Add asset tools/repair_tools/b61576488ca35874a660fed76dbaab16

.gitattributes

@@ -5139,7 +5139,5 @@ dataset/tools/repair_tools/b1fa6ba71e7d5e959c68e91e4fc35d4c/hex_key_038.usd filt
 dataset/tools/repair_tools/b1fa6ba71e7d5e959c68e91e4fc35d4c/mesh/hex_key_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/hex_key_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/mesh/hex_key_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/b844429383ef52519d0f81200aee97d0/mesh/screwdriver_032.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/b844429383ef52519d0f81200aee97d0/screwdriver_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/bbbcf76bd0e550afba0a900b5eba2a6f/measuring_tape_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/bbbcf76bd0e550afba0a900b5eba2a6f/mesh/measuring_tape_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mesh/pliers_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/pliers_031.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pliers_031_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pliers_031_geometry_Looks_material_0.png

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mesh/pliers_031.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36d725dbbcb60f82113d7d7491e03503fb9e5add700826009b45cbad76f7e2d
+size 12873920

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mesh/pliers_031.mtl

@@ -0,0 +1,6 @@
+newmtl pliers_031_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mjcf/mesh/pliers_031_collision_0.obj

@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v -0.00000499 0.03028717 -0.00802823
+v 0.00801562 0.04025830 -0.00812066
+v 0.00481192 0.03028717 -0.00804969
+v -0.00000499 0.03028711 0.00865373
+v -0.00000499 0.05347836 -0.00809419
+v 0.01121725 0.04356138 -0.00801827
+v 0.01121725 0.03695521 -0.00795554
+v 0.00801562 0.03695521 -0.00808764
+v 0.00160822 0.05347836 -0.00809584
+v 0.00801562 0.05017528 -0.00808265
+v 0.01121725 0.04687220 -0.00803642
+v 0.00801562 0.03365213 -0.00804473
+v 0.00801562 0.03034905 -0.00799355
+v 0.00801562 0.03028717 -0.00799024
+v 0.00475615 0.03028711 0.00868015
+v 0.00481192 0.04025824 0.00874955
+v -0.00000499 0.04025824 0.00871322
+v -0.00000499 0.05514151 -0.00785144
+v 0.00319664 0.10146976 -0.00587956
+v 0.00465081 0.10275386 -0.00639312
+v 0.00801562 0.10303235 -0.00717256
+v 0.01442095 0.05017528 -0.00768137
+v 0.01121725 0.03365213 -0.00787794
+v 0.01442095 0.04687220 -0.00761368
+v 0.00481192 0.05347836 -0.00806281
+v 0.01121725 0.07659995 -0.00758384
+v 0.01442095 0.06008453 -0.00768464
+v 0.00807139 0.03028717 -0.00798859
+v 0.00796191 0.03028711 0.00861244
+v 0.00481192 0.03034899 0.00868015
+v 0.00801562 0.04025824 0.00874459
+v 0.00160822 0.05347830 0.00872152
+v -0.00000499 0.05347830 0.00872152
+v -0.00000499 0.05678145 -0.00760868
+v 0.00305205 0.10822288 -0.00061006
+v 0.00411582 0.10633542 -0.00434048
+v 0.00613801 0.10812233 -0.00600503
+v 0.00560303 0.10633542 -0.00628907
+v -0.00000499 0.05840592 -0.00711658
+v -0.00000499 0.05997622 -0.00663768
+v 0.00823044 0.10662938 -0.00646081
+v 0.01025263 0.10572431 -0.00629072
+v 0.01068227 0.10303234 -0.00652027
+v 0.01121725 0.08650920 -0.00730638
+v 0.01121725 0.08320611 -0.00743849
+v 0.01121725 0.07990303 -0.00752273
+v 0.01762671 0.06008453 -0.00691676
+v 0.01442714 0.03028717 -0.00721411
+v 0.01127302 0.03028717 -0.00768144
+v 0.01446845 0.03028717 -0.00720585
+v 0.01442095 0.06338761 -0.00761692
+v 0.00801562 0.03028711 0.00860749
+v 0.00801562 0.03034899 0.00861244
+v 0.01121725 0.03695515 0.00864715
+v 0.01121725 0.04687214 0.00863397
+v 0.00801562 0.05017522 0.00870004
+v 0.00481192 0.05347830 0.00868684
+v 0.01121725 0.06669064 0.00842432
+v 0.00801562 0.07659989 0.00828565
+v -0.00000499 0.05678139 0.00829218
+v 0.00801562 0.10303229 0.00766154
+v 0.00464254 0.10279248 0.00687219
+v 0.00318632 0.10153160 0.00634705
+v 0.00305205 0.10822288 0.00120807
+v 0.00450002 0.10874889 0.00203375
+v 0.00453513 0.10874891 -0.00149189
+v 0.00546051 0.10845496 -0.00434047
+v -0.00000499 0.06057960 -0.00499789
+v -0.00000499 0.06081940 -0.00434065
+v -0.00000499 0.06101277 -0.00129390
+v 0.00801562 0.10930586 -0.00129372
+v 0.00823044 0.10854779 -0.00459973
+v 0.00730300 0.10812233 -0.00600503
+v 0.00943879 0.10792895 -0.00578705
+v 0.01228515 0.10303234 -0.00529497
+v 0.01127922 0.10662938 -0.00492340
+v 0.01313616 0.10633541 -0.00322086
+v 0.01442095 0.06998605 -0.00731139
+v 0.01121725 0.08981228 -0.00712141
+v 0.01275197 0.09781084 -0.00581186
+v 0.01295026 0.09560621 -0.00599022
+v 0.01937831 0.06216539 -0.00598373
+v 0.01777750 0.06331799 -0.00659804
+v 0.01442095 0.06669070 -0.00749141
+v 0.01941756 0.06008452 -0.00602668
+v 0.01671579 0.03028716 -0.00644128
+v 0.01121725 0.03028711 0.00823263
+v 0.01121725 0.03365207 0.00849356
+v 0.01442095 0.03028711 0.00768273
+v 0.01442095 0.05017522 0.00846885
+v 0.01442095 0.05347830 0.00848373
+v 0.01442095 0.05678139 0.00846888
+v 0.01121725 0.07329680 0.00831371
+v 0.01442095 0.06008447 0.00842595
+v 0.01121725 0.07659989 0.00825592
+v -0.00000499 0.05839812 0.00774558
+v 0.01121725 0.07990297 0.00816841
+v 0.01121725 0.08320605 0.00806605
+v 0.01121725 0.08650914 0.00791578
+v 0.01121725 0.08981222 0.00771433
+v 0.01073804 0.10303229 0.00698944
+v 0.01028568 0.10576295 0.00675165
+v 0.00829447 0.10665253 0.00692504
+v 0.00615041 0.10811456 0.00645772
+v 0.00560303 0.10633538 0.00675165
+v 0.00406625 0.10633538 0.00479480
+v -0.00000499 0.05999938 0.00720230
+v 0.00542539 0.10844719 0.00479481
+v -0.00000499 0.06101276 0.00174954
+v -0.00000499 0.06094314 0.00314328
+v -0.00000499 0.06085804 0.00479463
+v -0.00000499 0.06061050 0.00548985
+v 0.00801562 0.10930585 0.00174972
+v 0.01121725 0.10871021 0.00174972
+v 0.01121725 0.10869474 -0.00129372
+v 0.01121725 0.10823063 -0.00353131
+v 0.01283046 0.10799855 -0.00283113
+v 0.01357406 0.10303233 -0.00377242
+v 0.01494354 0.10303232 -0.00129374
+v 0.02003929 0.06331799 -0.00450082
+v 0.01609406 0.09189313 -0.00290550
+v 0.01591022 0.09409776 -0.00258018
+v 0.01997526 0.06669068 -0.00373128
+v 0.02014670 0.06008452 -0.00434065
+v 0.01933080 0.05770197 -0.00596063
+v 0.01805015 0.03028716 -0.00434076
+v 0.01671786 0.03028711 0.00688183
+v 0.01762671 0.06008447 0.00758707
+v 0.01442095 0.06338755 0.00834835
+v 0.01442095 0.06669064 0.00821460
+v 0.01442095 0.06998599 0.00801150
+v 0.01233885 0.10303230 0.00581698
+v 0.01375996 0.08650914 0.00706534
+v 0.01349557 0.08981222 0.00690352
+v 0.01322292 0.09311531 0.00669380
+v 0.01299777 0.09586144 0.00649070
+v 0.01281806 0.09806607 0.00631566
+v 0.01129781 0.10665254 0.00545534
+v 0.00955034 0.10796759 0.00629259
+v 0.00741454 0.10811456 0.00645772
+v 0.00829447 0.10855549 0.00508380
+v 0.01121725 0.10825382 0.00405005
+v 0.01307626 0.10816099 0.00174972
+v 0.01285731 0.10801401 0.00332015
+v 0.01305561 0.10814552 -0.00129372
+v 0.01397892 0.10633540 -0.00129373
+v 0.01499104 0.10303231 0.00174970
+v 0.01613950 0.09878550 -0.00010314
+v 0.01918828 0.07472792 -0.00273383
+v 0.01571606 0.09642616 -0.00212771
+v 0.02109274 0.06338758 -0.00129389
+v 0.02101424 0.06669067 -0.00129388
+v 0.02054742 0.06998602 -0.00129386
+v 0.01894248 0.03028714 -0.00110741
+v 0.01802123 0.03028712 0.00484076
+v 0.01937212 0.05734610 0.00646083
+v 0.01949192 0.06008448 0.00655827
+v 0.01943615 0.06236647 0.00649388
+v 0.01783533 0.06343397 0.00719240
+v 0.01362157 0.10303230 0.00429443
+v 0.01317954 0.10633539 0.00373628
+v 0.01402229 0.10633539 0.00174971
+v 0.01595153 0.09434528 0.00310873
+v 0.01577596 0.09642614 0.00265956
+v 0.01923785 0.07500638 0.00328535
+v 0.01613950 0.09878550 0.00058878
+v 0.01938038 0.07913718 -0.00023201
+v 0.02109687 0.06338757 0.00174955
+v 0.02104936 0.06669066 0.00174956
+v 0.02061559 0.06998601 0.00174958
+v 0.01894041 0.03028713 0.00149016
+v 0.01804395 0.03028712 0.00479452
+v 0.02021900 0.06008448 0.00479463
+v 0.02007647 0.06343398 0.00499115
+v 0.02001038 0.06669065 0.00428108
+v 0.01938038 0.07913718 0.00073898
+v 0.01893835 0.03028713 0.00155952
+f 1 2 3
+f 1 3 14
+f 1 14 28
+f 1 28 49
+f 1 49 48
+f 1 48 50
+f 1 50 86
+f 1 86 126
+f 1 126 154
+f 1 154 171
+f 1 171 177
+f 1 177 172
+f 1 172 155
+f 1 155 127
+f 1 127 89
+f 1 89 87
+f 1 87 52
+f 1 52 29
+f 1 29 15
+f 1 15 4
+f 1 4 17
+f 1 17 33
+f 1 33 60
+f 1 60 96
+f 1 96 107
+f 1 107 112
+f 1 112 111
+f 1 111 110
+f 1 110 109
+f 1 109 70
+f 1 70 69
+f 1 69 68
+f 1 68 40
+f 1 40 39
+f 1 39 34
+f 1 34 18
+f 1 18 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 10
+f 2 10 11
+f 2 11 6
+f 3 12 13
+f 3 13 14
+f 3 8 12
+f 4 15 16
+f 4 16 17
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 9
+f 6 11 22
+f 6 22 7
+f 7 23 13
+f 7 13 12
+f 7 12 8
+f 7 22 24
+f 7 24 23
+f 9 25 10
+f 9 21 25
+f 10 25 21
+f 10 21 26
+f 10 26 11
+f 11 26 27
+f 11 27 22
+f 13 23 28
+f 13 28 14
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 18 34 19
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 19 34 39
+f 19 39 40
+f 19 40 35
+f 20 38 21
+f 21 38 37
+f 21 37 41
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 46
+f 21 46 26
+f 22 27 47
+f 22 47 24
+f 23 48 49
+f 23 49 28
+f 23 24 48
+f 24 47 50
+f 24 50 48
+f 26 46 27
+f 27 51 47
+f 27 46 51
+f 29 52 53
+f 29 53 30
+f 30 53 54
+f 30 54 31
+f 31 54 55
+f 31 55 56
+f 31 56 32
+f 32 56 57
+f 32 57 58
+f 32 58 59
+f 32 59 33
+f 33 59 61
+f 33 61 62
+f 33 62 63
+f 33 63 60
+f 35 64 65
+f 35 65 66
+f 35 66 67
+f 35 67 37
+f 35 37 36
+f 35 40 68
+f 35 68 69
+f 35 69 70
+f 35 70 109
+f 35 109 64
+f 37 67 71
+f 37 71 72
+f 37 72 73
+f 37 73 41
+f 41 73 74
+f 41 74 42
+f 42 75 43
+f 42 74 76
+f 42 76 77
+f 42 77 75
+f 43 78 79
+f 43 79 44
+f 43 75 80
+f 43 80 81
+f 43 81 82
+f 43 82 83
+f 43 83 47
+f 43 47 78
+f 44 78 84
+f 44 84 45
+f 44 79 78
+f 45 84 51
+f 45 51 46
+f 47 51 84
+f 47 84 78
+f 47 83 82
+f 47 82 85
+f 47 85 86
+f 47 86 50
+f 52 87 53
+f 53 87 88
+f 53 88 54
+f 54 88 89
+f 54 89 90
+f 54 90 91
+f 54 91 55
+f 55 91 92
+f 55 92 56
+f 56 92 58
+f 56 58 57
+f 58 93 59
+f 58 92 94
+f 58 94 93
+f 59 93 95
+f 59 95 61
+f 60 63 96
+f 61 95 97
+f 61 97 98
+f 61 98 99
+f 61 99 100
+f 61 100 101
+f 61 101 102
+f 61 102 103
+f 61 103 104
+f 61 104 105
+f 61 105 62
+f 62 105 63
+f 63 105 106
+f 63 106 64
+f 63 64 107
+f 63 107 96
+f 64 106 104
+f 64 104 108
+f 64 108 65
+f 64 109 110
+f 64 110 111
+f 64 111 112
+f 64 112 107
+f 65 108 113
+f 65 113 71
+f 65 71 66
+f 66 71 67
+f 71 113 114
+f 71 114 115
+f 71 115 116
+f 71 116 72
+f 72 116 74
+f 72 74 73
+f 74 117 76
+f 74 116 117
+f 75 77 118
+f 75 118 82
+f 75 82 80
+f 76 117 77
+f 77 117 119
+f 77 119 118
+f 80 82 81
+f 82 120 85
+f 82 118 121
+f 82 121 122
+f 82 122 123
+f 82 123 120
+f 85 120 124
+f 85 124 125
+f 85 125 86
+f 86 125 126
+f 87 89 88
+f 89 127 90
+f 90 128 91
+f 90 127 128
+f 91 128 92
+f 92 128 94
+f 93 94 95
+f 94 128 129
+f 94 129 95
+f 95 129 97
+f 97 129 98
+f 98 129 130
+f 98 130 99
+f 99 130 100
+f 100 130 131
+f 100 131 101
+f 101 132 102
+f 101 131 128
+f 101 128 133
+f 101 133 134
+f 101 134 135
+f 101 135 136
+f 101 136 137
+f 101 137 132
+f 102 132 138
+f 102 138 139
+f 102 139 103
+f 103 139 140
+f 103 140 104
+f 104 140 141
+f 104 141 113
+f 104 113 108
+f 104 106 105
+f 113 141 142
+f 113 142 114
+f 114 143 115
+f 114 142 144
+f 114 144 143
+f 115 143 145
+f 115 145 117
+f 115 117 116
+f 117 146 119
+f 117 145 146
+f 118 119 122
+f 118 122 121
+f 119 146 147
+f 119 147 148
+f 119 148 149
+f 119 149 150
+f 119 150 122
+f 120 151 124
+f 120 123 152
+f 120 152 151
+f 122 150 149
+f 122 149 123
+f 123 149 153
+f 123 153 152
+f 124 151 154
+f 124 154 126
+f 124 126 125
+f 127 155 156
+f 127 156 157
+f 127 157 128
+f 128 157 158
+f 128 158 159
+f 128 159 134
+f 128 134 133
+f 128 131 130
+f 128 130 129
+f 132 160 161
+f 132 161 138
+f 132 137 158
+f 132 158 160
+f 134 159 158
+f 134 158 135
+f 135 158 136
+f 136 158 137
+f 138 161 144
+f 138 144 139
+f 139 144 142
+f 139 142 141
+f 139 141 140
+f 143 162 145
+f 143 144 162
+f 144 161 162
+f 145 162 146
+f 146 162 147
+f 147 162 161
+f 147 161 160
+f 147 160 163
+f 147 163 164
+f 147 164 165
+f 147 165 166
+f 147 166 148
+f 148 167 153
+f 148 153 149
+f 148 166 176
+f 148 176 167
+f 151 168 154
+f 151 152 169
+f 151 169 168
+f 152 153 167
+f 152 167 170
+f 152 170 169
+f 154 168 171
+f 155 172 156
+f 156 173 157
+f 156 172 173
+f 157 173 174
+f 157 174 158
+f 158 174 175
+f 158 175 165
+f 158 165 163
+f 158 163 160
+f 163 165 164
+f 165 175 170
+f 165 170 166
+f 166 170 176
+f 167 176 170
+f 168 173 177
+f 168 177 171
+f 168 169 173
+f 169 175 174
+f 169 174 173
+f 169 170 175
+f 172 177 173
+

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mjcf/mesh/pliers_031_collision_1.obj

