Add asset furniture/table/551b4bfb8e2658bdb1add99362b1bf65

.gitattributes

@@ -3795,6 +3795,6 @@ dataset/furniture/table/2a842458f7855996b2183eb6253166be/mesh/wooden_striped_tab
 dataset/furniture/table/339bf1697be759f0957b3a00012d12c4/339bf1697be759f0957b3a00012d12c4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/339bf1697be759f0957b3a00012d12c4/mesh/wooden_oak_table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/339bf1697be759f0957b3a00012d12c4/mesh/wooden_oak_table_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/5d593bbc15645b7892847200bec51d36/5d593bbc15645b7892847200bec51d36.usd filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/5d593bbc15645b7892847200bec51d36/mesh/wooden_textured_desk.glb filter=lfs diff=lfs merge=lfs -text
-dataset/furniture/table/5d593bbc15645b7892847200bec51d36/mesh/wooden_textured_desk_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/551b4bfb8e2658bdb1add99362b1bf65.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/551b4bfb8e2658bdb1add99362b1bf65.urdf

@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="table">
+   <link name="table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/table.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/table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="11.5000" />
+         <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>1.183009</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>red wooden table with four legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251006073603</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</MeshGeoChecker>
+         <ImageSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</ImageSegChecker>
+         <ImageAestheticChecker>5.010873913764954</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/551b4bfb8e2658bdb1add99362b1bf65.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:906c08dcb5f2e4049afcf3ee7cef032f27296fffac89e5774ac4b47178dc5fe2
+size 244295

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/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/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mesh/table.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b484044fea6e9fa0de4949e3db1ad945f3417da59581856ec3d73c3b688998
+size 1529792

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mesh/table_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61d5c716b5e8db15ca4e4b74542007a12c1a642e21a59536ad0115682eb95a4c
+size 26038122

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/551b4bfb8e2658bdb1add99362b1bf65.xml

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="table">
+  <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/table.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/table_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/table_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/table_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/table_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/table_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/table_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/table_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/table_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/table_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/table_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/table_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/table_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/table_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/table_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/table_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/table_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/table_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/table_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/table_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/table_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/table_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/table_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/table_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/table_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/table_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/table_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="table">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_0.obj

@@ -0,0 +1,850 @@
+# https://github.com/mikedh/trimesh
+v -0.29673882 0.28246786 0.15661111
+v -0.29415342 0.26789151 0.15661105
+v -0.29589312 0.28506745 0.15661112
+v -0.29124187 0.29790314 0.12096499
+v -0.29107274 0.29756664 0.10152163
+v -0.29003374 0.29648756 0.04324645
+v -0.29589312 0.28246800 0.12096494
+v -0.29363394 0.26505982 0.15661104
+v -0.29247414 0.26646427 0.10152152
+v -0.29131434 0.29821632 0.15661117
+v -0.29127809 0.29808874 0.14040835
+v -0.28636103 0.30793001 0.15661120
+v -0.28630063 0.30780243 0.14040839
+v -0.27841160 0.32138106 0.04324654
+v -0.27045007 0.33378768 -0.09274712
+v -0.27014804 0.33333520 -0.13152401
+v -0.26997891 0.33307996 -0.15096737
+v -0.26979769 0.33276671 -0.17035580
+v -0.26960439 0.33239542 -0.18979918
+v -0.26941109 0.33200088 -0.20924254
+v -0.26920571 0.33160637 -0.22868590
+v -0.26903657 0.33130469 -0.24252694
+v -0.28971964 0.29591895 0.02385801
+v -0.26884327 0.33093337 -0.25548920
+v -0.27376033 0.32138199 -0.20924258
+v -0.29531322 0.28246807 0.10152158
+v -0.28942967 0.29525751 0.00441464
+v -0.28913974 0.29458449 -0.01502873
+v -0.28884977 0.29388825 -0.03447209
+v -0.28851150 0.29299471 -0.05386053
+v -0.28744835 0.25694766 0.15661101
+v -0.27086084 0.25150603 -0.18979948
+v -0.28843900 0.27229071 -0.05034543
+v -0.27860490 0.26300688 -0.17035605
+v -0.27947475 0.26300680 -0.15096762
+v -0.28032043 0.26300673 -0.13152426
+v -0.26984601 0.25243460 -0.22868619
+v -0.27037757 0.25193551 -0.20924283
+v -0.29049284 0.29982946 0.15661117
+v -0.27939018 0.32138064 0.15661125
+v -0.27858073 0.32138099 0.06268990
+v -0.27057087 0.33393849 -0.07330375
+v -0.26388997 0.34351299 -0.09274709
+v -0.26374499 0.34329254 -0.11213553
+v -0.26357585 0.34306051 -0.13152397
+v -0.26335839 0.34280527 -0.15096733
+v -0.26298387 0.34250361 -0.17035576
+v -0.26236773 0.34213228 -0.18979914
+v -0.25271483 0.35257711 -0.18979910
+v -0.25191746 0.35205497 -0.20924247
+v -0.25893667 0.34047300 -0.26751767
+v -0.26858956 0.33032994 -0.26751771
+v -0.27212936 0.32059304 -0.26751774
+v -0.27183941 0.32321578 -0.24862364
+v -0.27314419 0.32138206 -0.22868594
+v -0.28131110 0.30191971 -0.18979929
+v -0.28822155 0.27354415 -0.06330767
+v -0.28829404 0.29237965 -0.06512012
+v -0.28506835 0.28246899 -0.15096755
+v -0.28620398 0.25533452 0.15661101
+v -0.25926285 0.24549444 -0.18979950
+v -0.25926285 0.24482127 -0.17035612
+v -0.27127159 0.25115780 -0.17035610
+v -0.27766256 0.26300695 -0.18979943
+v -0.26935067 0.25288725 -0.24324126
+v -0.27809750 0.32360886 0.15661126
+v -0.27131992 0.33468066 0.08213333
+v -0.27113869 0.33462279 0.04324659
+v -0.27105412 0.33452998 0.02385815
+v -0.26396245 0.34367539 -0.07330372
+v -0.25423706 0.35398103 -0.09274705
+v -0.25409210 0.35383022 -0.11213549
+v -0.25391088 0.35364460 -0.13152393
+v -0.25370550 0.35343578 -0.15096729
+v -0.25333098 0.35306450 -0.17035572
+v -0.23995705 0.35674331 -0.15096728
+v -0.23995705 0.35608188 -0.17035571
+v -0.25102346 0.35146316 -0.22868583
+v -0.25836885 0.33963750 -0.28696105
+v -0.26802174 0.32911145 -0.28696109
+v -0.27174276 0.31937452 -0.28696113
+v -0.28059830 0.30191978 -0.20924265
+v -0.28425892 0.28246907 -0.17035598
+v -0.28343738 0.28246914 -0.18979936
+v -0.28241048 0.28246921 -0.20924272
+v -0.27653901 0.26300702 -0.20924279
+v -0.27713099 0.30192006 -0.28696119
+v -0.27316834 0.24953261 -0.05386069
+v -0.27340998 0.24933525 -0.03447225
+v -0.27367576 0.24918432 -0.01502889
+v -0.27655109 0.24824364 0.15661098
+v -0.27163402 0.25085599 -0.15096767
+v -0.27235891 0.25027557 -0.11213587
+v -0.27266092 0.25002019 -0.09274743
+v -0.23995705 0.24276719 -0.18979951
+v -0.25926285 0.24642296 -0.20924285
+v -0.23995705 0.24359125 -0.20924287
+v -0.23995705 0.24222168 -0.17035613
+v -0.25926285 0.24428735 -0.15096769
+v -0.25926285 0.24377664 -0.13152433
+v -0.25926285 0.24750233 -0.22868621
+v -0.27528256 0.26300709 -0.22868615
+v -0.27297504 0.26121992 -0.24906325
+v -0.26863789 0.25353721 -0.25620350
+v -0.26102672 0.24959137 -0.24906329
+v -0.27159779 0.33479643 0.15661130
+v -0.26450610 0.34434806 0.04324662
+v -0.25485321 0.35457238 0.04324666
+v -0.25430955 0.35407380 -0.07330368
+v -0.23995705 0.35792676 -0.07330367
+v -0.23995705 0.35778756 -0.09274704
+v -0.23995705 0.35749752 -0.11213548
+v -0.23995705 0.35717265 -0.13152392
+v -0.22724761 0.35297176 -0.20924246
+v -0.22782751 0.35249604 -0.22868583
+v -0.22862486 0.35188101 -0.24807429
+v -0.23995705 0.35529279 -0.18979909
+v -0.25025026 0.35096418 -0.24477879
+v -0.24954954 0.35055803 -0.25768612
+v -0.25747483 0.33856987 -0.30634952
+v -0.26712774 0.32746356 -0.30634956
+v -0.27125951 0.31773825 -0.30634959
+v -0.27610408 0.30192014 -0.30634965
+v -0.27771090 0.28246949 -0.28696126
+v -0.25926285 0.24290609 -0.09274746
+v -0.25926285 0.24261589 -0.07330409
+v -0.25926285 0.24135006 0.15661096
+v -0.25926285 0.24237211 -0.05386072
+v -0.25926285 0.24219797 -0.03447228
+v -0.25926285 0.24207022 -0.01502892
+v -0.25926285 0.24197730 0.00441445
+v -0.25926285 0.24328913 -0.11213590
+v -0.22504883 0.24962609 -0.22868620
+v -0.22434811 0.24911540 -0.20924284
+v -0.23995705 0.24469382 -0.22868622
+v -0.22597908 0.25032249 -0.24807466
+v -0.23995705 0.24181540 -0.15096770
+v -0.22388903 0.24877878 -0.18979949
+v -0.25776478 0.24975391 -0.26751800
+v -0.27233474 0.26621038 -0.28696132
+v -0.27299921 0.26429542 -0.26751795
+v -0.27147697 0.26825300 -0.30634977
+v -0.27036551 0.27034204 -0.32579311
+v -0.26949566 0.27183917 -0.33946937
+v -0.26741769 0.25457013 -0.26751798
+v -0.25521565 0.25085649 -0.28696138
+v -0.27042591 0.33640956 0.15661131
+v -0.26450610 0.34439441 0.06268999
+v -0.25485321 0.35463035 0.06269002
+v -0.23995705 0.35923731 0.15661139
+v -0.22061501 0.35886594 0.15661139
+v -0.22686101 0.35329667 -0.18979910
+v -0.19712911 0.34041344 0.15661132
+v -0.21759470 0.34136641 -0.20924251
+v -0.21981766 0.34083271 -0.24807433
+v -0.22955513 0.35114994 -0.26751763
+v -0.23995705 0.35444567 -0.20924246
+v -0.23995705 0.35340124 -0.22868582
+v -0.24185380 0.35185781 -0.24999663
+v -0.23623603 0.35114994 -0.26751763
+v -0.24588894 0.35019832 -0.26751763
+v -0.25299269 0.33442698 -0.36462467
+v -0.27029301 0.31508070 -0.32063000
+v -0.25147046 0.33279068 -0.37901496
+v -0.27280591 0.30303434 -0.32656196
+v -0.27101789 0.29730133 -0.34150151
+v -0.27419524 0.28246964 -0.32579306
+v -0.27632154 0.28246957 -0.30634972
+v -0.23995705 0.24142075 -0.13152434
+v -0.23995705 0.24104932 -0.11213590
+v -0.23995705 0.24080552 -0.09274747
+v -0.23995705 0.24104833 0.15661096
+v -0.23995705 0.24068940 -0.07330410
+v -0.23995705 0.24068933 -0.05386073
+v -0.23995705 0.24077021 0.04324624
+v -0.21539592 0.25793554 -0.22868617
+v -0.21469522 0.25722753 -0.20924282
+v -0.19541357 0.25665753 0.15661101
+v -0.23995705 0.24601690 -0.24807468
+v -0.22706639 0.25111173 -0.26751800
+v -0.21632617 0.25881762 -0.24807463
+v -0.20828008 0.24924170 0.15661099
+v -0.27092124 0.28246970 -0.34292958
+v -0.26544844 0.28246978 -0.36462486
+v -0.26002397 0.28246985 -0.38406824
+v -0.25312560 0.27022618 -0.38406829
+v -0.25696743 0.26741762 -0.36462492
+v -0.26086965 0.26628023 -0.34567590
+v -0.26486854 0.25647348 -0.28696136
+v -0.25034691 0.25295716 -0.31788400
+v -0.25223158 0.25214476 -0.30634983
+v -0.23995705 0.24758369 -0.26751801
+v -0.26442154 0.34452174 0.15661134
+v -0.25476863 0.35474605 0.15661137
+v -0.17332909 0.30233625 0.15661118
+v -0.21068425 0.33164114 -0.20924254
+v -0.21097420 0.33117693 -0.21956840
+v -0.21695440 0.33892935 -0.22709307
+v -0.21137288 0.33041103 -0.23253066
+v -0.21184405 0.32944784 -0.24807437
+v -0.22137612 0.34083278 -0.26751767
+v -0.23013501 0.35069740 -0.27850260
+v -0.23185055 0.35069740 -0.27850260
+v -0.23894224 0.34916551 -0.28575269
+v -0.23995705 0.34631064 -0.30634949
+v -0.25465991 0.32262440 -0.38494690
+v -0.26142540 0.30192042 -0.38406817
+v -0.23995705 0.34342101 -0.32579284
+v -0.23995705 0.34046171 -0.34523623
+v -0.23995705 0.33718905 -0.36462466
+v -0.23995705 0.33330132 -0.38093734
+v -0.23995705 0.32942515 -0.39060410
+v -0.25269066 0.31697264 -0.39697542
+v -0.22177481 0.24487809 0.15661097
+v -0.20795388 0.26855452 -0.24807459
+v -0.20733775 0.26767244 -0.22868614
+v -0.17483924 0.27488956 0.15661108
+v -0.22850406 0.25208665 -0.28696137
+v -0.21741349 0.25988538 -0.26751797
+v -0.20876333 0.26962228 -0.26751793
+v -0.25502235 0.30192048 -0.39911754
+v -0.25329473 0.28246990 -0.39719526
+v -0.25038316 0.27222234 -0.39439412
+v -0.23995705 0.26368069 -0.36462493
+v -0.24692792 0.25295716 -0.31788400
+v -0.23995705 0.24967272 -0.28696138
+v -0.22968801 0.25286425 -0.29970391
+v -0.19162007 0.29240329 -0.18123107
+v -0.20732566 0.31972257 -0.24807441
+v -0.17349822 0.29355097 0.15661115
+v -0.19162007 0.29200872 -0.18123107
+v -0.21248435 0.32804367 -0.26751772
+v -0.22410649 0.33884840 -0.30634952
+v -0.22436019 0.34234156 -0.28575271
+v -0.22521796 0.33721212 -0.32579286
+v -0.22645024 0.33563388 -0.34523625
+v -0.22782751 0.33388152 -0.36462467
+v -0.22914436 0.33234969 -0.37846572
+v -0.22712679 0.31705386 -0.39714022
+v -0.23995705 0.31969991 -0.39867811
+v -0.23995705 0.30192050 -0.40450020
+v -0.19966618 0.28246928 -0.22868608
+v -0.21883907 0.26133612 -0.28696134
+v -0.20981440 0.27106141 -0.28696130
+v -0.20127298 0.28246935 -0.24807454
+v -0.23955837 0.28084514 -0.39878809
+v -0.24573189 0.27222234 -0.39439412
+v -0.23955837 0.26970396 -0.38533154
+v -0.23287747 0.27327842 -0.39269146
+v -0.22855238 0.27102693 -0.37972923
+v -0.23407350 0.25380434 -0.31261122
+v -0.23995705 0.25942147 -0.34523653
+v -0.24028325 0.25524345 -0.32491439
+v -0.24028325 0.25213314 -0.30623995
+v -0.22657106 0.26900755 -0.36462491
+v -0.22445684 0.26682567 -0.34523650
+v -0.22254801 0.26480627 -0.32579313
+v -0.21024932 0.29571140 -0.34095226
+v -0.20471611 0.30192006 -0.28696119
+v -0.20250526 0.30191999 -0.26751781
+v -0.20065683 0.30191992 -0.24807447
+v -0.19900171 0.30191985 -0.22868601
+v -0.20812303 0.31830677 -0.26751775
+v -0.20314556 0.28246942 -0.26751788
+v -0.20535643 0.28246949 -0.28696126
+v -0.21024932 0.29008280 -0.34095228
+v -0.21335420 0.32582714 -0.28696110
+v -0.22080831 0.32138256 -0.36462472
+v -0.22509714 0.32268244 -0.38456241
+v -0.22498843 0.30192048 -0.39911754
+v -0.21767927 0.30192042 -0.38406817
+v -0.22640193 0.28625324 -0.39757970
+v -0.21062383 0.27219878 -0.29898983
+v -0.22365948 0.28084510 -0.38533150
+v -0.21778800 0.28246978 -0.36462486
+v -0.21167490 0.27442706 -0.31195205
+v -0.21451400 0.30192035 -0.36462479
+v -0.21166283 0.30866295 -0.32936309
+v -0.21097420 0.31172670 -0.31640081
+v -0.20918618 0.31610182 -0.28696114
+v -0.20825591 0.28152952 -0.30585540
+v -0.21289512 0.27728204 -0.32579308
+v -0.21412740 0.28314281 -0.34655462
+v -0.21833165 0.32138249 -0.34523630
+f 1 2 8
+f 1 8 31
+f 1 31 60
+f 1 60 91
+f 1 91 127
+f 1 127 172
+f 1 172 214
+f 1 214 182
+f 1 182 178
+f 1 178 217
+f 1 217 230
+f 1 230 195
+f 1 195 153
+f 1 153 151
+f 1 151 150
+f 1 150 194
+f 1 194 193
+f 1 193 147
+f 1 147 106
+f 1 106 66
+f 1 66 40
+f 1 40 12
+f 1 12 39
+f 1 39 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 6
+f 6 23 7
+f 6 22 24
+f 6 24 25
+f 6 25 23
+f 7 26 9
+f 7 23 27
+f 7 27 28
+f 7 28 29
+f 7 29 30
+f 7 30 26
+f 8 9 32
+f 8 32 31
+f 9 26 33
+f 9 33 34
+f 9 34 35
+f 9 35 36
+f 9 36 37
+f 9 37 38
+f 9 38 32
+f 10 39 11
+f 11 39 12
+f 12 40 13
+f 13 40 41
+f 13 41 14
+f 14 41 42
+f 14 42 15
+f 15 42 43
+f 15 43 44
+f 15 44 16
+f 16 44 45
+f 16 45 17
+f 17 45 46
+f 17 46 18
+f 18 46 19
+f 19 46 20
+f 20 46 21
+f 21 46 22
+f 22 46 47
+f 22 47 24
+f 23 25 27
+f 24 47 48
+f 24 48 49
+f 24 49 50
+f 24 50 51
+f 24 51 52
+f 24 52 53
+f 24 53 54
+f 24 54 55
+f 24 55 25
+f 25 55 56
+f 25 56 29
+f 25 29 28
+f 25 28 27
+f 26 57 33
+f 26 30 58
+f 26 58 59
+f 26 59 57
+f 29 56 30
+f 30 56 58
+f 31 32 60
+f 32 38 61
+f 32 61 62
+f 32 62 63
+f 32 63 60
+f 33 57 64
+f 33 64 34
+f 34 64 37
+f 34 37 35
+f 35 37 36
+f 37 65 61
+f 37 61 38
+f 37 64 65
+f 40 66 67
+f 40 67 68
+f 40 68 69
+f 40 69 42
+f 40 42 41
+f 42 70 43
+f 42 69 70
+f 43 70 71
+f 43 71 72
+f 43 72 44
+f 44 72 73
+f 44 73 45
+f 45 73 74
+f 45 74 46
+f 46 74 47
+f 47 74 75
+f 47 75 48
+f 48 75 49
+f 49 75 76
+f 49 76 77
+f 49 77 50
+f 50 77 78
+f 50 78 79
+f 50 79 51
+f 51 79 52
+f 52 79 80
+f 52 80 81
+f 52 81 53
+f 53 81 82
+f 53 82 56
+f 53 56 54
+f 54 56 55
+f 56 82 58
+f 57 59 83
+f 57 83 84
+f 57 84 85
+f 57 85 86
+f 57 86 64
+f 58 82 87
+f 58 87 84
+f 58 84 83
+f 58 83 59
+f 60 88 89
+f 60 89 90
+f 60 90 91
+f 60 63 92
+f 60 92 93
+f 60 93 94
+f 60 94 88
+f 61 95 62
+f 61 65 96
+f 61 96 97
+f 61 97 95
+f 62 98 99
+f 62 99 63
+f 62 95 98
+f 63 99 100
+f 63 100 92
+f 64 86 65
+f 65 101 96
+f 65 86 102
+f 65 102 103
+f 65 103 104
+f 65 104 105
+f 65 105 101
+f 66 106 67
+f 67 106 107
+f 67 107 68
+f 68 107 69
+f 69 107 70
+f 70 107 71
+f 71 107 108
+f 71 108 109
+f 71 109 110
+f 71 110 111
+f 71 111 72
+f 72 111 73
+f 73 111 74
+f 74 111 112
+f 74 112 113
+f 74 113 76
+f 74 76 75
+f 76 114 115
+f 76 115 77
+f 76 113 114
+f 77 115 116
+f 77 116 117
+f 77 117 78
+f 78 118 79
+f 78 117 118
+f 79 118 119
+f 79 119 120
+f 79 120 80
+f 80 120 121
+f 80 121 122
+f 80 122 81
+f 81 122 87
+f 81 87 82
+f 84 87 85
+f 85 87 123
+f 85 123 124
+f 85 124 86
+f 86 124 102
+f 87 122 123
+f 88 94 125
+f 88 125 89
+f 89 125 126
+f 89 126 90
+f 90 126 91
+f 91 126 128
+f 91 128 129
+f 91 129 130
+f 91 130 131
+f 91 131 127
+f 92 100 132
+f 92 132 93
+f 93 132 94
+f 94 132 125
+f 95 97 133
+f 95 133 134
+f 95 134 98
+f 96 101 97
+f 97 101 135
+f 97 135 136
+f 97 136 133
+f 98 137 132
+f 98 132 100
+f 98 100 99
+f 98 134 138
+f 98 138 137
+f 101 105 139
+f 101 139 135
+f 102 124 140
+f 102 140 141
+f 102 141 103
+f 103 141 104
+f 104 141 140
+f 104 140 142
+f 104 142 143
+f 104 143 144
+f 104 144 145
+f 104 145 146
+f 104 146 139
+f 104 139 105
+f 106 147 148
+f 106 148 107
+f 107 148 149
+f 107 149 108
+f 108 149 150
+f 108 150 109
+f 109 150 110
+f 110 150 151
+f 110 151 111
+f 111 151 112
+f 112 151 113
+f 113 152 114
+f 113 151 152
+f 114 152 153
+f 114 153 115
+f 115 153 154
+f 115 154 116
+f 116 155 156
+f 116 156 117
+f 116 154 155
+f 117 156 157
+f 117 157 119
+f 117 119 118
+f 119 157 158
+f 119 158 159
+f 119 159 160
+f 119 160 161
+f 119 161 162
+f 119 162 120
+f 120 162 121
+f 121 163 122
+f 121 162 164
+f 121 164 163
+f 122 163 123
+f 123 163 165
+f 123 165 166
+f 123 166 167
+f 123 167 168
+f 123 168 124
+f 124 168 140
+f 125 132 169
+f 125 169 170
+f 125 170 126
+f 126 170 171
+f 126 171 128
+f 127 131 173
+f 127 173 174
+f 127 174 175
+f 127 175 172
+f 128 171 129
+f 129 171 130
+f 130 171 173
+f 130 173 131
+f 132 137 169
+f 133 176 177
+f 133 177 134
+f 133 136 176
+f 134 177 178
+f 134 178 138
+f 135 139 179
+f 135 179 180
+f 135 180 136
+f 136 180 181
+f 136 181 176
+f 137 138 169
+f 138 170 169
+f 138 178 182
+f 138 182 170
+f 139 146 179
+f 140 168 142
+f 142 168 143
+f 143 168 144
+f 144 168 167
+f 144 167 183
+f 144 183 184
+f 144 184 185
+f 144 185 186
+f 144 186 187
+f 144 187 188
+f 144 188 189
+f 144 189 145
+f 145 189 190
+f 145 190 191
+f 145 191 146
+f 146 192 179
+f 146 191 192
+f 147 193 148
+f 148 193 149
+f 149 193 194
+f 149 194 150
+f 151 153 152
+f 153 195 196
+f 153 196 154
+f 154 196 197
+f 154 197 198
+f 154 198 155
+f 155 199 200
+f 155 200 201
+f 155 201 156
+f 155 198 199
+f 156 201 202
+f 156 202 157
+f 157 202 158
+f 158 202 203
+f 158 203 160
+f 158 160 159
+f 160 203 161
+f 161 203 204
+f 161 204 205
+f 161 205 162
+f 162 205 164
+f 163 164 206
+f 163 206 207
+f 163 207 165
+f 164 205 208
+f 164 208 209
+f 164 209 210
+f 164 210 211
+f 164 211 212
+f 164 212 213
+f 164 213 206
+f 165 207 166
+f 166 183 167
+f 166 207 183
+f 170 182 171
+f 171 182 214
+f 171 214 173
+f 172 175 214
+f 173 214 174
+f 174 214 175
+f 176 181 215
+f 176 215 216
+f 176 216 217
+f 176 217 177
+f 177 217 178
+f 179 192 218
+f 179 218 180
+f 180 219 181
+f 180 218 219
+f 181 219 220
+f 181 220 215
+f 183 207 184
+f 184 207 185
+f 185 207 221
+f 185 221 222
+f 185 222 223
+f 185 223 186
+f 186 223 190
+f 186 190 187
+f 187 190 189
+f 187 189 188
+f 190 223 224
+f 190 224 225
+f 190 225 192
+f 190 192 191
+f 192 225 226
+f 192 226 227
+f 192 227 218
+f 195 228 229
+f 195 229 200
+f 195 200 199
+f 195 199 197
+f 195 197 196
+f 195 230 231
+f 195 231 228
+f 197 199 198
+f 200 229 232
+f 200 232 201
+f 201 232 233
+f 201 233 234
+f 201 234 202
+f 202 234 233
+f 202 233 235
+f 202 235 236
+f 202 236 237
+f 202 237 238
+f 202 238 210
+f 202 210 209
+f 202 209 203
+f 203 209 208
+f 203 208 205
+f 203 205 204
+f 206 213 207
+f 207 213 221
+f 210 238 211
+f 211 238 212
+f 212 239 240
+f 212 240 213
+f 212 238 239
+f 213 240 241
+f 213 241 221
+f 215 220 217
+f 215 217 216
+f 217 220 242
+f 217 242 231
+f 217 231 230
+f 218 227 243
+f 218 243 219
+f 219 243 244
+f 219 244 220
+f 220 244 245
+f 220 245 242
+f 221 241 222
+f 222 241 246
+f 222 246 223
+f 223 246 247
+f 223 247 224
+f 224 247 248
+f 224 248 249
+f 224 249 250
+f 224 250 251
+f 224 251 252
+f 224 252 225
+f 225 252 253
+f 225 253 251
+f 225 251 254
+f 225 254 226
+f 226 254 251
+f 226 251 227
+f 227 251 250
+f 227 250 255
+f 227 255 256
+f 227 256 257
+f 227 257 243
+f 228 231 266
+f 228 266 258
+f 228 258 259
+f 228 259 260
+f 228 260 261
+f 228 261 262
+f 228 262 263
+f 228 263 229
+f 229 263 232
+f 231 242 245
+f 231 245 264
+f 231 264 265
+f 231 265 266
+f 232 263 267
+f 232 267 236
+f 232 236 235
+f 232 235 233
+f 236 267 237
+f 237 267 268
+f 237 268 238
+f 238 268 269
+f 238 269 239
+f 239 270 241
+f 239 241 240
+f 239 269 271
+f 239 271 270
+f 241 270 272
+f 241 272 246
+f 243 273 244
+f 243 257 273
+f 244 273 264
+f 244 264 245
+f 246 272 249
+f 246 249 247
+f 247 249 248
+f 249 274 250
+f 249 272 274
+f 250 275 255
+f 250 274 275
+f 251 253 252
+f 255 275 276
+f 255 276 273
+f 255 273 256
+f 256 273 257
+f 258 266 271
+f 258 271 277
+f 258 277 259
+f 259 277 278
+f 259 278 279
+f 259 279 260
+f 260 279 280
+f 260 280 261
+f 261 280 263
+f 261 263 262
+f 263 280 267
+f 264 273 265
+f 265 273 281
+f 265 281 266
+f 266 281 276
+f 266 276 282
+f 266 282 283
+f 266 283 275
+f 266 275 271
+f 267 280 284
+f 267 284 268
+f 268 277 271
+f 268 271 269
+f 268 284 279
+f 268 279 278
+f 268 278 277
+f 270 271 272
+f 271 275 274
+f 271 274 272
+f 273 276 281
+f 275 283 282
+f 275 282 276
+f 279 284 280
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_1.obj

