Add asset furniture/table/b6b0dd6f66465938a67e4fd35d310d06

.gitattributes

@@ -3834,3 +3834,6 @@ dataset/furniture/table/8e73f2ff0aaa5b4393f3f37d91169bde/mesh/wooden_patterned_t
 dataset/furniture/table/ae2b63e5da8456a2902262936230b800/ae2b63e5da8456a2902262936230b800.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/ae2b63e5da8456a2902262936230b800/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/table/ae2b63e5da8456a2902262936230b800/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/b6b0dd6f66465938a67e4fd35d310d06.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mesh/table_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/b6b0dd6f66465938a67e4fd35d310d06.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>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <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>1.309613</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four sturdy legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251005013135</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.050603985786438</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</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/b6b0dd6f66465938a67e4fd35d310d06/b6b0dd6f66465938a67e4fd35d310d06.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6489fd60e5efbd136b37a716e7342585423ac2249c6320efe26e1d1bd8e6fcc
+size 836302

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/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/b6b0dd6f66465938a67e4fd35d310d06/mesh/table.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ac218f4dfdd86dab01973740721deab887256179228646a628e6b7b2c8c108
+size 1407988

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mesh/table_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59a376a70b85be0349f3a1235985ac66b469189ca5d78497ce8663ba4f63405b
+size 15621226

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/b6b0dd6f66465938a67e4fd35d310d06.xml

@@ -0,0 +1,52 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_0.obj

@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.32029406 0.55087340 -0.33428550
+v -0.31997024 0.57246074 -0.33428542
+v -0.31920114 0.57246082 -0.35566545
+v -0.31944402 0.55087348 -0.35566553
+v -0.31252214 0.52927582 -0.33428558
+v -0.31969701 0.55087146 0.19295732
+v -0.31852311 0.59406847 -0.33428534
+v -0.31873563 0.57245880 0.19295740
+v -0.31697481 0.59406855 -0.35566537
+v -0.30922312 0.57246088 -0.37355715
+v -0.30933444 0.55087354 -0.37361350
+v -0.30634913 0.53325553 -0.37113797
+v -0.30902072 0.52734214 -0.35667835
+v -0.30210898 0.51773415 -0.35026437
+v -0.30260483 0.51748980 -0.33428562
+v -0.31010354 0.52804236 0.19295724
+v -0.31254238 0.53370130 0.19295726
+v -0.30893976 0.61218516 -0.33428527
+v -0.31629679 0.57932891 0.19295743
+v -0.31102443 0.59406653 0.19295748
+v -0.30781648 0.61118781 -0.35566530
+v -0.30443650 0.60818540 -0.36950605
+v -0.30768492 0.59406861 -0.37226303
+v -0.28986414 0.57246091 -0.38126521
+v -0.28986414 0.55087357 -0.38137782
+v -0.29607764 0.51885376 -0.36449897
+v -0.28930756 0.52734220 -0.37243203
+v -0.28930756 0.51741866 -0.35667839
+v -0.28986414 0.51633973 -0.33428562
+v -0.28986414 0.51850569 0.19295720
+v -0.28986414 0.61981862 -0.33428524
+v -0.30813020 0.59789344 0.19295750
+v -0.30189646 0.60609685 0.19295753
+v -0.28986414 0.61282444 0.19295755
+v -0.28986414 0.61809863 -0.35566528
+v -0.28986414 0.61032276 -0.37175660
+v -0.28986414 0.59406863 -0.37912715
+v -0.26844075 0.59406864 -0.38002735
+v -0.26844075 0.57246091 -0.38165904
+v -0.26844075 0.55087357 -0.38182793
+v -0.26844075 0.52927597 -0.37434502
+v -0.28177850 0.51831436 -0.36658070
+v -0.26844075 0.51713366 -0.35566565
+v -0.26844075 0.51638043 -0.33428562
+v -0.28638297 0.51849549 0.19295720
+v -0.26844075 0.62028680 -0.33428524
+v -0.26844075 0.61873985 -0.35566528
+v -0.26844075 0.61965384 0.19295758
+v -0.26844075 0.61988823 0.11430155
+v -0.26844075 0.61081130 -0.37237550
+v -0.24699711 0.57246091 -0.38120894
+v -0.24699711 0.61037366 -0.37175660
+v -0.24699711 0.59406863 -0.37912715
+v -0.24699711 0.55087357 -0.38109652
+v -0.24884901 0.52781038 -0.37215073
+v -0.25723824 0.51841613 -0.36641193
+v -0.26844075 0.51831436 -0.36658070
+v -0.25204684 0.51789700 -0.35566565
+v -0.24762453 0.51752035 -0.33428562
+v -0.26844075 0.51876013 0.19295721
+v -0.24699711 0.62030716 -0.33428524
+v -0.24699711 0.62006093 0.19295758
+v -0.24699711 0.61822076 -0.35566528
+v -0.22916622 0.59406861 -0.37231930
+v -0.22782029 0.57246088 -0.37355715
+v -0.23239439 0.60822611 -0.36950605
+v -0.22819472 0.55087354 -0.37333220
+v -0.23115978 0.53402907 -0.37080040
+v -0.24133008 0.51935246 -0.35566564
+v -0.23690777 0.51854833 -0.33428562
+v -0.25227960 0.52039874 0.19295721
+v -0.22771909 0.61252107 -0.33428527
+v -0.22906500 0.61124887 -0.35566530
+v -0.24167414 0.61752665 0.19295757
+v -0.21995728 0.59406855 -0.35566537
+v -0.21803455 0.57246082 -0.35566545
+v -0.21869233 0.55087348 -0.35566553
+v -0.22782029 0.53015121 -0.35566560
+v -0.22705119 0.52934708 -0.33428558
+v -0.22985434 0.53173698 0.19295725
+v -0.24615718 0.52111122 0.19295721
+v -0.21803455 0.59406847 -0.33428534
+v -0.23008711 0.61200004 0.19295755
+v -0.21692138 0.57246074 -0.33428542
+v -0.21739699 0.55087340 -0.33428550
+v -0.22522964 0.54505984 0.19295730
+v -0.22366109 0.59406653 0.19295748
+v -0.22324618 0.57245880 0.19295740
+v -0.22324618 0.55087146 0.19295732
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 16
+f 6 16 30
+f 6 30 45
+f 6 45 60
+f 6 60 71
+f 6 71 81
+f 6 81 80
+f 6 80 86
+f 6 86 89
+f 6 89 88
+f 6 88 87
+f 6 87 83
+f 6 83 74
+f 6 74 62
+f 6 62 48
+f 6 48 34
+f 6 34 33
+f 6 33 32
+f 6 32 20
+f 6 20 19
+f 6 19 8
+f 7 18 9
+f 7 8 19
+f 7 19 20
+f 7 20 18
+f 9 18 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 12
+f 12 26 13
+f 12 25 27
+f 12 27 26
+f 13 26 14
+f 14 28 29
+f 14 29 15
+f 14 26 28
+f 15 29 30
+f 15 30 16
+f 18 31 21
+f 18 20 32
+f 18 32 33
+f 18 33 34
+f 18 34 31
+f 21 31 35
+f 21 35 22
+f 22 36 37
+f 22 37 23
+f 22 35 36
+f 23 37 24
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 24 37 38
+f 25 40 41
+f 25 41 27
+f 26 27 42
+f 26 42 28
+f 27 41 42
+f 28 43 29
+f 28 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 30
+f 31 46 47
+f 31 47 35
+f 31 34 48
+f 31 48 49
+f 31 49 46
+f 35 47 50
+f 35 50 36
+f 36 50 38
+f 36 38 37
+f 38 51 39
+f 38 50 52
+f 38 52 53
+f 38 53 51
+f 39 51 40
+f 40 51 54
+f 40 54 41
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 43
+f 43 57 56
+f 43 56 58
+f 43 58 44
+f 44 58 59
+f 44 59 60
+f 44 60 45
+f 46 61 47
+f 46 49 62
+f 46 62 61
+f 47 61 63
+f 47 63 50
+f 48 62 49
+f 50 63 52
+f 51 53 64
+f 51 64 65
+f 51 65 54
+f 52 66 53
+f 52 63 66
+f 53 66 64
+f 54 65 67
+f 54 67 68
+f 54 68 55
+f 55 68 56
+f 56 68 69
+f 56 69 58
+f 58 69 70
+f 58 70 59
+f 59 70 60
+f 60 70 71
+f 61 72 73
+f 61 73 63
+f 61 62 72
+f 62 74 72
+f 63 73 66
+f 64 66 75
+f 64 75 65
+f 65 75 76
+f 65 76 67
+f 66 73 75
+f 67 76 77
+f 67 77 68
+f 68 77 78
+f 68 78 69
+f 69 78 70
+f 70 78 79
+f 70 79 80
+f 70 80 81
+f 70 81 71
+f 72 82 75
+f 72 75 73
+f 72 74 83
+f 72 83 82
+f 75 82 76
+f 76 82 84
+f 76 84 85
+f 76 85 77
+f 77 85 78
+f 78 85 79
+f 79 85 80
+f 80 85 86
+f 82 83 87
+f 82 87 84
+f 84 87 88
+f 84 88 89
+f 84 89 85
+f 85 89 86
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_1.obj

@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.26760474 0.51633204 -0.33428661
+v 0.24427530 0.51749745 -0.33355762
+v 0.24616392 0.51777353 -0.34864254
+v 0.26760474 0.51729307 -0.35122215
+v 0.28903563 0.51771220 -0.34886685
+v 0.28903563 0.51717031 -0.33428661
+v 0.28903563 0.51747507 0.19295720
+v 0.27714726 0.51728084 0.19295720
+v 0.27381732 0.51722974 0.19295720
+v 0.26760474 0.51718884 0.19295720
+v 0.23530932 0.51837664 -0.34017481
+v 0.23530932 0.51837666 -0.34544610
+v 0.24616392 0.52069736 -0.35935340
+v 0.26760474 0.51966483 -0.36187689
+v 0.30028784 0.51819266 -0.34634336
+v 0.28903563 0.52029866 -0.35957771
+v 0.30034748 0.51816195 -0.33428661
+v 0.29211707 0.51820091 0.19295720
+v 0.24491147 0.52126780 0.19295721
+v 0.22940488 0.52715817 -0.33355758
+v 0.24098513 0.52386445 0.19295722
+v 0.23040885 0.53231887 0.19295726
+v 0.23021999 0.52846678 -0.35380167
+v 0.23193961 0.53512202 -0.36972776
+v 0.24616392 0.53149288 -0.37225126
+v 0.26760474 0.53046033 -0.37309245
+v 0.28903563 0.53110441 -0.37292422
+v 0.30481060 0.53444732 -0.37056892
+v 0.30695766 0.52805788 -0.35436244
+v 0.30992976 0.52927436 -0.33428657
+v 0.32144042 0.53940338 0.19295728
+v 0.31144066 0.52803540 0.19295724
+v 0.22019040 0.55087552 -0.33428649
+v 0.22855998 0.53781884 0.19295728
+v 0.22191004 0.55087560 -0.35565216
+v 0.22972297 0.55087566 -0.37180258
+v 0.24616392 0.55087568 -0.37853193
+v 0.26760474 0.55087569 -0.37993385
+v 0.28903563 0.55087568 -0.37970954
+v 0.30742485 0.55087566 -0.37286808
+v 0.31700713 0.55087560 -0.35565216
+v 0.31873670 0.55087552 -0.33428649
+v 0.32144042 0.54444331 0.19295730
+v 0.21990214 0.57246645 -0.33428641
+v 0.22136334 0.57246653 -0.35565208
+v 0.22447459 0.55087358 0.19295732
+v 0.22407698 0.55774342 0.19295735
+v 0.22347064 0.57246451 0.19295740
+v 0.22932536 0.57246659 -0.37213896
+v 0.24616392 0.57246661 -0.37875616
+v 0.26760474 0.57246661 -0.37970946
+v 0.28903563 0.57246661 -0.37965339
+v 0.30732546 0.57246659 -0.37292407
+v 0.31675861 0.57246653 -0.35565208
+v 0.31825958 0.57246645 -0.33428641
+v 0.32112233 0.55021931 0.19295732
+v 0.22103532 0.59406766 -0.33428633
+v 0.22381855 0.59406572 0.19295748
+v 0.22315255 0.59406774 -0.35565200
+v 0.23059770 0.59406779 -0.37084908
+v 0.26760474 0.59406782 -0.37830743
+v 0.24616392 0.59406781 -0.37684943
+v 0.28903563 0.59406782 -0.37729805
+v 0.30556605 0.59406779 -0.37129773
+v 0.31436305 0.59406774 -0.35565200
+v 0.31695742 0.59406766 -0.33428633
+v 0.32084400 0.55468674 0.19295734
+v 0.22876872 0.61186587 -0.33428626
+v 0.23014045 0.61037341 -0.35565194
+v 0.22570716 0.59978035 0.19295750
+v 0.22986212 0.61221150 0.19295755
+v 0.23301315 0.60732700 -0.36854985
+v 0.24616392 0.60954539 -0.37068079
+v 0.26760474 0.61049613 -0.37169021
+v 0.28903563 0.60952492 -0.37073687
+v 0.30258401 0.60734743 -0.36866200
+v 0.30602330 0.61049607 -0.35565194
+v 0.30786222 0.61214187 -0.33428626
+v 0.31050629 0.59406572 0.19295748
+v 0.31907467 0.57246451 0.19295740
+v 0.24616392 0.61993182 -0.33428623
+v 0.23497135 0.61478772 0.19295756
+v 0.24616392 0.62033878 0.19295758
+v 0.24616392 0.61732502 -0.35565191
+v 0.26760474 0.61864379 -0.35565191
+v 0.28903563 0.61732502 -0.35565191
+v 0.28903563 0.61997268 -0.33428623
+v 0.28903563 0.61401074 0.19295756
+v 0.29303156 0.61164926 0.19295755
+v 0.30155024 0.60660929 0.19295753
+v 0.26760474 0.62077009 -0.33428623
+v 0.25298285 0.62041035 0.19295758
+v 0.26760474 0.62038992 0.19295758
+v 0.27441373 0.61838620 0.19295757
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 12
+f 2 12 3
+f 2 10 11
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 5
+f 5 15 6
+f 5 14 16
+f 5 16 15
+f 6 15 17
+f 6 17 7
+f 7 18 32
+f 7 32 31
+f 7 31 43
+f 7 43 56
+f 7 56 67
+f 7 67 80
+f 7 80 79
+f 7 79 90
+f 7 90 89
+f 7 89 88
+f 7 88 94
+f 7 94 93
+f 7 93 92
+f 7 92 83
+f 7 83 82
+f 7 82 71
+f 7 71 70
+f 7 70 58
+f 7 58 48
+f 7 48 47
+f 7 47 46
+f 7 46 34
+f 7 34 22
+f 7 22 21
+f 7 21 19
+f 7 19 10
+f 7 10 9
+f 7 9 8
+f 7 17 18
+f 10 19 11
+f 11 20 12
+f 11 19 21
+f 11 21 22
+f 11 22 20
+f 12 20 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 16
+f 15 16 28
+f 15 28 29
+f 15 29 30
+f 15 30 17
+f 16 27 28
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 20 33 23
+f 20 22 33
+f 22 34 33
+f 23 33 35
+f 23 35 24
+f 24 36 37
+f 24 37 25
+f 24 35 36
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 33 44 45
+f 33 45 35
+f 33 34 46
