Add asset kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78

.gitattributes

@@ -4587,5 +4587,7 @@ dataset/kitchen_supplies/utensils/ba8aca22b97455768b7e83706749e6e2/mesh/sponge_g
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/b76cd44e74395713893a8818b0d86557.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/bottle_opener_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/mesh/bottle_opener_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/bottle_opener_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009.obj filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/bottle_opener_009.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_009">
+   <link name="bottle_opener_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_009.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/bottle_opener_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>893383cff0eb5ea5ba16cecfb9c52c78</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>wing corkscrew</name>
+         <color>red,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>metal wing corkscrew with red handles and base</description>
+         <min_height>0.1361</min_height>
+         <max_height>0.1361</max_height>
+         <real_height>0.1361</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428013757</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>8</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>NO: {"summary":"Mostly overmerged into one color; key functional parts are not separated and this is not fixable by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/bottle_opener_009.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef591b0bbbdd300065e3bbce2d09a63e07eb7288194c0a59c2c9494747d6d020
+size 142179188

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2737af4d91002d4477d0afbb59bb58dbc4c874a4864afcf88e6f7dcc0146b727
+size 101591636

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009.mtl

@@ -0,0 +1,6 @@
+newmtl bottle_opener_009_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/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f20db7e47afd3c47dd4f1ca6c5dea497cba90c07697201d1721d8d7126dfe6d0
+size 115487908

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_009_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 bottle_opener_009_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/bottle_opener_009.xml

@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_009">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_009_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bottle_opener_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bottle_opener_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bottle_opener_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bottle_opener_009_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/bottle_opener_009_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/bottle_opener_009_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_009">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c018ab4bb64cfee7212c8a311d316851d843defa37297a0bb79768a4ccf587d9
+size 110524185

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_0.obj

@@ -0,0 +1,826 @@
+# https://github.com/mikedh/trimesh
+v 0.04598047 0.00096704 -0.05302924
+v 0.04597429 -0.00118080 -0.05302924
+v 0.04571481 -0.00118079 -0.05527256
+v 0.04571790 0.00096705 -0.05527256
+v 0.04549549 0.00311487 -0.05302923
+v 0.04542753 0.00311487 -0.05078053
+v 0.04589089 0.00096704 -0.05078054
+v 0.04588780 -0.00118080 -0.05078054
+v 0.04551094 -0.00332975 -0.05302925
+v 0.04543989 -0.00332975 -0.05078055
+v 0.04520821 -0.00332974 -0.05527257
+v 0.04465528 -0.00332973 -0.05680212
+v 0.04491785 -0.00118078 -0.05718852
+v 0.04519894 0.00311488 -0.05527255
+v 0.04491785 0.00096706 -0.05718315
+v 0.04465528 0.00311489 -0.05679673
+v 0.04453172 0.00431896 -0.05527254
+v 0.04469544 0.00446517 -0.05302922
+v 0.04467381 0.00445741 -0.05078052
+v 0.04455952 0.00436657 -0.04853719
+v 0.04445758 0.00427130 -0.04696472
+v 0.04519277 0.00311486 -0.04853720
+v 0.04564376 0.00096703 -0.04853721
+v 0.04564067 -0.00118081 -0.04853721
+v 0.04520204 -0.00332976 -0.04853722
+v 0.04471088 -0.00469665 -0.05302926
+v 0.04454098 -0.00454378 -0.05527258
+v 0.04468617 -0.00469001 -0.05078056
+v 0.04446376 -0.00449396 -0.04691109
+v 0.04457187 -0.00459586 -0.04853723
+v 0.04438962 -0.00441527 -0.05641572
+v 0.04331773 -0.00347373 -0.05800966
+v 0.04396334 -0.00118078 -0.05831019
+v 0.04438653 0.00419823 -0.05641031
+v 0.04396025 0.00096706 -0.05830482
+v 0.04331773 0.00325336 -0.05800427
+v 0.04326522 0.00486173 -0.05527254
+v 0.04326522 0.00510210 -0.05302922
+v 0.04326522 0.00510874 -0.05078052
+v 0.04326522 0.00502233 -0.04853719
+v 0.04344129 0.00474761 -0.04624556
+v 0.04299647 0.00474871 -0.04403980
+v 0.04268757 0.00460359 -0.04179647
+v 0.04430004 0.00406416 -0.04546738
+v 0.04477884 0.00325553 -0.04624557
+v 0.04457805 0.00258536 -0.04403981
+v 0.04527308 0.00096702 -0.04628851
+v 0.04526999 -0.00118082 -0.04628851
+v 0.04457805 -0.00282023 -0.04403983
+v 0.04478193 -0.00348152 -0.04621339
+v 0.04431549 -0.00430122 -0.04541375
+v 0.04326522 -0.00534355 -0.05302926
+v 0.04326522 -0.00535020 -0.05078056
+v 0.04326522 -0.00509652 -0.05527258
+v 0.04326522 -0.00526159 -0.04853723
+v 0.04271538 -0.00484180 -0.04179651
+v 0.04302119 -0.00498468 -0.04403984
+v 0.04345365 -0.00497914 -0.04621340
+v 0.04326522 -0.00464789 -0.05689873
+v 0.04164039 -0.00428456 -0.05854634
+v 0.04261652 -0.00285119 -0.05889518
+v 0.04285438 -0.00118077 -0.05902934
+v 0.04160332 0.00406088 -0.05853558
+v 0.04326522 0.00442642 -0.05688796
+v 0.04284820 0.00096707 -0.05902397
+v 0.04261035 0.00262862 -0.05888979
+v 0.04104421 0.00531589 -0.05527254
+v 0.04104421 0.00548868 -0.05302922
+v 0.04104421 0.00550530 -0.05078052
+v 0.04104421 0.00550418 -0.04853719
+v 0.04104421 0.00547759 -0.04628849
+v 0.04104421 0.00540336 -0.04403980
+v 0.04104421 0.00525935 -0.04179647
+v 0.04104421 0.00500015 -0.03955314
+v 0.04108437 0.00463016 -0.03749228
+v 0.04236323 0.00436765 -0.03955314
+v 0.04410543 0.00365873 -0.04403981
+v 0.04442051 0.00217440 -0.04273567
+v 0.04217788 0.00421145 -0.03837244
+v 0.04478811 0.00096701 -0.04403982
+v 0.04478811 -0.00118083 -0.04403982
+v 0.04442051 -0.00239598 -0.04273569
+v 0.04413014 -0.00389470 -0.04403983
+v 0.04220259 -0.00444858 -0.03830271
+v 0.04239411 -0.00461140 -0.03955318
+v 0.04104421 -0.00572239 -0.05302926
+v 0.04104421 -0.00555068 -0.05527258
+v 0.04104421 -0.00573568 -0.05078056
+v 0.04104421 -0.00564820 -0.04403984
+v 0.04104421 -0.00571908 -0.04628853
+v 0.04104421 -0.00573458 -0.04853723
+v 0.04104421 -0.00550310 -0.04179651
+v 0.04109982 -0.00486950 -0.03745476
+v 0.04104421 -0.00524722 -0.03955318
+v 0.04096081 -0.00481405 -0.05768766
+v 0.04016075 -0.00442856 -0.05866979
+v 0.04096081 -0.00347372 -0.05901861
+v 0.04104421 -0.00118077 -0.05955529
+v 0.04093610 0.00325337 -0.05900786
+v 0.04012060 0.00421042 -0.05866975
+v 0.04093610 0.00458925 -0.05768225
+v 0.04104421 0.00096707 -0.05954455
+v 0.03882321 0.00509767 -0.05527254
+v 0.03882321 0.00538234 -0.05302922
+v 0.03988274 0.00421042 -0.05866975
+v 0.03901473 0.00448512 -0.05745684
+v 0.03882321 0.00549865 -0.05078052
+v 0.03882321 0.00551526 -0.04853719
+v 0.03438428 0.00552406 -0.03281242
+v 0.03882321 0.00550858 -0.04179647
+v 0.03882321 0.00548643 -0.03955314
+v 0.03882321 0.00538119 -0.03730444
+v 0.03882321 0.00514302 -0.03505575
+v 0.04035845 0.00450277 -0.03505575
+v 0.04382742 0.00298080 -0.04190918
+v 0.04308297 0.00311483 -0.03955315
+v 0.04225202 0.00226521 -0.03594128
+v 0.04361119 0.00096700 -0.03955316
+v 0.04416104 0.00096700 -0.04150132
+v 0.04444831 0.00096701 -0.04262835
+v 0.04244972 0.00303507 -0.03749229
+v 0.04006499 0.00429894 -0.03366574
+v 0.04185045 0.00369748 -0.03687511
+v 0.04444831 -0.00118083 -0.04262835
+v 0.04416412 -0.00118084 -0.04150132
+v 0.04361428 -0.00118084 -0.03955316
+v 0.04225511 -0.00250235 -0.03593057
+v 0.04312004 -0.00332979 -0.03955317
+v 0.04384904 -0.00319908 -0.04190920
+v 0.04246516 -0.00326223 -0.03745475
+v 0.04187825 -0.00393460 -0.03680536
+v 0.04008353 -0.00452724 -0.03363358
+v 0.04039243 -0.00473991 -0.03505579
+v 0.03882321 -0.00574566 -0.04853723
+v 0.03882321 -0.00573014 -0.05078056
+v 0.03882321 -0.00562269 -0.05302926
+v 0.03882321 -0.00534354 -0.05527258
+v 0.03900546 -0.00471214 -0.05746761
+v 0.03987038 -0.00442856 -0.05866979
+v 0.03882321 -0.00562274 -0.03730448
+v 0.03882321 -0.00570359 -0.03955318
+v 0.03660529 -0.00573352 -0.03505579
+v 0.03438428 -0.00575236 -0.03281246
+v 0.03882321 -0.00539456 -0.03505579
+v 0.03900546 -0.00316024 -0.05888444
+v 0.03882321 -0.00118077 -0.05921181
+v 0.03882321 0.00096707 -0.05921181
+v 0.03901473 0.00294321 -0.05887906
+v 0.03721074 0.00451391 -0.05527254
+v 0.03660529 0.00502566 -0.05078052
+v 0.02550953 0.00499345 -0.02607706
+v 0.02328852 0.00524598 -0.01933634
+v 0.03753508 0.00432229 -0.05666792
+v 0.02550953 0.00530360 -0.02383373
+v 0.02550953 0.00544537 -0.02158504
+v 0.03768336 0.00211022 -0.05866976
+v 0.03840001 0.00354358 -0.05816527
+v 0.02772744 0.00546755 -0.02607706
+v 0.02550644 0.00549078 -0.02024870
+v 0.02550644 0.00551958 -0.01933634
+v 0.02550644 0.00553508 -0.01708764
+v 0.03660529 0.00550192 -0.03505575
+v 0.03660529 0.00539889 -0.03281242
+v 0.03887881 0.00468664 -0.03287682
+v 0.02772744 0.00502109 -0.01483895
+v 0.02779849 0.00462454 -0.01274052
+v 0.04148285 0.00303506 -0.03513626
+v 0.04042332 0.00309376 -0.03287683
+v 0.04008970 0.00236267 -0.03143852
+v 0.04098243 0.00096697 -0.03281244
+v 0.04185354 0.00096698 -0.03467472
+v 0.04231071 0.00096698 -0.03579102
+v 0.04287291 0.00096699 -0.03730446
+v 0.02710655 0.00447831 -0.01093727
+v 0.02858928 0.00382919 -0.01208578
+v 0.03965106 0.00379494 -0.03216841
+v 0.04287600 -0.00118085 -0.03730446
+v 0.04231380 -0.00118086 -0.03579102
+v 0.04185354 -0.00118086 -0.03466399
+v 0.04098243 -0.00118087 -0.03281244
+v 0.04008970 -0.00258876 -0.03143854
+v 0.04043568 -0.00331542 -0.03285538
+v 0.04151065 -0.00326224 -0.03513628
+v 0.03967578 -0.00402213 -0.03214160
+v 0.02860473 -0.00405655 -0.01204823
+v 0.02712509 -0.00470566 -0.01091584
+v 0.03889116 -0.00492048 -0.03285539
+v 0.02550644 -0.00578121 -0.01933638
+v 0.02550953 -0.00570810 -0.02158508
+v 0.02550953 -0.00555301 -0.02383377
+v 0.02328852 -0.00549986 -0.01933638
+v 0.03660529 -0.00527598 -0.05078056
+v 0.03717676 -0.00475092 -0.05527258
+v 0.03751964 -0.00454709 -0.05668406
+v 0.03768027 -0.00233278 -0.05867514
+v 0.03838766 -0.00376616 -0.05818139
+v 0.03660529 -0.00563052 -0.03281246
+v 0.02550644 -0.00572031 -0.01483899
+v 0.02550644 -0.00577458 -0.01708768
+v 0.02781085 -0.00485852 -0.01271373
+v 0.02772744 -0.00526726 -0.01483899
+v 0.02550644 -0.00550431 -0.01259566
+v 0.03766174 -0.00118077 -0.05869659
+v 0.03766174 0.00096707 -0.05869123
+v 0.02220736 0.00415379 -0.02265303
+v 0.02191082 0.00438973 -0.02115569
+v 0.02361287 0.00463898 -0.02383373
+v 0.02308465 0.00478297 -0.02177824
+v 0.02321130 0.00507318 -0.02024870
+v 0.02155558 0.00458579 -0.01933634
+v 0.02095322 0.00464559 -0.01700177
+v 0.02328852 0.00539772 -0.01708764
+v 0.03723854 0.00294320 -0.05745685
+v 0.03607398 0.00312153 -0.05528329
+v 0.03574345 0.00384265 -0.05358737
+v 0.03678445 0.00096706 -0.05752126
+v 0.03572801 0.00096706 -0.05587365
+v 0.03533261 0.00241039 -0.05453730
+v 0.02328852 0.00541211 -0.01483895
+v 0.02550644 0.00548301 -0.01483895
+v 0.02550644 0.00526368 -0.01259562
+v 0.04017620 0.00096696 -0.03129363
+v 0.02898777 0.00239583 -0.01114122
+v 0.02846572 0.00096689 -0.00983173
+v 0.02217647 0.00360874 -0.00473324
+v 0.02328852 0.00338388 -0.00473324
+v 0.02420596 0.00297292 -0.00473324
+v 0.02492879 0.00255975 -0.00473324
+v 0.04017620 -0.00118088 -0.03129363
+v 0.02846572 -0.00117984 -0.00983173
+v 0.02898777 -0.00262429 -0.01114124
+v 0.02493188 -0.00278271 -0.00473326
+v 0.02328852 -0.00361460 -0.00473326
+v 0.02328852 -0.00564388 -0.01483899
+v 0.02328852 -0.00563390 -0.01708768
+v 0.02094086 -0.00487512 -0.01703401
+v 0.02152469 -0.00481862 -0.01933638
+v 0.02320512 -0.00532595 -0.02024874
+v 0.02550953 -0.00524395 -0.02607710
+v 0.02357271 -0.00487620 -0.02383377
+v 0.02189228 -0.00461922 -0.02120940
+v 0.02217956 -0.00440211 -0.02270674
+v 0.03722618 -0.00316025 -0.05746760
+v 0.03541602 -0.00447733 -0.05215447
+v 0.03571256 -0.00408630 -0.05365181
+v 0.03604618 -0.00335410 -0.05528868
+v 0.03532643 -0.00265293 -0.05454806
+v 0.03572492 -0.00118078 -0.05588438
+v 0.03678136 -0.00118078 -0.05752126
+v 0.02106752 -0.00391811 -0.00473326
+v 0.01884651 -0.00387712 -0.00473326
+v 0.02328852 -0.00534037 -0.01259566
+v 0.01442303 0.00189181 -0.00733615
+v 0.01442303 0.00278793 -0.00585491
+v 0.01989986 0.00424239 -0.01619675
+v 0.02212705 0.00466000 -0.02024870
+v 0.01442303 0.00304713 -0.00473324
+v 0.02106752 0.00479623 -0.01483895
+v 0.01442303 0.00096688 -0.00795334
+v 0.01884651 0.00365083 -0.00473324
+v 0.02328852 0.00510306 -0.01259562
+v 0.01995547 0.00368850 -0.00473324
+v 0.02106752 0.00368960 -0.00473324
+v 0.02557131 0.00096687 -0.00473325
+v 0.02557131 -0.00117986 -0.00473325
+v 0.02535199 -0.00190984 -0.00473326
+v 0.01442303 -0.00328339 -0.00473326
+v 0.02106752 -0.00503132 -0.01483899
+v 0.01988751 -0.00446638 -0.01625046
+v 0.02170385 -0.00472225 -0.02024874
+v 0.02306920 -0.00502797 -0.02180512
+v 0.01442303 -0.00303748 -0.00582272
+v 0.01442303 -0.00301865 -0.00586566
+v 0.01442303 -0.00117985 -0.00796407
+v 0.02187375 -0.00296873 -0.02338295
+v 0.01442303 0.00280566 -0.00577977
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 9 11
+f 3 11 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 14 17
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 25
+f 8 25 10
+f 9 26 27
+f 9 27 11
+f 9 10 28
+f 9 28 26
+f 10 25 29
+f 10 29 30
+f 10 30 28
+f 11 27 31
+f 11 31 12
+f 12 31 32
+f 12 32 33
+f 12 33 13
+f 13 33 15
+f 14 16 34
+f 14 34 17
+f 15 33 35
+f 15 35 16
+f 16 35 36
+f 16 36 34
+f 17 37 38
+f 17 38 18
+f 17 34 37
+f 18 38 39
+f 18 39 19
+f 19 39 40
+f 19 40 20
+f 20 40 41
+f 20 41 21
+f 21 41 42
+f 21 42 43
+f 21 43 44
+f 21 44 45
+f 21 45 22
+f 22 45 46
+f 22 46 23
+f 23 47 48
+f 23 48 24
+f 23 46 47
+f 24 48 49
+f 24 49 25
+f 25 49 50
+f 25 50 51
+f 25 51 29
+f 26 52 27
+f 26 28 53
+f 26 53 52
+f 27 52 54
+f 27 54 31
+f 28 30 55
+f 28 55 53
+f 29 51 56
+f 29 56 57
+f 29 57 58
+f 29 58 30
+f 30 58 55
+f 31 59 60
+f 31 60 32
+f 31 54 59
+f 32 60 61
+f 32 61 33
+f 33 61 62
+f 33 62 35
+f 34 36 63
+f 34 63 64
+f 34 64 37
+f 35 62 65
+f 35 65 66
+f 35 66 36
+f 36 66 63
+f 37 67 38
+f 37 64 67
+f 38 67 68
+f 38 68 69
+f 38 69 39
+f 39 69 70
+f 39 70 71
+f 39 71 72
+f 39 72 40
+f 40 72 73
+f 40 73 42
+f 40 42 41
+f 42 73 74
+f 42 74 43
+f 43 74 75
+f 43 75 76
+f 43 76 44
+f 44 77 78
+f 44 78 46
+f 44 46 45
+f 44 76 79
+f 44 79 77
+f 46 78 47
+f 47 78 80
+f 47 80 81
+f 47 81 48
+f 48 81 82
+f 48 82 49
+f 49 82 51
+f 49 51 50
+f 51 82 83
+f 51 83 84
+f 51 84 85
+f 51 85 56
+f 52 86 87
+f 52 87 54
+f 52 53 88
+f 52 88 86
+f 53 55 89
+f 53 89 90
+f 53 90 91
+f 53 91 88
+f 54 87 59
+f 55 58 57
+f 55 57 92
+f 55 92 89
+f 56 85 93
+f 56 93 94
+f 56 94 57
+f 57 94 92
+f 59 95 60
+f 59 87 95
+f 60 96 97
+f 60 97 61
+f 60 95 96
+f 61 97 98
+f 61 98 62
+f 62 98 65
+f 63 66 99
+f 63 99 100
+f 63 100 101
+f 63 101 64
+f 64 101 67
+f 65 98 102
+f 65 102 66
+f 66 102 99
+f 67 103 104
+f 67 104 68
+f 67 101 105
+f 67 105 106
+f 67 106 103
+f 68 104 107
+f 68 107 108
+f 68 108 69
+f 69 108 70
+f 70 108 109
+f 70 109 110
+f 70 110 111
+f 70 111 71
+f 71 111 72
+f 72 111 112
+f 72 112 73
+f 73 112 113
+f 73 113 74
+f 74 113 75
+f 75 113 114
+f 75 114 76
+f 76 114 79
+f 77 115 78
+f 77 79 116
+f 77 116 115
+f 78 115 116
+f 78 116 117
+f 78 117 118
+f 78 118 119
+f 78 119 120
+f 78 120 80
+f 79 121 116
+f 79 114 122
+f 79 122 123
+f 79 123 117
+f 79 117 121
+f 80 120 124
+f 80 124 81
+f 81 124 82
+f 82 124 125
+f 82 125 126
+f 82 126 127
+f 82 127 128
+f 82 128 129
+f 82 129 83
+f 83 129 128
+f 83 128 84
+f 84 130 127
+f 84 127 131
+f 84 131 132
+f 84 132 133
+f 84 133 93
+f 84 93 85
+f 84 128 130
+f 86 88 134
+f 86 134 135
+f 86 135 136
+f 86 136 87
+f 87 136 137
+f 87 137 138
+f 87 138 139
+f 87 139 95
+f 88 91 134
+f 89 92 140
+f 89 140 141
+f 89 141 90
+f 90 141 142
+f 90 142 91
+f 91 142 143
+f 91 143 134
+f 92 94 144
+f 92 144 140
+f 93 133 144
+f 93 144 94
+f 95 139 96
+f 96 139 97
+f 97 139 145
+f 97 145 98
+f 98 145 146
+f 98 146 147
+f 98 147 102
+f 99 148 105
+f 99 105 100
+f 99 102 148
+f 100 105 101
+f 102 147 148
+f 103 149 150
+f 103 150 151
+f 103 151 152
+f 103 152 104
+f 103 106 153
+f 103 153 149
+f 104 152 154
+f 104 154 155
+f 104 155 107
+f 105 148 156
+f 105 156 157
+f 105 157 153
+f 105 153 106
+f 107 155 158
+f 107 158 159
+f 107 159 160
+f 107 160 108
+f 108 160 161
+f 108 161 109
+f 109 161 162
+f 109 162 110
+f 110 162 111
+f 111 162 163
+f 111 163 112
+f 112 163 113
+f 113 164 114
+f 113 163 165
+f 113 165 166
+f 113 166 164
+f 114 164 122
+f 116 121 117
+f 117 123 167
+f 117 167 168
+f 117 168 169
+f 117 169 170
+f 117 170 171
+f 117 171 172
+f 117 172 173
+f 117 173 118
+f 118 173 177
+f 118 177 126
+f 118 126 125
+f 118 125 119
+f 119 125 120
+f 120 125 124
+f 122 164 174
+f 122 174 175
+f 122 175 176
+f 122 176 168
+f 122 168 167
+f 122 167 123
+f 126 177 127
+f 127 130 128
+f 127 177 178
+f 127 178 179
+f 127 179 180
+f 127 180 181
+f 127 181 182
+f 127 182 183
+f 127 183 131
+f 131 183 132
+f 132 183 182
+f 132 182 184
+f 132 184 185
+f 132 185 186
+f 132 186 187
+f 132 187 133
+f 133 187 144
+f 134 143 188
+f 134 188 135
+f 135 188 189
+f 135 189 136
+f 136 189 190
+f 136 190 191
+f 136 191 137
+f 137 191 192
+f 137 192 193
+f 137 193 194
+f 137 194 138
+f 138 194 139
+f 139 195 145
+f 139 194 196
+f 139 196 195
+f 140 144 197
+f 140 197 142
+f 140 142 141
+f 142 197 198
+f 142 198 199
+f 142 199 143
+f 143 199 188
+f 144 187 200
+f 144 200 201
+f 144 201 202
+f 144 202 197
+f 145 195 146
+f 146 195 203
+f 146 203 147
+f 147 203 204
+f 147 204 156
+f 147 156 148
+f 149 153 205
+f 149 205 206
+f 149 206 207
+f 149 207 151
+f 149 151 150
+f 151 207 208
+f 151 208 209
+f 151 209 152
+f 152 210 211
+f 152 211 212
+f 152 212 154
+f 152 209 210
+f 153 157 156
+f 153 156 213
+f 153 213 214
+f 153 214 215
+f 153 215 205
+f 154 212 155
+f 155 159 158
+f 155 212 159
+f 156 204 216
+f 156 216 217
+f 156 217 218
+f 156 218 213
+f 159 212 160
+f 160 212 161
+f 161 212 219
+f 161 219 220
+f 161 220 162
+f 162 220 163
+f 163 220 221
+f 163 221 165
+f 164 166 174
+f 165 221 166
+f 166 221 174
+f 168 176 169
+f 169 222 170
+f 169 176 223
+f 169 223 224
+f 169 224 222
+f 170 222 229
+f 170 229 180
+f 170 180 179
+f 170 179 171
+f 171 179 172
+f 172 179 178
+f 172 178 177
+f 172 177 173
+f 174 221 225
+f 174 225 226
+f 174 226 227
+f 174 227 228
+f 174 228 175
+f 175 228 223
+f 175 223 176
+f 180 229 181
+f 181 184 182
+f 181 229 230
+f 181 230 231
+f 181 231 184
+f 184 231 185
+f 185 231 232
+f 185 232 186
+f 186 232 233
+f 186 233 202
+f 186 202 200
+f 186 200 187
+f 188 199 234
+f 188 234 235
+f 188 235 189
+f 189 235 191
+f 189 191 190
+f 191 235 236
+f 191 236 237
+f 191 237 238
+f 191 238 239
+f 191 239 192
+f 192 239 193
+f 193 239 240
+f 193 240 241
+f 193 241 242
+f 193 242 194
+f 194 243 195
+f 194 195 196
+f 194 242 244
+f 194 244 245
+f 194 245 246
+f 194 246 243
+f 195 243 247
+f 195 247 248
+f 195 248 249
+f 195 249 203
+f 197 202 198
+f 198 202 234
+f 198 234 199
+f 200 202 201
+f 202 233 250
+f 202 250 251
+f 202 251 252
+f 202 252 234
+f 203 249 216
+f 203 216 204
+f 205 253 254
+f 205 254 206
+f 205 215 214
+f 205 214 218
+f 205 218 253
+f 206 254 255
+f 206 255 210
+f 206 210 207
+f 207 210 256
+f 207 256 208
+f 208 256 209
+f 209 256 210
+f 210 255 211
+f 211 255 257
+f 211 257 258
+f 211 258 212
+f 212 258 257
+f 212 257 219
+f 213 218 214
+f 216 249 248
+f 216 248 217
+f 217 248 259
+f 217 259 218
+f 218 259 253
+f 219 257 260
+f 219 260 261
+f 219 261 221
+f 219 221 220
+f 221 261 260
+f 221 260 262
+f 221 262 263
+f 221 263 225
+f 222 224 230
+f 222 230 229
+f 223 228 264
+f 223 264 224
+f 224 264 265
+f 224 265 230
+f 225 263 262
+f 225 262 260
+f 225 260 257
+f 225 257 267
+f 225 267 251
+f 225 251 250
+f 225 250 233
+f 225 233 232
+f 225 232 266
+f 225 266 265
+f 225 265 264
+f 225 264 228
+f 225 228 227
+f 225 227 226
+f 230 265 231
+f 231 265 266
+f 231 266 232
+f 234 252 251
+f 234 251 267
+f 234 267 235
+f 235 267 268
+f 235 268 236
+f 236 268 267
+f 236 267 269
+f 236 269 237
+f 237 269 270
+f 237 270 240
+f 237 240 271
+f 237 271 238
+f 238 271 239
+f 239 271 240
+f 240 270 241
+f 241 270 269
+f 241 269 242
+f 242 269 272
+f 242 272 273
+f 242 273 274
+f 242 274 275
+f 242 275 247
+f 242 247 245
+f 242 245 244
+f 243 246 247
+f 245 247 246
+f 247 275 274
+f 247 274 248
+f 248 274 259
+f 253 259 274
+f 253 274 273
+f 253 273 272
+f 253 272 267
+f 253 267 257
+f 253 257 276
+f 253 276 254
+f 254 276 255
+f 255 276 257
+f 267 272 269
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_1.obj

