Add asset kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904

.gitattributes

@@ -3880,3 +3880,5 @@ dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/fruit_kn
 dataset/kitchen_supplies/cutting_tools/4bca5df9524c56cbbc57c068578bf112/mesh/fruit_knife_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/mesh/wire_cutters_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/wire_cutters_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mesh/peeler_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/peeler_003.usd filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl peeler_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd peeler_003_geometry_Looks_material_0.png

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mesh/peeler_003.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:955646d21bd863c2f0368218996bf2ecfd5cbb66ae09f6b3bb31058028729489
+size 13037580

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mesh/peeler_003.mtl

@@ -0,0 +1,6 @@
+newmtl peeler_003_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_0.obj

@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.00711559 -0.00441536 0.00114005
+v -0.00707884 -0.00441537 0.00255046
+v -0.00708956 -0.00441536 0.00086416
+v -0.00649092 -0.02135411 -0.00153390
+v -0.00654145 -0.02135412 -0.00019746
+v -0.00705741 -0.00441537 0.00268740
+v -0.00649858 -0.02135412 0.00008343
+v -0.00698698 -0.00441536 -0.00021539
+v -0.00635926 -0.02135411 -0.00287134
+v -0.00680173 -0.00489621 0.00312322
+v -0.00624596 -0.00441537 0.00380293
+v -0.00630108 -0.02135412 0.00113999
+v -0.00697473 -0.00441536 -0.00031635
+v -0.00607908 -0.02135411 -0.00392690
+v -0.00686909 -0.00441536 -0.00107803
+v -0.00680479 -0.00441535 -0.00153384
+v -0.00676192 -0.00441535 -0.00170876
+v -0.00619850 -0.02135412 0.00134390
+v -0.00571469 -0.02135413 0.00213757
+v -0.00613113 -0.00441537 0.00390989
+v -0.00598568 -0.02135410 -0.00423177
+v -0.00612654 -0.00441535 -0.00277232
+v -0.00554168 -0.02135410 -0.00503443
+v -0.00550493 -0.02135413 0.00226452
+v -0.00592291 -0.00441537 0.00404083
+v -0.00601171 -0.00441535 -0.00289227
+v -0.00486343 -0.02135410 -0.00532931
+v -0.00503031 -0.00441535 -0.00350801
+v -0.00465061 -0.02135413 0.00270933
+v -0.00511605 -0.00473207 0.00445566
+v -0.00482362 -0.00441538 0.00451463
+v -0.00467664 -0.02135410 -0.00540828
+v -0.00491089 -0.00441535 -0.00353500
+v -0.00434287 -0.02135413 0.00278630
+v -0.00320990 -0.02135413 0.00300721
+v -0.00453732 -0.00441538 0.00454062
+v -0.00321450 -0.02020175 -0.00554021
+v -0.00321450 -0.02135410 -0.00565917
+v -0.00394327 -0.01506342 -0.00488148
+v -0.00431225 -0.00441535 -0.00359497
+v -0.00285623 -0.02135413 0.00303219
+v -0.00415762 -0.00513333 0.00450264
+v -0.00321450 -0.00526431 0.00451563
+v -0.00177838 -0.00523778 0.00451164
+v 0.00508068 -0.00441538 0.00450164
+v -0.00321450 -0.01874431 -0.00537828
+v -0.00177838 -0.01728853 -0.00524832
+v -0.00177838 -0.01874431 -0.00540827
+v -0.00177838 -0.02020175 -0.00555920
+v -0.00177838 -0.02135410 -0.00567117
+v -0.00321450 -0.01728853 -0.00520734
+v -0.00409791 -0.00441535 -0.00360997
+v -0.00177685 -0.02135413 0.00309417
+v -0.00168346 -0.02135413 0.00309817
+v -0.00150279 -0.02135413 0.00310516
+v -0.00034073 -0.02135413 0.00314215
+v 0.00396608 -0.00854727 0.00421875
+v 0.00092237 -0.02135413 0.00316514
+v 0.00109385 -0.02135413 0.00316814
+v 0.00248251 -0.02135413 0.00317513
+v 0.00252997 -0.02133092 0.00317713
+v 0.00396608 -0.02135413 0.00317114
+v 0.00470711 -0.00492441 0.00448365
+v 0.00396608 -0.00708984 0.00433670
+v 0.00577731 -0.00441538 0.00446266
+v -0.00177838 -0.01583110 -0.00508039
+v 0.00252997 -0.01000467 -0.00445464
+v -0.00034073 -0.01874431 -0.00540627
+v -0.00034073 -0.02020175 -0.00555421
+v -0.00034073 -0.02135410 -0.00566517
+v -0.00321450 -0.01583110 -0.00503141
+v -0.00177838 -0.01461905 -0.00493544
+v 0.00531187 -0.00441535 -0.00366994
+v -0.00177838 -0.01291623 -0.00472453
+v -0.00177838 -0.01389117 -0.00484648
+v 0.00461065 -0.02135413 0.00315414
+v 0.00478060 -0.02117340 0.00316414
+v 0.00252997 -0.02135413 0.00317513
+v 0.00676330 -0.00441537 0.00399185
+v 0.00497810 -0.02135413 0.00311516
+v 0.00538230 -0.02135413 0.00302820
+v 0.00396608 -0.01000467 -0.00439466
+v 0.00485409 -0.01495730 -0.00489246
+v 0.00396608 -0.01728853 -0.00517635
+v 0.00396608 -0.01874431 -0.00533030
+v 0.00252997 -0.01874431 -0.00536728
+v 0.00109385 -0.01874431 -0.00539127
+v 0.00109385 -0.02020175 -0.00554021
+v 0.00079224 -0.02135410 -0.00565617
+v 0.00636369 -0.00441535 -0.00362496
+v 0.00756709 -0.00441537 0.00338711
+v 0.00563339 -0.02020178 0.00301721
+v 0.00686894 -0.02135413 0.00227251
+v 0.00540220 -0.01874431 -0.00527332
+v 0.00540220 -0.02020175 -0.00542626
+v 0.00396608 -0.02020175 -0.00548024
+v 0.00252997 -0.02020175 -0.00551722
+v 0.00109385 -0.02135410 -0.00565317
+v 0.00708175 -0.00441535 -0.00328710
+v 0.00770182 -0.02135410 -0.00499245
+v 0.00756709 -0.02135410 -0.00504243
+v 0.00685516 -0.02135410 -0.00530332
+v 0.00653823 -0.02135410 -0.00536929
+v 0.00618303 -0.01631028 -0.00490847
+v 0.00767120 -0.00441537 0.00328615
+v 0.00748289 -0.02135413 0.00167476
+v 0.00540220 -0.02135410 -0.00553822
+v 0.00510058 -0.02135410 -0.00555022
+v 0.00396608 -0.02135410 -0.00559120
+v 0.00366447 -0.02135410 -0.00559920
+v 0.00252997 -0.02135410 -0.00562918
+v 0.00786564 -0.00441535 -0.00261838
+v 0.00806315 -0.02135410 -0.00443768
+v 0.00787177 -0.00441537 0.00269140
+v 0.00777838 -0.02135412 0.00109800
+v 0.00822085 -0.02135412 -0.00019746
+v 0.00822085 -0.00441535 -0.00153384
+v 0.00819329 -0.02135410 -0.00422477
+v 0.00792689 -0.00441537 0.00247649
+v 0.00842141 -0.02135411 -0.00153390
+v 0.00812898 -0.00441536 0.00114204
+v 0.00823003 -0.00441536 -0.00019740
+v 0.00852552 -0.02135411 -0.00287134
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 25
+f 1 25 31
+f 1 31 36
+f 1 36 45
+f 1 45 65
+f 1 65 79
+f 1 79 91
+f 1 91 105
+f 1 105 114
+f 1 114 119
+f 1 119 121
+f 1 121 122
+f 1 122 117
+f 1 117 112
+f 1 112 99
+f 1 99 90
+f 1 90 73
+f 1 73 52
+f 1 52 40
+f 1 40 33
+f 1 33 28
+f 1 28 26
+f 1 26 22
+f 1 22 17
+f 1 17 16
+f 1 16 15
+f 1 15 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 4 9 14
+f 4 14 21
+f 4 21 23
+f 4 23 27
+f 4 27 32
+f 4 32 38
+f 4 38 50
+f 4 50 70
+f 4 70 89
+f 4 89 98
+f 4 98 111
+f 4 111 110
+f 4 110 109
+f 4 109 108
+f 4 108 107
+f 4 107 103
+f 4 103 102
+f 4 102 101
+f 4 101 100
+f 4 100 113
+f 4 113 118
+f 4 118 123
+f 4 123 120
+f 4 120 116
+f 4 116 115
+f 4 115 106
+f 4 106 93
+f 4 93 81
+f 4 81 80
+f 4 80 76
+f 4 76 62
+f 4 62 78
+f 4 78 60
+f 4 60 59
+f 4 59 58
+f 4 58 56
+f 4 56 55
+f 4 55 54
+f 4 54 53
+f 4 53 41
+f 4 41 35
+f 4 35 34
+f 4 34 29
+f 4 29 24
+f 4 24 19
+f 4 19 18
+f 4 18 12
+f 4 12 7
+f 4 7 5
+f 4 8 9
+f 6 10 11
+f 6 7 12
+f 6 12 10
+f 8 13 9
+f 9 13 15
+f 9 15 16
+f 9 16 17
+f 9 17 14
+f 10 12 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 14 17 21
+f 17 22 23
+f 17 23 21
+f 19 24 25
+f 19 25 20
+f 22 26 23
+f 23 26 28
+f 23 28 27
+f 24 29 30
+f 24 30 25
+f 25 30 31
+f 27 28 32
+f 28 33 32
+f 29 34 30
+f 30 34 35
+f 30 35 31
+f 31 35 36
+f 32 37 38
+f 32 33 39
+f 32 39 37
+f 33 40 39
+f 35 41 42
+f 35 42 36
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 37 39 46
+f 38 49 50
+f 39 51 46
+f 39 40 51
+f 40 52 51
+f 41 53 42
+f 42 53 54
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 43 57 44
+f 43 56 58
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 57
+f 44 63 45
+f 44 57 64
+f 44 64 63
+f 45 63 65
+f 46 51 66
+f 46 66 47
+f 47 66 67
+f 47 67 48
+f 48 68 49
+f 48 67 68
+f 49 68 69
+f 49 69 50
+f 50 69 70
+f 51 52 71
+f 51 71 72
+f 51 72 66
+f 52 73 67
+f 52 67 74
+f 52 74 75
+f 52 75 72
+f 52 72 71
+f 57 63 64
+f 57 62 76
+f 57 76 77
+f 57 77 63
+f 60 78 61
+f 61 78 62
+f 63 77 65
+f 65 77 80
+f 65 80 81
+f 65 81 79
+f 66 72 67
+f 67 73 82
+f 67 82 83
+f 67 83 84
+f 67 84 85
+f 67 85 86
+f 67 86 87
+f 67 87 68
+f 67 72 75
+f 67 75 74
+f 68 87 88
+f 68 88 69
+f 69 88 89
+f 69 89 70
+f 73 90 82
+f 76 80 77
+f 79 81 92
+f 79 92 93
+f 79 93 91
+f 81 93 92
+f 82 90 83
+f 83 94 84
+f 83 90 94
+f 84 94 85
+f 85 94 95
+f 85 95 96
+f 85 96 97
+f 85 97 86
+f 86 97 87
+f 87 97 88
+f 88 97 98
+f 88 98 89
+f 90 99 100
+f 90 100 101
+f 90 101 102
+f 90 102 103
+f 90 103 104
+f 90 104 94
+f 91 93 105
+f 93 106 105
+f 94 104 95
+f 95 104 103
+f 95 103 107
+f 95 107 108
+f 95 108 96
+f 96 108 109
+f 96 109 110
+f 96 110 111
+f 96 111 97
+f 97 111 98
+f 99 112 100
+f 100 112 113
+f 105 106 115
+f 105 115 116
+f 105 116 114
+f 112 117 118
+f 112 118 113
+f 114 116 119
+f 116 120 121
+f 116 121 119
+f 117 122 123
+f 117 123 118
+f 120 123 121
+f 121 123 122
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_1.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.01104159 0.00175399 0.00247711
+v -0.01104159 0.00197766 0.00113940
+v -0.00698791 -0.00441536 -0.00021469
+v -0.00708964 -0.00441536 0.00086408
+v -0.00711533 -0.00441536 0.00113937
+v -0.00707936 -0.00441537 0.00255021
+v -0.00705778 -0.00441537 0.00268785
+v -0.01104159 0.00206584 0.00349997
+v -0.00680501 -0.00441535 -0.00153348
+v -0.00686974 -0.00441536 -0.00107754
+v -0.00697455 -0.00441536 -0.00031620
+v -0.01104159 0.00231764 -0.00018369
+v -0.00624705 -0.00441537 0.00380275
+v -0.00700744 -0.00392331 0.00339672
+v -0.01104159 0.00280713 0.00416496
+v -0.00676185 -0.00441535 -0.00170897
+v -0.01104159 0.00249657 -0.00052866
+v -0.00613196 -0.00441537 0.00390943
+v -0.01104159 0.00351264 0.00456154
+v -0.00686255 -0.00364466 -0.00227932
+v -0.00612683 -0.00441535 -0.00277226
+v -0.01104159 0.00253747 -0.00059576
+v -0.01104159 0.00312412 -0.00153345
+v -0.01104159 0.00359830 -0.00206337
+v -0.01104159 0.00375806 -0.00222338
+v -0.00592337 -0.00441537 0.00404105
+v -0.01104159 0.00456706 0.00465618
+v -0.00549078 -0.00375972 0.00452367
+v -0.00601174 -0.00441535 -0.00289270
+v -0.01104159 0.00401112 -0.00231113
+v -0.00482492 -0.00441538 0.00451419
+v -0.01039629 0.00456579 0.00469833
+v -0.01104159 0.00600620 0.00460628
+v -0.00054416 0.00020748 0.00517834
+v -0.00453927 -0.00441538 0.00454000
+v -0.00464305 -0.00421728 0.00455033
+v -0.00503146 -0.00441535 -0.00350779
+v -0.01104159 0.00461694 -0.00241607
+v -0.01104159 0.00676027 0.00450133
+v -0.00054416 0.00163639 0.00508716
+v -0.00054416 -0.00001746 0.00514737
+v -0.00315516 -0.00441538 0.00453398
+v -0.00491329 -0.00441535 -0.00353446
+v -0.01104159 0.00522020 -0.00248747
+v -0.00054416 0.00275728 0.00475166
+v -0.00054416 0.00561895 0.00329524
+v -0.00054416 0.00624521 0.00288145
+v -0.01104159 0.00679350 0.00447896
+v -0.00239478 -0.00441538 0.00452452
+v -0.00054416 -0.00441538 0.00438860
+v -0.00431321 -0.00441535 -0.00359554
+v -0.01104159 0.00602284 -0.00246941
+v -0.00054416 0.00635768 0.00277392
+v -0.01104159 0.00745045 0.00386732
+v -0.00054416 -0.00441535 -0.00279721
+v -0.00409845 -0.00441535 -0.00361016
+v -0.01104159 0.00669640 -0.00242640
+v -0.00054416 0.00693410 0.00212787
+v -0.01104159 0.00813679 0.00288834
+v -0.00268249 -0.00441535 -0.00349489
+v -0.00054416 -0.00126102 -0.00314904
+v -0.00399467 -0.00342100 -0.00354305
+v -0.00391760 -0.00342100 -0.00354305
+v -0.00333601 -0.00441535 -0.00359898
+v -0.01104159 0.00723575 -0.00232229
+v -0.00054416 0.00039539 -0.00314044
+v -0.00054416 0.00019601 -0.00317829
+v -0.00054416 0.00709643 0.00130803
+v -0.01104159 0.00859692 0.00011914
+v -0.00313872 -0.00441535 -0.00357661
+v -0.01104159 0.00770609 -0.00213390
+v -0.00934510 0.00683315 -0.00225003
+v -0.00608778 0.00552950 -0.00231284
+v -0.00752429 0.00581451 -0.00238854
+v -0.00054416 0.00165432 -0.00284880
+v -0.00054416 0.00711433 0.00113942
+v -0.01104159 0.00864165 -0.00019658
+v -0.01104159 0.00793487 -0.00193087
+v -0.00054416 0.00677435 -0.00088738
+v -0.00054416 0.00622733 -0.00118503
+v -0.00054416 0.00602539 -0.00127966
+v -0.00054416 0.00479587 -0.00176141
+v -0.00054416 0.00456582 -0.00185088
+v -0.00054416 0.00183836 -0.00278944
+v -0.00054416 0.00695328 -0.00019658
+v -0.01104159 0.00859436 -0.00092178
+v -0.01104159 0.00829402 -0.00157644
+v -0.01104159 0.00851256 -0.00126159
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 15
+f 1 15 19
+f 1 19 27
+f 1 27 33
+f 1 33 39
+f 1 39 48
+f 1 48 54
+f 1 54 59
+f 1 59 69
+f 1 69 77
+f 1 77 86
+f 1 86 88
+f 1 88 87
+f 1 87 78
+f 1 78 71
+f 1 71 65
+f 1 65 57
+f 1 57 52
+f 1 52 44
+f 1 44 38
+f 1 38 30
+f 1 30 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 17
+f 1 17 12
+f 1 12 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 12 9
+f 3 11 10
+f 3 10 9
+f 3 9 16
+f 3 16 21
+f 3 21 29
+f 3 29 37
+f 3 37 43
+f 3 43 51
+f 3 51 56
+f 3 56 64
+f 3 64 70
+f 3 70 60
+f 3 60 55
+f 3 55 50
+f 3 50 49
+f 3 49 42
+f 3 42 35
+f 3 35 31
+f 3 31 26
+f 3 26 18
+f 3 18 13
+f 3 13 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 12 16
+f 12 17 16
+f 13 18 15
+f 13 15 14
+f 15 18 19
+f 16 20 21
+f 16 17 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 20
+f 18 26 19
+f 19 26 28
+f 19 28 27
+f 20 25 21
+f 21 25 29
+f 25 30 29
+f 26 31 28
+f 27 32 33
+f 27 28 34
+f 27 34 32
+f 28 31 35
+f 28 35 36
+f 28 36 34
+f 29 30 37
+f 30 38 37
+f 32 34 33
+f 33 34 40
+f 33 40 39
+f 34 36 35
+f 34 35 41
+f 34 41 50
+f 34 50 55
+f 34 55 61
+f 34 61 67
+f 34 67 66
+f 34 66 75
+f 34 75 84
+f 34 84 83
+f 34 83 82
+f 34 82 81
+f 34 81 80
+f 34 80 79
+f 34 79 85
+f 34 85 76
+f 34 76 68
+f 34 68 58
+f 34 58 53
+f 34 53 47
+f 34 47 46
+f 34 46 45
+f 34 45 40
+f 35 42 41
+f 37 38 44
+f 37 44 43
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 40 45
+f 41 42 49
+f 41 49 50
+f 43 44 52
+f 43 52 51
+f 47 53 54
+f 47 54 48
+f 51 52 57
+f 51 57 56
+f 53 58 54
+f 54 58 59
+f 55 60 61
+f 56 62 63
+f 56 63 64
+f 56 57 62
+f 57 65 66
+f 57 66 67
+f 57 67 62
+f 58 68 59
+f 59 68 69
+f 60 70 67
+f 60 67 61
+f 62 67 63
+f 63 67 64
+f 64 67 70
+f 65 71 72
+f 65 72 73
+f 65 73 74
+f 65 74 75
+f 65 75 66
+f 68 76 77
+f 68 77 69
+f 71 78 79
+f 71 79 80
+f 71 80 81
+f 71 81 72
+f 72 81 73
+f 73 81 82
+f 73 82 83
+f 73 83 84
+f 73 84 75
+f 73 75 74
+f 76 85 86
+f 76 86 77
+f 78 87 79
+f 79 87 88
+f 79 88 85
+f 85 88 86
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_10.obj

@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.01038628 0.02792812 0.00114019
+v -0.01087926 0.02792812 0.00050260
+v -0.01178710 0.02792811 0.00217696
+v -0.00054551 0.02725722 0.00070239
+v -0.00054551 0.02725722 0.00031858
+v -0.01175747 0.02792812 -0.00030167
+v -0.01430454 0.02792811 0.00246344
+v -0.00054551 0.02620464 0.00220769
+v -0.00054551 0.02693259 0.00137071
+v -0.00054551 0.02721525 0.00079618
+v -0.00054551 0.02646501 -0.00035014
+v -0.01358123 0.02792812 -0.00089985
+v -0.01289967 0.02792812 -0.00078636
+v -0.01181134 0.02792812 -0.00032728
+v -0.01430454 0.02792812 -0.00093649
+v -0.01430454 0.02642827 0.00280903
+v -0.00054551 0.02496582 0.00273217
+v -0.00054551 0.02583871 -0.00080962
+v -0.01429376 0.02792812 -0.00093610
+v -0.00054551 0.02573640 -0.00088134
+v -0.01430454 0.02789270 -0.00094044
+v -0.01430454 0.02642237 0.00281021
+v -0.00054551 0.02350927 0.00280823
+v -0.01430454 0.02496057 0.00297728
+v -0.00054551 0.02496583 -0.00090498
+v -0.01430454 0.02642238 -0.00104801
+v -0.01430454 0.02761267 -0.00096250
+v -0.00054551 0.02205206 0.00242362
+v -0.01430454 0.02350927 0.00289768
+v -0.00054551 0.02427461 -0.00089198
+v -0.01430454 0.02604726 -0.00103186
+v -0.00054551 0.02416115 -0.00088882
+v -0.00054551 0.02122902 0.00194878
+v -0.01430454 0.02220749 0.00241416
+v -0.01430454 0.02510683 -0.00096606
+v -0.00054551 0.02353551 -0.00065869
+v -0.00177931 0.02415918 -0.00088961
+v -0.00177931 0.02124476 0.00192671
+v -0.00054551 0.02122902 0.00156969
+v -0.01430454 0.02193074 0.00114017
+v -0.00572316 0.02131165 0.00182741
+v -0.00465234 0.02129198 0.00185696
+v -0.00321515 0.02126706 0.00189440
+v -0.00895986 0.02419132 -0.00088252
+v -0.01039705 0.02421558 -0.00087385
+v -0.01430454 0.02490287 -0.00093532
+v -0.00321515 0.02416246 -0.00088961
+v -0.00752402 0.02418214 -0.00088528
+v -0.00054551 0.02343320 -0.00062008
+v -0.00177931 0.02124476 0.00160555
+v -0.00054551 0.02155038 0.00090137
+v -0.00177931 0.02156349 0.00093723
+v -0.01430454 0.02250392 0.00022241
+v -0.00321515 0.02158251 0.00099082
+v -0.00465234 0.02160284 0.00105427
+v -0.00465234 0.02129198 0.00172298
+v -0.00572316 0.02131165 0.00177460
+v -0.00321515 0.02126706 0.00165954
+v -0.00177931 0.02343124 -0.00061417
+v -0.00321515 0.02343386 -0.00060313
+v -0.00608818 0.02344894 -0.00057594
+v -0.00752402 0.02345353 -0.00055860
+v -0.00895986 0.02346337 -0.00053772
+v -0.01120387 0.02423394 -0.00086676
+v -0.01430454 0.02437888 -0.00083720
+v -0.00054551 0.02243900 -0.00004555
+v -0.00054551 0.02165268 0.00077764
+v -0.01039705 0.02242982 0.00015266
+v -0.00895986 0.02240358 0.00013099
+v -0.00752402 0.02237801 0.00010971
+v -0.00608818 0.02235309 0.00009276
+v -0.01430454 0.02322466 -0.00023705
+v -0.00054551 0.02227898 0.00004863
+v -0.00177931 0.02229210 0.00005454
+v -0.00321515 0.02231046 0.00006557
+v -0.00465234 0.02233144 0.00007897
+v -0.01039705 0.02348698 -0.00051605
+v -0.01430454 0.02350928 -0.00041832
+v -0.01430454 0.02414279 -0.00072411
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 19
+f 1 19 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 8
+f 4 8 17
+f 4 17 23
+f 4 23 28
+f 4 28 33
+f 4 33 39
+f 4 39 51
+f 4 51 67
+f 4 67 73
+f 4 73 66
+f 4 66 49
+f 4 49 36
+f 4 36 32
+f 4 32 30
+f 4 30 25
+f 4 25 20
+f 4 20 18
+f 4 18 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 21
+f 7 21 27
+f 7 27 26
+f 7 26 31
+f 7 31 35
+f 7 35 46
+f 7 46 65
+f 7 65 79
+f 7 79 78
+f 7 78 72
+f 7 72 53
+f 7 53 40
+f 7 40 34
+f 7 34 29
+f 7 29 24
+f 7 24 22
+f 7 22 16
+f 7 16 17
+f 7 17 8
+f 11 18 12
+f 12 18 20
+f 12 20 19
+f 15 19 20
+f 15 20 21
+f 16 22 17
+f 17 22 24
+f 17 24 23
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 23 24 29
+f 23 29 28
+f 25 30 26
+f 26 30 32
+f 26 32 31
+f 28 29 34
+f 28 34 33
+f 31 32 35
+f 32 36 37
+f 32 37 35
+f 33 38 50
+f 33 50 39
+f 33 34 38
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 38
+f 35 44 45
+f 35 45 46
+f 35 37 47
+f 35 47 48
+f 35 48 44
+f 36 49 47
+f 36 47 37
+f 38 43 58
+f 38 58 50
+f 39 50 52
+f 39 52 51
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 41 57 56
+f 41 56 42
+f 42 56 58
+f 42 58 43
+f 44 48 59
+f 44 59 60
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 45 62 63
+f 45 63 64
+f 45 64 46
+f 46 64 65
+f 47 49 48
+f 48 49 59
+f 49 66 59
+f 50 58 54
+f 50 54 52
+f 51 52 53
+f 51 53 68
+f 51 68 69
+f 51 69 70
+f 51 70 71
+f 51 71 67
+f 52 54 53
+f 53 72 68
+f 54 58 55
+f 55 58 56
+f 59 66 60
+f 60 66 73
+f 60 73 74
+f 60 74 61
+f 61 74 62
+f 62 74 75
+f 62 75 76
+f 62 76 63
+f 63 77 64
+f 63 76 71
+f 63 71 70
+f 63 70 77
+f 64 77 78
+f 64 78 79
+f 64 79 65
+f 67 71 76
+f 67 76 75
+f 67 75 74
+f 67 74 73
+f 68 72 78
+f 68 78 77
+f 68 77 69
+f 69 77 70
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_11.obj