+f 33 46 47
+f 33 47 48
+f 33 48 44
+f 35 45 49
+f 35 49 36
+f 36 49 37
+f 37 50 38
+f 37 49 50
+f 38 51 52
+f 38 52 39
+f 38 50 51
+f 39 52 53
+f 39 53 40
+f 40 53 41
+f 41 54 42
+f 41 53 54
+f 42 54 55
+f 42 55 43
+f 43 55 56
+f 44 57 45
+f 44 48 58
+f 44 58 57
+f 45 59 49
+f 45 57 59
+f 49 59 60
+f 49 60 50
+f 50 61 51
+f 50 60 62
+f 50 62 61
+f 51 61 52
+f 52 61 63
+f 52 63 64
+f 52 64 53
+f 53 64 65
+f 53 65 54
+f 54 65 66
+f 54 66 55
+f 55 66 56
+f 56 66 67
+f 57 68 69
+f 57 69 59
+f 57 58 70
+f 57 70 71
+f 57 71 68
+f 59 69 72
+f 59 72 60
+f 60 72 62
+f 61 62 73
+f 61 73 74
+f 61 74 63
+f 62 72 73
+f 63 74 75
+f 63 75 76
+f 63 76 64
+f 64 76 65
+f 65 76 77
+f 65 77 78
+f 65 78 66
+f 66 78 79
+f 66 79 80
+f 66 80 67
+f 68 81 69
+f 68 71 82
+f 68 82 83
+f 68 83 81
+f 69 81 84
+f 69 84 72
+f 72 84 73
+f 73 84 74
+f 74 84 85
+f 74 85 86
+f 74 86 75
+f 75 86 76
+f 76 86 77
+f 77 87 78
+f 77 86 87
+f 78 87 88
+f 78 88 89
+f 78 89 90
+f 78 90 79
+f 81 91 85
+f 81 85 84
+f 81 83 91
+f 83 92 91
+f 85 91 87
+f 85 87 86
+f 87 91 93
+f 87 93 94
+f 87 94 88
+f 91 92 93
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_10.obj

@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
+v -0.35136812 -0.48566926 0.34910792
+v -0.35150554 -0.52912207 0.34928497
+v -0.35136812 -0.48566926 0.34928513
+v -0.34724688 -0.48566921 0.33352461
+v -0.34724688 -0.48590582 0.33352461
+v -0.34717818 -0.52912202 0.33352445
+v -0.34697214 -0.55070476 0.33372128
+v -0.35109338 -0.55070481 0.34928489
+v -0.34752163 -0.55070487 0.36409363
+v -0.34772767 -0.52912213 0.36421844
+v -0.34759033 -0.48566932 0.36417921
+v -0.32341221 -0.48566910 0.30592889
+v -0.32341221 -0.48590571 0.30592889
+v -0.32334351 -0.52912191 0.30592873
+v -0.32320610 -0.53982031 0.30592869
+v -0.34601049 -0.57227063 0.33490275
+v -0.32293135 -0.55070465 0.30592865
+v -0.32203841 -0.56490159 0.30592860
+v -0.34923880 -0.57227068 0.34928481
+v -0.34662869 -0.57227073 0.36337151
+v -0.33275375 -0.57227076 0.36948929
+v -0.33275375 -0.55070489 0.36985039
+v -0.33275375 -0.52912215 0.36998176
+v -0.33275375 -0.48590595 0.37004102
+v -0.33275375 -0.48566934 0.37004102
+v -0.34745292 -0.48566932 0.36423831
+v 0.01542493 -0.57130715 0.30486518
+v 0.25466469 -0.48566910 0.30486550
+v 0.01542493 -0.63463568 0.30486495
+v -0.34463670 -0.58651829 0.33679976
+v -0.32107681 -0.57227052 0.30592857
+v -0.34552971 -0.58918867 0.34928475
+v -0.34504885 -0.58780286 0.36182888
+v -0.33412747 -0.59454642 0.36618745
+v -0.31125445 -0.61547004 0.37049347
+v -0.31125445 -0.59388729 0.37158976
+v -0.31125445 -0.48566934 0.37097969
+v 0.33097688 -0.48566910 0.30486550
+v -0.09687968 -0.64538486 0.32057951
+v -0.20403272 -0.65278754 0.33146283
+v -0.11831029 -0.64535106 0.32058608
+v -0.16124021 -0.64521585 0.32069766
+v -0.20403272 -0.64504683 0.32077643
+v -0.11824161 -0.63466947 0.30592834
+v -0.13980959 -0.63446667 0.30592834
+v -0.16124021 -0.63417935 0.30592834
+v -0.18102228 -0.63375682 0.30592834
+v -0.19235578 -0.63346950 0.30592834
+v -0.20403272 -0.63316527 0.30592834
+v -0.22546332 -0.63225261 0.30592835
+v -0.24696263 -0.63008927 0.30592836
+v -0.25685367 -0.62858507 0.30592836
+v -0.26839323 -0.62630342 0.30592837
+v -0.28941171 -0.61905284 0.30592840
+v -0.29016728 -0.61859651 0.30592840
+v -0.30431698 -0.60867554 0.30592843
+v -0.30459172 -0.60833751 0.30592844
+v -0.31516965 -0.59234905 0.30592849
+v -0.31592522 -0.59033781 0.30592850
+v 0.05148605 -0.63468639 0.30486495
+v -0.34140839 -0.60000542 0.34928471
+v -0.32691526 -0.61546991 0.33378671
+v -0.32300006 -0.62746972 0.33739036
+v -0.32368696 -0.62838247 0.36161210
+v -0.32773949 -0.61547002 0.36434284
+v -0.30933118 -0.63617390 0.36381106
+v -0.28982383 -0.63708657 0.36887859
+v -0.26839323 -0.63708658 0.37109071
+v -0.28982383 -0.61547005 0.37184569
+v 0.31043920 -0.48566934 0.37112408
+v 0.34588217 -0.48566920 0.33284195
+v 0.34588217 -0.50752238 0.33274996
+v 0.33097688 -0.48588883 0.30486550
+v -0.01108858 -0.64546937 0.32054013
+v -0.22546332 -0.65828054 0.34928449
+v -0.22546332 -0.65277070 0.33160069
+v -0.11831029 -0.65275379 0.33127248
+v -0.20403272 -0.65833121 0.34928449
+v -0.22546332 -0.64484402 0.32091425
+v -0.24696263 -0.64393137 0.32132127
+v -0.26839323 -0.65177354 0.33319579
+v -0.28542782 -0.65003274 0.33560483
+v -0.31125445 -0.63233722 0.33343216
+v 0.07463385 -0.63468639 0.30486495
+v -0.33261634 -0.61546996 0.34928465
+v -0.29971487 -0.64754828 0.34315361
+v -0.30933118 -0.64100757 0.34987535
+v -0.32396170 -0.62877116 0.34928460
+v -0.30088258 -0.64803843 0.36016791
+v -0.28982383 -0.64986383 0.36221592
+v -0.26839323 -0.65221303 0.36501879
+v -0.24696263 -0.65310885 0.36609532
+v -0.24696263 -0.63708659 0.37162898
+v -0.22546332 -0.63708659 0.37172089
+v 0.11749506 -0.63708659 0.37191780
+v 0.16035628 -0.63708659 0.37190466
+v 0.18185556 -0.63708659 0.37187185
+v 0.20321750 -0.63708659 0.37182590
+v 0.31043920 -0.50752252 0.37113057
+v 0.31064528 -0.48566934 0.37111098
+v 0.35020945 -0.48566926 0.34927860
+v 0.34588217 -0.52912201 0.33278269
+v 0.33083947 -0.50752228 0.30486542
+v 0.34588217 -0.55072167 0.33288109
+v -0.01108858 -0.65270311 0.33121995
+v -0.03251918 -0.65271995 0.33123309
+v 0.24607870 -0.64535106 0.32075019
+v -0.22546332 -0.65337922 0.36634476
+v -0.24696263 -0.65780726 0.34928449
+v -0.24696263 -0.65258477 0.33200766
+v -0.13980959 -0.65344689 0.36631195
+v -0.20403272 -0.65341305 0.36637758
+v -0.01108858 -0.65828054 0.34928449
+v 0.13892567 -0.65346373 0.36644324
+v -0.26839323 -0.65611720 0.34928450
+v -0.29147235 -0.65075953 0.34987531
+v 0.11577787 -0.63460189 0.30486495
+v -0.30088258 -0.64803842 0.35739127
+v 0.09606446 -0.65344689 0.36644324
+v 0.16035628 -0.65341305 0.36643667
+v 0.18185556 -0.65334546 0.36641696
+v 0.20321750 -0.65329471 0.36636447
+v 0.22464810 -0.63708658 0.37146487
+v 0.28900860 -0.61548692 0.37101859
+v 0.31043920 -0.59388729 0.37106463
+v 0.31043920 -0.52912215 0.37112392
+v 0.33186982 -0.48590595 0.36960776
+v 0.33186982 -0.48566934 0.36960776
+v 0.34684373 -0.48590593 0.36374599
+v 0.34986600 -0.55072173 0.34927836
+v 0.34684373 -0.48566932 0.36374599
+v 0.33049602 -0.52912191 0.30486534
+v 0.34512656 -0.57228750 0.33424633
+v 0.32980920 -0.55072157 0.30486526
+v 0.24607870 -0.65224675 0.33143001
+v 0.13720848 -0.63453426 0.30486495
+v 0.16035628 -0.63444975 0.30486495
+v 0.18178688 -0.63436524 0.30486495
+v 0.20156897 -0.63426386 0.30486495
+v 0.22643397 -0.63333428 0.30486495
+v 0.24326251 -0.63262443 0.30486496
+v 0.26750931 -0.64445528 0.32162320
+v 0.26750931 -0.65162144 0.33230964
+v 0.13892567 -0.65787485 0.34927796
+v 0.20321750 -0.65767208 0.34927796
+v 0.22464810 -0.65757065 0.34927796
+v 0.22464810 -0.65315952 0.36602969
+v 0.24607870 -0.63708658 0.37077564
+v 0.26750931 -0.63708658 0.36989603
+v 0.31043920 -0.61548692 0.36992892
+v 0.33186982 -0.57228762 0.36876725
+v 0.33186982 -0.55072181 0.36924650
+v 0.34656899 -0.55072178 0.36337816
+v 0.34588217 -0.57228760 0.36286606
+v 0.34835487 -0.57228755 0.34927828
+v 0.34375284 -0.58668730 0.33656998
+v 0.33860125 -0.57228746 0.32356648
+v 0.32967179 -0.55185395 0.30486525
+v 0.24607870 -0.65713120 0.34927797
+v 0.24607870 -0.63232020 0.30486496
+v 0.25961020 -0.63068082 0.30486496
+v 0.26750931 -0.62948081 0.30486497
+v 0.28900860 -0.64093984 0.32511536
+v 0.28900860 -0.64950878 0.33579518
+v 0.26750931 -0.65561016 0.34927797
+v 0.24607870 -0.65275391 0.36537985
+v 0.26750931 -0.65187508 0.36433614
+v 0.28900860 -0.63708657 0.36800554
+v 0.30872201 -0.63651193 0.36375200
+v 0.32348992 -0.62894018 0.36183527
+v 0.32795462 -0.61548690 0.36429688
+v 0.33379311 -0.59539148 0.36564260
+v 0.34430233 -0.58918872 0.36155973
+v 0.34471441 -0.59035485 0.34927821
+v 0.33585373 -0.59387023 0.32884394
+v 0.32664952 -0.57188178 0.30486518
+v 0.32678693 -0.57142545 0.30486518
+v 0.34134877 -0.60115468 0.34927817
+v 0.32300906 -0.62848375 0.33589374
+v 0.32603133 -0.61372904 0.32843690
+v 0.27623266 -0.62659074 0.30486498
+v 0.28900860 -0.62195982 0.30486500
+v 0.29986127 -0.64797076 0.33846681
+v 0.28900860 -0.65148624 0.34927799
+v 0.30047947 -0.64827511 0.36039111
+v 0.28900860 -0.64988067 0.36213715
+v 0.32431416 -0.62992042 0.34927807
+v 0.33379311 -0.61548684 0.34927812
+v 0.32431416 -0.59388708 0.31323441
+v 0.32184138 -0.58541958 0.30486513
+v 0.32149793 -0.60536294 0.31691029
+v 0.30741693 -0.63495688 0.33006476
+v 0.30659268 -0.61143043 0.30486503
+v 0.29065710 -0.62111476 0.30486500
+v 0.30034209 -0.64822432 0.34927800
+v 0.30075423 -0.62704711 0.31671327
+v 0.31105739 -0.64070333 0.34927803
+v 0.31655242 -0.59572925 0.30486509
+v 0.30418861 -0.61293463 0.30486503
+f 1 2 3
+f 1 3 11
+f 1 11 26
+f 1 26 25
+f 1 25 37
+f 1 37 70
+f 1 70 100
+f 1 100 128
+f 1 128 131
+f 1 131 101
+f 1 101 71
+f 1 71 38
+f 1 38 28
+f 1 28 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 16 8
+f 7 15 17
+f 7 17 18
+f 7 18 16
+f 8 16 19
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 12 27 29
+f 12 29 13
+f 12 28 27
+f 13 29 14
+f 14 29 15
+f 15 29 17
+f 16 30 19
+f 16 18 31
+f 16 31 30
+f 17 29 18
+f 18 29 31
+f 19 30 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 23
+f 23 36 24
+f 24 36 25
+f 25 36 37
+f 27 28 38
+f 27 38 73
+f 27 73 103
+f 27 103 132
+f 27 132 134
+f 27 134 158
+f 27 158 177
+f 27 177 176
+f 27 176 190
+f 27 190 198
+f 27 198 193
+f 27 193 199
+f 27 199 194
+f 27 194 182
+f 27 182 181
+f 27 181 162
+f 27 162 161
+f 27 161 160
+f 27 160 141
+f 27 141 140
+f 27 140 139
+f 27 139 138
+f 27 138 137
+f 27 137 136
+f 27 136 117
+f 27 117 84
+f 27 84 60
+f 27 60 29
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 53
+f 29 53 54
+f 29 54 55
+f 29 55 56
+f 29 56 57
+f 29 57 58
+f 29 58 59
+f 29 59 31
+f 29 60 39
+f 30 61 32
+f 30 31 59
+f 30 59 58
+f 30 58 62
+f 30 62 63
+f 30 63 61
+f 32 61 33
+f 33 61 64
+f 33 64 65
+f 33 65 34
+f 34 65 35
+f 35 66 67
+f 35 67 68
+f 35 68 69
+f 35 69 36
+f 35 65 64
+f 35 64 66
+f 36 69 37
+f 37 69 70
+f 38 71 72
+f 38 72 73
+f 39 60 74
+f 39 74 40
+f 40 75 76
+f 40 76 43
+f 40 43 42
+f 40 42 41
+f 40 74 77
+f 40 77 78
+f 40 78 75
+f 43 46 45
+f 43 45 44
+f 43 76 79
+f 43 79 46
+f 46 79 47
+f 47 79 48
+f 48 79 49
+f 49 79 50
+f 50 79 80
+f 50 80 51
+f 51 81 52
+f 51 80 81
+f 52 81 53
+f 53 82 54
+f 53 81 82
+f 54 82 55
+f 55 82 83
+f 55 83 56
+f 56 83 63
+f 56 63 57
+f 57 63 58
+f 58 63 62
+f 60 84 74
+f 61 63 85
+f 61 85 64
+f 63 83 86
+f 63 86 87
+f 63 87 88
+f 63 88 85
+f 64 85 88
+f 64 88 89
+f 64 89 66
+f 66 89 67
+f 67 89 90
+f 67 90 91
+f 67 91 68
+f 68 91 92
+f 68 92 93
+f 68 93 69
+f 69 93 94
+f 69 94 95
+f 69 95 70
+f 70 95 96
+f 70 96 97
+f 70 97 98
+f 70 98 99
+f 70 99 100
+f 71 101 72
+f 72 101 102
+f 72 102 73
+f 73 102 104
+f 73 104 103
+f 74 105 106
+f 74 106 77
+f 74 84 107
+f 74 107 105
+f 75 108 92
+f 75 92 109
+f 75 109 110
+f 75 110 76
+f 75 78 108
+f 76 110 79
+f 77 106 78
+f 78 111 112
+f 78 112 108
+f 78 106 113
+f 78 113 114
+f 78 114 111
+f 79 110 80
+f 80 110 81
+f 81 110 109
+f 81 109 115
+f 81 115 82
+f 82 116 86
+f 82 86 83
+f 82 115 116
+f 84 117 107
+f 86 116 118
+f 86 118 87
+f 87 118 89
+f 87 89 88
+f 89 118 116
+f 89 116 115
+f 89 115 90
+f 90 115 91
+f 91 115 109
+f 91 109 92
+f 92 108 93
+f 93 108 94
+f 94 108 112
+f 94 112 95
+f 95 119 114
+f 95 114 96
+f 95 112 119
+f 96 114 120
+f 96 120 97
+f 97 120 121
+f 97 121 98
+f 98 121 122
+f 98 122 123
+f 98 123 124
+f 98 124 125
+f 98 125 126
+f 98 126 99
+f 99 126 127
+f 99 127 128
+f 99 128 100
+f 101 129 130
+f 101 130 104
+f 101 104 102
+f 101 131 129
+f 103 104 132
+f 104 130 133
+f 104 133 134
+f 104 134 132
+f 105 113 106
+f 105 107 135
+f 105 135 113
+f 107 117 136
+f 107 136 137
+f 107 137 138
+f 107 138 139
+f 107 139 140
+f 107 140 141
+f 107 141 142
+f 107 142 143
+f 107 143 135
