Add asset tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937

.gitattributes

@@ -5176,3 +5176,5 @@ dataset/tools/repair_tools/e65c430834365f33a2362234947d6a78/mini_hammer_035.usd
 dataset/tools/repair_tools/da904c5404e95c5c862960146e6074d3/da904c5404e95c5c862960146e6074d3.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/hex_key_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/mesh/hex_key_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mesh/pliers_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/pliers_007.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pliers_007_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_007_geometry_Looks_material_0.png

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mesh/pliers_007.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e216941a36db8d84fbe36cde16ac522913dd14ca4f3e2832333d839470de2f54
+size 15172884

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mesh/pliers_007.mtl

@@ -0,0 +1,6 @@
+newmtl pliers_007_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/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_0.obj

@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
+v 0.00701079 -0.04450696 0.00573736
+v 0.00847972 -0.04450696 0.00552586
+v 0.00042377 -0.04450696 0.00568183
+v 0.00042377 -0.04556633 0.00568064
+v 0.00042377 -0.04633999 0.00567827
+v 0.00042377 -0.04882798 0.00566999
+v 0.00042377 -0.05131158 0.00566171
+v 0.00042377 -0.05302153 0.00565462
+v 0.00839457 -0.05302153 0.00565935
+v 0.01013649 -0.04450696 0.00507095
+v 0.01046835 -0.05302153 0.00512528
+v 0.00042377 -0.04450692 -0.00630762
+v 0.00598767 -0.06048111 0.00540173
+v 0.00598767 -0.05799312 0.00553408
+v 0.00358078 -0.05550952 0.00560262
+v 0.00598767 -0.05550952 0.00560617
+v 0.00042377 -0.05379958 0.00558372
+v 0.00234853 -0.06974296 0.00461004
+v 0.00358078 -0.07145730 0.00458168
+v 0.00598767 -0.06793191 0.00492435
+v 0.00839457 -0.05550952 0.00560262
+v 0.01043704 -0.05550952 0.00509455
+v 0.01037819 -0.04450696 0.00461014
+v 0.01167180 -0.05302153 0.00411267
+v 0.01233926 -0.05302152 0.00298426
+v 0.01164049 -0.05550952 0.00415992
+v 0.00117389 -0.04450692 -0.00630762
+v 0.00042377 -0.04479264 -0.00630880
+v 0.00839457 -0.06048111 0.00539346
+v 0.00839457 -0.05799312 0.00552227
+v 0.00042377 -0.05550952 0.00542775
+v 0.00226839 -0.08483356 0.00244534
+v 0.00243494 -0.08649076 0.00226219
+v 0.00358078 -0.08284668 0.00309286
+v 0.00598767 -0.07290350 0.00444106
+v 0.00598767 -0.07162434 0.00458877
+v 0.00598767 -0.07038474 0.00470575
+v 0.00741904 -0.06996714 0.00466675
+v 0.01032183 -0.05799312 0.00505200
+v 0.01070253 -0.04450695 0.00335767
+v 0.01218148 -0.05103903 0.00271014
+v 0.01240814 -0.05550951 0.00303033
+v 0.01294412 -0.05302151 0.00120481
+v 0.01309564 -0.05550950 0.00120480
+v 0.01015403 -0.06048111 0.00497519
+v 0.01152528 -0.05799311 0.00403348
+v 0.01236556 -0.05799311 0.00290508
+v 0.00255641 -0.04450692 -0.00630644
+v 0.00598767 -0.04556629 -0.00630881
+v 0.00117389 -0.04556629 -0.00631117
+v 0.00042377 -0.04556629 -0.00631117
+v 0.00839457 -0.06296471 0.00518668
+v 0.00993362 -0.06296471 0.00483930
+v 0.00042377 -0.05629196 0.00527650
+v 0.00182132 -0.08284667 0.00120470
+v 0.00220702 -0.08781826 0.00083012
+v 0.00225837 -0.08923370 0.00040002
+v 0.00042377 -0.05794477 0.00495511
+v 0.00337415 -0.08784904 0.00188763
+v 0.00403912 -0.08704023 0.00247487
+v 0.00337415 -0.08552809 0.00265212
+v 0.00499336 -0.08704023 0.00247487
+v 0.00598767 -0.07539150 0.00410430
+v 0.00943647 -0.06647252 0.00453680
+v 0.00973952 -0.06481532 0.00470222
+v 0.01072382 -0.04450693 -0.00326506
+v 0.01197735 -0.04938184 0.00218907
+v 0.01237182 -0.05034010 0.00134306
+v 0.01254339 -0.05053791 -0.00105200
+v 0.01302301 -0.05799310 0.00120479
+v 0.01306559 -0.05302151 -0.00105200
+v 0.01321586 -0.05550950 -0.00105201
+v 0.01135747 -0.06048110 0.00382906
+v 0.01225035 -0.06048110 0.00270065
+v 0.00496456 -0.04450692 -0.00630408
+v 0.00598767 -0.04804989 -0.00631118
+v 0.00358078 -0.05053789 -0.00632419
+v 0.00117389 -0.05302149 -0.00633364
+v 0.00598767 -0.04450692 -0.00630053
+v 0.00839457 -0.05302149 -0.00624857
+v 0.00042377 -0.05302149 -0.00633246
+v 0.00162221 -0.08036307 0.00120470
+v 0.00225837 -0.08923370 -0.00017423
+v 0.00358078 -0.08941392 0.00070132
+v 0.00042377 -0.05901732 0.00346395
+v 0.00113632 -0.07290348 0.00120473
+v 0.00505973 -0.08935678 0.00058552
+v 0.00544669 -0.08784903 0.00128503
+v 0.00720114 -0.08163785 0.00234610
+v 0.00739149 -0.08036308 0.00253870
+v 0.00977709 -0.07236721 0.00255409
+v 0.01002379 -0.07041989 0.00284713
+v 0.01033060 -0.06793190 0.00320516
+v 0.01049966 -0.06556699 0.00365535
+v 0.01129361 -0.06312295 0.00333633
+v 0.01013149 -0.04450692 -0.00494881
+v 0.01203496 -0.04925434 -0.00225956
+v 0.01221779 -0.05053790 -0.00269675
+v 0.01313196 -0.05799310 -0.00105202
+v 0.01280011 -0.06048109 0.00120478
+v 0.01246074 -0.05302150 -0.00317057
+v 0.01252711 -0.05550949 -0.00318121
+v 0.01211886 -0.06239765 0.00249978
+v 0.00598767 -0.05053789 -0.00631238
+v 0.00839457 -0.05550948 -0.00616351
+v 0.00598767 -0.05799308 -0.00603591
+v 0.00851103 -0.04450692 -0.00574637
+v 0.00839457 -0.05053789 -0.00621312
+v 0.01073133 -0.05302149 -0.00533758
+v 0.01072006 -0.05550948 -0.00529741
+v 0.00598767 -0.06048107 -0.00582087
+v 0.00598767 -0.06793187 -0.00508242
+v 0.00358078 -0.07041986 -0.00471968
+v 0.00227840 -0.07194519 -0.00449636
+v 0.00042377 -0.05550948 -0.00603353
+v 0.00113757 -0.07290348 -0.00105208
+v 0.00163348 -0.08036307 -0.00105211
+v 0.00185012 -0.08284667 -0.00105211
+v 0.00042377 -0.05812495 -0.00517572
+v 0.00216194 -0.08284666 -0.00240502
+v 0.00229594 -0.08451265 -0.00225969
+v 0.00276429 -0.08616985 -0.00188396
+v 0.00357201 -0.08770836 -0.00150113
+v 0.00358078 -0.08941392 -0.00042472
+v 0.00042377 -0.05947447 0.00120478
+v 0.00042377 -0.05947447 -0.00105203
+v 0.00505973 -0.08935678 -0.00034083
+v 0.00726626 -0.08433243 0.00027833
+v 0.00653242 -0.08522917 0.00110071
+v 0.00744158 -0.08261809 0.00110072
+v 0.00956170 -0.07402001 0.00225633
+v 0.01197610 -0.06405485 0.00224809
+v 0.01051218 -0.05053789 -0.00528441
+v 0.01193478 -0.05302149 -0.00429897
+v 0.01247451 -0.05799309 -0.00300635
+v 0.01289904 -0.06048109 -0.00105203
+v 0.01234928 -0.06048108 -0.00275468
+v 0.01237683 -0.06312295 0.00137964
+v 0.01216144 -0.06545269 0.00064115
+v 0.01202745 -0.06680218 0.00016260
+v 0.01192351 -0.05550948 -0.00430962
+v 0.01059107 -0.05799308 -0.00520999
+v 0.00839457 -0.05799308 -0.00600755
+v 0.00839457 -0.06048107 -0.00577597
+v 0.00732511 -0.07209464 -0.00449873
+v 0.00598767 -0.07041986 -0.00477758
+v 0.00358078 -0.07221333 -0.00452710
+v 0.00436972 -0.08680723 -0.00225143
+v 0.00358078 -0.08284666 -0.00283511
+v 0.00357201 -0.08533905 -0.00240384
+v 0.00042377 -0.05943489 -0.00176216
+v 0.00042377 -0.05928104 -0.00331002
+v 0.00042377 -0.05917994 -0.00357824
+v 0.00489944 -0.08680723 -0.00225143
+v 0.00539033 -0.08770837 -0.00107694
+v 0.00726626 -0.08433243 -0.00011041
+v 0.00960928 -0.07667504 0.00011294
+v 0.00978460 -0.07539148 0.00060920
+v 0.01011896 -0.07307933 0.00138433
+v 0.01084654 -0.07041988 0.00120474
+v 0.01182332 -0.06545270 0.00176955
+v 0.01179452 -0.05799308 -0.00413475
+v 0.01202745 -0.06680218 -0.00003236
+v 0.01254088 -0.06296469 -0.00105204
+v 0.01203621 -0.06435374 -0.00222890
+v 0.01216144 -0.06296468 -0.00243330
+v 0.01159290 -0.06048108 -0.00388309
+v 0.01153405 -0.06774727 0.00103106
+v 0.01038946 -0.06048107 -0.00506939
+v 0.01012648 -0.06296467 -0.00487326
+v 0.00839457 -0.06296467 -0.00546523
+v 0.00598767 -0.07232323 -0.00452946
+v 0.00982342 -0.06545267 -0.00462986
+v 0.00964309 -0.06685931 -0.00447863
+v 0.00598767 -0.07356722 -0.00435104
+v 0.00719112 -0.08160266 -0.00218052
+v 0.00959300 -0.07412989 -0.00216749
+v 0.00960928 -0.07667504 0.00003732
+v 0.01184587 -0.06601094 -0.00153650
+v 0.01214892 -0.06529005 -0.00089018
+v 0.01091667 -0.07041988 -0.00105207
+v 0.01159791 -0.06774727 -0.00089019
+v 0.01132992 -0.06296468 -0.00356171
+v 0.00981967 -0.07247269 -0.00246288
+v 0.01009392 -0.07041987 -0.00280553
+v 0.01112705 -0.06529004 -0.00311272
+v 0.01027550 -0.06778243 -0.00341521
+v 0.01014401 -0.07314085 -0.00126949
+v 0.00978460 -0.07539148 -0.00050620
+f 1 2 10
+f 1 10 23
+f 1 23 40
+f 1 40 66
+f 1 66 96
+f 1 96 107
+f 1 107 79
+f 1 79 75
+f 1 75 48
+f 1 48 27
+f 1 27 12
+f 1 12 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 11
+f 2 11 10
+f 3 12 28
+f 3 28 51
+f 3 51 81
+f 3 81 115
+f 3 115 119
+f 3 119 153
+f 3 153 152
+f 3 152 151
+f 3 151 126
+f 3 126 125
+f 3 125 85
+f 3 85 58
+f 3 58 54
+f 3 54 31
+f 3 31 17
+f 3 17 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 13
+f 9 16 21
+f 9 21 22
+f 9 22 11
+f 10 11 24
+f 10 24 25
+f 10 25 23
+f 11 22 26
+f 11 26 24
+f 12 27 28
+f 13 29 14
+f 13 20 29
+f 14 21 16
+f 14 16 15
+f 14 29 30
+f 14 30 21
+f 17 31 18
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 18 31 32
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 20 37 38
+f 20 38 29
+f 21 30 39
+f 21 39 22
+f 22 39 26
+f 23 25 41
+f 23 41 40
+f 24 26 42
+f 24 42 25
+f 25 43 41
+f 25 42 44
+f 25 44 43
+f 26 39 45
+f 26 45 46
+f 26 46 47
+f 26 47 42
+f 27 48 49
+f 27 49 50
+f 27 50 28
+f 28 50 51
+f 29 45 30
+f 29 38 52
+f 29 52 53
+f 29 53 45
+f 30 45 39
+f 31 54 32
+f 32 55 56
+f 32 56 57
+f 32 57 33
+f 32 54 58
+f 32 58 55
+f 33 57 59
+f 33 59 60
+f 33 60 61
+f 33 61 34
+f 34 61 60
+f 34 60 62
+f 34 62 63
+f 34 63 35
+f 35 38 36
+f 35 63 38
+f 36 38 37
+f 38 64 65
+f 38 65 52
+f 38 63 62
+f 38 62 64
+f 40 41 67
+f 40 67 68
+f 40 68 69
+f 40 69 66
+f 41 43 67
+f 42 47 70
+f 42 70 44
+f 43 71 69
+f 43 69 68
+f 43 68 67
+f 43 44 71
+f 44 72 71
+f 44 70 72
+f 45 53 46
+f 46 53 73
+f 46 73 74
+f 46 74 47
+f 47 74 70
+f 48 75 49
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 49 75 79
+f 49 79 80
+f 49 80 76
+f 50 78 51
+f 51 78 81
+f 52 65 53
+f 53 65 73
+f 55 82 57
+f 55 57 56
+f 55 58 82
+f 57 83 124
+f 57 124 84
+f 57 84 59
+f 57 82 83
+f 58 85 86
+f 58 86 82
+f 59 84 62
+f 59 62 60
+f 62 84 87
+f 62 87 88
+f 62 88 89
+f 62 89 90
+f 62 90 64
+f 64 91 65
+f 64 90 91
+f 65 91 92
+f 65 92 93
+f 65 93 94
+f 65 94 95
+f 65 95 73
+f 66 69 97
+f 66 97 98
+f 66 98 96
+f 69 71 97
+f 70 99 72
+f 70 74 100
+f 70 100 99
+f 71 72 101
+f 71 101 98
+f 71 98 97
+f 72 102 101
+f 72 99 102
+f 73 95 103
+f 73 103 74
+f 74 103 100
+f 76 104 77
+f 76 80 104
+f 77 104 78
+f 78 104 80
+f 78 80 105
+f 78 105 106
+f 78 106 81
+f 79 107 108
+f 79 108 80
+f 80 109 110
+f 80 110 105
+f 80 108 109
+f 81 106 111
+f 81 111 112
+f 81 112 113
+f 81 113 114
+f 81 114 115
+f 82 86 116
+f 82 116 117
+f 82 117 83
+f 83 118 119
+f 83 119 120
+f 83 120 121
+f 83 121 122
+f 83 122 123
+f 83 123 124
+f 83 117 118
+f 84 124 127
+f 84 127 87
+f 85 125 86
+f 86 125 126
+f 86 126 116
+f 87 127 156
+f 87 156 128
+f 87 128 88
+f 88 128 129
+f 88 129 89
+f 89 129 128
+f 89 128 130
+f 89 130 131
+f 89 131 91
+f 89 91 90
+f 91 132 92
+f 91 131 132
+f 92 132 93
+f 93 132 94
+f 94 132 95
+f 95 132 103
+f 96 133 107
+f 96 98 101
+f 96 101 134
+f 96 134 133
+f 99 135 102
+f 99 100 136
+f 99 136 137
+f 99 137 135
+f 100 103 132
+f 100 132 138
+f 100 138 139
+f 100 139 140
+f 100 140 136
+f 101 102 134
+f 102 141 134
+f 102 135 141
+f 105 110 142
+f 105 142 143
+f 105 143 106
+f 106 143 111
+f 107 133 108
+f 108 133 109
+f 109 134 141
+f 109 141 110
+f 109 133 134
+f 110 141 142
+f 111 143 144
+f 111 144 112
+f 112 144 145
+f 112 145 146
+f 112 146 147
+f 112 147 113
+f 113 147 114
+f 114 147 148
+f 114 148 149
+f 114 149 150
+f 114 150 121
+f 114 121 115
+f 115 121 120
+f 115 120 119
+f 116 126 151
+f 116 151 152
+f 116 152 153
+f 116 153 119
+f 116 119 117
+f 117 119 118
+f 121 150 148
+f 121 148 122
+f 122 148 123
+f 123 148 124
+f 124 148 154
+f 124 154 127
+f 127 154 155
+f 127 155 156
+f 128 156 178
+f 128 178 157
+f 128 157 131
+f 128 131 130
+f 131 157 158
+f 131 158 159
+f 131 159 160
+f 131 160 132
+f 132 160 161
+f 132 161 140
+f 132 140 139
+f 132 139 138
+f 135 162 141
+f 135 137 162
+f 136 140 163
+f 136 163 164
+f 136 164 165
+f 136 165 166
+f 136 166 137
+f 137 167 162
+f 137 166 167
+f 140 161 168
+f 140 168 160
+f 140 160 157
+f 140 157 178
+f 140 178 163
+f 141 162 142
+f 142 162 169
+f 142 169 143
+f 143 169 144
+f 144 169 170
+f 144 170 171
+f 144 171 145
+f 145 172 146
+f 145 171 173
+f 145 173 174
+f 145 174 154
+f 145 154 175
+f 145 175 172
+f 146 172 147
+f 147 172 175
+f 147 175 148
+f 148 150 149
+f 148 175 154
+f 154 176 155
+f 154 174 176
+f 155 176 156
+f 156 176 177
+f 156 177 178
+f 157 160 158
+f 158 160 159
+f 160 168 161
+f 162 167 169
+f 163 179 180
+f 163 180 164
+f 163 178 181
+f 163 181 182
+f 163 182 179
+f 164 180 165
+f 165 183 167
+f 165 167 166
+f 165 180 179
+f 165 179 181
+f 165 181 177
+f 165 177 184
+f 165 184 185
+f 165 185 186
+f 165 186 183
+f 167 183 173
+f 167 173 170
+f 167 170 169
+f 170 173 171
+f 173 183 174
+f 174 183 186
+f 174 186 187
+f 174 187 185
+f 174 185 184
+f 174 184 177
+f 174 177 176
+f 177 188 189
+f 177 189 178
+f 177 181 188
+f 178 189 181
+f 179 182 181
+f 181 189 188
+f 185 187 186
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_1.obj

