Add asset tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e

.gitattributes

@@ -5158,5 +5158,4 @@ dataset/tools/repair_tools/cca1705002805836a7ad10f18f714cec/mesh/screwdriver_031
 dataset/tools/repair_tools/cca1705002805836a7ad10f18f714cec/screwdriver_031.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/ce50b176cbe753f1b0ecdea8c6e9b68d/mesh/pliers_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/ce50b176cbe753f1b0ecdea8c6e9b68d/pliers_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/d19bc759bfcc58e8814a19589c4ea375/hex_key_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/d19bc759bfcc58e8814a19589c4ea375/mesh/hex_key_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/d4488805d9cd545fb4df63eb41cf1b5e.usd filter=lfs diff=lfs merge=lfs -text

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/d4488805d9cd545fb4df63eb41cf1b5e.urdf

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="umbrella_46">
+   <link name="umbrella_46">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/umbrella_46.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/umbrella_46_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>1.105017</scale>
+         <version>v0.1.5</version>
+         <category>umbrella</category>
+         <description>purple umbrella with curved handle and metallic shaft</description>
+         <min_height>0.8</min_height>
+         <max_height>1.0</max_height>
+         <real_height>0.9</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20251015234137</generate_time>
+         <gs_model>mesh/umbrella_46_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.978876948356628</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/d4488805d9cd545fb4df63eb41cf1b5e.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86b148acef0ec65e686cd3ebf760264c6b633abdcdfe4ec5fff2d04d83bfa306
+size 312447

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mesh/material.mtl

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

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mesh/umbrella_46.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b2eeff754cfd1f7f443ab7bc17e4e4b81212303567ef353fda72da5b4a86417
+size 1164656

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mesh/umbrella_46_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b083e72703baf00863e7fcae48df6bed40a12f99d71113a034d48a045127af4f
+size 14467178

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/d4488805d9cd545fb4df63eb41cf1b5e.xml

@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="umbrella_46">
+  <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/umbrella_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/umbrella_46_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/umbrella_46_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/umbrella_46_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/umbrella_46_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/umbrella_46_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/umbrella_46_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/umbrella_46_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/umbrella_46_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/umbrella_46_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/umbrella_46_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/umbrella_46_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/umbrella_46_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/umbrella_46_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/umbrella_46_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/umbrella_46_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/umbrella_46_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/umbrella_46_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/umbrella_46_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/umbrella_46_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/umbrella_46_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/umbrella_46_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/umbrella_46_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/umbrella_46_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/umbrella_46_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/umbrella_46_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/umbrella_46_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/umbrella_46_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/umbrella_46_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/umbrella_46_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/umbrella_46_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/umbrella_46_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/umbrella_46_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/umbrella_46_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/umbrella_46_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/umbrella_46_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/umbrella_46_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/umbrella_46_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/umbrella_46_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/umbrella_46_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/umbrella_46_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/umbrella_46_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/umbrella_46_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/umbrella_46_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/umbrella_46_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/umbrella_46_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/umbrella_46_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/umbrella_46_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="umbrella_46">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_0.obj

@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.03158409 -0.54661920 -0.01907500
+v 0.03158409 -0.54661920 -0.02040942
+v 0.03158409 -0.54588302 -0.01476963
+v 0.02983541 -0.54680245 -0.01357725
+v 0.02733946 -0.54998806 -0.02285021
+v 0.03158409 -0.54360311 -0.03201311
+v 0.02733946 -0.54998804 -0.02625330
+v 0.03158409 -0.54555395 -0.01357724
+v 0.02267799 -0.54991684 -0.01357726
+v 0.01872312 -0.55114502 -0.01357726
+v 0.03158409 -0.54082794 -0.03356159
+v 0.02573311 -0.54998804 -0.02625330
+v 0.03158409 -0.51666908 -0.01357714
+v 0.01051345 -0.55111448 -0.01357726
+v 0.02385988 -0.54048528 -0.02975638
+v 0.02383192 -0.52897407 -0.03046856
+v 0.03158409 -0.53866683 -0.03369762
+v 0.03158409 -0.51648926 -0.01361315
+v 0.03146463 -0.51656051 -0.01357714
+v 0.00562069 -0.54126565 -0.01357723
+v 0.01496650 -0.52785797 -0.01357718
+v 0.03158409 -0.52392246 -0.03401567
+v 0.03158409 -0.51715420 -0.01567581
+v 0.03013532 -0.51740187 -0.01357714
+v 0.01604926 -0.52711158 -0.01357718
+v 0.03158409 -0.52258916 -0.03130280
+f 1 2 6
+f 1 6 11
+f 1 11 17
+f 1 17 22
+f 1 22 26
+f 1 26 23
+f 1 23 18
+f 1 18 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 5
+f 4 8 13
+f 4 13 19
+f 4 19 24
+f 4 24 25
+f 4 25 21
+f 4 21 20
+f 4 20 14
+f 4 14 10
+f 4 10 9
+f 5 10 7
+f 5 9 10
+f 6 7 12
+f 6 12 11
+f 7 10 12
+f 10 14 12
+f 11 12 15
+f 11 15 16
+f 11 16 17
+f 12 14 15
+f 13 18 19
+f 14 20 15
+f 15 20 16
+f 16 21 22
+f 16 22 17
+f 16 20 21
+f 18 23 24
+f 18 24 19
+f 21 25 26
+f 21 26 22
+f 23 26 24
+f 24 26 25
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_1.obj

@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v -0.24511874 -0.00848383 -0.45176691
+v -0.24511874 0.00885800 -0.45171255
+v -0.22689319 0.00177402 -0.44589754
+v -0.22689319 -0.00136972 -0.44589756
+v -0.23722552 -0.00807956 -0.44877791
+v -0.24511874 -0.01787885 -0.44769103
+v -0.23725939 0.00846578 -0.44872347
+v -0.24511874 0.01979166 -0.44665832
+v -0.24359430 0.01958047 -0.44644093
+v -0.23146651 0.01399294 -0.44279978
+v -0.21923711 0.00871312 -0.43573484
+v -0.20802400 0.00343934 -0.42872424
+v -0.20802400 -0.00325241 -0.42872426
+v -0.21906773 -0.00841752 -0.43578924
+v -0.23143264 -0.01358866 -0.44290859
+v -0.24356041 -0.01929082 -0.44644107
+v -0.24511874 -0.01952615 -0.44671280
+v -0.24511874 0.02066055 -0.44502791
+v -0.24511874 0.02505331 -0.43638691
+v -0.23725939 0.02300777 -0.43649560
+v -0.22367492 0.02090790 -0.43062627
+v -0.21158102 0.01565826 -0.42491997
+v -0.20107931 0.00842342 -0.41709419
+v -0.19098412 0.00118857 -0.40932276
+v -0.19098412 -0.00089920 -0.40932276
+v -0.20094381 -0.00818226 -0.41725727
+v -0.21131001 -0.01546532 -0.42519182
+v -0.22340391 -0.02075112 -0.43073510
+v -0.23722552 -0.02282681 -0.43655013
+v -0.24511874 -0.02497493 -0.43638709
+v -0.24511874 0.03067094 -0.41790930
+v -0.23678512 0.02992272 -0.41790930
+v -0.21801756 0.02374989 -0.41845277
+v -0.20629629 0.02068458 -0.41274646
+v -0.18959518 0.01993024 -0.39312763
+v -0.19416850 0.01340750 -0.40530110
+v -0.18718996 0.00811562 -0.39943178
+v -0.17052272 0.00603379 -0.37638913
+v -0.15443140 0.00180988 -0.35503121
+v -0.15443140 -0.00156918 -0.35503123
+v -0.17729802 -0.00897888 -0.38454105
+v -0.18715607 -0.00779614 -0.39954052
+v -0.19389749 -0.01311815 -0.40551859
+v -0.18945968 -0.01967720 -0.39334512
+v -0.20599141 -0.02053395 -0.41301835
+v -0.21788204 -0.02370784 -0.41861597
+v -0.23678512 -0.02983239 -0.41790952
+v -0.24511874 -0.02883071 -0.42627878
+v -0.24511874 0.02959681 -0.39970343
+v -0.23678512 0.03071311 -0.39970343
+v -0.20046953 0.03029058 -0.36318298
+v -0.21862733 0.02948820 -0.39970343
+v -0.20046953 0.02847441 -0.38144323
+v -0.20033403 0.02306194 -0.39943173
+v -0.18563164 0.02217487 -0.38144325
+v -0.16940480 0.02119727 -0.35986794
+v -0.17336835 0.01825271 -0.37204140
+v -0.17665436 0.01102396 -0.38209543
+v -0.15731088 0.01402880 -0.35024871
+v 0.10089569 0.00426414 0.08011637
+v 0.08161997 0.00109639 0.04669364
+v -0.15707376 -0.01378813 -0.35035753
+v -0.16188422 -0.00820056 -0.36193316
+v -0.17116638 -0.00897891 -0.37541094
+v 0.08161997 -0.00077416 0.04669364
+v 0.10089569 -0.00334478 0.08011634
+v -0.17316509 -0.01817479 -0.37236764
+v -0.20016465 -0.02292952 -0.39954057
+v -0.17015008 -0.02031692 -0.36318316
+v -0.18295539 -0.02123403 -0.37959562
+v -0.20046953 -0.02836626 -0.38144343
+v -0.21862733 -0.02943421 -0.39970365
+v -0.24511874 -0.03058664 -0.41790952
+v -0.24511874 0.02347220 -0.38274751
+v 0.01075036 0.01737034 0.00843419
+v 0.00641417 0.01932541 -0.00368495
+v 0.04388156 0.01890284 0.04870450
+v 0.06098918 0.01916827 0.06870378
+v 0.07792743 0.01922854 0.08777919
+v -0.18227787 0.02926474 -0.34492274
+v 0.08402521 0.01922854 0.08777919
+v 0.08402521 0.01922857 0.07897515
+v -0.16367967 0.02293503 -0.34443369
+v -0.18058403 0.02475134 -0.36486771
+v 0.07985839 0.01824506 0.06680169
+v -0.15402487 0.01954990 -0.33802087
+v 0.09107151 0.01125762 0.07348619
+v 0.10089569 0.00426411 0.08663789
+v -0.15405874 -0.01920674 -0.33818403
+v 0.10089569 -0.00334481 0.08663786
+v 0.08368644 -0.01899105 0.07854025
+v 0.09090212 -0.01065802 0.07326872
+v -0.18227787 -0.02624838 -0.36318319
+v 0.08012940 -0.01797125 0.06636677
+v -0.16351028 -0.02279093 -0.34454253
+v -0.18227787 -0.02938614 -0.34492296
+v -0.20046953 -0.03014034 -0.36318320
+v -0.24511874 -0.03093063 -0.40801857
+v -0.24511874 0.01636406 -0.37367178
+v -0.00009012 0.00980368 0.00131485
+v 0.00549950 0.00514535 0.01495565
+v 0.04333954 0.00295480 0.06750812
+v 0.06017615 0.00487959 0.08750741
+v 0.06579964 0.01709854 0.08087726
+v 0.02728208 0.01833571 0.02859652
+v 0.07213456 0.01087137 0.09370287
+v 0.07846945 0.00464420 0.10343076
+v 0.08338154 0.00464420 0.10343076
+v 0.08975033 0.01056967 0.09326811
+v 0.08338154 -0.00243373 0.10343073
+v 0.08958094 -0.00899873 0.09245284
+v 0.08368644 -0.01899108 0.08603999
+v 0.07785968 -0.01899108 0.08603999
+v -0.24511874 -0.02934370 -0.39970365
+v 0.06126019 -0.01874361 0.06837758
+v 0.04398319 -0.01852028 0.04854132
+v -0.24511874 0.00661906 -0.36753075
+v -0.01069346 0.00224305 -0.00585885
+v 0.04333954 -0.00245170 0.06750810
+v 0.06017615 -0.00439473 0.08750737
+v 0.07846945 -0.00243373 0.10343073
+v 0.07210067 -0.00952972 0.09288760
+v 0.06573190 -0.01661968 0.08055107
+v -0.24511874 -0.02596468 -0.38834534
+v 0.00665130 -0.01886402 -0.00411985
+v 0.02738371 -0.01792887 0.02837899
+v -0.24511874 -0.00661963 -0.36747642
+v -0.01069346 -0.00185406 -0.00585887
+v 0.00549950 -0.00468410 0.01495561
+v 0.01098749 -0.01690301 0.00805365
+v -0.24511874 -0.02315284 -0.38258467
+v -0.00974492 -0.01815194 -0.02553213
+v -0.24511874 -0.00993231 -0.36840033
+v -0.24511874 -0.01677490 -0.37350888
+v 0.00001151 -0.00937853 0.00109739
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 30
+f 1 30 48
+f 1 48 73
+f 1 73 98
+f 1 98 114
+f 1 114 124
+f 1 124 131
+f 1 131 134
+f 1 134 133
+f 1 133 127
+f 1 127 117
+f 1 117 99
+f 1 99 74
+f 1 74 49
+f 1 49 31
+f 1 31 19
+f 1 19 18
+f 1 18 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 7
+f 3 7 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 7 9 10
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 26 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 54
+f 33 54 34
+f 34 54 35
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 36 57 37
+f 37 57 58
+f 37 58 38
+f 38 58 57
+f 38 57 39
+f 39 57 59
+f 39 59 60
+f 39 60 61
+f 39 61 65
+f 39 65 40
+f 40 62 63
+f 40 63 64
+f 40 64 41
+f 40 65 66
+f 40 66 62
+f 41 64 67
+f 41 67 42
+f 42 67 43
+f 43 67 44
+f 44 68 45
+f 44 67 69
+f 44 69 70
+f 44 70 68
+f 45 68 46
+f 46 68 71
+f 46 71 72
+f 46 72 47
+f 47 73 48
+f 47 72 73
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 78
+f 49 78 50
+f 50 78 79
+f 50 79 51
+f 51 80 53
+f 51 53 52
+f 51 79 81
+f 51 81 82
+f 51 82 80
+f 53 80 83
+f 53 83 84
+f 53 84 55
+f 53 55 54
+f 55 84 56
+f 56 84 83
+f 56 83 85
+f 56 85 86
+f 56 86 57
+f 57 86 59
+f 59 86 60
+f 60 87 82
+f 60 82 81
+f 60 81 88
+f 60 88 90
+f 60 90 66
+f 60 66 65
+f 60 65 61
+f 60 86 87
+f 62 89 67
+f 62 67 63
+f 62 66 89
+f 63 67 64
+f 66 90 112
+f 66 112 91
+f 66 91 92
+f 66 92 89
+f 67 89 69
+f 68 70 93
+f 68 93 71
+f 69 93 70
+f 69 89 94
+f 69 94 95
+f 69 95 93
+f 71 93 96
+f 71 96 72
+f 72 96 97
+f 72 97 73
+f 73 97 98
+f 74 99 75
+f 75 100 101
+f 75 101 102
+f 75 102 103
+f 75 103 104
+f 75 104 105
+f 75 105 76
+f 75 99 100
+f 76 105 77
+f 77 105 104
+f 77 104 78
+f 78 104 79
+f 79 104 106
+f 79 106 107
+f 79 107 108
+f 79 108 81
+f 80 82 83
+f 81 108 109
+f 81 109 88
+f 82 87 85
+f 82 85 83
+f 85 87 86
+f 88 109 108
+f 88 108 110
+f 88 110 90
+f 89 92 94
+f 90 110 111
+f 90 111 112
+f 91 94 92
+f 91 112 97
+f 91 97 96
+f 91 96 93
+f 91 93 94
+f 93 95 94
+f 97 112 113
+f 97 113 98
+f 98 113 115
+f 98 115 116
+f 98 116 114
+f 99 117 118
+f 99 118 100
+f 100 118 101
+f 101 118 102
+f 102 118 128
+f 102 128 119
+f 102 119 120
+f 102 120 103
+f 103 120 121
+f 103 121 107
+f 103 107 106
+f 103 106 104
+f 107 121 110
+f 107 110 108
+f 110 121 113
+f 110 113 112
+f 110 112 111
+f 113 121 122
+f 113 122 123
+f 113 123 115
+f 114 116 125
+f 114 125 124
+f 115 123 116
+f 116 123 126
+f 116 126 125
+f 117 127 118
+f 118 127 128
+f 119 128 129
+f 119 129 120
+f 120 123 122
+f 120 122 121
+f 120 129 130
+f 120 130 123
+f 123 130 126
+f 124 125 132
+f 124 132 130
+f 124 130 131
+f 125 126 130
+f 125 130 132
+f 127 133 128
+f 128 133 134
+f 128 134 129
+f 129 134 135
+f 129 135 130
+f 130 135 134
+f 130 134 131
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_10.obj

@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.37420541 0.00503458 -0.36310958
+v -0.37420541 -0.00483144 -0.36310962
+v -0.37373669 0.00346676 -0.35042897
+v -0.37179931 0.01411671 -0.36310955
+v -0.37188265 -0.01398093 -0.36310965
+v -0.37373669 -0.00281050 -0.35042899
+v -0.36627887 -0.00897762 -0.32671545
+v -0.36617475 0.00933973 -0.32671539
+v -0.37125771 0.00948678 -0.34459516
+v -0.37177849 0.01418407 -0.36310955
+v -0.37183057 -0.01407279 -0.36310965
+v -0.37114312 -0.00894081 -0.34459522
+v -0.35695666 -0.02041148 -0.31304629
+v -0.35406101 -0.01560405 -0.30087828
+v -0.35869611 -0.00929002 -0.30755416
+v -0.35577963 -0.00338638 -0.29787588
+v -0.35577963 0.00315422 -0.29787586
+v -0.35855026 0.00929679 -0.30800568
+v -0.35368605 0.01537194 -0.30162262
+v -0.35672748 0.02038154 -0.31379065
+v -0.35942520 0.02271489 -0.32671534
+v -0.36205002 0.02436236 -0.34496124
+v -0.36268538 0.02461351 -0.36310951
+v -0.36279997 -0.02444711 -0.36310969
+v -0.36190421 -0.02411034 -0.34496142
+v -0.35953979 -0.02257325 -0.32671550
+v -0.34713443 -0.02464941 -0.30755422
+v -0.34150983 -0.02184461 -0.29022364
+v -0.33790595 -0.01929700 -0.27945916
+v -0.33996828 -0.00897780 -0.27673750
+v -0.34970717 -0.00929008 -0.29116338
+v -0.33970791 0.00933955 -0.27720121
+v -0.34926970 0.00929673 -0.29116332
+v -0.33756221 0.01926682 -0.28005706
+v -0.34096823 0.02178389 -0.29022348
+v -0.34691571 0.02457657 -0.30800562
+v -0.34584288 0.02967194 -0.32671531
+v -0.34584288 0.03114180 -0.34496122
+v -0.34584288 0.03128272 -0.36310949
+v -0.36269581 -0.02448998 -0.36310969
+v -0.34584288 -0.03103676 -0.34496144
+v -0.34584288 -0.02974464 -0.32671553
+v -0.32766711 -0.02863630 -0.29022367
+v -0.32739628 -0.02265919 -0.27280766
+v -0.32115714 -0.02030756 -0.25976089
+v -0.33292714 -0.00897784 -0.26762063
+v -0.33261466 0.00933951 -0.26807215
+v -0.32075093 0.02035685 -0.26024894
+v -0.32714630 0.02248198 -0.27317363
+v -0.32766711 0.02831837 -0.29022346
+v -0.32766711 0.03102530 -0.30845719
+v -0.32766711 0.02728365 -0.36310950
+v -0.30951216 0.03077416 -0.29022345
+v -0.29134682 0.02879598 -0.27196535
+v -0.34584288 -0.03128167 -0.36310971
+v -0.32766711 -0.03126350 -0.30845741
+v -0.30951216 -0.02946313 -0.27196557
+v -0.30967880 -0.02333904 -0.25369522
+v -0.30373132 -0.02035049 -0.24227168
+v -0.31584503 -0.00897791 -0.24756844
+v -0.32384447 -0.00897788 -0.25669750
+v -0.32353199 0.00933947 -0.25706358
+v -0.31527217 0.00933944 -0.24793452
+v -0.30296054 0.02016081 -0.24280853
+v -0.30921011 0.02291060 -0.25398796
+v -0.30951216 0.02900420 -0.27196535
+v -0.31634501 0.02065731 -0.36310952
+v -0.27661870 0.02270244 -0.27196538
+v -0.27903520 0.02076114 -0.28612276
+v -0.29134682 0.02580732 -0.25371945
+v -0.27836858 0.02168577 -0.25371946
+v -0.34572829 -0.03126330 -0.36310971
+v -0.30951216 -0.03089611 -0.29022367
+v -0.29134682 -0.02923654 -0.27196557
+v -0.29134682 -0.02592956 -0.25371964
+v -0.29134682 -0.02016064 -0.24257679
+v -0.29134682 -0.00897794 -0.23842718
+v -0.30676235 -0.00897794 -0.23994054
+v -0.30618947 0.00933941 -0.24034324
+v -0.29134682 0.00933941 -0.23852475
+v -0.29134682 0.02041802 -0.24267428
+v -0.31627210 0.02061444 -0.36310952
+v -0.26796309 0.00933953 -0.27196543
+v -0.27551462 0.01045420 -0.29140739
+v -0.28136836 0.01940143 -0.24382152
+v -0.27274399 0.00933946 -0.25371951
+v -0.32766711 -0.02771741 -0.36310970
+v -0.27646246 -0.02270206 -0.27196554
+v -0.27881647 -0.02106085 -0.25371962
+v -0.28182666 -0.01862347 -0.24422441
+v -0.28050384 -0.00897793 -0.24307713
+v -0.28016011 0.00933942 -0.24277196
+v -0.30979339 0.00941335 -0.36310957
+v -0.26780685 -0.00897782 -0.27196549
+v -0.27530630 -0.01015971 -0.29152950
+v -0.28019135 0.00508948 -0.30236716
+v -0.30975174 0.00933986 -0.36310957
+v -0.27319187 -0.00897789 -0.25371957
+v -0.31584503 -0.02088898 -0.36310968
+v -0.27869148 -0.02080965 -0.28633038
+v -0.28019135 -0.00483778 -0.30236720
+v -0.30932466 -0.00897749 -0.36310963
+v -0.30932466 -0.00886726 -0.36310963
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 10
+f 1 10 23
+f 1 23 39
+f 1 39 52
+f 1 52 67
+f 1 67 82
+f 1 82 93
+f 1 93 97
+f 1 97 103
+f 1 103 102
+f 1 102 99
+f 1 99 87
+f 1 87 72
+f 1 72 55
+f 1 55 40
+f 1 40 24
+f 1 24 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+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 10
+f 10 22 23
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 16
+f 14 16 15
+f 16 31 30
+f 16 30 17
+f 17 30 32
+f 17 32 33
+f 17 33 19
+f 17 19 18
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 38 23
+f 22 37 38
+f 23 38 39
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 25 42 26
+f 26 42 27
+f 27 43 28
+f 27 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 46 32
+f 32 34 33
+f 32 46 47
+f 32 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 36
+f 36 50 37
+f 37 51 38
+f 37 50 51
+f 38 51 39
+f 39 51 53
+f 39 53 54
+f 39 54 52
+f 40 55 41
+f 41 55 56
+f 41 56 42
+f 42 56 43
+f 43 57 58
+f 43 58 44
+f 43 56 57
+f 44 58 45
+f 45 58 59
+f 45 59 60
+f 45 60 61
+f 45 61 46
+f 46 61 62
+f 46 62 47
+f 47 62 48
+f 48 62 63
+f 48 63 64
+f 48 64 65
+f 48 65 49
+f 49 65 50
+f 50 65 66
+f 50 66 51
+f 51 66 53
+f 52 54 68
+f 52 68 69
+f 52 69 67
+f 53 66 54
+f 54 66 70
+f 54 70 71
+f 54 71 68
+f 55 72 73
+f 55 73 56
+f 56 73 57
+f 57 73 74
+f 57 74 75
+f 57 75 58
+f 58 75 59
+f 59 76 77
+f 59 77 78
+f 59 78 60
+f 59 75 76
+f 60 78 63
+f 60 63 62
+f 60 62 61
+f 63 78 79
+f 63 79 64
+f 64 79 80
+f 64 80 81
+f 64 81 70
+f 64 70 66
+f 64 66 65
+f 67 69 82
+f 68 71 83
+f 68 83 69
+f 69 83 84
+f 69 84 82
+f 70 81 85
+f 70 85 71
+f 71 85 86
+f 71 86 83
+f 72 87 74
+f 72 74 73
+f 74 88 89
+f 74 89 75
+f 74 87 88
+f 75 89 90
+f 75 90 76
+f 76 90 77
+f 77 80 78
+f 77 90 91
+f 77 91 92
+f 77 92 80
+f 78 80 79
+f 80 92 85
+f 80 85 81
+f 82 84 93
+f 83 94 95
+f 83 95 84
+f 83 86 94
+f 84 95 96
+f 84 96 97
+f 84 97 93
+f 85 92 86
+f 86 92 98
+f 86 98 94
+f 87 99 100
+f 87 100 88
+f 88 100 94
+f 88 94 89
+f 89 94 98
+f 89 98 90
+f 90 98 91
+f 91 98 92
+f 94 100 95
+f 95 101 96
+f 95 100 99
+f 95 99 102
+f 95 102 101
+f 96 103 97
+f 96 101 102
+f 96 102 103
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_11.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.02350803 0.32636326 0.30530531
+v 0.02350803 0.28844301 0.30530517
+v 0.02350803 0.26071119 0.36102479
+v 0.03571642 0.26084565 0.36115080
+v 0.05388460 0.26030779 0.36050510
+v 0.05388460 0.26947239 0.35254405
+v 0.07205278 0.27805775 0.34248835
+v 0.08412990 0.27670272 0.34103947
+v 0.09551127 0.29246668 0.32004617
+v 0.10838915 0.29725589 0.30850223
+v 0.12187089 0.29521818 0.30543903
+v 0.12193653 0.29526989 0.30530519
+v 0.02350803 0.22070154 0.35991436
+v 0.12051878 0.22070174 0.30530492
+v 0.02350803 0.25288094 0.36715111
+v 0.02350803 0.23964089 0.37679730
+v 0.03100372 0.23939264 0.37660831
+v 0.04312022 0.23756180 0.37556887
+v 0.06579106 0.25877692 0.35912706
+v 0.09623327 0.27125157 0.33786602
+v 0.13123065 0.28911537 0.30530517
+v 0.12233034 0.29509407 0.30530519
+v 0.02350803 0.22070144 0.38574261
+v 0.15761653 0.22070174 0.30530492
+v 0.02350803 0.23376562 0.38019117
+v 0.04380283 0.22070146 0.37986039
+v 0.04763601 0.22533547 0.37734058
+v 0.06953234 0.24760564 0.36117438
+v 0.02718367 0.22070145 0.38514417
+v 0.10070968 0.25903558 0.34037007
+v 0.09020784 0.26545904 0.34353563
+v 0.10741773 0.26545908 0.33332244
+v 0.11820837 0.27602011 0.32172338
+v 0.13833252 0.27972322 0.30530514
+v 0.15706518 0.22892502 0.30530495
+v 0.15688140 0.22927670 0.30543879
+v 0.15719645 0.22070174 0.30563562
+v 0.04846302 0.22070147 0.37780516
+v 0.07379871 0.23076600 0.36268622
+v 0.08100560 0.23786183 0.35756782
+v 0.07861644 0.24760566 0.35627646
+v 0.10288881 0.24760571 0.34179531
+v 0.11197291 0.24760574 0.33579494
+v 0.12507395 0.24760577 0.32666846
+v 0.12112263 0.26593492 0.32386519
+v 0.13021986 0.26593494 0.31723491
+v 0.13843755 0.27955772 0.30530514
+v 0.15703893 0.22927670 0.30530495
+v 0.15671074 0.23094205 0.30530496
+v 0.13558892 0.23795507 0.32114052
+v 0.14326838 0.23081788 0.31584886
+v 0.13623215 0.22573908 0.32165231
+v 0.13939584 0.22070169 0.31938444
+v 0.06643430 0.22070151 0.36831642
+v 0.08225270 0.22564585 0.35841035
+v 0.08907889 0.23076603 0.35334708
+v 0.10487103 0.22927656 0.34324412
+v 0.13415804 0.24760579 0.32005388
+v 0.14803360 0.26077347 0.30530507
+v 0.14213944 0.26593498 0.30811626
+v 0.13862132 0.27923708 0.30530514
+v 0.15432158 0.24262016 0.30530500
+v 0.15383586 0.24463719 0.30530501
+v 0.11395513 0.22927658 0.33700756
+v 0.12834265 0.23081784 0.32681014
+v 0.13295033 0.22070167 0.32407764
+v 0.13631092 0.22070168 0.32169955
+v 0.10518609 0.22070160 0.34355909
+v 0.07882647 0.22070153 0.36100891
+v 0.08262026 0.22070154 0.35867808
+v 0.09905564 0.22070158 0.34781917
+v 0.14637956 0.24895053 0.31013992
+v 0.15102662 0.25350180 0.30530504
+v 0.14559192 0.26593499 0.30530509
+f 1 2 13
+f 1 13 23
+f 1 23 25
+f 1 25 16
+f 1 16 15
+f 1 15 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 22
+f 1 22 21
+f 1 21 34
+f 1 34 47
+f 1 47 61
+f 1 61 74
+f 1 74 59
+f 1 59 73
+f 1 73 63
+f 1 63 62
+f 1 62 49
+f 1 49 48
+f 1 48 35
+f 1 35 24
+f 1 24 14
+f 1 14 2
+f 2 14 13
+f 3 15 4
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 18 19
+f 5 19 8
+f 5 8 7
+f 5 7 6
+f 5 17 18
+f 8 20 21
+f 8 21 22
+f 8 22 11
+f 8 11 9
+f 8 19 20
+f 9 11 10
+f 11 22 12
+f 13 14 24
+f 13 24 37
+f 13 37 53
+f 13 53 67
+f 13 67 66
+f 13 66 68
+f 13 68 71
+f 13 71 70
+f 13 70 69
+f 13 69 54
+f 13 54 38
+f 13 38 26
+f 13 26 29
+f 13 29 23
+f 16 25 17
+f 17 25 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 18 25 23
+f 18 23 29
+f 18 29 26
+f 19 28 30
+f 19 30 31
+f 19 31 20
+f 20 31 30
+f 20 30 32
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 24 35 36
+f 24 36 37
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 30
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 32
+f 30 41 40
+f 30 40 42
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 35 48 36
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 37 52 53
+f 38 54 39
+f 39 54 40
+f 40 55 56
+f 40 56 57
+f 40 57 42
+f 40 54 55
+f 42 57 43
+f 43 50 44
+f 43 57 50
+f 44 50 58
+f 44 58 45
+f 45 58 46
+f 46 58 59
+f 46 59 60
+f 46 60 61
+f 46 61 47
+f 49 62 50
+f 50 52 51
+f 50 62 63
+f 50 63 58
+f 50 57 64
+f 50 64 65
+f 50 65 52
+f 52 66 67
+f 52 67 53
+f 52 65 64
+f 52 64 68
+f 52 68 66
+f 54 69 55
+f 55 69 70
+f 55 70 57
+f 55 57 56
+f 57 70 71
+f 57 71 64
+f 58 63 72
+f 58 72 73
+f 58 73 59
+f 59 74 60
+f 60 74 61
+f 63 73 72
+f 64 71 68
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_12.obj

