Add asset bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490

.gitattributes

@@ -2827,3 +2827,6 @@ dataset/bedroom_supplies/storage/b6b3a8b6096b5073bcc31df22c3ba1a4/mesh/storage_b
 dataset/bedroom_supplies/storage/b6b3a8b6096b5073bcc31df22c3ba1a4/storage_box_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/mesh/pill_organizer_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c340b6a2c9d950278f257d570eeeb462/pill_organizer_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.urdf

@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.311730</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>decorative basket with flowers, ribbons, and a curved handle</description>
+         <min_height>0.250</min_height>
+         <max_height>0.350</max_height>
+         <real_height>0.300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116160319</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.38040018081665</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/c343f0ebe1905a908752d9df7c4df490.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e7dbf4117a97025d4cfca96991457d8bd34ad349aa2d55282e162a2b083717
+size 655473

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:214f3313a0fbefb767f6b7a4cc93105ca4de3e6c3451643bf3868fb01cbc55a3
+size 4483848

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/basket_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d3986d28de0e31854a9b0adbe1f36d9cc305de380e7515aa5d074501ce26db0
+size 2719273

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mesh/material.mtl

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

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/c343f0ebe1905a908752d9df7c4df490.xml

@@ -0,0 +1,214 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="basket">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/basket.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/basket_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/basket_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/basket_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/basket_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/basket_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/basket_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/basket_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/basket_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/basket_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/basket_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/basket_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/basket_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/basket_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/basket_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/basket_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/basket_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/basket_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/basket_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/basket_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/basket_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/basket_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/basket_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/basket_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/basket_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/basket_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/basket_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/basket_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/basket_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/basket_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/basket_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/basket_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/basket_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/basket_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/basket_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/basket_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/basket_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/basket_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/basket_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/basket_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/basket_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/basket_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/basket_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/basket_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/basket_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/basket_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/basket_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/basket_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/basket_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/basket_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/basket_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/basket_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/basket_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/basket_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/basket_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/basket_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/basket_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/basket_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/basket_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/basket_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/basket_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/basket_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/basket_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/basket_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/basket_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/basket_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/basket_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/basket_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/basket_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/basket_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/basket_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/basket_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/basket_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/basket_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/basket_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/basket_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/basket_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/basket_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/basket_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/basket_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/basket_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/basket_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/basket_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/basket_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/basket_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/basket_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/basket_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/basket_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/basket_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/basket_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/basket_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/basket_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/basket_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/basket_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/basket_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/basket_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/basket_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/basket_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_97" file="mesh/basket_collision_97.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_98" file="mesh/basket_collision_98.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_99" file="mesh/basket_collision_99.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="basket">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_78" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_80" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_83" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_84" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_85" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_91" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_97" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_98" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_99" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_0.obj

@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01136462 0.04871503 -0.13393434
+v -0.00436094 0.04871503 -0.13417998
+v 0.01136462 0.04871507 -0.14473098
+v 0.01136462 0.08293679 -0.03682037
+v 0.00195945 0.07641806 -0.03917622
+v 0.00123290 0.07687740 -0.03682039
+v 0.00066028 0.07671502 -0.03682039
+v -0.00178876 0.07533703 -0.03917622
+v -0.00436094 0.04871507 -0.14468631
+v -0.00436094 0.07639024 -0.03682039
+v 0.01136462 0.06101482 -0.15043629
+v 0.01136462 0.09610878 -0.03682032
+v -0.00178876 0.07620002 -0.03682039
+v -0.00436094 0.06470335 -0.15073773
+v -0.00436094 0.09610878 -0.03682032
+v 0.01136462 0.06193811 -0.15064843
+v 0.01136462 0.09610881 -0.04546209
+v -0.00436094 0.06818309 -0.15073772
+v -0.00178876 0.06486572 -0.15077122
+v 0.01136462 0.06413267 -0.15087171
+v -0.00436094 0.09610884 -0.05309900
+v 0.00862313 0.09610882 -0.04904607
+v 0.01136462 0.06912956 -0.14737704
+v -0.00178876 0.06834084 -0.15077121
+v -0.00436094 0.07064674 -0.14717605
+v -0.00146089 0.07106895 -0.14694158
+v 0.01136462 0.06581223 -0.15084938
+v -0.00285857 0.09610884 -0.05412619
+v 0.00577078 0.09610883 -0.05260774
+v 0.01136462 0.06842435 -0.14908529
+v 0.00840915 0.06993223 -0.14737703
+v 0.00331096 0.06829444 -0.15076005
+v 0.00045862 0.07206182 -0.14493186
+v 0.00096353 0.07206182 -0.14493186
+v 0.00292306 0.07099008 -0.14694158
+v 0.00840915 0.06790008 -0.15068189
+v 0.01136462 0.06757066 -0.15048092
+v 0.00291074 0.09610884 -0.05431600
+v 0.00310624 0.09610884 -0.05421551
+f 1 2 9
+f 1 9 3
+f 1 3 11
+f 1 11 16
+f 1 16 20
+f 1 20 27
+f 1 27 37
+f 1 37 30
+f 1 30 23
+f 1 23 17
+f 1 17 12
+f 1 12 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 15
+f 2 15 21
+f 2 21 25
+f 2 25 18
+f 2 18 14
+f 2 14 9
+f 3 9 11
+f 4 12 15
+f 4 15 10
+f 4 10 13
+f 4 13 7
+f 4 7 6
+f 4 6 5
+f 7 13 8
+f 8 13 10
+f 9 14 11
+f 11 14 16
+f 12 17 22
+f 12 22 29
+f 12 29 39
+f 12 39 38
+f 12 38 28
+f 12 28 21
+f 12 21 15
+f 14 18 24
+f 14 24 19
+f 14 19 20
+f 14 20 16
+f 17 23 22
+f 18 25 26
+f 18 26 24
+f 19 24 20
+f 20 24 27
+f 21 28 25
+f 22 23 29
+f 23 30 31
+f 23 31 29
+f 24 26 32
+f 24 32 27
+f 25 33 26
+f 25 28 33
+f 26 34 35
+f 26 35 32
+f 26 33 34
+f 27 32 36
+f 27 36 37
+f 28 38 33
+f 29 31 34
+f 29 34 39
+f 30 37 31
+f 31 37 36
+f 31 36 35
+f 31 35 34
+f 32 35 36
+f 33 38 34
+f 34 38 39
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_1.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00822905 -0.09942433 -0.03682104
+v 0.01136462 -0.09941932 -0.03682104
+v -0.00436094 -0.09705552 -0.03682103
+v 0.00331096 -0.08478558 -0.08040270
+v 0.01136462 -0.07623695 -0.03682095
+v 0.00202256 -0.06761271 -0.13102428
+v 0.00354186 -0.06700171 -0.13271386
+v 0.00840915 -0.06490333 -0.13271385
+v 0.01136462 -0.06298024 -0.13271384
+v -0.00436094 -0.07633712 -0.03682095
+v -0.00436094 -0.06553936 -0.13271385
+v 0.00022465 -0.06761271 -0.13102428
+v 0.01136462 -0.07588138 -0.03757187
+v 0.00608941 -0.07589140 -0.03682095
+v 0.00322015 -0.06697167 -0.13271386
+v 0.01136462 -0.04826150 -0.13271379
+v -0.00178876 -0.07607169 -0.03682095
+v -0.00178876 -0.04946343 -0.13271379
+v -0.00436094 -0.05011950 -0.13271379
+v -0.00193500 -0.06633063 -0.13271385
+v -0.00177491 -0.06637070 -0.13271385
+v -0.00161174 -0.06641076 -0.13271385
+v 0.01136462 -0.07517524 -0.03917697
+v 0.00840915 -0.07509511 -0.03917697
+v 0.00098199 -0.07579124 -0.03682095
+v 0.00006457 -0.06184858 -0.08739560
+f 1 2 5
+f 1 5 14
+f 1 14 25
+f 1 25 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 16
+f 2 16 23
+f 2 23 13
+f 2 13 5
+f 3 10 19
+f 3 19 11
+f 3 11 12
+f 3 12 4
+f 4 12 6
+f 5 13 14
+f 6 12 7
+f 7 12 15
+f 7 15 22
+f 7 22 21
+f 7 21 20
+f 7 20 11
+f 7 11 19
+f 7 19 18
+f 7 18 16
+f 7 16 9
+f 7 9 8
+f 10 17 18
+f 10 18 19
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 15
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 16 24 23
+f 16 18 26
+f 16 26 25
+f 16 25 24
+f 17 25 26
+f 17 26 18
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_10.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.00339897 -0.06818364 0.07958133
+v 0.00341917 -0.06819228 0.07958133
+v -0.00096521 -0.06967776 0.07958132
+v 0.00056718 -0.06716885 0.08150599
+v 0.00288862 -0.03945855 0.11954558
+v 0.00727570 -0.07033847 0.07958132
+v 0.00290748 -0.03946719 0.11954558
+v -0.00098810 -0.06968642 0.07958132
+v 0.00021841 -0.04033948 0.11954557
+v 0.00286707 -0.03946286 0.11954558
+v 0.00748980 -0.07055007 0.07958132
+v 0.00809171 -0.04396251 0.11954556
+v -0.00126549 -0.07027369 0.07958132
+v -0.00155635 -0.04410072 0.11954556
+v 0.00942749 -0.07478630 0.07958131
+v 0.00829907 -0.04433821 0.11954556
+v -0.00348731 -0.07506267 0.07958130
+v -0.00306583 -0.04917038 0.11954554
+v 0.00950424 -0.07506267 0.07958130
+v 0.01022734 -0.05028882 0.11954554
+v -0.00199533 -0.08023166 0.07958129
+v -0.00340248 -0.07506269 0.08449857
+v -0.00342806 -0.06990237 0.09480649
+v -0.00350885 -0.05958605 0.11026251
+v -0.00351692 -0.05442139 0.11541452
+v -0.00300389 -0.05442141 0.11954552
+v 0.00944096 -0.07506269 0.08449857
+v 0.00786145 -0.08067213 0.07958128
+v 0.01023946 -0.05442139 0.11541452
+v 0.01014251 -0.05958605 0.11026251
+v 0.00979510 -0.05442141 0.11954552
+v 0.00019821 -0.08328902 0.07958127
+v -0.00081036 -0.08039579 0.08410736
+v -0.00046025 -0.07884984 0.08965447
+v -0.00272785 -0.07506271 0.08965448
+v -0.00266725 -0.06990239 0.09995458
+v -0.00329744 -0.06474206 0.10510659
+v -0.00260262 -0.05958606 0.11541450
+v -0.00087499 -0.05943494 0.11954550
+v 0.00878249 -0.07506271 0.08965448
+v 0.00964025 -0.06990237 0.09480649
+v 0.00782913 -0.08068507 0.07971037
+v 0.00781027 -0.08075849 0.07958128
+v 0.00961466 -0.05544916 0.11954552
+v 0.00933322 -0.05958606 0.11541450
+v 0.00973989 -0.06474206 0.10510659
+v 0.00326566 -0.08357402 0.07958127
+v 0.00067220 -0.08287878 0.08212792
+v 0.00024802 -0.07811144 0.09338644
+v -0.00112410 -0.07541251 0.09498642
+v -0.00092212 -0.07004491 0.10502833
+v -0.00146342 -0.06522574 0.11073584
+v -0.00039562 -0.07387089 0.09995457
+v -0.00039023 -0.06364525 0.11541449
+v -0.00017074 -0.06058362 0.11954550
+v 0.00742921 -0.07524410 0.09461088
+v 0.00744940 -0.07956234 0.08449856
+v 0.00890907 -0.06990239 0.09995458
+v 0.00770794 -0.08091395 0.07958128
+v 0.00753828 -0.05943927 0.11954550
+v 0.00704274 -0.06344661 0.11541449
+v 0.00813615 -0.06512210 0.11057545
+v 0.00353768 -0.08351356 0.07958127
+v 0.00493270 -0.08271036 0.08167024
+v 0.00326431 -0.08353083 0.07971036
+v 0.00153399 -0.08287878 0.08212792
+v 0.00331144 -0.07816756 0.09349599
+v 0.00331144 -0.07701459 0.09607393
+v 0.00035308 -0.07289066 0.10325622
+v -0.00017209 -0.06842125 0.10933145
+v 0.00047023 -0.06247069 0.11836410
+v 0.00171577 -0.06158113 0.11954549
+v 0.00610689 -0.07787824 0.09276053
+v 0.00669668 -0.07851734 0.08965447
+v 0.00677074 -0.07348658 0.09995457
+v 0.00735649 -0.06991968 0.10477407
+v 0.00721780 -0.05997905 0.11954550
+v 0.00685558 -0.06043679 0.11954550
+v 0.00611227 -0.06237569 0.11826238
+v 0.00678825 -0.06820966 0.10906544
+v 0.00331144 -0.07972214 0.08965447
+v 0.00326431 -0.08192876 0.08410736
+v 0.00331144 -0.07487274 0.09995456
+v 0.00605573 -0.07266179 0.10283374
+v 0.00331144 -0.07292089 0.10329926
+v 0.00331144 -0.07139223 0.10587721
+v 0.00331144 -0.06880990 0.10995735
+v 0.00331144 -0.06711282 0.11253531
+v 0.00331144 -0.06492778 0.11541448
+v 0.00331144 -0.06255707 0.11847753
+v 0.00331144 -0.06168045 0.11954549
+f 1 2 6
+f 1 6 11
+f 1 11 15
+f 1 15 19
+f 1 19 28
+f 1 28 43
+f 1 43 59
+f 1 59 63
+f 1 63 47
+f 1 47 32
+f 1 32 21
+f 1 21 17
+f 1 17 13
+f 1 13 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 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 9
+f 5 9 14
+f 5 14 18
+f 5 18 26
+f 5 26 39
+f 5 39 55
+f 5 55 72
+f 5 72 91
+f 5 91 78
+f 5 78 77
+f 5 77 60
+f 5 60 44
+f 5 44 31
+f 5 31 20
+f 5 20 16
+f 5 16 12
+f 5 12 7
+f 6 7 12
+f 6 12 11
+f 8 13 9
+f 9 13 14
+f 11 12 16
+f 11 16 15
+f 13 17 14
+f 14 17 18
+f 15 16 20
+f 15 20 19
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 19 27 28
+f 19 20 29
+f 19 29 30
+f 19 30 27
+f 20 31 29
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 37 26
+f 24 26 25
+f 26 37 38
+f 26 38 39
+f 27 40 28
+f 27 30 41
+f 27 41 40
+f 28 42 43
+f 28 40 42
+f 29 31 30
+f 30 31 44
+f 30 44 45
+f 30 45 46
+f 30 46 41
+f 32 47 48
+f 32 48 34
+f 32 34 33
+f 34 49 50
+f 34 50 35
+f 34 48 49
+f 35 50 36
+f 36 51 52
+f 36 52 38
+f 36 38 37
+f 36 50 53
+f 36 53 51
+f 38 52 54
+f 38 54 39
+f 39 54 55
+f 40 56 57
+f 40 57 42
+f 40 41 58
+f 40 58 56
+f 41 46 58
+f 42 59 43
+f 42 57 59
+f 44 60 45
+f 45 60 61
+f 45 61 62
+f 45 62 58
+f 45 58 46
+f 47 63 64
+f 47 64 65
+f 47 65 66
+f 47 66 48
+f 48 67 49
+f 48 66 67
+f 49 53 50
+f 49 67 68
+f 49 68 69
+f 49 69 53
+f 51 53 69
+f 51 69 70
+f 51 70 52
+f 52 70 54
+f 54 71 55
+f 54 70 71
+f 55 71 72
+f 56 73 74
+f 56 74 57
+f 56 58 75
+f 56 75 73
+f 57 64 59
+f 57 74 64
+f 58 62 76
+f 58 76 75
+f 59 64 63
+f 60 77 61
+f 61 77 78
+f 61 78 79
+f 61 79 80
+f 61 80 62
+f 62 80 76
+f 64 66 65
+f 64 74 73
+f 64 73 67
+f 64 67 81
+f 64 81 82
+f 64 82 66
+f 66 82 81
+f 66 81 67
+f 67 73 68
+f 68 83 69
+f 68 73 84
+f 68 84 83
+f 69 85 86
+f 69 86 87
+f 69 87 88
+f 69 88 71
+f 69 71 70
+f 69 83 85
+f 71 88 89
+f 71 89 90
+f 71 90 72
+f 72 90 91
+f 73 75 84
+f 75 76 80
+f 75 80 84
+f 78 91 79
+f 79 91 90
+f 79 90 89
+f 79 89 88
+f 79 88 84
+f 79 84 80
+f 83 84 85
+f 84 88 87
+f 84 87 86
+f 84 86 85
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_11.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.02728760 0.15574107 -0.09528801
+v -0.03238526 0.15572998 -0.09501233
+v -0.03238526 0.15681268 -0.09070011
+v -0.02728760 0.15676826 -0.09070011
+v -0.02218623 0.15547456 -0.09498084
+v -0.02728760 0.15300927 -0.09528802
+v -0.03238526 0.15310367 -0.09501234
+v -0.03580973 0.15533020 -0.09432710
+v -0.03238526 0.15595204 -0.08554908
+v -0.02728760 0.15591872 -0.08554908
+v -0.03656824 0.15567998 -0.09070012
+v -0.03609603 0.15523576 -0.08554908
+v -0.02218623 0.15619080 -0.09070012
+v -0.02203377 0.15527463 -0.08524190
+v -0.01854237 0.15502482 -0.09413414
+v -0.01444864 0.14988325 -0.09340561
+v -0.02218623 0.15273721 -0.09498085
+v -0.01444864 0.14935578 -0.09340561
+v -0.01532614 0.14935578 -0.09340561
+v -0.01709228 0.10733489 -0.06296818
+v -0.03580973 0.15364781 -0.09432711
+v -0.01995903 0.10769024 -0.06271614
+v -0.03518507 0.15474158 -0.08273728
+v -0.03238526 0.15487485 -0.08250099
+v -0.02728760 0.15489706 -0.08246556
+v -0.02363261 0.15476381 -0.08268608
+v -0.03656824 0.15303702 -0.09070013
+v -0.03611834 0.15186545 -0.08545851
+v -0.03512186 0.14973329 -0.07761778
+v -0.01889189 0.15491928 -0.08675808
+v -0.01825608 0.15515805 -0.09070012
+v -0.02023418 0.15446953 -0.08332012
+v -0.01570911 0.15323135 -0.09070013
+v -0.01373102 0.15064948 -0.09070014
+v -0.00418268 0.13433638 -0.07290786
+v -0.00418268 0.13259847 -0.07290786
+v 0.00075882 0.11332596 -0.06236563
+v -0.00024509 0.10357587 -0.05699409
+v -0.00110400 0.10009447 -0.05505655
+v -0.00513453 0.10839539 -0.06219631
+v -0.00853297 0.10793454 -0.06254680
+v -0.01199091 0.10751255 -0.06284611
+v -0.01199091 0.10493067 -0.06064077
+v -0.01199091 0.10395344 -0.05969564
+v -0.01778015 0.10606337 -0.05969563
+v -0.01995903 0.10769023 -0.06079829
+v -0.03539329 0.14883936 -0.08039412
+v -0.03536355 0.14912253 -0.08368637
+v -0.03238526 0.15284821 -0.07992548
+v -0.03238526 0.15026630 -0.07713338
+v -0.02728760 0.15315914 -0.07988610
+v -0.02203377 0.15315359 -0.08074066
+v -0.03512186 0.14896706 -0.07761778
+v -0.03038859 0.14066059 -0.07205721
+v -0.02728760 0.14156009 -0.07161613
+v -0.02728760 0.14413642 -0.07282512
+v -0.01715549 0.15368664 -0.08524191
+v -0.01278288 0.15097705 -0.08554910
+v -0.01827095 0.14989431 -0.07738148
+v -0.01487251 0.14931687 -0.07798795
+v -0.01318817 0.15032186 -0.08142198
+v -0.00893826 0.14499706 -0.07898824
+v -0.00418268 0.13433638 -0.07228564
+v 0.00075882 0.11333150 -0.06236563
+v 0.00141694 0.10573575 -0.05505653
+v 0.00102281 0.10701839 -0.05775414
+v 0.00096704 0.10189902 -0.05505655
+v -0.00436115 0.10046649 -0.05505655
+v -0.01808504 0.10629102 -0.05969563
+v -0.01895510 0.10900059 -0.05969562
+v -0.01944591 0.11077738 -0.05969561
+v -0.02050187 0.11074962 -0.06055805
+v -0.02728760 0.15057724 -0.07681832
+v -0.02728760 0.14686822 -0.07439641
+v -0.02218623 0.15031073 -0.07702311
+v -0.03038859 0.13771225 -0.07205722
+v -0.01748269 0.11376458 -0.05969560
+v -0.00436115 0.11083288 -0.05505651
+v -0.02218623 0.14406424 -0.07286056
+v -0.00893826 0.14499705 -0.07710977
+v -0.01709228 0.14367557 -0.07311655
+v -0.01199091 0.14305370 -0.07368756
+v -0.01199091 0.14600760 -0.07626307
+v -0.00380343 0.12955573 -0.06702828
+v 0.00102281 0.10912830 -0.05633247
+v 0.00075882 0.11333150 -0.06236171
+v 0.00139835 0.10596895 -0.05505653
+v -0.02218623 0.14686822 -0.07464057
+v -0.00232358 0.11053305 -0.05505651
+v -0.00877466 0.13973335 -0.07223048
+v -0.01199091 0.14047181 -0.07185636
+v -0.00227152 0.11052194 -0.05505651
+v 0.00038700 0.10863412 -0.05505652
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 6
+f 1 6 7
+f 1 7 2
+f 2 7 21
+f 2 21 8
+f 2 8 3
+f 3 9 10
+f 3 10 4
+f 3 8 11
+f 3 11 12
+f 3 12 9
+f 4 13 5
+f 4 10 14
+f 4 14 13
+f 5 13 15
+f 5 15 16
+f 5 16 18
+f 5 18 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 22
+f 7 22 21
+f 8 21 27
+f 8 27 11
+f 9 12 23
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 25 26
+f 10 26 14
+f 11 27 28
+f 11 28 12
+f 12 28 29
+f 12 29 23
+f 13 14 30
+f 13 30 31
+f 13 31 15
+f 14 26 32
+f 14 32 30
+f 15 31 33
+f 15 33 34
+f 15 34 16
+f 16 34 35
+f 16 35 36
+f 16 36 18
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 41
+f 18 41 42
+f 18 42 20
+f 18 20 19
+f 20 42 43
+f 20 43 44
+f 20 44 22
+f 21 22 27
+f 22 44 45
+f 22 45 69
+f 22 69 46
+f 22 46 47
+f 22 47 48
+f 22 48 27
+f 23 49 24
+f 23 29 50
+f 23 50 49
+f 24 49 51
+f 24 51 25
+f 25 51 26
+f 26 51 52
+f 26 52 32
+f 27 48 47
+f 27 47 28
+f 28 47 53
+f 28 53 29
+f 29 53 76
+f 29 76 54
+f 29 54 55
+f 29 55 56
+f 29 56 50
+f 30 32 57
+f 30 57 31
+f 31 57 58
+f 31 58 33
+f 32 52 59
+f 32 59 60
+f 32 60 61
+f 32 61 57
+f 33 58 34
+f 34 58 62
+f 34 62 35
+f 35 63 86
+f 35 86 64
+f 35 64 37
+f 35 37 36
+f 35 62 80
+f 35 80 63
+f 37 64 65
+f 37 65 66
+f 37 66 67
+f 37 67 38
+f 38 67 39
+f 39 67 65
+f 39 65 87
+f 39 87 93
+f 39 93 92
+f 39 92 89
+f 39 89 78
+f 39 78 68
+f 39 68 44
+f 39 44 43
+f 39 43 42
+f 39 42 41
+f 39 41 40
+f 44 68 45
+f 45 68 69
+f 46 70 71
+f 46 71 72
+f 46 72 53
+f 46 53 47
+f 46 69 70
+f 49 50 73
+f 49 73 51
+f 50 56 74
+f 50 74 73
+f 51 73 75
+f 51 75 52
+f 52 75 59
+f 53 72 76
+f 54 76 72
+f 54 72 71
+f 54 71 77
+f 54 77 78
+f 54 78 55
+f 55 78 56
+f 56 79 74
+f 56 78 79
+f 57 61 58
+f 58 61 80
+f 58 80 62
+f 59 75 81
+f 59 81 82
+f 59 82 60
+f 60 82 83
+f 60 83 80
+f 60 80 61
+f 63 84 85
+f 63 85 86
+f 63 80 84
+f 64 86 87
+f 64 87 65
+f 65 67 66
+f 68 78 71
+f 68 71 70
+f 68 70 69
+f 71 78 77
+f 73 74 88
+f 73 88 75
+f 74 79 88
+f 75 88 81
+f 78 89 79
+f 79 81 88
+f 79 89 81
+f 80 83 90
+f 80 90 84
+f 81 91 82
+f 81 89 92
+f 81 92 91
+f 82 91 90
+f 82 90 83
+f 84 92 93
+f 84 93 85
+f 84 90 92
+f 85 93 87
+f 85 87 86
+f 90 91 92
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_12.obj