@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
+v -0.01311317 -0.05550850 -0.00105152
+v -0.01250900 -0.05550849 -0.00305821
+v -0.01304428 -0.05799680 -0.00105153
+v -0.01293165 -0.05799680 0.00120496
+v -0.01299525 -0.05550850 0.00120497
+v -0.01283626 -0.05302486 0.00120498
+v -0.01295153 -0.05302486 -0.00105151
+v -0.01196709 -0.04162635 -0.00330915
+v -0.01192734 -0.05302484 -0.00414581
+v -0.01191807 -0.05550848 -0.00418765
+v -0.01246395 -0.05799679 -0.00289687
+v -0.01234603 -0.06048042 -0.00265665
+v -0.01282963 -0.06048043 -0.00105154
+v -0.01272629 -0.06048043 0.00120495
+v -0.01235133 -0.05799681 0.00279454
+v -0.01239107 -0.05550851 0.00291287
+v -0.01224268 -0.06048044 0.00260330
+v -0.01188759 -0.04162637 0.00346389
+v -0.01195119 -0.04162635 -0.00334142
+v -0.01085016 -0.04162634 -0.00526923
+v -0.01058782 -0.05799678 -0.00519160
+v -0.01179220 -0.05799679 -0.00402631
+v -0.01072429 -0.05302484 -0.00533142
+v -0.01071501 -0.05550848 -0.00528840
+v -0.01159478 -0.06048042 -0.00378609
+v -0.01220293 -0.06253375 -0.00240448
+v -0.01206249 -0.06418950 -0.00216546
+v -0.01240830 -0.06320261 -0.00126907
+v -0.01222016 -0.06500335 -0.00066074
+v -0.01222016 -0.06500335 0.00060973
+v -0.01236988 -0.06297342 0.00129936
+v -0.01213801 -0.06214555 0.00243955
+v -0.01153251 -0.05799681 0.00392398
+v -0.01164380 -0.05550851 0.00404231
+v -0.01080511 -0.04162638 0.00526382
+v -0.01136689 -0.06048044 0.00373154
+v -0.01005916 -0.04162634 -0.00561464
+v -0.00845597 -0.05550848 -0.00615371
+v -0.00845597 -0.05799678 -0.00598400
+v -0.01039173 -0.06048041 -0.00504341
+v -0.00845597 -0.05302484 -0.00624453
+v -0.01013204 -0.06296404 -0.00484024
+v -0.00983922 -0.06545235 -0.00459524
+v -0.00967890 -0.06676199 -0.00445542
+v -0.01147951 -0.06320260 -0.00321839
+v -0.01090183 -0.06545236 -0.00330924
+v -0.01028970 -0.06772552 -0.00339530
+v -0.01011614 -0.07041963 -0.00275350
+v -0.00985247 -0.07236069 -0.00242604
+v -0.00961928 -0.07401644 -0.00208422
+v -0.01089786 -0.07041964 -0.00105158
+v -0.01149276 -0.06793132 -0.00105157
+v -0.01194854 -0.06567221 -0.00126908
+v -0.00987234 -0.07490981 -0.00057950
+v -0.01082498 -0.07041964 0.00120491
+v -0.01140001 -0.06793132 0.00120492
+v -0.01186507 -0.06567221 0.00129935
+v -0.01199094 -0.06380598 0.00211446
+v -0.00987234 -0.07490981 0.00068260
+v -0.01128077 -0.06297343 0.00330127
+v -0.01004326 -0.07041965 0.00279927
+v -0.01034005 -0.06793133 0.00314707
+v -0.01032945 -0.05799682 0.00504505
+v -0.01016251 -0.06048045 0.00495420
+v -0.01044075 -0.05550852 0.00509286
+v -0.00845597 -0.04162638 0.00587575
+v -0.00845597 -0.05302488 0.00566895
+v -0.00976105 -0.06464322 0.00467332
+v -0.00993727 -0.06296408 0.00480360
+v -0.00845597 -0.04162634 -0.00614171
+v -0.00364243 -0.05302484 -0.00630190
+v -0.00123500 -0.05302484 -0.00633058
+v -0.00604986 -0.05799678 -0.00602942
+v -0.00604986 -0.06048041 -0.00582745
+v -0.00845597 -0.06048041 -0.00574617
+v -0.00604986 -0.05053654 -0.00631027
+v -0.00745431 -0.04162634 -0.00619788
+v -0.00604986 -0.04556460 -0.00628993
+v -0.00604986 -0.04805291 -0.00630308
+v -0.00845597 -0.06296404 -0.00543066
+v -0.00737349 -0.07204730 -0.00449606
+v -0.00493956 -0.08677136 -0.00223964
+v -0.00748346 -0.07984900 -0.00241649
+v -0.01015854 -0.07307632 -0.00122011
+v -0.00720257 -0.08150943 -0.00212369
+v -0.00730459 -0.08425968 -0.00005366
+v -0.01013469 -0.07301084 0.00134354
+v -0.00959278 -0.07391356 0.00218733
+v -0.00981272 -0.07225781 0.00252198
+v -0.00730459 -0.08425968 0.00021645
+v -0.01048580 -0.06546174 0.00362874
+v -0.00845597 -0.05799682 0.00551236
+v -0.00845597 -0.05550852 0.00560320
+v -0.00845597 -0.06048045 0.00537012
+v 0.00042252 -0.04805295 0.00567254
+v 0.00042252 -0.04556464 0.00567972
+v 0.00042252 -0.04162638 0.00568691
+v -0.00123500 -0.05302488 0.00566178
+v 0.00042252 -0.05302488 0.00565460
+v 0.00042252 -0.05131300 0.00566178
+v -0.00604986 -0.05550852 0.00560798
+v -0.00364243 -0.05550852 0.00561157
+v -0.00746094 -0.06995660 0.00466493
+v -0.00845597 -0.06296408 0.00514781
+v -0.00779085 -0.07787521 0.00285780
+v -0.00503628 -0.08699589 0.00246695
+v -0.00364243 -0.05053654 -0.00632341
+v 0.00042252 -0.05302484 -0.00633178
+v -0.00604986 -0.06545235 -0.00533027
+v -0.00604986 -0.06793130 -0.00507930
+v -0.00604986 -0.04162634 -0.00622298
+v -0.00604986 -0.04308097 -0.00625048
+v -0.00364243 -0.04556460 -0.00630427
+v -0.00364243 -0.04308097 -0.00628394
+v -0.00123500 -0.04308097 -0.00630306
+v -0.00604986 -0.07227649 -0.00452595
+v -0.00604986 -0.07352064 -0.00433831
+v -0.00604986 -0.07041962 -0.00477215
+v -0.00443210 -0.08677136 -0.00223964
+v -0.00364243 -0.08940935 -0.00042179
+v -0.00510385 -0.08934387 -0.00032259
+v -0.00541654 -0.08768812 -0.00106598
+v -0.00751658 -0.08284714 0.00071963
+v -0.00722510 -0.08154219 0.00229965
+v -0.00748346 -0.07988644 0.00257455
+v -0.00510385 -0.08934387 0.00054988
+v -0.00547484 -0.08781908 0.00126341
+v -0.00655732 -0.08518578 0.00106383
+v -0.00604986 -0.05799682 0.00553268
+v -0.00604986 -0.06048045 0.00541076
+v -0.00604986 -0.06793134 0.00492071
+v -0.00604986 -0.06545239 0.00508804
+v 0.00042252 -0.04162634 -0.00628393
+v 0.00042252 -0.05550852 0.00542751
+v -0.00364243 -0.07025595 0.00466971
+v -0.00364243 -0.07150010 0.00458007
+v -0.00239565 -0.06982564 0.00461952
+v -0.00604986 -0.07159833 0.00458605
+v -0.00604986 -0.07035417 0.00470437
+v -0.00604986 -0.07539158 0.00408286
+v -0.00604986 -0.07290329 0.00443067
+v -0.00364243 -0.08940935 0.00068374
+v -0.00342779 -0.08781909 0.00188968
+v -0.00408761 -0.08699589 0.00246695
+v -0.00364243 -0.08284715 0.00312431
+v -0.00123500 -0.04556460 -0.00631144
+v 0.00042252 -0.05550848 -0.00603300
+v -0.00234398 -0.07193505 -0.00449367
+v -0.00364243 -0.07041962 -0.00472793
+v 0.00042252 -0.04556460 -0.00631144
+v -0.00364243 -0.07219230 -0.00452476
+v -0.00364243 -0.04162634 -0.00625883
+v -0.00123500 -0.04162634 -0.00628154
+v 0.00042252 -0.04308097 -0.00630306
+v 0.00042252 -0.04479285 -0.00630904
+v -0.00364243 -0.08284713 -0.00284677
+v -0.00363448 -0.08538221 -0.00240456
+v -0.00234530 -0.08458240 -0.00227429
+v -0.00282626 -0.08624283 -0.00193487
+v -0.00363448 -0.08768811 -0.00152971
+v -0.00231483 -0.08924097 -0.00018993
+v 0.00042252 -0.05628962 0.00527691
+v -0.00231218 -0.08486773 0.00246457
+v -0.00248310 -0.08652348 0.00228767
+v -0.00231483 -0.08924097 0.00041244
+v -0.00342779 -0.08555061 0.00265819
+v 0.00042252 -0.05812307 -0.00517487
+v 0.00042252 -0.05918014 -0.00357813
+v 0.00042252 -0.05927836 -0.00330922
+v 0.00042252 -0.05943272 -0.00176147
+v 0.00042252 -0.05947482 -0.00105154
+v 0.00042252 -0.05794537 0.00495541
+v 0.00042252 -0.05947482 0.00120495
+v 0.00042252 -0.05901646 0.00346382
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 8 9
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 15 16
+f 4 16 5
+f 4 14 17
+f 4 17 15
+f 5 16 18
+f 5 18 6
+f 6 18 7
+f 7 18 8
+f 8 18 35
+f 8 35 66
+f 8 66 97
+f 8 97 133
+f 8 133 153
+f 8 153 152
+f 8 152 111
+f 8 111 77
+f 8 77 70
+f 8 70 37
+f 8 37 20
+f 8 20 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 21 22
+f 10 22 11
+f 10 20 23
+f 10 23 24
+f 10 24 21
+f 11 22 12
+f 12 22 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 31
+f 14 31 32
+f 14 32 17
+f 15 33 34
+f 15 34 16
+f 15 17 33
+f 16 34 35
+f 16 35 18
+f 17 36 33
+f 17 32 36
+f 20 37 23
+f 21 24 38
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 40 25
+f 23 41 24
+f 23 37 41
+f 24 41 38
+f 25 40 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 27
+f 25 27 26
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 51
+f 27 51 52
+f 27 52 53
+f 27 53 29
+f 27 29 28
+f 29 53 52
+f 29 52 54
+f 29 54 59
+f 29 59 30
+f 30 55 56
+f 30 56 57
+f 30 57 58
+f 30 58 31
+f 30 59 55
+f 31 58 32
+f 32 60 36
+f 32 58 61
+f 32 61 62
+f 32 62 60
+f 33 63 34
+f 33 36 64
+f 33 64 63
+f 34 63 65
+f 34 65 35
+f 35 65 67
+f 35 67 66
+f 36 60 68
+f 36 68 69
+f 36 69 64
+f 37 70 41
+f 38 41 71
+f 38 71 72
+f 38 72 73
+f 38 73 39
+f 39 73 74
+f 39 74 75
+f 39 75 40
+f 40 75 42
+f 41 76 71
+f 41 70 77
+f 41 77 78
+f 41 78 79
+f 41 79 76
+f 42 80 43
+f 42 75 80
+f 43 80 81
+f 43 81 44
+f 44 48 47
+f 44 47 46
+f 44 46 45
+f 44 81 82
+f 44 82 83
+f 44 83 49
+f 44 49 48
+f 49 83 50
+f 50 54 84
+f 50 84 51
+f 50 83 85
+f 50 85 86
+f 50 86 54
+f 51 84 54
+f 51 54 52
+f 54 86 90
+f 54 90 59
+f 55 58 56
+f 55 59 87
+f 55 87 88
+f 55 88 58
+f 56 58 57
+f 58 88 89
+f 58 89 61
+f 59 90 88
+f 59 88 87
+f 60 91 68
+f 60 62 91
+f 61 68 62
+f 61 89 68
+f 62 68 91
+f 63 92 93
+f 63 93 65
+f 63 64 92
+f 64 94 92
+f 64 69 94
+f 65 93 67
+f 66 95 96
+f 66 96 97
+f 66 67 98
+f 66 98 99
+f 66 99 100
+f 66 100 95
+f 67 93 101
+f 67 101 102
+f 67 102 98
+f 68 103 104
+f 68 104 69
+f 68 89 105
+f 68 105 106
+f 68 106 103
+f 69 104 94
+f 71 76 72
+f 72 76 107
+f 72 107 108
+f 72 108 73
+f 73 108 74
+f 74 109 75
+f 74 108 109
+f 75 109 110
+f 75 110 81
+f 75 81 80
+f 76 79 107
+f 77 111 112
+f 77 112 78
+f 78 113 79
+f 78 112 114
+f 78 114 115
+f 78 115 113
+f 79 113 107
+f 81 116 117
+f 81 117 82
+f 81 110 118
+f 81 118 116
+f 82 119 120
+f 82 120 121
+f 82 121 122
+f 82 122 85
+f 82 85 83
+f 82 117 119
+f 85 122 86
+f 86 122 121
+f 86 121 126
+f 86 126 90
+f 88 90 123
+f 88 123 124
+f 88 124 89
+f 89 124 125
+f 89 125 105
+f 90 126 127
+f 90 127 128
+f 90 128 124
+f 90 124 123
+f 92 129 93
+f 92 94 130
+f 92 130 129
+f 93 129 101
+f 94 104 103
+f 94 103 131
+f 94 131 132
+f 94 132 130
+f 95 100 99
+f 95 99 134
+f 95 134 162
+f 95 162 172
+f 95 172 174
+f 95 174 173
+f 95 173 171
+f 95 171 170
+f 95 170 169
+f 95 169 168
+f 95 168 167
+f 95 167 147
+f 95 147 108
+f 95 108 150
+f 95 150 155
+f 95 155 154
+f 95 154 133
+f 95 133 97
+f 95 97 96
+f 98 102 99
+f 99 102 130
+f 99 130 132
+f 99 132 135
+f 99 135 136
+f 99 136 137
+f 99 137 134
+f 101 129 102
+f 102 129 130
+f 103 138 139
+f 103 139 131
+f 103 106 140
+f 103 140 141
+f 103 141 138
+f 105 125 106
+f 106 125 124
+f 106 124 127
+f 106 127 126
+f 106 126 142
+f 106 142 143
+f 106 143 144
+f 106 144 145
+f 106 145 140
+f 107 113 115
+f 107 115 146
+f 107 146 108
+f 108 147 148
+f 108 148 149
+f 108 149 110
+f 108 110 109
+f 108 146 150
+f 110 149 151
+f 110 151 118
+f 111 152 112
+f 112 152 114
+f 114 152 153
+f 114 153 115
+f 115 153 133
+f 115 133 154
+f 115 154 155
+f 115 155 146
+f 116 118 151
+f 116 151 117
+f 117 151 119
+f 119 151 156
+f 119 156 157
+f 119 157 158
+f 119 158 159
+f 119 159 160
+f 119 160 120
+f 120 142 126
+f 120 126 121
+f 120 160 161
+f 120 161 165
+f 120 165 142
+f 124 128 127
+f 131 139 136
+f 131 136 135
+f 131 135 132
+f 134 137 163
+f 134 163 162
+f 136 139 138
+f 136 138 141
+f 136 141 145
+f 136 145 137
+f 137 145 164
+f 137 164 163
+f 140 145 141
+f 142 165 143
+f 143 165 164
+f 143 164 144
+f 144 164 166
+f 144 166 145
+f 145 166 164
+f 146 155 150
+f 147 167 158
+f 147 158 148
+f 148 158 157
+f 148 157 156
+f 148 156 151
+f 148 151 149
+f 158 161 159
+f 158 167 161
+f 159 161 160
+f 161 167 168
+f 161 168 169
+f 161 169 170
+f 161 170 171
+f 161 171 173
+f 161 173 165
+f 162 163 172
+f 163 164 165
+f 163 165 172
+f 165 173 174
+f 165 174 172
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_10.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.00315429 -0.01822426 0.00614240
+v 0.00276657 -0.01822273 0.00599394
+v 0.00276657 -0.01634444 0.00558629
+v -0.00315429 -0.01571629 0.00559481
+v -0.00315429 -0.02072151 0.00613509
+v 0.00276657 -0.02070619 0.00596837
+v 0.00276657 -0.01584192 0.00545851
+v -0.00315429 -0.01561211 0.00553518
+v -0.00315429 -0.02315747 0.00567022
+v 0.00276657 -0.02295831 0.00546945
+v 0.00276657 -0.01470207 0.00450813
+v -0.00315429 -0.01316082 0.00363196
+v -0.00315429 -0.02684819 0.00453485
+v 0.00276657 -0.02317739 0.00529177
+v 0.00276657 -0.01362350 0.00340927
+v -0.00315429 -0.01151845 0.00120548
+v -0.00315429 -0.02706420 0.00222275
+v 0.00276657 -0.02604537 0.00120542
+v 0.00276657 -0.02553368 0.00308067
+v 0.00276657 -0.02545401 0.00329119
+v 0.00276657 -0.01287891 0.00120547
+v 0.00276657 -0.01272417 -0.00105187
+v -0.00315429 -0.01141274 -0.00105065
+v 0.00276657 -0.01277320 -0.00028766
+v -0.00315429 -0.02691863 -0.00329831
+v 0.00276657 -0.02608521 -0.00105192
+v 0.00276657 -0.02605610 0.00091336
+v 0.00276657 -0.01319144 -0.00282489
+v 0.00276657 -0.01346108 -0.00341630
+v -0.00315429 -0.01404019 -0.00485346
+v -0.00315429 -0.02564089 -0.00445071
+v 0.00276657 -0.02434784 -0.00434240
+v 0.00276657 -0.02540037 -0.00335550
+v 0.00276657 -0.02550914 -0.00323016
+v 0.00276657 -0.01537154 -0.00531954
+v 0.00276657 -0.01561361 -0.00544366
+v -0.00315429 -0.01553088 -0.00556779
+v -0.00315429 -0.02407054 -0.00553131
+v 0.00276657 -0.02310228 -0.00540961
+v -0.00315429 -0.01555692 -0.00557631
+v 0.00276657 -0.01822269 -0.00611175
+v -0.00315429 -0.01808940 -0.00625534
+v -0.00315429 -0.02070462 -0.00626387
+v 0.00276657 -0.02070615 -0.00604605
+v 0.00276657 -0.02282651 -0.00551061
+v -0.00315429 -0.01822422 -0.00628942
+v 0.00276657 -0.02038289 -0.00606186
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 23
+f 1 23 30
+f 1 30 37
+f 1 37 40
+f 1 40 42
+f 1 42 46
+f 1 46 43
+f 1 43 38
+f 1 38 31
+f 1 31 25
+f 1 25 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 14
+f 2 14 20
+f 2 20 19
+f 2 19 18
+f 2 18 27
+f 2 27 26
+f 2 26 34
+f 2 34 33
+f 2 33 32
+f 2 32 39
+f 2 39 45
+f 2 45 44
+f 2 44 47
+f 2 47 41
+f 2 41 36
+f 2 36 35
+f 2 35 29
+f 2 29 28
+f 2 28 22
+f 2 22 24
+f 2 24 21
+f 2 21 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 16
+f 16 22 23
+f 16 21 24
+f 16 24 22
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 31 38 39
+f 31 39 32
+f 36 40 37
+f 36 41 42
+f 36 42 40
+f 38 43 44
+f 38 44 45
+f 38 45 39
+f 41 46 42
+f 41 47 43
+f 41 43 46
+f 43 47 44
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_11.obj