+f 111 114 112
+f 112 114 119
+f 113 135 144
+f 113 144 120
+f 113 120 114
+f 120 144 145
+f 120 145 122
+f 120 122 121
+f 122 145 146
+f 122 146 147
+f 122 147 123
+f 123 147 148
+f 123 148 124
+f 124 148 149
+f 124 149 150
+f 124 150 125
+f 125 150 151
+f 125 151 152
+f 125 152 127
+f 125 127 126
+f 127 152 129
+f 127 129 131
+f 127 131 128
+f 129 153 130
+f 129 152 153
+f 130 153 154
+f 130 154 155
+f 130 155 133
+f 133 155 156
+f 133 156 157
+f 133 157 158
+f 133 158 134
+f 135 143 159
+f 135 159 146
+f 135 146 145
+f 135 145 144
+f 141 160 142
+f 142 160 161
+f 142 161 162
+f 142 162 163
+f 142 163 164
+f 142 164 143
+f 143 164 165
+f 143 165 159
+f 146 159 147
+f 147 159 166
+f 147 166 148
+f 148 166 149
+f 149 167 168
+f 149 168 150
+f 149 166 167
+f 150 169 170
+f 150 170 171
+f 150 171 172
+f 150 172 151
+f 150 168 169
+f 151 172 154
+f 151 154 153
+f 151 153 152
+f 154 173 155
+f 154 172 173
+f 155 174 156
+f 155 173 174
+f 156 175 176
+f 156 176 177
+f 156 177 157
+f 156 174 178
+f 156 178 179
+f 156 179 180
+f 156 180 175
+f 157 177 158
+f 159 165 167
+f 159 167 166
+f 162 181 163
+f 163 181 182
+f 163 182 183
+f 163 183 164
+f 164 183 165
+f 165 183 184
+f 165 184 185
+f 165 185 186
+f 165 186 167
+f 167 186 168
+f 168 186 185
+f 168 185 169
+f 169 185 170
+f 170 187 188
+f 170 188 178
+f 170 178 173
+f 170 173 171
+f 170 185 187
+f 171 173 172
+f 173 178 174
+f 175 180 189
+f 175 189 190
+f 175 190 176
+f 178 188 179
+f 179 191 180
+f 179 188 187
+f 179 187 183
+f 179 183 192
+f 179 192 193
+f 179 193 191
+f 180 191 189
+f 182 194 183
+f 183 195 184
+f 183 194 196
+f 183 196 192
+f 183 187 197
+f 183 197 195
+f 184 195 185
+f 185 195 197
+f 185 197 187
+f 189 191 190
+f 190 191 198
+f 191 193 198
+f 192 196 193
+f 193 196 199
+f 194 199 196
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_11.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.18103687 -0.63377304 0.30592084
+v -0.19239613 -0.63348310 0.30592084
+v -0.26842662 -0.61917392 0.19756310
+v -0.24919252 -0.61931891 0.19756310
+v -0.24699035 -0.61931891 0.19756310
+v -0.18103687 -0.62452365 0.26383358
+v -0.18103687 -0.56717265 0.30592109
+v -0.20411780 -0.63316415 0.30592084
+v -0.27061486 -0.61852154 0.19756310
+v -0.22555407 -0.63226532 0.30592085
+v -0.23065529 -0.63175793 0.30592085
+v -0.24699035 -0.63010522 0.30592086
+v -0.25692798 -0.62858302 0.30592086
+v -0.26842662 -0.62629245 0.30592087
+v -0.23167275 -0.61260665 0.19756312
+v -0.18103687 -0.61250533 0.24031863
+v -0.18103687 -0.56831778 0.26424745
+v -0.20376935 -0.52882741 0.30592123
+v -0.28986290 -0.61266466 0.19756312
+v -0.28948657 -0.61907281 0.30592090
+v -0.22995840 -0.61185281 0.19756312
+v -0.18103687 -0.61240387 0.24022317
+v -0.18103687 -0.56852074 0.26270948
+v -0.24634921 -0.48566887 0.24248287
+v -0.22396517 -0.50658862 0.30592131
+v -0.19013821 -0.55832913 0.24876175
+v -0.29107549 -0.61193978 0.19756312
+v -0.29022528 -0.61859442 0.30592090
+v -0.30155669 -0.60564797 0.19756315
+v -0.22438330 -0.59571735 0.19756318
+v -0.18103687 -0.59536956 0.23362588
+v -0.18696040 -0.60518419 0.23157876
+v -0.18103687 -0.57236245 0.24396747
+v -0.21229927 -0.53633672 0.22867279
+v -0.22981903 -0.53050873 0.19756342
+v -0.25487913 -0.48566883 0.23048670
+v -0.24637708 -0.48566887 0.24267379
+v -0.22425786 -0.50629871 0.30592131
+v -0.30437211 -0.60867828 0.30592093
+v -0.30463692 -0.60834485 0.30592094
+v -0.30240688 -0.60444472 0.19756315
+v -0.22378397 -0.59389072 0.19756319
+v -0.22353309 -0.55292148 0.19756334
+v -0.22353309 -0.55070337 0.19756335
+v -0.18103687 -0.59512311 0.23366830
+v -0.18103687 -0.57385568 0.24306590
+v -0.22920577 -0.53245134 0.19756341
+v -0.24485788 -0.51937481 0.19756346
+v -0.25497668 -0.48566883 0.23035942
+v -0.24970821 -0.48566895 0.26400381
+v -0.25770848 -0.48566910 0.30592139
+v -0.31518780 -0.59236887 0.30592099
+v -0.30983571 -0.59389072 0.19756319
+v -0.24492756 -0.51933133 0.19756346
+v -0.26842662 -0.48566882 0.22860934
+v -0.26842662 -0.51601146 0.19756347
+v -0.32341110 -0.48566910 0.30592139
+v -0.31594044 -0.59033928 0.30592100
+v -0.31058835 -0.59168713 0.19756320
+v -0.28986290 -0.48566882 0.22819568
+v -0.28898481 -0.51606943 0.19756347
+v -0.32256087 -0.48566890 0.25156217
+v -0.32341110 -0.48591556 0.30592139
+v -0.32112529 -0.57229017 0.30592107
+v -0.31719484 -0.57228978 0.19756327
+v -0.29001622 -0.48566882 0.22820628
+v -0.30205844 -0.51720023 0.19756347
+v -0.31522961 -0.48566887 0.24099792
+v -0.31067198 -0.52889951 0.19756343
+v -0.31762692 -0.55070337 0.19756335
+v -0.32256087 -0.48591536 0.25156217
+v -0.32336927 -0.52911739 0.30592123
+v -0.32205912 -0.56486760 0.30592110
+v -0.32300688 -0.55070376 0.30592115
+v -0.32222639 -0.49909336 0.25241066
+v -0.30441392 -0.48566882 0.22994576
+v -0.31513206 -0.48566886 0.24088124
+v -0.32324382 -0.53981633 0.30592119
+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 31
+f 1 31 45
+f 1 45 46
+f 1 46 33
+f 1 33 23
+f 1 23 17
+f 1 17 7
+f 1 7 18
+f 1 18 25
+f 1 25 38
+f 1 38 51
+f 1 51 57
+f 1 57 63
+f 1 63 72
+f 1 72 78
+f 1 78 74
+f 1 74 73
+f 1 73 64
+f 1 64 58
+f 1 58 52
+f 1 52 40
+f 1 40 39
+f 1 39 28
+f 1 28 20
+f 1 20 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 8
+f 1 8 2
+f 2 8 3
+f 3 9 19
+f 3 19 27
+f 3 27 29
+f 3 29 41
+f 3 41 53
+f 3 53 59
+f 3 59 65
+f 3 65 70
+f 3 70 69
+f 3 69 67
+f 3 67 61
+f 3 61 56
+f 3 56 54
+f 3 54 48
+f 3 48 35
+f 3 35 47
+f 3 47 44
+f 3 44 43
+f 3 43 42
+f 3 42 30
+f 3 30 21
+f 3 21 15
+f 3 15 5
+f 3 5 4
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 9
+f 5 15 16
+f 5 16 6
+f 7 17 18
+f 9 14 19
+f 14 20 19
+f 15 21 16
+f 16 21 22
+f 17 23 18
+f 18 24 25
+f 18 23 26
+f 18 26 24
+f 19 20 27
+f 20 28 29
+f 20 29 27
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 31
+f 23 33 26
+f 24 34 35
+f 24 35 36
+f 24 36 49
+f 24 49 55
+f 24 55 60
+f 24 60 66
+f 24 66 76
+f 24 76 77
+f 24 77 68
+f 24 68 62
+f 24 62 57
+f 24 57 51
+f 24 51 50
+f 24 50 37
+f 24 37 38
+f 24 38 25
+f 24 26 34
+f 26 33 34
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 33 46 35
+f 33 35 34
+f 35 46 45
+f 35 45 47
+f 35 48 49
+f 35 49 36
+f 37 50 38
+f 38 50 51
+f 40 52 53
+f 40 53 41
+f 44 47 45
+f 48 54 49
+f 49 54 56
+f 49 56 55
+f 52 58 53
+f 53 58 59
+f 55 56 60
+f 56 61 60
+f 57 62 71
+f 57 71 63
+f 58 64 65
+f 58 65 59
+f 60 61 66
+f 61 67 66
+f 62 68 69
+f 62 69 70
+f 62 70 71
+f 63 71 72
+f 64 73 65
+f 65 73 74
+f 65 74 75
+f 65 75 71
+f 65 71 70
+f 66 67 76
+f 67 69 77
+f 67 77 76
+f 68 77 69
+f 71 75 74
+f 71 74 78
+f 71 78 72
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_12.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.18393501 0.62542248 0.29783091
+v -0.18393501 0.56912484 0.29783070
+v -0.18393501 0.62435672 0.26383125
+v -0.20288860 0.62530402 0.29783091
+v -0.18393501 0.56563664 0.26250676
+v -0.20870710 0.53162536 0.29783056
+v -0.20411918 0.62406601 0.26383125
+v -0.22305939 0.62505641 0.29783091
+v -0.20411918 0.62529328 0.29783091
+v -0.18393501 0.61304129 0.24066175
+v -0.23009508 0.61199710 0.19295753
+v -0.24166521 0.61752028 0.19295755
+v -0.24700217 0.62006116 0.19295756
+v -0.18393501 0.56563664 0.26045364
+v -0.18925860 0.55793866 0.25717890
+v -0.21275998 0.52694196 0.29783055
+v -0.20956315 0.53387573 0.24247847
+v -0.18925860 0.55793869 0.24835049
+v -0.22556067 0.62501335 0.29783091
+v -0.26843028 0.61965203 0.19295756
+v -0.24700217 0.62227886 0.24247880
+v -0.18393501 0.61254603 0.24015874
+v -0.22366130 0.59406024 0.19295746
+v -0.18393501 0.59568584 0.23375295
+v -0.18393501 0.56858671 0.24465491
+v -0.22470461 0.51544344 0.29783050
+v -0.21940777 0.52306624 0.24247843
+v -0.21166317 0.53600757 0.22787055
+v -0.24134419 0.62446425 0.29783090
+v -0.26833666 0.62228943 0.29783090
+v -0.25881304 0.62334453 0.29783090
+v -0.24700217 0.62422741 0.29783090
+v -0.28987177 0.61282614 0.19295753
+v -0.28109722 0.61841352 0.29783088
+v -0.22324666 0.57246282 0.19295738
+v -0.18393501 0.59527670 0.23373242
+v -0.18393501 0.57188125 0.24241701
+v -0.22985432 0.53173342 0.19295723
+v -0.22762056 0.51544364 0.24247840
+v -0.32031522 0.51544344 0.29783050
+v -0.23186070 0.51544370 0.22599186
+v -0.23202121 0.51544370 0.22556071
+v -0.30189667 0.60609712 0.19295751
+v -0.28987177 0.61501135 0.29783087
+v -0.22324666 0.55087609 0.19295730
+v -0.22523965 0.54506224 0.19295728
+v -0.23236899 0.51544370 0.22502689
+v -0.24615948 0.52111771 0.19295719
+v -0.32056936 0.52927829 0.29783055
+v -0.31969994 0.55087609 0.19295730
+v -0.31952605 0.51544359 0.25614191
+v -0.29825843 0.61004801 0.29783085
+v -0.30812981 0.59789309 0.19295748
+v -0.31321264 0.59354308 0.29783079
+v -0.30280623 0.60719490 0.29783084
+v -0.24109003 0.51544374 0.21477156
+v -0.25132257 0.51544377 0.20783202
+v -0.25225888 0.52040713 0.19295719
+v -0.32058274 0.53304653 0.29783057
+v -0.32052924 0.55087571 0.29783063
+v -0.32002096 0.57246244 0.29783071
+v -0.31873688 0.57246282 0.19295738
+v -0.31253048 0.53369291 0.19295724
+v -0.31707825 0.51544367 0.23478948
+v -0.31814832 0.51544364 0.24247840
+v -0.31101900 0.59406024 0.19295746
+v -0.31630246 0.57933177 0.19295741
+v -0.26843028 0.51544379 0.20281215
+v -0.26843028 0.51875986 0.19295719
+v -0.31010944 0.52804050 0.19295722
+v -0.30833045 0.51544374 0.21376553
+v -0.28886859 0.51544379 0.20261710
+v -0.28638068 0.51849070 0.19295718
+v -0.30264572 0.51700492 0.20458810
+v -0.30356866 0.51544377 0.20799628
+v -0.28987177 0.51850148 0.19295718
+v -0.28987177 0.51544379 0.20261710
+v -0.30096035 0.51544377 0.20640510
+f 1 2 5
+f 1 5 14
+f 1 14 25
+f 1 25 37
+f 1 37 36
+f 1 36 24
+f 1 24 22
+f 1 22 10
+f 1 10 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 19
+f 1 19 29
+f 1 29 32
+f 1 32 31
+f 1 31 30
+f 1 30 34
+f 1 34 44
+f 1 44 52
+f 1 52 55
+f 1 55 54
+f 1 54 61
+f 1 61 60
+f 1 60 59
+f 1 59 49
+f 1 49 40
+f 1 40 26
+f 1 26 16
+f 1 16 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 7
+f 5 6 15
+f 5 15 18
+f 5 18 14
+f 6 16 17
+f 6 17 18
+f 6 18 15
+f 7 19 8
+f 7 13 20
+f 7 20 21
+f 7 21 19
+f 10 22 11
+f 11 23 35
+f 11 35 45
+f 11 45 46
+f 11 46 38
+f 11 38 48
+f 11 48 58
+f 11 58 69
+f 11 69 73
+f 11 73 76
+f 11 76 70
+f 11 70 63
+f 11 63 50
+f 11 50 62
+f 11 62 67
+f 11 67 66
+f 11 66 53
+f 11 53 43
+f 11 43 33
+f 11 33 20
+f 11 20 13
+f 11 13 12
+f 11 22 24
+f 11 24 23
+f 14 18 25
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 25
+f 19 21 29
+f 20 30 31
+f 20 31 32
+f 20 32 29
+f 20 29 21
+f 20 33 34
+f 20 34 30
+f 23 24 36
+f 23 36 35
+f 25 28 38
+f 25 38 37
+f 26 39 27
+f 26 40 51
+f 26 51 65
+f 26 65 64
+f 26 64 71
+f 26 71 75
+f 26 75 78
+f 26 78 77
+f 26 77 72
+f 26 72 68
+f 26 68 57
+f 26 57 56
+f 26 56 47
+f 26 47 42
+f 26 42 41
+f 26 41 39
+f 27 39 41
+f 27 41 28
+f 28 41 42
+f 28 42 38
+f 33 43 44
+f 33 44 34
+f 35 36 45
+f 36 37 45
+f 37 38 46
+f 37 46 45
+f 38 42 47
+f 38 47 48
+f 40 49 50
+f 40 50 51
+f 43 52 44
+f 43 53 54
+f 43 54 55
+f 43 55 52
+f 47 56 48
+f 48 57 58
+f 48 56 57
+f 49 59 50
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 63 64
+f 50 64 65
+f 50 65 51
+f 53 66 54
+f 54 66 67
+f 54 67 62
+f 54 62 61
+f 57 68 69
+f 57 69 58
+f 63 70 64
+f 64 70 71
+f 68 72 73
+f 68 73 69
+f 70 74 75
+f 70 75 71
+f 70 76 74
+f 72 77 73
+f 73 77 76
+f 74 76 75
+f 75 76 78
+f 76 77 78
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_13.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.35123662 0.51534515 0.34928479
+v 0.34869210 0.51534519 0.33859363
+v 0.34661159 0.51534509 0.36389367
+v 0.34719531 -0.22657173 0.36429889
+v 0.35120667 0.26996679 0.34928389
+v 0.34734499 0.26996685 0.33205147
+v 0.34727015 0.37795687 0.33212219
+v 0.34725520 0.50760365 0.33260096
+v 0.34725520 0.51534521 0.33265023
+v 0.33721181 0.51534508 0.36748785
+v 0.34700074 -0.09702291 0.36428530