@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v 0.03158410 -0.52390932 -0.03403054
+v 0.04381425 -0.52945453 -0.06331481
+v 0.04381425 -0.53235993 -0.06331483
+v 0.03158410 -0.53865513 -0.03371725
+v 0.03158410 -0.52258158 -0.03132431
+v 0.15315411 -0.42076577 -0.30057955
+v 0.15050924 -0.43052861 -0.30422585
+v 0.15004029 -0.44327498 -0.30456776
+v 0.06242210 -0.53164133 -0.08091956
+v 0.03158410 -0.54359124 -0.03203656
+v 0.03158410 -0.54082640 -0.03357483
+v 0.03158410 -0.51714568 -0.01568514
+v 0.17138680 -0.38704097 -0.30006665
+v 0.17956524 -0.38704096 -0.30154793
+v 0.16133255 -0.43052861 -0.30422585
+v 0.15930671 -0.44327498 -0.30456776
+v 0.15103447 -0.45952053 -0.26710788
+v 0.09892499 -0.51314638 -0.13552835
+v 0.06392273 -0.53164133 -0.08091956
+v 0.03158410 -0.54660606 -0.02041402
+v 0.03158410 -0.51647402 -0.01363410
+v 0.17063647 -0.38704098 -0.29613550
+v 0.18988209 -0.38704097 -0.30035149
+v 0.19113888 -0.38704097 -0.29872778
+v 0.17041139 -0.43052864 -0.29764544
+v 0.17269984 -0.44080702 -0.28516835
+v 0.16437133 -0.44558689 -0.29083719
+v 0.15596780 -0.45952053 -0.26710788
+v 0.09956276 -0.51314638 -0.13552835
+v 0.06489814 -0.53242240 -0.07120563
+v 0.03158410 -0.54660606 -0.01907516
+v 0.03158410 -0.51666145 -0.01360561
+v 0.18085954 -0.38704202 -0.01360513
+v 0.17082407 -0.38704103 -0.28405715
+v 0.19361493 -0.38704100 -0.29021026
+v 0.19235814 -0.39013390 -0.29021027
+v 0.19419642 -0.39531997 -0.27306134
+v 0.19119515 -0.40550460 -0.26773439
+v 0.17977158 -0.43052873 -0.27195051
+v 0.22028866 -0.38704151 -0.15230651
+v 0.17390036 -0.44232224 -0.27195055
+v 0.15746842 -0.46091078 -0.25369069
+v 0.14064258 -0.48138954 -0.19893947
+v 0.13910444 -0.47935881 -0.21321126
+v 0.12010267 -0.49665090 -0.17566595
+v 0.12077796 -0.49746325 -0.16244816
+v 0.09975034 -0.51333385 -0.12595686
+v 0.06459802 -0.53246931 -0.05644956
+v 0.03158410 -0.54587191 -0.01477368
+v 0.05219904 -0.53653075 -0.03471427
+v 0.03158410 -0.54554389 -0.01360571
+v 0.21368587 -0.38704202 -0.01360513
+v 0.19447778 -0.38704102 -0.28645003
+v 0.19777918 -0.38704107 -0.27203580
+v 0.19946739 -0.38704110 -0.26374619
+v 0.21659335 -0.38704144 -0.17210471
+v 0.20867752 -0.40355239 -0.17295938
+v 0.22295229 -0.38704159 -0.13171068
+v 0.17500708 -0.44333767 -0.25369063
+v 0.16654726 -0.45250692 -0.25369066
+v 0.16705372 -0.45264759 -0.23545922
+v 0.15806868 -0.46261357 -0.21719933
+v 0.14972141 -0.47179853 -0.19893943
+v 0.16665980 -0.45238229 -0.16244799
+v 0.16622838 -0.45200748 -0.14421655
+v 0.14006109 -0.48110845 -0.18067954
+v 0.09963779 -0.51328706 -0.11498950
+v 0.08468774 -0.51588027 -0.05297412
+v 0.07121956 -0.52620548 -0.05140739
+v 0.06283478 -0.53115722 -0.04428576
+v 0.08838304 -0.51906672 -0.08946551
+v 0.08675111 -0.51781718 -0.07120557
+v 0.04895392 -0.53443764 -0.01645434
+v 0.06127787 -0.52997011 -0.03471425
+v 0.04837243 -0.53400027 -0.01360567
+v 0.21359209 -0.38715138 -0.01360513
+v 0.21415482 -0.38704201 -0.01645380
+v 0.20897764 -0.40386482 -0.16244781
+v 0.22321490 -0.38704161 -0.12595639
+v 0.19209553 -0.42389026 -0.19893926
+v 0.17528844 -0.44347833 -0.23545919
+v 0.16716627 -0.45272574 -0.21719929
+v 0.16714750 -0.45272581 -0.19893936
+v 0.17541974 -0.44346290 -0.18067940
+v 0.17526969 -0.44321303 -0.16244796
+v 0.17495081 -0.44283819 -0.14421652
+v 0.17438806 -0.44221345 -0.12595659
+v 0.16551558 -0.45138271 -0.12595663
+v 0.15713079 -0.46136420 -0.14421658
+v 0.15643674 -0.46063010 -0.12595666
+v 0.14696400 -0.46978376 -0.12595670
+v 0.13786641 -0.47840631 -0.12595673
+v 0.13694727 -0.47757847 -0.10772527
+v 0.13617820 -0.47684435 -0.09533359
+v 0.11749532 -0.49466738 -0.09849568
+v 0.11659495 -0.49383956 -0.08633188
+v 0.10620306 -0.50080637 -0.07120551
+v 0.09584869 -0.50997563 -0.07120554
+v 0.09376657 -0.50830431 -0.05297410
+v 0.08273692 -0.51427143 -0.03850291
+v 0.08091740 -0.51274064 -0.02631063
+v 0.05803275 -0.52762708 -0.01645432
+v 0.07009409 -0.51845782 -0.01645428
+v 0.05936457 -0.52573701 -0.01360564
+v 0.17682658 -0.42335984 -0.01360527
+v 0.17570112 -0.42506248 -0.01645394
+v 0.15915664 -0.44496299 -0.03471393
+v 0.16823548 -0.43596556 -0.03471390
+v 0.16984864 -0.43755880 -0.05297384
+v 0.21610565 -0.38704196 -0.02915883
+v 0.19232062 -0.42399966 -0.18067933
+v 0.22308359 -0.38704165 -0.11347924
+v 0.19235814 -0.42399972 -0.16244789
+v 0.18451733 -0.43304392 -0.19893929
+v 0.17536347 -0.44357208 -0.21719926
+v 0.17541974 -0.44357215 -0.19893933
+v 0.18449858 -0.43316895 -0.18067936
+v 0.18434851 -0.43316901 -0.16244792
+v 0.18402963 -0.43298163 -0.14421648
+v 0.18346690 -0.43251308 -0.12595656
+v 0.19130769 -0.42262532 -0.10772507
+v 0.18260403 -0.43179461 -0.10772511
+v 0.17352520 -0.44127629 -0.10772514
+v 0.16455891 -0.45044555 -0.10772517
+v 0.15548009 -0.45969293 -0.10772521
+v 0.14604486 -0.46884656 -0.10772524
+v 0.15457971 -0.45878700 -0.09331098
+v 0.15366057 -0.45788105 -0.08111869
+v 0.15287273 -0.45711565 -0.07120535
+v 0.15137211 -0.45570989 -0.05297390
+v 0.12509227 -0.48349878 -0.07120545
+v 0.11528189 -0.49265244 -0.07120548
+v 0.10432727 -0.49913505 -0.05297406
+v 0.10213260 -0.49715130 -0.03471413
+v 0.10040687 -0.49562052 -0.02218000
+v 0.09151562 -0.50127519 -0.01622632
+v 0.07917292 -0.51138170 -0.01645426
+v 0.06953134 -0.51802045 -0.01360561
+v 0.07095695 -0.51691137 -0.01360561
+v 0.16756018 -0.43248226 -0.01360530
+v 0.16639719 -0.43421611 -0.01645397
+v 0.15729961 -0.44313548 -0.01645401
+v 0.14970266 -0.45413228 -0.03471397
+v 0.16075105 -0.44654063 -0.05297387
+v 0.17888995 -0.42838950 -0.05297380
+v 0.17119922 -0.43891770 -0.07120528
+v 0.21687472 -0.38704194 -0.03471372
+v 0.18798754 -0.41915778 -0.05297377
+v 0.17189326 -0.43960496 -0.08089073
+v 0.22289602 -0.38704168 -0.10738311
+v 0.19224560 -0.42381237 -0.14421645
+v 0.19188919 -0.42334383 -0.12595653
+v 0.22137663 -0.38704178 -0.07844069
+v 0.22081388 -0.38704181 -0.07120509
+v 0.21996978 -0.38704184 -0.06169056
+v 0.19068869 -0.42193807 -0.09413695
+v 0.17266233 -0.44040159 -0.09305453
+v 0.14229327 -0.46430120 -0.05297394
+v 0.13252041 -0.47345483 -0.05297397
+v 0.12344158 -0.48182746 -0.05297400
+v 0.11340610 -0.49098112 -0.05297403
+v 0.12156579 -0.47999993 -0.03471406
+v 0.11123018 -0.48915356 -0.03471410
+v 0.13829784 -0.46044305 -0.01360540
+v 0.13008187 -0.46765976 -0.01360543
+v 0.11920229 -0.47784436 -0.01645414
+v 0.12036528 -0.47611048 -0.01360546
+v 0.11012346 -0.48490486 -0.01360549
+v 0.10350192 -0.49051264 -0.01360551
+v 0.09444185 -0.49813547 -0.01360554
+v 0.08042969 -0.50950723 -0.01360558
+v 0.07861018 -0.51094433 -0.01360559
+v 0.15842507 -0.44143283 -0.01360533
+v 0.15698072 -0.44282307 -0.01360534
+v 0.14775183 -0.45230474 -0.01645404
+v 0.14062382 -0.46262984 -0.03471400
+v 0.21820654 -0.38704190 -0.04525377
+v 0.18129097 -0.43077933 -0.08749960
+v 0.22237079 -0.38704172 -0.09442169
+v 0.22207067 -0.38704174 -0.08946502
+v 0.21906940 -0.38704188 -0.05297365
+v 0.13062586 -0.47178350 -0.03471403
+v 0.13865425 -0.46077109 -0.01645407
+v 0.14893359 -0.45053962 -0.01360536
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 20
+f 1 20 31
+f 1 31 49
+f 1 49 51
+f 1 51 32
+f 1 32 21
+f 1 21 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 8 9
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 28
+f 8 28 17
+f 8 17 18
+f 8 18 9
+f 9 19 20
+f 9 20 10
+f 9 18 29
+f 9 29 19
+f 12 21 13
+f 13 22 34
+f 13 34 33
+f 13 33 52
+f 13 52 77
+f 13 77 110
+f 13 110 147
+f 13 147 177
+f 13 177 181
+f 13 181 155
+f 13 155 154
+f 13 154 153
+f 13 153 180
+f 13 180 179
+f 13 179 150
+f 13 150 112
+f 13 112 79
+f 13 79 58
+f 13 58 40
+f 13 40 56
+f 13 56 55
+f 13 55 54
+f 13 54 53
+f 13 53 35
+f 13 35 24
+f 13 24 23
+f 13 23 14
+f 13 21 22
+f 14 23 15
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 17 28 29
+f 17 29 18
+f 19 30 20
+f 19 29 30
+f 20 30 31
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 24 35 36
+f 24 36 26
+f 24 26 25
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 28
+f 26 28 27
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 48 31
+f 30 47 48
+f 31 48 50
+f 31 50 49
+f 32 51 75
+f 32 75 104
+f 32 104 138
+f 32 138 139
+f 32 139 172
+f 32 172 171
+f 32 171 170
+f 32 170 169
+f 32 169 168
+f 32 168 167
+f 32 167 165
+f 32 165 164
+f 32 164 184
+f 32 184 174
+f 32 174 173
+f 32 173 140
+f 32 140 105
+f 32 105 76
+f 32 76 52
+f 32 52 33
+f 35 53 37
+f 35 37 36
+f 37 54 38
+f 37 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 40
+f 38 40 39
+f 40 57 41
+f 40 58 57
+f 41 59 60
+f 41 60 42
+f 41 57 59
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 65
+f 43 65 66
+f 43 66 46
+f 43 46 45
+f 43 45 44
+f 46 67 47
+f 46 66 67
+f 47 67 48
+f 48 68 69
+f 48 69 70
+f 48 70 50
+f 48 67 71
+f 48 71 72
+f 48 72 68
+f 49 73 51
+f 49 50 73
+f 50 70 74
+f 50 74 73
+f 51 73 75
+f 52 76 77
+f 57 58 78
+f 57 78 59
+f 58 79 78
+f 59 78 80
+f 59 80 81
+f 59 81 61
+f 59 61 60
+f 61 81 82
+f 61 82 62
+f 62 82 63
+f 63 82 83
+f 63 83 84
+f 63 84 85
+f 63 85 64
+f 64 85 86
+f 64 86 65
+f 65 86 87
+f 65 87 88
+f 65 88 89
+f 65 89 66
+f 66 89 90
+f 66 90 91
+f 66 91 92
+f 66 92 67
+f 67 92 93
+f 67 93 94
+f 67 94 95
+f 67 95 96
+f 67 96 97
+f 67 97 98
+f 67 98 72
+f 67 72 71
+f 68 72 99
+f 68 99 100
+f 68 100 69
+f 69 100 70
+f 70 100 101
+f 70 101 74
+f 72 98 99
+f 73 102 75
+f 73 74 102
+f 74 101 103
+f 74 103 102
+f 75 102 104
+f 76 105 106
+f 76 106 107
+f 76 107 108
+f 76 108 109
+f 76 109 77
+f 77 109 110
+f 78 111 80
+f 78 79 111
+f 79 112 113
+f 79 113 111
+f 80 111 81
+f 81 111 114
+f 81 114 115
+f 81 115 82
+f 82 115 116
+f 82 116 83
+f 83 116 84
+f 84 117 118
+f 84 118 85
+f 84 116 117
+f 85 118 119
+f 85 119 86
+f 86 119 120
+f 86 120 87
+f 87 120 121
+f 87 121 122
+f 87 122 123
+f 87 123 88
+f 88 123 124
+f 88 124 125
+f 88 125 90
+f 88 90 89
+f 90 125 126
+f 90 126 91
+f 91 126 93
+f 91 93 92
+f 93 126 94
+f 94 127 128
+f 94 128 129
+f 94 129 130
+f 94 130 131
+f 94 131 96
+f 94 96 95
+f 94 126 127
+f 96 131 132
+f 96 132 97
+f 97 132 161
+f 97 161 133
+f 97 133 98
+f 98 133 99
+f 99 133 134
+f 99 134 100
+f 100 134 135
+f 100 135 101
+f 101 135 136
+f 101 136 137
+f 101 137 103
+f 102 103 138
+f 102 138 104
+f 103 137 139
+f 103 139 138
+f 105 140 106
+f 106 140 141
+f 106 141 107
+f 107 141 142
+f 107 142 143
+f 107 143 130
+f 107 130 144
+f 107 144 109
+f 107 109 108
+f 109 145 110
+f 109 144 128
+f 109 128 127
+f 109 127 146
+f 109 146 145
+f 110 145 148
+f 110 148 146
+f 110 146 149
+f 110 149 147
+f 111 113 117
+f 111 117 114
+f 112 150 151
+f 112 151 113
+f 113 151 118
+f 113 118 117
+f 114 117 115
+f 115 117 116
+f 118 151 119
+f 119 151 152
+f 119 152 120
+f 120 152 121
+f 121 152 153
+f 121 153 154
+f 121 154 155
+f 121 155 156
+f 121 156 122
+f 122 156 123
+f 123 156 157
+f 123 157 124
+f 124 157 125
+f 125 157 127
+f 125 127 126
+f 127 157 149
+f 127 149 146
+f 128 144 129
+f 129 144 130
+f 130 143 158
+f 130 158 131
+f 131 158 159
+f 131 159 132
+f 132 159 160
+f 132 160 161
+f 133 161 162
+f 133 162 163
+f 133 163 134
+f 134 163 164
+f 134 164 165
+f 134 165 166
+f 134 166 135
+f 135 166 167
+f 135 167 168
+f 135 168 169
+f 135 169 170
+f 135 170 136
+f 136 170 137
+f 137 170 171
+f 137 171 172
+f 137 172 139
+f 140 173 142
+f 140 142 141
+f 142 173 174
+f 142 174 175
+f 142 175 143
+f 143 175 176
+f 143 176 159
+f 143 159 158
+f 145 146 148
+f 147 149 178
+f 147 178 156
+f 147 156 177
+f 149 157 178
+f 150 179 151
+f 151 179 152
+f 152 179 180
+f 152 180 153
+f 155 181 156
+f 156 181 177
+f 156 178 157
+f 159 176 160
+f 160 176 182
+f 160 182 161
+f 161 182 162
+f 162 182 183
+f 162 183 163
+f 163 183 164
+f 164 183 175
+f 164 175 184
+f 165 167 166
+f 174 184 175
+f 175 183 176
+f 176 183 182
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_13.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v 0.30028068 0.18424129 0.18878666
+v 0.30024910 0.18448675 0.18878666
+v 0.28355540 0.18424129 0.18878666
+v 0.31684287 0.18424140 0.15768768
+v 0.31254975 0.19080433 0.16424424
+v 0.30295862 0.19262588 0.18165572
+v 0.29837612 0.19262586 0.18878669
+v 0.28355540 0.22190079 0.18878680
+v 0.28355540 0.18424135 0.17192982
+v 0.31754786 0.18424141 0.15606340
+v 0.31641671 0.19570075 0.15515227
+v 0.30116456 0.20672074 0.17832797
+v 0.31482258 0.21095834 0.15162645
+v 0.29773426 0.19489964 0.18878670
+v 0.28758019 0.21598380 0.18878677
+v 0.29854975 0.21894234 0.17446540
+v 0.28355540 0.22536315 0.18585519
+v 0.28355540 0.26157645 -0.01357427
+v 0.31305483 0.18424203 -0.01357455
+v 0.31981016 0.18424144 0.14825894
+v 0.31935245 0.19080438 0.14857591
+v 0.31863694 0.21095838 0.14249483
+v 0.29377787 0.21208220 0.18436951
+v 0.29604017 0.19872372 0.18878671
+v 0.30562077 0.21208226 0.16745326
+v 0.31764783 0.22104831 0.13944440
+v 0.29014240 0.21166878 0.18878676
+v 0.28457079 0.22745607 0.18282452
+v 0.30279553 0.22584125 0.16230316
+v 0.29884439 0.23806284 0.15647957
+v 0.29527205 0.23087972 0.16745333
+v 0.28355540 0.23128018 0.18048717
+v 0.28355540 0.30949379 -0.01357409
+v 0.33715102 0.18424203 -0.01357455
+v 0.32512923 0.18424150 0.12955996
+v 0.32473991 0.19262607 0.12955999
+v 0.32265120 0.21095842 0.12956005
+v 0.32376133 0.22927794 0.11131670
+v 0.31913149 0.22799888 0.12845085
+v 0.31776885 0.23926447 0.12161704
+v 0.31495936 0.23326990 0.13377930
+v 0.30285339 0.24252001 0.14431732
+v 0.29719763 0.25472871 0.13558192
+v 0.29196275 0.24950930 0.15045791
+v 0.28355540 0.25474155 0.15503363
+v 0.28355540 0.24543967 0.16606680
+v 0.28568092 0.24324342 0.16606679
+v 0.28355540 0.24108589 0.17099905
+v 0.28355540 0.23779148 0.17452490
+v 0.28722771 0.30346052 -0.01357412
+v 0.28355540 0.31241352 -0.00576962
+v 0.29304130 0.30082494 0.00350060
+v 0.33723520 0.18424199 -0.00254135
+v 0.33642498 0.18708426 -0.01357454
+v 0.32667601 0.24761051 0.05656674
+v 0.33119009 0.22927814 0.05656667
+v 0.32872262 0.18424157 0.11131654
+v 0.32854900 0.19262614 0.11131657
+v 0.32724949 0.21095849 0.11131663
+v 0.31932087 0.24329530 0.11131675
+v 0.32775983 0.22927801 0.09305348
+v 0.32139379 0.24917360 0.09438072
+v 0.31707436 0.25630498 0.10135325
+v 0.30111722 0.25857868 0.12339985
+v 0.28355540 0.26981836 0.13251170
+v 0.28508113 0.26069735 0.14441642
+v 0.28355540 0.25922454 0.14869500
+v 0.29532465 0.28899102 -0.01357417
+v 0.29923898 0.29353849 0.01071078
+v 0.28355540 0.31489398 0.00086616
+v 0.30039644 0.29528254 0.02008009
+v 0.33725099 0.18424197 0.00181647
+v 0.32811231 0.21383994 -0.01357444
+v 0.32490827 0.24761058 0.03832333
+v 0.31962604 0.26211885 0.03832338
+v 0.32050992 0.26396623 0.05656680
+v 0.32533966 0.24761045 0.07482996
+v 0.33029043 0.22927808 0.07482989
+v 0.33343137 0.21095869 0.05656660
+v 0.33730359 0.18424186 0.03269755
+v 0.33728254 0.18424192 0.01542474
+v 0.33499392 0.18424174 0.06611409
+v 0.33024835 0.21095856 0.09305341
+v 0.31851065 0.25896639 0.08919098
+v 0.31439642 0.27111050 0.07483005
+v 0.30531563 0.28095494 0.07483008
+v 0.30213788 0.27764755 0.08891374
+v 0.29852346 0.27449524 0.10109581
+v 0.30497891 0.26226070 0.11131682
+v 0.28355540 0.26162753 0.14520876
+v 0.29528258 0.27143334 0.11131686
+v 0.28355540 0.27611005 0.12191429
+v 0.30074366 0.27873316 -0.01357421
+v 0.30605220 0.28424955 0.02008005
+v 0.28355540 0.31517820 0.00181695
+v 0.28368692 0.31503610 0.00181695
+v 0.29377260 0.30444226 0.02008013
+v 0.30143815 0.29629019 0.03832351
+v 0.30886692 0.28424948 0.03832346
+v 0.31567488 0.27129150 0.03832342
+v 0.32301950 0.22927840 -0.01357439
+v 0.32219875 0.23150051 -0.01357438
+v 0.31831600 0.24078942 -0.01357435
+v 0.31770043 0.24223637 -0.01357434
+v 0.31619575 0.27312595 0.05656683
+v 0.31975230 0.26193785 0.07483001
+v 0.33247908 0.21095863 0.07482982
+v 0.33671433 0.18424180 0.04903937
+v 0.33713523 0.18424184 0.03832310
+v 0.33631448 0.18424178 0.05403105
+v 0.30063319 0.29488194 0.05145638
+v 0.29821829 0.29256935 0.06361864
+v 0.28355540 0.29480428 0.08671508
+v 0.28355540 0.28952028 0.09762941
+v 0.28355540 0.28688476 0.10270032
+v 0.29535623 0.29012757 0.07483012
+v 0.28355540 0.28219504 0.11131690
+v 0.28355540 0.28047677 0.11440698
+v 0.30569969 0.26853989 -0.01357424
+v 0.31332839 0.25204206 -0.01357430
+v 0.28355540 0.31621169 0.02008017
+v 0.28468655 0.31520397 0.02008017
+v 0.28355540 0.30665131 0.05678485
+v 0.28355540 0.30360237 0.06593626
+v 0.28355540 0.31299472 0.03527310
+v 0.28355540 0.30007537 0.07483015
+v 0.28355540 0.29862842 0.07823716
+f 1 2 7
+f 1 7 14
+f 1 14 24
+f 1 24 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 34
+f 1 34 53
+f 1 53 72
+f 1 72 81
+f 1 81 80
+f 1 80 109
+f 1 109 108
+f 1 108 110
+f 1 110 82
+f 1 82 57
+f 1 57 35
+f 1 35 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 17
+f 3 17 32
+f 3 32 49
+f 3 49 48
+f 3 48 46
+f 3 46 45
+f 3 45 67
+f 3 67 90
+f 3 90 65
+f 3 65 92
+f 3 92 118
+f 3 118 117
+f 3 117 115
+f 3 115 114
+f 3 114 113
+f 3 113 127
+f 3 127 126
+f 3 126 124
+f 3 124 123
+f 3 123 125
+f 3 125 121
+f 3 121 95
+f 3 95 70
+f 3 70 51
+f 3 51 33
+f 3 33 18
+f 3 18 9
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 12
+f 7 12 14
+f 8 15 16
+f 8 16 17
+f 9 18 19
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 13
+f 12 16 23
+f 12 23 24
+f 12 24 14
+f 12 13 25
+f 12 25 16
+f 13 22 26
+f 13 26 25
+f 15 27 16
+f 16 28 17
+f 16 27 23
+f 16 25 29
+f 16 29 30
+f 16 30 31
+f 16 31 28
+f 17 28 32
+f 18 33 50
+f 18 50 68
+f 18 68 93
+f 18 93 119
+f 18 119 120
+f 18 120 104
+f 18 104 103
+f 18 103 102
+f 18 102 101
+f 18 101 73
+f 18 73 54
+f 18 54 34
+f 18 34 19
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 37 26
+f 23 27 24
+f 25 26 29
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 29
+f 28 31 32
+f 29 41 30
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 30 41 42
+f 31 49 32
+f 33 51 52
+f 33 52 50
+f 34 54 55
+f 34 55 56
+f 34 56 53
+f 35 57 58
+f 35 58 36
+f 36 58 59
+f 36 59 37
+f 37 59 38
+f 38 60 40
+f 38 40 39
+f 38 59 61
+f 38 61 62
+f 38 62 60
+f 40 60 63
+f 40 63 42
+f 40 42 41
+f 42 63 43
+f 43 63 64
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 44
+f 44 67 45
+f 46 48 47
+f 50 52 69
+f 50 69 68
+f 51 70 52
+f 52 70 71
+f 52 71 69
+f 53 56 72
+f 54 73 74
+f 54 74 55
+f 55 74 75
+f 55 75 76
+f 55 76 77
+f 55 77 78
+f 55 78 56
+f 56 79 80
+f 56 80 81
+f 56 81 72
+f 56 78 79
+f 57 82 58
+f 58 83 59
+f 58 82 83
+f 59 83 61
+f 60 62 63
+f 61 83 78
+f 61 78 77
+f 61 77 62
+f 62 77 84
+f 62 84 63
+f 63 84 85
+f 63 85 86
+f 63 86 87
+f 63 87 88
+f 63 88 89
+f 63 89 64
+f 64 89 65
+f 65 90 66
+f 65 89 91
+f 65 91 88
+f 65 88 92
+f 66 90 67
+f 68 69 93
+f 69 71 94
+f 69 94 93
+f 70 95 96
+f 70 96 71
+f 71 97 98
+f 71 98 99
+f 71 99 100
+f 71 100 94
+f 71 96 97
+f 73 101 74
+f 74 101 75
+f 75 100 76
+f 75 101 102
+f 75 102 103
+f 75 103 104
+f 75 104 100
+f 76 105 106
+f 76 106 77
+f 76 100 105
+f 77 106 84
+f 78 107 79
+f 78 83 107
+f 79 108 109
+f 79 109 80
+f 79 107 108
+f 82 110 107
+f 82 107 83
+f 84 106 85
+f 85 106 105
+f 85 105 111
+f 85 111 86
+f 86 111 112
+f 86 112 87
+f 87 113 114
+f 87 114 115
+f 87 115 88
+f 87 112 116
+f 87 116 113
+f 88 115 117
+f 88 117 118
+f 88 118 92
+f 88 91 89
+f 93 94 119
+f 94 100 120
+f 94 120 119
+f 95 121 122
+f 95 122 96
+f 96 122 97
+f 97 122 98
+f 98 122 111
+f 98 111 105
+f 98 105 99
+f 99 105 100
+f 100 104 120
+f 107 110 108
+f 111 123 124
+f 111 124 112
+f 111 122 121
+f 111 121 125
+f 111 125 123
+f 112 124 126
+f 112 126 127
+f 112 127 116
+f 113 116 127
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_14.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03158181 0.51786565 -0.01357334
+v 0.01994897 0.52642928 -0.01357331
+v 0.03158181 0.51881026 -0.01644218
+v 0.03158181 0.54715778 -0.01357323
+v 0.02042750 0.52719675 -0.01644215
+v 0.03158181 0.52465167 -0.03364743
+v 0.00830474 0.54148367 -0.01357325
+v 0.03158181 0.54721681 -0.01443389
+v 0.02687399 0.55011618 -0.01357322
+v 0.02433322 0.52964028 -0.03008689
+v 0.03158181 0.54115575 -0.03324848
+v 0.00830474 0.54387468 -0.01357324
+v 0.03158181 0.54737426 -0.01687045
+v 0.02725681 0.55029658 -0.01999867
+v 0.01840400 0.55137235 -0.01357321
+v 0.02435829 0.54084418 -0.02942072
+v 0.02589642 0.55029661 -0.02618439
+v 0.03158181 0.54344507 -0.03226009
+v 0.01488794 0.55110342 -0.01357322
+v 0.02725681 0.55029661 -0.02618439
+v 0.03158181 0.54393377 -0.03182780
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 18
+f 1 18 21
+f 1 21 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 19
+f 1 19 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 5 7 10
+f 5 10 6
+f 6 10 11
+f 7 12 10
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 10 12 16
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 12 19 17
+f 12 17 16
+f 13 20 14
+f 13 21 20
+f 14 20 15
+f 15 20 17
+f 15 17 19
+f 17 20 21
+f 17 21 18
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_15.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.30933253 -0.00898158 -0.36310966
+v -0.24515261 -0.00661790 -0.36751167
+v -0.30933253 -0.00887049 -0.36310966
+v -0.31582631 -0.02088625 -0.36310971
+v -0.24515261 -0.00993196 -0.36846097
+v -0.24515261 0.00661979 -0.36759537
+v -0.30974943 0.00934137 -0.36310960
+v -0.32758842 -0.02767481 -0.36310973
+v -0.32766422 -0.02771801 -0.36310973
+v -0.24515261 -0.01653536 -0.37341211
+v -0.24515261 0.01636449 -0.37375634
+v -0.32766422 0.02728786 -0.36310953
+v -0.31625585 0.02061656 -0.36310955
+v -0.30978734 0.00941543 -0.36310960
+v -0.34573063 -0.03126041 -0.36310974
+v -0.24515261 -0.02315108 -0.38261640
+v -0.24515261 -0.01676987 -0.37358893
+v -0.24515261 0.02347400 -0.38280234
+v -0.34584431 0.03128077 -0.36310952
+v -0.34584431 -0.03127892 -0.36310974
+v -0.24515261 -0.02596523 -0.38839580
+v -0.24515261 0.02960229 -0.39973107
+v -0.34584431 0.03128077 -0.36322120
+v -0.36269786 0.02460947 -0.36322122
+v -0.36268522 0.02460947 -0.36310954
+v -0.25500700 0.03155870 -0.41797205
+v -0.36269786 -0.02449036 -0.36310972
+v -0.36279894 -0.02445333 -0.36322140
+v -0.34584431 -0.03127892 -0.36322142
+v -0.25500700 -0.03148854 -0.41797229
+v -0.24515261 -0.03092698 -0.40808864
+v -0.24515261 -0.02934095 -0.39973129
+v -0.24515261 0.03067001 -0.41797206
+v -0.32766422 0.03109577 -0.39973107
+v -0.34584431 0.03069456 -0.38147148
+v -0.29134194 0.03137973 -0.41797205
+v -0.37178160 0.01421062 -0.36322126
+v -0.36153555 0.02384428 -0.38147150
+v -0.37176897 0.01417976 -0.36310958
+v -0.27317447 0.02938642 -0.43622234
+v -0.36279894 -0.02444716 -0.36310972
+v -0.37188268 -0.01401129 -0.36322136
+v -0.36178822 -0.02370035 -0.38147168
+v -0.34584431 -0.03080982 -0.38147170
+v -0.32766422 -0.03109981 -0.39973129
+v -0.29134194 -0.03127254 -0.41797228
+v -0.27317447 -0.03144534 -0.41797229
+v -0.24515261 -0.03058751 -0.41797228
+v -0.27317447 -0.02942105 -0.43622256
+v -0.24515261 0.02504791 -0.43639919
+v -0.25500700 0.02759670 -0.43622235
+v -0.30950940 0.03107733 -0.41797206
+v -0.32766422 0.02799779 -0.41797207
+v -0.34584431 0.02752869 -0.39973108
+v -0.37061930 0.01177915 -0.38147155
+v -0.37373984 0.00261459 -0.38147158
+v -0.37421993 0.00504606 -0.36322129
+v -0.37179424 0.01411805 -0.36310958
+v -0.35821286 0.02124618 -0.39973110
+v -0.27317447 0.02241276 -0.44980074
+v -0.29134194 0.02859648 -0.43622234
+v -0.37181952 -0.01407300 -0.36310968
+v -0.37188268 -0.01398043 -0.36310968
+v -0.37421993 -0.00484672 -0.36322133
+v -0.37373984 -0.00263729 -0.38147160
+v -0.37087197 -0.01180185 -0.38147163
+v -0.35838973 -0.02118233 -0.39973126
+v -0.34584431 -0.02774256 -0.39973128
+v -0.32766422 -0.02810043 -0.41797227
+v -0.30950940 -0.03107505 -0.41797228
+v -0.24515261 -0.02883480 -0.42632962
+v -0.29134194 -0.02873603 -0.43622256
+v -0.27317447 -0.02226833 -0.44983814
+v -0.25500700 -0.02764985 -0.43622255
+v -0.24515261 0.02066006 -0.44510089
+v -0.25500700 0.02115379 -0.44833959
+v -0.32766422 0.02172767 -0.43169934
+v -0.33784711 0.01932697 -0.42807910
+v -0.34466936 0.02160419 -0.41663192
+v -0.31024216 0.02416540 -0.43749736
+v -0.35554711 0.01911707 -0.40967059
+v -0.36672807 0.00753945 -0.39792566
+v -0.37310815 0.00022628 -0.39063861
+v -0.37420730 0.00503372 -0.36310961
+v -0.27317447 0.00934172 -0.45814884
+v -0.29134194 0.02179562 -0.44896314
+v -0.37420730 -0.00482821 -0.36310965
+v -0.37310815 0.00012754 -0.39063861
+v -0.36686703 -0.00717939 -0.39792572
+v -0.35569873 -0.01888036 -0.40990339
+v -0.34484623 -0.02152788 -0.41678100
+v -0.33812505 -0.01914567 -0.42828396
+v -0.32766422 -0.02160187 -0.43222070
+v -0.31081070 -0.02424322 -0.43777674
+v -0.24515261 -0.02497763 -0.43643660
+v -0.30564345 -0.02011451 -0.44730671
+v -0.29134194 -0.02173141 -0.44915875
+v -0.27317447 -0.00898123 -0.45817680
+v -0.25500700 -0.02101553 -0.44837699
+v -0.24515261 -0.01952822 -0.44677625
+v -0.24515261 0.01978990 -0.44672957
+v -0.25500700 0.00934171 -0.45544060
+v -0.30469590 0.02014167 -0.44707391
+v -0.31679911 0.01686463 -0.44443082
+v -0.32753790 0.01019332 -0.44041971
+v -0.34079078 0.00934162 -0.43075944
+v -0.34987452 0.00934159 -0.42168547
+v -0.35778332 0.00934156 -0.41255569
+v -0.35789700 -0.00898139 -0.41273257
+v -0.29134194 -0.00898123 -0.45654816
+v -0.29134194 0.00934172 -0.45635265
+v -0.35008931 -0.00898136 -0.42186235
+v -0.34100557 -0.00898133 -0.43090842
+v -0.32753790 -0.01028963 -0.44082927
+v -0.31774666 -0.01726949 -0.44490560
+v -0.25500700 -0.00898124 -0.45546859
+v -0.24515261 -0.01788046 -0.44774413
+v -0.24515261 0.00885416 -0.45172727
+v -0.24515261 -0.00848136 -0.45176456
+v -0.31024216 0.01019335 -0.44992176
+v -0.32139785 0.00464523 -0.44702742
+v -0.31081070 -0.01028960 -0.45006143
+v -0.32139785 -0.00505007 -0.44702746
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 13
+f 1 13 12
+f 1 12 19
+f 1 19 25
+f 1 25 39
+f 1 39 58
+f 1 58 84
+f 1 84 87
+f 1 87 63
+f 1 63 62
+f 1 62 41
+f 1 41 27
+f 1 27 20
+f 1 20 15
+f 1 15 9
+f 1 9 8
+f 1 8 4
+f 1 4 2
+f 2 5 10
+f 2 10 17
+f 2 17 16
+f 2 16 21
+f 2 21 32
+f 2 32 31
+f 2 31 48
+f 2 48 71
+f 2 71 95
+f 2 95 100
+f 2 100 117
+f 2 117 119
+f 2 119 118
+f 2 118 101
+f 2 101 75
+f 2 75 50
+f 2 50 33
+f 2 33 22
+f 2 22 18
+f 2 18 11
+f 2 11 6
+f 2 6 7
+f 2 7 3
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 12
+f 12 18 19
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 19 23 24
+f 19 24 25
+f 19 22 26
+f 19 26 23
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 22 33 26
+f 23 34 35
+f 23 35 24
+f 23 26 36
+f 23 36 34
+f 24 37 25
+f 24 35 38
+f 24 38 37
+f 25 37 39
+f 26 33 40
+f 26 40 36
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 48 31
+f 30 47 49
+f 30 49 48
+f 33 50 51
+f 33 51 40
+f 34 52 53
+f 34 53 35
+f 34 36 52
+f 35 53 54
+f 35 54 38
+f 36 40 52
+f 37 38 55
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 39
+f 38 54 59
+f 38 59 55
+f 40 51 60
+f 40 60 61
+f 40 61 52
+f 41 62 42
+f 42 62 63
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 43
+f 43 67 68
+f 43 68 44
+f 43 66 67
+f 44 68 69
+f 44 69 45
+f 45 69 70
+f 45 70 46
+f 46 70 49
+f 46 49 47
+f 48 49 71
+f 49 70 72
+f 49 72 73
+f 49 73 74
+f 49 74 71
+f 50 75 51
+f 51 76 60
+f 51 75 76
+f 52 61 53
+f 53 77 78
+f 53 78 79
+f 53 79 54
+f 53 61 80
+f 53 80 77
+f 54 81 59
+f 54 79 81
+f 55 82 83
+f 55 83 56
+f 55 59 82
+f 56 83 88
+f 56 88 65
+f 56 65 64
+f 56 64 57
+f 57 64 87
+f 57 87 84
+f 57 84 58
+f 59 81 82
+f 60 76 85
+f 60 85 86
+f 60 86 61
+f 61 86 80
+f 63 87 64
+f 65 88 66
+f 66 88 89
+f 66 89 90
+f 66 90 67
+f 67 90 68
+f 68 90 91
+f 68 91 69
+f 69 91 92
+f 69 92 93
+f 69 93 94
+f 69 94 72
+f 69 72 70
+f 71 74 95
+f 72 94 96
+f 72 96 97
+f 72 97 73
+f 73 98 99
+f 73 99 74
+f 73 97 98
+f 74 100 95
+f 74 99 100
+f 75 101 76
+f 76 101 102
+f 76 102 85
+f 77 80 103
+f 77 103 104
+f 77 104 78
+f 78 104 105
+f 78 105 106
+f 78 106 107
+f 78 107 81
+f 78 81 79
+f 80 86 103
+f 81 108 82
+f 81 107 108
+f 82 108 83
+f 83 108 109
+f 83 109 88
+f 85 102 116
+f 85 116 98
+f 85 98 110
+f 85 110 111
+f 85 111 86
+f 86 111 103
+f 88 109 89
+f 89 109 90
+f 90 109 112
+f 90 112 92
+f 90 92 91
+f 92 112 113
+f 92 113 114
+f 92 114 115
+f 92 115 93
+f 93 115 94
+f 94 115 96
+f 96 110 97
+f 96 115 110
+f 97 110 98
+f 98 116 99
+f 99 116 100
+f 100 116 117
+f 101 118 102
+f 102 118 119
+f 102 119 116
+f 103 111 120
+f 103 120 104
+f 104 120 121
+f 104 121 105
+f 105 121 106
+f 106 121 113
+f 106 113 112
+f 106 112 107
+f 107 112 108
+f 108 112 109
+f 110 115 122
+f 110 122 123
+f 110 123 121
+f 110 121 111
+f 111 121 120
+f 113 121 123
+f 113 123 114
+f 114 123 115
+f 115 123 122
+f 116 119 117
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_16.obj

@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v 0.33097748 -0.00070629 -0.19894398
+v 0.36576294 -0.00070697 -0.01359338
+v 0.35569795 -0.00070629 -0.19894398
+v 0.24633759 -0.26773346 -0.19894496
+v 0.28009661 -0.26776029 -0.01359436
+v 0.39195183 -0.00070697 -0.01359338
+v 0.35642503 -0.00070630 -0.19723835
+v 0.35645356 -0.00899371 -0.19732911
+v 0.35575497 -0.00899370 -0.19894401
+v 0.25547592 -0.26775961 -0.19894496
+v 0.24670826 -0.26775962 -0.19736634
+v 0.30601464 -0.26776029 -0.01359436
+v 0.39196606 -0.00070696 -0.01646028
+v 0.39195183 -0.00847151 -0.01359341
+v 0.37195019 -0.00070646 -0.15369049
+v 0.37195019 -0.00086331 -0.15369049
+v 0.36227014 -0.00899377 -0.18069018
+v 0.35546984 -0.02732012 -0.19484331
+v 0.35373059 -0.02732011 -0.19894408
+v 0.27080146 -0.26775961 -0.19894496
+v 0.30304930 -0.26776021 -0.03511426
+v 0.30270715 -0.26355109 -0.05295073
+v 0.30706960 -0.26556426 -0.01359436
+v 0.39168094 -0.00070689 -0.03469595
+v 0.39196606 -0.00852379 -0.01646031
+v 0.39008425 -0.01618376 -0.01359344
+v 0.37199295 -0.00070646 -0.15354533
+v 0.37879324 -0.00899397 -0.12594690
+v 0.37381775 -0.00776516 -0.14478135
+v 0.36016018 -0.02732018 -0.18069025
+v 0.35448616 -0.03960746 -0.19210349
+v 0.35283245 -0.03254877 -0.19894410
+v 0.27428003 -0.26775966 -0.18437457
+v 0.28280532 -0.24208694 -0.19894487
+v 0.28464438 -0.24802152 -0.18050962
+v 0.28163628 -0.25774685 -0.17430409
+v 0.30290674 -0.26776021 -0.03611223
+v 0.29875817 -0.26776010 -0.06470866
+v 0.30142408 -0.26088440 -0.07120453
+v 0.32009990 -0.22614009 -0.05295059
+v 0.31766206 -0.23874123 -0.02816465
+v 0.31435457 -0.24987831 -0.01359430
+v 0.39168094 -0.00792242 -0.03469598
+v 0.39139581 -0.00070685 -0.04558291
+v 0.38974210 -0.01767392 -0.01646034
+v 0.38952825 -0.01709871 -0.03469601
+v 0.38972784 -0.01762164 -0.01359344
+v 0.39006998 -0.00070672 -0.08092927
+v 0.37970564 -0.02732044 -0.10769315
+v 0.37491550 -0.02888897 -0.12754374
+v 0.37300515 -0.02384328 -0.13910204
+v 0.34988137 -0.04611711 -0.19894415
+v 0.34998118 -0.04569882 -0.19894415
+v 0.35639651 -0.04569889 -0.18098065
+v 0.35475706 -0.05874439 -0.17508359
+v 0.33991619 -0.08224709 -0.19894428
+v 0.34506274 -0.06397295 -0.19894421
+v 0.34520530 -0.06345009 -0.19894421
+v 0.28300490 -0.26054421 -0.16243730
+v 0.28400284 -0.26775982 -0.14238717
+v 0.28830824 -0.22888460 -0.19894482
+v 0.30026931 -0.20404851 -0.19370085
+v 0.30158091 -0.21032295 -0.17911232
+v 0.29928563 -0.21996985 -0.17198141
+v 0.30048316 -0.22261035 -0.16243716
+v 0.30207988 -0.22922465 -0.14300395
+v 0.29942819 -0.23858398 -0.13612707
+v 0.29778871 -0.26776008 -0.07120455
+v 0.29456677 -0.26776001 -0.09089182
+v 0.29599241 -0.26498882 -0.09103697
+v 0.30021229 -0.25847917 -0.08601080
+v 0.31884532 -0.22321197 -0.07120439
+v 0.32052759 -0.23016620 -0.03442462
+v 0.32419145 -0.21058479 -0.07120434
+v 0.32627289 -0.21058486 -0.05295053
+v 0.31844616 -0.24070202 -0.01359426
+v 0.39119623 -0.00651062 -0.05294978
+v 0.38911479 -0.01568691 -0.05294982
+v 0.39119623 -0.00070683 -0.05294976
+v 0.38117403 -0.04564722 -0.01359355
+v 0.38120255 -0.04564721 -0.01646045
+v 0.38073207 -0.04564714 -0.03469612
+v 0.38579308 -0.02732065 -0.05294986
+v 0.38515154 -0.02732058 -0.07120367
+v 0.39012700 -0.00070672 -0.08043935
+v 0.38318418 -0.02732051 -0.08945749
+v 0.37314772 -0.04002601 -0.12251763
+v 0.37162227 -0.03605220 -0.13467471
+v 0.36158581 -0.04564667 -0.16243651
+v 0.35628247 -0.06449595 -0.16252731
+v 0.35260434 -0.07095331 -0.16867848
+v 0.33926039 -0.10161930 -0.18157963
+v 0.33703643 -0.09615532 -0.19449882
+v 0.33890399 -0.08561956 -0.19894429
+v 0.33964533 -0.08318824 -0.19894429
+v 0.28450182 -0.26624349 -0.14345772
+v 0.30055444 -0.24098919 -0.12594776
+v 0.28691113 -0.26775987 -0.12834298
+v 0.30245055 -0.24506761 -0.10769395
+v 0.29898624 -0.25623081 -0.09816790
+v 0.29932839 -0.20216619 -0.19894472
+v 0.30252184 -0.19400949 -0.19894469
+v 0.30289247 -0.19301606 -0.19894469
+v 0.31790440 -0.18459809 -0.15557824
+v 0.30574374 -0.21058445 -0.16243711
+v 0.31827507 -0.20349977 -0.12132066
+v 0.29403931 -0.26776000 -0.09386758
+v 0.30380491 -0.24896301 -0.09103691
+v 0.31789017 -0.22096360 -0.08336150
+v 0.32279434 -0.22891142 -0.01646112
+v 0.32081272 -0.21165658 -0.08944002
+v 0.32504683 -0.19225823 -0.10769376
+v 0.32789810 -0.19225830 -0.08945810
+v 0.33072085 -0.19225837 -0.07120428
+v 0.33542544 -0.18300369 -0.06169629
+v 0.33313016 -0.19110812 -0.05454722
+v 0.32302245 -0.22891143 -0.01359422
+v 0.38855880 -0.01247122 -0.07120362
+v 0.39055469 -0.00329493 -0.07120358
+v 0.39072578 -0.00070678 -0.06639516
+v 0.33653746 -0.18684692 -0.01359407
+v 0.33652319 -0.18671620 -0.01646097
+v 0.38010480 -0.04564708 -0.05294993
+v 0.37933497 -0.04564701 -0.07120374
+v 0.39055469 -0.00070676 -0.07120357
+v 0.37735334 -0.04564694 -0.08945756
+v 0.33744986 -0.13398479 -0.14420117
+v 0.33622380 -0.13024626 -0.15626756
+v 0.35432937 -0.07518857 -0.15650324
+v 0.32096951 -0.19359146 -0.12681853
+v 0.32412017 -0.17393168 -0.14420132
+v 0.33683681 -0.11361907 -0.17609992
+v 0.31875978 -0.15058557 -0.19451717
+v 0.32078419 -0.14059883 -0.19894450
+v 0.31961516 -0.20661087 -0.10769381
+v 0.31840337 -0.16799704 -0.17533803
+v 0.31923026 -0.18817974 -0.14420137
+v 0.31985753 -0.17403619 -0.16198337
+v 0.33837652 -0.11942292 -0.16238236
+v 0.31667838 -0.20057170 -0.13349590
+v 0.33559653 -0.16509542 -0.09914740
+v 0.33632361 -0.16763135 -0.08945801
+v 0.33585313 -0.18425861 -0.04952105
+v 0.33623807 -0.18559197 -0.03469663
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 44
+f 1 44 79
+f 1 79 120
+f 1 120 125
+f 1 125 85
+f 1 85 48
+f 1 48 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 19
+f 1 19 32
+f 1 32 53
+f 1 53 52
+f 1 52 58
+f 1 58 57
+f 1 57 56
+f 1 56 95
+f 1 95 94
+f 1 94 134
+f 1 134 103
+f 1 103 102
+f 1 102 101
+f 1 101 61
+f 1 61 34
+f 1 34 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 23
+f 2 23 42
+f 2 42 76
+f 2 76 117
+f 2 117 121
+f 2 121 80
+f 2 80 47
+f 2 47 26
+f 2 26 14
+f 2 14 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 20
+f 5 20 33
+f 5 33 60
+f 5 60 98
+f 5 98 107
+f 5 107 69
+f 5 69 68
+f 5 68 38
+f 5 38 37
+f 5 37 21
+f 5 21 12
+f 6 14 25
+f 6 25 13
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 12 21 22
+f 12 22 23
+f 13 25 43
+f 13 43 24
+f 14 26 25
+f 15 27 16
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 16 27 28
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 20 34 35
+f 20 35 36
+f 20 36 33
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 41 42
+f 24 43 44
+f 25 26 45
+f 25 45 46
+f 25 46 43
+f 26 47 45
+f 27 48 28
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 29 51 30
+f 30 51 31
+f 31 52 53
+f 31 53 32
+f 31 51 54
+f 31 54 55
+f 31 55 56
+f 31 56 57
+f 31 57 58
+f 31 58 52
+f 33 36 59
+f 33 59 60
+f 34 61 62
+f 34 62 63
+f 34 63 64
+f 34 64 65
+f 34 65 35
+f 35 65 66
+f 35 66 67
+f 35 67 36
+f 36 67 59
+f 38 68 39
+f 39 68 69
+f 39 69 70
+f 39 70 71
+f 39 71 72
+f 39 72 40
+f 40 73 41
+f 40 72 74
+f 40 74 75
+f 40 75 73
+f 41 73 76
+f 41 76 42
+f 43 77 44
+f 43 46 78
+f 43 78 77
+f 44 77 79
+f 45 47 80
+f 45 80 81
+f 45 81 46
+f 46 81 82
+f 46 82 83
+f 46 83 84
+f 46 84 78
+f 48 85 86
+f 48 86 49
+f 49 86 87
+f 49 87 88
+f 49 88 50
+f 50 88 51
+f 51 88 54
+f 54 89 55
+f 54 88 89
+f 55 89 88
+f 55 88 90
+f 55 90 91
+f 55 91 92
+f 55 92 93
+f 55 93 94
+f 55 94 95
+f 55 95 56
+f 59 96 60
+f 59 67 97
+f 59 97 96
+f 60 96 97
+f 60 97 99
+f 60 99 100
+f 60 100 98
+f 61 101 62
+f 62 101 102
+f 62 102 103
+f 62 103 104
+f 62 104 63
+f 63 104 105
+f 63 105 64
+f 64 105 65
+f 65 105 66
+f 66 105 106
+f 66 106 67
+f 67 106 97
+f 69 107 70
+f 70 107 100
+f 70 100 71
+f 71 100 108
+f 71 108 72
+f 72 108 109
+f 72 109 74
+f 73 75 110
+f 73 110 76
+f 74 111 112
+f 74 112 113
+f 74 113 114
+f 74 114 115
+f 74 115 75
+f 74 109 111
+f 75 115 116
+f 75 116 110
+f 76 110 117
+f 77 78 118
+f 77 118 119
+f 77 119 120
+f 77 120 79
+f 78 84 118
+f 80 121 81
+f 81 121 122
+f 81 122 82
+f 82 123 83
+f 82 122 123
+f 83 123 84
+f 84 86 118
+f 84 123 124
+f 84 124 86
+f 85 125 119
+f 85 119 118
+f 85 118 86
+f 86 124 126
+f 86 126 87
+f 87 127 128
+f 87 128 129
+f 87 129 88
+f 87 126 112
+f 87 112 130
+f 87 130 131
+f 87 131 127
+f 88 129 90
+f 90 129 132
+f 90 132 91
+f 91 132 92
+f 92 132 133
+f 92 133 134
+f 92 134 93
+f 93 134 94
+f 97 106 99
+f 98 100 107
+f 99 109 108
+f 99 108 100
+f 99 106 135
+f 99 135 109
+f 103 134 133
+f 103 133 136
+f 103 136 104
+f 104 137 105
+f 104 136 138
+f 104 138 132
+f 104 132 139
+f 104 139 128
+f 104 128 131
+f 104 131 137
+f 105 140 106
+f 105 137 140
+f 106 140 137
+f 106 137 130
+f 106 130 112
+f 106 112 135
+f 109 135 111
+f 110 116 117
+f 111 135 112
+f 112 141 142
+f 112 142 115
+f 112 115 113
+f 112 126 141
+f 113 115 114
+f 115 143 117
+f 115 117 116
+f 115 142 126
+f 115 126 124
+f 115 124 143
+f 117 143 144
+f 117 144 122
+f 117 122 121
+f 119 125 120
+f 122 144 123
+f 123 144 124
+f 124 144 143
+f 126 142 141
+f 127 131 128
+f 128 139 129
+f 129 139 132
+f 130 137 131
+f 132 138 136
+f 132 136 133
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_17.obj

