Add asset furniture/chair/a4539947ba215e03a1cb360dc16404b7

.gitattributes

@@ -3756,3 +3756,6 @@ dataset/furniture/chair/a426a51f50ac5358afe018a568c01d24/mesh/bar_stool_39_gs.pl
 dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/9635cc79def4539bb07519e13a01b7a0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41.glb filter=lfs diff=lfs merge=lfs -text
 dataset/furniture/chair/9635cc79def4539bb07519e13a01b7a0/mesh/computer_chair_41_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/a4539947ba215e03a1cb360dc16404b7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mesh/dining_chair_5.glb filter=lfs diff=lfs merge=lfs -text
+dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mesh/dining_chair_5_gs.ply filter=lfs diff=lfs merge=lfs -text

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/a4539947ba215e03a1cb360dc16404b7.urdf

@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="dining_chair_5">
+   <link name="dining_chair_5">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/dining_chair_5.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/dining_chair_5_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="5.0000" />
+         <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>0.925000</scale>
+         <version>v0.1.5</version>
+         <category>dining_chair</category>
+         <description>modern orange dining chair with curved backrest and four straight legs</description>
+         <min_height>0.85</min_height>
+         <max_height>1.0</max_height>
+         <real_height>0.925</real_height>
+         <min_mass>4.0</min_mass>
+         <max_mass>6.0</max_mass>
+         <generate_time>20251021111112</generate_time>
+         <gs_model>mesh/dining_chair_5_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.586106181144714</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Backrest is merged with rear legs/frame; clear functional boundary missing and not fixable by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/chair/a4539947ba215e03a1cb360dc16404b7/a4539947ba215e03a1cb360dc16404b7.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03aa0de19565f083628ca696f8f50499282b01b6a7d2ba3e0628f53d3d7c16fc
+size 729961

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mesh/dining_chair_5.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f851b69b174fb04e5856fe7e207249be12da1f1a0974ab13e85da67cdb2d8a8
+size 1847304

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mesh/dining_chair_5_gs.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8240d912f30142129454345e9b1df73fde9afdfa1b47cd400b5a08d9ecbc6982
+size 12750442

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/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/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/a4539947ba215e03a1cb360dc16404b7.xml

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="dining_chair_5">
+  <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/dining_chair_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/dining_chair_5_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/dining_chair_5_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/dining_chair_5_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/dining_chair_5_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/dining_chair_5_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/dining_chair_5_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/dining_chair_5_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/dining_chair_5_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/dining_chair_5_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/dining_chair_5_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/dining_chair_5_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/dining_chair_5_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/dining_chair_5_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/dining_chair_5_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/dining_chair_5_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/dining_chair_5_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/dining_chair_5_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/dining_chair_5_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/dining_chair_5_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/dining_chair_5_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/dining_chair_5_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/dining_chair_5_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/dining_chair_5_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/dining_chair_5_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="dining_chair_5">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_0.obj

@@ -0,0 +1,1150 @@
+# https://github.com/mikedh/trimesh
+v 0.28215782 0.17866514 -0.00859505
+v 0.28171047 0.17866520 -0.02391084
+v 0.28109106 0.19364260 -0.02391079
+v 0.28140076 0.19364254 -0.00859500
+v 0.28205460 0.17866509 0.00670195
+v 0.28208900 -0.16591125 -0.00859632
+v 0.27341727 0.20862010 -0.05100935
+v 0.28164164 -0.10595346 -0.02391189
+v 0.27407108 -0.20742400 -0.05101088
+v 0.27231608 0.21830003 -0.05100932
+v 0.27754667 0.20862000 -0.02391073
+v 0.27771869 0.20861994 -0.00859494
+v 0.28126311 0.19364249 0.00670200
+v 0.28171047 0.17866503 0.02200835
+v 0.28171047 0.14871025 0.02200824
+v 0.28167607 -0.16591136 0.02200708
+v 0.28198574 -0.16591130 0.00670068
+v 0.28198574 -0.18088865 -0.00859637
+v 0.28157281 -0.16591119 -0.02391211
+v 0.28160721 -0.15093381 -0.02391205
+v 0.28143519 -0.18088859 -0.02391216
+v 0.27400225 -0.21084328 -0.05101089
+v 0.26601875 0.22581279 -0.05100929
+v 0.27286666 0.21858888 -0.02391070
+v 0.27290109 0.21854066 -0.00859491
+v 0.27276343 0.21834798 0.00670209
+v 0.27747781 0.20861989 0.00670206
+v 0.28085016 0.19364243 0.02200840
+v 0.27579167 0.19364238 0.03441137
+v 0.27620460 0.17866498 0.03468381
+v 0.27623900 0.16368760 0.03474013
+v 0.27623900 0.13373280 0.03479639
+v 0.27627343 -0.09097628 0.03503048
+v 0.27627343 -0.10595368 0.03503982
+v 0.27623900 -0.16591141 0.03500201
+v 0.27610135 -0.18088881 0.03487981
+v 0.28146956 -0.18088876 0.02200703
+v 0.28184809 -0.18088870 0.00670063
+v 0.28074693 -0.19586605 -0.00859643
+v 0.28050605 -0.19586599 -0.02391222
+v 0.27276343 -0.21792263 -0.05101092
+v 0.25844819 0.23265135 -0.05100927
+v 0.26588110 0.22581274 -0.03921707
+v 0.26536492 0.22610166 -0.02391067
+v 0.26467669 0.22586074 0.00670212
+v 0.27255696 0.21805896 0.02200849
+v 0.27703049 0.20861983 0.02200846
+v 0.27389902 0.20861979 0.03282348
+v 0.26347227 0.20861977 0.03867730
+v 0.26347227 0.19364236 0.04066924
+v 0.26347227 0.17866496 0.04115778
+v 0.26347227 0.16368758 0.04129867
+v 0.26347227 0.14871018 0.04137379
+v 0.26347227 0.11875539 0.04149583
+v 0.26347227 0.10377799 0.04153336
+v 0.26347227 0.08875244 0.04157089
+v 0.26347227 -0.09097630 0.04196487
+v 0.26347227 -0.10595370 0.04198360
+v 0.26347227 -0.15093405 0.04203982
+v 0.27623900 -0.15093403 0.03503026
+v 0.26347227 -0.16591143 0.04202097
+v 0.26347227 -0.18088883 0.04182360
+v 0.26347227 -0.19586623 0.04108123
+v 0.27548194 -0.19586621 0.03440055
+v 0.28019635 -0.19586616 0.02200697
+v 0.28057488 -0.19586610 0.00670057
+v 0.27654873 -0.21084344 -0.00859648
+v 0.27658313 -0.21084338 -0.02391227
+v 0.27210960 -0.21999347 -0.05101093
+v 0.25617701 0.23337372 -0.05100926
+v 0.24833114 0.23573341 -0.02391063
+v 0.25831054 0.23260313 -0.03921705
+v 0.26447021 0.22557173 0.02200852
+v 0.27193755 0.21728839 0.03086909
+v 0.26233668 0.22282664 0.03297387
+v 0.24833114 0.22359716 0.03810419
+v 0.24833114 0.20861976 0.04177804
+v 0.24833114 0.19364235 0.04248270
+v 0.24833114 0.17866495 0.04284910
+v 0.24833114 0.16368757 0.04302757
+v 0.24833114 0.10377798 0.04336561
+v 0.24833114 0.08875243 0.04344073
+v 0.24833114 -0.16591144 0.04415390
+v 0.24833114 -0.18088884 0.04403170
+v 0.24833114 -0.19586624 0.04355244
+v 0.24833114 -0.21084363 0.04240605
+v 0.26347227 -0.21084361 0.03822474
+v 0.27327962 -0.21084359 0.03222058
+v 0.27582607 -0.21084355 0.02200692
+v 0.27630785 -0.21084349 0.00670052
+v 0.27224725 -0.21989728 -0.00859652
+v 0.27228168 -0.21994539 -0.02391231
+v 0.26653494 -0.22577252 -0.05101095
+v 0.24833114 0.23568534 -0.05100925
+v 0.24833114 0.23573346 -0.03921703
+v 0.24833114 0.23520351 0.02200855
+v 0.23322444 0.24006761 0.00670217
+v 0.23322444 0.23997121 0.02200857
+v 0.25689967 0.23173608 0.02200854
+v 0.25652114 0.23149524 0.03025840
+v 0.24833114 0.23308448 0.03227859
+v 0.23322444 0.23549238 0.03456187
+v 0.23322444 0.22359715 0.04071632
+v 0.21808331 0.22359715 0.04153380
+v 0.23322444 0.20861975 0.04231363
+v 0.23322444 0.19364235 0.04285855
+v 0.23322444 0.17866495 0.04316857
+v 0.23322444 0.16368757 0.04331885
+v 0.23322444 0.14871017 0.04339397
+v 0.22568827 -0.17255737 0.04496196
+v 0.23322444 -0.15093406 0.04472713
+v 0.23171032 -0.16687462 0.04482103
+v 0.23171032 -0.17944408 0.04474581
+v 0.23322444 -0.19586624 0.04425715
+v 0.23322444 -0.21084363 0.04332688
+v 0.23322444 -0.22582103 0.03989721
+v 0.24956996 -0.22721763 0.03571590
+v 0.26347227 -0.22230540 0.03280310
+v 0.27142140 -0.21878978 0.03017218
+v 0.27179992 -0.21931949 0.02200688
+v 0.27207520 -0.21970470 0.00670048
+v 0.26481434 -0.22750623 -0.05101096
+v 0.24489000 0.23592614 -0.05100925
+v 0.17265991 0.24806209 -0.03408666
+v 0.18780104 0.24724342 -0.03310946
+v 0.19767720 0.24647288 -0.03214165
+v 0.19922573 0.24676178 -0.02391059
+v 0.20679628 0.24526887 -0.02391060
+v 0.21808331 0.24295725 -0.02391061
+v 0.21808331 0.24343875 -0.00859482
+v 0.23322444 0.23973063 -0.02391062
+v 0.23322444 0.24006766 -0.00859483
+v 0.21808331 0.24343870 0.00670218
+v 0.21808331 0.24339052 0.02200858
+v 0.19812454 0.24656894 0.03051215
+v 0.18780104 0.24729130 0.03176185
+v 0.21808331 0.23717798 0.03528538
+v 0.18780104 0.23862270 0.03782236
+v 0.17265991 0.23862270 0.03922239
+v 0.15751880 0.23862269 0.04000227
+v 0.14237767 0.23862269 0.04035933
+v 0.20294218 0.22359715 0.04184387
+v 0.18780104 0.22359715 0.04203180
+v 0.21808331 0.20861975 0.04244518
+v 0.17265991 0.22359715 0.04215394
+v 0.21808331 0.19364235 0.04291492
+v 0.21808331 0.17866495 0.04314978
+v 0.21808331 0.16368757 0.04325308
+v 0.22558505 -0.17255737 0.04496196
+v 0.22568827 -0.17347239 0.04496195
+v 0.21808331 -0.19586624 0.04432293
+v 0.21808331 -0.21084363 0.04347722
+v 0.21808331 -0.22582103 0.04055494
+v 0.21808331 -0.23641593 0.03391179
+v 0.23322444 -0.23593436 0.03335742
+v 0.24533733 -0.23477850 0.03178826
+v 0.25541995 -0.23314109 0.02200683
+v 0.26347227 -0.22659150 0.02200686
+v 0.26199258 -0.22837333 0.00590178
+v 0.26360992 -0.22741010 -0.00859655
+v 0.25724377 -0.23410399 -0.05101098
+v 0.25896434 -0.23261109 -0.05101097
+v 0.22861328 0.23409614 -0.05100926
+v 0.09702311 0.24854370 -0.03466923
+v 0.11212982 0.24883268 -0.03489474
+v 0.12727095 0.24892897 -0.03493232
+v 0.14237767 0.24883268 -0.03481957
+v 0.15751880 0.24854370 -0.03456587
+v 0.14237767 0.25181846 -0.02391058
+v 0.15751880 0.25119238 -0.02391058
+v 0.17265991 0.25013292 -0.02391058
+v 0.18780104 0.24844732 -0.02391059
+v 0.19950101 0.24680989 -0.00859480
+v 0.20707157 0.24550962 -0.00859481
+v 0.18780104 0.24854360 -0.00859480
+v 0.20707157 0.24550957 0.00670219
+v 0.20710600 0.24546133 0.02200859
+v 0.19953544 0.24680978 0.02200860
+v 0.18780104 0.24854349 0.02200860
+v 0.17265991 0.25027721 0.02200861
+v 0.17265991 0.24820636 0.03304912
+v 0.15751880 0.24878426 0.03377263
+v 0.14237767 0.24916952 0.03414849
+v 0.12727095 0.24926581 0.03423306
+v 0.12727095 0.23862269 0.04036872
+v 0.15751880 0.22359715 0.04219153
+v 0.14237767 0.22359715 0.04208817
+v 0.21956301 -0.16687462 0.04483043
+v 0.22558505 -0.17347239 0.04496195
+v 0.12727095 0.22359715 0.04187205
+v 0.21956301 -0.17944408 0.04476461
+v 0.20294218 -0.19586624 0.04405043
+v 0.18780104 -0.21084363 0.04303560
+v 0.20294218 -0.21084363 0.04329869
+v 0.20294218 -0.22582103 0.04052675
+v 0.20294218 -0.23641593 0.03394938
+v 0.21808331 -0.23949805 0.02200681
+v 0.23322444 -0.23858304 0.02200681
+v 0.24788381 -0.23554900 0.02200682
+v 0.25576408 -0.23328551 0.01046831
+v 0.24833114 -0.23612674 -0.03921877
+v 0.24833114 -0.23612669 -0.05101099
+v -0.06939166 0.16368791 -0.04954371
+v -0.06939166 0.17866529 -0.04899867
+v -0.06939166 0.19364269 -0.04821874
+v -0.06939166 0.20317813 -0.04730726
+v -0.06939166 0.20327445 -0.04729787
+v -0.05435377 0.21020932 -0.04607635
+v 0.22541299 0.23120661 -0.05100927
+v -0.06939166 0.13373311 -0.05010760
+v -0.06939166 0.14861419 -0.04994779
+v 0.08188197 0.24791762 -0.03400210
+v 0.09702311 0.25119238 -0.02391058
+v 0.11212982 0.25181846 -0.02391058
+v 0.12727095 0.25201109 -0.02391057
+v 0.14237767 0.25210738 -0.00859478
+v 0.15751880 0.25143313 -0.00859479
+v 0.17265991 0.25027732 -0.00859479
+v 0.15751880 0.25143302 0.02200861
+v 0.14237767 0.25215539 0.02200862
+v 0.12727095 0.25239619 0.02200862
+v 0.11212982 0.24907319 0.03402633
+v 0.11212982 0.23862269 0.04001167
+v 0.11212982 0.22359715 0.04153380
+v 0.20294218 -0.16591144 0.04439820
+v 0.20294218 -0.18088884 0.04436996
+v 0.05159972 0.22359715 0.04005859
+v 0.18780104 -0.19586624 0.04367459
+v -0.03921264 -0.21084361 0.03754822
+v 0.15751880 -0.21084363 0.04241545
+v 0.17265991 -0.21084363 0.04275371
+v 0.17265991 -0.22582103 0.04008513
+v 0.18780104 -0.22582103 0.04034822
+v 0.18780104 -0.23631963 0.03386481
+v 0.20294218 -0.23949805 0.02200681
+v 0.20294218 -0.23959428 -0.00859659
+v 0.21808331 -0.23954611 -0.00859659
+v 0.23322444 -0.23867922 -0.00859659
+v 0.23322444 -0.23853470 -0.02391238
+v 0.21808331 -0.23925707 -0.02391238
+v 0.20294218 -0.23935341 -0.02391238
+v 0.18780104 -0.23920895 -0.02391238
+v 0.17265991 -0.23891997 -0.02391238
+v 0.12727095 -0.23800497 -0.02391237
+v 0.03649300 -0.23444116 -0.03348708
+v 0.02135187 -0.23415224 -0.03312063
+v 0.23442885 -0.23550061 -0.05101099
+v -0.06939166 0.21073906 -0.04446960
+v 0.21983830 0.22456066 -0.05100930
+v -0.06939166 -0.00106343 -0.05063427
+v -0.06939166 0.01386580 -0.05057784
+v 0.06674084 0.24676181 -0.03255509
+v 0.08188197 0.24989211 -0.02391058
+v -0.05435377 0.22152661 -0.03842781
+v 0.09702311 0.25138496 -0.00859479
+v 0.11212982 0.25201103 -0.00859478
+v 0.12727095 0.25230001 -0.00859478
+v 0.11212982 0.25205910 0.02200862
+v 0.09702311 0.24873609 0.03357531
+v 0.09702311 0.23862270 0.03939153
+v 0.03649300 0.22359715 0.03948542
+v -0.03921264 0.20861977 0.03758734
+v -0.05435377 0.20861977 0.03708935
+v -0.05435377 -0.21084361 0.03700324
+v -0.03921264 -0.22365384 0.03376151
+v 0.06674084 -0.22582102 0.03686224
+v 0.12727095 -0.22582102 0.03886362
+v 0.14237767 -0.22582102 0.03934283
+v 0.15751880 -0.22582103 0.03975627
+v 0.15751880 -0.23607883 0.03350775
+v 0.17265991 -0.23622329 0.03369568
+v 0.18780104 -0.23935358 0.02200681
+v 0.18780104 -0.23940164 -0.00859659
+v 0.14237767 -0.23853476 -0.00859659
+v 0.11212982 -0.23766787 -0.02391237
+v 0.00621074 -0.23376697 -0.03247229
+v 0.09702311 -0.23728260 -0.02391237
+v 0.05159972 -0.23603045 -0.02391237
+v 0.03649300 -0.23559700 -0.02391237
+v 0.22871651 -0.23318899 -0.05101098
+v -0.04950173 -0.21850058 -0.04695176
+v -0.06939166 -0.20838719 -0.04797592
+v -0.06939166 -0.19596222 -0.04933832
+v -0.06939166 -0.18088850 -0.04976109
+v -0.06939166 -0.16591110 -0.05005232
+v -0.06939166 0.21945579 -0.03686804
+v 0.21736067 0.20862010 -0.05100935
+v 0.21650038 -0.21084328 -0.05101089
+v -0.06939166 -0.01613714 -0.05063433
+v 0.05906705 0.24613573 -0.03159669
+v 0.08188197 0.25003651 -0.00859479
+v 0.06674084 0.24758049 -0.02391059
+v -0.06939166 0.21950395 -0.03682106
+v -0.01918506 0.23149547 -0.03225447
+v 0.09702311 0.25133673 0.02200861
+v 0.08188197 0.24801372 0.03265448
+v 0.08188197 0.23862270 0.03831096
+v 0.02135187 0.22359716 0.03844244
+v -0.05435377 0.22051502 0.03347185
+v -0.06939166 0.20871610 0.03539803
+v -0.06939166 0.20861978 0.03542622
+v -0.06939166 0.19373870 0.03598054
+v -0.06939166 -0.19586621 0.03637375
+v -0.05435377 -0.22240169 0.03331049
+v -0.06939166 -0.21084360 0.03508641
+v 0.02135187 -0.22582101 0.03512394
+v 0.03649300 -0.22582101 0.03574409
+v 0.05159972 -0.22582101 0.03631726
+v -0.00142865 -0.23333375 0.02966473
+v 0.00621074 -0.23357456 0.03003118
+v 0.02135187 -0.23400795 0.03066072
+v 0.03649300 -0.23434510 0.03112114
+v 0.05159972 -0.23463404 0.03150638
+v 0.06674084 -0.23487485 0.03184464
+v 0.08188197 -0.23511565 0.03214532
+v 0.12727095 -0.23574173 0.03301916
+v 0.14237767 -0.23588619 0.03328225
+v 0.14237767 -0.23848670 0.02200681
+v 0.12727095 -0.23819771 0.00670042
+v 0.11212982 -0.23786056 -0.00859658
+v -0.00325247 -0.23347799 -0.03189913
+v 0.05159972 -0.23612685 -0.00859658
+v 0.03649300 -0.23559706 -0.00859658
+v 0.02135187 -0.23501910 -0.02391236
+v 0.22716799 -0.23241845 -0.05101097
+v -0.06939166 -0.15093372 -0.05024958
+v -0.05958435 -0.21782633 -0.04672625
+v -0.06939166 -0.20843535 -0.04796652
+v 0.21780802 -0.21594812 -0.05101091
+v 0.22028566 -0.22543542 -0.05101095
+v -0.06939166 -0.13600448 -0.05030590
+v -0.05435377 0.22692036 -0.02391067
+v 0.06674084 0.24767672 -0.00859480
+v 0.08188197 0.24994011 0.02200861
+v -0.06939166 0.22292317 -0.02391068
+v 0.06674084 0.24685792 0.03089740
+v -0.01656977 0.23110997 0.02967583
+v -0.06939166 0.21854051 0.03199664
+v -0.06939166 -0.22009007 0.03144065
+v -0.05435377 -0.22707306 0.02200686
+v -0.02407152 -0.23179258 0.00670044
+v -0.00235776 -0.23338190 0.02200683
+v 0.00621074 -0.23391163 0.02200683
+v 0.02135187 -0.23477846 0.02200683
+v 0.03649300 -0.23545271 0.02200683
+v 0.05159972 -0.23603062 0.02200682
+v -0.03921264 -0.22962549 0.02200685
+v -0.03921264 -0.23029968 0.00670044
+v 0.11212982 -0.23776433 0.02200682
+v 0.12727095 -0.23814960 0.02200682
+v 0.00621074 -0.23420039 -0.02391236
+v -0.00411276 -0.23352619 -0.02391236
+v -0.01168332 -0.23290011 -0.02391236
+v -0.02407152 -0.23184065 -0.02391235
+v -0.03921264 -0.23039586 -0.02391235
+v -0.05445701 -0.22220878 -0.04065633
+v 0.00621074 -0.23415233 -0.00859657
+v -0.06939166 -0.22071589 -0.03657838
+v -0.06939166 -0.21589999 -0.04417988
+v -0.06939166 -0.21585183 -0.04422686
+v -0.06939166 0.22282679 -0.00859489
+v -0.05435377 0.22672766 -0.00859488
+v 0.05896381 0.24613550 0.02975105
+v 0.06674084 0.24758032 0.02200860
+v -0.05435377 0.22561989 0.02200852
+v -0.06939166 0.22171903 0.02200850
+v -0.06939166 -0.22230536 0.02208204
+v -0.05435377 -0.22774725 0.00670045
+v -0.03921264 -0.23039592 -0.00859656
+v -0.02407152 -0.23184071 -0.00859656
+v -0.01099509 -0.23290022 0.00670043
+v -0.00342453 -0.23347813 0.00670043
+v 0.00621074 -0.23405603 0.00670043
+v -0.00380305 -0.23352625 -0.00859657
+v -0.01137362 -0.23290017 -0.00859657
+v -0.05435377 -0.22784343 -0.02391234
+v -0.06939166 -0.22076407 -0.03646563
+v -0.06939166 0.22263410 0.00670211
+v -0.05435377 0.22653498 0.00670212
+v -0.06939166 -0.22288320 0.00679443
+v -0.05435377 -0.22784349 -0.00859655
+v -0.06939166 -0.22307579 -0.00850257
+v -0.06939166 -0.22312390 -0.02391232
+v -0.06939166 -0.22312390 -0.02380896
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 7 10
+f 3 10 11
+f 3 11 4
+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 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 8
+f 7 9 22
+f 7 22 41
+f 7 41 69
+f 7 69 93
+f 7 93 122
+f 7 122 162
+f 7 162 161
+f 7 161 202
+f 7 202 247
+f 7 247 280
+f 7 280 325
+f 7 325 330
+f 7 330 329
+f 7 329 288
+f 7 288 287
+f 7 287 249
+f 7 249 209
+f 7 209 163
+f 7 163 123
+f 7 123 94
+f 7 94 70
+f 7 70 42
+f 7 42 23
+f 7 23 10
+f 8 20 9
+f 9 20 19
+f 9 19 21
+f 9 21 22
+f 10 23 24
+f 10 24 11
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 16
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 38
+f 16 38 17
+f 17 38 18
+f 18 38 39
+f 18 39 40
+f 18 40 21
+f 18 21 19
+f 21 40 22
+f 22 40 41
+f 23 42 43
+f 23 43 25
+f 23 25 24
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 73
+f 26 73 46
+f 26 46 27
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 28 48 29
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 30
+f 30 51 52
+f 30 52 53
+f 30 53 31
+f 31 53 54
+f 31 54 55
+f 31 55 56
+f 31 56 57
+f 31 57 32
+f 32 57 58
+f 32 58 59
+f 32 59 33
+f 33 59 34
+f 34 59 60
+f 34 60 35
+f 35 60 61
+f 35 61 62
+f 35 62 36
+f 36 62 63
+f 36 63 64
+f 36 64 37
+f 37 64 65
+f 37 65 66
+f 37 66 38
+f 38 66 39
+f 39 66 67
+f 39 67 68
+f 39 68 40
+f 40 68 41
+f 41 68 69
+f 42 70 71
+f 42 71 72
+f 42 72 44
+f 42 44 43
+f 44 72 45
+f 45 72 73
+f 46 73 74
+f 46 74 47
+f 47 74 48
+f 48 74 49
+f 49 74 75
+f 49 75 76
+f 49 76 77
+f 49 77 50
+f 50 77 78
+f 50 78 51
+f 51 78 79
+f 51 79 80
+f 51 80 52
+f 52 80 81
+f 52 81 53
+f 53 81 82
+f 53 82 54
+f 54 82 83
+f 54 83 55
+f 55 83 56
+f 56 83 57
+f 57 83 58
+f 58 83 59
+f 59 83 61
+f 59 61 60
+f 61 83 84
+f 61 84 62
+f 62 84 85
+f 62 85 63
+f 63 85 86
+f 63 86 87
+f 63 87 64
+f 64 87 88
+f 64 88 65
+f 65 88 89
+f 65 89 90
+f 65 90 66
+f 66 90 67
+f 67 90 91
+f 67 91 92
+f 67 92 68
+f 68 92 69
+f 69 92 93
+f 70 94 95
+f 70 95 71
+f 71 96 72
+f 71 95 132
+f 71 132 97
+f 71 97 98
+f 71 98 96
+f 72 99 73
+f 72 96 99
+f 73 99 100
+f 73 100 74
+f 74 100 75
+f 75 100 76
+f 76 100 101
+f 76 101 102
+f 76 102 103
+f 76 103 77
+f 77 103 104
+f 77 104 105
+f 77 105 78
+f 78 105 106
+f 78 106 79
+f 79 106 107
+f 79 107 80
+f 80 107 108
+f 80 108 81
+f 81 108 109
+f 81 109 82
+f 82 109 110
+f 82 110 111
+f 82 111 83
+f 83 111 112
+f 83 112 113
+f 83 113 84
+f 84 113 114
+f 84 114 85
+f 85 114 115
+f 85 115 86
+f 86 115 116
+f 86 116 117
+f 86 117 87
+f 87 117 118
+f 87 118 119
+f 87 119 88
+f 88 119 89
+f 89 119 120
+f 89 120 90
+f 90 120 121
+f 90 121 91
+f 91 121 122
+f 91 122 92
+f 92 122 93
+f 94 123 124
+f 94 124 125
+f 94 125 126
+f 94 126 127
+f 94 127 128
+f 94 128 129
+f 94 129 130
+f 94 130 131
+f 94 131 132
+f 94 132 95
+f 96 98 100
+f 96 100 99
+f 97 132 130
+f 97 130 133
+f 97 133 134
+f 97 134 98
+f 98 134 135
+f 98 135 101
+f 98 101 100
+f 101 135 102
+f 102 135 136
+f 102 136 137
+f 102 137 138
+f 102 138 103
+f 103 138 139
+f 103 139 104
+f 104 139 140
+f 104 140 141
+f 104 141 142
+f 104 142 105
+f 105 142 143
+f 105 143 144
+f 105 144 106
+f 106 144 145
+f 106 145 146
+f 106 146 107
+f 107 146 147
+f 107 147 108
+f 108 147 148
+f 108 148 109
+f 109 148 149
+f 109 149 110
+f 110 149 189
+f 110 189 150
+f 110 150 112
+f 110 112 111
+f 112 150 113
+f 113 150 114
+f 114 150 151
+f 114 151 152
+f 114 152 115
+f 115 152 153
+f 115 153 116
+f 116 153 154
+f 116 154 155
+f 116 155 156
+f 116 156 117
+f 117 156 118
+f 118 156 119
+f 119 156 157
+f 119 157 158
+f 119 158 120
+f 120 158 121
+f 121 158 159
+f 121 159 160
+f 121 160 161
+f 121 161 162
+f 121 162 122
+f 123 163 164
+f 123 164 165
+f 123 165 166
+f 123 166 167
+f 123 167 168
+f 123 168 124
+f 124 168 169
+f 124 169 170
+f 124 170 125
+f 125 170 171
+f 125 171 126
+f 126 171 172
+f 126 172 127
+f 127 173 174
+f 127 174 130
+f 127 130 128
+f 127 172 175
+f 127 175 173
+f 128 130 129
+f 130 132 131
+f 130 174 176
+f 130 176 133
+f 133 176 177
+f 133 177 134
+f 134 177 135
+f 135 178 179
+f 135 179 180
+f 135 180 136
+f 135 177 178
+f 136 180 181
+f 136 181 137
+f 137 181 138
+f 138 181 139
+f 139 181 182
+f 139 182 140
+f 140 182 183
+f 140 183 141
+f 141 183 184
+f 141 184 185
+f 141 185 186
+f 141 186 145
+f 141 145 143
+f 141 143 142
+f 143 145 144
+f 145 186 146
+f 146 186 147
+f 147 186 187
+f 147 187 148
+f 148 187 149
+f 149 188 189
+f 149 187 190
+f 149 190 188
+f 150 189 151
+f 151 189 191
+f 151 191 192
+f 151 192 193
+f 151 193 194
+f 151 194 152
+f 152 194 233
+f 152 233 195
+f 152 195 153
+f 153 195 196
+f 153 196 154
+f 154 196 197
+f 154 197 155
+f 155 197 198
+f 155 198 156
+f 156 198 199
+f 156 199 157
+f 157 199 200
+f 157 200 158
+f 158 200 159
+f 159 200 161
+f 159 161 160
+f 161 200 199
+f 161 199 201
+f 161 201 202
+f 163 203 204
+f 163 204 205
+f 163 205 206
+f 163 206 207
+f 163 207 208
+f 163 208 164
+f 163 209 210
+f 163 210 211
+f 163 211 203
+f 164 212 213
+f 164 213 214
+f 164 214 165
+f 164 208 212
+f 165 214 215
+f 165 215 166
+f 166 215 167
+f 167 215 169
+f 167 169 168
+f 169 215 257
+f 169 257 216
+f 169 216 170
+f 170 216 217
+f 170 217 171
+f 171 217 218
+f 171 218 172
+f 172 218 175
+f 173 178 174
+f 173 175 178
+f 174 178 176
+f 175 179 178
+f 175 218 180
+f 175 180 179
+f 176 178 177
+f 180 218 217
+f 180 217 219
+f 180 219 181
+f 181 219 182
+f 182 219 220
+f 182 220 183
+f 183 220 221
+f 183 221 184
+f 184 222 185
+f 184 221 222
+f 185 222 223
+f 185 223 224
+f 185 224 190
+f 185 190 187
+f 185 187 186
+f 188 225 226
+f 188 226 189
+f 188 190 224
+f 188 224 227
+f 188 227 225
+f 189 226 191
+f 191 226 192
+f 192 226 228
+f 192 228 229
+f 192 229 230
+f 192 230 231
+f 192 231 193
+f 193 231 232
+f 193 232 233
+f 193 233 194
+f 195 233 234
+f 195 234 196
+f 196 234 235
+f 196 235 197
+f 197 235 236
+f 197 236 237
+f 197 237 238
+f 197 238 198
+f 198 238 201
+f 198 201 199
+f 201 238 202
+f 202 238 239
+f 202 239 240
+f 202 240 241
+f 202 241 242
+f 202 242 243
+f 202 243 244
+f 202 244 245
+f 202 245 246
+f 202 246 247
+f 203 211 210
+f 203 210 251
+f 203 251 250
+f 203 250 289
+f 203 289 331
+f 203 331 326
+f 203 326 285
+f 203 285 284
+f 203 284 283
+f 203 283 282
+f 203 282 328
+f 203 328 360
+f 203 360 359
+f 203 359 358
+f 203 358 377
+f 203 377 383
+f 203 383 384
+f 203 384 382
+f 203 382 380
+f 203 380 367
+f 203 367 339
+f 203 339 305
+f 203 305 303
+f 203 303 302
+f 203 302 301
+f 203 301 300
+f 203 300 338
+f 203 338 366
+f 203 366 378
+f 203 378 361
+f 203 361 335
+f 203 335 293
+f 203 293 286
+f 203 286 248
+f 203 248 207
+f 203 207 206
+f 203 206 205
+f 203 205 204
+f 207 248 208
+f 208 248 212
+f 209 249 250
+f 209 250 251
+f 209 251 210
+f 212 252 253
+f 212 253 213
+f 212 248 254
+f 212 254 252
+f 213 253 255
+f 213 255 256
+f 213 256 214
+f 214 256 257
+f 214 257 215
+f 216 257 221
+f 216 221 220
+f 216 220 217
+f 217 220 219
+f 221 258 222
+f 221 257 256
+f 221 256 258
+f 222 258 259
+f 222 259 260
+f 222 260 223
+f 223 260 261
+f 223 261 227
+f 223 227 224
+f 225 229 226
+f 225 227 262
+f 225 262 229
+f 226 229 228
+f 227 261 263
+f 227 263 262
+f 229 264 265
+f 229 265 266
+f 229 266 267
+f 229 267 268
+f 229 268 269
+f 229 269 230
+f 229 262 263
+f 229 263 264
+f 230 269 231
+f 231 269 232
+f 232 269 270
+f 232 270 271
+f 232 271 233
+f 233 271 234
+f 234 271 235
+f 235 271 272
+f 235 272 236
+f 236 272 273
+f 236 273 242
+f 236 242 241
+f 236 241 237
+f 237 241 240
+f 237 240 239
+f 237 239 238
+f 242 273 274
+f 242 274 243
+f 243 274 244
+f 244 274 275
+f 244 275 245
+f 245 275 246
+f 246 276 247
+f 246 275 277
+f 246 277 278
+f 246 278 279
+f 246 279 276
+f 247 276 281
+f 247 281 282
+f 247 282 283
+f 247 283 284
+f 247 284 285
+f 247 285 280
+f 248 286 254
+f 249 287 250
+f 250 287 288
+f 250 288 289
+f 252 290 253
+f 252 254 290
+f 253 291 255
+f 253 290 292
+f 253 292 291
+f 254 286 293
+f 254 293 294
+f 254 294 290
+f 255 291 295
+f 255 295 258
+f 255 258 256
+f 258 295 259
+f 259 296 297
+f 259 297 260
+f 259 295 296
+f 260 297 298
+f 260 298 261
+f 261 298 263
+f 263 298 299
+f 263 299 300
+f 263 300 301
+f 263 301 302
+f 263 302 303
+f 263 303 264
+f 264 304 265
+f 264 303 305
+f 264 305 304
+f 265 306 307
+f 265 307 308
+f 265 308 266
+f 265 304 309
+f 265 309 310
+f 265 310 311
+f 265 311 312
+f 265 312 306
+f 266 308 312
+f 266 312 313
+f 266 313 267
+f 267 313 268
+f 268 313 314
+f 268 314 315
+f 268 315 316
+f 268 316 269
+f 269 316 317
+f 269 317 270
+f 270 317 316
+f 270 316 272
+f 270 272 271
+f 272 316 315
+f 272 315 318
+f 272 318 274
+f 272 274 273
+f 274 318 319
+f 274 319 320
+f 274 320 275
+f 275 320 277
+f 276 279 321
+f 276 321 281
+f 277 320 278
+f 278 320 322
+f 278 322 279
+f 279 323 324
+f 279 324 321
+f 279 322 323
+f 280 285 326
+f 280 326 325
+f 281 321 327
+f 281 327 282
+f 282 327 328
+f 288 329 289
+f 289 329 330
+f 289 330 331
+f 290 294 332
+f 290 332 292
+f 291 292 333
+f 291 333 364
+f 291 364 334
+f 291 334 295
+f 292 332 333
+f 293 335 332
+f 293 332 294
+f 295 334 296
+f 296 334 336
+f 296 336 299
+f 296 299 297
+f 297 299 298
+f 299 337 338
+f 299 338 300
+f 299 336 337
+f 304 305 339
+f 304 339 340
+f 304 340 309
+f 306 312 307
+f 307 312 308
+f 309 341 342
+f 309 342 343
+f 309 343 344
+f 309 344 345
+f 309 345 346
+f 309 346 310
+f 309 340 347
+f 309 347 348
+f 309 348 341
+f 310 346 311
+f 311 346 349
+f 311 349 312
+f 312 349 350
+f 312 350 313
+f 313 350 318
+f 313 318 314
+f 314 318 315
+f 318 350 319
+f 319 350 320
+f 320 350 349
+f 320 349 346
+f 320 346 322
+f 321 324 351
+f 321 351 352
+f 321 352 353
+f 321 353 354
+f 321 354 355
+f 321 355 356
+f 321 356 327
+f 322 346 323
+f 323 346 345
+f 323 345 324
+f 324 345 344
+f 324 344 357
+f 324 357 351
+f 325 326 331
+f 325 331 330
+f 327 356 358
+f 327 358 359
+f 327 359 360
+f 327 360 328
+f 332 335 361
+f 332 361 362
+f 332 362 363
+f 332 363 364
+f 332 364 333
+f 334 364 363
+f 334 363 336
+f 336 363 337
+f 337 365 338
+f 337 363 365
+f 338 365 366
+f 339 367 340
+f 340 368 348
+f 340 348 347
+f 340 367 368
+f 341 369 370
+f 341 370 371
+f 341 371 342
+f 341 348 369
+f 342 372 343
+f 342 371 372
+f 343 372 373
+f 343 373 344
+f 344 373 357
+f 348 368 381
+f 348 381 369
+f 351 357 374
+f 351 374 352
+f 352 374 375
+f 352 375 353
+f 353 375 370
+f 353 370 354
+f 354 370 369
+f 354 369 355
+f 355 376 356
+f 355 369 381
+f 355 381 376
+f 356 376 377
+f 356 377 358
+f 357 373 372
+f 357 372 374
+f 361 378 379
+f 361 379 362
+f 362 379 363
+f 363 379 365
+f 365 379 378
+f 365 378 366
+f 367 380 368
+f 368 380 382
+f 368 382 381
+f 370 375 371
+f 371 375 374
+f 371 374 372
+f 376 381 384
+f 376 384 383
+f 376 383 377
+f 381 382 384
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_1.obj