@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v -0.02113188 0.06339201 0.00174892
+v -0.02025090 0.06008124 0.00479457
+v -0.02107397 0.06669505 0.00174893
+v -0.02111120 0.06339202 -0.00129509
+v -0.01896459 0.03029983 -0.00114531
+v -0.01896459 0.03029983 -0.00112225
+v -0.01896252 0.03029982 0.00159397
+v -0.01934717 0.05677821 0.00644834
+v -0.01950228 0.06008124 0.00657518
+v -0.02009373 0.06346162 0.00500542
+v -0.01895632 0.03029982 0.00161703
+v -0.01807121 0.03029981 0.00479446
+v -0.02002342 0.06669504 0.00431032
+v -0.02061901 0.06999034 0.00174895
+v -0.01937199 0.07916458 0.00075738
+v -0.01937199 0.07916458 -0.00023918
+v -0.02102020 0.06669506 -0.00129508
+v -0.02004203 0.06333790 -0.00451040
+v -0.02016818 0.06008128 -0.00434075
+v -0.01807534 0.03029985 -0.00434086
+v -0.01672286 0.03029980 0.00689134
+v -0.01761418 0.05677820 0.00751737
+v -0.01761418 0.06008123 0.00761456
+v -0.01943403 0.06240187 0.00650107
+v -0.01923550 0.07506479 0.00329733
+v -0.01613554 0.09883578 0.00061908
+v -0.01613554 0.09883578 -0.00013204
+v -0.02054456 0.06999035 -0.00129506
+v -0.01996965 0.06669507 -0.00375104
+v -0.01937406 0.06220852 -0.00599287
+v -0.01941956 0.06008128 -0.00603901
+v -0.01932856 0.05761367 -0.00596819
+v -0.01805259 0.03029985 -0.00438534
+v -0.01446044 0.03029980 0.00768528
+v -0.01441081 0.05017214 0.00848095
+v -0.01441081 0.06008123 0.00844310
+v -0.01441081 0.06339199 0.00836899
+v -0.01441081 0.06669503 0.00823557
+v -0.01441081 0.06999032 0.00803958
+v -0.01075869 0.10302836 0.00699044
+v -0.01350088 0.08981624 0.00691626
+v -0.01783132 0.06346161 0.00720772
+v -0.01441081 0.05347517 0.00849085
+v -0.01441081 0.05677820 0.00847768
+v -0.01323825 0.09311928 0.00671696
+v -0.01297147 0.09642231 0.00647648
+v -0.01282671 0.09819373 0.00633648
+v -0.01235934 0.10302837 0.00585882
+v -0.01363324 0.10302837 0.00433681
+v -0.01595149 0.09440337 0.00312939
+v -0.01578191 0.09642232 0.00269947
+v -0.01501261 0.10302838 0.00174907
+v -0.01495884 0.10302839 -0.00129494
+v -0.01573021 0.09642234 -0.00217292
+v -0.01917967 0.07474765 -0.00274128
+v -0.01591633 0.09420227 -0.00261272
+v -0.01778168 0.06333790 -0.00660892
+v -0.01761418 0.06008129 -0.00692849
+v -0.01610038 0.09199767 -0.00292899
+v -0.01357947 0.10302840 -0.00380361
+v -0.01229937 0.10302841 -0.00532726
+v -0.01278121 0.09797718 -0.00584285
+v -0.01296940 0.09577258 -0.00601911
+v -0.01318241 0.09311932 -0.00620525
+v -0.01344298 0.08981629 -0.00640128
+v -0.01672079 0.03029985 -0.00644927
+v -0.01441081 0.03029980 0.00769516
+v -0.01120745 0.03364925 0.00850065
+v -0.01120745 0.03696001 0.00865057
+v -0.00800409 0.05017214 0.00869343
+v -0.01120745 0.06669503 0.00842830
+v -0.01120745 0.07659638 0.00825867
+v -0.01120745 0.07989941 0.00817303
+v -0.01120745 0.08320244 0.00806928
+v -0.01120745 0.08651321 0.00792269
+v -0.01120745 0.08981624 0.00772833
+v -0.00800409 0.10302836 0.00765755
+v -0.01029132 0.10576672 0.00675325
+v -0.01120745 0.04686910 0.00864565
+v -0.01129638 0.10665629 0.00547997
+v -0.01318861 0.10633142 0.00376854
+v -0.01403443 0.10633142 0.00174908
+v -0.01397860 0.10633143 -0.00129493
+v -0.01281844 0.10799455 -0.00283174
+v -0.01313278 0.10633144 -0.00323532
+v -0.01369941 0.08651326 -0.00654954
+v -0.01069665 0.10302841 -0.00651983
+v -0.01120745 0.08981630 -0.00714910
+v -0.01441081 0.06999038 -0.00731719
+v -0.01441081 0.06669509 -0.00750169
+v -0.01441081 0.06339205 -0.00761371
+v -0.01441081 0.06008129 -0.00767467
+v -0.01441081 0.05017220 -0.00766482
+v -0.01441081 0.04686916 -0.00761048
+v -0.01441495 0.03029986 -0.00721686
+v -0.01127363 0.10664086 -0.00494675
+v -0.01025409 0.10574355 -0.00629086
+v -0.01125708 0.03029980 0.00824368
+v -0.00800409 0.03034621 0.00861759
+v -0.00480073 0.03034621 0.00867524
+v -0.00800409 0.04026304 0.00872635
+v -0.00159736 0.05347517 0.00872310
+v -0.00800409 0.07659638 0.00828174
+v -0.00464562 0.10278083 0.00686854
+v -0.00561346 0.10633141 0.00674666
+v -0.00614287 0.10811830 0.00645677
+v -0.00828120 0.10665628 0.00692291
+v -0.00000499 0.05347517 0.00872145
+v -0.00953442 0.10796358 0.00629040
+v -0.01285566 0.10802548 0.00333369
+v -0.01306867 0.10816471 0.00174909
+v -0.01304178 0.10814152 -0.00129492
+v -0.00947859 0.10794815 -0.00580987
+v -0.01120745 0.10868300 -0.00129492
+v -0.01120745 0.10822661 -0.00354992
+v -0.00800409 0.10302842 -0.00717047
+v -0.01120745 0.08651327 -0.00732207
+v -0.01120745 0.08320250 -0.00744068
+v -0.01120745 0.07989947 -0.00751317
+v -0.01120745 0.04686916 -0.00797121
+v -0.01120745 0.04356613 -0.00798934
+v -0.01120745 0.07659644 -0.00756425
+v -0.01120745 0.03696007 -0.00794818
+v -0.01120745 0.03364931 -0.00786914
+v -0.01120745 0.03029986 -0.00766489
+v -0.00824811 0.10664086 -0.00646052
+v -0.00805579 0.03029980 0.00860771
+v -0.00800409 0.03029980 0.00861265
+v -0.00480073 0.03029980 0.00867360
+v -0.00000499 0.03029980 0.00865383
+v -0.00000499 0.04026304 0.00871317
+v -0.00480073 0.04026304 0.00872470
+v -0.00317526 0.10151996 0.00634637
+v -0.00304704 0.10821113 0.00114622
+v -0.00543354 0.10845092 0.00479475
+v -0.00800409 0.10930956 0.00174909
+v -0.00828120 0.10855147 0.00508301
+v -0.00739816 0.10811830 0.00645677
+v -0.00409967 0.10633141 0.00479474
+v -0.00000499 0.05677820 0.00829155
+v -0.01120745 0.10825754 0.00406010
+v -0.01120745 0.10871392 0.00174909
+v -0.00824811 0.10855151 -0.00461236
+v -0.00734439 0.10811834 -0.00600588
+v -0.00800409 0.10930183 -0.00129492
+v -0.00613253 0.10811834 -0.00600588
+v -0.00560312 0.10633145 -0.00628921
+v -0.00464356 0.10273447 -0.00638970
+v -0.00000499 0.05347523 -0.00809472
+v -0.00159736 0.05347523 -0.00809307
+v -0.00480073 0.05347523 -0.00805848
+v -0.00800409 0.05017220 -0.00802885
+v -0.00800409 0.04026310 -0.00810136
+v -0.00800409 0.03696007 -0.00806843
+v -0.00800409 0.03364931 -0.00803385
+v -0.00800409 0.03034627 -0.00798445
+v -0.00800409 0.03029986 -0.00798115
+v -0.00000499 0.03029986 -0.00802728
+v -0.00000499 0.06000387 0.00720112
+v -0.00304704 0.10821113 -0.00058498
+v -0.00450086 0.10874487 0.00199617
+v -0.00000499 0.06085478 0.00479457
+v -0.00000499 0.06093988 0.00314244
+v -0.00000499 0.06100950 0.00174891
+v -0.00452775 0.10874489 -0.00147775
+v -0.00545836 0.10845870 -0.00434057
+v -0.00412242 0.10633145 -0.00434058
+v -0.00318974 0.10144265 -0.00587414
+v -0.00000499 0.05513834 -0.00785094
+v -0.00475109 0.03029986 -0.00804540
+v -0.00795446 0.03029986 -0.00798445
+v -0.00000499 0.06100951 -0.00129510
+v -0.00000499 0.06092443 -0.00271497
+v -0.00000499 0.06082388 -0.00434075
+v -0.00000499 0.05997298 -0.00663858
+v -0.00000499 0.05840270 -0.00711628
+v -0.00000499 0.05677826 -0.00760879
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 11
+f 2 11 12
+f 2 12 8
+f 3 10 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 19
+f 4 19 5
+f 5 20 33
+f 5 33 66
+f 5 66 95
+f 5 95 125
+f 5 125 157
+f 5 157 171
+f 5 171 170
+f 5 170 158
+f 5 158 130
+f 5 130 129
+f 5 129 128
+f 5 128 127
+f 5 127 98
+f 5 98 67
+f 5 67 34
+f 5 34 21
+f 5 21 12
+f 5 12 11
+f 5 11 7
+f 5 7 6
+f 5 19 20
+f 8 12 21
+f 8 21 9
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 9 21 22
+f 10 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 18
+f 18 30 31
+f 18 31 19
+f 18 29 30
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 21 34 35
+f 21 35 22
+f 22 35 23
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 23 35 43
+f 23 43 44
+f 23 44 36
+f 24 42 41
+f 24 41 45
+f 24 45 46
+f 24 46 47
+f 24 47 48
+f 24 48 49
+f 24 49 50
+f 24 50 25
+f 25 50 51
+f 25 51 52
+f 25 52 26
+f 26 52 27
+f 27 52 53
+f 27 53 54
+f 27 54 55
+f 27 55 28
+f 28 55 29
+f 29 55 56
+f 29 56 30
+f 30 57 58
+f 30 58 31
+f 30 56 59
+f 30 59 60
+f 30 60 61
+f 30 61 62
+f 30 62 63
+f 30 63 64
+f 30 64 65
+f 30 65 57
+f 31 58 66
+f 31 66 32
+f 32 66 33
+f 34 67 68
+f 34 68 69
+f 34 69 35
+f 35 69 43
+f 36 44 70
+f 36 70 71
+f 36 71 72
+f 36 72 37
+f 37 72 73
+f 37 73 74
+f 37 74 38
+f 38 74 75
+f 38 75 76
+f 38 76 39
+f 39 76 40
+f 40 76 77
+f 40 77 78
+f 40 78 48
+f 40 48 47
+f 40 47 46
+f 40 46 45
+f 40 45 41
+f 43 69 79
+f 43 79 44
+f 44 79 70
+f 48 78 80
+f 48 80 81
+f 48 81 49
+f 49 81 52
+f 49 52 50
+f 50 52 51
+f 52 81 82
+f 52 82 53
+f 53 82 83
+f 53 83 84
+f 53 84 85
+f 53 85 60
+f 53 60 56
+f 53 56 54
+f 54 56 55
+f 56 60 59
+f 57 65 86
+f 57 86 58
+f 58 86 87
+f 58 87 88
+f 58 88 89
+f 58 89 90
+f 58 90 91
+f 58 91 92
+f 58 92 93
+f 58 93 94
+f 58 94 95
+f 58 95 66
+f 60 85 61
+f 61 85 96
+f 61 96 97
+f 61 97 87
+f 61 87 62
+f 62 87 63
+f 63 87 64
+f 64 87 65
+f 65 87 86
+f 67 98 68
+f 68 98 99
+f 68 99 69
+f 69 99 100
+f 69 100 101
+f 69 101 79
+f 70 79 101
+f 70 101 102
+f 70 102 71
+f 71 103 72
+f 71 102 103
+f 72 103 77
+f 72 77 73
+f 73 77 74
+f 74 77 75
+f 75 77 76
+f 77 104 105
+f 77 105 106
+f 77 106 107
+f 77 107 78
+f 77 103 108
+f 77 108 104
+f 78 107 109
+f 78 109 80
+f 80 109 110
+f 80 110 81
+f 81 110 82
+f 82 110 111
+f 82 111 112
+f 82 112 83
+f 83 112 84
+f 84 113 96
+f 84 96 85
+f 84 112 114
+f 84 114 115
+f 84 115 113
+f 87 97 116
+f 87 116 88
+f 88 116 117
+f 88 117 90
+f 88 90 89
+f 90 117 118
+f 90 118 91
+f 91 118 119
+f 91 119 92
+f 92 120 121
+f 92 121 93
+f 92 119 122
+f 92 122 120
+f 93 121 123
+f 93 123 94
+f 94 123 95
+f 95 123 124
+f 95 124 125
+f 96 113 97
+f 97 113 126
+f 97 126 116
+f 98 127 99
+f 99 127 128
+f 99 128 129
+f 99 129 100
+f 100 129 130
+f 100 130 131
+f 100 131 132
+f 100 132 101
+f 101 132 102
+f 102 132 108
+f 102 108 103
+f 104 133 105
+f 104 108 133
+f 105 133 106
+f 106 134 135
+f 106 135 136
+f 106 136 137
+f 106 137 138
+f 106 138 107
+f 106 133 139
+f 106 139 134
+f 107 138 109
+f 108 132 131
+f 108 131 130
+f 108 130 158
+f 108 158 149
+f 108 149 169
+f 108 169 177
+f 108 177 176
+f 108 176 175
+f 108 175 174
+f 108 174 173
+f 108 173 172
+f 108 172 164
+f 108 164 163
+f 108 163 162
+f 108 162 159
+f 108 159 140
+f 108 140 133
+f 109 138 137
+f 109 137 141
+f 109 141 110
+f 110 141 142
+f 110 142 111
+f 111 142 114
+f 111 114 112
+f 113 115 143
+f 113 143 144
+f 113 144 126
+f 114 142 145
+f 114 145 115
+f 115 145 143
+f 116 119 118
+f 116 118 117
+f 116 126 146
+f 116 146 147
+f 116 147 148
+f 116 148 149
+f 116 149 150
+f 116 150 151
+f 116 151 119
+f 119 151 122
+f 120 122 152
+f 120 152 153
+f 120 153 121
+f 121 153 123
+f 122 151 152
+f 123 153 154
+f 123 154 155
+f 123 155 156
+f 123 156 124
+f 124 156 125
+f 125 156 157
+f 126 144 146
+f 133 134 139
+f 133 140 159
+f 133 159 134
+f 134 160 161
+f 134 161 135
+f 134 159 162
+f 134 162 163
+f 134 163 164
+f 134 164 172
+f 134 172 160
+f 135 161 136
+f 136 145 142
+f 136 142 141
+f 136 141 137
+f 136 161 165
+f 136 165 145
+f 143 145 146
+f 143 146 144
+f 145 165 166
+f 145 166 146
+f 146 166 160
+f 146 160 167
+f 146 167 168
+f 146 168 147
+f 147 168 148
+f 148 168 149
+f 149 158 153
+f 149 153 150
+f 149 168 169
+f 150 153 151
+f 151 153 152
+f 153 158 170
+f 153 170 154
+f 154 170 155
+f 155 170 156
+f 156 170 171
+f 156 171 157
+f 160 172 173
+f 160 173 174
+f 160 174 175
+f 160 175 168
+f 160 168 167
+f 160 166 165
+f 160 165 161
+f 168 175 176
+f 168 176 177
+f 168 177 169
+

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mjcf/mesh/pliers_031_collision_2.obj