@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v -0.38614140 -0.02899062 0.40484727
+v -0.37385232 -0.09536452 0.39519485
+v -0.37653295 -0.02899065 0.41337514
+v -0.38304302 -0.02899057 0.39091970
+v -0.36121511 -0.17406456 0.36983278
+v -0.36121511 -0.17406460 0.38137407
+v -0.36567119 -0.02899066 0.41627385
+v -0.35703749 -0.13245668 0.39512588
+v -0.35310361 -0.14468346 0.39346617
+v -0.38224231 -0.02899057 0.39082793
+v -0.34582761 -0.17406454 0.36544264
+v -0.35996180 -0.13727062 0.37306813
+v -0.36083212 -0.15560369 0.37130131
+v -0.36111066 -0.17406456 0.36980216
+v -0.34593206 -0.17406463 0.38828048
+v -0.36386092 -0.02899066 0.41675569
+v -0.34582761 -0.17406463 0.38831873
+v -0.34655869 -0.13805176 0.39667082
+v -0.36365201 -0.02899057 0.39146273
+v -0.36400017 -0.04564795 0.38807446
+v -0.34582761 -0.17392254 0.36546558
+v -0.03048900 -0.17406461 0.38311024
+v -0.30137106 -0.03762472 0.43094327
+v -0.30634938 -0.02899071 0.43147870
+v -0.34098857 -0.15056253 0.39508757
+v -0.30990031 -0.17406466 0.39619649
+v -0.32257235 -0.16844118 0.39501867
+v -0.29131004 -0.10063306 0.41896580
+v -0.30948256 -0.08229999 0.41872877
+v -0.03048900 -0.02899063 0.40949746
+v -0.34582761 -0.15560368 0.36876973
+v -0.03048900 -0.17406469 0.40650642
+v -0.29294627 -0.02899072 0.43388026
+v -0.28358149 -0.05622760 0.43099676
+v -0.29030046 -0.04449786 0.43177691
+v -0.30913444 -0.17406466 0.39635712
+v -0.28455627 -0.13002843 0.41296940
+v -0.29089229 -0.11880990 0.41447615
+v -0.27313751 -0.11893773 0.41813204
+v -0.27313751 -0.10063307 0.42256814
+v -0.26450381 -0.07349562 0.43078254
+v -0.03048900 -0.02899073 0.43452273
+v -0.03048900 -0.17392269 0.40654467
+v -0.09148185 -0.13727080 0.42080889
+v -0.07330933 -0.15402758 0.41484314
+v -0.09148185 -0.15443940 0.41538618
+v -0.07330933 -0.17406470 0.40758485
+v -0.29120558 -0.02899072 0.43418619
+v -0.27157091 -0.06300133 0.43163154
+v -0.27313751 -0.04564812 0.43436971
+v -0.29144929 -0.17406467 0.39958470
+v -0.27313751 -0.13382002 0.41405546
+v -0.25496499 -0.11893774 0.42113019
+v -0.25496499 -0.07669077 0.43140203
+v -0.25496499 -0.06398118 0.43379599
+v -0.03699908 -0.02899073 0.43585353
+v -0.03048900 -0.13734177 0.41501149
+v -0.03048900 -0.14860291 0.41296933
+v -0.07330933 -0.13727079 0.41946282
+v -0.09642534 -0.09357537 0.43111898
+v -0.10965438 -0.09566288 0.43157023
+v -0.12782691 -0.09702614 0.43194498
+v -0.10965438 -0.13727080 0.42148195
+v -0.10965438 -0.15470922 0.41559270
+v -0.12782691 -0.15486541 0.41566916
+v -0.12782691 -0.17406470 0.40786016
+v -0.27313751 -0.02899074 0.43700079
+v -0.25496499 -0.04564813 0.43697011
+v -0.29131004 -0.17406467 0.39960764
+v -0.25632271 -0.13884705 0.41543212
+v -0.23682726 -0.13727079 0.41838439
+v -0.23024756 -0.09245352 0.43095074
+v -0.24236258 -0.08974118 0.42995646
+v -0.23651395 -0.08310949 0.43228157
+v -0.23682726 -0.06398119 0.43602167
+v -0.23682726 -0.04564813 0.43921107
+v -0.03863531 -0.02899073 0.43608296
+v -0.05513680 -0.11893774 0.42162733
+v -0.10965438 -0.06398120 0.43735247
+v -0.10965438 -0.08230004 0.43414011
+v -0.07330933 -0.07758541 0.43147086
+v -0.09082040 -0.08347870 0.43236568
+v -0.12782691 -0.08230005 0.43495849
+v -0.12782691 -0.13727080 0.42171905
+v -0.14599944 -0.08230005 0.43521854
+v -0.14599944 -0.09722495 0.43205206
+v -0.14599944 -0.15485122 0.41560797
+v -0.18248375 -0.17406470 0.40798255
+v -0.18234450 -0.17406470 0.40798255
+v -0.16417196 -0.17406470 0.40795961
+v -0.14599944 -0.17406470 0.40791372
+v -0.25496499 -0.02899074 0.43950175
+v -0.27331158 -0.17406468 0.40255223
+v -0.25113553 -0.14904312 0.41322938
+v -0.23682726 -0.15195426 0.41407833
+v -0.21865474 -0.13727079 0.41987583
+v -0.21865474 -0.09407239 0.43134844
+v -0.21865474 -0.08230004 0.43393362
+v -0.21865474 -0.06398120 0.43768135
+v -0.21865474 -0.04564814 0.44084017
+v -0.23682726 -0.02899075 0.44146739
+v -0.05513680 -0.02899074 0.43817862
+v -0.06300460 -0.07406365 0.43087431
+v -0.10965438 -0.04564814 0.44035069
+v -0.12782691 -0.06398120 0.43832379
+v -0.09148185 -0.06398119 0.43576163
+v -0.09148185 -0.04564813 0.43889750
+v -0.05680783 -0.02899074 0.43837747
+v -0.07498036 -0.02899075 0.44019775
+v -0.14599944 -0.06398120 0.43872152
+v -0.14599944 -0.13727080 0.42158902
+v -0.16417196 -0.15482281 0.41550089
+v -0.16417196 -0.06398120 0.43888213
+v -0.18234450 -0.06398120 0.43895863
+v -0.16417196 -0.08230005 0.43521854
+v -0.18234450 -0.08230005 0.43514204
+v -0.16417196 -0.09686994 0.43199854
+v -0.20062146 -0.17406470 0.40788311
+v -0.27313751 -0.17406468 0.40257518
+v -0.25510424 -0.17406469 0.40494615
+v -0.25496499 -0.17406469 0.40496146
+v -0.23682726 -0.17406469 0.40680471
+v -0.21865474 -0.15392816 0.41480490
+v -0.20051703 -0.13727080 0.42071712
+v -0.20051703 -0.09573388 0.43176908
+v -0.20051703 -0.08230005 0.43479786
+v -0.20051703 -0.06398120 0.43865266
+v -0.20051703 -0.04564814 0.44175032
+v -0.21865474 -0.02899076 0.44270642
+v -0.09315289 -0.02899075 0.44157447
+v -0.12782691 -0.04564814 0.44130670
+v -0.14599944 -0.04564814 0.44168913
+v -0.18234450 -0.09645812 0.43194499
+v -0.16417196 -0.13727080 0.42136723
+v -0.18234450 -0.15479441 0.41537854
+v -0.18234450 -0.04564814 0.44195681
+v -0.21875918 -0.17406470 0.40772250
+v -0.20051703 -0.15453880 0.41519496
+v -0.18234450 -0.13727080 0.42112249
+v -0.20051703 -0.02899076 0.44337180
+v -0.10965438 -0.02899076 0.44243874
+v -0.11132542 -0.02899076 0.44252284
+v -0.12782691 -0.02899076 0.44313470
+v -0.12949795 -0.02899076 0.44316532
+v -0.14599944 -0.02899076 0.44344067
+v -0.14767047 -0.02899076 0.44344830
+v -0.18234450 -0.02899076 0.44357069
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 24
+f 1 24 33
+f 1 33 48
+f 1 48 67
+f 1 67 92
+f 1 92 101
+f 1 101 129
+f 1 129 140
+f 1 140 147
+f 1 147 146
+f 1 146 145
+f 1 145 144
+f 1 144 143
+f 1 143 142
+f 1 142 141
+f 1 141 130
+f 1 130 109
+f 1 109 108
+f 1 108 102
+f 1 102 77
+f 1 77 56
+f 1 56 42
+f 1 42 30
+f 1 30 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 3
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 11
+f 5 11 22
+f 5 22 32
+f 5 32 47
+f 5 47 66
+f 5 66 91
+f 5 91 90
+f 5 90 89
+f 5 89 88
+f 5 88 118
+f 5 118 137
+f 5 137 122
+f 5 122 121
+f 5 121 120
+f 5 120 119
+f 5 119 93
+f 5 93 69
+f 5 69 51
+f 5 51 36
+f 5 36 26
+f 5 26 17
+f 5 17 15
+f 5 15 6
+f 6 15 9
+f 6 9 8
+f 7 9 16
+f 9 15 17
+f 9 17 18
+f 9 18 16
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 14 13
+f 11 13 12
+f 11 21 22
+f 16 18 23
+f 16 23 24
+f 17 25 18
+f 17 26 27
+f 17 27 28
+f 17 28 25
+f 18 25 28
+f 18 28 29
+f 18 29 23
+f 19 30 20
+f 20 31 21
+f 20 30 31
+f 21 31 22
+f 22 31 30
+f 22 30 42
+f 22 42 57
+f 22 57 58
+f 22 58 43
+f 22 43 32
+f 23 33 24
+f 23 29 28
+f 23 28 34
+f 23 34 35
+f 23 35 33
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 37
+f 28 37 39
+f 28 39 40
+f 28 40 41
+f 28 41 34
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 33 35 48
+f 34 41 49
+f 34 49 50
+f 34 50 48
+f 34 48 35
+f 36 51 52
+f 36 52 39
+f 36 39 37
+f 39 52 53
+f 39 53 41
+f 39 41 40
+f 41 53 54
+f 41 54 55
+f 41 55 49
+f 42 56 57
+f 43 58 59
+f 43 59 44
+f 44 46 45
+f 44 59 60
+f 44 60 61
+f 44 61 62
+f 44 62 63
+f 44 63 46
+f 46 63 64
+f 46 64 47
+f 47 64 65
+f 47 65 66
+f 48 50 67
+f 49 55 68
+f 49 68 50
+f 50 68 67
+f 51 69 70
+f 51 70 52
+f 52 70 53
+f 53 70 71
+f 53 71 72
+f 53 72 73
+f 53 73 54
+f 54 73 72
+f 54 72 74
+f 54 74 75
+f 54 75 55
+f 55 75 76
+f 55 76 68
+f 56 77 58
+f 56 58 57
+f 58 77 78
+f 58 78 60
+f 58 60 59
+f 60 79 80
+f 60 80 61
+f 60 78 81
+f 60 81 82
+f 60 82 79
+f 61 80 83
+f 61 83 62
+f 62 84 63
+f 62 83 85
+f 62 85 86
+f 62 86 84
+f 63 84 64
+f 64 84 65
+f 65 84 87
+f 65 87 88
+f 65 88 89
+f 65 89 90
+f 65 90 91
+f 65 91 66
+f 67 68 92
+f 68 76 92
+f 69 93 70
+f 70 93 94
+f 70 94 71
+f 71 94 95
+f 71 95 96
+f 71 96 72
+f 72 96 97
+f 72 97 98
+f 72 98 99
+f 72 99 74
+f 74 99 75
+f 75 99 76
+f 76 99 100
+f 76 100 101
+f 76 101 92
+f 77 102 78
+f 78 102 103
+f 78 103 81
+f 79 104 105
+f 79 105 80
+f 79 82 106
+f 79 106 107
+f 79 107 104
+f 80 105 83
+f 81 103 102
+f 81 102 108
+f 81 108 82
+f 82 108 109
+f 82 109 107
+f 82 107 106
+f 83 105 110
+f 83 110 85
+f 84 86 111
+f 84 111 112
+f 84 112 87
+f 85 110 113
+f 85 113 114
+f 85 114 115
+f 85 115 86
+f 86 115 116
+f 86 116 117
+f 86 117 111
+f 87 112 118
+f 87 118 88
+f 93 119 94
+f 94 119 120
+f 94 120 95
+f 95 120 121
+f 95 121 122
+f 95 122 123
+f 95 123 96
+f 96 123 124
+f 96 124 125
+f 96 125 97
+f 97 125 126
+f 97 126 98
+f 98 126 127
+f 98 127 99
+f 99 127 100
+f 100 127 128
+f 100 128 129
+f 100 129 101
+f 104 130 131
+f 104 131 105
+f 104 107 109
+f 104 109 130
+f 105 131 110
+f 110 131 132
+f 110 132 113
+f 111 117 133
+f 111 133 134
+f 111 134 135
+f 111 135 112
+f 112 135 118
+f 113 132 136
+f 113 136 114
+f 114 116 115
+f 114 136 128
+f 114 128 127
+f 114 127 116
+f 116 133 117
+f 116 127 126
+f 116 126 125
+f 116 125 133
+f 118 135 137
+f 122 137 123
+f 123 137 138
+f 123 138 124
+f 124 138 139
+f 124 139 125
+f 125 139 133
+f 128 136 140
+f 128 140 129
+f 130 141 131
+f 131 141 142
+f 131 142 143
+f 131 143 132
+f 132 143 144
+f 132 144 145
+f 132 145 136
+f 133 139 134
+f 134 139 135
+f 135 139 138
+f 135 138 137
+f 136 145 146
+f 136 146 147
+f 136 147 140
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_18.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03047052 -0.02899063 0.40949096
+v -0.03047052 -0.19653346 0.37414438
+v -0.03047052 -0.02899073 0.43452831
+v 0.15831391 -0.02899032 0.32349844
+v 0.15469162 -0.07407400 0.30360748
+v 0.14984956 -0.08629203 0.30084097
+v 0.15831391 -0.09519723 0.29359247
+v 0.15831391 -0.10072404 0.29172237
+v 0.14417587 -0.10090447 0.29875446
+v 0.13423304 -0.10720210 0.30210822
+v 0.14471182 -0.11894451 0.29346872
+v 0.13181201 -0.11894453 0.30045447
+v -0.03047052 -0.19653356 0.39953723
+v 0.15831391 -0.13709933 0.28215550
+v 0.15831391 -0.13932973 0.28176911
+v 0.15831391 -0.14992416 0.28003808
+v 0.15831391 -0.15559859 0.27931168
+v 0.15831391 -0.16653741 0.27807522
+v 0.15831391 -0.18341307 0.27686965
+v 0.15831391 -0.19653311 0.27663779
+v -0.01971451 -0.02899072 0.43238004
+v -0.03047052 -0.13732942 0.41500806
+v -0.02512948 -0.14775984 0.41273609
+v -0.01302436 -0.14367622 0.41173153
+v -0.00062354 -0.17393430 0.40449842
+v 0.15831391 -0.02899042 0.35102410
+v 0.15831391 -0.07243399 0.30274200
+v 0.15831391 -0.07771479 0.30042371
+v 0.15831391 -0.08250361 0.29844544
+v 0.15831391 -0.11894448 0.28640572
+v 0.15831391 -0.12721010 0.28441198
+v 0.15831391 -0.13413092 0.28280464
+v -0.03047052 -0.19225314 0.40140729
+v -0.01879046 -0.19653356 0.40013996
+v 0.15831391 -0.19653321 0.30488982
+v -0.01609222 -0.02899071 0.43131363
+v -0.03047052 -0.14861264 0.41296793
+v -0.01879046 -0.17393430 0.40655394
+v -0.00062354 -0.19225314 0.40040272
+v 0.01347754 -0.19653354 0.39590526
+v 0.01486362 -0.19225313 0.39647712
+v 0.01924364 -0.17536107 0.39797633
+v -0.00173241 -0.02899070 0.42692437
+v -0.01154587 -0.02899071 0.42996905
+v 0.08413078 -0.19653341 0.35978656
+v 0.08623762 -0.19653341 0.35836468
+v 0.09320500 -0.19653339 0.35337266
+v 0.10771266 -0.19653335 0.34270860
+v 0.15456225 -0.19653322 0.30779538
+v 0.15737138 -0.19653321 0.30566258
+v 0.12064944 -0.02899050 0.37210491
+v 0.05365545 -0.19653348 0.37853367
+v 0.06062282 -0.19653346 0.37428347
+v 0.07204414 -0.19653344 0.36725138
+v -0.03047052 -0.17393430 0.40653850
+v -0.01879046 -0.19225315 0.40191733
+v -0.00062354 -0.19653356 0.39898085
+v 0.02236694 -0.19653353 0.39258239
+v 0.02393784 -0.19225311 0.39309243
+v 0.02641431 -0.18241309 0.39400433
+v 0.01767275 -0.02899067 0.41961408
+v 0.11556713 -0.02899051 0.37494869
+v 0.05154860 -0.19653348 0.37966190
+v 0.03572878 -0.19653351 0.38725037
+v 0.03572878 -0.19225310 0.38799223
+v 0.10734304 -0.02899052 0.37915247
+v 0.08559079 -0.02899056 0.38929106
+v 0.11109470 -0.02899052 0.37725149
+f 1 2 13
+f 1 13 33
+f 1 33 55
+f 1 55 37
+f 1 37 22
+f 1 22 3
+f 1 3 21
+f 1 21 36
+f 1 36 44
+f 1 44 43
+f 1 43 61
+f 1 61 67
+f 1 67 66
+f 1 66 68
+f 1 68 62
+f 1 62 51
+f 1 51 26
+f 1 26 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 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 18
+f 2 18 19
+f 2 19 20
+f 2 20 35
+f 2 35 50
+f 2 50 49
+f 2 49 48
+f 2 48 47
+f 2 47 46
+f 2 46 45
+f 2 45 54
+f 2 54 53
+f 2 53 52
+f 2 52 63
+f 2 63 64
+f 2 64 58
+f 2 58 40
+f 2 40 57
+f 2 57 34
+f 2 34 13
+f 3 22 23
+f 3 23 24
+f 3 24 25
+f 3 25 21
+f 4 26 35
+f 4 35 20
+f 4 20 19
+f 4 19 18
+f 4 18 17
+f 4 17 16
+f 4 16 15
+f 4 15 14
+f 4 14 32
+f 4 32 31
+f 4 31 30
+f 4 30 8
+f 4 8 7
+f 4 7 29
+f 4 29 28
+f 4 28 27
+f 4 27 5
+f 5 27 28
+f 5 28 29
+f 5 29 6
+f 6 29 7
+f 8 30 9
+f 9 30 10
+f 10 30 11
+f 11 30 31
+f 11 31 32
+f 11 32 14
+f 11 14 12
+f 13 34 33
+f 21 25 36
+f 22 37 23
+f 23 37 38
+f 23 38 25
+f 23 25 24
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 44
+f 25 44 36
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 50
+f 26 50 35
+f 26 51 52
+f 26 52 53
+f 26 53 54
+f 26 54 45
+f 33 34 56
+f 33 56 55
+f 34 57 56
+f 37 55 56
+f 37 56 38
+f 38 56 39
+f 39 56 57
+f 39 57 40
+f 40 58 59
+f 40 59 41
+f 41 59 60
+f 41 60 42
+f 42 60 61
+f 42 61 43
+f 51 62 52
+f 52 62 63
+f 58 64 59
+f 59 64 60
+f 60 64 65
+f 60 65 66
+f 60 66 67
+f 60 67 61
+f 62 68 63
+f 63 65 64
+f 63 68 66
+f 63 66 65
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_19.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.23519342 -0.11852037 -0.38188074
+v 0.23520523 -0.11852037 -0.38141952
+v 0.24201598 -0.00067935 -0.41664212
+v 0.24199238 -0.00067932 -0.42525974
+v 0.24198058 -0.00067928 -0.43543093
+v 0.24199238 -0.00821159 -0.43535815
+v 0.24377474 -0.00157897 -0.44630616
+v 0.23888800 -0.11852030 -0.40142214
+v 0.30391485 -0.11852104 -0.19896868
+v 0.24836641 -0.00067941 -0.40062061
+v 0.24377474 -0.00067924 -0.44630615
+v 0.25374891 -0.00237488 -0.44693728
+v 0.24450658 -0.11214145 -0.40892305
+v 0.24483708 -0.11214145 -0.40892305
+v 0.24978286 -0.11852030 -0.40139786
+v 0.32735712 -0.11852104 -0.19894442
+v 0.30961606 -0.10061882 -0.19894435
+v 0.33096907 -0.00068015 -0.19894398
+v 0.26142135 -0.00067953 -0.36865045
+v 0.25374891 -0.00067924 -0.44693727
+v 0.26391195 -0.00147515 -0.44647606
+v 0.26063051 -0.11852036 -0.38253617
+v 0.33615090 -0.09388242 -0.19894432
+v 0.32790009 -0.11852104 -0.19899297
+v 0.35569792 -0.00068015 -0.19894398
+v 0.26391195 -0.00067924 -0.44647605
+v 0.26414802 -0.11565972 -0.37573916
+v 0.26204696 -0.11852038 -0.37916196
+v 0.35576875 -0.00898530 -0.19894401
+v 0.35373848 -0.02731431 -0.19894408
+v 0.33921988 -0.02865223 -0.23712865
+v 0.33523021 -0.03565390 -0.24433834
+v 0.33785065 -0.04564320 -0.23207950
+v 0.33890119 -0.08558880 -0.19894429
+v 0.32249398 -0.11852097 -0.21678654
+v 0.26588318 -0.11852041 -0.36954907
+v 0.35282959 -0.03252810 -0.19894410
+v 0.34345744 -0.04564325 -0.21722320
+v 0.33625714 -0.05757034 -0.22819556
+v 0.32199819 -0.11852097 -0.21834013
+v 0.32068799 -0.11852095 -0.22234551
+v 0.33931429 -0.08321260 -0.19996382
+v 0.33964481 -0.08316647 -0.19894429
+v 0.28360059 -0.11852058 -0.32318382
+v 0.30013767 -0.11347996 -0.28368838
+v 0.34998489 -0.04568946 -0.19894415
+v 0.34987868 -0.04610472 -0.19894415
+v 0.33864150 -0.06378770 -0.21761167
+v 0.31857511 -0.09573936 -0.24783416
+v 0.31897645 -0.11488741 -0.23093883
+v 0.30314761 -0.11852077 -0.27186649
+v 0.34506274 -0.06394926 -0.19894421
+v 0.33991629 -0.08222060 -0.19894428
+v 0.33689455 -0.07772192 -0.21176145
+v 0.30228593 -0.11852076 -0.27424544
+v 0.34520440 -0.06343019 -0.19894421
+v 0.32113654 -0.10135691 -0.23640065
+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 15
+f 1 15 22
+f 1 22 28
+f 1 28 36
+f 1 36 44
+f 1 44 55
+f 1 55 51
+f 1 51 41
+f 1 41 40
+f 1 40 35
+f 1 35 24
+f 1 24 16
+f 1 16 9
+f 1 9 2
+f 2 9 3
+f 3 10 19
+f 3 19 18
+f 3 18 25
+f 3 25 26
+f 3 26 20
+f 3 20 11
+f 3 11 5
+f 3 5 4
+f 3 9 10
+f 5 11 7
+f 5 7 6
+f 7 11 20
+f 7 20 12
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 12 20 26
+f 12 26 21
+f 12 21 14
+f 12 14 13
+f 14 21 15
+f 15 21 22
+f 16 23 34
+f 16 34 43
+f 16 43 53
+f 16 53 52
+f 16 52 56
+f 16 56 47
+f 16 47 46
+f 16 46 37
+f 16 37 30
+f 16 30 29
+f 16 29 25
+f 16 25 18
+f 16 18 17
+f 16 24 23
+f 21 27 28
+f 21 28 22
+f 21 26 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 27
+f 23 24 35
+f 23 35 34
+f 25 29 26
+f 27 36 28
+f 27 33 36
+f 30 37 31
+f 31 37 32
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 33 39 36
+f 34 35 40
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 36 39 45
+f 36 45 44
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 39 48 49
+f 39 49 45
+f 41 50 42
+f 41 51 50
+f 42 52 53
+f 42 53 43
+f 42 50 54
+f 42 54 52
+f 44 45 55
+f 45 49 55
+f 47 56 48
+f 48 56 54
+f 48 54 49
+f 49 54 57
+f 49 57 55
+f 50 57 54
+f 50 51 57
+f 51 55 57
+f 52 54 56
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_2.obj