@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v 0.21738674 0.20866328 -0.05101875
+v 0.21872668 0.20407196 -0.05101877
+v 0.21985473 0.22457062 -0.05101870
+v 0.22339471 0.22155471 -0.22291169
+v 0.22403664 0.22039502 -0.25353328
+v 0.22438565 0.21960237 -0.26880369
+v 0.22565081 0.21617636 -0.32257327
+v 0.22565081 0.21612317 -0.32257327
+v 0.22250972 0.20866385 -0.20760093
+v 0.22552617 0.20099225 -0.23321322
+v 0.22163096 0.19705465 -0.05101880
+v 0.22529557 0.20068363 -0.22291176
+v 0.22544515 0.23124744 -0.05101867
+v 0.22613693 0.23068380 -0.13108728
+v 0.22666669 0.22998171 -0.17701967
+v 0.22696584 0.22940192 -0.20760086
+v 0.22712788 0.22904552 -0.22291166
+v 0.22733355 0.22852421 -0.23822244
+v 0.22758284 0.22788583 -0.25353325
+v 0.23238174 0.22364101 -0.43718202
+v 0.22372502 0.22103339 -0.23822247
+v 0.22438565 0.21128161 -0.26880372
+v 0.22303323 0.20866391 -0.22291173
+v 0.23277438 0.20866470 -0.43718207
+v 0.23204519 0.20866464 -0.42187127
+v 0.22403041 0.20742437 -0.23826292
+v 0.22581285 0.20160411 -0.24343387
+v 0.23818405 0.19847123 -0.43718211
+v 0.23447581 0.18774965 -0.05101883
+v 0.23777895 0.19808812 -0.42187131
+v 0.23322934 0.19432070 -0.22291179
+v 0.23322934 0.19379926 -0.20760099
+v 0.22862365 0.23413630 -0.05101866
+v 0.23755458 0.23437707 -0.42187118
+v 0.23779765 0.23418562 -0.43718198
+v 0.23889453 0.23307374 -0.44812979
+v 0.23693135 0.22363574 -0.45293721
+v 0.23712454 0.20881371 -0.45265446
+v 0.22403664 0.20994618 -0.25353332
+v 0.23921864 0.19952998 -0.44768557
+v 0.24836145 0.19278928 -0.43718213
+v 0.24836145 0.18770771 -0.22291181
+v 0.24836145 0.18751081 -0.20760101
+v 0.24836145 0.18568010 -0.05101884
+v 0.24836145 0.19226252 -0.42187133
+v 0.24836145 0.19027782 -0.34535775
+v 0.24836145 0.18992130 -0.33004697
+v 0.24836145 0.18888370 -0.28411459
+v 0.24836145 0.18855379 -0.26880381
+v 0.24489628 0.23594517 -0.05101865
+v 0.24836145 0.23924444 -0.25353321
+v 0.24836145 0.23940410 -0.26880362
+v 0.24836145 0.23953181 -0.28411440
+v 0.24836145 0.23960105 -0.29942521
+v 0.24836145 0.23988329 -0.37593879
+v 0.24836145 0.23993123 -0.39124957
+v 0.24836145 0.24000582 -0.42187116
+v 0.24836145 0.23986755 -0.43718196
+v 0.23710587 0.23455253 -0.39124959
+v 0.24810593 0.23545187 -0.45293717
+v 0.25297962 0.23260560 -0.46162267
+v 0.24289570 0.22862610 -0.45835049
+v 0.23975460 0.21864012 -0.46121877
+v 0.23975460 0.21389984 -0.46121878
+v 0.24342544 0.20391917 -0.45786580
+v 0.25350939 0.20000885 -0.46134004
+v 0.24843001 0.19724764 -0.45265451
+v 0.26349360 0.19201253 -0.43718213
+v 0.25471223 0.18582375 -0.05101884
+v 0.24836145 0.23570045 -0.05101865
+v 0.24836145 0.23687113 -0.11577645
+v 0.24836145 0.23822805 -0.19233042
+v 0.24836145 0.23849412 -0.20760082
+v 0.24836145 0.23902092 -0.23822240
+v 0.26349360 0.24002718 -0.43718196
+v 0.26431004 0.23558487 -0.45350271
+v 0.25981028 0.23260560 -0.46162267
+v 0.26431004 0.22457213 -0.46368301
+v 0.24810593 0.22363578 -0.46327906
+v 0.24843001 0.20881375 -0.46311751
+v 0.25945503 0.20000885 -0.46134004
+v 0.26409812 0.19686992 -0.45350286
+v 0.26409812 0.20780291 -0.46356187
+v 0.27349026 0.19890220 -0.44905908
+v 0.27473051 0.19769448 -0.43718211
+v 0.26349360 0.19179967 -0.42187134
+v 0.25888166 0.18771773 -0.05101883
+v 0.26349360 0.19105456 -0.34535775
+v 0.26349360 0.19094277 -0.33004697
+v 0.26349360 0.19086292 -0.31473617
+v 0.25618305 0.23341808 -0.05101866
+v 0.26349360 0.23710588 -0.29942522
+v 0.26349360 0.23745174 -0.31473600
+v 0.26349360 0.23979301 -0.42187116
+v 0.27445004 0.23434522 -0.43718198
+v 0.27336563 0.23329718 -0.44909935
+v 0.26990043 0.23017959 -0.45927961
+v 0.27288574 0.22019362 -0.46194591
+v 0.27288574 0.21221868 -0.46194594
+v 0.26954520 0.20222737 -0.45923935
+v 0.28105011 0.20866470 -0.43718207
+v 0.27617640 0.20780288 -0.45350282
+v 0.27469311 0.19762526 -0.42187131
+v 0.26349360 0.19074576 -0.28411458
+v 0.26398594 0.19120244 -0.05101882
+v 0.26349360 0.19070847 -0.26880380
+v 0.27451237 0.19748665 -0.34535772
+v 0.27446874 0.19747064 -0.33004694
+v 0.27441889 0.19747059 -0.31473614
+v 0.25845785 0.23268923 -0.05101867
+v 0.26349360 0.23674404 -0.28411441
+v 0.27254919 0.23258912 -0.31473602
+v 0.27421945 0.23415896 -0.42187118
+v 0.28076341 0.22364101 -0.43718202
+v 0.27610162 0.22457210 -0.45350276
+v 0.27418207 0.19760874 -0.26880377
+v 0.27428178 0.19754495 -0.28411455
+v 0.27435656 0.19749181 -0.29942536
+v 0.27934868 0.20866419 -0.29942532
+v 0.27254296 0.19879434 -0.05101879
+v 0.26530097 0.19232500 -0.05101881
+v 0.26603015 0.22582087 -0.05101869
+v 0.27104097 0.23111511 -0.23082962
+v 0.27126531 0.23133329 -0.24105030
+v 0.27151461 0.23157805 -0.25353324
+v 0.26349360 0.23589270 -0.25353322
+v 0.26349360 0.23632904 -0.26880363
+v 0.27179508 0.23185476 -0.26880365
+v 0.27205682 0.23211550 -0.28411443
+v 0.27729199 0.22364050 -0.29942527
+v 0.27232482 0.21833005 -0.05101872
+v 0.27848861 0.20866402 -0.25353332
+v 0.27883761 0.20866408 -0.26880373
+v 0.27912431 0.20866413 -0.28411451
+v 0.27810843 0.20866397 -0.23822251
+v 0.27343418 0.20866328 -0.05101875
+v 0.27645062 0.22364039 -0.26880368
+v 0.27690558 0.22364044 -0.28411446
+f 1 2 11
+f 1 11 29
+f 1 29 44
+f 1 44 69
+f 1 69 87
+f 1 87 105
+f 1 105 121
+f 1 121 120
+f 1 120 136
+f 1 136 131
+f 1 131 122
+f 1 122 110
+f 1 110 91
+f 1 91 70
+f 1 70 50
+f 1 50 33
+f 1 33 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 2
+f 2 10 12
+f 2 12 11
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 5
+f 5 21 20
+f 5 20 6
+f 6 20 7
+f 7 20 8
+f 8 22 23
+f 8 23 9
+f 8 20 24
+f 8 24 25
+f 8 25 22
+f 9 23 10
+f 10 23 26
+f 10 26 27
+f 10 27 24
+f 10 24 28
+f 10 28 12
+f 11 12 30
+f 11 30 31
+f 11 31 32
+f 11 32 29
+f 12 28 30
+f 13 33 14
+f 14 33 34
+f 14 34 15
+f 15 34 16
+f 16 34 35
+f 16 35 17
+f 17 35 18
+f 18 35 19
+f 19 35 20
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 24
+f 22 25 39
+f 22 39 23
+f 23 39 26
+f 24 38 40
+f 24 40 28
+f 24 27 25
+f 25 27 39
+f 26 39 27
+f 28 40 41
+f 28 41 30
+f 29 42 43
+f 29 43 44
+f 29 32 30
+f 29 30 45
+f 29 45 46
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 42
+f 30 41 45
+f 30 32 31
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 57
+f 33 57 58
+f 33 58 59
+f 33 59 34
+f 34 59 58
+f 34 58 35
+f 35 58 36
+f 36 58 60
+f 36 60 61
+f 36 61 62
+f 36 62 37
+f 37 62 63
+f 37 63 64
+f 37 64 38
+f 38 64 40
+f 40 64 65
+f 40 65 66
+f 40 66 67
+f 40 67 41
+f 41 67 68
+f 41 68 45
+f 42 69 43
+f 42 49 68
+f 42 68 69
+f 43 69 44
+f 45 68 46
+f 46 68 47
+f 47 68 48
+f 48 68 49
+f 50 70 71
+f 50 71 72
+f 50 72 73
+f 50 73 74
+f 50 74 51
+f 51 74 75
+f 51 75 52
+f 52 75 53
+f 53 75 54
+f 54 75 55
+f 55 75 56
+f 56 75 57
+f 57 75 58
+f 58 75 76
+f 58 76 60
+f 60 76 61
+f 61 77 78
+f 61 78 79
+f 61 79 62
+f 61 76 77
+f 62 79 63
+f 63 79 64
+f 64 79 80
+f 64 80 66
+f 64 66 65
+f 66 81 82
+f 66 82 67
+f 66 80 83
+f 66 83 81
+f 67 82 68
+f 68 82 84
+f 68 84 85
+f 68 85 86
+f 68 86 69
+f 69 86 88
+f 69 88 89
+f 69 89 90
+f 69 90 87
+f 70 91 92
+f 70 92 93
+f 70 93 94
+f 70 94 71
+f 71 94 72
+f 72 94 73
+f 73 94 74
+f 74 94 75
+f 75 94 95
+f 75 95 96
+f 75 96 76
+f 76 97 77
+f 76 96 97
+f 77 97 78
+f 78 97 98
+f 78 98 99
+f 78 99 83
+f 78 83 79
+f 79 83 80
+f 81 83 100
+f 81 100 82
+f 82 100 84
+f 83 99 100
+f 84 101 85
+f 84 100 102
+f 84 102 101
+f 85 101 103
+f 85 103 104
+f 85 104 90
+f 85 90 89
+f 85 89 88
+f 85 88 86
+f 87 90 104
+f 87 104 106
+f 87 106 103
+f 87 103 107
+f 87 107 108
+f 87 108 109
+f 87 109 105
+f 91 110 111
+f 91 111 92
+f 92 111 112
+f 92 112 113
+f 92 113 93
+f 93 113 94
+f 94 113 95
+f 95 113 114
+f 95 114 96
+f 96 115 97
+f 96 114 115
+f 97 115 98
+f 98 115 102
+f 98 102 99
+f 99 102 100
+f 101 116 117
+f 101 117 118
+f 101 118 109
+f 101 109 108
+f 101 108 107
+f 101 107 103
+f 101 102 115
+f 101 115 114
+f 101 114 119
+f 101 119 120
+f 101 120 116
+f 103 106 104
+f 105 109 118
+f 105 118 117
+f 105 117 116
+f 105 116 121
+f 110 122 123
+f 110 123 124
+f 110 124 125
+f 110 125 126
+f 110 126 127
+f 110 127 111
+f 111 127 128
+f 111 128 129
+f 111 129 112
+f 112 129 114
+f 112 114 113
+f 114 129 130
+f 114 130 131
+f 114 131 132
+f 114 132 133
+f 114 133 134
+f 114 134 119
+f 116 120 121
+f 119 134 120
+f 120 135 136
+f 120 134 133
+f 120 133 132
+f 120 132 135
+f 122 131 123
+f 123 131 124
+f 124 137 125
+f 124 131 137
+f 125 137 138
+f 125 138 128
+f 125 128 127
+f 125 127 126
+f 128 138 129
+f 129 138 130
+f 130 138 131
+f 131 136 135
+f 131 135 132
+f 131 138 137
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_10.obj