@@ -0,0 +1,928 @@
+# https://github.com/mikedh/trimesh
+v 0.19250150 -0.36954492 0.15660871
+v 0.19444926 -0.39329151 0.15660863
+v 0.19437844 -0.34991259 0.15660878
+v 0.22416140 -0.39864531 -0.24810421
+v 0.22268584 -0.39864538 -0.22865676
+v 0.19571236 -0.39871390 0.15660861
+v 0.22608557 -0.41810999 -0.22865684
+v 0.20914598 -0.34531753 0.15660880
+v 0.24926978 -0.34795478 -0.18981584
+v 0.25004886 -0.34858080 -0.20926330
+v 0.25115850 -0.34932979 -0.22865658
+v 0.25199662 -0.34982169 -0.24084509
+v 0.24400493 -0.36150475 -0.28694480
+v 0.23284959 -0.36907382 -0.26018428
+v 0.23347523 -0.37070605 -0.27313117
+v 0.23066573 -0.37799551 -0.26700987
+v 0.23133861 -0.38309361 -0.28694488
+v 0.22615639 -0.39864524 -0.26749749
+v 0.23181079 -0.41103271 -0.30639242
+v 0.23028799 -0.41412968 -0.28694499
+v 0.22898949 -0.41655584 -0.26749756
+v 0.20038697 -0.41631141 0.15660854
+v 0.22868257 -0.41984287 -0.24859184
+v 0.23267251 -0.42820561 -0.24241634
+v 0.20140217 -0.41974373 0.15660853
+v 0.24729840 -0.33415979 0.15660884
+v 0.26201873 -0.34452247 -0.18981583
+v 0.26201873 -0.34552862 -0.20926329
+v 0.26201873 -0.34671364 -0.22865657
+v 0.26087367 -0.34822290 -0.24767067
+v 0.25367289 -0.35032472 -0.25384618
+v 0.24548050 -0.36273451 -0.30639224
+v 0.23434878 -0.37335571 -0.28694484
+v 0.24720396 -0.36431083 -0.32578554
+v 0.24911632 -0.36620019 -0.34523299
+v 0.25121752 -0.36831317 -0.36468047
+v 0.23233019 -0.38638052 -0.30140861
+v 0.22855272 -0.39864517 -0.28694493
+v 0.23276695 -0.40904260 -0.31782255
+v 0.23705203 -0.42385638 -0.28694503
+v 0.23477373 -0.42629371 -0.26749760
+v 0.23351065 -0.42747887 -0.25536325
+v 0.24271822 -0.43327029 -0.22865689
+v 0.23207048 -0.42874232 -0.22865687
+v 0.24442988 -0.43129125 -0.26749761
+v 0.24105378 -0.43128015 -0.24859188
+v 0.21042087 -0.42888909 0.15660849
+v 0.23144484 -0.42929022 -0.20926360
+v 0.28133103 -0.32678088 0.15660887
+v 0.28133103 -0.34390748 -0.20926328
+v 0.28133103 -0.34488009 -0.22865657
+v 0.26564274 -0.34863648 -0.26749731
+v 0.25598658 -0.35086133 -0.26749732
+v 0.25235077 -0.36944233 -0.37443126
+v 0.24213980 -0.37920268 -0.34523303
+v 0.23871646 -0.37920275 -0.32578559
+v 0.23543480 -0.37962768 -0.30731322
+v 0.26201873 -0.35673068 -0.32578551
+v 0.26201873 -0.35998403 -0.34523296
+v 0.23333358 -0.39193701 -0.31435554
+v 0.23162191 -0.39852212 -0.30731329
+v 0.23276695 -0.40491710 -0.31782254
+v 0.24189190 -0.39864488 -0.36468058
+v 0.24978917 -0.41139019 -0.38066112
+v 0.24733382 -0.41422999 -0.36468064
+v 0.25118211 -0.42847365 -0.32047700
+v 0.24926978 -0.42942400 -0.30639249
+v 0.24670818 -0.43053094 -0.28694505
+v 0.26201873 -0.43242037 -0.28694506
+v 0.26201873 -0.43348255 -0.26749762
+v 0.24271822 -0.43427654 -0.20926362
+v 0.22312261 -0.43513876 0.15660847
+v 0.22922558 -0.43114646 -0.11213468
+v 0.22880061 -0.43144841 -0.09274140
+v 0.24271822 -0.43508160 -0.18981616
+v 0.24271822 -0.43587545 -0.17036872
+v 0.24271822 -0.43660225 -0.15097543
+v 0.29995867 -0.33884424 0.15660883
+v 0.29712556 -0.34496998 -0.11213437
+v 0.29582704 -0.34615485 -0.17036839
+v 0.29534309 -0.34654608 -0.18981583
+v 0.29483548 -0.34695969 -0.20926329
+v 0.29418622 -0.34750742 -0.22865658
+v 0.29335989 -0.34816698 -0.24810403
+v 0.29228567 -0.34901661 -0.26749731
+v 0.28133103 -0.34607631 -0.24810402
+v 0.26875914 -0.34937431 -0.28271940
+v 0.26220759 -0.35148734 -0.28829903
+v 0.26201873 -0.35380155 -0.30639221
+v 0.26362415 -0.36791063 -0.38217774
+v 0.27113187 -0.36925219 -0.39404124
+v 0.25825305 -0.37451808 -0.38737819
+v 0.25168970 -0.38748700 -0.39447466
+v 0.25008428 -0.38028704 -0.38217779
+v 0.24578742 -0.37920261 -0.36468051
+v 0.26201873 -0.36377403 -0.36468046
+v 0.28133103 -0.35061527 -0.29290359
+v 0.28133103 -0.35286242 -0.30639221
+v 0.28133103 -0.35621640 -0.32578551
+v 0.28133103 -0.35965981 -0.34523296
+v 0.23814984 -0.39864495 -0.34523310
+v 0.23454945 -0.39852206 -0.32491894
+v 0.24854969 -0.40019885 -0.38591566
+v 0.25266950 -0.40771188 -0.39360802
+v 0.26201873 -0.42282753 -0.36468067
+v 0.25523108 -0.42748976 -0.33342391
+v 0.26027164 -0.41463242 -0.38591571
+v 0.26180623 -0.42893203 -0.32648999
+v 0.26201873 -0.43087745 -0.30639249
+v 0.27225330 -0.42820525 -0.33922023
+v 0.27297338 -0.42873079 -0.32578577
+v 0.27370526 -0.42928986 -0.30639249
+v 0.26201873 -0.43420935 -0.24810434
+v 0.24271822 -0.43843608 -0.07329398
+v 0.24271822 -0.43876036 -0.05390070
+v 0.24271822 -0.43903993 -0.03445325
+v 0.24271822 -0.43927479 -0.01500580
+v 0.24271822 -0.44063920 0.10151638
+v 0.24271822 -0.44084051 0.12096382
+v 0.24271822 -0.44094122 0.14041128
+v 0.24271822 -0.44099717 0.15660845
+v 0.24271822 -0.43718369 -0.13152799
+v 0.24271822 -0.43765333 -0.11213471
+v 0.24271822 -0.43806705 -0.09274143
+v 0.26201873 -0.43486902 -0.22865690
+v 0.26201873 -0.43548400 -0.20926362
+v 0.30089124 -0.33999578 0.15660882
+v 0.30711226 -0.35502097 -0.09274112
+v 0.30678173 -0.35530043 -0.11213441
+v 0.29745610 -0.34461229 -0.09274109
+v 0.30638035 -0.35562458 -0.13152769
+v 0.29672422 -0.34538356 -0.13152765
+v 0.30593178 -0.35602698 -0.15097514
+v 0.30548321 -0.35651884 -0.17036843
+v 0.30449161 -0.35768141 -0.20926333
+v 0.30384239 -0.35813974 -0.22865662
+v 0.30301606 -0.35869867 -0.24810407
+v 0.30346463 -0.36140422 -0.26782237
+v 0.29142395 -0.34968736 -0.27963166
+v 0.28133103 -0.34764146 -0.26749731
+v 0.28133103 -0.34928488 -0.28315276
+v 0.27235955 -0.36925219 -0.39404124
+v 0.27980823 -0.37981742 -0.39599145
+v 0.26362415 -0.38028699 -0.39582891
+v 0.28133103 -0.36342744 -0.36468045
+v 0.26027164 -0.40019881 -0.39658739
+v 0.25168970 -0.39473173 -0.39447469
+v 0.26553649 -0.41051807 -0.39534151
+v 0.27564121 -0.41051807 -0.39534151
+v 0.28177961 -0.41340260 -0.38380303
+v 0.26810989 -0.42820525 -0.33922023
+v 0.26180623 -0.42642760 -0.34550407
+v 0.28133103 -0.41851200 -0.36468066
+v 0.29176629 -0.40934421 -0.37713998
+v 0.29223848 -0.40991447 -0.36468063
+v 0.27423646 -0.42972596 -0.28694505
+v 0.26201873 -0.43715008 -0.15097544
+v 0.26201873 -0.43748553 -0.13152799
+v 0.26201873 -0.43816775 -0.07329398
+v 0.26201873 -0.43838023 -0.05390070
+v 0.26201873 -0.43852565 -0.03445325
+v 0.26201873 -0.43731890 0.15660846
+v 0.26201873 -0.43858161 -0.01500580
+v 0.26201873 -0.43859289 0.00438748
+v 0.26201873 -0.43852594 0.04328238
+v 0.26201873 -0.43848130 0.06267566
+v 0.26201873 -0.43840311 0.08212311
+v 0.26201873 -0.43825782 0.10151639
+v 0.26201873 -0.43798956 0.12096383
+v 0.26201873 -0.43763189 0.14041129
+v 0.26201873 -0.43606545 -0.18981616
+v 0.26201873 -0.43663572 -0.17036872
+v 0.30898916 -0.35287533 0.15660877
+v 0.30849336 -0.35347877 0.08212342
+v 0.30750180 -0.35452920 -0.05390039
+v 0.30734834 -0.35476392 -0.07329367
+v 0.31231808 -0.36575372 -0.15097517
+v 0.31209377 -0.36625675 -0.17036847
+v 0.31124386 -0.36786648 -0.22865665
+v 0.31093694 -0.36843657 -0.24810410
+v 0.31058279 -0.36900673 -0.26153857
+v 0.29806993 -0.36179538 -0.30639224
+v 0.29809355 -0.35820662 -0.28645724
+v 0.29639369 -0.36380772 -0.32578554
+v 0.29452856 -0.36587598 -0.34523298
+v 0.29254539 -0.36796658 -0.36468047
+v 0.29134133 -0.36914045 -0.37529801
+v 0.27980823 -0.36774293 -0.38271945
+v 0.28523835 -0.37374663 -0.38824493
+v 0.29195517 -0.38670439 -0.39474552
+v 0.28177961 -0.39858888 -0.39680408
+v 0.29195517 -0.39205968 -0.39474554
+v 0.28850822 -0.40503982 -0.39014103
+v 0.29412722 -0.39858893 -0.38380297
+v 0.29799909 -0.39864488 -0.36468058
+v 0.29902611 -0.39864495 -0.34523310
+v 0.29988783 -0.39864502 -0.32578566
+v 0.30071416 -0.39864509 -0.30639237
+v 0.30142243 -0.39864517 -0.28694493
+v 0.30193003 -0.39864524 -0.26749749
+v 0.29299397 -0.41087626 -0.28694498
+v 0.28421134 -0.42082665 -0.26749758
+v 0.28389263 -0.42060297 -0.28694501
+v 0.27455519 -0.43002790 -0.26749761
+v 0.27551137 -0.43097863 -0.15097541
+v 0.27565302 -0.43110168 -0.13152796
+v 0.27607799 -0.43143731 -0.07329395
+v 0.27619603 -0.43156035 -0.05390068
+v 0.27621965 -0.43160514 -0.03445323
+v 0.27234774 -0.43174000 0.15660848
+v 0.27612520 -0.43159404 -0.01500578
+v 0.27600717 -0.43153820 0.00438750
+v 0.27587730 -0.43144884 0.02383496
+v 0.27573565 -0.43135948 0.04328241
+v 0.27554679 -0.43127008 0.06267569
+v 0.27535791 -0.43116955 0.08212314
+v 0.27512182 -0.43102427 0.10151642
+v 0.27446077 -0.43058846 0.15660849
+v 0.30968565 -0.35449644 0.15660877
+v 0.31295553 -0.36409945 -0.03445298
+v 0.31290830 -0.36426711 -0.05390043
+v 0.31280207 -0.36449062 -0.07329371
+v 0.31268400 -0.36474771 -0.09274116
+v 0.31256596 -0.36502714 -0.11213444
+v 0.31244792 -0.36536249 -0.13152772
+v 0.31231808 -0.37769411 -0.15097522
+v 0.31209377 -0.37757105 -0.17036851
+v 0.31124386 -0.37590498 -0.22865668
+v 0.31093694 -0.37429498 -0.24810412
+v 0.30601443 -0.37920282 -0.30639230
+v 0.30372432 -0.37920275 -0.32578559
+v 0.30115093 -0.37920268 -0.34523303
+v 0.29830601 -0.37920261 -0.36468051
+v 0.31058279 -0.37198064 -0.26153858
+v 0.29387930 -0.37981746 -0.38271950
+v 0.30798579 -0.37920290 -0.28694486
+v 0.30957942 -0.38401051 -0.24810416
+v 0.30972107 -0.38563172 -0.22865672
+v 0.30981550 -0.38644791 -0.20926344
+v 0.30221334 -0.39864531 -0.24810421
+v 0.29315923 -0.41109991 -0.26749754
+v 0.30985092 -0.38695109 -0.18981598
+v 0.28484879 -0.42133004 -0.18981611
+v 0.28516752 -0.42148671 -0.15097538
+v 0.28530917 -0.42155384 -0.13152793
+v 0.28542723 -0.42158745 -0.11213465
+v 0.28558069 -0.42154281 -0.09274137
+v 0.28573415 -0.42147579 -0.07329392
+v 0.28585218 -0.42137526 -0.05390064
+v 0.28586399 -0.42119643 -0.03445319
+v 0.28578136 -0.42093938 -0.01500574
+v 0.28566330 -0.42068230 0.00438754
+v 0.28553346 -0.42043641 0.02383500
+v 0.28340864 -0.41811141 0.15660853
+v 0.28538000 -0.42008989 0.04328245
+v 0.28520292 -0.41956448 0.06267573
+v 0.31304995 -0.36260204 0.15660874
+v 0.31308537 -0.36307139 0.10151667
+v 0.31307357 -0.36320550 0.08212339
+v 0.31300272 -0.36385365 0.00438775
+v 0.31295553 -0.37686720 -0.03445302
+v 0.31290830 -0.37714663 -0.05390048
+v 0.31280207 -0.37743723 -0.07329376
+v 0.31268400 -0.37762722 -0.09274121
+v 0.31244792 -0.37769418 -0.13152777
+v 0.31149174 -0.37673238 -0.20926340
+v 0.30942593 -0.37875578 -0.26782243
+v 0.30244945 -0.39864538 -0.22865676
+v 0.29326546 -0.41122296 -0.24810426
+v 0.30986273 -0.38728658 -0.17036854
+v 0.31256596 -0.37769425 -0.11213449
+v 0.29343073 -0.41148026 -0.20926353
+v 0.29347796 -0.41159213 -0.18981607
+v 0.29351338 -0.41168163 -0.17036863
+v 0.29356057 -0.41174880 -0.15097534
+v 0.29359600 -0.41182714 -0.13152789
+v 0.29356057 -0.41184955 -0.11213461
+v 0.29344254 -0.41181611 -0.09274133
+v 0.29333631 -0.41174908 -0.07329388
+v 0.29321823 -0.41164852 -0.05390060
+v 0.29306477 -0.41146973 -0.03445315
+v 0.29250997 -0.41069851 0.02383503
+v 0.30715946 -0.38431387 0.15660866
+v 0.29228567 -0.41036316 0.04328248
+v 0.31304995 -0.37459834 0.15660869
+v 0.31306176 -0.36281442 0.14041157
+v 0.31308537 -0.37493352 0.10151662
+v 0.31307357 -0.37526887 0.08212334
+v 0.31300272 -0.37633069 0.00438771
+v 0.31303814 -0.37591715 0.04328261
+v 0.30979188 -0.38740978 -0.11213452
+v 0.30981550 -0.38742088 -0.13152780
+v 0.30983911 -0.38740964 -0.15097525
+v 0.30261471 -0.39864545 -0.20926348
+v 0.30269733 -0.39864552 -0.18981602
+v 0.30274456 -0.39864559 -0.17036858
+v 0.30276817 -0.39864567 -0.15097529
+v 0.30277998 -0.39864574 -0.13152784
+v 0.30270914 -0.39864581 -0.11213456
+v 0.30254387 -0.39864588 -0.09274128
+v 0.30231957 -0.39864595 -0.07329383
+v 0.30203626 -0.39864602 -0.05390055
+v 0.30170573 -0.39864609 -0.03445310
+v 0.30063151 -0.39864631 0.02383508
+v 0.30024198 -0.39864638 0.04328253
+v 0.31208197 -0.37621945 0.15660869
+v 0.30858782 -0.38563272 0.04328257
+v 0.31306176 -0.37460945 0.14041152
+v 0.30961481 -0.38715276 -0.07329379
+v 0.30973285 -0.38734276 -0.09274124
+f 1 2 6
+f 1 6 22
+f 1 22 25
+f 1 25 47
+f 1 47 72
+f 1 72 121
+f 1 121 162
+f 1 162 210
+f 1 210 218
+f 1 218 254
+f 1 254 283
+f 1 283 306
+f 1 306 285
+f 1 285 257
+f 1 257 219
+f 1 219 173
+f 1 173 127
+f 1 127 78
+f 1 78 49
+f 1 49 26
+f 1 26 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 7
+f 4 7 5
+f 6 7 22
+f 7 21 23
+f 7 23 24
+f 7 24 25
+f 7 25 22
+f 8 26 9
+f 9 27 10
+f 9 26 27
+f 10 27 28
+f 10 28 11
+f 11 28 12
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 13
+f 13 32 14
+f 14 32 15
+f 15 33 17
+f 15 17 16
+f 15 32 34
+f 15 34 35
+f 15 35 36
+f 15 36 33
+f 17 33 37
+f 17 37 18
+f 18 37 38
+f 18 38 39
+f 18 39 19
+f 19 39 40
+f 19 40 41
+f 19 41 20
+f 20 41 42
+f 20 42 21
+f 21 42 23
+f 23 42 24
+f 24 43 44
+f 24 44 25
+f 24 42 45
+f 24 45 46
+f 24 46 43
+f 25 44 48
+f 25 48 47
+f 26 49 27
+f 27 50 51
+f 27 51 28
+f 27 49 50
+f 28 51 52
+f 28 52 29
+f 29 52 30
+f 30 52 31
+f 31 52 53
+f 31 53 34
+f 31 34 32
+f 33 36 54
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 37
+f 34 53 35
+f 35 53 58
+f 35 58 36
+f 36 58 59
+f 36 59 54
+f 37 57 56
+f 37 56 55
+f 37 55 60
+f 37 60 38
+f 38 60 61
+f 38 61 62
+f 38 62 39
+f 39 62 63
+f 39 63 64
+f 39 64 65
+f 39 65 40
+f 40 65 66
+f 40 66 41
+f 41 66 42
+f 42 66 67
+f 42 67 68
+f 42 68 45
+f 43 46 45
+f 43 45 68
+f 43 68 69
+f 43 69 70
+f 43 70 71
+f 43 71 44
+f 44 71 48
+f 47 48 73
+f 47 73 74
+f 47 74 72
+f 48 71 75
+f 48 75 76
+f 48 76 77
+f 48 77 73
+f 49 78 79
+f 49 79 80
+f 49 80 81
+f 49 81 82
+f 49 82 83
+f 49 83 84
+f 49 84 50
+f 50 84 51
+f 51 84 85
+f 51 85 86
+f 51 86 52
+f 52 87 53
+f 52 86 87
+f 53 87 88
+f 53 88 89
+f 53 89 58
+f 54 90 91
+f 54 91 92
+f 54 92 93
+f 54 93 94
+f 54 94 95
+f 54 95 55
+f 54 59 96
+f 54 96 90
+f 55 95 60
+f 58 89 87
+f 58 87 97
+f 58 97 98
+f 58 98 59
+f 59 98 99
+f 59 99 100
+f 59 100 91
+f 59 91 96
+f 60 95 63
+f 60 63 101
+f 60 101 102
+f 60 102 62
+f 60 62 61
+f 62 102 101
+f 62 101 63
+f 63 95 93
+f 63 93 103
+f 63 103 104
+f 63 104 64
+f 64 105 106
+f 64 106 65
+f 64 104 107
+f 64 107 105
+f 65 106 66
+f 66 106 108
+f 66 108 109
+f 66 109 67
+f 67 109 69
+f 67 69 68
+f 69 109 110
+f 69 110 70
+f 70 110 111
+f 70 111 112
+f 70 112 113
+f 70 113 77
+f 70 77 76
+f 70 76 75
+f 70 75 71
+f 72 114 115
+f 72 115 116
+f 72 116 117
+f 72 117 118
+f 72 118 119
+f 72 119 120
+f 72 120 121
+f 72 74 122
+f 72 122 123
+f 72 123 124
+f 72 124 114
+f 73 77 122
+f 73 122 74
+f 77 113 125
+f 77 125 126
+f 77 126 171
+f 77 171 122
+f 78 127 128
+f 78 128 129
+f 78 129 130
+f 78 130 79
+f 79 130 129
+f 79 129 131
+f 79 131 132
+f 79 132 80
+f 80 132 131
+f 80 131 133
+f 80 133 81
+f 81 133 82
+f 82 133 134
+f 82 134 135
+f 82 135 136
+f 82 136 83
+f 83 136 137
+f 83 137 84
+f 84 137 85
+f 85 137 138
+f 85 138 139
+f 85 139 86
+f 86 139 140
+f 86 140 87
+f 87 89 88
+f 87 140 141
+f 87 141 97
+f 90 96 91
+f 91 142 143
+f 91 143 144
+f 91 144 93
+f 91 93 92
+f 91 100 145
+f 91 145 142
+f 93 144 146
+f 93 146 147
+f 93 147 103
+f 93 95 94
+f 97 141 139
+f 97 139 98
+f 98 139 99
+f 99 139 100
+f 100 139 145
+f 103 147 104
+f 104 147 146
+f 104 146 148
+f 104 148 107
+f 105 107 149
+f 105 149 150
+f 105 150 110
+f 105 110 151
+f 105 151 152
+f 105 152 106
+f 106 152 151
+f 106 151 108
+f 107 148 149
+f 108 151 109
+f 109 151 110
+f 110 150 153
+f 110 153 154
+f 110 154 111
+f 111 154 155
+f 111 155 112
+f 112 156 126
+f 112 126 125
+f 112 125 113
+f 112 155 156
+f 114 124 157
+f 114 157 158
+f 114 158 115
+f 115 158 116
+f 116 158 117
+f 117 158 159
+f 117 159 118
+f 118 159 160
+f 118 160 119
+f 119 160 161
+f 119 161 120
+f 120 161 121
+f 121 161 163
+f 121 163 164
+f 121 164 165
+f 121 165 166
+f 121 166 167
+f 121 167 168
+f 121 168 169
+f 121 169 170
+f 121 170 162
+f 122 171 172
+f 122 172 157
+f 122 157 123
+f 123 157 124
+f 126 156 171
+f 127 173 174
+f 127 174 175
+f 127 175 176
+f 127 176 128
+f 128 177 129
+f 128 176 177
+f 129 177 178
+f 129 178 131
+f 131 178 179
+f 131 179 180
+f 131 180 133
+f 133 180 134
+f 134 180 135
+f 135 180 136
+f 136 180 181
+f 136 181 137
+f 137 181 138
+f 138 182 183
+f 138 183 139
+f 138 181 182
+f 139 183 182
+f 139 182 184
+f 139 184 185
+f 139 185 186
+f 139 186 187
+f 139 187 145
+f 139 141 140
+f 142 145 188
+f 142 188 187
+f 142 187 189
+f 142 189 190
+f 142 190 143
+f 143 191 144
+f 143 190 191
+f 144 191 146
+f 145 187 188
+f 146 191 148
+f 148 191 149
+f 149 191 192
+f 149 192 193
+f 149 193 150
+f 150 193 154
+f 150 154 153
+f 154 194 195
+f 154 195 155
+f 154 193 194
+f 155 195 196
+f 155 196 197
+f 155 197 198
+f 155 198 199
+f 155 199 200
+f 155 200 201
+f 155 201 202
+f 155 202 203
+f 155 203 156
+f 156 203 204
+f 156 204 157
+f 156 157 172
+f 156 172 171
+f 157 204 158
+f 158 204 205
+f 158 205 159
+f 159 205 160
+f 160 205 206
+f 160 206 207
+f 160 207 208
+f 160 208 161
+f 161 208 209
+f 161 209 163
+f 162 170 210
+f 163 209 164
+f 164 209 165
+f 165 209 166
+f 166 209 211
+f 166 211 167
+f 167 211 212
+f 167 212 168
+f 168 212 213
+f 168 213 214
+f 168 214 215
+f 168 215 216
+f 168 216 169
+f 169 216 217
+f 169 217 218
+f 169 218 210
+f 169 210 170
+f 173 219 220
+f 173 220 221
+f 173 221 174
+f 174 221 175
+f 175 221 222
+f 175 222 223
+f 175 223 224
+f 175 224 176
+f 176 224 225
+f 176 225 177
+f 177 225 265
+f 177 265 226
+f 177 226 227
+f 177 227 178
+f 178 227 228
+f 178 228 179
+f 179 228 229
+f 179 229 180
+f 180 229 234
+f 180 234 181
+f 181 230 231
+f 181 231 232
+f 181 232 233
+f 181 233 186
+f 181 186 185
+f 181 185 184
+f 181 184 182
+f 181 234 230
+f 186 233 187
+f 187 233 235
+f 187 235 190
+f 187 190 189
+f 190 192 191
+f 190 235 233
+f 190 233 192
+f 192 194 193
+f 192 233 194
+f 194 233 195
+f 195 233 232
+f 195 232 231
+f 195 231 230
+f 195 230 236
+f 195 236 237
+f 195 237 196
+f 196 237 197
+f 197 237 238
+f 197 238 198
+f 198 238 199
+f 199 238 239
+f 199 239 200
+f 200 240 241
+f 200 241 201
+f 200 239 242
+f 200 242 240
+f 201 241 202
+f 202 204 203
+f 202 241 243
+f 202 243 205
+f 202 205 204
+f 205 243 206
+f 206 243 207
+f 207 243 208
+f 208 243 244
+f 208 244 245
+f 208 245 246
+f 208 246 247
+f 208 247 248
+f 208 248 209
+f 209 248 249
+f 209 249 211
+f 211 249 250
+f 211 250 212
+f 212 250 213
+f 213 250 214
+f 214 250 215
+f 215 250 216
+f 216 250 251
+f 216 251 252
+f 216 252 253
+f 216 253 217
+f 217 253 218
+f 218 253 255
+f 218 255 256
+f 218 256 254
+f 219 257 258
+f 219 258 259
+f 219 259 220
+f 220 260 289
+f 220 289 261
+f 220 261 262
+f 220 262 221
+f 220 259 260
+f 221 262 263
+f 221 263 222
+f 222 263 264
+f 222 264 223
+f 223 264 271
+f 223 271 265
+f 223 265 225
+f 223 225 224
+f 226 265 242
+f 226 242 239
+f 226 239 227
+f 227 239 238
+f 227 238 266
+f 227 266 228
+f 228 238 237
+f 228 237 229
+f 228 266 238
+f 229 237 267
+f 229 267 234
+f 230 234 236
+f 234 267 236
+f 236 267 237
+f 240 242 268
+f 240 268 241
+f 241 268 269
+f 241 269 244
+f 241 244 243
+f 242 270 268
+f 242 265 271
+f 242 271 264
+f 242 264 270
+f 244 269 245
+f 245 269 272
+f 245 272 246
+f 246 272 273
+f 246 273 247
+f 247 273 274
+f 247 274 275
+f 247 275 276
+f 247 276 248
+f 248 276 249
+f 249 276 277
+f 249 277 250
+f 250 277 278
+f 250 278 279
+f 250 279 280
+f 250 280 251
+f 251 280 281
+f 251 281 252
+f 252 281 253
+f 253 281 282
+f 253 282 255
+f 254 256 284
+f 254 284 283
+f 255 282 284
+f 255 284 256
+f 257 285 308
+f 257 308 286
+f 257 286 258
+f 258 287 288
+f 258 288 259
+f 258 286 308
+f 258 308 287
+f 259 288 289
+f 259 289 260
+f 261 289 290
+f 261 290 291
+f 261 291 262
+f 262 291 292
+f 262 292 293
+f 262 293 270
+f 262 270 263
+f 263 270 264
+f 268 270 294
+f 268 294 272
+f 268 272 269
+f 270 295 294
+f 270 293 295
+f 272 294 273
+f 273 294 274
+f 274 294 275
+f 275 294 276
+f 276 294 295
+f 276 295 296
+f 276 296 297
+f 276 297 298
+f 276 298 277
+f 277 298 299
+f 277 299 278
+f 278 299 279
+f 279 299 300
+f 279 300 280
+f 280 300 301
+f 280 301 281
+f 281 301 302
+f 281 302 303
+f 281 303 304
+f 281 304 282
+f 282 304 305
+f 282 305 284
+f 283 284 305
+f 283 305 307
+f 283 307 306
+f 285 288 287
+f 285 287 308
+f 285 306 307
+f 285 307 309
+f 285 309 310
+f 285 310 291
+f 285 291 290
+f 285 290 288
+f 288 290 289
+f 291 310 299
+f 291 299 298
+f 291 298 292
+f 292 298 293
+f 293 298 297
+f 293 297 296
+f 293 296 295
+f 299 310 300
+f 300 310 301
+f 301 309 302
+f 301 310 309
+f 302 309 303
+f 303 309 307
+f 303 307 304
+f 304 307 305
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_10.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.37417630 -0.21887809 0.27207454
+v -0.34712257 -0.21887792 0.22680845
+v -0.37428536 -0.26243459 0.27207438
+v -0.17820047 -0.21887809 0.27207454
+v -0.34668622 -0.34029422 0.22721487
+v -0.35257695 -0.41810297 0.23754497
+v -0.37373995 -0.39865091 0.27207388
+v -0.30523295 -0.21887779 0.19040343
+v -0.29372418 -0.26527147 0.15662041
+v -0.29726956 -0.28191190 0.15662034
+v -0.17820047 -0.21887789 0.21812820
+v 0.18293396 -0.22452713 0.27207452
+v -0.34635896 -0.41810294 0.22757626
+v -0.34630441 -0.42830189 0.22766666
+v -0.37341266 -0.43755525 0.27207373
+v -0.37363085 -0.41171277 0.27207383
+v -0.29557868 -0.21887777 0.18553211
+v -0.28417904 -0.25553260 0.15662044
+v -0.29176063 -0.29852675 0.15662028
+v -0.17852772 -0.21887782 0.19871070
+v 0.18293396 -0.46741090 0.27207362
+v 0.18293396 -0.22491035 0.21812817
+v -0.18420027 -0.21887776 0.18159887
+v -0.34984976 -0.45066812 0.24344471
+v -0.36452203 -0.46580052 0.26710057
+v -0.36681287 -0.45281535 0.26421851
+v -0.36168578 -0.43755518 0.25340217
+v -0.31439629 -0.41810284 0.20273361
+v -0.31183274 -0.43067903 0.20514098
+v -0.37090366 -0.45698186 0.27207366
+v -0.27223397 -0.24860550 0.15662047
+v -0.27452477 -0.24965350 0.15662046
+v -0.28254271 -0.25438233 0.15662045
+v -0.20132702 -0.21887774 0.17724745
+v -0.23994404 -0.23953123 0.15662050
+v -0.25925254 -0.24349322 0.15662049
+v -0.29186973 -0.41426859 0.18680855
+v -0.28205185 -0.31864355 0.15662021
+v 0.17813411 -0.46937911 0.27207362
+v 0.18293396 -0.44190043 0.19870988
+v 0.18293396 -0.22554931 0.19871067
+v -0.18638203 -0.21887775 0.18081901
+v -0.27474297 -0.43162472 0.18663894
+v -0.35972219 -0.47024820 0.27207361
+v -0.36959461 -0.46096945 0.27207365
+v -0.25925254 -0.43545889 0.18363250
+v -0.35164970 -0.46820325 0.26442190
+v -0.29814226 -0.41968759 0.19242583
+v -0.28761529 -0.42722819 0.18934025
+v 0.18293396 -0.22930677 0.18318117
+v 0.18293396 -0.22971576 0.18155362
+v 0.18293396 -0.23477686 0.17277165
+v 0.18293396 -0.23533921 0.17184485
+v -0.22003554 -0.24236853 0.15662049
+v 0.18293396 -0.24507804 0.16566239
+v 0.18293396 -0.26243418 0.15972857
+v 0.18293396 -0.28191190 0.15755844
+v 0.14617145 -0.28191190 0.15727588
+v -0.27277938 -0.33735443 0.15662014
+v -0.26623413 -0.34706773 0.15662011
+v 0.16989799 -0.47206306 0.27207361
+v 0.15762562 -0.44767723 0.18782564
+v 0.18293396 -0.43479431 0.18004965
+v -0.35574049 -0.47147514 0.27207361
+v -0.25657990 -0.35379035 0.15662008
+v -0.23994404 -0.41810274 0.17478278
+v -0.23994404 -0.43735045 0.18159806
+v -0.25925254 -0.44443099 0.19870987
+v -0.34199547 -0.47382680 0.27207360
+v -0.16865529 -0.28186078 0.15662034
+v 0.12686294 -0.28191190 0.15714025
+v 0.18293396 -0.29949811 0.15753579
+v 0.16547994 -0.30136409 0.15740014
+v 0.16455270 -0.47377565 0.27207360
+v 0.14617145 -0.47760984 0.27207359
+v 0.12686294 -0.47939916 0.27207358
+v 0.14617145 -0.44788174 0.18729443
+v 0.14617145 -0.43755491 0.17882897
+v 0.16460725 -0.43890968 0.18117988
+v 0.18293396 -0.41963639 0.17052179
+v -0.24267123 -0.35724114 0.15662007
+v -0.23994404 -0.35782906 0.15662007
+v -0.22063553 -0.41810274 0.17419506
+v -0.22063553 -0.43729930 0.18137202
+v -0.23994404 -0.44688488 0.19870986
+v -0.14340152 -0.41810274 0.17318915
+v -0.33648653 -0.47459361 0.27207360
+v -0.16636445 -0.30164525 0.15662027
+v 0.14617145 -0.34029397 0.15756954
+v -0.19309092 -0.34852473 0.15662010
+v -0.17454603 -0.32835685 0.15662017
+v -0.16652810 -0.31726321 0.15662021
+v 0.18293396 -0.30136409 0.15753578
+v 0.16547994 -0.34029397 0.15764864
+v 0.10755443 -0.47978257 0.27207358
+v 0.03032043 -0.47988481 0.27207358
+v -0.10636629 -0.48001262 0.27207358
+v -0.14531055 -0.47996150 0.27207358
+v -0.16478270 -0.47991038 0.27207358
+v -0.18441846 -0.47975703 0.27207358
+v 0.18293396 -0.39821600 0.16482545
+v -0.22423542 -0.35877483 0.15662006
+v -0.20432692 -0.47937359 0.27207358
+v -0.28368815 -0.47778878 0.27207358
+v -0.30556020 -0.47707308 0.27207359
+v -0.32328692 -0.47597395 0.27207359
+v 0.14617145 -0.35972058 0.15781811
+v 0.12686294 -0.35972058 0.15775030
+v -0.22129006 -0.35798241 0.15662007
+v 0.18293396 -0.32081624 0.15766002
+v 0.18293396 -0.33840244 0.15779559
+v 0.18293396 -0.34029397 0.15781818
+v 0.18293396 -0.37730679 0.16071146
+v 0.16547994 -0.35972058 0.15807807
+v 0.18293396 -0.35972058 0.15837192
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 15
+f 1 15 30
+f 1 30 45
+f 1 45 44
+f 1 44 64
+f 1 64 69
+f 1 69 87
+f 1 87 106
+f 1 106 105
+f 1 105 104
+f 1 104 103
+f 1 103 100
+f 1 100 99
+f 1 99 98
+f 1 98 97
+f 1 97 96
+f 1 96 95
+f 1 95 76
+f 1 76 75
+f 1 75 74
+f 1 74 61
+f 1 61 39
+f 1 39 21
+f 1 21 12
+f 1 12 4
+f 1 4 11
+f 1 11 20
+f 1 20 23
+f 1 23 42
+f 1 42 34
+f 1 34 17
+f 1 17 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 4 12 11
+f 5 13 6
+f 5 10 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 8 17 18
+f 8 18 9
+f 9 18 33
+f 9 33 32
+f 9 32 31
+f 9 31 36
+f 9 36 35
+f 9 35 54
+f 9 54 70
+f 9 70 88
+f 9 88 92
+f 9 92 91
+f 9 91 90
+f 9 90 109
+f 9 109 102
+f 9 102 82
+f 9 82 81
+f 9 81 65
+f 9 65 60
+f 9 60 59
+f 9 59 38
+f 9 38 19
+f 9 19 10
+f 10 19 14
+f 10 14 13
+f 11 12 20
+f 12 21 40
+f 12 40 63
+f 12 63 80
+f 12 80 101
+f 12 101 113
+f 12 113 115
+f 12 115 112
+f 12 112 111
+f 12 111 110
+f 12 110 93
+f 12 93 72
+f 12 72 57
+f 12 57 56
+f 12 56 55
+f 12 55 53
+f 12 53 52
+f 12 52 51
+f 12 51 50
+f 12 50 41
+f 12 41 22
+f 12 22 23
+f 12 23 20
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 14 19 28
+f 14 28 29
+f 14 29 24
+f 15 27 26
+f 15 26 30
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 17 34 35
+f 17 35 36
+f 17 36 31
+f 19 37 28
+f 19 38 37
+f 21 39 40
+f 22 41 23
+f 23 41 42
+f 24 29 43
+f 24 43 25
+f 25 44 45
+f 25 45 26
+f 25 43 46
+f 25 46 47
+f 25 47 44
+f 26 45 30
+f 28 37 48
+f 28 48 29
+f 29 48 49
+f 29 49 43
+f 34 42 41
+f 34 41 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 35
+f 35 53 55
+f 35 55 56
+f 35 56 57
+f 35 57 58
+f 35 58 54
+f 37 38 59
+f 37 59 60
+f 37 60 49
+f 37 49 48
+f 39 61 62
+f 39 62 40
+f 40 62 63
+f 43 49 60
+f 43 60 46
+f 44 47 64
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 46 60 65
+f 47 69 64
+f 47 68 69
+f 54 58 71
+f 54 71 70
+f 57 72 58
+f 58 72 73
+f 58 73 71
+f 61 74 62
+f 62 74 75
+f 62 75 76
+f 62 76 77
+f 62 77 78
+f 62 78 79
+f 62 79 63
+f 63 79 78
+f 63 78 80
+f 65 81 66
+f 66 81 82
+f 66 82 83
+f 66 83 67
+f 67 84 77
+f 67 77 85
+f 67 85 68
+f 67 83 86
+f 67 86 84
+f 68 85 87
+f 68 87 69
+f 70 71 88
+f 71 73 89
+f 71 89 90
+f 71 90 91
+f 71 91 92
+f 71 92 88
+f 72 93 73
+f 73 94 89
+f 73 93 94
+f 76 95 77
+f 77 95 96
+f 77 96 97
+f 77 97 98
+f 77 98 99
+f 77 99 100
+f 77 100 85
+f 77 84 78
+f 78 84 80
+f 80 84 86
+f 80 86 102
+f 80 102 101
+f 82 102 83
+f 83 102 86
+f 85 100 103
+f 85 103 104
+f 85 104 105
+f 85 105 106
+f 85 106 87
+f 89 94 107
+f 89 107 108
+f 89 108 102
+f 89 102 109
+f 89 109 90
+f 93 110 94
+f 94 110 111
+f 94 111 112
+f 94 112 107
+f 101 102 113
+f 102 108 113
+f 107 112 114
+f 107 114 113
+f 107 113 108
+f 112 115 114
+f 113 114 115
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_11.obj