@@ -0,0 +1,883 @@
+# https://github.com/mikedh/trimesh
+v -0.01663893 0.00293498 -0.00472787
+v -0.01663893 -0.00320409 -0.00472789
+v -0.01663893 0.00297699 -0.00473324
+v -0.01664757 0.00297810 -0.00472787
+v -0.01779008 -0.00365302 -0.00472789
+v -0.02112267 -0.00503184 -0.01484048
+v -0.01993986 -0.00446791 -0.01626290
+v -0.01663893 -0.00294203 -0.00588730
+v -0.01663893 0.00271936 -0.00588191
+v -0.01995137 0.00424532 -0.01621992
+v -0.02112267 0.00479818 -0.01484044
+v -0.01890382 0.00363823 -0.00472787
+v -0.01890382 -0.00386753 -0.00472789
+v -0.02334151 -0.00564111 -0.01484048
+v -0.02334151 -0.00563004 -0.01708951
+v -0.02099029 -0.00487703 -0.01704657
+v -0.02016146 -0.00418483 -0.01776046
+v -0.01959452 -0.00341303 -0.01704656
+v -0.02156874 -0.00482173 -0.01933317
+v -0.02175005 -0.00472001 -0.02025103
+v -0.02201481 -0.00456962 -0.02158757
+v -0.02223353 -0.00440597 -0.02271476
+v -0.01663893 -0.00120822 -0.00810411
+v -0.01663893 0.00183699 -0.00738484
+v -0.01960027 0.00318712 -0.01701433
+v -0.02159464 0.00459032 -0.01933313
+v -0.02100180 0.00464670 -0.01701432
+v -0.02018160 0.00395231 -0.01771749
+v -0.02195438 0.00439572 -0.02116349
+v -0.02334151 0.00538865 -0.01708947
+v -0.02334151 0.00540633 -0.01484044
+v -0.02112267 0.00367914 -0.00472787
+v -0.02334151 0.00510999 -0.01259678
+v -0.02556324 0.00526369 -0.01259678
+v -0.02001181 -0.00390513 -0.00472789
+v -0.02556324 -0.00550510 -0.01259682
+v -0.02334151 -0.00534698 -0.01259682
+v -0.02556324 -0.00571740 -0.01484048
+v -0.02556324 -0.00576273 -0.01708951
+v -0.02556324 -0.00575940 -0.01933317
+v -0.02556324 -0.00573286 -0.02025103
+v -0.02556324 -0.00569415 -0.02158757
+v -0.02334151 -0.00549292 -0.01933317
+v -0.01980748 -0.00275400 -0.01871589
+v -0.02334151 -0.00536576 -0.02024566
+v -0.02334439 -0.00517888 -0.02158757
+v -0.02334727 -0.00478412 -0.02361116
+v -0.02175005 -0.00472111 -0.02024566
+v -0.03722728 -0.00475194 -0.05526931
+v -0.02199467 -0.00333007 -0.02324078
+v -0.03756687 -0.00455179 -0.05669173
+v -0.03546026 -0.00448547 -0.05216147
+v -0.03576532 -0.00409071 -0.05366977
+v -0.03537680 -0.00265878 -0.05455542
+v -0.01663893 -0.00117726 -0.00813095
+v -0.01663893 0.00098114 -0.00812021
+v -0.01981036 0.00251927 -0.01871050
+v -0.02334151 0.00524381 -0.01933313
+v -0.02366383 0.00463567 -0.02383119
+v -0.02313718 0.00478272 -0.02178076
+v -0.02225655 0.00416241 -0.02266105
+v -0.03725030 0.00451857 -0.05526927
+v -0.02556324 0.00544506 -0.02158753
+v -0.02556324 0.00549371 -0.02024562
+v -0.02556324 0.00552577 -0.01933313
+v -0.02556324 0.00553350 -0.01708947
+v -0.02556324 0.00548042 -0.01484044
+v -0.02334151 0.00336511 -0.00472787
+v -0.02778208 0.00501158 -0.01484044
+v -0.02785403 0.00462015 -0.01274707
+v -0.02716046 0.00447861 -0.01093819
+v -0.03666033 0.00536770 -0.03281657
+v -0.02112267 -0.00390734 -0.00472789
+v -0.02223065 -0.00382551 -0.00472789
+v -0.02717485 -0.00470345 -0.01092213
+v -0.02785978 -0.00485271 -0.01273101
+v -0.02778208 -0.00525299 -0.01484048
+v -0.03887918 -0.00536901 -0.03505490
+v -0.03666033 -0.00560344 -0.03281661
+v -0.03443861 -0.00570076 -0.03057294
+v -0.03666033 -0.00570848 -0.03505490
+v -0.03443861 -0.00574387 -0.03281661
+v -0.04110090 -0.00574713 -0.04853297
+v -0.03887918 -0.00576040 -0.04853297
+v -0.03887918 -0.00573385 -0.05078200
+v -0.02556324 -0.00553934 -0.02383123
+v -0.03887918 -0.00561996 -0.05303102
+v -0.03887918 -0.00534904 -0.05526931
+v -0.03666033 -0.00528824 -0.05078200
+v -0.02016146 -0.00118054 -0.02010072
+v -0.01970100 -0.00118054 -0.01897352
+v -0.01905923 -0.00118055 -0.01708949
+v -0.02079459 -0.00118053 -0.02158755
+v -0.02022477 -0.00118054 -0.02025101
+v -0.03904322 -0.00472429 -0.05748077
+v -0.03989507 -0.00443789 -0.05867775
+v -0.03841296 -0.00378220 -0.05820002
+v -0.03772515 -0.00235026 -0.05867774
+v -0.03727044 -0.00317294 -0.05748076
+v -0.03609339 -0.00335761 -0.05529078
+v -0.03577683 -0.00118040 -0.05588657
+v -0.01663893 0.00096456 -0.00813095
+v -0.01906211 0.00096680 -0.01708949
+v -0.01970100 0.00096681 -0.01896815
+v -0.02016433 0.00096681 -0.02009535
+v -0.02022765 0.00096681 -0.02024564
+v -0.02079747 0.00096571 -0.02158755
+v -0.03537968 0.00242430 -0.05455003
+v -0.02191984 0.00272827 -0.02340716
+v -0.02556324 0.00497183 -0.02607485
+v -0.03666033 0.00503052 -0.05078196
+v -0.03887918 0.00510240 -0.05526927
+v -0.03887918 0.00537772 -0.05303098
+v -0.03578834 0.00385734 -0.05361070
+v -0.03758126 0.00432840 -0.05667559
+v -0.03887918 0.00549604 -0.05078196
+v -0.03887918 0.00553030 -0.04853293
+v -0.04110090 0.00551925 -0.04853293
+v -0.03443861 0.00550592 -0.03281657
+v -0.03666033 0.00547939 -0.03505486
+v -0.03443861 0.00546057 -0.03057290
+v -0.02497039 0.00254686 -0.00472787
+v -0.03887918 0.00511450 -0.03505486
+v -0.03891947 0.00466556 -0.03290245
+v -0.02864257 0.00381627 -0.01210297
+v -0.04010228 0.00428408 -0.03370759
+v -0.03887918 0.00536330 -0.03730389
+v -0.02334151 -0.00359552 -0.00472789
+v -0.02425956 -0.00318308 -0.00472789
+v -0.02497615 -0.00276843 -0.00472789
+v -0.02865408 -0.00404001 -0.01207615
+v -0.04013106 -0.00452203 -0.03365395
+v -0.03893674 -0.00490351 -0.03286491
+v -0.04043611 -0.00472879 -0.03505490
+v -0.04114983 -0.00485594 -0.03747569
+v -0.04110090 -0.00523520 -0.03955832
+v -0.04110090 -0.00550168 -0.04179125
+v -0.03887918 -0.00560784 -0.03730393
+v -0.03887918 -0.00570735 -0.03955832
+v -0.03887918 -0.00573721 -0.04179125
+v -0.04110090 -0.00572281 -0.04628394
+v -0.04331975 -0.00535126 -0.05078200
+v -0.04110090 -0.00573827 -0.05078200
+v -0.04110090 -0.00570731 -0.05303102
+v -0.04110090 -0.00554476 -0.05526931
+v -0.03577683 0.00096584 -0.05588657
+v -0.04106349 -0.00482491 -0.05769547
+v -0.04029798 -0.00443789 -0.05867775
+v -0.04106349 -0.00348364 -0.05902663
+v -0.03904322 -0.00317293 -0.05889245
+v -0.03887918 -0.00118039 -0.05922523
+v -0.03770500 -0.00118039 -0.05870457
+v -0.03682437 -0.00118040 -0.05751832
+v -0.03772515 0.00213130 -0.05867772
+v -0.03728196 0.00295507 -0.05746464
+v -0.03611642 0.00313087 -0.05528539
+v -0.04110090 0.00530365 -0.05526927
+v -0.03905761 0.00449315 -0.05746463
+v -0.04110090 0.00546618 -0.05303098
+v -0.03843887 0.00356544 -0.05817853
+v -0.03992097 0.00421452 -0.05867234
+v -0.04110090 0.00549714 -0.05078196
+v -0.04110090 0.00549270 -0.04628390
+v -0.04331975 0.00507807 -0.05303098
+v -0.04331975 0.00509023 -0.05078196
+v -0.03887918 0.00547278 -0.03955828
+v -0.02538481 0.00168438 -0.00472787
+v -0.02903396 0.00238434 -0.01115827
+v -0.04039294 0.00448201 -0.03505486
+v -0.04110090 0.00524610 -0.04179121
+v -0.04110090 0.00498072 -0.03955828
+v -0.04112968 0.00461582 -0.03751322
+v -0.03968498 0.00376659 -0.03221004
+v -0.04222327 0.00420227 -0.03839351
+v -0.04189232 0.00368700 -0.03690133
+v -0.04150956 0.00302797 -0.03515149
+v -0.04045338 0.00307550 -0.03290246
+v -0.04110090 0.00540091 -0.04404024
+v -0.02560353 -0.00118059 -0.00472788
+v -0.02903396 -0.00260697 -0.01115829
+v -0.03971664 -0.00401228 -0.03215638
+v -0.04154985 -0.00325926 -0.03514077
+v -0.04192398 -0.00392712 -0.03683157
+v -0.04224630 -0.00443908 -0.03832914
+v -0.04047640 -0.00331014 -0.03286490
+v -0.04243048 -0.00459940 -0.03955832
+v -0.04275568 -0.00483271 -0.04179125
+v -0.04307513 -0.00497645 -0.04404028
+v -0.04331975 -0.00526945 -0.04853297
+v -0.04110090 -0.00564652 -0.04404028
+v -0.04475005 -0.00469445 -0.05078200
+v -0.04477307 -0.00469777 -0.05303102
+v -0.04331975 -0.00533136 -0.05303102
+v -0.04331975 -0.00509140 -0.05526931
+v -0.04331975 -0.00465242 -0.05691717
+v -0.03682725 0.00096584 -0.05751832
+v -0.04178008 -0.00430078 -0.05855966
+v -0.04110090 -0.00118039 -0.05956339
+v -0.04267798 -0.00286885 -0.05889245
+v -0.03887918 0.00096585 -0.05921986
+v -0.03770500 0.00096585 -0.05869920
+v -0.03905761 0.00295508 -0.05888706
+v -0.04331975 0.00484255 -0.05526927
+v -0.04100881 0.00459267 -0.05768470
+v -0.04331975 0.00442017 -0.05687956
+v -0.04100881 0.00325584 -0.05901588
+v -0.04021164 0.00421452 -0.05867234
+v -0.04331975 0.00500287 -0.04853293
+v -0.04457450 0.00431180 -0.05526927
+v -0.04474142 0.00445885 -0.05303098
+v -0.04471840 0.00445001 -0.05078196
+v -0.02560065 0.00096676 -0.00472788
+v -0.02850155 0.00096678 -0.00985932
+v -0.04013106 0.00233355 -0.03145857
+v -0.04303196 0.00474300 -0.04404024
+v -0.04272403 0.00459040 -0.04179121
+v -0.04240170 0.00435377 -0.03955828
+v -0.04248804 0.00302798 -0.03751323
+v -0.04230385 0.00225284 -0.03595663
+v -0.04434427 0.00404750 -0.04552708
+v -0.04414570 0.00363837 -0.04404025
+v -0.04311254 0.00311534 -0.03955829
+v -0.02850443 -0.00118057 -0.00985932
+v -0.04013682 -0.00257925 -0.03144249
+v -0.04230673 -0.00249520 -0.03594591
+v -0.04315283 -0.00333001 -0.03955831
+v -0.04418023 -0.00390277 -0.04404027
+v -0.04437305 -0.00430525 -0.04540365
+v -0.04251106 -0.00325925 -0.03747568
+v -0.04452270 -0.00449765 -0.04689584
+v -0.04350969 -0.00497865 -0.04620342
+v -0.04463494 -0.00460269 -0.04853297
+v -0.04550981 -0.00332997 -0.05078199
+v -0.04557312 -0.00332997 -0.05303101
+v -0.04460328 -0.00454738 -0.05526931
+v -0.04444787 -0.00441910 -0.05642335
+v -0.04338018 -0.00348365 -0.05802826
+v -0.04110090 0.00096585 -0.05955802
+v -0.04291972 -0.00118039 -0.05902662
+v -0.04291972 0.00096585 -0.05902662
+v -0.04403059 -0.00118040 -0.05832347
+v -0.04443349 0.00419239 -0.05640184
+v -0.04168799 0.00406524 -0.05853816
+v -0.04267798 0.00263220 -0.05889243
+v -0.04460328 0.00435380 -0.04853293
+v -0.04348954 0.00473748 -0.04627853
+v -0.04524505 0.00311539 -0.05526928
+v -0.04554147 0.00311538 -0.05303099
+v -0.04547528 0.00311538 -0.05078197
+v -0.04020876 0.00096575 -0.03132439
+v -0.04021452 -0.00118049 -0.03131365
+v -0.04099442 0.00096575 -0.03281659
+v -0.04449968 0.00425869 -0.04702463
+v -0.04447378 0.00216331 -0.04275202
+v -0.04364495 0.00096578 -0.03955830
+v -0.04290821 0.00096577 -0.03730391
+v -0.04235566 0.00096576 -0.03582781
+v -0.04188369 0.00096576 -0.03470598
+v -0.04482776 0.00324473 -0.04627854
+v -0.04462918 0.00256359 -0.04404025
+v -0.04386079 0.00297381 -0.04192004
+v -0.04100305 -0.00118049 -0.03281659
+v -0.04236141 -0.00118048 -0.03581708
+v -0.04291397 -0.00118047 -0.03730391
+v -0.04365358 -0.00118046 -0.03955830
+v -0.04447953 -0.00240229 -0.04272520
+v -0.04188656 -0.00118048 -0.03469525
+v -0.04389244 -0.00320396 -0.04190933
+v -0.04484502 -0.00348590 -0.04620341
+v -0.04463782 -0.00282910 -0.04404027
+v -0.04527095 -0.00332998 -0.04853296
+v -0.04595588 -0.00118042 -0.05078198
+v -0.04603934 -0.00118042 -0.05303100
+v -0.04577746 -0.00118041 -0.05526929
+v -0.04527383 -0.00332996 -0.05526930
+v -0.04471840 -0.00332995 -0.05681518
+v -0.04402770 0.00096584 -0.05831810
+v -0.04498028 -0.00118040 -0.05719627
+v -0.04497740 0.00096584 -0.05719627
+v -0.04337730 0.00325583 -0.05799603
+v -0.04470401 0.00311540 -0.05679906
+v -0.04577170 0.00096583 -0.05526929
+v -0.04603359 0.00096582 -0.05303100
+v -0.04594725 0.00096582 -0.05078198
+v -0.04570551 0.00096581 -0.04853295
+v -0.04523066 0.00311537 -0.04853294
+v -0.04532850 0.00096580 -0.04628392
+v -0.04483927 0.00096579 -0.04404026
+v -0.04450543 0.00096579 -0.04263931
+v -0.04420613 0.00096578 -0.04151748
+v -0.04421189 -0.00118046 -0.04150138
+v -0.04450543 -0.00118045 -0.04262321
+v -0.04485078 -0.00118045 -0.04404026
+v -0.04533426 -0.00118044 -0.04628392
+v -0.04571126 -0.00118043 -0.04853295
+f 1 2 8
+f 1 8 23
+f 1 23 55
+f 1 55 102
+f 1 102 56
+f 1 56 24
+f 1 24 9
+f 1 9 3
+f 1 3 4
+f 1 4 12
+f 1 12 32
+f 1 32 68
+f 1 68 122
+f 1 122 167
+f 1 167 212
+f 1 212 179
+f 1 179 130
+f 1 130 129
+f 1 129 128
+f 1 128 74
+f 1 74 73
+f 1 73 35
+f 1 35 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 17 18
+f 7 18 8
+f 7 16 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 17
+f 8 18 23
+f 9 24 25
+f 9 25 10
+f 10 26 27
+f 10 27 11
+f 10 25 28
+f 10 28 29
+f 10 29 26
+f 11 27 30
+f 11 30 31
+f 11 31 12
+f 12 31 33
+f 12 33 34
+f 12 34 32
+f 13 35 36
+f 13 36 37
+f 13 37 14
+f 14 38 39
+f 14 39 40
+f 14 40 15
+f 14 37 36
+f 14 36 38
+f 15 40 41
+f 15 41 42
+f 15 42 43
+f 15 43 16
+f 16 43 19
+f 17 44 18
+f 17 22 44
+f 18 44 23
+f 19 43 45
+f 19 45 46
+f 19 46 47
+f 19 47 48
+f 19 48 20
+f 20 47 21
+f 20 48 47
+f 21 47 49
+f 21 49 22
+f 22 50 44
+f 22 49 51
+f 22 51 52
+f 22 52 53
+f 22 53 54
+f 22 54 50
+f 23 44 55
+f 24 56 57
+f 24 57 25
+f 25 57 28
+f 26 58 27
+f 26 29 59
+f 26 59 60
+f 26 60 58
+f 27 58 30
+f 28 57 61
+f 28 61 29
+f 29 61 62
+f 29 62 59
+f 30 58 63
+f 30 63 64
+f 30 64 65
+f 30 65 31
+f 31 65 66
+f 31 66 67
+f 31 67 34
+f 31 34 33
+f 32 34 68
+f 34 69 70
+f 34 70 71
+f 34 71 68
+f 34 67 72
+f 34 72 69
+f 35 73 36
+f 36 73 74
+f 36 74 75
+f 36 75 76
+f 36 76 77
+f 36 77 78
+f 36 78 79
+f 36 79 38
+f 38 79 80
+f 38 80 81
+f 38 81 39
+f 39 81 82
+f 39 82 83
+f 39 83 84
+f 39 84 40
+f 40 84 85
+f 40 85 41
+f 41 85 42
+f 42 86 43
+f 42 85 87
+f 42 87 86
+f 43 86 87
+f 43 87 88
+f 43 88 89
+f 43 89 45
+f 44 90 91
+f 44 91 92
+f 44 92 55
+f 44 50 54
+f 44 54 93
+f 44 93 94
+f 44 94 90
+f 45 89 46
+f 46 89 49
+f 46 49 47
+f 49 89 88
+f 49 88 51
+f 51 95 96
+f 51 96 97
+f 51 97 98
+f 51 98 99
+f 51 99 100
+f 51 100 53
+f 51 53 52
+f 51 88 95
+f 53 100 54
+f 54 100 99
+f 54 99 98
+f 54 98 101
+f 54 101 93
+f 55 92 102
+f 56 102 103
+f 56 103 57
+f 57 103 104
+f 57 104 105
+f 57 105 106
+f 57 106 107
+f 57 107 108
+f 57 108 109
+f 57 109 61
+f 58 60 110
+f 58 110 111
+f 58 111 112
+f 58 112 113
+f 58 113 63
+f 59 62 60
+f 60 62 111
+f 60 111 110
+f 61 109 108
+f 61 108 114
+f 61 114 115
+f 61 115 62
+f 62 115 112
+f 62 112 111
+f 63 113 116
+f 63 116 64
+f 64 116 65
+f 65 116 117
+f 65 117 66
+f 66 117 118
+f 66 118 119
+f 66 119 120
+f 66 120 67
+f 67 120 121
+f 67 121 72
+f 68 71 122
+f 69 72 123
+f 69 123 70
+f 70 123 124
+f 70 124 71
+f 71 125 122
+f 71 124 126
+f 71 126 125
+f 72 120 127
+f 72 127 123
+f 72 121 120
+f 74 128 75
+f 75 128 129
+f 75 129 130
+f 75 130 131
+f 75 131 132
+f 75 132 133
+f 75 133 76
+f 76 133 78
+f 76 78 77
+f 78 133 134
+f 78 134 135
+f 78 135 136
+f 78 136 137
+f 78 137 138
+f 78 138 79
+f 79 138 81
+f 79 81 80
+f 81 138 139
+f 81 139 82
+f 82 139 140
+f 82 140 83
+f 83 140 141
+f 83 141 142
+f 83 142 143
+f 83 143 84
+f 84 143 85
+f 85 143 144
+f 85 144 87
+f 87 144 145
+f 87 145 88
+f 88 145 95
+f 90 105 104
+f 90 104 91
+f 90 94 106
+f 90 106 105
+f 91 104 92
+f 92 104 103
+f 92 103 102
+f 93 107 94
+f 93 101 146
+f 93 146 107
+f 94 107 106
+f 95 145 147
+f 95 147 96
+f 96 148 149
+f 96 149 150
+f 96 150 98
+f 96 98 97
+f 96 147 148
+f 98 150 151
+f 98 151 152
+f 98 152 153
+f 98 153 101
+f 101 153 146
+f 107 146 108
+f 108 146 154
+f 108 154 155
+f 108 155 156
+f 108 156 114
+f 112 157 113
+f 112 115 158
+f 112 158 157
+f 113 157 159
+f 113 159 116
+f 114 156 115
+f 115 155 154
+f 115 154 160
+f 115 160 161
+f 115 161 158
+f 115 156 155
+f 116 159 117
+f 117 159 162
+f 117 162 118
+f 118 163 120
+f 118 120 119
+f 118 162 164
+f 118 164 165
+f 118 165 163
+f 120 163 166
+f 120 166 127
+f 122 125 168
+f 122 168 167
+f 123 169 124
+f 123 127 170
+f 123 170 171
+f 123 171 172
+f 123 172 169
+f 124 169 126
+f 125 126 173
+f 125 173 168
+f 126 169 174
+f 126 174 175
+f 126 175 176
+f 126 176 177
+f 126 177 173
+f 127 166 178
+f 127 178 170
+f 130 179 180
+f 130 180 131
+f 131 180 181
+f 131 181 132
+f 132 182 183
+f 132 183 184
+f 132 184 134
+f 132 134 133
+f 132 181 185
+f 132 185 182
+f 134 184 135
+f 135 184 186
+f 135 186 187
+f 135 187 136
+f 136 187 188
+f 136 188 137
+f 137 188 189
+f 137 189 190
+f 137 190 138
+f 138 190 139
+f 139 190 141
+f 139 141 140
+f 141 190 142
+f 142 191 192
+f 142 192 193
+f 142 193 143
+f 142 190 189
+f 142 189 191
+f 143 193 144
+f 144 193 145
+f 145 193 194
+f 145 194 195
+f 145 195 147
+f 146 153 196
+f 146 196 154
+f 147 195 197
+f 147 197 148
+f 148 197 149
+f 149 198 150
+f 149 197 199
+f 149 199 198
+f 150 198 151
+f 151 198 238
+f 151 238 200
+f 151 200 201
+f 151 201 152
+f 152 201 196
+f 152 196 153
+f 154 201 200
+f 154 200 202
+f 154 202 161
+f 154 161 160
+f 154 196 201
+f 157 203 164
+f 157 164 159
+f 157 158 161
+f 157 161 204
+f 157 204 205
+f 157 205 203
+f 159 164 162
+f 161 202 206
+f 161 206 207
+f 161 207 204
+f 163 165 208
+f 163 208 178
+f 163 178 166
+f 164 203 209
+f 164 209 210
+f 164 210 165
+f 165 210 211
+f 165 211 208
+f 167 168 212
+f 168 213 212
+f 168 173 214
+f 168 214 213
+f 169 172 174
+f 170 178 208
+f 170 208 215
+f 170 215 171
+f 171 215 216
+f 171 216 172
+f 172 216 217
+f 172 217 174
+f 173 177 214
+f 174 218 219
+f 174 219 175
+f 174 217 220
+f 174 220 221
+f 174 221 222
+f 174 222 218
+f 175 219 176
+f 176 219 177
+f 177 219 214
+f 179 212 213
+f 179 213 223
+f 179 223 180
+f 180 223 224
+f 180 224 181
+f 181 224 185
+f 182 185 225
+f 182 225 183
+f 183 225 184
+f 184 226 227
+f 184 227 228
+f 184 228 186
+f 184 225 229
+f 184 229 226
+f 185 224 225
+f 186 228 187
+f 187 228 230
+f 187 230 188
+f 188 230 231
+f 188 231 189
+f 189 231 232
+f 189 232 191
+f 191 233 234
+f 191 234 192
+f 191 232 233
+f 192 234 235
+f 192 235 193
+f 193 235 194
+f 194 235 236
+f 194 236 195
+f 195 236 197
+f 197 236 237
+f 197 237 199
+f 198 199 239
+f 198 239 240
+f 198 240 238
+f 199 237 241
+f 199 241 239
+f 200 238 202
+f 202 238 206
+f 203 205 242
+f 203 242 209
+f 204 207 243
+f 204 243 205
+f 205 243 242
+f 206 244 243
+f 206 243 207
+f 206 238 244
+f 208 245 246
+f 208 246 215
+f 208 211 245
+f 209 247 248
+f 209 248 210
+f 209 242 247
+f 210 248 211
+f 211 248 249
+f 211 249 245
+f 213 214 250
+f 213 250 251
+f 213 251 223
+f 214 219 252
+f 214 252 250
+f 215 246 253
+f 215 253 216
+f 216 253 220
+f 216 220 217
+f 218 222 219
+f 219 222 254
+f 219 254 255
+f 219 255 256
+f 219 256 257
+f 219 257 258
+f 219 258 252
+f 220 253 259
+f 220 259 260
+f 220 260 221
+f 221 260 254
+f 221 254 261
+f 221 261 222
+f 222 261 254
+f 223 251 224
+f 224 251 262
+f 224 262 225
+f 225 263 264
+f 225 264 265
+f 225 265 266
+f 225 266 226
+f 225 226 229
+f 225 262 267
+f 225 267 263
+f 226 266 268
+f 226 268 227
+f 227 268 266
+f 227 266 228
+f 228 269 230
+f 228 266 270
+f 228 270 269
+f 230 269 271
+f 230 271 233
+f 230 233 232
+f 230 232 231
+f 233 272 273
+f 233 273 234
+f 233 271 272
+f 234 273 274
+f 234 274 275
+f 234 275 235
+f 235 275 236
+f 236 276 237
+f 236 275 276
+f 237 276 241
+f 238 240 244
+f 239 241 240
+f 240 241 277
+f 240 277 244
+f 241 278 279
+f 241 279 277
+f 241 276 278
+f 242 243 280
+f 242 280 281
+f 242 281 247
+f 243 244 280
+f 244 277 280
+f 245 253 246
+f 245 249 253
+f 247 282 248
+f 247 281 282
+f 248 282 283
+f 248 283 249
+f 249 283 284
+f 249 284 285
+f 249 285 286
+f 249 286 253
+f 250 252 251
+f 251 252 262
+f 252 258 262
+f 253 286 259
+f 254 260 287
+f 254 287 288
+f 254 288 289
+f 254 289 290
+f 254 290 255
+f 255 290 291
+f 255 291 265
+f 255 265 256
+f 256 264 263
+f 256 263 257
+f 256 265 264
+f 257 263 258
+f 258 267 262
+f 258 263 267
+f 259 286 260
+f 260 286 285
+f 260 285 287
+f 265 291 266
+f 266 291 292
+f 266 292 293
+f 266 293 294
+f 266 294 270
+f 269 270 271
+f 270 294 295
+f 270 295 271
+f 271 295 272
+f 272 295 285
+f 272 285 284
+f 272 284 283
+f 272 283 273
+f 273 283 282
+f 273 282 274
+f 274 282 279
+f 274 279 278
+f 274 278 276
+f 274 276 275
+f 277 279 281
+f 277 281 280
+f 279 282 281
+f 285 295 294
+f 285 294 287
+f 287 294 293
+f 287 293 288
+f 288 293 289
+f 289 293 292
+f 289 292 291
+f 289 291 290
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_10.obj