@@ -0,0 +1,844 @@
+# https://github.com/mikedh/trimesh
+v -0.03559193 -0.04511872 -0.00129443
+v -0.03557534 -0.04511872 -0.00080476
+v -0.03541179 -0.04511871 -0.00296659
+v -0.03557771 -0.04565206 -0.00129443
+v -0.03548053 -0.04511873 0.00184247
+v -0.03536913 -0.04511871 -0.00331086
+v -0.03536202 -0.04565205 -0.00328520
+v -0.03526247 -0.04777630 -0.00292598
+v -0.03519610 -0.04998260 -0.00211128
+v -0.03525062 -0.05077579 -0.00008203
+v -0.03525062 -0.05077579 0.00036915
+v -0.03545683 -0.04578426 0.00186599
+v -0.03536676 -0.04511873 0.00293300
+v -0.03492115 -0.04511870 -0.00483334
+v -0.03491404 -0.04565204 -0.00480982
+v -0.03452769 -0.05226183 -0.00433941
+v -0.03421008 -0.05556672 -0.00433942
+v -0.03507759 -0.05202936 -0.00117471
+v -0.03469835 -0.05556674 -0.00129446
+v -0.03499700 -0.05202937 0.00153025
+v -0.03457747 -0.05556675 0.00174835
+v -0.03511551 -0.04511873 0.00389524
+v -0.03512736 -0.04895696 0.00238345
+v -0.03519610 -0.04696947 0.00295866
+v -0.03369100 -0.04511869 -0.00699517
+v -0.03344924 -0.04565203 -0.00738648
+v -0.03290882 -0.05556671 -0.00711067
+v -0.03268128 -0.05886705 -0.00683057
+v -0.03240396 -0.06217195 -0.00644141
+v -0.03218353 -0.06474749 -0.00610784
+v -0.03374078 -0.05886706 -0.00433944
+v -0.03421482 -0.05886708 -0.00129448
+v -0.03410105 -0.05886709 0.00174833
+v -0.03333073 -0.05886710 0.00479328
+v -0.03379055 -0.05556676 0.00479330
+v -0.03415794 -0.05226187 0.00479331
+v -0.03473154 -0.04578427 0.00462868
+v -0.03471968 -0.04511874 0.00470352
+v -0.03346109 -0.04511869 -0.00738648
+v -0.03216931 -0.04565203 -0.00903084
+v -0.03204132 -0.05069826 -0.00891753
+v -0.03285668 -0.05198375 -0.00762171
+v -0.03191096 -0.05290001 -0.00879351
+v -0.03175215 -0.05556671 -0.00863315
+v -0.03149379 -0.05886705 -0.00835518
+v -0.02971375 -0.07184502 -0.00758329
+v -0.02901453 -0.08135857 -0.00615708
+v -0.03200102 -0.06695379 -0.00576144
+v -0.03252484 -0.06570021 -0.00458536
+v -0.03225227 -0.06877719 -0.00363596
+v -0.03207687 -0.07066896 -0.00299234
+v -0.03213613 -0.07099262 -0.00129452
+v -0.03212664 -0.07094247 0.00108541
+v -0.03355353 -0.06217198 0.00174832
+v -0.03201287 -0.07032709 0.00311467
+v -0.03220723 -0.06812990 0.00373265
+v -0.03243241 -0.06547688 0.00430145
+v -0.03266706 -0.06235433 0.00503704
+v -0.03198206 -0.06358056 0.00621525
+v -0.03218116 -0.06137425 0.00650392
+v -0.03261254 -0.05556677 0.00702570
+v -0.03238500 -0.05886710 0.00675839
+v -0.03278794 -0.05226188 0.00722457
+v -0.03303208 -0.04565209 0.00745339
+v -0.03303919 -0.04511875 0.00745767
+v -0.03238737 -0.04511869 -0.00876569
+v -0.03217405 -0.04511869 -0.00903512
+v -0.03071398 -0.04511868 -0.00988403
+v -0.03042956 -0.04565202 -0.01004226
+v -0.03067606 -0.05198374 -0.00965097
+v -0.03014987 -0.05556670 -0.00977500
+v -0.02989151 -0.05886704 -0.00962320
+v -0.02885572 -0.07058688 -0.00893043
+v -0.02782941 -0.08227481 -0.00725831
+v -0.02881069 -0.08356031 -0.00580855
+v -0.02858077 -0.07278862 -0.00872944
+v -0.03183037 -0.06877718 -0.00515844
+v -0.03151986 -0.07189517 -0.00414062
+v -0.02904297 -0.08529710 -0.00363389
+v -0.02886283 -0.08703843 -0.00294536
+v -0.03182800 -0.07264734 -0.00129453
+v -0.02930607 -0.08529711 -0.00129457
+v -0.02889365 -0.08711594 0.00073895
+v -0.02913541 -0.08543843 0.00175252
+v -0.03181377 -0.07205931 0.00195998
+v -0.02875854 -0.08663275 0.00276820
+v -0.02899082 -0.08443101 0.00364706
+v -0.03096286 -0.07208211 0.00479324
+v -0.03157912 -0.06904617 0.00476546
+v -0.03179718 -0.06547688 0.00582393
+v -0.02872299 -0.07982696 0.00614035
+v -0.02917807 -0.07538700 0.00669418
+v -0.02955020 -0.07208212 0.00705558
+v -0.03103160 -0.05556677 0.00855031
+v -0.03124018 -0.05226188 0.00874705
+v -0.03071398 -0.05886711 0.00828087
+v -0.03146535 -0.04565209 0.00897587
+v -0.03278794 -0.04511875 0.00770357
+v -0.03042956 -0.04511868 -0.01004868
+v -0.02722500 -0.04565202 -0.01114135
+v -0.02722500 -0.04895691 -0.01109860
+v -0.02722500 -0.05226181 -0.01105370
+v -0.02722500 -0.05556670 -0.01097673
+v -0.02722500 -0.05886704 -0.01077361
+v -0.02722500 -0.06217193 -0.01048709
+v -0.02722500 -0.06547682 -0.01019629
+v -0.02722500 -0.06877716 -0.00990549
+v -0.02900505 -0.06877717 -0.00904375
+v -0.02599011 -0.08199218 -0.00914216
+v -0.02575545 -0.08416658 -0.00899891
+v -0.02680784 -0.08527885 -0.00761542
+v -0.02627216 -0.08860198 -0.00659119
+v -0.02860685 -0.08529709 -0.00515636
+v -0.02773697 -0.08832392 -0.00411288
+v -0.02804747 -0.08879346 -0.00129459
+v -0.02890313 -0.08713873 -0.00129458
+v -0.02806169 -0.08836953 0.00175251
+v -0.02597826 -0.09054848 0.00380314
+v -0.02668696 -0.08865672 0.00480814
+v -0.02817783 -0.08543844 0.00471621
+v -0.02847648 -0.08199223 0.00570626
+v -0.02646652 -0.08529714 0.00702773
+v -0.02687421 -0.08199224 0.00729716
+v -0.02888653 -0.06079534 0.00939706
+v -0.02911171 -0.05886712 0.00952964
+v -0.02942932 -0.05556678 0.00970928
+v -0.02963790 -0.05226189 0.00979910
+v -0.02986307 -0.04565210 0.00985257
+v -0.03147009 -0.04511875 0.00898228
+v -0.02774171 -0.04511868 -0.01097029
+v -0.02402281 -0.04895691 -0.01125256
+v -0.02402281 -0.05226181 -0.01125043
+v -0.02402281 -0.05556670 -0.01122264
+v -0.02722500 -0.04511868 -0.01114135
+v -0.02402281 -0.05886704 -0.01115423
+v -0.02402281 -0.06217193 -0.01104733
+v -0.02402281 -0.06547682 -0.01092973
+v -0.02402281 -0.06877716 -0.01077150
+v -0.02402281 -0.08199217 -0.00983711
+v -0.02420295 -0.08527885 -0.00942657
+v -0.02539281 -0.08636832 -0.00878295
+v -0.02569620 -0.09031141 -0.00594328
+v -0.02606832 -0.09062139 -0.00433955
+v -0.02644519 -0.09093138 -0.00129459
+v -0.02631957 -0.09083110 0.00174822
+v -0.02402281 -0.09161061 0.00174821
+v -0.02394459 -0.09085847 0.00480814
+v -0.02282821 -0.09042085 0.00650168
+v -0.02496143 -0.08979634 0.00583239
+v -0.02604225 -0.08759460 0.00668773
+v -0.02402281 -0.08529714 0.00836417
+v -0.02775830 -0.06877723 0.00884963
+v -0.02585263 -0.07118866 0.00945262
+v -0.02722500 -0.05886712 0.01007063
+v -0.02722500 -0.05556678 0.01030800
+v -0.02722500 -0.05226189 0.01044059
+v -0.02987018 -0.04511876 0.00985685
+v -0.02453715 -0.04511868 -0.01122902
+v -0.02402281 -0.04565202 -0.01124399
+v -0.02082062 -0.06217193 -0.01078431
+v -0.01761607 -0.08199217 -0.01032892
+v -0.02082062 -0.08199217 -0.01038880
+v -0.02082062 -0.08529707 -0.01020064
+v -0.02325960 -0.08761734 -0.00924268
+v -0.02420295 -0.08867035 -0.00806448
+v -0.02402281 -0.09064417 -0.00642440
+v -0.02402281 -0.09135074 -0.00433956
+v -0.02402281 -0.09168809 -0.00129460
+v -0.02082062 -0.09160148 0.00174821
+v -0.02082062 -0.09126417 0.00479316
+v -0.02082062 -0.09055761 0.00666206
+v -0.02082062 -0.08860203 0.00799209
+v -0.02394459 -0.08865673 0.00715173
+v -0.02059308 -0.08505554 0.00916818
+v -0.02402281 -0.08199224 0.00875122
+v -0.02138711 -0.08199224 0.00929435
+v -0.02402281 -0.06877724 0.00989740
+v -0.02402281 -0.06547690 0.01010055
+v -0.02402281 -0.06217201 0.01025666
+v -0.02402281 -0.05226189 0.01053681
+v -0.02722500 -0.04565210 0.01051545
+v -0.02402281 -0.05886712 0.01038496
+v -0.02402281 -0.05556678 0.01047479
+v -0.02722500 -0.04511876 0.01051973
+v -0.02402281 -0.04511868 -0.01124185
+v -0.02082062 -0.05886704 -0.01072871
+v -0.01761607 -0.07868728 -0.01030539
+v -0.01474334 -0.08199217 -0.00954417
+v -0.01498273 -0.08529708 -0.00943512
+v -0.01761607 -0.08529707 -0.01014718
+v -0.02082062 -0.08805495 -0.00948217
+v -0.02082062 -0.08970968 -0.00843869
+v -0.02082062 -0.09092679 -0.00691621
+v -0.02082062 -0.09159234 -0.00433956
+v -0.01761607 -0.09130972 -0.00433956
+v -0.01761607 -0.09129606 0.00174821
+v -0.01761607 -0.09098611 0.00479317
+v -0.01761607 -0.09043453 0.00652734
+v -0.01761607 -0.08860203 0.00781461
+v -0.01786968 -0.08505554 0.00911472
+v -0.01910457 -0.08379284 0.00937345
+v -0.01937241 -0.08379284 0.00937345
+v -0.02082062 -0.06547690 0.00996370
+v -0.02082062 -0.06217201 0.01000861
+v -0.02402281 -0.04895699 0.01057104
+v -0.02402281 -0.04511876 0.01059243
+v -0.02082062 -0.04511868 -0.01034804
+v -0.01481682 -0.07868729 -0.00952277
+v -0.01314106 -0.08199218 -0.00856482
+v -0.01338046 -0.08529708 -0.00837666
+v -0.01547811 -0.08746691 -0.00919350
+v -0.01761607 -0.08794099 -0.00944582
+v -0.01761607 -0.08959572 -0.00828259
+v -0.01761607 -0.09079461 -0.00676011
+v -0.01544019 -0.09053478 -0.00632390
+v -0.01438781 -0.09062594 -0.00409578
+v -0.01441151 -0.09077639 -0.00129459
+v -0.01421004 -0.09066700 0.00170118
+v -0.01535486 -0.09050746 0.00479317
+v -0.01600668 -0.09025675 0.00632206
+v -0.01472912 -0.08829660 0.00680106
+v -0.01441151 -0.08529714 0.00775689
+v -0.01730557 -0.08199224 0.00923020
+v -0.02082062 -0.05886712 0.01000434
+v -0.01718942 -0.07868735 0.00923235
+v -0.02104343 -0.04511876 0.00992742
+v -0.01893866 -0.04511869 -0.00923184
+v -0.01508940 -0.07538695 -0.00943081
+v -0.01321691 -0.07868729 -0.00844506
+v -0.01222615 -0.08199218 -0.00704234
+v -0.01226408 -0.08529708 -0.00685418
+v -0.01248925 -0.08758088 -0.00639659
+v -0.01439018 -0.08862476 -0.00737595
+v -0.01330461 -0.08978263 -0.00494897
+v -0.01277842 -0.09028407 -0.00291971
+v -0.01273812 -0.09032054 -0.00129459
+v -0.01274523 -0.09031599 0.00065341
+v -0.01300596 -0.09009263 0.00268266
+v -0.01375258 -0.08933594 0.00479317
+v -0.01278790 -0.08699288 0.00634346
+v -0.01267887 -0.08529713 0.00648887
+v -0.01441151 -0.08199224 0.00803916
+v -0.01884859 -0.06217201 0.00956384
+v -0.01441151 -0.07868735 0.00801137
+v -0.02078507 -0.04511876 0.00980981
+v -0.01897895 -0.05886711 0.00952109
+v -0.01827736 -0.04511869 -0.00738648
+v -0.01254850 -0.07538696 -0.00643718
+v -0.01231148 -0.07868729 -0.00692259
+v -0.01156723 -0.08199219 -0.00433952
+v -0.01154826 -0.08529709 -0.00433953
+v -0.01230674 -0.08865212 -0.00409578
+v -0.01200572 -0.08860200 -0.00129459
+v -0.01222141 -0.08883449 0.00170118
+v -0.01247503 -0.08768577 0.00479318
+v -0.01202942 -0.08529713 0.00479319
+v -0.01256035 -0.08199223 0.00664926
+v -0.01258643 -0.07868734 0.00661933
+v -0.01944115 -0.04511875 0.00915976
+v -0.01789575 -0.04511870 -0.00433939
+v -0.01275471 -0.07353167 -0.00600095
+v -0.01174973 -0.07868730 -0.00433951
+v -0.01149849 -0.08199221 -0.00129456
+v -0.01137998 -0.08529711 -0.00129457
+v -0.01144634 -0.08529712 0.00174824
+v -0.01193698 -0.08199223 0.00479320
+v -0.01205549 -0.07868734 0.00479321
+v -0.01269309 -0.07642634 0.00648035
+v -0.01859023 -0.04511875 0.00763729
+v -0.01220245 -0.07538698 -0.00129454
+v -0.01223800 -0.07538696 -0.00433950
+v -0.01790524 -0.04511872 0.00125871
+v -0.01169996 -0.07868732 -0.00129455
+v -0.01153641 -0.08199222 0.00174825
+v -0.01172840 -0.07868733 0.00174826
+v -0.01251532 -0.07535054 0.00471624
+v -0.01291589 -0.07422459 0.00568063
+v -0.01793368 -0.04511874 0.00479333
+v -0.01848120 -0.04511875 0.00717113
+v -0.01223326 -0.07538699 0.00174827
+v -0.01790761 -0.04511873 0.00174838
+v -0.01792894 -0.04511874 0.00430366
+f 1 2 5
+f 1 5 13
+f 1 13 22
+f 1 22 38
+f 1 38 65
+f 1 65 98
+f 1 98 129
+f 1 129 157
+f 1 157 184
+f 1 184 206
+f 1 206 226
+f 1 226 245
+f 1 245 259
+f 1 259 269
+f 1 269 279
+f 1 279 278
+f 1 278 282
+f 1 282 281
+f 1 281 272
+f 1 272 260
+f 1 260 247
+f 1 247 227
+f 1 227 207
+f 1 207 185
+f 1 185 158
+f 1 158 134
+f 1 134 130
+f 1 130 99
+f 1 99 68
+f 1 68 67
+f 1 67 66
+f 1 66 39
+f 1 39 25
+f 1 25 14
+f 1 14 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 18 10
+f 9 17 19
+f 9 19 18
+f 10 18 19
+f 10 19 11
+f 11 20 12
+f 11 19 21
+f 11 21 20
+f 12 20 13
+f 13 20 23
+f 13 23 24
+f 13 24 22
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 21
+f 20 21 23
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 24
+f 21 24 23
+f 22 37 38
+f 22 24 36
+f 22 36 37
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 42 41
+f 27 41 43
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 35
+f 35 61 36
+f 35 60 62
+f 35 62 61
+f 36 61 63
+f 36 63 37
+f 37 64 38
+f 37 63 64
+f 38 64 65
+f 39 66 40
+f 40 66 67
+f 40 67 68
+f 40 68 69
+f 40 69 41
+f 41 70 71
+f 41 71 43
+f 41 69 70
+f 43 71 72
+f 43 72 44
+f 44 72 73
+f 44 73 45
+f 45 73 46
+f 46 73 47
+f 47 74 75
+f 47 75 48
+f 47 73 76
+f 47 76 74
+f 48 75 77
+f 48 77 50
+f 48 50 49
+f 50 77 51
+f 51 77 78
+f 51 78 75
+f 51 75 79
+f 51 79 80
+f 51 80 81
+f 51 81 52
+f 52 81 53
+f 53 81 82
+f 53 82 83
+f 53 83 84
+f 53 84 85
+f 53 85 55
+f 53 55 54
+f 55 85 84
+f 55 84 86
+f 55 86 87
+f 55 87 56
+f 56 87 88
+f 56 88 89
+f 56 89 90
+f 56 90 59
+f 56 59 57
+f 57 59 58
+f 59 90 91
+f 59 91 92
+f 59 92 93
+f 59 93 60
+f 60 93 62
+f 61 94 95
+f 61 95 63
+f 61 62 94
+f 62 96 94
+f 62 93 96
+f 63 95 64
+f 64 97 98
+f 64 98 65
+f 64 95 97
+f 68 99 69
+f 69 99 100
+f 69 100 101
+f 69 101 102
+f 69 102 103
+f 69 103 71
+f 69 71 70
+f 71 103 104
+f 71 104 72
+f 72 104 105
+f 72 105 106
+f 72 106 107
+f 72 107 108
+f 72 108 73
+f 73 108 107
+f 73 107 109
+f 73 109 110
+f 73 110 76
+f 74 110 111
+f 74 111 75
+f 74 76 110
+f 75 111 112
+f 75 112 113
+f 75 113 80
+f 75 80 79
+f 75 78 77
+f 80 113 114
+f 80 114 115
+f 80 115 116
+f 80 116 82
+f 80 82 81
+f 82 116 83
+f 83 116 115
+f 83 115 117
+f 83 117 86
+f 83 86 84
+f 86 117 118
+f 86 118 119
+f 86 119 120
+f 86 120 87
+f 87 120 121
+f 87 121 91
+f 87 91 88
+f 88 91 90
+f 88 90 89
+f 91 121 122
+f 91 122 92
+f 92 122 93
+f 93 122 123
+f 93 123 124
+f 93 124 96
+f 94 96 125
+f 94 125 126
+f 94 126 95
+f 95 127 97
+f 95 126 127
+f 96 124 125
+f 97 128 129
+f 97 129 98
+f 97 127 128
+f 99 130 100
+f 100 131 132
+f 100 132 133
+f 100 133 101
+f 100 130 134
+f 100 134 131
+f 101 133 102
+f 102 133 135
+f 102 135 103
+f 103 135 136
+f 103 136 137
+f 103 137 138
+f 103 138 104
+f 104 138 139
+f 104 139 105
+f 105 139 106
+f 106 139 107
+f 107 139 109
+f 109 139 110
+f 110 139 140
+f 110 140 141
+f 110 141 111
+f 111 141 112
+f 112 142 114
+f 112 114 113
+f 112 141 142
+f 114 142 143
+f 114 143 115
+f 115 143 144
+f 115 144 145
+f 115 145 117
+f 117 145 118
+f 118 145 146
+f 118 146 147
+f 118 147 148
+f 118 148 149
+f 118 149 150
+f 118 150 119
+f 119 150 120
+f 120 150 121
+f 121 150 122
+f 122 151 152
+f 122 152 123
+f 122 150 151
+f 123 152 124
+f 124 152 153
+f 124 153 125
+f 125 154 126
+f 125 153 154
+f 126 155 127
+f 126 154 155
+f 127 156 128
+f 127 155 156
+f 128 157 129
+f 128 156 157
+f 131 134 158
+f 131 158 159
+f 131 159 160
+f 131 160 161
+f 131 161 132
+f 132 161 133
+f 133 161 135
+f 135 161 162
+f 135 162 136
+f 136 162 137
+f 137 162 138
+f 138 162 163
+f 138 163 139
+f 139 163 140
+f 140 163 164
+f 140 164 141
+f 141 164 165
+f 141 165 142
+f 142 165 166
+f 142 166 167
+f 142 167 143
+f 143 167 144
+f 144 167 168
+f 144 168 146
+f 144 146 145
+f 146 168 169
+f 146 169 170
+f 146 170 147
+f 147 170 148
+f 148 170 171
+f 148 171 172
+f 148 172 173
+f 148 173 149
+f 149 173 150
+f 150 173 151
+f 151 173 172
+f 151 172 174
+f 151 174 175
+f 151 175 153
+f 151 153 152
+f 153 175 174
+f 153 174 176
+f 153 176 177
+f 153 177 155
+f 153 155 154
+f 155 177 178
+f 155 178 179
+f 155 179 156
+f 156 180 181
+f 156 181 157
+f 156 179 182
+f 156 182 183
+f 156 183 180
+f 157 181 184
+f 158 185 159
+f 159 185 160
+f 160 185 186
+f 160 186 187
+f 160 187 161
+f 161 187 188
+f 161 188 189
+f 161 189 190
+f 161 190 162
+f 162 190 163
+f 163 190 191
+f 163 191 164
+f 164 191 192
+f 164 192 165
+f 165 192 166
+f 166 193 167
+f 166 192 193
+f 167 194 168
+f 167 193 194
+f 168 194 169
+f 169 194 195
+f 169 195 196
+f 169 196 197
+f 169 197 170
+f 170 197 198
+f 170 198 171
+f 171 198 199
+f 171 199 172
+f 172 199 200
+f 172 200 174
+f 174 200 201
+f 174 201 202
+f 174 202 176
+f 176 202 177
+f 177 202 178
+f 178 202 179
+f 179 202 201
+f 179 201 182
+f 180 183 203
+f 180 203 204
+f 180 204 205
+f 180 205 181
+f 181 205 184
+f 182 201 183
+f 183 201 203
+f 184 205 206
+f 185 207 186
+f 186 207 208
+f 186 208 187
+f 187 208 188
+f 188 209 189
+f 188 208 209
+f 189 209 210
+f 189 210 211
+f 189 211 190
+f 190 211 212
+f 190 212 191
+f 191 212 192
+f 192 212 213
+f 192 213 193
+f 193 213 214
+f 193 214 194
+f 194 214 195
+f 195 214 215
+f 195 215 216
+f 195 216 217
+f 195 217 196
+f 196 217 218
+f 196 218 197
+f 197 218 219
+f 197 219 220
+f 197 220 198
+f 198 220 199
+f 199 220 221
+f 199 221 222
+f 199 222 200
+f 200 222 223
+f 200 223 201
+f 201 223 203
+f 203 223 204
+f 204 224 206
+f 204 206 205
+f 204 223 225
+f 204 225 224
+f 206 224 226
+f 207 227 228
+f 207 228 208
+f 208 228 229
+f 208 229 209
+f 209 230 231
+f 209 231 210
+f 209 229 230
+f 210 231 232
+f 210 232 211
+f 211 232 233
+f 211 233 215
+f 211 215 213
+f 211 213 212
+f 213 215 214
+f 215 233 234
+f 215 234 235
+f 215 235 216
+f 216 235 217
+f 217 235 236
+f 217 236 237
+f 217 237 218
+f 218 237 238
+f 218 238 219
+f 219 238 220
+f 220 238 239
+f 220 239 240
+f 220 240 221
+f 221 240 222
+f 222 241 242
+f 222 242 223
+f 222 240 241
+f 223 242 225
+f 224 243 226
+f 224 225 243
+f 225 242 244
+f 225 244 243
+f 226 243 246
+f 226 246 245
+f 227 247 248
+f 227 248 249
+f 227 249 229
+f 227 229 228
+f 229 249 230
+f 230 250 251
+f 230 251 231
+f 230 249 250
+f 231 251 232
+f 232 252 235
+f 232 235 234
+f 232 234 233
+f 232 251 252
+f 235 252 253
+f 235 253 236
+f 236 253 237
+f 237 253 254
+f 237 254 238
+f 238 254 255
+f 238 255 240
+f 238 240 239
+f 240 256 241
+f 240 255 256
+f 241 256 257
+f 241 257 242
+f 242 257 244
+f 243 244 246
+f 244 257 258
+f 244 258 259
+f 244 259 246
+f 245 246 259
+f 247 260 261
+f 247 261 248
+f 248 261 262
+f 248 262 249
+f 249 262 250
+f 250 263 264
+f 250 264 251
+f 250 262 263
+f 251 264 253
+f 251 253 252
+f 253 264 265
+f 253 265 254
+f 254 265 255
+f 255 265 256
+f 256 265 266
+f 256 266 257
+f 257 266 258
+f 258 267 268
+f 258 268 259
+f 258 266 267
+f 259 268 269
+f 260 270 271
+f 260 271 261
+f 260 272 270
+f 261 271 262
+f 262 271 273
+f 262 273 263
+f 263 274 264
+f 263 273 275
+f 263 275 274
+f 264 274 265
+f 265 274 266
+f 266 274 267
+f 267 275 276
+f 267 276 268
+f 267 274 275
+f 268 276 277
+f 268 277 278
+f 268 278 279
+f 268 279 269
+f 270 280 275
+f 270 275 273
+f 270 273 271
+f 270 272 281
+f 270 281 282
+f 270 282 278
+f 270 278 280
+f 275 280 276
+f 276 280 278
+f 276 278 277
+