@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
+v 0.03158410 0.52464033 -0.03366889
+v 0.03158410 0.51880806 -0.01646112
+v 0.03158410 0.54115451 -0.03325203
+v 0.04355398 0.53301448 -0.06376758
+v 0.04355398 0.52924070 -0.06376760
+v 0.15358769 0.43970014 -0.31771662
+v 0.15024208 0.43251122 -0.30753488
+v 0.15271412 0.42069085 -0.30083640
+v 0.17128231 0.38806791 -0.30018155
+v 0.03158410 0.51788800 -0.01369242
+v 0.03158410 0.54343127 -0.03226957
+v 0.03158410 0.54393027 -0.03185277
+v 0.06253108 0.53190737 -0.08076697
+v 0.15358769 0.44024593 -0.31771662
+v 0.15408954 0.43970014 -0.31771662
+v 0.18341948 0.38806792 -0.30149149
+v 0.17438630 0.38806792 -0.30128308
+v 0.17046449 0.38806788 -0.29020819
+v 0.03158410 0.51785680 -0.01357333
+v 0.03158410 0.54737652 -0.01687782
+v 0.06357194 0.53190737 -0.08076697
+v 0.09914703 0.51341292 -0.13527817
+v 0.15408954 0.44024593 -0.31771662
+v 0.18788030 0.38806791 -0.30027087
+v 0.17988799 0.38806686 -0.01357380
+v 0.03158410 0.54715818 -0.01357322
+v 0.06416672 0.53253107 -0.05742631
+v 0.06433400 0.53248432 -0.07121039
+v 0.09940725 0.51341292 -0.13527817
+v 0.11996423 0.49691450 -0.17573736
+v 0.15546496 0.45955128 -0.26659933
+v 0.15808571 0.44341151 -0.30845776
+v 0.17133808 0.43470993 -0.29440577
+v 0.18996201 0.38806791 -0.29878231
+v 0.21260073 0.38806686 -0.01357380
+v 0.03281082 0.54639409 -0.01357322
+v 0.05210390 0.53683495 -0.03471083
+v 0.04963186 0.53530667 -0.01646106
+v 0.06119283 0.53020746 -0.03471085
+v 0.07096948 0.52623101 -0.05200797
+v 0.08440772 0.51601684 -0.05296068
+v 0.08639650 0.51771668 -0.07121045
+v 0.08799497 0.51885513 -0.08946021
+v 0.09944442 0.51345965 -0.11613527
+v 0.09948159 0.51347528 -0.12595978
+v 0.12059617 0.49774093 -0.16245938
+v 0.14013088 0.48121129 -0.19892922
+v 0.13869969 0.47929327 -0.21292170
+v 0.15672887 0.46081437 -0.25370837
+v 0.17302946 0.44149331 -0.27195822
+v 0.17210012 0.44026140 -0.28222930
+v 0.16433087 0.44575057 -0.28907665
+v 0.19128169 0.40579832 -0.26680794
+v 0.19217386 0.38958053 -0.29020819
+v 0.19152331 0.38806789 -0.29485250
+v 0.21263789 0.38806686 -0.01378220
+v 0.19390243 0.40718527 -0.01646153
+v 0.19362362 0.40688897 -0.01357374
+v 0.04911143 0.53491680 -0.01357327
+v 0.05872079 0.52835168 -0.01646109
+v 0.08260480 0.51455094 -0.03875981
+v 0.09347806 0.50834452 -0.05296071
+v 0.09546685 0.51007557 -0.07121048
+v 0.13674808 0.47774905 -0.10771015
+v 0.10600555 0.50092181 -0.07121051
+v 0.11663719 0.49423198 -0.08946030
+v 0.13606038 0.47709407 -0.09583142
+v 0.12966653 0.48913297 -0.16245941
+v 0.13968480 0.48110205 -0.18067944
+v 0.13758449 0.47854443 -0.12595991
+v 0.14920122 0.47166767 -0.19892926
+v 0.15749092 0.46243602 -0.21717905
+v 0.15728647 0.46187469 -0.23542883
+v 0.16581781 0.45200368 -0.25370840
+v 0.17423762 0.44284992 -0.25370843
+v 0.20845586 0.40359920 -0.17225447
+v 0.19256417 0.40834013 -0.25370856
+v 0.19882792 0.39422741 -0.25370861
+v 0.20154159 0.38806774 -0.25370863
+v 0.19748968 0.38806781 -0.27189887
+v 0.19431134 0.39524113 -0.27249428
+v 0.19280580 0.38806788 -0.29020819
+v 0.19566816 0.38806784 -0.27907374
+v 0.21306539 0.38806687 -0.01646160
+v 0.18635619 0.41792971 -0.03471126
+v 0.18466480 0.41633903 -0.01646150
+v 0.18434882 0.41605833 -0.01357370
+v 0.05624875 0.52944325 -0.01357329
+v 0.07020742 0.51918232 -0.01646112
+v 0.08083905 0.51300709 -0.02661316
+v 0.10022506 0.49583794 -0.02268341
+v 0.10182353 0.49725704 -0.03471097
+v 0.10401676 0.49919077 -0.05296075
+v 0.14583702 0.46889158 -0.10771018
+v 0.15609692 0.46068914 -0.12595998
+v 0.14667343 0.46984290 -0.12595994
+v 0.11509449 0.49284404 -0.07121054
+v 0.12494548 0.48369028 -0.07121057
+v 0.13511245 0.47614278 -0.08368475
+v 0.12804947 0.48362798 -0.08963897
+v 0.15347619 0.45803799 -0.08240466
+v 0.15436835 0.45895809 -0.09458109
+v 0.15672887 0.46137536 -0.14420976
+v 0.16581781 0.45184735 -0.14420979
+v 0.17446066 0.44269359 -0.14420982
+v 0.15741657 0.46223315 -0.18067951
+v 0.15756527 0.46251391 -0.19892929
+v 0.17475805 0.44305232 -0.16245958
+v 0.16650551 0.45242447 -0.18067955
+v 0.17488815 0.44327071 -0.18067958
+v 0.16637541 0.45228430 -0.23542887
+v 0.16665422 0.45245570 -0.19892933
+v 0.16656126 0.45237781 -0.21717909
+v 0.17462793 0.44313055 -0.23542890
+v 0.19172776 0.42371572 -0.19892943
+v 0.20869750 0.40389547 -0.16245973
+v 0.22118780 0.38806727 -0.12542435
+v 0.21973803 0.38806734 -0.14421002
+v 0.21752622 0.38806741 -0.16245978
+v 0.21471962 0.38806747 -0.17934007
+v 0.21553743 0.38806694 -0.03471137
+v 0.18903269 0.42061203 -0.07121081
+v 0.18778737 0.41933325 -0.05296104
+v 0.17726725 0.42692750 -0.03471123
+v 0.17871703 0.42847140 -0.05296101
+v 0.16951656 0.43764076 -0.05296097
+v 0.16789952 0.43609686 -0.03471120
+v 0.17557585 0.42522769 -0.01646147
+v 0.18293621 0.41744620 -0.01357370
+v 0.06963123 0.51871449 -0.01357332
+v 0.07929636 0.51172834 -0.01646115
+v 0.07872017 0.51132287 -0.01357335
+v 0.09143352 0.50154537 -0.01655052
+v 0.09877530 0.49452800 -0.01357341
+v 0.11842152 0.47751480 -0.01357348
+v 0.12466668 0.47210365 -0.01357350
+v 0.13797482 0.46053280 -0.01357354
+v 0.11091246 0.48917930 -0.03471100
+v 0.13832796 0.46086027 -0.01646134
+v 0.12120954 0.48002554 -0.03471104
+v 0.11310571 0.49108183 -0.05296078
+v 0.15514899 0.45973783 -0.10771021
+v 0.16423793 0.45049054 -0.10771025
+v 0.17321534 0.44132118 -0.10771028
+v 0.16518586 0.45133265 -0.12596001
+v 0.12319832 0.48191247 -0.05296081
+v 0.13226867 0.47356963 -0.05296084
+v 0.13401582 0.47512911 -0.07121060
+v 0.15102272 0.45568315 -0.05296091
+v 0.14349509 0.46597536 -0.07121064
+v 0.15258402 0.45716466 -0.07121067
+v 0.17089199 0.43898191 -0.07121074
+v 0.17247187 0.44055701 -0.09461093
+v 0.17399598 0.44217889 -0.12596005
+v 0.18308492 0.43254174 -0.12596008
+v 0.18354958 0.43293167 -0.14420986
+v 0.18384697 0.43313444 -0.16245962
+v 0.19208091 0.42396509 -0.16245965
+v 0.18397708 0.43310334 -0.18067962
+v 0.17483238 0.44328635 -0.19892936
+v 0.17473946 0.44322405 -0.21717912
+v 0.19204374 0.42394958 -0.18067965
+v 0.20116985 0.41304922 -0.16245969
+v 0.20875327 0.40392656 -0.14420997
+v 0.22146661 0.38806721 -0.10771047
+v 0.21765632 0.38806700 -0.05296115
+v 0.19051963 0.42214033 -0.09520642
+v 0.18977616 0.42139176 -0.08302998
+v 0.16042764 0.44651379 -0.05296094
+v 0.15881059 0.44489196 -0.03471117
+v 0.16609660 0.43439705 -0.01646143
+v 0.17527846 0.42493139 -0.01357367
+v 0.09477914 0.49789631 -0.01357340
+v 0.14500062 0.45390530 -0.01357356
+v 0.14741688 0.45229910 -0.01646137
+v 0.14024240 0.46271604 -0.03471110
+v 0.13027988 0.47186980 -0.03471107
+v 0.18230426 0.43188673 -0.10771031
+v 0.14193379 0.46441588 -0.05296087
+v 0.14931274 0.45406131 -0.03471113
+v 0.19104006 0.42271737 -0.10771035
+v 0.19161624 0.42337239 -0.12596011
+v 0.19195080 0.42376232 -0.14420989
+v 0.20102115 0.41308032 -0.14420993
+v 0.22066739 0.38806714 -0.08946069
+v 0.21934772 0.38806707 -0.07121092
+v 0.15700767 0.44314535 -0.01646140
+v 0.16578062 0.43410074 -0.01357364
+v 0.15669170 0.44283344 -0.01357360
+f 1 2 10
+f 1 10 19
+f 1 19 26
+f 1 26 20
+f 1 20 12
+f 1 12 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 6
+f 4 6 5
+f 6 14 23
+f 6 23 15
+f 6 15 16
+f 6 16 17
+f 6 17 9
+f 6 9 7
+f 7 9 8
+f 9 17 16
+f 9 16 24
+f 9 24 34
+f 9 34 55
+f 9 55 82
+f 9 82 83
+f 9 83 80
+f 9 80 79
+f 9 79 120
+f 9 120 119
+f 9 119 118
+f 9 118 117
+f 9 117 165
+f 9 165 185
+f 9 185 186
+f 9 186 166
+f 9 166 121
+f 9 121 84
+f 9 84 56
+f 9 56 35
+f 9 35 25
+f 9 25 18
+f 9 18 19
+f 9 19 10
+f 12 20 21
+f 12 21 13
+f 13 21 29
+f 13 29 22
+f 13 22 14
+f 14 22 29
+f 14 29 23
+f 15 23 24
+f 15 24 16
+f 18 25 19
+f 19 25 35
+f 19 35 58
+f 19 58 87
+f 19 87 129
+f 19 129 172
+f 19 172 188
+f 19 188 189
+f 19 189 174
+f 19 174 137
+f 19 137 136
+f 19 136 135
+f 19 135 134
+f 19 134 173
+f 19 173 132
+f 19 132 130
+f 19 130 88
+f 19 88 59
+f 19 59 36
+f 19 36 26
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 26 36 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 27 36 37
+f 28 45 29
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 47
+f 31 47 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 52 51
+f 32 51 33
+f 33 51 53
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 35 56 57
+f 35 57 58
+f 36 59 38
+f 36 38 37
+f 38 59 60
+f 38 60 39
+f 39 61 40
+f 39 60 61
+f 40 61 41
+f 41 62 63
+f 41 63 42
+f 41 61 62
+f 42 63 44
+f 42 44 43
+f 44 64 46
+f 44 46 45
+f 44 63 65
+f 44 65 66
+f 44 66 67
+f 44 67 64
+f 46 68 69
+f 46 69 47
+f 46 64 70
+f 46 70 68
+f 47 71 72
+f 47 72 73
+f 47 73 49
+f 47 69 71
+f 49 74 50
+f 49 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 51
+f 51 77 53
+f 51 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 80
+f 53 80 81
+f 53 81 54
+f 54 82 55
+f 54 81 83
+f 54 83 82
+f 56 84 85
+f 56 85 57
+f 57 86 58
+f 57 85 86
+f 58 86 87
+f 59 88 60
+f 60 88 89
+f 60 89 61
+f 61 89 90
+f 61 90 91
+f 61 91 92
+f 61 92 62
+f 62 92 93
+f 62 93 65
+f 62 65 63
+f 64 94 95
+f 64 95 96
+f 64 96 70
+f 64 67 94
+f 65 93 97
+f 65 97 66
+f 66 97 98
+f 66 98 99
+f 66 99 100
+f 66 100 67
+f 67 100 99
+f 67 99 101
+f 67 101 102
+f 67 102 94
+f 68 70 69
+f 69 70 96
+f 69 96 95
+f 69 95 103
+f 69 103 104
+f 69 104 105
+f 69 105 106
+f 69 106 71
+f 71 107 72
+f 71 106 108
+f 71 108 109
+f 71 109 110
+f 71 110 107
+f 72 111 73
+f 72 107 112
+f 72 112 113
+f 72 113 111
+f 73 111 74
+f 74 111 75
+f 75 111 114
+f 75 114 115
+f 75 115 76
+f 76 116 117
+f 76 117 118
+f 76 118 119
+f 76 119 120
+f 76 120 77
+f 76 115 116
+f 77 120 78
+f 78 120 79
+f 80 83 81
+f 84 121 122
+f 84 122 123
+f 84 123 85
+f 85 124 86
+f 85 123 125
+f 85 125 126
+f 85 126 124
+f 86 124 127
+f 86 127 128
+f 86 128 129
+f 86 129 87
+f 88 130 89
+f 89 131 90
+f 89 130 132
+f 89 132 131
+f 90 131 91
+f 91 131 133
+f 91 133 134
+f 91 134 135
+f 91 135 136
+f 91 136 137
+f 91 137 92
+f 92 138 93
+f 92 137 139
+f 92 139 138
+f 93 138 140
+f 93 140 141
+f 93 141 97
+f 94 142 95
+f 94 102 142
+f 95 142 143
+f 95 143 144
+f 95 144 145
+f 95 145 103
+f 97 141 146
+f 97 146 147
+f 97 147 98
+f 98 148 99
+f 98 147 148
+f 99 148 149
+f 99 149 150
+f 99 150 151
+f 99 151 101
+f 101 151 126
+f 101 126 125
+f 101 125 102
+f 102 125 152
+f 102 152 122
+f 102 122 153
+f 102 153 142
+f 103 145 154
+f 103 154 104
+f 104 154 105
+f 105 154 155
+f 105 155 156
+f 105 156 108
+f 105 108 106
+f 107 110 112
+f 108 156 157
+f 108 157 109
+f 109 157 110
+f 110 157 158
+f 110 158 159
+f 110 159 112
+f 111 113 114
+f 112 160 161
+f 112 161 113
+f 112 159 160
+f 113 161 114
+f 114 161 162
+f 114 162 115
+f 115 162 116
+f 116 162 163
+f 116 163 164
+f 116 164 165
+f 116 165 117
+f 121 166 167
+f 121 167 168
+f 121 168 122
+f 122 168 153
+f 122 152 123
+f 123 152 125
+f 124 126 127
+f 126 151 169
+f 126 169 127
+f 127 169 149
+f 127 149 170
+f 127 170 128
+f 128 170 171
+f 128 171 172
+f 128 172 129
+f 131 132 173
+f 131 173 133
+f 133 173 134
+f 137 174 175
+f 137 175 139
+f 138 139 140
+f 139 175 176
+f 139 176 177
+f 139 177 140
+f 140 177 141
+f 141 177 146
+f 142 153 143
+f 143 153 144
+f 144 178 145
+f 144 153 167
+f 144 167 178
+f 145 178 154
+f 146 177 176
+f 146 176 147
+f 147 176 179
+f 147 179 148
+f 148 179 149
+f 149 179 180
+f 149 180 170
+f 149 169 151
+f 149 151 150
+f 153 168 167
+f 154 178 181
+f 154 181 155
+f 155 181 182
+f 155 182 156
+f 156 182 183
+f 156 183 157
+f 157 183 158
+f 158 163 162
+f 158 162 159
+f 158 183 184
+f 158 184 164
+f 158 164 163
+f 159 162 161
+f 159 161 160
+f 164 184 165
+f 165 184 183
+f 165 183 182
+f 165 182 185
+f 166 186 167
+f 167 186 181
+f 167 181 178
+f 170 180 171
+f 171 187 188
+f 171 188 172
+f 171 180 187
+f 174 189 175
+f 175 189 187
+f 175 187 180
+f 175 180 176
+f 176 180 179
+f 181 186 185
+f 181 185 182
+f 187 189 188
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_20.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.32688736 0.03122616 0.18878610
+v 0.31732475 0.03122604 0.22070996
+v 0.29938011 0.03122616 0.18878610
+v 0.30023013 0.18446132 0.18878667
+v 0.30750243 0.03122597 0.23826294
+v 0.29904956 0.03189396 0.18878611
+v 0.19471094 0.03122573 0.30529279
+v 0.16009669 0.06542638 0.30529292
+v 0.14718127 0.07916389 0.30529297
+v 0.14491458 0.08204972 0.30529298
+v 0.14146733 0.08662889 0.30529300
+v 0.13462002 0.09643116 0.30529303
+v 0.13029916 0.10360996 0.30529306
+v 0.29836482 0.19261796 0.18878670
+v 0.23593638 0.03122573 0.30529279
+v 0.29706621 0.19261795 0.19080546
+v 0.28155353 0.18489052 0.21228190
+v 0.29305228 0.04649005 0.18878616
+v 0.12356991 0.11932700 0.30529312
+v 0.29772731 0.19488368 0.18878671
+v 0.15355634 0.25593883 0.30268176
+v 0.15105354 0.25348230 0.30529361
+v 0.29602730 0.19869967 0.18878672
+v 0.28691331 0.19164005 0.20315756
+v 0.27862572 0.19710164 0.20961306
+v 0.16314255 0.26423861 0.29028406
+v 0.19943323 0.27487603 0.18878700
+v 0.12297962 0.12156889 0.30529313
+v 0.15124243 0.26590807 0.30072008
+v 0.14805490 0.26075649 0.30529364
+v 0.29012446 0.21165012 0.18878677
+v 0.28379663 0.21093459 0.19646262
+v 0.16330784 0.27487567 0.28495777
+v 0.16935235 0.26922326 0.28184407
+v 0.15929390 0.27487566 0.28884701
+v 0.15492580 0.27487564 0.29298722
+v 0.08567368 0.27487560 0.30529369
+v 0.23501554 0.27487603 0.18878700
+v 0.14559931 0.26590805 0.30529366
+v 0.14295484 0.27487560 0.30363989
+v 0.14099509 0.27487560 0.30523665
+v 0.28757444 0.21596693 0.18878678
+v 0.28098685 0.22011678 0.19346303
+v 0.17225654 0.27487571 0.27528594
+v 0.14092427 0.27487560 0.30529369
+v 0.19393176 0.27487581 0.24755930
+v 0.24531010 0.26400050 0.18878696
+v 0.28256883 0.22333655 0.18878681
+v 0.17910383 0.27487574 0.26717666
+v 0.17542046 0.27487572 0.27155635
+v 0.19185397 0.27487580 0.25047908
+v 0.26613533 0.24177246 0.18878688
+v 0.25664355 0.25200404 0.18878692
+v 0.27390345 0.23328192 0.18878685
+v 0.19053173 0.27487579 0.25224693
+f 1 2 5
+f 1 5 15
+f 1 15 7
+f 1 7 3
+f 1 3 6
+f 1 6 18
+f 1 18 27
+f 1 27 38
+f 1 38 47
+f 1 47 53
+f 1 53 52
+f 1 52 54
+f 1 54 48
+f 1 48 42
+f 1 42 31
+f 1 31 23
+f 1 23 20
+f 1 20 14
+f 1 14 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 6
+f 4 14 5
+f 5 14 16
+f 5 16 17
+f 5 17 15
+f 6 13 19
+f 6 19 18
+f 7 15 22
+f 7 22 30
+f 7 30 39
+f 7 39 45
+f 7 45 37
+f 7 37 28
+f 7 28 19
+f 7 19 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 14 20 16
+f 15 17 21
+f 15 21 22
+f 16 20 23
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 21
+f 18 19 27
+f 19 28 27
+f 21 26 29
+f 21 29 30
+f 21 30 22
+f 23 31 24
+f 24 31 32
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 26 34 33
+f 26 33 35
+f 26 35 36
+f 26 36 29
+f 27 37 45
+f 27 45 41
+f 27 41 40
+f 27 40 36
+f 27 36 35
+f 27 35 33
+f 27 33 44
+f 27 44 50
+f 27 50 49
+f 27 49 55
+f 27 55 51
+f 27 51 46
+f 27 46 38
+f 27 28 37
+f 29 39 30
+f 29 36 40
+f 29 40 41
+f 29 41 39
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 33
+f 38 46 47
+f 39 41 45
+f 42 48 43
+f 43 48 49
+f 43 49 50
+f 43 50 44
+f 46 51 52
+f 46 52 53
+f 46 53 47
+f 48 54 51
+f 48 51 55
+f 48 55 49
+f 51 54 52
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_21.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.28354507 0.18422839 0.18878666
+v 0.27002629 0.18422839 0.18878666
+v 0.28354507 0.18422845 0.17193762
+v 0.28354507 0.22191491 0.18878680
+v 0.27637229 0.18422842 0.18074366
+v 0.17796842 0.29741059 0.18878707
+v 0.17796842 0.30068057 0.18313635
+v 0.17796842 0.36137994 0.08344476
+v 0.28354507 0.26197255 0.08344439
+v 0.28257354 0.22334553 0.18878680
+v 0.28354507 0.22536884 0.18585832
+v 0.17796842 0.33037605 0.18878719
+v 0.17796842 0.39301700 0.08344487
+v 0.28354507 0.29624604 0.08344452
+v 0.28149866 0.23900060 0.17575309
+v 0.27559712 0.23235841 0.18792065
+v 0.27390208 0.23329854 0.18878684
+v 0.28354507 0.23127526 0.18048606
+v 0.18463478 0.32498060 0.18878717
+v 0.17796842 0.34274075 0.16967998
+v 0.17796842 0.38901127 0.09239527
+v 0.18804548 0.38486251 0.08344484
+v 0.24668885 0.33203186 0.08344465
+v 0.24603771 0.33141875 0.08667217
+v 0.28354507 0.29479497 0.08672358
+v 0.22812637 0.28296134 0.18878702
+v 0.26614017 0.24178003 0.18878687
+v 0.28354507 0.23779479 0.17452601
+v 0.28354507 0.24108522 0.17099948
+v 0.21043208 0.30176375 0.18878709
+v 0.21335701 0.29867770 0.18878708
+v 0.19608646 0.31515022 0.18878714
+v 0.17796842 0.34962817 0.15884259
+v 0.17796842 0.34643992 0.16387460
+v 0.17796842 0.38868427 0.09307583
+v 0.18629879 0.38163335 0.09307580
+v 0.18900668 0.38404500 0.08344484
+v 0.24270969 0.32827134 0.09883975
+v 0.28354507 0.28690607 0.10270642
+v 0.28354507 0.28952208 0.09764347
+v 0.28354507 0.29422273 0.08791972
+v 0.28354507 0.24543841 0.16607059
+v 0.28072349 0.25651550 0.15659434
+v 0.26233672 0.27462303 0.15628505
+v 0.25525694 0.28574097 0.14994351
+v 0.24381558 0.29260791 0.15576954
+v 0.24817716 0.29667501 0.14360196
+v 0.24145911 0.30889660 0.13387824
+v 0.17796842 0.35868199 0.14421057
+v 0.17796842 0.35445145 0.15105740
+v 0.17796842 0.38486245 0.10065478
+v 0.19259307 0.36898256 0.10588267
+v 0.23867886 0.32469474 0.11132699
+v 0.24542792 0.31247315 0.12171065
+v 0.26029031 0.29105475 0.13457935
+v 0.28354507 0.28048870 0.11442029
+v 0.28354507 0.28222588 0.11132684
+v 0.28354507 0.25475789 0.15504760
+v 0.28354507 0.25923370 0.14869572
+v 0.28354507 0.26164533 0.14522074
+v 0.26665695 0.27885361 0.14411747
+v 0.17796842 0.36452712 0.13469305
+v 0.17796842 0.38034573 0.10840904
+v 0.27875977 0.27292678 0.13503299
+v 0.28354507 0.26984076 0.13252728
+v 0.28354507 0.27613551 0.12192705
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 14
+f 1 14 25
+f 1 25 41
+f 1 41 40
+f 1 40 39
+f 1 39 57
+f 1 57 56
+f 1 56 66
+f 1 66 65
+f 1 65 60
+f 1 60 59
+f 1 59 58
+f 1 58 42
+f 1 42 29
+f 1 29 28
+f 1 28 18
+f 1 18 11
+f 1 11 4
+f 1 4 10
+f 1 10 17
+f 1 17 27
+f 1 27 26
+f 1 26 31
+f 1 31 30
+f 1 30 32
+f 1 32 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 9
+f 4 11 10
+f 6 12 20
+f 6 20 34
+f 6 34 33
+f 6 33 50
+f 6 50 49
+f 6 49 62
+f 6 62 63
+f 6 63 51
+f 6 51 35
+f 6 35 21
+f 6 21 13
+f 6 13 8
+f 6 8 7
+f 8 13 22
+f 8 22 37
+f 8 37 23
+f 8 23 14
+f 8 14 9
+f 10 11 15
+f 10 15 16
+f 10 16 17
+f 11 18 15
+f 12 19 20
+f 13 21 22
+f 14 23 24
+f 14 24 25
+f 15 26 27
+f 15 27 17
+f 15 17 16
+f 15 18 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 26
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 21 35 22
+f 22 36 37
+f 22 35 36
+f 23 37 24
+f 24 37 36
+f 24 36 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 32
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 35 51 36
+f 36 51 52
+f 36 52 38
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 57
+f 38 57 39
+f 42 58 43
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 44 61 45
+f 45 61 47
+f 45 47 46
+f 47 61 55
+f 47 55 48
+f 48 54 53
+f 48 53 52
+f 48 52 62
+f 48 62 49
+f 48 55 54
+f 51 63 52
+f 52 63 62
+f 55 61 64
+f 55 64 65
+f 55 65 66
+f 55 66 56
+f 60 65 64
+f 60 64 61
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_22.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.27077699 -0.26774501 -0.19894498
+v 0.25546531 -0.26774501 -0.19894498
+v 0.27077699 -0.26774501 -0.19896759
+v 0.28279726 -0.24207819 -0.19894489
+v 0.24632653 -0.26773041 -0.19894498
+v 0.24631447 -0.26774501 -0.19896759
+v 0.26684659 -0.26774494 -0.21748664
+v 0.28829499 -0.22890149 -0.19894484
+v 0.26713594 -0.26689766 -0.21798409
+v 0.26533954 -0.26191616 -0.23546299
+v 0.28142283 -0.23906884 -0.20984376
+v 0.30351023 -0.11979197 -0.19894444
+v 0.30390809 -0.11852104 -0.19896705
+v 0.23521049 -0.11852037 -0.38142158
+v 0.22580647 -0.14201053 -0.38933578
+v 0.20499705 -0.26774448 -0.34264290
+v 0.26585797 -0.26774493 -0.22157936
+v 0.29931458 -0.20216827 -0.19894474
+v 0.26248216 -0.26774488 -0.23546301
+v 0.25755108 -0.26774481 -0.25386900
+v 0.26374807 -0.25848315 -0.24765072
+v 0.28385823 -0.22913515 -0.21644635
+v 0.32735784 -0.11852104 -0.19894444
+v 0.23518638 -0.11852037 -0.38189640
+v 0.22580647 -0.14201051 -0.39437818
+v 0.20634738 -0.19630953 -0.41796251
+v 0.20691403 -0.19655791 -0.40568430
+v 0.20474386 -0.26774447 -0.34517539
+v 0.30250952 -0.19401683 -0.19894471
+v 0.28235118 -0.22316030 -0.23112139
+v 0.25664683 -0.26774480 -0.25712510
+v 0.26626789 -0.24768759 -0.25373326
+v 0.24735132 -0.26774468 -0.28839721
+v 0.22687949 -0.25716794 -0.37292002
+v 0.32776779 -0.11894468 -0.19894444
+v 0.32790041 -0.11852104 -0.19898965
+v 0.23888771 -0.11852030 -0.40141039
+v 0.23887565 -0.11853491 -0.40141039
+v 0.20709488 -0.19946489 -0.42872570
+v 0.20634738 -0.20564424 -0.41796255
+v 0.20492472 -0.26774442 -0.36048360
+v 0.30287123 -0.19303806 -0.19894471
+v 0.28523267 -0.21183884 -0.23650295
+v 0.28270080 -0.20580555 -0.25373311
+v 0.30272655 -0.19305268 -0.19946476
+v 0.28126610 -0.20210960 -0.26379535
+v 0.22962836 -0.26774447 -0.34664519
+v 0.22815746 -0.26067398 -0.36321959
+v 0.21915130 -0.26774440 -0.36349095
+v 0.21874139 -0.26774440 -0.36378490
+v 0.22862768 -0.20465083 -0.42924581
+v 0.24574781 -0.20396444 -0.37576893
+v 0.26357929 -0.20321962 -0.32005348
+v 0.32186011 -0.13732195 -0.19894450
+v 0.32776779 -0.11895929 -0.19896705
+v 0.32146225 -0.12018632 -0.21843579
+v 0.32248706 -0.11852097 -0.21678514
+v 0.24977468 -0.11852030 -0.40141039
+v 0.21741518 -0.19753659 -0.42992413
+v 0.20709488 -0.20368670 -0.42872572
+v 0.20558782 -0.26774441 -0.36242819
+v 0.30305206 -0.19251217 -0.19894471
+v 0.32077503 -0.14062343 -0.19894452
+v 0.32124525 -0.13834454 -0.19996203
+v 0.21845203 -0.26774440 -0.36378490
+v 0.21741518 -0.20555655 -0.42992416
+v 0.22862768 -0.19819395 -0.42924579
+v 0.24977468 -0.11853491 -0.40141039
+v 0.26062547 -0.11852036 -0.38252954
+v 0.26204812 -0.11852038 -0.37916039
+v 0.26588208 -0.11852041 -0.36955037
+v 0.30228047 -0.11852076 -0.27424169
+v 0.30314852 -0.11852077 -0.27186745
+v 0.32067860 -0.11852095 -0.22234763
+v 0.32199273 -0.11852097 -0.21832272
+v 0.20756508 -0.25788376 -0.37321399
+f 1 2 6
+f 1 6 16
+f 1 16 28
+f 1 28 41
+f 1 41 61
+f 1 61 65
+f 1 65 50
+f 1 50 49
+f 1 49 47
+f 1 47 33
+f 1 33 31
+f 1 31 20
+f 1 20 19
+f 1 19 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 29
+f 1 29 42
+f 1 42 62
+f 1 62 63
+f 1 63 54
+f 1 54 35
+f 1 35 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 8
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 7 17 10
+f 7 10 9
+f 8 11 18
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 10 17 19
+f 11 22 18
+f 11 21 22
+f 12 23 13
+f 13 23 36
+f 13 36 57
+f 13 57 75
+f 13 75 74
+f 13 74 73
+f 13 73 72
+f 13 72 71
+f 13 71 70
+f 13 70 69
+f 13 69 58
+f 13 58 37
+f 13 37 24
+f 13 24 14
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 18 22 30
+f 18 30 29
+f 20 31 21
+f 21 32 30
+f 21 30 22
+f 21 31 33
+f 21 33 34
+f 21 34 32
+f 23 35 36
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 26
+f 26 39 60
+f 26 60 40
+f 26 40 41
+f 26 41 28
+f 26 28 27
+f 29 30 43
+f 29 43 44
+f 29 44 45
+f 29 45 42
+f 30 32 44
+f 30 44 43
+f 32 46 44
+f 32 34 46
+f 33 47 48
+f 33 48 34
+f 34 48 47
+f 34 47 49
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 46
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 57
+f 37 58 59
+f 37 59 39
+f 37 39 38
+f 39 59 66
+f 39 66 60
+f 40 60 41
+f 41 60 61
+f 42 45 62
+f 44 46 45
+f 45 63 62
+f 45 46 63
+f 46 56 64
+f 46 64 63
+f 46 53 56
+f 50 65 66
+f 50 66 51
+f 51 66 59
+f 51 59 67
+f 51 67 58
+f 51 58 68
+f 51 68 69
+f 51 69 70
+f 51 70 71
+f 51 71 72
+f 51 72 73
+f 51 73 74
+f 51 74 75
+f 51 75 56
+f 51 56 52
+f 52 56 53
+f 54 63 64
+f 54 64 55
+f 55 64 56
+f 56 75 57
+f 58 69 68
+f 58 67 59
+f 60 66 76
+f 60 76 61
+f 61 76 65
+f 65 76 66
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_23.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.28640404 -0.06982729 0.18878572
+v 0.31185191 -0.06982729 0.18878572
+v 0.28781954 -0.06396684 0.18878575
+v 0.34888200 -0.06982655 -0.01357549
+v 0.33157581 -0.02356600 0.18878589
+v 0.31666665 -0.06982726 0.17991161
+v 0.29354349 -0.04639154 0.18878581
+v 0.36584725 -0.00810456 -0.01357526
+v 0.37320370 -0.06982655 -0.01357549
+v 0.33715511 -0.00810530 0.18878595
+v 0.33518171 -0.06982713 0.14413789
+v 0.33800234 -0.06982711 0.13829445
+v 0.34209386 -0.06982708 0.12945997
+v 0.30976483 -0.00810530 0.18878595
+v 0.39195638 -0.00810456 -0.01357526
+v 0.37530108 -0.06396610 -0.01357546
+v 0.37326569 -0.06982661 0.00181553
+v 0.36401849 -0.00810504 0.11832796
+v 0.35563918 -0.06053486 0.10679936
+v 0.35759195 -0.04617376 0.11224669
+v 0.35585614 -0.02565621 0.12930167
+v 0.35964801 -0.00898717 0.12955925
+v 0.35391373 -0.06982698 0.10303575
+v 0.39195638 -0.00844893 -0.01357526
+v 0.39189439 -0.00810462 0.00201385
+v 0.38116971 -0.04563559 -0.01357540
+v 0.37533208 -0.06396616 0.00181556
+v 0.37293507 -0.06982665 0.01496822
+v 0.37375127 -0.00810495 0.09251779
+v 0.35549454 -0.06982696 0.09891563
+v 0.35856316 -0.06557359 0.09467668
+v 0.36461775 -0.04563598 0.09305247
+v 0.37279040 -0.02222438 0.08657527
+v 0.39008629 -0.01617627 -0.01357529
+v 0.39189439 -0.00813482 0.00181576
+v 0.39092319 -0.00810467 0.01629560
+v 0.38958001 -0.01729404 0.00181573
+v 0.38972465 -0.01761419 -0.01357529
+v 0.38103540 -0.04563565 0.00181562
+v 0.38035348 -0.04563571 0.02007884
+v 0.37428855 -0.06522894 0.01887046
+v 0.37407158 -0.06122940 0.03832220
+v 0.37258377 -0.06982667 0.01887044
+v 0.37632398 -0.00810492 0.08497085
+v 0.35772626 -0.06982694 0.09305238
+v 0.36542365 -0.06396642 0.07482882
+v 0.37336900 -0.04197463 0.07035223
+v 0.37513578 -0.02792166 0.07577974
+v 0.37956824 -0.00898696 0.07482902
+v 0.39064420 -0.00810468 0.02007898
+v 0.38887743 -0.01487742 0.02007896
+v 0.37886566 -0.04563578 0.03832225
+v 0.37050701 -0.06982674 0.03832216
+v 0.37172621 -0.06982670 0.02720972
+v 0.37295574 -0.05821465 0.05276243
+v 0.36761406 -0.06982681 0.05751636
+v 0.37957857 -0.00810488 0.07482902
+v 0.36350187 -0.06982687 0.07482879
+v 0.37143692 -0.05419697 0.06492471
+v 0.37512544 -0.04710398 0.05793243
+v 0.38062210 -0.02731742 0.05656573
+v 0.38451728 -0.00898690 0.05656580
+v 0.38975565 -0.00810471 0.02695245
+v 0.38360807 -0.02731735 0.03832232
+v 0.38427966 -0.00810482 0.05745717
+v 0.38818518 -0.00810475 0.03806488
+v 0.38451728 -0.00810482 0.05656580
+f 1 2 5
+f 1 5 10
+f 1 10 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 28
+f 1 28 43
+f 1 43 54
+f 1 54 53
+f 1 53 56
+f 1 56 58
+f 1 58 45
+f 1 45 30
+f 1 30 23
+f 1 23 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 8 15
+f 4 15 24
+f 4 24 34
+f 4 34 38
+f 4 38 26
+f 4 26 16
+f 4 16 9
+f 5 6 11
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 7 14 8
+f 8 14 10
+f 8 10 18
+f 8 18 29
+f 8 29 44
+f 8 44 57
+f 8 57 65
+f 8 65 67
+f 8 67 66
+f 8 66 63
+f 8 63 50
+f 8 50 36
+f 8 36 25
+f 8 25 15
+f 9 16 17
+f 10 13 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 18
+f 13 23 19
+f 15 25 24
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 18 22 29
+f 19 23 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 22 21
+f 20 32 33
+f 20 33 22
+f 22 33 29
+f 24 25 35
+f 24 35 34
+f 25 36 37
+f 25 37 35
+f 26 38 39
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 29 33 44
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 32
+f 32 47 48
+f 32 48 33
+f 33 48 49
+f 33 49 44
+f 34 35 38
+f 35 37 38
+f 36 50 51
+f 36 51 37
+f 37 39 38
+f 37 51 40
+f 37 40 39
+f 40 51 52
+f 40 52 42
+f 40 42 41
+f 42 53 54
+f 42 54 43
+f 42 52 55
+f 42 55 56
+f 42 56 53
+f 44 49 57
+f 45 58 46
+f 46 58 59
+f 46 59 47
+f 47 59 60
+f 47 60 61
+f 47 61 48
+f 48 61 49
+f 49 61 62
+f 49 62 57
+f 50 63 64
+f 50 64 52
+f 50 52 51
+f 52 64 61
+f 52 61 60
+f 52 60 55
+f 55 60 59
+f 55 59 58
+f 55 58 56
+f 57 62 65
+f 61 64 66
+f 61 66 62
+f 62 67 65
+f 62 66 67
+f 63 66 64
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_24.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.28980516 -0.21195501 0.18878520
+v 0.25286744 -0.21195501 0.18878520
+v 0.29031196 -0.21195501 0.18821075
+v 0.28998197 -0.21167675 0.18878520
+v 0.28289850 -0.08212572 0.18878568
+v 0.30555144 -0.21195427 -0.01357601
+v 0.30018874 -0.21195497 0.17672196
+v 0.29479069 -0.20157645 0.18878524
+v 0.30139094 -0.20658483 0.17842550
+v 0.28641076 -0.06984120 0.18878572
+v 0.32614179 -0.13728713 -0.01357573
+v 0.32827508 -0.21195427 -0.01357601
+v 0.30565752 -0.21195493 0.16741208
+v 0.29882155 -0.19225522 0.18878527
+v 0.30563393 -0.21185754 0.16751113
+v 0.31466212 -0.21057755 0.15122874
+v 0.30318241 -0.19225520 0.18201085
+v 0.31184522 -0.06984120 0.18878572
+v 0.34887722 -0.06984046 -0.01357549
+v 0.33283633 -0.11722563 -0.01357566
+v 0.33653717 -0.18685653 -0.01357592
+v 0.33207023 -0.21195446 0.03832164
+v 0.31424960 -0.21195487 0.15099103
+v 0.30160307 -0.17699348 0.18878533
+v 0.31613538 -0.19532971 0.15467542
+v 0.31256418 -0.19043263 0.16424284
+v 0.31841009 -0.21195484 0.14174058
+v 0.31852797 -0.21057751 0.14211695
+v 0.31733755 -0.18311476 0.15693363
+v 0.31665398 -0.06984117 0.17991161
+v 0.37320379 -0.06984046 -0.01357549
+v 0.33323705 -0.21195453 0.05656505
+v 0.33516998 -0.06984104 0.14413789
+v 0.32211093 -0.21195480 0.12949907
+v 0.32235843 -0.21057747 0.12955851
+v 0.36350382 -0.06984078 0.07482879
+v 0.35772860 -0.06984085 0.09305238
+v 0.35392169 -0.06984089 0.10303575
+v 0.34208843 -0.06984099 0.12945997
+v 0.33798684 -0.06984102 0.13829445
+v 0.37327452 -0.06984052 0.00181553
+v 0.33205844 -0.21195459 0.07482827
+v 0.37294450 -0.06984056 0.01496822
+v 0.32245275 -0.21195479 0.12819172
+v 0.36760538 -0.06984072 0.05751636
+v 0.32661325 -0.21195473 0.11131508
+v 0.32988980 -0.21195466 0.09168510
+v 0.37257915 -0.06984058 0.01887044
+v 0.37173053 -0.06984061 0.02720972
+v 0.37050477 -0.06984065 0.03832216
+v 0.32689610 -0.21195472 0.10994832
+v 0.32968941 -0.21195466 0.09305186
+f 1 2 6
+f 1 6 12
+f 1 12 22
+f 1 22 32
+f 1 32 42
+f 1 42 47
+f 1 47 52
+f 1 52 51
+f 1 51 46
+f 1 46 44
+f 1 44 34
+f 1 34 27
+f 1 27 23
+f 1 23 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 24
+f 1 24 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 6 11 20
+f 6 20 19
+f 6 19 31
+f 6 31 21
+f 6 21 12
+f 7 13 9
+f 8 9 14
+f 9 13 15
+f 9 15 16
+f 9 16 17
+f 9 17 14
+f 10 18 30
+f 10 30 33
+f 10 33 40
+f 10 40 39
+f 10 39 38
+f 10 38 37
+f 10 37 36
+f 10 36 45
+f 10 45 50
+f 10 50 49
+f 10 49 48
+f 10 48 43
+f 10 43 41
+f 10 41 31
+f 10 31 19
+f 10 19 20
+f 10 20 11
+f 12 21 22
+f 13 23 16
+f 13 16 15
+f 14 17 24
+f 16 25 26
+f 16 26 17
+f 16 23 27
+f 16 27 28
+f 16 28 25
+f 17 26 29
+f 17 29 24
+f 18 24 30
+f 21 31 22
+f 22 31 32
+f 24 29 33
+f 24 33 30
+f 25 28 29
+f 25 29 26
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 28 37 29
+f 29 38 39
+f 29 39 40
+f 29 40 33
+f 29 37 38
+f 31 41 32
+f 32 41 43
+f 32 43 42
+f 34 44 35
+f 35 44 36
+f 36 44 46
+f 36 46 45
+f 42 43 48
+f 42 48 49
+f 42 49 50
+f 42 50 47
+f 45 46 51
+f 45 51 52
+f 45 52 50
+f 47 50 52
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_25.obj