@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.18864112 -0.21086365 -0.43719588
+v -0.18602760 -0.22411947 -0.43719593
+v -0.18548763 -0.22318010 -0.42188810
+v -0.18482524 -0.22197232 -0.40658028
+v -0.18415567 -0.22066689 -0.39127247
+v -0.18344289 -0.21923950 -0.37596465
+v -0.18766915 -0.21086371 -0.42188805
+v -0.18314769 -0.20305560 -0.36640542
+v -0.18351488 -0.20231134 -0.37596458
+v -0.18408366 -0.20124983 -0.39127240
+v -0.18464525 -0.20032866 -0.40658020
+v -0.18518523 -0.19959046 -0.42188801
+v -0.18561721 -0.19918169 -0.43719584
+v -0.18485404 -0.20051760 -0.44846319
+v -0.18601320 -0.21086360 -0.45072980
+v -0.18516363 -0.22244796 -0.44908739
+v -0.18109577 -0.23161056 -0.43719596
+v -0.16789859 -0.21839832 -0.19969482
+v -0.18303970 -0.21842821 -0.36798224
+v -0.16803537 -0.20399583 -0.15143902
+v -0.16803537 -0.20270258 -0.15143901
+v -0.16503308 -0.19588870 -0.13107237
+v -0.16657383 -0.19230158 -0.17699580
+v -0.16693382 -0.19086186 -0.19230360
+v -0.16725060 -0.18978207 -0.20761143
+v -0.16781218 -0.18848873 -0.23159146
+v -0.17848224 -0.19209937 -0.42188799
+v -0.17823026 -0.19169059 -0.43719581
+v -0.16804257 -0.18819588 -0.24177478
+v -0.16908654 -0.18720749 -0.28415048
+v -0.16948253 -0.18690851 -0.29942546
+v -0.16984972 -0.18665835 -0.31473326
+v -0.17569593 -0.19530188 -0.45273357
+v -0.17170007 -0.20007224 -0.46255554
+v -0.18153495 -0.21086358 -0.45838372
+v -0.16960493 -0.18771321 -0.44675496
+v -0.17217524 -0.22244791 -0.46275276
+v -0.17708549 -0.22744404 -0.45401484
+v -0.17190166 -0.23519747 -0.44875895
+v -0.17352880 -0.23596612 -0.43719598
+v -0.17265042 -0.23563069 -0.42188815
+v -0.16979933 -0.23441692 -0.37596470
+v -0.16882736 -0.23390455 -0.36065690
+v -0.16817217 -0.23353246 -0.35001368
+v -0.15722852 -0.22306526 -0.13097392
+v -0.16421229 -0.21095628 -0.13097387
+v -0.16426270 -0.21086478 -0.13097387
+v -0.16502588 -0.19588870 -0.13097382
+v -0.15800610 -0.18295617 -0.13097377
+v -0.17013770 -0.18652409 -0.33004108
+v -0.17066329 -0.18724352 -0.43719580
+v -0.17035370 -0.18650572 -0.34534891
+v -0.17052651 -0.18653618 -0.36065673
+v -0.17085768 -0.18663977 -0.39127235
+v -0.17095849 -0.18678612 -0.40658015
+v -0.17091529 -0.18700566 -0.42188797
+v -0.16030282 -0.19930971 -0.46311403
+v -0.16030282 -0.21086355 -0.46653037
+v -0.17396798 -0.21086356 -0.46390243
+v -0.16030282 -0.18566978 -0.40658014
+v -0.16376591 -0.18771321 -0.44675496
+v -0.15935245 -0.19125743 -0.45210942
+v -0.16030282 -0.22372286 -0.46354112
+v -0.16030282 -0.23121397 -0.45726693
+v -0.16030282 -0.23550858 -0.44961303
+v -0.16030282 -0.23754000 -0.43719598
+v -0.16030282 -0.23717405 -0.42188815
+v -0.15285106 -0.23338644 -0.24427151
+v -0.17165686 -0.23524642 -0.40658032
+v -0.17070649 -0.23484387 -0.39127252
+v -0.14517610 -0.22986702 -0.13107249
+v -0.14517610 -0.22986091 -0.13097394
+v -0.15713493 -0.22312016 -0.13097392
+v -0.14392334 -0.17522107 -0.13097374
+v -0.16030282 -0.18444984 -0.37596452
+v -0.16030282 -0.18498660 -0.39127234
+v -0.15093592 -0.20125568 -0.46170150
+v -0.14969037 -0.21086356 -0.46275271
+v -0.15048234 -0.22141697 -0.46209578
+v -0.15935245 -0.18737162 -0.43719580
+v -0.16030282 -0.18645665 -0.42188796
+v -0.14517610 -0.17802081 -0.20761138
+v -0.14517610 -0.17878937 -0.22291920
+v -0.15367903 -0.18859777 -0.44228746
+v -0.15138951 -0.23437395 -0.44731357
+v -0.15058313 -0.23491078 -0.43719597
+v -0.15043914 -0.23488646 -0.42188814
+v -0.14972636 -0.23471587 -0.36065690
+v -0.14959676 -0.23463661 -0.34534908
+v -0.14998555 -0.23398413 -0.28415065
+v -0.15035274 -0.23380728 -0.26884286
+v -0.15231107 -0.23338644 -0.24427151
+v -0.14517610 -0.23145902 -0.17699594
+v -0.14517610 -0.23097715 -0.16168813
+v -0.14517610 -0.23043428 -0.14638031
+v -0.14505370 -0.22985483 -0.13097394
+v -0.13137414 -0.17692915 -0.13097375
+v -0.14517610 -0.17741083 -0.19230355
+v -0.14517610 -0.17686187 -0.17699574
+v -0.14829360 -0.19819340 -0.45250366
+v -0.14328976 -0.21086360 -0.45250370
+v -0.14792641 -0.22618740 -0.45243804
+v -0.15246947 -0.18822568 -0.43210414
+v -0.14517610 -0.18194908 -0.28415046
+v -0.14730723 -0.19450890 -0.43719582
+v -0.14366415 -0.22584585 -0.43719594
+v -0.13521882 -0.22227749 -0.36065686
+v -0.13458524 -0.22293635 -0.34534904
+v -0.12230964 -0.21859956 -0.21799192
+v -0.12156806 -0.21963669 -0.19230371
+v -0.12112168 -0.22013088 -0.17699590
+v -0.12019289 -0.22093622 -0.14638027
+v -0.11973211 -0.22133278 -0.13097391
+v -0.13003499 -0.22812846 -0.13107249
+v -0.13003499 -0.22812846 -0.13097394
+v -0.14517610 -0.23238607 -0.22291939
+v -0.14517610 -0.23210554 -0.20761158
+v -0.14517610 -0.23181278 -0.19230375
+v -0.15142551 -0.23353891 -0.25353503
+v -0.11982572 -0.18499366 -0.13097378
+v -0.13003499 -0.17894217 -0.14638012
+v -0.13582360 -0.18682921 -0.29942546
+v -0.13750115 -0.20317742 -0.41538384
+v -0.13922909 -0.21086365 -0.43719588
+v -0.13665878 -0.18754287 -0.31473326
+v -0.13726356 -0.18807968 -0.32508083
+v -0.13746515 -0.21864765 -0.41617230
+v -0.12261922 -0.21756248 -0.22817524
+v -0.11509546 -0.21086478 -0.13097387
+v -0.12994859 -0.22807356 -0.13097394
+v -0.11974651 -0.18505466 -0.13097378
+v -0.12282081 -0.18915378 -0.19608128
+v -0.12336800 -0.19034939 -0.20761143
+v -0.12178405 -0.20145171 -0.23822709
+v -0.12224483 -0.20274493 -0.24854179
+v -0.13806273 -0.21086370 -0.42422036
+v -0.12224483 -0.20500811 -0.24854180
+v -0.12237443 -0.18826928 -0.18586512
+v -0.12178405 -0.20774715 -0.23822711
+v -0.12298641 -0.21523825 -0.23822714
+v -0.12131606 -0.21188928 -0.22301787
+v -0.11508826 -0.21074277 -0.13097387
+v -0.12013530 -0.21086450 -0.20761150
+v -0.11510986 -0.19588870 -0.13097382
+v -0.11511706 -0.19588870 -0.13107237
+v -0.12115047 -0.19956680 -0.22291927
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 16
+f 1 16 2
+f 2 17 3
+f 2 16 17
+f 3 17 18
+f 3 18 4
+f 4 18 5
+f 5 18 6
+f 6 19 7
+f 6 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 9
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 27 28
+f 13 28 14
+f 13 26 29
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 27
+f 14 33 34
+f 14 34 35
+f 14 35 15
+f 14 28 36
+f 14 36 33
+f 15 35 16
+f 16 35 37
+f 16 37 38
+f 16 38 39
+f 16 39 17
+f 17 39 40
+f 17 40 41
+f 17 41 42
+f 17 42 43
+f 17 43 44
+f 17 44 45
+f 17 45 18
+f 18 45 46
+f 18 46 47
+f 18 47 19
+f 19 47 20
+f 20 47 48
+f 20 48 21
+f 21 48 22
+f 22 48 23
+f 23 48 49
+f 23 49 24
+f 24 49 25
+f 25 49 26
+f 26 49 29
+f 27 32 50
+f 27 50 28
+f 28 51 36
+f 28 50 52
+f 28 52 53
+f 28 53 54
+f 28 54 55
+f 28 55 56
+f 28 56 51
+f 29 49 30
+f 30 49 31
+f 31 49 32
+f 32 49 50
+f 33 36 34
+f 34 57 58
+f 34 58 59
+f 34 59 35
+f 34 36 57
+f 35 59 37
+f 36 51 60
+f 36 60 61
+f 36 61 62
+f 36 62 57
+f 37 59 58
+f 37 58 63
+f 37 63 64
+f 37 64 39
+f 37 39 38
+f 39 64 65
+f 39 65 66
+f 39 66 40
+f 40 66 67
+f 40 67 68
+f 40 68 41
+f 41 69 70
+f 41 70 42
+f 41 68 69
+f 42 70 68
+f 42 68 71
+f 42 71 43
+f 43 71 44
+f 44 71 72
+f 44 72 73
+f 44 73 45
+f 45 73 72
+f 45 72 96
+f 45 96 115
+f 45 115 130
+f 45 130 113
+f 45 113 129
+f 45 129 142
+f 45 142 144
+f 45 144 131
+f 45 131 120
+f 45 120 97
+f 45 97 74
+f 45 74 49
+f 45 49 48
+f 45 48 47
+f 45 47 46
+f 49 74 50
+f 50 74 52
+f 51 75 76
+f 51 76 60
+f 51 56 74
+f 51 74 75
+f 52 74 53
+f 53 74 54
+f 54 74 55
+f 55 74 56
+f 57 62 77
+f 57 77 58
+f 58 77 78
+f 58 78 79
+f 58 79 63
+f 60 80 81
+f 60 81 61
+f 60 76 82
+f 60 82 83
+f 60 83 80
+f 61 80 84
+f 61 84 62
+f 61 81 80
+f 62 84 77
+f 63 79 64
+f 64 79 85
+f 64 85 65
+f 65 85 66
+f 66 85 86
+f 66 86 87
+f 66 87 88
+f 66 88 89
+f 66 89 90
+f 66 90 91
+f 66 91 92
+f 66 92 68
+f 66 68 67
+f 68 92 93
+f 68 93 94
+f 68 94 95
+f 68 95 71
+f 68 70 69
+f 71 95 96
+f 71 96 72
+f 74 97 98
+f 74 98 99
+f 74 99 75
+f 75 99 76
+f 76 99 98
+f 76 98 82
+f 77 84 100
+f 77 100 101
+f 77 101 78
+f 78 101 79
+f 79 101 102
+f 79 102 85
+f 80 103 84
+f 80 83 103
+f 82 98 97
+f 82 97 83
+f 83 97 104
+f 83 104 103
+f 84 103 105
+f 84 105 100
+f 85 106 86
+f 85 102 106
+f 86 106 107
+f 86 107 108
+f 86 108 109
+f 86 109 110
+f 86 110 111
+f 86 111 112
+f 86 112 113
+f 86 113 114
+f 86 114 87
+f 87 114 88
+f 88 114 115
+f 88 115 89
+f 89 115 116
+f 89 116 90
+f 90 116 91
+f 91 116 117
+f 91 117 118
+f 91 118 119
+f 91 119 92
+f 92 119 118
+f 92 118 93
+f 93 118 115
+f 93 115 94
+f 94 115 95
+f 95 115 96
+f 97 120 121
+f 97 121 122
+f 97 122 103
+f 97 103 104
+f 100 105 123
+f 100 123 124
+f 100 124 101
+f 101 124 106
+f 101 106 102
+f 103 122 125
+f 103 125 126
+f 103 126 105
+f 105 126 123
+f 106 124 127
+f 106 127 107
+f 107 127 109
+f 107 109 108
+f 109 128 129
+f 109 129 110
+f 109 127 128
+f 110 129 111
+f 111 129 112
+f 112 129 113
+f 113 130 114
+f 114 130 115
+f 115 118 117
+f 115 117 116
+f 120 131 122
+f 120 122 121
+f 122 131 125
+f 123 126 132
+f 123 132 133
+f 123 133 134
+f 123 134 135
+f 123 135 124
+f 124 136 127
+f 124 135 137
+f 124 137 136
+f 125 131 138
+f 125 138 126
+f 126 138 132
+f 127 136 137
+f 127 137 139
+f 127 139 140
+f 127 140 128
+f 128 140 141
+f 128 141 129
+f 129 141 143
+f 129 143 139
+f 129 139 137
+f 129 137 142
+f 131 144 138
+f 132 138 145
+f 132 145 146
+f 132 146 133
+f 133 146 134
+f 134 146 145
+f 134 145 135
+f 135 145 144
+f 135 144 142
+f 135 142 137
+f 138 144 145
+f 139 143 141
+f 139 141 140
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_11.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.10840461 -0.19588177 -0.06116839
+v -0.10843185 -0.19621942 -0.06116839
+v -0.11509154 -0.21086646 -0.13094104
+v -0.11509154 -0.21074490 -0.13094104
+v -0.11511197 -0.19588151 -0.13094099
+v -0.11232689 -0.18611017 -0.06116835
+v -0.11034532 -0.21110983 -0.06116845
+v -0.11969476 -0.22124584 -0.13094108
+v -0.11974924 -0.18505643 -0.13094095
+v -0.11520049 -0.18044438 -0.06116833
+v -0.11298740 -0.21548578 -0.06116846
+v -0.11973562 -0.22133364 -0.13094108
+v -0.11982415 -0.18499565 -0.13094095
+v -0.14258831 -0.16087400 -0.10058267
+v -0.14221378 -0.16087401 -0.09867035
+v -0.13998027 -0.16087406 -0.08514747
+v -0.13922441 -0.16087415 -0.06116826
+v -0.11789024 -0.22229281 -0.06116849
+v -0.11808772 -0.22220498 -0.06983542
+v -0.11849629 -0.22206987 -0.08514770
+v -0.11890486 -0.22190774 -0.10044631
+v -0.11931343 -0.22165782 -0.11575174
+v -0.12994987 -0.22807313 -0.13094111
+v -0.13137305 -0.17692580 -0.13094092
+v -0.14650376 -0.16087396 -0.11026041
+v -0.17790237 -0.16087415 -0.06116826
+v -0.12307227 -0.22497376 -0.06116850
+v -0.13003840 -0.22849867 -0.10044633
+v -0.13003840 -0.22837030 -0.11575177
+v -0.13003840 -0.22812714 -0.13094111
+v -0.14391615 -0.17522405 -0.13094091
+v -0.15024899 -0.16087396 -0.11295816
+v -0.14828785 -0.16087396 -0.11202248
+v -0.17795003 -0.16087411 -0.06983519
+v -0.16426294 -0.21086646 -0.13094104
+v -0.15840676 -0.21086672 -0.06116844
+v -0.13003840 -0.22826924 -0.06116851
+v -0.13003840 -0.22838398 -0.06983544
+v -0.13003840 -0.22849873 -0.08514772
+v -0.14504653 -0.22985593 -0.13094111
+v -0.15800501 -0.18295624 -0.13094094
+v -0.16875721 -0.16087397 -0.10849834
+v -0.16448084 -0.16087397 -0.11017845
+v -0.17796365 -0.16087409 -0.07600245
+v -0.16502561 -0.19588151 -0.13094099
+v -0.16420846 -0.21096099 -0.13094104
+v -0.15518588 -0.22120547 -0.08514769
+v -0.15450493 -0.22043568 -0.06983541
+v -0.15410998 -0.22001029 -0.06116848
+v -0.15611197 -0.21585720 -0.06116846
+v -0.17795685 -0.16087406 -0.08514747
+v -0.13660276 -0.22750615 -0.06116851
+v -0.14516911 -0.22847167 -0.10044633
+v -0.14516911 -0.22920769 -0.11575177
+v -0.14516911 -0.22986268 -0.13094111
+v -0.17372134 -0.16087400 -0.10097197
+v -0.15722872 -0.22306240 -0.13094109
+v -0.15580554 -0.22188073 -0.10044631
+v -0.14516911 -0.22661471 -0.06983543
+v -0.14516911 -0.22598672 -0.06116850
+v -0.14922075 -0.22330577 -0.06116849
+v -0.14516911 -0.22762759 -0.08514772
+v -0.15713339 -0.22311641 -0.13094109
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 17
+f 1 17 26
+f 1 26 36
+f 1 36 50
+f 1 50 49
+f 1 49 61
+f 1 61 60
+f 1 60 52
+f 1 52 37
+f 1 37 27
+f 1 27 18
+f 1 18 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 12
+f 3 12 23
+f 3 23 30
+f 3 30 40
+f 3 40 55
+f 3 55 63
+f 3 63 57
+f 3 57 46
+f 3 46 35
+f 3 35 45
+f 3 45 41
+f 3 41 31
+f 3 31 24
+f 3 24 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 13 24 14
+f 14 24 25
+f 14 25 33
+f 14 33 32
+f 14 32 43
+f 14 43 42
+f 14 42 56
+f 14 56 51
+f 14 51 44
+f 14 44 34
+f 14 34 26
+f 14 26 17
+f 14 17 16
+f 14 16 15
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 23
+f 18 23 19
+f 19 23 20
+f 20 23 21
+f 21 23 22
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 26 34 35
+f 26 35 36
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 28 40 29
+f 29 40 30
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 34 44 35
+f 35 46 47
+f 35 47 48
+f 35 48 49
+f 35 49 50
+f 35 50 36
+f 35 44 51
+f 35 51 45
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 55 40
+f 38 40 39
+f 41 45 42
+f 42 45 56
+f 45 51 56
+f 46 57 47
+f 47 49 48
+f 47 57 58
+f 47 58 59
+f 47 59 60
+f 47 60 61
+f 47 61 49
+f 52 60 59
+f 52 59 62
+f 52 62 53
+f 53 62 57
+f 53 57 54
+f 54 57 63
+f 54 63 55
+f 57 62 59
+f 57 59 58
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_12.obj

@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.13813474 -0.00108426 -0.05325484
+v -0.13813474 0.00690208 -0.05320353
+v -0.09976620 0.13370492 -0.05135728
+v -0.13002634 -0.00108427 -0.05303266
+v -0.13002634 -0.01607838 -0.05302417
+v -0.13813474 -0.00806047 -0.05324632
+v -0.13813474 0.01384672 -0.05315224
+v -0.11489291 0.11874237 -0.05146842
+v -0.09976620 0.14869903 -0.05080177
+v -0.08463277 0.16160974 -0.05022065
+v -0.08463277 0.14869903 -0.05057959
+v -0.08463277 0.13370492 -0.05074201
+v -0.11489291 -0.00108427 -0.05251139
+v -0.11489291 0.01384671 -0.05244298
+v -0.13813474 0.02186462 -0.05301549
+v -0.13813474 0.02884082 -0.05289582
+v -0.13813474 -0.01607837 -0.05322926
+v -0.11489291 -0.01607838 -0.05250290
+v -0.09976620 -0.13593660 -0.05146081
+v -0.13002634 0.08878571 -0.05140871
+v -0.13461549 0.08850161 -0.05065672
+v -0.12697811 0.11874236 -0.04907572
+v -0.11117180 0.14869902 -0.04879361
+v -0.10035836 0.16160974 -0.04921230
+v -0.08250642 0.16160974 -0.05013520
+v -0.06949934 0.14869902 -0.04994724
+v -0.06941187 0.16160974 -0.04959684
+v -0.06949934 0.13370491 -0.05010966
+v -0.06949934 0.01384671 -0.05058009
+v -0.06939168 -0.00108427 -0.05063142
+v -0.06939168 -0.01617308 -0.05063148
+v -0.13813474 0.03130302 -0.05281037
+v -0.13813474 -0.02305458 -0.05314383
+v -0.06949934 -0.13593661 -0.05030719
+v -0.11489291 -0.12094247 -0.05148639
+v -0.11489291 -0.10597993 -0.05185379
+v -0.13813474 -0.03107250 -0.05304131
+v -0.06949934 -0.15089915 -0.05024742
+v -0.08463277 -0.15089914 -0.05080287
+v -0.08463277 -0.16087418 -0.05063201
+v -0.08972659 -0.16087418 -0.05065764
+v -0.09976620 -0.15089914 -0.05087978
+v -0.13813474 0.03348111 -0.05273345
+v -0.13461549 0.07379160 -0.05145150
+v -0.13461549 0.10292752 -0.04895615
+v -0.12407121 0.12969596 -0.04811006
+v -0.10863498 0.15968419 -0.04785359
+v -0.10526377 0.16160974 -0.04827231
+v -0.06939168 0.14869902 -0.04993869
+v -0.06939168 0.16160970 -0.03829989
+v -0.06939168 0.13370491 -0.05010111
+v -0.06939168 -0.13603129 -0.05029865
+v -0.11273291 -0.16087419 -0.04844439
+v -0.13813474 -0.08296791 -0.05127261
+v -0.13002634 -0.09098582 -0.05165719
+v -0.13813474 -0.06797380 -0.05200747
+v -0.13813474 -0.03801714 -0.05286189
+v -0.06939168 -0.15099386 -0.05023888
+v -0.06939168 -0.16087419 -0.05011074
+v -0.07459316 -0.16087419 -0.05029874
+v -0.10037854 -0.16087419 -0.04967492
+v -0.13813474 0.03348085 0.01854330
+v -0.13461549 0.12145698 -0.02390111
+v -0.13461549 0.11842667 -0.04006892
+v -0.13461549 0.11233434 -0.04674287
+v -0.11064021 0.16160973 -0.04500798
+v -0.06939168 0.16160943 0.03404503
+v -0.11721440 -0.16087423 -0.03920687
+v -0.13813474 -0.10620093 -0.04653858
+v -0.13813474 -0.10266546 -0.04837582
+v -0.13813474 -0.09777264 -0.04929016
+v -0.06939168 -0.16087449 0.03388149
+v -0.13461549 0.06927732 0.02004741
+v -0.13461549 0.08471337 0.01962020
+v -0.13461549 0.08878545 0.01919296
+v -0.13461549 0.10005471 0.01797101
+v -0.13461549 0.10321138 0.01744976
+v -0.13461549 0.10807263 0.01534762
+v -0.13461549 0.11621682 0.00846010
+v -0.13461549 0.11675347 0.00651176
+v -0.13461549 0.12047837 -0.00886131
+v -0.13813474 -0.04606687 0.01919246
+v -0.11973103 0.16160954 0.00478576
+v -0.11863421 0.16160965 -0.02390097
+v -0.11506113 0.16160971 -0.03961587
+v -0.08463277 0.16160944 0.03289141
+v -0.09677182 -0.16087449 0.03319786
+v -0.11823721 -0.16087428 -0.02390215
+v -0.13813474 -0.11462922 -0.03445549
+v -0.13813474 -0.10995735 -0.04235137
+v -0.13813474 -0.06102942 0.01930350
+v -0.10895124 -0.16087449 0.03200151
+v -0.09899910 0.16160944 0.03169506
+v -0.10149555 0.16160945 0.03059271
+v -0.11469777 0.16160948 0.02300444
+v -0.11501402 0.16160948 0.02274808
+v -0.11942823 0.16160954 0.00669992
+v -0.11809589 -0.16087439 0.00411804
+v -0.13813474 -0.11513434 -0.02390198
+v -0.13813474 -0.11478706 -0.03333605
+v -0.13813474 -0.07630763 0.01857708
+v -0.13813474 -0.09098608 0.01783359
+v -0.13813474 -0.10253943 0.01610738
+v -0.11450936 -0.16087446 0.02330235
+v -0.11800842 -0.16087439 0.00669874
+v -0.13813474 -0.11497652 -0.02215019
+v -0.13813474 -0.10945247 0.00669893
+v -0.11491310 -0.16087445 0.02211455
+v -0.13813474 -0.11393485 -0.01333139
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 33
+f 1 33 37
+f 1 37 57
+f 1 57 56
+f 1 56 54
+f 1 54 71
+f 1 71 70
+f 1 70 69
+f 1 69 90
+f 1 90 89
+f 1 89 100
+f 1 100 99
+f 1 99 106
+f 1 106 109
+f 1 109 107
+f 1 107 103
+f 1 103 102
+f 1 102 101
+f 1 101 91
+f 1 91 82
+f 1 82 62
+f 1 62 43
+f 1 43 32
+f 1 32 16
+f 1 16 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 7 15
+f 3 15 16
+f 3 16 8
+f 4 14 13
+f 4 13 18
+f 4 18 5
+f 5 17 6
+f 5 18 19
+f 5 19 17
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 8 16 20
+f 9 23 24
+f 9 24 10
+f 10 25 11
+f 10 24 48
+f 10 48 66
+f 10 66 85
+f 10 85 84
+f 10 84 83
+f 10 83 97
+f 10 97 96
+f 10 96 95
+f 10 95 94
+f 10 94 93
+f 10 93 86
+f 10 86 67
+f 10 67 50
+f 10 50 27
+f 10 27 25
+f 11 26 28
+f 11 28 12
+f 11 25 27
+f 11 27 26
+f 12 28 29
+f 12 29 13
+f 13 30 31
+f 13 31 18
+f 13 29 30
+f 16 32 20
+f 17 19 33
+f 18 31 34
+f 18 34 19
+f 19 35 36
+f 19 36 37
+f 19 37 33
+f 19 34 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 42 35
+f 20 43 44
+f 20 44 21
+f 20 32 43
+f 21 44 43
+f 21 43 45
+f 21 45 22
+f 22 46 47
+f 22 47 23
+f 22 45 46
+f 23 47 48
+f 23 48 24
+f 26 49 51
+f 26 51 28
+f 26 27 49
+f 27 50 49
+f 28 51 30
+f 28 30 29
+f 30 51 49
+f 30 49 50
+f 30 50 67
+f 30 67 72
+f 30 72 59
+f 30 59 58
+f 30 58 52
+f 30 52 31
+f 31 52 34
+f 34 52 58
+f 34 58 38
+f 35 42 53
+f 35 53 54
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 37
+f 35 37 36
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 40
+f 40 60 59
+f 40 59 72
+f 40 72 87
+f 40 87 92
+f 40 92 104
+f 40 104 108
+f 40 108 105
+f 40 105 98
+f 40 98 88
+f 40 88 68
+f 40 68 53
+f 40 53 61
+f 40 61 41
+f 41 61 42
+f 42 61 53
+f 43 62 63
+f 43 63 64
+f 43 64 65
+f 43 65 45
+f 45 65 46
+f 46 65 47
+f 47 65 66
+f 47 66 48
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 53 71 54
+f 54 56 55
+f 62 73 74
+f 62 74 75
+f 62 75 76
+f 62 76 77
+f 62 77 78
+f 62 78 79
+f 62 79 80
+f 62 80 81
+f 62 81 63
+f 62 82 73
+f 63 81 83
+f 63 83 84
+f 63 84 64
+f 64 84 85
+f 64 85 65
+f 65 85 66
+f 67 86 87
+f 67 87 72
+f 68 88 89
+f 68 89 90
+f 68 90 69
+f 73 82 91
+f 73 91 92
+f 73 92 93
+f 73 93 74
+f 74 93 94
+f 74 94 95
+f 74 95 75
+f 75 95 76
+f 76 95 77
+f 77 95 96
+f 77 96 78
+f 78 96 79
+f 79 96 97
+f 79 97 83
+f 79 83 80
+f 80 83 81
+f 86 93 87
+f 87 93 92
+f 88 98 99
+f 88 99 100
+f 88 100 89
+f 91 101 92
+f 92 101 102
+f 92 102 103
+f 92 103 104
+f 98 105 99
+f 99 105 106
+f 103 107 108
+f 103 108 104
+f 105 108 107
+f 105 107 109
+f 105 109 106
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_13.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.19269858 0.08155682 -0.08513942
+v -0.19209027 0.08879820 -0.08513939
+v -0.18774691 0.10377876 -0.10044238
+v -0.19103854 0.08155685 -0.09305042
+v -0.19256213 0.08155668 -0.04712865
+v -0.19038476 0.10377859 -0.05452061
+v -0.19048141 0.10377870 -0.08513934
+v -0.18679183 0.11686853 -0.09850572
+v -0.18644503 0.11686854 -0.10044233
+v -0.19253370 0.08155665 -0.03923031
+v -0.19189130 0.08879803 -0.03923028
+v -0.19032791 0.10377853 -0.03923023
+v -0.18405163 0.11686856 -0.10747995
+v -0.18888392 0.08879826 -0.10044243
+v -0.18932167 0.08155688 -0.10044246
+v -0.18871905 0.11686831 -0.03923018
+v -0.18874179 0.11686837 -0.05452056
+v -0.18875885 0.11686843 -0.06982360
+v -0.18875885 0.11686848 -0.08513929
+v -0.19209595 0.08155660 -0.02391462
+v -0.19154451 0.08879798 -0.02391459
+v -0.19017442 0.10377848 -0.02391454
+v -0.18858261 0.11686826 -0.02391449
+v -0.18870199 0.11686831 -0.03729357
+v -0.18357409 0.11686857 -0.10853053
+v -0.18399478 0.10377879 -0.10879639
+v -0.18696237 0.08155690 -0.10482199
+v -0.18695668 0.08155655 -0.01019378
+v -0.18653600 0.10377843 -0.01191513
+v -0.18573441 0.11686822 -0.01258594
+v -0.17543881 0.11686857 -0.10942922
+v -0.18432451 0.08879829 -0.10891036
+v -0.17543881 0.10377879 -0.10966977
+v -0.18446096 0.08155691 -0.10893571
+v -0.15142521 0.08155646 0.01237472
+v -0.14423932 0.08155645 0.01684285
+v -0.14228368 0.08879783 0.01671631
+v -0.13967424 0.10066747 0.01584297
+v -0.13462592 0.10323911 0.01745049
+v -0.13462592 0.10808859 0.01534935
+v -0.17684301 0.11686820 -0.00844690
+v -0.16570602 0.11686857 -0.10899887
+v -0.17543881 0.08879829 -0.10968248
+v -0.17543881 0.08155691 -0.10961922
+v -0.14044172 0.08155644 0.01807063
+v -0.13462592 0.08471569 0.01962753
+v -0.13462592 0.08879782 0.01919720
+v -0.13462592 0.10008331 0.01796944
+v -0.13462592 0.11623560 0.00846365
+v -0.13726947 0.11065678 0.01280519
+v -0.17543881 0.11686820 -0.00791528
+v -0.16628021 0.10377879 -0.10897360
+v -0.16019723 0.11686854 -0.10151822
+v -0.16695104 0.08155691 -0.10877116
+v -0.16678049 0.08879829 -0.10885973
+v -0.13816770 0.08155644 0.01880477
+v -0.13462592 0.08155644 0.01961486
+v -0.13462592 0.11678865 0.00651438
+v -0.13462592 0.11686815 0.00602073
+v -0.15957187 0.11686854 -0.10044233
+v -0.13462592 0.08155670 -0.05076138
+v -0.13462592 0.11686832 -0.04131869
+v -0.13462592 0.11237142 -0.04674881
+v -0.13462592 0.10293863 -0.04896393
+v -0.13462592 0.08851810 -0.05066009
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 27
+f 1 27 34
+f 1 34 44
+f 1 44 54
+f 1 54 61
+f 1 61 57
+f 1 57 56
+f 1 56 45
+f 1 45 36
+f 1 36 35
+f 1 35 28
+f 1 28 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 10
+f 2 10 11
+f 2 11 12
+f 2 12 6
+f 3 9 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 6 12 16
+f 6 16 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 7 16 17
+f 8 19 18
+f 8 18 17
+f 8 17 16
+f 8 16 24
+f 8 24 23
+f 8 23 30
+f 8 30 41
+f 8 41 51
+f 8 51 59
+f 8 59 62
+f 8 62 60
+f 8 60 53
+f 8 53 42
+f 8 42 31
+f 8 31 25
+f 8 25 13
+f 8 13 9
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 16
+f 13 25 15
+f 13 15 14
+f 15 25 26
+f 15 26 27
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 21 30 22
+f 22 30 23
+f 25 31 26
+f 26 32 27
+f 26 31 33
+f 26 33 32
+f 27 32 34
+f 28 35 29
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 31 42 33
+f 32 33 34
+f 33 43 34
+f 33 42 43
+f 34 43 44
+f 36 45 46
+f 36 46 37
+f 37 46 47
+f 37 47 48
+f 37 48 38
+f 38 48 39
+f 39 48 47
+f 39 47 46
+f 39 46 57
+f 39 57 61
+f 39 61 65
+f 39 65 64
+f 39 64 63
+f 39 63 62
+f 39 62 59
+f 39 59 58
+f 39 58 49
+f 39 49 40
+f 40 49 50
+f 40 50 41
+f 41 50 49
+f 41 49 51
+f 42 52 43
+f 42 53 54
+f 42 54 52
+f 43 52 44
+f 44 52 55
+f 44 55 54
+f 45 56 46
+f 46 56 57
+f 49 58 51
+f 51 58 59
+f 52 54 55
+f 53 60 54
+f 54 60 61
+f 60 62 63
+f 60 63 64
+f 60 64 65
+f 60 65 61
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_14.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.17790621 -0.16088074 -0.06116826
+v -0.13922083 -0.16088074 -0.06116826
+v -0.15840418 -0.21086358 -0.06116844
+v -0.17788496 -0.16088076 -0.05451780
+v -0.11520444 -0.18044240 -0.06116833
+v -0.06939168 -0.16088078 -0.05011758
+v -0.15610982 -0.21585791 -0.06116846
+v -0.15282762 -0.21848381 -0.03057859
+v -0.17757692 -0.16088087 -0.02390564
+v -0.17776812 -0.16088082 -0.03921172
+v -0.11232587 -0.18610967 -0.06116835
+v -0.06939168 -0.16602025 -0.05005076
+v -0.10840635 -0.19588061 -0.06116839
+v -0.06939168 -0.16088108 0.03387648
+v -0.15410227 -0.22000774 -0.06116848
+v -0.15222216 -0.21743486 -0.02037454
+v -0.15346494 -0.20517681 0.02200130
+v -0.15422973 -0.20701087 0.00669521
+v -0.15317815 -0.21893242 -0.03921193
+v -0.14135585 -0.22131440 0.03730732
+v -0.14039987 -0.22060854 0.05263568
+v -0.17531443 -0.16088090 -0.01701011
+v -0.15295508 -0.20394311 0.03169292
+v -0.15238150 -0.20197709 0.04189698
+v -0.15175481 -0.19947007 0.05263576
+v -0.15359241 -0.19198188 0.05263578
+v -0.15359241 -0.18461904 0.05263581
+v -0.06939168 -0.18090427 -0.04976118
+v -0.10843821 -0.19621708 -0.06116839
+v -0.06939168 -0.19598621 -0.04933793
+v -0.06949790 -0.16088108 0.03387648
+v -0.13003278 -0.16261631 0.05261361
+v -0.13004340 -0.16262291 0.05263589
+v -0.11589486 -0.16804606 0.05263587
+v -0.10832138 -0.17558704 0.05263585
+v -0.10534721 -0.18307522 0.05263582
+v -0.06939168 -0.19588096 0.03637167
+v -0.14921613 -0.22330649 -0.06116849
+v -0.14310848 -0.22248204 0.00669515
+v -0.14223748 -0.22190814 0.02200123
+v -0.15154236 -0.21617478 -0.00859976
+v -0.15068198 -0.21449905 0.00669518
+v -0.13003278 -0.22428991 0.03730731
+v -0.13003278 -0.22339269 0.05263567
+v -0.14516915 -0.22598511 -0.06116850
+v -0.14698551 -0.21086399 0.05263572
+v -0.17302008 -0.16088092 -0.01217544
+v -0.15166982 -0.17712426 0.05263584
+v -0.14981097 -0.21267160 0.02200127
+v -0.14947107 -0.20970936 0.03699544
+v -0.11035017 -0.21110768 -0.06116845
+v -0.06939168 -0.20840933 -0.04797892
+v -0.09677524 -0.16088108 0.03320810
+v -0.10896932 -0.16088108 0.03200499
+v -0.14410695 -0.16798669 0.05263587
+v -0.10347773 -0.19587442 0.05263577
+v -0.06939168 -0.21086393 0.03509054
+v -0.10546405 -0.20850867 0.05263572
+v -0.13003278 -0.22603151 0.00669514
+v -0.06939168 -0.22235015 0.02200123
+v -0.11653219 -0.22113634 0.05263568
+v -0.06939168 -0.22011364 0.03143665
+v -0.13659718 -0.22750253 -0.06116851
+v -0.13003278 -0.22741690 -0.02390589
+v -0.13003278 -0.22680337 -0.00859980
+v -0.11298444 -0.21548844 -0.06116846
+v -0.06939168 -0.20848191 -0.04796778
+v -0.10896932 -0.21601666 0.05263570
+v -0.06939168 -0.22003447 0.03147006
+v -0.06939168 -0.22291750 0.00669515
+v -0.13003278 -0.22826785 -0.06116851
+v -0.13003278 -0.22818208 -0.05451805
+v -0.13003278 -0.22786548 -0.03921197
+v -0.11789181 -0.22229707 -0.06116849
+v -0.06939168 -0.21589755 -0.04422483
+v -0.06939168 -0.22307579 -0.00849953
+v -0.12307536 -0.22497569 -0.06116850
+v -0.06939168 -0.22073355 -0.03657181
+v -0.06939168 -0.22077315 -0.03646041
+v -0.06939168 -0.22312851 -0.02390587
+v -0.06939168 -0.22312851 -0.02380561
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 29
+f 1 29 51
+f 1 51 66
+f 1 66 74
+f 1 74 77
+f 1 77 71
+f 1 71 63
+f 1 63 45
+f 1 45 38
+f 1 38 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 22
+f 1 22 47
+f 1 47 54
+f 1 54 53
+f 1 53 31
+f 1 31 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 6 11
+f 6 12 13
+f 6 13 11
+f 6 14 37
+f 6 37 57
+f 6 57 69
+f 6 69 62
+f 6 62 60
+f 6 60 70
+f 6 70 76
+f 6 76 81
+f 6 81 80
+f 6 80 79
+f 6 79 78
+f 6 78 75
+f 6 75 67
+f 6 67 52
+f 6 52 30
+f 6 30 28
+f 6 28 12
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 19
+f 8 19 20
+f 8 20 21
+f 8 21 16
+f 9 18 17
+f 9 17 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 22
+f 12 28 13
+f 13 28 30
+f 13 30 29
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 36
+f 14 36 37
+f 15 38 39
+f 15 39 40
+f 15 40 19
+f 16 21 41
+f 16 41 42
+f 16 42 17
+f 17 42 23
+f 19 40 20
+f 20 43 44
+f 20 44 21
+f 20 40 45
+f 20 45 43
+f 21 44 61
+f 21 61 68
+f 21 68 58
+f 21 58 56
+f 21 56 36
+f 21 36 35
+f 21 35 34
+f 21 34 33
+f 21 33 55
+f 21 55 48
+f 21 48 27
+f 21 27 26
+f 21 26 25
+f 21 25 46
+f 21 46 42
+f 21 42 41
+f 22 27 48
+f 22 48 47
+f 23 42 49
+f 23 49 50
+f 23 50 46
+f 23 46 24
+f 24 46 25
+f 29 30 51
+f 30 52 51
+f 31 53 32
+f 32 53 54
+f 32 54 47
+f 32 47 33
+f 33 47 55
+f 36 56 37
+f 37 56 58
+f 37 58 57
+f 38 45 39
+f 39 45 40
+f 42 46 49
+f 43 45 59
+f 43 59 60
+f 43 60 44
+f 44 60 62
+f 44 62 61
+f 45 63 64
+f 45 64 65
+f 45 65 59
+f 46 50 49
+f 47 48 55
+f 51 52 67
+f 51 67 66
+f 57 58 68
+f 57 68 69
+f 59 65 60
+f 60 65 64
+f 60 64 70
+f 61 62 68
+f 62 69 68
+f 63 71 72
+f 63 72 73
+f 63 73 64
+f 64 73 70
+f 66 67 74
+f 67 75 74
+f 70 73 72
+f 70 72 71
+f 70 71 76
+f 71 77 75
+f 71 75 78
+f 71 78 79
+f 71 79 80
+f 71 80 81
+f 71 81 76
+f 74 75 77
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_15.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.09753627 0.19367862 0.03911373
+v -0.10124451 0.20709755 0.03911378
+v -0.10074797 0.17910931 0.03911368
+v -0.06940224 0.19367863 0.03598309
+v -0.06940224 0.19378146 0.03598309
+v -0.10212139 0.20849215 0.03911379
+v -0.06940224 0.20865925 0.03542577
+v -0.11491534 0.16727135 0.03911363
+v -0.06940224 0.16160944 0.03404142
+v -0.10848140 0.21473890 0.03911381
+v -0.06940224 0.21854994 0.03199789
+v -0.11587674 0.21992523 0.03911383
+v -0.10915754 0.21521447 0.03911381
+v -0.13003357 0.16498987 0.03911363
+v -0.08463667 0.16160945 0.03289878
+v -0.06940224 0.16160971 -0.03830691
+v -0.06940224 0.21858208 0.03192357
+v -0.13003357 0.22324783 0.03911384
+v -0.14125337 0.16742559 0.03911363
+v -0.17235611 0.16160961 -0.01219351
+v -0.11471462 0.16160949 0.02300523
+v -0.10149806 0.16160946 0.03060423
+v -0.09899421 0.16160945 0.03170041
+v -0.06941280 0.16160975 -0.04960320
+v -0.06940224 0.16361489 -0.04954746
+v -0.06940224 0.22173762 0.02200217
+v -0.13003357 0.22543308 -0.00859815
+v -0.14516234 0.22504765 -0.05577134
+v -0.14181330 0.21939824 0.03911383
+v -0.06940224 0.22174405 0.02190927
+v -0.06940224 0.22265669 0.00670201
+v -0.14279583 0.16791402 0.03911364
+v -0.14947278 0.17416719 0.03911366
+v -0.15037078 0.17521474 0.03911366
+v -0.15362474 0.18182138 0.03911369
+v -0.15395225 0.18270826 0.03911369
+v -0.17683558 0.16160966 -0.02390784
+v -0.11749315 0.18083200 -0.05577151
+v -0.10955900 0.19315841 -0.05577146
+v -0.10952731 0.19320982 -0.05577146
+v -0.10978086 0.20898091 -0.05577140
+v -0.06940224 0.16371771 -0.04954746
+v -0.13765078 0.16160977 -0.05577158
+v -0.12512093 0.17334492 -0.05577153
+v -0.13003357 0.22613365 -0.02390760
+v -0.14516234 0.22495767 -0.05451723
+v -0.13003357 0.22675708 -0.03921706
+v -0.13003357 0.22723915 -0.05451723
+v -0.13003357 0.22726485 -0.05577134
+v -0.15470234 0.21841530 -0.05577137
+v -0.14949390 0.21012452 0.03731158
+v -0.14944108 0.20977749 0.03911379
+v -0.15463895 0.21836388 -0.05451726
+v -0.15389942 0.21757334 -0.03921709
+v -0.15315988 0.21667355 -0.02390763
+v -0.15276898 0.21619152 -0.01590919
+v -0.15214567 0.21515035 -0.00570909
+v -0.15141669 0.21384570 0.00670198
+v -0.15047642 0.21208473 0.02200214
+v -0.06940224 0.22284955 -0.00859816
+v -0.15445935 0.19247684 0.03911373
+v -0.17714195 0.16160970 -0.03658831
+v -0.15444879 0.19364649 0.03911373
+v -0.15321271 0.20239321 0.03911376
+v -0.15330779 0.20263744 0.03731155
+v -0.15407902 0.20459120 0.02200211
+v -0.15903391 0.20865958 -0.05577140
+v -0.06940224 0.20321615 -0.04730848
+v -0.06940224 0.19367894 -0.04821891
+v -0.06940224 0.17869833 -0.04899930
+v -0.11776784 0.22063251 -0.05577136
+v -0.17731100 0.16160977 -0.05577158
+v -0.06940224 0.22292030 -0.02390761
+v -0.06940224 0.21953991 -0.03682033
+v -0.06940224 0.21076750 -0.04447510
+v -0.15019117 0.20833148 0.03911379
+v -0.17720534 0.16160971 -0.03921730
+v -0.17731100 0.16160976 -0.05181416
+v -0.06940224 0.20327398 -0.04729919
+f 1 2 6
+f 1 6 10
+f 1 10 13
+f 1 13 12
+f 1 12 18
+f 1 18 29
+f 1 29 52
+f 1 52 76
+f 1 76 64
+f 1 64 63
+f 1 63 61
+f 1 61 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 19
+f 1 19 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 9 16
+f 4 16 25
+f 4 25 42
+f 4 42 70
+f 4 70 69
+f 4 69 68
+f 4 68 79
+f 4 79 75
+f 4 75 74
+f 4 74 73
+f 4 73 60
+f 4 60 31
+f 4 31 30
+f 4 30 26
+f 4 26 17
+f 4 17 11
+f 4 11 7
+f 4 7 5
+f 6 7 10
+f 7 11 12
+f 7 12 13
+f 7 13 10
+f 8 14 9
+f 9 15 23
+f 9 23 22
+f 9 22 21
+f 9 21 20
+f 9 20 37
+f 9 37 62
+f 9 62 77
+f 9 77 78
+f 9 78 72
+f 9 72 43
+f 9 43 24
+f 9 24 16
+f 9 14 15
+f 11 17 18
+f 11 18 12
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 16 24 25
+f 17 26 18
+f 18 27 28
+f 18 28 29
+f 18 26 30
+f 18 30 31
+f 18 31 27
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 24 43 44
+f 24 44 38
+f 27 45 28
+f 27 31 45
+f 28 46 29
+f 28 45 47
+f 28 47 48
+f 28 48 49
+f 28 49 71
+f 28 71 41
+f 28 41 40
+f 28 40 39
+f 28 39 38
+f 28 38 44
+f 28 44 43
+f 28 43 72
+f 28 72 67
+f 28 67 50
+f 28 50 46
+f 29 51 52
+f 29 46 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 51
+f 31 60 49
+f 31 49 48
+f 31 48 47
+f 31 47 45
+f 36 61 37
+f 37 61 63
+f 37 63 64
+f 37 64 65
+f 37 65 66
+f 37 66 56
+f 37 56 67
+f 37 67 62
+f 41 68 69
+f 41 69 70
+f 41 70 42
+f 41 71 68
+f 46 50 53
+f 49 60 73
+f 49 73 74
+f 49 74 75
+f 49 75 71
+f 50 67 53
+f 51 59 52
+f 52 59 76
+f 53 67 54
+f 54 67 55
+f 55 67 56
+f 56 66 58
+f 56 58 57
+f 58 66 65
+f 58 65 59
+f 59 65 64
+f 59 64 76
+f 62 67 77
+f 67 72 78
+f 67 78 77
+f 68 71 79
+f 71 75 79
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_16.obj