+v 0.33191322 -0.29134617 0.36988335
+v 0.33191322 -0.48557140 0.36961536
+v 0.34703068 -0.39933619 0.36396767
+v 0.35042837 -0.42099287 0.34928135
+v 0.35111688 0.11876118 0.34928334
+v 0.33191322 -0.07546414 0.36992635
+v 0.33191322 -0.09702293 0.36994033
+v 0.33191322 -0.22657175 0.36993986
+v 0.34719531 0.11876124 0.33164998
+v 0.34712047 0.09720243 0.33144595
+v 0.33275141 0.07564374 0.30103941
+v 0.34722526 0.48604485 0.33244614
+v 0.33249695 0.17804805 0.30103978
+v 0.33248199 0.18363375 0.30103980
+v 0.33073078 0.46693602 0.29928244
+v 0.32824611 0.51534533 0.29928261
+v 0.33053620 0.47869536 0.29928248
+v 0.33031168 0.48604497 0.29928251
+v 0.32944355 0.50025423 0.29928256
+v 0.33191322 0.51534507 0.36951356
+v 0.31070388 -0.48557140 0.37111354
+v 0.34688100 -0.48557138 0.36374932
+v 0.34695584 -0.46420855 0.36381971
+v 0.34698575 -0.44264975 0.36384794
+v 0.35036848 -0.44264969 0.34928127
+v 0.34599788 -0.48557126 0.33301934
+v 0.31046439 -0.03224853 0.37108709
+v 0.31046439 -0.46420857 0.37112767
+v 0.31046439 -0.05380733 0.37109404
+v 0.31046439 -0.48557140 0.37112760
+v 0.34665648 -0.05380719 0.33120622
+v 0.33263167 -0.05380708 0.30103893
+v 0.26749191 0.46693602 0.29928244
+v 0.33195812 -0.20501270 0.30103838
+v 0.33192817 -0.21059839 0.30103836
+v 0.33076072 -0.39933596 0.30103766
+v 0.33059605 -0.42099270 0.30103758
+v 0.32999733 -0.48557115 0.30103735
+v 0.22160072 0.51534533 0.29928261
+v 0.31046439 0.51534507 0.37024504
+v 0.35020385 -0.48557132 0.34928112
+v 0.35029364 -0.46420849 0.34928119
+v 0.34593803 -0.48557126 0.33283645
+v 0.20328016 0.22675111 0.37101767
+v 0.20328016 0.20519231 0.37104575
+v 0.20328016 0.51534507 0.37060377
+v 0.20328016 0.18363350 0.37105270
+v 0.20328016 -0.03224853 0.37106596
+v 0.19832583 -0.03714826 0.37105891
+v 0.19832583 -0.48557140 0.37080405
+v 0.22619582 0.50917170 0.29928259
+v 0.26222326 -0.48557115 0.30103735
+v 0.19832583 0.51534526 0.31791475
+v 0.22225930 0.51377748 0.29928261
+v 0.19832583 -0.48557120 0.31509760
+v 0.19832583 -0.48086748 0.31508355
+v 0.19832583 -0.20001503 0.31440233
+v 0.19832583 -0.17845621 0.31435316
+v 0.19832583 -0.09202501 0.31421279
+v 0.19832583 -0.05380712 0.31416371
+v 0.19832583 -0.03224832 0.31415675
+v 0.19832583 -0.02725060 0.31415677
+v 0.19832583 0.01576902 0.31416397
+v 0.19832583 0.03233010 0.31417106
+v 0.19832583 0.03742582 0.31418516
+v 0.19832583 0.05398690 0.31423444
+v 0.19832583 0.18363370 0.31483981
+v 0.19832583 0.20519251 0.31495243
+v 0.19832583 0.22675131 0.31513537
+v 0.19832583 0.22175339 0.37102468
+v 0.19832583 0.51358117 0.37061783
+v 0.19832583 0.20519231 0.37104575
+v 0.19832583 0.51534507 0.37061080
+v 0.19832583 -0.03224853 0.37105893
+f 1 2 9
+f 1 9 27
+f 1 27 50
+f 1 50 64
+f 1 64 84
+f 1 84 57
+f 1 57 51
+f 1 51 31
+f 1 31 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 8 9
+f 2 7 8
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 4 11 17
+f 4 17 18
+f 4 18 19
+f 4 19 12
+f 5 16 20
+f 5 20 6
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 23 8
+f 7 22 23
+f 8 23 22
+f 8 22 24
+f 8 24 25
+f 8 25 26
+f 8 26 9
+f 9 26 28
+f 9 28 29
+f 9 29 30
+f 9 30 27
+f 10 31 11
+f 11 31 17
+f 12 19 32
+f 12 32 13
+f 13 32 41
+f 13 41 61
+f 13 61 66
+f 13 66 63
+f 13 63 49
+f 13 49 54
+f 13 54 37
+f 13 37 52
+f 13 52 33
+f 13 33 34
+f 13 34 14
+f 14 35 15
+f 14 34 35
+f 15 35 34
+f 15 34 36
+f 15 36 37
+f 15 37 21
+f 15 21 20
+f 15 20 16
+f 17 38 18
+f 17 31 38
+f 18 39 41
+f 18 41 19
+f 18 38 40
+f 18 40 39
+f 19 41 32
+f 21 42 43
+f 21 43 22
+f 21 37 42
+f 22 43 26
+f 22 26 24
+f 24 26 25
+f 26 44 62
+f 26 62 65
+f 26 65 50
+f 26 50 27
+f 26 27 30
+f 26 30 29
+f 26 29 28
+f 26 43 45
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 63
+f 26 63 44
+f 31 51 38
+f 33 52 34
+f 34 52 53
+f 34 53 36
+f 36 53 37
+f 37 53 52
+f 37 54 42
+f 38 55 56
+f 38 56 58
+f 38 58 40
+f 38 51 57
+f 38 57 55
+f 39 40 58
+f 39 58 59
+f 39 59 41
+f 41 59 60
+f 41 60 61
+f 42 54 43
+f 43 54 45
+f 44 63 62
+f 45 54 46
+f 46 54 47
+f 47 54 48
+f 48 54 49
+f 50 65 63
+f 50 63 66
+f 50 66 67
+f 50 67 68
+f 50 68 69
+f 50 69 70
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 75
+f 50 75 76
+f 50 76 77
+f 50 77 78
+f 50 78 79
+f 50 79 80
+f 50 80 64
+f 55 81 56
+f 55 57 82
+f 55 82 81
+f 56 81 83
+f 56 83 58
+f 57 84 82
+f 58 83 59
+f 59 83 85
+f 59 85 60
+f 60 85 83
+f 60 83 81
+f 60 81 82
+f 60 82 84
+f 60 84 64
+f 60 64 80
+f 60 80 79
+f 60 79 78
+f 60 78 77
+f 60 77 76
+f 60 76 75
+f 60 75 74
+f 60 74 73
+f 60 73 72
+f 60 72 71
+f 60 71 70
+f 60 70 69
+f 60 69 68
+f 60 68 67
+f 60 67 66
+f 60 66 61
+f 62 63 65
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_14.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.33275168 0.07567927 0.30103712
+v 0.33273580 0.05404591 0.30103704
+v 0.32912586 0.09721952 0.26384596
+v 0.32910209 0.11885288 0.26384604
+v 0.33249779 0.18365956 0.30103751
+v 0.33264061 -0.05384115 0.30103664
+v 0.32507164 0.03241276 0.24597892
+v 0.32509545 0.05404612 0.24593654
+v 0.32511132 0.07567948 0.24588710
+v 0.32510339 0.09721959 0.24581641
+v 0.32874503 -0.05384101 0.26384540
+v 0.32496851 -0.05384095 0.24642439
+v 0.32503989 0.11885295 0.24575988
+v 0.32480982 0.18365977 0.24565397
+v 0.32473843 0.20519990 0.24571066
+v 0.32874503 0.20519983 0.26384635
+v 0.33242640 0.20519969 0.30103759
+v 0.33197414 -0.20508817 0.30103609
+v 0.32811035 -0.20508803 0.26384485
+v 0.31480515 0.18365981 0.23497635
+v 0.31501935 0.22683330 0.23501189
+v 0.31513836 0.24846666 0.23506149
+v 0.32503989 0.01087265 0.24607789
+v 0.32458767 -0.22662808 0.24724457
+v 0.32464319 -0.20508797 0.24716681
+v 0.32486537 0.16202642 0.24565390
+v 0.31518598 0.27000676 0.23523847
+v 0.32461148 0.22683326 0.24568951
+v 0.32350074 0.46694490 0.24699238
+v 0.32701544 0.46442714 0.26384731
+v 0.33113315 0.45883217 0.30103853
+v 0.33146637 0.39962017 0.30103831
+v 0.32799135 -0.22662814 0.26384477
+v 0.33076820 -0.39941540 0.30103537
+v 0.32400851 -0.37787510 0.24829833
+v 0.30430062 0.22683331 0.23073801
+v 0.31077471 -0.48566889 0.23621926
+v 0.31462267 0.16202646 0.23497628
+v 0.29913565 -0.48566887 0.23026131
+v 0.30441963 0.24846667 0.23076639
+v 0.30446725 0.27000677 0.23080893
+v 0.30441963 0.29164013 0.23081608
+v 0.30319781 0.46694496 0.23087334
+v 0.32423065 -0.31306828 0.24778202
+v 0.31513836 0.29164012 0.23540130
+v 0.32269145 0.46694491 0.24576823
+v 0.32358006 0.44279386 0.24678709
+v 0.32696786 0.46694484 0.26384732
+v 0.33109351 0.46442700 0.30103855
+v 0.32688850 -0.37787516 0.26384421
+v 0.32389744 -0.39941520 0.24849637
+v 0.33060951 -0.42104878 0.30103529
+v 0.30129367 0.46694496 0.23054078
+v 0.28904368 -0.48566886 0.22887442
+v 0.32305641 -0.48566893 0.24902674
+v 0.30898958 -0.48566888 0.23519324
+v 0.31391654 0.46694494 0.23631474
+v 0.31499556 0.31327347 0.23552167
+v 0.33104589 0.46694470 0.30103856
+v 0.32669016 -0.39941526 0.26384413
+v 0.32376256 -0.42104858 0.24877224
+v 0.33000653 -0.48566913 0.30103506
+v 0.28904368 0.46694496 0.23005253
+v 0.28754418 -0.48566886 0.22885320
+v 0.32308816 -0.48566894 0.24918242
+v 0.26680489 0.46694470 0.30103856
+v 0.32642040 -0.42104864 0.26384405
+v 0.32358006 -0.44268193 0.24913305
+v 0.26221115 -0.48566913 0.30103506
+v 0.32519065 -0.48566899 0.26384382
+v 0.32567461 -0.46422212 0.26384389
+v 0.32609513 -0.44268198 0.26384397
+v 0.26760622 0.46694496 0.23056200
+v 0.26845516 -0.48566886 0.22875413
+v 0.25264285 0.46694486 0.25841298
+v 0.25295227 -0.48566897 0.25963362
+v 0.25249209 0.44279382 0.25781142
+v 0.25639559 0.46694496 0.23138281
+v 0.26661448 -0.48566886 0.22882490
+v 0.25235721 0.46694487 0.25604252
+v 0.25171458 -0.48566891 0.24245319
+v 0.25261904 0.46694492 0.24104856
+v 0.25564186 -0.48566887 0.23078492
+v 0.25618138 0.33481361 0.23133279
+v 0.25621311 0.35644695 0.23134702
+v 0.25208747 0.46694492 0.24247791
+v 0.25176218 -0.48566891 0.24231168
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 32
+f 1 32 31
+f 1 31 49
+f 1 49 59
+f 1 59 66
+f 1 66 69
+f 1 69 62
+f 1 62 52
+f 1 52 34
+f 1 34 18
+f 1 18 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 6 11
+f 3 11 12
+f 3 12 7
+f 4 10 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 6 18 19
+f 6 19 11
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 7 12 23
+f 7 23 20
+f 8 22 9
+f 9 22 10
+f 10 22 13
+f 11 19 24
+f 11 24 25
+f 11 25 12
+f 12 25 24
+f 12 24 20
+f 12 20 23
+f 13 22 26
+f 13 26 14
+f 14 26 22
+f 14 22 27
+f 14 27 28
+f 14 28 15
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 18 33 19
+f 18 34 33
+f 19 33 35
+f 19 35 24
+f 20 36 21
+f 20 24 37
+f 20 37 38
+f 20 38 39
+f 20 39 36
+f 21 36 40
+f 21 40 22
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 27
+f 24 35 44
+f 24 44 37
+f 27 43 45
+f 27 45 46
+f 27 46 28
+f 28 46 47
+f 28 47 29
+f 29 47 46
+f 29 46 57
+f 29 57 43
+f 29 43 53
+f 29 53 63
+f 29 63 73
+f 29 73 78
+f 29 78 82
+f 29 82 86
+f 29 86 80
+f 29 80 75
+f 29 75 66
+f 29 66 59
+f 29 59 48
+f 29 48 30
+f 30 48 59
+f 30 59 49
+f 30 49 31
+f 33 34 50
+f 33 50 51
+f 33 51 35
+f 34 52 50
+f 35 51 37
+f 35 37 44
+f 36 53 40
+f 36 39 54
+f 36 54 53
+f 37 51 55
+f 37 55 65
+f 37 65 70
+f 37 70 62
+f 37 62 69
+f 37 69 76
+f 37 76 81
+f 37 81 87
+f 37 87 83
+f 37 83 79
+f 37 79 74
+f 37 74 64
+f 37 64 54
+f 37 54 39
+f 37 39 56
+f 37 56 38
+f 38 56 39
+f 40 53 42
+f 40 42 41
+f 42 53 43
+f 43 57 45
+f 45 58 46
+f 45 57 58
+f 46 58 57
+f 50 52 60
+f 50 60 61
+f 50 61 51
+f 51 61 55
+f 52 62 60
+f 53 54 63
+f 54 64 63
+f 55 61 65
+f 60 62 67
+f 60 67 65
+f 60 65 68
+f 60 68 61
+f 61 68 65
+f 62 70 71
+f 62 71 72
+f 62 72 67
+f 63 64 74
+f 63 74 73
+f 65 71 70
+f 65 67 72
+f 65 72 71
+f 66 75 69
+f 69 75 77
+f 69 77 76
+f 73 74 79
+f 73 79 78
+f 75 80 77
+f 76 77 81
+f 77 80 81
+f 78 79 83
+f 78 83 84
+f 78 84 85
+f 78 85 82
+f 80 86 81
+f 81 86 87
+f 82 85 84
+f 82 84 83
+f 82 83 86
+f 83 87 86
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_15.obj

@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.32483746 0.41927259 0.31404780
+v -0.26396365 0.41927259 0.31404780
+v -0.32465270 0.48199899 0.31404803
+v -0.32140097 0.41927279 0.25811351
+v -0.25624819 0.48199899 0.31404803
+v -0.25066113 0.41927278 0.25999309
+v -0.31978249 0.48199917 0.26384479
+v -0.31540005 0.48199923 0.24650900
+v -0.31862222 0.41927283 0.24848066
+v -0.25069809 0.44287499 0.26002674
+v -0.24934567 0.48199925 0.24248134
+v -0.25054289 0.41927279 0.25837363
+v -0.31417327 0.48199925 0.24248134
+v -0.31521529 0.41927284 0.24408378
+v -0.24953043 0.41927285 0.24248111
+v -0.25592303 0.48199929 0.23055775
+v -0.30606612 0.48199929 0.23226950
+v -0.30409292 0.48199930 0.23003749
+v -0.30407074 0.41927289 0.23172386
+v -0.25658077 0.41927289 0.23116166
+v -0.26618074 0.48199930 0.22901381
+v -0.28986661 0.48199930 0.22833415
+v -0.30308045 0.41927289 0.23069177
+v -0.26843479 0.41927289 0.23036452
+v -0.26843479 0.48199930 0.22885438
+v -0.28583890 0.48199930 0.22841805
+v -0.28986661 0.41927290 0.22989463
+v -0.30184627 0.41927289 0.23061625
+v -0.28788601 0.41927290 0.22993659
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 23
+f 1 23 28
+f 1 28 27
+f 1 27 29
+f 1 29 24
+f 1 24 20
+f 1 20 15
+f 1 15 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 5 11
+f 3 11 16
+f 3 16 21
+f 3 21 25
+f 3 25 26
+f 3 26 22
+f 3 22 18
+f 3 18 17
+f 3 17 13
+f 3 13 8
+f 3 8 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 6 12 11
+f 6 11 10
+f 8 13 9
+f 9 13 14
+f 11 12 15
+f 11 15 16
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 15 20 16
+f 16 20 21
+f 18 22 23
+f 18 23 19
+f 20 24 25
+f 20 25 21
+f 22 26 27
+f 22 27 28
+f 22 28 23
+f 24 29 26
+f 24 26 25
+f 26 29 27
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_16.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.25171452 -0.48566887 0.24245981