@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.00331112 -0.09651191 0.01252374
+v 0.00331112 -0.09596016 0.01751236
+v 0.00066610 -0.09320141 0.03606214
+v 0.00040940 -0.09342044 0.03297051
+v 0.00002080 -0.09375867 0.02781778
+v -0.00031532 -0.09406088 0.02266507
+v -0.00061174 -0.09435753 0.01751236
+v -0.00087695 -0.09464034 0.01252374
+v 0.00346005 -0.09647033 0.01252374
+v 0.00716876 -0.09412191 0.02781777
+v 0.00669365 -0.09372266 0.03297051
+v 0.00623414 -0.09338441 0.03696140
+v 0.00331112 -0.09538068 0.02266507
+v 0.00331112 -0.09475130 0.02781777
+v 0.00331112 -0.09401656 0.03297050
+v 0.00331112 -0.09337609 0.03699422
+v 0.00331112 -0.09293525 0.03957386
+v 0.00331112 -0.09228090 0.04327594
+v 0.00331112 -0.09134376 0.04842208
+v 0.00042500 -0.08823008 0.06238366
+v -0.00003168 -0.08863489 0.05872752
+v -0.00054224 -0.08916168 0.05357481
+v -0.00091240 -0.08962747 0.04842209
+v -0.00114641 -0.09004890 0.04327595
+v -0.00276463 -0.09054786 0.01252376
+v -0.00170377 -0.09054793 0.03297052
+v -0.00210799 -0.09054791 0.02781779
+v -0.00239023 -0.09054789 0.02266509
+v -0.00258877 -0.09054787 0.01751238
+v 0.00817714 -0.09500080 0.01252374
+v 0.00787080 -0.09473185 0.01751236
+v 0.00754460 -0.09444906 0.02266507
+v 0.01096966 -0.08798876 0.03589149
+v 0.00820267 -0.09020138 0.04327595
+v 0.00784385 -0.08968291 0.04842209
+v 0.00733612 -0.08915059 0.05357481
+v 0.00669365 -0.08860993 0.05872752
+v 0.00617882 -0.08821345 0.06229833
+v 0.00331112 -0.09034284 0.05357481
+v 0.00331112 -0.08927538 0.05872752
+v 0.00331112 -0.08834930 0.06285627
+v 0.00331112 -0.08769219 0.06542934
+v 0.00331112 -0.08670790 0.06903295
+v 0.00331112 -0.08525780 0.07418568
+v 0.00019808 -0.08328922 0.07958127
+v 0.00015412 -0.08332804 0.07933839
+v -0.00065003 -0.08410160 0.07418568
+v -0.00114641 -0.08479752 0.06903296
+v -0.00235476 -0.08538807 0.05872754
+v -0.00288660 -0.08538805 0.05357483
+v -0.00112656 -0.08580103 0.01252377
+v -0.00318443 -0.08538803 0.04842211
+v -0.00316600 -0.08538801 0.04327597
+v -0.00338866 -0.08022811 0.06388028
+v -0.00349219 -0.07506821 0.07933842
+v -0.00305396 -0.07506819 0.07418571
+v 0.01065623 -0.09095823 0.01252376
+v 0.01099378 -0.08805252 0.03297053
+v 0.01096966 -0.08793054 0.03589149
+v 0.00950462 -0.07506821 0.07958130
+v 0.00973863 -0.08022813 0.06903298
+v 0.00921246 -0.08022815 0.07418570
+v 0.00976132 -0.08538805 0.05357483
+v 0.00902809 -0.08538807 0.05872754
+v 0.00760417 -0.08471711 0.06903296
+v 0.00703402 -0.08396297 0.07418568
+v 0.00642560 -0.08332249 0.07822908
+v 0.00353948 -0.08351382 0.07958127
+v 0.00326575 -0.08357204 0.07958127
+v -0.00199453 -0.08023650 0.07958129
+v -0.00205693 -0.08022817 0.07933841
+v -0.00298304 -0.08022815 0.07418570
+v -0.00341844 -0.08022813 0.06903298
+v 0.00094124 -0.08281765 0.02017081
+v 0.00329838 -0.08358011 0.01252378
+v -0.00098758 -0.06968921 0.07958132
+v -0.00348794 -0.07506821 0.07958130
+v -0.00126555 -0.07027701 0.07958132
+v 0.00878982 -0.08589808 0.01252377
+v 0.01099661 -0.08785844 0.02956383
+v 0.01099661 -0.08806083 0.02956383
+v 0.01099378 -0.08785845 0.03297053
+v 0.00950745 -0.07506821 0.07933842
+v 0.00942661 -0.07479095 0.07958131
+v 0.00786087 -0.08067735 0.07958128
+v 0.00781123 -0.08076332 0.07958128
+v 0.00770770 -0.08091580 0.07958128
+v 0.00340048 -0.06818919 0.07958133
+v 0.00599729 -0.08272337 0.01929124
+v 0.00727655 -0.07034356 0.07958132
+v 0.00748929 -0.07055151 0.07958132
+v 0.00909616 -0.07506819 0.07418571
+v 0.00342034 -0.06819473 0.07958133
+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 25
+f 1 25 51
+f 1 51 75
+f 1 75 79
+f 1 79 57
+f 1 57 30
+f 1 30 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 13
+f 2 13 3
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 21
+f 3 21 22
+f 3 22 23
+f 3 23 4
+f 4 23 5
+f 5 23 6
+f 6 23 24
+f 6 24 7
+f 7 24 8
+f 8 24 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 25
+f 9 30 31
+f 9 31 32
+f 9 32 10
+f 10 32 33
+f 10 33 34
+f 10 34 35
+f 10 35 11
+f 11 35 12
+f 12 18 17
+f 12 17 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 12 35 36
+f 12 36 37
+f 12 37 38
+f 12 38 39
+f 12 39 19
+f 12 19 18
+f 19 39 20
+f 20 39 40
+f 20 40 41
+f 20 41 42
+f 20 42 43
+f 20 43 44
+f 20 44 45
+f 20 45 46
+f 20 46 47
+f 20 47 21
+f 21 47 48
+f 21 48 22
+f 22 48 49
+f 22 49 23
+f 23 49 50
+f 23 50 24
+f 24 50 26
+f 25 29 52
+f 25 52 53
+f 25 53 54
+f 25 54 55
+f 25 55 56
+f 25 56 51
+f 26 50 27
+f 27 50 52
+f 27 52 28
+f 28 52 29
+f 30 57 33
+f 30 33 31
+f 31 33 32
+f 33 57 58
+f 33 58 82
+f 33 82 59
+f 33 59 60
+f 33 60 61
+f 33 61 62
+f 33 62 63
+f 33 63 64
+f 33 64 35
+f 33 35 34
+f 35 64 36
+f 36 64 65
+f 36 65 37
+f 37 65 66
+f 37 66 38
+f 38 66 67
+f 38 67 44
+f 38 44 43
+f 38 43 42
+f 38 42 41
+f 38 41 40
+f 38 40 39
+f 44 67 68
+f 44 68 69
+f 44 69 45
+f 45 69 68
+f 45 68 87
+f 45 87 86
+f 45 86 85
+f 45 85 60
+f 45 60 84
+f 45 84 91
+f 45 91 90
+f 45 90 93
+f 45 93 88
+f 45 88 76
+f 45 76 78
+f 45 78 77
+f 45 77 70
+f 45 70 46
+f 46 70 47
+f 47 70 71
+f 47 71 72
+f 47 72 48
+f 48 72 49
+f 49 72 50
+f 50 72 73
+f 50 73 52
+f 51 74 75
+f 51 56 76
+f 51 76 74
+f 52 73 53
+f 53 73 54
+f 54 73 55
+f 55 73 77
+f 55 77 78
+f 55 78 56
+f 56 78 76
+f 57 79 80
+f 57 80 81
+f 57 81 58
+f 58 81 80
+f 58 80 82
+f 59 82 83
+f 59 83 60
+f 60 83 84
+f 60 85 62
+f 60 62 61
+f 62 85 86
+f 62 86 66
+f 62 66 65
+f 62 65 64
+f 62 64 63
+f 66 86 67
+f 67 86 87
+f 67 87 68
+f 70 77 71
+f 71 77 72
+f 72 77 73
+f 74 76 75
+f 75 88 89
+f 75 89 79
+f 75 76 88
+f 79 89 90
+f 79 90 91
+f 79 91 92
+f 79 92 84
+f 79 84 80
+f 80 84 83
+f 80 83 82
+f 84 92 91
+f 88 93 89
+f 89 93 90
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_13.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.05277429 0.02816224 -0.09065365
+v 0.05285145 0.02758834 -0.09066154
+v 0.05277429 0.02821263 -0.09065365
+v 0.05199865 0.02758834 -0.09065365
+v 0.05153976 0.03848400 -0.09725704
+v 0.05201895 0.03848399 -0.09467875
+v 0.05274992 0.03848397 -0.09070486
+v 0.05275804 0.03848397 -0.09065361
+v 0.04531430 0.02758849 -0.13092470
+v 0.04524120 0.02758834 -0.09065365
+v 0.05195804 0.04205335 -0.09438308
+v 0.05236412 0.04371903 -0.09065359
+v 0.04522089 0.02916460 -0.13092469
+v 0.04691433 0.03848408 -0.12025667
+v 0.04872958 0.03848405 -0.11131543
+v 0.03568575 0.02758849 -0.13092470
+v 0.03976296 0.02758842 -0.11137463
+v 0.03603499 0.04040442 -0.09065360
+v 0.01136867 0.05474638 -0.13092460
+v 0.04673157 0.04123038 -0.11930656
+v 0.05125549 0.04372185 -0.09600335
+v 0.05159661 0.04549392 -0.09261293
+v 0.05233165 0.04372183 -0.09081917
+v 0.05229916 0.04401857 -0.09065359
+v 0.04494881 0.03332465 -0.13092468
+v 0.04626863 0.03848409 -0.12283103
+v 0.04485135 0.03432408 -0.13092467
+v 0.03471111 0.02827717 -0.13092470
+v 0.03166133 0.05618517 -0.09065354
+v 0.02277188 0.05618523 -0.10559109
+v 0.02150079 0.05618524 -0.10783429
+v 0.02072515 0.05618524 -0.10941122
+v 0.01136867 0.05618532 -0.12978919
+v 0.01136867 0.05618532 -0.13092459
+v 0.04619957 0.04558917 -0.11270705
+v 0.04680872 0.04639261 -0.10927722
+v 0.04400666 0.03848412 -0.13092466
+v 0.04231730 0.04211227 -0.13092465
+v 0.05017527 0.04838858 -0.09065357
+v 0.04727574 0.04691052 -0.10616670
+v 0.04801484 0.04774474 -0.10101011
+v 0.04165942 0.05618517 -0.09065354
+v 0.03203900 0.05618532 -0.13092459
+v 0.04999252 0.04862094 -0.09065357
+v 0.04667877 0.05139805 -0.09333042
+v 0.04710517 0.05166679 -0.09065356
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 24
+f 1 24 39
+f 1 39 44
+f 1 44 46
+f 1 46 42
+f 1 42 29
+f 1 29 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 4 10
+f 2 10 17
+f 2 17 16
+f 2 16 9
+f 2 9 5
+f 5 11 6
+f 5 9 11
+f 6 11 7
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 11
+f 9 16 28
+f 9 28 19
+f 9 19 34
+f 9 34 43
+f 9 43 38
+f 9 38 37
+f 9 37 27
+f 9 27 25
+f 9 25 13
+f 10 18 19
+f 10 19 17
+f 11 15 14
+f 11 14 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 13 25 14
+f 14 26 20
+f 14 25 27
+f 14 27 26
+f 16 17 28
+f 17 19 28
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 20 35 36
+f 20 36 22
+f 20 22 21
+f 20 26 27
+f 20 27 37
+f 20 37 38
+f 20 38 35
+f 22 39 24
+f 22 24 23
+f 22 36 40
+f 22 40 41
+f 22 41 39
+f 29 42 43
+f 29 43 34
+f 29 34 33
+f 29 33 32
+f 29 32 31
+f 29 31 30
+f 35 38 43
+f 35 43 36
+f 36 43 40
+f 39 41 44
+f 40 43 41
+f 41 43 45
+f 41 45 44
+f 42 46 43
+f 43 46 45
+f 44 45 46
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_14.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05778132 -0.03300494 -0.04449353
+v 0.05778132 -0.03300508 -0.00438015
+v 0.06854923 -0.03300494 -0.04449353
+v 0.05778132 -0.05154646 -0.04449360
+v 0.05778132 -0.03494641 0.00589201
+v 0.05804296 -0.03300508 -0.00453746
+v 0.07311046 -0.03300496 -0.03760871
+v 0.07221063 -0.04123887 -0.04181410
+v 0.07229834 -0.04410118 -0.04199238
+v 0.07243899 -0.04926323 -0.04223361
+v 0.06858704 -0.03358953 -0.04449353
+v 0.06961090 -0.05442530 -0.04302541
+v 0.06953225 -0.05968111 -0.04228608
+v 0.06777944 -0.06327693 -0.04192953
+v 0.06679188 -0.06327693 -0.04192953
+v 0.05778132 -0.08934098 -0.03220279
+v 0.06296111 -0.04675390 -0.04449358
+v 0.05941315 -0.03543725 0.00577141
+v 0.06295355 -0.03531038 0.00204847
+v 0.05930577 -0.03300508 -0.00530302
+v 0.05778132 -0.03655679 0.00663134
+v 0.07322994 -0.03300496 -0.03706338
+v 0.07255997 -0.05442530 -0.04233850
+v 0.06790950 -0.03708054 -0.04449355
+v 0.07245712 -0.05803214 -0.04215499
+v 0.06673895 -0.04143742 -0.04449356
+v 0.06961090 -0.07885692 -0.03270089
+v 0.07223784 -0.07774839 -0.03179377
+v 0.05778132 -0.08934099 -0.03058253
+v 0.06217317 -0.03604389 0.00485902
+v 0.05778132 -0.04716772 0.00907482
+v 0.06390028 -0.03475335 -0.00310597
+v 0.06131568 -0.03300507 -0.00800347
+v 0.06850538 -0.04390276 -0.00803497
+v 0.07313769 -0.03300497 -0.03442586
+v 0.07288361 -0.03300498 -0.03371798
+v 0.07223784 -0.07774839 -0.03136903
+v 0.05778132 -0.07869153 -0.01211985
+v 0.05818361 -0.07920442 -0.01340977
+v 0.06217317 -0.03676636 0.00485901
+v 0.06758737 -0.04549660 -0.00504615
+v 0.05778132 -0.04926342 0.00898567
+v 0.06758737 -0.04806111 -0.00504616
+v 0.06846454 -0.04957221 -0.00791963
+v 0.07011905 -0.04410128 -0.01340964
+v 0.07227716 -0.04598188 -0.02086077
+v 0.07227716 -0.04742130 -0.02086077
+v 0.06467157 -0.05442545 -0.00310604
+v 0.06219889 -0.05755800 -0.00017488
+v 0.06171343 -0.06673498 -0.00605298
+v 0.05822595 -0.06978480 -0.00306940
+v 0.05778132 -0.07015432 -0.00268137
+v 0.05778132 -0.07154409 -0.00396605
+v 0.05778132 -0.07389348 -0.00639384
+v 0.07004494 -0.04926334 -0.01340966
+v 0.05778132 -0.05333352 0.00804705
+v 0.06102228 -0.05442547 0.00323344
+v 0.06267376 -0.05442546 0.00065360
+v 0.06141700 -0.06099937 -0.00142287
+v 0.05778132 -0.05677488 0.00616984
+v 0.05778132 -0.05821431 0.00530989
+v 0.05778132 -0.06903476 -0.00184763
+v 0.05816546 -0.05394568 0.00729722
+f 1 2 6
+f 1 6 20
+f 1 20 33
+f 1 33 36
+f 1 36 35
+f 1 35 22
+f 1 22 7
+f 1 7 3
+f 1 3 11
+f 1 11 24
+f 1 24 26
+f 1 26 17
+f 1 17 4
+f 1 4 16
+f 1 16 29
+f 1 29 38
+f 1 38 54
+f 1 54 53
+f 1 53 52
+f 1 52 62
+f 1 62 61
+f 1 61 60
+f 1 60 56
+f 1 56 42
+f 1 42 31
+f 1 31 21
+f 1 21 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 17 12
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 5 21 18
+f 7 22 23
+f 7 23 10
+f 7 10 9
+f 7 9 8
+f 10 23 11
+f 11 23 24
+f 12 25 13
+f 12 17 26
+f 12 26 25
+f 13 25 14
+f 14 25 27
+f 14 27 16
+f 14 16 15
+f 16 27 28
+f 16 28 37
+f 16 37 29
+f 18 30 19
+f 18 21 31
+f 18 31 30
+f 19 32 33
+f 19 33 20
+f 19 30 34
+f 19 34 35
+f 19 35 36
+f 19 36 32
+f 22 35 37
+f 22 37 28
+f 22 28 23
+f 23 28 25
+f 23 25 24
+f 24 25 26
+f 25 28 27
+f 29 37 39
+f 29 39 38
+f 30 31 40
+f 30 40 43
+f 30 43 41
+f 30 41 34
+f 31 42 40
+f 32 36 33
+f 34 41 43
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 37
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 37 38 39
+f 37 47 55
+f 37 55 44
+f 37 44 43
+f 37 43 48
+f 40 42 43
+f 42 56 57
+f 42 57 43
+f 43 57 58
+f 43 58 49
+f 43 49 48
+f 44 55 47
+f 44 47 45
+f 45 47 46
+f 49 59 50
+f 49 58 57
+f 49 57 60
+f 49 60 61
+f 49 61 62
+f 49 62 59
+f 50 62 51
+f 50 59 62
+f 51 62 52
+f 56 60 63
+f 56 63 57
+f 57 63 60
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_15.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01136874 0.06412758 -0.15088215
+v 0.01136874 0.06580761 -0.15085153
+v 0.01351288 0.06429013 -0.15096380
+v 0.02688072 0.05618539 -0.15098425
+v 0.01136874 0.06193737 -0.15065761
+v 0.01136874 0.06756596 -0.15047387
+v 0.01817637 0.06420708 -0.15058615
+v 0.02401089 0.05948495 -0.15082093
+v 0.02881458 0.05618539 -0.15073929
+v 0.02187088 0.05618539 -0.15067804
+v 0.01136874 0.06101430 -0.15043308
+v 0.01136874 0.06830631 -0.14927968
+v 0.01351288 0.06732747 -0.15033097
+v 0.01618480 0.06693119 -0.15001457
+v 0.02250587 0.06243094 -0.15042286
+v 0.02881458 0.05771238 -0.15049433
+v 0.03033196 0.05618539 -0.15049433
+v 0.02034937 0.05618539 -0.15032080
+v 0.01136874 0.05618538 -0.14684030
+v 0.01159553 0.06830631 -0.14921844
+v 0.01136874 0.06830609 -0.09041721
+v 0.01391284 0.06830630 -0.14777927
+v 0.01688989 0.06724560 -0.14738122
+v 0.01944223 0.06586218 -0.14738123
+v 0.02590763 0.06144261 -0.14916743
+v 0.03145763 0.05664811 -0.15004522
+v 0.03164318 0.05618539 -0.15012688
+v 0.01136874 0.05618532 -0.12978478
+v 0.01136874 0.06810083 -0.09095817
+v 0.04309369 0.05618501 -0.04672205
+v 0.03475630 0.06830593 -0.04672201
+v 0.01413962 0.06830630 -0.14738122
+v 0.03238538 0.06830616 -0.10995298
+v 0.03234828 0.05618538 -0.14735063
+v 0.03540366 0.06830613 -0.09987890
+v 0.03610463 0.06830612 -0.09730679
+v 0.01136874 0.05943144 -0.11646493
+v 0.01136874 0.06625590 -0.09624530
+v 0.05348861 0.05618501 -0.04672205
+v 0.01136874 0.06086704 -0.11169837
+v 0.04609960 0.06830593 -0.04672201
+v 0.04991367 0.05618507 -0.06379799
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 28
+f 1 28 37
+f 1 37 40
+f 1 40 38
+f 1 38 29
+f 1 29 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 17
+f 4 17 27
+f 4 27 34
+f 4 34 42
+f 4 42 39
+f 4 39 30
+f 4 30 28
+f 4 28 19
+f 4 19 18
+f 4 18 10
+f 4 10 5
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 12 20 13
+f 12 21 31
+f 12 31 41
+f 12 41 36
+f 12 36 35
+f 12 35 33
+f 12 33 32
+f 12 32 22
+f 12 22 20
+f 13 20 14
+f 14 20 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 21 29 30
+f 21 30 31
+f 22 32 23
+f 23 32 33
+f 23 33 24
+f 24 33 25
+f 25 33 26
+f 26 34 27
+f 26 33 35
+f 26 35 36
+f 26 36 34
+f 28 30 37
+f 29 38 30
+f 30 39 41
+f 30 41 31
+f 30 38 40
+f 30 40 37
+f 34 36 42
+f 36 41 39
+f 36 39 42
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_16.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01564014 0.13424258 -0.03185798
+v 0.01564014 0.13424257 -0.03104123
+v 0.01652224 0.13424258 -0.03185798
+v 0.01390005 0.11008184 -0.04283511
+v 0.01261788 0.10973395 -0.04283511
+v 0.01136944 0.10912515 -0.04283511
+v 0.01136944 0.12916343 -0.03160079
+v 0.01652224 0.13424257 -0.03104123
+v 0.01136944 0.12916342 -0.03103457
+v 0.01136944 0.12849808 -0.02964156
+v 0.01136944 0.12492787 -0.02590517
+v 0.04691846 0.11851808 -0.03663169
+v 0.01661382 0.10891641 -0.04283511
+v 0.01136944 0.08982174 -0.04283518
+v 0.01167311 0.12493223 -0.02592020
+v 0.03297842 0.11487826 -0.02577325
+v 0.04778127 0.11456953 -0.03096113
+v 0.04904900 0.11621768 -0.03425154
+v 0.04691846 0.11851808 -0.03632769
+v 0.01136944 0.12457128 -0.02583837
+v 0.05216285 0.11442606 -0.03692567
+v 0.04885619 0.11604809 -0.03699080
+v 0.02382485 0.10552886 -0.04283512
+v 0.01136944 0.08982167 -0.02577334
+v 0.03497881 0.08982174 -0.04283518
+v 0.03128172 0.11523485 -0.02577325
+v 0.03352793 0.11446515 -0.02577325
+v 0.03569703 0.11253002 -0.02577326
+v 0.04299964 0.10453296 -0.02577329
+v 0.05982698 0.09033917 -0.03014444
+v 0.05840502 0.09417463 -0.03056701
+v 0.05118435 0.11187777 -0.03217375
+v 0.05216285 0.11442605 -0.03560782
+v 0.01136944 0.12106197 -0.02581500
+v 0.02891017 0.11547402 -0.02577325
+v 0.06060785 0.08982170 -0.03267660
+v 0.05355589 0.08982173 -0.03988215
+v 0.04989253 0.08982173 -0.04089432
+v 0.03373037 0.10011921 -0.04283514
+v 0.01136944 0.10197164 -0.02577330
+v 0.04521211 0.08982167 -0.02577334
+v 0.04445534 0.10042354 -0.02577330
+v 0.05978841 0.08982169 -0.03010605
+v 0.06060785 0.08982169 -0.03048018
+v 0.01341803 0.10813360 -0.02577327
+v 0.01440135 0.11039487 -0.02577326
+v 0.05430784 0.08982168 -0.02847084
+v 0.04505304 0.09526177 -0.02577332
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 8 19
+f 3 19 12
+f 3 12 4
+f 4 12 13
+f 4 13 23
+f 4 23 39
+f 4 39 25
+f 4 25 14
+f 4 14 6
+f 4 6 5
+f 6 14 24
+f 6 24 40
+f 6 40 34
+f 6 34 20
+f 6 20 11
+f 6 11 10
+f 6 10 9
+f 6 9 7
+f 8 11 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 11 20 15
+f 12 19 33
+f 12 33 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 14 25 38
+f 14 38 37
+f 14 37 36
+f 14 36 44
+f 14 44 43
+f 14 43 47
+f 14 47 41
+f 14 41 24
+f 15 20 16
+f 16 26 35
+f 16 35 46
+f 16 46 45
+f 16 45 40
+f 16 40 24
+f 16 24 41
+f 16 41 48
+f 16 48 42
+f 16 42 29
+f 16 29 28
+f 16 28 27
+f 16 27 17
+f 16 20 26
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 19
+f 20 34 35
+f 20 35 26
+f 21 33 44
+f 21 44 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 22 39 23
+f 25 39 38
+f 29 42 30
+f 30 43 44
+f 30 44 31
+f 30 42 43
+f 31 44 32
+f 32 44 33
+f 34 40 45
+f 34 45 46
+f 34 46 35
+f 41 47 48
+f 42 48 43
+f 43 48 47
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_17.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.00331123 0.07216109 0.07215027
+v 0.00340439 0.07217681 0.07215027
+v -0.00140843 0.07442447 0.07215027
+v -0.00042869 0.08657461 0.00713810
+v 0.00331123 0.08535386 0.00713809
+v 0.00804543 0.07459212 0.07215027
+v 0.00776883 0.08629431 0.00713810
+v -0.00215088 0.07601983 0.07215028
+v -0.00307967 0.09043072 0.00713811
+v -0.00305929 0.09039143 0.00713811
+v -0.00046217 0.08660605 0.00713810
+v 0.01013013 0.07977643 0.06903842
+v 0.01010100 0.07977641 0.07215029
+v 0.01136462 0.08899778 0.00713811
+v -0.00350768 0.07977641 0.07215029
+v -0.00349313 0.07977643 0.06903842
+v -0.00315393 0.07977645 0.06388376
+v -0.00271136 0.09483434 0.00713813
+v -0.00323399 0.08493716 0.05357449
+v 0.01104435 0.08721892 0.04327156
+v 0.00939786 0.08493713 0.06388378
+v 0.00782270 0.08472228 0.07215031
+v 0.01100941 0.08729749 0.04658708
+v 0.01100941 0.08761970 0.04658708
+v 0.01136462 0.09480030 0.00713813
+v 0.01136462 0.09144712 0.01446282
+v -0.00260217 0.08205287 0.07215030
+v -0.00259199 0.08493713 0.06388378
+v -0.00308259 0.08493714 0.05872913
+v -0.00270118 0.09488675 0.00713813
+v 0.00758249 0.08895568 0.05872915
+v 0.00331123 0.08682848 0.07215032
+v 0.00694340 0.08834004 0.06388379
+v 0.00634363 0.08785278 0.06761296
+v 0.01136462 0.09343806 0.01446282
+v 0.01096719 0.09268879 0.02531303
+v 0.00944008 0.09670215 0.00713814
+v -0.00123374 0.08471442 0.07215031
+v -0.00026127 0.08832172 0.06388379
+v -0.00077808 0.08891638 0.05872915
+v -0.00111582 0.08946653 0.05357451
+v -0.00195435 0.09009529 0.04327157
+v -0.00242020 0.09009531 0.03812328
+v -0.00066890 0.09399597 0.03296865
+v 0.00002842 0.09852542 0.00713814
+v 0.00726950 0.09367635 0.03812329
+v 0.00664206 0.09319957 0.04327158
+v 0.00615291 0.09286160 0.04671436
+v 0.00331123 0.08725811 0.07073757
+v 0.00029920 0.08784230 0.06758114
+v 0.00147111 0.08604258 0.07215032
+v 0.00331123 0.08914689 0.06388380
+v 0.00331123 0.08801519 0.06816659
+v 0.00876750 0.09418985 0.02734944
+v 0.00779213 0.09412957 0.03296865
+v 0.00684004 0.09823988 0.00713814
+v 0.00595056 0.09787571 0.01536012
+v 0.00060055 0.09279350 0.04640891
+v 0.00022059 0.09310525 0.04327158
+v -0.00031223 0.09357680 0.03812329
+v 0.00007501 0.09853589 0.00713814
+v 0.00003425 0.09852020 0.00720813
+v 0.00331123 0.09627508 0.02782036
+v 0.00331123 0.09544987 0.03296865
+v 0.00331123 0.09457751 0.03812330
+v 0.00331123 0.09362657 0.04327158
+v 0.00331123 0.09290353 0.04691801
+v 0.00331123 0.09235863 0.04949534
+v 0.00331123 0.09148889 0.05357452
+v 0.00331123 0.09035719 0.05872915
+v 0.00337964 0.09891574 0.00713814
+v 0.00331123 0.09892099 0.00713814
+v 0.00331123 0.09759017 0.01810290
+v 0.00331123 0.09701122 0.02266572
+v 0.00070683 0.09788096 0.01530285
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 32
+f 1 32 51
+f 1 51 38
+f 1 38 27
+f 1 27 15
+f 1 15 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 10
+f 4 10 9
+f 4 9 18
+f 4 18 30
+f 4 30 45
+f 4 45 61
+f 4 61 72
+f 4 72 71
+f 4 71 56
+f 4 56 37
+f 4 37 25
+f 4 25 14
+f 4 14 7
+f 4 7 5
+f 6 12 13
+f 6 7 14
+f 6 14 12
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 16
+f 9 16 15
+f 9 15 19
+f 9 19 18
+f 12 20 13
+f 12 14 20
+f 13 21 22
+f 13 20 23
+f 13 23 24
+f 13 24 21
+f 14 25 35
+f 14 35 26
+f 14 26 20
+f 15 27 28
+f 15 28 29
+f 15 29 19
+f 18 19 29
+f 18 29 30
+f 20 26 23
+f 21 31 22
+f 21 24 31
+f 22 31 33
+f 22 33 34
+f 22 34 32
+f 23 26 35
+f 23 35 24
+f 24 35 36
+f 24 36 31
+f 25 37 36
+f 25 36 35
+f 27 38 28
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 28 38 39
+f 29 42 43
+f 29 43 30
+f 30 44 45
+f 30 43 42
+f 30 42 44
+f 31 46 47
+f 31 47 48
+f 31 48 33
+f 31 36 46
+f 32 34 49
+f 32 49 50
+f 32 50 51
+f 33 48 34
+f 34 52 53
+f 34 53 49
+f 34 48 52
+f 36 37 54
+f 36 54 55
+f 36 55 46
+f 37 56 57
+f 37 57 55
+f 37 55 54
+f 38 51 50
+f 38 50 39
+f 39 50 58
+f 39 58 59
+f 39 59 40
+f 40 59 60
+f 40 60 41
+f 41 60 44
+f 41 44 42
+f 44 60 45
+f 45 60 62
+f 45 62 61
+f 46 55 57
+f 46 57 47
+f 47 57 48
+f 48 57 63
+f 48 63 64
+f 48 64 65
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 69
+f 48 69 70
+f 48 70 52
+f 49 53 50
+f 50 53 52
+f 50 52 70
+f 50 70 58
+f 56 71 57
+f 57 71 72
+f 57 72 73
+f 57 73 74
+f 57 74 63
+f 58 69 68
+f 58 68 67
+f 58 67 66
+f 58 66 65
+f 58 65 64
+f 58 64 75
+f 58 75 59
+f 58 70 69
+f 59 75 60
+f 60 75 62
+f 61 62 75
+f 61 75 72
+f 63 74 75
+f 63 75 64
+f 72 75 73
+f 73 75 74
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_18.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.00331126 0.04413370 0.13696131
+v 0.00347205 0.04413370 0.13691688
+v 0.00331126 0.04762796 0.13449957
+v -0.00002649 0.04735210 0.13426481
+v -0.00064286 0.04413370 0.13567334
+v 0.00689555 0.04413370 0.13538782
+v 0.00646276 0.04696757 0.13403006
+v 0.00331126 0.05020686 0.13239948
+v -0.00024087 0.05263111 0.12953803
+v -0.00124181 0.04896549 0.13109882
+v -0.00084652 0.04413370 0.13534341
+v 0.00943338 0.04413372 0.13087039
+v 0.00755614 0.04873560 0.13083869
+v 0.00661149 0.05221733 0.12909390
+v 0.00331126 0.05294041 0.12982354
+v 0.00331126 0.05552351 0.12726029
+v -0.00022213 0.05768443 0.12434809
+v -0.00138250 0.05419853 0.12592791
+v -0.00310430 0.04413372 0.13089577
+v 0.01007923 0.04413374 0.12571848
+v 0.00980855 0.04880668 0.12571850
+v 0.00763787 0.05395192 0.12571218
+v 0.00660747 0.05737930 0.12398643
+v 0.00331126 0.05802298 0.12468436
+v -0.00125386 0.05929364 0.12068720
+v 0.00331126 0.06060608 0.12190538
+v -0.00007339 0.06257891 0.11905028
+v -0.00324499 0.05913065 0.11541476
+v -0.00342588 0.05396867 0.12056663
+v -0.00345000 0.04880668 0.12571850
+v -0.00330663 0.04413372 0.13038818
+v 0.01017167 0.06429265 0.10510463
+v 0.00810551 0.04413376 0.12045238
+v 0.00804521 0.07458744 0.07215028
+v 0.01010199 0.07977032 0.07215030
+v 0.01016765 0.06945047 0.09480720
+v 0.00979918 0.05396867 0.12056663
+v 0.00968394 0.05913065 0.11541476
+v 0.00755078 0.05911391 0.12048417
+v 0.00648554 0.06231977 0.11871401
+v -0.00097918 0.06429680 0.11531326
+v -0.00294619 0.06429263 0.11026287
+v 0.00618943 0.06715574 0.11319414
+v 0.00331126 0.06281716 0.11932945
+v 0.00015574 0.06741905 0.11353041
+v -0.00321418 0.06945045 0.09995910
+v -0.00340846 0.06429265 0.10510463
+v -0.00351700 0.07977032 0.07419329
+v -0.00342454 0.04413374 0.12571848
+v 0.00990770 0.07461246 0.08965531
+v 0.00989565 0.06945045 0.09995910
+v 0.00753738 0.04413376 0.11947530
+v 0.00653513 0.07156549 0.07554468
+v 0.00340371 0.07217155 0.07215028
+v 0.00782278 0.08471910 0.07215032
+v 0.01008190 0.07977032 0.07419329
+v 0.00931546 0.06429263 0.11026287
+v 0.00728145 0.06413797 0.11511022
+v -0.00068842 0.06846400 0.11026288
+v -0.00152989 0.06988095 0.10547898
+v -0.00229365 0.07461244 0.09480721
+v 0.00331126 0.06975137 0.11026289
+v 0.00331126 0.06749847 0.11362557
+v 0.00331126 0.06539606 0.11620152
+v 0.00703223 0.06815470 0.11026288
+v 0.00666643 0.07276915 0.10377862
+v 0.00590267 0.07722059 0.09744027
+v 0.00331126 0.07170331 0.10714764
+v 0.00063678 0.07728328 0.09755447
+v -0.00019264 0.07286947 0.10401338
+v -0.00325839 0.07461246 0.08965531
+v -0.00297031 0.07977030 0.07935153
+v -0.00260182 0.08204825 0.07215031
+v -0.00350763 0.07977032 0.07215030
+v -0.00339907 0.04413374 0.12523629
+v 0.00884783 0.07461244 0.09480721
+v 0.00956736 0.07977030 0.07935153
+v 0.00806397 0.06978900 0.10533940
+v 0.00331126 0.04413377 0.11748306
+v 0.00331126 0.07215484 0.07215028
+v 0.00331126 0.08682988 0.07215033
+v 0.00711530 0.08344428 0.07935155
+v 0.00773301 0.08428024 0.07419331
+v -0.00073262 0.07459989 0.09954669
+v -0.00007071 0.07789354 0.09480723
+v -0.00102742 0.07897192 0.08965533
+v 0.00720374 0.07453719 0.09947691
+v 0.00331126 0.07728328 0.09754813
+v 0.00331126 0.07579529 0.10012408
+v 0.00331126 0.07321220 0.10457171
+v 0.00654315 0.07779740 0.09480723
+v 0.00643328 0.08278804 0.08304416
+v 0.00331126 0.08202732 0.08622286
+v 0.00331126 0.08066471 0.08965534
+v 0.00331126 0.07849959 0.09480723
+v 0.00015440 0.08277967 0.08310126
+v -0.00059060 0.08343592 0.07935155
+v -0.00120161 0.08427606 0.07419331
+v -0.00123377 0.08471075 0.07215032
+v -0.00215161 0.07601692 0.07215029
+v -0.00109843 0.04413376 0.12001461
+v -0.00140930 0.07442026 0.07215028
+v 0.00751326 0.07888414 0.08965533
+v 0.00796079 0.08014226 0.08466205
+v 0.00137239 0.04413377 0.11795258
+v 0.00012894 0.07154459 0.07513862
+v 0.00331126 0.08620292 0.07419332
+v 0.00147020 0.08603990 0.07215033
+v 0.00331126 0.08452684 0.07935155
+v 0.00331126 0.08300120 0.08364690
+v -0.00078355 0.04413376 0.11956414
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 31
+f 1 31 49
+f 1 49 75
+f 1 75 101
+f 1 101 111
+f 1 111 105
+f 1 105 79
+f 1 79 52
+f 1 52 33
+f 1 33 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 16
+f 16 23 24
+f 16 24 17
+f 17 25 18
+f 17 24 26
+f 17 26 27
+f 17 27 25
+f 18 25 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 20 32 21
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 32
+f 21 32 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 23 26 24
+f 23 39 40
+f 23 40 26
+f 25 27 41
+f 25 41 42
+f 25 42 28
+f 26 40 43
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 41
+f 28 42 46
+f 28 46 47
+f 28 47 29
+f 29 47 48
+f 29 48 30
+f 30 49 31
+f 30 48 49
+f 32 38 37
+f 32 36 50
+f 32 50 51
+f 32 51 38
+f 33 52 34
+f 34 53 54
+f 34 54 80
+f 34 80 102
+f 34 102 100
+f 34 100 74
+f 34 74 73
+f 34 73 99
+f 34 99 108
+f 34 108 81
+f 34 81 55
+f 34 55 35
+f 34 52 53
+f 35 55 56
+f 35 56 36
+f 36 56 50
+f 38 51 57
+f 38 57 39
+f 39 57 58
+f 39 58 40
+f 40 58 43
+f 41 45 59
+f 41 59 42
+f 42 59 60
+f 42 60 61
+f 42 61 46
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 43 58 65
+f 43 65 66
+f 43 66 67
+f 43 67 62
+f 44 64 45
+f 45 64 63
+f 45 63 62
+f 45 62 68
+f 45 68 69
+f 45 69 70
+f 45 70 59
+f 46 61 71
+f 46 71 47
+f 47 71 48
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 49
+f 49 74 75
+f 50 76 51
+f 50 56 77
+f 50 77 76
+f 51 76 78
+f 51 78 57
+f 52 79 54
+f 52 54 53
+f 54 79 80
+f 55 81 82
+f 55 82 83
+f 55 83 77
+f 55 77 56
+f 57 78 65
+f 57 65 58
+f 59 70 84
+f 59 84 60
+f 60 84 61
+f 61 84 85
+f 61 85 86
+f 61 86 72
+f 61 72 71
+f 62 67 68
+f 65 78 66
+f 66 87 67
+f 66 78 87
+f 67 88 89
+f 67 89 90
+f 67 90 68
+f 67 87 91
+f 67 91 92
+f 67 92 93
+f 67 93 94
+f 67 94 95
+f 67 95 88
+f 68 90 69
+f 69 84 70
+f 69 90 89
+f 69 89 88
+f 69 88 95
+f 69 95 94
+f 69 94 93
+f 69 93 96
+f 69 96 85
+f 69 85 84
+f 72 97 98
+f 72 98 99
+f 72 99 73
+f 72 86 97
+f 74 100 75
+f 75 100 102
+f 75 102 101
+f 76 77 103
+f 76 103 91
+f 76 91 87
+f 76 87 78
+f 77 83 82
+f 77 82 104
+f 77 104 103
+f 79 105 80
+f 80 106 102
+f 80 105 106
+f 81 107 92
+f 81 92 82
+f 81 108 97
+f 81 97 96
+f 81 96 107
+f 82 92 103
+f 82 103 104
+f 85 96 86
+f 86 96 97
+f 91 103 92
+f 92 107 109
+f 92 109 110
+f 92 110 93
+f 93 110 96
+f 96 110 109
+f 96 109 107
+f 97 108 98
+f 98 108 99
+f 101 102 111
+f 102 106 111
+f 105 111 106
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_19.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03878671 -0.04350863 -0.14738614
+v 0.03878671 -0.04244510 -0.14915361
+v 0.03878671 -0.04218342 -0.14223255
+v 0.03668496 -0.04696650 -0.14417490
+v 0.03842703 -0.04409330 -0.14738614
+v 0.03651049 -0.04674375 -0.15001573
+v 0.03878671 -0.03985588 -0.15079297
+v 0.03728893 -0.04409329 -0.15048659
+v 0.03878671 -0.03870888 -0.13372577
+v 0.03201978 -0.05317509 -0.13372583
+v 0.03666617 -0.04694421 -0.14738615
+v 0.03018108 -0.05575874 -0.13372583
+v 0.03461274 -0.04952786 -0.14738616
+v 0.03206273 -0.05262935 -0.14738617
+v 0.03177819 -0.05230082 -0.15032908
+v 0.03365178 -0.04878171 -0.15057662
+v 0.03390947 -0.04409329 -0.15108382
+v 0.03878671 -0.03889815 -0.15085703
+v 0.03878671 -0.00905821 -0.13372566
+v 0.02953954 -0.05521300 -0.14738618
+v 0.02763106 -0.05790249 -0.13372584
+v 0.02698953 -0.05762959 -0.14738619
+v 0.02671572 -0.05740686 -0.15030487
+v 0.02857323 -0.05418288 -0.15074975
+v 0.03878671 -0.03564075 -0.15085182
+v 0.02880942 -0.04925500 -0.15115309
+v 0.01351201 -0.05957845 -0.15140934
+v 0.03878671 -0.03232210 -0.15083796
+v 0.03878671 -0.00905816 -0.14657064
+v 0.03484358 -0.00905821 -0.13372566
+v 0.02644194 -0.05832567 -0.13372584
+v 0.01351201 -0.06526360 -0.14738622
+v 0.01824967 -0.06325348 -0.14738621
+v 0.02079969 -0.06186143 -0.14738621
+v 0.02371207 -0.05991256 -0.14738620
+v 0.01731825 -0.06283586 -0.15051954
+v 0.02371207 -0.05831448 -0.15071513
+v 0.01885631 -0.05986800 -0.15101809
+v 0.02371207 -0.05441672 -0.15119639
+v 0.01351201 -0.06358756 -0.15086057
+v 0.01136462 -0.06411654 -0.15080519
+v 0.01136462 -0.05942810 -0.15117217
+v 0.03878671 -0.02939880 -0.15055405
+v 0.01136462 -0.00905817 -0.14470620
+v 0.01136462 -0.00905821 -0.13449082
+v 0.01136462 -0.04614801 -0.13372580
+v 0.02371207 -0.05921658 -0.13372585
+v 0.01136462 -0.06497407 -0.14213569
+v 0.01136462 -0.06594292 -0.14738622
+v 0.01136462 -0.06306421 -0.13372586
+f 1 2 7
+f 1 7 18
+f 1 18 25
+f 1 25 28
+f 1 28 43
+f 1 43 29
+f 1 29 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 4 11 5
+f 4 10 12
+f 4 12 11
+f 5 11 6
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 7 8 16
+f 7 16 17
+f 7 17 18
+f 8 15 16
+f 9 19 30
+f 9 30 46
+f 9 46 50
+f 9 50 47
+f 9 47 31
+f 9 31 21
+f 9 21 12
+f 9 12 10
+f 11 12 13
+f 12 20 14
+f 12 14 13
+f 12 21 22
+f 12 22 20
+f 14 20 15
+f 15 20 23
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 17 25 18
+f 17 24 26
+f 17 26 27
+f 17 27 28
+f 17 28 25
+f 19 29 44
+f 19 44 45
+f 19 45 30
+f 20 22 23
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 23
+f 23 35 34
+f 23 34 36
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 26
+f 26 39 27
+f 27 39 38
+f 27 38 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 29 43 44
+f 30 45 46
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 36
+f 32 36 33
+f 33 36 34
+f 36 49 40
+f 36 40 38
+f 36 38 37
+f 40 49 41
+f 41 49 48
+f 41 48 50
+f 41 50 46
+f 41 46 45
+f 41 45 44
+f 41 44 42
+f 42 44 43
+f 47 50 48
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_2.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00178876 -0.06474246 -0.15124791
+v 0.00331096 -0.06474246 -0.15110460
+v -0.00178876 -0.06765781 -0.15033356
+v -0.00436094 -0.06642308 -0.15056759
+v -0.00436094 -0.06492540 -0.15103567
+v -0.00436094 -0.06252455 -0.15106104
+v -0.00436094 0.04870364 -0.14469091
+v 0.01136462 -0.05942629 -0.15117169
+v 0.01136462 -0.06411369 -0.15080524
+v 0.00331096 -0.06752063 -0.15018843
+v -0.00178876 -0.06806939 -0.14738728
+v -0.00436094 -0.06766924 -0.14932122
+v -0.00436094 -0.06754348 -0.15021201
+v -0.00436094 0.04870360 -0.13418115
+v 0.01136462 0.04870364 -0.14473263
+v 0.01136462 -0.06594292 -0.14738727
+v 0.00588008 -0.06732626 -0.14996707
+v 0.00331096 -0.06785217 -0.14738728
+v 0.00354186 -0.06699477 -0.13271386
+v -0.00178876 -0.06773786 -0.14374432
+v -0.00436094 -0.06761210 -0.14409628
+v -0.00436094 -0.06782931 -0.14717138
+v 0.01136462 0.04870360 -0.13394347
+v -0.00436094 -0.05010876 -0.13271379
+v 0.01136462 -0.06497117 -0.14213328
+v 0.00840915 -0.06489117 -0.13271385
+v 0.00636495 -0.06742917 -0.14448996
+v 0.00880475 -0.06674320 -0.14738728
+v 0.00625412 -0.06739487 -0.14738728
+v 0.00322015 -0.06696049 -0.13271386
+v -0.00161174 -0.06640027 -0.13271385
+v -0.00177491 -0.06636598 -0.13271385
+v -0.00193500 -0.06632025 -0.13271385
+v -0.00436094 -0.06553140 -0.13271385
+v -0.00178876 -0.04945710 -0.13271379
+v 0.01136462 -0.04825667 -0.13271379
+v 0.01136462 -0.06297048 -0.13271384
+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 9
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 10 11
+f 4 13 12
+f 4 12 22
+f 4 22 21
+f 4 21 34
+f 4 34 24
+f 4 24 14
+f 4 14 7
+f 4 7 6
+f 4 6 5
+f 7 14 23
+f 7 23 15
+f 7 15 8
+f 8 15 23
+f 8 23 36
+f 8 36 37
+f 8 37 25
+f 8 25 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 11 18 19
+f 14 24 23
+f 16 25 26
+f 16 26 19
+f 16 19 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 29 27
+f 18 27 19
+f 19 30 21
+f 19 21 20
+f 19 26 37
+f 19 37 36
+f 19 36 35
+f 19 35 24
+f 19 24 34
+f 19 34 33
+f 19 33 32
+f 19 32 31
+f 19 31 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 23 24 35
+f 23 35 36
+f 25 37 26
+f 27 29 28
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_20.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02381944 -0.08421901 0.00719418
+v 0.02381944 -0.08178665 0.00566267
+v 0.01136462 -0.08421901 0.00694311
+v 0.02381944 -0.08421876 -0.06059456
+v 0.02381944 -0.08174719 0.00558734
+v 0.01136462 -0.08223509 0.00531117
+v 0.01136462 -0.08251851 0.00561245
+v 0.01136462 -0.08421874 -0.06429783
+v 0.01136462 -0.08141326 -0.07354973
+v 0.01136462 -0.08008226 -0.07745385
+v 0.01136462 -0.06499651 -0.12105202
+v 0.02381944 -0.06197221 -0.12105201
+v 0.02381944 -0.07547969 -0.00832188
+v 0.01136462 -0.08186557 0.00415625
+v 0.01136462 -0.05438457 -0.12105198
+v 0.02381944 -0.04757183 -0.12105195
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 12
+f 1 12 16
+f 1 16 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 14
+f 3 14 15
+f 3 15 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 11 15 16
+f 11 16 12
+f 13 16 14
+f 14 16 15
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_21.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01136960 0.08982175 -0.04671173
+v 0.03384973 0.08982175 -0.04671173
+v 0.01136960 0.08283088 -0.04671176
+v 0.01136960 0.08982155 0.00900873
+v 0.03485979 0.08834097 -0.04671174
+v 0.05355342 0.08982173 -0.03988303
+v 0.05280210 0.08845658 -0.04216291
+v 0.01136960 0.08287742 -0.03916855
+v 0.02550551 0.07448089 -0.04671179
+v 0.01975860 0.07448081 -0.02402763
+v 0.01972874 0.07448081 -0.02380946
+v 0.01924610 0.07448079 -0.01856248
+v 0.01845497 0.07448073 -0.00310518
+v 0.01136960 0.08577421 0.00185822
+v 0.01978347 0.07448071 0.00240359
+v 0.01979342 0.07448071 0.00242541
+v 0.02362967 0.07448071 0.00271450
+v 0.02368441 0.07448071 0.00271450
+v 0.03889009 0.07448071 0.00226725
+v 0.03900951 0.07461438 0.00226725
+v 0.02708280 0.08854200 0.00497260
+v 0.02840632 0.08982157 0.00379449
+v 0.04032807 0.08011865 -0.04671177
+v 0.06060398 0.08982170 -0.03267253
+v 0.05280210 0.08653279 -0.04216291
+v 0.04310947 0.07448089 -0.04671179
+v 0.04182575 0.07765570 -0.04671177
+v 0.06219619 0.08877345 -0.03190895
+v 0.06009147 0.07448085 -0.03453794
+v 0.01136960 0.08299154 -0.03488697
+v 0.01846493 0.07448073 -0.00291428
+v 0.01136960 0.08417789 -0.01840426
+v 0.01136960 0.08304861 -0.03406338
+v 0.01977353 0.07448071 0.00236542
+v 0.03900951 0.07448071 0.00223451
+v 0.04274625 0.07448072 0.00039644
+v 0.04270148 0.07461439 0.00039644
+v 0.03351137 0.08982158 0.00071831
+v 0.06060398 0.08982169 -0.03047447
+v 0.06219619 0.08877344 -0.03116171
+v 0.06214146 0.08493485 -0.03180533
+v 0.06196731 0.08231721 -0.03145628
+v 0.06099705 0.07448083 -0.02934006
+v 0.04285072 0.07448072 0.00033645
+v 0.04185063 0.07749483 -0.00019807
+v 0.03585493 0.08982158 -0.00098342
+v 0.04098983 0.08982160 -0.00659038
+v 0.06214146 0.08493484 -0.03122172
+v 0.03845222 0.08982159 -0.00355782
+v 0.05073719 0.07448075 -0.00750130
+v 0.05123974 0.07448075 -0.00813944
+v 0.05487696 0.07448077 -0.01281372
+v 0.05532974 0.07448077 -0.01341369
+v 0.05758373 0.07448079 -0.01856248
+v 0.06196731 0.08231721 -0.03142899
+v 0.04820954 0.07448074 -0.00458873
+v 0.03824326 0.08982159 -0.00335056
+f 1 2 5
+f 1 5 23
+f 1 23 27
+f 1 27 26
+f 1 26 9
+f 1 9 3
+f 1 3 8
+f 1 8 30
+f 1 30 33
+f 1 33 32
+f 1 32 14
+f 1 14 4
+f 1 4 22
+f 1 22 38
+f 1 38 46
+f 1 46 57
+f 1 57 49
+f 1 49 47
+f 1 47 39
+f 1 39 24
+f 1 24 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 8
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 5 7 23
+f 6 24 7
+f 7 25 26
+f 7 26 27
+f 7 27 23
+f 7 24 28
+f 7 28 29
+f 7 29 25
+f 8 13 30
+f 9 26 29
+f 9 29 43
+f 9 43 54
+f 9 54 53
+f 9 53 52
+f 9 52 51
+f 9 51 50
+f 9 50 56
+f 9 56 44
+f 9 44 36
+f 9 36 35
+f 9 35 19
+f 9 19 18
+f 9 18 17
+f 9 17 16
+f 9 16 15
+f 9 15 34
+f 9 34 31
+f 9 31 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 13 31 14
+f 13 14 32
+f 13 32 33
+f 13 33 30
+f 14 31 34
+f 14 34 15
+f 19 35 20
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 21 37 22
+f 22 37 38
+f 24 39 40
+f 24 40 28
+f 25 29 26
+f 28 40 48
+f 28 48 41
+f 28 41 29
+f 29 41 42
+f 29 42 43
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 39 47 40
+f 40 47 49
+f 40 49 50
+f 40 50 51
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 48
+f 41 48 55
+f 41 55 42
+f 42 55 43
+f 43 55 48
+f 43 48 54
+f 44 56 45
+f 45 56 46
+f 46 56 57
+f 49 57 56
+f 49 56 50
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_22.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.05760757 -0.00905837 -0.09065378
+v 0.05838176 -0.00813653 -0.09065378
+v 0.04652309 -0.00905837 -0.09065378
+v 0.04849518 -0.00905822 -0.13092483
+v 0.05847069 -0.00802893 -0.09065378
+v 0.04484395 -0.00284942 -0.09065376
+v 0.04625370 -0.00905836 -0.09142648
+v 0.03876293 -0.00905822 -0.13092483
+v 0.05109237 -0.00311830 -0.13092481
+v 0.06133727 -0.00405462 -0.09065376
+v 0.04483349 -0.00280638 -0.09065376
+v 0.04482041 -0.00280638 -0.09070501
+v 0.04351527 -0.00280636 -0.09585766
+v 0.04527812 -0.00905835 -0.09585768
+v 0.04142026 -0.00058962 -0.10248868
+v 0.03568971 0.02758569 -0.13092470
+v 0.04420315 -0.00905833 -0.10101032
+v 0.05136438 -0.00246906 -0.13092481
+v 0.06134772 -0.00402952 -0.09065376
+v 0.04418222 0.00230497 -0.09065374
+v 0.04260507 0.00235521 -0.09585764
+v 0.04166873 0.00235522 -0.09922440
+v 0.03976727 0.02758562 -0.11137463
+v 0.04531474 0.02758569 -0.13092470
+v 0.05199210 -0.00095897 -0.13092480
+v 0.06240962 -0.00147563 -0.09065376
+v 0.04417699 0.00235519 -0.09065374
+v 0.04524673 0.02758554 -0.09065365
+v 0.04523366 0.02758554 -0.09070098
+v 0.05284999 0.02758554 -0.09066154
+v 0.06240177 0.00073749 -0.09070500
+v 0.06203038 -0.00004803 -0.09350802
+v 0.05195548 0.00537910 -0.13045171
+v 0.05161547 0.00593508 -0.13092478
+v 0.05202610 -0.00082266 -0.13092480
+v 0.05203395 -0.00088723 -0.13086568
+v 0.06203038 -0.00041390 -0.09350802
+v 0.06240440 0.00075543 -0.09065375
+v 0.05199995 0.02758554 -0.09065365
+v 0.05218042 0.00235534 -0.13092479
+v 0.05204180 0.00371478 -0.13092479
+v 0.05204441 -0.00044963 -0.13092480
+f 1 2 5
+f 1 5 10
+f 1 10 19
+f 1 19 26
+f 1 26 38
+f 1 38 39
+f 1 39 28
+f 1 28 27
+f 1 27 20
+f 1 20 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 16
+f 4 16 24
+f 4 24 34
+f 4 34 41
+f 4 41 40
+f 4 40 42
+f 4 42 35
+f 4 35 25
+f 4 25 18
+f 4 18 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 15
+f 7 15 14
+f 8 17 15
+f 8 15 16
+f 9 18 10
+f 10 18 19
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 13
+f 13 22 15
+f 14 15 17
+f 15 22 16
+f 16 23 29
+f 16 29 28
+f 16 28 39
+f 16 39 30
+f 16 30 24
+f 16 22 23
+f 18 25 26
+f 18 26 19
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 22 29 23
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 25 35 36
+f 25 36 26
+f 26 37 32
+f 26 32 31
+f 26 31 38
+f 26 36 37
+f 30 39 38
+f 30 38 31
+f 32 37 40
+f 32 40 41
+f 32 41 33
+f 33 41 34
+f 35 42 37
+f 35 37 36
+f 37 42 40
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_23.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.00331007 0.04412959 0.11748926
+v 0.00137300 0.04412959 0.11795836
+v 0.00753813 0.04412958 0.11948059
+v 0.00331007 0.00190763 0.13527395
+v -0.00078328 0.04412958 0.11956995
+v -0.00058842 0.00190763 0.13649301
+v -0.00095807 0.00190763 0.13663980
+v 0.00810549 0.04412958 0.12045711
+v 0.00682461 0.00190763 0.13715358
+v 0.00360523 0.00190763 0.13541755
+v -0.00109849 0.04412958 0.12001991
+v -0.00326194 0.00190761 0.14118095
+v 0.01007983 0.04412956 0.12572269
+v 0.01010704 0.04364188 0.12572269
+v 0.00864564 0.00190761 0.14118095
+v 0.00845795 0.00190761 0.14076290
+v -0.00339947 0.04412956 0.12524080
+v -0.00237364 0.00190759 0.14633163
+v -0.00239369 0.00235393 0.14633163
+v -0.00359864 0.01267799 0.14118099
+v -0.00434222 0.03586783 0.13346463
+v -0.00434222 0.03586783 0.13344548
+v 0.00943365 0.04412954 0.13087336
+v 0.00963138 0.04364186 0.13087655
+v 0.01029472 0.03847985 0.13087653
+v 0.01020590 0.02815993 0.13602717
+v 0.00971017 0.01267799 0.14118099
+v 0.00839348 0.00190759 0.14588804
+v -0.00434222 0.03591742 0.13344548
+v -0.00342527 0.04412956 0.12572269
+v -0.00009700 0.00190758 0.14954521
+v -0.00011419 0.00235392 0.14955799
+v -0.00238653 0.00751595 0.14633165
+v -0.00364163 0.01784000 0.14118101
+v -0.00434222 0.03591742 0.13346463
+v 0.00689483 0.04412952 0.13538898
+v 0.00704669 0.04313762 0.13586128
+v 0.00885769 0.03847983 0.13602721
+v 0.01008842 0.03331781 0.13602719
+v 0.00995804 0.02300202 0.14118102
+v 0.01004114 0.01784000 0.14118101
+v 0.00831754 0.00190759 0.14633163
+v -0.00330636 0.04412954 0.13039149
+v 0.00303069 0.00190758 0.15003028
+v 0.00331007 0.00235392 0.15009092
+v -0.00010130 0.00751594 0.14954523
+v -0.00199396 0.01267797 0.14633167
+v -0.00343674 0.02300202 0.14118102
+v -0.00268884 0.02815991 0.14118104
+v -0.00306422 0.03797561 0.13551661
+v -0.00329203 0.04364186 0.13087655
+v 0.00347197 0.04412952 0.13691758
+v 0.00587327 0.04107942 0.13861533
+v 0.00660254 0.03847982 0.13937164
+v 0.00746363 0.03301195 0.14127041
+v 0.00909983 0.02815991 0.14118104
+v 0.00755818 0.02300201 0.14553389
+v 0.00824590 0.01267797 0.14633167
+v 0.00829175 0.00751595 0.14633165
+v 0.00669710 0.00190758 0.14917184
+v -0.00310434 0.04412954 0.13089888
+v 0.00331007 0.00190758 0.15006859
+v 0.00652230 0.00190758 0.14943354
+v 0.00652947 0.00235392 0.14943990
+v 0.00331007 0.00751594 0.14997287
+v 0.00025976 0.01267796 0.14927400
+v -0.00102827 0.01760854 0.14667314
+v -0.00103545 0.02300201 0.14555304
+v -0.00030331 0.02815990 0.14469461
+v -0.00109419 0.03321446 0.14140126
+v -0.00039357 0.03847982 0.13973544
+v -0.00078473 0.04338146 0.13599851
+v -0.00084633 0.04412952 0.13534430
+v 0.00331007 0.04412952 0.13696545
+v 0.00331007 0.04397248 0.13707396
+v 0.00331007 0.04139352 0.13882276
+v 0.00331007 0.03847981 0.14050453
+v 0.00331007 0.03409478 0.14285967
+v 0.00609821 0.03109013 0.14392553
+v 0.00676874 0.02815990 0.14459887
+v 0.00593631 0.01552141 0.14895807
+v 0.00752522 0.01748042 0.14666676
+v 0.00615552 0.01267796 0.14912720
+v 0.00641343 0.00751594 0.14933781
+v 0.00331007 0.01267796 0.14949101
+v 0.00062081 0.01573219 0.14900913
+v 0.00038441 0.03142077 0.14403723
+v 0.00040590 0.04148444 0.13888657
+v -0.00064288 0.04412952 0.13567300
+v 0.00331007 0.03151170 0.14409468
+v 0.00331007 0.02815990 0.14553710
+v 0.00331007 0.02300200 0.14733375
+v 0.00331007 0.01838965 0.14846665
+v 0.00331007 0.01581071 0.14902190
+f 1 2 5
+f 1 5 11
+f 1 11 17
+f 1 17 30
+f 1 30 43
+f 1 43 61
+f 1 61 73
+f 1 73 89
+f 1 89 74
+f 1 74 52
+f 1 52 36
+f 1 36 23
+f 1 23 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 16
+f 4 16 15
+f 4 15 28
+f 4 28 42
+f 4 42 60
+f 4 60 63
+f 4 63 62
+f 4 62 44
+f 4 44 31
+f 4 31 18
+f 4 18 12
+f 4 12 7
+f 4 7 6
+f 5 7 11
+f 7 12 11
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 11 12 17
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 17
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 17 22 29
+f 17 29 30
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 21
+f 21 35 29
+f 21 29 22
+f 21 34 35
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 28
+f 28 41 42
+f 29 35 30
+f 30 35 43
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 48 35
+f 35 49 50
+f 35 50 51
+f 35 51 43
+f 35 48 49
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 40
+f 40 57 58
+f 40 58 41
+f 40 56 57
+f 41 58 59
+f 41 59 42
+f 42 59 60
+f 43 51 61
+f 44 62 45
+f 45 62 63
+f 45 63 64
+f 45 64 65
+f 45 65 46
+f 46 65 66
+f 46 66 47
+f 47 66 67
+f 47 67 68
+f 47 68 48
+f 48 68 49
+f 49 69 70
+f 49 70 50
+f 49 68 69
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 61
+f 50 61 51
+f 52 74 53
+f 53 74 75
+f 53 75 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 54
+f 54 79 55
+f 55 79 80
+f 55 80 56
+f 56 80 57
+f 57 81 82
+f 57 82 58
+f 57 80 81
+f 58 82 83
+f 58 83 84
+f 58 84 64
+f 58 64 60
+f 58 60 59
+f 60 64 63
+f 64 84 65
+f 65 84 83
+f 65 83 81
+f 65 81 85
+f 65 85 66
+f 66 85 86
+f 66 86 68
+f 66 68 67
+f 68 86 69
+f 69 87 70
+f 69 86 87
+f 70 87 71
+f 71 87 88
+f 71 88 72
+f 72 88 89
+f 72 89 73
+f 74 89 88
+f 74 88 75
+f 75 88 76
+f 76 88 77
+f 77 88 78
+f 78 88 87
+f 78 87 90
+f 78 90 79
+f 79 90 91
+f 79 91 92
+f 79 92 81
+f 79 81 80
+f 81 92 93
+f 81 93 94
+f 81 94 85
+f 81 83 82
+f 85 94 86
+f 86 94 93
+f 86 93 92
+f 86 92 87
+f 87 92 91
+f 87 91 90
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_24.obj