@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.15816161 0.16161535 0.16026261
+v -0.15757714 0.16161551 0.11599728
+v -0.11890503 0.16161535 0.16026261
+v -0.14212778 0.19325900 0.16026273
+v -0.15285597 0.20147607 0.04600059
+v -0.15321963 0.20239330 0.03912305
+v -0.15444701 0.19364799 0.03912302
+v -0.15753169 0.16161552 0.11385102
+v -0.10570911 0.18356462 0.15976466
+v -0.10555975 0.18388947 0.16026270
+v -0.11884659 0.16161535 0.15949185
+v -0.13801055 0.20138010 0.16026276
+v -0.14628398 0.20866078 0.06793764
+v -0.15019341 0.20832967 0.03912308
+v -0.15446649 0.19247599 0.03912302
+v -0.15395347 0.18270519 0.03912298
+v -0.15362875 0.18182620 0.03912298
+v -0.15036875 0.17521466 0.03912295
+v -0.15486263 0.16161557 0.10000106
+v -0.09988395 0.19367938 0.15976470
+v -0.09991641 0.19367938 0.16026273
+v -0.11879464 0.16161536 0.15878038
+v -0.11777508 0.16161541 0.14446797
+v -0.11456051 0.16161558 0.09855440
+v -0.10074116 0.17910643 0.03912297
+v -0.13786119 0.20166036 0.16026276
+v -0.14944010 0.20978192 0.03912308
+v -0.13389332 0.20891522 0.16026279
+v -0.13375695 0.20915089 0.16026279
+v -0.14947256 0.17416371 0.03912295
+v -0.15454441 0.16161558 0.09901685
+v -0.14280316 0.16791523 0.03912293
+v -0.09970861 0.19411888 0.16026273
+v -0.11520342 0.16161563 0.08324592
+v -0.11491119 0.16727191 0.03912292
+v -0.09753309 0.19367983 0.03912302
+v -0.09181833 0.21469871 0.15976478
+v -0.09393539 0.20720818 0.15976475
+v -0.09395487 0.20721456 0.16026278
+v -0.14095236 0.21887750 0.05262919
+v -0.14181606 0.21939985 0.03912312
+v -0.13805601 0.21657796 0.09356246
+v -0.13889375 0.21730412 0.08324613
+v -0.13998475 0.21818954 0.06793767
+v -0.12643165 0.21989623 0.16026283
+v -0.14956347 0.16161563 0.08567679
+v -0.14125108 0.16742477 0.03912292
+v -0.14260185 0.16161568 0.07098492
+v -0.11809977 0.16161568 0.07036831
+v -0.13002936 0.16161573 0.05739583
+v -0.13002936 0.16499163 0.03912292
+v -0.10124120 0.20709399 0.03912307
+v -0.09200016 0.21657775 0.14973306
+v -0.09200016 0.21529749 0.14973305
+v -0.09181833 0.21696625 0.15976479
+v -0.09182482 0.21470509 0.16026281
+v -0.09387045 0.20745660 0.16026278
+v -0.12619136 0.22022107 0.16026283
+v -0.13002936 0.22324703 0.03912313
+v -0.11490469 0.22667974 0.16026285
+v -0.10211790 0.20849528 0.03912308
+v -0.10848207 0.21473738 0.03912310
+v -0.10104638 0.22124031 0.12915971
+v -0.09842278 0.22120203 0.14456304
+v -0.09976705 0.22341856 0.15976481
+v -0.09207160 0.21717644 0.16026282
+v -0.09182482 0.21696625 0.16026282
+v -0.11587231 0.21992852 0.03912312
+v -0.11490469 0.22667336 0.15976482
+v -0.11490469 0.22617024 0.14446821
+v -0.10024761 0.22352684 0.16026284
+v -0.10915096 0.21521510 0.03912310
+v -0.09976705 0.22341856 0.16026284
+f 1 2 8
+f 1 8 19
+f 1 19 31
+f 1 31 46
+f 1 46 48
+f 1 48 50
+f 1 50 49
+f 1 49 34
+f 1 34 24
+f 1 24 23
+f 1 23 22
+f 1 22 11
+f 1 11 3
+f 1 3 10
+f 1 10 21
+f 1 21 33
+f 1 33 39
+f 1 39 57
+f 1 57 56
+f 1 56 67
+f 1 67 66
+f 1 66 73
+f 1 73 71
+f 1 71 60
+f 1 60 58
+f 1 58 45
+f 1 45 29
+f 1 29 28
+f 1 28 26
+f 1 26 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 11 9
+f 4 12 5
+f 5 13 14
+f 5 14 6
+f 5 12 13
+f 6 14 27
+f 6 27 41
+f 6 41 59
+f 6 59 68
+f 6 68 72
+f 6 72 62
+f 6 62 61
+f 6 61 52
+f 6 52 36
+f 6 36 25
+f 6 25 35
+f 6 35 51
+f 6 51 47
+f 6 47 32
+f 6 32 30
+f 6 30 18
+f 6 18 17
+f 6 17 16
+f 6 16 15
+f 6 15 7
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 9 20 21
+f 9 21 10
+f 9 11 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 20
+f 12 26 13
+f 13 27 14
+f 13 26 28
+f 13 28 29
+f 13 29 27
+f 18 30 19
+f 19 30 32
+f 19 32 31
+f 20 33 21
+f 20 25 33
+f 24 34 25
+f 25 34 35
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 33
+f 27 40 41
+f 27 29 42
+f 27 42 43
+f 27 43 44
+f 27 44 40
+f 29 45 42
+f 31 32 46
+f 32 47 48
+f 32 48 46
+f 34 49 35
+f 35 50 51
+f 35 49 50
+f 36 52 53
+f 36 53 54
+f 36 54 37
+f 37 54 53
+f 37 53 55
+f 37 55 67
+f 37 67 56
+f 37 56 57
+f 37 57 38
+f 38 57 39
+f 40 44 58
+f 40 58 41
+f 41 58 60
+f 41 60 59
+f 42 45 58
+f 42 58 43
+f 43 58 44
+f 47 51 48
+f 48 51 50
+f 52 61 53
+f 53 61 62
+f 53 62 63
+f 53 63 64
+f 53 64 65
+f 53 65 55
+f 55 65 66
+f 55 66 67
+f 59 60 69
+f 59 69 70
+f 59 70 68
+f 60 71 65
+f 60 65 69
+f 62 72 63
+f 63 65 64
+f 63 72 68
+f 63 68 65
+f 65 70 69
+f 65 71 73
+f 65 73 66
+f 65 68 70
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_17.obj

@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v -0.18828982 0.20865780 -0.43717983
+v -0.18448046 0.19902328 -0.44803155
+v -0.18509025 0.19803631 -0.43717987
+v -0.18469568 0.19840936 -0.42188885
+v -0.18415763 0.19911941 -0.40656493
+v -0.18354785 0.20015443 -0.39127388
+v -0.18740025 0.20865774 -0.42188881
+v -0.18379177 0.21802133 -0.37594990
+v -0.18446612 0.21967028 -0.39127381
+v -0.18510459 0.22122294 -0.40656485
+v -0.18570721 0.22272144 -0.42188876
+v -0.18565699 0.22506844 -0.43648918
+v -0.18481764 0.22364226 -0.44852475
+v -0.18580764 0.20865785 -0.45062934
+v -0.16841083 0.18597058 -0.44553244
+v -0.17646000 0.19054411 -0.43717990
+v -0.18161805 0.20865787 -0.45829130
+v -0.17156019 0.19812066 -0.46253339
+v -0.17503238 0.19357714 -0.45187900
+v -0.16841083 0.18574136 -0.29942910
+v -0.16811670 0.18598201 -0.28413808
+v -0.16721996 0.18693869 -0.23823212
+v -0.16676083 0.18770289 -0.22290819
+v -0.16409212 0.19361809 -0.13099757
+v -0.18314611 0.20090060 -0.38196774
+v -0.16411364 0.19368428 -0.13099757
+v -0.18328958 0.21365234 -0.36542706
+v -0.18328958 0.21683577 -0.36542704
+v -0.16819561 0.20007536 -0.16457205
+v -0.16777953 0.21563756 -0.18574925
+v -0.18290220 0.23101404 -0.43093181
+v -0.16820279 0.21673887 -0.19594326
+v -0.18316045 0.23129691 -0.44112580
+v -0.18316045 0.23129693 -0.44520342
+v -0.17945871 0.22364229 -0.45615381
+v -0.16030428 0.19749480 -0.46315817
+v -0.16675366 0.18597058 -0.44553244
+v -0.14517444 0.17599785 -0.13099763
+v -0.16889149 0.18576594 -0.43717992
+v -0.16901344 0.18570571 -0.42188890
+v -0.16852561 0.18568124 -0.31472015
+v -0.17189020 0.22364231 -0.46246750
+v -0.17404956 0.20865789 -0.46394736
+v -0.16030428 0.20865791 -0.46693979
+v -0.15722665 0.18235269 -0.13099761
+v -0.16747821 0.18657766 -0.25352314
+v -0.16866910 0.19875749 -0.17700218
+v -0.16490277 0.20859649 -0.13099751
+v -0.16819561 0.20326480 -0.16457203
+v -0.16490994 0.20865667 -0.13106328
+v -0.16490277 0.20865667 -0.13099751
+v -0.15803731 0.22150476 -0.13099747
+v -0.15801578 0.22155892 -0.13106324
+v -0.17470238 0.23473906 -0.42188872
+v -0.17689044 0.23439006 -0.43648915
+v -0.15311598 0.23133816 -0.19646935
+v -0.17440825 0.23312037 -0.45118829
+v -0.16867627 0.23157983 -0.46059312
+v -0.15094228 0.19932423 -0.46177706
+v -0.16114363 0.18980396 -0.45138574
+v -0.15780775 0.18727642 -0.43717991
+v -0.15259946 0.18612085 -0.40025124
+v -0.16537626 0.18576594 -0.43717992
+v -0.14517444 0.17698489 -0.16167834
+v -0.14511705 0.17600387 -0.13099763
+v -0.16082798 0.22442464 -0.46342112
+v -0.15008141 0.21995337 -0.46250041
+v -0.14939989 0.20865789 -0.46315813
+v -0.15800861 0.22155290 -0.13099747
+v -0.14570530 0.22905113 -0.13099744
+v -0.16030428 0.23721240 -0.42188871
+v -0.16030428 0.23746519 -0.43717973
+v -0.15455077 0.23204232 -0.22290803
+v -0.15540448 0.23243355 -0.23823196
+v -0.13814397 0.23126568 -0.13106320
+v -0.16622278 0.23157983 -0.46059312
+v -0.16082798 0.23393278 -0.45302979
+v -0.14294334 0.20865785 -0.45250375
+v -0.14847445 0.19674253 -0.45250380
+v -0.14654465 0.19476863 -0.43717988
+v -0.13833050 0.18669224 -0.31472014
+v -0.13774223 0.18627697 -0.30626898
+v -0.13004459 0.17773099 -0.13099763
+v -0.14711858 0.18380372 -0.33004406
+v -0.14846010 0.18427318 -0.34533508
+v -0.14517444 0.17875430 -0.20761718
+v -0.15612905 0.22994297 -0.45852143
+v -0.15077728 0.23265699 -0.44829452
+v -0.14714009 0.22442460 -0.45302983
+v -0.13816550 0.23125365 -0.13099743
+v -0.13726158 0.23126568 -0.13099743
+v -0.14916314 0.23360771 -0.42188872
+v -0.14953619 0.23352351 -0.43717974
+v -0.13725440 0.23126568 -0.13106320
+v -0.13704636 0.23135603 -0.14638712
+v -0.13688853 0.23146446 -0.17700206
+v -0.13681680 0.23151867 -0.19229309
+v -0.13683832 0.23153075 -0.20761699
+v -0.13690288 0.23150072 -0.22290803
+v -0.13706788 0.23142255 -0.23823196
+v -0.13748398 0.21644486 -0.43089895
+v -0.13748398 0.21533757 -0.43089896
+v -0.13889724 0.20966879 -0.43648924
+v -0.13828028 0.20553448 -0.42188883
+v -0.13783549 0.20280836 -0.41195789
+v -0.13734049 0.20070810 -0.40173097
+v -0.12223218 0.18592143 -0.17170791
+v -0.13003742 0.18005399 -0.16167833
+v -0.13003742 0.17889852 -0.14638731
+v -0.12180174 0.18543393 -0.16167831
+v -0.12059651 0.18410389 -0.13106337
+v -0.12057499 0.18414601 -0.13099760
+v -0.14129333 0.22231829 -0.43648919
+v -0.12973611 0.22746844 -0.13099744
+v -0.13732615 0.23129022 -0.25352298
+v -0.13927029 0.23002675 -0.33004390
+v -0.13957159 0.22958149 -0.34533492
+v -0.13997332 0.22889551 -0.36065884
+v -0.14159463 0.22461706 -0.42188875
+v -0.13751266 0.23118794 -0.26417736
+v -0.13776376 0.23108569 -0.27440428
+v -0.12968589 0.22744437 -0.13106321
+v -0.12947786 0.22712548 -0.14638714
+v -0.11947020 0.21995215 -0.13106324
+v -0.12231826 0.21642007 -0.23280615
+v -0.12266978 0.21250849 -0.24300018
+v -0.12315043 0.20797108 -0.25250367
+v -0.12239716 0.20252492 -0.24674901
+v -0.12239716 0.20100843 -0.24674901
+v -0.11846585 0.19368439 -0.16167828
+v -0.11613432 0.19368428 -0.13106334
+v -0.11613432 0.19368428 -0.13099757
+v -0.13499461 0.22140329 -0.36065887
+v -0.11947020 0.21995215 -0.13099747
+v -0.11987911 0.21963928 -0.14638716
+v -0.12030955 0.21917596 -0.16167818
+v -0.12155064 0.21759345 -0.20761704
+v -0.12198825 0.21695561 -0.22290808
+v -0.13429156 0.22208928 -0.34533494
+v -0.11502236 0.20870482 -0.13099751
+v -0.11500801 0.20865667 -0.13106328
+v -0.11596215 0.20865673 -0.14638720
+v -0.11697367 0.20865678 -0.16167822
+v -0.12106998 0.20865701 -0.22290811
+v -0.12207435 0.20797102 -0.23803473
+v -0.11612715 0.19374447 -0.13099757
+v -0.11500801 0.20865667 -0.13099751
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 2
+f 2 15 16
+f 2 16 3
+f 2 14 17
+f 2 17 18
+f 2 18 19
+f 2 19 15
+f 3 16 20
+f 3 20 21
+f 3 21 22
+f 3 22 4
+f 4 22 23
+f 4 23 5
+f 5 23 24
+f 5 24 6
+f 6 25 7
+f 6 24 26
+f 6 26 25
+f 7 27 28
+f 7 28 8
+f 7 25 29
+f 7 29 27
+f 8 28 30
+f 8 30 9
+f 9 31 10
+f 9 30 32
+f 9 32 31
+f 10 31 11
+f 11 31 12
+f 12 31 33
+f 12 33 34
+f 12 34 13
+f 13 35 17
+f 13 17 14
+f 13 34 35
+f 15 19 18
+f 15 18 36
+f 15 36 37
+f 15 37 38
+f 15 38 39
+f 15 39 16
+f 16 39 40
+f 16 40 41
+f 16 41 20
+f 17 35 42
+f 17 42 43
+f 17 43 18
+f 18 43 44
+f 18 44 36
+f 20 41 38
+f 20 38 45
+f 20 45 21
+f 21 45 46
+f 21 46 22
+f 22 46 45
+f 22 45 23
+f 23 45 24
+f 24 45 38
+f 24 38 65
+f 24 65 83
+f 24 83 112
+f 24 112 132
+f 24 132 146
+f 24 146 147
+f 24 147 140
+f 24 140 134
+f 24 134 114
+f 24 114 91
+f 24 91 90
+f 24 90 70
+f 24 70 69
+f 24 69 52
+f 24 52 51
+f 24 51 48
+f 24 48 26
+f 25 26 47
+f 25 47 29
+f 26 48 29
+f 26 29 47
+f 27 29 49
+f 27 49 28
+f 28 49 50
+f 28 50 30
+f 29 48 50
+f 29 50 49
+f 30 50 51
+f 30 51 52
+f 30 52 53
+f 30 53 32
+f 31 54 55
+f 31 55 33
+f 31 32 53
+f 31 53 56
+f 31 56 54
+f 33 55 34
+f 34 55 57
+f 34 57 58
+f 34 58 35
+f 35 58 42
+f 36 44 59
+f 36 59 60
+f 36 60 37
+f 37 61 62
+f 37 62 63
+f 37 63 64
+f 37 64 38
+f 37 60 61
+f 38 64 65
+f 38 41 40
+f 38 40 39
+f 42 58 66
+f 42 66 44
+f 42 44 43
+f 44 66 67
+f 44 67 68
+f 44 68 59
+f 48 51 50
+f 52 69 53
+f 53 69 70
+f 53 70 56
+f 54 71 72
+f 54 72 55
+f 54 56 73
+f 54 73 74
+f 54 74 71
+f 55 72 57
+f 56 70 75
+f 56 75 73
+f 57 72 58
+f 58 76 66
+f 58 72 77
+f 58 77 76
+f 59 68 78
+f 59 78 79
+f 59 79 60
+f 60 79 61
+f 61 79 80
+f 61 80 62
+f 62 80 81
+f 62 81 82
+f 62 82 83
+f 62 83 84
+f 62 84 85
+f 62 85 63
+f 63 85 84
+f 63 84 86
+f 63 86 64
+f 64 86 83
+f 64 83 65
+f 66 76 87
+f 66 87 67
+f 67 87 88
+f 67 88 89
+f 67 89 78
+f 67 78 68
+f 70 90 75
+f 71 74 75
+f 71 75 91
+f 71 91 72
+f 72 92 93
+f 72 93 88
+f 72 88 77
+f 72 91 94
+f 72 94 95
+f 72 95 96
+f 72 96 97
+f 72 97 98
+f 72 98 99
+f 72 99 100
+f 72 100 92
+f 73 75 74
+f 75 90 91
+f 76 77 87
+f 77 88 87
+f 78 89 101
+f 78 101 102
+f 78 102 103
+f 78 103 79
+f 79 103 80
+f 80 103 104
+f 80 104 105
+f 80 105 106
+f 80 106 81
+f 81 106 107
+f 81 107 82
+f 82 107 108
+f 82 108 83
+f 83 108 109
+f 83 109 110
+f 83 110 111
+f 83 111 112
+f 83 86 84
+f 88 93 113
+f 88 113 89
+f 89 113 101
+f 91 114 94
+f 92 100 115
+f 92 115 93
+f 93 116 117
+f 93 117 118
+f 93 118 119
+f 93 119 113
+f 93 115 120
+f 93 120 121
+f 93 121 116
+f 94 114 122
+f 94 122 95
+f 95 122 96
+f 96 122 97
+f 97 122 98
+f 98 122 99
+f 99 122 123
+f 99 123 100
+f 100 123 124
+f 100 124 115
+f 101 113 125
+f 101 125 126
+f 101 126 127
+f 101 127 128
+f 101 128 129
+f 101 129 102
+f 102 129 103
+f 103 129 105
+f 103 105 104
+f 105 129 106
+f 106 129 107
+f 107 129 130
+f 107 130 131
+f 107 131 110
+f 107 110 108
+f 108 110 109
+f 110 131 111
+f 111 131 112
+f 112 131 132
+f 113 119 133
+f 113 133 125
+f 114 134 122
+f 115 124 120
+f 116 121 124
+f 116 124 135
+f 116 135 117
+f 117 135 136
+f 117 136 137
+f 117 137 138
+f 117 138 118
+f 118 139 119
+f 118 138 125
+f 118 125 139
+f 119 139 133
+f 120 124 121
+f 122 134 124
+f 122 124 123
+f 124 134 140
+f 124 140 135
+f 125 138 141
+f 125 141 142
+f 125 142 126
+f 125 133 139
+f 126 142 143
+f 126 143 144
+f 126 144 145
+f 126 145 128
+f 126 128 127
+f 128 145 144
+f 128 144 143
+f 128 143 142
+f 128 142 129
+f 129 142 141
+f 129 141 131
+f 129 131 130
+f 131 141 146
+f 131 146 132
+f 135 140 136
+f 136 140 137
+f 137 140 138
+f 138 140 141
+f 140 147 141
+f 141 147 146
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_18.obj