@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.17635260 -0.21726811 0.28945808
+v -0.17639388 -0.21722632 0.28948535
+v -0.17643515 -0.21726811 0.28948535
+v -0.17926231 -0.21726805 0.27207454
+v -0.17961312 0.20948887 0.28948692
+v -0.38717215 -0.21726811 0.28948535
+v -0.37417133 -0.21726805 0.27207454
+v -0.18359592 0.20948893 0.27207611
+v -0.38622288 0.20948887 0.28948692
+v -0.38715151 -0.20402592 0.28948540
+v -0.38562444 -0.21726810 0.28512924
+v -0.37415072 -0.19855355 0.27207461
+v -0.37285061 0.20948893 0.27207611
+v -0.38624353 0.20460140 0.28948690
+v -0.38490216 0.20948888 0.28596931
+v -0.38713086 -0.19245471 0.28948544
+v -0.38560379 -0.20402591 0.28513440
+v -0.37410943 -0.17904537 0.27207468
+v -0.37400627 -0.14566844 0.27207480
+v -0.38558315 -0.18455953 0.28517537
+v -0.37406817 -0.16509306 0.27207473
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 16
+f 2 16 10
+f 2 10 6
+f 2 6 3
+f 4 7 12
+f 4 12 18
+f 4 18 21
+f 4 21 19
+f 4 19 13
+f 4 13 8
+f 4 8 5
+f 5 8 13
+f 5 13 15
+f 5 15 9
+f 6 10 11
+f 7 11 12
+f 9 15 14
+f 10 16 17
+f 10 17 11
+f 11 17 12
+f 12 17 18
+f 13 19 20
+f 13 20 15
+f 14 15 20
+f 14 20 16
+f 16 20 17
+f 17 20 18
+f 18 20 21
+f 19 21 20
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_12.obj

@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.31474722 -0.22351748 0.27207452
+v 0.31473431 -0.22786119 0.27207450
+v 0.31234732 -0.26242814 0.19870662
+v 0.31238602 -0.24297702 0.19870669
+v 0.31239893 -0.22351721 0.19870676
+v 0.31238602 -0.20404002 0.19870683
+v 0.31465691 -0.20404029 0.27207459
+v 0.31436014 -0.24732100 0.27207443
+v 0.31223121 -0.29277327 0.19870650
+v 0.31228283 -0.28188795 0.19870654
+v 0.31171508 -0.29277324 0.19188993
+v 0.31130221 -0.28188790 0.18644121
+v 0.31135382 -0.24297697 0.18635166
+v 0.31136673 -0.22351716 0.18634053
+v 0.31136673 -0.20403997 0.18636301
+v 0.31443754 -0.20404029 0.27207459
+v 0.31233444 -0.29277354 0.27207426
+v 0.31127642 -0.29277323 0.18648602
+v 0.30063176 -0.29277319 0.17794289
+v 0.30063176 -0.24297694 0.17783096
+v 0.30063176 -0.22351713 0.17780861
+v 0.30063176 -0.20403994 0.17781988
+v 0.26828485 -0.20404029 0.27205215
+v 0.26827193 -0.20405767 0.27207459
+v 0.18294683 -0.29277354 0.27207426
+v 0.20410714 -0.29277312 0.15813224
+v 0.20410714 -0.28188780 0.15808744
+v 0.28132939 -0.20403994 0.17814502
+v 0.20410714 -0.26242800 0.15993742
+v 0.18480482 -0.26242800 0.15973560
+v 0.18294683 -0.26242800 0.15972440
+v 0.18294683 -0.24506188 0.16566652
+v 0.26864612 -0.20404009 0.21810265
+v 0.18294683 -0.22451653 0.27207452
+v 0.18294683 -0.29277312 0.15754925
+v 0.18480482 -0.29277312 0.15756047
+v 0.18480482 -0.28188780 0.15757171
+v 0.27056861 -0.20403998 0.18667694
+v 0.18294683 -0.23533199 0.17184408
+v 0.18294683 -0.23477601 0.17277462
+v 0.18294683 -0.22970258 0.18155322
+v 0.18294683 -0.28188780 0.15756051
+v 0.26909770 -0.20404002 0.19869562
+v 0.18294683 -0.22490727 0.21812499
+v 0.18397903 -0.29277312 0.15754925
+v 0.18294683 -0.22930296 0.18319008
+v 0.18294683 -0.22554138 0.19870675
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 24
+f 1 24 34
+f 1 34 25
+f 1 25 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 15 22
+f 6 22 28
+f 6 28 38
+f 6 38 43
+f 6 43 33
+f 6 33 23
+f 6 23 16
+f 6 16 7
+f 8 17 9
+f 9 11 10
+f 9 17 25
+f 9 25 35
+f 9 35 45
+f 9 45 36
+f 9 36 26
+f 9 26 19
+f 9 19 18
+f 9 18 11
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 16 23 24
+f 19 26 27
+f 19 27 20
+f 20 27 21
+f 21 27 22
+f 22 27 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 28
+f 23 33 34
+f 23 34 24
+f 25 34 44
+f 25 44 47
+f 25 47 46
+f 25 46 41
+f 25 41 40
+f 25 40 39
+f 25 39 32
+f 25 32 31
+f 25 31 42
+f 25 42 35
+f 26 36 27
+f 27 36 37
+f 27 37 29
+f 28 32 39
+f 28 39 40
+f 28 40 41
+f 28 41 38
+f 29 37 30
+f 30 37 42
+f 30 42 31
+f 33 43 34
+f 34 43 44
+f 35 42 45
+f 36 45 37
+f 37 45 42
+f 38 41 46
+f 38 46 47
+f 38 47 44
+f 38 44 43
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_13.obj

@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.32295069 -0.22349829 0.28948533
+v 0.32288734 -0.22611536 0.28948532
+v 0.31288914 -0.37369297 0.27207397
+v 0.31311724 -0.36284166 0.27207401
+v 0.31473925 -0.22783874 0.27207450
+v 0.31474560 -0.22349823 0.27207452
+v 0.31473293 -0.12615570 0.27207488
+v 0.32288099 -0.10675108 0.28948576
+v 0.31939620 -0.36322471 0.28948482
+v 0.31753342 -0.37758673 0.28948476
+v 0.31143820 -0.37586322 0.27207396
+v 0.31472026 -0.10675102 0.27207495
+v 0.31452382 0.02946470 0.27207545
+v 0.32203832 0.14621184 0.28948669
+v 0.31579102 -0.38007615 0.28948475
+v 0.30617936 -0.38345913 0.27207393
+v 0.31443513 0.04893320 0.27207552
+v 0.31395358 0.14621190 0.27207588
+v 0.31383955 0.16568040 0.27207595
+v 0.32187989 0.16568034 0.28948676
+v 0.27766109 -0.43388585 0.28948456
+v 0.27273805 -0.42897076 0.27207376
+v 0.31327564 0.21010689 0.27207611
+v 0.32103723 0.21010683 0.28948692
+v 0.27437273 -0.43592843 0.28948455
+v 0.27034938 -0.43043890 0.27207376
+v 0.26521723 0.21010689 0.27207611
+v 0.25955287 0.21010683 0.28948692
+v 0.26203024 -0.43554538 0.27207374
+v 0.26203024 -0.44065193 0.28948453
+v 0.25985065 0.21010683 0.28807408
+v 0.25822231 -0.22247693 0.27207452
+v 0.25822231 -0.21781731 0.28948535
+v 0.25884324 -0.44180089 0.28948453
+v 0.25822231 -0.43682199 0.27207374
+v 0.25822231 -0.43854546 0.28948454
+v 0.25822231 -0.44199235 0.28944364
+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 14
+f 1 14 20
+f 1 20 24
+f 1 24 28
+f 1 28 33
+f 1 33 36
+f 1 36 34
+f 1 34 30
+f 1 30 25
+f 1 25 21
+f 1 21 15
+f 1 15 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 16
+f 3 16 22
+f 3 22 26
+f 3 26 29
+f 3 29 35
+f 3 35 32
+f 3 32 27
+f 3 27 23
+f 3 23 19
+f 3 19 18
+f 3 18 17
+f 3 17 13
+f 3 13 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 10 15 16
+f 10 16 11
+f 13 17 14
+f 14 18 19
+f 14 19 20
+f 14 17 18
+f 15 21 16
+f 16 21 22
+f 19 23 20
+f 20 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 31
+f 23 31 28
+f 23 28 24
+f 25 29 26
+f 25 30 29
+f 27 32 31
+f 28 31 32
+f 28 32 33
+f 29 30 34
+f 29 34 35
+f 32 35 37
+f 32 37 36
+f 32 36 33
+f 34 36 37
+f 34 37 35
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_14.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.27215748 0.50855350 0.29751613
+v -0.30944720 0.50820183 0.29751613
+v 0.03665960 0.50547617 0.29751612
+v 0.03665960 0.49208240 0.28948872
+v -0.16274657 0.49284441 0.28948872
+v -0.17316269 0.49287371 0.28948872
+v -0.18203723 0.49287371 0.28948872
+v -0.19241167 0.49281511 0.28948872
+v -0.27253246 0.49134969 0.28948871
+v -0.28703170 0.49091008 0.28948871
+v -0.32819621 0.50761562 0.29751612
+v -0.21157734 0.49258064 0.28948872
+v -0.23065966 0.49225827 0.28948872
+v -0.25253351 0.49178933 0.28948872
+v 0.03665960 0.20946474 0.29751503
+v 0.03665960 0.21966398 0.28948772
+v -0.29786445 0.49035321 0.28948871
+v -0.30498911 0.48997224 0.28948871
+v -0.31715510 0.48868269 0.28948871
+v -0.32198819 0.48812582 0.28948870
+v -0.34536194 0.50547617 0.29751612
+v -0.16549643 0.20914236 0.29751503
+v -0.17978733 0.20914239 0.28948768
+v -0.35569475 0.48132637 0.28948868
+v -0.37077730 0.47564056 0.28948866
+v -0.35940287 0.50014210 0.29751610
+v -0.38894303 0.20914236 0.29751503
+v -0.38623483 0.20914239 0.28948768
+v -0.37273551 0.47455618 0.28948865
+v -0.37281885 0.49480804 0.29751608
+v -0.38898467 0.24355001 0.29751515
+v -0.38865137 0.20914236 0.29583881
+v -0.38623483 0.22408950 0.28948773
+v -0.37502708 0.49322538 0.29751607
+v -0.37894355 0.45744027 0.28948859
+v -0.38119342 0.48642593 0.29751605
+v -0.38885969 0.30193166 0.29751537
+v -0.38865137 0.24355001 0.29583893
+v -0.38615148 0.26301060 0.28948788
+v -0.38040178 0.43812627 0.28948852
+v -0.38498488 0.46951516 0.29751598
+v -0.38869301 0.34085277 0.29751551
+v -0.38856803 0.32139224 0.29630603
+v -0.38860967 0.26301057 0.29583901
+v -0.38606814 0.27628714 0.28948792
+v -0.38381828 0.38173754 0.28948831
+v -0.38610981 0.45152000 0.29751592
+v -0.38856803 0.36028401 0.29751558
+v -0.38852636 0.34085277 0.29660707
+v -0.38581819 0.30799847 0.28948804
+v -0.38481823 0.36400619 0.28948825
+v -0.38673480 0.43299731 0.29751585
+v -0.38844305 0.36752310 0.29751561
+v -0.38848469 0.36028401 0.29716664
+v -0.38565151 0.32701940 0.28948811
+v -0.38535985 0.34577657 0.28948818
+v -0.38819303 0.37866017 0.29751565
+v -0.38544319 0.34085280 0.28948816
+f 1 2 11
+f 1 11 21
+f 1 21 26
+f 1 26 30
+f 1 30 34
+f 1 34 36
+f 1 36 41
+f 1 41 47
+f 1 47 52
+f 1 52 57
+f 1 57 53
+f 1 53 48
+f 1 48 42
+f 1 42 37
+f 1 37 31
+f 1 31 27
+f 1 27 22
+f 1 22 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 2
+f 2 9 10
+f 2 10 11
+f 2 8 12
+f 2 12 13
+f 2 13 14
+f 2 14 9
+f 3 15 16
+f 3 16 4
+f 4 16 23
+f 4 23 28
+f 4 28 33
+f 4 33 39
+f 4 39 45
+f 4 45 50
+f 4 50 55
+f 4 55 58
+f 4 58 56
+f 4 56 51
+f 4 51 46
+f 4 46 40
+f 4 40 35
+f 4 35 29
+f 4 29 25
+f 4 25 24
+f 4 24 20
+f 4 20 19
+f 4 19 18
+f 4 18 17
+f 4 17 10
+f 4 10 9
+f 4 9 14
+f 4 14 13
+f 4 13 12
+f 4 12 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 15 22 23
+f 15 23 16
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 22 27 32
+f 22 32 28
+f 22 28 23
+f 25 29 30
+f 25 30 26
+f 27 31 32
+f 28 32 38
+f 28 38 33
+f 29 34 30
+f 29 35 36
+f 29 36 34
+f 31 37 44
+f 31 44 38
+f 31 38 32
+f 33 38 44
+f 33 44 39
+f 35 40 41
+f 35 41 36
+f 37 42 43
+f 37 43 44
+f 39 44 43
+f 39 43 45
+f 40 46 47
+f 40 47 41
+f 42 48 49
+f 42 49 43
+f 43 49 50
+f 43 50 45
+f 46 51 47
+f 47 51 52
+f 48 53 54
+f 48 54 49
+f 49 54 55
+f 49 55 50
+f 51 56 52
+f 52 56 57
+f 53 57 54
+f 54 57 56
+f 54 56 58
+f 54 58 55
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_15.obj