@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.00288977 -0.03945327 0.11954856
+v 0.00290755 -0.03946571 0.11954856
+v 0.00286651 -0.03945948 0.11954856
+v 0.00331107 0.00190763 0.13527481
+v 0.00809188 -0.04395970 0.11954854
+v 0.00021828 -0.04033712 0.11954855
+v -0.00058879 0.00190763 0.13649393
+v 0.00360517 0.00190763 0.13541824
+v 0.00587451 -0.00533754 0.13344013
+v 0.00829842 -0.04433317 0.11954854
+v -0.00155589 -0.04409664 0.11954854
+v -0.00095812 0.00190763 0.13664035
+v 0.00682520 0.00190763 0.13715430
+v 0.01022715 -0.05028367 0.11954852
+v -0.00306604 -0.04916328 0.11954852
+v -0.00326165 0.00190761 0.14117920
+v 0.00845846 0.00190761 0.14076087
+v 0.01026407 -0.04409666 0.12572484
+v 0.00979489 -0.05441665 0.11954850
+v 0.00864586 0.00190761 0.14117920
+v 0.00934622 -0.00281047 0.14117918
+v 0.01007121 -0.00797048 0.14117916
+v 0.01054587 -0.02345669 0.13602770
+v -0.00300449 -0.05441665 0.11954850
+v -0.00339708 -0.04925665 0.12057043
+v -0.00340527 -0.00797048 0.14117916
+v -0.00237389 0.00190759 0.14633358
+v 0.01040771 -0.02861669 0.13602768
+v 0.01017106 -0.03893668 0.13087626
+v 0.00959381 -0.04925667 0.12572482
+v 0.00968410 -0.05441665 0.12057041
+v 0.00961432 -0.05544366 0.11954850
+v 0.00839280 0.00190759 0.14588837
+v 0.00831758 0.00190759 0.14633358
+v 0.01034342 -0.01313048 0.14117914
+v 0.01022031 -0.01829671 0.14117912
+v -0.00087467 -0.05942727 0.11954848
+v -0.00287727 -0.05441665 0.12057041
+v -0.00330406 -0.03893668 0.13087626
+v -0.00340527 -0.02861669 0.13602768
+v -0.00342717 -0.02345669 0.13602770
+v -0.00328080 -0.01313048 0.14117914
+v -0.00009634 0.00190758 0.14954574
+v -0.00304142 -0.01829671 0.14117912
+v -0.00215092 -0.00281049 0.14633356
+v 0.00952267 -0.03377048 0.13602767
+v 0.00945292 -0.02345671 0.14117910
+v 0.00901109 -0.04409668 0.13087624
+v 0.00711245 -0.04886456 0.13070890
+v 0.00741476 -0.05429218 0.12561424
+v 0.00724651 -0.05940860 0.12022079
+v 0.00753924 -0.05943349 0.11954848
+v 0.00669662 0.00190758 0.14917223
+v 0.00847077 -0.00281049 0.14633356
+v 0.00772938 -0.01829672 0.14564327
+v 0.00831348 -0.00797050 0.14633354
+v -0.00017157 -0.06057876 0.11954848
+v -0.00056964 -0.05940237 0.12028055
+v -0.00069275 -0.05426729 0.12558734
+v -0.00275143 -0.04925667 0.12572482
+v -0.00230002 -0.04409668 0.13087624
+v -0.00271586 -0.03377048 0.13602767
+v -0.00237799 -0.02345671 0.14117910
+v 0.00303202 0.00190758 0.15002980
+v 0.00008147 -0.00281050 0.14940230
+v -0.00081996 -0.01829672 0.14551181
+v -0.00114415 -0.01313050 0.14608552
+v -0.00114277 -0.00844355 0.14683853
+v 0.00781693 -0.02863539 0.14148984
+v 0.00713434 -0.03377049 0.13996593
+v 0.00772528 -0.03887445 0.13620694
+v 0.00697977 -0.02345672 0.14478269
+v 0.00678963 -0.04409669 0.13442007
+v 0.00602088 -0.04687898 0.13358340
+v 0.00641758 -0.05248712 0.12888018
+v 0.00644902 -0.05757864 0.12382738
+v 0.00721778 -0.05997502 0.11954848
+v 0.00652289 0.00190758 0.14943519
+v 0.00645588 -0.00281050 0.14937242
+v 0.00761857 -0.01271969 0.14671301
+v 0.00589778 -0.01072790 0.14893314
+v 0.00171611 -0.06158090 0.11954847
+v 0.00021964 -0.05756619 0.12377956
+v 0.00024973 -0.05244354 0.12882043
+v -0.00043832 -0.04887078 0.13067303
+v -0.00106345 -0.03893670 0.13627267
+v -0.00020851 -0.04409669 0.13451568
+v -0.00047662 -0.03377049 0.13988526
+v -0.00098821 -0.02850467 0.14143009
+v -0.00016884 -0.02345672 0.14466317
+v 0.00331107 0.00190758 0.15007164
+v 0.00331107 -0.00281050 0.14986545
+v 0.00040020 -0.00703063 0.14916323
+v 0.00629309 -0.02692992 0.14410140
+v 0.00634780 -0.03711918 0.13904559
+v 0.00331107 -0.04015046 0.13784737
+v 0.00331107 -0.04409670 0.13547784
+v 0.00331107 -0.04699102 0.13366109
+v 0.00331107 -0.04956790 0.13170092
+v 0.00331107 -0.05277967 0.12912521
+v 0.00331107 -0.05536278 0.12670788
+v 0.00331107 -0.05785252 0.12412917
+v 0.00331107 -0.06043561 0.12105744
+v 0.00331107 -0.06168049 0.11954847
+v 0.00685529 -0.06042939 0.11954848
+v 0.00613168 -0.00797051 0.14910944
+v 0.00470632 -0.01072790 0.14893314
+v 0.00312915 -0.01271970 0.14857755
+v 0.00331107 -0.01829673 0.14740024
+v 0.00312915 -0.00844356 0.14922300
+v 0.00058212 -0.04689143 0.13360133
+v 0.00027572 -0.03721256 0.13903662
+v 0.00043578 -0.02671207 0.14402670
+v 0.00130711 -0.01047270 0.14889428
+v 0.00331107 -0.02345673 0.14569106
+v 0.00331107 -0.02721002 0.14421794
+v 0.00331107 -0.02979313 0.14316913
+v 0.00331107 -0.03377050 0.14124780
+v 0.00331107 -0.03757357 0.13925774
+f 1 2 5
+f 1 5 10
+f 1 10 14
+f 1 14 19
+f 1 19 32
+f 1 32 52
+f 1 52 77
+f 1 77 105
+f 1 105 104
+f 1 104 82
+f 1 82 57
+f 1 57 37
+f 1 37 24
+f 1 24 15
+f 1 15 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 12
+f 4 12 16
+f 4 16 27
+f 4 27 43
+f 4 43 64
+f 4 64 91
+f 4 91 78
+f 4 78 53
+f 4 53 34
+f 4 34 33
+f 4 33 20
+f 4 20 17
+f 4 17 13
+f 4 13 8
+f 4 8 9
+f 4 9 5
+f 4 6 7
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 18 19
+f 14 17 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 18
+f 15 24 25
+f 15 25 16
+f 16 26 27
+f 16 25 26
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 18 23 28
+f 19 31 32
+f 20 33 21
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 28
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 40
+f 26 40 42
+f 26 42 27
+f 27 42 44
+f 27 44 45
+f 27 45 43
+f 28 46 29
+f 28 36 47
+f 28 47 46
+f 29 48 30
+f 29 46 48
+f 30 49 50
+f 30 50 31
+f 30 48 49
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 34 53 54
+f 34 54 35
+f 35 54 36
+f 36 55 47
+f 36 54 56
+f 36 56 55
+f 37 57 58
+f 37 58 38
+f 38 58 59
+f 38 59 60
+f 38 60 39
+f 39 61 62
+f 39 62 40
+f 39 60 61
+f 40 62 63
+f 40 63 44
+f 40 44 42
+f 43 45 65
+f 43 65 64
+f 44 63 66
+f 44 66 67
+f 44 67 45
+f 45 68 65
+f 45 67 68
+f 46 47 69
+f 46 69 70
+f 46 70 71
+f 46 71 48
+f 47 55 72
+f 47 72 69
+f 48 71 73
+f 48 73 49
+f 49 73 74
+f 49 74 75
+f 49 75 50
+f 50 76 51
+f 50 75 76
+f 51 77 52
+f 51 76 77
+f 53 78 54
+f 54 78 79
+f 54 79 56
+f 55 56 80
+f 55 80 81
+f 55 81 72
+f 56 79 80
+f 57 82 83
+f 57 83 58
+f 58 83 59
+f 59 83 84
+f 59 84 85
+f 59 85 60
+f 60 85 61
+f 61 86 62
+f 61 85 87
+f 61 87 86
+f 62 88 89
+f 62 89 63
+f 62 86 88
+f 63 89 90
+f 63 90 66
+f 64 65 91
+f 65 92 91
+f 65 68 93
+f 65 93 92
+f 66 90 93
+f 66 93 67
+f 67 93 68
+f 69 72 94
+f 69 94 70
+f 70 95 73
+f 70 73 71
+f 70 94 95
+f 72 81 94
+f 73 95 74
+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 75 100 101
+f 75 101 76
+f 76 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 105
+f 76 105 77
+f 78 91 79
+f 79 91 92
+f 79 92 106
+f 79 106 80
+f 80 106 81
+f 81 107 108
+f 81 108 109
+f 81 109 94
+f 81 106 92
+f 81 92 110
+f 81 110 107
+f 82 104 103
+f 82 103 102
+f 82 102 83
+f 83 102 101
+f 83 101 84
+f 84 100 111
+f 84 111 85
+f 84 101 100
+f 85 111 87
+f 86 87 112
+f 86 112 88
+f 87 111 112
+f 88 112 113
+f 88 113 90
+f 88 90 89
+f 90 113 114
+f 90 114 93
+f 92 93 114
+f 92 114 110
+f 94 109 115
+f 94 115 116
+f 94 116 117
+f 94 117 118
+f 94 118 95
+f 95 118 119
+f 95 119 96
+f 96 119 112
+f 96 112 111
+f 96 111 97
+f 97 111 98
+f 98 111 99
+f 99 111 100
+f 107 114 108
+f 107 110 114
+f 108 114 109
+f 109 114 113
+f 109 113 115
+f 112 119 118
+f 112 118 117
+f 112 117 113
+f 113 116 115
+f 113 117 116
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_25.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.03661098 -0.14946128 -0.11405184
+v 0.03661098 -0.15006629 -0.11405184
+v 0.03391051 -0.14954897 -0.11402126
+v 0.03554562 -0.14409952 -0.10975689
+v 0.03722690 -0.14409952 -0.10975689
+v 0.03715868 -0.14757611 -0.11140846
+v 0.03825211 -0.14732186 -0.10616104
+v 0.03391051 -0.15005314 -0.11402126
+v 0.03675742 -0.15024605 -0.11131235
+v 0.03092315 -0.15496338 -0.10616107
+v 0.02745227 -0.15517381 -0.10890057
+v 0.02614619 -0.15517381 -0.10890057
+v 0.03133244 -0.14986901 -0.11390766
+v 0.03429572 -0.11169221 -0.08151420
+v 0.03799731 -0.14308242 -0.10616103
+v 0.03431979 -0.11169221 -0.08151420
+v 0.03662703 -0.11358614 -0.08308713
+v 0.03731919 -0.11169221 -0.08050055
+v 0.03735530 -0.11169221 -0.08044373
+v 0.03778264 -0.14759369 -0.10126752
+v 0.03671530 -0.15021100 -0.10616105
+v 0.03846278 -0.14173651 -0.10137237
+v 0.03874565 -0.14216179 -0.09585404
+v 0.03133244 -0.14993915 -0.11390766
+v 0.03391051 -0.15269241 -0.10616106
+v 0.03099739 -0.15479681 -0.10100977
+v 0.02844941 -0.15620411 -0.10100977
+v 0.02837518 -0.15571745 -0.10616107
+v 0.02547409 -0.15571745 -0.10616107
+v 0.02091983 -0.15539744 -0.09422876
+v 0.02614619 -0.15463456 -0.10890057
+v 0.01896370 -0.11169224 -0.07453657
+v 0.01933285 -0.11169223 -0.07491670
+v 0.02300435 -0.11169223 -0.07716247
+v 0.02420411 -0.11169222 -0.07771299
+v 0.02672601 -0.11169222 -0.07878782
+v 0.02936827 -0.11169222 -0.07986701
+v 0.03746364 -0.11169223 -0.07681294
+v 0.03796320 -0.12180197 -0.08563878
+v 0.03854101 -0.13687016 -0.09599822
+v 0.03710653 -0.14576993 -0.09585406
+v 0.03616156 -0.14949640 -0.09972521
+v 0.03655279 -0.15001811 -0.10315940
+v 0.03841862 -0.13161362 -0.09099545
+v 0.03793913 -0.12152141 -0.08133947
+v 0.03794715 -0.13184160 -0.08634662
+v 0.03818590 -0.13722968 -0.09038815
+v 0.03720282 -0.14216180 -0.09219703
+v 0.03649260 -0.14479666 -0.09322817
+v 0.03424155 -0.15182437 -0.10126754
+v 0.03042157 -0.15420935 -0.09585409
+v 0.02787360 -0.15611206 -0.09585409
+v 0.02371257 -0.15647597 -0.09070718
+v 0.02455120 -0.15620411 -0.10100977
+v 0.02049449 -0.15587973 -0.09070718
+v 0.02038816 -0.15266616 -0.09059793
+v 0.02091983 -0.15450747 -0.09422876
+v 0.01825147 -0.11169225 -0.07001007
+v 0.03739742 -0.11169223 -0.07659010
+v 0.03551554 -0.14834777 -0.09585406
+v 0.03296555 -0.15162711 -0.09585408
+v 0.03703229 -0.11499347 -0.07728920
+v 0.03731317 -0.12575646 -0.08222207
+v 0.03642237 -0.12919800 -0.08301727
+v 0.03709649 -0.13566017 -0.08743020
+v 0.03539718 -0.14216181 -0.08962793
+v 0.03620570 -0.13910170 -0.08845698
+v 0.03093319 -0.14915887 -0.08870606
+v 0.03210084 -0.15078975 -0.09214026
+v 0.02643710 -0.15522212 -0.08795895
+v 0.02703899 -0.15566051 -0.09070718
+v 0.02371257 -0.15574820 -0.08738221
+v 0.02051455 -0.15581836 -0.08730356
+v 0.02067506 -0.13547169 -0.07747714
+v 0.02039617 -0.12006152 -0.07229520
+v 0.02288799 -0.11169225 -0.06942897
+v 0.02036407 -0.15220146 -0.08557335
+v 0.02032195 -0.14732195 -0.08214350
+v 0.02088170 -0.15029437 -0.08275520
+v 0.03402687 -0.11169224 -0.07404722
+v 0.02665780 -0.14543240 -0.08271148
+v 0.03104353 -0.13904472 -0.08323140
+v 0.03014473 -0.14216183 -0.08400913
+v 0.03189620 -0.14571736 -0.08753510
+v 0.02734796 -0.15248204 -0.08706761
+v 0.02520525 -0.14887391 -0.08344990
+v 0.02358818 -0.15220146 -0.08472135
+v 0.02180459 -0.15029437 -0.08275520
+v 0.02230215 -0.13547169 -0.07747714
+v 0.02353201 -0.11169226 -0.06941586
+v 0.03131238 -0.11169224 -0.07268404
+v 0.02358818 -0.14722113 -0.08215224
+v 0.02879449 -0.14729564 -0.08549468
+v 0.02570280 -0.13386272 -0.07806698
+v 0.02886069 -0.11169225 -0.07160483
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 8
+f 3 8 24
+f 3 24 13
+f 3 13 4
+f 4 13 14
+f 4 14 16
+f 4 16 5
+f 5 15 6
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 15
+f 6 15 7
+f 7 20 21
+f 7 21 9
+f 7 15 22
+f 7 22 23
+f 7 23 20
+f 8 12 24
+f 9 21 25
+f 9 25 10
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 11 28 29
+f 11 29 12
+f 12 29 30
+f 12 30 57
+f 12 57 31
+f 12 31 13
+f 12 13 24
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 35
+f 13 35 36
+f 13 36 37
+f 13 37 14
+f 14 37 36
+f 14 36 35
+f 14 35 34
+f 14 34 33
+f 14 33 32
+f 14 32 58
+f 14 58 76
+f 14 76 90
+f 14 90 95
+f 14 95 91
+f 14 91 80
+f 14 80 59
+f 14 59 38
+f 14 38 19
+f 14 19 18
+f 14 18 16
+f 15 19 22
+f 16 18 17
+f 19 38 39
+f 19 39 40
+f 19 40 22
+f 20 23 41
+f 20 41 42
+f 20 42 43
+f 20 43 21
+f 21 43 26
+f 21 26 25
+f 22 40 23
+f 23 40 44
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 47 48
+f 23 48 49
+f 23 49 41
+f 26 43 50
+f 26 50 51
+f 26 51 52
+f 26 52 27
+f 27 52 53
+f 27 53 54
+f 27 54 29
+f 27 29 28
+f 29 54 55
+f 29 55 30
+f 30 55 56
+f 30 56 57
+f 31 57 32
+f 32 57 56
+f 32 56 58
+f 38 59 45
+f 38 45 39
+f 39 44 40
+f 39 45 44
+f 41 49 60
+f 41 60 42
+f 42 60 61
+f 42 61 51
+f 42 51 43
+f 43 51 50
+f 45 59 62
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 65 48
+f 48 66 49
+f 48 65 67
+f 48 67 66
+f 49 66 68
+f 49 68 69
+f 49 69 60
+f 51 70 71
+f 51 71 52
+f 51 61 70
+f 52 71 53
+f 53 71 70
+f 53 70 72
+f 53 72 73
+f 53 73 55
+f 53 55 54
+f 55 73 58
+f 55 58 56
+f 58 74 75
+f 58 75 76
+f 58 73 77
+f 58 77 78
+f 58 78 79
+f 58 79 74
+f 59 80 62
+f 60 69 61
+f 61 69 70
+f 62 64 63
+f 62 80 81
+f 62 81 82
+f 62 82 64
+f 64 82 83
+f 64 83 84
+f 64 84 65
+f 65 84 67
+f 66 67 68
+f 67 84 68
+f 68 85 70
+f 68 70 69
+f 68 84 85
+f 70 85 86
+f 70 86 87
+f 70 87 72
+f 72 87 88
+f 72 88 73
+f 73 79 78
+f 73 78 77
+f 73 88 79
+f 74 89 90
+f 74 90 75
+f 74 79 88
+f 74 88 89
+f 75 90 76
+f 80 91 81
+f 81 92 86
+f 81 86 85
+f 81 85 93
+f 81 93 83
+f 81 83 82
+f 81 91 94
+f 81 94 92
+f 83 93 84
+f 84 93 85
+f 86 88 87
+f 86 92 88
+f 88 92 89
+f 89 94 90
+f 89 92 94
+f 90 94 95
+f 91 95 94
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_26.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01136462 -0.08422232 -0.06430051
+v 0.03665544 -0.09805456 -0.07291624
+v 0.03390947 -0.09788249 -0.07305321
+v 0.03390947 -0.10087207 -0.07502289
+v 0.03390947 -0.10421386 -0.07721432
+v 0.03390947 -0.10679478 -0.07879593
+v 0.03429600 -0.11168782 -0.08151241
+v 0.02936775 -0.11168783 -0.07986557
+v 0.02672379 -0.11168783 -0.07878618
+v 0.02420330 -0.11168783 -0.07771004
+v 0.02300344 -0.11168784 -0.07715565
+v 0.01933142 -0.11168784 -0.07491531
+v 0.01896367 -0.11168785 -0.07453051
+v 0.01579360 -0.10603131 -0.06796926
+v 0.01605934 -0.10861762 -0.06753882
+v 0.01136462 -0.09022037 -0.05499026
+v 0.01136462 -0.08422238 -0.04820073
+v 0.02930601 -0.08422234 -0.06011007
+v 0.03721108 -0.10717656 -0.07863615
+v 0.03878671 -0.08422235 -0.05779473
+v 0.03878671 -0.08837335 -0.06179929
+v 0.03878671 -0.09055371 -0.06375920
+v 0.03432016 -0.11168782 -0.08151241
+v 0.01824967 -0.11168786 -0.07000744
+v 0.01605934 -0.10861762 -0.06750948
+v 0.01136462 -0.09197059 -0.04918887
+v 0.01136462 -0.09188457 -0.04820076
+v 0.03878671 -0.08422238 -0.04820073
+v 0.03735603 -0.11168782 -0.08043952
+v 0.03731844 -0.11168782 -0.08049822
+v 0.03878671 -0.09507036 -0.06500494
+v 0.02288802 -0.11168786 -0.06942697
+v 0.01833020 -0.09259164 -0.04820076
+v 0.03878671 -0.08750233 -0.04820074
+v 0.03735870 -0.11168782 -0.08036452
+v 0.03746339 -0.11168784 -0.07680999
+v 0.03878671 -0.09404069 -0.06116669
+v 0.02353224 -0.11168787 -0.06941394
+v 0.01861204 -0.09261583 -0.04820076
+v 0.03752244 -0.08831157 -0.04820074
+v 0.03739627 -0.11168784 -0.07658497
+v 0.03878671 -0.08860730 -0.04983128
+v 0.02886042 -0.11168786 -0.07160209
+v 0.03384236 -0.08983324 -0.04820075
+v 0.02880942 -0.09121782 -0.04820076
+v 0.02534946 -0.09203781 -0.04820076
+v 0.03131383 -0.11168785 -0.07267824
+v 0.03402489 -0.11168785 -0.07404135
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 16
+f 1 16 26
+f 1 26 27
+f 1 27 17
+f 1 17 28
+f 1 28 20
+f 1 20 18
+f 1 18 2
+f 2 19 5
+f 2 5 4
+f 2 4 3
+f 2 18 20
+f 2 20 21
+f 2 21 22
+f 2 22 19
+f 5 19 6
+f 6 19 23
+f 6 23 7
+f 7 23 30
+f 7 30 29
+f 7 29 35
+f 7 35 36
+f 7 36 41
+f 7 41 48
+f 7 48 47
+f 7 47 43
+f 7 43 38
+f 7 38 32
+f 7 32 24
+f 7 24 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 13 24 15
+f 13 15 14
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 27 33
+f 17 33 39
+f 17 39 46
+f 17 46 45
+f 17 45 44
+f 17 44 40
+f 17 40 34
+f 17 34 28
+f 19 29 30
+f 19 30 23
+f 19 22 29
+f 20 28 34
+f 20 34 42
+f 20 42 37
+f 20 37 31
+f 20 31 22
+f 20 22 21
+f 22 31 29
+f 24 32 27
+f 24 27 25
+f 25 27 26
+f 27 32 33
+f 29 31 35
+f 31 36 35
+f 31 37 36
+f 32 38 39
+f 32 39 33
+f 34 40 41
+f 34 41 36
+f 34 36 42
+f 36 37 42
+f 38 43 44
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 44 47
+f 40 47 48
+f 40 48 41
+f 43 47 44
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_27.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00328480 0.10579060 -0.02399883
+v -0.00059117 0.10539390 -0.02399883
+v 0.01136462 0.10949838 -0.01721123
+v 0.01136462 0.10491403 -0.02345936
+v 0.01136462 0.10387751 -0.02399884
+v -0.00436094 0.10513155 -0.01859497
+v -0.00436094 0.10579057 -0.01553491
+v -0.00436094 0.10212118 -0.02399884
+v -0.00436094 0.10591852 -0.01340750
+v 0.01136462 0.10949838 -0.01591588
+v 0.01136462 0.08388921 -0.02399891
+v -0.00436094 0.08240481 -0.02399892
+v 0.01136462 0.10914968 -0.01434318
+v -0.00436094 0.10429334 -0.00929594
+v 0.01136462 0.08390201 -0.02371242
+v 0.00727622 0.08092680 -0.02371243
+v 0.00723774 0.08096839 -0.02399892
+v 0.00388974 0.08096839 -0.02399892
+v -0.00436094 0.07689901 -0.01114915
+v 0.00007534 0.09853481 0.00713814
+v 0.00331096 0.09891869 0.00713814
+v 0.00337869 0.09891549 0.00713814
+v 0.01136462 0.10127651 0.00039627
+v -0.00436094 0.10245701 -0.00656809
+v 0.00002762 0.09852521 0.00713814
+v 0.01136462 0.08418032 -0.01839694
+v -0.00436094 0.07681584 -0.01038413
+v 0.01136462 0.08577661 0.00185920
+v 0.00684060 0.09824049 0.00713814
+v 0.00940816 0.09672088 0.00713814
+v 0.00943895 0.09670169 0.00713814
+v 0.01136462 0.09479819 0.00713813
+v -0.00436094 0.10006724 -0.00317888
+v -0.00145627 0.09654813 0.00713813
+v 0.00331096 0.08535430 0.00713809
+v -0.00042955 0.08657638 0.00713810
+v -0.00046187 0.08661157 0.00713810
+v -0.00436094 0.09044416 0.00543739
+v 0.00776880 0.08629806 0.00713810
+v 0.01136462 0.08900133 0.00713811
+v -0.00436094 0.09341937 0.00574524
+v -0.00270157 0.09488777 0.00713813
+v -0.00305869 0.09039296 0.00713811
+v -0.00308024 0.09043136 0.00713811
+v -0.00436094 0.09178140 0.00583972
+v -0.00271235 0.09483339 0.00713813
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 18
+f 1 18 12
+f 1 12 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 7 9
+f 3 9 10
+f 3 10 13
+f 3 13 23
+f 3 23 32
+f 3 32 40
+f 3 40 28
+f 3 28 26
+f 3 26 15
+f 3 15 11
+f 3 11 5
+f 3 5 4
+f 6 8 12
+f 6 12 19
+f 6 19 27
+f 6 27 38
+f 6 38 45
+f 6 45 41
+f 6 41 33
+f 6 33 24
+f 6 24 14
+f 6 14 9
+f 6 9 7
+f 9 13 10
+f 9 14 13
+f 11 15 16
+f 11 16 17
+f 12 18 19
+f 13 14 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 14 24 25
+f 14 25 20
+f 15 26 16
+f 16 27 19
+f 16 19 17
+f 16 26 28
+f 16 28 27
+f 17 19 18
+f 20 25 34
+f 20 34 42
+f 20 42 46
+f 20 46 44
+f 20 44 43
+f 20 43 37
+f 20 37 36
+f 20 36 35
+f 20 35 39
+f 20 39 40
+f 20 40 32
+f 20 32 31
+f 20 31 30
+f 20 30 29
+f 20 29 22
+f 20 22 21
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 24 33 25
+f 25 33 34
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 28 39
+f 27 39 35
+f 28 40 39
+f 33 41 42
+f 33 42 34
+f 37 43 38
+f 38 43 44
+f 38 44 45
+f 41 45 44
+f 41 44 46
+f 41 46 42
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_28.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.05778132 -0.05154576 -0.04449360
+v 0.06296049 -0.04675057 -0.04449358
+v 0.05778132 -0.00905854 -0.04449344
+v 0.05778132 -0.04684201 -0.05857576
+v 0.06912950 -0.03861572 -0.05925228
+v 0.06673878 -0.04143135 -0.04449356
+v 0.06912950 -0.03879041 -0.05427894
+v 0.06912950 -0.00905854 -0.04449344
+v 0.05778132 -0.00905837 -0.09026612
+v 0.05778132 -0.04546540 -0.06211087
+v 0.05778132 -0.04409712 -0.06479467
+v 0.05778132 -0.04123994 -0.06995170
+v 0.05778132 -0.04020437 -0.07146162
+v 0.05778132 -0.03753852 -0.07407822
+v 0.05778132 -0.03445677 -0.07585697
+v 0.05800240 -0.00905837 -0.08976879
+v 0.05972656 -0.00905839 -0.08568258
+v 0.06912950 -0.03838698 -0.05925228
+v 0.06790969 -0.03707283 -0.04449355
+v 0.06912950 -0.03805430 -0.05242850
+v 0.06912950 -0.01261855 -0.04449346
+v 0.06912950 -0.00905850 -0.05551993
+v 0.06912950 -0.01313005 -0.05613377
+v 0.06858736 -0.03358352 -0.04449353
+v 0.06912950 -0.03374570 -0.04693092
+v 0.06912950 -0.02858035 -0.04619163
+f 1 2 6
+f 1 6 19
+f 1 19 24
+f 1 24 21
+f 1 21 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 22
+f 3 22 17
+f 3 17 16
+f 3 16 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 9
+f 5 9 16
+f 5 16 17
+f 5 17 18
+f 5 18 23
+f 5 23 22
+f 5 22 8
+f 5 8 21
+f 5 21 26
+f 5 26 25
+f 5 25 20
+f 5 20 7
+f 6 7 20
+f 6 20 19
+f 17 22 23
+f 17 23 18
+f 19 20 25
+f 19 25 24
+f 21 24 26
+f 24 25 26
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_29.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.07641849 -0.00905491 -0.05543284
+v 0.07400287 -0.00905492 -0.05106469
+v 0.07641849 -0.00905490 -0.05658488
+v 0.07394026 0.02765018 -0.05463158
+v 0.07333766 0.01837143 -0.04305991
+v 0.07337157 0.01782881 -0.04305991
+v 0.07322549 0.01289120 -0.04305993
+v 0.07319679 0.01267558 -0.04305993
+v 0.06995944 -0.00669754 -0.04306000
+v 0.06937510 -0.00905495 -0.04306001
+v 0.07470982 -0.00905490 -0.05705331
+v 0.06949249 0.00265667 -0.05996813
+v 0.06949510 0.00267465 -0.05996813
+v 0.07014727 0.00746851 -0.05996811
+v 0.07089335 0.02765020 -0.05996804
+v 0.07268549 0.02765019 -0.05780300
+v 0.07341592 0.02765017 -0.05087421
+v 0.07306898 0.01925547 -0.04305991
+v 0.05267184 -0.00905495 -0.04306001
+v 0.07308463 -0.00905490 -0.05740091
+v 0.06247257 -0.00904771 -0.05996817
+v 0.05199359 0.02765020 -0.05996804
+v 0.06906206 0.02765014 -0.04305988
+v 0.07052812 0.02533226 -0.04305989
+v 0.07210638 0.02207285 -0.04305990
+v 0.05240315 -0.00905495 -0.04432792
+v 0.05033970 -0.00290988 -0.04305999
+v 0.06268388 -0.00905489 -0.05955270
+v 0.05912827 -0.00905489 -0.05996817
+v 0.04976840 0.00235475 -0.04305997
+v 0.05232750 0.02765014 -0.04409275
+v 0.05001363 0.00235481 -0.05996813
+v 0.05255968 0.02765014 -0.04305988
+v 0.05162578 -0.00905489 -0.05996817
+v 0.05001101 -0.00280560 -0.05996815
+v 0.05110925 -0.00725091 -0.05996817
+v 0.05116664 -0.00745214 -0.05996817
+v 0.05000579 -0.00262233 -0.05996815
+f 1 2 10
+f 1 10 19
+f 1 19 26
+f 1 26 34
+f 1 34 29
+f 1 29 28
+f 1 28 20
+f 1 20 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 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 16 15
+f 4 15 22
+f 4 22 31
+f 4 31 33
+f 4 33 23
+f 4 23 17
+f 4 17 5
+f 5 18 25
+f 5 25 24
+f 5 24 23
+f 5 23 33
+f 5 33 30
+f 5 30 27
+f 5 27 19
+f 5 19 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 5 17 18
+f 11 20 21
+f 11 21 12
+f 12 21 29
+f 12 29 34
+f 12 34 37
+f 12 37 36
+f 12 36 35
+f 12 35 38
+f 12 38 32
+f 12 32 22
+f 12 22 15
+f 12 15 14
+f 12 14 13
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 19 27 26
+f 20 28 21
+f 21 28 29
+f 22 30 31
+f 22 32 30
+f 26 27 34
+f 27 30 35
+f 27 35 36
+f 27 36 37
+f 27 37 34
+f 30 32 38
+f 30 38 35
+f 30 33 31
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_3.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.05220877 0.00236074 -0.14738569
+v 0.05218078 0.00236068 -0.13093071
+v 0.05199288 -0.00329124 -0.14784014
+v 0.05188893 -0.00189260 -0.15011823
+v 0.05195689 0.00236075 -0.15020592
+v 0.05190493 0.00752096 -0.15014411
+v 0.05181696 0.01056089 -0.15003647
+v 0.05195290 0.00796800 -0.14701296
+v 0.05204485 -0.00044934 -0.13093072
+v 0.05181696 0.01056089 -0.14847987
+v 0.05204085 0.00371459 -0.13093071
+v 0.05181696 -0.00579472 -0.14467711
+v 0.05181696 -0.00579471 -0.14642306
+v 0.05174900 -0.00533487 -0.14985915
+v 0.05202486 -0.00081976 -0.13093072
+v 0.04871847 -0.00905177 -0.15086367
+v 0.04971399 -0.00329123 -0.15078194
+v 0.04921023 0.00236076 -0.15112074
+v 0.04921023 0.00752096 -0.15105894
+v 0.04805479 0.02300163 -0.15100508
+v 0.04959004 0.02300162 -0.14738562
+v 0.05054558 0.01784139 -0.14738563
+v 0.04739911 0.02815545 -0.15067221
+v 0.04687536 0.03132949 -0.15020581
+v 0.05144114 0.01244486 -0.14701294
+v 0.05174900 0.00998611 -0.14504576
+v 0.05161306 0.00593707 -0.13093070
+v 0.05198887 -0.00096026 -0.13093072
+v 0.05108931 -0.00905178 -0.14772655
+v 0.05057756 -0.00905177 -0.14860151
+v 0.04498028 -0.00905177 -0.15086367
+v 0.04410871 0.02815546 -0.15128807
+v 0.04273338 0.03848228 -0.15080171
+v 0.04823870 0.02815544 -0.14738560
+v 0.04400476 0.03848221 -0.13093058
+v 0.04201373 0.04191177 -0.15039711
+v 0.04703927 0.03182762 -0.14738558
+v 0.04422865 0.03848227 -0.14738556
+v 0.04599579 0.03440773 -0.14738557
+v 0.05136517 -0.00246745 -0.13093073
+v 0.05043762 -0.00905180 -0.14256045
+v 0.01136863 -0.00905179 -0.14470702
+v 0.02187151 0.05618539 -0.15068207
+v 0.02881214 0.05396292 -0.15109265
+v 0.03914712 0.04363610 -0.15095517
+v 0.04695133 0.03159770 -0.14414082
+v 0.04231358 0.04210968 -0.13093057
+v 0.03753990 0.04772340 -0.15062828
+v 0.03164277 0.05618539 -0.15012998
+v 0.03623652 0.05116567 -0.14886438
+v 0.04080631 0.04507303 -0.14738553
+v 0.04234156 0.04249291 -0.14738554
+v 0.05109331 -0.00311886 -0.13093073
+v 0.04849058 -0.00905184 -0.13093075
+v 0.01136863 -0.00905183 -0.13449042
+v 0.01136863 0.05618538 -0.14684537
+v 0.02034825 0.05618539 -0.15032132
+v 0.02688108 0.05618539 -0.15098301
+v 0.02881214 0.05618539 -0.15073987
+v 0.03253832 0.05396292 -0.15051465
+v 0.03428547 0.04918589 -0.15093919
+v 0.03653239 0.05147221 -0.14466095
+v 0.03203458 0.05618532 -0.13093051
+v 0.03234243 0.05618538 -0.14735360
+v 0.03033140 0.05618539 -0.15050268
+v 0.03457334 0.05350309 -0.14724200
+v 0.03653239 0.05147221 -0.14542829
+v 0.03793971 0.04918588 -0.14724202
+v 0.03875931 -0.00905184 -0.13093075
+v 0.01136863 0.05474199 -0.13093052
+v 0.01136863 0.05618532 -0.13093051
+v 0.03238640 0.05618537 -0.14476059
+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 10
+f 2 10 11
+f 2 11 27
+f 2 27 35
+f 2 35 47
+f 2 47 63
+f 2 63 71
+f 2 71 70
+f 2 70 69
+f 2 69 54
+f 2 54 53
+f 2 53 40
+f 2 40 28
+f 2 28 15
+f 2 15 9
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 9 15
+f 3 15 12
+f 4 14 16
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 7
+f 7 21 22
+f 7 22 10
+f 7 10 8
+f 7 20 23
+f 7 23 24
+f 7 24 21
+f 10 22 25
+f 10 25 26
+f 10 26 11
+f 11 26 25
+f 11 25 22
+f 11 22 21
+f 11 21 27
+f 12 15 28
+f 12 28 29
+f 12 29 13
+f 13 29 14
+f 14 29 30
+f 14 30 16
+f 16 30 29
+f 16 29 41
+f 16 41 54
+f 16 54 69
+f 16 69 55
+f 16 55 42
+f 16 42 31
+f 16 31 18
+f 16 18 17
+f 18 31 32
+f 18 32 20
+f 18 20 19
+f 20 32 33
+f 20 33 23
+f 21 24 34
+f 21 34 35
+f 21 35 27
+f 23 33 36
+f 23 36 24
+f 24 37 34
+f 24 36 38
+f 24 38 39
+f 24 39 37
+f 28 40 41
+f 28 41 29
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 44 45
+f 32 45 33
+f 33 45 36
+f 34 37 46
+f 34 46 35
+f 35 46 37
+f 35 37 39
+f 35 39 38
+f 35 38 47
+f 36 45 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 38
+f 38 52 47
+f 40 53 41
+f 41 53 54
+f 42 55 70
+f 42 70 71
+f 42 71 56
+f 42 56 57
+f 42 57 43
+f 43 57 56
+f 43 56 71
+f 43 71 63
+f 43 63 72
+f 43 72 64
+f 43 64 49
+f 43 49 65
+f 43 65 59
+f 43 59 58
+f 43 58 44
+f 44 58 59
+f 44 59 60
+f 44 60 61
+f 44 61 45
+f 45 61 48
+f 47 52 51
+f 47 51 62
+f 47 62 63
+f 48 61 60
+f 48 60 49
+f 49 64 50
+f 49 60 65
+f 50 64 66
+f 50 66 67
+f 50 67 68
+f 50 68 51
+f 51 68 67
+f 51 67 62
+f 55 69 70
+f 59 65 60
+f 62 67 72
+f 62 72 63
+f 64 72 67
+f 64 67 66
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_30.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.00436094 0.07682070 -0.01038432
+v -0.00944539 0.07203526 -0.00052391
+v -0.00914585 0.07179940 -0.00310514
+v -0.00904859 0.07172080 -0.00641791
+v -0.00436094 0.07690457 -0.01114645
+v -0.00436094 0.09043780 0.00543971
+v -0.01199345 0.07130670 0.00072777
+v -0.02977928 0.06167824 -0.00045440
+v -0.02472985 0.06171498 -0.01080438
+v -0.02472985 0.06171498 -0.01086557
+v -0.01919803 0.06635890 -0.02257568
+v -0.00436094 0.08450987 -0.02257561
+v -0.00436094 0.09177435 0.00584025
+v -0.01751748 0.07478174 0.00404890
+v -0.01709345 0.07053096 0.00187097
+v -0.02977928 0.06167824 -0.00088831
+v -0.02867059 0.06429895 0.00078338
+v -0.02990766 0.06167824 -0.00045440
+v -0.02474930 0.06171498 -0.01086557
+v -0.02206897 0.06606538 -0.02257568
+v -0.00436094 0.10215244 -0.02257554
+v -0.00436094 0.09341492 0.00574568
+v -0.01995272 0.08268576 0.00479715
+v -0.01994495 0.07978203 0.00479714
+v -0.01973878 0.07661622 0.00468309
+v -0.01949369 0.07661622 0.00468309
+v -0.02990766 0.06167824 -0.00088831
+v -0.03111750 0.06429895 0.00078338
+v -0.03869165 0.07153737 -0.01327710
+v -0.02500994 0.06647946 -0.02174402
+v -0.02370673 0.06634318 -0.02257568
+v -0.03869165 0.07208249 -0.01753002
+v -0.00804104 0.11040765 -0.02257551
+v -0.00436094 0.10512955 -0.01859521
+v -0.00436094 0.10006629 -0.00317735
+v -0.01199345 0.10715793 -0.00705197
+v -0.01709345 0.10730991 -0.00664865
+v -0.01709345 0.10473114 -0.00438173
+v -0.02218957 0.10041222 -0.00264887
+v -0.02218957 0.09720447 -0.00075189
+v -0.02763969 0.09541715 -0.00122754
+v -0.02617699 0.09380280 -0.00015388
+v -0.03238569 0.07978204 0.00319499
+v -0.03586350 0.07598728 0.00096701
+v -0.04171820 0.07922651 -0.01331602
+v -0.04158982 0.07922653 -0.01891796
+v -0.03770355 0.07640143 -0.02257564
+v -0.04170264 0.08005993 -0.02051177
+v -0.03869165 0.07740777 -0.02257564
+v -0.01010283 0.11326421 -0.02257550
+v -0.00436094 0.10578471 -0.01552998
+v -0.00436094 0.10245113 -0.00656800
+v -0.00436094 0.10428564 -0.00929387
+v -0.01199345 0.10885615 -0.00962208
+v -0.01709345 0.10910772 -0.00921875
+v -0.03504658 0.10310109 -0.01069853
+v -0.02530170 0.10323211 -0.00545539
+v -0.02711841 0.10059568 -0.00413419
+v -0.03238569 0.09880312 -0.00496031
+v -0.03503879 0.09795924 -0.00558893
+v -0.02957700 0.09248721 -0.00061284
+v -0.03244794 0.08495531 0.00129804
+v -0.03575847 0.08324662 0.00016595
+v -0.03624862 0.07978205 0.00111443
+v -0.04102575 0.08493962 -0.00852347
+v -0.04237175 0.08493964 -0.01340778
+v -0.04410287 0.09009197 -0.02051173
+v -0.04385001 0.08816314 -0.02051174
+v -0.04336374 0.08493967 -0.02051175
+v -0.04274131 0.08279594 -0.02051176
+v -0.03869165 0.10227823 -0.02257554
+v -0.01198956 0.11473704 -0.02257550
+v -0.00436094 0.10591049 -0.01340492
+v -0.01260809 0.11518256 -0.02257550
+v -0.00943761 0.10815905 -0.01082090
+v -0.02054792 0.10849449 -0.01028127
+v -0.01667721 0.11521925 -0.02257550
+v -0.03238569 0.10138190 -0.00733848
+v -0.02870171 0.10244066 -0.00630655
+v -0.03207837 0.10997785 -0.02257552
+v -0.03765687 0.10642418 -0.02257553
+v -0.04103743 0.08917467 -0.00927167
+v -0.03560675 0.09997196 -0.00869029
+v -0.03988983 0.08493961 -0.00595056
+v -0.04165596 0.09057415 -0.01294325
+v -0.04323536 0.09210465 -0.02051172
+v -0.02761635 0.11164985 -0.02257551
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 34
+f 1 34 51
+f 1 51 73
+f 1 73 53
+f 1 53 52
+f 1 52 35
+f 1 35 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 7
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 16 10
+f 8 10 9
+f 8 15 17
+f 8 17 28
+f 8 28 18
+f 8 18 27
+f 8 27 16
+f 10 16 27
+f 10 27 19
+f 10 19 20
+f 10 20 11
+f 11 20 31
+f 11 31 47
+f 11 47 49
+f 11 49 71
+f 11 71 81
+f 11 81 80
+f 11 80 87
+f 11 87 77
+f 11 77 74
+f 11 74 72
+f 11 72 50
+f 11 50 33
+f 11 33 21
+f 11 21 12
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 17
+f 14 17 15
+f 17 26 25
+f 17 25 28
+f 18 28 29
+f 18 29 27
+f 19 30 31
+f 19 31 20
+f 19 27 32
+f 19 32 30
+f 21 33 34
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 23 43 24
+f 24 43 25
+f 25 43 28
+f 27 29 32
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 32
+f 30 32 31
+f 31 32 47
+f 32 46 48
+f 32 48 49
+f 32 49 47
+f 33 50 51
+f 33 51 34
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 37 55 56
+f 37 56 57
+f 37 57 38
+f 38 57 39
+f 39 57 58
+f 39 58 40
+f 40 58 41
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 41 58 59
+f 42 61 43
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 69
+f 45 69 70
+f 45 70 46
+f 46 70 48
+f 48 70 49
+f 49 70 69
+f 49 69 68
+f 49 68 67
+f 49 67 71
+f 50 72 73
+f 50 73 51
+f 53 73 74
+f 53 74 75
+f 53 75 54
+f 54 75 74
+f 54 74 55
+f 55 76 56
+f 55 74 77
+f 55 77 76
+f 56 78 79
+f 56 79 57
+f 56 76 80
+f 56 80 81
+f 56 81 82
+f 56 82 83
+f 56 83 60
+f 56 60 78
+f 57 79 59
+f 57 59 58
+f 59 79 60
+f 60 79 78
+f 60 83 82
+f 60 82 64
+f 60 64 63
+f 60 63 62
+f 60 62 61
+f 64 82 84
+f 64 84 65
+f 65 84 82
+f 65 82 67
+f 65 67 66
+f 67 82 85
+f 67 85 86
+f 67 86 81
+f 67 81 71
+f 72 74 73
+f 76 77 87
+f 76 87 80
+f 81 86 85
+f 81 85 82
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_31.obj