@@ -0,0 +1,1672 @@
+# https://github.com/mikedh/trimesh
+v -0.01891673 -0.00118000 -0.05078583
+v -0.01865405 -0.00118000 -0.05303240
+v -0.01845057 -0.00332794 -0.05303241
+v -0.01866515 -0.00332794 -0.05078584
+v -0.01883164 -0.00118001 -0.04853927
+v -0.01891303 0.00096435 -0.05078583
+v -0.01806951 -0.00117999 -0.05437215
+v -0.01799181 -0.00332793 -0.05432341
+v -0.01865035 0.00096435 -0.05303240
+v -0.01806951 0.00096436 -0.05437020
+v -0.01788082 -0.00474793 -0.05423956
+v -0.01799921 -0.00546870 -0.05287641
+v -0.01857636 -0.00332795 -0.04853928
+v -0.01780313 -0.00659108 -0.05202614
+v -0.01807321 -0.00566951 -0.05076440
+v -0.01808430 -0.00533962 -0.04853929
+v -0.01846907 -0.00332796 -0.04629271
+v -0.01872065 -0.00118002 -0.04629270
+v -0.01871695 0.00096433 -0.04629270
+v -0.01882424 0.00096434 -0.04853927
+v -0.01856896 0.00311586 -0.04853926
+v -0.01865405 0.00311587 -0.05078582
+v -0.01843947 0.00311587 -0.05303239
+v -0.00238660 0.00019700 -0.05879118
+v -0.00238660 -0.00041977 -0.05879118
+v -0.01787712 0.00452154 -0.05423367
+v -0.01798441 0.00311588 -0.05431754
+v -0.00111761 -0.00115487 -0.05905640
+v -0.01609388 -0.00762739 -0.05438583
+v -0.01578311 -0.00909401 -0.05430003
+v -0.01753305 -0.00617870 -0.05352386
+v -0.01803251 -0.00517110 -0.04629272
+v -0.01780313 -0.00659108 -0.05149766
+v -0.01713349 -0.00743376 -0.05287642
+v -0.01604949 -0.00949922 -0.05303243
+v -0.01617897 -0.00966776 -0.05078587
+v -0.01738137 -0.00743376 -0.05076441
+v -0.01777353 -0.00651220 -0.04999994
+v -0.01774393 -0.00641538 -0.04853929
+v -0.01809910 -0.00332797 -0.04445567
+v -0.01792892 -0.00484838 -0.04483206
+v -0.01822489 -0.00118003 -0.04419044
+v -0.01822119 0.00096432 -0.04419434
+v -0.01809170 0.00311584 -0.04446735
+v -0.01845797 0.00311585 -0.04629269
+v -0.01802511 0.00494823 -0.04629268
+v -0.01808060 0.00512395 -0.04853925
+v -0.01806951 0.00545386 -0.05077606
+v -0.01780313 0.00637184 -0.05202025
+v -0.01799551 0.00524946 -0.05287442
+v -0.00111021 0.00093569 -0.05905445
+v -0.01753305 0.00595589 -0.05351797
+v -0.01578311 0.00887120 -0.05429801
+v -0.01609388 0.00741175 -0.05438382
+v 0.00106149 -0.00115487 -0.05905835
+v -0.00036288 -0.00239917 -0.05880289
+v -0.00486908 -0.01739888 -0.05424935
+v -0.00779552 -0.01567767 -0.05438586
+v -0.00931978 -0.01536211 -0.05430006
+v -0.01169867 -0.01342215 -0.05431760
+v -0.01377419 -0.01140331 -0.05431563
+v 0.00105409 0.00093569 -0.05905640
+v -0.01317854 -0.01283766 -0.05383006
+v -0.01530955 -0.01057498 -0.05303244
+v -0.01768474 -0.00624327 -0.04629272
+v -0.01719638 -0.00762741 -0.04853930
+v -0.01549084 -0.01074352 -0.05078587
+v -0.01613088 -0.00958888 -0.04853931
+v -0.01707800 -0.00762742 -0.04629273
+v -0.01587190 -0.00331006 -0.03913763
+v -0.01619377 -0.00118005 -0.03913762
+v -0.01587930 -0.00919445 -0.04454735
+v -0.01631216 -0.00775293 -0.04389795
+v -0.01733327 -0.00552969 -0.04406760
+v -0.01559443 -0.00445754 -0.03913764
+v -0.01619377 -0.00078202 -0.03913762
+v -0.01619007 0.00096430 -0.03913762
+v -0.01615308 0.00128703 -0.03913762
+v -0.01582381 0.00324491 -0.03913761
+v -0.01576091 0.00355330 -0.03913761
+v -0.01792522 0.00462908 -0.04483982
+v -0.01768474 0.00602041 -0.04629268
+v -0.01774023 0.00619612 -0.04853925
+v -0.01777353 0.00629294 -0.05002136
+v -0.01780313 0.00637184 -0.05151907
+v -0.01737767 0.00721811 -0.05077605
+v -0.01617527 0.00943417 -0.05078580
+v -0.01604579 0.00926564 -0.05303237
+v -0.01712979 0.00721811 -0.05287441
+v -0.01376679 0.01119126 -0.05431751
+v -0.01169867 0.01319935 -0.05431750
+v -0.00931238 0.01514648 -0.05429994
+v -0.00779552 0.01545128 -0.05438574
+v -0.00035178 0.00218357 -0.05880092
+v -0.01529475 0.01034140 -0.05303236
+v -0.01317854 0.01262202 -0.05381241
+v 0.00031046 -0.00239917 -0.05880289
+v 0.00233418 0.00019700 -0.05879508
+v 0.00233418 -0.00042335 -0.05879508
+v 0.01782840 -0.00476945 -0.05424151
+v 0.01605626 -0.00762739 -0.05438973
+v 0.01573439 -0.00909759 -0.05430197
+v 0.01372547 -0.01142124 -0.05431954
+v 0.01166105 -0.01341857 -0.05431955
+v 0.00926366 -0.01536570 -0.05430200
+v 0.00774310 -0.01567767 -0.05438781
+v 0.00480556 -0.01739888 -0.05424740
+v 0.00107999 -0.01759252 -0.05438001
+v -0.00113611 -0.01758894 -0.05438001
+v -0.00335591 -0.01751363 -0.05433516
+v -0.00335591 -0.01796905 -0.05303247
+v -0.00559791 -0.01752081 -0.05291740
+v -0.00634895 -0.01707257 -0.05359020
+v -0.00973785 -0.01562030 -0.05303246
+v -0.01084775 -0.01490671 -0.05303245
+v 0.00029566 0.00218357 -0.05880092
+v 0.00477596 0.01717608 -0.05424143
+v 0.00774310 0.01544410 -0.05438574
+v 0.00924517 0.01514289 -0.05429798
+v 0.01163885 0.01319218 -0.05431750
+v 0.01371437 0.01118409 -0.05431946
+v 0.01573069 0.00887479 -0.05430191
+v 0.01604886 0.00741175 -0.05438772
+v 0.01782840 0.00454664 -0.05424147
+v -0.01235721 -0.01371262 -0.05306170
+v -0.01343012 -0.01308151 -0.05233235
+v -0.01407756 -0.01204160 -0.05306169
+v -0.01607168 -0.00949566 -0.04629273
+v -0.01543534 -0.01066464 -0.04853931
+v -0.01447713 -0.01192686 -0.05078587
+v -0.01436244 -0.01192687 -0.04853931
+v -0.01536875 -0.01057142 -0.04629274
+v -0.01388888 -0.01146790 -0.04404617
+v -0.01506537 -0.00985784 -0.04389796
+v -0.01548714 -0.00855617 -0.04304964
+v -0.01348931 -0.01101249 -0.04277858
+v -0.01385558 -0.00678835 -0.03913764
+v -0.01512457 0.00484780 -0.03913760
+v -0.01547974 0.00832611 -0.04306128
+v -0.01630476 0.00753005 -0.04390374
+v -0.01732587 0.00531039 -0.04407342
+v -0.01587560 0.00896798 -0.04455899
+v -0.01707059 0.00741172 -0.04629267
+v -0.01718898 0.00741173 -0.04853924
+v -0.01612718 0.00935886 -0.04853924
+v -0.01547604 0.01050635 -0.05078579
+v -0.01083665 0.01468389 -0.05303235
+v -0.00972675 0.01540106 -0.05303234
+v -0.00631565 0.01684259 -0.05353548
+v -0.00483578 0.01717608 -0.05424143
+v -0.00335591 0.01729083 -0.05432919
+v -0.00113611 0.01737689 -0.05438184
+v -0.01342272 0.01285868 -0.05231469
+v -0.01406276 0.01182954 -0.05304991
+v -0.01235721 0.01348979 -0.05304990
+v 0.00329979 -0.01751005 -0.05433321
+v 0.01793939 0.00311588 -0.05432729
+v 0.01802448 0.00096436 -0.05437605
+v 0.01802448 -0.00117999 -0.05437605
+v 0.01794309 -0.00332793 -0.05432731
+v 0.01795419 -0.00548305 -0.05290956
+v 0.01749543 -0.00620021 -0.05357651
+v 0.01840555 -0.00332794 -0.05303241
+v 0.01600077 -0.00950281 -0.05303243
+v 0.01525713 -0.01057857 -0.05303244
+v 0.01314092 -0.01285200 -0.05385736
+v 0.01079163 -0.01490313 -0.05303245
+v 0.00968173 -0.01562030 -0.05303246
+v 0.00628913 -0.01707257 -0.05358045
+v 0.00553810 -0.01751723 -0.05291155
+v 0.00329979 -0.01796905 -0.05303247
+v 0.00107999 -0.01817703 -0.05303247
+v -0.00113611 -0.01817344 -0.05303247
+v -0.00113611 -0.01842087 -0.05078590
+v -0.00335591 -0.01816627 -0.05078590
+v -0.00674481 -0.01732359 -0.05209249
+v -0.00761054 -0.01668172 -0.05291740
+v -0.00990803 -0.01574581 -0.05078589
+v -0.01101793 -0.01507525 -0.05078589
+v 0.00107999 0.01737689 -0.05437989
+v 0.00329979 0.01729083 -0.05432919
+v 0.00329979 0.01774264 -0.05303233
+v 0.00551960 0.01729082 -0.05287633
+v 0.00625583 0.01684259 -0.05352183
+v 0.00965583 0.01539389 -0.05303234
+v 0.01076573 0.01466955 -0.05303235
+v 0.01311872 0.01261844 -0.05379291
+v 0.01748803 0.00597741 -0.05354137
+v 0.01524233 0.01034499 -0.05303236
+v 0.01599337 0.00926922 -0.05303237
+v 0.01840185 0.00311587 -0.05303239
+v 0.01794679 0.00526381 -0.05288807
+v -0.01344492 -0.01309226 -0.05078588
+v -0.01223882 -0.01409631 -0.05078588
+v -0.01407756 -0.01210617 -0.04648970
+v -0.01335243 -0.01300264 -0.04737118
+v -0.01328953 -0.01294526 -0.04587347
+v -0.01287517 -0.01254007 -0.04404618
+v -0.01129911 -0.01314250 -0.04277469
+v -0.01128061 -0.01099816 -0.04045400
+v -0.01064427 -0.01036347 -0.03913766
+v -0.01275308 0.00773801 -0.03913759
+v -0.01348561 0.01079319 -0.04278240
+v -0.01505057 0.00963495 -0.04390373
+v -0.01387778 0.01124142 -0.04404609
+v -0.01535395 0.01033779 -0.04629266
+v -0.01606428 0.00926203 -0.04629267
+v -0.01542054 0.01043104 -0.04853923
+v -0.01414046 0.01192276 -0.04839491
+v -0.01444753 0.01171120 -0.05078579
+v -0.01101053 0.01485601 -0.05078578
+v -0.00990063 0.01553015 -0.05078577
+v -0.00673001 0.01710077 -0.05203777
+v -0.00759944 0.01645531 -0.05288413
+v -0.00557572 0.01729082 -0.05288413
+v -0.00335591 0.01773905 -0.05303233
+v -0.00113611 0.01795779 -0.05303233
+v 0.00107999 0.01795779 -0.05303233
+v -0.01343012 0.01286585 -0.05078578
+v -0.01223882 0.01386272 -0.05078578
+v 0.01861273 0.00096435 -0.05303240
+v 0.01861643 -0.00118000 -0.05303240
+v 0.01775811 -0.00660901 -0.05207880
+v 0.01862013 -0.00332794 -0.05078584
+v 0.01709217 -0.00744452 -0.05290957
+v 0.01887171 -0.00118000 -0.05078583
+v 0.01613395 -0.00966776 -0.05078587
+v 0.01543841 -0.01074352 -0.05078587
+v 0.01337770 -0.01308509 -0.05235965
+v 0.01402884 -0.01205236 -0.05307729
+v 0.01231219 -0.01371262 -0.05307730
+v 0.01095811 -0.01507525 -0.05078589
+v 0.00984821 -0.01574222 -0.05078589
+v 0.00668869 -0.01732001 -0.05208274
+v 0.00755442 -0.01667813 -0.05291155
+v 0.00329979 -0.01816627 -0.05078590
+v 0.00107999 -0.01842445 -0.05078590
+v -0.00113611 -0.01833123 -0.04853934
+v -0.00335591 -0.01807305 -0.04853934
+v -0.00545733 -0.01758896 -0.04853933
+v -0.00578290 -0.01758536 -0.05067278
+v -0.00674481 -0.01732359 -0.05134753
+v -0.00761054 -0.01691122 -0.05067278
+v -0.00982294 -0.01569562 -0.04853933
+v -0.00779552 -0.01673193 -0.04853933
+v -0.01093284 -0.01502147 -0.04853933
+v -0.01223882 -0.01398157 -0.04853932
+v 0.00107999 0.01820880 -0.05078576
+v 0.00329979 0.01794345 -0.05078576
+v 0.00667019 0.01710077 -0.05202411
+v 0.00754332 0.01644455 -0.05287633
+v 0.00982601 0.01551940 -0.05078577
+v 0.01093592 0.01484525 -0.05078578
+v 0.01336660 0.01285510 -0.05229519
+v 0.01230109 0.01347545 -0.05304015
+v 0.01400664 0.01182595 -0.05304016
+v 0.01708107 0.00722169 -0.05288806
+v 0.01775071 0.00637901 -0.05204365
+v 0.01541992 0.01050994 -0.05078579
+v 0.01612285 0.00943417 -0.05078580
+v 0.01861273 0.00311587 -0.05078582
+v 0.01887171 0.00096435 -0.05078583
+v -0.01242381 -0.01370905 -0.04648971
+v -0.01083665 -0.01495694 -0.04629275
+v -0.01176527 -0.01352977 -0.04404618
+v -0.01010041 -0.01467008 -0.04389407
+v -0.00876113 -0.01507528 -0.04304382
+v -0.00980814 -0.01347958 -0.04193612
+v -0.00892762 -0.01301341 -0.04065098
+v -0.00943447 -0.01137468 -0.03913766
+v -0.01038529 -0.01058221 -0.03913766
+v -0.01085885 0.00990029 -0.03913758
+v -0.01127321 0.01077884 -0.04045977
+v -0.01129171 0.01292320 -0.04277849
+v -0.01286407 0.01231360 -0.04404608
+v -0.01328953 0.01272957 -0.04629265
+v -0.01424405 0.01165381 -0.04629266
+v -0.01333763 0.01277619 -0.04755049
+v -0.01338202 0.01281923 -0.04904820
+v -0.01092914 0.01480221 -0.04853922
+v -0.00981554 0.01547636 -0.04853921
+v -0.00779552 0.01650550 -0.04853921
+v -0.00759944 0.01669198 -0.05076042
+v -0.00673001 0.01710077 -0.05149368
+v -0.00577180 0.01735536 -0.05076042
+v -0.00335591 0.01793986 -0.05078576
+v -0.00113611 0.01820522 -0.05078576
+v -0.01245340 0.01356150 -0.04839490
+v 0.01733635 -0.00744452 -0.05064740
+v 0.01802448 -0.00568386 -0.05064739
+v 0.01775811 -0.00660901 -0.05130654
+v 0.01878662 -0.00118001 -0.04853927
+v 0.01853134 -0.00332795 -0.04853928
+v 0.01803558 -0.00537548 -0.04853929
+v 0.01608216 -0.00958888 -0.04853931
+v 0.01715876 -0.00762741 -0.04853930
+v 0.01442470 -0.01192686 -0.05078587
+v 0.01537922 -0.01066105 -0.04853931
+v 0.01430262 -0.01192687 -0.04853931
+v 0.01338880 -0.01309585 -0.05078588
+v 0.01218270 -0.01409272 -0.05078588
+v 0.01218270 -0.01397440 -0.04853932
+v 0.01087302 -0.01501789 -0.04853933
+v 0.00976312 -0.01569203 -0.04853933
+v 0.00755442 -0.01690763 -0.05069033
+v 0.00774310 -0.01672476 -0.04853933
+v 0.00572678 -0.01758177 -0.05069033
+v 0.00668869 -0.01732001 -0.05137679
+v 0.00539751 -0.01758896 -0.04853933
+v 0.00329979 -0.01807664 -0.04853934
+v 0.00107999 -0.01833123 -0.04853934
+v -0.00113611 -0.01822367 -0.04629277
+v -0.00335591 -0.01796907 -0.04629277
+v -0.00527234 -0.01753518 -0.04629276
+v -0.00656723 -0.01726264 -0.04853933
+v -0.00665972 -0.01729133 -0.04984982
+v -0.00972675 -0.01563467 -0.04629276
+v -0.00779552 -0.01661361 -0.04629276
+v 0.00107999 0.01811914 -0.04853920
+v 0.00329979 0.01785379 -0.04853920
+v 0.00538271 0.01736970 -0.04853921
+v 0.00571938 0.01735895 -0.05076627
+v 0.00754332 0.01668480 -0.05076627
+v 0.00667019 0.01710077 -0.05150343
+v 0.00974832 0.01547277 -0.04853921
+v 0.00774310 0.01650192 -0.04853921
+v 0.01085822 0.01479504 -0.04853922
+v 0.01240099 0.01355074 -0.04840661
+v 0.01218270 0.01384480 -0.05078578
+v 0.01337030 0.01286227 -0.05078578
+v 0.01438771 0.01171120 -0.05078579
+v 0.01775071 0.00637901 -0.05143326
+v 0.01802079 0.00545744 -0.05072536
+v 0.01732525 0.00722169 -0.05072535
+v 0.01536442 0.01043104 -0.04853923
+v 0.01607476 0.00935528 -0.04853924
+v 0.01408064 0.01191917 -0.04840662
+v 0.01714396 0.00741173 -0.04853924
+v 0.01852764 0.00311586 -0.04853926
+v 0.01803558 0.00514905 -0.04853925
+v 0.01878292 0.00096434 -0.04853927
+v -0.00941597 -0.01545180 -0.04454153
+v -0.00793241 -0.01587493 -0.04389408
+v -0.00728127 -0.01542311 -0.04258943
+v -0.00698529 -0.01300267 -0.03913767
+v -0.00787321 -0.01245761 -0.03913767
+v -0.01039269 0.01035928 -0.03913758
+v -0.00943817 0.01115893 -0.03913758
+v -0.00892392 0.01279768 -0.04065673
+v -0.00980444 0.01325667 -0.04193798
+v -0.00875373 0.01485598 -0.04304956
+v -0.01009671 0.01444719 -0.04389787
+v -0.01175417 0.01330688 -0.04404608
+v -0.01217963 0.01366190 -0.04629265
+v -0.01082925 0.01473766 -0.04629265
+v -0.00971935 0.01541897 -0.04629264
+v -0.00779552 0.01639433 -0.04629264
+v -0.00654133 0.01703980 -0.04853921
+v -0.00664122 0.01706848 -0.04999596
+v -0.00543143 0.01736970 -0.04853921
+v -0.00335591 0.01785020 -0.04853920
+v -0.00113611 0.01811556 -0.04853920
+v 0.01772851 -0.00653372 -0.04980883
+v 0.01867933 -0.00118002 -0.04629270
+v 0.01842405 -0.00332796 -0.04629271
+v 0.01798379 -0.00520696 -0.04629272
+v 0.01769891 -0.00645124 -0.04853929
+v 0.01601926 -0.00949207 -0.04629273
+v 0.01704037 -0.00762742 -0.04629273
+v 0.01332590 -0.01303131 -0.04853932
+v 0.01531263 -0.01056783 -0.04629274
+v 0.01402144 -0.01210617 -0.04651701
+v 0.01329261 -0.01299905 -0.04741603
+v 0.01236769 -0.01370188 -0.04651702
+v 0.01077313 -0.01495335 -0.04629275
+v 0.00966323 -0.01563108 -0.04629276
+v 0.00774310 -0.01661361 -0.04629276
+v 0.00659990 -0.01728774 -0.04987908
+v 0.00650741 -0.01725906 -0.04853933
+v 0.00521992 -0.01753876 -0.04629276
+v 0.00329979 -0.01796907 -0.04629277
+v 0.00107999 -0.01822367 -0.04629277
+v -0.00113611 -0.01773241 -0.04417101
+v -0.00335591 -0.01760332 -0.04444597
+v -0.00493567 -0.01743478 -0.04483015
+v -0.00638594 -0.01720528 -0.04629276
+v -0.00113611 0.01801156 -0.04629263
+v 0.00107999 0.01801156 -0.04629263
+v 0.00329979 0.01774979 -0.04629263
+v 0.00520513 0.01731948 -0.04629264
+v 0.00649261 0.01703980 -0.04853921
+v 0.00658880 0.01707207 -0.05000571
+v 0.00965583 0.01541539 -0.04629264
+v 0.00774310 0.01639074 -0.04629264
+v 0.01076573 0.01473407 -0.04629265
+v 0.01212721 0.01365831 -0.04629265
+v 0.01328521 0.01277619 -0.04756804
+v 0.01332590 0.01281564 -0.04906575
+v 0.01772111 0.00630370 -0.04993555
+v 0.01769521 0.00622122 -0.04853925
+v 0.01529783 0.01033779 -0.04629266
+v 0.01601556 0.00926203 -0.04629267
+v 0.01418793 0.01165739 -0.04629266
+v 0.01703297 0.00741172 -0.04629267
+v 0.01842405 0.00311585 -0.04629269
+v 0.01798379 0.00498409 -0.04629268
+v 0.01867563 0.00096433 -0.04629270
+v -0.00563491 -0.01685746 -0.04406764
+v -0.00557572 -0.01573509 -0.04215845
+v -0.00567561 -0.01374853 -0.03937363
+v -0.00589389 -0.01349393 -0.03913767
+v -0.00805450 0.01210918 -0.03913758
+v -0.00779552 0.01228489 -0.03913757
+v -0.00727387 0.01520381 -0.04259516
+v -0.00792871 0.01565563 -0.04389786
+v -0.00941228 0.01523608 -0.04454726
+v -0.00779552 0.01310248 -0.04015749
+v -0.00588649 0.01326742 -0.03913757
+v -0.00492457 0.01721907 -0.04483588
+v -0.00636375 0.01698241 -0.04629264
+v -0.00525385 0.01731590 -0.04629264
+v -0.00335591 0.01774620 -0.04629263
+v 0.01817617 -0.00118003 -0.04418849
+v 0.01804669 -0.00332797 -0.04444982
+v 0.01788020 -0.00487348 -0.04482231
+v 0.01764342 -0.00627913 -0.04629272
+v 0.01582688 -0.00919445 -0.04454735
+v 0.01384016 -0.01147148 -0.04404617
+v 0.01323341 -0.01294168 -0.04591832
+v 0.00935616 -0.01544821 -0.04455128
+v 0.01170915 -0.01352260 -0.04404618
+v 0.00488325 -0.01743837 -0.04482625
+v 0.00632982 -0.01720528 -0.04629276
+v 0.00329979 -0.01760332 -0.04444402
+v 0.00107999 -0.01772882 -0.04417101
+v 0.00107999 -0.01723398 -0.04304772
+v -0.00113611 -0.01723398 -0.04304772
+v -0.00335591 -0.01709054 -0.04332269
+v -0.00335591 0.01738402 -0.04445560
+v -0.00113611 0.01751670 -0.04417478
+v 0.00107999 0.01752028 -0.04416893
+v 0.00329979 0.01738761 -0.04444585
+v 0.00487585 0.01722266 -0.04483003
+v 0.00631503 0.01698600 -0.04629264
+v 0.00935246 0.01523250 -0.04455116
+v 0.01170175 0.01330688 -0.04404608
+v 0.01323711 0.01273316 -0.04629265
+v 0.01763972 0.00605985 -0.04629268
+v 0.01582318 0.00896798 -0.04455119
+v 0.01382536 0.01124501 -0.04404609
+v 0.01788020 0.00465776 -0.04482422
+v 0.01804669 0.00311584 -0.04445370
+v 0.01817247 0.00096432 -0.04419239
+v -0.00426973 -0.01510756 -0.04074069
+v -0.00345950 -0.01591438 -0.04161436
+v -0.00552392 -0.01361585 -0.03913767
+v -0.00566821 0.01352560 -0.03937549
+v -0.00557572 0.01551577 -0.04216808
+v -0.00563121 0.01663816 -0.04407142
+v -0.00551282 0.01338934 -0.03913757
+v -0.00335591 0.01687483 -0.04333232
+v 0.01623014 -0.00118005 -0.03913762
+v 0.01622645 0.00096430 -0.03913762
+v 0.01617465 -0.00159960 -0.03913763
+v 0.01588977 -0.00332082 -0.03913763
+v 0.01729195 -0.00554404 -0.04406371
+v 0.01626714 -0.00775293 -0.04389795
+v 0.01580468 -0.00370092 -0.03913763
+v 0.01557160 -0.00451491 -0.03913764
+v 0.01543472 -0.00855617 -0.04304964
+v 0.01501295 -0.00985784 -0.04389796
+v 0.01344059 -0.01101966 -0.04277273
+v 0.01281905 -0.01254366 -0.04404618
+v 0.00786889 -0.01587134 -0.04389993
+v 0.01004430 -0.01465932 -0.04389992
+v 0.00869391 -0.01506811 -0.04305357
+v 0.01123929 -0.01313532 -0.04277859
+v 0.00558249 -0.01685746 -0.04406569
+v 0.00329979 -0.01709413 -0.04332074
+v 0.00274114 -0.01526893 -0.04045793
+v 0.00107999 -0.01536933 -0.04027851
+v -0.00113611 -0.01536933 -0.04027851
+v -0.00278986 -0.01526893 -0.04045793
+v -0.00113611 0.01701467 -0.04305150
+v 0.00107999 0.01701826 -0.04304565
+v 0.00329979 0.01687841 -0.04332257
+v 0.00557879 0.01663816 -0.04406752
+v 0.00787259 0.01565204 -0.04389981
+v 0.00869761 0.01485598 -0.04305346
+v 0.01004059 0.01444361 -0.04389982
+v 0.01123559 0.01291961 -0.04277849
+v 0.01281165 0.01231718 -0.04404608
+v 0.01500185 0.00963495 -0.04389983
+v 0.01543102 0.00833687 -0.04305348
+v 0.01626344 0.00753722 -0.04389984
+v 0.01342949 0.01079319 -0.04278240
+v 0.01728825 0.00532832 -0.04406367
+v 0.01556050 0.00428123 -0.03913760
+v 0.01587498 0.00310148 -0.03913761
+v -0.00345950 -0.01451589 -0.03964666
+v -0.00342251 -0.01407843 -0.03913767
+v -0.00404405 0.01376227 -0.03913757
+v -0.00344471 0.01428940 -0.03965045
+v -0.00424753 0.01488824 -0.04074839
+v -0.00344471 0.01569865 -0.04161814
+v -0.00276767 0.01505319 -0.04046365
+v 0.01503885 -0.00522850 -0.03913764
+v 0.01084712 -0.01011604 -0.03913766
+v 0.01123189 -0.01100533 -0.04044035
+v 0.01268956 -0.00803624 -0.03913765
+v 0.00721405 -0.01541952 -0.04259139
+v 0.00975202 -0.01347241 -0.04193808
+v 0.00887150 -0.01301700 -0.04065098
+v 0.00774310 -0.01251857 -0.03913767
+v 0.00774310 -0.01332180 -0.04014589
+v 0.00584517 -0.01350110 -0.03913767
+v 0.00938945 -0.01138185 -0.03913766
+v 0.01032547 -0.01061806 -0.03913766
+v 0.00552330 -0.01573509 -0.04215845
+v 0.00341078 -0.01591797 -0.04161241
+v 0.00422101 -0.01511115 -0.04073680
+v 0.00341078 -0.01451589 -0.03964666
+v 0.00107999 -0.01448005 -0.03915522
+v -0.00113611 -0.01448363 -0.03915522
+v -0.00113611 0.01515360 -0.04028814
+v 0.00107999 0.01515360 -0.04028424
+v 0.00273374 0.01505678 -0.04045975
+v 0.00340339 0.01570224 -0.04161424
+v 0.00552330 0.01551936 -0.04216028
+v 0.00721775 0.01520740 -0.04259127
+v 0.00694027 0.01279767 -0.03913757
+v 0.00774310 0.01230641 -0.03913757
+v 0.00782449 0.01225620 -0.03913757
+v 0.00887520 0.01280485 -0.04064503
+v 0.00975572 0.01326026 -0.04193798
+v 0.00938945 0.01116610 -0.03913758
+v 0.01032917 0.01038438 -0.03913758
+v 0.01059925 0.01015847 -0.03913758
+v 0.01122819 0.01078601 -0.04044612
+v 0.01380686 0.00659053 -0.03913760
+v -0.00113611 -0.01445853 -0.03913767
+v -0.00120271 0.01422485 -0.03913757
+v -0.00113611 0.01426071 -0.03916487
+v 0.00562689 -0.01375211 -0.03936973
+v 0.00802797 -0.01232494 -0.03913767
+v 0.00547890 -0.01361944 -0.03913767
+v 0.00400643 -0.01399237 -0.03913767
+v 0.00112809 -0.01445494 -0.03913767
+v 0.00107999 -0.01445853 -0.03913767
+v 0.00107999 0.01425712 -0.03916097
+v 0.00340339 0.01429299 -0.03964851
+v 0.00421361 0.01489542 -0.04074058
+v 0.00562319 0.01353277 -0.03936963
+v 0.00584147 0.01328176 -0.03913757
+v -0.00113611 0.01422843 -0.03913757
+v 0.00107999 0.01422843 -0.03913757
+v 0.00336639 0.01385550 -0.03913757
+v 0.00547150 0.01340010 -0.03913757
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 10
+f 2 10 7
+f 3 8 11
+f 3 11 12
+f 3 12 4
+f 4 13 5
+f 4 12 14
+f 4 14 15
+f 4 15 16
+f 4 16 13
+f 5 13 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 6
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 9
+f 7 10 24
+f 7 24 25
+f 7 25 8
+f 8 25 11
+f 9 23 26
+f 9 26 27
+f 9 27 10
+f 10 27 24
+f 11 25 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 12
+f 12 31 14
+f 13 16 32
+f 13 32 17
+f 14 33 15
+f 14 31 34
+f 14 34 35
+f 14 35 36
+f 14 36 37
+f 14 37 33
+f 15 33 38
+f 15 38 39
+f 15 39 16
+f 16 39 32
+f 17 40 18
+f 17 32 41
+f 17 41 40
+f 18 40 42
+f 18 42 19
+f 19 43 44
+f 19 44 45
+f 19 45 21
+f 19 21 20
+f 19 42 43
+f 21 45 46
+f 21 46 47
+f 21 47 22
+f 22 47 48
+f 22 48 49
+f 22 49 50
+f 22 50 23
+f 23 50 26
+f 24 51 28
+f 24 28 25
+f 24 27 26
+f 24 26 51
+f 26 50 52
+f 26 52 53
+f 26 53 54
+f 26 54 51
+f 28 55 56
+f 28 56 57
+f 28 57 58
+f 28 58 59
+f 28 59 60
+f 28 60 61
+f 28 61 30
+f 28 30 29
+f 28 51 62
+f 28 62 55
+f 30 61 63
+f 30 63 64
+f 30 64 35
+f 30 35 31
+f 31 35 34
+f 32 39 65
+f 32 65 41
+f 33 37 66
+f 33 66 38
+f 35 64 67
+f 35 67 36
+f 36 67 68
+f 36 68 66
+f 36 66 37
+f 38 66 39
+f 39 66 69
+f 39 69 65
+f 40 70 71
+f 40 71 42
+f 40 41 70
+f 41 65 69
+f 41 69 72
+f 41 72 73
+f 41 73 74
+f 41 74 75
+f 41 75 70
+f 42 71 76
+f 42 76 77
+f 42 77 43
+f 43 77 44
+f 44 77 78
+f 44 78 79
+f 44 79 80
+f 44 80 81
+f 44 81 45
+f 45 81 46
+f 46 81 82
+f 46 82 83
+f 46 83 47
+f 47 83 84
+f 47 84 48
+f 48 84 85
+f 48 85 49
+f 49 52 50
+f 49 85 86
+f 49 86 87
+f 49 87 88
+f 49 88 89
+f 49 89 52
+f 51 54 53
+f 51 53 90
+f 51 90 91
+f 51 91 92
+f 51 92 93
+f 51 93 94
+f 51 94 62
+f 52 89 88
+f 52 88 53
+f 53 88 95
+f 53 95 96
+f 53 96 90
+f 55 97 56
+f 55 62 98
+f 55 98 99
+f 55 99 100
+f 55 100 101
+f 55 101 102
+f 55 102 103
+f 55 103 104
+f 55 104 105
+f 55 105 106
+f 55 106 107
+f 55 107 97
+f 56 97 108
+f 56 108 109
+f 56 109 110
+f 56 110 57
+f 57 110 111
+f 57 111 112
+f 57 112 113
+f 57 113 59
+f 57 59 58
+f 59 113 114
+f 59 114 115
+f 59 115 63
+f 59 63 60
+f 60 63 61
+f 62 94 116
+f 62 116 117
+f 62 117 118
+f 62 118 119
+f 62 119 120
+f 62 120 121
+f 62 121 122
+f 62 122 123
+f 62 123 124
+f 62 124 98
+f 63 115 125
+f 63 125 126
+f 63 126 127
+f 63 127 64
+f 64 127 126
+f 64 126 67
+f 66 68 128
+f 66 128 69
+f 67 129 68
+f 67 126 130
+f 67 130 131
+f 67 131 129
+f 68 129 128
+f 69 128 72
+f 70 75 137
+f 70 137 201
+f 70 201 271
+f 70 271 270
+f 70 270 346
+f 70 346 345
+f 70 345 411
+f 70 411 456
+f 70 456 501
+f 70 501 541
+f 70 541 549
+f 70 549 548
+f 70 548 547
+f 70 547 546
+f 70 546 516
+f 70 516 514
+f 70 514 545
+f 70 545 517
+f 70 517 518
+f 70 518 508
+f 70 508 510
+f 70 510 507
+f 70 507 469
+f 70 469 468
+f 70 468 465
+f 70 465 464
+f 70 464 462
+f 70 462 463
+f 70 463 499
+f 70 499 498
+f 70 498 540
+f 70 540 538
+f 70 538 537
+f 70 537 536
+f 70 536 533
+f 70 533 532
+f 70 532 531
+f 70 531 554
+f 70 554 558
+f 70 558 557
+f 70 557 556
+f 70 556 555
+f 70 555 542
+f 70 542 502
+f 70 502 460
+f 70 460 418
+f 70 418 413
+f 70 413 412
+f 70 412 348
+f 70 348 347
+f 70 347 272
+f 70 272 202
+f 70 202 138
+f 70 138 80
+f 70 80 79
+f 70 79 78
+f 70 78 77
+f 70 77 76
+f 70 76 71
+f 72 128 132
+f 72 132 133
+f 72 133 134
+f 72 134 135
+f 72 135 73
+f 73 135 75
+f 73 75 74
+f 75 135 136
+f 75 136 137
+f 80 138 139
+f 80 139 140
+f 80 140 141
+f 80 141 81
+f 81 141 140
+f 81 140 142
+f 81 142 143
+f 81 143 82
+f 82 143 83
+f 83 143 144
+f 83 144 84
+f 84 144 85
+f 85 144 86
+f 86 144 87
+f 87 145 146
+f 87 146 88
+f 87 144 145
+f 88 146 95
+f 90 96 91
+f 91 96 92
+f 92 96 147
+f 92 147 148
+f 92 148 149
+f 92 149 150
+f 92 150 93
+f 93 150 94
+f 94 150 151
+f 94 151 152
+f 94 152 116
+f 95 146 153
+f 95 153 154
+f 95 154 96
+f 96 154 153
+f 96 153 155
+f 96 155 147
+f 97 107 156
+f 97 156 108
+f 98 124 157
+f 98 157 158
+f 98 158 159
+f 98 159 99
+f 99 159 160
+f 99 160 100
+f 100 161 162
+f 100 162 102
+f 100 102 101
+f 100 160 163
+f 100 163 161
+f 102 162 164
+f 102 164 165
+f 102 165 166
+f 102 166 103
+f 103 166 104
+f 104 166 105
+f 105 166 167
+f 105 167 168
+f 105 168 169
+f 105 169 107
+f 105 107 106
+f 107 169 170
+f 107 170 171
+f 107 171 156
+f 108 156 172
+f 108 172 173
+f 108 173 109
+f 109 173 110
+f 110 173 111
+f 111 173 174
+f 111 174 175
+f 111 175 112
+f 112 175 176
+f 112 176 113
+f 113 176 177
+f 113 177 114
+f 114 178 179
+f 114 179 115
+f 114 177 176
+f 114 176 178
+f 115 179 126
+f 115 126 125
+f 116 152 180
+f 116 180 181
+f 116 181 117
+f 117 181 182
+f 117 182 183
+f 117 183 184
+f 117 184 119
+f 117 119 118
+f 119 184 185
+f 119 185 186
+f 119 186 187
+f 119 187 120
+f 120 187 121
+f 121 187 122
+f 122 188 124
+f 122 124 123
+f 122 187 189
+f 122 189 190
+f 122 190 188
+f 124 191 157
+f 124 188 192
+f 124 192 191
+f 126 193 130
+f 126 179 194
+f 126 194 193
+f 128 129 132
+f 129 131 195
+f 129 195 132
+f 130 193 196
+f 130 196 131
+f 131 196 195
+f 132 195 197
+f 132 197 133
+f 133 197 198
+f 133 198 136
+f 133 136 134
+f 134 136 135
+f 136 198 199
+f 136 199 200
+f 136 200 201
+f 136 201 137
+f 138 202 203
+f 138 203 139
+f 139 203 204
+f 139 204 142
+f 139 142 140
+f 142 204 205
+f 142 205 206
+f 142 206 207
+f 142 207 143
+f 143 207 144
+f 144 207 145
+f 145 207 208
+f 145 208 146
+f 146 208 209
+f 146 209 210
+f 146 210 153
+f 147 211 148
+f 147 155 153
+f 147 153 211
+f 148 211 212
+f 148 212 213
+f 148 213 214
+f 148 214 149
+f 149 214 213
+f 149 213 215
+f 149 215 150
+f 150 215 216
+f 150 216 217
+f 150 217 151
+f 151 217 152
+f 152 217 218
+f 152 218 180
+f 153 210 219
+f 153 219 220
+f 153 220 211
+f 156 171 172
+f 157 191 221
+f 157 221 158
+f 158 221 222
+f 158 222 159
+f 159 222 160
+f 160 222 163
+f 161 223 162
+f 161 163 224
+f 161 224 223
+f 162 223 225
+f 162 225 164
+f 163 222 226
+f 163 226 224
+f 164 227 228
+f 164 228 165
+f 164 225 223
+f 164 223 227
+f 165 228 229
+f 165 229 230
+f 165 230 166
+f 166 230 229
+f 166 229 231
+f 166 231 167
+f 167 232 168
+f 167 231 229
+f 167 229 232
+f 168 232 233
+f 168 233 234
+f 168 234 235
+f 168 235 169
+f 169 235 234
+f 169 234 170
+f 170 236 171
+f 170 234 236
+f 171 236 237
+f 171 237 172
+f 172 237 174
+f 172 174 173
+f 174 237 238
+f 174 238 175
+f 175 238 239
+f 175 239 240
+f 175 240 241
+f 175 241 176
+f 176 242 243
+f 176 243 178
+f 176 241 242
+f 178 244 179
+f 178 243 245
+f 178 245 244
+f 179 244 246
+f 179 246 247
+f 179 247 194
+f 180 218 181
+f 181 218 182
+f 182 218 248
+f 182 248 249
+f 182 249 183
+f 183 249 250
+f 183 250 184
+f 184 250 251
+f 184 251 185
+f 185 252 253
+f 185 253 186
+f 185 251 250
+f 185 250 252
+f 186 253 254
+f 186 254 255
+f 186 255 187
+f 187 255 254
+f 187 254 256
+f 187 256 189
+f 188 190 257
+f 188 257 258
+f 188 258 192
+f 189 259 190
+f 189 256 254
+f 189 254 259
+f 190 259 260
+f 190 260 258
+f 190 258 257
+f 191 192 261
+f 191 261 262
+f 191 262 221
+f 192 258 261
+f 193 194 196
+f 194 247 196
+f 195 196 197
+f 196 247 263
+f 196 263 197
+f 197 263 264
+f 197 264 265
+f 197 265 198
+f 198 265 199
+f 199 265 266
+f 199 266 267
+f 199 267 268
+f 199 268 269
+f 199 269 270
+f 199 270 271
+f 199 271 201
+f 199 201 200
+f 202 272 203
+f 203 272 273
+f 203 273 274
+f 203 274 275
+f 203 275 205
+f 203 205 204
+f 205 275 276
+f 205 276 277
+f 205 277 206
+f 206 208 207
+f 206 277 208
+f 208 277 209
+f 209 277 278
+f 209 278 279
+f 209 279 219
+f 209 219 210
+f 211 220 280
+f 211 280 212
+f 212 280 281
+f 212 281 282
+f 212 282 283
+f 212 283 213
+f 213 283 284
+f 213 284 285
+f 213 285 286
+f 213 286 215
+f 215 286 216
+f 216 286 287
+f 216 287 217
+f 217 287 248
+f 217 248 218
+f 219 279 220
+f 220 288 280
+f 220 279 288
+f 221 262 222
+f 222 262 226
+f 223 289 227
+f 223 224 290
+f 223 290 291
+f 223 291 289
+f 224 226 292
+f 224 292 293
+f 224 293 294
+f 224 294 290
+f 226 262 292
+f 227 295 228
+f 227 289 296
+f 227 296 295
+f 228 297 229
+f 228 295 298
+f 228 298 299
+f 228 299 297
+f 229 297 300
+f 229 300 301
+f 229 301 232
+f 232 301 302
+f 232 302 303
+f 232 303 304
+f 232 304 233
+f 233 305 234
+f 233 304 306
+f 233 306 305
+f 234 307 236
+f 234 305 308
+f 234 308 307
+f 236 307 309
+f 236 309 310
+f 236 310 237
+f 237 310 311
+f 237 311 238
+f 238 311 382
+f 238 382 312
+f 238 312 313
+f 238 313 239
+f 239 313 314
+f 239 314 240
+f 240 314 315
+f 240 315 241
+f 241 315 316
+f 241 316 242
+f 242 316 245
+f 242 245 243
+f 244 317 246
+f 244 245 317
+f 245 316 315
+f 245 315 318
+f 245 318 317
+f 246 264 263
+f 246 263 247
+f 246 317 264
+f 248 287 362
+f 248 362 319
+f 248 319 320
+f 248 320 249
+f 249 320 321
+f 249 321 322
+f 249 322 250
+f 250 323 252
+f 250 322 324
+f 250 324 323
+f 252 325 253
+f 252 323 326
+f 252 326 325
+f 253 325 327
+f 253 327 328
+f 253 328 329
+f 253 329 254
+f 254 330 331
+f 254 331 259
+f 254 329 330
+f 258 332 333
+f 258 333 261
+f 258 260 334
+f 258 334 332
+f 259 335 336
+f 259 336 260
+f 259 331 337
+f 259 337 335
+f 260 336 338
+f 260 338 334
+f 261 339 262
+f 261 333 340
+f 261 340 339
+f 262 339 341
+f 262 341 292
+f 264 317 342
+f 264 342 265
+f 265 342 266
+f 266 342 267
+f 267 342 343
+f 267 343 344
+f 267 344 345
+f 267 345 346
+f 267 346 269
+f 267 269 268
+f 269 346 270
+f 272 347 273
+f 273 347 274
+f 274 348 349
+f 274 349 350
+f 274 350 351
+f 274 351 352
+f 274 352 353
+f 274 353 275
+f 274 347 348
+f 275 353 276
+f 276 278 277
+f 276 353 354
+f 276 354 278
+f 278 354 288
+f 278 288 279
+f 280 355 356
+f 280 356 281
+f 280 288 354
+f 280 354 355
+f 281 356 282
+f 282 357 358
+f 282 358 359
+f 282 359 284
+f 282 284 283
+f 282 356 357
+f 284 359 360
+f 284 360 285
+f 285 360 286
+f 286 360 361
+f 286 361 362
+f 286 362 287
+f 289 291 296
+f 290 294 363
+f 290 363 291
+f 291 363 296
+f 292 364 365
+f 292 365 293
+f 292 341 407
+f 292 407 364
+f 293 365 366
+f 293 366 294
+f 294 366 367
+f 294 367 363
+f 295 296 368
+f 295 368 298
+f 296 363 369
+f 296 369 368
+f 297 299 370
+f 297 370 300
+f 298 368 371
+f 298 371 372
+f 298 372 299
+f 299 372 373
+f 299 373 370
+f 300 370 301
+f 301 370 302
+f 302 370 373
+f 302 373 374
+f 302 374 303
+f 303 375 376
+f 303 376 304
+f 303 374 375
+f 304 376 377
+f 304 377 306
+f 305 306 308
+f 306 377 378
+f 306 378 308
+f 307 308 378
+f 307 378 379
+f 307 379 309
+f 309 379 380
+f 309 380 310
+f 310 380 381
+f 310 381 382
+f 310 382 311
+f 312 382 383
+f 312 383 384
+f 312 384 313
+f 313 384 385
+f 313 385 314
+f 314 385 386
+f 314 386 315
+f 315 386 318
+f 317 318 342
+f 318 386 385
+f 318 385 342
+f 319 362 387
+f 319 387 388
+f 319 388 389
+f 319 389 320
+f 320 389 390
+f 320 390 321
+f 321 390 391
+f 321 391 392
+f 321 392 322
+f 322 392 324
+f 323 324 326
+f 324 392 326
+f 325 393 327
+f 325 326 393
+f 326 392 394
+f 326 394 393
+f 327 393 395
+f 327 395 396
+f 327 396 328
+f 328 396 397
+f 328 397 398
+f 328 398 330
+f 328 330 329
+f 330 398 331
+f 331 398 397
+f 331 397 337
+f 332 399 333
+f 332 334 338
+f 332 338 399
+f 333 399 400
+f 333 400 340
+f 335 401 402
+f 335 402 336
+f 335 337 403
+f 335 403 401
+f 336 402 338
+f 337 397 403
+f 338 404 400
+f 338 400 399
+f 338 402 404
+f 339 405 341
+f 339 340 406
+f 339 406 405
+f 340 400 406
+f 341 405 407
+f 342 385 343
+f 343 385 408
+f 343 408 344
+f 344 409 410
+f 344 410 411
+f 344 411 345
+f 344 408 409
+f 348 412 349
+f 349 412 413
+f 349 413 351
+f 349 351 350
+f 351 414 415
+f 351 415 416
+f 351 416 352
+f 351 413 417
+f 351 417 418
+f 351 418 414
+f 352 416 353
+f 353 416 355
+f 353 355 354
+f 355 416 356
+f 356 416 357
+f 357 419 420
+f 357 420 358
+f 357 416 419
+f 358 420 421
+f 358 421 360
+f 358 360 359
+f 360 421 361
+f 361 422 387
+f 361 387 362
+f 361 421 422
+f 363 367 369
+f 364 423 424
+f 364 424 365
+f 364 407 423
+f 365 424 425
+f 365 425 366
+f 366 425 426
+f 366 426 367
+f 367 426 369
+f 368 369 427
+f 368 427 371
+f 369 426 425
+f 369 425 427
+f 371 428 429
+f 371 429 372
+f 371 427 428
+f 372 429 373
+f 373 429 374
+f 374 429 375
+f 375 430 376
+f 375 429 431
+f 375 431 430
+f 376 430 377
+f 377 432 433
+f 377 433 379
+f 377 379 378
+f 377 430 432
+f 379 433 380
+f 380 432 381
+f 380 433 432
+f 381 432 434
+f 381 434 382
+f 382 434 435
+f 382 435 383
+f 383 435 436
+f 383 436 437
+f 383 437 384
+f 384 437 438
+f 384 438 385
+f 385 438 408
+f 387 422 439
+f 387 439 440
+f 387 440 441
+f 387 441 388
+f 388 441 442
+f 388 442 389
+f 389 442 443
+f 389 443 390
+f 390 443 444
+f 390 444 391
+f 391 444 394
+f 391 394 392
+f 393 445 395
+f 393 394 445
+f 394 444 443
+f 394 443 445
+f 395 445 446
+f 395 446 396
+f 396 446 447
+f 396 447 397
+f 397 447 403
+f 400 448 406
+f 400 404 448
+f 401 449 402
+f 401 403 450
+f 401 450 449
+f 402 449 404
+f 403 447 450
+f 404 451 448
+f 404 449 451
+f 405 452 407
+f 405 406 451
+f 405 451 452
+f 406 448 451
+f 407 452 453
+f 407 453 423
+f 408 438 409
+f 409 454 410
+f 409 438 455
+f 409 455 454
+f 410 454 456
+f 410 456 411
+f 413 418 417
+f 414 418 457
+f 414 457 458
+f 414 458 459
+f 414 459 415
+f 415 459 419
+f 415 419 416
+f 418 460 457
+f 419 439 422
+f 419 422 421
+f 419 421 420
+f 419 459 461
+f 419 461 439
+f 423 462 424
+f 423 453 463
+f 423 463 462
+f 424 462 464
+f 424 464 465
+f 424 465 425
+f 425 466 467
+f 425 467 427
+f 425 465 468
+f 425 468 469
+f 425 469 466
+f 427 467 470
+f 427 470 471
+f 427 471 428
+f 428 472 473
+f 428 473 429
+f 428 471 472
+f 429 473 431
+f 430 474 432
+f 430 431 475
+f 430 475 476
+f 430 476 474
+f 431 473 477
+f 431 477 475
+f 432 474 478
+f 432 478 479
+f 432 479 434
+f 434 479 436
+f 434 436 435
+f 436 479 480
+f 436 480 481
+f 436 481 482
+f 436 482 437
+f 437 482 483
+f 437 483 438
+f 438 483 455
+f 439 461 484
+f 439 484 440
+f 440 484 485
+f 440 485 441
+f 441 485 442
+f 442 485 486
+f 442 486 443
+f 443 486 487
+f 443 487 488
+f 443 488 445
+f 445 488 489
+f 445 489 490
+f 445 490 446
+f 446 491 492
+f 446 492 447
+f 446 490 491
+f 447 492 450
+f 449 450 493
+f 449 493 494
+f 449 494 495
+f 449 495 451
+f 450 492 496
+f 450 496 493
+f 451 495 497
+f 451 497 498
+f 451 498 499
+f 451 499 452
+f 452 499 463
+f 452 463 453
+f 454 455 483
+f 454 483 500
+f 454 500 456
+f 456 500 501
+f 457 502 503
+f 457 503 504
+f 457 504 458
+f 457 460 502
+f 458 504 505
+f 458 505 461
+f 458 461 459
+f 461 505 506
+f 461 506 484
+f 466 469 467
+f 467 469 470
+f 469 507 472
+f 469 472 470
+f 470 472 471
+f 472 508 509
+f 472 509 477
+f 472 477 473
+f 472 507 510
+f 472 510 508
+f 474 476 511
+f 474 511 478
+f 475 477 476
+f 476 477 512
+f 476 512 513
+f 476 513 514
+f 476 514 515
+f 476 515 516
+f 476 516 511
+f 477 517 513
+f 477 513 512
+f 477 509 518
+f 477 518 517
+f 478 511 519
+f 478 519 479
+f 479 519 520
+f 479 520 480
+f 480 521 522
+f 480 522 523
+f 480 523 481
+f 480 520 521
+f 481 523 524
+f 481 524 482
+f 482 524 483
+f 483 524 500
+f 484 506 525
+f 484 525 485
+f 485 525 526
+f 485 526 527
+f 485 527 486
+f 486 527 528
+f 486 528 529
+f 486 529 487
+f 487 529 530
+f 487 530 488
+f 488 530 489
+f 489 530 531
+f 489 531 532
+f 489 532 533
+f 489 533 534
+f 489 534 535
+f 489 535 491
+f 489 491 490
+f 491 535 534
+f 491 534 536
+f 491 536 537
+f 491 537 538
+f 491 538 539
+f 491 539 496
+f 491 496 492
+f 493 496 494
+f 494 498 495
+f 494 496 498
+f 495 498 497
+f 496 539 538
+f 496 538 540
+f 496 540 498
+f 500 524 501
+f 501 524 541
+f 502 542 543
+f 502 543 503
+f 503 543 506
+f 503 506 504
+f 504 506 505
+f 506 543 525
+f 508 518 509
+f 511 516 544
+f 511 544 519
+f 513 517 545
+f 513 545 514
+f 514 516 515
+f 516 546 544
+f 519 544 521
+f 519 521 520
+f 521 544 546
+f 521 546 547
+f 521 547 522
+f 522 547 523
+f 523 547 548
+f 523 548 549
+f 523 549 524
+f 524 549 541
+f 525 543 526
+f 526 543 550
+f 526 550 527
+f 527 550 551
+f 527 551 552
+f 527 552 528
+f 528 552 529
+f 529 552 553
+f 529 553 530
+f 530 553 554
+f 530 554 531
+f 533 536 534
+f 542 555 543
+f 543 555 550
+f 550 555 556
+f 550 556 557
+f 550 557 551
+f 551 557 558
+f 551 558 552
+f 552 558 553
+f 553 558 554
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_11.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00227112 0.00787743 -0.03917834
+v -0.00227112 0.00787743 -0.03817834
+v -0.00227112 0.01423198 -0.03917834
+v -0.00227112 0.01423198 -0.03817834
+v 0.00773036 0.00787743 -0.03917834
+v 0.00773036 0.00787743 -0.03817834
+v 0.00773036 0.01423198 -0.03917834
+v 0.00773036 0.01423198 -0.03817834
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_12.obj