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mjcf/mesh/pliers_031_collision_3.obj

@@ -0,0 +1,808 @@
+# https://github.com/mikedh/trimesh
+v 0.01136866 -0.08529935 -0.00129580
+v 0.01143267 -0.08529936 0.00174908
+v 0.01152751 -0.08199441 0.00174909
+v 0.01149432 -0.08199440 -0.00129579
+v 0.01156545 -0.08199438 -0.00434066
+v 0.01154411 -0.08529933 -0.00434067
+v 0.01200171 -0.08859974 -0.00129582
+v 0.01199460 -0.08529937 0.00479395
+v 0.01190213 -0.08199442 0.00479396
+v 0.01221985 -0.08882767 0.00169774
+v 0.01247117 -0.08769717 0.00479394
+v 0.01204676 -0.07868948 0.00479397
+v 0.01172431 -0.07868947 0.00174910
+v 0.01169348 -0.07868946 -0.00129578
+v 0.01174802 -0.07868944 -0.00434065
+v 0.01223170 -0.08199437 -0.00705624
+v 0.01231706 -0.07868943 -0.00693221
+v 0.01227201 -0.08529932 -0.00686167
+v 0.01249725 -0.08757860 -0.00639768
+v 0.01231231 -0.08864986 -0.00409479
+v 0.01279126 -0.09028183 -0.00291447
+v 0.01274621 -0.09032287 -0.00129582
+v 0.01275332 -0.09031831 0.00064786
+v 0.01278888 -0.08701338 0.00635914
+v 0.01265611 -0.08529937 0.00653021
+v 0.01253519 -0.08199442 0.00669914
+v 0.01258498 -0.07868948 0.00664142
+v 0.01303073 -0.09008127 0.00267920
+v 0.01270353 -0.07638285 0.00648320
+v 0.01251622 -0.07532071 0.00477046
+v 0.01221747 -0.07538453 0.00174911
+v 0.01218665 -0.07538452 -0.00129577
+v 0.01222459 -0.07538450 -0.00434064
+v 0.01254941 -0.07538450 -0.00645537
+v 0.01313979 -0.08199437 -0.00857868
+v 0.01322278 -0.07868943 -0.00845679
+v 0.01338163 -0.08529932 -0.00838410
+v 0.01548471 -0.08746919 -0.00919665
+v 0.01440590 -0.08862250 -0.00737059
+v 0.01332710 -0.08978038 -0.00494581
+v 0.01546337 -0.09052798 -0.00631430
+v 0.01440590 -0.09061916 -0.00409479
+v 0.01442487 -0.09077416 -0.00129582
+v 0.01422808 -0.09066932 0.00169774
+v 0.01442487 -0.08529938 0.00781102
+v 0.01376811 -0.08934736 0.00479393
+v 0.01601107 -0.09025907 0.00632706
+v 0.01473547 -0.08830802 0.00681886
+v 0.01442487 -0.08199443 0.00809542
+v 0.01442487 -0.07868949 0.00803556
+v 0.01943479 -0.04512492 0.00917323
+v 0.01537090 -0.09050979 0.00479393
+v 0.01291455 -0.07418108 0.00576903
+v 0.01873060 -0.04512492 0.00789242
+v 0.01860257 -0.04512492 0.00765079
+v 0.01793869 -0.04512491 0.00479409
+v 0.01790787 -0.04512490 0.00223246
+v 0.01790313 -0.04512490 0.00174922
+v 0.01790075 -0.04512489 -0.00081027
+v 0.01789838 -0.04512488 -0.00385514
+v 0.01789838 -0.04512487 -0.00434053
+v 0.01275569 -0.07349270 -0.00602130
+v 0.01828723 -0.04512486 -0.00738540
+v 0.01884441 -0.04512486 -0.00893350
+v 0.01895348 -0.04512486 -0.00922857
+v 0.01474022 -0.08199436 -0.00954730
+v 0.01498443 -0.08529932 -0.00944254
+v 0.01482320 -0.07868943 -0.00952164
+v 0.01509586 -0.07538449 -0.00943182
+v 0.01762809 -0.08794328 -0.00944896
+v 0.01762809 -0.08959347 -0.00827080
+v 0.01762809 -0.08529931 -0.01015672
+v 0.01762809 -0.09078326 -0.00674836
+v 0.01762809 -0.09128926 -0.00434070
+v 0.01762809 -0.09128929 0.00174905
+v 0.01762809 -0.09098843 0.00479393
+v 0.01789127 -0.08504410 0.00912391
+v 0.01732460 -0.08199443 0.00923511
+v 0.01762809 -0.08859977 0.00782597
+v 0.01762809 -0.09043686 0.00653019
+v 0.01718234 -0.07868949 0.00923512
+v 0.01885390 -0.06217389 0.00956661
+v 0.01897956 -0.05886893 0.00952599
+v 0.02103521 -0.04512493 0.00993659
+v 0.02053019 -0.04512485 -0.01016299
+v 0.01762809 -0.08199436 -0.01033632
+v 0.01762809 -0.07868942 -0.01030851
+v 0.02083131 -0.04512485 -0.01033833
+v 0.02083131 -0.05886886 -0.01073395
+v 0.02083131 -0.08804812 -0.00948104
+v 0.02083131 -0.08969832 -0.00842903
+v 0.02083131 -0.09091544 -0.00690659
+v 0.02083131 -0.08199436 -0.01039405
+v 0.02083131 -0.08529931 -0.01020162
+v 0.02083131 -0.09157645 -0.00434070
+v 0.02083131 -0.09160383 0.00174905
+v 0.02083131 -0.09127562 0.00479392
+v 0.02058472 -0.08504410 0.00916881
+v 0.01913367 -0.08377227 0.00937195
+v 0.02083131 -0.08859977 0.00800345
+v 0.02083131 -0.06547883 0.00996004
+v 0.02083131 -0.06217389 0.01001137
+v 0.02083131 -0.09056449 0.00666918
+v 0.02083131 -0.05886894 0.01001351
+v 0.02403215 -0.04512493 0.01059303
+v 0.02083131 -0.06217381 -0.01078956
+v 0.02083131 -0.06547875 -0.01080454
+v 0.02403215 -0.05225897 -0.01124924
+v 0.02403215 -0.05556391 -0.01122359
+v 0.02403215 -0.05886886 -0.01115733
+v 0.02352476 -0.04512485 -0.01110382
+v 0.02403215 -0.04512485 -0.01124495
+v 0.02326869 -0.08760594 -0.00923942
+v 0.02421235 -0.08866353 -0.00805056
+v 0.02403215 -0.09063283 -0.00640838
+v 0.02403215 -0.09133940 -0.00434070
+v 0.02403215 -0.06547875 -0.01094780
+v 0.02403215 -0.06877458 -0.01080669
+v 0.02403215 -0.08199436 -0.00984024
+v 0.02421235 -0.08527653 -0.00942543
+v 0.02403215 -0.09169043 -0.00129583
+v 0.02403215 -0.09161294 0.00174905
+v 0.02397051 -0.09086079 0.00481103
+v 0.02286325 -0.09042774 0.00651095
+v 0.01935180 -0.08377227 0.00937195
+v 0.02403215 -0.08529938 0.00835628
+v 0.02403215 -0.08199443 0.00873262
+v 0.02584597 -0.07115421 0.00944684
+v 0.02403215 -0.06877466 0.00989160
+v 0.02403215 -0.05886894 0.01038985
+v 0.02403215 -0.05556399 0.01048181
+v 0.02397051 -0.08866359 0.00715456
+v 0.02403215 -0.05225905 0.01054169
+v 0.02403215 -0.04895866 0.01057164
+v 0.02454192 -0.04512493 0.01058020
+v 0.02403215 -0.04895858 -0.01125137
+v 0.02723774 -0.04565364 -0.01116583
+v 0.02723774 -0.05225897 -0.01106108
+v 0.02723774 -0.05556391 -0.01098625
+v 0.02672798 -0.04512485 -0.01117866
+v 0.02540259 -0.08636602 -0.00878183
+v 0.02569422 -0.09030462 -0.00592941
+v 0.02606647 -0.09061460 -0.00434069
+v 0.02644583 -0.09093828 -0.00129582
+v 0.02723774 -0.05886886 -0.01077672
+v 0.02600008 -0.08199437 -0.00914317
+v 0.02576535 -0.08416424 -0.00899778
+v 0.02723774 -0.06877458 -0.00990434
+v 0.02632016 -0.09082888 0.00174906
+v 0.02598111 -0.09054168 0.00380819
+v 0.02499715 -0.08980322 0.00583740
+v 0.02403215 -0.06547883 0.01008619
+v 0.02403215 -0.06217389 0.01024871
+v 0.02604987 -0.08760144 0.00668202
+v 0.02646242 -0.08529938 0.00701987
+v 0.02774039 -0.06877465 0.00883744
+v 0.02887610 -0.06069691 0.00938487
+v 0.02910372 -0.05886893 0.00952172
+v 0.02943803 -0.05556399 0.00970990
+v 0.02723774 -0.05886894 0.01006056
+v 0.02723774 -0.05556399 0.01031075
+v 0.02723774 -0.05225905 0.01043692
+v 0.02723774 -0.04512493 0.01051178
+v 0.02723774 -0.04512485 -0.01116583
+v 0.03044096 -0.04512485 -0.01006677
+v 0.03044096 -0.04565364 -0.01005822
+v 0.03016829 -0.05556391 -0.00978027
+v 0.02681096 -0.08527653 -0.00761433
+v 0.02626800 -0.08859972 -0.00657944
+v 0.02773091 -0.08832165 -0.00410975
+v 0.02804862 -0.08877296 -0.00129582
+v 0.02989563 -0.05886886 -0.00962420
+v 0.02886425 -0.07057521 -0.00892931
+v 0.02860106 -0.07277699 -0.00873046
+v 0.02783760 -0.08225877 -0.00725082
+v 0.02805811 -0.08835814 0.00171699
+v 0.02876229 -0.08659399 0.00271128
+v 0.02668530 -0.08866358 0.00481103
+v 0.02817428 -0.08541333 0.00469773
+v 0.02846117 -0.08199442 0.00566209
+v 0.02871724 -0.07975162 0.00611113
+v 0.02917722 -0.07538454 0.00668206
+v 0.02954946 -0.07207959 0.00704772
+v 0.02686075 -0.08199443 0.00728930
+v 0.03103845 -0.05556398 0.00854028
+v 0.03124235 -0.05225904 0.00873915
+v 0.02963956 -0.05225905 0.00979972
+v 0.02986243 -0.04565372 0.00985106
+v 0.02986955 -0.04512493 0.00985533
+v 0.03218127 -0.04512486 -0.00903186
+v 0.03217416 -0.04565365 -0.00902758
+v 0.03205798 -0.05077289 -0.00892282
+v 0.03069703 -0.05202648 -0.00965625
+v 0.03193469 -0.05297467 -0.00880522
+v 0.02881683 -0.08353973 -0.00579254
+v 0.02861055 -0.08529933 -0.00514037
+v 0.02887136 -0.08703159 -0.00293798
+v 0.02890692 -0.08711821 -0.00129581
+v 0.02889744 -0.08709542 0.00067994
+v 0.03176872 -0.05556392 -0.00863631
+v 0.02971306 -0.07183793 -0.00758221
+v 0.03149605 -0.05886887 -0.00833911
+v 0.02901836 -0.08133340 -0.00614748
+v 0.02899228 -0.08439221 0.00361791
+v 0.02913454 -0.08541332 0.00171700
+v 0.03201293 -0.07026072 0.00301283
+v 0.03094598 -0.07207958 0.00479400
+v 0.03179006 -0.06547881 0.00577975
+v 0.03197736 -0.06349128 0.00618389
+v 0.03217416 -0.06128495 0.00648325
+v 0.03237569 -0.05886892 0.00673343
+v 0.03261753 -0.05556398 0.00701784
+v 0.03280010 -0.05225904 0.00721671
+v 0.03303483 -0.04565371 0.00744125
+v 0.03146286 -0.04565371 0.00896582
+v 0.03012562 -0.04512493 0.00971635
+v 0.03345687 -0.04512486 -0.00738540
+v 0.03344501 -0.04565365 -0.00738540
+v 0.03286412 -0.05202649 -0.00762918
+v 0.03290680 -0.05556392 -0.00711387
+v 0.02904918 -0.08529934 -0.00361794
+v 0.03199870 -0.06687825 -0.00571978
+v 0.03182562 -0.06877460 -0.00509541
+v 0.03151739 -0.07186073 -0.00411824
+v 0.03207695 -0.07061171 -0.00295289
+v 0.02930525 -0.08529935 -0.00129580
+v 0.03182088 -0.07255821 -0.00129576
+v 0.03212911 -0.07088067 0.00098363
+v 0.03267681 -0.05886887 -0.00681668
+v 0.03239940 -0.06217383 -0.00642325
+v 0.03218364 -0.06467647 -0.00609183
+v 0.03220735 -0.06806350 0.00370350
+v 0.03180428 -0.07202032 0.00189880
+v 0.03410652 -0.05886891 0.00174917
+v 0.03157192 -0.06900713 0.00474911
+v 0.03242548 -0.06547881 0.00425732
+v 0.03265547 -0.06230150 0.00501854
+v 0.03331935 -0.05886892 0.00479404
+v 0.03379829 -0.05556397 0.00479406
+v 0.03417765 -0.05225903 0.00479407
+v 0.03473246 -0.04576766 0.00462944
+v 0.03329564 -0.04512492 0.00705422
+v 0.03304194 -0.04512492 0.00744766
+v 0.03147234 -0.04512492 0.00897010
+v 0.03492214 -0.04512487 -0.00478956
+v 0.03491503 -0.04565366 -0.00476176
+v 0.03453330 -0.05225899 -0.00434055
+v 0.03419899 -0.05556393 -0.00434056
+v 0.03251558 -0.06565656 -0.00455870
+v 0.03224766 -0.06877461 -0.00357298
+v 0.03372479 -0.05886888 -0.00434058
+v 0.03213385 -0.07090802 -0.00129575
+v 0.03420847 -0.05886890 -0.00129571
+v 0.03470164 -0.05556395 -0.00129569
+v 0.03459257 -0.05556396 0.00174919
+v 0.03530861 -0.04512490 0.00339995
+v 0.03510708 -0.04512490 0.00392596
+v 0.03472298 -0.04512491 0.00469787
+v 0.03537026 -0.04512488 -0.00326713
+v 0.03536315 -0.04565367 -0.00323933
+v 0.03521378 -0.04982930 -0.00222367
+v 0.03509049 -0.05205843 -0.00124222
+v 0.03526831 -0.05081851 -0.00019448
+v 0.03526831 -0.05081851 0.00042134
+v 0.03501224 -0.05205844 0.00156103
+v 0.03537974 -0.04512490 0.00288035
+v 0.03558602 -0.04512489 -0.00129566
+v 0.03557180 -0.04565368 -0.00129566
+v 0.03546510 -0.04576765 0.00183902
+v 0.03548644 -0.04512490 0.00182192
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 11
+f 2 11 8
+f 3 9 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 16 6
+f 5 15 17
+f 5 17 16
+f 6 16 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 10
+f 8 11 24
+f 8 24 25
+f 8 25 26
+f 8 26 9
+f 9 26 27
+f 9 27 12
+f 10 28 11
+f 10 23 28
+f 11 28 24
+f 12 27 29
+f 12 29 30
+f 12 30 13
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 14 32 33
+f 14 33 15
+f 15 33 34
+f 15 34 17
+f 16 35 18
+f 16 17 36
+f 16 36 35
+f 17 34 36
+f 18 35 37
+f 18 37 19
+f 19 38 39
+f 19 39 40
+f 19 40 21
+f 19 21 20
+f 19 37 38
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 22
+f 22 43 23
+f 23 43 44
+f 23 44 28
+f 24 45 25
+f 24 28 46
+f 24 46 47
+f 24 47 48
+f 24 48 45
+f 25 45 49
+f 25 49 26
+f 26 49 50
+f 26 50 27
+f 27 50 51
+f 27 51 29
+f 28 47 46
+f 28 44 52
+f 28 52 47
+f 29 53 30
+f 29 51 54
+f 29 54 55
+f 29 55 53
+f 30 53 56
+f 30 56 31
+f 31 56 57
+f 31 57 32
+f 32 57 58
+f 32 58 59
+f 32 59 60
+f 32 60 61
+f 32 61 33
+f 33 62 34
+f 33 61 62
+f 34 62 63
+f 34 63 64
+f 34 64 65
+f 34 65 36
+f 35 66 67
+f 35 67 37
+f 35 36 68
+f 35 68 66
+f 36 69 68
+f 36 65 69
+f 37 67 38
+f 38 70 71
+f 38 71 41
+f 38 41 39
+f 38 67 72
+f 38 72 70
+f 39 41 40
+f 41 73 74
+f 41 74 42
+f 41 71 73
+f 42 74 43
+f 43 74 75
+f 43 75 44
+f 44 75 76
+f 44 76 52
+f 45 77 78
+f 45 78 49
+f 45 48 79
+f 45 79 77
+f 47 79 48
+f 47 52 76
+f 47 76 80
+f 47 80 79
+f 49 78 81
+f 49 81 50
+f 50 81 82
+f 50 82 83
+f 50 83 51
+f 51 83 84
+f 51 84 105
+f 51 105 135
+f 51 135 163
+f 51 163 189
+f 51 189 216
+f 51 216 244
+f 51 244 243
+f 51 243 242
+f 51 242 258
+f 51 258 257
+f 51 257 256
+f 51 256 266
+f 51 266 270
+f 51 270 267
+f 51 267 259
+f 51 259 245
+f 51 245 217
+f 51 217 190
+f 51 190 165
+f 51 165 164
+f 51 164 140
+f 51 140 112
+f 51 112 111
+f 51 111 88
+f 51 88 85
+f 51 85 65
+f 51 65 64
+f 51 64 63
+f 51 63 61
+f 51 61 60
+f 51 60 59
+f 51 59 58
+f 51 58 57
+f 51 57 56
+f 51 56 55
+f 51 55 54
+f 53 55 56
+f 61 63 62
+f 65 85 69
+f 66 86 67
+f 66 68 87
+f 66 87 86
+f 67 86 72
+f 68 69 88
+f 68 88 89
+f 68 89 87
+f 69 85 88
+f 70 90 91
+f 70 91 71
+f 70 72 90
+f 71 91 92
+f 71 92 73
+f 72 86 93
+f 72 93 94
+f 72 94 90
+f 73 92 95
+f 73 95 74
+f 74 95 96
+f 74 96 75
+f 75 96 76
+f 76 96 97
+f 76 97 80
+f 77 98 99
+f 77 99 78
+f 77 79 100
+f 77 100 98
+f 78 99 101
+f 78 101 102
+f 78 102 81
+f 79 80 103
+f 79 103 100
+f 80 97 103
+f 81 102 104
+f 81 104 82
+f 82 104 84
+f 82 84 83
+f 84 104 105
+f 86 87 106
+f 86 106 107
+f 86 107 108
+f 86 108 109
+f 86 109 110
+f 86 110 93
+f 87 89 106
+f 88 111 89
+f 89 111 112
+f 89 112 106
+f 90 94 113
+f 90 113 91
+f 91 113 114
+f 91 114 115
+f 91 115 92
+f 92 116 95
+f 92 115 116
+f 93 110 117
+f 93 117 118
+f 93 118 94
+f 94 118 119
+f 94 119 120
+f 94 120 113
+f 95 116 121
+f 95 121 96
+f 96 122 97
+f 96 121 122
+f 97 123 124
+f 97 124 103
+f 97 122 123
+f 98 125 99
+f 98 100 126
+f 98 126 127
+f 98 127 128
+f 98 128 129
+f 98 129 125
+f 99 125 130
+f 99 130 131
+f 99 131 101
+f 100 103 124
+f 100 124 132
+f 100 132 126
+f 101 131 133
+f 101 133 102
+f 102 133 134
+f 102 134 105
+f 102 105 104
+f 105 134 135
+f 106 112 107
+f 107 112 136
+f 107 136 108
+f 108 136 137
+f 108 137 109
+f 109 137 138
+f 109 138 110
+f 110 138 139
+f 110 139 117
+f 112 140 136
+f 113 120 141
+f 113 141 114
+f 114 142 115
+f 114 141 142
+f 115 142 116
+f 116 142 143
+f 116 143 144
+f 116 144 121
+f 117 139 118
+f 118 139 145
+f 118 145 119
+f 119 146 147
+f 119 147 120
+f 119 145 148
+f 119 148 146
+f 120 147 141
+f 121 144 122
+f 122 144 149
+f 122 149 150
+f 122 150 123
+f 123 150 124
+f 124 150 151
+f 124 151 132
+f 125 129 152
+f 125 152 153
+f 125 153 130
+f 126 132 154
+f 126 154 155
+f 126 155 156
+f 126 156 128
+f 126 128 127
+f 128 156 157
+f 128 157 158
+f 128 158 159
+f 128 159 160
+f 128 160 161
+f 128 161 129
+f 129 161 152
+f 130 153 161
+f 130 161 162
+f 130 162 131
+f 131 162 133
+f 132 151 154
+f 133 162 163
+f 133 163 134
+f 134 163 135
+f 136 140 164
+f 136 164 137
+f 137 164 165
+f 137 165 138
+f 138 165 166
+f 138 166 139
+f 139 166 167
+f 139 167 145
+f 141 147 168
+f 141 168 169
+f 141 169 142
+f 142 169 170
+f 142 170 143
+f 143 170 171
+f 143 171 144
+f 144 171 149
+f 145 167 172
+f 145 172 148
+f 146 148 173
+f 146 173 147
+f 147 173 174
+f 147 174 175
+f 147 175 168
+f 148 172 173
+f 149 171 176
+f 149 176 150
+f 150 176 177
+f 150 177 178
+f 150 178 151
+f 151 178 154
+f 152 161 153
+f 154 178 179
+f 154 179 180
+f 154 180 155
+f 155 180 181
+f 155 181 182
+f 155 182 183
+f 155 183 184
+f 155 184 156
+f 156 184 157
+f 157 184 183
+f 157 183 158
+f 158 185 159
+f 158 183 185
+f 159 161 160
+f 159 185 186
+f 159 186 187
+f 159 187 161
+f 161 187 162
+f 162 187 188
+f 162 188 189
+f 162 189 163
+f 165 190 191
+f 165 191 166
+f 166 191 192
+f 166 192 193
+f 166 193 167
+f 167 194 172
+f 167 193 192
+f 167 192 194
+f 168 175 195
+f 168 195 196
+f 168 196 169
+f 169 196 170
+f 170 196 197
+f 170 197 171
+f 171 197 198
+f 171 198 199
+f 171 199 176
+f 172 194 200
+f 172 200 173
+f 173 201 174
+f 173 200 202
+f 173 202 201
+f 174 201 203
+f 174 203 175
+f 175 203 195
+f 176 199 177
+f 177 204 179
+f 177 179 178
+f 177 199 205
+f 177 205 206
+f 177 206 204
+f 179 204 180
+f 180 204 181
+f 181 204 207
+f 181 207 208
+f 181 208 209
+f 181 209 182
+f 182 209 183
+f 183 209 210
+f 183 210 211
+f 183 211 185
+f 185 211 212
+f 185 212 186
+f 186 212 213
+f 186 213 214
+f 186 214 215
+f 186 215 187
+f 187 215 188
+f 188 215 216
+f 188 216 189
+f 190 217 191
+f 191 217 218
+f 191 218 192
+f 192 219 220
+f 192 220 194
+f 192 218 219
+f 194 220 200
+f 195 221 197
+f 195 197 196
+f 195 203 222
+f 195 222 223
+f 195 223 224
+f 195 224 225
+f 195 225 221
+f 197 226 198
+f 197 221 225
+f 197 225 227
+f 197 227 226
+f 198 226 199
+f 199 226 228
+f 199 228 205
+f 200 220 229
+f 200 229 202
+f 201 202 230
+f 201 230 231
+f 201 231 203
+f 202 229 230
+f 203 231 222
+f 204 206 232
+f 204 232 207
+f 205 228 233
+f 205 233 206
+f 206 233 228
+f 206 228 234
+f 206 234 232
+f 207 232 235
+f 207 235 208
+f 208 235 232
+f 208 232 209
+f 209 232 236
+f 209 236 237
+f 209 237 238
+f 209 238 210
+f 210 238 239
+f 210 239 211
+f 211 239 212
+f 212 239 240
+f 212 240 213
+f 213 240 241
+f 213 241 214
+f 214 242 243
+f 214 243 244
+f 214 244 215
+f 214 241 242
+f 215 244 216
+f 217 245 218
+f 218 246 220
+f 218 220 219
+f 218 245 246
+f 220 246 247
+f 220 247 248
+f 220 248 229
+f 222 249 250
+f 222 250 223
+f 222 231 251
+f 222 251 249
+f 223 250 225
+f 223 225 224
+f 225 252 227
+f 225 250 251
+f 225 251 253
+f 225 253 252
+f 226 227 228
+f 227 252 228
+f 228 252 253
+f 228 253 234
+f 229 248 230
+f 230 248 231
+f 231 248 251
+f 232 234 238
+f 232 238 236
+f 234 253 254
+f 234 254 255
+f 234 255 238
+f 236 238 237
+f 238 255 239
+f 239 255 240
+f 240 256 257
+f 240 257 241
+f 240 255 256
+f 241 257 258
+f 241 258 242
+f 245 259 260
+f 245 260 246
+f 246 260 247
+f 247 260 261
+f 247 261 248
+f 248 254 251
+f 248 261 254
+f 249 251 250
+f 251 254 253
+f 254 261 262
+f 254 262 263
+f 254 263 264
+f 254 264 255
+f 255 264 265
+f 255 265 256
+f 256 265 264
+f 256 264 266
+f 259 267 260
+f 260 268 261
+f 260 267 268
+f 261 263 262
+f 261 268 263
+f 263 268 264
+f 264 268 269
+f 264 269 266
+f 266 269 270
+f 267 270 268
+f 268 270 269
+