@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
+v 0.01080234 -0.02816563 0.01097303
+v 0.01212894 -0.02927506 0.01093465
+v 0.01320716 -0.02816563 0.01093253
+v 0.01320331 -0.01258057 0.01011821
+v 0.01144542 -0.01258057 0.01008837
+v 0.01080234 -0.01258057 0.01007131
+v 0.00904638 -0.01258057 0.00999244
+v 0.00839559 -0.01258057 0.00995619
+v 0.00839559 -0.02816563 0.01073213
+v 0.01080041 -0.03065012 0.01093678
+v 0.01320716 -0.02927506 0.01088348
+v 0.01561391 -0.02816563 0.01035480
+v 0.01561006 -0.01258057 0.00988158
+v 0.01385410 -0.01258057 0.01006279
+v 0.00706707 -0.01258057 0.00961297
+v 0.00659534 -0.01258056 0.00948079
+v 0.00599077 -0.02816563 0.00999452
+v 0.00839559 -0.02927506 0.01067243
+v 0.00839559 -0.03065012 0.01059569
+v 0.01080041 -0.03313460 0.01033133
+v 0.01320716 -0.03065012 0.01081953
+v 0.01453569 -0.02927506 0.01056371
+v 0.01561583 -0.02927506 0.01028017
+v 0.01730826 -0.03065011 0.00940399
+v 0.01740260 -0.02927505 0.00944236
+v 0.01747384 -0.02816562 0.00947222
+v 0.01744689 -0.02568114 0.00946796
+v 0.01716000 -0.01258056 0.00936354
+v 0.01605290 -0.01258057 0.00973662
+v 0.00564612 -0.01258056 0.00825285
+v 0.00276765 -0.01584320 0.00545800
+v 0.00276765 -0.01634634 0.00558378
+v 0.00276765 -0.01822455 0.00599308
+v 0.00484323 -0.02221536 0.00905653
+v 0.00472578 -0.02387169 0.00915885
+v 0.00462759 -0.02568114 0.00923346
+v 0.00454672 -0.02816562 0.00929101
+v 0.00516477 -0.02927506 0.00954043
+v 0.00591760 -0.02927506 0.00985167
+v 0.00581941 -0.03076575 0.00965768
+v 0.00042252 -0.04450696 0.00567961
+v 0.00839559 -0.03313460 0.00994973
+v 0.00701316 -0.04450696 0.00573504
+v 0.01320716 -0.03313460 0.01019063
+v 0.01561969 -0.03313148 0.00956600
+v 0.01561583 -0.03065012 0.01018637
+v 0.01705218 -0.03230331 0.00926541
+v 0.01852319 -0.03042197 0.00777100
+v 0.01867914 -0.02816562 0.00813555
+v 0.01806494 -0.02927505 0.00870474
+v 0.01865026 -0.02568114 0.00815475
+v 0.01747962 -0.01258056 0.00895423
+v 0.00534383 -0.01258056 0.00785207
+v 0.00276765 -0.01470252 0.00450508
+v 0.00042252 -0.03325334 0.00501239
+v 0.00042252 -0.03411587 0.00523835
+v 0.00042252 -0.03561907 0.00562208
+v 0.00458908 -0.02927505 0.00925902
+v 0.00042252 -0.03639723 0.00566046
+v 0.00042252 -0.03810355 0.00571374
+v 0.00461796 -0.03001570 0.00923770
+v 0.00042252 -0.04450692 -0.00630559
+v 0.00848031 -0.04450696 0.00552399
+v 0.01320716 -0.03490029 0.00940397
+v 0.01481872 -0.03464091 0.00927393
+v 0.01642450 -0.03395963 0.00849795
+v 0.01733522 -0.03313147 0.00783708
+v 0.01923366 -0.02944068 0.00687776
+v 0.01923943 -0.02927505 0.00689481
+v 0.01927794 -0.02816562 0.00700781
+v 0.01928564 -0.02568114 0.00702487
+v 0.01823823 -0.01258056 0.00792455
+v 0.00477007 -0.01258055 0.00572023
+v 0.00276765 -0.01288055 0.00120499
+v 0.00276765 -0.01362434 0.00340718
+v 0.00042252 -0.03279081 0.00346254
+v 0.00839559 -0.03065004 -0.01043065
+v 0.01080041 -0.03065004 -0.01079946
+v 0.01080041 -0.03313452 -0.01016205
+v 0.00117535 -0.04450692 -0.00630559
+v 0.00042252 -0.04307560 -0.00630133
+v 0.00456020 -0.02816556 -0.00913235
+v 0.00599077 -0.02816555 -0.00982946
+v 0.01013615 -0.04450696 0.00506991
+v 0.01686734 -0.03442840 0.00699286
+v 0.01770297 -0.03313458 0.00572016
+v 0.01891404 -0.03042196 0.00583742
+v 0.01923366 -0.02944067 0.00667097
+v 0.02009239 -0.01258053 -0.00104836
+v 0.02007698 -0.01258053 0.00059528
+v 0.02005580 -0.01258053 0.00120499
+v 0.01899106 -0.01258055 0.00572023
+v 0.00442927 -0.01258052 -0.00189684
+v 0.00276765 -0.01272742 -0.00104836
+v 0.00276765 -0.01277429 -0.00028517
+v 0.00042252 -0.03262829 0.00110046
+v 0.00839559 -0.02927498 -0.01050314
+v 0.00947381 -0.02927498 -0.01066942
+v 0.01080041 -0.02927498 -0.01080372
+v 0.01080234 -0.02927498 -0.01080372
+v 0.01320716 -0.02816555 -0.01076747
+v 0.01320716 -0.02927498 -0.01072911
+v 0.01320716 -0.03065004 -0.01067581
+v 0.01320716 -0.03313452 -0.00998937
+v 0.00598884 -0.04450692 -0.00629920
+v 0.00496646 -0.04450692 -0.00630133
+v 0.00042252 -0.04059112 -0.00626934
+v 0.00462759 -0.02568108 -0.00907905
+v 0.00042252 -0.03810351 -0.00619258
+v 0.00657802 -0.01258050 -0.00934975
+v 0.00839559 -0.02816555 -0.01056069
+v 0.01037683 -0.04450696 0.00460943
+v 0.01070029 -0.04450695 0.00335591
+v 0.01072340 -0.04450693 -0.00326346
+v 0.01772607 -0.03313454 -0.00556794
+v 0.01881392 -0.03065006 -0.00556793
+v 0.01919322 -0.02834058 -0.00534834
+v 0.01926832 -0.02763118 -0.00680225
+v 0.01927602 -0.02568108 -0.00682143
+v 0.01924906 -0.02377476 -0.00675321
+v 0.01917012 -0.01258051 -0.00577465
+v 0.00439654 -0.01258051 -0.00495390
+v 0.00276765 -0.01319305 -0.00282419
+v 0.00042252 -0.03276579 -0.00330818
+v 0.00042252 -0.03273141 -0.00270914
+v 0.00042252 -0.03263141 -0.00095037
+v 0.00532266 -0.01258050 -0.00770823
+v 0.01080234 -0.02816555 -0.01080585
+v 0.01320331 -0.01258049 -0.01002341
+v 0.01561006 -0.01258049 -0.00983581
+v 0.01561391 -0.02816555 -0.01019188
+v 0.01561583 -0.02927498 -0.01009595
+v 0.01561583 -0.03065004 -0.00997657
+v 0.01553882 -0.03303453 -0.00934982
+v 0.01468394 -0.03456272 -0.00907909
+v 0.00851304 -0.04450692 -0.00574492
+v 0.00472386 -0.02383725 -0.00900656
+v 0.00042252 -0.03733160 -0.00610731
+v 0.00839559 -0.01258049 -0.00985500
+v 0.00483360 -0.02217780 -0.00890849
+v 0.00276765 -0.01822451 -0.00610937
+v 0.00276765 -0.01561502 -0.00544210
+v 0.01013423 -0.04450692 -0.00494761
+v 0.01685579 -0.03441585 -0.00677244
+v 0.01689815 -0.03446585 -0.00556795
+v 0.01726012 -0.03303453 -0.00764435
+v 0.01820550 -0.03065005 -0.00782554
+v 0.01850586 -0.02927499 -0.00772961
+v 0.01870995 -0.02834057 -0.00766138
+v 0.01861175 -0.02568108 -0.00794917
+v 0.01852319 -0.01258050 -0.00777219
+v 0.00276765 -0.01346181 -0.00341471
+v 0.00042252 -0.03323142 -0.00498381
+v 0.00276765 -0.01537439 -0.00531632
+v 0.01080234 -0.01258049 -0.00997864
+v 0.01733907 -0.01258050 -0.00928793
+v 0.01740645 -0.02568108 -0.00932421
+v 0.01738335 -0.02816556 -0.00931569
+v 0.01729671 -0.02927499 -0.00926880
+v 0.01719081 -0.03065005 -0.00920911
+v 0.01696169 -0.03214074 -0.00905989
+v 0.00042252 -0.03561903 -0.00589625
+v 0.00042252 -0.03493150 -0.00563616
+v 0.01628780 -0.03380019 -0.00827964
+v 0.01817084 -0.01258050 -0.00822414
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 13
+f 4 13 29
+f 4 29 28
+f 4 28 52
+f 4 52 72
+f 4 72 92
+f 4 92 91
+f 4 91 90
+f 4 90 89
+f 4 89 121
+f 4 121 151
+f 4 151 165
+f 4 165 156
+f 4 156 130
+f 4 130 129
+f 4 129 155
+f 4 155 139
+f 4 139 110
+f 4 110 127
+f 4 127 122
+f 4 122 93
+f 4 93 73
+f 4 73 53
+f 4 53 30
+f 4 30 16
+f 4 16 15
+f 4 15 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 18 19
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 17 37 38
+f 17 38 39
+f 17 39 19
+f 17 19 18
+f 17 36 37
+f 19 40 41
+f 19 41 42
+f 19 42 20
+f 19 39 40
+f 20 42 41
+f 20 41 43
+f 20 43 44
+f 20 44 21
+f 21 44 45
+f 21 45 46
+f 21 46 23
+f 21 23 22
+f 23 46 24
+f 24 46 47
+f 24 47 48
+f 24 48 49
+f 24 49 50
+f 24 50 25
+f 25 50 49
+f 25 49 26
+f 26 49 51
+f 26 51 27
+f 27 51 28
+f 28 51 52
+f 30 53 31
+f 31 54 55
+f 31 55 56
+f 31 56 57
+f 31 57 32
+f 31 53 54
+f 32 57 33
+f 33 35 34
+f 33 57 35
+f 35 57 36
+f 36 57 37
+f 37 58 38
+f 37 57 59
+f 37 59 60
+f 37 60 41
+f 37 41 58
+f 38 58 61
+f 38 61 40
+f 38 40 39
+f 40 61 41
+f 41 60 59
+f 41 59 57
+f 41 57 56
+f 41 56 55
+f 41 55 76
+f 41 76 96
+f 41 96 126
+f 41 126 125
+f 41 125 124
+f 41 124 153
+f 41 153 163
+f 41 163 162
+f 41 162 138
+f 41 138 109
+f 41 109 107
+f 41 107 81
+f 41 81 62
+f 41 62 80
+f 41 80 106
+f 41 106 105
+f 41 105 136
+f 41 136 143
+f 41 143 114
+f 41 114 113
+f 41 113 112
+f 41 112 84
+f 41 84 63
+f 41 63 43
+f 41 61 58
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 44 65 45
+f 45 47 46
+f 45 65 47
+f 47 65 66
+f 47 66 67
+f 47 67 48
+f 48 67 68
+f 48 68 49
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 51
+f 51 71 72
+f 51 72 52
+f 53 73 74
+f 53 74 75
+f 53 75 54
+f 54 75 55
+f 55 75 74
+f 55 74 76
+f 62 77 78
+f 62 78 79
+f 62 79 80
+f 62 81 82
+f 62 82 83
+f 62 83 77
+f 63 84 65
+f 63 65 64
+f 65 84 66
+f 66 84 85
+f 66 85 67
+f 67 86 68
+f 67 85 86
+f 68 86 87
+f 68 87 88
+f 68 88 89
+f 68 89 90
+f 68 90 69
+f 69 90 70
+f 70 90 91
+f 70 91 71
+f 71 91 92
+f 71 92 72
+f 73 93 94
+f 73 94 95
+f 73 95 74
+f 74 95 76
+f 76 95 96
+f 77 97 98
+f 77 98 78
+f 77 83 97
+f 78 98 99
+f 78 99 100
+f 78 100 101
+f 78 101 102
+f 78 102 103
+f 78 103 79
+f 79 103 104
+f 79 104 105
+f 79 105 106
+f 79 106 80
+f 81 107 82
+f 82 108 83
+f 82 107 109
+f 82 109 108
+f 83 108 110
+f 83 110 111
+f 83 111 97
+f 84 112 85
+f 85 112 113
+f 85 113 86
+f 86 113 114
+f 86 114 115
+f 86 115 87
+f 87 115 116
+f 87 116 88
+f 88 116 117
+f 88 117 118
+f 88 118 89
+f 89 118 119
+f 89 119 120
+f 89 120 121
+f 93 122 94
+f 94 123 124
+f 94 124 125
+f 94 125 126
+f 94 126 96
+f 94 96 95
+f 94 122 127
+f 94 127 123
+f 97 111 98
+f 98 111 128
+f 98 128 99
+f 99 128 100
+f 100 128 101
+f 101 128 129
+f 101 129 130
+f 101 130 131
+f 101 131 102
+f 102 131 103
+f 103 131 132
+f 103 132 133
+f 103 133 134
+f 103 134 104
+f 104 134 135
+f 104 135 105
+f 105 135 136
+f 108 137 110
+f 108 109 137
+f 109 138 137
+f 110 139 111
+f 110 137 140
+f 110 140 141
+f 110 141 142
+f 110 142 127
+f 111 139 128
+f 114 143 144
+f 114 144 145
+f 114 145 115
+f 115 146 116
+f 115 145 144
+f 115 144 146
+f 116 146 147
+f 116 147 118
+f 116 118 117
+f 118 147 148
+f 118 148 149
+f 118 149 150
+f 118 150 119
+f 119 150 151
+f 119 151 120
+f 120 151 121
+f 123 152 153
+f 123 153 124
+f 123 127 152
+f 127 142 154
+f 127 154 152
+f 128 139 155
+f 128 155 129
+f 130 156 131
+f 131 156 157
+f 131 157 158
+f 131 158 159
+f 131 159 160
+f 131 160 132
+f 132 160 133
+f 133 160 161
+f 133 161 134
+f 134 161 135
+f 135 143 136
+f 135 161 143
+f 137 138 162
+f 137 162 140
+f 140 162 141
+f 141 162 142
+f 142 162 163
+f 142 163 153
+f 142 153 154
+f 143 161 164
+f 143 164 144
+f 144 164 161
+f 144 161 146
+f 146 161 147
+f 147 160 148
+f 147 161 160
+f 148 160 149
+f 149 158 150
+f 149 160 158
+f 150 158 157
+f 150 157 156
+f 150 156 165
+f 150 165 151
+f 152 154 153
+f 158 160 159
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_12.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01320785 -0.00381731 -0.01013452
+v 0.01320785 -0.00579366 -0.01012106
+v 0.01129565 -0.00381731 -0.01009121
+v 0.01561661 -0.00381731 -0.00999304
+v 0.01320785 -0.00827868 -0.01008834
+v 0.01080223 -0.01258049 -0.00998249
+v 0.01080223 -0.01076455 -0.01000366
+v 0.01080223 -0.00827868 -0.01003252
+v 0.01080223 -0.00579366 -0.01006042
+v 0.01080223 -0.00381731 -0.01007870
+v 0.01813258 -0.00381732 -0.00934724
+v 0.01561661 -0.01076455 -0.00988143
+v 0.01320785 -0.01258049 -0.01002484
+v 0.00839504 -0.01258049 -0.00985930
+v 0.00839504 -0.01076455 -0.00985255
+v 0.00839504 -0.00827868 -0.00984003
+v 0.00839504 -0.00579366 -0.00982270
+v 0.00839504 -0.00381731 -0.00980729
+v 0.01863388 -0.00381732 -0.00914609
+v 0.01733964 -0.01258050 -0.00929242
+v 0.01686198 -0.01258050 -0.00944449
+v 0.01561661 -0.01258049 -0.00984005
+v 0.00657743 -0.01258050 -0.00935305
+v 0.00670512 -0.00827869 -0.00931069
+v 0.00676975 -0.00579367 -0.00928084
+v 0.00681862 -0.00381732 -0.00925485
+v 0.01914779 -0.00431398 -0.00888913
+v 0.01944258 -0.00381732 -0.00840501
+v 0.01817356 -0.01258050 -0.00822796
+v 0.00532102 -0.01258050 -0.00771305
+v 0.00593268 -0.00381732 -0.00782562
+v 0.01852353 -0.01258050 -0.00777465
+v 0.01965855 -0.00381732 -0.00792186
+v 0.00439724 -0.01258051 -0.00495854
+v 0.00550074 -0.00381733 -0.00556772
+v 0.01924553 -0.00981414 -0.00675060
+v 0.01919193 -0.01147053 -0.00623184
+v 0.01917144 -0.01258051 -0.00577854
+v 0.02021187 -0.00381733 -0.00556772
+v 0.00442877 -0.01258052 -0.00190182
+v 0.00619121 -0.00381733 -0.00411925
+v 0.02009207 -0.01258053 -0.00105198
+v 0.02050036 -0.00381735 -0.00105194
+v 0.02022449 -0.01076459 -0.00105197
+v 0.00638511 -0.00381734 -0.00374101
+v 0.01371703 -0.01258053 -0.00030223
+v 0.01372333 -0.01242442 -0.00030223
+v 0.01374540 -0.01197751 -0.00030222
+v 0.01380531 -0.01076459 -0.00030222
+v 0.01418838 -0.00924030 -0.00030221
+v 0.01569228 -0.00381735 -0.00030219
+v 0.02008576 -0.01258053 -0.00030223
+v 0.02041838 -0.00381735 -0.00064001
+v 0.02020399 -0.01076459 -0.00030222
+v 0.02015670 -0.01158979 -0.00030222
+v 0.02032222 -0.00381735 -0.00030219
+f 1 2 3
+f 1 3 10
+f 1 10 18
+f 1 18 26
+f 1 26 31
+f 1 31 35
+f 1 35 41
+f 1 41 45
+f 1 45 51
+f 1 51 56
+f 1 56 53
+f 1 53 43
+f 1 43 39
+f 1 39 33
+f 1 33 28
+f 1 28 19
+f 1 19 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 4 5
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 22
+f 6 22 21
+f 6 21 20
+f 6 20 29
+f 6 29 32
+f 6 32 38
+f 6 38 42
+f 6 42 52
+f 6 52 46
+f 6 46 40
+f 6 40 34
+f 6 34 30
+f 6 30 23
+f 6 23 14
+f 6 14 7
+f 7 14 8
+f 8 14 9
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 13
+f 14 23 15
+f 15 23 16
+f 16 23 17
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 19 27 20
+f 19 28 27
+f 20 27 29
+f 23 26 25
+f 23 25 24
+f 23 30 26
+f 26 30 31
+f 27 32 29
+f 27 28 32
+f 28 33 32
+f 30 34 31
+f 31 34 35
+f 32 33 36
+f 32 36 37
+f 32 37 38
+f 33 37 36
+f 33 39 37
+f 34 40 35
+f 35 40 41
+f 37 39 38
+f 38 39 42
+f 39 43 44
+f 39 44 42
+f 40 45 41
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 40 51 45
+f 42 44 52
+f 43 53 54
+f 43 54 44
+f 44 54 55
+f 44 55 52
+f 46 52 55
+f 46 55 54
+f 46 54 56
+f 46 56 51
+f 46 51 50
+f 46 50 49
+f 46 49 48
+f 46 48 47
+f 53 56 54
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_13.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01371714 -0.01258053 -0.00030223
+v 0.00586630 -0.01258054 0.00257915
+v 0.01372331 -0.01242442 -0.00030223
+v 0.02008515 -0.01258053 -0.00030223
+v 0.00552992 -0.01258054 0.00343037
+v 0.00546203 -0.00381737 0.00572129
+v 0.00635389 -0.00381736 0.00386014
+v 0.01569219 -0.00381735 -0.00030219
+v 0.01418930 -0.00924030 -0.00030221
+v 0.01380509 -0.01076459 -0.00030222
+v 0.01374491 -0.01197751 -0.00030222
+v 0.02015767 -0.01158979 -0.00030222
+v 0.02007743 -0.01258053 0.00059846
+v 0.00476922 -0.01258055 0.00572125
+v 0.00583852 -0.00381738 0.00751649
+v 0.02032277 -0.00381735 -0.00030219
+v 0.02020396 -0.01076459 -0.00030222
+v 0.02053262 -0.00381737 0.00572129
+v 0.02006046 -0.01258053 0.00120647
+v 0.00534322 -0.01258056 0.00785240
+v 0.00593882 -0.00381738 0.00798023
+v 0.02042615 -0.00381737 0.00610156
+v 0.01923649 -0.00959545 0.00687340
+v 0.01899269 -0.01258055 0.00572125
+v 0.00564565 -0.01258056 0.00825534
+v 0.00683068 -0.00381738 0.00939206
+v 0.00663626 -0.00381738 0.00909733
+v 0.01973180 -0.00381738 0.00801217
+v 0.01960064 -0.00579373 0.00757625
+v 0.01823816 -0.01258056 0.00792660
+v 0.00659460 -0.01258056 0.00948374
+v 0.00678285 -0.00579373 0.00941782
+v 0.00806509 -0.00381739 0.00980222
+v 0.01908065 -0.00381738 0.00901386
+v 0.01748209 -0.01258056 0.00895508
+v 0.00706522 -0.01258057 0.00961359
+v 0.00839529 -0.00579374 0.00992484
+v 0.00839529 -0.00381739 0.00990630
+v 0.00665015 -0.01076462 0.00946932
+v 0.00671804 -0.00827875 0.00944563
+v 0.01803140 -0.00381738 0.00946832
+v 0.01716114 -0.01258056 0.00936626
+v 0.00839529 -0.00827876 0.00994235
+v 0.00839529 -0.01258057 0.00995676
+v 0.00839529 -0.01076463 0.00995264
+v 0.01031017 -0.00381739 0.01011550
+v 0.01761324 -0.00381739 0.00958993
+v 0.01561659 -0.01076463 0.00994543
+v 0.01561659 -0.01258057 0.00988256
+v 0.01605480 -0.01258057 0.00973828
+v 0.00904490 -0.01258057 0.00999592
+v 0.01080239 -0.00381739 0.01015981
+v 0.01561659 -0.00381739 0.01008664
+v 0.01385755 -0.01258057 0.01006393
+v 0.01080239 -0.01258057 0.01007527
+v 0.01080239 -0.01076463 0.01009692
+v 0.01080239 -0.00827876 0.01012372
+v 0.01080239 -0.00579374 0.01014537
+v 0.01320794 -0.00579374 0.01021339
+v 0.01320794 -0.00381739 0.01022577
+v 0.01512282 -0.00381739 0.01012787
+v 0.01320794 -0.01258057 0.01011752
+v 0.01145200 -0.01258057 0.01008867
+v 0.01320794 -0.00827876 0.01018246
+v 0.01320794 -0.01076463 0.01014639
+f 1 2 3
+f 1 3 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 16
+f 1 16 17
+f 1 17 12
+f 1 12 4
+f 1 4 13
+f 1 13 19
+f 1 19 24
+f 1 24 30
+f 1 30 35
+f 1 35 42
+f 1 42 50
+f 1 50 49
+f 1 49 54
+f 1 54 62
+f 1 62 63
+f 1 63 55
+f 1 55 51
+f 1 51 44
+f 1 44 36
+f 1 36 31
+f 1 31 25
+f 1 25 20
+f 1 20 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 4 12 13
+f 5 14 6
+f 6 14 15
+f 6 15 21
+f 6 21 27
+f 6 27 26
+f 6 26 33
+f 6 33 38
+f 6 38 46
+f 6 46 52
+f 6 52 60
+f 6 60 61
+f 6 61 53
+f 6 53 47
+f 6 47 41
+f 6 41 34
+f 6 34 28
+f 6 28 22
+f 6 22 18
+f 6 18 16
+f 6 16 8
+f 6 8 7
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 14 21 15
+f 16 18 17
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 23 30 24
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 28 34 30
+f 28 30 29
+f 30 34 35
+f 31 36 37
+f 31 37 38
+f 31 38 33
+f 31 33 39
+f 31 39 40
+f 31 40 32
+f 32 40 33
+f 33 40 39
+f 34 41 42
+f 34 42 35
+f 36 43 37
+f 36 44 45
+f 36 45 43
+f 37 43 46
+f 37 46 38
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 43 45 46
+f 44 51 52
+f 44 52 46
+f 44 46 45
+f 47 53 48
+f 48 53 54
+f 48 54 49
+f 51 55 56
+f 51 56 57
+f 51 57 58
+f 51 58 52
+f 52 58 59
+f 52 59 60
+f 53 61 54
+f 54 61 62
+f 55 63 64
+f 55 64 59
+f 55 59 56
+f 56 59 57
+f 57 59 58
+f 59 64 61
+f 59 61 60
+f 61 64 65
+f 61 65 62
+f 62 65 63
+f 63 65 64
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_14.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.00315429 -0.01520782 0.00514710
+v -0.00315429 -0.01324701 0.00368741
+v -0.00315598 -0.01561095 0.00553383
+v -0.00315598 -0.01571568 0.00559333
+v -0.00315598 -0.01822089 0.00614071
+v -0.00315598 -0.02072365 0.00613475
+v -0.00315598 -0.02078820 0.00612086
+v -0.00315429 -0.01520778 -0.00539998
+v -0.00315598 -0.01151759 0.00120039
+v -0.00315598 -0.01315810 0.00362990
+v -0.00315429 -0.01324699 -0.00363485
+v -0.00315598 -0.01141407 -0.00105063
+v -0.00565465 -0.00834623 0.00797330
+v -0.00673971 -0.00834623 0.00946274
+v -0.00500260 -0.02026330 0.00894110
+v -0.00457296 -0.02078821 0.00829255
+v -0.00318294 -0.02078820 0.00618036
+v -0.00315598 -0.02078816 -0.00624091
+v -0.00315598 -0.02070656 -0.00626272
+v -0.00315598 -0.01822085 -0.00628850
+v -0.00315598 -0.01808810 -0.00625478
+v -0.00315598 -0.01555610 -0.00557451
+v -0.00315598 -0.01553052 -0.00556657
+v -0.00315429 -0.01403983 -0.00485258
+v -0.00407424 -0.00834620 0.00120040
+v -0.00407592 -0.00834620 -0.00105062
+v -0.00678689 -0.00834623 0.00947662
+v -0.00592760 -0.02078821 0.00944286
+v -0.00570183 -0.02078821 0.00932584
+v -0.00495374 -0.02078815 -0.00885883
+v -0.00672623 -0.00834617 -0.00932684
+v -0.00669422 -0.00834617 -0.00928321
+v -0.00564286 -0.00834617 -0.00781756
+v -0.00845829 -0.00834624 0.00996252
+v -0.00845829 -0.01076619 0.00997045
+v -0.00845829 -0.01324704 0.00997242
+v -0.00845829 -0.01573641 0.00996844
+v -0.00845829 -0.01822091 0.00996248
+v -0.00845829 -0.02078822 0.00995256
+v -0.00608261 -0.02078815 -0.00936259
+v -0.00615169 -0.02078815 -0.00939035
+v -0.00840943 -0.00834616 -0.00983852
+v -0.01086598 -0.00834624 0.01012515
+v -0.00853579 -0.02078822 0.00995851
+v -0.00845829 -0.02078814 -0.00985047
+v -0.00845829 -0.01822083 -0.00986038
+v -0.00845829 -0.01520776 -0.00986632
+v -0.00845829 -0.01325061 -0.00986631
+v -0.00845829 -0.01076611 -0.00986035
+v -0.00845829 -0.00834616 -0.00985241
+v -0.01326862 -0.00834624 0.01018267
+v -0.01086430 -0.02078822 0.00998826
+v -0.01086430 -0.02078814 -0.00988221
+v -0.01326862 -0.00834616 -0.01007850
+v -0.01086598 -0.00834616 -0.01002495
+v -0.01080027 -0.00834616 -0.01002099
+v -0.01326862 -0.02078822 0.01000016
+v -0.01567799 -0.00834624 0.00996451
+v -0.01567799 -0.02078822 0.00980381
+v -0.01319111 -0.02078814 -0.00990204
+v -0.01561228 -0.00834616 -0.00986034
+v -0.01326862 -0.02078814 -0.00990006
+v -0.01559880 -0.02078814 -0.00971958
+v -0.01737298 -0.00834623 0.00941117
+v -0.01722640 -0.02078821 0.00935559
+v -0.01573191 -0.02078822 0.00978993
+v -0.01567799 -0.02078814 -0.00971164
+v -0.01567799 -0.00834616 -0.00985241
+v -0.01870066 -0.00834623 0.00792173
+v -0.01726346 -0.02078821 0.00930998
+v -0.01726009 -0.02078815 -0.00923566
+v -0.01735276 -0.00834617 -0.00928916
+v -0.01876132 -0.00834623 0.00783248
+v -0.01826596 -0.02078821 0.00797721
+v -0.01832325 -0.02078815 -0.00782356
+v -0.01872762 -0.00834617 -0.00776996
+v -0.01739488 -0.00834617 -0.00927329
+v -0.01924994 -0.00933028 0.00649774
+v -0.01950267 -0.00834622 0.00585714
+v -0.01895677 -0.02078820 0.00572024
+v -0.01875795 -0.00834617 -0.00772832
+v -0.01893823 -0.02078816 -0.00563997
+v -0.01935103 -0.00834618 -0.00674858
+v -0.01881861 -0.00834617 -0.00763114
+v -0.01952625 -0.00834622 0.00573418
+v -0.02036701 -0.00834620 -0.00105062
+v -0.01934092 -0.02003065 0.00023847
+v -0.01900563 -0.02078818 0.00106152
+v -0.01895845 -0.02078816 -0.00556461
+v -0.01934092 -0.02003065 -0.00001737
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 8
+f 1 8 24
+f 1 24 11
+f 1 11 2
+f 2 9 10
+f 2 10 3
+f 2 11 12
+f 2 12 9
+f 3 13 4
+f 3 10 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 16
+f 7 16 29
+f 7 29 28
+f 7 28 39
+f 7 39 44
+f 7 44 52
+f 7 52 57
+f 7 57 59
+f 7 59 66
+f 7 66 65
+f 7 65 70
+f 7 70 74
+f 7 74 80
+f 7 80 88
+f 7 88 89
+f 7 89 82
+f 7 82 75
+f 7 75 71
+f 7 71 67
+f 7 67 63
+f 7 63 62
+f 7 62 60
+f 7 60 53
+f 7 53 45
+f 7 45 41
+f 7 41 40
+f 7 40 30
+f 7 30 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 9 25 10
+f 9 12 25
+f 10 25 13
+f 11 24 12
+f 12 26 25
+f 12 24 26
+f 13 25 26
+f 13 26 33
+f 13 33 32
+f 13 32 31
+f 13 31 42
+f 13 42 50
+f 13 50 56
+f 13 56 55
+f 13 55 54
+f 13 54 61
+f 13 61 68
+f 13 68 72
+f 13 72 77
+f 13 77 76
+f 13 76 81
+f 13 81 84
+f 13 84 83
+f 13 83 86
+f 13 86 85
+f 13 85 79
+f 13 79 73
+f 13 73 69
+f 13 69 64
+f 13 64 58
+f 13 58 51
+f 13 51 43
+f 13 43 34
+f 13 34 27
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 16
+f 18 30 19
+f 19 30 20
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 22
+f 22 33 23
+f 23 33 24
+f 24 33 26
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 30 40 31
+f 31 40 41
+f 31 41 42
+f 34 43 35
+f 35 43 36
+f 36 43 37
+f 37 43 38
+f 38 44 39
+f 38 43 44
+f 41 45 46
+f 41 46 47
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 43 51 44
+f 44 51 52
+f 45 53 54
+f 45 54 55
+f 45 55 46
+f 46 55 47
+f 47 55 56
+f 47 56 48
+f 48 56 49
+f 49 56 50
+f 51 57 52
+f 51 58 59
+f 51 59 57
+f 53 60 54
+f 54 60 62
+f 54 62 63
+f 54 63 61
+f 58 64 65
+f 58 65 66
+f 58 66 59
+f 61 63 67
+f 61 67 68
+f 64 69 65
+f 65 69 70
+f 67 71 68
+f 68 71 72
+f 69 73 74
+f 69 74 70
+f 71 75 76
+f 71 76 77
+f 71 77 72
+f 73 78 74
+f 73 79 78
+f 74 78 79
+f 74 79 80
+f 75 81 76
+f 75 82 83
+f 75 83 84
+f 75 84 81
+f 79 85 80
+f 80 85 86
+f 80 86 87
+f 80 87 88
+f 82 89 83
+f 83 89 86
+f 86 90 87
+f 86 89 90
+f 87 90 88
+f 88 90 89
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_2.obj