@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v -0.00277482 -0.00118157 0.04746356
+v -0.00287072 0.00096606 0.04806816
+v -0.00286379 -0.00118158 0.04806816
+v -0.00337333 -0.00333029 0.04806815
+v -0.00314802 -0.00275195 0.04746355
+v -0.00278291 0.00096607 0.04746356
+v -0.00341261 0.00311583 0.04806817
+v -0.00377310 0.00311583 0.05031348
+v -0.00325547 0.00096606 0.05031347
+v -0.00325085 -0.00118158 0.05031347
+v -0.00373381 -0.00333029 0.05031346
+v -0.00329245 -0.00333028 0.04746355
+v -0.00443399 -0.00444100 0.05160544
+v -0.00333173 0.00311584 0.04746357
+v -0.00445710 0.00420194 0.05149259
+v -0.00417287 0.00314362 0.05237063
+v -0.00430921 0.00244554 0.05430486
+v -0.00370724 0.00096605 0.05256128
+v -0.00370262 -0.00118159 0.05256128
+v -0.00430574 -0.00269318 0.05431237
+v -0.00415554 -0.00337840 0.05243835
+v -0.00386437 -0.00431377 0.04746354
+v -0.00432423 -0.00454148 0.05031345
+v -0.00464081 -0.00412672 0.05310315
+v -0.00653568 -0.00454152 0.05861481
+v -0.00629535 -0.00471041 0.05705439
+v -0.00598455 -0.00484830 0.05480657
+v -0.00415091 0.00445103 0.04746358
+v -0.00418789 0.00442751 0.04806818
+v -0.00435773 0.00429067 0.05031349
+v -0.00603885 0.00458142 0.05480661
+v -0.00634041 0.00444886 0.05705443
+v -0.00656456 0.00429705 0.05853206
+v -0.00468240 0.00387910 0.05299029
+v -0.00485687 0.00314361 0.05495462
+v -0.00545884 0.00311580 0.05705442
+v -0.00622025 0.00316711 0.05928969
+v -0.00650102 0.00248615 0.06085011
+v -0.00488575 0.00096603 0.05705441
+v -0.00449985 0.00096603 0.05581008
+v -0.00420984 0.00096604 0.05468868
+v -0.00420753 -0.00118160 0.05469370
+v -0.00449869 -0.00118161 0.05581761
+v -0.00488113 -0.00118161 0.05705441
+v -0.00649524 -0.00274237 0.06086515
+v -0.00540915 -0.00333032 0.05705440
+v -0.00481296 -0.00337841 0.05495961
+v -0.00411856 -0.00469968 0.04746354
+v -0.00415554 -0.00467617 0.04806814
+v -0.00684071 -0.00417485 0.06011252
+v -0.00865470 -0.00460246 0.06316062
+v -0.00827688 -0.00479167 0.06154500
+v -0.00766798 -0.00483763 0.05933733
+v -0.00779969 -0.00495949 0.05705439
+v -0.00557900 -0.00494663 0.05031345
+v -0.00516767 0.00465842 0.04746358
+v -0.00557900 0.00465414 0.05031349
+v -0.01223877 0.00596153 0.05031349
+v -0.00834389 0.00451725 0.06154504
+v -0.00869398 0.00434942 0.06308790
+v -0.00688923 0.00391862 0.06002976
+v -0.00688577 0.00096601 0.06223492
+v -0.00638663 0.00096602 0.06111101
+v -0.00566219 0.00096602 0.05929972
+v -0.00721159 0.00316710 0.06157764
+v -0.00830692 0.00315534 0.06381793
+v -0.00871247 0.00246582 0.06523034
+v -0.00565410 -0.00118162 0.05929972
+v -0.00827341 -0.00339555 0.06386307
+v -0.00715498 -0.00340731 0.06158515
+v -0.00619714 -0.00340730 0.05933734
+v -0.00638201 -0.00118162 0.06112104
+v -0.00688114 -0.00118163 0.06224495
+v -0.00870553 -0.00272315 0.06524287
+v -0.00557900 -0.00495518 0.04806814
+v -0.00557900 -0.00493593 0.04746354
+v -0.00908104 -0.00415562 0.06465833
+v -0.01103252 -0.00448168 0.06729750
+v -0.01063044 -0.00469013 0.06603812
+v -0.00990023 -0.00484085 0.06386306
+v -0.01223877 -0.00495310 0.06603812
+v -0.01164143 0.00582257 0.04746358
+v -0.01223877 0.00592733 0.04806818
+v -0.01445947 0.00595083 0.05256130
+v -0.01445947 0.00585354 0.05480661
+v -0.01223877 0.00579476 0.05256130
+v -0.00992795 0.00455681 0.06381794
+v -0.01069399 0.00442531 0.06603816
+v -0.00912841 0.00389829 0.06458560
+v -0.01106834 0.00423715 0.06724737
+v -0.00767953 0.00096601 0.06379033
+v -0.00766913 -0.00118163 0.06379033
+v -0.00961831 0.00315533 0.06600303
+v -0.01074136 0.00311576 0.06770143
+v -0.01331099 0.00211730 0.07169532
+v -0.01123241 0.00096599 0.06926938
+v -0.01041900 0.00096599 0.06814547
+v -0.00930866 0.00096600 0.06654992
+v -0.00859346 0.00096600 0.06542601
+v -0.00858768 -0.00118164 0.06543354
+v -0.00930403 -0.00118164 0.06655745
+v -0.01041438 -0.00118165 0.06814798
+v -0.01123126 -0.00118165 0.06927188
+v -0.01330637 -0.00234902 0.07170032
+v -0.01071017 -0.00333036 0.06774155
+v -0.00956516 -0.00339556 0.06601054
+v -0.01457847 -0.00486866 0.06810280
+v -0.00692389 -0.00464195 0.04746354
+v -0.01457847 -0.00485477 0.06792217
+v -0.01155130 -0.00333036 0.06886546
+v -0.01374658 -0.00378149 0.07122366
+v -0.01308915 -0.00458004 0.06972594
+v -0.01230463 -0.00474573 0.06814043
+v -0.01447564 -0.00480346 0.07049612
+v -0.01457847 -0.00480667 0.07048860
+v -0.01457847 -0.00484514 0.06903855
+v -0.01223877 0.00586533 0.04746358
+v -0.01445947 0.00586853 0.05031349
+v -0.01457847 0.00592945 0.05268172
+v -0.01457847 0.00583537 0.05492703
+v -0.01457847 0.00452791 0.07054884
+v -0.01449991 0.00452898 0.07047107
+v -0.01223877 0.00465408 0.06603816
+v -0.01232658 0.00446913 0.06811037
+v -0.01312497 0.00433763 0.06968082
+v -0.01378702 0.00355084 0.07117852
+v -0.01279799 0.00294685 0.07047106
+v -0.01157903 0.00311576 0.06882534
+v -0.01457847 0.00279290 0.07252571
+v -0.01457847 0.00096597 0.07307762
+v -0.01436819 0.00096597 0.07286688
+v -0.01326824 0.00096598 0.07174298
+v -0.01226188 0.00096598 0.07053126
+v -0.01225610 -0.00118166 0.07053126
+v -0.01326477 -0.00118166 0.07174800
+v -0.01436126 -0.00118167 0.07287190
+v -0.01457847 -0.00140189 0.07307259
+v -0.01457847 -0.00304068 0.07256332
+v -0.01457847 -0.00311444 0.07251565
+v -0.01277372 -0.00317216 0.07049613
+v -0.01457847 -0.00127458 0.04746356
+v -0.01457847 -0.00424437 0.07166017
+v -0.01457847 -0.00477674 0.07070184
+v -0.01386096 0.00562908 0.04746358
+v -0.01445947 0.00560449 0.04806818
+v -0.01457847 0.00557135 0.04806818
+v -0.01457847 0.00583112 0.05031349
+v -0.01457847 0.00584500 0.05043391
+v -0.01457847 0.00451188 0.07062160
+v -0.01457847 0.00289980 0.07245044
+v -0.01457847 0.00055761 0.07308013
+v -0.01457847 -0.00118167 0.07309016
+v -0.01457847 0.00545804 0.04746358
+v -0.01445947 0.00549118 0.04746358
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 22
+f 1 22 48
+f 1 48 76
+f 1 76 108
+f 1 108 141
+f 1 141 153
+f 1 153 154
+f 1 154 144
+f 1 144 117
+f 1 117 82
+f 1 82 56
+f 1 56 28
+f 1 28 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 12 5
+f 4 11 13
+f 4 13 12
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 13
+f 12 13 23
+f 12 23 22
+f 13 21 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 23
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 17
+f 15 17 16
+f 15 30 31
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 38
+f 17 38 39
+f 17 39 40
+f 17 40 41
+f 17 41 18
+f 18 41 19
+f 19 41 42
+f 19 42 20
+f 20 24 21
+f 20 42 43
+f 20 43 44
+f 20 44 45
+f 20 45 46
+f 20 46 47
+f 20 47 24
+f 22 23 49
+f 22 49 48
+f 23 27 49
+f 24 47 46
+f 24 46 25
+f 25 50 51
+f 25 51 52
+f 25 52 26
+f 25 46 50
+f 26 52 27
+f 27 52 53
+f 27 53 54
+f 27 54 55
+f 27 55 48
+f 27 48 49
+f 28 56 57
+f 28 57 31
+f 28 31 29
+f 29 31 30
+f 31 57 58
+f 31 58 59
+f 31 59 32
+f 32 59 33
+f 33 59 60
+f 33 60 61
+f 33 61 37
+f 33 37 36
+f 33 36 34
+f 34 36 35
+f 37 61 38
+f 38 62 63
+f 38 63 64
+f 38 64 39
+f 38 61 65
+f 38 65 66
+f 38 66 67
+f 38 67 62
+f 39 64 68
+f 39 68 44
+f 39 44 40
+f 40 44 43
+f 40 43 42
+f 40 42 41
+f 44 68 45
+f 45 69 70
+f 45 70 50
+f 45 50 71
+f 45 71 46
+f 45 68 72
+f 45 72 73
+f 45 73 74
+f 45 74 69
+f 46 71 50
+f 48 55 75
+f 48 75 76
+f 50 70 69
+f 50 69 77
+f 50 77 51
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 52 79 80
+f 52 80 53
+f 53 80 54
+f 54 75 55
+f 54 80 81
+f 54 81 75
+f 56 82 58
+f 56 58 57
+f 58 82 83
+f 58 83 84
+f 58 84 85
+f 58 85 86
+f 58 86 59
+f 59 87 88
+f 59 88 60
+f 59 86 87
+f 60 89 61
+f 60 88 90
+f 60 90 89
+f 61 89 66
+f 61 66 65
+f 62 91 92
+f 62 92 73
+f 62 73 72
+f 62 72 63
+f 62 67 91
+f 63 72 64
+f 64 72 68
+f 66 89 67
+f 67 93 94
+f 67 94 95
+f 67 95 96
+f 67 96 97
+f 67 97 98
+f 67 98 99
+f 67 99 91
+f 67 89 93
+f 69 74 77
+f 73 92 74
+f 74 100 101
+f 74 101 102
+f 74 102 103
+f 74 103 104
+f 74 104 105
+f 74 105 106
+f 74 106 77
+f 74 92 100
+f 75 81 107
+f 75 107 76
+f 76 107 109
+f 76 109 108
+f 77 106 78
+f 78 105 110
+f 78 110 111
+f 78 111 112
+f 78 112 113
+f 78 113 79
+f 78 106 105
+f 79 113 80
+f 80 113 81
+f 81 113 114
+f 81 114 115
+f 81 115 116
+f 81 116 107
+f 82 117 83
+f 83 118 84
+f 83 117 118
+f 84 119 120
+f 84 120 85
+f 84 118 119
+f 85 120 121
+f 85 121 122
+f 85 122 123
+f 85 123 86
+f 86 123 87
+f 87 123 124
+f 87 124 88
+f 88 124 90
+f 89 90 93
+f 90 124 125
+f 90 125 126
+f 90 126 127
+f 90 127 128
+f 90 128 94
+f 90 94 93
+f 91 99 92
+f 92 99 100
+f 94 128 95
+f 95 129 130
+f 95 130 131
+f 95 131 132
+f 95 132 133
+f 95 133 96
+f 95 128 127
+f 95 127 126
+f 95 126 129
+f 96 133 134
+f 96 134 103
+f 96 103 102
+f 96 102 97
+f 97 102 101
+f 97 101 98
+f 98 100 99
+f 98 101 100
+f 103 134 104
+f 104 135 136
+f 104 136 137
+f 104 137 138
+f 104 138 139
+f 104 139 111
+f 104 111 140
+f 104 140 110
+f 104 110 105
+f 104 134 135
+f 107 116 115
+f 107 115 143
+f 107 143 142
+f 107 142 139
+f 107 139 138
+f 107 138 137
+f 107 137 152
+f 107 152 151
+f 107 151 130
+f 107 130 129
+f 107 129 150
+f 107 150 149
+f 107 149 121
+f 107 121 120
+f 107 120 119
+f 107 119 148
+f 107 148 147
+f 107 147 146
+f 107 146 153
+f 107 153 141
+f 107 141 109
+f 108 109 141
+f 110 140 111
+f 111 139 142
+f 111 142 112
+f 112 142 143
+f 112 143 114
+f 112 114 113
+f 114 143 115
+f 117 144 118
+f 118 144 145
+f 118 145 146
+f 118 146 147
+f 118 147 148
+f 118 148 119
+f 121 149 122
+f 122 149 125
+f 122 125 124
+f 122 124 123
+f 125 149 126
+f 126 149 150
+f 126 150 129
+f 130 151 131
+f 131 151 152
+f 131 152 136
+f 131 136 132
+f 132 136 135
+f 132 135 133
+f 133 135 134
+f 136 152 137
+f 144 154 145
+f 145 154 153
+f 145 153 146
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_13.obj

@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.02553106 -0.00118194 0.05980777
+v 0.02551882 0.00096660 0.05980777
+v 0.02542947 -0.00166962 0.05980776
+v 0.02448696 -0.00252837 0.05553222
+v 0.02542579 -0.00118194 0.05929861
+v 0.02541478 0.00096660 0.05929861
+v 0.02447839 0.00226709 0.05557297
+v 0.02464486 0.00267347 0.05705156
+v 0.02498269 0.00323172 0.05980778
+v 0.02504634 -0.00347486 0.05980776
+v 0.02396062 -0.00327913 0.05479225
+v 0.02332412 -0.00333046 0.05256012
+v 0.02232898 -0.00265348 0.04883039
+v 0.02382965 -0.00118191 0.05256013
+v 0.02428377 -0.00118192 0.05416498
+v 0.02454204 -0.00118192 0.05528784
+v 0.02493863 -0.00118193 0.05705155
+v 0.02465832 -0.00298183 0.05705154
+v 0.02437802 -0.00438389 0.05822190
+v 0.02492516 0.00096661 0.05705155
+v 0.02453592 0.00096662 0.05531906
+v 0.02427520 0.00096662 0.05419485
+v 0.02381496 0.00096663 0.05256013
+v 0.02232286 0.00240507 0.04883991
+v 0.02325313 0.00311518 0.05256014
+v 0.02389697 0.00303603 0.05481671
+v 0.02430090 0.00409157 0.05842017
+v 0.02485172 0.00327129 0.05922123
+v 0.02455061 0.00412258 0.05980779
+v 0.02454326 -0.00454432 0.05980775
+v 0.02453592 -0.00453791 0.05971949
+v 0.02488477 -0.00353261 0.05910173
+v 0.02229226 -0.00451221 0.05110325
+v 0.02259459 -0.00335397 0.05033749
+v 0.02198013 -0.00408548 0.04960565
+v 0.02164474 -0.00335397 0.04807548
+v 0.02062512 -0.00338070 0.04593839
+v 0.02118695 -0.00118189 0.04593840
+v 0.02193606 -0.00118189 0.04748759
+v 0.02242201 -0.00118190 0.04861045
+v 0.02307809 -0.00118190 0.05031306
+v 0.02306707 0.00096664 0.05031306
+v 0.02251013 -0.00467370 0.05256011
+v 0.02241711 0.00096664 0.04861723
+v 0.02193361 0.00096665 0.04749438
+v 0.02118083 0.00096665 0.04593840
+v 0.02064225 0.00296868 0.04593841
+v 0.02059207 0.00314942 0.04593841
+v 0.02160680 0.00311946 0.04808094
+v 0.02194341 0.00383814 0.04969529
+v 0.02256522 0.00311945 0.05039182
+v 0.02225798 0.00426378 0.05119290
+v 0.02433150 0.00431936 0.05980779
+v 0.02245261 0.00440601 0.05256015
+v 0.02384678 -0.00476035 0.05980775
+v 0.02309767 -0.00486408 0.05705153
+v 0.02280391 -0.00482664 0.05480446
+v 0.02053087 -0.00477208 0.04806597
+v 0.02017834 -0.00458277 0.04648284
+v 0.02003146 -0.00442021 0.04593838
+v 0.02116982 -0.00482876 0.05033748
+v 0.02045375 0.00338256 0.04593841
+v 0.02015509 0.00434614 0.04653040
+v 0.02048680 0.00452046 0.04806601
+v 0.02340858 0.00454929 0.05980779
+v 0.02273169 0.00455466 0.05480450
+v 0.02299975 0.00458994 0.05705157
+v 0.02343551 -0.00482131 0.05980775
+v 0.02106455 -0.00497315 0.05256011
+v 0.01907671 -0.00484693 0.04593838
+v 0.01925052 -0.00478811 0.04593838
+v 0.01917586 0.00455469 0.04593842
+v 0.01440578 0.00587439 0.05031308
+v 0.02114778 0.00455895 0.05039183
+v 0.01893472 0.00461565 0.04593842
+v 0.01662619 0.00552358 0.05705157
+v 0.01662619 0.00534176 0.05929863
+v 0.01662619 0.00526904 0.05980779
+v 0.01440578 0.00595245 0.05256015
+v 0.02207683 -0.00481490 0.05980775
+v 0.01688446 -0.00478383 0.04593838
+v 0.01893839 -0.00485335 0.04593838
+v 0.02147093 -0.00486408 0.05705153
+v 0.01440578 0.00560917 0.04806601
+v 0.01302629 0.00580381 0.04806601
+v 0.01302629 0.00591396 0.05031308
+v 0.01302629 0.00551720 0.04593842
+v 0.01440578 0.00584443 0.05480450
+v 0.01440578 0.00556636 0.05705157
+v 0.01440578 0.00514712 0.05929863
+v 0.01438375 0.00502199 0.05980779
+v 0.01302629 0.00583695 0.05256015
+v 0.02177571 -0.00475287 0.05980775
+v 0.02172186 -0.00479244 0.05929859
+v 0.01676940 -0.00475816 0.04593838
+v 0.01302629 -0.00108564 0.04593840
+v 0.01302629 0.00559952 0.05480450
+v 0.01390882 0.00496638 0.05980779
+v 0.01302629 -0.00248989 0.05980776
+v 0.01302629 0.00520809 0.05705157
+v 0.01302629 0.00470436 0.05980779
+f 1 2 9
+f 1 9 29
+f 1 29 53
+f 1 53 65
+f 1 65 78
+f 1 78 91
+f 1 91 98
+f 1 98 101
+f 1 101 99
+f 1 99 93
+f 1 93 80
+f 1 80 68
+f 1 68 55
+f 1 55 30
+f 1 30 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 4 10 18
+f 4 18 19
+f 4 19 11
+f 5 17 6
+f 6 17 20
+f 6 20 7
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 8
+f 7 20 21
+f 8 27 28
+f 8 28 9
+f 9 28 29
+f 10 30 31
+f 10 31 19
+f 10 19 32
+f 10 32 18
+f 11 19 12
+f 12 33 34
+f 12 34 13
+f 12 19 33
+f 13 35 36
+f 13 36 37
+f 13 37 38
+f 13 38 39
+f 13 39 40
+f 13 40 41
+f 13 41 14
+f 13 34 35
+f 14 41 42
+f 14 42 23
+f 14 23 15
+f 15 22 21
+f 15 21 16
+f 15 23 22
+f 16 21 17
+f 17 21 20
+f 18 32 19
+f 19 31 43
+f 19 43 33
+f 23 42 24
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 48
+f 24 48 49
+f 24 49 50
+f 24 50 51
+f 24 51 25
+f 24 42 44
+f 25 51 52
+f 25 52 27
+f 25 27 26
+f 27 53 29
+f 27 29 28
+f 27 52 54
+f 27 54 53
+f 30 55 56
+f 30 56 57
+f 30 57 31
+f 31 57 43
+f 33 43 58
+f 33 58 59
+f 33 59 35
+f 33 35 34
+f 35 59 60
+f 35 60 37
+f 35 37 36
+f 37 60 71
+f 37 71 70
+f 37 70 82
+f 37 82 81
+f 37 81 95
+f 37 95 96
+f 37 96 87
+f 37 87 75
+f 37 75 72
+f 37 72 62
+f 37 62 48
+f 37 48 47
+f 37 47 46
+f 37 46 38
+f 38 46 45
+f 38 45 39
+f 39 45 40
+f 40 44 41
+f 40 45 44
+f 41 44 42
+f 43 61 58
+f 43 57 61
+f 48 62 50
+f 48 50 49
+f 50 52 51
+f 50 62 63
+f 50 63 52
+f 52 63 64
+f 52 64 54
+f 53 54 66
+f 53 66 67
+f 53 67 65
+f 54 64 66
+f 55 68 56
+f 56 68 69
+f 56 69 57
+f 57 69 61
+f 58 61 70
+f 58 70 59
+f 59 70 71
+f 59 71 60
+f 61 69 70
+f 62 72 63
+f 63 72 64
+f 64 73 74
+f 64 74 66
+f 64 72 75
+f 64 75 73
+f 65 76 77
+f 65 77 78
+f 65 67 79
+f 65 79 76
+f 66 74 73
+f 66 73 67
+f 67 73 79
+f 68 80 69
+f 69 81 82
+f 69 82 70
+f 69 80 83
+f 69 83 81
+f 73 75 84
+f 73 84 85
+f 73 85 86
+f 73 86 79
+f 75 87 84
+f 76 88 77
+f 76 79 88
+f 77 88 89
+f 77 89 78
+f 78 89 90
+f 78 90 91
+f 79 86 92
+f 79 92 88
+f 80 93 94
+f 80 94 83
+f 81 83 94
+f 81 94 95
+f 84 87 85
+f 85 87 96
+f 85 96 99
+f 85 99 101
+f 85 101 100
+f 85 100 97
+f 85 97 92
+f 85 92 86
+f 88 97 89
+f 88 92 97
+f 89 97 98
+f 89 98 90
+f 90 98 91
+f 93 99 94
+f 94 99 95
+f 95 99 96
+f 97 100 98
+f 98 100 101
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_14.obj

@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00773036 0.00787631 -0.03913552
+v 0.00773036 0.00950980 -0.03832535
+v 0.00773036 0.01229221 -0.03913550
+v 0.00950460 -0.00548115 -0.03913557
+v 0.00773036 0.00963662 -0.03827299
+v 0.00773036 0.01231114 -0.03912895
+v 0.00774451 0.01230735 -0.03913550
+v 0.01476904 -0.00548115 -0.03913557
+v 0.01056564 -0.00702567 -0.03789612
+v 0.01061141 -0.00351265 -0.03579314
+v 0.01027354 -0.00200977 -0.03579314
+v 0.00773036 0.01114139 -0.03828968
+v 0.01019948 -0.00117883 -0.03579313
+v 0.01020281 0.00026726 -0.03579313
+v 0.01020530 0.00096760 -0.03579313
+v 0.00773036 0.01221839 -0.03901411
+v 0.00774451 0.01221460 -0.03901935
+v 0.00782607 0.01225625 -0.03913550
+v 0.01333517 -0.00621934 -0.03789611
+v 0.01202614 -0.00683071 -0.03789612
+v 0.01504034 -0.00522941 -0.03913557
+v 0.01404420 -0.00493603 -0.03579315
+v 0.01394933 -0.00578021 -0.03789611
+v 0.01320369 -0.00503635 -0.03579315
+v 0.01198619 -0.00501364 -0.03579315
+v 0.01143445 -0.00452340 -0.03579315
+v 0.01090767 -0.00404263 -0.03579314
+v 0.00774451 0.01113950 -0.03828968
+v 0.01061973 0.00329195 -0.03579312
+v 0.01107910 0.00417021 -0.03579311
+v 0.01199285 0.00477969 -0.03579311
+v 0.01402007 0.00470019 -0.03579311
+v 0.00903108 0.01077419 -0.03835446
+v 0.00939142 0.01116599 -0.03913551
+v 0.01557211 -0.00451393 -0.03913557
+v 0.01553799 -0.00444011 -0.03830708
+v 0.01450856 -0.00444580 -0.03579315
+v 0.01514519 0.00332602 -0.03579312
+v 0.01528500 0.00373488 -0.03684771
+v 0.01553050 0.00421565 -0.03834532
+v 0.01380786 0.00659300 -0.03913553
+v 0.01060142 0.01015903 -0.03913551
+v 0.01033180 0.01038616 -0.03913551
+v 0.01580678 -0.00370192 -0.03913556
+v 0.01574104 -0.00328929 -0.03789610
+v 0.01561039 -0.00387795 -0.03789610
+v 0.01558708 -0.00253029 -0.03587920
+v 0.01530497 -0.00396313 -0.03680977
+v 0.01516683 -0.00355618 -0.03579314
+v 0.01552800 0.00238530 -0.03579312
+v 0.01558625 0.00230391 -0.03587721
+v 0.01556129 0.00428000 -0.03913553
+v 0.01560872 0.00361374 -0.03789608
+v 0.01573022 0.00306861 -0.03789608
+v 0.01587502 0.00310458 -0.03913554
+v 0.01589083 -0.00331957 -0.03913556
+v 0.01617628 -0.00159713 -0.03913556
+v 0.01581511 -0.00284070 -0.03789610
+v 0.01568695 -0.00327983 -0.03745764
+v 0.01552966 -0.00261357 -0.03579314
+v 0.01623203 -0.00118071 -0.03913555
+v 0.01603564 -0.00117882 -0.03789609
+v 0.01594160 -0.00117882 -0.03730614
+v 0.01560789 -0.00180913 -0.03579314
+v 0.01557127 0.00221495 -0.03579312
+v 0.01560623 0.00160358 -0.03579312
+v 0.01564034 0.00096760 -0.03579313
+v 0.01593910 0.00096761 -0.03730614
+v 0.01603231 0.00096761 -0.03789609
+v 0.01622704 0.00096761 -0.03913555
+v 0.01568029 0.00305726 -0.03747987
+v 0.01564034 -0.00117883 -0.03579313
+f 1 2 5
+f 1 5 12
+f 1 12 16
+f 1 16 6
+f 1 6 3
+f 1 3 7
+f 1 7 18
+f 1 18 34
+f 1 34 43
+f 1 43 42
+f 1 42 41
+f 1 41 52
+f 1 52 55
+f 1 55 70
+f 1 70 61
+f 1 61 57
+f 1 57 56
+f 1 56 44
+f 1 44 35
+f 1 35 21
+f 1 21 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 12
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 8 19 20
+f 8 20 9
+f 8 21 22
+f 8 22 23
+f 8 23 19
+f 9 20 22
+f 9 22 24
+f 9 24 25
+f 9 25 26
+f 9 26 27
+f 9 27 10
+f 10 27 26
+f 10 26 25
+f 10 25 24
+f 10 24 22
+f 10 22 37
+f 10 37 49
+f 10 49 60
+f 10 60 64
+f 10 64 72
+f 10 72 67
+f 10 67 66
+f 10 66 65
+f 10 65 50
+f 10 50 38
+f 10 38 32
+f 10 32 31
+f 10 31 30
+f 10 30 29
+f 10 29 15
+f 10 15 14
+f 10 14 13
+f 10 13 11
+f 12 28 16
+f 12 15 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 28
+f 16 28 33
+f 16 33 17
+f 17 33 18
+f 18 33 34
+f 19 23 22
+f 19 22 20
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 28 32 33
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 34
+f 32 34 33
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 36 46 47
+f 36 47 48
+f 36 48 37
+f 37 48 49
+f 38 40 39
+f 38 50 51
+f 38 51 40
+f 40 52 41
+f 40 51 53
+f 40 53 54
+f 40 54 55
+f 40 55 52
+f 44 56 45
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 46 59 47
+f 47 60 49
+f 47 49 48
+f 47 59 58
+f 47 58 57
+f 47 57 61
+f 47 61 62
+f 47 62 63
+f 47 63 64
+f 47 64 60
+f 50 65 51
+f 51 65 66
+f 51 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 70
+f 51 70 71
+f 51 71 53
+f 53 71 54
+f 54 71 70
+f 54 70 55
+f 61 68 62
+f 61 70 69
+f 61 69 68
+f 62 68 63
+f 63 68 67
+f 63 67 72
+f 63 72 64
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_15.obj