@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
+v 0.00827566 -0.04321544 0.00126442
+v 0.00827566 -0.04497312 0.00110884
+v 0.00946633 -0.04497312 0.00074665
+v 0.00962850 -0.04351618 0.00082525
+v 0.00967765 -0.04321544 0.00082525
+v 0.00673889 -0.04321544 0.00089980
+v 0.00416028 -0.05074397 0.00056351
+v 0.00416028 -0.05165641 0.00054568
+v 0.00683998 -0.04934397 0.00074826
+v 0.00827566 -0.04643121 0.00095570
+v 0.00926344 -0.04643121 0.00063969
+v 0.01037478 -0.04321544 0.00040878
+v 0.00992687 -0.04321544 0.00068832
+v 0.00604597 -0.04321544 0.00052464
+v 0.00416028 -0.05065853 0.00054811
+v 0.00416028 -0.05174640 0.00053434
+v 0.00503222 -0.05165527 0.00051408
+v 0.00683998 -0.05040451 0.00055703
+v 0.00757643 -0.05009466 0.00048006
+v 0.00781863 -0.04934397 0.00057000
+v 0.00909846 -0.04742112 0.00054165
+v 0.00832972 -0.04789955 0.00070207
+v 0.01018452 -0.04497312 0.00017946
+v 0.01034669 -0.04351618 0.00037637
+v 0.01063523 -0.04497312 -0.00048901
+v 0.01073633 -0.04351618 -0.00029210
+v 0.01073703 -0.04321544 -0.00024268
+v 0.00565282 -0.04321544 -0.00010331
+v 0.00416028 -0.05015390 0.00043225
+v 0.00416028 -0.05234331 0.00032772
+v 0.00598980 -0.05146390 0.00045169
+v 0.00683998 -0.05113355 0.00025642
+v 0.00773017 -0.05171337 -0.00068673
+v 0.00813174 -0.05060158 -0.00030186
+v 0.00853682 -0.04934397 0.00011382
+v 0.00884502 -0.04839166 0.00038364
+v 0.01005254 -0.04650754 -0.00022729
+v 0.00949020 -0.04789955 -0.00011630
+v 0.01052431 -0.04607353 -0.00069238
+v 0.01093220 -0.04497311 -0.00153506
+v 0.01112596 -0.04351617 -0.00153505
+v 0.01083672 -0.04321544 -0.00054815
+v 0.00533831 -0.04321544 -0.00125875
+v 0.00416028 -0.04802144 -0.00075397
+v 0.00416028 -0.04851810 -0.00039422
+v 0.00416028 -0.04906830 -0.00010252
+v 0.00416028 -0.05245608 0.00026857
+v 0.00546818 -0.05218725 0.00014622
+v 0.00540360 -0.05325803 -0.00058870
+v 0.00622920 -0.05305868 -0.00078234
+v 0.00676065 -0.05222256 -0.00045257
+v 0.00716854 -0.05266567 -0.00153508
+v 0.00792675 -0.05193663 -0.00153508
+v 0.00864494 -0.05103558 -0.00153508
+v 0.00903387 -0.05013681 -0.00080907
+v 0.00922904 -0.04934397 -0.00055465
+v 0.01040005 -0.04704520 -0.00103999
+v 0.01060856 -0.04650753 -0.00150508
+v 0.01080372 -0.04643120 -0.00287200
+v 0.01108244 -0.04497311 -0.00287200
+v 0.01125584 -0.04351617 -0.00287199
+v 0.01114562 -0.04321543 -0.00153505
+v 0.00529267 -0.04321543 -0.00153505
+v 0.00416028 -0.04760908 -0.00129846
+v 0.00416028 -0.05333777 -0.00031483
+v 0.00416028 -0.05347333 -0.00040963
+v 0.00416028 -0.05417616 -0.00144110
+v 0.00416028 -0.05422059 -0.00152132
+v 0.00540360 -0.05377861 -0.00153509
+v 0.00645035 -0.05321701 -0.00153509
+v 0.00743040 -0.05287528 -0.00287202
+v 0.00809664 -0.05214737 -0.00287202
+v 0.00881483 -0.05125885 -0.00287202
+v 0.00913356 -0.05030653 -0.00153507
+v 0.00961025 -0.04934396 -0.00153507
+v 0.01021892 -0.04782436 -0.00150509
+v 0.01047517 -0.04729694 -0.00193128
+v 0.01090201 -0.04643119 -0.00420813
+v 0.01053414 -0.04748946 -0.00287200
+v 0.01058890 -0.04768310 -0.00420814
+v 0.01116036 -0.04497310 -0.00420813
+v 0.01131692 -0.04351616 -0.00420812
+v 0.01127199 -0.04321543 -0.00287199
+v 0.00535305 -0.04321543 -0.00259650
+v 0.00416028 -0.04785055 -0.00420571
+v 0.00416028 -0.04767058 -0.00287201
+v 0.00416028 -0.04763071 -0.00250252
+v 0.00416028 -0.04758628 -0.00153506
+v 0.00416028 -0.05429577 -0.00169471
+v 0.00457448 -0.05441652 -0.00232105
+v 0.00536077 -0.05418755 -0.00280883
+v 0.00671151 -0.05341522 -0.00287203
+v 0.00753571 -0.05296527 -0.00368796
+v 0.00891242 -0.05140237 -0.00420815
+v 0.00809032 -0.05239113 -0.00416358
+v 0.00926133 -0.05052980 -0.00287202
+v 0.00984824 -0.04934396 -0.00287201
+v 0.01029895 -0.04821850 -0.00287201
+v 0.01054818 -0.04755438 -0.00520232
+v 0.01036495 -0.04841101 -0.00420814
+v 0.01064998 -0.04639360 -0.00560746
+v 0.01088586 -0.04497310 -0.00554588
+v 0.01100662 -0.04351616 -0.00554587
+v 0.01133166 -0.04321542 -0.00420812
+v 0.00542957 -0.04321543 -0.00393263
+v 0.00544642 -0.04321542 -0.00420812
+v 0.00416028 -0.04792232 -0.00438478
+v 0.00416028 -0.05446436 -0.00216305
+v 0.00416028 -0.05459650 -0.00270268
+v 0.00485390 -0.05451562 -0.00321153
+v 0.00574830 -0.05426273 -0.00420816
+v 0.00696986 -0.05344711 -0.00416359
+v 0.00759819 -0.05302335 -0.00458006
+v 0.00880290 -0.05123491 -0.00554590
+v 0.00923816 -0.05050701 -0.00554590
+v 0.00933996 -0.05067446 -0.00420815
+v 0.00759819 -0.05302335 -0.00498438
+v 0.00999286 -0.04934395 -0.00420814
+v 0.01035722 -0.04685495 -0.00609443
+v 0.00977032 -0.04934395 -0.00554589
+v 0.01023718 -0.04797927 -0.00560747
+v 0.01046113 -0.04588327 -0.00624271
+v 0.01055660 -0.04351616 -0.00631967
+v 0.01101434 -0.04321542 -0.00554587
+v 0.01051097 -0.04497310 -0.00628565
+v 0.00571811 -0.04321542 -0.00523148
+v 0.00416028 -0.04842354 -0.00554589
+v 0.00416028 -0.05462726 -0.00286636
+v 0.00503011 -0.05459307 -0.00420816
+v 0.00416028 -0.05482433 -0.00399182
+v 0.00416028 -0.05485280 -0.00420816
+v 0.00497675 -0.05457143 -0.00525583
+v 0.00800257 -0.05229886 -0.00547621
+v 0.00737143 -0.05281147 -0.00587568
+v 0.00781021 -0.05184093 -0.00638290
+v 0.00906967 -0.05021083 -0.00628080
+v 0.00687157 -0.05336965 -0.00547622
+v 0.00924378 -0.04934395 -0.00639991
+v 0.00949160 -0.04788814 -0.00651740
+v 0.00981174 -0.04639360 -0.00650523
+v 0.00971275 -0.04351616 -0.00665107
+v 0.01055731 -0.04321542 -0.00631886
+v 0.00971275 -0.04497310 -0.00663082
+v 0.00579674 -0.04321542 -0.00549239
+v 0.00416028 -0.04926194 -0.00638046
+v 0.00416028 -0.05469674 -0.00559128
+v 0.00457378 -0.05440512 -0.00614712
+v 0.00543519 -0.05419894 -0.00563909
+v 0.00641384 -0.05319422 -0.00636509
+v 0.00687157 -0.05229886 -0.00656845
+v 0.00828409 -0.05073825 -0.00651011
+v 0.00827566 -0.04934395 -0.00679937
+v 0.00827566 -0.04788813 -0.00693225
+v 0.00971275 -0.04321542 -0.00664621
+v 0.00827566 -0.04643118 -0.00696060
+v 0.00609160 -0.04321542 -0.00602311
+v 0.00416028 -0.04942597 -0.00643556
+v 0.00618146 -0.04321542 -0.00616086
+v 0.00416028 -0.05464661 -0.00575009
+v 0.00416028 -0.05396200 -0.00646556
+v 0.00416028 -0.05380707 -0.00655145
+v 0.00540360 -0.05347786 -0.00650526
+v 0.00540360 -0.05225784 -0.00693145
+v 0.00683998 -0.05080089 -0.00695090
+v 0.00683998 -0.04934394 -0.00701085
+v 0.00827566 -0.04321541 -0.00685850
+v 0.00827566 -0.04497309 -0.00692495
+v 0.00416028 -0.05080089 -0.00686420
+v 0.00689965 -0.04321542 -0.00653115
+v 0.00416028 -0.05225784 -0.00699627
+v 0.00540360 -0.05080089 -0.00701329
+v 0.00799765 -0.04321542 -0.00679449
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 27
+f 1 27 42
+f 1 42 62
+f 1 62 83
+f 1 83 104
+f 1 104 124
+f 1 124 142
+f 1 142 154
+f 1 154 166
+f 1 166 172
+f 1 172 169
+f 1 169 158
+f 1 158 156
+f 1 156 144
+f 1 144 126
+f 1 126 106
+f 1 106 105
+f 1 105 84
+f 1 84 63
+f 1 63 43
+f 1 43 28
+f 1 28 14
+f 1 14 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 3
+f 2 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 5
+f 6 14 7
+f 7 15 29
+f 7 29 46
+f 7 46 45
+f 7 45 44
+f 7 44 64
+f 7 64 88
+f 7 88 87
+f 7 87 86
+f 7 86 85
+f 7 85 107
+f 7 107 127
+f 7 127 145
+f 7 145 157
+f 7 157 168
+f 7 168 170
+f 7 170 161
+f 7 161 160
+f 7 160 159
+f 7 159 146
+f 7 146 131
+f 7 131 130
+f 7 130 128
+f 7 128 109
+f 7 109 108
+f 7 108 89
+f 7 89 68
+f 7 68 67
+f 7 67 66
+f 7 66 65
+f 7 65 47
+f 7 47 30
+f 7 30 16
+f 7 16 8
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 21 11
+f 10 20 22
+f 10 22 21
+f 11 23 24
+f 11 24 12
+f 11 21 23
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 14 28 29
+f 14 29 15
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 21
+f 19 21 20
+f 20 21 22
+f 21 37 23
+f 21 36 38
+f 21 38 37
+f 23 37 39
+f 23 39 25
+f 23 25 24
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 27
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 30 47 31
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 33
+f 33 51 50
+f 33 50 52
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 34
+f 34 55 35
+f 35 55 36
+f 36 55 56
+f 36 56 38
+f 37 38 39
+f 38 56 57
+f 38 57 39
+f 39 57 40
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 41
+f 41 61 62
+f 41 62 42
+f 41 60 61
+f 43 63 64
+f 43 64 44
+f 47 65 48
+f 48 65 66
+f 48 66 49
+f 49 66 67
+f 49 67 68
+f 49 68 69
+f 49 69 50
+f 50 69 70
+f 50 70 52
+f 52 70 71
+f 52 71 53
+f 53 72 73
+f 53 73 54
+f 53 71 72
+f 54 73 74
+f 54 74 55
+f 55 74 75
+f 55 75 57
+f 55 57 56
+f 57 76 77
+f 57 77 58
+f 57 75 76
+f 58 77 59
+f 59 78 60
+f 59 77 79
+f 59 79 80
+f 59 80 78
+f 60 78 81
+f 60 81 61
+f 61 82 83
+f 61 83 62
+f 61 81 82
+f 63 84 85
+f 63 85 86
+f 63 86 87
+f 63 87 88
+f 63 88 64
+f 68 89 69
+f 69 89 90
+f 69 90 91
+f 69 91 70
+f 70 91 92
+f 70 92 71
+f 71 93 72
+f 71 92 93
+f 72 94 73
+f 72 93 95
+f 72 95 94
+f 73 94 96
+f 73 96 74
+f 74 96 75
+f 75 96 97
+f 75 97 76
+f 76 97 98
+f 76 98 77
+f 77 98 79
+f 78 80 99
+f 78 99 81
+f 79 98 100
+f 79 100 80
+f 80 100 99
+f 81 99 101
+f 81 101 102
+f 81 102 82
+f 82 103 104
+f 82 104 83
+f 82 102 103
+f 84 105 85
+f 85 105 106
+f 85 106 107
+f 89 108 90
+f 90 108 109
+f 90 109 110
+f 90 110 91
+f 91 110 111
+f 91 111 92
+f 92 112 93
+f 92 111 112
+f 93 113 95
+f 93 112 113
+f 94 114 115
+f 94 115 116
+f 94 116 96
+f 94 95 113
+f 94 113 117
+f 94 117 114
+f 96 116 97
+f 97 116 118
+f 97 118 98
+f 98 118 100
+f 99 119 101
+f 99 100 118
+f 99 118 120
+f 99 120 121
+f 99 121 119
+f 101 122 102
+f 101 119 122
+f 102 122 103
+f 103 123 124
+f 103 124 104
+f 103 122 125
+f 103 125 123
+f 106 126 127
+f 106 127 107
+f 109 128 110
+f 110 129 111
+f 110 128 130
+f 110 130 131
+f 110 131 129
+f 111 129 132
+f 111 132 117
+f 111 117 112
+f 112 117 113
+f 114 117 133
+f 114 133 134
+f 114 134 135
+f 114 135 136
+f 114 136 115
+f 115 136 120
+f 115 120 118
+f 115 118 116
+f 117 134 133
+f 117 132 137
+f 117 137 134
+f 119 121 136
+f 119 136 138
+f 119 138 122
+f 120 136 121
+f 122 138 139
+f 122 139 140
+f 122 140 125
+f 123 141 142
+f 123 142 124
+f 123 125 143
+f 123 143 141
+f 125 140 143
+f 126 144 127
+f 127 144 145
+f 129 131 132
+f 131 146 132
+f 132 147 148
+f 132 148 137
+f 132 146 147
+f 134 137 149
+f 134 149 135
+f 135 149 150
+f 135 150 151
+f 135 151 136
+f 136 151 138
+f 137 148 149
+f 138 151 152
+f 138 152 139
+f 139 152 153
+f 139 153 140
+f 140 153 143
+f 141 154 142
+f 141 143 155
+f 141 155 154
+f 143 153 155
+f 144 156 145
+f 145 156 158
+f 145 158 157
+f 146 159 147
+f 147 159 160
+f 147 160 161
+f 147 161 162
+f 147 162 149
+f 147 149 148
+f 149 163 150
+f 149 162 163
+f 150 163 164
+f 150 164 151
+f 151 164 152
+f 152 164 153
+f 153 164 165
+f 153 165 155
+f 154 155 167
+f 154 167 166
+f 155 165 167
+f 157 158 168
+f 158 169 168
+f 161 170 163
+f 161 163 162
+f 163 170 164
+f 164 171 165
+f 164 170 171
+f 165 171 167
+f 166 167 171
+f 166 171 170
+f 166 170 168
+f 166 168 172
+f 168 169 172
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_12.obj

@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.01430454 0.02792877 -0.00093621
+v -0.01430454 0.02837093 -0.00088990
+v -0.01429376 0.02792877 -0.00093621
+v -0.01430454 0.02792876 0.00246321
+v -0.01430454 0.02859030 -0.00086311
+v -0.00054551 0.03225110 -0.00027393
+v -0.01358123 0.02792877 -0.00089994
+v -0.01430454 0.03097734 0.00475238
+v -0.01178710 0.02792876 0.00217700
+v -0.00054551 0.02966676 0.00344963
+v -0.00465234 0.02960951 0.00352383
+v -0.00895986 0.02953185 0.00357795
+v -0.01430454 0.02880174 -0.00082071
+v -0.00895986 0.03324311 0.00021983
+v -0.00752402 0.03326012 0.00020086
+v -0.00608818 0.03327713 0.00018300
+v -0.00465234 0.03329186 0.00016627
+v -0.00054551 0.03240019 -0.00021926
+v -0.00054551 0.03099890 -0.00000224
+v -0.01183290 0.03225110 -0.00007699
+v -0.01289967 0.02792877 -0.00078613
+v -0.00054551 0.03077556 0.00005411
+v -0.01430454 0.03127268 0.00476242
+v -0.00054551 0.03079425 0.00400867
+v -0.00054551 0.03225108 0.00416880
+v -0.01038628 0.02792877 0.00114038
+v -0.00054551 0.02912088 0.00247717
+v -0.00054551 0.02959251 0.00331852
+v -0.01430454 0.03079426 -0.00036210
+v -0.01327008 0.03225110 -0.00004965
+v -0.00895986 0.03361044 0.00114040
+v -0.01039705 0.03322327 0.00024047
+v -0.00608818 0.03365636 0.00114040
+v -0.00465234 0.03367903 0.00114040
+v -0.00321515 0.03330320 0.00015232
+v -0.00054551 0.03331340 0.00012833
+v -0.00177931 0.03331057 0.00013893
+v -0.01181134 0.02792877 -0.00032752
+v -0.00054551 0.03003240 0.00044578
+v -0.00054551 0.02959421 0.00100370
+v -0.00054551 0.02950068 0.00112309
+v -0.01430454 0.03232761 0.00468990
+v -0.00054551 0.03316941 0.00369066
+v -0.01110420 0.03298007 0.00448347
+v -0.01087926 0.02792877 0.00050267
+v -0.01175747 0.02792877 -0.00030185
+v -0.01430454 0.03225564 0.00010713
+v -0.01327008 0.03310706 0.00034201
+v -0.01183290 0.03319096 0.00026725
+v -0.01430454 0.03270516 0.00031244
+v -0.01408094 0.03302260 0.00042403
+v -0.01039705 0.03358210 0.00114040
+v -0.01039705 0.03367505 0.00247718
+v -0.00321515 0.03369320 0.00114040
+v -0.00054551 0.03336783 0.00026948
+v -0.01430454 0.03253281 0.00465643
+v -0.00054551 0.03332020 0.00360976
+v -0.01183290 0.03299821 0.00449742
+v -0.01327008 0.03336499 0.00114040
+v -0.01183290 0.03352938 0.00114040
+v -0.01430454 0.03309459 0.00114040
+v -0.01427894 0.03310877 0.00114040
+v -0.01183290 0.03364501 0.00247718
+v -0.00895986 0.03368526 0.00247718
+v -0.01327008 0.03329979 0.00381452
+v -0.01183290 0.03332586 0.00381452
+v -0.00321515 0.03371984 0.00247718
+v -0.00177931 0.03369660 0.00114040
+v -0.00465234 0.03371303 0.00247718
+v -0.00054551 0.03369434 0.00114040
+v -0.01430454 0.03285196 0.00455935
+v -0.01327008 0.03302315 0.00451806
+v -0.00054551 0.03364671 0.00263954
+v -0.00177931 0.03332586 0.00363041
+v -0.01327008 0.03351350 0.00247718
+v -0.01430454 0.03311727 0.00127095
+v -0.01430454 0.03322553 0.00222891
+v -0.01430454 0.03325331 0.00247718
+v -0.01430454 0.03317451 0.00363431
+v -0.01430454 0.03314560 0.00381452
+v -0.01430454 0.03305999 0.00421176
+v -0.01418196 0.03301295 0.00451137
+v -0.00321515 0.03332983 0.00364938
+v -0.00177931 0.03371190 0.00247718
+v -0.00054551 0.03369660 0.00132842
+v -0.01430454 0.03300104 0.00442656
+v -0.00054551 0.03370113 0.00247718
+f 1 2 3
+f 1 3 7
+f 1 7 21
+f 1 21 38
+f 1 38 46
+f 1 46 45
+f 1 45 26
+f 1 26 9
+f 1 9 4
+f 1 4 8
+f 1 8 23
+f 1 23 42
+f 1 42 56
+f 1 56 71
+f 1 71 86
+f 1 86 81
+f 1 81 80
+f 1 80 79
+f 1 79 78
+f 1 78 77
+f 1 77 76
+f 1 76 61
+f 1 61 50
+f 1 50 47
+f 1 47 29
+f 1 29 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 8
+f 5 13 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 36
+f 6 36 55
+f 6 55 70
+f 6 70 85
+f 6 85 87
+f 6 87 73
+f 6 73 57
+f 6 57 43
+f 6 43 25
+f 6 25 24
+f 6 24 10
+f 6 10 28
+f 6 28 27
+f 6 27 41
+f 6 41 40
+f 6 40 39
+f 6 39 22
+f 6 22 19
+f 6 19 7
+f 6 13 20
+f 6 20 14
+f 7 19 22
+f 7 22 21
+f 8 12 11
+f 8 11 10
+f 8 10 24
+f 8 24 25
+f 8 25 23
+f 9 26 27
+f 9 27 28
+f 9 28 10
+f 13 29 30
+f 13 30 20
+f 14 31 15
+f 14 20 30
+f 14 30 32
+f 14 32 31
+f 15 31 16
+f 16 31 33
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 18
+f 18 35 37
+f 18 37 36
+f 21 22 39
+f 21 39 40
+f 21 40 41
+f 21 41 38
+f 23 25 42
+f 25 43 44
+f 25 44 42
+f 26 45 27
+f 27 45 46
+f 27 46 41
+f 29 47 30
+f 30 48 49
+f 30 49 32
+f 30 47 50
+f 30 50 51
+f 30 51 48
+f 31 32 52
+f 31 52 53
+f 31 53 33
+f 32 49 52
+f 33 53 34
+f 34 53 54
+f 34 54 35
+f 35 54 37
+f 36 37 54
+f 36 54 55
+f 38 41 46
+f 42 44 56
+f 43 57 44
+f 44 58 56
+f 44 57 58
+f 48 59 60
+f 48 60 49
+f 48 51 59
+f 49 60 52
+f 50 61 51
+f 51 61 62
+f 51 62 59
+f 52 60 63
+f 52 63 53
+f 53 64 54
+f 53 63 65
+f 53 65 66
+f 53 66 64
+f 54 67 68
+f 54 68 55
+f 54 64 69
+f 54 69 67
+f 55 68 70
+f 56 58 72
+f 56 72 71
+f 57 73 74
+f 57 74 72
+f 57 72 58
+f 59 75 60
+f 59 62 76
+f 59 76 77
+f 59 77 78
+f 59 78 75
+f 60 75 63
+f 61 76 62
+f 63 75 65
+f 64 66 69
+f 65 75 79
+f 65 79 80
+f 65 80 81
+f 65 81 82
+f 65 82 66
+f 66 82 72
+f 66 72 83
+f 66 83 84
+f 66 84 67
+f 66 67 69
+f 67 84 85
+f 67 85 70
+f 67 70 68
+f 71 72 82
+f 71 82 86
+f 72 74 83
+f 73 87 74
+f 74 87 84
+f 74 84 83
+f 75 78 79
+f 81 86 82
+f 84 87 85
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_13.obj

@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.00054416 0.03370075 0.00247730
+v -0.00054416 0.03369674 0.00132849
+v -0.00054416 0.03364674 0.00263933
+v -0.00034178 0.03369902 0.00247730
+v 0.00109523 0.03368812 0.00114051
+v -0.00054416 0.03369444 0.00114051
+v -0.00034178 0.03369386 0.00114051
+v -0.00054416 0.03332039 0.00360972
+v 0.00109523 0.03368351 0.00247730
+v 0.00253104 0.03367490 0.00114051
+v 0.00396805 0.03330143 0.00010914
+v 0.00253104 0.03331178 0.00011142
+v -0.00054416 0.03336809 0.00026935
+v 0.00109523 0.03331523 0.00011779
+v -0.00054416 0.03316928 0.00369073
+v -0.00034178 0.03331923 0.00360653
+v 0.00109523 0.03331062 0.00358013
+v 0.00396805 0.03328419 0.00353325
+v 0.00253104 0.03366110 0.00247730
+v 0.00396805 0.03364962 0.00114051
+v 0.00683967 0.03326696 0.00012143
+v 0.00540386 0.03328650 0.00011142
+v 0.00827549 0.03225113 -0.00039972
+v 0.00683967 0.03225113 -0.00039562
+v -0.00054416 0.03331350 0.00012871
+v -0.00034178 0.03331408 0.00012689
+v -0.00054416 0.03225111 0.00416910
+v 0.00253104 0.03225111 0.00410219
+v 0.01114831 0.03225112 0.00390556
+v 0.00540386 0.03326810 0.00350867
+v 0.00683967 0.03324799 0.00348500
+v 0.00396805 0.03363238 0.00247730
+v 0.00540386 0.03361515 0.00114051
+v 0.00827549 0.03324168 0.00013964
+v 0.00971250 0.03225113 -0.00038834
+v 0.01168958 0.03079404 -0.00048075
+v 0.00540386 0.03225113 -0.00038333
+v -0.00054416 0.03239994 -0.00021948
+v 0.00396805 0.03225113 -0.00035967
+v 0.00253104 0.03225113 -0.00033418
+v 0.00109523 0.03225113 -0.00030823
+v -0.00054416 0.03079403 0.00400887
+v -0.00034178 0.03079403 0.00401297
+v 0.01168958 0.03079403 0.00393286
+v 0.01168958 0.03229249 0.00382500
+v 0.01114831 0.03316985 0.00340308
+v 0.00971250 0.03320547 0.00343812
+v 0.00540386 0.03359675 0.00247730
+v 0.00683967 0.03357378 0.00114051
+v 0.00971250 0.03320491 0.00017332
+v 0.01114831 0.03225113 -0.00028957
+v 0.01168958 0.03170300 -0.00037105
+v 0.01168958 0.03024648 -0.00043705
+v -0.00054416 0.03225113 -0.00027364
+v -0.00034178 0.03225113 -0.00027819
+v -0.00054416 0.02966673 0.00344995
+v -0.00034178 0.02965754 0.00345632
+v 0.01168958 0.02905712 0.00328791
+v 0.01168958 0.02949839 0.00347225
+v 0.01168958 0.03312963 0.00335301
+v 0.01114831 0.03335773 0.00247730
+v 0.00971250 0.03345598 0.00247730
+v 0.00827549 0.03350770 0.00247730
+v 0.00683967 0.03355481 0.00247730
+v 0.00827549 0.03352322 0.00114051
+v 0.00971250 0.03345542 0.00114051
+v 0.01114831 0.03311930 0.00027800
+v 0.01168958 0.03306242 0.00035447
+v 0.01168958 0.03226492 -0.00015849
+v 0.01168958 0.02783159 -0.00009297
+v -0.00054416 0.03099858 -0.00000238
+v -0.00054416 0.02959261 0.00331886
+v 0.01168958 0.02783158 0.00243631
+v 0.01168958 0.02785973 0.00246499
+v 0.01168958 0.03325604 0.00247730
+v 0.01114831 0.03330661 0.00114051
+v 0.01168958 0.03312907 0.00066306
+v 0.00555714 0.02783159 0.00110545
+v -0.00054416 0.03003274 0.00044594
+v -0.00054416 0.03077508 0.00005360
+v -0.00054416 0.02912090 0.00247729
+v 0.00555594 0.02783159 0.00115233
+v 0.01168958 0.03318997 0.00114051
+v -0.00054416 0.02950069 0.00112275
+v -0.00054416 0.02959435 0.00100350
+f 1 2 6
+f 1 6 13
+f 1 13 25
+f 1 25 38
+f 1 38 54
+f 1 54 71
+f 1 71 80
+f 1 80 79
+f 1 79 85
+f 1 85 84
+f 1 84 81
+f 1 81 72
+f 1 72 56
+f 1 56 42
+f 1 42 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 6 7 12
+f 6 12 14
+f 6 14 13
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 14
+f 13 14 26
+f 13 26 25
+f 14 24 26
+f 15 27 18
+f 15 18 16
+f 16 18 17
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 18 27 28
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 22
+f 22 35 23
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 26
+f 25 26 37
+f 25 37 39
+f 25 39 40
+f 25 40 41
+f 25 41 38
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 29
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 31
+f 29 31 30
+f 31 47 32
+f 32 48 33
+f 32 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 52
+f 35 52 36
+f 36 52 69
+f 36 69 68
+f 36 68 77
+f 36 77 83
+f 36 83 75
+f 36 75 60
+f 36 60 45
+f 36 45 44
+f 36 44 59
+f 36 59 58
+f 36 58 74
+f 36 74 73
+f 36 73 70
+f 36 70 53
+f 36 53 54
+f 36 54 55
+f 36 55 41
+f 36 41 40
+f 36 40 39
+f 36 39 37
+f 38 41 55
+f 38 55 54
+f 42 56 57
+f 42 57 43
+f 43 57 58
+f 43 58 59
+f 43 59 44
+f 45 60 46
+f 46 61 62
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 46 60 61
+f 47 64 48
+f 48 64 49
+f 49 64 63
+f 49 63 65
+f 49 65 50
+f 50 65 66
+f 50 66 67
+f 50 67 51
+f 51 67 68
+f 51 68 69
+f 51 69 52
+f 53 70 54
+f 54 70 71
+f 56 72 73
+f 56 73 57
+f 57 73 74
+f 57 74 58
+f 60 75 61
+f 61 76 66
+f 61 66 62
+f 61 75 76
+f 62 66 65
+f 62 65 63
+f 66 76 67
+f 67 76 68
+f 68 76 77
+f 70 73 82
+f 70 82 78
+f 70 78 79
+f 70 79 80
+f 70 80 71
+f 72 81 73
+f 73 81 82
+f 75 83 76
+f 76 83 77
+f 78 82 81
+f 78 81 84
+f 78 84 85
+f 78 85 79
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_14.obj