@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.08325683 -0.00410648 -0.03417877
+v -0.08279933 -0.01324658 -0.03342782
+v -0.08284624 -0.01324658 -0.03337138
+v -0.08286579 -0.01312937 -0.03334878
+v -0.08325683 -0.00410649 -0.03331488
+v -0.06448711 -0.00410641 -0.05430806
+v -0.06333746 -0.01324650 -0.05430809
+v -0.08285015 -0.01324658 -0.03329232
+v -0.08286579 -0.01312938 -0.03043526
+v -0.08278368 -0.00796885 -0.03022068
+v -0.08234571 -0.00410650 -0.03031101
+v -0.05412075 -0.00410641 -0.05430806
+v -0.05617759 -0.01324650 -0.05430809
+v -0.08285015 -0.01324659 -0.03044655
+v -0.07622991 -0.00688007 -0.01441085
+v -0.07578023 -0.00410656 -0.01253624
+v -0.04371919 -0.00410660 -0.00289790
+v -0.04753179 -0.01324667 -0.00717222
+v -0.07151402 -0.01324665 -0.01315173
+v -0.07480262 -0.00834825 -0.01298232
+v -0.07538919 -0.00410657 -0.01196596
+v -0.04331251 -0.00410661 0.00096986
+v -0.04436831 -0.00645693 -0.00185897
+v -0.04752006 -0.01324669 -0.00389169
+v -0.06853433 -0.01324666 -0.01008011
+v -0.07094702 -0.01102963 -0.01056004
+v -0.07208492 -0.00796892 -0.00971307
+v -0.07269886 -0.00410658 -0.00844263
+v -0.04331251 -0.00410662 0.00186199
+v -0.04436831 -0.00645694 0.00085129
+v -0.04754352 -0.01324669 -0.00388040
+v -0.06803380 -0.01324666 -0.00962275
+v -0.06938679 -0.00410659 -0.00532585
+v -0.04785244 -0.00410662 0.00336392
+v -0.04769211 -0.00720312 0.00147238
+v -0.05279512 -0.01324669 -0.00215261
+v -0.06331400 -0.01324667 -0.00684474
+v -0.06745897 -0.00410660 -0.00385215
+v -0.04888086 -0.00410662 0.00305902
+v -0.05790598 -0.01324669 -0.00384653
+v -0.06299335 -0.00410661 -0.00132256
+v -0.06087393 -0.01324668 -0.00548398
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 11
+f 1 11 16
+f 1 16 21
+f 1 21 28
+f 1 28 33
+f 1 33 38
+f 1 38 41
+f 1 41 39
+f 1 39 34
+f 1 34 29
+f 1 29 22
+f 1 22 17
+f 1 17 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 18
+f 2 18 24
+f 2 24 31
+f 2 31 36
+f 2 36 40
+f 2 40 42
+f 2 42 37
+f 2 37 32
+f 2 32 25
+f 2 25 19
+f 2 19 14
+f 2 14 8
+f 2 8 3
+f 3 8 4
+f 4 8 14
+f 4 14 9
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 17 22 23
+f 17 23 18
+f 18 23 24
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 22 29 30
+f 22 30 23
+f 23 30 24
+f 24 30 31
+f 25 32 26
+f 26 32 33
+f 26 33 27
+f 27 33 28
+f 29 34 30
+f 30 34 35
+f 30 35 31
+f 31 35 36
+f 32 37 38
+f 32 38 33
+f 34 39 36
+f 34 36 35
+f 36 39 41
+f 36 41 40
+f 37 42 41
+f 37 41 38
+f 40 41 42
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_32.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01944805 0.07651971 -0.05969097
+v -0.03869020 0.06317092 -0.04191974
+v -0.03869020 0.06317788 -0.05969102
+v -0.01944805 0.09070745 -0.05969092
+v -0.01944805 0.07894042 -0.04191968
+v -0.03869020 0.08231028 -0.04191967
+v -0.03869020 0.07303295 -0.05969098
+v -0.02219827 0.09116135 -0.05969092
+v -0.01944805 0.09698974 -0.04417081
+v -0.01944805 0.09774277 -0.04191961
+v -0.03718512 0.08485485 -0.04191966
+v -0.03869020 0.08115490 -0.04432746
+v -0.02935074 0.08681149 -0.05969093
+v -0.02680961 0.08917726 -0.05969092
+v -0.02491648 0.09798692 -0.04191961
+v -0.02191949 0.09829640 -0.04191961
+v -0.01944805 0.09749178 -0.04281558
+v -0.01944805 0.09760181 -0.04251809
+v -0.03620370 0.08616496 -0.04191965
+v -0.02945435 0.09490249 -0.04191962
+v -0.02495602 0.09796973 -0.04191961
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 16
+f 2 16 15
+f 2 15 21
+f 2 21 20
+f 2 20 19
+f 2 19 11
+f 2 11 6
+f 2 6 12
+f 2 12 7
+f 2 7 3
+f 4 8 9
+f 6 11 12
+f 7 12 11
+f 7 11 13
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 18 16
+f 11 19 13
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 16 18 17
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_33.obj