@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v -0.01457847 -0.00118139 0.07308912
+v -0.01457847 -0.00140175 0.07307211
+v -0.01457847 0.00096637 0.07307892
+v -0.01547308 -0.00118139 0.07399010
+v -0.01551908 -0.00235834 0.07394759
+v -0.01457847 -0.00304075 0.07256382
+v -0.01552756 0.00211997 0.07393911
+v -0.01547913 0.00096637 0.07398330
+v -0.01457847 0.00279324 0.07252475
+v -0.01668001 0.00096636 0.07494378
+v -0.01668001 -0.00118140 0.07495058
+v -0.01806369 -0.00118140 0.07598586
+v -0.01947036 -0.00289046 0.07642274
+v -0.01672117 -0.00317682 0.07444738
+v -0.01600815 -0.00379119 0.07350050
+v -0.01463416 -0.00307019 0.07260122
+v -0.01457847 -0.00311386 0.07251623
+v -0.01675628 0.00294759 0.07441170
+v -0.01947762 0.00260231 0.07641766
+v -0.01806974 0.00096636 0.07598416
+v -0.01465837 0.00283487 0.07257745
+v -0.01606747 0.00355282 0.07345802
+v -0.01457847 0.00289986 0.07244995
+v -0.01917377 -0.00118140 0.07657064
+v -0.02112036 -0.00118140 0.07718093
+v -0.02105257 -0.00349671 0.07660124
+v -0.02026933 -0.00432332 0.07608104
+v -0.01879850 -0.00349671 0.07572745
+v -0.01748867 -0.00456906 0.07413458
+v -0.01522855 -0.00460560 0.07200283
+v -0.01457847 -0.00424409 0.07166113
+v -0.01754799 0.00431748 0.07408872
+v -0.01880334 0.00323801 0.07564928
+v -0.02122205 0.00323801 0.07656725
+v -0.02112036 0.00096636 0.07717243
+v -0.01917983 0.00096636 0.07656555
+v -0.02055018 0.00403517 0.07600117
+v -0.01526849 0.00436319 0.07196037
+v -0.01457847 0.00451145 0.07062250
+v -0.02334053 -0.00118140 0.07703813
+v -0.02326064 -0.00334845 0.07654344
+v -0.02246651 -0.00447666 0.07622554
+v -0.02174864 -0.00447666 0.07622554
+v -0.02105257 -0.00482598 0.07520896
+v -0.01890140 -0.00477215 0.07458847
+v -0.01672117 -0.00479754 0.07276271
+v -0.01457847 -0.00477620 0.07070066
+v -0.01890140 0.00449215 0.07449331
+v -0.01675628 0.00451753 0.07273555
+v -0.02202949 0.00421999 0.07618137
+v -0.02233213 0.00421999 0.07618137
+v -0.02317953 0.00310498 0.07650776
+v -0.02334053 0.00096636 0.07702624
+v -0.01457847 0.00452770 0.07054940
+v -0.02476173 0.00096636 0.07642105
+v -0.02477142 -0.00118140 0.07642785
+v -0.02465642 -0.00264370 0.07632754
+v -0.02394703 -0.00407554 0.07584645
+v -0.02473994 -0.00461374 0.07434877
+v -0.02326064 -0.00475592 0.07506786
+v -0.02334053 -0.00510219 0.07277801
+v -0.01890140 -0.00507071 0.07277801
+v -0.01457847 -0.00480667 0.07048986
+v -0.01668001 0.00527209 0.05981414
+v -0.02122205 0.00452565 0.07516140
+v -0.02317953 0.00446573 0.07502880
+v -0.02469878 0.00436623 0.07428252
+v -0.02381265 0.00381379 0.07578017
+v -0.02464310 0.00238094 0.07631736
+v -0.01457847 0.00506087 0.05981414
+v -0.01496949 0.00513094 0.05981414
+v -0.01506149 0.00513906 0.05981414
+v -0.02573987 0.00096636 0.07502368
+v -0.02575803 -0.00118140 0.07502368
+v -0.02513943 -0.00334845 0.07506787
+v -0.02619020 -0.00323877 0.07275932
+v -0.02502564 -0.00478739 0.07277801
+v -0.02519391 -0.00486151 0.07053066
+v -0.02519391 -0.00486556 0.06828671
+v -0.02509706 -0.00484727 0.06603936
+v -0.02334053 -0.00488991 0.06154636
+v -0.01464385 -0.00487267 0.06810482
+v -0.01457847 -0.00486962 0.06810651
+v -0.01457847 -0.00484525 0.06903809
+v -0.01718966 0.00523554 0.05981414
+v -0.02511643 0.00458355 0.07053070
+v -0.02327153 0.00460385 0.07271345
+v -0.02495663 0.00451753 0.07277805
+v -0.02612846 0.00300039 0.07273214
+v -0.02510069 0.00310498 0.07502879
+v -0.01457847 -0.00181195 0.05981411
+v -0.02653884 0.00096637 0.07329312
+v -0.02654732 -0.00118139 0.07332542
+v -0.02673980 -0.00246191 0.07199774
+v -0.02630520 -0.00371502 0.07053067
+v -0.02630399 -0.00369876 0.06828672
+v -0.02493848 -0.00478430 0.06379371
+v -0.02348580 -0.00482288 0.05981410
+v -0.02182007 -0.00475890 0.05981410
+v -0.01457847 -0.00485439 0.06792292
+v -0.02346159 0.00455516 0.05981414
+v -0.02334053 0.00463131 0.06154640
+v -0.02502443 0.00456631 0.06603940
+v -0.02511764 0.00458559 0.06828675
+v -0.02622652 0.00343808 0.07053069
+v -0.02673132 0.00220731 0.07195356
+v -0.01457847 -0.00454262 0.06654425
+v -0.02677490 0.00096637 0.07216944
+v -0.02678095 -0.00118139 0.07220344
+v -0.02694438 -0.00118138 0.07053068
+v -0.02680032 -0.00263962 0.07053067
+v -0.02679427 -0.00262438 0.06828672
+v -0.02673132 -0.00244057 0.06673635
+v -0.02627252 -0.00322655 0.06600877
+v -0.02458862 -0.00453651 0.05981410
+v -0.02474963 -0.00466752 0.06154636
+v -0.02380055 0.00449524 0.05981414
+v -0.02487190 0.00450640 0.06379375
+v -0.02622773 0.00341981 0.06828674
+v -0.02678701 0.00236369 0.07053069
+v -0.02693227 0.00096638 0.07053068
+v -0.02693227 -0.00118137 0.06828673
+v -0.02676764 -0.00118136 0.06648477
+v -0.02660663 -0.00118136 0.06536109
+v -0.02634636 -0.00118135 0.06379373
+v -0.02593114 -0.00118135 0.06154638
+v -0.02557644 -0.00118134 0.05981412
+v -0.02548081 -0.00333114 0.06154637
+v -0.02588030 -0.00333114 0.06379372
+v -0.02461405 -0.00449081 0.05981410
+v -0.02435983 0.00432363 0.05981414
+v -0.02469031 0.00439267 0.06154640
+v -0.02677974 0.00234543 0.06828674
+v -0.02620715 0.00298621 0.06605469
+v -0.02672043 0.00218396 0.06681457
+v -0.02691775 0.00096639 0.06828673
+v -0.02675916 0.00096640 0.06654257
+v -0.02659816 0.00096640 0.06541889
+v -0.02633063 0.00096641 0.06379373
+v -0.02591782 0.00096641 0.06154638
+v -0.02557402 -0.00068882 0.05981412
+v -0.02508859 -0.00346923 0.05981411
+v -0.02452931 0.00426168 0.05981414
+v -0.02454625 0.00427894 0.05994163
+v -0.02579798 0.00311519 0.06379374
+v -0.02540818 0.00311519 0.06154639
+v -0.02502564 0.00322690 0.05981413
+v -0.02544691 0.00145893 0.05981413
+v -0.02556313 0.00096642 0.05981412
+v -0.02460920 0.00409819 0.05981414
+f 1 2 6
+f 1 6 17
+f 1 17 31
+f 1 31 47
+f 1 47 63
+f 1 63 84
+f 1 84 83
+f 1 83 100
+f 1 100 107
+f 1 107 91
+f 1 91 70
+f 1 70 54
+f 1 54 39
+f 1 39 23
+f 1 23 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 3 9 7
+f 4 8 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 7 18 19
+f 7 19 20
+f 7 20 10
+f 7 10 8
+f 7 9 21
+f 7 21 22
+f 7 22 18
+f 9 23 21
+f 10 20 11
+f 11 20 12
+f 12 20 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 29 15
+f 14 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 17
+f 15 17 16
+f 18 22 32
+f 18 32 33
+f 18 33 19
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 19 33 37
+f 19 37 34
+f 20 36 24
+f 21 23 22
+f 22 23 38
+f 22 38 32
+f 23 39 38
+f 24 36 25
+f 25 35 40
+f 25 40 41
+f 25 41 26
+f 25 36 35
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 27 44 45
+f 27 45 29
+f 27 29 28
+f 27 43 44
+f 29 45 46
+f 29 46 30
+f 30 47 31
+f 30 46 47
+f 32 48 37
+f 32 37 33
+f 32 38 49
+f 32 49 48
+f 34 37 50
+f 34 50 51
+f 34 51 52
+f 34 52 35
+f 35 52 53
+f 35 53 40
+f 37 48 50
+f 38 39 49
+f 39 54 49
+f 40 53 55
+f 40 55 56
+f 40 56 57
+f 40 57 41
+f 41 57 58
+f 41 58 42
+f 42 58 59
+f 42 59 60
+f 42 60 44
+f 42 44 43
+f 44 60 61
+f 44 61 62
+f 44 62 45
+f 45 62 46
+f 46 62 63
+f 46 63 47
+f 48 49 64
+f 48 64 65
+f 48 65 50
+f 49 54 64
+f 50 65 51
+f 51 65 66
+f 51 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 52
+f 52 69 53
+f 53 69 55
+f 54 70 71
+f 54 71 72
+f 54 72 64
+f 55 69 73
+f 55 73 74
+f 55 74 56
+f 56 74 57
+f 57 74 75
+f 57 75 58
+f 58 75 59
+f 59 76 77
+f 59 77 61
+f 59 61 60
+f 59 75 76
+f 61 77 78
+f 61 78 79
+f 61 79 80
+f 61 80 81
+f 61 81 62
+f 62 81 82
+f 62 82 83
+f 62 83 84
+f 62 84 63
+f 64 72 71
+f 64 71 70
+f 64 70 91
+f 64 91 99
+f 64 99 98
+f 64 98 115
+f 64 115 130
+f 64 130 142
+f 64 142 127
+f 64 127 141
+f 64 141 149
+f 64 149 148
+f 64 148 147
+f 64 147 150
+f 64 150 143
+f 64 143 131
+f 64 131 117
+f 64 117 101
+f 64 101 85
+f 64 85 86
+f 64 86 87
+f 64 87 65
+f 65 87 66
+f 66 87 88
+f 66 88 67
+f 67 88 89
+f 67 89 90
+f 67 90 69
+f 67 69 68
+f 69 90 73
+f 73 92 93
+f 73 93 74
+f 73 90 92
+f 74 93 75
+f 75 93 76
+f 76 93 94
+f 76 94 95
+f 76 95 77
+f 77 95 78
+f 78 95 79
+f 79 95 96
+f 79 96 80
+f 80 97 98
+f 80 98 81
+f 80 96 97
+f 81 98 82
+f 82 98 99
+f 82 99 83
+f 83 99 100
+f 85 101 102
+f 85 102 103
+f 85 103 104
+f 85 104 86
+f 86 104 105
+f 86 105 88
+f 86 88 87
+f 88 105 89
+f 89 105 106
+f 89 106 90
+f 90 106 92
+f 91 107 99
+f 92 106 108
+f 92 108 93
+f 93 108 109
+f 93 109 94
+f 94 109 110
+f 94 110 111
+f 94 111 95
+f 95 111 96
+f 96 111 112
+f 96 112 113
+f 96 113 114
+f 96 114 115
+f 96 115 116
+f 96 116 97
+f 97 116 98
+f 98 116 115
+f 99 107 100
+f 101 117 118
+f 101 118 103
+f 101 103 102
+f 103 118 119
+f 103 119 104
+f 104 119 105
+f 105 119 120
+f 105 120 106
+f 106 120 121
+f 106 121 108
+f 108 121 110
+f 108 110 109
+f 110 121 122
+f 110 122 112
+f 110 112 111
+f 112 122 113
+f 113 123 124
+f 113 124 125
+f 113 125 126
+f 113 126 127
+f 113 127 128
+f 113 128 129
+f 113 129 114
+f 113 122 123
+f 114 129 115
+f 115 129 130
+f 117 131 132
+f 117 132 118
+f 118 132 119
+f 119 133 120
+f 119 132 134
+f 119 134 135
+f 119 135 133
+f 120 133 121
+f 121 133 136
+f 121 136 122
+f 122 136 137
+f 122 137 123
+f 123 137 138
+f 123 138 124
+f 124 138 139
+f 124 139 125
+f 125 139 140
+f 125 140 126
+f 126 140 141
+f 126 141 127
+f 127 142 128
+f 128 142 130
+f 128 130 129
+f 131 143 144
+f 131 144 132
+f 132 144 134
+f 133 135 136
+f 134 144 145
+f 134 145 135
+f 135 145 146
+f 135 146 147
+f 135 147 148
+f 135 148 149
+f 135 149 140
+f 135 140 139
+f 135 139 138
+f 135 138 137
+f 135 137 136
+f 140 149 141
+f 143 150 144
+f 144 146 145
+f 144 150 146
+f 146 150 147
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_16.obj

@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.01668009 -0.00499052 0.04357327
+v -0.01901319 -0.00485584 0.04577187
+v -0.01666394 -0.00479061 0.04143684
+v -0.01457847 -0.00485794 0.03902503
+v -0.01457847 -0.00487826 0.04139464
+v -0.02176617 -0.00479816 0.05929886
+v -0.02151101 -0.00486657 0.05705140
+v -0.02112019 -0.00497558 0.05255869
+v -0.01830044 -0.00471151 0.04357327
+v -0.02122247 -0.00482912 0.05034231
+v -0.02057971 -0.00477140 0.04806598
+v -0.01591244 -0.00463133 0.03971349
+v -0.01457847 -0.00441111 0.03773696
+v -0.01457847 -0.00483230 0.04197872
+v -0.02182001 -0.00475968 0.05981410
+v -0.02348666 -0.00482275 0.05981410
+v -0.02313782 -0.00486657 0.05705140
+v -0.02285036 -0.00482593 0.05480393
+v -0.02022980 -0.00458111 0.04648920
+v -0.01791285 -0.00450413 0.04225854
+v -0.02256074 -0.00467092 0.05255869
+v -0.02234433 -0.00451057 0.05111071
+v -0.01535474 -0.00411393 0.03821665
+v -0.01457847 -0.00423259 0.03755263
+v -0.01457847 -0.00181143 0.05981411
+v -0.02458914 -0.00453626 0.05981410
+v -0.02354479 -0.00479602 0.05912120
+v -0.02458268 -0.00453198 0.05975191
+v -0.02202995 -0.00407442 0.04961390
+v -0.01982821 -0.00412358 0.04499237
+v -0.01824338 -0.00333038 0.04175220
+v -0.01748758 -0.00333038 0.04062847
+v -0.02442119 -0.00436949 0.05825286
+v -0.02336930 -0.00333042 0.05255870
+v -0.02264364 -0.00334751 0.05034232
+v -0.01577463 -0.00268043 0.03769033
+v -0.01503174 -0.00316895 0.03712846
+v -0.01474320 -0.00365748 0.03712846
+v -0.01633879 -0.00337099 0.03901172
+v -0.01457847 -0.00381889 0.03712846
+v -0.01457847 0.00506106 0.05981414
+v -0.02461391 -0.00449029 0.05981410
+v -0.02237879 -0.00264198 0.04883883
+v -0.02169188 -0.00334751 0.04808153
+v -0.02058832 -0.00337637 0.04577188
+v -0.02019104 -0.00269114 0.04438165
+v -0.01937602 -0.00337636 0.04360881
+v -0.01778365 -0.00210426 0.04021318
+v -0.02508763 -0.00346942 0.05981411
+v -0.02493152 -0.00352393 0.05912121
+v -0.02470650 -0.00295950 0.05705141
+v -0.02453747 -0.00251266 0.05555236
+v -0.02400560 -0.00326950 0.05480394
+v -0.01590383 -0.00118172 0.03751712
+v -0.01560021 -0.00118172 0.03712847
+v -0.01457847 0.00348760 0.03712848
+v -0.01496930 0.00513161 0.05981414
+v -0.01457847 0.00515406 0.05941883
+v -0.02387425 -0.00118177 0.05255871
+v -0.02312490 -0.00118176 0.05031124
+v -0.02247138 -0.00118176 0.04862342
+v -0.02198366 -0.00118175 0.04750191
+v -0.02116540 -0.00118175 0.04582075
+v -0.02030193 -0.00118174 0.04418845
+v -0.01964518 -0.00118174 0.04306472
+v -0.01840057 -0.00130573 0.04110818
+v -0.01781595 -0.00067182 0.04016655
+v -0.01716458 -0.00130572 0.03928267
+v -0.02557643 -0.00118180 0.05981412
+v -0.02547200 -0.00118180 0.05929888
+v -0.02498427 -0.00118179 0.05705142
+v -0.02459237 -0.00118178 0.05531474
+v -0.02433075 -0.00118178 0.05419101
+v -0.01781595 0.00046985 0.04016655
+v -0.01590167 0.00096694 0.03751934
+v -0.01559914 0.00096694 0.03712847
+v -0.01473459 0.00343415 0.03712848
+v -0.01534505 0.00388953 0.03823445
+v -0.01457847 0.00442937 0.03869639
+v -0.01457847 0.00556456 0.05717137
+v -0.01668009 0.00527165 0.05981414
+v -0.02385702 0.00096689 0.05255871
+v -0.02311198 0.00096690 0.05031124
+v -0.02246599 0.00096690 0.04863231
+v -0.02198043 0.00096691 0.04751079
+v -0.02116110 0.00096691 0.04582075
+v -0.02029978 0.00096692 0.04419067
+v -0.01964518 0.00096692 0.04306694
+v -0.02557428 -0.00068899 0.05981412
+v -0.02556351 0.00096686 0.05981412
+v -0.02545800 0.00096686 0.05929888
+v -0.02496812 0.00096687 0.05705142
+v -0.02458484 0.00096688 0.05535027
+v -0.02432213 0.00096688 0.05422654
+v -0.01840057 0.00109841 0.04110818
+v -0.01778473 0.00190336 0.04021320
+v -0.01716458 0.00109842 0.03928267
+v -0.01577248 0.00245603 0.03769035
+v -0.01545056 0.00180823 0.03712848
+v -0.01502636 0.00294883 0.03712848
+v -0.01632803 0.00314980 0.03902284
+v -0.01747573 0.00311558 0.04064404
+v -0.01789885 0.00427756 0.04227857
+v -0.01589629 0.00440157 0.03973351
+v -0.01457847 0.00462927 0.03903840
+v -0.01457847 0.00460468 0.03898954
+v -0.01668009 0.00534220 0.05929890
+v -0.01457847 0.00583502 0.05492390
+v -0.01718934 0.00523530 0.05981414
+v -0.02452777 0.00225286 0.05559901
+v -0.02237233 0.00238971 0.04884995
+v -0.02018888 0.00245173 0.04438389
+v -0.02502626 0.00322776 0.05981413
+v -0.02469142 0.00265479 0.05705143
+v -0.01823262 0.00311558 0.04176777
+v -0.01935018 0.00314764 0.04361105
+v -0.01980129 0.00388523 0.04504347
+v -0.02020073 0.00433955 0.04654032
+v -0.01826922 0.00447211 0.04357331
+v -0.01665425 0.00454802 0.04144798
+v -0.01457847 0.00463355 0.03905838
+v -0.01668009 0.00551646 0.05705144
+v -0.02346189 0.00455543 0.05981414
+v -0.01457847 0.00593017 0.05267865
+v -0.02435013 0.00408081 0.05844166
+v -0.02394315 0.00302788 0.05483283
+v -0.02329286 0.00311554 0.05255872
+v -0.02164774 0.00311021 0.04809044
+v -0.02056787 0.00314763 0.04580299
+v -0.02261242 0.00311020 0.05039787
+v -0.02198904 0.00382322 0.04970719
+v -0.02460960 0.00409791 0.05981414
+v -0.02489814 0.00326517 0.05923227
+v -0.02230880 0.00426042 0.05120625
+v -0.02052695 0.00451378 0.04806602
+v -0.01899703 0.00460572 0.04580300
+v -0.01668009 0.00478532 0.04357331
+v -0.01457847 0.00490292 0.04144798
+v -0.02379996 0.00449557 0.05981414
+v -0.02304846 0.00459499 0.05705144
+v -0.01457847 0.00584572 0.05043119
+v -0.02452993 0.00426253 0.05981414
+v -0.02250152 0.00440260 0.05255873
+v -0.02278037 0.00455331 0.05480397
+v -0.02119663 0.00455439 0.05039788
+v -0.02435982 0.00432346 0.05981414
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 11
+f 2 11 9
+f 3 12 4
+f 3 9 12
+f 4 12 13
+f 4 13 24
+f 4 24 40
+f 4 40 56
+f 4 56 79
+f 4 79 106
+f 4 106 105
+f 4 105 121
+f 4 121 138
+f 4 138 141
+f 4 141 124
+f 4 124 108
+f 4 108 80
+f 4 80 58
+f 4 58 41
+f 4 41 25
+f 4 25 14
+f 4 14 5
+f 5 14 6
+f 6 15 16
+f 6 16 7
+f 6 14 15
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 10
+f 9 11 19
+f 9 19 20
+f 9 20 12
+f 10 18 21
+f 10 21 11
+f 11 21 22
+f 11 22 19
+f 12 20 23
+f 12 23 13
+f 13 23 24
+f 14 25 15
+f 15 25 41
+f 15 41 57
+f 15 57 81
+f 15 81 109
+f 15 109 123
+f 15 123 139
+f 15 139 146
+f 15 146 142
+f 15 142 132
+f 15 132 113
+f 15 113 90
+f 15 90 89
+f 15 89 69
+f 15 69 49
+f 15 49 42
+f 15 42 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 26
+f 17 26 18
+f 18 26 28
+f 18 28 21
+f 19 22 29
+f 19 29 30
+f 19 30 20
+f 20 31 32
+f 20 32 23
+f 20 30 31
+f 21 28 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 29
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 23 32 39
+f 23 39 36
+f 24 38 40
+f 26 42 28
+f 28 42 33
+f 29 43 44
+f 29 44 30
+f 29 35 43
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 31 48 32
+f 31 47 46
+f 31 46 48
+f 32 48 36
+f 32 36 39
+f 33 42 49
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 53
+f 33 53 34
+f 34 53 52
+f 34 52 43
+f 34 43 35
+f 36 54 55
+f 36 55 37
+f 36 48 54
+f 37 55 76
+f 37 76 99
+f 37 99 100
+f 37 100 77
+f 37 77 56
+f 37 56 40
+f 37 40 38
+f 41 58 57
+f 43 52 59
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 46
+f 43 46 45
+f 43 45 44
+f 46 64 65
+f 46 65 48
+f 46 63 64
+f 48 65 66
+f 48 66 67
+f 48 67 68
+f 48 68 54
+f 49 69 52
+f 49 52 51
+f 49 51 50
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 73
+f 52 73 59
+f 54 68 67
+f 54 67 74
+f 54 74 75
+f 54 75 76
+f 54 76 55
+f 56 77 78
+f 56 78 79
+f 57 58 80
+f 57 80 81
+f 59 73 82
+f 59 82 83
+f 59 83 60
+f 60 83 84
+f 60 84 61
+f 61 84 85
+f 61 85 62
+f 62 85 86
+f 62 86 63
+f 63 86 87
+f 63 87 64
+f 64 87 88
+f 64 88 65
+f 65 88 74
+f 65 74 67
+f 65 67 66
+f 69 89 70
+f 70 89 90
+f 70 90 91
+f 70 91 71
+f 71 92 93
+f 71 93 72
+f 71 91 92
+f 72 93 73
+f 73 93 94
+f 73 94 82
+f 74 88 95
+f 74 95 96
+f 74 96 97
+f 74 97 75
+f 75 98 76
+f 75 97 96
+f 75 96 98
+f 76 98 99
+f 77 100 98
+f 77 98 78
+f 78 98 101
+f 78 101 102
+f 78 102 103
+f 78 103 104
+f 78 104 105
+f 78 105 106
+f 78 106 79
+f 80 107 81
+f 80 108 107
+f 81 107 109
+f 82 94 110
+f 82 110 111
+f 82 111 83
+f 83 111 84
+f 84 111 85
+f 85 111 86
+f 86 112 87
+f 86 111 112
+f 87 112 88
+f 88 96 95
+f 88 112 96
+f 90 113 114
+f 90 114 110
+f 90 110 91
+f 91 110 92
+f 92 110 93
+f 93 110 94
+f 96 112 115
+f 96 115 102
+f 96 102 98
+f 98 100 99
+f 98 102 101
+f 102 115 103
+f 103 115 116
+f 103 116 117
+f 103 117 118
+f 103 118 119
+f 103 119 104
+f 104 119 120
+f 104 120 121
+f 104 121 105
+f 107 108 122
+f 107 122 123
+f 107 123 109
+f 108 124 122
+f 110 114 125
+f 110 125 126
+f 110 126 127
+f 110 127 111
+f 111 128 129
+f 111 129 112
+f 111 127 130
+f 111 130 131
+f 111 131 128
+f 112 116 115
+f 112 129 117
+f 112 117 116
+f 113 132 133
+f 113 133 114
+f 114 133 125
+f 117 129 128
+f 117 128 131
+f 117 131 118
+f 118 131 134
+f 118 134 135
+f 118 135 119
+f 119 135 136
+f 119 136 120
+f 120 136 137
+f 120 137 121
+f 121 137 138
+f 122 124 123
+f 123 124 140
+f 123 140 139
+f 124 141 140
+f 125 133 132
+f 125 132 142
+f 125 142 134
+f 125 134 127
+f 125 127 126
+f 127 134 130
+f 130 134 131
+f 134 142 143
+f 134 143 135
+f 135 143 144
+f 135 144 145
+f 135 145 141
+f 135 141 136
+f 136 141 137
+f 137 141 138
+f 139 140 146
+f 140 141 144
+f 140 144 146
+f 141 145 144
+f 142 146 144
+f 142 144 143
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_17.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01619464 -0.00118364 -0.03913555
+v -0.01561903 -0.00244981 -0.03596918
+v -0.01600743 -0.00118185 -0.03789609
+v -0.01619464 -0.00078428 -0.03913555
+v -0.01587191 -0.00330943 -0.03913556
+v -0.01573779 -0.00325033 -0.03789610
+v -0.01569797 -0.00323063 -0.03752766
+v -0.01550587 -0.00261816 -0.03579314
+v -0.01558480 -0.00226893 -0.03579314
+v -0.01563091 -0.00118186 -0.03579313
+v -0.01564628 -0.00118186 -0.03585825
+v -0.01591732 -0.00118185 -0.03730614
+v -0.01564558 -0.00371417 -0.03789610
+v -0.01556943 -0.00440545 -0.03842455
+v -0.01591592 0.00096542 -0.03730614
+v -0.01619115 0.00096542 -0.03913555
+v -0.01559458 -0.00445739 -0.03913557
+v -0.01518104 -0.00346525 -0.03579314
+v -0.01563021 0.00096541 -0.03579313
+v -0.01564628 0.00096541 -0.03585890
+v -0.01385797 -0.00678913 -0.03913557
+v -0.01407103 -0.00492124 -0.03579315
+v -0.01561903 0.00222620 -0.03596982
+v -0.01615552 0.00128778 -0.03913555
+v -0.01550098 0.00239812 -0.03579312
+v -0.01064740 -0.01036374 -0.03913559
+v -0.01038684 -0.01058223 -0.03913559
+v -0.00943890 -0.01137380 -0.03913559
+v -0.00908054 -0.01098339 -0.03835618
+v -0.00905889 -0.01098876 -0.03835487
+v -0.01202496 -0.00500362 -0.03579315
+v -0.01572801 0.00270258 -0.03730613
+v -0.01556245 0.00416932 -0.03850860
+v -0.01582580 0.00324701 -0.03913554
+v -0.01516567 0.00323984 -0.03579312
+v -0.01546884 0.00397053 -0.03789608
+v -0.00905889 -0.01149379 -0.03913559
+v -0.00905889 -0.00971723 -0.03829041
+v -0.01020242 -0.00118186 -0.03579313
+v -0.01064251 -0.00353509 -0.03579314
+v -0.01109029 -0.00443591 -0.03579315
+v -0.01573918 0.00297838 -0.03789608
+v -0.01440913 0.00430005 -0.03579311
+v -0.01416254 0.00594946 -0.03913553
+v -0.01512515 0.00484807 -0.03913553
+v -0.01576224 0.00355326 -0.03913554
+v -0.01537803 0.00377712 -0.03730613
+v -0.00905889 -0.00638080 -0.03913557
+v -0.00905889 -0.00821646 -0.03832672
+v -0.01020661 0.00096541 -0.03579313
+v -0.01398581 0.00475314 -0.03579311
+v -0.01362954 0.00594946 -0.03808879
+v -0.01312938 0.00617870 -0.03789607
+v -0.01207246 0.00658344 -0.03789607
+v -0.01061946 0.00680193 -0.03789607
+v -0.00906447 0.00594946 -0.03913553
+v -0.00905889 -0.00708283 -0.03875340
+v -0.01029324 0.00180534 -0.03579312
+v -0.01322368 0.00480329 -0.03579311
+v -0.01203404 0.00477821 -0.03579311
+v -0.01149894 0.00432333 -0.03579311
+v -0.01093661 0.00382725 -0.03579312
+v -0.01064810 0.00330968 -0.03579312
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 24
+f 1 24 34
+f 1 34 46
+f 1 46 45
+f 1 45 44
+f 1 44 56
+f 1 56 48
+f 1 48 37
+f 1 37 28
+f 1 28 27
+f 1 27 26
+f 1 26 21
+f 1 21 17
+f 1 17 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 7 13
+f 2 13 14
+f 2 14 8
+f 3 12 15
+f 3 15 4
+f 4 15 16
+f 5 13 6
+f 5 17 14
+f 5 14 13
+f 6 13 7
+f 8 18 22
+f 8 22 31
+f 8 31 41
+f 8 41 40
+f 8 40 39
+f 8 39 50
+f 8 50 58
+f 8 58 63
+f 8 63 62
+f 8 62 61
+f 8 61 60
+f 8 60 59
+f 8 59 51
+f 8 51 43
+f 8 43 35
+f 8 35 25
+f 8 25 19
+f 8 19 10
+f 8 10 9
+f 8 14 18
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 20 15
+f 14 17 21
+f 14 21 22
+f 14 22 18
+f 15 20 23
+f 15 23 16
+f 16 23 24
+f 19 25 23
+f 19 23 20
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 23 32 24
+f 23 25 33
+f 23 33 32
+f 24 32 34
+f 25 35 36
+f 25 36 33
+f 28 37 29
+f 29 37 30
+f 30 37 48
+f 30 48 57
+f 30 57 49
+f 30 49 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 32 42 34
+f 32 33 42
+f 33 36 43
+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 33 46 34
+f 33 34 42
+f 35 47 36
+f 35 43 47
+f 36 47 43
+f 38 49 50
+f 38 50 39
+f 43 51 44
+f 44 52 53
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 51 52
+f 48 56 57
+f 49 57 56
+f 49 56 50
+f 50 56 58
+f 51 59 55
+f 51 55 54
+f 51 54 53
+f 51 53 52
+f 55 59 60
+f 55 60 61
+f 55 61 62
+f 55 62 63
+f 55 63 56
+f 56 63 58
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_18.obj

@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00542776 0.00096628 -0.00472789
+v 0.00514770 0.00174235 -0.00472788
+v 0.00542242 -0.00118132 -0.00472789
+v 0.00460147 -0.00118128 -0.01633664
+v 0.00460147 0.00037498 -0.01628651
+v 0.00465812 0.00104164 -0.01469757
+v 0.00444006 0.00207365 -0.01385447
+v 0.00479922 0.00262987 -0.00472788
+v 0.00479388 -0.00283666 -0.00472790
+v 0.00447533 -0.00233713 -0.01613766
+v 0.00304188 -0.00032471 -0.02024522
+v 0.00283236 0.00092814 -0.02024522
+v 0.00256940 0.00152361 -0.02024521
+v 0.00414931 0.00180843 -0.01535227
+v 0.00218779 0.00207986 -0.02024521
+v 0.00103226 0.00303137 -0.02024521
+v 0.00173349 0.00410257 -0.01259211
+v 0.00268485 0.00448851 -0.00585350
+v 0.00279923 0.00456178 -0.00472787
+v 0.00335508 0.00415001 -0.00472787
+v 0.00390879 0.00370418 -0.00472788
+v 0.00437378 0.00316857 -0.00472788
+v 0.00390131 -0.00391097 -0.00472790
+v 0.00220169 -0.00441145 -0.01822032
+v 0.00284733 -0.00101822 -0.02024522
+v 0.00228293 0.00194260 -0.02024521
+v -0.00010189 0.00339670 -0.02024521
+v 0.00033210 0.00422022 -0.01376179
+v 0.00108250 0.00516963 -0.00472787
+v 0.00188207 0.00489925 -0.00472787
+v 0.00279068 -0.00477063 -0.00472791
+v 0.00108250 -0.00470145 -0.01708557
+v 0.00108250 -0.00456418 -0.01858185
+v 0.00110281 -0.00320813 -0.02024523
+v 0.00108250 -0.00537126 -0.00472791
+v -0.00117191 0.00352467 -0.02024521
+v -0.00010403 0.00422022 -0.01376179
+v -0.00113663 0.00517066 -0.00472787
+v -0.00113663 -0.00458069 -0.01869579
+v -0.00113663 -0.00537229 -0.00472791
+v -0.00113663 -0.00413693 -0.01981838
+v -0.00111311 -0.00386035 -0.02024523
+v -0.00210082 0.00320371 -0.02024521
+v -0.00274219 0.00448954 -0.00585350
+v -0.00285656 0.00456281 -0.00472787
+v -0.00229323 -0.00443415 -0.01837070
+v -0.00193513 -0.00510294 -0.00472791
+v -0.00182610 -0.00363847 -0.02024523
+v -0.00296987 0.00270009 -0.02024521
+v -0.00396613 0.00371038 -0.00472788
+v -0.00313128 -0.00345168 -0.01920466
+v -0.00302973 -0.00307294 -0.02024523
+v -0.00284587 -0.00477166 -0.00472791
+v -0.00340173 -0.00435989 -0.00472791
+v -0.00395651 -0.00391510 -0.00472790
+v -0.00405485 0.00135539 -0.02024522
+v -0.00486084 0.00263606 -0.00472788
+v -0.00442898 -0.00200172 -0.01933227
+v -0.00360055 -0.00246199 -0.02024523
+v -0.00442364 -0.00337949 -0.00472790
+v -0.00463101 0.00048025 -0.02024522
+v -0.00549258 0.00096628 -0.00472789
+v -0.00454336 -0.00131440 -0.02024522
+v -0.00485549 -0.00284078 -0.00472790
+v -0.00520504 -0.00195636 -0.00472790
+v -0.00548724 -0.00118132 -0.00472789
+v -0.00463101 -0.00083865 -0.02024522
+v -0.00549045 -0.00010494 -0.00472789
+f 1 2 8
+f 1 8 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 30
+f 1 30 29
+f 1 29 38
+f 1 38 45
+f 1 45 50
+f 1 50 57
+f 1 57 62
+f 1 62 68
+f 1 68 66
+f 1 66 65
+f 1 65 64
+f 1 64 60
+f 1 60 55
+f 1 55 54
+f 1 54 53
+f 1 53 47
+f 1 47 40
+f 1 40 35
+f 1 35 31
+f 1 31 23
+f 1 23 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 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 7
+f 5 7 6
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 9 23 10
+f 10 24 25
+f 10 25 11
+f 10 23 24
+f 11 25 34
+f 11 34 42
+f 11 42 48
+f 11 48 52
+f 11 52 59
+f 11 59 63
+f 11 63 67
+f 11 67 61
+f 11 61 56
+f 11 56 49
+f 11 49 43
+f 11 43 36
+f 11 36 27
+f 11 27 16
+f 11 16 15
+f 11 15 26
+f 11 26 13
+f 11 13 12
+f 13 26 14
+f 14 26 15
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 23 31 24
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 24 31 35
+f 24 35 32
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 32 39 33
+f 32 35 40
+f 32 40 39
+f 33 39 41
+f 33 41 42
+f 33 42 34
+f 36 43 38
+f 36 38 37
+f 38 44 45
+f 38 43 44
+f 39 46 41
+f 39 40 46
+f 40 47 46
+f 41 46 48
+f 41 48 42
+f 43 49 45
+f 43 45 44
+f 45 49 50
+f 46 51 52
+f 46 52 48
+f 46 47 53
+f 46 53 54
+f 46 54 55
+f 46 55 51
+f 49 56 57
+f 49 57 50
+f 51 55 58
+f 51 58 59
+f 51 59 52
+f 55 60 58
+f 56 61 57
+f 57 61 62
+f 58 63 59
+f 58 60 64
+f 58 64 65
+f 58 65 66
+f 58 66 63
+f 61 67 62
+f 62 67 68
+f 63 66 67
+f 66 68 67
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_19.obj