@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v 0.00549953 -0.00381096 -0.00556750
+v 0.00593381 -0.00381095 -0.00782501
+v 0.00619087 -0.00381096 -0.00411902
+v 0.00696012 0.05385581 -0.00411017
+v 0.00673811 0.05385581 -0.00556729
+v 0.00696985 0.05385582 -0.00724800
+v 0.00681795 -0.00381095 -0.00925513
+v 0.00758525 0.05385582 -0.00837676
+v 0.00638562 -0.00381097 -0.00374097
+v 0.00963592 0.05385579 0.00012184
+v 0.00705165 0.05585092 -0.00423546
+v 0.00698738 0.05616962 -0.00556728
+v 0.00706138 0.05577444 -0.00702441
+v 0.00839539 -0.00381094 -0.00980708
+v 0.00878878 0.05385582 -0.00944394
+v 0.01080244 0.05385583 -0.01042688
+v 0.00765146 0.05650109 -0.00779671
+v 0.00894457 0.05634174 -0.00935968
+v 0.01578988 -0.00381098 0.00012163
+v 0.00985209 0.05138263 0.00012183
+v 0.00965929 0.05358808 0.00012184
+v 0.00970018 0.05430199 0.00012184
+v 0.00998257 0.05625885 0.00012185
+v 0.00941001 0.06021720 -0.00424949
+v 0.00723860 0.05741258 -0.00556728
+v 0.01080244 -0.00330738 -0.01008360
+v 0.01080244 -0.00381094 -0.01007820
+v 0.01320950 0.05385583 -0.01091294
+v 0.01080244 0.05634175 -0.01014171
+v 0.00880630 0.05892964 -0.00785935
+v 0.00924448 0.05817111 -0.00918470
+v 0.02020086 -0.00381098 0.00012163
+v 0.01125425 0.05840693 0.00012185
+v 0.01218903 0.05900610 0.00012186
+v 0.01319781 0.05964988 0.00012186
+v 0.01382295 0.05987298 0.00012186
+v 0.01440134 0.06007695 0.00012186
+v 0.01080244 0.06046578 -0.00394489
+v 0.01080244 0.06089285 -0.00556727
+v 0.00930875 0.06030006 -0.00556727
+v 0.00815196 0.05882764 -0.00556727
+v 0.00940028 0.06022996 -0.00712917
+v 0.01129710 -0.00381094 -0.01009116
+v 0.01320950 0.05634175 -0.01061049
+v 0.01561655 0.05385583 -0.01088918
+v 0.01561655 0.00166444 -0.01019915
+v 0.01320950 -0.00381094 -0.01013437
+v 0.01076739 0.05892964 -0.00941260
+v 0.00993972 0.05982839 -0.00863489
+v 0.01154637 0.06024271 -0.00909179
+v 0.02041898 -0.00381098 -0.00063987
+v 0.02487475 0.01409396 0.00012169
+v 0.01443250 0.06007695 0.00012186
+v 0.01320950 0.06130081 -0.00556726
+v 0.01320950 0.06098848 -0.00782478
+v 0.01076739 0.06051680 -0.00785935
+v 0.01320950 0.05882766 -0.00986086
+v 0.01561655 0.05634175 -0.01057053
+v 0.01802361 0.05385583 -0.01037935
+v 0.01802361 0.01906582 -0.01016561
+v 0.01802361 0.01657991 -0.01014834
+v 0.01802361 0.01409400 -0.01012459
+v 0.01802361 0.01160809 -0.01009111
+v 0.01802361 0.00663627 -0.01000040
+v 0.01802361 0.00415036 -0.00995287
+v 0.01561655 -0.00082147 -0.01013760
+v 0.01561655 -0.00381094 -0.00999287
+v 0.01320950 0.06035744 -0.00918037
+v 0.02049882 -0.00381098 -0.00105249
+v 0.02492928 0.01409396 -0.00105243
+v 0.02521556 0.01657987 0.00012170
+v 0.01761659 0.06040204 -0.00393409
+v 0.01561655 0.06120519 -0.00556727
+v 0.01563408 0.05981561 0.00012186
+v 0.01561655 0.06085462 -0.00782478
+v 0.01561655 0.06028095 -0.00911988
+v 0.01561655 0.05882766 -0.00977445
+v 0.01786391 0.05876391 -0.00929702
+v 0.01802361 0.05634175 -0.01002721
+v 0.01973152 0.05634174 -0.00928515
+v 0.02002559 0.05385582 -0.00942018
+v 0.02020476 0.05137629 -0.00945475
+v 0.02031966 0.04889038 -0.00946665
+v 0.02064488 0.04620687 -0.00938564
+v 0.02043066 0.04391857 -0.00953687
+v 0.02043066 0.04143266 -0.00958549
+v 0.02043066 0.03894674 -0.00962331
+v 0.02043066 0.03646083 -0.00964708
+v 0.02043066 0.03397492 -0.00965357
+v 0.02043066 0.03148901 -0.00965033
+v 0.02043066 0.02900310 -0.00963954
+v 0.02043066 0.02652356 -0.00961470
+v 0.02038392 0.02155173 -0.00955532
+v 0.02029434 0.01906582 -0.00954345
+v 0.01966531 0.00415035 -0.00931991
+v 0.01802361 0.00166444 -0.00985567
+v 0.02019697 0.01657990 -0.00952509
+v 0.02009375 0.01409399 -0.00950134
+v 0.01998080 0.01160808 -0.00946679
+v 0.01813266 -0.00381095 -0.00934694
+v 0.01802361 -0.00082147 -0.00968069
+v 0.02021060 -0.00381096 -0.00556750
+v 0.01965752 -0.00381095 -0.00792222
+v 0.02439763 0.01409397 -0.00271801
+v 0.02526424 0.01657987 -0.00105242
+v 0.02532462 0.02403761 0.00012173
+v 0.01801192 0.06057415 -0.00556727
+v 0.02240343 0.05803085 0.00012185
+v 0.01751532 0.06037019 -0.00782478
+v 0.01695445 0.06014072 -0.00901078
+v 0.01943746 0.05789065 -0.00910801
+v 0.02123106 0.05385582 -0.00834327
+v 0.02140828 0.05137629 -0.00866193
+v 0.02152318 0.04889038 -0.00881424
+v 0.02158940 0.04690802 -0.00890066
+v 0.02163614 0.04525075 -0.00895791
+v 0.02165561 0.04391856 -0.00897520
+v 0.02168482 0.04143265 -0.00900545
+v 0.02170624 0.03894673 -0.00902598
+v 0.02171793 0.03646082 -0.00903788
+v 0.02171988 0.03397491 -0.00904005
+v 0.02171403 0.03148900 -0.00903465
+v 0.02170235 0.02900309 -0.00902277
+v 0.02167898 0.02652355 -0.00900010
+v 0.02066825 0.02385916 -0.00945377
+v 0.02165366 0.02457306 -0.00897419
+v 0.02162835 0.02291579 -0.00894827
+v 0.01955431 0.00166443 -0.00922378
+v 0.02158745 0.02155172 -0.00889535
+v 0.01863316 -0.00381095 -0.00914603
+v 0.01930503 -0.00265086 -0.00902073
+v 0.01941409 -0.00082148 -0.00910606
+v 0.01944330 -0.00381095 -0.00840505
+v 0.01968284 -0.00340938 -0.00801188
+v 0.02456511 0.01657988 -0.00297184
+v 0.02537135 0.02403761 -0.00105239
+v 0.02539472 0.04640444 -0.00105231
+v 0.02533630 0.04640444 0.00012181
+v 0.01921545 0.06006422 -0.00556727
+v 0.02360696 0.05669228 0.00012185
+v 0.02362449 0.05671778 -0.00105227
+v 0.02242096 0.05803723 -0.00105227
+v 0.01871885 0.05967541 -0.00782478
+v 0.01984643 0.05843245 -0.00782479
+v 0.02392439 0.05470995 -0.00409289
+v 0.02096231 0.05625250 -0.00771570
+v 0.02412303 0.05305267 -0.00454548
+v 0.02412303 0.05182884 -0.00454548
+v 0.02461769 0.02403762 -0.00305174
+v 0.02149787 0.01906581 -0.00877654
+v 0.02140049 0.01657990 -0.00863181
+v 0.02129728 0.01409399 -0.00845468
+v 0.02118432 0.01160808 -0.00821057
+v 0.02192436 0.01409399 -0.00732592
+v 0.02422041 0.05387493 -0.00332815
+v 0.02412303 0.05537285 -0.00258825
+v 0.02505587 0.04889035 -0.00105230
+v 0.02503055 0.04889035 0.00012182
+v 0.02412888 0.05544933 0.00012184
+v 0.02413667 0.05547483 -0.00105228
+f 1 2 7
+f 1 7 14
+f 1 14 27
+f 1 27 43
+f 1 43 47
+f 1 47 67
+f 1 67 100
+f 1 100 130
+f 1 130 133
+f 1 133 103
+f 1 103 102
+f 1 102 69
+f 1 69 51
+f 1 51 32
+f 1 32 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 8
+f 7 8 15
+f 7 15 16
+f 7 16 14
+f 8 13 17
+f 8 17 18
+f 8 18 15
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 20
+f 10 20 19
+f 10 19 32
+f 10 32 52
+f 10 52 71
+f 10 71 106
+f 10 106 138
+f 10 138 158
+f 10 158 159
+f 10 159 140
+f 10 140 108
+f 10 108 74
+f 10 74 53
+f 10 53 37
+f 10 37 36
+f 10 36 35
+f 10 35 34
+f 10 34 33
+f 10 33 23
+f 10 23 22
+f 10 22 11
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 11 22 23
+f 12 25 13
+f 13 25 17
+f 14 26 27
+f 14 16 28
+f 14 28 26
+f 15 18 16
+f 16 18 29
+f 16 29 28
+f 17 25 30
+f 17 30 31
+f 17 31 18
+f 18 31 29
+f 23 33 24
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 24 33 34
+f 25 41 42
+f 25 42 30
+f 26 28 27
+f 27 28 43
+f 28 29 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 43
+f 29 31 48
+f 29 48 44
+f 30 42 49
+f 30 49 31
+f 31 49 50
+f 31 50 48
+f 32 51 52
+f 37 53 54
+f 37 54 39
+f 37 39 38
+f 39 54 55
+f 39 55 56
+f 39 56 42
+f 39 42 40
+f 40 42 41
+f 42 56 49
+f 44 48 57
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 45 59 60
+f 45 60 61
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 47
+f 47 66 67
+f 48 50 57
+f 49 56 50
+f 50 56 55
+f 50 55 68
+f 50 68 57
+f 51 69 52
+f 52 70 71
+f 52 69 70
+f 53 72 73
+f 53 73 54
+f 53 74 72
+f 54 73 55
+f 55 73 75
+f 55 75 76
+f 55 76 68
+f 57 68 77
+f 57 77 58
+f 58 77 78
+f 58 78 79
+f 58 79 59
+f 59 79 80
+f 59 80 81
+f 59 81 82
+f 59 82 83
+f 59 83 84
+f 59 84 85
+f 59 85 86
+f 59 86 87
+f 59 87 88
+f 59 88 89
+f 59 89 90
+f 59 90 91
+f 59 91 60
+f 60 91 61
+f 61 91 62
+f 62 91 92
+f 62 92 63
+f 63 92 93
+f 63 93 94
+f 63 94 64
+f 64 94 65
+f 65 95 96
+f 65 96 66
+f 65 94 97
+f 65 97 98
+f 65 98 99
+f 65 99 95
+f 66 96 67
+f 67 96 101
+f 67 101 100
+f 68 76 77
+f 69 102 70
+f 70 102 103
+f 70 103 104
+f 70 104 105
+f 70 105 71
+f 71 105 106
+f 72 107 73
+f 72 74 108
+f 72 108 107
+f 73 107 109
+f 73 109 75
+f 75 109 110
+f 75 110 76
+f 76 110 77
+f 77 110 78
+f 78 111 79
+f 78 110 111
+f 79 111 80
+f 80 111 112
+f 80 112 113
+f 80 113 81
+f 81 113 114
+f 81 114 115
+f 81 115 82
+f 82 115 116
+f 82 116 83
+f 83 116 84
+f 84 116 85
+f 85 116 117
+f 85 117 86
+f 86 117 118
+f 86 118 87
+f 87 118 119
+f 87 119 88
+f 88 119 120
+f 88 120 89
+f 89 120 121
+f 89 121 90
+f 90 121 122
+f 90 122 91
+f 91 122 123
+f 91 123 92
+f 92 124 125
+f 92 125 93
+f 92 123 124
+f 93 125 124
+f 93 124 126
+f 93 126 94
+f 94 126 127
+f 94 127 97
+f 95 128 96
+f 95 99 127
+f 95 127 129
+f 95 129 128
+f 96 128 101
+f 97 127 98
+f 98 127 99
+f 100 101 131
+f 100 131 130
+f 101 132 131
+f 101 128 132
+f 103 133 134
+f 103 134 104
+f 104 135 105
+f 104 134 131
+f 104 131 135
+f 105 135 136
+f 105 136 106
+f 106 136 137
+f 106 137 138
+f 107 108 139
+f 107 139 109
+f 108 140 141
+f 108 141 142
+f 108 142 139
+f 109 139 143
+f 109 143 110
+f 110 143 111
+f 111 143 144
+f 111 144 145
+f 111 145 146
+f 111 146 112
+f 112 147 113
+f 112 146 147
+f 113 147 114
+f 114 147 115
+f 115 147 116
+f 116 147 117
+f 117 147 118
+f 118 147 119
+f 119 147 120
+f 120 147 121
+f 121 147 148
+f 121 148 122
+f 122 148 123
+f 123 148 149
+f 123 149 135
+f 123 135 124
+f 124 135 126
+f 126 135 127
+f 127 135 129
+f 128 129 150
+f 128 150 151
+f 128 151 132
+f 129 135 150
+f 130 131 133
+f 131 134 133
+f 131 132 151
+f 131 151 152
+f 131 152 153
+f 131 153 154
+f 131 154 135
+f 135 154 152
+f 135 152 151
+f 135 151 150
+f 135 149 136
+f 136 149 148
+f 136 148 137
+f 137 148 147
+f 137 147 155
+f 137 155 156
+f 137 156 157
+f 137 157 158
+f 137 158 138
+f 139 142 141
+f 139 141 144
+f 139 144 143
+f 140 159 141
+f 141 160 156
+f 141 156 144
+f 141 159 160
+f 144 156 145
+f 145 156 147
+f 145 147 146
+f 147 156 155
+f 152 154 153
+f 156 160 157
+f 157 160 159
+f 157 159 158
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_3.obj