@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.00253031 -0.05510603 -0.00420847
+v 0.00109430 -0.05502064 -0.00420847
+v 0.00109430 -0.05488297 -0.00554540
+v 0.00253031 -0.05496101 -0.00554540
+v 0.00396676 -0.05490948 -0.00420847
+v 0.00253031 -0.05487342 -0.00287227
+v 0.00109430 -0.05480201 -0.00287227
+v -0.00005093 -0.05460838 -0.00554540
+v 0.00022822 -0.05449061 -0.00205485
+v -0.00000843 -0.05457159 -0.00287227
+v -0.00025358 -0.05467464 -0.00420847
+v 0.00028145 -0.05447955 -0.00624721
+v 0.00109430 -0.05454875 -0.00630798
+v 0.00404326 -0.05471439 -0.00563952
+v 0.00253031 -0.05458556 -0.00634208
+v 0.00361559 -0.05452814 -0.00629242
+v 0.00415957 -0.05485279 -0.00420847
+v 0.00415957 -0.05482409 -0.00399207
+v 0.00415957 -0.05462754 -0.00286634
+v 0.00404371 -0.05464594 -0.00280854
+v 0.00415957 -0.05469673 -0.00559135
+v 0.00361604 -0.05452668 -0.00195628
+v 0.00253031 -0.05458631 -0.00177694
+v 0.00109430 -0.05455907 -0.00185105
+v -0.00041061 -0.05453108 -0.00502367
+v -0.00041061 -0.05445305 -0.00554540
+v 0.00109430 -0.05431909 -0.00118258
+v -0.00028714 -0.05414461 -0.00157906
+v -0.00041061 -0.05419614 -0.00194146
+v -0.00041061 -0.05443466 -0.00287227
+v -0.00041061 -0.05455981 -0.00376455
+v -0.00041061 -0.05461648 -0.00420847
+v -0.00041061 -0.05435956 -0.00578551
+v -0.00041061 -0.05369112 -0.00646287
+v -0.00025537 -0.05374486 -0.00647621
+v 0.00109430 -0.05371541 -0.00666445
+v 0.00253031 -0.05371541 -0.00671633
+v 0.00415957 -0.05464667 -0.00575068
+v 0.00404326 -0.05383835 -0.00655551
+v 0.00415957 -0.05380743 -0.00655106
+v 0.00415957 -0.05396203 -0.00646584
+v 0.00415957 -0.05459588 -0.00270256
+v 0.00415957 -0.05446410 -0.00216305
+v 0.00415957 -0.05429552 -0.00169467
+v 0.00404371 -0.05426166 -0.00151978
+v 0.00253031 -0.05434485 -0.00110847
+v 0.00109430 -0.05359102 -0.00033773
+v -0.00034216 -0.05342538 -0.00045334
+v -0.00041061 -0.05408792 -0.00157017
+v -0.00041061 -0.05341139 -0.00046520
+v -0.00041061 -0.05359394 -0.00649696
+v -0.00041061 -0.05225778 -0.00686009
+v -0.00034216 -0.05225778 -0.00686898
+v 0.00396676 -0.05225778 -0.00700683
+v 0.00415957 -0.05225778 -0.00699645
+v 0.00415957 -0.05422043 -0.00152126
+v 0.00415957 -0.05417626 -0.00144122
+v 0.00415957 -0.05347397 -0.00040962
+v 0.00396676 -0.05350709 -0.00038220
+v 0.00253031 -0.05361605 -0.00031846
+v 0.00253031 -0.05249707 0.00035001
+v 0.00109430 -0.05241683 0.00033075
+v -0.00041061 -0.05216873 0.00026701
+v -0.00041061 -0.05262590 0.00000170
+v -0.00041061 -0.05218858 -0.00686602
+v 0.00415957 -0.05080164 -0.00686380
+v 0.00415957 -0.05333851 -0.00031476
+v 0.00396676 -0.05249560 0.00028628
+v 0.00396676 -0.05176679 0.00053825
+v 0.00253031 -0.05176826 0.00052343
+v -0.00004333 -0.05161293 0.00049008
+v -0.00041061 -0.05210837 0.00028702
+v -0.00041061 -0.05080165 -0.00666148
+v -0.00041061 -0.05072508 -0.00664591
+v 0.00415957 -0.04942722 -0.00643543
+v 0.00415957 -0.05245584 0.00026849
+v 0.00415957 -0.05234394 0.00032778
+v 0.00415957 -0.05165636 0.00054566
+v 0.00415957 -0.05174691 0.00053380
+v 0.00415957 -0.05074498 0.00056419
+v -0.00004333 -0.05147747 0.00049008
+v -0.00041061 -0.05097099 0.00037373
+v -0.00041061 -0.04969739 -0.00629018
+v 0.00415957 -0.04926232 -0.00638059
+v 0.00415957 -0.05065885 0.00054789
+v 0.00415957 -0.05015531 0.00043228
+v -0.00041061 -0.05091136 0.00035594
+v -0.00041061 -0.04895091 -0.00564246
+v 0.00415957 -0.04842382 -0.00554538
+v 0.00415957 -0.04906872 -0.00010278
+v -0.00041061 -0.04881990 -0.00038588
+v -0.00041061 -0.04926381 -0.00018282
+v -0.00041061 -0.04888392 -0.00556094
+v -0.00041061 -0.04845400 -0.00485320
+v -0.00041061 -0.04816689 -0.00420845
+v 0.00415957 -0.04792175 -0.00438483
+v 0.00415957 -0.04851807 -0.00039403
+v 0.00415957 -0.04802189 -0.00075347
+v -0.00041061 -0.04788790 -0.00153013
+v -0.00041061 -0.04812347 -0.00396759
+v 0.00415957 -0.04785108 -0.00420622
+v 0.00415957 -0.04760890 -0.00129816
+v -0.00041061 -0.04788495 -0.00153680
+v -0.00041061 -0.04793207 -0.00281593
+v 0.00415957 -0.04767072 -0.00287225
+v 0.00415957 -0.04758533 -0.00153457
+v 0.00415957 -0.04763024 -0.00250244
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 9
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 8 12
+f 3 12 13
+f 3 13 4
+f 4 14 5
+f 4 13 15
+f 4 15 16
+f 4 16 14
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 5 14 21
+f 5 21 17
+f 6 20 22
+f 6 22 23
+f 6 23 24
+f 6 24 7
+f 7 24 9
+f 8 11 25
+f 8 25 26
+f 8 26 12
+f 9 24 27
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 10
+f 10 30 31
+f 10 31 11
+f 11 31 32
+f 11 32 25
+f 12 33 34
+f 12 34 35
+f 12 35 36
+f 12 36 13
+f 12 26 33
+f 13 36 37
+f 13 37 15
+f 14 16 38
+f 14 38 21
+f 15 37 16
+f 16 37 39
+f 16 39 40
+f 16 40 41
+f 16 41 38
+f 17 21 38
+f 17 38 41
+f 17 41 40
+f 17 40 55
+f 17 55 66
+f 17 66 75
+f 17 75 84
+f 17 84 89
+f 17 89 96
+f 17 96 101
+f 17 101 105
+f 17 105 107
+f 17 107 106
+f 17 106 102
+f 17 102 98
+f 17 98 97
+f 17 97 90
+f 17 90 86
+f 17 86 85
+f 17 85 80
+f 17 80 78
+f 17 78 79
+f 17 79 77
+f 17 77 76
+f 17 76 67
+f 17 67 58
+f 17 58 57
+f 17 57 56
+f 17 56 44
+f 17 44 43
+f 17 43 42
+f 17 42 19
+f 17 19 18
+f 19 42 20
+f 20 42 43
+f 20 43 22
+f 22 44 45
+f 22 45 46
+f 22 46 23
+f 22 43 44
+f 23 46 27
+f 23 27 24
+f 25 32 31
+f 25 31 30
+f 25 30 29
+f 25 29 49
+f 25 49 50
+f 25 50 64
+f 25 64 63
+f 25 63 72
+f 25 72 82
+f 25 82 87
+f 25 87 92
+f 25 92 91
+f 25 91 99
+f 25 99 103
+f 25 103 104
+f 25 104 100
+f 25 100 95
+f 25 95 94
+f 25 94 93
+f 25 93 88
+f 25 88 83
+f 25 83 74
+f 25 74 73
+f 25 73 65
+f 25 65 52
+f 25 52 51
+f 25 51 34
+f 25 34 33
+f 25 33 26
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 49 29
+f 28 48 50
+f 28 50 49
+f 34 51 35
+f 35 51 36
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 39
+f 39 55 40
+f 44 56 45
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 46 59 60
+f 46 60 47
+f 47 60 61
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 48 64 50
+f 52 65 53
+f 53 65 54
+f 54 65 66
+f 54 66 55
+f 58 67 59
+f 59 67 68
+f 59 68 60
+f 60 68 61
+f 61 69 70
+f 61 70 62
+f 61 68 69
+f 62 70 71
+f 62 71 63
+f 63 71 72
+f 65 73 66
+f 66 73 74
+f 66 74 75
+f 67 76 68
+f 68 76 77
+f 68 77 69
+f 69 78 70
+f 69 77 79
+f 69 79 78
+f 70 78 80
+f 70 80 71
+f 71 80 81
+f 71 81 82
+f 71 82 72
+f 74 83 84
+f 74 84 75
+f 80 85 81
+f 81 85 82
+f 82 85 86
+f 82 86 87
+f 83 88 84
+f 84 88 89
+f 86 90 91
+f 86 91 92
+f 86 92 87
+f 88 93 89
+f 89 93 94
+f 89 94 95
+f 89 95 96
+f 90 97 91
+f 91 97 98
+f 91 98 99
+f 95 100 101
+f 95 101 96
+f 98 102 99
+f 99 102 103
+f 100 104 101
+f 101 104 105
+f 102 106 103
+f 103 106 104
+f 104 106 107
+f 104 107 105
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_15.obj

@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.01168958 0.02783092 0.00243618
+v 0.01168958 0.02496575 0.00278431
+v 0.01168958 0.02783093 -0.00009305
+v 0.00555594 0.02783093 0.00115226
+v -0.00054416 0.02693275 0.00137037
+v -0.00054416 0.02620460 0.00220795
+v -0.00054416 0.02496575 0.00273222
+v 0.01168958 0.02421848 0.00285702
+v 0.01168958 0.02650312 -0.00064095
+v -0.00054416 0.02573674 -0.00088155
+v -0.00054416 0.02583888 -0.00080960
+v -0.00054416 0.02646490 -0.00035013
+v -0.00054416 0.02725763 0.00031843
+v 0.00555714 0.02783093 0.00110504
+v -0.00054416 0.02725763 0.00070218
+v -0.00054416 0.02721480 0.00079624
+v -0.00054416 0.02350944 0.00280830
+v -0.00034178 0.02350944 0.00281017
+v 0.00109523 0.02350944 0.00282179
+v 0.00253104 0.02350944 0.00283303
+v 0.01168958 0.02350944 0.00289674
+v 0.01168958 0.02577299 -0.00086281
+v -0.00054416 0.02496576 -0.00090478
+v 0.01168958 0.02570643 -0.00087780
+v 0.01168958 0.02491304 -0.00093177
+v -0.00054416 0.02205181 0.00242379
+v -0.00034178 0.02205181 0.00242829
+v 0.01168958 0.02204785 0.00267637
+v -0.00054416 0.02427516 -0.00089204
+v 0.01168958 0.02411042 -0.00090179
+v -0.00054416 0.02416116 -0.00088867
+v -0.00054416 0.02122942 0.00194860
+v -0.00034178 0.02122679 0.00195235
+v 0.01168958 0.02144820 0.00236533
+v 0.01168958 0.02338161 -0.00069267
+v -0.00054416 0.02353514 -0.00065857
+v -0.00054416 0.02122942 0.00156972
+v -0.00034178 0.02122679 0.00156410
+v 0.00827549 0.02113190 0.00206552
+v 0.00253104 0.02119516 0.00199357
+v 0.01168958 0.02109960 0.00212323
+v 0.01168958 0.02214078 -0.00002412
+v -0.00054416 0.02343301 -0.00061997
+v -0.00054416 0.02127423 0.00147566
+v -0.00054416 0.02155035 0.00090153
+v -0.00034178 0.02154837 0.00089553
+v 0.00253104 0.02151608 0.00082396
+v 0.00253104 0.02119516 0.00149215
+v 0.00827549 0.02113191 0.00135836
+v 0.01114831 0.02110224 0.00209475
+v 0.00683967 0.02114771 0.00204941
+v 0.01168958 0.02109961 0.00129090
+v 0.01168958 0.02141262 0.00062271
+v 0.00253104 0.02224424 0.00003022
+v -0.00054416 0.02243929 -0.00004548
+v -0.00054416 0.02165315 0.00077749
+v -0.00054416 0.02227916 0.00004859
+v 0.00827549 0.02145216 0.00069017
+v 0.00683967 0.02114771 0.00139171
+v 0.01114831 0.02141921 0.00062983
+v 0.01114831 0.02110225 0.00129802
+f 1 2 8
+f 1 8 21
+f 1 21 28
+f 1 28 34
+f 1 34 41
+f 1 41 52
+f 1 52 53
+f 1 53 42
+f 1 42 35
+f 1 35 30
+f 1 30 25
+f 1 25 24
+f 1 24 22
+f 1 22 9
+f 1 9 3
+f 1 3 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 14 13
+f 4 13 15
+f 4 15 16
+f 4 16 5
+f 5 16 15
+f 5 15 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 23
+f 5 23 29
+f 5 29 31
+f 5 31 36
+f 5 36 43
+f 5 43 55
+f 5 55 57
+f 5 57 56
+f 5 56 45
+f 5 45 44
+f 5 44 37
+f 5 37 32
+f 5 32 26
+f 5 26 17
+f 5 17 7
+f 5 7 6
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 9 22 10
+f 10 22 24
+f 10 24 25
+f 10 25 23
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 19 28 20
+f 20 28 21
+f 23 25 29
+f 25 30 31
+f 25 31 29
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 27 34 28
+f 30 35 31
+f 31 35 36
+f 32 37 38
+f 32 38 33
+f 33 38 49
+f 33 49 39
+f 33 39 40
+f 33 40 34
+f 34 40 41
+f 35 42 43
+f 35 43 36
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 39 50 41
+f 39 41 51
+f 39 51 40
+f 39 49 61
+f 39 61 50
+f 40 51 41
+f 41 50 61
+f 41 61 52
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 45 56 46
+f 46 56 47
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 48 58 59
+f 48 59 49
+f 49 59 58
+f 49 58 60
+f 49 60 61
+f 52 61 53
+f 53 61 60
+f 53 60 57
+f 53 57 54
+f 54 57 55
+f 57 60 58
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_16.obj

