 -0.00831112
+v 0.00098818 0.02226291 -0.00870645
+v -0.00001211 0.01898217 -0.00952574
+v 0.00145068 0.01734069 -0.00829862
+v 0.00098741 0.01898217 -0.00870288
+v 0.00098818 0.02062144 -0.00870466
+v -0.00000673 0.02062145 -0.00952930
+v 0.00145068 0.02134193 -0.00831112
+v 0.00145068 0.01805457 -0.00830576
+v 0.00145068 0.01970045 -0.00830934
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 27
+f 1 27 48
+f 1 48 64
+f 1 64 82
+f 1 82 74
+f 1 74 55
+f 1 55 54
+f 1 54 31
+f 1 31 14
+f 1 14 5
+f 1 5 13
+f 1 13 29
+f 1 29 41
+f 1 41 20
+f 1 20 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 8 12
+f 4 12 9
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 13
+f 6 20 40
+f 6 40 61
+f 6 61 73
+f 6 73 72
+f 6 72 86
+f 6 86 69
+f 6 69 49
+f 6 49 42
+f 6 42 21
+f 6 21 22
+f 6 22 7
+f 7 22 8
+f 8 22 23
+f 8 23 24
+f 8 24 12
+f 9 25 10
+f 9 12 26
+f 9 26 25
+f 10 25 11
+f 11 25 27
+f 12 24 28
+f 12 28 26
+f 13 19 30
+f 13 30 29
+f 14 31 32
+f 14 32 15
+f 15 33 34
+f 15 34 16
+f 15 32 33
+f 16 34 35
+f 16 35 17
+f 17 35 36
+f 17 36 18
+f 18 36 19
+f 19 36 37
+f 19 37 30
+f 20 38 39
+f 20 39 40
+f 20 41 38
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 46
+f 21 46 22
+f 22 46 23
+f 23 46 24
+f 24 46 44
+f 24 44 47
+f 24 47 28
+f 25 26 27
+f 26 28 27
+f 27 28 47
+f 27 47 49
+f 27 49 69
+f 27 69 91
+f 27 91 98
+f 27 98 103
+f 27 103 104
+f 27 104 102
+f 27 102 95
+f 27 95 83
+f 27 83 65
+f 27 65 48
+f 29 30 50
+f 29 50 40
+f 29 40 41
+f 30 37 51
+f 30 51 52
+f 30 52 53
+f 30 53 50
+f 31 54 32
+f 32 54 55
+f 32 55 56
+f 32 56 33
+f 33 57 34
+f 33 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 36
+f 34 36 35
+f 36 59 60
+f 36 60 37
+f 37 60 51
+f 38 41 39
+f 39 41 40
+f 40 50 61
+f 42 49 62
+f 42 62 43
+f 43 62 44
+f 44 46 45
+f 44 62 47
+f 47 62 49
+f 48 63 64
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 63
+f 50 53 61
+f 51 60 70
+f 51 70 52
+f 52 70 71
+f 52 71 72
+f 52 72 73
+f 52 73 61
+f 52 61 53
+f 55 74 63
+f 55 63 75
+f 55 75 56
+f 56 75 57
+f 57 75 63
+f 57 63 68
+f 57 68 58
+f 58 68 76
+f 58 76 77
+f 58 77 78
+f 58 78 59
+f 59 78 79
+f 59 79 60
+f 60 79 80
+f 60 80 81
+f 60 81 70
+f 63 74 82
+f 63 82 64
+f 65 83 84
+f 65 84 85
+f 65 85 66
+f 66 85 67
+f 67 85 68
+f 68 85 76
+f 69 86 81
+f 69 81 87
+f 69 87 88
+f 69 88 89
+f 69 89 90
+f 69 90 91
+f 70 81 71
+f 71 81 72
+f 72 81 86
+f 76 85 77
+f 77 85 92
+f 77 92 93
+f 77 93 79
+f 77 79 78
+f 79 93 80
+f 80 93 94
+f 80 94 88
+f 80 88 81
+f 81 88 87
+f 83 95 96
+f 83 96 84
+f 84 96 92
+f 84 92 85
+f 88 94 97
+f 88 97 89
+f 89 97 90
+f 90 98 91
+f 90 97 99
+f 90 99 98
+f 92 96 100
+f 92 100 99
+f 92 99 101
+f 92 101 93
+f 93 101 94
+f 94 101 97
+f 95 102 96
+f 96 102 104
+f 96 104 100
+f 97 101 99
+f 98 99 103
+f 99 100 104
+f 99 104 103
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_31.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00671054 -0.02695067 0.00869938
+v -0.00671054 -0.02857263 0.00869804
+v -0.00671054 -0.02365622 0.00869672
+v -0.00751377 -0.02365623 0.01091306
+v -0.00751377 -0.02367019 0.01091306
+v -0.00751599 -0.02857264 0.01091305
+v -0.00671054 -0.02857260 -0.00074480
+v -0.00671054 -0.02365619 -0.00125410
+v -0.00772041 -0.02365623 0.01148118
+v -0.00772041 -0.02367019 0.01148118
+v -0.00772152 -0.02531044 0.01148118
+v -0.00772485 -0.02857264 0.01148117
+v -0.01215429 -0.02857259 -0.00200670
+v -0.00671054 -0.02508179 -0.00117656
+v -0.00671054 -0.02367015 -0.00125410
+v -0.01380075 -0.02857259 -0.00215909
+v -0.01531612 -0.02857259 -0.00217513
+v -0.01215429 -0.02587157 -0.00161637
+v -0.01380075 -0.02596928 -0.00155220
+v -0.01385630 -0.02365619 -0.00003096
+v -0.01284421 -0.02365623 0.01148118
+v -0.01124885 -0.02857264 0.01148117
+v -0.01539166 -0.02857259 -0.00212166
+v -0.01463398 -0.02612137 -0.00144927
+v -0.01386186 -0.02365619 -0.00002963
+v -0.01284643 -0.02423234 0.01148118
+v -0.01640265 -0.02365622 0.00695760
+v -0.01676149 -0.02695067 0.00743213
+v -0.01606047 -0.02695067 0.00825558
+v -0.01614823 -0.02857263 0.00833043
+v -0.01207875 -0.02688282 0.01148117
+v -0.01532389 -0.02857263 0.00889187
+v -0.01681260 -0.02857260 -0.00055766
+v -0.01642042 -0.02594859 0.00003987
+v -0.01387074 -0.02365619 -0.00002562
+v -0.01533167 -0.02365619 0.00072965
+v -0.01532278 -0.02365619 0.00072430
+v -0.01280532 -0.02531044 0.01148118
+v -0.01687703 -0.02365621 0.00596973
+v -0.01756361 -0.02695066 0.00596972
+v -0.01768582 -0.02857262 0.00593096
+v -0.01681037 -0.02857263 0.00750566
+v -0.01254980 -0.02589377 0.01148117
+v -0.01683037 -0.02857260 -0.00052825
+v -0.01719810 -0.02695064 0.00102774
+v -0.01642264 -0.02365620 0.00166805
+v -0.01641820 -0.02365620 0.00166003
+v -0.01789913 -0.02695066 0.00488428
+v -0.01721032 -0.02365621 0.00432285
+v -0.01794468 -0.02607903 0.00383760
+v -0.01795689 -0.02857262 0.00521045
+v -0.01774137 -0.02857262 0.00579728
+v -0.01770471 -0.02857262 0.00588952
+v -0.01754028 -0.02857260 0.00128573
+v -0.01778247 -0.02695065 0.00244470
+v -0.01794468 -0.02607903 0.00337107
+v -0.01688259 -0.02365620 0.00267597
+v -0.01806022 -0.02857262 0.00440037
+v -0.01762138 -0.02857261 0.00152234
+v -0.01783136 -0.02826603 0.00222012
+v -0.01795356 -0.02857261 0.00256367
+v -0.01800911 -0.02857261 0.00277755
+v -0.01805910 -0.02857262 0.00431616
+f 1 2 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 12
+f 2 12 22
+f 2 22 32
+f 2 32 30
+f 2 30 42
+f 2 42 41
+f 2 41 53
+f 2 53 52
+f 2 52 51
+f 2 51 58
+f 2 58 63
+f 2 63 62
+f 2 62 61
+f 2 61 59
+f 2 59 54
+f 2 54 44
+f 2 44 33
+f 2 33 23
+f 2 23 17
+f 2 17 16
+f 2 16 13
+f 2 13 7
+f 3 8 20
+f 3 20 25
+f 3 25 35
+f 3 35 37
+f 3 37 36
+f 3 36 47
+f 3 47 46
+f 3 46 57
+f 3 57 49
+f 3 49 39
+f 3 39 27
+f 3 27 21
+f 3 21 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 8 15 13
+f 8 13 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 9 21 26
+f 9 26 38
+f 9 38 43
+f 9 43 31
+f 9 31 22
+f 9 22 12
+f 9 12 11
+f 9 11 10
+f 13 15 14
+f 17 23 24
+f 17 24 19
+f 17 19 18
+f 19 24 25
+f 19 25 20
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 26
+f 22 31 32
+f 23 33 34
+f 23 34 24
+f 24 35 25
+f 24 34 36
+f 24 36 37
+f 24 37 35
+f 26 30 38
+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 30
+f 28 30 29
+f 30 32 38
+f 31 43 32
+f 32 43 38
+f 33 44 34
+f 34 45 46
+f 34 46 47
+f 34 47 36
+f 34 44 45
+f 39 48 40
+f 39 49 50
+f 39 50 48
+f 40 48 51
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 44 54 55
+f 44 55 45
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 48 58 51
+f 48 50 58
+f 49 57 56
+f 49 56 50
+f 50 56 58
+f 54 59 60
+f 54 60 55
+f 55 60 61
+f 55 61 62
+f 55 62 56
+f 56 62 63
+f 56 63 58
+f 59 61 60
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_32.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.00671054 0.00257456 0.00873835
+v -0.00671054 0.00593183 0.00873462
+v -0.00671054 -0.00649076 0.00873083
+v -0.00081410 -0.02366890 0.00406129
+v -0.00081410 -0.01874783 0.00405943
+v -0.00095710 0.00593185 0.00405952
+v -0.00671054 0.00593186 -0.00072421
+v -0.00081890 -0.01710634 0.00405757
+v -0.00671054 -0.02857311 0.00869891
+v -0.00083008 -0.02530701 0.00406129
+v 0.00000953 -0.02366890 0.00331769
+v 0.00000953 -0.01874783 0.00331771
+v -0.00092275 0.00593185 0.00399771
+v 0.00078762 -0.01874783 0.00249545
+v 0.00076765 -0.01710634 0.00247673
+v -0.00624240 0.00593188 -0.00556226
+v -0.00668737 -0.02694847 -0.00556238
+v -0.00669855 -0.02857306 -0.00556238
+v -0.00671054 -0.01806893 -0.00129932
+v -0.00671054 -0.02857308 -0.00074680
+v -0.00096189 -0.02857310 0.00413620
+v -0.00000645 -0.02530701 0.00329147
+v 0.00078363 -0.02366890 0.00249356
+v 0.00078682 -0.02038594 0.00249545
+v -0.00018939 0.00593185 0.00267348
+v 0.00144189 -0.01874782 0.00102512
+v 0.00141873 -0.01710633 0.00102513
+v -0.00552422 0.00593189 -0.00708691
+v -0.00653478 -0.02694847 -0.00672553
+v -0.00654517 -0.02857306 -0.00671429
+v -0.00671054 -0.02508071 -0.00117572
+v -0.00671054 -0.02366889 -0.00125439
+v -0.00095231 -0.02857310 0.00412496
+v 0.00075407 -0.02530701 0.00246733
+v 0.00143391 -0.02366889 0.00102510
+v 0.00143950 -0.02038593 0.00102512
+v 0.00145068 0.00593188 -0.00485800
+v 0.00145068 -0.02857307 -0.00389350
+v 0.00145068 -0.02856970 -0.00389350
+v -0.00549067 0.00593189 -0.00715808
+v -0.00524941 -0.01710630 -0.00885888
+v -0.00528456 -0.01874779 -0.00885889
+v -0.00588051 -0.02857305 -0.00753843
+v -0.00527817 -0.02366886 -0.00885891
+v -0.00517911 -0.02526644 -0.00900688
+v -0.00475012 -0.02469225 -0.00969428
+v -0.00469659 -0.02578657 -0.00965495
+v -0.00013587 -0.02857309 0.00261904
+v 0.00138438 -0.02530700 0.00102510
+v -0.00009432 -0.02857309 0.00252726
+v 0.00145068 0.00593189 -0.00791854
+v 0.00145068 -0.02857305 -0.00801793
+v -0.00391291 0.00593189 -0.00792790
+v -0.00473973 -0.01628217 -0.00968489
+v -0.00475171 -0.01710629 -0.00969612
+v -0.00476210 -0.01874778 -0.00970550
+v -0.00505608 -0.02857305 -0.00829514
+v -0.00475731 -0.02366885 -0.00969990
+v -0.00405351 -0.02526643 -0.00996962
+v -0.00391291 -0.02366885 -0.01007638
+v -0.00359735 -0.02642493 -0.00990033
+v 0.00103048 0.00593189 -0.00792041
+v 0.00145068 -0.01710630 -0.00829697
+v 0.00098414 -0.01710630 -0.00868281
+v -0.00000725 -0.01874779 -0.00952756
+v -0.00002323 -0.01710630 -0.00950695
+v -0.00084686 -0.01710629 -0.01000892
+v -0.00226564 -0.01710629 -0.01037791
+v 0.00145068 -0.02832649 -0.00805726
+v -0.00218256 -0.02857305 -0.00855736
+v -0.00226564 -0.02654652 -0.00998648
+v -0.00109451 -0.02639115 -0.00987036
+v -0.00087801 -0.02530696 -0.00998835
+v -0.00005358 -0.02530697 -0.00948825
+v -0.00391291 -0.01710629 -0.01006511
+v -0.00391291 -0.01874778 -0.01008198
+v -0.00391291 -0.02038589 -0.01008198
+v -0.00391291 -0.02202737 -0.01008012
+v -0.00391450 -0.02857305 -0.00871844
+v -0.00226564 -0.02530696 -0.01034048
+v -0.00226564 -0.02366885 -0.01039105
+v 0.00145068 -0.01874779 -0.00831009
+v 0.00098814 -0.01874779 -0.00870343
+v -0.00083168 -0.01874778 -0.01001830
+v 0.00098734 -0.02366886 -0.00870345
+v -0.00000965 -0.02366886 -0.00952758
+v -0.00226564 -0.01874778 -0.01039665
+v 0.00097616 -0.02530697 -0.00866599
+v 0.00145068 -0.02530697 -0.00828014
+v -0.00083408 -0.02366885 -0.01001457
+v -0.00083248 -0.02202737 -0.01001643
+v 0.00145068 -0.02366886 -0.00830824