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mjcf/mesh/pliers_031_collision_4.obj

@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v -0.03290143 0.01382174 -0.00129449
+v -0.03279195 0.01382173 0.00174852
+v -0.03256011 0.01646964 0.00174853
+v -0.03261807 0.01655851 -0.00129448
+v -0.03236368 0.01605738 -0.00434032
+v -0.03253435 0.01382176 -0.00434033
+v -0.03208031 0.01210151 -0.00597366
+v -0.02855753 -0.00601803 -0.00129456
+v -0.02855753 -0.00601803 -0.00067181
+v -0.03214793 0.01201618 0.00382341
+v -0.03233148 0.01382172 0.00427634
+v -0.03231216 0.01600048 0.00406121
+v -0.02844161 -0.00601804 0.00198623
+v -0.03116903 0.01812237 0.00174854
+v -0.03123021 0.01821123 -0.00129447
+v -0.03211251 0.01560599 -0.00599912
+v -0.01807614 0.03029212 -0.00434027
+v -0.03212862 0.01382176 -0.00605008
+v -0.03107242 0.01382177 -0.00757300
+v -0.02940441 0.01129826 -0.00945543
+v -0.02642905 -0.00601800 -0.00685690
+v -0.02643871 -0.00601800 -0.00684275
+v -0.02654498 -0.00601801 -0.00665309
+v -0.02793606 -0.00601801 -0.00413093
+v -0.02798114 -0.00601802 -0.00393561
+v -0.03187422 0.01382172 0.00579926
+v -0.02842229 -0.00601804 0.00205133
+v -0.02756574 -0.00601805 0.00477730
+v -0.03079227 0.01382171 0.00784019
+v -0.02902767 0.01567346 0.00954429
+v -0.02970389 0.01631324 0.00784020
+v -0.03055077 0.01729777 0.00493024
+v -0.01807292 0.03029208 0.00479442
+v -0.01867185 0.03029209 0.00263742
+v -0.01896166 0.03029209 0.00159289
+v -0.01896488 0.03029210 -0.00112176
+v -0.01896488 0.03029210 -0.00114441
+v -0.02910817 0.01572329 -0.00912138
+v -0.02947204 0.01382177 -0.00948089
+v -0.01805360 0.03029212 -0.00438556
+v -0.01672048 0.03029212 -0.00644915
+v -0.02585588 0.01051989 -0.01207383
+v -0.02564979 0.00883518 -0.01197194
+v -0.02494137 -0.00601800 -0.00836567
+v -0.02755930 -0.00601805 0.00479429
+v -0.02931747 0.01127687 0.00991226
+v -0.02934324 0.01382170 0.00990944
+v -0.02596214 0.01254928 0.01257597
+v -0.01672048 0.03029207 0.00689197
+v -0.02590740 0.01251027 -0.01209364
+v -0.01827900 0.02506028 -0.00867693
+v -0.01441812 0.03029213 -0.00721627
+v -0.02402042 0.01051990 -0.01276735
+v -0.02081643 0.00721801 -0.01361091
+v -0.02384654 0.00752723 -0.01241636
+v -0.02333777 -0.00601800 -0.00937057
+v -0.02625517 -0.00601806 0.00699091
+v -0.02624551 -0.00601806 0.00700507
+v -0.02580758 0.00863250 0.01253631
+v -0.02601688 0.01051980 0.01262974
+v -0.02402042 0.01284072 0.01278261
+v -0.01761244 0.02332219 0.00990382
+v -0.01441167 0.03029207 0.00769589
+v -0.01446320 0.03029207 0.00768457
+v -0.02402042 0.01051980 0.01332043
+v -0.01737094 0.02386962 -0.00942990
+v -0.02402042 0.01287281 -0.01233991
+v -0.02081643 0.01051990 -0.01333349
+v -0.01120768 0.03029213 -0.00766352
+v -0.01761244 0.00721801 -0.01405533
+v -0.01761244 0.00391257 -0.01382041
+v -0.02332166 -0.00601800 -0.00937623
+v -0.02446802 -0.00601806 0.00852799
+v -0.02286441 -0.00601807 0.00958101
+v -0.02394314 0.00740629 0.01303169
+v -0.02081643 0.00721791 0.01415831
+v -0.00800691 0.03029207 0.00861304
+v -0.01125921 0.03029207 0.00824221
+v -0.02081643 0.01051980 0.01366012
+v -0.00800691 0.03029213 -0.00798056
+v -0.00795539 0.03029213 -0.00798339
+v -0.00475140 0.03029213 -0.00804567
+v -0.00000499 0.03029213 -0.00802585
+v -0.01441167 0.00391257 -0.01424501
+v -0.01120768 0.00061068 -0.01374965
+v -0.02081643 -0.00601799 -0.01016033
+v -0.02082931 -0.00601807 0.01014432
+v -0.01761244 0.00391247 0.01437908
+v -0.01761244 0.00721791 0.01436778
+v -0.01441167 0.00391247 0.01467348
+v -0.00480292 0.03029207 0.00867248
+v -0.00000499 0.03029207 0.00865267
+v -0.00000499 0.02869983 -0.00806265
+v -0.00832892 0.00061068 -0.01280419
+v -0.01120768 0.00391257 -0.01381758
+v -0.00889888 -0.00157873 -0.01242206
+v -0.01120768 -0.00174934 -0.01260605
+v -0.01761244 -0.00601799 -0.01049436
+v -0.02081643 -0.00601807 0.01014715
+v -0.01120768 0.00061058 0.01423188
+v -0.01456624 0.00036534 0.01364026
+v -0.01120768 0.00391247 0.01417244
+v -0.00000499 0.02867844 0.00869230
+v -0.00828384 0.00061058 0.01328359
+v -0.00000499 0.02704000 -0.00809946
+v -0.00672532 0.00061067 -0.01142847
+v -0.00889566 -0.00601800 -0.00945832
+v -0.01120768 -0.00601799 -0.01021412
+v -0.01441167 -0.00601799 -0.01046039
+v -0.01761244 -0.00601807 0.01053213
+v -0.01120768 -0.00176010 0.01311940
+v -0.00884736 -0.00160371 0.01291842
+v -0.00000499 0.02703994 0.00871776
+v -0.00668024 0.00061059 0.01191919
+v -0.00000499 0.02539794 -0.00783621
+v -0.00597182 0.00061067 -0.00990555
+v -0.00624230 -0.00145080 -0.00933093
+v -0.00000499 0.02373455 -0.00756730
+v -0.00000499 0.02223822 -0.00709741
+v -0.00000499 0.02064235 -0.00659354
+v -0.00757864 -0.00601800 -0.00738624
+v -0.01443099 -0.00601807 0.01056326
+v -0.01441167 -0.00601807 0.01056326
+v -0.01122700 -0.00601807 0.01042456
+v -0.01120768 -0.00601807 0.01042173
+v -0.00897938 -0.00601807 0.00982162
+v -0.00000499 0.02537655 0.00842053
+v -0.00623908 -0.00146864 0.00982729
+v -0.00600402 0.00061059 0.01039627
+v -0.00000499 0.02063520 0.00707027
+v -0.00000499 0.02373449 0.00812614
+v -0.00533746 0.00061066 -0.00738622
+v -0.00605554 -0.00216165 -0.00738623
+v -0.00640975 -0.00432975 -0.00544721
+v -0.00000499 0.02005946 -0.00434031
+v -0.00696682 -0.00601801 -0.00438852
+v -0.00764948 -0.00601806 0.00782314
+v -0.00752712 -0.00601806 0.00760801
+v -0.00638399 -0.00440798 0.00639080
+v -0.00610706 -0.00262021 0.00757971
+v -0.00000499 0.02005231 0.00479438
+v -0.00602656 -0.00301468 -0.00439418
+v -0.00639687 -0.00436885 -0.00341759
+v -0.00684768 -0.00568036 -0.00439419
+v -0.00000499 0.02001680 -0.00280324
+v -0.00590419 -0.00269481 -0.00129455
+v -0.00693462 -0.00601803 -0.00129456
+v -0.00691530 -0.00601805 0.00486788
+v -0.00637111 -0.00443997 0.00479429
+v -0.00589131 -0.00269483 0.00479430
+v -0.00000499 0.01998123 0.00174854
+v -0.00638721 -0.00439730 -0.00129456
+v -0.00000499 0.01997769 -0.00129447
+v -0.00588487 -0.00269482 0.00174846
+v -0.00637433 -0.00442929 0.00174845
+v -0.00691852 -0.00601804 0.00174845
+v -0.00691530 -0.00601805 0.00479429
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 9 13
+f 2 13 10
+f 3 14 15
+f 3 15 4
+f 3 12 14
+f 4 15 5
+f 5 16 6
+f 5 15 17
+f 5 17 16
+f 6 16 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 8
+f 8 25 24
+f 8 24 23
+f 8 23 22
+f 8 22 21
+f 8 21 44
+f 8 44 56
+f 8 56 72
+f 8 72 86
+f 8 86 98
+f 8 98 109
+f 8 109 108
+f 8 108 107
+f 8 107 121
+f 8 121 136
+f 8 136 147
+f 8 147 156
+f 8 156 157
+f 8 157 148
+f 8 148 138
+f 8 138 137
+f 8 137 126
+f 8 126 125
+f 8 125 124
+f 8 124 123
+f 8 123 122
+f 8 122 110
+f 8 110 99
+f 8 99 87
+f 8 87 74
+f 8 74 73
+f 8 73 58
+f 8 58 57
+f 8 57 45
+f 8 45 28
+f 8 28 27
+f 8 27 13
+f 8 13 9
+f 10 26 11
+f 10 13 27
+f 10 27 28
+f 10 28 26
+f 11 26 12
+f 12 26 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 33
+f 12 33 14
+f 14 33 34
+f 14 34 35
+f 14 35 15
+f 15 35 36
+f 15 36 37
+f 15 37 17
+f 16 38 39
+f 16 39 19
+f 16 19 18
+f 16 17 40
+f 16 40 41
+f 16 41 38
+f 17 37 36
+f 17 36 35
+f 17 35 34
+f 17 34 33
+f 17 33 49
+f 17 49 64
+f 17 64 63
+f 17 63 78
+f 17 78 77
+f 17 77 91
+f 17 91 92
+f 17 92 83
+f 17 83 82
+f 17 82 81
+f 17 81 80
+f 17 80 69
+f 17 69 52
+f 17 52 41
+f 17 41 40
+f 19 39 20
+f 20 39 42
+f 20 42 43
+f 20 43 44
+f 20 44 21
+f 26 28 45
+f 26 45 46
+f 26 46 29
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 33
+f 31 33 32
+f 38 50 39
+f 38 41 51
+f 38 51 50
+f 39 50 42
+f 41 52 51
+f 42 53 43
+f 42 50 53
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 44
+f 45 57 46
+f 46 57 58
+f 46 58 59
+f 46 59 60
+f 46 60 47
+f 47 60 48
+f 48 61 62
+f 48 62 63
+f 48 63 64
+f 48 64 49
+f 48 60 65
+f 48 65 61
+f 50 51 66
+f 50 66 67
+f 50 67 68
+f 50 68 53
+f 51 52 66
+f 52 69 66
+f 53 68 54
+f 54 68 70
+f 54 70 71
+f 54 71 72
+f 54 72 56
+f 54 56 55
+f 58 73 59
+f 59 73 74
+f 59 74 75
+f 59 75 76
+f 59 76 60
+f 60 76 65
+f 61 77 78
+f 61 78 62
+f 61 65 79
+f 61 79 77
+f 62 78 63
+f 65 76 79
+f 66 69 80
+f 66 80 68
+f 66 68 67
+f 68 80 81
+f 68 81 82
+f 68 82 83
+f 68 83 70
+f 70 84 71
+f 70 83 84
+f 71 84 85
+f 71 85 86
+f 71 86 72
+f 74 87 88
+f 74 88 76
+f 74 76 75
+f 76 89 79
+f 76 88 90
+f 76 90 89
+f 77 79 91
+f 79 89 92
+f 79 92 91
+f 83 92 103
+f 83 103 113
+f 83 113 127
+f 83 127 131
+f 83 131 130
+f 83 130 141
+f 83 141 151
+f 83 151 153
+f 83 153 145
+f 83 145 135
+f 83 135 120
+f 83 120 119
+f 83 119 118
+f 83 118 115
+f 83 115 105
+f 83 105 93
+f 83 93 94
+f 83 94 95
+f 83 95 84
+f 84 95 85
+f 85 95 94
+f 85 94 96
+f 85 96 97
+f 85 97 98
+f 85 98 86
+f 87 99 88
+f 88 100 90
+f 88 99 101
+f 88 101 100
+f 89 90 92
+f 90 100 102
+f 90 102 92
+f 92 102 104
+f 92 104 103
+f 93 105 94
+f 94 106 96
+f 94 105 106
+f 96 107 108
+f 96 108 97
+f 96 106 107
+f 97 108 109
+f 97 109 98
+f 99 110 100
+f 99 100 101
+f 100 104 102
+f 100 110 111
+f 100 111 112
+f 100 112 104
+f 103 104 113
+f 104 112 114
+f 104 114 113
+f 105 115 106
+f 106 116 117
+f 106 117 107
+f 106 115 118
+f 106 118 119
+f 106 119 120
+f 106 120 116
+f 107 117 121
+f 110 122 111
+f 111 122 123
+f 111 123 124
+f 111 124 112
+f 112 124 125
+f 112 125 126
+f 112 126 114
+f 113 114 127
+f 114 126 128
+f 114 128 129
+f 114 129 130
+f 114 130 131
+f 114 131 127
+f 116 120 117
+f 117 132 133
+f 117 133 134
+f 117 134 121
+f 117 120 132
+f 120 135 134
+f 120 134 133
+f 120 133 132
+f 121 134 136
+f 126 137 128
+f 128 137 138
+f 128 138 139
+f 128 139 140
+f 128 140 130
+f 128 130 129
+f 130 140 139
+f 130 139 141
+f 134 142 143
+f 134 143 144
+f 134 144 136
+f 134 135 142
+f 135 145 146
+f 135 146 142
+f 136 144 147
+f 138 148 139
+f 139 148 149
+f 139 149 150
+f 139 150 141
+f 141 150 151
+f 142 146 143
+f 143 152 144
+f 143 146 152
+f 144 152 147
+f 145 153 146
+f 146 154 155
+f 146 155 152
+f 146 153 154
+f 147 152 155
+f 147 155 156
+f 148 157 149
+f 149 157 156
+f 149 156 155
+f 149 155 154
+f 149 154 150
+f 150 154 151
+f 151 154 153
+