@@ -0,0 +1,763 @@
+# https://github.com/mikedh/trimesh
+v 0.00331886 -0.02135413 0.00317333
+v 0.00396710 -0.02135413 0.00317137
+v 0.00331886 -0.02135410 -0.00560869
+v 0.00331886 -0.02252680 0.00308299
+v 0.00396710 -0.02204104 0.00311834
+v 0.00461218 -0.02135413 0.00315468
+v 0.00396710 -0.02135410 -0.00559101
+v 0.00331886 -0.02166011 -0.00563815
+v 0.00331886 -0.02377651 0.00298576
+v 0.00396710 -0.02311742 0.00303487
+v 0.00540350 -0.02748925 0.00265875
+v 0.00540350 -0.02603197 0.00276971
+v 0.00684069 -0.03186109 0.00224923
+v 0.00684069 -0.03040381 0.00234646
+v 0.00497977 -0.02135413 0.00311441
+v 0.00540350 -0.02135410 -0.00553896
+v 0.00396710 -0.02166011 -0.00562047
+v 0.00396710 -0.02311739 -0.00575304
+v 0.00331886 -0.02246044 -0.00571081
+v 0.00331886 -0.02457470 0.00292291
+v 0.00396710 -0.02457470 0.00291899
+v 0.00540350 -0.02894653 0.00254090
+v 0.00684069 -0.03622865 0.00191927
+v 0.00684069 -0.03477351 0.00203515
+v 0.00684069 -0.03331623 0.00214612
+v 0.00764308 -0.03709317 0.00181910
+v 0.00684069 -0.02894653 0.00243189
+v 0.00783518 -0.03622865 0.00185348
+v 0.00805811 -0.03477351 0.00191043
+v 0.00538374 -0.02135413 0.00302800
+v 0.00684069 -0.02748925 0.00249573
+v 0.00540350 -0.02166011 -0.00556843
+v 0.00653871 -0.02135410 -0.00536908
+v 0.00684069 -0.02311739 -0.00555664
+v 0.00684069 -0.02457467 -0.00573145
+v 0.00684069 -0.02603194 -0.00588072
+v 0.00540350 -0.02311739 -0.00570394
+v 0.00331886 -0.02311739 -0.00576973
+v 0.00540350 -0.02457467 -0.00583161
+v 0.00396710 -0.02457467 -0.00587875
+v 0.00331886 -0.02523379 0.00286989
+v 0.00396710 -0.02603197 0.00280015
+v 0.00540350 -0.03477351 0.00206362
+v 0.00684069 -0.03718733 0.00183383
+v 0.00827630 -0.04205776 0.00136835
+v 0.00827630 -0.04060048 0.00148619
+v 0.00827630 -0.03914321 0.00159324
+v 0.00816088 -0.03331623 0.00196249
+v 0.00818381 -0.03762173 0.00171009
+v 0.00855377 -0.03622865 0.00173858
+v 0.00684069 -0.02603197 0.00252028
+v 0.00684069 -0.02457470 0.00248985
+v 0.00684069 -0.02311742 0.00240934
+v 0.00686994 -0.02135413 0.00227284
+v 0.00877670 -0.03477351 0.00175920
+v 0.00817906 -0.03186109 0.00200864
+v 0.00887947 -0.03331623 0.00177100
+v 0.00685650 -0.02135410 -0.00530329
+v 0.00684069 -0.02166011 -0.00535435
+v 0.00901940 -0.03247950 -0.00622542
+v 0.00772055 -0.03089168 -0.00623425
+v 0.00684069 -0.02748922 -0.00600740
+v 0.00331886 -0.02457467 -0.00589544
+v 0.00540350 -0.02603194 -0.00595142
+v 0.00396710 -0.02603194 -0.00599856
+v 0.00331886 -0.02603194 -0.00601624
+v 0.00331886 -0.02603197 0.00280408
+v 0.00396710 -0.03477351 0.00206657
+v 0.00331886 -0.02748925 0.00268231
+v 0.00396710 -0.03331623 0.00219031
+v 0.00827630 -0.04321330 0.00126425
+v 0.00967791 -0.04321330 0.00082529
+v 0.00971270 -0.04060047 0.00101188
+v 0.00889766 -0.03186109 0.00176020
+v 0.00804309 -0.02894653 0.00206954
+v 0.00795455 -0.02748925 0.00207740
+v 0.00785257 -0.02603197 0.00205285
+v 0.00756403 -0.02234919 0.00181621
+v 0.00748339 -0.02135413 0.00167480
+v 0.00773874 -0.02457470 0.00198609
+v 0.00762411 -0.02311742 0.00188102
+v 0.00971270 -0.03914320 0.00107572
+v 0.01049058 -0.04060047 0.00053758
+v 0.01049928 -0.03914320 0.00055035
+v 0.00756798 -0.02135410 -0.00504207
+v 0.00822966 -0.03194238 -0.00626765
+v 0.00770237 -0.02135410 -0.00499199
+v 0.00774269 -0.02166011 -0.00502342
+v 0.00924075 -0.02748922 -0.00514029
+v 0.00940992 -0.02894650 -0.00529349
+v 0.01000994 -0.03477348 -0.00593476
+v 0.01019176 -0.03622862 -0.00606929
+v 0.01033168 -0.03735207 -0.00615768
+v 0.01044236 -0.03832359 -0.00622348
+v 0.00911663 -0.03331620 -0.00626470
+v 0.00827630 -0.03622862 -0.00659761
+v 0.00827630 -0.03477348 -0.00649450
+v 0.00827630 -0.03331620 -0.00637861
+v 0.00684069 -0.03186106 -0.00635603
+v 0.00709208 -0.02992016 -0.00619301
+v 0.00670393 -0.02908774 -0.00614292
+v 0.00613474 -0.02966765 -0.00621461
+v 0.00540350 -0.02748922 -0.00606926
+v 0.00396710 -0.02748922 -0.00611640
+v 0.00331886 -0.02834947 -0.00620478
+v 0.00331886 -0.03477351 0.00205675
+v 0.00331886 -0.03331623 0.00218933
+v 0.00673871 -0.04321330 0.00089993
+v 0.00331886 -0.03577071 0.00189668
+v 0.00992614 -0.04321330 0.00068880
+v 0.01042260 -0.04271471 0.00046195
+v 0.00985104 -0.04216047 0.00082629
+v 0.01046370 -0.04174319 0.00050615
+v 0.00884469 -0.03040381 0.00169441
+v 0.01048188 -0.03768592 0.00053464
+v 0.01045422 -0.03662880 0.00050225
+v 0.00876089 -0.02894653 0.00155988
+v 0.00924786 -0.02894652 0.00089114
+v 0.00777905 -0.02135412 0.00109837
+v 0.00911584 -0.02748924 0.00069180
+v 0.00903126 -0.02657336 0.00054156
+v 0.01086134 -0.04060047 -0.00019794
+v 0.01084948 -0.03914320 -0.00019793
+v 0.00806364 -0.02135410 -0.00443716
+v 0.00898224 -0.02534075 -0.00484961
+v 0.00910161 -0.02631227 -0.00499692
+v 0.01048821 -0.03227834 -0.00496748
+v 0.01057675 -0.03331620 -0.00510300
+v 0.01068584 -0.03477348 -0.00526602
+v 0.00979649 -0.03777577 -0.00639336
+v 0.00947316 -0.03622862 -0.00638452
+v 0.00929134 -0.03477348 -0.00632854
+v 0.01077675 -0.03622862 -0.00540055
+v 0.01077201 -0.03777577 -0.00564606
+v 0.01094118 -0.03914318 -0.00554590
+v 0.01047714 -0.03914318 -0.00624999
+v 0.00971270 -0.04060045 -0.00657603
+v 0.00971270 -0.03914318 -0.00650629
+v 0.00827630 -0.03768590 -0.00668993
+v 0.00684069 -0.03477348 -0.00656913
+v 0.00684069 -0.03331620 -0.00646503
+v 0.00670393 -0.03040592 -0.00624898
+v 0.00540350 -0.02950930 -0.00622639
+v 0.00396710 -0.02847572 -0.00619496
+v 0.00540350 -0.02878173 -0.00617042
+v 0.00331886 -0.03040378 -0.00635111
+v 0.00540350 -0.03331620 -0.00650627
+v 0.00604620 -0.04321330 0.00052382
+v 0.00331886 -0.03650042 0.00159325
+v 0.01037516 -0.04321330 0.00040893
+v 0.01073644 -0.04321330 -0.00024312
+v 0.01073723 -0.04216047 -0.00006930
+v 0.01041864 -0.03565728 0.00044136
+v 0.00948502 -0.03186108 0.00109146
+v 0.00937277 -0.03040380 0.00102567
+v 0.01079019 -0.03768592 -0.00019793
+v 0.01037674 -0.03477350 0.00032156
+v 0.01029848 -0.03331622 0.00004955
+v 0.00822096 -0.02135412 -0.00019787
+v 0.00992535 -0.03040380 -0.00019790
+v 0.00966605 -0.02894652 -0.00019790
+v 0.00939332 -0.02748924 -0.00019789
+v 0.00893402 -0.02560184 0.00020965
+v 0.01122024 -0.04205774 -0.00153444
+v 0.01123447 -0.04060046 -0.00153444
+v 0.01119178 -0.03914319 -0.00153443
+v 0.00819329 -0.02135410 -0.00422505
+v 0.00901940 -0.02372513 -0.00362113
+v 0.01039414 -0.03130682 -0.00458155
+v 0.01076411 -0.03331620 -0.00420840
+v 0.01096411 -0.03477348 -0.00420841
+v 0.01113328 -0.03622862 -0.00420841
+v 0.01126688 -0.03768590 -0.00420842
+v 0.01135384 -0.03914318 -0.00420842
+v 0.01101391 -0.04060045 -0.00554591
+v 0.01052932 -0.04060045 -0.00629125
+v 0.00827630 -0.03914318 -0.00676063
+v 0.00971270 -0.04205773 -0.00662709
+v 0.00331886 -0.03331620 -0.00654064
+v 0.00396710 -0.03331620 -0.00653279
+v 0.00331886 -0.03186106 -0.00645128
+v 0.00331886 -0.03265711 -0.00650431
+v 0.00565252 -0.04321330 -0.00010368
+v 0.00331886 -0.03759390 0.00092744
+v 0.01083604 -0.04321330 -0.00054852
+v 0.01064474 -0.03617728 -0.00008204
+v 0.01110878 -0.03768591 -0.00153443
+v 0.01060126 -0.03477350 -0.00034718
+v 0.01020836 -0.03195524 -0.00029906
+v 0.01050481 -0.03331622 -0.00061919
+v 0.00842255 -0.02135411 -0.00153437
+v 0.00903363 -0.02510966 -0.00068201
+v 0.01044473 -0.03250091 -0.00081264
+v 0.01114514 -0.04321329 -0.00153445
+v 0.01127242 -0.04321329 -0.00287095
+v 0.01133487 -0.04205774 -0.00287094
+v 0.01134278 -0.04060046 -0.00287094
+v 0.01130088 -0.03914319 -0.00287093
+v 0.00852532 -0.02135411 -0.00287087
+v 0.00901940 -0.02372513 -0.00319789
+v 0.01044631 -0.03104148 -0.00368989
+v 0.01053090 -0.03182040 -0.00416519
+v 0.01044631 -0.03104148 -0.00336190
+v 0.01075146 -0.03331621 -0.00287091
+v 0.01093723 -0.03477349 -0.00287092
+v 0.01109534 -0.03622863 -0.00287092
+v 0.01121787 -0.03768591 -0.00287093
+v 0.01139495 -0.04060045 -0.00420843
+v 0.01104316 -0.04205773 -0.00554591
+v 0.01056015 -0.04205773 -0.00631776
+v 0.00827630 -0.04060045 -0.00679599
+v 0.00971270 -0.04321328 -0.00664576
+v 0.00827630 -0.04321327 -0.00685885
+v 0.00331886 -0.03411439 -0.00648763
+v 0.00533789 -0.04321330 -0.00125949
+v 0.00331886 -0.03826155 -0.00019793
+v 0.01098862 -0.03622863 -0.00153442
+v 0.01083051 -0.03477349 -0.00153442
+v 0.00945973 -0.02603195 -0.00287089
+v 0.00961862 -0.02748923 -0.00153439
+v 0.00974985 -0.02748923 -0.00287089
+v 0.00989847 -0.02894651 -0.00153440
+v 0.01048188 -0.03227193 -0.00153441
+v 0.01036251 -0.03154222 -0.00153441
+v 0.01016409 -0.03040379 -0.00153440
+v 0.01063841 -0.03331621 -0.00153441
+v 0.01133092 -0.04321328 -0.00420844
+v 0.01138784 -0.04205773 -0.00420843
+v 0.01002575 -0.02894651 -0.00287090
+v 0.01030797 -0.03049581 -0.00289840
+v 0.01040678 -0.03128115 -0.00247123
+v 0.01052853 -0.03180329 -0.00289841
+v 0.01101391 -0.04321328 -0.00554592
+v 0.01055698 -0.04321328 -0.00631875
+v 0.00799724 -0.04321328 -0.00679404
+v 0.00331886 -0.03482698 -0.00640317
+v 0.00689998 -0.04321328 -0.00653086
+v 0.00529283 -0.04321329 -0.00153445
+v 0.00331886 -0.03827225 -0.00033246
+v 0.00331886 -0.03531274 -0.00630596
+v 0.00618138 -0.04321328 -0.00616065
+v 0.00535291 -0.04321329 -0.00259501
+v 0.00331886 -0.03835356 -0.00153640
+v 0.00331886 -0.03830434 -0.00287093
+v 0.00331886 -0.03819948 -0.00420842
+v 0.00331886 -0.03574072 -0.00617731
+v 0.00609126 -0.04321328 -0.00602317
+v 0.00331886 -0.03758318 -0.00534557
+v 0.00331886 -0.03698829 -0.00567159
+v 0.00331886 -0.03626500 -0.00600841
+v 0.00542959 -0.04321329 -0.00393249
+v 0.00331886 -0.03812030 -0.00436161
+v 0.00544619 -0.04321328 -0.00420844
+v 0.00579719 -0.04321328 -0.00549191
+v 0.00571813 -0.04321328 -0.00523168
+f 1 2 6
+f 1 6 15
+f 1 15 30
+f 1 30 54
+f 1 54 79
+f 1 79 119
+f 1 119 159
+f 1 159 191
+f 1 191 199
+f 1 199 167
+f 1 167 124
+f 1 124 87
+f 1 87 85
+f 1 85 58
+f 1 58 33
+f 1 33 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 38
+f 1 38 63
+f 1 63 66
+f 1 66 105
+f 1 105 146
+f 1 146 181
+f 1 181 182
+f 1 182 179
+f 1 179 214
+f 1 214 236
+f 1 236 240
+f 1 240 246
+f 1 246 250
+f 1 250 249
+f 1 249 248
+f 1 248 252
+f 1 252 245
+f 1 245 244
+f 1 244 243
+f 1 243 239
+f 1 239 216
+f 1 216 184
+f 1 184 149
+f 1 149 109
+f 1 109 106
+f 1 106 107
+f 1 107 69
+f 1 69 67
+f 1 67 41
+f 1 41 20
+f 1 20 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 17
+f 3 17 8
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 11 12
+f 7 16 32
+f 7 32 17
+f 8 17 18
+f 8 18 19
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 12 26 13
+f 13 26 14
+f 14 27 15
+f 14 26 28
+f 14 28 29
+f 14 29 27
+f 15 27 31
+f 15 31 30
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 32
+f 17 32 37
+f 17 37 18
+f 18 38 19
+f 18 37 39
+f 18 39 40
+f 18 40 63
+f 18 63 38
+f 20 41 21
+f 21 41 42
+f 21 42 22
+f 22 42 43
+f 22 43 23
+f 23 43 44
+f 23 44 45
+f 23 45 26
+f 23 26 24
+f 24 26 25
+f 26 45 46
+f 26 46 47
+f 26 47 28
+f 27 29 48
+f 27 48 31
+f 28 47 49
+f 28 49 29
+f 29 49 50
+f 29 50 48
+f 30 51 52
+f 30 52 53
+f 30 53 54
+f 30 31 51
+f 31 48 55
+f 31 55 56
+f 31 56 57
+f 31 57 51
+f 32 36 37
+f 33 58 59
+f 33 59 34
+f 34 59 60
+f 34 60 35
+f 35 60 36
+f 36 39 37
+f 36 60 61
+f 36 61 62
+f 36 62 39
+f 39 62 64
+f 39 64 65
+f 39 65 40
+f 40 65 66
+f 40 66 63
+f 41 67 42
+f 42 67 43
+f 43 68 44
+f 43 67 69
+f 43 69 70
+f 43 70 68
+f 44 68 71
+f 44 71 45
+f 45 71 72
+f 45 72 46
+f 46 72 50
+f 46 50 47
+f 47 50 49
+f 48 50 55
+f 50 72 73
+f 50 73 55
+f 51 57 74
+f 51 74 75
+f 51 75 76
+f 51 76 52
+f 52 76 77
+f 52 77 53
+f 53 77 54
+f 54 78 79
+f 54 77 80
+f 54 80 81
+f 54 81 78
+f 55 73 57
+f 55 57 56
+f 57 73 82
+f 57 82 83
+f 57 83 84
+f 57 84 74
+f 58 85 60
+f 58 60 59
+f 60 86 61
+f 60 85 87
+f 60 87 88
+f 60 88 89
+f 60 89 90
+f 60 90 91
+f 60 91 92
+f 60 92 93
+f 60 93 94
+f 60 94 95
+f 60 95 96
+f 60 96 97
+f 60 97 98
+f 60 98 86
+f 61 86 98
+f 61 98 97
+f 61 97 99
+f 61 99 100
+f 61 100 62
+f 62 100 101
+f 62 101 102
+f 62 102 64
+f 64 102 103
+f 64 103 104
+f 64 104 65
+f 65 104 105
+f 65 105 66
+f 68 106 71
+f 68 70 107
+f 68 107 106
+f 69 107 70
+f 71 108 148
+f 71 148 183
+f 71 183 215
+f 71 215 238
+f 71 238 242
+f 71 242 251
+f 71 251 253
+f 71 253 255
+f 71 255 254
+f 71 254 247
+f 71 247 241
+f 71 241 237
+f 71 237 235
+f 71 235 213
+f 71 213 212
+f 71 212 234
+f 71 234 233
+f 71 233 227
+f 71 227 195
+f 71 195 194
+f 71 194 185
+f 71 185 151
+f 71 151 150
+f 71 150 110
+f 71 110 72
+f 71 106 109
+f 71 109 108
+f 72 110 111
+f 72 111 112
+f 72 112 73
+f 73 112 113
+f 73 113 82
+f 74 114 77
+f 74 77 76
+f 74 76 75
+f 74 84 115
+f 74 115 116
+f 74 116 114
+f 77 114 80
+f 78 81 117
+f 78 117 118
+f 78 118 79
+f 79 118 120
+f 79 120 121
+f 79 121 119
+f 80 114 117
+f 80 117 81
+f 82 113 83
+f 83 113 122
+f 83 122 84
+f 84 122 123
+f 84 123 115
+f 87 124 125
+f 87 125 126
+f 87 126 89
+f 87 89 88
+f 89 126 127
+f 89 127 90
+f 90 127 128
+f 90 128 92
+f 90 92 91
+f 92 128 93
+f 93 128 129
+f 93 129 94
+f 94 130 131
+f 94 131 132
+f 94 132 95
+f 94 129 133
+f 94 133 134
+f 94 134 135
+f 94 135 136
+f 94 136 137
+f 94 137 138
+f 94 138 130
+f 95 132 96
+f 96 139 140
+f 96 140 97
+f 96 132 139
+f 97 140 141
+f 97 141 99
+f 99 102 142
+f 99 142 100
+f 99 141 102
+f 100 102 101
+f 100 142 102
+f 102 143 144
+f 102 144 145
+f 102 145 103
+f 102 141 143
+f 103 145 144
+f 103 144 104
+f 104 144 105
+f 105 144 141
+f 105 141 147
+f 105 147 146
+f 108 109 148
+f 109 149 148
+f 110 150 111
+f 111 150 151
+f 111 151 152
+f 111 152 113
+f 111 113 112
+f 113 152 122
+f 114 116 153
+f 114 153 154
+f 114 154 155
+f 114 155 117
+f 115 123 116
+f 116 123 156
+f 116 156 153
+f 117 155 118
+f 118 155 157
+f 118 157 158
+f 118 158 120
+f 119 121 159
+f 120 158 121
+f 121 158 160
+f 121 160 161
+f 121 161 162
+f 121 162 163
+f 121 163 159
+f 122 152 164
+f 122 164 165
+f 122 165 123
+f 123 165 166
+f 123 166 156
+f 124 167 125
+f 125 167 168
+f 125 168 127
+f 125 127 126
+f 127 168 169
+f 127 169 170
+f 127 170 171
+f 127 171 128
+f 128 171 172
+f 128 172 129
+f 129 172 173
+f 129 173 133
+f 130 138 131
+f 131 138 139
+f 131 139 132
+f 133 173 135
+f 133 135 134
+f 135 174 175
+f 135 175 176
+f 135 176 136
+f 135 173 174
+f 136 176 137
+f 137 177 138
+f 137 176 178
+f 137 178 177
+f 138 177 139
+f 139 177 140
+f 140 179 180
+f 140 180 147
+f 140 147 141
+f 140 177 179
+f 141 144 143
+f 146 147 181
+f 147 180 182
+f 147 182 181
+f 148 149 184
+f 148 184 183
+f 151 185 152
+f 152 185 164
+f 153 156 186
+f 153 186 157
+f 153 157 155
+f 153 155 154
+f 156 187 188
+f 156 188 186
+f 156 166 187
+f 157 186 188
+f 157 188 158
+f 158 189 160
+f 158 188 190
+f 158 190 189
+f 159 163 162
+f 159 162 192
+f 159 192 191
+f 160 189 193
+f 160 193 161
+f 161 193 162
+f 162 193 192
+f 164 185 194
+f 164 194 195
+f 164 195 196
+f 164 196 165
+f 165 196 197
+f 165 197 198
+f 165 198 166
+f 166 198 207
+f 166 207 187
+f 167 199 168
+f 168 199 200
+f 168 200 203
+f 168 203 201
+f 168 201 169
+f 169 201 202
+f 169 202 170
+f 170 202 201
+f 170 201 203
+f 170 203 171
+f 171 203 204
+f 171 204 205
+f 171 205 172
+f 172 205 206
+f 172 206 173
+f 173 206 207
+f 173 207 174
+f 174 198 197
+f 174 197 208
+f 174 208 175
+f 174 207 198
+f 175 208 209
+f 175 209 210
+f 175 210 176
+f 176 210 178
+f 177 178 211
+f 177 211 179
+f 178 210 212
+f 178 212 213
+f 178 213 211
+f 179 182 180
+f 179 211 213
+f 179 213 214
+f 183 184 216
+f 183 216 215
+f 187 207 217
+f 187 217 188
+f 188 217 190
+f 189 190 193
+f 190 217 218
+f 190 218 193
+f 191 219 199
+f 191 192 220
+f 191 220 221
+f 191 221 219
+f 192 193 222
+f 192 222 220
+f 193 223 224
+f 193 224 225
+f 193 225 222
+f 193 218 226
+f 193 226 223
+f 195 227 196
+f 196 227 228
+f 196 228 197
+f 197 228 208
+f 199 219 200
+f 200 219 221
+f 200 221 203
+f 203 221 229
+f 203 229 230
+f 203 230 231
+f 203 231 232
+f 203 232 204
+f 204 226 218
+f 204 218 205
+f 204 232 226
+f 205 218 217
+f 205 217 206
+f 206 217 207
+f 208 228 209
+f 209 228 233
+f 209 233 234
+f 209 234 210
+f 210 234 212
+f 213 235 214
+f 214 235 237
+f 214 237 236
+f 215 216 238
+f 216 239 238
+f 220 222 221
+f 221 222 229
+f 222 225 229
+f 223 232 231
+f 223 231 224
+f 223 226 232
+f 224 231 225
+f 225 231 230
+f 225 230 229
+f 227 233 228
+f 236 237 240
+f 237 241 240
+f 238 239 243
+f 238 243 244
+f 238 244 245
+f 238 245 242
+f 240 241 246
+f 241 247 248
+f 241 248 249
+f 241 249 250
+f 241 250 246
+f 242 245 251
+f 245 252 253
+f 245 253 251
+f 247 254 248
+f 248 254 255
+f 248 255 253
+f 248 253 252
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_2.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.02304129 0.02496678 0.00114097
+v -0.02292926 0.02496678 -0.00019665
+v -0.02296261 0.02350892 0.00114097
+v -0.02291216 0.02496677 0.00247709
+v -0.02291387 0.02642345 0.00114098
+v -0.02278302 0.02639872 -0.00014448
+v -0.02269750 0.02589589 -0.00097462
+v -0.02274368 0.02496678 -0.00103797
+v -0.02269836 0.02394463 -0.00098581
+v -0.02278986 0.02347949 -0.00023316
+v -0.02279414 0.02358781 0.00245101
+v -0.02271375 0.02263869 0.00018860
+v -0.02276249 0.02258334 0.00114096
+v -0.02270776 0.02265870 0.00198824
+v -0.02266329 0.02496677 0.00319546
+v -0.02263165 0.02573691 0.00316714
+v -0.02274539 0.02630333 0.00237650
+v -0.02265731 0.02412479 0.00319024
+v -0.02264191 0.02718770 0.00186307
+v -0.02267954 0.02722657 0.00114098
+v -0.02266757 0.02721597 0.00033617
+v -0.01976415 0.02580876 -0.00221686
+v -0.02188848 0.02496679 -0.00140758
+v -0.01991039 0.02887519 -0.00107297
+v -0.01903210 0.02787189 -0.00197913
+v -0.01952299 0.02678027 -0.00213786
+v -0.01982658 0.02205226 -0.00228170
+v -0.01981461 0.02122441 -0.00227499
+v -0.02230667 0.02297312 -0.00070339
+v -0.02009341 0.02122441 -0.00193146
+v -0.02028583 0.02122441 -0.00149105
+v -0.02050219 0.02122440 -0.00083082
+v -0.02064501 0.02122440 -0.00019666
+v -0.02068863 0.02122440 0.00060219
+v -0.02070317 0.02122440 0.00114096
+v -0.02059284 0.02122439 0.00250838
+v -0.02011136 0.02122439 0.00365597
+v -0.01967179 0.02496676 0.00446973
+v -0.01956831 0.02642343 0.00443025
+v -0.01687100 0.03153651 0.00449584
+v -0.01957772 0.02350890 0.00443918
+v -0.01934596 0.02122438 0.00432441
+v -0.01942378 0.02205223 0.00437210
+v -0.01978639 0.03011282 0.00193685
+v -0.01980264 0.03012814 0.00114099
+v -0.01977270 0.03010106 0.00038611
+v -0.01901500 0.02496679 -0.00243595
+v -0.01901500 0.02350893 -0.00250972
+v -0.01982145 0.02496679 -0.00224518
+v -0.01903210 0.02634574 -0.00231074
+v -0.01984967 0.02350893 -0.00227498
+v -0.01927327 0.02984552 -0.00050514
+v -0.01831629 0.03007044 -0.00087252
+v -0.01888329 0.02935093 -0.00121977
+v -0.01856601 0.02738084 -0.00225858
+v -0.01936477 0.02122441 -0.00244415
+v -0.01862844 0.02122438 0.00455989
+v -0.01886020 0.02350890 0.00458896
+v -0.01895342 0.02496676 0.00460238
+v -0.01884994 0.02642343 0.00458972
+v -0.01614322 0.03079346 0.00493997
+v -0.01698389 0.03079346 0.00460836
+v -0.01614322 0.03184504 0.00466873
+v -0.01518454 0.03291312 0.00381400
+v -0.01525894 0.03287780 0.00247712
+v -0.01430454 0.03309448 0.00114100
+v -0.01430454 0.03270470 0.00031235
+v -0.01757996 0.02122441 -0.00260288
+v -0.01810506 0.02738084 -0.00225858
+v -0.01787501 0.02642346 -0.00232639
+v -0.01819913 0.02122441 -0.00260139
+v -0.01901500 0.02205226 -0.00254997
+v -0.01901500 0.02122441 -0.00256040
+v -0.01782797 0.02122438 0.00455989
+v -0.01614322 0.02933678 0.00501002
+v -0.01430454 0.03127273 0.00476261
+v -0.01430454 0.03232668 0.00468959
+v -0.01467997 0.03235494 0.00470673
+v -0.01430454 0.03285188 0.00455919
+v -0.01430454 0.03300026 0.00442654
+v -0.01446617 0.03312156 0.00381400
+v -0.01454057 0.03319339 0.00247712
+v -0.01430454 0.03311685 0.00127066
+v -0.01430454 0.03225604 0.00010667
+v -0.01673331 0.02122441 -0.00231747
+v -0.01757996 0.02350893 -0.00246501
+v -0.01685988 0.02425670 -0.00220345
+v -0.01430454 0.02880100 -0.00082035
+v -0.01430454 0.02858903 -0.00086283
+v -0.01715664 0.02642346 -0.00209911
+v -0.01430454 0.03079348 -0.00036206
+v -0.01696935 0.02522821 -0.00216470
+v -0.01750043 0.02483136 -0.00235546
+v -0.01710960 0.02122438 0.00442278
+v -0.01531624 0.02531650 0.00455468
+v -0.01521020 0.02642343 0.00465008
+v -0.01614322 0.02787893 0.00489077
+v -0.01430454 0.03097716 0.00475218
+v -0.01515375 0.02787893 0.00474621
+v -0.01430454 0.03253275 0.00465606
+v -0.01430454 0.03305913 0.00421118
+v -0.01430454 0.03314511 0.00381400
+v -0.01430454 0.03317455 0.00363440
+v -0.01430454 0.03325345 0.00247712
+v -0.01430454 0.02250444 0.00022214
+v -0.01430454 0.02193096 0.00114096
+v -0.01636472 0.02122441 -0.00153353
+v -0.01430454 0.02642345 -0.00104839
+v -0.01430454 0.02604780 -0.00103200
+v -0.01430454 0.02510809 -0.00096568
+v -0.01430454 0.02490436 -0.00093513
+v -0.01430454 0.02437916 -0.00083677
+v -0.01430454 0.02414364 -0.00072350
+v -0.01430454 0.02350892 -0.00041797
+v -0.01430454 0.02789190 -0.00094034
+v -0.01430454 0.02761282 -0.00096195
+v -0.01430454 0.02837000 -0.00088967
+v -0.01669825 0.02122438 0.00413662
+v -0.01504172 0.02350891 0.00359562
+v -0.01430454 0.02220768 0.00241374
+v -0.01430454 0.02350891 0.00289738
+v -0.01571904 0.02122439 0.00247708
+v -0.01572674 0.02122439 0.00163725
+v -0.01573529 0.02122440 0.00114096
+v -0.01597817 0.02122440 -0.00018026
+v -0.01629973 0.02122439 0.00375061
+v -0.01591574 0.02122439 0.00294432
+f 1 2 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 2 9 10
+f 2 10 3
+f 3 11 4
+f 3 10 12
+f 3 12 13
+f 3 13 14
+f 3 14 11
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 4 11 18
+f 4 18 15
+f 5 17 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 7
+f 7 22 23
+f 7 23 8
+f 7 21 24
+f 7 24 25
+f 7 25 26
+f 7 26 22
+f 8 23 27
+f 8 27 28
+f 8 28 9
+f 9 29 12
+f 9 12 10
+f 9 28 29
+f 11 14 18
+f 12 30 31
+f 12 31 32
+f 12 32 33
+f 12 33 13
+f 12 29 30
+f 13 33 34
+f 13 34 35
+f 13 35 36
+f 13 36 14
+f 14 36 37
+f 14 37 18
+f 15 38 16
+f 15 18 38
+f 16 38 39
+f 16 39 40
+f 16 40 19
+f 16 19 17
+f 18 41 38
+f 18 37 42
+f 18 42 43
+f 18 43 41
+f 19 40 44
+f 19 44 20
+f 20 44 45
+f 20 45 21
+f 21 45 46
+f 21 46 24
+f 22 47 48
+f 22 48 49
+f 22 49 23
+f 22 26 50
+f 22 50 47
+f 23 49 51
+f 23 51 27
+f 24 46 52
+f 24 52 53
+f 24 53 54
+f 24 54 25
+f 25 54 55
+f 25 55 26
+f 26 55 50
+f 27 56 28
+f 27 51 56
+f 28 56 73
+f 28 73 71
+f 28 71 68
+f 28 68 85
+f 28 85 107
+f 28 107 125
+f 28 125 124
+f 28 124 123
+f 28 123 122
+f 28 122 127
+f 28 127 126
+f 28 126 118
+f 28 118 94
+f 28 94 74
+f 28 74 57
+f 28 57 42
+f 28 42 37
+f 28 37 36
+f 28 36 35
+f 28 35 34
+f 28 34 33
+f 28 33 32
+f 28 32 31
+f 28 31 30
+f 28 30 29
+f 38 41 57
+f 38 57 58
+f 38 58 59
+f 38 59 60
+f 38 60 39
+f 39 60 61
+f 39 61 62
+f 39 62 40
+f 40 62 61
+f 40 61 63
+f 40 63 64
+f 40 64 44
+f 41 43 57
+f 42 57 43
+f 44 64 45
+f 45 64 65
+f 45 65 46
+f 46 65 66
+f 46 66 67
+f 46 67 52
+f 47 68 48
+f 47 50 55
+f 47 55 69
+f 47 69 70
+f 47 70 68
+f 48 68 71
+f 48 71 72
+f 48 72 49
+f 49 72 51
+f 51 72 73
+f 51 73 56
+f 52 67 53
+f 53 67 55
+f 53 55 54
+f 55 67 69
+f 57 74 75
+f 57 75 58
+f 58 75 59
+f 59 75 60
+f 60 75 61
+f 61 75 76
+f 61 76 77
+f 61 77 78
+f 61 78 63
+f 63 78 79
+f 63 79 80
+f 63 80 64
+f 64 80 81
+f 64 81 82
+f 64 82 65
+f 65 82 83
+f 65 83 66
+f 66 83 104
+f 66 104 103
+f 66 103 102
+f 66 102 101
+f 66 101 80
+f 66 80 79
+f 66 79 100
+f 66 100 77
+f 66 77 76
+f 66 76 98
+f 66 98 121
+f 66 121 120
+f 66 120 106
+f 66 106 105
+f 66 105 114
+f 66 114 113
+f 66 113 112
+f 66 112 111
+f 66 111 110
+f 66 110 109
+f 66 109 108
+f 66 108 116
+f 66 116 115
+f 66 115 117
+f 66 117 89
+f 66 89 88
+f 66 88 91
+f 66 91 84
+f 66 84 67
+f 67 84 69
+f 68 70 86
+f 68 86 87
+f 68 87 85
+f 69 88 89
+f 69 89 90
+f 69 90 70
+f 69 84 91
+f 69 91 88
+f 70 90 92
+f 70 92 93
+f 70 93 86
+f 71 73 72
+f 74 94 95
+f 74 95 96
+f 74 96 97
+f 74 97 75
+f 75 98 76
+f 75 97 96
+f 75 96 99
+f 75 99 98
+f 77 100 78
+f 78 100 79
+f 80 101 81
+f 81 101 102
+f 81 102 103
+f 81 103 104
+f 81 104 82
+f 82 104 83
+f 85 105 106
+f 85 106 107
+f 85 87 108
+f 85 108 109
+f 85 109 110
+f 85 110 111
+f 85 111 112
+f 85 112 113
+f 85 113 114
+f 85 114 105
+f 86 93 87
+f 87 93 92
+f 87 92 115
+f 87 115 116
+f 87 116 108
+f 89 117 90
+f 90 117 92
+f 92 117 115
+f 94 118 95
+f 95 118 119
+f 95 119 120
+f 95 120 121
+f 95 121 98
+f 95 98 96
+f 96 98 99
+f 106 120 122
+f 106 122 123
+f 106 123 124
+f 106 124 125
+f 106 125 107
+f 118 126 120
+f 118 120 119
+f 120 126 127
+f 120 127 122
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_3.obj