@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.20135722 -0.21887774 0.17724420
+v -0.18644478 -0.21887775 0.18081797
+v -0.20423089 -0.21887774 0.17753196
+v -0.22065412 0.16567733 0.18384550
+v -0.20045919 0.18886638 0.18475527
+v -0.18421558 -0.21887776 0.18159770
+v -0.21752160 -0.21887776 0.18117999
+v -0.22065412 0.14620013 0.18368761
+v -0.23082817 0.14620011 0.18825463
+v -0.23065914 0.16567732 0.18849605
+v -0.22100276 0.18886638 0.18469957
+v -0.19837791 0.18886638 0.18599912
+v -0.17856332 -0.21887782 0.19871470
+v -0.19293696 0.18886634 0.19521667
+v -0.22412999 -0.21887782 0.19871470
+v -0.22928569 -0.18471288 0.19794436
+v -0.22980337 -0.16507599 0.19143738
+v -0.22987733 -0.14563869 0.19089907
+v -0.23068555 0.10728561 0.18846797
+v -0.23168922 0.12676277 0.19870669
+v -0.23159412 0.14620007 0.19870676
+v -0.23075950 0.12676281 0.18836595
+v -0.23099722 -0.14563873 0.20060860
+v -0.23040030 0.17625407 0.18885809
+v -0.22753718 0.18886634 0.19664619
+v -0.17825695 -0.21887789 0.21814303
+v -0.19273093 0.18886634 0.19696178
+v -0.22333762 -0.21887809 0.27207454
+v -0.22977696 -0.18898377 0.27207465
+v -0.22981394 -0.18958225 0.21814313
+v -0.23064858 -0.17832692 0.20393162
+v -0.23091268 -0.16507603 0.20114691
+v -0.23219104 0.10728550 0.21814422
+v -0.23214878 0.12676270 0.21814430
+v -0.23166809 -0.14563879 0.21814330
+v -0.23183184 0.14620000 0.21814437
+v -0.23103947 0.16567728 0.19870683
+v -0.23043727 0.17657334 0.19870687
+v -0.22933323 0.18627196 0.21814451
+v -0.22904797 0.18631194 0.19870690
+v -0.22859369 0.18886633 0.19870691
+v -0.17824110 -0.21887809 0.27207454
+v -0.19291583 0.18886612 0.25697335
+v -0.23000410 -0.18678858 0.27207465
+v -0.23080704 -0.17988356 0.21814317
+v -0.23147263 -0.16507609 0.21814322
+v -0.23220161 0.10728543 0.23754472
+v -0.23208540 0.12676250 0.27206653
+v -0.23186883 0.14619980 0.27206660
+v -0.23136699 -0.16076576 0.27207475
+v -0.23150432 -0.14563899 0.27207481
+v -0.23164168 -0.12620170 0.27207488
+v -0.23127191 0.16567701 0.27206667
+v -0.23112927 0.16823138 0.27206668
+v -0.23057461 0.17761078 0.27206671
+v -0.22944417 0.18734939 0.27206675
+v -0.22920645 0.18886606 0.27206675
+v -0.22890535 0.18886626 0.21814452
+v -0.19460093 0.00079926 0.27207534
+v -0.19301091 0.18886606 0.27206675
+v -0.23076478 -0.17924516 0.27207468
+v -0.23089156 -0.17613200 0.27207469
+v -0.23131945 -0.16507629 0.27207473
+v -0.23213822 0.10728530 0.27206645
+v -0.23163111 0.00079926 0.27207534
+v -0.23167337 -0.10672449 0.27207495
+f 1 2 6
+f 1 6 13
+f 1 13 26
+f 1 26 42
+f 1 42 28
+f 1 28 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 25
+f 5 25 41
+f 5 41 58
+f 5 58 57
+f 5 57 60
+f 5 60 43
+f 5 43 27
+f 5 27 14
+f 5 14 12
+f 5 12 6
+f 6 12 14
+f 6 14 13
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 9
+f 7 9 8
+f 9 20 21
+f 9 21 10
+f 9 19 22
+f 9 22 23
+f 9 23 20
+f 10 24 11
+f 10 21 24
+f 11 24 25
+f 13 14 27
+f 13 27 26
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 17
+f 17 31 32
+f 17 32 23
+f 17 23 18
+f 18 23 22
+f 18 22 19
+f 20 33 34
+f 20 34 21
+f 20 23 35
+f 20 35 33
+f 21 36 37
+f 21 37 24
+f 21 34 36
+f 23 32 35
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 26 27 42
+f 27 43 42
+f 28 42 59
+f 28 59 65
+f 28 65 66
+f 28 66 52
+f 28 52 51
+f 28 51 50
+f 28 50 63
+f 28 63 62
+f 28 62 61
+f 28 61 44
+f 28 44 29
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 32
+f 32 46 35
+f 33 47 34
+f 33 35 47
+f 34 47 48
+f 34 48 49
+f 34 49 36
+f 35 46 50
+f 35 50 51
+f 35 51 52
+f 35 52 47
+f 36 49 53
+f 36 53 37
+f 37 53 38
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 57
+f 39 57 58
+f 39 58 40
+f 40 58 41
+f 42 43 60
+f 42 60 59
+f 44 61 45
+f 45 61 46
+f 46 61 62
+f 46 62 63
+f 46 63 50
+f 47 64 48
+f 47 52 64
+f 48 64 65
+f 48 65 49
+f 49 65 53
+f 52 66 64
+f 53 65 54
+f 54 65 55
+f 55 65 56
+f 56 65 57
+f 57 65 59
+f 57 59 60
+f 64 66 65
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_16.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.38711194 -0.21726813 0.28948535
+v -0.38660651 -0.21726813 0.28808786
+v -0.38717512 -0.22354621 0.28948533
+v -0.17642279 -0.21726813 0.28948535
+v -0.38553254 -0.21726812 0.28512924
+v -0.38553254 -0.22354620 0.28512752
+v -0.38553254 -0.24300829 0.28515812
+v -0.38553254 -0.26247036 0.28519896
+v -0.38704876 -0.26247037 0.28948519
+v -0.17635961 -0.21726813 0.28945638
+v 0.25822229 -0.21789594 0.28948535
+v -0.37416101 -0.21726807 0.27207454
+v -0.37422419 -0.26247031 0.27207438
+v -0.38471128 -0.36608611 0.28621771
+v -0.38546936 -0.41808510 0.28948461
+v -0.38610115 -0.35601391 0.28948484
+v -0.37416101 -0.28193240 0.27207430
+v -0.37371882 -0.39862297 0.27207388
+v -0.37359246 -0.41808504 0.27207380
+v -0.37340293 -0.43754711 0.27207373
+v -0.17920250 -0.21726807 0.27207454
+v 0.25822229 -0.43855712 0.28948454
+v 0.25822229 -0.22253621 0.27207452
+v -0.38426903 -0.41808509 0.28687709
+v -0.38496400 -0.43754717 0.28948454
+v -0.37087590 -0.45698190 0.27207366
+v -0.38262651 -0.45700924 0.28865961
+v -0.38395320 -0.43754717 0.28742237
+v 0.25822229 -0.44196911 0.28944364
+v 0.25076762 -0.44407091 0.28948452
+v 0.25822229 -0.43683740 0.27207374
+v -0.38313187 -0.45700924 0.28948447
+v -0.36954921 -0.46093980 0.27207365
+v -0.38041538 -0.46345110 0.28948445
+v 0.25822229 -0.44188723 0.28909254
+v 0.21564225 -0.46888302 0.28948443
+v 0.20477611 -0.47600728 0.28948440
+v 0.20395484 -0.47647131 0.28948440
+v 0.18708706 -0.48512418 0.28948437
+v 0.17811620 -0.46937431 0.27207362
+v -0.36980193 -0.47043889 0.28005981
+v -0.37485598 -0.47578892 0.28948440
+v -0.37542452 -0.47483357 0.28948441
+v -0.35969391 -0.47022046 0.27207361
+v 0.17647364 -0.48880912 0.28948435
+v 0.16453354 -0.47376897 0.27207360
+v -0.35577709 -0.48283129 0.28948438
+v -0.35571391 -0.47147608 0.27207361
+v 0.16364908 -0.49172980 0.28948434
+v 0.14614957 -0.47759039 0.27207359
+v -0.33644545 -0.48632520 0.28948436
+v -0.34194171 -0.47382353 0.27207360
+v 0.15954271 -0.49249411 0.28948434
+v 0.14614957 -0.49429564 0.28948433
+v 0.12688114 -0.47939193 0.27207358
+v -0.31711388 -0.48927316 0.28948435
+v -0.33644545 -0.47458784 0.27207360
+v 0.13964253 -0.49489615 0.28948433
+v 0.12688114 -0.49557854 0.28948433
+v 0.12087950 -0.49571502 0.28948433
+v 0.10754954 -0.48062027 0.27298024
+v 0.10754954 -0.47977408 0.27207358
+v -0.29847718 -0.49183900 0.28948434
+v -0.32324183 -0.47595262 0.27207359
+v 0.10754954 -0.49590610 0.28948433
+v 0.04961793 -0.49609717 0.28948433
+v 0.04961793 -0.48064755 0.27290696
+v 0.03028633 -0.48064755 0.27287628
+v 0.03028633 -0.47988328 0.27207358
+v -0.30548964 -0.47707176 0.27207359
+v -0.28363103 -0.47775419 0.27207359
+v -0.18204538 -0.49481427 0.28948433
+v 0.00533214 -0.49609717 0.28948433
+v -0.10636153 -0.47999244 0.27207358
+v -0.20428303 -0.47936464 0.27207358
+v -0.18444602 -0.47971948 0.27207358
+v -0.16271377 -0.49514183 0.28948433
+v -0.07193107 -0.49596070 0.28948433
+v -0.14534062 -0.47993784 0.27207358
+v -0.10478216 -0.48078403 0.27293423
+v -0.18204538 -0.47974680 0.27207358
+v -0.12411375 -0.49563314 0.28948433
+v -0.08551374 -0.49593341 0.28948433
+v -0.16479854 -0.47988328 0.27207358
+v -0.10478216 -0.49582422 0.28948433
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 15
+f 1 15 25
+f 1 25 32
+f 1 32 34
+f 1 34 43
+f 1 43 42
+f 1 42 47
+f 1 47 51
+f 1 51 56
+f 1 56 63
+f 1 63 72
+f 1 72 77
+f 1 77 82
+f 1 82 85
+f 1 85 83
+f 1 83 78
+f 1 78 73
+f 1 73 66
+f 1 66 65
+f 1 65 60
+f 1 60 59
+f 1 59 58
+f 1 58 54
+f 1 54 53
+f 1 53 49
+f 1 49 45
+f 1 45 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 30
+f 1 30 22
+f 1 22 11
+f 1 11 4
+f 1 4 10
+f 1 10 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 11 10
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 13 8
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 8 13 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 14
+f 10 11 21
+f 11 22 29
+f 11 29 35
+f 11 35 31
+f 11 31 23
+f 11 23 21
+f 12 21 23
+f 12 23 31
+f 12 31 40
+f 12 40 46
+f 12 46 50
+f 12 50 55
+f 12 55 62
+f 12 62 69
+f 12 69 74
+f 12 74 79
+f 12 79 84
+f 12 84 81
+f 12 81 76
+f 12 76 75
+f 12 75 71
+f 12 71 70
+f 12 70 64
+f 12 64 57
+f 12 57 52
+f 12 52 48
+f 12 48 44
+f 12 44 33
+f 12 33 26
+f 12 26 20
+f 12 20 19
+f 12 19 18
+f 12 18 17
+f 12 17 13
+f 14 24 15
+f 14 20 24
+f 15 24 25
+f 20 26 27
+f 20 27 28
+f 20 28 24
+f 22 30 29
+f 24 28 25
+f 25 28 32
+f 26 33 27
+f 27 34 32
+f 27 32 28
+f 27 33 34
+f 29 30 36
+f 29 36 37
+f 29 37 35
+f 31 35 37
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 33 44 41
+f 39 45 40
+f 40 45 46
+f 41 44 42
+f 42 44 47
+f 44 48 47
+f 45 49 46
+f 46 49 50
+f 47 48 51
+f 48 52 51
+f 49 53 50
+f 50 53 54
+f 50 54 55
+f 51 52 56
+f 52 57 56
+f 54 58 55
+f 55 58 59
+f 55 59 60
+f 55 60 61
+f 55 61 62
+f 56 57 63
+f 57 64 63
+f 60 65 61
+f 61 65 66
+f 61 66 67
+f 61 67 62
+f 62 67 68
+f 62 68 69
+f 63 64 70
+f 63 70 71
+f 63 71 72
+f 66 73 74
+f 66 74 68
+f 66 68 67
+f 68 74 69
+f 71 75 72
+f 72 75 76
+f 72 76 77
+f 73 78 79
+f 73 79 80
+f 73 80 74
+f 74 80 79
+f 76 81 82
+f 76 82 77
+f 78 83 79
+f 79 83 84
+f 81 84 85
+f 81 85 82
+f 83 85 84
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_17.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.27052858 -0.21887809 0.27207454
+v -0.37415990 -0.21887809 0.27207454
+v -0.27071121 -0.21887803 0.25696844
+v -0.27276070 0.16567707 0.25697833
+v -0.27221280 0.08784801 0.27207566
+v -0.37415990 -0.21803992 0.27207454
+v -0.35378671 -0.18455336 0.23754161
+v -0.34730344 -0.20403053 0.22668006
+v -0.34716137 -0.21887792 0.22682405
+v -0.27095471 -0.21887798 0.24347209
+v -0.27324770 0.18511443 0.23755143
+v -0.27289260 0.18511436 0.25697840
+v -0.27281143 0.18080377 0.27207600
+v -0.37414975 -0.19856272 0.27207461
+v -0.34732370 -0.18455332 0.22667167
+v -0.34707005 0.18511447 0.22694413
+v -0.30527866 -0.21887779 0.19040166
+v -0.30555261 -0.10672419 0.18986832
+v -0.30548159 -0.12620140 0.18992756
+v -0.27107646 -0.21887796 0.23783802
+v -0.27382602 0.18511450 0.21814142
+v -0.27384632 0.18886626 0.21814143
+v -0.27329845 0.18886619 0.23755144
+v -0.27322741 0.18886617 0.24125384
+v -0.27294333 0.18886612 0.25697841
+v -0.27292303 0.18886611 0.25985899
+v -0.27284187 0.18511430 0.27207602
+v -0.37404832 -0.15952847 0.27207475
+v -0.35326926 0.18886619 0.23755144
+v -0.34705990 0.18886623 0.22694414
+v -0.29561966 -0.21887777 0.18552163
+v -0.30519749 0.10728560 0.19020800
+v -0.29529499 0.18886638 0.18617549
+v -0.27254763 -0.21887789 0.21813146
+v -0.27699159 0.18886633 0.19870601
+v -0.27288245 0.18886606 0.27207603
+v -0.37397727 -0.14001136 0.27207483
+v -0.37271918 0.18886606 0.27207603
+v -0.30495399 0.18886636 0.19038622
+v -0.28370824 -0.21887777 0.18552163
+v -0.30311756 0.18886636 0.18958135
+v -0.28406335 0.18886638 0.18617549
+v -0.27630166 -0.21887782 0.19871299
+f 1 2 9
+f 1 9 17
+f 1 17 31
+f 1 31 40
+f 1 40 43
+f 1 43 34
+f 1 34 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 27
+f 1 27 36
+f 1 36 38
+f 1 38 37
+f 1 37 28
+f 1 28 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 10 11
+f 6 14 7
+f 7 15 8
+f 7 14 16
+f 7 16 15
+f 8 17 9
+f 8 15 18
+f 8 18 19
+f 8 19 17
+f 10 20 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 11 20 21
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 14 28 29
+f 14 29 16
+f 15 16 18
+f 16 29 30
+f 16 30 18
+f 17 19 31
+f 18 31 19
+f 18 30 32
+f 18 32 33
+f 18 33 31
+f 20 34 21
+f 21 35 22
+f 21 34 35
+f 22 35 42
+f 22 42 33
+f 22 33 41
+f 22 41 39
+f 22 39 30
+f 22 30 29
+f 22 29 38
+f 22 38 36
+f 22 36 26
+f 22 26 25
+f 22 25 24
+f 22 24 23
+f 26 36 27
+f 28 37 29
+f 29 37 38
+f 30 39 32
+f 31 33 42
+f 31 42 40
+f 32 39 41
+f 32 41 33
+f 34 43 35
+f 35 43 40
+f 35 40 42
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_18.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.37416004 0.02943980 0.29751437
+v 0.37413598 0.01375052 0.29751431
+v 0.35855258 -0.20399282 0.29366132
+v 0.35855258 -0.12618194 0.29369384
+v 0.35855258 -0.10671929 0.29371198
+v 0.35855258 0.02943981 0.29388537
+v 0.37157481 0.20178353 0.29751500
+v 0.37363096 -0.20399283 0.29751351
+v 0.32278045 -0.20399280 0.28949245
+v 0.32288865 -0.12618192 0.28948645
+v 0.32287664 -0.10671927 0.28948652
+v 0.32204695 0.14303814 0.28948744
+v 0.32203494 0.14621573 0.28948745
+v 0.32187861 0.16567838 0.28948752
+v 0.32107300 0.20075085 0.28948765
+v 0.32104893 0.20178356 0.28948765
+v 0.35855258 0.20178354 0.29449659
+v 0.36136625 0.20178354 0.29514804
+v 0.25133238 0.20178353 0.29751500
+v 0.25186144 -0.20399283 0.29751351
+v 0.32205897 -0.20399280 0.28948616
+v 0.32273233 -0.18735025 0.28948622
+v 0.26217825 0.20178356 0.28948765
+v 0.26225039 -0.20399280 0.28948616
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 19
+f 1 19 20
+f 1 20 8
+f 1 8 2
+f 2 8 3
+f 3 8 20
+f 3 20 24
+f 3 24 21
+f 3 21 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 17
+f 7 17 16
+f 7 16 23
+f 7 23 19
+f 9 21 22
+f 9 22 10
+f 10 22 21
+f 10 21 24
+f 10 24 23
+f 10 23 16
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 19 23 24
+f 19 24 20
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_19.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.38964370 -0.20401931 0.29750799
+v -0.38939329 -0.20401931 0.29580272
+v -0.38968543 -0.22520458 0.29751343
+v -0.38964370 -0.20407914 0.29751351
+v -0.30934929 -0.20401931 0.29751351
+v -0.38939329 -0.24297870 0.29583715
+v -0.38713970 -0.20401928 0.28948616
+v -0.38713970 -0.23145842 0.28948606
+v -0.38935159 -0.26245839 0.29583708
+v -0.38960196 -0.26413406 0.29751329
+v -0.17146322 -0.20401931 0.29751351
+v -0.22943045 -0.20401928 0.28948616
+v -0.38709800 -0.25087826 0.28948599
+v -0.38876730 -0.41811645 0.29659091
+v -0.38880901 -0.43756620 0.29713779
+v -0.38889249 -0.43795521 0.29751265
+v -0.38705622 -0.26245836 0.28948595
+v 0.03665960 -0.21003376 0.29751349
+v -0.18172955 -0.20401928 0.28949874
+v -0.18172955 -0.20407911 0.28948616
+v -0.38622157 -0.34881536 0.28948563
+v -0.38551210 -0.41811642 0.28948537
+v -0.38496959 -0.43756617 0.28948530
+v -0.38880901 -0.44346100 0.29751263
+v 0.03665960 -0.50962017 0.29751239
+v 0.03665960 -0.21993817 0.28948610
+v -0.38317506 -0.45701596 0.28948523
+v -0.38826650 -0.45701599 0.29751258
+v 0.03031617 -0.50967999 0.29751239
+v 0.03665960 -0.49612498 0.28948509
+v -0.38042070 -0.46347929 0.28948521
+v -0.38484440 -0.47655555 0.29751251
+v -0.08553483 -0.50959025 0.29751239
+v 0.01099375 -0.49612498 0.28948509
+v -0.37545445 -0.47484993 0.28948517
+v -0.37507886 -0.49720222 0.29751243
+v -0.10481550 -0.50953039 0.29751239
+v -0.08553483 -0.49594545 0.28948509
+v -0.07197159 -0.49597535 0.28948509
+v -0.00828691 -0.49609505 0.28948509
+v -0.37487020 -0.47577750 0.28948516
+v -0.35579818 -0.48283930 0.28948514
+v -0.35579818 -0.50258831 0.29751241
+v -0.12413791 -0.50938076 0.29751239
+v -0.10481550 -0.49582575 0.28948509
+v -0.09133573 -0.49591553 0.28948509
+v -0.33647576 -0.48634023 0.28948512
+v -0.31715334 -0.48930260 0.28948511
+v -0.29854043 -0.49184603 0.28948510
+v -0.31715334 -0.50579005 0.29751240
+v -0.14346033 -0.50917131 0.29751239
+v -0.12413791 -0.49564619 0.28948509
+v -0.29812307 -0.50722634 0.29751240
+v -0.18202168 -0.49480836 0.28948509
+v -0.14346033 -0.49540681 0.28948509
+v -0.16274100 -0.49513751 0.28948509
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 3 9 10
+f 3 10 16
+f 3 16 24
+f 3 24 28
+f 3 28 32
+f 3 32 36
+f 3 36 43
+f 3 43 50
+f 3 50 53
+f 3 53 51
+f 3 51 44
+f 3 44 37
+f 3 37 33
+f 3 33 29
+f 3 29 25
+f 3 25 18
+f 3 18 11
+f 3 11 5
+f 3 5 4
+f 6 8 9
+f 7 12 20
+f 7 20 26
+f 7 26 30
+f 7 30 34
+f 7 34 40
+f 7 40 39
+f 7 39 38
+f 7 38 46
+f 7 46 45
+f 7 45 52
+f 7 52 55
+f 7 55 56
+f 7 56 54
+f 7 54 49
+f 7 49 48
+f 7 48 47
+f 7 47 42
+f 7 42 41
+f 7 41 35
+f 7 35 31
+f 7 31 27
+f 7 27 23
+f 7 23 22
+f 7 22 21
+f 7 21 17
+f 7 17 13
+f 7 13 8
+f 8 13 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 9 13 17
+f 9 17 14
+f 11 18 19
+f 12 19 20
+f 14 17 21
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 18 25 30
+f 18 30 26
+f 18 26 19
+f 19 26 20
+f 23 27 28
+f 23 28 24
+f 25 29 30
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 35 41 36
+f 36 41 42
+f 36 42 43
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 42 47 43
+f 43 47 48
+f 43 48 49
+f 43 49 50
+f 44 51 52
+f 44 52 45
+f 49 53 50
+f 49 54 53
+f 51 53 55
+f 51 55 52
+f 53 54 56
+f 53 56 55
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_2.obj