@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v 0.00546081 -0.00381100 0.00572212
+v 0.00635381 -0.00381099 0.00386026
+v 0.00584019 -0.00381101 0.00751691
+v 0.00695109 0.05385894 0.00746389
+v 0.00670790 0.05385895 0.00572233
+v 0.00694915 0.05385895 0.00423625
+v 0.01578968 -0.00381098 0.00012270
+v 0.00963594 0.05385897 0.00012291
+v 0.00965928 0.05359112 0.00012291
+v 0.00985189 0.05138458 0.00012290
+v 0.00593941 -0.00381101 0.00797998
+v 0.00756977 0.05385894 0.00859336
+v 0.00704837 0.05584866 0.00723077
+v 0.00697638 0.05620580 0.00572234
+v 0.00704837 0.05582316 0.00437677
+v 0.02020216 -0.00381098 0.00012270
+v 0.00998224 0.05625684 0.00012292
+v 0.00663591 -0.00381101 0.00909773
+v 0.00877406 0.05385893 0.00957592
+v 0.00890247 0.05634609 0.00950354
+v 0.00760674 0.05654378 0.00798233
+v 0.00683047 -0.00381101 0.00939154
+v 0.00722736 0.05744937 0.00572234
+v 0.00939274 0.06023625 0.00438104
+v 0.02053096 -0.00381100 0.00572212
+v 0.02487535 0.01409649 0.00012276
+v 0.01125462 0.05841236 0.00012292
+v 0.01080326 0.05385893 0.01050632
+v 0.01080326 0.05634608 0.01025403
+v 0.00920597 0.05826566 0.00933960
+v 0.00876239 0.05899267 0.00808879
+v 0.00806589 -0.00381102 0.00980245
+v 0.00811258 0.05883325 0.00572235
+v 0.00938302 0.06024262 0.00740856
+v 0.00928185 0.06031915 0.00572235
+v 0.01080326 0.06093138 0.00572235
+v 0.01080326 0.06049135 0.00407978
+v 0.01440056 0.06007684 0.00012293
+v 0.01382274 0.05987277 0.00012293
+v 0.01319822 0.05964956 0.00012293
+v 0.02063796 -0.00330719 0.00572212
+v 0.02042590 -0.00381100 0.00610215
+v 0.02482476 0.01409649 0.00120645
+v 0.02521582 0.01658364 0.00012277
+v 0.02516913 0.01658364 0.00120646
+v 0.01320989 0.05385893 0.01099706
+v 0.00839663 -0.00381102 0.00990678
+v 0.01320989 0.05634608 0.01071072
+v 0.01068653 0.05899266 0.00956849
+v 0.00980520 0.05992375 0.00891380
+v 0.01068653 0.06053597 0.00808879
+v 0.01320989 0.06103341 0.00798021
+v 0.01320989 0.06133315 0.00572236
+v 0.01443169 0.06007684 0.00012293
+v 0.02107376 -0.00082004 0.00572213
+v 0.01973329 -0.00381101 0.00801192
+v 0.02027026 -0.00082005 0.00797999
+v 0.02429363 0.01409648 0.00266059
+v 0.02532477 0.02403871 0.00012280
+v 0.02528197 0.02403871 0.00120649
+v 0.02447067 0.01658363 0.00287990
+v 0.01561653 0.05385893 0.01099387
+v 0.01030909 -0.00381102 0.01011542
+v 0.01080326 -0.00381102 0.01016013
+v 0.01320989 -0.00381102 0.01022507
+v 0.01561653 0.00166709 0.01030067
+v 0.01561653 0.05634608 0.01067452
+v 0.01320989 0.05883323 0.01001559
+v 0.01141027 0.06026813 0.00926084
+v 0.01320989 0.06039567 0.00935665
+v 0.01561653 0.06031914 0.00930023
+v 0.01561653 0.06091224 0.00798021
+v 0.01561653 0.06124386 0.00572235
+v 0.01802316 0.06035104 0.00418304
+v 0.01505816 0.05994292 0.00012293
+v 0.01908153 -0.00381101 0.00901364
+v 0.01976831 -0.00328169 0.00812901
+v 0.01929554 -0.00243989 0.00916693
+v 0.02059905 0.00166710 0.00798000
+v 0.02169050 0.00728550 0.00698894
+v 0.02161073 0.00562741 0.00668980
+v 0.02533644 0.04640390 0.00012288
+v 0.02452710 0.02403870 0.00295338
+v 0.02528197 0.04640390 0.00120657
+v 0.02409713 0.05212432 0.00466418
+v 0.02228194 0.02900022 0.00798010
+v 0.02224303 0.02652582 0.00798009
+v 0.02165743 0.02447871 0.00913190
+v 0.02163213 0.02282061 0.00910741
+v 0.02204070 0.01658361 0.00773308
+v 0.02197066 0.01409646 0.00758936
+v 0.02188116 0.01160931 0.00741264
+v 0.02177610 0.00912216 0.00718482
+v 0.01802316 0.05385893 0.01047438
+v 0.01802316 0.00663501 0.01014313
+v 0.01802316 0.00912215 0.01017614
+v 0.01802316 0.01160930 0.01020596
+v 0.01802316 0.01409645 0.01023045
+v 0.01802316 0.01658360 0.01024749
+v 0.01512430 -0.00381102 0.01012713
+v 0.01561653 -0.00082006 0.01023679
+v 0.01802316 0.00415424 0.01009842
+v 0.01802316 0.05634608 0.01013268
+v 0.01561653 0.05883323 0.00992936
+v 0.01698424 0.06016610 0.00918526
+v 0.01802316 0.06061251 0.00572235
+v 0.01788113 0.06033828 0.00775772
+v 0.01925663 0.06009595 0.00455775
+v 0.02240451 0.05803610 0.00012292
+v 0.01563403 0.05981537 0.00012293
+v 0.01803094 -0.00381101 0.00946819
+v 0.01942395 -0.00082005 0.00926062
+v 0.01802316 -0.00082006 0.00980991
+v 0.02084419 0.00415425 0.00798001
+v 0.02114380 0.00912216 0.00831322
+v 0.02124886 0.01160931 0.00854104
+v 0.01959515 0.00166710 0.00939050
+v 0.02502905 0.04888468 0.00012289
+v 0.02500764 0.04888468 0.00120658
+v 0.02419246 0.05377605 0.00340698
+v 0.02409713 0.05288960 0.00466418
+v 0.02172357 0.03397451 0.00919580
+v 0.02171579 0.03148736 0.00918835
+v 0.02230918 0.03148736 0.00798011
+v 0.02170023 0.02900022 0.00917237
+v 0.02167883 0.02652582 0.00915320
+v 0.02039283 0.02155152 0.00968225
+v 0.02031889 0.01906437 0.00967266
+v 0.02023718 0.01658360 0.00965988
+v 0.02014380 0.01409645 0.00964177
+v 0.02004457 0.01160930 0.00961621
+v 0.01993951 0.00912215 0.00958320
+v 0.01983445 0.00663501 0.00954380
+v 0.01972745 0.00415425 0.00948845
+v 0.02159517 0.02155153 0.00906482
+v 0.02144147 0.01658361 0.00886254
+v 0.02152318 0.01906438 0.00897539
+v 0.02134808 0.01409646 0.00871882
+v 0.02042979 0.02900021 0.00975680
+v 0.02042979 0.03148735 0.00976852
+v 0.02042979 0.03397450 0.00976958
+v 0.02042979 0.03646165 0.00975469
+v 0.02042979 0.03894242 0.00972596
+v 0.02042979 0.04142957 0.00968551
+v 0.02165548 0.04391673 0.00912984
+v 0.02163797 0.04530697 0.00911282
+v 0.02022162 0.05137178 0.00956952
+v 0.02006014 0.05385893 0.00954718
+v 0.01974301 0.05634609 0.00941944
+v 0.02042979 0.02652581 0.00973656
+v 0.01561653 -0.00381102 0.01008668
+v 0.01802316 0.00166709 0.01000473
+v 0.01942395 0.05785751 0.00924699
+v 0.01788113 0.05874395 0.00944394
+v 0.01922939 0.06007681 0.00685713
+v 0.01858931 0.05951561 0.00836238
+v 0.01925079 0.06009595 0.00572235
+v 0.02238895 0.05802973 0.00120661
+v 0.02360880 0.05669049 0.00012292
+v 0.01761265 -0.00381102 0.00959061
+v 0.02412826 0.05544691 0.00012291
+v 0.02412048 0.05542141 0.00120660
+v 0.02410297 0.05530023 0.00261603
+v 0.02126443 0.05385894 0.00856568
+v 0.02142591 0.05137179 0.00886054
+v 0.02153291 0.04888465 0.00899892
+v 0.02159517 0.04696508 0.00906811
+v 0.02168272 0.04142958 0.00915644
+v 0.02170412 0.03894243 0.00917666
+v 0.02171774 0.03646166 0.00919049
+v 0.02388312 0.05454770 0.00412128
+v 0.02098816 0.05628869 0.00790568
+v 0.02067104 0.02380270 0.00958539
+v 0.01973134 0.05874395 0.00775772
+v 0.02359324 0.05666498 0.00120661
+f 1 2 7
+f 1 7 16
+f 1 16 25
+f 1 25 42
+f 1 42 56
+f 1 56 76
+f 1 76 111
+f 1 111 160
+f 1 160 151
+f 1 151 100
+f 1 100 65
+f 1 65 64
+f 1 64 63
+f 1 63 47
+f 1 47 32
+f 1 32 22
+f 1 22 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 8
+f 7 10 9
+f 7 9 8
+f 7 8 17
+f 7 17 27
+f 7 27 40
+f 7 40 39
+f 7 39 38
+f 7 38 54
+f 7 54 75
+f 7 75 110
+f 7 110 109
+f 7 109 159
+f 7 159 161
+f 7 161 118
+f 7 118 82
+f 7 82 59
+f 7 59 44
+f 7 44 26
+f 7 26 16
+f 8 15 17
+f 11 18 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 12 18 22
+f 12 22 19
+f 13 21 23
+f 13 23 14
+f 14 23 15
+f 15 23 24
+f 15 24 17
+f 16 26 25
+f 17 24 27
+f 19 28 20
+f 19 22 28
+f 20 29 30
+f 20 30 21
+f 20 28 29
+f 21 30 31
+f 21 31 23
+f 22 32 28
+f 23 33 24
+f 23 31 34
+f 23 34 33
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 27
+f 24 33 35
+f 25 41 42
+f 25 26 43
+f 25 43 41
+f 26 44 45
+f 26 45 43
+f 28 46 29
+f 28 32 47
+f 28 47 46
+f 29 48 49
+f 29 49 30
+f 29 46 48
+f 30 49 50
+f 30 50 31
+f 31 50 34
+f 33 34 35
+f 34 51 36
+f 34 36 35
+f 34 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 38
+f 36 38 37
+f 38 53 54
+f 41 55 42
+f 41 43 55
+f 42 55 57
+f 42 57 56
+f 43 45 58
+f 43 58 57
+f 43 57 55
+f 44 59 60
+f 44 60 45
+f 45 61 58
+f 45 60 61
+f 46 62 48
+f 46 47 63
+f 46 63 64
+f 46 64 65
+f 46 65 66
+f 46 66 62
+f 48 67 68
+f 48 68 49
+f 48 62 67
+f 49 68 69
+f 49 69 50
+f 50 69 51
+f 51 69 52
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 73
+f 52 73 53
+f 53 73 54
+f 54 73 74
+f 54 74 75
+f 56 57 77
+f 56 77 78
+f 56 78 76
+f 57 79 78
+f 57 78 77
+f 57 58 79
+f 58 61 80
+f 58 80 81
+f 58 81 79
+f 59 82 60
+f 60 83 61
+f 60 82 84
+f 60 84 121
+f 60 121 85
+f 60 85 83
+f 61 83 85
+f 61 85 86
+f 61 86 87
+f 61 87 88
+f 61 88 89
+f 61 89 90
+f 61 90 91
+f 61 91 92
+f 61 92 93
+f 61 93 80
+f 62 94 67
+f 62 66 95
+f 62 95 96
+f 62 96 97
+f 62 97 98
+f 62 98 99
+f 62 99 94
+f 65 100 101
+f 65 101 66
+f 66 101 102
+f 66 102 95
+f 67 103 104
+f 67 104 68
+f 67 94 103
+f 68 104 70
+f 68 70 69
+f 70 104 71
+f 71 105 72
+f 71 104 105
+f 72 106 73
+f 72 105 107
+f 72 107 106
+f 73 106 108
+f 73 108 74
+f 74 108 109
+f 74 109 110
+f 74 110 75
+f 76 78 111
+f 78 79 112
+f 78 112 113
+f 78 113 111
+f 79 81 80
+f 79 80 93
+f 79 93 114
+f 79 114 115
+f 79 115 116
+f 79 116 117
+f 79 117 112
+f 82 118 119
+f 82 119 84
+f 84 119 120
+f 84 120 121
+f 85 121 122
+f 85 122 123
+f 85 123 124
+f 85 124 86
+f 86 124 125
+f 86 125 126
+f 86 126 88
+f 86 88 87
+f 88 127 128
+f 88 128 129
+f 88 129 89
+f 88 126 127
+f 89 129 130
+f 89 130 131
+f 89 131 132
+f 89 132 133
+f 89 133 134
+f 89 134 135
+f 89 135 90
+f 90 136 91
+f 90 135 137
+f 90 137 136
+f 91 136 138
+f 91 138 92
+f 92 138 116
+f 92 116 115
+f 92 115 93
+f 93 115 114
+f 94 139 140
+f 94 140 141
+f 94 141 142
+f 94 142 143
+f 94 143 144
+f 94 144 145
+f 94 145 146
+f 94 146 147
+f 94 147 148
+f 94 148 149
+f 94 149 103
+f 94 99 139
+f 95 102 129
+f 95 129 128
+f 95 128 96
+f 96 128 150
+f 96 150 97
+f 97 150 98
+f 98 150 139
+f 98 139 99
+f 100 151 101
+f 101 151 152
+f 101 152 102
+f 102 152 133
+f 102 133 132
+f 102 132 131
+f 102 131 130
+f 102 130 129
+f 103 149 153
+f 103 153 154
+f 103 154 104
+f 104 154 105
+f 105 155 107
+f 105 154 153
+f 105 153 156
+f 105 156 155
+f 106 107 155
+f 106 155 157
+f 106 157 108
+f 108 157 109
+f 109 158 159
+f 109 157 158
+f 111 113 160
+f 112 117 113
+f 113 151 160
+f 113 117 152
+f 113 152 151
+f 116 138 117
+f 117 134 152
+f 117 138 136
+f 117 136 134
+f 118 161 162
+f 118 162 119
+f 119 162 163
+f 119 163 120
+f 120 163 121
+f 121 164 165
+f 121 165 166
+f 121 166 167
+f 121 167 146
+f 121 146 145
+f 121 145 168
+f 121 168 169
+f 121 169 170
+f 121 170 122
+f 121 163 171
+f 121 171 172
+f 121 172 164
+f 122 170 141
+f 122 141 140
+f 122 140 123
+f 123 140 139
+f 123 139 150
+f 123 150 125
+f 123 125 124
+f 125 150 126
+f 126 150 173
+f 126 173 127
+f 127 173 150
+f 127 150 128
+f 133 152 134
+f 134 136 137
+f 134 137 135
+f 141 170 142
+f 142 170 169
+f 142 169 143
+f 143 169 168
+f 143 168 145
+f 143 145 144
+f 146 167 147
+f 147 167 148
+f 148 167 166
+f 148 166 165
+f 148 165 149
+f 149 165 164
+f 149 164 153
+f 153 174 155
+f 153 155 156
+f 153 164 172
+f 153 172 174
+f 155 174 163
+f 155 163 175
+f 155 175 158
+f 155 158 157
+f 158 175 159
+f 159 175 162
+f 159 162 161
+f 162 175 163
+f 163 174 171
+f 171 174 172
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_4.obj