@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.06913061 -0.06598970 -0.12271359
+v 0.06913061 -0.06903733 -0.12100032
+v 0.06913061 -0.06473970 -0.12270044
+v 0.07225210 -0.05675759 -0.11915557
+v 0.07225210 -0.05839449 -0.11915557
+v 0.07212101 -0.06183495 -0.11898031
+v 0.07174292 -0.06473972 -0.11777095
+v 0.06913061 -0.06996590 -0.12012399
+v 0.06913061 -0.06148970 -0.12203879
+v 0.06913061 -0.06060875 -0.12170138
+v 0.06961317 -0.05675162 -0.11919062
+v 0.07308044 -0.05038856 -0.11499285
+v 0.07800681 -0.03513266 -0.10436699
+v 0.08310798 -0.02345412 -0.09441156
+v 0.07727916 -0.04633501 -0.10877072
+v 0.07727916 -0.04684691 -0.10877072
+v 0.07366180 -0.06473974 -0.11131222
+v 0.07254468 -0.06473973 -0.11519446
+v 0.07786813 -0.04884693 -0.10639142
+v 0.07954951 -0.04926360 -0.10100622
+v 0.07764204 -0.05441836 -0.10479209
+v 0.07482263 -0.05957903 -0.11131220
+v 0.07218940 -0.06740044 -0.11397635
+v 0.07078730 -0.06943019 -0.11600511
+v 0.07220270 -0.07258498 -0.10885407
+v 0.07060111 -0.07460878 -0.11086970
+v 0.06913061 -0.07491234 -0.11430500
+v 0.06913061 -0.05678139 -0.11917747
+v 0.07095639 -0.05038856 -0.11499285
+v 0.07623993 -0.03513266 -0.10436699
+v 0.08264440 -0.02068033 -0.09351328
+v 0.08782916 -0.02044228 -0.08432471
+v 0.08515034 -0.02345414 -0.09070458
+v 0.08328846 -0.02861484 -0.09516087
+v 0.08695521 -0.02345415 -0.08713781
+v 0.08789376 -0.02345416 -0.08456134
+v 0.07737036 -0.05747787 -0.10395519
+v 0.07507151 -0.06473976 -0.10615925
+v 0.07252377 -0.06943021 -0.11086969
+v 0.08324287 -0.04456127 -0.09119979
+v 0.08233663 -0.04658507 -0.09324609
+v 0.07875158 -0.05441837 -0.10100624
+v 0.07368460 -0.06990047 -0.10615927
+v 0.07251047 -0.07331713 -0.10615928
+v 0.06913061 -0.08056118 -0.10615931
+v 0.06913061 -0.07762663 -0.11090477
+v 0.06913061 -0.05488260 -0.11640380
+v 0.07154725 -0.04543620 -0.11008087
+v 0.07655911 -0.02981720 -0.09966533
+v 0.08203454 -0.02068033 -0.09351328
+v 0.08361144 -0.02038273 -0.09070456
+v 0.08813692 -0.02004943 -0.08039863
+v 0.08853781 -0.02345417 -0.08039865
+v 0.08767147 -0.02721011 -0.08374632
+v 0.07777502 -0.05857907 -0.10100626
+v 0.08474946 -0.04410296 -0.08555168
+v 0.07258457 -0.07348976 -0.10303507
+v 0.08524913 -0.04410297 -0.08039872
+v 0.06913061 -0.08028736 -0.10557214
+v 0.08506484 -0.04410298 -0.07795368
+v 0.08407501 -0.04585298 -0.07795369
+v 0.08318588 -0.04725774 -0.07795369
+v 0.06913061 -0.05250761 -0.11141294
+v 0.07665410 -0.02957317 -0.09585757
+v 0.07992189 -0.02345414 -0.09070458
+v 0.08174007 -0.02038273 -0.09070456
+v 0.08491095 -0.01975777 -0.07795359
+v 0.08660564 -0.01980539 -0.07795359
+v 0.08813122 -0.01998396 -0.07795359
+v 0.08834213 -0.02176967 -0.07795360
+v 0.08848462 -0.02345418 -0.07795361
+v 0.08752517 -0.03184108 -0.07795364
+v 0.08752517 -0.03184108 -0.07851013
+v 0.08782155 -0.02880538 -0.08029789
+v 0.08631116 -0.03893631 -0.08039870
+v 0.08629406 -0.03893632 -0.07795366
+v 0.08573550 -0.04165060 -0.07795367
+v 0.06913061 -0.07715047 -0.10226828
+v 0.08140189 -0.04725774 -0.07795369
+v 0.06913061 -0.05441834 -0.10825370
+v 0.07057831 -0.04926358 -0.10615919
+v 0.07159474 -0.04501360 -0.10615918
+v 0.07571937 -0.03377555 -0.09585758
+v 0.08223022 -0.02064468 -0.07795360
+v 0.08193005 -0.02045418 -0.08555160
+v 0.07976990 -0.04410298 -0.07795368
+v 0.07946022 -0.03893632 -0.07795366
+v 0.06913061 -0.07002548 -0.10229016
+v 0.06913061 -0.05680523 -0.10615922
+v 0.08195665 -0.02204943 -0.07795360
+v 0.07981929 -0.03622799 -0.07795365
+v 0.06913061 -0.05957906 -0.10440652
+v 0.06913061 -0.06460287 -0.10296494
+v 0.08169828 -0.02345418 -0.07795361
+v 0.08092692 -0.02861490 -0.07795363
+f 1 2 8
+f 1 8 27
+f 1 27 46
+f 1 46 45
+f 1 45 59
+f 1 59 78
+f 1 78 88
+f 1 88 93
+f 1 93 92
+f 1 92 89
+f 1 89 80
+f 1 80 63
+f 1 63 47
+f 1 47 28
+f 1 28 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 6
+f 6 17 18
+f 6 18 7
+f 6 16 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 17
+f 7 18 23
+f 7 23 24
+f 7 24 8
+f 8 25 26
+f 8 26 27
+f 8 24 25
+f 10 28 11
+f 11 28 29
+f 11 29 12
+f 12 29 30
+f 12 30 13
+f 13 30 50
+f 13 50 31
+f 13 31 14
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 15 35 16
+f 16 35 36
+f 16 36 19
+f 17 22 37
+f 17 37 38
+f 17 38 39
+f 17 39 23
+f 17 23 18
+f 19 36 20
+f 20 36 40
+f 20 40 41
+f 20 41 21
+f 21 41 42
+f 21 42 37
+f 21 37 22
+f 23 39 25
+f 23 25 24
+f 25 43 44
+f 25 44 45
+f 25 45 46
+f 25 46 26
+f 25 39 43
+f 26 46 27
+f 28 47 48
+f 28 48 29
+f 29 48 49
+f 29 49 30
+f 30 49 50
+f 31 50 66
+f 31 66 51
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 36
+f 32 36 35
+f 32 35 33
+f 33 35 34
+f 36 53 54
+f 36 54 40
+f 37 55 38
+f 37 42 56
+f 37 56 55
+f 38 43 39
+f 38 55 43
+f 40 54 56
+f 40 56 41
+f 41 56 42
+f 43 55 56
+f 43 56 44
+f 44 57 45
+f 44 56 58
+f 44 58 57
+f 45 57 60
+f 45 60 61
+f 45 61 62
+f 45 62 59
+f 47 63 48
+f 48 63 49
+f 49 64 65
+f 49 65 66
+f 49 66 50
+f 49 63 64
+f 51 66 67
+f 51 67 68
+f 51 68 52
+f 52 68 69
+f 52 69 70
+f 52 70 53
+f 53 71 72
+f 53 72 73
+f 53 73 74
+f 53 74 54
+f 53 70 71
+f 54 74 75
+f 54 75 56
+f 56 75 58
+f 57 58 60
+f 58 75 76
+f 58 76 77
+f 58 77 60
+f 59 62 78
+f 60 77 76
+f 60 76 72
+f 60 72 71
+f 60 71 70
+f 60 70 69
+f 60 69 68
+f 60 68 67
+f 60 67 84
+f 60 84 90
+f 60 90 94
+f 60 94 95
+f 60 95 91
+f 60 91 87
+f 60 87 86
+f 60 86 79
+f 60 79 62
+f 60 62 61
+f 62 79 78
+f 63 80 81
+f 63 81 82
+f 63 82 64
+f 64 83 84
+f 64 84 65
+f 64 82 81
+f 64 81 83
+f 65 84 85
+f 65 85 66
+f 66 85 67
+f 67 85 84
+f 72 76 75
+f 72 75 73
+f 73 75 74
+f 78 79 86
+f 78 86 87
+f 78 87 88
+f 80 89 83
+f 80 83 81
+f 83 90 84
+f 83 89 90
+f 87 91 92
+f 87 92 93
+f 87 93 88
+f 89 92 94
+f 89 94 90
+f 91 95 92
+f 92 95 94
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_34.obj