@@ -0,0 +1,790 @@
+# https://github.com/mikedh/trimesh
+v 0.19548117 0.39904793 0.15661154
+v 0.19654871 0.37976438 0.15661146
+v 0.20372298 0.42101254 0.15661162
+v 0.22610669 0.41868458 -0.22867808
+v 0.22238756 0.39922519 -0.22867815
+v 0.20146163 0.36114004 0.15661140
+v 0.22386833 0.39922526 -0.24808901
+v 0.22976844 0.38089767 -0.26749998
+v 0.20429692 0.42188058 0.15661162
+v 0.23266110 0.42878240 -0.24808890
+v 0.23305138 0.42841984 -0.25790280
+v 0.22761042 0.41868465 -0.24808894
+v 0.20499712 0.35741517 0.15661138
+v 0.23356793 0.37117348 -0.26750002
+v 0.23310878 0.37011860 -0.25708970
+v 0.24480571 0.35847157 -0.26815071
+v 0.25195702 0.35028564 -0.26207804
+v 0.23030794 0.41498188 -0.28696495
+v 0.23160505 0.41207019 -0.30637582
+v 0.22577381 0.39922533 -0.26749991
+v 0.23267258 0.38850139 -0.31841284
+v 0.23185759 0.38643567 -0.30637591
+v 0.23072118 0.38339197 -0.28696506
+v 0.21195328 0.42883586 0.15661165
+v 0.23196090 0.42940866 -0.22867804
+v 0.24272804 0.43337527 -0.22867803
+v 0.24183269 0.43084819 -0.26565629
+v 0.24673416 0.43071641 -0.28696489
+v 0.24938576 0.42978251 -0.30637575
+v 0.25121089 0.42899146 -0.32025618
+v 0.23480765 0.42690359 -0.27086146
+v 0.23253483 0.41005946 -0.31900918
+v 0.22987175 0.41972856 -0.26565633
+v 0.24272804 0.43235345 -0.24808889
+v 0.22453409 0.34219708 0.15661133
+v 0.23475026 0.37366777 -0.28696510
+v 0.24591915 0.36303167 -0.30637600
+v 0.24440394 0.36138341 -0.28696514
+v 0.25321969 0.35075818 -0.27503669
+v 0.26202394 0.34747272 -0.24808920
+v 0.26202394 0.34652770 -0.22867835
+v 0.25132568 0.34983509 -0.24808919
+v 0.22796626 0.39922540 -0.28696500
+v 0.23626546 0.37671147 -0.30637595
+v 0.23039978 0.39922548 -0.30637586
+v 0.23237414 0.39922553 -0.32003939
+v 0.23414187 0.39922556 -0.32974483
+v 0.23710341 0.39922562 -0.34525185
+v 0.24124727 0.39922569 -0.36466275
+v 0.24967272 0.38456802 -0.38407367
+v 0.24694077 0.37821701 -0.36558457
+v 0.24182121 0.37976623 -0.34525193
+v 0.23743630 0.38112863 -0.32524463
+v 0.22168734 0.43369246 0.15661166
+v 0.22913711 0.43174855 -0.09274765
+v 0.22951591 0.43149591 -0.11215853
+v 0.23025055 0.43091370 -0.15098029
+v 0.23151323 0.42980414 -0.20921293
+v 0.24272804 0.43597906 -0.15098027
+v 0.24272804 0.43538580 -0.17039115
+v 0.24272804 0.43411135 -0.20921292
+v 0.26202394 0.43423238 -0.24808888
+v 0.26202394 0.43340836 -0.26749979
+v 0.26202394 0.43226569 -0.28696488
+v 0.26202394 0.43082638 -0.30637575
+v 0.26356211 0.42910137 -0.32632884
+v 0.25816705 0.42804656 -0.33316062
+v 0.26202394 0.42327798 -0.36466267
+v 0.24713591 0.41504812 -0.36466270
+v 0.24969568 0.41212541 -0.38022391
+v 0.24299204 0.33648341 0.15661131
+v 0.24956943 0.36717421 -0.34525197
+v 0.24764098 0.36499853 -0.32578689
+v 0.25115349 0.36882240 -0.35972882
+v 0.26202394 0.36064744 -0.34525200
+v 0.26202394 0.35696646 -0.32578692
+v 0.25696179 0.35165921 -0.28696518
+v 0.27051829 0.35037368 -0.29829721
+v 0.26661549 0.34973634 -0.28696519
+v 0.26060057 0.34900008 -0.26815075
+v 0.28133134 0.34670357 -0.24808921
+v 0.28133134 0.34563767 -0.22867835
+v 0.28133134 0.34465971 -0.20921324
+v 0.26202394 0.34579144 -0.20921324
+v 0.28133134 0.32813269 0.15661128
+v 0.24860521 0.39943452 -0.38564600
+v 0.25200292 0.38875441 -0.39415865
+v 0.25320821 0.37069038 -0.37263323
+v 0.22319107 0.43417594 0.15661166
+v 0.24272804 0.44008752 0.12098893
+v 0.24272804 0.43985684 0.10152382
+v 0.22384537 0.43418700 0.14039978
+v 0.24272804 0.43720948 -0.09274763
+v 0.24272804 0.43686895 -0.11215851
+v 0.24272804 0.43646247 -0.13151518
+v 0.26202394 0.43532003 -0.20921291
+v 0.26202394 0.43482565 -0.22867802
+v 0.27375532 0.42994727 -0.28696489
+v 0.27319285 0.42946390 -0.30637575
+v 0.27232046 0.42883764 -0.32578665
+v 0.27173504 0.42844212 -0.33587162
+v 0.27103482 0.42844212 -0.33587162
+v 0.26356211 0.42689286 -0.34351671
+v 0.28230705 0.41393840 -0.38439888
+v 0.27652171 0.41116952 -0.39556828
+v 0.26060057 0.41525695 -0.38564594
+v 0.25323117 0.40606017 -0.39318262
+v 0.26081867 0.33247289 0.15661129
+v 0.26058909 0.36555906 -0.36558462
+v 0.26607598 0.36761384 -0.38065785
+v 0.26325219 0.35314262 -0.30540010
+v 0.27320433 0.35037368 -0.29829721
+v 0.28133134 0.36373508 -0.36466288
+v 0.28133134 0.35982335 -0.34525200
+v 0.28133134 0.34819798 -0.26750010
+v 0.29104242 0.35052744 -0.27763928
+v 0.29180002 0.34995602 -0.26750009
+v 0.29294791 0.34906595 -0.24808920
+v 0.28677230 0.32952817 0.15661128
+v 0.25200292 0.39308361 -0.39415864
+v 0.26058909 0.37397579 -0.38591720
+v 0.26060057 0.39943456 -0.39686961
+v 0.26202394 0.38420547 -0.39632748
+v 0.24272804 0.44037307 0.15661169
+v 0.24272804 0.44026324 0.14039981
+v 0.26202394 0.43720955 -0.11215850
+v 0.26202394 0.43690197 -0.13151518
+v 0.26202394 0.43652845 -0.15098027
+v 0.26202394 0.43577046 -0.18980203
+v 0.27416855 0.43036474 -0.26749980
+v 0.29238544 0.41057607 -0.36466271
+v 0.29185743 0.40993883 -0.37816355
+v 0.28133134 0.41880593 -0.36466268
+v 0.28938948 0.40653266 -0.39112222
+v 0.28230705 0.39972025 -0.39730336
+v 0.26608746 0.41116952 -0.39556828
+v 0.28133134 0.36794348 -0.37979033
+v 0.28133134 0.37337146 -0.38949576
+v 0.28133134 0.35632917 -0.32578692
+v 0.28030973 0.35274707 -0.30540010
+v 0.28607210 0.35149439 -0.29059793
+v 0.28030973 0.34987918 -0.28523014
+v 0.29137531 0.36966855 -0.37534424
+v 0.29266095 0.36842687 -0.36466287
+v 0.29461235 0.36635012 -0.34525197
+v 0.29628825 0.36436123 -0.32578689
+v 0.29780348 0.36254818 -0.30637600
+v 0.29751648 0.35891114 -0.28523011
+v 0.30093719 0.36030654 -0.26750006
+v 0.30410536 0.36204253 -0.24928199
+v 0.30339364 0.35947132 -0.22867830
+v 0.29373996 0.34841759 -0.22867834
+v 0.30004184 0.33962592 0.15661132
+v 0.29441722 0.34782418 -0.20921323
+v 0.29500261 0.34729671 -0.18980235
+v 0.29554215 0.34682415 -0.17039148
+v 0.29607016 0.34637357 -0.15098060
+v 0.29655226 0.34594496 -0.13151551
+v 0.29697697 0.34557133 -0.11215884
+v 0.29736726 0.34524162 -0.09274797
+v 0.28133134 0.38310669 -0.39681545
+v 0.24594211 0.43982368 0.15661169
+v 0.26202394 0.43719778 0.10152381
+v 0.26202394 0.43736326 -0.07328253
+v 0.26202394 0.43737432 -0.09274763
+v 0.27551157 0.43183652 -0.11215852
+v 0.27459327 0.43087004 -0.22867804
+v 0.27442108 0.43067232 -0.24808890
+v 0.28382226 0.42145364 -0.26749983
+v 0.29921537 0.39922562 -0.34525185
+v 0.29825115 0.39922569 -0.36466275
+v 0.29328079 0.41171844 -0.26749987
+v 0.30190141 0.39922533 -0.26749991
+v 0.30140782 0.39922540 -0.28696500
+v 0.30077648 0.39922548 -0.30637586
+v 0.29427947 0.39972020 -0.38439893
+v 0.29204110 0.39356706 -0.39480927
+v 0.29204110 0.38728203 -0.39480930
+v 0.29399250 0.38039266 -0.38271816
+v 0.29851516 0.37976630 -0.36466283
+v 0.30129303 0.37976623 -0.34525193
+v 0.31049904 0.36969001 -0.24358885
+v 0.30407090 0.35898780 -0.20921319
+v 0.30891497 0.35407518 0.08211262
+v 0.30900681 0.35402017 0.10152350
+v 0.30906419 0.35408586 0.15661137
+v 0.29774606 0.34493390 -0.07328287
+v 0.30773266 0.35510853 -0.05387196
+v 0.30798517 0.35480081 -0.03446108
+v 0.30815738 0.35464689 -0.01499599
+v 0.30829513 0.35450397 0.00441489
+v 0.30620597 0.35692179 -0.13151547
+v 0.30663069 0.35639432 -0.11215880
+v 0.30702098 0.35596571 -0.09274793
+v 0.30739978 0.35554810 -0.07328283
+v 0.26202394 0.43691191 0.15661167
+v 0.26202394 0.43710981 0.12098892
+v 0.27560341 0.43192435 -0.09274765
+v 0.28407478 0.42146456 -0.24808893
+v 0.30944298 0.38353461 -0.22867821
+v 0.30874280 0.37976594 -0.26749999
+v 0.30741124 0.37976601 -0.28696508
+v 0.30570089 0.37976609 -0.30637594
+v 0.30361173 0.37976616 -0.32578684
+v 0.28516528 0.42152997 -0.11215856
+v 0.28525711 0.42148595 -0.09274769
+v 0.29326933 0.41174033 -0.24808897
+v 0.30206212 0.39922526 -0.24808901
+v 0.30939707 0.38511670 -0.18980222
+v 0.30943152 0.38466628 -0.20921310
+v 0.31049904 0.37195349 -0.24358884
+v 0.31079750 0.36919552 -0.22867826
+v 0.31274890 0.36452500 -0.03446104
+v 0.31271448 0.36422816 0.00441493
+v 0.31217494 0.36382106 0.15661141
+v 0.31268003 0.36410724 0.02382581
+v 0.31106151 0.36871200 -0.20921316
+v 0.31203722 0.36665698 -0.13151543
+v 0.31226677 0.36612948 -0.11215877
+v 0.31268003 0.36484372 -0.05387192
+v 0.31242748 0.36568991 -0.09274790
+v 0.26410162 0.43589003 0.15661167
+v 0.27467362 0.43105553 0.12098889
+v 0.27479990 0.43115449 0.10152378
+v 0.27491467 0.43122050 0.08211290
+v 0.27560341 0.43183638 -0.07328255
+v 0.28525711 0.42145293 -0.07328259
+v 0.31226677 0.37646901 -0.11215873
+v 0.31203722 0.37632623 -0.13151540
+v 0.31106151 0.37495304 -0.20921313
+v 0.31079750 0.37381041 -0.22867825
+v 0.30955778 0.37897474 -0.24928193
+v 0.29313158 0.41181684 -0.13151527
+v 0.30184400 0.39922498 -0.17039128
+v 0.30909864 0.38619321 -0.11215869
+v 0.30917898 0.38603947 -0.13151536
+v 0.30927081 0.38579780 -0.15098045
+v 0.30935115 0.38549022 -0.17039133
+v 0.31242748 0.37639203 -0.09274786
+v 0.31274890 0.37583144 -0.03446100
+v 0.31271448 0.37557858 0.00441497
+v 0.31217494 0.37416059 0.15661144
+v 0.31268003 0.37542467 0.02382585
+v 0.31268003 0.37597435 -0.05387188
+v 0.27437518 0.43081368 0.15661165
+v 0.27451291 0.43092360 0.14039977
+v 0.28467168 0.42046350 0.06270200
+v 0.28475204 0.42066136 0.04323690
+v 0.28517675 0.42138692 -0.05387171
+v 0.29294791 0.41172873 -0.07328263
+v 0.29307420 0.41179478 -0.11215860
+v 0.30178662 0.39922490 -0.15098040
+v 0.30167183 0.39922483 -0.13151531
+v 0.30153408 0.39922476 -0.11215864
+v 0.30133895 0.39922469 -0.09274777
+v 0.30894939 0.38610524 -0.09274782
+v 0.30728499 0.38389578 0.15661148
+v 0.28402886 0.41940835 0.15661161
+v 0.29216736 0.41072834 0.06270197
+v 0.29230511 0.41092617 0.04323686
+v 0.29240840 0.41108008 0.02382598
+v 0.29283312 0.41166272 -0.05387175
+v 0.29811340 0.39922377 0.15661154
+v 0.29146714 0.40968415 0.15661157
+f 1 2 6
+f 1 6 13
+f 1 13 35
+f 1 35 71
+f 1 71 108
+f 1 108 85
+f 1 85 119
+f 1 119 153
+f 1 153 186
+f 1 186 215
+f 1 215 242
+f 1 242 257
+f 1 257 263
+f 1 263 264
+f 1 264 258
+f 1 258 245
+f 1 245 222
+f 1 222 196
+f 1 196 162
+f 1 162 124
+f 1 124 89
+f 1 89 54
+f 1 54 24
+f 1 24 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 7
+f 4 7 5
+f 6 8 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 13
+f 7 12 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 8
+f 8 23 14
+f 9 24 25
+f 9 25 10
+f 10 25 26
+f 10 26 11
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 19
+f 11 19 18
+f 11 18 33
+f 11 33 12
+f 11 26 34
+f 11 34 27
+f 12 33 18
+f 13 17 35
+f 14 23 36
+f 14 36 37
+f 14 37 38
+f 14 38 15
+f 15 38 16
+f 16 38 17
+f 17 38 39
+f 17 39 40
+f 17 40 41
+f 17 41 42
+f 17 42 35
+f 19 32 20
+f 20 32 43
+f 20 43 21
+f 21 44 36
+f 21 36 22
+f 21 43 45
+f 21 45 46
+f 21 46 47
+f 21 47 48
+f 21 48 49
+f 21 49 50
+f 21 50 51
+f 21 51 52
+f 21 52 53
+f 21 53 44
+f 22 36 23
+f 24 54 55
+f 24 55 56
+f 24 56 57
+f 24 57 58
+f 24 58 25
+f 25 58 59
+f 25 59 60
+f 25 60 61
+f 25 61 26
+f 26 62 63
+f 26 63 34
+f 26 61 62
+f 27 34 28
+f 28 34 63
+f 28 63 64
+f 28 64 29
+f 29 64 30
+f 30 64 65
+f 30 65 66
+f 30 66 67
+f 30 67 68
+f 30 68 69
+f 30 69 31
+f 31 69 32
+f 32 69 70
+f 32 70 49
+f 32 49 48
+f 32 48 47
+f 32 47 46
+f 32 46 45
+f 32 45 43
+f 35 42 71
+f 36 44 72
+f 36 72 73
+f 36 73 37
+f 37 73 39
+f 37 39 38
+f 39 73 72
+f 39 72 74
+f 39 74 75
+f 39 75 76
+f 39 76 77
+f 39 77 78
+f 39 78 79
+f 39 79 80
+f 39 80 40
+f 40 80 79
+f 40 79 81
+f 40 81 82
+f 40 82 83
+f 40 83 41
+f 41 84 71
+f 41 71 42
+f 41 83 85
+f 41 85 84
+f 44 53 52
+f 44 52 74
+f 44 74 72
+f 49 70 86
+f 49 86 87
+f 49 87 50
+f 50 87 88
+f 50 88 51
+f 51 88 74
+f 51 74 52
+f 54 89 90
+f 54 90 91
+f 54 91 92
+f 54 92 93
+f 54 93 94
+f 54 94 55
+f 55 94 56
+f 56 94 95
+f 56 95 57
+f 57 95 59
+f 57 59 58
+f 59 96 97
+f 59 97 62
+f 59 62 60
+f 59 95 96
+f 60 62 61
+f 62 97 98
+f 62 98 99
+f 62 99 100
+f 62 100 63
+f 63 100 101
+f 63 101 64
+f 64 101 65
+f 65 101 102
+f 65 102 66
+f 66 102 67
+f 67 102 103
+f 67 103 68
+f 68 104 105
+f 68 105 106
+f 68 106 70
+f 68 70 69
+f 68 103 102
+f 68 102 101
+f 68 101 104
+f 70 106 107
+f 70 107 86
+f 71 84 108
+f 74 88 109
+f 74 109 75
+f 75 109 110
+f 75 110 78
+f 75 78 76
+f 76 78 111
+f 76 111 77
+f 77 111 78
+f 78 112 81
+f 78 81 79
+f 78 110 113
+f 78 113 114
+f 78 114 112
+f 81 112 115
+f 81 115 116
+f 81 116 117
+f 81 117 118
+f 81 118 82
+f 82 118 83
+f 83 118 85
+f 84 85 108
+f 85 118 119
+f 86 107 120
+f 86 120 87
+f 87 121 88
+f 87 120 122
+f 87 122 123
+f 87 123 121
+f 88 110 109
+f 88 121 110
+f 89 124 125
+f 89 125 90
+f 90 125 126
+f 90 126 91
+f 91 126 93
+f 91 93 92
+f 93 126 127
+f 93 127 94
+f 94 127 128
+f 94 128 129
+f 94 129 95
+f 95 129 96
+f 96 129 130
+f 96 130 97
+f 97 130 98
+f 98 130 131
+f 98 131 99
+f 99 131 100
+f 100 131 132
+f 100 132 101
+f 101 132 133
+f 101 133 104
+f 104 134 105
+f 104 133 132
+f 104 132 134
+f 105 135 136
+f 105 136 106
+f 105 134 135
+f 106 136 107
+f 107 136 122
+f 107 122 120
+f 110 137 113
+f 110 121 138
+f 110 138 137
+f 112 114 139
+f 112 139 140
+f 112 140 141
+f 112 141 116
+f 112 116 142
+f 112 142 115
+f 113 137 143
+f 113 143 114
+f 114 143 116
+f 114 116 139
+f 115 142 116
+f 116 141 139
+f 116 143 144
+f 116 144 145
+f 116 145 146
+f 116 146 147
+f 116 147 148
+f 116 148 117
+f 117 149 118
+f 117 148 149
+f 118 149 150
+f 118 150 151
+f 118 151 152
+f 118 152 119
+f 119 152 154
+f 119 154 155
+f 119 155 156
+f 119 156 157
+f 119 157 158
+f 119 158 159
+f 119 159 160
+f 119 160 153
+f 121 123 138
+f 122 135 161
+f 122 161 123
+f 122 136 135
+f 123 161 138
+f 124 162 163
+f 124 163 164
+f 124 164 165
+f 124 165 125
+f 125 165 126
+f 126 165 166
+f 126 166 167
+f 126 167 168
+f 126 168 127
+f 127 168 128
+f 128 168 129
+f 129 168 130
+f 130 168 169
+f 130 169 131
+f 131 170 171
+f 131 171 132
+f 131 169 172
+f 131 172 173
+f 131 173 174
+f 131 174 175
+f 131 175 170
+f 132 171 176
+f 132 176 134
+f 134 176 177
+f 134 177 135
+f 135 177 178
+f 135 178 161
+f 137 138 143
+f 138 161 178
+f 138 178 143
+f 139 141 140
+f 143 178 179
+f 143 179 180
+f 143 180 144
+f 144 180 145
+f 145 180 181
+f 145 181 182
+f 145 182 146
+f 146 182 147
+f 147 182 149
+f 147 149 148
+f 149 182 150
+f 150 182 151
+f 151 183 154
+f 151 154 152
+f 151 182 183
+f 153 184 185
+f 153 185 186
+f 153 160 187
+f 153 187 188
+f 153 188 189
+f 153 189 190
+f 153 190 191
+f 153 191 184
+f 154 183 155
+f 155 183 192
+f 155 192 156
+f 156 192 157
+f 157 192 193
+f 157 193 158
+f 158 193 194
+f 158 194 159
+f 159 194 195
+f 159 195 188
+f 159 188 160
+f 160 188 187
+f 162 196 197
+f 162 197 163
+f 163 197 226
+f 163 226 198
+f 163 198 164
+f 164 198 165
+f 165 198 166
+f 166 198 172
+f 166 172 199
+f 166 199 169
+f 166 169 167
+f 167 169 168
+f 169 199 172
+f 170 175 200
+f 170 200 201
+f 170 201 171
+f 171 180 176
+f 171 201 202
+f 171 202 203
+f 171 203 204
+f 171 204 181
+f 171 181 180
+f 172 198 205
+f 172 205 206
+f 172 206 207
+f 172 207 208
+f 172 208 173
+f 173 208 209
+f 173 209 210
+f 173 210 200
+f 173 200 174
+f 174 200 175
+f 176 178 177
+f 176 180 178
+f 178 180 179
+f 181 204 182
+f 182 204 203
+f 182 203 202
+f 182 202 211
+f 182 211 231
+f 182 231 212
+f 182 212 192
+f 182 192 183
+f 184 191 213
+f 184 213 185
+f 185 213 214
+f 185 214 186
+f 186 214 216
+f 186 216 215
+f 188 195 212
+f 188 212 217
+f 188 217 218
+f 188 218 219
+f 188 219 189
+f 189 220 190
+f 189 219 221
+f 189 221 220
+f 190 220 213
+f 190 213 191
+f 192 212 193
+f 193 212 194
+f 194 212 195
+f 196 222 223
+f 196 223 224
+f 196 224 225
+f 196 225 226
+f 196 226 197
+f 198 206 205
+f 198 226 227
+f 198 227 206
+f 200 210 228
+f 200 228 229
+f 200 229 230
+f 200 230 231
+f 200 231 232
+f 200 232 201
+f 201 232 211
+f 201 211 202
+f 206 233 207
+f 206 227 233
+f 207 233 208
+f 208 233 234
+f 208 234 235
+f 208 235 236
+f 208 236 237
+f 208 237 238
+f 208 238 209
+f 209 238 239
+f 209 239 210
+f 210 239 228
+f 211 232 231
+f 212 231 230
+f 212 230 217
+f 213 220 244
+f 213 244 240
+f 213 240 241
+f 213 241 214
+f 214 241 243
+f 214 243 216
+f 215 216 243
+f 215 243 242
+f 217 230 229
+f 217 229 218
+f 218 229 228
+f 218 228 219
+f 219 228 239
+f 219 239 221
+f 220 221 239
+f 220 239 244
+f 222 245 246
+f 222 246 223
+f 223 247 248
+f 223 248 249
+f 223 249 224
+f 223 246 247
+f 224 249 225
+f 225 249 226
+f 226 249 227
+f 227 250 251
+f 227 251 233
+f 227 249 250
+f 233 251 252
+f 233 252 234
+f 234 252 235
+f 235 252 253
+f 235 253 254
+f 235 254 255
+f 235 255 256
+f 235 256 242
+f 235 242 243
+f 235 243 241
+f 235 241 240
+f 235 240 236
+f 236 240 237
+f 237 240 244
+f 237 244 238
+f 238 244 239
+f 242 256 257
+f 245 258 247
+f 245 247 246
+f 247 258 259
+f 247 259 260
+f 247 260 248
+f 248 260 261
+f 248 261 262
+f 248 262 249
+f 249 262 250
+f 250 262 254
+f 250 254 253
+f 250 253 252
+f 250 252 251
+f 254 262 255
+f 255 262 261
+f 255 261 260
+f 255 260 263
+f 255 263 257
+f 255 257 256
+f 258 264 259
+f 259 264 263
+f 259 263 260
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_20.obj

@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.25183654 -0.20399283 0.29751351
+v 0.37362360 -0.20399283 0.29751351
+v 0.26221688 -0.20399280 0.28948616
+v 0.03669266 -0.21003650 0.29751349
+v 0.37438393 -0.22353006 0.29751344
+v 0.35854895 -0.22353005 0.29336576
+v 0.35854895 -0.20399282 0.29366132
+v 0.32205251 -0.20399280 0.28948616
+v 0.03669266 -0.21993973 0.28948610
+v 0.03669266 -0.50964753 0.29751239
+v 0.37286325 -0.23795113 0.29751339
+v 0.31752354 -0.37758408 0.28948552
+v 0.31937479 -0.36325279 0.28948558
+v 0.31947398 -0.35972231 0.28948559
+v 0.32287898 -0.22613300 0.28948608
+v 0.32294510 -0.22353003 0.28948609
+v 0.32277983 -0.20405263 0.28948616
+v 0.32277983 -0.20399280 0.28949245
+v 0.03669266 -0.49612400 0.28948509
+v 0.04965154 -0.50958767 0.29751239
+v 0.04965154 -0.49612400 0.28948509
+v 0.10171848 -0.49591459 0.28948509
+v 0.32711046 -0.38676932 0.29751284
+v 0.31577145 -0.38009731 0.28948551
+v 0.10756981 -0.49588466 0.28948509
+v 0.11900800 -0.50866020 0.29751239
+v 0.31068046 -0.40902920 0.29751276
+v 0.27765514 -0.43392197 0.28948532
+v 0.12092539 -0.49570514 0.28948509
+v 0.12687590 -0.50851060 0.29751239
+v 0.28582056 -0.44211985 0.29751264
+v 0.27434929 -0.43592655 0.28948531
+v 0.21672855 -0.48879384 0.29751246
+v 0.12687590 -0.49558547 0.28948509
+v 0.13788434 -0.50818148 0.29751239
+v 0.20486059 -0.47601831 0.28948516
+v 0.18902564 -0.50016316 0.29751242
+v 0.18717437 -0.48514366 0.28948513
+v 0.20400108 -0.47649699 0.28948516
+v 0.13970255 -0.49489733 0.28948509
+v 0.15626479 -0.50701463 0.29751240
+v 0.17573618 -0.50530924 0.29751240
+v 0.17652957 -0.48882374 0.28948511
+v 0.14618199 -0.49429895 0.28948509
+v 0.15960369 -0.49250378 0.28948510
+v 0.16373598 -0.49172590 0.28948510
+f 1 2 7
+f 1 7 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 26
+f 1 26 30
+f 1 30 35
+f 1 35 41
+f 1 41 42
+f 1 42 37
+f 1 37 33
+f 1 33 31
+f 1 31 27
+f 1 27 23
+f 1 23 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 24
+f 3 24 28
+f 3 28 32
+f 3 32 36
+f 3 36 39
+f 3 39 38
+f 3 38 43
+f 3 43 46
+f 3 46 45
+f 3 45 44
+f 3 44 40
+f 3 40 34
+f 3 34 29
+f 3 29 25
+f 3 25 22
+f 3 22 21
+f 3 21 19
+f 3 19 9
+f 3 9 4
+f 4 9 19
+f 4 19 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 8 18 17
+f 10 19 21
+f 10 21 22
+f 10 22 20
+f 11 23 12
+f 12 23 24
+f 20 22 25
+f 20 25 26
+f 23 27 28
+f 23 28 24
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 33
+f 28 33 32
+f 29 34 30
+f 30 34 35
+f 32 33 36
+f 33 37 38
+f 33 38 39
+f 33 39 36
+f 34 40 35
+f 35 40 41
+f 37 42 38
+f 38 42 43
+f 40 44 42
+f 40 42 41
+f 42 44 45
+f 42 45 46
+f 42 46 43
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_21.obj

@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.16549265 0.20914236 0.29751503
+v -0.17979995 0.20914239 0.28948768
+v -0.38894541 0.20914236 0.29751503
+v -0.17143940 -0.20398942 0.29751351
+v -0.18177488 -0.20398939 0.28949874
+v -0.38622440 0.20914239 0.28948768
+v -0.18467145 -0.18914802 0.28948622
+v -0.38966955 -0.20398942 0.29750799
+v -0.38962567 -0.18457836 0.29751358
+v -0.38887957 0.20914236 0.29712523
+v -0.38940624 -0.20398942 0.29580272
+v -0.30935560 -0.20398942 0.29751351
+v -0.22948049 -0.20398939 0.28948616
+v -0.38808960 0.20914237 0.29436222
+v -0.38624632 0.20461313 0.28948766
+v -0.38962567 -0.18623639 0.29751358
+v -0.38863818 0.20914236 0.29583881
+v -0.38714602 -0.20398939 0.28948616
+v -0.38712410 -0.19242364 0.28948620
+f 1 2 6
+f 1 6 14
+f 1 14 17
+f 1 17 10
+f 1 10 3
+f 1 3 9
+f 1 9 16
+f 1 16 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 13
+f 2 13 18
+f 2 18 19
+f 2 19 15
+f 2 15 6
+f 3 8 9
+f 3 10 11
+f 3 11 8
+f 4 12 8
+f 4 8 11
+f 4 11 18
+f 4 18 13
+f 4 13 5
+f 5 13 7
+f 6 15 14
+f 8 12 16
+f 8 16 9
+f 10 17 11
+f 11 17 18
+f 14 15 19
+f 14 19 17
+f 17 19 18
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_22.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.31310788 -0.36287336 0.27207401
+v 0.31289125 -0.37376312 0.27207397
+v 0.31305693 -0.37460037 0.15985248
+v 0.31305693 -0.37460036 0.15662000
+v 0.31305693 -0.36259939 0.15662005
+v 0.31233054 -0.29278224 0.27207426
+v 0.31301867 -0.37448077 0.17928130
+v 0.31143851 -0.37593421 0.27207396
+v 0.30701653 -0.38420806 0.17928127
+v 0.30715673 -0.38431054 0.15985245
+v 0.31207568 -0.37622442 0.15662000
+v 0.30967992 -0.35449620 0.15662008
+v 0.31128557 -0.29278192 0.18648122
+v 0.31170610 -0.29278194 0.19189507
+v 0.31222859 -0.29278197 0.19871042
+v 0.18293396 -0.29278224 0.27207426
+v 0.30617549 -0.38347329 0.27207393
+v 0.28340300 -0.41810811 0.15661984
+v 0.30715673 -0.38431053 0.15661997
+v 0.30897901 -0.35287213 0.15662008
+v 0.30063210 -0.29278189 0.17793662
+v 0.18293396 -0.46741163 0.27207362
+v 0.18293396 -0.29278182 0.15754710
+v 0.27272402 -0.42901541 0.27207376
+v 0.27416403 -0.43036559 0.17928110
+v 0.27441889 -0.43055356 0.15985228
+v 0.27445712 -0.43058776 0.15661980
+v 0.30088696 -0.33999930 0.15662013
+v 0.20411349 -0.29278182 0.15813483
+v 0.29995667 -0.33885392 0.15662014
+v 0.28132582 -0.32678457 0.15662018
+v 0.18293396 -0.44190506 0.19870988
+v 0.24272604 -0.44098175 0.15661976
+v 0.26201956 -0.43732332 0.15661977
+v 0.18480723 -0.46665943 0.27207363
+v 0.18397891 -0.29278182 0.15754710
+v 0.24730092 -0.33416977 0.15662015
+v 0.20914713 -0.34533305 0.15662011
+v 0.19437754 -0.34991464 0.15662009
+v 0.19249151 -0.36954012 0.15662002
+v 0.18293396 -0.29948325 0.15753579
+v 0.27034099 -0.43048560 0.27207376
+v 0.26201956 -0.43558004 0.27207374
+v 0.27235445 -0.43173314 0.15661979
+v 0.18480723 -0.29278182 0.15755840
+v 0.18293396 -0.43479330 0.18004965
+v 0.22312666 -0.43513511 0.15661978
+v 0.19445399 -0.39328563 0.15661994
+v 0.18293396 -0.34028993 0.15781818
+v 0.18293396 -0.33840944 0.15779559
+v 0.18293396 -0.32081829 0.15766002
+v 0.18293396 -0.30136374 0.15753578
+v 0.21042149 -0.42887820 0.15661980
+v 0.18293396 -0.41964676 0.17052179
+v 0.20139914 -0.41973217 0.15661984
+v 0.18293396 -0.35974448 0.15837192
+v 0.19571559 -0.39870485 0.15661992
+v 0.18293396 -0.39820911 0.16482545
+v 0.20037968 -0.41631312 0.15661985
+v 0.18293396 -0.37733564 0.16071146
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 22
+f 1 22 35
+f 1 35 43
+f 1 43 42
+f 1 42 24
+f 1 24 17
+f 1 17 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 7 10
+f 3 10 11
+f 3 11 4
+f 4 11 19
+f 4 19 18
+f 4 18 27
+f 4 27 44
+f 4 44 34
+f 4 34 33
+f 4 33 47
+f 4 47 53
+f 4 53 55
+f 4 55 59
+f 4 59 57
+f 4 57 48
+f 4 48 40
+f 4 40 39
+f 4 39 38
+f 4 38 37
+f 4 37 31
+f 4 31 30
+f 4 30 28
+f 4 28 20
+f 4 20 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 14
+f 6 14 13
+f 6 13 21
+f 6 21 29
+f 6 29 45
+f 6 45 36
+f 6 36 23
+f 6 23 16
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 19 11
+f 10 18 19
+f 12 20 13
+f 13 20 21
+f 16 23 41
+f 16 41 52
+f 16 52 51
+f 16 51 50
+f 16 50 49
+f 16 49 56
+f 16 56 60
+f 16 60 58
+f 16 58 54
+f 16 54 46
+f 16 46 32
+f 16 32 22
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 20 28 21
+f 21 28 30
+f 21 30 31
+f 21 31 29
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 23 36 31
+f 23 31 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 24 42 25
+f 25 27 26
+f 25 42 43
+f 25 43 27
+f 27 43 44
+f 29 31 45
+f 31 36 45
+f 32 46 33
+f 33 46 47
+f 34 44 43
+f 34 43 35
+f 40 48 49
+f 40 49 50
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 46 53 47
+f 46 54 55
+f 46 55 53
+f 48 56 49
+f 48 57 56
+f 54 58 55
+f 55 58 59
+f 56 57 60
+f 57 59 60
+f 58 60 59
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_23.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.23995638 0.35921514 0.15662270
+v -0.25071696 0.43693381 0.18260718
+v -0.23995638 0.43715972 0.18199686
+v -0.20134857 0.41866204 0.17457113
+v -0.18204467 0.41866204 0.17403991
+v -0.16274077 0.41866204 0.17375735
+v -0.14343688 0.41866204 0.17368954
+v -0.14336332 0.41866204 0.17368954
+v -0.22061043 0.35884802 0.15662270
+v -0.25071696 0.35588273 0.15662269
+v -0.25071696 0.44190417 0.19129875
+v -0.25071696 0.44588609 0.19871314
+v -0.23995638 0.44611204 0.19871314
+v -0.22065248 0.43715972 0.18163518
+v -0.18204467 0.43715972 0.18130741
+v -0.16274077 0.43718798 0.18116048
+v -0.14343688 0.43724446 0.18110398
+v -0.14336332 0.43724446 0.18110398
+v -0.14336332 0.37974619 0.16373198
+v -0.14336332 0.36028828 0.15901882
+v -0.19711369 0.34040676 0.15662263
+v -0.25071696 0.24125322 0.15662227
+v -0.25071696 0.47692248 0.27207709
+v -0.14343688 0.44608378 0.19871314
+v -0.14336332 0.44605553 0.19865662
+v -0.23995638 0.47709191 0.27207709
+v -0.22065248 0.47723312 0.27207709
+v -0.20134857 0.47734611 0.27207709
+v -0.18204467 0.47734611 0.27207709
+v -0.14336332 0.36023180 0.15901882
+v -0.17332272 0.30233813 0.15662249
+v -0.23995638 0.24105553 0.15662227
+v -0.22100975 0.18886638 0.18469722
+v -0.22753547 0.18886634 0.19664384
+v -0.22858630 0.18886633 0.19871219
+v -0.22891207 0.18886626 0.21812969
+v -0.25071696 0.24020815 0.19871238
+v -0.25071696 0.23978427 0.27207622
+v -0.16274077 0.47720490 0.27207709
+v -0.15734998 0.47714842 0.27207709
+v -0.14343688 0.47697896 0.27207709
+v -0.14336332 0.47695074 0.27204317
+v -0.14336332 0.26302689 0.15925580
+v -0.17350137 0.29355522 0.15662246
+v -0.22176637 0.24489627 0.15662228
+v -0.14336332 0.24354069 0.16292901
+v -0.20045536 0.18886638 0.18475372
+v -0.22920630 0.18886606 0.27207603
+v -0.25071696 0.23992566 0.21812988
+v -0.25071696 0.23978433 0.25697622
+v -0.14336332 0.47152849 0.27207707
+v -0.14336332 0.26294215 0.15926711
+v -0.20827361 0.24924537 0.15662230
+v -0.19541135 0.25667270 0.15662232
+v -0.17483593 0.27488804 0.15662239
+v -0.14336332 0.23258323 0.16824109
+v -0.19837470 0.18886638 0.18599699
+v -0.19301543 0.18886606 0.27207603
+v -0.14336332 0.22295274 0.27207616
+v -0.14336332 0.22800817 0.17928352
+v -0.19294188 0.18886634 0.19520844
+v -0.19292085 0.18886612 0.25697603
+v -0.19287882 0.18886616 0.24466771
+v -0.19273171 0.18886634 0.19696031
+v -0.14336332 0.22312230 0.23754733
+v -0.14336332 0.22408263 0.19871232
+v -0.14336332 0.22332006 0.21812982
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 21
+f 1 21 31
+f 1 31 44
+f 1 44 55
+f 1 55 54
+f 1 54 53
+f 1 53 45
+f 1 45 32
+f 1 32 22
+f 1 22 10
+f 1 10 2
+f 2 11 3
+f 2 10 22
+f 2 22 37
+f 2 37 49
+f 2 49 50
+f 2 50 38
+f 2 38 23
+f 2 23 12
+f 2 12 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 5
+f 3 5 4
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 8 18 25
+f 8 25 42
+f 8 42 51
+f 8 51 59
+f 8 59 65
+f 8 65 67
+f 8 67 66
+f 8 66 60
+f 8 60 56
+f 8 56 46
+f 8 46 52
+f 8 52 43
+f 8 43 30
+f 8 30 20
+f 8 20 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 12 23 13
+f 13 24 25
+f 13 25 18
+f 13 18 17
+f 13 17 16
+f 13 16 14
+f 13 23 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 24
+f 14 16 15
+f 20 30 31
+f 20 31 21
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 23 38 48
+f 23 48 58
+f 23 58 59
+f 23 59 51
+f 23 51 41
+f 23 41 40
+f 23 40 39
+f 23 39 29
+f 23 29 28
+f 23 28 27
+f 23 27 26
+f 24 29 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 41 42
+f 30 43 44
+f 30 44 31
+f 32 45 46
+f 32 46 47
+f 32 47 33
+f 33 47 57
+f 33 57 61
+f 33 61 64
+f 33 64 63
+f 33 63 62
+f 33 62 58
+f 33 58 48
+f 33 48 36
+f 33 36 35
+f 33 35 34
+f 36 48 49
+f 36 49 37
+f 38 50 48
+f 41 51 42
+f 43 52 53
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 45 53 46
+f 46 53 52
+f 46 56 47
+f 47 56 57
+f 48 50 49
+f 56 60 57
+f 57 60 61
+f 58 62 59
+f 59 62 63
+f 59 63 64
+f 59 64 65
+f 60 66 61
+f 61 66 64
+f 64 66 67
+f 64 67 65
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_24.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.25071697 0.23976246 0.25697622
+v -0.25071697 0.23993178 0.21812988
+v -0.25071697 0.23979062 0.27207622
+v -0.27287943 0.18886606 0.27207603
+v -0.25071697 0.24021384 0.19871238
+v -0.27291537 0.18886611 0.25985814
+v -0.25071697 0.47690275 0.27207709
+v -0.37271832 0.18886606 0.27207603
+v -0.25071697 0.24122910 0.15662227
+v -0.27293933 0.18886612 0.25697603
+v -0.25071697 0.44588585 0.19871314
+v -0.25213058 0.47690275 0.27207709
+v -0.35327523 0.18886619 0.23754720
+v -0.37304177 0.23079561 0.27207619
+v -0.27322684 0.18886617 0.24125440
+v -0.27329872 0.18886619 0.23754720
+v -0.27383781 0.18886626 0.21812969
+v -0.27698846 0.18886633 0.19871219
+v -0.28405650 0.18886638 0.18616653
+v -0.29529348 0.18886638 0.18616653
+v -0.25927048 0.24137007 0.15662227
+v -0.25071697 0.35587981 0.15662269
+v -0.25071697 0.44191005 0.19129875
+v -0.25927048 0.44568847 0.19871314
+v -0.29789307 0.47605681 0.27207709
+v -0.25980957 0.47687456 0.27207709
+v -0.34706974 0.18886623 0.22693425
+v -0.37308969 0.24354086 0.27207623
+v -0.35347889 0.24354099 0.23754740
+v -0.30311621 0.18886636 0.18957985
+v -0.28622482 0.25532781 0.15662232
+v -0.27656918 0.24825025 0.15662229
+v -0.25477809 0.35472371 0.15662268
+v -0.25927048 0.43674994 0.18309319
+v -0.25071697 0.43694731 0.18260718
+v -0.33649168 0.47244755 0.27207708
+v -0.31718038 0.47506993 0.27207709
+v -0.34706974 0.20462859 0.22693431
+v -0.29674300 0.28248193 0.15662242
+v -0.29365224 0.26505592 0.15662235
+v -0.30708150 0.18886635 0.19223591
+v -0.37307771 0.25030825 0.27207626
+v -0.34704578 0.24354103 0.22697967
+v -0.35343097 0.26302542 0.23754748
+v -0.30494909 0.18886636 0.19039362
+v -0.27480816 0.43370461 0.18561361
+v -0.26443374 0.34451627 0.15662265
+v -0.33649168 0.45279407 0.24050940
+v -0.34631501 0.46737205 0.26660669
+v -0.35068762 0.46959960 0.27207706
+v -0.29590441 0.28507610 0.15662243
+v -0.34700984 0.26302546 0.22701365
+v -0.34693797 0.30193791 0.22708162
+v -0.34681817 0.36027836 0.22719485
+v -0.34675827 0.37976280 0.22726273
+v -0.34667441 0.39921902 0.22735323
+v -0.34645877 0.41867521 0.22754544
+v -0.34624317 0.42871349 0.22774891
+v -0.37304177 0.26302529 0.27207631
+v -0.37294593 0.28149460 0.27207637
+v -0.35305960 0.32139409 0.23754769
+v -0.28767436 0.42702182 0.18937729
+v -0.31093895 0.43147692 0.20616134
+v -0.34928601 0.45059464 0.24333501
+v -0.27043557 0.33639540 0.15662262
+v -0.27160958 0.33478815 0.15662261
+v -0.36095425 0.46345258 0.27207704
+v -0.29132818 0.29821608 0.15662248
+v -0.35204134 0.41867518 0.23754805
+v -0.37287405 0.29026399 0.27207641
+v -0.37255060 0.32139396 0.27207652
+v -0.36578205 0.44890274 0.26600759
+v -0.35031625 0.43638318 0.23712994
+v -0.27811455 0.32362198 0.15662257
+v -0.27939639 0.32139438 0.15662256
+v -0.28636858 0.30794421 0.15662251
+v -0.29050157 0.29985152 0.15662248
+v -0.36804621 0.45330151 0.27207701
+v -0.36926815 0.44261469 0.27207697
+v -0.37222714 0.34082196 0.27207659
+f 1 2 5
+f 1 5 9
+f 1 9 22
+f 1 22 35
+f 1 35 23
+f 1 23 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 12
+f 3 12 26
+f 3 26 25
+f 3 25 37
+f 3 37 36
+f 3 36 50
+f 3 50 67
+f 3 67 78
+f 3 78 79
+f 3 79 80
+f 3 80 71
+f 3 71 70
+f 3 70 60
+f 3 60 59
+f 3 59 42
+f 3 42 28
+f 3 28 14
+f 3 14 8
+f 3 8 4
+f 4 8 13
+f 4 13 27
+f 4 27 41
+f 4 41 45
+f 4 45 30
+f 4 30 20
+f 4 20 19
+f 4 19 18
+f 4 18 17
+f 4 17 16
+f 4 16 15
+f 4 15 10
+f 4 10 6
+f 5 6 10
+f 5 10 9
+f 7 11 12
+f 8 14 13
+f 9 10 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 32
+f 9 32 31
+f 9 31 40
+f 9 40 39
+f 9 39 51
+f 9 51 68
+f 9 68 77
+f 9 77 76
+f 9 76 75
+f 9 75 74
+f 9 74 66
+f 9 66 65
+f 9 65 47
+f 9 47 33
+f 9 33 22
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 13 14 28
+f 13 28 29
+f 13 29 27
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 22 33 34
+f 22 34 35
+f 23 35 24
+f 24 35 34
+f 24 34 36
+f 24 36 37
+f 24 37 25
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 29 38
+f 28 42 29
+f 29 43 38
+f 29 42 44
+f 29 44 43
+f 30 45 31
+f 31 45 40
+f 33 46 34
+f 33 47 46
+f 34 46 48
+f 34 48 49
+f 34 49 36
+f 36 49 50
+f 38 43 39
+f 39 43 52
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 58
+f 39 58 51
+f 40 45 41
+f 42 59 44
+f 43 44 52
+f 44 53 52
+f 44 59 60
+f 44 60 61
+f 44 61 55
+f 44 55 54
+f 44 54 53
+f 46 62 63
+f 46 63 64
+f 46 64 48
+f 46 47 65
+f 46 65 66
+f 46 66 62
+f 48 64 49
+f 49 64 50
+f 50 64 67
+f 51 58 68
+f 55 61 56
+f 56 69 57
+f 56 61 60
+f 56 60 70
+f 56 70 71
+f 56 71 69
+f 57 69 58
+f 58 69 72
+f 58 72 73
+f 58 73 64
+f 58 64 63
+f 58 63 62
+f 58 62 68
+f 62 66 74
+f 62 74 75
+f 62 75 76
+f 62 76 77
+f 62 77 68
+f 64 72 78
+f 64 78 67
+f 64 73 72
+f 69 79 72
+f 69 71 80
+f 69 80 79
+f 72 79 78
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_25.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.12687955 0.50597649 0.29751612
+v 0.12687955 0.49373855 0.28948872
+v 0.03669238 0.50547032 0.29751612
+v 0.14618898 0.50579784 0.29751612
+v 0.03669238 0.49210084 0.28948872
+v 0.14618898 0.49347056 0.28948872
+v 0.03669238 0.20946577 0.29751503
+v 0.16553118 0.50472592 0.29751611
+v 0.03669238 0.21964923 0.28948772
+v 0.16553118 0.49135644 0.28948871
+v 0.26214390 0.20178356 0.28948765
+v 0.25132537 0.20178353 0.29751500
+v 0.18480784 0.48614563 0.28948870
+v 0.20411726 0.49353007 0.29751607
+v 0.32105570 0.20178356 0.28948765
+v 0.37157491 0.20178353 0.29751500
+v 0.20411726 0.47986286 0.28948867
+v 0.22319720 0.48683043 0.29751605
+v 0.32105570 0.22408588 0.28948773
+v 0.35855990 0.20178354 0.29449659
+v 0.35855990 0.20464205 0.29450053
+v 0.37154215 0.20464204 0.29751501
+v 0.22024670 0.47301435 0.28948865
+v 0.22273823 0.47170420 0.28948864
+v 0.28060095 0.44344663 0.29751589
+v 0.27833889 0.43502001 0.28948851
+v 0.31699053 0.37758184 0.28948830
+v 0.35855990 0.22408586 0.29462555
+v 0.37124711 0.22408585 0.29751508
+v 0.28692816 0.43737227 0.29751587
+v 0.29636976 0.41444468 0.28948843
+v 0.29823841 0.41122888 0.28948842
+v 0.32574372 0.37936838 0.29751565
+v 0.30384439 0.41730318 0.29751579
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 22
+f 1 22 29
+f 1 29 33
+f 1 33 34
+f 1 34 30
+f 1 30 25
+f 1 25 18
+f 1 18 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 10
+f 2 10 13
+f 2 13 17
+f 2 17 23
+f 2 23 24
+f 2 24 26
+f 2 26 31
+f 2 31 32
+f 2 32 27
+f 2 27 19
+f 2 19 15
+f 2 15 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 6
+f 6 8 10
+f 7 9 11
+f 7 11 12
+f 8 13 10
+f 8 14 13
+f 11 15 20
+f 11 20 16
+f 11 16 12
+f 13 14 17
+f 14 18 17
+f 15 19 20
+f 16 20 21
+f 16 21 22
+f 17 18 23
+f 18 24 23
+f 18 25 26
+f 18 26 24
+f 19 21 20
+f 19 27 21
+f 21 28 29
+f 21 29 22
+f 21 27 28
+f 25 30 26
+f 26 30 31
+f 27 32 33
+f 27 33 29
+f 27 29 28
+f 30 34 31
+f 31 34 32
+f 32 34 33
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_3.obj