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mjcf/mesh/pliers_031_collision_5.obj

@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
+v -0.03566471 -0.04234386 -0.00129457
+v -0.03541142 -0.04511871 -0.00296601
+v -0.03559154 -0.04511872 -0.00129458
+v -0.03557746 -0.04511872 -0.00080538
+v -0.03557465 -0.04234387 0.00174791
+v -0.03557465 -0.03904081 -0.00129455
+v -0.03530447 -0.03573776 -0.00307754
+v -0.03536357 -0.03904080 -0.00328782
+v -0.03540297 -0.04234385 -0.00343803
+v -0.03536920 -0.04511871 -0.00331145
+v -0.03547896 -0.04511873 0.00184230
+v -0.03536639 -0.04511873 0.00293442
+v -0.03531854 -0.04476278 0.00350301
+v -0.03531573 -0.04234387 0.00349229
+v -0.03525663 -0.03706206 0.00332924
+v -0.03548177 -0.03904082 0.00174793
+v -0.03537483 -0.03587174 0.00180372
+v -0.03546208 -0.03573777 -0.00129454
+v -0.03524255 -0.03401160 -0.00284795
+v -0.03483728 -0.03573775 -0.00460092
+v -0.03489357 -0.03904079 -0.00480905
+v -0.03495549 -0.04234384 -0.00495927
+v -0.03499207 -0.04511870 -0.00458809
+v -0.03511591 -0.04511873 0.00389565
+v -0.03467123 -0.04234388 0.00501567
+v -0.03466561 -0.03587175 0.00452435
+v -0.03425189 -0.03243092 0.00479471
+v -0.03518064 -0.03485748 0.00285507
+v -0.03530447 -0.03346047 0.00082319
+v -0.03529321 -0.03356381 -0.00129453
+v -0.03510465 -0.03191037 -0.00129453
+v -0.03472189 -0.02912785 -0.00129452
+v -0.03413087 -0.02912783 -0.00434128
+v -0.03472471 -0.03271794 -0.00405378
+v -0.03330345 -0.03573774 -0.00738592
+v -0.03283908 -0.02912782 -0.00697609
+v -0.03287848 -0.03272940 -0.00759403
+v -0.03352015 -0.04234383 -0.00738595
+v -0.03346105 -0.04511869 -0.00738596
+v -0.03369183 -0.04511869 -0.00699546
+v -0.03491890 -0.04511870 -0.00483268
+v -0.03471908 -0.04511874 0.00470240
+v -0.03460369 -0.03904083 0.00488480
+v -0.03303890 -0.04511875 0.00745950
+v -0.03306986 -0.04234389 0.00748526
+v -0.03296010 -0.03573780 0.00739732
+v -0.03282501 -0.03243093 0.00726430
+v -0.03259141 -0.02912788 0.00701542
+v -0.03379596 -0.02912787 0.00479472
+v -0.03463183 -0.02912786 0.00174796
+v -0.03506243 -0.03238881 0.00180373
+v -0.03414213 -0.02582481 -0.00129450
+v -0.03353423 -0.02582479 -0.00434126
+v -0.03252950 -0.02582479 -0.00657698
+v -0.03203698 -0.03403072 -0.00891574
+v -0.03209890 -0.03573774 -0.00896723
+v -0.03161764 -0.02912782 -0.00849947
+v -0.03186249 -0.03182614 -0.00874837
+v -0.03219740 -0.04234383 -0.00905738
+v -0.03217488 -0.04511869 -0.00903593
+v -0.03238596 -0.04511869 -0.00876773
+v -0.03147129 -0.04511875 0.00898074
+v -0.03150506 -0.04234389 0.00900650
+v -0.03139811 -0.03573780 0.00892070
+v -0.03130524 -0.03243093 0.00878769
+v -0.03108572 -0.02912788 0.00853881
+v -0.03079021 -0.02582484 0.00817836
+v -0.03229027 -0.02582483 0.00665713
+v -0.03209608 -0.02391879 0.00640395
+v -0.03320494 -0.02582483 0.00479474
+v -0.03404926 -0.02582482 0.00174798
+v -0.03340758 -0.02252177 -0.00129449
+v -0.03231279 -0.01999185 -0.00366108
+v -0.03267303 -0.02233803 -0.00454294
+v -0.03196381 -0.02111326 -0.00569298
+v -0.03225087 -0.02331785 -0.00618648
+v -0.03126865 -0.02582478 -0.00810037
+v -0.03042997 -0.03573773 -0.00992417
+v -0.02966728 -0.02582478 -0.00949716
+v -0.03001626 -0.02912781 -0.00967955
+v -0.03064668 -0.03272939 -0.00961949
+v -0.03042997 -0.03904077 -0.01001430
+v -0.02899464 -0.02027123 -0.00904656
+v -0.02927889 -0.02252174 -0.00925040
+v -0.03042997 -0.04234382 -0.01008298
+v -0.03071422 -0.04511868 -0.00988559
+v -0.02986991 -0.04511876 0.00985615
+v -0.02990368 -0.04234390 0.00987547
+v -0.02979674 -0.03573781 0.00984332
+v -0.02970105 -0.03243094 0.00983689
+v -0.02948434 -0.02912789 0.00975107
+v -0.02918602 -0.02582485 0.00959232
+v -0.02895805 -0.02358964 0.00945285
+v -0.02864847 -0.02138506 0.00925547
+v -0.02981362 -0.01921875 0.00745102
+v -0.02934925 -0.01591571 0.00696398
+v -0.02902841 -0.01360778 0.00657563
+v -0.03178369 -0.02171803 0.00584610
+v -0.03250135 -0.02270167 0.00481621
+v -0.03225087 -0.02016410 0.00381422
+v -0.03331189 -0.02252178 0.00174799
+v -0.03206794 -0.01744664 0.00044777
+v -0.03206794 -0.01744664 -0.00010151
+v -0.03243944 -0.01902353 -0.00118720
+v -0.03195818 -0.01778726 -0.00213126
+v -0.02887362 -0.00751453 -0.00295514
+v -0.02908751 -0.01261262 -0.00622936
+v -0.02882859 -0.01095153 -0.00586674
+v -0.02956033 -0.01591565 -0.00687519
+v -0.02990931 -0.01918807 -0.00760042
+v -0.02864284 -0.01807047 -0.00875690
+v -0.03107165 -0.02233802 -0.00727644
+v -0.02722440 -0.02912781 -0.01080171
+v -0.02722440 -0.03243086 -0.01095620
+v -0.02722440 -0.03573773 -0.01105920
+v -0.02722440 -0.02582477 -0.01055709
+v -0.02722440 -0.02252173 -0.01021378
+v -0.02743548 -0.01918806 -0.00964089
+v -0.02580877 -0.01041185 -0.00904224
+v -0.02613524 -0.01261261 -0.00923750
+v -0.02722440 -0.04234382 -0.01114505
+v -0.02722440 -0.04511868 -0.01114292
+v -0.02773943 -0.04511868 -0.01097127
+v -0.03042997 -0.04511868 -0.01004866
+v -0.02722440 -0.03904077 -0.01112572
+v -0.02722440 -0.04511876 0.01052129
+v -0.02722440 -0.04234390 0.01054275
+v -0.02722440 -0.03243094 0.01052348
+v -0.02722440 -0.02912789 0.01042050
+v -0.02722440 -0.02582485 0.01023386
+v -0.02743829 -0.02250267 0.00988199
+v -0.02667278 -0.01921876 0.00982621
+v -0.02611553 -0.01591572 0.00962239
+v -0.02542320 -0.01147976 0.00927482
+v -0.02827416 -0.01921875 0.00897440
+v -0.02624499 -0.00601806 0.00700693
+v -0.02625625 -0.00601806 0.00699191
+v -0.02868506 -0.01140703 0.00600920
+v -0.03190189 -0.01795952 0.00247965
+v -0.03240285 -0.01912305 0.00157849
+v -0.02950123 -0.01254759 0.00491493
+v -0.02881171 -0.00770975 0.00316843
+v -0.02895805 -0.00725428 0.00113868
+v -0.02896087 -0.00725045 -0.00129444
+v -0.02855841 -0.00601803 -0.00129443
+v -0.02798147 -0.00601802 -0.00393567
+v -0.02793644 -0.00601801 -0.00413307
+v -0.02847680 -0.00874694 -0.00498488
+v -0.02643919 -0.00601800 -0.00684297
+v -0.02654613 -0.00601801 -0.00665201
+v -0.02642793 -0.00601800 -0.00685584
+v -0.02402164 -0.01921868 -0.01074803
+v -0.02402164 -0.02252173 -0.01092612
+v -0.02402164 -0.02582477 -0.01104629
+v -0.02402164 -0.02912781 -0.01112140
+v -0.02402164 -0.01591564 -0.01044334
+v -0.02665871 -0.01591565 -0.00950142
+v -0.02402164 -0.01261260 -0.01005283
+v -0.02535847 -0.00821110 -0.00872682
+v -0.02334056 -0.00601800 -0.00937264
+v -0.02402164 -0.03573773 -0.01121368
+v -0.02402164 -0.03904077 -0.01122657
+v -0.02402164 -0.04511868 -0.01124376
+v -0.02453667 -0.04511868 -0.01122874
+v -0.02402164 -0.03243086 -0.01117720
+v -0.02402164 -0.04511876 0.01059209
+v -0.02402164 -0.03573781 0.01065865
+v -0.02402164 -0.03243094 0.01067582
+v -0.02402164 -0.02912789 0.01067154
+v -0.02402164 -0.02582485 0.01065225
+v -0.02402164 -0.02252181 0.01060291
+v -0.02402164 -0.01921876 0.01048706
+v -0.02402164 -0.01591572 0.01024032
+v -0.02286493 -0.00601807 0.00957952
+v -0.02446631 -0.00601806 0.00853031
+v -0.02755931 -0.00601805 0.00479481
+v -0.02756775 -0.00601805 0.00477764
+v -0.02844302 -0.00901107 0.00491495
+v -0.02842051 -0.00601804 0.00205272
+v -0.02844021 -0.00601804 0.00198621
+v -0.02855841 -0.00601803 -0.00067435
+v -0.02493913 -0.00601800 -0.00836635
+v -0.02082169 -0.00601799 -0.01016008
+v -0.02082169 -0.00930572 -0.01041971
+v -0.02082169 -0.01261260 -0.01062142
+v -0.01761612 -0.00601799 -0.01049265
+v -0.02082169 -0.01591564 -0.01079522
+v -0.02082169 -0.01921868 -0.01090466
+v -0.02082169 -0.02252173 -0.01094329
+v -0.01761612 -0.01591564 -0.01071369
+v -0.02082169 -0.04511868 -0.01034690
+v -0.01441336 -0.00601799 -0.01046047
+v -0.01441336 -0.00930572 -0.01046691
+v -0.01120779 -0.00601799 -0.01021372
+v -0.02353475 -0.04511876 0.01048481
+v -0.01122467 -0.00601807 0.01042489
+v -0.01441336 -0.00601807 0.01056435
+v -0.02082169 -0.01921876 0.01064154
+v -0.02082169 -0.01591572 0.01060079
+v -0.01761612 -0.00601807 0.01053217
+v -0.02082169 -0.00930580 0.01033691
+v -0.02082169 -0.00601807 0.01014810
+v -0.02083295 -0.00601807 0.01014596
+v -0.02080481 -0.00601799 -0.01016223
+v -0.01759923 -0.00601799 -0.01049265
+v -0.01893888 -0.04511869 -0.00923333
+v -0.00889437 -0.00601800 -0.00945847
+v -0.02104403 -0.04511876 0.00992695
+v -0.01120779 -0.00601807 0.01042059
+v -0.01443025 -0.00601807 0.01056435
+v -0.01827750 -0.04511869 -0.00738596
+v -0.00757725 -0.00601800 -0.00738581
+v -0.02078511 -0.04511876 0.00980895
+v -0.00897880 -0.00601807 0.00982197
+v -0.01789756 -0.04511870 -0.00434134
+v -0.00696653 -0.00601801 -0.00439054
+v -0.01944265 -0.04511875 0.00915883
+v -0.00765042 -0.00601806 0.00782226
+v -0.01790600 -0.04511873 0.00174790
+v -0.00693838 -0.00601802 -0.00157979
+v -0.00693557 -0.00601803 -0.00129443
+v -0.00691868 -0.00601804 0.00174805
+v -0.00691587 -0.00601805 0.00479481
+v -0.00691587 -0.00601805 0.00486776
+v -0.01858989 -0.04511875 0.00763544
+v -0.00752659 -0.00601806 0.00760985
+v -0.01792852 -0.04511874 0.00430332
+v -0.01793414 -0.04511874 0.00479466
+v -0.01848013 -0.04511875 0.00717199
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 23
+f 2 23 41
+f 2 41 40
+f 2 40 39
+f 2 39 61
+f 2 61 60
+f 2 60 86
+f 2 86 124
+f 2 124 123
+f 2 123 122
+f 2 122 164
+f 2 164 163
+f 2 163 191
+f 2 191 206
+f 2 206 211
+f 2 211 215
+f 2 215 219
+f 2 219 227
+f 2 227 228
+f 2 228 229
+f 2 229 225
+f 2 225 217
+f 2 217 213
+f 2 213 208
+f 2 208 195
+f 2 195 166
+f 2 166 126
+f 2 126 87
+f 2 87 62
+f 2 62 44
+f 2 44 42
+f 2 42 24
+f 2 24 12
+f 2 12 11
+f 2 11 4
+f 2 4 3
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 19 20
+f 7 20 8
+f 7 18 19
+f 8 21 22
+f 8 22 9
+f 8 20 21
+f 9 22 10
+f 10 22 23
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 15 26 27
+f 15 27 28
+f 15 28 17
+f 15 17 16
+f 15 25 26
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 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 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 22 35 38
+f 24 42 25
+f 25 43 26
+f 25 42 44
+f 25 44 45
+f 25 45 46
+f 25 46 43
+f 26 43 46
+f 26 46 47
+f 26 47 27
+f 27 47 48
+f 27 48 49
+f 27 49 28
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 29 51 50
+f 29 50 32
+f 29 32 31
+f 29 31 30
+f 32 50 52
+f 32 52 33
+f 33 52 53
+f 33 53 54
+f 33 54 36
+f 33 36 34
+f 35 37 55
+f 35 55 56
+f 35 56 38
+f 36 54 57
+f 36 57 58
+f 36 58 37
+f 37 58 55
+f 38 59 60
+f 38 60 61
+f 38 61 39
+f 38 56 59
+f 44 62 63
+f 44 63 45
+f 45 63 64
+f 45 64 46
+f 46 64 65
+f 46 65 47
+f 47 65 66
+f 47 66 48
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 50
+f 50 71 52
+f 52 71 72
+f 52 72 53
+f 53 72 73
+f 53 73 74
+f 53 74 75
+f 53 75 76
+f 53 76 54
+f 54 77 57
+f 54 76 77
+f 55 78 56
+f 55 58 79
+f 55 79 80
+f 55 80 81
+f 55 81 78
+f 56 78 82
+f 56 82 59
+f 57 77 83
+f 57 83 84
+f 57 84 79
+f 57 79 58
+f 59 82 85
+f 59 85 86
+f 59 86 60
+f 62 87 63
+f 63 87 88
+f 63 88 89
+f 63 89 90
+f 63 90 64
+f 64 90 65
+f 65 90 91
+f 65 91 92
+f 65 92 66
+f 66 92 93
+f 66 93 67
+f 67 69 68
+f 67 93 94
+f 67 94 69
+f 69 94 95
+f 69 95 96
+f 69 96 97
+f 69 97 98
+f 69 98 99
+f 69 99 70
+f 70 99 100
+f 70 100 71
+f 71 100 101
+f 71 101 72
+f 72 101 102
+f 72 102 103
+f 72 103 104
+f 72 104 105
+f 72 105 73
+f 73 75 74
+f 73 105 106
+f 73 106 75
+f 75 107 76
+f 75 106 108
+f 75 108 107
+f 76 107 109
+f 76 109 110
+f 76 110 111
+f 76 111 112
+f 76 112 77
+f 77 112 83
+f 78 81 80
+f 78 80 113
+f 78 113 114
+f 78 114 115
+f 78 115 82
+f 79 116 80
+f 79 84 117
+f 79 117 116
+f 80 116 113
+f 82 115 85
+f 83 118 84
+f 83 112 111
+f 83 111 119
+f 83 119 120
+f 83 120 118
+f 84 118 117
+f 85 121 122
+f 85 122 123
+f 85 123 124
+f 85 124 86
+f 85 115 125
+f 85 125 121
+f 87 126 88
+f 88 126 127
+f 88 127 128
+f 88 128 89
+f 89 128 90
+f 90 128 129
+f 90 129 91
+f 91 129 130
+f 91 130 92
+f 92 130 131
+f 92 131 93
+f 93 131 132
+f 93 132 133
+f 93 133 134
+f 93 134 94
+f 94 134 135
+f 94 135 96
+f 94 96 95
+f 96 135 136
+f 96 136 97
+f 97 136 137
+f 97 137 138
+f 97 138 98
+f 98 138 100
+f 98 100 99
+f 100 139 140
+f 100 140 101
+f 100 138 141
+f 100 141 142
+f 100 142 139
+f 101 140 102
+f 102 140 142
+f 102 142 143
+f 102 143 144
+f 102 144 103
+f 103 144 104
+f 104 144 106
+f 104 106 105
+f 106 144 145
+f 106 145 146
+f 106 146 147
+f 106 147 148
+f 106 148 108
+f 107 111 109
+f 107 108 149
+f 107 149 111
+f 108 148 147
+f 108 147 150
+f 108 150 149
+f 109 111 110
+f 111 149 151
+f 111 151 119
+f 113 116 152
+f 113 152 153
+f 113 153 114
+f 114 153 154
+f 114 154 115
+f 115 154 155
+f 115 155 125
+f 116 117 156
+f 116 156 152
+f 117 118 157
+f 117 157 158
+f 117 158 156
+f 118 120 157
+f 119 151 159
+f 119 159 160
+f 119 160 120
+f 120 158 157
+f 120 160 158
+f 121 125 161
+f 121 161 162
+f 121 162 163
+f 121 163 164
+f 121 164 122
+f 125 155 165
+f 125 165 161
+f 126 166 127
+f 127 166 167
+f 127 167 168
+f 127 168 169
+f 127 169 128
+f 128 169 170
+f 128 170 171
+f 128 171 129
+f 129 171 172
+f 129 172 130
+f 130 172 173
+f 130 173 132
+f 130 132 131
+f 132 173 174
+f 132 174 133
+f 133 174 134
+f 134 174 175
+f 134 175 136
+f 134 136 135
+f 136 175 174
+f 136 174 203
+f 136 203 202
+f 136 202 200
+f 136 200 210
+f 136 210 197
+f 136 197 196
+f 136 196 209
+f 136 209 214
+f 136 214 218
+f 136 218 226
+f 136 226 224
+f 136 224 223
+f 136 223 222
+f 136 222 221
+f 136 221 220
+f 136 220 216
+f 136 216 212
+f 136 212 207
+f 136 207 194
+f 136 194 192
+f 136 192 205
+f 136 205 186
+f 136 186 204
+f 136 204 183
+f 136 183 160
+f 136 160 182
+f 136 182 151
+f 136 151 149
+f 136 149 150
+f 136 150 147
+f 136 147 146
+f 136 146 145
+f 136 145 181
+f 136 181 180
+f 136 180 179
+f 136 179 177
+f 136 177 176
+f 136 176 137
+f 137 176 138
+f 138 176 177
+f 138 177 178
+f 138 178 142
+f 138 142 141
+f 139 142 140
+f 142 178 177
+f 142 177 179
+f 142 179 180
+f 142 180 143
+f 143 180 181
+f 143 181 144
+f 144 181 145
+f 151 182 159
+f 152 156 183
+f 152 183 184
+f 152 184 185
+f 152 185 153
+f 153 185 186
+f 153 186 187
+f 153 187 154
+f 154 187 188
+f 154 188 155
+f 155 188 165
+f 156 158 183
+f 158 160 183
+f 159 182 160
+f 161 165 189
+f 161 189 190
+f 161 190 162
+f 162 190 163
+f 163 190 192
+f 163 192 193
+f 163 193 194
+f 163 194 191
+f 165 188 189
+f 166 195 196
+f 166 196 197
+f 166 197 167
+f 167 197 168
+f 168 197 198
+f 168 198 169
+f 169 198 170
+f 170 198 199
+f 170 199 171
+f 171 199 200
+f 171 200 172
+f 172 200 201
+f 172 201 202
+f 172 202 203
+f 172 203 173
+f 173 203 174
+f 183 204 184
+f 184 204 186
+f 184 186 185
+f 186 205 188
+f 186 188 187
+f 188 205 192
+f 188 192 189
+f 189 192 190
+f 191 194 207
+f 191 207 206
+f 192 194 193
+f 195 208 196
+f 196 208 209
+f 197 210 198
+f 198 210 200
+f 198 200 199
+f 200 202 201
+f 206 207 212
+f 206 212 211
+f 208 213 214
+f 208 214 209
+f 211 212 216
+f 211 216 215
+f 213 217 214
+f 214 217 218
+f 215 216 220
+f 215 220 221
+f 215 221 222
+f 215 222 223
+f 215 223 224
+f 215 224 219
+f 217 225 226
+f 217 226 218
+f 219 224 227
+f 224 226 228
+f 224 228 227
+f 225 229 226
+f 226 229 228
+