+v 0.00145068 -0.02460106 -0.00830075
+f 1 2 7
+f 1 7 19
+f 1 19 32
+f 1 32 31
+f 1 31 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 13
+f 2 13 25
+f 2 25 37
+f 2 37 51
+f 2 51 62
+f 2 62 53
+f 2 53 40
+f 2 40 28
+f 2 28 16
+f 2 16 7
+f 2 5 8
+f 2 8 6
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 8
+f 6 8 12
+f 6 12 14
+f 6 14 15
+f 6 15 13
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 9 20 18
+f 9 18 30
+f 9 30 43
+f 9 43 57
+f 9 57 79
+f 9 79 70
+f 9 70 52
+f 9 52 38
+f 9 38 50
+f 9 50 48
+f 9 48 33
+f 9 33 21
+f 9 21 10
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 14
+f 11 14 12
+f 13 15 25
+f 14 24 26
+f 14 26 27
+f 14 27 15
+f 15 27 25
+f 16 28 29
+f 16 29 17
+f 17 29 18
+f 18 29 30
+f 18 20 31
+f 18 31 32
+f 18 32 19
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 26
+f 23 26 24
+f 25 27 37
+f 26 36 38
+f 26 38 39
+f 26 39 37
+f 26 37 27
+f 28 40 29
+f 29 41 42
+f 29 42 30
+f 29 40 41
+f 30 42 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 43
+f 33 48 34
+f 34 49 35
+f 34 48 50
+f 34 50 49
+f 35 49 38
+f 35 38 36
+f 37 39 38
+f 37 38 52
+f 37 52 69
+f 37 69 89
+f 37 89 93
+f 37 93 92
+f 37 92 82
+f 37 82 63
+f 37 63 51
+f 38 49 50
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 42
+f 42 55 56
+f 42 56 44
+f 43 47 57
+f 44 58 45
+f 44 56 58
+f 45 58 46
+f 46 59 47
+f 46 58 60
+f 46 60 59
+f 47 59 61
+f 47 61 57
+f 51 63 64
+f 51 64 65
+f 51 65 66
+f 51 66 67
+f 51 67 68
+f 51 68 62
+f 52 70 71
+f 52 71 72
+f 52 72 73
+f 52 73 74
+f 52 74 69
+f 53 62 68
+f 53 68 75
+f 53 75 54
+f 54 75 55
+f 55 75 76
+f 55 76 56
+f 56 76 77
+f 56 77 78
+f 56 78 58
+f 57 61 79
+f 58 78 60
+f 59 60 80
+f 59 80 61
+f 60 81 80
+f 60 78 81
+f 61 80 71
+f 61 71 79
+f 63 82 83
+f 63 83 65
+f 63 65 64
+f 65 84 67
+f 65 67 66
+f 65 83 85
+f 65 85 86
+f 65 86 84
+f 67 84 87
+f 67 87 68
+f 68 87 75
+f 69 74 88
+f 69 88 89
+f 70 79 71
+f 71 80 72
+f 72 80 73
+f 73 80 81
+f 73 81 90
+f 73 90 86
+f 73 86 74
+f 74 86 88
+f 75 87 76
+f 76 87 77
+f 77 87 78
+f 78 87 81
+f 81 87 91
+f 81 91 90
+f 82 92 85
+f 82 85 83
+f 84 91 87
+f 84 86 91
+f 85 92 93
+f 85 93 86
+f 86 93 89
+f 86 89 88
+f 86 90 91
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_33.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.01073237 0.02844096 0.01148137
+v -0.01123079 0.02844096 0.01148137
+v -0.00792380 0.02843655 0.01148137
+v -0.00792380 0.02844096 0.01120667
+v -0.01528938 0.02844097 0.00887372
+v -0.01197843 0.02705507 0.01148137
+v -0.00792380 0.00593403 0.01148129
+v -0.00792380 0.02844100 0.00016831
+v -0.01611414 0.02844097 0.00829911
+v -0.01258464 0.02554359 0.01148136
+v -0.01103894 0.00593403 0.01148129
+v -0.00792380 0.00593407 0.00027572
+v -0.00975432 0.02844100 -0.00106054
+v -0.00792380 0.01734066 0.00020011
+v -0.01262915 0.01898210 0.01148134
+v -0.01263013 0.01977970 0.01148134
+v -0.01263112 0.02142118 0.01148135
+v -0.01262816 0.02305824 0.01148135
+v -0.01262519 0.02390212 0.01148136
+v -0.01627732 0.02844097 0.00810669
+v -0.01644742 0.01734063 0.00700918
+v -0.01262123 0.01734062 0.01148133
+v -0.01462976 0.00593405 0.00679947
+v -0.01639302 0.01617948 0.00694151
+v -0.01215347 0.00593407 0.00056634
+v -0.01215347 0.01734066 -0.00095441
+v -0.01341535 0.02844101 -0.00206777
+v -0.01215347 0.02844101 -0.00196293
+v -0.01187954 0.02844101 -0.00190719
+v -0.01086885 0.02844101 -0.00164842
+v -0.01067600 0.02844101 -0.00155685
+v -0.01004408 0.02844100 -0.00125296
+v -0.01678563 0.02844097 0.00747502
+v -0.01675398 0.02718287 0.00742724
+v -0.01698737 0.01734064 0.00597011
+v -0.01754909 0.02718288 0.00597015
+v -0.01505203 0.00593405 0.00597007
+v -0.01380103 0.00593407 0.00119669
+v -0.01380103 0.01734066 -0.00073943
+v -0.01496303 0.02844101 -0.00207573
+v -0.01764897 0.02844098 0.00590778
+v -0.01740272 0.01734064 0.00432324
+v -0.01548024 0.00593405 0.00432320
+v -0.01546145 0.00593405 0.00439619
+v -0.01771226 0.02844098 0.00570209
+v -0.01778149 0.02844098 0.00547649
+v -0.01790807 0.02811048 0.00499477
+v -0.01789224 0.02718288 0.00485278
+v -0.01467327 0.00593406 0.00179651
+v -0.01496500 0.01597901 -0.00002814
+v -0.01523004 0.02844101 -0.00200141
+v -0.01721087 0.01734065 0.00267505
+v -0.01802476 0.02844098 0.00432992
+v -0.01795059 0.02630156 0.00380972
+v -0.01795059 0.02630156 0.00335321
+v -0.01510741 0.00593406 0.00267501
+v -0.01797729 0.02844098 0.00467495
+v -0.01469305 0.00593406 0.00183632
+v -0.01650576 0.01599442 0.00151124
+v -0.01595789 0.01734066 0.00051861
+v -0.01513411 0.01734066 -0.00014226
+v -0.01672333 0.02844100 -0.00044612
+v -0.01662048 0.01734066 0.00134137
+v -0.01799905 0.02844099 0.00289538
+v -0.01794268 0.02844099 0.00265652
+v -0.01782302 0.02844099 0.00224779
+v -0.01741657 0.02844100 0.00113439
+v -0.01802476 0.02844098 0.00418925
+f 1 2 6
+f 1 6 10
+f 1 10 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 22
+f 1 22 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 40
+f 1 40 51
+f 1 51 62
+f 1 62 67
+f 1 67 66
+f 1 66 65
+f 1 65 64
+f 1 64 68
+f 1 68 53
+f 1 53 57
+f 1 57 46
+f 1 46 45
+f 1 45 41
+f 1 41 33
+f 1 33 20
+f 1 20 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 11 23
+f 7 23 37
+f 7 37 44
+f 7 44 43
+f 7 43 56
+f 7 56 58
+f 7 58 49
+f 7 49 38
+f 7 38 25
+f 7 25 12
+f 8 14 13
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 9 20 21
+f 9 21 22
+f 9 22 15
+f 11 22 24
+f 11 24 23
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 14
+f 13 14 32
+f 20 33 34
+f 20 34 21
+f 21 35 24
+f 21 24 22
+f 21 34 36
+f 21 36 35
+f 23 24 37
+f 24 35 37
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 40 27
+f 33 41 34
+f 34 41 36
+f 35 42 43
+f 35 43 44
+f 35 44 37
+f 35 36 41
+f 35 41 45
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 42
+f 38 49 50
+f 38 50 39
+f 39 50 51
+f 39 51 40
+f 42 52 43
+f 42 48 53
+f 42 53 54
+f 42 54 55
+f 42 55 52
+f 43 52 56
+f 46 57 47
+f 47 57 48
+f 48 57 53
+f 49 58 59
+f 49 59 60
+f 49 60 50
+f 50 60 61
+f 50 61 51
+f 51 61 60
+f 51 60 62
+f 52 63 59
+f 52 59 56
+f 52 55 64
+f 52 64 65
+f 52 65 66
+f 52 66 67
+f 52 67 62
+f 52 62 63
+f 53 68 55
+f 53 55 54
+f 55 68 64
+f 56 59 58
+f 59 63 60
+f 60 63 62
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_34.obj

@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00771181 0.00593182 0.01148129
+v -0.00750292 0.00421628 0.01091260
+v -0.00747648 0.00593182 0.01083972
+v -0.01103912 0.00593182 0.01148129
+v -0.00771093 -0.00480320 0.01148125
+v -0.00750204 -0.00726323 0.01091255
+v -0.00690268 0.00585758 0.00926508
+v -0.00688505 0.00593183 0.00921490
+v -0.01462998 0.00593184 0.00679918
+v -0.01119425 -0.01351994 0.01148122
+v -0.00771093 -0.00808578 0.01148124
+v -0.00750292 -0.00890452 0.01091255
+v -0.00690356 -0.00562384 0.00926504
+v -0.00671054 0.00257690 0.00873820
+v -0.00671054 0.00421629 0.00873702
+v -0.00671054 0.00593183 0.00873463
+v -0.01505217 0.00593184 0.00597004
+v -0.01524167 -0.01351992 0.00603927
+v -0.01517645 -0.01351992 0.00615396
+v -0.01468815 -0.01351993 0.00683017
+v -0.00771622 -0.01351994 0.01148122
+v -0.00771269 -0.01054581 0.01148123
+v -0.00690445 -0.00726322 0.00926503
+v -0.00771358 -0.01137027 0.01148123
+v -0.00750468 -0.01054581 0.01091254
+v -0.00690885 -0.01351993 0.00926501
+v -0.00671054 -0.00648637 0.00873100
+v -0.00671054 -0.00562384 0.00873220
+v -0.00671054 0.00593186 -0.00072397
+v -0.01548053 0.00593184 0.00432372
+v -0.01564624 -0.01351992 0.00460441
+v -0.00750821 -0.01351994 0.01091253
+v -0.00771446 -0.01218520 0.01148123
+v -0.00671054 -0.00726322 0.00872980
+v -0.00750645 -0.01218520 0.01091254
+v -0.00671054 -0.01351993 0.00871664
+v -0.01215322 0.00593186 0.00056632
+v -0.00671054 -0.01351990 -0.00071568
+v -0.01510682 0.00593185 0.00267501
+v -0.01571499 -0.01351992 0.00432365
+v -0.01380057 0.00593186 0.00119594
+v -0.01215322 -0.01351990 0.00069648
+v -0.01390722 -0.01351990 0.00122932
+v -0.01469344 0.00593185 0.00183631
+v -0.01525489 -0.01351991 0.00257936
+v -0.01467316 0.00593185 0.00179689
+v -0.01401211 -0.01351990 0.00130579
+v -0.01506715 -0.01351991 0.00235356
+v -0.01467316 0.00585760 0.00179689
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 29
+f 1 29 37
+f 1 37 41
+f 1 41 46
+f 1 46 44
+f 1 44 39
+f 1 39 30
+f 1 30 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 21
+f 1 21 33
+f 1 33 24
+f 1 24 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 19
+f 10 19 18
+f 10 18 31
+f 10 31 40
+f 10 40 45
+f 10 45 48
+f 10 48 47
+f 10 47 43
+f 10 43 42
+f 10 42 38
+f 10 38 36
+f 10 36 26
+f 10 26 32
+f 10 32 21
+f 11 22 12
+f 12 23 13
+f 12 22 24
+f 12 24 25
+f 12 25 26
+f 12 26 23
+f 13 23 27
+f 13 27 28
+f 13 28 14
+f 14 28 27
+f 14 27 34
+f 14 34 36
+f 14 36 38
+f 14 38 29
+f 14 29 16
+f 14 16 15
+f 17 30 31
+f 17 31 18
+f 21 32 35
+f 21 35 33
+f 23 26 34
+f 23 34 27
+f 24 33 35
+f 24 35 25
+f 25 35 26
+f 26 35 32
+f 26 36 34
+f 29 38 37
+f 30 39 40
+f 30 40 31
+f 37 38 42
+f 37 42 43
+f 37 43 41
+f 39 44 45
+f 39 45 40
+f 41 43 46
+f 43 47 46
+f 44 46 45
+f 45 46 49
+f 45 49 48
+f 46 47 49
+f 47 48 49
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_35.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.00226615 -0.04007486 -0.00721304
+v -0.00061709 -0.03992174 -0.00721304
+v -0.00061709 -0.03987897 -0.00556516
+v -0.00226615 -0.03980242 -0.00391727
+v -0.00391313 -0.03980579 -0.00391727
+v -0.00391313 -0.04006698 -0.00721304
+v -0.00226615 -0.04004896 -0.00886093
+v -0.00061709 -0.03990823 -0.00886093
+v 0.00103092 -0.03976637 -0.00721304
+v 0.00103092 -0.03967406 -0.00556516
+v -0.00061709 -0.03969321 -0.00391727
+v -0.00226615 -0.03954797 -0.00253951
+v -0.00391313 -0.03953559 -0.00257518
+v -0.00911152 -0.03882743 -0.00091030
+v -0.00556115 -0.03989473 -0.00556516
+v -0.00556115 -0.03996903 -0.00721304
+v -0.00391313 -0.03999717 -0.00886093
+v -0.00391313 -0.03989921 -0.01050711
+v -0.00226615 -0.03994988 -0.01050711
+v -0.00061709 -0.03986881 -0.01050711
+v 0.00103092 -0.03973372 -0.00886093
+v 0.00145068 -0.03967968 -0.00721304
+v 0.00145068 -0.03965829 -0.00829351
+v 0.00145068 -0.03955359 -0.00556516
+v 0.00089962 -0.03939936 -0.00407526
+v -0.00061709 -0.03941512 -0.00281301
+v -0.00226615 -0.03876325 -0.00171555
+v -0.00731152 -0.03953671 -0.00555666
+v -0.00226615 -0.03794363 -0.00134690
+v -0.00074219 -0.03415060 -0.00091029