+v 0.20870119 -0.53398742 0.24248062
+v 0.21126412 -0.51541142 0.30484180
+v 0.23827010 -0.49510281 0.30484187
+v 0.25468752 -0.48566910 0.30484191
+v 0.25565411 -0.48566883 0.23078154
+v 0.20203756 -0.52748017 0.30484175
+v 0.22974653 -0.52814946 0.19756345
+v 0.21152775 -0.53676798 0.22822935
+v 0.18141693 -0.57284319 0.24507449
+v 0.33101898 -0.48566910 0.30484191
+v 0.26660882 -0.48566882 0.22882816
+v 0.24809712 -0.51677952 0.19756349
+v 0.23932457 -0.51921074 0.19756348
+v 0.19204946 -0.54385810 0.30484169
+v 0.18141693 -0.56904358 0.26362111
+v 0.22226275 -0.54869101 0.19756337
+v 0.18141693 -0.59584505 0.23402626
+v 0.33088716 -0.50750637 0.30484183
+v 0.32092833 -0.55115136 0.19756337
+v 0.32138234 -0.53912632 0.20399064
+v 0.32519015 -0.48566895 0.26383146
+v 0.26843948 -0.48566882 0.22875465
+v 0.26759006 -0.51436285 0.19756350
+v 0.18141693 -0.56234696 0.30484162
+v 0.22163302 -0.55071461 0.19756337
+v 0.18141693 -0.61248506 0.24053746
+v 0.22164766 -0.57228978 0.19756329
+v 0.22267284 -0.59389412 0.19756321
+v 0.22946826 -0.61206272 0.19756314
+v 0.33056496 -0.52911067 0.30484175
+v 0.32088439 -0.55164631 0.19756336
+v 0.31558280 -0.53126489 0.19756344
+v 0.32984735 -0.55071500 0.30484167
+v 0.32305193 -0.48566889 0.24902357
+v 0.32308122 -0.48566890 0.24918111
+v 0.28753700 -0.48566882 0.22885966
+v 0.28884042 -0.51429008 0.19756350
+v 0.18141693 -0.63438077 0.30484136
+v 0.18141693 -0.62525267 0.26580531
+v 0.24616394 -0.62087039 0.19756311
+v 0.31876084 -0.57228978 0.19756329
+v 0.31530453 -0.53071170 0.19756344
+v 0.32971553 -0.55185051 0.30484166
+v 0.30386654 -0.51725994 0.19756349
+v 0.31077912 -0.48566885 0.23622159
+v 0.28903082 -0.48566882 0.22888067
+v 0.29913609 -0.48566883 0.23026694
+v 0.29086148 -0.51455210 0.19756350
+v 0.18179773 -0.63439533 0.30484136
+v 0.26759006 -0.62119068 0.19756311
+v 0.31788210 -0.57450264 0.19756328
+v 0.32681576 -0.57141672 0.30484159
+v 0.32668395 -0.57185347 0.30484159
+v 0.32189494 -0.58542166 0.30484154
+v 0.30282672 -0.51641557 0.19756349
+v 0.30899238 -0.48566884 0.23519240
+v 0.20164214 -0.63427884 0.30484136
+v 0.28903082 -0.61389703 0.19756314
+v 0.27630403 -0.62660673 0.30484139
+v 0.26759006 -0.62948923 0.30484138
+v 0.25966693 -0.63069754 0.30484137
+v 0.24616394 -0.63234264 0.30484137
+v 0.24336668 -0.63264834 0.30484137
+v 0.22646597 -0.63334715 0.30484136
+v 0.30995899 -0.59389412 0.19756321
+v 0.31656403 -0.59574338 0.30484150
+v 0.30008803 -0.60699649 0.19756316
+v 0.30421802 -0.61295117 0.30484144
+v 0.29068573 -0.62111827 0.30484141
+v 0.28903082 -0.62196264 0.30484141
+v 0.30663449 -0.61143711 0.30484144
+v 0.30908026 -0.59516068 0.19756320
+v 0.30134754 -0.60621032 0.19756316
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 36
+f 1 36 35
+f 1 35 46
+f 1 46 57
+f 1 57 48
+f 1 48 47
+f 1 47 37
+f 1 37 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 7 15
+f 3 15 25
+f 3 25 39
+f 3 39 50
+f 3 50 58
+f 3 58 65
+f 3 65 64
+f 3 64 63
+f 3 63 62
+f 3 62 61
+f 3 61 60
+f 3 60 71
+f 3 71 70
+f 3 70 69
+f 3 69 72
+f 3 72 67
+f 3 67 55
+f 3 55 54
+f 3 54 53
+f 3 53 44
+f 3 44 34
+f 3 34 31
+f 3 31 19
+f 3 19 11
+f 3 11 5
+f 3 5 4
+f 6 12 13
+f 6 13 14
+f 6 14 8
+f 7 10 16
+f 7 16 15
+f 8 14 13
+f 8 13 24
+f 8 24 38
+f 8 38 49
+f 8 49 56
+f 8 56 45
+f 8 45 43
+f 8 43 33
+f 8 33 20
+f 8 20 32
+f 8 32 42
+f 8 42 52
+f 8 52 66
+f 8 66 73
+f 8 73 74
+f 8 74 68
+f 8 68 59
+f 8 59 51
+f 8 51 41
+f 8 41 30
+f 8 30 29
+f 8 29 28
+f 8 28 26
+f 8 26 17
+f 8 17 10
+f 8 10 9
+f 10 18 27
+f 10 27 40
+f 10 40 39
+f 10 39 25
+f 10 25 16
+f 10 17 18
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 12 23 24
+f 12 24 13
+f 15 16 25
+f 17 26 18
+f 18 26 28
+f 18 28 29
+f 18 29 30
+f 18 30 27
+f 19 31 20
+f 20 33 21
+f 20 31 34
+f 20 34 32
+f 21 33 35
+f 21 35 36
+f 21 36 22
+f 23 37 38
+f 23 38 24
+f 27 30 41
+f 27 41 40
+f 32 34 42
+f 33 43 35
+f 34 44 42
+f 35 43 45
+f 35 45 46
+f 37 47 38
+f 38 47 48
+f 38 48 49
+f 39 40 41
+f 39 41 50
+f 41 51 50
+f 42 44 53
+f 42 53 54
+f 42 54 55
+f 42 55 52
+f 45 56 46
+f 46 56 57
+f 48 57 56
+f 48 56 49
+f 50 51 58
+f 51 59 60
+f 51 60 61
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 51 64 65
+f 51 65 58
+f 52 55 66
+f 55 67 66
+f 59 68 69
+f 59 69 70
+f 59 70 71
+f 59 71 60
+f 66 67 72
+f 66 72 73
+f 68 74 69
+f 69 74 72
+f 72 74 73
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_17.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.24062773 -0.48566913 0.31404446
+v -0.32900885 -0.48566913 0.31404446
+v -0.24635492 -0.48566887 0.24248025
+v -0.24603041 -0.26988599 0.24248104
+v -0.24608303 -0.20504481 0.24248128
+v -0.24641630 -0.11867851 0.24248159
+v -0.24918780 0.37799420 0.24248342
+v -0.24932815 0.39960792 0.24248350
+v -0.24952985 0.41927288 0.24248357
+v -0.25054724 0.41927282 0.25837645
+v -0.25066127 0.41927282 0.25999011
+v -0.25263465 0.05387668 0.31404644
+v -0.32912288 -0.46999035 0.31404451
+v -0.32284313 -0.46423239 0.25098566
+v -0.32256248 -0.48566890 0.25155709
+v -0.25488869 -0.48566883 0.23048703
+v -0.25517812 -0.03240075 0.23076605
+v -0.25524828 0.03244042 0.23078310
+v -0.25529213 0.05405415 0.23076637
+v -0.25637968 0.37799424 0.23105331
+v -0.25645862 0.39960796 0.23109541
+v -0.25658140 0.41927292 0.23116271
+v -0.25018765 0.41927288 0.24142459
+v -0.26396624 0.41927262 0.31404778
+v -0.32914918 -0.46423262 0.31404453
+v -0.31523026 -0.48566887 0.24099265
+v -0.32307118 -0.39947975 0.25073376
+v -0.25498516 -0.48566883 0.23036097
+v -0.26843923 -0.48566882 0.22861283
+v -0.26843923 0.05405416 0.22953091
+v -0.26843923 0.37799424 0.23012881
+v -0.26843923 0.39960796 0.23022135
+v -0.26843923 0.41927292 0.23036429
+v -0.32483405 0.41927262 0.31404778
+v -0.32999116 -0.22665881 0.31404541
+v -0.31513378 -0.48566886 0.24087498
+v -0.32313256 -0.37786603 0.25064140
+v -0.32349215 -0.22665858 0.24992757
+v -0.26866726 -0.48566882 0.22860443
+v -0.28986575 0.05405416 0.22903504
+v -0.28986575 0.37799425 0.22967496
+v -0.28986575 0.39960797 0.22975910
+v -0.28986575 0.41927293 0.22989363
+v -0.32140475 0.41927282 0.25811591
+v -0.32212395 0.41581819 0.25289671
+v -0.32639522 0.39960766 0.31404771
+v -0.33001746 -0.20504507 0.31404549
+v -0.30440736 -0.48566882 0.22994914
+v -0.31452862 -0.07545106 0.23901909
+v -0.32362369 -0.07545110 0.24970120
+v -0.28986575 -0.48566882 0.22819262
+v -0.30324965 0.37799424 0.23059106
+v -0.30318827 0.39960796 0.23063316
+v -0.30308300 0.41927292 0.23069206
+v -0.30184637 0.41927292 0.23061642
+v -0.31861571 0.41927286 0.24847596
+v -0.32784236 0.35646882 0.31404755
+v -0.32742135 0.37799394 0.31404763
+v -0.32230813 0.39960788 0.25242601
+v -0.32970173 0.22687503 0.31404707
+v -0.33022795 0.11163138 0.31404665
+v -0.29001486 -0.48566882 0.22820943
+v -0.31462509 -0.05383734 0.23909481
+v -0.30388113 0.05405415 0.23027891
+v -0.32360617 -0.05383738 0.24977692
+v -0.32328166 0.20526154 0.25039140
+v -0.31454616 0.07566784 0.23944829
+v -0.30357416 0.22687533 0.23044762
+v -0.31430936 0.20526158 0.23970930
+v -0.30407409 0.41927292 0.23172581
+v -0.31429182 0.22687530 0.23988586
+v -0.31397607 0.37799420 0.24123955
+v -0.31521272 0.41927287 0.24408882
+v -0.32251862 0.37799416 0.25192166
+v -0.32993852 0.20526131 0.31404699
+v -0.33021917 0.11880642 0.31404668
+v -0.32317642 0.22687526 0.25056797
+v -0.31390591 0.39960792 0.24174390
+f 1 2 15
+f 1 15 26
+f 1 26 36
+f 1 36 48
+f 1 48 62
+f 1 62 51
+f 1 51 39
+f 1 39 29
+f 1 29 28
+f 1 28 16
+f 1 16 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 24
+f 1 24 34
+f 1 34 46
+f 1 46 58
+f 1 58 57
+f 1 57 60
+f 1 60 75
+f 1 75 76
+f 1 76 61
+f 1 61 47
+f 1 47 35
+f 1 35 25
+f 1 25 13
+f 1 13 2
+f 2 13 14
+f 2 14 15
+f 3 16 4
+f 4 16 5
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 22
+f 9 22 33
+f 9 33 43
+f 9 43 55
+f 9 55 54
+f 9 54 70
+f 9 70 73
+f 9 73 56
+f 9 56 44
+f 9 44 34
+f 9 34 24
+f 9 24 11
+f 9 11 10
+f 11 24 12
+f 13 25 14
+f 14 26 15
+f 14 25 27
+f 14 27 26
+f 16 28 17
+f 17 19 18
+f 17 28 19
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 25 35 27
+f 26 27 37
+f 26 37 38
+f 26 38 36
+f 27 35 37
+f 29 39 30
+f 30 40 31
+f 30 39 40
+f 31 41 42
+f 31 42 32
+f 31 40 41
+f 32 42 43
+f 32 43 33
+f 34 44 45
+f 34 45 46
+f 35 47 38
+f 35 38 37
+f 36 38 49
+f 36 49 48
+f 38 47 50
+f 38 50 49
+f 39 51 40
+f 40 52 41
+f 40 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 42 54 55
+f 42 55 43
+f 44 56 45
+f 45 57 58
+f 45 58 46
+f 45 56 59
+f 45 59 60
+f 45 60 57
+f 47 61 50
+f 48 49 63
+f 48 63 64
+f 48 64 62
+f 49 50 63
+f 50 65 66
+f 50 66 67
+f 50 67 63
+f 50 61 65
+f 51 62 64
+f 51 64 68
+f 51 68 52
+f 52 68 63
+f 52 63 67
+f 52 67 69
+f 52 69 53
+f 53 69 54
+f 54 69 71
+f 54 71 72
+f 54 72 70
+f 56 73 59
+f 59 73 74
+f 59 74 60
+f 60 74 75
+f 61 76 65
+f 63 68 64
+f 65 76 66
+f 66 76 75
+f 66 75 74
+f 66 74 77
+f 66 77 72
+f 66 72 71
+f 66 71 69
+f 66 69 67
+f 70 72 78
+f 70 78 73
+f 72 74 78
+f 72 77 74
+f 73 78 74
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_18.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01547357 -0.63506559 0.30591356
+v 0.03172231 -0.62517188 0.26160817
+v 0.07461473 -0.63470261 0.30485070
+v 0.11576874 -0.63461007 0.30485070
+v 0.13719721 -0.63454600 0.30485070
+v 0.15866116 -0.63446771 0.30485070
+v 0.18140231 -0.63438231 0.30485070
+v 0.01547357 -0.57085707 0.30591379
+v -0.01113463 -0.63506559 0.30591356
+v -0.03256310 -0.62530000 0.26198673
+v -0.01113463 -0.62525728 0.26184113
+v 0.16036409 -0.61423194 0.24253489
+v 0.05318626 -0.62514342 0.26171009
+v -0.09688399 -0.61487964 0.24248393
+v 0.09607868 -0.62507224 0.26189937
+v 0.18140231 -0.56235859 0.30485096
+v 0.11750714 -0.62504377 0.26219056
+v 0.13893562 -0.62503663 0.26268559
+v 0.16036409 -0.62502953 0.26322431
+v 0.18140231 -0.62525730 0.26582323
+v -0.18103685 -0.56719146 0.30591381
+v -0.09745162 -0.63479512 0.30591356
+v -0.05399157 -0.62528575 0.26229248
+v -0.11831245 -0.61476578 0.24248393
+v 0.18140231 -0.61248811 0.24054021
+v -0.11831245 -0.60520667 0.23157871
+v -0.09688399 -0.60527075 0.23154230
+v 0.18140231 -0.56905614 0.26363219
+v -0.18103685 -0.56853654 0.26272220
+v -0.18103685 -0.56833725 0.26426555
+v -0.18103685 -0.63376307 0.30591356
+v -0.11827698 -0.63466700 0.30591356
+v -0.13974092 -0.62495124 0.26384310
+v -0.16120488 -0.62474480 0.26384311
+v -0.18103685 -0.62453130 0.26384311
+v -0.13974092 -0.61444548 0.24248393
+v -0.18103685 -0.61250232 0.24032182
+v 0.18140231 -0.59585409 0.23402477
+v -0.01744964 -0.60475115 0.23178254
+v -0.13974092 -0.60490062 0.23171703
+v -0.11831245 -0.60373333 0.23157871
+v -0.09688399 -0.60361232 0.23154230
+v 0.18140231 -0.57285690 0.24507573
+v -0.18103685 -0.57238002 0.24397647
+v -0.16120488 -0.63419013 0.30591356
+v -0.13974092 -0.63447482 0.30591356
+v -0.18103685 -0.61240982 0.24023446
+v -0.15176783 -0.60470133 0.23179709
+v -0.01744964 -0.60458747 0.23178254
+v -0.18103685 -0.59513520 0.23366807
+v -0.09688399 -0.59282907 0.23477462
+v -0.18103685 -0.57386050 0.24307377
+v -0.13974092 -0.60430274 0.23171703
+v -0.18103685 -0.59539142 0.23363167
+v -0.15176783 -0.60467286 0.23179709
+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 8
+f 1 8 21
+f 1 21 31
+f 1 31 45
+f 1 45 46
+f 1 46 32
+f 1 32 22
+f 1 22 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 4
+f 2 4 3
+f 2 11 14
+f 2 14 12
+f 4 13 15
+f 4 15 5
+f 5 15 6
+f 6 15 7
+f 7 15 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 25
+f 7 25 38
+f 7 38 43
+f 7 43 28
+f 7 28 16
+f 8 16 21
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 14
+f 10 14 11
+f 12 25 19
+f 12 19 18
+f 12 18 17
+f 12 17 15
+f 12 15 13
+f 12 14 25
+f 14 24 26
+f 14 26 27
+f 14 27 25
+f 16 28 29
+f 16 29 30
+f 16 30 21
+f 19 25 20
+f 21 30 29