@@ -0,0 +1,718 @@
+# https://github.com/mikedh/trimesh
+v -0.29728786 -0.28190202 0.15660906
+v -0.29266171 -0.29581991 0.15660901
+v -0.29373817 -0.26526360 0.15660913
+v -0.29678809 -0.28190188 0.12094007
+v -0.29109832 -0.29724395 0.04323652
+v -0.29152121 -0.29752432 0.08208828
+v -0.29170059 -0.29769953 0.10151415
+v -0.29176467 -0.29850538 0.15660900
+v -0.29248232 -0.26749345 0.08208839
+v -0.29295644 -0.26708485 0.10151426
+v -0.29644209 -0.28190181 0.10151420
+v -0.28420395 -0.25553742 0.15660916
+v -0.26849301 -0.25304921 -0.17039308
+v -0.27411870 -0.26627763 -0.32580012
+v -0.29086763 -0.29695199 0.02381065
+v -0.27079966 -0.33456037 -0.05389300
+v -0.27278597 -0.33732837 0.15660886
+v -0.27410589 -0.33468959 0.15660887
+v -0.28206388 -0.31863495 0.15660893
+v -0.29050882 -0.26918620 0.00438487
+v -0.28825343 -0.27213985 -0.10317084
+v -0.29577571 -0.28190174 0.08208833
+v -0.28840720 -0.29207083 -0.12534055
+v -0.28872759 -0.29279482 -0.11217048
+v -0.28911201 -0.29364724 -0.09274460
+v -0.28943240 -0.29431282 -0.07331872
+v -0.28972713 -0.29490839 -0.05389285
+v -0.29000905 -0.29544557 -0.03446698
+v -0.29058571 -0.29646151 0.00438477
+v -0.28258928 -0.25438150 0.15660917
+v -0.27113286 -0.25070282 -0.03446681
+v -0.27078686 -0.25099465 -0.05389269
+v -0.25883066 -0.24743302 -0.17039306
+v -0.25829243 -0.24771318 -0.18981892
+v -0.25757481 -0.24799332 -0.20924479
+v -0.25628051 -0.24864705 -0.24809657
+v -0.25569103 -0.24900894 -0.26752244
+v -0.25510154 -0.24940586 -0.28694832
+v -0.26795480 -0.25348116 -0.18981894
+v -0.26353368 -0.25655147 -0.32580008
+v -0.27240153 -0.26829755 -0.34072625
+v -0.27792470 -0.28190024 -0.32580018
+v -0.27060745 -0.33416329 -0.07331887
+v -0.26486643 -0.34388947 -0.07331890
+v -0.26499457 -0.34428651 -0.05389303
+v -0.26626324 -0.34706620 0.15660883
+v -0.26537901 -0.34516246 0.00438459
+v -0.26548153 -0.34543107 0.02381047
+v -0.28799713 -0.27535073 -0.11612143
+v -0.28863786 -0.28185433 -0.11063392
+v -0.28840720 -0.28832281 -0.12534054
+v -0.27490041 -0.30135275 -0.28694851
+v -0.27984692 -0.30135303 -0.20924499
+v -0.28097463 -0.30135310 -0.18981912
+v -0.26681428 -0.32499686 -0.26752272
+v -0.27241434 -0.31926411 -0.20924505
+v -0.26827516 -0.32899029 -0.20924509
+v -0.26869805 -0.33002954 -0.18981922
+v -0.26889028 -0.33047325 -0.17933804
+v -0.26940286 -0.33162932 -0.15096749
+v -0.26976168 -0.33236499 -0.13154162
+v -0.27005641 -0.33300722 -0.11217062
+v -0.27033834 -0.33359110 -0.09274475
+v -0.27454159 -0.24965268 0.15660918
+v -0.27137634 -0.25052775 -0.01504093
+v -0.25926635 -0.24481807 -0.03446679
+v -0.25926635 -0.24513326 -0.05389267
+v -0.25926635 -0.24584536 -0.09274442
+v -0.25926635 -0.24625395 -0.11217030
+v -0.25926635 -0.24670925 -0.13154131
+v -0.23995446 -0.24185200 -0.13154129
+v -0.23995446 -0.24230730 -0.15096716
+v -0.25688281 -0.24830850 -0.22867068
+v -0.23995446 -0.24284431 -0.17039304
+v -0.23995446 -0.24339302 -0.18981890
+v -0.25456333 -0.24984946 -0.30637419
+v -0.25388414 -0.25042152 -0.32580006
+v -0.25217977 -0.25139059 -0.33875065
+v -0.25373037 -0.26912641 -0.38078525
+v -0.25695970 -0.27998514 -0.38599845
+v -0.27255530 -0.28284593 -0.34643334
+v -0.26922345 -0.29222177 -0.35570730
+v -0.27085093 -0.29495402 -0.34522612
+v -0.27272189 -0.29878383 -0.32580024
+v -0.26466139 -0.34332894 -0.09274478
+v -0.25378162 -0.35286803 -0.17039345
+v -0.25416606 -0.35318335 -0.15096757
+v -0.25447362 -0.35338191 -0.13154170
+v -0.25661370 -0.35379164 0.15660880
+v -0.25475554 -0.35351042 -0.11217070
+v -0.25501185 -0.35360392 -0.09274482
+v -0.25521689 -0.35362734 -0.07331894
+v -0.27273470 -0.30282384 -0.30626464
+v -0.26626324 -0.32322205 -0.28694859
+v -0.25526814 -0.33778195 -0.32580038
+v -0.25596014 -0.33904304 -0.30637452
+v -0.25929199 -0.34026927 -0.24809691
+v -0.26063754 -0.34026934 -0.22867102
+v -0.26777539 -0.32772921 -0.22867097
+v -0.26184212 -0.34026941 -0.20924513
+v -0.26279043 -0.34026948 -0.18981926
+v -0.26381560 -0.34135547 -0.15096752
+v -0.26412316 -0.34209113 -0.13154166
+v -0.26440509 -0.34273340 -0.11217066
+v -0.27224774 -0.24861350 0.15660919
+v -0.25926635 -0.24460798 -0.01504091
+v -0.23995446 -0.24154849 -0.11217029
+v -0.22476894 -0.24839038 -0.18981892
+v -0.22005309 -0.24235513 0.15660921
+v -0.22526871 -0.24871724 -0.20924479
+v -0.23995446 -0.24400011 -0.20924478
+v -0.24264558 -0.25042152 -0.32580006
+v -0.23995446 -0.24479401 -0.22867067
+v -0.23995446 -0.24571636 -0.24809656
+v -0.23995446 -0.24676712 -0.26752244
+v -0.24614400 -0.25139059 -0.33875065
+v -0.23995446 -0.26974523 -0.37946825
+v -0.23995446 -0.27485934 -0.38918119
+v -0.25317933 -0.28519263 -0.39768692
+v -0.25397385 -0.30135233 -0.39927837
+v -0.25949703 -0.30135239 -0.38407789
+v -0.25028320 -0.33121975 -0.39483355
+v -0.25542193 -0.32080471 -0.38407796
+v -0.25162874 -0.33267929 -0.38407800
+v -0.25341000 -0.33474603 -0.36465214
+v -0.26358495 -0.32080492 -0.32580032
+v -0.26605820 -0.31939220 -0.30626470
+v -0.25335874 -0.35251765 -0.18981930
+v -0.23995446 -0.35694304 -0.15096758
+v -0.23995446 -0.35731674 -0.13154171
+v -0.24268402 -0.35724775 0.15660879
+v -0.23995446 -0.35777232 -0.07331895
+v -0.23995446 -0.35751533 -0.11217071
+v -0.23995446 -0.35769054 -0.09274483
+v -0.25452489 -0.33635739 -0.34522628
+v -0.24974497 -0.35007704 -0.27855277
+v -0.25032164 -0.35042736 -0.26752282
+v -0.25128274 -0.35105794 -0.24809695
+v -0.25212852 -0.35163016 -0.22867106
+v -0.25283333 -0.35212060 -0.20924517
+v -0.25926635 -0.24349938 0.15660921
+v -0.25926635 -0.24389602 0.06266258
+v -0.25926635 -0.24402439 0.04323671
+v -0.23995446 -0.24081317 -0.03446677
+v -0.19457728 -0.26193591 0.15660914
+v -0.16869139 -0.28185532 0.15660906
+v -0.23995446 -0.23950617 0.15660922
+v -0.21560636 -0.25785961 -0.20924483
+v -0.22590944 -0.24919589 -0.22867069
+v -0.23995446 -0.24801641 -0.28694831
+v -0.23840387 -0.25004794 -0.30730708
+v -0.22957448 -0.25207962 -0.30149031
+v -0.23093285 -0.25299031 -0.31444087
+v -0.23299604 -0.25413451 -0.32580007
+v -0.22663988 -0.24977963 -0.24809658
+v -0.22753692 -0.25045676 -0.26752245
+v -0.22862619 -0.25130906 -0.28694832
+v -0.23980069 -0.25656306 -0.34522598
+v -0.23995446 -0.26361535 -0.36465188
+v -0.23013833 -0.27198706 -0.37474896
+v -0.22824175 -0.28867211 -0.39653456
+v -0.23995446 -0.28458547 -0.39878441
+v -0.23995446 -0.30135232 -0.40399763
+v -0.25179533 -0.32080466 -0.39713829
+v -0.23995446 -0.33411545 -0.38407801
+v -0.23995446 -0.33781686 -0.36465215
+v -0.23995446 -0.34109790 -0.34522629
+v -0.23995446 -0.32080465 -0.40021130
+v -0.23995446 -0.33135985 -0.39499818
+v -0.23995446 -0.35633581 -0.17039346
+v -0.22696027 -0.35275111 -0.20924518
+v -0.22656300 -0.35315985 -0.18981931
+v -0.22624263 -0.35346350 -0.17039345
+v -0.22590944 -0.35375550 -0.15096757
+v -0.22425634 -0.35877734 0.15660878
+v -0.23995446 -0.35783156 0.15660879
+v -0.23995446 -0.35034557 -0.28091240
+v -0.23995446 -0.35136145 -0.26752282
+v -0.23995446 -0.35266923 -0.24809696
+v -0.23995446 -0.35384861 -0.22867107
+v -0.23995446 -0.35487616 -0.20924518
+v -0.23995446 -0.34419212 -0.32580040
+v -0.23995446 -0.34719293 -0.30637455
+v -0.23995446 -0.34930639 -0.29062534
+v -0.23995446 -0.35568188 -0.18981932
+v -0.16638473 -0.30162291 0.15660899
+v -0.19132232 -0.29087959 -0.20518419
+v -0.19648668 -0.28339521 -0.21067169
+v -0.19888305 -0.28190060 -0.22867081
+v -0.20877607 -0.26938376 -0.24809665
+v -0.20794311 -0.26839137 -0.22867076
+v -0.21624709 -0.25865352 -0.22867072
+v -0.21788738 -0.26080178 -0.26752249
+v -0.21746450 -0.26396591 -0.28804589
+v -0.22285954 -0.26066151 -0.30730712
+v -0.22300050 -0.26386070 -0.32580011
+v -0.22499960 -0.26638265 -0.34522602
+v -0.22813923 -0.26988540 -0.36465190
+v -0.21699036 -0.25964591 -0.24809661
+v -0.22630671 -0.28207517 -0.38237669
+v -0.22045034 -0.28190010 -0.36465195
+v -0.22708840 -0.30135234 -0.39845522
+v -0.22123205 -0.30135239 -0.38407789
+v -0.22835708 -0.32080466 -0.39686393
+v -0.22992048 -0.33095118 -0.39439456
+v -0.22977952 -0.35038061 -0.28085751
+v -0.22747285 -0.35221393 -0.22867106
+v -0.19314203 -0.34850239 0.15660882
+v -0.22130894 -0.35798335 0.15660879
+v -0.22904908 -0.35091777 -0.26752282
+v -0.22815204 -0.35161840 -0.24809695
+v -0.16658977 -0.31723384 0.15660893
+v -0.19132232 -0.29256095 -0.20518419
+v -0.21053169 -0.29019020 -0.33831181
+v -0.20932711 -0.28723620 -0.32580020
+v -0.20736644 -0.28365171 -0.30637431
+v -0.20279157 -0.28190046 -0.26752257
+v -0.20074119 -0.28190053 -0.24809670
+v -0.21045480 -0.27147366 -0.28228399
+v -0.20971155 -0.27052794 -0.26752252
+v -0.21115963 -0.27241938 -0.29523458
+v -0.21189007 -0.27391386 -0.30637428
+v -0.21333813 -0.27751003 -0.32580016
+v -0.21485028 -0.28297437 -0.34495168
+v -0.22487146 -0.32080471 -0.38407796
+v -0.21053169 -0.29354125 -0.33831182
+v -0.21681094 -0.30135246 -0.36465202
+v -0.22908752 -0.33197874 -0.38407800
+v -0.20359890 -0.30135275 -0.28694851
+v -0.20092061 -0.30135282 -0.26752264
+v -0.20907080 -0.31520056 -0.28694856
+v -0.22435886 -0.34193877 -0.28716817
+v -0.22107827 -0.34026920 -0.26752278
+v -0.17457339 -0.32834947 0.15660889
+v -0.21269740 -0.32715695 -0.26752273
+v -0.20784059 -0.31743077 -0.26752270
+v -0.19884461 -0.30135289 -0.24809677
+v -0.20630282 -0.28010225 -0.28804595
+v -0.21360725 -0.32493843 -0.28694859
+v -0.22443575 -0.33869276 -0.30637451
+f 1 2 8
+f 1 8 19
+f 1 19 18
+f 1 18 17
+f 1 17 46
+f 1 46 89
+f 1 89 131
+f 1 131 176
+f 1 176 175
+f 1 175 209
+f 1 209 208
+f 1 208 234
+f 1 234 212
+f 1 212 186
+f 1 186 146
+f 1 146 145
+f 1 145 109
+f 1 109 147
+f 1 147 141
+f 1 141 105
+f 1 105 64
+f 1 64 30
+f 1 30 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 12 13
+f 3 13 14
+f 3 14 9
+f 4 11 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 9 14 20
+f 9 20 21
+f 9 21 10
+f 10 21 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 15
+f 11 21 22
+f 12 30 31
+f 12 31 32
+f 12 32 13
+f 13 33 34
+f 13 34 35
+f 13 35 36
+f 13 36 37
+f 13 37 38
+f 13 38 39
+f 13 39 14
+f 13 32 33
+f 14 40 41
+f 14 41 42
+f 14 42 21
+f 14 21 20
+f 14 39 40
+f 15 29 43
+f 15 43 16
+f 16 43 44
+f 16 44 45
+f 16 45 17
+f 17 45 47
+f 17 47 48
+f 17 48 46
+f 21 42 49
+f 21 49 22
+f 22 49 50
+f 22 50 51
+f 22 51 23
+f 23 51 42
+f 23 42 52
+f 23 52 53
+f 23 53 54
+f 23 54 55
+f 23 55 56
+f 23 56 57
+f 23 57 24
+f 24 57 58
+f 24 58 25
+f 25 58 59
+f 25 59 60
+f 25 60 61
+f 25 61 26
+f 26 61 62
+f 26 62 27
+f 27 62 63
+f 27 63 43
+f 27 43 28
+f 28 43 29
+f 30 64 65
+f 30 65 31
+f 31 65 66
+f 31 66 67
+f 31 67 68
+f 31 68 69
+f 31 69 70
+f 31 70 32
+f 32 70 33
+f 33 70 69
+f 33 69 34
+f 34 69 71
+f 34 71 72
+f 34 72 35
+f 35 72 73
+f 35 73 36
+f 36 73 72
+f 36 72 37
+f 37 72 38
+f 38 72 74
+f 38 74 75
+f 38 75 76
+f 38 76 39
+f 39 76 40
+f 40 76 77
+f 40 77 78
+f 40 78 41
+f 41 78 79
+f 41 79 80
+f 41 80 81
+f 41 81 42
+f 42 81 82
+f 42 82 83
+f 42 83 84
+f 42 84 52
+f 42 51 49
+f 43 63 85
+f 43 85 44
+f 44 85 86
+f 44 86 87
+f 44 87 45
+f 45 87 88
+f 45 88 47
+f 46 48 90
+f 46 90 91
+f 46 91 92
+f 46 92 89
+f 47 88 90
+f 47 90 48
+f 49 51 50
+f 52 84 93
+f 52 93 94
+f 52 94 55
+f 52 55 53
+f 53 55 54
+f 55 94 95
+f 55 95 96
+f 55 96 97
+f 55 97 98
+f 55 98 99
+f 55 99 56
+f 56 99 57
+f 57 100 58
+f 57 99 98
+f 57 98 100
+f 58 100 101
+f 58 101 59
+f 59 101 102
+f 59 102 60
+f 60 102 61
+f 61 103 62
+f 61 102 103
+f 62 103 104
+f 62 104 63
+f 63 104 85
+f 64 105 66
+f 64 66 65
+f 66 105 106
+f 66 106 107
+f 66 107 71
+f 66 71 67
+f 67 71 68
+f 68 71 69
+f 71 108 72
+f 71 107 109
+f 71 109 108
+f 72 108 110
+f 72 110 74
+f 74 110 75
+f 75 110 111
+f 75 111 76
+f 76 111 77
+f 77 112 116
+f 77 116 78
+f 77 111 113
+f 77 113 114
+f 77 114 115
+f 77 115 112
+f 78 116 79
+f 79 117 118
+f 79 118 119
+f 79 119 80
+f 79 116 117
+f 80 119 81
+f 81 119 120
+f 81 120 121
+f 81 121 82
+f 82 121 122
+f 82 122 123
+f 82 123 83
+f 83 123 122
+f 83 122 124
+f 83 124 84
+f 84 124 125
+f 84 125 126
+f 84 126 127
+f 84 127 94
+f 84 94 93
+f 85 104 128
+f 85 128 86
+f 86 128 129
+f 86 129 87
+f 87 129 130
+f 87 130 88
+f 88 130 90
+f 89 92 132
+f 89 132 131
+f 90 130 133
+f 90 133 134
+f 90 134 91
+f 91 134 132
+f 91 132 92
+f 94 127 126
+f 94 126 125
+f 94 125 135
+f 94 135 95
+f 95 135 136
+f 95 136 96
+f 96 136 137
+f 96 137 138
+f 96 138 97
+f 97 138 98
+f 98 138 139
+f 98 139 100
+f 100 140 101
+f 100 139 140
+f 101 140 102
+f 102 140 103
+f 103 140 128
+f 103 128 104
+f 105 141 142
+f 105 142 143
+f 105 143 106
+f 106 143 107
+f 107 143 144
+f 107 144 109
+f 108 109 145
+f 108 145 146
+f 108 146 110
+f 109 144 147
+f 110 148 149
+f 110 149 111
+f 110 146 148
+f 111 149 113
+f 112 115 150
+f 112 150 151
+f 112 151 152
+f 112 152 153
+f 112 153 154
+f 112 154 116
+f 113 149 155
+f 113 155 114
+f 114 155 156
+f 114 156 115
+f 115 156 157
+f 115 157 150
+f 116 158 159
+f 116 159 117
+f 116 154 158
+f 117 159 160
+f 117 160 118
+f 118 161 162
+f 118 162 119
+f 118 160 161
+f 119 162 163
+f 119 163 120
+f 120 163 164
+f 120 164 121
+f 121 164 122
+f 122 165 166
+f 122 166 167
+f 122 167 136
+f 122 136 124
+f 122 164 168
+f 122 168 169
+f 122 169 165
+f 124 136 125
+f 125 136 135
+f 128 140 129
+f 129 140 170
+f 129 170 171
+f 129 171 172
+f 129 172 173
+f 129 173 130
+f 130 173 174
+f 130 174 175
+f 130 175 133
+f 131 132 176
+f 132 175 176
+f 132 134 175
+f 133 175 134
+f 136 177 178
+f 136 178 179
+f 136 179 180
+f 136 180 181
+f 136 181 138
+f 136 138 137
+f 136 167 182
+f 136 182 183
+f 136 183 184
+f 136 184 177
+f 138 181 185
+f 138 185 139
+f 139 185 170
+f 139 170 140
+f 141 147 142
+f 142 147 143
+f 143 147 144
+f 146 186 187
+f 146 187 188
+f 146 188 189
+f 146 189 190
+f 146 190 191
+f 146 191 192
+f 146 192 148
+f 148 192 155
+f 148 155 149
+f 150 157 152
+f 150 152 151
+f 152 157 193
+f 152 193 194
+f 152 194 195
+f 152 195 196
+f 152 196 153
+f 153 196 197
+f 153 197 154
+f 154 197 198
+f 154 198 160
+f 154 160 158
+f 155 192 156
+f 156 192 199
+f 156 199 157
+f 157 199 193
+f 158 160 159
+f 160 200 161
+f 160 198 201
+f 160 201 200
+f 161 202 163
+f 161 163 162
+f 161 200 201
+f 161 201 203
+f 161 203 202
+f 163 168 164
+f 163 202 204
+f 163 204 168
+f 165 169 205
+f 165 205 166
+f 166 205 206
+f 166 206 167
+f 167 206 182
+f 168 204 205
+f 168 205 169
+f 170 185 207
+f 170 207 171
+f 171 207 208
+f 171 208 172
+f 172 208 173
+f 173 208 174
+f 174 208 209
+f 174 209 175
+f 177 184 206
+f 177 206 178
+f 178 206 179
+f 179 206 180
+f 180 206 181
+f 181 206 210
+f 181 210 211
+f 181 211 185
+f 182 206 183
+f 183 206 184
+f 185 211 207
+f 186 212 213
+f 186 213 187
+f 187 213 226
+f 187 226 214
+f 187 214 215
+f 187 215 216
+f 187 216 217
+f 187 217 218
+f 187 218 189
+f 187 189 188
+f 189 218 219
+f 189 219 220
+f 189 220 190
+f 190 220 193
+f 190 193 199
+f 190 199 191
+f 191 199 192
+f 193 220 219
+f 193 219 194
+f 194 219 221
+f 194 221 195
+f 195 221 196
+f 196 221 222
+f 196 222 197
+f 197 222 223
+f 197 223 201
+f 197 201 198
+f 201 223 224
+f 201 224 214
+f 201 214 203
+f 202 203 204
+f 203 225 204
+f 203 214 226
+f 203 226 227
+f 203 227 225
+f 204 225 205
+f 205 228 206
+f 205 225 229
+f 205 229 230
+f 205 230 231
+f 205 231 228
+f 206 232 233
+f 206 233 234
+f 206 234 210
+f 206 228 232
+f 207 211 208
+f 208 211 210
+f 208 210 234
+f 212 234 233
+f 212 233 235
+f 212 235 236
+f 212 236 237
+f 212 237 213
+f 213 237 230
+f 213 230 229
+f 213 229 226
+f 214 224 223
+f 214 223 215
+f 215 223 216
+f 216 222 238
+f 216 238 217
+f 216 223 222
+f 217 238 221
+f 217 221 218
+f 218 221 219
+f 221 238 222
+f 225 227 229
+f 226 229 227
+f 228 231 239
+f 228 239 235
+f 228 235 240
+f 228 240 232
+f 230 237 236
+f 230 236 231
+f 231 236 239
+f 232 240 233
+f 233 240 235
+f 235 239 236
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_4.obj