@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v 0.00951591 -0.00115744 -0.00019691
+v 0.00951591 -0.00110695 0.00113997
+v 0.00951591 -0.00088933 -0.00155681
+v 0.01463924 0.00542321 -0.00019689
+v 0.01468475 0.00536750 0.00113999
+v 0.01469903 0.00535008 0.00247687
+v 0.00951591 -0.00093113 0.00239886
+v 0.00951591 0.00020223 -0.00244732
+v 0.01477844 0.00669931 -0.00223191
+v 0.01497741 0.00642599 -0.00153376
+v 0.01517549 0.00615266 -0.00019689
+v 0.01520940 0.00609520 0.00113999
+v 0.01521386 0.00607779 0.00247687
+v 0.01504790 0.00630933 0.00350775
+v 0.01333030 0.00381112 0.00318020
+v 0.00951591 -0.00056554 0.00304873
+v 0.00951591 0.00043377 -0.00256541
+v 0.01502381 0.00748272 -0.00236410
+v 0.01630420 0.00939947 -0.00230914
+v 0.01603741 0.00842804 -0.00198012
+v 0.01570906 0.00753321 -0.00153450
+v 0.01626493 0.00805199 -0.00108887
+v 0.01589376 0.00721983 -0.00019688
+v 0.01592766 0.00717109 0.00114000
+v 0.01593212 0.00717108 0.00247688
+v 0.01627921 0.00801716 0.00330425
+v 0.01413066 0.00585669 0.00398382
+v 0.01365865 0.00456841 0.00348844
+v 0.01542532 0.00752100 0.00385237
+v 0.01451254 0.00702309 0.00439975
+v 0.00951591 -0.00012857 0.00352258
+v 0.00951591 0.00156536 -0.00275405
+v 0.01402270 0.00748272 -0.00267307
+v 0.01551812 0.00892246 -0.00251710
+v 0.01649335 0.00892246 -0.00153450
+v 0.01650674 0.01039527 -0.00244282
+v 0.01760778 0.01259578 -0.00219400
+v 0.01748465 0.01185067 -0.00187985
+v 0.01720270 0.01052758 -0.00141417
+v 0.01632382 0.00794754 -0.00019688
+v 0.01761938 0.01110207 -0.00088907
+v 0.01680564 0.00893811 -0.00019688
+v 0.01634970 0.00789705 0.00114000
+v 0.01634524 0.00789878 0.00247688
+v 0.01684044 0.00893810 0.00247688
+v 0.01762295 0.01109335 0.00316389
+v 0.01649068 0.00893810 0.00356123
+v 0.01577509 0.00893809 0.00423041
+v 0.01319914 0.00540230 0.00445990
+v 0.01601510 0.00990778 0.00443244
+v 0.01484536 0.00799278 0.00452601
+v 0.00951591 0.00122411 0.00426083
+v 0.00951591 0.00311129 -0.00293749
+v 0.00971310 0.00311129 -0.00292561
+v 0.01545834 0.01039527 -0.00280081
+v 0.01676638 0.01185067 -0.00255571
+v 0.01789419 0.01317202 -0.00166222
+v 0.01772199 0.01185066 -0.00121141
+v 0.01770861 0.01356721 -0.00230021
+v 0.01821095 0.01476496 -0.00153373
+v 0.01819310 0.01330780 -0.00019686
+v 0.01785404 0.01185066 -0.00019687
+v 0.01763544 0.01105681 -0.00019687
+v 0.01737669 0.01032910 -0.00019687
+v 0.01685382 0.00893811 0.00114000
+v 0.01739899 0.01027165 0.00114001
+v 0.01738918 0.01029776 0.00247689
+v 0.01764526 0.01102720 0.00247689
+v 0.01786832 0.01185065 0.00247689
+v 0.01819845 0.01330779 0.00247690
+v 0.01772288 0.01185065 0.00332803
+v 0.01684758 0.01049970 0.00379817
+v 0.01355605 0.00637373 0.00454234
+v 0.01224175 0.00491311 0.00454160
+v 0.01175993 0.00394168 0.00446138
+v 0.01624352 0.01087921 0.00451711
+v 0.01402983 0.00749836 0.00458766
+v 0.01505682 0.00893809 0.00456463
+v 0.00951591 0.00135468 0.00431505
+v 0.00951591 0.00456843 -0.00282311
+v 0.01689487 0.01662773 -0.00287060
+v 0.01545834 0.01185067 -0.00289662
+v 0.01689487 0.01476496 -0.00279857
+v 0.01703495 0.01317202 -0.00257650
+v 0.01780765 0.01476496 -0.00239231
+v 0.01843490 0.01476495 -0.00019686
+v 0.01837423 0.01622210 -0.00153372
+v 0.01822433 0.01330780 0.00114002
+v 0.01789063 0.01185066 0.00114001
+v 0.01765418 0.01099936 0.00114001
+v 0.01788706 0.01330779 0.00357536
+v 0.01845810 0.01476495 0.00114002
+v 0.01843133 0.01476494 0.00247690
+v 0.01706261 0.01185065 0.00399647
+v 0.01266647 0.00594373 0.00459210
+v 0.01122815 0.00448310 0.00458913
+v 0.01080165 0.00349600 0.00453713
+v 0.00951591 0.00205453 0.00451411
+v 0.01027790 0.00252457 0.00445321
+v 0.01550473 0.01039350 0.00458767
+v 0.01721876 0.01330778 0.00424380
+v 0.01741327 0.01476493 0.00439383
+v 0.01754978 0.01571024 0.00446068
+v 0.01763366 0.01662770 0.00449930
+v 0.01634435 0.01185064 0.00455276
+v 0.01545834 0.01185064 0.00463594
+v 0.00951591 0.00588979 -0.00241313
+v 0.01469635 0.01662773 -0.00225341
+v 0.01542175 0.01662773 -0.00263962
+v 0.01790312 0.01662773 -0.00246582
+v 0.01689487 0.01622210 -0.00286466
+v 0.01789063 0.01622210 -0.00245840
+v 0.01859283 0.01622209 -0.00019685
+v 0.01840100 0.01662773 -0.00153372
+v 0.01800573 0.01476494 0.00372539
+v 0.01860800 0.01622209 0.00114003
+v 0.01858034 0.01622208 0.00247691
+v 0.00951591 0.00436820 0.00462033
+v 0.00951591 0.00306078 0.00458615
+v 0.00951591 0.00277352 0.00457501
+v 0.00951591 0.00242534 0.00455050
+v 0.01650049 0.01330778 0.00458545
+v 0.01768095 0.01662770 0.00443543
+v 0.01756406 0.01662770 0.00451416
+v 0.01696982 0.01662770 0.00463745
+v 0.01669500 0.01476493 0.00460996
+v 0.01607399 0.01662770 0.00465007
+v 0.00951591 0.00644166 -0.00153376
+v 0.01454110 0.01662773 -0.00156046
+v 0.01855893 0.01662772 -0.00056746
+v 0.01861871 0.01662772 -0.00019685
+v 0.01805748 0.01662771 0.00390068
+v 0.01800394 0.01620641 0.00393485
+v 0.01862941 0.01662772 0.00076942
+v 0.01863120 0.01662772 0.00114003
+v 0.01861157 0.01662771 0.00210629
+v 0.01860354 0.01662771 0.00247691
+v 0.00951591 0.00456144 0.00460770
+v 0.01576081 0.01662770 0.00463671
+v 0.00951591 0.00645036 -0.00149143
+v 0.01450541 0.01662772 -0.00116311
+v 0.00951591 0.00533963 0.00453863
+v 0.01524241 0.01662770 0.00433888
+v 0.00951591 0.00543712 0.00452377
+v 0.00951591 0.00665752 -0.00019689
+v 0.01443046 0.01662772 -0.00019685
+v 0.01504254 0.01662770 0.00419554
+v 0.00951591 0.00602034 0.00401279
+v 0.01469546 0.01662771 0.00371278
+v 0.01457411 0.01662771 0.00352710
+v 0.00951591 0.00670277 0.00247687
+v 0.01441975 0.01662771 0.00247691
+v 0.00951591 0.00615961 0.00385831
+v 0.01445276 0.01662771 0.00275171
+v 0.00951591 0.00665751 0.00271973
+f 1 2 7
+f 1 7 16
+f 1 16 31
+f 1 31 52
+f 1 52 79
+f 1 79 98
+f 1 98 121
+f 1 121 120
+f 1 120 119
+f 1 119 118
+f 1 118 138
+f 1 138 142
+f 1 142 144
+f 1 144 148
+f 1 148 153
+f 1 153 155
+f 1 155 151
+f 1 151 145
+f 1 145 140
+f 1 140 128
+f 1 128 107
+f 1 107 80
+f 1 80 53
+f 1 53 32
+f 1 32 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 9 17 18
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 27 28
+f 14 28 15
+f 14 26 29
+f 14 29 30
+f 14 30 27
+f 15 28 31
+f 15 31 16
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 19
+f 19 35 20
+f 19 34 36
+f 19 36 37
+f 19 37 38
+f 19 38 39
+f 19 39 35
+f 20 22 21
+f 20 35 22
+f 22 40 23
+f 22 35 41
+f 22 41 42
+f 22 42 40
+f 23 40 24
+f 24 40 43
+f 24 43 25
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 48
+f 26 48 29
+f 27 30 49
+f 27 49 28
+f 28 49 31
+f 29 48 30
+f 30 48 50
+f 30 50 51
+f 30 51 49
+f 31 49 52
+f 32 53 54
+f 32 54 55
+f 32 55 33
+f 33 55 34
+f 34 55 36
+f 35 39 41
+f 36 55 56
+f 36 56 37
+f 37 57 58
+f 37 58 41
+f 37 41 38
+f 37 56 59
+f 37 59 60
+f 37 60 57
+f 38 41 39
+f 40 42 43
+f 41 58 61
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 42
+f 42 64 65
+f 42 65 43
+f 43 65 44
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 68 69
+f 46 69 70
+f 46 70 71
+f 46 71 72
+f 46 72 47
+f 46 67 68
+f 47 72 50
+f 47 50 48
+f 49 51 73
+f 49 73 74
+f 49 74 75
+f 49 75 52
+f 50 72 76
+f 50 76 51
+f 51 77 73
+f 51 76 78
+f 51 78 77
+f 52 75 79
+f 53 80 81
+f 53 81 82
+f 53 82 54
+f 54 82 55
+f 55 82 83
+f 55 83 56
+f 56 84 85
+f 56 85 59
+f 56 83 84
+f 57 60 61
+f 57 61 58
+f 59 85 60
+f 60 86 61
+f 60 85 87
+f 60 87 86
+f 61 86 88
+f 61 88 89
+f 61 89 62
+f 62 89 63
+f 63 89 90
+f 63 90 66
+f 63 66 64
+f 64 66 65
+f 66 90 68
+f 66 68 67
+f 68 90 89
+f 68 89 69
+f 69 89 88
+f 69 88 70
+f 70 91 71
+f 70 88 92
+f 70 92 93
+f 70 93 91
+f 71 94 72
+f 71 91 94
+f 72 94 76
+f 73 95 74
+f 73 77 95
+f 74 95 96
+f 74 96 97
+f 74 97 98
+f 74 98 75
+f 75 98 99
+f 75 99 79
+f 76 100 78
+f 76 94 101
+f 76 101 102
+f 76 102 103
+f 76 103 104
+f 76 104 105
+f 76 105 100
+f 77 78 100
+f 77 100 106
+f 77 106 95
+f 79 99 98
+f 80 107 108
+f 80 108 109
+f 80 109 81
+f 81 109 108
+f 81 108 129
+f 81 129 141
+f 81 141 146
+f 81 146 152
+f 81 152 154
+f 81 154 150
+f 81 150 149
+f 81 149 147
+f 81 147 143
+f 81 143 139
+f 81 139 127
+f 81 127 125
+f 81 125 124
+f 81 124 104
+f 81 104 123
+f 81 123 132
+f 81 132 137
+f 81 137 136
+f 81 136 135
+f 81 135 134
+f 81 134 131
+f 81 131 130
+f 81 130 114
+f 81 114 110
+f 81 110 111
+f 81 111 82
+f 82 111 83
+f 83 111 112
+f 83 112 85
+f 83 85 84
+f 85 112 87
+f 86 92 88
+f 86 87 113
+f 86 113 92
+f 87 114 113
+f 87 112 114
+f 91 93 115
+f 91 115 103
+f 91 103 102
+f 91 102 101
+f 91 101 94
+f 92 113 116
+f 92 116 93
+f 93 116 117
+f 93 117 115
+f 95 106 118
+f 95 118 96
+f 96 118 119
+f 96 119 120
+f 96 120 121
+f 96 121 97
+f 97 121 98
+f 100 105 122
+f 100 122 106
+f 103 115 104
+f 104 115 123
+f 104 124 105
+f 105 124 125
+f 105 125 122
+f 106 122 126
+f 106 126 125
+f 106 125 127
+f 106 127 118
+f 107 128 108
+f 108 128 129
+f 110 114 112
+f 110 112 111
+f 113 114 130
+f 113 130 131
+f 113 131 116
+f 115 117 132
+f 115 132 133
+f 115 133 123
+f 116 131 134
+f 116 134 135
+f 116 135 136
+f 116 136 117
+f 117 136 137
+f 117 137 132
+f 118 127 139
+f 118 139 138
+f 122 125 126
+f 123 133 132
+f 128 140 129
+f 129 140 141
+f 138 139 142
+f 139 143 144
+f 139 144 142
+f 140 145 141
+f 141 145 146
+f 143 147 144
+f 144 147 149
+f 144 149 150
+f 144 150 148
+f 145 151 146
+f 146 151 152
+f 148 150 153
+f 150 154 155
+f 150 155 153
+f 151 155 152
+f 152 155 154
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_4.obj