+v -0.00911152 -0.03510984 -0.00091029
+v -0.00911152 -0.03868557 -0.00101053
+v -0.00909291 -0.03679297 -0.00721303
+v -0.00899056 -0.03679297 -0.00886092
+v -0.00872175 -0.03843335 -0.00721303
+v -0.00849429 -0.03859097 -0.00900192
+v -0.00814070 -0.03933179 -0.00854663
+v -0.00817482 -0.03935881 -0.00721303
+v -0.00720917 -0.03966504 -0.00721304
+v -0.00556115 -0.03988684 -0.00886093
+v -0.00556115 -0.03976861 -0.01050711
+v -0.00400825 -0.03954005 -0.01229940
+v -0.00226615 -0.03961212 -0.01215500
+v -0.00076287 -0.03948490 -0.01218727
+v 0.00057705 -0.03942635 -0.01166062
+v 0.00108779 -0.03953781 -0.01050881
+v 0.00145068 -0.03963239 -0.00886093
+v 0.00145068 -0.03951192 -0.00995498
+v 0.00145068 -0.03946465 -0.00514213
+v 0.00145068 -0.03931829 -0.00445070
+v 0.00026274 -0.03928114 -0.00305255
+v -0.00071635 -0.03835118 -0.00199077
+v -0.00133151 -0.03774997 -0.00140466
+v 0.00015419 -0.03344468 -0.00091028
+v -0.00652784 -0.02857308 -0.00091026
+v -0.00881170 -0.03187295 -0.00721301
+v -0.00910118 -0.03351333 -0.00721301
+v -0.00911152 -0.03533613 -0.00100203
+v -0.00911152 -0.03840298 -0.00109377
+v -0.00907947 -0.03351333 -0.00886090
+v -0.00858527 -0.03351332 -0.01050708
+v -0.00843019 -0.03679296 -0.01048672
+v -0.00830923 -0.03814962 -0.01022679
+v -0.00801974 -0.03924284 -0.00964239
+v -0.00736529 -0.03954345 -0.00900193
+v -0.00694346 -0.03948715 -0.01050711
+v -0.00659297 -0.03935993 -0.01151962
+v -0.00556115 -0.03949390 -0.01185940
+v -0.00462135 -0.03922256 -0.01294495
+v -0.00352439 -0.03931601 -0.01305368
+v -0.00226615 -0.03930700 -0.01304179
+v -0.00140905 -0.03926196 -0.01298742
+v 0.00145068 -0.03921807 -0.01084857
+v 0.00145068 -0.03946238 -0.01028795
+v 0.00145068 -0.03633922 -0.01678264
+v 0.00145068 -0.03840860 -0.00357070
+v 0.00145068 -0.03778150 -0.00307633
+v 0.00145068 -0.03682226 -0.00234922
+v 0.00145068 -0.03657683 -0.00218612
+v 0.00145068 -0.03527308 -0.00159323
+v 0.00145068 -0.03506479 -0.00154396
+v 0.00093270 -0.03193828 -0.00091028
+v 0.00145068 -0.03445345 -0.00142504
+v -0.00669843 -0.02857306 -0.00556511
+v -0.00826477 -0.03086756 -0.00721300
+v 0.00009836 -0.02857308 -0.00091026
+v -0.00825030 -0.03088895 -0.00886089
+v -0.00878378 -0.03187295 -0.00886090
+v -0.00911152 -0.03679300 -0.00130443
+v -0.00911152 -0.03621318 -0.00124326
+v -0.00832163 -0.03192361 -0.01050029
+v -0.00808694 -0.03250455 -0.01143635
+v -0.00811692 -0.03351332 -0.01149581
+v -0.00809108 -0.03479005 -0.01144486
+v -0.00802077 -0.03679296 -0.01131066
+v -0.00781813 -0.03859096 -0.01066849
+v -0.00694966 -0.03843334 -0.01185429
+v -0.00632002 -0.03753377 -0.01293646
+v -0.00568729 -0.03857857 -0.01271730
+v -0.00486121 -0.03607352 -0.01470665
+v -0.00391313 -0.03632233 -0.01497847
+v 0.00145068 -0.03540475 -0.01759469
+v 0.00145068 -0.03351336 -0.00129762
+v 0.00145068 -0.03206100 -0.00113283
+v 0.00056671 -0.03023260 -0.00091027
+v -0.00654541 -0.02857306 -0.00671693
+v 0.00016453 -0.02870706 -0.00091027
+v 0.00145068 -0.03014252 -0.00212155
+v 0.00145068 -0.02857307 -0.00389514
+v -0.00814380 -0.03096550 -0.00994645
+v -0.00781916 -0.03141021 -0.01104562
+v -0.00670566 -0.03219268 -0.01331018
+v -0.00769096 -0.03351331 -0.01231975
+v -0.00769510 -0.03526291 -0.01205814
+v -0.00679561 -0.03515257 -0.01341043
+v -0.00661055 -0.03643943 -0.01322525
+v -0.00582169 -0.03515257 -0.01423437
+v -0.00499768 -0.03515257 -0.01480009
+v -0.00391313 -0.03515256 -0.01544395
+v 0.00145068 -0.03453670 -0.01805678
+v 0.00145068 -0.03474949 -0.01797524
+v 0.00145068 -0.03191126 -0.00115491
+v -0.00588062 -0.02857305 -0.00754087
+v -0.00629108 -0.03109946 -0.01289226
+v 0.00145068 -0.03174013 -0.00124155
+v 0.00145068 -0.02857305 -0.00801995
+v -0.00496460 -0.03241109 -0.01477799
+v -0.00589923 -0.03351331 -0.01429892
+v -0.00686695 -0.03351331 -0.01347497
+v -0.00507522 -0.03351331 -0.01485444
+v -0.00391313 -0.03351330 -0.01554587
+v 0.00145068 -0.03351329 -0.01826403
+v -0.00505661 -0.02857305 -0.00829686
+v -0.00327729 -0.03098575 -0.01472871
+v -0.00437425 -0.03131788 -0.01435837
+v 0.00145068 -0.03095985 -0.01652100
+v -0.00218344 -0.02857305 -0.00855848
+v -0.00386040 -0.03186729 -0.01505151
+v 0.00145068 -0.03237392 -0.01807886
+v 0.00145068 -0.03267453 -0.01814851
+v -0.00391417 -0.02857305 -0.00872157
+v 0.00021622 -0.03105555 -0.01626447
+v 0.00145068 -0.03155768 -0.01731607
+v 0.00145068 -0.03177385 -0.01752843
+v 0.00145068 -0.03101276 -0.01661784
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 9
+f 9 22 10
+f 9 21 23
+f 9 23 22
+f 10 24 25
+f 10 25 11
+f 10 22 24
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 14
+f 12 14 13
+f 14 28 15
+f 14 27 29
+f 14 29 30
+f 14 30 54
+f 14 54 82
+f 14 82 105
+f 14 105 107
+f 14 107 86
+f 14 86 55
+f 14 55 31
+f 14 31 58
+f 14 58 90
+f 14 90 89
+f 14 89 59
+f 14 59 32
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 36
+f 14 36 37
+f 14 37 38
+f 14 38 39
+f 14 39 28
+f 15 28 39
+f 15 39 16
+f 16 39 40
+f 16 40 17
+f 17 40 18
+f 18 40 41
+f 18 41 42
+f 18 42 19
+f 19 42 43
+f 19 43 20
+f 20 43 44
+f 20 44 45
+f 20 45 46
+f 20 46 21
+f 21 47 23
+f 21 46 48
+f 21 48 47
+f 22 23 47
+f 22 47 48
+f 22 48 74
+f 22 74 73
+f 22 73 75
+f 22 75 102
+f 22 102 121
+f 22 121 120
+f 22 120 132
+f 22 132 140
+f 22 140 139
+f 22 139 144
+f 22 144 143
+f 22 143 145
+f 22 145 136
+f 22 136 126
+f 22 126 109
+f 22 109 108
+f 22 108 125
+f 22 125 122
+f 22 122 104
+f 22 104 103
+f 22 103 83
+f 22 83 81
+f 22 81 80
+f 22 80 79
+f 22 79 78
+f 22 78 77
+f 22 77 76
+f 22 76 50
+f 22 50 49
+f 22 49 24
+f 24 49 25
+f 25 49 50
+f 25 50 51
+f 25 51 26
+f 26 51 52
+f 26 52 27
+f 27 52 53
+f 27 53 29
+f 29 53 30
+f 30 53 54
+f 31 55 56
+f 31 56 57
+f 31 57 58
+f 32 59 57
+f 32 57 33
+f 33 57 60
+f 33 60 34
+f 34 60 61
+f 34 61 62
+f 34 62 63
+f 34 63 36
+f 34 36 35
+f 36 63 64
+f 36 64 37
+f 37 39 38
+f 37 64 65
+f 37 65 39
+f 39 65 40
+f 40 65 41
+f 41 66 67
+f 41 67 68
+f 41 68 42
+f 41 65 66
+f 42 69 70
+f 42 70 43
+f 42 68 69
+f 43 70 71
+f 43 71 72
+f 43 72 44
+f 44 72 45
+f 45 73 74
+f 45 74 46
+f 45 72 75
+f 45 75 73
+f 46 74 48
+f 50 76 51
+f 51 76 77
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 52 79 53
+f 53 79 80
+f 53 80 81
+f 53 81 54
+f 54 81 83
+f 54 83 82
+f 55 84 85
+f 55 85 56
+f 55 86 109
+f 55 109 126
+f 55 126 137
+f 55 137 141
+f 55 141 133
+f 55 133 123
+f 55 123 106
+f 55 106 84
+f 56 85 87
+f 56 87 88
+f 56 88 60
+f 56 60 57
+f 57 59 89
+f 57 89 90
+f 57 90 58
+f 60 88 91
+f 60 91 61
+f 61 91 92
+f 61 92 93
+f 61 93 94
+f 61 94 62
+f 62 94 95
+f 62 95 63
+f 63 95 96
+f 63 96 64
+f 64 96 67
+f 64 67 66
+f 64 66 65
+f 67 96 97
+f 67 97 98
+f 67 98 99
+f 67 99 69
+f 67 69 68
+f 69 99 100
+f 69 100 101
+f 69 101 102
+f 69 102 75
+f 69 75 70
+f 70 75 71
+f 71 75 72
+f 82 83 103
+f 82 103 104
+f 82 104 105
+f 84 106 87
+f 84 87 85
+f 86 107 108
+f 86 108 109
+f 87 110 88
+f 87 106 110
+f 88 110 91
+f 91 110 111
+f 91 111 92
+f 92 111 112
+f 92 112 113
+f 92 113 93
+f 93 113 94
+f 94 113 95
+f 95 113 114
+f 95 114 115
+f 95 115 116
+f 95 116 97
+f 95 97 96
+f 97 116 98
+f 98 116 100
+f 98 100 99
+f 100 116 117
+f 100 117 118
+f 100 118 119
+f 100 119 120
+f 100 120 121
+f 100 121 101
+f 101 121 102
+f 104 122 107
+f 104 107 105
+f 106 123 124
+f 106 124 110
+f 107 122 125
+f 107 125 108
+f 110 124 111
+f 111 124 112
+f 112 124 127
+f 112 127 128
+f 112 128 129
+f 112 129 113
+f 113 129 115
+f 113 115 114
+f 115 129 128
+f 115 128 117
+f 115 117 116
+f 117 128 118
+f 118 130 131
+f 118 131 119
+f 118 128 130
+f 119 131 132
+f 119 132 120
+f 123 133 124
+f 124 134 135
+f 124 135 127
+f 124 133 134
+f 126 136 137
+f 127 135 138
+f 127 138 139
+f 127 139 140
+f 127 140 131
+f 127 131 130
+f 127 130 128
+f 131 140 132
+f 133 141 136
+f 133 136 142
+f 133 142 134
+f 134 142 143
+f 134 143 144
+f 134 144 139
+f 134 139 138
+f 134 138 135
+f 136 145 142
+f 136 141 137
+f 142 145 143
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_36.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00911054 -0.03979482 0.00267514
+v -0.00885686 -0.03977724 0.00267514
+v -0.00911054 -0.03978824 0.00432331
+v -0.00911054 -0.03978383 0.00242046
+v -0.00754521 -0.03951801 0.00267514
+v -0.00749113 -0.03951253 0.00432331
+v -0.00885686 -0.03976297 0.00432331
+v -0.00911054 -0.03969705 0.00102698
+v -0.00885686 -0.03967398 0.00102698
+v -0.00885686 -0.03974760 0.00596905
+v -0.00911054 -0.03977506 0.00571558
+v -0.00141562 -0.03599529 0.00346226
+v -0.00134778 -0.03608318 0.00432333
+v -0.00780872 -0.03940486 0.00102699
+v -0.00134188 -0.03609746 0.00550700
+v -0.00213536 -0.03650718 0.00602122
+v -0.00761108 -0.03949935 0.00596905
+v -0.00911054 -0.03965640 0.00072864
+v -0.00885686 -0.03940816 -0.00019670
+v -0.00800635 -0.03927744 0.00017198
+v -0.00911054 -0.03976297 0.00596905
+v -0.00781462 -0.03941038 0.00716364
+v -0.00879492 -0.03954659 0.00767421
+v -0.00911054 -0.03958504 0.00766330
+v -0.00074210 -0.03414989 -0.00090859
+v 0.00015364 -0.03344469 -0.00090858
+v -0.00126125 -0.03515279 0.00572894
+v -0.00151788 -0.03515279 0.00655241
+v -0.00295834 -0.03618316 0.01047332
+v -0.00275383 -0.03641382 0.00926540
+v -0.00248245 -0.03656980 0.00761723
+v 0.00093336 -0.03193762 -0.00090858
+v -0.00391406 -0.03714319 0.00926539
+v -0.00911054 -0.03943452 -0.00029130
+v -0.00911054 -0.03933895 -0.00054477
+v -0.00911054 -0.03936974 0.00865051
+v -0.00911054 -0.03946750 0.00833276
+v -0.00389833 -0.03661594 0.01148114
+v -0.00556101 -0.03734861 0.01148113
+v -0.00911054 -0.03882708 -0.00090860
+v -0.00074800 -0.03351282 0.00432334
+v -0.00186595 -0.03515280 0.00761723
+v -0.00241559 -0.03515280 0.00926540
+v -0.00289247 -0.03515281 0.01066615
+v -0.00317466 -0.03515281 0.01148114
+v 0.00056661 -0.03023173 -0.00090857
+v 0.00014381 -0.02857418 0.00092395
+v 0.00013201 -0.02857418 0.00100641
+v -0.00009414 -0.02857419 0.00252845
+v -0.00720893 -0.03742111 0.01148113
+v -0.00826298 -0.03746065 0.01148113
+v -0.00878312 -0.03744637 0.01148113
+v -0.00911054 -0.03739584 0.01148113
+v -0.00911054 -0.03510993 -0.00090859
+v -0.00317466 -0.03513524 0.01148114
+v 0.00016446 -0.02870599 -0.00090857
+v 0.00013005 -0.02857418 0.00028724
+v -0.00013543 -0.02857419 0.00262062
+v -0.00320907 -0.03351284 0.01148115
+v -0.00320809 -0.03355567 0.01148115