@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.01202413 -0.00500615 -0.03579282
+v -0.01407200 -0.00492259 -0.03579282
+v -0.01108990 -0.00443758 -0.03579282
+v -0.01093121 -0.00458260 -0.03466217
+v -0.01068604 -0.00474300 -0.03281174
+v -0.01036582 -0.00482177 -0.03056566
+v -0.01001914 -0.00483715 -0.02607349
+v -0.01001914 -0.00484196 -0.02382740
+v -0.01001914 -0.00484870 -0.02024828
+v -0.01223857 -0.00497927 -0.03281174
+v -0.01518135 -0.00346659 -0.03579281
+v -0.01192263 -0.00482373 -0.02024828
+v -0.01303270 -0.00384698 -0.02024827
+v -0.01064172 -0.00353670 -0.03579281
+v -0.00902416 -0.00418405 -0.02879892
+v -0.00889907 -0.00441552 -0.02730305
+v -0.00986618 -0.00474591 -0.02815827
+v -0.00889264 -0.00442320 -0.02607349
+v -0.00934581 -0.00459995 -0.02024828
+v -0.01079398 -0.00483910 -0.02024828
+v -0.01550587 -0.00261950 -0.03579281
+v -0.01322640 -0.00340999 -0.02024827
+v -0.01350732 -0.00277322 -0.02024827
+v -0.01020284 -0.00118174 -0.03579280
+v -0.00878756 -0.00275206 -0.02991891
+v -0.00872180 -0.00341284 -0.02815826
+v -0.00861959 -0.00333024 -0.02607348
+v -0.00859886 -0.00333027 -0.02024827
+v -0.00888620 -0.00442996 -0.02024828
+v -0.01558521 -0.00226990 -0.03579281
+v -0.01366671 -0.00118180 -0.02024826
+v -0.01020356 -0.00047967 -0.03579280
+v -0.00936440 0.00096672 -0.03281172
+v -0.00936225 -0.00118175 -0.03281172
+v -0.00898198 -0.00118175 -0.03139650
+v -0.00871608 -0.00118176 -0.03027346
+v -0.00844303 -0.00118177 -0.02831955
+v -0.00836012 -0.00118177 -0.02607347
+v -0.00833295 -0.00118180 -0.02024826
+v -0.01563024 -0.00118174 -0.03579280
+v -0.01366528 0.00009268 -0.02024826
+v -0.01563024 0.00096673 -0.03579280
+v -0.01020642 0.00096673 -0.03579280
+v -0.00878542 0.00252740 -0.02991736
+v -0.00898341 0.00096672 -0.03139498
+v -0.01029291 0.00180710 -0.03579279
+v -0.00871465 0.00096671 -0.03027194
+v -0.00844089 0.00096670 -0.02831955
+v -0.00835726 0.00096670 -0.02607347
+v -0.00832867 0.00096667 -0.02024826
+v -0.00833081 -0.00030782 -0.02024826
+v -0.01366386 0.00096667 -0.02024826
+v -0.01550158 0.00239872 -0.03579279
+v -0.00903631 0.00396035 -0.02874867
+v -0.00872251 0.00319296 -0.02812628
+v -0.01064816 0.00331112 -0.03579279
+v -0.00862530 0.00311613 -0.02607346
+v -0.00860100 0.00311610 -0.02024825
+v -0.01357093 0.00189540 -0.02024825
+v -0.01516634 0.00324005 -0.03579279
+v -0.01350517 0.00253600 -0.02024825
+v -0.01093693 0.00382783 -0.03579279
+v -0.01093693 0.00436087 -0.03463778
+v -0.00890407 0.00419564 -0.02725127
+v -0.00871823 0.00355885 -0.02024825
+v -0.00890121 0.00419852 -0.02607345
+v -0.01440867 0.00430228 -0.03579278
+v -0.01300553 0.00361071 -0.02024825
+v -0.01149876 0.00432437 -0.03579278
+v -0.01069819 0.00451452 -0.03281170
+v -0.01203342 0.00477865 -0.03579278
+v -0.01038297 0.00458943 -0.03056562
+v -0.00987333 0.00451450 -0.02812627
+v -0.01001914 0.00459614 -0.02607345
+v -0.00889192 0.00420906 -0.02024824
+v -0.01398551 0.00475368 -0.03579278
+v -0.01234721 0.00419369 -0.02024824
+v -0.01322426 0.00480554 -0.03579278
+v -0.01001914 0.00460763 -0.02024824
+v -0.01189618 0.00458939 -0.02024824
+f 1 2 11
+f 1 11 21
+f 1 21 30
+f 1 30 40
+f 1 40 42
+f 1 42 53
+f 1 53 60
+f 1 60 67
+f 1 67 76
+f 1 76 78
+f 1 78 71
+f 1 71 69
+f 1 69 62
+f 1 62 56
+f 1 56 46
+f 1 46 43
+f 1 43 32
+f 1 32 24
+f 1 24 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 12
+f 2 12 13
+f 2 13 11
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 5
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 16
+f 7 16 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 29
+f 9 29 28
+f 9 28 39
+f 9 39 51
+f 9 51 50
+f 9 50 58
+f 9 58 65
+f 9 65 75
+f 9 75 79
+f 9 79 80
+f 9 80 77
+f 9 77 68
+f 9 68 61
+f 9 61 59
+f 9 59 52
+f 9 52 41
+f 9 41 31
+f 9 31 23
+f 9 23 22
+f 9 22 13
+f 9 13 12
+f 9 12 20
+f 9 20 10
+f 10 20 12
+f 11 13 22
+f 11 22 23
+f 11 23 21
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 21 23 30
+f 23 31 30
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 30 31 40
+f 31 41 42
+f 31 42 40
+f 32 43 33
+f 33 44 45
+f 33 45 34
+f 33 43 46
+f 33 46 44
+f 34 45 35
+f 35 45 47
+f 35 47 36
+f 36 47 48
+f 36 48 37
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 38 51 39
+f 41 52 42
+f 42 52 53
+f 44 54 55
+f 44 55 48
+f 44 48 47
+f 44 47 45
+f 44 46 56
+f 44 56 54
+f 48 55 57
+f 48 57 49
+f 49 57 50
+f 50 57 58
+f 52 59 53
+f 53 59 61
+f 53 61 60
+f 54 56 62
+f 54 62 63
+f 54 63 64
+f 54 64 55
+f 55 64 57
+f 57 64 58
+f 58 64 66
+f 58 66 65
+f 60 61 68
+f 60 68 67
+f 62 69 63
+f 63 70 64
+f 63 69 71
+f 63 71 70
+f 64 70 72
+f 64 72 73
+f 64 73 74
+f 64 74 66
+f 65 66 75
+f 66 74 75
+f 67 68 76
+f 68 77 76
+f 70 71 72
+f 71 78 79
+f 71 79 74
+f 71 74 72
+f 72 74 73
+f 74 79 75
+f 76 77 80
+f 76 80 78
+f 78 80 79
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_2.obj

@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.02559811 -0.00117979 -0.00472788
+v -0.02559811 0.00096558 -0.00472788
+v -0.02497182 -0.00276710 -0.00472789
+v -0.02648014 -0.00109143 0.01452543
+v -0.02668368 -0.00031379 0.01538143
+v -0.02538413 0.00168376 -0.00472787
+v -0.02668368 0.00009485 0.01538143
+v -0.02647492 0.00087403 0.01452543
+v -0.02538413 -0.00297606 0.01436237
+v -0.02425158 -0.00318184 -0.00472789
+v -0.02668368 -0.00031379 0.01551391
+v -0.02463779 -0.00251560 0.02031024
+v -0.02496660 0.00254679 -0.00472787
+v -0.02668368 0.00009485 0.01551391
+v -0.02463779 0.00230273 0.02031026
+v -0.02538413 0.00276019 0.01436239
+v -0.02333823 -0.00359506 -0.00472789
+v -0.02333823 -0.00378573 0.01436237
+v -0.02333823 -0.00324445 0.01885639
+v -0.02475783 -0.00117989 0.02053444
+v -0.02329126 -0.00286631 0.02107453
+v -0.02251883 -0.00248664 0.02239250
+v -0.02382883 -0.00117989 0.02165880
+v -0.02333823 0.00336407 -0.00472787
+v -0.02475783 0.00096548 0.02053444
+v -0.02382883 0.00096548 0.02165880
+v -0.02251883 0.00226918 0.02239252
+v -0.02329126 0.00265037 0.02107455
+v -0.02333823 0.00302548 0.01885641
+v -0.02333823 0.00357138 0.01436239
+v -0.02222656 -0.00382530 -0.00472789
+v -0.01371941 -0.00664623 0.01304438
+v -0.01487805 -0.00635652 0.01436236
+v -0.01354196 -0.00660202 0.01557843
+v -0.00113613 -0.00789051 0.02981798
+v -0.00140231 -0.00781123 0.02981798
+v -0.00335426 -0.00720283 0.02981798
+v -0.01845315 -0.00270622 0.02490277
+v -0.01882892 -0.00117990 0.02515755
+v -0.02272238 -0.00117989 0.02250461
+v -0.00349517 -0.00713727 0.02981798
+v -0.00454421 -0.00661427 0.02981799
+v -0.01489371 0.00614522 0.01436240
+v -0.01372985 0.00643188 0.01304102
+v -0.02111489 0.00367666 -0.00472787
+v -0.02271716 0.00096548 0.02250461
+v -0.01882370 0.00096547 0.02515415
+v -0.01845315 0.00249026 0.02490279
+v -0.00454943 0.00640285 0.02981803
+v -0.00335426 0.00698989 0.02981804
+v -0.00113613 0.00767147 0.02981804
+v -0.01354718 0.00638765 0.01557847
+v -0.01190316 -0.00483013 -0.00472790
+v -0.00113613 -0.00698773 0.00089047
+v -0.01377682 -0.00665843 0.01436236
+v -0.00113613 -0.00717071 0.00313578
+v 0.00002773 -0.00789814 0.02997424
+v -0.00703895 -0.00456343 0.02981799
+v -0.00814540 -0.00353267 0.02981800
+v -0.00820803 -0.00345491 0.02981800
+v -0.00969026 -0.00113570 0.02981801
+v -0.00969026 0.00091818 0.02981801
+v -0.01378204 0.00644408 0.01436240
+v -0.00113613 0.00695187 0.00313584
+v -0.00113613 0.00676433 0.00089052
+v -0.01188228 0.00460220 -0.00472786
+v -0.00906918 0.00205873 0.02981802
+v -0.00819759 0.00323739 0.02981802
+v -0.00690325 0.00447704 0.02981803
+v 0.00002773 0.00767909 0.02997430
+v -0.00113613 -0.00536991 -0.00472790
+v -0.00113613 -0.00667972 -0.00046147
+v 0.00108199 -0.00698773 0.00089047
+v 0.00108199 -0.00717376 0.00313578
+v 0.00107677 -0.00789661 0.02997424
+v 0.00108199 0.00694882 0.00313584
+v 0.00108199 0.00676281 0.00089052
+v -0.00113613 0.00645937 -0.00046143
+v 0.00108199 0.00645937 -0.00045803
+v -0.00113613 0.00516942 -0.00472786
+v 0.00107677 0.00767757 0.02997430
+v 0.00108199 -0.00536991 -0.00472790
+v 0.00108199 -0.00667820 -0.00046147
+v 0.01190121 -0.00483318 -0.00472790
+v 0.02106075 -0.00391831 -0.00472789
+v 0.01366527 -0.00664318 0.01304778
+v 0.01372790 -0.00665690 0.01436236
+v 0.01349826 -0.00660202 0.01557843
+v 0.02328409 -0.00325054 0.01885639
+v 0.02324756 -0.00288003 0.02108132
+v 0.00330011 -0.00720436 0.02997424
+v 0.01366527 0.00642883 0.01304782
+v 0.02217242 0.00360804 -0.00472787
+v 0.01186989 0.00459763 -0.00472786
+v -0.00002446 0.00516942 -0.00472786
+v 0.00108199 0.00516790 -0.00472786
+v 0.00119681 0.00764402 0.02997430
+v 0.01349826 0.00638917 0.01557847
+v 0.01373312 0.00644255 0.01436240
+v 0.02328409 -0.00361488 -0.00472789
+v 0.01483957 -0.00636414 0.01436236
+v 0.02328409 -0.00379182 0.01436237
+v 0.02533520 -0.00297911 0.01436237
+v 0.02458365 -0.00252017 0.02031703
+v 0.02248035 -0.00249731 0.02240270
+v 0.00449007 -0.00661427 0.02997425
+v 0.01483957 0.00614979 0.01436240
+v 0.02328409 0.00338237 -0.00472787
+v 0.00330011 0.00698532 0.02997430
+v 0.02324234 0.00265495 0.02107795
+v 0.02328409 0.00302853 0.01885641
+v 0.02492811 -0.00278235 -0.00472789
+v 0.02643121 -0.00113107 0.01449825
+v 0.02379034 -0.00117989 0.02166559
+v 0.02663476 -0.00038241 0.01552070
+v 0.02470369 -0.00117989 0.02054463
+v 0.02268389 -0.00117989 0.02251480
+v 0.01878522 -0.00117990 0.02515755
+v 0.01840422 -0.00270927 0.02490617
+v 0.00693783 -0.00462289 0.02997425
+v 0.02328409 0.00358052 0.01436239
+v 0.02535086 0.00276781 0.01436239
+v 0.02420265 0.00297220 -0.00472787
+v 0.00448485 0.00639522 0.02997429
+v 0.02247513 0.00227528 0.02239592
+v 0.02457843 0.00230121 0.02031026
+v 0.02534564 -0.00191169 -0.00472789
+v 0.02663476 -0.00038241 0.01533387
+v 0.02557006 -0.00117979 -0.00472788
+v 0.02470369 0.00096548 0.02053784
+v 0.02378512 0.00096548 0.02165880
+v 0.02663476 0.00019549 0.01552070
+v 0.02267345 0.00096548 0.02250801
+v 0.01878000 0.00096547 0.02515415
+v 0.00962046 -0.00111741 0.02997427
+v 0.00908289 -0.00237078 0.02997426
+v 0.00962046 0.00089684 0.02997427
+v 0.00817998 -0.00346406 0.02997426
+v 0.02643643 0.00093349 0.01449825
+v 0.02492811 0.00255899 -0.00472787
+v 0.00698480 0.00434286 0.02997429
+v 0.01840422 0.00248874 0.02490279
+v 0.02663476 0.00019549 0.01533387
+v 0.02557006 0.00096558 -0.00472788
+v 0.00961524 0.00091361 0.02997427
+v 0.00817476 0.00324654 0.02997428
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 45
+f 1 45 66
+f 1 66 80
+f 1 80 95
+f 1 95 96
+f 1 96 94
+f 1 94 93
+f 1 93 108
+f 1 108 123
+f 1 123 140
+f 1 140 144
+f 1 144 129
+f 1 129 127
+f 1 127 112
+f 1 112 100
+f 1 100 85
+f 1 85 84
+f 1 84 82
+f 1 82 71
+f 1 71 53
+f 1 53 31
+f 1 31 17
+f 1 17 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 3 10 9
+f 4 11 5
+f 4 9 12
+f 4 12 11
+f 5 11 14
+f 5 14 7
+f 6 8 13
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 13
+f 9 10 17
+f 9 17 18
+f 9 18 19
+f 9 19 12
+f 11 12 20
+f 11 20 25
+f 11 25 14
+f 12 19 21
+f 12 21 22
+f 12 22 23
+f 12 23 20
+f 13 16 24
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 24
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 21
+f 20 23 26
+f 20 26 25
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 22 37 41
+f 22 41 42
+f 22 42 38
+f 23 40 26
+f 24 30 43
+f 24 43 44
+f 24 44 45
+f 26 40 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 49
+f 27 49 50
+f 27 50 28
+f 28 50 51
+f 28 51 29
+f 29 51 52
+f 29 52 43
+f 29 43 30
+f 31 53 54
+f 31 54 32
+f 32 55 33
+f 32 54 56
+f 32 56 35
+f 32 35 55
+f 33 55 34
+f 34 55 35
+f 35 56 57
+f 35 57 36
+f 36 57 37
+f 37 57 41
+f 38 42 58
+f 38 58 59
+f 38 59 60
+f 38 60 61
+f 38 61 39
+f 39 47 46
+f 39 46 40
+f 39 61 62
+f 39 62 47
+f 41 57 42
+f 42 57 58
+f 43 52 63
+f 43 63 44
+f 44 63 51
+f 44 51 64
+f 44 64 65
+f 44 65 45
+f 45 65 66
+f 47 62 67
+f 47 67 48
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 49 69 70
+f 49 70 50
+f 50 70 51
+f 51 63 52
+f 51 70 64
+f 53 71 72
+f 53 72 54
+f 54 72 73
+f 54 73 74
+f 54 74 56
+f 56 74 57
+f 57 61 60
+f 57 60 59
+f 57 59 58
+f 57 74 75
+f 57 75 91
+f 57 91 106
+f 57 106 120
+f 57 120 138
+f 57 138 136
+f 57 136 135
+f 57 135 137
+f 57 137 145
+f 57 145 146
+f 57 146 141
+f 57 141 124
+f 57 124 109
+f 57 109 97
+f 57 97 81
+f 57 81 70
+f 57 70 62
+f 57 62 61
+f 62 70 67
+f 64 70 76
+f 64 76 77
+f 64 77 65
+f 65 78 66
+f 65 77 79
+f 65 79 78
+f 66 78 80
+f 67 70 68
+f 68 70 69
+f 70 81 76
+f 71 82 72
+f 72 82 83
+f 72 83 73
+f 73 83 84
+f 73 84 85
+f 73 85 86
+f 73 86 74
+f 74 86 75
+f 75 86 87
+f 75 87 88
+f 75 88 89
+f 75 89 90
+f 75 90 91
+f 76 81 92
+f 76 92 77
+f 77 92 93
+f 77 93 94
+f 77 94 79
+f 78 79 95
+f 78 95 80
+f 79 94 96
+f 79 96 95
+f 81 97 98
+f 81 98 99
+f 81 99 92
+f 82 84 83
+f 85 100 86
+f 86 100 101
+f 86 101 87
+f 87 101 88
+f 88 101 89
+f 89 101 102
+f 89 102 103
+f 89 103 104
+f 89 104 90
+f 90 104 105
+f 90 105 91
+f 91 105 106
+f 92 99 107
+f 92 107 108
+f 92 108 93
+f 97 109 110
+f 97 110 111
+f 97 111 98
+f 98 111 107
+f 98 107 99
+f 100 112 103
+f 100 103 102
+f 100 102 101
+f 103 112 113
+f 103 113 104
+f 104 114 105
+f 104 113 115
+f 104 115 116
+f 104 116 114
+f 105 117 118
+f 105 118 119
+f 105 119 106
+f 105 114 117
+f 106 119 120
+f 107 111 121
+f 107 121 108
+f 108 121 122
+f 108 122 123
+f 109 124 125
+f 109 125 110
+f 110 125 126
+f 110 126 111
+f 111 126 122
+f 111 122 121
+f 112 127 113
+f 113 128 115
+f 113 127 129
+f 113 129 128
+f 114 116 130
+f 114 130 131
+f 114 131 117
+f 115 128 143
+f 115 143 132
+f 115 132 116
+f 116 132 130
+f 117 133 134
+f 117 134 118
+f 117 131 133
+f 118 135 136
+f 118 136 119
+f 118 134 137
+f 118 137 135
+f 119 136 138
+f 119 138 120
+f 122 139 140
+f 122 140 123
+f 122 126 139
+f 124 141 142
+f 124 142 125
+f 125 142 134
+f 125 134 133
+f 125 133 131
+f 125 131 126
+f 126 131 130
+f 126 130 132
+f 126 132 139
+f 128 129 144
+f 128 144 143
+f 132 143 139
+f 134 142 145
+f 134 145 137
+f 139 143 144
+f 139 144 140
+f 141 146 142
+f 142 146 145
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_20.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01001926 -0.00488002 -0.00472791
+v -0.00886420 -0.00445310 -0.00472791
+v -0.01095957 -0.00485672 -0.00472791
+v -0.01192212 -0.00482404 -0.01933228
+v -0.01192298 -0.00482311 -0.02024524
+v -0.01001926 -0.00487068 -0.01034696
+v -0.00887105 -0.00444655 -0.01259215
+v -0.00844410 -0.00333081 -0.00472790
+v -0.01190501 -0.00483155 -0.00472791
+v -0.01663649 -0.00320497 -0.00472790
+v -0.01303269 -0.00384716 -0.02024523
+v -0.01079358 -0.00483989 -0.02024524
+v -0.01001926 -0.00486694 -0.01259215
+v -0.01001926 -0.00486228 -0.01483886
+v -0.00887447 -0.00444282 -0.01483886
+v -0.00789908 -0.00118130 -0.00472789
+v -0.00887875 -0.00443815 -0.01708557
+v -0.00888645 -0.00442975 -0.02024524
+v -0.00859897 -0.00333076 -0.02024523
+v -0.01663649 0.00293501 -0.00472788
+v -0.01663649 -0.00294304 -0.00588695
+v -0.01322692 -0.00340999 -0.02024523
+v -0.01001926 -0.00484828 -0.02024524
+v -0.01001926 -0.00485668 -0.01708557
+v -0.00789652 0.00096634 -0.00472789
+v -0.00833288 -0.00118125 -0.02024522
+v -0.00833116 -0.00030691 -0.02024522
+v -0.00832945 0.00096639 -0.02024522
+v -0.00934591 -0.00460033 -0.02024524
+v -0.01188790 0.00460260 -0.00472787
+v -0.01663649 0.00297695 -0.00473243
+v -0.01663649 -0.00120926 -0.00810023
+v -0.01350755 -0.00277241 -0.02024523
+v -0.00814122 0.00203923 -0.00472788
+v -0.00860068 0.00311589 -0.02024521
+v -0.01001926 0.00464268 -0.00472787
+v -0.01189645 0.00458960 -0.02024520
+v -0.01663649 0.00271875 -0.00587781
+v -0.01234650 0.00419344 -0.02024520
+v -0.01300531 0.00361086 -0.02024521
+v -0.01663649 -0.00117850 -0.00813061
+v -0.01366669 -0.00118125 -0.02024522
+v -0.00844924 0.00311584 -0.00472788
+v -0.00871790 0.00355866 -0.02024521
+v -0.00889244 0.00420836 -0.02024520
+v -0.01001926 0.00461011 -0.01933224
+v -0.00944772 0.00443761 -0.00472787
+v -0.00888645 0.00421487 -0.01708553
+v -0.00888987 0.00421115 -0.01933224
+v -0.01001926 0.00460731 -0.02024520
+v -0.01663649 0.00183696 -0.00738170
+v -0.01350499 0.00253610 -0.02024521
+v -0.01663649 -0.00115613 -0.00813061
+v -0.01366413 0.00096639 -0.02024522
+v -0.01663649 0.00096448 -0.00812757
+v -0.00863576 0.00367140 -0.00472788
+v -0.00887105 0.00423068 -0.00472787
+v -0.01663649 0.00098033 -0.00811846
+v -0.01357087 0.00189573 -0.02024521
+f 1 2 8
+f 1 8 16
+f 1 16 25
+f 1 25 34
+f 1 34 43
+f 1 43 56
+f 1 56 57
+f 1 57 47
+f 1 47 36
+f 1 36 30
+f 1 30 20
+f 1 20 10
+f 1 10 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 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 22
+f 5 22 33
+f 5 33 42
+f 5 42 54
+f 5 54 59
+f 5 59 52
+f 5 52 40
+f 5 40 39
+f 5 39 37
+f 5 37 50
+f 5 50 45
+f 5 45 44
+f 5 44 35
+f 5 35 28
+f 5 28 27
+f 5 27 26
+f 5 26 19
+f 5 19 18
+f 5 18 29
+f 5 29 23
+f 5 23 12
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 17
+f 8 17 18
+f 8 18 19
+f 8 19 16
+f 10 20 31
+f 10 31 38
+f 10 38 51
+f 10 51 58
+f 10 58 55
+f 10 55 53
+f 10 53 41
+f 10 41 32
+f 10 32 21
+f 10 21 11
+f 11 21 22
+f 12 23 24
+f 12 24 14
+f 12 14 13
+f 14 24 15
+f 15 24 23
+f 15 23 17
+f 16 19 26
+f 16 26 27
+f 16 27 28
+f 16 28 25
+f 17 23 29
+f 17 29 18
+f 20 30 31
+f 21 32 33
+f 21 33 22
+f 25 28 35
+f 25 35 34
+f 30 36 37
+f 30 37 31
+f 31 37 39
+f 31 39 40
+f 31 40 38
+f 32 41 33
+f 33 41 42
+f 34 35 44
+f 34 44 45
+f 34 45 43
+f 36 46 37
+f 36 47 48
+f 36 48 49
+f 36 49 46
+f 37 46 50
+f 38 40 52
+f 38 52 51
+f 41 53 42
+f 42 53 55
+f 42 55 54
+f 43 45 56
+f 45 50 49
+f 45 49 56
+f 46 49 50
+f 47 57 48
+f 48 57 56
+f 48 56 49
+f 51 52 58
+f 52 59 55
+f 52 55 58
+f 54 55 59
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_21.obj

@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.00552402 -0.00496558 0.04806656
+v 0.00552402 -0.00494210 0.05031478
+v 0.00406853 -0.00476491 0.04593838
+v 0.00552402 -0.00490794 0.04593838
+v 0.01302527 -0.00491869 0.06676004
+v 0.01218407 -0.00494750 0.06603731
+v 0.00774404 -0.00496241 0.05705443
+v 0.00594513 -0.00484606 0.05480622
+v 0.00399392 -0.00474890 0.04593838
+v 0.00559965 -0.00489406 0.04593838
+v 0.01302527 -0.00470520 0.06503448
+v 0.01302527 -0.00475645 0.06896574
+v 0.00678223 -0.00456424 0.04593838
+v 0.01225869 -0.00473510 0.06813547
+v 0.00984856 -0.00483968 0.06385161
+v 0.00762036 -0.00483540 0.05932016
+v 0.00439050 -0.00442977 0.05155018
+v 0.00428829 -0.00452476 0.05031478
+v 0.00412373 -0.00466245 0.04806656
+v 0.00823874 -0.00478631 0.06154337
+v 0.00625176 -0.00470517 0.05705443
+v 0.00309958 -0.00333034 0.04593839
+v 0.01302527 -0.00108563 0.04593840
+v 0.01302527 -0.00457607 0.06966096
+v 0.01098412 -0.00447679 0.06728520
+v 0.01058550 -0.00468706 0.06603731
+v 0.00412066 -0.00336238 0.05240296
+v 0.00372102 -0.00333035 0.05031479
+v 0.00337350 -0.00333035 0.04806657
+v 0.00648787 -0.00453760 0.05858993
+v 0.00459901 -0.00409888 0.05304816
+v 0.00860976 -0.00459525 0.06314388
+v 0.00258545 -0.00118170 0.04593840
+v 0.01302527 0.00551721 0.04593842
+v 0.01302527 -0.00446399 0.06976599
+v 0.01302527 -0.00333577 0.07069881
+v 0.01151766 -0.00333042 0.06884571
+v 0.01066420 -0.00333042 0.06772285
+v 0.00952148 -0.00338592 0.06600230
+v 0.00903291 -0.00413949 0.06464186
+v 0.00426171 -0.00266646 0.05426355
+v 0.00324471 -0.00118171 0.05031480
+v 0.00287880 -0.00118171 0.04806658
+v 0.00616283 -0.00339123 0.05932017
+v 0.00538603 -0.00333038 0.05705444
+v 0.00679859 -0.00414908 0.06008540
+v 0.00477788 -0.00336239 0.05492877
+v 0.00258545 -0.00106749 0.04593840
+v 0.01218407 0.00571254 0.04593842
+v 0.01302527 0.00580433 0.04806660
+v 0.01302527 -0.00270388 0.07114395
+v 0.01274215 -0.00315751 0.07048624
+v 0.01037086 -0.00118178 0.06811799
+v 0.00865985 -0.00270599 0.06522956
+v 0.01120081 -0.00118178 0.06924085
+v 0.00823669 -0.00338591 0.06385162
+v 0.00645414 -0.00271558 0.06083815
+v 0.00487089 -0.00118174 0.05705445
+v 0.00446511 -0.00118173 0.05573903
+v 0.00416870 -0.00118173 0.05461617
+v 0.00368320 -0.00118172 0.05256052
+v 0.00368627 0.00096693 0.05256052
+v 0.00324880 0.00096694 0.05031480
+v 0.00288493 0.00096694 0.04806658
+v 0.00711953 -0.00339124 0.06157089
+v 0.00259261 0.00096695 0.04593840
+v 0.00996303 0.00553749 0.04593842
+v 0.01218407 0.00592281 0.04806660
+v 0.01302527 0.00591427 0.05031482
+v 0.01302527 -0.00118179 0.07148657
+v 0.01224336 -0.00118179 0.07053126
+v 0.01037699 0.00096687 0.06811049
+v 0.00925982 -0.00118177 0.06653749
+v 0.00854844 -0.00118177 0.06541212
+v 0.00764898 -0.00118176 0.06379161
+v 0.00684458 -0.00118176 0.06220110
+v 0.01120796 0.00096687 0.06923335
+v 0.00634784 -0.00118175 0.06107824
+v 0.00564258 -0.00118175 0.05929767
+v 0.00487498 0.00096691 0.05705445
+v 0.00446716 0.00096692 0.05573153
+v 0.00417075 0.00096692 0.05460867
+v 0.00426376 0.00243031 0.05425357
+v 0.00375270 0.00311559 0.05031481
+v 0.00341132 0.00311559 0.04806659
+v 0.00262021 0.00108009 0.04593840
+v 0.00402969 0.00449679 0.04593842
+v 0.01218407 0.00593882 0.05031482
+v 0.01302527 0.00583634 0.05256054
+v 0.01302527 0.00096686 0.07147156
+v 0.01225665 0.00096686 0.07053126
+v 0.01302527 0.00181970 0.07140405
+v 0.00866904 0.00244628 0.06521457
+v 0.00926698 0.00096688 0.06652498
+v 0.00855457 0.00096688 0.06540212
+v 0.00766329 0.00096689 0.06379161
+v 0.00685174 0.00096689 0.06219110
+v 0.00634988 0.00096690 0.06106824
+v 0.00564769 0.00096690 0.05929767
+v 0.00645720 0.00246658 0.06082317
+v 0.00618021 0.00315611 0.05928018
+v 0.00542896 0.00311556 0.05705446
+v 0.00481365 0.00313478 0.05492378
+v 0.00462865 0.00386275 0.05296316
+v 0.00440787 0.00419577 0.05146769
+v 0.00413395 0.00313479 0.05235296
+v 0.00314250 0.00311560 0.04593841
+v 0.00318237 0.00318498 0.04593841
+v 0.00415541 0.00441353 0.04806660
+v 0.00598805 0.00458642 0.05480626
+v 0.00552402 0.00465903 0.05031482
+v 0.01218407 0.00576589 0.05256054
+v 0.00829700 0.00451595 0.06154341
+v 0.01218407 0.00465897 0.06603735
+v 0.01302527 0.00450632 0.06814302
+v 0.01302527 0.00250390 0.07108145
+v 0.01069895 0.00311552 0.06767286
+v 0.00908300 0.00387871 0.06457187
+v 0.00826940 0.00314436 0.06380912
+v 0.00957974 0.00314435 0.06599482
+v 0.00717268 0.00315610 0.06156090
+v 0.00684151 0.00390007 0.06001791
+v 0.00651137 0.00429822 0.05852244
+v 0.00431691 0.00427904 0.05031482
+v 0.00628958 0.00444979 0.05705447
+v 0.00987922 0.00455864 0.06380913
+v 0.00864554 0.00434730 0.06307390
+v 0.01065193 0.00441987 0.06603735
+v 0.01228015 0.00446469 0.06810300
+v 0.01302527 0.00434086 0.06955097
+v 0.01302527 0.00308562 0.07064381
+v 0.01277281 0.00293085 0.07046125
+v 0.01155037 0.00311552 0.06879822
+v 0.01102194 0.00423093 0.06723273
+v 0.01302527 0.00428429 0.06963349
+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 9
+f 2 9 3
+f 2 7 8
+f 3 9 22
+f 3 22 33
+f 3 33 48
+f 3 48 66
+f 3 66 86
+f 3 86 107
+f 3 107 108
+f 3 108 87
+f 3 87 67
+f 3 67 49
+f 3 49 34
+f 3 34 23
+f 3 23 13
+f 3 13 10
+f 3 10 4
+f 4 10 5
+f 5 11 23
+f 5 23 34
+f 5 34 50
+f 5 50 69
+f 5 69 89
+f 5 89 115
+f 5 115 130
+f 5 130 135
+f 5 135 131
+f 5 131 116
+f 5 116 92
+f 5 92 90
+f 5 90 70
+f 5 70 51
+f 5 51 36
+f 5 36 35
+f 5 35 24
+f 5 24 12
+f 5 12 6
+f 5 10 13
+f 5 13 11
+f 6 12 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 8 16 20
+f 8 20 21
+f 8 21 17
+f 9 19 22
+f 11 13 23
+f 12 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 20
+f 15 20 16
+f 17 27 28
+f 17 28 29
+f 17 29 22
+f 17 22 18
+f 17 21 30
+f 17 30 31
+f 17 31 27
+f 18 22 19
+f 20 32 30
+f 20 30 21
+f 20 26 32
+f 22 29 33
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 32
+f 25 32 26
+f 27 31 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 33
+f 30 44 45
+f 30 45 31
+f 30 32 46
+f 30 46 44
+f 31 47 41
+f 31 45 47
+f 32 40 46
+f 33 43 48
+f 34 49 50
+f 36 51 52
+f 36 52 37
+f 37 52 51
+f 37 51 38
+f 38 53 54
+f 38 54 39
+f 38 51 55
+f 38 55 53
+f 39 54 40
+f 40 54 56
+f 40 56 46
+f 41 47 45
+f 41 45 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 42 61 62
+f 42 62 63
+f 42 63 43
+f 43 64 48
+f 43 63 64
+f 44 46 57
+f 44 57 45
+f 46 56 65
+f 46 65 57
+f 48 64 66
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 51 70 71
+f 51 71 55
+f 53 55 72
+f 53 72 73
+f 53 73 54
+f 54 73 74
+f 54 74 75
+f 54 75 76
+f 54 76 57
+f 54 57 56
+f 55 77 72
+f 55 71 77
+f 56 57 65
+f 57 76 78
+f 57 78 79
+f 57 79 58
+f 58 79 80
+f 58 80 59
+f 59 81 82
+f 59 82 60
+f 59 80 81
+f 60 82 62
+f 60 62 61
+f 62 82 83
+f 62 83 63
+f 63 84 64
+f 63 83 84
+f 64 85 86
+f 64 86 66
+f 64 84 85
+f 67 87 88
+f 67 88 68
+f 68 88 69
+f 69 88 89
+f 70 90 71
+f 71 90 91
+f 71 91 77
+f 72 77 92
+f 72 92 93
+f 72 93 94
+f 72 94 73
+f 73 94 95
+f 73 95 74
+f 74 95 75
+f 75 95 96
+f 75 96 97
+f 75 97 76
+f 76 97 98
+f 76 98 78
+f 77 91 92
+f 78 98 99
+f 78 99 79
+f 79 99 80
+f 80 99 100
+f 80 100 83
+f 80 83 81
+f 81 83 82
+f 83 100 101
+f 83 101 102
+f 83 102 103
+f 83 103 104
+f 83 104 105
+f 83 105 106
+f 83 106 84
+f 84 106 105
+f 84 105 85
+f 85 107 86
+f 85 105 107
+f 87 108 109
+f 87 109 110
+f 87 110 111
+f 87 111 88
+f 88 112 89
+f 88 111 110
+f 88 110 113
+f 88 113 112
+f 89 112 114
+f 89 114 115
+f 90 92 91
+f 92 116 117
+f 92 117 93
+f 93 118 119
+f 93 119 100
+f 93 100 97
+f 93 97 96
+f 93 96 95
+f 93 95 94
+f 93 117 120
+f 93 120 118
+f 97 100 98
+f 98 100 99
+f 100 119 121
+f 100 121 122
+f 100 122 101
+f 101 123 102
+f 101 122 123
+f 102 123 104
+f 102 104 103
+f 104 123 105
+f 105 124 107
+f 105 123 125
+f 105 125 110
+f 105 110 124
+f 107 124 108
+f 108 124 109
+f 109 124 110
+f 110 125 113
+f 112 113 126
+f 112 126 114
+f 113 125 123
+f 113 123 127
+f 113 127 128
+f 113 128 126
+f 114 126 129
+f 114 129 115
+f 115 129 130
+f 116 131 132
+f 116 132 133
+f 116 133 117
+f 117 133 134
+f 117 134 120
+f 118 120 134
+f 118 134 127
+f 118 127 122
+f 118 122 119
+f 119 122 121
+f 122 127 123
+f 126 128 129
+f 127 134 128
+f 128 134 129
+f 129 134 130
+f 130 134 135
+f 131 135 134
+f 131 134 132
+f 132 134 133
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_22.obj