@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.08651139 0.00751892 -0.03732750
+v -0.08618457 0.01059364 -0.03687128
+v -0.06290750 0.03849625 -0.04015954
+v -0.08339059 0.00751892 -0.03834441
+v -0.08339059 0.00236091 -0.03831117
+v -0.08636869 0.00236091 -0.03717070
+v -0.08651139 0.00751891 -0.03558352
+v -0.08618457 0.01059363 -0.03593041
+v -0.08221224 0.03186988 -0.03243289
+v -0.04890995 0.03849625 -0.04015954
+v -0.06797534 0.02353677 -0.04015959
+v -0.07174515 0.03849620 -0.02748133
+v -0.06837119 0.03863006 -0.02051024
+v -0.06802598 0.02337363 -0.04015959
+v -0.07091203 0.00236092 -0.04015967
+v -0.07120200 -0.00056321 -0.04015968
+v -0.07075091 -0.00410227 -0.04015970
+v -0.08599586 -0.00032896 -0.03666225
+v -0.08636869 0.00236090 -0.03596370
+v -0.08269554 0.02815929 -0.03005694
+v -0.07596145 0.00922142 -0.01042194
+v -0.07596145 0.01170630 -0.01042193
+v -0.08221224 0.03186987 -0.03049410
+v -0.04587662 0.03863006 -0.02051024
+v -0.04425638 0.03863004 -0.01728841
+v -0.04418734 0.03863004 -0.01714585
+v -0.04882710 0.03849625 -0.03996471
+v -0.05060384 0.00146987 -0.04015967
+v -0.07174515 0.03849619 -0.02538573
+v -0.06705015 0.03863003 -0.01341082
+v -0.05232994 -0.00410227 -0.04015970
+v -0.07714440 -0.00410653 -0.02051040
+v -0.08035265 -0.00410229 -0.03629637
+v -0.08325250 -0.00410229 -0.03417699
+v -0.08599586 -0.00032896 -0.03643415
+v -0.07577733 -0.00410656 -0.01253662
+v -0.07557019 -0.00280556 -0.01165750
+v -0.07159785 0.00235661 -0.00456281
+v -0.07153341 0.00751880 -0.00482891
+v -0.06151281 0.01783059 0.00576323
+v -0.07037807 0.02299699 -0.00614990
+v -0.06604671 0.03863002 -0.00978984
+v -0.04276042 0.03863003 -0.01340606
+v -0.04858314 0.03849624 -0.03926617
+v -0.05101810 -0.00170942 -0.04015969
+v -0.03997104 0.01950394 -0.00577926
+v -0.05211820 -0.00410228 -0.03934237
+v -0.04372244 -0.00410660 -0.00289966
+v -0.05092604 -0.00410653 -0.02051040
+v -0.07702473 -0.00410655 -0.01723155
+v -0.08325250 -0.00410230 -0.03331690
+v -0.08234113 -0.00410231 -0.03030891
+v -0.07538607 -0.00410657 -0.01196638
+v -0.07121581 -0.00121176 -0.00496674
+v -0.06611575 -0.00085619 -0.00017202
+v -0.06870260 0.00235660 -0.00198727
+v -0.06161408 0.01268513 0.00584875
+v -0.05789490 0.01783058 0.00789210
+v -0.06093744 0.02132782 0.00528805
+v -0.06676476 0.02815920 -0.00451521
+v -0.06421013 0.03863001 -0.00721904
+v -0.06599608 0.03863002 -0.00971855
+v -0.04288931 0.03863001 -0.00825970
+v -0.04003088 0.03591917 0.00463708
+v -0.04003088 0.03591917 0.00456580
+v -0.04000326 0.03081140 -0.00576497
+v -0.03991120 0.02815920 -0.00589802
+v -0.03988358 0.02299699 -0.00590754
+v -0.04030705 0.00214323 0.00233226
+v -0.04341404 -0.00298966 -0.00338910
+v -0.03949234 0.02299698 -0.00310865
+v -0.04000787 0.00372032 0.00423780
+v -0.04331278 -0.00410661 0.00096842
+v -0.07269796 -0.00410658 -0.00844044
+v -0.07289128 -0.00288088 -0.00804126
+v -0.06938384 -0.00410659 -0.00532316
+v -0.06745521 -0.00410660 -0.00385480
+v -0.06299495 -0.00410661 -0.00132677
+v -0.06299495 -0.00168447 0.00056926
+v -0.05826772 0.00714644 0.00630967
+v -0.06106172 0.00861895 0.00540204
+v -0.05789490 0.01268512 0.00784456
+v -0.05279484 0.01268512 0.00838629
+v -0.05279484 0.01783058 0.00837679
+v -0.04684323 0.03627476 0.00489369
+v -0.05024020 0.03589407 0.00462282
+v -0.05782585 0.02303043 0.00612439
+v -0.06166470 0.03863000 -0.00499036
+v -0.04384672 0.03862999 -0.00334619
+v -0.04000787 0.00505060 0.00467498
+v -0.03962582 0.02815918 0.00103983
+v -0.03949234 0.02815919 -0.00310863
+v -0.04832997 0.03862997 0.00210905
+v -0.04259471 0.03619527 0.00484140
+v -0.04769478 0.01268512 0.00803464
+v -0.03986058 0.03121299 -0.00310862
+v -0.04000787 0.00372032 0.00467497
+v -0.04279264 -0.00294785 0.00236075
+v -0.04331278 -0.00410662 0.00186179
+v -0.03965344 0.02299697 0.00091625
+v -0.04888234 -0.00410662 0.00305928
+v -0.04785587 -0.00410662 0.00336341
+v -0.04791572 -0.00294785 0.00407146
+v -0.05681320 0.00409263 0.00535451
+v -0.05279484 0.00751875 0.00694168
+v -0.04635992 -0.00132054 0.00495057
+v -0.04353373 -0.00132054 0.00495057
+v -0.05322751 0.03862998 0.00077375
+v -0.05331036 0.03862998 0.00073574
+v -0.04213443 0.00214322 0.00526422
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 19
+f 1 19 7
+f 1 7 8
+f 1 8 2
+f 2 8 23
+f 2 23 9
+f 2 9 3
+f 3 10 28
+f 3 28 45
+f 3 45 31
+f 3 31 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 11
+f 3 11 4
+f 3 9 12
+f 3 12 13
+f 3 13 24
+f 3 24 10
+f 4 11 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 35
+f 6 35 19
+f 7 20 8
+f 7 19 21
+f 7 21 22
+f 7 22 20
+f 8 20 23
+f 9 23 29
+f 9 29 12
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 12 29 13
+f 13 29 30
+f 13 30 42
+f 13 42 62
+f 13 62 61
+f 13 61 88
+f 13 88 109
+f 13 109 108
+f 13 108 93
+f 13 93 89
+f 13 89 63
+f 13 63 43
+f 13 43 26
+f 13 26 25
+f 13 25 24
+f 17 31 49
+f 17 49 32
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 51
+f 18 51 35
+f 19 35 36
+f 19 36 37
+f 19 37 21
+f 20 22 23
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 41 42
+f 23 42 29
+f 26 43 27
+f 27 43 44
+f 27 44 28
+f 28 44 46
+f 28 46 45
+f 29 42 30
+f 31 45 47
+f 31 47 48
+f 31 48 49
+f 32 49 48
+f 32 48 73
+f 32 73 99
+f 32 99 102
+f 32 102 101
+f 32 101 78
+f 32 78 77
+f 32 77 76
+f 32 76 74
+f 32 74 53
+f 32 53 36
+f 32 36 50
+f 32 50 51
+f 32 51 34
+f 32 34 33
+f 35 51 52
+f 35 52 36
+f 36 53 37
+f 36 52 51
+f 36 51 50
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 38 55 56
+f 38 56 57
+f 38 57 40
+f 38 40 39
+f 40 57 58
+f 40 58 59
+f 40 59 41
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 41 62 42
+f 43 63 64
+f 43 64 65
+f 43 65 66
+f 43 66 44
+f 44 66 67
+f 44 67 68
+f 44 68 46
+f 45 46 69
+f 45 69 70
+f 45 70 48
+f 45 48 47
+f 46 68 71
+f 46 71 72
+f 46 72 69
+f 48 70 69
+f 48 69 73
+f 53 74 75
+f 53 75 54
+f 54 76 55
+f 54 75 74
+f 54 74 76
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 80
+f 55 80 81
+f 55 81 57
+f 55 57 56
+f 57 81 82
+f 57 82 58
+f 58 82 83
+f 58 83 84
+f 58 84 85
+f 58 85 86
+f 58 86 87
+f 58 87 59
+f 59 87 86
+f 59 86 88
+f 59 88 61
+f 59 61 60
+f 63 89 64
+f 64 90 91
+f 64 91 92
+f 64 92 65
+f 64 89 93
+f 64 93 94
+f 64 94 84
+f 64 84 95
+f 64 95 90
+f 65 92 96
+f 65 96 66
+f 66 96 92
+f 66 92 67
+f 67 92 68
+f 68 92 71
+f 69 72 97
+f 69 97 98
+f 69 98 99
+f 69 99 73
+f 71 92 91
+f 71 91 100
+f 71 100 97
+f 71 97 72
+f 78 101 79
+f 79 101 102
+f 79 102 103
+f 79 103 104
+f 79 104 80
+f 80 105 83
+f 80 83 82
+f 80 82 81
+f 80 104 103
+f 80 103 106
+f 80 106 105
+f 83 105 106
+f 83 106 107
+f 83 107 95
+f 83 95 84
+f 84 94 85
+f 85 94 93
+f 85 93 86
+f 86 93 108
+f 86 108 109
+f 86 109 88
+f 90 95 97
+f 90 97 91
+f 91 97 100
+f 95 107 110
+f 95 110 97
+f 97 110 107
+f 97 107 98
+f 98 107 99
+f 99 107 102
+f 102 107 103
+f 103 107 106
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_35.obj