@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v -0.11350364 0.49713706 0.18878782
+v -0.11983576 0.49557347 0.19427382
+v -0.11203314 0.49713706 0.18878782
+v -0.11998581 0.49584815 0.18878781
+v -0.11590444 0.49557347 0.19427382
+v -0.21448747 0.44543378 0.25732299
+v -0.21235677 0.44334198 0.26889952
+v -0.20047278 0.44391245 0.26968647
+v -0.09975903 0.49580591 0.18878781
+v -0.12181643 0.49365073 0.18878780
+v -0.21334709 0.44393368 0.24506211
+v -0.12778842 0.48000122 0.21581866
+v -0.10963234 0.47854331 0.21389114
+v -0.10975238 0.48864309 0.20124252
+v -0.10378038 0.49413669 0.19248316
+v -0.24602803 0.36704454 0.30279623
+v -0.24602803 0.36704453 0.30397100
+v -0.24662824 0.36518518 0.30529402
+v -0.23060288 0.38819482 0.30529411
+v -0.23045283 0.38827930 0.30529411
+v -0.21556782 0.39151207 0.30529412
+v -0.19396059 0.42189582 0.28483285
+v -0.18999927 0.42189582 0.28483285
+v -0.17787521 0.42102956 0.28408007
+v -0.16413060 0.41980407 0.28322467
+v -0.14597452 0.41788131 0.28193583
+v -0.14597452 0.42903754 0.27281152
+v -0.18231669 0.44184179 0.26827221
+v -0.12778842 0.45475178 0.24445767
+v -0.12778842 0.46311897 0.23533334
+v -0.12778842 0.47226791 0.22494301
+v -0.09147626 0.49369301 0.18878780
+v -0.13075943 0.48148034 0.18878776
+v -0.21334709 0.43518623 0.24506208
+v -0.10963234 0.47045082 0.22301547
+v -0.09876870 0.47723331 0.21233999
+v -0.09147626 0.49259427 0.19029331
+v -0.24602803 0.36444565 0.30279622
+v -0.24695835 0.36412873 0.30529402
+v -0.20047278 0.38984287 0.30529411
+v -0.20047278 0.39865375 0.29991076
+v -0.19984256 0.38975835 0.30529411
+v -0.18327701 0.41397240 0.28909846
+v -0.16413060 0.41063401 0.28921251
+v -0.14597452 0.40873239 0.28816319
+v -0.12778842 0.40630255 0.28666906
+v -0.12778842 0.41547259 0.28001973
+v -0.12778842 0.42686122 0.27089541
+v -0.12778842 0.43603130 0.26279757
+v -0.14597452 0.43818647 0.26470229
+v -0.12778842 0.44558174 0.25367325
+v -0.10963234 0.45246985 0.24226781
+v -0.10963234 0.46128074 0.23313207
+v -0.08976568 0.49312250 0.18878780
+v -0.13706153 0.47640935 0.19325867
+v -0.12718822 0.47721226 0.18878774
+v -0.23681495 0.34826073 0.30529396
+v -0.12778842 0.47412741 0.19021341
+v -0.09222651 0.48240997 0.20346657
+v -0.09723819 0.45952703 0.23121596
+v -0.08667465 0.47526832 0.21013875
+v -0.07332017 0.48036047 0.19785508
+v -0.08670466 0.49204491 0.18878780
+v -0.24695835 0.36245950 0.30529401
+v -0.18231669 0.39698456 0.29922645
+v -0.14957573 0.38145461 0.30529408
+v -0.16413060 0.39548437 0.29833681
+v -0.12778842 0.37773587 0.30529407
+v -0.10963234 0.37363682 0.30529405
+v -0.09153628 0.36829115 0.30529403
+v -0.07818180 0.36423436 0.30529402
+v -0.07118946 0.36207918 0.30529401
+v -0.05516409 0.35713497 0.30529399
+v -0.11599447 0.40440090 0.28542586
+v -0.10963234 0.42411445 0.26847743
+v -0.10963234 0.43328452 0.26047084
+v -0.10963234 0.44332091 0.25134652
+v -0.09705813 0.44135591 0.24946461
+v -0.12148632 0.47304984 0.18878773
+v 0.05962437 0.38891362 0.18878742
+v 0.03570635 0.28533818 0.30529373
+v -0.09111614 0.44936389 0.23922255
+v -0.08514414 0.45735072 0.22888923
+v -0.07332017 0.46335146 0.21708462
+v -0.07332017 0.47252154 0.20697942
+v -0.06191635 0.47780387 0.19479842
+v -0.07247989 0.48697394 0.18878778
+v -0.03796833 0.35128221 0.30529397
+v -0.03697800 0.35111317 0.30516852
+v -0.09897877 0.42231849 0.26694910
+v -0.09198643 0.43066455 0.25719746
+v -0.08496407 0.43901056 0.24722913
+v 0.05962437 0.42081863 0.18878754
+v 0.05962437 0.30519967 0.27820583
+v 0.05962437 0.29636763 0.28766093
+v 0.05962437 0.28871885 0.29628345
+v 0.05962437 0.28130249 0.30529371
+v -0.07332017 0.44568742 0.23566403
+v -0.07332017 0.45483637 0.22620895
+v -0.06008574 0.46032998 0.21385685
+v -0.04796168 0.45743531 0.21067473
+v -0.05810508 0.48063520 0.18878776
+v -0.02482393 0.45986521 0.19516332
+v -0.02206300 0.46387979 0.18878769
+v -0.04129945 0.47288080 0.18878773
+v -0.04736148 0.47569096 0.18878774
+v -0.03718807 0.35100752 0.30529397
+v -0.02761486 0.34745784 0.30529396
+v -0.08691473 0.41988866 0.26494173
+v -0.01684125 0.34337990 0.30529394
+v -0.01396028 0.34682397 0.30165562
+v -0.00063582 0.34424623 0.29940871
+v -0.07332017 0.42736841 0.25331960
+v -0.07332017 0.43653849 0.24478835
+v 0.05740362 0.42204412 0.18878754
+v 0.05962437 0.41993117 0.19003072
+v 0.05962437 0.31160169 0.30529382
+v -0.05912542 0.44245467 0.23244769
+v -0.05354355 0.44995556 0.22166956
+v -0.04700136 0.43953886 0.22947085
+v -0.03697800 0.44556073 0.21768904
+v -0.02344346 0.44222231 0.21408489
+v -0.01134941 0.43924313 0.21082292
+v -0.03697800 0.45473081 0.20765228
+v -0.01807166 0.44955419 0.20299883
+v -0.01269986 0.45688602 0.19178730
+v -0.01537076 0.46066816 0.18878768
+v -0.07332017 0.41699398 0.26244392
+v -0.00063582 0.35466290 0.29028439
+v -0.00063582 0.33708341 0.30529392
+v 0.01316881 0.33220258 0.30464379
+v -0.05915543 0.42417793 0.25045682
+v 0.01752027 0.35064840 0.28677150
+v 0.01412913 0.44545518 0.18878763
+v 0.05917421 0.41967761 0.19070365
+v 0.05962437 0.41957199 0.19050974
+v 0.05962437 0.35024700 0.26823764
+v 0.05386244 0.35159929 0.26956068
+v 0.02682338 0.34851436 0.28479835
+v 0.00923749 0.33302664 0.30529390
+v -0.05309340 0.43186896 0.24008930
+v 0.05386244 0.36958023 0.25110673
+v 0.05962437 0.36814345 0.24965823
+v 0.03906748 0.38234225 0.24530140
+v 0.02619316 0.40313338 0.22974444
+v -0.00063582 0.43655973 0.20785750
+v -0.00063582 0.44471563 0.19872177
+v 0.05041128 0.38798376 0.23313181
+v 0.02517283 0.42098756 0.21086849
+v 0.01136820 0.44163078 0.19527731
+v -0.00297661 0.45445619 0.18878766
+v -0.00987892 0.45796365 0.18878767
+v -0.00063582 0.45325183 0.18878765
+v 0.04708016 0.42293150 0.19494648
+v 0.05962437 0.40473926 0.20886107
+v 0.05962437 0.36448811 0.25345625
+v 0.05962437 0.38557506 0.23053136
+v 0.04909083 0.40560555 0.21423304
+v 0.05962437 0.40287988 0.21108512
+v 0.05962437 0.38929380 0.22635697
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 32
+f 1 32 54
+f 1 54 63
+f 1 63 87
+f 1 87 102
+f 1 102 106
+f 1 106 105
+f 1 105 104
+f 1 104 127
+f 1 127 152
+f 1 152 151
+f 1 151 153
+f 1 153 134
+f 1 134 115
+f 1 115 93
+f 1 93 80
+f 1 80 79
+f 1 79 56
+f 1 56 33
+f 1 33 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 9
+f 4 10 11
+f 4 11 6
+f 5 8 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 9
+f 6 11 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 12
+f 9 15 32
+f 10 33 11
+f 11 33 34
+f 11 34 38
+f 11 38 16
+f 12 31 13
+f 13 35 36
+f 13 36 14
+f 13 31 30
+f 13 30 35
+f 14 36 15
+f 15 36 37
+f 15 37 32
+f 16 38 64
+f 16 64 39
+f 16 39 18
+f 16 18 17
+f 18 39 64
+f 18 64 57
+f 18 57 81
+f 18 81 97
+f 18 97 117
+f 18 117 140
+f 18 140 130
+f 18 130 110
+f 18 110 108
+f 18 108 107
+f 18 107 88
+f 18 88 73
+f 18 73 72
+f 18 72 71
+f 18 71 70
+f 18 70 69
+f 18 69 68
+f 18 68 66
+f 18 66 42
+f 18 42 40
+f 18 40 21
+f 18 21 20
+f 18 20 19
+f 21 40 41
+f 21 41 23
+f 21 23 22
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 24 44 25
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 27
+f 27 48 49
+f 27 49 50
+f 27 50 28
+f 28 50 51
+f 28 51 29
+f 29 51 52
+f 29 52 53
+f 29 53 30
+f 30 53 35
+f 32 37 54
+f 33 55 34
+f 33 56 55
+f 34 57 38
+f 34 55 58
+f 34 58 57
+f 35 53 36
+f 36 59 37
+f 36 53 60
+f 36 60 61
+f 36 61 59
+f 37 59 61
+f 37 61 62
+f 37 62 63
+f 37 63 54
+f 38 57 64
+f 40 42 41
+f 42 65 43
+f 42 66 67
+f 42 67 65
+f 43 65 67
+f 43 67 44
+f 44 67 66
+f 44 66 68
+f 44 68 45
+f 45 68 69
+f 45 69 46
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 73
+f 46 73 74
+f 46 74 47
+f 47 74 75
+f 47 75 48
+f 48 75 76
+f 48 76 49
+f 49 76 77
+f 49 77 51
+f 49 51 50
+f 51 77 52
+f 52 77 78
+f 52 78 60
+f 52 60 53
+f 55 56 58
+f 56 79 58
+f 57 58 79
+f 57 79 80
+f 57 80 81
+f 60 78 82
+f 60 82 83
+f 60 83 61
+f 61 83 84
+f 61 84 85
+f 61 85 62
+f 62 85 86
+f 62 86 87
+f 62 87 63
+f 73 88 89
+f 73 89 74
+f 74 89 75
+f 75 90 76
+f 75 89 90
+f 76 90 78
+f 76 78 77
+f 78 90 91
+f 78 91 92
+f 78 92 82
+f 80 93 116
+f 80 116 136
+f 80 136 155
+f 80 155 159
+f 80 159 160
+f 80 160 157
+f 80 157 143
+f 80 143 156
+f 80 156 137
+f 80 137 117
+f 80 117 97
+f 80 97 96
+f 80 96 95
+f 80 95 94
+f 80 94 81
+f 81 94 95
+f 81 95 96
+f 81 96 97
+f 82 92 83
+f 83 92 98
+f 83 98 99
+f 83 99 84
+f 84 99 100
+f 84 100 85
+f 85 100 101
+f 85 101 86
+f 86 102 87
+f 86 101 103
+f 86 103 104
+f 86 104 105
+f 86 105 106
+f 86 106 102
+f 88 107 89
+f 89 107 108
+f 89 108 90
+f 90 109 91
+f 90 108 110
+f 90 110 111
+f 90 111 112
+f 90 112 109
+f 91 109 92
+f 92 109 113
+f 92 113 114
+f 92 114 98
+f 93 115 116
+f 98 114 118
+f 98 118 99
+f 99 118 100
+f 100 118 119
+f 100 119 101
+f 101 120 121
+f 101 121 122
+f 101 122 123
+f 101 123 124
+f 101 124 103
+f 101 119 120
+f 103 124 125
+f 103 125 126
+f 103 126 104
+f 104 126 127
+f 109 128 113
+f 109 112 129
+f 109 129 128
+f 110 130 111
+f 111 130 112
+f 112 130 131
+f 112 131 117
+f 112 117 129
+f 113 132 114
+f 113 128 129
+f 113 129 133
+f 113 133 132
+f 114 132 118
+f 115 134 116
+f 116 135 136
+f 116 134 135
+f 117 137 138
+f 117 138 139
+f 117 139 133
+f 117 133 129
+f 117 131 140
+f 118 132 141
+f 118 141 137
+f 118 137 120
+f 118 120 119
+f 120 137 142
+f 120 142 143
+f 120 143 144
+f 120 144 121
+f 121 144 143
+f 121 143 122
+f 122 143 145
+f 122 145 123
+f 123 146 147
+f 123 147 126
+f 123 126 125
+f 123 125 124
+f 123 145 148
+f 123 148 149
+f 123 149 146
+f 126 147 150
+f 126 150 151
+f 126 151 152
+f 126 152 127
+f 130 140 131
+f 132 133 139
+f 132 139 138
+f 132 138 137
+f 132 137 141
+f 134 153 150
+f 134 150 154
+f 134 154 135
+f 135 154 155
+f 135 155 136
+f 137 156 142
+f 142 156 143
+f 143 157 148
+f 143 148 145
+f 146 149 147
+f 147 149 150
+f 148 157 149
+f 149 157 158
+f 149 158 159
+f 149 159 150
+f 150 153 151
+f 150 159 155
+f 150 155 154
+f 157 160 158
+f 158 160 159
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_26.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.30754554 0.12638252 -0.19894354
+v 0.30145651 0.12638252 -0.19894354
+v 0.32547173 0.12638252 -0.19896612
+v 0.32154558 0.13870782 -0.19894349
+v 0.24716069 0.26658613 -0.19894302
+v 0.23326642 0.12638319 -0.38184041
+v 0.32537767 0.12638252 -0.19932758
+v 0.32123995 0.13877644 -0.19998267
+v 0.32120470 0.13973721 -0.19894349
+v 0.27189297 0.26658613 -0.19894302
+v 0.20572473 0.26658666 -0.34359329
+v 0.22574331 0.14303197 -0.38913721
+v 0.22581384 0.14363592 -0.39970983
+v 0.23607585 0.12638326 -0.39946138
+v 0.32140454 0.12638257 -0.21249814
+v 0.28144970 0.20294230 -0.26441202
+v 0.30075120 0.18806393 -0.21371782
+v 0.32075801 0.14105483 -0.19894348
+v 0.28287202 0.24267671 -0.19894311
+v 0.27189297 0.26658613 -0.19896560
+v 0.20539560 0.26658667 -0.34544575
+v 0.20733515 0.19651940 -0.40666768
+v 0.20688847 0.19646454 -0.41796319
+v 0.22633104 0.14636728 -0.40897213
+v 0.24415144 0.12638326 -0.39946138
+v 0.32033483 0.12638258 -0.21602235
+v 0.26489882 0.22519106 -0.29023347
+v 0.26760242 0.23088698 -0.27349349
+v 0.28294255 0.20668926 -0.25372645
+v 0.30247918 0.19484415 -0.19894328
+v 0.30277304 0.19355398 -0.19962101
+v 0.26373508 0.20412289 -0.32041515
+v 0.26531023 0.21051880 -0.30744788
+v 0.30296112 0.19352654 -0.19894329
+v 0.26763771 0.26658620 -0.21821315
+v 0.26994166 0.26658616 -0.20784388
+v 0.28837332 0.22928085 -0.19894316
+v 0.28147319 0.23956111 -0.20992235
+v 0.26522793 0.26227652 -0.23547270
+v 0.20613616 0.26658673 -0.36268271
+v 0.20688847 0.20509774 -0.41796316
+v 0.20739393 0.19992334 -0.42830986
+v 0.22720091 0.14636728 -0.40897213
+v 0.21740909 0.19811162 -0.42973309
+v 0.24968799 0.12638325 -0.39801557
+v 0.22845867 0.19874298 -0.42937164
+v 0.30715762 0.12638272 -0.25422375
+v 0.22845867 0.20489190 -0.42937162
+v 0.26325313 0.22115586 -0.30069312
+v 0.22681299 0.25733594 -0.37280352
+v 0.26440511 0.24230640 -0.26841048
+v 0.26622711 0.24808467 -0.25361333
+v 0.28543459 0.21234401 -0.23667022
+v 0.28239007 0.22351635 -0.23138387
+v 0.28394173 0.22948679 -0.21649637
+v 0.24576186 0.20471327 -0.37571795
+v 0.26696768 0.26658621 -0.22090148
+v 0.26364105 0.25869429 -0.24744596
+v 0.26324137 0.26658626 -0.23547268
+v 0.21843176 0.26658674 -0.36448997
+v 0.20788764 0.25770653 -0.37287127
+v 0.20739393 0.20339583 -0.42830984
+v 0.21740909 0.20533110 -0.42973307
+v 0.25853942 0.12638319 -0.38141118
+v 0.30166808 0.12638278 -0.26996969
+v 0.28718606 0.12638292 -0.30873588
+v 0.26634466 0.12638312 -0.36308985
+v 0.26251257 0.12638316 -0.37214887
+v 0.21948971 0.26658674 -0.36439960
+v 0.22686002 0.26658671 -0.35793857
+v 0.24791300 0.26658646 -0.28953298
+v 0.25821029 0.26658633 -0.25368105
+v 0.26200711 0.26658628 -0.24003607
+f 1 2 6
+f 1 6 14
+f 1 14 25
+f 1 25 45
+f 1 45 64
+f 1 64 68
+f 1 68 67
+f 1 67 66
+f 1 66 65
+f 1 65 47
+f 1 47 26
+f 1 26 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 34
+f 1 34 30
+f 1 30 37
+f 1 37 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 20
+f 5 20 36
+f 5 36 35
+f 5 35 57
+f 5 57 59
+f 5 59 73
+f 5 73 72
+f 5 72 71
+f 5 71 70
+f 5 70 69
+f 5 69 60
+f 5 60 40
+f 5 40 21
+f 5 21 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 8 17 9
+f 8 16 17
+f 9 17 18
+f 10 19 20
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 14
+f 14 24 43
+f 14 43 25
+f 15 26 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 16 26 32
+f 16 32 33
+f 16 33 27
+f 17 31 18
+f 18 31 34
+f 19 35 36
+f 19 36 20
+f 19 37 38
+f 19 38 39
+f 19 39 35
+f 21 40 41
+f 21 41 23
+f 21 23 22
+f 23 41 62
+f 23 62 42
+f 23 42 24
+f 24 42 44
+f 24 44 43
+f 25 43 46
+f 25 46 45
+f 26 47 48
+f 26 48 32
+f 27 33 49
+f 27 49 50
+f 27 50 28
+f 28 51 52
+f 28 52 29
+f 28 50 51
+f 29 52 53
+f 29 53 30
+f 30 34 31
+f 30 53 54
+f 30 54 55
+f 30 55 38
+f 30 38 37
+f 32 48 56
+f 32 56 50
+f 32 50 33
+f 33 50 49
+f 35 39 57
+f 38 55 58
+f 38 58 39
+f 39 58 59
+f 39 59 57
+f 40 60 61
+f 40 61 62
+f 40 62 41
+f 42 62 63
+f 42 63 44
+f 43 44 46
+f 44 63 48
+f 44 48 46
+f 45 46 48
+f 45 48 64
+f 47 65 48
+f 48 66 67
+f 48 67 68
+f 48 68 64
+f 48 63 60
+f 48 60 69
+f 48 69 50
+f 48 50 56
+f 48 65 66
+f 50 69 70
+f 50 70 71
+f 50 71 51
+f 51 71 58
+f 51 58 52
+f 52 58 54
+f 52 54 53
+f 54 58 55
+f 58 71 72
+f 58 72 73
+f 58 73 59
+f 60 63 61
+f 61 63 62
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_27.obj

@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
+v -0.36057890 0.13307419 0.38561596
+v -0.36035804 0.13307418 0.38918073
+v -0.36038959 0.13307423 0.37544212
+v -0.41068743 0.00235634 0.39188947
+v -0.41068743 0.00235632 0.39771429
+v -0.35729725 0.13307416 0.39439953
+v -0.37408423 0.09609560 0.39540465
+v -0.35953762 0.13307424 0.37360269
+v -0.41068743 -0.00214898 0.39188945
+v -0.41068743 -0.00214900 0.39771427
+v -0.39491019 0.00557661 0.41389833
+v -0.35688703 0.13307416 0.39502693
+v -0.38216220 -0.00897041 0.38662781
+v -0.40002201 -0.00854209 0.38902336
+v -0.34615851 0.13307424 0.37349577
+v -0.39377423 -0.02248639 0.39235993
+v -0.39377423 -0.02248642 0.39984592
+v -0.38613805 -0.02899061 0.40485083
+v -0.39080811 -0.01767973 0.41200892
+v -0.39491019 -0.00546460 0.41389829
+v -0.38355057 0.01074821 0.41603008
+v -0.33703926 0.00054772 0.43078816
+v -0.35619283 0.13307416 0.39521942
+v -0.36363970 -0.02899056 0.39146156
+v -0.38225684 -0.02899056 0.39082705
+v -0.38304571 -0.02899056 0.39091973
+v -0.08835830 0.13307415 0.39771477
+v -0.08835830 -0.02899066 0.41811886
+v -0.37654549 -0.02899064 0.41337772
+v -0.38370837 -0.01054103 0.41602285
+v -0.33703926 -0.00015029 0.43078816
+v -0.36398678 0.00935217 0.42166951
+v -0.34634783 0.13307415 0.39791437
+v -0.27314141 0.00935210 0.44024195
+v -0.29131680 0.00935211 0.43748280
+v -0.30949218 0.00935212 0.43437434
+v -0.29131680 0.02767483 0.43478080
+v -0.29084349 0.04531540 0.43204313
+v -0.30195067 0.03874779 0.43106633
+v -0.29131680 0.10096571 0.42010136
+v -0.08835830 0.13307406 0.42180545
+v -0.08835830 -0.02899074 0.44120428
+v -0.36565917 -0.02899065 0.41627231
+v -0.36386059 -0.02899065 0.41675001
+v -0.36398678 -0.00897054 0.42161955
+v -0.34584294 -0.02899067 0.42136994
+v -0.30636829 -0.02899070 0.43147961
+v -0.30949218 -0.00897059 0.43431724
+v -0.29131680 -0.00897060 0.43736868
+v -0.27314141 -0.00897061 0.44009216
+v -0.29179010 0.11976434 0.41531039
+v -0.28607876 0.13209052 0.41350668
+v -0.28538456 0.13307409 0.41332131
+v -0.25499758 -0.00897061 0.44221676
+v -0.25499758 0.00935210 0.44235941
+v -0.25499758 0.02767481 0.44006376
+v -0.27314141 0.02767482 0.43765398
+v -0.27314141 0.04599753 0.43486641
+v -0.28443791 0.05776850 0.43115909
+v -0.27314141 0.11930427 0.41996596
+v -0.08835830 0.08251604 0.43210742
+v -0.08911562 0.13307406 0.42186246
+v -0.09719357 0.09350967 0.43105942
+v -0.08835830 -0.02730918 0.44146094
+v -0.09315459 -0.02899074 0.44157503
+v -0.29122212 -0.02899071 0.43418883
+v -0.29131680 -0.02730916 0.43444549
+v -0.27314141 -0.02899073 0.43700500
+v -0.27314141 -0.02730917 0.43726880
+v -0.25499758 -0.02899073 0.43950747
+v -0.25499758 -0.02730918 0.43976413
+v -0.28377526 0.13307409 0.41368491
+v -0.23685374 -0.02730918 0.44169621
+v -0.23685374 -0.00897062 0.44369257
+v -0.23685374 0.00935209 0.44377817
+v -0.23685374 0.02767481 0.44190320
+v -0.25499758 0.04599752 0.43733324
+v -0.23685374 0.04599752 0.43945070
+v -0.27254187 0.06405056 0.43197189
+v -0.26610476 0.07504420 0.43100946
+v -0.25499758 0.11930426 0.42254685
+v -0.25950987 0.13307407 0.41804819
+v -0.27241566 0.13307408 0.41600912
+v -0.08835830 0.04599752 0.43860941
+v -0.09129288 0.08354719 0.43225002
+v -0.09148221 0.13307406 0.42202646
+v -0.10965759 0.09557197 0.43148007
+v -0.10965759 0.08264295 0.43397534
+v -0.10965759 0.06432023 0.43727626
+v -0.09148221 0.04599752 0.43892310
+v -0.08835830 -0.02413642 0.44184596
+v -0.09148221 -0.02730918 0.44169621
+v -0.10965759 -0.02730919 0.44265160
+v -0.10965759 -0.02899075 0.44243770
+v -0.23685374 -0.02899074 0.44146808
+v -0.21867836 -0.02899075 0.44270861
+v -0.21867836 -0.02730919 0.44290110
+v -0.21867836 -0.00897062 0.44486182
+v -0.21867836 0.00935209 0.44496883
+v -0.21867836 0.02767480 0.44311520
+v -0.21867836 0.04599751 0.44102633
+v -0.25499758 0.06432024 0.43423908
+v -0.21867836 0.06432023 0.43787513
+v -0.23685374 0.06432024 0.43623536
+v -0.25499758 0.07835972 0.43164398
+v -0.24136603 0.13307407 0.42000165
+v -0.25499758 0.13307407 0.41868984
+v -0.23117394 0.09311308 0.43100237
+v -0.21867836 0.09520710 0.43146581
+v -0.08835830 0.02767481 0.44168930
+v -0.09602605 0.13307406 0.42226885
+v -0.12783298 0.09758667 0.43192211
+v -0.12783298 0.08264294 0.43497349
+v -0.12783298 0.06432023 0.43840984
+v -0.10965759 0.04599751 0.44042743
+v -0.08835830 -0.00897062 0.44344303
+v -0.09148221 -0.00897062 0.44362840
+v -0.12783298 -0.00897063 0.44525394
+v -0.14600837 -0.00897063 0.44598829
+v -0.12783298 -0.02730919 0.44331464
+v -0.12783298 -0.02899075 0.44312925
+v -0.11132998 -0.02899075 0.44252323
+v -0.20050298 -0.02899075 0.44337167
+v -0.20050298 -0.00897063 0.44579577
+v -0.20050298 0.00935208 0.44589566
+v -0.20050298 0.04599751 0.44171789
+v -0.20050298 0.06432023 0.43878773
+v -0.21867836 0.08264295 0.43416786
+v -0.23707462 0.08378515 0.43239260
+v -0.23685374 0.13307407 0.42029397
+v -0.20050298 0.08264294 0.43502339
+v -0.20050298 0.09692039 0.43185794
+v -0.21867836 0.13307406 0.42138480
+v -0.08835830 0.00935209 0.44363558
+v -0.09148221 0.02767481 0.44191746
+v -0.10965759 0.13307406 0.42280355
+v -0.11416988 0.13307406 0.42297467
+v -0.14600837 0.09818949 0.43209322
+v -0.14600837 0.08264294 0.43535135
+v -0.14600837 0.06432023 0.43887327
+v -0.12783298 0.04599751 0.44140420
+v -0.08835830 -0.00579785 0.44348583
+v -0.09148221 0.00935209 0.44381384
+v -0.14600837 0.00935208 0.44606677
+v -0.16415219 0.00935208 0.44632342
+v -0.16415219 -0.00897063 0.44621641
+v -0.14600837 -0.02899075 0.44343584
+v -0.12950537 -0.02899075 0.44316489
+v -0.18399997 -0.02899075 0.44354990
+v -0.18232759 -0.00897063 0.44623782
+v -0.18232759 0.00935208 0.44630204
+v -0.18232759 0.04599751 0.44188900
+v -0.18232759 0.06432023 0.43904438
+v -0.18232759 0.08264294 0.43523728
+v -0.18232759 0.09738044 0.43195774
+v -0.14600837 0.13307406 0.42301745
+v -0.16415219 0.13307406 0.42273939
+v -0.18687143 0.13307406 0.42238294
+v -0.20050298 0.13307406 0.42211914
+v -0.20501527 0.13307406 0.42194089
+v -0.10965759 0.02767480 0.44278013
+v -0.12783298 0.13307406 0.42311014
+v -0.16415219 0.09779289 0.43203617
+v -0.16415219 0.08264294 0.43532997
+v -0.13234527 0.13307406 0.42313866
+v -0.16415219 0.06432023 0.43903727
+v -0.14600837 0.04599751 0.44173216
+v -0.16415219 0.04599751 0.44187474
+v -0.14764919 -0.02899075 0.44345007
+v -0.18232759 -0.02899075 0.44356416
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 33
+f 1 33 53
+f 1 53 72
+f 1 72 83
+f 1 83 82
+f 1 82 107
+f 1 107 106
+f 1 106 130
+f 1 130 133
+f 1 133 160
+f 1 160 159
+f 1 159 158
+f 1 158 157
+f 1 157 156
+f 1 156 165
+f 1 165 162
+f 1 162 137
+f 1 137 136
+f 1 136 111
+f 1 111 86
+f 1 86 62
+f 1 62 41
+f 1 41 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 9
+f 5 10 20
+f 5 20 11
+f 5 11 7
+f 6 7 12
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 8 15 13
+f 9 14 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 11 21 12
+f 11 20 31
+f 11 31 22
+f 11 22 21
+f 12 21 23
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 13 15 27
+f 13 27 28
+f 13 28 24
+f 14 26 16
+f 16 18 17
+f 16 26 18
+f 18 26 25
+f 18 25 24
+f 18 24 28
+f 18 28 42
+f 18 42 65
+f 18 65 94
+f 18 94 122
+f 18 122 121
+f 18 121 148
+f 18 148 147
+f 18 147 169
+f 18 169 170
+f 18 170 149
+f 18 149 123
+f 18 123 96
+f 18 96 95
+f 18 95 70
+f 18 70 68
+f 18 68 66
+f 18 66 47
+f 18 47 46
+f 18 46 44
+f 18 44 43
+f 18 43 29
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 21 22 32
+f 21 32 33
+f 21 33 23
+f 22 31 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 32
+f 27 41 61
+f 27 61 84
+f 27 84 110
+f 27 110 134
+f 27 134 142
+f 27 142 116
+f 27 116 91
+f 27 91 64
+f 27 64 42
+f 27 42 28
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 44
+f 31 44 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 34
+f 32 40 33
+f 33 40 51
+f 33 51 52
+f 33 52 53
+f 34 50 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 35
+f 35 57 37
+f 35 37 36
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 38 59 39
+f 39 59 40
+f 40 59 60
+f 40 60 51
+f 41 62 63
+f 41 63 61
+f 42 64 65
+f 47 66 48
+f 48 66 67
+f 48 67 49
+f 49 67 68
+f 49 68 69
+f 49 69 50
+f 50 69 70
+f 50 70 71
+f 50 71 54
+f 51 60 52
+f 52 60 72
+f 52 72 53
+f 54 71 73
+f 54 73 74
+f 54 74 55
+f 55 74 75
+f 55 75 76
+f 55 76 56
+f 56 77 57
+f 56 76 78
+f 56 78 77
+f 57 77 58
+f 58 77 79
+f 58 79 59
+f 59 79 80
+f 59 80 60
+f 60 80 81
+f 60 81 82
+f 60 82 83
+f 60 83 72
+f 61 63 85
+f 61 85 84
+f 62 86 87
+f 62 87 63
+f 63 87 88
+f 63 88 89
+f 63 89 90
+f 63 90 85
+f 64 91 92
+f 64 92 65
+f 65 92 93
+f 65 93 94
+f 66 68 67
+f 68 70 69
+f 70 95 71
+f 71 95 73
+f 73 95 96
+f 73 96 97
+f 73 97 74
+f 74 97 98
+f 74 98 99
+f 74 99 75
+f 75 99 100
+f 75 100 76
+f 76 100 101
+f 76 101 78
+f 77 102 80
+f 77 80 79
+f 77 78 102
+f 78 101 103
+f 78 103 104
+f 78 104 102
+f 80 102 105
+f 80 105 81
+f 81 106 107
+f 81 107 82
+f 81 105 108
+f 81 108 109
+f 81 109 106
+f 84 85 90
+f 84 90 110
+f 86 111 87
+f 87 112 113
+f 87 113 88
+f 87 111 112
+f 88 113 114
+f 88 114 89
+f 89 115 90
+f 89 114 115
+f 90 115 110
+f 91 116 117
+f 91 117 92
+f 92 117 93
+f 93 118 119
+f 93 119 120
+f 93 120 121
+f 93 121 122
+f 93 122 94
+f 93 117 118
+f 96 123 124
+f 96 124 97
+f 97 124 98
+f 98 124 99
+f 99 124 125
+f 99 125 100
+f 100 125 126
+f 100 126 101
+f 101 126 127
+f 101 127 103
+f 102 104 105
+f 103 127 128
+f 103 128 108
+f 103 108 129
+f 103 129 104
+f 104 129 105
+f 105 129 108
+f 106 109 130
+f 108 128 109
+f 109 128 131
+f 109 131 132
+f 109 132 133
+f 109 133 130
+f 110 115 135
+f 110 135 134
+f 111 136 112
+f 112 136 137
+f 112 137 138
+f 112 138 139
+f 112 139 113
+f 113 139 140
+f 113 140 114
+f 114 141 115
+f 114 140 141
+f 115 141 135
+f 116 142 117
+f 117 142 143
+f 117 143 118
+f 118 144 119
+f 118 143 144
+f 119 144 145
+f 119 145 146
+f 119 146 147
+f 119 147 148
+f 119 148 121
+f 119 121 120
+f 123 149 150
+f 123 150 124
+f 124 150 125
+f 125 150 151
+f 125 151 126
+f 126 151 152
+f 126 152 153
+f 126 153 127
+f 127 153 131
+f 127 131 128
+f 131 153 154
+f 131 154 132
+f 132 154 155
+f 132 155 156
+f 132 156 157
+f 132 157 158
+f 132 158 159
+f 132 159 160
+f 132 160 133
+f 134 135 143
+f 134 143 142
+f 135 141 161
+f 135 161 143
+f 137 162 138
+f 138 163 154
+f 138 154 164
+f 138 164 139
+f 138 162 165
+f 138 165 163
+f 139 164 153
+f 139 153 166
+f 139 166 140
+f 140 167 141
+f 140 166 167
+f 141 167 144
+f 141 144 161
+f 143 161 144
+f 144 167 145
+f 145 168 152
+f 145 152 151
+f 145 151 150
+f 145 150 146
+f 145 167 168
+f 146 169 147
+f 146 150 170
+f 146 170 169
+f 149 170 150
+f 152 168 166
+f 152 166 153
+f 153 164 154
+f 154 163 155
+f 155 163 156
+f 156 163 165
+f 166 168 167
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_28.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.35570091 -0.00066771 -0.19894398
+v 0.35562901 0.00935592 -0.19894395
+v 0.33097628 -0.00066771 -0.19894398
+v 0.26390935 -0.00066680 -0.44647605
+v 0.26390935 0.00191994 -0.44647604
+v 0.33894616 0.02806021 -0.23666721
+v 0.35481405 0.01510148 -0.19894392
+v 0.30145771 0.12636880 -0.19894352
+v 0.33096429 -0.00066771 -0.19896824
+v 0.25374623 -0.00066680 -0.44693727
+v 0.25374623 0.00290241 -0.44693726
+v 0.24414641 0.12636954 -0.39945495
+v 0.24969537 0.12636953 -0.39802271
+v 0.25854015 0.12636947 -0.38139434
+v 0.26250711 0.12636944 -0.37214557
+v 0.26635424 0.12636940 -0.36309102
+v 0.33742409 0.04600573 -0.23108389
+v 0.34261350 0.04600568 -0.21722286
+v 0.35295640 0.02767455 -0.19894388
+v 0.30754600 0.12636880 -0.19894352
+v 0.23326421 0.12636947 -0.38183131
+v 0.24201312 -0.00066691 -0.41664212
+v 0.24837705 -0.00066697 -0.40062061
+v 0.26141651 -0.00066709 -0.36865045
+v 0.24377487 -0.00066680 -0.44630615
+v 0.24377487 0.00208161 -0.44630614
+v 0.23608064 0.12636954 -0.39945495
+v 0.28369624 0.12636924 -0.31789098
+v 0.31856003 0.09608667 -0.24771208
+v 0.31990233 0.08162330 -0.25378088
+v 0.33603387 0.05727299 -0.22763680
+v 0.33819110 0.06375225 -0.21734418
+v 0.34924111 0.04519726 -0.19894381
+v 0.32772838 0.11931744 -0.19894354
+v 0.32547524 0.12636880 -0.19896778
+v 0.24196517 0.00866036 -0.43550374
+v 0.24197715 -0.00066684 -0.43543093
+v 0.24198914 -0.00066688 -0.42525974
+v 0.28719581 0.12636920 -0.30873930
+v 0.30166145 0.12636906 -0.26997214
+v 0.32106484 0.10170782 -0.23639991
+v 0.33665708 0.07754405 -0.21134821
+v 0.34429138 0.06432424 -0.19896800
+v 0.34429138 0.06433668 -0.19894374
+v 0.33864654 0.08496846 -0.19894367
+v 0.32772838 0.11930500 -0.19896780
+v 0.32537936 0.12636880 -0.19933190
+v 0.30716249 0.12636900 -0.25421768
+v 0.31894354 0.11518871 -0.23093799
+v 0.33892218 0.08325225 -0.19969619
+v 0.33916189 0.08322737 -0.19894367
+v 0.33893417 0.08401086 -0.19894367
+v 0.32147232 0.12049895 -0.21841208
+v 0.32033376 0.12636886 -0.21603312
+v 0.32140042 0.12636885 -0.21251324
+f 1 2 7
+f 1 7 19
+f 1 19 33
+f 1 33 44
+f 1 44 51
+f 1 51 52
+f 1 52 45
+f 1 45 34
+f 1 34 20
+f 1 20 8
+f 1 8 3
+f 1 3 9
+f 1 9 24
+f 1 24 23
+f 1 23 22
+f 1 22 38
+f 1 38 37
+f 1 37 25
+f 1 25 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 8 20 35
+f 8 35 47
+f 8 47 55
+f 8 55 54
+f 8 54 48
+f 8 48 40
+f 8 40 39
+f 8 39 28
+f 8 28 16
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 27
+f 8 27 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 10 25 26
+f 10 26 11
+f 11 26 27
+f 11 27 12
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 20 34 35
+f 21 27 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 25 37 36
+f 25 36 26
+f 26 36 27
+f 28 39 29
+f 29 40 41
+f 29 41 42
+f 29 42 32
+f 29 32 31
+f 29 31 30
+f 29 39 40
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 34 45 46
+f 34 46 35
+f 35 46 47
+f 40 48 49
+f 40 49 41
+f 41 49 50
+f 41 50 42
+f 42 50 43
+f 43 50 51
+f 43 51 44
+f 45 52 50
+f 45 50 53
+f 45 53 54
+f 45 54 55
+f 45 55 47
+f 45 47 46
+f 48 54 49
+f 49 54 53
+f 49 53 50
+f 50 52 51
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_29.obj