@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v 0.02690191 -0.00118181 0.07053183
+v 0.02674979 -0.00265180 0.07053182
+v 0.02674164 -0.00263452 0.06828666
+v 0.02688562 -0.00118180 0.06828667
+v 0.02689241 0.00096678 0.07053183
+v 0.02672806 0.00096677 0.07220762
+v 0.02673214 -0.00118182 0.07223311
+v 0.02668732 -0.00247198 0.07201386
+v 0.02625947 -0.00372660 0.07053182
+v 0.02625812 -0.00370932 0.06828666
+v 0.02667917 -0.00244861 0.06672474
+v 0.02687475 0.00096679 0.06828667
+v 0.02671720 -0.00118179 0.06645791
+v 0.02671040 0.00096680 0.06649530
+v 0.02674028 0.00238089 0.07053184
+v 0.02668188 0.00222038 0.07197818
+v 0.02673214 0.00236160 0.06828668
+v 0.02649173 0.00096677 0.07332935
+v 0.02649852 -0.00118182 0.07335654
+v 0.02614674 -0.00324508 0.07276847
+v 0.02514981 -0.00487150 0.07053181
+v 0.02514709 -0.00487149 0.06828665
+v 0.02498274 -0.00479837 0.07277866
+v 0.02505201 -0.00485218 0.06603979
+v 0.02489446 -0.00479020 0.06379294
+v 0.02470566 -0.00467540 0.06154608
+v 0.02454404 -0.00454435 0.05981080
+v 0.02622552 -0.00323184 0.06600071
+v 0.02583978 -0.00333038 0.06379295
+v 0.02544318 -0.00333038 0.06154609
+v 0.02588596 -0.00118178 0.06154610
+v 0.02630022 -0.00118178 0.06379296
+v 0.02655557 -0.00118179 0.06533448
+v 0.02666966 0.00219499 0.06677575
+v 0.02655013 0.00096680 0.06537188
+v 0.02617526 0.00345468 0.07053184
+v 0.02617526 0.00343640 0.06828668
+v 0.02607883 0.00300869 0.07274810
+v 0.02504930 0.00310621 0.07502895
+v 0.02569853 0.00096676 0.07502383
+v 0.02571347 -0.00118183 0.07502383
+v 0.02509140 -0.00335277 0.07507482
+v 0.02469344 -0.00462059 0.07436098
+v 0.02328496 -0.00510821 0.07277866
+v 0.02328496 -0.00488874 0.06154608
+v 0.02343573 -0.00482168 0.05981080
+v 0.02384591 -0.00476073 0.05981080
+v 0.02504658 -0.00347462 0.05981081
+v 0.02542960 -0.00166940 0.05981081
+v 0.02553011 -0.00118177 0.05981082
+v 0.02552196 0.00047818 0.05981082
+v 0.02587510 0.00096681 0.06154610
+v 0.02628936 0.00096681 0.06379296
+v 0.02551924 0.00096682 0.05981082
+v 0.02536984 0.00311540 0.06154611
+v 0.02575965 0.00311540 0.06379297
+v 0.02615897 0.00299349 0.06603132
+v 0.02506559 0.00458332 0.07053185
+v 0.02490397 0.00451728 0.07277870
+v 0.02506424 0.00458435 0.06828669
+v 0.02464319 0.00439846 0.06154612
+v 0.02482519 0.00451021 0.06379298
+v 0.02497324 0.00456709 0.06603983
+v 0.02464319 0.00436591 0.07428283
+v 0.02459022 0.00238290 0.07631893
+v 0.02471246 0.00096676 0.07642430
+v 0.02472060 -0.00118183 0.07643279
+v 0.02460244 -0.00265080 0.07632911
+v 0.02389345 -0.00408319 0.07585832
+v 0.02241298 -0.00447533 0.07622373
+v 0.02320619 -0.00475774 0.07507481
+v 0.02102080 -0.00482073 0.07520058
+v 0.01884628 -0.00505234 0.07277866
+v 0.01302765 -0.00491822 0.06676382
+v 0.02207750 -0.00481457 0.05981080
+v 0.02498274 0.00323224 0.05981083
+v 0.02449514 0.00428165 0.05991961
+v 0.01662559 0.00527010 0.05981084
+v 0.02321569 0.00460566 0.07271242
+v 0.02312333 0.00446648 0.07502896
+v 0.02433080 0.00431923 0.05981084
+v 0.02340856 0.00454984 0.05981084
+v 0.02328496 0.00462602 0.06154612
+v 0.02227444 0.00421860 0.07617958
+v 0.02375491 0.00381530 0.07578016
+v 0.02312333 0.00310621 0.07650589
+v 0.02328496 0.00096676 0.07702935
+v 0.02328496 -0.00118183 0.07704295
+v 0.02320619 -0.00335277 0.07654326
+v 0.02102080 -0.00348586 0.07659595
+v 0.02173115 -0.00447533 0.07622373
+v 0.01884628 -0.00476281 0.07457003
+v 0.01667312 -0.00478821 0.07275657
+v 0.01442798 -0.00479429 0.07048592
+v 0.01302765 -0.00470488 0.06503703
+v 0.01302765 -0.00475568 0.06896648
+v 0.02177598 -0.00475362 0.05981080
+v 0.02455083 0.00412317 0.05981084
+v 0.01438452 0.00502222 0.05981084
+v 0.01302765 0.00450613 0.06814562
+v 0.01445107 0.00452643 0.07046216
+v 0.01670165 0.00451626 0.07273451
+v 0.01884628 0.00449595 0.07449189
+v 0.02117292 0.00452844 0.07515982
+v 0.02198514 0.00421860 0.07617958
+v 0.02117292 0.00323421 0.07656198
+v 0.02106562 0.00096676 0.07716362
+v 0.02106562 -0.00118183 0.07717212
+v 0.01942489 -0.00287328 0.07641579
+v 0.02025069 -0.00430669 0.07606567
+v 0.01744460 -0.00456370 0.07412643
+v 0.01518451 -0.00460229 0.07199345
+v 0.01305074 -0.00457181 0.06970750
+v 0.01302765 -0.00371133 0.06251146
+v 0.01302765 -0.00457588 0.06966161
+v 0.01302765 -0.00330091 0.06154099
+v 0.01302765 -0.00275233 0.06029009
+v 0.01302765 -0.00248921 0.05981081
+v 0.01390914 0.00496635 0.05981084
+v 0.01302765 0.00434053 0.06955288
+v 0.01302765 0.00455693 0.06603983
+v 0.01308605 0.00433138 0.06966676
+v 0.01522254 0.00436186 0.07195610
+v 0.01749349 0.00431817 0.07408739
+v 0.02050468 0.00402965 0.07599941
+v 0.01943575 0.00259624 0.07641241
+v 0.01914374 0.00096676 0.07655857
+v 0.01913694 -0.00118183 0.07656026
+v 0.01802727 -0.00118183 0.07597731
+v 0.01547245 -0.00234298 0.07394119
+v 0.01667312 -0.00316787 0.07443577
+v 0.01874985 -0.00348586 0.07571046
+v 0.01596413 -0.00377639 0.07349250
+v 0.01370405 -0.00375911 0.07120485
+v 0.01302765 -0.00446413 0.06976699
+v 0.01302765 -0.00333548 0.07069837
+v 0.01302765 0.00470527 0.05981084
+v 0.01302765 0.00428465 0.06963276
+v 0.01302765 0.00308591 0.07064571
+v 0.01374208 0.00352376 0.07116408
+v 0.01601303 0.00354305 0.07345343
+v 0.01670165 0.00294165 0.07440520
+v 0.01875528 0.00323421 0.07564420
+v 0.01547925 0.00210964 0.07393441
+v 0.01803407 0.00096676 0.07597221
+v 0.01662559 -0.00118183 0.07493206
+v 0.01543035 -0.00118182 0.07397859
+v 0.01431932 -0.00118182 0.07285346
+v 0.01326398 -0.00232671 0.07169094
+v 0.01458825 -0.00305105 0.07259172
+v 0.01302765 -0.00270462 0.07114366
+v 0.01302765 0.00250381 0.07108250
+v 0.01327077 0.00209136 0.07168246
+v 0.01460998 0.00281669 0.07256794
+v 0.01543578 0.00096677 0.07397519
+v 0.01662559 0.00096676 0.07492186
+v 0.01432475 0.00096677 0.07284666
+v 0.01323410 0.00096678 0.07172494
+v 0.01322731 -0.00118181 0.07173003
+v 0.01302765 -0.00118181 0.07148529
+v 0.01302765 0.00182012 0.07140542
+v 0.01302765 0.00096678 0.07147170
+v 0.01302765 0.00051776 0.07147510
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 12 5
+f 4 11 13
+f 4 13 14
+f 4 14 12
+f 5 15 16
+f 5 16 6
+f 5 12 17
+f 5 17 15
+f 6 18 19
+f 6 19 7
+f 6 16 18
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 21 22
+f 9 22 10
+f 9 20 23
+f 9 23 21
+f 10 22 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 13
+f 12 14 34
+f 12 34 17
+f 13 33 35
+f 13 35 14
+f 14 35 34
+f 15 36 16
+f 15 17 37
+f 15 37 36
+f 16 36 38
+f 16 38 39
+f 16 39 18
+f 17 34 37
+f 18 39 40
+f 18 40 19
+f 19 40 41
+f 19 41 42
+f 19 42 20
+f 20 42 43
+f 20 43 23
+f 21 23 44
+f 21 44 22
+f 22 44 24
+f 23 43 44
+f 24 45 46
+f 24 46 25
+f 24 44 45
+f 25 46 47
+f 25 47 26
+f 26 47 27
+f 27 47 46
+f 27 46 75
+f 27 75 97
+f 27 97 118
+f 27 118 137
+f 27 137 119
+f 27 119 99
+f 27 99 78
+f 27 78 82
+f 27 82 81
+f 27 81 98
+f 27 98 76
+f 27 76 54
+f 27 54 51
+f 27 51 50
+f 27 50 49
+f 27 49 48
+f 27 48 30
+f 27 30 29
+f 27 29 28
+f 30 48 49
+f 30 49 50
+f 30 50 31
+f 31 50 51
+f 31 51 52
+f 31 52 53
+f 31 53 32
+f 32 53 33
+f 33 53 35
+f 34 35 53
+f 34 53 52
+f 34 52 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 37
+f 36 58 59
+f 36 59 38
+f 36 37 60
+f 36 60 58
+f 37 57 61
+f 37 61 62
+f 37 62 63
+f 37 63 60
+f 38 59 64
+f 38 64 39
+f 39 65 40
+f 39 64 65
+f 40 65 66
+f 40 66 41
+f 41 66 67
+f 41 67 68
+f 41 68 42
+f 42 68 69
+f 42 69 43
+f 43 69 70
+f 43 70 71
+f 43 71 44
+f 44 71 72
+f 44 72 73
+f 44 73 74
+f 44 74 45
+f 45 75 46
+f 45 74 75
+f 51 54 52
+f 54 76 55
+f 55 76 77
+f 55 77 56
+f 56 77 57
+f 57 77 61
+f 58 60 78
+f 58 78 79
+f 58 79 59
+f 59 79 80
+f 59 80 64
+f 60 63 78
+f 61 77 81
+f 61 81 82
+f 61 82 62
+f 62 82 83
+f 62 83 63
+f 63 83 78
+f 64 80 84
+f 64 84 85
+f 64 85 65
+f 65 86 87
+f 65 87 66
+f 65 85 84
+f 65 84 86
+f 66 87 88
+f 66 88 67
+f 67 88 68
+f 68 88 89
+f 68 89 69
+f 69 89 70
+f 70 89 90
+f 70 90 91
+f 70 91 72
+f 70 72 71
+f 72 91 92
+f 72 92 73
+f 73 92 93
+f 73 93 94
+f 73 94 74
+f 74 95 75
+f 74 94 96
+f 74 96 115
+f 74 115 135
+f 74 135 136
+f 74 136 151
+f 74 151 160
+f 74 160 163
+f 74 163 162
+f 74 162 161
+f 74 161 152
+f 74 152 139
+f 74 139 138
+f 74 138 120
+f 74 120 100
+f 74 100 121
+f 74 121 137
+f 74 137 118
+f 74 118 117
+f 74 117 116
+f 74 116 114
+f 74 114 95
+f 75 95 97
+f 76 98 77
+f 77 98 81
+f 78 83 82
+f 78 99 100
+f 78 100 101
+f 78 101 102
+f 78 102 103
+f 78 103 104
+f 78 104 79
+f 79 104 80
+f 80 104 84
+f 84 104 105
+f 84 105 106
+f 84 106 86
+f 86 106 107
+f 86 107 87
+f 87 107 88
+f 88 107 108
+f 88 108 89
+f 89 108 90
+f 90 108 109
+f 90 109 110
+f 90 110 91
+f 91 110 92
+f 92 111 93
+f 92 110 111
+f 93 112 94
+f 93 111 112
+f 94 113 96
+f 94 112 113
+f 95 114 97
+f 96 113 115
+f 97 114 116
+f 97 116 117
+f 97 117 118
+f 99 119 100
+f 100 120 101
+f 100 119 121
+f 101 120 122
+f 101 122 123
+f 101 123 102
+f 102 123 124
+f 102 124 103
+f 103 124 125
+f 103 125 105
+f 103 105 104
+f 105 125 106
+f 106 125 126
+f 106 126 107
+f 107 126 127
+f 107 127 108
+f 108 127 128
+f 108 128 109
+f 109 128 129
+f 109 129 130
+f 109 130 131
+f 109 131 132
+f 109 132 110
+f 110 132 111
+f 111 132 131
+f 111 131 133
+f 111 133 112
+f 112 133 134
+f 112 134 113
+f 113 135 115
+f 113 134 136
+f 113 136 135
+f 119 137 121
+f 120 138 122
+f 122 138 139
+f 122 139 140
+f 122 140 123
+f 123 140 141
+f 123 141 124
+f 124 141 142
+f 124 142 143
+f 124 143 125
+f 125 143 126
+f 126 143 142
+f 126 142 144
+f 126 144 145
+f 126 145 127
+f 127 145 129
+f 127 129 128
+f 129 145 146
+f 129 146 130
+f 130 147 148
+f 130 148 149
+f 130 149 150
+f 130 150 133
+f 130 133 131
+f 130 146 147
+f 133 150 134
+f 134 149 151
+f 134 151 136
+f 134 150 149
+f 139 152 153
+f 139 153 140
+f 140 153 154
+f 140 154 141
+f 141 154 144
+f 141 144 142
+f 144 155 156
+f 144 156 145
+f 144 154 153
+f 144 153 157
+f 144 157 155
+f 145 156 146
+f 146 156 155
+f 146 155 147
+f 147 155 148
+f 148 155 157
+f 148 157 158
+f 148 158 159
+f 148 159 149
+f 149 159 160
+f 149 160 151
+f 152 161 153
+f 153 161 158
+f 153 158 157
+f 158 161 162
+f 158 162 163
+f 158 163 159
+f 159 163 160
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_23.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00908576 0.00526740 0.04746006
+v -0.00516652 0.00465911 0.04746006
+v -0.00394500 0.00456423 0.04357237
+v -0.00388193 0.00458621 0.04132656
+v -0.00367515 0.00461019 0.03712628
+v -0.00908576 0.00526440 0.04581920
+v -0.00908576 -0.00176838 0.04746003
+v -0.00415018 0.00445135 0.04746006
+v -0.00404959 0.00451528 0.04581920
+v -0.00155785 0.00294214 0.03712627
+v -0.00908576 0.00454727 0.03712628
+v -0.00908576 0.00504467 0.04262751
+v -0.00908576 0.00521747 0.04487434
+v -0.00908576 -0.00403970 0.03712625
+v -0.00692295 -0.00464202 0.04746002
+v -0.00333185 0.00311591 0.04746005
+v -0.00145247 0.00274637 0.03712627
+v -0.00555134 -0.00482078 0.03712624
+v -0.00557768 -0.00493668 0.04746002
+v -0.00278256 0.00096642 0.04746004
+v -0.00093671 0.00096645 0.03712626
+v -0.00362565 -0.00485075 0.03712624
+v -0.00383722 -0.00483677 0.04132652
+v -0.00390428 -0.00481381 0.04357233
+v -0.00401606 -0.00476288 0.04581916
+v -0.00411825 -0.00469995 0.04746002
+v -0.00277538 -0.00118207 0.04746004
+v -0.00092953 -0.00118204 0.03712626
+v -0.00266041 -0.00413059 0.03712624
+v -0.00144608 -0.00299891 0.03712625
+v -0.00386357 -0.00431440 0.04746002
+v -0.00314822 -0.00275223 0.04746003
+v -0.00093352 -0.00120401 0.03712626
+v -0.00329193 -0.00333055 0.04746003
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 12
+f 1 12 11
+f 1 11 14
+f 1 14 7
+f 1 7 15
+f 1 15 19
+f 1 19 26
+f 1 26 31
+f 1 31 34
+f 1 34 32
+f 1 32 27
+f 1 27 20
+f 1 20 16
+f 1 16 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 5 4
+f 3 9 10
+f 3 10 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 10 17
+f 5 17 21
+f 5 21 28
+f 5 28 33
+f 5 33 30
+f 5 30 29
+f 5 29 22
+f 5 22 18
+f 5 18 14
+f 5 14 11
+f 7 14 15
+f 8 16 10
+f 8 10 9
+f 10 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 20 27 28
+f 20 28 21
+f 22 29 24
+f 22 24 23
+f 24 29 25
+f 25 29 30
+f 25 30 26
+f 26 30 31
+f 27 32 33
+f 27 33 28
+f 30 33 34
+f 30 34 31
+f 32 34 33
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_24.obj

@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00157776 -0.00118170 0.03850403
+v 0.00188102 -0.00264820 0.03850402
+v 0.00221468 -0.00193021 0.04215280
+v 0.00256834 -0.00118173 0.04581906
+v 0.00158336 0.00096618 0.03850403
+v 0.00229549 -0.00346382 0.03850402
+v 0.00308444 -0.00333063 0.04581905
+v 0.00309964 -0.00333063 0.04593839
+v 0.00258515 -0.00118173 0.04593840
+v 0.00258515 -0.00106783 0.04593840
+v 0.00257554 0.00096615 0.04581906
+v 0.00173459 0.00189164 0.03850404
+v 0.00369095 -0.00485303 0.03850401
+v 0.00380457 -0.00483778 0.04132610
+v 0.00387899 -0.00480932 0.04357184
+v 0.00398621 -0.00475339 0.04581904
+v 0.00399341 -0.00474831 0.04593838
+v 0.00259235 0.00096615 0.04593840
+v 0.00262035 0.00108005 0.04593840
+v 0.00314285 0.00311606 0.04593841
+v 0.00188662 0.00241233 0.03850404
+v 0.00472394 -0.00485303 0.03850401
+v 0.00552409 -0.00490797 0.04593838
+v 0.00374136 -0.00485201 0.03907964
+v 0.00406782 -0.00476458 0.04593838
+v 0.00318206 0.00318420 0.04593841
+v 0.00312765 0.00311606 0.04581907
+v 0.00402941 0.00449713 0.04593842
+v 0.00261475 0.00345678 0.03850404
+v 0.00523844 -0.00484489 0.03850401
+v 0.00512962 -0.00485201 0.03907964
+v 0.00559930 -0.00489374 0.04593838
+v 0.00975127 0.00548157 0.04593842
+v 0.00402221 0.00450221 0.04581908
+v 0.00391739 0.00455714 0.04357188
+v 0.00344050 0.00439444 0.03850405
+v 0.00678192 -0.00456423 0.04593838
+v 0.00975127 -0.00329602 0.03850402
+v 0.00975127 0.00547852 0.04581908
+v 0.00372456 0.00460699 0.03850405
+v 0.00383978 0.00458766 0.04132614
+v 0.00975127 -0.00113190 0.04593840
+v 0.00975127 0.00463343 0.03850405
+v 0.00975127 0.00530971 0.04357188
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 29
+f 1 29 36
+f 1 36 40
+f 1 40 43
+f 1 43 38
+f 1 38 30
+f 1 30 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 8
+f 8 17 25
+f 8 25 23
+f 8 23 32
+f 8 32 37
+f 8 37 42
+f 8 42 33
+f 8 33 28
+f 8 28 26
+f 8 26 20
+f 8 20 19
+f 8 19 18
+f 8 18 10
+f 8 10 9
+f 10 18 11
+f 11 18 12
+f 12 19 20
+f 12 20 21
+f 12 18 19
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 23
+f 14 23 15
+f 15 23 25
+f 15 25 16
+f 16 25 17
+f 20 26 27
+f 20 27 21
+f 21 27 26
+f 21 26 28
+f 21 28 29
+f 22 30 31
+f 22 31 23
+f 23 31 30
+f 23 30 32
+f 28 33 34
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 30 37 32
+f 30 38 37
+f 33 39 40
+f 33 40 41
+f 33 41 35
+f 33 35 34
+f 33 42 38
+f 33 38 43
+f 33 43 44
+f 33 44 39
+f 35 41 36
+f 36 41 40
+f 37 38 42
+f 39 44 40
+f 40 44 43
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_25.obj

@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01223912 0.00586614 0.04746006
+v -0.01223912 0.00569773 0.04581920
+v -0.01386177 0.00562931 0.04746006
+v -0.01164178 0.00582193 0.04746006
+v -0.01001913 0.00535774 0.04357237
+v -0.01030947 0.00472093 0.03712628
+v -0.01445911 0.00491039 0.04132656
+v -0.01237569 0.00468830 0.03712628
+v -0.01282571 0.00464304 0.03712628
+v -0.01445911 0.00549141 0.04746006
+v -0.01457847 0.00490302 0.04144694
+v -0.01001913 0.00552931 0.04746006
+v -0.01001913 0.00553668 0.04581920
+v -0.00908629 0.00504512 0.04262751
+v -0.00908629 0.00454725 0.03712628
+v -0.01001913 0.00469146 0.03712628
+v -0.01457847 0.00489039 0.04133263
+v -0.01454567 0.00463567 0.03902207
+v -0.01346014 0.00451146 0.03712628
+v -0.01457847 0.00545878 0.04746006
+v -0.00908629 0.00526721 0.04746006
+v -0.00908629 0.00526405 0.04581920
+v -0.00908629 0.00521774 0.04487434
+v -0.00908629 -0.00403994 0.03712625
+v -0.01457847 0.00463357 0.03905849
+v -0.01386339 0.00445989 0.03730331
+v -0.01457847 0.00462936 0.03903825
+v -0.01379242 0.00441778 0.03712628
+v -0.01457847 -0.00127477 0.04746004
+v -0.00908629 -0.00176844 0.04746003
+v -0.01032613 -0.00470940 0.03712624
+v -0.01457847 0.00442936 0.03869632
+v -0.01457847 0.00460515 0.03898970
+v -0.01457847 0.00348727 0.03712627
+v -0.01457847 -0.00446416 0.04307360
+v -0.01457847 -0.00483257 0.04197902
+v -0.01299829 -0.00466520 0.04068211
+v -0.01225041 -0.00483572 0.03902001
+v -0.01237784 -0.00484940 0.03712624
+v -0.01457847 -0.00381889 0.03712625
+v -0.01457847 -0.00487783 0.04139329
+v -0.01437040 -0.00488730 0.04138924
+v -0.01455213 -0.00486308 0.03901090
+v -0.01347251 -0.00472940 0.03712624
+v -0.01408006 -0.00430941 0.03712624
+v -0.01457847 -0.00441151 0.03773625
+v -0.01457847 -0.00485782 0.03902405
+v -0.01387360 -0.00468204 0.03730125
+f 1 2 3
+f 1 3 10
+f 1 10 20
+f 1 20 29
+f 1 29 30
+f 1 30 21
+f 1 21 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 7 11
+f 3 11 10
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 15
+f 6 15 24
+f 6 24 31
+f 6 31 39
+f 6 39 44
+f 6 44 45
+f 6 45 40
+f 6 40 34
+f 6 34 28
+f 6 28 19
+f 6 19 9
+f 6 9 8
+f 7 17 11
+f 7 9 18
+f 7 18 17
+f 9 19 18
+f 10 11 20
+f 11 17 25
+f 11 25 27
+f 11 27 33
+f 11 33 32
+f 11 32 34
+f 11 34 40
+f 11 40 46
+f 11 46 47
+f 11 47 41
+f 11 41 36
+f 11 36 35
+f 11 35 29
+f 11 29 20
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 22
+f 14 22 21
+f 14 21 30
+f 14 30 24
+f 14 24 15
+f 17 18 25
+f 18 19 26
+f 18 26 27
+f 18 27 25
+f 19 28 26
+f 24 30 31
+f 26 32 33
+f 26 33 27
+f 26 28 34
+f 26 34 32
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 30 37 31
+f 31 37 36
+f 31 36 38
+f 31 38 39
+f 36 41 42
+f 36 42 38
+f 38 42 39
+f 39 42 43
+f 39 43 44
+f 40 45 46
+f 41 47 43
+f 41 43 42
+f 43 47 48
+f 43 48 44
+f 44 48 45
+f 45 48 46
+f 46 48 47
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_3.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.01218549 0.00571259 0.04593842
+v 0.01440511 0.00490858 0.04132614
+v 0.01218549 0.00570003 0.04581908
+v 0.00996474 0.00536398 0.04357188
+v 0.00996474 0.00553776 0.04581908
+v 0.00996474 0.00553671 0.04593842
+v 0.01893391 0.00461543 0.04593842
+v 0.01894062 0.00460496 0.04579652
+v 0.01662474 0.00477561 0.04357188
+v 0.01659675 0.00454426 0.04145204
+v 0.01449130 0.00463221 0.03902292
+v 0.01222578 0.00481646 0.03850405
+v 0.00996474 0.00466466 0.03850405
+v 0.00975319 0.00463430 0.03850405
+v 0.00975319 0.00531059 0.04357188
+v 0.00975319 0.00547913 0.04582999
+v 0.00984721 0.00550739 0.04593842
+v 0.01917456 0.00455471 0.04593842
+v 0.01820970 0.00446573 0.04357188
+v 0.01583897 0.00439978 0.03973462
+v 0.01428646 0.00458091 0.03850405
+v 0.00975319 -0.00329605 0.03850402
+v 0.00975319 0.00548122 0.04593842
+v 0.02045283 0.00338217 0.04593841
+v 0.01974318 0.00389201 0.04503240
+v 0.01783920 0.00427310 0.04228382
+v 0.01562182 0.00363555 0.03850404
+v 0.01501738 0.00414121 0.03850405
+v 0.01096318 -0.00444974 0.03850401
+v 0.00975319 -0.00113211 0.04593840
+v 0.02059163 0.00314975 0.04593841
+v 0.02052447 0.00315185 0.04579651
+v 0.02013942 0.00245880 0.04437527
+v 0.01929097 0.00315186 0.04360462
+v 0.01817388 0.00311522 0.04177077
+v 0.01741834 0.00311522 0.04064717
+v 0.01626991 0.00314873 0.03902291
+v 0.01605388 0.00287863 0.03850404
+v 0.01132025 -0.00467169 0.03850401
+v 0.01676801 -0.00475861 0.04593838
+v 0.02064312 0.00296864 0.04593841
+v 0.02118039 0.00096694 0.04593840
+v 0.02112331 0.00096694 0.04581906
+v 0.02025471 0.00096695 0.04417660
+v 0.01959207 0.00096695 0.04305300
+v 0.01772839 0.00192175 0.04021127
+v 0.01642773 0.00176472 0.03850404
+v 0.01172208 -0.00481616 0.03850401
+v 0.01688330 -0.00478374 0.04593838
+v 0.02118151 0.00081305 0.04593840
+v 0.02118711 -0.00118132 0.04593840
+v 0.02112891 -0.00118132 0.04581906
+v 0.02025807 -0.00118131 0.04417005
+v 0.01959655 -0.00118131 0.04304645
+v 0.01850856 -0.00118130 0.04132612
+v 0.01776309 0.00048852 0.04016177
+v 0.01834850 0.00110934 0.04110708
+v 0.01710604 0.00110935 0.03927978
+v 0.01655086 0.00104654 0.03850403
+v 0.01223474 -0.00483815 0.03850401
+v 0.01220004 -0.00483396 0.03901851
+v 0.01662474 -0.00498264 0.04357184
+v 0.01893726 -0.00485284 0.04593838
+v 0.02062521 -0.00338088 0.04593839
+v 0.02014390 -0.00270142 0.04436725
+v 0.01773623 -0.00226066 0.04020033
+v 0.01775749 -0.00118130 0.04017051
+v 0.01695606 -0.00118129 0.03904691
+v 0.01656205 -0.00118129 0.03850403
+v 0.01656093 -0.00041914 0.03850403
+v 0.01404133 -0.00486013 0.03850401
+v 0.01450025 -0.00486118 0.03900905
+v 0.01661018 -0.00479105 0.04142944
+v 0.01895853 -0.00485284 0.04576737
+v 0.01907494 -0.00484655 0.04593838
+v 0.02054350 -0.00338297 0.04576738
+v 0.02003197 -0.00441941 0.04593838
+v 0.01977340 -0.00413465 0.04498435
+v 0.01932791 -0.00338296 0.04359950
+v 0.01810560 -0.00311808 0.04142945
+v 0.01734110 -0.00369284 0.04074903
+v 0.01652959 -0.00318822 0.03920627
+v 0.01615462 -0.00295371 0.03850402
+v 0.01430213 -0.00480988 0.03850401
+v 0.01586024 -0.00463087 0.03971057
+v 0.01825000 -0.00471254 0.04357184
+v 0.01924956 -0.00478793 0.04593838
+v 0.01786383 -0.00450944 0.04224667
+v 0.01566323 -0.00384254 0.03850402
+v 0.01541250 -0.00421524 0.03850401
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 23
+f 1 23 30
+f 1 30 40
+f 1 40 49
+f 1 49 63
+f 1 63 75
+f 1 75 87
+f 1 87 77
+f 1 77 64
+f 1 64 51
+f 1 51 50
+f 1 50 42
+f 1 42 41
+f 1 41 31
+f 1 31 24
+f 1 24 18
+f 1 18 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 12 13
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 7 18 8
+f 8 18 19
+f 8 19 10
+f 8 10 9
+f 10 20 11
+f 10 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 28
+f 12 28 27
+f 12 27 38
+f 12 38 47
+f 12 47 59
+f 12 59 70
+f 12 70 69
+f 12 69 83
+f 12 83 89
+f 12 89 90
+f 12 90 84
+f 12 84 71
+f 12 71 60
+f 12 60 48
+f 12 48 39
+f 12 39 29
+f 12 29 22
+f 12 22 14
+f 12 14 13
+f 14 22 30
+f 14 30 23
+f 14 23 16
+f 14 16 15
+f 16 23 17
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 20
+f 20 27 28
+f 20 28 21
+f 20 26 27
+f 22 29 30
+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 29 39 30
+f 30 39 40
+f 31 41 33
+f 31 33 32
+f 33 35 34
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 33 46 35
+f 35 46 36
+f 36 46 38
+f 36 38 37
+f 38 46 47
+f 39 48 40
+f 40 48 49
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 44 53 54
+f 44 54 45
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 46 58 59
+f 46 59 47
+f 46 57 56
+f 46 56 58
+f 48 60 61
+f 48 61 49
+f 49 62 63
+f 49 61 62
+f 51 64 65
+f 51 65 52
+f 52 65 53
+f 53 65 54
+f 54 65 66
+f 54 66 55
+f 55 67 56
+f 55 66 67
+f 56 67 68
+f 56 68 69
+f 56 69 70
+f 56 70 59
+f 56 59 58
+f 60 62 61
+f 60 71 62
+f 62 72 73
+f 62 73 74
+f 62 74 75
+f 62 75 63
+f 62 71 72
+f 64 76 65
+f 64 77 78
+f 64 78 76
+f 65 76 78
+f 65 78 79
+f 65 79 80
+f 65 80 66
+f 66 81 82
+f 66 82 83
+f 66 83 69
+f 66 69 68
+f 66 68 67
+f 66 80 81
+f 71 84 72
+f 72 84 73
+f 73 84 85
+f 73 85 86
+f 73 86 74
+f 74 86 75
+f 75 86 87
+f 77 87 86
+f 77 86 88
+f 77 88 78
+f 78 88 79
+f 79 88 80
+f 80 88 81
+f 81 89 82
+f 81 88 89
+f 82 89 83
+f 84 90 85
+f 85 90 88
+f 85 88 86
+f 88 90 89
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_4.obj