@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v -0.02533586 0.01906191 0.00014361
+v -0.02527550 0.01906191 0.00120637
+v -0.02519017 0.02477504 0.00120639
+v -0.02522971 0.02477504 0.00014363
+v -0.02529215 0.01657498 0.00014360
+v -0.02524844 0.01657498 0.00120636
+v -0.02454498 0.01906190 0.00290638
+v -0.02452417 0.02477503 0.00291237
+v -0.02499037 0.02477503 0.00172435
+v -0.02454498 0.01657497 0.00291632
+v -0.01605762 0.02477504 0.00014363
+v -0.02512149 0.01540447 0.00014360
+v -0.02492585 0.01409129 0.00014359
+v -0.02487798 0.01409129 0.00120635
+v -0.02435350 0.01409128 0.00267671
+v -0.02214321 0.02477501 0.00813271
+v -0.02200168 0.01409126 0.00753120
+v -0.02207453 0.01657495 0.00767735
+v -0.02161873 0.02154557 0.00901551
+v -0.02166660 0.02343265 0.00907517
+v -0.02183727 0.02477501 0.00879681
+v -0.02172488 0.00757401 0.00692574
+v -0.02179980 0.00911740 0.00709872
+v -0.02191011 0.01160433 0.00734131
+v -0.00839027 0.02477503 0.00380314
+v -0.00678354 0.00855973 0.00014357
+v -0.02009109 -0.00834620 0.00014351
+v -0.01952707 -0.00834622 0.00573567
+v -0.02006612 -0.00579120 0.00572176
+v -0.02058019 -0.00330751 0.00572177
+v -0.02101309 -0.00082058 0.00572178
+v -0.02021180 -0.00082059 0.00797952
+v -0.02055521 0.00166634 0.00797953
+v -0.02137523 0.01409126 0.00866057
+v -0.02146680 0.01657495 0.00880572
+v -0.02154381 0.01906188 0.00892006
+v -0.01974768 0.00415003 0.00946481
+v -0.01986007 0.00663696 0.00952347
+v -0.02136482 0.02477501 0.00927102
+v -0.01996622 0.00911739 0.00956722
+v -0.02007028 0.01160432 0.00960501
+v -0.02017226 0.01409125 0.00963286
+v -0.02026175 0.01657494 0.00965275
+v -0.02081953 0.00415003 0.00797954
+v -0.02116918 0.00911740 0.00822809
+v -0.02127324 0.01160433 0.00847067
+v -0.00752447 0.02477502 0.00433700
+v -0.00584282 0.00663699 0.00014356
+v -0.00627988 0.00753189 0.00014357
+v -0.00407583 -0.00834620 0.00014351
+v -0.01950418 -0.00834622 0.00585795
+v -0.01941052 -0.00767181 0.00710164
+v -0.01960200 -0.00579121 0.00745458
+v -0.01975809 -0.00314216 0.00808688
+v -0.01931478 -0.00220186 0.00913074
+v -0.01942301 -0.00082059 0.00921426
+v -0.01960408 0.00166634 0.00935743
+v -0.01808476 0.00166633 0.00996785
+v -0.01808476 0.00415002 0.01007523
+v -0.02071547 0.02417191 0.00957325
+v -0.02065719 0.02477500 0.00960804
+v -0.02034084 0.01906187 0.00966767
+v -0.02041369 0.02154556 0.00967862
+v -0.01808476 0.00663695 0.01012394
+v -0.01808476 0.00911739 0.01016173
+v -0.00721853 0.02477502 0.00454379
+v -0.00479178 0.00323894 0.00014355
+v -0.00407583 -0.00834620 0.00120627
+v -0.00453787 -0.00082056 0.00014354
+v -0.00452538 -0.00082056 0.00120630
+v -0.01876325 -0.00834623 0.00783235
+v -0.01870081 -0.00834623 0.00792182
+v -0.01737297 -0.00834623 0.00941108
+v -0.01567675 -0.00834624 0.00996582
+v -0.01567675 -0.00082060 0.01022533
+v -0.01567675 0.00166633 0.01029890
+v -0.01808476 0.02477500 0.01027612
+v -0.01808476 0.01160432 0.01019654
+v -0.01808476 0.01409125 0.01022339
+v -0.01808476 0.01657494 0.01024229
+v -0.01808476 0.01906187 0.01025721
+v -0.01808476 0.02154556 0.01026716
+v -0.01808476 0.02403249 0.01027512
+v -0.00717898 0.02477502 0.00513730
+v -0.00479178 0.00323894 0.00049847
+v -0.00716025 0.02477502 0.00572187
+v -0.00512894 -0.00834622 0.00572374
+v -0.00479802 0.00085575 0.00245198
+v -0.00473559 -0.00082057 0.00259514
+v -0.00471269 0.00167609 0.00123315
+v -0.01327290 -0.00834624 0.01018255
+v -0.01086489 0.00415002 0.01021441
+v -0.01086489 0.00663695 0.01022037
+v -0.01086489 0.00911739 0.01022436
+v -0.01567675 0.00415002 0.01029991
+v -0.01327290 -0.00827815 0.01018354
+v -0.01327290 -0.00579122 0.01021636
+v -0.01327290 -0.00330753 0.01023128
+v -0.01567675 0.02403249 0.01028208
+v -0.01567675 0.02477500 0.01028109
+v -0.00719563 0.02477501 0.00702124
+v -0.00565550 -0.00834623 0.00797452
+v -0.00708116 0.02154557 0.00732047
+v -0.00654628 0.00911740 0.00797955
+v -0.00641100 0.00663696 0.00797954
+v -0.01086489 -0.00834624 0.01012687
+v -0.01086489 0.00166633 0.01020346
+v -0.00845687 -0.00834624 0.00996284
+v -0.01086489 0.01160432 0.01022437
+v -0.01327290 0.02403249 0.01026916
+v -0.01327290 0.02477500 0.01026916
+v -0.01495663 0.02477500 0.01027811
+v -0.01086489 -0.00827815 0.01012787
+v -0.01086489 -0.00579122 0.01015074
+v -0.01086489 -0.00330753 0.01017064
+v -0.01086489 -0.00082060 0.01018755
+v -0.00770762 0.02477501 0.00809592
+v -0.00702913 0.00415003 0.00930276
+v -0.00673984 -0.00834623 0.00946377
+v -0.00725391 0.01285266 0.00910893
+v -0.00721644 0.01160433 0.00914471
+v -0.00714776 0.00911740 0.00920733
+v -0.00708532 0.00663696 0.00926002
+v -0.00699375 0.01906188 0.00753420
+v -0.00669405 0.01160433 0.00797956
+v -0.00690217 0.01657495 0.00773004
+v -0.00845687 -0.00579122 0.00994595
+v -0.01086489 0.01906187 0.01019756
+v -0.01086489 0.01657494 0.01021047
+v -0.01086489 0.01409125 0.01021941
+v -0.01086489 0.02154556 0.01018067
+v -0.01086489 0.02403249 0.01016080
+v -0.01086489 0.02477500 0.01015483
+v -0.00893972 0.02477500 0.00957822
+v -0.00771386 0.02403250 0.00821920
+v -0.00743081 0.01657495 0.00885941
+v -0.00733508 0.01450953 0.00900355
+v -0.00697710 0.00166634 0.00933954
+v -0.00845687 0.00911739 0.00975711
+v -0.00680644 -0.00579121 0.00943594
+v -0.00845687 0.00663695 0.00980780
+v -0.00845687 0.00415002 0.00984756
+v -0.00845687 0.00166633 0.00987937
+v -0.00845687 -0.00082060 0.00990322
+v -0.00845687 -0.00330753 0.00992508
+v -0.00690217 0.01384484 0.00814261
+v -0.00753696 0.01906188 0.00866357
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 26
+f 1 26 49
+f 1 49 48
+f 1 48 67
+f 1 67 69
+f 1 69 50
+f 1 50 27
+f 1 27 13
+f 1 13 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 10
+f 2 10 7
+f 3 9 8
+f 3 8 16
+f 3 16 21
+f 3 21 39
+f 3 39 61
+f 3 61 77
+f 3 77 100
+f 3 100 112
+f 3 112 111
+f 3 111 133
+f 3 133 134
+f 3 134 117
+f 3 117 101
+f 3 101 86
+f 3 86 84
+f 3 84 66
+f 3 66 47
+f 3 47 25
+f 3 25 11
+f 3 11 4
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 10
+f 7 16 8
+f 7 10 16
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 16
+f 10 15 22
+f 10 22 23
+f 10 23 24
+f 10 24 17
+f 11 25 26
+f 13 27 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 15 32 33
+f 15 33 22
+f 17 34 35
+f 17 35 18
+f 17 24 34
+f 18 35 36
+f 18 36 19
+f 19 36 37
+f 19 37 38
+f 19 38 20
+f 20 39 21
+f 20 38 40
+f 20 40 41
+f 20 41 42
+f 20 42 43
+f 20 43 39
+f 22 33 44
+f 22 44 23
+f 23 44 24
+f 24 44 45
+f 24 45 46
+f 24 46 34
+f 25 47 48
+f 25 48 49
+f 25 49 26
+f 27 50 68
+f 27 68 87
+f 27 87 102
+f 27 102 119
+f 27 119 108
+f 27 108 106
+f 27 106 91
+f 27 91 74
+f 27 74 73
+f 27 73 72
+f 27 72 71
+f 27 71 51
+f 27 51 28
+f 28 51 29
+f 29 51 52
+f 29 52 30
+f 30 52 31
+f 31 52 53
+f 31 53 32
+f 32 53 54
+f 32 54 55
+f 32 55 33
+f 33 55 56
+f 33 56 57
+f 33 57 44
+f 34 46 57
+f 34 57 37
+f 34 37 35
+f 35 37 36
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 38 59 40
+f 39 60 61
+f 39 43 62
+f 39 62 63
+f 39 63 60
+f 40 59 41
+f 41 59 42
+f 42 59 64
+f 42 64 43
+f 43 64 65
+f 43 65 62
+f 44 57 46
+f 44 46 45
+f 47 66 48
+f 48 66 67
+f 50 69 70
+f 50 70 68
+f 51 71 52
+f 52 71 55
+f 52 55 53
+f 53 55 54
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 56 73 57
+f 57 73 58
+f 58 73 74
+f 58 74 59
+f 59 74 75
+f 59 75 76
+f 59 76 64
+f 60 63 61
+f 61 63 77
+f 62 65 78
+f 62 78 63
+f 63 78 79
+f 63 79 80
+f 63 80 81
+f 63 81 82
+f 63 82 83
+f 63 83 77
+f 64 76 65
+f 65 76 78
+f 66 84 67
+f 67 85 70
+f 67 70 69
+f 67 84 86
+f 67 86 85
+f 68 70 88
+f 68 88 89
+f 68 89 87
+f 70 85 90
+f 70 90 88
+f 74 91 75
+f 75 91 76
+f 76 92 93
+f 76 93 94
+f 76 94 95
+f 76 95 77
+f 76 77 83
+f 76 83 82
+f 76 82 81
+f 76 81 80
+f 76 80 79
+f 76 79 78
+f 76 91 96
+f 76 96 97
+f 76 97 98
+f 76 98 92
+f 77 99 100
+f 77 95 99
+f 85 86 101
+f 85 101 90
+f 87 89 102
+f 88 90 101
+f 88 101 89
+f 89 101 103
+f 89 103 104
+f 89 104 105
+f 89 105 102
+f 91 106 113
+f 91 113 96
+f 92 98 107
+f 92 107 108
+f 92 108 93
+f 93 108 94
+f 94 109 111
+f 94 111 110
+f 94 110 95
+f 94 108 109
+f 95 110 111
+f 95 111 112
+f 95 112 99
+f 96 113 97
+f 97 113 114
+f 97 114 115
+f 97 115 116
+f 97 116 107
+f 97 107 98
+f 99 112 100
+f 101 117 103
+f 102 118 119
+f 102 105 120
+f 102 120 121
+f 102 121 122
+f 102 122 123
+f 102 123 118
+f 103 117 120
+f 103 120 124
+f 103 124 104
+f 104 125 120
+f 104 120 105
+f 104 124 126
+f 104 126 125
+f 106 108 113
+f 107 116 108
+f 108 119 127
+f 108 127 128
+f 108 128 129
+f 108 129 130
+f 108 130 109
+f 108 116 115
+f 108 115 114
+f 108 114 113
+f 109 130 111
+f 111 130 129
+f 111 129 128
+f 111 128 131
+f 111 131 132
+f 111 132 133
+f 117 134 135
+f 117 135 136
+f 117 136 137
+f 117 137 120
+f 118 138 119
+f 118 123 134
+f 118 134 139
+f 118 139 138
+f 119 138 140
+f 119 140 139
+f 119 139 141
+f 119 141 142
+f 119 142 143
+f 119 143 144
+f 119 144 145
+f 119 145 127
+f 120 125 146
+f 120 146 126
+f 120 126 124
+f 120 137 134
+f 120 134 121
+f 121 134 122
+f 122 134 123
+f 125 126 146
+f 127 145 133
+f 127 133 132
+f 127 132 131
+f 127 131 128
+f 133 145 144
+f 133 144 143
+f 133 143 142
+f 133 142 141
+f 133 141 139
+f 133 139 134
+f 134 136 147
+f 134 147 135
+f 134 137 136
+f 135 147 136
+f 138 139 140
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_5.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v -0.02540373 0.01906191 -0.00105207
+v -0.02533484 0.01906191 0.00014361
+v -0.02523045 0.02477504 0.00014363
+v -0.02525133 0.02477504 -0.00037676
+v -0.02525968 0.02477504 -0.00105205
+v -0.02479411 0.02477505 -0.00241883
+v -0.02459368 0.02477505 -0.00298883
+v -0.02464170 0.02154561 -0.00303541
+v -0.02467511 0.01906192 -0.00305162
+v -0.02463961 0.01657499 -0.00299595
+v -0.02534319 0.01657498 -0.00105208
+v -0.02529308 0.01657498 0.00014360
+v -0.01605892 0.02477504 0.00014363
+v -0.02169587 0.02477507 -0.00895307
+v -0.02445589 0.01409130 -0.00272868
+v -0.02166247 0.02341650 -0.00891257
+v -0.02160819 0.02154563 -0.00883867
+v -0.02153094 0.01906194 -0.00872428
+v -0.02144743 0.01657501 -0.00858559
+v -0.02134930 0.01409132 -0.00839323
+v -0.02124283 0.01160439 -0.00813609
+v -0.02041190 0.00166640 -0.00782530
+v -0.02010709 -0.00082053 -0.00782531
+v -0.02512188 0.01540447 0.00014360
+v -0.02497992 0.01409129 -0.00105209
+v -0.00839059 0.02477505 -0.00366716
+v -0.00678510 0.00855973 0.00014357
+v -0.02138062 0.02477507 -0.00911911
+v -0.02032630 0.01906195 -0.00954131
+v -0.02024488 0.01657501 -0.00952512
+v -0.02014676 0.01409132 -0.00950084
+v -0.02003819 0.01160439 -0.00946642
+v -0.01957889 -0.00579115 -0.00728267
+v -0.01940143 -0.00772687 -0.00693946
+v -0.01992545 0.00911746 -0.00942189
+v -0.01981480 0.00663702 -0.00936925
+v -0.01971042 0.00415009 -0.00930445
+v -0.01957262 0.00166640 -0.00919208
+v -0.01939725 -0.00082053 -0.00904225
+v -0.01929913 -0.00213371 -0.00896431
+v -0.01971042 -0.00309995 -0.00792251
+v -0.02492564 0.01409129 0.00014359
+v -0.01935132 -0.00834618 -0.00674912
+v -0.02036597 -0.00834620 -0.00105217
+v -0.00720265 0.02477506 -0.00436979
+v -0.00627986 0.00753189 0.00014357
+v -0.02097560 0.02477507 -0.00932362
+v -0.02071254 0.02415901 -0.00944612
+v -0.02040564 0.02154564 -0.00955345
+v -0.01808405 0.01160440 -0.01009109
+v -0.01808405 0.00911747 -0.01004453
+v -0.01808405 0.00663703 -0.00999088
+v -0.01808405 0.00415010 -0.00992710
+v -0.01882103 -0.00834617 -0.00763298
+v -0.01808405 0.00166641 -0.00981473
+v -0.01739509 -0.00834617 -0.00927413
+v -0.01872708 -0.00834617 -0.00777067
+v -0.01875840 -0.00834617 -0.00772815
+v -0.02009039 -0.00834620 0.00014351
+v -0.00711079 0.02477506 -0.00562622
+v -0.00584352 0.00663699 0.00014356
+v -0.00479129 0.00323894 0.00014355
+v -0.02065617 0.02477507 -0.00948460
+v -0.01880433 0.02477508 -0.01000904
+v -0.01808405 0.01657502 -0.01014777
+v -0.01808405 0.01409133 -0.01012550
+v -0.01567686 0.00166641 -0.01018629
+v -0.01567686 -0.00082052 -0.01011847
+v -0.01567686 -0.00834616 -0.00985425
+v -0.01735333 -0.00834617 -0.00928932
+v -0.00407519 -0.00834620 0.00014351
+v -0.00479129 0.00323894 -0.00026243
+v -0.00711288 0.02477506 -0.00593703
+v -0.00453658 -0.00082056 0.00014354
+v -0.01808405 0.02477508 -0.01018824
+v -0.01808405 0.02403257 -0.01018621
+v -0.01808405 0.02154564 -0.01017508
+v -0.01808405 0.01906195 -0.01016295
+v -0.01327177 -0.00330745 -0.01013670
+v -0.01327177 -0.00579114 -0.01011646
+v -0.01327177 -0.00834616 -0.01007800
+v -0.01567686 0.01160440 -0.01019740
+v -0.01327177 0.01409133 -0.01018726
+v -0.01327177 0.01160440 -0.01018221
+v -0.01086458 0.00911747 -0.01015185
+v -0.01086458 0.00663703 -0.01014477
+v -0.01561214 -0.00834616 -0.00986033
+v -0.00407728 -0.00834620 -0.00105217
+v -0.00455120 -0.00082056 -0.00105214
+v -0.00472657 0.00154640 -0.00102986
+v -0.00716299 0.02477507 -0.00694947
+v -0.01639714 0.02477508 -0.01019634
+v -0.01567686 0.01409133 -0.01019840
+v -0.01086458 0.00415010 -0.01013262
+v -0.01086458 0.00166641 -0.01011947
+v -0.01086458 -0.00082052 -0.01010227
+v -0.01086458 -0.00330745 -0.01008001
+v -0.01086458 -0.00579114 -0.01005470
+v -0.01086458 -0.00827807 -0.01002535
+v -0.01086458 -0.00834616 -0.01002434
+v -0.01320705 -0.00834616 -0.01007699
+v -0.01327177 0.02477508 -0.01019634
+v -0.01086458 0.01160440 -0.01015488
+v -0.00845740 -0.00834616 -0.00985324
+v -0.00564310 -0.00834617 -0.00782028
+v -0.00476206 -0.00082055 -0.00237944
+v -0.00482052 0.00063853 -0.00224175
+v -0.00652831 0.00911746 -0.00782528
+v -0.00696882 0.01906194 -0.00742837
+v -0.00705651 0.02154563 -0.00722891
+v -0.00731539 0.01468792 -0.00887211
+v -0.00769954 0.02477507 -0.00807833
+v -0.01567686 0.02477508 -0.01019937
+v -0.01079986 -0.00834616 -0.01002130
+v -0.01158486 0.02477508 -0.01012344
+v -0.01086458 0.01906195 -0.01012751
+v -0.01086458 0.01657502 -0.01013967
+v -0.01086458 0.01409133 -0.01014980
+v -0.00845740 -0.00827807 -0.00985324
+v -0.00840938 -0.00834616 -0.00983907
+v -0.00669324 -0.00834617 -0.00928425
+v -0.00684982 -0.00330746 -0.00927310
+v -0.00701684 0.00415009 -0.00916372
+v -0.00707321 0.00663702 -0.00912019
+v -0.00713584 0.00911746 -0.00906652
+v -0.00720265 0.01160439 -0.00900475
+v -0.00724232 0.01303105 -0.00896526
+v -0.00639678 0.00663702 -0.00782529
+v -0.00667027 0.01160439 -0.00782527
+v -0.00688323 0.01657501 -0.00761264
+v -0.00890209 0.02477507 -0.00946435
+v -0.00805863 0.02477507 -0.00853190
+v -0.00750120 0.01906194 -0.00855723
+v -0.00759098 0.02154563 -0.00835777
+v -0.01086458 0.02477508 -0.01008396
+v -0.01086458 0.02403257 -0.01009104
+v -0.01086458 0.02154564 -0.01011130
+v -0.00845740 -0.00579114 -0.00984108
+v -0.00672664 -0.00834617 -0.00932779
+v -0.00690828 -0.00082053 -0.00923866
+v -0.00679136 -0.00579115 -0.00930146
+v -0.00845740 0.00911747 -0.00965879
+v -0.00696465 0.00166640 -0.00920221
+v -0.00688531 0.01395190 -0.00800142
+v -0.00947413 0.02477508 -0.00964962
+v -0.00845740 0.00663703 -0.00971044
+v -0.00845740 0.00415010 -0.00974790
+v -0.00845740 0.00166641 -0.00977727
+v -0.00845740 -0.00082052 -0.00980360
+v -0.00845740 -0.00330745 -0.00982487
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 24
+f 2 24 42
+f 2 42 59
+f 2 59 71
+f 2 71 74
+f 2 74 62
+f 2 62 61
+f 2 61 46
+f 2 46 27
+f 2 27 13
+f 2 13 3
+f 3 13 26
+f 3 26 45
+f 3 45 60
+f 3 60 73
+f 3 73 91
+f 3 91 112
+f 3 112 132
+f 3 132 131
+f 3 131 145
+f 3 145 135
+f 3 135 115
+f 3 115 102
+f 3 102 113
+f 3 113 92
+f 3 92 75
+f 3 75 64
+f 3 64 63
+f 3 63 47
+f 3 47 28
+f 3 28 14
+f 3 14 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 14 8
+f 8 14 9
+f 9 14 10
+f 10 15 11
+f 10 14 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 15
+f 11 24 12
+f 11 15 25
+f 11 25 24
+f 13 27 26
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 16
+f 15 23 33
+f 15 33 34
+f 15 34 25
+f 16 32 35
+f 16 35 36
+f 16 36 37
+f 16 37 17
+f 17 37 18
+f 18 37 19
+f 19 37 38
+f 19 38 20
+f 20 38 22
+f 20 22 21
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 40 41
+f 23 41 33
+f 24 25 42
+f 25 34 43
+f 25 43 44
+f 25 44 42
+f 26 27 45
+f 27 46 45
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 52
+f 30 52 31
+f 31 52 53
+f 31 53 32
+f 32 53 35
+f 33 41 40
+f 33 40 34
+f 34 40 54
+f 34 54 43
+f 35 53 36
+f 36 53 37
+f 37 53 55
+f 37 55 38
+f 38 55 56
+f 38 56 39
+f 39 56 40
+f 40 56 57
+f 40 57 58
+f 40 58 54
+f 42 44 59
+f 43 54 58
+f 43 58 57
+f 43 57 56
+f 43 56 70
+f 43 70 69
+f 43 69 87
+f 43 87 81
+f 43 81 101
+f 43 101 100
+f 43 100 114
+f 43 114 104
+f 43 104 120
+f 43 120 139
+f 43 139 121
+f 43 121 105
+f 43 105 88
+f 43 88 71
+f 43 71 59
+f 43 59 44
+f 45 46 61
+f 45 61 62
+f 45 62 60
+f 47 63 48
+f 48 63 49
+f 49 63 64
+f 49 64 65
+f 49 65 66
+f 49 66 50
+f 50 66 67
+f 50 67 51
+f 51 67 52
+f 52 67 53
+f 53 67 68
+f 53 68 69
+f 53 69 55
+f 55 69 70
+f 55 70 56
+f 60 72 73
+f 60 62 72
+f 62 74 72
+f 64 75 76
+f 64 76 77
+f 64 77 78
+f 64 78 65
+f 65 78 67
+f 65 67 66
+f 67 79 80
+f 67 80 81
+f 67 81 68
+f 67 78 77
+f 67 77 76
+f 67 76 75
+f 67 75 82
+f 67 82 83
+f 67 83 84
+f 67 84 85
+f 67 85 86
+f 67 86 79
+f 68 81 87
+f 68 87 69
+f 71 88 74
+f 72 74 88
+f 72 88 89
+f 72 89 90
+f 72 90 91
+f 72 91 73
+f 75 92 93
+f 75 93 82
+f 79 86 94
+f 79 94 95
+f 79 95 96
+f 79 96 80
+f 80 96 97
+f 80 97 98
+f 80 98 99
+f 80 99 100
+f 80 100 101
+f 80 101 81
+f 82 93 102
+f 82 102 83
+f 83 103 85
+f 83 85 84
+f 83 102 103
+f 85 103 104
+f 85 104 86
+f 86 104 94
+f 88 105 106
+f 88 106 107
+f 88 107 89
+f 89 107 91
+f 89 91 90
+f 91 108 109
+f 91 109 110
+f 91 110 111
+f 91 111 112
+f 91 107 106
+f 91 106 108
+f 92 113 93
+f 93 113 102
+f 94 104 95
+f 95 104 96
+f 96 104 97
+f 97 104 98
+f 98 104 114
+f 98 114 99
+f 99 114 100
+f 102 115 116
+f 102 116 117
+f 102 117 118
+f 102 118 103
+f 103 118 119
+f 103 119 104
+f 104 119 120
+f 105 121 122
+f 105 122 123
+f 105 123 124
+f 105 124 125
+f 105 125 126
+f 105 126 127
+f 105 127 128
+f 105 128 106
+f 106 128 108
+f 108 128 127
+f 108 127 129
+f 108 129 130
+f 108 130 109
+f 109 130 127
+f 109 127 111
+f 109 111 110
+f 111 127 131
+f 111 131 132
+f 111 132 133
+f 111 133 134
+f 111 134 112
+f 112 134 132
+f 115 135 136
+f 115 136 137
+f 115 137 116
+f 116 137 150
+f 116 150 138
+f 116 138 119
+f 116 119 117
+f 117 119 118
+f 119 138 120
+f 120 138 139
+f 121 139 122
+f 122 140 123
+f 122 139 141
+f 122 141 142
+f 122 142 140
+f 123 140 143
+f 123 143 142
+f 123 142 131
+f 123 131 124
+f 124 131 125
+f 125 131 126
+f 126 131 127
+f 127 130 144
+f 127 144 129
+f 129 144 130
+f 131 142 145
+f 132 134 133
+f 135 145 142
+f 135 142 146
+f 135 146 147
+f 135 147 148
+f 135 148 149
+f 135 149 136
+f 136 149 150
+f 136 150 137
+f 138 150 139
+f 139 150 149
+f 139 149 148
+f 139 148 147
+f 139 147 146
+f 139 146 141
+f 140 142 143
+f 141 146 142
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_6.obj