@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v -0.02070353 0.02122132 0.00114001
+v -0.02010770 0.01768022 0.00247690
+v -0.02059288 0.02122131 0.00250852
+v -0.02068840 0.02122132 0.00060201
+v -0.01992990 0.01622224 -0.00019693
+v -0.01995732 0.01622224 0.00113999
+v -0.01990625 0.01622223 0.00247690
+v -0.01973602 0.01548466 0.00314940
+v -0.02011148 0.02122131 0.00365581
+v -0.01979276 0.01622223 0.00324053
+v -0.01989490 0.01768022 0.00339928
+v -0.01997908 0.01913630 0.00352277
+v -0.02064490 0.02122132 -0.00019691
+v -0.01975115 0.01541225 -0.00092969
+v -0.01977290 0.01530552 -0.00019693
+v -0.01978803 0.01522738 0.00113999
+v -0.01976344 0.01534554 0.00247690
+v -0.01856137 0.01185209 0.00348820
+v -0.01877133 0.01330816 0.00368224
+v -0.01961307 0.01461749 0.00247689
+v -0.01930380 0.01330816 0.00247689
+v -0.01839586 0.01087628 0.00328902
+v -0.01934636 0.02122130 0.00432463
+v -0.01909951 0.01768022 0.00406811
+v -0.01909857 0.01490528 0.00365357
+v -0.01889145 0.01614790 0.00402107
+v -0.01918180 0.01913629 0.00419086
+v -0.02050209 0.02122132 -0.00083118
+v -0.01981924 0.01622224 -0.00115900
+v -0.01943053 0.01486146 -0.00143904
+v -0.01899832 0.01330818 -0.00153385
+v -0.01929718 0.01330817 -0.00019694
+v -0.01961779 0.01457748 -0.00019694
+v -0.01957240 0.01622225 -0.00182709
+v -0.01963766 0.01449934 0.00113998
+v -0.01763925 0.01185208 0.00415702
+v -0.01753711 0.01047415 0.00386009
+v -0.01688075 0.01104399 0.00449070
+v -0.01773383 0.01330815 0.00435106
+v -0.01814618 0.01561234 0.00447822
+v -0.01832966 0.01658243 0.00449586
+v -0.01934541 0.01330817 0.00113998
+v -0.01887631 0.01185209 0.00247688
+v -0.01846774 0.01070666 0.00247688
+v -0.01816226 0.00997862 0.00247688
+v -0.01698573 0.00801177 0.00331694
+v -0.01723730 0.00893992 0.00356977
+v -0.01862758 0.02122130 0.00455982
+v -0.02028645 0.02122133 -0.00149119
+v -0.01988923 0.01776981 -0.00159630
+v -0.01967170 0.01734481 -0.00208359
+v -0.01837127 0.01238575 -0.00226588
+v -0.01853678 0.01188069 -0.00151622
+v -0.01836844 0.01097159 -0.00105833
+v -0.01882713 0.01185210 -0.00019695
+v -0.01889807 0.01185210 0.00113997
+v -0.01658850 0.01007390 0.00443116
+v -0.01635206 0.00893991 0.00423859
+v -0.01549804 0.00807846 0.00451126
+v -0.01468184 0.00754863 0.00455977
+v -0.01838168 0.01768021 0.00451277
+v -0.01847153 0.01071429 0.00113997
+v -0.01815280 0.00998625 0.00113997
+v -0.01764304 0.00893992 0.00247687
+v -0.01705855 0.00790314 0.00247687
+v -0.01656391 0.00717509 0.00247687
+v -0.01584702 0.00623932 0.00247686
+v -0.01570800 0.00639941 0.00347054
+v -0.01608157 0.00755817 0.00383950
+v -0.01514337 0.00710647 0.00436207
+v -0.01782746 0.02122130 0.00455982
+v -0.01183414 0.00602585 0.00464649
+v -0.01104159 0.00456977 0.00465678
+v -0.02009351 0.02122133 -0.00193144
+v -0.01974264 0.01831680 -0.00221220
+v -0.01851408 0.01330818 -0.00236951
+v -0.01762034 0.01188069 -0.00242905
+v -0.01712948 0.01039603 -0.00233938
+v -0.01691101 0.00958984 -0.00223649
+v -0.01812727 0.01141566 -0.00194985
+v -0.01783881 0.01044939 -0.00151622
+v -0.01687034 0.00819665 -0.00088562
+v -0.01808660 0.01010251 -0.00019695
+v -0.01842897 0.01083055 -0.00019695
+v -0.01378431 0.00553414 0.00440321
+v -0.01418531 0.00650613 0.00453551
+v -0.01329156 0.00602204 0.00459210
+v -0.01760047 0.00893993 0.00113996
+v -0.01702640 0.00796413 0.00113996
+v -0.01649866 0.00723609 0.00113996
+v -0.01578082 0.00634034 0.00113995
+v -0.01522755 0.00551128 0.00247686
+v -0.01434988 0.00494333 0.00351170
+v -0.01710868 0.02122130 0.00442312
+v -0.01104159 0.00600679 0.00460680
+v -0.01182657 0.00456977 0.00460533
+v -0.01104159 0.00351392 0.00456196
+v -0.01981451 0.02122133 -0.00227540
+v -0.01980506 0.02059430 -0.00227026
+v -0.01977101 0.01913632 -0.00223940
+v -0.01912221 0.01776981 -0.00247385
+v -0.01885362 0.01622225 -0.00252237
+v -0.01870229 0.01476617 -0.00247608
+v -0.01757872 0.01330818 -0.00266570
+v -0.01614210 0.01039603 -0.00255400
+v -0.01555762 0.00805181 -0.00226590
+v -0.01708409 0.00903905 -0.00141186
+v -0.01509325 0.00708173 -0.00191017
+v -0.01651379 0.00861785 -0.00177714
+v -0.01692993 0.00811279 -0.00019696
+v -0.01743686 0.00893993 -0.00019696
+v -0.01552073 0.00665099 -0.00101866
+v -0.01564368 0.00650996 -0.00019697
+v -0.01636152 0.00738475 -0.00019696
+v -0.01333318 0.00451451 0.00393724
+v -0.01230040 0.00408568 0.00436279
+v -0.01134328 0.00366829 0.00454726
+v -0.01282719 0.00505767 0.00455021
+v -0.01511878 0.00561039 0.00113995
+v -0.01450971 0.00479276 0.00247686
+v -0.01373040 0.00406472 0.00247685
+v -0.01288110 0.00356729 0.00347126
+v -0.01669727 0.02122130 0.00413722
+v -0.01104159 0.00676151 0.00450097
+v -0.01104159 0.00280875 0.00416507
+v -0.01936527 0.02122133 -0.00244444
+v -0.01901534 0.01913632 -0.00256058
+v -0.01757872 0.01476617 -0.00282592
+v -0.01104159 0.00522160 -0.00248787
+v -0.01104159 0.00461935 -0.00241584
+v -0.01413519 0.00662051 -0.00226003
+v -0.01614210 0.01185211 -0.00268702
+v -0.01359988 0.00564852 -0.00186976
+v -0.01458159 0.00614976 -0.00144421
+v -0.01406993 0.00522541 -0.00097824
+v -0.01492963 0.00578192 -0.00019697
+v -0.01440095 0.00490903 0.00113995
+v -0.01358286 0.00417909 0.00113995
+v -0.01104159 0.00197781 0.00113994
+v -0.01104159 0.00175291 0.00247685
+v -0.01133288 0.00219507 0.00337572
+v -0.01104159 0.00206547 0.00349993
+v -0.01629910 0.02122131 0.00375062
+v -0.01104159 0.00679582 0.00447892
+v -0.01901534 0.02122133 -0.00255983
+v -0.01901534 0.02059430 -0.00256792
+v -0.01757872 0.01622225 -0.00285164
+v -0.01104159 0.00602588 -0.00246949
+v -0.01104159 0.00401138 -0.00231149
+v -0.01264182 0.00522542 -0.00223871
+v -0.01113616 0.00382270 -0.00221226
+v -0.01104159 0.00359971 -0.00206380
+v -0.01421179 0.00509390 -0.00019697
+v -0.01104159 0.00312515 -0.00153389
+v -0.01252738 0.00386081 -0.00079304
+v -0.01104159 0.00249811 -0.00052845
+v -0.01104159 0.00231896 -0.00018375
+v -0.01591417 0.02122131 0.00294436
+v -0.01104159 0.00745144 0.00386743
+v -0.01571935 0.02122131 0.00247692
+v -0.01819820 0.02122133 -0.00260173
+v -0.01757872 0.01768024 -0.00280313
+v -0.01104159 0.00669865 -0.00242687
+v -0.01757872 0.01913632 -0.00272815
+v -0.01757872 0.02059430 -0.00264068
+v -0.01757872 0.02122133 -0.00260246
+v -0.01104159 0.00375981 -0.00222402
+v -0.01104159 0.00253814 -0.00059606
+v -0.01104159 0.00813756 0.00288845
+v -0.01104159 0.00864262 -0.00019696
+v -0.01572691 0.02122131 0.00163758
+v -0.01104159 0.00859879 0.00011908
+v -0.01104159 0.00723610 -0.00232175
+v -0.01673226 0.02122133 -0.00231803
+v -0.01104159 0.00859497 -0.00092164
+v -0.01573542 0.02122132 0.00114001
+v -0.01104159 0.00770685 -0.00213360
+v -0.01636341 0.02122133 -0.00153382
+v -0.01104159 0.00851302 -0.00126119
+v -0.01597754 0.02122132 -0.00018074
+v -0.01104159 0.00793556 -0.00193149
+v -0.01104159 0.00829576 -0.00157649
+f 1 2 3
+f 1 3 9
+f 1 9 23
+f 1 23 48
+f 1 48 71
+f 1 71 94
+f 1 94 123
+f 1 123 143
+f 1 143 158
+f 1 158 160
+f 1 160 171
+f 1 171 176
+f 1 176 180
+f 1 180 178
+f 1 178 174
+f 1 174 166
+f 1 166 161
+f 1 161 145
+f 1 145 126
+f 1 126 98
+f 1 98 74
+f 1 74 49
+f 1 49 28
+f 1 28 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 10
+f 3 10 11
+f 3 11 12
+f 3 12 9
+f 4 13 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 13 14
+f 6 16 17
+f 6 17 7
+f 7 17 8
+f 8 18 19
+f 8 19 10
+f 8 17 20
+f 8 20 21
+f 8 21 22
+f 8 22 18
+f 9 12 23
+f 10 19 11
+f 11 24 12
+f 11 19 25
+f 11 25 26
+f 11 26 24
+f 12 24 27
+f 12 27 23
+f 13 28 29
+f 13 29 14
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 15
+f 14 29 34
+f 14 34 30
+f 15 33 35
+f 15 35 16
+f 16 35 20
+f 16 20 17
+f 18 36 19
+f 18 22 37
+f 18 37 38
+f 18 38 36
+f 19 36 39
+f 19 39 40
+f 19 40 41
+f 19 41 26
+f 19 26 25
+f 20 35 21
+f 21 35 42
+f 21 42 43
+f 21 43 22
+f 22 44 45
+f 22 45 46
+f 22 46 47
+f 22 47 37
+f 22 43 44
+f 23 27 41
+f 23 41 48
+f 24 26 41
+f 24 41 27
+f 28 49 50
+f 28 50 29
+f 29 51 34
+f 29 50 51
+f 30 34 31
+f 31 34 52
+f 31 52 53
+f 31 53 54
+f 31 54 32
+f 32 54 55
+f 32 55 56
+f 32 56 42
+f 32 42 33
+f 33 42 35
+f 34 51 52
+f 36 38 39
+f 37 57 38
+f 37 47 58
+f 37 58 57
+f 38 57 59
+f 38 59 60
+f 38 60 48
+f 38 48 61
+f 38 61 41
+f 38 41 40
+f 38 40 39
+f 41 61 48
+f 42 56 43
+f 43 56 44
+f 44 56 62
+f 44 62 45
+f 45 62 63
+f 45 63 64
+f 45 64 46
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 69
+f 46 69 47
+f 46 64 65
+f 47 69 70
+f 47 70 58
+f 48 60 72
+f 48 72 73
+f 48 73 71
+f 49 74 75
+f 49 75 50
+f 50 75 51
+f 51 76 52
+f 51 75 76
+f 52 77 78
+f 52 78 79
+f 52 79 80
+f 52 80 53
+f 52 76 77
+f 53 80 54
+f 54 80 81
+f 54 81 82
+f 54 82 83
+f 54 83 84
+f 54 84 55
+f 55 84 62
+f 55 62 56
+f 57 58 59
+f 58 70 59
+f 59 70 85
+f 59 85 86
+f 59 86 60
+f 60 86 87
+f 60 87 72
+f 62 84 63
+f 63 84 83
+f 63 83 88
+f 63 88 64
+f 64 88 65
+f 65 88 89
+f 65 89 66
+f 66 90 67
+f 66 89 90
+f 67 90 91
+f 67 91 92
+f 67 92 68
+f 68 92 93
+f 68 93 85
+f 68 85 70
+f 68 70 69
+f 71 73 95
+f 71 95 94
+f 72 87 73
+f 73 96 97
+f 73 97 125
+f 73 125 142
+f 73 142 140
+f 73 140 139
+f 73 139 157
+f 73 157 156
+f 73 156 168
+f 73 168 154
+f 73 154 152
+f 73 152 167
+f 73 167 149
+f 73 149 130
+f 73 130 129
+f 73 129 148
+f 73 148 163
+f 73 163 173
+f 73 173 177
+f 73 177 181
+f 73 181 182
+f 73 182 179
+f 73 179 175
+f 73 175 170
+f 73 170 172
+f 73 172 169
+f 73 169 159
+f 73 159 144
+f 73 144 124
+f 73 124 95
+f 73 87 96
+f 74 98 99
+f 74 99 100
+f 74 100 75
+f 75 100 101
+f 75 101 102
+f 75 102 103
+f 75 103 76
+f 76 104 77
+f 76 103 104
+f 77 104 78
+f 78 105 106
+f 78 106 79
+f 78 104 105
+f 79 107 81
+f 79 81 80
+f 79 106 108
+f 79 108 109
+f 79 109 82
+f 79 82 107
+f 81 107 82
+f 82 110 111
+f 82 111 83
+f 82 109 112
+f 82 112 113
+f 82 113 114
+f 82 114 90
+f 82 90 110
+f 83 111 88
+f 85 93 115
+f 85 115 116
+f 85 116 117
+f 85 117 118
+f 85 118 86
+f 86 118 87
+f 87 118 96
+f 88 111 89
+f 89 111 110
+f 89 110 90
+f 90 114 91
+f 91 114 113
+f 91 113 119
+f 91 119 92
+f 92 119 120
+f 92 120 93
+f 93 120 121
+f 93 121 122
+f 93 122 115
+f 94 95 124
+f 94 124 123
+f 96 117 97
+f 96 118 117
+f 97 117 125
+f 98 126 127
+f 98 127 99
+f 99 127 101
+f 99 101 100
+f 101 127 102
+f 102 128 103
+f 102 127 128
+f 103 128 104
+f 104 128 105
+f 105 129 130
+f 105 130 131
+f 105 131 106
+f 105 128 132
+f 105 132 129
+f 106 131 108
+f 108 131 133
+f 108 133 134
+f 108 134 112
+f 108 112 109
+f 112 134 135
+f 112 135 136
+f 112 136 113
+f 113 136 119
+f 115 122 116
+f 116 122 125
+f 116 125 117
+f 119 136 137
+f 119 137 120
+f 120 137 121
+f 121 138 139
+f 121 139 140
+f 121 140 141
+f 121 141 122
+f 121 137 138
+f 122 141 142
+f 122 142 125
+f 123 124 143
+f 124 144 143
+f 126 145 146
+f 126 146 127
+f 127 146 147
+f 127 147 128
+f 128 147 129
+f 128 129 132
+f 129 147 148
+f 130 149 131
+f 131 149 150
+f 131 150 133
+f 133 135 134
+f 133 150 151
+f 133 151 152
+f 133 152 135
+f 135 153 136
+f 135 152 154
+f 135 154 155
+f 135 155 156
+f 135 156 157
+f 135 157 153
+f 136 153 137
+f 137 153 138
+f 138 157 139
+f 138 153 157
+f 140 142 141
+f 143 144 158
+f 144 159 160
+f 144 160 158
+f 145 161 162
+f 145 162 147
+f 145 147 146
+f 147 162 148
+f 148 162 164
+f 148 164 165
+f 148 165 166
+f 148 166 163
+f 149 167 150
+f 150 167 151
+f 151 167 152
+f 154 168 155
+f 155 168 156
+f 159 169 160
+f 160 170 171
+f 160 169 172
+f 160 172 170
+f 161 166 165
+f 161 165 164
+f 161 164 162
+f 163 166 174
+f 163 174 173
+f 170 175 176
+f 170 176 171
+f 173 174 177
+f 174 178 177
+f 175 179 176
+f 176 179 180
+f 177 178 181
+f 178 180 182
+f 178 182 181
+f 179 182 180
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_5.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v -0.00465152 -0.04321656 0.00100153
+v -0.00332600 -0.04321656 0.00071501
+v -0.00608763 -0.04321656 0.00084286
+v -0.00465152 -0.04497325 0.00086134
+v -0.00264430 -0.05019979 0.00050009
+v -0.00208379 -0.05019979 0.00050009
+v -0.00041061 -0.05096987 0.00037377
+v -0.00311391 -0.04321656 0.00060563
+v -0.00673827 -0.04321656 0.00063182
+v -0.00690718 -0.04351678 0.00053863
+v -0.00608763 -0.04351678 0.00080435
+v -0.00556802 -0.04643083 0.00055094
+v -0.00465152 -0.04643083 0.00072193
+v -0.00406223 -0.04879578 0.00050934
+v -0.00360170 -0.04976564 0.00039072
+v -0.00316012 -0.05073215 0.00013115
+v -0.00045075 -0.05216183 0.00026517
+v -0.00041061 -0.05210826 0.00028673
+v -0.00041061 -0.05091072 0.00035605
+v -0.00263294 -0.04321656 0.00035608
+v -0.00694429 -0.04321656 0.00056173
+v -0.00760099 -0.04321656 -0.00021003
+v -0.00681022 -0.04426008 0.00047470
+v -0.00608838 -0.04483709 0.00062181
+v -0.00539381 -0.04720761 0.00048316
+v -0.00458486 -0.04777123 0.00055863
+v -0.00471060 -0.04942747 -0.00008758
+v -0.00433188 -0.05080023 -0.00054665
+v -0.00501888 -0.04817859 0.00032602
+v -0.00399557 -0.05159152 -0.00080544
+v -0.00321541 -0.05190960 -0.00056128
+v -0.00188383 -0.05237946 -0.00026243
+v -0.00041061 -0.05262611 0.00000175
+v -0.00041061 -0.05216853 0.00026671
+v -0.00041061 -0.04926341 -0.00018309
+v -0.00222771 -0.04321656 -0.00028628
+v -0.00041061 -0.04882033 -0.00038566
+v -0.00813650 -0.04321655 -0.00153866
+v -0.00774869 -0.04497324 -0.00153482
+v -0.00701170 -0.04643083 -0.00058591
+v -0.00752222 -0.04351678 -0.00019771
+v -0.00715865 -0.04483709 -0.00015072
+v -0.00656784 -0.04523217 0.00032603
+v -0.00600507 -0.04772435 -0.00023393
+v -0.00565891 -0.04908819 -0.00056512
+v -0.00628683 -0.04643083 0.00008264
+v -0.00536048 -0.05006028 -0.00089400
+v -0.00414025 -0.05173995 -0.00153484
+v -0.00316769 -0.05254798 -0.00145859
+v -0.00243297 -0.05294643 -0.00096179
+v -0.00147557 -0.05319977 -0.00064832
+v -0.00041061 -0.05341183 -0.00046501
+v -0.00215726 -0.04321656 -0.00058282
+v -0.00041061 -0.04788729 -0.00152944
+v -0.00814862 -0.04321655 -0.00177435
+v -0.00810924 -0.04338061 -0.00162877
+v -0.00777369 -0.04497324 -0.00287192
+v -0.00737300 -0.04643082 -0.00287192
+v -0.00731014 -0.04643082 -0.00153482
+v -0.00685567 -0.04727011 -0.00079310
+v -0.00659511 -0.04818193 -0.00153483
+v -0.00583994 -0.04948215 -0.00141775
+v -0.00547637 -0.05022545 -0.00178515
+v -0.00495449 -0.05074665 -0.00141776
+v -0.00500221 -0.05105580 -0.00287194
+v -0.00428340 -0.05189955 -0.00287194
+v -0.00351384 -0.05262722 -0.00287194
+v -0.00265793 -0.05310266 -0.00185295
+v -0.00188383 -0.05340847 -0.00145860
+v -0.00041061 -0.05408815 -0.00157028
+v -0.00195654 -0.04321655 -0.00153481
+v -0.00041061 -0.04788506 -0.00153714
+v -0.00814862 -0.04321655 -0.00180516
+v -0.00767749 -0.04497323 -0.00420825
+v -0.00729499 -0.04643081 -0.00420825
+v -0.00814635 -0.04321655 -0.00261466
+v -0.00810696 -0.04338061 -0.00276254
+v -0.00694278 -0.04750893 -0.00420825
+v -0.00697610 -0.04757256 -0.00287192
+v -0.00693293 -0.04745314 -0.00153482
+v -0.00666707 -0.04830135 -0.00287193
+v -0.00612323 -0.04934376 -0.00287193
+v -0.00554378 -0.05032701 -0.00287193
+v -0.00502342 -0.05106137 -0.00420827
+v -0.00430461 -0.05193860 -0.00420827
+v -0.00357974 -0.05266627 -0.00420827
+v -0.00286093 -0.05326672 -0.00420828
+v -0.00279579 -0.05320646 -0.00287195
+v -0.00177930 -0.05381918 -0.00287195
+v -0.00072722 -0.05432810 -0.00287195
+v -0.00041061 -0.05419529 -0.00194152
+v -0.00195351 -0.04321655 -0.00181055
+v -0.00041061 -0.04793304 -0.00281648
+v -0.00194821 -0.04321654 -0.00420824
+v -0.00734422 -0.04497323 -0.00554536
+v -0.00688142 -0.04735603 -0.00508785
+v -0.00796684 -0.04351676 -0.00420824
+v -0.00804182 -0.04321655 -0.00388167
+v -0.00664813 -0.04823772 -0.00420826
+v -0.00610353 -0.04934375 -0.00420826
+v -0.00554227 -0.05033258 -0.00420826
+v -0.00413494 -0.05175556 -0.00554538
+v -0.00547486 -0.05023325 -0.00513638
+v -0.00268975 -0.05313837 -0.00554539
+v -0.00340856 -0.05248435 -0.00554538
+v -0.00177930 -0.05396203 -0.00420828
+v -0.00097187 -0.05441068 -0.00420828
+v -0.00041061 -0.05455913 -0.00376464
+v -0.00041061 -0.05443525 -0.00287195
+v -0.00041061 -0.04812389 -0.00396718
+v -0.00222240 -0.04321654 -0.00528578
+v -0.00041061 -0.04816741 -0.00420826
+v -0.00041061 -0.04845424 -0.00485294
+v -0.00041061 -0.04888393 -0.00556077
+v -0.00684431 -0.04583930 -0.00625011
+v -0.00700564 -0.04636719 -0.00553842
+v -0.00761160 -0.04351676 -0.00554535
+v -0.00666707 -0.04681139 -0.00597899
+v -0.00645271 -0.04786049 -0.00553843
+v -0.00573769 -0.04937499 -0.00556770
+v -0.00800774 -0.04321654 -0.00420824
+v -0.00395997 -0.05155913 -0.00623395
+v -0.00524535 -0.04988169 -0.00602752
+v -0.00250645 -0.05299328 -0.00622009
+v -0.00177930 -0.05372207 -0.00554539
+v -0.00076963 -0.05429796 -0.00554539
+v -0.00041061 -0.05453122 -0.00502395
+v -0.00041061 -0.05461604 -0.00420828
+v -0.00298818 -0.04321654 -0.00595510
+v -0.00041061 -0.04894977 -0.00564241
+v -0.00041061 -0.04969642 -0.00629017
+v -0.00614822 -0.04636719 -0.00647886
+v -0.00573390 -0.04788728 -0.00643343
+v -0.00551576 -0.04891183 -0.00632021
+v -0.00693520 -0.04497323 -0.00632482
+v -0.00706245 -0.04351676 -0.00641647
+v -0.00772521 -0.04321654 -0.00527115
+v -0.00764871 -0.04321654 -0.00554535
+v -0.00721318 -0.04321654 -0.00623700
+v -0.00421902 -0.05080021 -0.00636335
+v -0.00321541 -0.05080021 -0.00668992
+v -0.00307756 -0.05213056 -0.00635026
+v -0.00177930 -0.05321203 -0.00635027
+v -0.00041061 -0.05435934 -0.00578492
+v -0.00177930 -0.05225779 -0.00668530
+v -0.00041061 -0.05445310 -0.00554539
+v -0.00370623 -0.04321654 -0.00630093
+v -0.00041061 -0.05072432 -0.00664602
+v -0.00608763 -0.04497323 -0.00666526
+v -0.00465152 -0.04788728 -0.00675923
+v -0.00472045 -0.04937499 -0.00651815
+v -0.00708063 -0.04321654 -0.00642648
+v -0.00608763 -0.04351676 -0.00677154
+v -0.00041061 -0.05218859 -0.00686553
+v -0.00041061 -0.05225778 -0.00686014
+v -0.00041061 -0.05359372 -0.00649738
+v -0.00041061 -0.05369082 -0.00646272
+v -0.00390165 -0.04321654 -0.00637487
+v -0.00041061 -0.05080021 -0.00666143
+v -0.00465152 -0.04321654 -0.00665677
+v -0.00608763 -0.04321654 -0.00678232
+v -0.00630653 -0.04321654 -0.00670838
+v -0.00494768 -0.04321654 -0.00669066
+f 1 2 8
+f 1 8 20
+f 1 20 36
+f 1 36 53
+f 1 53 71
+f 1 71 92
+f 1 92 94
+f 1 94 111
+f 1 111 129
+f 1 129 147
+f 1 147 158
+f 1 158 160
+f 1 160 163
+f 1 163 161
+f 1 161 162
+f 1 162 152
+f 1 152 139
+f 1 139 138
+f 1 138 137
+f 1 137 121
+f 1 121 98
+f 1 98 76
+f 1 76 73
+f 1 73 55
+f 1 55 38
+f 1 38 22
+f 1 22 21
+f 1 21 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 5 13 14
+f 6 18 7
+f 7 18 34
+f 7 34 33
+f 7 33 52
+f 7 52 70
+f 7 70 91
+f 7 91 109
+f 7 109 108
+f 7 108 128
+f 7 128 127
+f 7 127 146
+f 7 146 144
+f 7 144 157
+f 7 157 156
+f 7 156 155
+f 7 155 154
+f 7 154 159
+f 7 159 148
+f 7 148 131
+f 7 131 130
+f 7 130 114
+f 7 114 113
+f 7 113 112
+f 7 112 110
+f 7 110 93
+f 7 93 72
+f 7 72 54
+f 7 54 37
+f 7 37 35
+f 7 35 19
+f 7 19 20
+f 7 20 8
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 12 25 13
+f 12 24 23
+f 12 23 25
+f 13 25 26
+f 13 26 14
+f 14 26 25
+f 14 25 15
+f 15 27 28
+f 15 28 16
+f 15 25 29
+f 15 29 27
+f 16 28 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 19 35 20
+f 20 35 37
+f 20 37 36
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 42 40
+f 23 40 43
+f 23 43 25
+f 23 41 42
+f 25 44 45
+f 25 45 29
+f 25 43 46
+f 25 46 44
+f 27 29 45
+f 27 45 28
+f 28 45 47
+f 28 47 30
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 30 47 48
+f 31 50 51
+f 31 51 32
+f 32 51 52
+f 32 52 33
+f 36 37 54
+f 36 54 53
+f 38 55 56
+f 38 56 39
+f 39 57 58
+f 39 58 59
+f 39 59 60
+f 39 60 40
+f 39 56 57
+f 40 60 43
+f 40 42 41
+f 43 60 46
+f 44 46 60
+f 44 60 45
+f 45 60 47
+f 47 60 61
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 48 64 63
+f 48 63 65
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 49
+f 49 68 50
+f 50 68 69
+f 50 69 70
+f 50 70 51
+f 51 70 52
+f 53 54 71
+f 54 72 71
+f 55 73 57
+f 55 57 56
+f 57 74 75
+f 57 75 58
+f 57 73 76
+f 57 76 77
+f 57 77 74
+f 58 75 78
+f 58 78 79
+f 58 79 59
+f 59 79 80
+f 59 80 60
+f 60 80 61
+f 61 81 82
+f 61 82 63
+f 61 63 62
+f 61 80 81
+f 63 83 65
+f 63 82 83
+f 65 84 85
+f 65 85 66
+f 65 83 84
+f 66 85 86
+f 66 86 67
+f 67 86 87
+f 67 87 88
+f 67 88 68
+f 68 88 89
+f 68 89 69
+f 69 89 90
+f 69 90 70
+f 70 90 91
+f 71 72 92
+f 72 93 94
+f 72 94 92
+f 74 95 96
+f 74 96 75
+f 74 77 97
+f 74 97 95
+f 75 96 78
+f 76 98 97
+f 76 97 77
+f 78 96 99
+f 78 99 79
+f 79 99 81
+f 79 81 80
+f 81 99 100
+f 81 100 82
+f 82 100 101
+f 82 101 83
+f 83 101 84
+f 84 102 85
+f 84 101 103
+f 84 103 102
+f 85 102 86
+f 86 104 87
+f 86 102 105
+f 86 105 104
+f 87 104 106
+f 87 106 88
+f 88 106 89
+f 89 106 107
+f 89 107 90
+f 90 107 108
+f 90 108 109
+f 90 109 91
+f 93 110 94
+f 94 110 112
+f 94 112 113
+f 94 113 114
+f 94 114 111
+f 95 115 116
+f 95 116 96
+f 95 97 117
+f 95 117 115
+f 96 116 118
+f 96 118 119
+f 96 119 120
+f 96 120 103
+f 96 103 99
+f 97 98 121
+f 97 121 117
+f 99 103 100
+f 100 103 101
+f 102 103 122
+f 102 122 105
+f 103 120 123
+f 103 123 122
+f 104 105 124
+f 104 124 125
+f 104 125 106
+f 105 122 124
+f 106 125 126
+f 106 126 107
+f 107 127 128
+f 107 128 108
+f 107 126 127
+f 111 114 130
+f 111 130 131
+f 111 131 129
+f 115 132 133
+f 115 133 134
+f 115 134 118
+f 115 118 116
+f 115 117 135
+f 115 135 132
+f 117 136 135
+f 117 121 137
+f 117 137 138
+f 117 138 139
+f 117 139 136
+f 118 134 119
+f 119 134 123
+f 119 123 120
+f 122 140 141
+f 122 141 142
+f 122 142 124
+f 122 123 134
+f 122 134 140
+f 124 143 144
+f 124 144 126
+f 124 126 125
+f 124 142 145
+f 124 145 143
+f 126 144 146
+f 126 146 127
+f 129 131 148
+f 129 148 147
+f 132 135 149
+f 132 149 133
+f 133 150 151
+f 133 151 134
+f 133 149 150
+f 134 151 140
+f 135 136 149
+f 136 139 152
+f 136 152 153
+f 136 153 149
+f 140 151 141
+f 141 154 155
+f 141 155 145
+f 141 145 142
+f 141 151 150
+f 141 150 154
+f 143 145 156
+f 143 156 157
+f 143 157 144
+f 145 155 156
+f 147 148 158
+f 148 159 160
+f 148 160 158
+f 149 153 150
+f 150 153 161
+f 150 161 154
+f 152 162 153
+f 153 162 161
+f 154 161 163
+f 154 163 160
+f 154 160 159
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_6.obj

@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.00054416 -0.00441535 -0.00279732
+v 0.00429877 -0.00441535 -0.00358114
+v -0.00054416 -0.00441538 0.00438878
+v -0.00054416 -0.00126106 -0.00314867
+v -0.00034131 -0.00126106 -0.00320621
+v 0.00438543 -0.00441535 -0.00359422
+v 0.00235392 -0.00441538 0.00449079
+v -0.00034131 0.00019604 0.00523715
+v -0.00054416 -0.00001795 0.00514734
+v -0.00054416 0.00019607 -0.00317831
+v -0.00034131 0.00019607 -0.00325155
+v 0.00531207 -0.00441535 -0.00367007
+v 0.00240414 -0.00441538 0.00449166
+v 0.00109444 0.00019604 0.00522581
+v -0.00034131 0.00165204 0.00514299
+v -0.00054416 0.00163506 0.00508719
+v -0.00054416 0.00020736 0.00517786
+v 0.00352969 -0.00441538 0.00450300
+v 0.00483447 -0.00441538 0.00450213
+v 0.00508065 -0.00441538 0.00450125
+v -0.00054416 0.00039534 -0.00314082
+v -0.00034131 0.00165207 -0.00291412
+v 0.00109444 0.00165207 -0.00305101
+v 0.00109444 0.00019607 -0.00336577
+v 0.00623673 -0.00314503 -0.00356544
+v 0.00635195 -0.00417420 -0.00361427
+v 0.00636475 -0.00441535 -0.00362474
+v 0.00577785 -0.00441538 0.00446289
+v 0.00618454 -0.00365568 0.00450301
+v 0.00951492 0.00277291 0.00457452
+v 0.00951492 0.00305936 0.00458673
+v 0.00951492 0.00436704 0.00461987
+v 0.00951492 0.00455951 0.00460767
+v 0.00109444 0.00165204 0.00512032
+v 0.00951492 0.00533733 0.00453879
+v 0.00951492 0.00543583 0.00452396
+v -0.00034131 0.00279669 0.00477680
+v -0.00054416 0.00275819 0.00475239
+v -0.00054416 0.00165320 -0.00284873
+v -0.00054416 0.00183662 -0.00278944
+v -0.00054416 0.00456633 -0.00185128
+v -0.00034131 0.00456633 -0.00187831
+v 0.00951492 0.00588760 -0.00241277
+v 0.00951492 0.00456633 -0.00282343
+v 0.00683939 0.00019607 -0.00328642
+v 0.00827612 0.00310920 -0.00301003
+v 0.00827612 0.00165207 -0.00311204
+v 0.00951492 0.00310920 -0.00293679
+v 0.00708262 -0.00441535 -0.00328732
+v 0.00676357 -0.00441537 0.00399120
+v 0.00673403 -0.00415498 0.00408624
+v 0.00895658 0.00096140 0.00447773
+v 0.00951492 0.00205284 0.00451436
+v 0.00951492 0.00242420 0.00455011
+v 0.00951492 0.00602005 0.00401304
+v -0.00034131 0.00636424 0.00282117
+v -0.00054416 0.00624536 0.00288220
+v -0.00054416 0.00561926 0.00329547
+v -0.00054416 0.00479617 -0.00176147
+v -0.00034131 0.00602346 -0.00130809
+v -0.00054416 0.00622725 -0.00118428
+v -0.00054416 0.00677410 -0.00088784
+v -0.00034131 0.00678203 -0.00089569
+v 0.00061586 0.00679109 -0.00090441
+v 0.00951492 0.00644125 -0.00153391
+v 0.00951492 0.00156489 -0.00275369
+v 0.00786647 -0.00441535 -0.00261858
+v 0.00951492 0.00043270 -0.00256537
+v 0.00756810 -0.00441537 0.00338698
+v 0.00951492 0.00122294 0.00426063
+v 0.00951492 0.00135541 0.00431469
+v 0.00951492 0.00615705 0.00385871
+v -0.00054416 0.00635745 0.00277409
+v -0.00034131 0.00694958 0.00215244
+v -0.00054416 0.00693373 0.00212803
+v -0.00054416 0.00602572 -0.00127932
+v -0.00054416 0.00695412 -0.00019643
+v -0.00034131 0.00698356 -0.00019643
+v 0.00951492 0.00665522 -0.00019644
+v 0.00822098 -0.00441535 -0.00153395
+v 0.00951492 0.00020173 -0.00244680
+v 0.00951492 -0.00088970 -0.00155660
+v 0.00767150 -0.00441537 0.00328672
+v 0.00951492 -0.00013002 0.00352215
+v 0.00951492 0.00665634 0.00272003
+v -0.00034131 0.00715112 0.00114018
+v -0.00054416 0.00709678 0.00130758
+v -0.00054416 0.00711376 0.00114018
+v 0.00951492 0.00670163 0.00247677
+v 0.00823083 -0.00441536 -0.00019648
+v 0.00951492 -0.00115691 -0.00019646
+v 0.00787238 -0.00441537 0.00269122
+v 0.00951492 -0.00056705 0.00304871
+v 0.00813038 -0.00441536 0.00114187
+v 0.00951492 -0.00110710 0.00114015
+v 0.00951492 -0.00093275 0.00239915
+v 0.00792753 -0.00441537 0.00247673
+f 1 2 6
+f 1 6 12
+f 1 12 27
+f 1 27 49
+f 1 49 67
+f 1 67 80
+f 1 80 90
+f 1 90 94
+f 1 94 97
+f 1 97 92
+f 1 92 83
+f 1 83 69
+f 1 69 50
+f 1 50 28
+f 1 28 20
+f 1 20 19
+f 1 19 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 16
+f 1 16 38
+f 1 38 58
+f 1 58 57
+f 1 57 73
+f 1 73 75
+f 1 75 87
+f 1 87 88
+f 1 88 77
+f 1 77 62
+f 1 62 61
+f 1 61 76
+f 1 76 59
+f 1 59 41
+f 1 41 40
+f 1 40 39
+f 1 39 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 7 13 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 13 18
+f 8 18 19
+f 8 19 20
+f 8 20 14
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 25 26
+f 12 26 27
+f 12 24 25
+f 14 20 28
+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 35
+f 15 35 36
+f 15 36 37
+f 15 37 38
+f 15 38 16
+f 21 39 22
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 23
+f 23 43 44
+f 23 44 24
+f 24 45 25
+f 24 44 46
+f 24 46 45
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 26
+f 26 48 27
+f 27 48 49
+f 28 50 51
+f 28 51 29
+f 29 51 52
+f 29 52 53
+f 29 53 54
+f 29 54 30
+f 30 54 53
+f 30 53 71
+f 30 71 70
+f 30 70 84
+f 30 84 93
+f 30 93 96
+f 30 96 95
+f 30 95 91
+f 30 91 82
+f 30 82 81
+f 30 81 68
+f 30 68 66
+f 30 66 48
+f 30 48 44
+f 30 44 43
+f 30 43 65
+f 30 65 79
+f 30 79 89
+f 30 89 85
+f 30 85 72
+f 30 72 55
+f 30 55 36
+f 30 36 35
+f 30 35 33
+f 30 33 32
+f 30 32 31
+f 33 35 34
+f 36 55 56
+f 36 56 57
+f 36 57 58
+f 36 58 37
+f 37 58 38
+f 41 59 42
+f 42 59 60
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 64
+f 43 64 65
+f 44 48 46
+f 46 48 47
+f 48 66 49
+f 49 66 68
+f 49 68 67
+f 50 69 70
+f 50 70 71
+f 50 71 51
+f 51 71 52
+f 52 71 53
+f 55 72 56
+f 56 73 57
+f 56 72 74
+f 56 74 75
+f 56 75 73
+f 59 76 60
+f 60 76 61
+f 62 77 78
+f 62 78 63
+f 63 78 64
+f 64 78 65
+f 65 78 79
+f 67 68 81
+f 67 81 82
+f 67 82 80
+f 69 83 70
+f 70 83 84
+f 72 85 74
+f 74 86 75
+f 74 85 86
+f 75 86 87
+f 77 88 86
+f 77 86 78
+f 78 86 79
+f 79 86 89
+f 80 82 91
+f 80 91 90
+f 83 92 93
+f 83 93 84
+f 85 89 86
+f 86 88 87
+f 90 91 95
+f 90 95 96
+f 90 96 94
+f 92 97 93
+f 93 97 96
+f 94 96 97
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_7.obj