+v -0.00318252 -0.03475078 0.01148114
+v -0.00911054 -0.02857422 0.01148117
+v -0.00911054 -0.03023173 -0.00067814
+v -0.00652754 -0.02857418 -0.00090856
+v 0.00009858 -0.02857418 -0.00090856
+v -0.00095251 -0.02857420 0.00412568
+v -0.00297604 -0.03254181 0.01042239
+v -0.00392783 -0.03219140 0.01148115
+v -0.00911054 -0.02857418 -0.00058718
+v -0.00772416 -0.02857422 0.01148117
+v -0.00911054 -0.02859175 -0.00058961
+v -0.00096136 -0.02857420 0.00413780
+f 1 2 3
+f 1 3 11
+f 1 11 21
+f 1 21 24
+f 1 24 37
+f 1 37 36
+f 1 36 53
+f 1 53 62
+f 1 62 69
+f 1 69 71
+f 1 71 63
+f 1 63 54
+f 1 54 40
+f 1 40 35
+f 1 35 34
+f 1 34 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 7 10
+f 3 10 11
+f 5 12 13
+f 5 13 6
+f 5 9 14
+f 5 14 12
+f 6 13 15
+f 6 15 16
+f 6 16 17
+f 6 17 10
+f 6 10 7
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 14
+f 10 21 11
+f 10 17 22
+f 10 22 23
+f 10 23 24
+f 10 24 21
+f 12 14 20
+f 12 20 25
+f 12 25 26
+f 12 26 13
+f 13 26 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 15 26 32
+f 15 32 27
+f 16 31 17
+f 17 31 33
+f 17 33 22
+f 18 34 19
+f 19 34 35
+f 19 35 20
+f 20 35 25
+f 22 36 37
+f 22 37 23
+f 22 33 38
+f 22 38 39
+f 22 39 36
+f 23 37 24
+f 25 35 40
+f 25 40 54
+f 25 54 64
+f 25 64 65
+f 25 65 56
+f 25 56 46
+f 25 46 32
+f 25 32 26
+f 27 32 41
+f 27 41 28
+f 28 42 29
+f 28 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 38
+f 29 38 30
+f 30 38 33
+f 30 33 31
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 41
+f 36 39 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 38 45 55
+f 38 55 61
+f 38 61 60
+f 38 60 59
+f 38 59 68
+f 38 68 70
+f 38 70 62
+f 38 62 53
+f 38 53 52
+f 38 52 51
+f 38 51 50
+f 38 50 39
+f 41 43 42
+f 41 49 43
+f 43 49 44
+f 44 55 45
+f 44 49 55
+f 46 56 47
+f 47 57 65
+f 47 65 64
+f 47 64 69
+f 47 69 62
+f 47 62 70
+f 47 70 72
+f 47 72 66
+f 47 66 58
+f 47 58 49
+f 47 49 48
+f 47 56 57
+f 49 58 59
+f 49 59 60
+f 49 60 61
+f 49 61 55
+f 54 63 64
+f 56 65 57
+f 58 66 59
+f 59 67 68
+f 59 66 67
+f 63 71 64
+f 64 71 69
+f 66 72 68
+f 66 68 67
+f 68 72 70
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_37.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v -0.01496334 0.02844101 -0.00207213
+v -0.01341603 0.02844101 -0.00206723
+v -0.01522859 0.02844101 -0.00200109
+v -0.01945311 0.03111138 -0.01075341
+v -0.01945311 0.03121954 -0.01112820
+v -0.01215453 0.02844101 -0.00195945
+v -0.01945311 0.03084737 -0.00960456
+v -0.01672347 0.02844100 -0.00045051
+v -0.01945311 0.03146029 -0.01152992
+v -0.01004484 0.02844100 -0.00125152
+v -0.01086939 0.02844101 -0.00164835
+v -0.01188002 0.02844101 -0.00190311
+v -0.01945311 0.03059033 -0.00791681
+v -0.01741745 0.02844100 0.00112946
+v -0.01945311 0.03195691 -0.01219865
+v -0.00975388 0.02844100 -0.00105801
+v -0.01945311 0.03057636 -0.00627069
+v -0.01782252 0.02844099 0.00224402
+v -0.01794281 0.02844099 0.00265310
+v -0.01799833 0.02844099 0.00289316
+v -0.01802506 0.02844098 0.00418653
+v -0.01945311 0.03271871 -0.01318828
+v -0.00971790 0.02844100 -0.00103351
+v -0.01945311 0.03102993 -0.00099431
+v -0.01802506 0.02844098 0.00432861
+v -0.01945311 0.03276290 -0.01321033
+v -0.00894990 0.02844216 -0.00047011
+v -0.00971790 0.02844096 0.01148137
+v -0.01945311 0.03146723 -0.00012715
+v -0.01797777 0.02844098 0.00467400
+v -0.01945311 0.03374800 -0.01354347
+v -0.00894990 0.03702656 -0.00117555
+v -0.00894990 0.02844212 0.01147892
+v -0.00971790 0.03735450 0.01148141
+v -0.01123128 0.02844096 0.01148137
+v -0.01945311 0.03151259 -0.00006591
+v -0.01778140 0.02844098 0.00547746
+v -0.01875914 0.03374793 0.00596739
+v -0.01877456 0.03210688 0.00432128
+v -0.01945311 0.03504712 -0.01333770
+v -0.01937498 0.03498664 -0.01327156
+v -0.00894990 0.03747433 -0.00114125
+v -0.00894990 0.03750220 0.01147896
+v -0.01050646 0.03728006 0.01148141
+v -0.01243418 0.03202428 0.01148139
+v -0.01528925 0.02844097 0.00887012
+v -0.01945311 0.03231974 0.00076940
+v -0.01771252 0.02844098 0.00570282
+v -0.01911281 0.03702538 0.00596741
+v -0.01907271 0.03374793 0.00432128
+v -0.01764877 0.02844098 0.00590613
+v -0.01810731 0.03251975 0.00710155
+v -0.01820087 0.03374792 0.00725832
+v -0.01945311 0.03529484 -0.01315643
+v -0.00976622 0.03937475 -0.00137151
+v -0.00894990 0.03878042 -0.00090119
+v -0.00894990 0.03874437 -0.00091344
+v -0.01127138 0.03950961 0.01010966
+v -0.01215453 0.03955846 0.01016355
+v -0.01348799 0.03956195 0.01016600
+v -0.00894990 0.03972362 0.00796628
+v -0.00931385 0.03964337 0.00871340
+v -0.01187899 0.03676251 0.01148141
+v -0.01458499 0.03946425 0.01007045
+v -0.01245885 0.03259417 0.01148139
+v -0.01586602 0.03702536 0.00988918
+v -0.01563058 0.03374791 0.00974709
+v -0.01474743 0.03278142 0.01014637
+v -0.01611380 0.02844097 0.00829937
+v -0.01945311 0.03350255 0.00128871
+v -0.01940685 0.03702538 0.00432130
+v -0.01839416 0.03702537 0.00754249
+v -0.01829032 0.03866642 0.00739307
+v -0.01887120 0.03866643 0.00596741
+v -0.01678516 0.02844097 0.00747386
+v -0.01764363 0.03374792 0.00808383
+v -0.01785645 0.03702537 0.00836800
+v -0.01945311 0.03590776 -0.01268856
+v -0.01945311 0.03649160 -0.01183856
+v -0.01086527 0.03962829 -0.00161646
+v -0.00894990 0.03963758 -0.00021775
+v -0.00971790 0.03965732 0.00888242
+v -0.01063600 0.03968756 0.00926455
+v -0.01215453 0.03979573 0.00926455
+v -0.01394345 0.03972129 0.00941888
+v -0.01544861 0.03972362 0.00902449
+v -0.00894990 0.03977479 0.00765763
+v -0.01050646 0.03996437 0.00761354
+v -0.01220594 0.03538547 0.01148140
+v -0.01492941 0.03837099 0.01021008
+v -0.01546609 0.03881760 0.00982794
+v -0.01658982 0.03964453 0.00868890
+v -0.01246708 0.03374791 0.01148139
+v -0.01504250 0.03702536 0.01025662
+v -0.01690236 0.03866642 0.00895345
+v -0.01703191 0.03702537 0.00906613
+v -0.01681909 0.03374792 0.00892158
+v -0.01627624 0.02844097 0.00810585
+v -0.01945311 0.03374794 0.00136464
+v -0.01911692 0.03866643 0.00432130
+v -0.01945311 0.03742201 -0.00556273
+v -0.01945311 0.03665904 -0.00079342
+v -0.01945311 0.03626360 0.00025255
+v -0.01945311 0.03542389 0.00098007
+v -0.01808366 0.03961546 0.00707708
+v -0.01772691 0.03866642 0.00821857
+v -0.01825433 0.03970269 0.00596742
+v -0.01945311 0.03696031 -0.01045944
+v -0.01215453 0.03971203 -0.00173404
+v -0.01215453 0.03995393 -0.00062438
+v -0.01039131 0.03976668 -0.00074196
+v -0.00894990 0.03987252 0.00102663
+v -0.01215453 0.04000275 0.00761354
+v -0.01380260 0.04000042 0.00761354
+v -0.01544861 0.03996437 0.00761354
+v -0.00894990 0.03994228 0.00606296
+v -0.00971790 0.03995624 0.00678313
+v -0.01215453 0.04030282 0.00432131
+v -0.01215453 0.04018187 0.00596742
+v -0.01712238 0.03975269 0.00762334
+v -0.01835714 0.03972596 0.00432131
+v -0.01831499 0.03972597 0.00267275
+v -0.01945311 0.03752204 -0.00720885
+v -0.01709668 0.03993995 0.00596742
+v -0.01945311 0.03735689 -0.00885741
+v -0.01502194 0.03962480 -0.00160666
+v -0.01380260 0.03970970 -0.00172424
+v -0.01380260 0.03995161 -0.00062438
+v -0.01380260 0.04025747 0.00267275
+v -0.01215453 0.04024468 0.00267275
+v -0.01050646 0.04000278 0.00102663
+v -0.00971790 0.03993765 0.00102663
+v -0.00894990 0.03996322 0.00267520
+v -0.01380260 0.04018187 0.00596742
+v -0.01380260 0.04032259 0.00432131
+v -0.00894990 0.03994693 0.00596987
+v -0.01050646 0.04013534 0.00432131
+v -0.00971790 0.04005045 0.00353255
+v -0.00894990 0.03996555 0.00276583
+v -0.01709668 0.03996438 0.00432131
+v -0.01709668 0.03996671 0.00267275
+v -0.01814638 0.03964456 0.00134508
+v -0.01544861 0.04015861 0.00432131
+v -0.01723547 0.03977831 0.00088946
+v -0.01677899 0.03965387 -0.00022020
+v -0.01552263 0.03976668 -0.00071257
+v -0.01544861 0.04000743 0.00102663
+v -0.00894990 0.03996205 0.00432131
+v -0.00971790 0.04004812 0.00432131
+v -0.00971790 0.04005045 0.00353500
+f 1 2 6
+f 1 6 12
+f 1 12 11
+f 1 11 10
+f 1 10 16
+f 1 16 23
+f 1 23 28
+f 1 28 35
+f 1 35 46
+f 1 46 69
+f 1 69 98
+f 1 98 75
+f 1 75 51
+f 1 51 48
+f 1 48 37
+f 1 37 30
+f 1 30 25
+f 1 25 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 4 7 13
+f 4 13 17
+f 4 17 24
+f 4 24 29
+f 4 29 36
+f 4 36 47
+f 4 47 70
+f 4 70 99
+f 4 99 104
+f 4 104 103
+f 4 103 102
+f 4 102 101
+f 4 101 123
+f 4 123 125
+f 4 125 108
+f 4 108 79
+f 4 79 78
+f 4 78 54
+f 4 54 40
+f 4 40 31
+f 4 31 26
+f 4 26 22
+f 4 22 15
+f 4 15 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 8 14
+f 7 14 13
+f 9 15 10
+f 10 15 16
+f 13 14 18
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 17
+f 15 22 16
+f 16 22 23
+f 17 21 25
+f 17 25 24
+f 22 26 27
+f 22 27 23
+f 23 27 33
+f 23 33 28
+f 24 25 29
+f 25 30 29
+f 26 31 27
+f 27 31 32
+f 27 32 42
+f 27 42 57
+f 27 57 56
+f 27 56 81
+f 27 81 112
+f 27 112 133
+f 27 133 139
+f 27 139 148
+f 27 148 136
+f 27 136 116
+f 27 116 87
+f 27 87 61
+f 27 61 43
+f 27 43 33
+f 28 33 43
+f 28 43 34
+f 28 34 44
+f 28 44 63
+f 28 63 89
+f 28 89 93
+f 28 93 65
+f 28 65 45
+f 28 45 35
+f 29 30 36
+f 30 37 38
+f 30 38 39
+f 30 39 36
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 34 43 44
+f 35 45 46
+f 36 39 47
+f 37 48 38
+f 38 49 50
+f 38 50 39
+f 38 48 51
+f 38 51 52
+f 38 52 53
+f 38 53 49
+f 39 50 47
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 41 57 42
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 43 61 62
+f 43 62 58
+f 44 60 64
+f 44 64 63
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 46
+f 46 68 67
+f 46 67 69
+f 47 50 71
+f 47 71 70
+f 49 53 72
+f 49 72 73
+f 49 73 74
+f 49 74 71
+f 49 71 50
+f 51 75 52
+f 52 75 76
+f 52 76 53
+f 53 76 77
+f 53 77 72
+f 54 78 55
+f 55 78 79
+f 55 79 80
+f 55 80 81
+f 55 81 56
+f 58 62 82
+f 58 82 83
+f 58 83 59
+f 59 83 84
+f 59 84 60
+f 60 84 85
+f 60 85 86
+f 60 86 64
+f 61 87 62
+f 62 87 88
+f 62 88 82
+f 63 64 90
+f 63 90 89
+f 64 91 90
+f 64 86 92
+f 64 92 91
+f 65 93 66
+f 66 94 90
+f 66 90 91
+f 66 91 95
+f 66 95 96
+f 66 96 97
+f 66 97 67
+f 66 93 94
+f 67 97 69
+f 69 76 98
+f 69 97 76
+f 70 71 99
+f 71 74 100
+f 71 100 101
+f 71 101 102
+f 71 102 103
+f 71 103 104
+f 71 104 99
+f 72 77 73
+f 73 105 74
+f 73 77 106
+f 73 106 105
+f 74 105 107
+f 74 107 100
+f 75 98 76
+f 76 97 77
+f 77 97 96
+f 77 96 95
+f 77 95 106
+f 79 108 109
+f 79 109 80
+f 80 109 110
+f 80 110 111
+f 80 111 81
+f 81 111 112
+f 82 88 83
+f 83 88 84
+f 84 113 114
+f 84 114 115
+f 84 115 85
+f 84 88 113