@@ -0,0 +1,1090 @@
+# https://github.com/mikedh/trimesh
+v 0.39482686 0.53541230 0.37354258
+v 0.39444126 0.16567751 0.33469442
+v 0.39436413 0.53541244 0.33469578
+v 0.39474973 0.55484750 0.37354265
+v 0.39127931 0.55484744 0.38842844
+v 0.39127931 0.53541224 0.38846829
+v 0.39127931 0.51597700 0.38849819
+v 0.39120218 0.12669048 0.38875633
+v 0.39120218 -0.53480566 0.38863409
+v 0.39467261 -0.55424080 0.37353857
+v 0.39444126 -0.16507053 0.33469320
+v 0.39336155 -0.00935587 0.31527537
+v 0.39251323 0.53541251 0.31527737
+v 0.39428701 0.55484764 0.33469585
+v 0.39328443 0.12669075 0.31527587
+v 0.39251323 0.57428281 0.35411432
+v 0.39266748 0.57428274 0.37354272
+v 0.39012251 0.57428269 0.38689100
+v 0.37786036 0.55484741 0.39614589
+v 0.37786036 0.53541221 0.39622568
+v 0.37786036 0.49642536 0.39633534
+v 0.37786036 0.47699012 0.39635524
+v 0.37786036 0.12669045 0.39671340
+v 0.37786036 0.06838476 0.39675310
+v 0.37786036 -0.00935617 0.39680273
+v 0.39120218 0.47699015 0.38856790
+v 0.37786036 -0.02890778 0.39681266
+v 0.39112509 0.00996272 0.38881579
+v 0.37786036 -0.04834301 0.39680258
+v 0.37786036 -0.51537045 0.39638155
+v 0.37786036 -0.53480569 0.39636150
+v 0.39120218 -0.55424086 0.38859409
+v 0.39027676 -0.57379246 0.38724621
+v 0.39320734 -0.57379241 0.37353850
+v 0.39328443 -0.57379234 0.35411010
+v 0.39320734 -0.57379227 0.33469170
+v 0.39436413 -0.55424066 0.33469177
+v 0.39289883 -0.53480539 0.31527344
+v 0.38989116 -0.06777789 0.30325468
+v 0.38989116 -0.04834266 0.30323477
+v 0.38989116 -0.00935582 0.30326490
+v 0.38989116 0.06838511 0.30334505
+v 0.38935131 0.39913317 0.30389537
+v 0.38927418 0.43812001 0.30397538
+v 0.38919706 0.47699046 0.30405538
+v 0.38911993 0.51597731 0.30414540
+v 0.38904284 0.53541255 0.30419539
+v 0.39205050 0.55484771 0.31527744
+v 0.38973691 0.18511287 0.30346529
+v 0.39228188 0.57428288 0.33469592
+v 0.38981404 0.12669080 0.30339519
+v 0.38911993 0.58580430 0.35411436
+v 0.38904284 0.58568786 0.37354276
+v 0.38850299 0.58510593 0.38466466
+v 0.37786036 0.57428266 0.39385966
+v 0.35850318 0.57428265 0.39714434
+v 0.35850318 0.55484741 0.39862186
+v 0.35850318 0.53541221 0.39873160
+v 0.35850318 0.49642536 0.39881134
+v 0.35850318 0.18511251 0.39915960
+v 0.35850318 0.51597697 0.39878144
+v 0.35850318 0.16567727 0.39917951
+v 0.35850318 -0.04834302 0.39923864
+v 0.35850318 -0.53480569 0.39862783
+v 0.35850318 -0.55424089 0.39856786
+v 0.37786036 -0.55424089 0.39627159
+v 0.37786036 -0.57379249 0.39393531
+v 0.38873433 -0.58461567 0.38502977
+v 0.38958266 -0.58543026 0.37353846
+v 0.38989116 -0.58589572 0.35411006
+v 0.38981404 -0.58589565 0.33469166
+v 0.38896571 -0.58496461 0.32187251
+v 0.39043098 -0.57332670 0.31534315
+v 0.39274461 -0.55424059 0.31527336
+v 0.38942844 -0.53480535 0.30381208
+v 0.37786036 -0.22349249 0.29843195
+v 0.37786036 0.00996305 0.29838290
+v 0.37786036 0.02939828 0.29838297
+v 0.38950553 0.28240539 0.30363535
+v 0.37786036 0.22398335 0.29903262
+v 0.37786036 0.53541256 0.30269782
+v 0.38865724 0.55484775 0.30455486
+v 0.37122801 0.22398336 0.29751508
+v 0.38796313 0.56578734 0.30511401
+v 0.38958266 0.57311916 0.31619599
+v 0.38827161 0.58487335 0.32328451
+v 0.38888858 0.58557164 0.33469596
+v 0.37786036 0.59104135 0.35411438
+v 0.37786036 0.59092491 0.37354278
+v 0.37786036 0.58743350 0.38744015
+v 0.35850318 0.58929553 0.38949683
+v -0.35578537 0.58929553 0.38953675
+v -0.35578537 0.57428265 0.39680487
+v -0.35578537 0.55484741 0.39786307
+v -0.35578537 0.53541221 0.39794290
+v 0.20403114 0.08781998 0.39939887
+v 0.24266843 0.06838475 0.39941877
+v 0.28130571 0.10725521 0.39933905
+v 0.33922308 0.16567727 0.39920948
+v 0.14611377 0.10725521 0.39931907
+v 0.18475106 0.10725521 0.39935899
+v 0.20403114 0.10725521 0.39936899
+v 0.31994299 0.12669044 0.39926923
+v 0.26194851 0.00996268 0.39944850
+v 0.28130571 -0.00935618 0.39942846
+v 0.28130571 -0.02890779 0.39943838
+v 0.31994299 -0.02890779 0.39933855
+v -0.33642819 -0.55424089 0.39844805
+v 0.26194851 -0.02890779 0.39946833
+v 0.24266843 -0.04834302 0.39944828
+v 0.22338834 -0.04834302 0.39945825
+v 0.20403114 -0.04834302 0.39946826
+v 0.16547097 -0.04834302 0.39946826
+v -0.31714810 -0.57379250 0.39739968
+v -0.27851080 -0.57379250 0.39737971
+v -0.23995063 -0.57379250 0.39734976
+v -0.06612139 -0.57379250 0.39721001
+v -0.00820402 -0.57379250 0.39716006
+v 0.04963623 -0.57379250 0.39711017
+v 0.35850318 -0.57379250 0.39666087
+v 0.37786036 -0.58636137 0.38746582
+v 0.37786036 -0.58996905 0.37353844
+v 0.37786036 -0.59090004 0.35411004
+v 0.37786036 -0.59089997 0.33469164
+v 0.37786036 -0.58717574 0.31782908
+v 0.37786036 -0.58030937 0.30811490
+v 0.38858011 -0.56646033 0.30461066
+v 0.38927418 -0.55424055 0.30397173
+v 0.37431284 -0.22349248 0.29751344
+v 0.37415859 0.02939829 0.29751437
+v 0.37153652 0.20454812 0.29751501
+v 0.32572704 0.37934883 0.29751565
+v 0.30382485 0.41728825 0.29751579
+v 0.37786036 0.55484776 0.30315713
+v 0.37786036 0.56927871 0.30456491
+v 0.35850318 0.58208035 0.30606253
+v 0.37786036 0.57905449 0.30944700
+v 0.37786036 0.58720095 0.31916123
+v 0.37786036 0.59069225 0.33469598
+v 0.35850318 0.59453278 0.33469599
+v 0.35850318 0.59464908 0.35411439
+v 0.35850318 0.59453264 0.37354279
+v 0.18475106 0.59464901 0.37354279
+v -0.25923072 0.59476537 0.37354279
+v -0.16267606 0.58941190 0.38939700
+v -0.31714810 0.58941190 0.38946686
+v -0.35578537 0.59464901 0.37354279
+v -0.37506547 0.58883000 0.38905753
+v -0.37506547 0.57428266 0.39554693
+v -0.37506547 0.55484741 0.39623572
+v -0.35578537 0.51597697 0.39797277
+v 0.12683368 0.08781998 0.39932897
+v 0.18475106 0.08781998 0.39938890
+v 0.18475106 0.04883314 0.39943867
+v 0.20403114 0.02939791 0.39946855
+v 0.20403114 0.00996268 0.39948845
+v 0.24266843 0.04883314 0.39943867
+v 0.26194851 0.06838475 0.39939880
+v 0.28130571 0.08781998 0.39935892
+v 0.14611377 0.06838475 0.39937882
+v 0.22338834 0.00996268 0.39947845
+v 0.26194851 -0.00935618 0.39945840
+v 0.26194851 0.04883314 0.39941870
+v -0.35578537 -0.53480569 0.39845810
+v -0.35578537 -0.55424089 0.39842807
+v 0.22338834 -0.00935618 0.39948838
+v 0.22338834 -0.02890779 0.39948830
+v 0.20403114 -0.02890779 0.39949827
+v 0.18475106 -0.02890779 0.39949827
+v 0.16547097 -0.02890779 0.39948830
+v -0.33642819 -0.57379250 0.39737971
+v -0.35578537 -0.58868895 0.38977205
+v -0.33642819 -0.58868895 0.38979202
+v -0.31714810 -0.58868895 0.38980199
+v -0.29786800 -0.58868895 0.38980199
+v -0.25923072 -0.58868895 0.38977205
+v -0.23995063 -0.58868895 0.38975208
+v -0.08547860 -0.58857259 0.38963226
+v -0.00820402 -0.58845616 0.38958234
+v 0.04963623 -0.58833979 0.38954243
+v 0.35850318 -0.58764153 0.38901326
+v 0.35850318 -0.59252935 0.37353843
+v 0.35850318 -0.59334398 0.35411003
+v 0.35850318 -0.59357664 0.33469163
+v 0.35850318 -0.58321883 0.30561895
+v 0.35850318 -0.58857232 0.31533313
+v 0.37786036 -0.57064996 0.30411145
+v 0.37786036 -0.55424054 0.30236435
+v 0.37786036 -0.53480534 0.30204495
+v 0.37284754 -0.23792342 0.29751339
+v 0.28693550 0.43730539 0.29751587
+v 0.35850318 0.57230455 0.30444511
+v 0.28061164 0.44335706 0.29751589
+v 0.22315698 0.48676629 0.29751605
+v 0.20403114 0.49351626 0.29751607
+v 0.16547097 0.50468862 0.29751611
+v 0.31130552 0.58405880 0.30554338
+v 0.35850318 0.58917944 0.31577672
+v 0.30058580 0.58941217 0.31527757
+v 0.28130571 0.58952853 0.31527757
+v 0.26194851 0.58964490 0.31527757
+v -0.27851080 0.58999406 0.31527757
+v 0.08819639 0.59464915 0.33469599
+v -0.35578537 0.59464915 0.33469599
+v -0.37506547 0.59348522 0.37354279
+v -0.38717336 0.58685160 0.38680121
+v -0.38863863 0.57428268 0.38875797
+v -0.38887001 0.55484744 0.38893760
+v -0.37506547 0.53541221 0.39624566
+v 0.10755360 0.02939791 0.39937868
+v 0.10755360 0.04883314 0.39935878
+v 0.12683368 0.06838475 0.39935885
+v -0.37506547 -0.53480569 0.39676086
+v 0.08819639 -0.02890779 0.39937846
+v 0.10755360 -0.02890779 0.39942838
+v 0.16547097 0.06838475 0.39939880
+v 0.16547097 0.02939791 0.39944857
+v 0.16547097 -0.00935618 0.39948838
+v 0.18475106 -0.00935618 0.39949835
+v 0.20403114 -0.00935618 0.39949835
+v 0.14611377 -0.02890779 0.39946833
+v -0.37506547 -0.55424089 0.39672086
+v -0.35578537 -0.57379250 0.39732979
+v -0.37506547 -0.58775790 0.38885354
+v -0.35578537 -0.59392594 0.37353843
+v -0.29786800 -0.59404231 0.37353843
+v -0.04684131 -0.59369314 0.37353843
+v 0.01099894 -0.59357678 0.37353843
+v 0.04963623 -0.59346041 0.37353843
+v -0.00820402 -0.59392587 0.35411003
+v -0.00820402 -0.59404217 0.33469163
+v -0.31714810 -0.59008520 0.31527323
+v 0.03027902 -0.58961967 0.31527323
+v 0.32804064 -0.58345160 0.30555906
+v 0.35850318 -0.57355943 0.30419131
+v 0.03027902 -0.58438265 0.30486019
+v 0.12683368 -0.50850375 0.29751239
+v 0.13778477 -0.50815458 0.29751239
+v 0.15621654 -0.50699083 0.29751240
+v 0.17565085 -0.50524514 0.29751240
+v 0.18891556 -0.50012446 0.29751242
+v 0.21667887 -0.48871938 0.29751246
+v 0.28577870 -0.44205154 0.29751264
+v 0.31068858 -0.40900000 0.29751276
+v 0.32711519 -0.38677169 0.29751284
+v 0.03027902 -0.57379215 0.30322288
+v 0.14611377 0.50573600 0.29751612
+v 0.26194851 0.58440796 0.30529378
+v 0.28130571 0.58429153 0.30536368
+v 0.30058580 0.58417516 0.30547348
+v -0.31714810 0.58999406 0.31527757
+v -0.29786800 0.58464069 0.30509411
+v -0.35578537 0.58976133 0.31527757
+v -0.37506547 0.59336899 0.33469599
+v -0.37506547 0.59348529 0.35411439
+v -0.38840729 0.58824817 0.37354277
+v -0.39249466 0.57428274 0.37354272
+v -0.39288026 0.55484750 0.37354265
+v -0.39303451 -0.55424080 0.37353857
+v -0.38887001 -0.53480566 0.38915325
+v 0.14611377 -0.00935618 0.39946841
+v 0.14611377 0.00996268 0.39944850
+v -0.38887001 -0.55424086 0.38914320
+v -0.38833016 -0.57379247 0.38854410
+v -0.37506547 -0.57379249 0.39556269
+v -0.38678776 -0.58577947 0.38638755
+v -0.37506547 -0.59218026 0.37353843
+v -0.35578537 -0.59415853 0.33469163
+v -0.35578537 -0.59008520 0.31527323
+v -0.35578537 -0.58484811 0.30456067
+v -0.35578537 -0.57379215 0.30254399
+v 0.11896741 -0.50862011 0.29751239
+v 0.12683368 0.50596877 0.29751612
+v -0.31714810 0.57428300 0.30348669
+v 0.24266843 0.58440796 0.30527381
+v -0.31714810 0.58464069 0.30510408
+v -0.33642819 0.58464069 0.30515400
+v -0.33642819 0.57428300 0.30348669
+v -0.35578537 0.58452432 0.30522389
+v -0.36804752 0.58429153 0.30536368
+v -0.37475699 0.58789930 0.31374005
+v -0.38717336 0.58673549 0.31919117
+v -0.38833016 0.58813195 0.33469597
+v -0.38840729 0.58813188 0.35411437
+v -0.39241753 0.57428281 0.35411432
+v -0.39280313 0.55484757 0.35411425
+v -0.39295738 -0.53480546 0.33469185
+v -0.39295738 -0.55424073 0.35411017
+v -0.39195480 -0.57379234 0.35411010
+v -0.39195480 -0.57379241 0.37353850
+v -0.38779031 -0.58694321 0.37353845
+v -0.37506547 -0.59218012 0.33469163
+v -0.37629939 -0.58752489 0.31360595
+v -0.37066959 -0.58438265 0.30488016
+v -0.12411589 -0.50931837 0.29751239
+v -0.11162239 -0.50943477 0.29751239
+v -0.08547860 -0.50955113 0.29751239
+v 0.03027902 -0.50966753 0.29751239
+v 0.04963623 -0.50955113 0.29751239
+v -0.37629939 -0.57518871 0.30370209
+v -0.37506547 -0.55424054 0.30157562
+v -0.37506547 -0.49709862 0.29751243
+v -0.35578537 -0.50256844 0.29751241
+v -0.31714810 -0.50571064 0.29751240
+v -0.29809938 -0.50722356 0.29751240
+v -0.27210982 0.50852911 0.29751613
+v -0.35578537 0.55484776 0.30168955
+v -0.35578537 0.57428300 0.30352661
+v -0.37475699 0.57509765 0.30432531
+v -0.38092661 0.58219675 0.30624223
+v -0.38555384 0.56916234 0.30483445
+v -0.38825303 0.57509762 0.31374000
+v -0.39234040 0.57428288 0.33469592
+v -0.39272600 0.55484764 0.33469585
+v -0.39288026 -0.55424066 0.33469177
+v -0.39280313 -0.45694806 0.31527372
+v -0.39272600 -0.47649967 0.31527365
+v -0.39187768 -0.57379227 0.33469170
+v -0.38779031 -0.58682671 0.33469165
+v -0.38779031 -0.58694314 0.35411005
+v -0.38678776 -0.58566286 0.31896722
+v -0.38354868 -0.58263694 0.30601830
+v -0.38586231 -0.56971893 0.30454076
+v -0.38478264 -0.47649960 0.29751251
+v -0.30943604 0.50817995 0.29751613
+v -0.32817629 0.50759809 0.29751612
+v -0.34537413 0.50538687 0.29751612
+v -0.37506547 0.55484776 0.30215875
+v -0.38115796 0.48641716 0.29751605
+v -0.38493686 0.46942586 0.29751598
+v -0.38640216 0.55484775 0.30410559
+v -0.39033528 0.55484771 0.31527744
+v -0.39095226 0.53541251 0.31527737
+v -0.39133786 0.51597727 0.31527730
+v -0.39172346 0.49642566 0.31527722
+v -0.39226331 0.45755518 0.31527708
+v -0.39241753 0.43811997 0.31527701
+v -0.39079801 -0.55424059 0.31527336
+v -0.39241753 -0.49593491 0.31527358
+v -0.38964121 -0.20394086 0.29751351
+v -0.38964121 -0.24455700 0.29751336
+v -0.38956408 -0.26410861 0.29751329
+v -0.38894714 -0.41900857 0.29751272
+v -0.38887001 -0.43797828 0.29751265
+v -0.38879288 -0.44344809 0.29751263
+v -0.38825303 -0.57518874 0.31360600
+v -0.38671064 -0.55424055 0.30378206
+v -0.38825303 -0.45694799 0.29751258
+v -0.35933293 0.50014983 0.29751610
+v -0.37282896 0.49479641 0.29751608
+v -0.37506547 0.49316713 0.29751607
+v -0.38609366 0.45150358 0.29751592
+v -0.38694198 0.53541256 0.30350649
+v -0.38740471 0.51597732 0.30302721
+v -0.38840729 0.45755524 0.30072075
+v -0.38856150 0.43812003 0.30019155
+v -0.38856150 0.36026272 0.29751558
+v -0.38871576 0.34082751 0.29751551
+v -0.38887001 0.30184067 0.29751537
+v -0.38894714 0.26297020 0.29751523
+v -0.38879288 -0.45694800 0.29838118
+v -0.38871576 -0.47649961 0.30025808
+v -0.38671064 0.43299936 0.29751585
+v -0.38817591 0.37865053 0.29751565
+f 1 2 3
+f 1 3 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 12
+f 2 12 3
+f 3 13 14
+f 3 12 15
+f 3 15 13
+f 4 14 16
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 7
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 8
+f 8 26 25
+f 8 25 27
+f 8 27 28
+f 8 28 9
+f 9 28 27
+f 9 27 29
+f 9 29 30
+f 9 30 31
+f 9 31 32
+f 9 32 10
+f 10 32 33
+f 10 33 34
+f 10 34 35
+f 10 35 36
+f 10 36 37
+f 10 37 11
+f 11 37 12
+f 12 37 38
+f 12 38 39
+f 12 39 40
+f 12 40 41
+f 12 41 42
+f 12 42 15
+f 13 43 44
+f 13 44 45
+f 13 45 46
+f 13 46 47
+f 13 47 48
+f 13 48 14
+f 13 15 49
+f 13 49 43
+f 14 48 50
+f 14 50 16
+f 15 42 51
+f 15 51 49
+f 16 50 52
+f 16 52 17
+f 17 52 53
+f 17 53 54
+f 17 54 18
+f 18 54 55
+f 18 55 19
+f 19 55 56
+f 19 56 57
+f 19 57 58
+f 19 58 20
+f 20 58 21
+f 21 59 60
+f 21 60 62
+f 21 62 22
+f 21 58 61
+f 21 61 59
+f 22 62 23
+f 23 62 24
+f 24 62 25
+f 25 62 27
+f 27 63 29
+f 27 62 63
+f 29 63 30
+f 30 63 31
+f 31 63 64
+f 31 64 65
+f 31 65 66
+f 31 66 32
+f 32 66 33
+f 33 66 67
+f 33 67 68
+f 33 68 34
+f 34 68 69
+f 34 69 70
+f 34 70 35
+f 35 70 71
+f 35 71 36
+f 36 71 72
+f 36 72 73
+f 36 73 74
+f 36 74 37
+f 37 74 38
+f 38 74 75
+f 38 75 39
+f 39 76 40
+f 39 75 76
+f 40 77 78
+f 40 78 41
+f 40 76 77
+f 41 78 42
+f 42 78 51
+f 43 49 79
+f 43 79 78
+f 43 78 44
+f 44 78 45
+f 45 78 46
+f 46 78 80
+f 46 80 47
+f 47 81 82
+f 47 82 48
+f 47 80 83
+f 47 83 81
+f 48 82 84
+f 48 84 85
+f 48 85 50
+f 49 51 78
+f 49 78 79
+f 50 85 86
+f 50 86 87
+f 50 87 52
+f 52 87 88
+f 52 88 89
+f 52 89 53
+f 53 89 54
+f 54 89 90
+f 54 90 55
+f 55 90 56
+f 56 90 91
+f 56 91 92
+f 56 92 93
+f 56 93 57
+f 57 93 94
+f 57 94 58
+f 58 94 95
+f 58 95 61
+f 59 61 96
+f 59 96 97
+f 59 97 98
+f 59 98 99
+f 59 99 60
+f 60 99 62
+f 61 95 100
+f 61 100 101
+f 61 101 102
+f 61 102 96
+f 62 99 103
+f 62 103 104
+f 62 104 105
+f 62 105 106
+f 62 106 107
+f 62 107 63
+f 63 107 106
+f 63 106 64
+f 64 108 65
+f 64 106 109
+f 64 109 110
+f 64 110 111
+f 64 111 112
+f 64 112 113
+f 64 113 108
+f 65 114 115
+f 65 115 116
+f 65 116 117
+f 65 117 118
+f 65 118 119
+f 65 119 120
+f 65 120 66
+f 65 108 114
+f 66 120 67
+f 67 120 121
+f 67 121 68
+f 68 121 122
+f 68 122 69
+f 69 122 123
+f 69 123 70
+f 70 123 124
+f 70 124 71
+f 71 124 72
+f 72 124 125
+f 72 125 126
+f 72 126 127
+f 72 127 73
+f 73 127 74
+f 74 127 128
+f 74 128 75
+f 75 128 129
+f 75 129 76
+f 76 129 77
+f 77 129 78
+f 78 130 80
+f 78 129 130
+f 80 130 131
+f 80 131 83
+f 81 132 133
+f 81 133 134
+f 81 134 82
+f 81 83 132
+f 82 134 84
+f 83 131 130
+f 83 130 129
+f 83 129 190
+f 83 190 245
+f 83 245 244
+f 83 244 243
+f 83 243 242
+f 83 242 241
+f 83 241 240
+f 83 240 239
+f 83 239 238
+f 83 238 237
+f 83 237 272
+f 83 272 299
+f 83 299 298
+f 83 298 297
+f 83 297 296
+f 83 296 295
+f 83 295 305
+f 83 305 304
+f 83 304 303
+f 83 303 302
+f 83 302 324
+f 83 324 348
+f 83 348 345
+f 83 345 344
+f 83 344 343
+f 83 343 342
+f 83 342 341
+f 83 341 340
+f 83 340 360
+f 83 360 359
+f 83 359 358
+f 83 358 357
+f 83 357 364
+f 83 364 363
+f 83 363 352
+f 83 352 330
+f 83 330 329
+f 83 329 351
+f 83 351 350
+f 83 350 349
+f 83 349 327
+f 83 327 326
+f 83 326 325
+f 83 325 306
+f 83 306 273
+f 83 273 247
+f 83 247 196
+f 83 196 195
+f 83 195 194
+f 83 194 193
+f 83 193 191
+f 83 191 133
+f 83 133 132
+f 84 135 136
+f 84 136 137
+f 84 137 86
+f 84 86 85
+f 84 134 135
+f 86 137 138
+f 86 138 139
+f 86 139 87
+f 87 139 88
+f 88 139 140
+f 88 140 141
+f 88 141 142
+f 88 142 89
+f 89 142 90
+f 90 142 91
+f 91 142 143
+f 91 143 144
+f 91 144 145
+f 91 145 146
+f 91 146 92
+f 92 146 147
+f 92 147 148
+f 92 148 93
+f 93 148 149
+f 93 149 94
+f 94 150 95
+f 94 149 150
+f 95 150 151
+f 95 151 212
+f 95 212 152
+f 95 152 100
+f 96 102 101
+f 96 101 153
+f 96 153 154
+f 96 154 155
+f 96 155 97
+f 97 155 156
+f 97 156 157
+f 97 157 163
+f 97 163 158
+f 97 158 159
+f 97 159 98
+f 98 159 99
+f 99 159 103
+f 100 152 212
+f 100 212 160
+f 100 160 153
+f 100 153 101
+f 103 159 104
+f 104 161 166
+f 104 166 162
+f 104 162 105
+f 104 159 163
+f 104 163 157
+f 104 157 161
+f 105 162 109
+f 105 109 106
+f 108 164 165
+f 108 165 114
+f 108 113 164
+f 109 162 166
+f 109 166 167
+f 109 167 111
+f 109 111 110
+f 111 167 168
+f 111 168 112
+f 112 168 169
+f 112 169 113
+f 113 169 170
+f 113 170 164
+f 114 165 171
+f 114 171 172
+f 114 172 173
+f 114 173 174
+f 114 174 175
+f 114 175 115
+f 115 175 176
+f 115 176 116
+f 116 176 117
+f 117 176 118
+f 118 176 119
+f 119 176 177
+f 119 177 178
+f 119 178 179
+f 119 179 120
+f 120 179 180
+f 120 180 181
+f 120 181 121
+f 121 181 182
+f 121 182 122
+f 122 182 123
+f 123 182 183
+f 123 183 184
+f 123 184 124
+f 124 184 125
+f 125 185 126
+f 125 184 186
+f 125 186 185
+f 126 185 187
+f 126 187 127
+f 127 187 188
+f 127 188 128
+f 128 188 189
+f 128 189 129
+f 129 189 190
+f 133 191 134
+f 134 192 135
+f 134 191 193
+f 134 193 194
+f 134 194 195
+f 134 195 196
+f 134 196 192
+f 135 192 136
+f 136 197 198
+f 136 198 138
+f 136 138 137
+f 136 192 197
+f 138 198 140
+f 138 140 139
+f 140 198 199
+f 140 199 200
+f 140 200 201
+f 140 201 202
+f 140 202 203
+f 140 203 141
+f 141 203 144
+f 141 144 143
+f 141 143 142
+f 144 203 204
+f 144 204 147
+f 144 147 146
+f 144 146 145
+f 147 205 148
+f 147 204 255
+f 147 255 205
+f 148 206 149
+f 148 205 206
+f 149 207 150
+f 149 206 207
+f 150 208 209
+f 150 209 151
+f 150 207 208
+f 151 210 211
+f 151 211 212
+f 151 209 213
+f 151 213 164
+f 151 164 214
+f 151 214 215
+f 151 215 210
+f 153 160 216
+f 153 216 217
+f 153 217 154
+f 154 217 218
+f 154 218 219
+f 154 219 155
+f 155 219 156
+f 156 219 220
+f 156 220 166
+f 156 166 161
+f 156 161 157
+f 158 163 159
+f 160 212 217
+f 160 217 216
+f 164 213 165
+f 164 170 221
+f 164 221 215
+f 164 215 214
+f 165 222 223
+f 165 223 171
+f 165 213 222
+f 166 220 168
+f 166 168 167
+f 168 220 219
+f 168 219 169
+f 169 219 218
+f 169 218 170
+f 170 218 261
+f 170 261 221
+f 171 223 172
+f 172 224 225
+f 172 225 226
+f 172 226 173
+f 172 223 224
+f 173 226 174
+f 174 226 175
+f 175 226 176
+f 176 226 177
+f 177 226 178
+f 178 226 227
+f 178 227 179
+f 179 227 228
+f 179 228 180
+f 180 228 181
+f 181 228 229
+f 181 229 182
+f 182 229 183
+f 183 229 228
+f 183 228 227
+f 183 227 230
+f 183 230 184
+f 184 230 231
+f 184 231 232
+f 184 232 233
+f 184 233 186
+f 185 186 234
+f 185 234 235
+f 185 235 187
+f 186 233 236
+f 186 236 234
+f 187 235 188
+f 188 237 238
+f 188 238 239
+f 188 239 240
+f 188 240 241
+f 188 241 242
+f 188 242 243
+f 188 243 244
+f 188 244 245
+f 188 245 189
+f 188 235 246
+f 188 246 237
+f 189 245 190
+f 192 196 247
+f 192 247 248
+f 192 248 249
+f 192 249 250
+f 192 250 197
+f 197 250 198
+f 198 250 249
+f 198 249 199
+f 199 249 248
+f 199 248 200
+f 200 248 201
+f 201 248 202
+f 202 251 204
+f 202 204 203
+f 202 248 252
+f 202 252 251
+f 204 251 253
+f 204 253 254
+f 204 254 255
+f 205 256 206
+f 205 255 256
+f 206 256 257
+f 206 257 207
+f 207 257 258
+f 207 258 208
+f 208 258 259
+f 208 259 260
+f 208 260 213
+f 208 213 209
+f 210 215 261
+f 210 261 211
+f 211 261 262
+f 211 262 212
+f 212 262 217
+f 213 260 263
+f 213 263 222
+f 215 221 261
+f 217 262 261
+f 217 261 218
+f 222 263 264
+f 222 264 265
+f 222 265 223
+f 223 265 224
+f 224 266 267
+f 224 267 225
+f 224 265 266
+f 225 268 226
+f 225 267 268
+f 226 268 231
+f 226 231 230
+f 226 230 227
+f 231 268 232
+f 232 269 270
+f 232 270 233
+f 232 268 269
+f 233 270 236
+f 234 236 246
+f 234 246 235
+f 236 270 271
+f 236 271 246
+f 237 246 271
+f 237 271 272
+f 247 273 274
+f 247 274 248
+f 248 274 275
+f 248 275 252
+f 251 252 276
+f 251 276 277
+f 251 277 253
+f 252 275 274
+f 252 274 278
+f 252 278 276
+f 253 277 279
+f 253 279 280
+f 253 280 281
+f 253 281 254
+f 254 281 282
+f 254 282 283
+f 254 283 255
+f 255 283 256
+f 256 283 284
+f 256 284 257
+f 257 285 286
+f 257 286 258
+f 257 284 285
+f 258 286 287
+f 258 287 259
+f 259 287 288
+f 259 288 289
+f 259 289 290
+f 259 290 264
+f 259 264 263
+f 259 263 260
+f 264 290 266
+f 264 266 265
+f 266 291 267
+f 266 290 291
+f 267 292 268
+f 267 291 320
+f 267 320 292
+f 268 292 269
+f 269 292 293
+f 269 293 294
+f 269 294 270
+f 270 294 271
+f 271 295 296
+f 271 296 297
+f 271 297 298
+f 271 298 299
+f 271 299 272
+f 271 294 300
+f 271 300 301
+f 271 301 302
+f 271 302 303
+f 271 303 304
+f 271 304 305
+f 271 305 295
+f 273 306 307
+f 273 307 274
+f 274 307 278
+f 276 278 308
+f 276 308 277
+f 277 308 279
+f 278 307 308
+f 279 308 280
+f 280 308 309
+f 280 309 310
+f 280 310 281
+f 281 310 282
+f 282 310 311
+f 282 311 312
+f 282 312 313
+f 282 313 283
+f 283 313 285
+f 283 285 284
+f 285 313 314
+f 285 314 286
+f 286 314 287
+f 287 315 288
+f 287 314 316
+f 287 316 317
+f 287 317 315
+f 288 315 318
+f 288 318 289
+f 289 318 319
+f 289 319 320
+f 289 320 291
+f 289 291 290
+f 292 320 319
+f 292 319 321
+f 292 321 293
+f 293 321 322
+f 293 322 294
+f 294 322 300
+f 300 322 323
+f 300 323 301
+f 301 323 324
+f 301 324 302
+f 306 325 307
+f 307 325 326
+f 307 326 327
+f 307 327 328
+f 307 328 308
+f 308 328 309
+f 309 328 311
+f 309 311 310
+f 311 328 329
+f 311 329 330
+f 311 330 331
+f 311 331 312
+f 312 331 332
+f 312 332 313
+f 313 332 333
+f 313 333 334
+f 313 334 314
+f 314 334 335
+f 314 335 336
+f 314 336 337
+f 314 337 316
+f 315 338 318
+f 315 317 339
+f 315 339 338
+f 316 340 341
+f 316 341 342
+f 316 342 317
+f 316 337 340
+f 317 342 343
+f 317 343 344
+f 317 344 345
+f 317 345 339
+f 318 338 346
+f 318 346 321
+f 318 321 319
+f 321 346 322
+f 322 346 323
+f 323 338 347
+f 323 347 324
+f 323 346 338
+f 324 347 348
+f 327 349 328
+f 328 349 350
+f 328 350 351
+f 328 351 329
+f 330 352 331
+f 331 353 332
+f 331 352 353
+f 332 353 354
+f 332 354 333
+f 333 354 355
+f 333 355 334
+f 334 355 335
+f 335 355 356
+f 335 356 336
+f 336 356 357
+f 336 357 358
+f 336 358 337
+f 337 358 359
+f 337 359 360
+f 337 360 340
+f 338 339 361
+f 338 361 362
+f 338 362 347
+f 339 345 361
+f 345 348 361
+f 347 362 361
+f 347 361 348
+f 352 363 355
+f 352 355 353
+f 353 355 354
+f 355 363 356
+f 356 363 364
+f 356 364 357
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_5.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.18205076 0.49288369 0.28948796
+v -0.20132226 0.47734917 0.27207709
+v -0.22063336 0.47723820 0.27207709
+v -0.23994442 0.47709953 0.27207709
+v -0.19241859 0.49280046 0.28948796
+v -0.16273969 0.49285596 0.28948796
+v -0.18205076 0.47734917 0.27207709
+v -0.25976994 0.47684986 0.27207709
+v -0.20132226 0.49271725 0.28948796
+v 0.01798510 0.49205150 0.28948796
+v -0.16273969 0.47721050 0.27207709
+v -0.25252828 0.49180182 0.28948796
+v -0.23064504 0.49224567 0.28948796
+v -0.21157138 0.49257855 0.28948796
+v -0.29787763 0.47607313 0.27207709
+v 0.01798510 0.21966955 0.28948696
+v 0.01798510 0.47587895 0.27207709
+v -0.27255166 0.49135797 0.28948795
+v -0.31718873 0.47507449 0.27207709
+v -0.29787763 0.49035933 0.28948795
+v -0.28703496 0.49091412 0.28948795
+v -0.17963688 0.20948887 0.28948692
+v -0.18359406 0.20948893 0.27207611
+v 0.01798510 0.22371969 0.27207616
+v -0.30500060 0.48997095 0.28948795
+v -0.33646026 0.47243916 0.27207708
+v -0.32197694 0.48814012 0.28948794
+v -0.31718873 0.48869490 0.28948795
+v -0.38624166 0.20948887 0.28948692
+v -0.37282679 0.20948893 0.27207611
+v -0.35066656 0.46960965 0.27207706
+v -0.35462371 0.48153790 0.28948792
+v -0.38620210 0.24355396 0.28948704
+v -0.38489622 0.22408027 0.28598129
+v -0.38489622 0.20948888 0.28596931
+v -0.37286635 0.21143075 0.27207612
+v -0.35569216 0.48131600 0.28948792
+v -0.36095521 0.46345129 0.27207704
+v -0.37274766 0.47457511 0.28948789
+v -0.37076905 0.47562922 0.28948790
+v -0.38616253 0.25620353 0.28948709
+v -0.38485663 0.24355397 0.28599840
+v -0.37306425 0.25029490 0.27207626
+v -0.37306425 0.24355402 0.27207623
+v -0.37302468 0.23079349 0.27207619
+v -0.36803858 0.45329835 0.27207701
+v -0.36819691 0.46994249 0.28249186
+v -0.37896044 0.45745934 0.28948783
+v -0.38608337 0.27628749 0.28948716
+v -0.38481706 0.26302764 0.28606495
+v -0.37294552 0.28147500 0.27207637
+v -0.37302468 0.26302769 0.27207631
+v -0.36926532 0.44261835 0.27207697
+v -0.38042460 0.43812435 0.28948776
+v -0.38584595 0.30799464 0.28948728
+v -0.38469837 0.28596886 0.28624907
+v -0.37254977 0.32139327 0.27207652
+v -0.37286635 0.29026867 0.27207641
+v -0.37223322 0.34086696 0.27207659
+v -0.38434222 0.34086691 0.28689349
+v -0.38398607 0.36028509 0.28745257
+v -0.38378821 0.38172835 0.28948755
+v -0.38564809 0.32702448 0.28948735
+v -0.38450051 0.32139322 0.28659179
+v -0.38545023 0.34086690 0.28948740
+v -0.38537110 0.34577691 0.28948742
+v -0.38481706 0.36400229 0.28948749
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 13
+f 1 13 12
+f 1 12 18
+f 1 18 21
+f 1 21 20
+f 1 20 25
+f 1 25 28
+f 1 28 27
+f 1 27 32
+f 1 32 37
+f 1 37 40
+f 1 40 39
+f 1 39 48
+f 1 48 54
+f 1 54 62
+f 1 62 67
+f 1 67 66
+f 1 66 65
+f 1 65 63
+f 1 63 55
+f 1 55 49
+f 1 49 41
+f 1 41 33
+f 1 33 29
+f 1 29 22
+f 1 22 16
+f 1 16 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 17
+f 2 17 24
+f 2 24 23
+f 2 23 30
+f 2 30 36
+f 2 36 45
+f 2 45 44
+f 2 44 43
+f 2 43 52
+f 2 52 51
+f 2 51 58
+f 2 58 57
+f 2 57 59
+f 2 59 53
+f 2 53 46
+f 2 46 38
+f 2 38 31
+f 2 31 26
+f 2 26 19
+f 2 19 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 8 15 12
+f 10 16 24
+f 10 24 17
+f 10 17 11
+f 12 15 18
+f 15 19 20
+f 15 20 21
+f 15 21 18
+f 16 22 23
+f 16 23 24
+f 19 25 20
+f 19 26 27
+f 19 27 28
+f 19 28 25
+f 22 29 35
+f 22 35 30
+f 22 30 23
+f 26 31 27
+f 27 31 32
+f 29 33 34
+f 29 34 35
+f 30 35 36
+f 31 37 32
+f 31 38 39
+f 31 39 40
+f 31 40 37
+f 33 41 42
+f 33 42 34
+f 34 42 43
+f 34 43 35
+f 35 43 44
+f 35 44 45
+f 35 45 36
+f 38 46 47
+f 38 47 39
+f 39 47 46
+f 39 46 48
+f 41 49 50
+f 41 50 42
+f 42 50 51
+f 42 51 52
+f 42 52 43
+f 46 53 48
+f 48 53 54
+f 49 55 50
+f 50 55 56
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 53 59 60
+f 53 60 61
+f 53 61 54
+f 54 61 62
+f 55 63 64
+f 55 64 56
+f 56 64 57
+f 57 64 59
+f 59 64 60
+f 60 64 65
+f 60 65 66
+f 60 66 67
+f 60 67 61
+f 61 67 62
+f 63 65 64
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_6.obj