@@ -0,0 +1,940 @@
+# https://github.com/mikedh/trimesh
+v 0.00029403 -0.02135413 0.00315398
+v 0.00029403 -0.02135410 -0.00565983
+v -0.00034243 -0.02135413 0.00314224
+v -0.00034243 -0.02311742 0.00301012
+v -0.00034243 -0.02457470 0.00290050
+v 0.00029403 -0.02457470 0.00291127
+v 0.00029403 -0.02149106 -0.00567353
+v -0.00034243 -0.02135410 -0.00566570
+v -0.00150390 -0.02135413 0.00310505
+v -0.00177903 -0.02457470 0.00285548
+v -0.00177903 -0.02603197 0.00274586
+v -0.00034243 -0.02603197 0.00278795
+v 0.00029403 -0.02538786 0.00284765
+v -0.00034243 -0.02166011 -0.00569506
+v 0.00029403 -0.02311739 -0.00582522
+v -0.00034243 -0.02311739 -0.00583207
+v -0.00177903 -0.02135410 -0.00567059
+v -0.00168413 -0.02135413 0.00309820
+v -0.00321563 -0.02603197 0.00268323
+v -0.00321563 -0.02748925 0.00257362
+v -0.00177903 -0.02748925 0.00263332
+v 0.00029403 -0.02603197 0.00279675
+v -0.00034243 -0.02748925 0.00267149
+v 0.00029403 -0.02684300 0.00273216
+v -0.00177903 -0.02166011 -0.00569995
+v -0.00177903 -0.02311739 -0.00583892
+v 0.00029403 -0.02457467 -0.00595441
+v -0.00034243 -0.02457467 -0.00596322
+v -0.00177903 -0.02457467 -0.00597399
+v -0.00321563 -0.02135410 -0.00565885
+v -0.00321563 -0.02311739 -0.00583403
+v -0.00321563 -0.02166011 -0.00569017
+v -0.00177816 -0.02135413 0.00309331
+v -0.00321563 -0.02457470 0.00278698
+v -0.00465136 -0.02894653 0.00236320
+v -0.00465136 -0.03040381 0.00225457
+v -0.00321563 -0.02894653 0.00245911
+v -0.00177903 -0.02894653 0.00251587
+v 0.00029403 -0.02748925 0.00267834
+v -0.00034243 -0.02894653 0.00254816
+v 0.00029403 -0.02830028 0.00260983
+v -0.00321563 -0.02457467 -0.00597301
+v 0.00029403 -0.02603194 -0.00607969
+v -0.00034243 -0.02603194 -0.00608850
+v -0.00177903 -0.02603194 -0.00610122
+v -0.00321563 -0.02603194 -0.00610612
+v -0.00465136 -0.02457467 -0.00586046
+v -0.00465136 -0.02311739 -0.00566863
+v -0.00465136 -0.02166011 -0.00546409
+v -0.00467661 -0.02135410 -0.00540831
+v -0.00538185 -0.02816971 -0.00621866
+v -0.00465136 -0.02794930 -0.00623726
+v -0.00465136 -0.02722174 -0.00616679
+v -0.00285691 -0.02135413 0.00303165
+v -0.00321563 -0.02166014 0.00298663
+v -0.00465136 -0.02748925 0.00246401
+v -0.00577626 -0.03331623 0.00189245
+v -0.00556033 -0.03443540 0.00184351
+v -0.00465136 -0.03186109 0.00213810
+v -0.00521903 -0.03540692 0.00179947
+v -0.00321563 -0.03040381 0.00233775
+v -0.00177903 -0.03040381 0.00238669
+v -0.00321563 -0.03477351 0.00195410
+v 0.00029403 -0.02894653 0.00255404
+v -0.00177903 -0.03331623 0.00212831
+v -0.00034243 -0.03331623 0.00215865
+v 0.00029403 -0.03331623 0.00216746
+v 0.00029403 -0.03186109 0.00229664
+v 0.00029403 -0.03040381 0.00242583
+v 0.00029403 -0.02720676 -0.00617756
+v -0.00034243 -0.02714256 -0.00618245
+v -0.00177903 -0.02706980 -0.00618832
+v -0.00321563 -0.02703128 -0.00619126
+v -0.00465136 -0.02894650 -0.00632339
+v -0.00486380 -0.02135410 -0.00532904
+v -0.00622987 -0.03317283 -0.00642322
+v -0.00680364 -0.03259291 -0.00621281
+v -0.00554292 -0.02135410 -0.00503446
+v -0.00465136 -0.03040378 -0.00644376
+v -0.00465136 -0.03186106 -0.00655534
+v -0.00608796 -0.03622862 -0.00670117
+v -0.00608796 -0.03477348 -0.00659939
+v -0.00321040 -0.02135413 0.00300719
+v -0.00595474 -0.03186109 0.00195117
+v -0.00465136 -0.02603197 0.00255111
+v -0.00649456 -0.03331623 0.00173782
+v -0.00605835 -0.03486125 0.00170943
+v -0.00608796 -0.03622865 0.00158808
+v -0.00608796 -0.03768593 0.00145693
+v -0.00465136 -0.03331623 0.00201479
+v -0.00470447 -0.03619441 0.00175249
+v -0.00426130 -0.03568725 0.00182687
+v -0.00470447 -0.03486125 0.00187678
+v -0.00608796 -0.03914320 0.00131404
+v -0.00465136 -0.03914321 0.00145693
+v -0.00465136 -0.03768593 0.00160960
+v -0.00321563 -0.03590980 0.00184840
+v -0.00177903 -0.03477351 0.00199716
+v -0.00034243 -0.03477351 0.00202065
+v 0.00029403 -0.03412725 0.00209013
+v 0.00029403 -0.02793647 -0.00623726
+v -0.00034243 -0.02787013 -0.00624215
+v -0.00177903 -0.02779737 -0.00624900
+v -0.00321563 -0.02776099 -0.00625194
+v -0.00688287 -0.03356443 -0.00627153
+v -0.00756025 -0.03477348 -0.00554537
+v -0.00725291 -0.03317283 -0.00567846
+v -0.00721112 -0.03186106 -0.00547099
+v -0.00710576 -0.03040378 -0.00531928
+v -0.00699519 -0.02894650 -0.00515780
+v -0.00687765 -0.02748922 -0.00498261
+v -0.00681235 -0.02672100 -0.00488671
+v -0.00598696 -0.02135410 -0.00423196
+v -0.00321563 -0.02894650 -0.00634590
+v -0.00321563 -0.03040378 -0.00645453
+v -0.00321563 -0.03186106 -0.00655730
+v -0.00465136 -0.03331620 -0.00665614
+v -0.00608796 -0.03768590 -0.00677752
+v -0.00707442 -0.03622862 -0.00640268
+v -0.00697691 -0.03477348 -0.00633711
+v -0.00465136 -0.03477348 -0.00674130
+v -0.00434227 -0.02135413 0.00278699
+v -0.00465136 -0.02311742 0.00267248
+v -0.00465136 -0.02457470 0.00262061
+v -0.00602962 -0.03040381 0.00200599
+v -0.00667217 -0.03186109 0.00176914
+v -0.00736609 -0.03914320 0.00083254
+v -0.00724246 -0.04060047 0.00074837
+v -0.00708661 -0.04205775 0.00065148
+v -0.00608796 -0.04060047 0.00115745
+v -0.00465136 -0.04321330 0.00100183
+v -0.00321563 -0.03663737 0.00177500
+v 0.00029403 -0.03477351 0.00202260
+v 0.00029403 -0.02894650 -0.00631262
+v -0.00034243 -0.02894650 -0.00632339
+v -0.00177903 -0.02894650 -0.00633709
+v -0.00793638 -0.03331620 -0.00420851
+v -0.00772307 -0.03622862 -0.00554537
+v -0.00817233 -0.03622862 -0.00447863
+v -0.00775006 -0.03186106 -0.00420851
+v -0.00754632 -0.03040378 -0.00420850
+v -0.00733214 -0.02894650 -0.00420850
+v -0.00710402 -0.02748922 -0.00420849
+v -0.00689768 -0.02615392 -0.00415565
+v -0.00683760 -0.02510537 -0.00367414
+v -0.00607925 -0.02135411 -0.00392760
+v -0.00177903 -0.03040378 -0.00644181
+v -0.00177903 -0.03186106 -0.00654066
+v -0.00321563 -0.03331620 -0.00665223
+v -0.00714843 -0.03768590 -0.00645064
+v -0.00465136 -0.03622861 -0.00681176
+v -0.00608796 -0.03914317 -0.00682645
+v -0.00783974 -0.03768590 -0.00554538
+v -0.00321563 -0.03477348 -0.00673347
+v -0.00465136 -0.02135413 0.00270869
+v -0.00465136 -0.02166014 0.00270674
+v -0.00674792 -0.03040381 0.00178481
+v -0.00748276 -0.03622864 0.00096761
+v -0.00744620 -0.03768592 0.00090496
+v -0.00808439 -0.03914320 0.00023067
+v -0.00816449 -0.03768592 0.00033343
+v -0.00608796 -0.04205775 0.00099010
+v -0.00796076 -0.04060047 0.00007897
+v -0.00694382 -0.04321330 0.00056143
+v -0.00673834 -0.04321330 0.00063190
+v -0.00608796 -0.04321330 0.00084231
+v -0.00332620 -0.04321330 0.00071508
+v 0.00029403 -0.03568083 0.00187581
+v 0.00029403 -0.03529137 0.00194333
+v 0.00029403 -0.02959276 -0.00635862
+v 0.00029403 -0.03040378 -0.00641538
+v -0.00034243 -0.03040378 -0.00642517
+v -0.00811574 -0.03482698 -0.00412240
+v -0.00821064 -0.03437761 -0.00331794
+v -0.00815840 -0.03328625 -0.00287166
+v -0.00798601 -0.03186107 -0.00287069
+v -0.00821499 -0.03768590 -0.00471450
+v -0.00828813 -0.03622863 -0.00381021
+v -0.00825592 -0.03534912 -0.00361937
+v -0.00779185 -0.03040379 -0.00287068
+v -0.00758376 -0.02894651 -0.00287068
+v -0.00736261 -0.02748923 -0.00287067
+v -0.00712666 -0.02603195 -0.00287067
+v -0.00675924 -0.02413385 -0.00321319
+v -0.00635960 -0.02135411 -0.00287065
+v -0.00034243 -0.03186106 -0.00652109
+v -0.00177903 -0.03331620 -0.00663363
+v -0.00719109 -0.03914318 -0.00647903
+v 0.00029403 -0.03331620 -0.00659547
+v -0.00465136 -0.03768589 -0.00682547
+v -0.00608796 -0.04060044 -0.00684407
+v -0.00790068 -0.03914318 -0.00554538
+v -0.00823328 -0.03914318 -0.00481824
+v -0.00034243 -0.03331620 -0.00661015
+v -0.00550548 -0.02135413 0.00226438
+v -0.00581370 -0.02311742 0.00215673
+v -0.00589031 -0.02457470 0.00215183
+v -0.00596171 -0.02603197 0.00213322
+v -0.00676011 -0.02894653 0.00178089
+v -0.00820106 -0.03622864 0.00037846
+v -0.00836736 -0.04060047 -0.00059044
+v -0.00830206 -0.04170895 -0.00073919
+v -0.00843876 -0.03768592 -0.00033598
+v -0.00842134 -0.03914320 -0.00043874
+v -0.00788153 -0.04213907 -0.00025574
+v -0.00760117 -0.04321330 -0.00021073
+v -0.00311376 -0.04321330 0.00060547
+v 0.00029403 -0.03608527 0.00172020
+v 0.00029403 -0.03104789 -0.00645844
+v -0.00827333 -0.03375275 -0.00242637
+v -0.00831425 -0.03482699 -0.00287167
+v -0.00822109 -0.03278123 -0.00201436
+v -0.00816188 -0.03186535 -0.00155635
+v -0.00797208 -0.03040379 -0.00153480
+v -0.00832209 -0.03768591 -0.00404608
+v -0.00842221 -0.03622863 -0.00287070
+v -0.00776138 -0.02894651 -0.00153480
+v -0.00753762 -0.02748923 -0.00153479
+v -0.00729992 -0.02603195 -0.00153479
+v -0.00682280 -0.02374439 -0.00232261
+v -0.00649107 -0.02135411 -0.00153477
+v -0.00704917 -0.02457468 -0.00153478
+v 0.00029403 -0.03186106 -0.00651130
+v -0.00719109 -0.04060045 -0.00648295
+v 0.00029403 -0.03482484 -0.00644476
+v -0.00465136 -0.04321328 -0.00665716
+v -0.00494738 -0.04321328 -0.00669044
+v -0.00608796 -0.04205772 -0.00682646
+v -0.00788675 -0.04060045 -0.00554539
+v -0.00832818 -0.03914318 -0.00414884
+v -0.00821935 -0.04060045 -0.00468515
+v -0.00571444 -0.02135413 0.00213716
+v -0.00573185 -0.02166014 0.00214401
+v -0.00673486 -0.02748925 0.00174469
+v -0.00819932 -0.03477350 0.00033931
+v -0.00842569 -0.03622864 -0.00028997
+v -0.00849274 -0.04060046 -0.00153484
+v -0.00858067 -0.03914319 -0.00153483
+v -0.00831947 -0.04213906 -0.00162880
+v -0.00822457 -0.04268047 -0.00124615
+v -0.00860070 -0.03768591 -0.00153483
+v -0.00813663 -0.04321329 -0.00153877
+v -0.00263315 -0.04321330 0.00035592
+v 0.00029403 -0.03640840 0.00156361
+v -0.00846575 -0.03477349 -0.00153482
+v -0.00832470 -0.03328625 -0.00155635
+v -0.00827072 -0.03235326 -0.00112476
+v -0.00848403 -0.03768591 -0.00287071
+v -0.00855978 -0.03622863 -0.00153482
+v -0.00756635 -0.02748924 -0.00019795
+v -0.00734694 -0.02603196 -0.00019795
+v -0.00710489 -0.02457469 -0.00019794
+v -0.00654244 -0.02135412 -0.00019793
+v -0.00689245 -0.02335494 -0.00019794
+v -0.00714930 -0.04205773 -0.00646533
+v 0.00029403 -0.03559092 -0.00623826
+v -0.00298838 -0.04321328 -0.00595448
+v -0.00370668 -0.04321328 -0.00630093
+v -0.00390171 -0.04321328 -0.00637531
+v -0.00608796 -0.04321328 -0.00678243
+v -0.00779272 -0.04205773 -0.00554539
+v -0.00848751 -0.03914319 -0.00287071
+v -0.00830206 -0.04060046 -0.00401673
+v -0.00764906 -0.04321328 -0.00554540
+v -0.00772481 -0.04321328 -0.00527138
+v -0.00816537 -0.04204917 -0.00420561
+v -0.00826723 -0.04155700 -0.00375836
+v -0.00619853 -0.02135412 0.00134346
+v -0.00660861 -0.02457470 0.00147068
+v -0.00668001 -0.02603197 0.00165074
+v -0.00716410 -0.02748924 0.00107627
+v -0.00816885 -0.03331622 0.00016218
+v -0.00838564 -0.03477350 -0.00032912
+v -0.00842831 -0.04060046 -0.00287072
+v -0.00829858 -0.04204918 -0.00276208
+v -0.00824547 -0.04280243 -0.00224340
+v -0.00824547 -0.04280243 -0.00213673
+v -0.00814795 -0.04321329 -0.00177463
+v -0.00222742 -0.04321330 -0.00028706
+v 0.00029403 -0.03758320 0.00089616
+v 0.00029403 -0.03714880 0.00118780
+v -0.00827072 -0.03235326 -0.00071176
+v -0.00832209 -0.03331622 -0.00050624
+v -0.00776747 -0.02894652 -0.00019796
+v -0.00686111 -0.02352613 0.00061533
+v -0.00649891 -0.02135412 0.00008295
+v -0.00630649 -0.04321328 -0.00670805
+v -0.00708052 -0.04321328 -0.00642620
+v 0.00029403 -0.03592689 -0.00613355
+v -0.00222220 -0.04321328 -0.00528606
+v 0.00029403 -0.03632277 -0.00600828
+v -0.00721286 -0.04321328 -0.00623634
+v -0.00800778 -0.04321328 -0.00420758
+v -0.00821325 -0.04252852 -0.00313496
+v -0.00630127 -0.02135412 0.00113990
+v -0.00694904 -0.02457469 0.00080226
+v -0.00706397 -0.02603196 0.00098232
+v -0.00795466 -0.03040380 -0.00019796
+v -0.00812531 -0.03186536 -0.00023907
+v -0.00804173 -0.04321329 -0.00388168
+v -0.00814621 -0.04321329 -0.00261334
+v -0.00814795 -0.04321329 -0.00180496
+v -0.00215777 -0.04321330 -0.00058262
+v 0.00029403 -0.03822303 -0.00019799
+v 0.00029403 -0.03815242 -0.00005902
+v -0.00194794 -0.04321328 -0.00420855
+v 0.00029403 -0.03762384 -0.00535259
+v 0.00029403 -0.03832145 -0.00420853
+v -0.00195664 -0.04321329 -0.00153485
+v 0.00029403 -0.03836640 -0.00153483
+v -0.00195403 -0.04321329 -0.00181084
+v 0.00029403 -0.03832359 -0.00418505
+v 0.00029403 -0.03842204 -0.00287560
+v 0.00029403 -0.03841989 -0.00280220
+f 1 2 8
+f 1 8 17
+f 1 17 30
+f 1 30 50
+f 1 50 75
+f 1 75 78
+f 1 78 113
+f 1 113 146
+f 1 146 185
+f 1 185 221
+f 1 221 253
+f 1 253 286
+f 1 286 295
+f 1 295 268
+f 1 268 232
+f 1 232 195
+f 1 195 155
+f 1 155 122
+f 1 122 83
+f 1 83 54
+f 1 54 33
+f 1 33 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 22
+f 1 22 24
+f 1 24 39
+f 1 39 41
+f 1 41 64
+f 1 64 69
+f 1 69 68
+f 1 68 67
+f 1 67 100
+f 1 100 133
+f 1 133 169
+f 1 169 168
+f 1 168 208
+f 1 208 244
+f 1 244 281
+f 1 281 280
+f 1 280 305
+f 1 305 304
+f 1 304 310
+f 1 310 314
+f 1 314 313
+f 1 313 312
+f 1 312 308
+f 1 308 307
+f 1 307 291
+f 1 291 289
+f 1 289 256
+f 1 256 225
+f 1 225 189
+f 1 189 223
+f 1 223 209
+f 1 209 171
+f 1 171 170
+f 1 170 134
+f 1 134 101
+f 1 101 70
+f 1 70 43
+f 1 43 27
+f 1 27 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 21
+f 5 21 12
+f 5 12 6
+f 6 12 13
+f 7 14 8
+f 7 15 16
+f 7 16 14
+f 8 14 25
+f 8 25 17
+f 9 18 10
+f 10 19 20
+f 10 20 11
+f 10 18 19
+f 11 20 21
+f 12 22 13
+f 12 21 23
+f 12 23 24
+f 12 24 22
+f 14 16 26
+f 14 26 25
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 26
+f 17 25 31
+f 17 31 32
+f 17 32 30
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 21
+f 21 37 38
+f 21 38 23
+f 23 39 24
+f 23 38 40
+f 23 40 41
+f 23 41 39
+f 25 26 42
+f 25 42 31
+f 26 29 42
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 29
+f 29 45 46
+f 29 46 42
+f 30 47 48
+f 30 48 49
+f 30 49 50
+f 30 32 51
+f 30 51 47
+f 31 42 52
+f 31 52 53
+f 31 53 32
+f 32 53 51
+f 33 54 34
+f 34 54 55
+f 34 55 56
+f 34 56 35
+f 35 56 57
+f 35 57 58
+f 35 58 36
+f 36 59 37
+f 36 58 60
+f 36 60 59
+f 37 59 61
+f 37 61 38
+f 38 62 40
+f 38 61 63
+f 38 63 62
+f 40 64 41
+f 40 62 65
+f 40 65 66
+f 40 66 67
+f 40 67 68
+f 40 68 69
+f 40 69 64
+f 42 46 52
+f 43 70 71
+f 43 71 44
+f 44 71 45
+f 45 71 72
+f 45 72 73
+f 45 73 46
+f 46 73 74
+f 46 74 52
+f 47 51 48
+f 48 51 49
+f 49 51 50
+f 50 51 75
+f 51 76 77
+f 51 77 78
+f 51 78 75
+f 51 53 52
+f 51 52 74
+f 51 74 79
+f 51 79 80
+f 51 80 81
+f 51 81 82
+f 51 82 76
+f 54 83 55
+f 55 83 56
+f 56 84 57
+f 56 83 85
+f 56 85 84
+f 57 84 86
+f 57 86 87
+f 57 87 58
+f 58 87 88
+f 58 88 89
+f 58 89 60
+f 59 90 61
+f 59 60 90
+f 60 91 92
+f 60 92 93
+f 60 93 90
+f 60 89 94
+f 60 94 95
+f 60 95 96
+f 60 96 91
+f 61 90 92
+f 61 92 63
+f 62 63 65
+f 63 92 97
+f 63 97 98
+f 63 98 65
+f 65 98 66
+f 66 98 99
+f 66 99 67
+f 67 99 100
+f 70 101 102
+f 70 102 71
+f 71 102 103
+f 71 103 72
+f 72 103 73
+f 73 103 104
+f 73 104 74
+f 74 104 79
+f 76 82 77
+f 77 82 105
+f 77 105 106
+f 77 106 107
+f 77 107 108
+f 77 108 109
+f 77 109 110
+f 77 110 111
+f 77 111 112
+f 77 112 78
+f 78 112 113
+f 79 104 114
+f 79 114 80
+f 80 114 115
+f 80 115 116
+f 80 116 117
+f 80 117 81
+f 81 118 119
+f 81 119 120
+f 81 120 82
+f 81 117 121
+f 81 121 118
+f 82 120 105
+f 83 122 123
+f 83 123 124
+f 83 124 85
+f 84 125 126
+f 84 126 86
+f 84 85 125
+f 85 124 125
+f 86 127 128
+f 86 128 94
+f 86 94 89
+f 86 89 88
+f 86 88 87
+f 86 126 127
+f 90 93 92
+f 91 96 92
+f 92 96 97
+f 94 128 129
+f 94 129 130
+f 94 130 95
+f 95 130 131
+f 95 131 132
+f 95 132 96
+f 96 132 97
+f 97 132 98
+f 98 132 99
+f 99 133 100
+f 99 132 131
+f 99 131 133
+f 101 134 135
+f 101 135 102
+f 102 135 136
+f 102 136 103
+f 103 136 114
+f 103 114 104
+f 105 120 106
+f 106 137 110
+f 106 110 109
+f 106 109 108
+f 106 108 107
+f 106 120 138
+f 106 138 139
+f 106 139 137
+f 110 137 140
+f 110 140 111
+f 111 140 112
+f 112 140 141
+f 112 141 142
+f 112 142 143
+f 112 143 144
+f 112 144 145
+f 112 145 146
+f 112 146 113
+f 114 136 115
+f 115 136 147
+f 115 147 116
+f 116 147 172
+f 116 172 148
+f 116 148 149
+f 116 149 117
+f 117 149 121
+f 118 150 119
+f 118 121 151
+f 118 151 152
+f 118 152 150
+f 119 138 120
+f 119 150 153
+f 119 153 138
+f 121 149 154
+f 121 154 151
+f 122 155 156
+f 122 156 123
+f 123 156 157
+f 123 157 126
+f 123 126 124
+f 124 126 125
+f 126 157 158
+f 126 158 159
+f 126 159 127
+f 127 160 128
+f 127 159 161
+f 127 161 160
+f 128 160 129
+f 129 162 130
+f 129 160 163
+f 129 163 164
+f 129 164 165
+f 129 165 162
+f 130 162 131
+f 131 162 166
+f 131 166 165
+f 131 165 164
+f 131 164 206
+f 131 206 242
+f 131 242 278
+f 131 278 302
+f 131 302 301
+f 131 301 300
+f 131 300 293
+f 131 293 265
+f 131 265 264
+f 131 264 292
+f 131 292 288
+f 131 288 287
+f 131 287 260
+f 131 260 227
+f 131 227 226
+f 131 226 259
+f 131 259 258
+f 131 258 257
+f 131 257 290
+f 131 290 306
+f 131 306 311
+f 131 311 309
+f 131 309 303
+f 131 303 279
+f 131 279 243
+f 131 243 207
+f 131 207 167
+f 131 167 168
+f 131 168 169
+f 131 169 133
+f 134 170 135
+f 135 170 171
+f 135 171 172
+f 135 172 147
+f 135 147 136
+f 137 139 173
+f 137 173 174
+f 137 174 175
+f 137 175 176
+f 137 176 140
+f 138 153 177
+f 138 177 139
+f 139 177 178
+f 139 178 179
+f 139 179 173
+f 140 176 180
+f 140 180 141
+f 141 180 181
+f 141 181 142
+f 142 181 182
+f 142 182 145
+f 142 145 143
+f 143 145 144
+f 145 183 184
+f 145 184 185
+f 145 185 146
+f 145 182 183
+f 148 172 186
+f 148 186 187
+f 148 187 149
+f 149 187 154
+f 150 152 188
+f 150 188 153
+f 151 154 189
+f 151 189 190
+f 151 190 191
+f 151 191 152
+f 152 191 188
+f 153 188 192
+f 153 192 193
+f 153 193 177
+f 154 187 194
+f 154 194 189
+f 155 195 196
+f 155 196 197
+f 155 197 198
+f 155 198 157
+f 155 157 156
+f 157 198 199
+f 157 199 200
+f 157 200 158
+f 158 200 161
+f 158 161 159
+f 160 201 202
+f 160 202 163
+f 160 161 201
+f 161 200 203
+f 161 203 204
+f 161 204 201
+f 162 165 166
+f 163 202 205
+f 163 205 206
+f 163 206 164
+f 167 207 208
+f 167 208 168
+f 171 209 172
+f 172 209 186
+f 173 179 174
+f 174 210 175
+f 174 179 211
+f 174 211 210
+f 175 212 176
+f 175 210 212
+f 176 212 213
+f 176 213 214
+f 176 214 180
+f 177 215 178
+f 177 193 215
+f 178 216 179
+f 178 215 216
+f 179 216 211
+f 180 214 181
+f 181 217 182
+f 181 214 217
+f 182 217 218
+f 182 218 183
+f 183 219 220
+f 183 220 185
+f 183 185 184
+f 183 218 219
+f 185 220 219
+f 185 219 222
+f 185 222 221
+f 186 209 223
+f 186 223 187
+f 187 223 194
+f 188 191 224
+f 188 224 192
+f 189 225 226
+f 189 226 227
+f 189 227 228
+f 189 228 190
+f 189 194 223
+f 190 228 191
+f 191 228 224
+f 192 224 229
+f 192 229 193
+f 193 230 215
+f 193 229 231
+f 193 231 230
+f 195 232 233
+f 195 233 196
+f 196 233 234
+f 196 234 199
+f 196 199 197
+f 197 199 198
+f 199 234 235
+f 199 235 200
+f 200 235 236
+f 200 236 203
+f 201 237 202
+f 201 204 238
+f 201 238 237
+f 202 237 239
+f 202 239 240
+f 202 240 206
+f 202 206 205
+f 203 236 241
+f 203 241 238
+f 203 238 204
+f 206 240 242
+f 207 243 208
+f 208 243 244
+f 210 211 245
+f 210 245 246
+f 210 246 212
+f 211 216 245
+f 212 246 247
+f 212 247 213
+f 213 247 214
+f 214 247 217
+f 215 248 216
+f 215 230 248
+f 216 248 249
+f 216 249 245
+f 217 250 251
+f 217 251 218
+f 217 247 250
+f 218 251 219
+f 219 251 252
+f 219 252 222
+f 221 222 252
+f 221 252 254
+f 221 254 253
+f 224 228 255
+f 224 255 229
+f 225 256 257
+f 225 257 258
+f 225 258 259
+f 225 259 226
+f 227 260 228
+f 228 260 255
+f 229 255 261
+f 229 261 231
+f 230 262 248
+f 230 231 262
+f 231 263 262
+f 231 261 264
+f 231 264 265
+f 231 265 266
+f 231 266 267
+f 231 267 263
+f 232 268 269
+f 232 269 270
+f 232 270 234
+f 232 234 233
+f 234 270 271
+f 234 271 235
+f 235 272 273
+f 235 273 236
+f 235 271 272
+f 236 249 241
+f 236 273 249
+f 237 238 274
+f 237 274 275
+f 237 275 276
+f 237 276 277
+f 237 277 239
+f 238 241 262
+f 238 262 274
+f 239 277 240
+f 240 277 242
+f 241 249 248
+f 241 248 262
+f 242 277 278
+f 243 279 280
+f 243 280 281
+f 243 281 244
+f 245 249 282
+f 245 282 247
+f 245 247 246
+f 247 282 250
+f 249 273 283
+f 249 283 282
+f 250 282 284
+f 250 284 285
+f 250 285 251
+f 251 285 252
+f 252 285 254
+f 253 254 285
+f 253 285 286
+f 255 260 287
+f 255 287 288
+f 255 288 261
+f 256 289 257
+f 257 289 291
+f 257 291 290
+f 261 288 292
+f 261 292 264
+f 262 263 274
+f 263 267 274
+f 265 293 266
+f 266 293 294
+f 266 294 267
+f 267 294 275
+f 267 275 274
+f 268 295 296
+f 268 296 269
+f 269 296 297
+f 269 297 270
+f 270 297 271
+f 271 297 272
+f 272 283 273
+f 272 297 298
+f 272 298 299
+f 272 299 283
+f 275 294 276
+f 276 294 300
+f 276 300 301
+f 276 301 302
+f 276 302 278
+f 276 278 277
+f 279 303 304
+f 279 304 305
+f 279 305 280
+f 282 299 298
+f 282 298 284
+f 282 283 299
+f 284 298 296
+f 284 296 285
+f 285 296 295
+f 285 295 286
+f 290 291 307
+f 290 307 308
+f 290 308 306
+f 293 300 294
+f 296 298 297
+f 303 309 304
+f 304 309 310
+f 306 308 312
+f 306 312 313
+f 306 313 311
+f 309 311 313
+f 309 313 314
+f 309 314 310
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_8.obj