@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.19276236 -0.07647893 0.09854769
+v -0.19225668 -0.07647888 0.08370572
+v -0.18877314 -0.09100699 0.09854764
+v -0.18868325 -0.09100722 0.16026169
+v -0.19214432 -0.07647916 0.16023073
+v -0.19217803 -0.07647888 0.08326129
+v -0.18394676 -0.10013265 0.08926620
+v -0.18464909 -0.10198098 0.09854760
+v -0.18475585 -0.10278271 0.11384432
+v -0.18487384 -0.10339303 0.16026164
+v -0.19213869 -0.07649697 0.16026174
+v -0.19138580 -0.07647916 0.16026174
+v -0.18864954 -0.07647882 0.06753046
+v -0.18849784 -0.07647882 0.06686899
+v -0.18483450 -0.08571142 0.07274993
+v -0.17221511 -0.12197376 0.09873356
+v -0.17609757 -0.12197382 0.11384425
+v -0.17660324 -0.12096727 0.11384426
+v -0.18165999 -0.11027387 0.11384429
+v -0.18199148 -0.11085303 0.16026161
+v -0.15991597 -0.07647916 0.16026174
+v -0.18186787 -0.07647878 0.05781498
+v -0.16689990 -0.12197374 0.09163298
+v -0.17613128 -0.12197382 0.11503286
+v -0.17731119 -0.12197399 0.16026157
+v -0.17778315 -0.12094073 0.16026158
+v -0.14050367 -0.12196509 0.16026157
+v -0.15886528 -0.07647916 0.16024107
+v -0.17544019 -0.07647877 0.05467294
+v -0.15969122 -0.12197373 0.08886303
+v -0.14077336 -0.12197399 0.16026157
+v -0.14049243 -0.12197399 0.16023056
+v -0.15880348 -0.07647916 0.15976563
+v -0.16274774 -0.07647882 0.06796456
+v -0.13854840 -0.12197375 0.09493005
+v -0.14505474 -0.12197373 0.08936948
+v -0.15909565 -0.12197373 0.08873901
+v -0.13848097 -0.12197393 0.14445839
+v -0.15872482 -0.07647915 0.15909381
+v -0.16108463 -0.07647883 0.07181975
+v -0.15612341 -0.07647888 0.08427418
+v -0.13723364 -0.12197376 0.09854752
+v -0.13676168 -0.12197387 0.12915132
+v -0.15710105 -0.07647910 0.14445856
+v -0.15251625 -0.08290118 0.09013447
+v -0.15467943 -0.07647893 0.09706969
+v -0.13660997 -0.12197378 0.10307452
+v -0.13557053 -0.12197383 0.11613876
+v -0.15702238 -0.07647910 0.14362137
+v -0.13536264 -0.12197382 0.11384425
+v -0.15463447 -0.07647893 0.09854769
+v -0.15582000 -0.07647904 0.12915149
+v -0.15505026 -0.07647899 0.11517773
+v -0.15507272 -0.07647900 0.11581852
+v -0.15578629 -0.07647904 0.12867606
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 28
+f 1 28 33
+f 1 33 39
+f 1 39 44
+f 1 44 49
+f 1 49 52
+f 1 52 55
+f 1 55 54
+f 1 54 53
+f 1 53 51
+f 1 51 46
+f 1 46 41
+f 1 41 40
+f 1 40 34
+f 1 34 29
+f 1 29 22
+f 1 22 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 20
+f 4 20 26
+f 4 26 25
+f 4 25 31
+f 4 31 27
+f 4 27 21
+f 4 21 12
+f 4 12 11
+f 4 11 5
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 14 22 15
+f 15 22 16
+f 16 23 30
+f 16 30 37
+f 16 37 36
+f 16 36 35
+f 16 35 42
+f 16 42 47
+f 16 47 50
+f 16 50 48
+f 16 48 43
+f 16 43 38
+f 16 38 32
+f 16 32 31
+f 16 31 25
+f 16 25 24
+f 16 24 17
+f 16 22 23
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 20
+f 21 27 28
+f 22 29 23
+f 23 29 30
+f 27 31 32
+f 27 32 28
+f 28 32 33
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 32 38 33
+f 33 38 39
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 38 43 39
+f 39 43 44
+f 41 45 42
+f 41 46 45
+f 42 45 47
+f 43 48 49
+f 43 49 44
+f 45 46 50
+f 45 50 47
+f 46 51 50
+f 48 50 49
+f 49 50 52
+f 50 51 53
+f 50 53 54
+f 50 54 55
+f 50 55 52
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_19.obj

@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.19745659 0.03350566 0.04435980
+v -0.16361501 0.03350566 0.04435980
+v -0.19689686 0.04339333 0.04435984
+v -0.19435045 0.05882741 -0.08512777
+v -0.19515004 0.04385008 -0.08512783
+v -0.19555600 0.03350613 -0.08512787
+v -0.16334438 0.03575885 0.04435981
+v -0.13462640 0.03350575 0.01908325
+v -0.19383378 0.05882694 0.04435990
+v -0.19209926 0.08155190 -0.02391835
+v -0.19252981 0.08155195 -0.03921692
+v -0.19256672 0.08155198 -0.04712997
+v -0.19269588 0.08155212 -0.08512769
+v -0.19334171 0.07380944 -0.08512772
+v -0.19104132 0.08155215 -0.09304074
+v -0.18931911 0.08155218 -0.10044133
+v -0.18978656 0.07380950 -0.10044136
+v -0.19049390 0.05882747 -0.10044141
+v -0.19427663 0.03350615 -0.08987570
+v -0.16240946 0.04384961 0.04435984
+v -0.13462640 0.04384970 0.01942996
+v -0.16184973 0.05074088 0.04435987
+v -0.13462640 0.03350601 -0.05264668
+v -0.18716633 0.07007405 0.04435994
+v -0.18695721 0.08155185 -0.01020239
+v -0.18696335 0.08155219 -0.10481235
+v -0.19100441 0.04385014 -0.10044147
+v -0.18445999 0.08155221 -0.10894221
+v -0.19128121 0.03350619 -0.10044151
+v -0.13462640 0.05429244 0.01971638
+v -0.13462640 0.05882703 0.01983698
+v -0.13462640 0.06926976 0.02004802
+v -0.16201581 0.05882694 0.04435990
+v -0.16862175 0.03350622 -0.10770645
+v -0.16828961 0.03856295 -0.10788730
+v -0.16779754 0.04855411 -0.10815856
+v -0.16751460 0.05882750 -0.10839968
+v -0.16713940 0.07380953 -0.10868601
+v -0.16695489 0.08155221 -0.10877641
+v -0.13462640 0.07380932 -0.05144073
+v -0.17543681 0.07293874 0.04435995
+v -0.15142417 0.08155176 0.01236111
+v -0.17543681 0.08155221 -0.10962047
+v -0.18460761 0.07380953 -0.10895731
+v -0.18939292 0.03350620 -0.10306412
+v -0.13462640 0.08155174 0.01961097
+v -0.16352275 0.06417061 0.04435992
+v -0.17257054 0.03350622 -0.10842992
+v -0.17576279 0.03350622 -0.10888210
+v -0.17543681 0.07380953 -0.10954514
+v -0.13462640 0.08155200 -0.05076244
+v -0.17031935 0.07146641 0.04435994
+v -0.13816925 0.08155174 0.01881213
+v -0.14424006 0.08155175 0.01685271
+v -0.18499511 0.03350622 -0.10892731
+v -0.18480443 0.05882750 -0.10895736
+v -0.16533723 0.06918500 0.04435993
+v -0.17909651 0.03350622 -0.10892731
+f 1 2 7
+f 1 7 20
+f 1 20 22
+f 1 22 33
+f 1 33 47
+f 1 47 57
+f 1 57 52
+f 1 52 41
+f 1 41 24
+f 1 24 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 19
+f 1 19 29
+f 1 29 45
+f 1 45 55
+f 1 55 58
+f 1 58 49
+f 1 49 48
+f 1 48 34
+f 1 34 23
+f 1 23 8
+f 1 8 2
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 7 8 20
+f 8 21 22
+f 8 22 20
+f 8 23 40
+f 8 40 51
+f 8 51 46
+f 8 46 32
+f 8 32 31
+f 8 31 30
+f 8 30 21
+f 9 24 10
+f 10 25 42
+f 10 42 54
+f 10 54 53
+f 10 53 46
+f 10 46 51
+f 10 51 39
+f 10 39 43
+f 10 43 28
+f 10 28 26
+f 10 26 16
+f 10 16 15
+f 10 15 13
+f 10 13 12
+f 10 12 11
+f 10 24 25
+f 13 15 14
+f 16 26 17
+f 17 26 18
+f 18 27 19
+f 18 26 28
+f 18 28 27
+f 19 27 29
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 24 41 25
+f 25 41 42
+f 27 28 29
+f 28 43 44
+f 28 44 29
+f 29 44 45
+f 32 46 33
+f 33 46 47
+f 34 48 35
+f 35 48 36
+f 36 48 37
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 38 50 39
+f 39 50 43
+f 39 51 40
+f 41 52 46
+f 41 46 53
+f 41 53 54
+f 41 54 42
+f 43 50 55
+f 43 55 56
+f 43 56 44
+f 44 56 45
+f 45 56 55
+f 46 52 57
+f 46 57 47
+f 49 58 50
+f 50 58 55
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_2.obj

@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v 0.21653003 -0.21086766 -0.05102029
+v 0.22544982 -0.21874683 -0.23434326
+v 0.21782781 -0.21598825 -0.05102031
+v 0.22080108 -0.19821280 -0.05102025
+v 0.22547041 -0.20302903 -0.23519759
+v 0.23357309 -0.21086624 -0.43719459
+v 0.22515455 -0.21927044 -0.22291101
+v 0.23722614 -0.22400279 -0.43719464
+v 0.22028609 -0.22545452 -0.05102035
+v 0.22487988 -0.20205528 -0.20761370
+v 0.22520948 -0.20257881 -0.22291094
+v 0.22724889 -0.19304509 -0.05102023
+v 0.23951960 -0.18742625 -0.28409993
+v 0.24018566 -0.18789730 -0.33003238
+v 0.24076247 -0.18836313 -0.36957740
+v 0.24098909 -0.18853064 -0.37978913
+v 0.24127746 -0.18874526 -0.39126206
+v 0.24166887 -0.18905936 -0.40655932
+v 0.24242420 -0.18973990 -0.43719452
+v 0.23715061 -0.19723229 -0.43719454
+v 0.23844155 -0.19939462 -0.44911500
+v 0.23730853 -0.21086619 -0.45106790
+v 0.23850334 -0.22200270 -0.44887100
+v 0.24368767 -0.23148997 -0.43719467
+v 0.24321387 -0.23183035 -0.42189741
+v 0.22718707 -0.23245476 -0.05102037
+v 0.23730168 -0.18525425 -0.05102020
+v 0.24884454 -0.18534201 -0.39126205
+v 0.24923592 -0.18540479 -0.40655931
+v 0.24999128 -0.18558269 -0.43719450
+v 0.24041228 -0.18807526 -0.34532961
+v 0.24205341 -0.18939439 -0.42189726
+v 0.25208558 -0.18655126 -0.44846401
+v 0.24682574 -0.19446774 -0.45387507
+v 0.25164613 -0.19952546 -0.46274424
+v 0.24210833 -0.21086617 -0.45871653
+v 0.25186587 -0.22151048 -0.46262224
+v 0.24739567 -0.22675153 -0.45310216
+v 0.25300574 -0.23445339 -0.44712161
+v 0.25125472 -0.23514977 -0.43719468
+v 0.24286368 -0.23216027 -0.40655948
+v 0.22873207 -0.23319824 -0.05102038
+v 0.24134613 -0.23311340 -0.34532978
+v 0.24101653 -0.23325481 -0.33283975
+v 0.24836386 -0.18272013 -0.05102019
+v 0.24836386 -0.18445233 -0.28409992
+v 0.24836386 -0.18483961 -0.33003237
+v 0.26349111 -0.18365592 -0.43719449
+v 0.26349111 -0.18605911 -0.44944046
+v 0.26349111 -0.19087075 -0.45708908
+v 0.26349111 -0.19835789 -0.46351721
+v 0.26349111 -0.21086614 -0.46660926
+v 0.24967540 -0.21086615 -0.46396478
+v 0.26349111 -0.22235344 -0.46327320
+v 0.26349111 -0.22984587 -0.45489227
+v 0.26349111 -0.23449526 -0.44720301
+v 0.26349111 -0.23583042 -0.43719469
+v 0.25078092 -0.23530691 -0.42189742
+v 0.24177188 -0.23290392 -0.36066774
+v 0.24254093 -0.23242733 -0.39126222
+v 0.23443827 -0.23554388 -0.05102039
+v 0.24078994 -0.23334384 -0.32262802
+v 0.25529234 -0.18368876 -0.05102019
+v 0.26349111 -0.18353049 -0.37596481
+v 0.26349111 -0.18348855 -0.39126204
+v 0.26349111 -0.18350944 -0.40655930
+v 0.26349111 -0.18356174 -0.42189723
+v 0.27392844 -0.18646753 -0.43719450
+v 0.27296025 -0.18712721 -0.44736554
+v 0.27341345 -0.20054121 -0.46201190
+v 0.27439539 -0.21086615 -0.46278495
+v 0.27315252 -0.22053139 -0.46184922
+v 0.27172425 -0.23376226 -0.44573836
+v 0.27211564 -0.23401885 -0.43719468
+v 0.26349111 -0.23593519 -0.42189743
+v 0.24836386 -0.23618770 -0.10045168
+v 0.24836386 -0.23620346 -0.08515443
+v 0.24836386 -0.23619304 -0.06985717
+v 0.24836386 -0.23617215 -0.05455992
+v 0.24836386 -0.23616693 -0.05102039
+v 0.26003720 -0.18477256 -0.05102020
+v 0.27366064 -0.18654100 -0.39126206
+v 0.27388725 -0.18645712 -0.42189724
+v 0.28149552 -0.19487619 -0.43719454
+v 0.28654937 -0.20263557 -0.44565689
+v 0.27823385 -0.19659347 -0.45159675
+v 0.28196244 -0.21086619 -0.45322417
+v 0.27748537 -0.22450015 -0.45049837
+v 0.28626784 -0.21847905 -0.44500600
+v 0.28095990 -0.22442692 -0.43678782
+v 0.27201953 -0.23396653 -0.42189742
+v 0.25778494 -0.23439711 -0.08515442
+v 0.25758579 -0.23430294 -0.06985716
+v 0.25733858 -0.23417731 -0.05455991
+v 0.25724245 -0.23412497 -0.05102038
+v 0.26529019 -0.18946382 -0.05102022
+v 0.27280233 -0.18706481 -0.33003238
+v 0.27307698 -0.18689197 -0.34532961
+v 0.27331732 -0.18674531 -0.36066757
+v 0.27352331 -0.18661960 -0.37596483
+v 0.28145430 -0.19523752 -0.42189728
+v 0.28667298 -0.20236334 -0.43719456
+v 0.28650818 -0.21086621 -0.44557552
+v 0.28661804 -0.21199194 -0.43678778
+v 0.28626784 -0.21847906 -0.44162920
+v 0.27938743 -0.22584585 -0.42189739
+v 0.27112685 -0.23338559 -0.36530572
+v 0.27094145 -0.23329660 -0.35513469
+v 0.25897972 -0.23262231 -0.05102037
+v 0.27068052 -0.23320241 -0.34532978
+v 0.27328297 -0.19960551 -0.05102025
+v 0.27109250 -0.18836882 -0.24512446
+v 0.27986126 -0.19588703 -0.34532964
+v 0.28034190 -0.19588698 -0.36066760
+v 0.28076079 -0.19588692 -0.37596486
+v 0.28649443 -0.20272991 -0.42189730
+v 0.28649443 -0.20804946 -0.42189732
+v 0.28615111 -0.21773561 -0.43141747
+v 0.27685364 -0.22550588 -0.33003252
+v 0.27212939 -0.22001980 -0.05102033
+v 0.27241091 -0.22045953 -0.06985711
+v 0.26481640 -0.22751218 -0.05102036
+v 0.26515284 -0.22794670 -0.06985714
+v 0.26656051 -0.22579486 -0.05102035
+v 0.27410012 -0.20746965 -0.05102028
+v 0.28630904 -0.20312264 -0.41022096
+v 0.28630904 -0.20523265 -0.41022096
+v 0.28492196 -0.21086647 -0.37596491
+v 0.28444816 -0.21086653 -0.36066765
+v 0.28394005 -0.21086658 -0.34532969
+v 0.27402458 -0.21086766 -0.05102029
+v 0.27279545 -0.21794643 -0.05102032
+f 1 2 3
+f 1 3 9
+f 1 9 26
+f 1 26 42
+f 1 42 61
+f 1 61 80
+f 1 80 95
+f 1 95 109
+f 1 109 122
+f 1 122 124
+f 1 124 120
+f 1 120 132
+f 1 132 131
+f 1 131 125
+f 1 125 111
+f 1 111 96
+f 1 96 81
+f 1 81 63
+f 1 63 45
+f 1 45 27
+f 1 27 12
+f 1 12 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 4 10 11
+f 4 11 5
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 10
+f 5 11 20
+f 5 20 6
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 8
+f 7 8 9
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 25 26
+f 10 20 11
+f 12 27 13
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 13 27 28
+f 14 30 31
+f 14 31 15
+f 15 31 30
+f 15 30 16
+f 16 30 17
+f 17 30 18
+f 18 30 32
+f 18 32 19
+f 19 32 30
+f 19 30 33
+f 19 33 21
+f 19 21 20
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 23
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 40 25
+f 24 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 43
+f 26 43 44
+f 26 44 42
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 29
+f 29 47 48
+f 29 48 30
+f 30 48 33
+f 33 49 50
+f 33 50 35
+f 33 35 34
+f 33 48 49
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 35 50 51
+f 36 53 37
+f 37 53 52
+f 37 52 54
+f 37 54 55
+f 37 55 39
+f 37 39 38
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 40 57 58
+f 40 58 43
+f 40 43 59
+f 40 59 60
+f 40 60 41
+f 41 60 59
+f 41 59 43
+f 42 44 62
+f 42 62 61
+f 43 58 44
+f 44 58 62
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 48
+f 45 48 46
+f 46 48 47
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 49 69 50
+f 50 70 51
+f 50 69 70
+f 51 70 52
+f 52 70 71
+f 52 71 72
+f 52 72 54
+f 54 72 55
+f 55 72 73
+f 55 73 56
+f 56 73 57
+f 57 74 75
+f 57 75 58
+f 57 73 74
+f 58 75 76
+f 58 76 61
+f 58 61 62
+f 61 76 77
+f 61 77 78
+f 61 78 79
+f 61 79 80
+f 63 81 64
+f 64 82 83
+f 64 83 65
+f 64 81 82
+f 65 83 68
+f 65 68 66
+f 66 68 67
+f 68 83 84
+f 68 84 69
+f 69 85 86
+f 69 86 70
+f 69 84 85
+f 70 86 85
+f 70 85 87
+f 70 87 71
+f 71 87 72
+f 72 88 73
+f 72 87 89
+f 72 89 88
+f 73 88 89
+f 73 89 74
+f 74 89 90
+f 74 90 91
+f 74 91 75
+f 75 91 92
+f 75 92 80
+f 75 80 79
+f 75 79 78
+f 75 78 77
+f 75 77 76
+f 80 92 93
+f 80 93 94
+f 80 94 95
+f 81 96 97
+f 81 97 98
+f 81 98 99
+f 81 99 100
+f 81 100 82
+f 82 100 84
+f 82 84 83
+f 84 100 99
+f 84 99 101
+f 84 101 102
+f 84 102 85
+f 85 103 87
+f 85 102 103
+f 87 103 89
+f 89 104 105
+f 89 105 90
+f 89 103 104
+f 90 105 106
+f 90 106 91
+f 91 106 107
+f 91 107 108
+f 91 108 94
+f 91 94 93
+f 91 93 92
+f 94 109 95
+f 94 108 110
+f 94 110 109
+f 96 111 112
+f 96 112 97
+f 97 112 113
+f 97 113 114
+f 97 114 115
+f 97 115 98
+f 98 115 101
+f 98 101 99
+f 101 115 102
+f 102 104 103
+f 102 115 116
+f 102 116 117
+f 102 117 104
+f 104 117 118
+f 104 118 105
+f 105 119 106
+f 105 118 120
+f 105 120 121
+f 105 121 119
+f 106 119 108
+f 106 108 107
+f 108 119 121
+f 108 121 110
+f 109 110 123
+f 109 123 122
+f 110 121 120
+f 110 120 124
+f 110 124 123
+f 111 125 126
+f 111 126 116
+f 111 116 114
+f 111 114 113
+f 111 113 112
+f 114 116 115
+f 116 126 127
+f 116 127 117
+f 117 127 128
+f 117 128 118
+f 118 128 129
+f 118 129 130
+f 118 130 131
+f 118 131 132
+f 118 132 120
+f 122 123 124
+f 125 131 127
+f 125 127 126
+f 127 131 130
+f 127 130 129
+f 127 129 128
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_20.obj

@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.17731393 -0.12197780 0.16026157
+v -0.17057266 -0.13690076 0.16026152
+v -0.14077300 -0.12197780 0.16026157
+v -0.17613285 -0.12197763 0.11502649
+v -0.16449160 -0.14929149 0.16026147
+v -0.17609651 -0.12197763 0.11384517
+v -0.15712647 -0.16087099 0.11384503
+v -0.14039747 -0.12216820 0.16026157
+v -0.14049438 -0.12197780 0.16022218
+v -0.16435229 -0.14957327 0.16026147
+v -0.17221407 -0.12197757 0.09873400
+v -0.16944610 -0.13143629 0.10322302
+v -0.15410411 -0.16087093 0.09704062
+v -0.15856800 -0.16087116 0.16026143
+v -0.11974970 -0.16087116 0.16026143
+v -0.14044593 -0.12197780 0.15985795
+v -0.17188700 -0.12197757 0.09829099
+v -0.14139079 -0.16087083 0.07026382
+v -0.15263229 -0.16087091 0.09271892
+v -0.11970124 -0.16087116 0.15976921
+v -0.13676337 -0.12197768 0.12915323
+v -0.13848351 -0.12197774 0.14446129
+v -0.16690222 -0.12197755 0.09162633
+v -0.13004028 -0.16087079 0.05970077
+v -0.11848381 -0.16087110 0.14446115
+v -0.13536424 -0.12197763 0.11384517
+v -0.13557018 -0.12197764 0.11613891
+v -0.15968852 -0.12197754 0.08886990
+v -0.11864735 -0.16087083 0.07040164
+v -0.15908889 -0.12197754 0.08873208
+v -0.14505519 -0.12197754 0.08937196
+v -0.13855014 -0.12197756 0.09493406
+v -0.11563105 -0.16087093 0.09854681
+v -0.11543722 -0.16087090 0.08923400
+v -0.11593994 -0.16087088 0.08323875
+v -0.13661195 -0.12197759 0.10307538
+v -0.11749655 -0.16087084 0.07392594
+v -0.13723580 -0.12197757 0.09854695
+f 1 2 5
+f 1 5 10
+f 1 10 14
+f 1 14 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 22
+f 1 22 21
+f 1 21 27
+f 1 27 26
+f 1 26 36
+f 1 36 38
+f 1 38 32
+f 1 32 31
+f 1 31 30
+f 1 30 28
+f 1 28 23
+f 1 23 17
+f 1 17 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 5 7 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 19
+f 7 19 18
+f 7 18 24
+f 7 24 29
+f 7 29 37
+f 7 37 35
+f 7 35 34
+f 7 34 33
+f 7 33 25
+f 7 25 20
+f 7 20 15
+f 7 15 14
+f 7 14 10
+f 8 15 16
+f 8 16 9
+f 11 17 18
+f 11 18 19
+f 11 19 13
+f 11 13 12
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 23 18
+f 18 23 24
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 23 28 24
+f 24 28 30
+f 24 30 31
+f 24 31 32
+f 24 32 29
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 29 32 38
+f 29 38 37
+f 35 37 38
+f 35 38 36
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_21.obj