@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
+v 0.21119863 -0.35779682 -0.01357654
+v 0.06386830 -0.38662304 0.18878456
+v 0.21119863 -0.26196749 0.18878502
+v 0.21119863 -0.38945135 -0.01357666
+v 0.06386830 -0.49267257 -0.01357704
+v 0.06386830 -0.40359721 0.18878450
+v 0.21119863 -0.30070732 0.18878488
+v 0.21119863 -0.38677528 0.00181437
+v 0.17683212 -0.42334869 -0.01357679
+v 0.06386830 -0.52231364 -0.01357715
+v 0.06386830 -0.41825208 0.18874482
+v 0.07246353 -0.41292535 0.18878446
+v 0.20430514 -0.30753774 0.18878485
+v 0.20874696 -0.31179398 0.17581041
+v 0.21119863 -0.31388388 0.16903599
+v 0.21119863 -0.38384436 0.01736386
+v 0.15841583 -0.44141877 -0.01357685
+v 0.16755908 -0.43244746 -0.01357682
+v 0.06952153 -0.51800636 -0.01357713
+v 0.06386830 -0.51933171 -0.00379186
+v 0.07671788 -0.41037668 0.18878447
+v 0.06386830 -0.42464922 0.18004897
+v 0.06699777 -0.42385911 0.17866239
+v 0.19905570 -0.31250767 0.18878483
+v 0.19624350 -0.31515827 0.18878482
+v 0.21119863 -0.31566794 0.16618359
+v 0.21119863 -0.38310527 0.02122648
+v 0.15698810 -0.44279505 -0.01357686
+v 0.07094926 -0.51691045 -0.01357713
+v 0.06646417 -0.51563616 0.00181390
+v 0.06386830 -0.51754767 0.00185351
+v 0.08503910 -0.40479508 0.18878449
+v 0.07911185 -0.42003609 0.17321514
+v 0.06386830 -0.42694302 0.17682020
+v 0.06386830 -0.43983921 0.15782404
+v 0.18831167 -0.32206519 0.18878480
+v 0.17080392 -0.34704213 0.17361158
+v 0.17514480 -0.35091604 0.16142948
+v 0.21119863 -0.32693298 0.14792032
+v 0.21119863 -0.38213679 0.02552488
+v 0.15527194 -0.44108750 0.00181417
+v 0.14892647 -0.45051754 -0.01357688
+v 0.07860710 -0.51094653 -0.01357711
+v 0.07554973 -0.50865278 0.00181392
+v 0.06396925 -0.51372468 0.01294615
+v 0.10146522 -0.47801788 0.03358648
+v 0.06386830 -0.51377567 0.01300557
+v 0.09474479 -0.39801561 0.18878452
+v 0.06386830 -0.44019604 0.15726942
+v 0.07578048 -0.43619461 0.15132695
+v 0.08473625 -0.42398649 0.16103304
+v 0.09976348 -0.40336780 0.17571104
+v 0.17811565 -0.33085809 0.18878476
+v 0.15142140 -0.36442404 0.17214569
+v 0.15609398 -0.36829800 0.15996360
+v 0.16819363 -0.36312415 0.15152530
+v 0.18878757 -0.36513749 0.11840588
+v 0.21119863 -0.34795943 0.11240404
+v 0.19271023 -0.36880754 0.10624360
+v 0.21119863 -0.38091345 0.03089292
+v 0.15407495 -0.43994063 0.01199562
+v 0.13829781 -0.46040638 -0.01357692
+v 0.08042421 -0.50949379 -0.01357710
+v 0.08711580 -0.49947759 0.00181396
+v 0.10416205 -0.48023518 0.02007725
+v 0.08128950 -0.49476263 0.02946630
+v 0.06386830 -0.50982526 0.02338512
+v 0.09842228 -0.47559667 0.04574877
+v 0.12103523 -0.46089081 0.03832073
+v 0.11854031 -0.45882642 0.04937374
+v 0.10505618 -0.39031862 0.18878455
+v 0.06386830 -0.45153755 0.13938251
+v 0.08154909 -0.43996660 0.13916466
+v 0.09685033 -0.41944982 0.15386247
+v 0.10364288 -0.40645164 0.16606441
+v 0.13930730 -0.36931755 0.17975205
+v 0.13110146 -0.36998024 0.18878462
+v 0.11336298 -0.38394695 0.18878457
+v 0.15571901 -0.34969278 0.18878470
+v 0.15749285 -0.35119650 0.18430801
+v 0.14886879 -0.35542729 0.18878467
+v 0.14510476 -0.36095792 0.18521916
+v 0.13940826 -0.36330270 0.18878465
+v 0.14396547 -0.37492456 0.16507412
+v 0.13650953 -0.38539957 0.15800253
+v 0.13358197 -0.40137968 0.13605492
+v 0.13816801 -0.40517717 0.12387281
+v 0.13535581 -0.42105531 0.10174693
+v 0.17393340 -0.38639337 0.10487676
+v 0.21119863 -0.35899510 0.09243727
+v 0.18658107 -0.38149988 0.09305124
+v 0.19656077 -0.37232465 0.09305127
+v 0.21119863 -0.37915488 0.03792486
+v 0.15245974 -0.43841149 0.02415790
+v 0.13697102 -0.45918306 -0.00274180
+v 0.13009196 -0.46767008 -0.01357695
+v 0.09444194 -0.49812672 -0.01357706
+v 0.09842228 -0.49384498 -0.00997194
+v 0.11324761 -0.47292047 0.02007727
+v 0.07788603 -0.49234144 0.04162859
+v 0.06386830 -0.50793925 0.02827776
+v 0.09511975 -0.47325194 0.05656409
+v 0.08603419 -0.47990399 0.05656407
+v 0.11509357 -0.45617587 0.06153602
+v 0.10877693 -0.46338860 0.05589065
+v 0.10297948 -0.46076351 0.07157880
+v 0.13012079 -0.45349965 0.03832075
+v 0.12315520 -0.44412068 0.07482742
+v 0.13809590 -0.44177584 0.05242428
+v 0.13506739 -0.43915075 0.06458656
+v 0.06386830 -0.45492727 0.13379656
+v 0.09846554 -0.43897254 0.11931680
+v 0.09444194 -0.43593966 0.12955768
+v 0.10165271 -0.42317085 0.14168038
+v 0.06562773 -0.45979518 0.12353587
+v 0.07774181 -0.45569183 0.11620684
+v 0.08535638 -0.44274462 0.12955765
+v 0.11856916 -0.42220229 0.12181269
+v 0.10919516 -0.41282326 0.14883119
+v 0.11673761 -0.40239923 0.15598202
+v 0.13170717 -0.41817534 0.11131432
+v 0.12262160 -0.42526064 0.11131430
+v 0.11519451 -0.43795298 0.09911236
+v 0.11957866 -0.44129169 0.08695008
+v 0.13924962 -0.42434303 0.08958464
+v 0.17749552 -0.38960465 0.09305121
+v 0.16689569 -0.39875438 0.09305118
+v 0.21119863 -0.36220642 0.08635612
+v 0.18949423 -0.38412497 0.08257266
+v 0.20824221 -0.36630974 0.08380084
+v 0.21119863 -0.37398117 0.05656446
+v 0.15995893 -0.42722284 0.03832085
+v 0.15009461 -0.43637260 0.03832082
+v 0.14102347 -0.44432443 0.03832079
+v 0.13350986 -0.45615022 0.02007733
+v 0.13518276 -0.45752645 0.00942049
+v 0.11011814 -0.48489912 -0.01357701
+v 0.12035742 -0.47610619 -0.01357698
+v 0.10349866 -0.49050619 -0.01357703
+v 0.12442429 -0.46377075 0.02007731
+v 0.06577194 -0.49664873 0.05163175
+v 0.06386830 -0.49924839 0.04875954
+v 0.06386830 -0.50409080 0.03754805
+v 0.08251533 -0.47730439 0.06773593
+v 0.09918662 -0.45785806 0.08374108
+v 0.09085097 -0.46759396 0.07573851
+v 0.13224076 -0.43693343 0.07482745
+v 0.15667082 -0.42401158 0.05656427
+v 0.15446434 -0.42194722 0.06702304
+v 0.14507593 -0.42684068 0.07379745
+v 0.06386830 -0.46040689 0.12444705
+v 0.09051929 -0.44906523 0.11167076
+v 0.10308044 -0.44246416 0.10715450
+v 0.06386830 -0.46193607 0.12179273
+v 0.07182898 -0.46275160 0.11060106
+v 0.08257302 -0.45900503 0.10402473
+v 0.10884904 -0.44590482 0.09303119
+v 0.15136371 -0.41924567 0.07920513
+v 0.17052993 -0.40176177 0.08082947
+v 0.21119863 -0.36457666 0.08142386
+v 0.19229201 -0.38664811 0.07041038
+v 0.20026710 -0.37650442 0.07710561
+v 0.21119863 -0.36906228 0.07062834
+v 0.20394461 -0.38068417 0.05656443
+v 0.19485904 -0.38904382 0.05656440
+v 0.06386830 -0.49769368 0.05226560
+v 0.07831867 -0.47442442 0.07989822
+v 0.08666873 -0.46191050 0.09305094
+v 0.09575429 -0.45541137 0.09305097
+v 0.06386830 -0.47241104 0.10265791
+v 0.06386830 -0.47444996 0.09883492
+v 0.07217510 -0.47151897 0.09374420
+v 0.21099672 -0.36888387 0.07163856
+v 0.21119863 -0.36862899 0.07177722
+v 0.06386830 -0.49109268 0.06597295
+v 0.06620458 -0.47852779 0.08811863
+v 0.06386830 -0.48191752 0.08451351
+v 0.06386830 -0.47970020 0.08887135
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 26
+f 1 26 39
+f 1 39 58
+f 1 58 90
+f 1 90 128
+f 1 128 160
+f 1 160 174
+f 1 174 163
+f 1 163 131
+f 1 131 93
+f 1 93 60
+f 1 60 40
+f 1 40 27
+f 1 27 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 17
+f 1 17 28
+f 1 28 42
+f 1 42 62
+f 1 62 96
+f 1 96 138
+f 1 138 137
+f 1 137 139
+f 1 139 97
+f 1 97 63
+f 1 63 43
+f 1 43 29
+f 1 29 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 31
+f 2 31 47
+f 2 47 67
+f 2 67 101
+f 2 101 143
+f 2 143 142
+f 2 142 166
+f 2 166 175
+f 2 175 177
+f 2 177 178
+f 2 178 171
+f 2 171 170
+f 2 170 154
+f 2 154 151
+f 2 151 111
+f 2 111 72
+f 2 72 49
+f 2 49 35
+f 2 35 34
+f 2 34 22
+f 2 22 11
+f 2 11 6
+f 2 6 12
+f 2 12 21
+f 2 21 32
+f 2 32 48
+f 2 48 71
+f 2 71 78
+f 2 78 77
+f 2 77 83
+f 2 83 81
+f 2 81 79
+f 2 79 53
+f 2 53 36
+f 2 36 25
+f 2 25 24
+f 2 24 13
+f 2 13 7
+f 2 7 3
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 11 21 12
+f 11 22 23
+f 11 23 21
+f 13 24 14
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 16 27 17
+f 17 27 28
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 21 23 33
+f 21 33 32
+f 22 34 23
+f 23 34 35
+f 23 35 33
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 29 43 44
+f 29 44 30
+f 30 45 31
+f 30 44 46
+f 30 46 45
+f 31 45 47
+f 32 33 48
+f 33 35 49
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 48
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 38 56 57
+f 38 57 39
+f 39 57 59
+f 39 59 58
+f 40 60 61
+f 40 61 41
+f 41 61 42
+f 42 61 62
+f 43 63 64
+f 43 64 44
+f 44 64 65
+f 44 65 46
+f 45 66 67
+f 45 67 47
+f 45 46 66
+f 46 68 66
+f 46 65 69
+f 46 69 70
+f 46 70 68
+f 48 52 71
+f 49 72 50
+f 50 72 73
+f 50 73 51
+f 51 74 52
+f 51 73 74
+f 52 74 75
+f 52 75 76
+f 52 76 77
+f 52 77 78
+f 52 78 71
+f 53 79 80
+f 53 80 54
+f 54 81 82
+f 54 82 83
+f 54 83 76
+f 54 76 84
+f 54 84 55
+f 54 80 79
+f 54 79 81
+f 55 84 85
+f 55 85 86
+f 55 86 87
+f 55 87 88
+f 55 88 56
+f 56 88 89
+f 56 89 57
+f 57 89 59
+f 58 59 90
+f 59 89 91
+f 59 91 92
+f 59 92 90
+f 60 93 61
+f 61 94 95
+f 61 95 62
+f 61 93 94
+f 62 95 96
+f 63 97 98
+f 63 98 99
+f 63 99 64
+f 64 99 65
+f 65 99 69
+f 66 100 101
+f 66 101 67
+f 66 68 100
+f 68 102 103
+f 68 103 100
+f 68 70 104
+f 68 104 105
+f 68 105 106
+f 68 106 102
+f 69 107 70
+f 69 99 107
+f 70 108 104
+f 70 107 109
+f 70 109 110
+f 70 110 108
+f 72 111 73
+f 73 112 113
+f 73 113 114
+f 73 114 74
+f 73 111 115
+f 73 115 116
+f 73 116 117
+f 73 117 112
+f 74 114 118
+f 74 118 119
+f 74 119 120
+f 74 120 75
+f 75 120 85
+f 75 85 76
+f 76 85 84
+f 76 83 77
+f 81 83 82
+f 85 120 118
+f 85 118 86
+f 86 118 121
+f 86 121 87
+f 87 121 88
+f 88 121 118
+f 88 118 122
+f 88 122 123
+f 88 123 124
+f 88 124 125
+f 88 125 89
+f 89 126 91
+f 89 125 127
+f 89 127 126
+f 90 92 128
+f 91 126 129
+f 91 129 130
+f 91 130 92
+f 92 130 128
+f 93 131 94
+f 94 132 133
+f 94 133 134
+f 94 134 135
+f 94 135 136
+f 94 136 95
+f 94 131 132
+f 95 136 137
+f 95 137 138
+f 95 138 96
+f 97 139 98
+f 98 139 135
+f 98 135 140
+f 98 140 99
+f 99 140 107
+f 100 141 142
+f 100 142 143
+f 100 143 101
+f 100 103 141
+f 102 106 103
+f 103 106 144
+f 103 144 141
+f 104 106 105
+f 104 108 106
+f 106 108 124
+f 106 124 145
+f 106 145 146
+f 106 146 144
+f 107 134 109
+f 107 140 135
+f 107 135 134
+f 108 110 147
+f 108 147 124
+f 109 134 148
+f 109 148 149
+f 109 149 110
+f 110 149 150
+f 110 150 147
+f 111 151 115
+f 112 123 122
+f 112 122 118
+f 112 118 113
+f 112 117 152
+f 112 152 153
+f 112 153 123
+f 113 118 114
+f 115 151 154
+f 115 154 155
+f 115 155 116
+f 116 155 156
+f 116 156 152
+f 116 152 117
+f 118 120 119
+f 123 153 157
+f 123 157 124
+f 124 157 145
+f 124 147 125
+f 125 147 158
+f 125 158 127
+f 126 127 158
+f 126 158 159
+f 126 159 129
+f 128 130 160
+f 129 161 162
+f 129 162 130
+f 129 159 149
+f 129 149 161
+f 130 162 160
+f 131 163 161
+f 131 161 164
+f 131 164 133
+f 131 133 132
+f 133 148 134
+f 133 164 165
+f 133 165 161
+f 133 161 148
+f 135 139 137
+f 135 137 136
+f 141 166 142
+f 141 144 166
+f 144 167 166
+f 144 146 167
+f 145 168 167
+f 145 167 146
+f 145 157 169
+f 145 169 168
+f 147 150 158
+f 148 161 149
+f 149 159 158
+f 149 158 150
+f 152 156 153
+f 153 156 169
+f 153 169 157
+f 154 170 155
+f 155 170 156
+f 156 170 171
+f 156 171 172
+f 156 172 168
+f 156 168 169
+f 160 162 173
+f 160 173 174
+f 161 165 164
+f 161 163 173
+f 161 173 162
+f 163 174 173
+f 166 167 175
+f 167 176 177
+f 167 177 175
+f 167 168 176
+f 168 172 176
+f 171 178 176
+f 171 176 172
+f 176 178 177
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_3.obj

@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.03048900 -0.26546782 0.33169295
+v -0.03048900 -0.31136235 0.33169279
+v -0.03048900 -0.43722576 0.18878438
+v -0.28485231 -0.29044550 0.33169286
+v -0.03048900 -0.31508289 0.32941239
+v -0.05053277 -0.31982435 0.33169276
+v -0.03048900 -0.46782967 0.18878427
+v -0.12585334 -0.47424992 0.18878425
+v -0.13726403 -0.47581528 0.19306518
+v -0.21210915 -0.43572866 0.24625534
+v -0.28612850 -0.30172065 0.33169282
+v -0.03048900 -0.32030074 0.32620865
+v -0.04217495 -0.33123556 0.32233337
+v -0.05606296 -0.32207031 0.33169275
+v -0.03048900 -0.46551566 0.19168021
+v -0.03697007 -0.47071083 0.18878426
+v -0.13125841 -0.48071552 0.18878422
+v -0.21210915 -0.44267071 0.24625531
+v -0.28197460 -0.30975162 0.33169279
+v -0.21348545 -0.44434956 0.25733538
+v -0.03048900 -0.32830902 0.32085046
+v -0.03697007 -0.35099532 0.30530748
+v -0.03048900 -0.34979293 0.30434215
+v -0.03048900 -0.33860860 0.31300204
+v -0.03048900 -0.32944333 0.32005303
+v -0.05513709 -0.33350421 0.32415207
+v -0.09832755 -0.42213960 0.26711450
+v -0.07330411 -0.32858130 0.33169272
+v -0.03048900 -0.46104647 0.19719229
+v -0.03697007 -0.46247572 0.19895502
+v -0.04127411 -0.47254844 0.18878425
+v -0.06236886 -0.47713109 0.19447816
+v -0.13125841 -0.48135074 0.18878422
+v -0.12082363 -0.49587000 0.18878417
+v -0.26746100 -0.33500152 0.32655836
+v -0.27671968 -0.31748764 0.33169276
+v -0.21225930 -0.44292033 0.26898907
+v -0.12067349 -0.49548435 0.19461800
+v -0.03697007 -0.37175327 0.28889711
+v -0.03048900 -0.37050552 0.28793181
+v -0.07330411 -0.33643076 0.32641844
+v -0.12783020 -0.41517496 0.28025113
+v -0.10953806 -0.41100066 0.27874023
+v -0.10966317 -0.42399990 0.26875132
+v -0.09602540 -0.44121878 0.24965489
+v -0.09112080 -0.43062428 0.25747535
+v -0.08621621 -0.41993902 0.26528180
+v -0.10966317 -0.43316517 0.26069304
+v -0.09162126 -0.33291440 0.33169271
+v -0.03048900 -0.45310628 0.20653764
+v -0.03697007 -0.45485312 0.20809052
+v -0.04755499 -0.45728058 0.21091650
+v -0.05496192 -0.46723988 0.20269034
+v -0.05854028 -0.47989883 0.18878423
+v -0.07330411 -0.47202671 0.20643964
+v -0.07330411 -0.47937706 0.19731813
+v -0.06777393 -0.48373281 0.18878421
+v -0.11151491 -0.49723120 0.18878416
+v -0.25109567 -0.35278762 0.32392815
+v -0.26208097 -0.33225649 0.33169271
+v -0.20047325 -0.44348749 0.26959065
+v -0.21864026 -0.38935797 0.30597886
+v -0.23030120 -0.38756575 0.30512547
+v -0.11531847 -0.49548435 0.19461800
+v -0.03048900 -0.37572336 0.28370682
+v -0.09174639 -0.34031012 0.32671222
+v -0.14599721 -0.41757971 0.28202787
+v -0.12783020 -0.42667689 0.27111560
+v -0.09712643 -0.45914095 0.23122998
+v -0.09052024 -0.44915897 0.23945615
+v -0.08391405 -0.43913163 0.24766832
+v -0.10966317 -0.44314714 0.25157151
+v -0.10966317 -0.45231240 0.24225413
+v -0.07330411 -0.42781114 0.25397785
+v -0.07330411 -0.41742086 0.26308539
+v -0.12783020 -0.43584219 0.26291744
+v -0.10428313 -0.33484273 0.33169270
+v -0.18230623 -0.41154516 0.29010013
+v -0.16413921 -0.41020666 0.28914879
+v -0.16413921 -0.41937193 0.28320302
+v -0.03048900 -0.44922694 0.21101445
+v -0.03874673 -0.44450820 0.22075153
+v -0.04597851 -0.43972140 0.22999893
+v -0.03048900 -0.44339655 0.21763175
+v -0.05423625 -0.45192666 0.22038775
+v -0.05966633 -0.45998029 0.21399430
+v -0.07330411 -0.46286145 0.21725395
+v -0.08746738 -0.47472641 0.20975526
+v -0.07270355 -0.48572920 0.18878421
+v -0.09149615 -0.49187722 0.19001530
+v -0.09149615 -0.49283003 0.18878418
+v -0.08764254 -0.49137812 0.18878419
+v -0.10656026 -0.49614224 0.18878417
+v -0.10320713 -0.49380559 0.19250551
+v -0.25595023 -0.33724747 0.33169269
+v -0.23680728 -0.35548727 0.32518724
+v -0.18230623 -0.42071042 0.28412635
+v -0.20047325 -0.41193083 0.29078562
+v -0.12783020 -0.47983086 0.21599479
+v -0.12783020 -0.47202678 0.22511630
+v -0.14599721 -0.45607836 0.24611536
+v -0.12783020 -0.45444491 0.24446454
+v -0.14599721 -0.44691310 0.25564259
+v -0.12783020 -0.44527965 0.25380990
+v -0.14599721 -0.43790662 0.26475012
+v -0.14599721 -0.42874136 0.27290634
+v -0.21864026 -0.35537385 0.32494942
+v -0.20047325 -0.39811487 0.29990715
+v -0.20047325 -0.38894959 0.30532131
+v -0.12487743 -0.33686180 0.33169269
+v -0.12783020 -0.33706597 0.33169269
+v -0.10943796 -0.48817938 0.20145914
+v -0.10966317 -0.47803863 0.21367245
+v -0.04665414 -0.40276548 0.26617723
+v -0.03048900 -0.38615908 0.27464123
+v -0.09957873 -0.47663207 0.21206360
+v -0.09229690 -0.46694500 0.22052758
+v -0.08501508 -0.45709916 0.22897759
+v -0.10966317 -0.46091051 0.23313261
+v -0.10966317 -0.47005305 0.22279395
+v -0.07330411 -0.44566526 0.23639234
+v -0.07330411 -0.43697644 0.24552784
+v -0.05513709 -0.42375031 0.25038242
+v -0.10966317 -0.33547795 0.33169270
+v -0.03386716 -0.43670413 0.22678125
+v -0.03048900 -0.43382295 0.22805434
+v -0.03048900 -0.42284280 0.23942827
+v -0.03048900 -0.41585542 0.24656318
+v -0.03364195 -0.41855511 0.24538801
+v -0.05513709 -0.43291554 0.24140081
+v -0.05513709 -0.44178587 0.23226531
+v -0.03048900 -0.43615965 0.22555013
+v -0.07330411 -0.45483051 0.22637546
+v -0.23680728 -0.34228386 0.33169267
+v -0.12783020 -0.46288423 0.23532904
+v -0.18370755 -0.34010597 0.33169268
+v -0.20290053 -0.34110415 0.33169268
+v -0.03048900 -0.39586882 0.26581352
+v -0.04575330 -0.42148166 0.24835389
+v -0.03048900 -0.40585076 0.25630028
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 25
+f 1 25 24
+f 1 24 23
+f 1 23 40
+f 1 40 65
+f 1 65 115
+f 1 115 138
+f 1 138 140
+f 1 140 128
+f 1 128 127
+f 1 127 126
+f 1 126 132
+f 1 132 84
+f 1 84 81
+f 1 81 50
+f 1 50 29
+f 1 29 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 36
+f 1 36 60
+f 1 60 95
+f 1 95 134
+f 1 134 137
+f 1 137 136
+f 1 136 111
+f 1 111 110
+f 1 110 124
+f 1 124 77
+f 1 77 49
+f 1 49 28
+f 1 28 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 16
+f 3 16 31
+f 3 31 54
+f 3 54 57
+f 3 57 89
+f 3 89 92
+f 3 92 91
+f 3 91 93
+f 3 93 58
+f 3 58 34
+f 3 34 33
+f 3 33 17
+f 3 17 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 6 13 12
+f 6 14 13
+f 7 15 16
+f 8 17 9
+f 9 17 10
+f 10 18 11
+f 10 17 33
+f 10 33 18
+f 11 18 20
+f 11 20 19
+f 12 13 21
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 21
+f 13 14 26
+f 13 26 27
+f 13 27 22
+f 14 28 26
+f 15 29 30
+f 15 30 16
+f 16 30 32
+f 16 32 31
+f 18 33 34
+f 18 34 20
+f 19 35 36
+f 19 20 37
+f 19 37 35
+f 20 34 38
+f 20 38 37
+f 22 39 23
+f 22 27 39
+f 23 39 40
+f 26 28 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 45 46
+f 27 46 47
+f 27 47 39
+f 27 44 48
+f 27 48 45
+f 28 49 41
+f 29 50 51
+f 29 51 52
+f 29 52 30
+f 30 52 53
+f 30 53 32
+f 31 32 54
+f 32 53 55
+f 32 55 56
+f 32 56 57
+f 32 57 54
+f 34 58 38
+f 35 59 60
+f 35 60 36
+f 35 37 59
+f 37 61 62
+f 37 62 63
+f 37 63 59
+f 37 38 61
+f 38 58 64
+f 38 64 61
+f 39 47 40
+f 40 47 65
+f 41 49 66
+f 41 66 67
+f 41 67 42
+f 42 67 68
+f 42 68 44
+f 42 44 43
+f 44 68 48
+f 45 69 70
+f 45 70 71
+f 45 71 46
+f 45 48 72
+f 45 72 73
+f 45 73 69
+f 46 71 47
+f 47 71 74
+f 47 74 75
+f 47 75 65
+f 48 68 76
+f 48 76 72
+f 49 77 78
+f 49 78 79
+f 49 79 80
+f 49 80 67
+f 49 67 66
+f 50 81 51
+f 51 82 83
+f 51 83 52
+f 51 81 84
+f 51 84 82
+f 52 83 85
+f 52 85 86
+f 52 86 53
+f 53 86 55
+f 55 87 88
+f 55 88 56
+f 55 86 87
+f 56 89 57
+f 56 88 90
+f 56 90 91
+f 56 91 92
+f 56 92 89
+f 58 93 94
+f 58 94 64
+f 59 95 60
+f 59 63 96
+f 59 96 95
+f 61 97 98
+f 61 98 62
+f 61 64 99
+f 61 99 100
+f 61 100 101
+f 61 101 102
+f 61 102 103
+f 61 103 104
+f 61 104 105
+f 61 105 106
+f 61 106 67
+f 61 67 80
+f 61 80 97
+f 62 107 96
+f 62 96 63
+f 62 98 108
+f 62 108 109
+f 62 109 110
+f 62 110 111
+f 62 111 107
+f 64 94 112
+f 64 112 113
+f 64 113 99
+f 65 114 115
+f 65 75 114
+f 67 106 68
+f 68 106 105
+f 68 105 76
+f 69 116 117
+f 69 117 118
+f 69 118 70
+f 69 73 119
+f 69 119 120
+f 69 120 116
+f 70 118 71
+f 71 118 121
+f 71 121 122
+f 71 122 74
+f 72 76 104
+f 72 104 73
+f 73 104 102
+f 73 102 119
+f 74 122 123
+f 74 123 114
+f 74 114 75
+f 76 105 104
+f 77 124 108
+f 77 108 78
+f 78 108 97
+f 78 97 80
+f 78 80 79
+f 82 84 83
+f 83 84 125
+f 83 125 126
+f 83 126 127
+f 83 127 128
+f 83 128 129
+f 83 129 130
+f 83 130 131
+f 83 131 85
+f 84 132 125
+f 85 131 86
+f 86 131 133
+f 86 133 87
+f 87 133 118
+f 87 118 88
+f 88 118 117
+f 88 117 116
+f 88 116 94
+f 88 94 90
+f 90 94 91
+f 91 94 93
+f 94 116 112
+f 95 96 134
+f 96 107 134
+f 97 108 98
+f 99 113 100
+f 100 135 101
+f 100 113 120
+f 100 120 119
+f 100 119 135
+f 101 135 102
+f 102 104 103
+f 102 135 119
+f 107 136 137
+f 107 137 134
+f 107 111 136
+f 108 124 109
+f 109 124 110
+f 112 116 113
+f 113 116 120
+f 114 138 115
+f 114 123 138
+f 118 133 121
+f 121 133 131
+f 121 131 122
+f 122 131 130
+f 122 130 123
+f 123 130 139
+f 123 139 138
+f 125 132 126
+f 128 140 139
+f 128 139 129
+f 129 139 130
+f 138 139 140
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_30.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.36119867 -0.17406456 0.36983953
+v -0.36119867 -0.17406460 0.38136809
+v -0.36109672 -0.17406456 0.36980220
+v -0.37611202 -0.21610021 0.35381592
+v -0.37611202 -0.21610024 0.36182765
+v -0.37753879 -0.22892664 0.36320148
+v -0.36099483 -0.19227513 0.37971788
+v -0.34594558 -0.17406463 0.38826729
+v -0.34584366 -0.17406454 0.36544166
+v -0.36398428 -0.22892658 0.34648359
+v -0.37753879 -0.22892660 0.35124735
+v -0.36296515 -0.21023859 0.35340528
+v -0.37597612 -0.24032058 0.36092410
+v -0.36357663 -0.22818574 0.37190761
+v -0.35950009 -0.21060091 0.37778394
+v -0.34584366 -0.17406463 0.38831207
+v -0.03048900 -0.17406461 0.38310035
+v -0.03048900 -0.25867919 0.33543281
+v -0.03048900 -0.26546285 0.33170692
+v -0.28486534 -0.29040768 0.33170683
+v -0.28612229 -0.30170282 0.33170679
+v -0.28197780 -0.30973786 0.33170676
+v -0.37597612 -0.24032055 0.35299448
+v -0.31907434 -0.27511159 0.35801942
+v -0.25595585 -0.33721830 0.33170666
+v -0.28459360 -0.31405175 0.34145073
+v -0.34584366 -0.23319117 0.37364732
+v -0.35722401 -0.22159966 0.37655192
+v -0.34584366 -0.19227515 0.38504161
+v -0.30990213 -0.17406466 0.39618941
+v -0.03048900 -0.17406469 0.40650090
+v -0.03048900 -0.31135144 0.33170676
+v -0.27671226 -0.31747650 0.33170673
+v -0.28459360 -0.31405173 0.33477555
+v -0.30949449 -0.27708740 0.35890796
+v -0.27314528 -0.31736128 0.34283207
+v -0.25497069 -0.32865640 0.33847149
+v -0.26207068 -0.33224581 0.33170668
+v -0.23679611 -0.34227311 0.33170664
+v -0.34584366 -0.22403653 0.37739562
+v -0.30949449 -0.26556177 0.36453786
+v -0.31078539 -0.24628102 0.37299769
+v -0.31768152 -0.23781791 0.37569317
+v -0.27334912 -0.19339483 0.39677176
+v -0.27331515 -0.17406468 0.40254355
+v -0.29131988 -0.17406467 0.39960167
+v -0.29145575 -0.17406467 0.39957928
+v -0.30912079 -0.17406466 0.39634622
+v -0.30935858 -0.17406466 0.39630141
+v -0.03048900 -0.19227521 0.40141604
+v -0.07332668 -0.17406470 0.40758357
+v -0.05053200 -0.31981455 0.33170673
+v -0.03048900 -0.30451837 0.33590306
+v -0.05630711 -0.31899132 0.33373767
+v -0.29131988 -0.27978769 0.36013249
+v -0.27314528 -0.28141776 0.36096876
+v -0.25497069 -0.31948529 0.34338460
+v -0.23679611 -0.31961700 0.34369820
+v -0.20292682 -0.34108760 0.33170665
+v -0.18234026 -0.31932064 0.34378034
+v -0.20051487 -0.31953468 0.34390726
+v -0.21865549 -0.31956762 0.34386993
+v -0.31078539 -0.23058968 0.37935933
+v -0.29131988 -0.22892671 0.38243562
+v -0.26743813 -0.20266473 0.39465120
+v -0.29131988 -0.26556178 0.36657627
+v -0.29131988 -0.25066078 0.37327394
+v -0.29131988 -0.24150614 0.37738810
+v -0.30558780 -0.23953030 0.37655929
+v -0.25497069 -0.19227521 0.39957921
+v -0.25497069 -0.17406469 0.40496277
+v -0.03048900 -0.20485461 0.39601012
+v -0.12781649 -0.17406470 0.40785984
+v -0.16416568 -0.17406470 0.40796437
+v -0.21865549 -0.19227522 0.40171469
+v -0.21865549 -0.20620476 0.39618929
+v -0.21865549 -0.24606699 0.37937423
+v -0.05606932 -0.32205382 0.33170672
+v -0.03048900 -0.22388837 0.38514603
+v -0.07332668 -0.32284417 0.33555205
+v -0.27314528 -0.24359721 0.37827662
+v -0.25497069 -0.28266911 0.36158100
+v -0.25497069 -0.24494737 0.37887395
+v -0.22796359 -0.29307511 0.35772070
+v -0.23513151 -0.28545175 0.36116286
+v -0.21865549 -0.30226272 0.35300172
+v -0.18373308 -0.34008323 0.33170665
+v -0.12781649 -0.32725685 0.33773977
+v -0.14599109 -0.31854679 0.34323525
+v -0.19120675 -0.29307511 0.35772070
+v -0.20051487 -0.30226272 0.35303159
+v -0.27314528 -0.22892672 0.38427988
+v -0.25497069 -0.20437712 0.39536798
+v -0.23679611 -0.19227521 0.40128908
+v -0.23693199 -0.17406469 0.40679208
+v -0.12781649 -0.31810220 0.34288432
+v -0.10967587 -0.31726247 0.34236913
+v -0.09150127 -0.31599467 0.34176436
+v -0.09150127 -0.32514929 0.33692590
+v -0.03048900 -0.21400926 0.39099993
+v -0.20051487 -0.28388756 0.36209619
+v -0.18247615 -0.17406470 0.40798676
+v -0.20065074 -0.17406470 0.40788970
+v -0.21875739 -0.17406470 0.40772544
+v -0.23679611 -0.20595778 0.39606984
+v -0.23679611 -0.24580355 0.37926222
+v -0.21865549 -0.28388756 0.36218581
+v -0.07332668 -0.32857405 0.33170669
+v -0.21865549 -0.29310805 0.35773562
+v -0.12781649 -0.33705365 0.33170666
+v -0.12486099 -0.33685606 0.33170666
+v -0.10967587 -0.32643358 0.33748589
+v -0.20051487 -0.29309160 0.35773562
+v -0.23679611 -0.17406469 0.40679956
+v -0.10430842 -0.33483083 0.33170667
+v -0.09163716 -0.33290440 0.33170668
+v -0.10967587 -0.33545652 0.33170667
+f 1 2 8
+f 1 8 16
+f 1 16 30
+f 1 30 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 45
+f 1 45 71
+f 1 71 95
+f 1 95 114
+f 1 114 104
+f 1 104 103
+f 1 103 102
+f 1 102 74
+f 1 74 73
+f 1 73 51
+f 1 51 31
+f 1 31 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 6
+f 4 6 5
+f 4 9 12
+f 4 12 10
+f 6 11 23
+f 6 23 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 9 10 12
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 20 21
+f 10 21 11
+f 10 19 20
+f 11 21 22
+f 11 22 23
+f 13 24 14
+f 13 23 25
+f 13 25 26
+f 13 26 24
+f 14 27 28
+f 14 28 15
+f 14 24 27
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 17 31 50
+f 17 50 72
+f 17 72 100
+f 17 100 79
+f 17 79 53
+f 17 53 32
+f 17 32 19
+f 17 19 18
+f 19 32 52
+f 19 52 78
+f 19 78 108
+f 19 108 116
+f 19 116 115
+f 19 115 117
+f 19 117 111
+f 19 111 110
+f 19 110 87
+f 19 87 59
+f 19 59 39
+f 19 39 25
+f 19 25 38
+f 19 38 33
+f 19 33 22
+f 19 22 21
+f 19 21 20
+f 22 33 23
+f 23 33 34
+f 23 34 25
+f 24 35 27
+f 24 26 36
+f 24 36 35
+f 25 37 36
+f 25 36 26
+f 25 34 38
+f 25 39 37
+f 27 40 28
+f 27 35 41
+f 27 41 42
+f 27 42 43
+f 27 43 40
+f 28 40 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 29 49 30
+f 31 51 50
+f 32 53 54
+f 32 54 52
+f 33 38 34
+f 35 36 55
+f 35 55 41
+f 36 56 55
+f 36 37 57
+f 36 57 56
+f 37 39 57
+f 39 58 57
+f 39 59 60
+f 39 60 61
+f 39 61 62
+f 39 62 58
+f 40 43 63
+f 40 63 64
+f 40 64 65
+f 40 65 44
+f 41 55 66
+f 41 66 67
+f 41 67 68
+f 41 68 42
+f 42 68 69
+f 42 69 43
+f 43 69 63
+f 44 65 70
+f 44 70 45
+f 45 70 71
+f 50 51 73
+f 50 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 77
+f 50 77 72
+f 52 54 78
+f 53 79 54
+f 54 80 78
+f 54 79 80
+f 55 56 81
+f 55 81 66
+f 56 57 82
+f 56 82 83
+f 56 83 81
+f 57 58 84
+f 57 84 85
+f 57 85 82
+f 58 62 86
+f 58 86 84
+f 59 87 88
+f 59 88 60
+f 60 88 89
+f 60 89 90
+f 60 90 91
+f 60 91 61
+f 61 91 62
+f 62 91 86
+f 63 69 64
+f 64 69 68
+f 64 68 92
+f 64 92 93
+f 64 93 65
+f 65 93 70
+f 66 81 67
+f 67 81 68
+f 68 81 92
+f 70 93 94
+f 70 94 95
+f 70 95 71
+f 72 96 97
+f 72 97 98
+f 72 98 99
+f 72 99 100
+f 72 77 101
+f 72 101 90
+f 72 90 96
+f 74 102 75
+f 75 102 103
+f 75 103 104
+f 75 104 94
+f 75 94 105
+f 75 105 76
+f 76 105 106
+f 76 106 77
+f 77 106 107
+f 77 107 101
+f 78 80 108
+f 79 100 80
+f 80 99 108
+f 80 100 99
+f 81 83 105
+f 81 105 92
+f 82 85 83
+f 83 85 106
+f 83 106 105
+f 84 86 109
+f 84 109 107
+f 84 107 85
+f 85 107 106
+f 86 91 109
+f 87 110 88
+f 88 110 111
+f 88 111 112
+f 88 112 96
+f 88 96 89
+f 89 96 90
+f 90 101 107
+f 90 107 113
+f 90 113 91
+f 91 113 109
+f 92 105 93
+f 93 105 94
+f 94 104 114
+f 94 114 95
+f 96 112 97
+f 97 112 99
+f 97 99 98
+f 99 112 115
+f 99 115 116
+f 99 116 108
+f 107 109 113
+f 111 117 112
+f 112 117 115
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_31.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.33714124 -0.00808648 0.18878595
+v 0.33791696 -0.00678743 0.18878596
+v 0.30976350 -0.00808648 0.18878595
+v 0.36401771 -0.00808622 0.11832796
+v 0.33791696 -0.00488593 0.18878596
+v 0.37375628 -0.00808613 0.09251779
+v 0.37194223 -0.00027308 0.10244176
+v 0.28897359 0.05978382 0.18878620
+v 0.36585563 -0.00808574 -0.01357526
+v 0.33782150 0.00701255 0.18878601
+v 0.37194223 0.00064943 0.10244176
+v 0.37385176 -0.00808613 0.09224047
+v 0.37380400 -0.00740836 0.09281492
+v 0.37632219 -0.00808610 0.08497085
+v 0.37927002 -0.00808607 0.07577981
+v 0.37956837 -0.00808606 0.07482902
+v 0.37961613 0.00934748 0.07482908
+v 0.28760111 0.06433988 0.18878622
+v 0.32570799 0.13763301 -0.01357472
+v 0.39195638 -0.00808574 -0.01357526
+v 0.30028751 0.18420955 0.18878666
+v 0.31755673 0.18420967 0.15606340
+v 0.31734191 0.18345660 0.15693497
+v 0.31685258 0.18420966 0.15768768
+v 0.37383981 0.00780362 0.09289421
+v 0.38428252 -0.00808600 0.05745717
+v 0.38450926 0.00934754 0.05656586
+v 0.38058282 0.02768476 0.05656593
+v 0.37515260 0.02858837 0.07595823
+v 0.28465331 0.07714205 0.18878626
+v 0.31305740 0.18421029 -0.01357455
+v 0.31532497 0.17551236 -0.01357459
+v 0.39195638 0.00806758 -0.01357520
+v 0.39189670 -0.00808580 0.00201385
+v 0.27003354 0.18420955 0.18878666
+v 0.31981234 0.18420970 0.14825894
+v 0.38450926 -0.00808600 0.05656580
+v 0.39048845 0.00270180 0.03275631
+v 0.38354257 0.02768483 0.03832252
+v 0.37875682 0.04600322 0.03832259
+v 0.37508100 0.04747163 0.05793277
+v 0.32872740 0.18420983 0.11131654
+v 0.32513511 0.18420976 0.12955996
+v 0.28398498 0.08022962 0.18878627
+v 0.33714124 0.18421029 -0.01357455
+v 0.28285119 0.08550110 0.18878629
+v 0.28048817 0.10097667 0.18878635
+v 0.38115567 0.04600341 -0.01357506
+v 0.38110791 0.04600335 0.00181596
+v 0.39189670 0.00754038 0.00181582
+v 0.39126420 0.00556351 0.02007903
+v 0.39126420 -0.00569486 0.02007899
+v 0.39091809 -0.00808585 0.01629560
+v 0.38818508 -0.00808593 0.03806488
+v 0.39048845 -0.00240024 0.03275629
+v 0.37294472 0.05871120 0.05276286
+v 0.38040380 0.04600329 0.02007918
+v 0.37404270 0.06198709 0.03832265
+v 0.33630581 0.18421004 0.05403105
+v 0.33499301 0.18421000 0.06611409
+v 0.33723669 0.18421025 -0.00184806
+v 0.37567773 0.06434056 0.00181603
+v 0.37552259 0.06434062 -0.01357499
+v 0.38029639 0.04888389 -0.01357505
+v 0.39064358 -0.00808586 0.02007898
+v 0.38974850 -0.00808589 0.02695245
+v 0.37444846 0.06582781 0.02033676
+v 0.33671160 0.18421006 0.04903937
+v 0.33724865 0.18421023 0.00181647
+v 0.33727250 0.18421018 0.01542474
+v 0.33729638 0.18421012 0.03269755
+v 0.33712928 0.18421010 0.03832310
+f 1 2 5
+f 1 5 10
+f 1 10 21
+f 1 21 35
+f 1 35 47
+f 1 47 46
+f 1 46 44
+f 1 44 30
+f 1 30 18
+f 1 18 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 34
+f 1 34 53
+f 1 53 65
+f 1 65 66
+f 1 66 54
+f 1 54 37
+f 1 37 26
+f 1 26 16
+f 1 16 15
+f 1 15 14
+f 1 14 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 11
+f 2 11 5
+f 3 8 9
+f 5 11 10
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 11
+f 8 18 9
+f 9 19 32
+f 9 32 31
+f 9 31 45
+f 9 45 63
+f 9 63 64
+f 9 64 48
+f 9 48 33
+f 9 33 20
+f 9 18 19
+f 10 11 22
+f 10 22 23
+f 10 23 24
+f 10 24 21
+f 11 17 25
+f 11 25 22
+f 12 14 13
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 22
+f 17 22 25
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 20 33 34
+f 21 24 22
+f 21 22 36
+f 21 36 43
+f 21 43 42
+f 21 42 60
+f 21 60 59
+f 21 59 68
+f 21 68 72
+f 21 72 71
+f 21 71 70
+f 21 70 69
+f 21 69 61
+f 21 61 45
+f 21 45 31
+f 21 31 35
+f 22 29 36
+f 22 24 23
+f 26 37 27
+f 27 37 55
+f 27 55 38
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 36
+f 30 44 31
+f 31 44 46
+f 31 46 47
+f 31 47 35
+f 33 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 37 54 55
+f 38 55 52
+f 38 52 51
+f 38 51 39
+f 39 51 40
+f 40 56 41
+f 40 51 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 42
+f 40 42 56
+f 41 56 42
+f 45 61 62
+f 45 62 63
+f 48 64 62
+f 48 62 49
+f 49 62 57
+f 49 57 50
+f 50 57 51
+f 52 55 65
+f 52 65 53
+f 54 66 55
+f 55 66 65
+f 57 62 67
+f 57 67 68
+f 57 68 59
+f 57 59 58
+f 61 69 62
+f 62 70 71
+f 62 71 72
+f 62 72 68
+f 62 68 67
+f 62 64 63
+f 62 69 70
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_32.obj