+f 21 29 44
+f 21 44 52
+f 21 52 50
+f 21 50 54
+f 21 54 47
+f 21 47 37
+f 21 37 35
+f 21 35 31
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 26
+f 25 27 39
+f 25 39 38
+f 26 37 40
+f 26 40 53
+f 26 53 41
+f 26 41 42
+f 26 42 27
+f 27 42 49
+f 27 49 39
+f 28 43 29
+f 29 43 44
+f 31 35 45
+f 32 46 33
+f 33 46 34
+f 34 46 35
+f 35 37 36
+f 35 46 45
+f 37 47 48
+f 37 48 40
+f 38 39 49
+f 38 49 42
+f 38 42 50
+f 38 50 51
+f 38 51 52
+f 38 52 43
+f 40 48 55
+f 40 55 53
+f 41 53 50
+f 41 50 42
+f 43 52 44
+f 47 54 48
+f 48 54 55
+f 50 52 51
+f 50 53 55
+f 50 55 54
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_2.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.26760783 -0.62125079 0.17834436
+v 0.26760783 -0.62119849 0.19756311
+v 0.24616237 -0.62087390 0.19756311
+v 0.26760783 -0.62124024 0.15697133
+v 0.28903358 -0.61995048 -0.33426841
+v 0.28903358 -0.61390005 0.19756314
+v 0.22945856 -0.61206755 0.19756314
+v 0.22856336 -0.61223313 -0.33426838
+v 0.24616237 -0.62045308 -0.33426841
+v 0.26760783 -0.62121923 0.13565498
+v 0.26760783 -0.62073579 -0.33426841
+v 0.26760783 -0.61869384 -0.35564144
+v 0.28903358 -0.61758386 -0.35564144
+v 0.30651456 -0.61073569 -0.35564141
+v 0.30811806 -0.61212843 -0.33426838
+v 0.30009078 -0.60699946 0.19756316
+v 0.22267077 -0.59389995 0.19756321
+v 0.22106727 -0.59389799 -0.33426831
+v 0.22956675 -0.61112311 -0.35564141
+v 0.24616237 -0.61825404 -0.35564144
+v 0.26760783 -0.61051571 -0.37236570
+v 0.28903358 -0.60971993 -0.37145862
+v 0.30308133 -0.60760472 -0.36919090
+v 0.31496485 -0.59389791 -0.35564135
+v 0.31738485 -0.59389799 -0.33426831
+v 0.30996748 -0.59389995 0.19756321
+v 0.30134996 -0.60620368 0.19756316
+v 0.22164768 -0.57229774 0.19756329
+v 0.22043769 -0.57229578 -0.33426823
+v 0.22140175 -0.57229570 -0.35564127
+v 0.22258224 -0.59389791 -0.35564135
+v 0.23227204 -0.60817015 -0.36958775
+v 0.24616237 -0.61027489 -0.37179874
+v 0.26760783 -0.59389782 -0.37996242
+v 0.28903358 -0.59389783 -0.37871517
+v 0.30601287 -0.59389785 -0.37196878
+v 0.30742945 -0.57229564 -0.37338602
+v 0.31686347 -0.57229570 -0.35564127
+v 0.31843744 -0.57229578 -0.33426823
+v 0.32093613 -0.55114580 0.19756337
+v 0.32088694 -0.55164843 0.19756336
+v 0.31876208 -0.57229774 0.19756329
+v 0.31788655 -0.57450716 0.19756328
+v 0.22162802 -0.55070604 0.19756337
+v 0.22052622 -0.55070408 -0.33426815
+v 0.22186411 -0.55070400 -0.35564119
+v 0.22906505 -0.57229564 -0.37287579
+v 0.22990123 -0.59389785 -0.37202547
+v 0.24616237 -0.59389783 -0.37888524
+v 0.24616237 -0.57229561 -0.38052926
+v 0.26760783 -0.57229561 -0.38154972
+v 0.28903358 -0.57229561 -0.38098280
+v 0.28903358 -0.55070391 -0.38069924
+v 0.30731140 -0.55070394 -0.37310246
+v 0.31687330 -0.55070400 -0.35564119
+v 0.31879159 -0.55070408 -0.33426815
+v 0.31558460 -0.53126091 0.19756344
+v 0.22226743 -0.54868506 0.19756337
+v 0.22803214 -0.52937412 -0.33426807
+v 0.22891750 -0.53099709 -0.35564112
+v 0.23178016 -0.53505989 -0.37015441
+v 0.22947823 -0.55070394 -0.37247885
+v 0.24616237 -0.55070391 -0.38018901
+v 0.26760783 -0.55070391 -0.38160632
+v 0.26760783 -0.53033731 -0.37395278
+v 0.28903358 -0.53115411 -0.37332918
+v 0.30462580 -0.53457818 -0.37060794
+v 0.30664245 -0.52807563 -0.35382698
+v 0.30958382 -0.52911233 -0.33426807
+v 0.31530917 -0.53070594 0.19756344
+v 0.22974384 -0.52815092 0.19756345
+v 0.23741698 -0.51857827 -0.33426803
+v 0.24468678 -0.52028501 -0.35569780
+v 0.24616237 -0.53145776 -0.37304570
+v 0.26760783 -0.51953103 -0.36074340
+v 0.28903358 -0.52035826 -0.35841901
+v 0.29995306 -0.51820123 -0.34549314
+v 0.30386832 -0.51726083 0.19756349
+v 0.23931558 -0.51920847 0.19756348
+v 0.24813968 -0.51745782 -0.33426803
+v 0.25084497 -0.51766718 -0.34861124
+v 0.24810034 -0.51677917 0.19756349
+v 0.26760783 -0.51436030 0.19756350
+v 0.26760783 -0.51741589 -0.35008524
+v 0.28903358 -0.51781379 -0.34776084
+v 0.28903358 -0.51745782 -0.33426803
+v 0.28884667 -0.51427652 0.19756350
+v 0.29086334 -0.51454878 0.19756350
+v 0.30282557 -0.51641268 0.19756349
+v 0.26760783 -0.51671437 -0.33426803
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 16
+f 2 16 27
+f 2 27 26
+f 2 26 43
+f 2 43 42
+f 2 42 41
+f 2 41 40
+f 2 40 57
+f 2 57 70
+f 2 70 78
+f 2 78 89
+f 2 89 88
+f 2 88 87
+f 2 87 83
+f 2 83 82
+f 2 82 79
+f 2 79 71
+f 2 71 58
+f 2 58 44
+f 2 44 28
+f 2 28 17
+f 2 17 7
+f 2 7 3
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 10 11
+f 6 15 16
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 12
+f 9 12 11
+f 9 11 10
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 17 28 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 18 28 29
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 28 44 29
+f 29 45 30
+f 29 44 45
+f 30 46 47
+f 30 47 31
+f 30 45 46
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 33
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 35 52 36
+f 36 52 37
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 56 39
+f 38 55 56
+f 39 56 40
+f 40 56 57
+f 44 58 45
+f 45 59 46
+f 45 58 59
+f 46 59 60
+f 46 60 61
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 50
+f 47 50 48
+f 48 50 49
+f 50 63 64
+f 50 64 51
+f 51 64 52
+f 52 64 53
+f 53 64 65
+f 53 65 66
+f 53 66 67
+f 53 67 54
+f 54 67 55
+f 55 67 68
+f 55 68 69
+f 55 69 56
+f 56 69 57
+f 57 69 70
+f 58 71 59
+f 59 72 60
+f 59 71 72
+f 60 73 61
+f 60 72 73
+f 61 73 74
+f 61 74 63
+f 61 63 62
+f 63 74 64
+f 64 74 65
+f 65 74 75
+f 65 75 66
+f 66 75 76
+f 66 76 67
+f 67 76 77
+f 67 77 68
+f 68 77 69
+f 69 77 78
+f 69 78 70
+f 71 79 72
+f 72 80 81
+f 72 81 73
+f 72 79 82
+f 72 82 83
+f 72 83 80
+f 73 75 74
+f 73 81 75
+f 75 81 84
+f 75 84 85
+f 75 85 76
+f 76 85 77
+f 77 85 86
+f 77 86 87
+f 77 87 88
+f 77 88 89
+f 77 89 78
+f 80 90 81
+f 80 83 90
+f 81 90 84
+f 83 87 90
+f 84 90 85
+f 85 90 86
+f 86 90 87
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_3.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.20404879 0.65782985 0.34928627
+v -0.18263665 0.65782985 0.34928627
+v -0.20404879 0.65267245 0.33280262
+v -0.22551290 0.65257489 0.33296905
+v -0.22551290 0.65764863 0.34928627
+v -0.22551290 0.65311835 0.36560345
+v -0.20404879 0.65320200 0.36567580
+v 0.03174461 0.65335534 0.36602315
+v 0.03174461 0.65769042 0.34928627
+v 0.17955073 0.65752319 0.34928627
+v -0.18263665 0.65264457 0.33279540
+v -0.01118361 0.62567279 0.29783815
+v -0.03259574 0.62568674 0.29783815
+v -0.03269969 0.62568674 0.29783815
+v -0.05405986 0.62565885 0.29783815
+v -0.16122451 0.62546373 0.29783815
+v -0.18263665 0.62542190 0.29783815
+v -0.20285344 0.62529645 0.29783815
+v -0.20404879 0.62528251 0.29783815
+v -0.22301828 0.62504556 0.29783815
+v -0.22551290 0.62500373 0.29783815
+v -0.24697702 0.65221245 0.33328022
+v -0.24697702 0.65699351 0.34928626
+v -0.24697702 0.65282566 0.36524889
+v -0.26838914 0.63724187 0.37029958
+v -0.22551290 0.63724187 0.37103763
+v -0.20404879 0.63724187 0.37110276
+v 0.03174461 0.63724187 0.37143563
+v 0.17955073 0.63724187 0.37131985
+v 0.17955073 0.65328566 0.36575541
+v 0.17955073 0.65707708 0.35103740
+v 0.17955073 0.65283976 0.33478532
+v 0.17955073 0.65228221 0.33306314
+v 0.16037337 0.62794484 0.30110882
+v -0.00047754 0.62563100 0.29783815
+v 0.17955073 0.62787516 0.30110882
+v -0.24131214 0.62444617 0.29783814
+v -0.25877447 0.62333105 0.29783814
+v -0.26838914 0.65125066 0.33423535
+v -0.24697702 0.62420922 0.29783814
+v -0.26838914 0.65512564 0.34928626
+v -0.26838914 0.65191965 0.36430822
+v -0.29177620 0.63931879 0.36671775
+v -0.31126541 0.61565040 0.37022712
+v -0.28985325 0.61565039 0.37175391
+v 0.17955073 0.51545712 0.37065366
+v -0.00047754 0.57471194 0.29783796
+v 0.17955073 0.57319258 0.30110862
+v -0.26828520 0.62227171 0.29783814
+v -0.28496797 0.64973131 0.33617462
+v -0.28865793 0.65090215 0.34928624
+v -0.28600741 0.65016332 0.36242682
+v -0.31126541 0.63318565 0.36449629
+v -0.32800013 0.61565042 0.36429361
+v -0.33434060 0.59516016 0.36603016
+v -0.33272952 0.57248144 0.36940930
+v -0.31126541 0.59405897 0.37124008
+v -0.31126541 0.51545712 0.37110231
+v 0.17955073 0.51545731 0.31850378
+v -0.22468136 0.51545739 0.29783774
+v -0.28107014 0.61841062 0.29783812
+v -0.28985325 0.61499555 0.29783811
+v -0.31126541 0.63251670 0.33339589
+v -0.32316680 0.62777743 0.33715863
+v -0.29936399 0.64759863 0.34928623
+v -0.32368653 0.62839067 0.36159461
+v -0.34520259 0.58869247 0.36198520
+v -0.34686567 0.57248146 0.36356984
+v -0.34764523 0.55088999 0.36417759
+v -0.33272952 0.55088997 0.36995192
+v -0.33272952 0.52928455 0.37003144
+v -0.33272952 0.51545712 0.37005309
+v -0.32025641 0.51545739 0.29783774
+v -0.29822061 0.61003329 0.29783809
+v -0.30274212 0.60717578 0.29783808
+v -0.31318835 0.59354347 0.29783803
+v -0.32742844 0.61565053 0.33369974
+v -0.34483882 0.58754956 0.33660130
+v -0.34198039 0.60134911 0.34928606
+v -0.33340515 0.61565048 0.34928611
+v -0.32415424 0.62889251 0.34928616
+v -0.31126541 0.63924918 0.34928620
+v -0.34582627 0.59056036 0.34928602
+v -0.34967212 0.57248152 0.34928595
+v -0.35123125 0.55089005 0.34928587
+v -0.35138718 0.52928463 0.34928579
+v -0.34769722 0.52928457 0.36422094
+v -0.34764523 0.51545714 0.36422089
+v -0.34712554 0.51545725 0.33401054
+v -0.32056827 0.52928482 0.29783779
+v -0.31999658 0.57248171 0.29783795
+v -0.34624203 0.57248157 0.33485011
+v -0.34702160 0.55089010 0.33409750
+v -0.35133519 0.51545720 0.34928574
+v -0.34712554 0.52928468 0.33403955
+v -0.32056827 0.53306229 0.29783781
+v -0.32051628 0.55089024 0.29783787
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+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 18
+f 3 18 4
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 5
+f 5 22 23
+f 5 23 24
+f 5 24 6
+f 6 24 25
+f 6 25 26
+f 6 26 7
+f 7 26 27
+f 7 27 8
+f 8 28 29
+f 8 29 30
+f 8 30 9
+f 8 27 28
+f 9 30 31
+f 9 31 10
+f 10 31 30
+f 10 30 29
+f 10 29 46
+f 10 46 59
+f 10 59 48
+f 10 48 36
+f 10 36 33
+f 10 33 32
+f 10 32 11
+f 11 32 33
+f 11 33 34
+f 11 34 12
+f 12 35 47
+f 12 47 60
+f 12 60 73
+f 12 73 90
+f 12 90 96
+f 12 96 97
+f 12 97 91
+f 12 91 76
+f 12 76 75
+f 12 75 74
+f 12 74 62
+f 12 62 61
+f 12 61 49
+f 12 49 38
+f 12 38 40
+f 12 40 37
+f 12 37 21
+f 12 21 20
+f 12 20 19
+f 12 19 18
+f 12 18 17
+f 12 17 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 12 34 36
+f 12 36 35
+f 21 37 22
+f 22 38 39
+f 22 39 23
+f 22 37 40
+f 22 40 38
+f 23 39 41
+f 23 41 42
+f 23 42 24
+f 24 42 25
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 26
+f 26 45 27
+f 27 45 28
+f 28 45 29
+f 29 45 46
+f 33 36 34
+f 35 36 48
+f 35 48 47
+f 38 49 39
+f 39 49 50
+f 39 50 41
+f 41 50 51
+f 41 51 52
+f 41 52 42
+f 42 52 43
+f 43 52 53
+f 43 53 44
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 57
+f 44 57 45
+f 45 57 58
+f 45 58 46
+f 46 58 72
+f 46 72 88
+f 46 88 94
+f 46 94 89
+f 46 89 73
+f 46 73 60
+f 46 60 59
+f 47 48 60
+f 48 59 60
+f 49 61 50
+f 50 61 62
+f 50 62 63
+f 50 63 64
+f 50 64 65
+f 50 65 51
+f 51 65 52
+f 52 65 66
+f 52 66 53
+f 53 66 54
+f 54 66 67
+f 54 67 55
+f 55 67 68
+f 55 68 56
+f 56 68 69
+f 56 69 70
+f 56 70 57
+f 57 70 71
+f 57 71 72
+f 57 72 58
+f 62 74 63
+f 63 74 75
+f 63 75 64
+f 64 76 77
+f 64 77 78
+f 64 78 79
+f 64 79 80
+f 64 80 81
+f 64 81 82
+f 64 82 65
+f 64 75 76
+f 65 82 66
+f 66 81 80
+f 66 80 79
+f 66 79 67
+f 66 82 81
+f 67 79 83
+f 67 83 84
+f 67 84 68
+f 68 84 85
+f 68 85 69
+f 69 85 86
+f 69 86 87
+f 69 87 71
+f 69 71 70
+f 71 87 72
+f 72 87 88
+f 73 89 90
+f 76 91 78
+f 76 78 77
+f 78 92 84
+f 78 84 83
+f 78 83 79
+f 78 91 92
+f 84 92 85
+f 85 92 93
+f 85 93 86
+f 86 94 88
+f 86 88 87
+f 86 93 95
+f 86 95 89
+f 86 89 94
+f 89 95 96
+f 89 96 90
+f 91 97 93
+f 91 93 92
+f 93 97 95
+f 95 97 96
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_4.obj