@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.13814056 -0.07622589 0.01858269
+v -0.13814056 -0.06102781 0.01929924
+v -0.16101305 -0.04604460 0.03409282
+v -0.16131615 -0.04964273 0.03409281
+v -0.16247026 -0.06102787 0.03409277
+v -0.16595592 -0.06947006 0.03409273
+v -0.17543950 -0.07056560 0.03409273
+v -0.17771276 -0.07064079 0.03409273
+v -0.14718697 -0.07622588 0.01707945
+v -0.13814056 -0.07622563 -0.05140909
+v -0.13814056 -0.04604454 0.01918690
+v -0.13814056 0.03350105 0.01854094
+v -0.16218464 0.03350099 0.03409311
+v -0.18525532 -0.07011450 0.03409273
+v -0.18775008 -0.07622578 -0.01058289
+v -0.16718582 -0.07622542 -0.10863038
+v -0.13814056 -0.06799826 -0.05201316
+v -0.13814056 0.03350131 -0.05272929
+v -0.19679066 0.03350099 0.03409311
+v -0.18609468 -0.06886857 0.03409274
+v -0.19282702 -0.07622573 -0.02391533
+v -0.19276873 -0.07622573 -0.02374674
+v -0.17543950 -0.07622542 -0.10943117
+v -0.16719165 -0.07601061 -0.10863038
+v -0.16861972 0.03350152 -0.10770275
+v -0.13814056 0.02886133 -0.05289788
+v -0.13814056 0.01387807 -0.05315082
+v -0.13814056 -0.00110520 -0.05324922
+v -0.13814056 -0.01608847 -0.05322118
+v -0.13814056 -0.02304844 -0.05315095
+v -0.13814056 -0.03106101 -0.05303859
+v -0.13814056 -0.03803172 -0.05285599
+v -0.13814056 0.03134243 -0.05281358
+v -0.19707043 0.02886101 0.03409310
+v -0.19556076 0.03350143 -0.08514017
+v -0.19108419 -0.06130713 0.03409276
+v -0.19316510 -0.07622568 -0.03900388
+v -0.19242482 -0.05787011 0.03409278
+v -0.19574728 -0.04604460 0.03409282
+v -0.18431687 -0.07622542 -0.10889731
+v -0.18464328 -0.06102734 -0.10891130
+v -0.18482398 -0.04604407 -0.10891125
+v -0.18496387 -0.03106080 -0.10891119
+v -0.18499302 0.03350152 -0.10892501
+v -0.17910003 0.03350152 -0.10892501
+v -0.17576592 0.03350152 -0.10888286
+v -0.17256587 0.03350152 -0.10843330
+v -0.19740851 0.01819550 0.03409306
+v -0.19574146 0.02886145 -0.08514018
+v -0.19427841 0.03350145 -0.08987466
+v -0.19603290 -0.04288683 0.03409283
+v -0.19321172 -0.07622551 -0.08492984
+v -0.18443345 -0.07622542 -0.10888326
+v -0.18443927 -0.07601061 -0.10888326
+v -0.19164375 -0.01608830 -0.10043964
+v -0.19183029 -0.00110503 -0.10043958
+v -0.18509793 -0.01608827 -0.10889709
+v -0.18517955 -0.00110500 -0.10889703
+v -0.18513873 0.01387827 -0.10889698
+v -0.19171954 0.01387824 -0.10043953
+v -0.18939381 0.03350150 -0.10306661
+v -0.19751926 0.01459737 0.03409304
+v -0.19617279 0.01387818 -0.08514024
+v -0.19128237 0.03350149 -0.10043946
+v -0.19685478 -0.03106133 0.03409288
+v -0.19322922 -0.07601070 -0.08514057
+v -0.19321172 -0.07622551 -0.08514057
+v -0.18955119 -0.07622545 -0.10043986
+v -0.18956286 -0.07601064 -0.10043986
+v -0.19024482 -0.06102737 -0.10043980
+v -0.19083354 -0.04604410 -0.10043975
+v -0.19127654 -0.03106083 -0.10043969
+v -0.19609701 -0.01608836 -0.08514035
+v -0.19632434 -0.00110509 -0.08514029
+v -0.19140477 0.02886151 -0.10043947
+v -0.19767081 0.00016187 0.03409299
+v -0.19697718 -0.02790357 0.03409289
+v -0.19563653 -0.03106089 -0.08514040
+v -0.19500118 -0.04604416 -0.08514046
+v -0.19417932 -0.06102743 -0.08514051
+v -0.19742599 -0.01630361 0.03409293
+v -0.19768247 -0.00110553 0.03409299
+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 15
+f 1 15 22
+f 1 22 21
+f 1 21 37
+f 1 37 52
+f 1 52 67
+f 1 67 68
+f 1 68 53
+f 1 53 40
+f 1 40 23
+f 1 23 16
+f 1 16 10
+f 1 10 17
+f 1 17 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 33
+f 1 33 18
+f 1 18 12
+f 1 12 11
+f 1 11 2
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 19
+f 3 19 34
+f 3 34 48
+f 3 48 62
+f 3 62 76
+f 3 76 82
+f 3 82 81
+f 3 81 77
+f 3 77 65
+f 3 65 51
+f 3 51 39
+f 3 39 38
+f 3 38 36
+f 3 36 20
+f 3 20 14
+f 3 14 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 14 9
+f 9 14 15
+f 10 16 17
+f 12 18 25
+f 12 25 47
+f 12 47 46
+f 12 46 45
+f 12 45 44
+f 12 44 61
+f 12 61 64
+f 12 64 50
+f 12 50 35
+f 12 35 19
+f 12 19 13
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 18 33 25
+f 19 35 34
+f 20 36 21
+f 21 36 38
+f 21 38 39
+f 21 39 37
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 46
+f 23 46 24
+f 24 47 25
+f 24 46 47
+f 25 33 26
+f 34 35 49
+f 34 49 48
+f 35 50 49
+f 37 39 51
+f 37 51 52
+f 40 53 41
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 42
+f 42 56 43
+f 43 57 58
+f 43 58 44
+f 43 56 57
+f 44 58 59
+f 44 59 56
+f 44 56 60
+f 44 60 61
+f 48 49 62
+f 49 50 63
+f 49 63 62
+f 50 64 63
+f 51 65 66
+f 51 66 67
+f 51 67 52
+f 53 68 69
+f 53 69 70
+f 53 70 71
+f 53 71 72
+f 53 72 54
+f 54 72 55
+f 55 72 73
+f 55 73 74
+f 55 74 56
+f 56 59 58
+f 56 58 57
+f 56 74 60
+f 60 75 61
+f 60 74 63
+f 60 63 75
+f 61 75 64
+f 62 63 76
+f 63 64 75
+f 63 74 76
+f 65 77 78
+f 65 78 79
+f 65 79 80
+f 65 80 66
+f 66 80 68
+f 66 68 67
+f 68 80 79
+f 68 79 69
+f 69 79 70
+f 70 79 78
+f 70 78 71
+f 71 78 73
+f 71 73 72
+f 73 78 81
+f 73 81 82
+f 73 82 74
+f 74 82 76
+f 77 81 78
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_22.obj

@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.15972170 -0.16086607 -0.00617275
+v -0.17302215 -0.16086605 -0.01218639
+v -0.14542384 -0.16086606 -0.00918601
+v -0.13813475 -0.10256670 0.01610495
+v -0.13939633 -0.10187069 0.01571864
+v -0.14718682 -0.07622589 0.01708371
+v -0.17614374 -0.15030984 -0.01160687
+v -0.18352989 -0.14490743 -0.01535411
+v -0.17531886 -0.16086603 -0.01702820
+v -0.13832345 -0.16086600 -0.02391748
+v -0.13813475 -0.09100790 0.01784342
+v -0.14213512 -0.09100789 0.01655570
+v -0.13816171 -0.16086595 -0.03922842
+v -0.13813475 -0.10948537 0.00669172
+v -0.15193659 -0.08202599 0.01338795
+v -0.18445720 -0.13595040 -0.01404061
+v -0.13813475 -0.07632533 0.01859034
+v -0.13813475 -0.07622590 0.01857746
+v -0.18774592 -0.07622579 -0.01057643
+v -0.18659756 -0.10598866 -0.01187713
+v -0.18834974 -0.12096120 -0.02391733
+v -0.18597756 -0.13595036 -0.02391739
+v -0.18382101 -0.14575255 -0.02391743
+v -0.18104446 -0.15325128 -0.02391745
+v -0.17757783 -0.16086600 -0.02391748
+v -0.13813475 -0.10269075 -0.04837100
+v -0.13813475 -0.10622883 -0.04655533
+v -0.13813475 -0.10998234 -0.04237026
+v -0.13813475 -0.11467218 -0.03446370
+v -0.13813475 -0.11482134 -0.03334339
+v -0.13813475 -0.11516937 -0.02391731
+v -0.13813475 -0.11501195 -0.02216601
+v -0.13813475 -0.11394310 -0.01334516
+v -0.13813475 -0.11393482 -0.01329365
+v -0.13997859 -0.16086578 -0.08513550
+v -0.13813475 -0.09779379 -0.04929813
+v -0.18562712 -0.12096124 -0.01266269
+v -0.19190803 -0.09100774 -0.02391722
+v -0.19026368 -0.10598861 -0.02391728
+v -0.13813475 -0.07622564 -0.05140990
+v -0.18744400 -0.09100779 -0.01142637
+v -0.19282995 -0.07622574 -0.02391717
+v -0.18844140 -0.12096115 -0.03922827
+v -0.18603147 -0.13595031 -0.03922833
+v -0.18384797 -0.14589336 -0.03922837
+v -0.18114691 -0.15338380 -0.03922839
+v -0.17777193 -0.16086595 -0.03922842
+v -0.14221599 -0.16086573 -0.09866939
+v -0.13813475 -0.08298691 -0.05128115
+v -0.19316422 -0.07622569 -0.03900920
+v -0.19193499 -0.09100769 -0.03922816
+v -0.19035533 -0.10598856 -0.03922822
+v -0.14258800 -0.16086572 -0.10057522
+v -0.14651289 -0.16086568 -0.11025884
+v -0.16717793 -0.07622543 -0.10863601
+v -0.19034454 -0.10598850 -0.05452629
+v -0.19029063 -0.10598839 -0.08513530
+v -0.18839288 -0.12096109 -0.05452634
+v -0.18597756 -0.13595025 -0.05452640
+v -0.18379945 -0.14589319 -0.08513545
+v -0.18126552 -0.15338363 -0.08513547
+v -0.18123856 -0.15335883 -0.06982452
+v -0.18119543 -0.15337546 -0.05452646
+v -0.17795522 -0.16086583 -0.06982455
+v -0.17788514 -0.16086589 -0.05452649
+v -0.19320735 -0.07622552 -0.08492916
+v -0.19198351 -0.09100752 -0.08513524
+v -0.14829204 -0.16086568 -0.11202301
+v -0.15024911 -0.16086568 -0.11296304
+v -0.17543747 -0.07622543 -0.10942152
+v -0.18595599 -0.12096092 -0.10044629
+v -0.18417685 -0.13461605 -0.10047210
+v -0.18354066 -0.14508942 -0.09538566
+v -0.18823653 -0.12096098 -0.08513535
+v -0.18586433 -0.13595014 -0.08513541
+v -0.17796062 -0.16086578 -0.08513550
+v -0.17796601 -0.16086581 -0.07599272
+v -0.19320735 -0.07622552 -0.08513519
+v -0.18746557 -0.10598833 -0.10044624
+v -0.16448765 -0.16086569 -0.11018158
+v -0.18304466 -0.12873305 -0.10813399
+v -0.18335196 -0.12096089 -0.10836575
+v -0.18382101 -0.10598830 -0.10867475
+v -0.18416606 -0.09100743 -0.10881634
+v -0.18443563 -0.07622543 -0.10888067
+v -0.18431702 -0.07622543 -0.10889355
+v -0.18046760 -0.13871754 -0.10558435
+v -0.17372302 -0.16086572 -0.10097441
+v -0.18955202 -0.07622546 -0.10044613
+v -0.18867322 -0.09100746 -0.10044618
+v -0.16875760 -0.16086569 -0.10849467
+f 1 2 9
+f 1 9 25
+f 1 25 47
+f 1 47 65
+f 1 65 64
+f 1 64 77
+f 1 77 76
+f 1 76 88
+f 1 88 91
+f 1 91 80
+f 1 80 69
+f 1 69 68
+f 1 68 54
+f 1 54 53
+f 1 53 48
+f 1 48 35
+f 1 35 13
+f 1 13 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 11 12
+f 4 12 5
+f 4 10 13
+f 4 13 14
+f 4 14 34
+f 4 34 33
+f 4 33 32
+f 4 32 31
+f 4 31 30
+f 4 30 29
+f 4 29 28
+f 4 28 27
+f 4 27 26
+f 4 26 36
+f 4 36 49
+f 4 49 40
+f 4 40 18
+f 4 18 17
+f 4 17 11
+f 5 12 6
+f 6 15 16
+f 6 16 7
+f 6 12 11
+f 6 11 17
+f 6 17 18
+f 6 18 40
+f 6 40 55
+f 6 55 70
+f 6 70 86
+f 6 86 85
+f 6 85 89
+f 6 89 78
+f 6 78 66
+f 6 66 50
+f 6 50 42
+f 6 42 19
+f 6 19 20
+f 6 20 15
+f 7 16 8
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 8 16 21
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 14
+f 13 35 36
+f 13 36 26
+f 15 20 37
+f 15 37 16
+f 16 37 38
+f 16 38 39
+f 16 39 21
+f 19 41 20
+f 19 42 41
+f 20 41 38
+f 20 38 37
+f 21 39 52
+f 21 52 43
+f 21 43 22
+f 22 43 44
+f 22 44 45
+f 22 45 23
+f 23 45 46
+f 23 46 24
+f 24 46 47
+f 24 47 25
+f 35 48 40
+f 35 40 49
+f 35 49 36
+f 38 42 50
+f 38 50 51
+f 38 51 52
+f 38 52 39
+f 38 41 42
+f 40 48 53
+f 40 53 54
+f 40 54 55
+f 43 52 56
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 60
+f 44 60 45
+f 45 60 61
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 50 66 67
+f 50 67 51
+f 51 67 52
+f 52 67 56
+f 54 68 55
+f 55 68 69
+f 55 69 70
+f 56 67 57
+f 57 67 71
+f 57 71 72
+f 57 72 73
+f 57 73 74
+f 57 74 58
+f 58 74 75
+f 58 75 59
+f 59 75 60
+f 60 75 73
+f 60 73 61
+f 61 73 76
+f 61 76 77
+f 61 77 64
+f 61 64 63
+f 61 63 62
+f 66 78 67
+f 67 78 79
+f 67 79 71
+f 69 80 81
+f 69 81 82
+f 69 82 83
+f 69 83 84
+f 69 84 85
+f 69 85 86
+f 69 86 70
+f 71 79 81
+f 71 81 72
+f 72 81 73
+f 73 81 87
+f 73 87 88
+f 73 88 76
+f 73 75 74
+f 78 89 90
+f 78 90 79
+f 79 90 81
+f 80 91 81
+f 81 91 87
+f 81 90 89
+f 81 89 82
+f 82 89 83
+f 83 89 84
+f 84 89 85
+f 87 91 88
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_23.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.18876206 0.11686849 -0.08513771
+v -0.18850768 0.11876483 -0.08513770
+v -0.18625530 0.11876489 -0.10043756
+v -0.18679057 0.11686854 -0.09850652
+v -0.18875676 0.11686844 -0.06982641
+v -0.18851297 0.11876478 -0.06982640
+v -0.18627120 0.13374713 -0.05451506
+v -0.18621820 0.13374719 -0.06982635
+v -0.18613870 0.13374724 -0.08513765
+v -0.18359484 0.14307132 -0.09553558
+v -0.18432090 0.13281445 -0.10056320
+v -0.18644609 0.11686855 -0.10043757
+v -0.18314438 0.12719991 -0.10821887
+v -0.18874086 0.11686838 -0.05451512
+v -0.18850237 0.11876472 -0.05451511
+v -0.18626591 0.13374707 -0.03922662
+v -0.18402943 0.14434124 -0.05451502
+v -0.18398172 0.14421429 -0.06982631
+v -0.18391813 0.14406106 -0.08513761
+v -0.18145907 0.15155446 -0.08513758
+v -0.17733059 0.16160550 -0.08513755
+v -0.17400767 0.16160555 -0.09802646
+v -0.17306433 0.16160556 -0.10150007
+v -0.18064290 0.13718964 -0.10573933
+v -0.18405062 0.11686857 -0.10747620
+v -0.18351535 0.11876492 -0.10849314
+v -0.16993751 0.16160558 -0.10609345
+v -0.16885107 0.16000268 -0.10853869
+v -0.16624890 0.16160559 -0.10911001
+v -0.16115059 0.16160559 -0.10993271
+v -0.18871966 0.11686832 -0.03922668
+v -0.18848647 0.11876466 -0.03922667
+v -0.18834868 0.11876461 -0.02391537
+v -0.18609630 0.13374702 -0.02391532
+v -0.18402412 0.14432367 -0.03922658
+v -0.18150146 0.15183465 -0.05451499
+v -0.18148026 0.15170770 -0.06982628
+v -0.17734649 0.16160549 -0.08245236
+v -0.18357365 0.11686858 -0.10852743
+v -0.17543859 0.11876492 -0.10939581
+v -0.14745614 0.16160560 -0.11068684
+v -0.17543859 0.11686858 -0.10943011
+v -0.18858188 0.11686827 -0.02391538
+v -0.18447989 0.13374698 -0.01402012
+v -0.18353655 0.14283454 -0.01534554
+v -0.18389693 0.14394260 -0.02391528
+v -0.18148026 0.15181706 -0.03922655
+v -0.17736769 0.16160544 -0.06711821
+v -0.15296784 0.14147722 -0.10799030
+v -0.16570833 0.11686858 -0.10899590
+v -0.14158937 0.16160556 -0.10043741
+v -0.18573592 0.11686823 -0.01258046
+v -0.18561934 0.11876457 -0.01267186
+v -0.17543859 0.13374696 -0.00887826
+v -0.17622295 0.14818632 -0.01158626
+v -0.17235946 0.16160523 -0.01220323
+v -0.17683771 0.16160528 -0.02391522
+v -0.18131598 0.15143599 -0.02391525
+v -0.17720340 0.16160533 -0.03922652
+v -0.17730940 0.16160538 -0.05182977
+v -0.15957127 0.11686855 -0.10043757
+v -0.16019663 0.11686855 -0.10152308
+v -0.13865333 0.16160550 -0.08513755
+v -0.13462025 0.11686833 -0.04131770
+v -0.17684302 0.11686821 -0.00844412
+v -0.17543859 0.11876455 -0.00794135
+v -0.13462025 0.11686816 0.00602162
+v -0.16245961 0.16160522 -0.00764412
+v -0.17714510 0.16160532 -0.03659846
+v -0.13508133 0.16160531 -0.03190224
+v -0.13468915 0.16160528 -0.02391522
+v -0.13462025 0.11844496 -0.04008364
+v -0.17543859 0.11686821 -0.00791851
+v -0.13462025 0.12050760 -0.00886689
+v -0.13531451 0.16160525 -0.01713941
+v -0.14501298 0.16160522 -0.00829542
+v -0.14673009 0.16160522 -0.00752986
+v -0.16030794 0.16160522 -0.00700424
+v -0.13462025 0.12147992 -0.02391536
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 25
+f 1 25 39
+f 1 39 42
+f 1 42 50
+f 1 50 62
+f 1 62 61
+f 1 61 64
+f 1 64 67
+f 1 67 73
+f 1 73 65
+f 1 65 52
+f 1 52 43
+f 1 43 31
+f 1 31 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 12 4
+f 3 11 13
+f 3 13 12
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 7 17 8
+f 7 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 13
+f 10 13 11
+f 12 13 25
+f 13 26 25
+f 13 24 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 26
+f 14 31 32
+f 14 32 15
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 17
+f 17 36 37
+f 17 37 20
+f 17 20 18
+f 17 35 36
+f 18 20 19
+f 20 37 38
+f 20 38 21
+f 21 38 48
+f 21 48 60
+f 21 60 59
+f 21 59 69
+f 21 69 57
+f 21 57 56
+f 21 56 68
+f 21 68 78
+f 21 78 77
+f 21 77 76
+f 21 76 75
+f 21 75 71
+f 21 71 70
+f 21 70 63
+f 21 63 51
+f 21 51 41
+f 21 41 30
+f 21 30 29
+f 21 29 27
+f 21 27 23
+f 21 23 22
+f 23 27 24
+f 25 26 39
+f 26 30 40
+f 26 40 39
+f 27 29 28
+f 30 41 42
+f 30 42 40
+f 31 43 33
+f 31 33 32
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 34 45 46
+f 34 46 35
+f 35 46 47
+f 35 47 36
+f 36 48 38
+f 36 38 37
+f 36 47 48
+f 39 40 42
+f 41 49 50
+f 41 50 42
+f 41 51 49
+f 43 52 53
+f 43 53 44
+f 44 53 54
+f 44 54 55
+f 44 55 45
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 46
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 47 60 48
+f 49 51 61
+f 49 61 62
+f 49 62 50
+f 51 63 64
+f 51 64 61
+f 52 65 54
+f 52 54 53
+f 54 65 66
+f 54 66 67
+f 54 67 68
+f 54 68 55
+f 55 68 56
+f 57 69 58
+f 58 69 59
+f 63 70 64
+f 64 70 71
+f 64 71 72
+f 64 72 79
+f 64 79 74
+f 64 74 67
+f 65 73 66
+f 66 73 67
+f 67 74 71
+f 67 71 75
+f 67 75 76
+f 67 76 77
+f 67 77 78
+f 67 78 68
+f 71 74 79
+f 71 79 72
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_3.obj