@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.25278546 0.43854868 0.15662299
+v 0.25278546 0.43975123 0.27207696
+v 0.26202624 0.43687308 0.15662298
+v 0.25278546 0.33444737 0.15662261
+v 0.26202624 0.43648598 0.27207694
+v 0.26202624 0.43687307 0.15985546
+v 0.25278546 0.22321366 0.27207616
+v 0.26411132 0.43588488 0.15662298
+v 0.26082356 0.33242807 0.15662260
+v 0.28133580 0.00083335 0.17786988
+v 0.27058409 0.00083332 0.18648230
+v 0.25278546 0.23438458 0.18051550
+v 0.27435535 0.43077219 0.15985544
+v 0.27438557 0.43077220 0.15662296
+v 0.27376307 0.43029919 0.27207692
+v 0.25278546 0.22360052 0.21812982
+v 0.26936327 0.00083300 0.27207534
+v 0.28133580 0.32808871 0.15662259
+v 0.30063932 0.00083335 0.17779076
+v 0.27005829 0.00083329 0.19226912
+v 0.25278546 0.22798296 0.18438091
+v 0.27591463 0.42780729 0.27207691
+v 0.27599318 0.42888183 0.15662296
+v 0.25278546 0.22403024 0.19871232
+v 0.26949018 0.00083327 0.19871150
+v 0.31452164 0.00083300 0.27207534
+v 0.28677511 0.32950652 0.15662259
+v 0.30571601 0.00083333 0.18184832
+v 0.30004702 0.33960302 0.15662263
+v 0.30906419 0.35408183 0.15662268
+v 0.31217670 0.36379165 0.15662272
+v 0.25278546 0.22561991 0.19258643
+v 0.28341482 0.41895674 0.27207688
+v 0.28403128 0.41938681 0.15662292
+v 0.31248493 0.00083327 0.19871150
+v 0.31452768 0.01002726 0.27207538
+v 0.31138496 0.00083332 0.18640319
+v 0.31217670 0.37414590 0.15662275
+v 0.31196517 0.00083329 0.19289076
+v 0.28517354 0.41680854 0.27207687
+v 0.29118701 0.40924691 0.27207684
+v 0.29146500 0.40967698 0.15662288
+v 0.31452164 0.02948986 0.27207545
+v 0.30728133 0.38385573 0.15662279
+v 0.31217670 0.37405991 0.17928405
+v 0.31221295 0.37345808 0.27207671
+v 0.31383872 0.16572808 0.27207595
+v 0.31395355 0.14626547 0.27207588
+v 0.31443702 0.04895246 0.27207552
+v 0.29251660 0.40701280 0.27207684
+v 0.30716043 0.38376973 0.17928409
+v 0.30726921 0.38385572 0.15985527
+v 0.29811305 0.39919380 0.15662285
+v 0.29258309 0.40791547 0.15662288
+v 0.29963001 0.39665897 0.15662284
+v 0.30653192 0.38321088 0.27207675
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 23
+f 1 23 34
+f 1 34 42
+f 1 42 54
+f 1 54 53
+f 1 53 55
+f 1 55 44
+f 1 44 38
+f 1 38 31
+f 1 31 30
+f 1 30 29
+f 1 29 27
+f 1 27 18
+f 1 18 9
+f 1 9 4
+f 1 4 12
+f 1 12 21
+f 1 21 32
+f 1 32 24
+f 1 24 16
+f 1 16 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 17
+f 2 17 26
+f 2 26 36
+f 2 36 43
+f 2 43 49
+f 2 49 48
+f 2 48 47
+f 2 47 46
+f 2 46 56
+f 2 56 50
+f 2 50 41
+f 2 41 40
+f 2 40 33
+f 2 33 22
+f 2 22 15
+f 2 15 5
+f 3 6 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 8
+f 5 8 6
+f 5 15 13
+f 7 16 17
+f 9 18 10
+f 10 19 28
+f 10 28 37
+f 10 37 39
+f 10 39 35
+f 10 35 26
+f 10 26 17
+f 10 17 25
+f 10 25 20
+f 10 20 11
+f 10 18 19
+f 11 20 21
+f 11 21 12
+f 13 15 14
+f 14 15 22
+f 14 22 23
+f 16 24 17
+f 17 24 25
+f 18 27 19
+f 19 27 29
+f 19 29 30
+f 19 30 31
+f 19 31 28
+f 20 25 21
+f 21 25 32
+f 22 33 23
+f 23 33 34
+f 24 32 25
+f 26 35 31
+f 26 31 36
+f 28 31 37
+f 31 38 36
+f 31 35 39
+f 31 39 37
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 36 38 43
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 43
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 44 55 52
+f 44 52 46
+f 44 46 45
+f 46 52 51
+f 46 51 56
+f 50 56 51
+f 52 55 53
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_7.obj

@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.12689633 0.49375466 0.28948796
+v 0.12689633 0.47706790 0.27207709
+v 0.01802466 0.47587398 0.27207709
+v 0.01802466 0.49203319 0.28948796
+v 0.14620845 0.49344920 0.28948796
+v 0.14620845 0.47642929 0.27207709
+v 0.01802466 0.22371174 0.27207616
+v 0.01802466 0.21965798 0.28948696
+v 0.16555022 0.49136684 0.28948795
+v 0.15009460 0.47576294 0.27207709
+v 0.26519600 0.21013463 0.27207611
+v 0.25982657 0.21013457 0.28807408
+v 0.25952991 0.21013457 0.28948692
+v 0.18477335 0.48614702 0.28948794
+v 0.16569855 0.47281985 0.27207708
+v 0.16276169 0.47348620 0.27207708
+v 0.31325378 0.21013463 0.27207611
+v 0.32102608 0.21013457 0.28948692
+v 0.20408546 0.47984435 0.28948791
+v 0.18477335 0.46654495 0.27207705
+v 0.31325378 0.21974133 0.27207615
+v 0.32108542 0.22410039 0.28948697
+v 0.20408546 0.45935378 0.27207703
+v 0.19892370 0.46129732 0.27207703
+v 0.22025304 0.47301414 0.28948789
+v 0.26202179 0.43647540 0.27207694
+v 0.31221551 0.37347646 0.27207671
+v 0.31699160 0.37758564 0.28948754
+v 0.22271526 0.47170917 0.28948788
+v 0.27373959 0.43028377 0.27207692
+v 0.26460268 0.43511490 0.27207694
+v 0.30651976 0.38319425 0.27207675
+v 0.29637422 0.41442986 0.28948767
+v 0.29824314 0.41123689 0.28948766
+v 0.27833771 0.43500376 0.28948775
+v 0.27590515 0.42778492 0.27207691
+v 0.29251774 0.40698890 0.27207683
+v 0.29118280 0.40923786 0.27207684
+v 0.28516074 0.41678996 0.27207687
+v 0.28341049 0.41895562 0.27207688
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 22
+f 1 22 28
+f 1 28 34
+f 1 34 33
+f 1 33 35
+f 1 35 29
+f 1 29 25
+f 1 25 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 16
+f 2 16 15
+f 2 15 20
+f 2 20 24
+f 2 24 23
+f 2 23 26
+f 2 26 31
+f 2 31 30
+f 2 30 36
+f 2 36 40
+f 2 40 39
+f 2 39 38
+f 2 38 37
+f 2 37 32
+f 2 32 27
+f 2 27 21
+f 2 21 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 13
+f 11 13 12
+f 14 19 15
+f 15 19 20
+f 17 21 22
+f 17 22 18
+f 19 23 24
+f 19 24 20
+f 19 25 26
+f 19 26 23
+f 21 27 22
+f 22 27 28
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 29 35 30
+f 30 35 33
+f 30 33 36
+f 32 37 33
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 36
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_8.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.30063928 -0.02892576 0.17771476
+v 0.28133395 -0.02892576 0.17780713
+v 0.28133395 -0.00945399 0.17782568
+v 0.30063928 -0.00945399 0.17775179
+v 0.31141955 -0.02892579 0.18634169
+v 0.31136501 -0.20401124 0.18635952
+v 0.30063928 -0.20401121 0.17781573
+v 0.27054916 -0.02892579 0.18642482
+v 0.28133395 -0.20401121 0.17813901
+v 0.27057189 -0.20401125 0.18668281
+v 0.27055825 -0.00945402 0.18644337
+v 0.28133395 0.00081330 0.17786265
+v 0.31140592 -0.00945402 0.18636948
+v 0.30063928 0.00081330 0.17778876
+v 0.30571798 0.00081328 0.18185284
+v 0.31250623 -0.00945407 0.19870949
+v 0.31251987 -0.02892584 0.19870941
+v 0.31239710 -0.20401129 0.19870877
+v 0.26910785 -0.20401129 0.19869029
+v 0.26944886 -0.00945407 0.19870949
+v 0.27058099 0.00081327 0.18648034
+v 0.31138772 0.00081327 0.18640645
+v 0.31248348 0.00081322 0.19870952
+v 0.31452040 0.00081295 0.27207534
+v 0.31472047 -0.10673295 0.27207495
+v 0.31472502 -0.11108452 0.27207493
+v 0.31473410 -0.12620471 0.27207488
+v 0.31466136 -0.20401156 0.27207459
+v 0.26865772 -0.20401136 0.21811474
+v 0.26948977 0.00081322 0.19870952
+v 0.27005812 0.00081324 0.19227166
+v 0.26852132 -0.20401143 0.23752994
+v 0.26828490 -0.20401156 0.27205611
+v 0.26936702 0.00081295 0.27207534
+v 0.31444310 -0.20401156 0.27207459
+v 0.26852587 -0.19970009 0.27207461
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 3 8 11
+f 3 11 12
+f 3 12 14
+f 3 14 4
+f 4 13 5
+f 4 14 15
+f 4 15 13
+f 5 13 16
+f 5 16 17
+f 5 17 6
+f 6 18 28
+f 6 28 35
+f 6 35 33
+f 6 33 32
+f 6 32 29
+f 6 29 19
+f 6 19 10
+f 6 10 9
+f 6 9 7
+f 6 17 18
+f 8 10 19
+f 8 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 31
+f 12 31 30
+f 12 30 34
+f 12 34 24
+f 12 24 23
+f 12 23 22
+f 12 22 15
+f 12 15 14
+f 13 15 22
+f 13 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 19 29 20
+f 20 30 31
+f 20 31 21
+f 20 29 32
+f 20 32 33
+f 20 33 30
+f 24 34 36
+f 24 36 35
+f 24 35 28
+f 24 28 27
+f 24 27 26
+f 24 26 25
+f 30 33 34
+f 33 35 36
+f 33 36 34
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/mjcf/mesh/table_collision_9.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.12683683 0.47704995 0.27207709
+v 0.14614793 0.47642803 0.27207709
+v 0.24270335 0.44035699 0.15662300
+v -0.14336332 0.47695042 0.27204317
+v -0.13777939 0.47687582 0.27207709
+v 0.15006442 0.47575633 0.27207709
+v 0.24592188 0.43980969 0.15662300
+v 0.22164729 0.43368999 0.15662297
+v -0.14336332 0.36027836 0.15901882
+v -0.14336332 0.37975694 0.16373198
+v -0.14336332 0.41866431 0.17368954
+v -0.14336332 0.43717267 0.18108137
+v -0.14336332 0.43722243 0.18110398
+v -0.14336332 0.44607849 0.19865662
+v -0.14336332 0.47152727 0.27207707
+v 0.16274460 0.47349253 0.27207708
+v 0.25278546 0.43856587 0.15662299
+v 0.21191420 0.42883899 0.15662296
+v -0.14336332 0.36022860 0.15901882
+v 0.20427507 0.42187348 0.15662293
+v 0.20369341 0.42100276 0.15662293
+v 0.19547263 0.39903652 0.15662285
+v -0.14336332 0.22293279 0.27207616
+v 0.16565289 0.47282086 0.27207708
+v 0.25278546 0.43973463 0.27207696
+v 0.25278546 0.33445617 0.15662261
+v 0.18477010 0.46655191 0.27207705
+v 0.19892380 0.46130289 0.27207703
+v 0.20408118 0.45936248 0.27207703
+v -0.14336332 0.26300984 0.15925580
+v 0.19651962 0.37975696 0.15662277
+v 0.20144432 0.36112417 0.15662271
+v -0.14336332 0.22313193 0.23754733
+v 0.25278546 0.22325618 0.27207616
+v 0.24297480 0.33649607 0.15662262
+v 0.25278546 0.23440135 0.18051550
+v 0.23432747 0.25089477 0.16864805
+v 0.22339228 0.24713835 0.16611630
+v 0.20408118 0.26300984 0.15892805
+v -0.12409100 0.26300984 0.15923320
+v -0.14336332 0.24355610 0.16292901
+v 0.20497306 0.35739266 0.15662269
+v 0.22451681 0.34219287 0.15662264
+v -0.14336332 0.22330614 0.21812982
+v 0.25278546 0.22362954 0.21812982
+v 0.25278546 0.22803286 0.18438091
+v 0.22339228 0.23741149 0.17139448
+v 0.20408118 0.24462580 0.16399144
+v -0.14336332 0.23258538 0.16824109
+v -0.14336332 0.22407739 0.19871232
+v 0.25278546 0.22407739 0.19871232
+v 0.22339228 0.22917720 0.18110321
+v 0.20408118 0.23489893 0.17073894
+v 0.25278546 0.22564465 0.19258643
+v -0.14336332 0.22800800 0.17928352
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 23
+f 1 23 34
+f 1 34 25
+f 1 25 29
+f 1 29 28
+f 1 28 27
+f 1 27 24
+f 1 24 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 17
+f 3 17 26
+f 3 26 35
+f 3 35 43
+f 3 43 42
+f 3 42 32
+f 3 32 31
+f 3 31 22
+f 3 22 21
+f 3 21 20
+f 3 20 18
+f 3 18 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
+f 4 9 19
+f 4 19 30
+f 4 30 41
+f 4 41 49
+f 4 49 55
+f 4 55 50
+f 4 50 44
+f 4 44 33
+f 4 33 23
+f 4 23 15
+f 4 15 5
+f 6 16 7
+f 7 16 17
+f 8 18 9
+f 9 18 20
+f 9 20 21
+f 9 21 22
+f 9 22 19
+f 16 24 17
+f 17 25 34
+f 17 34 45
+f 17 45 51
+f 17 51 54
+f 17 54 46
+f 17 46 36
+f 17 36 26
+f 17 24 27
+f 17 27 28
+f 17 28 29
+f 17 29 25
+f 19 22 31
+f 19 31 32
+f 19 32 30
+f 23 33 34
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 30
+f 26 30 35
+f 30 40 41
+f 30 32 42
+f 30 42 43
+f 30 43 35
+f 33 44 45
+f 33 45 34
+f 36 46 47
+f 36 47 38
+f 36 38 37
+f 38 47 48
+f 38 48 39
+f 39 48 41
+f 39 41 40
+f 41 48 49
+f 44 50 51
+f 44 51 45
+f 46 52 53
+f 46 53 47
+f 46 54 55
+f 46 55 52
+f 47 53 48
+f 48 53 49
+f 49 53 52
+f 49 52 55
+f 50 55 51
+f 51 55 54
+

dataset/furniture/table/551b4bfb8e2658bdb1add99362b1bf65/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24d25e223ab98f390312802eef5b233372b0dbd4badf7baaf4a6d84f3ecb7ef
+size 206395