+f 85 115 86
+f 86 115 92
+f 87 116 88
+f 88 116 117
+f 88 117 118
+f 88 118 119
+f 88 119 113
+f 89 90 94
+f 89 94 93
+f 91 92 95
+f 92 106 95
+f 92 115 120
+f 92 120 105
+f 92 105 106
+f 100 107 121
+f 100 121 122
+f 100 122 123
+f 100 123 101
+f 105 120 107
+f 107 120 124
+f 107 124 121
+f 108 125 126
+f 108 126 127
+f 108 127 109
+f 109 127 128
+f 109 128 110
+f 110 128 129
+f 110 129 130
+f 110 130 131
+f 110 131 132
+f 110 132 112
+f 110 112 111
+f 112 132 130
+f 112 130 133
+f 113 119 134
+f 113 134 114
+f 114 134 115
+f 115 134 135
+f 115 135 124
+f 115 124 120
+f 116 136 118
+f 116 118 117
+f 118 135 119
+f 118 136 137
+f 118 137 138
+f 118 138 139
+f 118 139 133
+f 118 133 130
+f 118 130 135
+f 119 135 134
+f 121 124 140
+f 121 140 141
+f 121 141 122
+f 122 141 142
+f 122 142 125
+f 122 125 123
+f 124 135 143
+f 124 143 140
+f 125 142 144
+f 125 144 145
+f 125 145 146
+f 125 146 126
+f 126 146 128
+f 126 128 127
+f 128 146 147
+f 128 147 129
+f 129 147 141
+f 129 141 135
+f 129 135 130
+f 130 132 131
+f 135 141 143
+f 136 148 149
+f 136 149 137
+f 137 149 150
+f 137 150 138
+f 138 150 139
+f 139 150 148
+f 140 143 141
+f 141 147 144
+f 141 144 142
+f 144 147 146
+f 144 146 145
+f 148 150 149
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_38.obj

@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.00395017 0.02844103 -0.00904201
+v -0.00339837 0.02844103 -0.00894647
+v -0.00480025 0.02844103 -0.00854898
+v -0.00352665 0.03110844 -0.01487137
+v 0.00145068 0.03104960 -0.01674284
+v -0.00234060 0.02844103 -0.00874858
+v -0.00503746 0.02844103 -0.00840397
+v -0.00556075 0.03105958 -0.01339569
+v -0.00647294 0.03121505 -0.01307326
+v -0.00462413 0.03142160 -0.01453869
+v 0.00145068 0.03257542 -0.01815540
+v 0.00145068 0.03256765 -0.01815028
+v 0.00145068 0.03181584 -0.01758048
+v 0.00004779 0.03120506 -0.01637094
+v 0.00145068 0.02844103 -0.00800135
+v 0.00062910 0.02844103 -0.00817025
+v -0.00586108 0.02844103 -0.00757144
+v -0.00669589 0.03210677 -0.01330014
+v -0.00553428 0.03202349 -0.01417190
+v -0.00641389 0.02844103 -0.00694023
+v -0.00657271 0.02844102 -0.00674745
+v -0.00825150 0.03109177 -0.01018160
+v -0.00799495 0.03142270 -0.01128025
+v -0.00496823 0.03251543 -0.01477924
+v -0.00401023 0.03202350 -0.01514944
+v 0.00144356 0.03257875 -0.01815369
+v 0.00145068 0.03374698 -0.01823899
+v 0.00145068 0.02844101 -0.00395986
+v -0.00759994 0.03202458 -0.01206330
+v -0.00687304 0.03374696 -0.01347757
+v -0.00590485 0.03374696 -0.01430156
+v -0.00670404 0.02844102 -0.00583986
+v -0.00841439 0.03096295 -0.00885946
+v -0.00894073 0.03210675 -0.00885945
+v -0.00838589 0.03202458 -0.01064050
+v -0.00809574 0.03251653 -0.01145426
+v -0.00508124 0.03374696 -0.01485601
+v -0.00391250 0.03374697 -0.01556229
+v 0.00145068 0.03408013 -0.01814856
+v -0.00391250 0.03538605 -0.01532344
+v 0.00145068 0.02937826 -0.00282025
+v 0.00128067 0.02844101 -0.00344465
+v -0.00769665 0.03374696 -0.01233285
+v -0.00801938 0.03702734 -0.01131094
+v -0.00674578 0.03538604 -0.01335131
+v -0.00491733 0.03538604 -0.01474681
+v -0.00574095 0.03538604 -0.01417531
+v -0.00674069 0.02844102 -0.00556520
+v -0.00842457 0.03094851 -0.00721317
+v -0.00894989 0.03206900 -0.00721316
+v -0.00894989 0.03210675 -0.00829476
+v -0.00894989 0.03219448 -0.00877244
+v -0.00894989 0.03221447 -0.00885945
+v -0.00858135 0.03374695 -0.01050573
+v -0.00812322 0.03374695 -0.01151056
+v 0.00145068 0.03498296 -0.01786366
+v -0.00474935 0.03621780 -0.01463422
+v 0.00145068 0.03000680 -0.00217538
+v 0.00009360 0.02844100 -0.00081060
+v -0.00808963 0.03502068 -0.01144401
+v -0.00843883 0.03702734 -0.01048694
+v -0.00830444 0.03821112 -0.01022593
+v -0.00634262 0.03777026 -0.01294698
+v -0.00712857 0.03714506 -0.01230041
+v -0.00654318 0.03667643 -0.01314489
+v -0.00666535 0.02844100 -0.00081060
+v -0.00894989 0.03536490 -0.00081057
+v -0.00894989 0.03374694 -0.00928936
+v -0.00894989 0.03702733 -0.00902491
+v 0.00145068 0.03537051 -0.01765894
+v -0.00391250 0.03642657 -0.01485770
+v 0.00145068 0.03556818 -0.01755317
+v -0.00524413 0.03818670 -0.01321994
+v 0.00145068 0.03097736 -0.00123708
+v 0.00145068 0.03112505 -0.00113814
+v 0.00055478 0.02981801 -0.00081059
+v -0.00726194 0.03882633 -0.01064901
+v -0.00693005 0.03834771 -0.01184832
+v -0.00894989 0.03719834 -0.00885943
+v -0.00852129 0.03847874 -0.00885943
+v -0.00739632 0.03929828 -0.00885943
+v -0.00568190 0.03881411 -0.01218952
+v -0.00894989 0.03887515 -0.00081056
+v 0.00145068 0.03627556 -0.01705843
+v -0.00391250 0.03925943 -0.01236012
+v -0.00391250 0.03843989 -0.01339566
+v 0.00145068 0.03252427 -0.00110571
+v 0.00083170 0.03177913 -0.00081058
+v 0.00076552 0.03059535 -0.00081059
+v -0.00611967 0.03944154 -0.01107210
+v -0.00742178 0.03935602 -0.00721314
+v -0.00649533 0.03952038 -0.00997343
+v -0.00891833 0.03885849 -0.00081056
+v -0.00133780 0.03791348 -0.00140765
+v -0.00134798 0.03950481 -0.00305904
+v -0.00226526 0.03951925 -0.00302834
+v -0.00391250 0.03951480 -0.00303687
+v -0.00477684 0.03949925 -0.00307099
+v -0.00644749 0.03951370 -0.00465585
+v -0.00653911 0.03952925 -0.00556515
+v 0.00145068 0.03654652 -0.01676159
+v -0.00502117 0.03951928 -0.01143205
+v -0.00391250 0.03953149 -0.01153612
+v -0.00226526 0.03930052 -0.01238059
+v 0.00145068 0.03396790 -0.00132408
+v 0.00038884 0.03314059 -0.00081058
+v -0.00659714 0.03952260 -0.00721313
+v -0.00657271 0.03952593 -0.00885942
+v -0.00556075 0.03966807 -0.00721313
+v -0.00391250 0.03977579 -0.00721313
+v -0.00148237 0.03443653 -0.00081057
+v 0.00145068 0.03461977 -0.00143155
+v 0.00145068 0.03543931 -0.00170963
+v 0.00145068 0.03704174 -0.00244319
+v 0.00067797 0.03827883 -0.00272468
+v -0.00079314 0.03864307 -0.00234254
+v -0.00024847 0.03937155 -0.00351455
+v 0.00030841 0.03951259 -0.00461320
+v -0.00226526 0.03978578 -0.00721313
+v 0.00021882 0.03949373 -0.01134163
+v 0.00118293 0.03914948 -0.01050571
+v 0.00145068 0.03939156 -0.00938317
+v -0.00226526 0.03975469 -0.00885942
+v -0.00226526 0.03965253 -0.01050570
+v -0.00226526 0.03953149 -0.01155659
+v -0.00061803 0.03951594 -0.01143717
+v 0.00145068 0.03744041 -0.00277586
+v 0.00145068 0.03822664 -0.00349920
+v 0.00145068 0.03859643 -0.00403659
+v 0.00104244 0.03880298 -0.00389670
+v 0.00145068 0.03872970 -0.00438120
+v 0.00145068 0.03909394 -0.00558051
+v 0.00145068 0.03947040 -0.00729674
+v 0.00145068 0.03947263 -0.00732233
+v 0.00145068 0.03949705 -0.00814631
+v 0.00145068 0.03949705 -0.00845851
+v 0.00145068 0.03943487 -0.00924498
+f 1 2 6
+f 1 6 16
+f 1 16 15
+f 1 15 28
+f 1 28 42
+f 1 42 59
+f 1 59 66
+f 1 66 48
+f 1 48 32
+f 1 32 21
+f 1 21 20
+f 1 20 17
+f 1 17 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 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 7 8
+f 5 14 13
+f 5 13 12
+f 5 12 11
+f 5 11 27
+f 5 27 39
+f 5 39 56
+f 5 56 70
+f 5 70 72
+f 5 72 84
+f 5 84 101
+f 5 101 122
+f 5 122 137
+f 5 137 136
+f 5 136 135
+f 5 135 134
+f 5 134 133
+f 5 133 132
+f 5 132 131
+f 5 131 129
+f 5 129 128
+f 5 128 127
+f 5 127 114
+f 5 114 113
+f 5 113 112
+f 5 112 105
+f 5 105 87
+f 5 87 75
+f 5 75 74
+f 5 74 58
+f 5 58 41
+f 5 41 28
+f 5 28 15
+f 5 15 16
+f 5 16 6
+f 7 17 9
+f 7 9 8
+f 9 18 19
+f 9 19 10
+f 9 17 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 18
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 10 19 24
+f 11 26 27
+f 18 23 29
+f 18 29 30
+f 18 30 31
+f 18 31 24
+f 18 24 19
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 29
+f 24 31 37
+f 24 37 38
+f 24 38 26
+f 24 26 25
+f 26 38 27
+f 27 38 40
+f 27 40 39
+f 28 41 42
+f 29 36 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 46 37
+f 31 45 47
+f 31 47 46
+f 32 48 33
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 33 48 49
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 35
+f 35 54 36
+f 36 55 43
+f 36 54 55
+f 37 46 38
+f 38 46 40
+f 39 40 56
+f 40 46 57
+f 40 57 56
+f 41 58 59
+f 41 59 42
+f 43 55 60
+f 43 60 44
+f 44 61 62
+f 44 62 63
+f 44 63 64
+f 44 64 65
+f 44 65 45
+f 44 60 61
+f 45 65 47
+f 46 47 57
+f 47 65 63
+f 47 63 57
+f 48 66 49
+f 49 66 50
+f 50 66 67
+f 50 67 83
+f 50 83 79
+f 50 79 69
+f 50 69 68
+f 50 68 53
+f 50 53 52
+f 50 52 51
+f 53 68 54
+f 54 68 69
+f 54 69 61
+f 54 61 55
+f 55 61 60
+f 56 57 70
+f 57 71 72
+f 57 72 70
+f 57 63 73
+f 57 73 71
+f 58 74 59
+f 59 74 75
+f 59 75 76
+f 59 76 89
+f 59 89 88
+f 59 88 106
+f 59 106 111
+f 59 111 93
+f 59 93 83
+f 59 83 67
+f 59 67 66
+f 61 69 62
+f 62 77 78
+f 62 78 63
+f 62 69 79
+f 62 79 80
+f 62 80 81
+f 62 81 77
+f 63 65 64
+f 63 78 82
+f 63 82 73
+f 71 73 72
+f 72 73 84
+f 73 82 85
+f 73 85 86
+f 73 86 84
+f 75 87 88
+f 75 88 89
+f 75 89 76
+f 77 81 90
+f 77 90 78
+f 78 90 82
+f 79 83 80
+f 80 83 81
+f 81 91 92
+f 81 92 90
+f 81 83 91
+f 82 90 85
+f 83 93 94
+f 83 94 95
+f 83 95 96
+f 83 96 97
+f 83 97 98
+f 83 98 99
+f 83 99 100
+f 83 100 91
+f 84 86 101
+f 85 90 102
+f 85 102 103
+f 85 103 104
+f 85 104 101
+f 85 101 86
+f 87 105 106
+f 87 106 88
+f 90 92 102
+f 91 107 108
+f 91 108 92
+f 91 100 107
+f 92 108 109
+f 92 109 110
+f 92 110 102
+f 93 111 94
+f 94 111 106
+f 94 106 112
+f 94 112 113
+f 94 113 114
+f 94 114 115
+f 94 115 116
+f 94 116 95
+f 95 116 115
+f 95 115 117
+f 95 117 118
+f 95 118 119
+f 95 119 96
+f 96 119 97
+f 97 119 110
+f 97 110 98
+f 98 110 99
+f 99 110 109
+f 99 109 100
+f 100 109 107
+f 101 104 120
+f 101 120 121
+f 101 121 122
+f 102 110 123
+f 102 123 124
+f 102 124 103
+f 103 125 104
+f 103 124 125
+f 104 125 126
+f 104 126 120
+f 105 112 106
+f 107 109 108
+f 110 119 123
+f 114 127 115
+f 115 127 128
+f 115 128 129
+f 115 129 130
+f 115 130 117
+f 117 130 118
+f 118 130 131
+f 118 131 132
+f 118 132 133
+f 118 133 134
+f 118 134 135
+f 118 135 119
+f 119 135 136
+f 119 136 123
+f 120 126 124
+f 120 124 123
+f 120 123 136
+f 120 136 137
+f 120 137 122
+f 120 122 121
+f 124 126 125
+f 129 131 130
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_39.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00953031 0.03206950 -0.00928924
+v -0.00953031 0.03206950 -0.00639431
+v -0.00953031 0.03747980 -0.00928924
+v -0.00953031 0.03747980 -0.00639431
+v -0.00853031 0.03206950 -0.00928924
+v -0.00853031 0.03206950 -0.00639431
+v -0.00853031 0.03747980 -0.00928924
+v -0.00853031 0.03747980 -0.00639431
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_4.obj