@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
+v -0.00113661 0.00768573 0.03009338
+v -0.00113661 0.00726452 0.03234053
+v 0.00003140 0.00768420 0.03009423
+v 0.00003140 0.00768420 0.03009338
+v -0.00099494 0.00767199 0.02982141
+v -0.00113661 0.00767199 0.02982141
+v -0.01378949 0.00441682 0.03712550
+v -0.01345893 0.00451143 0.03712550
+v -0.01282298 0.00464268 0.03712550
+v -0.01237277 0.00468846 0.03712550
+v 0.00372432 0.00460453 0.03850321
+v 0.01222149 0.00481360 0.03850321
+v 0.00003140 0.00726299 0.03234053
+v 0.00108292 0.00768268 0.03009423
+v 0.00003140 0.00767047 0.02982141
+v -0.00335614 0.00699136 0.02982141
+v -0.00455248 0.00640381 0.02982140
+v -0.01325744 0.00410093 0.03580475
+v -0.01473083 0.00343402 0.03712549
+v 0.00344097 0.00439240 0.03850321
+v 0.01428045 0.00457858 0.03850321
+v 0.00108292 0.00726146 0.03234053
+v 0.00108292 0.00767657 0.02997524
+v 0.00119940 0.00764300 0.02997524
+v 0.00330245 0.00698373 0.02997524
+v 0.00336541 0.00695473 0.02997524
+v 0.00448620 0.00639466 0.02997523
+v 0.00698592 0.00434207 0.02997523
+v 0.00817596 0.00324481 0.02997522
+v 0.00961472 0.00091448 0.02997521
+v 0.00961787 0.00089769 0.02997521
+v 0.00003140 -0.00788953 0.02982135
+v -0.00690423 0.00447636 0.02982140
+v -0.01107884 0.00415588 0.03350575
+v -0.01370449 0.00266793 0.03527269
+v -0.01452304 0.00327837 0.03674728
+v -0.01159830 0.00272288 0.03292780
+v -0.01502361 0.00294872 0.03712549
+v 0.00188573 0.00241001 0.03850320
+v 0.00261298 0.00345538 0.03850320
+v 0.01380507 0.00445802 0.03729464
+v 0.01501400 0.00413907 0.03850321
+v 0.01321004 0.00410703 0.03579710
+v 0.01102200 0.00415282 0.03350660
+v 0.00938175 0.00261301 0.03063900
+v 0.01153831 0.00271983 0.03293545
+v 0.01365395 0.00267403 0.03527014
+v 0.01183110 0.00096635 0.03257253
+v 0.00961787 -0.00111522 0.02997521
+v 0.01294244 0.00096635 0.03387544
+v -0.00083752 -0.00789105 0.02982135
+v 0.00961472 -0.00112438 0.02997521
+v 0.00908266 -0.00236967 0.02997520
+v 0.00818541 -0.00346234 0.02997520
+v 0.00694184 -0.00462065 0.02997519
+v 0.00449249 -0.00661372 0.02997519
+v 0.00330245 -0.00720279 0.02997518
+v 0.00108292 -0.00789563 0.02997518
+v -0.00820132 0.00324023 0.02982139
+v -0.01544863 0.00180721 0.03712549
+v -0.00969360 0.00091905 0.02982138
+v -0.00907339 0.00205904 0.02982139
+v 0.00173461 0.00188962 0.03850320
+v 0.01528475 0.00388421 0.03823462
+v 0.01562162 0.00363393 0.03850320
+v 0.01446935 0.00327989 0.03674304
+v 0.01413248 0.00302961 0.03613280
+v 0.01571291 0.00245122 0.03768898
+v 0.01387118 0.00096634 0.03499731
+v 0.01182795 -0.00117933 0.03257168
+v 0.01365080 -0.00289161 0.03527437
+v 0.01293929 -0.00117933 0.03387884
+v 0.00003140 -0.00790326 0.03009417
+v -0.00113661 -0.00790479 0.03009332
+v -0.00113661 -0.00789105 0.02982135
+v 0.00108292 -0.00790173 0.03009417
+v 0.01153831 -0.00293738 0.03293543
+v 0.01102515 -0.00437038 0.03350316
+v 0.00938175 -0.00283207 0.03064068
+v 0.01321319 -0.00432460 0.03579111
+v 0.01335171 -0.00440701 0.03613277
+v 0.01382081 -0.00468324 0.03728865
+v 0.01429934 -0.00480838 0.03850317
+v -0.01502991 0.00096634 0.03639371
+v -0.01559660 0.00096633 0.03712548
+v -0.01300243 0.00096635 0.03387458
+v -0.01391857 0.00096634 0.03499731
+v -0.00969360 -0.00113506 0.02982138
+v 0.00158349 0.00096633 0.03850319
+v 0.01604978 0.00287547 0.03850320
+v 0.01642442 0.00176295 0.03850320
+v 0.01584199 0.00096633 0.03751644
+v 0.01497937 0.00096634 0.03639371
+v 0.01386803 -0.00117934 0.03500071
+v 0.01497937 -0.00117934 0.03639286
+v 0.01413563 -0.00325024 0.03613278
+v 0.01366969 -0.00402854 0.03613278
+v 0.01571606 -0.00267949 0.03768641
+v 0.00003140 -0.00768503 0.03127554
+v 0.00003140 -0.00748817 0.03234047
+v -0.00113661 -0.00748817 0.03234047
+v -0.01347152 -0.00472903 0.03712546
+v -0.00140421 -0.00781322 0.02982135
+v 0.01403804 -0.00485874 0.03850317
+v 0.00108292 -0.00748665 0.03234047
+v 0.01530049 -0.00411249 0.03821165
+v 0.01541068 -0.00421321 0.03850317
+v -0.01502676 -0.00117934 0.03639286
+v -0.01559660 -0.00117935 0.03712548
+v -0.01391857 -0.00117934 0.03499986
+v 0.00157720 -0.00117935 0.03850319
+v 0.00158035 0.00034369 0.03850319
+v -0.00821076 -0.00345471 0.02982137
+v -0.00944489 -0.00283665 0.03063303
+v -0.01159830 -0.00294043 0.03292778
+v -0.01370134 -0.00288093 0.03527607
+v -0.01300243 -0.00117933 0.03387714
+v 0.01654721 0.00104569 0.03850319
+v 0.01584199 -0.00117935 0.03751559
+v 0.01655665 -0.00041630 0.03850319
+v 0.01655980 -0.00117935 0.03850319
+v 0.01447565 -0.00350204 0.03673877
+v 0.01615052 -0.00295266 0.03850318
+v 0.01566254 -0.00384084 0.03850318
+v -0.01237592 -0.00484959 0.03712546
+v 0.00368968 -0.00485111 0.03850317
+v -0.00349781 -0.00713716 0.02982135
+v -0.00335614 -0.00720126 0.02982135
+v -0.01407599 -0.00430935 0.03712546
+v -0.01326059 -0.00431392 0.03580216
+v -0.00454618 -0.00661524 0.02982136
+v -0.01502991 -0.00316631 0.03712547
+v 0.00187943 -0.00264592 0.03850318
+v -0.00814780 -0.00353407 0.02982137
+v -0.01108513 -0.00437495 0.03349976
+v -0.01474027 -0.00365466 0.03712547
+v 0.00229500 -0.00346085 0.03850318
+v -0.00703961 -0.00456571 0.02982136
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 3 13 22
+f 3 22 14
+f 3 14 4
+f 4 15 5
+f 4 14 15
+f 5 15 32
+f 5 32 51
+f 5 51 75
+f 5 75 103
+f 5 103 128
+f 5 128 127
+f 5 127 131
+f 5 131 138
+f 5 138 134
+f 5 134 113
+f 5 113 88
+f 5 88 61
+f 5 61 62
+f 5 62 59
+f 5 59 33
+f 5 33 17
+f 5 17 16
+f 5 16 6
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 11
+f 7 11 8
+f 8 11 9
+f 9 11 10
+f 11 20 40
+f 11 40 39
+f 11 39 63
+f 11 63 89
+f 11 89 112
+f 11 112 111
+f 11 111 133
+f 11 133 137
+f 11 137 126
+f 11 126 104
+f 11 104 83
+f 11 83 107
+f 11 107 124
+f 11 124 123
+f 11 123 121
+f 11 121 120
+f 11 120 118
+f 11 118 91
+f 11 91 90
+f 11 90 65
+f 11 65 42
+f 11 42 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 14 23 15
+f 14 22 21
+f 14 21 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 49
+f 15 49 32
+f 17 33 34
+f 17 34 18
+f 18 35 36
+f 18 36 19
+f 18 34 37
+f 18 37 35
+f 19 36 38
+f 19 38 39
+f 19 39 40
+f 19 40 20
+f 21 41 25
+f 21 25 24
+f 21 24 23
+f 21 42 41
+f 25 41 26
+f 26 41 27
+f 27 41 43
+f 27 43 44
+f 27 44 28
+f 28 44 29
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 50
+f 31 50 49
+f 32 49 52
+f 32 52 53
+f 32 53 54
+f 32 54 55
+f 32 55 56
+f 32 56 57
+f 32 57 58
+f 32 58 51
+f 33 59 34
+f 34 59 37
+f 35 60 38
+f 35 38 36
+f 35 37 61
+f 35 61 60
+f 37 59 62
+f 37 62 61
+f 38 60 39
+f 39 60 63
+f 41 42 64
+f 41 64 43
+f 42 65 64
+f 43 64 66
+f 43 66 67
+f 43 67 47
+f 43 47 46
+f 43 46 44
+f 44 46 45
+f 47 50 48
+f 47 67 68
+f 47 68 69
+f 47 69 50
+f 49 50 70
+f 49 70 71
+f 49 71 52
+f 50 72 70
+f 50 69 94
+f 50 94 72
+f 51 73 74
+f 51 74 75
+f 51 58 76
+f 51 76 73
+f 52 71 77
+f 52 77 53
+f 53 77 78
+f 53 78 79
+f 53 79 54
+f 54 79 78
+f 54 78 55
+f 55 78 56
+f 56 78 80
+f 56 80 81
+f 56 81 82
+f 56 82 57
+f 57 82 83
+f 57 83 58
+f 58 83 76
+f 60 84 85
+f 60 85 63
+f 60 61 86
+f 60 86 87
+f 60 87 84
+f 61 88 86
+f 63 85 89
+f 64 65 68
+f 64 68 66
+f 65 90 68
+f 66 68 67
+f 68 90 91
+f 68 91 92
+f 68 92 93
+f 68 93 69
+f 69 93 95
+f 69 95 94
+f 70 72 71
+f 71 96 97
+f 71 97 80
+f 71 80 77
+f 71 72 98
+f 71 98 96
+f 72 94 98
+f 73 76 99
+f 73 99 74
+f 74 99 100
+f 74 100 101
+f 74 101 102
+f 74 102 75
+f 75 102 103
+f 76 83 104
+f 76 104 105
+f 76 105 99
+f 77 80 78
+f 80 97 106
+f 80 106 107
+f 80 107 81
+f 81 107 82
+f 82 107 83
+f 84 108 109
+f 84 109 85
+f 84 87 110
+f 84 110 108
+f 85 109 111
+f 85 111 112
+f 85 112 89
+f 86 88 87
+f 87 88 110
+f 88 113 114
+f 88 114 115
+f 88 115 116
+f 88 116 117
+f 88 117 110
+f 91 118 92
+f 92 119 95
+f 92 95 93
+f 92 118 120
+f 92 120 121
+f 92 121 119
+f 94 95 98
+f 95 119 98
+f 96 98 122
+f 96 122 97
+f 97 122 106
+f 98 119 121
+f 98 121 123
+f 98 123 124
+f 98 124 106
+f 98 106 122
+f 99 105 100
+f 100 105 104
+f 100 104 101
+f 101 125 102
+f 101 104 126
+f 101 126 125
+f 102 127 128
+f 102 128 103
+f 102 125 126
+f 102 126 129
+f 102 129 130
+f 102 130 131
+f 102 131 127
+f 106 124 107
+f 108 110 116
+f 108 116 109
+f 109 132 133
+f 109 133 111
+f 109 116 132
+f 110 117 116
+f 113 134 135
+f 113 135 115
+f 113 115 114
+f 115 135 130
+f 115 130 116
+f 116 130 136
+f 116 136 132
+f 126 137 136
+f 126 136 129
+f 129 136 130
+f 130 135 131
+f 131 135 138
+f 132 136 137
+f 132 137 133
+f 134 138 135
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_5.obj

@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.00113720 -0.00488090 -0.03913557
+v -0.00187620 -0.00461017 -0.03913557
+v 0.00123576 -0.00380355 -0.03913556
+v 0.00223137 -0.00442939 -0.03624221
+v 0.00226401 -0.00445260 -0.02730698
+v 0.00226401 -0.00445260 -0.02661183
+v 0.00119586 -0.00457869 -0.02594812
+v -0.00097580 -0.00457406 -0.02623838
+v -0.00230690 -0.00444518 -0.02709437
+v -0.00227063 -0.00435521 -0.03913557
+v -0.00230690 -0.00444518 -0.02770077
+v -0.00225794 -0.00441177 -0.03624960
+v 0.00151776 -0.00350316 -0.03913556
+v 0.00330133 -0.00132064 -0.03913555
+v 0.00441844 -0.00226450 -0.03401070
+v 0.00443930 -0.00228956 -0.02516792
+v 0.00443930 -0.00228956 -0.02488690
+v 0.00201194 -0.00438956 -0.02511431
+v -0.00111181 -0.00386111 -0.02024827
+v 0.00053212 -0.00444705 -0.02489985
+v -0.00012889 -0.00444705 -0.02489985
+v -0.00182451 -0.00363766 -0.02024827
+v -0.00302867 -0.00307210 -0.02024827
+v -0.00359902 -0.00246203 -0.02024827
+v -0.00446949 -0.00225987 -0.02941090
+v -0.00326533 -0.00352726 -0.03789317
+v -0.00227063 0.00397155 -0.03913554
+v -0.00466716 -0.00126130 -0.03789316
+v 0.00362867 0.00080347 -0.03913555
+v 0.00431779 -0.00118065 -0.03560435
+v 0.00456987 -0.00118069 -0.02556724
+v 0.00454448 -0.00118065 -0.03448213
+v 0.00456987 -0.00103605 -0.02401426
+v 0.00446559 -0.00022295 -0.02264430
+v 0.00284705 -0.00101753 -0.02024826
+v 0.00110338 -0.00320839 -0.02024827
+v -0.00454294 -0.00131422 -0.02024826
+v -0.00446949 -0.00225987 -0.02944972
+v -0.00462908 -0.00083859 -0.02024826
+v -0.00113720 0.00459088 -0.03913553
+v -0.00463180 0.00036678 -0.03789316
+v -0.00421832 0.00141539 -0.03789315
+v -0.00320095 0.00296274 -0.02158123
+v -0.00121336 0.00405957 -0.02139081
+v -0.00463543 -0.00076812 -0.02097484
+v -0.00463543 0.00052155 -0.02097484
+v 0.00361416 0.00097406 -0.03913555
+v 0.00458256 0.00050028 -0.03458751
+v 0.00459617 0.00053732 -0.02555800
+v 0.00458982 0.00059759 -0.02382938
+v 0.00446559 0.00018685 -0.02264430
+v 0.00304109 -0.00032402 -0.02024826
+v -0.00462908 0.00047889 -0.02024826
+v -0.00012345 0.00447499 -0.03913553
+v -0.00052424 0.00430897 -0.02201199
+v 0.00052124 0.00430897 -0.02201199
+v -0.00405330 0.00135412 -0.02024826
+v -0.00296792 0.00269850 -0.02024825
+v -0.00210016 0.00320194 -0.02024825
+v -0.00116984 0.00352366 -0.02024825
+v 0.00319433 0.00262810 -0.03913554
+v 0.00429240 0.00147007 -0.03280896
+v 0.00432958 0.00167216 -0.02382937
+v 0.00273371 0.00260208 -0.02158123
+v 0.00256959 0.00152194 -0.02024825
+v 0.00283254 0.00092578 -0.02024826
+v 0.00108252 0.00424969 -0.03913553
+v -0.00010078 0.00339571 -0.02024825
+v 0.00118952 0.00377029 -0.02139081
+v 0.00322063 0.00293123 -0.02382937
+v 0.00149418 0.00405684 -0.03913554
+v 0.00299666 0.00282466 -0.03913554
+v 0.00318255 0.00290530 -0.03280896
+v 0.00218694 0.00207916 -0.02024825
+v 0.00228215 0.00194194 -0.02024825
+v 0.00103174 0.00302949 -0.02024825
+f 1 2 10
+f 1 10 27
+f 1 27 40
+f 1 40 54
+f 1 54 67
+f 1 67 71
+f 1 71 72
+f 1 72 61
+f 1 61 47
+f 1 47 29
+f 1 29 14
+f 1 14 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 12
+f 2 12 10
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 19
+f 8 19 9
+f 9 19 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 11
+f 10 12 26
+f 10 26 28
+f 10 28 27
+f 11 26 12
+f 14 29 30
+f 14 30 15
+f 15 31 16
+f 15 30 32
+f 15 32 31
+f 16 31 17
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 17 31 33
+f 18 36 19
+f 19 36 35
+f 19 35 52
+f 19 52 66
+f 19 66 65
+f 19 65 75
+f 19 75 74
+f 19 74 76
+f 19 76 68
+f 19 68 60
+f 19 60 59
+f 19 59 58
+f 19 58 57
+f 19 57 53
+f 19 53 39
+f 19 39 37
+f 19 37 24
+f 19 24 23
+f 19 23 22
+f 19 21 20
+f 24 37 25
+f 25 38 26
+f 25 37 39
+f 25 39 28
+f 25 28 38
+f 26 38 28
+f 27 28 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 40
+f 28 39 45
+f 28 45 46
+f 28 46 41
+f 29 47 48
+f 29 48 30
+f 30 48 32
+f 31 49 33
+f 31 32 48
+f 31 48 49
+f 33 49 50
+f 33 50 34
+f 34 51 52
+f 34 52 35
+f 34 50 51
+f 39 53 46
+f 39 46 45
+f 40 44 55
+f 40 55 56
+f 40 56 54
+f 41 46 42
+f 42 46 43
+f 43 46 53
+f 43 53 57
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 60
+f 44 60 56
+f 44 56 55
+f 47 61 48
+f 48 61 62
+f 48 62 63
+f 48 63 50
+f 48 50 49
+f 50 63 51
+f 51 64 65
+f 51 65 66
+f 51 66 52
+f 51 63 64
+f 54 56 67
+f 56 60 68
+f 56 68 69
+f 56 69 70
+f 56 70 71
+f 56 71 67
+f 61 72 73
+f 61 73 62
+f 62 73 63
+f 63 73 70
+f 63 70 64
+f 64 69 74
+f 64 74 75
+f 64 75 65
+f 64 70 69
+f 68 76 69
+f 69 76 74
+f 70 73 71
+f 71 73 72
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_6.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00227228 0.01404383 -0.03913550
+v -0.00227228 0.01366272 -0.03869634
+v -0.00227228 0.01048867 -0.03913551
+v -0.00404754 0.01376493 -0.03913550
+v -0.00498930 0.01293774 -0.03832742
+v -0.00335839 0.01308908 -0.03824917
+v -0.00227228 0.01364767 -0.03868299
+v -0.00227228 0.01070973 -0.03893303
+v -0.01005432 0.00595023 -0.03817774
+v -0.00906251 0.00595023 -0.03913553
+v -0.00551431 0.01339175 -0.03913550
+v -0.00646888 0.01259071 -0.03850623
+v -0.00908346 0.01077470 -0.03835351
+v -0.01312872 0.00618001 -0.03789629
+v -0.00227228 0.01313662 -0.03823546
+v -0.01207055 0.00658647 -0.03789629
+v -0.00227228 0.01103141 -0.03863848
+v -0.01056071 0.00595023 -0.03789629
+v -0.01416361 0.00595023 -0.03913553
+v -0.00588915 0.01326814 -0.03913550
+v -0.00779945 0.01228725 -0.03913550
+v -0.00779945 0.01220484 -0.03903287
+v -0.00943851 0.01116135 -0.03913551
+v -0.01056420 0.01006478 -0.03896033
+v -0.01344652 0.00595023 -0.03789629
+v -0.00227228 0.01210580 -0.03823547
+v -0.01061775 0.00680198 -0.03789629
+v -0.00227228 0.01155672 -0.03839342
+v -0.01362929 0.00595023 -0.03808882
+v -0.01350939 0.00681783 -0.03913552
+v -0.00805672 0.01211056 -0.03913551
+v -0.01039424 0.01036031 -0.03913551
+v -0.01085988 0.00990393 -0.03913551
+v -0.01275388 0.00774089 -0.03913552
+f 1 2 7
+f 1 7 15
+f 1 15 26
+f 1 26 28
+f 1 28 17
+f 1 17 8
+f 1 8 3
+f 1 3 10
+f 1 10 19
+f 1 19 30
+f 1 30 34
+f 1 34 33
+f 1 33 32
+f 1 32 23
+f 1 23 31
+f 1 31 21
+f 1 21 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 7
+f 6 14 16
+f 6 16 15
+f 8 17 9
+f 9 17 18
+f 9 18 25
+f 9 25 29
+f 9 29 19
+f 9 19 10
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 18
+f 14 18 27
+f 14 27 16
+f 15 16 27
+f 15 27 18
+f 15 18 26
+f 17 28 18
+f 18 28 26
+f 19 29 30
+f 21 31 22
+f 22 31 23
+f 23 32 24
+f 24 32 33
+f 24 33 29
+f 24 29 25
+f 29 34 30
+f 29 33 34
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_7.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.01320330 -0.00503759 -0.03579282
+v 0.01198566 -0.00501356 -0.03579282
+v 0.01404482 -0.00493667 -0.03579282
+v 0.01190250 -0.00483298 -0.00472791
+v 0.00996464 -0.00488680 -0.00472791
+v 0.00996464 -0.00485021 -0.02382723
+v 0.00996464 -0.00484251 -0.02607135
+v 0.01031636 -0.00482328 -0.03056263
+v 0.01063526 -0.00474254 -0.03280978
+v 0.01088093 -0.00458010 -0.03461299
+v 0.01143482 -0.00452435 -0.03579282
+v 0.01450869 -0.00444650 -0.03579282
+v 0.01442248 -0.00328462 -0.00473094
+v 0.01370379 -0.00386802 -0.00472790
+v 0.00938786 -0.00467344 -0.00472791
+v 0.00882787 -0.00443405 -0.02382723
+v 0.00883397 -0.00442827 -0.02607135
+v 0.00884313 -0.00441674 -0.02730592
+v 0.00981511 -0.00474736 -0.02815735
+v 0.01090763 -0.00404475 -0.03579281
+v 0.00897512 -0.00416972 -0.02880200
+v 0.01516634 -0.00355746 -0.03579281
+v 0.01442248 -0.00324905 -0.00472790
+v 0.01553026 -0.00261460 -0.03579281
+v 0.01560808 -0.00181015 -0.03579281
+v 0.01564165 -0.00118157 -0.03579280
+v 0.00880574 -0.00445622 -0.00472791
+v 0.00882558 -0.00443694 -0.02157703
+v 0.00857381 -0.00389108 -0.00472790
+v 0.00855169 -0.00333067 -0.02607134
+v 0.00838918 -0.00333075 -0.00472790
+v 0.00808935 -0.00225333 -0.00472790
+v 0.00866536 -0.00340371 -0.02815734
+v 0.01061161 -0.00351421 -0.03579281
+v 0.00873632 -0.00273669 -0.02989364
+v 0.01442248 0.00304629 -0.00472788
+v 0.01564088 0.00096653 -0.03579280
+v 0.00829000 -0.00118160 -0.02607133
+v 0.00838613 -0.00118160 -0.02831849
+v 0.00785208 -0.00118168 -0.00472789
+v 0.01027363 -0.00201102 -0.03579281
+v 0.00866536 -0.00118159 -0.03024636
+v 0.00893544 -0.00118158 -0.03137146
+v 0.00933370 -0.00118158 -0.03280976
+v 0.01297976 0.00397377 -0.00472788
+v 0.01560655 0.00160279 -0.03579279
+v 0.01557069 0.00221503 -0.03579279
+v 0.01552797 0.00238418 -0.03579279
+v 0.01514498 0.00332608 -0.03579279
+v 0.01401965 0.00470145 -0.03579278
+v 0.00828924 0.00096650 -0.02607133
+v 0.00838308 0.00096650 -0.02831849
+v 0.00784750 0.00096642 -0.00472789
+v 0.01020039 -0.00118157 -0.03579280
+v 0.00866384 0.00096651 -0.03025244
+v 0.00893468 0.00096652 -0.03137755
+v 0.00933446 0.00096652 -0.03280976
+v 0.01242511 0.00429863 -0.00472787
+v 0.01199176 0.00478122 -0.03579278
+v 0.01186893 0.00459753 -0.00472787
+v 0.00855932 0.00311557 -0.02607132
+v 0.00866689 0.00318381 -0.02812387
+v 0.00873403 0.00251295 -0.02989970
+v 0.00839681 0.00311549 -0.00472788
+v 0.01020268 0.00026491 -0.03579280
+v 0.01020497 0.00096653 -0.03579280
+v 0.01107853 0.00417187 -0.03579278
+v 0.01089237 0.00435352 -0.03459470
+v 0.01065205 0.00450825 -0.03280974
+v 0.01033543 0.00458897 -0.03056259
+v 0.00996464 0.00459858 -0.02607131
+v 0.00996464 0.00460337 -0.02382719
+v 0.00996464 0.00463694 -0.00472787
+v 0.01091068 0.00461772 -0.00472787
+v 0.00884923 0.00419683 -0.02725115
+v 0.00898885 0.00394598 -0.02874723
+v 0.01062077 0.00329244 -0.03579279
+v 0.00881643 0.00422943 -0.00472787
+v 0.00883855 0.00420835 -0.02382719
+v 0.00884313 0.00420259 -0.02607131
+v 0.00982274 0.00451400 -0.02812386
+f 1 2 11
+f 1 11 20
+f 1 20 34
+f 1 34 41
+f 1 41 54
+f 1 54 65
+f 1 65 66
+f 1 66 77
+f 1 77 67
+f 1 67 59
+f 1 59 50
+f 1 50 49
+f 1 49 48
+f 1 48 47
+f 1 47 46
+f 1 46 37
+f 1 37 26
+f 1 26 25
+f 1 25 24
+f 1 24 22
+f 1 22 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 5 6
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 23
+f 4 23 36
+f 4 36 45
+f 4 45 58
+f 4 58 60
+f 4 60 74
+f 4 74 73
+f 4 73 78
+f 4 78 64
+f 4 64 53
+f 4 53 40
+f 4 40 32
+f 4 32 31
+f 4 31 29
+f 4 29 27
+f 4 27 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 18
+f 8 18 9
+f 9 18 10
+f 10 20 11
+f 10 18 21
+f 10 21 20
+f 12 22 13
+f 13 23 14
+f 13 22 24
+f 13 24 25
+f 13 25 26
+f 13 26 23
+f 15 27 28
+f 15 28 16
+f 16 28 27
+f 16 27 29
+f 16 29 17
+f 17 30 18
+f 17 29 31
+f 17 31 32
+f 17 32 30
+f 18 30 33
+f 18 33 21
+f 20 21 34
+f 21 33 35
+f 21 35 34
+f 23 26 36
+f 26 37 36
+f 30 38 39
+f 30 39 33
+f 30 32 40
+f 30 40 38
+f 33 39 35
+f 34 35 41
+f 35 39 42
+f 35 42 43
+f 35 43 44
+f 35 44 41
+f 36 37 46
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 45
+f 38 51 52
+f 38 52 39
+f 38 40 53
+f 38 53 51
+f 39 52 42
+f 41 44 54
+f 42 55 43
+f 42 52 55
+f 43 55 56
+f 43 56 44
+f 44 56 57
+f 44 57 54
+f 45 50 58
+f 50 59 60
+f 50 60 58
+f 51 61 52
+f 51 53 61
+f 52 61 62
+f 52 62 63
+f 52 63 55
+f 53 64 61
+f 54 57 65
+f 55 63 56
+f 56 63 57
+f 57 66 65
+f 57 63 66
+f 59 67 68
+f 59 68 69
+f 59 69 70
+f 59 70 71
+f 59 71 72
+f 59 72 73
+f 59 73 74
+f 59 74 60
+f 61 75 62
+f 61 64 75
+f 62 76 63
+f 62 75 76
+f 63 76 77
+f 63 77 66
+f 64 78 79
+f 64 79 80
+f 64 80 75
+f 67 77 76
+f 67 76 68
+f 68 76 75
+f 68 75 69
+f 69 75 70
+f 70 75 81
+f 70 81 71
+f 71 81 75
+f 71 75 80
+f 71 80 79
+f 71 79 72
+f 72 79 73
+f 73 79 78
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_8.obj

@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01476962 -0.00548285 -0.03913557
+v 0.01424919 -0.00548285 -0.03789633
+v 0.01348690 -0.00706596 -0.03913558
+v 0.00950194 -0.00548285 -0.03913557
+v 0.01394894 -0.00578259 -0.03789633
+v 0.01051444 -0.01029722 -0.03894112
+v 0.01084638 -0.01011790 -0.03913559
+v 0.01268957 -0.00803991 -0.03913558
+v 0.01057115 -0.00548285 -0.03789633
+v -0.00227112 -0.01062246 -0.03913559
+v 0.01333510 -0.00622210 -0.03789633
+v 0.00903322 -0.01099076 -0.03835323
+v 0.00939185 -0.01138369 -0.03913559
+v 0.01032762 -0.01061982 -0.03913559
+v 0.01050443 -0.00562788 -0.03789633
+v -0.00227112 -0.01098813 -0.03884006
+v -0.00227112 -0.01124041 -0.03863638
+v -0.00227112 -0.01231456 -0.03823156
+v -0.00227112 -0.01420357 -0.03913560
+v 0.01202569 -0.00683214 -0.03789634
+v 0.00495985 -0.01316106 -0.03832327
+v 0.00802906 -0.01232511 -0.03913560
+v 0.00643774 -0.01281648 -0.03849748
+v 0.00774215 -0.01242971 -0.03902205
+v 0.01056448 -0.00702640 -0.03789634
+v -0.00227112 -0.01336059 -0.03823156
+v -0.00113685 -0.01446200 -0.03913560
+v 0.00108332 -0.01340630 -0.03822112
+v 0.00330349 -0.01331313 -0.03824587
+v 0.00113003 -0.01445673 -0.03913560
+v 0.00400907 -0.01399436 -0.03913560
+v 0.00548028 -0.01362078 -0.03913560
+v 0.00774215 -0.01252025 -0.03913560
+v 0.00584559 -0.01350212 -0.03913560
+v -0.00113685 -0.01340894 -0.03821906
+v 0.00108332 -0.01445936 -0.03913560
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 14
+f 1 14 13
+f 1 13 22
+f 1 22 33
+f 1 33 34
+f 1 34 32
+f 1 32 31
+f 1 31 30
+f 1 30 36
+f 1 36 27
+f 1 27 19
+f 1 19 10
+f 1 10 4
+f 1 4 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 15
+f 2 15 25
+f 2 25 20
+f 2 20 11
+f 2 11 5
+f 4 10 9
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 9 10 16
+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 10 19 26
+f 10 26 18
+f 10 18 17
+f 10 17 16
+f 11 20 21
+f 11 21 12
+f 12 22 13
+f 12 21 23
+f 12 23 24
+f 12 24 22
+f 15 18 26
+f 15 26 25
+f 19 27 26
+f 20 25 28
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 23
+f 22 24 33
+f 23 32 34
+f 23 34 33
+f 23 33 24
+f 25 26 35
+f 25 35 28
+f 26 27 35
+f 27 36 35
+f 28 35 36
+f 28 36 29
+f 29 36 30
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009_collision_9.obj

@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00905752 -0.01149265 -0.03913559
+v -0.00807095 -0.01231818 -0.03913560
+v -0.00905752 -0.01136811 -0.03894039
+v -0.00905752 -0.00638113 -0.03913557
+v -0.00787364 -0.01245695 -0.03913560
+v -0.00905752 -0.01099093 -0.03835517
+v -0.00422034 0.00141514 -0.03789630
+v -0.00502023 0.00121232 -0.03913555
+v -0.00905752 -0.00708390 -0.03875343
+v -0.00779790 -0.01241603 -0.03902702
+v -0.00779790 -0.01250499 -0.03913560
+v -0.00648115 -0.01280567 -0.03850318
+v -0.00500162 -0.01315972 -0.03832254
+v -0.00779790 -0.01134142 -0.03829257
+v -0.00905752 -0.00971705 -0.03829062
+v -0.00463291 0.00036722 -0.03789631
+v -0.00306303 0.00277976 -0.03789630
+v -0.00356661 0.00329571 -0.03913554
+v -0.00377323 0.00304485 -0.03913554
+v -0.00437846 0.00174785 -0.03851003
+v -0.00905752 -0.00821722 -0.03832689
+v -0.00698672 -0.01300493 -0.03913560
+v -0.00589518 -0.01349420 -0.03913560
+v -0.00552447 -0.01361874 -0.03913560
+v -0.00342510 -0.01407955 -0.03913560
+v -0.00335800 -0.01331451 -0.03824344
+v -0.00326699 -0.00352914 -0.03789632
+v -0.00466745 -0.00126427 -0.03789631
+v -0.00292086 0.00284737 -0.03789630
+v -0.00227112 0.00397179 -0.03913554
+v -0.00227112 -0.01420409 -0.03913560
+v -0.00227112 -0.01336077 -0.03823156
+v -0.00227112 -0.00390276 -0.03789632
+v -0.00227112 0.00315516 -0.03789630
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 21
+f 1 21 9
+f 1 9 4
+f 1 4 8
+f 1 8 19
+f 1 19 18
+f 1 18 30
+f 1 30 31
+f 1 31 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 4 9 7
+f 5 10 6
+f 5 11 10
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 16 28
+f 7 28 27
+f 7 27 33
+f 7 33 34
+f 7 34 29
+f 7 29 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 7 9 21
+f 7 21 16
+f 8 20 19
+f 10 11 12
+f 11 22 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 15 16 21
+f 17 29 30
+f 17 30 18
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 29 34 30
+f 30 34 33
+f 30 33 32
+f 30 32 31
+

dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b6479e880df83be7138a8de50fb57400edbc485dc2ba443b16d040f7b93619
+size 226031