@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v -0.08832677 0.13308973 0.39769698
+v -0.08832677 -0.02899067 0.41811671
+v -0.08832677 0.13308964 0.42180052
+v 0.12027610 0.13309007 0.30531811
+v 0.12047130 0.13213815 0.30531811
+v 0.12294382 0.12155597 0.30531807
+v 0.12356195 0.11930309 0.30531806
+v -0.08832677 -0.02899075 0.44120464
+v 0.13026378 0.10359641 0.30531800
+v 0.19611099 -0.02899025 0.30531751
+v -0.08832677 0.08251089 0.43210530
+v -0.07329643 0.13308964 0.42073077
+v 0.16413085 0.13309007 0.30531811
+v -0.07495563 -0.02899075 0.44018904
+v -0.07329643 -0.02730901 0.44032445
+v -0.08832677 -0.02730901 0.44144841
+v 0.23586655 -0.02899025 0.30531751
+v -0.08832677 0.04600473 0.43860500
+v -0.07329643 0.02768025 0.44060905
+v -0.05511037 0.11930266 0.42165152
+v -0.05511037 0.13308965 0.41897038
+v 0.22447994 0.05323982 0.30531782
+v 0.08676691 0.13308986 0.36204267
+v -0.07329643 -0.02899075 0.44002654
+v -0.07329643 -0.00898456 0.44255886
+v -0.08832677 -0.02413595 0.44184110
+v -0.05676957 -0.02899074 0.43837450
+v -0.05511037 -0.02730900 0.43849638
+v -0.05511037 -0.00898455 0.44113703
+v 0.23645215 -0.02794313 0.30531752
+v 0.23271084 -0.02899026 0.30849969
+v -0.08832677 0.02768025 0.44169233
+v -0.07329643 0.00935577 0.44280264
+v -0.05511037 0.00935578 0.44123187
+v -0.05511037 0.02768026 0.43859139
+v -0.02342304 0.13308966 0.41542258
+v -0.04144644 0.13308966 0.41748084
+v 0.21641170 0.04540230 0.31470190
+v 0.22896952 0.04600522 0.30531779
+v 0.07404642 0.13308983 0.37116954
+v -0.08832677 -0.00898456 0.44343905
+v -0.05511037 -0.02899074 0.43817138
+v -0.03695686 -0.02730899 0.43619436
+v -0.03695686 -0.00898454 0.43892979
+v 0.23677749 -0.02730851 0.30531752
+v 0.23310123 -0.02730852 0.30882469
+v 0.22158448 -0.02730856 0.31795156
+v 0.22109648 -0.02899030 0.31765362
+v -0.08832677 0.00935577 0.44364224
+v -0.08832677 -0.00581149 0.44347966
+v -0.03695686 0.00935579 0.43880799
+v -0.03695686 0.02768027 0.43597789
+v -0.01818520 0.13308967 0.41462362
+v 0.20967733 0.03889749 0.32200066
+v 0.22184474 0.02768070 0.31818194
+v 0.06496966 0.13308980 0.37724957
+v 0.22916472 0.04564032 0.30531779
+v -0.03861605 -0.02899073 0.43607249
+v -0.03695686 -0.02899073 0.43585582
+v -0.01971426 -0.02899072 0.43237570
+v -0.01867319 -0.02661091 0.43256529
+v -0.01877079 -0.00898453 0.43502988
+v 0.24182013 -0.01453692 0.30531757
+v 0.22477273 -0.01215718 0.32002342
+v 0.21250771 -0.02730858 0.32372015
+v 0.21205224 -0.02899032 0.32344933
+v -0.01877079 0.00935580 0.43485390
+v -0.01899853 0.02663317 0.43236237
+v -0.00774204 0.13308967 0.41298512
+v -0.00793724 0.13308967 0.41302576
+v 0.21273546 0.02768068 0.32377453
+v 0.05107798 0.13308977 0.38582124
+v 0.04109029 0.13308975 0.39188776
+v 0.22496793 0.01256102 0.32021310
+v 0.23576895 0.02585623 0.30784991
+v 0.24038867 0.02204856 0.30531770
+v -0.01610307 -0.02899071 0.43131947
+v -0.00881563 -0.02002678 0.43102161
+v -0.00735165 -0.00898452 0.43161748
+v -0.00754684 0.00935581 0.43154982
+v 0.24403239 -0.00535089 0.30531760
+v 0.23541110 -0.00844466 0.31199343
+v 0.22649700 0.00005914 0.32124219
+v 0.21820102 -0.00722306 0.32506081
+v 0.19874617 -0.01050723 0.33586677
+v 0.18989713 -0.01763079 0.33925209
+v 0.11858437 -0.01991552 0.37657195
+v 0.11555879 -0.02899051 0.37494696
+v -0.00904337 0.01982695 0.43094051
+v 0.00029366 0.13308968 0.41042584
+v 0.18976701 0.01774892 0.33913035
+v 0.19236967 0.00553261 0.34080943
+v 0.03198100 0.13308973 0.39725013
+v 0.21829862 0.00761103 0.32504733
+v 0.22649700 0.00034471 0.32124219
+v 0.24234066 0.01619424 0.30531768
+v -0.01154842 -0.02899071 0.42997888
+v -0.00172340 -0.02899070 0.42693210
+v 0.01769892 -0.02899067 0.41960622
+v 0.01756879 -0.02730893 0.41991771
+v 0.00172512 -0.00898450 0.42815088
+v 0.00152992 0.00935583 0.42802908
+v 0.24364199 0.00908658 0.30531765
+v 0.19236967 -0.00541448 0.34080939
+v 0.18273985 -0.01050727 0.34485820
+v 0.12134970 -0.00898432 0.37803447
+v 0.10836895 -0.00898434 0.38445304
+v 0.10843401 -0.02653139 0.37951040
+v 0.11110174 -0.02899052 0.37726252
+v 0.01756879 0.02768033 0.41949811
+v 0.01425040 0.13308970 0.40540200
+v 0.18264225 0.01072056 0.34483123
+v 0.12144729 0.00935601 0.37808868
+v 0.01756879 0.13308971 0.40410201
+v 0.10836895 0.00935599 0.38446665
+v 0.08556317 -0.02899056 0.38928721
+v 0.08842609 -0.02551604 0.38907059
+v 0.08117119 -0.01820214 0.39421631
+v 0.09249274 -0.00898437 0.39149453
+v 0.08361118 0.00935595 0.39513720
+v 0.09268795 0.00935596 0.39146751
+v 0.10732789 -0.02899052 0.37915831
+f 1 2 8
+f 1 8 16
+f 1 16 26
+f 1 26 41
+f 1 41 50
+f 1 50 49
+f 1 49 32
+f 1 32 18
+f 1 18 11
+f 1 11 3
+f 1 3 12
+f 1 12 21
+f 1 21 37
+f 1 37 36
+f 1 36 53
+f 1 53 70
+f 1 70 69
+f 1 69 90
+f 1 90 111
+f 1 111 114
+f 1 114 93
+f 1 93 73
+f 1 73 72
+f 1 72 56
+f 1 56 40
+f 1 40 23
+f 1 23 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 10
+f 2 10 17
+f 2 17 31
+f 2 31 48
+f 2 48 66
+f 2 66 88
+f 2 88 109
+f 2 109 122
+f 2 122 116
+f 2 116 99
+f 2 99 98
+f 2 98 97
+f 2 97 77
+f 2 77 60
+f 2 60 59
+f 2 59 58
+f 2 58 42
+f 2 42 27
+f 2 27 24
+f 2 24 14
+f 2 14 8
+f 3 11 12
+f 4 13 22
+f 4 22 39
+f 4 39 57
+f 4 57 76
+f 4 76 96
+f 4 96 103
+f 4 103 81
+f 4 81 63
+f 4 63 45
+f 4 45 30
+f 4 30 17
+f 4 17 10
+f 4 10 9
+f 4 9 7
+f 4 7 6
+f 4 6 5
+f 8 14 15
+f 8 15 16
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 23 22
+f 14 24 15
+f 15 25 26
+f 15 26 16
+f 15 24 27
+f 15 27 28
+f 15 28 29
+f 15 29 25
+f 17 30 31
+f 18 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 22 38 39
+f 22 23 40
+f 22 40 38
+f 25 33 41
+f 25 41 26
+f 25 29 33
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 34 33
+f 29 44 34
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 32 49 33
+f 33 49 50
+f 33 50 41
+f 34 44 51
+f 34 51 35
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 38 54 55
+f 38 55 39
+f 38 40 56
+f 38 56 54
+f 39 55 57
+f 42 58 43
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 44 61 62
+f 44 62 51
+f 45 63 46
+f 46 63 64
+f 46 64 47
+f 47 64 65
+f 47 65 66
+f 47 66 48
+f 51 62 67
+f 51 67 68
+f 51 68 52
+f 52 68 69
+f 52 69 70
+f 52 70 53
+f 54 71 55
+f 54 56 72
+f 54 72 73
+f 54 73 71
+f 55 71 74
+f 55 74 75
+f 55 75 57
+f 57 75 76
+f 60 77 61
+f 61 77 78
+f 61 78 62
+f 62 78 79
+f 62 79 80
+f 62 80 67
+f 63 81 82
+f 63 82 64
+f 64 83 84
+f 64 84 85
+f 64 85 65
+f 64 82 83
+f 65 85 86
+f 65 86 66
+f 66 86 87
+f 66 87 88
+f 67 80 89
+f 67 89 68
+f 68 89 69
+f 69 89 90
+f 71 91 92
+f 71 92 74
+f 71 73 93
+f 71 93 91
+f 74 92 94
+f 74 94 95
+f 74 95 96
+f 74 96 76
+f 74 76 75
+f 77 97 78
+f 78 97 98
+f 78 98 99
+f 78 99 100
+f 78 100 101
+f 78 101 79
+f 79 101 80
+f 80 101 102
+f 80 102 89
+f 81 103 95
+f 81 95 83
+f 81 83 82
+f 83 95 92
+f 83 92 104
+f 83 104 84
+f 84 104 85
+f 85 104 86
+f 86 104 105
+f 86 105 106
+f 86 106 87
+f 87 106 107
+f 87 107 108
+f 87 108 109
+f 87 109 88
+f 89 102 110
+f 89 110 111
+f 89 111 90
+f 91 93 92
+f 92 95 94
+f 92 93 112
+f 92 112 113
+f 92 113 104
+f 93 114 115
+f 93 115 113
+f 93 113 112
+f 95 103 96
+f 99 116 117
+f 99 117 118
+f 99 118 119
+f 99 119 100
+f 100 119 101
+f 101 119 120
+f 101 120 102
+f 102 120 110
+f 104 113 106
+f 104 106 105
+f 106 113 107
+f 107 115 121
+f 107 121 119
+f 107 119 118
+f 107 118 117
+f 107 117 108
+f 107 113 115
+f 108 117 116
+f 108 116 122
+f 108 122 109
+f 110 114 111
+f 110 120 121
+f 110 121 114
+f 114 121 115
+f 119 121 120
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_33.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.28354507 0.26158310 -0.01357428
+v 0.28354507 0.30951699 -0.01357410
+v 0.28354507 0.26196030 0.08344439
+v 0.17796842 0.36138344 0.08344476
+v 0.17796842 0.38992076 -0.01357381
+v 0.28342106 0.30973726 -0.01357410
+v 0.28354507 0.31491285 0.00086096
+v 0.28354507 0.29627072 0.08344452
+v 0.17796842 0.39300376 0.08344487
+v 0.17796842 0.42229619 -0.01357369
+v 0.28187073 0.31315098 -0.01146581
+v 0.27972097 0.31566801 -0.01357408
+v 0.26630554 0.33410537 -0.01357401
+v 0.28354507 0.31519603 0.00181064
+v 0.28354507 0.29864618 0.07823082
+v 0.24668885 0.33205988 0.08344465
+v 0.17930169 0.39193401 0.08344487
+v 0.17796842 0.39626022 0.07626537
+v 0.18295010 0.41743516 -0.01357371
+v 0.17796842 0.41913409 0.00181102
+v 0.28354507 0.31621850 0.02006337
+v 0.25797516 0.34326109 -0.01357398
+v 0.28354507 0.30007780 0.07481200
+v 0.28354507 0.30361741 0.06591358
+v 0.24845621 0.33374321 0.07481213
+v 0.23849283 0.34288320 0.07481216
+v 0.21106253 0.36924923 0.07151689
+v 0.19226235 0.38689999 0.07013993
+v 0.18931674 0.38435143 0.08230524
+v 0.18900668 0.38405254 0.08344484
+v 0.18804548 0.38487057 0.08344484
+v 0.17796842 0.39808511 0.07207729
+v 0.18437640 0.41603506 -0.01357371
+v 0.17796842 0.41570457 0.01697730
+v 0.22693780 0.36712563 0.03075688
+v 0.28354507 0.31381155 0.03148793
+v 0.24889030 0.35262135 -0.01357394
+v 0.23962973 0.36179280 -0.01357391
+v 0.28354507 0.30666934 0.05676823
+v 0.24206891 0.34598239 0.05655944
+v 0.23298404 0.35436727 0.05655947
+v 0.22303099 0.36353876 0.05655951
+v 0.21394613 0.37184499 0.05655954
+v 0.20387940 0.38101644 0.05655957
+v 0.19479454 0.38918109 0.05655960
+v 0.18427304 0.39835258 0.05655963
+v 0.17796842 0.40381141 0.05655965
+v 0.17796842 0.40160899 0.06268505
+v 0.17796842 0.41472921 0.02088994
+v 0.22520143 0.36555244 0.04292219
+v 0.24399129 0.34776011 0.04474551
+v 0.28354507 0.31300920 0.03524864
+v 0.17796842 0.40982093 0.03830695
+f 1 2 7
+f 1 7 14
+f 1 14 21
+f 1 21 36
+f 1 36 52
+f 1 52 39
+f 1 39 24
+f 1 24 23
+f 1 23 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 19
+f 1 19 33
+f 1 33 38
+f 1 38 37
+f 1 37 22
+f 1 22 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 16
+f 3 16 30
+f 3 30 31
+f 3 31 17
+f 3 17 9
+f 3 9 4
+f 4 9 18
+f 4 18 32
+f 4 32 48
+f 4 48 47
+f 4 47 53
+f 4 53 49
+f 4 49 34
+f 4 34 20
+f 4 20 10
+f 4 10 5
+f 6 11 7
+f 6 12 11
+f 7 12 13
+f 7 13 14
+f 7 11 12
+f 8 15 16
+f 9 17 18
+f 10 20 21
+f 10 21 19
+f 13 21 14
+f 13 22 21
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 17 31 18
+f 18 31 29
+f 18 29 32
+f 19 21 33
+f 20 34 35
+f 20 35 21
+f 21 22 37
+f 21 37 38
+f 21 38 33
+f 21 35 36
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 27
+f 25 27 26
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 32
+f 28 32 29
+f 29 31 30
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 39 52 51
+f 39 51 40
+f 40 51 41
+f 41 51 42
+f 42 51 50
+f 42 50 43
+f 43 50 44
+f 44 53 45
+f 44 50 53
+f 45 53 46
+f 46 53 47
+f 49 53 50
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_34.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.05964154 0.42080922 0.18878754
+v 0.05964154 0.41993776 0.19003072
+v 0.06041417 0.42038063 0.18878753
+v 0.05964154 0.38889392 0.18878742
+v 0.05964154 0.41958061 0.19050974
+v 0.14119720 0.29716210 0.28986220
+v 0.08167015 0.40372295 0.19390851
+v 0.06333301 0.41860915 0.18878753
+v 0.05964154 0.30519095 0.27820583
+v 0.19940217 0.27487604 0.18878700
+v 0.05964154 0.40475149 0.20886107
+v 0.13400313 0.29189044 0.30203178
+v 0.15330177 0.29276197 0.28421648
+v 0.15883038 0.29799074 0.27204689
+v 0.15022840 0.31020544 0.26381219
+v 0.08493238 0.40506585 0.18878748
+v 0.07239856 0.41308041 0.18878751
+v 0.05964154 0.29634777 0.28766093
+v 0.08568784 0.27487561 0.30529369
+v 0.05964154 0.28130439 0.30529371
+v 0.05964154 0.28871892 0.29628345
+v 0.23502912 0.27487604 0.18878700
+v 0.05964154 0.40286569 0.21108512
+v 0.12195006 0.29529054 0.30529376
+v 0.12234496 0.29510482 0.30529376
+v 0.13125599 0.28913319 0.30529374
+v 0.13851874 0.27967577 0.30521389
+v 0.14591883 0.28621885 0.29505162
+v 0.15721644 0.28054728 0.28808289
+v 0.16408429 0.28623320 0.27695117
+v 0.17095213 0.29191916 0.26513515
+v 0.17538189 0.29754796 0.25296556
+v 0.16928667 0.30976266 0.24478789
+v 0.09193758 0.40030855 0.18878746
+v 0.14092248 0.27487561 0.30529369
+v 0.05964154 0.31160533 0.30529382
+v 0.19129811 0.27703304 0.24977195
+v 0.19390790 0.27487582 0.24755930
+v 0.22810977 0.28294774 0.18878703
+v 0.19146982 0.29501939 0.23202513
+v 0.18750364 0.28924772 0.24419473
+v 0.05964154 0.40033702 0.21394788
+v 0.05964154 0.38929380 0.22635697
+v 0.05964154 0.38555078 0.23053136
+v 0.05964154 0.36813588 0.24965823
+v 0.05964154 0.36447864 0.25345625
+v 0.05964154 0.35022098 0.26823764
+v 0.10847191 0.29926209 0.30529378
+v 0.13834703 0.27973289 0.30529371
+v 0.13845005 0.27957575 0.30529371
+v 0.13863891 0.27924717 0.30529371
+v 0.14294849 0.27487561 0.30363989
+v 0.15489854 0.27487565 0.29298722
+v 0.15927680 0.27487567 0.28884701
+v 0.16329449 0.27487568 0.28495777
+v 0.17223984 0.27487572 0.27528594
+v 0.17471227 0.27969019 0.26968587
+v 0.18049844 0.30239102 0.23841222
+v 0.18599270 0.30774839 0.22083643
+v 0.17347606 0.31284849 0.23261828
+v 0.13566857 0.36672179 0.18878734
+v 0.13110146 0.37037906 0.18878735
+v 0.11745162 0.38126510 0.18878739
+v 0.11333091 0.38452234 0.18878740
+v 0.10515818 0.39079397 0.18878743
+v 0.09344850 0.39926566 0.18878746
+v 0.19050832 0.27487580 0.25224693
+v 0.19183038 0.27487581 0.25047908
+v 0.21334389 0.29869107 0.18878709
+v 0.19474921 0.29857667 0.22083640
+v 0.17539906 0.27487573 0.27155635
+v 0.17907335 0.27487575 0.26717666
+v 0.21042507 0.30179118 0.18878710
+v 0.18916908 0.31093424 0.21002408
+v 0.14143757 0.36183591 0.18878732
+v 0.19607127 0.31516304 0.18878715
+v 0.18461913 0.32499191 0.18878718
+v 0.14890635 0.35547859 0.18878730
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 34
+f 1 34 66
+f 1 66 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 75
+f 1 75 78
+f 1 78 77
+f 1 77 76
+f 1 76 73
+f 1 73 69
+f 1 69 39
+f 1 39 22
+f 1 22 10
+f 1 10 4
+f 1 4 9
+f 1 9 18
+f 1 18 21
+f 1 21 20
+f 1 20 36
+f 1 36 47
+f 1 47 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 23
+f 1 23 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 10 9
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 16 17
+f 7 17 8
+f 7 15 16
+f 9 10 18
+f 10 19 20
+f 10 20 21
+f 10 21 18
+f 10 22 38
+f 10 38 68
+f 10 68 67
+f 10 67 72
+f 10 72 71
+f 10 71 56
+f 10 56 55
+f 10 55 54
+f 10 54 53
+f 10 53 52
+f 10 52 35
+f 10 35 19
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 29 30
+f 13 30 31
+f 13 31 14
+f 13 28 29
+f 14 31 32
+f 14 32 33
+f 14 33 15
+f 15 33 34
+f 15 34 16
+f 19 35 51
+f 19 51 50
+f 19 50 49
+f 19 49 26
+f 19 26 25
+f 19 25 24
+f 19 24 48
+f 19 48 36
+f 19 36 20
+f 22 37 38
+f 22 39 40
+f 22 40 41
+f 22 41 37
+f 23 42 24
+f 24 42 43
+f 24 43 44
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 48
+f 26 49 27
+f 27 49 50
+f 27 50 51
+f 27 51 35
+f 27 35 52
+f 27 52 53
+f 27 53 29
+f 27 29 28
+f 29 53 54
+f 29 54 55
+f 29 55 56
+f 29 56 57
+f 29 57 30
+f 30 57 31
+f 31 57 37
+f 31 37 41
+f 31 41 32
+f 32 41 40
+f 32 40 58
+f 32 58 33
+f 33 58 59
+f 33 59 60
+f 33 60 61
+f 33 61 62
+f 33 62 63
+f 33 63 64
+f 33 64 65
+f 33 65 66
+f 33 66 34
+f 36 48 47
+f 37 67 68
+f 37 68 38
+f 37 57 67
+f 39 69 70
+f 39 70 40
+f 40 70 59
+f 40 59 58
+f 56 71 57
+f 57 71 72
+f 57 72 67
+f 59 70 73
+f 59 73 74
+f 59 74 60
+f 60 74 61
+f 61 74 75
+f 69 73 70
+f 73 76 74
+f 74 76 77
+f 74 77 78
+f 74 78 75
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_35.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.21558896 0.39153006 0.30530551
+v -0.20051358 0.38986031 0.30530550
+v -0.23049430 0.38826649 0.30530550
+v -0.23063599 0.38816529 0.30549006
+v -0.21867771 0.39006270 0.30641285
+v -0.20051358 0.38948084 0.30553621
+v -0.09150052 0.32527159 0.33677182
+v -0.19986183 0.38975914 0.30530550
+v -0.23063599 0.38816529 0.30530550
+v -0.25106707 0.35337896 0.32417611
+v -0.23681349 0.35641485 0.32551413
+v -0.37677071 0.24102551 0.36155953
+v -0.31944466 0.27581180 0.35827228
+v -0.21867771 0.37589521 0.31433710
+v -0.10966464 0.32635947 0.33727935
+v -0.10966464 0.31720117 0.34225078
+v -0.09150052 0.31611333 0.34170865
+v -0.08835509 0.31573383 0.34152409
+v -0.08835509 0.32489212 0.33652960
+v -0.08835509 0.33971744 0.32648297
+v -0.09218062 0.34052699 0.32654064
+v -0.14959170 0.38143574 0.30530547
+v -0.24661814 0.36514310 0.30530541
+v -0.37677071 0.24102554 0.35294312
+v -0.27314174 0.31770715 0.34283904
+v -0.25497761 0.32947124 0.33882501
+v -0.25497761 0.32031298 0.34356573
+v -0.23681349 0.32041415 0.34381950
+v -0.21867771 0.32011057 0.34385410
+v -0.20051358 0.31955397 0.34369261
+v -0.14599288 0.31826372 0.34289671
+v -0.12782876 0.31783365 0.34263141
+v -0.21867771 0.35613656 0.32512194
+v -0.37781921 0.22928672 0.36347424
+v -0.36345226 0.22857832 0.37218291
+v -0.34582657 0.23348635 0.37361324
+v -0.30949832 0.27788633 0.35917197
+v -0.08835509 0.21398067 0.39134193
+v -0.08835509 0.34533387 0.32230743
+v -0.10966464 0.37361831 0.30530544
+v -0.12782876 0.37771676 0.30530546
+v -0.24695819 0.36410582 0.30530541
+v -0.37781921 0.22928677 0.35166272
+v -0.29133418 0.28034032 0.36017551
+v -0.25497761 0.28292081 0.36135205
+v -0.23681349 0.28378099 0.36167502
+v -0.23681349 0.29293929 0.35725727
+v -0.27314174 0.28173176 0.36085607
+v -0.21867771 0.29314169 0.35743031
+v -0.21867771 0.30257825 0.35268959
+v -0.18232113 0.28302201 0.36130590
+v -0.37569391 0.21653599 0.36154792
+v -0.36056188 0.13309947 0.38560891
+v -0.36036350 0.13309946 0.38917313
+v -0.35730309 0.13309944 0.39438677
+v -0.35687803 0.13309944 0.39502119
+v -0.35701972 0.22200054 0.37654301
+v -0.34582657 0.22432806 0.37741961
+v -0.30476601 0.23981111 0.37654307
+v -0.30949832 0.26591983 0.36469706
+v -0.08835509 0.20479709 0.39558664
+v -0.20051358 0.28357859 0.36157120
+v -0.08835509 0.34771196 0.32053113
+v -0.09152886 0.36825488 0.30530542
+v -0.24695819 0.36243610 0.30530540
+v -0.36399068 0.22928678 0.34718727
+v -0.37569391 0.21653602 0.35441948
+v -0.29133418 0.24165794 0.37733894
+v -0.27314174 0.24350477 0.37818098
+v -0.25497761 0.24461793 0.37872311
+v -0.23681349 0.24535161 0.37906915
+v -0.21867771 0.28398339 0.36174424
+v -0.36039186 0.13309951 0.37543533
+v -0.35619797 0.13309944 0.39521730
+v -0.34633662 0.13309943 0.39790488
+v -0.28538339 0.13309937 0.41331517
+v -0.28376818 0.13309937 0.41368429
+v -0.27243331 0.13309936 0.41600275
+v -0.25951156 0.13309935 0.41804440
+v -0.25497761 0.13765320 0.41741001
+v -0.29133418 0.22928666 0.38227575
+v -0.25497761 0.14997388 0.41347672
+v -0.26738929 0.20297556 0.39461774
+v -0.08835509 0.19262819 0.40097331
+v -0.21867771 0.24542751 0.37909222
+v -0.08835509 0.36726823 0.30530542
+v -0.23681349 0.34824330 0.30530535
+v -0.35954174 0.13309952 0.37358980
+v -0.27314174 0.22928665 0.38413281
+v -0.23681349 0.20618855 0.39604806
+v -0.25497761 0.22928664 0.38525167
+v -0.21867771 0.20626444 0.39612880
+v -0.25497761 0.13309935 0.41869033
+v -0.23681349 0.13765319 0.41915173
+v -0.23681349 0.15321216 0.41445718
+v -0.25497761 0.20474649 0.39535597
+v -0.25497761 0.19262819 0.39956608
+v -0.08835509 0.17747401 0.40720194
+v -0.08835509 0.32974967 0.30530528
+v -0.21867771 0.34578930 0.30530534
+v -0.20161873 0.34368947 0.30530533
+v -0.34616660 0.13309952 0.37348598
+v -0.23681349 0.19262819 0.40125013
+v -0.21867771 0.19262818 0.40164232
+v -0.10966464 0.16505214 0.41236943
+v -0.10966464 0.17431164 0.40860917
+v -0.24134743 0.13309935 0.41999375
+v -0.23681349 0.13309935 0.42029364
+v -0.21867771 0.13765319 0.42024752
+v -0.21867771 0.15483131 0.41499931
+v -0.09150052 0.17431164 0.40850535
+v -0.09150052 0.16490034 0.41224258
+v -0.08835509 0.16651950 0.41153894
+v -0.08835509 0.13309943 0.39770877
+v -0.20051358 0.15543847 0.41537994
+v -0.18232113 0.15556497 0.41555298
+v -0.16415700 0.15569146 0.41567987
+v -0.14599288 0.15579266 0.41580675
+v -0.12782876 0.15586854 0.41593361
+v -0.10966464 0.15589384 0.41592209
+v -0.21867771 0.13309934 0.42138943
+v -0.20051358 0.13765318 0.42098575
+v -0.09150052 0.15571676 0.41569139
+v -0.08835509 0.15723470 0.41503394
+v -0.08835509 0.13309934 0.42180469
+v -0.18232113 0.13765318 0.42134331
+v -0.14599288 0.13765318 0.42189698
+v -0.12782876 0.13765318 0.42204694
+v -0.10966464 0.13765318 0.42187390
+v -0.20501920 0.13309934 0.42194310
+v -0.20051358 0.13309934 0.42211614
+v -0.08835509 0.15564086 0.41559912
+v -0.08835509 0.13765318 0.42093960
+v -0.08912020 0.13309934 0.42186236
+v -0.18685507 0.13309934 0.42238141
+v -0.16415700 0.13309934 0.42273900
+v -0.14599288 0.13309934 0.42301582
+v -0.13233437 0.13309934 0.42314271
+v -0.12782876 0.13309934 0.42310811
+v -0.10966464 0.13309934 0.42279667
+v -0.09600613 0.13309934 0.42226607
+v -0.09150052 0.13765318 0.42115875
+v -0.08835509 0.14068908 0.42012067
+v -0.11417025 0.13309934 0.42296970
+v -0.09150052 0.13309934 0.42202385
+f 1 2 8
+f 1 8 22
+f 1 22 41
+f 1 41 40
+f 1 40 64
+f 1 64 86
+f 1 86 99
+f 1 99 101
+f 1 101 100
+f 1 100 87
+f 1 87 65
+f 1 65 42
+f 1 42 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 24
+f 4 24 12
+f 4 12 13
+f 4 13 10
+f 5 11 14
+f 5 14 15
+f 5 15 7
+f 5 7 6
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 9 23 24
+f 10 13 25
+f 10 25 11
+f 11 25 26
+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 14
+f 12 24 43
+f 12 43 34
+f 12 34 35
+f 12 35 13
+f 13 35 36
+f 13 36 37
+f 13 37 25
+f 14 33 32
+f 14 32 15
+f 15 32 16
+f 16 38 17
+f 16 32 38
+f 17 38 18
+f 18 38 61
+f 18 61 84
+f 18 84 98
+f 18 98 113
+f 18 113 124
+f 18 124 132
+f 18 132 143
+f 18 143 133
+f 18 133 125
+f 18 125 114
+f 18 114 99
+f 18 99 86
+f 18 86 63
+f 18 63 39
+f 18 39 20
+f 18 20 19
+f 20 39 40
+f 20 40 21
+f 21 40 41
+f 21 41 22
+f 23 42 24
+f 24 42 43
+f 25 37 44
+f 25 44 26
+f 26 44 27
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 27 44 48
+f 27 48 45
+f 28 47 49
+f 28 49 50
+f 28 50 29
+f 29 50 30
+f 30 50 49
+f 30 49 31
+f 31 49 32
+f 32 49 51
+f 32 51 38
+f 34 43 67
+f 34 67 52
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 56
+f 34 56 35
+f 35 56 57
+f 35 57 36
+f 36 57 58
+f 36 58 59
+f 36 59 60
+f 36 60 37
+f 37 60 44
+f 38 51 62
+f 38 62 61
+f 39 63 40
+f 40 63 64
+f 42 65 43
+f 43 66 67
+f 43 65 66
+f 44 60 68
+f 44 68 69
+f 44 69 48
+f 45 70 46
+f 45 48 70
+f 46 71 72
+f 46 72 49
+f 46 49 47
+f 46 70 71
+f 48 69 70
+f 49 72 62
+f 49 62 51
+f 52 67 53
+f 53 67 73
+f 53 73 88
+f 53 88 102
+f 53 102 114
+f 53 114 125
+f 53 125 134
+f 53 134 145
+f 53 145 141
+f 53 141 140
+f 53 140 144
+f 53 144 139
+f 53 139 138
+f 53 138 137
+f 53 137 136
+f 53 136 135
+f 53 135 131
+f 53 131 130
+f 53 130 121
+f 53 121 108
+f 53 108 107
+f 53 107 93
+f 53 93 79
+f 53 79 78
+f 53 78 77
+f 53 77 76
+f 53 76 75
+f 53 75 74
+f 53 74 56
+f 53 56 55
+f 53 55 54
+f 56 74 57
+f 57 74 75
+f 57 75 76
+f 57 76 77
+f 57 77 78
+f 57 78 79
+f 57 79 80
+f 57 80 58
+f 58 81 59
+f 58 80 82
+f 58 82 83
+f 58 83 81
+f 59 81 68
+f 59 68 60
+f 61 62 72
+f 61 72 85
+f 61 85 84
+f 63 86 64
+f 65 87 66
+f 66 88 67
+f 66 87 88
+f 67 88 73
+f 68 81 89
+f 68 89 69
+f 69 89 90
+f 69 90 91
+f 69 91 70
+f 70 91 90
+f 70 90 71
+f 71 90 92
+f 71 92 85
+f 71 85 72
+f 79 93 80
+f 80 93 94
+f 80 94 95
+f 80 95 82
+f 81 83 96
+f 81 96 89
+f 82 95 97
+f 82 97 83
+f 83 97 96
+f 84 85 92
+f 84 92 98
+f 87 100 88
+f 88 100 101
+f 88 101 99
+f 88 99 102
+f 89 96 90
+f 90 96 103
+f 90 103 104
+f 90 104 92
+f 92 104 105
+f 92 105 106
+f 92 106 98
+f 93 107 94
+f 94 108 121
+f 94 121 109
+f 94 109 95
+f 94 107 108
+f 95 103 97
+f 95 109 110
+f 95 110 103
+f 96 97 103
+f 98 106 111
+f 98 111 112
+f 98 112 113
+f 99 114 102
+f 103 110 115
+f 103 115 104
+f 104 115 116
+f 104 116 117
+f 104 117 118
+f 104 118 119
+f 104 119 105
+f 105 119 120
+f 105 120 112
+f 105 112 111
+f 105 111 106
+f 109 121 122
+f 109 122 110
+f 110 122 115
+f 112 120 123
+f 112 123 124
+f 112 124 113
+f 115 122 126
+f 115 126 127
+f 115 127 116
+f 116 127 117
+f 117 127 118
+f 118 127 119
+f 119 127 128
+f 119 128 120
+f 120 128 129
+f 120 129 123
+f 121 130 122
+f 122 130 131
+f 122 131 126
+f 123 132 124
+f 123 129 132
+f 125 133 134
+f 126 131 135
+f 126 135 136
+f 126 136 137
+f 126 137 127
+f 127 137 138
+f 127 138 128
+f 128 138 139
+f 128 139 129
+f 129 140 141
+f 129 141 142
+f 129 142 143
+f 129 143 132
+f 129 139 144
+f 129 144 140
+f 133 143 142
+f 133 142 134
+f 134 142 145
+f 141 145 142
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_36.obj