@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
+v -0.03522608 0.02546649 -0.03812249
+v -0.03517619 0.02546649 -0.03811101
+v -0.03703230 0.02546649 -0.03793644
+v -0.03687337 0.02912800 -0.03962695
+v -0.03522608 0.02909017 -0.03964303
+v -0.03402193 0.02932558 -0.03950752
+v -0.03416694 0.02546649 -0.03784227
+v -0.03770282 0.02546649 -0.03769986
+v -0.03800907 0.02937462 -0.03948455
+v -0.03687337 0.03046621 -0.03995771
+v -0.03522608 0.03046621 -0.03998757
+v -0.03379688 0.03046621 -0.03961088
+v -0.03297323 0.03046620 -0.03922270
+v -0.03238624 0.02882672 -0.03804897
+v -0.03334213 0.02546649 -0.03712104
+v -0.03976657 0.02916582 -0.03811099
+v -0.03827937 0.02546649 -0.03703146
+v -0.03903225 0.03046620 -0.03916527
+v -0.03820861 0.03046621 -0.03958102
+v -0.03687337 0.03210708 -0.04000823
+v -0.03522608 0.03210708 -0.04003350
+v -0.03376092 0.03210708 -0.03963154
+v -0.03293611 0.03210707 -0.03924106
+v -0.03202430 0.03046620 -0.03839810
+v -0.03330617 0.02546649 -0.03708199
+v -0.03119949 0.03046620 -0.03754595
+v -0.03089091 0.02926530 -0.03647558
+v -0.03259041 0.02546648 -0.03629645
+v -0.04081875 0.03046620 -0.03739205
+v -0.03999511 0.03046620 -0.03834068
+v -0.04114589 0.02935498 -0.03637223
+v -0.03918074 0.02546648 -0.03550631
+v -0.03907865 0.03210707 -0.03918594
+v -0.03825501 0.03210708 -0.03960627
+v -0.03687337 0.03538604 -0.04002200
+v -0.03522608 0.03702691 -0.04006793
+v -0.03366579 0.03702691 -0.03965219
+v -0.03284098 0.03702690 -0.03929617
+v -0.03176908 0.03707455 -0.03831768
+v -0.03111249 0.03655888 -0.03768375
+v -0.03076795 0.03046619 -0.03672136
+v -0.03028420 0.03046619 -0.03522147
+v -0.03070762 0.02898505 -0.03522147
+v -0.03226211 0.02546648 -0.03522149
+v -0.04083383 0.03210707 -0.03742420
+v -0.04124102 0.03046619 -0.03656746
+v -0.04125841 0.03210706 -0.03659961
+v -0.04001019 0.03210707 -0.03836134
+v -0.03922134 0.02546648 -0.03543510
+v -0.04130018 0.02911677 -0.03522147
+v -0.04164472 0.03046619 -0.03522147
+v -0.04004035 0.03702690 -0.03837281
+v -0.03909490 0.03702690 -0.03919740
+v -0.03825965 0.03538604 -0.03961315
+v -0.03687337 0.03702691 -0.04002429
+v -0.03687337 0.03847442 -0.03967975
+v -0.03522608 0.03851085 -0.03970502
+v -0.03390708 0.03825022 -0.03955112
+v -0.03110321 0.03785365 -0.03769752
+v -0.03110321 0.03765187 -0.03769752
+v -0.03078071 0.03707455 -0.03702911
+v -0.03013919 0.03702689 -0.03522144
+v -0.03020763 0.03046618 -0.03357458
+v -0.02994082 0.03374653 -0.03200808
+v -0.02994082 0.03205521 -0.03141317
+v -0.02994082 0.03145966 -0.03038416
+v -0.02994082 0.03081368 -0.02896008
+v -0.02994082 0.03071979 -0.02867756
+v -0.03067050 0.02894440 -0.03357458
+v -0.02994082 0.03053201 -0.02334871
+v -0.02994082 0.03062728 -0.02170182
+v -0.03232591 0.02546647 -0.03357460
+v -0.04086399 0.03702690 -0.03747472
+v -0.04168300 0.03210706 -0.03522146
+v -0.04127814 0.03702689 -0.03665012
+v -0.03937911 0.02546648 -0.03464956
+v -0.03938607 0.02546648 -0.03461051
+v -0.04133150 0.02907052 -0.03357458
+v -0.04171316 0.03046618 -0.03357458
+v -0.04175724 0.03210705 -0.03357457
+v -0.03981414 0.03836931 -0.03815231
+v -0.03808680 0.03820257 -0.03951897
+v -0.03827009 0.03702691 -0.03961085
+v -0.03859027 0.03870001 -0.03862777
+v -0.03687337 0.03928854 -0.03851751
+v -0.03522608 0.03932217 -0.03851751
+v -0.03344538 0.03873785 -0.03866452
+v -0.03193033 0.03825721 -0.03808799
+v -0.03089787 0.03821237 -0.03687062
+v -0.03061598 0.03860331 -0.03522144
+v -0.03007423 0.03702688 -0.03357455
+v -0.02994082 0.03609924 -0.03122941
+v -0.02994082 0.03538601 -0.03161299
+v -0.02994082 0.03508614 -0.03176000
+v -0.02994082 0.03385022 -0.03203105
+v -0.02994082 0.03055724 -0.02653913
+v -0.02994082 0.03095516 -0.02000899
+v -0.03234100 0.02546647 -0.03352866
+v -0.02994082 0.03107287 -0.01952435
+v -0.04118649 0.03822497 -0.03645948
+v -0.04171432 0.03702689 -0.03522144
+v -0.04179205 0.03702688 -0.03357455
+v -0.03938607 0.02546648 -0.03423841
+v -0.04118881 0.02929332 -0.03224007
+v -0.04125261 0.03049560 -0.03178528
+v -0.04134890 0.03210705 -0.03192768
+v -0.04140226 0.03702688 -0.03192766
+v -0.04028628 0.03871262 -0.03695332
+v -0.03858099 0.03946790 -0.03695561
+v -0.03687337 0.03948051 -0.03757117
+v -0.03522608 0.03947911 -0.03762860
+v -0.03345698 0.03947631 -0.03700154
+v -0.03193033 0.03902230 -0.03687062
+v -0.03193033 0.03941184 -0.03522144
+v -0.03058582 0.03862012 -0.03357455
+v -0.02994082 0.03751870 -0.02369092
+v -0.02994082 0.03715298 -0.02705361
+v -0.02994082 0.03693578 -0.02857876
+v -0.02994082 0.03667236 -0.02985585
+v -0.03265305 0.02546647 -0.03260990
+v -0.02994082 0.03166420 -0.01831386
+v -0.03522608 0.02546646 -0.03090329
+v -0.03439547 0.02546646 -0.03106407
+v -0.03435371 0.02546646 -0.03107326
+v -0.03356950 0.02546647 -0.03175085
+v -0.03353006 0.02546647 -0.03178530
+v -0.03269598 0.02546647 -0.03256855
+v -0.04135818 0.03849402 -0.03522144
+v -0.04139414 0.03855006 -0.03357455
+v -0.04119809 0.03824458 -0.03192766
+v -0.03917030 0.02546647 -0.03345516
+v -0.03915870 0.02546647 -0.03341382
+v -0.03833505 0.02546647 -0.03204945
+v -0.04097536 0.02996872 -0.03114215
+v -0.04100436 0.03106310 -0.03108472
+v -0.04104149 0.03702687 -0.03102957
+v -0.04102524 0.03792508 -0.03105483
+v -0.04016912 0.03930675 -0.03522144
+v -0.03919466 0.03948050 -0.03522143
+v -0.03837101 0.03957439 -0.03522143
+v -0.03687337 0.03972292 -0.03522143
+v -0.03687337 0.03957579 -0.03674658
+v -0.03522608 0.03960102 -0.03680401
+v -0.03522608 0.03974955 -0.03522143
+v -0.03365999 0.03960241 -0.03522143
+v -0.03363215 0.03963744 -0.03357454
+v -0.03193033 0.03943005 -0.03357455
+v -0.02994082 0.03747805 -0.02204174
+v -0.02994082 0.03234661 -0.01743414
+v -0.03738960 0.02546646 -0.03122486
+v -0.03660539 0.02546646 -0.03094693
+v -0.03656595 0.02546646 -0.03093315
+v -0.03528988 0.02546646 -0.03090329
+v -0.04016912 0.03936139 -0.03357455
+v -0.04016912 0.03905171 -0.03192766
+v -0.04008095 0.03834126 -0.03041399
+v -0.03743716 0.02546646 -0.03126620
+v -0.03940115 0.02955815 -0.02940797
+v -0.03978514 0.02918681 -0.03027851
+v -0.02994082 0.03374647 -0.01660496
+v -0.03610773 0.03280205 -0.02444892
+v -0.03614369 0.03374650 -0.02440988
+v -0.03611701 0.03472458 -0.02443973
+v -0.02994082 0.03425373 -0.01662792
+v -0.02994082 0.03538174 -0.01710108
+v -0.03947308 0.03805820 -0.02934823
+v -0.03845918 0.03961081 -0.03357454
+v -0.03687337 0.03975234 -0.03357454
+v -0.03522608 0.03978036 -0.03357454
+v -0.03388852 0.03957998 -0.03224692
+v -0.03357878 0.03936278 -0.03027848
+v -0.03193033 0.03922126 -0.03192766
+v -0.02994082 0.03716135 -0.02039485
+v -0.02994082 0.03281603 -0.01709879
+v -0.03865059 0.03947209 -0.03180133
+v -0.03852066 0.03920584 -0.03027848
+v -0.02994082 0.03612302 -0.01782231
+v -0.02994082 0.03645932 -0.01826102
+v -0.03818772 0.03954775 -0.03226760
+v -0.03687337 0.03945386 -0.03027848
+v -0.03522608 0.03963043 -0.03197359
+v -0.03522608 0.03945666 -0.03027848
+v -0.02994082 0.03668072 -0.01887660
+f 1 2 7
+f 1 7 15
+f 1 15 25
+f 1 25 28
+f 1 28 44
+f 1 44 72
+f 1 72 98
+f 1 98 120
+f 1 120 127
+f 1 127 126
+f 1 126 125
+f 1 125 124
+f 1 124 123
+f 1 123 122
+f 1 122 153
+f 1 153 152
+f 1 152 151
+f 1 151 150
+f 1 150 157
+f 1 157 133
+f 1 133 132
+f 1 132 131
+f 1 131 103
+f 1 103 77
+f 1 77 76
+f 1 76 49
+f 1 49 32
+f 1 32 17
+f 1 17 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 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 8 16 9
+f 8 17 16
+f 9 18 19
+f 9 19 10
+f 9 16 18
+f 10 20 11
+f 10 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 25 15
+f 14 24 26
+f 14 26 27
+f 14 27 28
+f 14 28 25
+f 16 29 30
+f 16 30 18
+f 16 17 31
+f 16 31 29
+f 17 32 31
+f 18 30 33
+f 18 33 34
+f 18 34 19
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 38 23
+f 22 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 40
+f 24 40 26
+f 26 40 41
+f 26 41 27
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 27 41 42
+f 29 45 30
+f 29 31 46
+f 29 46 47
+f 29 47 45
+f 30 48 33
+f 30 45 48
+f 31 32 49
+f 31 49 50
+f 31 50 51
+f 31 51 46
+f 33 48 52
+f 33 52 53
+f 33 53 34
+f 34 54 35
+f 34 53 54
+f 35 55 36
+f 35 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 37
+f 37 58 38
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 40
+f 40 60 61
+f 40 61 41
+f 41 61 62
+f 41 62 42
+f 42 63 43
+f 42 62 64
+f 42 64 65
+f 42 65 66
+f 42 66 67
+f 42 67 68
+f 42 68 63
+f 43 63 68
+f 43 68 69
+f 43 69 44
+f 44 69 70
+f 44 70 71
+f 44 71 72
+f 45 73 48
+f 45 47 73
+f 46 51 74
+f 46 74 47
+f 47 74 75
+f 47 75 73
+f 48 73 52
+f 49 76 50
+f 50 76 77
+f 50 77 78
+f 50 78 79
+f 50 79 51
+f 51 79 80
+f 51 80 74
+f 52 73 81
+f 52 81 53
+f 53 81 82
+f 53 82 83
+f 53 83 54
+f 54 83 55
+f 55 83 82
+f 55 82 56
+f 56 82 84
+f 56 84 85
+f 56 85 57
+f 57 85 86
+f 57 86 87
+f 57 87 58
+f 58 87 88
+f 58 88 59
+f 59 88 89
+f 59 89 62
+f 59 62 61
+f 59 61 60
+f 62 90 91
+f 62 91 92
+f 62 92 93
+f 62 93 94
+f 62 94 95
+f 62 95 64
+f 62 89 90
+f 64 95 94
+f 64 94 93
+f 64 93 92
+f 64 92 119
+f 64 119 118
+f 64 118 117
+f 64 117 116
+f 64 116 148
+f 64 148 173
+f 64 173 183
+f 64 183 178
+f 64 178 177
+f 64 177 165
+f 64 165 164
+f 64 164 160
+f 64 160 174
+f 64 174 149
+f 64 149 121
+f 64 121 99
+f 64 99 97
+f 64 97 71
+f 64 71 70
+f 64 70 96
+f 64 96 68
+f 64 68 67
+f 64 67 66
+f 64 66 65
+f 68 96 69
+f 69 96 70
+f 71 97 72
+f 72 97 99
+f 72 99 98
+f 73 75 100
+f 73 100 81
+f 74 101 75
+f 74 80 102
+f 74 102 101
+f 75 101 100
+f 77 103 78
+f 78 104 79
+f 78 103 104
+f 79 104 105
+f 79 105 106
+f 79 106 80
+f 80 106 107
+f 80 107 102
+f 81 100 108
+f 81 108 84
+f 81 84 82
+f 84 108 109
+f 84 109 85
+f 85 109 110
+f 85 110 86
+f 86 110 111
+f 86 111 112
+f 86 112 87
+f 87 112 113
+f 87 113 88
+f 88 113 89
+f 89 113 90
+f 90 114 115
+f 90 115 116
+f 90 116 91
+f 90 113 114
+f 91 116 117
+f 91 117 118
+f 91 118 119
+f 91 119 92
+f 98 99 120
+f 99 121 122
+f 99 122 123
+f 99 123 124
+f 99 124 125
+f 99 125 126
+f 99 126 127
+f 99 127 120
+f 100 101 128
+f 100 128 108
+f 101 102 128
+f 102 129 128
+f 102 107 130
+f 102 130 129
+f 103 131 104
+f 104 131 132
+f 104 132 133
+f 104 133 134
+f 104 134 105
+f 105 134 135
+f 105 135 106
+f 106 135 107
+f 107 135 136
+f 107 136 137
+f 107 137 130
+f 108 128 138
+f 108 138 109