@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.01168958 0.02110070 0.00129065
+v 0.01168958 0.02110069 0.00212317
+v 0.01168958 0.02141323 0.00062278
+v 0.01469714 0.01662936 -0.00225338
+v 0.01454139 0.01662936 -0.00156012
+v 0.01450648 0.01662935 -0.00116309
+v 0.01443129 0.01662935 -0.00019669
+v 0.01442055 0.01662934 0.00247709
+v 0.01168958 0.02144902 0.00236477
+v 0.01445367 0.01662934 0.00275178
+v 0.01457451 0.01662934 0.00352737
+v 0.01168958 0.02214082 -0.00002354
+v 0.01542307 0.01662936 -0.00263963
+v 0.01168958 0.02338277 -0.00069217
+v 0.01168958 0.02411036 -0.00090146
+v 0.01168958 0.02491445 -0.00093147
+v 0.01168958 0.02204803 0.00267562
+v 0.01469625 0.01662934 0.00371280
+v 0.01504355 0.01662933 0.00419600
+v 0.01555018 0.02059612 -0.00254959
+v 0.01689463 0.01913768 -0.00286507
+v 0.01689463 0.01768087 -0.00288508
+v 0.01689463 0.01662936 -0.00287046
+v 0.01570324 0.02496492 -0.00240031
+v 0.01562984 0.02350974 -0.00245879
+v 0.01558688 0.02205293 -0.00250727
+v 0.01168958 0.02570553 -0.00087760
+v 0.01168958 0.02350972 0.00289646
+v 0.01524316 0.01662933 0.00433912
+v 0.01689463 0.02059612 -0.00281274
+v 0.01790610 0.02205293 -0.00242879
+v 0.01793922 0.02059612 -0.00246572
+v 0.01795175 0.01913768 -0.00248651
+v 0.01793743 0.01768087 -0.00248652
+v 0.01790341 0.01662936 -0.00246574
+v 0.01168958 0.03079378 -0.00048056
+v 0.01586615 0.02642173 -0.00231797
+v 0.01689463 0.02205293 -0.00273349
+v 0.01168958 0.03079377 0.00393291
+v 0.01576232 0.01662933 0.00463612
+v 0.01785239 0.02350974 -0.00237646
+v 0.02054219 0.02437405 -0.00091608
+v 0.02053682 0.02350973 -0.00090992
+v 0.01840109 0.01662936 -0.00153396
+v 0.02049654 0.02276261 -0.00087454
+v 0.01168958 0.03170205 -0.00037052
+v 0.01604696 0.02728931 -0.00224642
+v 0.01689463 0.02496492 -0.00250495
+v 0.01689463 0.02350974 -0.00263268
+v 0.01776109 0.02496492 -0.00230644
+v 0.01545888 0.02642170 0.00482467
+v 0.01258648 0.03079377 0.00407294
+v 0.01168958 0.03229128 0.00382520
+v 0.01607471 0.01662933 0.00464997
+v 0.01689463 0.02350971 0.00493777
+v 0.01689463 0.02496489 0.00497547
+v 0.01767248 0.02591714 -0.00224411
+v 0.01736903 0.02688889 -0.00213793
+v 0.01793295 0.02787853 -0.00124769
+v 0.01773066 0.02873634 -0.00099377
+v 0.02058605 0.02582923 0.00027962
+v 0.02066661 0.02490143 -0.00017819
+v 0.02076418 0.02350973 -0.00019666
+v 0.01855863 0.01662935 -0.00056755
+v 0.02059231 0.02218802 -0.00006971
+v 0.02049296 0.02131719 0.00046043
+v 0.01168958 0.03226362 -0.00015816
+v 0.01641127 0.02728931 -0.00224642
+v 0.01689194 0.02641034 -0.00232028
+v 0.01689463 0.02642170 0.00496547
+v 0.01542755 0.02779876 0.00468002
+v 0.01266883 0.03236778 0.00367900
+v 0.01168958 0.03312955 0.00335276
+v 0.01588584 0.02875586 0.00458539
+v 0.01655717 0.02875586 0.00458539
+v 0.01696982 0.01662933 0.00463689
+v 0.01689463 0.01768084 0.00470075
+v 0.01689463 0.01913765 0.00476385
+v 0.01689463 0.02059609 0.00482311
+v 0.01689463 0.02205290 0.00488159
+v 0.01767964 0.01768084 0.00453071
+v 0.01772976 0.01913765 0.00456688
+v 0.01783807 0.02205290 0.00463229
+v 0.01790878 0.02350971 0.00465923
+v 0.01790073 0.02496489 0.00467385
+v 0.01689194 0.02781669 -0.00188940
+v 0.01689463 0.02893330 -0.00118997
+v 0.01199123 0.03303027 0.00039737
+v 0.01791236 0.02895446 -0.00019664
+v 0.02062454 0.02589760 0.00113986
+v 0.02077402 0.02496491 0.00113985
+v 0.01805021 0.02914002 0.00113987
+v 0.02083399 0.02350973 0.00113985
+v 0.02071315 0.02205292 0.00113984
+v 0.01861860 0.01662935 -0.00019669
+v 0.02051355 0.02129440 0.00113984
+v 0.01168958 0.03306120 0.00035429
+v 0.01783628 0.02642170 0.00465770
+v 0.01774229 0.02753669 0.00458691
+v 0.01697966 0.02796478 0.00472926
+v 0.01374922 0.03195922 0.00353281
+v 0.01224544 0.03308886 0.00330121
+v 0.01751494 0.02850681 0.00443457
+v 0.01168958 0.03325652 0.00247715
+v 0.01756417 0.01662933 0.00451455
+v 0.01763846 0.01668467 0.00450147
+v 0.02056994 0.02350972 0.00326425
+v 0.01168958 0.03312956 0.00066360
+v 0.01215593 0.03308887 0.00113988
+v 0.01287381 0.03276658 0.00113988
+v 0.02057083 0.02582922 0.00208702
+v 0.01802067 0.02911234 0.00247714
+v 0.02060485 0.02497467 0.00251021
+v 0.02054398 0.02449775 0.00323116
+v 0.02068988 0.02350972 0.00247712
+v 0.01306446 0.03286912 0.00247715
+v 0.02059948 0.02211965 0.00238632
+v 0.02051534 0.02129114 0.00188003
+v 0.01862934 0.01662935 0.00076972
+v 0.01863113 0.01662935 0.00113982
+v 0.01785508 0.02890399 0.00354280
+v 0.01234659 0.03313281 0.00247715
+v 0.02033810 0.02546624 0.00297802
+v 0.01168958 0.03318979 0.00113988
+v 0.01763399 0.01662933 0.00449916
+v 0.02053950 0.02264866 0.00321807
+v 0.01860428 0.01662934 0.00247709
+v 0.01768143 0.01662933 0.00443530
+v 0.01805737 0.01662934 0.00390054
+f 1 2 9
+f 1 9 17
+f 1 17 28
+f 1 28 39
+f 1 39 53
+f 1 53 73
+f 1 73 104
+f 1 104 124
+f 1 124 108
+f 1 108 97
+f 1 97 67
+f 1 67 46
+f 1 46 36
+f 1 36 27
+f 1 27 16
+f 1 16 15
+f 1 15 14
+f 1 14 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 11
+f 2 11 9
+f 3 12 4
+f 4 13 23
+f 4 23 35
+f 4 35 44
+f 4 44 64
+f 4 64 95
+f 4 95 119
+f 4 119 120
+f 4 120 127
+f 4 127 129
+f 4 129 128
+f 4 128 125
+f 4 125 105
+f 4 105 76
+f 4 76 54
+f 4 54 40
+f 4 40 29
+f 4 29 19
+f 4 19 18
+f 4 18 11
+f 4 11 10
+f 4 10 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 12 14
+f 4 14 15
+f 4 15 16
+f 4 16 13
+f 9 11 18
+f 9 18 19
+f 9 19 17
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 16 20
+f 16 24 25
+f 16 25 26
+f 16 26 20
+f 16 27 24
+f 17 19 29
+f 17 29 28
+f 20 26 21
+f 21 26 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 24 27 36
+f 24 36 37
+f 24 37 38
+f 24 38 30
+f 24 30 25
+f 25 30 26
+f 28 29 39
+f 29 40 39
+f 30 38 41
+f 30 41 31
+f 31 41 42
+f 31 42 32
+f 32 42 33
+f 33 42 34
+f 34 42 43
+f 34 43 35
+f 35 43 45
+f 35 45 44
+f 36 46 37
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 37 46 47
+f 38 49 50
+f 38 50 41
+f 39 51 52
+f 39 52 53
+f 39 40 51
+f 40 54 55
+f 40 55 56
+f 40 56 51
+f 41 50 42
+f 42 50 57
+f 42 57 58
+f 42 58 59
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 43 63 45
+f 44 45 65
+f 44 65 66
+f 44 66 64
+f 45 63 65
+f 46 67 47
+f 47 68 48
+f 47 67 68
+f 48 68 69
+f 48 69 57
+f 48 57 49
+f 49 57 50
+f 51 56 70
+f 51 70 71
+f 51 71 53
+f 51 53 52
+f 53 72 73
+f 53 71 70
+f 53 70 74
+f 53 74 75
+f 53 75 72
+f 54 76 77
+f 54 77 78
+f 54 78 79
+f 54 79 80
+f 54 80 55
+f 55 80 81
+f 55 81 82
+f 55 82 83
+f 55 83 84
+f 55 84 56
+f 56 85 70
+f 56 84 85
+f 57 69 58
+f 58 69 68
+f 58 68 86
+f 58 86 60
+f 58 60 59
+f 60 86 87
+f 60 87 88
+f 60 88 89
+f 60 89 61
+f 61 90 91
+f 61 91 62
+f 61 89 92
+f 61 92 90
+f 62 91 63
+f 63 93 94
+f 63 94 65
+f 63 91 93
+f 64 66 95
+f 65 94 66
+f 66 94 96
+f 66 96 95
+f 67 97 88
+f 67 88 87
+f 67 87 86
+f 67 86 68
+f 70 98 99
+f 70 99 100
+f 70 100 74
+f 70 85 98
+f 72 101 102
+f 72 102 73
+f 72 75 103
+f 72 103 101
+f 73 102 104
+f 74 100 75
+f 75 100 103
+f 76 105 77
+f 77 105 106
+f 77 106 78
+f 78 106 79
+f 79 106 80
+f 80 106 81
+f 81 106 107
+f 81 107 82
+f 82 107 84
+f 82 84 83
+f 84 107 85
+f 85 107 98
+f 88 97 108
+f 88 108 109
+f 88 109 110
+f 88 110 89
+f 89 110 92
+f 90 111 91
+f 90 92 112
+f 90 112 111
+f 91 111 113
+f 91 113 114
+f 91 114 115
+f 91 115 93
+f 92 110 116
+f 92 116 112
+f 93 115 117
+f 93 117 94
+f 94 118 96
+f 94 117 118
+f 95 96 119
+f 96 118 120
+f 96 120 119
+f 98 107 114
+f 98 114 99
+f 99 114 103
+f 99 103 100
+f 101 116 102
+f 101 103 121
+f 101 121 116
+f 102 116 122
+f 102 122 104
+f 103 114 123
+f 103 123 121
+f 104 122 124
+f 105 125 106
+f 106 125 126
+f 106 126 107
+f 107 126 115
+f 107 115 114
+f 108 124 109
+f 109 124 122
+f 109 122 116
+f 109 116 110
+f 111 123 114
+f 111 114 113
+f 111 112 121
+f 111 121 123
+f 112 116 121
+f 115 126 117
+f 117 126 118
+f 118 126 127
+f 118 127 120
+f 125 128 126
+f 126 128 129
+f 126 129 127
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/mesh/peeler_003_collision_9.obj

@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.00253038 -0.02135413 0.00317539
+v 0.00331886 -0.02135413 0.00317252
+v 0.00109435 -0.02135413 0.00316774
+v 0.00109435 -0.02311855 0.00303479
+v 0.00109435 -0.02457554 0.00292383
+v 0.00253038 -0.02457554 0.00292670
+v 0.00331886 -0.02252707 0.00308262
+v 0.00331886 -0.02135410 -0.00560871
+v 0.00092381 -0.02135413 0.00316487
+v 0.00029403 -0.02392892 0.00296018
+v 0.00029403 -0.02457554 0.00291140
+v 0.00029403 -0.02538590 0.00284827
+v 0.00109435 -0.02603252 0.00280809
+v 0.00253038 -0.02603252 0.00280905
+v 0.00331886 -0.02457554 0.00292288
+v 0.00331886 -0.02377520 0.00298600
+v 0.00331886 -0.02166154 -0.00563836
+v 0.00253038 -0.02135410 -0.00562975
+v 0.00029403 -0.02135413 0.00315339
+v 0.00029403 -0.02160142 0.00313522
+v 0.00029403 -0.02603252 0.00279662
+v 0.00029403 -0.02684456 0.00273158
+v 0.00029403 -0.02748950 0.00267801
+v 0.00109435 -0.02748950 0.00268662
+v 0.00253038 -0.02748950 0.00268758
+v 0.00331886 -0.02603252 0.00280427
+v 0.00253038 -0.02166154 -0.00565940
+v 0.00331886 -0.02311852 -0.00576939
+v 0.00109435 -0.02166154 -0.00568331
+v 0.00109435 -0.02135410 -0.00565270
+v 0.00029403 -0.02135410 -0.00566036
+v 0.00029403 -0.02830154 0.00260915
+v 0.00109435 -0.02894649 0.00256132
+v 0.00253038 -0.03331577 0.00218925
+v 0.00331886 -0.02748950 0.00268184
+v 0.00331886 -0.03331577 0.00218925
+v 0.00253038 -0.02311852 -0.00579043
+v 0.00109435 -0.02311852 -0.00581721
+v 0.00331886 -0.02457551 -0.00589565
+v 0.00029403 -0.02166154 -0.00569001
+v 0.00029403 -0.02311852 -0.00582582
+v 0.00029403 -0.02894649 0.00255367
+v 0.00109435 -0.03185879 0.00230689
+v 0.00109435 -0.03331577 0.00217872
+v 0.00331886 -0.03477275 0.00205724
+v 0.00253038 -0.02457551 -0.00591574
+v 0.00109435 -0.02457551 -0.00594443
+v 0.00029403 -0.02457551 -0.00595495
+v 0.00331886 -0.02603249 -0.00601618
+v 0.00253038 -0.02603249 -0.00603722
+v 0.00029403 -0.03040180 0.00242550
+v 0.00029403 -0.03267082 0.00222463
+v 0.00029403 -0.03331577 0.00216725
+v 0.00029403 -0.03412780 0.00209072
+v 0.00029403 -0.03477275 0.00202281
+v 0.00029403 -0.03529239 0.00194343
+v 0.00331886 -0.03577192 0.00189656
+v 0.00109435 -0.02603249 -0.00606783
+v 0.00029403 -0.02603249 -0.00607930
+v 0.00331886 -0.02834996 -0.00620460
+v 0.00300057 -0.02828814 -0.00620843
+v 0.00109435 -0.02729064 -0.00617208
+v 0.00029403 -0.03568003 0.00187552
+v 0.00029403 -0.03608604 0.00172057
+v 0.00331886 -0.03650042 0.00159241
+v 0.00029403 -0.02720710 -0.00617782
+v 0.00331886 -0.02859057 -0.00622183
+v 0.00253038 -0.03040177 -0.00637199
+v 0.00109435 -0.02894646 -0.00629834
+v 0.00109435 -0.02801913 -0.00623042
+v 0.00029403 -0.02793559 -0.00623712
+v 0.00029403 -0.03640852 0.00156371
+v 0.00029403 -0.03714870 0.00118782
+v 0.00331886 -0.03759481 0.00092766
+v 0.00331886 -0.03040177 -0.00635095
+v 0.00331886 -0.03120044 -0.00640642
+v 0.00253038 -0.03185876 -0.00647051
+v 0.00109435 -0.03040177 -0.00640260
+v 0.00029403 -0.02894646 -0.00631269
+v 0.00029403 -0.03758312 0.00089610
+v 0.00029403 -0.03815121 -0.00005940
+v 0.00331886 -0.03826148 -0.00019713
+v 0.00331886 -0.03265742 -0.00650495
+v 0.00109435 -0.03185876 -0.00650017
+v 0.00029403 -0.03040177 -0.00641503
+v 0.00029403 -0.02959141 -0.00635860
+v 0.00029403 -0.03822473 -0.00019713
+v 0.00029403 -0.03836674 -0.00153522
+v 0.00331886 -0.03827318 -0.00033199
+v 0.00331886 -0.03331574 -0.00654034
+v 0.00029403 -0.03331574 -0.00659581
+v 0.00029403 -0.03104672 -0.00645807
+v 0.00029403 -0.03185876 -0.00651164
+v 0.00029403 -0.03842021 -0.00280252
+v 0.00331886 -0.03835337 -0.00153617
+v 0.00331886 -0.03411608 -0.00648774
+v 0.00029403 -0.03482619 -0.00644470
+v 0.00029403 -0.03842188 -0.00287617
+v 0.00331886 -0.03830492 -0.00287139
+v 0.00331886 -0.03482786 -0.00640262
+v 0.00331886 -0.03531408 -0.00630601
+v 0.00029403 -0.03559144 -0.00623811
+v 0.00029403 -0.03832162 -0.00420851
+v 0.00331886 -0.03819797 -0.00420851
+v 0.00331886 -0.03574182 -0.00617689
+v 0.00029403 -0.03592728 -0.00613290
+v 0.00029403 -0.03762487 -0.00535244
+v 0.00331886 -0.03758310 -0.00534479
+v 0.00331886 -0.03811944 -0.00436155
+v 0.00331886 -0.03626646 -0.00600856
+v 0.00029403 -0.03632160 -0.00600856
+v 0.00331886 -0.03698827 -0.00567189
+f 1 2 8
+f 1 8 18
+f 1 18 30
+f 1 30 31
+f 1 31 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 16
+f 2 16 15
+f 2 15 26
+f 2 26 35
+f 2 35 36
+f 2 36 45
+f 2 45 57
+f 2 57 65
+f 2 65 74
+f 2 74 82
+f 2 82 89
+f 2 89 95
+f 2 95 99
+f 2 99 104
+f 2 104 109
+f 2 109 108
+f 2 108 112
+f 2 112 110
+f 2 110 105
+f 2 105 101
+f 2 101 100
+f 2 100 96
+f 2 96 90
+f 2 90 83
+f 2 83 76
+f 2 76 75
+f 2 75 67
+f 2 67 60
+f 2 60 49
+f 2 49 39
+f 2 39 28
+f 2 28 17
+f 2 17 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 8 17 27
+f 8 27 18
+f 9 19 20
+f 9 20 10
+f 10 20 19
+f 10 19 31
+f 10 31 40
+f 10 40 41
+f 10 41 48
+f 10 48 59
+f 10 59 66
+f 10 66 71
+f 10 71 79
+f 10 79 86
+f 10 86 85
+f 10 85 92
+f 10 92 93
+f 10 93 91
+f 10 91 97
+f 10 97 102
+f 10 102 106
+f 10 106 111
+f 10 111 107
+f 10 107 103
+f 10 103 98
+f 10 98 94
+f 10 94 88
+f 10 88 87
+f 10 87 81
+f 10 81 80
+f 10 80 73
+f 10 73 72
+f 10 72 64
+f 10 64 63
+f 10 63 56
+f 10 56 55
+f 10 55 54
+f 10 54 53
+f 10 53 52
+f 10 52 51
+f 10 51 42
+f 10 42 32
+f 10 32 23
+f 10 23 22
+f 10 22 21
+f 10 21 12
+f 10 12 11
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 17 28 37
+f 17 37 27
+f 18 27 29
+f 18 29 30
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 25 35 26
+f 25 34 36
+f 25 36 35
+f 27 37 38
+f 27 38 29
+f 28 39 37
+f 29 40 31
+f 29 31 30
+f 29 38 41
+f 29 41 40
+f 32 42 33
+f 33 42 43
+f 33 43 34
+f 34 43 44
+f 34 44 45
+f 34 45 36
+f 37 39 46
+f 37 46 47
+f 37 47 38
+f 38 47 48
+f 38 48 41
+f 39 49 50
+f 39 50 46
+f 42 51 44
+f 42 44 43
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 44 51 52
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 46 50 58
+f 46 58 47
+f 47 58 59
+f 47 59 48
+f 49 60 61
+f 49 61 50
+f 50 61 62
+f 50 62 58
+f 56 63 57
+f 57 64 65
+f 57 63 64
+f 58 62 66
+f 58 66 59
+f 60 67 68
+f 60 68 61
+f 61 68 69
+f 61 69 70
+f 61 70 62
+f 62 71 66
+f 62 70 71
+f 64 72 65
+f 65 72 73
+f 65 73 74
+f 67 75 68
+f 68 75 76
+f 68 76 83
+f 68 83 77
+f 68 77 78
+f 68 78 69
+f 69 79 70
+f 69 78 79
+f 70 79 71
+f 73 80 74
+f 74 80 81
+f 74 81 82
+f 77 83 84
+f 77 84 78
+f 78 84 85
+f 78 85 86
+f 78 86 79
+f 81 87 82
+f 82 87 88
+f 82 88 89
+f 83 90 91
+f 83 91 84
+f 84 92 85
+f 84 91 93
+f 84 93 92
+f 88 94 95
+f 88 95 89
+f 90 96 91
+f 91 96 97
+f 94 98 95
+f 95 98 99
+f 96 100 97
+f 97 100 101
+f 97 101 102
+f 98 103 99
+f 99 103 104
+f 101 105 102
+f 102 105 106
+f 103 107 108
+f 103 108 109
+f 103 109 104
+f 105 110 111
+f 105 111 106
+f 107 111 112
+f 107 112 108
+f 110 112 111
+

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/mjcf/peeler_003.xml

@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="peeler_003">
+  <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/peeler_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/peeler_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/peeler_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/peeler_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/peeler_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/peeler_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/peeler_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/peeler_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/peeler_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/peeler_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/peeler_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/peeler_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/peeler_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/peeler_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/peeler_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/peeler_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/peeler_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/peeler_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="peeler_003">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/peeler_003.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peeler_003">
+   <link name="peeler_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_003.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/peeler_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>7298a00ea8315c65a83d2f301494a904</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>cutting_tools</super_category>
+         <category>peeler</category>
+         <name>ergonomic peeler</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact peeler with ergonomic handle and sharp blade</description>
+         <min_height>0.0122</min_height>
+         <max_height>0.0122</max_height>
+         <real_height>0.0122</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428003113</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/peeler_003.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ecb2581a28b80f9a24cd8264f7e6123e1d6125a20a15621c1d328add4823441
+size 4984804

dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06e14c5bc2409a0e1811dbc4f71c31fbd82a4c07ad3d418b7e2bb55b15e160c5
+size 140177