@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01065796 -0.09095979 0.01252376
+v 0.00879115 -0.08590216 0.01252377
+v 0.00817874 -0.09500259 0.01252374
+v 0.02135195 -0.08808439 0.00984190
+v 0.02135195 -0.08749405 0.00984190
+v 0.00330055 -0.08358393 0.01252378
+v 0.02471811 -0.08422730 0.00728341
+v 0.00346105 -0.09646848 0.01252374
+v 0.02655535 -0.10369832 -0.01040739
+v 0.02753099 -0.09938359 -0.00444681
+v 0.02512357 -0.09256494 0.00411210
+v 0.02685522 -0.08912243 0.00545304
+v 0.02761546 -0.08539140 0.00616530
+v 0.02757322 -0.08422729 0.00606982
+v 0.01136751 -0.08186928 0.00415989
+v 0.01136751 -0.08145802 0.00214253
+v 0.01136751 -0.08103683 -0.00042395
+v -0.00436094 -0.07914967 -0.02058961
+v -0.00436094 -0.08032372 -0.01512245
+v -0.00112571 -0.08580597 0.01252377
+v 0.00331322 -0.09650828 0.01252374
+v 0.01657935 -0.10893503 -0.01529365
+v 0.02715087 -0.10436161 -0.01340361
+v 0.03452516 -0.10494857 -0.02812599
+v 0.03613433 -0.10292884 -0.02643090
+v 0.03201216 -0.09900217 -0.00971502
+v 0.02873892 -0.10091248 -0.00834624
+v 0.03093094 -0.09729752 -0.00628909
+v 0.03769704 -0.08422725 -0.00454622
+v 0.03100274 -0.08422728 0.00251256
+v 0.00288665 -0.07886112 -0.02402351
+v -0.00146783 -0.07878152 -0.02402351
+v 0.03878671 -0.08422725 -0.00634872
+v -0.00436094 -0.07890755 -0.02402351
+v -0.00436094 -0.08077145 -0.01346717
+v -0.00276445 -0.09055188 0.01252376
+v -0.00087230 -0.09464109 0.01252374
+v -0.00436094 -0.10528687 -0.02402361
+v 0.01136751 -0.11266271 -0.02812601
+v 0.01508423 -0.10893503 -0.01529365
+v 0.03406480 -0.10519399 -0.02812599
+v 0.03872758 -0.10144636 -0.02812597
+v 0.03642575 -0.09306567 -0.01089279
+v 0.03768859 -0.08425048 -0.00455418
+v 0.03878671 -0.08520562 -0.00722411
+v 0.03878671 -0.08422717 -0.02812591
+v 0.01136751 -0.08422717 -0.02812591
+v -0.00436094 -0.08529848 -0.00792044
+v -0.00436094 -0.09055181 -0.00592696
+v -0.00436094 -0.09100948 -0.00606226
+v -0.00436094 -0.09616659 -0.00759818
+v -0.00436094 -0.10060735 -0.01324442
+v 0.03878671 -0.10131371 -0.02812597
+v 0.03878671 -0.08596177 -0.00798411
+f 1 2 6
+f 1 6 20
+f 1 20 36
+f 1 36 37
+f 1 37 21
+f 1 21 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 14
+f 5 14 7
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 7 15
+f 7 14 15
+f 8 21 9
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 10
+f 9 21 22
+f 10 27 26
+f 10 26 28
+f 10 28 12
+f 10 12 11
+f 12 28 29
+f 12 29 13
+f 13 29 30
+f 13 30 14
+f 14 30 17
+f 14 17 16
+f 14 16 15
+f 17 31 32
+f 17 32 18
+f 17 30 29
+f 17 29 33
+f 17 33 31
+f 18 32 34
+f 18 34 38
+f 18 38 52
+f 18 52 51
+f 18 51 50
+f 18 50 49
+f 18 49 48
+f 18 48 35
+f 18 35 19
+f 19 35 20
+f 20 35 36
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 40 39
+f 22 39 41
+f 22 41 23
+f 23 41 24
+f 24 41 39
+f 24 39 47
+f 24 47 46
+f 24 46 53
+f 24 53 42
+f 24 42 25
+f 25 42 26
+f 26 42 43
+f 26 43 28
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 33
+f 31 33 46
+f 31 46 32
+f 32 46 47
+f 32 47 34
+f 33 45 54
+f 33 54 53
+f 33 53 46
+f 34 47 39
+f 34 39 38
+f 35 48 36
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 37 52 38
+f 42 53 54
+f 42 54 43
+f 43 54 45
+f 43 45 44
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_36.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03290618 0.05618491 -0.01999241
+v 0.04099860 0.04536904 -0.00149811
+v 0.04099860 0.04536903 0.00089191
+v 0.03582953 0.05558056 0.00041676
+v 0.03582953 0.05618484 0.00041677
+v 0.03339268 0.05618493 -0.02341746
+v 0.04147641 0.04603726 -0.03811983
+v 0.04297935 0.04404862 -0.03956890
+v 0.04376993 0.04288158 0.00250564
+v 0.04393498 0.04288173 -0.03943716
+v 0.04406964 0.04288158 0.00326308
+v 0.04505568 0.04288157 0.00471215
+v 0.03880934 0.05618484 0.00129185
+v 0.04288814 0.05618500 -0.04305977
+v 0.04266660 0.04869403 -0.04305980
+v 0.04281862 0.04753886 -0.04305981
+v 0.04395670 0.04344956 -0.04305982
+v 0.04443018 0.04288175 -0.04305982
+v 0.04681055 0.04288157 0.00500385
+v 0.04115497 0.05618483 0.00173410
+v 0.05495945 0.05618500 -0.04305977
+v 0.06588835 0.04288175 -0.04305982
+v 0.04863493 0.04288157 0.00500385
+v 0.04411308 0.05618483 0.00211989
+v 0.06863361 0.05618500 -0.04286216
+v 0.06352969 0.04895189 -0.04305980
+v 0.06583187 0.04364621 -0.04305982
+v 0.06847723 0.05396714 -0.04289041
+v 0.06769970 0.04288174 -0.04212358
+v 0.05031597 0.04288158 0.00380413
+v 0.06208323 0.05167882 -0.00545947
+v 0.05257037 0.05618484 -0.00012898
+v 0.04635446 0.05618483 0.00156003
+v 0.07395037 0.04364619 -0.03792694
+v 0.07396775 0.04288173 -0.03797870
+v 0.06439410 0.04729012 -0.04305981
+v 0.07728204 0.05618496 -0.03148610
+v 0.07024949 0.04288174 -0.04055219
+v 0.05244875 0.04288158 0.00182815
+v 0.06208323 0.05111491 -0.00545947
+v 0.07728204 0.05618496 -0.03141553
+v 0.06303450 0.05618487 -0.00919502
+v 0.06181390 0.05618487 -0.00769892
+v 0.06031530 0.05618486 -0.00600050
+v 0.05874286 0.05618486 -0.00449028
+v 0.07728204 0.05614850 -0.03148610
+v 0.07401552 0.04288171 -0.03389968
+v 0.05804786 0.04288161 -0.00451855
+v 0.05843880 0.04288161 -0.00501726
+v 0.06187037 0.04288163 -0.00959496
+v 0.06290853 0.04288163 -0.01126986
+v 0.06407700 0.04288164 -0.01318469
+v 0.07728204 0.05614850 -0.03141553
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 20
+f 1 20 24
+f 1 24 33
+f 1 33 32
+f 1 32 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 37
+f 1 37 25
+f 1 25 21
+f 1 21 14
+f 1 14 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 9 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 8
+f 8 17 18
+f 8 18 10
+f 9 10 18
+f 9 18 22
+f 9 22 29
+f 9 29 38
+f 9 38 35
+f 9 35 47
+f 9 47 52
+f 9 52 51
+f 9 51 50
+f 9 50 49
+f 9 49 48
+f 9 48 39
+f 9 39 30
+f 9 30 23
+f 9 23 19
+f 9 19 12
+f 9 12 11
+f 12 19 20
+f 12 20 13
+f 14 21 26
+f 14 26 36
+f 14 36 27
+f 14 27 22
+f 14 22 18
+f 14 18 17
+f 14 17 16
+f 14 16 15
+f 19 23 24
+f 19 24 20
+f 21 25 26
+f 22 27 28
+f 22 28 29
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 25 34 35
+f 25 35 28
+f 25 28 36
+f 25 36 26
+f 25 37 34
+f 27 36 28
+f 28 35 38
+f 28 38 29
+f 30 39 40
+f 30 40 31
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 31 40 53
+f 31 53 41
+f 34 37 35
+f 35 37 46
+f 35 46 47
+f 37 41 53
+f 37 53 46
+f 39 48 40
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 40 51 52
+f 40 52 53
+f 46 53 47
+f 47 53 52
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_37.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.05341607 -0.06142928 -0.03929696
+v -0.05228285 -0.06142926 -0.04242646
+v -0.03733966 -0.08448029 -0.03929704
+v -0.03625926 -0.06142928 -0.03929696
+v -0.04768753 -0.06142922 -0.05431245
+v -0.03326294 -0.09029501 -0.03929706
+v -0.03551978 -0.06142927 -0.04093300
+v -0.00436574 -0.07598590 -0.03929701
+v -0.03866496 -0.06142922 -0.05431245
+v -0.03061715 -0.08378061 -0.05431253
+v -0.03047310 -0.08393901 -0.05431253
+v -0.03215373 -0.09145663 -0.03929707
+v -0.03551978 -0.06142927 -0.04123287
+v -0.00436574 -0.07498922 -0.05431250
+v -0.00436574 -0.09513951 -0.03929708
+v -0.02802417 -0.08636126 -0.05431254
+v -0.02547443 -0.08841061 -0.05431254
+v -0.02712145 -0.09409008 -0.03929708
+v -0.00436574 -0.08777039 -0.05431254
+v -0.02226683 -0.08863501 -0.05431255
+v -0.00437055 -0.08797500 -0.05431254
+v -0.02521512 -0.08846671 -0.05431254
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 18
+f 1 18 15
+f 1 15 8
+f 1 8 4
+f 1 4 7
+f 1 7 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 8 7
+f 5 9 14
+f 5 14 19
+f 5 19 21
+f 5 21 20
+f 5 20 22
+f 5 22 17
+f 5 17 16
+f 5 16 11
+f 5 11 10
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 8 14
+f 7 14 13
+f 8 15 19
+f 8 19 14
+f 9 13 14
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 15 18 20
+f 15 20 21
+f 15 21 19
+f 17 22 18
+f 18 22 20
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_38.obj

@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v 0.04081451 0.03127626 0.00390801
+v 0.03951775 0.02299688 -0.00310596
+v 0.04081451 0.03127625 0.00561857
+v 0.04083058 0.03127626 0.00304243
+v 0.04076632 0.02654240 -0.00684649
+v 0.04038493 0.02305217 -0.00843684
+v 0.03963418 0.01267628 -0.01340707
+v 0.03948162 0.00751596 -0.01340709
+v 0.03960206 0.01783656 -0.00310597
+v 0.04049332 0.00235557 0.00667640
+v 0.04595740 0.02299683 0.01026588
+v 0.04633479 0.02595799 0.01002203
+v 0.04385769 0.03127625 0.00657002
+v 0.04128825 0.03127626 0.00165476
+v 0.04099116 0.01636788 -0.01665986
+v 0.04045319 0.01238020 -0.01845288
+v 0.04197076 0.03127627 0.00038387
+v 0.05583367 0.03127636 -0.02473513
+v 0.04048129 0.00765417 -0.01862807
+v 0.04103934 0.00440873 -0.01695531
+v 0.04058166 0.00393098 -0.01340711
+v 0.04071012 -0.00167555 0.00325184
+v 0.04071012 -0.00167556 0.00585545
+v 0.04411463 0.00235556 0.00895026
+v 0.04581287 0.01783651 0.01030364
+v 0.04815748 0.01783651 0.01030364
+v 0.04948234 0.02341138 0.01017658
+v 0.04921336 0.02588693 0.00997050
+v 0.04921336 0.03127624 0.00769321
+v 0.04123205 0.01046926 -0.02134158
+v 0.07595156 0.03127636 -0.02473513
+v 0.04716182 0.00831354 -0.02473521
+v 0.04123205 0.00946641 -0.02134159
+v 0.04200288 0.00602356 -0.02039015
+v 0.04505007 -0.00905869 -0.00214088
+v 0.04935387 -0.00310075 -0.02473525
+v 0.05142148 -0.00905862 -0.02154431
+v 0.04505007 -0.00905870 0.00095735
+v 0.04411463 -0.00231517 0.00654929
+v 0.05093167 -0.00052664 0.01010436
+v 0.04991192 0.00235555 0.01035511
+v 0.05318795 0.00235555 0.01035511
+v 0.05189521 0.02561055 0.00979188
+v 0.05437633 0.03127624 0.00719172
+v 0.04688079 0.00755154 -0.02473521
+v 0.07622857 0.03127635 -0.02161630
+v 0.07736074 0.02962206 -0.02473513
+v 0.04698517 0.00214643 -0.02473523
+v 0.04880788 -0.00192024 -0.02473525
+v 0.05379417 -0.00827292 -0.02473527
+v 0.05422777 -0.00905861 -0.02424753
+v 0.04921336 -0.00905871 0.00233815
+v 0.05236093 -0.00052664 0.01010436
+v 0.05388251 0.02341139 0.00948274
+v 0.06236165 0.00373746 0.00502767
+v 0.05941483 0.00751588 0.00719164
+v 0.05941483 0.02299684 0.00772753
+v 0.05388251 0.02766363 0.00855535
+v 0.05947505 0.02807820 0.00635361
+v 0.05819434 0.03127625 0.00566665
+v 0.07626471 0.03127634 -0.01855929
+v 0.07844873 0.02753346 -0.02473514
+v 0.05436829 -0.00859667 -0.02473527
+v 0.05517927 -0.00904677 -0.02473527
+v 0.05520336 -0.00905861 -0.02473527
+v 0.05464531 -0.00905870 0.00078904
+v 0.05701401 -0.00905870 -0.00011776
+v 0.05730708 -0.00905870 -0.00026889
+v 0.06329308 -0.00905869 -0.00381022
+v 0.06762096 -0.00088194 -0.00002499
+v 0.06793813 0.00235559 0.00024637
+v 0.06857647 0.01267623 0.00071699
+v 0.06253830 0.00751589 0.00511013
+v 0.06282736 0.01783653 0.00528535
+v 0.06288758 0.02299685 0.00540901
+v 0.06254632 0.02630150 0.00513767
+v 0.06759286 0.02634496 0.00004724
+v 0.06813888 0.03127629 -0.00449017
+v 0.07430953 0.03127632 -0.01372990
+v 0.07600777 0.02798352 -0.01369212
+v 0.07738483 0.02614761 -0.01560190
+v 0.07697131 0.02947202 -0.01855929
+v 0.07979769 0.02299696 -0.02371158
+v 0.07991411 0.02299696 -0.02473516
+v 0.07439384 -0.00905861 -0.02473527
+v 0.06639647 -0.00905868 -0.00603943
+v 0.06786586 -0.00635021 -0.00501240
+v 0.07126635 -0.00430108 -0.00671264
+v 0.07250289 -0.00085823 -0.00525625
+v 0.07048749 0.00235560 -0.00232632
+v 0.07078458 0.00751592 -0.00189694
+v 0.07112584 0.01267624 -0.00154314
+v 0.06856041 0.01783655 0.00074105
+v 0.06543694 0.02299686 0.00309393
+v 0.06815894 0.02299687 0.00051781
+v 0.07071232 0.02299688 -0.00217856
+v 0.07238646 0.02595805 -0.00537294
+v 0.06943964 0.02787293 -0.00332577
+v 0.06876918 0.03127629 -0.00527675
+v 0.07252298 0.03127631 -0.01032597
+v 0.07325767 0.02787295 -0.00846086
+v 0.07508839 0.02299690 -0.00825480
+v 0.07691510 0.02299691 -0.01184764
+v 0.07784250 0.02299692 -0.01442377
+v 0.07944840 0.01783662 -0.01855933
+v 0.08009478 0.01783664 -0.02371159
+v 0.08021523 0.01681011 -0.02473518
+v 0.07484349 -0.00896780 -0.02473527
+v 0.07477122 -0.00905861 -0.02374947
+v 0.06854837 -0.00905867 -0.00820338
+v 0.07251093 -0.00594352 -0.01014749
+v 0.06956009 -0.00786631 -0.00823086
+v 0.07326569 -0.00267046 -0.00835794
+v 0.07758556 -0.00070027 -0.01540621
+v 0.07471100 0.00235562 -0.00825487
+v 0.07585520 0.00790287 -0.00871511
+v 0.07278794 0.00235561 -0.00490246
+v 0.07316131 0.00751593 -0.00447308
+v 0.07110978 0.01783656 -0.00159808
+v 0.07345439 0.01267625 -0.00411928
+v 0.07337409 0.01783657 -0.00417420
+v 0.07288429 0.02299689 -0.00475470
+v 0.07251093 0.03127631 -0.01030537
+v 0.07128643 0.02940090 -0.00688769
+v 0.07725234 0.02031211 -0.01085154
+v 0.07815967 0.01829065 -0.01290558
+v 0.07966118 0.00235566 -0.01855939
+v 0.08049224 0.00235568 -0.02371165
+v 0.08026741 0.00133310 -0.02473524
+v 0.07802318 -0.00658309 -0.02473526
+v 0.07447815 -0.00905863 -0.01877239
+v 0.06898598 -0.00905867 -0.00874266
+v 0.07151928 -0.00905865 -0.01298811
+v 0.07754942 -0.00580924 -0.02080579
+v 0.07848486 -0.00257565 -0.01887541
+v 0.07787061 0.00235564 -0.01473984
+v 0.07663407 0.00235563 -0.01216372
+v 0.07730051 0.00987699 -0.01074166
+v 0.07600375 0.01267626 -0.00799377
+v 0.07618843 0.01829063 -0.00861545
+v 0.07738483 0.01686928 -0.01056990
+v 0.07738483 0.01267627 -0.01056991
+v 0.07826806 0.01267628 -0.01340707
+v 0.07988601 -0.00280464 -0.02371167
+v 0.07978162 -0.00280464 -0.02473525
+v 0.07956884 -0.00374431 -0.02473525
+v 0.07799105 -0.00628301 -0.02371168
+f 1 2 3
+f 1 3 13
+f 1 13 29
+f 1 29 44
+f 1 44 60
+f 1 60 78
+f 1 78 99
+f 1 99 123
+f 1 123 100
+f 1 100 79
+f 1 79 61
+f 1 61 46
+f 1 46 31
+f 1 31 18
+f 1 18 17
+f 1 17 14
+f 1 14 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 4 5
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 5
+f 5 15 16
+f 5 16 6
+f 5 14 17
+f 5 17 18
+f 5 18 15
+f 6 16 7
+f 7 16 8
+f 8 10 9
+f 8 16 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 15 30 16
+f 15 18 30
+f 16 30 19
+f 18 31 47
+f 18 47 62
+f 18 62 84
+f 18 84 107
+f 18 107 129
+f 18 129 145
+f 18 145 146
+f 18 146 130
+f 18 130 108
+f 18 108 85
+f 18 85 65
+f 18 65 64
+f 18 64 63
+f 18 63 50
+f 18 50 36
+f 18 36 49
+f 18 49 48
+f 18 48 45
+f 18 45 32
+f 18 32 30
+f 19 30 33
+f 19 33 34
+f 19 34 20
+f 20 35 21
+f 20 34 36
+f 20 36 37
+f 20 37 35
+f 21 35 22
+f 22 35 38
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 25 42 26
+f 26 42 27
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 29
+f 30 32 45
+f 30 45 33
+f 31 46 47
+f 33 45 48
+f 33 48 34
+f 34 48 49
+f 34 49 36
+f 35 37 51
+f 35 51 65
+f 35 65 85
+f 35 85 109
+f 35 109 131
+f 35 131 133
+f 35 133 132
+f 35 132 110
+f 35 110 86
+f 35 86 69
+f 35 69 68
+f 35 68 67
+f 35 67 66
+f 35 66 52
+f 35 52 38
+f 36 50 37
+f 37 50 51
+f 38 52 39
+f 39 52 40
+f 40 52 53
+f 40 53 42
+f 40 42 41
+f 42 54 43
+f 42 53 55
+f 42 55 56
+f 42 56 57
+f 42 57 54
+f 43 54 57
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 60
+f 46 61 47
+f 47 61 62
+f 50 63 51
+f 51 63 64
+f 51 64 65
+f 52 66 53
+f 53 66 67
+f 53 67 68
+f 53 68 69
+f 53 69 70
+f 53 70 55
+f 55 70 71
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 56 73 74
+f 56 74 57
+f 57 74 75
+f 57 75 76
+f 57 76 59
+f 57 59 58
+f 59 76 60
+f 60 76 77
+f 60 77 78
+f 61 79 80
+f 61 80 81
+f 61 81 82
+f 61 82 62
+f 62 83 84
+f 62 82 83
+f 69 86 70
+f 70 86 87
+f 70 87 88
+f 70 88 89
+f 70 89 90
+f 70 90 71
+f 71 90 91
+f 71 91 92
+f 71 92 72
+f 72 93 75
+f 72 75 74
+f 72 74 73
+f 72 92 93
+f 75 93 94
+f 75 94 76
+f 76 94 95
+f 76 95 77
+f 77 95 96
+f 77 96 97
+f 77 97 98
+f 77 98 78
+f 78 98 97
+f 78 97 99
+f 79 100 80
+f 80 100 101
+f 80 101 97
+f 80 97 102
+f 80 102 103
+f 80 103 81
+f 81 103 104
+f 81 104 83
+f 81 83 82
+f 83 105 106
+f 83 106 84
+f 83 104 105
+f 84 106 107
+f 85 108 109
+f 86 110 87
+f 87 110 88
+f 88 111 89
+f 88 110 112
+f 88 112 111
+f 89 111 113
+f 89 113 114
+f 89 114 115
+f 89 115 116
+f 89 116 117
+f 89 117 90
+f 90 117 118
+f 90 118 91
+f 91 118 92
+f 92 119 93
+f 92 118 120
+f 92 120 119
+f 93 119 94
+f 94 119 95
+f 95 119 96
+f 96 119 121
+f 96 121 122
+f 96 122 97
+f 97 122 102
+f 97 101 123
+f 97 123 124
+f 97 124 99
+f 99 124 123
+f 100 123 101
+f 102 122 125
+f 102 125 103
+f 103 125 104
+f 104 125 126
+f 104 126 105
+f 105 127 128
+f 105 128 106
+f 105 126 127
+f 106 128 107
+f 107 128 129
+f 108 130 109
+f 109 130 131
+f 110 132 112
+f 111 133 131
+f 111 131 134
+f 111 134 135
+f 111 135 113
+f 111 112 132
+f 111 132 133
+f 113 135 114
+f 114 135 127
+f 114 127 136
+f 114 136 137
+f 114 137 115
+f 115 137 138
+f 115 138 116
+f 116 139 117
+f 116 138 139
+f 117 139 118
+f 118 139 120
+f 119 120 121
+f 120 139 121
+f 121 139 140
+f 121 140 122
+f 122 140 125
+f 125 141 126
+f 125 140 141
+f 126 141 142
+f 126 142 143
+f 126 143 127
+f 127 135 144
+f 127 144 128
+f 127 143 142
+f 127 142 138
+f 127 138 136
+f 128 144 145
+f 128 145 129
+f 130 146 144
+f 130 144 147
+f 130 147 131
+f 131 147 134
+f 134 147 144
+f 134 144 135
+f 136 138 137
+f 138 142 139
+f 139 142 141
+f 139 141 140
+f 144 146 145
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_39.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01136202 0.08294379 -0.03681858
+v 0.01136202 0.08299597 -0.03488720
+v 0.00123251 0.07688481 -0.03681860
+v -0.00436066 0.07619074 -0.04191969
+v 0.01136202 0.11224704 -0.03681847
+v 0.01136202 0.08305337 -0.03406541
+v 0.00723596 0.08097105 -0.02400144
+v 0.00065866 0.07671781 -0.03681860
+v -0.00436066 0.07615421 -0.04169437
+v -0.00458916 0.07622728 -0.04191969
+v -0.00436066 0.10210181 -0.04191959
+v 0.01136202 0.12916619 -0.03159990
+v 0.01136202 0.08347085 -0.02887910
+v -0.01516010 0.07951501 -0.02257563
+v -0.00178998 0.07621162 -0.03681860
+v 0.01136202 0.08389355 -0.02400143
+v -0.00721437 0.08134158 -0.02257562
+v -0.00436066 0.07585151 -0.03917222
+v -0.00568754 0.07611767 -0.03917222
+v -0.00544606 0.07639949 -0.04191969
+v -0.00688979 0.10153297 -0.04191960
+v -0.00688979 0.12469894 -0.03276253
+v -0.00436066 0.12463632 -0.03292536
+v -0.00332460 0.12461544 -0.03298975
+v -0.01516010 0.12614451 -0.02831847
+v -0.01516010 0.12616017 -0.02536650
+v 0.01136202 0.12916618 -0.03103375
+v -0.01516010 0.07790766 -0.02887912
+v -0.01516010 0.11519557 -0.02257550
+v -0.00436066 0.08450935 -0.02257561
+v 0.01136202 0.10387613 -0.02400136
+v -0.01516010 0.07962467 -0.03917221
+v -0.01516010 0.08019352 -0.04191968
+v -0.01460961 0.09966466 -0.04191960
+v -0.01006029 0.12407269 -0.03166052
+v -0.01516010 0.09930977 -0.04191961
+v -0.01259981 0.11517990 -0.02257550
+v 0.00840704 0.12488679 -0.02576224
+v 0.01136202 0.12492855 -0.02590615
+v 0.01136202 0.12849297 -0.02964202
+v -0.00436066 0.10215914 -0.02257554
+v 0.01136202 0.12456845 -0.02583987
+v 0.00840704 0.12106145 -0.02504841
+v -0.01009924 0.11326464 -0.02257550
+v -0.00804010 0.11040998 -0.02257551
+v -0.01198181 0.11473632 -0.02257550
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 12
+f 1 12 27
+f 1 27 40
+f 1 40 39
+f 1 39 42
+f 1 42 31
+f 1 31 16
+f 1 16 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 20
+f 4 20 33
+f 4 33 36
+f 4 36 34
+f 4 34 21
+f 4 21 11
+f 5 11 12
+f 6 13 7
+f 7 14 15
+f 7 15 8
+f 7 13 16
+f 7 16 17
+f 7 17 14
+f 8 15 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 23
+f 12 23 22
+f 12 22 25
+f 12 25 26
+f 12 26 27
+f 14 28 15
+f 14 17 30
+f 14 30 41
+f 14 41 45
+f 14 45 44
+f 14 44 46
+f 14 46 37
+f 14 37 29
+f 14 29 26
+f 14 26 25
+f 14 25 36
+f 14 36 33
+f 14 33 32
+f 14 32 28
+f 15 28 18
+f 16 30 17
+f 16 31 41
+f 16 41 30
+f 18 28 19
+f 19 28 20
+f 20 28 32
+f 20 32 33
+f 21 34 22
+f 22 35 25
+f 22 34 36
+f 22 36 35
+f 25 35 36
+f 26 29 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 41
+f 37 46 43
+f 37 43 42
+f 37 42 39
+f 37 39 38
+f 43 46 44
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_4.obj