@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v -0.28105545 -0.00077366 0.46265154
+v -0.28138388 -0.00077366 0.46265154
+v -0.26693272 -0.00077366 0.46238511
+v -0.26699069 0.01388555 0.46229631
+v -0.26673953 0.02887893 0.46217801
+v -0.28138388 0.01388555 0.46250357
+v -0.28911175 0.01388557 0.45844803
+v -0.28918905 -0.00077364 0.45853677
+v -0.24336266 0.15448473 0.45833014
+v -0.24336266 0.15684623 0.45833015
+v -0.25935939 -0.00077364 0.45720465
+v -0.26623720 0.05884342 0.46170449
+v -0.26623720 0.07381453 0.46140849
+v -0.28022469 0.04385003 0.46185240
+v -0.28263967 0.02809920 0.46143793
+v -0.28903448 0.02259644 0.45835921
+v -0.28911175 0.01388558 0.45590220
+v -0.28918905 -0.00077363 0.45510290
+v -0.22417817 0.17867913 0.44693326
+v -0.23598252 0.17867911 0.45172887
+v -0.24386498 0.15684623 0.45833015
+v -0.25518634 0.11875012 0.45975092
+v -0.22535668 0.19367252 0.44512755
+v -0.15228948 0.20028962 0.33675286
+v -0.15134280 0.20864403 0.33861783
+v -0.16762933 0.20066824 0.36685858
+v -0.18352947 0.20516837 0.39613546
+v -0.19653165 0.19768277 0.41496262
+v -0.20937926 0.19367257 0.43251689
+v -0.25593980 -0.00077361 0.44953760
+v -0.12118471 0.21254297 0.27739990
+v -0.26270172 0.11875012 0.45975092
+v -0.26623720 0.08880791 0.46084612
+v -0.27883367 0.05884343 0.46134920
+v -0.27719150 0.07381453 0.46057962
+v -0.27558796 0.08880791 0.45957323
+v -0.27444810 0.09887776 0.45877395
+v -0.27920075 0.08880794 0.45060362
+v -0.28198280 0.07381456 0.45060356
+v -0.28464891 0.05884346 0.45060351
+v -0.28673545 0.04385007 0.45060345
+v -0.28903448 0.02259644 0.45726397
+v -0.28855151 0.01388560 0.44826477
+v -0.28862878 -0.00077360 0.44761344
+v -0.21778334 0.19367254 0.44018394
+v -0.22792620 0.20133632 0.44311462
+v -0.22879557 0.20133632 0.44311462
+v -0.23468809 0.19362796 0.44589724
+v -0.24550715 0.18861533 0.44497950
+v -0.25874115 0.14136273 0.45830048
+v -0.26001626 0.13374350 0.45895172
+v -0.24852101 0.17867913 0.44776212
+v -0.20974634 0.20597027 0.43121441
+v -0.13609955 0.21145121 0.30824568
+v -0.15132349 0.21766679 0.33858827
+v -0.15532267 0.20864400 0.34625529
+v -0.16193002 0.20864395 0.35874753
+v -0.16693383 0.20864392 0.36813152
+v -0.17130009 0.20864389 0.37579857
+v -0.17962689 0.20955725 0.39036301
+v -0.18289191 0.21514912 0.39720119
+v -0.19601001 0.20864374 0.41537712
+v -0.25047231 -0.00077356 0.43559486
+v -0.10698472 0.21510511 0.24489636
+v -0.12118471 0.21784524 0.27739992
+v -0.27240021 0.10885851 0.45673142
+v -0.27491177 0.11556435 0.44654817
+v -0.27605164 0.10382360 0.45122533
+v -0.27491177 0.11556437 0.44042047
+v -0.28035994 0.07381462 0.43529907
+v -0.28818443 0.02809923 0.45155069
+v -0.28240783 0.05884352 0.43529902
+v -0.28379886 0.04385013 0.43529896
+v -0.28472618 0.02887903 0.43529891
+v -0.28530578 0.01388565 0.43529885
+v -0.28855151 -0.00077360 0.44716942
+v -0.28860945 -0.00077360 0.44746544
+v -0.22205301 0.20637126 0.43592123
+v -0.21683668 0.21813435 0.41715329
+v -0.23200266 0.20407659 0.43529955
+v -0.26028674 0.16036627 0.44574909
+v -0.23957598 0.19839560 0.43529953
+v -0.24635723 0.19091004 0.43529950
+v -0.19691804 0.21724322 0.41374901
+v -0.20570851 0.21846853 0.41700527
+v -0.13609955 0.21788969 0.30824570
+v -0.16438363 0.21898114 0.35874756
+v -0.16685655 0.21724339 0.36824996
+v -0.13356866 0.21991705 0.29755922
+v -0.18289191 0.21628531 0.39720119
+v -0.25035639 -0.00077356 0.43529880
+v -0.20174797 -0.00077305 0.29755841
+v -0.10582554 0.20951327 0.23512751
+v -0.10188431 0.20864446 0.22100712
+v -0.09807833 0.20864451 0.20570263
+v -0.09203125 0.21557318 0.18421124
+v -0.10698472 0.21670916 0.24489637
+v -0.24562306 -0.00077351 0.42233292
+v -0.24552647 -0.00077351 0.42206651
+v -0.22274851 -0.00077328 0.35904279
+v -0.21724238 -0.00077322 0.34344228
+v -0.21399668 -0.00077319 0.33408788
+v -0.21129191 -0.00077316 0.32621363
+v -0.20684838 -0.00077311 0.31315892
+v -0.11898228 0.21991716 0.26695023
+v -0.27612891 0.10377909 0.43751940
+v -0.26028674 0.16036630 0.43820045
+v -0.26243123 0.14994002 0.43396723
+v -0.26784075 0.13374359 0.43529929
+v -0.18926743 0.08880901 0.16026235
+v -0.18938335 0.08834117 0.16026234
+v -0.19268703 0.07381563 0.16026229
+v -0.19276430 0.07345917 0.16026229
+v -0.19595205 0.05835440 0.16026223
+v -0.19612593 0.05744099 0.16026223
+v -0.19771015 0.04817316 0.16026220
+v -0.19850226 0.04260355 0.16026218
+v -0.20002851 0.02888004 0.16026213
+v -0.20006715 0.02838991 0.16026212
+v -0.20114905 0.01388666 0.16026207
+v -0.20116838 0.01341881 0.16026207
+v -0.28551829 -0.00077356 0.43529880
+v -0.20145818 -0.00077255 0.16026202
+v -0.23352893 0.20661639 0.41999508
+v -0.22147341 0.21441382 0.42135685
+v -0.20570851 0.22178805 0.40469064
+v -0.21701054 0.21855768 0.40469063
+v -0.25240428 0.17867917 0.43529946
+v -0.24533325 0.19004122 0.42387297
+v -0.19135396 0.21882502 0.40326972
+v -0.19056185 0.22256784 0.38935655
+v -0.17510608 0.22009501 0.37363763
+v -0.18061218 0.21820127 0.38935653
+v -0.13005247 0.22448425 0.26695024
+v -0.19867613 -0.00077302 0.28775997
+v -0.10715860 0.20086925 0.22920698
+v -0.19647369 -0.00077299 0.28027056
+v -0.19286089 -0.00077294 0.26724544
+v -0.18490117 -0.00077283 0.23737652
+v -0.18281464 -0.00077280 0.22941347
+v -0.17790743 -0.00077272 0.20605709
+v -0.09490989 0.20980303 0.18974688
+v -0.18095994 -0.00077277 0.22124317
+v -0.17321274 -0.00077260 0.17509288
+v -0.17151260 -0.00077255 0.16061726
+v -0.17147397 -0.00077255 0.16026202
+v -0.09438826 0.20741931 0.17509364
+v -0.09183806 0.21490487 0.17509367
+v -0.09203125 0.21650887 0.18421125
+v -0.10557438 0.21849145 0.23634125
+v -0.11490580 0.22383828 0.23634127
+v -0.10325601 0.22076391 0.22100716
+v -0.25854796 0.15575470 0.42801717
+v -0.18526824 0.10230974 0.16026240
+v -0.18542281 0.10179734 0.16026239
+v -0.21469219 0.21735468 0.39435937
+v -0.23082414 0.20472275 0.40782846
+v -0.24119885 0.19449693 0.41925496
+v -0.20640403 0.22036229 0.38929734
+v -0.11490580 0.22682377 0.19039819
+v -0.11490580 0.22680154 0.17509371
+v -0.11490580 0.22666793 0.16026285
+v -0.11527287 0.22646741 0.16026285
+v -0.12620785 0.22020718 0.16026283
+v -0.13787696 0.20164924 0.16026276
+v -0.14193409 0.19367357 0.16026273
+v -0.16440294 0.14929495 0.16026257
+v -0.16817029 0.14180939 0.16026254
+v -0.16832484 0.14149750 0.16026254
+v -0.17201491 0.13374460 0.16026251
+v -0.17226607 0.13320992 0.16026251
+v -0.17873818 0.11872894 0.16026246
+v -0.17893137 0.11828337 0.16026245
+v -0.18244756 0.10979529 0.16026242
+v -0.18254416 0.10955023 0.16026242
+v -0.11490580 0.22582113 0.22100718
+v -0.11490580 0.22660091 0.20570269
+v -0.17784947 -0.00077272 0.20570186
+v -0.17535722 -0.00077266 0.19039736
+v -0.09396322 0.20721886 0.16026278
+v -0.09388595 0.20744164 0.16026278
+v -0.09183806 0.21693220 0.17509368
+v -0.09181874 0.21470441 0.16026281
+v -0.09977846 0.22343750 0.17509370
+v -0.09856132 0.22143238 0.18974692
+v -0.10134336 0.22192245 0.20570268
+v -0.12643969 0.21989529 0.16026283
+v -0.13391642 0.20891201 0.16026279
+v -0.10026146 0.22352666 0.16026284
+v -0.09181874 0.21695453 0.16026282
+v -0.09977846 0.22341527 0.16026284
+f 1 2 8
+f 1 8 18
+f 1 18 44
+f 1 44 77
+f 1 77 76
+f 1 76 122
+f 1 122 123
+f 1 123 146
+f 1 146 145
+f 1 145 144
+f 1 144 179
+f 1 179 178
+f 1 178 141
+f 1 141 143
+f 1 143 140
+f 1 140 139
+f 1 139 138
+f 1 138 137
+f 1 137 135
+f 1 135 92
+f 1 92 104
+f 1 104 103
+f 1 103 102
+f 1 102 101
+f 1 101 100
+f 1 100 99
+f 1 99 98
+f 1 98 91
+f 1 91 63
+f 1 63 30
+f 1 30 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 5
+f 3 5 4
+f 3 11 9
+f 5 12 6
+f 5 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 42
+f 7 42 17
+f 7 17 18
+f 7 18 8
+f 9 11 19
+f 9 19 10
+f 10 20 21
+f 10 21 32
+f 10 32 22
+f 10 22 13
+f 10 13 12
+f 10 19 23
+f 10 23 20
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 19
+f 11 30 31
+f 11 31 24
+f 13 22 32
+f 13 32 33
+f 13 33 14
+f 14 33 34
+f 14 34 16
+f 14 16 15
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 38
+f 16 38 39
+f 16 39 40
+f 16 40 41
+f 16 41 42
+f 17 42 43
+f 17 43 18
+f 18 43 44
+f 19 29 45
+f 19 45 23
+f 20 23 46
+f 20 46 47
+f 20 47 48
+f 20 48 49
+f 20 49 21
+f 21 50 51
+f 21 51 32
+f 21 49 52
+f 21 52 50
+f 23 45 53
+f 23 53 46
+f 24 54 25
+f 24 31 54
+f 25 54 55
+f 25 55 56
+f 25 56 26
+f 26 56 57
+f 26 57 58
+f 26 58 59
+f 26 59 27
+f 27 60 61
+f 27 61 28
+f 27 59 60
+f 28 61 62
+f 28 62 29
+f 29 53 45
+f 29 62 53
+f 30 63 64
+f 30 64 31
+f 31 64 97
+f 31 97 65
+f 31 65 86
+f 31 86 54
+f 32 35 34
+f 32 34 33
+f 32 51 36
+f 32 36 35
+f 36 51 37
+f 37 51 50
+f 37 50 66
+f 37 66 67
+f 37 67 68
+f 37 68 38
+f 38 68 67
+f 38 67 39
+f 39 67 40
+f 40 67 69
+f 40 69 70
+f 40 70 41
+f 41 71 42
+f 41 70 72
+f 41 72 73
+f 41 73 71
+f 42 71 43
+f 43 71 73
+f 43 73 74
+f 43 74 75
+f 43 75 76
+f 43 76 77
+f 43 77 44
+f 46 53 78
+f 46 78 47
+f 47 49 48
+f 47 78 79
+f 47 79 80
+f 47 80 49
+f 49 81 52
+f 49 80 82
+f 49 82 83
+f 49 83 81
+f 50 52 81
+f 50 81 66
+f 53 62 84
+f 53 84 85
+f 53 85 78
+f 54 86 55
+f 55 87 88
+f 55 88 56
+f 55 86 89
+f 55 89 87
+f 56 88 57
+f 57 88 58
+f 58 88 61
+f 58 61 59
+f 59 61 60
+f 61 88 90
+f 61 90 62
+f 62 90 84
+f 63 91 64
+f 64 92 93
+f 64 93 94
+f 64 94 95
+f 64 95 96
+f 64 96 149
+f 64 149 97
+f 64 91 98
+f 64 98 99
+f 64 99 100
+f 64 100 101
+f 64 101 102
+f 64 102 103
+f 64 103 104
+f 64 104 92
+f 65 97 105
+f 65 105 89
+f 65 89 86
+f 66 81 67
+f 67 81 107
+f 67 107 69
+f 69 106 70
+f 69 107 108
+f 69 108 109
+f 69 109 110
+f 69 110 111
+f 69 111 112
+f 69 112 113
+f 69 113 114
+f 69 114 115
+f 69 115 106
+f 70 106 116
+f 70 116 117
+f 70 117 72
+f 72 117 118
+f 72 118 73
+f 73 118 119
+f 73 119 120
+f 73 120 74
+f 74 120 121
+f 74 121 75
+f 75 122 76
+f 75 121 123
+f 75 123 122
+f 78 85 79
+f 79 124 125
+f 79 125 80
+f 79 85 126
+f 79 126 127
+f 79 127 124
+f 80 125 124
+f 80 124 82
+f 81 83 128
+f 81 128 107
+f 82 124 83
+f 83 124 129
+f 83 129 128
+f 84 90 130
+f 84 130 131
+f 84 131 85
+f 85 131 126
+f 87 132 133
+f 87 133 88
+f 87 89 132
+f 88 133 90
+f 89 105 134
+f 89 134 131
+f 89 131 132
+f 90 133 130
+f 92 135 93
+f 93 135 136
+f 93 136 94
+f 94 136 137
+f 94 137 138
+f 94 138 139
+f 94 139 140
+f 94 140 95
+f 95 141 142
+f 95 142 96
+f 95 140 143
+f 95 143 141
+f 96 142 144
+f 96 144 145
+f 96 145 146
+f 96 146 147
+f 96 147 148
+f 96 148 182
+f 96 182 149
+f 97 149 150
+f 97 150 105
+f 105 151 134
+f 105 150 152
+f 105 152 151
+f 106 115 116
+f 107 128 129
+f 107 129 153
+f 107 153 108
+f 108 153 154
+f 108 154 109
+f 109 154 155
+f 109 155 110
+f 110 155 154
+f 110 154 175
+f 110 175 174
+f 110 174 173
+f 110 173 172
+f 110 172 171
+f 110 171 170
+f 110 170 169
+f 110 169 168
+f 110 168 167
+f 110 167 166
+f 110 166 165
+f 110 165 188
+f 110 188 187
+f 110 187 164
+f 110 164 163
+f 110 163 162
+f 110 162 189
+f 110 189 191
+f 110 191 190
+f 110 190 183
+f 110 183 181
+f 110 181 180
+f 110 180 146
+f 110 146 123
+f 110 123 121
+f 110 121 120
+f 110 120 119
+f 110 119 118
+f 110 118 117
+f 110 117 116
+f 110 116 115
+f 110 115 114
+f 110 114 113
+f 110 113 112
+f 110 112 111
+f 124 127 156
+f 124 156 157
+f 124 157 158
+f 124 158 129
+f 126 159 127
+f 126 131 160
+f 126 160 161
+f 126 161 162
+f 126 162 159
+f 127 159 162
+f 127 162 163
+f 127 163 164
+f 127 164 156
+f 129 158 165
+f 129 165 166
+f 129 166 167
+f 129 167 168
+f 129 168 169
+f 129 169 170
+f 129 170 171
+f 129 171 172
+f 129 172 173
+f 129 173 174
+f 129 174 175
+f 129 175 154
+f 129 154 153
+f 130 133 131
+f 131 133 132
+f 131 134 176
+f 131 176 177
+f 131 177 160
+f 134 151 176
+f 135 137 136
+f 141 178 142
+f 142 179 144
+f 142 178 179
+f 146 180 147
+f 147 180 181
+f 147 181 148
+f 148 181 183
+f 148 183 190
+f 148 190 182
+f 149 182 184
+f 149 184 185
+f 149 185 186
+f 149 186 152
+f 149 152 150
+f 151 152 186
+f 151 186 176
+f 156 164 157
+f 157 164 187
+f 157 187 188
+f 157 188 158
+f 158 188 165
+f 160 177 184
+f 160 184 189
+f 160 189 161
+f 161 189 162
+f 176 186 184
+f 176 184 177
+f 182 190 184
+f 184 190 191
+f 184 191 189
+f 184 186 185
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_4.obj

@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
+v -0.11490154 -0.22622986 0.17509220
+v -0.11490154 -0.22609737 0.16029078
+v -0.09978041 -0.22344911 0.16029079
+v -0.09978041 -0.22355949 0.17509221
+v -0.11490154 -0.22611956 0.19039685
+v -0.20570554 -0.22281000 0.40466208
+v -0.12540715 -0.22161736 0.16029080
+v -0.21756297 -0.22071344 0.40466209
+v -0.09193983 -0.21881459 0.16029081
+v -0.09190120 -0.21885879 0.17509223
+v -0.09203639 -0.21866020 0.18429870
+v -0.09864101 -0.22212508 0.18980481
+v -0.10157640 -0.22243410 0.20570152
+v -0.11490154 -0.22550174 0.22100617
+v -0.11490154 -0.22594306 0.20570151
+v -0.18915534 -0.22150788 0.39077836
+v -0.19365499 -0.22042655 0.40466209
+v -0.20570554 -0.22040452 0.41635520
+v -0.21721536 -0.22027211 0.41647361
+v -0.13004197 -0.22369226 0.26694975
+v -0.12573544 -0.22146288 0.16029080
+v -0.23399728 -0.20932587 0.41999640
+v -0.21505244 -0.21958789 0.39427149
+v -0.09193983 -0.21704909 0.16029081
+v -0.09190120 -0.21718156 0.17509223
+v -0.10327584 -0.22181622 0.22100619
+v -0.09203639 -0.21775538 0.18429870
+v -0.10702233 -0.21874873 0.24474765
+v -0.10549669 -0.22020525 0.23634046
+v -0.11490154 -0.22378041 0.23634045
+v -0.17557916 -0.22049264 0.37310546
+v -0.18069678 -0.21983063 0.38660435
+v -0.19705385 -0.21916864 0.41354293
+v -0.20970308 -0.20769280 0.43139349
+v -0.22163775 -0.20857559 0.43601150
+v -0.22932385 -0.20378664 0.44332343
+v -0.23272272 -0.20663351 0.43530106
+v -0.22169569 -0.21674108 0.42094364
+v -0.11961361 -0.22069086 0.26694976
+v -0.13456093 -0.22042615 0.29755908
+v -0.14983656 -0.22009523 0.32813879
+v -0.13282286 -0.21082562 0.16029084
+v -0.23102329 -0.20740583 0.40788884
+v -0.24029293 -0.20138109 0.43530108
+v -0.24651133 -0.19387762 0.43530111
+v -0.24537193 -0.19297273 0.42408164
+v -0.24145163 -0.19714377 0.41937478
+v -0.09363926 -0.20954561 0.16029084
+v -0.09483659 -0.21199540 0.18980485
+v -0.09815822 -0.21084786 0.20570157
+v -0.10176952 -0.21084791 0.22100623
+v -0.10702233 -0.21738043 0.24474765
+v -0.09412206 -0.20970014 0.17509226
+v -0.17148506 -0.00079462 0.16029161
+v -0.12150616 -0.21934470 0.27668908
+v -0.15174842 -0.21919044 0.33778932
+v -0.16737165 -0.21879330 0.36736253
+v -0.18345836 -0.21084856 0.39631413
+v -0.18902015 -0.21084859 0.40466213
+v -0.19612689 -0.21084863 0.41525994
+v -0.20922028 -0.19588589 0.43296247
+v -0.21706086 -0.19588592 0.44060001
+v -0.22463109 -0.19588594 0.44536606
+v -0.22721885 -0.20378664 0.44332343
+v -0.23596709 -0.18090107 0.45223397
+v -0.23502082 -0.19601835 0.44616534
+v -0.24566161 -0.19111900 0.44507003
+v -0.13656936 -0.21932273 0.30744643
+v -0.14833023 -0.18085587 0.16029095
+v -0.25247866 -0.18090101 0.43530116
+v -0.26004890 -0.16245135 0.44581020
+v -0.26004890 -0.16245132 0.43867594
+v -0.25722936 -0.16682097 0.43426511
+v -0.25838809 -0.15746368 0.42846300
+v -0.18488744 -0.10341563 0.16029123
+v -0.18200998 -0.11087496 0.16029120
+v -0.17780001 -0.12093844 0.16029117
+v -0.17077052 -0.13647504 0.16029111
+v -0.17057740 -0.13689435 0.16029111
+v -0.17022979 -0.13762263 0.16029110
+v -0.16451350 -0.14927508 0.16029106
+v -0.15246295 -0.17284480 0.16029098
+v -0.17326174 -0.00079467 0.17544826
+v -0.17540535 -0.00079473 0.19075292
+v -0.17783863 -0.00079479 0.20570234
+v -0.18090921 -0.00079484 0.22100700
+v -0.18282107 -0.00079487 0.22941421
+v -0.18490675 -0.00079490 0.23737737
+v -0.18878841 -0.00079496 0.25197156
+v -0.19286320 -0.00079501 0.26724662
+v -0.10706095 -0.20288101 0.22950225
+v -0.10570913 -0.21177486 0.23530437
+v -0.12291592 -0.20484532 0.27349206
+v -0.12150616 -0.21484261 0.27668910
+v -0.21736986 -0.00079529 0.34379951
+v -0.22273853 -0.00079535 0.35904495
+v -0.24552644 -0.00079558 0.42206936
+v -0.24562298 -0.00079558 0.42233579
+v -0.25035439 -0.00079563 0.43530182
+v -0.25047025 -0.00079563 0.43559784
+v -0.25593549 -0.00079568 0.44954078
+v -0.20145694 -0.00079462 0.16029161
+v -0.15151668 -0.21084834 0.33823338
+v -0.16723647 -0.21084845 0.36759938
+v -0.19653243 -0.19961548 0.41505275
+v -0.16752615 -0.20263877 0.36703698
+v -0.25937298 -0.00079571 0.45720788
+v -0.22376204 -0.18090105 0.44720149
+v -0.24286142 -0.16050931 0.45859865
+v -0.24481190 -0.16050931 0.45859865
+v -0.25921849 -0.14468582 0.45862832
+v -0.27466792 -0.11663603 0.44714252
+v -0.27331608 -0.11257537 0.45732588
+v -0.27466792 -0.11663601 0.44083712
+v -0.26201871 -0.15185816 0.43426516
+v -0.18869185 -0.09101283 0.16029128
+v -0.18853735 -0.09152041 0.16029127
+v -0.19647450 -0.00079506 0.28027184
+v -0.19867605 -0.00079509 0.28773175
+v -0.19879192 -0.00079509 0.28811659
+v -0.20174662 -0.00079512 0.29755989
+v -0.20684493 -0.00079518 0.31316056
+v -0.21128664 -0.00079523 0.32621544
+v -0.21393236 -0.00079526 0.33388254
+v -0.13747701 -0.20312405 0.30552230
+v -0.15211534 -0.20213107 0.33707891
+v -0.20147626 -0.00112565 0.16029161
+v -0.28552113 -0.00079563 0.43530182
+v -0.26694319 -0.00079573 0.46238839
+v -0.24322834 -0.14179476 0.45848031
+v -0.24280347 -0.15093134 0.45868748
+v -0.25377258 -0.12096160 0.46052296
+v -0.26624798 -0.09101394 0.46218086
+v -0.26394987 -0.12096160 0.46052296
+v -0.26093725 -0.13594648 0.45957563
+v -0.27480308 -0.10257810 0.45913173
+v -0.27600043 -0.10694774 0.45158297
+v -0.27941862 -0.09101390 0.45060613
+v -0.26713630 -0.13594639 0.43530132
+v -0.28216089 -0.07602903 0.45060618
+v -0.28447829 -0.06104415 0.45060624
+v -0.28019108 -0.07602897 0.43530154
+v -0.27582662 -0.10599873 0.43793608
+v -0.19552823 -0.06106515 0.16029139
+v -0.19543166 -0.06152860 0.16029138
+v -0.19224522 -0.07602796 0.16029133
+v -0.20093553 -0.01608845 0.16029155
+v -0.28515421 -0.01608946 0.43530176
+v -0.28552113 -0.00112666 0.43530182
+v -0.28855308 -0.00079567 0.44717254
+v -0.28106011 -0.00079573 0.46265483
+v -0.28138840 -0.00112676 0.46268444
+v -0.26624798 -0.07602907 0.46259531
+v -0.26624798 -0.06104419 0.46253620
+v -0.28003659 -0.04605932 0.46209223
+v -0.27878132 -0.06104419 0.46170733
+v -0.27752605 -0.07602906 0.46111517
+v -0.27603905 -0.09101393 0.46013828
+v -0.28911313 -0.01324264 0.45845116
+v -0.28639016 -0.04605928 0.45060629
+v -0.28233470 -0.06104409 0.43530160
+v -0.19765253 -0.05009684 0.16029143
+v -0.20091621 -0.01657397 0.16029155
+v -0.28445897 -0.03107434 0.43530171
+v -0.28861102 -0.00112670 0.44743897
+v -0.28861102 -0.00079567 0.44746859
+v -0.28138840 -0.00079573 0.46265483
+v -0.28901656 -0.00079571 0.45862885
+v -0.28919037 -0.00112674 0.45854000
+v -0.28287540 -0.01739164 0.46167788
+v -0.28106011 -0.03107444 0.46229949
+v -0.28911313 -0.01324264 0.45620135
+v -0.28779992 -0.03107440 0.45060635
+v -0.28366721 -0.04605922 0.43530165
+v -0.19989269 -0.03107333 0.16029150
+v -0.19871468 -0.04257130 0.16029145
+v -0.28863032 -0.00079567 0.44761659
+v -0.28853378 -0.01739160 0.45090245
+v -0.28917105 -0.00079571 0.45854000
+v -0.28919037 -0.00112673 0.45510610
+v -0.28917105 -0.00079570 0.45510610
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 21
+f 2 21 42
+f 2 42 69
+f 2 69 82
+f 2 82 81
+f 2 81 80
+f 2 80 79
+f 2 79 78
+f 2 78 77
+f 2 77 76
+f 2 76 75
+f 2 75 117
+f 2 117 116
+f 2 116 146
+f 2 146 145
+f 2 145 144
+f 2 144 162
+f 2 162 176
+f 2 176 175
+f 2 175 163
+f 2 163 147
+f 2 147 127
+f 2 127 102
+f 2 102 54
+f 2 54 48
+f 2 48 24
+f 2 24 9
+f 2 9 3
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 6
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 8
+f 6 15 14
+f 6 14 20
+f 6 20 16
+f 7 8 21
+f 8 19 22
+f 8 22 23
+f 8 23 21
+f 9 24 25
+f 9 25 10
+f 10 25 27
+f 10 27 11
+f 11 26 13
+f 11 13 12
+f 11 27 52
+f 11 52 28
+f 11 28 29
+f 11 29 26
+f 13 26 14
+f 14 26 30
+f 14 30 20
+f 16 31 32
+f 16 32 17
+f 16 20 31
+f 17 33 18
+f 17 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 22
+f 20 30 39
+f 20 39 40
+f 20 40 41
+f 20 41 31
+f 21 23 22
+f 21 22 43
+f 21 43 42
+f 22 38 37
+f 22 37 44
+f 22 44 45
+f 22 45 46
+f 22 46 47
+f 22 47 43
+f 24 48 25
+f 25 48 27
+f 26 29 39
+f 26 39 30
+f 27 49 50
+f 27 50 51
+f 27 51 52
+f 27 48 53
+f 27 53 54
+f 27 54 49
+f 28 52 94
+f 28 94 55
+f 28 55 29
+f 29 55 39
+f 31 41 56
+f 31 56 32
+f 32 56 57
+f 32 57 33
+f 33 57 58
+f 33 58 59
+f 33 59 60
+f 33 60 34
+f 34 61 62
+f 34 62 63
+f 34 63 64
+f 34 64 35
+f 34 60 61
+f 35 64 36
+f 36 64 65
+f 36 65 66
+f 36 66 67
+f 36 67 44
+f 36 44 37
+f 39 55 68
+f 39 68 40
+f 40 68 56
+f 40 56 41
+f 42 43 47
+f 42 47 69
+f 44 67 45
+f 45 70 46
+f 45 67 71
+f 45 71 70
+f 46 70 72
+f 46 72 73
+f 46 73 74
+f 46 74 75
+f 46 75 76
+f 46 76 77
+f 46 77 78
+f 46 78 79
+f 46 79 80
+f 46 80 81
+f 46 81 47
+f 47 81 82
+f 47 82 69
+f 48 54 53
+f 49 54 83
+f 49 83 84
+f 49 84 85
+f 49 85 50
+f 50 86 87
+f 50 87 51
+f 50 85 86
+f 51 87 88
+f 51 88 89
+f 51 89 90
+f 51 90 91
+f 51 91 92
+f 51 92 52
+f 52 93 94
+f 52 92 95
+f 52 95 96
+f 52 96 97
+f 52 97 98
+f 52 98 99
+f 52 99 100
+f 52 100 101
+f 52 101 93
+f 54 102 128
+f 54 128 150
+f 54 150 166
+f 54 166 177
+f 54 177 181
+f 54 181 179
+f 54 179 168
+f 54 168 167
+f 54 167 151
+f 54 151 129
+f 54 129 107
+f 54 107 101
+f 54 101 100
+f 54 100 99
+f 54 99 98
+f 54 98 97
+f 54 97 96
+f 54 96 95
+f 54 95 124
+f 54 124 123
+f 54 123 122
+f 54 122 121
+f 54 121 120
+f 54 120 119
+f 54 119 118
+f 54 118 90
+f 54 90 89
+f 54 89 88
+f 54 88 87
+f 54 87 86
+f 54 86 85
+f 54 85 84
+f 54 84 83
+f 55 94 103
+f 55 103 68
+f 56 68 103
+f 56 103 57
+f 57 103 104
+f 57 104 58
+f 58 105 59
+f 58 104 106
+f 58 106 105
+f 59 105 60
+f 60 105 61
+f 61 107 108
+f 61 108 62
+f 61 105 107
+f 62 108 63
+f 63 108 109
+f 63 109 65
+f 63 65 64
+f 65 109 110
+f 65 110 66
+f 66 110 67
+f 67 110 111
+f 67 111 71
+f 70 71 72
+f 71 112 114
+f 71 114 72
+f 71 111 113
+f 71 113 112
+f 72 114 115
+f 72 115 74
+f 72 74 73
+f 74 115 116
+f 74 116 117
+f 74 117 75
+f 90 118 91
+f 91 118 119
+f 91 119 120
+f 91 120 121
+f 91 121 92
+f 92 121 122
+f 92 122 123
+f 92 123 124
+f 92 124 95
+f 93 101 94
+f 94 101 125
+f 94 125 126
+f 94 126 103
+f 101 107 125
+f 102 127 128
+f 103 126 106
+f 103 106 104
+f 105 106 107
+f 106 126 107
+f 107 129 130
+f 107 130 108
+f 107 126 125
+f 108 130 131
+f 108 131 109
+f 109 131 132
+f 109 132 133
+f 109 133 110
+f 110 133 134
+f 110 134 135
+f 110 135 111
+f 111 135 136
+f 111 136 113
+f 112 113 137
+f 112 137 138
+f 112 138 114
+f 113 136 137
+f 114 139 115
+f 114 138 140
+f 114 140 141
+f 114 141 142
+f 114 142 143
+f 114 143 144
+f 114 144 145
+f 114 145 146
+f 114 146 116
+f 114 116 139
+f 115 139 116
+f 127 147 148
+f 127 148 149
+f 127 149 128
+f 128 149 150
+f 129 151 152
+f 129 152 153
+f 129 153 154
+f 129 154 131
+f 129 131 130
+f 131 154 153
+f 131 153 132
+f 132 153 133
+f 133 153 155
+f 133 155 156
+f 133 156 157
+f 133 157 134
+f 134 158 136
+f 134 136 135
+f 134 157 158
+f 136 158 159
+f 136 159 140
+f 136 140 138
+f 136 138 137
+f 140 159 141
+f 141 159 160
+f 141 160 161
+f 141 161 142
+f 142 161 162
+f 142 162 143
+f 143 162 144
+f 147 163 148
+f 148 164 165
+f 148 165 150
+f 148 150 149
+f 148 163 164
+f 150 165 166
+f 151 167 152
+f 152 167 168
+f 152 168 169
+f 152 169 159
+f 152 159 170
+f 152 170 171
+f 152 171 153
+f 153 171 155
+f 155 171 159
+f 155 159 156
+f 156 159 157
+f 157 159 158
+f 159 172 173
+f 159 173 160
+f 159 171 170
+f 159 169 180
+f 159 180 172
+f 160 173 161
+f 161 173 174
+f 161 174 175
+f 161 175 176
+f 161 176 162
+f 163 175 174
+f 163 174 164
+f 164 174 173
+f 164 173 165
+f 165 177 166
+f 165 173 178
+f 165 178 172
+f 165 172 177
+f 168 179 169
+f 169 179 181
+f 169 181 180
+f 172 180 177
+f 172 178 173
+f 177 180 181
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_5.obj