+f 109 138 139
+f 109 139 140
+f 109 140 141
+f 109 141 142
+f 109 142 110
+f 110 142 143
+f 110 143 111
+f 111 143 112
+f 112 143 144
+f 112 144 145
+f 112 145 114
+f 112 114 113
+f 114 145 146
+f 114 146 147
+f 114 147 115
+f 115 147 148
+f 115 148 116
+f 121 149 150
+f 121 150 151
+f 121 151 152
+f 121 152 153
+f 121 153 122
+f 128 129 138
+f 129 154 138
+f 129 130 155
+f 129 155 154
+f 130 137 156
+f 130 156 155
+f 133 157 149
+f 133 149 158
+f 133 158 159
+f 133 159 134
+f 134 159 158
+f 134 158 160
+f 134 160 161
+f 134 161 162
+f 134 162 135
+f 135 162 136
+f 136 162 137
+f 137 162 163
+f 137 163 164
+f 137 164 165
+f 137 165 166
+f 137 166 156
+f 138 154 139
+f 139 154 167
+f 139 167 140
+f 140 167 141
+f 141 167 168
+f 141 168 169
+f 141 169 144
+f 141 144 143
+f 141 143 142
+f 144 169 146
+f 144 146 145
+f 146 169 170
+f 146 170 147
+f 147 170 171
+f 147 171 172
+f 147 172 148
+f 148 172 171
+f 148 171 173
+f 149 174 158
+f 149 157 150
+f 154 155 175
+f 154 175 167
+f 155 156 176
+f 155 176 175
+f 156 166 176
+f 158 174 160
+f 160 164 162
+f 160 162 161
+f 162 164 163
+f 165 177 166
+f 166 177 178
+f 166 178 176
+f 167 175 179
+f 167 179 168
+f 168 179 180
+f 168 180 169
+f 169 181 170
+f 169 180 181
+f 170 181 171
+f 171 182 173
+f 171 181 182
+f 173 182 180
+f 173 180 183
+f 175 176 180
+f 175 180 179
+f 176 178 183
+f 176 183 180
+f 180 182 181
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_40.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00706974 0.02403022 -0.00695841
+v -0.00706974 0.02403022 -0.00226797
+v -0.00706974 0.02844103 -0.00695841
+v -0.00706974 0.02844103 -0.00226797
+v -0.00606974 0.02403022 -0.00695841
+v -0.00606974 0.02403022 -0.00226797
+v -0.00606974 0.02844103 -0.00695841
+v -0.00606974 0.02844103 -0.00226797
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_5.obj

@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v 0.05541530 0.02062077 -0.00083639
+v 0.05541530 0.01897868 -0.00083739
+v 0.05706354 0.01897868 -0.00114315
+v 0.05706354 0.02062077 -0.00114314
+v 0.05541530 0.02226286 -0.00083738
+v 0.04991367 0.03374288 -0.00142026
+v 0.05541530 0.01734146 -0.00085121
+v 0.04991367 0.03223236 -0.00143013
+v 0.05634379 -0.01306401 -0.00141846
+v 0.05721338 0.01749738 -0.00120925
+v 0.05788809 0.01815033 -0.00144497
+v 0.05788809 0.02145888 -0.00144496
+v 0.05722637 0.02210693 -0.00120430
+v 0.05695354 0.02390008 -0.00118850
+v 0.05626497 0.03135528 -0.00143506
+v 0.05541530 0.02390008 -0.00092416
+v 0.05299101 0.03458099 -0.00143801
+v 0.05212056 0.03460048 -0.00143308
+v 0.05047232 0.03461022 -0.00143308
+v 0.04991367 0.03461022 -0.00143308
+v 0.05449807 -0.01306401 -0.00141452
+v 0.05541530 -0.01306401 -0.00138788
+v 0.05584750 -0.01306401 -0.00140169
+v 0.04991367 0.03156480 -0.00144887
+v 0.05672748 -0.01306401 -0.00165124
+v 0.05821895 0.01749739 -0.00211471
+v 0.05830210 0.01897869 -0.00226857
+v 0.05822241 0.02210694 -0.00210581
+v 0.05716834 -0.01306401 -0.00192149
+v 0.05757109 -0.01306401 -0.00230420
+v 0.05803446 -0.01306401 -0.00274509
+v 0.05788463 0.02255036 -0.00144694
+v 0.05805005 0.02882149 -0.00270548
+v 0.05797817 0.03000067 -0.00286921
+v 0.05668071 0.03198385 -0.00219750
+v 0.05577301 0.03244676 -0.00159978
+v 0.05467476 0.03300224 -0.00143309
+v 0.05777809 0.02390009 -0.00152485
+v 0.05409013 0.03409372 -0.00161851
+v 0.05484539 0.03475640 -0.00271729
+v 0.05363195 0.03496593 -0.00220834
+v 0.05151427 0.03625718 -0.00294809
+v 0.05047232 0.03631079 -0.00280606
+v 0.05047232 0.03543370 -0.00198247
+v 0.04991367 0.03543370 -0.00195781
+v 0.05405808 -0.01306401 -0.00164433
+v 0.04991367 -0.01306400 -0.00515570
+v 0.05268094 -0.01306401 -0.00266914
+v 0.05314259 -0.01306401 -0.00228644
+v 0.05367526 -0.01306401 -0.00184555
+v 0.05830296 0.02062078 -0.00226856
+v 0.05874469 0.01734147 -0.00391675
+v 0.05826399 0.02390009 -0.00234943
+v 0.05836273 -0.01306401 -0.00391686
+v 0.05836793 0.02882149 -0.00391670
+v 0.05868146 0.02390009 -0.00391672
+v 0.05809076 0.03051230 -0.00390486
+v 0.05783872 0.03109702 -0.00334857
+v 0.05644946 0.03318740 -0.00269856
+v 0.05530877 0.03364056 -0.00215903
+v 0.05508184 0.03493182 -0.00391668
+v 0.05362502 0.03578941 -0.00403011
+v 0.05261252 0.03612075 -0.00355568
+v 0.05590553 0.03424477 -0.00391668
+v 0.05208592 0.03633028 -0.00403011
+v 0.05047232 0.03655442 -0.00391668
+v 0.04991367 0.03632540 -0.00278239
+v 0.04991367 -0.01306399 -0.00792436
+v 0.05874555 0.02226287 -0.00391673
+v 0.05875768 0.01734148 -0.00556394
+v 0.05876114 0.01897870 -0.00556393
+v 0.05844674 -0.01306400 -0.00468325
+v 0.05854288 -0.01306400 -0.00556405
+v 0.05852643 0.02882150 -0.00556389
+v 0.05826052 0.03046359 -0.00556389
+v 0.05794179 0.03140401 -0.00444734
+v 0.05752085 0.03201309 -0.00390485
+v 0.05664174 0.03342616 -0.00391669
+v 0.05601726 0.03435198 -0.00556387
+v 0.05519357 0.03501466 -0.00556387
+v 0.05382683 0.03583327 -0.00556387
+v 0.05297976 0.03621821 -0.00465446
+v 0.05212056 0.03644723 -0.00556387
+v 0.05047232 0.03669573 -0.00556387
+v 0.04991367 0.03657391 -0.00391668
+v 0.05133239 -0.01306399 -0.00795099
+v 0.04991367 0.01734149 -0.00797258
+v 0.05268008 0.02062081 -0.00994031
+v 0.05268268 0.01897872 -0.00993736
+v 0.05268614 0.01734150 -0.00993244
+v 0.05376880 0.01734150 -0.01054496
+v 0.05541530 0.01734150 -0.01090694
+v 0.05876114 0.02062079 -0.00556392
+v 0.05875854 0.02226288 -0.00556392
+v 0.05870571 0.02390010 -0.00556391
+v 0.05869965 0.01734149 -0.00721113
+v 0.05870485 0.01897871 -0.00721112
+v 0.05870658 0.02062080 -0.00721111
+v 0.05821462 -0.01306399 -0.00700706
+v 0.05857493 0.01734149 -0.00885930
+v 0.05807517 0.03046359 -0.00675539
+v 0.05867713 0.02390011 -0.00721110
+v 0.05858013 0.02390011 -0.00885927
+v 0.05794266 0.03140401 -0.00651668
+v 0.05796951 0.03146249 -0.00556388
+v 0.05755290 0.03228110 -0.00556388
+v 0.05672921 0.03353337 -0.00556388
+v 0.05499350 0.03486849 -0.00681751
+v 0.05656552 0.03332873 -0.00682639
+v 0.05298755 0.03622309 -0.00643283
+v 0.05300314 0.03622796 -0.00556387
+v 0.04991367 0.03671523 -0.00556387
+v 0.05212056 0.03633029 -0.00664588
+v 0.05047232 0.03645211 -0.00687965
+v 0.04991367 0.03655443 -0.00643382
+v 0.05371596 -0.01306399 -0.00797171
+v 0.04991367 0.02389036 -0.00797452
+v 0.05267834 0.02226290 -0.00994130
+v 0.05376880 0.02062081 -0.01055480
+v 0.05376880 0.01897872 -0.01055086
+v 0.05541530 0.01897872 -0.01090891
+v 0.05706354 0.01897872 -0.01061399
+v 0.05706354 0.01734150 -0.01060907
+v 0.05714582 -0.01306399 -0.00782277
+v 0.05646245 -0.01306399 -0.00789576
+v 0.05541530 -0.01306399 -0.00798058
+v 0.05870571 0.02226289 -0.00721111
+v 0.05858013 0.01897871 -0.00885929
+v 0.05858186 0.02062080 -0.00885928
+v 0.05858273 0.02226289 -0.00885928
+v 0.05818950 0.01734150 -0.00999655
+v 0.05819470 0.01897872 -0.01000147
+v 0.05808730 0.02507443 -0.00989000
+v 0.05819643 0.02226290 -0.01000245
+v 0.05819123 0.02390012 -0.00999751
+v 0.05709385 0.03201311 -0.00703747
+v 0.05362935 0.03539962 -0.00698124
+v 0.05549239 0.03382574 -0.00721797
+v 0.05376880 0.03374290 -0.00786797
+v 0.05212056 0.03538500 -0.00741918
+v 0.04991367 0.03646186 -0.00689543
+v 0.05047232 0.03538500 -0.00765195
+v 0.04991367 0.02390011 -0.00797452
+v 0.05268008 0.02390012 -0.00993734
+v 0.05376880 0.02390012 -0.01055183
+v 0.05376880 0.02226290 -0.01055579
+v 0.05541530 0.02062081 -0.01091087
+v 0.05706354 0.02062081 -0.01061595
+v 0.05819643 0.02062081 -0.01000245
+v 0.05696220 0.02559093 -0.01007444
+v 0.05706354 0.02390012 -0.01061200
+v 0.05706354 0.02226290 -0.01061694
+v 0.05541530 0.02390012 -0.01091185
+v 0.04991367 0.03575532 -0.00740635
+v 0.04991367 0.03538500 -0.00766773
+v 0.04991367 0.03374290 -0.00793011
+v 0.04991367 0.03429839 -0.00785218
+v 0.05541530 0.02226290 -0.01091186
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 6 20 45
+f 6 45 67
+f 6 67 85
+f 6 85 112
+f 6 112 115
+f 6 115 141
+f 6 141 154
+f 6 154 155
+f 6 155 157
+f 6 157 156
+f 6 156 143
+f 6 143 117
+f 6 117 87
+f 6 87 68
+f 6 68 47
+f 6 47 24
+f 6 24 8
+f 7 8 21
+f 7 21 22
+f 7 22 23
+f 7 23 9
+f 8 24 21
+f 9 23 22
+f 9 22 21
+f 9 21 46
+f 9 46 50
+f 9 50 49
+f 9 49 48
+f 9 48 47
+f 9 47 68
+f 9 68 86
+f 9 86 116
+f 9 116 126
+f 9 126 125
+f 9 125 124
+f 9 124 99
+f 9 99 73
+f 9 73 72
+f 9 72 54
+f 9 54 31
+f 9 31 30
+f 9 30 29
+f 9 29 25
+f 9 25 11
+f 9 11 10
+f 11 26 27
+f 11 27 28
+f 11 28 12
+f 11 25 29
+f 11 29 30
+f 11 30 31
+f 11 31 26
+f 12 28 32
+f 12 32 13
+f 13 32 14
+f 14 32 15
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 16
+f 15 32 38
+f 15 38 33
+f 16 37 17
+f 17 37 39
+f 17 39 40
+f 17 40 41
+f 17 41 42
+f 17 42 43
+f 17 43 44
+f 17 44 45
+f 17 45 18
+f 18 45 19
+f 19 45 20
+f 21 24 46
+f 24 47 48
+f 24 48 49
+f 24 49 50
+f 24 50 46
+f 26 31 27
+f 27 51 28
+f 27 31 52
+f 27 52 51
+f 28 51 53
+f 28 53 32
+f 31 54 52
+f 32 53 33
+f 32 33 38
+f 33 55 34
+f 33 53 56
+f 33 56 55
+f 34 55 57
+f 34 57 58
+f 34 58 35
+f 35 58 59
+f 35 59 36
+f 36 59 60
+f 36 60 39
+f 36 39 37
+f 39 60 40
+f 40 61 62
+f 40 62 63
+f 40 63 42
+f 40 42 41
+f 40 60 59
+f 40 59 64
+f 40 64 61
+f 42 63 65
+f 42 65 66
+f 42 66 43
+f 43 66 67
+f 43 67 44
+f 44 67 45
+f 51 52 69
+f 51 69 53
+f 52 70 71
+f 52 71 69
+f 52 54 72
+f 52 72 73
+f 52 73 70
+f 53 69 56
+f 55 74 75
+f 55 75 57
+f 55 56 74
+f 56 69 74
+f 57 75 76
+f 57 76 58
+f 58 76 77
+f 58 77 59
+f 59 78 64
+f 59 77 78
+f 61 64 79
+f 61 79 80
+f 61 80 81
+f 61 81 62
+f 62 81 82
+f 62 82 63
+f 63 82 65
+f 64 78 79
+f 65 83 84
+f 65 84 66
+f 65 82 83
+f 66 84 112
+f 66 112 85
+f 66 85 67
+f 68 87 88
+f 68 88 89
+f 68 89 90
+f 68 90 91
+f 68 91 92
+f 68 92 86
+f 69 71 93
+f 69 93 94
+f 69 94 95
+f 69 95 74
+f 70 96 97
+f 70 97 71
+f 70 73 96
+f 71 97 98
+f 71 98 93
+f 73 99 100
+f 73 100 96
+f 74 101 75
+f 74 95 102
+f 74 102 103
+f 74 103 101
+f 75 104 105
+f 75 105 76
+f 75 101 104
+f 76 105 106
+f 76 106 77
+f 77 106 78
+f 78 106 107
+f 78 107 79
+f 79 108 80
+f 79 107 109
+f 79 109 108
+f 80 108 110
+f 80 110 81
+f 81 110 111
+f 81 111 82
+f 82 111 83
+f 83 111 110
+f 83 110 84
+f 84 110 113
+f 84 113 114
+f 84 114 115
+f 84 115 112
+f 86 92 116
+f 87 117 118
+f 87 118 88
+f 88 118 119
+f 88 119 120
+f 88 120 89
+f 89 120 91
+f 89 91 90
+f 91 120 92
+f 92 120 119
+f 92 119 121
+f 92 121 122
+f 92 122 123
+f 92 123 124