@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.17956757 0.59405758 0.23497471
+v 0.17956757 0.57578106 0.24381487
+v 0.17956757 0.59628301 0.23583081
+v 0.22986220 0.61220902 0.19297501
+v 0.22570883 0.59977437 0.19297496
+v 0.22382549 0.59405773 0.19297494
+v 0.22347238 0.57247089 0.19297486
+v 0.22407773 0.55774118 0.19297481
+v 0.22448130 0.55087011 0.19297478
+v 0.22856742 0.53782343 0.19297474
+v 0.23041711 0.53232934 0.19297472
+v 0.17956757 0.57340259 0.24538725
+v 0.17956757 0.61485157 0.24306377
+v 0.23497407 0.61478223 0.19297502
+v 0.24099395 0.52387264 0.19297468
+v 0.23621840 0.51904614 0.21133647
+v 0.17956757 0.51545723 0.31848483
+v 0.17956757 0.62492166 0.26385407
+v 0.24617307 0.62033195 0.19297504
+v 0.24491193 0.52127166 0.19297467
+v 0.23927879 0.51545761 0.21437637
+v 0.23282170 0.51545757 0.22543537
+v 0.23245176 0.51566621 0.22559262
+v 0.17956757 0.51545704 0.37065267
+v 0.17956757 0.65229441 0.33303854
+v 0.25298329 0.62041537 0.19297504
+v 0.17956757 0.65752419 0.34928639
+v 0.26759581 0.51719629 0.19297466
+v 0.26759581 0.51545768 0.19652121
+v 0.25041054 0.51545765 0.20371917
+v 0.24486148 0.51545764 0.20731816
+v 0.18183764 0.51545704 0.37065267
+v 0.28903534 0.61565782 0.37143922
+v 0.17956757 0.63725860 0.37131699
+v 0.26759581 0.62038756 0.19297504
+v 0.18183764 0.65753809 0.34928639
+v 0.20327717 0.65751029 0.34928639
+v 0.17956757 0.65707909 0.35103346
+v 0.27381747 0.51723805 0.19297466
+v 0.28108169 0.51545768 0.19669591
+v 0.18955586 0.51545704 0.37063517
+v 0.31047489 0.59405708 0.37126442
+v 0.31047489 0.61565782 0.37047832
+v 0.26759581 0.63725860 0.37075794
+v 0.24617307 0.63725860 0.37107240
+v 0.22473354 0.63725860 0.37128203
+v 0.20327717 0.63725860 0.37133444
+v 0.18183764 0.65329578 0.36576133
+v 0.17956757 0.65329578 0.36574387
+v 0.27440601 0.61838466 0.19297503
+v 0.22473354 0.65746850 0.34928639
+v 0.24617307 0.65720424 0.34928638
+v 0.26759581 0.65617502 0.34928638
+v 0.28903534 0.64983249 0.33630556
+v 0.30016709 0.64828859 0.33829723
+v 0.20327717 0.65326789 0.36574387
+v 0.27714692 0.51727976 0.19297466
+v 0.28903534 0.51545768 0.19695796
+v 0.28903534 0.51747449 0.19297466
+v 0.20327717 0.51545704 0.37060026
+v 0.33191445 0.55086946 0.36967444
+v 0.33191445 0.57247024 0.36951725
+v 0.31047489 0.51545704 0.37025081
+v 0.33191445 0.51545704 0.36951704
+v 0.33396590 0.59601828 0.36623284
+v 0.32819823 0.61565784 0.36464306
+v 0.32354042 0.62908009 0.36200502
+v 0.30889425 0.63667445 0.36413650
+v 0.28903534 0.63725860 0.36897590
+v 0.26759581 0.65257245 0.36480043
+v 0.24617307 0.65307324 0.36546433
+v 0.22473354 0.65322618 0.36569146
+v 0.28903534 0.61400332 0.19297502
+v 0.28903534 0.65050004 0.36258164
+v 0.28903534 0.65226654 0.34928637
+v 0.30075563 0.64860850 0.34928635
+v 0.31148381 0.64095847 0.34928632
+v 0.32318727 0.62876027 0.33648017
+v 0.30154595 0.60660369 0.19297499
+v 0.29302057 0.61165266 0.19297501
+v 0.30379921 0.51545765 0.20380653
+v 0.29211255 0.51819775 0.19297466
+v 0.33722806 0.51545705 0.36749045
+v 0.34667830 0.52926873 0.36394392
+v 0.34674555 0.55086948 0.36399641
+v 0.34620744 0.57247026 0.36355972
+v 0.34466046 0.59013476 0.36207479
+v 0.30068836 0.64855276 0.36053755
+v 0.34203728 0.60362658 0.34928619
+v 0.33457125 0.61565790 0.34928623
+v 0.32444842 0.63015115 0.34928628
+v 0.31050852 0.59405773 0.19297494
+v 0.30437092 0.51545765 0.20420835
+v 0.31143338 0.52803146 0.19297470
+v 0.34661101 0.51545706 0.36389146
+v 0.35123524 0.51545712 0.34928586
+v 0.35130252 0.52926879 0.34928591
+v 0.35133615 0.55086954 0.34928599
+v 0.35000770 0.57247032 0.34928607
+v 0.34570300 0.59281926 0.34928615
+v 0.34471088 0.58913341 0.33592097
+v 0.31908433 0.57247089 0.19297486
+v 0.31489732 0.51545759 0.21940795
+v 0.32143850 0.53939515 0.19297474
+v 0.32167391 0.51545755 0.23020491
+v 0.32152254 0.51545756 0.22994284
+v 0.34871296 0.51545716 0.33859374
+v 0.32143850 0.54444416 0.19297476
+v 0.32111900 0.55021642 0.19297478
+v 0.32083313 0.55468121 0.19297480
+v 0.34725002 0.51545718 0.33263621
+f 1 2 12
+f 1 12 17
+f 1 17 24
+f 1 24 34
+f 1 34 49
+f 1 49 38
+f 1 38 27
+f 1 27 25
+f 1 25 18
+f 1 18 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 12
+f 3 13 4
+f 4 14 19
+f 4 19 26
+f 4 26 35
+f 4 35 50
+f 4 50 73
+f 4 73 80
+f 4 80 79
+f 4 79 92
+f 4 92 102
+f 4 102 110
+f 4 110 109
+f 4 109 108
+f 4 108 104
+f 4 104 94
+f 4 94 82
+f 4 82 59
+f 4 59 57
+f 4 57 39
+f 4 39 28
+f 4 28 20
+f 4 20 15
+f 4 15 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 13 14
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 17 23 22
+f 17 22 21
+f 17 21 31
+f 17 31 30
+f 17 30 29
+f 17 29 40
+f 17 40 58
+f 17 58 81
+f 17 81 93
+f 17 93 103
+f 17 103 106
+f 17 106 105
+f 17 105 111
+f 17 111 107
+f 17 107 96
+f 17 96 95
+f 17 95 83
+f 17 83 64
+f 17 64 63
+f 17 63 60
+f 17 60 41
+f 17 41 32
+f 17 32 24
+f 18 25 19
+f 19 25 27
+f 19 27 26
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 24 32 33
+f 24 33 34
+f 26 27 36
+f 26 36 37
+f 26 37 35
+f 27 38 36
+f 28 39 40
+f 28 40 29
+f 32 41 42
+f 32 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 35 37 51
+f 35 51 52
+f 35 52 53
+f 35 53 54
+f 35 54 55
+f 35 55 50
+f 36 38 49
+f 36 49 48
+f 36 48 37
+f 37 48 56
+f 37 56 51
+f 39 57 40
+f 40 57 59
+f 40 59 58
+f 41 60 42
+f 42 61 62
+f 42 62 43
+f 42 60 63
+f 42 63 64
+f 42 64 61
+f 43 62 65
+f 43 65 66
+f 43 66 67
+f 43 67 68
+f 43 68 69
+f 43 69 44
+f 44 69 70
+f 44 70 71
+f 44 71 45
+f 45 71 72
+f 45 72 46
+f 46 72 56
+f 46 56 47
+f 47 56 48
+f 50 55 73
+f 51 56 72
+f 51 72 71
+f 51 71 52
+f 52 71 70
+f 52 70 53
+f 53 70 74
+f 53 74 75
+f 53 75 55
+f 53 55 54
+f 55 75 76
+f 55 76 77
+f 55 77 78
+f 55 78 79
+f 55 79 80
+f 55 80 73
+f 58 59 81
+f 59 82 81
+f 61 64 83
+f 61 83 84
+f 61 84 85
+f 61 85 62
+f 62 85 86
+f 62 86 65
+f 65 86 87
+f 65 87 66
+f 66 87 67
+f 67 88 68
+f 67 87 89
+f 67 89 90
+f 67 90 91
+f 67 91 88
+f 68 88 69
+f 69 88 74
+f 69 74 70
+f 74 88 75
+f 75 88 76
+f 76 88 77
+f 77 88 91
+f 77 91 78
+f 78 91 90
+f 78 90 92
+f 78 92 79
+f 81 82 94
+f 81 94 93
+f 83 95 84
+f 84 95 96
+f 84 96 97
+f 84 97 85
+f 85 98 86
+f 85 97 98
+f 86 98 99
+f 86 99 87
+f 87 99 100
+f 87 100 89
+f 89 100 101
+f 89 101 102
+f 89 102 92
+f 89 92 90
+f 93 94 103
+f 94 104 105
+f 94 105 106
+f 94 106 103
+f 96 107 104
+f 96 104 97
+f 97 104 98
+f 98 108 109
+f 98 109 99
+f 98 104 108
+f 99 101 100
+f 99 109 110
+f 99 110 102
+f 99 102 101
+f 104 107 111
+f 104 111 105
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_5.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.24699951 -0.62063263 -0.33430279
+v -0.26843900 -0.62046876 -0.33430279
+v -0.26843900 -0.61884018 -0.35564079
+v -0.24699951 -0.61844071 -0.35564079
+v -0.22972525 -0.61123014 -0.35564077
+v -0.22860726 -0.61252072 -0.33430276
+v -0.23167429 -0.61261487 0.19756314
+v -0.24699951 -0.61932358 0.19756312
+v -0.24918600 -0.61932358 0.19756312
+v -0.26843900 -0.61918021 0.19756312
+v -0.28986861 -0.61959816 -0.33430279
+v -0.28986861 -0.61788763 -0.35564079
+v -0.28986861 -0.61006244 -0.37154521
+v -0.26843900 -0.61064625 -0.37211121
+v -0.24699951 -0.61029804 -0.37160182
+v -0.23266365 -0.60813690 -0.36945104
+v -0.22185980 -0.59390015 -0.35564070
+v -0.22021747 -0.59390023 -0.33430269
+v -0.22996269 -0.61184670 0.19756314
+v -0.28986861 -0.61266609 0.19756314
+v -0.30864671 -0.61192670 -0.33430276
+v -0.30750894 -0.61095360 -0.35564076
+v -0.30426384 -0.60794228 -0.36945104
+v -0.28986861 -0.59390007 -0.37833711
+v -0.26843900 -0.59390007 -0.37918610
+v -0.24699951 -0.59390007 -0.37839373
+v -0.22993302 -0.59390009 -0.37199797
+v -0.22004927 -0.57229910 -0.35564062
+v -0.21909948 -0.57229918 -0.33430261
+v -0.22377918 -0.59390219 0.19756321
+v -0.22438269 -0.59571507 0.19756320
+v -0.29107563 -0.61194913 0.19756314
+v -0.31764990 -0.59390023 -0.33430269
+v -0.30155297 -0.60566033 0.19756317
+v -0.30983395 -0.59390219 0.19756321
+v -0.31599768 -0.59390015 -0.35564070
+v -0.30717256 -0.59390009 -0.37194136
+v -0.28986861 -0.57229901 -0.38014822
+v -0.26843900 -0.57229901 -0.38060100
+v -0.24699951 -0.57229901 -0.38020483
+v -0.22872600 -0.57229904 -0.37307328
+v -0.21859492 -0.55070840 -0.33430253
+v -0.21984151 -0.55070832 -0.35564054
+v -0.22352194 -0.55292268 0.19756336
+v -0.31905479 -0.57229918 -0.33430261
+v -0.31808521 -0.57229910 -0.35564062
+v -0.31720470 -0.57230114 0.19756329
+v -0.31728383 -0.57230107 0.17837602
+v -0.30852797 -0.57229904 -0.37301667
+v -0.26843900 -0.55070823 -0.38065753
+v -0.30862691 -0.55070826 -0.37296001
+v -0.28986861 -0.55070823 -0.38009153
+v -0.24699951 -0.55070823 -0.38003495
+v -0.22874578 -0.55070826 -0.37290340
+v -0.22739035 -0.52966043 -0.33430246
+v -0.22981428 -0.53051252 0.19756344
+v -0.22920088 -0.53244829 0.19756343
+v -0.22353183 -0.55071036 0.19756337
+v -0.23146652 -0.53459711 -0.37046954
+v -0.22819173 -0.53075627 -0.35564047
+v -0.31965830 -0.55070840 -0.33430253
+v -0.31846118 -0.55070832 -0.35564054
+v -0.31762023 -0.55071036 0.19756337
+v -0.28986861 -0.53069476 -0.37312974
+v -0.26843900 -0.53022360 -0.37346933
+v -0.30582702 -0.53409524 -0.37063934
+v -0.24699951 -0.53109420 -0.37301652
+v -0.24352685 -0.51885481 -0.33430242
+v -0.24486250 -0.51937910 0.19756348
+v -0.24734580 -0.52008379 -0.35456504
+v -0.31020000 -0.52930197 -0.33430245
+v -0.30945799 -0.53021343 -0.35564047
+v -0.31068479 -0.52890446 0.19756345
+v -0.29081839 -0.51963314 -0.35467822
+v -0.26843900 -0.51941803 -0.35841381
+v -0.25471655 -0.51812754 -0.34669768
+v -0.25425154 -0.51809687 -0.33430241
+v -0.26843900 -0.51600941 0.19756349
+v -0.24493174 -0.51933816 0.19756348
+v -0.29571574 -0.51850654 -0.33430241
+v -0.30205754 -0.51720773 0.19756349
+v -0.28429850 -0.51810707 -0.34692409
+v -0.26843900 -0.51801486 -0.34777307
+v -0.26843900 -0.51787155 -0.33430241
+v -0.28898807 -0.51607086 0.19756349
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 3
+f 2 10 11
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 11 12
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 31
+f 7 31 30
+f 7 30 44
+f 7 44 58
+f 7 58 57
+f 7 57 56
+f 7 56 69
+f 7 69 79
+f 7 79 78
+f 7 78 85
+f 7 85 81
+f 7 81 73
+f 7 73 63
+f 7 63 47
+f 7 47 35
+f 7 35 34
+f 7 34 32
+f 7 32 20
+f 7 20 10
+f 7 10 9
+f 7 9 8
+f 10 20 11
+f 11 21 22
+f 11 22 12
+f 11 20 21
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 20 32 21
+f 21 33 22
+f 21 32 34
+f 21 34 35
+f 21 35 33
+f 22 36 23
+f 22 33 36
+f 23 37 24
+f 23 36 37
+f 24 38 25
+f 24 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 42 29
+f 28 41 43
+f 28 43 42
+f 29 42 30
+f 30 42 44
+f 33 45 46
+f 33 46 36
+f 33 35 47
+f 33 47 48
+f 33 48 45
+f 36 46 37
+f 37 46 49
+f 37 49 38
+f 38 50 39
+f 38 49 51
+f 38 51 52
+f 38 52 50
+f 39 50 40
+f 40 50 53
+f 40 53 41
+f 41 53 54
+f 41 54 43
+f 42 43 55
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 44
+f 43 54 59
+f 43 59 60
+f 43 60 55
+f 45 61 46
+f 45 48 61
+f 46 62 49
+f 46 61 62
+f 47 63 48
+f 48 63 61
+f 49 62 51
+f 50 52 64
+f 50 64 65
+f 50 65 53
+f 51 62 66
+f 51 66 52
+f 52 66 64
+f 53 65 67
+f 53 67 59
+f 53 59 54
+f 55 60 68
+f 55 68 69
+f 55 69 56
+f 59 67 70
+f 59 70 60
+f 60 70 68
+f 61 71 72
+f 61 72 62
+f 61 63 73
+f 61 73 71
+f 62 72 66
+f 64 66 74
+f 64 74 75
+f 64 75 65
+f 65 75 67
+f 66 72 74
+f 67 75 70
+f 68 70 76
+f 68 76 77
+f 68 77 78
+f 68 78 79
+f 68 79 69
+f 70 75 76
+f 71 80 72
+f 71 73 81
+f 71 81 80
+f 72 80 74
+f 74 80 82
+f 74 82 75
+f 75 83 76
+f 75 82 83
+f 76 84 78
+f 76 78 77
+f 76 83 84
+f 78 84 85
+f 80 81 85
+f 80 85 82
+f 82 84 83
+f 82 85 84
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_6.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.19832585 -0.48557132 0.37080371
+v -0.31126848 -0.37787536 0.37144168
+v -0.31126848 -0.48557132 0.37098424
+v 0.19832585 -0.48557112 0.31509668