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mjcf/mesh/pliers_031_collision_6.obj

@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
+v 0.00690617 -0.00602359 0.00459648
+v 0.00690617 -0.00602359 0.00479394
+v 0.00691462 -0.00602358 0.00158740
+v 0.01789776 -0.04512486 -0.00434078
+v 0.00705539 -0.00602359 0.00553870
+v 0.01789776 -0.04512487 -0.00385572
+v 0.01790057 -0.04512488 -0.00081015
+v 0.01790339 -0.04512489 0.00174822
+v 0.01790902 -0.04512489 0.00223328
+v 0.01793999 -0.04512490 0.00479379
+v 0.00693433 -0.00602356 -0.00139378
+v 0.01822435 -0.04512485 -0.00690129
+v 0.00695967 -0.00602355 -0.00435565
+v 0.00743548 -0.00602360 0.00736948
+v 0.01860444 -0.04512491 0.00765049
+v 0.01828911 -0.04512485 -0.00738635
+v 0.00747771 -0.00602354 -0.00713079
+v 0.00750024 -0.00602360 0.00763132
+v 0.01873114 -0.04512491 0.00789302
+v 0.01884375 -0.04512485 -0.00893167
+v 0.00758752 -0.00602354 -0.00734542
+v 0.01895356 -0.04512485 -0.00922785
+v 0.00895302 -0.00602361 0.00983555
+v 0.01943500 -0.04512491 0.00917435
+v 0.00889389 -0.00602354 -0.00944877
+v 0.02053022 -0.04512484 -0.01016363
+v 0.01121947 -0.00602361 0.01043651
+v 0.02103700 -0.04512492 0.00993628
+v 0.00890516 -0.00602354 -0.00945306
+v 0.02083147 -0.04512484 -0.01033963
+v 0.01442347 -0.00602361 0.01056099
+v 0.02403266 -0.04512492 0.01059089
+v 0.01121947 -0.00602353 -0.01020212
+v 0.02352306 -0.04512484 -0.01110370
+v 0.01124199 -0.00602353 -0.01020856
+v 0.02083147 -0.01922069 0.01063821
+v 0.01762747 -0.00602361 0.01052665
+v 0.02403266 -0.03573617 0.01066391
+v 0.02403266 -0.03243307 0.01068109
+v 0.02454226 -0.04512492 0.01058016
+v 0.02403266 -0.04512484 -0.01124536
+v 0.01444599 -0.00602353 -0.01046611
+v 0.01442347 -0.00930749 -0.01046612
+v 0.02403266 -0.02912615 0.01067466
+v 0.02403266 -0.02582305 0.01065751
+v 0.02403266 -0.02252378 0.01060815
+v 0.02403266 -0.01922069 0.01048797
+v 0.02083147 -0.00930757 0.01033992
+v 0.02083147 -0.00602361 0.01014676
+v 0.02723666 -0.04234236 0.01053939
+v 0.02723666 -0.04512492 0.01051148
+v 0.02403266 -0.04234228 -0.01123891
+v 0.02723666 -0.04234228 -0.01117023
+v 0.02723666 -0.04512484 -0.01116595
+v 0.01762747 -0.00602353 -0.01050045
+v 0.02083147 -0.01922061 -0.01090615
+v 0.02083147 -0.02252370 -0.01095123
+v 0.02403266 -0.03573609 -0.01121956
+v 0.02723666 -0.03243307 0.01051153
+v 0.02723666 -0.02912615 0.01042569
+v 0.02403266 -0.01591376 0.01023472
+v 0.02723666 -0.02582305 0.01023898
+v 0.02288113 -0.00602361 0.00958229
+v 0.02668765 -0.01922069 0.00983550
+v 0.02991417 -0.04234236 0.00987834
+v 0.02766180 -0.04512492 0.01040631
+v 0.02723666 -0.03903918 -0.01111655
+v 0.03044066 -0.04234228 -0.01010353
+v 0.02403266 -0.03243299 -0.01118951
+v 0.03044066 -0.04512484 -0.01006705
+v 0.01765000 -0.00602353 -0.01050045
+v 0.02083147 -0.01591368 -0.01079024
+v 0.02403266 -0.02582297 -0.01105211
+v 0.02403266 -0.02912607 -0.01113155
+v 0.02970020 -0.03243307 0.00982687
+v 0.02950874 -0.02912615 0.00975605
+v 0.02920186 -0.02582305 0.00959724
+v 0.02745345 -0.02250465 0.00988271
+v 0.02542632 -0.01149304 0.00926891
+v 0.02448314 -0.00602360 0.00852203
+v 0.02612455 -0.01591376 0.00962518
+v 0.02578107 -0.01369765 0.00944704
+v 0.02896536 -0.02359546 0.00944915
+v 0.02986913 -0.04512492 0.00985472
+v 0.03012533 -0.04512492 0.00971521
+v 0.03151617 -0.04234235 0.00900265
+v 0.02723666 -0.03573609 -0.01104786
+v 0.03221441 -0.04234229 -0.00906258
+v 0.02723666 -0.03243299 -0.01096629
+v 0.03044066 -0.03903918 -0.01001122
+v 0.03211587 -0.03573610 -0.00897455
+v 0.03218062 -0.04512485 -0.00903254
+v 0.02083147 -0.00602353 -0.01016134
+v 0.02083147 -0.00930749 -0.01042105
+v 0.02403266 -0.01922061 -0.01075805
+v 0.02403266 -0.02252370 -0.01093620
+v 0.03139229 -0.03573616 0.00891683
+v 0.03130220 -0.03243306 0.00878807
+v 0.03111074 -0.02912614 0.00854984
+v 0.02623435 -0.00602360 0.00701105
+v 0.02866692 -0.02139085 0.00926673
+v 0.03080386 -0.02582304 0.00818499
+v 0.03147113 -0.04512491 0.00897045
+v 0.03172170 -0.04512491 0.00872792
+v 0.03304215 -0.04512491 0.00744874
+v 0.03307876 -0.04234235 0.00747880
+v 0.03297177 -0.03573616 0.00739297
+v 0.03352923 -0.04234229 -0.00738634
+v 0.03044066 -0.03573609 -0.00991677
+v 0.02723666 -0.02912607 -0.01082033
+v 0.03205111 -0.03400992 -0.00891659
+v 0.03330681 -0.03573610 -0.00738631
+v 0.03345884 -0.04512485 -0.00738635
+v 0.02085400 -0.00602353 -0.01015490
+v 0.02403266 -0.01261059 -0.01005191
+v 0.02403266 -0.01591368 -0.01045327
+v 0.02723666 -0.02582297 -0.01057779
+v 0.03283663 -0.03243306 0.00726635
+v 0.03261139 -0.02912614 0.00702598
+v 0.03230732 -0.02582303 0.00666328
+v 0.02624562 -0.00602360 0.00700032
+v 0.03039280 -0.02265391 0.00783516
+v 0.02984097 -0.01922068 0.00745313
+v 0.02935671 -0.01591375 0.00695735
+v 0.02904138 -0.01360579 0.00657747
+v 0.03329555 -0.04512491 0.00705382
+v 0.03468076 -0.04234234 0.00500199
+v 0.03467231 -0.03596962 0.00450408
+v 0.03495949 -0.04234230 -0.00493314
+v 0.03004368 -0.02912607 -0.00969568
+v 0.03066308 -0.03271622 -0.00962057
+v 0.03188218 -0.03180530 -0.00875348
+v 0.03288730 -0.03271623 -0.00759878
+v 0.03483561 -0.03573611 -0.00455322
+v 0.03285352 -0.02912608 -0.00699137
+v 0.03492007 -0.04512486 -0.00478935
+v 0.02333442 -0.00602354 -0.00937151
+v 0.02666231 -0.01591369 -0.00951105
+v 0.02723666 -0.02252370 -0.01022364
+v 0.02969738 -0.02582298 -0.00951538
+v 0.03426970 -0.03243305 0.00479384
+v 0.03382486 -0.02912613 0.00479385
+v 0.03210742 -0.02391313 0.00640358
+v 0.02869507 -0.01140500 0.00600228
+v 0.02755481 -0.00602359 0.00479609
+v 0.03182306 -0.02170851 0.00585629
+v 0.03472299 -0.04512490 0.00469935
+v 0.03533113 -0.04473832 0.00350389
+v 0.03532268 -0.04234233 0.00348028
+v 0.03525511 -0.03722885 0.00329786
+v 0.03540996 -0.04234231 -0.00340928
+v 0.03530016 -0.04512487 -0.00350802
+v 0.03530579 -0.03573612 -0.00303151
+v 0.03164568 -0.02912608 -0.00851308
+v 0.03473144 -0.03272008 -0.00405312
+v 0.03525511 -0.03401376 -0.00284692
+v 0.03414582 -0.02912609 -0.00434072
+v 0.03254663 -0.02582299 -0.00659000
+v 0.02334850 -0.00602354 -0.00936507
+v 0.02580359 -0.01045574 -0.00903241
+v 0.02612737 -0.01261060 -0.00923417
+v 0.02900196 -0.02029231 -0.00904318
+v 0.02929758 -0.02252371 -0.00925781
+v 0.02744501 -0.01920147 -0.00964628
+v 0.03518754 -0.03502806 0.00281711
+v 0.03465260 -0.02912612 0.00174828
+v 0.03405009 -0.02582302 0.00174830
+v 0.03321390 -0.02582303 0.00479387
+v 0.03250722 -0.02269600 0.00482178
+v 0.02882177 -0.00771149 0.00316276
+v 0.02844731 -0.00901284 0.00490983
+v 0.03226509 -0.02017369 0.00382592
+v 0.02844168 -0.00602358 0.00198231
+v 0.03510589 -0.04512489 0.00392455
+v 0.03530861 -0.04512489 0.00340085
+v 0.03538181 -0.04512489 0.00287931
+v 0.03557608 -0.04234233 0.00174823
+v 0.03537055 -0.03596961 0.00178045
+v 0.03566617 -0.04234232 -0.00129520
+v 0.03537055 -0.04512487 -0.00326549
+v 0.03545219 -0.03573613 -0.00129517
+v 0.03129938 -0.02582298 -0.00811386
+v 0.03473144 -0.02912611 -0.00129515
+v 0.03511715 -0.03192398 -0.00129516
+v 0.03530297 -0.03357361 -0.00129516
+v 0.03354612 -0.02582299 -0.00434070
+v 0.03414300 -0.02582301 -0.00129513
+v 0.03226227 -0.02333132 -0.00619079
+v 0.02493643 -0.00602354 -0.00834988
+v 0.02535875 -0.00825112 -0.00872119
+v 0.02643988 -0.00602354 -0.00682816
+v 0.02865284 -0.01809152 -0.00875343
+v 0.03108541 -0.02234765 -0.00727680
+v 0.03531142 -0.03347793 0.00078674
+v 0.03507774 -0.03239860 0.00178046
+v 0.03330962 -0.02252375 0.00174831
+v 0.02896536 -0.00727132 0.00113238
+v 0.03191034 -0.01796908 0.00242010
+v 0.03240586 -0.01912880 0.00154228
+v 0.02855148 -0.00602357 -0.00129506
+v 0.03548598 -0.04512489 0.00182119
+v 0.03558734 -0.04512488 -0.00129521
+v 0.03197228 -0.02113053 -0.00567782
+v 0.03267615 -0.02234766 -0.00453385
+v 0.03231858 -0.02001292 -0.00364743
+v 0.03340254 -0.02252374 -0.00129512
+v 0.02956505 -0.01591369 -0.00685396
+v 0.02917370 -0.01320769 -0.00632597
+v 0.02645396 -0.00602354 -0.00681099
+v 0.03206801 -0.01747915 0.00038973
+v 0.03206801 -0.01747915 -0.00001591
+v 0.02896536 -0.00727515 -0.00129507
+v 0.02851770 -0.00602356 -0.00164061
+v 0.02882177 -0.01100690 -0.00582373
+v 0.02856556 -0.00930751 -0.00516266
+v 0.02888089 -0.00753158 -0.00293697
+v 0.03196102 -0.01780830 -0.00204416
+v 0.03243965 -0.01903310 -0.00113628
+v 0.02787014 -0.00602355 -0.00425263
+v 0.02792927 -0.00602355 -0.00412385
+f 1 2 5
+f 1 5 14
+f 1 14 18
+f 1 18 23
+f 1 23 27
+f 1 27 31
+f 1 31 37
+f 1 37 49
+f 1 49 63
+f 1 63 80
+f 1 80 100
+f 1 100 121
+f 1 121 145
+f 1 145 173
+f 1 173 200
+f 1 200 213
+f 1 213 220
+f 1 220 219
+f 1 219 209
+f 1 209 191
+f 1 191 189
+f 1 189 159
+f 1 159 137
+f 1 137 114
+f 1 114 93
+f 1 93 71
+f 1 71 55
+f 1 55 42
+f 1 42 35
+f 1 35 33
+f 1 33 29
+f 1 29 25
+f 1 25 21
+f 1 21 17
+f 1 17 13
+f 1 13 11
+f 1 11 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 11 4
+f 4 12 16
+f 4 16 20
+f 4 20 22
+f 4 22 26
+f 4 26 30
+f 4 30 34
+f 4 34 41
+f 4 41 54
+f 4 54 70
+f 4 70 92
+f 4 92 113
+f 4 113 136
+f 4 136 152
+f 4 152 180
+f 4 180 202
+f 4 202 201
+f 4 201 176
+f 4 176 175
+f 4 175 174
+f 4 174 147
+f 4 147 126
+f 4 126 105
+f 4 105 104
+f 4 104 103
+f 4 103 85
+f 4 85 84
+f 4 84 66
+f 4 66 51
+f 4 51 40
+f 4 40 32
+f 4 32 28
+f 4 28 24
+f 4 24 19
+f 4 19 15
+f 4 15 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 11 13
+f 4 13 12
+f 5 10 14
+f 10 15 14
+f 12 13 16
+f 13 17 16
+f 14 15 18
+f 15 19 18
+f 16 17 20
+f 17 21 22
+f 17 22 20
+f 18 19 24
+f 18 24 23
+f 21 25 22
+f 22 25 26
+f 23 24 28
+f 23 28 27
+f 25 29 30
+f 25 30 26
+f 27 28 32
+f 27 32 31
+f 29 33 30
+f 30 33 35
+f 30 35 34
+f 31 36 37
+f 31 32 38
+f 31 38 39
+f 31 39 36
+f 32 40 38
+f 34 35 41
+f 35 42 43
+f 35 43 41
+f 36 39 44
+f 36 44 45
+f 36 45 37
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 45 46
+f 38 40 50
+f 38 50 39
+f 39 50 44
+f 40 51 50
+f 41 52 53
+f 41 53 54
+f 41 43 42
+f 41 42 52
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 52
+f 44 50 59
+f 44 59 45
+f 45 59 46
+f 46 59 60
+f 46 60 47
+f 47 61 49
+f 47 49 48
+f 47 60 62
+f 47 62 61
+f 49 61 64
+f 49 64 63
+f 50 51 65
+f 50 65 59
+f 51 66 65
+f 52 58 53
+f 53 67 68
+f 53 68 54
+f 53 58 69
+f 53 69 67
+f 54 68 70
+f 55 71 56
+f 56 71 72
+f 56 72 73
+f 56 73 74
+f 56 74 69
+f 56 69 57
+f 57 69 58
+f 59 75 60
+f 59 65 75
+f 60 75 76
+f 60 76 62
+f 61 62 64
+f 62 76 77
+f 62 77 78
+f 62 78 64
+f 63 79 80
+f 63 64 81
+f 63 81 82
+f 63 82 79
+f 64 78 77
+f 64 77 83
+f 64 83 81
+f 65 66 84
+f 65 84 85
+f 65 85 86
+f 65 86 75
+f 67 69 74
+f 67 74 87
+f 67 87 68
+f 68 88 70
+f 68 87 89
+f 68 89 90
+f 68 90 91
+f 68 91 88
+f 70 88 92
+f 71 93 94
+f 71 94 95
+f 71 95 96
+f 71 96 72
+f 72 96 73
+f 73 89 87
+f 73 87 74
+f 73 96 89
+f 75 97 98
+f 75 98 76
+f 75 86 97
+f 76 98 99
+f 76 99 77
+f 77 99 83
+f 79 100 80
+f 79 82 101
+f 79 101 100
+f 81 83 101
+f 81 101 82
+f 83 99 102
+f 83 102 101
+f 85 103 86
+f 86 103 104
+f 86 104 105
+f 86 105 106
+f 86 106 107
+f 86 107 97
+f 88 108 92
+f 88 91 108
+f 89 109 90
+f 89 96 110
+f 89 110 109
+f 90 109 91
+f 91 109 111
+f 91 111 112
+f 91 112 108
+f 92 108 113
+f 93 114 115
+f 93 115 116
+f 93 116 95
+f 93 95 94
+f 95 116 117
+f 95 117 110
+f 95 110 96
+f 97 107 98
+f 98 107 118
+f 98 118 99
+f 99 118 119
+f 99 119 120
+f 99 120 102
+f 100 101 121
+f 101 122 123
+f 101 123 124
+f 101 124 125
+f 101 125 121
+f 101 102 122
+f 102 120 122
+f 105 126 127
+f 105 127 106
+f 106 127 107
+f 107 127 128
+f 107 128 118
+f 108 129 113
+f 108 112 129
+f 109 110 130
+f 109 130 131
+f 109 131 111
+f 110 117 130
+f 111 131 130
+f 111 130 132
+f 111 132 133
+f 111 133 112
+f 112 134 129
+f 112 133 135
+f 112 135 134
+f 113 129 136
+f 114 137 115
+f 115 138 139
+f 115 139 116
+f 115 137 138
+f 116 139 117
+f 117 140 130
+f 117 139 140
+f 118 128 141
+f 118 141 119
+f 119 141 142
+f 119 142 120
+f 120 143 122
+f 120 142 143
+f 121 144 145
+f 121 125 144
+f 122 143 123
+f 123 143 124
+f 124 143 125
+f 125 143 146
+f 125 146 144
+f 126 147 127
+f 127 147 148
+f 127 148 149
+f 127 149 150
+f 127 150 128
+f 128 150 141
+f 129 151 152
+f 129 152 136
+f 129 134 153
+f 129 153 151
+f 130 140 132
+f 132 140 154
+f 132 154 135
+f 132 135 133
+f 134 155 156
+f 134 156 153
+f 134 135 155
+f 135 157 155
+f 135 154 158
+f 135 158 157
+f 137 159 160
+f 137 160 161
+f 137 161 138
+f 138 161 162
+f 138 162 163
+f 138 163 164
+f 138 164 139
+f 139 164 163
+f 139 163 140
+f 140 163 154
+f 141 165 142
+f 141 150 165
+f 142 165 166
+f 142 166 167
+f 142 167 168
+f 142 168 143
+f 143 168 169
+f 143 169 146
+f 144 170 171
+f 144 171 145
+f 144 146 172
+f 144 172 170
+f 145 171 170
+f 145 170 173
+f 146 169 172
+f 147 174 148
+f 148 174 175
+f 148 175 176
+f 148 176 177
+f 148 177 149
+f 149 177 150
+f 150 178 165
+f 150 177 178
+f 151 179 180
+f 151 180 152
+f 151 153 179
+f 153 181 179
+f 153 156 181
+f 154 163 182
+f 154 182 158
+f 155 157 156
+f 156 157 183
+f 156 183 184
+f 156 184 185
+f 156 185 181
+f 157 158 186
+f 157 186 187
+f 157 187 183
+f 158 182 188
+f 158 188 186
+f 159 189 190
+f 159 190 160
+f 160 190 191
+f 160 191 192
+f 160 192 162
+f 160 162 161
+f 162 193 182
+f 162 182 163
+f 162 192 193
+f 165 194 195
+f 165 195 166
+f 165 178 194
+f 166 195 194
+f 166 194 183
+f 166 183 187
+f 166 187 167
+f 167 187 206
+f 167 206 196
+f 167 196 172
+f 167 172 168
+f 168 172 169
+f 170 197 173
+f 170 172 198
+f 170 198 199
+f 170 199 197
+f 172 196 199
+f 172 199 198
+f 173 197 200
+f 176 201 177
+f 177 201 202
+f 177 202 179
+f 177 179 178
+f 178 179 181
+f 178 181 194
+f 179 202 180
+f 181 185 194
+f 182 193 188
+f 183 194 184
+f 184 194 185
+f 186 188 203
+f 186 203 204
+f 186 204 205
+f 186 205 206
+f 186 206 187
+f 188 193 192
+f 188 192 207
+f 188 207 208
+f 188 208 203
+f 189 191 190
+f 191 209 208
+f 191 208 192
+f 192 208 207
+f 196 206 210
+f 196 210 199
+f 197 211 212
+f 197 212 200
+f 197 199 210
+f 197 210 211
+f 200 212 213
+f 203 208 214
+f 203 214 215
+f 203 215 216
+f 203 216 205
+f 203 205 204
+f 205 217 206
+f 205 216 217
+f 206 217 218
+f 206 218 211
+f 206 211 210
+f 208 209 214
+f 209 219 214
+f 211 218 212
+f 212 216 213
+f 212 218 216
+f 213 216 220
+f 214 219 215
+f 215 219 220
+f 215 220 216
+f 216 218 217
+