@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v -0.13125246 -0.48071503 0.18878421
+v -0.13125246 -0.48135877 0.18878421
+v -0.12582819 -0.47426116 0.18878424
+v -0.00536748 -0.53645529 -0.00230629
+v -0.01018056 -0.54866978 -0.00757535
+v -0.12091961 -0.49614819 0.18430748
+v -0.12080501 -0.49586757 0.18878416
+v -0.01018056 -0.54995724 -0.00757535
+v -0.11973544 -0.49581804 0.17392796
+v 0.06386830 -0.38661397 0.18878456
+v 0.06386830 -0.49268119 -0.01357704
+v 0.01495441 -0.52785561 -0.01357717
+v 0.00674162 -0.53074419 -0.00840722
+v 0.00561475 -0.54125851 -0.01357722
+v -0.08573829 -0.51481639 0.14780079
+v -0.01478355 -0.55344013 0.02007698
+v -0.11150354 -0.49722107 0.18878415
+v -0.08438222 -0.51331437 0.15742760
+v 0.01050422 -0.55111264 -0.01357725
+v -0.00063080 -0.55142628 -0.00983350
+v -0.00063080 -0.55522269 0.00181375
+v -0.01287360 -0.55226813 0.00181376
+v 0.06386830 -0.40363169 0.18878450
+v 0.06386830 -0.52230957 -0.01357715
+v -0.04954468 -0.53358360 0.09305068
+v -0.04893350 -0.53259326 0.10461871
+v 0.00005678 -0.55381977 0.02067123
+v -0.01272080 -0.55152548 0.03394276
+v -0.09146814 -0.49898721 0.18086084
+v -0.10653767 -0.49614820 0.18878416
+v -0.08147910 -0.51331437 0.15742760
+v 0.01871702 -0.55112916 -0.01357725
+v 0.01428593 -0.55259828 0.00181376
+v 0.06377280 -0.41828908 0.18878444
+v 0.06386830 -0.41827259 0.18874482
+v 0.06386830 -0.51932201 -0.00379186
+v 0.05934171 -0.52574281 -0.01357716
+v -0.04303175 -0.53259326 0.10461871
+v 0.01119181 -0.55152542 0.01500606
+v -0.00553938 -0.55152548 0.03394276
+v -0.07777378 -0.49656080 0.17763210
+v -0.09146814 -0.49283049 0.18878417
+v -0.05905625 -0.51526204 0.14185831
+v -0.06936999 -0.51082196 0.15402060
+v -0.07357189 -0.50369138 0.16590557
+v 0.02267062 -0.54990773 -0.01357725
+v 0.02557375 -0.54901640 -0.01066544
+v 0.05750815 -0.42198646 0.18878443
+v 0.06386830 -0.42466040 0.18004897
+v 0.06386830 -0.51892586 -0.00250432
+v 0.04834038 -0.53399585 -0.01357719
+v 0.04637314 -0.53249383 -0.00389095
+v -0.02395132 -0.53336899 0.08744495
+v -0.03094175 -0.52975421 0.09958742
+v -0.03697720 -0.52574327 0.11093757
+v -0.03695810 -0.51635140 0.12533821
+v -0.04692805 -0.51247251 0.13809475
+v 0.04358460 -0.53034810 0.00827134
+v 0.06386830 -0.51377603 0.01300557
+v 0.06081238 -0.51144871 0.02510843
+v 0.06386830 -0.50793293 0.02827776
+v 0.06386830 -0.50408706 0.03754805
+v 0.05693517 -0.50875828 0.03832055
+v 0.06386830 -0.49925081 0.04875954
+v 0.04497887 -0.51311593 0.04772946
+v 0.02383569 -0.52955596 0.04354985
+v 0.00656972 -0.54862039 0.02716835
+v 0.02335820 -0.54731632 0.00181378
+v 0.03680427 -0.53749521 0.00205152
+v 0.00005678 -0.54612802 0.03935044
+v -0.00548208 -0.53358352 0.06977598
+v -0.02681625 -0.47681956 0.17580981
+v -0.03695810 -0.47894886 0.17850373
+v -0.06774653 -0.48373563 0.18878420
+v -0.07269331 -0.48573287 0.18878420
+v -0.08761004 -0.49137795 0.18878418
+v -0.03082715 -0.49337505 0.15501107
+v 0.02983294 -0.54678806 -0.01357724
+v 0.02137186 -0.44194226 0.18878436
+v 0.00949195 -0.45862986 0.17596836
+v 0.01634868 -0.46242621 0.16558880
+v 0.02948915 -0.45968618 0.15917092
+v 0.06386830 -0.42697123 0.17682020
+v 0.06386830 -0.51755586 0.00185351
+v -0.01184222 -0.53018329 0.08193826
+v 0.00519456 -0.51130042 0.09915171
+v -0.00691454 -0.51445311 0.10453955
+v 0.00987394 -0.49545470 0.12163415
+v -0.02649156 -0.51369391 0.12149542
+v 0.00634053 -0.47528442 0.15534787
+v -0.00576857 -0.47823900 0.15978493
+v 0.06386830 -0.50983113 0.02338512
+v 0.06386830 -0.49768276 0.05226560
+v 0.05332536 -0.50344337 0.05577165
+v 0.04068147 -0.51022738 0.05989174
+v 0.03504712 -0.51645015 0.05491984
+v 0.02857238 -0.51428791 0.06817158
+v 0.01768564 -0.52676645 0.05719776
+v 0.01172659 -0.53335237 0.05155238
+v 0.00662702 -0.53031530 0.06371466
+v 0.00009498 -0.53709926 0.05719772
+v 0.00009498 -0.52741027 0.07544116
+v -0.01468805 -0.47401350 0.17194721
+v -0.01952023 -0.46686642 0.18389162
+v -0.02154478 -0.46386234 0.18878428
+v -0.03512454 -0.46992006 0.18878425
+v -0.03695810 -0.47072885 0.18878425
+v -0.04123639 -0.47256102 0.18878424
+v -0.05852146 -0.47990624 0.18878422
+v 0.01470612 -0.44547457 0.18878434
+v 0.00007588 -0.45319942 0.18878432
+v -0.00063080 -0.46132036 0.17923670
+v -0.00009601 -0.47100937 0.16594531
+v 0.01909901 -0.47285800 0.14869231
+v 0.02620404 -0.47604363 0.13831277
+v 0.04159825 -0.45617038 0.15413964
+v 0.06386830 -0.43986242 0.15782404
+v 0.02803759 -0.49558667 0.10378691
+v 0.01657787 -0.49834322 0.11044247
+v 0.01136370 -0.51470065 0.08700924
+v 0.02198304 -0.49203792 0.11594919
+v 0.01407584 -0.47926233 0.14318559
+v 0.06386830 -0.49111339 0.06597295
+v 0.06386830 -0.48191959 0.08451351
+v 0.03474152 -0.49783147 0.09138692
+v 0.02349190 -0.51108580 0.08033386
+v 0.06386830 -0.47970780 0.08887135
+v 0.06148086 -0.47531722 0.10028091
+v 0.04014669 -0.49160869 0.09637863
+v -0.01510824 -0.46077571 0.18878429
+v -0.00063080 -0.45356254 0.18878431
+v -0.00196777 -0.45423929 0.18878431
+v 0.03216309 -0.47982345 0.12615049
+v 0.04813029 -0.46018131 0.14197736
+v 0.06386830 -0.44022554 0.15726942
+v 0.04935266 -0.47939424 0.10768919
+v 0.04427218 -0.47591152 0.11985147
+v 0.06386830 -0.47445890 0.09883492
+v 0.06386830 -0.47241216 0.10265791
+v 0.06386830 -0.46194738 0.12179273
+v 0.06023939 -0.45625283 0.13569816
+v 0.06386830 -0.45154862 0.13938251
+v 0.06386830 -0.46042885 0.12444705
+v 0.06386830 -0.45494887 0.13379656
+f 1 2 7
+f 1 7 17
+f 1 17 30
+f 1 30 42
+f 1 42 76
+f 1 76 75
+f 1 75 74
+f 1 74 109
+f 1 109 108
+f 1 108 107
+f 1 107 106
+f 1 106 105
+f 1 105 130
+f 1 130 132
+f 1 132 131
+f 1 131 111
+f 1 111 110
+f 1 110 79
+f 1 79 48
+f 1 48 34
+f 1 34 23
+f 1 23 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 12
+f 4 12 5
+f 5 12 14
+f 5 14 8
+f 6 15 7
+f 6 9 16
+f 6 16 15
+f 7 15 18
+f 7 18 17
+f 8 14 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 16
+f 10 23 35
+f 10 35 49
+f 10 49 83
+f 10 83 117
+f 10 117 135
+f 10 135 142
+f 10 142 144
+f 10 144 143
+f 10 143 140
+f 10 140 139
+f 10 139 138
+f 10 138 127
+f 10 127 124
+f 10 124 123
+f 10 123 93
+f 10 93 64
+f 10 64 62
+f 10 62 61
+f 10 61 92
+f 10 92 59
+f 10 59 84
+f 10 84 50
+f 10 50 36
+f 10 36 24
+f 10 24 11
+f 11 24 37
+f 11 37 51
+f 11 51 78
+f 11 78 46
+f 11 46 32
+f 11 32 19
+f 11 19 14
+f 11 14 12
+f 15 16 25
+f 15 25 26
+f 15 26 18
+f 16 22 21
+f 16 21 27
+f 16 27 28
+f 16 28 26
+f 16 26 25
+f 17 29 30
+f 17 18 31
+f 17 31 29
+f 18 26 38
+f 18 38 31
+f 19 32 21
+f 19 21 20
+f 21 32 33
+f 21 33 27
+f 23 34 35
+f 24 36 37
+f 26 28 40
+f 26 40 38
+f 27 33 39
+f 27 39 40
+f 27 40 28
+f 29 41 42
+f 29 42 30
+f 29 31 41
+f 31 43 44
+f 31 44 45
+f 31 45 41
+f 31 38 43
+f 32 46 33
+f 33 46 47
+f 33 47 39
+f 34 48 35
+f 35 48 49
+f 36 50 37
+f 37 50 52
+f 37 52 51
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 57
+f 38 57 43
+f 38 40 53
+f 39 58 59
+f 39 59 60
+f 39 60 61
+f 39 61 62
+f 39 62 63
+f 39 63 64
+f 39 64 65
+f 39 65 66
+f 39 66 67
+f 39 67 40
+f 39 47 68
+f 39 68 69
+f 39 69 58
+f 40 70 71
+f 40 71 53
+f 40 67 70
+f 41 72 73
+f 41 73 74
+f 41 74 75
+f 41 75 76
+f 41 76 42
+f 41 45 72
+f 43 57 77
+f 43 77 72
+f 43 72 44
+f 44 72 45
+f 46 78 47
+f 47 78 51
+f 47 51 68
+f 48 79 80
+f 48 80 81
+f 48 81 82
+f 48 82 49
+f 49 82 83
+f 50 84 52
+f 51 52 68
+f 52 69 68
+f 52 84 59
+f 52 59 69
+f 53 71 85
+f 53 85 86
+f 53 86 87
+f 53 87 54
+f 54 87 88
+f 54 88 55
+f 55 88 89
+f 55 89 56
+f 56 90 91
+f 56 91 57
+f 56 89 90
+f 57 91 77
+f 58 69 59
+f 59 92 60
+f 60 92 61
+f 62 64 63
+f 64 93 65
+f 65 93 94
+f 65 94 95
+f 65 95 66
+f 66 95 96
+f 66 96 97
+f 66 97 98
+f 66 98 99
+f 66 99 67
+f 67 99 100
+f 67 100 70
+f 70 100 101
+f 70 101 71
+f 71 101 100
+f 71 100 102
+f 71 102 85
+f 72 103 104
+f 72 104 105
+f 72 105 106
+f 72 106 107
+f 72 107 108
+f 72 108 109
+f 72 109 73
+f 72 77 103
+f 73 109 74
+f 77 91 103
+f 79 110 80
+f 80 110 111
+f 80 111 112
+f 80 112 103
+f 80 103 113
+f 80 113 90
+f 80 90 81
+f 81 90 82
+f 82 90 114
+f 82 114 115
+f 82 115 116
+f 82 116 83
+f 83 116 117
+f 85 102 86
+f 86 118 119
+f 86 119 88
+f 86 88 87
+f 86 102 120
+f 86 120 118
+f 88 119 121
+f 88 121 115
+f 88 115 122
+f 88 122 90
+f 88 90 89
+f 90 122 115
+f 90 115 114
+f 90 113 91
+f 91 113 103
+f 93 123 94
+f 94 123 95
+f 95 123 124
+f 95 124 97
+f 95 97 96
+f 97 125 118
+f 97 118 126
+f 97 126 100
+f 97 100 98
+f 97 124 127
+f 97 127 128
+f 97 128 129
+f 97 129 125
+f 98 100 99
+f 100 126 118
+f 100 118 120
+f 100 120 102
+f 103 112 104
+f 104 112 130
+f 104 130 105
+f 111 131 112
+f 112 131 132
+f 112 132 130
+f 115 133 134
+f 115 134 116
+f 115 121 133
+f 116 134 117
+f 117 134 135
+f 118 129 136
+f 118 136 137
+f 118 137 133
+f 118 133 121
+f 118 121 119
+f 118 125 129
+f 127 138 128
+f 128 136 129
+f 128 138 139
+f 128 139 140
+f 128 140 136
+f 133 137 134
+f 134 137 141
+f 134 141 135
+f 135 141 142
+f 136 140 137
+f 137 140 143
+f 137 143 141
+f 141 143 144
+f 141 144 142
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_37.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.15833056 -0.02899032 0.32348209
+v 0.15833056 -0.07243399 0.30272644
+v 0.15833056 -0.02899042 0.35100256
+v 0.30122804 -0.02898982 0.18878588
+v 0.29977843 -0.03184343 0.18878587
+v 0.15833056 -0.07771479 0.30040792
+v 0.15833056 -0.19653321 0.30488571
+v 0.19920366 -0.02899034 0.33024706
+v 0.32853788 -0.02898982 0.18878588
+v 0.29831212 -0.03517264 0.18878586
+v 0.15833056 -0.08250361 0.29842288
+v 0.15833056 -0.19653311 0.27663475
+v 0.16647851 -0.19653319 0.29866064
+v 0.31555782 -0.02899003 0.24636763
+v 0.22111482 -0.02899030 0.31763815
+v 0.21208375 -0.02899032 0.32343444
+v 0.30159465 -0.17698391 0.18878534
+v 0.32385571 -0.02898999 0.23541026
+v 0.29353000 -0.04640668 0.18878582
+v 0.15833056 -0.09519723 0.29356349
+v 0.15833056 -0.18341307 0.27685712
+v 0.20985099 -0.19653294 0.23123315
+v 0.17542627 -0.19653316 0.29165746
+v 0.26198790 -0.18170728 0.22937521
+v 0.28159964 -0.18464283 0.21231982
+v 0.28713161 -0.19135041 0.20323630
+v 0.29727905 -0.19225237 0.19115143
+v 0.29881200 -0.19225236 0.18878528
+v 0.28781476 -0.06397113 0.18878576
+v 0.15833056 -0.11894448 0.28638552
+v 0.15833056 -0.10072404 0.29170546
+v 0.15833056 -0.16653741 0.27804820
+v 0.21898202 -0.19653291 0.22327715
+v 0.27873371 -0.19653286 0.20982658
+v 0.28634845 -0.19653283 0.20141005
+v 0.29614599 -0.19653279 0.19007156
+v 0.29696248 -0.19653278 0.18878527
+v 0.28288267 -0.08212600 0.18878569
+v 0.15833056 -0.13413092 0.28278065
+v 0.15833056 -0.12721010 0.28440046
+v 0.15833056 -0.15559859 0.27928691
+v 0.22291437 -0.19653290 0.21991054
+v 0.26448727 -0.19653278 0.18878527
+v 0.23026252 -0.19653288 0.21425717
+v 0.15833056 -0.14992416 0.28003332
+v 0.15833056 -0.13932973 0.28176428
+v 0.15833056 -0.13709933 0.28214544
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 31
+f 1 31 30
+f 1 30 40
+f 1 40 39
+f 1 39 47
+f 1 47 46
+f 1 46 45
+f 1 45 41
+f 1 41 32
+f 1 32 21
+f 1 21 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 15
+f 1 15 14
+f 1 14 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 17
+f 4 17 28
+f 4 28 37
+f 4 37 43
+f 4 43 38
+f 4 38 29
+f 4 29 19
+f 4 19 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 7 12 22
+f 7 22 33
+f 7 33 42
+f 7 42 44
+f 7 44 43
+f 7 43 37
+f 7 37 36
+f 7 36 35
+f 7 35 34
+f 7 34 23
+f 7 23 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 18 17
+f 10 19 11
+f 11 19 20
+f 12 21 22
+f 13 23 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 18
+f 14 23 24
+f 17 18 28
+f 18 27 28
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 21 32 33
+f 21 33 22
+f 23 34 24
+f 24 34 25
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 36 28
+f 27 35 36
+f 28 36 37
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 32 41 42
+f 32 42 33
+f 38 43 44
+f 38 44 42
+f 38 42 45
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 41 45 42
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_38.obj

@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.08832677 0.36727216 0.30530542
+v -0.08832677 0.34769581 0.32054062
+v -0.08656430 0.34751241 0.32036958
+v -0.07329650 0.33657811 0.32626524
+v -0.07329650 0.34574733 0.31894412
+v -0.05512445 0.33385028 0.32414415
+v -0.05512445 0.34299659 0.31681161
+v -0.07815698 0.36420047 0.30530541
+v -0.08832677 0.32977002 0.30530528
+v -0.08832677 0.34533472 0.32230818
+v 0.02350803 0.25286288 0.36714703
+v -0.08832677 0.33971856 0.32648192
+v -0.07329650 0.32314513 0.33538812
+v 0.02350803 0.23963624 0.37679446
+v -0.04171434 0.33164965 0.32239938
+v 0.02350803 0.26070260 0.36103468
+v -0.05512445 0.35422893 0.30767733
+v -0.05512445 0.35711724 0.30530538
+v 0.02077127 0.28903573 0.30530513
+v 0.02350803 0.13308981 0.37492386
+v -0.08832677 0.13308973 0.39769698
+v -0.08832677 0.32491021 0.33652849
+v 0.02350803 0.23376791 0.38019274
+v -0.03717133 0.35099680 0.30530536
+v 0.02350803 0.32635448 0.30530527
+v 0.02274174 0.32676712 0.30530527
+v 0.01383086 0.33100786 0.30530529
+v 0.01255006 0.33158092 0.30530529
+v 0.00925500 0.33300216 0.30530529
+v -0.00063016 0.33705955 0.30530531
+v -0.01682081 0.34336339 0.30530533
+v -0.02760363 0.34744371 0.30530535
+v 0.02350803 0.28843973 0.30530513
+v 0.02350803 0.13308972 0.40125490
+v -0.08832677 0.13308964 0.42180430
+v -0.08832677 0.31574098 0.34152324
+v -0.00063016 0.21520019 0.39173317
+v 0.01754190 0.22927499 0.38304364
+v -0.00063016 0.20603095 0.39613493
+v 0.01164146 0.20428879 0.39519983
+v 0.02350803 0.21682774 0.38741119
+v 0.01754190 0.13308971 0.40409444
+v 0.02350803 0.13503818 0.40106106
+v -0.07329650 0.13308964 0.42073237
+v -0.08832677 0.13765133 0.42093764
+v -0.08832677 0.21396235 0.39133403
+v -0.01880222 0.20614555 0.39649987
+v -0.01880222 0.19262092 0.40199639
+v -0.00063016 0.19262093 0.40061653
+v -0.00063016 0.17430539 0.40479019
+v 0.01534155 0.19262094 0.39673930
+v 0.02350803 0.21073020 0.38913310
+v 0.01422495 0.13308970 0.40540585
+v 0.02350803 0.14656849 0.39988652
+v 0.01754190 0.13765140 0.40362691
+v -0.05512445 0.13308965 0.41897619
+v -0.07329650 0.13765134 0.41986571
+v -0.08832677 0.14067718 0.42012798
+v -0.01880222 0.17430539 0.40683145
+v -0.08832677 0.20481604 0.39557616
+v -0.08832677 0.19262093 0.40097005
+v -0.08832677 0.17746876 0.40720779
+v -0.08832677 0.16651152 0.41154113
+v -0.08832677 0.15722766 0.41503061
+v -0.08832677 0.15564595 0.41560079
+v -0.02345470 0.14874613 0.41282967
+v -0.01133635 0.14551399 0.41213405
+v -0.00063016 0.15596692 0.40780070
+v 0.01931532 0.17602466 0.39813049
+v 0.02350803 0.18581280 0.39485764
+v 0.02350803 0.19262095 0.39358049
+v 0.01754190 0.15596694 0.40163131
+v 0.00027845 0.13308968 0.41043484
+v 0.02350803 0.15596695 0.39886021
+v -0.05512445 0.13765134 0.41809814
+v -0.04146256 0.13308966 0.41748231
+v -0.02345470 0.13308966 0.41541824
+v -0.01820013 0.13308967 0.41463142
+v -0.00797561 0.13308967 0.41302350
+v -0.00781141 0.13329598 0.41296649
+v -0.00130887 0.13870582 0.41028663
+v 0.02350803 0.18019666 0.39582694
+v 0.02350803 0.16444849 0.39790234
+v -0.00776762 0.13308967 0.41297788
+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 18
+f 1 18 24
+f 1 24 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 33
+f 1 33 19
+f 1 19 9
+f 1 9 21
+f 1 21 35
+f 1 35 45
+f 1 45 58
+f 1 58 65
+f 1 65 64
+f 1 64 63
+f 1 63 62
+f 1 62 61
+f 1 61 60
+f 1 60 46
+f 1 46 36
+f 1 36 22
+f 1 22 12
+f 1 12 10
+f 1 10 2
+f 2 10 4
+f 2 4 3
+f 4 11 6
+f 4 6 5
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 11
+f 6 15 7
+f 6 11 16
+f 6 16 15
+f 7 17 8
+f 7 15 17
+f 8 17 18
+f 9 19 20
+f 9 20 21
+f 11 14 23
+f 11 23 41
+f 11 41 52
+f 11 52 71
+f 11 71 70
+f 11 70 82
+f 11 82 83
+f 11 83 74
+f 11 74 54
+f 11 54 43
+f 11 43 34
+f 11 34 20
+f 11 20 33
+f 11 33 25
+f 11 25 16
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 15 24 17
+f 15 16 24
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 24
+f 17 24 18
+f 19 33 20
+f 20 34 42
+f 20 42 53
+f 20 53 73
+f 20 73 84
+f 20 84 79
+f 20 79 78
+f 20 78 77
+f 20 77 76
+f 20 76 56
+f 20 56 44
+f 20 44 35
+f 20 35 21
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 34 43 42
+f 35 44 57
+f 35 57 45
+f 36 46 47
+f 36 47 37
+f 37 47 39
+f 37 39 38
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 42 43 54
+f 42 54 55
+f 42 55 53
+f 44 56 57
+f 45 57 59
+f 45 59 48
+f 45 48 58
+f 46 60 47
+f 47 60 61
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 48 63 64
+f 48 64 65
+f 48 65 58
+f 48 59 49
+f 49 59 50
+f 50 59 66
+f 50 66 67
+f 50 67 68
+f 50 68 51
+f 51 69 70
+f 51 70 71
+f 51 71 52
+f 51 68 69
+f 53 55 72
+f 53 72 73
+f 54 74 72
+f 54 72 55
+f 56 75 57
+f 56 76 67
+f 56 67 66
+f 56 66 75
+f 57 75 66
+f 57 66 59
+f 67 76 77
+f 67 77 78
+f 67 78 79
+f 67 79 80
+f 67 80 68
+f 68 80 81
+f 68 81 72
+f 68 72 69
+f 69 82 70
+f 69 72 82
+f 72 81 73
+f 72 74 83
+f 72 83 82
+f 73 81 84
+f 79 84 80
+f 80 84 81
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_39.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.09452754 -0.39815090 0.18879635
+v 0.09452754 -0.36588942 0.18879647
+v 0.09452754 -0.39046299 0.19944016
+v 0.08175178 -0.40343511 0.19401177
+v 0.08501914 -0.40480579 0.18879632
+v -0.03048899 -0.43722618 0.18879620
+v -0.03048899 -0.30327404 0.30960371
+v -0.02340357 -0.30021477 0.30960372
+v -0.00667515 -0.29355984 0.30960374
+v 0.00586811 -0.28889145 0.30960376
+v 0.09452754 -0.31263044 0.24937164
+v 0.09452754 -0.38486098 0.20716284
+v 0.07204758 -0.40645468 0.19772527
+v 0.05943089 -0.41940689 0.19085405
+v 0.07670999 -0.41038798 0.18879630
+v 0.08401568 -0.38656943 0.21398669
+v -0.03048899 -0.46783882 0.18879609
+v -0.03048899 -0.34298505 0.30960356
+v 0.01788517 -0.28519649 0.30960377
+v 0.09452754 -0.30885602 0.25401944
+v 0.09452754 -0.38053035 0.21259119
+v 0.04731594 -0.42272446 0.19517070
+v 0.02401607 -0.43827907 0.19163452
+v 0.02138504 -0.44191444 0.18879619
+v 0.05750963 -0.42196955 0.18879626
+v 0.06377514 -0.41827456 0.18879627
+v 0.07204758 -0.39926343 0.20684347
+v 0.06154795 -0.40224324 0.21075800
+v 0.07538836 -0.38146405 0.22615609
+v 0.09079515 -0.37590171 0.22128363
+v 0.09452754 -0.29985719 0.30960372
+v -0.02153126 -0.46384586 0.18879611
+v -0.02432138 -0.45969402 0.19551352
+v -0.03048899 -0.46551457 0.19168175
+v -0.03048899 -0.34979887 0.30434078
+v 0.09452754 -0.26489402 0.30960385
+v 0.09452754 -0.37002157 0.22528098
+v 0.01190111 -0.44153700 0.19562003
+v 0.01471570 -0.44545048 0.18879617
+v 0.04943300 -0.40554091 0.21462524
+v 0.06327341 -0.38486107 0.23015343
+v -0.03048899 -0.37047871 0.28792561
+v -0.03048899 -0.37570330 0.28370356
+v -0.03048899 -0.38615249 0.27464446
+v -0.03048899 -0.39586666 0.26582191
+v -0.03048899 -0.40585892 0.25628977
+v -0.03048899 -0.41585120 0.24655657
+v -0.03048899 -0.41779800 0.24458155
+v -0.03048899 -0.42284381 0.23943703
+v -0.03048899 -0.43380948 0.22804814
+v -0.03048899 -0.43615359 0.22554093
+v -0.03048899 -0.44340445 0.21762900
+v -0.02251025 -0.44231184 0.21461328
+v -0.01039530 -0.43927242 0.21131372
+v -0.00061767 -0.43684882 0.20847538
+v 0.01372447 -0.42407538 0.21475526
+v 0.02740581 -0.40341539 0.23038989
+v 0.03950852 -0.40025676 0.22679466
+v -0.01509443 -0.46076673 0.18879612
+v -0.03048899 -0.46104487 0.19719287
+v -0.01221866 -0.45677379 0.19198926
+v -0.01735834 -0.44954280 0.20341363
+v -0.03048899 -0.44924486 0.21100620
+v -0.03048899 -0.45309875 0.20653578
+v -0.00061767 -0.44471550 0.19934535
+v 0.00010433 -0.45317812 0.18879615
+v 0.02582719 -0.42085715 0.21121916
+v -0.00195154 -0.45421114 0.18879614
+f 1 2 11
+f 1 11 20
+f 1 20 36
+f 1 36 31
+f 1 31 37
+f 1 37 21
+f 1 21 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 26
+f 1 26 25
+f 1 25 24
+f 1 24 39
+f 1 39 66
+f 1 66 68
+f 1 68 59
+f 1 59 32
+f 1 32 17
+f 1 17 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 3 12 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 12 16
+f 4 16 13
+f 6 17 34
+f 6 34 60
+f 6 60 64
+f 6 64 63
+f 6 63 52
+f 6 52 51
+f 6 51 50
+f 6 50 49
+f 6 49 48
+f 6 48 47
+f 6 47 46
+f 6 46 45
+f 6 45 44
+f 6 44 43
+f 6 43 42
+f 6 42 35
+f 6 35 18
+f 6 18 7
+f 7 18 31
+f 7 31 36
+f 7 36 19
+f 7 19 10
+f 7 10 9
+f 7 9 8
+f 10 19 11
+f 11 19 20
+f 12 21 16
+f 13 16 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 14 16 27
+f 14 27 28
+f 14 28 22
+f 16 29 28
+f 16 28 27
+f 16 21 30
+f 16 30 31
+f 16 31 29
+f 17 32 33
+f 17 33 34
+f 18 35 31
+f 19 36 20
+f 21 37 30
+f 22 28 23
+f 23 38 39
+f 23 39 24
+f 23 28 38
+f 28 40 38
+f 28 29 41
+f 28 41 40
+f 29 31 41
+f 30 37 31
+f 31 35 42
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 54
+f 31 54 55
+f 31 55 56
+f 31 56 57
+f 31 57 58
+f 31 58 40
+f 31 40 41
+f 32 59 33
+f 33 60 34
+f 33 59 61
+f 33 61 62
+f 33 62 63
+f 33 63 64
+f 33 64 60
+f 38 56 55
+f 38 55 65
+f 38 65 61
+f 38 61 66
+f 38 66 39
+f 38 40 67
+f 38 67 56
+f 40 58 67
+f 52 63 53
+f 53 63 62
+f 53 62 54
+f 54 62 65
+f 54 65 55
+f 56 67 58
+f 56 58 57
+f 59 68 61
+f 61 68 66
+f 61 65 62
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_4.obj

@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02352180 0.13309829 0.40126414
+v 0.03198890 0.13309830 0.39724390
+v 0.02352180 0.14656249 0.39988339
+v 0.02352180 0.13309838 0.37492598
+v 0.02981361 0.15597030 0.39592897
+v 0.04107554 0.13309832 0.39188985
+v 0.05528374 0.17297641 0.38002656
+v 0.05208965 0.19261528 0.38005480
+v 0.02352180 0.15597028 0.39885959
+v 0.02352180 0.21844604 0.36029189
+v 0.12028076 0.13309864 0.30530456
+v 0.02816149 0.17103820 0.39498970
+v 0.02352180 0.16444330 0.39790153
+v 0.05105708 0.13309834 0.38582193
+v 0.06307623 0.16598706 0.37602509
+v 0.07205272 0.21094210 0.36615313
+v 0.05930389 0.21094207 0.37378031
+v 0.05021725 0.21094205 0.37878682
+v 0.02352180 0.22070151 0.35991619
+v 0.11926196 0.13767818 0.30530458
+v 0.16415823 0.13309864 0.30530456
+v 0.02656445 0.18325032 0.39414437
+v 0.02352180 0.18018871 0.39582574
+v 0.06194728 0.13309837 0.37910588
+v 0.06494863 0.13309837 0.37724608
+v 0.08336973 0.21094212 0.35920227
+v 0.07882641 0.22070150 0.36101518
+v 0.06643553 0.22070148 0.36831358
+v 0.04846876 0.22070144 0.37780056
+v 0.04380153 0.22070143 0.37985765
+v 0.03571993 0.21094203 0.38516469
+v 0.11818809 0.15597063 0.30530464
+v 0.02352180 0.22070141 0.38574712
+v 0.12051482 0.22070171 0.30530488
+v 0.11821562 0.15761721 0.30530465
+v 0.15760485 0.22070171 0.30530488
+v 0.15752223 0.22070171 0.30538005
+v 0.13939025 0.22070166 0.31938510
+v 0.13630629 0.22070165 0.32170520
+v 0.08679787 0.13309843 0.36202929
+v 0.02444423 0.19261524 0.39322391
+v 0.02352180 0.18579736 0.39485826
+v 0.07403527 0.13309840 0.37114996
+v 0.08262627 0.22070151 0.35867628
+v 0.09245637 0.21094214 0.35304042
+v 0.09905107 0.22070155 0.34782730
+v 0.02718399 0.22070142 0.38514596
+v 0.02352180 0.21681652 0.38740969
+v 0.02352180 0.21071902 0.38912857
+v 0.02352180 0.19261523 0.39358082
+v 0.13294700 0.22070164 0.32408162
+v 0.08364508 0.13309842 0.36429302
+v 0.10517767 0.22070157 0.34355344
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 23
+f 1 23 42
+f 1 42 50
+f 1 50 49
+f 1 49 48
+f 1 48 33
+f 1 33 19
+f 1 19 10
+f 1 10 4
+f 1 4 11
+f 1 11 21
+f 1 21 40
+f 1 40 52
+f 1 52 43
+f 1 43 25
+f 1 25 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 9
+f 4 10 11
+f 5 12 13
+f 5 13 9
+f 5 8 12
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 12
+f 10 19 11
+f 11 20 32
+f 11 32 35
+f 11 35 34
+f 11 34 36
+f 11 36 21
+f 11 19 20
+f 12 22 13
+f 12 18 22
+f 13 22 23
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 29 30
+f 18 30 31
+f 18 31 22
+f 18 28 29
+f 19 32 20
+f 19 33 47
+f 19 47 30
+f 19 30 29
+f 19 29 28
+f 19 28 27
+f 19 27 44
+f 19 44 46
+f 19 46 53
+f 19 53 51
+f 19 51 39
+f 19 39 38
+f 19 38 37
+f 19 37 36
+f 19 36 34
+f 19 34 35
+f 19 35 32
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 22 31 41
+f 22 41 42
+f 22 42 23
+f 25 43 26
+f 26 44 27
+f 26 43 45
+f 26 45 46
+f 26 46 44
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 50
+f 31 50 41
+f 33 48 47
+f 39 51 43
+f 39 43 52
+f 39 52 40
+f 41 50 42
+f 43 51 53
+f 43 53 46
+f 43 46 45
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_40.obj

@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.19469692 0.03122574 0.30530418
+v 0.19612810 -0.02899024 0.30530396
+v 0.23595922 0.03122574 0.30530418
+v 0.29348663 0.03122612 0.20119698
+v 0.23589153 -0.02899024 0.30530396
+v 0.29348663 -0.02896629 0.20475328
+v 0.25973799 -0.02899001 0.24255024
+v 0.24158722 0.03122576 0.30002546
+v 0.24040746 0.02203656 0.30530415
+v 0.29348663 0.01264712 0.26141320
+v 0.29348663 0.03122596 0.24617830
+v 0.23646206 -0.02794695 0.30530397
+v 0.24190633 -0.02899022 0.29953609
+v 0.29348663 -0.02566568 0.25423886
+v 0.29348663 -0.01034647 0.26251369
+v 0.29348663 -0.02898992 0.21885709
+v 0.28434840 -0.02898992 0.21828641
+v 0.29348663 0.02587982 0.25407600
+v 0.24235116 0.01618943 0.30530413
+v 0.24466231 0.01852357 0.30296032
+v 0.29348663 0.01028352 0.26234052
+v 0.23680052 -0.02731037 0.30530397
+v 0.29348663 -0.02899004 0.24953080
+v 0.29348663 -0.00589629 0.26251371
+v 0.24574536 -0.00473527 0.30395889
+v 0.24403375 -0.00535417 0.30530405
+v 0.24184832 -0.01454925 0.30530402
+v 0.24436254 -0.01695411 0.30265446
+v 0.24366630 0.00906914 0.30530410
+v 0.24547461 0.00934027 0.30371437
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 27
+f 1 27 26
+f 1 26 29
+f 1 29 19
+f 1 19 9
+f 1 9 3
+f 1 3 8
+f 1 8 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 17
+f 2 17 16
+f 2 16 23
+f 2 23 13
+f 2 13 5
+f 3 9 10
+f 3 10 8
+f 4 11 18
+f 4 18 10
+f 4 10 21
+f 4 21 24
+f 4 24 15
+f 4 15 14
+f 4 14 23
+f 4 23 16
+f 4 16 6
+f 5 13 14
+f 5 14 15
+f 5 15 12
+f 6 16 17
+f 6 17 7
+f 8 10 18
+f 8 18 11
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 12 15 22
+f 13 23 14
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 22
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 21 30 29
+f 21 29 25
+f 21 25 24
+f 22 28 27
+f 25 29 26
+

dataset/tools/repair_tools/d4488805d9cd545fb4df63eb41cf1b5e/mjcf/mesh/umbrella_46_collision_41.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.33212192 -0.21196986 0.07346426
+v 0.33008581 -0.22892156 0.07482050
+v 0.33014501 -0.22892156 0.07332856
+v 0.33211006 -0.21209204 0.07332862
+v 0.33212192 -0.21196986 0.07332862
+v 0.33205090 -0.21196986 0.07482056
+v 0.32988457 -0.21196993 0.09170673
+v 0.32743416 -0.22892163 0.09307429
+v 0.32543356 -0.24724774 0.07482043
+v 0.32977804 -0.23043347 0.07332855
+v 0.30723884 -0.21196986 0.07332862
+v 0.32968333 -0.21196993 0.09307435
+v 0.32690143 -0.21196999 0.10996051
+v 0.32661734 -0.21197000 0.11131683
+v 0.32361051 -0.22892170 0.11131677
+v 0.32142053 -0.24892772 0.09464529
+v 0.31865048 -0.25871693 0.08961556
+v 0.31985795 -0.26183231 0.07482038
+v 0.31990529 -0.26198503 0.07332844
+v 0.32501922 -0.24859166 0.07332849
+v 0.32550458 -0.24724774 0.07332849
+v 0.21119865 -0.26195491 0.18878502
+v 0.21229955 -0.26054990 0.18878502
+v 0.22238536 -0.24808812 0.18878507
+v 0.22877780 -0.24026895 0.18878510
+v 0.25233505 -0.21253534 0.18878520
+v 0.25286775 -0.21197028 0.18878520
+v 0.21119865 -0.33570205 0.07332817
+v 0.32245041 -0.21197006 0.12821429
+v 0.32210713 -0.21197007 0.12950280
+v 0.31918318 -0.22763894 0.12874546
+v 0.31794020 -0.23918440 0.12211076
+v 0.31937259 -0.24329248 0.11131672
+v 0.31719444 -0.25615130 0.10178853
+v 0.31448359 -0.27099541 0.07482034
+v 0.31463746 -0.27114813 0.07332840
+v 0.31956201 -0.26273335 0.07332843
+v 0.21119865 -0.30068421 0.18878488
+v 0.28978989 -0.21197028 0.18878520
+v 0.21119865 -0.36795612 0.07332805
+v 0.31840187 -0.21197011 0.14175486
+v 0.31762060 -0.22067504 0.13943780
+v 0.30295355 -0.24216248 0.14399269
+v 0.31506362 -0.23289245 0.13427244
+v 0.29718854 -0.25437990 0.13557216
+v 0.27886357 -0.27266026 0.13521041
+v 0.24305419 -0.32826478 0.09943731
+v 0.30210123 -0.27736380 0.08894864
+v 0.30540397 -0.28079989 0.07482031
+v 0.31380882 -0.27223242 0.07332840
+v 0.30442143 -0.28243399 0.07332836
+v 0.21119865 -0.31386373 0.16902778
+v 0.22526196 -0.31024426 0.15529509
+v 0.26240902 -0.27434023 0.15636896
+v 0.28082866 -0.25625841 0.15671941
+v 0.21350702 -0.29840873 0.18878488
+v 0.29029893 -0.21197028 0.18820876
+v 0.28746969 -0.21563551 0.18878519
+v 0.29863272 -0.21882726 0.17456644
+v 0.21119865 -0.36455054 0.08140945
+v 0.24821548 -0.33449560 0.07332817
+v 0.24878370 -0.33350292 0.07482011
+v 0.24626225 -0.33121218 0.08727565
+v 0.31424680 -0.21197014 0.15098914
+v 0.30285885 -0.22519557 0.16240476
+v 0.30553419 -0.21197021 0.16761534
+v 0.29858539 -0.23741299 0.15615436
+v 0.28507844 -0.26044284 0.14454643
+v 0.26676533 -0.27843304 0.14420730
+v 0.26021903 -0.29063518 0.13452088
+v 0.24162182 -0.30845736 0.13389917
+v 0.22951174 -0.31407744 0.14312212
+v 0.21119865 -0.34791964 0.11242399
+v 0.21119865 -0.35899163 0.09244086
+v 0.21119865 -0.36219868 0.08636003
+v 0.24903229 -0.33374728 0.07332817
+v 0.21119865 -0.31563523 0.16619082
+v 0.21227588 -0.31478003 0.16606649
+v 0.21119865 -0.32692105 0.14791438
+v 0.27379701 -0.26739154 0.15045770
+v 0.28558748 -0.24306360 0.16606676
+v 0.28163365 -0.23878753 0.17588878
+v 0.27692220 -0.25222668 0.16606672
+v 0.26631552 -0.24161287 0.18878509
+v 0.30017165 -0.21197024 0.17673656
+v 0.27746672 -0.22892198 0.18878514
+v 0.28562299 -0.22892195 0.18019511
+v 0.29524713 -0.23035746 0.16751354
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 27
+f 1 27 39
+f 1 39 57
+f 1 57 85
+f 1 85 66
+f 1 66 64
+f 1 64 41
+f 1 41 30
+f 1 30 29
+f 1 29 14
+f 1 14 13
+f 1 13 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 21
+f 3 21 20
+f 3 20 19
+f 3 19 37
+f 3 37 36
+f 3 36 50
+f 3 50 51
+f 3 51 76
+f 3 76 61
+f 3 61 40
+f 3 40 28
+f 3 28 11
+f 3 11 5
+f 3 5 4
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 28 22
+f 14 29 15
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 34 17
+f 16 33 34
+f 17 35 18
+f 17 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 22 38 56
+f 22 56 84
+f 22 84 86
+f 22 86 58
+f 22 58 39
+f 22 39 27
+f 22 27 26
+f 22 26 25
+f 22 25 24
+f 22 24 23
+f 22 28 40
+f 22 40 60
+f 22 60 75
+f 22 75 74
+f 22 74 73
+f 22 73 79
+f 22 79 77
+f 22 77 52
+f 22 52 38
+f 30 41 42
+f 30 42 31
+f 31 42 32
+f 32 43 34
+f 32 34 33
+f 32 42 44
+f 32 44 43
+f 34 43 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 50 36
+f 35 49 51
+f 35 51 50
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 39 58 59
+f 39 59 57
+f 40 61 62
+f 40 62 63
+f 40 63 60
+f 41 64 42
+f 42 65 44
+f 42 64 66
+f 42 66 65
+f 43 55 45
+f 43 44 65
+f 43 65 67
+f 43 67 55
+f 45 55 68
+f 45 68 46
+f 46 68 69
+f 46 69 70
+f 46 70 47
+f 47 70 71
+f 47 71 72
+f 47 72 73
+f 47 73 74
+f 47 74 75
+f 47 75 60
+f 47 60 63
+f 47 63 48
+f 48 63 51
+f 48 51 49
+f 51 63 62
+f 51 62 76
+f 52 77 78
+f 52 78 53
+f 53 78 77
+f 53 77 79
+f 53 79 72
+f 53 72 69
+f 53 69 54
+f 54 69 80
+f 54 80 55
+f 55 80 68
+f 55 67 81
+f 55 81 82
+f 55 82 83
+f 55 83 56
+f 56 83 82
+f 56 82 84
+f 57 59 85
+f 58 86 59
+f 59 86 87
+f 59 87 82
+f 59 82 88
+f 59 88 67
+f 59 67 65
+f 59 65 66
+f 59 66 85
+f 61 76 62
+f 67 88 82
+f 67 82 81
+f 68 80 69
+f 69 72 70
+f 70 72 71
+f 72 79 73
+f 82 87 86
+f 82 86 84
+