@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.00978928 0.15585702 -0.08555455
+v 0.00978928 0.15291766 -0.08555456
+v 0.01003157 0.15564996 -0.08039973
+v 0.01136565 0.15608129 -0.08039973
+v 0.01351379 0.15677458 -0.08039972
+v 0.01351379 0.15681065 -0.08555140
+v 0.00988184 0.15572057 -0.09069994
+v 0.01003157 0.15322978 -0.08039974
+v 0.00988184 0.15281572 -0.09069995
+v 0.01095726 0.14944507 -0.09860652
+v 0.01095726 0.14944507 -0.09840233
+v 0.01062782 0.15500528 -0.07524805
+v 0.01351379 0.15614872 -0.07679355
+v 0.01861323 0.15589462 -0.07679355
+v 0.01861323 0.15612364 -0.08039973
+v 0.01136565 0.15522959 -0.07524805
+v 0.01351379 0.15629934 -0.09069994
+v 0.01021672 0.15533788 -0.09585476
+v 0.01062782 0.15402655 -0.07524805
+v 0.01797341 0.14078699 -0.09599930
+v 0.01036101 0.15181034 -0.09635108
+v 0.01072584 0.15203309 -0.09889550
+v 0.01452388 0.14687434 -0.10429848
+v 0.01136565 0.14893531 -0.09909655
+v 0.01549040 0.14329032 -0.10100644
+v 0.01095183 0.15462415 -0.07265338
+v 0.01136565 0.15482646 -0.07307430
+v 0.01136565 0.15467276 -0.07255600
+v 0.02169521 0.15494411 -0.07679355
+v 0.02183406 0.15499747 -0.08039973
+v 0.02156180 0.15477475 -0.08382685
+v 0.01888820 0.15547273 -0.08554825
+v 0.01658487 0.15484851 -0.09457312
+v 0.01570004 0.15452071 -0.09800652
+v 0.01380238 0.15533318 -0.09611547
+v 0.01229951 0.15488772 -0.09887351
+v 0.01136565 0.15488929 -0.09887664
+v 0.01065232 0.15488929 -0.09887664
+v 0.01743433 0.15519198 -0.09069994
+v 0.01136565 0.15363128 -0.07398214
+v 0.01095183 0.15458022 -0.07265338
+v 0.01836819 0.14078701 -0.10104730
+v 0.01819939 0.14078699 -0.09538989
+v 0.01448031 0.15012738 -0.10415085
+v 0.01874117 0.14692609 -0.10438331
+v 0.01861323 0.14324171 -0.10415087
+v 0.01559386 0.14370284 -0.10396553
+v 0.01261805 0.14738564 -0.10059494
+v 0.01838725 0.14078701 -0.10116980
+v 0.01136565 0.15423672 -0.07229214
+v 0.02232958 0.15407831 -0.07679355
+v 0.03143940 0.14951559 -0.08291277
+v 0.03143940 0.14951560 -0.08344050
+v 0.02912519 0.15054767 -0.08531898
+v 0.02344313 0.15349172 -0.08554826
+v 0.02077224 0.15442185 -0.08726339
+v 0.03103918 0.14926622 -0.08687704
+v 0.02376711 0.15058377 -0.09551551
+v 0.02210632 0.15009757 -0.09952376
+v 0.01874117 0.15122218 -0.10114779
+v 0.01712668 0.15012738 -0.10415085
+v 0.01262078 0.15166597 -0.07679356
+v 0.02035297 0.14078698 -0.09226747
+v 0.01358730 0.15101034 -0.07679357
+v 0.02208999 0.14523997 -0.10395925
+v 0.02208999 0.14348012 -0.10395925
+v 0.02376711 0.14078702 -0.10211221
+v 0.01794074 0.14861525 -0.07679357
+v 0.01851521 0.14831097 -0.07679358
+v 0.02338050 0.14820902 -0.07679358
+v 0.02381067 0.15186517 -0.07679356
+v 0.03750264 0.14078696 -0.08646242
+v 0.03731478 0.14171237 -0.08656294
+v 0.03657695 0.14443370 -0.08753986
+v 0.03657695 0.14443370 -0.08834403
+v 0.02996647 0.14846473 -0.09069996
+v 0.02749707 0.14538896 -0.09964315
+v 0.02052721 0.14867967 -0.10295716
+v 0.02550141 0.14882551 -0.09700761
+v 0.02303473 0.14078697 -0.08997435
+v 0.03152108 0.14078700 -0.09847147
+v 0.03039665 0.14078700 -0.09931961
+v 0.02490516 0.14078701 -0.10185147
+v 0.02347851 0.14078697 -0.08965081
+v 0.02902718 0.14078696 -0.08580275
+v 0.03370187 0.14078695 -0.08453682
+v 0.03760338 0.14078696 -0.08730428
+v 0.03751625 0.14078697 -0.09037016
+v 0.03730117 0.14144887 -0.09031991
+v 0.03709969 0.14078698 -0.09146017
+v 0.03625841 0.14078698 -0.09295227
+v 0.03543891 0.14299228 -0.09177743
+v 0.03203838 0.14487919 -0.09431871
+v 0.03380807 0.14564931 -0.09031990
+v 0.03089761 0.14336403 -0.09775525
+v 0.03468474 0.14078699 -0.09495640
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 8 19
+f 3 19 12
+f 3 12 4
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 12 16
+f 5 16 13
+f 6 15 17
+f 6 17 18
+f 6 18 7
+f 7 18 9
+f 8 11 20
+f 8 20 19
+f 9 18 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 20
+f 12 19 41
+f 12 41 26
+f 12 26 16
+f 13 16 27
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 15
+f 15 30 31
+f 15 31 32
+f 15 32 17
+f 15 29 30
+f 16 26 27
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 17 32 39
+f 17 39 33
+f 18 38 21
+f 19 40 41
+f 19 20 40
+f 20 25 42
+f 20 42 49
+f 20 49 67
+f 20 67 83
+f 20 83 82
+f 20 82 81
+f 20 81 96
+f 20 96 91
+f 20 91 90
+f 20 90 88
+f 20 88 87
+f 20 87 72
+f 20 72 86
+f 20 86 85
+f 20 85 84
+f 20 84 80
+f 20 80 63
+f 20 63 43
+f 20 43 40
+f 21 38 22
+f 22 38 23
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 47 48
+f 23 48 24
+f 23 38 44
+f 24 48 25
+f 25 48 47
+f 25 47 49
+f 25 49 42
+f 26 41 50
+f 26 50 28
+f 26 28 27
+f 28 50 29
+f 29 51 52
+f 29 52 30
+f 29 50 51
+f 30 52 53
+f 30 53 31
+f 31 53 54
+f 31 54 55
+f 31 55 56
+f 31 56 33
+f 31 33 39
+f 31 39 32
+f 33 56 34
+f 34 36 35
+f 34 56 55
+f 34 55 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 61
+f 34 61 36
+f 36 61 37
+f 37 61 44
+f 37 44 38
+f 40 62 50
+f 40 50 41
+f 40 43 62
+f 43 63 64
+f 43 64 62
+f 44 61 45
+f 45 61 65
+f 45 65 66
+f 45 66 46
+f 46 66 67
+f 46 67 49
+f 46 49 47
+f 50 62 64
+f 50 64 68
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 51
+f 51 71 52
+f 52 72 73
+f 52 73 74
+f 52 74 75
+f 52 75 53
+f 52 71 72
+f 53 75 57
+f 53 57 54
+f 54 57 55
+f 57 75 76
+f 57 76 59
+f 57 59 58
+f 59 77 78
+f 59 78 60
+f 59 76 79
+f 59 79 77
+f 60 78 61
+f 61 78 65
+f 63 80 69
+f 63 69 68
+f 63 68 64
+f 65 78 77
+f 65 77 81
+f 65 81 82
+f 65 82 66
+f 66 83 67
+f 66 82 83
+f 69 80 84
+f 69 84 85
+f 69 85 86
+f 69 86 70
+f 70 86 72
+f 70 72 71
+f 72 87 73
+f 73 87 74
+f 74 87 75
+f 75 87 88
+f 75 88 89
+f 75 89 90
+f 75 90 91
+f 75 91 92
+f 75 92 93
+f 75 93 94
+f 75 94 76
+f 76 94 79
+f 77 79 93
+f 77 93 95
+f 77 95 81
+f 79 94 93
+f 81 95 96
+f 88 90 89
+f 91 96 95
+f 91 95 92
+f 92 95 93
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_40.obj

@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.03878673 -0.04250751 -0.12136084
+v 0.03878673 -0.04250751 -0.12264608
+v 0.03878673 -0.04183625 -0.12105315
+v 0.03878280 -0.04250752 -0.12105316
+v 0.03568433 -0.04250747 -0.13372579
+v 0.03878673 -0.04163648 -0.12525502
+v 0.03878673 -0.02063699 -0.12105308
+v 0.02767960 -0.04250752 -0.12105316
+v 0.01877784 -0.04250747 -0.13372579
+v 0.03859672 -0.03898081 -0.13372577
+v 0.03878673 -0.03870575 -0.13372577
+v 0.03878673 -0.00905822 -0.13087229
+v 0.03484409 -0.00905821 -0.13372566
+v 0.03193951 -0.03231393 -0.12105312
+v 0.03065077 -0.03489425 -0.12105313
+v 0.03878673 -0.00905821 -0.13372566
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 14
+f 3 14 15
+f 3 15 8
+f 3 8 4
+f 5 9 13
+f 5 13 16
+f 5 16 11
+f 5 11 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 13
+f 12 16 13
+f 13 15 14
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_41.obj

@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01136462 0.10197237 -0.02576771
+v 0.01136462 0.08982167 -0.02576775
+v 0.01136462 0.10491273 -0.02345981
+v 0.01341882 0.10812930 -0.02576768
+v 0.02213595 0.11198116 -0.02577160
+v 0.02213595 0.09756306 -0.02577165
+v 0.03070730 0.08982418 -0.02577168
+v 0.01998567 0.08982167 -0.02576775
+v 0.01136462 0.08982155 0.00900788
+v 0.01136462 0.10949777 -0.01720570
+v 0.01439955 0.11038920 -0.02576767
+v 0.02890490 0.11547145 -0.02577159
+v 0.04521264 0.08982418 -0.02577168
+v 0.02213595 0.08982163 -0.01288934
+v 0.02213595 0.08982157 0.00405738
+v 0.02840460 0.08982408 0.00379744
+v 0.01136462 0.09145115 0.01446250
+v 0.01136462 0.10949777 -0.01591392
+v 0.01545978 0.11388952 -0.02182143
+v 0.03127718 0.11523292 -0.02577159
+v 0.01545978 0.11388951 -0.01966320
+v 0.02371306 0.11484117 -0.01855654
+v 0.04505361 0.09526048 -0.02577166
+v 0.04452017 0.08982416 -0.01855663
+v 0.03351030 0.08982409 0.00071765
+v 0.04395362 0.08982414 -0.01338557
+v 0.04254218 0.08982412 -0.00939603
+v 0.04240634 0.08982412 -0.00913610
+v 0.04099157 0.08982411 -0.00658798
+v 0.03845033 0.08982410 -0.00355939
+v 0.03824491 0.08982410 -0.00335066
+v 0.03584612 0.08982409 -0.00098765
+v 0.01136462 0.09344489 0.01446250
+v 0.01136462 0.10914622 -0.01433857
+v 0.03297355 0.11487635 -0.02577159
+v 0.02666846 0.11363087 -0.01552794
+v 0.01842183 0.11418831 -0.01818633
+v 0.02213595 0.11464782 -0.01845020
+v 0.01659954 0.11321154 -0.01622503
+v 0.02213595 0.11430129 -0.01733958
+v 0.02371306 0.11373632 -0.01542161
+v 0.04445722 0.10042306 -0.02577164
+v 0.03581300 0.09010029 -0.00101128
+v 0.03326512 0.09010029 0.00084762
+v 0.04266807 0.09571744 -0.01295627
+v 0.04202863 0.09430123 -0.00984892
+v 0.04097170 0.09010031 -0.00661950
+v 0.03842051 0.09010030 -0.00358696
+v 0.01136462 0.10128175 0.00039475
+v 0.03240699 0.09389189 0.00007572
+v 0.03402716 0.09547132 -0.00173985
+v 0.03688980 0.09842425 -0.00527648
+v 0.03032627 0.10689884 -0.00637525
+v 0.02693021 0.10858373 -0.00533553
+v 0.02371306 0.10852598 -0.00538278
+v 0.02213595 0.10835021 -0.00552456
+v 0.02100945 0.10822214 -0.00562695
+v 0.01342214 0.10983926 -0.01325160
+v 0.03352355 0.11446454 -0.02577159
+v 0.03267536 0.10897295 -0.00981342
+v 0.02869948 0.10957558 -0.00815931
+v 0.01999560 0.11356559 -0.01568942
+v 0.04299941 0.10452855 -0.02577163
+v 0.04152501 0.09774129 -0.01093983
+v 0.03772473 0.09526041 -0.00441793
+v 0.04050785 0.09571742 -0.00817906
+v 0.03808588 0.10025478 -0.00830900
+v 0.03707203 0.10415938 -0.01006156
+v 0.03393107 0.10553037 -0.00821840
+v 0.03569373 0.11252856 -0.02577160
+v 0.03561751 0.10731320 -0.01340521
+f 1 2 9
+f 1 9 17
+f 1 17 33
+f 1 33 49
+f 1 49 34
+f 1 34 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 13
+f 2 13 8
+f 2 8 14
+f 2 14 15
+f 2 15 9
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 20
+f 5 20 35
+f 5 35 59
+f 5 59 70
+f 5 70 63
+f 5 63 42
+f 5 42 23
+f 5 23 13
+f 5 13 7
+f 5 7 6
+f 8 13 14
+f 9 15 16
+f 9 16 17
+f 10 18 21
+f 10 21 19
+f 10 19 11
+f 11 19 12
+f 12 19 21
+f 12 21 22
+f 12 22 20
+f 13 23 24
+f 13 24 15
+f 13 15 14
+f 15 25 16
+f 15 24 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 25
+f 16 25 17
+f 17 25 33
+f 18 34 21
+f 20 22 36
+f 20 36 35
+f 21 37 38
+f 21 38 22
+f 21 34 39
+f 21 39 37
+f 22 38 37
+f 22 37 40
+f 22 40 41
+f 22 41 36
+f 23 42 26
+f 23 26 24
+f 25 32 43
+f 25 43 44
+f 25 44 33
+f 26 42 45
+f 26 45 46
+f 26 46 27
+f 27 46 28
+f 28 46 47
+f 28 47 29
+f 29 47 30
+f 30 47 48
+f 30 48 31
+f 31 48 43
+f 31 43 32
+f 33 44 50
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 39
+f 33 39 49
+f 34 58 39
+f 34 49 58
+f 35 36 60
+f 35 60 59
+f 36 41 54
+f 36 54 61
+f 36 61 60
+f 37 39 62
+f 37 62 40
+f 39 58 49
+f 39 57 62
+f 40 62 41
+f 41 62 55
+f 41 55 54
+f 42 63 64
+f 42 64 45
+f 43 48 65
+f 43 65 50
+f 43 50 44
+f 45 64 46
+f 46 64 66
+f 46 66 47
+f 47 66 65
+f 47 65 48
+f 50 65 51
+f 51 65 52
+f 52 66 64
+f 52 64 67
+f 52 67 68
+f 52 68 69
+f 52 69 53
+f 52 65 66
+f 53 69 60
+f 53 60 54
+f 54 60 61
+f 55 62 56
+f 56 62 57
+f 59 60 70
+f 60 69 68
+f 60 68 71
+f 60 71 70
+f 63 70 71
+f 63 71 68
+f 63 68 64
+f 64 68 67
+

dataset/bedroom_supplies/storage/c343f0ebe1905a908752d9df7c4df490/mjcf/mesh/basket_collision_42.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05224286 -0.00905852 -0.04863538
+v 0.05049504 -0.00905863 -0.01864227
+v 0.05778132 -0.00905852 -0.04863538
+v 0.05048504 -0.03273062 -0.04863547
+v 0.05048504 -0.00905867 -0.00745947
+v 0.05778132 -0.00905870 -0.00067053
+v 0.05778132 -0.04955829 -0.04863553
+v 0.05048504 -0.05713409 -0.04863556
+v 0.05048504 -0.00905871 0.00191983
+v 0.05730561 -0.00905870 -0.00026848
+v 0.05714704 -0.04607840 0.01004116
+v 0.05778132 -0.03655835 0.00662950
+v 0.05778132 -0.07132277 -0.03566655
+v 0.05683420 -0.05093571 -0.04863554
+v 0.05048504 -0.07132277 -0.03509794
+v 0.05464210 -0.00905870 0.00078835
+v 0.05048504 -0.03894141 0.00822620
+v 0.05431139 -0.03894141 0.00845595
+v 0.05592350 -0.04607840 0.01004116
+v 0.05701276 -0.00905870 -0.00011915
+v 0.05709490 -0.04925376 0.00998371
+v 0.05778132 -0.04925375 0.00898432
+v 0.05778132 -0.04715716 0.00907048
+v 0.05778132 -0.07132289 -0.00380677
+v 0.05048504 -0.07132291 0.00389540
+v 0.05048504 -0.04800433 0.00887520
+v 0.05612635 -0.04925376 0.00998371
+v 0.05048504 -0.05224629 0.00894410
+v 0.05688705 -0.05189890 0.00979416
+v 0.05778132 -0.05332507 0.00804809
+v 0.05637349 -0.07132289 -0.00144041
+v 0.05778132 -0.07015270 -0.00268102
+v 0.05048504 -0.07075611 0.00461335
+v 0.05381997 -0.07132291 0.00173582
+v 0.05681919 -0.05189890 0.00979416
+v 0.05048504 -0.05813994 0.00870860
+v 0.05048504 -0.06318641 0.00787001
+v 0.05048504 -0.06465525 0.00746220
+v 0.05250142 -0.06883626 0.00535429
+v 0.05778132 -0.05676860 0.00616991
+v 0.05627421 -0.07132290 -0.00129107
+v 0.05778132 -0.06903735 -0.00184819
+v 0.05048504 -0.06917147 0.00585972
+v 0.05609208 -0.07132290 -0.00104410
+v 0.05437352 -0.07012833 0.00215509
+v 0.05760489 -0.05807290 0.00564725
+v 0.05778132 -0.05820697 0.00530838
+v 0.05715919 -0.06798298 -0.00013085
+f 1 2 5
+f 1 5 9
+f 1 9 16
+f 1 16 20
+f 1 20 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 23
+f 3 23 22
+f 3 22 30
+f 3 30 40
+f 3 40 47
+f 3 47 42
+f 3 42 32
+f 3 32 24
+f 3 24 13
+f 3 13 7
+f 4 8 15
+f 4 15 25
+f 4 25 33
+f 4 33 43
+f 4 43 38
+f 4 38 37
+f 4 37 36
+f 4 36 28
+f 4 28 26
+f 4 26 17
+f 4 17 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 8 14 13
+f 8 13 15
+f 9 17 18
+f 9 18 19
+f 9 19 11
+f 9 11 16
+f 10 20 11
+f 11 19 27
+f 11 27 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 11 20 16
+f 13 24 31
+f 13 31 41
+f 13 41 44
+f 13 44 34
+f 13 34 25
+f 13 25 15
+f 17 26 19
+f 17 19 18
+f 19 26 28
+f 19 28 27
+f 21 27 35
+f 21 35 29
+f 21 29 22
+f 22 29 30
+f 24 32 31
+f 25 34 33
+f 27 28 36
+f 27 36 35
+f 29 35 37
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 31 32 41
+f 32 42 41
+f 33 39 43
+f 33 34 39
+f 34 44 45
+f 34 45 39
+f 35 36 37
+f 38 43 39
+f 39 45 46
+f 39 46 40
+f 40 46 47
+f 41 42 48
+f 41 48 45
+f 41 45 44
+f 42 47 48
+f 45 48 46
+f 46 48 47
+