@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.18597555 0.09985713 0.16026239
+v -0.15031815 0.09985713 0.16026239
+v -0.18540923 0.10177932 0.16026239
+v -0.18567492 0.09985730 0.11385233
+v -0.11890466 0.16160294 0.16026261
+v -0.14812277 0.09985719 0.14446344
+v -0.18524843 0.10230520 0.16026240
+v -0.18509462 0.10161629 0.11385233
+v -0.18508063 0.09985736 0.09855685
+v -0.11884873 0.16160294 0.15948725
+v -0.15815578 0.16160294 0.16026261
+v -0.14640982 0.09985725 0.12915788
+v -0.14510936 0.09985730 0.11358046
+v -0.18253566 0.10954062 0.16026242
+v -0.18213015 0.10910557 0.11385236
+v -0.18487087 0.10041346 0.09855685
+v -0.18466113 0.09985737 0.09616032
+v -0.11777900 0.16160300 0.14446366
+v -0.16439234 0.14930214 0.16026257
+v -0.15757548 0.16160310 0.11599735
+v -0.14499051 0.09985732 0.10984469
+v -0.11456284 0.16160317 0.09855707
+v -0.18243779 0.10978240 0.16026242
+v -0.17789322 0.11876488 0.11385240
+v -0.17891400 0.11829927 0.16026245
+v -0.17872522 0.11875262 0.16026246
+v -0.17120221 0.13298788 0.11385245
+v -0.15752653 0.16160311 0.11385255
+v -0.15486271 0.16160316 0.10000707
+v -0.14957004 0.16160322 0.08567826
+v -0.18128417 0.09985740 0.08767178
+v -0.15454809 0.16160317 0.09902026
+v -0.16451120 0.14906640 0.16026257
+v -0.16816783 0.14181286 0.16026254
+v -0.14514433 0.09985736 0.09855685
+v -0.11520608 0.16160322 0.08324145
+v -0.17225794 0.13320531 0.16026251
+v -0.17201323 0.13374328 0.16026251
+v -0.14260636 0.16160327 0.07098694
+v -0.13003536 0.16160332 0.05740326
+v -0.17550906 0.09985742 0.08231484
+v -0.14557780 0.09985737 0.09578775
+v -0.11810061 0.16160327 0.07036263
+v -0.16005052 0.09985742 0.08091518
+v -0.14924143 0.09985740 0.08715824
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 33
+f 1 33 34
+f 1 34 38
+f 1 38 37
+f 1 37 26
+f 1 26 25
+f 1 25 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 31
+f 1 31 41
+f 1 41 44
+f 1 44 45
+f 1 45 42
+f 1 42 35
+f 1 35 21
+f 1 21 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 8 9
+f 4 7 8
+f 5 10 18
+f 5 18 22
+f 5 22 36
+f 5 36 43
+f 5 43 40
+f 5 40 39
+f 5 39 30
+f 5 30 32
+f 5 32 29
+f 5 29 28
+f 5 28 20
+f 5 20 11
+f 5 6 12
+f 5 12 13
+f 5 13 10
+f 7 14 8
+f 8 15 16
+f 8 16 9
+f 8 14 15
+f 9 16 17
+f 10 13 18
+f 11 20 19
+f 13 21 22
+f 13 22 18
+f 14 23 15
+f 15 24 16
+f 15 23 25
+f 15 25 26
+f 15 26 24
+f 16 24 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 30 31
+f 17 29 32
+f 17 32 30
+f 19 20 33
+f 20 28 34
+f 20 34 33
+f 21 35 22
+f 22 35 36
+f 24 26 37
+f 24 37 38
+f 24 38 27
+f 27 38 34
+f 27 34 28
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 35 42 36
+f 36 42 43
+f 40 44 41
+f 40 43 45
+f 40 45 44
+f 42 45 43
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_6.obj

@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.13765695 0.16161659 -0.05578823
+v -0.17731637 0.16161659 -0.05578823
+v -0.13790930 0.16161663 -0.06550692
+v -0.12513222 0.17334445 -0.05578818
+v -0.15903399 0.20865758 -0.05578805
+v -0.16155088 0.20865769 -0.08514292
+v -0.16279937 0.20865775 -0.10044250
+v -0.16390841 0.20865781 -0.11574945
+v -0.16490453 0.20865786 -0.13099750
+v -0.17736950 0.16161664 -0.06712671
+v -0.13849370 0.16161669 -0.08140288
+v -0.13865308 0.16161670 -0.08514310
+v -0.11748855 0.18083119 -0.05578816
+v -0.15470412 0.21841489 -0.05578802
+v -0.15534830 0.21904225 -0.06983595
+v -0.15672959 0.22039244 -0.10044246
+v -0.15740696 0.22102661 -0.11574941
+v -0.16490453 0.20859649 -0.13099750
+v -0.17305955 0.16161676 -0.10150291
+v -0.17400920 0.16161675 -0.09802037
+v -0.17732965 0.16161670 -0.08514310
+v -0.17734957 0.16161669 -0.08246310
+v -0.15803786 0.22150397 -0.13099746
+v -0.14158835 0.16161676 -0.10044268
+v -0.12057656 0.18414527 -0.13099759
+v -0.11993904 0.18334745 -0.11574955
+v -0.11932809 0.18265190 -0.10044260
+v -0.10955932 0.19315908 -0.05578811
+v -0.14516779 0.22504249 -0.05578799
+v -0.15801129 0.22155170 -0.13099746
+v -0.14516779 0.22600397 -0.06983592
+v -0.16411426 0.19368439 -0.13099756
+v -0.16993833 0.16161678 -0.10608983
+v -0.16409434 0.19361620 -0.13099756
+v -0.14745226 0.16161680 -0.11069149
+v -0.13003984 0.17773586 -0.13099762
+v -0.11613381 0.19368439 -0.13099756
+v -0.10953276 0.19320681 -0.05578811
+v -0.13003984 0.22725852 -0.05578799
+v -0.13779640 0.23118623 -0.12066762
+v -0.14516779 0.22685634 -0.08514286
+v -0.14516779 0.22770189 -0.10044243
+v -0.14569906 0.22904525 -0.13099743
+v -0.14376656 0.22901110 -0.11563894
+v -0.16624600 0.16161679 -0.10910852
+v -0.15722767 0.18235882 -0.13099760
+v -0.16114579 0.16161679 -0.10993314
+v -0.14516779 0.17599713 -0.13099762
+v -0.14510804 0.17600395 -0.13099762
+v -0.11612718 0.19374575 -0.13099756
+v -0.10977847 0.20897806 -0.05578805
+v -0.11500486 0.20865786 -0.13099750
+v -0.11776747 0.22063091 -0.05578801
+v -0.13003984 0.22752450 -0.06983591
+v -0.13746437 0.23118623 -0.12066762
+v -0.13725850 0.23126810 -0.13099742
+v -0.13816830 0.23125446 -0.13099742
+v -0.11839835 0.22047420 -0.08514288
+v -0.11946754 0.21995616 -0.13099746
+v -0.11909565 0.22018112 -0.11574941
+v -0.11873704 0.22035153 -0.10044246
+v -0.12973436 0.22747017 -0.13099743
+v -0.13003984 0.22766780 -0.10044243
+v -0.13003984 0.22762001 -0.08514285
+f 1 2 10
+f 1 10 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 33
+f 1 33 45
+f 1 45 47
+f 1 47 35
+f 1 35 24
+f 1 24 12
+f 1 12 11
+f 1 11 3
+f 1 3 4
+f 1 4 13
+f 1 13 28
+f 1 28 38
+f 1 38 51
+f 1 51 53
+f 1 53 39
+f 1 39 29
+f 1 29 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 5 14 6
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 9 17 23
+f 9 23 30
+f 9 30 43
+f 9 43 57
+f 9 57 56
+f 9 56 62
+f 9 62 59
+f 9 59 52
+f 9 52 50
+f 9 50 37
+f 9 37 25
+f 9 25 36
+f 9 36 49
+f 9 49 48
+f 9 48 46
+f 9 46 34
+f 9 34 32
+f 9 32 18
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 14 29 15
+f 15 29 16
+f 16 29 17
+f 17 30 23
+f 17 29 31
+f 17 31 30
+f 18 32 19
+f 19 32 34
+f 19 34 33
+f 24 35 36
+f 24 36 25
+f 25 37 38
+f 25 38 28
+f 25 28 26
+f 26 28 27
+f 29 39 40
+f 29 40 31
+f 30 31 41
+f 30 41 42
+f 30 42 43
+f 31 40 44
+f 31 44 41
+f 33 34 46
+f 33 46 45
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 37 50 38
+f 38 50 52
+f 38 52 51
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 40 55 56
+f 40 56 57
+f 40 57 43
+f 40 43 44
+f 41 44 42
+f 42 44 43
+f 45 46 48
+f 45 48 47
+f 51 58 53
+f 51 52 59
+f 51 59 60
+f 51 60 61
+f 51 61 58
+f 53 58 62
+f 53 62 63
+f 53 63 64
+f 53 64 54
+f 54 64 56
+f 54 56 55
+f 56 64 63
+f 56 63 62
+f 58 61 62
+f 59 62 60
+f 60 62 61
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_7.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.16885262 0.03350702 0.16026214
+v -0.15032328 0.09985712 0.16026239
+v -0.19950184 0.03350702 0.16026214
+v -0.16859112 0.03350703 0.15829942
+v -0.14812451 0.09985718 0.14445856
+v -0.18597841 0.09985712 0.16026239
+v -0.19850387 0.04260702 0.16026218
+v -0.19790081 0.04800494 0.08323979
+v -0.19843982 0.04051579 0.08323976
+v -0.19885609 0.03350730 0.08323973
+v -0.16657916 0.03350711 0.13501912
+v -0.14641140 0.09985724 0.12915392
+v -0.18925520 0.08878903 0.16026235
+v -0.18567954 0.09985729 0.11384927
+v -0.18936194 0.08878926 0.09855592
+v -0.18936194 0.08878920 0.11384923
+v -0.19772470 0.04816055 0.16026220
+v -0.19667335 0.05883271 0.08323983
+v -0.19784210 0.04664747 0.06793513
+v -0.19832776 0.03915832 0.06793510
+v -0.19876537 0.03350733 0.07634186
+v -0.16624828 0.03350713 0.12964151
+v -0.14510389 0.09985729 0.11357698
+v -0.18936727 0.08831487 0.16026234
+v -0.19365806 0.07381096 0.09855586
+v -0.18508183 0.09985735 0.09855596
+v -0.19334319 0.07381101 0.08323988
+v -0.19613967 0.05744242 0.16026223
+v -0.19631578 0.05883277 0.06793518
+v -0.19751655 0.04280227 0.05359482
+v -0.19818899 0.03711231 0.05933546
+v -0.19847718 0.03350738 0.06310203
+v -0.19861060 0.03350736 0.06793508
+v -0.16563988 0.03350717 0.11859131
+v -0.16542641 0.03350719 0.11384902
+v -0.16499946 0.03350723 0.10327531
+v -0.16481267 0.03350725 0.09855571
+v -0.14498647 0.09985731 0.10984442
+v -0.19268675 0.07381073 0.16026229
+v -0.19595821 0.05834528 0.16026223
+v -0.19276681 0.07343400 0.16026229
+v -0.18466021 0.09985736 0.09616213
+v -0.19383417 0.05883286 0.04435990
+v -0.19494422 0.05883283 0.05263053
+v -0.19689748 0.04339339 0.04435984
+v -0.19782075 0.03350743 0.05013450
+v -0.19809293 0.03350741 0.05455911
+v -0.19826905 0.03350740 0.05790594
+v -0.16435905 0.03350730 0.08323973
+v -0.16400148 0.03350736 0.06793508
+v -0.16361723 0.03350745 0.04435980
+v -0.14514124 0.09985735 0.09855596
+v -0.18128203 0.09985739 0.08766460
+v -0.18402514 0.09815560 0.08878776
+v -0.18716851 0.07006983 0.04435994
+v -0.19745252 0.03350745 0.04435980
+v -0.16333972 0.03576134 0.04435981
+v -0.14557887 0.09985736 0.09578774
+v -0.17551296 0.09985741 0.08232102
+v -0.17543823 0.07294078 0.04435995
+v -0.16305153 0.03826205 0.04435982
+v -0.14923991 0.09985739 0.08716541
+v -0.16241112 0.04384807 0.04435984
+v -0.16185076 0.05073964 0.04435987
+v -0.16201619 0.05883286 0.04435990
+v -0.16005759 0.09985741 0.08091421
+v -0.17032559 0.07146633 0.04435994
+v -0.16352118 0.06417204 0.04435992
+v -0.16533567 0.06918646 0.04435993
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 39
+f 1 39 41
+f 1 41 40
+f 1 40 28
+f 1 28 17
+f 1 17 7
+f 1 7 3
+f 1 3 10
+f 1 10 21
+f 1 21 33
+f 1 33 32
+f 1 32 48
+f 1 48 47
+f 1 47 46
+f 1 46 56
+f 1 56 51
+f 1 51 50
+f 1 50 49
+f 1 49 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 23
+f 2 23 38
+f 2 38 52
+f 2 52 58
+f 2 58 62
+f 2 62 66
+f 2 66 59
+f 2 59 53
+f 2 53 42
+f 2 42 26
+f 2 26 14
+f 2 14 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 6 14 15
+f 6 15 16
+f 6 16 13
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 11 22 23
+f 11 23 12
+f 13 16 25
+f 13 25 24
+f 14 26 15
+f 15 26 27
+f 15 27 25
+f 15 25 16
+f 17 28 18
+f 18 25 27
+f 18 27 29
+f 18 29 19
+f 18 28 25
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 24 25 39
+f 25 28 40
+f 25 40 41
+f 25 41 39
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 29
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 30 46 31
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 42 53 54
+f 42 54 43
+f 43 55 60
+f 43 60 67
+f 43 67 69
+f 43 69 68
+f 43 68 65
+f 43 65 64
+f 43 64 63
+f 43 63 61
+f 43 61 57
+f 43 57 51
+f 43 51 56
+f 43 56 45
+f 43 45 44
+f 43 54 55
+f 45 56 46
+f 51 57 58
+f 51 58 52
+f 53 59 55
+f 53 55 54
+f 55 59 60
+f 57 61 58
+f 58 61 63
+f 58 63 64
+f 58 64 65
+f 58 65 62
+f 59 66 60
+f 60 66 67
+f 62 65 68
+f 62 68 69
+f 62 69 66
+f 66 69 67
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_8.obj

@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.15991214 -0.07647471 0.16026174
+v -0.19138805 -0.07647471 0.16026174
+v -0.15886661 -0.07647471 0.16023704
+v -0.15901334 -0.07601182 0.16026174
+v -0.19225473 -0.07601182 0.16026174
+v -0.19214467 -0.07647471 0.16023704
+v -0.15880241 -0.07647471 0.15976774
+v -0.16884956 0.03350053 0.16026214
+v -0.19553347 -0.06105923 0.16026180
+v -0.19288296 -0.07601159 0.09853574
+v -0.19275457 -0.07647448 0.09900504
+v -0.15872445 -0.07647470 0.15908848
+v -0.16858819 0.03350054 0.15829847
+v -0.19950465 0.03350053 0.16026214
+v -0.19766121 -0.05008969 0.16026184
+v -0.19602873 -0.06102665 0.08324632
+v -0.19562060 -0.06102659 0.06793215
+v -0.19236479 -0.07601154 0.08324626
+v -0.19275915 -0.07647448 0.09853574
+v -0.15709655 -0.07647465 0.14446591
+v -0.15701859 -0.07647465 0.14362609
+v -0.16657967 0.03350062 0.13501845
+v -0.19952757 0.03330676 0.16026214
+v -0.19885348 0.03350081 0.08324666
+v -0.19872049 -0.04255419 0.16026186
+v -0.19770248 -0.04862537 0.08324636
+v -0.19770248 -0.04557882 0.06685774
+v -0.19703756 -0.04605242 0.05263038
+v -0.19604706 -0.04605237 0.03732855
+v -0.19574900 -0.04605236 0.03409282
+v -0.19413944 -0.06102653 0.05263033
+v -0.19225473 -0.07647443 0.08370322
+v -0.15582174 -0.07647459 0.12915173
+v -0.15578506 -0.07647459 0.12868243
+v -0.16624951 0.03350064 0.12964613
+v -0.20004117 0.02886081 0.16026213
+v -0.19876636 0.03350084 0.07634294
+v -0.20116007 0.01387593 0.16026207
+v -0.20007785 0.02837639 0.16026212
+v -0.19989901 -0.03106794 0.16026191
+v -0.19837199 -0.04113294 0.08324639
+v -0.19828944 -0.04027168 0.07122971
+v -0.19811978 -0.03800023 0.06102850
+v -0.19709259 -0.03106749 0.03732861
+v -0.19685873 -0.03106748 0.03409288
+v -0.19603330 -0.04288745 0.03409283
+v -0.19242440 -0.05787233 0.03409278
+v -0.19183743 -0.06102648 0.03732850
+v -0.19218136 -0.07647443 0.08325862
+v -0.15507428 -0.07647455 0.11581358
+v -0.16563961 0.03350068 0.11858041
+v -0.19912862 0.02886109 0.08324665
+v -0.19861045 0.03350087 0.06793249
+v -0.20148106 -0.00110895 0.16026202
+v -0.19978895 0.01387621 0.08324659
+v -0.20091703 -0.01656749 0.16026196
+v -0.20094913 -0.01609382 0.16026196
+v -0.19857835 -0.03223022 0.06685779
+v -0.19900022 -0.03106766 0.08324643
+v -0.19927995 -0.01609348 0.06793231
+v -0.19834447 -0.02801030 0.05634784
+v -0.19791801 -0.03223016 0.05180297
+v -0.19808309 -0.02154049 0.04614664
+v -0.19771165 -0.01637327 0.03810672
+v -0.19698254 -0.02791334 0.03409289
+v -0.19108080 -0.06130636 0.03409276
+v -0.18865040 -0.07647437 0.06752453
+v -0.15504677 -0.07647454 0.11517138
+v -0.16542867 0.03350070 0.11385031
+v -0.19884432 0.02886115 0.06793248
+v -0.19847745 0.03350089 0.06310359
+v -0.20003199 -0.00110867 0.08324654
+v -0.19969724 -0.01609354 0.08324648
+v -0.19939459 0.01387627 0.06793242
+v -0.19958259 -0.00110861 0.06793237
+v -0.19853708 -0.01637332 0.05180303
+v -0.19822983 -0.01156133 0.04373840
+v -0.19742735 -0.01629790 0.03409293
+v -0.18609620 -0.06886339 0.03409274
+v -0.18849908 -0.07647437 0.06686998
+v -0.18525245 -0.07011213 0.03409273
+v -0.16499762 0.03350074 0.10327860
+v -0.15463405 -0.07647448 0.09853574
+v -0.16218662 0.03350099 0.03409311
+v -0.19827111 0.03350091 0.05790418
+v -0.19837199 0.02886119 0.05606400
+v -0.19858751 0.01482365 0.05135853
+v -0.19884889 -0.00110855 0.05263055
+v -0.19828486 -0.00110852 0.04287394
+v -0.19776210 -0.00110849 0.03521685
+v -0.19767955 -0.00110849 0.03409299
+v -0.18186823 -0.07647433 0.05781733
+v -0.17771822 -0.07063962 0.03409273
+v -0.17544374 -0.07647432 0.05468039
+v -0.15467991 -0.07647448 0.09706607
+v -0.16101269 -0.04605236 0.03409282
+v -0.19678994 0.03350099 0.03409311
+v -0.19809226 0.03350092 0.05455729
+v -0.19796846 0.02886122 0.04841926
+v -0.19811978 0.02044300 0.04540580
+v -0.19824817 0.01045309 0.04341738
+v -0.19767038 0.00016179 0.03409299
+v -0.17544374 -0.07056426 0.03409273
+v -0.16274607 -0.07647437 0.06796914
+v -0.16595603 -0.06946623 0.03409273
+v -0.15612439 -0.07647443 0.08427132
+v -0.16131076 -0.04964787 0.03409281
+v -0.19706966 0.02886127 0.03409310
+v -0.19702381 0.03350098 0.03732884
+v -0.19728978 0.02886126 0.03732883
+v -0.19740900 0.01819316 0.03409306
+v -0.19751906 0.01459765 0.03409304
+v -0.19777585 0.01482370 0.03792158
+v -0.16108148 -0.07647438 0.07182238
+v -0.16247094 -0.06102647 0.03409277
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 32
+f 1 32 49
+f 1 49 67
+f 1 67 80
+f 1 80 92
+f 1 92 94
+f 1 94 104
+f 1 104 114
+f 1 114 106
+f 1 106 95
+f 1 95 83
+f 1 83 68
+f 1 68 50
+f 1 50 34
+f 1 34 33
+f 1 33 21
+f 1 21 20
+f 1 20 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 23
+f 1 23 36
+f 1 36 39
+f 1 39 38
+f 1 38 54
+f 1 54 57
+f 1 57 56
+f 1 56 40
+f 1 40 25
+f 1 25 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 8 13 22
+f 8 22 35
+f 8 35 51
+f 8 51 69
+f 8 69 82
+f 8 82 84
+f 8 84 97
+f 8 97 109
+f 8 109 98
+f 8 98 85
+f 8 85 71
+f 8 71 53
+f 8 53 37
+f 8 37 24
+f 8 24 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 14 24 23
+f 15 25 16
+f 16 26 27
+f 16 27 17
+f 16 25 26
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 32 19
+f 18 31 32
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 23 24 36
+f 24 37 38
+f 24 38 39
+f 24 39 36
+f 25 40 26
+f 26 41 42
+f 26 42 27
+f 26 40 41
+f 27 43 28
+f 27 42 43
+f 28 44 29
+f 28 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 46 45
+f 30 45 65
+f 30 65 78
+f 30 78 91
+f 30 91 102
+f 30 102 112
+f 30 112 111
+f 30 111 108
+f 30 108 97
+f 30 97 84
+f 30 84 96
+f 30 96 107
+f 30 107 115
+f 30 115 105
+f 30 105 103
+f 30 103 93
+f 30 93 81
+f 30 81 79
+f 30 79 66
+f 30 66 47
+f 30 47 31
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 34 50 35
+f 35 50 51
+f 37 52 38
+f 37 53 52
+f 38 52 55
+f 38 55 54
+f 40 56 41
+f 41 56 57
+f 41 57 42
+f 42 58 43
+f 42 57 59
+f 42 59 58
+f 43 58 60
+f 43 60 61
+f 43 61 62
+f 43 62 44
+f 44 62 63
+f 44 63 64
+f 44 64 65
+f 44 65 45
+f 47 66 48
+f 48 66 49
+f 49 66 67
+f 50 68 69
+f 50 69 51
+f 52 53 70
+f 52 70 55
+f 53 71 70
+f 54 55 72
+f 54 72 73
+f 54 73 57
+f 55 70 74
+f 55 74 72
+f 57 73 59
+f 58 59 73
+f 58 73 60
+f 60 75 76
+f 60 76 61
+f 60 73 72
+f 60 72 75
+f 61 76 63
+f 61 63 62
+f 63 76 77
+f 63 77 64
+f 64 77 78
+f 64 78 65
+f 66 79 67
+f 67 79 81
+f 67 81 80
+f 68 82 69
+f 68 83 84
+f 68 84 82
+f 70 71 85
+f 70 85 86
+f 70 86 74
+f 72 74 75
+f 74 86 87
+f 74 87 88
+f 74 88 75
+f 75 88 76
+f 76 88 77
+f 77 89 90
+f 77 90 91
+f 77 91 78
+f 77 88 89
+f 80 81 92
+f 81 93 94
+f 81 94 92
+f 83 95 84
+f 84 95 96
+f 85 98 99
+f 85 99 86
+f 86 99 100
+f 86 100 87
+f 87 100 101
+f 87 101 88
+f 88 101 89
+f 89 101 90
+f 90 102 91
+f 90 101 102
+f 93 103 94
+f 94 103 105
+f 94 105 104
+f 95 106 96
+f 96 106 107
+f 97 108 109
+f 98 109 110
+f 98 110 99
+f 99 110 100
+f 100 110 108
+f 100 108 111
+f 100 111 112
+f 100 112 113
+f 100 113 101
+f 101 113 112
+f 101 112 102
+f 104 105 114
+f 105 115 106
+f 105 106 114
+f 106 115 107
+f 108 110 109
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/mjcf/mesh/dining_chair_5_collision_9.obj

@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.15857118 -0.16087496 0.16026143
+v -0.15234129 -0.17306958 0.16026138
+v -0.11975018 -0.16087496 0.16026143
+v -0.15712297 -0.16087479 0.11384423
+v -0.15358726 -0.19198040 0.05263578
+v -0.15175419 -0.19946956 0.05263576
+v -0.14699206 -0.21086609 0.05263572
+v -0.14830980 -0.18087796 0.16026136
+v -0.09937095 -0.19588181 0.16026130
+v -0.11969800 -0.16087496 0.15976628
+v -0.15410262 -0.16087473 0.09704091
+v -0.15166938 -0.17712980 0.05263584
+v -0.15358726 -0.18461894 0.05263581
+v -0.14040340 -0.22060902 0.05263568
+v -0.13937921 -0.21978546 0.06793250
+v -0.13832894 -0.21894913 0.08323985
+v -0.13772878 -0.21847033 0.09170999
+v -0.13281663 -0.21082820 0.16026125
+v -0.09363032 -0.20955765 0.16026125
+v -0.09933833 -0.19588181 0.15976615
+v -0.11848464 -0.16087490 0.14445893
+v -0.15263485 -0.16087471 0.09272156
+v -0.14410870 -0.16798703 0.05263587
+v -0.13003112 -0.22339272 0.05263567
+v -0.11490326 -0.22610019 0.16026119
+v -0.12538643 -0.22161819 0.16026121
+v -0.12573217 -0.22146497 0.16026121
+v -0.09193422 -0.21705319 0.16026122
+v -0.09361075 -0.20955765 0.15976610
+v -0.09892083 -0.19588175 0.14445880
+v -0.10780576 -0.17451860 0.08324001
+v -0.11563389 -0.16087473 0.09854741
+v -0.14138192 -0.16087463 0.07026094
+v -0.13004417 -0.16261756 0.05263589
+v -0.11652760 -0.22113256 0.05263568
+v -0.11490326 -0.22548083 0.14445869
+v -0.11490326 -0.22609381 0.15976604
+v -0.09976888 -0.22346334 0.16026120
+v -0.09193422 -0.21882812 0.16026122
+v -0.09193422 -0.21704680 0.15976607
+v -0.09205817 -0.21756392 0.15103257
+v -0.10534642 -0.18308025 0.05263582
+v -0.10779271 -0.17469093 0.06793267
+v -0.11543818 -0.16087470 0.08923448
+v -0.13003112 -0.16087459 0.05969435
+v -0.11864772 -0.16087463 0.07039790
+v -0.11589482 -0.16804448 0.05263587
+v -0.10896693 -0.21601209 0.05263570
+v -0.09205817 -0.21860461 0.15103257
+v -0.09876427 -0.22184798 0.14534365
+v -0.09976888 -0.22345696 0.15976605
+v -0.09193422 -0.21882812 0.15976607
+v -0.10348071 -0.19587502 0.05263577
+v -0.10832110 -0.17558471 0.05263585
+v -0.11594048 -0.16087468 0.08324006
+v -0.11749960 -0.16087464 0.07392713
+v -0.10546384 -0.20851017 0.05263572
+f 1 2 8
+f 1 8 18
+f 1 18 27
+f 1 27 26
+f 1 26 25
+f 1 25 38
+f 1 38 39
+f 1 39 28
+f 1 28 19
+f 1 19 9
+f 1 9 3
+f 1 3 10
+f 1 10 21
+f 1 21 32
+f 1 32 44
+f 1 44 55
+f 1 55 56
+f 1 56 46
+f 1 46 45
+f 1 45 33
+f 1 33 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 12
+f 5 12 23
+f 5 23 34
+f 5 34 47
+f 5 47 54
+f 5 54 42
+f 5 42 53
+f 5 53 57
+f 5 57 48
+f 5 48 35
+f 5 35 24
+f 5 24 14
+f 5 14 7
+f 5 7 6
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 11 22 12
+f 12 22 23
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 27 16
+f 16 27 17
+f 17 27 18
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 22 33 23
+f 23 33 34
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 37 51
+f 25 51 38
+f 28 39 52
+f 28 52 40
+f 28 40 29
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 31
+f 31 43 44
+f 31 44 32
+f 33 45 34
+f 34 45 46
+f 34 46 47
+f 35 48 49
+f 35 49 50
+f 35 50 51
+f 35 51 36
+f 36 51 37
+f 38 51 52
+f 38 52 39
+f 40 52 49
+f 40 49 41
+f 41 53 42
+f 41 49 53
+f 42 54 43
+f 43 54 44
+f 44 54 55
+f 46 56 47
+f 47 56 54
+f 48 57 49
+f 49 52 51
+f 49 51 50
+f 49 57 53
+f 54 56 55
+

dataset/furniture/chair/a4539947ba215e03a1cb360dc16404b7/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a18efa13225c0b44620f1bebe043e5beebd89502fdced61ef0526d670bff84b
+size 183671