@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.02546632 0.04640422 -0.00105251
+v -0.02540563 0.04515650 0.00007220
+v -0.02540747 0.04640422 0.00007220
+v -0.02526770 0.04764121 0.00007220
+v -0.02418820 0.05543857 0.00007223
+v -0.02419556 0.05546359 -0.00105248
+v -0.02417901 0.05535635 -0.00256535
+v -0.02427464 0.05386552 -0.00331480
+v -0.02418269 0.05304325 -0.00454059
+v -0.02418269 0.05180983 -0.00454059
+v -0.02546264 0.04391951 -0.00105252
+v -0.02523828 0.02527523 0.00007212
+v -0.02392707 0.05606421 0.00007224
+v -0.02367328 0.05670773 -0.00105247
+v -0.02397856 0.05469852 -0.00407069
+v -0.01987205 0.05839880 -0.00782544
+v -0.02124579 0.05386197 -0.00826200
+v -0.02141866 0.05137368 -0.00858136
+v -0.02152716 0.04888896 -0.00873083
+v -0.02160808 0.04640425 -0.00884266
+v -0.02166141 0.04445223 -0.00891256
+v -0.02169819 0.04279695 -0.00895772
+v -0.02171474 0.04143482 -0.00897386
+v -0.02174049 0.03895011 -0.00899860
+v -0.02175336 0.03646540 -0.00901259
+v -0.02175520 0.03397711 -0.00901475
+v -0.02175520 0.03149240 -0.00901583
+v -0.01947298 0.05786253 -0.00909208
+v -0.02174416 0.02900769 -0.00900401
+v -0.02459463 0.02477829 -0.00298803
+v -0.02479324 0.02477829 -0.00241923
+v -0.02526035 0.02477828 -0.00105259
+v -0.02525115 0.02477828 -0.00037626
+v -0.02523276 0.02477828 0.00007212
+v -0.02365857 0.05668271 0.00007224
+v -0.02305721 0.05736556 0.00007224
+v -0.02247057 0.05803053 -0.00105247
+v -0.01924679 0.06004692 -0.00556742
+v -0.01873738 0.05964294 -0.00782543
+v -0.01974884 0.05634668 -0.00926735
+v -0.02004124 0.05386197 -0.00940606
+v -0.02021595 0.05137368 -0.00944478
+v -0.02071248 0.04374078 -0.00940072
+v -0.02049180 0.04143483 -0.00955019
+v -0.02032445 0.04888896 -0.00946199
+v -0.02040352 0.04640425 -0.00948566
+v -0.02049180 0.03895012 -0.00959321
+v -0.02049180 0.03646541 -0.00961903
+v -0.02049180 0.03397712 -0.00962764
+v -0.02049180 0.03149241 -0.00963087
+v -0.02049180 0.02900770 -0.00962013
+v -0.01698297 0.06012201 -0.00899637
+v -0.01790615 0.05874916 -0.00927056
+v -0.01808453 0.05634669 -0.00999744
+v -0.02049180 0.02652298 -0.00959325
+v -0.02172025 0.02652297 -0.00897929
+v -0.02170186 0.02507505 -0.00896102
+v -0.02169451 0.02477831 -0.00895242
+v -0.01606162 0.02477828 0.00007212
+v -0.02245402 0.05802696 0.00007224
+v -0.01804224 0.06056531 -0.00556742
+v -0.01753467 0.06036154 -0.00782543
+v -0.01808453 0.05386198 -0.01035980
+v -0.01808453 0.02477832 -0.01018787
+v -0.01880543 0.02477832 -0.01000831
+v -0.01567911 0.06082274 -0.00782543
+v -0.01567911 0.06025429 -0.00909960
+v -0.01567911 0.05883140 -0.00973829
+v -0.01567911 0.05634669 -0.01055764
+v -0.02065547 0.02477831 -0.00948466
+v -0.02097730 0.02477831 -0.00932338
+v -0.02138188 0.02477831 -0.00911908
+v -0.00839111 0.02477829 -0.00366651
+v -0.00942464 0.05209582 0.00007222
+v -0.01558716 0.05982524 0.00007225
+v -0.01766156 0.06039728 -0.00395455
+v -0.01567911 0.06119096 -0.00556742
+v -0.01567911 0.05386198 -0.01088560
+v -0.01639816 0.02477832 -0.01019648
+v -0.01327185 0.05386198 -0.01091140
+v -0.01327185 0.06098004 -0.00782543
+v -0.01327185 0.06034724 -0.00917379
+v -0.01327185 0.05883140 -0.00985442
+v -0.01327185 0.05634669 -0.01061678
+v -0.00720311 0.02477830 -0.00436972
+v -0.00932349 0.05399779 0.00007223
+v -0.01449846 0.06007908 0.00007225
+v -0.01327185 0.06130179 -0.00556741
+v -0.01567911 0.02477832 -0.01019863
+v -0.01086458 0.05634669 -0.01016517
+v -0.01086458 0.05386198 -0.01044475
+v -0.01086458 0.02477832 -0.01008465
+v -0.01158547 0.02477832 -0.01012336
+v -0.01327185 0.02477832 -0.01019648
+v -0.01086458 0.06093355 -0.00556742
+v -0.01079838 0.06053315 -0.00789747
+v -0.01155605 0.06025071 -0.00909637
+v -0.01079838 0.05896010 -0.00942325
+v -0.00711116 0.02477830 -0.00562561
+v -0.00668084 0.05137367 -0.00556745
+v -0.00696404 0.05137366 -0.00405243
+v -0.00696772 0.05386195 -0.00404919
+v -0.00711300 0.05634667 -0.00423950
+v -0.00724173 0.05761226 -0.00441906
+v -0.01000209 0.05629659 0.00007224
+v -0.01445985 0.06007908 0.00007225
+v -0.00927936 0.05821647 -0.00919208
+v -0.00896488 0.05634668 -0.00937594
+v -0.00880673 0.05386197 -0.00946627
+v -0.00877363 0.05137368 -0.00946413
+v -0.00890236 0.02477831 -0.00946423
+v -0.00947429 0.02477832 -0.00965025
+v -0.00931798 0.06033651 -0.00556742
+v -0.00943199 0.06025071 -0.00719319
+v -0.01086458 0.06049381 -0.00391369
+v -0.00943383 0.06024713 -0.00421798
+v -0.00995243 0.05987175 -0.00869853
+v -0.00711300 0.02477830 -0.00593743
+v -0.00716449 0.02477831 -0.00694924
+v -0.00696956 0.05137368 -0.00738676
+v -0.00670106 0.05386196 -0.00556744
+v -0.01057953 0.05725831 0.00007224
+v -0.00704312 0.05658620 -0.00570506
+v -0.00724173 0.05761226 -0.00504593
+v -0.00794423 0.05859900 -0.00570505
+v -0.01128755 0.05843095 0.00007224
+v -0.01336931 0.05971084 0.00007225
+v -0.00725644 0.05757294 -0.00655020
+v -0.00766287 0.05658621 -0.00783404
+v -0.00881592 0.05896010 -0.00789747
+v -0.00760402 0.05386197 -0.00847060
+v -0.00756908 0.05137368 -0.00851577
+v -0.00805825 0.02477831 -0.00853200
+v -0.01226407 0.05904944 0.00007225
+v -0.00769781 0.02477831 -0.00807824
+v -0.00698611 0.05386197 -0.00734159
+v -0.00709093 0.05591766 -0.00708675
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 12
+f 2 12 34
+f 2 34 59
+f 2 59 74
+f 2 74 86
+f 2 86 105
+f 2 105 122
+f 2 122 126
+f 2 126 134
+f 2 134 127
+f 2 127 106
+f 2 106 87
+f 2 87 75
+f 2 75 60
+f 2 60 36
+f 2 36 35
+f 2 35 13
+f 2 13 5
+f 2 5 4
+f 2 4 3
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 15 9
+f 7 9 8
+f 7 14 16
+f 7 16 15
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 10
+f 9 15 28
+f 9 28 17
+f 10 27 29
+f 10 29 30
+f 10 30 11
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 12
+f 12 33 34
+f 13 35 14
+f 14 35 36
+f 14 36 37
+f 14 37 38
+f 14 38 16
+f 15 16 28
+f 16 38 39
+f 16 39 28
+f 17 28 40
+f 17 40 18
+f 18 40 41
+f 18 41 19
+f 19 41 20
+f 20 41 42
+f 20 42 21
+f 21 42 22
+f 22 43 44
+f 22 44 23
+f 22 42 45
+f 22 45 46
+f 22 46 43
+f 23 44 47
+f 23 47 24
+f 24 47 48
+f 24 48 25
+f 25 48 49
+f 25 49 50
+f 25 50 26
+f 26 50 27
+f 27 50 51
+f 27 51 29
+f 28 39 52
+f 28 52 53
+f 28 53 54
+f 28 54 40
+f 29 51 55
+f 29 55 56
+f 29 56 30
+f 30 56 57
+f 30 57 58
+f 30 58 72
+f 30 72 71
+f 30 71 70
+f 30 70 65
+f 30 65 64
+f 30 64 79
+f 30 79 89
+f 30 89 94
+f 30 94 93
+f 30 93 92
+f 30 92 112
+f 30 112 111
+f 30 111 133
+f 30 133 135
+f 30 135 119
+f 30 119 118
+f 30 118 99
+f 30 99 85
+f 30 85 73
+f 30 73 59
+f 30 59 34
+f 30 34 33
+f 30 33 32
+f 30 32 31
+f 36 60 37
+f 37 60 38
+f 38 61 62
+f 38 62 39
+f 38 60 61
+f 39 62 52
+f 40 54 63
+f 40 63 41
+f 41 63 42
+f 42 63 45
+f 43 46 44
+f 44 46 63
+f 44 63 47
+f 45 63 46
+f 47 63 48
+f 48 63 49
+f 49 63 50
+f 50 63 51
+f 51 63 64
+f 51 64 65
+f 51 65 55
+f 52 62 66
+f 52 66 67
+f 52 67 68
+f 52 68 53
+f 53 68 69
+f 53 69 54
+f 54 69 63
+f 55 65 70
+f 55 70 56
+f 56 70 71
+f 56 71 72
+f 56 72 57
+f 57 72 58
+f 59 73 74
+f 60 75 76
+f 60 76 61
+f 61 76 77
+f 61 77 62
+f 62 77 66
+f 63 69 78
+f 63 78 64
+f 64 78 80
+f 64 80 79
+f 66 77 81
+f 66 81 67
+f 67 81 82
+f 67 82 83
+f 67 83 68
+f 68 83 69
+f 69 84 78
+f 69 83 84
+f 73 85 74
+f 74 85 86
+f 75 87 76
+f 76 87 77
+f 77 88 81
+f 77 87 88
+f 78 84 80
+f 79 80 89
+f 80 84 90
+f 80 90 91
+f 80 91 92
+f 80 92 93
+f 80 93 94
+f 80 94 89
+f 81 95 96
+f 81 96 97
+f 81 97 82
+f 81 88 95
+f 82 97 83
+f 83 97 98
+f 83 98 84
+f 84 98 90
+f 85 99 100
+f 85 100 101
+f 85 101 86
+f 86 101 102
+f 86 102 103
+f 86 103 104
+f 86 104 105
+f 87 106 88
+f 88 106 95
+f 90 98 107
+f 90 107 108
+f 90 108 91
+f 91 108 109
+f 91 109 110
+f 91 110 111
+f 91 111 112
+f 91 112 92
+f 95 113 114
+f 95 114 96
+f 95 106 115
+f 95 115 116
+f 95 116 113
+f 96 114 117
+f 96 117 97
+f 97 117 98
+f 98 117 107
+f 99 118 100
+f 100 118 119
+f 100 119 120
+f 100 120 121
+f 100 121 102
+f 100 102 101
+f 102 121 103
+f 103 121 104
+f 104 122 105
+f 104 121 123
+f 104 123 124
+f 104 124 125
+f 104 125 113
+f 104 113 116
+f 104 116 126
+f 104 126 122
+f 106 116 115
+f 106 127 116
+f 107 128 129
+f 107 129 108
+f 107 117 130
+f 107 130 128
+f 108 129 131
+f 108 131 109
+f 109 131 132
+f 109 132 110
+f 110 132 111
+f 111 132 133
+f 113 125 114
+f 114 125 128
+f 114 128 130
+f 114 130 117
+f 116 127 134
+f 116 134 126
+f 119 135 120
+f 120 132 136
+f 120 136 121
+f 120 135 132
+f 121 136 137
+f 121 137 123
+f 123 137 128
+f 123 128 124
+f 124 128 125
+f 128 137 129
+f 129 137 131
+f 131 136 132
+f 131 137 136
+f 132 135 133
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_7.obj