+f 92 124 125
+f 92 125 126
+f 92 126 116
+f 93 98 127
+f 93 127 94
+f 94 127 102
+f 94 102 95
+f 96 100 128
+f 96 128 97
+f 97 128 129
+f 97 129 98
+f 98 129 130
+f 98 130 127
+f 99 124 131
+f 99 131 100
+f 100 131 132
+f 100 132 128
+f 101 103 133
+f 101 133 104
+f 102 127 103
+f 103 127 130
+f 103 130 134
+f 103 134 135
+f 103 135 133
+f 104 136 109
+f 104 109 107
+f 104 107 106
+f 104 106 105
+f 104 133 136
+f 108 137 110
+f 108 109 138
+f 108 138 139
+f 108 139 137
+f 109 136 133
+f 109 133 138
+f 110 137 113
+f 113 137 140
+f 113 140 114
+f 114 141 115
+f 114 140 142
+f 114 142 141
+f 117 143 118
+f 118 143 144
+f 118 144 145
+f 118 145 146
+f 118 146 119
+f 119 146 158
+f 119 158 147
+f 119 147 121
+f 121 147 148
+f 121 148 122
+f 122 148 132
+f 122 132 123
+f 123 132 131
+f 123 131 124
+f 128 149 129
+f 128 132 149
+f 129 149 130
+f 130 149 134
+f 132 148 149
+f 133 150 139
+f 133 139 138
+f 133 135 151
+f 133 151 150
+f 134 152 151
+f 134 151 135
+f 134 149 152
+f 137 139 140
+f 139 142 140
+f 139 150 153
+f 139 153 142
+f 141 142 154
+f 142 155 154
+f 142 153 155
+f 143 156 144
+f 144 156 145
+f 145 153 146
+f 145 156 157
+f 145 157 155
+f 145 155 153
+f 146 153 158
+f 147 158 152
+f 147 152 148
+f 148 152 149
+f 150 151 153
+f 151 152 153
+f 152 158 153
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_6.obj

@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00145068 -0.02696546 -0.00804765
+v 0.00145068 -0.02696547 -0.00469974
+v 0.00145068 -0.02656823 -0.00814027
+v 0.02879133 -0.02696546 -0.00791129
+v 0.02879133 -0.02696547 -0.00515770
+v 0.00145068 0.02787378 -0.00455657
+v 0.00145068 -0.02530675 -0.00828103
+v 0.00145068 -0.02459818 -0.00830087
+v 0.00145068 -0.02366952 -0.00830859
+v 0.02879133 -0.02366952 -0.00791312
+v 0.02879133 0.02787378 -0.00508325
+v 0.00145068 0.02787379 -0.00797651
+v 0.00145068 -0.02294484 -0.00830895
+v 0.00145068 -0.01874172 -0.00830967
+v 0.02879133 -0.01520959 -0.00791382
+v 0.02879133 0.02787379 -0.00791256
+v 0.00145068 0.02553873 -0.00825879
+v 0.00145068 0.02225889 -0.00831136
+v 0.02879133 -0.01028715 -0.00791380
+v 0.00145068 0.02390149 -0.00830951
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 20
+f 1 20 18
+f 1 18 14
+f 1 14 13
+f 1 13 9
+f 1 9 8
+f 1 8 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 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 15
+f 4 15 19
+f 4 19 16
+f 4 16 11
+f 4 11 5
+f 5 11 6
+f 6 11 16
+f 6 16 12
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 12 16 17
+f 14 18 15
+f 15 18 19
+f 16 19 18
+f 16 18 20
+f 16 20 17
+

dataset/bedroom_supplies/storage/d7fc4343ccbb57008b25bac8ab801b09/mjcf/mesh/remote_holder_035_collision_7.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v -0.02529740 0.02226113 0.04881233
+v -0.02529477 0.02390301 0.04881234
+v -0.02520164 0.02390302 0.04716445
+v -0.02520340 0.02226114 0.04716444
+v -0.02520340 0.01898007 0.04716443
+v -0.02529477 0.01898006 0.04881232
+v -0.02519901 -0.00018066 0.05045854
+v -0.02519638 0.00421927 0.05045856
+v -0.02487397 0.02390300 0.05045863
+v -0.02513576 0.02554220 0.04881234
+v -0.02511204 0.02554221 0.04716445
+v -0.02519374 0.00586115 0.05045856
+v -0.02517002 0.00750034 0.05045857
+v -0.02469475 0.02554221 0.04579295
+v -0.02473604 0.02390302 0.04566929
+v -0.02473604 0.01734088 0.04567573
+v -0.02520077 0.01734088 0.04716442
+v -0.02525436 -0.00018065 0.04881225
+v -0.02523678 -0.00018065 0.04933677
+v -0.02507075 -0.00018066 0.05083677
+v -0.02479490 -0.00018066 0.05164577
+v -0.02479139 0.00586115 0.05164256
+v -0.02455858 0.02390300 0.05133955
+v -0.02454365 0.02483853 0.05132097
+v -0.02478172 0.00750034 0.05163125
+v -0.02482389 0.02736202 0.04896187
+v -0.02492667 0.02736203 0.04733983
+v -0.02492931 0.02736203 0.04716446
+v -0.02458670 0.02554221 0.04549472
+v -0.02462184 0.02502727 0.04549472
+v -0.02462447 0.02736203 0.04622210
+v -0.02459285 0.02736203 0.04612835
+v -0.02467806 0.02390302 0.04549472
+v -0.02467806 0.02355523 0.04549472
+v -0.02467543 0.01734088 0.04549469
+v -0.02490559 -0.00018064 0.04716436
+v -0.02501716 -0.00018065 0.04768968
+v -0.02386457 -0.00018066 0.05247012
+v -0.02385755 0.00586115 0.05246610
+v -0.02386282 0.00258008 0.05246851
+v -0.02386106 0.00421927 0.05246772
+v -0.02368887 0.02390300 0.05204187
+v -0.02383822 0.00750034 0.05245480
+v -0.02254946 0.02390300 0.05280884
+v -0.02374334 0.02544783 0.05176385
+v -0.02323118 0.02680933 0.05157879
+v -0.02432930 0.02593042 0.05092577
+v -0.02454365 0.02736202 0.04973127
+v -0.02449006 0.02629980 0.04549473
+v -0.02399898 0.02736203 0.04549473
+v -0.02342181 -0.00018064 0.04549463
+v -0.02456913 -0.00018064 0.04626726
+v -0.02304054 -0.00018066 0.05302454
+v -0.02303879 0.00258008 0.05302374
+v -0.02303351 0.00586115 0.05302052
+v -0.02301419 0.00750034 0.05301002
+v -0.02303703 0.00421927 0.05302213
+v -0.02172543 0.02390299 0.05311030
+v -0.02155500 0.02515666 0.05305049
+v -0.02207947 0.02563925 0.05270944
+v -0.02210934 0.02736201 0.05184549
+v -0.02297641 0.02736201 0.05140503
+v -0.02384876 0.02736201 0.05056370
+v -0.02387424 0.02736201 0.05053622
+v -0.01961704 0.02736203 0.04549473
+v -0.01915056 -0.00018064 0.04549463
+v -0.02272253 -0.00018067 0.05313607
+v -0.02204081 0.00258007 0.05337288
+v -0.02204081 0.00421926 0.05337127
+v -0.02204081 0.00586114 0.05336804
+v -0.02204081 0.00750033 0.05334865
+v -0.02039363 0.02390299 0.05350146
+v -0.02045952 0.02563924 0.05321213
+v -0.02105163 0.02624855 0.05289695
+v -0.02044986 0.02736201 0.05246052
+v -0.01912596 0.02736203 0.04549716
+v -0.01914353 0.02720566 0.04549473
+v -0.01737424 -0.00018065 0.04770827
+v -0.01914968 0.00258010 0.04549464
+v -0.01731450 0.02736202 0.04768331
+v -0.02204081 -0.00018067 0.05337449
+v -0.02039363 0.00421926 0.05372526
+v -0.02039363 0.00586114 0.05372364
+v -0.02039363 0.00750033 0.05370749
+v -0.01874557 0.02390299 0.05374634
+v -0.01874557 0.02554218 0.05347641
+v -0.01995351 0.02650198 0.05301979
+v -0.02020212 0.02736201 0.05251548
+v -0.01682694 -0.00018065 0.04845988
+v -0.01658710 0.02736202 0.04868628
+v -0.01657041 -0.00018065 0.04881225
+v -0.02151635 -0.00018067 0.05348683
+v -0.02039363 0.00258007 0.05372606
+v -0.01874557 0.02062192 0.05375037
+v -0.01874557 0.02226111 0.05374876
+v -0.01730045 0.02390299 0.05335518
+v -0.01749635 0.02554218 0.05321375
+v -0.01776868 0.02657208 0.05302545
+v -0.01874557 0.02662330 0.05306909
+v -0.01885187 0.02736201 0.05267227
+v -0.01651858 0.02736202 0.04882609
+v -0.01650365 -0.00018066 0.05045854
+v -0.01632443 0.01898005 0.05045861
+v -0.02039363 -0.00018067 0.05372686
+v -0.01874557 0.01898004 0.05375117
+v -0.01729869 0.02062192 0.05335759
+v -0.01651068 0.02390300 0.05210653
+v -0.01679443 0.02554219 0.05210653
+v -0.01739093 0.02736201 0.05213078
+v -0.01874557 0.02736201 0.05268197
+v -0.01653791 0.02736202 0.05030104
+v -0.01640877 0.02554219 0.05045863
+v -0.01632268 0.02390300 0.05045863
+v -0.01682957 -0.00018066 0.05158192
+v -0.01650716 0.01898005 0.05210651
+v -0.01874557 -0.00018067 0.05365493
+v -0.01729781 0.01898004 0.05335758
+v -0.01656075 0.02736201 0.05045864
+v -0.01728551 0.02736201 0.05194894
+v -0.01698243 -0.00018066 0.05210644
+v -0.01759650 -0.00018067 0.05320881
+v -0.01740059 -0.00018066 0.05285725
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 12
+f 1 12 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 12 13
+f 2 13 9
+f 3 11 14
+f 3 14 15
+f 3 15 4
+f 4 15 5
+f 5 16 17
+f 5 17 6
+f 5 15 16
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 18
+f 7 18 37
+f 7 37 36
+f 7 36 52
+f 7 52 51
+f 7 51 66
+f 7 66 78
+f 7 78 89
+f 7 89 91
+f 7 91 102
+f 7 102 114
+f 7 114 120
+f 7 120 122
+f 7 122 121
+f 7 121 116
+f 7 116 104
+f 7 104 92
+f 7 92 81
+f 7 81 67
+f 7 67 53
+f 7 53 38
+f 7 38 21
+f 7 21 20
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 12
+f 9 23 24
+f 9 24 10
+f 9 13 25
+f 9 25 23
+f 10 24 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 11 28 14
+f 12 22 25
+f 12 25 13
+f 14 29 30
+f 14 30 15
+f 14 28 31
+f 14 31 32
+f 14 32 29
+f 15 33 34
+f 15 34 16
+f 15 30 33
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 17 36 37
+f 17 37 18
+f 21 38 22
+f 22 39 25
+f 22 38 40
+f 22 40 41
+f 22 41 39
+f 23 42 24
+f 23 25 43
+f 23 43 42
+f 24 42 44
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 48
+f 24 48 26
+f 25 39 43
+f 26 48 64
+f 26 64 63
+f 26 63 62
+f 26 62 61
+f 26 61 75
+f 26 75 88
+f 26 88 100
+f 26 100 110
+f 26 110 109
+f 26 109 119
+f 26 119 118
+f 26 118 111
+f 26 111 101
+f 26 101 90
+f 26 90 80
+f 26 80 76
+f 26 76 65
+f 26 65 50
+f 26 50 32
+f 26 32 31
+f 26 31 28
+f 26 28 27
+f 29 32 49
+f 29 49 50
+f 29 50 65
+f 29 65 77
+f 29 77 79
+f 29 79 66
+f 29 66 51
+f 29 51 35
+f 29 35 34
+f 29 34 33
+f 29 33 30
+f 32 50 49
+f 35 51 52
+f 35 52 36
+f 38 53 54
+f 38 54 40
+f 39 55 56
+f 39 56 43
+f 39 41 57
+f 39 57 55
+f 40 54 41
+f 41 54 57
+f 42 43 56
+f 42 56 44
+f 44 58 59
+f 44 59 60
+f 44 60 45
+f 44 56 58
+f 45 60 46
+f 46 61 62
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 46 60 61
+f 47 64 48
+f 53 67 54
+f 54 68 69
+f 54 69 57
+f 54 67 68
+f 55 57 69
+f 55 69 70
+f 55 70 56
+f 56 70 71
+f 56 71 58
+f 58 72 59
+f 58 71 72
+f 59 73 74
+f 59 74 60
+f 59 72 73
+f 60 74 61
+f 61 74 75
+f 65 76 77
+f 66 79 76
+f 66 76 80
+f 66 80 78
+f 67 81 68
+f 68 82 83
+f 68 83 69
+f 68 81 82
+f 69 83 70
+f 70 83 84
+f 70 84 71
+f 71 84 72
+f 72 85 73
+f 72 84 85
+f 73 86 87
+f 73 87 74
+f 73 85 86
+f 74 87 75
+f 75 87 88
+f 76 79 77
+f 78 80 89
+f 80 90 91
+f 80 91 89
+f 81 92 93
+f 81 93 82
+f 82 93 94
+f 82 94 83
+f 83 94 95
+f 83 95 85
+f 83 85 84
+f 85 96 97
+f 85 97 86
+f 85 95 96
+f 86 97 98
+f 86 98 99
+f 86 99 87
+f 87 99 100
+f 87 100 88
+f 90 101 91
+f 91 101 103
+f 91 103 102
+f 92 104 93
+f 93 104 105
+f 93 105 94
+f 94 105 106
+f 94 106 96
+f 94 96 95
+f 96 107 108
+f 96 108 97
+f 96 106 107
+f 97 108 109
+f 97 109 98
+f 98 109 110
+f 98 110 99
+f 99 110 100
+f 101 111 112
+f 101 112 113
+f 101 113 103
+f 102 103 115
+f 102 115 114
+f 103 113 115
+f 104 116 105
+f 105 117 106
+f 105 116 117
+f 106 117 115
+f 106 115 107
+f 107 113 112
+f 107 112 111
+f 107 111 118
+f 107 118 108
+f 107 115 113
+f 108 118 119
+f 108 119 109
+f 114 115 120
+f 115 117 121
+f 115 121 122
+f 115 122 120
+f 116 121 117
+