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mjcf/mesh/pliers_031_collision_7.obj

@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
+v -0.00000177 0.01997967 -0.00129382
+v -0.00000177 0.01997967 0.00021514
+v -0.00000177 0.02005788 -0.00434006
+v 0.00588968 -0.00269675 -0.00129390
+v 0.00587036 -0.00269676 0.00174951
+v -0.00000177 0.01998321 0.00174959
+v -0.00000177 0.02064434 -0.00659359
+v 0.00641122 -0.00435658 -0.00587743
+v 0.00591543 -0.00269673 -0.00434014
+v 0.00640156 -0.00438502 -0.00434015
+v 0.00638868 -0.00442414 -0.00129391
+v 0.00637902 -0.00445969 0.00174950
+v 0.00636936 -0.00447747 0.00479291
+v 0.00587358 -0.00269677 0.00479292
+v -0.00000177 0.02001520 0.00323591
+v -0.00000177 0.02223668 -0.00709753
+v 0.00680076 0.00060879 -0.01142066
+v 0.00596050 0.00060879 -0.00989754
+v 0.00623737 -0.00150247 -0.00933134
+v 0.00529731 0.00060878 -0.00738638
+v 0.00611503 -0.00263985 -0.00708912
+v 0.00748005 -0.00602354 -0.00713160
+v 0.00695851 -0.00602355 -0.00435431
+v 0.00693597 -0.00602356 -0.00139583
+v 0.00691344 -0.00602358 0.00174950
+v 0.00638546 -0.00443482 0.00643211
+v 0.00690378 -0.00602359 0.00479291
+v -0.00000177 0.02005073 0.00479300
+v -0.00000177 0.02373304 -0.00756747
+v 0.00840401 0.00060880 -0.01273145
+v 0.00898027 -0.00152378 -0.01234927
+v 0.00889657 -0.00602354 -0.00944742
+v -0.00000177 0.02539645 -0.00783643
+v -0.00000177 0.02703853 -0.00809971
+v 0.00758950 -0.00602354 -0.00734676
+v 0.00705509 -0.00602359 0.00553748
+v 0.00743498 -0.00602360 0.00736919
+v 0.00749936 -0.00602360 0.00762965
+v 0.00623093 -0.00152742 0.00982092
+v 0.00609250 -0.00265768 0.00760418
+v -0.00000177 0.02063718 0.00706920
+v 0.00844908 0.00391430 -0.01267199
+v 0.01122095 0.00391430 -0.01380442
+v 0.01122095 0.00060880 -0.01359776
+v -0.00000177 0.02870194 -0.00806289
+v -0.00000177 0.03028716 -0.00802609
+v 0.01122095 -0.00166950 -0.01249365
+v 0.01124349 -0.00602353 -0.01020615
+v 0.01121774 -0.00602353 -0.01020049
+v 0.00890623 -0.00602354 -0.00945308
+v 0.00894808 -0.00602361 0.00982657
+v 0.00895452 -0.00602361 0.00983506
+v 0.00891910 -0.00157009 0.01286433
+v 0.00675891 0.00060871 0.01189045
+v 0.00598948 0.00060871 0.01036733
+v -0.00000177 0.02373298 0.00812520
+v 0.01442423 0.00391430 -0.01424041
+v 0.01762428 0.00391430 -0.01383840
+v 0.02082755 -0.00602353 -0.01016085
+v 0.01762428 -0.00602353 -0.01050058
+v 0.01444676 -0.00602353 -0.01046661
+v -0.00000177 0.03028710 0.00865463
+v 0.00481441 0.03028716 -0.00804874
+v 0.02082755 0.01052173 -0.01335708
+v 0.01762428 0.00721624 -0.01407619
+v 0.01122095 -0.00602361 0.01043525
+v 0.01122095 -0.00171581 0.01304835
+v 0.01122095 0.00060870 0.01416097
+v 0.00835893 0.00060870 0.01323238
+v -0.00000177 0.02703847 0.00871691
+v -0.00000177 0.02537506 0.00841963
+v 0.02082755 0.00721624 -0.01369682
+v 0.02333544 -0.00602354 -0.00937098
+v 0.02085331 -0.00602353 -0.01015519
+v 0.00475646 0.03028710 0.00868011
+v -0.00000177 0.02868056 0.00869144
+v 0.01122095 0.00391420 0.01420345
+v 0.01442423 0.00391420 0.01468190
+v 0.01762428 0.00721614 0.01444977
+v 0.02082755 0.01052163 0.01369672
+v 0.00801768 0.03028716 -0.00798929
+v 0.02403405 0.01052173 -0.01284466
+v 0.00807241 0.03028716 -0.00798645
+v 0.01740858 0.02386810 -0.00942749
+v 0.02403405 0.01286402 -0.01234638
+v 0.01442423 -0.00602361 0.01055982
+v 0.01762428 -0.00602361 0.01052585
+v 0.01762428 0.00391420 0.01434500
+v 0.02080824 -0.00602361 0.01014931
+v 0.02082755 -0.00602361 0.01014648
+v 0.01453690 0.00041321 0.01358910
+v 0.02574353 0.00873391 -0.01203215
+v 0.02389239 0.00746859 -0.01250211
+v 0.02493547 -0.00602354 -0.00834896
+v 0.00796295 0.03028710 0.00861217
+v 0.02082755 0.00721614 0.01418082
+v 0.02403405 0.01052163 0.01333717
+v 0.02403405 0.01283193 0.01278795
+v 0.02593669 0.01052172 -0.01212273
+v 0.02593025 0.01251568 -0.01210290
+v 0.01127568 0.03028716 -0.00768070
+v 0.01442745 0.03028716 -0.00721357
+v 0.01447252 0.03028716 -0.00720508
+v 0.01833254 0.02506234 -0.00868292
+v 0.02288151 -0.00602361 0.00958310
+v 0.02940074 0.01130011 -0.00945019
+v 0.02643892 -0.00602354 -0.00682584
+v 0.00801768 0.03028710 0.00860651
+v 0.02393747 0.00740452 0.01303140
+v 0.02582724 0.00862719 0.01254446
+v 0.02603006 0.01052163 0.01263789
+v 0.02596889 0.01254403 0.01257562
+v 0.01762428 0.02332067 0.00990595
+v 0.02945869 0.01382366 -0.00946717
+v 0.02910456 0.01570743 -0.00911327
+v 0.01671642 0.03028715 -0.00644068
+v 0.02448154 -0.00602360 0.00852144
+v 0.03106193 0.01382366 -0.00751089
+v 0.03206638 0.01213180 -0.00591984
+v 0.02645179 -0.00602354 -0.00681169
+v 0.01122095 0.03028710 0.00823280
+v 0.02623288 -0.00602360 0.00700965
+v 0.02624576 -0.00602360 0.00699832
+v 0.02931381 0.01130359 0.00989741
+v 0.02932669 0.01382359 0.00988326
+v 0.02901119 0.01564695 0.00952089
+v 0.01671642 0.03028710 0.00688238
+v 0.01442423 0.03028710 0.00768357
+v 0.03210823 0.01558302 -0.00597361
+v 0.01804924 0.03028715 -0.00434002
+v 0.03211145 0.01382365 -0.00598777
+v 0.03249777 0.01382365 -0.00434008
+v 0.03288409 0.01382363 -0.00129384
+v 0.02855082 -0.00602357 -0.00129391
+v 0.02851541 -0.00602356 -0.00163930
+v 0.02792948 -0.00602355 -0.00412216
+v 0.02786832 -0.00602355 -0.00425239
+v 0.02754316 -0.00602359 0.00481273
+v 0.03187321 0.01382361 0.00576404
+v 0.03075931 0.01382360 0.00783922
+v 0.02755282 -0.00602359 0.00479574
+v 0.03231105 0.01598107 0.00403426
+v 0.02968404 0.01628317 0.00783923
+v 0.01802026 0.03028711 0.00484117
+v 0.03235290 0.01602731 -0.00434007
+v 0.01894100 0.03028713 -0.00110693
+v 0.03121324 0.01818830 -0.00129382
+v 0.03261689 0.01653555 -0.00129383
+v 0.03255894 0.01644313 0.00174958
+v 0.03278429 0.01382362 0.00174957
+v 0.02844136 -0.00602358 0.00198165
+v 0.03215652 0.01202159 0.00380209
+v 0.03233036 0.01382361 0.00424092
+v 0.02775564 -0.00602359 0.00415592
+v 0.03114885 0.01809588 0.00174959
+v 0.01804280 0.03028711 0.00479304
+v 0.03054683 0.01728194 0.00489774
+v 0.01893778 0.03028712 0.00155712
+v 0.01842590 0.03028712 0.00341147
+f 1 2 6
+f 1 6 15
+f 1 15 28
+f 1 28 41
+f 1 41 56
+f 1 56 71
+f 1 71 70
+f 1 70 76
+f 1 76 62
+f 1 62 46
+f 1 46 45
+f 1 45 34
+f 1 34 33
+f 1 33 29
+f 1 29 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 19
+f 8 19 22
+f 8 22 23
+f 8 23 10
+f 8 10 9
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 13
+f 13 26 14
+f 13 25 27
+f 13 27 26
+f 14 26 28
+f 14 28 15
+f 16 29 17
+f 17 30 31
+f 17 31 32
+f 17 32 19
+f 17 19 18
+f 17 29 33
+f 17 33 34
+f 17 34 30
+f 19 32 35
+f 19 35 22
+f 19 21 20
+f 22 35 32
+f 22 32 50
+f 22 50 49
+f 22 49 48
+f 22 48 61
+f 22 61 60
+f 22 60 59
+f 22 59 74
+f 22 74 73
+f 22 73 94
+f 22 94 107
+f 22 107 120
+f 22 120 137
+f 22 137 136
+f 22 136 135
+f 22 135 134
+f 22 134 151
+f 22 151 154
+f 22 154 141
+f 22 141 138
+f 22 138 123
+f 22 123 122
+f 22 122 117
+f 22 117 105
+f 22 105 90
+f 22 90 89
+f 22 89 87
+f 22 87 86
+f 22 86 66
+f 22 66 52
+f 22 52 51
+f 22 51 38
+f 22 38 37
+f 22 37 36
+f 22 36 27
+f 22 27 25
+f 22 25 24
+f 22 24 23
+f 26 27 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 28
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 30 34 45
+f 30 45 46
+f 30 46 42
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 31 44 47
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 41
+f 39 41 40
+f 41 55 54
+f 41 54 56
+f 42 46 43
+f 43 57 44
+f 43 46 57
+f 44 57 58
+f 44 58 59
+f 44 59 60
+f 44 60 61
+f 44 61 47
+f 46 62 75
+f 46 75 95
+f 46 95 108
+f 46 108 121
+f 46 121 128
+f 46 128 127
+f 46 127 144
+f 46 144 156
+f 46 156 159
+f 46 159 158
+f 46 158 146
+f 46 146 130
+f 46 130 116
+f 46 116 103
+f 46 103 102
+f 46 102 101
+f 46 101 83
+f 46 83 81
+f 46 81 63
+f 46 63 64
+f 46 64 65
+f 46 65 57
+f 47 61 48
+f 52 66 53
+f 53 66 67
+f 53 67 68
+f 53 68 69
+f 53 69 54
+f 54 69 70
+f 54 70 71
+f 54 71 56
+f 57 65 72
+f 57 72 58
+f 58 72 73
+f 58 73 74
+f 58 74 59
+f 62 76 69
+f 62 69 77
+f 62 77 78
+f 62 78 79
+f 62 79 80
+f 62 80 75
+f 63 81 64
+f 64 82 72
+f 64 72 65
+f 64 81 83
+f 64 83 84
+f 64 84 85
+f 64 85 82
+f 66 86 67
+f 67 86 87
+f 67 87 68
+f 68 88 78
+f 68 78 77
+f 68 77 69
+f 68 87 89
+f 68 89 90
+f 68 90 91
+f 68 91 88
+f 69 76 70
+f 72 82 92
+f 72 92 93
+f 72 93 73
+f 73 93 92
+f 73 92 94
+f 75 80 95
+f 78 88 96
+f 78 96 79
+f 79 96 80
+f 80 96 97
+f 80 97 98
+f 80 98 95
+f 82 99 92
+f 82 85 100
+f 82 100 99
+f 83 101 84
+f 84 101 102
+f 84 102 103
+f 84 103 104
+f 84 104 100
+f 84 100 85
+f 88 91 90
+f 88 90 105
+f 88 105 96
+f 92 99 106
+f 92 106 94
+f 94 106 107
+f 95 98 108
+f 96 109 110
+f 96 110 111
+f 96 111 97
+f 96 105 109
+f 97 111 112
+f 97 112 98
+f 98 112 113
+f 98 113 108
+f 99 100 114
+f 99 114 106
+f 100 104 115
+f 100 115 114
+f 103 116 104
+f 104 116 115
+f 105 117 110
+f 105 110 109
+f 106 114 118
+f 106 118 119
+f 106 119 120
+f 106 120 107
+f 108 113 121
+f 110 117 122
+f 110 122 123
+f 110 123 124
+f 110 124 111
+f 111 124 125
+f 111 125 112
+f 112 125 126
+f 112 126 127
+f 112 127 128
+f 112 128 113
+f 113 128 121
+f 114 115 129
+f 114 129 118
+f 115 116 129
+f 116 130 129
+f 118 129 131
+f 118 131 119
+f 119 131 132
+f 119 132 133
+f 119 133 134
+f 119 134 135
+f 119 135 136
+f 119 136 137
+f 119 137 120
+f 123 138 124
+f 124 139 140
+f 124 140 125
+f 124 138 141
+f 124 141 139
+f 125 140 126
+f 126 140 142
+f 126 142 143
+f 126 143 127
+f 127 143 144
+f 129 145 132
+f 129 132 131
+f 129 130 145
+f 130 146 147
+f 130 147 145
+f 132 145 133
+f 133 145 148
+f 133 148 149
+f 133 149 150
+f 133 150 134
+f 134 150 151
+f 139 141 152
+f 139 152 153
+f 139 153 142
+f 139 142 140
+f 141 154 152
+f 142 153 150
+f 142 150 149
+f 142 149 155
+f 142 155 156
+f 142 156 144
+f 142 144 157
+f 142 157 143
+f 143 157 144
+f 145 147 148
+f 146 158 147
+f 147 155 149
+f 147 149 148
+f 147 158 155
+f 150 153 152
+f 150 152 151
+f 151 152 154
+f 155 158 159
+f 155 159 156
+

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/mjcf/pliers_031.xml

@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pliers_031">
+  <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/pliers_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pliers_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pliers_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pliers_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pliers_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pliers_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pliers_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pliers_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pliers_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pliers_031">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/pliers_031.urdf

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_031">
+   <link name="pliers_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_031.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>b61576488ca35874a660fed76dbaab16</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>insulated pliers</name>
+         <color>red,yellow</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>red and yellow insulated combination pliers with gray metal jaws</description>
+         <min_height>0.0288</min_height>
+         <max_height>0.0288</max_height>
+         <real_height>0.0288</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609212023</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035482 -0.091054 -0.014143</min>
+            <max>0.035494 0.108946 0.014640</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/pliers_031.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1145242453e60a21936f35e302ed05a97bb93df5a118d9ee3b74f14b7ed8b476
+size 4988415

dataset/tools/repair_tools/b61576488ca35874a660fed76dbaab16/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d15237239dd913246df77f9489a9d9b5382fa5709f8b6e94954859d59d75fe2
+size 170331