@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v -0.02540830 0.04640305 0.00007327
+v -0.02540646 0.04515773 0.00007327
+v -0.02534954 0.04640305 0.00120657
+v -0.02506862 0.04889009 0.00120658
+v -0.02526692 0.04764120 0.00007327
+v -0.02523387 0.02477828 0.00007319
+v -0.02520633 0.02652100 0.00120650
+v -0.02415792 0.05208565 0.00466420
+v -0.02415792 0.05289439 0.00466420
+v -0.02425524 0.05377829 0.00340262
+v -0.02416159 0.05528841 0.00260825
+v -0.02418179 0.05541366 0.00120660
+v -0.02418914 0.05543871 0.00007330
+v -0.01605894 0.02477828 0.00007319
+v -0.02518980 0.02477828 0.00120649
+v -0.02499151 0.02477827 0.00172395
+v -0.02454166 0.02652099 0.00293530
+v -0.02229429 0.02900802 0.00797955
+v -0.02173980 0.02900802 0.00915240
+v -0.02175265 0.03149148 0.00916524
+v -0.02175448 0.03397853 0.00916631
+v -0.02175081 0.03646557 0.00916204
+v -0.02173612 0.03894904 0.00914815
+v -0.02171042 0.04143608 0.00912357
+v -0.02169757 0.04272434 0.00910968
+v -0.02165717 0.04437760 0.00906585
+v -0.02160025 0.04640302 0.00900064
+v -0.02151763 0.04889006 0.00889801
+v -0.02140746 0.05137353 0.00874620
+v -0.02123304 0.05386057 0.00841799
+v -0.02097598 0.05621164 0.00783531
+v -0.02393759 0.05455123 0.00411360
+v -0.01976233 0.05873804 0.00775727
+v -0.01929229 0.06007639 0.00685705
+v -0.02364198 0.05665540 0.00120661
+v -0.02365851 0.05668403 0.00007331
+v -0.02392658 0.05606495 0.00007331
+v -0.00838961 0.02477827 0.00380344
+v -0.00942516 0.05209641 0.00007329
+v -0.02452330 0.02477827 0.00291284
+v -0.02225207 0.02652097 0.00797954
+v -0.02170124 0.02509316 0.00911389
+v -0.02171593 0.02652097 0.00912887
+v -0.02065834 0.02477824 0.00960783
+v -0.02049126 0.02652096 0.00970941
+v -0.02049126 0.02900801 0.00973294
+v -0.02049126 0.03149147 0.00974472
+v -0.02049126 0.03397852 0.00974258
+v -0.02049126 0.03646556 0.00972869
+v -0.02049126 0.03894903 0.00969769
+v -0.02049126 0.04143607 0.00965601
+v -0.02070975 0.04369768 0.00951703
+v -0.01808415 0.05386056 0.01043760
+v -0.02020483 0.05137352 0.00955662
+v -0.02002856 0.05386057 0.00952562
+v -0.01973846 0.05634762 0.00939840
+v -0.01946672 0.05784700 0.00923696
+v -0.01856704 0.05950384 0.00836241
+v -0.01696230 0.06011218 0.00914182
+v -0.01789319 0.06030542 0.00775727
+v -0.01808415 0.06060602 0.00572162
+v -0.01930331 0.06008714 0.00572162
+v -0.02243751 0.05802596 0.00120661
+v -0.02305811 0.05736394 0.00007331
+v -0.00752481 0.02477826 0.00433695
+v -0.00932417 0.05400016 0.00007330
+v -0.00721818 0.02477826 0.00454329
+v -0.02183894 0.02477825 0.00879742
+v -0.02136523 0.02477825 0.00927105
+v -0.01808415 0.02477824 0.01027605
+v -0.01567887 0.05386056 0.01097431
+v -0.01567887 0.05634761 0.01065893
+v -0.01808415 0.05634761 0.01010083
+v -0.01789319 0.05873804 0.00940803
+v -0.01567887 0.06026247 0.00925622
+v -0.01567887 0.06084577 0.00797966
+v -0.01567887 0.05883107 0.00987953
+v -0.01567887 0.06124298 0.00572162
+v -0.01930514 0.06008714 0.00457336
+v -0.02245403 0.05802953 0.00007331
+v -0.01000169 0.05629755 0.00007331
+v -0.00724940 0.05759652 0.00458618
+v -0.00711903 0.05634763 0.00439694
+v -0.00696480 0.05386058 0.00418310
+v -0.00695195 0.05137354 0.00417774
+v -0.00717779 0.02477826 0.00513774
+v -0.00665083 0.05137354 0.00572159
+v -0.01567887 0.02477824 0.01028140
+v -0.01327176 0.05386056 0.01099570
+v -0.01327176 0.05634761 0.01071238
+v -0.01327176 0.05883107 0.01001210
+v -0.01327176 0.06038414 0.00935030
+v -0.01327176 0.06102111 0.00797966
+v -0.01808415 0.06034479 0.00420450
+v -0.01327176 0.06133603 0.00572163
+v -0.01449827 0.06008001 0.00007332
+v -0.01558707 0.05982235 0.00007332
+v -0.01128695 0.05843032 0.00007331
+v -0.00723838 0.05761799 0.00572161
+v -0.00697398 0.05634763 0.00572161
+v -0.00943250 0.06025175 0.00436273
+v -0.00930949 0.06034479 0.00572162
+v -0.00810685 0.05885972 0.00572162
+v -0.00667470 0.05386058 0.00572160
+v -0.00715943 0.02477826 0.00572149
+v -0.00696480 0.05386057 0.00762040
+v -0.00695379 0.05137353 0.00761612
+v -0.00719431 0.02477825 0.00702050
+v -0.01495913 0.02477824 0.01027819
+v -0.01086465 0.05386056 0.01052741
+v -0.01086465 0.05634761 0.01027510
+v -0.01327176 0.02477824 0.01026857
+v -0.01086465 0.02477824 0.01015417
+v -0.01070675 0.05902431 0.00958337
+v -0.01140263 0.06027679 0.00926691
+v -0.01086465 0.06095671 0.00572162
+v -0.01070675 0.06055591 0.00813040
+v -0.01494260 0.05997623 0.00007332
+v -0.01445971 0.06008001 0.00007332
+v -0.01226375 0.05904940 0.00007332
+v -0.00723838 0.05761798 0.00690302
+v -0.00710802 0.05634762 0.00726332
+v -0.01336907 0.05971142 0.00007332
+v -0.01086465 0.06050941 0.00405910
+v -0.00941965 0.06025890 0.00747823
+v -0.00752664 0.05386057 0.00874942
+v -0.00765701 0.05634762 0.00839234
+v -0.00753215 0.05137353 0.00874513
+v -0.00770842 0.02477825 0.00809606
+v -0.00872928 0.05386056 0.00959405
+v -0.00885964 0.05634762 0.00952028
+v -0.00894043 0.02477824 0.00957790
+v -0.00920666 0.05832294 0.00935136
+v -0.00979788 0.05997977 0.00898358
+v -0.00851079 0.05879888 0.00794330
+v -0.00873663 0.05137352 0.00958762
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 37
+f 1 37 36
+f 1 36 64
+f 1 64 80
+f 1 80 97
+f 1 97 118
+f 1 118 96
+f 1 96 119
+f 1 119 123
+f 1 123 120
+f 1 120 98
+f 1 98 81
+f 1 81 66
+f 1 66 39
+f 1 39 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 7 8
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 6 14 38
+f 6 38 65
+f 6 65 67
+f 6 67 86
+f 6 86 105
+f 6 105 108
+f 6 108 129
+f 6 129 132
+f 6 132 113
+f 6 113 112
+f 6 112 109
+f 6 109 88
+f 6 88 70
+f 6 70 44
+f 6 44 69
+f 6 69 68
+f 6 68 40
+f 6 40 16
+f 6 16 15
+f 6 15 7
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 31
+f 9 31 32
+f 9 32 11
+f 9 11 10
+f 11 32 33
+f 11 33 34
+f 11 34 35
+f 11 35 12
+f 12 35 36
+f 12 36 37
+f 12 37 13
+f 14 39 38
+f 16 40 17
+f 17 40 18
+f 18 40 41
+f 18 41 42
+f 18 42 43
+f 18 43 19
+f 19 43 44
+f 19 44 45
+f 19 45 46
+f 19 46 20
+f 20 46 47
+f 20 47 21
+f 21 47 48
+f 21 48 22
+f 22 48 49
+f 22 49 23
+f 23 49 50
+f 23 50 24
+f 24 50 25
+f 25 50 51
+f 25 51 52
+f 25 52 53
+f 25 53 54
+f 25 54 26
+f 26 54 27
+f 27 54 55
+f 27 55 28
+f 28 55 29
+f 29 55 56
+f 29 56 30
+f 30 56 57
+f 30 57 31
+f 31 57 32
+f 32 57 33
+f 33 57 34
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 61
+f 34 61 62
+f 34 62 63
+f 34 63 35
+f 35 63 36
+f 36 63 64
+f 38 39 65
+f 39 66 67
+f 39 67 65
+f 40 68 41
+f 41 68 42
+f 42 68 69
+f 42 69 43
+f 43 69 44
+f 44 70 45
+f 45 70 46
+f 46 70 53
+f 46 53 47
+f 47 53 48
+f 48 53 49
+f 49 53 50
+f 50 53 51
+f 51 53 52
+f 53 71 72
+f 53 72 73
+f 53 73 56
+f 53 56 55
+f 53 55 54
+f 53 70 71
+f 56 73 57
+f 57 73 74
+f 57 74 59
+f 57 59 58
+f 59 75 76
+f 59 76 60
+f 59 74 77
+f 59 77 75
+f 60 76 78
+f 60 78 61
+f 61 78 79
+f 61 79 62
+f 62 79 80
+f 62 80 63
+f 63 80 64
+f 66 81 82
+f 66 82 83
+f 66 83 84
+f 66 84 85
+f 66 85 67
+f 67 85 87
+f 67 87 86
+f 70 88 89
+f 70 89 71
+f 71 89 90
+f 71 90 72
+f 72 90 91
+f 72 91 77
+f 72 77 74
+f 72 74 73
+f 75 77 92
+f 75 92 93
+f 75 93 76
+f 76 93 78
+f 77 91 92
+f 78 94 79
+f 78 93 95
+f 78 95 96
+f 78 96 94
+f 79 94 80
+f 80 94 97
+f 81 98 82
+f 82 99 100
+f 82 100 83
+f 82 98 101
+f 82 101 102
+f 82 102 103
+f 82 103 99
+f 83 100 104
+f 83 104 84
+f 84 104 87
+f 84 87 85
+f 86 87 105
+f 87 104 106
+f 87 106 107
+f 87 107 108
+f 87 108 105
+f 88 109 89
+f 89 110 111
+f 89 111 90
+f 89 109 112
+f 89 112 113
+f 89 113 110
+f 90 111 114
+f 90 114 91
+f 91 114 115
+f 91 115 92
+f 92 115 93
+f 93 116 95
+f 93 115 117
+f 93 117 116
+f 94 96 118
+f 94 118 97
+f 95 116 119
+f 95 119 96
+f 98 120 101
+f 99 121 100
+f 99 103 121
+f 100 121 122
+f 100 122 104
+f 101 120 123
+f 101 123 119
+f 101 119 124
+f 101 124 116
+f 101 116 102
+f 102 125 103
+f 102 116 125
+f 103 125 121
+f 104 122 106
+f 106 126 107
+f 106 122 127
+f 106 127 126
+f 107 126 128
+f 107 128 129
+f 107 129 108
+f 110 130 131
+f 110 131 111
+f 110 113 132
+f 110 132 130
+f 111 131 133
+f 111 133 114
+f 114 134 115
+f 114 133 134
+f 115 134 117
+f 116 124 119
+f 116 117 125
+f 117 134 125
+f 121 125 135
+f 121 135 133
+f 121 133 127
+f 121 127 122
+f 125 134 135
+f 126 130 128
+f 126 127 131
+f 126 131 130
+f 127 133 131
+f 128 130 136
+f 128 136 132
+f 128 132 129
+f 130 132 136
+f 133 135 134
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_8.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00042252 -0.04162634 -0.00628425
+v -0.00123459 -0.04162634 -0.00628187
+v 0.00042252 -0.04059179 -0.00627118
+v 0.00042252 -0.04162638 0.00568679
+v -0.00315429 -0.04162634 -0.00626286
+v -0.00315429 -0.04080101 -0.00624980
+v -0.00123459 -0.04059179 -0.00626524
+v -0.00315429 -0.03860999 -0.00620108
+v 0.00042252 -0.03810684 -0.00619514
+v 0.00042252 -0.03810688 0.00571650
+v -0.00315429 -0.03562064 0.00585194
+v -0.00315429 -0.03810688 0.00581035
+v -0.00315429 -0.04162638 0.00572006
+v -0.00315429 -0.04059179 -0.00624623
+v -0.00315429 -0.03810684 -0.00618445
+v -0.00315429 -0.03369014 -0.00600386
+v -0.00315429 -0.03041195 -0.00575557
+v 0.00042252 -0.03733158 -0.00611079
+v -0.00315429 -0.03316906 0.00581750
+v 0.00042252 -0.03639591 0.00566305
+v 0.00042252 -0.03562060 -0.00589933
+v -0.00315429 -0.02920670 -0.00550372
+v -0.00315429 -0.03080861 0.00574148
+v 0.00042252 -0.03562064 0.00562504
+v 0.00042252 -0.03323191 -0.00498578
+v -0.00315429 -0.02851486 -0.00520553
+v -0.00315429 -0.02948013 0.00563100
+v 0.00042252 -0.03411632 0.00524133
+v 0.00042252 -0.03276599 -0.00330957
+v 0.00042252 -0.03263251 -0.00028504
+v 0.00042252 -0.03263380 -0.00095267
+v 0.00042252 -0.03273134 -0.00270965
+v -0.00315429 -0.02877289 0.00346298
+v 0.00042252 -0.03262995 0.00110250
+v 0.00042252 -0.03325634 0.00501325
+v 0.00042252 -0.03279168 0.00346297
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 21
+f 1 21 25
+f 1 25 29
+f 1 29 32
+f 1 32 31
+f 1 31 30
+f 1 30 34
+f 1 34 36
+f 1 36 35
+f 1 35 28
+f 1 28 24
+f 1 24 20
+f 1 20 10
+f 1 10 4
+f 1 4 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 13 12
+f 5 12 11
+f 5 11 19
+f 5 19 23
+f 5 23 27
+f 5 27 33
+f 5 33 26
+f 5 26 22
+f 5 22 17
+f 5 17 16
+f 5 16 15
+f 5 15 8
+f 5 8 14
+f 5 14 6
+f 6 14 7
+f 7 14 8
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 10 19 11
+f 10 20 19
+f 17 21 18
+f 17 22 21
+f 19 20 23
+f 20 24 23
+f 21 22 25
+f 22 26 25
+f 23 24 27
+f 24 28 27
+f 25 26 29
+f 26 30 31
+f 26 31 32
+f 26 32 29
+f 26 33 34
+f 26 34 30
+f 27 28 35
+f 27 35 33
+f 33 35 36
+f 33 36 34
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/mesh/pliers_007_collision_9.obj

@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v -0.00315588 -0.04162634 -0.00626289
+v -0.00364226 -0.04162634 -0.00625863
+v -0.01086518 -0.03313480 -0.01016767
+v -0.00845702 -0.03313480 -0.00977292
+v -0.00845702 -0.03065038 -0.01044718
+v -0.00588091 -0.03076869 -0.00951259
+v -0.00467366 -0.03001806 -0.00908797
+v -0.00458652 -0.02816596 -0.00915410
+v -0.00379277 -0.02816596 -0.00782476
+v -0.00315588 -0.02078816 -0.00624149
+v -0.00315588 -0.04162638 0.00572037
+v -0.00605043 -0.04162634 -0.00622235
+v -0.01327018 -0.03478702 -0.00921388
+v -0.01327018 -0.03313480 -0.00998203
+v -0.01327018 -0.03065038 -0.01066696
+v -0.01086518 -0.03065038 -0.01080565
+v -0.00745572 -0.04162634 -0.00619675
+v -0.00845702 -0.04162634 -0.00614127
+v -0.00845702 -0.02816595 -0.01059013
+v -0.00605043 -0.02816595 -0.00987319
+v -0.00464989 -0.02567949 -0.00910929
+v -0.00475763 -0.02364789 -0.00902820
+v -0.00485585 -0.02198957 -0.00894711
+v -0.00495250 -0.02078815 -0.00885962
+v -0.00315588 -0.02078820 0.00612159
+v -0.00315588 -0.03810575 0.00581000
+v -0.00380070 -0.02816602 0.00798008
+v -0.00457226 -0.02816602 0.00931582
+v -0.00465306 -0.03011195 0.00925393
+v -0.00491447 -0.03176619 0.00903415
+v -0.00584922 -0.03082383 0.00968496
+v -0.00663188 -0.03313487 0.00937555
+v -0.00715946 -0.03445664 0.00916430
+v -0.00845702 -0.03313488 0.00998367
+v -0.01086518 -0.03313488 0.01034428
+v -0.01086518 -0.03498493 0.00944169
+v -0.00845702 -0.04162638 0.00587613
+v -0.01473568 -0.03455448 -0.00907518
+v -0.01559280 -0.03302670 -0.00933976
+v -0.01327018 -0.02816595 -0.01076083
+v -0.01567677 -0.03065038 -0.00996495
+v -0.01567677 -0.02816595 -0.01018685
+v -0.01086518 -0.02816595 -0.01081204
+v -0.01006035 -0.04162634 -0.00561423
+v -0.00845702 -0.02078814 -0.00985183
+v -0.00615183 -0.02078815 -0.00939093
+v -0.00608053 -0.02078815 -0.00936319
+v -0.00318123 -0.02078820 0.00618133
+v -0.00392269 -0.02567955 0.00798009
+v -0.00465306 -0.02567955 0.00925609
+v -0.00605043 -0.02816603 0.01004131
+v -0.00845702 -0.03065046 0.01062808
+v -0.01086518 -0.03065046 0.01095668
+v -0.01327018 -0.03065046 0.01081799
+v -0.01327018 -0.03313488 0.01016718
+v -0.01327018 -0.03488498 0.00939688
+v -0.01080656 -0.04162638 0.00526374
+v -0.01484341 -0.03462390 0.00926458
+v -0.01634060 -0.03378345 -0.00821313
+v -0.01701552 -0.03212513 -0.00905597
+v -0.01085093 -0.04162634 -0.00526856
+v -0.01327018 -0.02078814 -0.00990090
+v -0.01319255 -0.02078814 -0.00990517
+v -0.01086518 -0.02567948 -0.01056025
+v -0.01567677 -0.02078814 -0.00971313
+v -0.01559914 -0.02078814 -0.00972167
+v -0.01725000 -0.03065039 -0.00920533
+v -0.01745913 -0.02816596 -0.00932267
+v -0.01746230 -0.02567949 -0.00932480
+v -0.01736407 -0.02319507 -0.00928639
+v -0.01726267 -0.02078815 -0.00923517
+v -0.01720722 -0.02078815 -0.00925224
+v -0.01086518 -0.02078814 -0.00988383
+v -0.00457226 -0.02078821 0.00829163
+v -0.00484318 -0.02192232 0.00911100
+v -0.00478139 -0.02319513 0.00916220
+v -0.00845702 -0.02816603 0.01076039
+v -0.00592844 -0.02078821 0.00944387
+v -0.01086518 -0.02816603 0.01098230
+v -0.01327018 -0.02816603 0.01093322
+v -0.01567677 -0.02816603 0.01034217
+v -0.01567677 -0.03065046 0.01015866
+v -0.01565776 -0.03310428 0.00953985
+v -0.01188707 -0.04162637 0.00346284
+v -0.01644833 -0.03391202 0.00839828
+v -0.01689511 -0.03439340 0.00689183
+v -0.01708523 -0.03225574 0.00925179
+v -0.01688560 -0.03438315 -0.00670883
+v -0.01728644 -0.03302670 -0.00760714
+v -0.01824178 -0.03065039 -0.00782477
+v -0.01195044 -0.04162635 -0.00334176
+v -0.01877728 -0.02825979 -0.00765620
+v -0.01878837 -0.02545512 -0.00765619
+v -0.01851746 -0.02319507 -0.00782475
+v -0.01832417 -0.02078815 -0.00782474
+v -0.00570030 -0.02078821 0.00932651
+v -0.01086518 -0.02567956 0.01073052
+v -0.00845702 -0.02078822 0.00995384
+v -0.01327018 -0.02078822 0.01000079
+v -0.01567677 -0.02078822 0.00980448
+v -0.01573222 -0.02078822 0.00978954
+v -0.01722782 -0.02078821 0.00935639
+v -0.01737358 -0.02319513 0.00942252
+v -0.01751458 -0.02567955 0.00946520
+v -0.01753201 -0.02816602 0.00946946
+v -0.01734030 -0.03065045 0.00939050
+v -0.01690462 -0.03440359 0.00572039
+v -0.01196629 -0.04162635 -0.00330975
+v -0.01734347 -0.03310427 0.00777949
+v -0.01770470 -0.03313486 0.00572040
+v -0.01835427 -0.03065045 0.00798007
+v -0.01691887 -0.03441987 -0.00556726
+v -0.01772688 -0.03313482 -0.00556725
+v -0.01884383 -0.03065040 -0.00556724
+v -0.01932546 -0.02749285 -0.00679202
+v -0.01932546 -0.02613437 -0.00679202
+v -0.01895948 -0.02078816 -0.00556721
+v -0.00853465 -0.02078822 0.00995811
+v -0.01086518 -0.02078822 0.00998798
+v -0.01726426 -0.02078821 0.00931158
+v -0.01883115 -0.02544702 0.00784780
+v -0.01884383 -0.02838631 0.00784779
+v -0.01692680 -0.03442803 -0.00432327
+v -0.01885492 -0.03065044 0.00572041
+v -0.01933972 -0.02770503 0.00700922
+v -0.01924941 -0.02825980 -0.00534959
+v -0.01925892 -0.02889420 0.00572041
+v -0.01900543 -0.02078818 0.00106242
+v -0.01913534 -0.02319508 -0.00556722
+v -0.01933972 -0.02612014 0.00700922
+v -0.01926526 -0.02491871 0.00572043
+v -0.01826555 -0.02078821 0.00798010
+v -0.01851904 -0.02319513 0.00798009
+v -0.01914009 -0.02319512 0.00572043
+v -0.01895790 -0.02078820 0.00572044
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 25
+f 1 25 26
+f 1 26 11
+f 1 11 37
+f 1 37 57
+f 1 57 84
+f 1 84 108
+f 1 108 91
+f 1 91 61
+f 1 61 44
+f 1 44 18
+f 1 18 17
+f 1 17 12
+f 1 12 2
+f 2 12 3
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 5
+f 3 5 4
+f 3 12 17
+f 3 17 18
+f 3 18 13
+f 5 16 19
+f 5 19 20
+f 5 20 6
+f 6 20 7
+f 7 20 8
+f 8 21 9
+f 8 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 47
+f 10 47 46
+f 10 46 45
+f 10 45 73
+f 10 73 63
+f 10 63 62
+f 10 62 66
+f 10 66 65
+f 10 65 72
+f 10 72 71
+f 10 71 95
+f 10 95 117
+f 10 117 128
+f 10 128 135
+f 10 135 132
+f 10 132 120
+f 10 120 102
+f 10 102 101
+f 10 101 100
+f 10 100 99
+f 10 99 119
+f 10 119 118
+f 10 118 98
+f 10 98 78
+f 10 78 96
+f 10 96 74
+f 10 74 48
+f 10 48 25
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 34
+f 11 34 35
+f 11 35 36
+f 11 36 37
+f 13 38 14
+f 13 18 38
+f 14 38 39
+f 14 39 15
+f 15 40 16
+f 15 39 41
+f 15 41 42
+f 15 42 40
+f 16 43 19
+f 16 40 43
+f 18 44 38
+f 19 43 45
+f 19 45 46
+f 19 46 20
+f 20 46 47
+f 20 47 22
+f 20 22 21
+f 22 47 23
+f 23 47 24
+f 25 48 27
+f 25 27 26
+f 27 48 49
+f 27 49 50
+f 27 50 28
+f 28 51 29
+f 28 50 51
+f 29 51 31
+f 29 31 30
+f 31 51 52
+f 31 52 32
+f 32 52 34
+f 32 34 33
+f 34 52 35
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 36
+f 36 56 37
+f 37 56 58
+f 37 58 57
+f 38 59 60
+f 38 60 39
+f 38 44 61
+f 38 61 59
+f 39 60 41
+f 40 62 63
+f 40 63 64
+f 40 64 43
+f 40 42 65
+f 40 65 66
+f 40 66 62
+f 41 60 67
+f 41 67 42
+f 42 67 68
+f 42 68 69
+f 42 69 70
+f 42 70 71
+f 42 71 72
+f 42 72 65
+f 43 64 45
+f 45 64 73
+f 48 74 75
+f 48 75 50
+f 48 50 49
+f 50 75 76
+f 50 76 51
+f 51 77 52
+f 51 76 75
+f 51 75 78
+f 51 78 77
+f 52 77 53
+f 53 79 80
+f 53 80 54
+f 53 77 79
+f 54 80 81
+f 54 81 82
+f 54 82 83
+f 54 83 55
+f 55 83 58
+f 55 58 56
+f 57 58 85
+f 57 85 86
+f 57 86 84
+f 58 83 87
+f 58 87 85
+f 59 61 88
+f 59 88 60
+f 60 88 89
+f 60 89 90
+f 60 90 67
+f 61 91 88
+f 63 73 64
+f 67 90 92
+f 67 92 68
+f 68 92 93
+f 68 93 69
+f 69 93 70
+f 70 93 71
+f 71 93 94
+f 71 94 95
+f 74 96 75
+f 75 96 78
+f 77 97 79
+f 77 78 98
+f 77 98 97
+f 79 97 80
+f 80 97 99
+f 80 99 100
+f 80 100 81
+f 81 100 101
+f 81 101 102
+f 81 102 103
+f 81 103 104
+f 81 104 105
+f 81 105 106
+f 81 106 82
+f 82 106 87
+f 82 87 83
+f 84 86 107
+f 84 107 108
+f 85 87 109
+f 85 109 86
+f 86 109 110
+f 86 110 107
+f 87 111 109
+f 87 106 111
+f 88 91 108
+f 88 108 112
+f 88 112 113
+f 88 113 89
+f 89 113 114
+f 89 114 90
+f 90 115 92
+f 90 114 115
+f 92 115 93
+f 93 115 116
+f 93 116 94
+f 94 116 95
+f 95 116 117
+f 97 98 118
+f 97 118 119
+f 97 119 99
+f 102 120 103
+f 103 120 121
+f 103 121 104
+f 104 121 105
+f 105 121 122
+f 105 122 106
+f 106 122 111
+f 107 110 123
+f 107 123 108
+f 108 123 112
+f 109 111 124
+f 109 124 110
+f 110 124 113
+f 110 113 123
+f 111 122 125
+f 111 125 124
+f 112 123 113
+f 113 124 114
+f 114 126 115
+f 114 124 127
+f 114 127 126
+f 115 126 127
+f 115 127 125
+f 115 125 130
+f 115 130 116
+f 116 128 129
+f 116 129 117
+f 116 130 131
+f 116 131 128
+f 117 129 128
+f 120 132 133
+f 120 133 121
+f 121 133 132
+f 121 132 130
+f 121 130 122
+f 122 130 125
+f 124 125 127
+f 128 131 134
+f 128 134 135
+f 130 132 135
+f 130 135 134
+f 130 134 131
+

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mjcf/pliers_007.xml

@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pliers_007">
+  <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_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pliers_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pliers_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pliers_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pliers_007_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pliers_007_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pliers_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pliers_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pliers_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pliers_007_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pliers_007_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pliers_007_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pliers_007_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pliers_007_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pliers_007_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pliers_007_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pliers_007">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/pliers_007.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pliers_007">
+   <link name="pliers_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pliers_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>eabb2e11fe17557f96c68e4fff9f1937</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>pliers</category>
+         <name>multi-tool pliers</name>
+         <color>silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact multi-tool pliers with spring mechanism and pointed tips</description>
+         <min_height>0.0218</min_height>
+         <max_height>0.0218</max_height>
+         <real_height>0.0218</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420210545</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/eabb2e11fe17557f96c68e4fff9f1937/pliers_007.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:664236c87ef3d5c998c3c8f195b86732598a880deb6bda7eb7b6cebee402d4f1
+size 5012400

dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a76e248b05b8f7a74375b5377185651d7784d2e3fc9c0c3453f1967d3926e57
+size 253733