+v 0.19832585 -0.03224849 0.37106489
+v -0.31126848 -0.03224850 0.37168556
+v -0.33274604 -0.37787536 0.37047684
+v -0.33274604 -0.39943415 0.37039211
+v -0.33274604 -0.48557132 0.37004763
+v -0.24059167 -0.48557111 0.31405848
+v 0.19832585 -0.20511069 0.31440934
+v -0.31126848 -0.01068970 0.37169694
+v 0.19832585 0.20519235 0.37104884
+v -0.31126848 0.07564352 0.37169161
+v -0.34765655 -0.39943413 0.36421936
+v -0.34765655 -0.46420855 0.36417963
+v -0.34760272 -0.48557130 0.36417956
+v -0.31126848 0.09720232 0.37168604
+v -0.33274604 0.09720233 0.37033187
+v -0.34771037 0.46438799 0.36425639
+v -0.34771037 0.42127039 0.36426188
+v 0.19832585 -0.03224828 0.31415042
+v 0.19832585 -0.05390508 0.31415598
+v 0.19832585 -0.07046616 0.31417849
+v 0.19832585 -0.09212297 0.31421228
+v 0.19832585 -0.17845617 0.31435301
+v 0.19832585 -0.20011297 0.31439806
+v -0.32897803 -0.48557111 0.31405848
+v -0.21265468 0.51534536 0.31406215
+v 0.19832585 0.22684913 0.37102073
+v -0.31126848 0.37805475 0.37138804
+v -0.31126848 0.11885912 0.37166354
+v -0.35158605 -0.42109082 0.34928398
+v -0.35153222 -0.46420849 0.34928382
+v -0.34765655 -0.48557130 0.36401595
+v -0.33274604 0.39961355 0.37023706
+v -0.34765655 0.51534517 0.36422838
+v -0.34900224 0.51534519 0.35885121
+v -0.35142456 0.46438805 0.34928724
+v -0.35147839 0.39961363 0.34928700
+v 0.19832585 -0.02725056 0.31415044
+v -0.34727974 -0.48557119 0.33352464
+v -0.32913952 -0.46420836 0.31405855
+v -0.32660961 0.51534536 0.31406215
+v 0.19832585 0.51534534 0.31791024
+v 0.19832585 0.22684933 0.31513315
+v 0.19832585 0.20519255 0.31494687
+v 0.19832585 0.18363373 0.31483393
+v 0.19832585 0.05398694 0.31423537
+v 0.19832585 0.03742586 0.31417889
+v 0.19832585 0.03242813 0.31416759
+v 0.19832585 0.01096732 0.31415622
+v 0.19832585 0.51358124 0.37062115
+v 0.18955180 0.51534515 0.37063808
+v 0.18180049 0.51534515 0.37065504
+v -0.31126848 0.50760359 0.37112329
+v -0.32499473 0.51534515 0.37044062
+v -0.33274604 0.50760359 0.37007946
+v -0.34744123 0.01096725 0.33344747
+v -0.34733357 -0.46420843 0.33349083
+v -0.34744123 0.03242806 0.33344755
+v -0.35142456 -0.48557124 0.34928375
+v -0.33274604 0.51534515 0.37006257
+v -0.35137073 0.51534523 0.34928742
+v -0.34744123 0.27006488 0.33369668
+v -0.33000079 -0.21157833 0.31405948
+v -0.34711825 0.51534528 0.33400791
+v -0.32967781 0.22684934 0.31406109
+v 0.19832585 0.51534515 0.37061554
+v -0.31126848 0.51534515 0.37110640
+v -0.34733357 -0.44264956 0.33347399
+v -0.33021610 0.11160775 0.31406067
+v -0.33021610 0.11885934 0.31406070
+v -0.34717208 0.50760372 0.33399096
+v -0.34733357 0.37805488 0.33384376
+v -0.32989313 0.20519256 0.31406101
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 35
+f 1 35 62
+f 1 62 42
+f 1 42 28
+f 1 28 10
+f 1 10 4
+f 1 4 11
+f 1 11 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 41
+f 1 41 52
+f 1 52 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 45
+f 1 45 69
+f 1 69 53
+f 1 53 30
+f 1 30 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 7
+f 4 10 11
+f 5 12 6
+f 5 13 14
+f 5 14 12
+f 6 12 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 12 14
+f 7 14 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 15
+f 8 17 9
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 10 28 43
+f 10 43 66
+f 10 66 72
+f 10 72 73
+f 10 73 76
+f 10 76 68
+f 10 68 44
+f 10 44 29
+f 10 29 22
+f 13 30 31
+f 13 31 32
+f 13 32 18
+f 13 18 14
+f 15 33 16
+f 15 21 33
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 18 32 36
+f 18 36 19
+f 19 36 20
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 40
+f 20 40 33
+f 20 33 21
+f 22 29 41
+f 28 42 43
+f 29 44 67
+f 29 67 64
+f 29 64 38
+f 29 38 37
+f 29 37 63
+f 29 63 57
+f 29 57 70
+f 29 70 55
+f 29 55 54
+f 29 54 69
+f 29 69 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 41
+f 30 53 54
+f 30 54 55
+f 30 55 31
+f 31 55 56
+f 31 56 57
+f 31 57 58
+f 31 58 36
+f 31 36 32
+f 33 59 60
+f 33 60 34
+f 33 40 61
+f 33 61 59
+f 34 60 42
+f 34 42 62
+f 34 62 35
+f 36 58 37
+f 37 58 63
+f 38 64 39
+f 39 64 65
+f 39 65 40
+f 40 65 61
+f 42 60 43
+f 43 60 66
+f 44 68 67
+f 53 69 54
+f 55 70 56
+f 56 70 57
+f 57 63 58
+f 59 71 60
+f 59 61 73
+f 59 73 72
+f 59 72 71
+f 60 71 66
+f 61 65 73
+f 64 67 74
+f 64 74 75
+f 64 75 65
+f 65 75 73
+f 66 71 72
+f 67 68 76
+f 67 76 74
+f 73 75 74
+f 73 74 76
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_7.obj

@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.17955075 0.57318138 0.30109875
+v 0.17955075 0.57097253 0.26294231
+v 0.17955075 0.62789378 0.30109895
+v 0.01029647 0.57337666 0.30109875
+v -0.18393501 0.56912345 0.29782953
+v -0.18393501 0.56563308 0.26251410
+v 0.17955075 0.57122273 0.26013529
+v -0.18393501 0.56563308 0.26046151
+v 0.17955075 0.62492212 0.26384646
+v 0.16037311 0.62796090 0.30109895
+v 0.00481714 0.57339496 0.30109875
+v -0.18393501 0.62542850 0.29782974
+v -0.00044871 0.57341937 0.30109875
+v 0.17955075 0.57340128 0.24538657
+v -0.18393501 0.56858053 0.24465251
+v 0.17955075 0.61484748 0.24306225
+v 0.16037311 0.61487189 0.24272922
+v 0.11749915 0.61493901 0.24248454
+v 0.09604439 0.61500614 0.24248454
+v 0.16037311 0.62494043 0.26384646
+v 0.13891834 0.62796701 0.30109895
+v -0.18265413 0.62437295 0.26384645
+v -0.18393501 0.62435464 0.26384645
+v -0.00044871 0.62750322 0.30109894
+v 0.17955075 0.57578114 0.24380294
+v -0.18393501 0.57188793 0.24242320
+v 0.17955075 0.59629066 0.23582374
+v 0.12906267 0.60488260 0.23179336
+v 0.11749915 0.60494972 0.23176618
+v 0.13731724 0.61285814 0.24038437
+v 0.09604439 0.60500465 0.23173898
+v -0.09687064 0.60518772 0.23166422
+v -0.09687064 0.61516476 0.24248454
+v -0.05403226 0.62481228 0.26384646
+v 0.11749915 0.62794260 0.30109895
+v -0.16119937 0.62452547 0.26384645
+v -0.16119937 0.61472543 0.24317780
+v -0.18393501 0.61304121 0.24066303
+v 0.16037311 0.59406947 0.23475667
+v 0.17955075 0.59406947 0.23497416
+v 0.11749915 0.59380711 0.23447121
+v -0.18393501 0.59528991 0.23373718
+v -0.09687064 0.59312364 0.23453236
+v 0.12906267 0.60479716 0.23179336
+v 0.11749915 0.60460189 0.23176618
+v 0.09604439 0.60443716 0.23173898
+v -0.09687064 0.60391235 0.23166422
+v -0.11017758 0.60509618 0.23169820
+v -0.18393501 0.61255306 0.24016688
+v 0.13731724 0.59619917 0.23396147
+v -0.18393501 0.59569267 0.23375756
+v -0.11017758 0.60419306 0.23169820
+f 1 2 7
+f 1 7 14
+f 1 14 25
+f 1 25 40
+f 1 40 27
+f 1 27 16
+f 1 16 9
+f 1 9 3
+f 1 3 10
+f 1 10 21
+f 1 21 35
+f 1 35 24
+f 1 24 13
+f 1 13 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 4 11 5
+f 5 12 23
+f 5 23 38
+f 5 38 49
+f 5 49 51
+f 5 51 42
+f 5 42 26
+f 5 26 15
+f 5 15 8
+f 5 8 6
+f 5 11 13
+f 5 13 24
+f 5 24 12
+f 7 8 14
+f 8 15 14
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 12 22 23
+f 12 24 22
+f 14 15 26
+f 14 26 25
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 29 31
+f 18 31 19
+f 18 30 29
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 22 36 33
+f 22 33 37
+f 22 37 23
+f 22 24 36
+f 23 37 38
+f 24 35 36
+f 25 39 40
+f 25 26 41
+f 25 41 39
+f 26 42 43
+f 26 43 41
+f 27 40 28
+f 28 40 44
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 31
+f 31 46 47
+f 31 47 32
+f 32 47 52
+f 32 52 48
+f 32 48 38
+f 32 38 33
+f 33 38 37
+f 33 36 34
+f 34 36 35
+f 38 48 49
+f 39 50 40
+f 39 41 50
+f 40 50 44
+f 41 46 45
+f 41 45 50
+f 41 43 42
+f 41 42 46
+f 42 51 48
+f 42 48 52
+f 42 52 47
+f 42 47 46
+f 44 50 45
+f 48 51 49
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_8.obj

@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.21265916 0.51544334 0.31405653
+v -0.21387508 0.50908576 0.31405651
+v -0.22761832 0.51544360 0.24248054
+v -0.32662089 0.51544334 0.31405653
+v -0.25162435 0.48474565 0.31405642
+v -0.24934868 0.48199925 0.24248042
+v -0.23185730 0.51544366 0.22599656
+v -0.31814292 0.51544360 0.24248054
+v -0.31978274 0.48199917 0.26382995
+v -0.32465757 0.48199899 0.31405641
+v -0.25625377 0.48199899 0.31405641
+v -0.25593026 0.48199929 0.23055655
+v -0.23202462 0.51544366 0.22556019
+v -0.31707202 0.51544363 0.23478948
+v -0.31539873 0.48199923 0.24650594
+v -0.25132315 0.51544373 0.20783255
+v -0.24109383 0.51544370 0.21477090
+v -0.23237044 0.51544366 0.22502565
+v -0.26618191 0.48199930 0.22901833
+v -0.26843527 0.51544375 0.20281429
+v -0.30832632 0.51544370 0.21376723
+v -0.31417166 0.48199925 0.24248042
+v -0.26843527 0.48199930 0.22885469
+v -0.28582625 0.48199930 0.22841832
+v -0.28986445 0.48199930 0.22834196
+v -0.28887161 0.51544375 0.20261792
+v -0.30357420 0.51544373 0.20799620
+v -0.30606181 0.48199929 0.23226929
+v -0.30409850 0.48199930 0.23004380
+v -0.28986445 0.51544375 0.20261792
+v -0.30095272 0.51544373 0.20640344
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 18
+f 1 18 17
+f 1 17 16
+f 1 16 20
+f 1 20 26
+f 1 26 30
+f 1 30 31
+f 1 31 27
+f 1 27 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 6 11 10
+f 6 10 9
+f 6 9 15
+f 6 15 22
+f 6 22 28
+f 6 28 29
+f 6 29 25
+f 6 25 24
+f 6 24 23
+f 6 23 19
+f 6 19 12
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 12 19 20
+f 12 20 16
+f 14 21 22
+f 14 22 15
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 20 25 26
+f 21 27 28
+f 21 28 22
+f 25 29 30
+f 25 30 26
+f 27 31 29
+f 27 29 28
+f 29 31 30
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/mjcf/mesh/table_collision_9.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.33073772 0.46694939 0.29927543
+v 0.32696625 0.46694952 0.26383637
+v 0.33053471 0.47869903 0.29927547
+v 0.26747772 0.46694939 0.29927543
+v 0.32661367 0.48607179 0.26383644
+v 0.32349395 0.46694958 0.24699704
+v 0.32166697 0.51544361 0.23020817
+v 0.33032104 0.48607166 0.29927550
+v 0.22617336 0.50926710 0.29927558
+v 0.25264833 0.46694954 0.25840433
+v 0.32269264 0.46694959 0.24576979
+v 0.31490401 0.51544365 0.21940444
+v 0.32151741 0.51544362 0.22994662
+v 0.32825900 0.51544336 0.29927560
+v 0.32944493 0.50029463 0.29927555
+v 0.22225232 0.51385777 0.29927560
+v 0.25235986 0.46694955 0.25603033
+v 0.31391041 0.46694962 0.23631402
+v 0.30438027 0.51544371 0.20421483
+v 0.22160062 0.51544336 0.29927560
+v 0.22921830 0.51544357 0.24248056
+v 0.25209276 0.46694960 0.24248039
+v 0.30319434 0.46694964 0.23087191
+v 0.30381401 0.51544371 0.20381245
+v 0.23222051 0.51544362 0.22767321
+v 0.25261628 0.46694960 0.24105196
+v 0.23260514 0.51544363 0.22587258
+v 0.30129258 0.46694964 0.23053996
+v 0.28903805 0.51544374 0.19695198
+v 0.25639840 0.46694964 0.23138495
+v 0.23282949 0.51544363 0.22542999
+v 0.28903805 0.46694964 0.23004705
+v 0.28108915 0.51544374 0.19670050
+v 0.23928264 0.51544367 0.21438483
+v 0.24485969 0.51544370 0.20730305
+v 0.25040469 0.51544371 0.20372192
+v 0.26760593 0.51544374 0.19651943
+v 0.26760593 0.46694964 0.23056007
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 14
+f 1 14 20
+f 1 20 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 22
+f 1 22 26
+f 1 26 30
+f 1 30 38
+f 1 38 32
+f 1 32 28
+f 1 28 23
+f 1 23 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 4 9 10
+f 5 7 8
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 12
+f 7 12 19
+f 7 19 24
+f 7 24 29
+f 7 29 33
+f 7 33 37
+f 7 37 36
+f 7 36 35
+f 7 35 34
+f 7 34 31
+f 7 31 27
+f 7 27 25
+f 7 25 21
+f 7 21 20
+f 7 20 14
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 11 18 19
+f 11 19 12
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 19
+f 21 25 22
+f 22 25 27
+f 22 27 26
+f 23 28 29
+f 23 29 24
+f 26 27 30
+f 27 31 30
+f 28 32 29
+f 29 32 33
+f 30 31 34
+f 30 34 35
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 32 38 37
+f 32 37 33
+

dataset/furniture/table/b6b0dd6f66465938a67e4fd35d310d06/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f45f193222cce79b2c472851714d45a0ba8b2668e7dbae58d9105e2b84a684
+size 166612